+ python -m lidar_slam --no-model /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 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 0.005099893 Adjusted end_distance from 9.223372036854776e+18 to 590.465099893 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005099893 meters 0.21712325154100715 Centerline is valid? [0, False] SLAMing on 0.035099893 meters 0.2188263988620151 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99976254e-01 4.19492269e-03 -5.46746592e-03 2.21237467e-02] [-4.19883000e-03 9.99990938e-01 -7.03364542e-04 -5.17002738e-03] [ 5.46446581e-03 7.26304800e-04 9.99984806e-01 -1.01406595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06509989299999999 meters 0.22101305542633826 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 9.99991674e-01 4.07117592e-03 2.79695106e-04 3.38091075e-02] [-4.07244083e-03 9.99980750e-01 4.68142061e-03 -9.59155045e-03] [-2.60630834e-04 -4.68252067e-03 9.99989003e-01 -5.34999086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09509989299999999 meters 0.2211862649369128 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 9.99987680e-01 4.96382232e-03 1.48319234e-05 3.52789611e-02] [-4.96381915e-03 9.99968568e-01 6.18253055e-03 -1.27068051e-02] [ 1.58575259e-05 -6.18252800e-03 9.99980888e-01 -6.63412855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.125099893 meters 0.22268597907229296 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99999764 0.00148448 -0.00158433 0.04272011] [-0.00147963 0.99999423 0.00305773 -0.01263221] [ 0.00158886 -0.00305538 0.99999407 -0.01386673] [ 0. 0. 0. 1. ]] SLAMing on 0.155099893 meters 0.22791833306071613 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.02 [[ 0.99990592 -0.01358403 -0.00190429 0.04596389] [ 0.0135639 0.99985584 -0.01021389 -0.02094737] [ 0.00204276 0.0101871 0.99994602 -0.0170469 ] [ 0. 0. 0. 1. ]] SLAMing on 0.185099893 meters 0.22746487572003152 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.02 [[ 0.9999244 -0.01208846 -0.00224976 0.04814061] [ 0.01207209 0.99990154 -0.00715335 -0.02694636] [ 0.00233601 0.00712565 0.99997188 -0.01912393] [ 0. 0. 0. 1. ]] SLAMing on 0.215099893 meters 0.22910830342744126 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.02 [[ 9.99998657e-01 -5.99772057e-04 1.52504363e-03 6.23842186e-02] [ 6.08185282e-04 9.99984567e-01 -5.52224510e-03 -2.22048012e-02] [-1.52170801e-03 5.52316520e-03 9.99983589e-01 -2.31122851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24509989299999999 meters 0.22821186632181986 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.03 [[ 9.99999217e-01 4.34702603e-04 1.17336285e-03 6.77152560e-02] [-4.26993649e-04 9.99978377e-01 -6.56223950e-03 -1.37699215e-02] [-1.17619010e-03 6.56173334e-03 9.99977780e-01 -2.95298928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27509989300000004 meters 0.23981028542246272 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.03 [[ 0.99998801 -0.00435056 0.00224692 0.0794632 ] [ 0.00434721 0.99998943 0.001496 -0.0100857 ] [-0.00225341 -0.00148622 0.99999636 -0.03279121] [ 0. 0. 0. 1. ]] SLAMing on 0.305099893 meters 0.23438251260682666 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.04 [[ 0.99999207 -0.00318484 0.00239294 0.08250452] [ 0.0031726 0.99998196 0.00510107 -0.01779085] [-0.00240915 -0.00509343 0.99998413 -0.03750923] [ 0. 0. 0. 1. ]] SLAMing on 0.335099893 meters 0.22983228776971623 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.04 [[ 0.99997734 -0.00626348 0.00246905 0.08451145] [ 0.00625506 0.99997464 0.00340464 -0.02378047] [-0.00249031 -0.00338912 0.99999116 -0.04011097] [ 0. 0. 0. 1. ]] SLAMing on 0.365099893 meters 0.23869632549816272 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:-0.04 [[ 0.99999656 -0.0023643 -0.00113911 0.1042513 ] [ 0.00235718 0.9999779 -0.00621564 -0.01479476] [ 0.00115378 0.00621293 0.99998003 -0.04062363] [ 0. 0. 0. 1. ]] SLAMing on 0.39509989300000004 meters 0.24795113659728998 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.01, Z:-0.04 [[ 0.9999935 -0.00343728 -0.00108514 0.10810328] [ 0.00342782 0.99995713 -0.00860195 -0.01176719] [ 0.00111466 0.00859818 0.99996241 -0.04497273] [ 0. 0. 0. 1. ]] SLAMing on 0.425099893 meters 0.26085672633818896 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.05 [[ 9.99998578e-01 -9.33150491e-04 -1.40443717e-03 1.11765394e-01] [ 9.26516637e-04 9.99988447e-01 -4.71675785e-03 -1.98706618e-02] [ 1.40882239e-03 4.71544991e-03 9.99987890e-01 -4.86035114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.455099893 meters 0.26158323417831236 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.06 [[ 0.99999276 0.00349567 -0.00150037 0.11701703] [-0.00348635 0.99997488 0.00617056 -0.03951819] [ 0.0015219 -0.00616528 0.99997984 -0.05754413] [ 0. 0. 0. 1. ]] SLAMing on 0.485099893 meters 0.2619118548760254 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.06 [[ 9.99994579e-01 -2.47474169e-03 -2.17189258e-03 1.22221681e-01] [ 2.47498702e-03 9.99996931e-01 1.10278296e-04 -4.45473555e-02] [ 2.17161301e-03 -1.15653104e-04 9.99997635e-01 -6.17751241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.515099893 meters 0.2748826044860361 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.07 [[ 0.99996164 -0.00832457 -0.0027245 0.12696363] [ 0.00830877 0.99994891 -0.00575761 -0.05096006] [ 0.00277229 0.00573475 0.99997971 -0.06537976] [ 0. 0. 0. 1. ]] SLAMing on 0.5450998930000001 meters 0.2710940713704345 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:-0.07 [[ 0.99997171 -0.00713603 -0.0023787 0.12665801] [ 0.00712781 0.99996865 -0.0034477 -0.05641461] [ 0.00240323 0.00343065 0.99999123 -0.06545488] [ 0. 0. 0. 1. ]] SLAMing on 0.575099893 meters 0.2777639758881036 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:-0.07 [[ 0.99993732 -0.01104337 -0.00184421 0.12555658] [ 0.01103046 0.99991556 -0.0068701 -0.05901912] [ 0.00191993 0.00684932 0.9999747 -0.06524463] [ 0. 0. 0. 1. ]] SLAMing on 0.605099893 meters 0.2829821391009856 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:-0.07 [[ 0.99994575 -0.01030314 -0.00152936 0.12655663] [ 0.01029415 0.99993035 -0.00577356 -0.06121872] [ 0.00158874 0.0057575 0.99998216 -0.06723242] [ 0. 0. 0. 1. ]] SLAMing on 0.635099893 meters 0.28323029765213703 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:-0.08 [[ 0.99997598 -0.00639521 -0.00267163 0.13470994] [ 0.00638863 0.99997656 -0.00246347 -0.06104365] [ 0.00268732 0.00244634 0.9999934 -0.07509097] [ 0. 0. 0. 1. ]] SLAMing on 0.6650998929999999 meters 0.2848239689247482 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:-0.08 [[ 9.99988259e-01 -3.54359455e-03 -3.30516259e-03 1.40371490e-01] [ 3.54543060e-03 9.99993564e-01 5.49816331e-04 -6.24777729e-02] [ 3.30319299e-03 -5.61528100e-04 9.99994387e-01 -8.05408130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.695099893 meters 0.2767951980227513 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:-0.08 [[ 0.99999097 -0.00215504 -0.0036614 0.14379801] [ 0.00216369 0.99999488 0.00235842 -0.06456868] [ 0.0036563 -0.00236632 0.99999052 -0.08388632] [ 0. 0. 0. 1. ]] SLAMing on 0.725099893 meters 0.27769045135634707 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:-0.09 [[ 9.99980356e-01 -5.17213160e-03 -3.54080592e-03 1.46468186e-01] [ 5.17006827e-03 9.99986460e-01 -5.91634845e-04 -6.72547450e-02] [ 3.54381799e-03 5.73317014e-04 9.99993556e-01 -8.72450406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.755099893 meters 0.27980923575400946 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:-0.09 [[ 0.99992439 -0.01163613 -0.00397741 0.15073945] [ 0.01161073 0.99991242 -0.00635182 -0.07202209] [ 0.00405098 0.00630515 0.99997192 -0.09132794] [ 0. 0. 0. 1. ]] SLAMing on 0.785099893 meters 0.25727684001060797 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:-0.09 [[ 0.999938 -0.01071329 -0.00303742 0.14985869] [ 0.01070359 0.99993762 -0.00319273 -0.08042279] [ 0.00307143 0.00316002 0.99999029 -0.09242085] [ 0. 0. 0. 1. ]] SLAMing on 0.815099893 meters 0.22470885606898489 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:-0.10 [[ 0.99990151 -0.0118486 -0.00752173 0.13648521] [ 0.01182743 0.99992599 -0.002852 -0.09682503] [ 0.00755497 0.00276275 0.99996764 -0.09828245] [ 0. 0. 0. 1. ]] SLAMing on 0.845099893 meters 0.23821919584573562 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.11, Z:-0.10 [[ 0.99988821 -0.01132101 -0.00976753 0.14536122] [ 0.01127741 0.99992625 -0.00450716 -0.10588784] [ 0.00981783 0.0043965 0.99994214 -0.09982647] [ 0. 0. 0. 1. ]] SLAMing on 0.875099893 meters 0.22489945199661898 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.11, Z:-0.11 [[ 9.99897391e-01 -9.22515388e-03 -1.09592225e-02 1.51026313e-01] [ 9.23499349e-03 9.99956997e-01 8.47571512e-04 -1.14983088e-01] [ 1.09509322e-02 -9.48692892e-04 9.99939587e-01 -1.06523898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9050998929999999 meters 0.18738801666578161 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.12, Z:-0.11 [[ 0.99987031 -0.01135719 -0.01141857 0.15524744] [ 0.01137178 0.9999346 0.00121419 -0.12285609] [ 0.01140404 -0.00134389 0.99993407 -0.11156657] [ 0. 0. 0. 1. ]] SLAMing on 0.935099893 meters 0.18738801666578161 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.12, Z:-0.11 [[ 0.99987031 -0.01135719 -0.01141857 0.15524744] [ 0.01137178 0.9999346 0.00121419 -0.12285609] [ 0.01140404 -0.00134389 0.99993407 -0.11156657] [ 0. 0. 0. 1. ]] SLAMing on 0.965099893 meters 0.180529258322572 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.13, Z:-0.12 [[ 0.99975842 -0.01827089 -0.01221817 0.16091113] [ 0.01822714 0.99982709 -0.00368258 -0.12902232] [ 0.01228334 0.00345899 0.99991857 -0.11763356] [ 0. 0. 0. 1. ]] SLAMing on 0.995099893 meters 0.17597713364075523 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.13, Z:-0.12 [[ 0.99969528 -0.02152161 -0.01208971 0.16338618] [ 0.02145095 0.99975223 -0.00594451 -0.13237729] [ 0.01221465 0.00568336 0.99990925 -0.12106805] [ 0. 0. 0. 1. ]] SLAMing on 1.025099893 meters 0.17182655070462113 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.14, Z:-0.12 [[ 0.9997203 -0.02043263 -0.01190919 0.16481804] [ 0.0203844 0.99978357 -0.0041573 -0.1354021 ] [ 0.01199156 0.00391338 0.99992044 -0.1236412 ] [ 0. 0. 0. 1. ]] SLAMing on 1.055099893 meters 0.16956167294606608 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.14, Z:-0.13 [[ 0.99969539 -0.01961654 -0.01497729 0.17858634] [ 0.01951903 0.99978751 -0.00662937 -0.14093263] [ 0.01510415 0.00633501 0.99986586 -0.12844736] [ 0. 0. 0. 1. ]] SLAMing on 1.085099893 meters 0.1655858794194433 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.15, Z:-0.13 [[ 0.99970842 -0.01800526 -0.01608991 0.18334251] [ 0.01795908 0.99983419 -0.00301013 -0.14659256] [ 0.01614144 0.00272029 0.99986602 -0.13321663] [ 0. 0. 0. 1. ]] SLAMing on 1.1150998929999998 meters 0.16610834877969832 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:-0.13 [[ 0.99975317 -0.01158121 -0.01895987 0.1930886 ] [ 0.0115597 0.99993241 -0.00124383 -0.14927752] [ 0.01897299 0.00102435 0.99981947 -0.13348033] [ 0. 0. 0. 1. ]] SLAMing on 1.1450998929999998 meters 0.16241271168841814 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.15, Z:-0.14 [[ 0.99969723 -0.0070749 -0.02356685 0.20840077] [ 0.0069735 0.99996608 -0.00438173 -0.14634555] [ 0.02359705 0.00421606 0.99971266 -0.13598779] [ 0. 0. 0. 1. ]] SLAMing on 1.1750998929999998 meters 0.15767226632654538 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:-0.14 [[ 0.99965147 -0.00933905 -0.02469262 0.21364612] [ 0.0091725 0.99993447 -0.00684967 -0.14469142] [ 0.02475497 0.00662079 0.99967162 -0.14067501] [ 0. 0. 0. 1. ]] SLAMing on 1.2050998929999999 meters 0.15454397082073254 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.15, Z:-0.14 [[ 0.99957687 -0.01855906 -0.02239716 0.22502186] [ 0.01849644 0.99982442 -0.00300026 -0.14647144] [ 0.02244891 0.00258472 0.99974465 -0.143065 ] [ 0. 0. 0. 1. ]] SLAMing on 1.235099893 meters 0.1515796654152839 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.15, Z:-0.15 [[ 0.9992691 -0.03032856 -0.023269 0.22851093] [ 0.03003399 0.99946555 -0.01290619 -0.15179004] [ 0.02364799 0.01219789 0.99964593 -0.14554573] [ 0. 0. 0. 1. ]] SLAMing on 1.265099893 meters 0.15118044415559756 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.16, Z:-0.15 [[ 0.99916527 -0.03306957 -0.0239825 0.23179901] [ 0.03276067 0.99937657 -0.01316079 -0.15968274] [ 0.02440277 0.01236412 0.99962575 -0.14872523] [ 0. 0. 0. 1. ]] SLAMing on 1.295099893 meters 0.14936557386202817 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.17, Z:-0.15 [[ 0.99923774 -0.03082925 -0.02394783 0.23328409] [ 0.03067018 0.99950518 -0.00698171 -0.1722133 ] [ 0.02415122 0.00624191 0.99968883 -0.15202154] [ 0. 0. 0. 1. ]] SLAMing on 1.3250998929999998 meters 0.1405922118768918 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.18, Z:-0.15 [[ 0.99914216 -0.02438309 -0.0334725 0.23072599] [ 0.02413116 0.99967751 -0.00791012 -0.18246683] [ 0.03365458 0.00709561 0.99940834 -0.15399523] [ 0. 0. 0. 1. ]] SLAMing on 1.3550998929999998 meters 0.14088606892916616 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.19, Z:-0.15 [[ 0.9991444 -0.01834236 -0.03706798 0.24199953] [ 0.01813229 0.99981762 -0.00599567 -0.18896236] [ 0.03717119 0.00531842 0.99929476 -0.15409785] [ 0. 0. 0. 1. ]] SLAMing on 1.3850998929999998 meters 0.13656881575749463 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:-0.16 [[ 0.99965265 -0.01321625 -0.0228014 0.24434111] [ 0.01326875 0.99990965 0.00215269 -0.19704158] [ 0.02277088 -0.00245449 0.9997377 -0.15875751] [ 0. 0. 0. 1. ]] SLAMing on 1.4150998929999998 meters 0.13460350503982155 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.20, Z:-0.16 [[ 0.99962513 -0.00987956 -0.02553414 0.25575416] [ 0.00984043 0.99995021 -0.00165759 -0.19882082] [ 0.02554925 0.00140571 0.99967258 -0.1579818 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4450998929999999 meters 0.1281084291689994 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.20, Z:-0.16 [[ 9.99617506e-01 -8.23225710e-03 -2.64021260e-02 2.59369832e-01] [ 8.25077271e-03 9.99965786e-01 5.92429535e-04 -2.01421708e-01] [ 2.63963456e-02 -8.10040875e-04 9.99651228e-01 -1.61782711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4750998929999999 meters 0.12423338944139496 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.20, Z:-0.16 [[ 0.99963348 -0.00436039 -0.02671884 0.26017457] [ 0.00444926 0.99998476 0.00326728 -0.19738392] [ 0.02670419 -0.00338496 0.99963765 -0.16204626] [ 0. 0. 0. 1. ]] SLAMing on 1.505099893 meters 0.11743082524754689 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.19, Z:-0.16 [[ 0.99962574 -0.00501334 -0.02689324 0.26021487] [ 0.00505455 0.99998615 0.00146445 -0.19345116] [ 0.02688552 -0.00159983 0.99963724 -0.16141295] [ 0. 0. 0. 1. ]] SLAMing on 1.535099893 meters 0.11936638717344343 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.19, Z:-0.16 [[ 9.99572310e-01 -4.92939790e-04 -2.92396092e-02 2.73316430e-01] [ 4.07845411e-04 9.99995665e-01 -2.91613587e-03 -1.90550916e-01] [ 2.92409199e-02 2.90296342e-03 9.99568177e-01 -1.61720202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.565099893 meters 0.11282849807931095 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.19, Z:-0.16 [[ 9.99564480e-01 3.27075402e-03 -2.93283416e-02 2.73731289e-01] [-3.28625842e-03 9.99994485e-01 -4.80463872e-04 -1.86070383e-01] [ 2.93266084e-02 5.76635130e-04 9.99569716e-01 -1.61929817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5950998929999998 meters 0.10852177852696213 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.18, Z:-0.16 [[ 0.99989558 0.00327984 -0.01407371 0.27236908] [-0.00324056 0.99999079 0.00281293 -0.18246972] [ 0.01408281 -0.00276703 0.999897 -0.16429179] [ 0. 0. 0. 1. ]] SLAMing on 1.6250998929999998 meters 0.1060937803656103 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.18, Z:-0.17 [[ 0.99989491 0.00322771 -0.01413366 0.27298578] [-0.00319396 0.999992 0.00240985 -0.18122629] [ 0.01414132 -0.00236445 0.99989721 -0.16536647] [ 0. 0. 0. 1. ]] SLAMing on 1.6550998929999998 meters 0.1012961434741714 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.18, Z:-0.17 [[ 0.99989688 0.00279525 -0.0140858 0.27315885] [-0.00277724 0.9999953 0.00129813 -0.17858397] [ 0.01408936 -0.00125887 0.99989995 -0.16581767] [ 0. 0. 0. 1. ]] SLAMing on 1.6850998929999998 meters 0.09701202290996641 Centerline is valid? [False, True] Translation: X:0.27, Y:-0.17, Z:-0.16 [[ 0.9999082 0.00132473 -0.01348497 0.27116075] [-0.00134655 0.9999978 -0.00160961 -0.17270615] [ 0.01348281 0.00162762 0.99990778 -0.16427208] [ 0. 0. 0. 1. ]] SLAMing on 1.7150998929999999 meters 0.09512707282193747 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.18, Z:-0.17 [[ 9.99767819e-01 -1.12417685e-02 -1.83828849e-02 3.01665594e-01] [ 1.12306108e-02 9.99936683e-01 -7.10085930e-04 -1.83218143e-01] [ 1.83897036e-02 5.03470035e-04 9.99830768e-01 -1.72379403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.745099893 meters 0.09307071945756104 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.20, Z:-0.19 [[ 9.99214308e-01 -3.04690302e-02 -2.53457189e-02 3.32452348e-01] [ 3.04539873e-02 9.99535690e-01 -9.79386839e-04 -2.03214075e-01] [ 2.53637916e-02 2.06739140e-04 9.99678266e-01 -1.86428008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.775099893 meters 0.09024550252821405 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.21, Z:-0.19 [[ 9.98809184e-01 -4.01327027e-02 -2.77412931e-02 3.61165714e-01] [ 4.01183071e-02 9.99194358e-01 -1.07552567e-03 -2.12070516e-01] [ 2.77621073e-02 -3.86887956e-05 9.99614558e-01 -1.89836476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8050998929999997 meters 0.09159525968125601 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.22, Z:-0.19 [[ 9.98466860e-01 -4.91190967e-02 -2.55194618e-02 3.89487055e-01] [ 4.91097638e-02 9.98792894e-01 -9.92695601e-04 -2.21871873e-01] [ 2.55374174e-02 -2.62081082e-04 9.99673833e-01 -1.88012642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8350998929999998 meters 0.08617610007720633 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.22, Z:-0.19 [[ 9.98478745e-01 -4.80382923e-02 -2.70650887e-02 4.16580682e-01] [ 4.80273423e-02 9.98845464e-01 -1.05486010e-03 -2.16062665e-01] [ 2.70845147e-02 -2.46608890e-04 9.99633117e-01 -1.88197793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8650998929999998 meters 0.09284569683627193 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.21, Z:-0.19 [[ 9.98538438e-01 -4.75128050e-02 -2.57589015e-02 4.45075264e-01] [ 4.75026240e-02 9.98870605e-01 -1.00735325e-03 -2.09579585e-01] [ 2.57776717e-02 -2.17734475e-04 9.99667677e-01 -1.87742808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8950998929999998 meters 0.08221344157272342 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.21, Z:-0.19 [[ 9.98590890e-01 -4.70192927e-02 -2.46052921e-02 4.73225268e-01] [ 4.70097447e-02 9.98893963e-01 -9.66654312e-04 -2.07242690e-01] [ 2.46235291e-02 -1.91396309e-04 9.99696777e-01 -1.87167226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9250998929999998 meters 0.0809559833172679 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.21, Z:-0.18 [[ 9.98610998e-01 -4.77532015e-02 -2.22644583e-02 5.00903830e-01] [ 4.77455064e-02 9.98859148e-01 -8.77379244e-04 -2.06439766e-01] [ 2.22809555e-02 -1.86867274e-04 9.99751731e-01 -1.84679898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9550998929999999 meters 0.07280726324849167 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.21, Z:-0.19 [[ 9.98443495e-01 -5.04838942e-02 -2.37057624e-02 5.29293280e-01] [ 5.04759023e-02 9.98724841e-01 -9.35759128e-04 -2.07092620e-01] [ 2.37227745e-02 -2.62267130e-04 9.99718541e-01 -1.86853777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.985099893 meters 0.07573008785070601 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.21, Z:-0.19 [[ 9.98148161e-01 -5.45584300e-02 -2.69003194e-02 5.58322653e-01] [ 5.45495784e-02 9.98510497e-01 -1.06332196e-03 -2.09918734e-01] [ 2.69182645e-02 -4.06048220e-04 9.99637555e-01 -1.91617675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.015099893 meters 0.07061584435265515 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.20, Z:-0.19 [[ 9.98312540e-01 -5.20651671e-02 -2.57155748e-02 5.86520106e-01] [ 5.20561718e-02 9.98643638e-01 -1.01956870e-03 -2.02227461e-01] [ 2.57337792e-02 -3.20806159e-04 9.99668780e-01 -1.86112736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.045099893 meters 0.06526719936758109 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.19, Z:-0.18 [[ 9.98902597e-01 -4.18204992e-02 -2.10866678e-02 6.14731298e-01] [ 4.18121204e-02 9.99125139e-01 -8.38275074e-04 -1.85679261e-01] [ 2.11032770e-02 -4.43231448e-05 9.99777300e-01 -1.79534066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.075099893 meters 0.0628288488040129 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.16, Z:-0.17 [[ 9.99542527e-01 -2.63666188e-02 -1.48168127e-02 6.42240524e-01] [ 2.63607785e-02 9.99652321e-01 -5.89367714e-04 -1.59414365e-01] [ 1.48272009e-02 1.98515375e-04 9.99890051e-01 -1.72040114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.105099893 meters 0.060251296330824225 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.14, Z:-0.16 [[ 9.99818827e-01 -1.69352889e-02 -8.68964163e-03 6.70724084e-01] [ 1.69329223e-02 9.99856568e-01 -3.45856976e-04 -1.40119171e-01] [ 8.69425245e-03 1.98653289e-04 9.99962185e-01 -1.63971247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.135099893 meters 0.05862215742467581 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.14, Z:-0.16 [[ 9.99829170e-01 -1.64864164e-02 -8.35636048e-03 7.02031464e-01] [ 1.64842089e-02 9.99864071e-01 -3.32984792e-04 -1.36448459e-01] [ 8.36071434e-03 1.95179917e-04 9.99965030e-01 -1.64267925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1650998930000003 meters 0.05146002759721252 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.16, Z:-0.17 [[ 9.99767954e-01 -2.06141222e-02 -6.25272598e-03 7.33160160e-01] [ 2.06129684e-02 9.99787499e-01 -2.48923811e-04 -1.55620660e-01] [ 6.25652862e-03 1.19978806e-04 9.99980421e-01 -1.69152833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.195099893 meters 0.04699057409014622 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.16, Z:-0.17 [[ 9.99710432e-01 -2.37772381e-02 -3.70062806e-03 7.65549702e-01] [ 2.37768535e-02 9.99717280e-01 -1.47908180e-04 -1.62516231e-01] [ 3.70309866e-03 5.98760591e-05 9.99993142e-01 -1.70426297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.225099893 meters 0.0463478280813199 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.16, Z:-0.16 [[ 9.99671339e-01 -2.56331535e-02 -3.94326757e-04 7.97045508e-01] [ 2.56331488e-02 9.99671417e-01 -1.70033184e-05 -1.60640831e-01] [ 3.94633036e-04 6.88989359e-06 9.99999922e-01 -1.60207312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.255099893 meters 0.040125002348127596 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.17, Z:-0.17 [[ 9.99831138e-01 -1.82853718e-02 -1.82791973e-03 8.29353169e-01] [ 1.82852689e-02 9.99832808e-01 -7.29766888e-05 -1.68156911e-01] [ 1.82894852e-03 3.95403620e-05 9.99998327e-01 -1.68499239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.285099893 meters 0.0427629108188477 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.17, Z:-0.17 [[ 9.99916894e-01 -1.24169545e-02 -3.46755597e-03 8.59433143e-01] [ 1.24165532e-02 9.99922902e-01 -1.37249108e-04 -1.68968958e-01] [ 3.46899285e-03 9.41826084e-05 9.99993979e-01 -1.69759369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.315099893 meters 0.05542284841451701 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.14, Z:-0.16 [[ 9.99996839e-01 -2.48485971e-03 3.84855744e-04 8.88075262e-01] [ 2.48485430e-03 9.99996913e-01 1.45173426e-05 -1.43557319e-01] [-3.84890629e-04 -1.35609863e-05 9.99999926e-01 -1.56120243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.345099893 meters 0.05609869867641312 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.14, Z:-0.16 [[ 9.99999968e-01 -2.28261639e-04 -1.11416122e-04 9.18827143e-01] [ 2.28261112e-04 9.99999974e-01 -4.74013549e-06 -1.40561801e-01] [ 1.11417202e-04 4.71470337e-06 9.99999994e-01 -1.55742189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3750998930000002 meters 0.05456180998729527 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.15, Z:-0.16 [[ 9.99985005e-01 -3.71301999e-03 -4.02537124e-03 9.49682844e-01] [ 3.71240988e-03 9.99993096e-01 -1.59027378e-04 -1.48416750e-01] [ 4.02593392e-03 1.44081166e-04 9.99991886e-01 -1.63921222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.405099893 meters 0.042823576665904646 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.17, Z:-0.17 [[ 9.99907854e-01 -1.15708642e-02 -7.09914977e-03 9.81201965e-01] [ 1.15691649e-02 9.99933036e-01 -2.80381295e-04 -1.68713983e-01] [ 7.10191864e-03 1.98224224e-04 9.99974761e-01 -1.72630060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.435099893 meters 0.03649636225687198 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.19, Z:-0.18 [[ 9.99808310e-01 -1.75131864e-02 -8.75390078e-03 1.01188542e+00] [ 1.75108316e-02 9.99846614e-01 -3.45573932e-04 -1.91157322e-01] [ 8.75861015e-03 1.92219606e-04 9.99961624e-01 -1.77303940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.465099893 meters 0.035017242004427324 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.20, Z:-0.18 [[ 9.99706503e-01 -2.30465456e-02 -7.46759289e-03 1.04132087e+00] [ 2.30449849e-02 9.99734386e-01 -2.94982490e-04 -1.96777222e-01] [ 7.47240771e-03 1.22805348e-04 9.99972074e-01 -1.75584422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.495099893 meters 0.03149999937117026 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.20, Z:-0.17 [[ 9.99820274e-01 -1.88821820e-02 -1.69803021e-03 1.07128120e+00] [ 1.88820940e-02 9.99821715e-01 -6.78295885e-05 -1.97700965e-01] [ 1.69900825e-03 3.57550317e-05 9.99998556e-01 -1.71552721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.525099893 meters 0.03227507309050957 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.19, Z:-0.17 [[ 9.99912966e-01 -1.31844833e-02 4.79574069e-04 1.10208203e+00] [ 1.31844759e-02 9.99913081e-01 1.87339067e-05 -1.90582344e-01] [-4.79779382e-04 -1.24093434e-05 9.99999885e-01 -1.68373521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.555099893 meters 0.02986941602579319 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.18, Z:-0.17 [[ 9.99975807e-01 -6.91629586e-03 7.41200343e-04 1.13267295e+00] [ 6.91627636e-03 9.99976082e-01 2.88686681e-05 -1.82522269e-01] [-7.41382279e-04 -2.37416233e-05 9.99999725e-01 -1.69151234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.585099893 meters 0.028409923744757995 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.18, Z:-0.17 [[ 9.99915245e-01 -1.29512366e-02 -1.32970198e-03 1.16328710e+00] [ 1.29511780e-02 9.99916129e-01 -5.26278748e-05 -1.83127627e-01] [ 1.33027205e-03 3.54022073e-05 9.99999115e-01 -1.70390558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.615099893 meters 0.02699078998844235 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.19, Z:-0.17 [[ 9.99690837e-01 -2.46047781e-02 -3.58271428e-03 1.19432609e+00] [ 2.46044298e-02 9.99697255e-01 -1.41281720e-04 -1.90479237e-01] [ 3.58510584e-03 5.30873987e-05 9.99993572e-01 -1.71753053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.645099893 meters 0.027253560212412885 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.21, Z:-0.18 [[ 9.98940984e-01 -4.52744636e-02 -8.19352535e-03 1.22547116e+00] [ 4.52733360e-02 9.98974585e-01 -3.23142921e-04 -2.06715341e-01] [ 8.19975370e-03 -4.81475182e-05 9.99966380e-01 -1.78059231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.675099893 meters 0.02763917759632746 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.22, Z:-0.18 [[ 9.98288947e-01 -5.80071057e-02 -7.37255816e-03 1.25656124e+00] [ 5.80065404e-02 9.98316161e-01 -2.90666254e-04 -2.16889044e-01] [ 7.37700466e-03 -1.37487684e-04 9.99972780e-01 -1.77357596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.705099893 meters 0.028975204406774886 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.23, Z:-0.17 [[ 9.97624564e-01 -6.87859637e-02 -3.70420071e-03 1.28684118e+00] [ 6.87858960e-02 9.97631435e-01 -1.45828987e-04 -2.28178763e-01] [ 3.70545806e-03 -1.09314186e-04 9.99993129e-01 -1.71761698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.735099893 meters 0.029435997733342194 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.22, Z:-0.17 [[ 9.97923202e-01 -6.43817155e-02 -2.06808174e-03 1.31745393e+00] [ 6.43816841e-02 9.97925344e-01 -8.18278710e-05 -2.23944517e-01] [ 2.06905940e-03 -5.14886538e-05 9.99997858e-01 -1.68530247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.765099893 meters 0.025351321810290806 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.21, Z:-0.17 [[ 9.98554894e-01 -5.37249541e-02 -1.32434623e-03 1.34735494e+00] [ 5.37249322e-02 9.98555772e-01 -5.21520923e-05 -2.09147825e-01] [ 1.32523544e-03 -1.90736845e-05 9.99999122e-01 -1.68870161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.795099893 meters 0.02218511997759356 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.18, Z:-0.17 [[ 9.99494593e-01 -3.17638497e-02 -1.27100864e-03 1.37770004e+00] [ 3.17638113e-02 9.99495402e-01 -5.03932767e-05 -1.81026760e-01] [ 1.27196798e-03 9.99572896e-06 9.99999191e-01 -1.68895227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.825099893 meters 0.02218511997759356 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.18, Z:-0.17 [[ 9.99496517e-01 -3.17032804e-02 -1.27099708e-03 1.40936259e+00] [ 3.17032416e-02 9.99497325e-01 -5.06875717e-05 -1.79851436e-01] [ 1.27196514e-03 1.03673239e-05 9.99999191e-01 -1.68503451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.855099893 meters 0.023985949442973973 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.16, Z:-0.17 [[ 9.99771991e-01 -2.12937075e-02 -1.59473048e-03 1.44013591e+00] [ 2.12936341e-02 9.99773263e-01 -6.29816332e-05 -1.64333371e-01] [ 1.59571001e-03 2.90096655e-05 9.99998726e-01 -1.68441751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.885099893 meters 0.025962936599488774 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.14, Z:-0.17 [[ 9.99914609e-01 -1.28657422e-02 -2.29081633e-03 1.47041433e+00] [ 1.28655695e-02 9.99917231e-01 -9.00882041e-05 -1.44524383e-01] [ 2.29178578e-03 6.06078545e-05 9.99997372e-01 -1.68604886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.915099893 meters 0.022039387204203915 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.14, Z:-0.17 [[ 9.99831787e-01 -1.82507111e-02 -1.81900938e-03 1.50252951e+00] [ 1.82506104e-02 9.99833441e-01 -7.19250462e-05 -1.44929773e-01] [ 1.82001909e-03 3.87149160e-05 9.99998343e-01 -1.73894139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.945099893 meters 0.02105034326912445 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.14, Z:-0.17 [[ 9.99737040e-01 -2.29172625e-02 -8.05630702e-04 1.53342813e+00] [ 2.29172441e-02 9.99737365e-01 -3.21580936e-05 -1.43071595e-01] [ 8.06156090e-04 1.36868019e-05 9.99999675e-01 -1.72670305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.975099893 meters 0.021007221034367453 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.13, Z:-0.17 [[ 9.99710356e-01 -2.35428678e-02 -4.99365991e-03 1.56519366e+00] [ 2.35421826e-02 9.99722825e-01 -1.95964089e-04 -1.34783499e-01] [ 4.99688935e-03 7.83456754e-05 9.99987512e-01 -1.74820765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.005099893 meters 0.020974206019986792 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.13, Z:-0.18 [[ 9.99757431e-01 -2.08063770e-02 -7.22313918e-03 1.59643779e+00] [ 2.08048767e-02 9.99783515e-01 -2.82792742e-04 -1.27781327e-01] [ 7.22745937e-03 1.32447625e-04 9.99973873e-01 -1.77600339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.035099893 meters 0.02176258119349309 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.12, Z:-0.17 [[ 9.99893649e-01 -1.45251531e-02 -1.30763213e-03 1.62604276e+00] [ 1.45250989e-02 9.99894504e-01 -5.09597475e-05 -1.18223549e-01] [ 1.30823437e-03 3.19608419e-05 9.99999144e-01 -1.71677601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.065099893 meters 0.022868111853141547 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.11, Z:-0.17 [[ 9.99941722e-01 -1.07851019e-02 4.84214210e-04 1.65561733e+00] [ 1.07850941e-02 9.99941839e-01 1.88703179e-05 -1.11020946e-01] [-4.84389566e-04 -1.36469223e-05 9.99999883e-01 -1.67344864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.095099893 meters 0.023663829589931483 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.11, Z:-0.17 [[ 9.99949383e-01 -8.87807657e-03 -4.73408887e-03 1.68645481e+00] [ 8.87729860e-03 9.99960579e-01 -1.85323414e-04 -1.07019554e-01] [ 4.73554756e-03 1.43288113e-04 9.99988777e-01 -1.71339753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1250998930000002 meters 0.02355572040449175 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.11, Z:-0.17 [[ 9.99886188e-01 -1.27899244e-02 -8.00175521e-03 1.71603509e+00] [ 1.27878457e-02 9.99918184e-01 -3.10894313e-04 -1.09594048e-01] [ 8.00507685e-03 2.08533719e-04 9.99967937e-01 -1.74682512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.155099893 meters 0.02039610439381999 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.11, Z:-0.17 [[ 9.99822518e-01 -1.78371731e-02 -6.06367307e-03 1.74671516e+00] [ 1.78360712e-02 9.99840897e-01 -2.35743314e-04 -1.12345817e-01] [ 6.06691332e-03 1.27549369e-04 9.99981588e-01 -1.70774002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.185099893 meters 0.019087545544600244 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.12, Z:-0.17 [[ 9.99557688e-01 -2.88029818e-02 -7.40377815e-03 1.77743256e+00] [ 2.88016398e-02 9.99585105e-01 -2.87843882e-04 -1.23697514e-01] [ 7.40899713e-03 7.44756141e-05 9.99972550e-01 -1.71459412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.215099893 meters 0.017690912467720157 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.13, Z:-0.17 [[ 9.99181271e-01 -4.00691365e-02 -5.59042456e-03 1.80937730e+00] [ 4.00685400e-02 9.99196910e-01 -2.18709832e-04 -1.34698172e-01] [ 5.59469846e-03 -5.46938225e-06 9.99984350e-01 -1.68324224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.245099893 meters 0.0187894241974473 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.14, Z:-0.17 [[ 9.98930758e-01 -4.58229506e-02 -6.13167596e-03 1.84114631e+00] [ 4.58223563e-02 9.98949576e-01 -2.37438774e-04 -1.38922115e-01] [ 6.13611524e-03 -4.37829459e-05 9.99981173e-01 -1.68648456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.275099893 meters 0.021309702773694553 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.15, Z:-0.17 [[ 9.98490704e-01 -5.42752736e-02 -8.39696340e-03 1.87224850e+00] [ 5.42744609e-02 9.98526002e-01 -3.24797684e-04 -1.47922173e-01] [ 8.40221478e-03 -1.31433193e-04 9.99964692e-01 -1.72277546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.305099893 meters 0.02329032920492984 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.15, Z:-0.17 [[ 9.98146583e-01 -6.01900568e-02 -8.97527951e-03 1.90231425e+00] [ 6.01893800e-02 9.98186916e-01 -3.45749587e-04 -1.52023694e-01] [ 8.97981726e-03 -1.95107740e-04 9.99959662e-01 -1.72209626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.335099893 meters 0.02682558227244724 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.15, Z:-0.17 [[ 9.97769595e-01 -6.60532791e-02 -9.63329637e-03 1.93266895e+00] [ 6.60527720e-02 9.97816062e-01 -3.71139113e-04 -1.50938038e-01] [ 9.63677280e-03 -2.65994607e-04 9.99953530e-01 -1.71281021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.365099893 meters 0.027007501645111318 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.14, Z:-0.17 [[ 9.97709856e-01 -6.67763179e-02 -1.07688198e-02 1.96418544e+00] [ 6.67757275e-02 9.97767924e-01 -4.14773935e-04 -1.43675078e-01] [ 1.07724801e-02 -3.05271735e-04 9.99941929e-01 -1.71541819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.395099893 meters 0.02587649771936783 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.14, Z:-0.17 [[ 9.97823507e-01 -6.48609324e-02 -1.18873157e-02 1.99629901e+00] [ 6.48600866e-02 9.97894263e-01 -4.57063568e-04 -1.35683008e-01] [ 1.18919297e-02 -3.14943550e-04 9.99929239e-01 -1.73387173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.425099893 meters 0.024462330965190796 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.12, Z:-0.18 [[ 9.97945951e-01 -6.24069302e-02 -1.44655785e-02 2.02793593e+00] [ 6.24054350e-02 9.98050727e-01 -5.55167448e-04 -1.20686457e-01] [ 1.44720274e-02 -3.48703611e-04 9.99895214e-01 -1.75227275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.455099893 meters 0.024125774928793323 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.11, Z:-0.17 [[ 9.98005703e-01 -6.12768045e-02 -1.51581638e-02 2.05929893e+00] [ 6.12750468e-02 9.98120750e-01 -5.80805346e-04 -1.09692827e-01] [ 1.51652677e-02 -3.49170150e-04 9.99884940e-01 -1.73928702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.485099893 meters 0.023791548467137907 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.10, Z:-0.17 [[ 9.97937366e-01 -6.20705660e-02 -1.63786061e-02 2.09042810e+00] [ 6.20686395e-02 9.98071687e-01 -6.26423042e-04 -9.92975270e-02] [ 1.63859054e-02 -3.91466837e-04 9.99865665e-01 -1.72541110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.515099893 meters 0.02823719706042915 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.09, Z:-0.18 [[ 9.97367817e-01 -6.88367154e-02 -2.27803604e-02 2.12103108e+00] [ 6.88347860e-02 9.97627694e-01 -8.69759105e-04 -9.27625282e-02] [ 2.27861898e-02 -7.00611495e-04 9.99740116e-01 -1.78136116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.545099893 meters 0.0324002048770199 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.09, Z:-0.18 [[ 9.96902596e-01 -7.46442201e-02 -2.47680258e-02 2.15055429e+00] [ 7.46437262e-02 9.97209817e-01 -9.45762236e-04 -9.08638192e-02] [ 2.47695142e-02 -9.05944908e-04 9.99692778e-01 -1.80385190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.575099893 meters 0.03637928316703805 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.09, Z:-0.18 [[ 9.96468338e-01 -7.98548276e-02 -2.59626318e-02 2.18041280e+00] [ 7.98560419e-02 9.96805913e-01 -9.91698590e-04 -8.92428085e-02] [ 2.59588968e-02 -1.08507677e-03 9.99662422e-01 -1.80751879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6050998929999998 meters 0.039221043446573615 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.08, Z:-0.18 [[ 9.96081319e-01 -8.40700782e-02 -2.74632221e-02 2.21046919e+00] [ 8.40730327e-02 9.96459043e-01 -1.04912943e-03 -8.18525211e-02] [ 2.74541764e-02 -1.26389815e-03 9.99622264e-01 -1.80382965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.635099893 meters 0.04059107679241509 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.07, Z:-0.18 [[ 9.95882569e-01 -8.64159111e-02 -2.73897736e-02 2.24146273e+00] [ 8.64197476e-02 9.96258266e-01 -1.04585173e-03 -7.45815325e-02] [ 2.73776666e-02 -1.32547181e-03 9.99624283e-01 -1.77503105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.665099893 meters 0.04151437136665746 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.07, Z:-0.17 [[ 9.95963630e-01 -8.64881685e-02 -2.40050878e-02 2.27202982e+00] [ 8.64911546e-02 9.96252198e-01 -9.15791769e-04 -6.85947265e-02] [ 2.39943267e-02 -1.16413247e-03 9.99711417e-01 -1.72484880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.695099893 meters 0.0416367038112032 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.06, Z:-0.17 [[ 9.96102155e-01 -8.55266885e-02 -2.15796569e-02 2.30210806e+00] [ 8.55288891e-02 9.96335351e-01 -8.22648595e-04 -6.15652897e-02] [ 2.15709335e-02 -1.02624205e-03 9.99766794e-01 -1.69007929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.725099893 meters 0.04213622280427251 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.06, Z:-0.17 [[ 9.96128459e-01 -8.51355583e-02 -2.19096027e-02 2.33325431e+00] [ 8.51377453e-02 9.96368841e-01 -8.34641089e-04 -5.72549675e-02] [ 2.19011031e-02 -1.03392443e-03 9.99759607e-01 -1.69155557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.755099893 meters 0.04328186499590298 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.06, Z:-0.17 [[ 9.96043297e-01 -8.60783579e-02 -2.20967626e-02 2.36408991e+00] [ 8.60808433e-02 9.96287801e-01 -8.40435923e-04 -5.53814086e-02] [ 2.20870784e-02 -1.06499739e-03 9.99755483e-01 -1.68734444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.785099893 meters 0.04329529647460657 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.05, Z:-0.17 [[ 9.96144250e-01 -8.47440637e-02 -2.26952903e-02 2.39610363e+00] [ 8.47463772e-02 9.96402182e-01 -8.61573161e-04 -5.10621461e-02] [ 2.26866500e-02 -1.06509248e-03 9.99742057e-01 -1.69029285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.815099893 meters 0.041594666719395004 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.05, Z:-0.17 [[ 9.96294630e-01 -8.28764016e-02 -2.29893866e-02 2.42779999e+00] [ 8.28783056e-02 9.96559294e-01 -8.71592120e-04 -4.73908335e-02] [ 2.29825213e-02 -1.03695886e-03 9.99735329e-01 -1.68782937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.845099893 meters 0.03751336689012356 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.04, Z:-0.17 [[ 9.96745075e-01 -7.71710056e-02 -2.33214881e-02 2.45712812e+00] [ 7.71714145e-02 9.97017448e-01 -8.83805982e-04 -3.84096028e-02] [ 2.33201347e-02 -9.18822967e-04 9.99727626e-01 -1.68772673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.875099893 meters 0.03407795148806213 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.03, Z:-0.17 [[ 9.97075488e-01 -7.22180937e-02 -2.50003821e-02 2.48808323e+00] [ 7.22170090e-02 9.97388493e-01 -9.47434647e-04 -3.00767569e-02] [ 2.50035153e-02 -8.60788955e-04 9.99686993e-01 -1.70699539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.905099893 meters 0.028850789481591234 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.02, Z:-0.17 [[ 9.97485421e-01 -6.60563465e-02 -2.56786591e-02 2.51888222e+00] [ 6.60531710e-02 9.97815630e-01 -9.72789584e-04 -2.13570287e-02] [ 2.56868264e-02 -7.25813436e-04 9.99669776e-01 -1.72235124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.935099893 meters 0.026279806110448344 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.01, Z:-0.17 [[ 9.97734967e-01 -6.24107347e-02 -2.50965290e-02 2.55025491e+00] [ 6.24065659e-02 9.98050358e-01 -9.50057683e-04 -1.42806861e-02] [ 2.51068936e-02 -6.18282420e-04 9.99684581e-01 -1.69883687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.965099893 meters 0.01941949445824761 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.00, Z:-0.16 [[ 9.97761714e-01 -6.15034881e-02 -2.62465898e-02 2.58210804e+00] [ 6.14986527e-02 9.98106673e-01 -9.92158020e-04 -1.12779031e-03] [ 2.62579176e-02 -6.24192626e-04 9.99655007e-01 -1.64668531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.995099893 meters 0.02173897596010375 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.00, Z:-0.17 [[ 9.97513296e-01 -6.43517226e-02 -2.87416013e-02 2.61359627e+00] [ 6.43471465e-02 9.97926985e-01 -1.08505793e-03 -3.89686144e-03] [ 2.87518449e-02 -7.67080315e-04 9.99586286e-01 -1.69067886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.025099892999999 meters 0.02428473905856077 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.01, Z:-0.17 [[ 9.97162945e-01 -6.80283143e-02 -3.22212558e-02 2.64448303e+00] [ 6.80245059e-02 9.97682910e-01 -1.21565514e-03 -6.66272120e-03] [ 3.22292952e-02 -9.79628747e-04 9.99480021e-01 -1.73042188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0550998929999995 meters 0.027289334334496252 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.01, Z:-0.17 [[ 9.96786844e-01 -7.31611665e-02 -3.26102864e-02 2.67509775e+00] [ 7.31600250e-02 9.97319457e-01 -1.22980779e-03 -9.45826725e-03] [ 3.26128472e-02 -1.15991314e-03 9.99467387e-01 -1.72210419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.085099893 meters 0.029317206830869365 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.01, Z:-0.17 [[ 9.96508042e-01 -7.71562131e-02 -3.19161699e-02 2.70573866e+00] [ 7.71571803e-02 9.97018215e-01 -1.20312767e-03 -1.49679372e-02] [ 3.19138315e-02 -1.26363527e-03 9.99489825e-01 -1.71889309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.115099892999999 meters 0.031020770452616503 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.02, Z:-0.17 [[ 9.96394517e-01 -7.88099482e-02 -3.14159073e-02 2.73714125e+00] [ 7.88117395e-02 9.96888815e-01 -1.18318381e-03 -1.84943542e-02] [ 3.14114133e-02 -1.29702445e-03 9.99505698e-01 -1.72898056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.145099892999999 meters 0.03132840755561282 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.02, Z:-0.17 [[ 9.96486011e-01 -7.88765285e-02 -2.81801982e-02 2.76868207e+00] [ 7.88780370e-02 9.96883710e-01 -1.05982071e-03 -1.79179752e-02] [ 2.81759756e-02 -1.16670221e-03 9.99602298e-01 -1.67990980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.175099893 meters 0.029405782640057415 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.01, Z:-0.16 [[ 9.96869401e-01 -7.55762805e-02 -2.32297915e-02 2.79805405e+00] [ 7.55764240e-02 9.97139630e-01 -8.73010951e-04 -1.20015561e-02] [ 2.32293247e-02 -8.85346671e-04 9.99729771e-01 -1.58787210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.205099893 meters 0.029435344178925623 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.01, Z:-0.16 [[ 9.97038226e-01 -7.32587801e-02 -2.34078438e-02 2.82843844e+00] [ 7.32582919e-02 9.97312614e-01 -8.79533254e-04 -1.08975524e-02] [ 2.34093714e-02 -8.37890380e-04 9.99725612e-01 -1.60418697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.235099892999999 meters 0.02907264119608661 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.02, Z:-0.17 [[ 9.96913132e-01 -7.33986536e-02 -2.78719255e-02 2.86006299e+00] [ 7.33980435e-02 9.97302177e-01 -1.04634102e-03 -1.52438908e-02] [ 2.78735320e-02 -1.00263369e-03 9.99610955e-01 -1.67314745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2650998929999995 meters 0.031691647704495715 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.02, Z:-0.17 [[ 9.96760620e-01 -7.49067213e-02 -2.92788167e-02 2.89168810e+00] [ 7.49067376e-02 9.97189940e-01 -1.09781090e-03 -1.81032100e-02] [ 2.92787748e-02 -1.09892597e-03 9.99570681e-01 -1.70035036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.295099893 meters 0.03273339799469029 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.02, Z:-0.17 [[ 9.96718611e-01 -7.43254672e-02 -3.20583237e-02 2.92370274e+00] [ 7.43252452e-02 9.97233331e-01 -1.20025472e-03 -1.57137237e-02] [ 3.20588384e-02 -1.18642655e-03 9.99485279e-01 -1.72494227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.325099893 meters 0.03132812645429246 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.01, Z:-0.17 [[ 9.96866095e-01 -7.23024581e-02 -3.20989469e-02 2.95433191e+00] [ 7.23012304e-02 9.97382119e-01 -1.20046145e-03 -1.35680101e-02] [ 3.21017120e-02 -1.12409404e-03 9.99483975e-01 -1.72035839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.355099892999999 meters 0.03169505362762149 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.01, Z:-0.17 [[ 9.96997257e-01 -7.13955612e-02 -2.99857259e-02 2.98581537e+00] [ 7.13941048e-02 9.97447556e-01 -1.12057619e-03 -1.35014938e-02] [ 2.99891932e-02 -1.02359267e-03 9.99549699e-01 -1.70873488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.385099893 meters 0.031184242624261442 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.01, Z:-0.17 [[ 9.97037061e-01 -7.17628046e-02 -2.76983421e-02 3.01706474e+00] [ 7.17617303e-02 9.97421267e-01 -1.03409851e-03 -1.44207052e-02] [ 2.77011253e-02 -9.56646422e-04 9.99615792e-01 -1.67163361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.415099893 meters 0.03323307542611169 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.01, Z:-0.17 [[ 9.96943384e-01 -7.16638153e-02 -3.11157070e-02 3.04805561e+00] [ 7.16624568e-02 9.97428266e-01 -1.16027807e-03 -1.43130285e-02] [ 3.11188357e-02 -1.07309646e-03 9.99515116e-01 -1.73085179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.445099892999999 meters 0.020906411148210558 Centerline is valid? [True, True] Translation: X:3.08, Y:0.00, Z:-0.16 [[ 9.97029486e-01 -6.97224465e-02 -3.27258874e-02 3.07909355e+00] [ 6.97199665e-02 9.97565858e-01 -1.21829700e-03 4.48080319e-03] [ 3.27311706e-02 -1.06696974e-03 9.99463622e-01 -1.64853074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.475099892999999 meters 0.02989787552425605 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.01, Z:-0.17 [[ 9.97329508e-01 -6.64534630e-02 -3.02950372e-02 3.10981785e+00] [ 6.64498647e-02 9.97789129e-01 -1.12665619e-03 -5.82862812e-03] [ 3.03029290e-02 -8.89453664e-04 9.99540365e-01 -1.69984065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.505099893 meters 0.018177813532535485 Centerline is valid? [True, True] Translation: X:3.14, Y:0.01, Z:-0.15 [[ 9.97603653e-01 -6.37740533e-02 -2.68294958e-02 3.14048245e+00] [ 6.37702880e-02 9.97964106e-01 -9.96806580e-04 1.38343038e-02] [ 2.68384442e-02 -7.16506790e-04 9.99639527e-01 -1.53041067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.535099893 meters 0.017916542557437232 Centerline is valid? [True, True] Translation: X:3.17, Y:0.02, Z:-0.15 [[ 9.97830275e-01 -6.01201455e-02 -2.68386032e-02 3.17216996e+00] [ 6.01150954e-02 9.98190956e-01 -9.95704496e-04 1.71697458e-02] [ 2.68499129e-02 -6.19861103e-04 9.99639284e-01 -1.53047380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.565099892999999 meters 0.018252805453855804 Centerline is valid? [True, True] Translation: X:3.20, Y:0.02, Z:-0.16 [[ 9.98007896e-01 -5.64885298e-02 -2.80942348e-02 3.20347602e+00] [ 5.64816015e-02 9.98403098e-01 -1.04074577e-03 2.03496105e-02] [ 2.81081613e-02 -5.48134876e-04 9.99604737e-01 -1.55908655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5950998929999995 meters 0.01753020194869142 Centerline is valid? [True, True] Translation: X:3.24, Y:0.03, Z:-0.15 [[ 9.98229819e-01 -5.28457631e-02 -2.72865033e-02 3.23539511e+00] [ 5.28379137e-02 9.98602592e-01 -1.00910515e-03 2.69095395e-02] [ 2.73016998e-02 -4.34443057e-04 9.99627145e-01 -1.54788372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.625099893 meters 0.01657291383151549 Centerline is valid? [True, True] Translation: X:3.27, Y:0.03, Z:-0.15 [[ 9.98556247e-01 -4.74180258e-02 -2.52379025e-02 3.26685455e+00] [ 4.74096156e-02 9.98875097e-01 -9.31823902e-04 3.41300111e-02] [ 2.52536976e-02 -2.66040677e-04 9.99681039e-01 -1.52240151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.655099892999999 meters 0.01624887871817927 Centerline is valid? [True, True] Translation: X:3.30, Y:0.04, Z:-0.15 [[ 9.98883214e-01 -4.03404738e-02 -2.45961442e-02 3.29853871e+00] [ 4.03303723e-02 9.99185988e-01 -9.06819195e-04 4.11909122e-02] [ 2.46127042e-02 -8.61651825e-05 9.99697058e-01 -1.53093206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685099892999999 meters 0.01559739509247863 Centerline is valid? [True, True] Translation: X:3.33, Y:0.05, Z:-0.15 [[ 9.99092702e-01 -3.46393871e-02 -2.47766973e-02 3.32999339e+00] [ 3.46274225e-02 9.99399875e-01 -9.11903446e-04 4.89576185e-02] [ 2.47934160e-02 5.31229122e-05 9.99692595e-01 -1.53501242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.715099893 meters 0.016242777577569638 Centerline is valid? [True, True] Translation: X:3.36, Y:0.06, Z:-0.15 [[ 9.99194033e-01 -3.28061887e-02 -2.31308940e-02 3.36012378e+00] [ 3.27952939e-02 9.99461728e-01 -8.50297235e-04 5.60393729e-02] [ 2.31463383e-02 9.10274574e-05 9.99732083e-01 -1.53394182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745099893 meters 0.016242777577569638 Centerline is valid? [True, True] Translation: X:3.39, Y:0.06, Z:-0.15 [[ 9.99195185e-01 -3.27710565e-02 -2.31309161e-02 3.39095234e+00] [ 3.27601661e-02 9.99462881e-01 -8.49696685e-04 5.71434846e-02] [ 2.31463375e-02 9.12401842e-05 9.99732083e-01 -1.53012748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.775099892999999 meters 0.015421755464439763 Centerline is valid? [True, True] Translation: X:3.42, Y:0.06, Z:-0.15 [[ 9.99044629e-01 -3.72484945e-02 -2.28555964e-02 3.42216592e+00] [ 3.72390516e-02 9.99306034e-01 -8.38778630e-04 5.96994662e-02] [ 2.28709786e-02 -1.31434473e-05 9.99738425e-01 -1.52531641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8050998929999995 meters 0.015733752870522574 Centerline is valid? [True, True] Translation: X:3.45, Y:0.06, Z:-0.15 [[ 9.98754277e-01 -4.39515175e-02 -2.36253671e-02 3.45441385e+00] [ 4.39433321e-02 9.99033650e-01 -8.65766277e-04 5.61773427e-02] [ 2.36405885e-02 -1.73489580e-04 9.99720507e-01 -1.54329949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.835099893 meters 0.018296507641702618 Centerline is valid? [True, True] Translation: X:3.49, Y:0.05, Z:-0.15 [[ 9.98418694e-01 -5.10453677e-02 -2.35474234e-02 3.48587385e+00] [ 5.10392428e-02 9.98696277e-01 -8.61430567e-04 5.24783158e-02] [ 2.35606962e-02 -3.41774281e-04 9.99722350e-01 -1.54455895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865099892999999 meters 0.01600884687027597 Centerline is valid? [True, True] Translation: X:3.52, Y:0.05, Z:-0.15 [[ 9.98153652e-01 -5.69593588e-02 -2.10930900e-02 3.51813784e+00] [ 5.69557892e-02 9.98376404e-01 -7.70431517e-04 5.10072014e-02] [ 2.11027267e-02 -4.32364557e-04 9.99777219e-01 -1.47971468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.895099892999999 meters 0.01750442150849444 Centerline is valid? [True, True] Translation: X:3.55, Y:0.05, Z:-0.15 [[ 9.98206411e-01 -5.61405555e-02 -2.07893884e-02 3.54994386e+00] [ 5.61369410e-02 9.98422791e-01 -7.57872169e-04 5.11311865e-02] [ 2.07991465e-02 -4.10539810e-04 9.99783590e-01 -1.48971829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925099893 meters 0.015132652258263225 Centerline is valid? [True, True] Translation: X:3.58, Y:0.05, Z:-0.14 [[ 9.98501573e-01 -5.28168868e-02 -1.43173217e-02 3.58144279e+00] [ 5.28148404e-02 9.98604186e-01 -5.21258128e-04 5.22928950e-02] [ 1.43248686e-02 -2.35689998e-04 9.99897366e-01 -1.43268991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.955099893 meters 0.016534241631248208 Centerline is valid? [True, True] Translation: X:3.61, Y:0.05, Z:-0.14 [[ 9.98667616e-01 -5.03811471e-02 -1.11684095e-02 3.61369559e+00] [ 5.03797525e-02 9.98730051e-01 -4.06352215e-04 5.47646278e-02] [ 1.11746987e-02 -1.56850911e-04 9.99937549e-01 -1.42259606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.985099892999999 meters 0.016853218358210187 Centerline is valid? [True, True] Translation: X:3.65, Y:0.05, Z:-0.15 [[ 9.98401108e-01 -5.33077688e-02 -1.88018394e-02 3.64512308e+00] [ 5.33043693e-02 9.98578078e-01 -6.82271184e-04 5.45649007e-02] [ 1.88114751e-02 -3.21039887e-04 9.99822997e-01 -1.48109786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0150998929999995 meters 0.018837044829184395 Centerline is valid? [True, True] Translation: X:3.68, Y:0.05, Z:-0.16 [[ 9.97887996e-01 -5.89977718e-02 -2.71810709e-02 3.67502395e+00] [ 5.89928022e-02 9.98257922e-01 -9.85387846e-04 5.21519442e-02] [ 2.71918550e-02 -6.20180835e-04 9.99630041e-01 -1.55966305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.045099893 meters 0.019395704754033325 Centerline is valid? [True, True] Translation: X:3.71, Y:0.05, Z:-0.16 [[ 9.97470911e-01 -6.31695400e-02 -3.25789838e-02 3.70604153e+00] [ 6.31646504e-02 9.98002422e-01 -1.18028411e-03 4.96273352e-02] [ 3.25884627e-02 -8.80541054e-04 9.99468467e-01 -1.59507740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.075099892999999 meters 0.020137197109603912 Centerline is valid? [True, True] Translation: X:3.74, Y:0.04, Z:-0.16 [[ 9.97363162e-01 -6.42743775e-02 -3.36975767e-02 3.73848925e+00] [ 6.42698454e-02 9.97931812e-01 -1.21877572e-03 4.33527919e-02] [ 3.37062198e-02 -9.50176033e-04 9.99431332e-01 -1.61282795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.105099892999999 meters 0.020009430971687184 Centerline is valid? [True, True] Translation: X:3.77, Y:0.04, Z:-0.16 [[ 9.97321577e-01 -6.50175077e-02 -3.35021605e-02 3.77101883e+00] [ 6.50135273e-02 9.97883650e-01 -1.20930286e-03 4.30159829e-02] [ 3.35098841e-02 -9.72029792e-04 9.99437913e-01 -1.58696510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.135099893 meters 0.02054550437677055 Centerline is valid? [True, True] Translation: X:3.80, Y:0.04, Z:-0.16 [[ 9.96972255e-01 -6.92600303e-02 -3.53464284e-02 3.80224850e+00] [ 6.92583252e-02 9.97597946e-01 -1.27410804e-03 4.39203956e-02] [ 3.53497691e-02 -1.17778406e-03 9.99374308e-01 -1.56514530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.165099893 meters 0.022266243401363604 Centerline is valid? [True, True] Translation: X:3.83, Y:0.04, Z:-0.16 [[ 9.96516772e-01 -7.45208914e-02 -3.74293871e-02 3.83189870e+00] [ 7.45227309e-02 9.97218404e-01 -1.34795382e-03 4.25374510e-02] [ 3.74257244e-02 -1.44608156e-03 9.99298366e-01 -1.55613218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.195099892999999 meters 0.023624034018250976 Centerline is valid? [True, True] Translation: X:3.86, Y:0.04, Z:-0.16 [[ 9.96335072e-01 -7.60408176e-02 -3.91691066e-02 3.86357366e+00] [ 7.60440789e-02 9.97103462e-01 -1.40875300e-03 4.26862390e-02] [ 3.91627745e-02 -1.57498861e-03 9.99231603e-01 -1.57219041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.225099892999999 meters 0.022799606647457026 Centerline is valid? [True, True] Translation: X:3.90, Y:0.04, Z:-0.15 [[ 9.96505683e-01 -7.50518186e-02 -3.66558106e-02 3.89552066e+00] [ 7.50540764e-02 9.97178596e-01 -1.31639325e-03 4.16607213e-02] [ 3.66511875e-02 -1.43937466e-03 9.99327083e-01 -1.54819594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.255099893 meters 0.021876137715277032 Centerline is valid? [True, True] Translation: X:3.93, Y:0.04, Z:-0.15 [[ 9.97014007e-01 -7.11276660e-02 -3.00653427e-02 3.92613486e+00] [ 7.11274167e-02 9.97466654e-01 -1.07912271e-03 4.26704223e-02] [ 3.00659323e-02 -1.06256970e-03 9.99547353e-01 -1.49049927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285099892999999 meters 0.022313890917256184 Centerline is valid? [True, True] Translation: X:3.96, Y:0.04, Z:-0.15 [[ 9.97237931e-01 -6.91933036e-02 -2.69961998e-02 3.95634726e+00] [ 6.91924013e-02 9.97602864e-01 -9.68677312e-04 4.28725671e-02] [ 2.69985122e-02 -9.01930134e-04 9.99635067e-01 -1.45842931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.315099892999999 meters 0.020488769960608486 Centerline is valid? [True, True] Translation: X:3.99, Y:0.04, Z:-0.14 [[ 9.97251334e-01 -6.95616866e-02 -2.55136869e-02 3.98852142e+00] [ 6.95610305e-02 9.97577279e-01 -9.14315201e-04 4.42597517e-02] [ 2.55154756e-02 -8.62956297e-04 9.99674055e-01 -1.42748075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3450998929999995 meters 0.021829010468411358 Centerline is valid? [True, True] Translation: X:4.02, Y:0.04, Z:-0.14 [[ 9.97004324e-01 -7.25508968e-02 -2.68094309e-02 4.01861030e+00] [ 7.25513118e-02 9.97364221e-01 -9.58510168e-04 3.94469567e-02] [ 2.68083079e-02 -9.89420595e-04 9.99640103e-01 -1.44598512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.375099893 meters 0.023349628745085567 Centerline is valid? [True, True] Translation: X:4.05, Y:0.03, Z:-0.14 [[ 9.96625377e-01 -7.76376440e-02 -2.66505961e-02 4.04999808e+00] [ 7.76399050e-02 9.96981013e-01 -9.51473415e-04 3.31427170e-02] [ 2.66440085e-02 -1.12088720e-03 9.99644357e-01 -1.44167229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.405099892999999 meters 0.028560761584975308 Centerline is valid? [True, True] Translation: X:4.08, Y:0.03, Z:-0.14 [[ 9.96244208e-01 -8.31913592e-02 -2.40140748e-02 4.08024637e+00] [ 8.31948082e-02 9.96532934e-01 -8.57145607e-04 2.51413376e-02] [ 2.40021235e-02 -1.14392000e-03 9.99711253e-01 -1.41007485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.435099892999999 meters 0.02610705167709992 Centerline is valid? [True, True] Translation: X:4.11, Y:0.03, Z:-0.14 [[ 9.96342280e-01 -8.28735751e-02 -2.08334197e-02 4.11242726e+00] [ 8.28761133e-02 9.96559581e-01 -7.43017278e-04 2.66274831e-02] [ 2.08233205e-02 -9.86293319e-04 9.99782685e-01 -1.36301852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465099893 meters 0.025708872086860953 Centerline is valid? [True, True] Translation: X:4.14, Y:0.03, Z:-0.13 [[ 9.96858533e-01 -7.73095642e-02 -1.72132912e-02 4.14240762e+00] [ 7.73104794e-02 9.97006877e-01 -6.13256845e-04 2.68529849e-02] [ 1.72091803e-02 -7.19437477e-04 9.99851652e-01 -1.34492531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.495099893 meters 0.01972843775461292 Centerline is valid? [True, True] Translation: X:4.17, Y:0.04, Z:-0.13 [[ 9.97937933e-01 -6.35310218e-02 -9.14826250e-03 4.17300647e+00] [ 6.35307000e-02 9.97979831e-01 -3.26070179e-04 3.57412143e-02] [ 9.15049703e-03 -2.55797720e-04 9.99958101e-01 -1.29049961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.525099892999999 meters 0.018834174669976528 Centerline is valid? [True, True] Translation: X:4.20, Y:0.04, Z:-0.13 [[ 9.98364203e-01 -5.65606743e-02 -8.35515916e-03 4.20334458e+00] [ 5.65601632e-02 9.98399148e-01 -2.97636239e-04 4.04062702e-02] [ 8.35861830e-03 -1.75419799e-04 9.99965051e-01 -1.29259416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5550998929999995 meters 0.018355136719794083 Centerline is valid? [True, True] Translation: X:4.24, Y:0.04, Z:-0.13 [[ 9.98440604e-01 -5.50432771e-02 -9.30575250e-03 4.23584019e+00] [ 5.50425752e-02 9.98483953e-01 -3.31712798e-04 3.73838552e-02] [ 9.30990311e-03 -1.81017056e-04 9.99956646e-01 -1.32603562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.585099893 meters 0.018646451322686552 Centerline is valid? [True, True] Translation: X:4.27, Y:0.03, Z:-0.14 [[ 9.98137696e-01 -6.01934073e-02 -9.89416355e-03 4.26811871e+00] [ 6.01928740e-02 9.98186703e-01 -3.51944584e-04 3.00432736e-02] [ 9.89740724e-03 -2.44268984e-04 9.99950990e-01 -1.35746409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.615099892999999 meters 0.02056233823421722 Centerline is valid? [True, True] Translation: X:4.30, Y:0.02, Z:-0.14 [[ 9.97641342e-01 -6.75281814e-02 -1.23165629e-02 4.29859627e+00] [ 6.75279269e-02 9.97717289e-01 -4.37013687e-04 1.95493128e-02] [ 1.23179585e-02 -3.95729040e-04 9.99924053e-01 -1.39262284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.645099892999999 meters 0.02356632774196459 Centerline is valid? [True, True] Translation: X:4.33, Y:0.01, Z:-0.14 [[ 9.97025906e-01 -7.46880893e-02 -1.90008676e-02 4.32967579e+00] [ 7.46888059e-02 9.97206663e-01 -6.72915177e-04 1.37781430e-02] [ 1.89980505e-02 -7.48238245e-04 9.99819241e-01 -1.44226034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.675099893 meters 0.025051465404501056 Centerline is valid? [True, True] Translation: X:4.36, Y:0.01, Z:-0.15 [[ 9.96524917e-01 -7.89996099e-02 -2.64036366e-02 4.36097469e+00] [ 7.90025154e-02 9.96873978e-01 -9.34733229e-04 1.04812038e-02] [ 2.63949418e-02 -1.15446875e-03 9.99650926e-01 -1.49238838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.705099893 meters 0.02786443948253758 Centerline is valid? [True, True] Translation: X:4.39, Y:0.01, Z:-0.15 [[ 9.96223733e-01 -8.15757750e-02 -2.97265483e-02 4.39258743e+00] [ 8.15806307e-02 9.96666190e-01 -1.05146712e-03 5.99452159e-03] [ 2.97132199e-02 -1.37761406e-03 9.99557515e-01 -1.51678704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.735099892999999 meters 0.024729857159060214 Centerline is valid? [True, True] Translation: X:4.42, Y:0.01, Z:-0.15 [[ 9.96534558e-01 -7.75759488e-02 -3.00141093e-02 4.42348911e+00] [ 7.75791106e-02 9.96985635e-01 -1.06089409e-03 5.79128955e-03] [ 3.00059357e-02 -1.27125029e-03 9.99548912e-01 -1.50038338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7650998929999995 meters 0.02198878705650992 Centerline is valid? [True, True] Translation: X:4.45, Y:0.01, Z:-0.15 [[ 9.97095191e-01 -6.93115760e-02 -3.15766717e-02 4.45409600e+00] [ 6.93109455e-02 9.97594481e-01 -1.11586386e-03 1.46959469e-02] [ 3.15780557e-02 -1.07598649e-03 9.99500710e-01 -1.47601559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.795099893 meters 0.019831483767591154 Centerline is valid? [True, True] Translation: X:4.48, Y:0.02, Z:-0.15 [[ 9.97951422e-01 -5.61303963e-02 -3.06975192e-02 4.48331016e+00] [ 5.61235551e-02 9.98423241e-01 -1.08512507e-03 2.47603740e-02] [ 3.07100251e-02 -6.39951802e-04 9.99528131e-01 -1.46408298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825099892999999 meters 0.016275139271699577 Centerline is valid? [True, True] Translation: X:4.51, Y:0.04, Z:-0.14 [[ 9.98917611e-01 -3.87811245e-02 -2.56832936e-02 4.51333578e+00] [ 3.87705929e-02 9.99247725e-01 -9.08075160e-04 3.57189598e-02] [ 2.56991889e-02 -8.86642526e-05 9.99669717e-01 -1.41663259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.855099892999999 meters 0.016225819225755923 Centerline is valid? [True, True] Translation: X:4.54, Y:0.05, Z:-0.14 [[ 9.99543888e-01 -2.18850575e-02 -2.08101170e-02 4.54234201e+00] [ 2.18744744e-02 9.99760454e-01 -7.36076869e-04 4.63415329e-02] [ 2.08212411e-02 2.80530764e-04 9.99783175e-01 -1.36257845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885099893 meters 0.018246828424333138 Centerline is valid? [True, True] Translation: X:4.57, Y:0.06, Z:-0.13 [[ 9.99805780e-01 -7.59358464e-03 -1.81862540e-02 4.57262229e+00] [ 7.58313163e-03 9.99971040e-01 -6.43667213e-04 5.77021984e-02] [ 1.81906150e-02 5.05633443e-04 9.99834409e-01 -1.32485340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.915099893 meters 0.019638891127122644 Centerline is valid? [True, True] Translation: X:4.60, Y:0.06, Z:-0.13 [[ 9.99793473e-01 -8.89353738e-03 -1.82733509e-02 4.60040285e+00] [ 8.88318622e-03 9.99960334e-01 -6.47555245e-04 5.76012884e-02] [ 1.82783851e-02 4.85095929e-04 9.99832819e-01 -1.34267563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945099892999999 meters 0.016826109311039162 Centerline is valid? [True, True] Translation: X:4.63, Y:0.05, Z:-0.13 [[ 9.99672712e-01 -1.89983360e-02 -1.71327786e-02 4.63035139e+00] [ 1.89906911e-02 9.99819475e-01 -6.08817771e-04 4.95877562e-02] [ 1.71412523e-02 2.83255207e-04 9.99853038e-01 -1.34360216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.975099892999999 meters 0.017092919295964862 Centerline is valid? [True, True] Translation: X:4.66, Y:0.04, Z:-0.14 [[ 9.99055452e-01 -3.78945791e-02 -2.12650852e-02 4.66033367e+00] [ 3.78870600e-02 9.99281741e-01 -7.56503969e-04 3.51019633e-02] [ 2.12784788e-02 -4.98821449e-05 9.99773586e-01 -1.37841204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005099893 meters 0.01761368421168315 Centerline is valid? [True, True] Translation: X:4.69, Y:0.03, Z:-0.14 [[ 9.98536246e-01 -4.77778300e-02 -2.53504267e-02 4.69155462e+00] [ 4.77703255e-02 9.98857939e-01 -9.01890218e-04 2.70982321e-02] [ 2.53645653e-02 -3.10428062e-04 9.99678219e-01 -1.40407337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.035099892999999 meters 0.017700960822108983 Centerline is valid? [True, True] Translation: X:4.72, Y:0.02, Z:-0.14 [[ 9.98313566e-01 -5.19867325e-02 -2.58341530e-02 4.72254941e+00] [ 5.19803652e-02 9.98647685e-01 -9.18409219e-04 2.43562253e-02] [ 2.58469622e-02 -4.26008326e-04 9.99665821e-01 -1.38377155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.065099892999999 meters 0.016521026986723985 Centerline is valid? [True, True] Translation: X:4.75, Y:0.04, Z:-0.13 [[ 9.99036341e-01 -3.80781176e-02 -2.18276377e-02 4.75266966e+00] [ 3.80702571e-02 9.99274764e-01 -7.75692341e-04 3.79928800e-02] [ 2.18413444e-02 -5.60389401e-05 9.99761448e-01 -1.31344481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0950998929999995 meters 0.016884902187210348 Centerline is valid? [True, True] Translation: X:4.78, Y:0.06, Z:-0.13 [[ 9.99653846e-01 -2.04373482e-02 -1.65681357e-02 4.78203713e+00] [ 2.04303963e-02 9.99791104e-01 -5.88760463e-04 5.53077079e-02] [ 1.65767074e-02 2.50063082e-04 9.99862566e-01 -1.26478807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.125099893 meters 0.02011577421291698 Centerline is valid? [True, True] Translation: X:4.81, Y:0.08, Z:-0.13 [[ 9.99833608e-01 -1.21619715e-03 -1.82010125e-02 4.81156623e+00] [ 1.20461779e-03 9.99999065e-01 -6.47142956e-04 7.58508051e-02] [ 1.82017825e-02 6.25110013e-04 9.99834138e-01 -1.29145960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.155099892999999 meters 0.020058680139904715 Centerline is valid? [True, True] Translation: X:4.84, Y:0.08, Z:-0.13 [[ 9.99880499e-01 5.86318893e-04 -1.54480821e-02 4.83999165e+00] [-5.94889855e-04 9.99999672e-01 -5.50234344e-04 8.27650322e-02] [ 1.54477545e-02 5.59358498e-04 9.99880520e-01 -1.27623686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.185099892999999 meters 0.018656103042583343 Centerline is valid? [True, True] Translation: X:4.87, Y:0.09, Z:-0.12 [[ 9.99899094e-01 -5.10400891e-03 -1.32570824e-02 4.86861925e+00] [ 5.09816127e-03 9.99986892e-01 -4.74853520e-04 8.73445921e-02] [ 1.32593323e-02 4.07218860e-04 9.99912008e-01 -1.23747020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.215099893 meters 0.018666089295855944 Centerline is valid? [True, True] Translation: X:4.90, Y:0.09, Z:-0.13 [[ 9.99744230e-01 -1.62513027e-02 -1.57279972e-02 4.89874466e+00] [ 1.62444417e-02 9.99867891e-01 -5.63887312e-04 8.63073313e-02] [ 1.57350833e-02 3.08250552e-04 9.99876148e-01 -1.26068411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245099893 meters 0.01554062096211359 Centerline is valid? [True, True] Translation: X:4.93, Y:0.08, Z:-0.13 [[ 9.99158926e-01 -3.55338652e-02 -2.04642425e-02 4.92889714e+00] [ 3.55262830e-02 9.99368473e-01 -7.34055113e-04 7.83614098e-02] [ 2.04774026e-02 6.41924968e-06 9.99790316e-01 -1.30771319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.275099892999999 meters 0.01652984167876133 Centerline is valid? [True, True] Translation: X:4.96, Y:0.08, Z:-0.13 [[ 9.98909025e-01 -4.11076881e-02 -2.21566658e-02 4.96042609e+00] [ 4.11001715e-02 9.99154715e-01 -7.94715166e-04 7.74411739e-02] [ 2.21706060e-02 -1.16794611e-04 9.99754195e-01 -1.32223106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3050998929999995 meters 0.018273093474583446 Centerline is valid? [True, True] Translation: X:4.99, Y:0.08, Z:-0.14 [[ 9.98371932e-01 -4.95148588e-02 -2.83154516e-02 4.99075658e+00] [ 4.95059929e-02 9.98773311e-01 -1.01448827e-03 7.59465273e-02] [ 2.83309496e-02 -3.88947931e-04 9.99598522e-01 -1.35385108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.335099893 meters 0.017096911861830814 Centerline is valid? [True, True] Translation: X:5.02, Y:0.09, Z:-0.14 [[ 9.98329534e-01 -4.43843288e-02 -3.69888325e-02 5.02152929e+00] [ 4.43657222e-02 9.99014479e-01 -1.32408401e-03 9.11495641e-02] [ 3.70111478e-02 -3.19164095e-04 9.99314802e-01 -1.36069862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365099892999999 meters 0.017257990210989615 Centerline is valid? [True, True] Translation: X:5.05, Y:0.11, Z:-0.13 [[ 9.98930895e-01 -3.26893276e-02 -3.26875219e-02 5.05109439e+00] [ 3.26685121e-02 9.99465556e-01 -1.17081328e-03 1.07154748e-01] [ 3.27083254e-02 1.01708855e-04 9.99464934e-01 -1.30150715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.395099892999999 meters 0.016209328245774812 Centerline is valid? [True, True] Translation: X:5.08, Y:0.13, Z:-0.12 [[ 9.99497548e-01 -1.77123305e-02 -2.62854329e-02 5.07815642e+00] [ 1.76936457e-02 9.99843010e-01 -9.43271340e-04 1.25016175e-01] [ 2.62980139e-02 4.77712253e-04 9.99654033e-01 -1.23264397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425099893 meters 0.017530860265024747 Centerline is valid? [True, True] Translation: X:5.11, Y:0.12, Z:-0.13 [[ 9.98444760e-01 -5.01663032e-02 -2.43187829e-02 5.10728391e+00] [ 5.01598775e-02 9.98740818e-01 -8.74547414e-04 1.16680038e-01] [ 2.43320340e-02 -3.46639889e-04 9.99703872e-01 -1.28212956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.455099893 meters 0.017865511302568728 Centerline is valid? [True, True] Translation: X:5.14, Y:0.10, Z:-0.14 [[ 9.98201132e-01 -5.21123134e-02 -2.96446770e-02 5.13955335e+00] [ 5.21036188e-02 9.98641115e-01 -1.06620931e-03 1.04789290e-01] [ 2.96599559e-02 -4.80303612e-04 9.99559931e-01 -1.36160436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.485099892999999 meters 0.015537769235773102 Centerline is valid? [True, True] Translation: X:5.17, Y:0.11, Z:-0.13 [[ 9.98515480e-01 -4.76523925e-02 -2.63834471e-02 5.17111609e+00] [ 4.76439839e-02 9.98863931e-01 -9.47590416e-04 1.11403938e-01] [ 2.63986286e-02 -3.10828830e-04 9.99651447e-01 -1.30492680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5150998929999995 meters 0.018055779373263966 Centerline is valid? [True, True] Translation: X:5.20, Y:0.12, Z:-0.13 [[ 9.98661802e-01 -4.49652330e-02 -2.55486517e-02 5.20187073e+00] [ 4.49565262e-02 9.98988525e-01 -9.15367422e-04 1.17408903e-01] [ 2.55639695e-02 -2.34436147e-04 9.99673161e-01 -1.28147682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545099893 meters 0.016469458978440602 Centerline is valid? [True, True] Translation: X:5.23, Y:0.12, Z:-0.12 [[ 9.98690642e-01 -4.50877959e-02 -2.41679952e-02 5.23395791e+00] [ 4.50800950e-02 9.98983002e-01 -8.63648656e-04 1.19914229e-01] [ 2.41823564e-02 -2.26977690e-04 9.99707538e-01 -1.24521622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.575099892999999 meters 0.016699856200917115 Centerline is valid? [True, True] Translation: X:5.27, Y:0.12, Z:-0.12 [[ 9.98666626e-01 -4.59824828e-02 -2.34644552e-02 5.26603273e+00] [ 4.59755086e-02 9.98942217e-01 -8.36896293e-04 1.20964469e-01] [ 2.34781174e-02 -2.43009861e-04 9.99724321e-01 -1.22945072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.605099892999999 meters 0.01603017229816355 Centerline is valid? [True, True] Translation: X:5.30, Y:0.12, Z:-0.12 [[ 9.98610879e-01 -4.72699587e-02 -2.32779447e-02 5.29865030e+00] [ 4.72634821e-02 9.98882113e-01 -8.28632678e-04 1.21106074e-01] [ 2.32910921e-02 -2.72715116e-04 9.99728689e-01 -1.21870701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.635099893 meters 0.01603017229816355 Centerline is valid? [True, True] Translation: X:5.33, Y:0.12, Z:-0.12 [[ 9.98614162e-01 -4.72005263e-02 -2.32780022e-02 5.33033107e+00] [ 4.71940685e-02 9.98885397e-01 -8.27014535e-04 1.22172827e-01] [ 2.32910920e-02 -2.72715205e-04 9.99728689e-01 -1.21478990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.665099893 meters 0.017674246611734345 Centerline is valid? [True, True] Translation: X:5.36, Y:0.12, Z:-0.12 [[ 9.98483035e-01 -4.91346437e-02 -2.48478313e-02 5.36296645e+00] [ 4.91279288e-02 9.98792106e-01 -8.80993462e-04 1.21256815e-01] [ 2.48611051e-02 -3.41065460e-04 9.99690857e-01 -1.23058043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.695099892999999 meters 0.01782981283558004 Centerline is valid? [True, True] Translation: X:5.39, Y:0.12, Z:-0.12 [[ 9.98352453e-01 -5.13853896e-02 -2.55327688e-02 5.39395656e+00] [ 5.13790909e-02 9.98678814e-01 -9.03095072e-04 1.19824554e-01] [ 2.55454412e-02 -4.10243269e-04 9.99673578e-01 -1.24204229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.725099892999999 meters 0.01868372245843692 Centerline is valid? [True, True] Translation: X:5.42, Y:0.12, Z:-0.13 [[ 9.98181430e-01 -5.46432403e-02 -2.54548534e-02 5.42497448e+00] [ 5.46380867e-02 9.98505820e-01 -8.98450425e-04 1.17099899e-01] [ 2.54659135e-02 -4.93987956e-04 9.99675569e-01 -1.25580602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.755099893 meters 0.01868372245843692 Centerline is valid? [True, True] Translation: X:5.46, Y:0.12, Z:-0.13 [[ 9.98185049e-01 -5.45770534e-02 -2.54549066e-02 5.45665872e+00] [ 5.45719168e-02 9.98509440e-01 -8.96941879e-04 1.18152871e-01] [ 2.54659169e-02 -4.93809068e-04 9.99675569e-01 -1.25188766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785099892999999 meters 0.018404226383051867 Centerline is valid? [True, True] Translation: X:5.49, Y:0.12, Z:-0.12 [[ 9.98135840e-01 -5.58127985e-02 -2.46936345e-02 5.48916578e+00] [ 5.58083827e-02 9.98441120e-01 -8.68483842e-04 1.20344973e-01] [ 2.47036126e-02 -5.11246958e-04 9.99694688e-01 -1.23097123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.815099892999999 meters 0.018569252707876564 Centerline is valid? [True, True] Translation: X:5.52, Y:0.13, Z:-0.12 [[ 9.98250699e-01 -5.51058845e-02 -2.14215659e-02 5.52131389e+00] [ 5.51024276e-02 9.98480424e-01 -7.52048247e-04 1.25366333e-01] [ 2.14304565e-02 -4.29647595e-04 9.99770249e-01 -1.20672349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8450998929999995 meters 0.01562077826660249 Centerline is valid? [True, True] Translation: X:5.55, Y:0.13, Z:-0.12 [[ 9.98906134e-01 -3.96063707e-02 -2.48570106e-02 5.55222324e+00] [ 3.95969516e-02 9.99215353e-01 -8.71218474e-04 1.31540737e-01] [ 2.48720124e-02 -1.13996365e-04 9.99690637e-01 -1.21903669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.875099893 meters 0.015644473041275715 Centerline is valid? [True, True] Translation: X:5.58, Y:0.13, Z:-0.12 [[ 9.99014434e-01 -3.77660918e-02 -2.33213005e-02 5.58402798e+00] [ 3.77573270e-02 9.99286605e-01 -8.16205914e-04 1.34435616e-01] [ 2.33354881e-02 -6.51484801e-05 9.99727688e-01 -1.19938741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905099892999999 meters 0.014062334389160207 Centerline is valid? [True, True] Translation: X:5.62, Y:0.14, Z:-0.12 [[ 9.99155268e-01 -3.51927281e-02 -2.12184586e-02 5.61501374e+00] [ 3.51849160e-02 9.99380544e-01 -7.41505894e-04 1.40088879e-01] [ 2.12314103e-02 -5.69016141e-06 9.99774588e-01 -1.16453988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.935099892999999 meters 0.015028430168051972 Centerline is valid? [True, True] Translation: X:5.65, Y:0.14, Z:-0.12 [[ 9.99159781e-01 -3.49867731e-02 -2.13461520e-02 5.64598732e+00] [ 3.49788390e-02 9.99387775e-01 -7.45062761e-04 1.42159354e-01] [ 2.13591507e-02 -2.22687011e-06 9.99771867e-01 -1.17164785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965099893 meters 0.015729917403743625 Centerline is valid? [True, True] Translation: X:5.68, Y:0.14, Z:-0.12 [[ 9.99148883e-01 -3.55529739e-02 -2.09163943e-02 5.67815324e+00] [ 3.55455060e-02 9.99367793e-01 -7.28826400e-04 1.43398462e-01] [ 2.09290827e-02 -1.52777355e-05 9.99780963e-01 -1.16783872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.995099892999999 meters 0.015717257749785263 Centerline is valid? [True, True] Translation: X:5.71, Y:0.14, Z:-0.12 [[ 9.99143536e-01 -3.63402792e-02 -1.97883671e-02 5.70894630e+00] [ 3.63337736e-02 9.99339473e-01 -6.88308843e-04 1.44644562e-01] [ 1.98003097e-02 -3.12667177e-05 9.99803954e-01 -1.15152106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.025099892999999 meters 0.015341639538574937 Centerline is valid? [True, True] Translation: X:5.74, Y:0.15, Z:-0.11 [[ 9.99107956e-01 -3.77714000e-02 -1.88842027e-02 5.74071774e+00] [ 3.77657513e-02 9.99286404e-01 -6.55782977e-04 1.45928313e-01] [ 1.88954969e-02 -5.79781124e-05 9.99821462e-01 -1.13157166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0550998929999995 meters 0.01484205613199489 Centerline is valid? [True, True] Translation: X:5.77, Y:0.15, Z:-0.11 [[ 9.99031994e-01 -3.99138580e-02 -1.84921339e-02 5.77316459e+00] [ 3.99088320e-02 9.99203120e-01 -6.40890549e-04 1.46154871e-01] [ 1.85029783e-02 -9.77293022e-05 9.99828800e-01 -1.11734392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085099893 meters 0.016465146564024275 Centerline is valid? [True, True] Translation: X:5.81, Y:0.15, Z:-0.11 [[ 9.98939493e-01 -4.18733050e-02 -1.91446123e-02 5.80571423e+00] [ 4.18683040e-02 9.99122919e-01 -6.62132751e-04 1.46084377e-01] [ 1.91555466e-02 -1.40121893e-04 9.99816506e-01 -1.12820882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.115099892999999 meters 0.01618774986089303 Centerline is valid? [True, True] Translation: X:5.84, Y:0.14, Z:-0.11 [[ 9.98654786e-01 -4.77376237e-02 -2.02420025e-02 5.83840459e+00] [ 4.77332671e-02 9.98859874e-01 -6.98604547e-04 1.42951839e-01] [ 2.02522738e-02 -2.68552137e-04 9.99794866e-01 -1.14384347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.145099892999999 meters 0.017386512223120022 Centerline is valid? [True, True] Translation: X:5.87, Y:0.14, Z:-0.12 [[ 9.98277306e-01 -5.27799738e-02 -2.56260564e-02 5.86877968e+00] [ 5.27746863e-02 9.98606055e-01 -8.83075862e-04 1.38770357e-01] [ 2.56369438e-02 -4.70852496e-04 9.99671209e-01 -1.19514211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.175099893 meters 0.02031567299644166 Centerline is valid? [True, True] Translation: X:5.90, Y:0.13, Z:-0.12 [[ 9.97806804e-01 -6.20807390e-02 -2.29687435e-02 5.89995897e+00] [ 6.20789609e-02 9.98070928e-01 -7.91123991e-04 1.31083480e-01] [ 2.29735487e-02 -6.36486831e-04 9.99735871e-01 -1.16346876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205099892999999 meters 0.017406388446732982 Centerline is valid? [True, True] Translation: X:5.93, Y:0.15, Z:-0.11 [[ 9.98520225e-01 -4.99485240e-02 -2.15059490e-02 5.93025344e+00] [ 4.99441557e-02 9.98751737e-01 -7.40518813e-04 1.46886034e-01] [ 2.15160918e-02 -3.34673454e-04 9.99768446e-01 -1.12030680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.235099892999999 meters 0.018251947093737966 Centerline is valid? [True, True] Translation: X:5.96, Y:0.14, Z:-0.12 [[ 9.98209492e-01 -5.49966051e-02 -2.35198523e-02 5.96292180e+00] [ 5.49927997e-02 9.98486423e-01 -8.09056628e-04 1.39064747e-01] [ 2.35287486e-02 -4.85814521e-04 9.99723043e-01 -1.16058053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2650998929999995 meters 0.018363965404106238 Centerline is valid? [True, True] Translation: X:5.99, Y:0.13, Z:-0.12 [[ 9.98008047e-01 -5.80627502e-02 -2.46709512e-02 5.99421630e+00] [ 5.80595516e-02 9.98312763e-01 -8.46537582e-04 1.34389194e-01] [ 2.46784778e-02 -5.87533047e-04 9.99695267e-01 -1.18004722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.295099893 meters 0.01935932609993459 Centerline is valid? [True, True] Translation: X:6.03, Y:0.13, Z:-0.12 [[ 9.97685791e-01 -6.29823379e-02 -2.56181087e-02 6.02572435e+00] [ 6.29805535e-02 9.98014369e-01 -8.77306189e-04 1.29663687e-01] [ 2.56224954e-02 -7.38166747e-04 9.99671417e-01 -1.19594673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325099892999999 meters 0.01935932609993459 Centerline is valid? [True, True] Translation: X:6.06, Y:0.13, Z:-0.12 [[ 9.97692520e-01 -6.28756358e-02 -2.56181721e-02 6.05826727e+00] [ 6.28738638e-02 9.98021097e-01 -8.75450955e-04 1.30689636e-01] [ 2.56225208e-02 -7.37282596e-04 9.99671417e-01 -1.19192157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.355099892999999 meters 0.020759666639009702 Centerline is valid? [True, True] Translation: X:6.09, Y:0.13, Z:-0.12 [[ 9.97579455e-01 -6.49558844e-02 -2.48186413e-02 6.08923182e+00] [ 6.49549322e-02 9.97887840e-01 -8.45388447e-04 1.29088675e-01] [ 2.48211333e-02 -7.68751016e-04 9.99691613e-01 -1.17859764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385099893 meters 0.021696757866805822 Centerline is valid? [True, True] Translation: X:6.12, Y:0.13, Z:-0.12 [[ 9.97612172e-01 -6.45186279e-02 -2.46434961e-02 6.12165056e+00] [ 6.45176126e-02 9.97916217e-01 -8.37118186e-04 1.31123564e-01] [ 2.46461542e-02 -7.54820246e-04 9.99695952e-01 -1.17145894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.415099893 meters 0.016397413067231862 Centerline is valid? [True, True] Translation: X:6.15, Y:0.15, Z:-0.11 [[ 9.98639526e-01 -4.73418812e-02 -2.18596359e-02 6.15200462e+00] [ 4.73369849e-02 9.98878701e-01 -7.41670618e-04 1.49017722e-01] [ 2.18702368e-02 -2.94107659e-04 9.99760775e-01 -1.14192258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445099892999999 meters 0.017399425410072143 Centerline is valid? [True, True] Translation: X:6.18, Y:0.15, Z:-0.12 [[ 9.98454115e-01 -4.98471046e-02 -2.45895678e-02 6.18373391e+00] [ 4.98416884e-02 9.98756783e-01 -8.33482819e-04 1.48764851e-01] [ 2.46005443e-02 -3.93391225e-04 9.99697283e-01 -1.15327476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.475099892999999 meters 0.01875477527496934 Centerline is valid? [True, True] Translation: X:6.21, Y:0.15, Z:-0.12 [[ 9.98295974e-01 -5.05961442e-02 -2.90719648e-02 6.21469067e+00] [ 5.05889739e-02 9.98719075e-01 -9.82572548e-04 1.45639572e-01] [ 2.90844402e-02 -4.89822650e-04 9.99576838e-01 -1.21609709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505099893 meters 0.014397787090982491 Centerline is valid? [True, True] Translation: X:6.25, Y:0.16, Z:-0.11 [[ 9.98882411e-01 -3.91222172e-02 -2.65213502e-02 6.24521039e+00] [ 3.91122483e-02 9.99234423e-01 -8.94725787e-04 1.58701652e-01] [ 2.65360497e-02 -1.43583780e-04 9.99647847e-01 -1.14022365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.535099892999999 meters 0.015629282390955977 Centerline is valid? [True, True] Translation: X:6.28, Y:0.16, Z:-0.11 [[ 9.98959160e-01 -3.75653914e-02 -2.58734951e-02 6.27677846e+00] [ 3.75553993e-02 9.99294167e-01 -8.72180092e-04 1.61009906e-01] [ 2.58879965e-02 -1.00417145e-04 9.99664845e-01 -1.13457387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.565099892999999 meters 0.01384651186737841 Centerline is valid? [True, True] Translation: X:6.31, Y:0.16, Z:-0.11 [[ 9.98962704e-01 -3.80909163e-02 -2.49519267e-02 6.30713111e+00] [ 3.80818034e-02 9.99274272e-01 -8.40472566e-04 1.61716408e-01] [ 2.49658328e-02 -1.10613620e-04 9.99688299e-01 -1.11306166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5950998929999995 meters 0.015219607687283995 Centerline is valid? [True, True] Translation: X:6.34, Y:0.16, Z:-0.11 [[ 9.98925373e-01 -3.88775668e-02 -2.52316150e-02 6.33821825e+00] [ 3.88685163e-02 9.99243973e-01 -8.49218398e-04 1.62982705e-01] [ 2.52455547e-02 -1.32409635e-04 9.99681271e-01 -1.11427574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625099893 meters 0.014837069425812062 Centerline is valid? [True, True] Translation: X:6.37, Y:0.16, Z:-0.11 [[ 9.98879076e-01 -4.01337980e-02 -2.50971956e-02 6.36945961e+00] [ 4.01252625e-02 9.99194301e-01 -8.43806697e-04 1.64018398e-01] [ 2.51108400e-02 -1.64170707e-04 9.99684660e-01 -1.10084816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.655099892999999 meters 0.014836980437741726 Centerline is valid? [True, True] Translation: X:6.40, Y:0.16, Z:-0.11 [[ 9.98818270e-01 -4.16546225e-02 -2.50390942e-02 6.40048515e+00] [ 4.16466320e-02 9.99132049e-01 -8.40742627e-04 1.64400818e-01] [ 2.50523823e-02 -2.03044845e-04 9.99686119e-01 -1.09261654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.685099892999999 meters 0.015993090186652115 Centerline is valid? [True, True] Translation: X:6.43, Y:0.16, Z:-0.11 [[ 9.98743546e-01 -4.34851299e-02 -2.49072753e-02 6.43292606e+00] [ 4.34778311e-02 9.99054043e-01 -8.34760920e-04 1.64920116e-01] [ 2.49200138e-02 -2.49202229e-04 9.99689417e-01 -1.09071575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.715099893 meters 0.01654618578487908 Centerline is valid? [True, True] Translation: X:6.46, Y:0.16, Z:-0.11 [[ 9.98568503e-01 -4.72422336e-02 -2.50822041e-02 6.46410977e+00] [ 4.72360562e-02 9.98883402e-01 -8.39046186e-04 1.61845834e-01] [ 2.50938358e-02 -3.46939310e-04 9.99685040e-01 -1.09296664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745099892999999 meters 0.016904349306339085 Centerline is valid? [True, True] Translation: X:6.50, Y:0.16, Z:-0.11 [[ 9.98480078e-01 -4.87374875e-02 -2.57330689e-02 6.49653580e+00] [ 4.87315234e-02 9.98811544e-01 -8.59199241e-04 1.61868411e-01] [ 2.57443615e-02 -3.96118324e-04 9.99668481e-01 -1.08874342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.775099892999999 meters 0.017151446215046887 Centerline is valid? [True, True] Translation: X:6.53, Y:0.16, Z:-0.10 [[ 9.98634132e-01 -4.85907454e-02 -1.92044153e-02 6.52894583e+00] [ 4.85874182e-02 9.98818729e-01 -6.40079942e-04 1.63122204e-01] [ 1.92128316e-02 -2.93887277e-04 9.99815373e-01 -1.04604378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8050998929999995 meters 0.016384597041997906 Centerline is valid? [True, True] Translation: X:6.56, Y:0.17, Z:-0.11 [[ 9.98582754e-01 -4.56131336e-02 -2.74212499e-02 6.56070189e+00] [ 4.56052851e-02 9.98959122e-01 -9.11870726e-04 1.66744358e-01] [ 2.74343009e-02 -3.39975537e-04 9.99623551e-01 -1.10912178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.835099893 meters 0.016428787194151275 Centerline is valid? [True, True] Translation: X:6.59, Y:0.17, Z:-0.11 [[ 9.98838476e-01 -4.15160605e-02 -2.44563829e-02 6.59072307e+00] [ 4.15086094e-02 9.99137816e-01 -8.12458664e-04 1.71896607e-01] [ 2.44690271e-02 -2.03635470e-04 9.99700568e-01 -1.07297623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865099892999999 meters 0.015483510755449643 Centerline is valid? [True, True] Translation: X:6.62, Y:0.17, Z:-0.10 [[ 9.98920496e-01 -4.04264356e-02 -2.28811228e-02 6.62235408e+00] [ 4.04196494e-02 9.99182504e-01 -7.59181088e-04 1.74852303e-01] [ 2.28931085e-02 -1.66485411e-04 9.99737905e-01 -1.04388572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.895099892999999 meters 0.015333462216686675 Centerline is valid? [True, True] Translation: X:6.65, Y:0.18, Z:-0.10 [[ 9.98968244e-01 -3.97152519e-02 -2.20260179e-02 6.65476926e+00] [ 3.97088241e-02 9.99211027e-01 -7.29290958e-04 1.76759740e-01] [ 2.20376039e-02 -1.46088763e-04 9.99757132e-01 -1.02512453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925099893 meters 0.015098351582176442 Centerline is valid? [True, True] Translation: X:6.69, Y:0.17, Z:-0.10 [[ 9.98836745e-01 -4.23382193e-02 -2.30788238e-02 6.68740382e+00] [ 4.23319008e-02 9.99103312e-01 -7.62477306e-04 1.74925967e-01] [ 2.30904112e-02 -2.15380128e-04 9.99733358e-01 -1.03597597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.955099892999999 meters 0.016142316836099964 Centerline is valid? [True, True] Translation: X:6.72, Y:0.18, Z:-0.10 [[ 9.99212463e-01 -3.46747704e-02 -1.92902501e-02 6.71901004e+00] [ 3.46689512e-02 9.99398649e-01 -6.36104944e-04 1.79722141e-01] [ 1.93007066e-02 -3.31687496e-05 9.99813723e-01 -1.01719387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.985099892999999 meters 0.013628139321235104 Centerline is valid? [True, True] Translation: X:6.75, Y:0.18, Z:-0.10 [[ 9.99190228e-01 -3.51369325e-02 -1.96031564e-02 6.75130842e+00] [ 3.51310387e-02 9.99382506e-01 -6.45054920e-04 1.79671909e-01] [ 1.96137168e-02 -4.41466738e-05 9.99807632e-01 -1.00030345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.015099893 meters 0.01549754195071907 Centerline is valid? [True, True] Translation: X:6.78, Y:0.18, Z:-0.10 [[ 9.99079625e-01 -3.63554076e-02 -2.27637237e-02 6.78325948e+00] [ 3.63478158e-02 9.99338920e-01 -7.47309815e-04 1.78172578e-01] [ 2.27758438e-02 -8.07896268e-05 9.99740594e-01 -1.03634983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045099893 meters 0.01639916105376125 Centerline is valid? [True, True] Translation: X:6.82, Y:0.18, Z:-0.10 [[ 9.99106321e-01 -3.32670796e-02 -2.60741315e-02 6.81549585e+00] [ 3.32561193e-02 9.99446497e-01 -8.53997030e-04 1.80315272e-01] [ 2.60881093e-02 -1.38905947e-05 9.99659647e-01 -1.03405870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.075099893 meters 0.0153811161537456 Centerline is valid? [True, True] Translation: X:6.85, Y:0.18, Z:-0.10 [[ 9.98703068e-01 -4.59744845e-02 -2.18753018e-02 6.84513536e+00] [ 4.59698290e-02 9.98942572e-01 -7.15900122e-04 1.75593864e-01] [ 2.18850834e-02 -2.90632236e-04 9.99760451e-01 -1.00188900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105099893 meters 0.015977901595837635 Centerline is valid? [True, True] Translation: X:6.88, Y:0.18, Z:-0.10 [[ 9.98796437e-01 -4.39577157e-02 -2.17576601e-02 6.87743652e+00] [ 4.39526416e-02 9.99033362e-01 -7.11596545e-04 1.76492588e-01] [ 2.17679085e-02 -2.45566543e-04 9.99763021e-01 -1.01359679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.135099893 meters 0.015564302876398334 Centerline is valid? [True, True] Translation: X:6.91, Y:0.18, Z:-0.10 [[ 9.98819948e-01 -4.34957600e-02 -2.16062597e-02 6.90859341e+00] [ 4.34906911e-02 9.99053584e-01 -7.04659689e-04 1.77699465e-01] [ 2.16164609e-02 -2.35843013e-04 9.99766309e-01 -1.00193169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165099893 meters 0.018710381797962222 Centerline is valid? [True, True] Translation: X:6.94, Y:0.19, Z:-0.10 [[ 9.99579168e-01 -1.67520454e-02 -2.36823859e-02 6.93977925e+00] [ 1.67385104e-02 9.99859605e-01 -7.69650839e-04 1.92519816e-01] [ 2.36919542e-02 3.72919082e-04 9.99719237e-01 -1.03112844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.195099893 meters 0.01840543248407527 Centerline is valid? [True, True] Translation: X:6.97, Y:0.20, Z:-0.10 [[ 9.99552503e-01 -5.67004885e-03 -2.93707994e-02 6.96895900e+00] [ 5.64448981e-03 9.99983616e-01 -9.53056504e-04 1.98303747e-01] [ 2.93757220e-02 7.86846836e-04 9.99568131e-01 -1.01993588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225099893 meters 0.018766031517788134 Centerline is valid? [True, True] Translation: X:7.00, Y:0.20, Z:-0.10 [[ 9.99640407e-01 3.37205574e-03 -2.66023591e-02 6.99868578e+00] [-3.39622688e-03 9.99993860e-01 -8.63479048e-04 2.01720528e-01] [ 2.65992840e-02 9.53516194e-04 9.99645722e-01 -9.63586932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.255099893 meters 0.020044410005646295 Centerline is valid? [True, True] Translation: X:7.03, Y:0.20, Z:-0.09 [[ 9.99732189e-01 8.98176520e-03 -2.13278712e-02 7.02816819e+00] [-8.99858446e-03 9.99959272e-01 -6.92762815e-04 2.04254754e-01] [ 2.13207804e-02 8.84497936e-04 9.99772295e-01 -9.34125789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285099893 meters 0.021045924193790023 Centerline is valid? [True, True] Translation: X:7.06, Y:0.20, Z:-0.09 [[ 9.99789107e-01 9.20436570e-03 -1.83581570e-02 7.05595263e+00] [-9.21688052e-03 9.99957345e-01 -5.97208637e-04 2.04329355e-01] [ 1.83518770e-02 7.66287630e-04 9.99831296e-01 -9.20791379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.315099893000001 meters 0.014798821262753944 Centerline is valid? [True, True] Translation: X:7.09, Y:0.17, Z:-0.09 [[ 9.99411824e-01 -3.01306680e-02 -1.63752224e-02 7.08763962e+00] [ 3.01259677e-02 9.99545968e-01 -5.33694421e-04 1.74099009e-01] [ 1.63838681e-02 4.00610927e-05 9.99865775e-01 -9.24630461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345099893 meters 0.01780781880470681 Centerline is valid? [True, True] Translation: X:7.12, Y:0.16, Z:-0.10 [[ 9.98533878e-01 -5.01389978e-02 -2.04003715e-02 7.11798324e+00] [ 5.01358845e-02 9.98742185e-01 -6.64351776e-04 1.57584530e-01] [ 2.04080216e-02 -3.59412917e-04 9.99791670e-01 -9.82366852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.375099893 meters 0.016941194454918387 Centerline is valid? [True, True] Translation: X:7.15, Y:0.17, Z:-0.10 [[ 9.98599974e-01 -4.89812966e-02 -1.99730756e-02 7.15024592e+00] [ 4.89781100e-02 9.98799641e-01 -6.48980112e-04 1.68064868e-01] [ 1.99808886e-02 -3.30171970e-04 9.99800308e-01 -9.53799260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405099893000001 meters 0.015394060294507676 Centerline is valid? [True, True] Translation: X:7.18, Y:0.18, Z:-0.09 [[ 9.98945107e-01 -4.27844107e-02 -1.66783468e-02 7.18041326e+00] [ 4.27813398e-02 9.99084313e-01 -5.41031677e-04 1.82004114e-01] [ 1.66862223e-02 -1.73061073e-04 9.99860760e-01 -9.28482487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.435099893 meters 0.016237207753253307 Centerline is valid? [True, True] Translation: X:7.21, Y:0.19, Z:-0.10 [[ 9.99012399e-01 -3.71040014e-02 -2.44441974e-02 7.21154237e+00] [ 3.70957358e-02 9.99311403e-01 -7.91667534e-04 1.88117200e-01] [ 2.44567393e-02 -1.15889807e-04 9.99700883e-01 -9.98048819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465099893 meters 0.016730478882528182 Centerline is valid? [True, True] Translation: X:7.24, Y:0.19, Z:-0.10 [[ 9.98910633e-01 -3.88100308e-02 -2.59100260e-02 7.24294165e+00] [ 3.88013481e-02 9.99246593e-01 -8.37972723e-04 1.88963318e-01] [ 2.59230269e-02 -1.68284074e-04 9.99663928e-01 -1.00242308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.495099893 meters 0.016095811873022118 Centerline is valid? [True, True] Translation: X:7.27, Y:0.19, Z:-0.09 [[ 9.99088422e-01 -3.68072249e-02 -2.16229822e-02 7.27386206e+00] [ 3.68007238e-02 9.99322380e-01 -6.98630392e-04 1.92583418e-01] [ 2.16340447e-02 -9.77478602e-05 9.99765952e-01 -9.41466060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525099893 meters 0.015493650360595251 Centerline is valid? [True, True] Translation: X:7.31, Y:0.20, Z:-0.09 [[ 9.99378426e-01 -2.97591534e-02 -1.88985132e-02 7.30537182e+00] [ 2.97529432e-02 9.99557097e-01 -6.09754776e-04 2.01145998e-01] [ 1.89082888e-02 4.70893780e-05 9.99821221e-01 -8.90278385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.555099893 meters 0.015493650360595251 Centerline is valid? [True, True] Translation: X:7.34, Y:0.20, Z:-0.09 [[ 9.99379481e-01 -2.97237060e-02 -1.88985491e-02 7.33620440e+00] [ 2.97175105e-02 9.99558152e-01 -6.08642395e-04 2.02110569e-01] [ 1.89082899e-02 4.66468909e-05 9.99821221e-01 -8.86466733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585099893 meters 0.015197300417547643 Centerline is valid? [True, True] Translation: X:7.37, Y:0.20, Z:-0.09 [[ 9.99487639e-01 -2.56020752e-02 -1.92091709e-02 7.36737779e+00] [ 2.55949263e-02 9.99672205e-01 -6.17955319e-04 2.01227198e-01] [ 1.92186952e-02 1.25981388e-04 9.99815296e-01 -9.17613066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.615099893 meters 0.016239153990088153 Centerline is valid? [True, True] Translation: X:7.40, Y:0.21, Z:-0.09 [[ 9.99639689e-01 -1.82992720e-02 -1.96374517e-02 7.39695401e+00] [ 1.82904007e-02 9.99832517e-01 -6.31281101e-04 2.06245227e-01] [ 1.96457147e-02 2.71876784e-04 9.99806967e-01 -8.91438754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645099893000001 meters 0.01712332175137058 Centerline is valid? [True, True] Translation: X:7.43, Y:0.20, Z:-0.09 [[ 9.99552982e-01 -2.18971690e-02 -2.03555809e-02 7.42621038e+00] [ 2.18883422e-02 9.99760206e-01 -6.56354584e-04 2.01933139e-01] [ 2.03650720e-02 2.10511263e-04 9.99792588e-01 -9.19975277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.675099893 meters 0.016320399719725882 Centerline is valid? [True, True] Translation: X:7.45, Y:0.20, Z:-0.09 [[ 9.99401085e-01 -2.94095084e-02 -1.82360377e-02 7.45490691e+00] [ 2.94036217e-02 9.99567445e-01 -5.90908459e-04 1.98874190e-01] [ 1.82455279e-02 5.43490022e-05 9.99833535e-01 -8.99876987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705099893 meters 0.016656826474291363 Centerline is valid? [True, True] Translation: X:7.49, Y:0.19, Z:-0.09 [[ 9.98911763e-01 -4.20416549e-02 -2.01937729e-02 7.48719080e+00] [ 4.20370482e-02 9.99115839e-01 -6.52745397e-04 1.91978586e-01] [ 2.02033609e-02 -1.96851550e-04 9.99795872e-01 -9.26286924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.735099893000001 meters 0.016561608369597188 Centerline is valid? [True, True] Translation: X:7.52, Y:0.19, Z:-0.09 [[ 9.98723490e-01 -4.63567556e-02 -2.00609369e-02 7.51808094e+00] [ 4.63531458e-02 9.98924907e-01 -6.45144176e-04 1.88417499e-01] [ 2.00692763e-02 -2.85566889e-04 9.99798551e-01 -9.37420782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765099893 meters 0.018234338158765396 Centerline is valid? [True, True] Translation: X:7.55, Y:0.19, Z:-0.09 [[ 9.98614251e-01 -4.87286203e-02 -1.98771192e-02 7.55044016e+00] [ 4.87255650e-02 9.98812000e-01 -6.38275040e-04 1.88137475e-01] [ 1.98846075e-02 -3.31133315e-04 9.99802227e-01 -9.21313016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.795099893 meters 0.018051555763037543 Centerline is valid? [True, True] Translation: X:7.58, Y:0.19, Z:-0.09 [[ 9.98621931e-01 -4.83834738e-02 -2.03292576e-02 7.58284734e+00] [ 4.83802358e-02 9.98828778e-01 -6.51354196e-04 1.89112325e-01] [ 2.03369623e-02 -3.33077691e-04 9.99793127e-01 -9.24068462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825099893 meters 0.0177421421347526 Centerline is valid? [True, True] Translation: X:7.61, Y:0.19, Z:-0.09 [[ 9.98631800e-01 -4.81294556e-02 -2.04471005e-02 7.61483072e+00] [ 4.81261561e-02 9.98841051e-01 -6.53691103e-04 1.88957728e-01] [ 2.04548651e-02 -3.31243628e-04 9.99790722e-01 -9.31999325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.855099893 meters 0.01664353749707291 Centerline is valid? [True, True] Translation: X:7.65, Y:0.19, Z:-0.09 [[ 9.98653769e-01 -4.87334350e-02 -1.77679905e-02 7.64702729e+00] [ 4.87310592e-02 9.98811775e-01 -5.66904361e-04 1.88725244e-01] [ 1.77745054e-02 -2.99711822e-04 9.99841976e-01 -9.09726223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885099893 meters 0.018612266136108623 Centerline is valid? [True, True] Translation: X:7.68, Y:0.19, Z:-0.09 [[ 9.98575575e-01 -5.02384065e-02 -1.79700577e-02 7.67902943e+00] [ 5.02362427e-02 9.98737199e-01 -5.72083974e-04 1.88676817e-01] [ 1.79761056e-02 -3.31479095e-04 9.99838362e-01 -9.05390916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.915099893 meters 0.016106831679780314 Centerline is valid? [True, True] Translation: X:7.71, Y:0.19, Z:-0.09 [[ 9.98536740e-01 -5.10639894e-02 -1.78001951e-02 7.71106907e+00] [ 5.10620198e-02 9.98695324e-01 -5.65425400e-04 1.90545633e-01] [ 1.78058445e-02 -3.44315880e-04 9.99841404e-01 -8.80172835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945099893 meters 0.02034952816566804 Centerline is valid? [True, True] Translation: X:7.74, Y:0.19, Z:-0.10 [[ 9.98100799e-01 -5.48876746e-02 -2.79667438e-02 7.74144392e+00] [ 5.48843528e-02 9.98492324e-01 -8.86960406e-04 1.85495221e-01] [ 2.79732622e-02 -6.49660743e-04 9.99608461e-01 -9.89155946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.975099893 meters 0.017825489655871756 Centerline is valid? [True, True] Translation: X:7.77, Y:0.19, Z:-0.09 [[ 9.98333319e-01 -5.19026994e-02 -2.52327942e-02 7.77229171e+00] [ 5.18990535e-02 9.98652016e-01 -7.99791258e-04 1.93164576e-01] [ 2.52402921e-02 -5.11099876e-04 9.99681282e-01 -9.07420947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005099893 meters 0.014821500816232572 Centerline is valid? [True, True] Translation: X:7.80, Y:0.20, Z:-0.09 [[ 9.98931389e-01 -3.97382573e-02 -2.35998082e-02 7.80307468e+00] [ 3.97316871e-02 9.99210105e-01 -7.47416016e-04 1.97079502e-01] [ 2.36108678e-02 -1.91042874e-04 9.99721206e-01 -9.34868028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.035099893 meters 0.015716822788724983 Centerline is valid? [True, True] Translation: X:7.83, Y:0.21, Z:-0.09 [[ 9.99274601e-01 -3.15518402e-02 -2.13249504e-02 7.83438272e+00] [ 3.15446223e-02 9.99502117e-01 -6.74852598e-04 2.05046353e-01] [ 2.13356259e-02 1.67555600e-06 9.99772370e-01 -9.10672298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065099893000001 meters 0.016083737075952054 Centerline is valid? [True, True] Translation: X:7.86, Y:0.21, Z:-0.09 [[ 9.99425342e-01 -2.58089209e-02 -2.19746697e-02 7.86478135e+00] [ 2.57998819e-02 9.99666886e-01 -6.94791382e-04 2.10925262e-01] [ 2.19852815e-02 1.27448230e-04 9.99758286e-01 -8.78247985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.095099893 meters 0.01549849573568776 Centerline is valid? [True, True] Translation: X:7.89, Y:0.21, Z:-0.09 [[ 9.99519767e-01 -2.14553700e-02 -2.23585202e-02 7.89484839e+00] [ 2.14449243e-02 9.99769781e-01 -7.06882343e-04 2.11225925e-01] [ 2.23685393e-02 2.27066100e-04 9.99749767e-01 -8.84449806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125099893 meters 0.015463187885894623 Centerline is valid? [True, True] Translation: X:7.92, Y:0.21, Z:-0.09 [[ 9.99460126e-01 -2.23725144e-02 -2.40609030e-02 7.92397076e+00] [ 2.23606076e-02 9.99749679e-01 -7.63831247e-04 2.13686082e-01] [ 2.40719689e-02 2.25402465e-04 9.99710203e-01 -8.70249465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.155099893000001 meters 0.015315678358954534 Centerline is valid? [True, True] Translation: X:7.95, Y:0.22, Z:-0.09 [[ 9.99418924e-01 -2.33049357e-02 -2.48735685e-02 7.95157185e+00] [ 2.32923333e-02 9.99728380e-01 -7.96303320e-04 2.15228262e-01] [ 2.48853702e-02 2.16477158e-04 9.99690288e-01 -8.55322990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185099893 meters 0.015324444509002291 Centerline is valid? [True, True] Translation: X:7.98, Y:0.21, Z:-0.09 [[ 9.99413345e-01 -2.49216850e-02 -2.34920128e-02 7.98090093e+00] [ 2.49107531e-02 9.99689392e-01 -7.57918348e-04 2.12282496e-01] [ 2.35036046e-02 1.72269980e-04 9.99723737e-01 -8.58373354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.215099893 meters 0.015756286182509693 Centerline is valid? [True, True] Translation: X:8.01, Y:0.21, Z:-0.08 [[ 9.99339065e-01 -3.10399605e-02 -1.89196718e-02 8.00979713e+00] [ 3.10339166e-02 9.99518144e-01 -6.13041742e-04 2.09593941e-01] [ 1.89295841e-02 2.54850442e-05 9.99820819e-01 -8.44613973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245099893 meters 0.01338305310331774 Centerline is valid? [True, True] Translation: X:8.04, Y:0.21, Z:-0.08 [[ 9.98915736e-01 -4.41421687e-02 -1.47926399e-02 8.04190480e+00] [ 4.41399114e-02 9.99025244e-01 -4.79212195e-04 2.05964782e-01] [ 1.47993741e-02 -1.74253210e-04 9.99890468e-01 -7.90573447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.275099893 meters 0.018897042995992163 Centerline is valid? [True, True] Translation: X:8.07, Y:0.20, Z:-0.09 [[ 9.98119197e-01 -5.69733419e-02 -2.26297762e-02 8.07157797e+00] [ 5.69714646e-02 9.98375542e-01 -7.28178729e-04 2.00608944e-01] [ 2.26345019e-02 -5.62442329e-04 9.99743649e-01 -8.74892104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305099893 meters 0.018352304848450136 Centerline is valid? [True, True] Translation: X:8.10, Y:0.20, Z:-0.09 [[ 9.98092179e-01 -5.64139737e-02 -2.50891560e-02 8.10253284e+00] [ 5.64115358e-02 9.98407277e-01 -8.05495743e-04 2.00052629e-01] [ 2.50946371e-02 -6.11358819e-04 9.99684893e-01 -8.99621801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.335099893 meters 0.018811600055639695 Centerline is valid? [True, True] Translation: X:8.13, Y:0.20, Z:-0.09 [[ 9.98260335e-01 -5.38424289e-02 -2.40269966e-02 8.13486285e+00] [ 5.38395043e-02 9.98549306e-01 -7.69070076e-04 2.01029894e-01] [ 2.40335494e-02 -5.25869434e-04 9.99711014e-01 -8.89030739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365099893 meters 0.017899338257731774 Centerline is valid? [True, True] Translation: X:8.17, Y:0.20, Z:-0.09 [[ 9.98412050e-01 -5.14358396e-02 -2.29724275e-02 8.16670900e+00] [ 5.14325655e-02 9.98676200e-01 -7.33736757e-04 2.03892906e-01] [ 2.29797570e-02 -4.48959263e-04 9.99735830e-01 -8.70637858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.395099893 meters 0.017341252166774845 Centerline is valid? [True, True] Translation: X:8.20, Y:0.21, Z:-0.09 [[ 9.98466448e-01 -5.04617265e-02 -2.27676532e-02 8.19838562e+00] [ 5.04582939e-02 9.98725905e-01 -7.25588247e-04 2.06455611e-01] [ 2.27752595e-02 -4.24341420e-04 9.99740520e-01 -8.73305227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425099893 meters 0.017002005809140828 Centerline is valid? [True, True] Translation: X:8.23, Y:0.21, Z:-0.09 [[ 9.98357321e-01 -5.30792115e-02 -2.15698179e-02 8.22898184e+00] [ 5.30767662e-02 9.98590199e-01 -6.86247770e-04 2.07841026e-01] [ 2.15758343e-02 -4.59735698e-04 9.99767109e-01 -8.63781697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.455099893 meters 0.018361164278215245 Centerline is valid? [True, True] Translation: X:8.26, Y:0.21, Z:-0.09 [[ 9.98194662e-01 -5.57016301e-02 -2.24665265e-02 8.26134332e+00] [ 5.56996676e-02 9.98447313e-01 -7.13600685e-04 2.06320816e-01] [ 2.24713917e-02 -5.39065663e-04 9.99747341e-01 -8.65359825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485099893000001 meters 0.019105108384450526 Centerline is valid? [True, True] Translation: X:8.29, Y:0.20, Z:-0.09 [[ 9.97959054e-01 -5.85102115e-02 -2.55789500e-02 8.29373192e+00] [ 5.85086392e-02 9.98286573e-01 -8.10522094e-04 2.01492822e-01] [ 2.55825461e-02 -6.87721694e-04 9.99672477e-01 -8.88755112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.515099893 meters 0.021068081531426676 Centerline is valid? [True, True] Translation: X:8.33, Y:0.20, Z:-0.09 [[ 9.97744815e-01 -6.01359698e-02 -2.98152549e-02 8.32606964e+00] [ 6.01346271e-02 9.98189831e-01 -9.42509287e-04 1.99220454e-01] [ 2.98179630e-02 -8.52545480e-04 9.99554982e-01 -9.28601224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545099893 meters 0.019002556876955463 Centerline is valid? [True, True] Translation: X:8.36, Y:0.21, Z:-0.09 [[ 9.97897126e-01 -5.78008071e-02 -2.93324422e-02 8.35802065e+00] [ 5.77985600e-02 9.98327837e-01 -9.25181350e-04 2.05524796e-01] [ 2.93368698e-02 -7.72137107e-04 9.99569283e-01 -9.09421374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.575099893 meters 0.018136567544520393 Centerline is valid? [True, True] Translation: X:8.39, Y:0.21, Z:-0.09 [[ 9.98094463e-01 -5.51270378e-02 -2.77209913e-02 8.38936408e+00] [ 5.51240385e-02 9.98479133e-01 -8.72960636e-04 2.11872081e-01] [ 2.77269551e-02 -6.56795812e-04 9.99615318e-01 -8.86880805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605099893 meters 0.018428968624363773 Centerline is valid? [True, True] Translation: X:8.42, Y:0.21, Z:-0.09 [[ 9.98178431e-01 -5.47298321e-02 -2.53863316e-02 8.42104955e+00] [ 5.47272222e-02 9.98501024e-01 -7.98089714e-04 2.11358759e-01] [ 2.53919574e-02 -5.92687471e-04 9.99677397e-01 -8.70321871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.635099893 meters 0.017898760883180778 Centerline is valid? [True, True] Translation: X:8.45, Y:0.21, Z:-0.09 [[ 9.98168750e-01 -5.50614945e-02 -2.50475279e-02 8.45287379e+00] [ 5.50591032e-02 9.98482788e-01 -7.85640495e-04 2.10696161e-01] [ 2.50527841e-02 -5.94892635e-04 9.99685953e-01 -8.59568984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665099893 meters 0.01888123354153872 Centerline is valid? [True, True] Translation: X:8.48, Y:0.21, Z:-0.09 [[ 9.98160062e-01 -5.51524732e-02 -2.51931769e-02 8.48442558e+00] [ 5.51501232e-02 9.98477762e-01 -7.88612582e-04 2.08790532e-01] [ 2.51983208e-02 -6.02245226e-04 9.99682290e-01 -8.61801164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.695099893 meters 0.01606997740547337 Centerline is valid? [True, True] Translation: X:8.52, Y:0.21, Z:-0.08 [[ 9.98087909e-01 -5.68815794e-02 -2.41870362e-02 8.51665269e+00] [ 5.68799568e-02 9.98380739e-01 -7.55618433e-04 2.11498160e-01] [ 2.41908519e-02 -6.21583954e-04 9.99707165e-01 -8.24513355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725099893 meters 0.018354852189382563 Centerline is valid? [True, True] Translation: X:8.55, Y:0.21, Z:-0.09 [[ 9.98030787e-01 -5.74950760e-02 -2.50771788e-02 8.54808897e+00] [ 5.74935893e-02 9.98345570e-01 -7.80882160e-04 2.11771617e-01] [ 2.50805873e-02 -6.62432583e-04 9.99685213e-01 -8.50041912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.755099893 meters 0.018077886652691964 Centerline is valid? [True, True] Translation: X:8.58, Y:0.22, Z:-0.08 [[ 9.98312407e-01 -5.31958988e-02 -2.32923575e-02 8.57954304e+00] [ 5.31934938e-02 9.98583962e-01 -7.23261413e-04 2.21346691e-01] [ 2.32978491e-02 -5.16961031e-04 9.99728435e-01 -7.84774291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785099893 meters 0.019118468258750406 Centerline is valid? [True, True] Translation: X:8.61, Y:0.22, Z:-0.08 [[ 9.98363921e-01 -5.15948979e-02 -2.46464718e-02 8.61187148e+00] [ 5.15917564e-02 9.98667967e-01 -7.63741442e-04 2.20765032e-01] [ 2.46530470e-02 -5.09062868e-04 9.99695938e-01 -8.12613204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.815099893000001 meters 0.018321145393277314 Centerline is valid? [True, True] Translation: X:8.64, Y:0.22, Z:-0.09 [[ 9.98381401e-01 -5.06365678e-02 -2.58943096e-02 8.64419473e+00] [ 5.06328266e-02 9.98717015e-01 -8.00538472e-04 2.16480979e-01] [ 2.59016241e-02 -5.11859368e-04 9.99664366e-01 -8.66127325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845099893 meters 0.016589855216746024 Centerline is valid? [True, True] Translation: X:8.68, Y:0.22, Z:-0.08 [[ 9.98577459e-01 -4.81428519e-02 -2.29199604e-02 8.67523406e+00] [ 4.81392901e-02 9.98840382e-01 -7.07443719e-04 2.20399546e-01] [ 2.29274404e-02 -3.96913272e-04 9.99737053e-01 -8.31050623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.875099893 meters 0.017776989350884276 Centerline is valid? [True, True] Translation: X:8.71, Y:0.22, Z:-0.08 [[ 9.98585800e-01 -4.81591808e-02 -2.25187527e-02 8.70741538e+00] [ 4.81557723e-02 9.98839597e-01 -6.93924195e-04 2.24387276e-01] [ 2.25260406e-02 -3.91465078e-04 9.99746180e-01 -8.19133380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905099893000001 meters 0.01648365263669682 Centerline is valid? [True, True] Translation: X:8.74, Y:0.22, Z:-0.09 [[ 9.98324539e-01 -5.23130631e-02 -2.47276824e-02 8.73923538e+00] [ 5.23102664e-02 9.98630591e-01 -7.60382530e-04 2.18434204e-01] [ 2.47335980e-02 -5.34403113e-04 9.99693935e-01 -8.50542640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.935099893 meters 0.02015903620001045 Centerline is valid? [True, True] Translation: X:8.77, Y:0.21, Z:-0.09 [[ 9.98007507e-01 -5.69637837e-02 -2.71319633e-02 8.77024512e+00] [ 5.69621610e-02 9.98375990e-01 -8.33323041e-04 2.14175083e-01] [ 2.71353700e-02 -7.13832613e-04 9.99631513e-01 -8.84526085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965099893 meters 0.020113260080854515 Centerline is valid? [True, True] Translation: X:8.80, Y:0.22, Z:-0.08 [[ 9.97835872e-01 -6.04124073e-02 -2.59598565e-02 8.80106787e+00] [ 6.04121117e-02 9.98173203e-01 -7.96382911e-04 2.16180036e-01] [ 2.59605445e-02 -7.73630313e-04 9.99662669e-01 -8.30124447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.995099893 meters 0.02004381396566359 Centerline is valid? [True, True] Translation: X:8.83, Y:0.22, Z:-0.08 [[ 9.97937259e-01 -5.88640667e-02 -2.56173349e-02 8.83246821e+00] [ 5.88633038e-02 9.98265744e-01 -7.84518228e-04 2.17457283e-01] [ 2.56190878e-02 -7.25020998e-04 9.99671514e-01 -8.22770515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025099893 meters 0.019594855136825906 Centerline is valid? [True, True] Translation: X:8.86, Y:0.22, Z:-0.08 [[ 9.98239629e-01 -5.39658294e-02 -2.46034847e-02 8.86369509e+00] [ 5.39636648e-02 9.98542616e-01 -7.52405344e-04 2.21201823e-01] [ 2.46082322e-02 -5.76613371e-04 9.99697005e-01 -8.25680421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.055099893 meters 0.018405240136851103 Centerline is valid? [True, True] Translation: X:8.90, Y:0.23, Z:-0.08 [[ 9.98364587e-01 -5.16869180e-02 -2.44256626e-02 8.89554544e+00] [ 5.16841343e-02 9.98663204e-01 -7.45676504e-04 2.25456869e-01] [ 2.44315522e-02 -5.17962213e-04 9.99701371e-01 -8.14626186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085099893 meters 0.019112618528942974 Centerline is valid? [True, True] Translation: X:8.93, Y:0.23, Z:-0.08 [[ 9.98205440e-01 -5.35892043e-02 -2.67226023e-02 8.92757132e+00] [ 5.35866067e-02 9.98562874e-01 -8.13829131e-04 2.25240039e-01] [ 2.67278110e-02 -6.19604912e-04 9.99642556e-01 -8.38561520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.115099893 meters 0.01891862826948111 Centerline is valid? [True, True] Translation: X:8.96, Y:0.22, Z:-0.08 [[ 9.98051008e-01 -5.70355455e-02 -2.53205678e-02 8.95967414e+00] [ 5.70343651e-02 9.98371919e-01 -7.69388563e-04 2.21791343e-01] [ 2.53232264e-02 -6.76253480e-04 9.99679087e-01 -8.19481707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145099893 meters 0.019115370361928757 Centerline is valid? [True, True] Translation: X:8.99, Y:0.22, Z:-0.08 [[ 9.98042300e-01 -5.68435000e-02 -2.60841706e-02 8.99142903e+00] [ 5.68422309e-02 9.98382860e-01 -7.90720832e-04 2.24929350e-01] [ 2.60869362e-02 -6.93509609e-04 9.99659437e-01 -7.98722254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.175099893 meters 0.020045964123185978 Centerline is valid? [True, True] Translation: X:9.02, Y:0.23, Z:-0.08 [[ 9.98118879e-01 -5.49362664e-02 -2.72159810e-02 9.02346150e+00] [ 5.49342301e-02 9.98489636e-01 -8.23063136e-04 2.25064897e-01] [ 2.72200910e-02 -6.73574107e-04 9.99629238e-01 -8.24048279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205099893 meters 0.0167621592104565 Centerline is valid? [True, True] Translation: X:9.05, Y:0.24, Z:-0.08 [[ 9.98652399e-01 -4.61371246e-02 -2.37644918e-02 9.05256922e+00] [ 4.61330939e-02 9.98935044e-01 -7.18116167e-04 2.35839645e-01] [ 2.37723154e-02 -3.79181097e-04 9.99717327e-01 -7.72124407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.235099893000001 meters 0.016140206250592256 Centerline is valid? [True, True] Translation: X:9.08, Y:0.24, Z:-0.08 [[ 9.98750863e-01 -4.41353719e-02 -2.34261261e-02 9.08459146e+00] [ 4.41309177e-02 9.99025506e-01 -7.07333723e-04 2.38192668e-01] [ 2.34345159e-02 -3.27366278e-04 9.99725320e-01 -7.68375391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265099893 meters 0.015837471859245313 Centerline is valid? [True, True] Translation: X:9.12, Y:0.24, Z:-0.08 [[ 9.98781105e-01 -4.37316844e-02 -2.28876357e-02 9.11661861e+00] [ 4.37273630e-02 9.99043263e-01 -6.89487003e-04 2.39135994e-01] [ 2.28958907e-02 -3.12169362e-04 9.99737806e-01 -7.58593228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.295099893 meters 0.016158036334532062 Centerline is valid? [True, True] Translation: X:9.15, Y:0.24, Z:-0.08 [[ 9.98784335e-01 -4.38173130e-02 -2.25808711e-02 9.14927859e+00] [ 4.38131644e-02 9.99039512e-01 -6.78658624e-04 2.39574626e-01] [ 2.25889194e-02 -3.11505815e-04 9.99744789e-01 -7.52261344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325099893 meters 0.017416689385068594 Centerline is valid? [True, True] Translation: X:9.18, Y:0.24, Z:-0.08 [[ 9.98764632e-01 -4.40548364e-02 -2.29865492e-02 9.18102763e+00] [ 4.40506383e-02 9.99029062e-01 -6.89203721e-04 2.39594111e-01] [ 2.29945934e-02 -3.24219861e-04 9.99735537e-01 -7.54969024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.355099893 meters 0.016811343272072485 Centerline is valid? [True, True] Translation: X:9.21, Y:0.24, Z:-0.07 [[ 9.98728558e-01 -4.48415526e-02 -2.30326504e-02 9.21353358e+00] [ 4.48375846e-02 9.98994052e-01 -6.88941405e-04 2.39521264e-01] [ 2.30403740e-02 -3.44662955e-04 9.99734476e-01 -7.48847396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385099893 meters 0.017799490949296587 Centerline is valid? [True, True] Translation: X:9.24, Y:0.24, Z:-0.08 [[ 9.98672362e-01 -4.55041027e-02 -2.41431102e-02 9.24454791e+00] [ 4.54999740e-02 9.98964080e-01 -7.20600504e-04 2.38422994e-01] [ 2.41508901e-02 -3.78867078e-04 9.99708253e-01 -7.58692752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.415099893 meters 0.017562089536235795 Centerline is valid? [True, True] Translation: X:9.28, Y:0.24, Z:-0.07 [[ 9.98606115e-01 -4.65658640e-02 -2.48484999e-02 9.27689934e+00] [ 4.65618579e-02 9.98915134e-01 -7.40092525e-04 2.38500485e-01] [ 2.48560057e-02 -4.17931403e-04 9.99690954e-01 -7.49993719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445099893 meters 0.017562089536235795 Centerline is valid? [True, True] Translation: X:9.31, Y:0.24, Z:-0.07 [[ 9.98609400e-01 -4.64953344e-02 -2.48485521e-02 9.30858862e+00] [ 4.64913502e-02 9.98918420e-01 -7.38337708e-04 2.39384487e-01] [ 2.48560057e-02 -4.17931764e-04 9.99690954e-01 -7.46076240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.475099893 meters 0.017805707800954158 Centerline is valid? [True, True] Translation: X:9.34, Y:0.24, Z:-0.07 [[ 9.98544777e-01 -4.76043952e-02 -2.53406850e-02 9.33927474e+00] [ 4.76006428e-02 9.98866164e-01 -7.51612776e-04 2.39362568e-01] [ 2.53477329e-02 -4.55713884e-04 9.99678591e-01 -7.42922580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505099893 meters 0.018615968606844707 Centerline is valid? [True, True] Translation: X:9.37, Y:0.24, Z:-0.07 [[ 9.98464232e-01 -4.86952984e-02 -2.64186643e-02 9.37055338e+00] [ 4.86916331e-02 9.98813553e-01 -7.82399819e-04 2.39401221e-01] [ 2.64254191e-02 -5.05169673e-04 9.99650660e-01 -7.47083608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.535099893 meters 0.01660735725546012 Centerline is valid? [True, True] Translation: X:9.40, Y:0.25, Z:-0.07 [[ 9.98838369e-01 -4.23899195e-02 -2.29130314e-02 9.40188965e+00] [ 4.23855286e-02 9.99101100e-01 -6.77472062e-04 2.49210539e-01] [ 2.29211529e-02 -2.94495860e-04 9.99737232e-01 -7.01401912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565099893 meters 0.016657675468194973 Centerline is valid? [True, True] Translation: X:9.43, Y:0.25, Z:-0.07 [[ 9.98870410e-01 -4.11820221e-02 -2.37053823e-02 9.43435936e+00] [ 4.11770168e-02 9.99151622e-01 -6.99440189e-04 2.51007697e-01] [ 2.37140755e-02 -2.77466817e-04 9.99718743e-01 -7.18867696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.595099893 meters 0.017309274970602057 Centerline is valid? [True, True] Translation: X:9.47, Y:0.25, Z:-0.07 [[ 9.98905560e-01 -4.00871444e-02 -2.40977701e-02 9.46666743e+00] [ 4.00816945e-02 9.99196154e-01 -7.09318547e-04 2.52338890e-01] [ 2.41068337e-02 -2.57337217e-04 9.99709355e-01 -7.23665007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625099893 meters 0.01632736930275045 Centerline is valid? [True, True] Translation: X:9.50, Y:0.25, Z:-0.07 [[ 9.98953707e-01 -3.92769985e-02 -2.34266504e-02 9.49923067e+00] [ 3.92716632e-02 9.99228334e-01 -6.87942109e-04 2.54651012e-01] [ 2.34355932e-02 -2.32781206e-04 9.99725322e-01 -7.07766068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.655099893000001 meters 0.015930227202850988 Centerline is valid? [True, True] Translation: X:9.53, Y:0.26, Z:-0.07 [[ 9.98976970e-01 -3.88077789e-02 -2.32157142e-02 9.53022208e+00] [ 3.88024461e-02 9.99246670e-01 -6.80308381e-04 2.56402872e-01] [ 2.32246263e-02 -2.21214093e-04 9.99730248e-01 -6.96272822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685099893 meters 0.01683174308329359 Centerline is valid? [True, True] Translation: X:9.56, Y:0.26, Z:-0.07 [[ 9.98948703e-01 -3.90830627e-02 -2.39583513e-02 9.56204782e+00] [ 3.90774984e-02 9.99235937e-01 -7.00570241e-04 2.58199621e-01] [ 2.39674261e-02 -2.36398701e-04 9.99712712e-01 -6.93358869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.715099893 meters 0.0160738728061099 Centerline is valid? [True, True] Translation: X:9.59, Y:0.26, Z:-0.07 [[ 9.98927932e-01 -3.96045509e-02 -2.39680232e-02 9.59401173e+00] [ 3.95991731e-02 9.99215401e-01 -6.99145832e-04 2.59905567e-01] [ 2.39769072e-02 -2.50717597e-04 9.99712481e-01 -6.78684684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745099893 meters 0.0160738728061099 Centerline is valid? [True, True] Translation: X:9.63, Y:0.26, Z:-0.07 [[ 9.98930738e-01 -3.95336766e-02 -2.39680727e-02 9.62569960e+00] [ 3.95283191e-02 9.99218207e-01 -6.97445051e-04 2.60770966e-01] [ 2.39769072e-02 -2.50718327e-04 9.99712481e-01 -6.74767571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.775099893 meters 0.016279513944348643 Centerline is valid? [True, True] Translation: X:9.66, Y:0.26, Z:-0.07 [[ 9.98885455e-01 -4.04732658e-02 -2.42850254e-02 9.65683298e+00] [ 4.04680803e-02 9.99180583e-01 -7.05148035e-04 2.61016385e-01] [ 2.42936655e-02 -2.78406244e-04 9.99704827e-01 -6.73124942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805099893 meters 0.015426876707040993 Centerline is valid? [True, True] Translation: X:9.69, Y:0.26, Z:-0.07 [[ 9.98831177e-01 -4.18039409e-02 -2.42633645e-02 9.68933714e+00] [ 4.17991930e-02 9.99125784e-01 -7.03038288e-04 2.61087159e-01] [ 2.42715429e-02 -3.11972497e-04 9.99705354e-01 -6.61856789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.835099893 meters 0.01670364024834185 Centerline is valid? [True, True] Translation: X:9.72, Y:0.26, Z:-0.07 [[ 9.98756234e-01 -4.31214899e-02 -2.50304444e-02 9.72106223e+00] [ 4.31168897e-02 9.99069772e-01 -7.23709804e-04 2.60997180e-01] [ 2.50383678e-02 -3.56425232e-04 9.99686427e-01 -6.73232889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865099893 meters 0.016861210841965575 Centerline is valid? [True, True] Translation: X:9.75, Y:0.26, Z:-0.07 [[ 9.98684198e-01 -4.44890980e-02 -2.55067357e-02 9.75305545e+00] [ 4.44848077e-02 9.99009790e-01 -7.35880654e-04 2.60692628e-01] [ 2.55142173e-02 -3.99749851e-04 9.99674379e-01 -6.77630359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.895099893 meters 0.017225760803822095 Centerline is valid? [True, True] Translation: X:9.78, Y:0.26, Z:-0.07 [[ 9.98609294e-01 -4.59030145e-02 -2.59305233e-02 9.78413876e+00] [ 4.58990989e-02 9.98945802e-01 -7.46493212e-04 2.57668223e-01] [ 2.59374536e-02 -4.44732591e-04 9.99663469e-01 -6.99480363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925099893 meters 0.016204966473304116 Centerline is valid? [True, True] Translation: X:9.82, Y:0.26, Z:-0.07 [[ 9.98614244e-01 -4.63727066e-02 -2.48829955e-02 9.81652527e+00] [ 4.63692841e-02 9.98924110e-01 -7.14828883e-04 2.58259074e-01] [ 2.48893727e-02 -4.39968381e-04 9.99690115e-01 -6.84677106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.955099893 meters 0.015403765781149123 Centerline is valid? [True, True] Translation: X:9.85, Y:0.26, Z:-0.07 [[ 9.98754266e-01 -4.42397634e-02 -2.30815695e-02 9.84831360e+00] [ 4.42362852e-02 9.99020877e-01 -6.61507606e-04 2.60900887e-01] [ 2.30882347e-02 -3.60359347e-04 9.99733366e-01 -6.58355694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985099893000001 meters 0.01646927769703379 Centerline is valid? [True, True] Translation: X:9.88, Y:0.26, Z:-0.07 [[ 9.98966351e-01 -3.91767836e-02 -2.30522970e-02 9.87976523e+00] [ 3.91719998e-02 9.99232265e-01 -6.59217834e-04 2.64309019e-01] [ 2.30604250e-02 -2.44468138e-04 9.99734043e-01 -6.72255734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.015099893 meters 0.016174011189472367 Centerline is valid? [True, True] Translation: X:9.91, Y:0.27, Z:-0.07 [[ 9.98979489e-01 -3.91148682e-02 -2.25833321e-02 9.91209452e+00] [ 3.91102925e-02 9.99234692e-01 -6.44426968e-04 2.66503536e-01] [ 2.25912555e-02 -2.39471398e-04 9.99744756e-01 -6.54388977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045099893 meters 0.014593240605657472 Centerline is valid? [True, True] Translation: X:9.94, Y:0.27, Z:-0.06 [[ 9.98955736e-01 -3.96625622e-02 -2.26786093e-02 9.94343886e+00] [ 3.96581367e-02 9.99213098e-01 -6.45035983e-04 2.67730528e-01] [ 2.26863473e-02 -2.55028994e-04 9.99742599e-01 -6.34301954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.075099893 meters 0.015239450670174558 Centerline is valid? [True, True] Translation: X:9.97, Y:0.27, Z:-0.06 [[ 9.99338279e-01 -2.97990254e-02 -2.08571877e-02 9.97453883e+00] [ 2.97931678e-02 9.99555910e-01 -5.91588196e-04 2.72804005e-01] [ 2.08655540e-02 -3.02049646e-05 9.99782290e-01 -6.15680338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105099893 meters 0.014196005093914594 Centerline is valid? [True, True] Translation: X:10.00, Y:0.27, Z:-0.06 [[ 9.99306287e-01 -2.99867017e-02 -2.20848964e-02 1.00044884e+01] [ 2.99801940e-02 9.99550297e-01 -6.25775907e-04 2.74203581e-01] [ 2.20937297e-02 -3.67676820e-05 9.99755903e-01 -6.04129360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.135099893 meters 0.014262734355594175 Centerline is valid? [True, True] Translation: X:10.04, Y:0.27, Z:-0.06 [[ 9.99247756e-01 -3.05808874e-02 -2.38481032e-02 1.00359921e+01] [ 3.05734836e-02 9.99532294e-01 -6.75092296e-04 2.72909537e-01] [ 2.38575942e-02 -5.45351299e-05 9.99715366e-01 -6.16135363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165099893 meters 0.015655772554463345 Centerline is valid? [True, True] Translation: X:10.07, Y:0.27, Z:-0.06 [[ 9.99193363e-01 -3.07897800e-02 -2.57800686e-02 1.00663128e+01] [ 3.07812097e-02 9.99525880e-01 -7.29304533e-04 2.71702958e-01] [ 2.57903008e-02 -6.48254466e-05 9.99667373e-01 -6.41154508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.195099893 meters 0.014803398852388096 Centerline is valid? [True, True] Translation: X:10.10, Y:0.27, Z:-0.06 [[ 9.99221046e-01 -3.08565852e-02 -2.46002666e-02 1.00961778e+01] [ 3.08487964e-02 9.99523820e-01 -6.96146115e-04 2.72507213e-01] [ 2.46100331e-02 -6.32847651e-05 9.99697125e-01 -6.24672198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225099893 meters 0.014539790253192048 Centerline is valid? [True, True] Translation: X:10.13, Y:0.27, Z:-0.06 [[ 9.99310644e-01 -3.08503946e-02 -2.06516444e-02 1.01265242e+01] [ 3.08449005e-02 9.99524012e-01 -5.84591203e-04 2.73697070e-01] [ 2.06598494e-02 -5.28097066e-05 9.99786561e-01 -5.80614433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.255099893 meters 0.015530614119142187 Centerline is valid? [True, True] Translation: X:10.16, Y:0.27, Z:-0.06 [[ 9.99272100e-01 -3.25360199e-02 -1.99167907e-02 1.01585667e+01] [ 3.25312555e-02 9.99470560e-01 -5.63243101e-04 2.72774112e-01] [ 1.99245716e-02 -8.50850915e-05 9.99801482e-01 -5.72180860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285099893 meters 0.015389509869223236 Centerline is valid? [True, True] Translation: X:10.19, Y:0.27, Z:-0.06 [[ 9.99271827e-01 -3.30910131e-02 -1.89947609e-02 1.01901278e+01] [ 3.30868030e-02 9.99452338e-01 -5.35958181e-04 2.72763949e-01] [ 1.90020936e-02 -9.29080006e-05 9.99819440e-01 -5.65324785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.315099893 meters 0.015092920637835266 Centerline is valid? [True, True] Translation: X:10.22, Y:0.27, Z:-0.06 [[ 9.99245015e-01 -3.39924251e-02 -1.88126149e-02 1.02223981e+01] [ 3.39884760e-02 9.99422084e-01 -5.29702672e-04 2.73187867e-01] [ 1.88197487e-02 -1.10109356e-04 9.99822887e-01 -5.63949196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345099893 meters 0.01586120497430458 Centerline is valid? [True, True] Translation: X:10.25, Y:0.27, Z:-0.06 [[ 9.98898461e-01 -4.21652043e-02 -2.05902958e-02 1.02545994e+01] [ 4.21622410e-02 9.99110610e-01 -5.78203118e-04 2.69660891e-01] [ 2.05963630e-02 -2.90566807e-04 9.99787830e-01 -5.80897344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.375099893 meters 0.01924387532277165 Centerline is valid? [True, True] Translation: X:10.28, Y:0.26, Z:-0.06 [[ 9.98434640e-01 -5.09149519e-02 -2.31503321e-02 1.02848344e+01] [ 5.09135974e-02 9.98702851e-01 -6.48302578e-04 2.64602835e-01] [ 2.31533110e-02 -5.31378936e-04 9.99731785e-01 -6.11145070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.405099893000001 meters 0.018781759609241014 Centerline is valid? [True, True] Translation: X:10.32, Y:0.27, Z:-0.06 [[ 9.98442846e-01 -5.06515151e-02 -2.33732208e-02 1.03181616e+01] [ 5.06501117e-02 9.98716246e-01 -6.52428576e-04 2.68013799e-01] [ 2.33762619e-02 -5.32443601e-04 9.99726596e-01 -6.09285236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.435099893 meters 0.014626163809490238 Centerline is valid? [True, True] Translation: X:10.35, Y:0.28, Z:-0.05 [[ 9.98967954e-01 -4.14071056e-02 -1.86675941e-02 1.03480596e+01] [ 4.14046163e-02 9.99142326e-01 -5.19992494e-04 2.77679859e-01] [ 1.86731148e-02 -2.53468734e-04 9.99825610e-01 -5.46893112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465099893 meters 0.0157997742906499 Centerline is valid? [True, True] Translation: X:10.38, Y:0.28, Z:-0.06 [[ 9.99058093e-01 -3.86579978e-02 -1.97100650e-02 1.03802422e+01] [ 3.86546982e-02 9.99252477e-01 -5.48502873e-04 2.80356319e-01] [ 1.97165353e-02 -2.13900381e-04 9.99805587e-01 -5.57516089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.495099893 meters 0.01584900724910502 Centerline is valid? [True, True] Translation: X:10.41, Y:0.28, Z:-0.06 [[ 9.99032990e-01 -3.91745786e-02 -1.99608792e-02 1.04119534e+01] [ 3.91713335e-02 9.99232355e-01 -5.53684502e-04 2.79268125e-01] [ 1.99672467e-02 -2.28745172e-04 9.99800608e-01 -5.64582401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525099893 meters 0.017278685047675095 Centerline is valid? [True, True] Translation: X:10.44, Y:0.28, Z:-0.06 [[ 9.98895013e-01 -4.14859531e-02 -2.20832384e-02 1.04446333e+01] [ 4.14825969e-02 9.99139040e-01 -6.10244158e-04 2.77049506e-01] [ 2.20895422e-02 -3.06500230e-04 9.99755949e-01 -5.89258806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.555099893 meters 0.0165517765607075 Centerline is valid? [True, True] Translation: X:10.48, Y:0.28, Z:-0.06 [[ 9.98842339e-01 -4.26055135e-02 -2.23327502e-02 1.04759455e+01] [ 4.26023926e-02 9.99091916e-01 -6.15715706e-04 2.76137150e-01] [ 2.23387030e-02 -3.36425675e-04 9.99750403e-01 -5.89918914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585099893 meters 0.017340861199724295 Centerline is valid? [True, True] Translation: X:10.51, Y:0.28, Z:-0.06 [[ 9.98714130e-01 -4.50069465e-02 -2.33337041e-02 1.05082056e+01] [ 4.50042288e-02 9.98986590e-01 -6.41851618e-04 2.75459965e-01] [ 2.33389453e-02 -4.09089077e-04 9.99727526e-01 -5.86991409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.615099893 meters 0.016951031501486014 Centerline is valid? [True, True] Translation: X:10.54, Y:0.28, Z:-0.06 [[ 9.98670415e-01 -4.57397057e-02 -2.37756578e-02 1.05399812e+01] [ 4.57371320e-02 9.98953297e-01 -6.52316651e-04 2.76111449e-01] [ 2.37806085e-02 -4.35981060e-04 9.99717106e-01 -5.81121206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645099893 meters 0.016099528215803204 Centerline is valid? [True, True] Translation: X:10.57, Y:0.28, Z:-0.06 [[ 9.98593381e-01 -4.73768151e-02 -2.38053890e-02 1.05717875e+01] [ 4.73747398e-02 9.98876974e-01 -6.51457183e-04 2.75665220e-01] [ 2.38095189e-02 -4.77233278e-04 9.99716399e-01 -5.72058846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.675099893 meters 0.017794024602120925 Centerline is valid? [True, True] Translation: X:10.60, Y:0.28, Z:-0.06 [[ 9.98502626e-01 -4.87622590e-02 -2.47941023e-02 1.06037521e+01] [ 4.87604789e-02 9.98810271e-01 -6.76730060e-04 2.75848475e-01] [ 2.47976029e-02 -5.33255557e-04 9.99692350e-01 -5.90550291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705099893 meters 0.01779092135689959 Centerline is valid? [True, True] Translation: X:10.64, Y:0.28, Z:-0.06 [[ 9.98495287e-01 -4.89270983e-02 -2.47649078e-02 1.06357685e+01] [ 4.89254164e-02 9.98802207e-01 -6.74184401e-04 2.75978655e-01] [ 2.47682304e-02 -5.38463478e-04 9.99693075e-01 -5.94572838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.735099893000001 meters 0.016460504664104387 Centerline is valid? [True, True] Translation: X:10.67, Y:0.28, Z:-0.06 [[ 9.98708593e-01 -4.54475212e-02 -2.27083653e-02 1.06670151e+01] [ 4.54452340e-02 9.98966641e-01 -6.17035829e-04 2.79667114e-01] [ 2.27129421e-02 -4.15747989e-04 9.99741941e-01 -5.67174995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765099893 meters 0.015468997202004656 Centerline is valid? [True, True] Translation: X:10.70, Y:0.28, Z:-0.05 [[ 9.98912069e-01 -4.19351138e-02 -2.03991570e-02 1.06988029e+01] [ 4.19325525e-02 9.99120290e-01 -5.53469601e-04 2.84048000e-01] [ 2.04044215e-02 -3.02521258e-04 9.99791762e-01 -5.29907124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.795099893 meters 0.016278461327624356 Centerline is valid? [True, True] Translation: X:10.73, Y:0.29, Z:-0.05 [[ 9.99107864e-01 -3.86860855e-02 -1.69370349e-02 1.07296599e+01] [ 3.86838663e-02 9.99251394e-01 -4.58744706e-04 2.85295628e-01] [ 1.69421028e-02 -1.96854553e-04 9.99856453e-01 -5.05597989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825099893 meters 0.014260075641237135 Centerline is valid? [True, True] Translation: X:10.76, Y:0.29, Z:-0.05 [[ 9.99059197e-01 -4.00914835e-02 -1.65346519e-02 1.07619352e+01] [ 4.00895765e-02 9.99195990e-01 -4.46906997e-04 2.85118823e-01] [ 1.65392750e-02 -2.16380646e-04 9.99863193e-01 -4.84008401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.855099893 meters 0.016472969795647684 Centerline is valid? [True, True] Translation: X:10.79, Y:0.28, Z:-0.05 [[ 9.98841238e-01 -4.34244798e-02 -2.07483901e-02 1.07935887e+01] [ 4.34222282e-02 9.99056654e-01 -5.59239157e-04 2.84169250e-01] [ 2.07531018e-02 -3.42350196e-04 9.99784573e-01 -5.30839945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885099893 meters 0.016498976575131268 Centerline is valid? [True, True] Translation: X:10.83, Y:0.28, Z:-0.06 [[ 9.98772035e-01 -4.43542307e-02 -2.20708897e-02 1.08258317e+01] [ 4.43519407e-02 9.99015792e-01 -5.93490503e-04 2.83060511e-01] [ 2.20754912e-02 -3.86125072e-04 9.99756232e-01 -5.56929398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.915099893 meters 0.015426609047576123 Centerline is valid? [True, True] Translation: X:10.86, Y:0.28, Z:-0.06 [[ 9.98752300e-01 -4.42038366e-02 -2.32349821e-02 1.08581389e+01] [ 4.42012978e-02 9.99022451e-01 -6.23086099e-04 2.83105473e-01] [ 2.32398116e-02 -4.04707689e-04 9.99729837e-01 -5.53410145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945099893 meters 0.016195337068516166 Centerline is valid? [True, True] Translation: X:10.89, Y:0.29, Z:-0.06 [[ 9.98775257e-01 -4.21316680e-02 -2.59404708e-02 1.08898875e+01] [ 4.21278563e-02 9.99111987e-01 -6.93668010e-04 2.86172666e-01] [ 2.59466607e-02 -3.99997981e-04 9.99663249e-01 -5.60356180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.975099893 meters 0.016392679164647435 Centerline is valid? [True, True] Translation: X:10.92, Y:0.29, Z:-0.06 [[ 9.98848972e-01 -4.02253942e-02 -2.61275353e-02 1.09212080e+01] [ 4.02209117e-02 9.99190568e-01 -6.97278657e-04 2.88712111e-01] [ 2.61344352e-02 -3.54397222e-04 9.99658374e-01 -5.55325213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005099893 meters 0.01544414781874727 Centerline is valid? [True, True] Translation: X:10.95, Y:0.29, Z:-0.05 [[ 9.99060793e-01 -3.69294262e-02 -2.26660342e-02 1.09519562e+01] [ 3.69252215e-02 9.99317849e-01 -6.04149734e-04 2.90436107e-01] [ 2.26728834e-02 -2.33366021e-04 9.99742910e-01 -5.37737024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.035099893 meters 0.013586768176158628 Centerline is valid? [True, True] Translation: X:10.98, Y:0.29, Z:-0.05 [[ 9.99391121e-01 -3.05340703e-02 -1.68836329e-02 1.09821749e+01] [ 3.05308362e-02 9.99533724e-01 -4.49335075e-04 2.92754087e-01] [ 1.68894805e-02 -6.64099445e-05 9.99857360e-01 -5.01217591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065099893 meters 0.015765204621277232 Centerline is valid? [True, True] Translation: X:11.01, Y:0.30, Z:-0.05 [[ 9.99546484e-01 -2.56589023e-02 -1.57621992e-02 1.10144307e+01] [ 2.56554957e-02 9.99670756e-01 -4.18329420e-04 2.99262050e-01] [ 1.57677434e-02 1.37526683e-05 9.99875681e-01 -4.75286871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.095099893 meters 0.014459642090036891 Centerline is valid? [True, True] Translation: X:11.05, Y:0.30, Z:-0.05 [[ 9.99536215e-01 -2.45295476e-02 -1.80459495e-02 1.10456435e+01] [ 2.45249199e-02 9.99699105e-01 -4.77735667e-04 3.03143163e-01] [ 1.80522382e-02 3.49386340e-05 9.99837044e-01 -4.66061524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125099893 meters 0.015658878717081007 Centerline is valid? [True, True] Translation: X:11.08, Y:0.30, Z:-0.05 [[ 9.99382171e-01 -2.65808326e-02 -2.29942698e-02 1.10767770e+01] [ 2.65738743e-02 9.99646667e-01 -6.08174552e-04 2.98517880e-01] [ 2.30023110e-02 -3.24803302e-06 9.99735412e-01 -5.31834256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.155099893000001 meters 0.015807724590465266 Centerline is valid? [True, True] Translation: X:11.11, Y:0.30, Z:-0.05 [[ 9.99328738e-01 -2.71949763e-02 -2.45460163e-02 1.11064030e+01] [ 2.71872215e-02 9.99630148e-01 -6.49655025e-04 2.95956696e-01] [ 2.45546052e-02 -1.81190440e-05 9.99698490e-01 -5.46281535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185099893 meters 0.015554442690664635 Centerline is valid? [True, True] Translation: X:11.13, Y:0.30, Z:-0.05 [[ 9.99427539e-01 -2.42658862e-02 -2.35745864e-02 1.11348208e+01] [ 2.42578941e-02 9.99705539e-01 -6.24970956e-04 2.99762299e-01] [ 2.35828101e-02 5.27433646e-05 9.99721885e-01 -5.13311850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.215099893 meters 0.015027521127481281 Centerline is valid? [True, True] Translation: X:11.16, Y:0.30, Z:-0.05 [[ 9.99546283e-01 -2.06584296e-02 -2.19193448e-02 1.11629693e+01] [ 2.06505875e-02 9.99786583e-01 -5.84083023e-04 3.02676967e-01] [ 2.19267330e-02 1.31170667e-04 9.99759572e-01 -4.89490652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245099893 meters 0.015978386150210622 Centerline is valid? [True, True] Translation: X:11.19, Y:0.30, Z:-0.05 [[ 9.99591780e-01 -1.98469875e-02 -2.05516343e-02 1.11908564e+01] [ 1.98398480e-02 9.99803019e-01 -5.51243622e-04 3.03981236e-01] [ 2.05585265e-02 1.43277292e-04 9.99788641e-01 -4.80878605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.275099893 meters 0.014323490814276254 Centerline is valid? [True, True] Translation: X:11.22, Y:0.30, Z:-0.04 [[ 9.99564234e-01 -2.31796131e-02 -1.82769644e-02 1.12194372e+01] [ 2.31744790e-02 9.99731314e-01 -4.92683004e-04 3.03122433e-01] [ 1.82834738e-02 6.89091825e-05 9.99832841e-01 -4.47890595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305099893 meters 0.01564587720726686 Centerline is valid? [True, True] Translation: X:11.25, Y:0.30, Z:-0.05 [[ 9.99408999e-01 -2.82150517e-02 -1.96357709e-02 1.12495590e+01] [ 2.82100324e-02 9.99601876e-01 -5.32616900e-04 3.00070207e-01] [ 1.96429812e-02 -2.16236096e-05 9.99807058e-01 -4.69264502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.335099893 meters 0.01665317048089254 Centerline is valid? [True, True] Translation: X:11.28, Y:0.29, Z:-0.05 [[ 9.99129717e-01 -3.52708815e-02 -2.22659586e-02 1.12799306e+01] [ 3.52661837e-02 9.99377772e-01 -6.03735522e-04 2.94385807e-01] [ 2.22733984e-02 -1.82025284e-04 9.99751901e-01 -5.10073334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365099893 meters 0.01665317048089254 Centerline is valid? [True, True] Translation: X:11.31, Y:0.30, Z:-0.05 [[ 9.99130975e-01 -3.52352220e-02 -2.22659741e-02 1.13107689e+01] [ 3.52305282e-02 9.99379030e-01 -6.03161886e-04 2.95193169e-01] [ 2.22734002e-02 -1.81804305e-04 9.99751901e-01 -5.06258908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.395099893 meters 0.016995092317671278 Centerline is valid? [True, True] Translation: X:11.34, Y:0.29, Z:-0.05 [[ 9.98596636e-01 -4.67657000e-02 -2.48541296e-02 1.13416370e+01] [ 4.67634461e-02 9.98905765e-01 -6.72217664e-04 2.87792907e-01] [ 2.48583701e-02 -4.90990453e-04 9.99690862e-01 -5.25182507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425099893 meters 0.01834854723270465 Centerline is valid? [True, True] Translation: X:11.37, Y:0.29, Z:-0.05 [[ 9.98321240e-01 -5.20782292e-02 -2.53487441e-02 1.13732943e+01] [ 5.20776218e-02 9.98642805e-01 -6.84569492e-04 2.87040792e-01] [ 2.53499921e-02 -6.36682045e-04 9.99678435e-01 -5.11172514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.455099893 meters 0.019330842705410894 Centerline is valid? [True, True] Translation: X:11.41, Y:0.29, Z:-0.05 [[ 9.98223483e-01 -5.42549271e-02 -2.46227663e-02 1.14058490e+01] [ 5.42550471e-02 9.98526890e-01 -6.63674740e-04 2.87137447e-01] [ 2.46225019e-02 -6.73413634e-04 9.99696593e-01 -4.92098971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485099893000001 meters 0.018598970125417516 Centerline is valid? [True, True] Translation: X:11.44, Y:0.29, Z:-0.05 [[ 9.98319500e-01 -5.28446794e-02 -2.37826732e-02 1.14386455e+01] [ 5.28444355e-02 9.98602552e-01 -6.39176705e-04 2.86529847e-01] [ 2.37832153e-02 -6.18679373e-04 9.99716948e-01 -5.06196470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.515099893 meters 0.01776861269280679 Centerline is valid? [True, True] Translation: X:11.47, Y:0.29, Z:-0.05 [[ 9.98496253e-01 -4.97370630e-02 -2.30533791e-02 1.14705145e+01] [ 4.97360477e-02 9.98762206e-01 -6.17761695e-04 2.89317356e-01] [ 2.30555694e-02 -5.29751226e-04 9.99734045e-01 -5.07414025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545099893 meters 0.016759248861746436 Centerline is valid? [True, True] Translation: X:11.50, Y:0.30, Z:-0.05 [[ 9.98803521e-01 -4.40706724e-02 -2.11967629e-02 1.15003458e+01] [ 4.40685585e-02 9.99028348e-01 -5.67052179e-04 2.97799738e-01] [ 2.12011574e-02 -3.67737076e-04 9.99775163e-01 -4.66291299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.575099893 meters 0.01631291354091798 Centerline is valid? [True, True] Translation: X:11.53, Y:0.30, Z:-0.05 [[ 9.98938685e-01 -4.11084866e-02 -2.07748663e-02 1.15325734e+01] [ 4.11058325e-02 9.99154644e-01 -5.54952368e-04 3.00446369e-01] [ 2.07801174e-02 -2.99604784e-04 9.99784025e-01 -4.53199902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605099893 meters 0.016063002036063853 Centerline is valid? [True, True] Translation: X:11.56, Y:0.30, Z:-0.05 [[ 9.98866001e-01 -4.20912891e-02 -2.22493788e-02 1.15644524e+01] [ 4.20885253e-02 9.99113710e-01 -5.92692947e-04 2.97782566e-01] [ 2.22546066e-02 -3.44422708e-04 9.99752276e-01 -4.66575218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.635099893 meters 0.017449153300955006 Centerline is valid? [True, True] Translation: X:11.60, Y:0.29, Z:-0.05 [[ 9.98710715e-01 -4.51409116e-02 -2.32208191e-02 1.15965629e+01] [ 4.51387645e-02 9.98980536e-01 -6.16873945e-04 2.94752893e-01] [ 2.32249925e-02 -4.32080465e-04 9.99730170e-01 -4.71437641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665099893 meters 0.01803325077966481 Centerline is valid? [True, True] Translation: X:11.63, Y:0.29, Z:-0.05 [[ 9.98525470e-01 -4.85732519e-02 -2.42389147e-02 1.16286398e+01] [ 4.85719662e-02 9.98819479e-01 -6.42140546e-04 2.93820760e-01] [ 2.42414910e-02 -5.36138053e-04 9.99705988e-01 -4.69249432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.695099893 meters 0.018159754260999538 Centerline is valid? [True, True] Translation: X:11.66, Y:0.29, Z:-0.05 [[ 9.98378906e-01 -5.14129260e-02 -2.44186822e-02 1.16599870e+01] [ 5.14125077e-02 9.98677294e-01 -6.45348170e-04 2.91511427e-01] [ 2.44195627e-02 -6.11123689e-04 9.99701611e-01 -4.69178193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725099893 meters 0.01799314370390857 Centerline is valid? [True, True] Translation: X:11.69, Y:0.29, Z:-0.05 [[ 9.98337482e-01 -5.22911884e-02 -2.42467385e-02 1.16923758e+01] [ 5.22910716e-02 9.98631681e-01 -6.39285763e-04 2.93252591e-01] [ 2.42469903e-02 -6.29665004e-04 9.99705800e-01 -4.61453697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.755099893 meters 0.018645745346628283 Centerline is valid? [True, True] Translation: X:11.72, Y:0.29, Z:-0.04 [[ 9.98315204e-01 -5.30595375e-02 -2.34827175e-02 1.17238966e+01] [ 5.30596745e-02 9.98591152e-01 -6.17686520e-04 2.94375326e-01] [ 2.34824080e-02 -6.29339499e-04 9.99724052e-01 -4.46811299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785099893 meters 0.0196637134106595 Centerline is valid? [True, True] Translation: X:11.76, Y:0.30, Z:-0.04 [[ 9.98286542e-01 -5.34897851e-02 -2.37238853e-02 1.17557953e+01] [ 5.34900814e-02 9.98568187e-01 -6.22549041e-04 2.97255369e-01] [ 2.37232171e-02 -6.47510227e-04 9.99718355e-01 -4.37844830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.815099893 meters 0.018865710488765335 Centerline is valid? [True, True] Translation: X:11.79, Y:0.30, Z:-0.04 [[ 9.98286757e-01 -5.33583544e-02 -2.40090999e-02 1.17881883e+01] [ 5.33586614e-02 9.98575214e-01 -6.28309092e-04 2.98443646e-01] [ 2.40084176e-02 -6.53860788e-04 9.99711543e-01 -4.36754221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845099893 meters 0.01952348584468128 Centerline is valid? [True, True] Translation: X:11.82, Y:0.30, Z:-0.05 [[ 9.98282445e-01 -5.29836755e-02 -2.49978092e-02 1.18193818e+01] [ 5.29839308e-02 9.98595152e-01 -6.52597038e-04 2.97716936e-01] [ 2.49972680e-02 -6.73006025e-04 9.99687293e-01 -4.56409821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.875099893 meters 0.019308477707298075 Centerline is valid? [True, True] Translation: X:11.85, Y:0.30, Z:-0.04 [[ 9.98307862e-01 -5.26004774e-02 -2.47911773e-02 1.18511199e+01] [ 5.26006485e-02 9.98615419e-01 -6.45663865e-04 3.00383393e-01] [ 2.47908142e-02 -6.59460694e-04 9.99692443e-01 -4.42760101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905099893000001 meters 0.018866787419096667 Centerline is valid? [True, True] Translation: X:11.88, Y:0.30, Z:-0.04 [[ 9.98316636e-01 -5.29414806e-02 -2.36874116e-02 1.18837113e+01] [ 5.29417716e-02 9.98597412e-01 -6.15269517e-04 3.00042156e-01] [ 2.36867612e-02 -6.39819741e-04 9.99719225e-01 -4.27121285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.935099893 meters 0.01913117273210901 Centerline is valid? [True, True] Translation: X:11.92, Y:0.30, Z:-0.04 [[ 9.98248881e-01 -5.42547745e-02 -2.35709986e-02 1.19161823e+01] [ 5.42554678e-02 9.98526901e-01 -6.10570309e-04 2.98419792e-01] [ 2.35694025e-02 -6.69354428e-04 9.99721979e-01 -4.26402635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965099893 meters 0.01859379959087205 Centerline is valid? [True, True] Translation: X:11.95, Y:0.30, Z:-0.04 [[ 9.98193281e-01 -5.53541350e-02 -2.33686606e-02 1.19479266e+01] [ 5.53551566e-02 9.98466545e-01 -6.03652773e-04 2.99893572e-01] [ 2.33662405e-02 -6.91013723e-04 9.99726733e-01 -4.07600761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.995099893 meters 0.019680047980222368 Centerline is valid? [True, True] Translation: X:11.98, Y:0.30, Z:-0.04 [[ 9.98133316e-01 -5.62065085e-02 -2.38895718e-02 1.19799214e+01] [ 5.62078619e-02 9.98418899e-01 -6.15359983e-04 3.00382975e-01] [ 2.38863872e-02 -7.28570454e-04 9.99714414e-01 -4.12502588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025099893 meters 0.020140118333177144 Centerline is valid? [True, True] Translation: X:12.01, Y:0.30, Z:-0.04 [[ 9.98113228e-01 -5.68230978e-02 -2.32619922e-02 1.20115517e+01] [ 5.68245820e-02 9.98383999e-01 -5.97739394e-04 2.99869571e-01] [ 2.32583662e-02 -7.25241390e-04 9.99729225e-01 -4.10869304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.055099893 meters 0.01951107179354074 Centerline is valid? [True, True] Translation: X:12.04, Y:0.30, Z:-0.04 [[ 9.98145281e-01 -5.66774305e-02 -2.22185966e-02 1.20437200e+01] [ 5.66787783e-02 9.98392303e-01 -5.69581451e-04 3.01302915e-01] [ 2.22151582e-02 -6.90797872e-04 9.99752974e-01 -4.05490604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085099893 meters 0.020589971838525623 Centerline is valid? [True, True] Translation: X:12.08, Y:0.30, Z:-0.04 [[ 9.98146723e-01 -5.66843076e-02 -2.21361308e-02 1.20762869e+01] [ 5.66856862e-02 9.98391914e-01 -5.65700244e-04 3.00431688e-01] [ 2.21326004e-02 -6.90149921e-04 9.99754806e-01 -4.13126702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.115099893 meters 0.0194866499202838 Centerline is valid? [True, True] Translation: X:12.11, Y:0.30, Z:-0.04 [[ 9.98068063e-01 -5.79139898e-02 -2.24969146e-02 1.21083605e+01] [ 5.79157679e-02 9.98321309e-01 -5.73046332e-04 3.02880290e-01] [ 2.24923366e-02 -7.30986841e-04 9.99746748e-01 -3.96657326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145099893 meters 0.021068539685257338 Centerline is valid? [True, True] Translation: X:12.14, Y:0.30, Z:-0.04 [[ 9.98009118e-01 -5.86057176e-02 -2.33060106e-02 1.21398911e+01] [ 5.86078505e-02 9.98280907e-01 -5.92113473e-04 3.00837667e-01] [ 2.33006466e-02 -7.74980538e-04 9.99728203e-01 -4.08873551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.175099893 meters 0.022511353975884 Centerline is valid? [True, True] Translation: X:12.17, Y:0.30, Z:-0.04 [[ 9.97954838e-01 -5.90305114e-02 -2.45263051e-02 1.21715869e+01] [ 5.90330354e-02 9.98255836e-01 -6.21748898e-04 3.01163570e-01] [ 2.45202293e-02 -8.27384914e-04 9.99698992e-01 -4.22724532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205099893 meters 0.020232499294768454 Centerline is valid? [True, True] Translation: X:12.20, Y:0.30, Z:-0.04 [[ 9.97980290e-01 -5.83582682e-02 -2.50929028e-02 1.22042940e+01] [ 5.83607467e-02 9.98295358e-01 -6.34177928e-04 3.02453195e-01] [ 2.50871379e-02 -8.31543468e-04 9.99684922e-01 -4.25052709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.235099893 meters 0.019867646623555238 Centerline is valid? [True, True] Translation: X:12.24, Y:0.30, Z:-0.04 [[ 9.98067263e-01 -5.74540686e-02 -2.36805337e-02 1.22364125e+01] [ 5.74560679e-02 9.98347857e-01 -5.96516852e-04 3.01589999e-01] [ 2.36756824e-02 -7.65226406e-04 9.99719399e-01 -4.27757552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265099893 meters 0.021083942587465845 Centerline is valid? [True, True] Translation: X:12.27, Y:0.30, Z:-0.04 [[ 9.98242287e-01 -5.51107762e-02 -2.17976638e-02 1.22673427e+01] [ 5.51119370e-02 9.98480032e-01 -5.47927171e-04 3.02591802e-01] [ 2.17947287e-02 -6.54347400e-04 9.99762253e-01 -4.09504386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.295099893 meters 0.01895636890512486 Centerline is valid? [True, True] Translation: X:12.30, Y:0.31, Z:-0.04 [[ 9.98294003e-01 -5.45348729e-02 -2.08574065e-02 1.22999011e+01] [ 5.45358347e-02 9.98511677e-01 -5.23107960e-04 3.06485768e-01] [ 2.08548916e-02 -6.15260534e-04 9.99782324e-01 -3.71301128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325099893 meters 0.01876067286392851 Centerline is valid? [True, True] Translation: X:12.33, Y:0.31, Z:-0.03 [[ 9.98374912e-01 -5.31888110e-02 -2.04569321e-02 1.23307784e+01] [ 5.31894848e-02 9.98584306e-01 -5.11549010e-04 3.10386722e-01] [ 2.04551801e-02 -5.77375983e-04 9.99790604e-01 -3.46417328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.355099893 meters 0.020074895624150796 Centerline is valid? [True, True] Translation: X:12.36, Y:0.31, Z:-0.04 [[ 9.98341601e-01 -5.26374820e-02 -2.33097150e-02 1.23634358e+01] [ 5.26382428e-02 9.98613477e-01 -5.81361212e-04 3.11205177e-01] [ 2.33079969e-02 -6.46585352e-04 9.99728123e-01 -3.89348712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385099893 meters 0.02002262567741042 Centerline is valid? [True, True] Translation: X:12.40, Y:0.31, Z:-0.04 [[ 9.98234039e-01 -5.35605492e-02 -2.56918479e-02 1.23954020e+01] [ 5.35618284e-02 9.98564331e-01 -6.38865497e-04 3.09125754e-01] [ 2.56891809e-02 -7.38365066e-04 9.99669706e-01 -4.31396224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.415099893 meters 0.019793129854822164 Centerline is valid? [True, True] Translation: X:12.43, Y:0.31, Z:-0.04 [[ 9.98145315e-01 -5.51721035e-02 -2.57287778e-02 1.24276740e+01] [ 5.51739682e-02 9.98476553e-01 -6.37955203e-04 3.08204438e-01] [ 2.57247787e-02 -7.82786773e-04 9.99668757e-01 -4.26228563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445099893 meters 0.01979952972904905 Centerline is valid? [True, True] Translation: X:12.46, Y:0.31, Z:-0.04 [[ 9.98168512e-01 -5.53620390e-02 -2.43857886e-02 1.24596714e+01] [ 5.53638120e-02 9.98466066e-01 -6.02950921e-04 3.12587843e-01] [ 2.43817630e-02 -7.48243591e-04 9.99702441e-01 -3.75082882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.475099893 meters 0.020219311747106825 Centerline is valid? [True, True] Translation: X:12.49, Y:0.31, Z:-0.04 [[ 9.98259027e-01 -5.38319693e-02 -2.41046658e-02 1.24912185e+01] [ 5.38332976e-02 9.98549760e-01 -5.94272446e-04 3.14831948e-01] [ 2.41016991e-02 -7.04395816e-04 9.99709264e-01 -3.55917052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505099893 meters 0.01988081499604336 Centerline is valid? [True, True] Translation: X:12.52, Y:0.32, Z:-0.04 [[ 9.98392876e-01 -5.16635875e-02 -2.32924814e-02 1.25232064e+01] [ 5.16642762e-02 9.98664345e-01 -5.72611400e-04 3.16199947e-01] [ 2.32909539e-02 -6.31698052e-04 9.99728529e-01 -3.61908280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.535099893 meters 0.018328701854435622 Centerline is valid? [True, True] Translation: X:12.55, Y:0.32, Z:-0.04 [[ 9.98563596e-01 -4.91792697e-02 -2.12636614e-02 1.25549053e+01] [ 4.91793108e-02 9.98789830e-01 -5.21309726e-04 3.17501143e-01] [ 2.12635664e-02 -5.25171299e-04 9.99773767e-01 -3.60696213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565099893 meters 0.01770003809961478 Centerline is valid? [True, True] Translation: X:12.59, Y:0.32, Z:-0.03 [[ 9.98597680e-01 -4.87255386e-02 -2.07001316e-02 1.25872914e+01] [ 4.87255100e-02 9.98812079e-01 -5.06048176e-04 3.19453203e-01] [ 2.07001990e-02 -5.03285937e-04 9.99785601e-01 -3.47523489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.595099893 meters 0.01739666143248447 Centerline is valid? [True, True] Translation: X:12.62, Y:0.32, Z:-0.03 [[ 9.98663025e-01 -4.76822143e-02 -1.99641720e-02 1.26190691e+01] [ 4.76820076e-02 9.98862448e-01 -4.86638046e-04 3.22134971e-01] [ 1.99646657e-02 -4.65944378e-04 9.99800578e-01 -3.32914908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625099893 meters 0.017202217501790896 Centerline is valid? [True, True] Translation: X:12.65, Y:0.32, Z:-0.03 [[ 9.98719007e-01 -4.61001906e-02 -2.08594685e-02 1.26517539e+01] [ 4.60996559e-02 9.98936717e-01 -5.06750626e-04 3.24397873e-01] [ 2.08606503e-02 -4.55512838e-04 9.99782289e-01 -3.30691084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.655099893000001 meters 0.018282304273246012 Centerline is valid? [True, True] Translation: X:12.68, Y:0.32, Z:-0.04 [[ 9.98732246e-01 -4.49850973e-02 -2.25885247e-02 1.26826405e+01] [ 4.49842401e-02 9.98987547e-01 -5.46332408e-04 3.23361254e-01] [ 2.25902317e-02 -4.70487824e-04 9.99744697e-01 -3.56958542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685099893 meters 0.018145458749708097 Centerline is valid? [True, True] Translation: X:12.71, Y:0.32, Z:-0.04 [[ 9.98674748e-01 -4.54666631e-02 -2.41149585e-02 1.27145155e+01] [ 4.54658846e-02 9.98965723e-01 -5.80848132e-04 3.24303444e-01] [ 2.41164261e-02 -5.16329557e-04 9.99709023e-01 -3.58585972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.715099893 meters 0.01892659154763214 Centerline is valid? [True, True] Translation: X:12.75, Y:0.32, Z:-0.04 [[ 9.98642587e-01 -4.59306922e-02 -2.45632644e-02 1.27462588e+01] [ 4.59300688e-02 9.98944483e-01 -5.89855638e-04 3.24832757e-01] [ 2.45644299e-02 -5.39137464e-04 9.99698103e-01 -3.63457514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745099893 meters 0.017051636695563827 Centerline is valid? [True, True] Translation: X:12.78, Y:0.33, Z:-0.03 [[ 9.98661459e-01 -4.57608918e-02 -2.41087370e-02 1.27770225e+01] [ 4.57602781e-02 9.98952283e-01 -5.77437617e-04 3.25869806e-01] [ 2.41099020e-02 -5.26557819e-04 9.99709175e-01 -3.45858234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.775099893 meters 0.016791308026260884 Centerline is valid? [True, True] Translation: X:12.81, Y:0.33, Z:-0.03 [[ 9.98770146e-01 -4.37806942e-02 -2.32689999e-02 1.28090434e+01] [ 4.37796180e-02 9.99041058e-01 -5.55914494e-04 3.27514440e-01] [ 2.32710246e-02 -4.63477128e-04 9.99729086e-01 -3.35301679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805099893 meters 0.016691262650984823 Centerline is valid? [True, True] Translation: X:12.84, Y:0.33, Z:-0.03 [[ 9.98891309e-01 -4.15102817e-02 -2.22046971e-02 1.28416383e+01] [ 4.15087790e-02 9.99137999e-01 -5.28774270e-04 3.31892913e-01] [ 2.22075062e-02 -3.93501843e-04 9.99753305e-01 -3.15089452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.835099893 meters 0.015333974043281719 Centerline is valid? [True, True] Translation: X:12.87, Y:0.34, Z:-0.03 [[ 9.98969281e-01 -4.07259773e-02 -2.00442346e-02 1.28735619e+01] [ 4.07246258e-02 9.99170295e-01 -4.75780889e-04 3.35626740e-01] [ 2.00469804e-02 -3.41003458e-04 9.99798981e-01 -2.74418984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865099893 meters 0.01667469423836597 Centerline is valid? [True, True] Translation: X:12.91, Y:0.34, Z:-0.03 [[ 9.98956690e-01 -4.12179019e-02 -1.96625497e-02 1.29058576e+01] [ 4.12167240e-02 9.99150121e-01 -4.65331426e-04 3.36964110e-01] [ 1.96650189e-02 -3.45579940e-04 9.99806565e-01 -2.80606852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.895099893 meters 0.015336535264394565 Centerline is valid? [True, True] Translation: X:12.94, Y:0.34, Z:-0.03 [[ 9.98865483e-01 -4.38705283e-02 -1.85235889e-02 1.29376802e+01] [ 4.38699623e-02 9.99037154e-01 -4.37097723e-04 3.35593277e-01] [ 1.85249293e-02 -3.76027321e-04 9.99828328e-01 -2.61468696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925099893 meters 0.016813868290082905 Centerline is valid? [True, True] Translation: X:12.97, Y:0.33, Z:-0.03 [[ 9.98699533e-01 -4.65796686e-02 -2.07262326e-02 1.29696424e+01] [ 4.65795732e-02 9.98914464e-01 -4.87626320e-04 3.33519283e-01] [ 2.07264470e-02 -4.78426892e-04 9.99785070e-01 -3.02850487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.955099893 meters 0.01678998939829171 Centerline is valid? [True, True] Translation: X:13.00, Y:0.33, Z:-0.03 [[ 9.98615079e-01 -4.80869376e-02 -2.13440838e-02 1.30012812e+01] [ 4.80872058e-02 9.98843016e-01 -5.00980425e-04 3.32467825e-01] [ 2.13434797e-02 -5.26090743e-04 9.99772064e-01 -2.98101668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985099893 meters 0.018156750495934338 Centerline is valid? [True, True] Translation: X:13.03, Y:0.33, Z:-0.03 [[ 9.98544614e-01 -4.88565348e-02 -2.28405949e-02 1.30329614e+01] [ 4.88570862e-02 9.98805637e-01 -5.34228744e-04 3.33305103e-01] [ 2.28394155e-02 -5.82473681e-04 9.99738977e-01 -3.04585334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.015099893 meters 0.018725225050348092 Centerline is valid? [True, True] Translation: X:13.06, Y:0.33, Z:-0.03 [[ 9.98615680e-01 -4.76757045e-02 -2.22204894e-02 1.30639806e+01] [ 4.76759755e-02 9.98862720e-01 -5.17865490e-04 3.33356299e-01] [ 2.22199081e-02 -5.42234907e-04 9.99752960e-01 -2.92827183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045099893 meters 0.01732556043103759 Centerline is valid? [True, True] Translation: X:13.10, Y:0.33, Z:-0.03 [[ 9.98790606e-01 -4.51712874e-02 -1.94133853e-02 1.30964115e+01] [ 4.51710423e-02 9.98979166e-01 -4.51352024e-04 3.32977091e-01] [ 1.94139556e-02 -4.26116688e-04 9.99811441e-01 -2.58822358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.075099893 meters 0.01703887114824067 Centerline is valid? [True, True] Translation: X:13.13, Y:0.34, Z:-0.02 [[ 9.98879930e-01 -4.31658304e-02 -1.93803337e-02 1.31272254e+01] [ 4.31652336e-02 9.99067846e-01 -4.49304640e-04 3.36252419e-01] [ 1.93816629e-02 -3.87755244e-04 9.99812083e-01 -2.46760594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105099893 meters 0.014213129225145244 Centerline is valid? [True, True] Translation: X:13.16, Y:0.35, Z:-0.02 [[ 9.99103828e-01 -3.71301771e-02 -2.03196954e-02 1.31580401e+01] [ 3.71282931e-02 9.99310397e-01 -4.70097051e-04 3.45904353e-01] [ 2.03231377e-02 -2.84759843e-04 9.99793423e-01 -2.14176904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.135099893 meters 0.01606043870769952 Centerline is valid? [True, True] Translation: X:13.19, Y:0.35, Z:-0.03 [[ 9.99289533e-01 -3.05638262e-02 -2.20517765e-02 1.31894094e+01] [ 3.05600268e-02 9.99532804e-01 -5.09343255e-04 3.51041519e-01] [ 2.20570414e-02 -1.64921496e-04 9.99756700e-01 -2.56978245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165099893 meters 0.014934146723819862 Centerline is valid? [True, True] Translation: X:13.22, Y:0.34, Z:-0.02 [[ 9.99567278e-01 -2.39339308e-02 -1.71003831e-02 1.32199469e+01] [ 2.39306817e-02 9.99713542e-01 -3.94633794e-04 3.41537330e-01] [ 1.71049297e-02 -1.47607961e-05 9.99853700e-01 -2.19339440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.195099893 meters 0.015841768791999073 Centerline is valid? [True, True] Translation: X:13.25, Y:0.34, Z:-0.02 [[ 9.99598786e-01 -2.16581189e-02 -1.82535914e-02 1.32500301e+01] [ 2.16540392e-02 9.99765435e-01 -4.21142761e-04 3.41262249e-01] [ 1.82584309e-02 2.57098078e-05 9.99833301e-01 -2.38551859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225099893 meters 0.013231290577979293 Centerline is valid? [True, True] Translation: X:13.28, Y:0.34, Z:-0.02 [[ 9.99634029e-01 -2.07876036e-02 -1.73113753e-02 1.32791744e+01] [ 2.07838043e-02 9.99783914e-01 -3.99372095e-04 3.41913374e-01] [ 1.73159366e-02 3.94296998e-05 9.99850067e-01 -2.08140663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.255099893 meters 0.013231290577979293 Centerline is valid? [True, True] Translation: X:13.31, Y:0.34, Z:-0.02 [[ 9.99633292e-01 -2.08229999e-02 -1.73113612e-02 1.33083157e+01] [ 2.08191952e-02 9.99783177e-01 -3.99985029e-04 3.42615073e-01] [ 1.73159366e-02 3.94297435e-05 9.99850067e-01 -2.04533936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285099893 meters 0.013231290577979293 Centerline is valid? [True, True] Translation: X:13.34, Y:0.34, Z:-0.02 [[ 9.99632555e-01 -2.08583961e-02 -1.73113470e-02 1.33374569e+01] [ 2.08545861e-02 9.99782439e-01 -4.00597918e-04 3.43317804e-01] [ 1.73159366e-02 3.94297435e-05 9.99850067e-01 -2.00927209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.315099893 meters 0.01536082753015279 Centerline is valid? [True, True] Translation: X:13.37, Y:0.34, Z:-0.02 [[ 9.99639802e-01 -1.98289525e-02 -1.80853011e-02 1.33674028e+01] [ 1.98246157e-02 9.99803385e-01 -4.19065913e-04 3.44656408e-01] [ 1.80900549e-02 6.03808229e-05 9.99836360e-01 -2.15944476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345099893 meters 0.015095341099097067 Centerline is valid? [True, True] Translation: X:13.40, Y:0.35, Z:-0.02 [[ 9.99648139e-01 -1.89530635e-02 -1.85574598e-02 1.33968898e+01] [ 1.89483381e-02 9.99820371e-01 -4.30449931e-04 3.46040632e-01] [ 1.85622847e-02 7.86654490e-05 9.99827703e-01 -2.04308193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.375099893 meters 0.014267713587990461 Centerline is valid? [True, True] Translation: X:13.43, Y:0.35, Z:-0.02 [[ 9.99656508e-01 -1.88718336e-02 -1.81856967e-02 1.34259146e+01] [ 1.88672480e-02 9.99821908e-01 -4.23706210e-04 3.47250393e-01] [ 1.81904541e-02 8.04466208e-05 9.99834537e-01 -1.94344256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405099893 meters 0.014267713587990461 Centerline is valid? [True, True] Translation: X:13.45, Y:0.35, Z:-0.02 [[ 9.99651790e-01 -1.91202088e-02 -1.81855904e-02 1.34541304e+01] [ 1.91155821e-02 9.99817189e-01 -4.28226665e-04 3.47945315e-01] [ 1.81904537e-02 8.04494062e-05 9.99834537e-01 -1.90842116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.435099893 meters 0.014892380999147529 Centerline is valid? [True, True] Translation: X:13.48, Y:0.35, Z:-0.02 [[ 9.99637873e-01 -1.86740820e-02 -1.93752816e-02 1.34826022e+01] [ 1.86686492e-02 9.99825619e-01 -4.61248207e-04 3.49038131e-01] [ 1.93805163e-02 9.93708410e-05 9.99812175e-01 -1.96878851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465099893 meters 0.014892380999147529 Centerline is valid? [True, True] Translation: X:13.51, Y:0.35, Z:-0.02 [[ 9.99633231e-01 -1.89210635e-02 -1.93751667e-02 1.35108182e+01] [ 1.89155843e-02 9.99820976e-01 -4.66034365e-04 3.49748991e-01] [ 1.93805160e-02 9.93708391e-05 9.99812175e-01 -1.93376693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.495099893 meters 0.01546683046725612 Centerline is valid? [True, True] Translation: X:13.54, Y:0.35, Z:-0.02 [[ 9.99613747e-01 -1.90684648e-02 -2.02175863e-02 1.35395558e+01] [ 1.90624252e-02 9.99818175e-01 -4.91424692e-04 3.50590575e-01] [ 2.02232810e-02 1.05838650e-04 9.99795483e-01 -2.02078567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525099893 meters 0.01546683046725612 Centerline is valid? [True, True] Translation: X:13.57, Y:0.35, Z:-0.02 [[ 9.99608330e-01 -1.93504863e-02 -2.02174573e-02 1.35669230e+01] [ 1.93443978e-02 9.99812756e-01 -4.96690155e-04 3.51323649e-01] [ 2.02232829e-02 1.05401079e-04 9.99795483e-01 -1.98681299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.555099893 meters 0.015092632834862257 Centerline is valid? [True, True] Translation: X:13.59, Y:0.35, Z:-0.02 [[ 9.99591210e-01 -1.94926126e-02 -2.09153514e-02 1.35944724e+01] [ 1.94860008e-02 9.99809995e-01 -5.19897000e-04 3.51879650e-01] [ 2.09215115e-02 1.12127918e-04 9.99781115e-01 -1.98357740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585099893 meters 0.015092632834862257 Centerline is valid? [True, True] Translation: X:13.62, Y:0.35, Z:-0.02 [[ 9.99585584e-01 -1.97791653e-02 -2.09152010e-02 1.36218383e+01] [ 1.97724908e-02 9.99804367e-01 -5.25889697e-04 3.52623040e-01] [ 2.09215110e-02 1.12126138e-04 9.99781115e-01 -1.94958763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.615099893 meters 0.01496591719883739 Centerline is valid? [True, True] Translation: X:13.65, Y:0.35, Z:-0.02 [[ 9.99565632e-01 -2.02570932e-02 -2.14055259e-02 1.36493231e+01] [ 2.02500783e-02 9.99794798e-01 -5.44439800e-04 3.52823838e-01] [ 2.14121622e-02 1.10739737e-04 9.99770727e-01 -1.99762104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645099893 meters 0.01496591719883739 Centerline is valid? [True, True] Translation: X:13.68, Y:0.35, Z:-0.02 [[ 9.99559791e-01 -2.05434979e-02 -2.14053685e-02 1.36766887e+01] [ 2.05364174e-02 9.99788954e-01 -5.50572571e-04 3.53582825e-01] [ 2.14121617e-02 1.10740623e-04 9.99770727e-01 -1.96363134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.675099893 meters 0.014040975232640859 Centerline is valid? [True, True] Translation: X:13.70, Y:0.35, Z:-0.02 [[ 9.99545360e-01 -2.13273227e-02 -2.13124173e-02 1.37048408e+01] [ 2.13203511e-02 9.99772542e-01 -5.54302789e-04 3.53266798e-01] [ 2.13193914e-02 9.96625598e-05 9.99772711e-01 -1.96013121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705099893 meters 0.014040975232640859 Centerline is valid? [True, True] Translation: X:13.73, Y:0.35, Z:-0.02 [[ 9.99539934e-01 -2.15802619e-02 -2.13122641e-02 1.37330542e+01] [ 2.15732233e-02 9.99767114e-01 -5.60145771e-04 3.54032334e-01] [ 2.13193889e-02 1.00113834e-04 9.99772711e-01 -1.92509208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.735099893 meters 0.014000081483575637 Centerline is valid? [True, True] Translation: X:13.76, Y:0.35, Z:-0.02 [[ 9.99526006e-01 -2.25365809e-02 -2.09729973e-02 1.37611359e+01] [ 2.25298865e-02 9.99746016e-01 -5.55450777e-04 3.54009857e-01] [ 2.09801885e-02 8.26682464e-05 9.99779888e-01 -1.95219325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765099893 meters 0.014000081483575637 Centerline is valid? [True, True] Translation: X:13.79, Y:0.35, Z:-0.02 [[ 9.99520338e-01 -2.27866705e-02 -2.09728963e-02 1.37893499e+01] [ 2.27799516e-02 9.99740347e-01 -5.59243422e-04 3.54789387e-01] [ 2.09801939e-02 8.12136117e-05 9.99779888e-01 -1.91722530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.795099893 meters 0.016403077233050952 Centerline is valid? [True, True] Translation: X:13.82, Y:0.35, Z:-0.02 [[ 9.99475587e-01 -2.50490133e-02 -2.05206571e-02 1.38179081e+01] [ 2.50429867e-02 9.99686224e-01 -5.50646290e-04 3.54846686e-01] [ 2.05280114e-02 3.64589809e-05 9.99789278e-01 -2.02218705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.825099893 meters 0.018266001197209652 Centerline is valid? [True, True] Translation: X:13.85, Y:0.36, Z:-0.02 [[ 9.98734859e-01 -4.61934257e-02 -1.98708201e-02 1.38481658e+01] [ 4.61919401e-02 9.98932440e-01 -5.33979737e-04 3.55754065e-01] [ 1.98742732e-02 -3.84567557e-04 9.99802413e-01 -1.99465706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.855099893 meters 0.01860625505196415 Centerline is valid? [True, True] Translation: X:13.88, Y:0.36, Z:-0.02 [[ 9.98792767e-01 -4.48310315e-02 -2.00795251e-02 1.38794238e+01] [ 4.48292432e-02 9.98994519e-01 -5.39397213e-04 3.56922014e-01] [ 2.00835172e-02 -3.61403879e-04 9.99798241e-01 -2.02174540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885099893 meters 0.01729867182046245 Centerline is valid? [True, True] Translation: X:13.91, Y:0.36, Z:-0.02 [[ 9.98843157e-01 -4.39255236e-02 -1.95677362e-02 1.39111361e+01] [ 4.39236746e-02 9.99034752e-01 -5.24477308e-04 3.59946629e-01] [ 1.95718864e-02 -3.35616305e-04 9.99808396e-01 -1.86630984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.915099893 meters 0.01729867182046245 Centerline is valid? [True, True] Translation: X:13.94, Y:0.36, Z:-0.02 [[ 9.98847964e-01 -4.38160576e-02 -1.95677813e-02 1.39436778e+01] [ 4.38142206e-02 9.99039559e-01 -5.22788964e-04 3.60733313e-01] [ 1.95718941e-02 -3.35160394e-04 9.99808396e-01 -1.82608573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945099893 meters 0.01672948265045467 Centerline is valid? [True, True] Translation: X:13.97, Y:0.36, Z:-0.02 [[ 9.98873347e-01 -4.34900831e-02 -1.89907645e-02 1.39748456e+01] [ 4.34883258e-02 9.99053807e-01 -5.05697451e-04 3.61540125e-01] [ 1.89947884e-02 -3.20748847e-04 9.99819531e-01 -1.68918285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.975099893 meters 0.017787134028843785 Centerline is valid? [True, True] Translation: X:14.01, Y:0.36, Z:-0.02 [[ 9.98878912e-01 -4.33644589e-02 -1.89853132e-02 1.40078454e+01] [ 4.33627061e-02 9.99059268e-01 -5.04172850e-04 3.62922141e-01] [ 1.89893163e-02 -3.19646929e-04 9.99819636e-01 -1.70834058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005099893 meters 0.017787134028843785 Centerline is valid? [True, True] Translation: X:14.04, Y:0.36, Z:-0.02 [[ 9.98883541e-01 -4.32576786e-02 -1.89853669e-02 1.40403859e+01] [ 4.32559450e-02 9.99063897e-01 -5.02143531e-04 3.63697035e-01] [ 1.89893162e-02 -3.19647080e-04 9.99819636e-01 -1.66813430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.035099893 meters 0.018387284189571963 Centerline is valid? [True, True] Translation: X:14.07, Y:0.37, Z:-0.02 [[ 9.98857820e-01 -4.36887891e-02 -1.93479815e-02 1.40724658e+01] [ 4.36871055e-02 9.99045133e-01 -5.09876779e-04 3.65486232e-01] [ 1.93517827e-02 -3.35962902e-04 9.99812680e-01 -1.68522467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065099893 meters 0.018387284189571963 Centerline is valid? [True, True] Translation: X:14.11, Y:0.37, Z:-0.02 [[ 9.98862616e-01 -4.35789817e-02 -1.93480254e-02 1.41050078e+01] [ 4.35773099e-02 9.99049929e-01 -5.08206869e-04 3.66259264e-01] [ 1.93517905e-02 -3.35506056e-04 9.99812680e-01 -1.64500092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.095099893 meters 0.01702331329576402 Centerline is valid? [True, True] Translation: X:14.14, Y:0.37, Z:-0.02 [[ 9.98845672e-01 -4.41803804e-02 -1.88524975e-02 1.41358106e+01] [ 4.41789402e-02 9.99023512e-01 -4.93070827e-04 3.66096863e-01] [ 1.88558723e-02 -3.40381697e-04 9.99822154e-01 -1.57948788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125099893 meters 0.01702331329576402 Centerline is valid? [True, True] Translation: X:14.17, Y:0.37, Z:-0.02 [[ 9.98850469e-01 -4.40717834e-02 -1.88525553e-02 1.41683526e+01] [ 4.40703657e-02 9.99028309e-01 -4.90851574e-04 3.66859535e-01] [ 1.88558692e-02 -3.40551683e-04 9.99822154e-01 -1.53928725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.155099893 meters 0.01647369256884575 Centerline is valid? [True, True] Translation: X:14.20, Y:0.37, Z:-0.02 [[ 9.98811897e-01 -4.48147475e-02 -1.91424471e-02 1.42001890e+01] [ 4.48134578e-02 9.98995249e-01 -4.96542705e-04 3.66588556e-01] [ 1.91454662e-02 -3.61886485e-04 9.99816643e-01 -1.52256839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185099893 meters 0.01647369256884575 Centerline is valid? [True, True] Translation: X:14.23, Y:0.37, Z:-0.01 [[ 9.98816765e-01 -4.47061026e-02 -1.91424893e-02 1.42327317e+01] [ 4.47048243e-02 9.99000117e-01 -4.94910248e-04 3.67346665e-01] [ 1.91454746e-02 -3.61436970e-04 9.99816643e-01 -1.48234366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.215099893 meters 0.018699509249136912 Centerline is valid? [True, True] Translation: X:14.26, Y:0.37, Z:-0.02 [[ 9.98782725e-01 -4.51278820e-02 -1.99133641e-02 1.42639435e+01] [ 4.51266185e-02 9.98981144e-01 -5.13033960e-04 3.65252488e-01] [ 1.99162274e-02 -3.86213327e-04 9.99801578e-01 -1.77212623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245099893 meters 0.018699509249136912 Centerline is valid? [True, True] Translation: X:14.30, Y:0.37, Z:-0.02 [[ 9.98785880e-01 -4.50579812e-02 -1.99133948e-02 1.42956358e+01] [ 4.50567275e-02 9.98984299e-01 -5.11839840e-04 3.66008258e-01] [ 1.99162312e-02 -3.86013999e-04 9.99801578e-01 -1.73294428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.275099893 meters 0.017911199182801853 Centerline is valid? [True, True] Translation: X:14.33, Y:0.37, Z:-0.02 [[ 9.98749662e-01 -4.56235495e-02 -2.04353691e-02 1.43282076e+01] [ 4.56223776e-02 9.98958620e-01 -5.23792718e-04 3.66166790e-01] [ 2.04379854e-02 -4.09172327e-04 9.99791039e-01 -1.69041982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305099893 meters 0.01898014567212327 Centerline is valid? [True, True] Translation: X:14.36, Y:0.37, Z:-0.01 [[ 9.98746722e-01 -4.59730832e-02 -1.97853955e-02 1.43602318e+01] [ 4.59720831e-02 9.98942597e-01 -5.05621366e-04 3.65892957e-01] [ 1.97877194e-02 -4.04588165e-04 9.99804122e-01 -1.44684383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.335099893 meters 0.018829865150864957 Centerline is valid? [True, True] Translation: X:14.39, Y:0.37, Z:-0.01 [[ 9.98705628e-01 -4.78562085e-02 -1.72293812e-02 1.43923072e+01] [ 4.78557525e-02 9.98854161e-01 -4.38993082e-04 3.67334424e-01] [ 1.72306476e-02 -3.86100142e-04 9.99851467e-01 -9.96065933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365099893 meters 0.018570005777083006 Centerline is valid? [True, True] Translation: X:14.42, Y:0.36, Z:-0.01 [[ 9.98545898e-01 -5.09749031e-02 -1.75399181e-02 1.44249483e+01] [ 5.09749340e-02 9.98699834e-01 -4.45617028e-04 3.64191154e-01] [ 1.75398286e-02 -4.49127111e-04 9.99846065e-01 -1.08097971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.395099893 meters 0.018320552030183606 Centerline is valid? [True, True] Translation: X:14.46, Y:0.36, Z:-0.01 [[ 9.98528391e-01 -5.10380546e-02 -1.83349210e-02 1.44559609e+01] [ 5.10381219e-02 9.98696598e-01 -4.64559531e-04 3.64431833e-01] [ 1.83347334e-02 -4.71904051e-04 9.99831793e-01 -1.01135044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425099893 meters 0.018465447866077674 Centerline is valid? [True, True] Translation: X:14.49, Y:0.37, Z:-0.01 [[ 9.98597688e-01 -4.91392475e-02 -1.96974911e-02 1.44869116e+01] [ 4.91389779e-02 9.98791827e-01 -4.97982779e-04 3.68151552e-01] [ 1.96981637e-02 -4.70630131e-04 9.99805862e-01 -1.08988270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.455099893 meters 0.01967443081791235 Centerline is valid? [True, True] Translation: X:14.52, Y:0.37, Z:-0.01 [[ 9.98657293e-01 -4.75818421e-02 -2.04836607e-02 1.45190998e+01] [ 4.75812488e-02 9.98867237e-01 -5.16609668e-04 3.71083391e-01] [ 2.04850388e-02 -4.58722145e-04 9.99790054e-01 -1.18455786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485099893 meters 0.018505116303205837 Centerline is valid? [True, True] Translation: X:14.55, Y:0.37, Z:-0.01 [[ 9.98732833e-01 -4.57451462e-02 -2.09788186e-02 1.45507101e+01] [ 4.57441472e-02 9.98953049e-01 -5.27751021e-04 3.71686142e-01] [ 2.09809968e-02 -4.32575892e-04 9.99779781e-01 -1.33051825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.515099893 meters 0.017430764261176047 Centerline is valid? [True, True] Translation: X:14.58, Y:0.37, Z:-0.01 [[ 9.98744335e-01 -4.53908858e-02 -2.11995401e-02 1.45829653e+01] [ 4.53898133e-02 9.98969210e-01 -5.32011664e-04 3.72200253e-01] [ 2.12018363e-02 -4.30899533e-04 9.99775123e-01 -1.34986533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545099893 meters 0.017430764261176047 Centerline is valid? [True, True] Translation: X:14.61, Y:0.37, Z:-0.01 [[ 9.98747593e-01 -4.53191242e-02 -2.11995782e-02 1.46146597e+01] [ 4.53180679e-02 9.98972468e-01 -5.30489155e-04 3.72936988e-01] [ 2.12018363e-02 -4.30899158e-04 9.99775123e-01 -1.31068943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.575099893 meters 0.018060545621783847 Centerline is valid? [True, True] Translation: X:14.65, Y:0.37, Z:-0.01 [[ 9.98730569e-01 -4.53770778e-02 -2.18671249e-02 1.46459499e+01] [ 4.53759990e-02 9.98969830e-01 -5.45767800e-04 3.71164402e-01] [ 2.18693633e-02 -4.47167650e-04 9.99760737e-01 -1.42923773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605099893 meters 0.018491572274737893 Centerline is valid? [True, True] Translation: X:14.68, Y:0.37, Z:-0.01 [[ 9.98729890e-01 -4.54670575e-02 -2.17106549e-02 1.46781778e+01] [ 4.54660439e-02 9.98965738e-01 -5.40547608e-04 3.70855879e-01] [ 2.17127775e-02 -4.47236536e-04 9.99764150e-01 -1.43716904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.635099893 meters 0.018859223525171404 Centerline is valid? [True, True] Translation: X:14.71, Y:0.37, Z:-0.01 [[ 9.98711411e-01 -4.58686304e-02 -2.17160592e-02 1.47103662e+01] [ 4.58677445e-02 9.98947376e-01 -5.39147200e-04 3.71765907e-01] [ 2.17179303e-02 -4.57614193e-04 9.99764033e-01 -1.33820758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665099893 meters 0.01522650722467551 Centerline is valid? [True, True] Translation: X:14.74, Y:0.38, Z:-0.01 [[ 9.99017064e-01 -4.10210185e-02 -1.67982810e-02 1.47419519e+01] [ 4.10198185e-02 9.99158246e-01 -4.16129821e-04 3.79706267e-01] [ 1.68012110e-02 -2.73341644e-04 9.99858812e-01 -5.25985275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.695099893 meters 0.017197836111896025 Centerline is valid? [True, True] Translation: X:14.77, Y:0.38, Z:-0.01 [[ 9.98987655e-01 -4.10537876e-02 -1.83916034e-02 1.47735014e+01] [ 4.10523744e-02 9.99156893e-01 -4.54531749e-04 3.78862576e-01] [ 1.83947576e-02 -3.00947385e-04 9.99830757e-01 -7.57023647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725099893 meters 0.0160545643817746 Centerline is valid? [True, True] Translation: X:14.81, Y:0.38, Z:-0.01 [[ 9.98942120e-01 -4.16888192e-02 -1.94083280e-02 1.48056849e+01] [ 4.16873887e-02 9.99130588e-01 -4.78453689e-04 3.79157569e-01] [ 1.94114003e-02 -3.31134971e-04 9.99811526e-01 -7.73701147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.755099893 meters 0.01774619061574686 Centerline is valid? [True, True] Translation: X:14.84, Y:0.38, Z:-0.01 [[ 9.98846038e-01 -4.30789273e-02 -2.12319939e-02 1.48369715e+01] [ 4.30775688e-02 9.99071595e-01 -5.21553362e-04 3.77205521e-01] [ 2.12347500e-02 -3.93671169e-04 9.99774440e-01 -1.09741233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785099893 meters 0.016863880177413793 Centerline is valid? [True, True] Translation: X:14.87, Y:0.38, Z:-0.01 [[ 9.98754672e-01 -4.47900388e-02 -2.19762807e-02 1.48688023e+01] [ 4.47890412e-02 9.98996323e-01 -5.37845622e-04 3.77074846e-01] [ 2.19783137e-02 -4.47120715e-04 9.99758348e-01 -1.06936129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.815099893 meters 0.016863880177413793 Centerline is valid? [True, True] Translation: X:14.90, Y:0.38, Z:-0.01 [[ 9.98757889e-01 -4.47182450e-02 -2.19763193e-02 1.49004973e+01] [ 4.47172648e-02 9.98999539e-01 -5.36266651e-04 3.77791854e-01] [ 2.19783137e-02 -4.47120341e-04 9.99758348e-01 -1.03018519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845099893 meters 0.018071920677140977 Centerline is valid? [True, True] Translation: X:14.93, Y:0.38, Z:-0.01 [[ 9.98651940e-01 -4.66546282e-02 -2.27519038e-02 1.49313466e+01] [ 4.66541093e-02 9.98910951e-01 -5.53899843e-04 3.75842884e-01] [ 2.27529678e-02 -5.08316653e-04 9.99740988e-01 -1.14750521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.875099893 meters 0.018071920677140977 Centerline is valid? [True, True] Translation: X:14.96, Y:0.38, Z:-0.01 [[ 9.98655224e-01 -4.65842575e-02 -2.27519323e-02 1.49630427e+01] [ 4.65837471e-02 9.98914235e-01 -5.52725130e-04 3.76554883e-01] [ 2.27529774e-02 -5.07888422e-04 9.99740988e-01 -1.10831133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905099893 meters 0.01859598321202324 Centerline is valid? [True, True] Translation: X:15.00, Y:0.38, Z:-0.01 [[ 9.98570822e-01 -4.82706077e-02 -2.29403989e-02 1.49950376e+01] [ 4.82705711e-02 9.98834142e-01 -5.55665036e-04 3.76885900e-01] [ 2.29404760e-02 -5.52475265e-04 9.99736680e-01 -1.04510865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.935099893 meters 0.01951875958924329 Centerline is valid? [True, True] Translation: X:15.03, Y:0.38, Z:-0.01 [[ 9.98516394e-01 -4.95167003e-02 -2.26518598e-02 1.50264735e+01] [ 4.95170173e-02 9.98773130e-01 -5.47247436e-04 3.76331028e-01] [ 2.26511668e-02 -5.75216996e-04 9.99743264e-01 -1.00047758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965099893 meters 0.01989039098310895 Centerline is valid? [True, True] Translation: X:15.06, Y:0.37, Z:-0.01 [[ 9.98456935e-01 -5.21970707e-02 -1.89529795e-02 1.50584038e+01] [ 5.21977942e-02 9.98636661e-01 -4.56861634e-04 3.70568860e-01] [ 1.89509870e-02 -5.33147057e-04 9.99820272e-01 -9.06938253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.995099893 meters 0.020173817775641225 Centerline is valid? [True, True] Translation: X:15.09, Y:0.37, Z:-0.01 [[ 9.98260202e-01 -5.51184045e-02 -2.09411078e-02 1.50909707e+01] [ 5.51199633e-02 9.98479612e-01 -5.03195079e-04 3.68494819e-01] [ 2.09370045e-02 -6.51953474e-04 9.99780584e-01 -9.13092099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025099893 meters 0.020285702666702387 Centerline is valid? [True, True] Translation: X:15.12, Y:0.37, Z:-0.01 [[ 9.98208436e-01 -5.56900652e-02 -2.18754536e-02 1.51227438e+01] [ 5.56919389e-02 9.98447862e-01 -5.24024727e-04 3.69011157e-01] [ 2.18706828e-02 -6.95200521e-04 9.99760566e-01 -9.66512451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.055099893 meters 0.02002958804895107 Centerline is valid? [True, True] Translation: X:15.15, Y:0.37, Z:-0.01 [[ 9.98153441e-01 -5.65516459e-02 -2.21725094e-02 1.51541481e+01] [ 5.65538154e-02 9.98399412e-01 -5.29693115e-04 3.67779563e-01] [ 2.21669753e-02 -7.25224997e-04 9.99754019e-01 -8.94800588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085099893 meters 0.022068184436979926 Centerline is valid? [True, True] Translation: X:15.19, Y:0.37, Z:-0.01 [[ 9.98113887e-01 -5.71306262e-02 -2.24668451e-02 1.51856238e+01] [ 5.71330277e-02 9.98366431e-01 -5.35503256e-04 3.66100347e-01] [ 2.24607376e-02 -7.49105646e-04 9.99747445e-01 -1.03555189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.115099893 meters 0.022068184436979926 Centerline is valid? [True, True] Translation: X:15.22, Y:0.37, Z:-0.01 [[ 9.98117901e-01 -5.70604584e-02 -2.24668777e-02 1.52173286e+01] [ 5.70628729e-02 9.98370444e-01 -5.34133306e-04 3.66795122e-01] [ 2.24607445e-02 -7.48896572e-04 9.99747445e-01 -9.96354780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145099893 meters 0.021638279384320672 Centerline is valid? [True, True] Translation: X:15.25, Y:0.37, Z:-0.01 [[ 9.98090934e-01 -5.77546730e-02 -2.18834673e-02 1.52499107e+01] [ 5.77571635e-02 9.98330527e-01 -5.18744086e-04 3.66534141e-01] [ 2.18768934e-02 -7.46173232e-04 9.99760394e-01 -8.80719998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.175099893 meters 0.021638279384320672 Centerline is valid? [True, True] Translation: X:15.28, Y:0.37, Z:-0.01 [[ 9.98097065e-01 -5.76485974e-02 -2.18835119e-02 1.52824655e+01] [ 5.76511036e-02 9.98336658e-01 -5.16859991e-04 3.67214982e-01] [ 2.18769084e-02 -7.45732171e-04 9.99760394e-01 -8.40479540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205099893 meters 0.021638279384320672 Centerline is valid? [True, True] Translation: X:15.31, Y:0.37, Z:-0.01 [[ 9.98101133e-01 -5.75781032e-02 -2.18835586e-02 1.53141712e+01] [ 5.75806361e-02 9.98340726e-01 -5.14874128e-04 3.67901832e-01] [ 2.18768933e-02 -7.46172774e-04 9.99760394e-01 -8.01304177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.235099893 meters 0.02246985648810734 Centerline is valid? [True, True] Translation: X:15.35, Y:0.37, Z:-0.01 [[ 9.97984862e-01 -5.92027587e-02 -2.28308832e-02 1.53458653e+01] [ 5.92059738e-02 9.98245644e-01 -5.35691775e-04 3.68040146e-01] [ 2.28225441e-02 -8.17112391e-04 9.99739198e-01 -8.65291786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265099893 meters 0.022676661125601297 Centerline is valid? [True, True] Translation: X:15.38, Y:0.37, Z:-0.01 [[ 9.97955747e-01 -5.94893013e-02 -2.33527298e-02 1.53770703e+01] [ 5.94927730e-02 9.98228587e-01 -5.46677389e-04 3.69247429e-01] [ 2.33438839e-02 -8.43758811e-04 9.99727138e-01 -8.86190488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.295099893 meters 0.021522701708819685 Centerline is valid? [True, True] Translation: X:15.41, Y:0.38, Z:-0.01 [[ 9.98080819e-01 -5.78975291e-02 -2.19671374e-02 1.54090552e+01] [ 5.79002445e-02 9.98322242e-01 -5.12932312e-04 3.75456357e-01] [ 2.19599794e-02 -7.59954724e-04 9.99758562e-01 -5.67640477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325099893 meters 0.018878375983338636 Centerline is valid? [True, True] Translation: X:15.44, Y:0.38, Z:-0.01 [[ 9.98420990e-01 -5.12656031e-02 -2.29644226e-02 1.54399912e+01] [ 5.12668436e-02 9.98684847e-01 -5.35096873e-04 3.78993323e-01] [ 2.29616530e-02 -6.43061515e-04 9.99736140e-01 -8.41170183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.355099893 meters 0.016693145217829504 Centerline is valid? [True, True] Translation: X:15.47, Y:0.38, Z:-0.00 [[ 9.98551722e-01 -4.96260504e-02 -2.07777359e-02 1.54719980e+01] [ 4.96267278e-02 9.98767718e-01 -4.83333604e-04 3.83408369e-01] [ 2.07761178e-02 -5.48497443e-04 9.99784003e-01 -1.40865312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385099893 meters 0.019298328426476604 Centerline is valid? [True, True] Translation: X:15.50, Y:0.38, Z:-0.00 [[ 9.98463721e-01 -5.08727185e-02 -2.19582411e-02 1.55031071e+01] [ 5.08738087e-02 9.98704960e-01 -5.09328258e-04 3.84531512e-01] [ 2.19557152e-02 -6.08553571e-04 9.99758759e-01 -2.05696295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.415099893 meters 0.02039725927607727 Centerline is valid? [True, True] Translation: X:15.53, Y:0.38, Z:-0.00 [[ 9.98206624e-01 -5.46200905e-02 -2.44986006e-02 1.55346870e+01] [ 5.46226041e-02 9.98506910e-01 -5.67076519e-04 3.82149890e-01] [ 2.44929958e-02 -7.72117825e-04 9.99699703e-01 -4.99872817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445099893 meters 0.021568489201542217 Centerline is valid? [True, True] Translation: X:15.57, Y:0.38, Z:-0.01 [[ 9.97945295e-01 -5.88558386e-02 -2.53214935e-02 1.55657613e+01] [ 5.88599028e-02 9.98266081e-01 -5.85442690e-04 3.76700897e-01] [ 2.53120448e-02 -9.06180867e-04 9.99679188e-01 -8.34202768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.475099893 meters 0.023620423375731867 Centerline is valid? [True, True] Translation: X:15.60, Y:0.37, Z:-0.01 [[ 9.97774797e-01 -6.15328993e-02 -2.56740333e-02 1.55977021e+01] [ 6.15380036e-02 9.98104565e-01 -5.91984683e-04 3.74300271e-01] [ 2.56617964e-02 -9.89261356e-04 9.99670192e-01 -1.00703143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505099893 meters 0.022194679674323675 Centerline is valid? [True, True] Translation: X:15.63, Y:0.38, Z:-0.01 [[ 9.97894881e-01 -6.02172489e-02 -2.40767222e-02 1.56298852e+01] [ 6.02214043e-02 9.98184891e-01 -5.53102469e-04 3.76403129e-01] [ 2.40663267e-02 -8.97995901e-04 9.99709961e-01 -6.23664182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.535099893 meters 0.021637361449766794 Centerline is valid? [True, True] Translation: X:15.66, Y:0.38, Z:-0.00 [[ 9.98048166e-01 -5.78880990e-02 -2.34270233e-02 1.56610008e+01] [ 5.78914218e-02 9.98322741e-01 -5.36912727e-04 3.79180479e-01] [ 2.34188109e-02 -8.20358922e-04 9.99725405e-01 -4.23431033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565099893 meters 0.021609776178615148 Centerline is valid? [True, True] Translation: X:15.69, Y:0.38, Z:-0.01 [[ 9.98215150e-01 -5.52398485e-02 -2.26952281e-02 1.56925143e+01] [ 5.52423013e-02 9.98472843e-01 -5.19336292e-04 3.80758594e-01] [ 2.26892570e-02 -7.35327276e-04 9.99742295e-01 -5.43262222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.595099893 meters 0.02195723668206798 Centerline is valid? [True, True] Translation: X:15.72, Y:0.38, Z:-0.01 [[ 9.98159470e-01 -5.69177614e-02 -2.09294116e-02 1.57237747e+01] [ 5.69202432e-02 9.98378614e-01 -4.77601508e-04 3.77415613e-01] [ 2.09226609e-02 -7.14584729e-04 9.99780842e-01 -5.69655982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625099893 meters 0.02245782927924732 Centerline is valid? [True, True] Translation: X:15.76, Y:0.38, Z:-0.00 [[ 9.98078506e-01 -5.83217272e-02 -2.09253953e-02 1.57554136e+01] [ 5.83245534e-02 9.98297561e-01 -4.75733563e-04 3.79063682e-01] [ 2.09175167e-02 -7.45644892e-04 9.99780927e-01 -2.58692671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.655099893 meters 0.021883750577805686 Centerline is valid? [True, True] Translation: X:15.79, Y:0.38, Z:-0.00 [[ 9.98052487e-01 -5.79156804e-02 -2.31734279e-02 1.57876281e+01] [ 5.79190724e-02 9.98321143e-01 -5.25342169e-04 3.84509176e-01] [ 2.31649486e-02 -8.17864391e-04 9.99731322e-01 -9.11007355e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.685099893 meters 0.022109615344939357 Centerline is valid? [True, True] Translation: X:15.82, Y:0.38, Z:-0.00 [[ 9.97959930e-01 -5.78510265e-02 -2.70043922e-02 1.58186129e+01] [ 5.78556595e-02 9.98324772e-01 -6.10379029e-04 3.84331444e-01] [ 2.69944648e-02 -9.53223111e-04 9.99635129e-01 -4.77593200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.715099893 meters 0.020883754775514934 Centerline is valid? [True, True] Translation: X:15.85, Y:0.38, Z:-0.01 [[ 9.97959889e-01 -5.76685742e-02 -2.73933406e-02 1.58511548e+01] [ 5.76733219e-02 9.98335318e-01 -6.17392412e-04 3.84460778e-01] [ 2.73833435e-02 -9.63732086e-04 9.99624541e-01 -7.37500068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745099893 meters 0.021346881989295748 Centerline is valid? [True, True] Translation: X:15.88, Y:0.38, Z:-0.00 [[ 9.98061416e-01 -5.77821743e-02 -2.31220835e-02 1.58826330e+01] [ 5.77856375e-02 9.98328879e-01 -5.18902828e-04 3.82700459e-01] [ 2.31134270e-02 -8.18227444e-04 9.99732514e-01 -4.17489260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.775099893 meters 0.021323079899034366 Centerline is valid? [True, True] Translation: X:15.92, Y:0.39, Z:-0.00 [[ 9.98104863e-01 -5.74984932e-02 -2.19227400e-02 1.59150343e+01] [ 5.75015878e-02 9.98345295e-01 -4.89709153e-04 3.85747968e-01] [ 2.19146219e-02 -7.71811274e-04 9.99759548e-01 -1.11308999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805099893 meters 0.021060893098477626 Centerline is valid? [True, True] Translation: X:15.95, Y:0.39, Z:-0.00 [[ 9.98129015e-01 -5.63122989e-02 -2.38200535e-02 1.59475035e+01] [ 5.63156585e-02 9.98412873e-01 -5.30281934e-04 3.87314596e-01] [ 2.38121094e-02 -8.12152214e-04 9.99716122e-01 -3.38337771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.835099893 meters 0.021865550684087905 Centerline is valid? [True, True] Translation: X:15.98, Y:0.38, Z:-0.01 [[ 9.98000504e-01 -5.71107664e-02 -2.70805042e-02 1.59801778e+01] [ 5.71154600e-02 9.98367399e-01 -6.00779779e-04 3.84226923e-01] [ 2.70706035e-02 -9.47136930e-04 9.99633075e-01 -9.26948445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865099893 meters 0.02295226898178314 Centerline is valid? [True, True] Translation: X:16.01, Y:0.38, Z:-0.01 [[ 9.97989914e-01 -5.71931529e-02 -2.72960525e-02 1.60110528e+01] [ 5.71980247e-02 9.98362671e-01 -6.02910315e-04 3.84581500e-01] [ 2.72858423e-02 -9.59581875e-04 9.99627212e-01 -8.86899446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.895099893 meters 0.020227537118494524 Centerline is valid? [True, True] Translation: X:16.04, Y:0.39, Z:-0.00 [[ 9.98047314e-01 -5.63953682e-02 -2.68537052e-02 1.60431123e+01] [ 5.63998613e-02 9.98408086e-01 -5.90665404e-04 3.89960914e-01] [ 2.68442672e-02 -9.25033230e-04 9.99639200e-01 -3.80909921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925099893 meters 0.021499986103315837 Centerline is valid? [True, True] Translation: X:16.07, Y:0.39, Z:-0.00 [[ 9.98205933e-01 -5.39953888e-02 -2.58730253e-02 1.60739663e+01] [ 5.39987890e-02 9.98540840e-01 -5.67746821e-04 3.91667822e-01] [ 2.58659282e-02 -8.30383791e-04 9.99665076e-01 -3.41906093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.955099893 meters 0.020651614142522576 Centerline is valid? [True, True] Translation: X:16.11, Y:0.39, Z:-0.00 [[ 9.98287356e-01 -5.27969628e-02 -2.51959463e-02 1.61058238e+01] [ 5.27998402e-02 9.98604963e-01 -5.51527571e-04 3.90861484e-01] [ 2.51899160e-02 -7.79758935e-04 9.99682380e-01 -3.83035666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985099893 meters 0.019317627175131767 Centerline is valid? [True, True] Translation: X:16.14, Y:0.39, Z:-0.00 [[ 9.98313600e-01 -5.28176509e-02 -2.40884175e-02 1.61378679e+01] [ 5.28203278e-02 9.98603894e-01 -5.25573334e-04 3.91830795e-01] [ 2.40825470e-02 -7.47671098e-04 9.99709694e-01 -1.69553694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.015099893 meters 0.019313871638225795 Centerline is valid? [True, True] Translation: X:16.17, Y:0.40, Z:0.00 [[ 9.98368456e-01 -5.25638376e-02 -2.23040110e-02 1.61700916e+01] [ 5.25661039e-02 9.98617329e-01 -4.85076543e-04 4.00001747e-01] [ 2.22986694e-02 -6.88149841e-04 9.99751117e-01 4.33496609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045099893 meters 0.02179769474751779 Centerline is valid? [True, True] Translation: X:16.20, Y:0.40, Z:0.00 [[ 9.98414654e-01 -5.17765312e-02 -2.20764605e-02 1.62018063e+01] [ 5.17785945e-02 9.98658474e-01 -4.78526623e-04 3.98518944e-01] [ 2.20716208e-02 -6.65320105e-04 9.99756171e-01 3.26808575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.075099893 meters 0.019483631447416213 Centerline is valid? [True, True] Translation: X:16.23, Y:0.40, Z:-0.00 [[ 9.98521181e-01 -4.93257004e-02 -2.28566565e-02 1.62336991e+01] [ 4.93273089e-02 9.98782545e-01 -4.93766330e-04 3.96962480e-01] [ 2.28531850e-02 -6.34421218e-04 9.99738631e-01 -1.16995982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105099893 meters 0.020644388505869027 Centerline is valid? [True, True] Translation: X:16.27, Y:0.39, Z:-0.00 [[ 9.98454900e-01 -5.00667953e-02 -2.41065934e-02 1.62663871e+01] [ 5.00688430e-02 9.98745634e-01 -5.19009420e-04 3.94045505e-01] [ 2.41023400e-02 -6.88781740e-04 9.99709259e-01 -3.86409039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.135099893 meters 0.020943055429355876 Centerline is valid? [True, True] Translation: X:16.30, Y:0.40, Z:-0.00 [[ 9.98162746e-01 -5.36962980e-02 -2.80684912e-02 1.62975036e+01] [ 5.37005452e-02 9.98556903e-01 -6.03002682e-04 3.96373441e-01] [ 2.80603647e-02 -9.05398468e-04 9.99605820e-01 -1.51261797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165099893 meters 0.02161877045702372 Centerline is valid? [True, True] Translation: X:16.33, Y:0.40, Z:-0.00 [[ 9.97913137e-01 -5.65023089e-02 -3.12547635e-02 1.63285229e+01] [ 5.65089692e-02 9.98401866e-01 -6.70870971e-04 3.97608812e-01] [ 3.12427200e-02 -1.09670351e-03 9.99511225e-01 -2.82684937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.195099893 meters 0.023016068801028522 Centerline is valid? [True, True] Translation: X:16.36, Y:0.39, Z:-0.01 [[ 9.97633067e-01 -5.96495759e-02 -3.42080661e-02 1.63593457e+01] [ 5.96594251e-02 9.98218521e-01 -7.33632622e-04 3.93848737e-01] [ 3.41908860e-02 -1.30893739e-03 9.99414464e-01 -7.64450014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225099893 meters 0.023368244635772032 Centerline is valid? [True, True] Translation: X:16.39, Y:0.39, Z:-0.01 [[ 9.97631152e-01 -6.06340026e-02 -3.24900450e-02 1.63919250e+01] [ 6.06434606e-02 9.98159250e-01 -6.95138333e-04 3.91177338e-01] [ 3.24723880e-02 -1.27681711e-03 9.99471817e-01 -8.06693050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.255099893 meters 0.021319262776443148 Centerline is valid? [True, True] Translation: X:16.42, Y:0.39, Z:-0.00 [[ 9.97765213e-01 -5.94581567e-02 -3.04845325e-02 1.64237356e+01] [ 5.94659890e-02 9.98230120e-01 -6.50417547e-04 3.93667807e-01] [ 3.04692512e-02 -1.16382887e-03 9.99535027e-01 -3.90518906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285099893 meters 0.02047467964617406 Centerline is valid? [True, True] Translation: X:16.45, Y:0.40, Z:0.00 [[ 9.98265242e-01 -5.19653307e-02 -2.76787193e-02 1.64528496e+01] [ 5.19689183e-02 9.98648528e-01 -5.90210710e-04 4.00006459e-01] [ 2.76719828e-02 -8.49246265e-04 9.99616697e-01 5.32395067e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.315099893 meters 0.018685166801464013 Centerline is valid? [True, True] Translation: X:16.48, Y:0.41, Z:0.00 [[ 9.98569317e-01 -4.69687733e-02 -2.55588319e-02 1.64830357e+01] [ 4.69701911e-02 9.98896143e-01 -5.45205349e-04 4.05469459e-01] [ 2.55562262e-02 -6.56077885e-04 9.99673171e-01 2.71485451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345099893 meters 0.018582884182340807 Centerline is valid? [True, True] Translation: X:16.51, Y:0.41, Z:0.00 [[ 9.98759821e-01 -4.43906713e-02 -2.25452313e-02 1.65145080e+01] [ 4.43911258e-02 9.99014113e-01 -4.80556332e-04 4.08348671e-01] [ 2.25443364e-02 -5.20847842e-04 9.99745708e-01 4.99506630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.375099893 meters 0.01930974499254401 Centerline is valid? [True, True] Translation: X:16.55, Y:0.41, Z:0.01 [[ 9.98812600e-01 -4.41965215e-02 -2.04953278e-02 1.65464227e+01] [ 4.41968762e-02 9.99022746e-01 -4.35877338e-04 4.09945910e-01] [ 2.04945629e-02 -4.70469688e-04 9.99789854e-01 6.78408813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405099893 meters 0.016416838184966392 Centerline is valid? [True, True] Translation: X:16.58, Y:0.41, Z:0.01 [[ 9.98754725e-01 -4.55570681e-02 -2.03360171e-02 1.65783767e+01] [ 4.55577287e-02 9.98961615e-01 -4.31034981e-04 4.10224363e-01] [ 2.03345372e-02 -4.95964526e-04 9.99793109e-01 9.78374989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.435099893 meters 0.01844033894947475 Centerline is valid? [True, True] Translation: X:16.61, Y:0.41, Z:0.00 [[ 9.98506737e-01 -4.85882765e-02 -2.49694747e-02 1.66091273e+01] [ 4.85902640e-02 9.98818656e-01 -5.27487130e-04 4.05298717e-01] [ 2.49656069e-02 -6.86573915e-04 9.99688075e-01 3.75438432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465099893 meters 0.0202833126035001 Centerline is valid? [True, True] Translation: X:16.64, Y:0.41, Z:0.00 [[ 9.98366791e-01 -5.03060595e-02 -2.70748992e-02 1.66416637e+01] [ 5.03090752e-02 9.98733534e-01 -5.70217108e-04 4.06115459e-01] [ 2.70692952e-02 -7.92827318e-04 9.99633245e-01 3.08655703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.495099893 meters 0.020036710808513936 Centerline is valid? [True, True] Translation: X:16.67, Y:0.41, Z:0.01 [[ 9.98361802e-01 -5.07973715e-02 -2.63313428e-02 1.66736689e+01] [ 5.08004431e-02 9.98708671e-01 -5.52702218e-04 4.08179196e-01] [ 2.63254161e-02 -7.85847098e-04 9.99653117e-01 5.46059807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525099893 meters 0.01662424479133877 Centerline is valid? [True, True] Translation: X:16.70, Y:0.43, Z:0.01 [[ 9.99155721e-01 -3.11548216e-02 -2.67810116e-02 1.67040611e+01] [ 3.11509730e-02 9.99514533e-01 -5.60995378e-04 4.29682437e-01] [ 2.67854880e-02 -2.73732830e-04 9.99641167e-01 1.00254717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.555099893 meters 0.014788696428149638 Centerline is valid? [True, True] Translation: X:16.73, Y:0.43, Z:0.01 [[ 9.99261559e-01 -2.87648923e-02 -2.54738745e-02 1.67338124e+01] [ 2.87606269e-02 9.99586185e-01 -5.33886126e-04 4.30930506e-01] [ 2.54786902e-02 -1.99152718e-04 9.99675346e-01 1.19022360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585099893 meters 0.015511855664414868 Centerline is valid? [True, True] Translation: X:16.76, Y:0.43, Z:0.01 [[ 9.99318887e-01 -2.71363566e-02 -2.50076029e-02 1.67630168e+01] [ 2.71316512e-02 9.99631730e-01 -5.27504895e-04 4.31264473e-01] [ 2.50127079e-02 -1.51351955e-04 9.99687122e-01 1.12127868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.615099893 meters 0.015463308020835231 Centerline is valid? [True, True] Translation: X:16.79, Y:0.43, Z:0.01 [[ 9.99383322e-01 -2.54720081e-02 -2.41692315e-02 1.67912067e+01] [ 2.54670334e-02 9.99675531e-01 -5.13662580e-04 4.31559268e-01] [ 2.41744733e-02 -1.02172808e-04 9.99707749e-01 1.10244913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645099893 meters 0.015219109992781215 Centerline is valid? [True, True] Translation: X:16.82, Y:0.43, Z:0.01 [[ 9.99419114e-01 -2.45119631e-02 -2.36769467e-02 1.68197895e+01] [ 2.45068255e-02 9.99699534e-01 -5.07167934e-04 4.32647001e-01] [ 2.36822642e-02 -7.33734746e-05 9.99719533e-01 1.26070879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.675099893 meters 0.015550333578063834 Centerline is valid? [True, True] Translation: X:16.85, Y:0.43, Z:0.01 [[ 9.99454703e-01 -2.36711101e-02 -2.30211780e-02 1.68473840e+01] [ 2.36659373e-02 9.99719799e-01 -4.97154557e-04 4.33523376e-01] [ 2.30264957e-02 -4.79342960e-05 9.99734854e-01 1.25714084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705099893 meters 0.015550333578063834 Centerline is valid? [True, True] Translation: X:16.88, Y:0.43, Z:0.01 [[ 9.99448822e-01 -2.39182069e-02 -2.30210965e-02 1.68756003e+01] [ 2.39130132e-02 9.99713918e-01 -5.00905237e-04 4.34168666e-01] [ 2.30264913e-02 -4.98746361e-05 9.99734854e-01 1.29208914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.735099893 meters 0.01519957260646986 Centerline is valid? [True, True] Translation: X:16.90, Y:0.44, Z:0.01 [[ 9.99476539e-01 -2.31853387e-02 -2.25629761e-02 1.69046877e+01] [ 2.31800375e-02 9.99731184e-01 -4.96496735e-04 4.35492557e-01] [ 2.25684222e-02 -2.67737943e-05 9.99745300e-01 1.42881834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765099893 meters 0.01519957260646986 Centerline is valid? [True, True] Translation: X:16.93, Y:0.44, Z:0.01 [[ 9.99470686e-01 -2.34364140e-02 -2.25628503e-02 1.69329017e+01] [ 2.34310489e-02 9.99725329e-01 -5.02163257e-04 4.36147712e-01] [ 2.25684219e-02 -2.67737938e-05 9.99745300e-01 1.46384049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.795099893 meters 0.015631360840404437 Centerline is valid? [True, True] Translation: X:16.96, Y:0.44, Z:0.01 [[ 9.99505851e-01 -2.22179373e-02 -2.22354837e-02 1.69609105e+01] [ 2.22123376e-02 9.99753151e-01 -4.98816580e-04 4.37297431e-01] [ 2.22410776e-02 4.66802036e-06 9.99752637e-01 1.43472189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825099893 meters 0.016091012571133687 Centerline is valid? [True, True] Translation: X:16.99, Y:0.44, Z:0.01 [[ 9.99511701e-01 -2.12029833e-02 -2.29519912e-02 1.69899321e+01] [ 2.11966624e-02 9.99775191e-01 -5.18674935e-04 4.38727065e-01] [ 2.29578288e-02 3.19160585e-05 9.99736434e-01 1.43126750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.855099893 meters 0.015115790258806968 Centerline is valid? [True, True] Translation: X:17.02, Y:0.44, Z:0.01 [[ 9.99541390e-01 -1.98128748e-02 -2.29010646e-02 1.70165465e+01] [ 1.98061165e-02 9.99803703e-01 -5.21916555e-04 4.40210994e-01] [ 2.29069099e-02 6.80960458e-05 9.99737600e-01 1.49252793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885099893 meters 0.015115790258806968 Centerline is valid? [True, True] Translation: X:17.04, Y:0.44, Z:0.02 [[ 9.99535792e-01 -2.00934313e-02 -2.29009616e-02 1.70439127e+01] [ 2.00866438e-02 9.99798104e-01 -5.26404860e-04 4.40902960e-01] [ 2.29069153e-02 6.61570414e-05 9.99737600e-01 1.52644288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.915099893 meters 0.015753665731415657 Centerline is valid? [True, True] Translation: X:17.07, Y:0.44, Z:0.02 [[ 9.99602601e-01 -1.64521806e-02 -2.28902870e-02 1.70723676e+01] [ 1.64443045e-02 9.99864642e-01 -5.32281788e-04 4.41821322e-01] [ 2.28959458e-02 1.55655410e-04 9.99737841e-01 1.57439756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945099893 meters 0.01666505365308287 Centerline is valid? [True, True] Translation: X:17.10, Y:0.44, Z:0.02 [[ 9.99646138e-01 -1.44418754e-02 -2.23389864e-02 1.71009146e+01] [ 1.44337486e-02 9.99895690e-01 -5.24998666e-04 4.42414857e-01] [ 2.23442381e-02 2.02377576e-04 9.99750316e-01 1.56925936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.975099893 meters 0.017565919991091316 Centerline is valid? [True, True] Translation: X:17.13, Y:0.41, Z:0.02 [[ 9.99749940e-01 -6.95837969e-03 -2.12517816e-02 1.71308204e+01] [ 6.94926153e-03 9.99975727e-01 -5.02875346e-04 4.05969007e-01] [ 2.12547650e-02 3.55065409e-04 9.99774029e-01 2.18308418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005099893 meters 0.016956117623149698 Centerline is valid? [True, True] Translation: X:17.16, Y:0.40, Z:0.02 [[ 9.99754543e-01 -7.83812903e-03 -2.07224118e-02 1.71596346e+01] [ 7.82959110e-03 9.99969227e-01 -4.93116180e-04 4.03783637e-01] [ 2.07256392e-02 3.30747130e-04 9.99785146e-01 2.26580004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.035099892999998 meters 0.016825957655399074 Centerline is valid? [True, True] Translation: X:17.19, Y:0.40, Z:0.02 [[ 9.99768126e-01 -8.45145637e-03 -1.98057171e-02 1.71871890e+01] [ 8.44370529e-03 9.99964238e-01 -4.74949374e-04 4.03349624e-01] [ 1.98090229e-02 3.07605607e-04 9.99803735e-01 2.35474753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065099893 meters 0.016825957655399074 Centerline is valid? [True, True] Translation: X:17.21, Y:0.40, Z:0.02 [[ 9.99765764e-01 -8.72665731e-03 -1.98056411e-02 1.72145703e+01] [ 8.71889780e-03 9.99961875e-01 -4.78100819e-04 4.04077813e-01] [ 1.98090582e-02 3.05305470e-04 9.99803735e-01 2.38866127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.095099893 meters 0.01684222335652547 Centerline is valid? [True, True] Translation: X:17.24, Y:0.40, Z:0.03 [[ 9.99777384e-01 -9.32929376e-03 -1.89247469e-02 1.72434605e+01] [ 9.32222425e-03 9.99956441e-01 -4.61744677e-04 4.00872722e-01] [ 1.89282303e-02 2.85221151e-04 9.99820804e-01 2.55070840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125099893 meters 0.017018308867634026 Centerline is valid? [True, True] Translation: X:17.27, Y:0.40, Z:0.03 [[ 9.99800871e-01 -1.01572240e-02 -1.71769924e-02 1.72709360e+01] [ 1.01514663e-02 9.99948383e-01 -4.22360879e-04 3.96739479e-01] [ 1.71803958e-02 2.47905115e-04 9.99852375e-01 2.64203376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.155099893 meters 0.01708824723000399 Centerline is valid? [True, True] Translation: X:17.30, Y:0.39, Z:0.03 [[ 9.99796822e-01 -1.02327762e-02 -1.73667528e-02 1.72994161e+01] [ 1.02268578e-02 9.99947612e-01 -4.29564425e-04 3.90903215e-01] [ 1.73702386e-02 2.51869836e-04 9.99849094e-01 2.62922893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185099893 meters 0.016864159821696843 Centerline is valid? [True, True] Translation: X:17.33, Y:0.35, Z:0.03 [[ 9.99740790e-01 -9.06234372e-03 -2.08860233e-02 1.73286395e+01] [ 9.05342351e-03 9.99958881e-01 -5.21607962e-04 3.53611753e-01] [ 2.08898915e-02 3.32382742e-04 9.99781727e-01 2.57388448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.215099893 meters 0.018665066561772102 Centerline is valid? [True, True] Translation: X:17.36, Y:0.35, Z:0.03 [[ 9.99722617e-01 -8.54500604e-03 -2.19470291e-02 1.73559577e+01] [ 8.53498337e-03 9.99963425e-01 -5.50306803e-04 3.53690014e-01] [ 2.19509288e-02 3.62836629e-04 9.99758983e-01 2.55319740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245099893 meters 0.016925107058504044 Centerline is valid? [True, True] Translation: X:17.38, Y:0.35, Z:0.03 [[ 9.99716593e-01 -8.21017036e-03 -2.23455998e-02 1.73844707e+01] [ 8.19960940e-03 9.99966223e-01 -5.64204112e-04 3.51792397e-01] [ 2.23494773e-02 3.80819023e-04 9.99750147e-01 2.71996862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.275099893 meters 0.016925107058504044 Centerline is valid? [True, True] Translation: X:17.41, Y:0.35, Z:0.03 [[ 9.99714155e-01 -8.50228593e-03 -2.23454452e-02 1.74118637e+01] [ 8.49166219e-03 9.99963783e-01 -5.70277877e-04 3.52535869e-01] [ 2.23494845e-02 3.80364894e-04 9.99750147e-01 2.75395020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305099893 meters 0.0172024554192244 Centerline is valid? [True, True] Translation: X:17.44, Y:0.35, Z:0.03 [[ 9.99691358e-01 -7.86426879e-03 -2.35656841e-02 1.74393197e+01] [ 7.85216185e-03 9.99968988e-01 -6.06244007e-04 3.51117715e-01] [ 2.35697209e-02 4.21015330e-04 9.99722107e-01 2.64980294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.335099893 meters 0.018778596839768912 Centerline is valid? [True, True] Translation: X:17.47, Y:0.35, Z:0.02 [[ 9.99661845e-01 -7.48671650e-03 -2.49027106e-02 1.74685876e+01] [ 7.47297187e-03 9.99971869e-01 -6.44951853e-04 3.47791827e-01] [ 2.49068386e-02 4.58636503e-04 9.99689671e-01 2.40260482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365099893 meters 0.018778596839768912 Centerline is valid? [True, True] Translation: X:17.50, Y:0.35, Z:0.02 [[ 9.99659673e-01 -7.77192517e-03 -2.49025367e-02 1.74959849e+01] [ 7.75810312e-03 9.99969693e-01 -6.51612238e-04 3.48562364e-01] [ 2.49068463e-02 4.58194028e-04 9.99689671e-01 2.43658851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.395099893 meters 0.01882103859956466 Centerline is valid? [True, True] Translation: X:17.52, Y:0.34, Z:0.02 [[ 9.99663222e-01 -7.97961360e-03 -2.46934826e-02 1.75243029e+01] [ 7.96591180e-03 9.99968058e-01 -6.53195205e-04 3.38847621e-01] [ 2.46979061e-02 4.56269119e-04 9.99694856e-01 2.33678252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425099893 meters 0.01882103859956466 Centerline is valid? [True, True] Translation: X:17.55, Y:0.34, Z:0.02 [[ 9.99660887e-01 -8.26749914e-03 -2.46932929e-02 1.75517019e+01] [ 8.25370953e-03 9.99965720e-01 -6.60306089e-04 3.39630111e-01] [ 2.46979055e-02 4.56270903e-04 9.99694856e-01 2.37077854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.455099893 meters 0.017400510932058643 Centerline is valid? [True, True] Translation: X:17.58, Y:0.33, Z:0.03 [[ 9.99664526e-01 -1.09408154e-02 -2.34762495e-02 1.75802832e+01] [ 1.09289905e-02 9.99940077e-01 -6.31945076e-04 3.33845712e-01] [ 2.34817567e-02 3.75161368e-04 9.99724195e-01 2.58760108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485099893 meters 0.017888662751900104 Centerline is valid? [True, True] Translation: X:17.61, Y:0.33, Z:0.03 [[ 9.99634688e-01 -1.28804429e-02 -2.37609835e-02 1.76091607e+01] [ 1.28687864e-02 9.99916987e-01 -6.43422867e-04 3.32138119e-01] [ 2.37672986e-02 3.37412795e-04 9.99717461e-01 2.70903937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.515099893 meters 0.0171582110433158 Centerline is valid? [True, True] Translation: X:17.64, Y:0.33, Z:0.03 [[ 9.99600709e-01 -1.47448599e-02 -2.41041826e-02 1.76368829e+01] [ 1.47333030e-02 9.99891243e-01 -6.56986004e-04 3.31101750e-01] [ 2.41112483e-02 3.01589449e-04 9.99709236e-01 2.79969743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545099893 meters 0.01816757947762308 Centerline is valid? [True, True] Translation: X:17.66, Y:0.32, Z:0.03 [[ 9.99527240e-01 -1.82714135e-02 -2.47275531e-02 1.76645640e+01] [ 1.82602742e-02 9.99833039e-01 -6.76226830e-04 3.23085493e-01] [ 2.47357802e-02 2.24375237e-04 9.99693999e-01 2.62888162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.575099893 meters 0.013031414693026018 Centerline is valid? [True, True] Translation: X:17.69, Y:0.32, Z:0.03 [[ 9.99507344e-01 -2.10193481e-02 -2.33078381e-02 1.76933486e+01] [ 2.10101087e-02 9.99779058e-01 -6.41247300e-04 3.17168202e-01] [ 2.33161671e-02 1.51231172e-04 9.99728130e-01 3.08801017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605099893 meters 0.016103436856147773 Centerline is valid? [True, True] Translation: X:17.72, Y:0.31, Z:0.03 [[ 9.99442049e-01 -2.26955437e-02 -2.45051751e-02 1.77211313e+01] [ 2.26857255e-02 9.99742415e-01 -6.78622567e-04 3.12421988e-01] [ 2.45142647e-02 1.22326253e-04 9.99699473e-01 2.71561750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.635099893 meters 0.016341957523335362 Centerline is valid? [True, True] Translation: X:17.75, Y:0.31, Z:0.03 [[ 9.99371857e-01 -2.53585016e-02 -2.47555417e-02 1.77486965e+01] [ 2.53491807e-02 9.99678420e-01 -6.90312079e-04 3.09356977e-01] [ 2.47650861e-02 6.23457652e-05 9.99693296e-01 2.73018498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665099893 meters 0.01664569933105909 Centerline is valid? [True, True] Translation: X:17.78, Y:0.31, Z:0.03 [[ 9.99287255e-01 -2.96543459e-02 -2.33581030e-02 1.77778856e+01] [ 2.96470756e-02 9.99560213e-01 -6.57564134e-04 3.06672178e-01] [ 2.33673300e-02 -3.54039862e-05 9.99726946e-01 2.94565032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.695099893 meters 0.013743013826381465 Centerline is valid? [True, True] Translation: X:17.81, Y:0.31, Z:0.03 [[ 9.99265127e-01 -3.21163927e-02 -2.09223056e-02 1.78063853e+01] [ 3.21109944e-02 9.99484133e-01 -5.94007721e-04 3.05447549e-01] [ 2.09305898e-02 -7.82648358e-05 9.99780928e-01 3.33276895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725099893 meters 0.016637640255323896 Centerline is valid? [True, True] Translation: X:17.83, Y:0.30, Z:0.03 [[ 9.99204204e-01 -3.40646327e-02 -2.07499243e-02 1.78342013e+01] [ 3.40596623e-02 9.99419625e-01 -5.92999973e-04 3.02915178e-01] [ 2.07580819e-02 -1.14207348e-04 9.99784521e-01 3.16736854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.755099893 meters 0.018068007902173475 Centerline is valid? [True, True] Translation: X:17.86, Y:0.29, Z:0.03 [[ 9.99057122e-01 -3.86257858e-02 -1.98220960e-02 1.78632073e+01] [ 3.86220894e-02 9.99253727e-01 -5.69410074e-04 2.93967547e-01] [ 1.98292972e-02 -1.96697573e-04 9.99803361e-01 3.08959154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785099892999998 meters 0.015717938400395013 Centerline is valid? [True, True] Translation: X:17.89, Y:0.29, Z:0.03 [[ 9.98840139e-01 -4.37554294e-02 -2.00957598e-02 1.78924430e+01] [ 4.37525968e-02 9.99042228e-01 -5.80809600e-04 2.87477239e-01] [ 2.01019263e-02 -2.99105736e-04 9.99797891e-01 3.24945015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.815099893 meters 0.017974391449959513 Centerline is valid? [True, True] Translation: X:17.92, Y:0.29, Z:0.03 [[ 9.98707006e-01 -4.57193067e-02 -2.22274683e-02 1.79217761e+01] [ 4.57163033e-02 9.98954256e-01 -6.43506050e-04 2.86798836e-01] [ 2.22336447e-02 -3.73483684e-04 9.99752732e-01 3.09839846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.845099893 meters 0.019242050022642915 Centerline is valid? [True, True] Translation: X:17.95, Y:0.29, Z:0.03 [[ 9.98469135e-01 -4.91274446e-02 -2.54141804e-02 1.79512055e+01] [ 4.91245974e-02 9.98792386e-01 -7.36729355e-04 2.86942028e-01] [ 2.54196835e-02 -5.12859857e-04 9.99676736e-01 2.92067126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.875099893 meters 0.020378793737199613 Centerline is valid? [True, True] Translation: X:17.98, Y:0.29, Z:0.03 [[ 9.98375329e-01 -5.08386720e-02 -2.57319189e-02 1.79795463e+01] [ 5.08362788e-02 9.98706721e-01 -7.47587303e-04 2.86627440e-01] [ 2.57366467e-02 -5.61742286e-04 9.99668600e-01 2.90396998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905099893 meters 0.018302531858387757 Centerline is valid? [True, True] Translation: X:18.01, Y:0.29, Z:0.03 [[ 9.98334018e-01 -5.22538416e-02 -2.44688356e-02 1.80082060e+01] [ 5.22520014e-02 9.98633675e-01 -7.15004944e-04 2.85954526e-01] [ 2.44727649e-02 -5.64731872e-04 9.99700338e-01 3.07360875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.935099893 meters 0.021041968481012096 Centerline is valid? [True, True] Translation: X:18.04, Y:0.29, Z:0.03 [[ 9.98219337e-01 -5.37734281e-02 -2.58180851e-02 1.80369934e+01] [ 5.37717147e-02 9.98552965e-01 -7.61117654e-04 2.89666016e-01] [ 2.58216534e-02 -6.28520348e-04 9.99666368e-01 2.95370896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965099893 meters 0.019155730392485738 Centerline is valid? [True, True] Translation: X:18.07, Y:0.29, Z:0.03 [[ 9.98148631e-01 -5.51296618e-02 -2.56910822e-02 1.80659354e+01] [ 5.51282462e-02 9.98478990e-01 -7.63905829e-04 2.92412455e-01] [ 2.56941197e-02 -6.53812747e-04 9.99669638e-01 2.97567827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.995099893 meters 0.020471776417255578 Centerline is valid? [True, True] Translation: X:18.09, Y:0.29, Z:0.03 [[ 9.98084734e-01 -5.61369756e-02 -2.59904426e-02 1.80942295e+01] [ 5.61357651e-02 9.98422843e-01 -7.76767661e-04 2.93989251e-01] [ 2.59930569e-02 -6.83713435e-04 9.99661890e-01 2.91386795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025099893 meters 0.0204719925081092 Centerline is valid? [True, True] Translation: X:18.12, Y:0.30, Z:0.03 [[ 9.98110977e-01 -5.64719127e-02 -2.41950720e-02 1.81237796e+01] [ 5.64709360e-02 9.98403981e-01 -7.24172159e-04 3.00667300e-01] [ 2.41973516e-02 -6.43514183e-04 9.99706994e-01 3.27780686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.055099893 meters 0.020011017190835353 Centerline is valid? [True, True] Translation: X:18.15, Y:0.31, Z:0.04 [[ 9.98113360e-01 -5.70979497e-02 -2.25730800e-02 1.81536508e+01] [ 5.70972497e-02 9.98368392e-01 -6.76047992e-04 3.07230149e-01] [ 2.25748505e-02 -6.14088251e-04 9.99744967e-01 3.68470112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085099893 meters 0.01976616928848679 Centerline is valid? [True, True] Translation: X:18.18, Y:0.31, Z:0.04 [[ 9.97992979e-01 -5.89212986e-02 -2.32011747e-02 1.81835328e+01] [ 5.89210560e-02 9.98262404e-01 -6.94662496e-04 3.11454180e-01] [ 2.32017908e-02 -6.73769421e-04 9.99730575e-01 3.63559378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.115099893 meters 0.020818235872233602 Centerline is valid? [True, True] Translation: X:18.21, Y:0.31, Z:0.03 [[ 9.97811820e-01 -6.16359369e-02 -2.39286949e-02 1.82137291e+01] [ 6.16364642e-02 9.98098409e-01 -7.16213997e-04 3.14691149e-01] [ 2.39273368e-02 -7.60233354e-04 9.99713411e-01 3.44698983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145099893 meters 0.0224227985626929 Centerline is valid? [True, True] Translation: X:18.24, Y:0.32, Z:0.03 [[ 9.97631732e-01 -6.42954076e-02 -2.44341484e-02 1.82440686e+01] [ 6.42967593e-02 9.97930555e-01 -7.31124271e-04 3.16900259e-01] [ 2.44305912e-02 -8.41643784e-04 9.99701174e-01 3.23899560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.175099893 meters 0.022035437951804997 Centerline is valid? [True, True] Translation: X:18.27, Y:0.33, Z:0.04 [[ 9.97469066e-01 -6.65069815e-02 -2.51452568e-02 1.82744701e+01] [ 6.65091343e-02 9.97785533e-01 -7.51630128e-04 3.30011883e-01] [ 2.51395621e-02 -9.22661462e-04 9.99683525e-01 3.54525640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205099893 meters 0.02213084265852414 Centerline is valid? [True, True] Translation: X:18.31, Y:0.34, Z:0.04 [[ 9.97529071e-01 -6.56639349e-02 -2.49799995e-02 1.83050421e+01] [ 6.56658258e-02 9.97841392e-01 -7.45479010e-04 3.36347937e-01] [ 2.49750286e-02 -8.96695313e-04 9.99687673e-01 3.64015358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.235099893 meters 0.02254860339047092 Centerline is valid? [True, True] Translation: X:18.34, Y:0.34, Z:0.04 [[ 9.97571624e-01 -6.49799354e-02 -2.50691632e-02 1.83362773e+01] [ 6.49816812e-02 9.97886178e-01 -7.45860232e-04 3.42815263e-01] [ 2.50646374e-02 -8.84987370e-04 9.99685441e-01 3.61222723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265099893 meters 0.020878891197060455 Centerline is valid? [True, True] Translation: X:18.37, Y:0.36, Z:0.04 [[ 9.97676889e-01 -6.37007474e-02 -2.41462213e-02 1.83674089e+01] [ 6.37020392e-02 9.97968705e-01 -7.16471954e-04 3.56438797e-01] [ 2.41428130e-02 -8.23356025e-04 9.99708181e-01 3.75609308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.295099893 meters 0.021020808067922385 Centerline is valid? [True, True] Translation: X:18.40, Y:0.37, Z:0.04 [[ 9.97738924e-01 -6.24312206e-02 -2.48874051e-02 1.83993175e+01] [ 6.24322332e-02 9.98048933e-01 -7.37078170e-04 3.65140385e-01] [ 2.48848648e-02 -8.18364702e-04 9.99689989e-01 3.64222389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325099893 meters 0.021885076756889294 Centerline is valid? [True, True] Translation: X:18.43, Y:0.37, Z:0.04 [[ 9.97772221e-01 -6.14963303e-02 -2.58610967e-02 1.84304838e+01] [ 6.14971765e-02 9.98106965e-01 -7.63357123e-04 3.67336315e-01] [ 2.58590844e-02 -8.28727895e-04 9.99665254e-01 3.51744023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.355099893 meters 0.020368273751876765 Centerline is valid? [True, True] Translation: X:18.46, Y:0.38, Z:0.03 [[ 9.97838878e-01 -5.94967193e-02 -2.78875229e-02 1.84620155e+01] [ 5.94969995e-02 9.98228147e-01 -8.20461992e-04 3.76588653e-01] [ 2.78869251e-02 -8.40535062e-04 9.99610731e-01 3.48079798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385099893 meters 0.017034516573904798 Centerline is valid? [True, True] Translation: X:18.49, Y:0.39, Z:0.04 [[ 9.98060874e-01 -5.62126611e-02 -2.67325444e-02 1.84932680e+01] [ 5.62117847e-02 9.98418559e-01 -7.84855653e-04 3.87511292e-01] [ 2.67343873e-02 -7.19350311e-04 9.99642314e-01 3.98087463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.415099893 meters 0.0194231467021287 Centerline is valid? [True, True] Translation: X:18.52, Y:0.40, Z:0.04 [[ 9.98187942e-01 -5.34747657e-02 -2.75913529e-02 1.85239969e+01] [ 5.34728213e-02 9.98568978e-01 -8.08830429e-04 3.95539170e-01] [ 2.75951211e-02 -6.68022701e-04 9.99618959e-01 3.95080993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445099893 meters 0.017854745805997108 Centerline is valid? [True, True] Translation: X:18.55, Y:0.41, Z:0.04 [[ 9.98556241e-01 -4.69047317e-02 -2.61797637e-02 1.85537769e+01] [ 4.69007347e-02 9.98899261e-01 -7.67024438e-04 4.07943381e-01] [ 2.61869236e-02 -4.61933109e-04 9.99656957e-01 4.16961828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.475099893 meters 0.0164265996355751 Centerline is valid? [True, True] Translation: X:18.59, Y:0.41, Z:0.04 [[ 9.98738464e-01 -4.31441589e-02 -2.56916539e-02 1.85851857e+01] [ 4.31390777e-02 9.99068793e-01 -7.52251786e-04 4.14285576e-01] [ 2.57001849e-02 -3.57011460e-04 9.99669632e-01 4.24445397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505099893 meters 0.015914723868717184 Centerline is valid? [True, True] Translation: X:18.62, Y:0.43, Z:0.04 [[ 9.99026499e-01 -3.54851226e-02 -2.62080316e-02 1.86151433e+01] [ 3.54772113e-02 9.99370191e-01 -7.66925083e-04 4.25955033e-01] [ 2.62187400e-02 -1.63609394e-04 9.99656216e-01 4.15703103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.535099892999998 meters 0.015286735901043427 Centerline is valid? [True, True] Translation: X:18.64, Y:0.44, Z:0.04 [[ 9.99344829e-01 -2.72635181e-02 -2.38036562e-02 1.86442490e+01] [ 2.72546496e-02 9.99628280e-01 -6.96974137e-04 4.37926717e-01] [ 2.38138099e-02 4.77571909e-05 9.99716410e-01 4.39417770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565099893 meters 0.016680241063965026 Centerline is valid? [True, True] Translation: X:18.67, Y:0.45, Z:0.05 [[ 9.99606275e-01 -1.65481461e-02 -2.26595217e-02 1.86727814e+01] [ 1.65372890e-02 9.99863028e-01 -6.66456499e-04 4.54131851e-01] [ 2.26674466e-02 2.91467038e-04 9.99743018e-01 4.57958591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.595099893 meters 0.015895479160734752 Centerline is valid? [True, True] Translation: X:18.70, Y:0.46, Z:0.05 [[ 9.99665712e-01 -1.20354462e-02 -2.28825658e-02 1.87011421e+01] [ 1.20230598e-02 9.99927490e-01 -6.78807708e-04 4.62561136e-01] [ 2.28890764e-02 4.03462332e-04 9.99737929e-01 4.78868501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625099893 meters 0.018933399021386493 Centerline is valid? [True, True] Translation: X:18.73, Y:0.47, Z:0.05 [[ 9.99668274e-01 -9.61232705e-03 -2.38944715e-02 1.87281667e+01] [ 9.59802022e-03 9.99953683e-01 -7.13367328e-04 4.71009380e-01] [ 2.39002219e-02 4.83791065e-04 9.99714232e-01 4.59055602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.655099893 meters 0.017094670059489392 Centerline is valid? [True, True] Translation: X:18.76, Y:0.47, Z:0.05 [[ 9.99643260e-01 -1.06043079e-02 -2.45132984e-02 1.87562092e+01] [ 1.05894295e-02 9.99943659e-01 -7.36685067e-04 4.74282572e-01] [ 2.45197293e-02 4.76840416e-04 9.99699233e-01 4.64545924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685099893 meters 0.016946320747231063 Centerline is valid? [True, True] Translation: X:18.78, Y:0.48, Z:0.05 [[ 9.99619797e-01 -1.16041532e-02 -2.50121004e-02 1.87834944e+01] [ 1.15888577e-02 9.99932561e-01 -7.56395002e-04 4.76726832e-01] [ 2.50191909e-02 4.66245745e-04 9.99686862e-01 4.55706463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.715099893 meters 0.015340682383012427 Centerline is valid? [True, True] Translation: X:18.81, Y:0.48, Z:0.05 [[ 9.99543212e-01 -1.48310685e-02 -2.63326362e-02 1.88126347e+01] [ 1.48151175e-02 9.99889929e-01 -8.00750651e-04 4.78299965e-01] [ 2.63416137e-02 4.10263778e-04 9.99652915e-01 4.50996914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745099893 meters 0.017146795751094474 Centerline is valid? [True, True] Translation: X:18.84, Y:0.48, Z:0.04 [[ 9.99464760e-01 -1.81745653e-02 -2.72007212e-02 1.88416377e+01] [ 1.81585994e-02 9.99834771e-01 -8.33882198e-04 4.81341065e-01] [ 2.72113823e-02 3.39508871e-04 9.99629644e-01 4.37187654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.775099893 meters 0.016960816492311064 Centerline is valid? [True, True] Translation: X:18.87, Y:0.49, Z:0.04 [[ 9.99419211e-01 -2.15279338e-02 -2.64157058e-02 1.88694380e+01] [ 2.15139340e-02 9.99768217e-01 -8.14102103e-04 4.85451395e-01] [ 2.64271090e-02 2.45323530e-04 9.99650713e-01 4.41458332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805099893 meters 0.015370765928723029 Centerline is valid? [True, True] Translation: X:18.90, Y:0.49, Z:0.05 [[ 9.99384677e-01 -2.45056399e-02 -2.50946492e-02 1.88979549e+01] [ 2.44938379e-02 9.99699679e-01 -7.77619502e-04 4.87404774e-01] [ 2.51061688e-02 1.62476745e-04 9.99684777e-01 4.71362915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.835099893 meters 0.01577992439832467 Centerline is valid? [True, True] Translation: X:18.93, Y:0.49, Z:0.05 [[ 9.99375782e-01 -2.63003886e-02 -2.35867665e-02 1.89267894e+01] [ 2.62903275e-02 9.99654078e-01 -7.36603393e-04 4.90012381e-01] [ 2.35979803e-02 1.16039776e-04 9.99721522e-01 4.85683286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865099893 meters 0.016163406442665795 Centerline is valid? [True, True] Translation: X:18.96, Y:0.49, Z:0.05 [[ 9.99344741e-01 -2.83532551e-02 -2.24984942e-02 1.89551159e+01] [ 2.83445428e-02 9.99597963e-01 -7.06103979e-04 4.93439391e-01] [ 2.25094693e-02 6.79317666e-05 9.99746627e-01 4.91393193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.895099893 meters 0.015509152445513699 Centerline is valid? [True, True] Translation: X:18.99, Y:0.49, Z:0.05 [[ 9.99310296e-01 -3.01208375e-02 -2.17179241e-02 1.89859059e+01] [ 3.01131229e-02 9.99546264e-01 -6.82239935e-04 4.94337997e-01] [ 2.17286195e-02 2.77748739e-05 9.99763905e-01 5.05647608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925099893 meters 0.015097999533388782 Centerline is valid? [True, True] Translation: X:19.02, Y:0.49, Z:0.05 [[ 9.99231243e-01 -3.19159859e-02 -2.27660348e-02 1.90168636e+01] [ 3.19079828e-02 9.99490555e-01 -7.14800576e-04 4.94117153e-01] [ 2.27772503e-02 -1.21671772e-05 9.99740565e-01 4.98980071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.955099893 meters 0.01645353723103238 Centerline is valid? [True, True] Translation: X:19.05, Y:0.49, Z:0.05 [[ 9.99052190e-01 -3.46096979e-02 -2.63986704e-02 1.90471584e+01] [ 3.45998963e-02 9.99400901e-01 -8.28111157e-04 4.91561168e-01] [ 2.64115157e-02 -8.60649951e-05 9.99651151e-01 4.52900911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985099893 meters 0.01645353723103238 Centerline is valid? [True, True] Translation: X:19.08, Y:0.49, Z:0.05 [[ 9.99052190e-01 -3.46096952e-02 -2.63986771e-02 1.90771445e+01] [ 3.45998994e-02 9.99400901e-01 -8.27896654e-04 4.92501468e-01] [ 2.64115150e-02 -8.62796067e-05 9.99651151e-01 4.56610453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.015099893 meters 0.01414451459951166 Centerline is valid? [True, True] Translation: X:19.11, Y:0.49, Z:0.05 [[ 9.98909966e-01 -3.77596525e-02 -2.74424425e-02 1.91078396e+01] [ 3.77502549e-02 9.99286834e-01 -8.60630485e-04 4.88817842e-01] [ 2.74553686e-02 -1.76266829e-04 9.99623015e-01 4.61602583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045099893 meters 0.016084164342260763 Centerline is valid? [True, True] Translation: X:19.14, Y:0.49, Z:0.04 [[ 9.98865194e-01 -3.80145530e-02 -2.86917624e-02 1.91385167e+01] [ 3.80043853e-02 9.99277167e-01 -8.99810772e-04 4.89378524e-01] [ 2.87052289e-02 -1.91623130e-04 9.99587902e-01 4.42770121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.075099893 meters 0.015317000948002422 Centerline is valid? [True, True] Translation: X:19.17, Y:0.49, Z:0.04 [[ 9.98929460e-01 -3.65246072e-02 -2.83881332e-02 1.91684665e+01] [ 3.65140520e-02 9.99332743e-01 -8.90288569e-04 4.90642285e-01] [ 2.84017085e-02 -1.47230293e-04 9.99596579e-01 4.46306454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105099893 meters 0.015416228695256298 Centerline is valid? [True, True] Translation: X:19.20, Y:0.49, Z:0.05 [[ 9.99201195e-01 -3.02601229e-02 -2.61016575e-02 1.91985102e+01] [ 3.02490559e-02 9.99542057e-01 -8.18824418e-04 4.93956693e-01] [ 2.61144822e-02 2.86198401e-05 9.99658958e-01 4.77192551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.135099893 meters 0.01493555827542798 Centerline is valid? [True, True] Translation: X:19.23, Y:0.50, Z:0.05 [[ 9.99412753e-01 -2.41751811e-02 -2.42839391e-02 1.92272601e+01] [ 2.41637857e-02 9.99707722e-01 -7.62630886e-04 4.97454245e-01] [ 2.42952782e-02 1.75391133e-04 9.99704811e-01 4.94531757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165099893 meters 0.01614259013042305 Centerline is valid? [True, True] Translation: X:19.26, Y:0.50, Z:0.05 [[ 9.99527711e-01 -1.86018885e-02 -2.44606832e-02 1.92557671e+01] [ 1.85885683e-02 9.99826920e-01 -7.71839791e-04 4.99494230e-01] [ 2.44708072e-02 3.16786180e-04 9.99700495e-01 5.11572166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.195099893 meters 0.016919867820716847 Centerline is valid? [True, True] Translation: X:19.28, Y:0.50, Z:0.05 [[ 9.99582653e-01 -1.43828649e-02 -2.50529914e-02 1.92829080e+01] [ 1.43674376e-02 9.99896466e-01 -7.95689609e-04 5.03075612e-01] [ 2.50618419e-02 4.35410241e-04 9.99685808e-01 5.29286360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225099893 meters 0.018142725528304475 Centerline is valid? [True, True] Translation: X:19.31, Y:0.50, Z:0.05 [[ 9.99586646e-01 -1.24677126e-02 -2.59054541e-02 1.93115655e+01] [ 1.24504336e-02 9.99922147e-01 -8.28196481e-04 5.04043861e-01] [ 2.59137630e-02 5.05320008e-04 9.99664054e-01 5.32845879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.255099893 meters 0.018770432131056246 Centerline is valid? [True, True] Translation: X:19.34, Y:0.51, Z:0.05 [[ 9.99573241e-01 -9.53637969e-03 -2.76114869e-02 1.93403156e+01] [ 9.51551754e-03 9.99954333e-01 -8.86858998e-04 5.05106995e-01] [ 2.76186834e-02 6.23742935e-04 9.99618337e-01 5.17401361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285099892999998 meters 0.019573101173834456 Centerline is valid? [True, True] Translation: X:19.37, Y:0.51, Z:0.05 [[ 9.99550614e-01 -8.52426087e-03 -2.87385827e-02 1.93678072e+01] [ 8.50118138e-03 9.99963436e-01 -9.25171669e-04 5.06073342e-01] [ 2.87454183e-02 6.80444006e-04 9.99586533e-01 4.98749997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.315099893 meters 0.019117484893432745 Centerline is valid? [True, True] Translation: X:19.40, Y:0.51, Z:0.05 [[ 9.99559426e-01 -7.53557584e-03 -2.87083270e-02 1.93969807e+01] [ 7.51199142e-03 9.99971353e-01 -9.29281998e-04 5.05590489e-01] [ 2.87145073e-02 7.13215875e-04 9.99587399e-01 5.04795751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345099893 meters 0.019745186118808048 Centerline is valid? [True, True] Translation: X:19.42, Y:0.51, Z:0.05 [[ 9.99613770e-01 -7.89893484e-03 -2.66442616e-02 1.94243725e+01] [ 7.87864187e-03 9.99968588e-01 -8.66520699e-04 5.08718778e-01] [ 2.66502692e-02 6.56265428e-04 9.99644603e-01 5.24576440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.375099893 meters 0.018613391354205172 Centerline is valid? [True, True] Translation: X:19.45, Y:0.51, Z:0.06 [[ 9.99601366e-01 -1.00776423e-02 -2.63732739e-02 1.94533160e+01] [ 1.00583961e-02 9.99949041e-01 -8.62322985e-04 5.05474218e-01] [ 2.63806202e-02 5.96706399e-04 9.99651793e-01 5.55689902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405099893 meters 0.016519329301727118 Centerline is valid? [True, True] Translation: X:19.48, Y:0.51, Z:0.06 [[ 9.99573700e-01 -1.45234864e-02 -2.53275873e-02 1.94811720e+01] [ 1.45070570e-02 9.99894421e-01 -8.32306398e-04 5.06775208e-01] [ 2.53370012e-02 4.64522833e-04 9.99678859e-01 5.82378496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.435099893 meters 0.017779698134068486 Centerline is valid? [True, True] Translation: X:19.51, Y:0.51, Z:0.06 [[ 9.99517614e-01 -1.72884410e-02 -2.58001771e-02 1.95101782e+01] [ 1.72721989e-02 9.99850461e-01 -8.52269652e-04 5.06808289e-01] [ 2.58110534e-02 4.06232740e-04 9.99666757e-01 5.74863936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465099893 meters 0.014955297291441414 Centerline is valid? [True, True] Translation: X:19.54, Y:0.51, Z:0.06 [[ 9.99470185e-01 -2.04117505e-02 -2.53517179e-02 1.95385336e+01] [ 2.03969137e-02 9.99791605e-01 -8.43717021e-04 5.05880292e-01] [ 2.53636565e-02 3.26173205e-04 9.99678238e-01 5.97080938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.495099893 meters 0.01666297989184106 Centerline is valid? [True, True] Translation: X:19.57, Y:0.51, Z:0.06 [[ 9.99383144e-01 -2.31305254e-02 -2.64255468e-02 1.95666077e+01] [ 2.31152357e-02 9.99732416e-01 -8.83959554e-04 5.06242535e-01] [ 2.64389222e-02 2.72581537e-04 9.99650393e-01 5.65949675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525099893 meters 0.015548866245657865 Centerline is valid? [True, True] Translation: X:19.60, Y:0.50, Z:0.06 [[ 9.99213293e-01 -3.01608620e-02 -2.57510619e-02 1.95961506e+01] [ 3.01486304e-02 9.99545054e-01 -8.63193268e-04 5.02343471e-01] [ 2.57653812e-02 8.61549406e-05 9.99668014e-01 5.60092629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.555099893 meters 0.01503153692324143 Centerline is valid? [True, True] Translation: X:19.63, Y:0.50, Z:0.06 [[ 9.99178982e-01 -3.19802117e-02 -2.48722253e-02 1.96255768e+01] [ 3.19693372e-02 9.99488501e-01 -8.34830913e-04 5.02489695e-01] [ 2.48862013e-02 3.89969448e-05 9.99690290e-01 5.72421954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585099893 meters 0.015737791741127553 Centerline is valid? [True, True] Translation: X:19.66, Y:0.50, Z:0.06 [[ 9.99088836e-01 -3.56167339e-02 -2.35148071e-02 1.96552172e+01] [ 3.56080064e-02 9.99365522e-01 -7.89894811e-04 5.03961641e-01] [ 2.35280209e-02 -4.81403118e-05 9.99723177e-01 5.95471379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.615099893 meters 0.013891511704926333 Centerline is valid? [True, True] Translation: X:19.69, Y:0.50, Z:0.06 [[ 9.99035713e-01 -3.79946091e-02 -2.20012081e-02 1.96852223e+01] [ 3.79875447e-02 9.99277939e-01 -7.39087716e-04 5.04745673e-01] [ 2.20134033e-02 -9.73968550e-05 9.99757671e-01 6.26923039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645099893 meters 0.015904790644103075 Centerline is valid? [True, True] Translation: X:19.72, Y:0.50, Z:0.06 [[ 9.98811423e-01 -4.25256066e-02 -2.38183715e-02 1.97172165e+01] [ 4.25186405e-02 9.99095354e-01 -7.99052530e-04 5.03730294e-01] [ 2.38308045e-02 -2.14621980e-04 9.99715983e-01 6.16778188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.675099893 meters 0.01619879623501469 Centerline is valid? [True, True] Translation: X:19.75, Y:0.50, Z:0.06 [[ 9.98689771e-01 -4.48369098e-02 -2.46656113e-02 1.97483372e+01] [ 4.48301839e-02 9.98994281e-01 -8.25862793e-04 5.01938320e-01] [ 2.46778338e-02 -2.80983166e-04 9.99695416e-01 6.00406630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705099893 meters 0.016563755243193857 Centerline is valid? [True, True] Translation: X:19.78, Y:0.50, Z:0.06 [[ 9.98478040e-01 -4.86339081e-02 -2.60066707e-02 1.97809300e+01] [ 4.86277624e-02 9.98816592e-01 -8.69063775e-04 5.01354532e-01] [ 2.60181602e-02 -3.96905108e-04 9.99661392e-01 5.99231303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.735099893 meters 0.016699184521040737 Centerline is valid? [True, True] Translation: X:19.81, Y:0.50, Z:0.06 [[ 9.98330305e-01 -5.11931361e-02 -2.67556509e-02 1.98124500e+01] [ 5.11875953e-02 9.98688657e-01 -8.92395527e-04 5.03706470e-01] [ 2.67662496e-02 -4.78651934e-04 9.99641605e-01 6.03817638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765099893 meters 0.017054665329509035 Centerline is valid? [True, True] Translation: X:19.84, Y:0.51, Z:0.06 [[ 9.98386263e-01 -4.96182639e-02 -2.76206018e-02 1.98449987e+01] [ 4.96118062e-02 9.98768153e-01 -9.19456960e-04 5.07664449e-01] [ 2.76321993e-02 -4.52334744e-04 9.99618056e-01 5.97814873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.795099893 meters 0.015670077873613037 Centerline is valid? [True, True] Translation: X:19.88, Y:0.51, Z:0.06 [[ 9.98565205e-01 -4.66991169e-02 -2.62054213e-02 1.98773832e+01] [ 4.66923476e-02 9.98908938e-01 -8.70492916e-04 5.12255885e-01] [ 2.62174809e-02 -3.54348705e-04 9.99656200e-01 6.10580897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825099893 meters 0.01518921652359131 Centerline is valid? [True, True] Translation: X:19.91, Y:0.52, Z:0.06 [[ 9.98658633e-01 -4.50484966e-02 -2.55258155e-02 1.99080945e+01] [ 4.50416003e-02 9.98984754e-01 -8.45351383e-04 5.15226252e-01] [ 2.55379823e-02 -3.05506123e-04 9.99673806e-01 6.19919882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.855099893 meters 0.01564688467809787 Centerline is valid? [True, True] Translation: X:19.94, Y:0.53, Z:0.06 [[ 9.98963232e-01 -3.84148526e-02 -2.44286809e-02 1.99400862e+01] [ 3.84066116e-02 9.99261868e-01 -8.06614001e-04 5.25498632e-01] [ 2.44416353e-02 -1.32445130e-04 9.99701250e-01 6.47419269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885099893 meters 0.01587484670101364 Centerline is valid? [True, True] Translation: X:19.97, Y:0.53, Z:0.06 [[ 9.99021570e-01 -3.52020986e-02 -2.67715214e-02 1.99712217e+01] [ 3.51910951e-02 9.99380212e-01 -8.82191377e-04 5.28399032e-01] [ 2.67859838e-02 -6.07909427e-05 9.99641189e-01 6.21789658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.915099893 meters 0.015175094964102817 Centerline is valid? [True, True] Translation: X:20.00, Y:0.52, Z:0.06 [[ 9.98849863e-01 -4.04068272e-02 -2.58116126e-02 2.00021721e+01] [ 4.03983527e-02 9.99183292e-01 -8.49909486e-04 5.24445151e-01] [ 2.58248742e-02 -1.93814654e-04 9.99666464e-01 6.46467817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945099893 meters 0.01591133959177081 Centerline is valid? [True, True] Translation: X:20.03, Y:0.52, Z:0.07 [[ 9.98811939e-01 -4.20185642e-02 -2.46809845e-02 2.00334466e+01] [ 4.20113186e-02 9.99116805e-01 -8.12244451e-04 5.22145200e-01] [ 2.46933158e-02 -2.25601250e-04 9.99695048e-01 6.53952348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.975099893 meters 0.016274943264837596 Centerline is valid? [True, True] Translation: X:20.07, Y:0.52, Z:0.07 [[ 9.98783039e-01 -4.28114409e-02 -2.44871911e-02 2.00661295e+01] [ 4.28045788e-02 9.99083140e-01 -8.04563905e-04 5.22146218e-01] [ 2.44991843e-02 -2.44579120e-04 9.99699820e-01 6.64379128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005099893 meters 0.015320543244851543 Centerline is valid? [True, True] Translation: X:20.10, Y:0.52, Z:0.07 [[ 9.98791880e-01 -4.34829375e-02 -2.28913696e-02 2.00978119e+01] [ 4.34771531e-02 9.99054140e-01 -7.50555552e-04 5.21685970e-01] [ 2.29023540e-02 -2.45602791e-04 9.99737677e-01 6.86952373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.035099892999998 meters 0.014776147026027829 Centerline is valid? [True, True] Translation: X:20.13, Y:0.52, Z:0.07 [[ 9.98797151e-01 -4.39810103e-02 -2.16776630e-02 2.01304385e+01] [ 4.39759725e-02 9.99032337e-01 -7.09273413e-04 5.21110118e-01] [ 2.16878809e-02 -2.44876047e-04 9.99764760e-01 7.04853184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065099893 meters 0.01729291767035084 Centerline is valid? [True, True] Translation: X:20.16, Y:0.52, Z:0.07 [[ 9.98777567e-01 -4.40801437e-02 -2.23676566e-02 2.01629396e+01] [ 4.40748408e-02 9.99027965e-01 -7.30246987e-04 5.20442661e-01] [ 2.23781039e-02 -2.56496598e-04 9.99749546e-01 6.92185957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.095099893 meters 0.016320876269816476 Centerline is valid? [True, True] Translation: X:20.19, Y:0.52, Z:0.07 [[ 9.98772143e-01 -4.42341915e-02 -2.23056824e-02 2.01947636e+01] [ 4.42289915e-02 9.99021155e-01 -7.26655149e-04 5.19740220e-01] [ 2.23159916e-02 -2.60794919e-04 9.99750933e-01 6.94252837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125099892999998 meters 0.015958410377000472 Centerline is valid? [True, True] Translation: X:20.23, Y:0.52, Z:0.07 [[ 9.98962364e-01 -3.99415657e-02 -2.18830122e-02 2.02274132e+01] [ 3.99355649e-02 9.99202004e-01 -7.11335371e-04 5.16891827e-01] [ 2.18939615e-02 -1.63313189e-04 9.99760285e-01 6.96592860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.155099893 meters 0.014399852976692528 Centerline is valid? [True, True] Translation: X:20.26, Y:0.52, Z:0.07 [[ 9.99502182e-01 -2.47279092e-02 -1.95938184e-02 2.02588478e+01] [ 2.47202000e-02 9.99694207e-01 -6.35591321e-04 5.24422262e-01] [ 1.96035436e-02 1.50911801e-04 9.99807821e-01 7.20686521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185099893 meters 0.015791283636123015 Centerline is valid? [True, True] Translation: X:20.29, Y:0.52, Z:0.07 [[ 9.99541190e-01 -2.15557289e-02 -2.12781474e-02 2.02883272e+01] [ 2.15459359e-02 9.99767622e-01 -6.89414113e-04 5.23580711e-01] [ 2.12880637e-02 2.30640203e-04 9.99773357e-01 6.84258525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.215099893 meters 0.016350105098208965 Centerline is valid? [True, True] Translation: X:20.32, Y:0.52, Z:0.07 [[ 9.99522312e-01 -2.24318524e-02 -2.12593355e-02 2.03174873e+01] [ 2.24222225e-02 9.99748351e-01 -6.91261334e-04 5.24414527e-01] [ 2.12694919e-02 2.14249576e-04 9.99773756e-01 7.00352630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245099893 meters 0.016350105098208965 Centerline is valid? [True, True] Translation: X:20.35, Y:0.53, Z:0.07 [[ 9.99516644e-01 -2.26831623e-02 -2.12591607e-02 2.03456973e+01] [ 2.26734756e-02 9.99742681e-01 -6.96605342e-04 5.25363825e-01] [ 2.12694915e-02 2.14249572e-04 9.99773756e-01 7.03854959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.275099893 meters 0.015339997791150346 Centerline is valid? [True, True] Translation: X:20.37, Y:0.53, Z:0.07 [[ 9.99524552e-01 -2.26643484e-02 -2.09044737e-02 2.03740293e+01] [ 2.26549046e-02 9.99743108e-01 -6.88497916e-04 5.26720080e-01] [ 2.09147078e-02 2.14581714e-04 9.99781241e-01 7.10600523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305099893 meters 0.014298251755718609 Centerline is valid? [True, True] Translation: X:20.40, Y:0.53, Z:0.07 [[ 9.99500103e-01 -2.32885656e-02 -2.13819057e-02 2.04024860e+01] [ 2.32787661e-02 9.99728763e-01 -7.07127300e-04 5.26755078e-01] [ 2.13925741e-02 2.09029429e-04 9.99771131e-01 7.16056937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.335099893 meters 0.014071458457349093 Centerline is valid? [True, True] Translation: X:20.43, Y:0.53, Z:0.07 [[ 9.99459735e-01 -2.42284903e-02 -2.22085101e-02 2.04312049e+01] [ 2.42180257e-02 9.99706427e-01 -7.40072884e-04 5.26496383e-01] [ 2.22199211e-02 2.01826782e-04 9.99753087e-01 7.08687371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365099893 meters 0.014071458457349093 Centerline is valid? [True, True] Translation: X:20.46, Y:0.53, Z:0.07 [[ 9.99453732e-01 -2.44750548e-02 -2.22083263e-02 2.04594160e+01] [ 2.44645292e-02 9.99700421e-01 -7.45555774e-04 5.27474910e-01] [ 2.22199207e-02 2.01832253e-04 9.99753087e-01 7.12189717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.395099893 meters 0.01647099933894426 Centerline is valid? [True, True] Translation: X:20.49, Y:0.53, Z:0.07 [[ 9.99384528e-01 -2.56524841e-02 -2.39272714e-02 2.04884761e+01] [ 2.56404557e-02 9.99670902e-01 -8.09417108e-04 5.27465940e-01] [ 2.39401605e-02 1.95412792e-04 9.99713374e-01 6.82309215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425099893 meters 0.01578215290238923 Centerline is valid? [True, True] Translation: X:20.52, Y:0.53, Z:0.07 [[ 9.99344751e-01 -2.73660449e-02 -2.36889852e-02 2.05172673e+01] [ 2.73545970e-02 9.99625467e-01 -8.07232698e-04 5.27480719e-01] [ 2.37022036e-02 1.58701119e-04 9.99719051e-01 6.89399081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.455099893 meters 0.0162684701419526 Centerline is valid? [True, True] Translation: X:20.55, Y:0.53, Z:0.07 [[ 9.99169974e-01 -3.21435282e-02 -2.50231360e-02 2.05459937e+01] [ 3.21320901e-02 9.99483262e-01 -8.59155764e-04 5.27225088e-01] [ 2.50378219e-02 5.43969815e-05 9.99686503e-01 6.81875671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485099893 meters 0.015239138721486207 Centerline is valid? [True, True] Translation: X:20.58, Y:0.53, Z:0.07 [[ 9.99116416e-01 -3.33582903e-02 -2.55658158e-02 2.05757957e+01] [ 3.33466610e-02 9.99443457e-01 -8.81196756e-04 5.27787309e-01] [ 2.55809825e-02 2.78835530e-05 9.99672753e-01 6.87996982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.515099893 meters 0.016049342179613124 Centerline is valid? [True, True] Translation: X:20.61, Y:0.53, Z:0.07 [[ 9.99099470e-01 -3.40583663e-02 -2.53037065e-02 2.06059148e+01] [ 3.40471933e-02 9.99419846e-01 -8.72380112e-04 5.27974273e-01] [ 2.53187383e-02 1.00743224e-05 9.99679429e-01 6.92363211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545099893 meters 0.015759171200874184 Centerline is valid? [True, True] Translation: X:20.64, Y:0.53, Z:0.07 [[ 9.99086669e-01 -3.39044907e-02 -2.60060079e-02 2.06366825e+01] [ 3.38926366e-02 9.99425077e-01 -8.96592920e-04 5.28271924e-01] [ 2.60214550e-02 1.43618582e-05 9.99661385e-01 6.86897767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.575099893 meters 0.014545714400653036 Centerline is valid? [True, True] Translation: X:20.67, Y:0.53, Z:0.07 [[ 9.99070088e-01 -3.35680735e-02 -2.70581590e-02 2.06664379e+01] [ 3.35551030e-02 9.99436433e-01 -9.33394318e-04 5.28832852e-01] [ 2.70742421e-02 2.45870318e-05 9.99633425e-01 6.91984511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605099893 meters 0.0160449080321989 Centerline is valid? [True, True] Translation: X:20.69, Y:0.53, Z:0.07 [[ 9.99078286e-01 -3.24752052e-02 -2.80702512e-02 2.06947600e+01] [ 3.24607783e-02 9.99472540e-01 -9.69605486e-04 5.30433480e-01] [ 2.80869334e-02 5.75295853e-05 9.99605483e-01 6.73542591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.635099893 meters 0.01618865819244808 Centerline is valid? [True, True] Translation: X:20.72, Y:0.53, Z:0.07 [[ 9.99116614e-01 -3.13211691e-02 -2.80174130e-02 2.07231025e+01] [ 3.13062135e-02 9.99509367e-01 -9.72390641e-04 5.32843760e-01] [ 2.80341232e-02 9.44125312e-05 9.99606962e-01 6.90072142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665099893 meters 0.014411260903942947 Centerline is valid? [True, True] Translation: X:20.75, Y:0.54, Z:0.08 [[ 9.99404824e-01 -2.50035547e-02 -2.37659312e-02 2.07510478e+01] [ 2.49908770e-02 9.99687334e-01 -8.30341353e-04 5.41957929e-01] [ 2.37792619e-02 2.35915689e-04 9.99717206e-01 7.65971281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.695099893 meters 0.016644356763044103 Centerline is valid? [True, True] Translation: X:20.78, Y:0.55, Z:0.07 [[ 9.99483815e-01 -2.16688382e-02 -2.37184731e-02 2.07784041e+01] [ 2.16551751e-02 9.99765152e-01 -8.32781267e-04 5.46155510e-01] [ 2.37309482e-02 3.18723710e-04 9.99718331e-01 7.49946424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725099893 meters 0.0157974415833702 Centerline is valid? [True, True] Translation: X:20.81, Y:0.55, Z:0.08 [[ 9.99511822e-01 -2.16963752e-02 -2.24807541e-02 2.08059587e+01] [ 2.16840186e-02 9.99764559e-01 -7.93301803e-04 5.46883206e-01] [ 2.24926730e-02 3.05441440e-04 9.99746961e-01 7.67365612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.755099893 meters 0.015217732457021384 Centerline is valid? [True, True] Translation: X:20.83, Y:0.55, Z:0.08 [[ 9.99403547e-01 -2.65082224e-02 -2.21328761e-02 2.08340364e+01] [ 2.64972921e-02 9.99648575e-01 -7.87021132e-04 5.48693169e-01] [ 2.21459606e-02 2.00090428e-04 9.99754728e-01 7.83692853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785099892999998 meters 0.01428310172819947 Centerline is valid? [True, True] Translation: X:20.86, Y:0.55, Z:0.08 [[ 9.99344289e-01 -2.87374848e-02 -2.20261017e-02 2.08636992e+01] [ 2.87271344e-02 9.99586981e-01 -7.86247952e-04 5.49437881e-01] [ 2.20395993e-02 1.52985617e-04 9.99757087e-01 7.89680642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.815099893 meters 0.015377829366779757 Centerline is valid? [True, True] Translation: X:20.89, Y:0.55, Z:0.08 [[ 9.99258978e-01 -3.06835099e-02 -2.32382520e-02 2.08944442e+01] [ 3.06725171e-02 9.99529144e-01 -8.29420201e-04 5.49377749e-01] [ 2.32527596e-02 1.16029900e-04 9.99729611e-01 7.70884719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845099893 meters 0.015520685181634944 Centerline is valid? [True, True] Translation: X:20.93, Y:0.55, Z:0.08 [[ 9.99153079e-01 -3.32161249e-02 -2.42860985e-02 2.09251873e+01] [ 3.32048662e-02 9.99448190e-01 -8.66819961e-04 5.48932296e-01] [ 2.43014896e-02 5.96691831e-05 9.99704673e-01 7.63931147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.875099892999998 meters 0.015520685181634944 Centerline is valid? [True, True] Translation: X:20.96, Y:0.55, Z:0.08 [[ 9.99154275e-01 -3.31800915e-02 -2.42861138e-02 2.09560174e+01] [ 3.31688326e-02 9.99449387e-01 -8.66389841e-04 5.50005112e-01] [ 2.43014885e-02 6.01150706e-05 9.99704673e-01 7.67746363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905099893 meters 0.016331824529630015 Centerline is valid? [True, True] Translation: X:20.99, Y:0.55, Z:0.08 [[ 9.98935961e-01 -3.84332864e-02 -2.54917180e-02 2.09860189e+01] [ 3.84226095e-02 9.99261166e-01 -9.08695270e-04 5.49536179e-01] [ 2.55078080e-02 -7.17299446e-05 9.99674620e-01 7.58181754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.935099893 meters 0.015791558530552075 Centerline is valid? [True, True] Translation: X:21.02, Y:0.55, Z:0.08 [[ 9.98721477e-01 -4.47553145e-02 -2.35026118e-02 2.10183922e+01] [ 4.47480123e-02 9.98997956e-01 -8.36789203e-04 5.49191089e-01] [ 2.35165119e-02 -2.15975812e-04 9.99723425e-01 7.91851526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965099893 meters 0.01580927420072847 Centerline is valid? [True, True] Translation: X:21.05, Y:0.55, Z:0.08 [[ 9.98579951e-01 -4.82090549e-02 -2.26708572e-02 2.10505761e+01] [ 4.82031864e-02 9.98837226e-01 -8.05577824e-04 5.48638358e-01] [ 2.26833323e-02 -2.88373690e-04 9.99742659e-01 8.03290780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.995099893 meters 0.01591837624769032 Centerline is valid? [True, True] Translation: X:21.08, Y:0.55, Z:0.08 [[ 9.98432064e-01 -5.12675088e-02 -2.24734755e-02 2.10821917e+01] [ 5.12625486e-02 9.98684893e-01 -7.97134548e-04 5.47210751e-01] [ 2.24847876e-02 -3.56162939e-04 9.99747122e-01 8.03667082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025099893 meters 0.0174123419661233 Centerline is valid? [True, True] Translation: X:21.11, Y:0.55, Z:0.08 [[ 9.98171095e-01 -5.62834944e-02 -2.20597477e-02 2.11135503e+01] [ 5.62799650e-02 9.98414721e-01 -7.81291377e-04 5.45406656e-01] [ 2.20687507e-02 -4.61659358e-04 9.99756349e-01 8.05155480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.055099893 meters 0.019488920163363076 Centerline is valid? [True, True] Translation: X:21.15, Y:0.55, Z:0.08 [[ 9.97956787e-01 -5.99440199e-02 -2.21125499e-02 2.11455882e+01] [ 5.99414010e-02 9.98201591e-01 -7.81819065e-04 5.46134121e-01] [ 2.21196479e-02 -5.45235582e-04 9.99755182e-01 8.00859156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085099893 meters 0.019117165755614857 Centerline is valid? [True, True] Translation: X:21.18, Y:0.55, Z:0.08 [[ 9.97817702e-01 -6.21603268e-02 -2.22694113e-02 2.11781067e+01] [ 6.21582575e-02 9.98065997e-01 -7.85779384e-04 5.48087369e-01] [ 2.22751865e-02 -6.00163222e-04 9.99751697e-01 8.06274539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.115099893 meters 0.01987340582622648 Centerline is valid? [True, True] Translation: X:21.21, Y:0.55, Z:0.08 [[ 9.97593555e-01 -6.58275738e-02 -2.17676201e-02 2.12089064e+01] [ 6.58265131e-02 9.97830789e-01 -7.66030813e-04 5.47723541e-01] [ 2.17708274e-02 -6.68699125e-04 9.99762764e-01 8.09136161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145099893 meters 0.019736563196589483 Centerline is valid? [True, True] Translation: X:21.24, Y:0.55, Z:0.08 [[ 9.97351944e-01 -6.92153188e-02 -2.23235097e-02 2.12407937e+01] [ 6.92150980e-02 9.97601452e-01 -7.83476192e-04 5.48917448e-01] [ 2.23241942e-02 -7.63722407e-04 9.99750492e-01 8.05616655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.175099893 meters 0.019287451642106816 Centerline is valid? [True, True] Translation: X:21.27, Y:0.55, Z:0.08 [[ 9.97208215e-01 -7.11500565e-02 -2.26593150e-02 2.12729798e+01] [ 7.11503599e-02 9.97465286e-01 -7.93846146e-04 5.49375228e-01] [ 2.26583623e-02 -8.20588516e-04 9.99742930e-01 8.22215666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205099893 meters 0.02110583324936199 Centerline is valid? [True, True] Translation: X:21.31, Y:0.55, Z:0.08 [[ 9.97192606e-01 -7.05284737e-02 -2.51523714e-02 2.13051606e+01] [ 7.05286987e-02 9.97509363e-01 -8.79283502e-04 5.53296485e-01] [ 2.51517405e-02 -8.97149015e-04 9.99683242e-01 8.01144389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.235099893 meters 0.021512679141115692 Centerline is valid? [True, True] Translation: X:21.34, Y:0.56, Z:0.08 [[ 9.97422057e-01 -6.69514481e-02 -2.58213693e-02 2.13357773e+01] [ 6.69505240e-02 9.97755890e-01 -9.01282320e-04 5.57948521e-01] [ 2.58237654e-02 -8.29795337e-04 9.99666167e-01 7.91669120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265099893 meters 0.020229635463446225 Centerline is valid? [True, True] Translation: X:21.37, Y:0.56, Z:0.08 [[ 9.97638590e-01 -6.33888543e-02 -2.64404444e-02 2.13667506e+01] [ 6.33866607e-02 9.97988618e-01 -9.21929944e-04 5.60558106e-01] [ 2.64457026e-02 -7.56218586e-04 9.99649965e-01 7.73189367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.295099893 meters 0.01859739124913271 Centerline is valid? [True, True] Translation: X:21.40, Y:0.56, Z:0.08 [[ 9.97837078e-01 -6.07243843e-02 -2.51737133e-02 2.13979693e+01] [ 6.07215708e-02 9.98154358e-01 -8.76870680e-04 5.61318900e-01] [ 2.51804991e-02 -6.53613337e-04 9.99682707e-01 7.77327351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325099893 meters 0.018095060974157383 Centerline is valid? [True, True] Translation: X:21.43, Y:0.56, Z:0.08 [[ 9.98001780e-01 -5.87673039e-02 -2.32131685e-02 2.14297894e+01] [ 5.87644098e-02 9.98271552e-01 -8.07389356e-04 5.63982224e-01] [ 2.32204939e-02 -5.58332135e-04 9.99730212e-01 8.04809013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.355099893 meters 0.015728343439601677 Centerline is valid? [True, True] Translation: X:21.46, Y:0.57, Z:0.09 [[ 9.98213129e-01 -5.61517387e-02 -2.04335861e-02 2.14612969e+01] [ 5.61489762e-02 9.98422150e-01 -7.09342689e-04 5.71361378e-01] [ 2.04411758e-02 -4.39249757e-04 9.99790961e-01 8.83080106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385099893 meters 0.018397192276422374 Centerline is valid? [True, True] Translation: X:21.49, Y:0.57, Z:0.09 [[ 9.98317405e-01 -5.41972977e-02 -2.06158031e-02 2.14927033e+01] [ 5.41940974e-02 9.98530165e-01 -7.14305322e-04 5.74207753e-01] [ 2.06242147e-02 -4.04151406e-04 9.99787217e-01 8.77994802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.415099893 meters 0.016234326519399638 Centerline is valid? [True, True] Translation: X:21.52, Y:0.58, Z:0.09 [[ 9.98482524e-01 -5.07087130e-02 -2.14773324e-02 2.15247663e+01] [ 5.07044620e-02 9.98713425e-01 -7.42794660e-04 5.78243795e-01] [ 2.14873664e-02 -3.47329099e-04 9.99769060e-01 8.80820497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445099893 meters 0.015186653619638089 Centerline is valid? [True, True] Translation: X:21.56, Y:0.58, Z:0.09 [[ 9.98609083e-01 -4.77989246e-02 -2.22522252e-02 2.15565372e+01] [ 4.77936754e-02 9.98856934e-01 -7.67966048e-04 5.78827751e-01] [ 2.22634973e-02 -2.96617754e-04 9.99752094e-01 8.61901973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.475099893 meters 0.01596626861394053 Centerline is valid? [True, True] Translation: X:21.59, Y:0.58, Z:0.08 [[ 9.98709123e-01 -4.55753629e-02 -2.24270939e-02 2.15884895e+01] [ 4.55695063e-02 9.98960872e-01 -7.72395399e-04 5.79511544e-01] [ 2.24389914e-02 -2.50593264e-04 9.99748183e-01 8.43638753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505099893 meters 0.015256596995092127 Centerline is valid? [True, True] Translation: X:21.62, Y:0.58, Z:0.09 [[ 9.98801664e-01 -4.32693345e-02 -2.28691905e-02 2.16200628e+01] [ 4.32626736e-02 9.99063423e-01 -7.86169350e-04 5.81693253e-01] [ 2.28817887e-02 -2.04155067e-04 9.99738157e-01 8.52490383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.535099892999998 meters 0.014877794377990278 Centerline is valid? [True, True] Translation: X:21.65, Y:0.59, Z:0.09 [[ 9.98880424e-01 -4.12678880e-02 -2.31270573e-02 2.16517182e+01] [ 4.12605729e-02 9.99148105e-01 -7.93597288e-04 5.85468319e-01] [ 2.31401055e-02 -1.61526836e-04 9.99732219e-01 8.74145218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565099893 meters 0.016503068652054757 Centerline is valid? [True, True] Translation: X:21.68, Y:0.59, Z:0.09 [[ 9.99163192e-01 -3.30570052e-02 -2.40863129e-02 2.16840541e+01] [ 3.30467274e-02 9.99453467e-01 -8.24739582e-04 5.94000075e-01] [ 2.41004123e-02 2.80756192e-05 9.99709542e-01 8.92085921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.595099893 meters 0.014974670207358721 Centerline is valid? [True, True] Translation: X:21.71, Y:0.60, Z:0.09 [[ 9.99233239e-01 -3.11066146e-02 -2.37763063e-02 2.17146013e+01] [ 3.10960734e-02 9.99516069e-01 -8.13039099e-04 5.95573126e-01] [ 2.37900911e-02 7.30659266e-05 9.99716973e-01 8.99536393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625099892999998 meters 0.015642046925400034 Centerline is valid? [True, True] Translation: X:21.75, Y:0.59, Z:0.09 [[ 9.99328812e-01 -2.78609886e-02 -2.37842748e-02 2.17457825e+01] [ 2.78495362e-02 9.99611796e-01 -8.12675581e-04 5.93587955e-01] [ 2.37976836e-02 1.49749099e-04 9.99716784e-01 8.67061991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.655099893 meters 0.015107310291974214 Centerline is valid? [True, True] Translation: X:21.78, Y:0.59, Z:0.09 [[ 9.99446694e-01 -2.51489441e-02 -2.17677859e-02 2.17754622e+01] [ 2.51387137e-02 9.99683696e-01 -7.43533408e-04 5.92951286e-01] [ 2.17795997e-02 1.95907868e-04 9.99762777e-01 8.60068361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685099893 meters 0.014905139201719885 Centerline is valid? [True, True] Translation: X:21.80, Y:0.60, Z:0.09 [[ 9.99577159e-01 -2.18718786e-02 -1.91604661e-02 2.18047977e+01] [ 2.18633422e-02 9.99760754e-01 -6.54907905e-04 5.97898989e-01] [ 1.91702061e-02 2.35719156e-04 9.99816207e-01 9.12750374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.715099893 meters 0.015879858911163735 Centerline is valid? [True, True] Translation: X:21.83, Y:0.60, Z:0.09 [[ 9.99658419e-01 -1.82995357e-02 -1.86593931e-02 2.18347154e+01] [ 1.82908078e-02 9.99832505e-01 -6.38314367e-04 6.01594217e-01] [ 1.86679486e-02 2.96800957e-04 9.99825695e-01 9.39790675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745099893 meters 0.018248703264911854 Centerline is valid? [True, True] Translation: X:21.86, Y:0.60, Z:0.09 [[ 9.99644301e-01 -1.66752680e-02 -2.08136034e-02 2.18629535e+01] [ 1.66640387e-02 9.99860891e-01 -7.12847943e-04 6.00360987e-01] [ 2.08225950e-02 3.65755691e-04 9.99783119e-01 8.99562547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.775099893 meters 0.01670559302285942 Centerline is valid? [True, True] Translation: X:21.89, Y:0.59, Z:0.09 [[ 9.99617232e-01 -1.90014195e-02 -2.01080721e-02 2.18915648e+01] [ 1.89913537e-02 9.99819409e-01 -6.91444909e-04 5.93569134e-01] [ 2.01175792e-02 3.09300736e-04 9.99797573e-01 8.94980310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805099893 meters 0.016500917058535795 Centerline is valid? [True, True] Translation: X:21.92, Y:0.59, Z:0.09 [[ 9.99606493e-01 -2.08525831e-02 -1.87624488e-02 2.19207636e+01] [ 2.08440640e-02 9.99782528e-01 -6.49520014e-04 5.93418658e-01] [ 1.87719127e-02 2.58178740e-04 9.99823759e-01 9.13504708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.835099893 meters 0.01604279526690827 Centerline is valid? [True, True] Translation: X:21.95, Y:0.59, Z:0.09 [[ 9.99585213e-01 -2.29398528e-02 -1.74116333e-02 2.19501762e+01] [ 2.29327833e-02 9.99736826e-01 -6.05604830e-04 5.93264766e-01] [ 1.74209435e-02 2.06056418e-04 9.99848223e-01 9.43142408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865099893 meters 0.01658482958691817 Centerline is valid? [True, True] Translation: X:21.98, Y:0.59, Z:0.09 [[ 9.99532026e-01 -2.43177856e-02 -1.85573033e-02 2.19808775e+01] [ 2.43099837e-02 9.99704260e-01 -6.45923177e-04 5.89242027e-01] [ 1.85675226e-02 1.94493161e-04 9.99827590e-01 9.20996414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.895099893 meters 0.015309840582964572 Centerline is valid? [True, True] Translation: X:22.01, Y:0.59, Z:0.09 [[ 9.99476122e-01 -2.55480149e-02 -1.98690902e-02 2.20114067e+01] [ 2.55393166e-02 9.99673579e-01 -6.91446568e-04 5.86139315e-01] [ 1.98802696e-02 1.83641351e-04 9.99802351e-01 9.05431232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925099893 meters 0.016207755284317657 Centerline is valid? [True, True] Translation: X:22.04, Y:0.59, Z:0.09 [[ 9.99404329e-01 -2.85119830e-02 -1.94435973e-02 2.20415857e+01] [ 2.85042183e-02 9.99593443e-01 -6.76420511e-04 5.86486226e-01] [ 1.94549785e-02 1.21793044e-04 9.99810727e-01 9.37565521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.955099893 meters 0.014008580727445687 Centerline is valid? [True, True] Translation: X:22.07, Y:0.59, Z:0.10 [[ 9.99383004e-01 -2.98935786e-02 -1.84386872e-02 2.20729469e+01] [ 2.98868372e-02 9.99553083e-01 -6.41127686e-04 5.87067318e-01] [ 1.84496122e-02 8.96580718e-05 9.99829787e-01 9.64628231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985099893 meters 0.015113975341689245 Centerline is valid? [True, True] Translation: X:22.10, Y:0.58, Z:0.09 [[ 9.99269977e-01 -3.27790522e-02 -1.96226031e-02 2.21048919e+01] [ 3.27719978e-02 9.99462622e-01 -6.81052176e-04 5.82440619e-01] [ 1.96343826e-02 3.74830868e-05 9.99807226e-01 9.33969427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.015099893 meters 0.015109730827875185 Centerline is valid? [True, True] Translation: X:22.14, Y:0.58, Z:0.09 [[ 9.99134423e-01 -3.55318147e-02 -2.16308843e-02 2.21363605e+01] [ 3.55239315e-02 9.99368545e-01 -7.48708270e-04 5.76000797e-01] [ 2.16438283e-02 -2.03538461e-05 9.99765745e-01 8.90758187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045099893 meters 0.01608142858374009 Centerline is valid? [True, True] Translation: X:22.17, Y:0.57, Z:0.09 [[ 9.99039763e-01 -3.77500425e-02 -2.22370282e-02 2.21673441e+01] [ 3.77423010e-02 9.99287211e-01 -7.67874022e-04 5.74839330e-01] [ 2.22501652e-02 -7.21399298e-05 9.99752432e-01 8.93434951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.075099893 meters 0.015618361805974429 Centerline is valid? [True, True] Translation: X:22.20, Y:0.58, Z:0.09 [[ 9.98998009e-01 -3.88656126e-02 -2.21910468e-02 2.21989826e+01] [ 3.88582038e-02 9.99244442e-01 -7.65138317e-04 5.76830550e-01] [ 2.22040177e-02 -9.79325616e-05 9.99753456e-01 9.24380890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105099893 meters 0.01662385359593059 Centerline is valid? [True, True] Translation: X:22.23, Y:0.57, Z:0.09 [[ 9.99019468e-01 -3.79024741e-02 -2.28802159e-02 2.22302161e+01] [ 3.78943953e-02 9.99281440e-01 -7.86717323e-04 5.74831270e-01] [ 2.28935936e-02 -8.10860232e-05 9.99737904e-01 9.06410705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.135099893 meters 0.012657613921190351 Centerline is valid? [True, True] Translation: X:22.26, Y:0.58, Z:0.10 [[ 9.99089570e-01 -3.72188889e-02 -2.08514871e-02 2.22617524e+01] [ 3.72120649e-02 9.99307135e-01 -7.15311362e-04 5.75570545e-01] [ 2.08636629e-02 -6.12667688e-05 9.99782328e-01 9.56717682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165099893 meters 0.01597034542132798 Centerline is valid? [True, True] Translation: X:22.29, Y:0.58, Z:0.09 [[ 9.99146993e-01 -3.54314968e-02 -2.12107199e-02 2.22941844e+01] [ 3.54240557e-02 9.99372107e-01 -7.26559104e-04 5.77881832e-01] [ 2.12231449e-02 -2.54303796e-05 9.99774763e-01 9.39619609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.195099893 meters 0.01647840087657578 Centerline is valid? [True, True] Translation: X:22.33, Y:0.58, Z:0.10 [[ 9.99270869e-01 -3.22945072e-02 -2.03665272e-02 2.23254464e+01] [ 3.22870319e-02 9.99478396e-01 -6.95841817e-04 5.83887901e-01] [ 2.03783758e-02 3.77597448e-05 9.99792339e-01 9.77888842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225099893 meters 0.014779901153211854 Centerline is valid? [True, True] Translation: X:22.36, Y:0.59, Z:0.10 [[ 9.99400122e-01 -2.69327381e-02 -2.17720747e-02 2.23570490e+01] [ 2.69229647e-02 9.99637236e-01 -7.41947732e-04 5.87648707e-01] [ 2.17841593e-02 1.55333857e-04 9.99762685e-01 9.85370884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.255099893 meters 0.016376141791958072 Centerline is valid? [True, True] Translation: X:22.39, Y:0.59, Z:0.10 [[ 9.99448322e-01 -2.38244106e-02 -2.31397861e-02 2.23866304e+01] [ 2.38125392e-02 9.99716130e-01 -7.88480468e-04 5.87101008e-01] [ 2.31520025e-02 2.37028418e-04 9.99731928e-01 9.61426427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285099892999998 meters 0.015365866202324897 Centerline is valid? [True, True] Translation: X:22.41, Y:0.59, Z:0.10 [[ 9.99481755e-01 -2.27032157e-02 -2.28207316e-02 2.24142695e+01] [ 2.26913344e-02 9.99742215e-01 -7.79486650e-04 5.88896739e-01] [ 2.28325456e-02 2.61249834e-04 9.99739269e-01 9.76444109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.315099893 meters 0.01830971890934506 Centerline is valid? [True, True] Translation: X:22.44, Y:0.60, Z:0.10 [[ 9.99616797e-01 -1.64452817e-02 -2.22668528e-02 2.24427107e+01] [ 1.64323693e-02 9.99864689e-01 -7.62752194e-04 5.97967072e-01] [ 2.22763835e-02 3.96562756e-04 9.99751772e-01 9.98205659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345099893 meters 0.017292154851788234 Centerline is valid? [True, True] Translation: X:22.47, Y:0.60, Z:0.10 [[ 9.99631912e-01 -1.51491846e-02 -2.25064939e-02 2.24712345e+01] [ 1.51355920e-02 9.99885151e-01 -7.74177324e-04 5.98222392e-01] [ 2.25156372e-02 4.33243251e-04 9.99746397e-01 9.97179009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.375099892999998 meters 0.018375151219703654 Centerline is valid? [True, True] Translation: X:22.50, Y:0.60, Z:0.10 [[ 9.99633221e-01 -1.33932677e-02 -2.35381209e-02 2.24987264e+01] [ 1.33778139e-02 9.99910182e-01 -8.13893139e-04 5.97985189e-01] [ 2.35469074e-02 4.98706019e-04 9.99722609e-01 9.61385569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405099893 meters 0.017193139287553658 Centerline is valid? [True, True] Translation: X:22.53, Y:0.60, Z:0.10 [[ 9.99691981e-01 -1.50123179e-02 -1.97629246e-02 2.25276169e+01] [ 1.50016861e-02 9.99887233e-01 -6.86116879e-04 6.00846863e-01] [ 1.97709962e-02 3.89428351e-04 9.99804459e-01 1.01056264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.435099893 meters 0.016370208399233675 Centerline is valid? [True, True] Translation: X:22.56, Y:0.60, Z:0.10 [[ 9.99611439e-01 -1.89585323e-02 -2.04339099e-02 2.25569949e+01] [ 1.89479163e-02 9.99820218e-01 -7.13031382e-04 5.99318371e-01] [ 2.04437543e-02 3.25574312e-04 9.99790952e-01 1.01126931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465099893 meters 0.016001153697271578 Centerline is valid? [True, True] Translation: X:22.58, Y:0.60, Z:0.10 [[ 9.99547496e-01 -2.19979983e-02 -2.05156214e-02 2.25844791e+01] [ 2.19879081e-02 9.99757979e-01 -7.17297101e-04 5.98096968e-01] [ 2.05264353e-02 2.65876924e-04 9.99789275e-01 1.00626131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.495099893 meters 0.01638167266478622 Centerline is valid? [True, True] Translation: X:22.61, Y:0.59, Z:0.10 [[ 9.99367992e-01 -2.89176508e-02 -2.06733189e-02 2.26129320e+01] [ 2.89088523e-02 9.99581789e-01 -7.24382949e-04 5.93907606e-01] [ 2.06856205e-02 1.26283211e-04 9.99786022e-01 9.88770518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525099893 meters 0.015566651351647132 Centerline is valid? [True, True] Translation: X:22.64, Y:0.59, Z:0.10 [[ 9.99094666e-01 -3.68794093e-02 -2.12075070e-02 2.26434526e+01] [ 3.68719288e-02 9.99319722e-01 -7.43781523e-04 5.91311777e-01] [ 2.12205102e-02 -3.88535354e-05 9.99774819e-01 9.97044445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.555099893 meters 0.01707087151174753 Centerline is valid? [True, True] Translation: X:22.67, Y:0.58, Z:0.10 [[ 9.98510282e-01 -4.94192552e-02 -2.31290528e-02 2.26737379e+01] [ 4.94137190e-02 9.98778067e-01 -8.11173238e-04 5.84727152e-01] [ 2.31408782e-02 -3.32927697e-04 9.99732159e-01 9.73549242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585099893 meters 0.018062132114364183 Centerline is valid? [True, True] Translation: X:22.71, Y:0.58, Z:0.10 [[ 9.98336036e-01 -5.27042219e-02 -2.33970873e-02 2.27063172e+01] [ 5.26994769e-02 9.98610081e-01 -8.19779015e-04 5.83420701e-01] [ 2.34077731e-02 -4.14599331e-04 9.99725915e-01 9.69461132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.615099893 meters 0.018611869560989053 Centerline is valid? [True, True] Translation: X:22.74, Y:0.58, Z:0.10 [[ 9.97983829e-01 -5.94345033e-02 -2.22669464e-02 2.27376111e+01] [ 5.94319059e-02 9.98232058e-01 -7.78980105e-04 5.81159106e-01] [ 2.22738780e-02 -5.45957515e-04 9.99751757e-01 9.86031212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645099893 meters 0.020675678328271472 Centerline is valid? [True, True] Translation: X:22.77, Y:0.58, Z:0.10 [[ 9.97651109e-01 -6.51134580e-02 -2.12720896e-02 2.27683362e+01] [ 6.51123892e-02 9.97877660e-01 -7.43594400e-04 5.82467521e-01] [ 2.12753610e-02 -6.43228799e-04 9.99773447e-01 1.00840433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.675099893 meters 0.02130261339894292 Centerline is valid? [True, True] Translation: X:22.80, Y:0.58, Z:0.10 [[ 9.97489223e-01 -6.75631686e-02 -2.12242180e-02 2.27992580e+01] [ 6.75626865e-02 9.97714756e-01 -7.40596971e-04 5.82123097e-01] [ 2.12257526e-02 -6.95227689e-04 9.99774467e-01 1.00569009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705099893 meters 0.02080089200134371 Centerline is valid? [True, True] Translation: X:22.83, Y:0.58, Z:0.10 [[ 9.97308418e-01 -6.99846147e-02 -2.18648981e-02 2.28310131e+01] [ 6.99847444e-02 9.97547772e-01 -7.60205951e-04 5.84075487e-01] [ 2.18644831e-02 -7.72049513e-04 9.99760646e-01 9.95059763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.735099893 meters 0.02344691509744594 Centerline is valid? [True, True] Translation: X:22.86, Y:0.58, Z:0.10 [[ 9.97223430e-01 -7.08918581e-02 -2.27985816e-02 2.28623688e+01] [ 7.08922848e-02 9.97483664e-01 -7.90530527e-04 5.82798078e-01] [ 2.27972549e-02 -8.27907978e-04 9.99739766e-01 9.74464162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765099893 meters 0.021627196591477375 Centerline is valid? [True, True] Translation: X:22.89, Y:0.59, Z:0.10 [[ 9.97133922e-01 -7.20409532e-02 -2.31093594e-02 2.28945858e+01] [ 7.20417334e-02 9.97401298e-01 -7.99851281e-04 5.87377631e-01] [ 2.31069271e-02 -8.67279465e-04 9.99732623e-01 9.90133293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.795099893 meters 0.021627196591477375 Centerline is valid? [True, True] Translation: X:22.93, Y:0.59, Z:0.10 [[ 9.97141762e-01 -7.19323312e-02 -2.31094308e-02 2.29271360e+01] [ 7.19331300e-02 9.97409138e-01 -7.97785345e-04 5.88416620e-01] [ 2.31069440e-02 -8.66828604e-04 9.99732623e-01 9.94157887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825099893 meters 0.021627196591477375 Centerline is valid? [True, True] Translation: X:22.96, Y:0.59, Z:0.10 [[ 9.97149591e-01 -7.18237027e-02 -2.31095174e-02 2.29596864e+01] [ 7.18245307e-02 9.97416966e-01 -7.95268485e-04 5.89451852e-01] [ 2.31069439e-02 -8.66828601e-04 9.99732623e-01 9.98180928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.855099893 meters 0.02091726963666729 Centerline is valid? [True, True] Translation: X:22.99, Y:0.59, Z:0.10 [[ 9.97089343e-01 -7.28690894e-02 -2.24262978e-02 2.29907492e+01] [ 7.28701746e-02 9.97341138e-01 -7.69905558e-04 5.90895534e-01] [ 2.24227717e-02 -8.66543607e-04 9.99748203e-01 1.02841326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885099893 meters 0.022848589351158757 Centerline is valid? [True, True] Translation: X:23.02, Y:0.60, Z:0.10 [[ 9.97077874e-01 -7.27086927e-02 -2.34341483e-02 2.30222560e+01] [ 7.27098854e-02 9.97352811e-01 -8.02292075e-04 5.97159577e-01] [ 2.34304472e-02 -9.03946559e-04 9.99725061e-01 1.02053339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.915099893 meters 0.02010430634395121 Centerline is valid? [True, True] Translation: X:23.05, Y:0.61, Z:0.10 [[ 9.97514113e-01 -6.59858337e-02 -2.47277954e-02 2.30532992e+01] [ 6.59851480e-02 9.97820248e-01 -8.44575405e-04 6.05186887e-01] [ 2.47296249e-02 -7.89191351e-04 9.99693865e-01 9.91212792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945099893 meters 0.019445362866067035 Centerline is valid? [True, True] Translation: X:23.09, Y:0.61, Z:0.10 [[ 9.97790191e-01 -6.15169250e-02 -2.51078131e-02 2.30851382e+01] [ 6.15148275e-02 9.98105802e-01 -8.56636192e-04 6.09941156e-01] [ 2.51129515e-02 -6.89759599e-04 9.99684382e-01 9.68215612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.975099893 meters 0.018750004773975645 Centerline is valid? [True, True] Translation: X:23.12, Y:0.62, Z:0.10 [[ 9.97981487e-01 -5.89115888e-02 -2.37144792e-02 2.31171004e+01] [ 5.89090167e-02 9.98263029e-01 -8.07650440e-04 6.16326782e-01] [ 2.37208678e-02 -5.90976464e-04 9.99718446e-01 1.00061616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005099893 meters 0.01847651286522572 Centerline is valid? [True, True] Translation: X:23.15, Y:0.62, Z:0.10 [[ 9.98055309e-01 -5.79721788e-02 -2.29090882e-02 2.31487773e+01] [ 5.79695681e-02 9.98318047e-01 -7.78603228e-04 6.20843683e-01] [ 2.29156935e-02 -5.50940861e-04 9.99737249e-01 1.02607368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.035099892999998 meters 0.01847651286522572 Centerline is valid? [True, True] Translation: X:23.18, Y:0.62, Z:0.10 [[ 9.98061628e-01 -5.78632599e-02 -2.29091576e-02 2.31813172e+01] [ 5.78606675e-02 9.98324366e-01 -7.76557411e-04 6.21863033e-01] [ 2.29157043e-02 -5.50486992e-04 9.99737249e-01 1.03009670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065099893 meters 0.01684432622526193 Centerline is valid? [True, True] Translation: X:23.21, Y:0.63, Z:0.11 [[ 9.98242069e-01 -5.48956216e-02 -2.23437482e-02 2.32128129e+01] [ 5.48924580e-02 9.98491987e-01 -7.55356231e-04 6.27125314e-01] [ 2.23515193e-02 -4.72474893e-04 9.99750062e-01 1.05727436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.095099893 meters 0.01655069502053333 Centerline is valid? [True, True] Translation: X:23.24, Y:0.63, Z:0.10 [[ 9.98553571e-01 -4.88708270e-02 -2.24144800e-02 2.32438374e+01] [ 4.88661538e-02 9.98805049e-01 -7.56495399e-04 6.29964637e-01] [ 2.24246663e-02 -3.39908244e-04 9.99748478e-01 1.03699484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125099892999998 meters 0.015758274281448735 Centerline is valid? [True, True] Translation: X:23.28, Y:0.63, Z:0.11 [[ 9.98820450e-01 -4.32328378e-02 -2.21049787e-02 2.32758215e+01] [ 4.32269371e-02 9.99065001e-01 -7.44918645e-04 6.34611758e-01] [ 2.21165156e-02 -2.11490550e-04 9.99755378e-01 1.05476831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.155099893 meters 0.017583213353801266 Centerline is valid? [True, True] Translation: X:23.31, Y:0.64, Z:0.11 [[ 9.98934971e-01 -4.04539618e-02 -2.21900932e-02 2.33083734e+01] [ 4.04473653e-02 9.99181392e-01 -7.46198236e-04 6.37724048e-01] [ 2.22021148e-02 -1.52127290e-04 9.99753491e-01 1.05768776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185099893 meters 0.014972426290921931 Centerline is valid? [True, True] Translation: X:23.34, Y:0.64, Z:0.11 [[ 9.98993692e-01 -3.90395137e-02 -2.20798458e-02 2.33404295e+01] [ 3.90326721e-02 9.99237660e-01 -7.40906941e-04 6.39189675e-01] [ 2.20919381e-02 -1.21674021e-04 9.99755936e-01 1.07030413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.215099893 meters 0.015438926731539118 Centerline is valid? [True, True] Translation: X:23.37, Y:0.64, Z:0.11 [[ 9.98996942e-01 -3.85808089e-02 -2.27295105e-02 2.33713865e+01] [ 3.85734736e-02 9.99255477e-01 -7.61227533e-04 6.40424331e-01] [ 2.27419566e-02 -1.16292195e-04 9.99741361e-01 1.06815028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245099893 meters 0.01572333707245971 Centerline is valid? [True, True] Translation: X:23.40, Y:0.64, Z:0.11 [[ 9.99022335e-01 -3.79935636e-02 -2.26022663e-02 2.34030198e+01] [ 3.79862028e-02 9.99277978e-01 -7.55078288e-04 6.41884142e-01] [ 2.26146351e-02 -1.04234197e-04 9.99744251e-01 1.07036991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.275099893 meters 0.016140065251442594 Centerline is valid? [True, True] Translation: X:23.43, Y:0.65, Z:0.11 [[ 9.99173343e-01 -3.39600523e-02 -2.23460284e-02 2.34348952e+01] [ 3.39518976e-02 9.99423191e-01 -7.44332866e-04 6.45762573e-01] [ 2.23584166e-02 -1.49725098e-05 9.99750019e-01 1.08485838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305099893 meters 0.015246530190063964 Centerline is valid? [True, True] Translation: X:23.47, Y:0.65, Z:0.11 [[ 9.99411323e-01 -2.71157794e-02 -2.10176621e-02 2.34660318e+01] [ 2.71070793e-02 9.99632291e-01 -6.98777141e-04 6.48392610e-01] [ 2.10288816e-02 1.28638353e-04 9.99778860e-01 1.09165750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.335099893 meters 0.01539541251638856 Centerline is valid? [True, True] Translation: X:23.50, Y:0.65, Z:0.11 [[ 9.99574566e-01 -2.17858198e-02 -1.93924131e-02 2.34962512e+01] [ 2.17774224e-02 9.99762636e-01 -6.44127220e-04 6.50706762e-01] [ 1.94018429e-02 2.21536417e-04 9.99811742e-01 1.10237997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365099893 meters 0.016431498791938077 Centerline is valid? [True, True] Translation: X:23.53, Y:0.65, Z:0.11 [[ 9.99643881e-01 -1.90444661e-02 -1.86927499e-02 2.35259616e+01] [ 1.90361839e-02 9.99818603e-01 -6.20919359e-04 6.52860376e-01] [ 1.87011842e-02 2.64859612e-04 9.99825082e-01 1.10126300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.395099893 meters 0.016425175554225842 Centerline is valid? [True, True] Translation: X:23.56, Y:0.66, Z:0.11 [[ 9.99687502e-01 -1.68316064e-02 -1.84822980e-02 2.35556068e+01] [ 1.68231265e-02 9.99858293e-01 -6.14205293e-04 6.55019245e-01] [ 1.84900170e-02 3.03083318e-04 9.99828999e-01 1.10924312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425099893 meters 0.018109566958282735 Centerline is valid? [True, True] Translation: X:23.58, Y:0.66, Z:0.11 [[ 9.99700176e-01 -1.47128920e-02 -1.95726729e-02 2.35836455e+01] [ 1.47029546e-02 9.99891693e-01 -6.51529701e-04 6.57168958e-01] [ 1.95801390e-02 3.63558234e-04 9.99808225e-01 1.09615777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.455099893 meters 0.01783846031104875 Centerline is valid? [True, True] Translation: X:23.61, Y:0.66, Z:0.11 [[ 9.99692480e-01 -1.38023475e-02 -2.06019533e-02 2.36125349e+01] [ 1.37910788e-02 9.99904661e-01 -6.88958590e-04 6.58586939e-01] [ 2.06094984e-02 4.04623561e-04 9.99787520e-01 1.10038838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485099893 meters 0.01763170786795644 Centerline is valid? [True, True] Translation: X:23.64, Y:0.66, Z:0.11 [[ 9.99682198e-01 -1.30822417e-02 -2.15489776e-02 2.36400534e+01] [ 1.30696597e-02 9.99914326e-01 -7.24618235e-04 6.60647148e-01] [ 2.15566111e-02 4.42750146e-04 9.99767531e-01 1.09948032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.515099893 meters 0.017813664852677207 Centerline is valid? [True, True] Translation: X:23.67, Y:0.66, Z:0.11 [[ 9.99643853e-01 -1.18302402e-02 -2.39209460e-02 2.36687564e+01] [ 1.18142798e-02 9.99929882e-01 -8.08433756e-04 6.59854127e-01] [ 2.39288327e-02 5.25537086e-04 9.99713526e-01 1.09757398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545099893 meters 0.01938617012362412 Centerline is valid? [True, True] Translation: X:23.70, Y:0.66, Z:0.11 [[ 9.99681155e-01 -1.02632263e-02 -2.30706535e-02 2.36965387e+01] [ 1.02478740e-02 9.99947182e-01 -7.83579356e-04 6.59061150e-01] [ 2.30774770e-02 5.46904365e-04 9.99733530e-01 1.09672413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.575099893 meters 0.018287318343638313 Centerline is valid? [True, True] Translation: X:23.73, Y:0.66, Z:0.11 [[ 9.99766814e-01 -7.18458459e-03 -2.03641933e-02 2.37254283e+01] [ 7.17192480e-03 9.99974040e-01 -6.94634857e-04 6.55937768e-01] [ 2.03686553e-02 5.48422415e-04 9.99792387e-01 1.12925066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605099893 meters 0.01843346666952662 Centerline is valid? [True, True] Translation: X:23.75, Y:0.66, Z:0.11 [[ 9.99809486e-01 -5.28406150e-03 -1.87901842e-02 2.37535031e+01] [ 5.27287701e-03 9.99985890e-01 -6.44724616e-04 6.55842214e-01] [ 1.87933258e-02 5.45523457e-04 9.99823241e-01 1.13973562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.635099893 meters 0.018024748169605562 Centerline is valid? [True, True] Translation: X:23.78, Y:0.66, Z:0.11 [[ 9.99822799e-01 -4.96295207e-03 -1.81587377e-02 2.37821356e+01] [ 4.95239733e-03 9.99987541e-01 -6.26171338e-04 6.55289370e-01] [ 1.81616191e-02 5.36131096e-04 9.99834920e-01 1.14805795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665099893 meters 0.01888048863529634 Centerline is valid? [True, True] Translation: X:23.81, Y:0.65, Z:0.11 [[ 9.99827302e-01 -5.06039387e-03 -1.78817753e-02 2.38103239e+01] [ 5.05009165e-03 9.99987055e-01 -6.21238763e-04 6.51803699e-01] [ 1.78846875e-02 5.30826873e-04 9.99839915e-01 1.13980006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.695099893 meters 0.017758333702433324 Centerline is valid? [True, True] Translation: X:23.84, Y:0.65, Z:0.12 [[ 9.99831792e-01 -6.62690402e-03 -1.71018165e-02 2.38391065e+01] [ 6.61764637e-03 9.99977924e-01 -5.97860079e-04 6.48924912e-01] [ 1.71054010e-02 4.84585740e-04 9.99853574e-01 1.15776376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725099893 meters 0.01703859407511753 Centerline is valid? [True, True] Translation: X:23.87, Y:0.64, Z:0.11 [[ 9.99740203e-01 -1.10267870e-02 -1.99483288e-02 2.38675313e+01] [ 1.10150344e-02 9.99939088e-01 -6.98935824e-04 6.42595264e-01] [ 1.99548208e-02 4.79022714e-04 9.99800768e-01 1.12672814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.755099893 meters 0.018239679543000407 Centerline is valid? [True, True] Translation: X:23.90, Y:0.64, Z:0.11 [[ 9.99686192e-01 -1.28655917e-02 -2.14940245e-02 2.38969142e+01] [ 1.28523060e-02 9.99917120e-01 -7.56142079e-04 6.39837943e-01] [ 2.15019713e-02 4.79657017e-04 9.99768691e-01 1.09604607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785099892999998 meters 0.018235224590376714 Centerline is valid? [True, True] Translation: X:23.93, Y:0.63, Z:0.11 [[ 9.99610448e-01 -1.64507636e-02 -2.25460600e-02 2.39261374e+01] [ 1.64369727e-02 9.99864586e-01 -7.96867990e-04 6.33818975e-01] [ 2.25561161e-02 4.25968595e-04 9.99745488e-01 1.07705661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.815099893 meters 0.017475859802359217 Centerline is valid? [True, True] Translation: X:23.95, Y:0.63, Z:0.11 [[ 9.99466864e-01 -2.32627600e-02 -2.29092219e-02 2.39548567e+01] [ 2.32502720e-02 9.99729347e-01 -8.11349154e-04 6.30001479e-01] [ 2.29218957e-02 2.78270953e-04 9.99737220e-01 1.11727664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845099893 meters 0.015834581130545512 Centerline is valid? [True, True] Translation: X:23.98, Y:0.62, Z:0.11 [[ 9.99275820e-01 -3.35944470e-02 -1.78675202e-02 2.39848242e+01] [ 3.35884864e-02 9.99435547e-01 -6.33676723e-04 6.18448543e-01] [ 1.78787228e-02 3.30748692e-05 9.99840162e-01 1.13816036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.875099892999998 meters 0.014636226004669907 Centerline is valid? [True, True] Translation: X:24.02, Y:0.61, Z:0.12 [[ 9.98966772e-01 -4.28306679e-02 -1.51961194e-02 2.40172888e+01] [ 4.28274298e-02 9.99082340e-01 -5.38593731e-04 6.12290279e-01] [ 1.52052429e-02 -1.12773497e-04 9.99884387e-01 1.17151237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905099893 meters 0.017617130593531895 Centerline is valid? [True, True] Translation: X:24.05, Y:0.61, Z:0.11 [[ 9.98624855e-01 -4.89899777e-02 -1.86649705e-02 2.40482449e+01] [ 4.89862545e-02 9.98799237e-01 -6.56901753e-04 6.07799684e-01] [ 1.86747399e-02 -2.58328577e-04 9.99825578e-01 1.13212917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.935099893 meters 0.019233200493272012 Centerline is valid? [True, True] Translation: X:24.08, Y:0.60, Z:0.11 [[ 9.97943216e-01 -5.99099883e-02 -2.28063660e-02 2.40789056e+01] [ 5.99073244e-02 9.98203622e-01 -8.00625548e-04 6.00472488e-01] [ 2.28133627e-02 -5.67289534e-04 9.99739580e-01 1.09431798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965099893 meters 0.02017571337283336 Centerline is valid? [True, True] Translation: X:24.11, Y:0.60, Z:0.11 [[ 9.97551304e-01 -6.63583391e-02 -2.20899771e-02 2.41100844e+01] [ 6.63574259e-02 9.97795616e-01 -7.75154047e-04 5.98089598e-01] [ 2.20927202e-02 -6.92578085e-04 9.99755686e-01 1.11404470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.995099893 meters 0.020369227275186776 Centerline is valid? [True, True] Translation: X:24.14, Y:0.60, Z:0.11 [[ 9.97297277e-01 -7.00901552e-02 -2.20343209e-02 2.41409346e+01] [ 7.00901649e-02 9.97540361e-01 -7.72797160e-04 5.99679566e-01] [ 2.20342898e-02 -7.73680679e-04 9.99756916e-01 1.12839773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025099893 meters 0.021285584758851447 Centerline is valid? [True, True] Translation: X:24.17, Y:0.60, Z:0.11 [[ 9.97218588e-01 -7.11665881e-02 -2.21450572e-02 2.41722094e+01] [ 7.11668801e-02 9.97464121e-01 -7.75908086e-04 5.99129169e-01] [ 2.21441188e-02 -8.02244666e-04 9.99754467e-01 1.11268538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.055099893 meters 0.021285584758851447 Centerline is valid? [True, True] Translation: X:24.20, Y:0.60, Z:0.11 [[ 9.97226284e-01 -7.10586518e-02 -2.21451182e-02 2.42047538e+01] [ 7.10589559e-02 9.97471817e-01 -7.74164397e-04 6.00181933e-01] [ 2.21441424e-02 -8.01591893e-04 9.99754467e-01 1.11671026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085099893 meters 0.021681165466392094 Centerline is valid? [True, True] Translation: X:24.24, Y:0.60, Z:0.11 [[ 9.97248373e-01 -7.08184335e-02 -2.19187577e-02 2.42365611e+01] [ 7.08187178e-02 9.97488910e-01 -7.64227043e-04 6.02912735e-01] [ 2.19178391e-02 -7.90134144e-04 9.99759463e-01 1.11372383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.115099893 meters 0.020411609873219706 Centerline is valid? [True, True] Translation: X:24.27, Y:0.61, Z:0.11 [[ 9.97283561e-01 -7.06779697e-02 -2.07394187e-02 2.42688733e+01] [ 7.06782241e-02 9.97498906e-01 -7.21642913e-04 6.05311402e-01] [ 2.07385517e-02 -7.46142668e-04 9.99784655e-01 1.13660100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145099893 meters 0.021677517016459626 Centerline is valid? [True, True] Translation: X:24.30, Y:0.61, Z:0.11 [[ 9.97357983e-01 -6.97589517e-02 -2.02667974e-02 2.43003589e+01] [ 6.97590316e-02 9.97563623e-01 -7.03889388e-04 6.07454579e-01] [ 2.02665225e-02 -7.11762462e-04 9.99794360e-01 1.14492874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.175099893 meters 0.022563087814577134 Centerline is valid? [True, True] Translation: X:24.33, Y:0.61, Z:0.12 [[ 9.97428592e-01 -6.87614010e-02 -2.02008337e-02 2.43310986e+01] [ 6.87612979e-02 9.97632895e-01 -7.00515728e-04 6.11158992e-01] [ 2.02011847e-02 -6.90321128e-04 9.99795697e-01 1.15187395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205099893 meters 0.02122620694510417 Centerline is valid? [True, True] Translation: X:24.36, Y:0.62, Z:0.12 [[ 9.97480726e-01 -6.78876266e-02 -2.05784102e-02 2.43632010e+01] [ 6.78873599e-02 9.97692738e-01 -7.12350971e-04 6.17306766e-01] [ 2.05792902e-02 -6.86457574e-04 9.99787988e-01 1.16968581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.235099893 meters 0.020910973978368462 Centerline is valid? [True, True] Translation: X:24.39, Y:0.62, Z:0.12 [[ 9.97540597e-01 -6.68578881e-02 -2.10423467e-02 2.43947965e+01] [ 6.68574126e-02 9.97762275e-01 -7.26878332e-04 6.21892050e-01] [ 2.10438572e-02 -6.81746209e-04 9.99778321e-01 1.17097249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265099893 meters 0.02173594551557049 Centerline is valid? [True, True] Translation: X:24.43, Y:0.63, Z:0.12 [[ 9.97508874e-01 -6.71007608e-02 -2.17608264e-02 2.44271764e+01] [ 6.71003448e-02 9.97745950e-01 -7.50108188e-04 6.26177725e-01] [ 2.17621092e-02 -7.11919377e-04 9.99762924e-01 1.16151988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.295099893 meters 0.019672672729603956 Centerline is valid? [True, True] Translation: X:24.46, Y:0.63, Z:0.12 [[ 9.97330190e-01 -7.00749781e-02 -2.05423979e-02 2.44593769e+01] [ 7.00752665e-02 9.97541457e-01 -7.06678208e-04 6.28477076e-01] [ 2.05414140e-02 -7.34722497e-04 9.99788733e-01 1.17747655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325099893 meters 0.02245150964211893 Centerline is valid? [True, True] Translation: X:24.49, Y:0.63, Z:0.11 [[ 9.97006324e-01 -7.41758214e-02 -2.18251627e-02 2.44893203e+01] [ 7.41771487e-02 9.97244799e-01 -7.49855774e-04 6.28463629e-01] [ 2.18206512e-02 -8.71317390e-04 9.99761522e-01 1.14864516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.355099893 meters 0.023613957564727957 Centerline is valid? [True, True] Translation: X:24.52, Y:0.63, Z:0.11 [[ 9.96724550e-01 -7.71732328e-02 -2.41756819e-02 2.45200106e+01] [ 7.71757471e-02 9.97017159e-01 -8.30399629e-04 6.32256570e-01] [ 2.41676543e-02 -1.03809662e-03 9.99707381e-01 1.13361789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385099893 meters 0.02367429200207315 Centerline is valid? [True, True] Translation: X:24.55, Y:0.64, Z:0.11 [[ 9.96636614e-01 -7.79333254e-02 -2.53348860e-02 2.45524562e+01] [ 7.79363620e-02 9.96957957e-01 -8.69036365e-04 6.35161649e-01] [ 2.53255431e-02 -1.10839539e-03 9.99678643e-01 1.13198073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.415099893 meters 0.024022795584012237 Centerline is valid? [True, True] Translation: X:24.58, Y:0.64, Z:0.11 [[ 9.96599006e-01 -7.79769874e-02 -2.66460121e-02 2.45840525e+01] [ 7.79804087e-02 9.96954474e-01 -9.12280608e-04 6.38324287e-01] [ 2.66359979e-02 -1.16868897e-03 9.99644516e-01 1.12466346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445099893 meters 0.02308966269531757 Centerline is valid? [True, True] Translation: X:24.61, Y:0.64, Z:0.11 [[ 9.96772255e-01 -7.57437873e-02 -2.66073524e-02 2.46145805e+01] [ 7.57464363e-02 9.97126697e-01 -9.09764979e-04 6.42708496e-01] [ 2.65998104e-02 -1.10858363e-03 9.99645548e-01 1.12267267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.475099893 meters 0.022899141642726814 Centerline is valid? [True, True] Translation: X:24.65, Y:0.65, Z:0.11 [[ 9.96942028e-01 -7.35124169e-02 -2.65050421e-02 2.46458981e+01] [ 7.35142835e-02 9.97293753e-01 -9.05311830e-04 6.47745283e-01] [ 2.64998646e-02 -1.04595577e-03 9.99648270e-01 1.12869942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505099893 meters 0.021662006963595454 Centerline is valid? [True, True] Translation: X:24.68, Y:0.66, Z:0.12 [[ 9.97459923e-01 -6.68113651e-02 -2.46970232e-02 2.46751160e+01] [ 6.68109392e-02 9.97765297e-01 -8.43313037e-04 6.57704692e-01] [ 2.46981756e-02 -8.08860356e-04 9.99694626e-01 1.15095351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.535099892999998 meters 0.01850170118183766 Centerline is valid? [True, True] Translation: X:24.71, Y:0.67, Z:0.12 [[ 9.98011892e-01 -5.88481987e-02 -2.25644044e-02 2.47055261e+01] [ 5.88458067e-02 9.98266787e-01 -7.70563928e-04 6.70682033e-01] [ 2.25706418e-02 -5.58788614e-04 9.99745094e-01 1.18988672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565099893 meters 0.015583685294968622 Centerline is valid? [True, True] Translation: X:24.74, Y:0.68, Z:0.12 [[ 9.98386669e-01 -5.21744177e-02 -2.24029015e-02 2.47370654e+01] [ 5.21703945e-02 9.98637905e-01 -7.64403267e-04 6.79376722e-01] [ 2.24122689e-02 -4.05598178e-04 9.99748731e-01 1.20814117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.595099893 meters 0.016131982991796894 Centerline is valid? [True, True] Translation: X:24.77, Y:0.68, Z:0.12 [[ 9.98493009e-01 -4.92932027e-02 -2.41224294e-02 2.47685212e+01] [ 4.92877547e-02 9.98784283e-01 -8.20714116e-04 6.78861695e-01] [ 2.41335590e-02 -3.69463078e-04 9.99708675e-01 1.16631982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625099892999998 meters 0.01773789048414424 Centerline is valid? [True, True] Translation: X:24.80, Y:0.68, Z:0.11 [[ 9.98430246e-01 -4.92680668e-02 -2.66402183e-02 2.47993990e+01] [ 4.92615106e-02 9.98785507e-01 -9.02729846e-04 6.76876481e-01] [ 2.66523397e-02 -4.11024614e-04 9.99644679e-01 1.14249164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.655099893 meters 0.016337028820782876 Centerline is valid? [True, True] Translation: X:24.83, Y:0.68, Z:0.12 [[ 9.98427587e-01 -4.95970934e-02 -2.61243449e-02 2.48311923e+01] [ 4.95909651e-02 9.98769221e-01 -8.82802953e-04 6.77035137e-01] [ 2.61359761e-02 -4.14116655e-04 9.99658311e-01 1.16448968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685099893 meters 0.016337028820782876 Centerline is valid? [True, True] Translation: X:24.86, Y:0.68, Z:0.12 [[ 9.98431064e-01 -4.95270176e-02 -2.61244067e-02 2.48628777e+01] [ 4.95209133e-02 9.98772698e-01 -8.80971082e-04 6.78045179e-01] [ 2.61359761e-02 -4.14115585e-04 9.99658311e-01 1.16840714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.715099892999998 meters 0.017456877432656587 Centerline is valid? [True, True] Translation: X:24.89, Y:0.68, Z:0.12 [[ 9.98434083e-01 -4.91108252e-02 -2.67863439e-02 2.48949853e+01] [ 4.91043099e-02 9.98793249e-01 -9.01355388e-04 6.79528875e-01] [ 2.67982858e-02 -4.15380992e-04 9.99640775e-01 1.17256131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745099893 meters 0.015635771055189266 Centerline is valid? [True, True] Translation: X:24.93, Y:0.68, Z:0.12 [[ 9.98544637e-01 -4.75394964e-02 -2.54676985e-02 2.49275217e+01] [ 4.75331418e-02 9.98869295e-01 -8.55179917e-04 6.80467426e-01] [ 2.54795569e-02 -3.56624404e-04 9.99675280e-01 1.19750211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.775099893 meters 0.015275432521554529 Centerline is valid? [True, True] Translation: X:24.96, Y:0.69, Z:0.12 [[ 9.98841776e-01 -4.21122867e-02 -2.32736428e-02 2.49583521e+01] [ 4.21055348e-02 9.99112864e-01 -7.80290825e-04 6.85189030e-01] [ 2.32858558e-02 -2.00562104e-04 9.99728828e-01 1.22036309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805099893 meters 0.016113613218962777 Centerline is valid? [True, True] Translation: X:24.99, Y:0.69, Z:0.12 [[ 9.99018944e-01 -3.78259519e-02 -2.30292522e-02 2.49899939e+01] [ 3.78182306e-02 9.99284338e-01 -7.70866475e-04 6.89510904e-01] [ 2.30419298e-02 -1.00815359e-04 9.99734494e-01 1.22759199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.835099893 meters 0.015664701676208825 Centerline is valid? [True, True] Translation: X:25.02, Y:0.69, Z:0.12 [[ 9.99097383e-01 -3.58020461e-02 -2.28611424e-02 2.50207274e+01] [ 3.57939412e-02 9.99358900e-01 -7.63758495e-04 6.91435605e-01] [ 2.28738302e-02 -5.52212722e-05 9.99738358e-01 1.22366816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865099893 meters 0.015072083879572033 Centerline is valid? [True, True] Translation: X:25.05, Y:0.69, Z:0.12 [[ 9.99209901e-01 -3.20490798e-02 -2.35038289e-02 2.50514002e+01] [ 3.20395238e-02 9.99486296e-01 -7.83136006e-04 6.93703817e-01] [ 2.35168537e-02 2.94657658e-05 9.99723440e-01 1.21322390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.895099893 meters 0.013771365203584223 Centerline is valid? [True, True] Translation: X:25.08, Y:0.70, Z:0.12 [[ 9.99199559e-01 -3.35851958e-02 -2.17319196e-02 2.50814028e+01] [ 3.35774245e-02 9.99435858e-01 -7.22499349e-04 6.95857119e-01] [ 2.17439250e-02 -7.78085743e-06 9.99763573e-01 1.24580396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925099893 meters 0.01621467845462999 Centerline is valid? [True, True] Translation: X:25.11, Y:0.69, Z:0.12 [[ 9.98645890e-01 -4.72001385e-02 -2.18754216e-02 2.51141072e+01] [ 4.71955477e-02 9.98885405e-01 -7.26374513e-04 6.90733445e-01] [ 2.18853243e-02 -3.07031582e-04 9.99760440e-01 1.23617134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.955099893 meters 0.018047957312227882 Centerline is valid? [True, True] Translation: X:25.14, Y:0.69, Z:0.12 [[ 9.98216625e-01 -5.51222852e-02 -2.29151374e-02 2.51439332e+01] [ 5.51193543e-02 9.98479484e-01 -7.59978734e-04 6.87455207e-01] [ 2.29221863e-02 -5.04444168e-04 9.99737125e-01 1.22247853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985099893 meters 0.01918548249926698 Centerline is valid? [True, True] Translation: X:25.18, Y:0.68, Z:0.12 [[ 9.97740929e-01 -6.14566202e-02 -2.71315741e-02 2.51757828e+01] [ 6.14548655e-02 9.98109458e-01 -8.99295173e-04 6.79268846e-01] [ 2.71355484e-02 -7.70103636e-04 9.99631467e-01 1.17104993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.015099893 meters 0.01571581498463339 Centerline is valid? [True, True] Translation: X:25.21, Y:0.70, Z:0.12 [[ 9.99223229e-01 -2.91189623e-02 -2.65523077e-02 2.52059662e+01] [ 2.91058698e-02 9.99575947e-01 -8.79513372e-04 7.01873293e-01] [ 2.65666586e-02 1.06002181e-04 9.99647038e-01 1.19954408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045099893 meters 0.01610763638199557 Centerline is valid? [True, True] Translation: X:25.23, Y:0.70, Z:0.13 [[ 9.99510292e-01 -2.19158596e-02 -2.23354291e-02 2.52346138e+01] [ 2.19047442e-02 9.99759787e-01 -7.42219500e-04 7.03761410e-01] [ 2.23463302e-02 2.52604167e-04 9.99750258e-01 1.25314916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.075099893 meters 0.013335808852331233 Centerline is valid? [True, True] Translation: X:25.26, Y:0.70, Z:0.13 [[ 9.99551624e-01 -2.38900537e-02 -1.80503895e-02 2.52625010e+01] [ 2.38830623e-02 9.99714577e-01 -6.02830238e-04 7.01366903e-01] [ 1.80596392e-02 1.71461367e-04 9.99836897e-01 1.31676982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105099893 meters 0.015267882710971953 Centerline is valid? [True, True] Translation: X:25.29, Y:0.68, Z:0.12 [[ 9.99119033e-01 -3.62756481e-02 -2.11005770e-02 2.52934995e+01] [ 3.62688274e-02 9.99341820e-01 -7.05976220e-04 6.78190134e-01] [ 2.11122988e-02 -5.99389054e-05 9.99777109e-01 1.22152592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.135099893 meters 0.01608740359184008 Centerline is valid? [True, True] Translation: X:25.32, Y:0.68, Z:0.12 [[ 9.99034900e-01 -3.94276306e-02 -1.93579322e-02 2.53243906e+01] [ 3.94224888e-02 9.99222422e-01 -6.47294902e-04 6.77552000e-01] [ 1.93684012e-02 -1.16467669e-04 9.99812408e-01 1.24769075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165099893 meters 0.014792020243325347 Centerline is valid? [True, True] Translation: X:25.36, Y:0.68, Z:0.13 [[ 9.98952227e-01 -4.16922642e-02 -1.88733394e-02 2.53568019e+01] [ 4.16878018e-02 9.99130487e-01 -6.29977949e-04 6.76686763e-01] [ 1.88831940e-02 -1.57470155e-04 9.99821684e-01 1.27072224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.195099893 meters 0.016634941433434604 Centerline is valid? [True, True] Translation: X:25.39, Y:0.67, Z:0.12 [[ 9.98746998e-01 -4.53880292e-02 -2.10798588e-02 2.53894502e+01] [ 4.53833194e-02 9.98969400e-01 -7.02011636e-04 6.74539459e-01] [ 2.10899968e-02 -2.55541950e-04 9.99777549e-01 1.24873935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225099893 meters 0.016957484635951703 Centerline is valid? [True, True] Translation: X:25.42, Y:0.67, Z:0.12 [[ 9.98529717e-01 -4.89216625e-02 -2.33468585e-02 2.54212717e+01] [ 4.89168877e-02 9.98802551e-01 -7.75917693e-04 6.72650489e-01] [ 2.33568610e-02 -3.67278782e-04 9.99727124e-01 1.22645657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.255099893 meters 0.01747311633052768 Centerline is valid? [True, True] Translation: X:25.45, Y:0.67, Z:0.12 [[ 9.98269402e-01 -5.33906624e-02 -2.46503018e-02 2.54519773e+01] [ 5.33867296e-02 9.98573577e-01 -8.18085217e-04 6.71793244e-01] [ 2.46588181e-02 -4.99329555e-04 9.99695800e-01 1.22607291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285099892999998 meters 0.01900247020396306 Centerline is valid? [True, True] Translation: X:25.48, Y:0.67, Z:0.12 [[ 9.98007079e-01 -5.69266960e-02 -2.72253700e-02 2.54833581e+01] [ 5.69232414e-02 9.98378150e-01 -9.02525326e-04 6.70782038e-01] [ 2.72325923e-02 -6.49029642e-04 9.99628913e-01 1.20267261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.315099893 meters 0.018333227691574385 Centerline is valid? [True, True] Translation: X:25.52, Y:0.68, Z:0.12 [[ 9.98015619e-01 -5.70195429e-02 -2.67132164e-02 2.55154116e+01] [ 5.70162892e-02 9.98372857e-01 -8.84085557e-04 6.75132600e-01] [ 2.67201603e-02 -6.40757275e-04 9.99642747e-01 1.22671681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345099893 meters 0.018490871456493748 Centerline is valid? [True, True] Translation: X:25.55, Y:0.68, Z:0.12 [[ 9.98258971e-01 -5.27832343e-02 -2.63240718e-02 2.55472480e+01] [ 5.27786453e-02 9.98605857e-01 -8.69577360e-04 6.80799215e-01] [ 2.63332713e-02 -5.21285445e-04 9.99653083e-01 1.22447076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.375099892999998 meters 0.015995499277890474 Centerline is valid? [True, True] Translation: X:25.58, Y:0.69, Z:0.13 [[ 9.98504678e-01 -4.94118840e-02 -2.33853193e-02 2.55785033e+01] [ 4.94073611e-02 9.98778413e-01 -7.71503698e-04 6.85971318e-01] [ 2.33948735e-02 -3.85056862e-04 9.99726228e-01 1.26110570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405099893 meters 0.01707956209788868 Centerline is valid? [True, True] Translation: X:25.61, Y:0.69, Z:0.13 [[ 9.98600747e-01 -4.77953444e-02 -2.26308080e-02 2.56092771e+01] [ 4.77907161e-02 9.98857093e-01 -7.45618604e-04 6.88991546e-01] [ 2.26405801e-02 -3.36967224e-04 9.99743612e-01 1.27373691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.435099893 meters 0.01639582602988367 Centerline is valid? [True, True] Translation: X:25.64, Y:0.69, Z:0.13 [[ 9.98700819e-01 -4.62225564e-02 -2.14510813e-02 2.56410959e+01] [ 4.62180631e-02 9.98931125e-01 -7.05453924e-04 6.94300071e-01] [ 2.14607607e-02 -2.86890018e-04 9.99769650e-01 1.31173618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465099892999998 meters 0.01712294192626729 Centerline is valid? [True, True] Translation: X:25.67, Y:0.70, Z:0.13 [[ 9.98782432e-01 -4.46111524e-02 -2.10593997e-02 2.56717358e+01] [ 4.46064922e-02 9.99004396e-01 -6.91216648e-04 6.97968183e-01] [ 2.10692689e-02 -2.49010905e-04 9.99777987e-01 1.32094025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.495099893 meters 0.01604982750039479 Centerline is valid? [True, True] Translation: X:25.70, Y:0.70, Z:0.13 [[ 9.98836238e-01 -4.32864706e-02 -2.12708761e-02 2.57041214e+01] [ 4.32814437e-02 9.99062676e-01 -6.96853511e-04 7.01392384e-01] [ 2.12811028e-02 -2.24591688e-04 9.99773506e-01 1.33488947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525099893 meters 0.015778807352297235 Centerline is valid? [True, True] Translation: X:25.74, Y:0.70, Z:0.13 [[ 9.98857952e-01 -4.22433803e-02 -2.23223764e-02 2.57362925e+01] [ 4.22376203e-02 9.99107327e-01 -7.29663477e-04 7.04430868e-01] [ 2.23332733e-02 -2.14013895e-04 9.99750558e-01 1.33673616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.555099893 meters 0.0160085106798776 Centerline is valid? [True, True] Translation: X:25.77, Y:0.71, Z:0.13 [[ 9.98874069e-01 -4.12727987e-02 -2.33912340e-02 2.57670556e+01] [ 4.12662610e-02 9.99147894e-01 -7.62329270e-04 7.05247279e-01] [ 2.34027657e-02 -2.03797828e-04 9.99726097e-01 1.31585144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585099893 meters 0.0160085106798776 Centerline is valid? [True, True] Translation: X:25.80, Y:0.71, Z:0.13 [[ 9.98876978e-01 -4.12023035e-02 -2.33913076e-02 2.57987385e+01] [ 4.11957996e-02 9.99150804e-01 -7.60065447e-04 7.06218997e-01] [ 2.34027602e-02 -2.04411742e-04 9.99726097e-01 1.31976619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.615099893 meters 0.016635508812998474 Centerline is valid? [True, True] Translation: X:25.83, Y:0.71, Z:0.13 [[ 9.98872966e-01 -4.04366708e-02 -2.48530463e-02 2.58308817e+01] [ 4.04291368e-02 9.99182083e-01 -8.05746469e-04 7.07577835e-01] [ 2.48653003e-02 -1.99948845e-04 9.99690791e-01 1.30241713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645099893 meters 0.0144172979991645 Centerline is valid? [True, True] Translation: X:25.86, Y:0.72, Z:0.13 [[ 9.99038643e-01 -3.67396111e-02 -2.39163446e-02 2.58617474e+01] [ 3.67316050e-02 9.99324867e-01 -7.74121539e-04 7.15909445e-01] [ 2.39286388e-02 -1.05108390e-04 9.99713664e-01 1.32788432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.675099893 meters 0.015151076680242468 Centerline is valid? [True, True] Translation: X:25.89, Y:0.72, Z:0.13 [[ 9.99072813e-01 -3.55343320e-02 -2.43068847e-02 2.58928739e+01] [ 3.55257509e-02 9.99368453e-01 -7.84900605e-04 7.18968436e-01] [ 2.43194247e-02 -7.93474753e-05 9.99704236e-01 1.32179871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705099893 meters 0.013833033082183603 Centerline is valid? [True, True] Translation: X:25.92, Y:0.72, Z:0.13 [[ 9.99095819e-01 -3.47172031e-02 -2.45410097e-02 2.59246197e+01] [ 3.47082565e-02 9.99397174e-01 -7.90542982e-04 7.21108855e-01] [ 2.45536612e-02 -6.19474709e-05 9.99698511e-01 1.33681312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.735099893 meters 0.015661545845877926 Centerline is valid? [True, True] Translation: X:25.96, Y:0.72, Z:0.13 [[ 9.99059802e-01 -3.40593800e-02 -2.68229528e-02 2.59555298e+01] [ 3.40484751e-02 9.99419810e-01 -8.63301321e-04 7.21945607e-01] [ 2.68367939e-02 -5.07909935e-05 9.99639827e-01 1.29925997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765099893 meters 0.015368673011864183 Centerline is valid? [True, True] Translation: X:25.98, Y:0.72, Z:0.13 [[ 9.98867118e-01 -4.02148883e-02 -2.54409661e-02 2.59848944e+01] [ 4.02070734e-02 9.99191033e-01 -8.18844407e-04 7.22252347e-01] [ 2.54533149e-02 -2.04990038e-04 9.99675991e-01 1.33233325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.795099893 meters 0.014960918186788304 Centerline is valid? [True, True] Translation: X:26.02, Y:0.72, Z:0.13 [[ 9.98748635e-01 -4.39994086e-02 -2.37742691e-02 2.60158822e+01] [ 4.39936607e-02 9.99031517e-01 -7.64999136e-04 7.19151666e-01] [ 2.37849036e-02 -2.81875285e-04 9.99717059e-01 1.34863660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825099893 meters 0.01764461132690608 Centerline is valid? [True, True] Translation: X:26.05, Y:0.72, Z:0.14 [[ 9.98547114e-01 -4.86099367e-02 -2.32537050e-02 2.60476370e+01] [ 4.86057239e-02 9.98817764e-01 -7.46676491e-04 7.15113986e-01] [ 2.32625095e-02 -3.84671510e-04 9.99729317e-01 1.35095279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.855099893 meters 0.01706503538551389 Centerline is valid? [True, True] Translation: X:26.08, Y:0.72, Z:0.14 [[ 9.98476718e-01 -5.00158837e-02 -2.32949427e-02 2.60799792e+01] [ 5.00120871e-02 9.98748334e-01 -7.45911636e-04 7.15806609e-01] [ 2.33030926e-02 -4.20253299e-04 9.99728358e-01 1.36550112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885099893 meters 0.016605341966609212 Centerline is valid? [True, True] Translation: X:26.11, Y:0.72, Z:0.14 [[ 9.98445164e-01 -5.07426258e-02 -2.30746898e-02 2.61117199e+01] [ 5.07391440e-02 9.98711668e-01 -7.36720309e-04 7.16098909e-01] [ 2.30823450e-02 -4.35215176e-04 9.99733472e-01 1.37515080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.915099893 meters 0.017737456155677286 Centerline is valid? [True, True] Translation: X:26.14, Y:0.72, Z:0.14 [[ 9.98400308e-01 -5.13679981e-02 -2.36252629e-02 2.61424189e+01] [ 5.13645676e-02 9.98679686e-01 -7.52417432e-04 7.15625425e-01] [ 2.36327203e-02 -4.62287618e-04 9.99720601e-01 1.36761129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945099893 meters 0.017628175223885417 Centerline is valid? [True, True] Translation: X:26.17, Y:0.72, Z:0.14 [[ 9.98338862e-01 -5.22516161e-02 -2.42751802e-02 2.61747432e+01] [ 5.22482869e-02 9.98633827e-01 -7.71817566e-04 7.15691306e-01] [ 2.42823448e-02 -4.97801110e-04 9.99705016e-01 1.36915550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.975099893 meters 0.0172933717018385 Centerline is valid? [True, True] Translation: X:26.21, Y:0.72, Z:0.14 [[ 9.98306516e-01 -5.24852809e-02 -2.50877674e-02 2.62074289e+01] [ 5.24818441e-02 9.98621561e-01 -7.95852959e-04 7.15898409e-01] [ 2.50949560e-02 -5.22147102e-04 9.99684936e-01 1.36702662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005099893 meters 0.0172933717018385 Centerline is valid? [True, True] Translation: X:26.24, Y:0.72, Z:0.14 [[ 9.98310220e-01 -5.24147429e-02 -2.50878234e-02 2.62391185e+01] [ 5.24113284e-02 9.98625266e-01 -7.94081959e-04 7.16843402e-01] [ 2.50949560e-02 -5.22146017e-04 9.99684936e-01 1.37094439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.035099892999998 meters 0.018339385383788258 Centerline is valid? [True, True] Translation: X:26.27, Y:0.72, Z:0.13 [[ 9.98293870e-01 -5.16707039e-02 -2.71935170e-02 2.62708858e+01] [ 5.16664638e-02 9.98664027e-01 -8.58995153e-04 7.17097518e-01] [ 2.72015721e-02 -5.47463268e-04 9.99629819e-01 1.34224709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065099893 meters 0.017025438411522487 Centerline is valid? [True, True] Translation: X:26.30, Y:0.72, Z:0.14 [[ 9.98503958e-01 -4.76453959e-02 -2.68283936e-02 2.63028656e+01] [ 4.76398622e-02 9.98864219e-01 -8.45754130e-04 7.21400351e-01] [ 2.68382187e-02 -4.33612128e-04 9.99639696e-01 1.35921003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.095099893 meters 0.01490336349855742 Centerline is valid? [True, True] Translation: X:26.33, Y:0.73, Z:0.14 [[ 9.98764644e-01 -4.26235543e-02 -2.55424894e-02 2.63332595e+01] [ 4.26169243e-02 9.99091163e-01 -8.04117206e-04 7.26566821e-01] [ 2.55535498e-02 -2.85418502e-04 9.99673414e-01 1.38525644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125099892999998 meters 0.016000412694856286 Centerline is valid? [True, True] Translation: X:26.36, Y:0.73, Z:0.14 [[ 9.99042539e-01 -3.57411789e-02 -2.52304001e-02 2.63638468e+01] [ 3.57325321e-02 9.99361074e-01 -7.93616056e-04 7.32144887e-01] [ 2.52426445e-02 -1.08689882e-04 9.99681348e-01 1.38198280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.155099893 meters 0.014936375389475029 Centerline is valid? [True, True] Translation: X:26.39, Y:0.74, Z:0.14 [[ 9.99480255e-01 -2.22998693e-02 -2.32794985e-02 2.63949422e+01] [ 2.22888802e-02 9.99751304e-01 -7.31449456e-04 7.40529207e-01] [ 2.32900202e-02 2.12195336e-04 9.99728728e-01 1.41558703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185099893 meters 0.01661113877113392 Centerline is valid? [True, True] Translation: X:26.42, Y:0.74, Z:0.14 [[ 9.99536700e-01 -1.95769642e-02 -2.33050831e-02 2.64222912e+01] [ 1.95651874e-02 9.99808315e-01 -7.33259642e-04 7.42656272e-01] [ 2.33149709e-02 2.76951604e-04 9.99728131e-01 1.40611830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.215099892999998 meters 0.016848043483162146 Centerline is valid? [True, True] Translation: X:26.45, Y:0.74, Z:0.14 [[ 9.99527646e-01 -1.85341563e-02 -2.45146937e-02 2.64508675e+01] [ 1.85206962e-02 9.99828176e-01 -7.76016195e-04 7.42148072e-01] [ 2.45248643e-02 3.21620446e-04 9.99699169e-01 1.39493335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245099893 meters 0.014426063967614493 Centerline is valid? [True, True] Translation: X:26.48, Y:0.74, Z:0.14 [[ 9.99494666e-01 -1.89766922e-02 -2.55009302e-02 2.64801092e+01] [ 1.89621085e-02 9.99819872e-01 -8.13606791e-04 7.40624218e-01] [ 2.55117763e-02 3.29644244e-04 9.99674467e-01 1.40380981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.275099893 meters 0.016606492023799622 Centerline is valid? [True, True] Translation: X:26.51, Y:0.74, Z:0.14 [[ 9.99416265e-01 -2.00012280e-02 -2.76962273e-02 2.65091249e+01] [ 1.99842221e-02 9.99799899e-01 -8.90703741e-04 7.39948921e-01] [ 2.77085004e-02 3.36696248e-04 9.99615989e-01 1.37328047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305099893 meters 0.016608627186223607 Centerline is valid? [True, True] Translation: X:26.54, Y:0.74, Z:0.14 [[ 9.99395117e-01 -2.11087967e-02 -2.76372776e-02 2.65379309e+01] [ 2.10920980e-02 9.99777136e-01 -8.95622361e-04 7.39370287e-01] [ 2.76500237e-02 3.12152447e-04 9.99617616e-01 1.38020852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.335099893 meters 0.015629706514471233 Centerline is valid? [True, True] Translation: X:26.57, Y:0.74, Z:0.14 [[ 9.99385570e-01 -2.23511148e-02 -2.69983262e-02 2.65663829e+01] [ 2.23354519e-02 9.99750144e-01 -8.81607413e-04 7.38030011e-01] [ 2.70112854e-02 2.78045913e-04 9.99635090e-01 1.40420394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365099893 meters 0.01580588545675127 Centerline is valid? [True, True] Translation: X:26.60, Y:0.74, Z:0.14 [[ 9.99344453e-01 -2.41898103e-02 -2.69354128e-02 2.65952549e+01] [ 2.41747047e-02 9.99707356e-01 -8.86352250e-04 7.37024231e-01] [ 2.69489710e-02 2.34615554e-04 9.99636783e-01 1.40688258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.395099893 meters 0.015694096008777653 Centerline is valid? [True, True] Translation: X:26.62, Y:0.74, Z:0.14 [[ 9.99266142e-01 -2.71990791e-02 -2.69701314e-02 2.66238435e+01] [ 2.71848448e-02 9.99630024e-01 -8.94361545e-04 7.35591466e-01] [ 2.69844789e-02 1.60526373e-04 9.99635840e-01 1.40679211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425099893 meters 0.015451633505862141 Centerline is valid? [True, True] Translation: X:26.65, Y:0.74, Z:0.14 [[ 9.99207637e-01 -2.92693255e-02 -2.69704343e-02 2.66514548e+01] [ 2.92557239e-02 9.99571556e-01 -8.98851723e-04 7.35803472e-01] [ 2.69851877e-02 1.09099928e-04 9.99635828e-01 1.39887655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.455099893 meters 0.01583223679701658 Centerline is valid? [True, True] Translation: X:26.68, Y:0.74, Z:0.14 [[ 9.99150894e-01 -3.15900119e-02 -2.64492432e-02 2.66794131e+01] [ 3.15776658e-02 9.99500910e-01 -8.84436281e-04 7.35753005e-01] [ 2.64639820e-02 4.84799392e-05 9.99649766e-01 1.39775042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485099893 meters 0.015861882956239137 Centerline is valid? [True, True] Translation: X:26.71, Y:0.74, Z:0.14 [[ 9.99098874e-01 -3.40326442e-02 -2.53617710e-02 2.67086259e+01] [ 3.40220281e-02 9.99420722e-01 -8.50093002e-04 7.35635894e-01] [ 2.53760104e-02 -1.35319232e-05 9.99677977e-01 1.41280935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.515099893 meters 0.016320468151142044 Centerline is valid? [True, True] Translation: X:26.74, Y:0.73, Z:0.14 [[ 9.98987734e-01 -3.86760112e-02 -2.29711579e-02 2.67387457e+01] [ 3.86685205e-02 9.99251796e-01 -7.70357059e-04 7.34629910e-01] [ 2.29837651e-02 -1.18683438e-04 9.99735831e-01 1.43721612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545099893 meters 0.016440747880159128 Centerline is valid? [True, True] Translation: X:26.77, Y:0.73, Z:0.14 [[ 9.98698165e-01 -4.59288247e-02 -2.21927714e-02 2.67706886e+01] [ 4.59236384e-02 9.98944676e-01 -7.43554921e-04 7.31934383e-01] [ 2.22035014e-02 -2.76585873e-04 9.99753434e-01 1.44980625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.575099893 meters 0.019539281586234844 Centerline is valid? [True, True] Translation: X:26.80, Y:0.73, Z:0.14 [[ 9.97891126e-01 -6.03068321e-02 -2.40080467e-02 2.68003834e+01] [ 6.03049370e-02 9.98179678e-01 -8.03595867e-04 7.25607788e-01] [ 2.40128066e-02 -6.45902560e-04 9.99711442e-01 1.44686329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605099893 meters 0.019539281586234844 Centerline is valid? [True, True] Translation: X:26.83, Y:0.73, Z:0.15 [[ 9.97897482e-01 -6.02015532e-02 -2.40080817e-02 2.68329237e+01] [ 6.01996528e-02 9.98186034e-01 -8.02547857e-04 7.26608118e-01] [ 2.40128465e-02 -6.44417698e-04 9.99711442e-01 1.45089023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.635099893 meters 0.020148858922337975 Centerline is valid? [True, True] Translation: X:26.87, Y:0.73, Z:0.15 [[ 9.97713714e-01 -6.29538030e-02 -2.45797510e-02 2.68651725e+01] [ 6.29526993e-02 9.98016175e-01 -8.19468721e-04 7.27802928e-01] [ 2.45825777e-02 -7.29766489e-04 9.99697536e-01 1.45538503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665099893 meters 0.01980734324768375 Centerline is valid? [True, True] Translation: X:26.90, Y:0.73, Z:0.15 [[ 9.97832125e-01 -6.11761276e-02 -2.42596663e-02 2.68976803e+01] [ 6.11745739e-02 9.98126756e-01 -8.06882367e-04 7.34047654e-01] [ 2.42635839e-02 -6.78941600e-04 9.99705365e-01 1.47338932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.695099893 meters 0.019154493057204 Centerline is valid? [True, True] Translation: X:26.93, Y:0.74, Z:0.15 [[ 9.97930922e-01 -5.97563821e-02 -2.37286749e-02 2.69298955e+01] [ 5.97545396e-02 9.98212791e-01 -7.87323224e-04 7.38679324e-01] [ 2.37333144e-02 -6.32201851e-04 9.99718125e-01 1.49332184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725099893 meters 0.019154493057204 Centerline is valid? [True, True] Translation: X:26.96, Y:0.74, Z:0.15 [[ 9.97937388e-01 -5.96482713e-02 -2.37287450e-02 2.69624380e+01] [ 5.96464487e-02 9.98219257e-01 -7.85203957e-04 7.39671203e-01] [ 2.37333263e-02 -6.31750988e-04 9.99718125e-01 1.49734514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.755099893 meters 0.017807754593619194 Centerline is valid? [True, True] Translation: X:26.99, Y:0.75, Z:0.15 [[ 9.98109045e-01 -5.65812023e-02 -2.40188017e-02 2.69940295e+01] [ 5.65785000e-02 9.98397839e-01 -7.92608471e-04 7.47374408e-01] [ 2.40251664e-02 -5.67838087e-04 9.99711193e-01 1.51780755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785099892999998 meters 0.018781883768257058 Centerline is valid? [True, True] Translation: X:27.03, Y:0.77, Z:0.15 [[ 9.99673510e-01 -8.38012544e-03 -2.41380645e-02 2.70254069e+01] [ 8.36337511e-03 9.99964710e-01 -7.94809055e-04 7.71623928e-01] [ 2.41438733e-02 5.92673870e-04 9.99708319e-01 1.52442708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.815099893 meters 0.017804082771332937 Centerline is valid? [True, True] Translation: X:27.05, Y:0.77, Z:0.15 [[ 9.99695262e-01 -1.00322962e-02 -2.25551831e-02 2.70547381e+01] [ 1.00180572e-02 9.99949541e-01 -7.44202936e-04 7.67795024e-01] [ 2.25615111e-02 5.18017033e-04 9.99745323e-01 1.53416509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845099893 meters 0.01783199981229777 Centerline is valid? [True, True] Translation: X:27.08, Y:0.77, Z:0.15 [[ 9.99652599e-01 -1.16908748e-02 -2.36221370e-02 2.70839083e+01] [ 1.16755813e-02 9.99931530e-01 -7.85242652e-04 7.65527194e-01] [ 2.36296998e-02 5.09167676e-04 9.99720650e-01 1.52984862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.875099892999998 meters 0.017634686900631753 Centerline is valid? [True, True] Translation: X:27.11, Y:0.76, Z:0.15 [[ 9.99465080e-01 -1.92661141e-02 -2.64267030e-02 2.71116644e+01] [ 1.92494889e-02 9.99814321e-01 -8.83382964e-04 7.59943729e-01] [ 2.64388155e-02 3.74209900e-04 9.99650363e-01 1.49542872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905099893 meters 0.016609557650139516 Centerline is valid? [True, True] Translation: X:27.14, Y:0.76, Z:0.15 [[ 9.99395732e-01 -2.28833470e-02 -2.61633929e-02 2.71405090e+01] [ 2.28681670e-02 9.99738103e-01 -8.79298090e-04 7.57452971e-01] [ 2.61766620e-02 2.80457923e-04 9.99657293e-01 1.51939947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.935099893 meters 0.01414541475859128 Centerline is valid? [True, True] Translation: X:27.17, Y:0.75, Z:0.15 [[ 9.99116780e-01 -3.40282170e-02 -2.46523998e-02 2.71684534e+01] [ 3.40180308e-02 9.99420873e-01 -8.32575469e-04 7.50807286e-01] [ 2.46664540e-02 -6.78597354e-06 9.99695737e-01 1.54410223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965099892999998 meters 0.016467266205263367 Centerline is valid? [True, True] Translation: X:27.20, Y:0.75, Z:0.15 [[ 9.98828735e-01 -4.05971441e-02 -2.63254741e-02 2.71994353e+01] [ 4.05877774e-02 9.99175580e-01 -8.90264622e-04 7.46253297e-01] [ 2.63399131e-02 -1.79270599e-04 9.99653028e-01 1.51999288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.995099893 meters 0.016706992297389776 Centerline is valid? [True, True] Translation: X:27.23, Y:0.75, Z:0.15 [[ 9.98649998e-01 -4.49974430e-02 -2.59501827e-02 2.72306183e+01] [ 4.49898390e-02 9.98987060e-01 -8.77086518e-04 7.45859159e-01] [ 2.59633633e-02 -2.91592093e-04 9.99662853e-01 1.53905509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025099893 meters 0.017416712781612394 Centerline is valid? [True, True] Translation: X:27.26, Y:0.75, Z:0.15 [[ 9.98577096e-01 -4.63514266e-02 -2.63690906e-02 2.72614727e+01] [ 4.63440788e-02 9.98925139e-01 -8.90044966e-04 7.46503788e-01] [ 2.63820024e-02 -3.33272696e-04 9.99651879e-01 1.53782912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.055099893 meters 0.017257888598203708 Centerline is valid? [True, True] Translation: X:27.29, Y:0.75, Z:0.15 [[ 9.98453592e-01 -4.82840741e-02 -2.75512756e-02 2.72933258e+01] [ 4.82768376e-02 9.98833562e-01 -9.28153779e-04 7.47872414e-01] [ 2.75639538e-02 -4.03369980e-04 9.99619961e-01 1.53851577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085099893 meters 0.016020373051610876 Centerline is valid? [True, True] Translation: X:27.32, Y:0.78, Z:0.16 [[ 9.99330656e-01 -2.38325359e-02 -2.77533747e-02 2.73224065e+01] [ 2.38157910e-02 9.99715928e-01 -9.33782880e-04 7.79380086e-01] [ 2.77677452e-02 2.72189285e-04 9.99614365e-01 1.56544769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.115099893 meters 0.016617727801381224 Centerline is valid? [True, True] Translation: X:27.35, Y:0.78, Z:0.16 [[ 9.99271707e-01 -2.55833730e-02 -2.83115840e-02 2.73496564e+01] [ 2.55665681e-02 9.99672665e-01 -9.55456427e-04 7.78898132e-01] [ 2.83267605e-02 2.30930534e-04 9.99598690e-01 1.55025932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145099893 meters 0.016348065919745674 Centerline is valid? [True, True] Translation: X:27.38, Y:0.78, Z:0.16 [[ 9.99247899e-01 -2.89802049e-02 -2.57639943e-02 2.73781196e+01] [ 2.89672732e-02 9.99579977e-01 -8.75082841e-04 7.75532160e-01] [ 2.57785329e-02 1.28112029e-04 9.99667670e-01 1.55686553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.175099893 meters 0.014682241083063556 Centerline is valid? [True, True] Translation: X:27.41, Y:0.77, Z:0.16 [[ 9.98746736e-01 -4.20443831e-02 -2.71519361e-02 2.74083243e+01] [ 4.20347403e-02 9.99115721e-01 -9.26062257e-04 7.67855524e-01] [ 2.71668619e-02 -2.16422926e-04 9.99630889e-01 1.56680747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205099893 meters 0.016756541894664134 Centerline is valid? [True, True] Translation: X:27.44, Y:0.77, Z:0.15 [[ 9.98533810e-01 -4.53788789e-02 -2.95124978e-02 2.74393441e+01] [ 4.53689552e-02 9.98969792e-01 -1.00613396e-03 7.67611724e-01] [ 2.95277510e-02 -3.34292413e-04 9.99563905e-01 1.54593255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.235099893 meters 0.016547095153677412 Centerline is valid? [True, True] Translation: X:27.47, Y:0.77, Z:0.16 [[ 9.98531739e-01 -4.55110900e-02 -2.93786667e-02 2.74701644e+01] [ 4.55013509e-02 9.98963776e-01 -1.00029364e-03 7.69172552e-01] [ 2.93937483e-02 -3.37944079e-04 9.99567853e-01 1.55428703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265099893 meters 0.015978042609735833 Centerline is valid? [True, True] Translation: X:27.50, Y:0.77, Z:0.16 [[ 9.98589502e-01 -4.47928830e-02 -2.85062295e-02 2.75012004e+01] [ 4.47834585e-02 9.98996247e-01 -9.69278162e-04 7.70722232e-01] [ 2.85210330e-02 -3.08696549e-04 9.99593145e-01 1.55728458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.295099893 meters 0.015774315338971702 Centerline is valid? [True, True] Translation: X:27.53, Y:0.77, Z:0.16 [[ 9.98634720e-01 -4.41326326e-02 -2.79465110e-02 2.75325409e+01] [ 4.41233882e-02 9.99025640e-01 -9.47672693e-04 7.72605579e-01] [ 2.79611044e-02 -2.86715901e-04 9.99608971e-01 1.56203720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325099893 meters 0.016317098816906933 Centerline is valid? [True, True] Translation: X:27.56, Y:0.78, Z:0.16 [[ 9.98665472e-01 -4.34423098e-02 -2.79292084e-02 2.75647296e+01] [ 4.34328808e-02 9.99055901e-01 -9.44443347e-04 7.75372795e-01] [ 2.79438693e-02 -2.69863021e-04 9.99609457e-01 1.57277832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.355099893 meters 0.015690728153825037 Centerline is valid? [True, True] Translation: X:27.60, Y:0.78, Z:0.16 [[ 9.98741294e-01 -4.09871128e-02 -2.89116604e-02 2.75966797e+01] [ 4.09760414e-02 9.99159653e-01 -9.75550218e-04 7.80122423e-01] [ 2.89273496e-02 -2.10363108e-04 9.99581495e-01 1.56256586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385099893 meters 0.016137682415541928 Centerline is valid? [True, True] Translation: X:27.63, Y:0.78, Z:0.16 [[ 9.98829118e-01 -3.89620560e-02 -2.86766691e-02 2.76273508e+01] [ 3.89503832e-02 9.99240679e-01 -9.65749164e-04 7.82070841e-01] [ 2.86925219e-02 -1.52348866e-04 9.99588273e-01 1.56908874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.415099893 meters 0.01715500653613466 Centerline is valid? [True, True] Translation: X:27.66, Y:0.79, Z:0.16 [[ 9.99322958e-01 -2.30084636e-02 -2.87095229e-02 2.76574222e+01] [ 2.29902004e-02 9.99735224e-01 -9.66105596e-04 7.88445650e-01] [ 2.87241499e-02 3.05413817e-04 9.99587330e-01 1.58906190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445099893 meters 0.01682618310221255 Centerline is valid? [True, True] Translation: X:27.69, Y:0.79, Z:0.16 [[ 9.99375164e-01 -1.88261151e-02 -2.99142059e-02 2.76850233e+01] [ 1.88043673e-02 9.99822674e-01 -1.00818637e-03 7.91259930e-01] [ 2.99278815e-02 4.45038700e-04 9.99551962e-01 1.59296461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.475099893 meters 0.01797154799568229 Centerline is valid? [True, True] Translation: X:27.71, Y:0.79, Z:0.16 [[ 9.99440987e-01 -1.62407181e-02 -2.92224691e-02 2.77139977e+01] [ 1.62187056e-02 9.99867978e-01 -9.90158138e-04 7.92549288e-01] [ 2.92346919e-02 5.15654004e-04 9.99572442e-01 1.60526420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505099893 meters 0.01631565141686167 Centerline is valid? [True, True] Translation: X:27.74, Y:0.79, Z:0.16 [[ 9.99446675e-01 -2.02707290e-02 -2.63712099e-02 2.77423375e+01] [ 2.02541058e-02 9.99794462e-01 -8.97335215e-04 7.92656006e-01] [ 2.63839792e-02 3.62713421e-04 9.99651816e-01 1.63852288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.535099892999998 meters 0.014053970593094179 Centerline is valid? [True, True] Translation: X:27.77, Y:0.78, Z:0.17 [[ 9.99320590e-01 -2.87364315e-02 -2.30776083e-02 2.77713259e+01] [ 2.87259229e-02 9.99587016e-01 -7.86802811e-04 7.84348634e-01] [ 2.30906875e-02 1.23342652e-04 9.99733367e-01 1.68112484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565099893 meters 0.013134524155693605 Centerline is valid? [True, True] Translation: X:27.80, Y:0.77, Z:0.17 [[ 9.98798059e-01 -4.45202551e-02 -2.05032643e-02 2.78016179e+01] [ 4.45152644e-02 9.99008459e-01 -6.99972349e-04 7.72829844e-01] [ 2.05140974e-02 -2.13577209e-04 9.99789541e-01 1.71122048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.595099893 meters 0.01682075877552317 Centerline is valid? [True, True] Translation: X:27.83, Y:0.77, Z:0.16 [[ 9.98720046e-01 -4.43377831e-02 -2.43399069e-02 2.78333616e+01] [ 4.43307048e-02 9.99016566e-01 -8.30581430e-04 7.70050170e-01] [ 2.43527964e-02 -2.49486904e-04 9.99703396e-01 1.62998796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625099892999998 meters 0.014573170868956646 Centerline is valid? [True, True] Translation: X:27.86, Y:0.78, Z:0.16 [[ 9.99202019e-01 -3.14699340e-02 -2.45961241e-02 2.78646762e+01] [ 3.14588333e-02 9.99504697e-01 -8.38225890e-04 7.79715531e-01] [ 2.46103205e-02 6.37916333e-05 9.99697118e-01 1.63134217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.655099893 meters 0.015262351090004808 Centerline is valid? [True, True] Translation: X:27.90, Y:0.79, Z:0.16 [[ 9.99411206e-01 -2.38565935e-02 -2.46597644e-02 2.78952564e+01] [ 2.38431285e-02 9.99715359e-01 -8.39955659e-04 7.85894022e-01] [ 2.46727837e-02 2.51495166e-04 9.99695549e-01 1.63825461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685099893 meters 0.015262351090004808 Centerline is valid? [True, True] Translation: X:27.92, Y:0.79, Z:0.16 [[ 9.99404450e-01 -2.41380678e-02 -2.46596459e-02 2.79226169e+01] [ 2.41246031e-02 9.99708604e-01 -8.43419679e-04 7.86888783e-01] [ 2.46728187e-02 2.48013211e-04 9.99695549e-01 1.64164063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.715099892999998 meters 0.017234556863024032 Centerline is valid? [True, True] Translation: X:27.95, Y:0.79, Z:0.16 [[ 9.99549225e-01 -1.57064098e-02 -2.55862312e-02 2.79520222e+01] [ 1.56890476e-02 9.99876533e-01 -8.79190968e-04 7.94320264e-01] [ 2.55968811e-02 4.77371050e-04 9.99672232e-01 1.64633987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745099893 meters 0.01783430661930826 Centerline is valid? [True, True] Translation: X:27.98, Y:0.80, Z:0.17 [[ 9.99572037e-01 -1.33794901e-02 -2.60140837e-02 2.79810665e+01] [ 1.33606544e-02 9.99910339e-01 -8.97742994e-04 7.96053740e-01] [ 2.60237626e-02 5.49793612e-04 9.99661173e-01 1.65064898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.775099893 meters 0.017993798563350375 Centerline is valid? [True, True] Translation: X:28.01, Y:0.80, Z:0.17 [[ 9.99589883e-01 -1.18992659e-02 -2.60475226e-02 2.80096994e+01] [ 1.18797103e-02 9.99929024e-01 -9.05389082e-04 7.97698789e-01] [ 2.60564473e-02 5.95580744e-04 9.99660296e-01 1.65369531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805099892999998 meters 0.018251114330699612 Centerline is valid? [True, True] Translation: X:28.04, Y:0.80, Z:0.17 [[ 9.99583098e-01 -1.08810851e-02 -2.67438163e-02 2.80385384e+01] [ 1.08599234e-02 9.99940591e-01 -9.36396824e-04 7.97721997e-01] [ 2.67524165e-02 6.45570643e-04 9.99641882e-01 1.65448500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.835099893 meters 0.018207777797149143 Centerline is valid? [True, True] Translation: X:28.07, Y:0.80, Z:0.17 [[ 9.99592260e-01 -1.01790592e-02 -2.66776994e-02 2.80657631e+01] [ 1.01576084e-02 9.99947969e-01 -9.39467769e-04 7.99045545e-01] [ 2.66858742e-02 6.68103088e-04 9.99643645e-01 1.65085899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865099893 meters 0.018113256848558475 Centerline is valid? [True, True] Translation: X:28.09, Y:0.80, Z:0.17 [[ 9.99570786e-01 -1.00509881e-02 -2.75176682e-02 2.80942105e+01] [ 1.00279549e-02 9.99949244e-01 -9.74907261e-04 7.98715113e-01] [ 2.75260703e-02 6.98542881e-04 9.99620842e-01 1.65354056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.895099893 meters 0.018115509706654934 Centerline is valid? [True, True] Translation: X:28.12, Y:0.80, Z:0.17 [[ 9.99590353e-01 -1.00222135e-02 -2.68082288e-02 2.81220412e+01] [ 1.00002259e-02 9.99949541e-01 -9.54127508e-04 8.00782512e-01] [ 2.68164385e-02 6.85648308e-04 9.99640140e-01 1.65327896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925099893 meters 0.019569385467275387 Centerline is valid? [True, True] Translation: X:28.15, Y:0.80, Z:0.17 [[ 9.99592706e-01 -1.00146649e-02 -2.67231978e-02 2.81499095e+01] [ 9.99267591e-03 9.99949615e-01 -9.56260025e-04 8.00488694e-01] [ 2.67314280e-02 6.88834291e-04 9.99642414e-01 1.65097690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.955099893 meters 0.017565770650515344 Centerline is valid? [True, True] Translation: X:28.18, Y:0.80, Z:0.17 [[ 9.99615097e-01 -1.06105196e-02 -2.56334524e-02 2.81787472e+01] [ 1.05903127e-02 9.99943494e-01 -9.23932998e-04 7.99935661e-01] [ 2.56418073e-02 6.52111096e-04 9.99670982e-01 1.67919595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985099893 meters 0.017565770650515344 Centerline is valid? [True, True] Translation: X:28.21, Y:0.80, Z:0.17 [[ 9.99612028e-01 -1.08964274e-02 -2.56332028e-02 2.82061105e+01] [ 1.08761380e-02 9.99940420e-01 -9.30819043e-04 8.00980155e-01] [ 2.56418182e-02 6.51667661e-04 9.99670982e-01 1.68259440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.015099893 meters 0.018797996135836555 Centerline is valid? [True, True] Translation: X:28.23, Y:0.80, Z:0.17 [[ 9.99604633e-01 -1.11493216e-02 -2.58122095e-02 2.82328698e+01] [ 1.11286968e-02 9.99937630e-01 -9.42550372e-04 8.02027660e-01] [ 2.58211084e-02 6.54921466e-04 9.99666365e-01 1.68220567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045099893 meters 0.018797996135836555 Centerline is valid? [True, True] Translation: X:28.26, Y:0.80, Z:0.17 [[ 9.99601467e-01 -1.14300539e-02 -2.58120148e-02 2.82602348e+01] [ 1.14093857e-02 9.99934462e-01 -9.47858354e-04 8.03090455e-01] [ 2.58211572e-02 6.52981370e-04 9.99666365e-01 1.68559842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.075099893 meters 0.0188633536896387 Centerline is valid? [True, True] Translation: X:28.29, Y:0.80, Z:0.17 [[ 9.99593065e-01 -1.19384504e-02 -2.59070901e-02 2.82879410e+01] [ 1.19176792e-02 9.99928525e-01 -9.56015965e-04 8.04028172e-01] [ 2.59166517e-02 6.46874541e-04 9.99663898e-01 1.69305097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105099893 meters 0.017713660581185103 Centerline is valid? [True, True] Translation: X:28.32, Y:0.80, Z:0.17 [[ 9.99574277e-01 -1.32329892e-02 -2.60029448e-02 2.83166258e+01] [ 1.32123857e-02 9.99912248e-01 -9.64008857e-04 8.02772923e-01] [ 2.60134197e-02 6.20037521e-04 9.99661401e-01 1.70533393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.135099893 meters 0.017713660581185103 Centerline is valid? [True, True] Translation: X:28.34, Y:0.80, Z:0.17 [[ 9.99570501e-01 -1.35156973e-02 -2.60026872e-02 2.83439892e+01] [ 1.34950097e-02 9.99908467e-01 -9.70920221e-04 8.03851073e-01] [ 2.60134297e-02 6.19596696e-04 9.99661401e-01 1.70873233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165099893 meters 0.018508694956117223 Centerline is valid? [True, True] Translation: X:28.37, Y:0.80, Z:0.17 [[ 9.99556010e-01 -1.45018007e-02 -2.60284589e-02 2.83732738e+01] [ 1.44812335e-02 9.99894663e-01 -9.78512094e-04 8.03062876e-01] [ 2.60399073e-02 6.01153454e-04 9.99660723e-01 1.70236454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.195099893 meters 0.017289634053825012 Centerline is valid? [True, True] Translation: X:28.40, Y:0.80, Z:0.17 [[ 9.99549070e-01 -1.63678411e-02 -2.51744163e-02 2.84016156e+01] [ 1.63490455e-02 9.99865892e-01 -9.52271996e-04 8.02139915e-01] [ 2.51866268e-02 5.40264911e-04 9.99682621e-01 1.71506124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225099893 meters 0.01811192733223915 Centerline is valid? [True, True] Translation: X:28.43, Y:0.80, Z:0.17 [[ 9.99525738e-01 -1.81508061e-02 -2.48766354e-02 2.84309849e+01] [ 1.81328590e-02 9.99835138e-01 -9.46853134e-04 8.00605207e-01] [ 2.48897203e-02 4.95319556e-04 9.99690080e-01 1.71144582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.255099893 meters 0.01639109883424203 Centerline is valid? [True, True] Translation: X:28.46, Y:0.80, Z:0.17 [[ 9.99506350e-01 -2.03780620e-02 -2.39121457e-02 2.84601798e+01] [ 2.03619889e-02 9.99792254e-01 -9.15492733e-04 7.99508197e-01] [ 2.39258340e-02 4.28141955e-04 9.99713645e-01 1.72754866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285099892999998 meters 0.017016385041285043 Centerline is valid? [True, True] Translation: X:28.49, Y:0.80, Z:0.17 [[ 9.99456364e-01 -2.27457643e-02 -2.38664332e-02 2.84886665e+01] [ 2.27302926e-02 9.99741211e-01 -9.19381083e-04 7.98357550e-01] [ 2.38811688e-02 3.76390266e-04 9.99714733e-01 1.72481872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.315099893 meters 0.01704130693240939 Centerline is valid? [True, True] Translation: X:28.52, Y:0.77, Z:0.17 [[ 9.98445668e-01 -5.10237961e-02 -2.24236605e-02 2.85190760e+01] [ 5.10171845e-02 9.98697399e-01 -8.67189227e-04 7.68877573e-01] [ 2.24386987e-02 -2.78150698e-04 9.99748182e-01 1.72278922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345099893 meters 0.016517847969576803 Centerline is valid? [True, True] Translation: X:28.55, Y:0.77, Z:0.17 [[ 9.98317872e-01 -5.37402843e-02 -2.17579340e-02 2.85514979e+01] [ 5.37347053e-02 9.98554893e-01 -8.41399115e-04 7.65911748e-01] [ 2.17717085e-02 -3.29172396e-04 9.99762914e-01 1.72999882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.375099892999998 meters 0.016712111162902794 Centerline is valid? [True, True] Translation: X:28.58, Y:0.77, Z:0.17 [[ 9.98275420e-01 -5.45582588e-02 -2.16698340e-02 2.85822147e+01] [ 5.45529443e-02 9.98510529e-01 -8.36759097e-04 7.65187588e-01] [ 2.16832095e-02 -3.46837210e-04 9.99764831e-01 1.73137732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405099893 meters 0.017082689386120387 Centerline is valid? [True, True] Translation: X:28.61, Y:0.76, Z:0.17 [[ 9.98226734e-01 -5.55389592e-02 -2.14199029e-02 2.86139112e+01] [ 5.55340122e-02 9.98456454e-01 -8.26178038e-04 7.63849512e-01] [ 2.14327254e-02 -3.64820144e-04 9.99770226e-01 1.74123776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.435099893 meters 0.01576360348151441 Centerline is valid? [True, True] Translation: X:28.65, Y:0.76, Z:0.17 [[ 9.98184581e-01 -5.54046461e-02 -2.36192036e-02 2.86457956e+01] [ 5.53986300e-02 9.98463903e-01 -9.09466155e-04 7.63824735e-01] [ 2.36333109e-02 -4.00656430e-04 9.99720614e-01 1.73484350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465099892999998 meters 0.016933620050954203 Centerline is valid? [True, True] Translation: X:28.68, Y:0.77, Z:0.17 [[ 9.98278615e-01 -5.33802333e-02 -2.42972719e-02 2.86777834e+01] [ 5.33733103e-02 9.98574192e-01 -9.33811170e-04 7.67234096e-01] [ 2.43124758e-02 -3.64622114e-04 9.99704342e-01 1.73503012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.495099893 meters 0.016933620050954203 Centerline is valid? [True, True] Translation: X:28.71, Y:0.77, Z:0.17 [[ 9.98282415e-01 -5.33090857e-02 -2.42973384e-02 2.87094603e+01] [ 5.33021838e-02 9.98577993e-01 -9.32079641e-04 7.68392442e-01] [ 2.43124757e-02 -3.64622481e-04 9.99704342e-01 1.73894745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525099893 meters 0.01679123643433846 Centerline is valid? [True, True] Translation: X:28.74, Y:0.77, Z:0.17 [[ 9.98345312e-01 -5.20839780e-02 -2.43699948e-02 2.87416790e+01] [ 5.20767127e-02 9.98642651e-01 -9.33111087e-04 7.71268483e-01] [ 2.43855163e-02 -3.37542137e-04 9.99702572e-01 1.74658283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.555099892999998 meters 0.01525252517382182 Centerline is valid? [True, True] Translation: X:28.77, Y:0.77, Z:0.17 [[ 9.98491990e-01 -4.88653258e-02 -2.50184930e-02 2.87729941e+01] [ 4.88566986e-02 9.98805341e-01 -9.56337390e-04 7.74636011e-01] [ 2.50353361e-02 -2.67425746e-04 9.99686531e-01 1.74725258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585099893 meters 0.016842751994054446 Centerline is valid? [True, True] Translation: X:28.80, Y:0.78, Z:0.17 [[ 9.98545518e-01 -4.70286374e-02 -2.63658138e-02 2.88047648e+01] [ 4.70184608e-02 9.98893514e-01 -1.00613587e-03 7.77343942e-01] [ 2.63839576e-02 -2.35007523e-04 9.99651855e-01 1.73447888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.615099893 meters 0.016061902276942323 Centerline is valid? [True, True] Translation: X:28.84, Y:0.79, Z:0.18 [[ 9.98897646e-01 -3.93848994e-02 -2.55405887e-02 2.88350054e+01] [ 3.93728965e-02 9.99224113e-01 -9.72864014e-04 7.87754525e-01] [ 2.55590883e-02 -3.38153837e-05 9.99673313e-01 1.75937501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645099893 meters 0.015002006816342547 Centerline is valid? [True, True] Translation: X:28.87, Y:0.79, Z:0.18 [[ 9.98921650e-01 -3.78770643e-02 -2.68489220e-02 2.88657937e+01] [ 3.78632939e-02 9.99282407e-01 -1.02126896e-03 7.91671634e-01] [ 2.68683381e-02 3.57905337e-06 9.99638981e-01 1.75627852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.675099893 meters 0.015496559089819787 Centerline is valid? [True, True] Translation: X:28.90, Y:0.79, Z:0.18 [[ 9.98932476e-01 -3.81580061e-02 -2.60360161e-02 2.88960267e+01] [ 3.81451636e-02 9.99271718e-01 -9.89919989e-04 7.93903876e-01] [ 2.60548279e-02 -4.28486865e-06 9.99660515e-01 1.76090585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705099893 meters 0.013390102111962838 Centerline is valid? [True, True] Translation: X:28.93, Y:0.80, Z:0.18 [[ 9.98959659e-01 -3.83905813e-02 -2.46122721e-02 2.89263420e+01] [ 3.83791946e-02 9.99262810e-01 -9.35022033e-04 7.96071078e-01] [ 2.46300242e-02 -1.05498887e-05 9.99696635e-01 1.78530779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.735099893 meters 0.01595676145967415 Centerline is valid? [True, True] Translation: X:28.96, Y:0.80, Z:0.18 [[ 9.98960212e-01 -3.81603996e-02 -2.49455122e-02 2.89576758e+01] [ 3.81486614e-02 9.99271627e-01 -9.46450907e-04 8.00748663e-01] [ 2.49634595e-02 -6.17109899e-06 9.99688364e-01 1.79163967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765099893 meters 0.014841256192396162 Centerline is valid? [True, True] Translation: X:28.99, Y:0.80, Z:0.18 [[ 9.98963092e-01 -3.85931972e-02 -2.41517260e-02 2.89875998e+01] [ 3.85823361e-02 9.99255005e-01 -9.15699101e-04 8.03273757e-01] [ 2.41690729e-02 -1.70804045e-05 9.99707885e-01 1.80617612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.795099893 meters 0.016433395875793174 Centerline is valid? [True, True] Translation: X:29.02, Y:0.81, Z:0.18 [[ 9.98934542e-01 -3.89389535e-02 -2.47697063e-02 2.90188303e+01] [ 3.89276523e-02 9.99241591e-01 -9.38457325e-04 8.05473577e-01] [ 2.47874633e-02 -2.67690786e-05 9.99692743e-01 1.81115557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825099893 meters 0.015639078999984284 Centerline is valid? [True, True] Translation: X:29.05, Y:0.81, Z:0.18 [[ 9.98911222e-01 -3.95758573e-02 -2.47006659e-02 2.90489120e+01] [ 3.95648429e-02 9.99216568e-01 -9.34662188e-04 8.07012402e-01] [ 2.47183047e-02 -4.36334182e-05 9.99694455e-01 1.81338060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.855099893 meters 0.015695456582355258 Centerline is valid? [True, True] Translation: X:29.08, Y:0.81, Z:0.18 [[ 9.98596636e-01 -4.63136610e-02 -2.56866466e-02 2.90805277e+01] [ 4.63040158e-02 9.98926922e-01 -9.70480256e-04 8.09663584e-01] [ 2.57040293e-02 -2.20276572e-04 9.99669573e-01 1.81471329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885099893 meters 0.01610888215504742 Centerline is valid? [True, True] Translation: X:29.11, Y:0.82, Z:0.19 [[ 9.98650068e-01 -4.72371975e-02 -2.16029802e-02 2.91117164e+01] [ 4.72306145e-02 9.98883679e-01 -8.15126126e-04 8.15871788e-01] [ 2.16173687e-02 -2.06296272e-04 9.99766296e-01 1.85489399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.915099893 meters 0.015547098477728429 Centerline is valid? [True, True] Translation: X:29.14, Y:0.82, Z:0.19 [[ 9.98691213e-01 -4.63937634e-02 -2.15285790e-02 2.91439220e+01] [ 4.63870586e-02 9.98923212e-01 -8.10984663e-04 8.20167192e-01] [ 2.15430220e-02 -1.88724200e-04 9.99767904e-01 1.85318969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945099893 meters 0.015426997436856027 Centerline is valid? [True, True] Translation: X:29.18, Y:0.83, Z:0.19 [[ 9.98801237e-01 -4.44534289e-02 -2.04934548e-02 2.91752702e+01] [ 4.44469716e-02 9.99011448e-01 -7.70695072e-04 8.27971278e-01] [ 2.05074560e-02 -1.41100812e-04 9.99789690e-01 1.86807412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.975099893 meters 0.01714122588211679 Centerline is valid? [True, True] Translation: X:29.21, Y:0.85, Z:0.18 [[ 9.99277096e-01 -2.74877477e-02 -2.62623283e-02 2.92058443e+01] [ 2.74713236e-02 9.99622106e-01 -9.86041666e-04 8.54289601e-01] [ 2.62795080e-02 2.63867932e-04 9.99654599e-01 1.81547906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005099893 meters 0.015294501396857724 Centerline is valid? [True, True] Translation: X:29.23, Y:0.85, Z:0.18 [[ 9.99306254e-01 -2.71482616e-02 -2.54947393e-02 2.92345508e+01] [ 2.71326071e-02 9.99631382e-01 -9.59818476e-04 8.54394664e-01] [ 2.55113989e-02 2.67413861e-04 9.99674496e-01 1.82866386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.035099892999998 meters 0.017189982521566508 Centerline is valid? [True, True] Translation: X:29.26, Y:0.85, Z:0.18 [[ 9.99303840e-01 -2.67239753e-02 -2.60319746e-02 2.92637102e+01] [ 2.67073409e-02 9.99642809e-01 -9.86532539e-04 8.54739776e-01] [ 2.60490402e-02 2.90600936e-04 9.99660624e-01 1.81636589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065099893 meters 0.017189982521566508 Centerline is valid? [True, True] Translation: X:29.29, Y:0.86, Z:0.18 [[ 9.99297226e-01 -2.69704121e-02 -2.60317301e-02 2.92919116e+01] [ 2.69536941e-02 9.99636190e-01 -9.92951428e-04 8.55846810e-01] [ 2.60490398e-02 2.90602316e-04 9.99660624e-01 1.81986848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.095099893 meters 0.017361495772231755 Centerline is valid? [True, True] Translation: X:29.32, Y:0.86, Z:0.18 [[ 9.99297193e-01 -2.72232041e-02 -2.57685300e-02 2.93205015e+01] [ 2.72067417e-02 9.99629339e-01 -9.89305057e-04 8.55782548e-01] [ 2.57859106e-02 2.87532029e-04 9.99667447e-01 1.82528359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125099892999998 meters 0.016792215602210867 Centerline is valid? [True, True] Translation: X:29.35, Y:0.86, Z:0.18 [[ 9.99317155e-01 -2.73332451e-02 -2.48619628e-02 2.93495771e+01] [ 2.73178025e-02 9.99626338e-01 -9.60626836e-04 8.56666162e-01] [ 2.48789299e-02 2.80796688e-04 9.99690432e-01 1.83726415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.155099893 meters 0.016792215602210867 Centerline is valid? [True, True] Translation: X:29.38, Y:0.86, Z:0.18 [[ 9.99316183e-01 -2.73688759e-02 -2.48618259e-02 2.93787066e+01] [ 2.73533564e-02 9.99625362e-01 -9.64158458e-04 8.57824716e-01] [ 2.48788997e-02 2.83444765e-04 9.99690432e-01 1.84088180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185099893 meters 0.015844499123286768 Centerline is valid? [True, True] Translation: X:29.41, Y:0.86, Z:0.19 [[ 9.99335235e-01 -2.75189225e-02 -2.39122900e-02 2.94082783e+01] [ 2.75045888e-02 9.99621246e-01 -9.28178451e-04 8.58953468e-01] [ 2.39287756e-02 2.69863726e-04 9.99713629e-01 1.86694388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.215099892999998 meters 0.016530426106229627 Centerline is valid? [True, True] Translation: X:29.44, Y:0.86, Z:0.19 [[ 9.99346175e-01 -2.73092691e-02 -2.36944536e-02 2.94380968e+01] [ 2.72951212e-02 9.99626995e-01 -9.20372232e-04 8.61535510e-01] [ 2.37107501e-02 2.73027487e-04 9.99718823e-01 1.87472026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245099893 meters 0.016530426106229627 Centerline is valid? [True, True] Translation: X:29.47, Y:0.86, Z:0.19 [[ 9.99346175e-01 -2.73092719e-02 -2.36944449e-02 2.94680758e+01] [ 2.72951187e-02 9.99626995e-01 -9.20594804e-04 8.62700381e-01] [ 2.37107476e-02 2.73250210e-04 9.99718823e-01 1.87843159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.275099893 meters 0.014701523681852655 Centerline is valid? [True, True] Translation: X:29.50, Y:0.86, Z:0.19 [[ 9.99360539e-01 -2.62803406e-02 -2.42457401e-02 2.94980412e+01] [ 2.62652132e-02 9.99654566e-01 -9.42223730e-04 8.64267916e-01] [ 2.42621268e-02 3.04801682e-04 9.99705585e-01 1.89165461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305099892999998 meters 0.017103730198033337 Centerline is valid? [True, True] Translation: X:29.53, Y:0.86, Z:0.19 [[ 9.99388317e-01 -2.36850407e-02 -2.57295729e-02 2.95276279e+01] [ 2.36671264e-02 9.99719394e-01 -1.00059553e-03 8.64472315e-01] [ 2.57460522e-02 3.91038426e-04 9.99668439e-01 1.86320859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.335099893 meters 0.016504205761975137 Centerline is valid? [True, True] Translation: X:29.56, Y:0.87, Z:0.19 [[ 9.99567714e-01 -1.95813872e-02 -2.19306731e-02 2.95562261e+01] [ 1.95673253e-02 9.99808175e-01 -8.55621127e-04 8.67879059e-01] [ 2.19432205e-02 4.26126639e-04 9.99759128e-01 1.89957171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365099893 meters 0.01718317138682807 Centerline is valid? [True, True] Translation: X:29.58, Y:0.87, Z:0.19 [[ 9.99604504e-01 -1.74757503e-02 -2.20325499e-02 2.95841335e+01] [ 1.74609592e-02 9.99847173e-01 -8.63541839e-04 8.69030141e-01] [ 2.20442738e-02 4.78490857e-04 9.99756881e-01 1.89454517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.395099893 meters 0.017738580305405167 Centerline is valid? [True, True] Translation: X:29.61, Y:0.86, Z:0.19 [[ 9.99467930e-01 -2.15133424e-02 -2.45159794e-02 2.96133843e+01] [ 2.14961387e-02 9.99768466e-01 -9.65087225e-04 8.63551643e-01] [ 2.45310654e-02 4.37574837e-04 9.99698972e-01 1.87613612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425099893 meters 0.01693618772438201 Centerline is valid? [True, True] Translation: X:29.64, Y:0.86, Z:0.19 [[ 9.99461076e-01 -2.17591933e-02 -2.45783542e-02 2.96417643e+01] [ 2.17418144e-02 9.99763144e-01 -9.74118551e-04 8.58009169e-01] [ 2.45937287e-02 4.39215559e-04 9.99697432e-01 1.87176088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.455099893 meters 0.015072299981700087 Centerline is valid? [True, True] Translation: X:29.67, Y:0.86, Z:0.19 [[ 9.99494818e-01 -2.18898802e-02 -2.30421584e-02 2.96698476e+01] [ 2.18745421e-02 9.99760303e-01 -9.17526162e-04 8.59378369e-01] [ 2.30567198e-02 4.13025981e-04 9.99734073e-01 1.90343599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485099893 meters 0.017839160317974855 Centerline is valid? [True, True] Translation: X:29.70, Y:0.86, Z:0.19 [[ 9.99503755e-01 -2.13745556e-02 -2.31381122e-02 2.96977523e+01] [ 2.13589037e-02 9.99771446e-01 -9.23407027e-04 8.62217953e-01] [ 2.31525613e-02 4.28744080e-04 9.99731852e-01 1.89228532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.515099893 meters 0.017356333002908717 Centerline is valid? [True, True] Translation: X:29.73, Y:0.86, Z:0.19 [[ 9.99507441e-01 -2.10287711e-02 -2.32951988e-02 2.97261502e+01] [ 2.10127229e-02 9.99778773e-01 -9.33503120e-04 8.61663531e-01] [ 2.33096757e-02 4.43547759e-04 9.99728194e-01 1.90875461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545099893 meters 0.017356333002908717 Centerline is valid? [True, True] Translation: X:29.75, Y:0.86, Z:0.19 [[ 9.99501425e-01 -2.13130789e-02 -2.32949496e-02 2.97535042e+01] [ 2.12969637e-02 9.99772752e-01 -9.39690367e-04 8.62821427e-01] [ 2.33096836e-02 4.43110166e-04 9.99728194e-01 1.91215248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.575099893 meters 0.017275648853032316 Centerline is valid? [True, True] Translation: X:29.78, Y:0.86, Z:0.19 [[ 9.99511704e-01 -2.06923615e-02 -2.34132186e-02 2.97822580e+01] [ 2.06757640e-02 9.99785781e-01 -9.50773136e-04 8.63361549e-01] [ 2.34278768e-02 4.66222695e-04 9.99725421e-01 1.91348184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605099893 meters 0.017275648853032316 Centerline is valid? [True, True] Translation: X:29.81, Y:0.86, Z:0.19 [[ 9.99505737e-01 -2.09789017e-02 -2.34129629e-02 2.98096117e+01] [ 2.09622361e-02 9.99779810e-01 -9.57037535e-04 8.64531547e-01] [ 2.34278852e-02 4.65776449e-04 9.99725421e-01 1.91687981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.635099893 meters 0.017136643455620902 Centerline is valid? [True, True] Translation: X:29.84, Y:0.87, Z:0.19 [[ 9.99513305e-01 -2.01879180e-02 -2.37823865e-02 2.98382235e+01] [ 2.01703448e-02 9.99796079e-01 -9.78591923e-04 8.65457143e-01] [ 2.37972925e-02 4.98416711e-04 9.99716680e-01 1.91415007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665099893 meters 0.018836871292059576 Centerline is valid? [True, True] Translation: X:29.87, Y:0.87, Z:0.19 [[ 9.99580907e-01 -1.63370965e-02 -2.38978909e-02 2.98665526e+01] [ 1.63181587e-02 9.99866363e-01 -9.87256974e-04 8.66350105e-01] [ 2.39108261e-02 5.96873645e-04 9.99713917e-01 1.90526325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.695099893 meters 0.019049703526672918 Centerline is valid? [True, True] Translation: X:29.89, Y:0.87, Z:0.19 [[ 9.99667207e-01 -1.33307645e-02 -2.20854285e-02 2.98949322e+01] [ 1.33137875e-02 9.99910948e-01 -9.15563011e-04 8.68460200e-01] [ 2.20956669e-02 6.21217617e-04 9.99755668e-01 1.93279082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725099893 meters 0.018670993623648033 Centerline is valid? [True, True] Translation: X:29.92, Y:0.86, Z:0.19 [[ 9.99667611e-01 -1.26450260e-02 -2.24670838e-02 2.99240365e+01] [ 1.26271574e-02 9.99919835e-01 -9.37019081e-04 8.64803122e-01] [ 2.24771314e-02 6.53012224e-04 9.99747144e-01 1.94664435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.755099893 meters 0.018849536913874424 Centerline is valid? [True, True] Translation: X:29.95, Y:0.86, Z:0.19 [[ 9.99602846e-01 -1.56770248e-02 -2.34175260e-02 2.99520878e+01] [ 1.56583433e-02 9.99876919e-01 -9.80920183e-04 8.60554159e-01] [ 2.34300216e-02 6.13850945e-04 9.99725291e-01 1.93348573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785099892999998 meters 0.01693625839602846 Centerline is valid? [True, True] Translation: X:29.98, Y:0.86, Z:0.19 [[ 9.99508929e-01 -2.01440242e-02 -2.40024809e-02 2.99810044e+01] [ 2.01256371e-02 9.99796951e-01 -1.00739777e-03 8.55457803e-01] [ 2.40179003e-02 5.23837850e-04 9.99711391e-01 1.94297044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.815099893 meters 0.016814959421305186 Centerline is valid? [True, True] Translation: X:30.01, Y:0.85, Z:0.19 [[ 9.99305576e-01 -2.77751396e-02 -2.48376288e-02 3.00109610e+01] [ 2.77577719e-02 9.99614134e-01 -1.04381587e-03 8.48870694e-01] [ 2.48570369e-02 3.53653789e-04 9.99690954e-01 1.93923896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845099893 meters 0.014309861641813122 Centerline is valid? [True, True] Translation: X:30.04, Y:0.84, Z:0.19 [[ 9.99077205e-01 -3.58072667e-02 -2.37187150e-02 3.00400877e+01] [ 3.57936614e-02 9.99358703e-01 -9.98045954e-04 8.39891372e-01] [ 2.37392416e-02 1.48145309e-04 9.99718174e-01 1.94729011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.875099892999998 meters 0.014852800965848286 Centerline is valid? [True, True] Translation: X:30.07, Y:0.83, Z:0.20 [[ 9.98771966e-01 -4.44835513e-02 -2.18122207e-02 3.00720043e+01] [ 4.44741030e-02 9.99010115e-01 -9.18310646e-04 8.32995929e-01] [ 2.18314789e-02 -5.28960214e-05 9.99761663e-01 1.95142785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905099893 meters 0.013146764403655576 Centerline is valid? [True, True] Translation: X:30.10, Y:0.83, Z:0.19 [[ 9.98556559e-01 -4.88651702e-02 -2.22933647e-02 3.01044164e+01] [ 4.88564186e-02 9.98805372e-01 -9.37378158e-04 8.28469373e-01] [ 2.23125376e-02 -1.53148849e-04 9.99751033e-01 1.93927414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.935099893 meters 0.015508577771158265 Centerline is valid? [True, True] Translation: X:30.14, Y:0.83, Z:0.19 [[ 9.98584096e-01 -4.87320793e-02 -2.13304539e-02 3.01356482e+01] [ 4.87240795e-02 9.98811876e-01 -8.94901798e-04 8.28513421e-01] [ 2.13487211e-02 -1.45672031e-04 9.99772079e-01 1.93984385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965099892999998 meters 0.01576652187554464 Centerline is valid? [True, True] Translation: X:30.17, Y:0.83, Z:0.19 [[ 9.98772622e-01 -4.39294194e-02 -2.28791512e-02 3.01672610e+01] [ 4.39190110e-02 9.99034636e-01 -9.57457494e-04 8.33529552e-01] [ 2.28991250e-02 -4.85473601e-05 9.99737779e-01 1.94727660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.995099893 meters 0.0151757465556519 Centerline is valid? [True, True] Translation: X:30.20, Y:0.84, Z:0.19 [[ 9.98952701e-01 -3.93565116e-02 -2.33359545e-02 3.01990737e+01] [ 3.93444759e-02 9.99225231e-01 -9.74842779e-04 8.36013841e-01] [ 2.33562409e-02 5.56809262e-05 9.99727204e-01 1.94735857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025099893 meters 0.01634190878716197 Centerline is valid? [True, True] Translation: X:30.23, Y:0.84, Z:0.19 [[ 9.99183332e-01 -3.24721345e-02 -2.40464031e-02 3.02294668e+01] [ 3.24573990e-02 9.99472617e-01 -1.00294087e-03 8.42160446e-01] [ 2.40662890e-02 2.21638107e-04 9.99710340e-01 1.94770789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.055099892999998 meters 0.017251215640440798 Centerline is valid? [True, True] Translation: X:30.26, Y:0.85, Z:0.19 [[ 9.99342493e-01 -2.66970369e-02 -2.45326237e-02 3.02593704e+01] [ 2.66799710e-02 9.99643503e-01 -1.02275098e-03 8.48065595e-01] [ 2.45511823e-02 3.67548821e-04 9.99698507e-01 1.94939636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085099893 meters 0.01820035317929306 Centerline is valid? [True, True] Translation: X:30.29, Y:0.85, Z:0.19 [[ 9.99304330e-01 -2.65982234e-02 -2.61417270e-02 3.02878043e+01] [ 2.65787135e-02 9.99646125e-01 -1.09355922e-03 8.49606883e-01] [ 2.61615629e-02 3.97984990e-04 9.99657649e-01 1.94650216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.115099893 meters 0.016320349244152987 Centerline is valid? [True, True] Translation: X:30.32, Y:0.85, Z:0.20 [[ 9.99016280e-01 -3.60392438e-02 -2.58388484e-02 3.03168817e+01] [ 3.60232342e-02 9.99350364e-01 -1.08495832e-03 8.47095952e-01] [ 2.58611636e-02 1.53092144e-04 9.99665532e-01 1.95401643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145099893 meters 0.01594199922439216 Centerline is valid? [True, True] Translation: X:30.35, Y:0.84, Z:0.19 [[ 9.98733574e-01 -4.29723551e-02 -2.61653292e-02 3.03460884e+01] [ 4.29582947e-02 9.99076261e-01 -1.09949824e-03 8.44532223e-01] [ 2.61884073e-02 -2.59121169e-05 9.99657025e-01 1.94172199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.175099893 meters 0.016143180728757714 Centerline is valid? [True, True] Translation: X:30.38, Y:0.85, Z:0.20 [[ 9.98826701e-01 -4.22018382e-02 -2.37534480e-02 3.03773947e+01] [ 4.21900438e-02 9.99109106e-01 -9.97688153e-04 8.48362118e-01] [ 2.37743904e-02 -5.64144339e-06 9.99717349e-01 1.97480025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205099893 meters 0.015391759779587028 Centerline is valid? [True, True] Translation: X:30.41, Y:0.85, Z:0.20 [[ 9.99040518e-01 -3.85914009e-02 -2.07061917e-02 3.04086036e+01] [ 3.85816774e-02 9.99255072e-01 -8.69020015e-04 8.51955361e-01] [ 2.07243038e-02 6.93065965e-05 9.99785226e-01 2.00760192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.235099893 meters 0.013904202118580074 Centerline is valid? [True, True] Translation: X:30.44, Y:0.86, Z:0.20 [[ 9.99203426e-01 -3.57309439e-02 -1.77711311e-02 3.04392422e+01] [ 3.57233414e-02 9.99361440e-01 -7.45165173e-04 8.55105151e-01] [ 1.77864086e-02 1.09727411e-04 9.99841803e-01 2.03929165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265099893 meters 0.014870703535881652 Centerline is valid? [True, True] Translation: X:30.47, Y:0.86, Z:0.20 [[ 9.99257710e-01 -3.41593199e-02 -1.78092427e-02 3.04712678e+01] [ 3.41514540e-02 9.99416391e-01 -7.45702475e-04 8.57797716e-01] [ 1.78243217e-02 1.36937416e-04 9.99841125e-01 2.04620548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.295099893 meters 0.015517442929826625 Centerline is valid? [True, True] Translation: X:30.50, Y:0.86, Z:0.20 [[ 9.99103308e-01 -3.69563009e-02 -2.06594059e-02 3.05033868e+01] [ 3.69463472e-02 9.99316878e-01 -8.63408350e-04 8.57116627e-01] [ 2.06772014e-02 9.93445557e-05 9.99786199e-01 2.02010947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325099893 meters 0.015958131840064716 Centerline is valid? [True, True] Translation: X:30.54, Y:0.86, Z:0.20 [[ 9.98838891e-01 -4.20820015e-02 -2.34515492e-02 3.05360930e+01] [ 4.20706300e-02 9.99114160e-01 -9.78277025e-04 8.55424285e-01] [ 2.34719428e-02 -9.48031243e-06 9.99724496e-01 2.00872931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.355099893 meters 0.01575728054256419 Centerline is valid? [True, True] Translation: X:30.57, Y:0.86, Z:0.20 [[ 9.98603202e-01 -4.57885023e-02 -2.63639455e-02 3.05669587e+01] [ 4.57754689e-02 9.98951150e-01 -1.09798537e-03 8.55960411e-01] [ 2.63865688e-02 -1.10370258e-04 9.99651808e-01 1.98358756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385099893 meters 0.014762789994360544 Centerline is valid? [True, True] Translation: X:30.60, Y:0.86, Z:0.20 [[ 9.98470364e-01 -4.81969182e-02 -2.70922503e-02 3.05991933e+01] [ 4.81840891e-02 9.98837837e-01 -1.12654222e-03 8.57060596e-01] [ 2.71150605e-02 -1.80596383e-04 9.99632303e-01 1.98388090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.415099893 meters 0.014762789994360544 Centerline is valid? [True, True] Translation: X:30.63, Y:0.86, Z:0.20 [[ 9.98473892e-01 -4.81237295e-02 -2.70923327e-02 3.06308662e+01] [ 4.81109273e-02 9.98841366e-01 -1.12455745e-03 8.58321738e-01] [ 2.71150605e-02 -1.80595993e-04 9.99632303e-01 1.98779801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445099893 meters 0.015670240271198187 Centerline is valid? [True, True] Translation: X:30.66, Y:0.86, Z:0.20 [[ 9.98460137e-01 -4.85258736e-02 -2.68811064e-02 3.06619000e+01] [ 4.85134616e-02 9.98821907e-01 -1.11409553e-03 8.61167074e-01] [ 2.69035005e-02 -1.91715550e-04 9.99638017e-01 1.98105781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.475099893 meters 0.015562627028622671 Centerline is valid? [True, True] Translation: X:30.69, Y:0.86, Z:0.20 [[ 9.98511244e-01 -4.84915862e-02 -2.49772280e-02 3.06938772e+01] [ 4.84808983e-02 9.98823575e-01 -1.03363747e-03 8.63165844e-01] [ 2.49979669e-02 -1.78819822e-04 9.99687486e-01 1.98176429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505099893 meters 0.016726755537425045 Centerline is valid? [True, True] Translation: X:30.73, Y:0.87, Z:0.20 [[ 9.98630094e-01 -4.72760010e-02 -2.24257654e-02 3.07252531e+01] [ 4.72671094e-02 9.98881856e-01 -9.26688735e-04 8.67115906e-01] [ 2.24445003e-02 -1.34581848e-04 9.99748081e-01 2.00127260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.535099892999998 meters 0.014737734503518849 Centerline is valid? [True, True] Translation: X:30.76, Y:0.87, Z:0.20 [[ 9.98755862e-01 -4.51896467e-02 -2.10861105e-02 3.07575205e+01] [ 4.51813472e-02 9.98978423e-01 -8.70081557e-04 8.72421241e-01] [ 2.11038880e-02 -8.36998227e-05 9.99777285e-01 2.02596231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565099893 meters 0.014462446625761832 Centerline is valid? [True, True] Translation: X:30.79, Y:0.88, Z:0.20 [[ 9.98781091e-01 -4.38430642e-02 -2.26741874e-02 3.07895814e+01] [ 4.38331581e-02 9.99038429e-01 -9.33950835e-04 8.75399662e-01] [ 2.26933318e-02 -6.10688080e-05 9.99742471e-01 2.00859807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.595099893 meters 0.01611945082564076 Centerline is valid? [True, True] Translation: X:30.82, Y:0.88, Z:0.20 [[ 9.98749083e-01 -4.40005220e-02 -2.37534044e-02 3.08215616e+01] [ 4.39897357e-02 9.99031506e-01 -9.76681286e-04 8.77433782e-01] [ 2.37733739e-02 -6.94464462e-05 9.99717371e-01 1.99365282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625099892999998 meters 0.015296150176651346 Centerline is valid? [True, True] Translation: X:30.85, Y:0.88, Z:0.20 [[ 9.98759582e-01 -4.44398615e-02 -2.24587779e-02 3.08522289e+01] [ 4.44303611e-02 9.99012058e-01 -9.22075647e-04 8.80236466e-01] [ 2.24775668e-02 -7.69197220e-05 9.99747345e-01 2.01083862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.655099893 meters 0.01248810214046311 Centerline is valid? [True, True] Translation: X:30.88, Y:0.88, Z:0.20 [[ 9.98777944e-01 -4.44541434e-02 -2.15974145e-02 3.08838851e+01] [ 4.44453891e-02 9.99011423e-01 -8.85420113e-04 8.83018333e-01] [ 2.16154244e-02 -7.55674117e-05 9.99766357e-01 2.04761764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685099893 meters 0.015739833160179784 Centerline is valid? [True, True] Translation: X:30.92, Y:0.89, Z:0.20 [[ 9.98805377e-01 -4.27294424e-02 -2.37068342e-02 3.09156754e+01] [ 4.27184510e-02 9.99086679e-01 -9.70106536e-04 8.87534127e-01] [ 2.37266344e-02 -4.37716101e-05 9.99718483e-01 2.02231532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.715099892999998 meters 0.014024639531263487 Centerline is valid? [True, True] Translation: X:30.95, Y:0.89, Z:0.20 [[ 9.98914788e-01 -4.05010440e-02 -2.29980776e-02 3.09481158e+01] [ 4.04901476e-02 9.99179496e-01 -9.39450218e-04 8.92354258e-01] [ 2.30172563e-02 7.23516007e-06 9.99735068e-01 2.04000281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745099893 meters 0.015715889281214614 Centerline is valid? [True, True] Translation: X:30.98, Y:0.90, Z:0.20 [[ 9.99028772e-01 -3.75792066e-02 -2.30068484e-02 3.09799361e+01] [ 3.75675658e-02 9.99293649e-01 -9.38127298e-04 8.96980787e-01] [ 2.30258516e-02 7.29048719e-05 9.99734867e-01 2.03101635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.775099893 meters 0.014295423785856007 Centerline is valid? [True, True] Translation: X:31.01, Y:0.90, Z:0.20 [[ 9.99097046e-01 -3.64751847e-02 -2.17865653e-02 3.10106839e+01] [ 3.64645134e-02 9.99334555e-01 -8.87005898e-04 9.00254007e-01] [ 2.18044212e-02 9.17684695e-05 9.99762251e-01 2.04743842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805099892999998 meters 0.01479332459141488 Centerline is valid? [True, True] Translation: X:31.04, Y:0.90, Z:0.21 [[ 9.99097627e-01 -3.69128725e-02 -2.10088243e-02 3.10433333e+01] [ 3.69030766e-02 9.99318485e-01 -8.53904508e-04 9.01777713e-01] [ 2.10260266e-02 7.78437149e-05 9.99778926e-01 2.05907908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.835099893 meters 0.015465669925012747 Centerline is valid? [True, True] Translation: X:31.07, Y:0.90, Z:0.21 [[ 9.99011571e-01 -3.92714549e-02 -2.08239003e-02 3.10745295e+01] [ 3.92623760e-02 9.99228579e-01 -8.44806408e-04 9.02785214e-01] [ 2.08410130e-02 2.63755754e-05 9.99782802e-01 2.05819032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865099893 meters 0.012491779889879142 Centerline is valid? [True, True] Translation: X:31.11, Y:0.90, Z:0.21 [[ 9.98935694e-01 -4.17603558e-02 -1.95844947e-02 3.11065509e+01] [ 4.17528266e-02 9.99127656e-01 -7.93360819e-04 9.04170239e-01] [ 1.96005413e-02 -2.51915690e-05 9.99807891e-01 2.09839659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.895099893 meters 0.013964826735602636 Centerline is valid? [True, True] Translation: X:31.14, Y:0.91, Z:0.21 [[ 9.98938770e-01 -4.17098254e-02 -1.95352291e-02 3.11380877e+01] [ 4.17023497e-02 9.99129766e-01 -7.90069639e-04 9.05958985e-01] [ 1.95511826e-02 -2.54337633e-05 9.99808857e-01 2.09157983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925099893 meters 0.015439608551352657 Centerline is valid? [True, True] Translation: X:31.17, Y:0.91, Z:0.21 [[ 9.98974558e-01 -4.04175808e-02 -2.04022324e-02 3.11703635e+01] [ 4.04091833e-02 9.99182876e-01 -8.23860400e-04 9.08812105e-01] [ 2.04188597e-02 -1.42196798e-06 9.99791513e-01 2.08532547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.955099893 meters 0.014500785573958714 Centerline is valid? [True, True] Translation: X:31.20, Y:0.91, Z:0.21 [[ 9.99058411e-01 -3.78430390e-02 -2.12178155e-02 3.12015843e+01] [ 3.78334052e-02 9.99283694e-01 -8.55417023e-04 9.14130977e-01] [ 2.12349886e-02 5.18693599e-05 9.99774511e-01 2.09093818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985099893 meters 0.016028312481850486 Centerline is valid? [True, True] Translation: X:31.23, Y:0.92, Z:0.21 [[ 9.99095032e-01 -3.59537944e-02 -2.27253612e-02 3.12337740e+01] [ 3.59422870e-02 9.99353449e-01 -9.14752714e-04 9.16860568e-01] [ 2.27435569e-02 9.71234397e-05 9.99741327e-01 2.06874823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.015099893 meters 0.015647004864055198 Centerline is valid? [True, True] Translation: X:31.27, Y:0.92, Z:0.21 [[ 9.99136685e-01 -3.49780015e-02 -2.24148234e-02 3.12662463e+01] [ 3.49665967e-02 9.99388076e-01 -9.00656634e-04 9.19563969e-01] [ 2.24326104e-02 1.16108993e-04 9.99748351e-01 2.06835038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.045099893 meters 0.01647245152608007 Centerline is valid? [True, True] Translation: X:31.30, Y:0.92, Z:0.21 [[ 9.99167587e-01 -3.35285215e-02 -2.32372840e-02 3.12974818e+01] [ 3.35159072e-02 9.99437749e-01 -9.32202658e-04 9.22910574e-01] [ 2.32554742e-02 1.52608025e-04 9.99729543e-01 2.06308552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.075099893 meters 0.016503086146206727 Centerline is valid? [True, True] Translation: X:31.33, Y:0.92, Z:0.21 [[ 9.99158111e-01 -3.32700674e-02 -2.40035824e-02 3.13286490e+01] [ 3.32565593e-02 9.99446385e-01 -9.61842923e-04 9.24997995e-01] [ 2.40222942e-02 1.62756598e-04 9.99711410e-01 2.06545141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105099893 meters 0.01604951647288372 Centerline is valid? [True, True] Translation: X:31.36, Y:0.93, Z:0.21 [[ 9.99154655e-01 -3.31389314e-02 -2.43266554e-02 3.13587866e+01] [ 3.31250343e-02 9.99450741e-01 -9.74126184e-04 9.28356999e-01] [ 2.43455753e-02 1.67481416e-04 9.99703589e-01 2.07180957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.135099892999996 meters 0.015344040004868196 Centerline is valid? [True, True] Translation: X:31.39, Y:0.93, Z:0.21 [[ 9.99164949e-01 -3.35190059e-02 -2.33641144e-02 3.13902243e+01] [ 3.35063052e-02 9.99438069e-01 -9.34969996e-04 9.29472210e-01] [ 2.33823246e-02 1.51344099e-04 9.99726585e-01 2.08788029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165099893 meters 0.016015560226335303 Centerline is valid? [True, True] Translation: X:31.42, Y:0.93, Z:0.21 [[ 9.99120383e-01 -3.56019641e-02 -2.21576281e-02 3.14213112e+01] [ 3.55910710e-02 9.99366044e-01 -8.85906352e-04 9.29946973e-01] [ 2.21751211e-02 9.65133796e-05 9.99754097e-01 2.08885500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.195099893 meters 0.015039708420391555 Centerline is valid? [True, True] Translation: X:31.45, Y:0.93, Z:0.21 [[ 9.99035551e-01 -3.90117584e-02 -2.01507107e-02 3.14525975e+01] [ 3.90034596e-02 9.99238751e-01 -8.04834021e-04 9.29668383e-01] [ 2.01667690e-02 1.81103664e-05 9.99796630e-01 2.10864894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225099893 meters 0.01537847265290918 Centerline is valid? [True, True] Translation: X:31.48, Y:0.93, Z:0.21 [[ 9.98973864e-01 -4.07999594e-02 -1.96616805e-02 3.14836295e+01] [ 4.07924254e-02 9.99167335e-01 -7.84256772e-04 9.30529191e-01] [ 1.96773065e-02 -1.85956156e-05 9.99806383e-01 2.11540626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.255099893 meters 0.016079718057680256 Centerline is valid? [True, True] Translation: X:31.52, Y:0.93, Z:0.21 [[ 9.98730396e-01 -4.67709415e-02 -1.87103166e-02 3.15155097e+01] [ 4.67651866e-02 9.98905632e-01 -7.45234583e-04 9.30680600e-01] [ 1.87246960e-02 -1.30703020e-04 9.99824669e-01 2.14135816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285099893 meters 0.015691070107655886 Centerline is valid? [True, True] Translation: X:31.55, Y:0.93, Z:0.21 [[ 9.98517605e-01 -5.08842998e-02 -1.93230529e-02 3.15470844e+01] [ 5.08789561e-02 9.98704532e-01 -7.68376778e-04 9.29529883e-01] [ 1.93371188e-02 -2.15899021e-04 9.99812997e-01 2.14122522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.315099893 meters 0.015932403596270454 Centerline is valid? [True, True] Translation: X:31.58, Y:0.93, Z:0.21 [[ 9.98275149e-01 -5.51711192e-02 -2.00717342e-02 3.15794242e+01] [ 5.51662441e-02 9.98476865e-01 -7.96924036e-04 9.28546020e-01] [ 2.00851295e-02 -3.11732730e-04 9.99798225e-01 2.14162770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345099893 meters 0.016847841655108928 Centerline is valid? [True, True] Translation: X:31.61, Y:0.93, Z:0.21 [[ 9.98148840e-01 -5.72702914e-02 -2.04696413e-02 3.16119077e+01] [ 5.72656925e-02 9.98358644e-01 -8.11247268e-04 9.28118872e-01] [ 2.04825037e-02 -3.62462663e-04 9.99790146e-01 2.13719709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.375099893 meters 0.015798531574489304 Centerline is valid? [True, True] Translation: X:31.64, Y:0.93, Z:0.22 [[ 9.98033377e-01 -5.94110815e-02 -1.99925230e-02 3.16428609e+01] [ 5.94071489e-02 9.98233522e-01 -7.91076672e-04 9.27482643e-01] [ 2.00042054e-02 -3.98177868e-04 9.99799817e-01 2.15567646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405099893 meters 0.016312438817291063 Centerline is valid? [True, True] Translation: X:31.67, Y:0.93, Z:0.22 [[ 9.97815563e-01 -6.23999246e-02 -2.16876084e-02 3.16748311e+01] [ 6.23960323e-02 9.98051101e-01 -8.56774453e-04 9.28531421e-01] [ 2.16988041e-02 -4.98317834e-04 9.99764429e-01 2.15575206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.435099893 meters 0.017616587171450874 Centerline is valid? [True, True] Translation: X:31.71, Y:0.93, Z:0.21 [[ 9.97786597e-01 -6.23896795e-02 -2.30094667e-02 3.17064574e+01] [ 6.23853305e-02 9.98051726e-01 -9.07482407e-04 9.31510165e-01] [ 2.30212554e-02 -5.29979400e-04 9.99734835e-01 2.13809803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465099893 meters 0.01895723740241919 Centerline is valid? [True, True] Translation: X:31.74, Y:0.94, Z:0.21 [[ 9.97917221e-01 -6.04954096e-02 -2.23947615e-02 3.17372641e+01] [ 6.04908600e-02 9.98168362e-01 -8.81142993e-04 9.35106450e-01] [ 2.24070475e-02 -4.75370613e-04 9.99748818e-01 2.13772189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.495099893 meters 0.016311348516993368 Centerline is valid? [True, True] Translation: X:31.77, Y:0.94, Z:0.22 [[ 9.98184959e-01 -5.65593608e-02 -2.06839520e-02 3.17685959e+01] [ 5.65546782e-02 9.98399173e-01 -8.11738257e-04 9.43032410e-01] [ 2.06967519e-02 -3.59509327e-04 9.99785735e-01 2.18002797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525099893 meters 0.015659258662617147 Centerline is valid? [True, True] Translation: X:31.80, Y:0.95, Z:0.22 [[ 9.98446940e-01 -5.15447474e-02 -2.11387717e-02 3.18010531e+01] [ 5.15387642e-02 9.98670651e-01 -8.28103255e-04 9.50739858e-01] [ 2.11533553e-02 -2.62649011e-04 9.99776208e-01 2.19029313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.555099893 meters 0.015517982339688919 Centerline is valid? [True, True] Translation: X:31.83, Y:0.95, Z:0.22 [[ 9.98629983e-01 -4.79874615e-02 -2.08652849e-02 3.18336450e+01] [ 4.79808950e-02 9.98847921e-01 -8.15508017e-04 9.54746582e-01] [ 2.08803806e-02 -1.86744286e-04 9.99781964e-01 2.19076940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585099893 meters 0.014935401598012437 Centerline is valid? [True, True] Translation: X:31.86, Y:0.96, Z:0.22 [[ 9.98778911e-01 -4.48191126e-02 -2.07830326e-02 3.18645849e+01] [ 4.48119445e-02 9.98995111e-01 -8.10722789e-04 9.56903940e-01] [ 2.07984839e-02 -1.21595280e-04 9.99783681e-01 2.18950278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.615099893 meters 0.013610097747822346 Centerline is valid? [True, True] Translation: X:31.90, Y:0.96, Z:0.22 [[ 9.98832169e-01 -4.35198938e-02 -2.09837266e-02 3.18968333e+01] [ 4.35123271e-02 9.99052556e-01 -8.17260173e-04 9.58605438e-01] [ 2.09994128e-02 -9.67450234e-05 9.99779483e-01 2.20825424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645099893 meters 0.01566626483437333 Centerline is valid? [True, True] Translation: X:31.93, Y:0.96, Z:0.22 [[ 9.98901120e-01 -4.14589728e-02 -2.18565069e-02 3.19288162e+01] [ 4.14503052e-02 9.99140206e-01 -8.49648963e-04 9.60177116e-01] [ 2.18729404e-02 -5.72435804e-05 9.99760757e-01 2.18637763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.675099893 meters 0.015291565511914785 Centerline is valid? [True, True] Translation: X:31.96, Y:0.96, Z:0.22 [[ 9.98972604e-01 -3.94386991e-02 -2.23232016e-02 3.19612776e+01] [ 3.94291892e-02 9.99221992e-01 -8.66167709e-04 9.62489289e-01] [ 2.23399945e-02 -1.49079292e-05 9.99750431e-01 2.19227752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705099892999996 meters 0.0162362271962317 Centerline is valid? [True, True] Translation: X:31.99, Y:0.97, Z:0.22 [[ 9.99187202e-01 -3.32644656e-02 -2.27686554e-02 3.19930158e+01] [ 3.32530069e-02 9.99446577e-01 -8.81796648e-04 9.66254949e-01] [ 2.27853872e-02 1.23953669e-04 9.99740372e-01 2.18956395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.735099893 meters 0.016687755417690228 Centerline is valid? [True, True] Translation: X:32.02, Y:0.97, Z:0.22 [[ 9.99449671e-01 -2.41551751e-02 -2.27350495e-02 3.20227751e+01] [ 2.41414347e-02 9.99708167e-01 -8.78679664e-04 9.71340108e-01] [ 2.27496393e-02 3.29339387e-04 9.99741139e-01 2.19546116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765099893 meters 0.017346830571578507 Centerline is valid? [True, True] Translation: X:32.05, Y:0.98, Z:0.22 [[ 9.99588359e-01 -1.80474504e-02 -2.23025132e-02 3.20512775e+01] [ 1.80327208e-02 9.99837026e-01 -8.61399056e-04 9.75222797e-01] [ 2.23144245e-02 4.58869475e-04 9.99750897e-01 2.20404833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.795099893 meters 0.018304050963412297 Centerline is valid? [True, True] Translation: X:32.08, Y:0.98, Z:0.22 [[ 9.99626660e-01 -1.57032065e-02 -2.23595461e-02 3.20800401e+01] [ 1.56877469e-02 9.99876564e-01 -8.66656740e-04 9.77180894e-01] [ 2.23703954e-02 5.15562282e-04 9.99749618e-01 2.20421202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825099893 meters 0.018161382232031707 Centerline is valid? [True, True] Translation: X:32.11, Y:0.98, Z:0.22 [[ 9.99686680e-01 -1.23115991e-02 -2.17937053e-02 3.21088328e+01] [ 1.22959921e-02 9.99924040e-01 -8.49987896e-04 9.76200695e-01] [ 2.18025146e-02 5.81746351e-04 9.99762128e-01 2.21766562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.855099893 meters 0.017472453077764166 Centerline is valid? [True, True] Translation: X:32.14, Y:0.98, Z:0.22 [[ 9.99700955e-01 -1.19872847e-02 -2.13144459e-02 3.21378423e+01] [ 1.19721703e-02 9.99927981e-01 -8.36584136e-04 9.75756356e-01] [ 2.13229392e-02 5.81153784e-04 9.99772471e-01 2.23269375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885099892999996 meters 0.01817684241015402 Centerline is valid? [True, True] Translation: X:32.17, Y:0.98, Z:0.22 [[ 9.99704581e-01 -1.30434628e-02 -2.05090061e-02 3.21654601e+01] [ 1.30296147e-02 9.99914784e-01 -8.08707702e-04 9.75599666e-01] [ 2.05178068e-02 5.41244347e-04 9.99789341e-01 2.23877534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.915099893 meters 0.017831494893633008 Centerline is valid? [True, True] Translation: X:32.20, Y:0.97, Z:0.22 [[ 9.99622122e-01 -1.80648684e-02 -2.07189340e-02 3.21950212e+01] [ 1.80517838e-02 9.99836718e-01 -8.18397387e-04 9.71188397e-01] [ 2.07303352e-02 4.44074415e-04 9.99785005e-01 2.23718793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945099893 meters 0.01589585433709635 Centerline is valid? [True, True] Translation: X:32.22, Y:0.96, Z:0.22 [[ 9.99343193e-01 -2.90796181e-02 -2.16230838e-02 3.22247252e+01] [ 2.90679262e-02 9.99577073e-01 -8.54892372e-04 9.61587467e-01] [ 2.16387988e-02 2.25792668e-04 9.99765828e-01 2.22776101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.975099893 meters 0.015247284630810725 Centerline is valid? [True, True] Translation: X:32.26, Y:0.95, Z:0.22 [[ 9.99071725e-01 -3.65865617e-02 -2.27401032e-02 3.22556618e+01] [ 3.65755637e-02 9.99330485e-01 -8.99511043e-04 9.53733379e-01] [ 2.27577884e-02 6.69439555e-05 9.99741006e-01 2.21386570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.005099893 meters 0.015869235855084315 Centerline is valid? [True, True] Translation: X:32.29, Y:0.95, Z:0.22 [[ 9.98796376e-01 -4.27296978e-02 -2.40826031e-02 3.22880167e+01] [ 4.27191681e-02 9.99086666e-01 -9.51767627e-04 9.47259405e-01] [ 2.41012763e-02 -7.81667114e-05 9.99709519e-01 2.19787684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.035099893 meters 0.015887307558079076 Centerline is valid? [True, True] Translation: X:32.32, Y:0.94, Z:0.22 [[ 9.98610393e-01 -4.71804510e-02 -2.34795329e-02 3.23196576e+01] [ 4.71717218e-02 9.98886366e-01 -9.25808594e-04 9.42523430e-01] [ 2.34970654e-02 -1.83047912e-04 9.99723889e-01 2.19662155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065099893 meters 0.016354439062431766 Centerline is valid? [True, True] Translation: X:32.35, Y:0.94, Z:0.22 [[ 9.98561121e-01 -4.84067203e-02 -2.30754487e-02 3.23521529e+01] [ 4.83986661e-02 9.98827685e-01 -9.07720667e-04 9.42325041e-01] [ 2.30923367e-02 -2.10406368e-04 9.99733314e-01 2.21023756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.095099893 meters 0.0158777420915255 Centerline is valid? [True, True] Translation: X:32.38, Y:0.94, Z:0.22 [[ 9.98538100e-01 -4.98764741e-02 -2.08326568e-02 3.23832702e+01] [ 4.98702560e-02 9.98755369e-01 -8.18215961e-04 9.39663538e-01] [ 2.08475376e-02 -2.21910119e-04 9.99782642e-01 2.22303872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125099893 meters 0.015686059618401048 Centerline is valid? [True, True] Translation: X:32.42, Y:0.94, Z:0.22 [[ 9.98630410e-01 -4.85699367e-02 -1.94490499e-02 3.24153866e+01] [ 4.85642914e-02 9.98819767e-01 -7.62741116e-04 9.40181977e-01] [ 1.94631417e-02 -1.82832851e-04 9.99810558e-01 2.23794487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.155099893 meters 0.01584355148359514 Centerline is valid? [True, True] Translation: X:32.45, Y:0.94, Z:0.23 [[ 9.98787875e-01 -4.57871071e-02 -1.80643813e-02 3.24476018e+01] [ 4.57818041e-02 9.98951213e-01 -7.07214606e-04 9.42191455e-01] [ 1.80778169e-02 -1.20662592e-04 9.99836576e-01 2.25309814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.185099893 meters 0.014599867184610678 Centerline is valid? [True, True] Translation: X:32.48, Y:0.94, Z:0.23 [[ 9.98883320e-01 -4.36039746e-02 -1.81880872e-02 3.24796877e+01] [ 4.35982606e-02 9.99048891e-01 -7.10746114e-04 9.43462084e-01] [ 1.82017797e-02 -8.30165295e-05 9.99834330e-01 2.26019001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.215099893 meters 0.016051188054612357 Centerline is valid? [True, True] Translation: X:32.51, Y:0.94, Z:0.22 [[ 9.98926260e-01 -4.21181017e-02 -1.92974794e-02 3.25117698e+01] [ 4.21114224e-02 9.99112637e-01 -7.52533504e-04 9.43827777e-01] [ 1.93120508e-02 -6.09188258e-05 9.99813503e-01 2.24545023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245099893 meters 0.014760020345069845 Centerline is valid? [True, True] Translation: X:32.54, Y:0.95, Z:0.23 [[ 9.98923265e-01 -4.15944466e-02 -2.05478114e-02 3.25436745e+01] [ 4.15867991e-02 9.99134575e-01 -7.99532411e-04 9.45030129e-01] [ 2.05632849e-02 -5.58461779e-05 9.99788552e-01 2.25613151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.275099893 meters 0.015612058725728909 Centerline is valid? [True, True] Translation: X:32.58, Y:0.94, Z:0.22 [[ 9.98831694e-01 -4.17866114e-02 -2.42719363e-02 3.25756654e+01] [ 4.17760431e-02 9.99126555e-01 -9.42538411e-04 9.44633656e-01] [ 2.42901216e-02 -7.25482193e-05 9.99704949e-01 2.23020084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305099893 meters 0.015612058725728909 Centerline is valid? [True, True] Translation: X:32.61, Y:0.95, Z:0.22 [[ 9.98834732e-01 -4.17138792e-02 -2.42720048e-02 3.26073405e+01] [ 4.17033324e-02 9.99129595e-01 -9.40771515e-04 9.45807331e-01] [ 2.42901215e-02 -7.25482192e-05 9.99704949e-01 2.23411772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.335099893 meters 0.01581559420267554 Centerline is valid? [True, True] Translation: X:32.64, Y:0.94, Z:0.22 [[ 9.98705033e-01 -4.31636757e-02 -2.69287042e-02 3.26392262e+01] [ 4.31512877e-02 9.99068007e-01 -1.04124384e-03 9.43481912e-01] [ 2.69485508e-02 -1.22112802e-04 9.99636814e-01 2.20727888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.365099893 meters 0.015927332209265028 Centerline is valid? [True, True] Translation: X:32.67, Y:0.94, Z:0.22 [[ 9.98617791e-01 -4.45306215e-02 -2.79200852e-02 3.26701127e+01] [ 4.45178831e-02 9.99008006e-01 -1.07797885e-03 9.41934178e-01] [ 2.79403917e-02 -1.66454231e-04 9.99609577e-01 2.20049175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.395099893 meters 0.015297899044184701 Centerline is valid? [True, True] Translation: X:32.70, Y:0.94, Z:0.22 [[ 9.98676081e-01 -4.41811987e-02 -2.63459112e-02 3.27003904e+01] [ 4.41697634e-02 9.99023523e-01 -1.01611820e-03 9.43356265e-01] [ 2.63650783e-02 -1.48919722e-04 9.99652370e-01 2.21451698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425099893 meters 0.016727332096171693 Centerline is valid? [True, True] Translation: X:32.73, Y:0.95, Z:0.22 [[ 9.98748334e-01 -4.35290892e-02 -2.46370249e-02 3.27326463e+01] [ 4.35189310e-02 9.99052152e-01 -9.48589518e-04 9.45214086e-01] [ 2.46549640e-02 -1.24774784e-04 9.99696012e-01 2.23692030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.455099892999996 meters 0.015295478888438675 Centerline is valid? [True, True] Translation: X:32.77, Y:0.94, Z:0.23 [[ 9.98797508e-01 -4.38397199e-02 -2.19457556e-02 3.27653840e+01] [ 4.38317717e-02 9.99038570e-01 -8.43292915e-04 9.44994278e-01] [ 2.19616260e-02 -1.19642488e-04 9.99758807e-01 2.25860282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485099893 meters 0.015773813814852204 Centerline is valid? [True, True] Translation: X:32.80, Y:0.95, Z:0.23 [[ 9.98817082e-01 -4.39176599e-02 -2.08728434e-02 3.27961879e+01] [ 4.39105312e-02 9.99035147e-01 -7.99951048e-04 9.45587261e-01] [ 2.08878361e-02 -1.17532868e-04 9.99781818e-01 2.26374725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.515099893 meters 0.015842687527645685 Centerline is valid? [True, True] Translation: X:32.83, Y:0.95, Z:0.23 [[ 9.98836737e-01 -4.37770584e-02 -2.02173659e-02 3.28282702e+01] [ 4.37703828e-02 9.99041319e-01 -7.72791877e-04 9.47738934e-01] [ 2.02318144e-02 -1.13028926e-04 9.99795310e-01 2.28253636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.545099893 meters 0.013246058761849448 Centerline is valid? [True, True] Translation: X:32.86, Y:0.95, Z:0.23 [[ 9.98935281e-01 -4.23216912e-02 -1.83624089e-02 3.28596452e+01] [ 4.23159672e-02 9.99104033e-01 -7.00327003e-04 9.50819943e-01] [ 1.83755958e-02 -7.74417402e-05 9.99831151e-01 2.32290865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.575099893 meters 0.014620524995942276 Centerline is valid? [True, True] Translation: X:32.89, Y:0.95, Z:0.23 [[ 9.99009687e-01 -4.02317865e-02 -1.90012571e-02 3.28915656e+01] [ 4.02253188e-02 9.99190373e-01 -7.22614805e-04 9.52850423e-01] [ 1.90149453e-02 -4.24324355e-05 9.99819199e-01 2.31035026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605099893 meters 0.015358668623248082 Centerline is valid? [True, True] Translation: X:32.92, Y:0.95, Z:0.23 [[ 9.99108313e-01 -3.74432557e-02 -1.95085022e-02 3.29240707e+01] [ 3.74359344e-02 9.99298755e-01 -7.40474136e-04 9.54188770e-01] [ 1.95225477e-02 9.49485744e-06 9.99809417e-01 2.30410687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.635099892999996 meters 0.014207905485357863 Centerline is valid? [True, True] Translation: X:32.96, Y:0.96, Z:0.23 [[ 9.99216671e-01 -3.48719894e-02 -1.87079981e-02 3.29557809e+01] [ 3.48648307e-02 9.99391786e-01 -7.08769367e-04 9.55932515e-01] [ 1.87213358e-02 5.59629794e-05 9.99824739e-01 2.31411051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665099893 meters 0.0162455164655627 Centerline is valid? [True, True] Translation: X:32.99, Y:0.96, Z:0.23 [[ 9.99257768e-01 -3.30835246e-02 -1.97330799e-02 3.29881263e+01] [ 3.30752403e-02 9.99452586e-01 -7.46130195e-04 9.57684626e-01] [ 1.97469624e-02 9.29000329e-05 9.99805005e-01 2.30332706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.695099893 meters 0.01614507448397138 Centerline is valid? [True, True] Translation: X:33.02, Y:0.96, Z:0.23 [[ 9.99249442e-01 -3.25463816e-02 -2.10068008e-02 3.30197748e+01] [ 3.25369009e-02 9.99470220e-01 -7.93031985e-04 9.57545446e-01] [ 2.10214822e-02 1.08940570e-04 9.99779018e-01 2.28412294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725099893 meters 0.01554765110403713 Centerline is valid? [True, True] Translation: X:33.05, Y:0.96, Z:0.23 [[ 9.99217464e-01 -3.35340655e-02 -2.09744203e-02 3.30498705e+01] [ 3.35248440e-02 9.99437571e-01 -7.91215785e-04 9.56813053e-01] [ 2.09891563e-02 8.74324624e-05 9.99779700e-01 2.28084745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.755099893 meters 0.01595052013939699 Centerline is valid? [True, True] Translation: X:33.08, Y:0.96, Z:0.23 [[ 9.99196283e-01 -3.40898846e-02 -2.10871290e-02 3.30816516e+01] [ 3.40806989e-02 9.99418768e-01 -7.94930454e-04 9.56966384e-01] [ 2.11019716e-02 7.56274609e-05 9.99777326e-01 2.28488146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785099893 meters 0.015313997424176967 Centerline is valid? [True, True] Translation: X:33.11, Y:0.96, Z:0.23 [[ 9.99139084e-01 -3.54625936e-02 -2.15289245e-02 3.31136172e+01] [ 3.54533617e-02 9.99371003e-01 -8.10461967e-04 9.57159283e-01] [ 2.15441240e-02 4.64914785e-05 9.99767897e-01 2.28451498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.815099893 meters 0.015463629022764625 Centerline is valid? [True, True] Translation: X:33.14, Y:0.96, Z:0.23 [[ 9.99049524e-01 -3.70644039e-02 -2.29407531e-02 3.31444420e+01] [ 3.70543698e-02 9.99312879e-01 -8.62465972e-04 9.57901035e-01] [ 2.29569568e-02 1.15910689e-05 9.99736454e-01 2.27394467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845099893 meters 0.015979727074529236 Centerline is valid? [True, True] Translation: X:33.18, Y:0.96, Z:0.23 [[ 9.99005609e-01 -3.87521804e-02 -2.20468162e-02 3.31755611e+01] [ 3.87433364e-02 9.99248852e-01 -8.28302623e-04 9.57186789e-01] [ 2.20623543e-02 -2.66882499e-05 9.99756596e-01 2.27570552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.875099893 meters 0.01401720089031172 Centerline is valid? [True, True] Translation: X:33.21, Y:0.96, Z:0.23 [[ 9.99196043e-01 -3.51552868e-02 -1.92710621e-02 3.32067324e+01] [ 3.51478729e-02 9.99381861e-01 -7.23386261e-04 9.59540223e-01] [ 1.92845808e-02 4.54678477e-05 9.99814034e-01 2.31713086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905099893 meters 0.016867009178639793 Centerline is valid? [True, True] Translation: X:33.24, Y:0.97, Z:0.23 [[ 9.99514260e-01 -2.47854867e-02 -1.88924198e-02 3.32382138e+01] [ 2.47765214e-02 9.99692764e-01 -7.08500149e-04 9.66057977e-01] [ 1.89041759e-02 2.40067558e-04 9.99821271e-01 2.32573299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.935099893 meters 0.016543034113614446 Centerline is valid? [True, True] Translation: X:33.27, Y:0.97, Z:0.23 [[ 9.99635352e-01 -1.97738330e-02 -1.83890760e-02 3.32687850e+01] [ 1.97644993e-02 9.99804426e-01 -6.89187933e-04 9.66735351e-01] [ 1.83991075e-02 3.25485741e-04 9.99830669e-01 2.32628608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965099893 meters 0.016708251187179304 Centerline is valid? [True, True] Translation: X:33.30, Y:0.97, Z:0.23 [[ 9.99689972e-01 -1.70874608e-02 -1.81101808e-02 3.32976564e+01] [ 1.70779619e-02 9.99853930e-01 -6.79046166e-04 9.68439950e-01] [ 1.81191386e-02 3.69550665e-04 9.99835767e-01 2.33057820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.995099893 meters 0.018226260496671354 Centerline is valid? [True, True] Translation: X:33.33, Y:0.97, Z:0.23 [[ 9.99688607e-01 -1.67387788e-02 -1.85067926e-02 3.33258944e+01] [ 1.67287768e-02 9.99859823e-01 -6.95142199e-04 9.70006751e-01] [ 1.85158342e-02 3.85329733e-04 9.99828493e-01 2.32828253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025099893 meters 0.01606276965022121 Centerline is valid? [True, True] Translation: X:33.35, Y:0.97, Z:0.23 [[ 9.99691591e-01 -1.73440173e-02 -1.77738209e-02 3.33537385e+01] [ 1.73348407e-02 9.99849516e-01 -6.70242210e-04 9.68609044e-01] [ 1.77827709e-02 3.61929146e-04 9.99841809e-01 2.34656341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.055099893 meters 0.01825965958755567 Centerline is valid? [True, True] Translation: X:33.38, Y:0.97, Z:0.23 [[ 9.99642591e-01 -1.86406876e-02 -1.91628372e-02 3.33814851e+01] [ 1.86301721e-02 9.99826179e-01 -7.27132328e-04 9.69982027e-01] [ 1.91730606e-02 3.69865489e-04 9.99816112e-01 2.33129963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085099893 meters 0.01825965958755567 Centerline is valid? [True, True] Translation: X:33.41, Y:0.97, Z:0.23 [[ 9.99637372e-01 -1.89186384e-02 -1.91627227e-02 3.34088523e+01] [ 1.89081164e-02 9.99820959e-01 -7.30140011e-04 9.71087714e-01] [ 1.91731050e-02 3.67544251e-04 9.99816112e-01 2.33469094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.115099893 meters 0.016840994966146883 Centerline is valid? [True, True] Translation: X:33.44, Y:0.96, Z:0.23 [[ 9.99536531e-01 -2.30794412e-02 -1.98509956e-02 3.34379044e+01] [ 2.30688611e-02 9.99733588e-01 -7.61834190e-04 9.64904706e-01] [ 1.98632897e-02 3.03541243e-04 9.99802659e-01 2.33317572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145099893 meters 0.014488783925631183 Centerline is valid? [True, True] Translation: X:33.47, Y:0.96, Z:0.23 [[ 9.99456692e-01 -2.63165792e-02 -1.98433438e-02 3.34668913e+01] [ 2.63065449e-02 9.99653629e-01 -7.66581367e-04 9.63005934e-01] [ 1.98566445e-02 2.44155061e-04 9.99802808e-01 2.34562227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.175099893 meters 0.015517954316824886 Centerline is valid? [True, True] Translation: X:33.50, Y:0.96, Z:0.23 [[ 9.99244525e-01 -3.25549034e-02 -2.12263592e-02 3.34967741e+01] [ 3.25447591e-02 9.99469940e-01 -8.23266039e-04 9.58947411e-01] [ 2.12419093e-02 1.31837334e-04 9.99774356e-01 2.33528048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205099892999996 meters 0.015175347320654857 Centerline is valid? [True, True] Translation: X:33.53, Y:0.96, Z:0.24 [[ 9.99011545e-01 -3.92410563e-02 -2.08823500e-02 3.35272572e+01] [ 3.92327013e-02 9.99229773e-01 -8.09788185e-04 9.55032199e-01] [ 2.08980428e-02 -1.02832539e-05 9.99781612e-01 2.35051454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.235099893 meters 0.01649979090460152 Centerline is valid? [True, True] Translation: X:33.56, Y:0.95, Z:0.23 [[ 9.98584423e-01 -4.85478420e-02 -2.17314627e-02 3.35592435e+01] [ 4.85410073e-02 9.98820835e-01 -8.42205996e-04 9.46123462e-01] [ 2.17467250e-02 -2.13853301e-04 9.99763489e-01 2.32909592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265099893 meters 0.016987103757467627 Centerline is valid? [True, True] Translation: X:33.59, Y:0.94, Z:0.23 [[ 9.98480369e-01 -5.06572236e-02 -2.16978819e-02 3.35916370e+01] [ 5.06509371e-02 9.98716065e-01 -8.39558262e-04 9.44714210e-01] [ 2.17125529e-02 -2.60735606e-04 9.99764221e-01 2.32980814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.295099893 meters 0.017282124303432535 Centerline is valid? [True, True] Translation: X:33.62, Y:0.94, Z:0.23 [[ 9.98301760e-01 -5.44431832e-02 -2.07252411e-02 3.36224725e+01] [ 5.44382871e-02 9.98516816e-01 -8.00768256e-04 9.42327251e-01] [ 2.07380981e-02 -3.28838265e-04 9.99784888e-01 2.33828750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325099893 meters 0.017100156479468 Centerline is valid? [True, True] Translation: X:33.65, Y:0.94, Z:0.24 [[ 9.98130094e-01 -5.83847981e-02 -1.80978158e-02 3.36549267e+01] [ 5.83817266e-02 9.98294088e-01 -6.98455519e-04 9.41070354e-01] [ 1.81077217e-02 -3.59432262e-04 9.99835977e-01 2.36271843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.355099893 meters 0.018443905335290074 Centerline is valid? [True, True] Translation: X:33.69, Y:0.94, Z:0.24 [[ 9.98019054e-01 -6.00793563e-02 -1.86665018e-02 3.36867187e+01] [ 6.00764105e-02 9.98193522e-01 -7.19036918e-04 9.41792066e-01] [ 1.86759805e-02 -4.03803880e-04 9.99825507e-01 2.35499484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385099892999996 meters 0.020463878739683267 Centerline is valid? [True, True] Translation: X:33.72, Y:0.94, Z:0.24 [[ 9.97671621e-01 -6.57512453e-02 -1.81138202e-02 3.37173308e+01] [ 6.57494230e-02 9.97835922e-01 -6.96763514e-04 9.38658465e-01] [ 1.81204336e-02 -4.95832045e-04 9.99835689e-01 2.36162168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.415099893 meters 0.02110118596806277 Centerline is valid? [True, True] Translation: X:33.75, Y:0.94, Z:0.24 [[ 9.97461985e-01 -6.84069963e-02 -1.97502219e-02 3.37495336e+01] [ 6.84053651e-02 9.97657321e-01 -7.58948133e-04 9.39627548e-01] [ 1.97558708e-02 -5.93999228e-04 9.99804657e-01 2.35466565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445099893 meters 0.021297145522071237 Centerline is valid? [True, True] Translation: X:33.78, Y:0.94, Z:0.24 [[ 9.97435859e-01 -6.84921552e-02 -2.07492460e-02 3.37807694e+01] [ 6.84904012e-02 9.97651458e-01 -7.95994324e-04 9.41116163e-01] [ 2.07550349e-02 -6.27170901e-04 9.99784394e-01 2.35050681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.475099893 meters 0.021375152470741895 Centerline is valid? [True, True] Translation: X:33.81, Y:0.94, Z:0.24 [[ 9.97458843e-01 -6.80735434e-02 -2.10202088e-02 3.38127897e+01] [ 6.80716767e-02 9.97680108e-01 -8.05142569e-04 9.43443880e-01] [ 2.10262531e-02 -6.27784283e-04 9.99778727e-01 2.35099939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.505099893 meters 0.0198693512401405 Centerline is valid? [True, True] Translation: X:33.84, Y:0.95, Z:0.24 [[ 9.97532478e-01 -6.69668704e-02 -2.10806318e-02 3.38445069e+01] [ 6.69647771e-02 9.97755015e-01 -8.05985071e-04 9.48605608e-01] [ 2.10872804e-02 -6.07663526e-04 9.99777454e-01 2.36183406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.535099893 meters 0.020534353720495006 Centerline is valid? [True, True] Translation: X:33.88, Y:0.95, Z:0.24 [[ 9.97636748e-01 -6.51995043e-02 -2.16781970e-02 3.38754045e+01] [ 6.51969041e-02 9.97872075e-01 -8.27434122e-04 9.49986472e-01] [ 2.16860157e-02 -5.87872645e-04 9.99764658e-01 2.35784091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565099893 meters 0.0173372071943234 Centerline is valid? [True, True] Translation: X:33.91, Y:0.96, Z:0.24 [[ 9.97953922e-01 -6.02889355e-02 -2.12888362e-02 3.39068258e+01] [ 6.02853351e-02 9.98180855e-01 -8.11443737e-04 9.60135689e-01] [ 2.12990298e-02 -4.73621166e-04 9.99773038e-01 2.38658523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.595099893 meters 0.016085698507826037 Centerline is valid? [True, True] Translation: X:33.94, Y:0.97, Z:0.24 [[ 9.98546685e-01 -4.88930158e-02 -2.26713564e-02 3.39366306e+01] [ 4.88860111e-02 9.98803991e-01 -8.63424369e-04 9.73617591e-01] [ 2.26864567e-02 -2.46142640e-04 9.99742599e-01 2.40130997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625099893 meters 0.015751169076842046 Centerline is valid? [True, True] Translation: X:33.97, Y:0.98, Z:0.24 [[ 9.98891098e-01 -4.12756524e-02 -2.26471829e-02 3.39679347e+01] [ 4.12667215e-02 9.99147794e-01 -8.61755324e-04 9.81624211e-01] [ 2.26634523e-02 -7.37752669e-05 9.99743148e-01 2.41053743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.655099893 meters 0.01489039556057769 Centerline is valid? [True, True] Translation: X:34.00, Y:0.99, Z:0.24 [[ 9.99030484e-01 -3.81125392e-02 -2.20346800e-02 3.39999878e+01] [ 3.81033502e-02 9.99273453e-01 -8.36877872e-04 9.85992774e-01] [ 2.20505663e-02 -3.52862285e-06 9.99756857e-01 2.42650859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.685099893 meters 0.01687223032914186 Centerline is valid? [True, True] Translation: X:34.03, Y:0.99, Z:0.24 [[ 9.99132894e-01 -3.50081287e-02 -2.25364346e-02 3.40320699e+01] [ 3.49977640e-02 9.99387025e-01 -8.54277267e-04 9.89566513e-01] [ 2.25525270e-02 6.48116976e-05 9.99745657e-01 2.42458074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.715099893 meters 0.01676751737384166 Centerline is valid? [True, True] Translation: X:34.06, Y:0.99, Z:0.24 [[ 9.99302379e-01 -2.94860377e-02 -2.29200474e-02 3.40626149e+01] [ 2.94738858e-02 9.99565174e-01 -8.67895611e-04 9.94773433e-01] [ 2.29356720e-02 1.91747288e-04 9.99736924e-01 2.42245280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745099893 meters 0.01651926657175633 Centerline is valid? [True, True] Translation: X:34.09, Y:1.00, Z:0.24 [[ 9.99386537e-01 -2.54185380e-02 -2.40924647e-02 3.40914178e+01] [ 2.54039188e-02 9.99676852e-01 -9.12716718e-04 1.00002339e+00] [ 2.41078792e-02 3.00113783e-04 9.99709318e-01 2.41698867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.775099893 meters 0.017349867895428275 Centerline is valid? [True, True] Translation: X:34.12, Y:1.00, Z:0.24 [[ 9.99403943e-01 -2.37828418e-02 -2.50226982e-02 3.41197051e+01] [ 2.37664675e-02 9.99717085e-01 -9.51616465e-04 1.00425058e+00] [ 2.50382510e-02 3.56348104e-04 9.99686430e-01 2.40827437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805099893 meters 0.015955862703078073 Centerline is valid? [True, True] Translation: X:34.15, Y:1.01, Z:0.24 [[ 9.99392264e-01 -2.51144258e-02 -2.41737277e-02 3.41480953e+01] [ 2.50993885e-02 9.99684532e-01 -9.25316790e-04 1.00656761e+00] [ 2.41893405e-02 3.18008658e-04 9.99707345e-01 2.42538670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.835099893 meters 0.01734206743469896 Centerline is valid? [True, True] Translation: X:34.18, Y:1.01, Z:0.24 [[ 9.99306572e-01 -2.88977909e-02 -2.34796164e-02 3.41758943e+01] [ 2.88845431e-02 9.99582346e-01 -9.03248397e-04 1.00664736e+00] [ 2.34959119e-02 2.24424068e-04 9.99723908e-01 2.42247057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.865099893 meters 0.01650668418274873 Centerline is valid? [True, True] Translation: X:34.20, Y:1.00, Z:0.24 [[ 9.99129459e-01 -3.50208003e-02 -2.26686401e-02 3.42043035e+01] [ 3.50099791e-02 9.99386580e-01 -8.74176822e-04 1.00409671e+00] [ 2.26853491e-02 7.97871987e-05 9.99742651e-01 2.42241343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.895099893 meters 0.01552732926946843 Centerline is valid? [True, True] Translation: X:34.24, Y:1.00, Z:0.24 [[ 9.98874317e-01 -4.23294996e-02 -2.14082483e-02 3.42358638e+01] [ 4.23215202e-02 9.99103702e-01 -8.25857967e-04 1.00132502e+00] [ 2.14240183e-02 -8.11013001e-05 9.99770476e-01 2.44114682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925099893 meters 0.016748848720364088 Centerline is valid? [True, True] Translation: X:34.27, Y:1.00, Z:0.24 [[ 9.98568354e-01 -4.94740747e-02 -2.03361515e-02 3.42666999e+01] [ 4.94683699e-02 9.98775383e-01 -7.83785796e-04 9.98218082e-01] [ 2.03500246e-02 -2.23332576e-04 9.99792892e-01 2.44311335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.955099892999996 meters 0.017121851461829877 Centerline is valid? [True, True] Translation: X:34.30, Y:1.00, Z:0.25 [[ 9.98427529e-01 -5.24906784e-02 -1.96773582e-02 3.42983824e+01] [ 5.24859391e-02 9.98621376e-01 -7.57573698e-04 9.97224210e-01] [ 1.96899961e-02 -2.76402188e-04 9.99806095e-01 2.45094199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985099893 meters 0.017547160751046054 Centerline is valid? [True, True] Translation: X:34.33, Y:1.00, Z:0.25 [[ 9.98163224e-01 -5.75353553e-02 -1.89699857e-02 3.43303260e+01] [ 5.75318821e-02 9.98343403e-01 -7.29230895e-04 9.95859865e-01] [ 1.89805167e-02 -3.63487520e-04 9.99819788e-01 2.47052128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.015099893 meters 0.01842619569314792 Centerline is valid? [True, True] Translation: X:34.36, Y:0.99, Z:0.25 [[ 9.97894981e-01 -6.19521858e-02 -1.91711902e-02 3.43619058e+01] [ 6.19494772e-02 9.98079015e-01 -7.35698077e-04 9.93657926e-01] [ 1.91799407e-02 -4.53495789e-04 9.99815945e-01 2.47787861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045099893 meters 0.018614963629056885 Centerline is valid? [True, True] Translation: X:34.39, Y:0.99, Z:0.25 [[ 9.97644240e-01 -6.57194450e-02 -1.96704128e-02 3.43942214e+01] [ 6.57173491e-02 9.97837994e-01 -7.53638300e-04 9.94960437e-01] [ 1.96774139e-02 -5.40824473e-04 9.99806235e-01 2.47949279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.075099893 meters 0.02031178700062949 Centerline is valid? [True, True] Translation: X:34.43, Y:0.99, Z:0.25 [[ 9.97406144e-01 -6.93456409e-02 -1.92915823e-02 3.44257159e+01] [ 6.93443269e-02 9.97592512e-01 -7.37857975e-04 9.92429944e-01] [ 1.92963053e-02 -6.01817713e-04 9.99813628e-01 2.47826857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105099893 meters 0.021624911792290476 Centerline is valid? [True, True] Translation: X:34.46, Y:0.99, Z:0.25 [[ 9.97139166e-01 -7.28016005e-02 -2.03324796e-02 3.44564497e+01] [ 7.28008758e-02 9.97346193e-01 -7.76815827e-04 9.92054673e-01] [ 2.03350746e-02 -7.05628839e-04 9.99792972e-01 2.46288151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.135099892999996 meters 0.02196764276629835 Centerline is valid? [True, True] Translation: X:34.49, Y:0.99, Z:0.24 [[ 9.96924171e-01 -7.50629584e-02 -2.25332990e-02 3.44888037e+01] [ 7.50626675e-02 9.97178448e-01 -8.59916898e-04 9.92889146e-01] [ 2.25342680e-02 -8.34137590e-04 9.99745723e-01 2.44711376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165099893 meters 0.021244353498351062 Centerline is valid? [True, True] Translation: X:34.52, Y:1.00, Z:0.24 [[ 9.96792774e-01 -7.64793090e-02 -2.35601628e-02 3.45210191e+01] [ 7.64794275e-02 9.97070756e-01 -8.97352594e-04 9.95615168e-01] [ 2.35597783e-02 -9.07393183e-04 9.99722018e-01 2.44415760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.195099893 meters 0.02204185103979789 Centerline is valid? [True, True] Translation: X:34.55, Y:1.00, Z:0.24 [[ 9.96743690e-01 -7.71305001e-02 -2.35138877e-02 3.45521217e+01] [ 7.71308343e-02 9.97020579e-01 -8.94086451e-04 9.96475391e-01] [ 2.35127913e-02 -9.22470749e-04 9.99723111e-01 2.43890373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225099893 meters 0.02204185103979789 Centerline is valid? [True, True] Translation: X:34.58, Y:1.00, Z:0.24 [[ 9.96751917e-01 -7.70240902e-02 -2.35139583e-02 3.45846685e+01] [ 7.70244387e-02 9.97028806e-01 -8.92226125e-04 9.97622612e-01] [ 2.35128167e-02 -9.21821343e-04 9.99723111e-01 2.44292920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.255099893 meters 0.022618076825492866 Centerline is valid? [True, True] Translation: X:34.62, Y:1.00, Z:0.24 [[ 9.96735103e-01 -7.69422090e-02 -2.44750897e-02 3.46165998e+01] [ 7.69426174e-02 9.97035092e-01 -9.26439931e-04 1.00172876e+00] [ 2.44738056e-02 -9.59762261e-04 9.99700011e-01 2.43820742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285099893 meters 0.023658283543829116 Centerline is valid? [True, True] Translation: X:34.65, Y:1.01, Z:0.24 [[ 9.96725188e-01 -7.74527724e-02 -2.32371871e-02 3.46480609e+01] [ 7.74533123e-02 9.96995593e-01 -8.78139996e-04 1.00514942e+00] [ 2.32353875e-02 -9.24532854e-04 9.99729594e-01 2.44212561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.315099892999996 meters 0.023235374251458614 Centerline is valid? [True, True] Translation: X:34.68, Y:1.01, Z:0.25 [[ 9.96701980e-01 -7.76976552e-02 -2.34144831e-02 3.46799606e+01] [ 7.76983053e-02 9.96976526e-01 -8.83369313e-04 1.01238530e+00] [ 2.34123257e-02 -9.38809711e-04 9.99725453e-01 2.45701547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345099893 meters 0.022980798115661394 Centerline is valid? [True, True] Translation: X:34.71, Y:1.02, Z:0.25 [[ 9.96692273e-01 -7.79137852e-02 -2.31074726e-02 3.47118360e+01] [ 7.79145144e-02 9.96959664e-01 -8.70137552e-04 1.01518983e+00] [ 2.31050138e-02 -9.33148129e-04 9.99732608e-01 2.46596329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.375099893 meters 0.022938813024570452 Centerline is valid? [True, True] Translation: X:34.74, Y:1.02, Z:0.25 [[ 9.96729698e-01 -7.73644386e-02 -2.33378128e-02 3.47442651e+01] [ 7.73650761e-02 9.97002445e-01 -8.76929032e-04 1.02227645e+00] [ 2.33356995e-02 -9.31470449e-04 9.99727252e-01 2.46984128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405099893 meters 0.02281399863261324 Centerline is valid? [True, True] Translation: X:34.78, Y:1.03, Z:0.25 [[ 9.96844821e-01 -7.60079335e-02 -2.28734778e-02 3.47757116e+01] [ 7.60082313e-02 9.97106821e-01 -8.57641486e-04 1.02795367e+00] [ 2.28724883e-02 -8.83637116e-04 9.99738000e-01 2.48648723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.435099893 meters 0.01950819873392873 Centerline is valid? [True, True] Translation: X:34.81, Y:1.04, Z:0.25 [[ 9.97300239e-01 -6.99077486e-02 -2.24753132e-02 3.48059354e+01] [ 6.99065134e-02 9.97553192e-01 -8.41598941e-04 1.03907777e+00] [ 2.24791547e-02 -7.31843957e-04 9.99747044e-01 2.50696908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465099893 meters 0.019619671364455533 Centerline is valid? [True, True] Translation: X:34.84, Y:1.04, Z:0.25 [[ 9.97522062e-01 -6.64918122e-02 -2.29907483e-02 3.48363148e+01] [ 6.64896248e-02 9.97786746e-01 -8.60400551e-04 1.04299090e+00] [ 2.29970735e-02 -6.70377696e-04 9.99735308e-01 2.49692024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.495099893 meters 0.018764936875702923 Centerline is valid? [True, True] Translation: X:34.87, Y:1.05, Z:0.25 [[ 9.97658809e-01 -6.42356810e-02 -2.34665286e-02 3.48687105e+01] [ 6.42328028e-02 9.97934556e-01 -8.77173177e-04 1.04735166e+00] [ 2.34744056e-02 -6.32201355e-04 9.99724238e-01 2.49732469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525099893 meters 0.018470442941730184 Centerline is valid? [True, True] Translation: X:34.90, Y:1.05, Z:0.25 [[ 9.97699684e-01 -6.36286692e-02 -2.33823013e-02 3.49000407e+01] [ 6.36256799e-02 9.97973452e-01 -8.72536430e-04 1.04837438e+00] [ 2.33904343e-02 -6.17185497e-04 9.99726216e-01 2.50380152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.555099893 meters 0.01874696880053007 Centerline is valid? [True, True] Translation: X:34.93, Y:1.05, Z:0.25 [[ 9.97800088e-01 -6.20768690e-02 -2.32690112e-02 3.49314093e+01] [ 6.20735158e-02 9.98071203e-01 -8.67068714e-04 1.05018479e+00] [ 2.32779549e-02 -5.79228094e-04 9.99728864e-01 2.49797324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.585099893 meters 0.017373947848609586 Centerline is valid? [True, True] Translation: X:34.96, Y:1.05, Z:0.25 [[ 9.97888982e-01 -6.08636619e-02 -2.26538121e-02 3.49636550e+01] [ 6.08602021e-02 9.98145944e-01 -8.42777246e-04 1.05207542e+00] [ 2.26631051e-02 -5.37717453e-04 9.99743014e-01 2.50401856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.615099893 meters 0.01798105097436095 Centerline is valid? [True, True] Translation: X:34.99, Y:1.05, Z:0.25 [[ 9.98016741e-01 -5.87297940e-02 -2.26582237e-02 3.49947933e+01] [ 5.87258362e-02 9.98273795e-01 -8.40606248e-04 1.05321576e+00] [ 2.26684795e-02 -4.91684022e-04 9.99742916e-01 2.49653632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645099893 meters 0.016548800318120293 Centerline is valid? [True, True] Translation: X:35.03, Y:1.06, Z:0.25 [[ 9.98096345e-01 -5.75631843e-02 -2.21396940e-02 3.50267019e+01] [ 5.75591719e-02 9.98341761e-01 -8.18968469e-04 1.05500821e+00] [ 2.21501236e-02 -4.56933019e-04 9.99754551e-01 2.51530037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.675099893 meters 0.017076697000181988 Centerline is valid? [True, True] Translation: X:35.06, Y:1.06, Z:0.25 [[ 9.98261819e-01 -5.44924867e-02 -2.24479152e-02 3.50590708e+01] [ 5.44876219e-02 9.98514102e-01 -8.28757072e-04 1.05820464e+00] [ 2.24597209e-02 -3.95816973e-04 9.99747670e-01 2.51361671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705099892999996 meters 0.01697079303888265 Centerline is valid? [True, True] Translation: X:35.09, Y:1.06, Z:0.25 [[ 9.98411961e-01 -5.14892440e-02 -2.28563836e-02 3.50900161e+01] [ 5.14834472e-02 9.98673493e-01 -8.42373596e-04 1.06137068e+00] [ 2.28694376e-02 -3.35689544e-04 9.99738404e-01 2.51415528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.735099893 meters 0.016720982201499857 Centerline is valid? [True, True] Translation: X:35.12, Y:1.06, Z:0.25 [[ 9.98554119e-01 -4.82229850e-02 -2.37531946e-02 3.51221065e+01] [ 4.82158361e-02 9.98836558e-01 -8.73928179e-04 1.06496816e+00] [ 2.37677026e-02 -2.72615557e-04 9.99717471e-01 2.51829489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765099893 meters 0.015101423951889112 Centerline is valid? [True, True] Translation: X:35.15, Y:1.07, Z:0.25 [[ 9.98725162e-01 -4.43664733e-02 -2.40762877e-02 3.51538317e+01] [ 4.43580501e-02 9.99015306e-01 -8.84070426e-04 1.06828809e+00] [ 2.40918031e-02 -1.85033799e-04 9.99709733e-01 2.52423726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.795099893 meters 0.015453345989850015 Centerline is valid? [True, True] Translation: X:35.18, Y:1.07, Z:0.25 [[ 9.98906371e-01 -3.99808692e-02 -2.42402941e-02 3.51849662e+01] [ 3.99710772e-02 9.99200442e-01 -8.88543243e-04 1.07172852e+00] [ 2.42564373e-02 -8.13391585e-05 9.99705766e-01 2.51896634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825099893 meters 0.015921486876416216 Centerline is valid? [True, True] Translation: X:35.22, Y:1.08, Z:0.26 [[ 9.99176649e-01 -3.38116251e-02 -2.24231535e-02 3.52165966e+01] [ 3.38017224e-02 9.99428222e-01 -8.20610251e-04 1.07681527e+00] [ 2.24380786e-02 6.19933926e-05 9.99748233e-01 2.55064129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.855099893 meters 0.015924234825872817 Centerline is valid? [True, True] Translation: X:35.25, Y:1.08, Z:0.26 [[ 9.99283517e-01 -3.14928553e-02 -2.09917343e-02 3.52481807e+01] [ 3.14836885e-02 9.99503971e-01 -7.67110840e-04 1.07809581e+00] [ 2.10054803e-02 1.05663996e-04 9.99779355e-01 2.56645798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885099892999996 meters 0.015912264579211355 Centerline is valid? [True, True] Translation: X:35.28, Y:1.08, Z:0.26 [[ 9.99303079e-01 -3.09652420e-02 -2.08449195e-02 3.52796183e+01] [ 3.09561034e-02 9.99520455e-01 -7.61014352e-04 1.07828254e+00] [ 2.08584885e-02 1.15206500e-04 9.99782431e-01 2.56831343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.915099893 meters 0.01731277033329371 Centerline is valid? [True, True] Translation: X:35.31, Y:1.08, Z:0.25 [[ 9.99255345e-01 -3.17668533e-02 -2.19002696e-02 3.53108661e+01] [ 3.17569757e-02 9.99495301e-01 -7.98747742e-04 1.07656502e+00] [ 2.19145903e-02 1.02666619e-04 9.99759841e-01 2.54347073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945099893 meters 0.013972134733819818 Centerline is valid? [True, True] Translation: X:35.34, Y:1.07, Z:0.25 [[ 9.99077769e-01 -3.64948122e-02 -2.26216871e-02 3.53418629e+01] [ 3.64855031e-02 9.99333842e-01 -8.24247571e-04 1.07296019e+00] [ 2.26366983e-02 -1.87621094e-06 9.99743757e-01 2.54587644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.975099893 meters 0.0171304973931026 Centerline is valid? [True, True] Translation: X:35.37, Y:1.07, Z:0.25 [[ 9.98981169e-01 -3.80112878e-02 -2.43262611e-02 3.53742995e+01] [ 3.80010040e-02 9.99277309e-01 -8.85051991e-04 1.07264004e+00] [ 2.43423227e-02 -4.02720747e-05 9.99703681e-01 2.52065690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.005099893 meters 0.015258260801589714 Centerline is valid? [True, True] Translation: X:35.41, Y:1.07, Z:0.25 [[ 9.98778360e-01 -4.25768178e-02 -2.50799104e-02 3.54069500e+01] [ 4.25673709e-02 9.99093184e-01 -9.10670432e-04 1.07050847e+00] [ 2.50959410e-02 -1.58027930e-04 9.99685035e-01 2.52850236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.035099893 meters 0.016710117399691256 Centerline is valid? [True, True] Translation: X:35.44, Y:1.07, Z:0.25 [[ 9.98531780e-01 -4.75926855e-02 -2.58693005e-02 3.54396309e+01] [ 4.75843660e-02 9.98866783e-01 -9.37440595e-04 1.06728293e+00] [ 2.58846003e-02 -2.94910038e-04 9.99664894e-01 2.51510352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.065099892999996 meters 0.01656171737261623 Centerline is valid? [True, True] Translation: X:35.47, Y:1.07, Z:0.25 [[ 9.98409727e-01 -5.05049992e-02 -2.50452016e-02 3.54707278e+01] [ 5.04981562e-02 9.98723743e-01 -9.06021386e-04 1.06508240e+00] [ 2.50589961e-02 -3.60155939e-04 9.99685909e-01 2.51980125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.095099893 meters 0.0174278256343602 Centerline is valid? [True, True] Translation: X:35.50, Y:1.06, Z:0.26 [[ 9.98164906e-01 -5.63314232e-02 -2.22169261e-02 3.55030771e+01] [ 5.63275098e-02 9.98412023e-01 -8.02393079e-04 1.06377503e+00] [ 2.22268461e-02 -4.50503512e-04 9.99752852e-01 2.55337749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125099893 meters 0.019065294763738774 Centerline is valid? [True, True] Translation: X:35.53, Y:1.06, Z:0.26 [[ 9.98102136e-01 -5.79725316e-02 -2.07680603e-02 3.55346268e+01] [ 5.79694939e-02 9.98318074e-01 -7.48763598e-04 1.06217692e+00] [ 2.07765377e-02 -4.56571401e-04 9.99784040e-01 2.55734592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.155099893 meters 0.01834696296689027 Centerline is valid? [True, True] Translation: X:35.57, Y:1.06, Z:0.26 [[ 9.98082544e-01 -5.91428495e-02 -1.82581180e-02 3.55666576e+01] [ 5.91407159e-02 9.98249440e-01 -6.57255394e-04 1.06186498e+00] [ 1.82650280e-02 -4.23803033e-04 9.99833091e-01 2.58023258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.185099893 meters 0.01802305953822318 Centerline is valid? [True, True] Translation: X:35.60, Y:1.06, Z:0.26 [[ 9.98052996e-01 -6.02614234e-02 -1.60865496e-02 3.55991765e+01] [ 6.02599291e-02 9.98182552e-01 -5.78028770e-04 1.06093752e+00] [ 1.60921460e-02 -3.92470994e-04 9.99870436e-01 2.59639988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.215099893 meters 0.019504226677923706 Centerline is valid? [True, True] Translation: X:35.63, Y:1.06, Z:0.26 [[ 9.97940755e-01 -6.19024788e-02 -1.68027746e-02 3.56308374e+01] [ 6.19011009e-02 9.98082106e-01 -6.02586839e-04 1.05884085e+00] [ 1.68078503e-02 -4.38764281e-04 9.99858642e-01 2.58659690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245099893 meters 0.019913787618995312 Centerline is valid? [True, True] Translation: X:35.66, Y:1.06, Z:0.26 [[ 9.97763525e-01 -6.37674291e-02 -2.00415155e-02 3.56615778e+01] [ 6.37658664e-02 9.97964628e-01 -7.17662418e-04 1.05709632e+00] [ 2.00464870e-02 -5.61907214e-04 9.99798891e-01 2.56170849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.275099893 meters 0.02000007403154092 Centerline is valid? [True, True] Translation: X:35.69, Y:1.06, Z:0.25 [[ 9.97626193e-01 -6.45663761e-02 -2.39408032e-02 3.56937082e+01] [ 6.45644090e-02 9.97913175e-01 -8.55937760e-04 1.05725107e+00] [ 2.39461077e-02 -6.91817880e-04 9.99713011e-01 2.53025579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305099893 meters 0.019721424534205792 Centerline is valid? [True, True] Translation: X:35.73, Y:1.06, Z:0.25 [[ 9.97608270e-01 -6.34503582e-02 -2.74188234e-02 3.57253779e+01] [ 6.34474423e-02 9.97984703e-01 -9.77203326e-04 1.05958642e+00] [ 2.74255702e-02 -7.64788094e-04 9.99623556e-01 2.51125290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.335099893 meters 0.020194161290056037 Centerline is valid? [True, True] Translation: X:35.76, Y:1.06, Z:0.25 [[ 9.97790792e-01 -5.96277611e-02 -2.92927562e-02 3.57575181e+01] [ 5.96228763e-02 9.98220431e-01 -1.04095490e-03 1.06346999e+00] [ 2.93026975e-02 -7.07863164e-04 9.99570333e-01 2.49735232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.365099893 meters 0.01674902488549114 Centerline is valid? [True, True] Translation: X:35.79, Y:1.07, Z:0.25 [[ 9.98176849e-01 -5.32552176e-02 -2.84052820e-02 3.57889762e+01] [ 5.32480939e-02 9.98580805e-01 -1.00768176e-03 1.07135646e+00] [ 2.84186337e-02 -5.06682519e-04 9.99595981e-01 2.53367147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.395099893 meters 0.01581111681679729 Centerline is valid? [True, True] Translation: X:35.82, Y:1.08, Z:0.26 [[ 9.98704923e-01 -4.31011536e-02 -2.70327145e-02 3.58188402e+01] [ 4.30910389e-02 9.99070692e-01 -9.56864914e-04 1.08051599e+00] [ 2.70488347e-02 -2.09242051e-04 9.99634091e-01 2.55112675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425099893 meters 0.017407239007141955 Centerline is valid? [True, True] Translation: X:35.85, Y:1.09, Z:0.26 [[ 9.99151967e-01 -3.21065381e-02 -2.57782314e-02 3.58501101e+01] [ 3.20937236e-02 9.99484449e-01 -9.10786496e-04 1.09094619e+00] [ 2.57941836e-02 8.26946836e-05 9.99667271e-01 2.56496556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.455099892999996 meters 0.01680940332718097 Centerline is valid? [True, True] Translation: X:35.88, Y:1.10, Z:0.26 [[ 9.99476771e-01 -2.23205624e-02 -2.34088952e-02 3.58795054e+01] [ 2.23073163e-02 9.99750819e-01 -8.26867433e-04 1.10029217e+00] [ 2.34215183e-02 3.04245162e-04 9.99725632e-01 2.59441482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485099893 meters 0.01599475576923384 Centerline is valid? [True, True] Translation: X:35.91, Y:1.10, Z:0.26 [[ 9.99694053e-01 -1.47309948e-02 -1.98695188e-02 3.59085650e+01] [ 1.47199415e-02 9.99891409e-01 -7.02440779e-04 1.10490714e+00] [ 1.98777088e-02 4.09747716e-04 9.99802335e-01 2.63494852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.515099893 meters 0.018085286583045024 Centerline is valid? [True, True] Translation: X:35.94, Y:1.11, Z:0.26 [[ 9.99771345e-01 -1.02933655e-02 -1.87431160e-02 3.59372737e+01] [ 1.02827325e-02 9.99946911e-01 -6.63594336e-04 1.10842448e+00] [ 1.87489515e-02 4.70712156e-04 9.99824112e-01 2.63719672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545099893 meters 0.018408950770906048 Centerline is valid? [True, True] Translation: X:35.97, Y:1.11, Z:0.26 [[ 9.99710931e-01 -1.11825412e-02 -2.12839363e-02 3.59650735e+01] [ 1.11689606e-02 9.99937339e-01 -7.56837765e-04 1.10697308e+00] [ 2.12910660e-02 5.18899540e-04 9.99773185e-01 2.63013146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.575099893 meters 0.01824368386454215 Centerline is valid? [True, True] Translation: X:35.99, Y:1.10, Z:0.26 [[ 9.99611842e-01 -1.53578230e-02 -2.32444129e-02 3.59942481e+01] [ 1.53426456e-02 9.99881949e-01 -8.31160119e-04 1.10336779e+00] [ 2.32544336e-02 4.74206710e-04 9.99729467e-01 2.61666461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605099893 meters 0.01751523295832164 Centerline is valid? [True, True] Translation: X:36.02, Y:1.10, Z:0.26 [[ 9.99543743e-01 -1.82065936e-02 -2.41003409e-02 3.60218143e+01] [ 1.81910443e-02 9.99834156e-01 -8.64286905e-04 1.10169640e+00] [ 2.41120797e-02 4.25482199e-04 9.99709171e-01 2.60919714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.635099892999996 meters 0.016895168233940595 Centerline is valid? [True, True] Translation: X:36.05, Y:1.09, Z:0.26 [[ 9.99378390e-01 -2.41825920e-02 -2.56522206e-02 3.60512002e+01] [ 2.41668721e-02 9.99707513e-01 -9.22697343e-04 1.09445520e+00] [ 2.56670309e-02 3.02189850e-04 9.99670502e-01 2.59314756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665099893 meters 0.016970775867562786 Centerline is valid? [True, True] Translation: X:36.08, Y:1.09, Z:0.26 [[ 9.99306122e-01 -2.70279600e-02 -2.56274027e-02 3.60788645e+01] [ 2.70131378e-02 9.99634651e-01 -9.24455834e-04 1.09241134e+00] [ 2.56430259e-02 2.31537815e-04 9.99671137e-01 2.58570126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.695099893 meters 0.01746721500168092 Centerline is valid? [True, True] Translation: X:36.11, Y:1.09, Z:0.26 [[ 9.99232842e-01 -2.99427176e-02 -2.52420616e-02 3.61073142e+01] [ 2.99291459e-02 9.99551604e-01 -9.15373457e-04 1.09069011e+00] [ 2.52581519e-02 1.59197879e-04 9.99680949e-01 2.59298043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725099893 meters 0.016208387962374036 Centerline is valid? [True, True] Translation: X:36.14, Y:1.09, Z:0.26 [[ 9.99045124e-01 -3.66143849e-02 -2.38375104e-02 3.61368595e+01] [ 3.66041009e-02 9.99329469e-01 -8.67757979e-04 1.08559938e+00] [ 2.38532991e-02 -5.62126028e-06 9.99715470e-01 2.61644405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.755099893 meters 0.016808218409483135 Centerline is valid? [True, True] Translation: X:36.17, Y:1.08, Z:0.26 [[ 9.98905796e-01 -4.08821842e-02 -2.27125229e-02 3.61685005e+01] [ 4.08739541e-02 9.99163969e-01 -8.26670671e-04 1.08119907e+00] [ 2.27273306e-02 -1.02584493e-04 9.99741696e-01 2.60776357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785099893 meters 0.016448975337446672 Centerline is valid? [True, True] Translation: X:36.20, Y:1.08, Z:0.26 [[ 9.98731338e-01 -4.58424966e-02 -2.08369802e-02 3.62008792e+01] [ 4.58366743e-02 9.98948660e-01 -7.57188230e-04 1.07644961e+00] [ 2.08497849e-02 -1.98870263e-04 9.99782600e-01 2.62354614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.815099892999996 meters 0.017482722974311322 Centerline is valid? [True, True] Translation: X:36.23, Y:1.07, Z:0.26 [[ 9.98481951e-01 -5.15764013e-02 -1.93305037e-02 3.62328993e+01] [ 5.15724898e-02 9.98669008e-01 -7.01133491e-04 1.07178074e+00] [ 1.93409369e-02 -2.96853067e-04 9.99812903e-01 2.63953719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845099893 meters 0.017020810846050102 Centerline is valid? [True, True] Translation: X:36.26, Y:1.07, Z:0.27 [[ 9.98127711e-01 -5.84131803e-02 -1.81375955e-02 3.62644591e+01] [ 5.84108833e-02 9.98292411e-01 -6.56832898e-04 1.06794775e+00] [ 1.81449916e-02 -4.03829854e-04 9.99835285e-01 2.66645407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.875099893 meters 0.017272731972769666 Centerline is valid? [True, True] Translation: X:36.30, Y:1.07, Z:0.27 [[ 9.97931708e-01 -6.18114879e-02 -1.76535094e-02 3.62968147e+01] [ 6.18098575e-02 9.98087739e-01 -6.38487269e-04 1.06581606e+00] [ 1.76592171e-02 -4.53994211e-04 9.99843961e-01 2.68133265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905099893 meters 0.020273191428539578 Centerline is valid? [True, True] Translation: X:36.33, Y:1.06, Z:0.27 [[ 9.97231768e-01 -7.21915062e-02 -1.78097412e-02 3.63265758e+01] [ 7.21915160e-02 9.97390581e-01 -6.43197556e-04 1.05655903e+00] [ 1.78097015e-02 -6.44295178e-04 9.99841187e-01 2.68793066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.935099893 meters 0.025158025882294256 Centerline is valid? [True, True] Translation: X:36.36, Y:1.05, Z:0.27 [[ 9.96764495e-01 -7.77027141e-02 -2.05628418e-02 3.63561010e+01] [ 7.77038982e-02 9.96976205e-01 -7.42610977e-04 1.04978577e+00] [ 2.05583669e-02 -8.57604714e-04 9.99788287e-01 2.65145129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965099893 meters 0.02413122005587645 Centerline is valid? [True, True] Translation: X:36.39, Y:1.05, Z:0.26 [[ 9.96405640e-01 -8.15707119e-02 -2.28477645e-02 3.63869922e+01] [ 8.15731897e-02 9.96667013e-01 -8.25090085e-04 1.05033430e+00] [ 2.28389164e-02 -1.04164061e-03 9.99738615e-01 2.64716192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.995099893 meters 0.02635821164469128 Centerline is valid? [True, True] Translation: X:36.42, Y:1.05, Z:0.26 [[ 9.96297252e-01 -8.24638548e-02 -2.43207310e-02 3.64186987e+01] [ 8.24669500e-02 9.96593414e-01 -8.77394833e-04 1.04816564e+00] [ 2.43102337e-02 -1.13151044e-03 9.99703822e-01 2.63244979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025099893 meters 0.02484592358458493 Centerline is valid? [True, True] Translation: X:36.45, Y:1.05, Z:0.26 [[ 9.96297484e-01 -8.19238293e-02 -2.60731508e-02 3.64520348e+01] [ 8.19272603e-02 9.96637870e-01 -9.38415186e-04 1.05236899e+00] [ 2.60623680e-02 -1.20116112e-03 9.99659597e-01 2.63184915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.055099893 meters 0.02174854469855026 Centerline is valid? [True, True] Translation: X:36.48, Y:1.06, Z:0.27 [[ 9.96456881e-01 -8.04129672e-02 -2.46462633e-02 3.64844385e+01] [ 8.04156296e-02 9.96761026e-01 -8.84684950e-04 1.05698651e+00] [ 2.46375749e-02 -1.10039438e-03 9.99695843e-01 2.66966952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.085099893 meters 0.024080299350530444 Centerline is valid? [True, True] Translation: X:36.52, Y:1.06, Z:0.26 [[ 9.96675718e-01 -7.75025736e-02 -2.51170150e-02 3.65153868e+01] [ 7.75044567e-02 9.96991599e-01 -8.99979774e-04 1.05988559e+00] [ 2.51112037e-02 -1.04969262e-03 9.99684113e-01 2.64909935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.115099893 meters 0.024080299350530444 Centerline is valid? [True, True] Translation: X:36.55, Y:1.06, Z:0.27 [[ 9.96684007e-01 -7.73958797e-02 -2.51170799e-02 3.65479395e+01] [ 7.73977746e-02 9.96999889e-01 -8.98166629e-04 1.06096260e+00] [ 2.51112402e-02 -1.04881777e-03 9.99684113e-01 2.65312601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145099893 meters 0.020312532238027578 Centerline is valid? [True, True] Translation: X:36.58, Y:1.07, Z:0.27 [[ 9.96999810e-01 -7.37350229e-02 -2.35483809e-02 3.65794224e+01] [ 7.37357118e-02 9.97277463e-01 -8.40226235e-04 1.06836865e+00] [ 2.35462237e-02 -8.98651233e-04 9.99722345e-01 2.68628861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.175099893 meters 0.02229210561374374 Centerline is valid? [True, True] Translation: X:36.61, Y:1.07, Z:0.27 [[ 9.97185705e-01 -7.08924274e-02 -2.43912414e-02 3.66093889e+01] [ 7.08923396e-02 9.97483594e-01 -8.69394112e-04 1.07123438e+00] [ 2.43914966e-02 -8.62204785e-04 9.99702111e-01 2.66387994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205099892999996 meters 0.020931555053533193 Centerline is valid? [True, True] Translation: X:36.64, Y:1.08, Z:0.27 [[ 9.97416836e-01 -6.77874675e-02 -2.37595252e-02 3.66410932e+01] [ 6.77865238e-02 9.97699490e-01 -8.46048556e-04 1.07646897e+00] [ 2.37622177e-02 -7.66712547e-04 9.99717345e-01 2.67539089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.235099893 meters 0.020141465235228063 Centerline is valid? [True, True] Translation: X:36.67, Y:1.08, Z:0.27 [[ 9.97865152e-01 -6.10800784e-02 -2.31162958e-02 3.66701601e+01] [ 6.10773967e-02 9.98132694e-01 -8.22687729e-04 1.08394806e+00] [ 2.31233805e-02 -5.90951755e-04 9.99732444e-01 2.67874484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.265099893 meters 0.018526237193177558 Centerline is valid? [True, True] Translation: X:36.70, Y:1.09, Z:0.27 [[ 9.98315183e-01 -5.34071788e-02 -2.26819130e-02 3.67003721e+01] [ 5.34026119e-02 9.98572736e-01 -8.07442715e-04 1.09333583e+00] [ 2.26926632e-02 -4.05191077e-04 9.99742406e-01 2.68687650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.295099893 meters 0.015924717357166517 Centerline is valid? [True, True] Translation: X:36.73, Y:1.10, Z:0.27 [[ 9.98685082e-01 -4.62571872e-02 -2.20993062e-02 3.67304735e+01] [ 4.62511051e-02 9.98929535e-01 -7.86530679e-04 1.10203301e+00] [ 2.21120324e-02 -2.36620877e-04 9.99755471e-01 2.70945805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325099893 meters 0.01611848676955659 Centerline is valid? [True, True] Translation: X:36.76, Y:1.11, Z:0.27 [[ 9.98940008e-01 -4.03297963e-02 -2.21893592e-02 3.67623134e+01] [ 4.03222224e-02 9.99186417e-01 -7.88823083e-04 1.11029576e+00] [ 2.22031194e-02 -1.06737341e-04 9.99753475e-01 2.71836541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.355099893 meters 0.013704739294864586 Centerline is valid? [True, True] Translation: X:36.79, Y:1.12, Z:0.27 [[ 9.99111373e-01 -3.53456283e-02 -2.29597454e-02 3.67945354e+01] [ 3.53362411e-02 9.99375148e-01 -8.14562921e-04 1.11830384e+00] [ 2.29741902e-02 2.52797996e-06 9.99736058e-01 2.73357220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385099892999996 meters 0.016028157191305233 Centerline is valid? [True, True] Translation: X:36.83, Y:1.12, Z:0.27 [[ 9.99097235e-01 -3.45259635e-02 -2.47522248e-02 3.68261997e+01] [ 3.45148359e-02 9.99403801e-01 -8.76772752e-04 1.12060020e+00] [ 2.47677390e-02 2.16622551e-05 9.99693232e-01 2.71460838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.415099893 meters 0.016090958075019406 Centerline is valid? [True, True] Translation: X:36.86, Y:1.12, Z:0.27 [[ 9.99059849e-01 -3.45052055e-02 -2.62451727e-02 3.68573432e+01] [ 3.44927132e-02 9.99404518e-01 -9.28680031e-04 1.12300020e+00] [ 2.62615885e-02 2.25397161e-05 9.99655105e-01 2.70383466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445099893 meters 0.014760015283315104 Centerline is valid? [True, True] Translation: X:36.89, Y:1.12, Z:0.27 [[ 9.98944656e-01 -3.78244943e-02 -2.60553570e-02 3.68881980e+01] [ 3.78133433e-02 9.99284396e-01 -9.20720039e-04 1.12141609e+00] [ 2.60715375e-02 -6.54917970e-05 9.99660078e-01 2.70232935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.475099893 meters 0.016925431053432586 Centerline is valid? [True, True] Translation: X:36.92, Y:1.12, Z:0.27 [[ 9.98783357e-01 -4.15849546e-02 -2.65046626e-02 3.69186237e+01] [ 4.15747781e-02 9.99134958e-01 -9.35135587e-04 1.11980037e+00] [ 2.65206225e-02 -1.67927605e-04 9.99648252e-01 2.68337156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.505099893 meters 0.01629299773560046 Centerline is valid? [True, True] Translation: X:36.95, Y:1.12, Z:0.27 [[ 9.98643080e-01 -4.57625956e-02 -2.48552487e-02 3.69502651e+01] [ 4.57549707e-02 9.98952309e-01 -8.75697155e-04 1.11792237e+00] [ 2.48692823e-02 -2.62742273e-04 9.99690677e-01 2.70565784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.535099893 meters 0.015382228057182467 Centerline is valid? [True, True] Translation: X:36.98, Y:1.12, Z:0.27 [[ 9.98473413e-01 -5.01177805e-02 -2.32175042e-02 3.69822424e+01] [ 5.01123358e-02 9.98743254e-01 -8.16633607e-04 1.11586059e+00] [ 2.32292536e-02 -3.48096425e-04 9.99730104e-01 2.73074702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.565099892999996 meters 0.016176061263624506 Centerline is valid? [True, True] Translation: X:37.01, Y:1.11, Z:0.27 [[ 9.98217880e-01 -5.48682775e-02 -2.34635148e-02 3.70139714e+01] [ 5.48640628e-02 9.98493493e-01 -8.23813479e-04 1.11340762e+00] [ 2.34733681e-02 -4.64958407e-04 9.99724354e-01 2.72715699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.595099893 meters 0.0198105167447259 Centerline is valid? [True, True] Translation: X:37.05, Y:1.11, Z:0.27 [[ 9.97936620e-01 -5.97580913e-02 -2.34834654e-02 3.70452449e+01] [ 5.97552653e-02 9.98212719e-01 -8.22675512e-04 1.11042828e+00] [ 2.34906554e-02 -5.82282686e-04 9.99723887e-01 2.71498393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625099893 meters 0.019432974465793184 Centerline is valid? [True, True] Translation: X:37.08, Y:1.11, Z:0.27 [[ 9.97669433e-01 -6.45755859e-02 -2.20385275e-02 3.70767923e+01] [ 6.45743095e-02 9.97912604e-01 -7.70305103e-04 1.11012568e+00] [ 2.20422672e-02 -6.54612837e-04 9.99756825e-01 2.74337041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.655099893 meters 0.020048387776908427 Centerline is valid? [True, True] Translation: X:37.11, Y:1.11, Z:0.27 [[ 9.97564782e-01 -6.57928352e-02 -2.31475540e-02 3.71085584e+01] [ 6.57917844e-02 9.97833046e-01 -8.07778445e-04 1.10776676e+00] [ 2.31505404e-02 -7.17107558e-04 9.99731733e-01 2.73164275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.685099893 meters 0.020250163809534153 Centerline is valid? [True, True] Translation: X:37.14, Y:1.11, Z:0.27 [[ 9.97575638e-01 -6.57910815e-02 -2.26799635e-02 3.71410565e+01] [ 6.57901084e-02 9.97833171e-01 -7.89865155e-04 1.10689624e+00] [ 2.26827860e-02 -7.04167022e-04 9.99742465e-01 2.73377271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.715099893 meters 0.019955263676197137 Centerline is valid? [True, True] Translation: X:37.17, Y:1.11, Z:0.28 [[ 9.97598323e-01 -6.56033212e-02 -2.22213699e-02 3.71724736e+01] [ 6.56023766e-02 9.97845545e-01 -7.72267233e-04 1.10737652e+00] [ 2.22241582e-02 -6.87362178e-04 9.99752777e-01 2.75081810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745099893 meters 0.019489869641315945 Centerline is valid? [True, True] Translation: X:37.20, Y:1.11, Z:0.28 [[ 9.97628451e-01 -6.52118136e-02 -2.20203082e-02 3.72049990e+01] [ 6.52108247e-02 9.97871217e-01 -7.63738868e-04 1.11208204e+00] [ 2.20232365e-02 -6.74034834e-04 9.99757232e-01 2.76928406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.775099893 meters 0.0193071975275482 Centerline is valid? [True, True] Translation: X:37.24, Y:1.11, Z:0.28 [[ 9.97616985e-01 -6.52710761e-02 -2.23615371e-02 3.72358672e+01] [ 6.52701092e-02 9.97867333e-01 -7.73878512e-04 1.11339321e+00] [ 2.23643592e-02 -6.87505617e-04 9.99749650e-01 2.77491822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805099893 meters 0.019391796503455627 Centerline is valid? [True, True] Translation: X:37.27, Y:1.11, Z:0.28 [[ 9.97628103e-01 -6.50208170e-02 -2.25933798e-02 3.72680194e+01] [ 6.50198023e-02 9.97883669e-01 -7.80292507e-04 1.11266217e+00] [ 2.25963000e-02 -6.90575352e-04 9.99744433e-01 2.76790684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.835099893 meters 0.01829460285809803 Centerline is valid? [True, True] Translation: X:37.30, Y:1.12, Z:0.28 [[ 9.97628343e-01 -6.48773455e-02 -2.29917261e-02 3.73011572e+01] [ 6.48763096e-02 9.97892999e-01 -7.91749538e-04 1.11542770e+00] [ 2.29946491e-02 -7.01746562e-04 9.99735342e-01 2.77954942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.865099893 meters 0.020084021262566296 Centerline is valid? [True, True] Translation: X:37.33, Y:1.12, Z:0.28 [[ 9.97642853e-01 -6.39214091e-02 -2.49557943e-02 3.73320149e+01] [ 6.39199438e-02 9.97954661e-01 -8.57239251e-04 1.11701045e+00] [ 2.49595472e-02 -7.39954358e-04 9.99688188e-01 2.76259926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.895099893 meters 0.0177508009383165 Centerline is valid? [True, True] Translation: X:37.36, Y:1.12, Z:0.28 [[ 9.97739594e-01 -6.21859132e-02 -2.54679254e-02 3.73639966e+01] [ 6.21838644e-02 9.98064329e-01 -8.73180102e-04 1.12237691e+00] [ 2.54729274e-02 -7.12487661e-04 9.99675258e-01 2.78177992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925099893 meters 0.019010294257824797 Centerline is valid? [True, True] Translation: X:37.39, Y:1.12, Z:0.28 [[ 9.97899322e-01 -5.93390238e-02 -2.59965950e-02 3.73948260e+01] [ 5.93359677e-02 9.98237673e-01 -8.89620078e-04 1.12488052e+00] [ 2.60035697e-02 -6.54781848e-04 9.99661636e-01 2.77168569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.955099892999996 meters 0.018676982803001774 Centerline is valid? [True, True] Translation: X:37.43, Y:1.13, Z:0.28 [[ 9.98079659e-01 -5.59672733e-02 -2.65454170e-02 3.74275390e+01] [ 5.59629546e-02 9.98432435e-01 -9.06159632e-04 1.12826789e+00] [ 2.65545206e-02 -5.81140471e-04 9.99647198e-01 2.76607751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985099893 meters 0.01682950793607411 Centerline is valid? [True, True] Translation: X:37.46, Y:1.13, Z:0.28 [[ 9.98268355e-01 -5.25222116e-02 -2.64897897e-02 3.74596982e+01] [ 5.25167613e-02 9.98619635e-01 -9.01890678e-04 1.13255121e+00] [ 2.65005934e-02 -4.90829039e-04 9.99648677e-01 2.78098648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.015099893 meters 0.014304343787130878 Centerline is valid? [True, True] Translation: X:37.49, Y:1.14, Z:0.28 [[ 9.98615727e-01 -4.60178983e-02 -2.54751342e-02 3.74902986e+01] [ 4.60107753e-02 9.98940568e-01 -8.66007098e-04 1.13768796e+00] [ 2.54879968e-02 -3.07322366e-04 9.99675081e-01 2.80519661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045099893 meters 0.016112824976392673 Centerline is valid? [True, True] Translation: X:37.52, Y:1.14, Z:0.28 [[ 9.98853892e-01 -3.97239853e-02 -2.67003110e-02 3.75226331e+01] [ 3.97139518e-02 9.99210679e-01 -9.06169043e-04 1.14275892e+00] [ 2.67152326e-02 -1.55244391e-04 9.99643072e-01 2.78662488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.075099893 meters 0.015038445462561575 Centerline is valid? [True, True] Translation: X:37.55, Y:1.15, Z:0.28 [[ 9.99077000e-01 -3.46968875e-02 -2.53233938e-02 3.75535975e+01] [ 3.46862800e-02 9.99397882e-01 -8.58149745e-04 1.14557877e+00] [ 2.53379212e-02 -2.10166552e-05 9.99678943e-01 2.80343317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105099893 meters 0.015124031542480805 Centerline is valid? [True, True] Translation: X:37.58, Y:1.15, Z:0.28 [[ 9.99228518e-01 -3.03251075e-02 -2.49550952e-02 3.75843009e+01] [ 3.03134538e-02 9.99540084e-01 -8.45240541e-04 1.14849718e+00] [ 2.49692500e-02 8.81133284e-05 9.99688216e-01 2.82381616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.135099892999996 meters 0.015757290892443397 Centerline is valid? [True, True] Translation: X:37.61, Y:1.15, Z:0.28 [[ 9.99284171e-01 -2.81703239e-02 -2.52503242e-02 3.76145515e+01] [ 2.81577049e-02 9.99603127e-01 -8.55240082e-04 1.15040171e+00] [ 2.52643954e-02 1.43636699e-04 9.99680794e-01 2.83292972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165099893 meters 0.016213461683716582 Centerline is valid? [True, True] Translation: X:37.64, Y:1.15, Z:0.28 [[ 9.99355191e-01 -2.52187897e-02 -2.55580495e-02 3.76432680e+01] [ 2.52048778e-02 9.99681931e-01 -8.66375327e-04 1.15344143e+00] [ 2.55717692e-02 2.21629165e-04 9.99672964e-01 2.83362854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.195099893 meters 0.015447545585768085 Centerline is valid? [True, True] Translation: X:37.67, Y:1.15, Z:0.29 [[ 9.99385564e-01 -2.46283661e-02 -2.49386986e-02 3.76712428e+01] [ 2.46148287e-02 9.99696648e-01 -8.49706405e-04 1.15349055e+00] [ 2.49520603e-02 2.35322521e-04 9.99688621e-01 2.85237858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225099893 meters 0.01789135981730488 Centerline is valid? [True, True] Translation: X:37.70, Y:1.15, Z:0.28 [[ 9.99376514e-01 -2.46102147e-02 -2.53164081e-02 3.76990407e+01] [ 2.45961357e-02 9.99697093e-01 -8.67411761e-04 1.15179385e+00] [ 2.53300868e-02 2.44185132e-04 9.99679112e-01 2.83323279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.255099893 meters 0.015195650114548676 Centerline is valid? [True, True] Translation: X:37.73, Y:1.15, Z:0.28 [[ 9.99355187e-01 -2.67522528e-02 -2.39484342e-02 3.77268718e+01] [ 2.67402194e-02 9.99642078e-01 -8.22625200e-04 1.14777694e+00] [ 2.39618696e-02 1.81708374e-04 9.99712857e-01 2.84495071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285099893 meters 0.016369468167416194 Centerline is valid? [True, True] Translation: X:37.76, Y:1.14, Z:0.28 [[ 9.99245134e-01 -3.07375091e-02 -2.37564240e-02 3.77559860e+01] [ 3.07266990e-02 9.99527487e-01 -8.20021045e-04 1.14388887e+00] [ 2.37704042e-02 8.94455497e-05 9.99717440e-01 2.84895864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.315099892999996 meters 0.016825764723644946 Centerline is valid? [True, True] Translation: X:37.79, Y:1.14, Z:0.29 [[ 9.99174987e-01 -3.30479081e-02 -2.36046734e-02 3.77851826e+01] [ 3.30378015e-02 9.99453768e-01 -8.18114886e-04 1.14272709e+00] [ 2.36188167e-02 3.75934174e-05 9.99721036e-01 2.85031702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345099893 meters 0.01265561000498428 Centerline is valid? [True, True] Translation: X:37.82, Y:1.14, Z:0.29 [[ 9.99005294e-01 -3.90446039e-02 -2.15393231e-02 3.78155948e+01] [ 3.90375812e-02 9.99237464e-01 -7.46574152e-04 1.13744569e+00] [ 2.15520483e-02 -9.50115447e-05 9.99767723e-01 2.88805928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.375099893 meters 0.0164555538267645 Centerline is valid? [True, True] Translation: X:37.85, Y:1.13, Z:0.29 [[ 9.98740808e-01 -4.47250908e-02 -2.27258795e-02 3.78480522e+01] [ 4.47187647e-02 9.98999306e-01 -7.86746424e-04 1.13203831e+00] [ 2.27383251e-02 -2.30517498e-04 9.99741424e-01 2.85529861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405099893 meters 0.01571486846177375 Centerline is valid? [True, True] Translation: X:37.88, Y:1.13, Z:0.29 [[ 9.98485687e-01 -5.07060060e-02 -2.13362072e-02 3.78802802e+01] [ 5.07018257e-02 9.98713563e-01 -7.37182790e-04 1.12793487e+00] [ 2.13461391e-02 -3.45718194e-04 9.99772085e-01 2.87617576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.435099893 meters 0.017450114376349735 Centerline is valid? [True, True] Translation: X:37.91, Y:1.13, Z:0.29 [[ 9.98340063e-01 -5.34093085e-02 -2.15537405e-02 3.79114243e+01] [ 5.34057021e-02 9.98572621e-01 -7.43315235e-04 1.12599906e+00] [ 2.15626751e-02 -4.09011264e-04 9.99767415e-01 2.86708678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465099893 meters 0.019004320937620833 Centerline is valid? [True, True] Translation: X:37.94, Y:1.12, Z:0.29 [[ 9.98044133e-01 -5.83999416e-02 -2.23014543e-02 3.79433004e+01] [ 5.83973640e-02 9.98293123e-01 -7.67371856e-04 1.12169623e+00] [ 2.23082029e-02 -5.36475165e-04 9.99750997e-01 2.85184865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.495099893 meters 0.02021776782914712 Centerline is valid? [True, True] Translation: X:37.98, Y:1.12, Z:0.28 [[ 9.97786092e-01 -6.26385428e-02 -2.23456368e-02 3.79753927e+01] [ 6.26370617e-02 9.98036077e-01 -7.66880100e-04 1.11824700e+00] [ 2.23497880e-02 -6.34482736e-04 9.99750011e-01 2.84588433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525099893 meters 0.02107760098870483 Centerline is valid? [True, True] Translation: X:38.01, Y:1.11, Z:0.29 [[ 9.97422042e-01 -6.86964873e-02 -2.07379570e-02 3.80063548e+01] [ 6.86965389e-02 9.97637349e-01 -7.10744591e-04 1.11475976e+00] [ 2.07377861e-02 -7.15713549e-04 9.99784693e-01 2.86816850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.555099893 meters 0.021798732745363213 Centerline is valid? [True, True] Translation: X:38.04, Y:1.11, Z:0.29 [[ 9.97214261e-01 -7.15843357e-02 -2.09618880e-02 3.80382824e+01] [ 7.15850399e-02 9.97434242e-01 -7.17731867e-04 1.11463108e+00] [ 2.09594832e-02 -7.84825132e-04 9.99780018e-01 2.87200222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.585099893 meters 0.022616423494811203 Centerline is valid? [True, True] Translation: X:38.07, Y:1.11, Z:0.29 [[ 9.97103840e-01 -7.32322834e-02 -2.05174464e-02 3.80693136e+01] [ 7.32333287e-02 9.97314588e-01 -7.01420512e-04 1.11248482e+00] [ 2.05137152e-02 -8.03171807e-04 9.99789249e-01 2.87010291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.615099893 meters 0.022876212293117617 Centerline is valid? [True, True] Translation: X:38.10, Y:1.11, Z:0.29 [[ 9.97024667e-01 -7.41743184e-02 -2.09758123e-02 3.81017030e+01] [ 7.41756463e-02 9.97244935e-01 -7.15795645e-04 1.11322853e+00] [ 2.09711163e-02 -8.42228521e-04 9.99779727e-01 2.87470195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645099893 meters 0.02396604669059899 Centerline is valid? [True, True] Translation: X:38.13, Y:1.12, Z:0.29 [[ 9.96982046e-01 -7.41767357e-02 -2.29044075e-02 3.81330925e+01] [ 7.41783549e-02 9.97244686e-01 -7.80084504e-04 1.11523695e+00] [ 2.28991628e-02 -9.21281022e-04 9.99737355e-01 2.86383992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.675099893 meters 0.022648856152310902 Centerline is valid? [True, True] Translation: X:38.17, Y:1.12, Z:0.28 [[ 9.96987478e-01 -7.32061232e-02 -2.56287468e-02 3.81658606e+01] [ 7.32078872e-02 9.97316323e-01 -8.70694652e-04 1.11932341e+00] [ 2.56237077e-02 -1.00815474e-03 9.99671151e-01 2.84931646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705099892999996 meters 0.022745720402130833 Centerline is valid? [True, True] Translation: X:38.20, Y:1.12, Z:0.28 [[ 9.97008035e-01 -7.23926043e-02 -2.70977815e-02 3.81970009e+01] [ 7.23943368e-02 9.97375665e-01 -9.18391697e-04 1.11968544e+00] [ 2.70931527e-02 -1.04608202e-03 9.99632366e-01 2.83902018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.735099893 meters 0.021898059540003612 Centerline is valid? [True, True] Translation: X:38.23, Y:1.12, Z:0.28 [[ 9.97117594e-01 -7.05084089e-02 -2.80190633e-02 3.82290855e+01] [ 7.05095689e-02 9.97510653e-01 -9.47827143e-04 1.12363503e+00] [ 2.80161439e-02 -1.03051695e-03 9.99606940e-01 2.83877461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.765099893 meters 0.021494789420322083 Centerline is valid? [True, True] Translation: X:38.26, Y:1.13, Z:0.29 [[ 9.97363393e-01 -6.74116619e-02 -2.68687693e-02 3.82594506e+01] [ 6.74116419e-02 9.97724835e-01 -9.07573390e-04 1.12954812e+00] [ 2.68688194e-02 -9.06087376e-04 9.99638557e-01 2.86007287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.795099893 meters 0.020234645563433542 Centerline is valid? [True, True] Translation: X:38.29, Y:1.14, Z:0.29 [[ 9.97688153e-01 -6.33941057e-02 -2.44854317e-02 3.82902345e+01] [ 6.33928998e-02 9.97988305e-01 -8.26244441e-04 1.13839751e+00] [ 2.44885535e-02 -7.27868228e-04 9.99699845e-01 2.88957816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825099893 meters 0.017832595114910057 Centerline is valid? [True, True] Translation: X:38.32, Y:1.15, Z:0.29 [[ 9.98101102e-01 -5.79152131e-02 -2.09766052e-02 3.83207162e+01] [ 5.79131299e-02 9.98321376e-01 -7.07285718e-04 1.14829184e+00] [ 2.09823559e-02 -5.08878204e-04 9.99779717e-01 2.92701756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.855099893 meters 0.018673185836433504 Centerline is valid? [True, True] Translation: X:38.35, Y:1.15, Z:0.29 [[ 9.98208887e-01 -5.60764681e-02 -2.08434135e-02 3.83517439e+01] [ 5.60740255e-02 9.98426367e-01 -7.02078639e-04 1.15168392e+00] [ 2.08499837e-02 -4.67952964e-04 9.99782506e-01 2.91679538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885099892999996 meters 0.017870640675150325 Centerline is valid? [True, True] Translation: X:38.38, Y:1.15, Z:0.29 [[ 9.98231117e-01 -5.56297324e-02 -2.09754488e-02 3.83842023e+01] [ 5.56271873e-02 9.98451360e-01 -7.05236176e-04 1.15407458e+00] [ 2.09821974e-02 -4.62816522e-04 9.99779742e-01 2.92258171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.915099893 meters 0.017663616532507344 Centerline is valid? [True, True] Translation: X:38.42, Y:1.16, Z:0.29 [[ 9.98182684e-01 -5.61277152e-02 -2.19319184e-02 3.84164396e+01] [ 5.61250881e-02 9.98423474e-01 -7.35789608e-04 1.15696125e+00] [ 2.19386404e-02 -4.96478408e-04 9.99759196e-01 2.92757327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.945099893 meters 0.01811830762171992 Centerline is valid? [True, True] Translation: X:38.45, Y:1.16, Z:0.29 [[ 9.98132381e-01 -5.67071749e-02 -2.27166449e-02 3.84485781e+01] [ 5.67045441e-02 9.98390713e-01 -7.60463151e-04 1.16000992e+00] [ 2.27232110e-02 -5.29094094e-04 9.99741654e-01 2.92317520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.975099893 meters 0.01876425877240919 Centerline is valid? [True, True] Translation: X:38.48, Y:1.16, Z:0.29 [[ 9.98088248e-01 -5.68714425e-02 -2.41968716e-02 3.84805715e+01] [ 5.68685494e-02 9.98381347e-01 -8.08226039e-04 1.16186972e+00] [ 2.42036702e-02 -5.69360077e-04 9.99706886e-01 2.91107344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.005099893 meters 0.018590195905316752 Centerline is valid? [True, True] Translation: X:38.51, Y:1.16, Z:0.29 [[ 9.98056588e-01 -5.70710109e-02 -2.50189308e-02 3.85127266e+01] [ 5.70680265e-02 9.98369944e-01 -8.33854366e-04 1.16492036e+00] [ 2.50257374e-02 -5.95547161e-04 9.99686630e-01 2.90815305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.035099893 meters 0.01800319590008355 Centerline is valid? [True, True] Translation: X:38.54, Y:1.17, Z:0.29 [[ 9.98131929e-01 -5.59388961e-02 -2.45660722e-02 3.85439118e+01] [ 5.59357398e-02 9.98434037e-01 -8.16167919e-04 1.16767695e+00] [ 2.45732581e-02 -5.59478161e-04 9.99697875e-01 2.91224549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.065099892999996 meters 0.01800319590008355 Centerline is valid? [True, True] Translation: X:38.58, Y:1.17, Z:0.29 [[ 9.98135910e-01 -5.58677777e-02 -2.45661584e-02 3.85756019e+01] [ 5.58646638e-02 9.98438019e-01 -8.13565859e-04 1.16866870e+00] [ 2.45732386e-02 -5.60330881e-04 9.99697875e-01 2.91616027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.095099893 meters 0.01669468244305432 Centerline is valid? [True, True] Translation: X:38.61, Y:1.17, Z:0.29 [[ 9.98336997e-01 -5.25859784e-02 -2.36210911e-02 3.86075708e+01] [ 5.25822207e-02 9.98616293e-01 -7.80595080e-04 1.17492000e+00] [ 2.36294548e-02 -4.62752477e-04 9.99720678e-01 2.93974632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125099893 meters 0.016688355636730656 Centerline is valid? [True, True] Translation: X:38.64, Y:1.18, Z:0.29 [[ 9.98469870e-01 -5.00611696e-02 -2.34903655e-02 3.86388857e+01] [ 5.00567903e-02 9.98746073e-01 -7.74767257e-04 1.17742722e+00] [ 2.34996961e-02 -4.02270540e-04 9.99723763e-01 2.94200568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.155099893 meters 0.015148546047458975 Centerline is valid? [True, True] Translation: X:38.67, Y:1.18, Z:0.29 [[ 9.98760890e-01 -4.44625769e-02 -2.23554165e-02 3.86695524e+01] [ 4.44572306e-02 9.99011017e-01 -7.36331969e-04 1.18052919e+00] [ 2.23660466e-02 -2.58440336e-04 9.99749815e-01 2.94690006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.185099893 meters 0.01347744578554474 Centerline is valid? [True, True] Translation: X:38.70, Y:1.19, Z:0.30 [[ 9.99135939e-01 -3.65961975e-02 -1.97001158e-02 3.87011258e+01] [ 3.65905320e-02 9.99330132e-01 -6.48088373e-04 1.18687933e+00] [ 1.97106369e-02 -7.33093322e-05 9.99805724e-01 2.98976622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.215099893 meters 0.01499704399137789 Centerline is valid? [True, True] Translation: X:38.73, Y:1.19, Z:0.30 [[ 9.99213799e-01 -3.42697608e-02 -1.99340876e-02 3.87336831e+01] [ 3.42635209e-02 9.99412619e-01 -6.54583101e-04 1.18992310e+00] [ 1.99448111e-02 -2.89435601e-05 9.99801082e-01 2.98742064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245099893 meters 0.01541910560081531 Centerline is valid? [True, True] Translation: X:38.77, Y:1.19, Z:0.30 [[ 9.99319329e-01 -3.06214912e-02 -2.05718804e-02 3.87656195e+01] [ 3.06141033e-02 9.99531051e-01 -6.74031881e-04 1.19291290e+00] [ 2.05828731e-02 4.37834163e-05 9.99788149e-01 2.99175329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.275099893 meters 0.016280682257894554 Centerline is valid? [True, True] Translation: X:38.80, Y:1.19, Z:0.30 [[ 9.99359397e-01 -2.83561281e-02 -2.18340599e-02 3.87962936e+01] [ 2.83472974e-02 9.99597880e-01 -7.13907448e-04 1.19268584e+00] [ 2.18455237e-02 9.45135266e-05 9.99761354e-01 2.97235952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305099893 meters 0.015885081500393163 Centerline is valid? [True, True] Translation: X:38.83, Y:1.19, Z:0.30 [[ 9.99403600e-01 -2.64706829e-02 -2.21753913e-02 3.88271033e+01] [ 2.64611255e-02 9.99649581e-01 -7.24364115e-04 1.19178129e+00] [ 2.21867950e-02 1.37146293e-04 9.99753833e-01 2.97241788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.335099893 meters 0.014680260102582995 Centerline is valid? [True, True] Translation: X:38.86, Y:1.19, Z:0.30 [[ 9.99486817e-01 -2.36524300e-02 -2.16024238e-02 3.88571728e+01] [ 2.36427019e-02 9.99720223e-01 -7.05648002e-04 1.19295540e+00] [ 2.16130702e-02 1.94546210e-04 9.99766391e-01 2.99737266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365099893 meters 0.017398615728551475 Centerline is valid? [True, True] Translation: X:38.89, Y:1.20, Z:0.30 [[ 9.99573621e-01 -1.91715930e-02 -2.20233147e-02 3.88860745e+01] [ 1.91603871e-02 9.99816164e-01 -7.19742929e-04 1.19712721e+00] [ 2.20330647e-02 2.97460811e-04 9.99757198e-01 2.99283867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.395099893 meters 0.017666767138799323 Centerline is valid? [True, True] Translation: X:38.91, Y:1.20, Z:0.30 [[ 9.99662019e-01 -1.43709336e-02 -2.16638794e-02 3.89146434e+01] [ 1.43589038e-02 9.99896653e-01 -7.10753315e-04 1.19862250e+00] [ 2.16718547e-02 3.99443534e-04 9.99765058e-01 3.00144751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425099893 meters 0.01726122948930686 Centerline is valid? [True, True] Translation: X:38.94, Y:1.20, Z:0.30 [[ 9.99745221e-01 -1.04329009e-02 -2.00161926e-02 3.89426734e+01] [ 1.04217722e-02 9.99945474e-01 -6.60219362e-04 1.19960617e+00] [ 2.00219892e-02 4.51446953e-04 9.99799438e-01 3.00862186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.455099892999996 meters 0.017607386125919892 Centerline is valid? [True, True] Translation: X:38.97, Y:1.20, Z:0.30 [[ 9.99785750e-01 -8.18167969e-03 -1.90135183e-02 3.89713626e+01] [ 8.17118016e-03 9.99966417e-01 -6.29837994e-04 1.19924769e+00] [ 1.90180329e-02 4.74340167e-04 9.99819028e-01 3.01941931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485099893 meters 0.017716183231643406 Centerline is valid? [True, True] Translation: X:39.00, Y:1.20, Z:0.30 [[ 9.99779380e-01 -7.65383161e-03 -1.95604136e-02 3.90000171e+01] [ 7.64252115e-03 9.99970582e-01 -6.52920397e-04 1.19819197e+00] [ 1.95648355e-02 5.03285475e-04 9.99808464e-01 3.01571672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.515099893 meters 0.018474217364698585 Centerline is valid? [True, True] Translation: X:39.03, Y:1.20, Z:0.30 [[ 9.99732623e-01 -9.01257164e-03 -2.12945255e-02 3.90275316e+01] [ 8.99938585e-03 9.99959249e-01 -7.14960860e-04 1.19636368e+00] [ 2.13001014e-02 5.23132044e-04 9.99772990e-01 2.98652978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545099893 meters 0.016961407825938093 Centerline is valid? [True, True] Translation: X:39.06, Y:1.19, Z:0.30 [[ 9.99701075e-01 -1.18207366e-02 -2.14016558e-02 3.90568854e+01] [ 1.18080271e-02 9.99930024e-01 -7.20133505e-04 1.19168406e+00] [ 2.14086707e-02 4.67206907e-04 9.99770699e-01 2.98762841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.575099893 meters 0.017343345404848096 Centerline is valid? [True, True] Translation: X:39.09, Y:1.19, Z:0.30 [[ 9.99626035e-01 -1.56406337e-02 -2.24312437e-02 3.90855080e+01] [ 1.56276016e-02 9.99877596e-01 -7.56166169e-04 1.18782844e+00] [ 2.24403249e-02 4.05336849e-04 9.99748102e-01 2.98017861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605099893 meters 0.017295528937969172 Centerline is valid? [True, True] Translation: X:39.11, Y:1.18, Z:0.30 [[ 9.99535538e-01 -1.99169116e-02 -2.30656587e-02 3.91148750e+01] [ 1.99042359e-02 9.99801588e-01 -7.79020402e-04 1.18315474e+00] [ 2.30765978e-02 3.19554265e-04 9.99733649e-01 2.98099788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.635099892999996 meters 0.017278884660822943 Centerline is valid? [True, True] Translation: X:39.14, Y:1.18, Z:0.30 [[ 9.99434622e-01 -2.40790256e-02 -2.34656400e-02 3.91441156e+01] [ 2.40669722e-02 9.99710032e-01 -7.95980925e-04 1.17962143e+00] [ 2.34780021e-02 2.30783990e-04 9.99724327e-01 2.97736793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665099893 meters 0.015656277519870004 Centerline is valid? [True, True] Translation: X:39.17, Y:1.18, Z:0.30 [[ 9.99359280e-01 -2.80708698e-02 -2.22048444e-02 3.91730820e+01] [ 2.80609419e-02 9.99605926e-01 -7.58624933e-04 1.17652187e+00] [ 2.22173893e-02 1.35050018e-04 9.99753154e-01 2.99844347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.695099893 meters 0.0146619744179957 Centerline is valid? [True, True] Translation: X:39.20, Y:1.17, Z:0.30 [[ 9.99313080e-01 -3.12730574e-02 -1.98837726e-02 3.92022345e+01] [ 3.12656721e-02 9.99510877e-01 -6.82259206e-04 1.17380986e+00] [ 1.98953833e-02 6.01110342e-05 9.99802065e-01 3.02083095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725099893 meters 0.01541041830260399 Centerline is valid? [True, True] Translation: X:39.23, Y:1.17, Z:0.30 [[ 9.99272918e-01 -3.28565721e-02 -1.93411839e-02 3.92340413e+01] [ 3.28498818e-02 9.99460077e-01 -6.63601564e-04 1.17272976e+00] [ 1.93525448e-02 2.77634648e-05 9.99812722e-01 3.02818098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.755099893 meters 0.015538014794698771 Centerline is valid? [True, True] Translation: X:39.27, Y:1.17, Z:0.30 [[ 9.99161525e-01 -3.68740087e-02 -1.77920049e-02 3.92658125e+01] [ 3.68689968e-02 9.99319921e-01 -6.09735828e-04 1.16891242e+00] [ 1.78023883e-02 -4.67487917e-05 9.99841524e-01 3.03029663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785099893 meters 0.01619874788896772 Centerline is valid? [True, True] Translation: X:39.30, Y:1.17, Z:0.30 [[ 9.98983511e-01 -4.17501917e-02 -1.69960783e-02 3.92978267e+01] [ 4.17463405e-02 9.99128072e-01 -5.81476012e-04 1.16516402e+00] [ 1.70055357e-02 -1.28639126e-04 9.99855387e-01 3.04342001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.815099892999996 meters 0.01616408919193293 Centerline is valid? [True, True] Translation: X:39.33, Y:1.16, Z:0.30 [[ 9.98754524e-01 -4.69239980e-02 -1.69569519e-02 3.93296099e+01] [ 4.69209293e-02 9.98898439e-01 -5.78988443e-04 1.16114014e+00] [ 1.69654413e-02 -2.17368617e-04 9.99856053e-01 3.04538248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845099893 meters 0.017217814750978565 Centerline is valid? [True, True] Translation: X:39.36, Y:1.16, Z:0.30 [[ 9.98475108e-01 -5.18647376e-02 -1.89078614e-02 3.93612122e+01] [ 5.18618285e-02 9.98654062e-01 -6.44492159e-04 1.15586674e+00] [ 1.89158390e-02 -3.37086889e-04 9.99821023e-01 3.02002225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.875099893 meters 0.017948745198670107 Centerline is valid? [True, True] Translation: X:39.39, Y:1.15, Z:0.30 [[ 9.98327537e-01 -5.43870740e-02 -1.96004054e-02 3.93925886e+01] [ 5.43844551e-02 9.98519848e-01 -6.67012118e-04 1.15370845e+00] [ 1.96076707e-02 -4.00060805e-04 9.99807671e-01 3.01203478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905099893 meters 0.01961972280956313 Centerline is valid? [True, True] Translation: X:39.42, Y:1.15, Z:0.30 [[ 9.97980674e-01 -6.02786897e-02 -2.00263266e-02 3.94240469e+01] [ 6.02771601e-02 9.98181447e-01 -6.80546698e-04 1.15053132e+00] [ 2.00309301e-02 -5.27957642e-04 9.99799221e-01 3.01241273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.935099893 meters 0.01853055529024785 Centerline is valid? [True, True] Translation: X:39.46, Y:1.15, Z:0.30 [[ 9.97910366e-01 -6.15398839e-02 -1.96912291e-02 3.94563386e+01] [ 6.15386696e-02 9.98104476e-01 -6.68182816e-04 1.15044492e+00] [ 1.96950238e-02 -5.44985480e-04 9.99805886e-01 3.02510258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965099893 meters 0.019450438804952033 Centerline is valid? [True, True] Translation: X:39.49, Y:1.15, Z:0.30 [[ 9.97784064e-01 -6.31714229e-02 -2.08885858e-02 3.94872070e+01] [ 6.31704562e-02 9.98002502e-01 -7.06781935e-04 1.14912023e+00] [ 2.08915093e-02 -6.14325741e-04 9.99781560e-01 3.00883835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.995099893 meters 0.01909410030304629 Centerline is valid? [True, True] Translation: X:39.52, Y:1.15, Z:0.30 [[ 9.97679511e-01 -6.43248464e-02 -2.23138223e-02 3.95196952e+01] [ 6.43240848e-02 9.97928778e-01 -7.52621246e-04 1.14798007e+00] [ 2.23160176e-02 -6.84441400e-04 9.99750732e-01 2.99588002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025099893 meters 0.019812780859894123 Centerline is valid? [True, True] Translation: X:39.55, Y:1.15, Z:0.30 [[ 9.97668874e-01 -6.43247006e-02 -2.27849012e-02 3.95512916e+01] [ 6.43239587e-02 9.97928776e-01 -7.66224894e-04 1.14754221e+00] [ 2.27869958e-02 -7.01176318e-04 9.99740097e-01 2.98620658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.055099893 meters 0.01889562084917889 Centerline is valid? [True, True] Translation: X:39.58, Y:1.15, Z:0.30 [[ 9.97727923e-01 -6.35891080e-02 -2.22579754e-02 3.95830770e+01] [ 6.35882684e-02 9.97975939e-01 -7.46193559e-04 1.15189851e+00] [ 2.22603737e-02 -6.70847967e-04 9.99751982e-01 3.00942342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.085099893 meters 0.019239035376096204 Centerline is valid? [True, True] Translation: X:39.61, Y:1.15, Z:0.30 [[ 9.97868997e-01 -6.13517058e-02 -2.22133506e-02 3.96148347e+01] [ 6.13503515e-02 9.98116016e-01 -7.43087871e-04 1.15255058e+00] [ 2.22170907e-02 -6.21292516e-04 9.99752977e-01 2.99983081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.115099893 meters 0.018278069482389015 Centerline is valid? [True, True] Translation: X:39.65, Y:1.16, Z:0.30 [[ 9.98029344e-01 -5.90980299e-02 -2.10914775e-02 3.96474503e+01] [ 5.90963435e-02 9.98252036e-01 -7.03780373e-04 1.15595004e+00] [ 2.10962024e-02 -5.44035733e-04 9.99777302e-01 3.01457533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145099893 meters 0.018830551060739997 Centerline is valid? [True, True] Translation: X:39.68, Y:1.16, Z:0.30 [[ 9.98097661e-01 -5.79965090e-02 -2.09156601e-02 3.96792135e+01] [ 5.79946492e-02 9.98316651e-01 -6.95982696e-04 1.15803693e+00] [ 2.09208163e-02 -5.18337669e-04 9.99781001e-01 3.02225520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.175099893 meters 0.018170441259673976 Centerline is valid? [True, True] Translation: X:39.71, Y:1.16, Z:0.30 [[ 9.98244006e-01 -5.56973461e-02 -2.01670719e-02 3.97104736e+01] [ 5.56951742e-02 9.98447595e-01 -6.69777769e-04 1.16097746e+00] [ 2.01730693e-02 -4.54606942e-04 9.99796400e-01 3.03723469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205099892999996 meters 0.018703965553788345 Centerline is valid? [True, True] Translation: X:39.74, Y:1.16, Z:0.30 [[ 9.98297071e-01 -5.45901564e-02 -2.05638538e-02 3.97428489e+01] [ 5.45876896e-02 9.98508748e-01 -6.81683245e-04 1.16360026e+00] [ 2.05704011e-02 -4.42010882e-04 9.99788309e-01 3.03732217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.235099893 meters 0.01642911754072695 Centerline is valid? [True, True] Translation: X:39.77, Y:1.17, Z:0.31 [[ 9.98382139e-01 -5.34179043e-02 -1.94841236e-02 3.97749761e+01] [ 5.34154931e-02 9.98572165e-01 -6.44527974e-04 1.16717301e+00] [ 1.94907328e-02 -3.97268849e-04 9.99809959e-01 3.05773829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.265099893 meters 0.018288757473005197 Centerline is valid? [True, True] Translation: X:39.81, Y:1.17, Z:0.31 [[ 9.98423947e-01 -5.23968107e-02 -2.01046567e-02 3.98060322e+01] [ 5.23940742e-02 9.98626267e-01 -6.63186544e-04 1.16912204e+00] [ 2.01117871e-02 -3.91223547e-04 9.99797661e-01 3.05270597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.295099893 meters 0.016741439576529783 Centerline is valid? [True, True] Translation: X:39.84, Y:1.17, Z:0.31 [[ 9.98475553e-01 -5.14833587e-02 -1.99005840e-02 3.98383196e+01] [ 5.14805360e-02 9.98673784e-01 -6.54449404e-04 1.17147423e+00] [ 1.99078848e-02 -3.71040999e-04 9.99801750e-01 3.06222519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325099893 meters 0.017209202666505684 Centerline is valid? [True, True] Translation: X:39.87, Y:1.18, Z:0.31 [[ 9.98561171e-01 -4.92976400e-02 -2.11028661e-02 3.98707315e+01] [ 4.92940110e-02 9.98784071e-01 -6.92428579e-04 1.17649639e+00] [ 2.11113417e-02 -3.48812624e-04 9.99777070e-01 3.06055552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.355099893 meters 0.015873638322456023 Centerline is valid? [True, True] Translation: X:39.90, Y:1.18, Z:0.31 [[ 9.98725037e-01 -4.61378193e-02 -2.04841709e-02 3.99030704e+01] [ 4.61337647e-02 9.98935046e-01 -6.70697135e-04 1.18259500e+00] [ 2.04933007e-02 -2.75169901e-04 9.99789952e-01 3.08230849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385099892999996 meters 0.016057699152978125 Centerline is valid? [True, True] Translation: X:39.94, Y:1.19, Z:0.31 [[ 9.98867538e-01 -4.28910676e-02 -2.05912191e-02 3.99353427e+01] [ 4.28863109e-02 9.99079732e-01 -6.72739666e-04 1.18834992e+00] [ 2.06011242e-02 -2.11103613e-04 9.99787752e-01 3.08645589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.415099893 meters 0.01592393792623934 Centerline is valid? [True, True] Translation: X:39.97, Y:1.19, Z:0.31 [[ 9.98952268e-01 -4.02250346e-02 -2.18245780e-02 3.99671667e+01] [ 4.02190899e-02 9.99190632e-01 -7.11428543e-04 1.19359164e+00] [ 2.18355311e-02 -1.67081508e-04 9.99761562e-01 3.08268371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.445099893 meters 0.016039153862598236 Centerline is valid? [True, True] Translation: X:40.00, Y:1.20, Z:0.31 [[ 9.99016380e-01 -3.87529044e-02 -2.15518963e-02 3.99994551e+01] [ 3.87467983e-02 9.99248815e-01 -7.00989890e-04 1.19761255e+00] [ 2.15628723e-02 -1.34766598e-04 9.99767485e-01 3.08785236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.475099893 meters 0.01591924403980342 Centerline is valid? [True, True] Translation: X:40.03, Y:1.20, Z:0.31 [[ 9.99046824e-01 -3.83229942e-02 -2.08995769e-02 4.00308011e+01] [ 3.83171860e-02 9.99265397e-01 -6.78435175e-04 1.20024030e+00] [ 2.09102236e-02 -1.23024468e-04 9.99781350e-01 3.09142341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.505099893 meters 0.015992445166761248 Centerline is valid? [True, True] Translation: X:40.06, Y:1.20, Z:0.31 [[ 9.98969223e-01 -4.02818860e-02 -2.09251259e-02 4.00631365e+01] [ 4.02765202e-02 9.99188342e-01 -6.77979945e-04 1.20107044e+00] [ 2.09354522e-02 -1.65510159e-04 9.99780816e-01 3.08207021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.535099893 meters 0.015647777607264535 Centerline is valid? [True, True] Translation: X:40.10, Y:1.20, Z:0.31 [[ 9.98879446e-01 -4.23754437e-02 -2.10754258e-02 4.00955218e+01] [ 4.23704985e-02 9.99101735e-01 -6.81328422e-04 1.20196101e+00] [ 2.10853661e-02 -2.12411340e-04 9.99777656e-01 3.08747112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.565099892999996 meters 0.015693022767895592 Centerline is valid? [True, True] Translation: X:40.13, Y:1.20, Z:0.31 [[ 9.98821410e-01 -4.35216970e-02 -2.14860889e-02 4.01281124e+01] [ 4.35168561e-02 9.99052453e-01 -6.93030632e-04 1.20303515e+00] [ 2.14958916e-02 -2.42793205e-04 9.99768907e-01 3.09368881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.595099893 meters 0.016261677445235056 Centerline is valid? [True, True] Translation: X:40.16, Y:1.20, Z:0.31 [[ 9.98757705e-01 -4.47336831e-02 -2.19532190e-02 4.01603370e+01] [ 4.47289575e-02 9.98998910e-01 -7.06490623e-04 1.20403161e+00] [ 2.19628457e-02 -2.76331644e-04 9.99758749e-01 3.09459508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.625099893 meters 0.016980174563439702 Centerline is valid? [True, True] Translation: X:40.19, Y:1.21, Z:0.31 [[ 9.98761228e-01 -4.40302147e-02 -2.31808205e-02 4.01914593e+01] [ 4.40247917e-02 9.99030161e-01 -7.44473401e-04 1.20589193e+00] [ 2.31911182e-02 -2.76979628e-04 9.99731011e-01 3.08266631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.655099893 meters 0.016287085705322404 Centerline is valid? [True, True] Translation: X:40.22, Y:1.21, Z:0.31 [[ 9.98925374e-01 -3.96532016e-02 -2.39941929e-02 4.02234518e+01] [ 3.96461654e-02 9.99213486e-01 -7.69070106e-04 1.21221744e+00] [ 2.40058172e-02 -1.83034098e-04 9.99711802e-01 3.07941869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.685099893 meters 0.014651486675718202 Centerline is valid? [True, True] Translation: X:40.25, Y:1.22, Z:0.31 [[ 9.99096954e-01 -3.55659343e-02 -2.32452426e-02 4.02540222e+01] [ 3.55582488e-02 9.99367329e-01 -7.44008999e-04 1.21785549e+00] [ 2.32569973e-02 -8.32229949e-05 9.99729516e-01 3.09495787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.715099893 meters 0.01501757801935031 Centerline is valid? [True, True] Translation: X:40.28, Y:1.23, Z:0.31 [[ 9.99335643e-01 -2.84991728e-02 -2.27171905e-02 4.02849477e+01] [ 2.84900199e-02 9.99593813e-01 -7.26521158e-04 1.22652775e+00] [ 2.27286683e-02 7.88252793e-05 9.99741667e-01 3.11101986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745099893 meters 0.01501757801935031 Centerline is valid? [True, True] Translation: X:40.31, Y:1.23, Z:0.31 [[ 9.99334622e-01 -2.85349421e-02 -2.27171928e-02 4.03140827e+01] [ 2.85258000e-02 9.99592793e-01 -7.26448912e-04 1.22748663e+00] [ 2.27286714e-02 7.79394509e-05 9.99741667e-01 3.11462342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.775099893 meters 0.016180761412858853 Centerline is valid? [True, True] Translation: X:40.34, Y:1.23, Z:0.31 [[ 9.99484729e-01 -2.37049961e-02 -2.16414082e-02 4.03436020e+01] [ 2.36955546e-02 9.99718981e-01 -6.92634449e-04 1.23367586e+00] [ 2.16517454e-02 1.79472385e-04 9.99765557e-01 3.12871608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805099893 meters 0.016207217743107256 Centerline is valid? [True, True] Translation: X:40.37, Y:1.24, Z:0.31 [[ 9.99602316e-01 -1.98168167e-02 -2.00625133e-02 4.03730683e+01] [ 1.98079102e-02 9.99803598e-01 -6.42577678e-04 1.23820306e+00] [ 2.00713068e-02 2.44925673e-04 9.99798521e-01 3.14937552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.835099893 meters 0.01562994689328573 Centerline is valid? [True, True] Translation: X:40.40, Y:1.24, Z:0.32 [[ 9.99625369e-01 -1.92185592e-02 -1.94876298e-02 4.04013369e+01] [ 1.92099995e-02 9.99815275e-01 -6.26352376e-04 1.24014826e+00] [ 1.94960675e-02 2.51760366e-04 9.99809902e-01 3.15974602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865099893 meters 0.01693370082622508 Centerline is valid? [True, True] Translation: X:40.43, Y:1.24, Z:0.31 [[ 9.99600591e-01 -1.97242311e-02 -2.02389152e-02 4.04303299e+01] [ 1.97149980e-02 9.99805426e-01 -6.55648294e-04 1.24031846e+00] [ 2.02479094e-02 2.56376248e-04 9.99794957e-01 3.14257189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.895099893 meters 0.015174033863343156 Centerline is valid? [True, True] Translation: X:40.46, Y:1.24, Z:0.31 [[ 9.99510156e-01 -2.32445684e-02 -2.09556292e-02 4.04596131e+01] [ 2.32353337e-02 9.99729789e-01 -6.84085426e-04 1.23819511e+00] [ 2.09658680e-02 1.96839293e-04 9.99780173e-01 3.14141780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925099893 meters 0.01535992012380062 Centerline is valid? [True, True] Translation: X:40.49, Y:1.23, Z:0.31 [[ 9.99220161e-01 -3.14838327e-02 -2.38293726e-02 4.04883371e+01] [ 3.14741398e-02 9.99504261e-01 -7.81805139e-04 1.23370594e+00] [ 2.38421736e-02 3.11864537e-05 9.99715734e-01 3.10900544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.955099892999996 meters 0.01535992012380062 Centerline is valid? [True, True] Translation: X:40.52, Y:1.23, Z:0.31 [[ 9.99220161e-01 -3.14838409e-02 -2.38293508e-02 4.05183206e+01] [ 3.14741322e-02 9.99504260e-01 -7.82467181e-04 1.23469081e+00] [ 2.38421727e-02 3.18488442e-05 9.99715734e-01 3.11271811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985099893 meters 0.016240899224440657 Centerline is valid? [True, True] Translation: X:40.55, Y:1.23, Z:0.31 [[ 9.98942717e-01 -3.84394451e-02 -2.52162072e-02 4.05489007e+01] [ 3.84307883e-02 9.99260921e-01 -8.28006383e-04 1.23016930e+00] [ 2.52293986e-02 -1.41947776e-04 9.99681678e-01 3.10863089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.015099893 meters 0.016494579351851217 Centerline is valid? [True, True] Translation: X:40.58, Y:1.23, Z:0.31 [[ 9.98612237e-01 -4.60566807e-02 -2.55417773e-02 4.05804930e+01] [ 4.60503073e-02 9.98938770e-01 -8.37986494e-04 1.22529846e+00] [ 2.55532664e-02 -3.39383124e-04 9.99673404e-01 3.10584916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045099893 meters 0.017091366392122564 Centerline is valid? [True, True] Translation: X:40.61, Y:1.22, Z:0.31 [[ 9.98291872e-01 -5.26289802e-02 -2.53678545e-02 4.06123300e+01] [ 5.26248482e-02 9.98614007e-01 -8.30915097e-04 1.22341409e+00] [ 2.53764251e-02 -5.05483706e-04 9.99677839e-01 3.11947362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.075099893 meters 0.016778013616021367 Centerline is valid? [True, True] Translation: X:40.64, Y:1.22, Z:0.31 [[ 9.98041361e-01 -5.75228733e-02 -2.45878307e-02 4.06443350e+01] [ 5.75205129e-02 9.98344001e-01 -8.03833454e-04 1.22235767e+00] [ 2.45933521e-02 -6.12045597e-04 9.99697350e-01 3.13856516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105099893 meters 0.018509922605330166 Centerline is valid? [True, True] Translation: X:40.68, Y:1.22, Z:0.31 [[ 9.97932923e-01 -5.91971575e-02 -2.50115505e-02 4.06750200e+01] [ 5.91952747e-02 9.98246088e-01 -8.16319698e-04 1.22178944e+00] [ 2.50160062e-02 -6.65933298e-04 9.99686829e-01 3.12498887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.135099892999996 meters 0.019351139307951147 Centerline is valid? [True, True] Translation: X:40.71, Y:1.22, Z:0.31 [[ 9.97824344e-01 -6.06776823e-02 -2.57836821e-02 4.07070628e+01] [ 6.06762122e-02 9.98157148e-01 -8.40092408e-04 1.22309427e+00] [ 2.57871415e-02 -7.26191514e-04 9.99667193e-01 3.12220577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165099893 meters 0.0197664992873824 Centerline is valid? [True, True] Translation: X:40.74, Y:1.22, Z:0.31 [[ 9.97724776e-01 -6.23946833e-02 -2.55377215e-02 4.07393742e+01] [ 6.23938498e-02 9.98051260e-01 -8.30241961e-04 1.22208633e+00] [ 2.55397578e-02 -7.65043782e-04 9.99673514e-01 3.11598817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.195099893 meters 0.020423749713354908 Centerline is valid? [True, True] Translation: X:40.77, Y:1.22, Z:0.31 [[ 9.97697964e-01 -6.33955154e-02 -2.40786589e-02 4.07715405e+01] [ 6.33951061e-02 9.97988202e-01 -7.81112175e-04 1.22189360e+00] [ 2.40797365e-02 -7.47155109e-04 9.99709762e-01 3.13481497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225099893 meters 0.019327939008727812 Centerline is valid? [True, True] Translation: X:40.80, Y:1.22, Z:0.32 [[ 9.97744445e-01 -6.36697301e-02 -2.12647211e-02 4.08023461e+01] [ 6.36694998e-02 9.97970802e-01 -6.88553747e-04 1.22211387e+00] [ 2.12654108e-02 -6.66913477e-04 9.99773643e-01 3.17372075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.255099893 meters 0.021024175015056996 Centerline is valid? [True, True] Translation: X:40.83, Y:1.22, Z:0.32 [[ 9.97731946e-01 -6.40080468e-02 -2.08310675e-02 4.08333847e+01] [ 6.40079224e-02 9.97949163e-01 -6.73403751e-04 1.22248065e+00] [ 2.08314497e-02 -6.61476918e-04 9.99782783e-01 3.18294110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285099893 meters 0.019622818541305414 Centerline is valid? [True, True] Translation: X:40.87, Y:1.22, Z:0.32 [[ 9.97695976e-01 -6.45671697e-02 -2.08283249e-02 4.08655083e+01] [ 6.45671934e-02 9.97913135e-01 -6.72047558e-04 1.22232496e+00] [ 2.08282512e-02 -6.74327340e-04 9.99782841e-01 3.19381633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.315099892999996 meters 0.02021396349932102 Centerline is valid? [True, True] Translation: X:40.90, Y:1.22, Z:0.32 [[ 9.97662453e-01 -6.44274093e-02 -2.27758530e-02 4.08977303e+01] [ 6.44274408e-02 9.97922125e-01 -7.33169308e-04 1.22283838e+00] [ 2.27757638e-02 -7.35934432e-04 9.99740328e-01 3.17032658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345099893 meters 0.01932483012143354 Centerline is valid? [True, True] Translation: X:40.93, Y:1.23, Z:0.32 [[ 9.97696572e-01 -6.27705687e-02 -2.57178196e-02 4.09295919e+01] [ 6.27701104e-02 9.98027671e-01 -8.25905246e-04 1.22506305e+00] [ 2.57189381e-02 -7.90307540e-04 9.99668901e-01 3.15274732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.375099893 meters 0.019495242843580344 Centerline is valid? [True, True] Translation: X:40.96, Y:1.23, Z:0.31 [[ 9.97766181e-01 -6.10378273e-02 -2.71483397e-02 4.09614075e+01] [ 6.10367309e-02 9.98135142e-01 -8.69833814e-04 1.22838812e+00] [ 2.71508047e-02 -7.89155141e-04 9.99631037e-01 3.14993490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405099893 meters 0.017477001375243606 Centerline is valid? [True, True] Translation: X:40.99, Y:1.24, Z:0.32 [[ 9.98016226e-01 -5.66363741e-02 -2.74942381e-02 4.09929556e+01] [ 5.66336280e-02 9.98394641e-01 -8.79189520e-04 1.23516208e+00] [ 2.74998941e-02 -6.79653046e-04 9.99621575e-01 3.17250111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.435099893 meters 0.016403081052081762 Centerline is valid? [True, True] Translation: X:41.02, Y:1.24, Z:0.32 [[ 9.98327478e-01 -5.07491908e-02 -2.76905566e-02 4.10231294e+01] [ 5.07441680e-02 9.98711293e-01 -8.84516097e-04 1.24070826e+00] [ 2.76997600e-02 -5.22097529e-04 9.99616152e-01 3.17458719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465099893 meters 0.01625419273837908 Centerline is valid? [True, True] Translation: X:41.05, Y:1.25, Z:0.32 [[ 9.98623209e-01 -4.48203444e-02 -2.72547789e-02 4.10543486e+01] [ 4.48132911e-02 9.98995001e-01 -8.69843404e-04 1.24500412e+00] [ 2.72663746e-02 -3.52730531e-04 9.99628141e-01 3.17435667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.495099893 meters 0.013676674828254376 Centerline is valid? [True, True] Translation: X:41.08, Y:1.25, Z:0.32 [[ 9.98913127e-01 -3.92507830e-02 -2.51384425e-02 4.10847671e+01] [ 3.92430349e-02 9.99229374e-01 -8.01667025e-04 1.24955503e+00] [ 2.51505363e-02 -1.85713063e-04 9.99683658e-01 3.20654802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525099893 meters 0.015752344334456218 Centerline is valid? [True, True] Translation: X:41.12, Y:1.25, Z:0.32 [[ 9.99131222e-01 -3.33873606e-02 -2.49416407e-02 4.11162871e+01] [ 3.33779229e-02 9.99442486e-01 -7.94725155e-04 1.25429739e+00] [ 2.49542692e-02 -3.84654454e-05 9.99688593e-01 3.20260932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.555099893 meters 0.015317441704011317 Centerline is valid? [True, True] Translation: X:41.15, Y:1.26, Z:0.32 [[ 9.99323349e-01 -2.83136823e-02 -2.34772155e-02 4.11466275e+01] [ 2.83039301e-02 9.99599084e-01 -7.47647701e-04 1.25790311e+00] [ 2.34889718e-02 8.26443364e-05 9.99724093e-01 3.22572863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.585099893 meters 0.015458345123166522 Centerline is valid? [True, True] Translation: X:41.18, Y:1.26, Z:0.32 [[ 9.99417961e-01 -2.58189397e-02 -2.22962041e-02 4.11759832e+01] [ 2.58095154e-02 9.99666627e-01 -7.10393785e-04 1.25995477e+00] [ 2.23071127e-02 1.34526087e-04 9.99751156e-01 3.23877516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.615099893 meters 0.015808195279412508 Centerline is valid? [True, True] Translation: X:41.21, Y:1.26, Z:0.33 [[ 9.99561891e-01 -2.16425129e-02 -2.01897936e-02 4.12052246e+01] [ 2.16339226e-02 9.99765752e-01 -6.43820463e-04 1.26290363e+00] [ 2.01989981e-02 2.06753965e-04 9.99795958e-01 3.25800296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645099893 meters 0.013521078987903638 Centerline is valid? [True, True] Translation: X:41.23, Y:1.26, Z:0.33 [[ 9.99623710e-01 -1.90346730e-02 -1.97514648e-02 4.12344823e+01] [ 1.90259331e-02 9.99818792e-01 -6.30326669e-04 1.26266304e+00] [ 1.97598837e-02 2.54299434e-04 9.99804722e-01 3.29200205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.675099893 meters 0.017366140962978803 Centerline is valid? [True, True] Translation: X:41.26, Y:1.26, Z:0.33 [[ 9.99582819e-01 -1.69358469e-02 -2.33958179e-02 4.12624181e+01] [ 1.69229731e-02 9.99856516e-01 -7.48156133e-04 1.26384630e+00] [ 2.34051317e-02 3.51917220e-04 9.99726000e-01 3.25107936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705099892999996 meters 0.01620042314271322 Centerline is valid? [True, True] Translation: X:41.29, Y:1.26, Z:0.32 [[ 9.99573684e-01 -1.56570587e-02 -2.46435890e-02 4.12913112e+01] [ 1.56422813e-02 9.99877338e-01 -7.92309831e-04 1.26353961e+00] [ 2.46529714e-02 4.06490105e-04 9.99695987e-01 3.24997042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.735099893 meters 0.015709258187026395 Centerline is valid? [True, True] Translation: X:41.32, Y:1.26, Z:0.32 [[ 9.99544388e-01 -1.57094618e-02 -2.57726581e-02 4.13205146e+01] [ 1.56931464e-02 9.99876506e-01 -8.35204083e-04 1.26209297e+00] [ 2.57825960e-02 4.30369458e-04 9.99667481e-01 3.24251835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.765099893 meters 0.016686741755597465 Centerline is valid? [True, True] Translation: X:41.35, Y:1.26, Z:0.32 [[ 9.99507546e-01 -1.71793100e-02 -2.62590203e-02 4.13482531e+01] [ 1.71627647e-02 9.99852343e-01 -8.55345250e-04 1.26027326e+00] [ 2.62698372e-02 4.04246646e-04 9.99654807e-01 3.22006359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.795099893 meters 0.015352768513623789 Centerline is valid? [True, True] Translation: X:41.38, Y:1.26, Z:0.32 [[ 9.99501869e-01 -2.00831083e-02 -2.43450809e-02 4.13772304e+01] [ 2.00696499e-02 9.99798267e-01 -7.97053187e-04 1.25629378e+00] [ 2.43561770e-02 3.08058900e-04 9.99703297e-01 3.24419092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825099893 meters 0.01465769197589997 Centerline is valid? [True, True] Translation: X:41.41, Y:1.25, Z:0.33 [[ 9.99496319e-01 -2.33027960e-02 -2.15426971e-02 4.14062860e+01] [ 2.32928961e-02 9.99728431e-01 -7.10393154e-04 1.25417277e+00] [ 2.15534009e-02 2.08243537e-04 9.99767677e-01 3.26525121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.855099893 meters 0.015757692110641035 Centerline is valid? [True, True] Translation: X:41.43, Y:1.25, Z:0.33 [[ 9.99455237e-01 -2.68033704e-02 -1.92563742e-02 4.14339153e+01] [ 2.67960388e-02 9.99640718e-01 -6.38707608e-04 1.25094869e+00] [ 1.92665753e-02 1.22365113e-04 9.99814375e-01 3.27106259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885099892999996 meters 0.015215567957655593 Centerline is valid? [True, True] Translation: X:41.46, Y:1.25, Z:0.33 [[ 9.99338774e-01 -3.19608927e-02 -1.73353754e-02 4.14649464e+01] [ 3.19557011e-02 9.99489120e-01 -5.76473819e-04 1.24653921e+00] [ 1.73449437e-02 2.21285651e-05 9.99849565e-01 3.28903891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.915099893 meters 0.015765810491115584 Centerline is valid? [True, True] Translation: X:41.50, Y:1.24, Z:0.33 [[ 9.99139207e-01 -3.80228170e-02 -1.65864684e-02 4.14961512e+01] [ 3.80189072e-02 9.99276868e-01 -5.51093613e-04 1.24238745e+00] [ 1.65954283e-02 -7.99801656e-05 9.99862283e-01 3.29392738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.945099893 meters 0.016528255602836533 Centerline is valid? [True, True] Translation: X:41.53, Y:1.24, Z:0.33 [[ 9.98891231e-01 -4.40778414e-02 -1.65363886e-02 4.15274897e+01] [ 4.40748113e-02 9.99028083e-01 -5.47813918e-04 1.23831792e+00] [ 1.65444631e-02 -1.81631690e-04 9.99863115e-01 3.30093328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.975099893 meters 0.015710592170402733 Centerline is valid? [True, True] Translation: X:41.56, Y:1.24, Z:0.33 [[ 9.98762493e-01 -4.68312920e-02 -1.67425175e-02 4.15601562e+01] [ 4.68285894e-02 9.98902786e-01 -5.53636887e-04 1.23744848e+00] [ 1.67500749e-02 -2.31076721e-04 9.99859681e-01 3.31210953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.005099893 meters 0.016229652174400366 Centerline is valid? [True, True] Translation: X:41.59, Y:1.23, Z:0.33 [[ 9.98541116e-01 -5.07152268e-02 -1.85366217e-02 4.15908893e+01] [ 5.07126057e-02 9.98713101e-01 -6.11735116e-04 1.23374570e+00] [ 1.85437913e-02 -3.29197725e-04 9.99827995e-01 3.29943197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.035099893 meters 0.017731318617459024 Centerline is valid? [True, True] Translation: X:41.62, Y:1.23, Z:0.33 [[ 9.98404640e-01 -5.25307885e-02 -2.07048748e-02 4.16221942e+01] [ 5.25279284e-02 9.98619222e-01 -6.82340615e-04 1.23194339e+00] [ 2.07121299e-02 -4.06332146e-04 9.99785398e-01 3.28235185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.065099892999996 meters 0.017722845189725094 Centerline is valid? [True, True] Translation: X:41.65, Y:1.24, Z:0.33 [[ 9.98475962e-01 -5.11573364e-02 -2.07045759e-02 4.16541359e+01] [ 5.11542075e-02 9.98690534e-01 -6.81058898e-04 1.23584773e+00] [ 2.07123052e-02 -3.79105234e-04 9.99785405e-01 3.30020912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.095099893 meters 0.01749705138070494 Centerline is valid? [True, True] Translation: X:41.69, Y:1.24, Z:0.33 [[ 9.98559593e-01 -4.94587477e-02 -2.07983385e-02 4.16861982e+01] [ 4.94552539e-02 9.98776107e-01 -6.82616746e-04 1.23765541e+00] [ 2.08066449e-02 -3.46953610e-04 9.99783458e-01 3.31085492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.125099893 meters 0.015218935588370343 Centerline is valid? [True, True] Translation: X:41.72, Y:1.24, Z:0.33 [[ 9.98960716e-01 -4.07704151e-02 -2.03779541e-02 4.17161677e+01] [ 4.07652742e-02 9.99168528e-01 -6.67787132e-04 1.24212972e+00] [ 2.03882364e-02 -1.63619774e-04 9.99792125e-01 3.31829147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.155099893 meters 0.015942513960079802 Centerline is valid? [True, True] Translation: X:41.75, Y:1.25, Z:0.33 [[ 9.99118306e-01 -3.66379669e-02 -2.05004687e-02 4.17469029e+01] [ 3.66319077e-02 9.99328601e-01 -6.71136543e-04 1.24510496e+00] [ 2.05112938e-02 -8.04264741e-05 9.99789618e-01 3.31629168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.185099893 meters 0.01364624211777679 Centerline is valid? [True, True] Translation: X:41.78, Y:1.25, Z:0.33 [[ 9.99504752e-01 -2.44153665e-02 -1.98529504e-02 4.17772451e+01] [ 2.44072934e-02 9.99701887e-01 -6.48884405e-04 1.25328986e+00] [ 1.98628747e-02 1.64006261e-04 9.99802700e-01 3.33983986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.215099893 meters 0.016792744718380125 Centerline is valid? [True, True] Translation: X:41.81, Y:1.26, Z:0.33 [[ 9.99628261e-01 -1.74741051e-02 -2.09283211e-02 4.18062642e+01] [ 1.74636180e-02 9.99847266e-01 -6.83767174e-04 1.25651789e+00] [ 2.09370728e-02 3.18028785e-04 9.99780745e-01 3.31121470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.245099892999995 meters 0.017776478113159334 Centerline is valid? [True, True] Translation: X:41.84, Y:1.26, Z:0.33 [[ 9.99653559e-01 -1.35177316e-02 -2.25838910e-02 4.18350907e+01] [ 1.35044358e-02 9.99908536e-01 -7.41146835e-04 1.25518366e+00] [ 2.25918440e-02 4.35907367e-04 9.99744677e-01 3.30151357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.275099893 meters 0.017109309967430805 Centerline is valid? [True, True] Translation: X:41.86, Y:1.25, Z:0.33 [[ 9.99645475e-01 -1.21399481e-02 -2.36969753e-02 4.18639347e+01] [ 1.21247754e-02 9.99926185e-01 -7.83863969e-04 1.25366895e+00] [ 2.37047422e-02 4.96265567e-04 9.99718880e-01 3.31477855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.305099893 meters 0.017946349956481814 Centerline is valid? [True, True] Translation: X:41.89, Y:1.25, Z:0.33 [[ 9.99637236e-01 -1.32855445e-02 -2.34284090e-02 4.18921361e+01] [ 1.32709314e-02 9.99911634e-01 -7.79111319e-04 1.25284241e+00] [ 2.34366896e-02 4.67911878e-04 9.99725214e-01 3.31434505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.335099893 meters 0.01808373018604732 Centerline is valid? [True, True] Translation: X:41.92, Y:1.25, Z:0.33 [[ 9.99628468e-01 -1.54526126e-02 -2.24531088e-02 4.19212165e+01] [ 1.54396557e-02 9.99880520e-01 -7.50314235e-04 1.24884969e+00] [ 2.24620204e-02 4.03367199e-04 9.99747616e-01 3.32633186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.365099893 meters 0.016569221899452705 Centerline is valid? [True, True] Translation: X:41.95, Y:1.24, Z:0.33 [[ 9.99629248e-01 -1.86637073e-02 -1.98250495e-02 4.19502203e+01] [ 1.86541450e-02 9.99825774e-01 -6.67170760e-04 1.24408888e+00] [ 1.98340473e-02 2.97104058e-04 9.99803242e-01 3.34946413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.395099893 meters 0.015763757017387785 Centerline is valid? [True, True] Translation: X:41.98, Y:1.24, Z:0.34 [[ 9.99584123e-01 -2.30894402e-02 -1.72759868e-02 4.19797104e+01] [ 2.30827720e-02 9.99733386e-01 -5.85311483e-04 1.23912982e+00] [ 1.72848953e-02 1.86290401e-04 9.99850588e-01 3.37320923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425099893 meters 0.01485892054162167 Centerline is valid? [True, True] Translation: X:42.01, Y:1.24, Z:0.34 [[ 9.99541839e-01 -2.56815818e-02 -1.60177679e-02 4.20099887e+01] [ 2.56761375e-02 9.99670165e-01 -5.45485452e-04 1.23686202e+00] [ 1.60264936e-02 1.33961120e-04 9.99871559e-01 3.38377607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.455099892999996 meters 0.015602995233046184 Centerline is valid? [True, True] Translation: X:42.04, Y:1.23, Z:0.34 [[ 9.99458742e-01 -2.86536692e-02 -1.61613948e-02 4.20403660e+01] [ 2.86485157e-02 9.99589396e-01 -5.50351246e-04 1.23479921e+00] [ 1.61705284e-02 8.70533924e-05 9.99869245e-01 3.38292671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485099893 meters 0.01593589404680905 Centerline is valid? [True, True] Translation: X:42.07, Y:1.23, Z:0.34 [[ 9.99358659e-01 -3.19781905e-02 -1.61141716e-02 4.20714198e+01] [ 3.19735147e-02 9.99488566e-01 -5.47780119e-04 1.23220718e+00] [ 1.61234473e-02 3.22021007e-05 9.99870008e-01 3.38090586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.515099893 meters 0.01671384113442331 Centerline is valid? [True, True] Translation: X:42.10, Y:1.22, Z:0.34 [[ 9.98880283e-01 -4.40556228e-02 -1.72418776e-02 4.21036528e+01] [ 4.40520872e-02 9.99029064e-01 -5.84986900e-04 1.22021022e+00] [ 1.72509088e-02 -1.75208818e-04 9.99851177e-01 3.36126077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.545099893 meters 0.01781542688868268 Centerline is valid? [True, True] Translation: X:42.13, Y:1.21, Z:0.33 [[ 9.98428729e-01 -5.30187802e-02 -1.81406148e-02 4.21338545e+01] [ 5.30163763e-02 9.98593454e-01 -6.13744243e-04 1.21074381e+00] [ 1.81476391e-02 -3.48969774e-04 9.99835257e-01 3.34191802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.575099893 meters 0.018247669970343338 Centerline is valid? [True, True] Translation: X:42.17, Y:1.21, Z:0.33 [[ 9.98211427e-01 -5.71398221e-02 -1.75780257e-02 4.21654213e+01] [ 5.71382082e-02 9.98366101e-01 -5.94432949e-04 1.20654633e+00] [ 1.75832708e-02 -4.11007131e-04 9.99845318e-01 3.34537346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605099893 meters 0.01913107971930113 Centerline is valid? [True, True] Translation: X:42.20, Y:1.20, Z:0.34 [[ 9.97752471e-01 -6.46539063e-02 -1.76033669e-02 4.21970381e+01] [ 6.46534708e-02 9.97907599e-01 -5.94438799e-04 1.20233975e+00] [ 1.76049664e-02 -5.45015988e-04 9.99844872e-01 3.35931973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.635099892999996 meters 0.020690519844266505 Centerline is valid? [True, True] Translation: X:42.23, Y:1.20, Z:0.33 [[ 9.97381660e-01 -6.91456502e-02 -2.11826179e-02 4.22278346e+01] [ 6.91460517e-02 9.97606292e-01 -7.14352994e-04 1.19851791e+00] [ 2.11813073e-02 -7.52211814e-04 9.99775368e-01 3.32564295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665099893 meters 0.01997370239695611 Centerline is valid? [True, True] Translation: X:42.26, Y:1.20, Z:0.33 [[ 9.97443348e-01 -6.85622022e-02 -2.01492317e-02 4.22593640e+01] [ 6.85624796e-02 9.97646594e-01 -6.77857992e-04 1.19842344e+00] [ 2.01482878e-02 -7.05356339e-04 9.99796754e-01 3.33208994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.695099893 meters 0.018521324036872237 Centerline is valid? [True, True] Translation: X:42.29, Y:1.21, Z:0.34 [[ 9.97786123e-01 -6.35652643e-02 -1.95527624e-02 4.22904617e+01] [ 6.35646053e-02 9.97977510e-01 -6.55821758e-04 1.20806937e+00] [ 1.95549046e-02 -5.88493776e-04 9.99808611e-01 3.35402818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.725099893 meters 0.018860045574348186 Centerline is valid? [True, True] Translation: X:42.32, Y:1.21, Z:0.34 [[ 9.97807010e-01 -6.35737935e-02 -1.84267276e-02 4.23213921e+01] [ 6.35732237e-02 9.97976986e-01 -6.17287885e-04 1.21219716e+00] [ 1.84286934e-02 -5.55512294e-04 9.99830023e-01 3.36736804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.755099893 meters 0.020336573604347347 Centerline is valid? [True, True] Translation: X:42.35, Y:1.21, Z:0.34 [[ 9.97813499e-01 -6.34444507e-02 -1.85208866e-02 4.23532026e+01] [ 6.34438760e-02 9.97985216e-01 -6.19191517e-04 1.21367275e+00] [ 1.85228553e-02 -5.57199179e-04 9.99828282e-01 3.36286517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785099893 meters 0.02042740487783349 Centerline is valid? [True, True] Translation: X:42.38, Y:1.22, Z:0.34 [[ 9.97830962e-01 -6.31589160e-02 -1.85559421e-02 4.23844277e+01] [ 6.31583170e-02 9.98003329e-01 -6.18898976e-04 1.21536219e+00] [ 1.85579810e-02 -5.54405513e-04 9.99827632e-01 3.36549061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.815099892999996 meters 0.01752887315560473 Centerline is valid? [True, True] Translation: X:42.42, Y:1.22, Z:0.34 [[ 9.97897823e-01 -6.21318265e-02 -1.84274744e-02 4.24169478e+01] [ 6.21310830e-02 9.98067809e-01 -6.13403129e-04 1.21975646e+00] [ 1.84299808e-02 -5.32805293e-04 9.99830012e-01 3.39034570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845099893 meters 0.01752887315560473 Centerline is valid? [True, True] Translation: X:42.45, Y:1.22, Z:0.34 [[ 9.97904580e-01 -6.20231751e-02 -1.84275334e-02 4.24494836e+01] [ 6.20224460e-02 9.98074567e-01 -6.11626155e-04 1.22075176e+00] [ 1.84299874e-02 -5.32576152e-04 9.99830012e-01 3.39436811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.875099893 meters 0.01843350202570217 Centerline is valid? [True, True] Translation: X:42.48, Y:1.22, Z:0.34 [[ 9.97971911e-01 -6.05705701e-02 -1.95773207e-02 4.24818315e+01] [ 6.05695062e-02 9.98163772e-01 -6.47833039e-04 1.22459129e+00] [ 1.95806119e-02 -5.39269475e-04 9.99808136e-01 3.38406913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.905099893 meters 0.01843350202570217 Centerline is valid? [True, True] Translation: X:42.51, Y:1.23, Z:0.34 [[ 9.97976299e-01 -6.04982097e-02 -1.95773677e-02 4.25135191e+01] [ 6.04971598e-02 9.98168160e-01 -6.46412569e-04 1.22558160e+00] [ 1.95806119e-02 -5.39270716e-04 9.99808136e-01 3.38798730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.935099893 meters 0.01851116920521626 Centerline is valid? [True, True] Translation: X:42.55, Y:1.23, Z:0.34 [[ 9.98101045e-01 -5.82321830e-02 -2.00827716e-02 4.25458512e+01] [ 5.82306496e-02 9.98302937e-01 -6.61618492e-04 1.22977192e+00] [ 2.00872173e-02 -5.09070726e-04 9.99798102e-01 3.38795709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965099893 meters 0.017953797600937845 Centerline is valid? [True, True] Translation: X:42.58, Y:1.23, Z:0.34 [[ 9.98262781e-01 -5.53770101e-02 -2.01197914e-02 4.25769005e+01] [ 5.53749314e-02 9.98465413e-01 -6.60851277e-04 1.23384973e+00] [ 2.01255118e-02 -4.54428837e-04 9.99797358e-01 3.39183194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.995099892999995 meters 0.01632752141996821 Centerline is valid? [True, True] Translation: X:42.61, Y:1.24, Z:0.34 [[ 9.98648080e-01 -4.81921261e-02 -1.94815634e-02 4.26082277e+01] [ 4.81888527e-02 9.98838039e-01 -6.37703845e-04 1.24213546e+00] [ 1.94896589e-02 -3.01952470e-04 9.99810013e-01 3.39883742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025099893 meters 0.015698278968901122 Centerline is valid? [True, True] Translation: X:42.64, Y:1.25, Z:0.34 [[ 9.99021257e-01 -4.00355302e-02 -1.88064821e-02 4.26399605e+01] [ 4.00310570e-02 9.99198247e-01 -6.14400766e-04 1.25032082e+00] [ 1.88160018e-02 -1.39043930e-04 9.99822954e-01 3.39669819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.055099893 meters 0.013224531222380974 Centerline is valid? [True, True] Translation: X:42.67, Y:1.26, Z:0.34 [[ 9.99294919e-01 -3.29113781e-02 -1.80694970e-02 4.26719050e+01] [ 3.29061031e-02 9.99458274e-01 -5.89253725e-04 1.25805611e+00] [ 1.80791014e-02 -5.75847764e-06 9.99836560e-01 3.41512392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.085099893 meters 0.015107019724043156 Centerline is valid? [True, True] Translation: X:42.70, Y:1.26, Z:0.34 [[ 9.99435619e-01 -2.84106391e-02 -1.79242695e-02 4.27033342e+01] [ 2.84047464e-02 9.99596334e-01 -5.83310863e-04 1.26354032e+00] [ 1.79336063e-02 7.38473252e-05 9.99839177e-01 3.40426807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.115099893 meters 0.014576157008112265 Centerline is valid? [True, True] Translation: X:42.74, Y:1.27, Z:0.34 [[ 9.99467852e-01 -2.68200768e-02 -1.85659834e-02 4.27350116e+01] [ 2.68134973e-02 9.99640272e-01 -6.03269156e-04 1.26665545e+00] [ 1.85754844e-02 1.05129182e-04 9.99827455e-01 3.40748191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145099893 meters 0.014141430608354265 Centerline is valid? [True, True] Translation: X:42.76, Y:1.27, Z:0.34 [[ 9.99427635e-01 -2.80154628e-02 -1.89614495e-02 4.27641306e+01] [ 2.80088215e-02 9.99607486e-01 -6.15781826e-04 1.26677648e+00] [ 1.89712583e-02 8.43415185e-05 9.99820026e-01 3.40365484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.175099893 meters 0.016249685630431884 Centerline is valid? [True, True] Translation: X:42.80, Y:1.27, Z:0.34 [[ 9.99372172e-01 -2.94896117e-02 -1.96373390e-02 4.27950436e+01] [ 2.94827685e-02 9.99565085e-01 -6.37961099e-04 1.26692636e+00] [ 1.96476117e-02 5.85974489e-05 9.99806965e-01 3.39074493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205099892999996 meters 0.014697943706300013 Centerline is valid? [True, True] Translation: X:42.83, Y:1.27, Z:0.34 [[ 9.99244818e-01 -3.42429396e-02 -1.83634080e-02 4.28256303e+01] [ 3.42377600e-02 9.99413538e-01 -5.96466629e-04 1.26625657e+00] [ 1.83730634e-02 -3.27057684e-05 9.99831200e-01 3.40681701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.235099893 meters 0.014696569061403974 Centerline is valid? [True, True] Translation: X:42.86, Y:1.26, Z:0.34 [[ 9.99038405e-01 -4.05949961e-02 -1.65623615e-02 4.28576292e+01] [ 4.05916637e-02 9.99175674e-01 -5.37460992e-04 1.26446360e+00] [ 1.65705270e-02 -1.35349636e-04 9.99862690e-01 3.43338485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.265099893 meters 0.016072996527246558 Centerline is valid? [True, True] Translation: X:42.89, Y:1.26, Z:0.34 [[ 9.98692668e-01 -4.83905128e-02 -1.64715712e-02 4.28891900e+01] [ 4.83882979e-02 9.98828458e-01 -5.33220273e-04 1.26110305e+00] [ 1.64780768e-02 -2.64508114e-04 9.99864192e-01 3.43552246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.295099893 meters 0.018438231156427707 Centerline is valid? [True, True] Translation: X:42.92, Y:1.26, Z:0.34 [[ 9.98194908e-01 -5.74608089e-02 -1.74694520e-02 4.29199434e+01] [ 5.74597292e-02 9.98347666e-01 -5.64146504e-04 1.25692953e+00] [ 1.74730029e-02 -4.40661810e-04 9.99847238e-01 3.42241968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325099893 meters 0.024243740033747123 Centerline is valid? [True, True] Translation: X:42.95, Y:1.25, Z:0.34 [[ 9.96758567e-01 -7.87922590e-02 -1.62523537e-02 4.29505088e+01] [ 7.87941550e-02 9.96890769e-01 -5.24640186e-04 1.24632966e+00] [ 1.62431590e-02 -7.57650879e-04 9.99867784e-01 3.43169974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.355099893 meters 0.028460554015872667 Centerline is valid? [True, True] Translation: X:42.98, Y:1.24, Z:0.34 [[ 9.96533269e-01 -8.16152518e-02 -1.61367586e-02 4.29810231e+01] [ 8.16174910e-02 9.96663591e-01 -5.20852577e-04 1.24182705e+00] [ 1.61254293e-02 -7.97994833e-04 9.99869658e-01 3.42711739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385099892999996 meters 0.028460554015872667 Centerline is valid? [True, True] Translation: X:43.01, Y:1.24, Z:0.34 [[ 9.96541759e-01 -8.15115093e-02 -1.61367784e-02 4.30135849e+01] [ 8.15137448e-02 9.96672082e-01 -5.20238721e-04 1.24278463e+00] [ 1.61254820e-02 -7.96929628e-04 9.99869658e-01 3.43114551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.415099893 meters 0.026542126792335544 Centerline is valid? [True, True] Translation: X:43.05, Y:1.25, Z:0.34 [[ 9.96363317e-01 -8.37712478e-02 -1.55730105e-02 4.30452493e+01] [ 8.37736301e-02 9.96484686e-01 -5.00451234e-04 1.24554835e+00] [ 1.55601899e-02 -8.05976370e-04 9.99878608e-01 3.44615143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.445099893 meters 0.02510082976377818 Centerline is valid? [True, True] Translation: X:43.08, Y:1.25, Z:0.35 [[ 9.96240625e-01 -8.52255954e-02 -1.55311201e-02 4.30770714e+01] [ 8.52281667e-02 9.96361336e-01 -4.97456394e-04 1.24824243e+00] [ 1.55170036e-02 -8.28102626e-04 9.99879261e-01 3.45273332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.475099893 meters 0.027507159638077202 Centerline is valid? [True, True] Translation: X:43.11, Y:1.25, Z:0.34 [[ 9.96181375e-01 -8.58796782e-02 -1.57273612e-02 4.31087423e+01] [ 8.58824232e-02 9.96305153e-01 -5.02025482e-04 1.24713092e+00] [ 1.57123648e-02 -8.50595459e-04 9.99876191e-01 3.44187940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.505099893 meters 0.02693232727438396 Centerline is valid? [True, True] Translation: X:43.14, Y:1.25, Z:0.34 [[ 9.96435050e-01 -8.27848383e-02 -1.62438186e-02 4.31405021e+01] [ 8.27874088e-02 9.96567097e-01 -5.15282914e-04 1.25346932e+00] [ 1.62307128e-02 -8.31337698e-04 9.99867928e-01 3.43794128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.535099893 meters 0.02441840740139607 Centerline is valid? [True, True] Translation: X:43.17, Y:1.26, Z:0.34 [[ 9.96879131e-01 -7.71456593e-02 -1.67494956e-02 4.31703906e+01] [ 7.71476100e-02 9.97019541e-01 -5.30604029e-04 1.26168404e+00] [ 1.67405082e-02 -7.63235473e-04 9.99859577e-01 3.43800510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.565099892999996 meters 0.023211644441355952 Centerline is valid? [True, True] Translation: X:43.20, Y:1.26, Z:0.34 [[ 9.97101796e-01 -7.41612751e-02 -1.69738955e-02 4.32006214e+01] [ 7.41628498e-02 9.97245999e-01 -5.37536430e-04 1.26436086e+00] [ 1.69670137e-02 -7.22853919e-04 9.99855789e-01 3.44421743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.595099893 meters 0.01998659530653628 Centerline is valid? [True, True] Translation: X:43.23, Y:1.28, Z:0.34 [[ 9.97779560e-01 -6.41643964e-02 -1.78572086e-02 4.32303821e+01] [ 6.41645439e-02 9.97939172e-01 -5.65277906e-04 1.27904875e+00] [ 1.78566787e-02 -5.81776907e-04 9.99840388e-01 3.43467426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.625099893 meters 0.020148760008607436 Centerline is valid? [True, True] Translation: X:43.26, Y:1.28, Z:0.34 [[ 9.98003127e-01 -6.05515499e-02 -1.79796599e-02 4.32611387e+01] [ 6.05511171e-02 9.98164936e-01 -5.68961807e-04 1.28271505e+00] [ 1.79811176e-02 -5.20862832e-04 9.99838191e-01 3.43553321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.655099893 meters 0.017879784150837057 Centerline is valid? [True, True] Translation: X:43.29, Y:1.29, Z:0.34 [[ 9.98403604e-01 -5.32233157e-02 -1.89082539e-02 4.32906923e+01] [ 5.32215323e-02 9.98582551e-01 -5.97870687e-04 1.29279854e+00] [ 1.89132730e-02 -4.09409995e-04 9.99821044e-01 3.44497258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.685099893 meters 0.016443686483977475 Centerline is valid? [True, True] Translation: X:43.32, Y:1.31, Z:0.34 [[ 9.98877109e-01 -4.14846868e-02 -2.28810472e-02 4.33207444e+01] [ 4.14789997e-02 9.99139114e-01 -7.23301254e-04 1.30646084e+00] [ 2.28913552e-02 -2.26593887e-04 9.99737933e-01 3.40448675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.715099893 meters 0.012955099494565168 Centerline is valid? [True, True] Translation: X:43.35, Y:1.32, Z:0.34 [[ 9.99176320e-01 -3.37297658e-02 -2.25606697e-02 4.33528509e+01] [ 3.37222813e-02 9.99430988e-01 -7.12223082e-04 1.31707441e+00] [ 2.25718556e-02 -4.91608122e-05 9.99745222e-01 3.44273974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.745099892999995 meters 0.0157494104650893 Centerline is valid? [True, True] Translation: X:43.38, Y:1.33, Z:0.34 [[ 9.99406227e-01 -2.56303400e-02 -2.30278023e-02 4.33839997e+01] [ 2.56204219e-02 9.99671480e-01 -7.25677190e-04 1.32841768e+00] [ 2.30388366e-02 1.35264291e-04 9.99734562e-01 3.43373945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.775099893 meters 0.01755640309764649 Centerline is valid? [True, True] Translation: X:43.41, Y:1.34, Z:0.34 [[ 9.99577203e-01 -1.79301172e-02 -2.28894118e-02 4.34125342e+01] [ 1.79182964e-02 9.99839194e-01 -7.21437757e-04 1.33872428e+00] [ 2.28986665e-02 3.10993471e-04 9.99737743e-01 3.43155303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.805099893 meters 0.01792988068104471 Centerline is valid? [True, True] Translation: X:43.44, Y:1.34, Z:0.34 [[ 9.99689855e-01 -1.45393763e-02 -2.02187951e-02 4.34397265e+01] [ 1.45294236e-02 9.99894238e-01 -6.39068971e-04 1.34206526e+00] [ 2.02259483e-02 3.45103329e-04 9.99795375e-01 3.43523204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.835099893 meters 0.017134194306852753 Centerline is valid? [True, True] Translation: X:43.47, Y:1.34, Z:0.35 [[ 9.99723280e-01 -1.46226333e-02 -1.84266789e-02 4.34673439e+01] [ 1.46143177e-02 9.99893034e-01 -5.85868882e-04 1.34373311e+00] [ 1.84332748e-02 3.16413421e-04 9.99830043e-01 3.46420676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.865099893 meters 0.01624930522288836 Centerline is valid? [True, True] Translation: X:43.50, Y:1.35, Z:0.35 [[ 9.99723404e-01 -1.55746195e-02 -1.76223146e-02 4.34955071e+01] [ 1.55670810e-02 9.99878666e-01 -5.64881646e-04 1.34582155e+00] [ 1.76289743e-02 2.90397403e-04 9.99844555e-01 3.48427677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.895099893 meters 0.01697130471834812 Centerline is valid? [True, True] Translation: X:43.52, Y:1.35, Z:0.35 [[ 9.99688107e-01 -1.75639248e-02 -1.77537868e-02 4.35246446e+01] [ 1.75565099e-02 9.99845708e-01 -5.73433407e-04 1.34654137e+00] [ 1.77611193e-02 2.61560023e-04 9.99842225e-01 3.48940056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925099893 meters 0.015824644939538002 Centerline is valid? [True, True] Translation: X:43.55, Y:1.35, Z:0.35 [[ 9.99615408e-01 -2.05285719e-02 -1.86443949e-02 4.35531362e+01] [ 2.05208216e-02 9.99789242e-01 -6.06931441e-04 1.34528848e+00] [ 1.86529249e-02 2.24099720e-04 9.99825994e-01 3.48985778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.955099892999996 meters 0.014107075559047215 Centerline is valid? [True, True] Translation: X:43.58, Y:1.34, Z:0.35 [[ 9.99521797e-01 -2.43762780e-02 -1.90256013e-02 4.35824837e+01] [ 2.43688151e-02 9.99702842e-01 -6.24029680e-04 1.34107357e+00] [ 1.90351592e-02 1.60099908e-04 9.99818802e-01 3.48406578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.985099893 meters 0.016011182679625015 Centerline is valid? [True, True] Translation: X:43.61, Y:1.34, Z:0.35 [[ 9.99459240e-01 -2.62743642e-02 -1.97708306e-02 4.36126220e+01] [ 2.62666176e-02 9.99654761e-01 -6.51441777e-04 1.33966587e+00] [ 1.97811212e-02 1.31776655e-04 9.99804326e-01 3.46412856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.015099893 meters 0.014514210908789578 Centerline is valid? [True, True] Translation: X:43.64, Y:1.34, Z:0.35 [[ 9.99360534e-01 -3.00487950e-02 -1.93802037e-02 4.36432493e+01] [ 3.00420636e-02 9.99548431e-01 -6.38445508e-04 1.33749556e+00] [ 1.93906367e-02 5.58159317e-05 9.99811982e-01 3.47666272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.045099893 meters 0.014961622759594905 Centerline is valid? [True, True] Translation: X:43.67, Y:1.33, Z:0.35 [[ 9.99257972e-01 -3.34095646e-02 -1.91652424e-02 4.36747688e+01] [ 3.34036085e-02 9.99441745e-01 -6.30904473e-04 1.33491771e+00] [ 1.91756215e-02 -9.75192837e-06 9.99816131e-01 3.47985734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.075099893 meters 0.014418719619323547 Centerline is valid? [True, True] Translation: X:43.71, Y:1.33, Z:0.35 [[ 9.99227185e-01 -3.49372176e-02 -1.80117609e-02 4.37070248e+01] [ 3.49322199e-02 9.99389508e-01 -5.92110810e-04 1.33331423e+00] [ 1.80214516e-02 -3.75375754e-05 9.99837600e-01 3.50073862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105099893 meters 0.015278441445501632 Centerline is valid? [True, True] Translation: X:43.74, Y:1.33, Z:0.35 [[ 9.99263582e-01 -3.43468108e-02 -1.71052651e-02 4.37382870e+01] [ 3.43422360e-02 9.99409974e-01 -5.61203647e-04 1.33158167e+00] [ 1.71144481e-02 -2.66426829e-05 9.99853537e-01 3.48999825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.135099892999996 meters 0.015260172582846678 Centerline is valid? [True, True] Translation: X:43.77, Y:1.33, Z:0.35 [[ 9.99323829e-01 -3.27337633e-02 -1.67447424e-02 4.37701494e+01] [ 3.27291691e-02 9.99464107e-01 -5.48408362e-04 1.33180758e+00] [ 1.67537205e-02 -3.96111499e-09 9.99859647e-01 3.49497285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165099893 meters 0.014781767727757494 Centerline is valid? [True, True] Translation: X:43.80, Y:1.33, Z:0.35 [[ 9.99397828e-01 -3.02896444e-02 -1.69268583e-02 4.38027688e+01] [ 3.02846198e-02 9.99541163e-01 -5.53155013e-04 1.33392536e+00] [ 1.69358465e-02 4.01984500e-05 9.99856577e-01 3.50269707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.195099893 meters 0.01557620350361491 Centerline is valid? [True, True] Translation: X:43.84, Y:1.34, Z:0.35 [[ 9.99456392e-01 -2.78791661e-02 -1.75974975e-02 4.38354025e+01] [ 2.78733846e-02 9.99611297e-01 -5.73772771e-04 1.33586937e+00] [ 1.76066536e-02 8.29590483e-05 9.99844987e-01 3.50255260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.225099893 meters 0.015604883009680758 Centerline is valid? [True, True] Translation: X:43.87, Y:1.34, Z:0.35 [[ 9.99485347e-01 -2.63139985e-02 -1.83470517e-02 4.38658491e+01] [ 2.63074697e-02 9.99653720e-01 -5.97157636e-04 1.33711049e+00] [ 1.83564121e-02 1.14185800e-04 9.99831500e-01 3.49690266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.255099893 meters 0.013278874246833054 Centerline is valid? [True, True] Translation: X:43.90, Y:1.34, Z:0.35 [[ 9.99456301e-01 -2.60143651e-02 -2.02572053e-02 4.38971056e+01] [ 2.60063550e-02 9.99661560e-01 -6.58798460e-04 1.33677335e+00] [ 2.02674877e-02 1.31624199e-04 9.99794585e-01 3.50392249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285099893 meters 0.014798521054184716 Centerline is valid? [True, True] Translation: X:43.93, Y:1.34, Z:0.35 [[ 9.99421869e-01 -2.64795241e-02 -2.13251777e-02 4.39264057e+01] [ 2.64707595e-02 9.99649348e-01 -6.93223677e-04 1.33727858e+00] [ 2.13360562e-02 1.28329254e-04 9.99772352e-01 3.48379671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.315099892999996 meters 0.014169048962093563 Centerline is valid? [True, True] Translation: X:43.96, Y:1.34, Z:0.35 [[ 9.99436408e-01 -2.67627716e-02 -2.02637875e-02 4.39562953e+01] [ 2.67549061e-02 9.99641806e-01 -6.59211642e-04 1.33953443e+00] [ 2.02741715e-02 1.16684383e-04 9.99794451e-01 3.51002440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345099893 meters 0.014779345562443985 Centerline is valid? [True, True] Translation: X:43.99, Y:1.34, Z:0.35 [[ 9.99390118e-01 -2.73761386e-02 -2.16780682e-02 4.39870933e+01] [ 2.73672707e-02 9.99625197e-01 -7.05692181e-04 1.33941878e+00] [ 2.16892623e-02 1.11992232e-04 9.99764754e-01 3.49125495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.375099893 meters 0.015319459829824935 Centerline is valid? [True, True] Translation: X:44.02, Y:1.34, Z:0.35 [[ 9.99357021e-01 -2.79452399e-02 -2.24634659e-02 4.40161765e+01] [ 2.79358574e-02 9.99609450e-01 -7.31439418e-04 1.33980351e+00] [ 2.24751330e-02 1.03432938e-04 9.99747397e-01 3.47402074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.405099893 meters 0.01486267606585674 Centerline is valid? [True, True] Translation: X:44.05, Y:1.34, Z:0.35 [[ 9.99343142e-01 -2.91928392e-02 -2.14723621e-02 4.40455100e+01] [ 2.91845428e-02 9.99573796e-01 -6.99708374e-04 1.33979317e+00] [ 2.14836370e-02 7.25876945e-05 9.99769197e-01 3.49619639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.435099893 meters 0.014680871471002784 Centerline is valid? [True, True] Translation: X:44.08, Y:1.34, Z:0.35 [[ 9.99335434e-01 -2.99251444e-02 -2.08128621e-02 4.40756012e+01] [ 2.99174996e-02 9.99552141e-01 -6.78651617e-04 1.34116919e+00] [ 2.08238496e-02 5.55318160e-05 9.99783159e-01 3.51424742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465099893 meters 0.012757099031102295 Centerline is valid? [True, True] Translation: X:44.11, Y:1.34, Z:0.35 [[ 9.99311396e-01 -3.12721556e-02 -1.99696394e-02 4.41054454e+01] [ 3.12653956e-02 9.99510906e-01 -6.50712278e-04 1.34280750e+00] [ 1.99802215e-02 2.59055210e-05 9.99800375e-01 3.54592009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.495099892999995 meters 0.014242959450183215 Centerline is valid? [True, True] Translation: X:44.14, Y:1.34, Z:0.35 [[ 9.99235271e-01 -3.25402933e-02 -2.16795637e-02 4.41370940e+01] [ 3.25326487e-02 9.99470424e-01 -7.05308965e-04 1.34319769e+00] [ 2.16910337e-02 -5.24034355e-07 9.99764722e-01 3.51634141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525099893 meters 0.014967393542003386 Centerline is valid? [True, True] Translation: X:44.17, Y:1.34, Z:0.35 [[ 9.99170946e-01 -3.49795383e-02 -2.08291220e-02 4.41671320e+01] [ 3.49730238e-02 9.99388027e-01 -6.77057683e-04 1.34290280e+00] [ 2.08400583e-02 -5.19610139e-05 9.99782821e-01 3.51466002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.555099893 meters 0.01583752695233225 Centerline is valid? [True, True] Translation: X:44.20, Y:1.34, Z:0.35 [[ 9.99058399e-01 -3.86470637e-02 -1.97159585e-02 4.41986381e+01] [ 3.86419622e-02 9.99252916e-01 -6.39794724e-04 1.34276599e+00] [ 1.97259552e-02 -1.22671029e-04 9.99805417e-01 3.52324934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.585099893 meters 0.015544502535830451 Centerline is valid? [True, True] Translation: X:44.23, Y:1.34, Z:0.35 [[ 9.98881837e-01 -4.28951666e-02 -1.98766183e-02 4.42303799e+01] [ 4.28908596e-02 9.99079557e-01 -6.43135625e-04 1.34277252e+00] [ 1.98859104e-02 -2.10108750e-04 9.99802234e-01 3.53259676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.615099893 meters 0.015359480278335086 Centerline is valid? [True, True] Translation: X:44.26, Y:1.34, Z:0.35 [[ 9.98775312e-01 -4.50805913e-02 -2.03866743e-02 4.42611320e+01] [ 4.50765352e-02 9.98983319e-01 -6.58677868e-04 1.34267720e+00] [ 2.03956412e-02 -2.61089449e-04 9.99791953e-01 3.53362763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645099893 meters 0.014968100864524245 Centerline is valid? [True, True] Translation: X:44.29, Y:1.34, Z:0.35 [[ 9.98559128e-01 -4.95975493e-02 -2.04878444e-02 4.42930526e+01] [ 4.95944240e-02 9.98769221e-01 -6.60924236e-04 1.34243665e+00] [ 2.04954086e-02 -3.56110916e-04 9.99789884e-01 3.53633428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.675099893 meters 0.016236118454889835 Centerline is valid? [True, True] Translation: X:44.33, Y:1.34, Z:0.35 [[ 9.98519985e-01 -5.05469102e-02 -2.00710903e-02 4.43250977e+01] [ 5.05441309e-02 9.98721620e-01 -6.46059353e-04 1.34301055e+00] [ 2.00780882e-02 -3.69372643e-04 9.99798347e-01 3.52728041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705099892999996 meters 0.016893452165487887 Centerline is valid? [True, True] Translation: X:44.36, Y:1.34, Z:0.35 [[ 9.98500396e-01 -5.10328695e-02 -1.98142918e-02 4.43570396e+01] [ 5.10302845e-02 9.98696904e-01 -6.36382551e-04 1.34433006e+00] [ 1.98209483e-02 -3.75700721e-04 9.99803475e-01 3.53041516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.735099893 meters 0.016893452165487887 Centerline is valid? [True, True] Translation: X:44.39, Y:1.35, Z:0.35 [[ 9.98505915e-01 -5.09247519e-02 -1.98143462e-02 4.43895758e+01] [ 5.09221793e-02 9.98702423e-01 -6.34687247e-04 1.34528813e+00] [ 1.98209568e-02 -3.75250718e-04 9.99803475e-01 3.53443759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.765099893 meters 0.017773271364460518 Centerline is valid? [True, True] Translation: X:44.42, Y:1.35, Z:0.35 [[ 9.98487238e-01 -5.13291567e-02 -1.97117482e-02 4.44211898e+01] [ 5.13267236e-02 9.98681717e-01 -6.29667033e-04 1.34810826e+00] [ 1.97180828e-02 -3.83024956e-04 9.99805506e-01 3.53850893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.795099893 meters 0.015278045223894312 Centerline is valid? [True, True] Translation: X:44.45, Y:1.35, Z:0.36 [[ 9.98456303e-01 -5.14087831e-02 -2.10273332e-02 4.44534147e+01] [ 5.14060604e-02 9.98677609e-01 -6.70347192e-04 1.35025936e+00] [ 2.10339886e-02 -4.11619984e-04 9.99778676e-01 3.55191256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825099893 meters 0.017003325185775985 Centerline is valid? [True, True] Translation: X:44.49, Y:1.35, Z:0.35 [[ 9.98459580e-01 -5.01690150e-02 -2.36967813e-02 4.44855917e+01] [ 5.01652517e-02 9.98740647e-01 -7.53619068e-04 1.35238938e+00] [ 2.37047470e-02 -4.36296821e-04 9.99718908e-01 3.51415885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.855099893 meters 0.01746249425897192 Centerline is valid? [True, True] Translation: X:44.52, Y:1.35, Z:0.35 [[ 9.98510366e-01 -4.89621206e-02 -2.40782165e-02 4.45167444e+01] [ 4.89579218e-02 9.98800550e-01 -7.64201399e-04 1.35363429e+00] [ 2.40867528e-02 -4.15756422e-04 9.99709786e-01 3.50663497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885099892999996 meters 0.016119364067804703 Centerline is valid? [True, True] Translation: X:44.55, Y:1.36, Z:0.35 [[ 9.98642037e-01 -4.66088737e-02 -2.32743483e-02 4.45493074e+01] [ 4.66043497e-02 9.98913155e-01 -7.37050622e-04 1.35674095e+00] [ 2.32834058e-02 -3.48636132e-04 9.99728844e-01 3.52852805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.915099893 meters 0.016190833047779143 Centerline is valid? [True, True] Translation: X:44.58, Y:1.36, Z:0.35 [[ 9.98806988e-01 -4.32459194e-02 -2.26801745e-02 4.45800456e+01] [ 4.32407940e-02 9.99064422e-01 -7.16582227e-04 1.35865371e+00] [ 2.26899447e-02 -2.64981420e-04 9.99742515e-01 3.54643797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.945099893 meters 0.016067890804167657 Centerline is valid? [True, True] Translation: X:44.61, Y:1.36, Z:0.36 [[ 9.98979963e-01 -3.98446005e-02 -2.12471699e-02 4.46117924e+01] [ 3.98393601e-02 9.99205873e-01 -6.70033696e-04 1.36133310e+00] [ 2.12569941e-02 -1.77123416e-04 9.99774029e-01 3.57326781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.975099893 meters 0.015742764664310176 Centerline is valid? [True, True] Translation: X:44.64, Y:1.36, Z:0.36 [[ 9.99081437e-01 -3.70682351e-02 -2.14994845e-02 4.46429678e+01] [ 3.70622569e-02 9.99312730e-01 -6.76586870e-04 1.36211132e+00] [ 2.15097884e-02 -1.20854034e-04 9.99768630e-01 3.57277824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.005099893 meters 0.014946787731032763 Centerline is valid? [True, True] Translation: X:44.67, Y:1.36, Z:0.36 [[ 9.99164727e-01 -3.44370257e-02 -2.19986279e-02 4.46747926e+01] [ 3.44301594e-02 9.99406867e-01 -6.90911852e-04 1.36435167e+00] [ 2.20093727e-02 -6.70815137e-05 9.99757762e-01 3.58204015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.035099893 meters 0.014167890431301884 Centerline is valid? [True, True] Translation: X:44.70, Y:1.37, Z:0.36 [[ 9.99281127e-01 -3.08279121e-02 -2.20650933e-02 4.47047834e+01] [ 3.08201482e-02 9.99524707e-01 -6.91927216e-04 1.36756828e+00] [ 2.20759366e-02 1.13803653e-05 9.99756297e-01 3.58642197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.065099892999996 meters 0.014820168671045368 Centerline is valid? [True, True] Translation: X:44.74, Y:1.37, Z:0.36 [[ 9.99330612e-01 -2.82858006e-02 -2.32000293e-02 4.47365455e+01] [ 2.82765466e-02 9.99599874e-01 -7.26900513e-04 1.36981188e+00] [ 2.32113074e-02 7.03972237e-05 9.99730579e-01 3.58203518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.095099893 meters 0.013991590506636483 Centerline is valid? [True, True] Translation: X:44.77, Y:1.37, Z:0.36 [[ 9.99400752e-01 -2.56955568e-02 -2.31921204e-02 4.47662848e+01] [ 2.56856129e-02 9.99669806e-01 -7.26600837e-04 1.37195093e+00] [ 2.32031329e-02 1.30461596e-04 9.99730763e-01 3.59029743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.125099893 meters 0.01650174151328476 Centerline is valid? [True, True] Translation: X:44.80, Y:1.38, Z:0.36 [[ 9.99514047e-01 -2.00974828e-02 -2.38277479e-02 4.47954593e+01] [ 2.00853703e-02 9.99797989e-01 -7.47581567e-04 1.37523007e+00] [ 2.38379589e-02 2.68629139e-04 9.99715799e-01 3.57652769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.155099893 meters 0.018396115071144744 Centerline is valid? [True, True] Translation: X:44.82, Y:1.38, Z:0.36 [[ 9.99610618e-01 -1.53363489e-02 -2.33111239e-02 4.48233493e+01] [ 1.53234119e-02 9.99882321e-01 -7.33504077e-04 1.37949983e+00] [ 2.33196299e-02 3.76012510e-04 9.99727990e-01 3.58302224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.185099893 meters 0.017277730372109227 Centerline is valid? [True, True] Translation: X:44.85, Y:1.38, Z:0.36 [[ 9.99676721e-01 -1.26146495e-02 -2.20754290e-02 4.48517914e+01] [ 1.26022965e-02 9.99920344e-01 -6.98615998e-04 1.38092598e+00] [ 2.20824833e-02 4.20189048e-04 9.99756064e-01 3.60700967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.215099893 meters 0.016775896988193827 Centerline is valid? [True, True] Translation: X:44.88, Y:1.38, Z:0.36 [[ 9.99691752e-01 -1.24483833e-02 -2.14811402e-02 4.48793149e+01] [ 1.24365283e-02 9.99922428e-01 -6.85388530e-04 1.38026058e+00] [ 2.14880059e-02 4.18026451e-04 9.99769019e-01 3.60913792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.245099892999995 meters 0.016700153953521903 Centerline is valid? [True, True] Translation: X:44.91, Y:1.38, Z:0.36 [[ 9.99672905e-01 -1.36076765e-02 -2.16544141e-02 4.49078324e+01] [ 1.35957738e-02 9.99907330e-01 -6.96799733e-04 1.37946944e+00] [ 2.16618892e-02 4.02163298e-04 9.99765273e-01 3.60889663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.275099893 meters 0.016403955129609446 Centerline is valid? [True, True] Translation: X:44.94, Y:1.38, Z:0.36 [[ 9.99612158e-01 -1.74028063e-02 -2.17411026e-02 4.49359704e+01] [ 1.73916194e-02 9.99848507e-01 -7.03539361e-04 1.37734354e+00] [ 2.17500526e-02 3.25153517e-04 9.99763387e-01 3.60034812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.305099893 meters 0.016623844210545902 Centerline is valid? [True, True] Translation: X:44.96, Y:1.37, Z:0.36 [[ 9.99508291e-01 -2.27883359e-02 -2.15375836e-02 4.49648896e+01] [ 2.27785698e-02 9.99740291e-01 -6.98695220e-04 1.37356572e+00] [ 2.15479122e-02 2.07756315e-04 9.99767795e-01 3.60759729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.335099893 meters 0.015163608149405598 Centerline is valid? [True, True] Translation: X:44.99, Y:1.37, Z:0.36 [[ 9.99343124e-01 -2.91961365e-02 -2.14687059e-02 4.49932684e+01] [ 2.91878783e-02 9.99573699e-01 -6.97980807e-04 1.37013537e+00] [ 2.14799321e-02 7.08963478e-05 9.99769277e-01 3.61721809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.365099893 meters 0.014871928172897932 Centerline is valid? [True, True] Translation: X:45.02, Y:1.37, Z:0.36 [[ 9.99215105e-01 -3.29662896e-02 -2.19635731e-02 4.50239711e+01] [ 3.29585371e-02 9.99456464e-01 -7.14962477e-04 1.36818752e+00] [ 2.19752048e-02 -9.48593364e-06 9.99758516e-01 3.62712172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.395099893 meters 0.014679589474475356 Centerline is valid? [True, True] Translation: X:45.05, Y:1.36, Z:0.36 [[ 9.98682658e-01 -4.58775028e-02 -2.29826541e-02 4.50546342e+01] [ 4.58724305e-02 9.98947026e-01 -7.48135798e-04 1.35843875e+00] [ 2.29927765e-02 -3.07119954e-04 9.99735584e-01 3.61048392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425099893 meters 0.016789793041327727 Centerline is valid? [True, True] Translation: X:45.09, Y:1.36, Z:0.36 [[ 9.98463722e-01 -5.02196083e-02 -2.34133799e-02 4.50867250e+01] [ 5.02155562e-02 9.98738113e-01 -7.61345590e-04 1.35603569e+00] [ 2.34220693e-02 -4.15539941e-04 9.99725579e-01 3.59654933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.455099892999996 meters 0.017575008878475826 Centerline is valid? [True, True] Translation: X:45.12, Y:1.35, Z:0.36 [[ 9.98043861e-01 -5.81907422e-02 -2.28536383e-02 4.51168765e+01] [ 5.81889894e-02 9.98305309e-01 -7.42258804e-04 1.35059837e+00] [ 2.28581011e-02 -5.89023276e-04 9.99738546e-01 3.60927780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.485099893 meters 0.018252856288617263 Centerline is valid? [True, True] Translation: X:45.15, Y:1.35, Z:0.36 [[ 9.97876454e-01 -6.10252347e-02 -2.27706757e-02 4.51477965e+01] [ 6.10242613e-02 9.98136010e-01 -7.38266501e-04 1.34892308e+00] [ 2.27732843e-02 -6.52864908e-04 9.99740442e-01 3.61494601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.515099893 meters 0.021154184473230333 Centerline is valid? [True, True] Translation: X:45.18, Y:1.34, Z:0.36 [[ 9.97492972e-01 -6.68638626e-02 -2.31731639e-02 4.51783512e+01] [ 6.68644684e-02 9.97761786e-01 -7.49557754e-04 1.34497157e+00] [ 2.31714157e-02 -8.01782694e-04 9.99731185e-01 3.60607879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.545099893 meters 0.021844900781867883 Centerline is valid? [True, True] Translation: X:45.21, Y:1.35, Z:0.36 [[ 9.97312837e-01 -6.96045007e-02 -2.28542912e-02 4.52101806e+01] [ 6.96058417e-02 9.97574299e-01 -7.37784488e-04 1.34618516e+00] [ 2.28502067e-02 -8.54990235e-04 9.99738534e-01 3.61952088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.575099893 meters 0.023410506025518404 Centerline is valid? [True, True] Translation: X:45.24, Y:1.34, Z:0.36 [[ 9.97228879e-01 -7.09518022e-02 -2.23697112e-02 4.52418075e+01] [ 7.09534694e-02 9.97479366e-01 -7.20168341e-04 1.34496733e+00] [ 2.23644226e-02 -8.69035952e-04 9.99749507e-01 3.62564210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605099893 meters 0.022233230271159053 Centerline is valid? [True, True] Translation: X:45.27, Y:1.35, Z:0.36 [[ 9.97081007e-01 -7.29949563e-02 -2.23875307e-02 4.52737032e+01] [ 7.29971714e-02 9.97331888e-01 -7.19348655e-04 1.34863370e+00] [ 2.23803070e-02 -9.16977530e-04 9.99749109e-01 3.64493108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.635099892999996 meters 0.02283042775532257 Centerline is valid? [True, True] Translation: X:45.31, Y:1.35, Z:0.36 [[ 9.97046312e-01 -7.31597974e-02 -2.33729541e-02 4.53058611e+01] [ 7.31622977e-02 9.97319767e-01 -7.49279901e-04 1.34934375e+00] [ 2.33651262e-02 -9.62952261e-04 9.99726534e-01 3.63491011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.665099893 meters 0.022067990178709595 Centerline is valid? [True, True] Translation: X:45.34, Y:1.35, Z:0.36 [[ 9.97076137e-01 -7.26454843e-02 -2.37025527e-02 4.53383411e+01] [ 7.26479517e-02 9.97357358e-01 -7.58112940e-04 1.35233095e+00] [ 2.36949888e-02 -9.66045583e-04 9.99718768e-01 3.63784491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.695099893 meters 0.02187562962015373 Centerline is valid? [True, True] Translation: X:45.37, Y:1.35, Z:0.36 [[ 9.97189902e-01 -7.08766185e-02 -2.42652977e-02 4.53692754e+01] [ 7.08787201e-02 9.97484640e-01 -7.74539302e-04 1.35371051e+00] [ 2.42591585e-02 -9.47530474e-04 9.99705254e-01 3.63595308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.725099893 meters 0.02039815424272623 Centerline is valid? [True, True] Translation: X:45.40, Y:1.36, Z:0.36 [[ 9.97491529e-01 -6.58775255e-02 -2.58998458e-02 4.54006759e+01] [ 6.58782834e-02 9.97827325e-01 -8.24928749e-04 1.36014502e+00] [ 2.58979181e-02 -8.83377941e-04 9.99664202e-01 3.62715898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.755099893 meters 0.018192553643159737 Centerline is valid? [True, True] Translation: X:45.43, Y:1.36, Z:0.36 [[ 9.97661422e-01 -6.34880979e-02 -2.53169670e-02 4.54319768e+01] [ 6.34880893e-02 9.97982272e-01 -8.04942624e-04 1.36364973e+00] [ 2.53169885e-02 -8.04265658e-04 9.99679150e-01 3.64985281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785099893 meters 0.017891512129850597 Centerline is valid? [True, True] Translation: X:45.46, Y:1.37, Z:0.36 [[ 9.97840823e-01 -6.03425993e-02 -2.59318934e-02 4.54637687e+01] [ 6.03415603e-02 9.98177448e-01 -8.23295069e-04 1.36789440e+00] [ 2.59343109e-02 -7.43253480e-04 9.99663373e-01 3.64649811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.815099892999996 meters 0.017459601798101076 Centerline is valid? [True, True] Translation: X:45.50, Y:1.38, Z:0.36 [[ 9.98229884e-01 -5.30367868e-02 -2.69109377e-02 4.54954014e+01] [ 5.30330546e-02 9.98592393e-01 -8.52886768e-04 1.37611476e+00] [ 2.69182920e-02 -5.75792165e-04 9.99637471e-01 3.63914619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845099893 meters 0.017052036061824063 Centerline is valid? [True, True] Translation: X:45.53, Y:1.38, Z:0.36 [[ 9.98607928e-01 -4.51905252e-02 -2.72033544e-02 4.55253399e+01] [ 4.51838265e-02 9.98978318e-01 -8.61200288e-04 1.38238588e+00] [ 2.72144793e-02 -3.69150209e-04 9.99629549e-01 3.62833099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.875099893 meters 0.014893654116954261 Centerline is valid? [True, True] Translation: X:45.56, Y:1.39, Z:0.37 [[ 9.98973848e-01 -3.71339927e-02 -2.59290825e-02 4.55567558e+01] [ 3.71252177e-02 9.99310285e-01 -8.19896158e-04 1.39213693e+00] [ 2.59416448e-02 -1.43568013e-04 9.99663449e-01 3.67082575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.905099893 meters 0.015958501169900826 Centerline is valid? [True, True] Translation: X:45.59, Y:1.40, Z:0.37 [[ 9.99128236e-01 -3.30666843e-02 -2.54825836e-02 4.55866398e+01] [ 3.30569032e-02 9.99453147e-01 -8.05109561e-04 1.39629964e+00] [ 2.54952706e-02 -3.79676026e-05 9.99674942e-01 3.66679971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.935099893 meters 0.01580662290115696 Centerline is valid? [True, True] Translation: X:45.62, Y:1.40, Z:0.37 [[ 9.99387610e-01 -2.43689942e-02 -2.51109015e-02 4.56165748e+01] [ 2.43567507e-02 9.99703016e-01 -7.93366452e-04 1.40386071e+00] [ 2.51227775e-02 1.81260634e-04 9.99684357e-01 3.68029183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965099893 meters 0.017227317922318918 Centerline is valid? [True, True] Translation: X:45.64, Y:1.41, Z:0.37 [[ 9.99602834e-01 -1.38084543e-02 -2.45662643e-02 4.56446215e+01] [ 1.37935246e-02 9.99904563e-01 -7.77088393e-04 1.41239670e+00] [ 2.45746502e-02 4.37924389e-04 9.99697902e-01 3.68794948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.995099892999995 meters 0.01747265172723337 Centerline is valid? [True, True] Translation: X:45.67, Y:1.41, Z:0.37 [[ 9.99657584e-01 -1.05855898e-02 -2.39303089e-02 4.56718408e+01] [ 1.05704494e-02 9.99943843e-01 -7.59094801e-04 1.41424795e+00] [ 2.39370005e-02 5.05880755e-04 9.99713341e-01 3.70357257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025099893 meters 0.01710041962219312 Centerline is valid? [True, True] Translation: X:45.70, Y:1.41, Z:0.37 [[ 9.99654064e-01 -8.75350691e-03 -2.48017940e-02 4.57009222e+01] [ 8.73656991e-03 9.99961522e-01 -7.91171736e-04 1.41251682e+00] [ 2.48077652e-02 5.74215434e-04 9.99692075e-01 3.70073087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.055099893 meters 0.016066499304901567 Centerline is valid? [True, True] Translation: X:45.73, Y:1.41, Z:0.37 [[ 9.99668232e-01 -1.08543864e-02 -2.33582461e-02 4.57303814e+01] [ 1.08398094e-02 9.99940966e-01 -7.50590328e-04 1.40752050e+00] [ 2.33650143e-02 4.97142371e-04 9.99726877e-01 3.70739549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.085099893 meters 0.018296678757504528 Centerline is valid? [True, True] Translation: X:45.76, Y:1.41, Z:0.37 [[ 9.99636271e-01 -1.23940497e-02 -2.39522969e-02 4.57582546e+01] [ 1.23790677e-02 9.99923077e-01 -7.73673067e-04 1.40619588e+00] [ 2.39600434e-02 4.76884555e-04 9.99712803e-01 3.69092457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.115099893 meters 0.016219950221718092 Centerline is valid? [True, True] Translation: X:45.79, Y:1.40, Z:0.37 [[ 9.99614101e-01 -1.48713421e-02 -2.34625583e-02 4.57864854e+01] [ 1.48576005e-02 9.99889331e-01 -7.59908221e-04 1.40428432e+00] [ 2.34712626e-02 4.11017656e-04 9.99724427e-01 3.70339811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145099893 meters 0.016195975125383837 Centerline is valid? [True, True] Translation: X:45.81, Y:1.40, Z:0.37 [[ 9.99560758e-01 -1.73512922e-02 -2.40254877e-02 4.58149062e+01] [ 1.73375009e-02 9.99849388e-01 -7.82225768e-04 1.40068816e+00] [ 2.40354418e-02 3.65340266e-04 9.99711040e-01 3.70415415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.175099893 meters 0.015990221170724392 Centerline is valid? [True, True] Translation: X:45.84, Y:1.40, Z:0.37 [[ 9.99504716e-01 -2.00189530e-02 -2.42809287e-02 4.58436731e+01] [ 2.00055028e-02 9.99799552e-01 -7.96750547e-04 1.39868091e+00] [ 2.42920117e-02 3.10603742e-04 9.99704857e-01 3.70288435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205099892999996 meters 0.01592299009043967 Centerline is valid? [True, True] Translation: X:45.87, Y:1.40, Z:0.37 [[ 9.99443235e-01 -2.23947939e-02 -2.47324514e-02 4.58723187e+01] [ 2.23814094e-02 9.99749170e-01 -8.17889061e-04 1.39721670e+00] [ 2.47445643e-02 2.63886568e-04 9.99693772e-01 3.70281526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.235099893 meters 0.014878111202943276 Centerline is valid? [True, True] Translation: X:45.90, Y:1.39, Z:0.37 [[ 9.99350462e-01 -2.60093208e-02 -2.49433050e-02 4.59011807e+01] [ 2.59966748e-02 9.99661684e-01 -8.31185625e-04 1.39478541e+00] [ 2.49564848e-02 1.82202753e-04 9.99688522e-01 3.71965907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.265099893 meters 0.015523250254966266 Centerline is valid? [True, True] Translation: X:45.93, Y:1.39, Z:0.37 [[ 9.99281312e-01 -2.84078621e-02 -2.50968624e-02 4.59292600e+01] [ 2.83957088e-02 9.99596407e-01 -8.40573902e-04 1.39240769e+00] [ 2.51106124e-02 1.27326594e-04 9.99684671e-01 3.72135873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.295099893 meters 0.015361422227416438 Centerline is valid? [True, True] Translation: X:45.96, Y:1.39, Z:0.37 [[ 9.99220268e-01 -3.06786097e-02 -2.48531615e-02 4.59567456e+01] [ 3.06673389e-02 9.99529298e-01 -8.34609435e-04 1.38831783e+00] [ 2.48670678e-02 7.17783359e-05 9.99690764e-01 3.71451347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325099893 meters 0.015307320838841365 Centerline is valid? [True, True] Translation: X:45.99, Y:1.38, Z:0.37 [[ 9.99132209e-01 -3.33488851e-02 -2.49535839e-02 4.59859280e+01] [ 3.33382485e-02 9.99443771e-01 -8.42269584e-04 1.38396466e+00] [ 2.49677927e-02 9.62989163e-06 9.99688256e-01 3.71355378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.355099893 meters 0.01464649175512647 Centerline is valid? [True, True] Translation: X:46.01, Y:1.38, Z:0.37 [[ 9.99124586e-01 -3.46650550e-02 -2.34178588e-02 4.60145947e+01] [ 3.46559662e-02 9.99398986e-01 -7.93963714e-04 1.38161188e+00] [ 2.34313072e-02 -1.82998580e-05 9.99725449e-01 3.72434505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385099892999996 meters 0.01515562535231647 Centerline is valid? [True, True] Translation: X:46.04, Y:1.38, Z:0.37 [[ 9.99190236e-01 -3.31412301e-02 -2.28151493e-02 4.60448010e+01] [ 3.31321912e-02 9.99450678e-01 -7.74176002e-04 1.38038627e+00] [ 2.28282736e-02 1.76332120e-05 9.99739401e-01 3.73657591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.415099893 meters 0.014873093996021101 Centerline is valid? [True, True] Translation: X:46.07, Y:1.38, Z:0.37 [[ 9.99207916e-01 -3.25907237e-02 -2.28338715e-02 4.60747642e+01] [ 3.25815220e-02 9.99468781e-01 -7.74996033e-04 1.38055955e+00] [ 2.28469994e-02 3.04198841e-05 9.99738973e-01 3.73882565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.445099893 meters 0.015644952709681446 Centerline is valid? [True, True] Translation: X:46.10, Y:1.38, Z:0.37 [[ 9.99234779e-01 -3.17089097e-02 -2.28998000e-02 4.61049250e+01] [ 3.16994183e-02 9.99497145e-01 -7.77452274e-04 1.37943912e+00] [ 2.29129369e-02 5.09470115e-05 9.99737463e-01 3.73305208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.475099893 meters 0.014621914293362464 Centerline is valid? [True, True] Translation: X:46.13, Y:1.38, Z:0.37 [[ 9.99240096e-01 -3.18969089e-02 -2.24013093e-02 4.61347621e+01] [ 3.18878655e-02 9.99491163e-01 -7.60885384e-04 1.37914562e+00] [ 2.24141806e-02 4.59772455e-05 9.99748770e-01 3.74463887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.505099893 meters 0.015379942166226046 Centerline is valid? [True, True] Translation: X:46.16, Y:1.38, Z:0.37 [[ 9.99208204e-01 -3.25607178e-02 -2.28640552e-02 4.61647379e+01] [ 3.25514561e-02 9.99469759e-01 -7.77236712e-04 1.37886867e+00] [ 2.28772391e-02 3.23630097e-05 9.99738281e-01 3.74066267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.535099893 meters 0.015633943852553737 Centerline is valid? [True, True] Translation: X:46.19, Y:1.38, Z:0.37 [[ 9.99116198e-01 -3.46144802e-02 -2.38466147e-02 4.61945472e+01] [ 3.46049841e-02 9.99400739e-01 -8.10890709e-04 1.37629576e+00] [ 2.38603929e-02 -1.50376800e-05 9.99715300e-01 3.73092658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.565099892999996 meters 0.015464941210461533 Centerline is valid? [True, True] Translation: X:46.22, Y:1.37, Z:0.37 [[ 9.98989025e-01 -3.72233951e-02 -2.52060889e-02 4.62244504e+01] [ 3.72136032e-02 9.99306966e-01 -8.57606186e-04 1.37316936e+00] [ 2.52205432e-02 -8.12702226e-05 9.99681908e-01 3.73040173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.595099893 meters 0.015251141063616525 Centerline is valid? [True, True] Translation: X:46.25, Y:1.37, Z:0.37 [[ 9.98910560e-01 -3.92716787e-02 -2.52077187e-02 4.62541065e+01] [ 3.92625147e-02 9.99228561e-01 -8.58565962e-04 1.37204654e+00] [ 2.52219898e-02 -1.32087820e-04 9.99681866e-01 3.74673601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.625099893 meters 0.01617878089050155 Centerline is valid? [True, True] Translation: X:46.28, Y:1.37, Z:0.37 [[ 9.98864953e-01 -4.00712056e-02 -2.57508060e-02 4.62846574e+01] [ 4.00619025e-02 9.99196815e-01 -8.77279356e-04 1.37252631e+00] [ 2.57652769e-02 -1.55342675e-04 9.99668008e-01 3.74790735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.655099893 meters 0.01617878089050155 Centerline is valid? [True, True] Translation: X:46.31, Y:1.37, Z:0.38 [[ 9.98864953e-01 -4.00712029e-02 -2.57508135e-02 4.63146410e+01] [ 4.00619055e-02 9.99196815e-01 -8.77058613e-04 1.37354742e+00] [ 2.57652756e-02 -1.55563545e-04 9.99668008e-01 3.75161697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.685099893 meters 0.01579833325272369 Centerline is valid? [True, True] Translation: X:46.34, Y:1.37, Z:0.38 [[ 9.98784854e-01 -4.12628215e-02 -2.69479886e-02 4.63446467e+01] [ 4.12530711e-02 9.99148308e-01 -9.17904648e-04 1.37317113e+00] [ 2.69629126e-02 -1.94898032e-04 9.99636416e-01 3.75761864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.715099893 meters 0.014318593149686396 Centerline is valid? [True, True] Translation: X:46.37, Y:1.37, Z:0.38 [[ 9.98739894e-01 -4.21884921e-02 -2.71800395e-02 4.63747621e+01] [ 4.21789140e-02 9.99109645e-01 -9.25869358e-04 1.37170072e+00] [ 2.71949007e-02 -2.21721885e-04 9.99630126e-01 3.76288146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.745099892999995 meters 0.015751914278736526 Centerline is valid? [True, True] Translation: X:46.41, Y:1.37, Z:0.38 [[ 9.98696800e-01 -4.29462651e-02 -2.75739080e-02 4.64050890e+01] [ 4.29366962e-02 9.99077353e-01 -9.39286218e-04 1.37071949e+00] [ 2.75888059e-02 -2.45870373e-04 9.99619326e-01 3.76105656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.775099893 meters 0.01589883085964021 Centerline is valid? [True, True] Translation: X:46.44, Y:1.37, Z:0.38 [[ 9.98700092e-01 -4.34359075e-02 -2.66729707e-02 4.64351569e+01] [ 4.34271282e-02 9.99056184e-01 -9.08596408e-04 1.37077098e+00] [ 2.66872621e-02 -2.50915204e-04 9.99643800e-01 3.76658873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.805099893 meters 0.016340289612413916 Centerline is valid? [True, True] Translation: X:46.46, Y:1.37, Z:0.38 [[ 9.98740662e-01 -4.28400615e-02 -2.61116518e-02 4.64643137e+01] [ 4.28314380e-02 9.99081917e-01 -8.89719358e-04 1.37007856e+00] [ 2.61257947e-02 -2.29800693e-04 9.99658637e-01 3.76726978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.835099893 meters 0.01634604266350977 Centerline is valid? [True, True] Translation: X:46.49, Y:1.37, Z:0.38 [[ 9.98849674e-01 -4.04384820e-02 -2.57693042e-02 4.64945907e+01] [ 4.04292784e-02 9.99182016e-01 -8.78270604e-04 1.37206531e+00] [ 2.57837413e-02 -1.64574069e-04 9.99667531e-01 3.77858344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.865099893 meters 0.014431239579056001 Centerline is valid? [True, True] Translation: X:46.52, Y:1.38, Z:0.38 [[ 9.99041928e-01 -3.66645462e-02 -2.38942931e-02 4.65245864e+01] [ 3.66555539e-02 9.99327628e-01 -8.14366389e-04 1.37565896e+00] [ 2.39080856e-02 -6.22723826e-05 9.99714159e-01 3.81032762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.895099893 meters 0.013796767159142811 Centerline is valid? [True, True] Translation: X:46.55, Y:1.38, Z:0.38 [[ 9.99256366e-01 -3.15462067e-02 -2.21709697e-02 4.65549779e+01] [ 3.15372049e-02 9.99502293e-01 -7.55632004e-04 1.38029209e+00] [ 2.21837724e-02 5.58596735e-05 9.99753908e-01 3.84672939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925099893 meters 0.01570315248598087 Centerline is valid? [True, True] Translation: X:46.58, Y:1.38, Z:0.38 [[ 9.99404847e-01 -2.66180015e-02 -2.19415945e-02 4.65843334e+01] [ 2.66079898e-02 9.99645665e-01 -7.48161307e-04 1.38438714e+00] [ 2.19537344e-02 1.63894313e-04 9.99758974e-01 3.84730088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.955099892999996 meters 0.016681162735866496 Centerline is valid? [True, True] Translation: X:46.61, Y:1.39, Z:0.38 [[ 9.99478418e-01 -2.33910091e-02 -2.22654905e-02 4.66128588e+01] [ 2.33798327e-02 9.99726364e-01 -7.62177413e-04 1.38730109e+00] [ 2.22772260e-02 2.41216431e-04 9.99751803e-01 3.84333660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.985099893 meters 0.01641390705451364 Centerline is valid? [True, True] Translation: X:46.64, Y:1.39, Z:0.39 [[ 9.99484557e-01 -2.20774669e-02 -2.33067630e-02 4.66417979e+01] [ 2.20647217e-02 9.99756221e-01 -8.03899467e-04 1.38962048e+00] [ 2.33188294e-02 2.89227862e-04 9.99728037e-01 3.85126221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.015099893 meters 0.015263174304074008 Centerline is valid? [True, True] Translation: X:46.67, Y:1.39, Z:0.38 [[ 9.99424605e-01 -2.26632121e-02 -2.52356246e-02 4.66701493e+01] [ 2.26482874e-02 9.99743110e-01 -8.77109151e-04 1.39108063e+00] [ 2.52490199e-02 3.05060788e-04 9.99681146e-01 3.84286562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.045099893 meters 0.015702584018567525 Centerline is valid? [True, True] Translation: X:46.70, Y:1.39, Z:0.38 [[ 9.99356787e-01 -2.34221337e-02 -2.71553928e-02 4.66984188e+01] [ 2.34049848e-02 9.99725615e-01 -9.49226654e-04 1.39201452e+00] [ 2.71701747e-02 3.13044545e-04 9.99630774e-01 3.83202160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.075099893 meters 0.01665633697316381 Centerline is valid? [True, True] Translation: X:46.73, Y:1.39, Z:0.38 [[ 9.99237723e-01 -2.59801858e-02 -2.91376480e-02 4.67267260e+01] [ 2.59613333e-02 9.99662422e-01 -1.02519930e-03 1.39180710e+00] [ 2.91544467e-02 2.67965620e-04 9.99574883e-01 3.81633077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105099893 meters 0.01494357230166167 Centerline is valid? [True, True] Translation: X:46.76, Y:1.39, Z:0.38 [[ 9.99165608e-01 -2.93037962e-02 -2.84495340e-02 4.67556983e+01] [ 2.92869543e-02 9.99570536e-01 -1.00858605e-03 1.39097958e+00] [ 2.84668714e-02 1.74544288e-04 9.99594721e-01 3.82831799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.135099892999996 meters 0.0160608103653955 Centerline is valid? [True, True] Translation: X:46.78, Y:1.39, Z:0.38 [[ 9.99035848e-01 -3.30688454e-02 -2.88760598e-02 4.67839813e+01] [ 3.30528346e-02 9.99453073e-01 -1.03173662e-03 1.39018441e+00] [ 2.88943850e-02 7.63062413e-05 9.99582467e-01 3.82989483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.165099893 meters 0.014589368143279876 Centerline is valid? [True, True] Translation: X:46.81, Y:1.39, Z:0.38 [[ 9.98976322e-01 -3.53508342e-02 -2.82245758e-02 4.68117531e+01] [ 3.53363078e-02 9.99374964e-01 -1.01343748e-03 1.39028905e+00] [ 2.82427603e-02 1.50477485e-05 9.99601094e-01 3.84068506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.195099893 meters 0.015805472849969863 Centerline is valid? [True, True] Translation: X:46.84, Y:1.39, Z:0.38 [[ 9.98773600e-01 -4.07541014e-02 -2.81140437e-02 4.68401172e+01] [ 4.07417575e-02 9.99169197e-01 -1.01198575e-03 1.38782256e+00] [ 2.81319291e-02 -1.34670904e-04 9.99604210e-01 3.83258413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.225099893 meters 0.015951397425994888 Centerline is valid? [True, True] Translation: X:46.87, Y:1.38, Z:0.39 [[ 9.98543381e-01 -4.71425903e-02 -2.62429681e-02 4.68695297e+01] [ 4.71340000e-02 9.98888127e-01 -9.46160031e-04 1.38434380e+00] [ 2.62583937e-02 -2.92154223e-04 9.99655146e-01 3.85148902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.255099893 meters 0.016509570447071544 Centerline is valid? [True, True] Translation: X:46.90, Y:1.38, Z:0.39 [[ 9.98411623e-01 -5.05929567e-02 -2.47907841e-02 4.69001914e+01] [ 5.05863490e-02 9.98719291e-01 -8.94001085e-04 1.38285079e+00] [ 2.48042645e-02 -3.61494183e-04 9.99692262e-01 3.85996515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285099893 meters 0.01781022697742303 Centerline is valid? [True, True] Translation: X:46.93, Y:1.38, Z:0.39 [[ 9.98120210e-01 -5.63188566e-02 -2.41708940e-02 4.69319782e+01] [ 5.63142738e-02 9.98412712e-01 -8.70780848e-04 1.38198100e+00] [ 2.41815692e-02 -4.92022378e-04 9.99707462e-01 3.87948276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.315099892999996 meters 0.018631835194481316 Centerline is valid? [True, True] Translation: X:46.96, Y:1.38, Z:0.39 [[ 9.97791928e-01 -6.17466245e-02 -2.44667692e-02 4.69629050e+01] [ 6.17435812e-02 9.98091657e-01 -8.80531605e-04 1.37982819e+00] [ 2.44744481e-02 -6.32078626e-04 9.99700256e-01 3.88380439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345099893 meters 0.019736777585073553 Centerline is valid? [True, True] Translation: X:46.99, Y:1.38, Z:0.39 [[ 9.97434125e-01 -6.69064870e-02 -2.54693754e-02 4.69927401e+01] [ 6.69048753e-02 9.97758938e-01 -9.16380796e-04 1.37673758e+00] [ 2.54736087e-02 -7.89995906e-04 9.99675183e-01 3.88137581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.375099893 meters 0.02038394115121512 Centerline is valid? [True, True] Translation: X:47.02, Y:1.38, Z:0.39 [[ 9.97128499e-01 -7.08773229e-02 -2.66676283e-02 4.70243094e+01] [ 7.08769882e-02 9.97484603e-01 -9.58969973e-04 1.37699497e+00] [ 2.66685179e-02 -9.33904890e-04 9.99643896e-01 3.87864215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.405099893 meters 0.019864670993835713 Centerline is valid? [True, True] Translation: X:47.06, Y:1.38, Z:0.39 [[ 9.96963687e-01 -7.26516502e-02 -2.80204349e-02 4.70566744e+01] [ 7.26520268e-02 9.97356842e-01 -1.00597869e-03 1.37902929e+00] [ 2.80194585e-02 -1.03281716e-03 9.99606844e-01 3.87722411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.435099893 meters 0.02058337955729294 Centerline is valid? [True, True] Translation: X:47.09, Y:1.38, Z:0.39 [[ 9.96931081e-01 -7.28272278e-02 -2.87160955e-02 4.70880287e+01] [ 7.28277493e-02 9.97344003e-01 -1.02910865e-03 1.38096943e+00] [ 2.87147728e-02 -1.06537821e-03 9.99587078e-01 3.86974285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465099893 meters 0.021523948771112876 Centerline is valid? [True, True] Translation: X:47.12, Y:1.38, Z:0.39 [[ 9.97016565e-01 -7.18299847e-02 -2.82563747e-02 4.71195556e+01] [ 7.18301413e-02 9.97416367e-01 -1.01080298e-03 1.38399669e+00] [ 2.82559765e-02 -1.02187207e-03 9.99600198e-01 3.87629981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.495099892999995 meters 0.019923509597590403 Centerline is valid? [True, True] Translation: X:47.15, Y:1.39, Z:0.39 [[ 9.97095184e-01 -7.11248300e-02 -2.72479746e-02 4.71508912e+01] [ 7.11247885e-02 9.97466952e-01 -9.71934755e-04 1.38592586e+00] [ 2.72480828e-02 -9.68894965e-04 9.99628233e-01 3.89446279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525099893 meters 0.020541417977441592 Centerline is valid? [True, True] Translation: X:47.18, Y:1.39, Z:0.39 [[ 9.97131837e-01 -7.00819580e-02 -2.85765516e-02 4.71830699e+01] [ 7.00815669e-02 9.97540746e-01 -1.01647035e-03 1.39076111e+00] [ 2.85775108e-02 -9.89134567e-04 9.99591090e-01 3.88746691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.555099893 meters 0.020454607258899422 Centerline is valid? [True, True] Translation: X:47.22, Y:1.40, Z:0.39 [[ 9.97120746e-01 -6.96584847e-02 -2.99651982e-02 4.72153062e+01] [ 6.96579312e-02 9.97570369e-01 -1.06363280e-03 1.39533396e+00] [ 2.99664849e-02 -1.02674339e-03 9.99550377e-01 3.88421192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.585099893 meters 0.02018348178978454 Centerline is valid? [True, True] Translation: X:47.25, Y:1.40, Z:0.39 [[ 9.97118573e-01 -6.92808439e-02 -3.08984891e-02 4.72460630e+01] [ 6.92801695e-02 9.97596643e-01 -1.09369854e-03 1.39962155e+00] [ 3.09000014e-02 -1.05010543e-03 9.99521929e-01 3.88550651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.615099893 meters 0.019786657529096894 Centerline is valid? [True, True] Translation: X:47.28, Y:1.40, Z:0.39 [[ 9.97156363e-01 -6.87393597e-02 -3.08883256e-02 4.72779034e+01] [ 6.87385114e-02 9.97634115e-01 -1.09058556e-03 1.40228456e+00] [ 3.08902136e-02 -1.03573319e-03 9.99522247e-01 3.89028786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645099893 meters 0.020586010263017734 Centerline is valid? [True, True] Translation: X:47.31, Y:1.41, Z:0.39 [[ 9.97214553e-01 -6.75897672e-02 -3.15398029e-02 4.73087908e+01] [ 6.75883700e-02 9.97712672e-01 -1.11164649e-03 1.40757557e+00] [ 3.15427970e-02 -1.02317381e-03 9.99501878e-01 3.89007325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.675099893 meters 0.019740590392266603 Centerline is valid? [True, True] Translation: X:47.34, Y:1.41, Z:0.39 [[ 9.97415025e-01 -6.50806495e-02 -3.04594475e-02 4.73402411e+01] [ 6.50782263e-02 9.97879590e-01 -1.07195374e-03 1.41409504e+00] [ 3.04646244e-02 -9.13064053e-04 9.99535429e-01 3.90224386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705099892999996 meters 0.019146430125413633 Centerline is valid? [True, True] Translation: X:47.37, Y:1.42, Z:0.39 [[ 9.97650754e-01 -6.13803603e-02 -3.04207855e-02 4.73701530e+01] [ 6.13762545e-02 9.98114127e-01 -1.06960557e-03 1.41923412e+00] [ 3.04290686e-02 -8.00021070e-04 9.99536609e-01 3.89018388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.735099893 meters 0.018455589417615482 Centerline is valid? [True, True] Translation: X:47.40, Y:1.42, Z:0.39 [[ 9.97763361e-01 -5.93361308e-02 -3.07814695e-02 4.74023984e+01] [ 5.93310024e-02 9.98237779e-01 -1.08074874e-03 1.42423980e+00] [ 3.07913532e-02 -7.47963949e-04 9.99525554e-01 3.89637310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.765099893 meters 0.017327918393076205 Centerline is valid? [True, True] Translation: X:47.43, Y:1.43, Z:0.39 [[ 9.98043926e-01 -5.46433202e-02 -3.03715164e-02 4.74336082e+01] [ 5.46362014e-02 9.98505759e-01 -1.06484519e-03 1.43370814e+00] [ 3.03843208e-02 -5.96622015e-04 9.99538112e-01 3.90615391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.795099893 meters 0.017727154820310273 Centerline is valid? [True, True] Translation: X:47.46, Y:1.44, Z:0.39 [[ 9.98271208e-01 -4.98722275e-02 -3.11023613e-02 4.74644577e+01] [ 4.98624816e-02 9.98755499e-01 -1.08936279e-03 1.44305886e+00] [ 3.11179833e-02 -4.63361406e-04 9.99515611e-01 3.90471135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825099893 meters 0.016179023780640407 Centerline is valid? [True, True] Translation: X:47.50, Y:1.45, Z:0.39 [[ 9.98444366e-01 -4.67031649e-02 -3.04575612e-02 4.74957635e+01] [ 4.66923770e-02 9.98908748e-01 -1.06572028e-03 1.45009302e+00] [ 3.04740968e-02 -3.58073516e-04 9.99535493e-01 3.91568390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.855099893 meters 0.017180825791753503 Centerline is valid? [True, True] Translation: X:47.53, Y:1.46, Z:0.39 [[ 9.98500478e-01 -4.55315056e-02 -3.03920550e-02 4.75273992e+01] [ 4.55202541e-02 9.98962851e-01 -1.06235542e-03 1.45563499e+00] [ 3.04089046e-02 -3.22691672e-04 9.99537490e-01 3.92135922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885099892999996 meters 0.015382120830865377 Centerline is valid? [True, True] Translation: X:47.56, Y:1.46, Z:0.39 [[ 9.98511442e-01 -4.65130719e-02 -2.84856995e-02 4.75587564e+01] [ 4.65036149e-02 9.98917626e-01 -9.94736861e-04 1.45938683e+00] [ 2.85011356e-02 -3.31431864e-04 9.99593705e-01 3.94588555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.915099893 meters 0.01572751902370785 Centerline is valid? [True, True] Translation: X:47.59, Y:1.46, Z:0.40 [[ 9.98505939e-01 -4.76257628e-02 -2.67894895e-02 4.75904739e+01] [ 4.76178302e-02 9.98865191e-01 -9.34334107e-04 1.46307758e+00] [ 2.68035869e-02 -3.42719208e-04 9.99640661e-01 3.97096439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.945099893 meters 0.015935532052685476 Centerline is valid? [True, True] Translation: X:47.62, Y:1.47, Z:0.40 [[ 9.98421022e-01 -4.91997123e-02 -2.71081431e-02 4.76220886e+01] [ 4.91922341e-02 9.98788884e-01 -9.43079100e-04 1.46639817e+00] [ 2.71217112e-02 -3.91920123e-04 9.99632062e-01 3.98890300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.975099893 meters 0.015113291252464163 Centerline is valid? [True, True] Translation: X:47.65, Y:1.47, Z:0.40 [[ 9.98308821e-01 -5.15644280e-02 -2.68441206e-02 4.76546905e+01] [ 5.15580155e-02 9.98669567e-01 -9.31425473e-04 1.46644329e+00] [ 2.68564347e-02 -4.54179319e-04 9.99639198e-01 3.99455197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.005099893 meters 0.01798077290292343 Centerline is valid? [True, True] Translation: X:47.69, Y:1.46, Z:0.40 [[ 9.98108697e-01 -5.47764067e-02 -2.79029403e-02 4.76855123e+01] [ 5.47708131e-02 9.98498486e-01 -9.65282530e-04 1.46491574e+00] [ 2.79139183e-02 -5.64809839e-04 9.99610171e-01 3.97845830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.035099893 meters 0.01811293082848107 Centerline is valid? [True, True] Translation: X:47.72, Y:1.46, Z:0.40 [[ 9.97901498e-01 -5.83149315e-02 -2.81419522e-02 4.77166433e+01] [ 5.83107154e-02 9.98298010e-01 -9.71142026e-04 1.46166273e+00] [ 2.81506870e-02 -6.71873286e-04 9.99603465e-01 3.97061891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.065099892999996 meters 0.019436430087904327 Centerline is valid? [True, True] Translation: X:47.75, Y:1.46, Z:0.39 [[ 9.97630047e-01 -6.16000606e-02 -3.06548708e-02 4.77479877e+01] [ 6.15966499e-02 9.98100564e-01 -1.05648658e-03 1.45976555e+00] [ 3.06617235e-02 -8.34254594e-04 9.99529471e-01 3.94993083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.095099893 meters 0.020315079355209535 Centerline is valid? [True, True] Translation: X:47.78, Y:1.46, Z:0.39 [[ 9.97454682e-01 -6.32941189e-02 -3.28331004e-02 4.77787566e+01] [ 6.32911634e-02 9.97994464e-01 -1.13035313e-03 1.45717879e+00] [ 3.28387971e-02 -9.50569105e-04 9.99460209e-01 3.92531791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.125099893 meters 0.019956284923623762 Centerline is valid? [True, True] Translation: X:47.81, Y:1.46, Z:0.39 [[ 9.97469492e-01 -6.29998935e-02 -3.29488493e-02 4.78107190e+01] [ 6.29968196e-02 9.98013085e-01 -1.13243617e-03 1.45858248e+00] [ 3.29547261e-02 -9.46102179e-04 9.99456398e-01 3.93094439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.155099893 meters 0.017280705632151065 Centerline is valid? [True, True] Translation: X:47.84, Y:1.46, Z:0.40 [[ 9.97556568e-01 -6.20434747e-02 -3.21169839e-02 4.78425118e+01] [ 6.20401320e-02 9.98073048e-01 -1.10155714e-03 1.46152345e+00] [ 3.21234405e-02 -8.93676360e-04 9.99483510e-01 3.96230996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.185099893 meters 0.01842273574182425 Centerline is valid? [True, True] Translation: X:47.87, Y:1.46, Z:0.40 [[ 9.97679351e-01 -6.00323040e-02 -3.21252921e-02 4.78735050e+01] [ 6.00279812e-02 9.98196089e-01 -1.09987387e-03 1.46293032e+00] [ 3.21333689e-02 -8.31094976e-04 9.99483244e-01 3.95656941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.215099893 meters 0.01705441493383404 Centerline is valid? [True, True] Translation: X:47.91, Y:1.47, Z:0.40 [[ 9.98022116e-01 -5.54630901e-02 -2.95922699e-02 4.79052109e+01] [ 5.54574595e-02 9.98460538e-01 -1.01160706e-03 1.46780690e+00] [ 2.96028205e-02 -6.31505887e-04 9.99561541e-01 3.98443149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.245099892999995 meters 0.014528556782891125 Centerline is valid? [True, True] Translation: X:47.94, Y:1.47, Z:0.40 [[ 9.98367636e-01 -5.04301064e-02 -2.68117087e-02 4.79367495e+01] [ 5.04237094e-02 9.98727496e-01 -9.15061824e-04 1.47130251e+00] [ 2.68237374e-02 -4.38377701e-04 9.99640083e-01 4.01852916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.275099893 meters 0.014776825236740747 Centerline is valid? [True, True] Translation: X:47.97, Y:1.47, Z:0.40 [[ 9.98496323e-01 -4.80036331e-02 -2.64715603e-02 4.79686038e+01] [ 4.79965921e-02 9.98847092e-01 -9.01669652e-04 1.47402644e+00] [ 2.64843245e-02 -3.70230850e-04 9.99649160e-01 4.02440594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.305099893 meters 0.0131491720037079 Centerline is valid? [True, True] Translation: X:48.00, Y:1.48, Z:0.40 [[ 9.98787412e-01 -4.21431813e-02 -2.54491078e-02 4.79990041e+01] [ 4.21348283e-02 9.99111560e-01 -8.64605870e-04 1.47807809e+00] [ 2.54629350e-02 -2.08736329e-04 9.99675745e-01 4.04123603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.335099893 meters 0.01521970361863325 Centerline is valid? [True, True] Translation: X:48.03, Y:1.48, Z:0.40 [[ 9.98866549e-01 -3.91742565e-02 -2.70369053e-02 4.80313265e+01] [ 3.91638067e-02 9.99232384e-01 -9.16126322e-04 1.48138118e+00] [ 2.70520399e-02 -1.43780195e-04 9.99634016e-01 4.03135873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.365099893 meters 0.015735119515640373 Centerline is valid? [True, True] Translation: X:48.06, Y:1.48, Z:0.40 [[ 9.98877854e-01 -3.76558935e-02 -2.87239838e-02 4.80625614e+01] [ 3.76435147e-02 9.99290759e-01 -9.71772758e-04 1.48207589e+00] [ 2.87402045e-02 -1.10589420e-04 9.99586909e-01 4.01206767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.395099893 meters 0.014142845059151867 Centerline is valid? [True, True] Translation: X:48.09, Y:1.48, Z:0.40 [[ 9.98838958e-01 -3.81281986e-02 -2.94444725e-02 4.80932916e+01] [ 3.81154093e-02 9.99272848e-01 -9.95699624e-04 1.48119473e+00] [ 2.94610261e-02 -1.27744547e-04 9.99565922e-01 4.00287844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425099893 meters 0.015144238555354756 Centerline is valid? [True, True] Translation: X:48.12, Y:1.48, Z:0.40 [[ 9.98746937e-01 -3.98277519e-02 -3.03035728e-02 4.81227657e+01] [ 3.98149684e-02 9.99206544e-01 -1.02538046e-03 1.48097343e+00] [ 3.03203668e-02 -1.82440198e-04 9.99540215e-01 3.99547546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.455099892999996 meters 0.01607918888119988 Centerline is valid? [True, True] Translation: X:48.15, Y:1.48, Z:0.40 [[ 9.98599193e-01 -4.27148367e-02 -3.12265018e-02 4.81522928e+01] [ 4.27026383e-02 9.99087266e-01 -1.05773132e-03 1.48175064e+00] [ 3.12431811e-02 -2.77204366e-04 9.99511774e-01 4.00203015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.485099893 meters 0.01596414968847326 Centerline is valid? [True, True] Translation: X:48.18, Y:1.48, Z:0.40 [[ 9.98453753e-01 -4.61487954e-02 -3.09902004e-02 4.81828618e+01] [ 4.61384206e-02 9.98934504e-01 -1.05016595e-03 1.48113190e+00] [ 3.10056443e-02 -3.81296765e-04 9.99519137e-01 4.00586359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.515099893 meters 0.01464875154699419 Centerline is valid? [True, True] Translation: X:48.21, Y:1.48, Z:0.40 [[ 9.98366992e-01 -4.84398062e-02 -3.02809385e-02 4.82130696e+01] [ 4.84309638e-02 9.98826006e-01 -1.02581052e-03 1.48050275e+00] [ 3.02950790e-02 -4.42399679e-04 9.99540901e-01 4.01528583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.545099893 meters 0.01464875154699419 Centerline is valid? [True, True] Translation: X:48.24, Y:1.48, Z:0.40 [[ 9.98368718e-01 -4.84041850e-02 -3.02809677e-02 4.82439073e+01] [ 4.83953523e-02 9.98827733e-01 -1.02495044e-03 1.48151847e+00] [ 3.02950822e-02 -4.42179641e-04 9.99540901e-01 4.01910091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.575099893 meters 0.01425984338950826 Centerline is valid? [True, True] Translation: X:48.28, Y:1.48, Z:0.40 [[ 9.98291694e-01 -5.04513924e-02 -2.94677780e-02 4.82753456e+01] [ 5.04439498e-02 9.98726397e-01 -9.96384415e-04 1.48099366e+00] [ 2.94805167e-02 -4.91788826e-04 9.99565234e-01 4.02557578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605099893 meters 0.017460347744644562 Centerline is valid? [True, True] Translation: X:48.31, Y:1.48, Z:0.40 [[ 9.98044748e-01 -5.52453571e-02 -2.92340817e-02 4.83063255e+01] [ 5.52401611e-02 9.98472610e-01 -9.85946517e-04 1.47890190e+00] [ 2.92438988e-02 -6.30876636e-04 9.99572107e-01 4.01859593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.635099892999996 meters 0.01858968989811435 Centerline is valid? [True, True] Translation: X:48.34, Y:1.48, Z:0.41 [[ 9.97797706e-01 -6.04793274e-02 -2.72394744e-02 4.83387121e+01] [ 6.04768324e-02 9.98169181e-01 -9.16173197e-04 1.47960921e+00] [ 2.72450134e-02 -7.33201612e-04 9.99628517e-01 4.05715639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.665099893 meters 0.019582104662184244 Centerline is valid? [True, True] Translation: X:48.37, Y:1.48, Z:0.41 [[ 9.97523940e-01 -6.52740011e-02 -2.61781370e-02 4.83699610e+01] [ 6.52733808e-02 9.97867032e-01 -8.79121125e-04 1.47894401e+00] [ 2.61796837e-02 -8.31791140e-04 9.99656907e-01 4.07603275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.695099893 meters 0.020811664600377602 Centerline is valid? [True, True] Translation: X:48.40, Y:1.48, Z:0.41 [[ 9.97381991e-01 -6.74187680e-02 -2.61509641e-02 4.84011277e+01] [ 6.74189164e-02 9.97724371e-01 -8.77017576e-04 1.47770032e+00] [ 2.61505817e-02 -8.88348126e-04 9.99657620e-01 4.07118716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.725099893 meters 0.020898380571641815 Centerline is valid? [True, True] Translation: X:48.43, Y:1.48, Z:0.41 [[ 9.97127887e-01 -7.08874275e-02 -2.66636479e-02 4.84318655e+01] [ 7.08888450e-02 9.97483821e-01 -8.93272124e-04 1.47642683e+00] [ 2.66598791e-02 -9.99448656e-04 9.99644063e-01 4.07062306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.755099893 meters 0.020417311696852826 Centerline is valid? [True, True] Translation: X:48.46, Y:1.48, Z:0.41 [[ 9.97062476e-01 -7.17363005e-02 -2.68388034e-02 4.84635312e+01] [ 7.17380711e-02 9.97423101e-01 -8.98119918e-04 1.47662893e+00] [ 2.68340703e-02 -1.02988232e-03 9.99639371e-01 4.07651800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785099893 meters 0.02203276226939369 Centerline is valid? [True, True] Translation: X:48.50, Y:1.47, Z:0.41 [[ 9.97073993e-01 -7.11700061e-02 -2.78977131e-02 4.84959496e+01] [ 7.11717576e-02 9.97463640e-01 -9.31431752e-04 1.47497103e+00] [ 2.78932445e-02 -1.05682290e-03 9.99610349e-01 4.06454954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.815099892999996 meters 0.021079806939388757 Centerline is valid? [True, True] Translation: X:48.53, Y:1.48, Z:0.41 [[ 9.97123067e-01 -6.98884382e-02 -2.93461455e-02 4.85282295e+01] [ 6.98898944e-02 9.97554233e-01 -9.77352136e-04 1.47776780e+00] [ 2.93426773e-02 -1.07645865e-03 9.99568831e-01 4.06371890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.845099893 meters 0.01983332142369704 Centerline is valid? [True, True] Translation: X:48.56, Y:1.48, Z:0.41 [[ 9.97135564e-01 -6.99711739e-02 -2.87176281e-02 4.85593130e+01] [ 6.99726537e-02 9.97548453e-01 -9.54633115e-04 1.47680945e+00] [ 2.87140223e-02 -1.05755002e-03 9.99587108e-01 4.07418674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.875099893 meters 0.02113194773052982 Centerline is valid? [True, True] Translation: X:48.59, Y:1.48, Z:0.41 [[ 9.97153308e-01 -7.01158161e-02 -2.77317849e-02 4.85914245e+01] [ 7.01173003e-02 9.97538329e-01 -9.20101496e-04 1.47687951e+00] [ 2.77280320e-02 -1.02699564e-03 9.99614977e-01 4.08081863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.905099893 meters 0.020986443407331523 Centerline is valid? [True, True] Translation: X:48.62, Y:1.48, Z:0.41 [[ 9.97229777e-01 -6.88236958e-02 -2.82147329e-02 4.86223245e+01] [ 6.88247655e-02 9.97628327e-01 -9.34367848e-04 1.47746287e+00] [ 2.82121234e-02 -1.01009293e-03 9.99601448e-01 4.08047993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.935099893 meters 0.018980019097288584 Centerline is valid? [True, True] Translation: X:48.65, Y:1.48, Z:0.41 [[ 9.97427661e-01 -6.54863444e-02 -2.91478903e-02 4.86540431e+01] [ 6.54861100e-02 9.97853016e-01 -9.63659995e-04 1.48250520e+00] [ 2.91484168e-02 -9.47600818e-04 9.99574645e-01 4.08198203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965099893 meters 0.018882256781530896 Centerline is valid? [True, True] Translation: X:48.68, Y:1.49, Z:0.41 [[ 9.97966661e-01 -5.62242783e-02 -3.00228950e-02 4.86838708e+01] [ 5.62198614e-02 9.98417920e-01 -9.91896978e-04 1.48963878e+00] [ 3.00311650e-02 -6.98002879e-04 9.99548719e-01 4.07800800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.995099892999995 meters 0.01626702204315962 Centerline is valid? [True, True] Translation: X:48.71, Y:1.49, Z:0.41 [[ 9.98195140e-01 -5.25492232e-02 -2.90696119e-02 4.87143478e+01] [ 5.25435330e-02 9.98618173e-01 -9.60111933e-04 1.49361442e+00] [ 2.90798959e-02 -5.69041046e-04 9.99576928e-01 4.10270395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025099893 meters 0.015565632139747253 Centerline is valid? [True, True] Translation: X:48.75, Y:1.50, Z:0.41 [[ 9.98625013e-01 -4.41639258e-02 -2.82423551e-02 4.87457674e+01] [ 4.41552316e-02 9.99024248e-01 -9.31723322e-04 1.50175687e+00] [ 2.82559462e-02 -3.16605516e-04 9.99600671e-01 4.12024616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.055099893 meters 0.015355162111640236 Centerline is valid? [True, True] Translation: X:48.78, Y:1.51, Z:0.41 [[ 9.98945066e-01 -3.60971112e-02 -2.83857946e-02 4.87767787e+01] [ 3.60851067e-02 9.99348283e-01 -9.35213695e-04 1.50743416e+00] [ 2.84010536e-02 -9.00773212e-05 9.99596605e-01 4.12241148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.085099893 meters 0.014767029845081197 Centerline is valid? [True, True] Translation: X:48.81, Y:1.51, Z:0.41 [[ 9.99091475e-01 -3.21793097e-02 -2.79413130e-02 4.88076408e+01] [ 3.21661584e-02 9.99482112e-01 -9.20133081e-04 1.51055163e+00] [ 2.79564518e-02 2.05324157e-05 9.99609142e-01 4.13180604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.115099893 meters 0.01592551171395766 Centerline is valid? [True, True] Translation: X:48.84, Y:1.52, Z:0.41 [[ 9.99392715e-01 -2.27913319e-02 -2.63582178e-02 4.88357978e+01] [ 2.27763439e-02 9.99740208e-01 -8.68749074e-04 1.51709480e+00] [ 2.63711701e-02 2.67877663e-04 9.99652184e-01 4.13973564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145099893 meters 0.01547638064209167 Centerline is valid? [True, True] Translation: X:48.86, Y:1.52, Z:0.41 [[ 9.99454842e-01 -1.88636009e-02 -2.70958311e-02 4.88645979e+01] [ 1.88462016e-02 9.99821992e-01 -8.97390861e-04 1.51834664e+00] [ 2.71079358e-02 3.86248146e-04 9.99632438e-01 4.14047998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.175099893 meters 0.014171052790312083 Centerline is valid? [True, True] Translation: X:48.89, Y:1.52, Z:0.41 [[ 9.99406808e-01 -2.07593830e-02 -2.74787380e-02 4.88937070e+01] [ 2.07420170e-02 9.99784441e-01 -9.16893271e-04 1.51509615e+00] [ 2.74918488e-02 3.46384926e-04 9.99621968e-01 4.14482629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205099892999996 meters 0.016251896564292694 Centerline is valid? [True, True] Translation: X:48.92, Y:1.51, Z:0.41 [[ 9.99262623e-01 -2.47427948e-02 -2.93599050e-02 4.89221142e+01] [ 2.47244521e-02 9.99693816e-01 -9.87674245e-04 1.51203769e+00] [ 2.93753533e-02 2.61038392e-04 9.99568417e-01 4.12184807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.235099893 meters 0.013539807461343001 Centerline is valid? [True, True] Translation: X:48.95, Y:1.51, Z:0.41 [[ 9.99114942e-01 -3.03696880e-02 -2.91035035e-02 4.89510477e+01] [ 3.03538272e-02 9.99538729e-01 -9.86721467e-04 1.50762793e+00] [ 2.91200453e-02 1.02445447e-04 9.99575916e-01 4.14929181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.265099893 meters 0.013998475521454003 Centerline is valid? [True, True] Translation: X:48.98, Y:1.51, Z:0.41 [[ 9.99026040e-01 -3.31944801e-02 -2.90705661e-02 4.89792770e+01] [ 3.31797163e-02 9.99448911e-01 -9.90227050e-04 1.50623695e+00] [ 2.90874157e-02 2.47094747e-05 9.99576871e-01 4.14444979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.295099893 meters 0.015775406799717232 Centerline is valid? [True, True] Translation: X:49.01, Y:1.50, Z:0.41 [[ 9.98870124e-01 -3.85688403e-02 -2.77654554e-02 4.90069694e+01] [ 3.85573808e-02 9.99255938e-01 -9.48189776e-04 1.50225606e+00] [ 2.77813667e-02 -1.23444797e-04 9.99614016e-01 4.14730409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325099893 meters 0.01477449806772875 Centerline is valid? [True, True] Translation: X:49.04, Y:1.50, Z:0.42 [[ 9.98805938e-01 -4.12346676e-02 -2.61992257e-02 4.90375193e+01] [ 4.12253544e-02 9.99149472e-01 -8.95732831e-04 1.50128292e+00] [ 2.62138778e-02 -1.85409094e-04 9.99656340e-01 4.17010187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.355099893 meters 0.01603617953291686 Centerline is valid? [True, True] Translation: X:49.07, Y:1.50, Z:0.42 [[ 9.98720604e-01 -4.33728344e-02 -2.59990979e-02 4.90677564e+01] [ 4.33643935e-02 9.99058927e-01 -8.88649072e-04 1.50016846e+00] [ 2.60131740e-02 -2.39922974e-04 9.99661571e-01 4.17563065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385099892999996 meters 0.0161186187102116 Centerline is valid? [True, True] Translation: X:49.10, Y:1.50, Z:0.42 [[ 9.98557468e-01 -4.73289080e-02 -2.53566000e-02 4.91001114e+01] [ 4.73221836e-02 9.98879303e-01 -8.65522872e-04 1.49812570e+00] [ 2.53691472e-02 -3.35655354e-04 9.99678095e-01 4.19483102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.415099893 meters 0.015356143384282914 Centerline is valid? [True, True] Translation: X:49.13, Y:1.50, Z:0.42 [[ 9.98485497e-01 -4.90455112e-02 -2.49249084e-02 4.91325190e+01] [ 4.90395935e-02 9.98796475e-01 -8.48981345e-04 1.49703790e+00] [ 2.49365494e-02 -3.74611817e-04 9.99688966e-01 4.20124090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.445099893 meters 0.017078086250932482 Centerline is valid? [True, True] Translation: X:49.16, Y:1.49, Z:0.42 [[ 9.98400885e-01 -5.05639332e-02 -2.52777008e-02 4.91641118e+01] [ 5.05583742e-02 9.98720738e-01 -8.59382169e-04 1.49489781e+00] [ 2.52888177e-02 -4.19991535e-04 9.99680098e-01 4.19846258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.475099893 meters 0.015552764623417765 Centerline is valid? [True, True] Translation: X:49.20, Y:1.51, Z:0.42 [[ 9.99279809e-01 -2.33704436e-02 -2.98945676e-02 4.91959590e+01] [ 2.33505548e-02 9.99726824e-01 -1.01427885e-03 1.50732377e+00] [ 2.99101053e-02 3.15493642e-04 9.99552543e-01 4.17722028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.505099893 meters 0.015671552251434986 Centerline is valid? [True, True] Translation: X:49.22, Y:1.51, Z:0.42 [[ 9.99368952e-01 -1.84326068e-02 -3.03633968e-02 4.92242632e+01] [ 1.84097888e-02 9.99829994e-01 -1.03090728e-03 1.51114033e+00] [ 3.03772371e-02 4.71273004e-04 9.99538394e-01 4.19344221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.535099893 meters 0.0170568573822408 Centerline is valid? [True, True] Translation: X:49.25, Y:1.51, Z:0.42 [[ 9.99384877e-01 -1.62278537e-02 -3.10889778e-02 4.92516402e+01] [ 1.62027773e-02 9.99868166e-01 -1.05837268e-03 1.51441919e+00] [ 3.11020543e-02 5.53993866e-04 9.99516061e-01 4.17463845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.565099892999996 meters 0.017103279436547447 Centerline is valid? [True, True] Translation: X:49.28, Y:1.51, Z:0.42 [[ 9.99386284e-01 -1.47362127e-02 -3.17789120e-02 4.92803320e+01] [ 1.47090656e-02 9.99891224e-01 -1.08787011e-03 1.51434062e+00] [ 3.17914863e-02 6.19764366e-04 9.99494331e-01 4.18210067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.595099893 meters 0.018311870826731663 Centerline is valid? [True, True] Translation: X:49.31, Y:1.52, Z:0.42 [[ 9.99368541e-01 -1.31590009e-02 -3.30054534e-02 4.93077623e+01] [ 1.31286592e-02 9.99913170e-01 -1.13585381e-03 1.51515314e+00] [ 3.30175342e-02 7.01819219e-04 9.99454526e-01 4.16602276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.625099893 meters 0.017128162240155766 Centerline is valid? [True, True] Translation: X:49.34, Y:1.52, Z:0.42 [[ 9.99368947e-01 -1.35248218e-02 -3.28448964e-02 4.93354326e+01] [ 1.34947253e-02 9.99908295e-01 -1.13783318e-03 1.51521894e+00] [ 3.28572733e-02 6.93882291e-04 9.99459813e-01 4.17961950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.655099893 meters 0.01648861449468422 Centerline is valid? [True, True] Translation: X:49.36, Y:1.52, Z:0.42 [[ 9.99390711e-01 -1.41865399e-02 -3.18896234e-02 4.93628006e+01] [ 1.41583416e-02 9.99899150e-01 -1.10989332e-03 1.51618940e+00] [ 3.19021528e-02 6.57712896e-04 9.99490780e-01 4.19207308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.685099893 meters 0.016452480521528725 Centerline is valid? [True, True] Translation: X:49.39, Y:1.52, Z:0.42 [[ 9.99396193e-01 -1.67247378e-02 -3.04554351e-02 4.93920395e+01] [ 1.67000396e-02 9.99859977e-01 -1.06516078e-03 1.51593361e+00] [ 3.04689852e-02 5.55910650e-04 9.99535558e-01 4.21390318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.715099893 meters 0.015138124634356431 Centerline is valid? [True, True] Translation: X:49.42, Y:1.50, Z:0.42 [[ 9.99055360e-01 -3.16193975e-02 -2.98094295e-02 4.94220733e+01] [ 3.16022601e-02 9.99499977e-01 -1.04596711e-03 1.50283979e+00] [ 2.98275969e-02 1.02933707e-04 9.99555053e-01 4.22362410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.745099892999995 meters 0.014675395358820306 Centerline is valid? [True, True] Translation: X:49.45, Y:1.49, Z:0.42 [[ 9.98688550e-01 -4.26538178e-02 -2.83166449e-02 4.94501910e+01] [ 4.26427339e-02 9.99089889e-01 -9.95454634e-04 1.49465245e+00] [ 2.83333335e-02 -2.13350010e-04 9.99598508e-01 4.23789094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.775099893 meters 0.015503179119848528 Centerline is valid? [True, True] Translation: X:49.48, Y:1.49, Z:0.42 [[ 9.98651293e-01 -4.32249071e-02 -2.87611352e-02 4.94807394e+01] [ 4.32136767e-02 9.99065340e-01 -1.01221383e-03 1.49494984e+00] [ 2.87780062e-02 -2.32025753e-04 9.99585800e-01 4.23976290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.805099893 meters 0.015761383595507054 Centerline is valid? [True, True] Translation: X:49.51, Y:1.50, Z:0.42 [[ 9.98643708e-01 -4.35785059e-02 -2.84896204e-02 4.95114803e+01] [ 4.35676304e-02 9.99049977e-01 -1.00265819e-03 1.49572197e+00] [ 2.85062490e-02 -2.39926963e-04 9.99593586e-01 4.24630833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.835099893 meters 0.015826494151960784 Centerline is valid? [True, True] Translation: X:49.54, Y:1.50, Z:0.43 [[ 9.98703819e-01 -4.30375965e-02 -2.71743933e-02 4.95428125e+01] [ 4.30275165e-02 9.99073430e-01 -9.55832948e-04 1.49809633e+00] [ 2.71903511e-02 -2.14652641e-04 9.99630251e-01 4.26876581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.865099893 meters 0.014946903331442305 Centerline is valid? [True, True] Translation: X:49.57, Y:1.50, Z:0.43 [[ 9.98758072e-01 -4.21170728e-02 -2.66170089e-02 4.95733239e+01] [ 4.21070937e-02 9.99112665e-01 -9.35532212e-04 1.49985997e+00] [ 2.66327925e-02 -1.86394538e-04 9.99645267e-01 4.27961730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.895099893 meters 0.015108650148550234 Centerline is valid? [True, True] Translation: X:49.61, Y:1.50, Z:0.43 [[ 9.98798651e-01 -4.11610877e-02 -2.65898544e-02 4.96050704e+01] [ 4.11508100e-02 9.99152510e-01 -9.33834631e-04 1.50168033e+00] [ 2.66057574e-02 -1.61481279e-04 9.99645991e-01 4.28879668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925099893 meters 0.015855215230346387 Centerline is valid? [True, True] Translation: X:49.64, Y:1.50, Z:0.43 [[ 9.98818748e-01 -4.03739500e-02 -2.70379876e-02 4.96358625e+01] [ 4.03630710e-02 9.99184629e-01 -9.48229426e-04 1.50225922e+00] [ 2.70542254e-02 -1.44226886e-04 9.99633957e-01 4.27834986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.955099892999996 meters 0.015387705893326869 Centerline is valid? [True, True] Translation: X:49.67, Y:1.50, Z:0.43 [[ 9.98826771e-01 -3.96498728e-02 -2.78023046e-02 4.96662830e+01] [ 3.96381108e-02 9.99213626e-01 -9.74269608e-04 1.50221969e+00] [ 2.78190713e-02 -1.28904263e-04 9.99612966e-01 4.27520876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.985099893 meters 0.016434911958146503 Centerline is valid? [True, True] Translation: X:49.70, Y:1.49, Z:0.43 [[ 9.98464675e-01 -4.90330291e-02 -2.57692424e-02 4.96962944e+01] [ 4.90260352e-02 9.98797092e-01 -9.03503724e-04 1.49003257e+00] [ 2.57825459e-02 -3.61247231e-04 9.99667510e-01 4.30409945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.015099893 meters 0.017189084286427996 Centerline is valid? [True, True] Translation: X:49.73, Y:1.48, Z:0.43 [[ 9.98181274e-01 -5.40840400e-02 -2.66281807e-02 4.97276342e+01] [ 5.40783695e-02 9.98536258e-01 -9.33563599e-04 1.48435915e+00] [ 2.66396948e-02 -5.08142890e-04 9.99644971e-01 4.28503401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.045099893 meters 0.018052685577573058 Centerline is valid? [True, True] Translation: X:49.76, Y:1.48, Z:0.43 [[ 9.97821636e-01 -6.06258390e-02 -2.60094355e-02 4.97585464e+01] [ 6.06226667e-02 9.98160339e-01 -9.11191817e-04 1.48068866e+00] [ 2.60168287e-02 -6.67554429e-04 9.99661282e-01 4.29173754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.075099893 meters 0.020953407355730237 Centerline is valid? [True, True] Translation: X:49.79, Y:1.47, Z:0.43 [[ 9.97128434e-01 -7.15964365e-02 -2.46746003e-02 4.97890356e+01] [ 7.15969412e-02 9.97433272e-01 -8.64126001e-04 1.47157142e+00] [ 2.46731356e-02 -9.04981301e-04 9.99695162e-01 4.31099217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105099893 meters 0.022261669974527363 Centerline is valid? [True, True] Translation: X:49.82, Y:1.47, Z:0.43 [[ 9.97011349e-01 -7.29406333e-02 -2.54565238e-02 4.98200814e+01] [ 7.29416287e-02 9.97335814e-01 -8.90703663e-04 1.47097924e+00] [ 2.54536714e-02 -9.68798649e-04 9.99675533e-01 4.31012107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.135099892999996 meters 0.023316460823328167 Centerline is valid? [True, True] Translation: X:49.85, Y:1.47, Z:0.43 [[ 9.96817658e-01 -7.50822271e-02 -2.67808977e-02 4.98515854e+01] [ 7.50841405e-02 9.97176763e-01 -9.35561210e-04 1.46931073e+00] [ 2.67755329e-02 -1.07823675e-03 9.99640890e-01 4.30361895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.165099893 meters 0.023316460823328167 Centerline is valid? [True, True] Translation: X:49.88, Y:1.47, Z:0.43 [[ 9.96822961e-01 -7.50117645e-02 -2.67809563e-02 4.98832869e+01] [ 7.50136976e-02 9.97182066e-01 -9.33879516e-04 1.47035700e+00] [ 2.67755413e-02 -1.07802602e-03 9.99640890e-01 4.30753974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.195099893 meters 0.0216497845693888 Centerline is valid? [True, True] Translation: X:49.91, Y:1.47, Z:0.43 [[ 9.96534514e-01 -7.81313760e-02 -2.85385831e-02 4.99140868e+01] [ 7.81348834e-02 9.96942301e-01 -9.93940868e-04 1.47282858e+00] [ 2.85289786e-02 -1.23936248e-03 9.99592198e-01 4.30747675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.225099893 meters 0.0216497845693888 Centerline is valid? [True, True] Translation: X:49.95, Y:1.47, Z:0.43 [[ 9.96543153e-01 -7.80210833e-02 -2.85386532e-02 4.99466427e+01] [ 7.80246033e-02 9.96950940e-01 -9.91923798e-04 1.47387808e+00] [ 2.85290281e-02 -1.23822222e-03 9.99592198e-01 4.31150446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.255099893 meters 0.02378587105045975 Centerline is valid? [True, True] Translation: X:49.98, Y:1.47, Z:0.43 [[ 9.96423170e-01 -7.93268801e-02 -2.91223648e-02 4.99789494e+01] [ 7.93311788e-02 9.96847804e-01 -1.00958752e-03 1.47378523e+00] [ 2.91106529e-02 -1.30433514e-03 9.99575344e-01 4.30126798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285099893 meters 0.02541358183220383 Centerline is valid? [True, True] Translation: X:50.01, Y:1.47, Z:0.43 [[ 9.96336149e-01 -8.06503376e-02 -2.84570045e-02 5.00099844e+01] [ 8.06550304e-02 9.96741590e-01 -9.84758411e-04 1.47171307e+00] [ 2.84437010e-02 -1.31405016e-03 9.99594532e-01 4.30352502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.315099892999996 meters 0.02541358183220383 Centerline is valid? [True, True] Translation: X:50.04, Y:1.47, Z:0.43 [[ 9.96344730e-01 -8.05442337e-02 -2.84570870e-02 5.00425433e+01] [ 8.05489514e-02 9.96750170e-01 -9.82370688e-04 1.47274912e+00] [ 2.84437306e-02 -1.31340866e-03 9.99594532e-01 4.30755173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.345099893 meters 0.023947749475330644 Centerline is valid? [True, True] Translation: X:50.07, Y:1.48, Z:0.43 [[ 9.96290178e-01 -8.16103967e-02 -2.73061084e-02 5.00745086e+01] [ 8.16152034e-02 9.96663471e-01 -9.40291354e-04 1.47541778e+00] [ 2.72917383e-02 -1.29179055e-03 9.99626676e-01 4.32875541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.375099893 meters 0.023866602887675965 Centerline is valid? [True, True] Translation: X:50.11, Y:1.48, Z:0.43 [[ 9.96241651e-01 -8.22645480e-02 -2.71130506e-02 5.01061013e+01] [ 8.22695746e-02 9.96609677e-01 -9.31942633e-04 1.47789382e+00] [ 2.70977944e-02 -1.30213907e-03 9.99631939e-01 4.33753779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.405099893 meters 0.023537740419904963 Centerline is valid? [True, True] Translation: X:50.14, Y:1.48, Z:0.43 [[ 9.96256842e-01 -8.22772404e-02 -2.65096278e-02 5.01392075e+01] [ 8.22821089e-02 9.96608664e-01 -9.08975129e-04 1.47956456e+00] [ 2.64945127e-02 -1.27569539e-03 9.99648145e-01 4.34460153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.435099893 meters 0.024975581964493142 Centerline is valid? [True, True] Translation: X:50.17, Y:1.48, Z:0.43 [[ 9.96265252e-01 -8.21767351e-02 -2.65053047e-02 5.01711577e+01] [ 8.21816369e-02 9.96616956e-01 -9.06171272e-04 1.47935680e+00] [ 2.64901023e-02 -1.27546238e-03 9.99648262e-01 4.34347276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465099893 meters 0.02418754809025825 Centerline is valid? [True, True] Translation: X:50.20, Y:1.48, Z:0.44 [[ 9.96377929e-01 -8.09399239e-02 -2.60720509e-02 5.02032483e+01] [ 8.09442990e-02 9.96718230e-01 -8.89257171e-04 1.48437015e+00] [ 2.60584648e-02 -1.22434766e-03 9.99659671e-01 4.35258510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.495099892999995 meters 0.02418754809025825 Centerline is valid? [True, True] Translation: X:50.24, Y:1.49, Z:0.44 [[ 9.96386710e-01 -8.08317221e-02 -2.60721319e-02 5.02358089e+01] [ 8.08361223e-02 9.96727011e-01 -8.86876065e-04 1.48539205e+00] [ 2.60584859e-02 -1.22389852e-03 9.99659671e-01 4.35661125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.525099893 meters 0.02462904997704338 Centerline is valid? [True, True] Translation: X:50.27, Y:1.49, Z:0.44 [[ 9.96462720e-01 -8.00897093e-02 -2.54496965e-02 5.02674994e+01] [ 8.00937174e-02 9.96786964e-01 -8.63454371e-04 1.48722964e+00] [ 2.54370795e-02 -1.17796071e-03 9.99675731e-01 4.36421242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.555099893 meters 0.023419270027543 Centerline is valid? [True, True] Translation: X:50.30, Y:1.49, Z:0.44 [[ 9.96556515e-01 -7.91260952e-02 -2.47825223e-02 5.02990833e+01] [ 7.91296423e-02 9.96863981e-01 -8.39048540e-04 1.49355470e+00] [ 2.47711945e-02 -1.12487284e-03 9.99692514e-01 4.37961486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.585099893 meters 0.023496655183474095 Centerline is valid? [True, True] Translation: X:50.33, Y:1.50, Z:0.44 [[ 9.96586151e-01 -7.87902061e-02 -2.46606215e-02 5.03311213e+01] [ 7.87936599e-02 9.96890598e-01 -8.33124274e-04 1.49591338e+00] [ 2.46495837e-02 -1.11282051e-03 9.99695533e-01 4.38153272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.615099893 meters 0.023633361893812335 Centerline is valid? [True, True] Translation: X:50.36, Y:1.50, Z:0.44 [[ 9.96585297e-01 -7.86161456e-02 -2.52437572e-02 5.03628648e+01] [ 7.86197622e-02 9.96904313e-01 -8.50728821e-04 1.49741635e+00] [ 2.52324915e-02 -1.13683436e-03 9.99680964e-01 4.38550290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645099893 meters 0.021194048961174973 Centerline is valid? [True, True] Translation: X:50.39, Y:1.50, Z:0.44 [[ 9.96574647e-01 -7.89377499e-02 -2.46536968e-02 5.03946865e+01] [ 7.89413465e-02 9.96878918e-01 -8.28850259e-04 1.50048153e+00] [ 2.46421782e-02 -1.12018487e-03 9.99695708e-01 4.41785753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.675099892999995 meters 0.024289314810974825 Centerline is valid? [True, True] Translation: X:50.43, Y:1.50, Z:0.44 [[ 9.96581576e-01 -7.83756249e-02 -2.61232330e-02 5.04258041e+01] [ 7.83795153e-02 9.96923208e-01 -8.76555597e-04 1.50161415e+00] [ 2.61115578e-02 -1.17396718e-03 9.99658346e-01 4.38032391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705099892999996 meters 0.024253862686559952 Centerline is valid? [True, True] Translation: X:50.46, Y:1.50, Z:0.44 [[ 9.96609661e-01 -7.82230426e-02 -2.55017618e-02 5.04571846e+01] [ 7.82267346e-02 9.96935228e-01 -8.54346223e-04 1.50313736e+00] [ 2.54904342e-02 -1.14346985e-03 9.99674412e-01 4.38883064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.735099893 meters 0.024253862686559952 Centerline is valid? [True, True] Translation: X:50.49, Y:1.50, Z:0.44 [[ 9.96617997e-01 -7.81167424e-02 -2.55018307e-02 5.04897427e+01] [ 7.81204523e-02 9.96943563e-01 -8.52285488e-04 1.50413750e+00] [ 2.54904637e-02 -1.14281149e-03 9.99674412e-01 4.39285704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.765099893 meters 0.025219225955002738 Centerline is valid? [True, True] Translation: X:50.52, Y:1.51, Z:0.44 [[ 9.96645846e-01 -7.80169008e-02 -2.47067130e-02 5.05209248e+01] [ 7.80204259e-02 9.96951421e-01 -8.22719924e-04 1.50504253e+00] [ 2.46955787e-02 -1.10766788e-03 9.99694404e-01 4.40216939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.795099893 meters 0.025219225955002738 Centerline is valid? [True, True] Translation: X:50.55, Y:1.51, Z:0.44 [[ 9.96653970e-01 -7.79130142e-02 -2.47068127e-02 5.05534827e+01] [ 7.79165817e-02 9.96959545e-01 -8.19719588e-04 1.50603129e+00] [ 2.46955595e-02 -1.10809361e-03 9.99694404e-01 4.40619238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825099893 meters 0.024540422586411 Centerline is valid? [True, True] Translation: X:50.59, Y:1.51, Z:0.44 [[ 9.96658253e-01 -7.78387382e-02 -2.47680868e-02 5.05867331e+01] [ 7.78423654e-02 9.96965343e-01 -8.19136542e-04 1.51053854e+00] [ 2.47566847e-02 -1.11160727e-03 9.99692888e-01 4.41734146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.855099893 meters 0.024540422586411 Centerline is valid? [True, True] Translation: X:50.62, Y:1.51, Z:0.44 [[ 9.96666544e-01 -7.77324707e-02 -2.47681739e-02 5.06192919e+01] [ 7.77361306e-02 9.96973634e-01 -8.16497036e-04 1.51152349e+00] [ 2.47566847e-02 -1.11160672e-03 9.99692888e-01 4.42136577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885099892999996 meters 0.024320454570404416 Centerline is valid? [True, True] Translation: X:50.65, Y:1.51, Z:0.44 [[ 9.96613111e-01 -7.83019498e-02 -2.51219330e-02 5.06509206e+01] [ 7.83059466e-02 9.96929033e-01 -8.26131641e-04 1.51484770e+00] [ 2.51094720e-02 -1.14386312e-03 9.99684053e-01 4.42521495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.915099893 meters 0.02449196021384834 Centerline is valid? [True, True] Translation: X:50.68, Y:1.52, Z:0.44 [[ 9.96546781e-01 -7.88531156e-02 -2.60134658e-02 5.06826980e+01] [ 7.88576323e-02 9.96885522e-01 -8.53779212e-04 1.51636473e+00] [ 2.59997705e-02 -1.20052939e-03 9.99661228e-01 4.42021337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.945099893 meters 0.02427403510398116 Centerline is valid? [True, True] Translation: X:50.71, Y:1.52, Z:0.44 [[ 9.96451189e-01 -7.96474696e-02 -2.72269871e-02 5.07144263e+01] [ 7.96527615e-02 9.96822272e-01 -8.91862125e-04 1.51960064e+00] [ 2.72115017e-02 -1.28000764e-03 9.99628879e-01 4.41385690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.975099893 meters 0.024752588670067518 Centerline is valid? [True, True] Translation: X:50.75, Y:1.52, Z:0.44 [[ 9.96337450e-01 -8.10516726e-02 -2.72454177e-02 5.07457303e+01] [ 8.10575642e-02 9.96709024e-01 -8.89937551e-04 1.51777336e+00] [ 2.72278847e-02 -1.32176909e-03 9.99628379e-01 4.41866851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.005099893 meters 0.026905018780685918 Centerline is valid? [True, True] Translation: X:50.78, Y:1.52, Z:0.44 [[ 9.96234260e-01 -8.20380631e-02 -2.80545132e-02 5.07769289e+01] [ 8.20447679e-02 9.96628226e-01 -9.13957866e-04 1.51789091e+00] [ 2.80348991e-02 -1.39120989e-03 9.99605977e-01 4.40374592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.035099893 meters 0.024317508320426527 Centerline is valid? [True, True] Translation: X:50.81, Y:1.52, Z:0.44 [[ 9.96152594e-01 -8.31256520e-02 -2.77513251e-02 5.08085397e+01] [ 8.31326745e-02 9.96538079e-01 -9.02596750e-04 1.52304997e+00] [ 2.77302812e-02 -1.40791778e-03 9.99614450e-01 4.42849386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.065099892999996 meters 0.025600918175931416 Centerline is valid? [True, True] Translation: X:50.84, Y:1.53, Z:0.44 [[ 9.96075037e-01 -8.40982976e-02 -2.76043085e-02 5.08402851e+01] [ 8.41056674e-02 9.96456439e-01 -8.96033752e-04 1.52741294e+00] [ 2.75818459e-02 -1.42916194e-03 9.99618527e-01 4.43550238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.095099893 meters 0.024343937798950784 Centerline is valid? [True, True] Translation: X:50.87, Y:1.53, Z:0.45 [[ 9.96126618e-01 -8.39946656e-02 -2.60126367e-02 5.08721981e+01] [ 8.40012216e-02 9.96465295e-01 -8.42530865e-04 1.53001230e+00] [ 2.59914578e-02 -1.34582584e-03 9.99661259e-01 4.47159714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.125099893 meters 0.025574566939439724 Centerline is valid? [True, True] Translation: X:50.90, Y:1.53, Z:0.45 [[ 9.96218939e-01 -8.28913640e-02 -2.60162899e-02 5.09048951e+01] [ 8.28976018e-02 9.96557716e-01 -8.40530317e-04 1.53267598e+00] [ 2.59964071e-02 -1.31933582e-03 9.99661166e-01 4.46589035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.155099893 meters 0.024903558784372403 Centerline is valid? [True, True] Translation: X:50.94, Y:1.54, Z:0.45 [[ 9.96381393e-01 -8.12561410e-02 -2.49310974e-02 5.09364429e+01] [ 8.12614017e-02 9.96692500e-01 -8.03720507e-04 1.53872829e+00] [ 2.49139450e-02 -1.22512376e-03 9.99688849e-01 4.47696422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.185099893 meters 0.023462440237022163 Centerline is valid? [True, True] Translation: X:50.97, Y:1.54, Z:0.45 [[ 9.96473375e-01 -8.03290420e-02 -2.42499262e-02 5.09690549e+01] [ 8.03337876e-02 9.96767713e-01 -7.80005919e-04 1.54279410e+00] [ 2.42342007e-02 -1.17083329e-03 9.99705623e-01 4.48829903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.215099893 meters 0.023462440237022163 Centerline is valid? [True, True] Translation: X:51.00, Y:1.54, Z:0.45 [[ 9.96482283e-01 -8.02184325e-02 -2.42500051e-02 5.10016233e+01] [ 8.02232052e-02 9.96776621e-01 -7.77546933e-04 1.54375584e+00] [ 2.42342118e-02 -1.17060140e-03 9.99705623e-01 4.49232478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.245099892999995 meters 0.02377850720926479 Centerline is valid? [True, True] Translation: X:51.03, Y:1.55, Z:0.45 [[ 9.96577356e-01 -7.91947992e-02 -2.37014009e-02 5.10330609e+01] [ 7.91991159e-02 9.96858528e-01 -7.57991022e-04 1.54518274e+00] [ 2.36869726e-02 -1.12173331e-03 9.99718795e-01 4.50009284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.275099893 meters 0.02475540977252622 Centerline is valid? [True, True] Translation: X:51.07, Y:1.55, Z:0.45 [[ 9.96693316e-01 -7.76922885e-02 -2.37979241e-02 5.10653095e+01] [ 7.76962488e-02 9.96976788e-01 -7.59574078e-04 1.54841864e+00] [ 2.37849910e-02 -1.09194703e-03 9.99716501e-01 4.49778862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.305099893 meters 0.023608739012888735 Centerline is valid? [True, True] Translation: X:51.10, Y:1.55, Z:0.45 [[ 9.96835594e-01 -7.60398827e-02 -2.31675426e-02 5.10968429e+01] [ 7.60432283e-02 9.97104249e-01 -7.37819636e-04 1.55172595e+00] [ 2.31565588e-02 -1.02624985e-03 9.99731324e-01 4.51588888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.335099893 meters 0.023608739012888735 Centerline is valid? [True, True] Translation: X:51.13, Y:1.55, Z:0.45 [[ 9.96843727e-01 -7.59331713e-02 -2.31676073e-02 5.11294043e+01] [ 7.59365354e-02 9.97112381e-01 -7.35783113e-04 1.55267252e+00] [ 2.31565784e-02 -1.02580705e-03 9.99731324e-01 4.51991453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.365099893 meters 0.022523098157906683 Centerline is valid? [True, True] Translation: X:51.16, Y:1.56, Z:0.45 [[ 9.96990353e-01 -7.42046451e-02 -2.24478750e-02 5.11615583e+01] [ 7.42074107e-02 9.97242576e-01 -7.10928182e-04 1.55622071e+00] [ 2.24387309e-02 -9.57010139e-04 9.99747762e-01 4.53684249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.395099893 meters 0.022411490704241338 Centerline is valid? [True, True] Translation: X:51.19, Y:1.56, Z:0.45 [[ 9.97156126e-01 -7.16971417e-02 -2.32202631e-02 5.11931260e+01] [ 7.16994620e-02 9.97426012e-01 -7.33684773e-04 1.56121638e+00] [ 2.32130976e-02 -9.33282108e-04 9.99730104e-01 4.52573807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.425099892999995 meters 0.022411490704241338 Centerline is valid? [True, True] Translation: X:51.23, Y:1.56, Z:0.45 [[ 9.97163893e-01 -7.15890123e-02 -2.32203290e-02 5.12256833e+01] [ 7.15913518e-02 9.97433779e-01 -7.31597383e-04 1.56215658e+00] [ 2.32131148e-02 -9.32852244e-04 9.99730104e-01 4.52976304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.455099892999996 meters 0.021448040879715594 Centerline is valid? [True, True] Translation: X:51.26, Y:1.57, Z:0.45 [[ 9.97298476e-01 -6.96748395e-02 -2.32629986e-02 5.12581776e+01] [ 6.96767217e-02 9.97569356e-01 -7.30620810e-04 1.56528028e+00] [ 2.32573604e-02 -8.92242460e-04 9.99729113e-01 4.53498990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.485099893 meters 0.02166729066592478 Centerline is valid? [True, True] Translation: X:51.29, Y:1.57, Z:0.45 [[ 9.97418988e-01 -6.79340361e-02 -2.32449849e-02 5.12893796e+01] [ 6.79354826e-02 9.97689451e-01 -7.28366437e-04 1.56758867e+00] [ 2.32407571e-02 -8.52672754e-04 9.99729534e-01 4.53532700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.515099893 meters 0.020195887782454187 Centerline is valid? [True, True] Translation: X:51.32, Y:1.57, Z:0.45 [[ 9.97523164e-01 -6.64909399e-02 -2.29454052e-02 5.13217053e+01] [ 6.64920006e-02 9.97786700e-01 -7.17560202e-04 1.57250976e+00] [ 2.29423314e-02 -8.09902974e-04 9.99736462e-01 4.54595182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.545099893 meters 0.020834868466862597 Centerline is valid? [True, True] Translation: X:51.35, Y:1.58, Z:0.45 [[ 9.97633325e-01 -6.48439849e-02 -2.28693352e-02 5.13533336e+01] [ 6.48446441e-02 9.97895116e-01 -7.13532625e-04 1.57608003e+00] [ 2.28674662e-02 -7.71109978e-04 9.99738208e-01 4.53992132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.575099893 meters 0.019444957737287896 Centerline is valid? [True, True] Translation: X:51.38, Y:1.58, Z:0.46 [[ 9.97679066e-01 -6.41660893e-02 -2.27858149e-02 5.13849931e+01] [ 6.41666046e-02 9.97938948e-01 -7.09276944e-04 1.57992102e+00] [ 2.27843637e-02 -7.54457618e-04 9.99740118e-01 4.55186098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605099893 meters 0.019271230629890525 Centerline is valid? [True, True] Translation: X:51.42, Y:1.58, Z:0.46 [[ 9.97721086e-01 -6.34837641e-02 -2.28570776e-02 5.14164693e+01] [ 6.34841377e-02 9.97982595e-01 -7.10014609e-04 1.58180031e+00] [ 2.28560401e-02 -7.42665317e-04 9.99738491e-01 4.55627181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.635099892999996 meters 0.019401845652363484 Centerline is valid? [True, True] Translation: X:51.45, Y:1.58, Z:0.45 [[ 9.97801825e-01 -6.17469783e-02 -2.40588706e-02 5.14474278e+01] [ 6.17469204e-02 9.98091560e-01 -7.46005029e-04 1.58455505e+00] [ 2.40590193e-02 -7.41195992e-04 9.99710265e-01 4.54660565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.665099893 meters 0.01941183280412929 Centerline is valid? [True, True] Translation: X:51.48, Y:1.59, Z:0.45 [[ 9.97822173e-01 -6.09948349e-02 -2.51105951e-02 5.14792649e+01] [ 6.09945748e-02 9.98137795e-01 -7.76999126e-04 1.58738969e+00] [ 2.51112270e-02 -7.56303115e-04 9.99684377e-01 4.53817411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.695099893 meters 0.019160051314937497 Centerline is valid? [True, True] Translation: X:51.51, Y:1.59, Z:0.45 [[ 9.97886136e-01 -5.94801208e-02 -2.61796703e-02 5.15103607e+01] [ 5.94793614e-02 9.98229208e-01 -8.08406313e-04 1.58987595e+00] [ 2.61813957e-02 -7.50452620e-04 9.99656927e-01 4.52231530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.725099893 meters 0.017573599259079305 Centerline is valid? [True, True] Translation: X:51.54, Y:1.59, Z:0.45 [[ 9.97998400e-01 -5.78315178e-02 -2.55872839e-02 5.15427357e+01] [ 5.78302921e-02 9.98326117e-01 -7.88502124e-04 1.59414011e+00] [ 2.55900541e-02 -6.92796244e-04 9.99672281e-01 4.54297448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.755099893 meters 0.016723937969698992 Centerline is valid? [True, True] Translation: X:51.57, Y:1.60, Z:0.46 [[ 9.98183202e-01 -5.54059737e-02 -2.36743084e-02 5.15742564e+01] [ 5.54042718e-02 9.98463738e-01 -7.28306398e-04 1.59809510e+00] [ 2.36782910e-02 -5.84674605e-04 9.99719459e-01 4.56716609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785099893 meters 0.01707081956683118 Centerline is valid? [True, True] Translation: X:51.61, Y:1.60, Z:0.46 [[ 9.98341801e-01 -5.27271024e-02 -2.30976450e-02 5.16061300e+01] [ 5.27247941e-02 9.98608829e-01 -7.09339888e-04 1.60250513e+00] [ 2.31029137e-02 -5.09654915e-04 9.99732962e-01 4.58258344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.815099892999996 meters 0.01606443488598504 Centerline is valid? [True, True] Translation: X:51.64, Y:1.60, Z:0.46 [[ 9.98409905e-01 -5.16230654e-02 -2.26433326e-02 5.16386878e+01] [ 5.16206002e-02 9.98666527e-01 -6.93751870e-04 1.60460198e+00] [ 2.26489520e-02 -4.76213682e-04 9.99743366e-01 4.59717264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.845099893 meters 0.017557561957899828 Centerline is valid? [True, True] Translation: X:51.67, Y:1.61, Z:0.46 [[ 9.98451938e-01 -5.05746835e-02 -2.31501361e-02 5.16702035e+01] [ 5.05718812e-02 9.98720174e-01 -7.06859711e-04 1.60553510e+00] [ 2.31562571e-02 -4.64980484e-04 9.99731750e-01 4.58398185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.875099893 meters 0.017167966764978063 Centerline is valid? [True, True] Translation: X:51.70, Y:1.61, Z:0.46 [[ 9.98495779e-01 -4.99091813e-02 -2.26992045e-02 5.17024853e+01] [ 4.99063700e-02 9.98753662e-01 -6.90680057e-04 1.60663237e+00] [ 2.27053849e-02 -4.43193775e-04 9.99742101e-01 4.58810030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.905099893 meters 0.016476650082919347 Centerline is valid? [True, True] Translation: X:51.73, Y:1.61, Z:0.46 [[ 9.98514711e-01 -5.00076742e-02 -2.16241414e-02 5.17348887e+01] [ 5.00051779e-02 9.98748743e-01 -6.56485988e-04 1.60730886e+00] [ 2.16299134e-02 -4.25808123e-04 9.99765955e-01 4.60589116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.935099893 meters 0.017194720150626754 Centerline is valid? [True, True] Translation: X:51.77, Y:1.61, Z:0.46 [[ 9.98516266e-01 -5.02108167e-02 -2.10746305e-02 5.17675716e+01] [ 5.02085288e-02 9.98738553e-01 -6.38003779e-04 1.60863692e+00] [ 2.10800807e-02 -4.21069043e-04 9.99777702e-01 4.61760063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965099893 meters 0.016976247970351074 Centerline is valid? [True, True] Translation: X:51.80, Y:1.61, Z:0.46 [[ 9.98499631e-01 -5.04354673e-02 -2.13248932e-02 5.17983089e+01] [ 5.04332153e-02 9.98727228e-01 -6.43735290e-04 1.60870836e+00] [ 2.13302185e-02 -4.32713479e-04 9.99772391e-01 4.62184319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.995099892999995 meters 0.017052525867460706 Centerline is valid? [True, True] Translation: X:51.83, Y:1.61, Z:0.46 [[ 9.98398631e-01 -5.19967249e-02 -2.22825928e-02 5.18298576e+01] [ 5.19946821e-02 9.98647136e-01 -6.71419671e-04 1.60730524e+00] [ 2.22873591e-02 -4.88231850e-04 9.99751487e-01 4.62048403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.025099893 meters 0.017067333572176754 Centerline is valid? [True, True] Translation: X:51.86, Y:1.61, Z:0.46 [[ 9.98269768e-01 -5.40938127e-02 -2.30506121e-02 5.18623187e+01] [ 5.40922190e-02 9.98535704e-01 -6.93101520e-04 1.60700376e+00] [ 2.30543517e-02 -5.54956467e-04 9.99734059e-01 4.61916769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.055099893 meters 0.019551041780423457 Centerline is valid? [True, True] Translation: X:51.89, Y:1.60, Z:0.46 [[ 9.98122631e-01 -5.66997406e-02 -2.31592926e-02 5.18936131e+01] [ 5.66988672e-02 9.98391083e-01 -6.94882254e-04 1.60408930e+00] [ 2.31614309e-02 -6.19527952e-04 9.99731546e-01 4.61127841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.085099893 meters 0.018888376400765263 Centerline is valid? [True, True] Translation: X:51.93, Y:1.61, Z:0.46 [[ 9.98085532e-01 -5.76138246e-02 -2.24926195e-02 5.19252496e+01] [ 5.76132596e-02 9.98338749e-01 -6.73674357e-04 1.60544821e+00] [ 2.24940666e-02 -6.23488497e-04 9.99746782e-01 4.62801337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.115099893 meters 0.019590833384358068 Centerline is valid? [True, True] Translation: X:51.96, Y:1.60, Z:0.46 [[ 9.98001650e-01 -5.93888850e-02 -2.15793042e-02 5.19567689e+01] [ 5.93888042e-02 9.98234719e-01 -6.45169210e-04 1.60427132e+00] [ 2.15795266e-02 -6.37689136e-04 9.99766932e-01 4.64431235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145099893 meters 0.019176154754331105 Centerline is valid? [True, True] Translation: X:51.99, Y:1.60, Z:0.47 [[ 9.97962422e-01 -6.02231022e-02 -2.10756123e-02 5.19879316e+01] [ 6.02232346e-02 9.98184736e-01 -6.28984061e-04 1.60174785e+00] [ 2.10752338e-02 -6.41539086e-04 9.99777687e-01 4.66468098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.175099892999995 meters 0.019186381595194632 Centerline is valid? [True, True] Translation: X:52.02, Y:1.60, Z:0.47 [[ 9.97883138e-01 -6.09558463e-02 -2.26633552e-02 5.20204570e+01] [ 6.09562214e-02 9.98140212e-01 -6.74915138e-04 1.60235220e+00] [ 2.26623461e-02 -7.07986058e-04 9.99742925e-01 4.65376282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.205099892999996 meters 0.01983753898845078 Centerline is valid? [True, True] Translation: X:52.05, Y:1.60, Z:0.46 [[ 9.97844547e-01 -6.14472331e-02 -2.30325200e-02 5.20515428e+01] [ 6.14477852e-02 9.98110065e-01 -6.84441522e-04 1.60119208e+00] [ 2.30310471e-02 -7.32331103e-04 9.99734482e-01 4.64941084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.235099893 meters 0.021497291668971644 Centerline is valid? [True, True] Translation: X:52.08, Y:1.60, Z:0.46 [[ 9.97763639e-01 -6.25919583e-02 -2.34513748e-02 5.20836488e+01] [ 6.25928807e-02 9.98038901e-01 -6.95430106e-04 1.60093396e+00] [ 2.34489126e-02 -7.74014229e-04 9.99724737e-01 4.64363026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.265099893 meters 0.02139026623270377 Centerline is valid? [True, True] Translation: X:52.12, Y:1.60, Z:0.47 [[ 9.97739627e-01 -6.30469360e-02 -2.32534180e-02 5.21162849e+01] [ 6.30480047e-02 9.98010258e-01 -6.87911487e-04 1.60153611e+00] [ 2.32505204e-02 -7.79725054e-04 9.99729366e-01 4.65797944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.295099893 meters 0.02050304203947653 Centerline is valid? [True, True] Translation: X:52.15, Y:1.60, Z:0.47 [[ 9.97606107e-01 -6.49796502e-02 -2.36580071e-02 5.21485295e+01] [ 6.49813397e-02 9.97886235e-01 -6.98164815e-04 1.60109309e+00] [ 2.36533662e-02 -8.40835517e-04 9.99719866e-01 4.66782024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325099893 meters 0.021197391069855253 Centerline is valid? [True, True] Translation: X:52.18, Y:1.60, Z:0.47 [[ 9.97600403e-01 -6.48361431e-02 -2.42839725e-02 5.21807085e+01] [ 6.48379552e-02 9.97895551e-01 -7.13577497e-04 1.59969772e+00] [ 2.42791337e-02 -8.62657921e-04 9.99704846e-01 4.66162086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.355099893 meters 0.01861314754077443 Centerline is valid? [True, True] Translation: X:52.21, Y:1.60, Z:0.47 [[ 9.97618825e-01 -6.46730402e-02 -2.39599237e-02 5.22129187e+01] [ 6.46748299e-02 9.97906145e-01 -7.01021534e-04 1.60163365e+00] [ 2.39550923e-02 -8.50251712e-04 9.99712674e-01 4.69031988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385099892999996 meters 0.01861314754077443 Centerline is valid? [True, True] Translation: X:52.25, Y:1.60, Z:0.47 [[ 9.97625919e-01 -6.45634982e-02 -2.39599871e-02 5.22454743e+01] [ 6.45653085e-02 9.97913239e-01 -6.98849149e-04 1.60249907e+00] [ 2.39551085e-02 -8.49793936e-04 9.99712674e-01 4.69434432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.415099893 meters 0.020470086360476657 Centerline is valid? [True, True] Translation: X:52.28, Y:1.60, Z:0.47 [[ 9.97702526e-01 -6.32524833e-02 -2.42650734e-02 5.22774852e+01] [ 6.32540073e-02 9.97997211e-01 -7.05504565e-04 1.60357421e+00] [ 2.42611005e-02 -8.30979446e-04 9.99705311e-01 4.66613897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.445099893 meters 0.020230544249280516 Centerline is valid? [True, True] Translation: X:52.31, Y:1.60, Z:0.47 [[ 9.97719477e-01 -6.31405859e-02 -2.38560749e-02 5.23090774e+01] [ 6.31420629e-02 9.98004309e-01 -6.92104135e-04 1.60421489e+00] [ 2.38521654e-02 -8.15796007e-04 9.99715164e-01 4.67536504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.475099893 meters 0.018794971643990986 Centerline is valid? [True, True] Translation: X:52.34, Y:1.60, Z:0.47 [[ 9.97757520e-01 -6.27196596e-02 -2.33703880e-02 5.23398210e+01] [ 6.27209908e-02 9.98030871e-01 -6.76767162e-04 1.60473610e+00] [ 2.33668153e-02 -7.90564364e-04 9.99726646e-01 4.70410893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.505099893 meters 0.01967626717373127 Centerline is valid? [True, True] Translation: X:52.37, Y:1.61, Z:0.47 [[ 9.97803793e-01 -6.17743819e-02 -2.39064249e-02 5.23725135e+01] [ 6.17755448e-02 9.98089828e-01 -6.90582571e-04 1.60665232e+00] [ 2.39034199e-02 -7.87766516e-04 9.99713962e-01 4.67681653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.535099893 meters 0.019867513888282857 Centerline is valid? [True, True] Translation: X:52.41, Y:1.61, Z:0.47 [[ 9.97825411e-01 -6.15514658e-02 -2.35768316e-02 5.24050675e+01] [ 6.15525793e-02 9.98103611e-01 -6.79164231e-04 1.60839987e+00] [ 2.35739243e-02 -7.73527470e-04 9.99721797e-01 4.68342344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.565099892999996 meters 0.02084606773169541 Centerline is valid? [True, True] Translation: X:52.44, Y:1.61, Z:0.47 [[ 9.97811733e-01 -6.17140339e-02 -2.37302085e-02 5.24362262e+01] [ 6.17152438e-02 9.98093564e-01 -6.82072205e-04 1.60806027e+00] [ 2.37270618e-02 -7.83935953e-04 9.99718166e-01 4.68289015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.595099893 meters 0.019546624189632284 Centerline is valid? [True, True] Translation: X:52.47, Y:1.61, Z:0.47 [[ 9.97731650e-01 -6.29438675e-02 -2.38668177e-02 5.24684119e+01] [ 6.29454785e-02 9.98016732e-01 -6.84501536e-04 1.60819430e+00] [ 2.38625686e-02 -8.19359412e-04 9.99714913e-01 4.69649113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.625099893 meters 0.020684096238650116 Centerline is valid? [True, True] Translation: X:52.50, Y:1.61, Z:0.47 [[ 9.97662242e-01 -6.36701833e-02 -2.48225531e-02 5.25001817e+01] [ 6.36722156e-02 9.97970614e-01 -7.09296090e-04 1.60810145e+00] [ 2.48173395e-02 -8.72869024e-04 9.99691621e-01 4.68176020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.655099893 meters 0.020142492804742916 Centerline is valid? [True, True] Translation: X:52.53, Y:1.61, Z:0.47 [[ 9.97686249e-01 -6.33391631e-02 -2.47042428e-02 5.25322624e+01] [ 6.33411382e-02 9.97991686e-01 -7.03347429e-04 1.60855857e+00] [ 2.46991784e-02 -8.63074802e-04 9.99694556e-01 4.68689871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.685099893 meters 0.020565614290795547 Centerline is valid? [True, True] Translation: X:52.56, Y:1.61, Z:0.47 [[ 9.97758319e-01 -6.22264773e-02 -2.46211977e-02 5.25635486e+01] [ 6.22281392e-02 9.98061706e-01 -6.99419560e-04 1.60954818e+00] [ 2.46169970e-02 -8.34279633e-04 9.99696608e-01 4.69221005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.715099893 meters 0.02013476884606076 Centerline is valid? [True, True] Translation: X:52.59, Y:1.61, Z:0.47 [[ 9.97934435e-01 -5.96212601e-02 -2.39200486e-02 5.25940523e+01] [ 5.96221254e-02 9.98220789e-01 -6.77645492e-04 1.61219779e+00] [ 2.39178918e-02 -7.49918364e-04 9.99713645e-01 4.70663936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.745099892999995 meters 0.016937253774309362 Centerline is valid? [True, True] Translation: X:52.63, Y:1.62, Z:0.48 [[ 9.98133087e-01 -5.72689875e-02 -2.12274396e-02 5.26250091e+01] [ 5.72691680e-02 9.98358594e-01 -5.99903420e-04 1.61663461e+00] [ 2.12269526e-02 -6.16894350e-04 9.99774493e-01 4.76749235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.775099893 meters 0.01910613804460864 Centerline is valid? [True, True] Translation: X:52.66, Y:1.62, Z:0.47 [[ 9.98264642e-01 -5.49581158e-02 -2.11496940e-02 5.26560769e+01] [ 5.49577960e-02 9.98488500e-01 -5.96794143e-04 1.61820689e+00] [ 2.11505249e-02 -5.66582076e-04 9.99776142e-01 4.74191352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.805099893 meters 0.017544696515570505 Centerline is valid? [True, True] Translation: X:52.69, Y:1.62, Z:0.48 [[ 9.98454450e-01 -5.16426187e-02 -2.05365748e-02 5.26877914e+01] [ 5.16416384e-02 9.98665513e-01 -5.78415172e-04 1.62217585e+00] [ 2.05390398e-02 -4.83021165e-04 9.99788935e-01 4.76547029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.835099893 meters 0.015089209795093353 Centerline is valid? [True, True] Translation: X:52.72, Y:1.63, Z:0.48 [[ 9.98651448e-01 -4.76058965e-02 -2.07114541e-02 5.27187731e+01] [ 4.76040516e-02 9.98866115e-01 -5.82372404e-04 1.62763011e+00] [ 2.07156941e-02 -4.04362086e-04 9.99785325e-01 4.79200282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.865099893 meters 0.014453977216622477 Centerline is valid? [True, True] Translation: X:52.75, Y:1.63, Z:0.48 [[ 9.98802304e-01 -4.38004851e-02 -2.18054007e-02 5.27509993e+01] [ 4.37975588e-02 9.99040239e-01 -6.11980718e-04 1.63228593e+00] [ 2.18112778e-02 -3.43775567e-04 9.99762047e-01 4.79463106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.895099893 meters 0.01526879336214478 Centerline is valid? [True, True] Translation: X:52.78, Y:1.64, Z:0.48 [[ 9.98904054e-01 -4.05120763e-02 -2.34406170e-02 5.27827239e+01] [ 4.05078309e-02 9.99179006e-01 -6.56108852e-04 1.63617902e+00] [ 2.34479527e-02 -2.94138758e-04 9.99725016e-01 4.78064351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.925099892999995 meters 0.015733983443773185 Centerline is valid? [True, True] Translation: X:52.82, Y:1.64, Z:0.48 [[ 9.98972193e-01 -3.84628139e-02 -2.39826852e-02 5.28152673e+01] [ 3.84578219e-02 9.99260000e-01 -6.69514534e-04 1.63813471e+00] [ 2.39906894e-02 -2.53495433e-04 9.99712150e-01 4.77425639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.955099892999996 meters 0.013745582192045925 Centerline is valid? [True, True] Translation: X:52.85, Y:1.64, Z:0.48 [[ 9.99102989e-01 -3.49501257e-02 -2.39103650e-02 5.28461828e+01] [ 3.49441894e-02 9.99389043e-01 -6.66181589e-04 1.64082419e+00] [ 2.39190399e-02 -1.69944305e-04 9.99713884e-01 4.78634186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.985099893 meters 0.013997385122179547 Centerline is valid? [True, True] Translation: X:52.88, Y:1.64, Z:0.48 [[ 9.99171642e-01 -3.28231803e-02 -2.40555215e-02 5.28769621e+01] [ 3.28165712e-02 9.99461167e-01 -6.69566872e-04 1.64222746e+00] [ 2.40645369e-02 -1.20407504e-04 9.99710400e-01 4.77624051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.015099893 meters 0.014475372501693635 Centerline is valid? [True, True] Translation: X:52.91, Y:1.65, Z:0.48 [[ 9.99302204e-01 -2.88665184e-02 -2.37029529e-02 5.29083320e+01] [ 2.88590035e-02 9.99583275e-01 -6.59124868e-04 1.64548446e+00] [ 2.37121020e-02 -2.53786691e-05 9.99718828e-01 4.77895783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.045099893 meters 0.015278375969559244 Centerline is valid? [True, True] Translation: X:52.94, Y:1.65, Z:0.48 [[ 9.99403457e-01 -2.57784392e-02 -2.29826620e-02 5.29383781e+01] [ 2.57705676e-02 9.99667680e-01 -6.38661751e-04 1.64853589e+00] [ 2.29914881e-02 4.60045175e-05 9.99735660e-01 4.78337256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.075099893 meters 0.015598202341742235 Centerline is valid? [True, True] Translation: X:52.97, Y:1.65, Z:0.48 [[ 9.99460569e-01 -2.37173282e-02 -2.27169320e-02 5.29676180e+01] [ 2.37091011e-02 9.99718700e-01 -6.31461743e-04 1.65002668e+00] [ 2.27255184e-02 9.25230744e-05 9.99741738e-01 4.77733426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105099893 meters 0.015690935225689765 Centerline is valid? [True, True] Translation: X:53.00, Y:1.65, Z:0.48 [[ 9.99465495e-01 -2.37930215e-02 -2.24190978e-02 5.29962865e+01] [ 2.37850109e-02 9.99716902e-01 -6.23932420e-04 1.64966664e+00] [ 2.24275963e-02 9.03604385e-05 9.99748466e-01 4.76559066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.135099892999996 meters 0.013311150638268245 Centerline is valid? [True, True] Translation: X:53.03, Y:1.65, Z:0.48 [[ 9.99466818e-01 -2.50165157e-02 -2.09822149e-02 5.30257505e+01] [ 2.50097493e-02 9.99687036e-01 -5.84868619e-04 1.64794988e+00] [ 2.09902796e-02 5.97968428e-05 9.99779678e-01 4.80281103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.165099893 meters 0.014869343288529452 Centerline is valid? [True, True] Translation: X:53.06, Y:1.65, Z:0.48 [[ 9.99416401e-01 -2.71320044e-02 -2.07536036e-02 5.30555110e+01] [ 2.71258284e-02 9.99631859e-01 -5.79090905e-04 1.64647878e+00] [ 2.07616752e-02 1.57942587e-05 9.99784453e-01 4.78950271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.195099893 meters 0.013261599604825905 Centerline is valid? [True, True] Translation: X:53.09, Y:1.65, Z:0.48 [[ 9.99372307e-01 -2.89030873e-02 -2.04842108e-02 5.30856356e+01] [ 2.88974381e-02 9.99582218e-01 -5.71793636e-04 1.64573636e+00] [ 2.04921794e-02 -2.05064883e-05 9.99790013e-01 4.80976526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.225099893 meters 0.014420825107726446 Centerline is valid? [True, True] Translation: X:53.12, Y:1.64, Z:0.48 [[ 9.99220108e-01 -3.29887749e-02 -2.17005957e-02 5.31164859e+01] [ 3.29834235e-02 9.99455716e-01 -6.04575841e-04 1.64290600e+00] [ 2.17087286e-02 -1.11655599e-04 9.99764332e-01 4.79439291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.255099893 meters 0.016269599694293143 Centerline is valid? [True, True] Translation: X:53.15, Y:1.64, Z:0.48 [[ 9.99040558e-01 -3.76537190e-02 -2.23642681e-02 5.31486176e+01] [ 3.76492556e-02 9.99290823e-01 -6.20744284e-04 1.63973986e+00] [ 2.23717812e-02 -2.21849329e-04 9.99749696e-01 4.78440955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285099893 meters 0.016859999372347282 Centerline is valid? [True, True] Translation: X:53.18, Y:1.64, Z:0.48 [[ 9.98886583e-01 -4.19686612e-02 -2.15458924e-02 5.31798542e+01] [ 4.19655622e-02 9.99118880e-01 -5.96155005e-04 1.63556632e+00] [ 2.15519278e-02 -3.08694254e-04 9.99767683e-01 4.78502714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.315099892999996 meters 0.015912270620703346 Centerline is valid? [True, True] Translation: X:53.21, Y:1.63, Z:0.48 [[ 9.98793150e-01 -4.46953068e-02 -2.03610624e-02 5.32120665e+01] [ 4.46931435e-02 9.99000604e-01 -5.61509941e-04 1.63247053e+00] [ 2.03658105e-02 -3.49167601e-04 9.99792534e-01 4.80027340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.345099893 meters 0.01664602047505881 Centerline is valid? [True, True] Translation: X:53.24, Y:1.64, Z:0.48 [[ 9.99488413e-01 -2.37453724e-02 -2.14259111e-02 5.32429926e+01] [ 2.37381881e-02 9.99718036e-01 -5.89617331e-04 1.64051415e+00] [ 2.14338704e-02 8.07033821e-05 9.99770265e-01 4.78896484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.375099893 meters 0.014151699829224488 Centerline is valid? [True, True] Translation: X:53.27, Y:1.64, Z:0.48 [[ 9.99556505e-01 -2.13739851e-02 -2.07351400e-02 5.32711594e+01] [ 2.13667462e-02 9.99771542e-01 -5.70621600e-04 1.64305351e+00] [ 2.07425994e-02 1.27326058e-04 9.99784841e-01 4.81935060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.405099893 meters 0.015102593918557047 Centerline is valid? [True, True] Translation: X:53.30, Y:1.65, Z:0.48 [[ 9.99636293e-01 -1.76118767e-02 -2.04231349e-02 5.32996868e+01] [ 1.76040145e-02 9.99844878e-01 -5.64698257e-04 1.64645427e+00] [ 2.04299122e-02 2.04963709e-04 9.99791267e-01 4.82500320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.435099893 meters 0.01553010485117277 Centerline is valid? [True, True] Translation: X:53.33, Y:1.65, Z:0.48 [[ 9.99659757e-01 -1.64847576e-02 -2.02144239e-02 5.33279477e+01] [ 1.64767234e-02 9.99864091e-01 -5.63946562e-04 1.64807951e+00] [ 2.02209731e-02 2.30687212e-04 9.99795509e-01 4.83096287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465099893 meters 0.01649338787059167 Centerline is valid? [True, True] Translation: X:53.36, Y:1.65, Z:0.48 [[ 9.99634488e-01 -1.61983048e-02 -2.16449875e-02 5.33563939e+01] [ 1.61889042e-02 9.99868765e-01 -6.09474984e-04 1.64711560e+00] [ 2.16520194e-02 2.58843584e-04 9.99765534e-01 4.81659220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.495099892999995 meters 0.016131352847725475 Centerline is valid? [True, True] Translation: X:53.39, Y:1.65, Z:0.48 [[ 9.99574321e-01 -2.00270485e-02 -2.12154284e-02 5.33852454e+01] [ 2.00187689e-02 9.99799423e-01 -6.02592017e-04 1.64555407e+00] [ 2.12232412e-02 1.77628748e-04 9.99774746e-01 4.83130769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.525099893 meters 0.015253064802591799 Centerline is valid? [True, True] Translation: X:53.41, Y:1.64, Z:0.48 [[ 9.99530210e-01 -2.26538149e-02 -2.06437386e-02 5.34140073e+01] [ 2.26464315e-02 9.99743362e-01 -5.91395273e-04 1.64499246e+00] [ 2.06518380e-02 1.23610428e-04 9.99786720e-01 4.84604416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.555099893 meters 0.01490087089285529 Centerline is valid? [True, True] Translation: X:53.44, Y:1.64, Z:0.49 [[ 9.99461381e-01 -2.53410539e-02 -2.08513448e-02 5.34439149e+01] [ 2.53340346e-02 9.99678861e-01 -6.00761749e-04 1.64412397e+00] [ 2.08598726e-02 7.21894769e-05 9.99782407e-01 4.86200278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.585099893 meters 0.015349248677053116 Centerline is valid? [True, True] Translation: X:53.47, Y:1.64, Z:0.48 [[ 9.99380996e-01 -2.80651836e-02 -2.12125214e-02 5.34730353e+01] [ 2.80585193e-02 9.99606095e-01 -6.11790053e-04 1.64276229e+00] [ 2.12213357e-02 1.62194098e-05 9.99774802e-01 4.84903195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.615099893 meters 0.01566133612708273 Centerline is valid? [True, True] Translation: X:53.50, Y:1.64, Z:0.48 [[ 9.99284521e-01 -3.11347028e-02 -2.14726711e-02 5.35031388e+01] [ 3.11285776e-02 9.99515196e-01 -6.19520670e-04 1.64077769e+00] [ 2.14815497e-02 -4.93362934e-05 9.99769244e-01 4.84339249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645099893 meters 0.01540148997942301 Centerline is valid? [True, True] Translation: X:53.53, Y:1.64, Z:0.48 [[ 9.99161463e-01 -3.47177434e-02 -2.17036510e-02 5.35348080e+01] [ 3.47123382e-02 9.99397149e-01 -6.25844532e-04 1.63864906e+00] [ 2.17122948e-02 -1.28064735e-04 9.99764252e-01 4.84506272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.675099892999995 meters 0.015229817683983881 Centerline is valid? [True, True] Translation: X:53.57, Y:1.64, Z:0.48 [[ 9.99019126e-01 -3.87437284e-02 -2.14408522e-02 5.35669213e+01] [ 3.87394040e-02 9.99249157e-01 -6.17158941e-04 1.63593190e+00] [ 2.14486645e-02 -2.14052250e-04 9.99769928e-01 4.84558085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.705099892999996 meters 0.014652101768482017 Centerline is valid? [True, True] Translation: X:53.60, Y:1.63, Z:0.49 [[ 9.98851505e-01 -4.32449132e-02 -2.06288207e-02 5.35990761e+01] [ 4.32419000e-02 9.99064456e-01 -5.92316913e-04 1.63296010e+00] [ 2.06351362e-02 -3.00392761e-04 9.99787028e-01 4.85646624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.735099893 meters 0.017869472356006902 Centerline is valid? [True, True] Translation: X:53.63, Y:1.63, Z:0.48 [[ 9.98636930e-01 -4.79478272e-02 -2.06225065e-02 5.36302631e+01] [ 4.79458457e-02 9.98849762e-01 -5.90791906e-04 1.62938975e+00] [ 2.06271129e-02 -3.98776900e-04 9.99787159e-01 4.83670368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.765099893 meters 0.018476462147544583 Centerline is valid? [True, True] Translation: X:53.66, Y:1.63, Z:0.48 [[ 9.98386766e-01 -5.29811977e-02 -2.04170910e-02 5.36621622e+01] [ 5.29803295e-02 9.98595385e-01 -5.83806320e-04 1.62764329e+00] [ 2.04193436e-02 -4.98839704e-04 9.99791379e-01 4.84328109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.795099893 meters 0.01988669967841505 Centerline is valid? [True, True] Translation: X:53.69, Y:1.64, Z:0.48 [[ 9.98144142e-01 -5.68266683e-02 -2.18861135e-02 5.36928652e+01] [ 5.68266364e-02 9.98383866e-01 -6.23892752e-04 1.63706877e+00] [ 2.18861963e-02 -6.20979316e-04 9.99760276e-01 4.81747775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825099893 meters 0.018335107229130326 Centerline is valid? [True, True] Translation: X:53.72, Y:1.65, Z:0.48 [[ 9.98380846e-01 -5.22131374e-02 -2.25715527e-02 5.37240906e+01] [ 5.22119696e-02 9.98635819e-01 -6.41467178e-04 1.64519220e+00] [ 2.25742541e-02 -5.38076680e-04 9.99745024e-01 4.82314845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.855099893 meters 0.01765803985457843 Centerline is valid? [True, True] Translation: X:53.76, Y:1.65, Z:0.48 [[ 9.98498080e-01 -4.95030429e-02 -2.34741111e-02 5.37561461e+01] [ 4.95010611e-02 9.98773849e-01 -6.65851578e-04 1.65067455e+00] [ 2.34782899e-02 -4.97141884e-04 9.99724223e-01 4.82074343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.885099892999996 meters 0.01812112293163069 Centerline is valid? [True, True] Translation: X:53.79, Y:1.65, Z:0.48 [[ 9.98574699e-01 -4.79638355e-02 -2.34102562e-02 5.37874561e+01] [ 4.79614767e-02 9.98848966e-01 -6.62544394e-04 1.65173981e+00] [ 2.34150884e-02 -4.61190388e-04 9.99725723e-01 4.81076531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.915099893 meters 0.01807575134264019 Centerline is valid? [True, True] Translation: X:53.82, Y:1.66, Z:0.48 [[ 9.98605995e-01 -4.72270466e-02 -2.35726979e-02 5.38193881e+01] [ 4.72244844e-02 9.98884080e-01 -6.65672599e-04 1.65534280e+00] [ 2.35778304e-02 -4.48463855e-04 9.99721904e-01 4.81678699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.945099893 meters 0.017740760405652388 Centerline is valid? [True, True] Translation: X:53.85, Y:1.66, Z:0.48 [[ 9.98632219e-01 -4.69190079e-02 -2.30715655e-02 5.38516886e+01] [ 4.69165088e-02 9.98898603e-01 -6.49895332e-04 1.65821667e+00] [ 2.30766470e-02 -4.33430887e-04 9.99733605e-01 4.82854655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.975099893 meters 0.016547586656554678 Centerline is valid? [True, True] Translation: X:53.88, Y:1.66, Z:0.48 [[ 9.98641918e-01 -4.71342460e-02 -2.21964736e-02 5.38841538e+01] [ 4.71320246e-02 9.98888474e-01 -6.23509170e-04 1.65945684e+00] [ 2.22011903e-02 -4.23502346e-04 9.99753434e-01 4.84876980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.005099893 meters 0.016003031183101063 Centerline is valid? [True, True] Translation: X:53.92, Y:1.66, Z:0.49 [[ 9.98631994e-01 -4.75609200e-02 -2.17278621e-02 5.39161371e+01] [ 4.75589303e-02 9.98868248e-01 -6.08592864e-04 1.66226781e+00] [ 2.17322168e-02 -4.25593574e-04 9.99763737e-01 4.86797453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.035099893 meters 0.016003031183101063 Centerline is valid? [True, True] Translation: X:53.95, Y:1.66, Z:0.49 [[ 9.98637085e-01 -4.74538742e-02 -2.17279148e-02 5.39486791e+01] [ 4.74519002e-02 9.98873340e-01 -6.06707550e-04 1.66309120e+00] [ 2.17322254e-02 -4.25150184e-04 9.99763737e-01 4.87199708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.065099892999996 meters 0.017025079733097383 Centerline is valid? [True, True] Translation: X:53.98, Y:1.66, Z:0.49 [[ 9.98612958e-01 -4.79537569e-02 -2.17393152e-02 5.39798924e+01] [ 4.79519389e-02 9.98849461e-01 -6.05201266e-04 1.66430222e+00] [ 2.17433249e-02 -4.38080486e-04 9.99763490e-01 4.86922396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.095099893 meters 0.018359503085186673 Centerline is valid? [True, True] Translation: X:54.01, Y:1.66, Z:0.49 [[ 9.98406520e-01 -5.16947120e-02 -2.26291439e-02 5.40120258e+01] [ 5.16937345e-02 9.98662787e-01 -6.28555641e-04 1.66376330e+00] [ 2.26313770e-02 -5.42230908e-04 9.99743731e-01 4.85907241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.125099893 meters 0.01890486514950549 Centerline is valid? [True, True] Translation: X:54.04, Y:1.66, Z:0.48 [[ 9.98310592e-01 -5.26398186e-02 -2.45969917e-02 5.40442978e+01] [ 5.26389959e-02 9.98613375e-01 -6.81374164e-04 1.66075969e+00] [ 2.45987523e-02 -6.14537898e-04 9.99697216e-01 4.84629228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.155099893 meters 0.017439214425317037 Centerline is valid? [True, True] Translation: X:54.08, Y:1.66, Z:0.49 [[ 9.98273212e-01 -5.35136570e-02 -2.42256460e-02 5.40768058e+01] [ 5.35131581e-02 9.98566920e-01 -6.69348947e-04 1.66013328e+00] [ 2.42267480e-02 -6.28197702e-04 9.99706292e-01 4.86632400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.185099893 meters 0.017439214425317037 Centerline is valid? [True, True] Translation: X:54.11, Y:1.66, Z:0.49 [[ 9.98279051e-01 -5.34046057e-02 -2.42257065e-02 5.41093539e+01] [ 5.34041279e-02 9.98572759e-01 -6.67155449e-04 1.66094644e+00] [ 2.42267597e-02 -6.27745417e-04 9.99706292e-01 4.87034727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.215099893 meters 0.01854604548827377 Centerline is valid? [True, True] Translation: X:54.14, Y:1.66, Z:0.49 [[ 9.98255891e-01 -5.34654249e-02 -2.50324782e-02 5.41413983e+01] [ 5.34649922e-02 9.98569488e-01 -6.87050270e-04 1.66192159e+00] [ 2.50334024e-02 -6.52509273e-04 9.99686402e-01 4.86330630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.245099892999995 meters 0.019545590770758514 Centerline is valid? [True, True] Translation: X:54.17, Y:1.66, Z:0.49 [[ 9.98225881e-01 -5.41963007e-02 -2.46546278e-02 5.41721559e+01] [ 5.41961421e-02 9.98530081e-01 -6.75119153e-04 1.66145805e+00] [ 2.46549765e-02 -6.62264302e-04 9.99695801e-01 4.86021043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.275099893 meters 0.019545590770758514 Centerline is valid? [True, True] Translation: X:54.20, Y:1.66, Z:0.49 [[ 9.98229759e-01 -5.41248073e-02 -2.46546703e-02 5.42038544e+01] [ 5.41246653e-02 9.98533959e-01 -6.73565864e-04 1.66226673e+00] [ 2.46549821e-02 -6.62052286e-04 9.99695801e-01 4.86412950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.305099893 meters 0.018822488056048886 Centerline is valid? [True, True] Translation: X:54.24, Y:1.66, Z:0.49 [[ 9.98246241e-01 -5.47698421e-02 -2.24656950e-02 5.42364315e+01] [ 5.47699216e-02 9.98498814e-01 -6.12224542e-04 1.66324733e+00] [ 2.24655012e-02 -6.19293505e-04 9.99747427e-01 4.88422398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.335099893 meters 0.01877088388562135 Centerline is valid? [True, True] Translation: X:54.27, Y:1.66, Z:0.49 [[ 9.98289029e-01 -5.46237968e-02 -2.08627847e-02 5.42682824e+01] [ 5.46238634e-02 9.98506841e-01 -5.67100123e-04 1.66287491e+00] [ 2.08626104e-02 -5.73476070e-04 9.99782188e-01 4.89561892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.365099893 meters 0.01945604734281829 Centerline is valid? [True, True] Translation: X:54.30, Y:1.66, Z:0.49 [[ 9.98307465e-01 -5.42123699e-02 -2.10528938e-02 5.43008813e+01] [ 5.42123784e-02 9.98529265e-01 -5.70743611e-04 1.66334764e+00] [ 2.10528720e-02 -5.71549839e-04 9.99778200e-01 4.89162529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.395099893 meters 0.018771416173670737 Centerline is valid? [True, True] Translation: X:54.33, Y:1.66, Z:0.49 [[ 9.98338669e-01 -5.41028838e-02 -1.98186618e-02 5.43321601e+01] [ 5.41028942e-02 9.98535222e-01 -5.36044149e-04 1.66279760e+00] [ 1.98186334e-02 -5.37093361e-04 9.99803447e-01 4.90735260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.425099892999995 meters 0.018676834129254808 Centerline is valid? [True, True] Translation: X:54.36, Y:1.67, Z:0.49 [[ 9.98369762e-01 -5.37115647e-02 -1.93102625e-02 5.43640650e+01] [ 5.37115235e-02 9.98556358e-01 -5.21148046e-04 1.66507159e+00] [ 1.93103771e-02 -5.16885167e-04 9.99813404e-01 4.92169328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.455099892999996 meters 0.019507008451079375 Centerline is valid? [True, True] Translation: X:54.40, Y:1.67, Z:0.49 [[ 9.98332300e-01 -5.41168099e-02 -2.00994745e-02 5.43958160e+01] [ 5.41168871e-02 9.98534461e-01 -5.40471719e-04 1.66502524e+00] [ 2.00992666e-02 -5.48150620e-04 9.99797839e-01 4.91300527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.485099893 meters 0.01861024563796593 Centerline is valid? [True, True] Translation: X:54.43, Y:1.67, Z:0.49 [[ 9.98296074e-01 -5.46920325e-02 -2.03403650e-02 5.44279683e+01] [ 5.46922772e-02 9.98503109e-01 -5.44670261e-04 1.66610781e+00] [ 2.03397068e-02 -5.68718701e-04 9.99792965e-01 4.92077513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.515099893 meters 0.019772524066028373 Centerline is valid? [True, True] Translation: X:54.46, Y:1.67, Z:0.49 [[ 9.98167624e-01 -5.62666103e-02 -2.22589874e-02 5.44586415e+01] [ 5.62673245e-02 9.98415562e-01 -5.94713826e-04 1.66578994e+00] [ 2.22571819e-02 -6.58829580e-04 9.99752061e-01 4.90917901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.545099893 meters 0.01923438202890998 Centerline is valid? [True, True] Translation: X:54.49, Y:1.67, Z:0.49 [[ 9.98067802e-01 -5.73078003e-02 -2.40099669e-02 5.44907044e+01] [ 5.73089645e-02 9.98356285e-01 -6.40166862e-04 1.66913790e+00] [ 2.40071880e-02 -7.37056410e-04 9.99711514e-01 4.90898997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.575099893 meters 0.019031487631882987 Centerline is valid? [True, True] Translation: X:54.52, Y:1.67, Z:0.49 [[ 9.98054173e-01 -5.73873662e-02 -2.43835626e-02 5.45215201e+01] [ 5.73886290e-02 9.98351704e-01 -6.48559020e-04 1.67002350e+00] [ 2.43805904e-02 -7.52042191e-04 9.99702466e-01 4.91613277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605099893 meters 0.019267469508368662 Centerline is valid? [True, True] Translation: X:54.55, Y:1.67, Z:0.49 [[ 9.98116010e-01 -5.61383737e-02 -2.47570866e-02 5.45534131e+01] [ 5.61393312e-02 9.98422728e-01 -6.56902205e-04 1.67301904e+00] [ 2.47549153e-02 -7.34181675e-04 9.99693281e-01 4.90735790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.635099892999996 meters 0.019165338822589202 Centerline is valid? [True, True] Translation: X:54.58, Y:1.67, Z:0.49 [[ 9.98272571e-01 -5.36116487e-02 -2.40346707e-02 5.45843698e+01] [ 5.36118558e-02 9.98561648e-01 -6.36213538e-04 1.67411143e+00] [ 2.40342089e-02 -6.53428777e-04 9.99710923e-01 4.91033298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.665099893 meters 0.018182262861390346 Centerline is valid? [True, True] Translation: X:54.62, Y:1.67, Z:0.49 [[ 9.98417376e-01 -5.10780614e-02 -2.35324152e-02 5.46159794e+01] [ 5.10775910e-02 9.98694495e-01 -6.21455925e-04 1.67472634e+00] [ 2.35334362e-02 -5.81506681e-04 9.99722881e-01 4.91541971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.695099893 meters 0.01722430236974091 Centerline is valid? [True, True] Translation: X:54.65, Y:1.68, Z:0.49 [[ 9.98626612e-01 -4.76264250e-02 -2.18314593e-02 5.46471048e+01] [ 4.76252208e-02 9.98865110e-01 -5.75379113e-04 1.67931533e+00] [ 2.18340863e-02 -4.65139177e-04 9.99761500e-01 4.94528329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.725099893 meters 0.016744460887619377 Centerline is valid? [True, True] Translation: X:54.68, Y:1.68, Z:0.50 [[ 9.98737606e-01 -4.50647738e-02 -2.21891839e-02 5.46792274e+01] [ 4.50629234e-02 9.98983980e-01 -5.83651583e-04 1.68375829e+00] [ 2.21929413e-02 -4.16994708e-04 9.99753619e-01 4.95313284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.755099893 meters 0.016698243642219737 Centerline is valid? [True, True] Translation: X:54.71, Y:1.68, Z:0.50 [[ 9.98718189e-01 -4.55635717e-02 -2.20440551e-02 5.47103827e+01] [ 4.55618980e-02 9.98961350e-01 -5.78425839e-04 1.68385175e+00] [ 2.20475142e-02 -4.26684585e-04 9.99756833e-01 4.96724756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785099893 meters 0.01705840028469362 Centerline is valid? [True, True] Translation: X:54.74, Y:1.68, Z:0.50 [[ 9.98694622e-01 -4.58044304e-02 -2.26054294e-02 5.47429853e+01] [ 4.58027640e-02 9.98950327e-01 -5.91742880e-04 1.68451059e+00] [ 2.26088055e-02 -4.44420716e-04 9.99744290e-01 4.96782746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.815099892999996 meters 0.017093117940759236 Centerline is valid? [True, True] Translation: X:54.78, Y:1.68, Z:0.50 [[ 9.98677000e-01 -4.60490770e-02 -2.28851850e-02 5.47754006e+01] [ 4.60474711e-02 9.98939074e-01 -5.97419657e-04 1.68474229e+00] [ 2.28884161e-02 -4.57175622e-04 9.99737921e-01 4.96778110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.845099893 meters 0.018289752434721987 Centerline is valid? [True, True] Translation: X:54.81, Y:1.68, Z:0.50 [[ 9.98604686e-01 -4.73701993e-02 -2.33397623e-02 5.48074542e+01] [ 4.73689293e-02 9.98877277e-01 -6.07587168e-04 1.68426390e+00] [ 2.33423397e-02 -4.98840154e-04 9.99727406e-01 4.96387388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.875099893 meters 0.018289752434721987 Centerline is valid? [True, True] Translation: X:54.84, Y:1.69, Z:0.50 [[ 9.98608118e-01 -4.72977872e-02 -2.33398062e-02 5.48391499e+01] [ 4.72965370e-02 9.98880709e-01 -6.05894808e-04 1.68503104e+00] [ 2.33423397e-02 -4.98840534e-04 9.99727406e-01 4.96779159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.905099893 meters 0.01637607152708483 Centerline is valid? [True, True] Translation: X:54.87, Y:1.68, Z:0.50 [[ 9.98616230e-01 -4.78901833e-02 -2.17291438e-02 5.48711296e+01] [ 4.78892724e-02 9.98852492e-01 -5.62572686e-04 1.68426190e+00] [ 2.17311512e-02 -4.78798673e-04 9.99763736e-01 4.99294570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.935099893 meters 0.017219564423738627 Centerline is valid? [True, True] Translation: X:54.90, Y:1.68, Z:0.50 [[ 9.98607780e-01 -4.78967421e-02 -2.20998671e-02 5.49036592e+01] [ 4.78958371e-02 9.98852173e-01 -5.70562100e-04 1.68479276e+00] [ 2.21018283e-02 -4.88723881e-04 9.99755605e-01 4.98202128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965099893 meters 0.018798630100826424 Centerline is valid? [True, True] Translation: X:54.94, Y:1.69, Z:0.50 [[ 9.98576560e-01 -4.80398782e-02 -2.31737711e-02 5.49361549e+01] [ 4.80389618e-02 9.98845284e-01 -5.96562992e-04 1.68605979e+00] [ 2.31756708e-02 -5.17530083e-04 9.99731274e-01 4.97680445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.995099892999995 meters 0.017390832991471303 Centerline is valid? [True, True] Translation: X:54.97, Y:1.68, Z:0.50 [[ 9.98424296e-01 -5.15644853e-02 -2.21365992e-02 5.49680274e+01] [ 5.15645454e-02 9.98669502e-01 -5.68468447e-04 1.68368462e+00] [ 2.21364593e-02 -5.73890965e-04 9.99754794e-01 4.99642117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.025099893 meters 0.02165424489761331 Centerline is valid? [True, True] Translation: X:55.00, Y:1.68, Z:0.50 [[ 9.98038833e-01 -5.88483875e-02 -2.13390382e-02 5.49978666e+01] [ 5.88501197e-02 9.98266680e-01 -5.47337441e-04 1.67522339e+00] [ 2.13342607e-02 -7.09540927e-04 9.99772147e-01 4.98679913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.055099893 meters 0.020404564462571117 Centerline is valid? [True, True] Translation: X:55.03, Y:1.68, Z:0.50 [[ 9.98024307e-01 -5.92434039e-02 -2.09213315e-02 5.50300578e+01] [ 5.92451684e-02 9.98243318e-01 -5.36010176e-04 1.67532463e+00] [ 2.09163344e-02 -7.04536622e-04 9.99780981e-01 4.99660007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.085099893 meters 0.02037639390444309 Centerline is valid? [True, True] Translation: X:55.06, Y:1.67, Z:0.50 [[ 9.97963972e-01 -5.99538172e-02 -2.17588966e-02 5.50623155e+01] [ 5.99559292e-02 9.98200870e-01 -5.55878318e-04 1.67224876e+00] [ 2.17530766e-02 -7.49828330e-04 9.99763093e-01 4.98603258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.115099893 meters 0.019969421432463833 Centerline is valid? [True, True] Translation: X:55.10, Y:1.68, Z:0.50 [[ 9.97961749e-01 -5.97516287e-02 -2.24073744e-02 5.50954308e+01] [ 5.97538627e-02 9.98212979e-01 -5.70433435e-04 1.67523574e+00] [ 2.24014163e-02 -7.69656424e-04 9.99748761e-01 4.98680572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145099893 meters 0.021193665589251225 Centerline is valid? [True, True] Translation: X:55.13, Y:1.67, Z:0.50 [[ 9.98022409e-01 -5.87469967e-02 -2.23620774e-02 5.51266225e+01] [ 5.87490123e-02 9.98272624e-01 -5.67378290e-04 1.67488965e+00] [ 2.23567814e-02 -7.47493712e-04 9.99749776e-01 4.98311172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.175099892999995 meters 0.018603590840409197 Centerline is valid? [True, True] Translation: X:55.16, Y:1.68, Z:0.50 [[ 9.98052913e-01 -5.87232520e-02 -2.10228835e-02 5.51585711e+01] [ 5.87250544e-02 9.98274053e-01 -5.32138955e-04 1.67687909e+00] [ 2.10178480e-02 -7.03467143e-04 9.99778853e-01 5.01664256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.205099892999996 meters 0.019170819578888647 Centerline is valid? [True, True] Translation: X:55.19, Y:1.68, Z:0.50 [[ 9.98062356e-01 -5.87267143e-02 -2.05598172e-02 5.51903832e+01] [ 5.87284872e-02 9.98273858e-01 -5.18068346e-04 1.67570206e+00] [ 2.05547525e-02 -6.90382445e-04 9.99788490e-01 5.02686812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.235099893 meters 0.02040042886925939 Centerline is valid? [True, True] Translation: X:55.22, Y:1.68, Z:0.50 [[ 9.98070843e-01 -5.83839019e-02 -2.11166183e-02 5.52227673e+01] [ 5.83857572e-02 9.98293956e-01 -5.29180500e-04 1.67733539e+00] [ 2.11114881e-02 -7.04750123e-04 9.99776879e-01 5.00742712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.265099893 meters 0.021809690740571253 Centerline is valid? [True, True] Translation: X:55.25, Y:1.67, Z:0.50 [[ 9.98059591e-01 -5.87424609e-02 -2.06488667e-02 5.52535536e+01] [ 5.87443389e-02 9.98272927e-01 -5.16132413e-04 1.67477738e+00] [ 2.06435234e-02 -6.97873116e-04 9.99786656e-01 5.01191100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.295099893 meters 0.020170644241119185 Centerline is valid? [True, True] Translation: X:55.29, Y:1.68, Z:0.50 [[ 9.98045831e-01 -5.89245315e-02 -2.07946869e-02 5.52858242e+01] [ 5.89265023e-02 9.98262189e-01 -5.18493703e-04 1.67820306e+00] [ 2.07891016e-02 -7.07877685e-04 9.99783633e-01 5.02529046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325099893 meters 0.020681896651460526 Centerline is valid? [True, True] Translation: X:55.32, Y:1.68, Z:0.50 [[ 9.98021427e-01 -5.89396584e-02 -2.18940109e-02 5.53172621e+01] [ 5.89418787e-02 9.98261268e-01 -5.44447928e-04 1.67853245e+00] [ 2.18880327e-02 -7.47103439e-04 9.99760149e-01 5.02167497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.355099893 meters 0.020681896651460526 Centerline is valid? [True, True] Translation: X:55.35, Y:1.68, Z:0.50 [[ 9.98027736e-01 -5.88327247e-02 -2.18940528e-02 5.53498175e+01] [ 5.88349564e-02 9.98267576e-01 -5.42760155e-04 1.67925312e+00] [ 2.18880551e-02 -7.46445951e-04 9.99760149e-01 5.02569981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.385099892999996 meters 0.02031524670315182 Centerline is valid? [True, True] Translation: X:55.38, Y:1.68, Z:0.50 [[ 9.97987423e-01 -5.87933497e-02 -2.37580507e-02 5.53822408e+01] [ 5.87960206e-02 9.98269845e-01 -5.86707949e-04 1.68205941e+00] [ 2.37514401e-02 -8.11351683e-04 9.99717566e-01 5.02331402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.415099893 meters 0.0214736286518333 Centerline is valid? [True, True] Translation: X:55.41, Y:1.68, Z:0.50 [[ 9.98007198e-01 -5.82506319e-02 -2.42589391e-02 5.54137618e+01] [ 5.82533195e-02 9.98301655e-01 -5.96484314e-04 1.68298717e+00] [ 2.42524847e-02 -8.17868092e-04 9.99705531e-01 5.01921947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.445099893 meters 0.019048751003563846 Centerline is valid? [True, True] Translation: X:55.44, Y:1.69, Z:0.51 [[ 9.98174069e-01 -5.64706868e-02 -2.14380246e-02 5.54440842e+01] [ 5.64724116e-02 9.98404022e-01 -5.25419540e-04 1.68508119e+00] [ 2.14334808e-02 -6.86196788e-04 9.99770041e-01 5.07089652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.475099893 meters 0.01911434678783221 Centerline is valid? [True, True] Translation: X:55.48, Y:1.69, Z:0.51 [[ 9.98235861e-01 -5.53283664e-02 -2.15391942e-02 5.54762638e+01] [ 5.53298609e-02 9.98467991e-01 -5.27016378e-04 1.68706289e+00] [ 2.15353549e-02 -6.65673968e-04 9.99767866e-01 5.05723221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.505099893 meters 0.019617214355271192 Centerline is valid? [True, True] Translation: X:55.51, Y:1.69, Z:0.51 [[ 9.98251490e-01 -5.51232686e-02 -2.13398095e-02 5.55087949e+01] [ 5.51247216e-02 9.98479341e-01 -5.20593048e-04 1.68807116e+00] [ 2.13360557e-02 -6.56668271e-04 9.99772145e-01 5.05568404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.535099893 meters 0.019227416523080146 Centerline is valid? [True, True] Translation: X:55.54, Y:1.69, Z:0.51 [[ 9.98268701e-01 -5.49360123e-02 -2.10151117e-02 5.55398282e+01] [ 5.49374086e-02 9.98489669e-01 -5.11305973e-04 1.68802509e+00] [ 2.10114610e-02 -6.44095028e-04 9.99779027e-01 5.06498208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.565099892999996 meters 0.018727509682728714 Centerline is valid? [True, True] Translation: X:55.57, Y:1.69, Z:0.51 [[ 9.98314623e-01 -5.42348932e-02 -2.06516202e-02 5.55705743e+01] [ 5.42361147e-02 9.98528013e-01 -5.01350560e-04 1.68855739e+00] [ 2.06484120e-02 -6.19558049e-04 9.99786607e-01 5.07807748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.595099893 meters 0.020437717555347887 Centerline is valid? [True, True] Translation: X:55.60, Y:1.69, Z:0.51 [[ 9.98344563e-01 -5.35456123e-02 -2.10000281e-02 5.56015831e+01] [ 5.35467471e-02 9.98565214e-01 -5.08668057e-04 1.68871620e+00] [ 2.09971345e-02 -6.16657202e-04 9.99779346e-01 5.06525901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.625099893 meters 0.018601482119813193 Centerline is valid? [True, True] Translation: X:55.63, Y:1.69, Z:0.51 [[ 9.98366818e-01 -5.33600747e-02 -2.04058742e-02 5.56342456e+01] [ 5.33611350e-02 9.98575158e-01 -4.92920530e-04 1.68930817e+00] [ 2.04031013e-02 -5.96765107e-04 9.99791657e-01 5.08576032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.655099893 meters 0.018434563312504537 Centerline is valid? [True, True] Translation: X:55.67, Y:1.69, Z:0.51 [[ 9.98394201e-01 -5.25643667e-02 -2.11188897e-02 5.56666521e+01] [ 5.25653619e-02 9.98617356e-01 -5.08382240e-04 1.68996843e+00] [ 2.11164126e-02 -6.02556199e-04 9.99776842e-01 5.07996009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.685099893 meters 0.01799361869104067 Centerline is valid? [True, True] Translation: X:55.70, Y:1.69, Z:0.51 [[ 9.98395814e-01 -5.23234369e-02 -2.16346163e-02 5.56993292e+01] [ 5.23244588e-02 9.98630002e-01 -5.19225703e-04 1.68992937e+00] [ 2.16321446e-02 -6.13626819e-04 9.99765809e-01 5.08031612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.715099893 meters 0.018631435647836574 Centerline is valid? [True, True] Translation: X:55.73, Y:1.69, Z:0.51 [[ 9.98602894e-01 -4.71924719e-02 -2.37724816e-02 5.57308346e+01] [ 4.71922860e-02 9.98885661e-01 -5.69150943e-04 1.69187434e+00] [ 2.37728507e-02 -5.53521972e-04 9.99717233e-01 5.07004920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.745099892999995 meters 0.015483623913452139 Centerline is valid? [True, True] Translation: X:55.76, Y:1.69, Z:0.51 [[ 9.98661433e-01 -4.60775613e-02 -2.34989461e-02 5.57625518e+01] [ 4.60771003e-02 9.98937729e-01 -5.61361146e-04 1.69340003e+00] [ 2.34998500e-02 -5.22153572e-04 9.99723704e-01 5.10479734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.775099893 meters 0.01742184087091184 Centerline is valid? [True, True] Translation: X:55.80, Y:1.69, Z:0.51 [[ 9.98719487e-01 -4.43312204e-02 -2.43747621e-02 5.57952320e+01] [ 4.43302536e-02 9.99016763e-01 -5.80278161e-04 1.69422289e+00] [ 2.43765203e-02 -5.01004276e-04 9.99702723e-01 5.07969811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.805099893 meters 0.017275996724642438 Centerline is valid? [True, True] Translation: X:55.83, Y:1.69, Z:0.51 [[ 9.98774060e-01 -4.33145526e-02 -2.39630140e-02 5.58266573e+01] [ 4.33133869e-02 9.99061373e-01 -5.67923365e-04 1.69422513e+00] [ 2.39651210e-02 -4.70692171e-04 9.99712684e-01 5.08284235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.835099893 meters 0.017520498058293293 Centerline is valid? [True, True] Translation: X:55.86, Y:1.70, Z:0.51 [[ 9.98848016e-01 -4.18551860e-02 -2.34688103e-02 5.58584972e+01] [ 4.18537149e-02 9.99123596e-01 -5.54087763e-04 1.69550165e+00] [ 2.34714336e-02 -4.28807434e-04 9.99724416e-01 5.08798011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.865099893 meters 0.01644673323405853 Centerline is valid? [True, True] Translation: X:55.89, Y:1.70, Z:0.51 [[ 9.98932397e-01 -4.05998831e-02 -2.20389533e-02 5.58908721e+01] [ 4.05983097e-02 9.99175414e-01 -5.18998292e-04 1.69623287e+00] [ 2.20418515e-02 -3.76300040e-04 9.99756978e-01 5.10831093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.895099893 meters 0.01776030782914387 Centerline is valid? [True, True] Translation: X:55.92, Y:1.70, Z:0.51 [[ 9.98999255e-01 -3.94179073e-02 -2.11356818e-02 5.59222008e+01] [ 3.94162239e-02 9.99222755e-01 -4.96392366e-04 1.69632209e+00] [ 2.11388209e-02 -3.37193160e-04 9.99776493e-01 5.11090577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.925099892999995 meters 0.015810904229701432 Centerline is valid? [True, True] Translation: X:55.95, Y:1.70, Z:0.51 [[ 9.99076036e-01 -3.82265649e-02 -1.96419122e-02 5.59541108e+01] [ 3.82249032e-02 9.99269055e-01 -4.60169994e-04 1.69753960e+00] [ 1.96451457e-02 -2.91065378e-04 9.99806973e-01 5.14122635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.955099892999996 meters 0.016237553926957346 Centerline is valid? [True, True] Translation: X:55.99, Y:1.70, Z:0.52 [[ 9.99163315e-01 -3.63702293e-02 -1.87050008e-02 5.59864865e+01] [ 3.63684212e-02 9.99338355e-01 -4.36931561e-04 1.69792662e+00] [ 1.87085160e-02 -2.43705362e-04 9.99824951e-01 5.15066915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.985099893 meters 0.017785731235066483 Centerline is valid? [True, True] Translation: X:56.02, Y:1.69, Z:0.51 [[ 9.98888866e-01 -4.23592632e-02 -2.06573623e-02 5.60187681e+01] [ 4.23583706e-02 9.99102366e-01 -4.80960510e-04 1.68685701e+00] [ 2.06591927e-02 -3.94586109e-04 9.99786498e-01 5.12576177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.015099893 meters 0.0176602008014497 Centerline is valid? [True, True] Translation: X:56.05, Y:1.68, Z:0.51 [[ 9.98804470e-01 -4.42482490e-02 -2.07779388e-02 5.60510132e+01] [ 4.42477862e-02 9.99020471e-01 -4.82236015e-04 1.68494198e+00] [ 2.07789243e-02 -4.37718308e-04 9.99783999e-01 5.13277888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.045099893 meters 0.01910988585787023 Centerline is valid? [True, True] Translation: X:56.08, Y:1.68, Z:0.51 [[ 9.98634465e-01 -4.76816232e-02 -2.13463873e-02 5.60820011e+01] [ 4.76819455e-02 9.98862447e-01 -4.94164111e-04 1.67930034e+00] [ 2.13456672e-02 -5.24347965e-04 9.99772018e-01 5.12074194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.075099893 meters 0.016384097948227486 Centerline is valid? [True, True] Translation: X:56.11, Y:1.68, Z:0.52 [[ 9.98557463e-01 -4.94102309e-02 -2.10148172e-02 5.61143682e+01] [ 4.94109483e-02 9.98778415e-01 -4.85418346e-04 1.67774532e+00] [ 2.10131304e-02 -5.53643932e-04 9.99779047e-01 5.15054066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105099893 meters 0.019024591307156953 Centerline is valid? [True, True] Translation: X:56.15, Y:1.68, Z:0.51 [[ 9.98496150e-01 -5.00049237e-02 -2.24710218e-02 5.61463732e+01] [ 5.00059323e-02 9.98748787e-01 -5.17376842e-04 1.67591438e+00] [ 2.24687772e-02 -6.07085611e-04 9.99747361e-01 5.11845942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.135099892999996 meters 0.018309755937517328 Centerline is valid? [True, True] Translation: X:56.18, Y:1.68, Z:0.51 [[ 9.98451138e-01 -5.09945009e-02 -2.22460107e-02 5.61783314e+01] [ 5.09957702e-02 9.98698739e-01 -5.10601760e-04 1.67530194e+00] [ 2.22431007e-02 -6.24641540e-04 9.99752396e-01 5.13031723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.165099893 meters 0.018309755937517328 Centerline is valid? [True, True] Translation: X:56.21, Y:1.68, Z:0.51 [[ 9.98454828e-01 -5.09221939e-02 -2.22460475e-02 5.62100315e+01] [ 5.09234812e-02 9.98702428e-01 -5.08991124e-04 1.67597135e+00] [ 2.22431006e-02 -6.24641540e-04 9.99752396e-01 5.13423557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.195099893 meters 0.02011267220498381 Centerline is valid? [True, True] Translation: X:56.24, Y:1.67, Z:0.51 [[ 9.98425829e-01 -5.14880572e-02 -2.22450787e-02 5.62415864e+01] [ 5.14895165e-02 9.98673406e-01 -5.07539980e-04 1.67425719e+00] [ 2.22417008e-02 -6.38647321e-04 9.99752419e-01 5.12990914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.225099893 meters 0.01942886307900565 Centerline is valid? [True, True] Translation: X:56.27, Y:1.67, Z:0.52 [[ 9.98423688e-01 -5.18786735e-02 -2.14182681e-02 5.62738895e+01] [ 5.18801437e-02 9.98653200e-01 -4.87382475e-04 1.67476370e+00] [ 2.14147068e-02 -6.24568620e-04 9.99770484e-01 5.15100344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.255099893 meters 0.018992133173809274 Centerline is valid? [True, True] Translation: X:56.31, Y:1.67, Z:0.52 [[ 9.98534265e-01 -5.03777983e-02 -1.97838089e-02 5.63057906e+01] [ 5.03787850e-02 9.98730082e-01 -4.48832461e-04 1.67188693e+00] [ 1.97812962e-02 -5.48509661e-04 9.99804181e-01 5.17766896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285099893 meters 0.019107975956091875 Centerline is valid? [True, True] Translation: X:56.34, Y:1.67, Z:0.52 [[ 9.98636720e-01 -4.80233357e-02 -2.04563363e-02 5.63378635e+01] [ 4.80239278e-02 9.98846078e-01 -4.62584791e-04 1.67217094e+00] [ 2.04549461e-02 -5.20439457e-04 9.99790640e-01 5.17486365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.315099892999996 meters 0.019107975956091875 Centerline is valid? [True, True] Translation: X:56.37, Y:1.67, Z:0.52 [[ 9.98640163e-01 -4.79516511e-02 -2.04563693e-02 5.63695603e+01] [ 4.79522582e-02 9.98849522e-01 -4.61117536e-04 1.67282825e+00] [ 2.04549461e-02 -5.20438614e-04 9.99790640e-01 5.17878163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.345099893 meters 0.019107975956091875 Centerline is valid? [True, True] Translation: X:56.40, Y:1.67, Z:0.52 [[ 9.98643602e-01 -4.78799662e-02 -2.04564024e-02 5.64012571e+01] [ 4.78805884e-02 9.98852961e-01 -4.59649435e-04 1.67348329e+00] [ 2.04549461e-02 -5.20438613e-04 9.99790640e-01 5.18269961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.375099893 meters 0.018357839268630858 Centerline is valid? [True, True] Translation: X:56.43, Y:1.67, Z:0.52 [[ 9.98701407e-01 -4.64625502e-02 -2.08981006e-02 5.64335808e+01] [ 4.64629212e-02 9.98919906e-01 -4.68053117e-04 1.67465106e+00] [ 2.08972756e-02 -5.03541496e-04 9.99781501e-01 5.18233606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.405099893 meters 0.018357839268630858 Centerline is valid? [True, True] Translation: X:56.47, Y:1.68, Z:0.52 [[ 9.98704742e-01 -4.63907999e-02 -2.08981342e-02 5.64652767e+01] [ 4.63911867e-02 9.98923240e-01 -4.66550736e-04 1.67530200e+00] [ 2.08972756e-02 -5.03542812e-04 9.99781501e-01 5.18625390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.435099893 meters 0.018357839268630858 Centerline is valid? [True, True] Translation: X:56.50, Y:1.68, Z:0.52 [[ 9.98708072e-01 -4.63190494e-02 -2.08981676e-02 5.64969726e+01] [ 4.63194519e-02 9.98926570e-01 -4.65049668e-04 1.67595067e+00] [ 2.08972755e-02 -5.03542811e-04 9.99781501e-01 5.19017175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465099893 meters 0.017662945961795216 Centerline is valid? [True, True] Translation: X:56.53, Y:1.68, Z:0.52 [[ 9.98766505e-01 -4.49084790e-02 -2.11824621e-02 5.65291550e+01] [ 4.49086079e-02 9.98990989e-01 -4.69844912e-04 1.67687628e+00] [ 2.11821888e-02 -4.82009525e-04 9.99775516e-01 5.19269708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.495099892999995 meters 0.017662945961795216 Centerline is valid? [True, True] Translation: X:56.56, Y:1.68, Z:0.52 [[ 9.98769712e-01 -4.48370776e-02 -2.11824956e-02 5.65608502e+01] [ 4.48372226e-02 9.98994196e-01 -4.68330927e-04 1.67751993e+00] [ 2.11821888e-02 -4.82009524e-04 9.99775516e-01 5.19661483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.525099893 meters 0.017942686314913872 Centerline is valid? [True, True] Translation: X:56.59, Y:1.68, Z:0.52 [[ 9.98824147e-01 -4.32811408e-02 -2.18418644e-02 5.65935060e+01] [ 4.32809615e-02 9.99062824e-01 -4.81153759e-04 1.67868389e+00] [ 2.18422196e-02 -4.64748899e-04 9.99761322e-01 5.19214245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.555099893 meters 0.017174740699219784 Centerline is valid? [True, True] Translation: X:56.62, Y:1.68, Z:0.52 [[ 9.99102515e-01 -3.64786212e-02 -2.15284826e-02 5.66247654e+01] [ 3.64768984e-02 9.99334385e-01 -4.72840196e-04 1.68310110e+00] [ 2.15314014e-02 -3.12876444e-04 9.99768124e-01 5.19765194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.585099893 meters 0.017082097929107004 Centerline is valid? [True, True] Translation: X:56.66, Y:1.68, Z:0.52 [[ 9.99120152e-01 -3.63287102e-02 -2.09558437e-02 5.66564528e+01] [ 3.63270603e-02 9.99339849e-01 -4.59529135e-04 1.68476801e+00] [ 2.09587038e-02 -3.02139378e-04 9.99780297e-01 5.20892020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.615099893 meters 0.015480183889407837 Centerline is valid? [True, True] Translation: X:56.69, Y:1.69, Z:0.52 [[ 9.99132590e-01 -3.64895318e-02 -2.00644166e-02 5.66874122e+01] [ 3.64880656e-02 9.99333992e-01 -4.39285019e-04 1.68563644e+00] [ 2.00670829e-02 -2.93207772e-04 9.99798593e-01 5.23023785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645099893 meters 0.01752340378154489 Centerline is valid? [True, True] Translation: X:56.72, Y:1.69, Z:0.52 [[ 9.99117534e-01 -3.66120150e-02 -2.05843149e-02 5.67194575e+01] [ 3.66105195e-02 9.99329509e-01 -4.49615690e-04 1.68668289e+00] [ 2.05869747e-02 -3.04383544e-04 9.99788019e-01 5.22179469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.675099892999995 meters 0.017052521378968035 Centerline is valid? [True, True] Translation: X:56.75, Y:1.68, Z:0.52 [[ 9.99051491e-01 -3.86856511e-02 -1.99884501e-02 5.67510261e+01] [ 3.86846816e-02 9.99251373e-01 -4.35308285e-04 1.68480200e+00] [ 1.99903264e-02 -3.38351437e-04 9.99800116e-01 5.22598366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.705099892999996 meters 0.017052521378968035 Centerline is valid? [True, True] Translation: X:56.78, Y:1.69, Z:0.52 [[ 9.99054200e-01 -3.86156304e-02 -1.99884763e-02 5.67827175e+01] [ 3.86146710e-02 9.99254081e-01 -4.34101419e-04 1.68543187e+00] [ 1.99903296e-02 -3.38157591e-04 9.99800116e-01 5.22990159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.735099893 meters 0.01741767570820642 Centerline is valid? [True, True] Translation: X:56.81, Y:1.69, Z:0.52 [[ 9.99005197e-01 -3.99617181e-02 -1.97908487e-02 5.68145448e+01] [ 3.99610694e-02 9.99201146e-01 -4.28408537e-04 1.68631478e+00] [ 1.97921587e-02 -3.62881123e-04 9.99804050e-01 5.23750250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.765099893 meters 0.017528517777281687 Centerline is valid? [True, True] Translation: X:56.85, Y:1.68, Z:0.52 [[ 9.98948442e-01 -4.16870510e-02 -1.90840270e-02 5.68457164e+01] [ 4.16867860e-02 9.99130643e-01 -4.11870799e-04 1.68482975e+00] [ 1.90846059e-02 -3.84114058e-04 9.99817799e-01 5.24867555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.795099893 meters 0.018501762598663672 Centerline is valid? [True, True] Translation: X:56.88, Y:1.68, Z:0.53 [[ 9.98875268e-01 -4.34663859e-02 -1.89439071e-02 5.68774659e+01] [ 4.34664639e-02 9.99054803e-01 -4.07826886e-04 1.68455765e+00] [ 1.89437282e-02 -4.16056464e-04 9.99820465e-01 5.25214298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825099893 meters 0.018501762598663672 Centerline is valid? [True, True] Translation: X:56.91, Y:1.69, Z:0.53 [[ 9.98878350e-01 -4.33955038e-02 -1.89439313e-02 5.69091601e+01] [ 4.33955904e-02 9.99057885e-01 -4.06700796e-04 1.68518044e+00] [ 1.89437329e-02 -4.15838463e-04 9.99820465e-01 5.25606130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.855099893 meters 0.017480256091217016 Centerline is valid? [True, True] Translation: X:56.94, Y:1.69, Z:0.53 [[ 9.98803735e-01 -4.51165845e-02 -1.88571635e-02 5.69407924e+01] [ 4.51169998e-02 9.98981628e-01 -4.03615846e-04 1.68550902e+00] [ 1.88561697e-02 -4.47645628e-04 9.99822106e-01 5.27237329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.885099892999996 meters 0.017480256091217016 Centerline is valid? [True, True] Translation: X:56.97, Y:1.69, Z:0.53 [[ 9.98806954e-01 -4.50452462e-02 -1.88571876e-02 5.69724883e+01] [ 4.50456702e-02 9.98984848e-01 -4.02488759e-04 1.68612848e+00] [ 1.88561749e-02 -4.47426080e-04 9.99822106e-01 5.27629181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.915099893 meters 0.01918969172223869 Centerline is valid? [True, True] Translation: X:57.00, Y:1.69, Z:0.53 [[ 9.98701362e-01 -4.68167271e-02 -2.00943600e-02 5.70043165e+01] [ 4.68175970e-02 9.98903364e-01 -4.27396381e-04 1.68660019e+00] [ 2.00923331e-02 -5.13928299e-04 9.99797997e-01 5.26528797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.945099893 meters 0.019246928704265594 Centerline is valid? [True, True] Translation: X:57.04, Y:1.69, Z:0.53 [[ 9.98609145e-01 -4.84270027e-02 -2.08470839e-02 5.70362839e+01] [ 4.84283216e-02 9.98826563e-01 -4.41873060e-04 1.68633773e+00] [ 2.08440197e-02 -5.68330805e-04 9.99782578e-01 5.26539961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.975099893 meters 0.020174729601084202 Centerline is valid? [True, True] Translation: X:57.07, Y:1.69, Z:0.52 [[ 9.98391778e-01 -5.20041380e-02 -2.25704815e-02 5.70679649e+01] [ 5.20066274e-02 9.98646626e-01 -4.77074233e-04 1.68575347e+00] [ 2.25647450e-02 -6.97507627e-04 9.99745140e-01 5.24943499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.005099893 meters 0.01587009992557523 Centerline is valid? [True, True] Translation: X:57.10, Y:1.74, Z:0.53 [[ 9.99062518e-01 -3.73970951e-02 -2.18069301e-02 5.70966366e+01] [ 3.73959449e-02 9.99300421e-01 -4.60680520e-04 1.73645579e+00] [ 2.18089025e-02 -3.55242115e-04 9.99762094e-01 5.30347707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.035099893 meters 0.016675939845637273 Centerline is valid? [True, True] Translation: X:57.13, Y:1.74, Z:0.53 [[ 9.99046598e-01 -3.70926188e-02 -2.30224353e-02 5.71292556e+01] [ 3.70912681e-02 9.99311764e-01 -4.85834337e-04 1.73914814e+00] [ 2.30246113e-02 -3.68560177e-04 9.99734831e-01 5.29773429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.065099892999996 meters 0.016001475533936885 Centerline is valid? [True, True] Translation: X:57.16, Y:1.74, Z:0.53 [[ 9.99055121e-01 -3.71857664e-02 -2.24963240e-02 5.71606049e+01] [ 3.71845321e-02 9.99308304e-01 -4.73318716e-04 1.74086658e+00] [ 2.24983641e-02 -3.63643794e-04 9.99746814e-01 5.31371760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.095099893 meters 0.015369671383803374 Centerline is valid? [True, True] Translation: X:57.19, Y:1.74, Z:0.53 [[ 9.99048480e-01 -3.74449962e-02 -2.23608177e-02 5.71925374e+01] [ 3.74438722e-02 9.99298622e-01 -4.69101783e-04 1.74320367e+00] [ 2.23626998e-02 -3.68620176e-04 9.99749856e-01 5.33250294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.125099893 meters 0.01614490050454444 Centerline is valid? [True, True] Translation: X:57.22, Y:1.75, Z:0.53 [[ 9.99042653e-01 -3.71638953e-02 -2.30786313e-02 5.72244765e+01] [ 3.71626618e-02 9.99309113e-01 -4.82480307e-04 1.74638677e+00] [ 2.30806174e-02 -3.75644966e-04 9.99733536e-01 5.32593455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.155099893 meters 0.016491161474013447 Centerline is valid? [True, True] Translation: X:57.26, Y:1.75, Z:0.53 [[ 9.99076548e-01 -3.66194011e-02 -2.24737586e-02 5.72556153e+01] [ 3.66181257e-02 9.99329222e-01 -4.68411749e-04 1.74748264e+00] [ 2.24758367e-02 -3.54967725e-04 9.99747323e-01 5.32911195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.185099893 meters 0.01510734518045003 Centerline is valid? [True, True] Translation: X:57.29, Y:1.75, Z:0.54 [[ 9.99137945e-01 -3.57389236e-02 -2.11209930e-02 5.72878184e+01] [ 3.57376270e-02 9.99361111e-01 -4.38954033e-04 1.75078109e+00] [ 2.11231867e-02 -3.16238539e-04 9.99776831e-01 5.35928738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.215099893 meters 0.015601074383026924 Centerline is valid? [True, True] Translation: X:57.32, Y:1.75, Z:0.54 [[ 9.99148069e-01 -3.50916699e-02 -2.17189101e-02 5.73198961e+01] [ 3.50901808e-02 9.99384049e-01 -4.49779740e-04 1.75258999e+00] [ 2.17213158e-02 -3.12723922e-04 9.99764015e-01 5.35877129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.245099892999995 meters 0.01686249899427448 Centerline is valid? [True, True] Translation: X:57.35, Y:1.75, Z:0.53 [[ 9.99148482e-01 -3.45209403e-02 -2.25968250e-02 5.73512263e+01] [ 3.45192163e-02 9.99403925e-01 -4.66467242e-04 1.75355336e+00] [ 2.25994585e-02 -3.13954652e-04 9.99744550e-01 5.34520330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.275099893 meters 0.014806397831285388 Centerline is valid? [True, True] Translation: X:57.38, Y:1.76, Z:0.54 [[ 9.99152238e-01 -3.42194611e-02 -2.28874170e-02 5.73835827e+01] [ 3.42176463e-02 9.99414294e-01 -4.71031741e-04 1.75518665e+00] [ 2.28901302e-02 -3.12521122e-04 9.99737938e-01 5.36222073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.305099893 meters 0.016350203210480127 Centerline is valid? [True, True] Translation: X:57.41, Y:1.76, Z:0.53 [[ 9.99114171e-01 -3.34985111e-02 -2.54700395e-02 5.74146367e+01] [ 3.34960726e-02 9.99438713e-01 -5.22496373e-04 1.75667791e+00] [ 2.54732463e-02 -3.31112760e-04 9.99675449e-01 5.32644104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.335099893 meters 0.016511338823158618 Centerline is valid? [True, True] Translation: X:57.45, Y:1.76, Z:0.53 [[ 9.99089906e-01 -3.37795729e-02 -2.60441855e-02 5.74455308e+01] [ 3.37771490e-02 9.99429247e-01 -5.33110755e-04 1.75764879e+00] [ 2.60473290e-02 -3.47072760e-04 9.99660651e-01 5.33087800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.365099893 meters 0.016537057991629776 Centerline is valid? [True, True] Translation: X:57.48, Y:1.76, Z:0.53 [[ 9.99063997e-01 -3.41516016e-02 -2.65480399e-02 5.74773151e+01] [ 3.41492399e-02 9.99416597e-01 -5.42463647e-04 1.75764993e+00] [ 2.65510777e-02 -3.64639485e-04 9.99647391e-01 5.33358456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.395099893 meters 0.016073655550925044 Centerline is valid? [True, True] Translation: X:57.51, Y:1.76, Z:0.53 [[ 9.99076570e-01 -3.40317275e-02 -2.62268795e-02 5.75079218e+01] [ 3.40293994e-02 9.99420689e-01 -5.35211770e-04 1.75737676e+00] [ 2.62299001e-02 -3.57767417e-04 9.99655873e-01 5.33565137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.425099892999995 meters 0.013705585326358004 Centerline is valid? [True, True] Translation: X:57.54, Y:1.76, Z:0.54 [[ 9.99093644e-01 -3.41070215e-02 -2.54676687e-02 5.75396551e+01] [ 3.41048681e-02 9.99418125e-01 -5.19033417e-04 1.75750048e+00] [ 2.54705523e-02 -3.50008492e-04 9.99675512e-01 5.36732198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.455099892999996 meters 0.015231080718176086 Centerline is valid? [True, True] Translation: X:57.57, Y:1.76, Z:0.54 [[ 9.99373733e-01 -2.67957033e-02 -2.31112905e-02 5.75705699e+01] [ 2.67919931e-02 9.99640920e-01 -4.70218692e-04 1.76257619e+00] [ 2.31155916e-02 -1.49273326e-04 9.99732788e-01 5.38173701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.485099893 meters 0.012824707146402227 Centerline is valid? [True, True] Translation: X:57.60, Y:1.76, Z:0.54 [[ 9.99447790e-01 -2.47986360e-02 -2.21165500e-02 5.76001367e+01] [ 2.47947550e-02 9.99692462e-01 -4.49724941e-04 1.76489182e+00] [ 2.21209009e-02 -9.88978395e-05 9.99755298e-01 5.41891454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.515099893 meters 0.014432976562103603 Centerline is valid? [True, True] Translation: X:57.63, Y:1.77, Z:0.54 [[ 9.99539316e-01 -2.00418883e-02 -2.27920741e-02 5.76300662e+01] [ 2.00365256e-02 9.99799141e-01 -4.63652076e-04 1.76777587e+00] [ 2.27967886e-02 6.76450155e-06 9.99740119e-01 5.38890359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.545099893 meters 0.015241034096052826 Centerline is valid? [True, True] Translation: X:57.66, Y:1.77, Z:0.54 [[ 9.99590003e-01 -1.59017635e-02 -2.38109355e-02 5.76590511e+01] [ 1.58946702e-02 9.99873553e-01 -4.87142546e-04 1.76955644e+00] [ 2.38156711e-02 1.08475851e-04 9.99716361e-01 5.37578410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.575099893 meters 0.015013981717960544 Centerline is valid? [True, True] Translation: X:57.69, Y:1.77, Z:0.54 [[ 9.99610973e-01 -1.38744046e-02 -2.41951088e-02 5.76866454e+01] [ 1.38663872e-02 9.99903732e-01 -4.99112357e-04 1.77106626e+00] [ 2.41997045e-02 1.63419441e-04 9.99707131e-01 5.37321647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.605099892999995 meters 0.016007590778665627 Centerline is valid? [True, True] Translation: X:57.72, Y:1.77, Z:0.54 [[ 9.99616857e-01 -1.09054241e-02 -2.54403274e-02 5.77155171e+01] [ 1.08954887e-02 9.99940502e-01 -5.29122384e-04 1.77232698e+00] [ 2.54445841e-02 2.51734854e-04 9.99676202e-01 5.36958910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.635099892999996 meters 0.014012724367368444 Centerline is valid? [True, True] Translation: X:57.74, Y:1.77, Z:0.54 [[ 9.99605356e-01 -9.49018864e-03 -2.64398909e-02 5.77441396e+01] [ 9.47878853e-03 9.99954920e-01 -5.56471063e-04 1.77273146e+00] [ 2.64439800e-02 3.05633320e-04 9.99650250e-01 5.39034085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.665099893 meters 0.01513882224711451 Centerline is valid? [True, True] Translation: X:57.77, Y:1.77, Z:0.54 [[ 9.99575419e-01 -9.23296422e-03 -2.76357464e-02 5.77728772e+01] [ 9.22021725e-03 9.99957320e-01 -5.88644525e-04 1.76973710e+00] [ 2.76400018e-02 3.33587012e-04 9.99617887e-01 5.38130104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.695099893 meters 0.016208290042633935 Centerline is valid? [True, True] Translation: X:57.80, Y:1.77, Z:0.54 [[ 9.99598427e-01 -9.72579060e-03 -2.66156685e-02 5.78010808e+01] [ 9.71402805e-03 9.99952655e-01 -5.71203885e-04 1.76804284e+00] [ 2.66199637e-02 3.12429155e-04 9.99645577e-01 5.37699924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.725099893 meters 0.014512410995710183 Centerline is valid? [True, True] Translation: X:57.83, Y:1.77, Z:0.54 [[ 9.99627458e-01 -1.29252017e-02 -2.40392135e-02 5.78292874e+01] [ 1.29164877e-02 9.99916445e-01 -5.17733021e-04 1.76548818e+00] [ 2.40438967e-02 2.07037937e-04 9.99710882e-01 5.40796163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.755099893 meters 0.015332557353395249 Centerline is valid? [True, True] Translation: X:57.86, Y:1.76, Z:0.54 [[ 9.99520067e-01 -2.17998410e-02 -2.20091352e-02 5.78579425e+01] [ 2.17946548e-02 9.99762355e-01 -4.75509401e-04 1.75841280e+00] [ 2.20142708e-02 -4.40031416e-06 9.99757657e-01 5.42736201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785099893 meters 0.015661532193593408 Centerline is valid? [True, True] Translation: X:57.89, Y:1.75, Z:0.54 [[ 9.99303297e-01 -2.99490380e-02 -2.22705291e-02 5.78872365e+01] [ 2.99457146e-02 9.99551410e-01 -4.82783954e-04 1.75169728e+00] [ 2.22749977e-02 -1.84459312e-04 9.99751864e-01 5.42032627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.815099892999996 meters 0.016372110142832255 Centerline is valid? [True, True] Translation: X:57.92, Y:1.74, Z:0.54 [[ 9.98980854e-01 -3.93193218e-02 -2.21640408e-02 5.79171938e+01] [ 3.93183151e-02 9.99226620e-01 -4.81370602e-04 1.74390880e+00] [ 2.21658267e-02 -3.90572723e-04 9.99754232e-01 5.41396717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.845099893 meters 0.016675438820915496 Centerline is valid? [True, True] Translation: X:57.95, Y:1.74, Z:0.54 [[ 9.98566967e-01 -4.95631516e-02 -2.01867704e-02 5.79470057e+01] [ 4.95644072e-02 9.98770833e-01 -4.38427177e-04 1.73579823e+00] [ 2.01836873e-02 -5.62746410e-04 9.99796130e-01 5.44982827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.875099893 meters 0.01939728082606959 Centerline is valid? [True, True] Translation: X:57.98, Y:1.73, Z:0.54 [[ 9.98324839e-01 -5.39965943e-02 -2.07818074e-02 5.79785995e+01] [ 5.39988907e-02 9.98540894e-01 -4.51051740e-04 1.73214852e+00] [ 2.07758398e-02 -6.71898393e-04 9.99783933e-01 5.42987252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.905099893 meters 0.020496863237023735 Centerline is valid? [True, True] Translation: X:58.01, Y:1.73, Z:0.55 [[ 9.97804115e-01 -6.28488373e-02 -2.09038530e-02 5.80089362e+01] [ 6.28531089e-02 9.98022686e-01 -4.53253687e-04 1.72601503e+00] [ 2.08910060e-02 -8.61613753e-04 9.99781388e-01 5.45651402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.935099893 meters 0.025207568213541687 Centerline is valid? [True, True] Translation: X:58.04, Y:1.72, Z:0.54 [[ 9.97380006e-01 -6.89322903e-02 -2.19422718e-02 5.80384446e+01] [ 6.89384691e-02 9.97620800e-01 -4.75605266e-04 1.71896000e+00] [ 2.19228513e-02 -1.03830744e-03 9.99759126e-01 5.42788282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965099893 meters 0.025335582289324945 Centerline is valid? [True, True] Translation: X:58.07, Y:1.72, Z:0.54 [[ 9.97138583e-01 -7.24715006e-02 -2.15064827e-02 5.80697371e+01] [ 7.24782686e-02 9.97369883e-01 -4.65632741e-04 1.71723718e+00] [ 2.14836632e-02 -1.09445226e-03 9.99768600e-01 5.43092314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.995099892999995 meters 0.023433165237999296 Centerline is valid? [True, True] Translation: X:58.10, Y:1.73, Z:0.54 [[ 9.97759565e-01 -6.33967031e-02 -2.13707594e-02 5.80994028e+01] [ 6.34013169e-02 9.97988006e-01 -4.62265159e-04 1.72579208e+00] [ 2.13570676e-02 -8.93704805e-04 9.99771512e-01 5.42766257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.025099893 meters 0.021709851127059 Centerline is valid? [True, True] Translation: X:58.13, Y:1.73, Z:0.54 [[ 9.97869770e-01 -6.15961952e-02 -2.14902370e-02 5.81319528e+01] [ 6.16004609e-02 9.98100780e-01 -4.64055636e-04 1.72941055e+00] [ 2.14780064e-02 -8.60741416e-04 9.99768950e-01 5.44500277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.055099893 meters 0.02106839580489702 Centerline is valid? [True, True] Translation: X:58.16, Y:1.73, Z:0.54 [[ 9.97938140e-01 -6.03678405e-02 -2.17989224e-02 5.81643216e+01] [ 6.03719762e-02 9.98175839e-01 -4.68933281e-04 1.73199510e+00] [ 2.17874662e-02 -8.48077619e-04 9.99762265e-01 5.44777830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.085099893 meters 0.02106839580489702 Centerline is valid? [True, True] Translation: X:58.20, Y:1.73, Z:0.55 [[ 9.97944601e-01 -6.02609134e-02 -2.17989629e-02 5.81968843e+01] [ 6.02650648e-02 9.98182300e-01 -4.67043971e-04 1.73260517e+00] [ 2.17874835e-02 -8.47631905e-04 9.99762265e-01 5.45180305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.115099893 meters 0.021586453948884914 Centerline is valid? [True, True] Translation: X:58.23, Y:1.74, Z:0.54 [[ 9.97965849e-01 -5.95827379e-02 -2.26729312e-02 5.82287290e+01] [ 5.95871023e-02 9.98222993e-01 -4.83649672e-04 1.73507187e+00] [ 2.26614584e-02 -8.68348414e-04 9.99742819e-01 5.43495783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145099893 meters 0.02222725626139494 Centerline is valid? [True, True] Translation: X:58.26, Y:1.74, Z:0.54 [[ 9.98030790e-01 -5.83148946e-02 -2.31065882e-02 5.82595291e+01] [ 5.83191227e-02 9.98297871e-01 -4.91419336e-04 1.73832575e+00] [ 2.30959149e-02 -8.57104323e-04 9.99732886e-01 5.42037134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.175099892999995 meters 0.021780174426261033 Centerline is valid? [True, True] Translation: X:58.29, Y:1.74, Z:0.54 [[ 9.98063860e-01 -5.77475126e-02 -2.31031586e-02 5.82915308e+01] [ 5.77516206e-02 9.98330862e-01 -4.89917398e-04 1.74103263e+00] [ 2.30928877e-02 -8.45275999e-04 9.99732966e-01 5.42030040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.205099892999996 meters 0.02071860411539533 Centerline is valid? [True, True] Translation: X:58.32, Y:1.74, Z:0.54 [[ 9.98102207e-01 -5.71131106e-02 -2.30233882e-02 5.83234358e+01] [ 5.71170595e-02 9.98367370e-01 -4.86585449e-04 1.74336494e+00] [ 2.30135899e-02 -8.29366222e-04 9.99734808e-01 5.43152977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.235099893 meters 0.022359507065808994 Centerline is valid? [True, True] Translation: X:58.36, Y:1.75, Z:0.54 [[ 9.98126446e-01 -5.64613325e-02 -2.35736062e-02 5.83552419e+01] [ 5.64653311e-02 9.98404437e-01 -4.96514633e-04 1.74552923e+00] [ 2.35640269e-02 -8.35507094e-04 9.99721981e-01 5.41896186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.265099893 meters 0.021809908297292957 Centerline is valid? [True, True] Translation: X:58.39, Y:1.75, Z:0.54 [[ 9.98102858e-01 -5.66783455e-02 -2.40468365e-02 5.83877770e+01] [ 5.66826107e-02 9.98392121e-01 -5.04757983e-04 1.74902900e+00] [ 2.40367810e-02 -8.59237090e-04 9.99710706e-01 5.42288149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.295099893 meters 0.02096617823450068 Centerline is valid? [True, True] Translation: X:58.42, Y:1.75, Z:0.54 [[ 9.98024779e-01 -5.80458556e-02 -2.40253930e-02 5.84201046e+01] [ 5.80505497e-02 9.98313518e-01 -5.02603920e-04 1.75228205e+00] [ 2.40140487e-02 -8.93076104e-04 9.99711222e-01 5.44042934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325099893 meters 0.0200715970367617 Centerline is valid? [True, True] Translation: X:58.45, Y:1.76, Z:0.55 [[ 9.97976778e-01 -5.91144003e-02 -2.34059310e-02 5.84522292e+01] [ 5.91191872e-02 9.98250812e-01 -4.87999640e-04 1.75703027e+00] [ 2.33938374e-02 -8.96727308e-04 9.99725925e-01 5.48299732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.355099892999995 meters 0.02114904325387817 Centerline is valid? [True, True] Translation: X:58.48, Y:1.76, Z:0.55 [[ 9.98020675e-01 -5.79152115e-02 -2.45063433e-02 5.84830761e+01] [ 5.79201371e-02 9.98321090e-01 -5.09369753e-04 1.75919155e+00] [ 2.44946996e-02 -9.11049218e-04 9.99699545e-01 5.46103041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.385099892999996 meters 0.02059910661029798 Centerline is valid? [True, True] Translation: X:58.51, Y:1.77, Z:0.54 [[ 9.98276748e-01 -5.27821740e-02 -2.56432453e-02 5.85133450e+01] [ 5.27858936e-02 9.98605711e-01 -5.32311407e-04 1.76739506e+00] [ 2.56355877e-02 -8.22207515e-04 9.99671016e-01 5.44434718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.415099893 meters 0.01902789292517741 Centerline is valid? [True, True] Translation: X:58.55, Y:1.77, Z:0.55 [[ 9.98405725e-01 -5.07363888e-02 -2.47351361e-02 5.85454502e+01] [ 5.07392444e-02 9.98711803e-01 -5.12562887e-04 1.77071600e+00] [ 2.47292780e-02 -7.43296394e-04 9.99693908e-01 5.46466814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.445099893 meters 0.019539468148889846 Centerline is valid? [True, True] Translation: X:58.58, Y:1.77, Z:0.55 [[ 9.98455608e-01 -4.98964933e-02 -2.44282315e-02 5.85764184e+01] [ 4.98990844e-02 9.98754138e-01 -5.03860804e-04 1.77102257e+00] [ 2.44229382e-02 -7.15863742e-04 9.99701459e-01 5.47076882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.475099893 meters 0.01921223390576294 Centerline is valid? [True, True] Translation: X:58.61, Y:1.77, Z:0.55 [[ 9.98465828e-01 -4.98111442e-02 -2.41834650e-02 5.86097077e+01] [ 4.98137256e-02 9.98758403e-01 -4.96042513e-04 1.77311496e+00] [ 2.41781473e-02 -7.09386993e-04 9.99707414e-01 5.48485501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.505099893 meters 0.01834582939028718 Centerline is valid? [True, True] Translation: X:58.64, Y:1.77, Z:0.55 [[ 9.98468695e-01 -5.00518352e-02 -2.35600956e-02 5.86412773e+01] [ 5.00544069e-02 9.98746377e-01 -4.80926359e-04 1.77252607e+00] [ 2.35546313e-02 -6.99096696e-04 9.99722307e-01 5.50415438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.535099893 meters 0.019755933057394145 Centerline is valid? [True, True] Translation: X:58.67, Y:1.77, Z:0.55 [[ 9.98439152e-01 -5.04241226e-02 -2.40139018e-02 5.86725200e+01] [ 5.04269443e-02 9.98727633e-01 -4.88428955e-04 1.77132079e+00] [ 2.40079759e-02 -7.23281095e-04 9.99711505e-01 5.49104686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.565099892999996 meters 0.019477130867488913 Centerline is valid? [True, True] Translation: X:58.71, Y:1.77, Z:0.55 [[ 9.98393672e-01 -5.09495487e-02 -2.47834548e-02 5.87051291e+01] [ 5.09527553e-02 9.98700938e-01 -5.02497037e-04 1.77339761e+00] [ 2.47768615e-02 -7.61095445e-04 9.99692717e-01 5.49192251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.595099893 meters 0.01943065409712589 Centerline is valid? [True, True] Translation: X:58.74, Y:1.77, Z:0.55 [[ 9.98277058e-01 -5.26369574e-02 -2.59280959e-02 5.87358675e+01] [ 5.26410730e-02 9.98613360e-01 -5.24271422e-04 1.77192931e+00] [ 2.59197390e-02 -8.41514655e-04 9.99663673e-01 5.48743132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.625099893 meters 0.018938861506109985 Centerline is valid? [True, True] Translation: X:58.77, Y:1.77, Z:0.55 [[ 9.98618717e-01 -4.87380847e-02 -1.96279802e-02 5.87658145e+01] [ 4.87396964e-02 9.98811436e-01 -3.96542445e-04 1.77430375e+00] [ 1.96239778e-02 -5.60667086e-04 9.99807274e-01 5.54586456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.655099893 meters 0.01690651221648892 Centerline is valid? [True, True] Translation: X:58.80, Y:1.78, Z:0.55 [[ 9.98807269e-01 -4.22560332e-02 -2.44635753e-02 5.87972590e+01] [ 4.22566051e-02 9.99106669e-01 -4.93802908e-04 1.77686303e+00] [ 2.44625874e-02 -5.40533708e-04 9.99700600e-01 5.52328746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.685099893 meters 0.014123142665380464 Centerline is valid? [True, True] Translation: X:58.83, Y:1.79, Z:0.56 [[ 9.99579660e-01 -2.07858974e-02 -2.02101330e-02 5.88273124e+01] [ 2.07819055e-02 9.99783950e-01 -4.07544668e-04 1.79055312e+00] [ 2.02142378e-02 -1.26317129e-05 9.99795671e-01 5.55829938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.715099893 meters 0.015114528841784906 Centerline is valid? [True, True] Translation: X:58.86, Y:1.79, Z:0.56 [[ 9.99623765e-01 -1.86250621e-02 -2.01354225e-02 5.88564606e+01] [ 1.86206569e-02 9.99826538e-01 -4.06255844e-04 1.79233832e+00] [ 2.01394964e-02 3.11682009e-05 9.99797179e-01 5.55657318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.745099892999995 meters 0.01548002636169447 Centerline is valid? [True, True] Translation: X:58.89, Y:1.79, Z:0.56 [[ 9.99645284e-01 -1.74674548e-02 -2.01045924e-02 5.88856436e+01] [ 1.74627815e-02 9.99847431e-01 -4.07994514e-04 1.79348084e+00] [ 2.01086517e-02 5.67676867e-05 9.99797799e-01 5.56169670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.775099893 meters 0.015717268727732273 Centerline is valid? [True, True] Translation: X:58.91, Y:1.79, Z:0.56 [[ 9.99670923e-01 -1.66777948e-02 -1.94909349e-02 5.89132214e+01] [ 1.66731821e-02 9.99860913e-01 -3.99146806e-04 1.79380178e+00] [ 1.94948809e-02 7.40395490e-05 9.99809954e-01 5.56278176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.805099893 meters 0.01611497133966225 Centerline is valid? [True, True] Translation: X:58.94, Y:1.79, Z:0.56 [[ 9.99601759e-01 -1.97858548e-02 -2.01207059e-02 5.89416212e+01] [ 1.97815014e-02 9.99804241e-01 -4.15393444e-04 1.78891787e+00] [ 2.01249860e-02 1.72102466e-05 9.99797472e-01 5.55148281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.835099893 meters 0.015124406694987288 Centerline is valid? [True, True] Translation: X:58.97, Y:1.77, Z:0.56 [[ 9.99010865e-01 -4.02831453e-02 -1.88297738e-02 5.89717769e+01] [ 4.02829055e-02 9.99188237e-01 -3.92181928e-04 1.76764550e+00] [ 1.88302868e-02 -3.66723992e-04 9.99822627e-01 5.57308347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.865099893 meters 0.016786313880044763 Centerline is valid? [True, True] Translation: X:59.00, Y:1.76, Z:0.56 [[ 9.98760839e-01 -4.56124458e-02 -1.99070643e-02 5.90028071e+01] [ 4.56132388e-02 9.98959089e-01 -4.14458756e-04 1.76410632e+00] [ 1.99052472e-02 -4.94080501e-04 9.99801749e-01 5.55956521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.895099893 meters 0.01879104111571268 Centerline is valid? [True, True] Translation: X:59.03, Y:1.76, Z:0.55 [[ 9.98630438e-01 -4.80875455e-02 -2.06115667e-02 5.90342515e+01] [ 4.80889455e-02 9.98842966e-01 -4.28006658e-04 1.76102623e+00] [ 2.06083002e-02 -5.63768031e-04 9.99787467e-01 5.54698755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.925099892999995 meters 0.01951246392090133 Centerline is valid? [True, True] Translation: X:59.07, Y:1.76, Z:0.55 [[ 9.98499702e-01 -5.07094479e-02 -2.06614837e-02 5.90664867e+01] [ 5.07114416e-02 9.98713255e-01 -4.27774316e-04 1.75890091e+00] [ 2.06565898e-02 -6.20641096e-04 9.99786437e-01 5.54635660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.955099892999996 meters 0.01845119019122089 Centerline is valid? [True, True] Translation: X:59.10, Y:1.76, Z:0.56 [[ 9.98388880e-01 -5.33632616e-02 -1.92874671e-02 5.90990635e+01] [ 5.33655188e-02 9.98574966e-01 -3.98010720e-04 1.75617881e+00] [ 1.92812209e-02 -6.31916210e-04 9.99813900e-01 5.58093554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.985099893 meters 0.020625547598964088 Centerline is valid? [True, True] Translation: X:59.13, Y:1.75, Z:0.56 [[ 9.98176508e-01 -5.70089096e-02 -1.98404241e-02 5.91300939e+01] [ 5.70120427e-02 9.98373407e-01 -4.08134134e-04 1.75298795e+00] [ 1.98314190e-02 -7.23753199e-04 9.99803076e-01 5.56206747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.015099893 meters 0.021865528615232492 Centerline is valid? [True, True] Translation: X:59.16, Y:1.75, Z:0.56 [[ 9.98085960e-01 -5.83855267e-02 -2.03849813e-02 5.91623599e+01] [ 5.83891459e-02 9.98293811e-01 -4.18110882e-04 1.75173336e+00] [ 2.03746123e-02 -7.72951046e-04 9.99792117e-01 5.56054449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.045099893 meters 0.021116355534869447 Centerline is valid? [True, True] Translation: X:59.19, Y:1.75, Z:0.56 [[ 9.98007617e-01 -5.94970693e-02 -2.09975031e-02 5.91948160e+01] [ 5.95011875e-02 9.98228143e-01 -4.29126583e-04 1.75299840e+00] [ 2.09858303e-02 -8.21104769e-04 9.99779436e-01 5.56849991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.075099893 meters 0.020908512319454862 Centerline is valid? [True, True] Translation: X:59.23, Y:1.75, Z:0.56 [[ 9.98114449e-01 -5.76095419e-02 -2.11822456e-02 5.92265267e+01] [ 5.76133417e-02 9.98338879e-01 -4.31331726e-04 1.75326438e+00] [ 2.11719081e-02 -7.89861526e-04 9.99775538e-01 5.55917660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.105099892999995 meters 0.019310650199328278 Centerline is valid? [True, True] Translation: X:59.26, Y:1.75, Z:0.56 [[ 9.98312145e-01 -5.41975754e-02 -2.08682575e-02 5.92567262e+01] [ 5.42005407e-02 9.98529980e-01 -4.23888864e-04 1.75401060e+00] [ 2.08605545e-02 -7.07897441e-04 9.99782144e-01 5.57682145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.135099892999996 meters 0.019621822303010274 Centerline is valid? [True, True] Translation: X:59.29, Y:1.76, Z:0.56 [[ 9.98429390e-01 -5.14878980e-02 -2.20850668e-02 5.92893963e+01] [ 5.14905818e-02 9.98673380e-01 -4.47494752e-04 1.75736176e+00] [ 2.20788088e-02 -6.90381024e-04 9.99755995e-01 5.55463333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.165099893 meters 0.01639056128933081 Centerline is valid? [True, True] Translation: X:59.32, Y:1.76, Z:0.56 [[ 9.98688361e-01 -4.60610184e-02 -2.23593254e-02 5.93208280e+01] [ 4.60624511e-02 9.98938460e-01 -4.51221451e-04 1.76237086e+00] [ 2.23563738e-02 -5.79295721e-04 9.99749897e-01 5.57819590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.195099893 meters 0.014326499042775102 Centerline is valid? [True, True] Translation: X:59.35, Y:1.77, Z:0.56 [[ 9.99005736e-01 -3.69289865e-02 -2.49757860e-02 5.93526631e+01] [ 3.69279628e-02 9.99317804e-01 -5.02368353e-04 1.77262594e+00] [ 2.49772996e-02 -4.20436033e-04 9.99687930e-01 5.58445157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.225099893 meters 0.01613736435989016 Centerline is valid? [True, True] Translation: X:59.38, Y:1.77, Z:0.56 [[ 9.99070309e-01 -3.48135906e-02 -2.54269905e-02 5.93829160e+01] [ 3.48118834e-02 9.99393753e-01 -5.09924774e-04 1.77486775e+00] [ 2.54293278e-02 -3.75710728e-04 9.99676552e-01 5.56334891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.255099893 meters 0.014054430155286181 Centerline is valid? [True, True] Translation: X:59.41, Y:1.78, Z:0.56 [[ 9.99153185e-01 -3.31930061e-02 -2.43133251e-02 5.94137472e+01] [ 3.31909946e-02 9.99448909e-01 -4.86392638e-04 1.77761427e+00] [ 2.43160711e-02 -3.21002688e-04 9.99704269e-01 5.60115498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285099893 meters 0.012900959043119456 Centerline is valid? [True, True] Translation: X:59.44, Y:1.79, Z:0.56 [[ 9.99482977e-01 -2.25196346e-02 -2.29487372e-02 5.94436290e+01] [ 2.25150385e-02 9.99746399e-01 -4.58671331e-04 1.78981680e+00] [ 2.29532465e-02 -5.82575141e-05 9.99736538e-01 5.63103654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.315099892999996 meters 0.015384009869882663 Centerline is valid? [True, True] Translation: X:59.47, Y:1.79, Z:0.56 [[ 9.99611186e-01 -1.90583297e-02 -2.03533067e-02 5.94727240e+01] [ 1.90539583e-02 9.99818373e-01 -4.08694185e-04 1.79464255e+00] [ 2.03573990e-02 2.07242217e-05 9.99792766e-01 5.62276326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.345099893 meters 0.014121945367360346 Centerline is valid? [True, True] Translation: X:59.50, Y:1.80, Z:0.56 [[ 9.99638498e-01 -1.88243995e-02 -1.91967658e-02 5.95014258e+01] [ 1.88203812e-02 9.99822805e-01 -3.89977612e-04 1.79735635e+00] [ 1.92007054e-02 2.85461832e-05 9.99815649e-01 5.64608810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.375099893 meters 0.013947325253075198 Centerline is valid? [True, True] Translation: X:59.53, Y:1.80, Z:0.56 [[ 9.99630657e-01 -1.88196088e-02 -1.96054071e-02 5.95296557e+01] [ 1.88153446e-02 9.99822895e-01 -4.01953360e-04 1.79934085e+00] [ 1.96094995e-02 3.29224101e-05 9.99807715e-01 5.64239367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.405099893 meters 0.015620711973368267 Centerline is valid? [True, True] Translation: X:59.56, Y:1.80, Z:0.56 [[ 9.99591981e-01 -1.88018596e-02 -2.15026166e-02 5.95583103e+01] [ 1.87966970e-02 9.99823229e-01 -4.42199668e-04 1.80249297e+00] [ 2.15071297e-02 3.78410740e-05 9.99768694e-01 5.61318736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.435099893 meters 0.01525601004453641 Centerline is valid? [True, True] Translation: X:59.59, Y:1.80, Z:0.56 [[ 9.99570345e-01 -1.89348247e-02 -2.23740414e-02 5.95873148e+01] [ 1.89291987e-02 9.99820719e-01 -4.63231044e-04 1.80434619e+00] [ 2.23788014e-02 3.95093381e-05 9.99749562e-01 5.61427974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465099893 meters 0.013048900021091513 Centerline is valid? [True, True] Translation: X:59.61, Y:1.81, Z:0.56 [[ 9.99552479e-01 -1.94687424e-02 -2.27114322e-02 5.96148172e+01] [ 1.94629477e-02 9.99810465e-01 -4.76182203e-04 1.80699258e+00] [ 2.27163983e-02 3.39376849e-05 9.99741949e-01 5.64110987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.495099892999995 meters 0.01559905757794956 Centerline is valid? [True, True] Translation: X:59.64, Y:1.81, Z:0.56 [[ 9.99555226e-01 -1.92110513e-02 -2.28097667e-02 5.96429993e+01] [ 1.92049916e-02 9.99815450e-01 -4.84710552e-04 1.80941007e+00] [ 2.28148690e-02 4.64335863e-05 9.99739706e-01 5.61729005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.525099893 meters 0.015129553253476214 Centerline is valid? [True, True] Translation: X:59.67, Y:1.81, Z:0.57 [[ 9.99602053e-01 -2.08242758e-02 -1.90285529e-02 5.96716750e+01] [ 2.08202640e-02 9.99783151e-01 -4.08936865e-04 1.81092856e+00] [ 1.90329424e-02 1.25946354e-05 9.99818857e-01 5.65091938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.555099893 meters 0.018665175969034768 Centerline is valid? [True, True] Translation: X:59.70, Y:1.79, Z:0.56 [[ 9.98752252e-01 -4.58290251e-02 -1.98403659e-02 5.97026333e+01] [ 4.58295278e-02 9.98949183e-01 -4.29584920e-04 1.78830778e+00] [ 1.98392048e-02 -4.80225695e-04 9.99803068e-01 5.62272192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.585099893 meters 0.01921565232654581 Centerline is valid? [True, True] Translation: X:59.73, Y:1.78, Z:0.56 [[ 9.98237112e-01 -5.47834398e-02 -2.28351239e-02 5.97332940e+01] [ 5.47864458e-02 9.98497972e-01 -4.94416307e-04 1.78204683e+00] [ 2.28279108e-02 -7.57510573e-04 9.99739122e-01 5.61840296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.615099893 meters 0.020160102197951776 Centerline is valid? [True, True] Translation: X:59.76, Y:1.78, Z:0.56 [[ 9.98105352e-01 -5.70017460e-02 -2.31626063e-02 5.97646937e+01] [ 5.70054498e-02 9.98373742e-01 -5.00887086e-04 1.77899581e+00] [ 2.31534894e-02 -8.20456711e-04 9.99731585e-01 5.63522455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645099893 meters 0.02123340650652714 Centerline is valid? [True, True] Translation: X:59.80, Y:1.78, Z:0.56 [[ 9.98008200e-01 -5.81315523e-02 -2.45021633e-02 5.97963957e+01] [ 5.81360705e-02 9.98308528e-01 -5.28499714e-04 1.77974778e+00] [ 2.44914411e-02 -8.97012444e-04 9.99699637e-01 5.60719578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.675099892999995 meters 0.02091618246434347 Centerline is valid? [True, True] Translation: X:59.83, Y:1.78, Z:0.56 [[ 9.97961754e-01 -5.87139011e-02 -2.50003019e-02 5.98289131e+01] [ 5.87188273e-02 9.98274416e-01 -5.37653712e-04 1.78060597e+00] [ 2.49887295e-02 -9.31430568e-04 9.99687299e-01 5.60908747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.705099892999996 meters 0.02252245321174285 Centerline is valid? [True, True] Translation: X:59.86, Y:1.78, Z:0.56 [[ 9.97959701e-01 -5.86647619e-02 -2.51968305e-02 5.98601493e+01] [ 5.86698163e-02 9.98277297e-01 -5.39260432e-04 1.77930985e+00] [ 2.51850594e-02 -9.40133234e-04 9.99682364e-01 5.60031873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.735099893 meters 0.021114828796650588 Centerline is valid? [True, True] Translation: X:59.89, Y:1.78, Z:0.56 [[ 9.98140891e-01 -5.63243698e-02 -2.32879318e-02 5.98912343e+01] [ 5.63280953e-02 9.98412189e-01 -4.96486026e-04 1.78268168e+00] [ 2.32789192e-02 -8.16201835e-04 9.99728676e-01 5.62150137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.765099893 meters 0.020451331724785873 Centerline is valid? [True, True] Translation: X:59.92, Y:1.79, Z:0.56 [[ 9.98311033e-01 -5.40285298e-02 -2.13541406e-02 5.99230048e+01] [ 5.40311562e-02 9.98539147e-01 -4.54368650e-04 1.78591847e+00] [ 2.13474942e-02 -7.00187668e-04 9.99771871e-01 5.64138631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.795099893 meters 0.01932140859355094 Centerline is valid? [True, True] Translation: X:59.95, Y:1.79, Z:0.57 [[ 9.98698373e-01 -4.75356645e-02 -1.84911070e-02 5.99526856e+01] [ 4.75365320e-02 9.98869423e-01 -3.92872536e-04 1.79135420e+00] [ 1.84888768e-02 -4.86641936e-04 9.99828948e-01 5.67015432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825099893 meters 0.01684383125157938 Centerline is valid? [True, True] Translation: X:59.98, Y:1.80, Z:0.57 [[ 9.98878941e-01 -4.41563828e-02 -1.70609517e-02 5.99844033e+01] [ 4.41566329e-02 9.99024555e-01 -3.62229785e-04 1.79614449e+00] [ 1.70603045e-02 -3.91530479e-04 9.99854386e-01 5.69550206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.855099892999995 meters 0.01476410816708694 Centerline is valid? [True, True] Translation: X:60.01, Y:1.81, Z:0.57 [[ 9.99330992e-01 -3.24014239e-02 -1.69621880e-02 6.00140941e+01] [ 3.23999891e-02 9.99474918e-01 -3.59460736e-04 1.80560337e+00] [ 1.69649285e-02 -1.90354453e-04 9.99856067e-01 5.69725634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.885099892999996 meters 0.013707216249408008 Centerline is valid? [True, True] Translation: X:60.05, Y:1.81, Z:0.57 [[ 9.99425347e-01 -2.82983873e-02 -1.86594979e-02 6.00459642e+01] [ 2.82959444e-02 9.99599512e-01 -3.94979918e-04 1.80929804e+00] [ 1.86632022e-02 -1.33235172e-04 9.99825818e-01 5.69900926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.915099893 meters 0.015416024062461033 Centerline is valid? [True, True] Translation: X:60.08, Y:1.81, Z:0.56 [[ 9.99312820e-01 -2.89538756e-02 -2.31421746e-02 6.00778041e+01] [ 2.89503326e-02 9.99580732e-01 -4.88184208e-04 1.80740759e+00] [ 2.31466066e-02 -1.82124913e-04 9.99732065e-01 5.64802416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.945099893 meters 0.015447325101424237 Centerline is valid? [True, True] Translation: X:60.11, Y:1.81, Z:0.56 [[ 9.99260682e-01 -3.05144460e-02 -2.33871242e-02 6.01080442e+01] [ 3.05112755e-02 9.99534301e-01 -4.92471913e-04 1.80733100e+00] [ 2.33912604e-02 -2.21463169e-04 9.99726363e-01 5.64946788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.975099893 meters 0.015447325101424237 Centerline is valid? [True, True] Translation: X:60.14, Y:1.81, Z:0.57 [[ 9.99261751e-01 -3.04794198e-02 -2.33871370e-02 6.01388879e+01] [ 3.04762539e-02 9.99535370e-01 -4.91863647e-04 1.80795085e+00] [ 2.33912623e-02 -2.21251796e-04 9.99726363e-01 5.65328235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.005099893 meters 0.015227738530552603 Centerline is valid? [True, True] Translation: X:60.17, Y:1.81, Z:0.57 [[ 9.99220697e-01 -3.12499537e-02 -2.41130632e-02 6.01700620e+01] [ 3.12468333e-02 9.99511570e-01 -5.06270890e-04 1.80904768e+00] [ 2.41171066e-02 -2.47580513e-04 9.99709110e-01 5.66093526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.035099893 meters 0.016719193459200733 Centerline is valid? [True, True] Translation: X:60.20, Y:1.81, Z:0.57 [[ 9.99209062e-01 -3.14058282e-02 -2.43910732e-02 6.01999769e+01] [ 3.14026978e-02 9.99506683e-01 -5.11458301e-04 1.80991582e+00] [ 2.43951034e-02 -2.54891731e-04 9.99702363e-01 5.65634635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.065099892999996 meters 0.015829206062612428 Centerline is valid? [True, True] Translation: X:60.23, Y:1.81, Z:0.57 [[ 9.99238053e-01 -3.16489436e-02 -2.28398166e-02 6.02316121e+01] [ 3.16462752e-02 9.99499017e-01 -4.78356177e-04 1.81109303e+00] [ 2.28435137e-02 -2.44803428e-04 9.99739023e-01 5.67931043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.095099893 meters 0.013586857639103193 Centerline is valid? [True, True] Translation: X:60.26, Y:1.81, Z:0.57 [[ 9.99261194e-01 -3.21750165e-02 -2.10198664e-02 6.02630880e+01] [ 3.21728876e-02 9.99482222e-01 -4.39529109e-04 1.81183324e+00] [ 2.10231246e-02 -2.37065416e-04 9.99778962e-01 5.72554915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.125099893 meters 0.014566303185508776 Centerline is valid? [True, True] Translation: X:60.29, Y:1.81, Z:0.57 [[ 9.99253585e-01 -3.27834516e-02 -2.04332760e-02 6.02949591e+01] [ 3.27815877e-02 9.99462448e-01 -4.26255720e-04 1.81256190e+00] [ 2.04362662e-02 -2.43897673e-04 9.99791128e-01 5.71600800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.155099893 meters 0.016671395923456657 Centerline is valid? [True, True] Translation: X:60.33, Y:1.81, Z:0.57 [[ 9.99148291e-01 -3.58524630e-02 -2.04277648e-02 6.03264978e+01] [ 3.58512683e-02 9.99357046e-01 -4.24815075e-04 1.81103496e+00] [ 2.04298613e-02 -3.07908020e-04 9.99791241e-01 5.69902170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.185099893 meters 0.01501216367246318 Centerline is valid? [True, True] Translation: X:60.36, Y:1.81, Z:0.57 [[ 9.98972932e-01 -4.12317655e-02 -1.87889069e-02 6.03583700e+01] [ 4.12317237e-02 9.99149535e-01 -3.89774344e-04 1.80916990e+00] [ 1.87889987e-02 -3.85325000e-04 9.99823397e-01 5.73813318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.215099893 meters 0.018684559834316758 Centerline is valid? [True, True] Translation: X:60.39, Y:1.81, Z:0.57 [[ 9.98680573e-01 -4.68865754e-02 -2.09466553e-02 6.03893585e+01] [ 4.68877851e-02 9.98900069e-01 -4.33638822e-04 1.80506772e+00] [ 2.09439473e-02 -5.49075606e-04 9.99780501e-01 5.69513027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.245099892999995 meters 0.018643173913772966 Centerline is valid? [True, True] Translation: X:60.42, Y:1.80, Z:0.57 [[ 9.98675420e-01 -4.70733268e-02 -2.07727601e-02 6.04201848e+01] [ 4.70745708e-02 9.98891286e-01 -4.29368522e-04 1.80099671e+00] [ 2.07699409e-02 -5.49068978e-04 9.99784131e-01 5.69298996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.275099893 meters 0.019317076612938983 Centerline is valid? [True, True] Translation: X:60.45, Y:1.80, Z:0.57 [[ 9.98607126e-01 -4.77941940e-02 -2.23500182e-02 6.04521003e+01] [ 4.77958465e-02 9.98857019e-01 -4.60549944e-04 1.79883845e+00] [ 2.23464842e-02 -6.08329583e-04 9.99750101e-01 5.68294246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.305099893 meters 0.016966823658140288 Centerline is valid? [True, True] Translation: X:60.48, Y:1.80, Z:0.57 [[ 9.98561251e-01 -4.89322446e-02 -2.19331460e-02 6.04845990e+01] [ 4.89341441e-02 9.98801906e-01 -4.50414367e-04 1.79946781e+00] [ 2.19289078e-02 -6.23513395e-04 9.99759338e-01 5.72224659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.335099893 meters 0.017550533059105405 Centerline is valid? [True, True] Translation: X:60.52, Y:1.80, Z:0.57 [[ 9.98469086e-01 -5.04043506e-02 -2.27790546e-02 6.05162516e+01] [ 5.04068160e-02 9.98728660e-01 -4.66304882e-04 1.79905807e+00] [ 2.27735984e-02 -6.82628603e-04 9.99740415e-01 5.72515099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.365099893 meters 0.019691146544278587 Centerline is valid? [True, True] Translation: X:60.55, Y:1.80, Z:0.57 [[ 9.98430728e-01 -5.05127984e-02 -2.41772123e-02 6.05475602e+01] [ 5.05156401e-02 9.98723148e-01 -4.93591630e-04 1.80011502e+00] [ 2.41712742e-02 -7.28510304e-04 9.99707567e-01 5.70004593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.395099893 meters 0.019822852517811792 Centerline is valid? [True, True] Translation: X:60.58, Y:1.80, Z:0.57 [[ 9.98534760e-01 -4.86639270e-02 -2.36675893e-02 6.05786885e+01] [ 4.86661606e-02 9.98814984e-01 -4.81945610e-04 1.80158623e+00] [ 2.36629962e-02 -6.70571259e-04 9.99719767e-01 5.71285306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.425099892999995 meters 0.016313234696600492 Centerline is valid? [True, True] Translation: X:60.61, Y:1.82, Z:0.58 [[ 9.99267870e-01 -3.15511363e-02 -2.16390959e-02 6.06089576e+01] [ 3.15490029e-02 9.99502109e-01 -4.40053835e-04 1.81565727e+00] [ 2.16422062e-02 -2.42960243e-04 9.99765751e-01 5.75567695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.455099892999996 meters 0.015419780279682336 Centerline is valid? [True, True] Translation: X:60.64, Y:1.82, Z:0.58 [[ 9.99428399e-01 -2.64795456e-02 -2.10168740e-02 6.06403572e+01] [ 2.64764181e-02 9.99649347e-01 -4.27102238e-04 1.81946259e+00] [ 2.10208139e-02 -1.29593438e-04 9.99779030e-01 5.76694835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.485099893 meters 0.012854462816687687 Centerline is valid? [True, True] Translation: X:60.67, Y:1.82, Z:0.58 [[ 9.99512863e-01 -2.42001015e-02 -1.97076705e-02 6.06710510e+01] [ 2.41969192e-02 9.99707132e-01 -3.99946858e-04 1.82106451e+00] [ 1.97115775e-02 -7.71128830e-05 9.99805705e-01 5.80017646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.515099893 meters 0.014833797840081457 Centerline is valid? [True, True] Translation: X:60.70, Y:1.82, Z:0.58 [[ 9.99654153e-01 -1.56083873e-02 -2.11648800e-02 6.07011136e+01] [ 1.56027963e-02 9.99878177e-01 -4.29281956e-04 1.82494317e+00] [ 2.11690020e-02 9.89021798e-05 9.99775907e-01 5.76586705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.545099893 meters 0.016525870640474147 Centerline is valid? [True, True] Translation: X:60.73, Y:1.83, Z:0.58 [[ 9.99793552e-01 -4.16356529e-03 -1.98876188e-02 6.07297601e+01] [ 4.15635687e-03 9.99991281e-01 -4.03778249e-04 1.83139714e+00] [ 1.98891266e-02 3.21034849e-04 9.99802140e-01 5.77431944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.575099893 meters 0.01720928242689573 Centerline is valid? [True, True] Translation: X:60.76, Y:1.83, Z:0.58 [[ 9.99847057e-01 -2.87106803e-04 -1.74865826e-02 6.07580133e+01] [ 2.80923338e-04 9.99999897e-01 -3.56067304e-04 1.83261220e+00] [ 1.74866830e-02 3.51100457e-04 9.99847035e-01 5.79170294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.605099892999995 meters 0.0174531169649752 Centerline is valid? [True, True] Translation: X:60.79, Y:1.83, Z:0.58 [[ 9.99872438e-01 1.87186406e-03 -1.58620257e-02 6.07855588e+01] [-1.87724654e-03 9.99998185e-01 -3.24448266e-04 1.83380506e+00] [ 1.58613896e-02 3.54183812e-04 9.99874138e-01 5.81003641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.635099892999996 meters 0.01575047484568558 Centerline is valid? [True, True] Translation: X:60.82, Y:1.79, Z:0.57 [[ 9.99303070e-01 -3.19672258e-02 -1.92735708e-02 6.08164177e+01] [ 3.19655259e-02 9.99488893e-01 -3.96343446e-04 1.79060625e+00] [ 1.92763899e-02 -2.20022604e-04 9.99814169e-01 5.72965999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.665099893 meters 0.017126832208142994 Centerline is valid? [True, True] Translation: X:60.85, Y:1.78, Z:0.57 [[ 9.99111375e-01 -3.75500005e-02 -1.91430774e-02 6.08476091e+01] [ 3.75493566e-02 9.99294697e-01 -3.93201779e-04 1.78200170e+00] [ 1.91443404e-02 -3.25957868e-04 9.99816677e-01 5.71407853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.695099893 meters 0.017190741756862662 Centerline is valid? [True, True] Translation: X:60.88, Y:1.78, Z:0.57 [[ 9.99052404e-01 -3.96364822e-02 -1.79789817e-02 6.08797569e+01] [ 3.96362799e-02 9.99214106e-01 -3.67731229e-04 1.77917131e+00] [ 1.79794277e-02 -3.45237183e-04 9.99838297e-01 5.72615573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.725099893 meters 0.01717977593216336 Centerline is valid? [True, True] Translation: X:60.91, Y:1.78, Z:0.58 [[ 9.98963883e-01 -4.26852529e-02 -1.57838480e-02 6.09119911e+01] [ 4.26854932e-02 9.99088507e-01 -3.21819221e-04 1.77538520e+00] [ 1.57831981e-02 -3.52255558e-04 9.99875376e-01 5.75579820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.755099893 meters 0.015606135367431394 Centerline is valid? [True, True] Translation: X:60.94, Y:1.77, Z:0.58 [[ 9.98945030e-01 -4.37306304e-02 -1.40164046e-02 6.09440874e+01] [ 4.37309353e-02 9.99043304e-01 -2.84882751e-04 1.77446746e+00] [ 1.40154533e-02 -3.28368275e-04 9.99901725e-01 5.80135680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785099893 meters 0.0187283811974863 Centerline is valid? [True, True] Translation: X:60.98, Y:1.77, Z:0.58 [[ 9.98911025e-01 -4.43737305e-02 -1.44130465e-02 6.09758780e+01] [ 4.43741363e-02 9.99014940e-01 -2.91797230e-04 1.77191556e+00] [ 1.44117970e-02 -3.48087022e-04 9.99896084e-01 5.78453653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.815099892999996 meters 0.018185324153002412 Centerline is valid? [True, True] Translation: X:61.01, Y:1.77, Z:0.58 [[ 9.98893446e-01 -4.49797094e-02 -1.37371647e-02 6.10080703e+01] [ 4.49801556e-02 9.98987842e-01 -2.76636427e-04 1.77003727e+00] [ 1.37357035e-02 -3.41569490e-04 9.99905602e-01 5.79691896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.845099893 meters 0.01563662983920958 Centerline is valid? [True, True] Translation: X:61.04, Y:1.77, Z:0.58 [[ 9.98876888e-01 -4.56934426e-02 -1.25328328e-02 6.10407141e+01] [ 4.56938804e-02 9.98955457e-01 -2.51563840e-04 1.76888846e+00] [ 1.25312366e-02 -3.21392459e-04 9.99921429e-01 5.83586108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.875099893 meters 0.01563662983920958 Centerline is valid? [True, True] Translation: X:61.07, Y:1.77, Z:0.58 [[ 9.98881900e-01 -4.55837388e-02 -1.25328513e-02 6.10732609e+01] [ 4.55841795e-02 9.98960470e-01 -2.50642741e-04 1.76945580e+00] [ 1.25312482e-02 -3.20937244e-04 9.99921429e-01 5.83988387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.905099893 meters 0.018077755128779186 Centerline is valid? [True, True] Translation: X:61.11, Y:1.77, Z:0.58 [[ 9.98869416e-01 -4.56110082e-02 -1.33987263e-02 6.11058181e+01] [ 4.56115351e-02 9.98959217e-01 -2.66412858e-04 1.76595091e+00] [ 1.33969325e-02 -3.45024819e-04 9.99910198e-01 5.81223607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.935099893 meters 0.018472576284069973 Centerline is valid? [True, True] Translation: X:61.14, Y:1.77, Z:0.58 [[ 9.98849392e-01 -4.58536118e-02 -1.40477476e-02 6.11379431e+01] [ 4.58542332e-02 9.98948103e-01 -2.78016928e-04 1.76554719e+00] [ 1.40457189e-02 -3.66451657e-04 9.99901287e-01 5.81002365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965099893 meters 0.018306706200843455 Centerline is valid? [True, True] Translation: X:61.17, Y:1.76, Z:0.58 [[ 9.98832952e-01 -4.60359771e-02 -1.46090282e-02 6.11704283e+01] [ 4.60366846e-02 9.98939708e-01 -2.88037144e-04 1.76467031e+00] [ 1.46067984e-02 -3.84850233e-04 9.99893241e-01 5.81469943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.995099892999995 meters 0.0169964902662773 Centerline is valid? [True, True] Translation: X:61.20, Y:1.76, Z:0.58 [[ 9.98849988e-01 -4.54303897e-02 -1.53225985e-02 6.12029351e+01] [ 4.54311145e-02 9.98967429e-01 -3.00957885e-04 1.76341858e+00] [ 1.53204494e-02 -3.95510946e-04 9.99882557e-01 5.82531950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.025099893 meters 0.0169964902662773 Centerline is valid? [True, True] Translation: X:61.24, Y:1.76, Z:0.58 [[ 9.98854898e-01 -4.53223009e-02 -1.53226221e-02 6.12354809e+01] [ 4.53230315e-02 9.98972338e-01 -2.99748352e-04 1.76397016e+00] [ 1.53204610e-02 -3.95062577e-04 9.99882557e-01 5.82934225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.055099893 meters 0.015447819805335323 Centerline is valid? [True, True] Translation: X:61.27, Y:1.76, Z:0.58 [[ 9.98914936e-01 -4.37227399e-02 -1.60397256e-02 6.12681688e+01] [ 4.37233622e-02 9.99043628e-01 -3.12043384e-04 1.76373558e+00] [ 1.60380291e-02 -3.89605936e-04 9.99871307e-01 5.84627567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.085099893 meters 0.016601580849760503 Centerline is valid? [True, True] Translation: X:61.30, Y:1.76, Z:0.58 [[ 9.99142547e-01 -3.77481353e-02 -1.70073142e-02 6.12986017e+01] [ 3.77479913e-02 9.99287236e-01 -3.29597804e-04 1.76068192e+00] [ 1.70076337e-02 -3.12676760e-04 9.99855311e-01 5.79729670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.115099893 meters 0.015211893342466106 Centerline is valid? [True, True] Translation: X:61.33, Y:1.76, Z:0.58 [[ 9.99219549e-01 -3.60674514e-02 -1.61068744e-02 6.13310349e+01] [ 3.60671117e-02 9.99349321e-01 -3.11667937e-04 1.76213471e+00] [ 1.61076351e-02 -2.69503741e-04 9.99870227e-01 5.81728680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145099893 meters 0.014389899705748497 Centerline is valid? [True, True] Translation: X:61.36, Y:1.76, Z:0.58 [[ 9.99293883e-01 -3.40418397e-02 -1.59024875e-02 6.13636831e+01] [ 3.40412711e-02 9.99420381e-01 -3.06521558e-04 1.76420438e+00] [ 1.59037047e-02 -2.35035770e-04 9.99873500e-01 5.83182307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.175099892999995 meters 0.014389899705748497 Centerline is valid? [True, True] Translation: X:61.40, Y:1.76, Z:0.58 [[ 9.99296351e-01 -3.39692851e-02 -1.59025140e-02 6.13953739e+01] [ 3.39687292e-02 9.99422850e-01 -3.05143249e-04 1.76475694e+00] [ 1.59037013e-02 -2.35259655e-04 9.99873500e-01 5.83573938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.205099892999996 meters 0.015116126600890675 Centerline is valid? [True, True] Translation: X:61.43, Y:1.77, Z:0.58 [[ 9.99368345e-01 -3.19033591e-02 -1.56552161e-02 6.14272730e+01] [ 3.19025845e-02 9.99490938e-01 -2.99274393e-04 1.76609211e+00] [ 1.56567945e-02 -2.00356500e-04 9.99877405e-01 5.83172270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.235099893 meters 0.013211276251017406 Centerline is valid? [True, True] Translation: X:61.46, Y:1.77, Z:0.59 [[ 9.99436267e-01 -3.01872334e-02 -1.46928446e-02 6.14597772e+01] [ 3.01863806e-02 9.99544248e-01 -2.79862259e-04 1.76720485e+00] [ 1.46945966e-02 -1.63819307e-04 9.99892015e-01 5.86567885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.265099893 meters 0.01478723488824896 Centerline is valid? [True, True] Translation: X:61.49, Y:1.77, Z:0.58 [[ 9.99499466e-01 -2.82002897e-02 -1.43374352e-02 6.14921061e+01] [ 2.81992880e-02 9.99602284e-01 -2.72068095e-04 1.76814916e+00] [ 1.43394053e-02 -1.32373547e-04 9.99897177e-01 5.84774879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.295099893 meters 0.01478723488824896 Centerline is valid? [True, True] Translation: X:61.52, Y:1.77, Z:0.59 [[ 9.99501533e-01 -2.81269108e-02 -1.43374551e-02 6.15237952e+01] [ 2.81259166e-02 9.99604351e-01 -2.71014728e-04 1.76869394e+00] [ 1.43394053e-02 -1.32374430e-04 9.99897177e-01 5.85166553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325099893 meters 0.012853953199174028 Centerline is valid? [True, True] Translation: X:61.56, Y:1.77, Z:0.59 [[ 9.99559283e-01 -2.67377059e-02 -1.28971132e-02 6.15553238e+01] [ 2.67367967e-02 9.99642478e-01 -2.42942666e-04 1.76927692e+00] [ 1.28989979e-02 -1.01991896e-04 9.99916799e-01 5.88513940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.355099892999995 meters 0.012846073032847747 Centerline is valid? [True, True] Translation: X:61.59, Y:1.77, Z:0.59 [[ 9.99604954e-01 -2.53308798e-02 -1.21771076e-02 6.15872517e+01] [ 2.53299725e-02 9.99679119e-01 -2.28754494e-04 1.77036640e+00] [ 1.21789947e-02 -7.97816752e-05 9.99925830e-01 5.89993748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.385099892999996 meters 0.015172368385005618 Centerline is valid? [True, True] Translation: X:61.62, Y:1.77, Z:0.59 [[ 9.99664569e-01 -2.26916982e-02 -1.24834302e-02 6.16196231e+01] [ 2.26905503e-02 9.99742509e-01 -2.33596114e-04 1.77204632e+00] [ 1.24855165e-02 -4.97381412e-05 9.99922052e-01 5.88948238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.415099893 meters 0.014789080922334254 Centerline is valid? [True, True] Translation: X:61.65, Y:1.77, Z:0.59 [[ 9.99714211e-01 -1.99837294e-02 -1.31204600e-02 6.16510618e+01] [ 1.99822407e-02 9.99800305e-01 -2.44554735e-04 1.77302610e+00] [ 1.31227270e-02 -1.76913454e-05 9.99913893e-01 5.89535202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.445099893 meters 0.012625081955890119 Centerline is valid? [True, True] Translation: X:61.68, Y:1.77, Z:0.59 [[ 9.99737104e-01 -1.88518584e-02 -1.30510634e-02 6.16810161e+01] [ 1.88502950e-02 9.99822288e-01 -2.42800633e-04 1.77350616e+00] [ 1.30533213e-02 -3.27959436e-06 9.99914802e-01 5.91939742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.475099893 meters 0.015459562484752219 Centerline is valid? [True, True] Translation: X:61.71, Y:1.77, Z:0.59 [[ 9.99751782e-01 -1.71441913e-02 -1.42285140e-02 6.17111646e+01] [ 1.71421637e-02 9.99853027e-01 -2.64462180e-04 1.77394483e+00] [ 1.42309568e-02 2.04890196e-05 9.99898735e-01 5.88641130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.505099893 meters 0.01576526507444104 Centerline is valid? [True, True] Translation: X:61.74, Y:1.77, Z:0.59 [[ 9.99774962e-01 -1.41848972e-02 -1.57738225e-02 6.17411549e+01] [ 1.41820349e-02 9.99899387e-01 -2.93308644e-04 1.77438154e+00] [ 1.57763960e-02 6.95377373e-05 9.99875543e-01 5.87411342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.535099893 meters 0.014294701414224396 Centerline is valid? [True, True] Translation: X:61.77, Y:1.78, Z:0.59 [[ 9.99784196e-01 -1.31137013e-02 -1.61118870e-02 6.17686326e+01] [ 1.31105630e-02 9.99914008e-01 -3.00393009e-04 1.77526240e+00] [ 1.61144408e-02 8.90922723e-05 9.99870150e-01 5.88091392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.565099892999996 meters 0.01284600517896805 Centerline is valid? [True, True] Translation: X:61.80, Y:1.78, Z:0.59 [[ 9.99792885e-01 -1.23600482e-02 -1.61683503e-02 6.17969488e+01] [ 1.23567532e-02 9.99923606e-01 -3.03685849e-04 1.77514390e+00] [ 1.61708687e-02 1.03834638e-04 9.99869238e-01 5.89835369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.595099893 meters 0.01402081103447108 Centerline is valid? [True, True] Translation: X:61.82, Y:1.78, Z:0.59 [[ 9.99789376e-01 -1.16298305e-02 -1.69101036e-02 6.18249452e+01] [ 1.16260502e-02 9.99932363e-01 -3.21840303e-04 1.77543756e+00] [ 1.69127028e-02 1.25174803e-04 9.99856962e-01 5.87895403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.625099893 meters 0.01402081103447108 Centerline is valid? [True, True] Translation: X:61.85, Y:1.78, Z:0.59 [[ 9.99785958e-01 -1.19200691e-02 -1.69100566e-02 6.18523272e+01] [ 1.19162890e-02 9.99928946e-01 -3.24286420e-04 1.77601186e+00] [ 1.69127206e-02 1.22711888e-04 9.99856962e-01 5.88234487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.655099893 meters 0.012864718537498591 Centerline is valid? [True, True] Translation: X:61.88, Y:1.78, Z:0.59 [[ 9.99798828e-01 -1.19817225e-02 -1.60854435e-02 6.18806485e+01] [ 1.19782377e-02 9.99928209e-01 -3.12971121e-04 1.77616824e+00] [ 1.60880386e-02 1.20232894e-04 9.99870572e-01 5.90462526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.685099893 meters 0.012864718537498591 Centerline is valid? [True, True] Translation: X:61.91, Y:1.78, Z:0.59 [[ 9.99795301e-01 -1.22726152e-02 -1.60853512e-02 6.19080303e+01] [ 1.22690928e-02 9.99924681e-01 -3.17650580e-04 1.77675907e+00] [ 1.60880381e-02 1.20232890e-04 9.99870572e-01 5.90802414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.715099893 meters 0.012864718537498591 Centerline is valid? [True, True] Translation: X:61.94, Y:1.78, Z:0.59 [[ 9.99791690e-01 -1.25635068e-02 -1.60852576e-02 6.19354119e+01] [ 1.25599468e-02 9.99921069e-01 -3.22330011e-04 1.77735786e+00] [ 1.60880376e-02 1.20232887e-04 9.99870572e-01 5.91142303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.745099892999995 meters 0.014692149911388137 Centerline is valid? [True, True] Translation: X:61.96, Y:1.78, Z:0.59 [[ 9.99795372e-01 -1.26603524e-02 -1.57775186e-02 6.19631901e+01] [ 1.26568677e-02 9.99919847e-01 -3.20697388e-04 1.77722268e+00] [ 1.57803142e-02 1.20937798e-04 9.99875476e-01 5.89400443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.775099893 meters 0.015678795050471553 Centerline is valid? [True, True] Translation: X:61.99, Y:1.78, Z:0.59 [[ 9.99796257e-01 -1.27571388e-02 -1.56429053e-02 6.19897163e+01] [ 1.27536580e-02 9.99918617e-01 -3.22259675e-04 1.77716969e+00] [ 1.56457434e-02 1.22689753e-04 9.99877590e-01 5.88944409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.805099893 meters 0.015678795050471553 Centerline is valid? [True, True] Translation: X:62.02, Y:1.78, Z:0.59 [[ 9.99792494e-01 -1.30487522e-02 -1.56428313e-02 6.20170975e+01] [ 1.30452513e-02 9.99914854e-01 -3.25819393e-04 1.77778953e+00] [ 1.56457509e-02 1.21687118e-04 9.99877590e-01 5.89283972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.835099893 meters 0.014241071339833688 Centerline is valid? [True, True] Translation: X:62.05, Y:1.78, Z:0.59 [[ 9.99786115e-01 -1.42851798e-02 -1.49551923e-02 6.20451057e+01] [ 1.42820555e-02 9.99897956e-01 -3.15695747e-04 1.77744154e+00] [ 1.49581760e-02 1.02037337e-04 9.99888115e-01 5.90774774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.865099893 meters 0.014241071339833688 Centerline is valid? [True, True] Translation: X:62.07, Y:1.78, Z:0.59 [[ 9.99782476e-01 -1.45377447e-02 -1.49551019e-02 6.20733345e+01] [ 1.45345853e-02 9.99894316e-01 -3.19927197e-04 1.77807089e+00] [ 1.49581724e-02 1.02491400e-04 9.99888115e-01 5.91125132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.895099893 meters 0.014900719003624162 Centerline is valid? [True, True] Translation: X:62.10, Y:1.78, Z:0.59 [[ 9.99764678e-01 -1.55086231e-02 -1.51680971e-02 6.21010803e+01] [ 1.55054329e-02 9.99879730e-01 -3.27903361e-04 1.77730072e+00] [ 1.51713582e-02 9.26382853e-05 9.99884904e-01 5.90518937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.925099892999995 meters 0.014900719003624162 Centerline is valid? [True, True] Translation: X:62.13, Y:1.78, Z:0.59 [[ 9.99760780e-01 -1.57579463e-02 -1.51680579e-02 6.21293099e+01] [ 1.57547575e-02 9.99875832e-01 -3.29708104e-04 1.77794306e+00] [ 1.51713700e-02 9.06601578e-05 9.99884904e-01 5.90868509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.955099892999996 meters 0.014203806218629926 Centerline is valid? [True, True] Translation: X:62.16, Y:1.78, Z:0.59 [[ 9.99738068e-01 -1.77096054e-02 -1.44970708e-02 6.21576325e+01] [ 1.77068472e-02 9.99843171e-01 -3.18604358e-04 1.77664448e+00] [ 1.45004396e-02 6.18234886e-05 9.99894861e-01 5.91092183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.985099893 meters 0.013606909706843383 Centerline is valid? [True, True] Translation: X:62.19, Y:1.78, Z:0.59 [[ 9.99698671e-01 -1.99581949e-02 -1.42911570e-02 6.21872430e+01] [ 1.99556997e-02 9.99800815e-01 -3.17194096e-04 1.77501275e+00] [ 1.42946410e-02 3.19084790e-05 9.99897826e-01 5.91771260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.015099893 meters 0.013606909706843383 Centerline is valid? [True, True] Translation: X:62.22, Y:1.78, Z:0.59 [[ 9.99698671e-01 -1.99582004e-02 -1.42911472e-02 6.22172335e+01] [ 1.99556989e-02 9.99800815e-01 -3.17634832e-04 1.77567953e+00] [ 1.42946400e-02 3.23492901e-05 9.99897826e-01 5.92142395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.045099893 meters 0.01432250122412763 Centerline is valid? [True, True] Translation: X:62.25, Y:1.77, Z:0.59 [[ 9.99637476e-01 -2.29715233e-02 -1.40437278e-02 6.22470971e+01] [ 2.29694041e-02 9.99736120e-01 -3.12197416e-04 1.77340460e+00] [ 1.40471936e-02 -1.04918231e-05 9.99901333e-01 5.91986964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.075099893 meters 0.02249863071879228 Centerline is valid? [True, True] Translation: X:62.28, Y:1.74, Z:0.59 [[ 9.97946612e-01 -6.22654263e-02 -1.50192217e-02 6.22778200e+01] [ 6.22674349e-02 9.98059445e-01 -3.34309716e-04 1.73935491e+00] [ 1.50108920e-02 -6.01585164e-04 9.99887149e-01 5.89722275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.105099892999995 meters 0.021190990699555164 Centerline is valid? [True, True] Translation: X:62.31, Y:1.74, Z:0.59 [[ 9.97876418e-01 -6.35080131e-02 -1.44702179e-02 6.23095040e+01] [ 6.35100135e-02 9.97981149e-01 -3.21707776e-04 1.74141541e+00] [ 1.44614357e-02 -5.97979129e-04 9.99895249e-01 5.91126944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.135099892999996 meters 0.022396636035322392 Centerline is valid? [True, True] Translation: X:62.34, Y:1.74, Z:0.59 [[ 9.97827374e-01 -6.41865814e-02 -1.48531205e-02 6.23412404e+01] [ 6.41887766e-02 9.97937720e-01 -3.29375965e-04 1.74169005e+00] [ 1.48436307e-02 -6.24743281e-04 9.99889632e-01 5.90859319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.165099893 meters 0.02147786618565224 Centerline is valid? [True, True] Translation: X:62.37, Y:1.74, Z:0.59 [[ 9.97758759e-01 -6.54807174e-02 -1.37744342e-02 6.23729780e+01] [ 6.54827382e-02 9.97853656e-01 -3.04741169e-04 1.74178891e+00] [ 1.37648242e-02 -5.97929499e-04 9.99905082e-01 5.93059518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.195099893 meters 0.02246765990196725 Centerline is valid? [True, True] Translation: X:62.40, Y:1.74, Z:0.59 [[ 9.97690453e-01 -6.64087141e-02 -1.42703123e-02 6.24048993e+01] [ 6.64109899e-02 9.97792304e-01 -3.14866989e-04 1.74235276e+00] [ 1.42597177e-02 -6.33565777e-04 9.99898124e-01 5.92205752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.225099893 meters 0.02246765990196725 Centerline is valid? [True, True] Translation: X:62.44, Y:1.74, Z:0.59 [[ 9.97697775e-01 -6.62986161e-02 -1.42703369e-02 6.24374609e+01] [ 6.63008965e-02 9.97799626e-01 -3.13750264e-04 1.74298448e+00] [ 1.42597380e-02 -6.33108187e-04 9.99898124e-01 5.92608276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.255099893 meters 0.023333295815706992 Centerline is valid? [True, True] Translation: X:62.47, Y:1.74, Z:0.59 [[ 9.97607499e-01 -6.76037689e-02 -1.44570891e-02 6.24698803e+01] [ 6.76062684e-02 9.97712029e-01 -3.16320542e-04 1.74281732e+00] [ 1.44453962e-02 -6.61826102e-04 9.99895441e-01 5.92634094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285099893 meters 0.02070470027579103 Centerline is valid? [True, True] Translation: X:62.50, Y:1.75, Z:0.60 [[ 9.97526641e-01 -6.88991879e-02 -1.39105381e-02 6.25023053e+01] [ 6.89016413e-02 9.97623412e-01 -3.03377272e-04 1.74541913e+00] [ 1.38983810e-02 -6.55831999e-04 9.99903198e-01 5.95802088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.315099892999996 meters 0.02503448548205945 Centerline is valid? [True, True] Translation: X:62.53, Y:1.74, Z:0.59 [[ 9.97435885e-01 -6.98555409e-02 -1.55517924e-02 6.25330483e+01] [ 6.98587415e-02 9.97556836e-01 -3.38016836e-04 1.74282509e+00] [ 1.55374092e-02 -7.49278522e-04 9.99879006e-01 5.92384013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.345099893 meters 0.02503448548205945 Centerline is valid? [True, True] Translation: X:62.57, Y:1.74, Z:0.59 [[ 9.97443442e-01 -6.97475519e-02 -1.55518099e-02 6.25656150e+01] [ 6.97507519e-02 9.97564393e-01 -3.37210789e-04 1.74344446e+00] [ 1.55374514e-02 -7.48401742e-04 9.99879006e-01 5.92786722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.375099893 meters 0.02560252595427055 Centerline is valid? [True, True] Translation: X:62.60, Y:1.74, Z:0.59 [[ 9.97354623e-01 -7.09631938e-02 -1.57473940e-02 6.25974812e+01] [ 7.09666512e-02 9.97478631e-01 -3.39853488e-04 1.74360921e+00] [ 1.57318061e-02 -7.78585367e-04 9.99875944e-01 5.93456908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.405099893 meters 0.02390637155381079 Centerline is valid? [True, True] Translation: X:62.63, Y:1.75, Z:0.59 [[ 9.97307935e-01 -7.16120496e-02 -1.57669327e-02 6.26292112e+01] [ 7.16156143e-02 9.97432248e-01 -3.39139622e-04 1.74718143e+00] [ 1.57507336e-02 -7.90931932e-04 9.99875637e-01 5.94467843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.435099893 meters 0.023896498594742323 Centerline is valid? [True, True] Translation: X:62.66, Y:1.75, Z:0.59 [[ 9.97284786e-01 -7.18845096e-02 -1.59897627e-02 6.26608855e+01] [ 7.18882286e-02 9.97412635e-01 -3.42810821e-04 1.74959497e+00] [ 1.59730342e-02 -8.07595702e-04 9.99872097e-01 5.94010375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465099893 meters 0.026263382586491486 Centerline is valid? [True, True] Translation: X:62.69, Y:1.75, Z:0.59 [[ 9.97255475e-01 -7.22114236e-02 -1.63409820e-02 6.26920025e+01] [ 7.22153722e-02 9.97389000e-01 -3.49078844e-04 1.74786047e+00] [ 1.63235232e-02 -8.31949309e-04 9.99866416e-01 5.94212206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.495099892999995 meters 0.026263382586491486 Centerline is valid? [True, True] Translation: X:62.72, Y:1.75, Z:0.59 [[ 9.97263224e-01 -7.21043226e-02 -1.63410279e-02 6.27245741e+01] [ 7.21082921e-02 9.97396748e-01 -3.46919251e-04 1.74846339e+00] [ 1.63235025e-02 -8.32353803e-04 9.99866416e-01 5.94614615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.525099893 meters 0.026329009682028337 Centerline is valid? [True, True] Translation: X:62.76, Y:1.75, Z:0.59 [[ 9.97276455e-01 -7.18449141e-02 -1.66727752e-02 6.27563855e+01] [ 7.18490382e-02 9.97415456e-01 -3.52295026e-04 1.75166236e+00] [ 1.66549943e-02 -8.46587327e-04 9.99860938e-01 5.94048761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.555099893 meters 0.02529968024000086 Centerline is valid? [True, True] Translation: X:62.79, Y:1.76, Z:0.59 [[ 9.97294885e-01 -7.15114115e-02 -1.70008886e-02 6.27889711e+01] [ 7.15156724e-02 9.97439412e-01 -3.57973428e-04 1.75523450e+00] [ 1.69829555e-02 -8.58824914e-04 9.99855410e-01 5.94771488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.585099893 meters 0.02529968024000086 Centerline is valid? [True, True] Translation: X:62.82, Y:1.76, Z:0.60 [[ 9.97302804e-01 -7.14008865e-02 -1.70009185e-02 6.28215438e+01] [ 7.14051557e-02 9.97447330e-01 -3.56549309e-04 1.75583390e+00] [ 1.69829787e-02 -8.58365608e-04 9.99855410e-01 5.95174135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.615099893 meters 0.02322575732952603 Centerline is valid? [True, True] Translation: X:62.85, Y:1.76, Z:0.60 [[ 9.97344097e-01 -7.10311391e-02 -1.61037318e-02 6.28535716e+01] [ 7.10349467e-02 9.97473771e-01 -3.36157712e-04 1.75902766e+00] [ 1.60869277e-02 -8.08662820e-04 9.99870270e-01 5.97171368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645099893 meters 0.023732274630861656 Centerline is valid? [True, True] Translation: X:62.89, Y:1.76, Z:0.60 [[ 9.97418653e-01 -6.98118207e-02 -1.68029567e-02 6.28861678e+01] [ 6.98158166e-02 9.97559838e-01 -3.49387155e-04 1.76209847e+00] [ 1.67863461e-02 -8.24626876e-04 9.99858759e-01 5.96560977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.675099892999995 meters 0.023732274630861656 Centerline is valid? [True, True] Translation: X:62.92, Y:1.76, Z:0.60 [[ 9.97426428e-01 -6.97006523e-02 -1.68029906e-02 6.29187391e+01] [ 6.97046600e-02 9.97567611e-01 -3.47749458e-04 1.76268970e+00] [ 1.67863575e-02 -8.24392245e-04 9.99858759e-01 5.96963532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.705099892999996 meters 0.025062042638005082 Centerline is valid? [True, True] Translation: X:62.95, Y:1.76, Z:0.60 [[ 9.97504360e-01 -6.85481555e-02 -1.69174816e-02 6.29500469e+01] [ 6.85520803e-02 9.97647478e-01 -3.48479778e-04 1.76356566e+00] [ 1.69015705e-02 -8.12118460e-04 9.99856828e-01 5.97135314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.735099893 meters 0.021919696407656414 Centerline is valid? [True, True] Translation: X:62.98, Y:1.77, Z:0.60 [[ 9.97611695e-01 -6.72950055e-02 -1.55656142e-02 6.29824338e+01] [ 6.72981892e-02 9.97732856e-01 -3.19771172e-04 1.76854106e+00] [ 1.55518437e-02 -7.28530187e-04 9.99878797e-01 6.00632723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.765099893 meters 0.021919696407656414 Centerline is valid? [True, True] Translation: X:63.02, Y:1.77, Z:0.60 [[ 9.97619086e-01 -6.71853422e-02 -1.55656399e-02 6.30150011e+01] [ 6.71885321e-02 9.97740247e-01 -3.18516307e-04 1.76912264e+00] [ 1.55518650e-02 -7.28074548e-04 9.99878797e-01 6.01035293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.795099893 meters 0.023987522402462144 Centerline is valid? [True, True] Translation: X:63.05, Y:1.77, Z:0.60 [[ 9.97781491e-01 -6.42793315e-02 -1.73281475e-02 6.30455957e+01] [ 6.42828769e-02 9.97931655e-01 -3.52888086e-04 1.77433313e+00] [ 1.73149903e-02 -7.61797972e-04 9.99849794e-01 5.97506587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825099893 meters 0.0172329379507653 Centerline is valid? [True, True] Translation: X:63.08, Y:1.80, Z:0.60 [[ 9.98644649e-01 -5.02727878e-02 -1.34726673e-02 6.30757737e+01] [ 5.02736618e-02 9.98735442e-01 -2.74013284e-04 1.80213269e+00] [ 1.34694058e-02 -4.03678422e-04 9.99909202e-01 6.02824427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.855099892999995 meters 0.0172329379507653 Centerline is valid? [True, True] Translation: X:63.11, Y:1.80, Z:0.60 [[ 9.98650060e-01 -5.01651787e-02 -1.34726716e-02 6.31083228e+01] [ 5.01660457e-02 9.98740854e-01 -2.73801047e-04 1.80270774e+00] [ 1.34694429e-02 -4.02439230e-04 9.99909202e-01 6.03227006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.885099892999996 meters 0.017761720050931615 Centerline is valid? [True, True] Translation: X:63.14, Y:1.81, Z:0.60 [[ 9.98761261e-01 -4.75508719e-02 -1.46580258e-02 6.31402386e+01] [ 4.75516406e-02 9.98868737e-01 -2.96276741e-04 1.80582746e+00] [ 1.46555319e-02 -4.01103444e-04 9.99892521e-01 6.00351730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.915099893 meters 0.017400922955670344 Centerline is valid? [True, True] Translation: X:63.17, Y:1.81, Z:0.60 [[ 9.98855907e-01 -4.51510479e-02 -1.57562470e-02 6.31722064e+01] [ 4.51516567e-02 9.98980094e-01 -3.17276112e-04 1.81029213e+00] [ 1.57545025e-02 -3.94507537e-04 9.99875812e-01 5.99330966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.945099893 meters 0.017400922955670344 Centerline is valid? [True, True] Translation: X:63.20, Y:1.81, Z:0.60 [[ 9.98860897e-01 -4.50405083e-02 -1.57562728e-02 6.32047533e+01] [ 4.50411236e-02 9.98985084e-01 -3.15990166e-04 1.81086331e+00] [ 1.57545139e-02 -3.94050011e-04 9.99875812e-01 5.99733244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.975099893 meters 0.016553608974304027 Centerline is valid? [True, True] Translation: X:63.24, Y:1.81, Z:0.60 [[ 9.98947874e-01 -4.30062368e-02 -1.59250912e-02 6.32356935e+01] [ 4.30066321e-02 9.99074736e-01 -3.17797255e-04 1.81313731e+00] [ 1.59240236e-02 -3.67421646e-04 9.99873137e-01 5.99897951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.005099893 meters 0.016553608974304027 Centerline is valid? [True, True] Translation: X:63.27, Y:1.81, Z:0.60 [[ 9.98951001e-01 -4.29335421e-02 -1.59251098e-02 6.32673898e+01] [ 4.29339431e-02 9.99077863e-01 -3.16860800e-04 1.81371252e+00] [ 1.59240287e-02 -3.67199347e-04 9.99873137e-01 6.00289790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.035099893 meters 0.014472072038673286 Centerline is valid? [True, True] Translation: X:63.30, Y:1.82, Z:0.60 [[ 9.99033100e-01 -4.10170033e-02 -1.58262551e-02 6.32996459e+01] [ 4.10171771e-02 9.99158392e-01 -3.13747302e-04 1.81642904e+00] [ 1.58258046e-02 -3.35704370e-04 9.99874708e-01 6.02424362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.065099892999996 meters 0.014095551660271096 Centerline is valid? [True, True] Translation: X:63.33, Y:1.82, Z:0.60 [[ 9.99138973e-01 -3.78541316e-02 -1.69816884e-02 6.33311128e+01] [ 3.78538957e-02 9.99283228e-01 -3.35436304e-04 1.82094768e+00] [ 1.69822140e-02 -3.07675576e-04 9.99855744e-01 6.01624669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.095099893 meters 0.01541104027385159 Centerline is valid? [True, True] Translation: X:63.36, Y:1.82, Z:0.60 [[ 9.99170922e-01 -3.63971606e-02 -1.82404929e-02 6.33636594e+01] [ 3.63966668e-02 9.99337357e-01 -3.59153877e-04 1.82394772e+00] [ 1.82414782e-02 -3.05037033e-04 9.99833564e-01 5.99461049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.125099893 meters 0.0140146988439826 Centerline is valid? [True, True] Translation: X:63.40, Y:1.83, Z:0.60 [[ 9.99251660e-01 -3.47000777e-02 -1.70887300e-02 6.33956928e+01] [ 3.46994165e-02 9.99397738e-01 -3.35286146e-04 1.82808418e+00] [ 1.70900726e-02 -2.57933721e-04 9.99853921e-01 6.01572929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.155099893 meters 0.013646365719075687 Centerline is valid? [True, True] Translation: X:63.43, Y:1.83, Z:0.60 [[ 9.99292850e-01 -3.37654401e-02 -1.65437307e-02 6.34265621e+01] [ 3.37647108e-02 9.99429757e-01 -3.23479807e-04 1.82973331e+00] [ 1.65452192e-02 -2.35343223e-04 9.99863091e-01 6.02138780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.185099893 meters 0.016045882527453408 Centerline is valid? [True, True] Translation: X:63.46, Y:1.83, Z:0.60 [[ 9.99288386e-01 -3.35985122e-02 -1.71424194e-02 6.34576389e+01] [ 3.35977210e-02 9.99435381e-01 -3.34224338e-04 1.83057007e+00] [ 1.71439699e-02 -2.41959725e-04 9.99853002e-01 6.00404805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.215099893 meters 0.013650637404838607 Centerline is valid? [True, True] Translation: X:63.49, Y:1.83, Z:0.61 [[ 9.99281331e-01 -3.52744412e-02 -1.38756790e-02 6.34898010e+01] [ 3.52740933e-02 9.99377639e-01 -2.69884867e-04 1.83152280e+00] [ 1.38765634e-02 -2.19761088e-04 9.99903692e-01 6.05749239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.245099892999995 meters 0.01504268264320777 Centerline is valid? [True, True] Translation: X:63.52, Y:1.83, Z:0.60 [[ 9.99250594e-01 -3.60727604e-02 -1.40358845e-02 6.35223069e+01] [ 3.60724974e-02 9.99349139e-01 -2.71981490e-04 1.83195013e+00] [ 1.40365602e-02 -2.34531741e-04 9.99901455e-01 6.04568227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.275099893 meters 0.016387912104258405 Centerline is valid? [True, True] Translation: X:63.55, Y:1.83, Z:0.60 [[ 9.99119394e-01 -3.95186850e-02 -1.40964372e-02 6.35547666e+01] [ 3.95187770e-02 9.99218791e-01 -2.72136998e-04 1.83079472e+00] [ 1.40961794e-02 -2.85176603e-04 9.99900603e-01 6.04483096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.305099893 meters 0.018180857947864927 Centerline is valid? [True, True] Translation: X:63.59, Y:1.83, Z:0.60 [[ 9.98879929e-01 -4.49886518e-02 -1.46597738e-02 6.35860567e+01] [ 4.49893547e-02 9.98987427e-01 -2.82003820e-04 1.82816595e+00] [ 1.46576166e-02 -3.77845806e-04 9.99892500e-01 6.03373495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.335099893 meters 0.018942458857739892 Centerline is valid? [True, True] Translation: X:63.62, Y:1.83, Z:0.60 [[ 9.98722156e-01 -4.83006202e-02 -1.48696079e-02 6.36175104e+01] [ 4.83017189e-02 9.98832750e-01 -2.85449085e-04 1.82575064e+00] [ 1.48660388e-02 -4.33143297e-04 9.99889401e-01 6.03819567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.365099893 meters 0.02452548540227321 Centerline is valid? [True, True] Translation: X:63.65, Y:1.82, Z:0.60 [[ 9.97818013e-01 -6.40693056e-02 -1.59479606e-02 6.36474358e+01] [ 6.40725907e-02 9.97945194e-01 -3.05396151e-04 1.81758819e+00] [ 1.59347571e-02 -7.17097372e-04 9.99872777e-01 6.02810935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.395099893 meters 0.02283055655051404 Centerline is valid? [True, True] Translation: X:63.68, Y:1.82, Z:0.61 [[ 9.97783961e-01 -6.51634004e-02 -1.34498151e-02 6.36793066e+01] [ 6.51658383e-02 9.97874415e-01 -2.57382159e-04 1.82156394e+00] [ 1.34379983e-02 -6.19656689e-04 9.99909514e-01 6.07591674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.425099892999995 meters 0.02122148139569076 Centerline is valid? [True, True] Translation: X:63.71, Y:1.83, Z:0.61 [[ 9.98129472e-01 -5.94842900e-02 -1.41129812e-02 6.37089287e+01] [ 5.94864205e-02 9.98229079e-01 -2.69151770e-04 1.82815454e+00] [ 1.41039985e-02 -5.70882418e-04 9.99900371e-01 6.07344427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.455099892999996 meters 0.020212200650004633 Centerline is valid? [True, True] Translation: X:63.74, Y:1.83, Z:0.61 [[ 9.98233282e-01 -5.76992610e-02 -1.41813132e-02 6.37415108e+01] [ 5.77012335e-02 9.98333859e-01 -2.70371499e-04 1.83114720e+00] [ 1.41732853e-02 -5.48385433e-04 9.99899404e-01 6.07257339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.485099893 meters 0.018867481969407962 Centerline is valid? [True, True] Translation: X:63.77, Y:1.84, Z:0.61 [[ 9.98370864e-01 -5.51756798e-02 -1.45348717e-02 6.37726397e+01] [ 5.51775025e-02 9.98476523e-01 -2.75897949e-04 1.83505786e+00] [ 1.45279510e-02 -5.26549446e-04 9.99894325e-01 6.06651998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.515099893 meters 0.01876634591591979 Centerline is valid? [True, True] Translation: X:63.80, Y:1.84, Z:0.61 [[ 9.98440792e-01 -5.38822725e-02 -1.45837239e-02 6.38047785e+01] [ 5.38839785e-02 9.98547165e-01 -2.76213953e-04 1.83670790e+00] [ 1.45774192e-02 -5.10045786e-04 9.99893614e-01 6.06787733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.545099893 meters 0.01940440511789745 Centerline is valid? [True, True] Translation: X:63.84, Y:1.84, Z:0.61 [[ 9.98496649e-01 -5.27748487e-02 -1.48073536e-02 6.38355710e+01] [ 5.27765011e-02 9.98606310e-01 -2.79417356e-04 1.83733559e+00] [ 1.48014630e-02 -5.02483021e-04 9.99890326e-01 6.06997302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.575099893 meters 0.01912227950847672 Centerline is valid? [True, True] Translation: X:63.87, Y:1.84, Z:0.61 [[ 9.98617269e-01 -5.02037826e-02 -1.55926086e-02 6.38680333e+01] [ 5.02053163e-02 9.98738875e-01 -2.93314052e-04 1.84120510e+00] [ 1.55876698e-02 -4.89923368e-04 9.99878385e-01 6.05672604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.605099892999995 meters 0.01912227950847672 Centerline is valid? [True, True] Translation: X:63.90, Y:1.84, Z:0.61 [[ 9.98622532e-01 -5.00989830e-02 -1.55926310e-02 6.39005869e+01] [ 5.01005225e-02 9.98744138e-01 -2.92117989e-04 1.84172497e+00] [ 1.55876836e-02 -4.89483356e-04 9.99878385e-01 6.06074956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.635099892999996 meters 0.01718475499895355 Centerline is valid? [True, True] Translation: X:63.93, Y:1.85, Z:0.61 [[ 9.98687241e-01 -4.87476068e-02 -1.57310371e-02 6.39329252e+01] [ 4.87490308e-02 9.98811016e-01 -2.93158995e-04 1.84586725e+00] [ 1.57266240e-02 -4.74098664e-04 9.99876217e-01 6.07982523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.665099893 meters 0.016956444961416902 Centerline is valid? [True, True] Translation: X:63.96, Y:1.85, Z:0.61 [[ 9.98769400e-01 -4.69148762e-02 -1.60835042e-02 6.39642575e+01] [ 4.69161451e-02 9.98898787e-01 -2.98617219e-04 1.84796725e+00] [ 1.60798024e-02 -4.56326275e-04 9.99870607e-01 6.08460755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.695099893 meters 0.016869568333677636 Centerline is valid? [True, True] Translation: X:64.00, Y:1.85, Z:0.61 [[ 9.98866158e-01 -4.45919037e-02 -1.66721499e-02 6.39960708e+01] [ 4.45929605e-02 9.99005192e-01 -3.08551394e-04 1.85095330e+00] [ 1.66693232e-02 -4.35258977e-04 9.99860962e-01 6.07724287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.725099893 meters 0.01675774819135152 Centerline is valid? [True, True] Translation: X:64.03, Y:1.85, Z:0.61 [[ 9.98972703e-01 -4.18627280e-02 -1.73508022e-02 6.40286893e+01] [ 4.18634848e-02 9.99123289e-01 -3.19749309e-04 1.85453302e+00] [ 1.73489762e-02 -4.06944214e-04 9.99849412e-01 6.07542191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.755099893 meters 0.014036114304716856 Centerline is valid? [True, True] Translation: X:64.06, Y:1.86, Z:0.61 [[ 9.99171866e-01 -3.62089791e-02 -1.85604871e-02 6.40597591e+01] [ 3.62088963e-02 9.99344185e-01 -3.40631693e-04 1.86184697e+00] [ 1.85606488e-02 -3.31705149e-04 9.99827681e-01 6.09917109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.785099893 meters 0.012687879928148979 Centerline is valid? [True, True] Translation: X:64.09, Y:1.88, Z:0.61 [[ 9.99622599e-01 -1.95540819e-02 -1.92950068e-02 6.40899714e+01] [ 1.95509007e-02 9.99808800e-01 -3.53511155e-04 1.87570914e+00] [ 1.92982302e-02 -2.38570226e-05 9.99813772e-01 6.08180312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.815099892999996 meters 0.012687879928148979 Centerline is valid? [True, True] Translation: X:64.12, Y:1.88, Z:0.61 [[ 9.99617710e-01 -1.98024688e-02 -1.92949792e-02 6.41181882e+01] [ 1.97993050e-02 9.99803912e-01 -3.55006296e-04 1.87625768e+00] [ 1.92982257e-02 -2.71565987e-05 9.99813772e-01 6.08529261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.845099893 meters 0.012675779472477776 Centerline is valid? [True, True] Translation: X:64.15, Y:1.88, Z:0.61 [[ 9.99713099e-01 -1.62491695e-02 -1.75978495e-02 6.41465905e+01] [ 1.62459151e-02 9.99867973e-01 -3.27879813e-04 1.87685591e+00] [ 1.76008539e-02 4.18925740e-05 9.99845092e-01 6.09406970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.875099893 meters 0.012756937773079242 Centerline is valid? [True, True] Translation: X:64.17, Y:1.88, Z:0.61 [[ 9.99730227e-01 -1.53505061e-02 -1.74308819e-02 6.41749580e+01] [ 1.53471014e-02 9.99882172e-01 -3.29085443e-04 1.87736429e+00] [ 1.74338797e-02 6.14831526e-05 9.99848016e-01 6.09925222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.905099893 meters 0.01374415472691202 Centerline is valid? [True, True] Translation: X:64.20, Y:1.88, Z:0.61 [[ 9.99742226e-01 -1.42769412e-02 -1.76536127e-02 6.42030139e+01] [ 1.42732171e-02 9.99898076e-01 -3.36938810e-04 1.87784467e+00] [ 1.76566238e-02 8.48781106e-05 9.99844106e-01 6.08919626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.935099893 meters 0.01374415472691202 Centerline is valid? [True, True] Translation: X:64.23, Y:1.88, Z:0.61 [[ 9.99738202e-01 -1.45560916e-02 -1.76535629e-02 6.42303831e+01] [ 1.45523654e-02 9.99894051e-01 -3.39525172e-04 1.87843618e+00] [ 1.76566347e-02 8.25351868e-05 9.99844106e-01 6.09258614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965099893 meters 0.014074200677858901 Centerline is valid? [True, True] Translation: X:64.26, Y:1.88, Z:0.61 [[ 9.99723488e-01 -1.52613924e-02 -1.78896054e-02 6.42581921e+01] [ 1.52575873e-02 9.99883535e-01 -3.49175255e-04 1.87804102e+00] [ 1.78928508e-02 7.61264874e-05 9.99839907e-01 6.09752651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.995099892999995 meters 0.014862639274154626 Centerline is valid? [True, True] Translation: X:64.29, Y:1.88, Z:0.61 [[ 9.99666616e-01 -1.78005412e-02 -1.87028933e-02 6.42859342e+01] [ 1.77967212e-02 9.99841557e-01 -3.70677158e-04 1.87543984e+00] [ 1.87065282e-02 3.77034014e-05 9.99825017e-01 6.08636435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02509989299999 meters 0.013035203379210481 Centerline is valid? [True, True] Translation: X:64.31, Y:1.87, Z:0.61 [[ 9.99591332e-01 -2.21728321e-02 -1.80425912e-02 6.43142006e+01] [ 2.21699168e-02 9.99754152e-01 -3.61605153e-04 1.86900154e+00] [ 1.80461733e-02 -3.85453677e-05 9.99837154e-01 6.09033358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05509989299999 meters 0.01284881373945449 Centerline is valid? [True, True] Translation: X:64.34, Y:1.86, Z:0.61 [[ 9.99479129e-01 -2.76473039e-02 -1.66462533e-02 6.43438020e+01] [ 2.76455618e-02 9.99617732e-01 -3.34806888e-04 1.86172856e+00] [ 1.66491464e-02 -1.25562526e-04 9.99861385e-01 6.10496356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08509989299999 meters 0.01586359919858293 Centerline is valid? [True, True] Translation: X:64.38, Y:1.86, Z:0.61 [[ 9.99321958e-01 -3.27544206e-02 -1.68158355e-02 6.43760858e+01] [ 3.27533635e-02 9.99463407e-01 -3.38339577e-04 1.85668148e+00] [ 1.68178944e-02 -2.12665005e-04 9.99858547e-01 6.08706857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.115099893 meters 0.014331291336286817 Centerline is valid? [True, True] Translation: X:64.41, Y:1.85, Z:0.61 [[ 9.99112438e-01 -3.89551751e-02 -1.60259211e-02 6.44081275e+01] [ 3.89550302e-02 9.99240913e-01 -3.21330345e-04 1.85259628e+00] [ 1.60262735e-02 -3.03245097e-04 9.99871525e-01 6.13921636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.145099893 meters 0.015679026902720397 Centerline is valid? [True, True] Translation: X:64.44, Y:1.85, Z:0.61 [[ 9.98866862e-01 -4.50927789e-02 -1.52195240e-02 6.44394227e+01] [ 4.50933745e-02 9.98982730e-01 -3.04205120e-04 1.84731213e+00] [ 1.52177591e-02 -3.82439284e-04 9.99884130e-01 6.14847098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.175099893 meters 0.020464827592770567 Centerline is valid? [True, True] Translation: X:64.47, Y:1.83, Z:0.61 [[ 9.98410353e-01 -5.48765015e-02 -1.28583666e-02 6.44692026e+01] [ 5.48777416e-02 9.98493048e-01 -2.56640384e-04 1.83452549e+00] [ 1.28530732e-02 -4.49405702e-04 9.99917295e-01 6.13342033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.205099893 meters 0.021787285267953524 Centerline is valid? [True, True] Translation: X:64.50, Y:1.83, Z:0.61 [[ 9.98051209e-01 -6.11359523e-02 -1.24971526e-02 6.45003167e+01] [ 6.11376112e-02 9.98129315e-01 -2.49608851e-04 1.82640545e+00] [ 1.24890344e-02 -5.14923640e-04 9.99921876e-01 6.14888441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.235099893 meters 0.021408988999284704 Centerline is valid? [True, True] Translation: X:64.53, Y:1.83, Z:0.62 [[ 9.97987466e-01 -6.21828020e-02 -1.24223947e-02 6.45326665e+01] [ 6.21845229e-02 9.98064639e-01 -2.48047212e-04 1.82677981e+00] [ 1.24137771e-02 -5.24932679e-04 9.99922808e-01 6.15029169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26509989299998 meters 0.020735834470332056 Centerline is valid? [True, True] Translation: X:64.56, Y:1.83, Z:0.62 [[ 9.97943726e-01 -6.28605882e-02 -1.25246616e-02 6.45643415e+01] [ 6.28624021e-02 9.98022172e-01 -2.49183818e-04 1.82771866e+00] [ 1.25155538e-02 -5.38658887e-04 9.99921532e-01 6.15127269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29509989299999 meters 0.021337260532643475 Centerline is valid? [True, True] Translation: X:64.60, Y:1.83, Z:0.61 [[ 9.97922041e-01 -6.31398032e-02 -1.28439037e-02 6.45957828e+01] [ 6.31417432e-02 9.98004537e-01 -2.54811695e-04 1.82658597e+00] [ 1.28343629e-02 -5.56704260e-04 9.99917481e-01 6.14620000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32509989299999 meters 0.0225724074327352 Centerline is valid? [True, True] Translation: X:64.63, Y:1.82, Z:0.61 [[ 9.97919161e-01 -6.29700445e-02 -1.38607682e-02 6.46275225e+01] [ 6.29722995e-02 9.98015238e-01 -2.74122097e-04 1.82455535e+00] [ 1.38505194e-02 -5.99292755e-04 9.99903897e-01 6.12917130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35509989299999 meters 0.02179238684017276 Centerline is valid? [True, True] Translation: X:64.66, Y:1.83, Z:0.61 [[ 9.97930671e-01 -6.24625059e-02 -1.52581356e-02 6.46592759e+01] [ 6.24652015e-02 9.98047097e-01 -3.00311832e-04 1.82745188e+00] [ 1.52470962e-02 -6.53412128e-04 9.99883543e-01 6.09650920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38509989299999 meters 0.020564651903508115 Centerline is valid? [True, True] Translation: X:64.69, Y:1.83, Z:0.61 [[ 9.97970553e-01 -6.16334381e-02 -1.60029738e-02 6.46908214e+01] [ 6.16363156e-02 9.98098625e-01 -3.13813781e-04 1.82619263e+00] [ 1.59918875e-02 -6.73187429e-04 9.99871895e-01 6.11259557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41509989299999 meters 0.019174494146046786 Centerline is valid? [True, True] Translation: X:64.72, Y:1.83, Z:0.61 [[ 9.98325997e-01 -5.47929203e-02 -1.85186233e-02 6.47215377e+01] [ 5.47956152e-02 9.98497526e-01 -3.62239171e-04 1.83234395e+00] [ 1.85106477e-02 -6.53106576e-04 9.99828450e-01 6.08645510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44509989299999 meters 0.01611508960655857 Centerline is valid? [True, True] Translation: X:64.75, Y:1.84, Z:0.61 [[ 9.98851330e-01 -4.45224947e-02 -1.77135064e-02 6.47506464e+01] [ 4.45233484e-02 9.99008284e-01 -3.46358042e-04 1.84040870e+00] [ 1.77113604e-02 -4.42704427e-04 9.99843044e-01 6.11520503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47509989299999 meters 0.014246331691903133 Centerline is valid? [True, True] Translation: X:64.78, Y:1.85, Z:0.61 [[ 9.99168157e-01 -3.70168370e-02 -1.71098894e-02 6.47824141e+01] [ 3.70165340e-02 9.99314597e-01 -3.34513810e-04 1.84730775e+00] [ 1.71105449e-02 -2.99113256e-04 9.99853559e-01 6.13450048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.505099893 meters 0.01578444484052319 Centerline is valid? [True, True] Translation: X:64.81, Y:1.85, Z:0.61 [[ 9.99307684e-01 -3.26879504e-02 -1.77665316e-02 6.48141493e+01] [ 3.26869571e-02 9.99465579e-01 -3.46373830e-04 1.85158005e+00] [ 1.77683591e-02 -2.34599828e-04 9.99842103e-01 6.11097084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.535099893 meters 0.012647779002363437 Centerline is valid? [True, True] Translation: X:64.85, Y:1.86, Z:0.62 [[ 9.99562909e-01 -2.47956398e-02 -1.60986414e-02 6.48459346e+01] [ 2.47938136e-02 9.99692537e-01 -3.13041409e-04 1.85871240e+00] [ 1.61014538e-02 -8.62421340e-05 9.99870359e-01 6.15434406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.565099893 meters 0.014214946453394522 Centerline is valid? [True, True] Translation: X:64.88, Y:1.86, Z:0.61 [[ 9.99656169e-01 -2.02335157e-02 -1.66778052e-02 6.48773644e+01] [ 2.02309351e-02 9.99795281e-01 -3.23450723e-04 1.86238532e+00] [ 1.66809355e-02 -1.40680853e-05 9.99860863e-01 6.13585990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.595099893 meters 0.012585326906662885 Centerline is valid? [True, True] Translation: X:64.91, Y:1.87, Z:0.62 [[ 9.99742309e-01 -1.64229506e-02 -1.56716780e-02 6.49068663e+01] [ 1.64202095e-02 9.99865133e-01 -3.03575206e-04 1.86598767e+00] [ 1.56745500e-02 4.61647413e-05 9.99877146e-01 6.16912229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.625099893 meters 0.016405805354647134 Centerline is valid? [True, True] Translation: X:64.94, Y:1.87, Z:0.61 [[ 9.99834973e-01 -9.18160957e-03 -1.56756159e-02 6.49359060e+01] [ 9.17797084e-03 9.99957835e-01 -3.04052430e-04 1.87085580e+00] [ 1.56777467e-02 1.60131907e-04 9.99877084e-01 6.13180197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65509989299998 meters 0.01473482615762893 Centerline is valid? [True, True] Translation: X:64.96, Y:1.87, Z:0.61 [[ 9.99864942e-01 -6.92302523e-03 -1.49053565e-02 6.49632563e+01] [ 6.91947162e-03 9.99976018e-01 -2.89970319e-04 1.87306380e+00] [ 1.49070065e-02 1.86793964e-04 9.99888867e-01 6.14972218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68509989299999 meters 0.014768337585333958 Centerline is valid? [True, True] Translation: X:64.99, Y:1.87, Z:0.62 [[ 9.99881114e-01 -4.58783662e-03 -1.47210592e-02 6.49921200e+01] [ 4.58409277e-03 9.99989452e-01 -2.88052903e-04 1.87493426e+00] [ 1.47222255e-02 2.20535956e-04 9.99891598e-01 6.15500382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71509989299999 meters 0.013952651309069856 Centerline is valid? [True, True] Translation: X:65.02, Y:1.88, Z:0.62 [[ 9.99887245e-01 -4.35887860e-03 -1.43700476e-02 6.50196803e+01] [ 4.35523648e-03 9.99990475e-01 -2.84736914e-04 1.87605324e+00] [ 1.43711518e-02 2.22119853e-04 9.99896705e-01 6.17640355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74509989299999 meters 0.015284640444541012 Centerline is valid? [True, True] Translation: X:65.05, Y:1.88, Z:0.62 [[ 9.99873197e-01 -4.09690766e-03 -1.53884605e-02 6.50483140e+01] [ 4.09263091e-03 9.99991577e-01 -3.09400483e-04 1.87609437e+00] [ 1.53895985e-02 2.46381961e-04 9.99881543e-01 6.15462777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77509989299999 meters 0.01394545509152983 Centerline is valid? [True, True] Translation: X:65.08, Y:1.88, Z:0.62 [[ 9.99870085e-01 -4.63203451e-03 -1.54388210e-02 6.50762958e+01] [ 4.62774094e-03 9.99989243e-01 -3.13816383e-04 1.87718668e+00] [ 1.54401085e-02 2.42328750e-04 9.99880765e-01 6.17719745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80509989299999 meters 0.013439753990751757 Centerline is valid? [True, True] Translation: X:65.11, Y:1.88, Z:0.62 [[ 9.99832943e-01 -6.80498194e-03 -1.69640457e-02 6.51052549e+01] [ 6.80008445e-03 9.99976819e-01 -3.46364876e-04 1.87501908e+00] [ 1.69660094e-02 2.30950070e-04 9.99856040e-01 6.16690244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83509989299999 meters 0.015634118567470556 Centerline is valid? [True, True] Translation: X:65.13, Y:1.87, Z:0.61 [[ 9.99801078e-01 -1.08448586e-02 -1.67389674e-02 6.51338921e+01] [ 1.08406362e-02 9.99941180e-01 -3.42968909e-04 1.87189015e+00] [ 1.67417022e-02 1.61439630e-04 9.99859835e-01 6.13280138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.865099893 meters 0.014105500682767459 Centerline is valid? [True, True] Translation: X:65.16, Y:1.87, Z:0.62 [[ 9.99785840e-01 -1.35432478e-02 -1.56478099e-02 6.51632400e+01] [ 1.35398726e-02 9.99908280e-01 -3.21628045e-04 1.87036316e+00] [ 1.56507306e-02 1.09689814e-04 9.99877514e-01 6.15086887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.895099893 meters 0.012585475089883677 Centerline is valid? [True, True] Translation: X:65.19, Y:1.87, Z:0.62 [[ 9.99759173e-01 -1.64297836e-02 -1.45484891e-02 6.51912888e+01] [ 1.64271597e-02 9.99865020e-01 -2.99850253e-04 1.86930301e+00] [ 1.45514519e-02 6.07876877e-05 9.99894120e-01 6.17922719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.925099893 meters 0.012469556597439846 Centerline is valid? [True, True] Translation: X:65.22, Y:1.87, Z:0.62 [[ 9.99670233e-01 -2.16902887e-02 -1.37461187e-02 6.52209513e+01] [ 2.16884284e-02 9.99764738e-01 -2.84408901e-04 1.86662398e+00] [ 1.37490537e-02 -1.38165983e-05 9.99905477e-01 6.19425880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.955099893 meters 0.012674962729706297 Centerline is valid? [True, True] Translation: X:65.25, Y:1.86, Z:0.62 [[ 9.99548346e-01 -2.70387972e-02 -1.31151990e-02 6.52522533e+01] [ 2.70375589e-02 9.99634381e-01 -2.71750910e-04 1.86326634e+00] [ 1.31177517e-02 -8.29747938e-05 9.99913955e-01 6.20596174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.985099893 meters 0.015826601312787587 Centerline is valid? [True, True] Translation: X:65.28, Y:1.86, Z:0.62 [[ 9.99473191e-01 -2.93241791e-02 -1.39079949e-02 6.52846768e+01] [ 2.93230159e-02 9.99569947e-01 -2.87595413e-04 1.86137814e+00] [ 1.39104472e-02 -1.20380450e-04 9.99903238e-01 6.16973926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01509989299998 meters 0.015117270465934057 Centerline is valid? [True, True] Translation: X:65.32, Y:1.85, Z:0.62 [[ 9.99206608e-01 -3.72912397e-02 -1.39827903e-02 6.53160451e+01] [ 3.72908589e-02 9.99304413e-01 -2.88046819e-04 1.85321259e+00] [ 1.39838057e-02 -2.33611978e-04 9.99902195e-01 6.17611936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04509989299999 meters 0.016958148742152193 Centerline is valid? [True, True] Translation: X:65.35, Y:1.85, Z:0.61 [[ 9.99023625e-01 -4.14482245e-02 -1.52918928e-02 6.53484483e+01] [ 4.14482840e-02 9.99140602e-01 -3.13179715e-04 1.84935040e+00] [ 1.52917317e-02 -3.20948780e-04 9.99883023e-01 6.14853559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07509989299999 meters 0.01618557420657138 Centerline is valid? [True, True] Translation: X:65.38, Y:1.85, Z:0.62 [[ 9.98865268e-01 -4.51904887e-02 -1.50331458e-02 6.53795532e+01] [ 4.51909848e-02 9.98978318e-01 -3.06869147e-04 1.84654672e+00] [ 1.50316543e-02 -3.72841731e-04 9.99886949e-01 6.17301182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10509989299999 meters 0.017279553513842676 Centerline is valid? [True, True] Translation: X:65.41, Y:1.85, Z:0.62 [[ 9.98803524e-01 -4.62779729e-02 -1.58072822e-02 6.54113629e+01] [ 4.62786724e-02 9.98928516e-01 -3.21734369e-04 1.84617088e+00] [ 1.58052342e-02 -4.10190613e-04 9.99875005e-01 6.15367245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13509989299999 meters 0.016593880187874766 Centerline is valid? [True, True] Translation: X:65.44, Y:1.85, Z:0.62 [[ 9.98762158e-01 -4.73421559e-02 -1.52601698e-02 6.54432830e+01] [ 4.73429480e-02 9.98878646e-01 -3.09545692e-04 1.84634326e+00] [ 1.52577123e-02 -4.13298903e-04 9.99883509e-01 6.17402529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16509989299999 meters 0.018376297421234627 Centerline is valid? [True, True] Translation: X:65.47, Y:1.84, Z:0.62 [[ 9.98693019e-01 -4.86593907e-02 -1.56370596e-02 6.54749411e+01] [ 4.86604035e-02 9.98815331e-01 -3.15925783e-04 1.84498346e+00] [ 1.56339076e-02 -4.45392757e-04 9.99877684e-01 6.15823094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19509989299999 meters 0.01738505356382064 Centerline is valid? [True, True] Translation: X:65.51, Y:1.85, Z:0.62 [[ 9.98653769e-01 -4.95258100e-02 -1.54221992e-02 6.55073040e+01] [ 4.95269224e-02 9.98772741e-01 -3.10026654e-04 1.84804926e+00] [ 1.54186265e-02 -4.54204776e-04 9.99881023e-01 6.16983461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22509989299999 meters 0.0176576733124891 Centerline is valid? [True, True] Translation: X:65.54, Y:1.85, Z:0.62 [[ 9.98628176e-01 -5.02665813e-02 -1.46641121e-02 6.55393913e+01] [ 5.02676817e-02 9.98735738e-01 -2.93767260e-04 1.85002449e+00] [ 1.46603395e-02 -4.43766658e-04 9.99892433e-01 6.18178584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.255099893 meters 0.017956231412223196 Centerline is valid? [True, True] Translation: X:65.57, Y:1.85, Z:0.62 [[ 9.98600527e-01 -5.07781962e-02 -1.47838274e-02 6.55701443e+01] [ 5.07793860e-02 9.98709851e-01 -2.95130763e-04 1.85126753e+00] [ 1.47797403e-02 -4.55995942e-04 9.99890670e-01 6.18930422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.285099893 meters 0.017851852092827004 Centerline is valid? [True, True] Translation: X:65.60, Y:1.85, Z:0.62 [[ 9.98559868e-01 -5.13071637e-02 -1.56768811e-02 6.56022528e+01] [ 5.13085816e-02 9.98682799e-01 -3.12013421e-04 1.85379677e+00] [ 1.56722401e-02 -4.92794454e-04 9.99877061e-01 6.19822295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.315099893 meters 0.018136703003605127 Centerline is valid? [True, True] Translation: X:65.63, Y:1.86, Z:0.62 [[ 9.98548046e-01 -5.12064998e-02 -1.67240663e-02 6.56347360e+01] [ 5.12081217e-02 9.98687948e-01 -3.31523442e-04 1.85603180e+00] [ 1.67190996e-02 -5.25365938e-04 9.99860088e-01 6.18995735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.345099893 meters 0.017805538461870066 Centerline is valid? [True, True] Translation: X:65.67, Y:1.86, Z:0.62 [[ 9.98543482e-01 -5.10480585e-02 -1.74645378e-02 6.56679770e+01] [ 5.10498327e-02 9.98696048e-01 -3.44502540e-04 1.85806634e+00] [ 1.74593511e-02 -5.47560969e-04 9.99847424e-01 6.18635044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.375099893 meters 0.01766915612645068 Centerline is valid? [True, True] Translation: X:65.70, Y:1.86, Z:0.62 [[ 9.98524281e-01 -5.10144818e-02 -1.86221309e-02 6.57000668e+01] [ 5.10165280e-02 9.98697742e-01 -3.65471230e-04 1.86104057e+00] [ 1.86165244e-02 -5.85104565e-04 9.99826526e-01 6.18043983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40509989299998 meters 0.01978816564676171 Centerline is valid? [True, True] Translation: X:65.73, Y:1.86, Z:0.62 [[ 9.98522488e-01 -5.06052624e-02 -1.97977028e-02 6.57316471e+01] [ 5.06075307e-02 9.98718543e-01 -3.86737631e-04 1.86211142e+00] [ 1.97919039e-02 -6.15746631e-04 9.99803931e-01 6.15064224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43509989299999 meters 0.018310076481711825 Centerline is valid? [True, True] Translation: X:65.76, Y:1.86, Z:0.62 [[ 9.98557924e-01 -4.98534997e-02 -1.99173545e-02 6.57623502e+01] [ 4.98556932e-02 9.98756357e-01 -3.86710491e-04 1.86494918e+00] [ 1.99118633e-02 -6.06840689e-04 9.99801555e-01 6.17592864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46509989299999 meters 0.017195292056362062 Centerline is valid? [True, True] Translation: X:65.79, Y:1.87, Z:0.62 [[ 9.98722877e-01 -4.60201796e-02 -2.08508700e-02 6.57935020e+01] [ 4.60217882e-02 9.98940355e-01 -4.02946904e-04 1.87378125e+00] [ 2.08473192e-02 -5.57162033e-04 9.99782516e-01 6.16595997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49509989299999 meters 0.01549831466007561 Centerline is valid? [True, True] Translation: X:65.82, Y:1.88, Z:0.62 [[ 9.98910635e-01 -4.27174304e-02 -1.87820474e-02 6.58245311e+01] [ 4.27181639e-02 9.99087097e-01 -3.62331175e-04 1.87946144e+00] [ 1.87803791e-02 -4.40398116e-04 9.99823536e-01 6.19754370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52509989299999 meters 0.014746476034378647 Centerline is valid? [True, True] Translation: X:65.85, Y:1.89, Z:0.62 [[ 9.99121787e-01 -3.84895746e-02 -1.65591946e-02 6.58549992e+01] [ 3.84895719e-02 9.99258951e-01 -3.18981237e-04 1.88525499e+00] [ 1.65592009e-02 -3.18655208e-04 9.99862836e-01 6.22099747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55509989299999 meters 0.01429010249589332 Centerline is valid? [True, True] Translation: X:65.89, Y:1.89, Z:0.62 [[ 9.99223549e-01 -3.59603751e-02 -1.60981347e-02 6.58873976e+01] [ 3.59600521e-02 9.99353180e-01 -3.09620703e-04 1.88882546e+00] [ 1.60988562e-02 -2.69509465e-04 9.99870369e-01 6.22950516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58509989299999 meters 0.013294136075489791 Centerline is valid? [True, True] Translation: X:65.92, Y:1.90, Z:0.62 [[ 9.99427917e-01 -3.03905199e-02 -1.48409757e-02 6.59182804e+01] [ 3.03896447e-02 9.99538088e-01 -2.84542543e-04 1.89633495e+00] [ 1.48427679e-02 -1.66632218e-04 9.99889826e-01 6.24689327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.615099893 meters 0.012863983955988596 Centerline is valid? [True, True] Translation: X:65.95, Y:1.90, Z:0.63 [[ 9.99525780e-01 -2.71216187e-02 -1.45819361e-02 6.59509035e+01] [ 2.71204352e-02 9.99632134e-01 -2.78939909e-04 1.90076838e+00] [ 1.45841372e-02 -1.16660822e-04 9.99893639e-01 6.26063113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.645099893 meters 0.012602282936998659 Centerline is valid? [True, True] Translation: X:65.98, Y:1.91, Z:0.63 [[ 9.99694438e-01 -1.96690291e-02 -1.49719947e-02 6.59820695e+01] [ 1.96669642e-02 9.99806546e-01 -2.85154464e-04 1.90651819e+00] [ 1.49747070e-02 -9.38635217e-06 9.99887873e-01 6.25597255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.675099893 meters 0.012529217135911876 Centerline is valid? [True, True] Translation: X:66.01, Y:1.90, Z:0.62 [[ 9.99703886e-01 -1.85000125e-02 -1.58079223e-02 6.60125719e+01] [ 1.84975729e-02 9.99828860e-01 -3.00537340e-04 1.90477136e+00] [ 1.58107768e-02 8.04015205e-06 9.99875002e-01 6.24146635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.705099893 meters 0.012529217135911876 Centerline is valid? [True, True] Translation: X:66.04, Y:1.91, Z:0.62 [[ 9.99703231e-01 -1.85353544e-02 -1.58079242e-02 6.60417154e+01] [ 1.85329208e-02 9.99828206e-01 -3.00435908e-04 1.90535347e+00] [ 1.58107771e-02 7.37974069e-06 9.99875002e-01 6.24507053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.735099893 meters 0.0125688367715153 Centerline is valid? [True, True] Translation: X:66.07, Y:1.90, Z:0.62 [[ 9.99677023e-01 -1.87701984e-02 -1.71327246e-02 6.60717576e+01] [ 1.87673633e-02 9.99823824e-01 -3.26257589e-04 1.90342322e+00] [ 1.71358302e-02 4.61614914e-06 9.99853171e-01 6.23518210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76509989299998 meters 0.014313318522260506 Centerline is valid? [True, True] Translation: X:66.10, Y:1.90, Z:0.62 [[ 9.99651428e-01 -1.89097302e-02 -1.84240131e-02 6.61003999e+01] [ 1.89064593e-02 9.99821195e-01 -3.51711757e-04 1.90313642e+00] [ 1.84273696e-02 3.25630551e-06 9.99830202e-01 6.21269760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79509989299999 meters 0.012536538314147068 Centerline is valid? [True, True] Translation: X:66.13, Y:1.90, Z:0.62 [[ 9.99649076e-01 -1.99141377e-02 -1.74685804e-02 6.61287202e+01] [ 1.99113158e-02 9.99801694e-01 -3.35470963e-04 1.90204640e+00] [ 1.74717969e-02 -1.24691824e-05 9.99847356e-01 6.23781572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82509989299999 meters 0.014160586468409859 Centerline is valid? [True, True] Translation: X:66.16, Y:1.90, Z:0.62 [[ 9.99623938e-01 -2.08149212e-02 -1.78527666e-02 6.61588771e+01] [ 2.08120591e-02 9.99783346e-01 -3.46112378e-04 1.89966800e+00] [ 1.78561030e-02 -2.55706145e-05 9.99840567e-01 6.22163075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85509989299999 meters 0.012511269010136506 Centerline is valid? [True, True] Translation: X:66.19, Y:1.90, Z:0.63 [[ 9.99612045e-01 -2.29781586e-02 -1.57404889e-02 6.61887216e+01] [ 2.29761939e-02 9.99735966e-01 -3.05667060e-04 1.89577702e+00] [ 1.57433566e-02 -5.61080517e-05 9.99876064e-01 6.25421708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88509989299999 meters 0.0131929842407921 Centerline is valid? [True, True] Translation: X:66.22, Y:1.89, Z:0.62 [[ 9.99443769e-01 -2.86689621e-02 -1.70365502e-02 6.62197658e+01] [ 2.86674790e-02 9.99588948e-01 -3.31312262e-04 1.88896507e+00] [ 1.70390456e-02 -1.57266968e-04 9.99854813e-01 6.24546740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91509989299999 meters 0.013708074109945893 Centerline is valid? [True, True] Translation: X:66.25, Y:1.88, Z:0.63 [[ 9.99267533e-01 -3.42409283e-02 -1.70867077e-02 6.62506752e+01] [ 3.42402610e-02 9.99413575e-01 -3.31686315e-04 1.88448417e+00] [ 1.70880448e-02 -2.53609964e-04 9.99853957e-01 6.25940181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94509989299999 meters 0.014289590600917402 Centerline is valid? [True, True] Translation: X:66.28, Y:1.88, Z:0.63 [[ 9.99159803e-01 -3.73928299e-02 -1.67768757e-02 6.62833063e+01] [ 3.73926619e-02 9.99300597e-01 -3.23811401e-04 1.88271301e+00] [ 1.67772502e-02 -3.03792707e-04 9.99859206e-01 6.26778731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97509989299999 meters 0.015187764881277018 Centerline is valid? [True, True] Translation: X:66.32, Y:1.88, Z:0.63 [[ 9.99022187e-01 -4.08395424e-02 -1.69351904e-02 6.63154848e+01] [ 4.08398867e-02 9.99165651e-01 -3.25652919e-04 1.88022405e+00] [ 1.69343600e-02 -3.66296766e-04 9.99856536e-01 6.27140561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.005099893 meters 0.019066576384112254 Centerline is valid? [True, True] Translation: X:66.35, Y:1.87, Z:0.62 [[ 9.98657078e-01 -4.81696086e-02 -1.90716874e-02 6.63455281e+01] [ 4.81713995e-02 9.98839017e-01 -3.65748931e-04 1.87340847e+00] [ 1.90671635e-02 -5.53452116e-04 9.99818052e-01 6.23389340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.035099893 meters 0.0191188421642866 Centerline is valid? [True, True] Translation: X:66.38, Y:1.87, Z:0.63 [[ 9.98471883e-01 -5.21158601e-02 -1.83803416e-02 6.63766851e+01] [ 5.21181951e-02 9.98640861e-01 -3.52281450e-04 1.87033048e+00] [ 1.83737196e-02 -6.06207105e-04 9.99831005e-01 6.25438218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.065099893 meters 0.022620194441497116 Centerline is valid? [True, True] Translation: X:66.41, Y:1.86, Z:0.62 [[ 9.97905252e-01 -6.15168520e-02 -2.00196148e-02 6.64082926e+01] [ 6.15215238e-02 9.98105683e-01 -3.83022935e-04 1.86427523e+00] [ 2.00052537e-02 -8.49416607e-04 9.99799514e-01 6.22626903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.095099893 meters 0.023734853184306275 Centerline is valid? [True, True] Translation: X:66.44, Y:1.86, Z:0.63 [[ 9.97682140e-01 -6.54404655e-02 -1.86518960e-02 6.64384021e+01] [ 6.54452104e-02 9.97856101e-01 -3.56540669e-04 1.86083593e+00] [ 1.86352404e-02 -8.64962998e-04 9.99825975e-01 6.25181047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.125099893 meters 0.02349226528690504 Centerline is valid? [True, True] Translation: X:66.47, Y:1.86, Z:0.63 [[ 9.97667475e-01 -6.57364614e-02 -1.83936469e-02 6.64709047e+01] [ 6.57411339e-02 9.97836650e-01 -3.51173980e-04 1.86121977e+00] [ 1.83769399e-02 -8.58864345e-04 9.99830761e-01 6.25317704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15509989299998 meters 0.023624536620000792 Centerline is valid? [True, True] Translation: X:66.50, Y:1.86, Z:0.63 [[ 9.97700575e-01 -6.53747549e-02 -1.78802735e-02 6.65034444e+01] [ 6.53791344e-02 9.97860438e-01 -3.40123695e-04 1.86126673e+00] [ 1.78642531e-02 -8.29655200e-04 9.99840077e-01 6.25852239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18509989299999 meters 0.02246888276812434 Centerline is valid? [True, True] Translation: X:66.54, Y:1.86, Z:0.63 [[ 9.97891249e-01 -6.31039657e-02 -1.51968350e-02 6.65352363e+01] [ 6.31068798e-02 9.98006733e-01 -2.88180839e-04 1.86441164e+00] [ 1.51847290e-02 -6.71451704e-04 9.99884480e-01 6.28998108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21509989299999 meters 0.022237517590758992 Centerline is valid? [True, True] Translation: X:66.57, Y:1.87, Z:0.63 [[ 9.97931804e-01 -6.25429447e-02 -1.48490791e-02 6.65676498e+01] [ 6.25456772e-02 9.98042063e-01 -2.80760842e-04 1.86606181e+00] [ 1.48375651e-02 -6.48565534e-04 9.99889707e-01 6.29954088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24509989299999 meters 0.023106417940013686 Centerline is valid? [True, True] Translation: X:66.60, Y:1.87, Z:0.63 [[ 9.97850515e-01 -6.30502763e-02 -1.78609313e-02 6.65995326e+01] [ 6.30543374e-02 9.98010039e-01 -3.36247871e-04 1.86596337e+00] [ 1.78465893e-02 -7.90684079e-04 9.99840424e-01 6.25439733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27509989299999 meters 0.021476121967585294 Centerline is valid? [True, True] Translation: X:66.63, Y:1.87, Z:0.63 [[ 9.97704418e-01 -6.48283041e-02 -1.95751339e-02 6.66314769e+01] [ 6.48335533e-02 9.97896024e-01 -3.67014565e-04 1.86650639e+00] [ 1.95577412e-02 -9.02953435e-04 9.99808321e-01 6.26297085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30509989299999 meters 0.024131043514627092 Centerline is valid? [True, True] Translation: X:66.66, Y:1.87, Z:0.62 [[ 9.97462858e-01 -6.73859786e-02 -2.29559736e-02 6.66618603e+01] [ 6.73939032e-02 9.97726354e-01 -4.29147689e-04 1.86529318e+00] [ 2.29326984e-02 -1.11903378e-03 9.99736385e-01 6.24127026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33509989299999 meters 0.024920558009211183 Centerline is valid? [True, True] Translation: X:66.69, Y:1.87, Z:0.62 [[ 9.97398247e-01 -6.80760284e-02 -2.37147993e-02 6.66937697e+01] [ 6.80847051e-02 9.97679446e-01 -4.42289623e-04 1.86587118e+00] [ 2.36898771e-02 -1.17347622e-03 9.99718667e-01 6.24052147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.365099893 meters 0.024006421295661048 Centerline is valid? [True, True] Translation: X:66.73, Y:1.87, Z:0.63 [[ 9.97356537e-01 -6.87299071e-02 -2.35825794e-02 6.67254633e+01] [ 6.87387231e-02 9.97634601e-01 -4.37550937e-04 1.86713843e+00] [ 2.35568701e-02 -1.18464211e-03 9.99721797e-01 6.26094895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.395099893 meters 0.023789284897743616 Centerline is valid? [True, True] Translation: X:66.76, Y:1.87, Z:0.63 [[ 9.97543597e-01 -6.65430330e-02 -2.18814293e-02 6.67558687e+01] [ 6.65501324e-02 9.97783001e-01 -4.04391754e-04 1.86675618e+00] [ 2.18598276e-02 -1.05281361e-03 9.99760491e-01 6.25882145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.425099893 meters 0.02246937405346969 Centerline is valid? [True, True] Translation: X:66.79, Y:1.87, Z:0.63 [[ 9.97808727e-01 -6.28137498e-02 -2.07888626e-02 6.67861024e+01] [ 6.28193542e-02 9.98024840e-01 -3.83987907e-04 1.87045617e+00] [ 2.07719210e-02 -9.22796437e-04 9.99783815e-01 6.26239255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.455099893 meters 0.02033710167607389 Centerline is valid? [True, True] Translation: X:66.82, Y:1.88, Z:0.63 [[ 9.98028333e-01 -5.95163208e-02 -1.99312223e-02 6.68177488e+01] [ 5.95208240e-02 9.98226996e-01 -3.67732997e-04 1.87670447e+00] [ 1.99177703e-02 -8.19314825e-04 9.99801286e-01 6.28632767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.485099893 meters 0.01873063798382947 Centerline is valid? [True, True] Translation: X:66.85, Y:1.88, Z:0.63 [[ 9.98246147e-01 -5.54601193e-02 -2.07075984e-02 6.68488336e+01] [ 5.54641297e-02 9.98460608e-01 -3.81047920e-04 1.88154729e+00] [ 2.06968543e-02 -7.68149307e-04 9.99785502e-01 6.27873880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51509989299998 meters 0.019547307047152535 Centerline is valid? [True, True] Translation: X:66.88, Y:1.88, Z:0.63 [[ 9.98301706e-01 -5.41039381e-02 -2.15978693e-02 6.68796748e+01] [ 5.41080190e-02 9.98535010e-01 -3.95811374e-04 1.88181924e+00] [ 2.15876436e-02 -7.73478753e-04 9.99766660e-01 6.26093682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54509989299999 meters 0.01891284562653085 Centerline is valid? [True, True] Translation: X:66.91, Y:1.89, Z:0.62 [[ 9.98393293e-01 -5.15410059e-02 -2.35448030e-02 6.69119793e+01] [ 5.15452031e-02 9.98670570e-01 -4.29001769e-04 1.88609688e+00] [ 2.35356130e-02 -7.85309163e-04 9.99722691e-01 6.24967866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57509989299999 meters 0.019340908850114805 Centerline is valid? [True, True] Translation: X:66.94, Y:1.89, Z:0.62 [[ 9.98470543e-01 -4.95826584e-02 -2.44568108e-02 6.69441156e+01] [ 4.95866451e-02 9.98769727e-01 -4.43794775e-04 1.88907428e+00] [ 2.44487267e-02 -7.69615186e-04 9.99700789e-01 6.24765553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60509989299999 meters 0.01659511620752863 Centerline is valid? [True, True] Translation: X:66.98, Y:1.89, Z:0.63 [[ 9.98591666e-01 -4.75173533e-02 -2.35963040e-02 6.69758753e+01] [ 4.75205280e-02 9.98870171e-01 -4.26487227e-04 1.89284649e+00] [ 2.35899097e-02 -6.95422235e-04 9.99721477e-01 6.28267817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63509989299999 meters 0.0152773758008493 Centerline is valid? [True, True] Translation: X:67.01, Y:1.90, Z:0.63 [[ 9.98856122e-01 -4.12942883e-02 -2.41086896e-02 6.70072623e+01] [ 4.12958287e-02 9.99146869e-01 -4.34181973e-04 1.90035102e+00] [ 2.41060510e-02 -5.61902993e-04 9.99709249e-01 6.29196726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66509989299999 meters 0.01338113372207849 Centerline is valid? [True, True] Translation: X:67.04, Y:1.91, Z:0.63 [[ 9.99259319e-01 -3.08668199e-02 -2.29793804e-02 6.70379750e+01] [ 3.08654815e-02 9.99523462e-01 -4.13008642e-04 1.90918090e+00] [ 2.29811781e-02 -2.96566907e-04 9.99735854e-01 6.30199239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69509989299999 meters 0.013893038480708749 Centerline is valid? [True, True] Translation: X:67.07, Y:1.91, Z:0.63 [[ 9.99426766e-01 -2.60603352e-02 -2.16101361e-02 6.70681273e+01] [ 2.60580182e-02 9.99660357e-01 -3.88850169e-04 1.91087464e+00] [ 2.16129299e-02 -1.74490053e-04 9.99766398e-01 6.29922218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72509989299999 meters 0.012656646421174983 Centerline is valid? [True, True] Translation: X:67.10, Y:1.91, Z:0.63 [[ 9.99535568e-01 -2.25010634e-02 -2.05511676e-02 6.70970333e+01] [ 2.24981893e-02 9.99746815e-01 -3.71073333e-04 1.91244189e+00] [ 2.05543139e-02 -9.14630656e-05 9.99788734e-01 6.32004745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.755099893 meters 0.012482757131247612 Centerline is valid? [True, True] Translation: X:67.13, Y:1.91, Z:0.63 [[ 9.99564667e-01 -2.12454657e-02 -2.04721034e-02 6.71257852e+01] [ 2.12422955e-02 9.99774288e-01 -3.72329330e-04 1.91368430e+00] [ 2.04753929e-02 -6.27072266e-05 9.99790355e-01 6.32830119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.785099893 meters 0.012425384332936325 Centerline is valid? [True, True] Translation: X:67.15, Y:1.91, Z:0.63 [[ 9.99590284e-01 -1.99701295e-02 -2.05050540e-02 6.71542504e+01] [ 1.99665752e-02 9.99800577e-01 -3.78073489e-04 1.91474372e+00] [ 2.05085150e-02 -3.14971164e-05 9.99789678e-01 6.33941891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.815099893 meters 0.012401065423577773 Centerline is valid? [True, True] Translation: X:67.18, Y:1.91, Z:0.63 [[ 9.99597575e-01 -1.99544894e-02 -2.01619953e-02 6.71820875e+01] [ 1.99509430e-02 9.99800889e-01 -3.77043618e-04 1.91471461e+00] [ 2.01655045e-02 -2.53589329e-05 9.99796655e-01 6.34463092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.845099893 meters 0.012352654700855432 Centerline is valid? [True, True] Translation: X:67.21, Y:1.91, Z:0.63 [[ 9.99594617e-01 -2.03193487e-02 -1.99430620e-02 6.72098737e+01] [ 2.03158683e-02 9.99793540e-01 -3.77121873e-04 1.91408100e+00] [ 1.99466074e-02 -2.81916256e-05 9.99801046e-01 6.34729004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.875099893 meters 0.012733890294293074 Centerline is valid? [True, True] Translation: X:67.24, Y:1.91, Z:0.63 [[ 9.99568420e-01 -2.12908976e-02 -2.02403512e-02 6.72379325e+01] [ 2.12874427e-02 9.99773322e-01 -3.86158204e-04 1.91283801e+00] [ 2.02439848e-02 -4.48737714e-05 9.99795069e-01 6.34708390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90509989299998 meters 0.012425413689042706 Centerline is valid? [True, True] Translation: X:67.27, Y:1.91, Z:0.64 [[ 9.99536820e-01 -2.26739321e-02 -2.02987459e-02 6.72659425e+01] [ 2.26706542e-02 9.99742911e-01 -3.91614429e-04 1.91142324e+00] [ 2.03024068e-02 -6.87528093e-05 9.99793883e-01 6.35146257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93509989299999 meters 0.012830800145225358 Centerline is valid? [True, True] Translation: X:67.29, Y:1.91, Z:0.63 [[ 9.99359739e-01 -2.75045834e-02 -2.28825358e-02 6.72938315e+01] [ 2.75016336e-02 9.99621660e-01 -4.43656772e-04 1.90550822e+00] [ 2.28860810e-02 -1.85934400e-04 9.99738062e-01 6.32655135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96509989299999 meters 0.0148700119294205 Centerline is valid? [True, True] Translation: X:67.32, Y:1.90, Z:0.63 [[ 9.99161453e-01 -3.19908299e-02 -2.55534413e-02 6.73225908e+01] [ 3.19885027e-02 9.99488112e-01 -4.99948397e-04 1.90296697e+00] [ 2.55563546e-02 -3.17887159e-04 9.99673332e-01 6.29853947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99509989299999 meters 0.013987395312093634 Centerline is valid? [True, True] Translation: X:67.35, Y:1.90, Z:0.63 [[ 9.98996556e-01 -3.72837437e-02 -2.48153821e-02 6.73514087e+01] [ 3.72830290e-02 9.99304625e-01 -4.91627604e-04 1.90156759e+00] [ 2.48164558e-02 -4.34058326e-04 9.99691930e-01 6.33076073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02509989299999 meters 0.014425372937444707 Centerline is valid? [True, True] Translation: X:67.38, Y:1.90, Z:0.63 [[ 9.98925103e-01 -3.96224183e-02 -2.40562242e-02 6.73821043e+01] [ 3.96223518e-02 9.99214611e-01 -4.79602857e-04 1.90066165e+00] [ 2.40563337e-02 -4.74076844e-04 9.99710492e-01 6.34171492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05509989299999 meters 0.01574732056376438 Centerline is valid? [True, True] Translation: X:67.41, Y:1.90, Z:0.63 [[ 9.98873689e-01 -4.13527942e-02 -2.32658608e-02 6.74120064e+01] [ 4.13532236e-02 9.99144482e-01 -4.62873467e-04 1.89916256e+00] [ 2.32650976e-02 -4.99766218e-04 9.99729206e-01 6.33418198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08509989299999 meters 0.015897215021116014 Centerline is valid? [True, True] Translation: X:67.44, Y:1.90, Z:0.64 [[ 9.98789531e-01 -4.47318443e-02 -2.04581172e-02 6.74434786e+01] [ 4.47329101e-02 9.98998900e-01 -4.05757212e-04 1.89689120e+00] [ 2.04557869e-02 -5.09885062e-04 9.99790628e-01 6.36111771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.115099893 meters 0.01693356827474491 Centerline is valid? [True, True] Translation: X:67.48, Y:1.90, Z:0.64 [[ 9.98707421e-01 -4.78864490e-02 -1.70403813e-02 6.74750881e+01] [ 4.78876574e-02 9.98852671e-01 -3.37357387e-04 1.89695475e+00] [ 1.70369852e-02 -4.79102615e-04 9.99854745e-01 6.39838596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.145099893 meters 0.017397340397975462 Centerline is valid? [True, True] Translation: X:67.51, Y:1.90, Z:0.64 [[ 9.98625917e-01 -4.88801881e-02 -1.88946016e-02 6.75067441e+01] [ 4.88818719e-02 9.98804497e-01 -3.72990057e-04 1.89920137e+00] [ 1.88902449e-02 -5.51125960e-04 9.99821412e-01 6.39859345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.175099893 meters 0.01660592577167353 Centerline is valid? [True, True] Translation: X:67.54, Y:1.90, Z:0.64 [[ 9.98575874e-01 -4.84913031e-02 -2.22444973e-02 6.75389972e+01] [ 4.84935742e-02 9.98823399e-01 -4.37631139e-04 1.90074939e+00] [ 2.22395457e-02 -6.41707286e-04 9.99752465e-01 6.37637458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.205099893 meters 0.016664223673602856 Centerline is valid? [True, True] Translation: X:67.57, Y:1.90, Z:0.64 [[ 9.98789849e-01 -4.27491822e-02 -2.43175784e-02 6.75690539e+01] [ 4.27502250e-02 9.99085677e-01 -4.77221754e-04 1.90465050e+00] [ 2.43157451e-02 -5.62937705e-04 9.99704170e-01 6.36015937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.235099893 meters 0.01648491859560178 Centerline is valid? [True, True] Translation: X:67.60, Y:1.91, Z:0.64 [[ 9.98901378e-01 -3.92935614e-02 -2.55353316e-02 6.76007751e+01] [ 3.92936074e-02 9.99227583e-01 -5.00162418e-04 1.90996665e+00] [ 2.55352608e-02 -5.03762366e-04 9.99673795e-01 6.35940135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26509989299998 meters 0.013055966355218053 Centerline is valid? [True, True] Translation: X:67.63, Y:1.92, Z:0.64 [[ 9.99267743e-01 -2.71637038e-02 -2.69464339e-02 6.76298484e+01] [ 2.71593572e-02 9.99630978e-01 -5.27350024e-04 1.92012816e+00] [ 2.69508149e-02 -2.04883957e-04 9.99636740e-01 6.38306008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29509989299999 meters 0.012733469939820923 Centerline is valid? [True, True] Translation: X:67.66, Y:1.93, Z:0.64 [[ 9.99456074e-01 -1.93528902e-02 -2.67024818e-02 6.76583735e+01] [ 1.93457333e-02 9.99812715e-01 -5.26357376e-04 1.92696537e+00] [ 2.67076673e-02 9.49198490e-06 9.99643287e-01 6.39110916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32509989299999 meters 0.013127254558933094 Centerline is valid? [True, True] Translation: X:67.69, Y:1.93, Z:0.64 [[ 9.99593527e-01 -1.27869563e-02 -2.54808696e-02 6.76855825e+01] [ 1.27781964e-02 9.99918227e-01 -5.06587751e-04 1.93189583e+00] [ 2.54852637e-02 1.80782281e-04 9.99675182e-01 6.39416053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35509989299999 meters 0.01323779496802001 Centerline is valid? [True, True] Translation: X:67.71, Y:1.93, Z:0.64 [[ 9.99659312e-01 -8.85689653e-03 -2.45523142e-02 6.77138300e+01] [ 8.84747180e-03 9.99960739e-01 -4.92468103e-04 1.93409087e+00] [ 2.45557120e-02 2.75074417e-04 9.99698425e-01 6.41441323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38509989299999 meters 0.013088188688040523 Centerline is valid? [True, True] Translation: X:67.74, Y:1.93, Z:0.64 [[ 9.99648150e-01 -1.00980818e-02 -2.45276196e-02 6.77420552e+01] [ 1.00888865e-02 9.99948982e-01 -4.98619081e-04 1.92929548e+00] [ 2.45314033e-02 2.50987272e-04 9.99699028e-01 6.42147336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41509989299999 meters 0.012611366120603736 Centerline is valid? [True, True] Translation: X:67.77, Y:1.92, Z:0.64 [[ 9.99588707e-01 -1.59661352e-02 -2.38222622e-02 6.77711468e+01] [ 1.59590248e-02 9.99872527e-01 -4.88575256e-04 1.92192988e+00] [ 2.38270262e-02 1.08194235e-04 9.99716090e-01 6.42736094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44509989299999 meters 0.012513562816956118 Centerline is valid? [True, True] Translation: X:67.80, Y:1.92, Z:0.64 [[ 9.99557329e-01 -1.83400920e-02 -2.34262185e-02 6.77985829e+01] [ 1.83338245e-02 9.99831805e-01 -4.82309634e-04 1.92025400e+00] [ 2.34311239e-02 5.26039513e-05 9.99725452e-01 6.43253146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47509989299999 meters 0.012359873939498934 Centerline is valid? [True, True] Translation: X:67.83, Y:1.92, Z:0.64 [[ 9.99494280e-01 -2.35588141e-02 -2.13580640e-02 6.78267769e+01] [ 2.35547575e-02 9.99722451e-01 -4.41520531e-04 1.91567869e+00] [ 2.13625378e-02 -6.17867731e-05 9.99771793e-01 6.44668035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.505099893 meters 0.012476157355499907 Centerline is valid? [True, True] Translation: X:67.86, Y:1.91, Z:0.65 [[ 9.99423560e-01 -2.68862447e-02 -2.07286516e-02 6.78555707e+01] [ 2.68830734e-02 9.99638492e-01 -4.31684099e-04 1.91339820e+00] [ 2.07327644e-02 -1.25814602e-04 9.99785045e-01 6.46235544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.535099893 meters 0.01828690992697718 Centerline is valid? [True, True] Translation: X:67.89, Y:1.89, Z:0.65 [[ 9.98145661e-01 -5.69223109e-02 -2.15659302e-02 6.78869234e+01] [ 5.69258029e-02 9.98378309e-01 -4.52439667e-04 1.88969425e+00] [ 2.15567108e-02 -7.76057199e-04 9.99767326e-01 6.45402726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.565099893 meters 0.021002556743406328 Centerline is valid? [True, True] Translation: X:67.92, Y:1.88, Z:0.65 [[ 9.97682506e-01 -6.45016735e-02 -2.16598850e-02 6.79177459e+01] [ 6.45069775e-02 9.97917153e-01 -4.54449502e-04 1.88438336e+00] [ 2.16440835e-02 -9.43817397e-04 9.99765294e-01 6.45581558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.595099893 meters 0.021002556743406328 Centerline is valid? [True, True] Translation: X:67.95, Y:1.88, Z:0.65 [[ 9.97689529e-01 -6.43929471e-02 -2.16599071e-02 6.79503120e+01] [ 6.43982484e-02 9.97924175e-01 -4.53394713e-04 1.88498086e+00] [ 2.16441403e-02 -9.42512920e-04 9.99765294e-01 6.45984369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.625099893 meters 0.022160488070799466 Centerline is valid? [True, True] Translation: X:67.98, Y:1.88, Z:0.65 [[ 9.97284848e-01 -7.04444611e-02 -2.14595140e-02 6.79812655e+01] [ 7.04510912e-02 9.97515134e-01 -4.47835072e-04 1.88229531e+00] [ 2.14377375e-02 -1.06522704e-03 9.99769618e-01 6.46472672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65509989299998 meters 0.02615785745492745 Centerline is valid? [True, True] Translation: X:68.01, Y:1.88, Z:0.64 [[ 9.97022831e-01 -7.40212950e-02 -2.15945154e-02 6.80118851e+01] [ 7.40288548e-02 9.97255998e-01 -4.50209088e-04 1.87905806e+00] [ 2.15685850e-02 -1.14974850e-03 9.99766710e-01 6.43027757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68509989299999 meters 0.0277328197167698 Centerline is valid? [True, True] Translation: X:68.04, Y:1.88, Z:0.65 [[ 9.96960444e-01 -7.51925113e-02 -2.03950653e-02 6.80432831e+01] [ 7.51995179e-02 9.97168417e-01 -4.24255364e-04 1.87541083e+00] [ 2.03692159e-02 -1.11073326e-03 9.99791909e-01 6.46906107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71509989299999 meters 0.026467018116786256 Centerline is valid? [True, True] Translation: X:68.08, Y:1.88, Z:0.65 [[ 9.96972155e-01 -7.54560689e-02 -1.87857539e-02 6.80754504e+01] [ 7.54620799e-02 9.97148596e-01 -3.89698253e-04 1.87923238e+00] [ 1.87615932e-02 -1.02909375e-03 9.99823456e-01 6.48424732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74509989299999 meters 0.02295019896792927 Centerline is valid? [True, True] Translation: X:68.11, Y:1.89, Z:0.65 [[ 9.97122462e-01 -7.36127450e-02 -1.81096402e-02 6.81067197e+01] [ 7.36180471e-02 9.97286440e-01 -3.74604601e-04 1.88564827e+00] [ 1.80880743e-02 -9.59669685e-04 9.99835937e-01 6.50689903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77509989299999 meters 0.02167559380854197 Centerline is valid? [True, True] Translation: X:68.14, Y:1.89, Z:0.65 [[ 9.97389046e-01 -6.87480639e-02 -2.21087047e-02 6.81374156e+01] [ 6.87547917e-02 9.97633485e-01 -4.56583392e-04 1.89130095e+00] [ 2.20877734e-02 -1.06468812e-03 9.99755468e-01 6.47324140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80509989299999 meters 0.022387641163434245 Centerline is valid? [True, True] Translation: X:68.17, Y:1.89, Z:0.65 [[ 9.97306783e-01 -6.92315744e-02 -2.42109304e-02 6.81697187e+01] [ 6.92398125e-02 9.97599920e-01 -4.98881266e-04 1.89271909e+00] [ 2.41873605e-02 -1.17882261e-03 9.99706748e-01 6.45571634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83509989299999 meters 0.02551876496256539 Centerline is valid? [True, True] Translation: X:68.20, Y:1.89, Z:0.64 [[ 9.97132320e-01 -7.02268148e-02 -2.82016092e-02 6.82012806e+01] [ 7.02384462e-02 9.97530062e-01 -5.79191490e-04 1.89446220e+00] [ 2.81726278e-02 -1.40330666e-03 9.99602088e-01 6.38865298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.865099893 meters 0.02328377989547708 Centerline is valid? [True, True] Translation: X:68.23, Y:1.90, Z:0.64 [[ 9.97141730e-01 -7.02950706e-02 -2.76942729e-02 6.82334474e+01] [ 7.03063626e-02 9.97525285e-01 -5.66985838e-04 1.90107043e+00] [ 2.76655938e-02 -1.38171835e-03 9.99616279e-01 6.41210863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.895099893 meters 0.02364310318630587 Centerline is valid? [True, True] Translation: X:68.26, Y:1.91, Z:0.64 [[ 9.97366240e-01 -6.78067401e-02 -2.57454602e-02 6.82644082e+01] [ 6.78157048e-02 9.97697727e-01 -5.25758730e-04 1.90560858e+00] [ 2.57218371e-02 -1.22157252e-03 9.99668392e-01 6.43339626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.925099893 meters 0.023135427568086356 Centerline is valid? [True, True] Translation: X:68.29, Y:1.91, Z:0.64 [[ 9.97692543e-01 -6.34209429e-02 -2.42358013e-02 6.82943088e+01] [ 6.34276051e-02 9.97986320e-01 -4.94505538e-04 1.91018772e+00] [ 2.42183601e-02 -1.04385435e-03 9.99706148e-01 6.44899299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.955099893 meters 0.01992552301454492 Centerline is valid? [True, True] Translation: X:68.33, Y:1.92, Z:0.65 [[ 9.97850363e-01 -6.12593903e-02 -2.32795958e-02 6.83258042e+01] [ 6.12649635e-02 9.98121425e-01 -4.74397959e-04 1.91689684e+00] [ 2.32649247e-02 -9.52845413e-04 9.99728881e-01 6.46829680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.985099893 meters 0.020558335317695513 Centerline is valid? [True, True] Translation: X:68.36, Y:1.92, Z:0.65 [[ 9.98058398e-01 -5.80525526e-02 -2.25684640e-02 6.83565838e+01] [ 5.80569948e-02 9.98313165e-01 -4.58880545e-04 1.91858061e+00] [ 2.25570339e-02 -8.52267617e-04 9.99745194e-01 6.47903493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01509989299998 meters 0.019374485781431108 Centerline is valid? [True, True] Translation: X:68.39, Y:1.92, Z:0.65 [[ 9.98137854e-01 -5.67336180e-02 -2.24080726e-02 6.83884342e+01] [ 5.67376915e-02 9.98389016e-01 -4.54455373e-04 1.92195451e+00] [ 2.23977565e-02 -8.17773199e-04 9.99748804e-01 6.48890958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04509989299999 meters 0.019242572100241617 Centerline is valid? [True, True] Translation: X:68.42, Y:1.92, Z:0.65 [[ 9.98176054e-01 -5.59322695e-02 -2.27188617e-02 6.84202751e+01] [ 5.59362870e-02 9.98434235e-01 -4.59113516e-04 1.92442499e+00] [ 2.27089686e-02 -8.12532652e-04 9.99741788e-01 6.48356913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07509989299999 meters 0.018150876079295268 Centerline is valid? [True, True] Translation: X:68.45, Y:1.93, Z:0.65 [[ 9.98188635e-01 -5.61348122e-02 -2.16409908e-02 6.84536382e+01] [ 5.61385453e-02 9.98422893e-01 -4.35456235e-04 1.92628353e+00] [ 2.16313049e-02 -7.80226275e-04 9.99765712e-01 6.51177767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10509989299999 meters 0.018587903952904168 Centerline is valid? [True, True] Translation: X:68.49, Y:1.93, Z:0.65 [[ 9.98157202e-01 -5.67815136e-02 -2.14023195e-02 6.84854040e+01] [ 5.67853674e-02 9.98386317e-01 -4.28124616e-04 1.92638768e+00] [ 2.13920925e-02 -7.88002907e-04 9.99770852e-01 6.51959785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13509989299999 meters 0.02093083349065645 Centerline is valid? [True, True] Translation: X:68.52, Y:1.93, Z:0.65 [[ 9.98088990e-01 -5.75943478e-02 -2.23888257e-02 6.85166949e+01] [ 5.75988351e-02 9.98339710e-01 -4.44925096e-04 1.92625709e+00] [ 2.23772789e-02 -8.45495439e-04 9.99749240e-01 6.49747324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16509989299999 meters 0.020553641466609002 Centerline is valid? [True, True] Translation: X:68.55, Y:1.93, Z:0.65 [[ 9.98069407e-01 -5.79520409e-02 -2.23387484e-02 6.85481564e+01] [ 5.79566438e-02 9.98319003e-01 -4.41860368e-04 1.92537627e+00] [ 2.23268038e-02 -8.53671569e-04 9.99750361e-01 6.51749600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19509989299999 meters 0.01921080148940246 Centerline is valid? [True, True] Translation: X:68.58, Y:1.93, Z:0.65 [[ 9.98081257e-01 -5.77109015e-02 -2.24333934e-02 6.85804256e+01] [ 5.77155140e-02 9.98332972e-01 -4.42335078e-04 1.92826859e+00] [ 2.24215239e-02 -8.53268483e-04 9.99748242e-01 6.52164880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22509989299999 meters 0.02049523086773714 Centerline is valid? [True, True] Translation: X:68.61, Y:1.93, Z:0.65 [[ 9.98104299e-01 -5.71984650e-02 -2.27187990e-02 6.86113778e+01] [ 5.72031159e-02 9.98362462e-01 -4.45640535e-04 1.92731638e+00] [ 2.27070860e-02 -8.54790357e-04 9.99741795e-01 6.51739239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.255099893 meters 0.018989370411476844 Centerline is valid? [True, True] Translation: X:68.64, Y:1.93, Z:0.65 [[ 9.98132262e-01 -5.67127605e-02 -2.27079255e-02 6.86439561e+01] [ 5.67173367e-02 9.98390178e-01 -4.42990698e-04 1.93068015e+00] [ 2.26964930e-02 -8.45769751e-04 9.99742044e-01 6.52791918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.285099893 meters 0.0187367071860296 Centerline is valid? [True, True] Translation: X:68.68, Y:1.93, Z:0.65 [[ 9.98172294e-01 -5.60388156e-02 -2.26212797e-02 6.86758491e+01] [ 5.60432212e-02 9.98428247e-01 -4.39662632e-04 1.93206004e+00] [ 2.26103628e-02 -8.28910324e-04 9.99744009e-01 6.53135228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.315099893 meters 0.018982430636459064 Centerline is valid? [True, True] Translation: X:68.71, Y:1.93, Z:0.65 [[ 9.98198845e-01 -5.54361809e-02 -2.29324223e-02 6.87067276e+01] [ 5.54405994e-02 9.98461889e-01 -4.43549403e-04 1.92818747e+00] [ 2.29217383e-02 -8.28636733e-04 9.99736919e-01 6.50141674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.345099893 meters 0.018997071630226493 Centerline is valid? [True, True] Translation: X:68.74, Y:1.93, Z:0.65 [[ 9.98173075e-01 -5.56058578e-02 -2.36326331e-02 6.87391949e+01] [ 5.56106527e-02 9.98452427e-01 -4.54773837e-04 1.92718089e+00] [ 2.36213479e-02 -8.60283150e-04 9.99720607e-01 6.49645159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.375099893 meters 0.019256034170024725 Centerline is valid? [True, True] Translation: X:68.77, Y:1.93, Z:0.65 [[ 9.98169677e-01 -5.53536412e-02 -2.43571392e-02 6.87714558e+01] [ 5.53587031e-02 9.98466422e-01 -4.66940888e-04 1.92768840e+00] [ 2.43456325e-02 -8.82293403e-04 9.99703212e-01 6.49951206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40509989299998 meters 0.018498724733453032 Centerline is valid? [True, True] Translation: X:68.80, Y:1.93, Z:0.65 [[ 9.98268463e-01 -5.38117745e-02 -2.37564529e-02 6.88037851e+01] [ 5.38161935e-02 9.98550756e-01 -4.53743384e-04 1.92991053e+00] [ 2.37464407e-02 -8.25524154e-04 9.99717673e-01 6.51675460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43509989299999 meters 0.018328351200703592 Centerline is valid? [True, True] Translation: X:68.84, Y:1.93, Z:0.65 [[ 9.98344672e-01 -5.25118282e-02 -2.34611104e-02 6.88358193e+01] [ 5.25158187e-02 9.98619993e-01 -4.46429145e-04 1.93125372e+00] [ 2.34521767e-02 -7.86389263e-04 9.99724651e-01 6.52621926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46509989299999 meters 0.01785049077531852 Centerline is valid? [True, True] Translation: X:68.87, Y:1.93, Z:0.65 [[ 9.98548117e-01 -4.89484359e-02 -2.24879787e-02 6.88658940e+01] [ 4.89512424e-02 9.98801078e-01 -4.25989150e-04 1.93381130e+00] [ 2.24818688e-02 -6.75443831e-04 9.99747023e-01 6.54234148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49509989299999 meters 0.01785049077531852 Centerline is valid? [True, True] Translation: X:68.90, Y:1.93, Z:0.65 [[ 9.98551546e-01 -4.88784100e-02 -2.24880168e-02 6.88975985e+01] [ 4.88812443e-02 9.98804508e-01 -4.23966957e-04 1.93434972e+00] [ 2.24818554e-02 -6.75889383e-04 9.99747023e-01 6.54625848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52509989299999 meters 0.016275849903094653 Centerline is valid? [True, True] Translation: X:68.93, Y:1.94, Z:0.66 [[ 9.98652675e-01 -4.69960197e-02 -2.20047514e-02 6.89302540e+01] [ 4.69983147e-02 9.98894883e-01 -4.13134437e-04 1.93839682e+00] [ 2.19998492e-02 -6.21608419e-04 9.99757781e-01 6.56157039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55509989299999 meters 0.016668410569137065 Centerline is valid? [True, True] Translation: X:68.96, Y:1.94, Z:0.66 [[ 9.98752023e-01 -4.48517724e-02 -2.19707804e-02 6.89618651e+01] [ 4.48535817e-02 9.98993487e-01 -4.10688639e-04 1.93881188e+00] [ 2.19670866e-02 -5.75292082e-04 9.99758529e-01 6.56004028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58509989299999 meters 0.015118934409261027 Centerline is valid? [True, True] Translation: X:68.99, Y:1.94, Z:0.66 [[ 9.98902715e-01 -4.11058632e-02 -2.24426729e-02 6.89936620e+01] [ 4.11068387e-02 9.99154669e-01 -4.18058517e-04 1.94380522e+00] [ 2.24408860e-02 -5.04947546e-04 9.99748044e-01 6.55889989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.615099893 meters 0.015098994893049809 Centerline is valid? [True, True] Translation: X:69.03, Y:1.95, Z:0.66 [[ 9.98954601e-01 -3.97422663e-02 -2.25888603e-02 6.90252988e+01] [ 3.97429504e-02 9.99209849e-01 -4.18825367e-04 1.94534856e+00] [ 2.25876568e-02 -4.79360427e-04 9.99744751e-01 6.55962399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.645099893 meters 0.014427871743768014 Centerline is valid? [True, True] Translation: X:69.06, Y:1.95, Z:0.65 [[ 9.99053273e-01 -3.62820238e-02 -2.40035923e-02 6.90567794e+01] [ 3.62818475e-02 9.99341499e-01 -4.42995793e-04 1.94885982e+00] [ 2.40038587e-02 -4.28318278e-04 9.99711774e-01 6.53983841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.675099893 meters 0.015997415066813014 Centerline is valid? [True, True] Translation: X:69.09, Y:1.94, Z:0.65 [[ 9.98571057e-01 -4.55286171e-02 -2.79819543e-02 6.90876784e+01] [ 4.55320204e-02 9.98962747e-01 -5.15856871e-04 1.94300202e+00] [ 2.79764161e-02 -7.58955171e-04 9.99608295e-01 6.52521471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.705099893 meters 0.015015241843849192 Centerline is valid? [True, True] Translation: X:69.12, Y:1.95, Z:0.66 [[ 9.98958058e-01 -4.16243014e-02 -1.87140431e-02 6.91178838e+01] [ 4.16251383e-02 9.99133239e-01 -3.44971142e-04 1.95034565e+00] [ 1.87121816e-02 -4.34362928e-04 9.99824817e-01 6.60127512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.735099893 meters 0.01575677699129326 Centerline is valid? [True, True] Translation: X:69.15, Y:1.95, Z:0.66 [[ 9.98824085e-01 -4.38916314e-02 -2.05906027e-02 6.91488829e+01] [ 4.38931352e-02 9.99036160e-01 -3.79117859e-04 1.94746013e+00] [ 2.05873967e-02 -5.25114060e-04 9.99787919e-01 6.59292212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76509989299998 meters 0.013178057733900276 Centerline is valid? [True, True] Translation: X:69.18, Y:1.95, Z:0.66 [[ 9.99268194e-01 -2.96874516e-02 -2.41191203e-02 6.91796297e+01] [ 2.96854022e-02 9.99559193e-01 -4.43092456e-04 1.95496562e+00] [ 2.41216427e-02 -2.73217589e-04 9.99708994e-01 6.57738130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79509989299999 meters 0.013066243066586014 Centerline is valid? [True, True] Translation: X:69.21, Y:1.96, Z:0.66 [[ 9.99387256e-01 -2.53342039e-02 -2.41514157e-02 6.92089312e+01] [ 2.53308732e-02 9.99679023e-01 -4.43881719e-04 1.95858699e+00] [ 2.41549090e-02 -1.68166715e-04 9.99708213e-01 6.58009582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82509989299999 meters 0.014646816027976194 Centerline is valid? [True, True] Translation: X:69.24, Y:1.96, Z:0.66 [[ 9.99458197e-01 -2.05627036e-02 -2.56999626e-02 6.92366034e+01] [ 2.05572460e-02 9.99788564e-01 -4.76573027e-04 1.96158196e+00] [ 2.57043283e-02 -5.20056345e-05 9.99669588e-01 6.55074178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85509989299999 meters 0.012780114736915272 Centerline is valid? [True, True] Translation: X:69.27, Y:1.97, Z:0.66 [[ 9.99519814e-01 -1.45335942e-02 -2.73663228e-02 6.92654312e+01] [ 1.45249417e-02 9.99894375e-01 -5.14941605e-04 1.96560191e+00] [ 2.73709161e-02 1.17200093e-04 9.99625339e-01 6.56497310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88509989299999 meters 0.012280808692507411 Centerline is valid? [True, True] Translation: X:69.29, Y:1.94, Z:0.66 [[ 9.99630884e-01 -1.41023261e-02 -2.32211094e-02 6.92946876e+01] [ 1.40958555e-02 9.99900551e-01 -4.42319886e-04 1.93864348e+00] [ 2.32250378e-02 1.14835216e-04 9.99730256e-01 6.60056131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91509989299999 meters 0.012737796546833631 Centerline is valid? [True, True] Translation: X:69.32, Y:1.94, Z:0.66 [[ 9.99624573e-01 -1.00134165e-02 -2.55038251e-02 6.93229021e+01] [ 1.00041461e-02 9.99949837e-01 -4.91060461e-04 1.94082727e+00] [ 2.55074630e-02 2.35732111e-04 9.99674604e-01 6.58725409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94509989299999 meters 0.012938734636809565 Centerline is valid? [True, True] Translation: X:69.35, Y:1.94, Z:0.66 [[ 9.99646428e-01 -8.70692490e-03 -2.51238701e-02 6.93519935e+01] [ 8.69739309e-03 9.99962058e-01 -4.88643345e-04 1.94140346e+00] [ 2.51271714e-02 2.69958400e-04 9.99684226e-01 6.58731153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97509989299999 meters 0.013230402321770108 Centerline is valid? [True, True] Translation: X:69.38, Y:1.94, Z:0.66 [[ 9.99672621e-01 -7.47523241e-03 -2.44698325e-02 6.93793738e+01] [ 7.46572088e-03 9.99972016e-01 -4.80038465e-04 1.94232301e+00] [ 2.44727362e-02 2.97196371e-04 9.99700454e-01 6.59146146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.005099893 meters 0.013230402321770108 Centerline is valid? [True, True] Translation: X:69.41, Y:1.94, Z:0.66 [[ 9.99670476e-01 -7.75696377e-03 -2.44697433e-02 6.94067545e+01] [ 7.74742616e-03 9.99969871e-01 -4.84551579e-04 1.94292378e+00] [ 2.44727647e-02 2.94814378e-04 9.99700454e-01 6.59485238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.035099893 meters 0.013132204587845715 Centerline is valid? [True, True] Translation: X:69.43, Y:1.94, Z:0.66 [[ 9.99693216e-01 -6.83908601e-03 -2.38054593e-02 6.94347578e+01] [ 6.82963983e-03 9.99976563e-01 -4.78088568e-04 1.94292281e+00] [ 2.38081711e-02 3.15359185e-04 9.99716496e-01 6.60625413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.065099893 meters 0.013400113520518312 Centerline is valid? [True, True] Translation: X:69.46, Y:1.94, Z:0.66 [[ 9.99692226e-01 -5.84369812e-03 -2.41102615e-02 6.94624099e+01] [ 5.83360664e-03 9.99982865e-01 -4.88870077e-04 1.94382226e+00] [ 2.41127052e-02 3.48069834e-04 9.99709186e-01 6.61077697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.095099893 meters 0.013400113520518312 Centerline is valid? [True, True] Translation: X:69.49, Y:1.94, Z:0.66 [[ 9.99690518e-01 -6.12934577e-03 -2.41101705e-02 6.94897899e+01] [ 6.11922982e-03 9.99981156e-01 -4.93328446e-04 1.94443606e+00] [ 2.41127399e-02 3.45640096e-04 9.99709186e-01 6.61416785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.125099893 meters 0.013395169435878741 Centerline is valid? [True, True] Translation: X:69.52, Y:1.94, Z:0.66 [[ 9.99693224e-01 -5.38220966e-03 -2.41762362e-02 6.95184372e+01] [ 5.37166155e-03 9.99985447e-01 -5.01222944e-04 1.94483006e+00] [ 2.41785821e-02 3.71202622e-04 9.99707586e-01 6.62291339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15509989299998 meters 0.013921010566025717 Centerline is valid? [True, True] Translation: X:69.55, Y:1.95, Z:0.66 [[ 9.99684615e-01 -4.71090200e-03 -2.46673381e-02 6.95457082e+01] [ 4.69960483e-03 9.99988824e-01 -5.15933065e-04 1.94662716e+00] [ 2.46694929e-02 3.99843607e-04 9.99695582e-01 6.62115319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18509989299999 meters 0.013981582037450174 Centerline is valid? [True, True] Translation: X:69.57, Y:1.95, Z:0.66 [[ 9.99682438e-01 -4.48529710e-03 -2.47973034e-02 6.95740308e+01] [ 4.47370184e-03 9.99989856e-01 -5.23058465e-04 1.94697699e+00] [ 2.47993980e-02 4.11956620e-04 9.99692363e-01 6.62648080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21509989299999 meters 0.01338981416781206 Centerline is valid? [True, True] Translation: X:69.60, Y:1.94, Z:0.67 [[ 9.99757763e-01 -4.78759331e-03 -2.14824166e-02 6.96026162e+01] [ 4.77885490e-03 9.99988476e-01 -4.58088812e-04 1.94499829e+00] [ 2.14843622e-02 3.55316495e-04 9.99769121e-01 6.66688423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24509989299999 meters 0.01299680747487326 Centerline is valid? [True, True] Translation: X:69.63, Y:1.94, Z:0.67 [[ 9.99774509e-01 -9.19857601e-03 -1.91394248e-02 6.96305514e+01] [ 9.19238307e-03 9.99957664e-01 -4.11523104e-04 1.93983690e+00] [ 1.91424000e-02 2.35493384e-04 9.99816740e-01 6.68615190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27509989299999 meters 0.012336481640166395 Centerline is valid? [True, True] Translation: X:69.66, Y:1.94, Z:0.67 [[ 9.99755559e-01 -1.20876026e-02 -1.85124719e-02 6.96590064e+01] [ 1.20822758e-02 9.99926927e-01 -3.99563574e-04 1.93615801e+00] [ 1.85159489e-02 1.75793112e-04 9.99828550e-01 6.69629869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30509989299999 meters 0.012078871317250491 Centerline is valid? [True, True] Translation: X:69.69, Y:1.93, Z:0.67 [[ 9.99716300e-01 -1.53281898e-02 -1.82309212e-02 6.96867609e+01] [ 1.53235365e-02 9.99882510e-01 -3.94913192e-04 1.93328240e+00] [ 1.82348325e-02 1.15438969e-04 9.99833725e-01 6.69985242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33509989299999 meters 0.01189261337015537 Centerline is valid? [True, True] Translation: X:69.72, Y:1.93, Z:0.67 [[ 9.99650012e-01 -1.92640998e-02 -1.81314212e-02 6.97151942e+01] [ 1.92601166e-02 9.99814429e-01 -3.94296097e-04 1.92982526e+00] [ 1.81356522e-02 4.49448133e-05 9.99835535e-01 6.70287880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.365099893 meters 0.01189261337015537 Centerline is valid? [True, True] Translation: X:69.74, Y:1.93, Z:0.67 [[ 9.99644334e-01 -1.95565505e-02 -1.81313645e-02 6.97425727e+01] [ 1.95525685e-02 9.99808751e-01 -3.96884535e-04 1.93047175e+00] [ 1.81356586e-02 4.22286312e-05 9.99835535e-01 6.70626870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.395099893 meters 0.01183764031566125 Centerline is valid? [True, True] Translation: X:69.77, Y:1.93, Z:0.67 [[ 9.99554370e-01 -2.38145233e-02 -1.79980597e-02 6.97708098e+01] [ 2.38112159e-02 9.99716394e-01 -3.98068760e-04 1.92667255e+00] [ 1.80024351e-02 -3.06643166e-05 9.99837943e-01 6.70532048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.425099893 meters 0.01183764031566125 Centerline is valid? [True, True] Translation: X:69.80, Y:1.93, Z:0.67 [[ 9.99553527e-01 -2.38498926e-02 -1.79980304e-02 6.97999535e+01] [ 2.38465671e-02 9.99715550e-01 -3.99387146e-04 1.92734811e+00] [ 1.80024363e-02 -2.99824107e-05 9.99837943e-01 6.70892939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.455099893 meters 0.011970929920409705 Centerline is valid? [True, True] Translation: X:69.83, Y:1.92, Z:0.67 [[ 9.99445987e-01 -2.81115322e-02 -1.78174025e-02 6.98299104e+01] [ 2.81089391e-02 9.99604787e-01 -3.96009324e-04 1.92336758e+00] [ 1.78214933e-02 -1.05038351e-04 9.99841179e-01 6.71302259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.485099893 meters 0.014652680890093129 Centerline is valid? [True, True] Translation: X:69.86, Y:1.91, Z:0.67 [[ 9.98773175e-01 -4.46861167e-02 -2.13376732e-02 6.98601972e+01] [ 4.46861614e-02 9.99000962e-01 -4.74945340e-04 1.90588884e+00] [ 2.13375795e-02 -4.79136044e-04 9.99772213e-01 6.69676969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51509989299998 meters 0.014652680890093129 Centerline is valid? [True, True] Translation: X:69.89, Y:1.91, Z:0.67 [[ 9.98776376e-01 -4.46144949e-02 -2.13376826e-02 6.98918901e+01] [ 4.46145324e-02 9.99004163e-01 -4.74520625e-04 1.90653763e+00] [ 2.13376043e-02 -4.78030743e-04 9.99772213e-01 6.70069075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54509989299999 meters 0.013721155282896925 Centerline is valid? [True, True] Translation: X:69.92, Y:1.91, Z:0.67 [[ 9.98813471e-01 -4.26912210e-02 -2.34330875e-02 6.99238214e+01] [ 4.26907795e-02 9.99088198e-01 -5.19325448e-04 1.91045133e+00] [ 2.34338918e-02 -4.81667518e-04 9.99725273e-01 6.68770477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57509989299999 meters 0.013811704640659634 Centerline is valid? [True, True] Translation: X:69.95, Y:1.91, Z:0.67 [[ 9.98834901e-01 -4.16535585e-02 -2.43684523e-02 6.99536877e+01] [ 4.16528012e-02 9.99132000e-01 -5.38882874e-04 1.91151289e+00] [ 2.43697469e-02 -4.76759277e-04 9.99702900e-01 6.67850414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60509989299999 meters 0.013581000205444834 Centerline is valid? [True, True] Translation: X:69.98, Y:1.91, Z:0.67 [[ 9.98866192e-01 -4.05292624e-02 -2.49741757e-02 6.99837707e+01] [ 4.05281215e-02 9.99178246e-01 -5.52045795e-04 1.91324151e+00] [ 2.49760271e-02 -4.60736549e-04 9.99687944e-01 6.67608147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63509989299999 meters 0.012931933140595136 Centerline is valid? [True, True] Translation: X:70.01, Y:1.92, Z:0.67 [[ 9.99046296e-01 -3.55509960e-02 -2.53500417e-02 7.00130243e+01] [ 3.55482124e-02 9.99367805e-01 -5.60588467e-04 1.91882991e+00] [ 2.53539451e-02 -3.41094835e-04 9.99678479e-01 6.67790090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66509989299999 meters 0.01237433629671497 Centerline is valid? [True, True] Translation: X:70.04, Y:1.93, Z:0.67 [[ 9.99186860e-01 -3.24558165e-02 -2.39215290e-02 7.00426521e+01] [ 3.24524357e-02 9.99473141e-01 -5.29630890e-04 1.92601321e+00] [ 2.39261153e-02 -2.47111655e-04 9.99713699e-01 6.70591206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69509989299999 meters 0.012543322579077584 Centerline is valid? [True, True] Translation: X:70.07, Y:1.93, Z:0.67 [[ 9.99204299e-01 -3.24389669e-02 -2.32052387e-02 7.00711633e+01] [ 3.24357571e-02 9.99473690e-01 -5.14798415e-04 1.92740968e+00] [ 2.32097250e-02 -2.38290694e-04 9.99730590e-01 6.71012341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72509989299999 meters 0.012585645777395054 Centerline is valid? [True, True] Translation: X:70.10, Y:1.93, Z:0.67 [[ 9.99205556e-01 -3.33200382e-02 -2.18639191e-02 7.01007226e+01] [ 3.33173783e-02 9.99444704e-01 -4.86015178e-04 1.92966659e+00] [ 2.18679722e-02 -2.42819398e-04 9.99760838e-01 6.72896333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.755099893 meters 0.012402838952239597 Centerline is valid? [True, True] Translation: X:70.13, Y:1.93, Z:0.67 [[ 9.99200997e-01 -3.38210193e-02 -2.12956876e-02 7.01314949e+01] [ 3.38186004e-02 9.99427875e-01 -4.73816096e-04 1.93107678e+00] [ 2.12995287e-02 -2.46752832e-04 9.99773109e-01 6.73888298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.785099893 meters 0.012537600634974236 Centerline is valid? [True, True] Translation: X:70.16, Y:1.93, Z:0.67 [[ 9.99191206e-01 -3.42350121e-02 -2.10926010e-02 7.01623691e+01] [ 3.42327313e-02 9.99413778e-01 -4.69297542e-04 1.93202342e+00] [ 2.10963024e-02 -2.53139364e-04 9.99777416e-01 6.74409332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.815099893 meters 0.012942299820634794 Centerline is valid? [True, True] Translation: X:70.19, Y:1.93, Z:0.67 [[ 9.99194516e-01 -3.43893684e-02 -2.06806981e-02 7.01931532e+01] [ 3.43872120e-02 9.99408479e-01 -4.59983145e-04 1.93233418e+00] [ 2.06842835e-02 -2.51538913e-04 9.99786026e-01 6.74549731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.845099893 meters 0.012556263374595625 Centerline is valid? [True, True] Translation: X:70.22, Y:1.94, Z:0.68 [[ 9.99219441e-01 -3.40362055e-02 -2.00510624e-02 7.02241513e+01] [ 3.40341172e-02 9.99420572e-01 -4.45482360e-04 1.93598259e+00] [ 2.00546068e-02 -2.37285574e-04 9.99798858e-01 6.76621194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87509989299998 meters 0.01240528939792337 Centerline is valid? [True, True] Translation: X:70.26, Y:1.94, Z:0.68 [[ 9.99258929e-01 -3.26886992e-02 -2.03234411e-02 7.02551116e+01] [ 3.26862903e-02 9.99465559e-01 -4.50788540e-04 1.93925413e+00] [ 2.03273151e-02 -2.13843422e-04 9.99793356e-01 6.77507930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90509989299998 meters 0.01305161118886762 Centerline is valid? [True, True] Translation: X:70.29, Y:1.94, Z:0.67 [[ 9.99257083e-01 -3.07151349e-02 -2.32779426e-02 7.02868287e+01] [ 3.07114606e-02 9.99528159e-01 -5.15413167e-04 1.94315655e+00] [ 2.32827901e-02 -1.99869359e-04 9.99728899e-01 6.74437375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93509989299999 meters 0.012745154593321774 Centerline is valid? [True, True] Translation: X:70.32, Y:1.94, Z:0.67 [[ 9.99241296e-01 -3.01138962e-02 -2.46979067e-02 7.03163341e+01] [ 3.01095771e-02 9.99546454e-01 -5.46822398e-04 1.94485773e+00] [ 2.47031720e-02 -1.97236005e-04 9.99694811e-01 6.73838899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96509989299999 meters 0.012346242413982154 Centerline is valid? [True, True] Translation: X:70.34, Y:1.95, Z:0.67 [[ 9.99235345e-01 -3.05378188e-02 -2.44165448e-02 7.03448233e+01] [ 3.05336392e-02 9.99533592e-01 -5.44067348e-04 1.94590639e+00] [ 2.44217713e-02 -2.01874644e-04 9.99701724e-01 6.73969140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99509989299999 meters 0.012418879335963797 Centerline is valid? [True, True] Translation: X:70.37, Y:1.95, Z:0.67 [[ 9.99220839e-01 -3.11366173e-02 -2.42533689e-02 7.03728434e+01] [ 3.11325690e-02 9.99515116e-01 -5.44580930e-04 1.94785276e+00] [ 2.42585652e-02 -2.10913067e-04 9.99705695e-01 6.74230175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02509989299999 meters 0.012636310350612726 Centerline is valid? [True, True] Translation: X:70.40, Y:1.95, Z:0.67 [[ 9.99219653e-01 -3.12730936e-02 -2.41263140e-02 7.04012177e+01] [ 3.12690859e-02 9.99510855e-01 -5.43444985e-04 1.94889503e+00] [ 2.41315079e-02 -2.11386875e-04 9.99708770e-01 6.73959646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05509989299999 meters 0.012296630542168722 Centerline is valid? [True, True] Translation: X:70.43, Y:1.95, Z:0.68 [[ 9.99212306e-01 -3.18434470e-02 -2.36804123e-02 7.04299619e+01] [ 3.18396624e-02 9.99492845e-01 -5.36938414e-04 1.95262237e+00] [ 2.36855006e-02 -2.17460861e-04 9.99719436e-01 6.75536060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08509989299999 meters 0.013707510732319114 Centerline is valid? [True, True] Translation: X:70.46, Y:1.95, Z:0.67 [[ 9.99187653e-01 -3.22032276e-02 -2.42277955e-02 7.04586100e+01] [ 3.21992777e-02 9.99481316e-01 -5.53230588e-04 1.95391962e+00] [ 2.42330447e-02 -2.27336341e-04 9.99706311e-01 6.73503886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.115099893 meters 0.01252289134489034 Centerline is valid? [True, True] Translation: X:70.49, Y:1.96, Z:0.67 [[ 9.99150666e-01 -3.30607424e-02 -2.45953867e-02 7.04884287e+01] [ 3.30569039e-02 9.99453313e-01 -5.62747856e-04 1.95595009e+00] [ 2.46005456e-02 -2.50777439e-04 9.99697329e-01 6.74811266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.145099893 meters 0.01575621152518963 Centerline is valid? [True, True] Translation: X:70.52, Y:1.96, Z:0.67 [[ 9.99048124e-01 -3.51299707e-02 -2.58598327e-02 7.05172474e+01] [ 3.51263894e-02 9.99382702e-01 -5.92872544e-04 1.95669119e+00] [ 2.58646970e-02 -3.16054349e-04 9.99665403e-01 6.70817289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.175099893 meters 0.013474396371525976 Centerline is valid? [True, True] Translation: X:70.55, Y:1.96, Z:0.68 [[ 9.98933216e-01 -3.90021841e-02 -2.47236593e-02 7.05467419e+01] [ 3.90000693e-02 9.99239047e-01 -5.67900104e-04 1.95893812e+00] [ 2.47269951e-02 -3.96930150e-04 9.99694162e-01 6.75346426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.205099893 meters 0.014108137382369594 Centerline is valid? [True, True] Translation: X:70.58, Y:1.96, Z:0.68 [[ 9.98789787e-01 -4.27306918e-02 -2.43526208e-02 7.05776060e+01] [ 4.27297500e-02 9.99086511e-01 -5.59278995e-04 1.96106960e+00] [ 2.43542734e-02 -4.81979251e-04 9.99703275e-01 6.76632617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.235099893 meters 0.015128094119996993 Centerline is valid? [True, True] Translation: X:70.61, Y:1.96, Z:0.68 [[ 9.98665936e-01 -4.57388077e-02 -2.39647658e-02 7.06088415e+01] [ 4.57387890e-02 9.98953283e-01 -5.49205317e-04 1.96199066e+00] [ 2.39648015e-02 -5.47646724e-04 9.99712653e-01 6.76964825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26509989299998 meters 0.015666282907327068 Centerline is valid? [True, True] Translation: X:70.64, Y:1.96, Z:0.68 [[ 9.98619637e-01 -4.79845597e-02 -2.13612274e-02 7.06410549e+01] [ 4.79850842e-02 9.98847933e-01 -4.88305273e-04 1.96468243e+00] [ 2.13600490e-02 -5.37389063e-04 9.99771704e-01 6.79448726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29509989299999 meters 0.017056283711510294 Centerline is valid? [True, True] Translation: X:70.67, Y:1.97, Z:0.68 [[ 9.98626656e-01 -4.78945608e-02 -2.12347285e-02 7.06730934e+01] [ 4.78950910e-02 9.98852254e-01 -4.83901571e-04 1.96824202e+00] [ 2.12335327e-02 -5.33802244e-04 9.99774401e-01 6.78469417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32509989299999 meters 0.018227366244863454 Centerline is valid? [True, True] Translation: X:70.71, Y:1.97, Z:0.68 [[ 9.98648552e-01 -4.73216858e-02 -2.14878361e-02 7.07054764e+01] [ 4.73221297e-02 9.98879561e-01 -4.88109116e-04 1.97113488e+00] [ 2.14868584e-02 -5.29400704e-04 9.99768991e-01 6.78215988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35509989299999 meters 0.015038099674777495 Centerline is valid? [True, True] Translation: X:70.74, Y:1.97, Z:0.68 [[ 9.98659785e-01 -4.72498598e-02 -2.11207259e-02 7.07373239e+01] [ 4.72503047e-02 9.98882966e-01 -4.78250553e-04 1.97434945e+00] [ 2.11197306e-02 -5.20351141e-04 9.99776818e-01 6.82492530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38509989299999 meters 0.015527986849567875 Centerline is valid? [True, True] Translation: X:70.77, Y:1.98, Z:0.68 [[ 9.98666100e-01 -4.72082876e-02 -2.09140739e-02 7.07689664e+01] [ 4.72087431e-02 9.98884934e-01 -4.72213491e-04 1.97581867e+00] [ 2.09130457e-02 -5.15743535e-04 9.99781165e-01 6.82647999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41509989299999 meters 0.016113830316763347 Centerline is valid? [True, True] Translation: X:70.80, Y:1.98, Z:0.68 [[ 9.98543222e-01 -4.88811644e-02 -2.28487326e-02 7.08011995e+01] [ 4.88821798e-02 9.98804419e-01 -5.14412749e-04 1.97931967e+00] [ 2.28465602e-02 -6.03232492e-04 9.99738801e-01 6.81201621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44509989299999 meters 0.016392953187835606 Centerline is valid? [True, True] Translation: X:70.83, Y:1.98, Z:0.68 [[ 9.98397147e-01 -5.07861129e-02 -2.49781460e-02 7.08337382e+01] [ 5.07879693e-02 9.98709301e-01 -5.60478438e-04 1.98122214e+00] [ 2.49743712e-02 -7.09009237e-04 9.99687840e-01 6.79805484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47509989299999 meters 0.01765648948546724 Centerline is valid? [True, True] Translation: X:70.87, Y:1.98, Z:0.68 [[ 9.98253114e-01 -5.27175069e-02 -2.66755327e-02 7.08651277e+01] [ 5.27203593e-02 9.98609136e-01 -5.96843470e-04 1.98262194e+00] [ 2.66698948e-02 -8.10542816e-04 9.99643966e-01 6.78661644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.505099893 meters 0.017786145495086277 Centerline is valid? [True, True] Translation: X:70.90, Y:1.99, Z:0.68 [[ 9.98222293e-01 -5.36268034e-02 -2.60080859e-02 7.08974679e+01] [ 5.36298651e-02 9.98560715e-01 -5.80290988e-04 1.98619390e+00] [ 2.60017720e-02 -8.15550735e-04 9.99661564e-01 6.80964779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.535099893 meters 0.017862048162765532 Centerline is valid? [True, True] Translation: X:70.93, Y:1.99, Z:0.68 [[ 9.98299754e-01 -5.29357764e-02 -2.44009281e-02 7.09300483e+01] [ 5.29383150e-02 9.98597637e-01 -5.42370194e-04 1.98932186e+00] [ 2.43954199e-02 -7.50295988e-04 9.99702106e-01 6.83727797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.565099893 meters 0.017722037567857035 Centerline is valid? [True, True] Translation: X:70.96, Y:1.99, Z:0.69 [[ 9.98443265e-01 -5.10214277e-02 -2.25357499e-02 7.09609864e+01] [ 5.10231442e-02 9.98697346e-01 -4.99198993e-04 1.99091123e+00] [ 2.25318635e-02 -6.51422944e-04 9.99745913e-01 6.85950218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.595099893 meters 0.016253377726652436 Centerline is valid? [True, True] Translation: X:70.99, Y:1.99, Z:0.69 [[ 9.98544731e-01 -4.94257139e-02 -2.15758745e-02 7.09927257e+01] [ 4.94269427e-02 9.98777628e-01 -4.76644834e-04 1.99403066e+00] [ 2.15730593e-02 -5.90478327e-04 9.99767100e-01 6.87617045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62509989299998 meters 0.015578900539848397 Centerline is valid? [True, True] Translation: X:71.02, Y:2.00, Z:0.69 [[ 9.98733126e-01 -4.58400182e-02 -2.07565742e-02 7.10232208e+01] [ 4.58404023e-02 9.98948671e-01 -4.57537750e-04 1.99610671e+00] [ 2.07557258e-02 -4.94531605e-04 9.99784454e-01 6.88951753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65509989299998 meters 0.014661800771127947 Centerline is valid? [True, True] Translation: X:71.05, Y:2.00, Z:0.69 [[ 9.98932466e-01 -4.16420577e-02 -1.99966945e-02 7.10549607e+01] [ 4.16415858e-02 9.99132516e-01 -4.40164901e-04 1.99943115e+00] [ 1.99976771e-02 -3.92999062e-04 9.99799949e-01 6.90265525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68509989299999 meters 0.014239482708536765 Centerline is valid? [True, True] Translation: X:71.09, Y:2.00, Z:0.69 [[ 9.99013827e-01 -3.96148975e-02 -2.00507672e-02 7.10870294e+01] [ 3.96140392e-02 9.99214959e-01 -4.40145137e-04 2.00145493e+00] [ 2.00524629e-02 -3.54580801e-04 9.99798866e-01 6.90638751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71509989299999 meters 0.013735907304321872 Centerline is valid? [True, True] Translation: X:71.12, Y:2.00, Z:0.69 [[ 9.99126206e-01 -3.61577026e-02 -2.09629354e-02 7.11183549e+01] [ 3.61560465e-02 9.99346051e-01 -4.58130477e-04 2.00368718e+00] [ 2.09657917e-02 -3.00206704e-04 9.99780149e-01 6.90464044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74509989299999 meters 0.013163374011578811 Centerline is valid? [True, True] Translation: X:71.15, Y:2.01, Z:0.69 [[ 9.99187360e-01 -3.28299559e-02 -2.33840555e-02 7.11505876e+01] [ 3.28270447e-02 9.99460918e-01 -5.08457217e-04 2.00514901e+00] [ 2.33881422e-02 -2.59585409e-04 9.99726426e-01 6.89572969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77509989299999 meters 0.014724543767692602 Centerline is valid? [True, True] Translation: X:71.18, Y:2.01, Z:0.69 [[ 9.99224083e-01 -3.14694502e-02 -2.36834286e-02 7.11811026e+01] [ 3.14661080e-02 9.99504687e-01 -5.13864114e-04 2.00522977e+00] [ 2.36878689e-02 -2.31759923e-04 9.99719376e-01 6.87628602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80509989299999 meters 0.012839646944267164 Centerline is valid? [True, True] Translation: X:71.21, Y:2.01, Z:0.69 [[ 9.99270681e-01 -2.99625271e-02 -2.36717670e-02 7.12116507e+01] [ 2.99587707e-02 9.99551003e-01 -5.13391585e-04 2.00780467e+00] [ 2.36765210e-02 -1.96159880e-04 9.99719653e-01 6.92413503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83509989299999 meters 0.012861099780903258 Centerline is valid? [True, True] Translation: X:71.24, Y:2.01, Z:0.69 [[ 9.99330288e-01 -2.80596793e-02 -2.34868166e-02 7.12406684e+01] [ 2.80554511e-02 9.99606238e-01 -5.09581502e-04 2.00791616e+00] [ 2.34918671e-02 -1.49693006e-04 9.99724017e-01 6.93397224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.865099893 meters 0.012805645243487842 Centerline is valid? [True, True] Translation: X:71.27, Y:2.01, Z:0.69 [[ 9.99329577e-01 -2.90696780e-02 -2.22564571e-02 7.12699533e+01] [ 2.90661190e-02 9.99577374e-01 -4.83451816e-04 2.00600597e+00] [ 2.22611047e-02 -1.63781133e-04 9.99752177e-01 6.94668391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.895099893 meters 0.013248433685532864 Centerline is valid? [True, True] Translation: X:71.30, Y:2.00, Z:0.70 [[ 9.99261664e-01 -3.22382668e-02 -2.09002652e-02 7.12998096e+01] [ 3.22358094e-02 9.99480188e-01 -4.54558302e-04 2.00119636e+00] [ 2.09040552e-02 -2.19514281e-04 9.99781462e-01 6.95063779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.925099893 meters 0.01366545386243815 Centerline is valid? [True, True] Translation: X:71.33, Y:2.00, Z:0.70 [[ 9.99095657e-01 -3.74970702e-02 -2.00459173e-02 7.13313911e+01] [ 3.74958690e-02 9.99296688e-01 -4.35909982e-04 1.99705545e+00] [ 2.00481641e-02 -3.16123319e-04 9.99798965e-01 6.97312959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.955099893 meters 0.01601547753333465 Centerline is valid? [True, True] Translation: X:71.36, Y:1.99, Z:0.70 [[ 9.98987562e-01 -4.04049164e-02 -1.97811450e-02 7.13639643e+01] [ 4.04043359e-02 9.99183319e-01 -4.29172780e-04 1.99449973e+00] [ 1.97823308e-02 -3.70505757e-04 9.99804242e-01 6.95970063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.985099893 meters 0.015487030812314317 Centerline is valid? [True, True] Translation: X:71.39, Y:1.99, Z:0.70 [[ 9.98830900e-01 -4.42536430e-02 -1.94537553e-02 7.13949160e+01] [ 4.42538455e-02 9.99020230e-01 -4.20291764e-04 1.99028408e+00] [ 1.94532945e-02 -4.41103081e-04 9.99810669e-01 6.98641510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01509989299998 meters 0.015923398442603025 Centerline is valid? [True, True] Translation: X:71.43, Y:1.99, Z:0.70 [[ 9.98647395e-01 -4.81861442e-02 -1.95313968e-02 7.14271669e+01] [ 4.81871406e-02 9.98838237e-01 -4.19883245e-04 1.98756816e+00] [ 1.95289385e-02 -5.21846855e-04 9.99809156e-01 6.99052086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04509989299999 meters 0.019456947447788364 Centerline is valid? [True, True] Translation: X:71.46, Y:1.98, Z:0.70 [[ 9.98192131e-01 -5.65411639e-02 -2.03854312e-02 7.14567079e+01] [ 5.65440114e-02 9.98400012e-01 -4.37147419e-04 1.97641455e+00] [ 2.03775316e-02 -7.16316941e-04 9.99792100e-01 6.97216356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07509989299999 meters 0.021386458658806343 Centerline is valid? [True, True] Translation: X:71.49, Y:1.97, Z:0.70 [[ 9.97566232e-01 -6.65751355e-02 -2.07210984e-02 7.14882127e+01] [ 6.65802480e-02 9.97780975e-01 -4.43823783e-04 1.96858666e+00] [ 2.07046654e-02 -9.36872249e-04 9.99785196e-01 6.97547497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10509989299999 meters 0.025071122418035587 Centerline is valid? [True, True] Translation: X:71.52, Y:1.96, Z:0.70 [[ 9.97426983e-01 -6.87972626e-02 -2.01581337e-02 7.15190517e+01] [ 6.88025673e-02 9.97630202e-01 -4.31087508e-04 1.96346062e+00] [ 2.01400206e-02 -9.56953037e-04 9.99796711e-01 6.96014750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13509989299999 meters 0.02377769883026514 Centerline is valid? [True, True] Translation: X:71.55, Y:1.96, Z:0.70 [[ 9.97431004e-01 -6.88549389e-02 -1.97583012e-02 7.15517392e+01] [ 6.88600708e-02 9.97626239e-01 -4.21303633e-04 1.96247518e+00] [ 1.97404086e-02 -9.40336715e-04 9.99804697e-01 7.00085597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16509989299999 meters 0.02196218730999054 Centerline is valid? [True, True] Translation: X:71.58, Y:1.96, Z:0.70 [[ 9.97666997e-01 -6.51619423e-02 -2.03588956e-02 7.15833676e+01] [ 6.51666600e-02 9.97874300e-01 -4.32320661e-04 1.96371684e+00] [ 2.03437896e-02 -8.95409174e-04 9.99792643e-01 6.99822033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19509989299999 meters 0.01880885913707747 Centerline is valid? [True, True] Translation: X:71.61, Y:1.97, Z:0.70 [[ 9.97972781e-01 -6.02706885e-02 -2.04394802e-02 7.16139476e+01] [ 6.02744359e-02 9.98181749e-01 -4.33223048e-04 1.96957632e+00] [ 2.04284268e-02 -7.99633333e-04 9.99790998e-01 7.01196475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22509989299999 meters 0.01741748329041529 Centerline is valid? [True, True] Translation: X:71.64, Y:1.97, Z:0.70 [[ 9.98346212e-01 -5.37310447e-02 -2.04405545e-02 7.16439286e+01] [ 5.37334279e-02 9.98555222e-01 -4.33018020e-04 1.97243241e+00] [ 2.04342889e-02 -6.66039159e-04 9.99790976e-01 7.01347243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.255099893 meters 0.015236046841895251 Centerline is valid? [True, True] Translation: X:71.68, Y:1.98, Z:0.70 [[ 9.98709061e-01 -4.63646629e-02 -2.07492076e-02 7.16751169e+01] [ 4.63655338e-02 9.98924444e-01 -4.39358490e-04 1.97676709e+00] [ 2.07472614e-02 -5.23256781e-04 9.99784615e-01 7.01515007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.285099893 meters 0.014029345871246072 Centerline is valid? [True, True] Translation: X:71.71, Y:1.98, Z:0.70 [[ 9.99028319e-01 -3.85282489e-02 -2.14007656e-02 7.17059778e+01] [ 3.85273914e-02 9.99257442e-01 -4.52524310e-04 1.98035179e+00] [ 2.14023092e-02 -3.72431071e-04 9.99770875e-01 7.01580318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.315099893 meters 0.013321735653239044 Centerline is valid? [True, True] Translation: X:71.74, Y:1.98, Z:0.70 [[ 9.99169204e-01 -3.44744779e-02 -2.17350586e-02 7.17376700e+01] [ 3.44726557e-02 9.99405536e-01 -4.58621297e-04 1.98317807e+00] [ 2.17379486e-02 -2.91024915e-04 9.99763661e-01 7.01692095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.345099893 meters 0.01300101650459578 Centerline is valid? [True, True] Translation: X:71.77, Y:1.99, Z:0.70 [[ 9.99283570e-01 -3.06041824e-02 -2.22649987e-02 7.17676451e+01] [ 3.06013291e-02 9.99531560e-01 -4.68930057e-04 1.98519469e+00] [ 2.22689201e-02 -2.12744450e-04 9.99751994e-01 7.01524456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37509989299998 meters 0.012490142116006414 Centerline is valid? [True, True] Translation: X:71.80, Y:1.99, Z:0.70 [[ 9.99479015e-01 -2.24971090e-02 -2.31425827e-02 7.17978140e+01] [ 2.24918585e-02 9.99746907e-01 -4.87181178e-04 1.99084118e+00] [ 2.31476856e-02 -3.35923299e-05 9.99732056e-01 7.02459958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40509989299998 meters 0.012490142116006414 Centerline is valid? [True, True] Translation: X:71.83, Y:1.99, Z:0.70 [[ 9.99472395e-01 -2.27893791e-02 -2.31425159e-02 7.18251891e+01] [ 2.27841339e-02 9.99740288e-01 -4.90333014e-04 1.99146755e+00] [ 2.31476799e-02 -3.72078678e-05 9.99732056e-01 7.02798605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43509989299999 meters 0.012540831222756052 Centerline is valid? [True, True] Translation: X:71.85, Y:1.99, Z:0.70 [[ 9.99530792e-01 -1.92477655e-02 -2.38268750e-02 7.18536798e+01] [ 1.92410401e-02 9.99814743e-01 -5.11510270e-04 1.99407732e+00] [ 2.38323063e-02 5.28164086e-05 9.99715969e-01 7.03084563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46509989299999 meters 0.01279289342337743 Centerline is valid? [True, True] Translation: X:71.88, Y:2.00, Z:0.70 [[ 9.99592826e-01 -1.57193526e-02 -2.38135317e-02 7.18816666e+01] [ 1.57115329e-02 9.99876433e-01 -5.15450459e-04 1.99645349e+00] [ 2.38186917e-02 1.41093495e-04 9.99716285e-01 7.02708011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49509989299999 meters 0.013779890056482298 Centerline is valid? [True, True] Translation: X:71.91, Y:2.00, Z:0.70 [[ 9.99722710e-01 -5.81902216e-03 -2.28175635e-02 7.19106560e+01] [ 5.80922714e-03 9.99983004e-01 -4.95537263e-04 2.00015689e+00] [ 2.28200592e-02 3.62847446e-04 9.99739523e-01 7.03968034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52509989299999 meters 0.01605888437822282 Centerline is valid? [True, True] Translation: X:71.94, Y:2.00, Z:0.71 [[ 9.99800472e-01 3.37766824e-03 -1.96877572e-02 7.19387099e+01] [-3.38676372e-03 9.99994173e-01 -4.28662657e-04 2.00488349e+00] [ 1.96861946e-02 4.95254909e-04 9.99806085e-01 7.07290681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55509989299999 meters 0.017157766645949056 Centerline is valid? [True, True] Translation: X:71.97, Y:2.00, Z:0.71 [[ 9.99801876e-01 7.36849679e-03 -1.84909402e-02 7.19686573e+01] [-7.37722113e-03 9.99972706e-01 -4.03648564e-04 2.00271953e+00] [ 1.84874613e-02 5.39980346e-04 9.99828946e-01 7.07215506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58509989299999 meters 0.016209311919184323 Centerline is valid? [True, True] Translation: X:72.00, Y:2.00, Z:0.71 [[ 9.99807477e-01 7.94024040e-03 -1.79432993e-02 7.19977847e+01] [-7.94858045e-03 9.99968332e-01 -3.93529440e-04 2.00227847e+00] [ 1.79396064e-02 5.36077435e-04 9.99838929e-01 7.10012206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.615099893 meters 0.015726839960035426 Centerline is valid? [True, True] Translation: X:72.03, Y:2.00, Z:0.71 [[ 9.99814955e-01 7.89399018e-03 -1.75425204e-02 7.20254049e+01] [-7.90201785e-03 9.99968703e-01 -3.88342174e-04 1.99975669e+00] [ 1.75389058e-02 5.26891623e-04 9.99846043e-01 7.10451948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.645099893 meters 0.01682779607951 Centerline is valid? [True, True] Translation: X:72.05, Y:2.00, Z:0.71 [[ 9.99823795e-01 6.95932590e-03 -1.74340618e-02 7.20531287e+01] [-6.96714400e-03 9.99975654e-01 -3.87740254e-04 1.99961543e+00] [ 1.74309390e-02 5.09137551e-04 9.99847940e-01 7.09801110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.675099893 meters 0.015501531400826241 Centerline is valid? [True, True] Translation: X:72.08, Y:1.99, Z:0.71 [[ 9.99827226e-01 5.04291232e-03 -1.78909662e-02 7.20823881e+01] [-5.05086672e-03 9.99987165e-01 -3.99446208e-04 1.99470127e+00] [ 1.78887222e-02 4.89742080e-04 9.99839864e-01 7.10065442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.705099893 meters 0.017969809298846798 Centerline is valid? [True, True] Translation: X:72.11, Y:1.99, Z:0.71 [[ 9.99823154e-01 2.50244553e-03 -1.86386227e-02 7.21102575e+01] [-2.51067029e-03 9.99996761e-01 -4.17888658e-04 1.99218465e+00] [ 1.86375166e-02 4.64610193e-04 9.99826198e-01 7.06151578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.735099893 meters 0.013811039874755966 Centerline is valid? [True, True] Translation: X:72.14, Y:1.98, Z:0.71 [[ 9.99817888e-01 -5.40991752e-03 -1.83009370e-02 7.21407766e+01] [ 5.40328196e-03 9.99985317e-01 -4.12008151e-04 1.98135782e+00] [ 1.83028972e-02 3.13047997e-04 9.99832439e-01 7.08615196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76509989299998 meters 0.012673651348142833 Centerline is valid? [True, True] Translation: X:72.17, Y:1.97, Z:0.71 [[ 9.99731401e-01 -1.44752985e-02 -1.80994753e-02 7.21687222e+01] [ 1.44702807e-02 9.99895217e-01 -4.08177422e-04 1.97093194e+00] [ 1.81034873e-02 1.46163299e-04 9.99836108e-01 7.08706438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79509989299999 meters 0.012397464841242467 Centerline is valid? [True, True] Translation: X:72.20, Y:1.95, Z:0.71 [[ 9.99405669e-01 -2.98079434e-02 -1.73146140e-02 7.21975822e+01] [ 2.98056277e-02 9.99555637e-01 -3.91840179e-04 1.95057263e+00] [ 1.73186000e-02 -1.24465644e-04 9.99850014e-01 7.08146246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82509989299999 meters 0.01371778397659056 Centerline is valid? [True, True] Translation: X:72.23, Y:1.95, Z:0.71 [[ 9.99303166e-01 -3.28822485e-02 -1.76618040e-02 7.22275120e+01] [ 3.28803028e-02 9.99459216e-01 -4.00614316e-04 1.94616262e+00] [ 1.76654259e-02 -1.80390310e-04 9.99843938e-01 7.06508383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85509989299999 meters 0.013354416906007395 Centerline is valid? [True, True] Translation: X:72.26, Y:1.94, Z:0.71 [[ 9.99122233e-01 -3.80836091e-02 -1.74471458e-02 7.22584378e+01] [ 3.80825047e-02 9.99274520e-01 -3.95653005e-04 1.94004429e+00] [ 1.74495562e-02 -2.69125300e-04 9.99847709e-01 7.07610466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88509989299999 meters 0.013840447880196853 Centerline is valid? [True, True] Translation: X:72.29, Y:1.94, Z:0.71 [[ 9.99061147e-01 -3.98235401e-02 -1.70560773e-02 7.22887050e+01] [ 3.98227434e-02 9.99206685e-01 -3.86480505e-04 1.93677238e+00] [ 1.70579375e-02 -2.93102133e-04 9.99854460e-01 7.07520705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91509989299999 meters 0.014240651646542405 Centerline is valid? [True, True] Translation: X:72.32, Y:1.93, Z:0.71 [[ 9.99007061e-01 -4.13503795e-02 -1.65842906e-02 7.23204815e+01] [ 4.13498439e-02 9.99144659e-01 -3.75346790e-04 1.93445275e+00] [ 1.65856261e-02 -3.10783733e-04 9.99862401e-01 7.08132409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94509989299999 meters 0.01438881370569154 Centerline is valid? [True, True] Translation: X:72.35, Y:1.93, Z:0.71 [[ 9.98959354e-01 -4.28047969e-02 -1.57466688e-02 7.23527312e+01] [ 4.28045083e-02 9.99083404e-01 -3.55515368e-04 1.93295804e+00] [ 1.57474532e-02 -3.18883013e-04 9.99875950e-01 7.08993048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97509989299999 meters 0.01484898342714483 Centerline is valid? [True, True] Translation: X:72.39, Y:1.93, Z:0.71 [[ 9.98835861e-01 -4.61798782e-02 -1.39406520e-02 7.23851301e+01] [ 4.61799931e-02 9.98933086e-01 -3.13834681e-04 1.92951005e+00] [ 1.39402714e-02 -3.30309879e-04 9.99902775e-01 7.10395984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.005099893 meters 0.016407188924480162 Centerline is valid? [True, True] Translation: X:72.42, Y:1.92, Z:0.71 [[ 9.98528987e-01 -5.28006941e-02 -1.23267503e-02 7.24166540e+01] [ 5.28012977e-02 9.98605000e-01 -2.76699528e-04 1.92317620e+00] [ 1.23241644e-02 -3.74575912e-04 9.99923984e-01 7.11614086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.035099893 meters 0.020772392523329873 Centerline is valid? [True, True] Translation: X:72.45, Y:1.92, Z:0.71 [[ 9.98264694e-01 -5.72762854e-02 -1.36758330e-02 7.24466604e+01] [ 5.72774563e-02 9.98358252e-01 -3.06362184e-04 1.91620749e+00] [ 1.36709280e-02 -4.77486376e-04 9.99906434e-01 7.07493424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.065099893 meters 0.01966686197783634 Centerline is valid? [True, True] Translation: X:72.48, Y:1.91, Z:0.71 [[ 9.97931813e-01 -6.25637819e-02 -1.47603851e-02 7.24776498e+01] [ 6.25657413e-02 9.98040790e-01 -3.29441290e-04 1.91415791e+00] [ 1.47520775e-02 -5.94734491e-04 9.99891005e-01 7.07125797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.095099893 meters 0.022788505651826954 Centerline is valid? [True, True] Translation: X:72.51, Y:1.91, Z:0.71 [[ 9.97391576e-01 -7.02059216e-02 -1.67681835e-02 7.25069733e+01] [ 7.02095296e-02 9.97532196e-01 -3.74142020e-04 1.90596018e+00] [ 1.67530699e-02 -8.04120179e-04 9.99859334e-01 7.06968085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12509989299998 meters 0.02220218525664047 Centerline is valid? [True, True] Translation: X:72.54, Y:1.91, Z:0.71 [[ 9.97265785e-01 -7.17790825e-02 -1.75703504e-02 7.25385810e+01] [ 7.17832851e-02 9.97420175e-01 -3.92189782e-04 1.90710979e+00] [ 1.75531730e-02 -8.70140019e-04 9.99845553e-01 7.06873351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15509989299998 meters 0.022924102828717954 Centerline is valid? [True, True] Translation: X:72.57, Y:1.91, Z:0.71 [[ 9.97175827e-01 -7.28053582e-02 -1.84323034e-02 7.25702649e+01] [ 7.28101777e-02 9.97345732e-01 -4.10373745e-04 1.90717629e+00] [ 1.84132565e-02 -9.32844506e-04 9.99830026e-01 7.07139939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18509989299999 meters 0.024843820385495406 Centerline is valid? [True, True] Translation: X:72.60, Y:1.91, Z:0.71 [[ 9.97229732e-01 -7.19898349e-02 -1.87169574e-02 7.26017080e+01] [ 7.19946895e-02 9.97404929e-01 -4.15193334e-04 1.90607147e+00] [ 1.86982753e-02 -9.33478400e-04 9.99824736e-01 7.06947964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21509989299999 meters 0.022149448365572907 Centerline is valid? [True, True] Translation: X:72.63, Y:1.91, Z:0.71 [[ 9.97324141e-01 -7.05631762e-02 -1.91153279e-02 7.26339377e+01] [ 7.05680192e-02 9.97506881e-01 -4.21893423e-04 1.91176175e+00] [ 1.90974412e-02 -9.28166329e-04 9.99817196e-01 7.07753032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24509989299999 meters 0.020737393985157615 Centerline is valid? [True, True] Translation: X:72.67, Y:1.92, Z:0.71 [[ 9.97666115e-01 -6.52274689e-02 -2.01915669e-02 7.26651588e+01] [ 6.52318055e-02 9.97870039e-01 -4.44487601e-04 1.91747969e+00] [ 2.01775525e-02 -8.73682148e-04 9.99796031e-01 7.07367586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27509989299999 meters 0.019523576084197372 Centerline is valid? [True, True] Translation: X:72.70, Y:1.92, Z:0.71 [[ 9.97914490e-01 -6.12471492e-02 -2.03827740e-02 7.26966884e+01] [ 6.12507548e-02 9.98122309e-01 -4.47942223e-04 1.92173593e+00] [ 2.03719367e-02 -8.01452258e-04 9.99792149e-01 7.07539726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30509989299999 meters 0.017705340009272198 Centerline is valid? [True, True] Translation: X:72.73, Y:1.93, Z:0.71 [[ 9.98190604e-01 -5.68092238e-02 -1.97035817e-02 7.27270937e+01] [ 5.68117423e-02 9.98384815e-01 -4.32361048e-04 1.92713266e+00] [ 1.96963189e-02 -6.87816071e-04 9.99805772e-01 7.08841208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33509989299999 meters 0.013739940725457632 Centerline is valid? [True, True] Translation: X:72.76, Y:1.95, Z:0.71 [[ 9.99165166e-01 -3.74392720e-02 -1.63484834e-02 7.27565645e+01] [ 3.74384120e-02 9.99298873e-01 -3.58756394e-04 1.94568889e+00] [ 1.63504526e-02 -2.53604367e-04 9.99866290e-01 7.12598699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.365099893 meters 0.012860804441869642 Centerline is valid? [True, True] Translation: X:72.79, Y:1.95, Z:0.71 [[ 9.99432018e-01 -3.00027649e-02 -1.53452306e-02 7.27875587e+01] [ 3.00011315e-02 9.99549808e-01 -3.36682569e-04 1.95226402e+00] [ 1.53484237e-02 -1.23882941e-04 9.99882198e-01 7.13191381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.395099893 meters 0.012583948721518561 Centerline is valid? [True, True] Translation: X:72.82, Y:1.96, Z:0.71 [[ 9.99579442e-01 -2.52754910e-02 -1.42157627e-02 7.28180389e+01] [ 2.52736170e-02 9.99680523e-01 -3.11486042e-04 1.95724160e+00] [ 1.42190941e-02 -4.79286980e-05 9.99898902e-01 7.13970622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.425099893 meters 0.012485802905725606 Centerline is valid? [True, True] Translation: X:72.85, Y:1.96, Z:0.71 [[ 9.99643810e-01 -2.26810253e-02 -1.40650247e-02 7.28481827e+01] [ 2.26789345e-02 9.99742752e-01 -3.08152404e-04 1.96068368e+00] [ 1.40683957e-02 -1.09371303e-05 9.99901035e-01 7.14594065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.455099893 meters 0.012449992329834111 Centerline is valid? [True, True] Translation: X:72.88, Y:1.96, Z:0.71 [[ 9.99643675e-01 -2.23819266e-02 -1.45455161e-02 7.28778254e+01] [ 2.23796617e-02 9.99749493e-01 -3.18487218e-04 1.96238312e+00] [ 1.45490007e-02 -7.14999592e-06 9.99894158e-01 7.14811798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.485099893 meters 0.012466505636790803 Centerline is valid? [True, True] Translation: X:72.91, Y:1.96, Z:0.72 [[ 9.99640666e-01 -2.25511043e-02 -1.44909217e-02 7.29087623e+01] [ 2.25488709e-02 9.99745691e-01 -3.17511262e-04 1.96361386e+00] [ 1.44943968e-02 -9.35675336e-06 9.99894951e-01 7.15461684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51509989299998 meters 0.012596954292280497 Centerline is valid? [True, True] Translation: X:72.94, Y:1.96, Z:0.72 [[ 9.99572791e-01 -2.46908501e-02 -1.56396360e-02 7.29392840e+01] [ 2.46885105e-02 9.99695134e-01 -3.42680795e-04 1.96381448e+00] [ 1.56433291e-02 -4.35849184e-05 9.99877635e-01 7.15261843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54509989299999 meters 0.012594331794077328 Centerline is valid? [True, True] Translation: X:72.97, Y:1.96, Z:0.72 [[ 9.99532835e-01 -2.61433329e-02 -1.58315598e-02 7.29699229e+01] [ 2.61411176e-02 9.99658202e-01 -3.46886046e-04 1.96376868e+00] [ 1.58352173e-02 -6.71306735e-05 9.99874613e-01 7.15483658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57509989299999 meters 0.012729320717725283 Centerline is valid? [True, True] Translation: X:73.00, Y:1.96, Z:0.72 [[ 9.99482278e-01 -2.81403592e-02 -1.55979659e-02 7.30005746e+01] [ 2.81384520e-02 9.99603977e-01 -3.41767759e-04 1.96355227e+00] [ 1.56014062e-02 -9.73117954e-05 9.99878286e-01 7.15932360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60509989299999 meters 0.013355416641736235 Centerline is valid? [True, True] Translation: X:73.03, Y:1.96, Z:0.72 [[ 9.99237461e-01 -3.55133756e-02 -1.62264316e-02 7.30309771e+01] [ 3.55122834e-02 9.99369177e-01 -3.55538101e-04 1.96033140e+00] [ 1.62288219e-02 -2.20970647e-04 9.99868280e-01 7.15652316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63509989299999 meters 0.01429012795470775 Centerline is valid? [True, True] Translation: X:73.06, Y:1.96, Z:0.71 [[ 9.99067557e-01 -3.98109611e-02 -1.67063765e-02 7.30618969e+01] [ 3.98104131e-02 9.99207184e-01 -3.65498033e-04 1.95778725e+00] [ 1.67076823e-02 -2.99930524e-04 9.99860372e-01 7.14773996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66509989299999 meters 0.015100531386374098 Centerline is valid? [True, True] Translation: X:73.09, Y:1.96, Z:0.71 [[ 9.98925072e-01 -4.35627614e-02 -1.58425553e-02 7.30939908e+01] [ 4.35627679e-02 9.99050633e-01 -3.44846898e-04 1.95574111e+00] [ 1.58425373e-02 -3.45669345e-04 9.99874439e-01 7.14923248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69509989299999 meters 0.01759863108517317 Centerline is valid? [True, True] Translation: X:73.13, Y:1.95, Z:0.72 [[ 9.98762840e-01 -4.76803785e-02 -1.41198812e-02 7.31250024e+01] [ 4.76808091e-02 9.98862576e-01 -3.06333403e-04 1.95029100e+00] [ 1.41184270e-02 -3.67292942e-04 9.99900263e-01 7.15579636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72509989299999 meters 0.016992864911361382 Centerline is valid? [True, True] Translation: X:73.16, Y:1.95, Z:0.72 [[ 9.98559463e-01 -5.21916095e-02 -1.24513013e-02 7.31563901e+01] [ 5.21923117e-02 9.98637016e-01 -2.68764735e-04 1.95084043e+00] [ 1.24483576e-02 -3.81484628e-04 9.99922443e-01 7.16359609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.755099893 meters 0.01856313750948501 Centerline is valid? [True, True] Translation: X:73.19, Y:1.95, Z:0.72 [[ 9.98231996e-01 -5.83435771e-02 -1.13538090e-02 7.31879154e+01] [ 5.83445625e-02 9.98296475e-01 -2.44700451e-04 1.94774898e+00] [ 1.13487442e-02 -4.18165197e-04 9.99935513e-01 7.16891902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.785099893 meters 0.019775507857360656 Centerline is valid? [True, True] Translation: X:73.22, Y:1.95, Z:0.72 [[ 9.98040949e-01 -6.14255935e-02 -1.18811213e-02 7.32203160e+01] [ 6.14268958e-02 9.98111552e-01 -2.55625784e-04 1.94605507e+00] [ 1.18743864e-02 -4.74695402e-04 9.99929384e-01 7.16957935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.815099893 meters 0.021114660631722366 Centerline is valid? [True, True] Translation: X:73.25, Y:1.94, Z:0.72 [[ 9.97819806e-01 -6.47891584e-02 -1.25697970e-02 7.32509841e+01] [ 6.47908944e-02 9.97898826e-01 -2.69492198e-04 1.94469927e+00] [ 1.25608458e-02 -5.45503735e-04 9.99920961e-01 7.16858245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.845099893 meters 0.021946752568201566 Centerline is valid? [True, True] Translation: X:73.28, Y:1.94, Z:0.72 [[ 9.97601947e-01 -6.78229797e-02 -1.37985059e-02 7.32822590e+01] [ 6.78253654e-02 9.97697165e-01 -2.95536513e-04 1.94425096e+00] [ 1.37867744e-02 -6.41060903e-04 9.99904752e-01 7.16491573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87509989299998 meters 0.025031321278130472 Centerline is valid? [True, True] Translation: X:73.31, Y:1.94, Z:0.72 [[ 9.97382741e-01 -7.08105414e-02 -1.46128647e-02 7.33120883e+01] [ 7.08135467e-02 9.97489521e-01 -3.12305876e-04 1.94107579e+00] [ 1.45982939e-02 -7.23300284e-04 9.99893178e-01 7.16496991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90509989299998 meters 0.027134383739175552 Centerline is valid? [True, True] Translation: X:73.34, Y:1.94, Z:0.71 [[ 9.96826804e-01 -7.79867154e-02 -1.59497518e-02 7.33432995e+01] [ 7.79912317e-02 9.96953987e-01 -3.39602586e-04 1.94025282e+00] [ 1.59276531e-02 -9.05415825e-04 9.99872737e-01 7.14852965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93509989299999 meters 0.026123938718250275 Centerline is valid? [True, True] Translation: X:73.37, Y:1.94, Z:0.71 [[ 9.96610246e-01 -8.04998361e-02 -1.69644630e-02 7.33743041e+01] [ 8.05053162e-02 9.96754114e-01 -3.60741274e-04 1.94428303e+00] [ 1.69384379e-02 -1.00621101e-03 9.99856028e-01 7.14885559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96509989299999 meters 0.029032092240057573 Centerline is valid? [True, True] Translation: X:73.41, Y:1.94, Z:0.71 [[ 9.96573618e-01 -8.06498887e-02 -1.83472118e-02 7.34054617e+01] [ 8.06563347e-02 9.96741894e-01 -3.89571478e-04 1.94396525e+00] [ 1.83188535e-02 -1.09158220e-03 9.99831600e-01 7.14081495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99509989299999 meters 0.02691907863081687 Centerline is valid? [True, True] Translation: X:73.44, Y:1.95, Z:0.71 [[ 9.96683987e-01 -7.90992743e-02 -1.90875612e-02 7.34375879e+01] [ 7.91059905e-02 9.96866129e-01 -4.04102734e-04 1.95172294e+00] [ 1.90597075e-02 -1.10717771e-03 9.99817734e-01 7.14613103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02509989299999 meters 0.029358271185615716 Centerline is valid? [True, True] Translation: X:73.47, Y:1.95, Z:0.71 [[ 9.96883781e-01 -7.64264974e-02 -1.95375828e-02 7.34685882e+01] [ 7.64330452e-02 9.97074631e-01 -4.12461964e-04 1.95341847e+00] [ 1.95119512e-02 -1.08214031e-03 9.99809038e-01 7.14336252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05509989299999 meters 0.025740448864787362 Centerline is valid? [True, True] Translation: X:73.50, Y:1.96, Z:0.72 [[ 9.97118235e-01 -7.36571762e-02 -1.81616313e-02 7.34999615e+01] [ 7.36623890e-02 9.97283162e-01 -3.82688969e-04 1.96369841e+00] [ 1.81404769e-02 -9.56243001e-04 9.99834991e-01 7.16843457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08509989299999 meters 0.026626355949286366 Centerline is valid? [True, True] Translation: X:73.53, Y:1.97, Z:0.72 [[ 9.97234576e-01 -7.21492865e-02 -1.78236150e-02 7.35311087e+01] [ 7.21540836e-02 9.97393427e-01 -3.74624048e-04 1.96654972e+00] [ 1.78041853e-02 -9.12458557e-04 9.99841077e-01 7.15564677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.115099893 meters 0.025371395683847078 Centerline is valid? [True, True] Translation: X:73.56, Y:1.97, Z:0.72 [[ 9.97350277e-01 -7.08589724e-02 -1.64751793e-02 7.35629294e+01] [ 7.08629101e-02 9.97486004e-01 -3.45382978e-04 1.97006367e+00] [ 1.64582342e-02 -8.23011339e-04 9.99864215e-01 7.19336273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.145099893 meters 0.021707902954516245 Centerline is valid? [True, True] Translation: X:73.59, Y:1.98, Z:0.72 [[ 9.97520979e-01 -6.88154920e-02 -1.47079728e-02 7.35942229e+01] [ 6.88184212e-02 9.97629155e-01 -3.07468337e-04 1.98041380e+00] [ 1.46942610e-02 -7.05473349e-04 9.99891785e-01 7.21939083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.175099893 meters 0.025244069287515308 Centerline is valid? [True, True] Translation: X:73.63, Y:1.98, Z:0.72 [[ 9.97573277e-01 -6.80365384e-02 -1.47846653e-02 7.36254460e+01] [ 6.80394249e-02 9.97682586e-01 -3.08253719e-04 1.97848011e+00] [ 1.47713757e-02 -6.98434454e-04 9.99890653e-01 7.22872272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.205099893 meters 0.020314341067572336 Centerline is valid? [True, True] Translation: X:73.66, Y:1.99, Z:0.72 [[ 9.97759463e-01 -6.49056095e-02 -1.62270263e-02 7.36563600e+01] [ 6.49087083e-02 9.97891150e-01 -3.36187805e-04 1.99369779e+00] [ 1.62146264e-02 -7.17840753e-04 9.99868277e-01 7.23405871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.235099893 meters 0.019359620570988677 Centerline is valid? [True, True] Translation: X:73.69, Y:2.00, Z:0.72 [[ 9.97995325e-01 -6.05919510e-02 -1.82742345e-02 7.36864757e+01] [ 6.05951689e-02 9.98162353e-01 -3.78082054e-04 2.00288959e+00] [ 1.82635616e-02 -7.30006202e-04 9.99832941e-01 7.22268645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26509989299998 meters 0.018242855876258793 Centerline is valid? [True, True] Translation: X:73.72, Y:2.01, Z:0.72 [[ 9.98213939e-01 -5.67529355e-02 -1.86557166e-02 7.37183482e+01] [ 5.67556288e-02 9.98388026e-01 -3.85481757e-04 2.01001025e+00] [ 1.86475213e-02 -6.74023662e-04 9.99825893e-01 7.22664910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29509989299999 meters 0.018310180459095313 Centerline is valid? [True, True] Translation: X:73.75, Y:2.01, Z:0.72 [[ 9.98342681e-01 -5.44490617e-02 -1.86330862e-02 7.37497681e+01] [ 5.44513721e-02 9.98516350e-01 -3.83702889e-04 2.01333310e+00] [ 1.86263334e-02 -6.31530137e-04 9.99826315e-01 7.23008053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32509989299999 meters 0.018310180459095313 Centerline is valid? [True, True] Translation: X:73.78, Y:2.01, Z:0.72 [[ 9.98346616e-01 -5.43768478e-02 -1.86331094e-02 7.37814734e+01] [ 5.43791667e-02 9.98520285e-01 -3.82571566e-04 2.01392747e+00] [ 1.86263407e-02 -6.31313934e-04 9.99826315e-01 7.23400012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35509989299999 meters 0.01732395097144233 Centerline is valid? [True, True] Translation: X:73.81, Y:2.02, Z:0.72 [[ 9.98641890e-01 -4.89559458e-02 -1.78238899e-02 7.38110914e+01] [ 4.89572200e-02 9.98800810e-01 -3.65101112e-04 2.02190941e+00] [ 1.78203895e-02 -5.08002833e-04 9.99841075e-01 7.24477727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38509989299999 meters 0.015489291350981317 Centerline is valid? [True, True] Translation: X:73.84, Y:2.03, Z:0.73 [[ 9.98932419e-01 -4.27035462e-02 -1.76190003e-02 7.38427106e+01] [ 4.27038242e-02 9.99087711e-01 -3.60623028e-04 2.03093415e+00] [ 1.76183265e-02 -3.92160655e-04 9.99844708e-01 7.25355674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41509989299999 meters 0.01338566765190515 Centerline is valid? [True, True] Translation: X:73.87, Y:2.04, Z:0.73 [[ 9.99365531e-01 -3.20755430e-02 -1.54820878e-02 7.38735589e+01] [ 3.20744921e-02 9.99485431e-01 -3.16247052e-04 2.04405984e+00] [ 1.54842650e-02 -1.80533699e-04 9.99880095e-01 7.26404880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44509989299999 meters 0.01475881759085723 Centerline is valid? [True, True] Translation: X:73.90, Y:2.05, Z:0.72 [[ 9.99048065e-01 -3.88328472e-02 -1.98739278e-02 7.39034652e+01] [ 3.88324575e-02 9.99245653e-01 -4.05668844e-04 2.04836543e+00] [ 1.98746892e-02 -3.66470783e-04 9.99802412e-01 7.22385158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47509989299999 meters 0.015321274018986782 Centerline is valid? [True, True] Translation: X:73.94, Y:2.05, Z:0.72 [[ 9.98945911e-01 -4.11195502e-02 -2.04021990e-02 7.39358262e+01] [ 4.11196279e-02 9.99154144e-01 -4.15880301e-04 2.04847063e+00] [ 2.04020425e-02 -4.23488903e-04 9.99791767e-01 7.22820833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.505099893 meters 0.015337487169371281 Centerline is valid? [True, True] Translation: X:73.97, Y:2.05, Z:0.72 [[ 9.98848501e-01 -4.33795399e-02 -2.04911381e-02 7.39677841e+01] [ 4.33801237e-02 9.99058553e-01 -4.16218789e-04 2.04988521e+00] [ 2.04899022e-02 -4.73168592e-04 9.99789948e-01 7.23875216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.535099893 meters 0.015757136438841017 Centerline is valid? [True, True] Translation: X:74.00, Y:2.05, Z:0.72 [[ 9.98752814e-01 -4.54373172e-02 -2.06946246e-02 7.40001190e+01] [ 4.54383855e-02 9.98967055e-01 -4.18834818e-04 2.05026833e+00] [ 2.06922790e-02 -5.22017878e-04 9.99785756e-01 7.24358658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.565099893 meters 0.015757136438841017 Centerline is valid? [True, True] Translation: X:74.03, Y:2.05, Z:0.72 [[ 9.98756128e-01 -4.53643858e-02 -2.06946551e-02 7.40318197e+01] [ 4.53654697e-02 9.98970370e-01 -4.17323683e-04 2.05085277e+00] [ 2.06922789e-02 -5.22018164e-04 9.99785756e-01 7.24750455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.595099893 meters 0.016363608590779066 Centerline is valid? [True, True] Translation: X:74.06, Y:2.05, Z:0.73 [[ 9.98654071e-01 -4.75493448e-02 -2.07148687e-02 7.40642812e+01] [ 4.75509318e-02 9.98868728e-01 -4.16217816e-04 2.05037230e+00] [ 2.07112255e-02 -5.69353693e-04 9.99785337e-01 7.25007245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62509989299998 meters 0.01686303643542044 Centerline is valid? [True, True] Translation: X:74.10, Y:2.05, Z:0.73 [[ 9.98554451e-01 -4.96668664e-02 -2.05477725e-02 7.40959140e+01] [ 4.96689034e-02 9.98765654e-01 -4.11514135e-04 2.05015813e+00] [ 2.05428481e-02 -6.09666060e-04 9.99788788e-01 7.25224786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65509989299998 meters 0.01686303643542044 Centerline is valid? [True, True] Translation: X:74.13, Y:2.05, Z:0.73 [[ 9.98559920e-01 -4.95567713e-02 -2.05478042e-02 7.41284683e+01] [ 4.95588176e-02 9.98771123e-01 -4.09930802e-04 2.05072490e+00] [ 2.05428683e-02 -6.08984410e-04 9.99788788e-01 7.25627215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68509989299999 meters 0.01736588347082062 Centerline is valid? [True, True] Translation: X:74.16, Y:2.05, Z:0.73 [[ 9.98460563e-01 -5.15005804e-02 -2.05959565e-02 7.41610196e+01] [ 5.15030899e-02 9.98672751e-01 -4.08922473e-04 2.05027798e+00] [ 2.05896803e-02 -6.52462436e-04 9.99787797e-01 7.25846670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71509989299999 meters 0.01861579153343816 Centerline is valid? [True, True] Translation: X:74.19, Y:2.05, Z:0.73 [[ 9.98388982e-01 -5.29380819e-02 -2.04205714e-02 7.41917725e+01] [ 5.29408735e-02 9.98597567e-01 -4.04250395e-04 2.04948805e+00] [ 2.04133332e-02 -6.77483747e-04 9.99791397e-01 7.25009352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74509989299999 meters 0.01861579153343816 Centerline is valid? [True, True] Translation: X:74.22, Y:2.05, Z:0.73 [[ 9.98394737e-01 -5.28294272e-02 -2.04205976e-02 7.42243298e+01] [ 5.28322231e-02 9.98603322e-01 -4.02924104e-04 2.05004656e+00] [ 2.04133628e-02 -6.76588263e-04 9.99791397e-01 7.25411899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77509989299999 meters 0.01822226760642285 Centerline is valid? [True, True] Translation: X:74.26, Y:2.05, Z:0.73 [[ 9.98459879e-01 -5.18302826e-02 -1.97861445e-02 7.42553150e+01] [ 5.18327451e-02 9.98655704e-01 -3.88701373e-04 2.04946782e+00] [ 1.97796925e-02 -6.37467458e-04 9.99804160e-01 7.26737293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80509989299999 meters 0.017341899875812722 Centerline is valid? [True, True] Translation: X:74.29, Y:2.05, Z:0.73 [[ 9.98665677e-01 -4.82099171e-02 -1.85113199e-02 7.42870307e+01] [ 4.82114686e-02 9.98837085e-01 -3.62705842e-04 2.05240098e+00] [ 1.85072788e-02 -5.30236041e-04 9.99828585e-01 7.28823993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83509989299999 meters 0.017005800561742154 Centerline is valid? [True, True] Translation: X:74.32, Y:2.05, Z:0.73 [[ 9.98694128e-01 -4.75167382e-02 -1.87669455e-02 7.43190526e+01] [ 4.75182317e-02 9.98870304e-01 -3.66589422e-04 2.05364693e+00] [ 1.87631637e-02 -5.25661361e-04 9.99823818e-01 7.29255805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.865099893 meters 0.017354980047638215 Centerline is valid? [True, True] Translation: X:74.35, Y:2.05, Z:0.73 [[ 9.98619935e-01 -4.88256740e-02 -1.93462807e-02 7.43514274e+01] [ 4.88275338e-02 9.98807154e-01 -3.76498746e-04 2.05410525e+00] [ 1.93415864e-02 -5.68652021e-04 9.99812772e-01 7.29567613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.895099893 meters 0.017747547425984365 Centerline is valid? [True, True] Translation: X:74.38, Y:2.05, Z:0.73 [[ 9.98591417e-01 -4.93366673e-02 -1.95211573e-02 7.43835907e+01] [ 4.93386858e-02 9.98782034e-01 -3.78501368e-04 2.05411829e+00] [ 1.95160552e-02 -5.85180028e-04 9.99809372e-01 7.29622638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.925099893 meters 0.01801912820094359 Centerline is valid? [True, True] Translation: X:74.42, Y:2.05, Z:0.73 [[ 9.98547224e-01 -4.96251423e-02 -2.09949416e-02 7.44159800e+01] [ 4.96275736e-02 9.98767710e-01 -4.05520148e-04 2.05494615e+00] [ 2.09891938e-02 -6.36996993e-04 9.99779500e-01 7.28814437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.955099893 meters 0.017381152748761064 Centerline is valid? [True, True] Translation: X:74.45, Y:2.06, Z:0.73 [[ 9.98569788e-01 -4.88454998e-02 -2.17369608e-02 7.44478248e+01] [ 4.88479559e-02 9.98806138e-01 -4.18275881e-04 2.05738387e+00] [ 2.17314408e-02 -6.44128448e-04 9.99763637e-01 7.29381691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.985099893 meters 0.016680736924813647 Centerline is valid? [True, True] Translation: X:74.48, Y:2.06, Z:0.73 [[ 9.98635914e-01 -4.73509235e-02 -2.20045553e-02 7.44795440e+01] [ 4.73531131e-02 9.98878123e-01 -4.21831688e-04 2.06004376e+00] [ 2.19998431e-02 -6.20727923e-04 9.99757781e-01 7.30069000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01509989299998 meters 0.016435913774677027 Centerline is valid? [True, True] Translation: X:74.51, Y:2.06, Z:0.73 [[ 9.98736546e-01 -4.51482805e-02 -2.20668075e-02 7.45104043e+01] [ 4.51499766e-02 9.98980131e-01 -4.21604870e-04 2.06199821e+00] [ 2.20633370e-02 -5.75243650e-04 9.99756409e-01 7.30220318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04509989299999 meters 0.014751396395218313 Centerline is valid? [True, True] Translation: X:74.54, Y:2.07, Z:0.73 [[ 9.98984686e-01 -3.93883223e-02 -2.18668180e-02 7.45416848e+01] [ 3.93886305e-02 9.99223880e-01 -4.16775029e-04 2.06738107e+00] [ 2.18662628e-02 -4.44952144e-04 9.99760806e-01 7.31476376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07509989299999 meters 0.013610278022051002 Centerline is valid? [True, True] Translation: X:74.57, Y:2.07, Z:0.73 [[ 9.99247403e-01 -3.28408775e-02 -2.06422778e-02 7.45735328e+01] [ 3.28397734e-02 9.99460552e-01 -3.92555043e-04 2.07177363e+00] [ 2.06440342e-02 -2.85628120e-04 9.99786848e-01 7.32149066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10509989299999 meters 0.012793883714641132 Centerline is valid? [True, True] Translation: X:74.60, Y:2.07, Z:0.73 [[ 9.99519642e-01 -2.39116650e-02 -1.97159183e-02 7.46039813e+01] [ 2.39089359e-02 9.99714071e-01 -3.74159467e-04 2.07487798e+00] [ 1.97192277e-02 -9.74068898e-05 9.99805552e-01 7.31385045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13509989299999 meters 0.012685268844000981 Centerline is valid? [True, True] Translation: X:74.63, Y:2.08, Z:0.73 [[ 9.99599943e-01 -1.96803311e-02 -2.03135295e-02 7.46332027e+01] [ 1.96765591e-02 9.99806323e-01 -3.85560809e-04 2.07629924e+00] [ 2.03171832e-02 -1.42938025e-05 9.99793585e-01 7.30638756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16509989299999 meters 0.012779332504080932 Centerline is valid? [True, True] Translation: X:74.66, Y:2.08, Z:0.73 [[ 9.99612135e-01 -1.75219426e-02 -2.16462836e-02 7.46605783e+01] [ 1.75171248e-02 9.99846478e-01 -4.12175284e-04 2.07679072e+00] [ 2.16501825e-02 3.28347637e-05 9.99765607e-01 7.29369785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19509989299999 meters 0.012726709962259454 Centerline is valid? [True, True] Translation: X:74.69, Y:2.07, Z:0.73 [[ 9.99560969e-01 -1.90382383e-02 -2.27027684e-02 7.46891746e+01] [ 1.90332437e-02 9.99818756e-01 -4.36081800e-04 2.07435845e+00] [ 2.27069559e-02 3.78302329e-06 9.99742164e-01 7.30259383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22509989299999 meters 0.012656386007814466 Centerline is valid? [True, True] Translation: X:74.72, Y:2.07, Z:0.73 [[ 9.99528190e-01 -2.09187338e-02 -2.24900977e-02 7.47166116e+01] [ 2.09141722e-02 9.99781179e-01 -4.38047561e-04 2.07292953e+00] [ 2.24943398e-02 -3.25208899e-05 9.99746970e-01 7.31246779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.255099893 meters 0.01266895765698377 Centerline is valid? [True, True] Translation: X:74.74, Y:2.07, Z:0.73 [[ 9.99457726e-01 -2.52098996e-02 -2.11828864e-02 7.47438372e+01] [ 2.52067210e-02 9.99682173e-01 -4.17090611e-04 2.06785467e+00] [ 2.11866688e-02 -1.17086675e-04 9.99775530e-01 7.32696594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.285099893 meters 0.01286237928245805 Centerline is valid? [True, True] Translation: X:74.77, Y:2.07, Z:0.73 [[ 9.99389810e-01 -2.80042730e-02 -2.08750468e-02 7.47737095e+01] [ 2.80017570e-02 9.99607789e-01 -4.12875416e-04 2.06572597e+00] [ 2.08784216e-02 -1.71914505e-04 9.99782007e-01 7.33967316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.315099893 meters 0.01350374388122564 Centerline is valid? [True, True] Translation: X:74.80, Y:2.06, Z:0.74 [[ 9.99229562e-01 -3.36863913e-02 -2.01372571e-02 7.48032019e+01] [ 3.36851919e-02 9.99432413e-01 -3.98855594e-04 2.06048139e+00] [ 2.01392635e-02 -2.79779069e-04 9.99797145e-01 7.35016701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.345099893 meters 0.014139030569812163 Centerline is valid? [True, True] Translation: X:74.83, Y:2.06, Z:0.74 [[ 9.99126431e-01 -3.66061886e-02 -2.01583948e-02 7.48347971e+01] [ 3.66055817e-02 9.99329711e-01 -3.99220542e-04 2.05796056e+00] [ 2.01594968e-02 -3.39037971e-04 9.99796719e-01 7.35468521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37509989299998 meters 0.014679376206538685 Centerline is valid? [True, True] Translation: X:74.87, Y:2.06, Z:0.74 [[ 9.99002809e-01 -3.98971701e-02 -2.00400420e-02 7.48667879e+01] [ 3.98972518e-02 9.99203709e-01 -3.95891719e-04 2.05571628e+00] [ 2.00398792e-02 -4.04045661e-04 9.99799100e-01 7.35885831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40509989299998 meters 0.01634992476944468 Centerline is valid? [True, True] Translation: X:74.90, Y:2.05, Z:0.74 [[ 9.98742469e-01 -4.62069077e-02 -1.94525869e-02 7.48975755e+01] [ 4.62081995e-02 9.98931757e-01 -3.83303105e-04 2.05020665e+00] [ 1.94495181e-02 -5.16047927e-04 9.99810707e-01 7.35784753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43509989299999 meters 0.017403812387893954 Centerline is valid? [True, True] Translation: X:74.93, Y:2.05, Z:0.74 [[ 9.98413834e-01 -5.28344359e-02 -1.94509257e-02 7.49289054e+01] [ 5.28369903e-02 9.98603077e-01 -3.82921284e-04 2.04571447e+00] [ 1.94439857e-02 -6.45414464e-04 9.99810740e-01 7.35967529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46509989299999 meters 0.02326149953494835 Centerline is valid? [True, True] Translation: X:74.96, Y:2.03, Z:0.73 [[ 9.97880957e-01 -6.17497028e-02 -2.05078048e-02 7.49582728e+01] [ 6.17544206e-02 9.98091293e-01 -4.03763209e-04 2.03337590e+00] [ 2.04935936e-02 -8.63539986e-04 9.99789611e-01 7.33840394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49509989299999 meters 0.022093234866224776 Centerline is valid? [True, True] Translation: X:74.99, Y:2.04, Z:0.73 [[ 9.97700105e-01 -6.44914233e-02 -2.08652182e-02 7.49897199e+01] [ 6.44969029e-02 9.97917823e-01 -4.10917979e-04 2.03508562e+00] [ 2.08482738e-02 -9.35769041e-04 9.99782213e-01 7.34428608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52509989299999 meters 0.02269727314219494 Centerline is valid? [True, True] Translation: X:75.02, Y:2.03, Z:0.73 [[ 9.97399359e-01 -6.89862464e-02 -2.08666536e-02 7.50212852e+01] [ 6.89927236e-02 9.97617079e-01 -4.10193960e-04 2.03316898e+00] [ 2.08452277e-02 -1.03052007e-03 9.99782184e-01 7.34828634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55509989299999 meters 0.02774788840716685 Centerline is valid? [True, True] Translation: X:75.05, Y:2.03, Z:0.73 [[ 9.97181036e-01 -7.23681771e-02 -1.98199169e-02 7.50515216e+01] [ 7.23746950e-02 9.97377437e-01 -3.89189834e-04 2.02501032e+00] [ 1.97961029e-02 -1.04636772e-03 9.99803490e-01 7.34543932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58509989299999 meters 0.026896327689861728 Centerline is valid? [True, True] Translation: X:75.08, Y:2.03, Z:0.74 [[ 9.97114473e-01 -7.33832949e-02 -1.94324275e-02 7.50840989e+01] [ 7.33897622e-02 9.97303263e-01 -3.81082159e-04 2.02625710e+00] [ 1.94079884e-02 -1.04615870e-03 9.99811100e-01 7.35833950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.615099893 meters 0.02542344131662002 Centerline is valid? [True, True] Translation: X:75.12, Y:2.03, Z:0.74 [[ 9.97094675e-01 -7.37736775e-02 -1.89645415e-02 7.51159224e+01] [ 7.37799326e-02 9.97274478e-01 -3.70578640e-04 2.02873774e+00] [ 1.89401921e-02 -1.02970060e-03 9.99820088e-01 7.36563881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.645099893 meters 0.02605127823670584 Centerline is valid? [True, True] Translation: X:75.15, Y:2.03, Z:0.74 [[ 9.97135698e-01 -7.32586364e-02 -1.88034989e-02 7.51474887e+01] [ 7.32647175e-02 9.97312462e-01 -3.66200646e-04 2.02922856e+00] [ 1.87797911e-02 -1.01248129e-03 9.99823132e-01 7.37441744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.675099893 meters 0.023214410451062126 Centerline is valid? [True, True] Translation: X:75.18, Y:2.03, Z:0.74 [[ 9.97186566e-01 -7.24478983e-02 -1.92419902e-02 7.51795763e+01] [ 7.24541387e-02 9.97371675e-01 -3.73550337e-04 2.03448147e+00] [ 1.92184789e-02 -1.02166245e-03 9.99814786e-01 7.38535352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.705099893 meters 0.025994320173147803 Centerline is valid? [True, True] Translation: X:75.21, Y:2.03, Z:0.74 [[ 9.97354231e-01 -6.98383775e-02 -2.01777060e-02 7.52099358e+01] [ 6.98447295e-02 9.97557798e-01 -3.90609387e-04 2.03278610e+00] [ 2.01557075e-02 -1.01973050e-03 9.99796333e-01 7.37871479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.735099893 meters 0.02428986115263387 Centerline is valid? [True, True] Translation: X:75.24, Y:2.04, Z:0.74 [[ 9.97423291e-01 -6.85242634e-02 -2.12415649e-02 7.52420836e+01] [ 6.85310245e-02 9.97648901e-01 -4.10329493e-04 2.03715445e+00] [ 2.12197415e-02 -1.04643401e-03 9.99774288e-01 7.38060945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76509989299998 meters 0.024534309129671625 Centerline is valid? [True, True] Translation: X:75.27, Y:2.04, Z:0.74 [[ 9.97417584e-01 -6.79468586e-02 -2.32677567e-02 7.52742001e+01] [ 6.79548557e-02 9.97688297e-01 -4.47731419e-04 2.03919985e+00] [ 2.32443905e-02 -1.13458186e-03 9.99729169e-01 7.37426379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79509989299999 meters 0.02353305532374355 Centerline is valid? [True, True] Translation: X:75.31, Y:2.04, Z:0.74 [[ 9.97375292e-01 -6.81210837e-02 -2.45365927e-02 7.53064270e+01] [ 6.81300741e-02 9.97676336e-01 -4.70344150e-04 2.04215947e+00] [ 2.45116183e-02 -1.20257025e-03 9.99698822e-01 7.36884698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82509989299999 meters 0.025104833594072094 Centerline is valid? [True, True] Translation: X:75.34, Y:2.04, Z:0.73 [[ 9.97226751e-01 -6.94067032e-02 -2.68610708e-02 7.53371112e+01] [ 6.94180190e-02 9.97587528e-01 -5.12115280e-04 2.04155577e+00] [ 2.68318135e-02 -1.35394727e-03 9.99639045e-01 7.34104488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85509989299999 meters 0.024127251847226697 Centerline is valid? [True, True] Translation: X:75.37, Y:2.05, Z:0.73 [[ 9.97081528e-01 -7.07997841e-02 -2.85625278e-02 7.53692793e+01] [ 7.08132304e-02 9.97489445e-01 -5.41737703e-04 2.04525638e+00] [ 2.85291749e-02 -1.48244821e-03 9.99591861e-01 7.33380599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88509989299999 meters 0.025095694227010336 Centerline is valid? [True, True] Translation: X:75.40, Y:2.05, Z:0.73 [[ 9.97055403e-01 -7.09954551e-02 -2.89856535e-02 7.54007842e+01] [ 7.10094380e-02 9.97475493e-01 -5.47954376e-04 2.04585272e+00] [ 2.89513813e-02 -1.51191410e-03 9.99579677e-01 7.33213079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91509989299999 meters 0.02494478239517448 Centerline is valid? [True, True] Translation: X:75.43, Y:2.05, Z:0.73 [[ 9.97128889e-01 -7.02055771e-02 -2.83752501e-02 7.54328952e+01] [ 7.02187088e-02 9.97531477e-01 -5.34614765e-04 2.04950533e+00] [ 2.83427381e-02 -1.45939360e-03 9.99597199e-01 7.33552516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94509989299999 meters 0.0228563839167905 Centerline is valid? [True, True] Translation: X:75.46, Y:2.06, Z:0.73 [[ 9.97406428e-01 -6.66733313e-02 -2.71124195e-02 7.54636452e+01] [ 6.66840476e-02 9.97774011e-01 -5.09710299e-04 2.05552272e+00] [ 2.70860517e-02 -1.29957755e-03 9.99632261e-01 7.34468721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97509989299999 meters 0.021575591240591437 Centerline is valid? [True, True] Translation: X:75.49, Y:2.06, Z:0.74 [[ 9.97752540e-01 -6.18915558e-02 -2.56769063e-02 7.54945234e+01] [ 6.18995977e-02 9.98082265e-01 -4.82275722e-04 2.06098364e+00] [ 2.56575136e-02 -1.10819835e-03 9.99670178e-01 7.35421250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.005099893 meters 0.020179333494188198 Centerline is valid? [True, True] Translation: X:75.53, Y:2.07, Z:0.74 [[ 9.98036673e-01 -5.78689442e-02 -2.39579885e-02 7.55253917e+01] [ 5.78747974e-02 9.98323748e-01 -4.49578469e-04 2.06667093e+00] [ 2.39438455e-02 -9.37867934e-04 9.99712865e-01 7.37123516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.035099893 meters 0.02010438703107235 Centerline is valid? [True, True] Translation: X:75.56, Y:2.07, Z:0.74 [[ 9.98158533e-01 -5.55306975e-02 -2.44107593e-02 7.55562488e+01] [ 5.55360970e-02 9.98456575e-01 -4.57213074e-04 2.07033188e+00] [ 2.43984725e-02 -8.99307167e-04 9.99701908e-01 7.36805368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.065099893 meters 0.019061688233240757 Centerline is valid? [True, True] Translation: X:75.59, Y:2.07, Z:0.74 [[ 9.98133725e-01 -5.47831007e-02 -2.69792238e-02 7.55879856e+01] [ 5.47894725e-02 9.98497802e-01 -5.03547274e-04 2.07465806e+00] [ 2.69662815e-02 -9.75569924e-04 9.99635868e-01 7.35831792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.095099893 meters 0.018919145212561987 Centerline is valid? [True, True] Translation: X:75.62, Y:2.08, Z:0.73 [[ 9.98003083e-01 -5.57487599e-02 -2.96971677e-02 7.56198355e+01] [ 5.57569658e-02 9.98444218e-01 -5.52348714e-04 2.07627104e+00] [ 2.96817581e-02 -1.10457825e-03 9.99558789e-01 7.34282171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12509989299998 meters 0.02036830246569053 Centerline is valid? [True, True] Translation: X:75.65, Y:2.07, Z:0.73 [[ 9.97905464e-01 -5.66699079e-02 -3.11962594e-02 7.56514103e+01] [ 5.66794675e-02 9.98392259e-01 -5.78498534e-04 2.07435184e+00] [ 3.11788873e-02 -1.19090052e-03 9.99513111e-01 7.33059745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15509989299998 meters 0.02038430146703656 Centerline is valid? [True, True] Translation: X:75.68, Y:2.07, Z:0.74 [[ 9.97945237e-01 -5.68425958e-02 -2.95672536e-02 7.56825935e+01] [ 5.68512946e-02 9.98382507e-01 -5.47045338e-04 2.07236880e+00] [ 2.95505242e-02 -1.13501535e-03 9.99562643e-01 7.35167801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18509989299999 meters 0.02011644019703681 Centerline is valid? [True, True] Translation: X:75.71, Y:2.07, Z:0.74 [[ 9.97979834e-01 -5.67882264e-02 -2.84841600e-02 7.57148981e+01] [ 5.67963217e-02 9.98385648e-01 -5.25432733e-04 2.07228600e+00] [ 2.84680149e-02 -1.09342424e-03 9.99594106e-01 7.36455990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21509989299999 meters 0.02011644019703681 Centerline is valid? [True, True] Translation: X:75.75, Y:2.07, Z:0.74 [[ 9.97983888e-01 -5.67169280e-02 -2.84841974e-02 7.57466149e+01] [ 5.67250523e-02 9.98389701e-01 -5.23398576e-04 2.07281130e+00] [ 2.84680149e-02 -1.09342424e-03 9.99594106e-01 7.36847988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24509989299999 meters 0.020885853500114893 Centerline is valid? [True, True] Translation: X:75.78, Y:2.07, Z:0.74 [[ 9.98008166e-01 -5.69226409e-02 -2.71940068e-02 7.57779871e+01] [ 5.69301658e-02 9.98378039e-01 -4.98058474e-04 2.07140647e+00] [ 2.71782500e-02 -1.05109289e-03 9.99630051e-01 7.37546597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27509989299999 meters 0.01984703800726335 Centerline is valid? [True, True] Translation: X:75.81, Y:2.07, Z:0.74 [[ 9.98006502e-01 -5.78373480e-02 -2.52559371e-02 7.58105270e+01] [ 5.78441692e-02 9.98325518e-01 -4.61015960e-04 2.07257019e+00] [ 2.52403104e-02 -1.00081177e-03 9.99680912e-01 7.40582507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30509989299999 meters 0.01984703800726335 Centerline is valid? [True, True] Translation: X:75.84, Y:2.07, Z:0.74 [[ 9.98010705e-01 -5.77647750e-02 -2.52559704e-02 7.58422441e+01] [ 5.77716193e-02 9.98329720e-01 -4.59181997e-04 2.07309030e+00] [ 2.52403104e-02 -1.00080976e-03 9.99680912e-01 7.40974504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33509989299999 meters 0.019665510305384274 Centerline is valid? [True, True] Translation: X:75.87, Y:2.07, Z:0.74 [[ 9.98065109e-01 -5.70671689e-02 -2.46855545e-02 7.58747509e+01] [ 5.70735381e-02 9.98369877e-01 -4.47035927e-04 2.07384491e+00] [ 2.46708251e-02 -9.62720975e-04 9.99695165e-01 7.41769939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.365099893 meters 0.0221458712423573 Centerline is valid? [True, True] Translation: X:75.91, Y:2.07, Z:0.74 [[ 9.98094959e-01 -5.67903240e-02 -2.41103932e-02 7.59056736e+01] [ 5.67963751e-02 9.98385689e-01 -4.34296060e-04 2.07030486e+00] [ 2.40961353e-02 -9.35914227e-04 9.99709208e-01 7.41080768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.395099893 meters 0.020293265588231843 Centerline is valid? [True, True] Translation: X:75.94, Y:2.07, Z:0.74 [[ 9.97936450e-01 -5.92602711e-02 -2.47196804e-02 7.59379534e+01] [ 5.92674492e-02 9.98242041e-01 -4.42812605e-04 2.07183395e+00] [ 2.47024655e-02 -1.02317357e-03 9.99694324e-01 7.43855760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.425099893 meters 0.021805030279913793 Centerline is valid? [True, True] Translation: X:75.97, Y:2.07, Z:0.74 [[ 9.97764297e-01 -6.17246705e-02 -2.56217295e-02 7.59688516e+01] [ 6.17332291e-02 9.98092580e-01 -4.57571290e-04 2.06728546e+00] [ 2.56011016e-02 -1.12516380e-03 9.99671605e-01 7.42468775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.455099893 meters 0.020013019313023656 Centerline is valid? [True, True] Translation: X:76.00, Y:2.07, Z:0.75 [[ 9.98195815e-01 -5.57261252e-02 -2.23542666e-02 7.59996004e+01] [ 5.57311459e-02 9.98445732e-01 -3.98817019e-04 2.07270435e+00] [ 2.23417466e-02 -8.47731412e-04 9.99750033e-01 7.45028777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.485099893 meters 0.012618609762779434 Centerline is valid? [True, True] Translation: X:76.03, Y:2.10, Z:0.75 [[ 9.99656322e-01 -1.58921517e-02 -2.08489409e-02 7.60294530e+01] [ 1.58878524e-02 9.99873711e-01 -3.71844659e-04 2.09520589e+00] [ 2.08522173e-02 4.04719675e-05 9.99782568e-01 7.49140126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51509989299998 meters 0.01282577344199612 Centerline is valid? [True, True] Translation: X:76.06, Y:2.10, Z:0.75 [[ 9.99719288e-01 -1.09150163e-02 -2.10287462e-02 7.60583880e+01] [ 1.09094980e-02 9.99940419e-01 -3.77117695e-04 2.09646658e+00] [ 2.10316095e-02 1.47598767e-04 9.99778800e-01 7.49539711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54509989299999 meters 0.01282577344199612 Centerline is valid? [True, True] Translation: X:76.09, Y:2.10, Z:0.75 [[ 9.99716078e-01 -1.12053559e-02 -2.10286436e-02 7.60857592e+01] [ 1.11997829e-02 9.99937207e-01 -3.82774595e-04 2.09701399e+00] [ 2.10316122e-02 1.47149674e-04 9.99778800e-01 7.49879441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57509989299999 meters 0.013755677092935521 Centerline is valid? [True, True] Translation: X:76.11, Y:2.10, Z:0.75 [[ 9.99760481e-01 -6.58364368e-03 -2.08719128e-02 7.61136302e+01] [ 6.57705608e-03 9.99978297e-01 -3.84250597e-04 2.09914628e+00] [ 2.08739896e-02 2.46882821e-04 9.99782084e-01 7.48829041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60509989299999 meters 0.013623240694588215 Centerline is valid? [True, True] Translation: X:76.14, Y:2.10, Z:0.75 [[ 9.99765074e-01 -5.08878363e-03 -2.10689604e-02 7.61427376e+01] [ 5.08166957e-03 9.99987012e-01 -3.91181112e-04 2.09847996e+00] [ 2.10706774e-02 2.84023718e-04 9.99777948e-01 7.49583844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63509989299999 meters 0.01388628815639258 Centerline is valid? [True, True] Translation: X:76.17, Y:2.10, Z:0.75 [[ 9.99768203e-01 -3.79922650e-03 -2.11921130e-02 7.61718883e+01] [ 3.79162657e-03 9.99992732e-01 -3.98790019e-04 2.09862465e+00] [ 2.11934740e-02 3.18345002e-04 9.99775342e-01 7.49503620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66509989299999 meters 0.014333582957026983 Centerline is valid? [True, True] Translation: X:76.20, Y:2.10, Z:0.75 [[ 9.99774001e-01 -1.64723047e-03 -2.11951273e-02 7.61995775e+01] [ 1.63906289e-03 9.99998576e-01 -4.02717743e-04 2.09919233e+00] [ 2.11957605e-02 3.67886582e-04 9.99775277e-01 7.49998395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69509989299999 meters 0.014623916017770699 Centerline is valid? [True, True] Translation: X:76.23, Y:2.10, Z:0.75 [[ 9.99771540e-01 -1.17914698e-03 -2.13418942e-02 7.62274884e+01] [ 1.17071900e-03 9.99999232e-01 -4.07392931e-04 2.09953521e+00] [ 2.13423582e-02 3.82314497e-04 9.99772153e-01 7.50080144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72509989299999 meters 0.014623916017770699 Centerline is valid? [True, True] Translation: X:76.25, Y:2.10, Z:0.75 [[ 9.99771172e-01 -1.45930934e-03 -2.13418250e-02 7.62548663e+01] [ 1.45086842e-03 9.99998863e-01 -4.10989374e-04 2.10012285e+00] [ 2.13424005e-02 3.79931149e-04 9.99772153e-01 7.50419210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.755099893 meters 0.014913581126219185 Centerline is valid? [True, True] Translation: X:76.28, Y:2.10, Z:0.75 [[ 9.99760931e-01 -1.30499475e-03 -2.18260863e-02 7.62825676e+01] [ 1.29603428e-03 9.99999070e-01 -4.24679752e-04 2.10030648e+00] [ 2.18266202e-02 3.96290868e-04 9.99761692e-01 7.50433268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.785099893 meters 0.01498067196964049 Centerline is valid? [True, True] Translation: X:76.31, Y:2.10, Z:0.75 [[ 9.99752900e-01 -1.69333396e-03 -2.21646669e-02 7.63097657e+01] [ 1.68413843e-03 9.99998488e-01 -4.33533439e-04 2.09980917e+00] [ 2.21653675e-02 3.96097945e-04 9.99754240e-01 7.50807810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.815099893 meters 0.01498067196964049 Centerline is valid? [True, True] Translation: X:76.34, Y:2.10, Z:0.75 [[ 9.99752398e-01 -1.96818812e-03 -2.21645845e-02 7.63371459e+01] [ 1.95896751e-03 9.99997985e-01 -4.37711632e-04 2.10041742e+00] [ 2.21654014e-02 3.94183553e-04 9.99754240e-01 7.51147057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.845099893 meters 0.014868366549873793 Centerline is valid? [True, True] Translation: X:76.37, Y:2.10, Z:0.75 [[ 9.99757050e-01 -2.78780091e-03 -2.18647789e-02 7.63658935e+01] [ 2.77890071e-03 9.99996043e-01 -4.37429652e-04 2.09907592e+00] [ 2.18659119e-02 3.76563329e-04 9.99760841e-01 7.51732326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87509989299998 meters 0.014868366549873793 Centerline is valid? [True, True] Translation: X:76.39, Y:2.10, Z:0.75 [[ 9.99756248e-01 -3.06273888e-03 -2.18646661e-02 7.63932737e+01] [ 3.05378231e-03 9.99995239e-01 -4.43013916e-04 2.09969905e+00] [ 2.18659188e-02 3.76136001e-04 9.99760841e-01 7.52072113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90509989299998 meters 0.014113818518664395 Centerline is valid? [True, True] Translation: X:76.42, Y:2.10, Z:0.75 [[ 9.99761296e-01 -4.35205996e-03 -2.14105242e-02 7.64220988e+01] [ 4.34368216e-03 9.99990470e-01 -4.37784099e-04 2.09654975e+00] [ 2.14122254e-02 3.44679087e-04 9.99770673e-01 7.53690621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93509989299999 meters 0.014238229458101898 Centerline is valid? [True, True] Translation: X:76.45, Y:2.09, Z:0.75 [[ 9.99767497e-01 -5.87699008e-03 -2.07463865e-02 7.64500856e+01] [ 5.86941932e-03 9.99982684e-01 -4.25792040e-04 2.09492115e+00] [ 2.07485296e-02 3.03923801e-04 9.99784680e-01 7.53930914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96509989299999 meters 0.01349439083167973 Centerline is valid? [True, True] Translation: X:76.48, Y:2.09, Z:0.76 [[ 9.99778848e-01 -9.74217989e-03 -1.86371885e-02 7.64789887e+01] [ 9.73671551e-03 9.99952523e-01 -3.83917581e-04 2.08746271e+00] [ 1.86400439e-02 2.02367674e-04 9.99826239e-01 7.56285697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99509989299999 meters 0.01349439083167973 Centerline is valid? [True, True] Translation: X:76.51, Y:2.09, Z:0.76 [[ 9.99776092e-01 -1.00211071e-02 -1.86371344e-02 7.65063680e+01] [ 1.00156426e-02 9.99949767e-01 -3.86527741e-04 2.08809413e+00] [ 1.86400716e-02 1.99778318e-04 9.99826239e-01 7.56624696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02509989299999 meters 0.01323201688225135 Centerline is valid? [True, True] Translation: X:76.54, Y:2.05, Z:0.76 [[ 9.99461896e-01 -2.64671075e-02 -1.93755410e-02 7.65362628e+01] [ 2.64642110e-02 9.99649679e-01 -4.05925675e-04 2.04594080e+00] [ 1.93794970e-02 -1.07051161e-04 9.99812194e-01 7.59354386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05509989299999 meters 0.013315020165058103 Centerline is valid? [True, True] Translation: X:76.57, Y:2.04, Z:0.76 [[ 9.99420698e-01 -2.73312795e-02 -2.02797601e-02 7.65659059e+01] [ 2.73282599e-02 9.99626423e-01 -4.26069281e-04 2.04223445e+00] [ 2.02838291e-02 -1.28388097e-04 9.99794254e-01 7.59053164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08509989299999 meters 0.013425276419568267 Centerline is valid? [True, True] Translation: X:76.59, Y:2.04, Z:0.76 [[ 9.99371589e-01 -2.83720795e-02 -2.12473867e-02 7.65945601e+01] [ 2.83689415e-02 9.99597420e-01 -4.49149719e-04 2.03513838e+00] [ 2.12515762e-02 -1.53898403e-04 9.99774148e-01 7.58498614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.115099893 meters 0.013425276419568267 Centerline is valid? [True, True] Translation: X:76.62, Y:2.04, Z:0.76 [[ 9.99364251e-01 -2.86294701e-02 -2.12472700e-02 7.66227957e+01] [ 2.86262741e-02 9.99590081e-01 -4.54617809e-04 2.03576266e+00] [ 2.12515758e-02 -1.53901388e-04 9.99774148e-01 7.58848835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.145099893 meters 0.013479866511628748 Centerline is valid? [True, True] Translation: X:76.65, Y:2.03, Z:0.76 [[ 9.99355147e-01 -2.85522687e-02 -2.17728711e-02 7.66518347e+01] [ 2.85487703e-02 9.99592290e-01 -4.71555088e-04 2.03332526e+00] [ 2.17774580e-02 -1.50337691e-04 9.99762832e-01 7.58886888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.175099893 meters 0.013464354224453861 Centerline is valid? [True, True] Translation: X:76.68, Y:2.03, Z:0.76 [[ 9.99375120e-01 -2.80402804e-02 -2.15200445e-02 7.66801877e+01] [ 2.80366254e-02 9.99606785e-01 -4.71594107e-04 2.03118248e+00] [ 2.15248062e-02 -1.32050010e-04 9.99768306e-01 7.59114830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.205099893 meters 0.013464354224453861 Centerline is valid? [True, True] Translation: X:76.71, Y:2.03, Z:0.76 [[ 9.99367859e-01 -2.82979757e-02 -2.15199218e-02 7.67084240e+01] [ 2.82942609e-02 9.99599523e-01 -4.77142639e-04 2.03182790e+00] [ 2.15248058e-02 -1.32049264e-04 9.99768306e-01 7.59465049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.235099893 meters 0.013373182820932653 Centerline is valid? [True, True] Translation: X:76.74, Y:2.03, Z:0.76 [[ 9.99397031e-01 -2.75191211e-02 -2.11724421e-02 7.67375894e+01] [ 2.75152361e-02 9.99621271e-01 -4.74840808e-04 2.02990458e+00] [ 2.11774907e-02 -1.08010250e-04 9.99775726e-01 7.59929744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26509989299998 meters 0.013486808042959724 Centerline is valid? [True, True] Translation: X:76.77, Y:2.03, Z:0.76 [[ 9.99419685e-01 -2.67730406e-02 -2.10593724e-02 7.67650365e+01] [ 2.67689113e-02 9.99641534e-01 -4.78001800e-04 2.02791363e+00] [ 2.10646209e-02 -8.60120636e-05 9.99778113e-01 7.59843629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29509989299999 meters 0.013505738888951244 Centerline is valid? [True, True] Translation: X:76.79, Y:2.03, Z:0.76 [[ 9.99441082e-01 -2.58500675e-02 -2.11966411e-02 7.67932571e+01] [ 2.58455834e-02 9.99665829e-01 -4.85517744e-04 2.02605771e+00] [ 2.12021085e-02 -6.25931762e-05 9.99775208e-01 7.59686668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32509989299999 meters 0.013397764385941313 Centerline is valid? [True, True] Translation: X:76.82, Y:2.01, Z:0.76 [[ 9.99552308e-01 -2.29409137e-02 -1.92067332e-02 7.68229973e+01] [ 2.29366458e-02 9.99736823e-01 -4.42496014e-04 2.00546234e+00] [ 1.92118297e-02 1.75987435e-06 9.99815436e-01 7.61934622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35509989299999 meters 0.013307305307882046 Centerline is valid? [True, True] Translation: X:76.85, Y:2.00, Z:0.76 [[ 9.99511197e-01 -2.46962887e-02 -1.91692571e-02 7.68512198e+01] [ 2.46922674e-02 9.99695000e-01 -4.46475256e-04 2.00211852e+00] [ 1.91744368e-02 -2.70754050e-05 9.99816153e-01 7.62678574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38509989299999 meters 0.013314608048517406 Centerline is valid? [True, True] Translation: X:76.88, Y:2.00, Z:0.76 [[ 9.99463264e-01 -2.68160764e-02 -1.88170575e-02 7.68784687e+01] [ 2.68124946e-02 9.99640382e-01 -4.42657146e-04 1.99838384e+00] [ 1.88221609e-02 -6.21126982e-05 9.99822846e-01 7.62982610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41509989299999 meters 0.013440389292786802 Centerline is valid? [True, True] Translation: X:76.91, Y:1.99, Z:0.76 [[ 9.99408294e-01 -2.91697732e-02 -1.82259828e-02 7.69065172e+01] [ 2.91667669e-02 9.99574467e-01 -4.30796686e-04 1.99428915e+00] [ 1.82307933e-02 -1.01051211e-04 9.99833800e-01 7.63103747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44509989299999 meters 0.013440389292786802 Centerline is valid? [True, True] Translation: X:76.93, Y:1.99, Z:0.76 [[ 9.99401083e-01 -2.94158380e-02 -1.82259224e-02 7.69347653e+01] [ 2.94128263e-02 9.99567255e-01 -4.33338985e-04 1.99499533e+00] [ 1.82307822e-02 -1.02996438e-04 9.99833800e-01 7.63453481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47509989299999 meters 0.013611432833593857 Centerline is valid? [True, True] Translation: X:76.96, Y:1.99, Z:0.76 [[ 9.99321119e-01 -3.22169109e-02 -1.78709601e-02 7.69631965e+01] [ 3.22143853e-02 9.99480890e-01 -4.29257100e-04 1.99125796e+00] [ 1.78755125e-02 -1.46736310e-04 9.99840209e-01 7.64501779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.505099893 meters 0.013730112564400123 Centerline is valid? [True, True] Translation: X:76.99, Y:1.99, Z:0.77 [[ 9.99250643e-01 -3.48241694e-02 -1.68946431e-02 7.69928518e+01] [ 3.48222328e-02 9.99393439e-01 -4.08880920e-04 1.98822274e+00] [ 1.68986344e-02 -1.79734673e-04 9.99857192e-01 7.65998729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.535099893 meters 0.01400809588950348 Centerline is valid? [True, True] Translation: X:77.02, Y:1.98, Z:0.77 [[ 9.99170108e-01 -3.72394379e-02 -1.65021043e-02 7.70231874e+01] [ 3.72379122e-02 9.99306348e-01 -3.99819023e-04 1.98494395e+00] [ 1.65055466e-02 -2.15016694e-04 9.99863751e-01 7.67157132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.565099893 meters 0.019393847063775595 Centerline is valid? [True, True] Translation: X:77.05, Y:1.96, Z:0.76 [[ 9.98162996e-01 -5.65439209e-02 -2.17581669e-02 7.70532411e+01] [ 5.65458508e-02 9.98399864e-01 -5.27027484e-04 1.95546478e+00] [ 2.17531511e-02 -7.04274725e-04 9.99763124e-01 7.61685815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.595099893 meters 0.018616333060819445 Centerline is valid? [True, True] Translation: X:77.08, Y:1.96, Z:0.76 [[ 9.98048651e-01 -5.83057311e-02 -2.23457361e-02 7.70837007e+01] [ 5.83082118e-02 9.98298482e-01 -5.41074028e-04 1.95640810e+00] [ 2.23392622e-02 -7.62921712e-04 9.99750156e-01 7.61848101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62509989299998 meters 0.01881741418201745 Centerline is valid? [True, True] Translation: X:77.11, Y:1.96, Z:0.76 [[ 9.97941331e-01 -5.99307584e-02 -2.28342774e-02 7.71139588e+01] [ 5.99337737e-02 9.98202202e-01 -5.52903443e-04 1.95518150e+00] [ 2.28263619e-02 -8.16779215e-04 9.99739111e-01 7.61706421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65509989299998 meters 0.02011121212774351 Centerline is valid? [True, True] Translation: X:77.14, Y:1.95, Z:0.76 [[ 9.97826296e-01 -6.16181251e-02 -2.33642994e-02 7.71437569e+01] [ 6.16217394e-02 9.98099414e-01 -5.65935559e-04 1.95251739e+00] [ 2.33547654e-02 -8.75043386e-04 9.99726857e-01 7.61514250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68509989299999 meters 0.02011121212774351 Centerline is valid? [True, True] Translation: X:77.17, Y:1.95, Z:0.76 [[ 9.97826296e-01 -6.16181279e-02 -2.33642940e-02 7.71737687e+01] [ 6.16217369e-02 9.98099414e-01 -5.66158232e-04 1.95324473e+00] [ 2.33547738e-02 -8.74820806e-04 9.99726857e-01 7.61885569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71509989299999 meters 0.0193046068075854 Centerline is valid? [True, True] Translation: X:77.20, Y:1.95, Z:0.76 [[ 9.97750110e-01 -6.28781084e-02 -2.32607335e-02 7.72036802e+01] [ 6.28820226e-02 9.98020808e-01 -5.63848593e-04 1.95411940e+00] [ 2.32501498e-02 -9.00101977e-04 9.99729274e-01 7.62528323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74509989299999 meters 0.02004844123958209 Centerline is valid? [True, True] Translation: X:77.23, Y:1.95, Z:0.76 [[ 9.97689492e-01 -6.40312642e-02 -2.27084737e-02 7.72336325e+01] [ 6.40352836e-02 9.97947483e-01 -5.50870825e-04 1.95293619e+00] [ 2.26971371e-02 -9.04545519e-04 9.99741978e-01 7.63176120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77509989299999 meters 0.02004844123958209 Centerline is valid? [True, True] Translation: X:77.26, Y:1.95, Z:0.76 [[ 9.97689492e-01 -6.40312670e-02 -2.27084682e-02 7.72636468e+01] [ 6.40352813e-02 9.97947483e-01 -5.51095257e-04 1.95366470e+00] [ 2.26971461e-02 -9.04321203e-04 9.99741978e-01 7.63547471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80509989299999 meters 0.0207279668157542 Centerline is valid? [True, True] Translation: X:77.29, Y:1.95, Z:0.76 [[ 9.97650927e-01 -6.49956664e-02 -2.16377115e-02 7.72929678e+01] [ 6.49995335e-02 9.97885156e-01 -5.25276787e-04 1.95290313e+00] [ 2.16260918e-02 -8.82398279e-04 9.99765739e-01 7.64787252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83509989299999 meters 0.023452606277012695 Centerline is valid? [True, True] Translation: X:77.32, Y:1.95, Z:0.77 [[ 9.97617234e-01 -6.57838779e-02 -2.07926725e-02 7.73222023e+01] [ 6.57876144e-02 9.97833521e-01 -5.05014222e-04 1.94964995e+00] [ 2.07808474e-02 -8.64089430e-04 9.99783681e-01 7.65451630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.865099893 meters 0.022931430784847728 Centerline is valid? [True, True] Translation: X:77.35, Y:1.95, Z:0.77 [[ 9.97288258e-01 -7.06433768e-02 -2.06311201e-02 7.73529050e+01] [ 7.06480942e-02 9.97501176e-01 -5.01023347e-04 1.95272174e+00] [ 2.06149605e-02 -9.57884611e-04 9.99787030e-01 7.67020120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.895099893 meters 0.022741149678326727 Centerline is valid? [True, True] Translation: X:77.38, Y:1.96, Z:0.77 [[ 9.97155537e-01 -7.29533563e-02 -1.89378588e-02 7.73838057e+01] [ 7.29577517e-02 9.97334926e-01 -4.59615217e-04 1.95529131e+00] [ 1.89209184e-02 -9.23355738e-04 9.99820557e-01 7.69040654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.925099893 meters 0.02271752860011989 Centerline is valid? [True, True] Translation: X:77.42, Y:1.96, Z:0.77 [[ 9.97075383e-01 -7.41776311e-02 -1.83945446e-02 7.74156958e+01] [ 7.41819978e-02 9.97244620e-01 -4.45764719e-04 1.95723516e+00] [ 1.83769264e-02 -9.20083038e-04 9.99830707e-01 7.70482987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.955099893 meters 0.02271752860011989 Centerline is valid? [True, True] Translation: X:77.45, Y:1.96, Z:0.77 [[ 9.97080850e-01 -7.41041078e-02 -1.83945774e-02 7.74474114e+01] [ 7.41084870e-02 9.97250086e-01 -4.44408162e-04 1.95794539e+00] [ 1.83769263e-02 -9.20083430e-04 9.99830707e-01 7.70875144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.985099893 meters 0.025476834476558345 Centerline is valid? [True, True] Translation: X:77.48, Y:1.96, Z:0.77 [[ 9.96986768e-01 -7.54298624e-02 -1.81030353e-02 7.74790010e+01] [ 7.54343438e-02 9.97150675e-01 -4.36151521e-04 1.95617819e+00] [ 1.80843527e-02 -9.30753294e-04 9.99836031e-01 7.71455221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01509989299998 meters 0.025476834476558345 Centerline is valid? [True, True] Translation: X:77.51, Y:1.96, Z:0.77 [[ 9.96992145e-01 -7.53587593e-02 -1.81030615e-02 7.75107181e+01] [ 7.53632487e-02 9.97156052e-01 -4.35063028e-04 1.95688096e+00] [ 1.80843631e-02 -9.30551103e-04 9.99836031e-01 7.71847442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04509989299999 meters 0.02420020250760659 Centerline is valid? [True, True] Translation: X:77.54, Y:1.96, Z:0.77 [[ 9.96903416e-01 -7.65093395e-02 -1.81631287e-02 7.75429708e+01] [ 7.65140729e-02 9.97068407e-01 -4.35197157e-04 1.96094940e+00] [ 1.81431785e-02 -9.55885423e-04 9.99834942e-01 7.72859798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07509989299999 meters 0.026449287868349665 Centerline is valid? [True, True] Translation: X:77.57, Y:1.96, Z:0.77 [[ 9.96793657e-01 -7.78304274e-02 -1.85696220e-02 7.75745016e+01] [ 7.78356271e-02 9.96966107e-01 -4.43673902e-04 1.96002280e+00] [ 1.85478151e-02 -1.00312684e-03 9.99827471e-01 7.72760069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10509989299999 meters 0.02472805620641033 Centerline is valid? [True, True] Translation: X:77.61, Y:1.96, Z:0.77 [[ 9.96681285e-01 -7.92294977e-02 -1.86842757e-02 7.76066014e+01] [ 7.92350282e-02 9.96855863e-01 -4.45269700e-04 1.96456570e+00] [ 1.86608083e-02 -1.03665713e-03 9.99825335e-01 7.73304890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13509989299999 meters 0.02472805620641033 Centerline is valid? [True, True] Translation: X:77.64, Y:1.97, Z:0.77 [[ 9.96687110e-01 -7.91561778e-02 -1.86843084e-02 7.76383267e+01] [ 7.91617212e-02 9.96861688e-01 -4.43894173e-04 1.96526297e+00] [ 1.86608081e-02 -1.03665841e-03 9.99825335e-01 7.73697160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16509989299999 meters 0.025400135393510267 Centerline is valid? [True, True] Translation: X:77.67, Y:1.97, Z:0.77 [[ 9.96602841e-01 -8.01198422e-02 -1.90679643e-02 7.76701109e+01] [ 8.01258162e-02 9.96784656e-01 -4.51710672e-04 1.96672061e+00] [ 1.90428452e-02 -1.07766006e-03 9.99818088e-01 7.73699375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19509989299999 meters 0.025335220132919598 Centerline is valid? [True, True] Translation: X:77.70, Y:1.98, Z:0.77 [[ 9.96618144e-01 -7.95897515e-02 -2.04388262e-02 7.77019401e+01] [ 7.95965317e-02 9.96827046e-01 -4.82863179e-04 1.98474625e+00] [ 2.04124057e-02 -1.14562947e-03 9.99790989e-01 7.72387849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22509989299999 meters 0.023538733496765638 Centerline is valid? [True, True] Translation: X:77.73, Y:1.99, Z:0.77 [[ 9.96840024e-01 -7.68555401e-02 -2.00796718e-02 7.77329999e+01] [ 7.68615545e-02 9.97041663e-01 -4.73201379e-04 1.99272581e+00] [ 2.00566375e-02 -1.07164872e-03 9.99798271e-01 7.72758169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.255099893 meters 0.023538733496765638 Centerline is valid? [True, True] Translation: X:77.76, Y:1.99, Z:0.77 [[ 9.96845708e-01 -7.67817658e-02 -2.00796961e-02 7.77647238e+01] [ 7.67877860e-02 9.97047347e-01 -4.72170968e-04 1.99341624e+00] [ 2.00566618e-02 -1.07119380e-03 9.99798271e-01 7.73150499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.285099893 meters 0.023500221676869024 Centerline is valid? [True, True] Translation: X:77.79, Y:2.00, Z:0.77 [[ 9.97112186e-01 -7.32541054e-02 -2.00281078e-02 7.77940218e+01] [ 7.32594002e-02 9.97312809e-01 -4.70185242e-04 1.99992678e+00] [ 2.00087314e-02 -9.98419731e-04 9.99799307e-01 7.73213139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.315099893 meters 0.023500221676869024 Centerline is valid? [True, True] Translation: X:77.83, Y:2.00, Z:0.77 [[ 9.97117486e-01 -7.31819205e-02 -2.00281155e-02 7.78257399e+01] [ 7.31872074e-02 9.97318110e-01 -4.69856520e-04 2.00061399e+00] [ 2.00087873e-02 -9.97299691e-04 9.99799307e-01 7.73605552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.345099893 meters 0.024504616496241607 Centerline is valid? [True, True] Translation: X:77.86, Y:2.00, Z:0.77 [[ 9.97295265e-01 -7.07762988e-02 -1.98209337e-02 7.78561759e+01] [ 7.07810231e-02 9.97491770e-01 -4.63974385e-04 2.00265401e+00] [ 1.98040566e-02 -9.40226505e-04 9.99803438e-01 7.73815034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37509989299998 meters 0.023120692795180295 Centerline is valid? [True, True] Translation: X:77.89, Y:2.01, Z:0.77 [[ 9.97486132e-01 -6.82783153e-02 -1.89601736e-02 7.78873523e+01] [ 6.82821962e-02 9.97665949e-01 -4.43376306e-04 2.00833029e+00] [ 1.89461925e-02 -8.52380575e-04 9.99820141e-01 7.74742725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40509989299998 meters 0.021088822473610287 Centerline is valid? [True, True] Translation: X:77.92, Y:2.01, Z:0.78 [[ 9.97668968e-01 -6.56903705e-02 -1.84771392e-02 7.79188706e+01] [ 6.56936276e-02 9.97839747e-01 -4.31288360e-04 2.01496168e+00] [ 1.84655554e-02 -7.83547290e-04 9.99829190e-01 7.75502001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43509989299999 meters 0.021088822473610287 Centerline is valid? [True, True] Translation: X:77.95, Y:2.02, Z:0.78 [[ 9.97673697e-01 -6.56185025e-02 -1.84771666e-02 7.79505784e+01] [ 6.56217691e-02 9.97844476e-01 -4.30111459e-04 2.01564223e+00] [ 1.84655619e-02 -7.83393473e-04 9.99829190e-01 7.75894053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46509989299999 meters 0.021110410670030205 Centerline is valid? [True, True] Translation: X:77.98, Y:2.02, Z:0.78 [[ 9.97845105e-01 -6.29893558e-02 -1.83708304e-02 7.79813133e+01] [ 6.29921603e-02 9.98013931e-01 -4.26534872e-04 2.01860781e+00] [ 1.83612118e-02 -7.31602560e-04 9.99831151e-01 7.75951540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49509989299999 meters 0.014893541629074152 Centerline is valid? [True, True] Translation: X:78.01, Y:2.05, Z:0.78 [[ 9.98794904e-01 -4.54563739e-02 -1.85056291e-02 7.80110694e+01] [ 4.54562199e-02 9.98966240e-01 -4.29177264e-04 2.04688832e+00] [ 1.85060075e-02 -4.12535881e-04 9.99828664e-01 7.76417976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52509989299999 meters 0.014315342224155838 Centerline is valid? [True, True] Translation: X:78.04, Y:2.05, Z:0.78 [[ 9.98893839e-01 -4.32591884e-02 -1.84320545e-02 7.80421199e+01] [ 4.32586673e-02 9.99063814e-01 -4.27166456e-04 2.05106603e+00] [ 1.84332776e-02 -3.70652173e-04 9.99830024e-01 7.76682314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55509989299999 meters 0.014185881088308197 Centerline is valid? [True, True] Translation: X:78.07, Y:2.05, Z:0.78 [[ 9.98989643e-01 -4.09769643e-02 -1.84548574e-02 7.80729199e+01] [ 4.09760650e-02 9.99160037e-01 -4.27018480e-04 2.05342514e+00] [ 1.84568539e-02 -3.29620399e-04 9.99829603e-01 7.76496390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58509989299999 meters 0.013769129912818177 Centerline is valid? [True, True] Translation: X:78.10, Y:2.06, Z:0.78 [[ 9.99064664e-01 -3.90535519e-02 -1.85638608e-02 7.81042428e+01] [ 3.90523226e-02 9.99237075e-01 -4.28865571e-04 2.05605862e+00] [ 1.85664467e-02 -2.96497446e-04 9.99827585e-01 7.77076663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.615099893 meters 0.013769129912818177 Centerline is valid? [True, True] Translation: X:78.14, Y:2.06, Z:0.78 [[ 9.99066063e-01 -3.90177519e-02 -1.85638762e-02 7.81350828e+01] [ 3.90165288e-02 9.99238474e-01 -4.28200058e-04 2.05674184e+00] [ 1.85664467e-02 -2.96497865e-04 9.99827585e-01 7.77458042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.645099893 meters 0.013501919345794727 Centerline is valid? [True, True] Translation: X:78.17, Y:2.06, Z:0.78 [[ 9.99141308e-01 -3.71913408e-02 -1.82606633e-02 7.81665631e+01] [ 3.71898641e-02 9.99308129e-01 -4.20558985e-04 2.05938562e+00] [ 1.82636704e-02 -2.58913731e-04 9.99833172e-01 7.78272492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.675099893 meters 0.01328051086643758 Centerline is valid? [True, True] Translation: X:78.20, Y:2.06, Z:0.78 [[ 9.99224287e-01 -3.52259895e-02 -1.76055044e-02 7.81975370e+01] [ 3.52243210e-02 9.99379349e-01 -4.04950184e-04 2.06243062e+00] [ 1.76088423e-02 -2.15505882e-04 9.99844929e-01 7.79286588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.705099893 meters 0.012870072746680328 Centerline is valid? [True, True] Translation: X:78.23, Y:2.07, Z:0.78 [[ 9.99293873e-01 -3.34387785e-02 -1.71348672e-02 7.82287230e+01] [ 3.34369420e-02 9.99440752e-01 -3.93737306e-04 2.06636484e+00] [ 1.71384506e-02 -1.79478283e-04 9.99853110e-01 7.80936214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.735099893 meters 0.012870072746680328 Centerline is valid? [True, True] Translation: X:78.26, Y:2.07, Z:0.78 [[ 9.99295089e-01 -3.34024202e-02 -1.71348815e-02 7.82595611e+01] [ 3.34005891e-02 9.99441967e-01 -3.93113963e-04 2.06704502e+00] [ 1.71384506e-02 -1.79478282e-04 9.99853110e-01 7.81317563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76509989299998 meters 0.01268754862939474 Centerline is valid? [True, True] Translation: X:78.29, Y:2.07, Z:0.78 [[ 9.99358640e-01 -3.17192679e-02 -1.66191867e-02 7.82905181e+01] [ 3.17173224e-02 9.99496807e-01 -3.80690939e-04 2.07033391e+00] [ 1.66228993e-02 -1.46669323e-04 9.99861819e-01 7.82643839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79509989299999 meters 0.01268754862939474 Centerline is valid? [True, True] Translation: X:78.32, Y:2.07, Z:0.78 [[ 9.99359796e-01 -3.16828100e-02 -1.66192006e-02 7.83213557e+01] [ 3.16808696e-02 9.99497963e-01 -3.80084687e-04 2.07101199e+00] [ 1.66228993e-02 -1.46669370e-04 9.99861819e-01 7.83025180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82509989299999 meters 0.012576348156776027 Centerline is valid? [True, True] Translation: X:78.35, Y:2.07, Z:0.78 [[ 9.99412152e-01 -3.01082718e-02 -1.63963988e-02 7.83527190e+01] [ 3.01061809e-02 9.99546636e-01 -3.74397699e-04 2.07399915e+00] [ 1.64002377e-02 -1.19455338e-04 9.99865500e-01 7.84137947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85509989299999 meters 0.012576348156776027 Centerline is valid? [True, True] Translation: X:78.38, Y:2.07, Z:0.78 [[ 9.99413243e-01 -3.00720489e-02 -1.63964123e-02 7.83835562e+01] [ 3.00699629e-02 9.99547727e-01 -3.73803267e-04 2.07467473e+00] [ 1.64002377e-02 -1.19455575e-04 9.99865500e-01 7.84519282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88509989299999 meters 0.01451371243254832 Centerline is valid? [True, True] Translation: X:78.41, Y:2.07, Z:0.78 [[ 9.98857814e-01 -4.47768445e-02 -1.66763765e-02 7.84144693e+01] [ 4.47767431e-02 9.98996947e-01 -3.79651502e-04 2.06692118e+00] [ 1.66766488e-02 -3.67495957e-04 9.99860867e-01 7.82151062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91509989299999 meters 0.015658652981731695 Centerline is valid? [True, True] Translation: X:78.45, Y:2.06, Z:0.78 [[ 9.98655539e-01 -4.88681478e-02 -1.72921376e-02 7.84455024e+01] [ 4.88686603e-02 9.98805136e-01 -3.93167914e-04 2.06386120e+00] [ 1.72906892e-02 -4.52404281e-04 9.99850403e-01 7.81895390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94509989299999 meters 0.016907613012746472 Centerline is valid? [True, True] Translation: X:78.48, Y:2.06, Z:0.78 [[ 9.98416389e-01 -5.31403370e-02 -1.84612888e-02 7.84769203e+01] [ 5.31416681e-02 9.98586895e-01 -4.18811739e-04 2.06073550e+00] [ 1.84574568e-02 -5.62915175e-04 9.99829488e-01 7.80741388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97509989299999 meters 0.01814671136005347 Centerline is valid? [True, True] Translation: X:78.51, Y:2.06, Z:0.78 [[ 9.98154796e-01 -5.73992961e-02 -1.98071583e-02 7.85082463e+01] [ 5.74016806e-02 9.98351063e-01 -4.48599341e-04 2.05829247e+00] [ 1.98002469e-02 -6.89192592e-04 9.99803718e-01 7.79705755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.005099893 meters 0.01814671136005347 Centerline is valid? [True, True] Translation: X:78.54, Y:2.06, Z:0.78 [[ 9.98158940e-01 -5.73271887e-02 -1.98071805e-02 7.85399480e+01] [ 5.73295785e-02 9.98355207e-01 -4.47616872e-04 2.05895239e+00] [ 1.98002624e-02 -6.88744528e-04 9.99803718e-01 7.80097784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.035099893 meters 0.019895000616046522 Centerline is valid? [True, True] Translation: X:78.57, Y:2.06, Z:0.78 [[ 9.97903786e-01 -6.11292866e-02 -2.12425025e-02 7.85704481e+01] [ 6.11329193e-02 9.98129519e-01 -4.78936420e-04 2.05637751e+00] [ 2.12320458e-02 -8.20683723e-04 9.99774238e-01 7.79108933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.065099893 meters 0.021287310662380824 Centerline is valid? [True, True] Translation: X:78.60, Y:2.05, Z:0.78 [[ 9.97657410e-01 -6.47576675e-02 -2.20484887e-02 7.86012621e+01] [ 6.47624744e-02 9.97900584e-01 -4.96706894e-04 2.05476058e+00] [ 2.20343653e-02 -9.32371370e-04 9.99756779e-01 7.78890166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.095099893 meters 0.021287310662380824 Centerline is valid? [True, True] Translation: X:78.63, Y:2.06, Z:0.78 [[ 9.97662022e-01 -6.46865760e-02 -2.20485091e-02 7.86329730e+01] [ 6.46913857e-02 9.97905195e-01 -4.95797259e-04 2.05541570e+00] [ 2.20343932e-02 -9.31710513e-04 9.99756779e-01 7.79282370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12509989299998 meters 0.02181536091126689 Centerline is valid? [True, True] Translation: X:78.66, Y:2.06, Z:0.78 [[ 9.97440844e-01 -6.79023965e-02 -2.23836496e-02 7.86640537e+01] [ 6.79081856e-02 9.97691448e-01 -5.02258385e-04 2.05581070e+00] [ 2.23660804e-02 -1.01906001e-03 9.99749329e-01 7.80075899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15509989299998 meters 0.022880431921917445 Centerline is valid? [True, True] Translation: X:78.70, Y:2.06, Z:0.78 [[ 9.97266311e-01 -7.04327345e-02 -2.23413467e-02 7.86959413e+01] [ 7.04391521e-02 9.97515952e-01 -5.00546207e-04 2.05572611e+00] [ 2.23211046e-02 -1.07452765e-03 9.99750276e-01 7.80774722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18509989299999 meters 0.026410612656570836 Centerline is valid? [True, True] Translation: X:78.73, Y:2.06, Z:0.79 [[ 9.96677291e-01 -7.91077360e-02 -1.93995721e-02 7.87259731e+01] [ 7.91142223e-02 9.96865463e-01 -4.34087729e-04 2.05711174e+00] [ 1.93731032e-02 -1.10213668e-03 9.99811716e-01 7.85863374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21509989299999 meters 0.025420155197771032 Centerline is valid? [True, True] Translation: X:78.76, Y:2.06, Z:0.79 [[ 9.96696252e-01 -7.87469013e-02 -1.98873601e-02 7.87583806e+01] [ 7.87536562e-02 9.96894008e-01 -4.44512407e-04 2.06000764e+00] [ 1.98605941e-02 -1.12315847e-03 9.99802128e-01 7.86043566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24509989299999 meters 0.025420155197771032 Centerline is valid? [True, True] Translation: X:78.79, Y:2.06, Z:0.79 [[ 9.96704875e-01 -7.86376696e-02 -1.98873985e-02 7.87909615e+01] [ 7.86444371e-02 9.96902631e-01 -4.42787548e-04 2.06064753e+00] [ 1.98606197e-02 -1.12270475e-03 9.99802128e-01 7.86446339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27509989299999 meters 0.02551706759784608 Centerline is valid? [True, True] Translation: X:78.82, Y:2.06, Z:0.79 [[ 9.96730275e-01 -7.81930769e-02 -2.03617490e-02 7.88230034e+01] [ 7.82001187e-02 9.96937580e-01 -4.51380680e-04 2.06173790e+00] [ 2.03346876e-02 -1.14238640e-03 9.99792576e-01 7.86122891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30509989299999 meters 0.024040668159290624 Centerline is valid? [True, True] Translation: X:78.86, Y:2.06, Z:0.79 [[ 9.96756423e-01 -7.77417058e-02 -2.08052803e-02 7.88553584e+01] [ 7.77489920e-02 9.96972860e-01 -4.59671194e-04 2.06469482e+00] [ 2.07780355e-02 -1.15940936e-03 9.99783441e-01 7.85615866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33509989299999 meters 0.024040668159290624 Centerline is valid? [True, True] Translation: X:78.89, Y:2.07, Z:0.79 [[ 9.96765089e-01 -7.76305092e-02 -2.08053212e-02 7.88879389e+01] [ 7.76378099e-02 9.96981525e-01 -4.57814697e-04 2.06532849e+00] [ 2.07780613e-02 -1.15894587e-03 9.99783441e-01 7.86018626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.365099893 meters 0.02803601148991101 Centerline is valid? [True, True] Translation: X:78.92, Y:2.06, Z:0.78 [[ 9.96790151e-01 -7.72122086e-02 -2.11581962e-02 7.89188947e+01] [ 7.72197051e-02 9.97013993e-01 -4.63690715e-04 2.06065815e+00] [ 2.11308202e-02 -1.17162733e-03 9.99776033e-01 7.84863844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.395099893 meters 0.024894714445751802 Centerline is valid? [True, True] Translation: X:78.95, Y:2.07, Z:0.79 [[ 9.96812666e-01 -7.68650098e-02 -2.13606733e-02 7.89512151e+01] [ 7.68725998e-02 9.97040814e-01 -4.66783575e-04 2.06619914e+00] [ 2.13333424e-02 -1.17675471e-03 9.99771726e-01 7.85668707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.425099893 meters 0.012202653902634447 Centerline is valid? [True, True] Translation: X:78.98, Y:2.13, Z:0.79 [[ 9.99692589e-01 -1.57979860e-02 -1.91089384e-02 7.89805472e+01] [ 1.57929063e-02 9.99875197e-01 -4.16717284e-04 2.13332568e+00] [ 1.91131368e-02 1.14803507e-04 9.99817321e-01 7.90340970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.455099893 meters 0.012029567579853484 Centerline is valid? [True, True] Translation: X:79.01, Y:2.13, Z:0.79 [[ 9.99641140e-01 -1.78296861e-02 -1.99923117e-02 7.90087453e+01] [ 1.78244894e-02 9.99841035e-01 -4.38113065e-04 2.13136883e+00] [ 1.99969450e-02 8.16030965e-05 9.99800038e-01 7.89063702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.485099893 meters 0.011962652507922585 Centerline is valid? [True, True] Translation: X:79.04, Y:2.13, Z:0.79 [[ 9.99613287e-01 -2.07886511e-02 -1.84691080e-02 7.90372825e+01] [ 2.07846305e-02 9.99783892e-01 -4.09640707e-04 2.12934755e+00] [ 1.84736325e-02 2.56087095e-05 9.99829348e-01 7.91031259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51509989299998 meters 0.011938371695592262 Centerline is valid? [True, True] Translation: X:79.07, Y:2.13, Z:0.79 [[ 9.99600986e-01 -2.15457472e-02 -1.82660605e-02 7.90663633e+01] [ 2.15418565e-02 9.99767863e-01 -4.09758252e-04 2.12886784e+00] [ 1.82706489e-02 1.61098988e-05 9.99833078e-01 7.91955331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54509989299999 meters 0.011938371695592262 Centerline is valid? [True, True] Translation: X:79.09, Y:2.13, Z:0.79 [[ 9.99595479e-01 -2.17998504e-02 -1.82659554e-02 7.90945879e+01] [ 2.17959173e-02 9.99762355e-01 -4.14402230e-04 2.12953197e+00] [ 1.82706485e-02 1.61113431e-05 9.99833078e-01 7.92305535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57509989299999 meters 0.011976687895966445 Centerline is valid? [True, True] Translation: X:79.12, Y:2.13, Z:0.79 [[ 9.99580206e-01 -2.19743282e-02 -1.88822642e-02 7.91233132e+01] [ 2.19700882e-02 9.99758535e-01 -4.31986282e-04 2.12954184e+00] [ 1.88871974e-02 1.69599279e-05 9.99821621e-01 7.91700032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60509989299999 meters 0.011976687895966445 Centerline is valid? [True, True] Translation: X:79.15, Y:2.13, Z:0.79 [[ 9.99574871e-01 -2.22157319e-02 -1.88822127e-02 7.91515417e+01] [ 2.22114926e-02 9.99753200e-01 -4.34227507e-04 2.13023036e+00] [ 1.88871992e-02 1.46407770e-05 9.99821621e-01 7.92049468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63509989299999 meters 0.011958500927671327 Centerline is valid? [True, True] Translation: X:79.18, Y:2.13, Z:0.79 [[ 9.99569665e-01 -2.23289702e-02 -1.90237211e-02 7.91806260e+01] [ 2.23245991e-02 9.99750677e-01 -4.42132740e-04 2.12964409e+00] [ 1.90288504e-02 1.72455282e-05 9.99818935e-01 7.92121819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66509989299999 meters 0.011958500927671327 Centerline is valid? [True, True] Translation: X:79.21, Y:2.13, Z:0.79 [[ 9.99564140e-01 -2.25750478e-02 -1.90236113e-02 7.92088533e+01] [ 2.25706322e-02 9.99745151e-01 -4.46817269e-04 2.13034091e+00] [ 1.90288501e-02 1.72475857e-05 9.99818935e-01 7.92472028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69509989299999 meters 0.011936106159983712 Centerline is valid? [True, True] Translation: X:79.24, Y:2.13, Z:0.79 [[ 9.99553157e-01 -2.27602100e-02 -1.93767557e-02 7.92380722e+01] [ 2.27555687e-02 9.99740953e-01 -4.60009109e-04 2.12982036e+00] [ 1.93822061e-02 1.88744609e-05 9.99812147e-01 7.92617427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72509989299999 meters 0.011936106159983712 Centerline is valid? [True, True] Translation: X:79.27, Y:2.13, Z:0.79 [[ 9.99547301e-01 -2.30160807e-02 -1.93766370e-02 7.92662964e+01] [ 2.30113913e-02 9.99735095e-01 -4.64968327e-04 2.13051833e+00] [ 1.93822057e-02 1.88744606e-05 9.99812147e-01 7.92967633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.755099893 meters 0.011936106159983712 Centerline is valid? [True, True] Translation: X:79.29, Y:2.13, Z:0.79 [[ 9.99541378e-01 -2.32719498e-02 -1.93765169e-02 7.92945204e+01] [ 2.32672124e-02 9.99729171e-01 -4.69927514e-04 2.13122352e+00] [ 1.93822053e-02 1.88744602e-05 9.99812147e-01 7.93317839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.785099893 meters 0.011980613625241233 Centerline is valid? [True, True] Translation: X:79.32, Y:2.13, Z:0.79 [[ 9.99529488e-01 -2.33478940e-02 -1.98916533e-02 7.93236074e+01] [ 2.33428435e-02 9.99727401e-01 -4.86080072e-04 2.13042975e+00] [ 1.98975797e-02 2.15236163e-05 9.99802023e-01 7.92610819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.815099893 meters 0.011970499203936924 Centerline is valid? [True, True] Translation: X:79.35, Y:2.13, Z:0.79 [[ 9.99520089e-01 -2.36026953e-02 -2.00625122e-02 7.93512269e+01] [ 2.35975816e-02 9.99721417e-01 -4.91620766e-04 2.12988650e+00] [ 2.00685267e-02 1.79580628e-05 9.99798607e-01 7.92065400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.845099893 meters 0.011973411582261279 Centerline is valid? [True, True] Translation: X:79.38, Y:2.13, Z:0.79 [[ 9.99501699e-01 -2.39139992e-02 -2.06027933e-02 7.93803494e+01] [ 2.39086070e-02 9.99714019e-01 -5.08034259e-04 2.12948111e+00] [ 2.06090504e-02 1.51970162e-05 9.99787611e-01 7.91767650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87509989299998 meters 0.01206494613356912 Centerline is valid? [True, True] Translation: X:79.41, Y:2.12, Z:0.79 [[ 9.99595202e-01 -2.20982269e-02 -1.79192824e-02 7.94096561e+01] [ 2.20937833e-02 9.99755803e-01 -4.45934343e-04 2.12423564e+00] [ 1.79247609e-02 4.98490887e-05 9.99839337e-01 7.93190514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90509989299998 meters 0.0120832839589236 Centerline is valid? [True, True] Translation: X:79.44, Y:2.12, Z:0.79 [[ 9.99618091e-01 -2.14794774e-02 -1.73868796e-02 7.94380407e+01] [ 2.14751254e-02 9.99769287e-01 -4.36997323e-04 2.12379321e+00] [ 1.73922547e-02 6.34450121e-05 9.99848741e-01 7.94283433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93509989299999 meters 0.012217875654303446 Centerline is valid? [True, True] Translation: X:79.47, Y:2.12, Z:0.79 [[ 9.99647471e-01 -2.05989143e-02 -1.67516690e-02 7.94666056e+01] [ 2.05946954e-02 9.99787817e-01 -4.24339332e-04 2.12347522e+00] [ 1.67568555e-02 7.91942186e-05 9.99859591e-01 7.94406834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96509989299999 meters 0.012126401133203077 Centerline is valid? [True, True] Translation: X:79.49, Y:2.12, Z:0.79 [[ 9.99647382e-01 -2.03888948e-02 -1.70119098e-02 7.94949623e+01] [ 2.03844789e-02 9.99792121e-01 -4.32959135e-04 2.12237597e+00] [ 1.70172009e-02 8.60275504e-05 9.99855193e-01 7.94659100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99509989299999 meters 0.012202155057130128 Centerline is valid? [True, True] Translation: X:79.52, Y:2.12, Z:0.79 [[ 9.99642898e-01 -2.03099072e-02 -1.73661670e-02 7.95237066e+01] [ 2.03052334e-02 9.99793728e-01 -4.45431653e-04 2.12142562e+00] [ 1.73716316e-02 9.26485139e-05 9.99849098e-01 7.94415572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02509989299999 meters 0.012202155057130128 Centerline is valid? [True, True] Translation: X:79.55, Y:2.12, Z:0.79 [[ 9.99637859e-01 -2.05564638e-02 -1.73661182e-02 7.95519361e+01] [ 2.05517943e-02 9.99788690e-01 -4.47328373e-04 2.12218502e+00] [ 1.73716440e-02 9.02614890e-05 9.99849098e-01 7.94765031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05509989299999 meters 0.012202155057130128 Centerline is valid? [True, True] Translation: X:79.58, Y:2.12, Z:0.80 [[ 9.99632760e-01 -2.08030487e-02 -1.73660069e-02 7.95801655e+01] [ 2.07983420e-02 9.99783589e-01 -4.51611487e-04 2.12295252e+00] [ 1.73716436e-02 9.02614871e-05 9.99849098e-01 7.95115237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08509989299999 meters 0.012202155057130128 Centerline is valid? [True, True] Translation: X:79.61, Y:2.12, Z:0.80 [[ 9.99627600e-01 -2.10496323e-02 -1.73658946e-02 7.96083946e+01] [ 2.10448884e-02 9.99778428e-01 -4.55894574e-04 2.12372698e+00] [ 1.73716432e-02 9.02614851e-05 9.99849098e-01 7.95465443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.115099893 meters 0.012073124408774717 Centerline is valid? [True, True] Translation: X:79.64, Y:2.12, Z:0.80 [[ 9.99614180e-01 -2.17239253e-02 -1.73078743e-02 7.96369811e+01] [ 2.17192398e-02 9.99764004e-01 -4.58666156e-04 2.12221890e+00] [ 1.73137537e-02 8.25753218e-05 9.99850102e-01 7.96037000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.145099893 meters 0.012096556852875825 Centerline is valid? [True, True] Translation: X:79.67, Y:2.12, Z:0.80 [[ 9.99592154e-01 -2.28768272e-02 -1.70931423e-02 7.96655479e+01] [ 2.28723671e-02 9.99738289e-01 -4.56400239e-04 2.12094260e+00] [ 1.70991098e-02 6.52534720e-05 9.99853797e-01 7.96426144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.175099893 meters 0.011967218822541328 Centerline is valid? [True, True] Translation: X:79.70, Y:2.12, Z:0.80 [[ 9.99553818e-01 -2.44344247e-02 -1.71791525e-02 7.96957152e+01] [ 2.44301319e-02 9.99701434e-01 -4.59733593e-04 2.11888626e+00] [ 1.71852567e-02 3.98395071e-05 9.99852322e-01 7.96933107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.205099893 meters 0.01304833195406448 Centerline is valid? [True, True] Translation: X:79.73, Y:2.10, Z:0.80 [[ 9.99002626e-01 -4.03851328e-02 -1.90471732e-02 7.97255162e+01] [ 4.03827482e-02 9.99184154e-01 -5.09956556e-04 2.09706071e+00] [ 1.90522283e-02 -2.59729262e-04 9.99818456e-01 7.96945106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.235099893 meters 0.013338515287351761 Centerline is valid? [True, True] Translation: X:79.76, Y:2.09, Z:0.80 [[ 9.98891242e-01 -4.27389618e-02 -1.97400278e-02 7.97572136e+01] [ 4.27368750e-02 9.99086223e-01 -5.27751962e-04 2.09498120e+00] [ 1.97445453e-02 -3.16460287e-04 9.99805007e-01 7.97224235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26509989299998 meters 0.013464063512340481 Centerline is valid? [True, True] Translation: X:79.79, Y:2.09, Z:0.80 [[ 9.98809241e-01 -4.44140663e-02 -2.01863871e-02 7.97882230e+01] [ 4.44122409e-02 9.99013144e-01 -5.38947657e-04 2.09336589e+00] [ 2.01904029e-02 -3.58216785e-04 9.99796089e-01 7.97738253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29509989299999 meters 0.013629621799593195 Centerline is valid? [True, True] Translation: X:79.82, Y:2.09, Z:0.80 [[ 9.98751381e-01 -4.53967466e-02 -2.08522263e-02 7.98197555e+01] [ 4.53950291e-02 9.98968960e-01 -5.55949757e-04 2.09177908e+00] [ 2.08559652e-02 -3.91331834e-04 9.99782414e-01 7.98184403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32509989299999 meters 0.014016554564721711 Centerline is valid? [True, True] Translation: X:79.85, Y:2.09, Z:0.80 [[ 9.98734311e-01 -4.58884480e-02 -2.05918868e-02 7.98499823e+01] [ 4.58868897e-02 9.98946491e-01 -5.48414602e-04 2.08960402e+00] [ 2.05953590e-02 -3.97177160e-04 9.99787814e-01 7.98370793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35509989299999 meters 0.013674770231143378 Centerline is valid? [True, True] Translation: X:79.88, Y:2.09, Z:0.80 [[ 9.98779119e-01 -4.48759091e-02 -2.06500364e-02 7.98815257e+01] [ 4.48741366e-02 9.98992497e-01 -5.49438921e-04 2.08776078e+00] [ 2.06538880e-02 -3.77884432e-04 9.99786614e-01 7.99463538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38509989299999 meters 0.012530598382594212 Centerline is valid? [True, True] Translation: X:79.91, Y:2.09, Z:0.80 [[ 9.99173795e-01 -3.57239369e-02 -1.93785511e-02 7.99112492e+01] [ 3.57206602e-02 9.99361681e-01 -5.15314051e-04 2.08621010e+00] [ 1.93845904e-02 -1.77326343e-04 9.99812085e-01 7.99405012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41509989299999 meters 0.012337991234997589 Centerline is valid? [True, True] Translation: X:79.94, Y:2.09, Z:0.80 [[ 9.99238141e-01 -3.44243970e-02 -1.83874589e-02 7.99412909e+01] [ 3.44212230e-02 9.99407294e-01 -4.89169708e-04 2.08644565e+00] [ 1.83934000e-02 -1.44121795e-04 9.99830817e-01 8.00212973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44509989299999 meters 0.012337991234997589 Centerline is valid? [True, True] Translation: X:79.97, Y:2.09, Z:0.80 [[ 9.99238141e-01 -3.44243970e-02 -1.83874589e-02 7.99712794e+01] [ 3.44212230e-02 9.99407294e-01 -4.89169708e-04 2.08724345e+00] [ 1.83934000e-02 -1.44121795e-04 9.99830817e-01 8.00583983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47509989299999 meters 0.01209985204048664 Centerline is valid? [True, True] Translation: X:80.00, Y:2.09, Z:0.80 [[ 9.99298614e-01 -3.31013793e-02 -1.75093831e-02 8.00015844e+01] [ 3.30982982e-02 9.99451993e-01 -4.65809868e-04 2.08805735e+00] [ 1.75152068e-02 -1.14047627e-04 9.99846590e-01 8.02117901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.505099893 meters 0.01209985204048664 Centerline is valid? [True, True] Translation: X:80.03, Y:2.09, Z:0.80 [[ 9.99298614e-01 -3.31013793e-02 -1.75093831e-02 8.00315725e+01] [ 3.30982982e-02 9.99451993e-01 -4.65809868e-04 2.08885513e+00] [ 1.75152068e-02 -1.14047627e-04 9.99846590e-01 8.02488906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.535099893 meters 0.012088682385630756 Centerline is valid? [True, True] Translation: X:80.06, Y:2.09, Z:0.80 [[ 9.99355958e-01 -3.17928833e-02 -1.66397546e-02 8.00617026e+01] [ 3.17899205e-02 9.99494475e-01 -4.42597807e-04 2.08900820e+00] [ 1.66454143e-02 -8.66637213e-05 9.99861452e-01 8.03533748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.565099893 meters 0.01201703131701122 Centerline is valid? [True, True] Translation: X:80.09, Y:2.09, Z:0.80 [[ 9.99396687e-01 -3.04493770e-02 -1.67062033e-02 8.00921299e+01] [ 3.04462065e-02 9.99536308e-01 -4.44142009e-04 2.08974442e+00] [ 1.67119806e-02 -6.47664626e-05 9.99860343e-01 8.04657065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.595099893 meters 0.01201703131701122 Centerline is valid? [True, True] Translation: X:80.12, Y:2.09, Z:0.81 [[ 9.99396687e-01 -3.04493770e-02 -1.67062033e-02 8.01221176e+01] [ 3.04462065e-02 9.99536308e-01 -4.44142009e-04 2.09054165e+00] [ 1.67119806e-02 -6.47664626e-05 9.99860343e-01 8.05028063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62509989299998 meters 0.011984560566396641 Centerline is valid? [True, True] Translation: X:80.15, Y:2.08, Z:0.80 [[ 9.99465775e-01 -2.65653600e-02 -1.90380240e-02 8.01526473e+01] [ 2.65605381e-02 9.99647079e-01 -5.06134523e-04 2.08308899e+00] [ 1.90447507e-02 2.03972056e-07 9.99818632e-01 8.03763912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65509989299998 meters 0.011999772494633123 Centerline is valid? [True, True] Translation: X:80.18, Y:2.08, Z:0.80 [[ 9.99445525e-01 -2.69928164e-02 -1.94943901e-02 8.01812703e+01] [ 2.69878061e-02 9.99635628e-01 -5.20096598e-04 2.08253150e+00] [ 1.95013258e-02 -6.30260266e-06 9.99809831e-01 8.03924664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68509989299999 meters 0.012038060970801082 Centerline is valid? [True, True] Translation: X:80.21, Y:2.08, Z:0.80 [[ 9.99428615e-01 -2.74439847e-02 -1.97299390e-02 8.02095203e+01] [ 2.74388639e-02 9.99623343e-01 -5.30258707e-04 2.08195791e+00] [ 1.97370600e-02 -1.14113862e-05 9.99805205e-01 8.03697954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71509989299999 meters 0.012105794193498127 Centerline is valid? [True, True] Translation: X:80.24, Y:2.08, Z:0.80 [[ 9.99379926e-01 -2.92475685e-02 -1.96046881e-02 8.02375529e+01] [ 2.92427958e-02 9.99572197e-01 -5.30135451e-04 2.07930757e+00] [ 1.96118063e-02 -4.34891642e-05 9.99807669e-01 8.04512926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74509989299999 meters 0.012105794193498127 Centerline is valid? [True, True] Translation: X:80.27, Y:2.08, Z:0.80 [[ 9.99372391e-01 -2.95039968e-02 -1.96045385e-02 8.02657945e+01] [ 2.94991658e-02 9.99564661e-01 -5.35622184e-04 2.08009957e+00] [ 1.96118069e-02 -4.30315097e-05 9.99807669e-01 8.04863252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77509989299999 meters 0.012128410833423559 Centerline is valid? [True, True] Translation: X:80.29, Y:2.08, Z:0.81 [[ 9.99328671e-01 -3.07998042e-02 -1.98388192e-02 8.02941019e+01] [ 3.07950283e-02 9.99525571e-01 -5.46259579e-04 2.07880801e+00] [ 1.98462318e-02 -6.50441391e-05 9.99803042e-01 8.05007524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80509989299999 meters 0.012214831543106222 Centerline is valid? [True, True] Translation: X:80.32, Y:2.08, Z:0.80 [[ 9.99278620e-01 -3.21788793e-02 -2.01682859e-02 8.03216240e+01] [ 3.21741755e-02 9.99482122e-01 -5.57752417e-04 2.07693569e+00] [ 2.01757890e-02 -9.15479034e-05 9.99796444e-01 8.04468303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83509989299999 meters 0.013314695793516582 Centerline is valid? [True, True] Translation: X:80.35, Y:2.07, Z:0.80 [[ 9.98936885e-01 -4.15669883e-02 -1.99320235e-02 8.03514845e+01] [ 4.15642346e-02 9.99135681e-01 -5.52581753e-04 2.06649605e+00] [ 1.99377650e-02 -2.76465006e-04 9.99801185e-01 8.04642659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.865099893 meters 0.01436645027726363 Centerline is valid? [True, True] Translation: X:80.38, Y:2.06, Z:0.80 [[ 9.98647707e-01 -4.80993625e-02 -1.97283533e-02 8.03812472e+01] [ 4.80979248e-02 9.98842475e-01 -5.47639070e-04 2.06064569e+00] [ 1.97318583e-02 -4.01994352e-04 9.99805227e-01 8.04651092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.895099893 meters 0.01568216530086508 Centerline is valid? [True, True] Translation: X:80.41, Y:2.06, Z:0.81 [[ 9.98484730e-01 -5.17100702e-02 -1.88231738e-02 8.04120751e+01] [ 5.17093966e-02 9.98662037e-01 -5.22822688e-04 2.05661990e+00] [ 1.88250243e-02 -4.51304490e-04 9.99822692e-01 8.05367056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.925099893 meters 0.01598016090438591 Centerline is valid? [True, True] Translation: X:80.44, Y:2.06, Z:0.81 [[ 9.98289460e-01 -5.58170846e-02 -1.73955952e-02 8.04435405e+01] [ 5.58171389e-02 9.98440892e-01 -4.82781642e-04 2.05511966e+00] [ 1.73954211e-02 -4.89016531e-04 9.99848569e-01 8.07649026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.955099893 meters 0.01598016090438591 Centerline is valid? [True, True] Translation: X:80.48, Y:2.06, Z:0.81 [[ 9.98293553e-01 -5.57438281e-02 -1.73956180e-02 8.04752277e+01] [ 5.57438855e-02 9.98444984e-01 -4.81960485e-04 2.05594270e+00] [ 1.73954339e-02 -4.88561293e-04 9.99848569e-01 8.08040944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.985099893 meters 0.017917264568317163 Centerline is valid? [True, True] Translation: X:80.51, Y:2.05, Z:0.81 [[ 9.97878451e-01 -6.26070693e-02 -1.78592116e-02 8.05059622e+01] [ 6.26082472e-02 9.98038057e-01 -4.93698002e-04 2.04992515e+00] [ 1.78550818e-02 -6.25483337e-04 9.99840390e-01 8.08040472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01509989299998 meters 0.025600223283031923 Centerline is valid? [True, True] Translation: X:80.54, Y:2.03, Z:0.81 [[ 9.96112269e-01 -8.64019068e-02 -1.71772828e-02 8.05374983e+01] [ 8.64065265e-02 9.96259849e-01 -4.74438028e-04 2.03164806e+00] [ 1.71540295e-02 -1.01163580e-03 9.99852347e-01 8.10867129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04509989299999 meters 0.02699622296718874 Centerline is valid? [True, True] Translation: X:80.57, Y:2.03, Z:0.81 [[ 9.95817687e-01 -8.96849109e-02 -1.74284416e-02 8.05687114e+01] [ 8.96901705e-02 9.95969599e-01 -4.81201600e-04 2.02906217e+00] [ 1.74013545e-02 -1.08397083e-03 9.99847997e-01 8.11342942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07509989299999 meters 0.02699622296718874 Centerline is valid? [True, True] Translation: X:80.60, Y:2.03, Z:0.81 [[ 9.95824315e-01 -8.96112909e-02 -1.74284582e-02 8.06004454e+01] [ 8.96165497e-02 9.95976226e-01 -4.80599486e-04 2.02988074e+00] [ 1.74013971e-02 -1.08328563e-03 9.99847997e-01 8.11735494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10509989299999 meters 0.028920033693652446 Centerline is valid? [True, True] Translation: X:80.63, Y:2.03, Z:0.81 [[ 9.95624114e-01 -9.17031123e-02 -1.79767558e-02 8.06302140e+01] [ 9.17090729e-02 9.95785721e-01 -4.94272457e-04 2.02697792e+00] [ 1.79463231e-02 -1.15652204e-03 9.99838283e-01 8.11483005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13509989299999 meters 0.029761532652234676 Centerline is valid? [True, True] Translation: X:80.66, Y:2.03, Z:0.81 [[ 9.95484475e-01 -9.30773002e-02 -1.86353463e-02 8.06621429e+01] [ 9.30839752e-02 9.95658130e-01 -5.10775387e-04 2.02638149e+00] [ 1.86019757e-02 -1.22618315e-03 9.99826216e-01 8.11485424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16509989299999 meters 0.03148007663191287 Centerline is valid? [True, True] Translation: X:80.69, Y:2.03, Z:0.81 [[ 9.95394407e-01 -9.41346347e-02 -1.81285909e-02 8.06931422e+01] [ 9.41411519e-02 9.95558737e-01 -4.95458767e-04 2.02528037e+00] [ 1.80947169e-02 -1.21346954e-03 9.99835541e-01 8.12259108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19509989299999 meters 0.026677360589515253 Centerline is valid? [True, True] Translation: X:80.72, Y:2.03, Z:0.81 [[ 9.95822540e-01 -8.99137016e-02 -1.59058482e-02 8.07231219e+01] [ 8.99181985e-02 9.95949060e-01 -4.33661451e-04 2.03475632e+00] [ 1.58804066e-02 -9.98375367e-04 9.99873400e-01 8.14743170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22509989299999 meters 0.026608035379766574 Centerline is valid? [True, True] Translation: X:80.75, Y:2.04, Z:0.82 [[ 9.96116263e-01 -8.66915831e-02 -1.53934768e-02 8.07524702e+01] [ 8.66954112e-02 9.96234776e-01 -4.19711283e-04 2.03608599e+00] [ 1.53719024e-02 -9.16462568e-04 9.99881425e-01 8.15518881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.255099893 meters 0.02532803251227403 Centerline is valid? [True, True] Translation: X:80.78, Y:2.04, Z:0.82 [[ 9.96305137e-01 -8.46414086e-02 -1.45569651e-02 8.07841676e+01] [ 8.46446124e-02 9.96411126e-01 -3.96996593e-04 2.03973737e+00] [ 1.45383243e-02 -8.36638924e-04 9.99893963e-01 8.16621831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.285099893 meters 0.02510211552910823 Centerline is valid? [True, True] Translation: X:80.82, Y:2.04, Z:0.82 [[ 9.96473605e-01 -8.27406087e-02 -1.39407790e-02 8.08159596e+01] [ 8.27433719e-02 9.96570816e-01 -3.79448677e-04 2.04229812e+00] [ 1.39243693e-02 -7.75396468e-04 9.99902751e-01 8.17765499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.315099893 meters 0.02434030679997795 Centerline is valid? [True, True] Translation: X:80.85, Y:2.05, Z:0.82 [[ 9.96752939e-01 -7.93859991e-02 -1.34700673e-02 8.08469224e+01] [ 7.93882824e-02 9.96843702e-01 -3.65958845e-04 2.04718258e+00] [ 1.34566038e-02 -7.04594954e-04 9.99909208e-01 8.19133262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.345099893 meters 0.024185651872753827 Centerline is valid? [True, True] Translation: X:80.88, Y:2.05, Z:0.82 [[ 9.97008799e-01 -7.61926973e-02 -1.29663896e-02 8.08769759e+01] [ 7.61945472e-02 9.97092908e-01 -3.51993812e-04 2.05002351e+00] [ 1.29555145e-02 -6.37027258e-04 9.99915871e-01 8.19251598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37509989299998 meters 0.02204178624744085 Centerline is valid? [True, True] Translation: X:80.91, Y:2.06, Z:0.82 [[ 9.97225828e-01 -7.33046379e-02 -1.29259042e-02 8.09083699e+01] [ 7.33062516e-02 9.97309416e-01 -3.49543439e-04 2.05577370e+00] [ 1.29167491e-02 -5.98975837e-04 9.99916396e-01 8.19059971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40509989299998 meters 0.021857532017164494 Centerline is valid? [True, True] Translation: X:80.94, Y:2.06, Z:0.82 [[ 9.97331559e-01 -7.18563938e-02 -1.29004057e-02 8.09410584e+01] [ 7.18578867e-02 9.97414820e-01 -3.48353601e-04 2.05831257e+00] [ 1.28920873e-02 -5.79571851e-04 9.99916726e-01 8.19315796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43509989299999 meters 0.021398466206642177 Centerline is valid? [True, True] Translation: X:80.97, Y:2.06, Z:0.82 [[ 9.97429562e-01 -7.05483207e-02 -1.25380763e-02 8.09730560e+01] [ 7.05496416e-02 9.97508213e-01 -3.37468139e-04 2.06157596e+00] [ 1.25306419e-02 -5.47956093e-04 9.99921338e-01 8.19839263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46509989299999 meters 0.020843227396021926 Centerline is valid? [True, True] Translation: X:81.01, Y:2.07, Z:0.82 [[ 9.97560765e-01 -6.85763262e-02 -1.30310401e-02 8.10051911e+01] [ 6.85775978e-02 9.97645724e-01 -3.49754295e-04 2.06743843e+00] [ 1.30243463e-02 -5.44736263e-04 9.99915031e-01 8.20159972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49509989299999 meters 0.021384688934342578 Centerline is valid? [True, True] Translation: X:81.04, Y:2.07, Z:0.82 [[ 9.97644448e-01 -6.71951976e-02 -1.37971045e-02 8.10363942e+01] [ 6.71965070e-02 9.97739692e-01 -3.69176831e-04 2.07165527e+00] [ 1.37907257e-02 -5.58810013e-04 9.99904747e-01 8.20267605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52509989299999 meters 0.01959762412827581 Centerline is valid? [True, True] Translation: X:81.07, Y:2.08, Z:0.82 [[ 9.97705401e-01 -6.61330761e-02 -1.45034249e-02 8.10682079e+01] [ 6.61344384e-02 9.97810647e-01 -3.86188185e-04 2.07852760e+00] [ 1.44972116e-02 -5.73873822e-04 9.99894745e-01 8.20041558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55509989299999 meters 0.018940943558872082 Centerline is valid? [True, True] Translation: X:81.10, Y:2.08, Z:0.82 [[ 9.97789582e-01 -6.47750902e-02 -1.48370638e-02 8.11008451e+01] [ 6.47763837e-02 9.97899727e-01 -3.93876754e-04 2.08392387e+00] [ 1.48314153e-02 -5.68085214e-04 9.99889847e-01 8.20262282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58509989299999 meters 0.02032916114186314 Centerline is valid? [True, True] Translation: X:81.13, Y:2.08, Z:0.82 [[ 9.97815681e-01 -6.42282003e-02 -1.54468707e-02 8.11323829e+01] [ 6.42295611e-02 9.97935066e-01 -4.08503813e-04 2.08450767e+00] [ 1.54412114e-02 -5.84534214e-04 9.99880607e-01 8.20128151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.615099893 meters 0.01854986544741036 Centerline is valid? [True, True] Translation: X:81.16, Y:2.09, Z:0.82 [[ 9.97857315e-01 -6.34245539e-02 -1.60656189e-02 8.11640227e+01] [ 6.34259377e-02 9.97986458e-01 -4.23886613e-04 2.09025124e+00] [ 1.60601549e-02 -5.95998585e-04 9.99870850e-01 8.20341980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.645099893 meters 0.01827998241674187 Centerline is valid? [True, True] Translation: X:81.20, Y:2.09, Z:0.82 [[ 9.97914207e-01 -6.23816861e-02 -1.66060260e-02 8.11965125e+01] [ 6.23830413e-02 9.98052186e-01 -4.36887533e-04 2.09317123e+00] [ 1.66009343e-02 -5.99958129e-04 9.99862015e-01 8.20265378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.675099893 meters 0.01815969248969873 Centerline is valid? [True, True] Translation: X:81.23, Y:2.10, Z:0.82 [[ 9.97965891e-01 -6.13518351e-02 -1.73214243e-02 8.12287302e+01] [ 6.13531775e-02 9.98116016e-01 -4.54392830e-04 2.09566751e+00] [ 1.73166688e-02 -6.09255875e-04 9.99849870e-01 8.19929073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.705099893 meters 0.017594542536996258 Centerline is valid? [True, True] Translation: X:81.26, Y:2.10, Z:0.82 [[ 9.98105498e-01 -5.90267424e-02 -1.73567814e-02 8.12611040e+01] [ 5.90277613e-02 9.98256238e-01 -4.54043778e-04 2.09945102e+00] [ 1.73533160e-02 -5.71348358e-04 9.99849257e-01 8.19864618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.735099893 meters 0.016908579385851028 Centerline is valid? [True, True] Translation: X:81.29, Y:2.10, Z:0.82 [[ 9.98267978e-01 -5.62214468e-02 -1.73260637e-02 8.12928499e+01] [ 5.62220603e-02 9.98418187e-01 -4.52062223e-04 2.10362707e+00] [ 1.73240727e-02 -5.22827759e-04 9.99849790e-01 8.19785101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76509989299998 meters 0.016728942868720002 Centerline is valid? [True, True] Translation: X:81.32, Y:2.11, Z:0.82 [[ 9.98402264e-01 -5.38077053e-02 -1.72525157e-02 8.13242110e+01] [ 5.38079698e-02 9.98551201e-01 -4.49198902e-04 2.10741678e+00] [ 1.72516906e-02 -4.79841640e-04 9.99851063e-01 8.19938680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79509989299999 meters 0.016205187812005077 Centerline is valid? [True, True] Translation: X:81.36, Y:2.11, Z:0.82 [[ 9.98460353e-01 -5.26165422e-02 -1.75619929e-02 8.13567019e+01] [ 5.26166509e-02 9.98614680e-01 -4.56190632e-04 2.11078424e+00] [ 1.75616671e-02 -4.68564988e-04 9.99845672e-01 8.20349784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82509989299999 meters 0.015769695091119227 Centerline is valid? [True, True] Translation: X:81.39, Y:2.12, Z:0.82 [[ 9.98551087e-01 -5.05022016e-02 -1.85810247e-02 8.13884548e+01] [ 5.05019837e-02 9.98723845e-01 -4.81254756e-04 2.11534219e+00] [ 1.85816169e-02 -4.57821150e-04 9.99827242e-01 8.20308403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85509989299999 meters 0.015419826603739025 Centerline is valid? [True, True] Translation: X:81.42, Y:2.12, Z:0.82 [[ 9.98612119e-01 -4.90041974e-02 -1.92983145e-02 8.14201628e+01] [ 4.90037107e-02 9.98798472e-01 -4.98392186e-04 2.11924128e+00] [ 1.92995503e-02 -4.47988542e-04 9.99813646e-01 8.20461776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88509989299999 meters 0.015706691840427656 Centerline is valid? [True, True] Translation: X:81.45, Y:2.12, Z:0.82 [[ 9.98635980e-01 -4.78881593e-02 -2.08063223e-02 8.14517106e+01] [ 4.78873814e-02 9.98852597e-01 -5.35905318e-04 2.12377025e+00] [ 2.08081126e-02 -4.61185960e-04 9.99783381e-01 8.19671056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91509989299999 meters 0.01539316985580814 Centerline is valid? [True, True] Translation: X:81.48, Y:2.13, Z:0.82 [[ 9.98711296e-01 -4.76305178e-02 -1.75236990e-02 8.14831990e+01] [ 4.76299394e-02 9.98864949e-01 -4.50603472e-04 2.13060233e+00] [ 1.75252711e-02 -3.84629941e-04 9.99846347e-01 8.24091485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94509989299999 meters 0.01539316985580814 Centerline is valid? [True, True] Translation: X:81.51, Y:2.13, Z:0.82 [[ 9.98714723e-01 -4.75586100e-02 -1.75237199e-02 8.15148861e+01] [ 4.75580348e-02 9.98868375e-01 -4.49788312e-04 2.13135932e+00] [ 1.75252809e-02 -3.84183470e-04 9.99846347e-01 8.24483361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97509989299999 meters 0.014830133886853294 Centerline is valid? [True, True] Translation: X:81.55, Y:2.13, Z:0.83 [[ 9.98811778e-01 -4.56472202e-02 -1.70693790e-02 8.15471805e+01] [ 4.56464161e-02 9.98957564e-01 -4.36915361e-04 2.13471967e+00] [ 1.70715293e-02 -3.42759769e-04 9.99854212e-01 8.25700778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.005099893 meters 0.014360905905504527 Centerline is valid? [True, True] Translation: X:81.58, Y:2.14, Z:0.83 [[ 9.98986206e-01 -4.15859127e-02 -1.72386839e-02 8.15781195e+01] [ 4.15845083e-02 9.99134893e-01 -4.40072056e-04 2.13841445e+00] [ 1.72420714e-02 -2.77236279e-04 9.99851306e-01 8.26251258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.035099893 meters 0.013826481907201305 Centerline is valid? [True, True] Translation: X:81.61, Y:2.14, Z:0.83 [[ 9.99128850e-01 -3.79725000e-02 -1.73098233e-02 8.16095561e+01] [ 3.79705643e-02 9.99278761e-01 -4.40585403e-04 2.14082938e+00] [ 1.73140689e-02 -2.17062172e-04 9.99850077e-01 8.26078588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.065099893 meters 0.013540682177223505 Centerline is valid? [True, True] Translation: X:81.64, Y:2.14, Z:0.83 [[ 9.99186318e-01 -3.62919356e-02 -1.75953986e-02 8.16413681e+01] [ 3.62897080e-02 9.99341212e-01 -4.45978953e-04 2.14286313e+00] [ 1.75999924e-02 -1.92915808e-04 9.99845090e-01 8.26064922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.095099893 meters 0.013214804393778583 Centerline is valid? [True, True] Translation: X:81.67, Y:2.15, Z:0.83 [[ 9.99309567e-01 -3.25230402e-02 -1.79622242e-02 8.16720769e+01] [ 3.25201240e-02 9.99470978e-01 -4.54497114e-04 2.14506093e+00] [ 1.79675034e-02 -1.29950443e-04 9.99838563e-01 8.25617586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12509989299998 meters 0.01295495395822477 Centerline is valid? [True, True] Translation: X:81.70, Y:2.15, Z:0.83 [[ 9.99396232e-01 -2.95225312e-02 -1.83191712e-02 8.17023618e+01] [ 2.95189980e-02 9.99564112e-01 -4.63304285e-04 2.14775602e+00] [ 1.83248640e-02 -7.77390217e-05 9.99832083e-01 8.26202997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15509989299998 meters 0.012909871486694525 Centerline is valid? [True, True] Translation: X:81.73, Y:2.15, Z:0.83 [[ 9.99428654e-01 -2.82976380e-02 -1.84826960e-02 8.17315053e+01] [ 2.82938279e-02 9.99599540e-01 -4.67660761e-04 2.14944010e+00] [ 1.84885281e-02 -5.55526542e-05 9.99829071e-01 8.26419623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18509989299999 meters 0.012882062157732823 Centerline is valid? [True, True] Translation: X:81.76, Y:2.15, Z:0.83 [[ 9.99448157e-01 -2.72833990e-02 -1.89472359e-02 8.17609119e+01] [ 2.72791995e-02 9.99627738e-01 -4.80109888e-04 2.15067962e+00] [ 1.89532816e-02 -3.70204851e-05 9.99820370e-01 8.26379525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21509989299999 meters 0.012768978814181976 Centerline is valid? [True, True] Translation: X:81.79, Y:2.15, Z:0.83 [[ 9.99458663e-01 -2.65626771e-02 -1.94114507e-02 8.17908440e+01] [ 2.65581194e-02 9.99647150e-01 -4.92589354e-04 2.15146410e+00] [ 1.94176858e-02 -2.32089275e-05 9.99811459e-01 8.26601385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24509989299999 meters 0.012822823990951613 Centerline is valid? [True, True] Translation: X:81.82, Y:2.15, Z:0.83 [[ 9.99472209e-01 -2.59979502e-02 -1.94784250e-02 8.18191319e+01] [ 2.59932354e-02 9.99661996e-01 -4.95238075e-04 2.15203188e+00] [ 1.94847163e-02 -1.13305909e-05 9.99810155e-01 8.26426645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27509989299999 meters 0.012855251397129827 Centerline is valid? [True, True] Translation: X:81.85, Y:2.15, Z:0.83 [[ 9.99476426e-01 -2.58657037e-02 -1.94380936e-02 8.18477890e+01] [ 2.58609316e-02 9.99665427e-01 -4.96869934e-04 2.15244115e+00] [ 1.94444420e-02 -6.07742409e-06 9.99810939e-01 8.26739971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30509989299999 meters 0.012848192976317946 Centerline is valid? [True, True] Translation: X:81.88, Y:2.15, Z:0.83 [[ 9.99466283e-01 -2.62866982e-02 -1.93947895e-02 8.18770346e+01] [ 2.62819311e-02 9.99654445e-01 -5.00682288e-04 2.15280635e+00] [ 1.94012489e-02 -9.31745804e-06 9.99811778e-01 8.26989872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33509989299999 meters 0.012807878717980304 Centerline is valid? [True, True] Translation: X:81.91, Y:2.15, Z:0.83 [[ 9.99464561e-01 -2.66235844e-02 -1.90204031e-02 8.19050760e+01] [ 2.66189911e-02 9.99645529e-01 -4.94676120e-04 2.15299100e+00] [ 1.90268310e-02 -1.18926893e-05 9.99818973e-01 8.27285035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.365099893 meters 0.01282453024024777 Centerline is valid? [True, True] Translation: X:81.93, Y:2.15, Z:0.83 [[ 9.99446925e-01 -2.73911031e-02 -1.88565827e-02 8.19339382e+01] [ 2.73866740e-02 9.99624793e-01 -4.93123362e-04 2.15296833e+00] [ 1.88630148e-02 -2.35684560e-05 9.99822077e-01 8.27625142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.395099893 meters 0.012882232228232897 Centerline is valid? [True, True] Translation: X:81.96, Y:2.15, Z:0.83 [[ 9.99390712e-01 -3.04656961e-02 -1.70307647e-02 8.19631867e+01] [ 3.04624621e-02 9.99535811e-01 -4.49335952e-04 2.15072557e+00] [ 1.70365486e-02 -6.97368491e-05 9.99854865e-01 8.28941054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.425099893 meters 0.01318802628744223 Centerline is valid? [True, True] Translation: X:81.99, Y:2.15, Z:0.83 [[ 9.99272480e-01 -3.51244786e-02 -1.48587386e-02 8.19931507e+01] [ 3.51224904e-02 9.99382937e-01 -3.94819773e-04 2.14595396e+00] [ 1.48634376e-02 -1.27343370e-04 9.99889525e-01 8.30971751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.455099893 meters 0.013947117933243908 Centerline is valid? [True, True] Translation: X:82.03, Y:2.14, Z:0.83 [[ 9.99047853e-01 -4.13034713e-02 -1.40502738e-02 8.20250111e+01] [ 4.13023027e-02 9.99146626e-01 -3.73456376e-04 2.14020751e+00] [ 1.40537088e-02 -2.07207872e-04 9.99901220e-01 8.32015912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.485099893 meters 0.015667425964969603 Centerline is valid? [True, True] Translation: X:82.05, Y:2.13, Z:0.83 [[ 9.98718863e-01 -4.84791042e-02 -1.45055145e-02 8.20548702e+01] [ 4.84786250e-02 9.98824146e-01 -3.84860977e-04 2.13271019e+00] [ 1.45071158e-02 -3.18839479e-04 9.99894715e-01 8.31861915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51509989299998 meters 0.016885873326488488 Centerline is valid? [True, True] Translation: X:82.09, Y:2.13, Z:0.83 [[ 9.98315502e-01 -5.60019083e-02 -1.51639241e-02 8.20861352e+01] [ 5.60022522e-02 9.98430561e-01 -4.02278944e-04 2.12781352e+00] [ 1.51626536e-02 -4.47612596e-04 9.99884940e-01 8.31354536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54509989299999 meters 0.02042190780204281 Centerline is valid? [True, True] Translation: X:82.12, Y:2.12, Z:0.83 [[ 9.97498828e-01 -6.87329028e-02 -1.64886843e-02 8.21169401e+01] [ 6.87350488e-02 9.97634854e-01 -4.37196862e-04 2.11799954e+00] [ 1.64797360e-02 -6.97247166e-04 9.99863957e-01 8.30781948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57509989299999 meters 0.024329528327252502 Centerline is valid? [True, True] Translation: X:82.15, Y:2.11, Z:0.83 [[ 9.97125054e-01 -7.39760231e-02 -1.64065530e-02 8.21466995e+01] [ 7.39788544e-02 9.97259715e-01 -4.35103197e-04 2.11196699e+00] [ 1.63937816e-02 -7.79885699e-04 9.99865309e-01 8.30807244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60509989299999 meters 0.025773872955423965 Centerline is valid? [True, True] Translation: X:82.18, Y:2.11, Z:0.83 [[ 9.96803806e-01 -7.82883510e-02 -1.59093335e-02 8.21778013e+01] [ 7.82915605e-02 9.96930416e-01 -4.21940820e-04 2.11062928e+00] [ 1.58935315e-02 -8.24974332e-04 9.99873350e-01 8.31814100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63509989299999 meters 0.025773872955423965 Centerline is valid? [True, True] Translation: X:82.21, Y:2.11, Z:0.83 [[ 9.96812171e-01 -7.81817673e-02 -1.59093493e-02 8.22103653e+01] [ 7.81849728e-02 9.96938781e-01 -4.21342889e-04 2.11140274e+00] [ 1.58935887e-02 -8.23872325e-04 9.99873350e-01 8.32216891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66509989299999 meters 0.02539706836226517 Centerline is valid? [True, True] Translation: X:82.24, Y:2.11, Z:0.83 [[ 9.96708084e-01 -7.94579189e-02 -1.61069709e-02 8.22423899e+01] [ 7.94613966e-02 9.96837853e-01 -4.24967613e-04 2.11294939e+00] [ 1.60898053e-02 -8.56313747e-04 9.99870184e-01 8.32393499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69509989299999 meters 0.024969727594318588 Centerline is valid? [True, True] Translation: X:82.27, Y:2.11, Z:0.83 [[ 9.96618333e-01 -8.04386049e-02 -1.67788266e-02 8.22744212e+01] [ 8.04425385e-02 9.96759150e-01 -4.41443412e-04 2.11474734e+00] [ 1.67599580e-02 -9.09780807e-04 9.99859128e-01 8.32256224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72509989299999 meters 0.024969727594318588 Centerline is valid? [True, True] Translation: X:82.31, Y:2.12, Z:0.83 [[ 9.96627161e-01 -8.03291421e-02 -1.67788630e-02 8.23069906e+01] [ 8.03330834e-02 9.96767978e-01 -4.40056799e-04 2.11551567e+00] [ 1.67599827e-02 -9.09325242e-04 9.99859128e-01 8.32658921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.755099893 meters 0.02623882912422907 Centerline is valid? [True, True] Translation: X:82.34, Y:2.11, Z:0.83 [[ 9.96591699e-01 -8.05754863e-02 -1.76798256e-02 8.23379199e+01] [ 8.05799315e-02 9.96748043e-01 -4.61965337e-04 2.11492340e+00] [ 1.76595546e-02 -9.64248313e-04 9.99843593e-01 8.31714684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.785099893 meters 0.02628824818489028 Centerline is valid? [True, True] Translation: X:82.37, Y:2.12, Z:0.83 [[ 9.96615665e-01 -8.03400948e-02 -1.73978525e-02 8.23702544e+01] [ 8.03443813e-02 9.96767061e-01 -4.53574952e-04 2.11711298e+00] [ 1.73780466e-02 -9.45779794e-04 9.99848543e-01 8.31507760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.815099893 meters 0.0258394011763132 Centerline is valid? [True, True] Translation: X:82.40, Y:2.12, Z:0.83 [[ 9.96788943e-01 -7.82190051e-02 -1.71344546e-02 8.24015787e+01] [ 7.82228681e-02 9.96935797e-01 -4.45665275e-04 2.12145737e+00] [ 1.71168107e-02 -8.96071966e-04 9.99853095e-01 8.31817120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.845099893 meters 0.026638162373250705 Centerline is valid? [True, True] Translation: X:82.43, Y:2.12, Z:0.83 [[ 9.96905195e-01 -7.66761543e-02 -1.73435460e-02 8.24325267e+01] [ 7.66798916e-02 9.97055661e-01 -4.50391493e-04 2.12311566e+00] [ 1.73270150e-02 -8.80903611e-04 9.99849488e-01 8.31726093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87509989299998 meters 0.024346119508430537 Centerline is valid? [True, True] Translation: X:82.46, Y:2.13, Z:0.83 [[ 9.97043745e-01 -7.48983713e-02 -1.71465872e-02 8.24639819e+01] [ 7.49017759e-02 9.97190817e-01 -4.44456030e-04 2.12983880e+00] [ 1.71317083e-02 -8.41167727e-04 9.99852888e-01 8.33004858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90509989299998 meters 0.022341166514967013 Centerline is valid? [True, True] Translation: X:82.50, Y:2.14, Z:0.83 [[ 9.97262738e-01 -7.19988231e-02 -1.68285894e-02 8.24950974e+01] [ 7.20017007e-02 9.97404414e-01 -4.35615471e-04 2.13771161e+00] [ 1.68162731e-02 -7.77263976e-04 9.99858294e-01 8.34591356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93509989299999 meters 0.021451135570350832 Centerline is valid? [True, True] Translation: X:82.53, Y:2.14, Z:0.84 [[ 9.97420513e-01 -6.97561358e-02 -1.69233853e-02 8.25269313e+01] [ 6.97587356e-02 9.97563796e-01 -4.37367977e-04 2.14186204e+00] [ 1.69126656e-02 -7.44314168e-04 9.99856694e-01 8.35293593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96509989299999 meters 0.021037182719918217 Centerline is valid? [True, True] Translation: X:82.56, Y:2.15, Z:0.84 [[ 9.97575308e-01 -6.73884777e-02 -1.73867068e-02 8.25586827e+01] [ 6.73908797e-02 9.97726550e-01 -4.48377856e-04 2.14557976e+00] [ 1.73773945e-02 -7.24414788e-04 9.99848739e-01 8.35521422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99509989299999 meters 0.020276948459496485 Centerline is valid? [True, True] Translation: X:82.59, Y:2.15, Z:0.84 [[ 9.97771757e-01 -6.44389411e-02 -1.72957689e-02 8.25901694e+01] [ 6.44408901e-02 9.97921427e-01 -4.45189799e-04 2.14956395e+00] [ 1.72885059e-02 -6.70356934e-04 9.99850318e-01 8.35785667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02509989299999 meters 0.018134915950725996 Centerline is valid? [True, True] Translation: X:82.62, Y:2.16, Z:0.84 [[ 9.98115934e-01 -5.87772453e-02 -1.76016357e-02 8.26210982e+01] [ 5.87783940e-02 9.98270953e-01 -4.52515186e-04 2.15819207e+00] [ 1.75977993e-02 -5.82933263e-04 9.99844977e-01 8.36522363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05509989299999 meters 0.01686620634858529 Centerline is valid? [True, True] Translation: X:82.65, Y:2.17, Z:0.84 [[ 9.98457697e-01 -5.27210253e-02 -1.73988778e-02 8.26501776e+01] [ 5.27212310e-02 9.98609169e-01 -4.47172409e-04 2.16590360e+00] [ 1.73982543e-02 -4.70807522e-04 9.99848528e-01 8.37303308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08509989299999 meters 0.015896299950776932 Centerline is valid? [True, True] Translation: X:82.68, Y:2.17, Z:0.84 [[ 9.98604970e-01 -4.96097458e-02 -1.80827937e-02 8.26824606e+01] [ 4.96094615e-02 9.98768585e-01 -4.64571611e-04 2.17111855e+00] [ 1.80835736e-02 -4.33154139e-04 9.99836385e-01 8.37657059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.115099893 meters 0.014257852330976036 Centerline is valid? [True, True] Translation: X:82.71, Y:2.18, Z:0.84 [[ 9.98863380e-01 -4.35885197e-02 -1.92870375e-02 8.27139716e+01] [ 4.35870997e-02 9.99049509e-01 -4.94190567e-04 2.17974777e+00] [ 1.92902464e-02 -3.47037168e-04 9.99813866e-01 8.37125286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.145099893 meters 0.013748109747653312 Centerline is valid? [True, True] Translation: X:82.74, Y:2.19, Z:0.84 [[ 9.99080450e-01 -3.82988832e-02 -1.92730244e-02 8.27438394e+01] [ 3.82964967e-02 9.99266298e-01 -4.93029637e-04 2.18579499e+00] [ 1.92777662e-02 -2.45513042e-04 9.99814136e-01 8.36421338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.175099893 meters 0.013098426209980883 Centerline is valid? [True, True] Translation: X:82.78, Y:2.19, Z:0.84 [[ 9.99256679e-01 -3.36487320e-02 -1.88109413e-02 8.27755270e+01] [ 3.36456452e-02 9.99433709e-01 -4.80645706e-04 2.19299871e+00] [ 1.88164620e-02 -1.52617826e-04 9.99822943e-01 8.37106989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.205099893 meters 0.012889322025364702 Centerline is valid? [True, True] Translation: X:82.81, Y:2.20, Z:0.84 [[ 9.99324223e-01 -3.16930921e-02 -1.86184002e-02 8.28064115e+01] [ 3.16897452e-02 9.99497641e-01 -4.74843169e-04 2.19636879e+00] [ 1.86240964e-02 -1.15490078e-04 9.99826550e-01 8.38170143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.235099893 meters 0.012798706052565098 Centerline is valid? [True, True] Translation: X:82.84, Y:2.20, Z:0.84 [[ 9.99390887e-01 -3.00249105e-02 -1.77865264e-02 8.28378620e+01] [ 3.00216029e-02 9.99549147e-01 -4.53001753e-04 2.19936642e+00] [ 1.77921087e-02 -8.12542088e-05 9.99841705e-01 8.38882518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26509989299998 meters 0.012702857409148111 Centerline is valid? [True, True] Translation: X:82.87, Y:2.20, Z:0.84 [[ 9.99453071e-01 -2.77545570e-02 -1.79789553e-02 8.28691392e+01] [ 2.77508219e-02 9.99614767e-01 -4.57246801e-04 2.20408388e+00] [ 1.79847199e-02 -4.19340682e-05 9.99838261e-01 8.39613093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29509989299999 meters 0.012716073448673988 Centerline is valid? [True, True] Translation: X:82.90, Y:2.21, Z:0.84 [[ 9.99444333e-01 -2.73029897e-02 -1.91199134e-02 8.28986593e+01] [ 2.72986897e-02 9.99627203e-01 -4.85910100e-04 2.20627701e+00] [ 1.91260524e-02 -3.63084881e-05 9.99817080e-01 8.38695385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32509989299999 meters 0.012779760729017983 Centerline is valid? [True, True] Translation: X:82.93, Y:2.21, Z:0.84 [[ 9.99407144e-01 -2.74237750e-02 -2.08158071e-02 8.29279055e+01] [ 2.74186931e-02 9.99623897e-01 -5.29552622e-04 2.20971360e+00] [ 2.08225005e-02 -4.15035535e-05 9.99783187e-01 8.37562625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35509989299999 meters 0.01276232612141097 Centerline is valid? [True, True] Translation: X:82.96, Y:2.21, Z:0.84 [[ 9.99417066e-01 -2.83426165e-02 -1.90321826e-02 8.29564247e+01] [ 2.83384955e-02 9.99598266e-01 -4.86247002e-04 2.21221377e+00] [ 1.90383183e-02 -5.33798685e-05 9.99818753e-01 8.39396251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38509989299999 meters 0.012792938845014193 Centerline is valid? [True, True] Translation: X:82.99, Y:2.21, Z:0.84 [[ 9.99395935e-01 -2.95961210e-02 -1.82163154e-02 8.29862886e+01] [ 2.95924982e-02 9.99561936e-01 -4.68460725e-04 2.21238266e+00] [ 1.82222001e-02 -7.08885356e-05 9.99833959e-01 8.40382804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41509989299999 meters 0.0127910854730084 Centerline is valid? [True, True] Translation: X:83.02, Y:2.21, Z:0.84 [[ 9.99359565e-01 -3.05423927e-02 -1.86446327e-02 8.30164624e+01] [ 3.05387580e-02 9.99533468e-01 -4.79699110e-04 2.21276878e+00] [ 1.86505856e-02 -8.99920327e-05 9.99826059e-01 8.40928508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44509989299999 meters 0.013005686601442098 Centerline is valid? [True, True] Translation: X:83.05, Y:2.21, Z:0.84 [[ 9.99259005e-01 -3.31832253e-02 -1.95016624e-02 8.30466347e+01] [ 3.31797541e-02 9.99449275e-01 -5.01622084e-04 2.21243591e+00] [ 1.95075678e-02 -1.45809978e-04 9.99809699e-01 8.41334292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47509989299999 meters 0.013450660177861262 Centerline is valid? [True, True] Translation: X:83.08, Y:2.21, Z:0.84 [[ 9.99137162e-01 -3.64891520e-02 -1.98361440e-02 8.30774942e+01] [ 3.64862191e-02 9.99334026e-01 -5.09869263e-04 2.21154673e+00] [ 1.98415383e-02 -2.14316567e-04 9.99803114e-01 8.41854063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.505099893 meters 0.013438585956127383 Centerline is valid? [True, True] Translation: X:83.11, Y:2.21, Z:0.84 [[ 9.99068205e-01 -3.82541418e-02 -1.99835474e-02 8.31085343e+01] [ 3.82515280e-02 9.99268011e-01 -5.13162679e-04 2.21130968e+00] [ 1.99885503e-02 -2.51716705e-04 9.99800177e-01 8.42395327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.535099893 meters 0.014009175004283529 Centerline is valid? [True, True] Translation: X:83.14, Y:2.21, Z:0.84 [[ 9.98931976e-01 -4.12232185e-02 -2.08699083e-02 8.31387826e+01] [ 4.12210283e-02 9.99149909e-01 -5.35306052e-04 2.20904951e+00] [ 2.08742340e-02 -3.25544748e-04 9.99782056e-01 8.41803461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.565099893 meters 0.014259458165415939 Centerline is valid? [True, True] Translation: X:83.17, Y:2.21, Z:0.84 [[ 9.98878141e-01 -4.22994205e-02 -2.12889332e-02 8.31704702e+01] [ 4.22973973e-02 9.99104916e-01 -5.45510200e-04 2.20862923e+00] [ 2.12929526e-02 -3.55568253e-04 9.99773216e-01 8.41719055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.595099893 meters 0.014523388546099312 Centerline is valid? [True, True] Translation: X:83.20, Y:2.21, Z:0.84 [[ 9.98852374e-01 -4.30381799e-02 -2.10154801e-02 8.32012390e+01] [ 4.30363906e-02 9.99073361e-01 -5.37607681e-04 2.20826076e+00] [ 2.10191440e-02 -3.67439703e-04 9.99779006e-01 8.41674273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62509989299998 meters 0.014326883028739912 Centerline is valid? [True, True] Translation: X:83.23, Y:2.21, Z:0.84 [[ 9.98912101e-01 -4.22455711e-02 -1.97465587e-02 8.32330704e+01] [ 4.22438590e-02 9.99107203e-01 -5.04007178e-04 2.20976118e+00] [ 1.97502211e-02 -3.30711974e-04 9.99804891e-01 8.43807586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65509989299998 meters 0.013352706791206629 Centerline is valid? [True, True] Translation: X:83.26, Y:2.21, Z:0.85 [[ 9.99055401e-01 -3.92059926e-02 -1.87402307e-02 8.32646835e+01] [ 3.92039358e-02 9.99231116e-01 -4.77258436e-04 2.21347233e+00] [ 1.87445330e-02 -2.57883183e-04 9.99824273e-01 8.45510940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68509989299999 meters 0.013296194403001218 Centerline is valid? [True, True] Translation: X:83.30, Y:2.21, Z:0.85 [[ 9.99134576e-01 -3.71365743e-02 -1.87342916e-02 8.32957160e+01] [ 3.71341702e-02 9.99310175e-01 -4.76299012e-04 2.21459294e+00] [ 1.87390563e-02 -2.19795561e-04 9.99824384e-01 8.45573138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71509989299999 meters 0.01303061353985649 Centerline is valid? [True, True] Translation: X:83.33, Y:2.22, Z:0.85 [[ 9.99288523e-01 -3.26187644e-02 -1.89331530e-02 8.33256030e+01] [ 3.26155135e-02 9.99467857e-01 -4.80548104e-04 2.21707808e+00] [ 1.89387528e-02 -1.37308302e-04 9.99820636e-01 8.45838567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74509989299999 meters 0.012698857284132272 Centerline is valid? [True, True] Translation: X:83.36, Y:2.22, Z:0.85 [[ 9.99414717e-01 -2.89333266e-02 -1.82506621e-02 8.33561482e+01] [ 2.89296952e-02 9.99581342e-01 -4.63012605e-04 2.22038207e+00] [ 1.82564178e-02 -6.52444806e-05 9.99833336e-01 8.46715349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77509989299999 meters 0.012662753195148011 Centerline is valid? [True, True] Translation: X:83.39, Y:2.22, Z:0.85 [[ 9.99464959e-01 -2.65938373e-02 -1.90411183e-02 8.33870829e+01] [ 2.65894600e-02 9.99646321e-01 -4.83066189e-04 2.22161353e+00] [ 1.90472304e-02 -2.34853243e-05 9.99818585e-01 8.46368411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80509989299999 meters 0.01274890119812594 Centerline is valid? [True, True] Translation: X:83.42, Y:2.22, Z:0.85 [[ 9.99482407e-01 -2.60043185e-02 -1.89391821e-02 8.34164493e+01] [ 2.59998826e-02 9.99661830e-01 -4.80451888e-04 2.22110856e+00] [ 1.89452713e-02 -1.22133030e-05 9.99820522e-01 8.46233762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83509989299999 meters 0.01274890119812594 Centerline is valid? [True, True] Translation: X:83.45, Y:2.22, Z:0.85 [[ 9.99481500e-01 -2.60391857e-02 -1.89391777e-02 8.34455913e+01] [ 2.60347527e-02 9.99660923e-01 -4.80628323e-04 2.22187693e+00] [ 1.89452710e-02 -1.26976901e-05 9.99820522e-01 8.46594281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.865099893 meters 0.012784660540419001 Centerline is valid? [True, True] Translation: X:83.48, Y:2.22, Z:0.85 [[ 9.99463161e-01 -2.64430431e-02 -1.93431097e-02 8.34750096e+01] [ 2.64384813e-02 9.99650321e-01 -4.91568852e-04 2.22104521e+00] [ 1.93493444e-02 -2.00974853e-05 9.99812784e-01 8.46984154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.895099893 meters 0.012973325677389784 Centerline is valid? [True, True] Translation: X:83.50, Y:2.22, Z:0.85 [[ 9.99353571e-01 -2.88785549e-02 -2.14119122e-02 8.35045930e+01] [ 2.88735064e-02 9.99582925e-01 -5.44960655e-04 2.21922515e+00] [ 2.14187195e-02 -7.36286082e-05 9.99770590e-01 8.45836301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.925099893 meters 0.013195341801635835 Centerline is valid? [True, True] Translation: X:83.53, Y:2.22, Z:0.85 [[ 9.99245381e-01 -3.17357100e-02 -2.23944782e-02 8.35333098e+01] [ 3.17308821e-02 9.99496286e-01 -5.70980638e-04 2.21719711e+00] [ 2.24013183e-02 -1.40046783e-04 9.99749049e-01 8.45020524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.955099893 meters 0.014520056128750776 Centerline is valid? [True, True] Translation: X:83.56, Y:2.21, Z:0.85 [[ 9.98911760e-01 -4.25250487e-02 -1.91550383e-02 8.35624760e+01] [ 4.25234811e-02 9.99095348e-01 -4.89317920e-04 2.21008956e+00] [ 1.91585180e-02 -3.25753487e-04 9.99816406e-01 8.49004270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.985099893 meters 0.014860398746131162 Centerline is valid? [True, True] Translation: X:83.59, Y:2.21, Z:0.85 [[ 9.98760435e-01 -4.61513511e-02 -1.86453011e-02 8.35948898e+01] [ 4.61504940e-02 9.98934385e-01 -4.76476390e-04 2.21033604e+00] [ 1.86474224e-02 -3.84604091e-04 9.99826048e-01 8.50056417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01509989299998 meters 0.014860398746131162 Centerline is valid? [True, True] Translation: X:83.63, Y:2.21, Z:0.85 [[ 9.98763793e-01 -4.60785938e-02 -1.86453357e-02 8.36265786e+01] [ 4.60777494e-02 9.98937743e-01 -4.75118745e-04 2.21108839e+00] [ 1.86474224e-02 -3.84603706e-04 9.99826048e-01 8.50448166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04509989299999 meters 0.015191029527051423 Centerline is valid? [True, True] Translation: X:83.66, Y:2.21, Z:0.85 [[ 9.98651080e-01 -4.85656080e-02 -1.83684833e-02 8.36591239e+01] [ 4.85652333e-02 9.98819904e-01 -4.66733117e-04 2.21113415e+00] [ 1.83694739e-02 -4.25966144e-04 9.99831176e-01 8.51087736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07509989299999 meters 0.015816944197636098 Centerline is valid? [True, True] Translation: X:83.69, Y:2.21, Z:0.85 [[ 9.98530430e-01 -5.09240319e-02 -1.85397846e-02 8.36914833e+01] [ 5.09240819e-02 9.98702417e-01 -4.69711055e-04 2.21002190e+00] [ 1.85396472e-02 -4.75100726e-04 9.99828013e-01 8.51188447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10509989299999 meters 0.0165166910339962 Centerline is valid? [True, True] Translation: X:83.72, Y:2.21, Z:0.85 [[ 9.98354542e-01 -5.40877289e-02 -1.90453831e-02 8.37238635e+01] [ 5.40883840e-02 9.98536036e-01 -4.81095799e-04 2.20863050e+00] [ 1.90435228e-02 -5.49829819e-04 9.99818504e-01 8.50713112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13509989299999 meters 0.0165166910339962 Centerline is valid? [True, True] Translation: X:83.76, Y:2.21, Z:0.85 [[ 9.98358511e-01 -5.40143967e-02 -1.90454184e-02 8.37555587e+01] [ 5.40150651e-02 9.98540006e-01 -4.79695837e-04 2.20937397e+00] [ 1.90435227e-02 -5.49831093e-04 9.99818504e-01 8.51104939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16509989299999 meters 0.01819202868788173 Centerline is valid? [True, True] Translation: X:83.79, Y:2.21, Z:0.85 [[ 9.98151014e-01 -5.76004467e-02 -1.94098627e-02 8.37863818e+01] [ 5.76018535e-02 9.98339516e-01 -4.87051955e-04 2.20633942e+00] [ 1.94056873e-02 -6.31892664e-04 9.99811492e-01 8.50522210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19509989299999 meters 0.019531953784370802 Centerline is valid? [True, True] Translation: X:83.82, Y:2.20, Z:0.85 [[ 9.97911833e-01 -6.15231973e-02 -1.96690189e-02 8.38172228e+01] [ 6.15254367e-02 9.98105395e-01 -4.91829513e-04 2.20430488e+00] [ 1.96620128e-02 -7.19342484e-04 9.99806425e-01 8.50143716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22509989299999 meters 0.02170328712456914 Centerline is valid? [True, True] Translation: X:83.85, Y:2.20, Z:0.85 [[ 9.97347234e-01 -6.97315723e-02 -2.08806807e-02 8.38477974e+01] [ 6.97358966e-02 9.97565352e-01 -5.21868702e-04 2.20120237e+00] [ 2.08662343e-02 -9.35648680e-04 9.99781839e-01 8.49816071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.255099893 meters 0.026113303934242903 Centerline is valid? [True, True] Translation: X:83.88, Y:2.20, Z:0.85 [[ 9.96808972e-01 -7.67856525e-02 -2.18136786e-02 8.38783324e+01] [ 7.67920652e-02 9.97046981e-01 -5.44765663e-04 2.19564111e+00] [ 2.17910926e-02 -1.13209013e-03 9.99761905e-01 8.48737165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.285099893 meters 0.0261019292521956 Centerline is valid? [True, True] Translation: X:83.91, Y:2.20, Z:0.85 [[ 9.96584354e-01 -7.96059058e-02 -2.19664706e-02 8.39091370e+01] [ 7.96131066e-02 9.96825688e-01 -5.47902825e-04 2.19656353e+00] [ 2.19403585e-02 -1.20278758e-03 9.99758558e-01 8.48998932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.315099893 meters 0.02770263967312667 Centerline is valid? [True, True] Translation: X:83.94, Y:2.20, Z:0.85 [[ 9.96314185e-01 -8.26768092e-02 -2.28602346e-02 8.39402447e+01] [ 8.26854233e-02 9.96575535e-01 -5.69777655e-04 2.19586298e+00] [ 2.28290579e-02 -1.32253061e-03 9.99738508e-01 8.48576873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.345099893 meters 0.028581865903980902 Centerline is valid? [True, True] Translation: X:83.97, Y:2.20, Z:0.85 [[ 9.96273926e-01 -8.30928709e-02 -2.31049544e-02 8.39714549e+01] [ 8.31018004e-02 9.96540897e-01 -5.75080450e-04 2.19623341e+00] [ 2.30728171e-02 -1.34712565e-03 9.99732880e-01 8.48306630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37509989299998 meters 0.02644552288449898 Centerline is valid? [True, True] Translation: X:84.00, Y:2.20, Z:0.85 [[ 9.96389647e-01 -8.17544928e-02 -2.28883054e-02 8.40034692e+01] [ 8.17629359e-02 9.96651644e-01 -5.68271534e-04 2.20229614e+00] [ 2.28581259e-02 -1.30519517e-03 9.99737867e-01 8.49718852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40509989299998 meters 0.027957107443006723 Centerline is valid? [True, True] Translation: X:84.03, Y:2.20, Z:0.85 [[ 9.96691282e-01 -7.82537102e-02 -2.19737391e-02 8.40328362e+01] [ 7.82606585e-02 9.96932782e-01 -5.44877092e-04 2.20468359e+00] [ 2.19489795e-02 -1.17660504e-03 9.99758400e-01 8.50820160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43509989299999 meters 0.0241204090479122 Centerline is valid? [True, True] Translation: X:84.06, Y:2.21, Z:0.85 [[ 9.97109837e-01 -7.31783966e-02 -2.04180083e-02 8.40628695e+01] [ 7.31833302e-02 9.97318376e-01 -5.06479164e-04 2.21494416e+00] [ 2.04003183e-02 -9.89242489e-04 9.99791402e-01 8.53761234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46509989299999 meters 0.022012438939759054 Centerline is valid? [True, True] Translation: X:84.09, Y:2.22, Z:0.86 [[ 9.97531713e-01 -6.75581978e-02 -1.91408505e-02 8.40937144e+01] [ 6.75615016e-02 9.97714998e-01 -4.74730095e-04 2.22329437e+00] [ 1.91291856e-02 -8.19626279e-04 9.99816684e-01 8.56019951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49509989299999 meters 0.021093320645596166 Centerline is valid? [True, True] Translation: X:84.13, Y:2.23, Z:0.86 [[ 9.97715368e-01 -6.49022267e-02 -1.87548978e-02 8.41251144e+01] [ 6.49049354e-02 9.97891343e-01 -4.64875318e-04 2.22754041e+00] [ 1.87455216e-02 -7.53472183e-04 9.99824003e-01 8.56833626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52509989299999 meters 0.020354464599976516 Centerline is valid? [True, True] Translation: X:84.16, Y:2.23, Z:0.86 [[ 9.98075490e-01 -5.91944753e-02 -1.84751222e-02 8.41552210e+01] [ 5.91961350e-02 9.98246266e-01 -4.57505084e-04 2.23349356e+00] [ 1.84698035e-02 -6.37031216e-04 9.99829216e-01 8.57382464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55509989299999 meters 0.017052575800756857 Centerline is valid? [True, True] Translation: X:84.19, Y:2.24, Z:0.86 [[ 9.98377175e-01 -5.37640197e-02 -1.87735629e-02 8.41853462e+01] [ 5.37647742e-02 9.98553520e-01 -4.64895462e-04 2.24457977e+00] [ 1.87714019e-02 -5.45215352e-04 9.99823653e-01 8.58708729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58509989299999 meters 0.0158401237924061 Centerline is valid? [True, True] Translation: X:84.22, Y:2.25, Z:0.86 [[ 9.98646376e-01 -4.79601412e-02 -2.01305810e-02 8.42159296e+01] [ 4.79598359e-02 9.98849141e-01 -4.98220403e-04 2.25178183e+00] [ 2.01313082e-02 -4.67913361e-04 9.99797235e-01 8.57818289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.615099893 meters 0.014662233795957982 Centerline is valid? [True, True] Translation: X:84.25, Y:2.26, Z:0.86 [[ 9.98772280e-01 -4.48755586e-02 -2.09789407e-02 8.42477568e+01] [ 4.48745699e-02 9.98992495e-01 -5.18122449e-04 2.25711696e+00] [ 2.09810554e-02 -4.23934603e-04 9.99779784e-01 8.57878329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.645099893 meters 0.013827013921234836 Centerline is valid? [True, True] Translation: X:84.28, Y:2.26, Z:0.86 [[ 9.98994060e-01 -3.90936578e-02 -2.19671116e-02 8.42779055e+01] [ 3.90912010e-02 9.99235500e-01 -5.41405539e-04 2.26424678e+00] [ 2.19714832e-02 -3.17859856e-04 9.99758547e-01 8.57583943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.675099893 meters 0.013266244791251068 Centerline is valid? [True, True] Translation: X:84.31, Y:2.27, Z:0.86 [[ 9.99170310e-01 -3.38123159e-02 -2.27028330e-02 8.43087311e+01] [ 3.38083423e-02 9.99428178e-01 -5.58936119e-04 2.27160881e+00] [ 2.27087500e-02 -2.09072774e-04 9.99742101e-01 8.57409202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.705099893 meters 0.013017043371081987 Centerline is valid? [True, True] Translation: X:84.34, Y:2.28, Z:0.86 [[ 9.99274552e-01 -3.01186850e-02 -2.33073853e-02 8.43390068e+01] [ 3.01135030e-02 9.99546321e-01 -5.73364834e-04 2.27818434e+00] [ 2.33140802e-02 -1.28918128e-04 9.99728182e-01 8.57175546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.735099893 meters 0.012897866660492785 Centerline is valid? [True, True] Translation: X:84.37, Y:2.28, Z:0.86 [[ 9.99304373e-01 -2.87385037e-02 -2.37669598e-02 8.43689621e+01] [ 2.87327150e-02 9.99586959e-01 -5.85088056e-04 2.28138974e+00] [ 2.37739576e-02 -9.82082293e-05 9.99717355e-01 8.57360265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76509989299998 meters 0.012988840999422964 Centerline is valid? [True, True] Translation: X:84.40, Y:2.29, Z:0.86 [[ 9.99329154e-01 -2.78153473e-02 -2.38232554e-02 8.43970770e+01] [ 2.78092432e-02 9.99613076e-01 -5.87552212e-04 2.28526821e+00] [ 2.38303806e-02 -7.53486481e-05 9.99716013e-01 8.56531411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79509989299999 meters 0.012985277302758566 Centerline is valid? [True, True] Translation: X:84.43, Y:2.29, Z:0.86 [[ 9.99334223e-01 -2.80707742e-02 -2.33054036e-02 8.44259430e+01] [ 2.80649732e-02 9.99605935e-01 -5.76017090e-04 2.28721155e+00] [ 2.33123890e-02 -7.84319364e-05 9.99728226e-01 8.56876204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82509989299999 meters 0.013082506489388785 Centerline is valid? [True, True] Translation: X:84.46, Y:2.29, Z:0.86 [[ 9.99289739e-01 -3.15428431e-02 -2.06171461e-02 8.44550247e+01] [ 3.15390241e-02 9.99502391e-01 -5.10441380e-04 2.29043820e+00] [ 2.06229876e-02 -1.40165835e-04 9.99787314e-01 8.59802531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85509989299999 meters 0.013244843376378658 Centerline is valid? [True, True] Translation: X:84.49, Y:2.29, Z:0.86 [[ 9.99228758e-01 -3.37388979e-02 -2.00892182e-02 8.44865021e+01] [ 3.37357128e-02 9.99430665e-01 -4.97522968e-04 2.29113279e+00] [ 2.00945666e-02 -1.80584837e-04 9.99798068e-01 8.60581214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88509989299999 meters 0.013990826021051764 Centerline is valid? [True, True] Translation: X:84.52, Y:2.29, Z:0.86 [[ 9.99019404e-01 -3.99824662e-02 -1.90166391e-02 8.45187243e+01] [ 3.99807596e-02 9.99200339e-01 -4.70068858e-04 2.29101630e+00] [ 1.90202267e-02 -2.90691765e-04 9.99819057e-01 8.61586918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91509989299999 meters 0.01563028984703824 Centerline is valid? [True, True] Translation: X:84.55, Y:2.29, Z:0.86 [[ 9.98655069e-01 -4.84209651e-02 -1.85327431e-02 8.45494798e+01] [ 4.84208143e-02 9.98826920e-01 -4.57127524e-04 2.28863128e+00] [ 1.85331372e-02 -4.40857790e-04 9.99828149e-01 8.63045212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94509989299999 meters 0.016851552912365942 Centerline is valid? [True, True] Translation: X:84.58, Y:2.29, Z:0.86 [[ 9.98419254e-01 -5.31353204e-02 -1.83202342e-02 8.45802166e+01] [ 5.31359756e-02 9.98587184e-01 -4.51353345e-04 2.28721233e+00] [ 1.83183339e-02 -5.22823648e-04 9.99832069e-01 8.63590120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97509989299999 meters 0.02011971199459624 Centerline is valid? [True, True] Translation: X:84.61, Y:2.28, Z:0.86 [[ 9.97805465e-01 -6.30867233e-02 -2.01076718e-02 8.46111911e+01] [ 6.30895445e-02 9.98007748e-01 -4.94654047e-04 2.28266186e+00] [ 2.00988183e-02 -7.75015343e-04 9.99797698e-01 8.62728990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.005099893 meters 0.02181938927980488 Centerline is valid? [True, True] Translation: X:84.64, Y:2.28, Z:0.86 [[ 9.97475396e-01 -6.77863004e-02 -2.11625099e-02 8.46422172e+01] [ 6.77904851e-02 9.97699443e-01 -5.20409101e-04 2.28083835e+00] [ 2.11491010e-02 -9.15521538e-04 9.99775914e-01 8.62144947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.035099893 meters 0.024121381195554625 Centerline is valid? [True, True] Translation: X:84.67, Y:2.28, Z:0.86 [[ 9.96993677e-01 -7.42055462e-02 -2.22967411e-02 8.46731931e+01] [ 7.42117986e-02 9.97242352e-01 -5.48037960e-04 2.27782416e+00] [ 2.22759220e-02 -1.10829088e-03 9.99751247e-01 8.61042649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.065099893 meters 0.02539187854340911 Centerline is valid? [True, True] Translation: X:84.70, Y:2.28, Z:0.86 [[ 9.97090465e-01 -7.26390521e-02 -2.31121565e-02 8.47041668e+01] [ 7.26453649e-02 9.97357674e-01 -5.67463201e-04 2.27673013e+00] [ 2.30923066e-02 -1.11317889e-03 9.99732717e-01 8.59993126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.095099893 meters 0.024677251560494096 Centerline is valid? [True, True] Translation: X:84.73, Y:2.28, Z:0.86 [[ 9.97448072e-01 -6.81107173e-02 -2.14073210e-02 8.47339640e+01] [ 6.81151048e-02 9.97677331e-01 -5.24989871e-04 2.28040855e+00] [ 2.13933564e-02 -9.34511782e-04 9.99770699e-01 8.62245399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12509989299998 meters 0.023697432036235543 Centerline is valid? [True, True] Translation: X:84.77, Y:2.28, Z:0.86 [[ 9.97598684e-01 -6.61070071e-02 -2.06574326e-02 8.47650358e+01] [ 6.61106696e-02 9.97812168e-01 -5.06314617e-04 2.28405347e+00] [ 2.06457086e-02 -8.60577908e-04 9.99786484e-01 8.63721709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15509989299998 meters 0.020674432731969023 Centerline is valid? [True, True] Translation: X:84.80, Y:2.29, Z:0.87 [[ 9.97853010e-01 -6.26311162e-02 -1.91497629e-02 8.47959854e+01] [ 6.26336363e-02 9.98036476e-01 -4.68726045e-04 2.29243977e+00] [ 1.91415187e-02 -7.31699589e-04 9.99816517e-01 8.66959872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18509989299999 meters 0.02038486541573511 Centerline is valid? [True, True] Translation: X:84.83, Y:2.29, Z:0.87 [[ 9.98015200e-01 -6.01983098e-02 -1.84884693e-02 8.48264001e+01] [ 6.02002614e-02 9.98186217e-01 -4.51479603e-04 2.29468862e+00] [ 1.84821135e-02 -6.62427178e-04 9.99828972e-01 8.67253262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21509989299999 meters 0.019345761600243077 Centerline is valid? [True, True] Translation: X:84.86, Y:2.30, Z:0.87 [[ 9.98120790e-01 -5.84735196e-02 -1.83231269e-02 8.48588989e+01] [ 5.84751773e-02 9.98288763e-01 -4.45748064e-04 2.29677632e+00] [ 1.83178362e-02 -6.26537684e-04 9.99832018e-01 8.66252365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24509989299999 meters 0.018968689372751743 Centerline is valid? [True, True] Translation: X:84.89, Y:2.30, Z:0.87 [[ 9.98172988e-01 -5.75475543e-02 -1.84110238e-02 8.48907778e+01] [ 5.75490947e-02 9.98342578e-01 -4.46575777e-04 2.29803300e+00] [ 1.84062083e-02 -6.13777874e-04 9.99830403e-01 8.66250051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27509989299999 meters 0.01738438448092734 Centerline is valid? [True, True] Translation: X:84.92, Y:2.30, Z:0.87 [[ 9.98286527e-01 -5.54257786e-02 -1.87614838e-02 8.49226193e+01] [ 5.54270294e-02 9.98462638e-01 -4.53716428e-04 2.30283999e+00] [ 1.87577882e-02 -5.86954316e-04 9.99823885e-01 8.67019136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30509989299999 meters 0.017567110461061897 Centerline is valid? [True, True] Translation: X:84.95, Y:2.31, Z:0.87 [[ 9.98411856e-01 -5.25752071e-02 -2.02388868e-02 8.49534204e+01] [ 5.25761061e-02 9.98616801e-01 -4.88043229e-04 2.30508266e+00] [ 2.02365514e-02 -5.76813714e-04 9.99795054e-01 8.67032848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33509989299999 meters 0.016401029630164925 Centerline is valid? [True, True] Translation: X:84.99, Y:2.31, Z:0.87 [[ 9.98492865e-01 -5.08957673e-02 -2.05333965e-02 8.49853560e+01] [ 5.08963640e-02 9.98703818e-01 -4.93868378e-04 2.30833390e+00] [ 2.05319173e-02 -5.51951169e-04 9.99789046e-01 8.67514016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.365099893 meters 0.016252792065248236 Centerline is valid? [True, True] Translation: X:85.02, Y:2.31, Z:0.87 [[ 9.98645703e-01 -4.73771552e-02 -2.14980259e-02 8.50165753e+01] [ 4.73770256e-02 9.98876945e-01 -5.15631389e-04 2.30908716e+00] [ 2.14983116e-02 -5.03579455e-04 9.99768758e-01 8.66741871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.395099893 meters 0.015123487606669409 Centerline is valid? [True, True] Translation: X:85.05, Y:2.31, Z:0.87 [[ 9.98828046e-01 -4.31422113e-02 -2.19381664e-02 8.50476992e+01] [ 4.31410778e-02 9.99068852e-01 -5.25161968e-04 2.31285832e+00] [ 2.19403954e-02 -4.21889641e-04 9.99759192e-01 8.67021054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.425099893 meters 0.013925083471352817 Centerline is valid? [True, True] Translation: X:85.08, Y:2.32, Z:0.87 [[ 9.99096108e-01 -3.70907941e-02 -2.07663225e-02 8.50787605e+01] [ 3.70884863e-02 9.99311862e-01 -4.96388765e-04 2.31906532e+00] [ 2.07704438e-02 -2.74251385e-04 9.99784233e-01 8.69443561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.455099893 meters 0.013545844448795977 Centerline is valid? [True, True] Translation: X:85.11, Y:2.32, Z:0.87 [[ 9.99241724e-01 -3.31800101e-02 -2.03731128e-02 8.51098877e+01] [ 3.31770065e-02 9.99449374e-01 -4.85500424e-04 2.32243548e+00] [ 2.03780038e-02 -1.90786616e-04 9.99792329e-01 8.70350079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48509989299998 meters 0.013001832664268208 Centerline is valid? [True, True] Translation: X:85.14, Y:2.33, Z:0.87 [[ 9.99501361e-01 -2.51879591e-02 -1.90419457e-02 8.51413065e+01] [ 2.51839179e-02 9.99682733e-01 -4.52027329e-04 2.32887311e+00] [ 1.90472899e-02 -2.77488659e-05 9.99818584e-01 8.72051756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51509989299998 meters 0.013158878141395675 Centerline is valid? [True, True] Translation: X:85.17, Y:2.33, Z:0.87 [[ 9.99653709e-01 -1.92754091e-02 -1.79142469e-02 8.51707023e+01] [ 1.92708905e-02 9.99814209e-01 -4.24838400e-04 2.33217061e+00] [ 1.79191075e-02 7.94677916e-05 9.99839437e-01 8.73236745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54509989299999 meters 0.013231701141418285 Centerline is valid? [True, True] Translation: X:85.20, Y:2.33, Z:0.87 [[ 9.99741555e-01 -1.58561297e-02 -1.62913035e-02 8.52007354e+01] [ 1.58519370e-02 9.99874275e-01 -3.86470629e-04 2.33218509e+00] [ 1.62953832e-02 1.28122031e-04 9.99867213e-01 8.74759476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57509989299999 meters 0.013360797496431416 Centerline is valid? [True, True] Translation: X:85.23, Y:2.33, Z:0.88 [[ 9.99755541e-01 -1.51276006e-02 -1.61249306e-02 8.52291690e+01] [ 1.51233874e-02 9.99885562e-01 -3.83199817e-04 2.33152034e+00] [ 1.61288822e-02 1.39242568e-04 9.99869911e-01 8.75067795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60509989299999 meters 0.013160298920510068 Centerline is valid? [True, True] Translation: X:85.26, Y:2.33, Z:0.88 [[ 9.99703090e-01 -1.68372939e-02 -1.76135349e-02 8.52575630e+01] [ 1.68324939e-02 9.99858235e-01 -4.20741890e-04 2.32882331e+00] [ 1.76181221e-02 1.24137249e-04 9.99844781e-01 8.75155974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63509989299999 meters 0.0129758285797441 Centerline is valid? [True, True] Translation: X:85.29, Y:2.32, Z:0.87 [[ 9.99621178e-01 -1.97343233e-02 -1.91848207e-02 8.52861608e+01] [ 1.97290664e-02 9.99805256e-01 -4.63258955e-04 2.32425224e+00] [ 1.91902266e-02 8.45848621e-05 9.99815847e-01 8.73151269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66509989299999 meters 0.012866940777981707 Centerline is valid? [True, True] Translation: X:85.32, Y:2.32, Z:0.87 [[ 9.99582274e-01 -2.12710072e-02 -1.95658341e-02 8.53153779e+01] [ 2.12657387e-02 9.99773745e-01 -4.77315897e-04 2.32204710e+00] [ 1.95715602e-02 6.10345942e-05 9.99808457e-01 8.73000617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69509989299999 meters 0.012742924447988966 Centerline is valid? [True, True] Translation: X:85.34, Y:2.32, Z:0.87 [[ 9.99527942e-01 -2.38129817e-02 -1.94122632e-02 8.53443261e+01] [ 2.38081820e-02 9.99716431e-01 -4.78350574e-04 2.31768090e+00] [ 1.94181494e-02 1.59540685e-05 9.99811450e-01 8.73734138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72509989299999 meters 0.012701180430717463 Centerline is valid? [True, True] Translation: X:85.37, Y:2.32, Z:0.87 [[ 9.99514837e-01 -2.45359498e-02 -1.91853489e-02 8.53736336e+01] [ 2.45313337e-02 9.99698948e-01 -4.75944823e-04 2.31641372e+00] [ 1.91912509e-02 5.07171449e-06 9.99815831e-01 8.74321925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.755099893 meters 0.012701180430717463 Centerline is valid? [True, True] Translation: X:85.40, Y:2.32, Z:0.87 [[ 9.99514837e-01 -2.45359525e-02 -1.91853435e-02 8.54036227e+01] [ 2.45313322e-02 9.99698948e-01 -4.76164067e-04 2.31715813e+00] [ 1.91912508e-02 5.29101471e-06 9.99815831e-01 8.74693005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.785099893 meters 0.012608369903991891 Centerline is valid? [True, True] Translation: X:85.43, Y:2.31, Z:0.88 [[ 9.99496301e-01 -2.59093059e-02 -1.83262513e-02 8.54337785e+01] [ 2.59053210e-02 9.99664297e-01 -4.54842123e-04 2.31458580e+00] [ 1.83318838e-02 -2.01344041e-05 9.99831957e-01 8.77020956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.815099893 meters 0.012531541903630967 Centerline is valid? [True, True] Translation: X:85.46, Y:2.31, Z:0.88 [[ 9.99493276e-01 -2.72736131e-02 -1.64116340e-02 8.54645272e+01] [ 2.72706054e-02 9.99628005e-01 -4.07078120e-04 2.31191396e+00] [ 1.64166315e-02 -4.06833509e-05 9.99865237e-01 8.79054891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.845099893 meters 0.012501205990840257 Centerline is valid? [True, True] Translation: X:85.50, Y:2.31, Z:0.88 [[ 9.99487980e-01 -2.78315083e-02 -1.57855928e-02 8.54965565e+01] [ 2.78288104e-02 9.99612627e-01 -3.90585335e-04 2.31048240e+00] [ 1.57903485e-02 -4.89089219e-05 9.99875323e-01 8.80035194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87509989299998 meters 0.012473224765188536 Centerline is valid? [True, True] Translation: X:85.53, Y:2.31, Z:0.88 [[ 9.99476148e-01 -2.84339706e-02 -1.54576727e-02 8.55288708e+01] [ 2.84314726e-02 9.99595671e-01 -3.81382015e-04 2.30667174e+00] [ 1.54622669e-02 -5.83021709e-05 9.99880450e-01 8.80748190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90509989299998 meters 0.012447371229759776 Centerline is valid? [True, True] Translation: X:85.56, Y:2.30, Z:0.88 [[ 9.99472630e-01 -2.80632343e-02 -1.63375700e-02 8.55596734e+01] [ 2.80604130e-02 9.99606148e-01 -4.01942930e-04 2.30323867e+00] [ 1.63424153e-02 -5.67080041e-05 9.99866452e-01 8.80010372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93509989299999 meters 0.012346240890124805 Centerline is valid? [True, True] Translation: X:85.59, Y:2.30, Z:0.88 [[ 9.99507053e-01 -2.63025554e-02 -1.71413634e-02 8.55909490e+01] [ 2.62992055e-02 9.99654027e-01 -4.20855587e-04 2.30127037e+00] [ 1.71465025e-02 -3.01561113e-05 9.99852987e-01 8.80206122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96509989299999 meters 0.012248814481595668 Centerline is valid? [True, True] Translation: X:85.62, Y:2.30, Z:0.88 [[ 9.99543257e-01 -2.49009740e-02 -1.71236264e-02 8.56226031e+01] [ 2.48974358e-02 9.99689923e-01 -4.19807924e-04 2.30107112e+00] [ 1.71287704e-02 -6.71821006e-06 9.99853292e-01 8.80844642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99509989299999 meters 0.012331759287906955 Centerline is valid? [True, True] Translation: X:85.65, Y:2.30, Z:0.88 [[ 9.99592892e-01 -2.17990155e-02 -1.84079420e-02 8.56529143e+01] [ 2.17944161e-02 9.99762372e-01 -4.50460436e-04 2.29969928e+00] [ 1.84133873e-02 4.90867036e-05 9.99830458e-01 8.80560934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02509989299999 meters 0.012536303545711487 Centerline is valid? [True, True] Translation: X:85.68, Y:2.30, Z:0.88 [[ 9.99619383e-01 -1.94333215e-02 -1.95815189e-02 8.56828490e+01] [ 1.94276730e-02 9.99811150e-01 -4.78669046e-04 2.29758012e+00] [ 1.95871230e-02 9.80635111e-05 9.99808149e-01 8.79746980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05509989299999 meters 0.012629834152636873 Centerline is valid? [True, True] Translation: X:85.71, Y:2.29, Z:0.88 [[ 9.99616800e-01 -1.79783051e-02 -2.10483572e-02 8.57114982e+01] [ 1.79714006e-02 9.99838368e-01 -5.17154864e-04 2.29467119e+00] [ 2.10542527e-02 1.38688230e-04 9.99778325e-01 8.79399054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08509989299999 meters 0.012796877024875095 Centerline is valid? [True, True] Translation: X:85.74, Y:2.29, Z:0.88 [[ 9.99593375e-01 -1.80167683e-02 -2.21015878e-02 8.57395472e+01] [ 1.80090744e-02 9.99837674e-01 -5.47120926e-04 2.29167490e+00] [ 2.21078575e-02 1.48869313e-04 9.99755580e-01 8.78480741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.115099893 meters 0.01273932268423601 Centerline is valid? [True, True] Translation: X:85.77, Y:2.29, Z:0.88 [[ 9.99564715e-01 -1.87791641e-02 -2.27535460e-02 8.57674937e+01] [ 1.87711153e-02 9.99823646e-01 -5.67288830e-04 2.29008670e+00] [ 2.27601865e-02 1.39932464e-04 9.99740944e-01 8.78240351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.145099893 meters 0.012400620917222925 Centerline is valid? [True, True] Translation: X:85.80, Y:2.28, Z:0.88 [[ 9.99507421e-01 -2.07369400e-02 -2.35561925e-02 8.57952807e+01] [ 2.07286960e-02 9.99784961e-01 -5.94123897e-04 2.28486244e+00] [ 2.35634473e-02 1.05542091e-04 9.99722338e-01 8.77970749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.175099893 meters 0.012350831126189265 Centerline is valid? [True, True] Translation: X:85.82, Y:2.28, Z:0.88 [[ 9.99430912e-01 -2.36822412e-02 -2.40208784e-02 8.58223738e+01] [ 2.36743962e-02 9.99719536e-01 -6.10956469e-04 2.27910024e+00] [ 2.40286102e-02 4.19289887e-05 9.99711270e-01 8.77135942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.205099893 meters 0.012322940337247075 Centerline is valid? [True, True] Translation: X:85.85, Y:2.28, Z:0.88 [[ 9.99386633e-01 -2.56280195e-02 -2.38655064e-02 8.58499735e+01] [ 2.56207148e-02 9.99671548e-01 -6.11845566e-04 2.27669759e+00] [ 2.38733481e-02 1.89482422e-08 9.99714991e-01 8.77923185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23509989299998 meters 0.012259388046801205 Centerline is valid? [True, True] Translation: X:85.88, Y:2.27, Z:0.88 [[ 9.99289556e-01 -2.98866980e-02 -2.29601568e-02 8.58781829e+01] [ 2.98809119e-02 9.99553289e-01 -5.95122932e-04 2.27189672e+00] [ 2.29676865e-02 -9.13702928e-05 9.99736204e-01 8.79453189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26509989299998 meters 0.012775811591364889 Centerline is valid? [True, True] Translation: X:85.91, Y:2.27, Z:0.88 [[ 9.99154324e-01 -3.47607352e-02 -2.19619488e-02 8.59064422e+01] [ 3.47565240e-02 9.99395645e-01 -5.73543720e-04 2.26623256e+00] [ 2.19686128e-02 -1.90262314e-04 9.99758643e-01 8.80687378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29509989299999 meters 0.013036026828630164 Centerline is valid? [True, True] Translation: X:85.94, Y:2.26, Z:0.88 [[ 9.99068515e-01 -3.76609734e-02 -2.10654479e-02 8.59362558e+01] [ 3.76577145e-02 9.99290545e-01 -5.51502863e-04 2.26356117e+00] [ 2.10712731e-02 -2.42287478e-04 9.99777947e-01 8.81977353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32509989299999 meters 0.01377384513280109 Centerline is valid? [True, True] Translation: X:85.97, Y:2.26, Z:0.88 [[ 9.98855279e-01 -4.34395521e-02 -2.00283944e-02 8.59673910e+01] [ 4.34377617e-02 9.99055997e-01 -5.24627938e-04 2.25709746e+00] [ 2.00322771e-02 -3.45961237e-04 9.99799274e-01 8.84469565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35509989299999 meters 0.01514556855545678 Centerline is valid? [True, True] Translation: X:86.00, Y:2.25, Z:0.89 [[ 9.98647503e-01 -4.82169691e-02 -1.94496407e-02 8.59989890e+01] [ 4.82161978e-02 9.98836793e-01 -5.08868231e-04 2.25053792e+00] [ 1.94515529e-02 -4.29607736e-04 9.99810708e-01 8.85346725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38509989299999 meters 0.015956960521929117 Centerline is valid? [True, True] Translation: X:86.03, Y:2.25, Z:0.89 [[ 9.98496676e-01 -5.13898815e-02 -1.90648243e-02 8.60309794e+01] [ 5.13897398e-02 9.98678550e-01 -4.97668322e-04 2.24699025e+00] [ 1.90652062e-02 -4.82816196e-04 9.99818126e-01 8.86807648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41509989299999 meters 0.015797116818060994 Centerline is valid? [True, True] Translation: X:86.06, Y:2.25, Z:0.89 [[ 9.98443484e-01 -5.25398388e-02 -1.87129733e-02 8.60635159e+01] [ 5.25399289e-02 9.98618705e-01 -4.87160287e-04 2.24706425e+00] [ 1.87127205e-02 -4.96776273e-04 9.99824778e-01 8.87586942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44509989299999 meters 0.01642151104728409 Centerline is valid? [True, True] Translation: X:86.10, Y:2.24, Z:0.89 [[ 9.98329495e-01 -5.45150437e-02 -1.91397455e-02 8.60957544e+01] [ 5.45155275e-02 9.98512799e-01 -4.96863995e-04 2.24405550e+00] [ 1.91383674e-02 -5.47379339e-04 9.99816695e-01 8.86988730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47509989299999 meters 0.01691339404864445 Centerline is valid? [True, True] Translation: X:86.13, Y:2.24, Z:0.89 [[ 9.98209398e-01 -5.66977425e-02 -1.90620916e-02 8.61278736e+01] [ 5.66986461e-02 9.98391216e-01 -4.93473872e-04 2.24189950e+00] [ 1.90594036e-02 -5.88204528e-04 9.99818180e-01 8.86458976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.505099893 meters 0.0193297616073458 Centerline is valid? [True, True] Translation: X:86.16, Y:2.24, Z:0.89 [[ 9.98034541e-01 -5.96077012e-02 -1.93384750e-02 8.61591707e+01] [ 5.96092017e-02 9.98221666e-01 -4.99341858e-04 2.23749701e+00] [ 1.93338493e-02 -6.54390633e-04 9.99812870e-01 8.85316740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.535099893 meters 0.020352104354378148 Centerline is valid? [True, True] Translation: X:86.19, Y:2.24, Z:0.89 [[ 9.97924724e-01 -6.13078803e-02 -1.96872751e-02 8.61909979e+01] [ 6.13097937e-02 9.98118656e-01 -5.06933850e-04 2.23664971e+00] [ 1.96813157e-02 -7.01140956e-04 9.99806058e-01 8.85272857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.565099893 meters 0.01983115321159789 Centerline is valid? [True, True] Translation: X:86.22, Y:2.24, Z:0.88 [[ 9.97686022e-01 -6.45726431e-02 -2.12832208e-02 8.62219411e+01] [ 6.45756530e-02 9.97912665e-01 -5.46529471e-04 2.23850726e+00] [ 2.12740864e-02 -8.29113068e-04 9.99773337e-01 8.84670771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.595099893 meters 0.02338754344863861 Centerline is valid? [True, True] Translation: X:86.25, Y:2.23, Z:0.88 [[ 9.97462768e-01 -6.72913486e-02 -2.32357674e-02 8.62524806e+01] [ 6.72956830e-02 9.97732898e-01 -5.96233657e-04 2.23384251e+00] [ 2.32232110e-02 -9.68945967e-04 9.99729835e-01 8.81624885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62509989299998 meters 0.02397015910803192 Centerline is valid? [True, True] Translation: X:86.28, Y:2.23, Z:0.88 [[ 9.97377229e-01 -6.84549518e-02 -2.35070686e-02 8.62848527e+01] [ 6.84597338e-02 9.97653699e-01 -6.02209500e-04 2.23383785e+00] [ 2.34931382e-02 -1.00865762e-03 9.99723489e-01 8.81630070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65509989299998 meters 0.0223820637183421 Centerline is valid? [True, True] Translation: X:86.32, Y:2.24, Z:0.88 [[ 9.97254148e-01 -7.05426380e-02 -2.25366638e-02 8.63166842e+01] [ 7.05475997e-02 9.97508248e-01 -5.75809705e-04 2.23782879e+00] [ 2.25211271e-02 -1.01567892e-03 9.99745851e-01 8.83583170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68509989299999 meters 0.022127974612747667 Centerline is valid? [True, True] Translation: X:86.35, Y:2.24, Z:0.89 [[ 9.97266388e-01 -7.04970806e-02 -2.21339648e-02 8.63487334e+01] [ 7.05018899e-02 9.97511486e-01 -5.63950918e-04 2.24098044e+00] [ 2.21186410e-02 -9.98077052e-04 9.99754855e-01 8.85761946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71509989299999 meters 0.020386114696417008 Centerline is valid? [True, True] Translation: X:86.38, Y:2.25, Z:0.89 [[ 9.97429189e-01 -6.83726243e-02 -2.14521994e-02 8.63802037e+01] [ 6.83766770e-02 9.97659427e-01 -5.45386172e-04 2.24693150e+00] [ 2.14392784e-02 -9.22846018e-04 9.99769726e-01 8.87834494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74509989299999 meters 0.020523994026869247 Centerline is valid? [True, True] Translation: X:86.41, Y:2.25, Z:0.89 [[ 9.97561036e-01 -6.65658462e-02 -2.09992302e-02 8.64118878e+01] [ 6.65693523e-02 9.97781658e-01 -5.32797659e-04 2.24878874e+00] [ 2.09881128e-02 -8.66406967e-04 9.99779350e-01 8.88340908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77509989299999 meters 0.01947198241530048 Centerline is valid? [True, True] Translation: X:86.44, Y:2.25, Z:0.89 [[ 9.97898919e-01 -6.17608313e-02 -1.95792773e-02 8.64410836e+01] [ 6.17629692e-02 9.98090722e-01 -4.96061970e-04 2.25353777e+00] [ 1.95725322e-02 -7.14254599e-04 9.99808185e-01 8.90066235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80509989299999 meters 0.01740729855374855 Centerline is valid? [True, True] Translation: X:86.47, Y:2.26, Z:0.89 [[ 9.98306732e-01 -5.53622150e-02 -1.78520015e-02 8.64720578e+01] [ 5.53629680e-02 9.98466192e-01 -4.52403528e-04 2.26036629e+00] [ 1.78496661e-02 -5.36702303e-04 9.99840538e-01 8.92459831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83509989299999 meters 0.016329020068177786 Centerline is valid? [True, True] Translation: X:86.50, Y:2.26, Z:0.89 [[ 9.98499181e-01 -5.18571862e-02 -1.76129732e-02 8.65030445e+01] [ 5.18573814e-02 9.98654401e-01 -4.45941440e-04 2.26444522e+00] [ 1.76123984e-02 -4.68090504e-04 9.99844780e-01 8.93349433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.865099893 meters 0.013999304592806816 Centerline is valid? [True, True] Translation: X:86.53, Y:2.27, Z:0.89 [[ 9.98882489e-01 -4.39196444e-02 -1.74596319e-02 8.65340023e+01] [ 4.39186334e-02 9.99035014e-01 -4.41512037e-04 2.27352192e+00] [ 1.74621747e-02 -3.25784532e-04 9.99847472e-01 8.94492464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.895099893 meters 0.013114239406916337 Centerline is valid? [True, True] Translation: X:86.56, Y:2.28, Z:0.89 [[ 9.99224950e-01 -3.51964998e-02 -1.76268212e-02 8.65639715e+01] [ 3.51941185e-02 9.99380396e-01 -4.45379013e-04 2.27993784e+00] [ 1.76315753e-02 -1.75326611e-04 9.99844536e-01 8.93606231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.925099893 meters 0.012541433391493112 Centerline is valid? [True, True] Translation: X:86.60, Y:2.28, Z:0.89 [[ 9.99361299e-01 -3.09245560e-02 -1.79071206e-02 8.65957506e+01] [ 3.09214209e-02 9.99521716e-01 -4.51995340e-04 2.28463695e+00] [ 1.79125337e-02 -1.02006963e-04 9.99839552e-01 8.93756341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.955099893 meters 0.012368975270811865 Centerline is valid? [True, True] Translation: X:86.63, Y:2.29, Z:0.89 [[ 9.99561465e-01 -2.29375873e-02 -1.87282002e-02 8.66260012e+01] [ 2.29327663e-02 9.99736898e-01 -4.72170385e-04 2.29107284e+00] [ 1.87341032e-02 4.24738840e-05 9.99824500e-01 8.93027773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98509989299998 meters 0.012668001026839069 Centerline is valid? [True, True] Translation: X:86.65, Y:2.30, Z:0.89 [[ 9.99687656e-01 -1.66737894e-02 -1.86165522e-02 8.66548771e+01] [ 1.66679101e-02 9.99860970e-01 -4.70940680e-04 2.29582724e+00] [ 1.86218163e-02 1.60494566e-04 9.99826586e-01 8.93513236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01509989299998 meters 0.013167558981314775 Centerline is valid? [True, True] Translation: X:86.68, Y:2.30, Z:0.89 [[ 9.99726664e-01 -1.42811323e-02 -1.85107091e-02 8.66822927e+01] [ 1.42748417e-02 9.99897998e-01 -4.71928877e-04 2.29843973e+00] [ 1.85155606e-02 2.07562441e-04 9.99828551e-01 8.93565197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04509989299999 meters 0.013249970151606453 Centerline is valid? [True, True] Translation: X:86.71, Y:2.30, Z:0.89 [[ 9.99774424e-01 -1.16181859e-02 -1.77797187e-02 8.67109176e+01] [ 1.16119182e-02 9.99932476e-01 -4.55717896e-04 2.29973109e+00] [ 1.77838128e-02 2.49158458e-04 9.99841824e-01 8.94059942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07509989299999 meters 0.013206755756288213 Centerline is valid? [True, True] Translation: X:86.74, Y:2.30, Z:0.89 [[ 9.99776220e-01 -1.20662243e-02 -1.73757183e-02 8.67383615e+01] [ 1.20602280e-02 9.99927172e-01 -4.49844851e-04 2.29951677e+00] [ 1.73798807e-02 2.40189061e-04 9.99848930e-01 8.94865310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10509989299999 meters 0.013069607800261226 Centerline is valid? [True, True] Translation: X:86.77, Y:2.30, Z:0.90 [[ 9.99773120e-01 -1.35107353e-02 -1.64672124e-02 8.67661664e+01] [ 1.35054840e-02 9.99908704e-01 -4.30062145e-04 2.29904299e+00] [ 1.64715194e-02 2.07566898e-04 9.99864314e-01 8.95651209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13509989299999 meters 0.012431593304834902 Centerline is valid? [True, True] Translation: X:86.79, Y:2.29, Z:0.90 [[ 9.99711241e-01 -1.82804218e-02 -1.55968076e-02 8.67949709e+01] [ 1.82762715e-02 9.99832892e-01 -4.08601837e-04 2.29498068e+00] [ 1.56016706e-02 1.23432360e-04 9.99878279e-01 8.96763964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16509989299999 meters 0.012051493474039027 Centerline is valid? [True, True] Translation: X:86.82, Y:2.29, Z:0.90 [[ 9.99537749e-01 -2.57371873e-02 -1.61828641e-02 8.68241184e+01] [ 2.57336783e-02 9.99668744e-01 -4.25062990e-04 2.28877769e+00] [ 1.61884433e-02 8.42188560e-06 9.99868959e-01 8.96439578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19509989299999 meters 0.012049467096397724 Centerline is valid? [True, True] Translation: X:86.85, Y:2.29, Z:0.90 [[ 9.99403767e-01 -3.04531600e-02 -1.62700583e-02 8.68543247e+01] [ 3.04502273e-02 9.99536193e-01 -4.28007878e-04 2.28532930e+00] [ 1.62755464e-02 -6.76742898e-05 9.99867542e-01 8.96462555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22509989299999 meters 0.01316224736167333 Centerline is valid? [True, True] Translation: X:86.89, Y:2.28, Z:0.90 [[ 9.99029915e-01 -4.08277814e-02 -1.65021553e-02 8.68854317e+01] [ 4.08261802e-02 9.99166170e-01 -4.34039224e-04 2.27644078e+00] [ 1.65061162e-02 -2.40101797e-04 9.99863736e-01 8.96071741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.255099893 meters 0.014803653505034894 Centerline is valid? [True, True] Translation: X:86.92, Y:2.27, Z:0.90 [[ 9.98574405e-01 -5.09456209e-02 -1.59279797e-02 8.69169600e+01] [ 5.09454206e-02 9.98701351e-01 -4.18592542e-04 2.26878551e+00] [ 1.59286204e-02 -3.93461829e-04 9.99873054e-01 8.96399265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.285099893 meters 0.016436308537763414 Centerline is valid? [True, True] Translation: X:86.95, Y:2.26, Z:0.90 [[ 9.98334077e-01 -5.54301829e-02 -1.60176496e-02 8.69471014e+01] [ 5.54305643e-02 9.98462456e-01 -4.20493858e-04 2.26430845e+00] [ 1.60163298e-02 -4.68074007e-04 9.99871621e-01 8.96282793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.315099893 meters 0.019178852003872007 Centerline is valid? [True, True] Translation: X:86.98, Y:2.26, Z:0.90 [[ 9.97876172e-01 -6.30763145e-02 -1.62641628e-02 8.69772629e+01] [ 6.30777208e-02 9.98008526e-01 -4.27019919e-04 2.25697247e+00] [ 1.62587080e-02 -5.99793318e-04 9.99867639e-01 8.96445473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.345099893 meters 0.01999174359010835 Centerline is valid? [True, True] Translation: X:87.01, Y:2.25, Z:0.90 [[ 9.97694781e-01 -6.59561589e-02 -1.59658783e-02 8.70095940e+01] [ 6.59578836e-02 9.97822320e-01 -4.19099494e-04 2.25499740e+00] [ 1.59587519e-02 -6.34942162e-04 9.99872449e-01 8.96792456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37509989299998 meters 0.021639143782068868 Centerline is valid? [True, True] Translation: X:87.04, Y:2.25, Z:0.90 [[ 9.97412676e-01 -7.01306759e-02 -1.58000544e-02 8.70406981e+01] [ 7.01329024e-02 9.97537571e-01 -4.13806811e-04 2.25117013e+00] [ 1.57901685e-02 -6.95367516e-04 9.99875086e-01 8.97053072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40509989299998 meters 0.023225741170512276 Centerline is valid? [True, True] Translation: X:87.07, Y:2.25, Z:0.90 [[ 9.97321810e-01 -7.14556524e-02 -1.55980122e-02 8.70718311e+01] [ 7.14579902e-02 9.97443527e-01 -4.08123769e-04 2.24913005e+00] [ 1.55872990e-02 -7.07571866e-04 9.99878260e-01 8.97243393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43509989299999 meters 0.021022493053880976 Centerline is valid? [True, True] Translation: X:87.10, Y:2.25, Z:0.90 [[ 9.97274697e-01 -7.21185483e-02 -1.55593367e-02 8.71036737e+01] [ 7.21209689e-02 9.97395810e-01 -4.06216297e-04 2.25274290e+00] [ 1.55481129e-02 -7.17045203e-04 9.99878864e-01 8.97979709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46509989299999 meters 0.021953929992331436 Centerline is valid? [True, True] Translation: X:87.13, Y:2.25, Z:0.90 [[ 9.97194285e-01 -7.33197588e-02 -1.50920751e-02 8.71349548e+01] [ 7.33221890e-02 9.97308228e-01 -3.92983881e-04 2.25209782e+00] [ 1.50802642e-02 -7.14702702e-04 9.99886031e-01 8.98738897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49509989299999 meters 0.023059260908143725 Centerline is valid? [True, True] Translation: X:87.17, Y:2.25, Z:0.90 [[ 9.97189032e-01 -7.34247929e-02 -1.49276162e-02 8.71663569e+01] [ 7.34271971e-02 9.97300505e-01 -3.87698252e-04 2.25123017e+00] [ 1.49157858e-02 -7.09484572e-04 9.99888502e-01 8.99237937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52509989299999 meters 0.025782211999294945 Centerline is valid? [True, True] Translation: X:87.20, Y:2.25, Z:0.90 [[ 9.97153330e-01 -7.38472896e-02 -1.52254493e-02 8.71980260e+01] [ 7.38498669e-02 9.97269293e-01 -3.93652717e-04 2.24792246e+00] [ 1.52129433e-02 -7.31865290e-04 9.99884009e-01 8.99066593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55509989299999 meters 0.024960571006988827 Centerline is valid? [True, True] Translation: X:87.23, Y:2.25, Z:0.90 [[ 9.97069431e-01 -7.48031694e-02 -1.60323557e-02 8.72302860e+01] [ 7.48061658e-02 9.97198008e-01 -4.13561019e-04 2.24978852e+00] [ 1.60183688e-02 -7.86970009e-04 9.99871388e-01 8.98965280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58509989299999 meters 0.023004581486668493 Centerline is valid? [True, True] Translation: X:87.26, Y:2.25, Z:0.90 [[ 9.97015996e-01 -7.53272036e-02 -1.68794636e-02 8.72625177e+01] [ 7.53306210e-02 9.97158518e-01 -4.34170334e-04 2.25346003e+00] [ 1.68642058e-02 -8.38665710e-04 9.99857437e-01 8.99014860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.615099893 meters 0.025229193155545372 Centerline is valid? [True, True] Translation: X:87.29, Y:2.25, Z:0.90 [[ 9.96867448e-01 -7.66763665e-02 -1.93914126e-02 8.72932165e+01] [ 7.66811567e-02 9.97055541e-01 -4.97496646e-04 2.25179645e+00] [ 1.93724616e-02 -9.91017736e-04 9.99811845e-01 8.97446209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.645099893 meters 0.025229193155545372 Centerline is valid? [True, True] Translation: X:87.32, Y:2.25, Z:0.90 [[ 9.96872862e-01 -7.66059369e-02 -1.93914367e-02 8.73249361e+01] [ 7.66107321e-02 9.97060956e-01 -4.96553065e-04 2.25254912e+00] [ 1.93724834e-02 -9.90591891e-04 9.99811845e-01 8.97838495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.675099893 meters 0.024060529598327017 Centerline is valid? [True, True] Translation: X:87.36, Y:2.26, Z:0.90 [[ 9.96703683e-01 -7.81558951e-02 -2.17583258e-02 8.73564924e+01] [ 7.81623338e-02 9.96940490e-01 -5.55668589e-04 2.25585012e+00] [ 2.17351848e-02 -1.14684460e-03 9.99763105e-01 8.96307939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.705099893 meters 0.024380621592335023 Centerline is valid? [True, True] Translation: X:87.39, Y:2.26, Z:0.90 [[ 9.96671829e-01 -7.83756432e-02 -2.24170305e-02 8.73889485e+01] [ 7.83825651e-02 9.96923190e-01 -5.71067342e-04 2.25640476e+00] [ 2.23928154e-02 -1.18793763e-03 9.99748544e-01 8.95808911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73509989299998 meters 0.02464175348958153 Centerline is valid? [True, True] Translation: X:87.42, Y:2.26, Z:0.90 [[ 9.96617159e-01 -7.88298509e-02 -2.32398860e-02 8.74207749e+01] [ 7.88374537e-02 9.96887309e-01 -5.90312478e-04 2.25891234e+00] [ 2.32140817e-02 -1.24385789e-03 9.99729743e-01 8.95860249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76509989299998 meters 0.02303690547284024 Centerline is valid? [True, True] Translation: X:87.45, Y:2.26, Z:0.90 [[ 9.96635296e-01 -7.86799963e-02 -2.29683525e-02 8.74529761e+01] [ 7.86874211e-02 9.96899168e-01 -5.81743113e-04 2.26389544e+00] [ 2.29429031e-02 -1.22753471e-03 9.99736023e-01 8.97129502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79509989299999 meters 0.025886088642541046 Centerline is valid? [True, True] Translation: X:87.48, Y:2.26, Z:0.90 [[ 9.96746806e-01 -7.76657609e-02 -2.15368119e-02 8.74839832e+01] [ 7.76720978e-02 9.96978811e-01 -5.43375887e-04 2.26459311e+00] [ 2.15139468e-02 -1.13120118e-03 9.99767908e-01 8.98337207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82509989299999 meters 0.026210994178581457 Centerline is valid? [True, True] Translation: X:87.52, Y:2.27, Z:0.90 [[ 9.96805772e-01 -7.71565331e-02 -2.06184921e-02 8.75162599e+01] [ 7.71622773e-02 9.97018412e-01 -5.18015939e-04 2.26708965e+00] [ 2.05969846e-02 -1.07460853e-03 9.99787282e-01 8.99604952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85509989299999 meters 0.025513194056778002 Centerline is valid? [True, True] Translation: X:87.55, Y:2.27, Z:0.90 [[ 9.97032674e-01 -7.47617416e-02 -1.83447478e-02 8.75474117e+01] [ 7.47659020e-02 9.97201007e-01 -4.59908451e-04 2.27244910e+00] [ 1.83277845e-02 -9.13017861e-04 9.99831615e-01 9.01507825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88509989299999 meters 0.025589235381308584 Centerline is valid? [True, True] Translation: X:87.58, Y:2.27, Z:0.90 [[ 9.97123875e-01 -7.37117603e-02 -1.76225414e-02 8.75791365e+01] [ 7.37154496e-02 9.97279218e-01 -4.41020896e-04 2.27486836e+00] [ 1.76071027e-02 -8.59301096e-04 9.99844614e-01 9.02044891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91509989299999 meters 0.025586717859207027 Centerline is valid? [True, True] Translation: X:87.61, Y:2.28, Z:0.90 [[ 9.97211594e-01 -7.26468832e-02 -1.70723833e-02 8.76115056e+01] [ 7.26502097e-02 9.97357391e-01 -4.26097595e-04 2.27951579e+00] [ 1.70582223e-02 -8.15402762e-04 9.99854165e-01 9.03009782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94509989299999 meters 0.022010397614311495 Centerline is valid? [True, True] Translation: X:87.64, Y:2.29, Z:0.90 [[ 9.97213477e-01 -7.28608256e-02 -1.60181677e-02 8.76433708e+01] [ 7.28637984e-02 9.97341821e-01 -3.98719337e-04 2.28753242e+00] [ 1.60046395e-02 -7.69536244e-04 9.99871621e-01 9.04394003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97509989299999 meters 0.02397986216050655 Centerline is valid? [True, True] Translation: X:87.67, Y:2.29, Z:0.91 [[ 9.97123460e-01 -7.41334990e-02 -1.57806947e-02 8.76740072e+01] [ 7.41365593e-02 9.97248022e-01 -3.91792674e-04 2.28953032e+00] [ 1.57663116e-02 -7.79260744e-04 9.99875400e-01 9.05741220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.005099893 meters 0.02646918713952717 Centerline is valid? [True, True] Translation: X:87.70, Y:2.29, Z:0.91 [[ 9.97038421e-01 -7.52919814e-02 -1.56685984e-02 8.77047336e+01] [ 7.52951498e-02 9.97161215e-01 -3.88444226e-04 2.28832800e+00] [ 1.56533653e-02 -7.92475643e-04 9.99877165e-01 9.06166093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.035099893 meters 0.026057182348383993 Centerline is valid? [True, True] Translation: X:87.74, Y:2.29, Z:0.91 [[ 9.96784974e-01 -7.83699634e-02 -1.66692690e-02 8.77358352e+01] [ 7.83739897e-02 9.96923943e-01 -4.12592236e-04 2.29207001e+00] [ 1.66503282e-02 -8.95171375e-04 9.99860973e-01 9.05730011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.065099893 meters 0.02698916063267525 Centerline is valid? [True, True] Translation: X:87.77, Y:2.29, Z:0.91 [[ 9.96634568e-01 -8.00571716e-02 -1.76178044e-02 8.77676135e+01] [ 8.00619472e-02 9.96789795e-01 -4.35211460e-04 2.29316117e+00] [ 1.75960894e-02 -9.76768941e-04 9.99844700e-01 9.05548449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.095099893 meters 0.028277039107231092 Centerline is valid? [True, True] Translation: X:87.80, Y:2.30, Z:0.91 [[ 9.96376770e-01 -8.29692082e-02 -1.86934000e-02 8.77981854e+01] [ 8.29751108e-02 9.96551513e-01 -4.60970747e-04 2.29563998e+00] [ 1.86671824e-02 -1.09178639e-03 9.99825157e-01 9.05605407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12509989299998 meters 0.02841803563026052 Centerline is valid? [True, True] Translation: X:87.83, Y:2.30, Z:0.91 [[ 9.96201720e-01 -8.49162584e-02 -1.92707574e-02 8.78288616e+01] [ 8.49229010e-02 9.96387412e-01 -4.74859550e-04 2.30000855e+00] [ 1.92414634e-02 -1.16347272e-03 9.99814189e-01 9.05738459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15509989299998 meters 0.03044209489322673 Centerline is valid? [True, True] Translation: X:87.86, Y:2.30, Z:0.91 [[ 9.96145612e-01 -8.54878821e-02 -1.96403012e-02 8.78598952e+01] [ 8.54949048e-02 9.96338490e-01 -4.83352741e-04 2.29992985e+00] [ 1.96097088e-02 -1.19765597e-03 9.99806994e-01 9.05543530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18509989299999 meters 0.02861605575768932 Centerline is valid? [True, True] Translation: X:87.89, Y:2.31, Z:0.91 [[ 9.96121303e-01 -8.58282609e-02 -1.93870880e-02 8.78921978e+01] [ 8.58351901e-02 9.96309236e-01 -4.75965683e-04 2.30680213e+00] [ 1.93563861e-02 -1.18997483e-03 9.99811939e-01 9.05838180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21509989299999 meters 0.03212229271591038 Centerline is valid? [True, True] Translation: X:87.92, Y:2.30, Z:0.90 [[ 9.96156017e-01 -8.53515681e-02 -1.97053120e-02 8.79230158e+01] [ 8.53586594e-02 9.96350173e-01 -4.82483150e-04 2.30458998e+00] [ 1.96745717e-02 -1.20139052e-03 9.99805715e-01 9.04929984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24509989299999 meters 0.028557779159255954 Centerline is valid? [True, True] Translation: X:87.95, Y:2.31, Z:0.91 [[ 9.96208633e-01 -8.47694572e-02 -1.95575731e-02 8.79547062e+01] [ 8.47763536e-02 9.96399890e-01 -4.77694970e-04 2.31386036e+00] [ 1.95276577e-02 -1.18213588e-03 9.99808618e-01 9.05710839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27509989299999 meters 0.025958763479650645 Centerline is valid? [True, True] Translation: X:87.99, Y:2.32, Z:0.91 [[ 9.96268982e-01 -8.42648114e-02 -1.86428756e-02 8.79869312e+01] [ 8.42710138e-02 9.96442768e-01 -4.54046815e-04 2.32023930e+00] [ 1.86148188e-02 -1.11870127e-03 9.99826103e-01 9.06920259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30509989299999 meters 0.02836230563621243 Centerline is valid? [True, True] Translation: X:88.02, Y:2.32, Z:0.91 [[ 9.96352704e-01 -8.36081920e-02 -1.70575219e-02 8.80184301e+01] [ 8.36133068e-02 9.96498190e-01 -4.14343767e-04 2.32127087e+00] [ 1.70324322e-02 -1.01340328e-03 9.99854424e-01 9.08244145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33509989299999 meters 0.0310321692494204 Centerline is valid? [True, True] Translation: X:88.05, Y:2.32, Z:0.91 [[ 9.96355948e-01 -8.34936712e-02 -1.74250053e-02 8.80503351e+01] [ 8.34990113e-02 9.96507771e-01 -4.22125914e-04 2.31986827e+00] [ 1.73993980e-02 -1.03438305e-03 9.99848084e-01 9.08115475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.365099893 meters 0.029626405889731443 Centerline is valid? [True, True] Translation: X:88.08, Y:2.32, Z:0.91 [[ 9.96384830e-01 -8.29638652e-02 -1.82829995e-02 8.80820543e+01] [ 8.29696841e-02 9.96551974e-01 -4.41340547e-04 2.32487918e+00] [ 1.82565746e-02 -1.07718967e-03 9.99832755e-01 9.07001379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.395099893 meters 0.028439623147776642 Centerline is valid? [True, True] Translation: X:88.11, Y:2.33, Z:0.91 [[ 9.96389565e-01 -8.28570747e-02 -1.85078415e-02 8.81148346e+01] [ 8.28630477e-02 9.96560845e-01 -4.45232720e-04 2.32869469e+00] [ 1.84810809e-02 -1.08999092e-03 9.99828616e-01 9.07404104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.425099893 meters 0.027054495032110836 Centerline is valid? [True, True] Translation: X:88.15, Y:2.34, Z:0.91 [[ 9.96484776e-01 -8.17324204e-02 -1.83821492e-02 8.81472859e+01] [ 8.17381558e-02 9.96653741e-01 -4.40354393e-04 2.33546950e+00] [ 1.83566290e-02 -1.06371653e-03 9.99830937e-01 9.08276145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.455099893 meters 0.029916920444401824 Centerline is valid? [True, True] Translation: X:88.18, Y:2.33, Z:0.91 [[ 9.96562327e-01 -8.07536804e-02 -1.85032921e-02 8.81789372e+01] [ 8.07593524e-02 9.96733531e-01 -4.41700101e-04 2.33472240e+00] [ 1.84785206e-02 -1.05413221e-03 9.99828702e-01 9.08465583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48509989299998 meters 0.02648433928426437 Centerline is valid? [True, True] Translation: X:88.21, Y:2.34, Z:0.91 [[ 9.96855287e-01 -7.71373208e-02 -1.81485451e-02 8.82098908e+01] [ 7.71421978e-02 9.97020007e-01 -4.32234419e-04 2.34477039e+00] [ 1.81278040e-02 -9.69143488e-04 9.99835208e-01 9.09866756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51509989299998 meters 0.022957989380473987 Centerline is valid? [True, True] Translation: X:88.24, Y:2.35, Z:0.91 [[ 9.97288784e-01 -7.16167063e-02 -1.69153374e-02 8.82399021e+01] [ 7.16201551e-02 9.97431898e-01 -4.02592034e-04 2.35478092e+00] [ 1.69007294e-02 -8.09978567e-04 9.99856844e-01 9.11653894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54509989299999 meters 0.02155318490411237 Centerline is valid? [True, True] Translation: X:88.27, Y:2.36, Z:0.91 [[ 9.97492455e-01 -6.87784416e-02 -1.66831447e-02 8.82717868e+01] [ 6.87814044e-02 9.97631676e-01 -3.96806591e-04 2.35996381e+00] [ 1.66709253e-02 -7.51678538e-04 9.99860748e-01 9.12530446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57509989299999 meters 0.02203557946260821 Centerline is valid? [True, True] Translation: X:88.30, Y:2.36, Z:0.91 [[ 9.97827291e-01 -6.38061549e-02 -1.64155988e-02 8.83010174e+01] [ 6.38083612e-02 9.97962094e-01 -3.89854927e-04 2.36389496e+00] [ 1.64070204e-02 -6.58444569e-04 9.99865179e-01 9.13063365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60509989299999 meters 0.019767414259059642 Centerline is valid? [True, True] Translation: X:88.33, Y:2.37, Z:0.91 [[ 9.97964813e-01 -6.15509953e-02 -1.66645300e-02 8.83327498e+01] [ 6.15529553e-02 9.98103741e-01 -3.95761321e-04 2.36964753e+00] [ 1.66572892e-02 -6.30795195e-04 9.99861059e-01 9.13617494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63509989299999 meters 0.018974957246809268 Centerline is valid? [True, True] Translation: X:88.36, Y:2.37, Z:0.91 [[ 9.98091331e-01 -5.94443625e-02 -1.67350735e-02 8.83646670e+01] [ 5.94460596e-02 9.98231441e-01 -3.96459856e-04 2.37286545e+00] [ 1.67290438e-02 -5.99131032e-04 9.99859880e-01 9.13653304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66509989299999 meters 0.016891441058990313 Centerline is valid? [True, True] Translation: X:88.40, Y:2.38, Z:0.91 [[ 9.98327438e-01 -5.50032430e-02 -1.78036607e-02 8.83964427e+01] [ 5.50044804e-02 9.98486019e-01 -4.20539978e-04 2.37912589e+00] [ 1.77998373e-02 -5.59444508e-04 9.99841414e-01 9.13150353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69509989299999 meters 0.01583907839825423 Centerline is valid? [True, True] Translation: X:88.43, Y:2.38, Z:0.91 [[ 9.98563248e-01 -5.03766283e-02 -1.82656561e-02 8.84280054e+01] [ 5.03771758e-02 9.98730171e-01 -4.30441477e-04 2.38403971e+00] [ 1.82641460e-02 -4.90349125e-04 9.99833076e-01 9.12947365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72509989299999 meters 0.015283719095842847 Centerline is valid? [True, True] Translation: X:88.46, Y:2.39, Z:0.91 [[ 9.98657932e-01 -4.83310913e-02 -1.86129127e-02 8.84607001e+01] [ 4.83313280e-02 9.98831263e-01 -4.37378591e-04 2.38685230e+00] [ 1.86122981e-02 -4.62795192e-04 9.99826669e-01 9.13401336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.755099893 meters 0.014866366529331576 Centerline is valid? [True, True] Translation: X:88.49, Y:2.39, Z:0.91 [[ 9.98799393e-01 -4.50407583e-02 -1.92640243e-02 8.84917770e+01] [ 4.50404296e-02 9.98985063e-01 -4.51153819e-04 2.38958928e+00] [ 1.92647929e-02 -4.17047771e-04 9.99814330e-01 9.13315513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.785099893 meters 0.014669396011795907 Centerline is valid? [True, True] Translation: X:88.52, Y:2.39, Z:0.91 [[ 9.98870580e-01 -4.33373720e-02 -1.94791572e-02 8.85232018e+01] [ 4.33367326e-02 9.99060419e-01 -4.55143924e-04 2.39098271e+00] [ 1.94805797e-02 -3.89533153e-04 9.99810160e-01 9.13242303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.815099893 meters 0.01399993265774995 Centerline is valid? [True, True] Translation: X:88.56, Y:2.39, Z:0.91 [[ 9.98933536e-01 -4.17709659e-02 -1.96717469e-02 8.85558329e+01] [ 4.17700360e-02 9.99127146e-01 -4.58332042e-04 2.39311678e+00] [ 1.96737213e-02 -3.63846331e-04 9.99806387e-01 9.13353182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.845099893 meters 0.014186592465095904 Centerline is valid? [True, True] Translation: X:88.59, Y:2.39, Z:0.91 [[ 9.98936068e-01 -4.14848476e-02 -2.01429672e-02 8.85870346e+01] [ 4.14838457e-02 9.99139065e-01 -4.67765779e-04 2.39328325e+00] [ 2.01450306e-02 -3.68339634e-04 9.99797000e-01 9.13224870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87509989299998 meters 0.014109188145015014 Centerline is valid? [True, True] Translation: X:88.62, Y:2.39, Z:0.91 [[ 9.98980530e-01 -4.05136866e-02 -1.99133831e-02 8.86195310e+01] [ 4.05125380e-02 9.99178924e-01 -4.61254856e-04 2.39442286e+00] [ 1.99157199e-02 -3.45957070e-04 9.99801603e-01 9.13638006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90509989299998 meters 0.01376677875404541 Centerline is valid? [True, True] Translation: X:88.65, Y:2.40, Z:0.92 [[ 9.99029703e-01 -3.94959730e-02 -1.94864474e-02 8.86516471e+01] [ 3.94947059e-02 9.99219678e-01 -4.50013835e-04 2.39648229e+00] [ 1.94890154e-02 -3.20034321e-04 9.99810020e-01 9.15277687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93509989299999 meters 0.01352967654559728 Centerline is valid? [True, True] Translation: X:88.68, Y:2.40, Z:0.92 [[ 9.99093853e-01 -3.85310269e-02 -1.80785309e-02 8.86839890e+01] [ 3.85298003e-02 9.99257365e-01 -4.16280949e-04 2.39713163e+00] [ 1.80811449e-02 -2.80658448e-04 9.99836483e-01 9.16591733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96509989299999 meters 0.013587755511372326 Centerline is valid? [True, True] Translation: X:88.72, Y:2.40, Z:0.92 [[ 9.99128006e-01 -3.82704149e-02 -1.66914208e-02 8.87150354e+01] [ 3.82693503e-02 9.99267387e-01 -3.83300991e-04 2.39729624e+00] [ 1.66938615e-02 -2.55803074e-04 9.99860615e-01 9.18222007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99509989299999 meters 0.013549284231151225 Centerline is valid? [True, True] Translation: X:88.75, Y:2.40, Z:0.92 [[ 9.99149849e-01 -3.83124595e-02 -1.52228507e-02 8.87470710e+01] [ 3.83115910e-02 9.99265781e-01 -3.48776125e-04 2.39798544e+00] [ 1.52250363e-02 -2.34732018e-04 9.99884065e-01 9.19897841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02509989299999 meters 0.013848267689997446 Centerline is valid? [True, True] Translation: X:88.78, Y:2.40, Z:0.92 [[ 9.99124754e-01 -3.94233172e-02 -1.39831011e-02 8.87794423e+01] [ 3.94227061e-02 9.99222572e-01 -3.19445492e-04 2.39620614e+00] [ 1.39848238e-02 -2.32085787e-04 9.99902181e-01 9.20677015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05509989299999 meters 0.014655513037092832 Centerline is valid? [True, True] Translation: X:88.81, Y:2.39, Z:0.92 [[ 9.98919090e-01 -4.41528430e-02 -1.45319571e-02 8.88113837e+01] [ 4.41526981e-02 9.99024739e-01 -3.30955280e-04 2.39155411e+00] [ 1.45323973e-02 -3.11027568e-04 9.99894351e-01 9.19953393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08509989299999 meters 0.015875959709227977 Centerline is valid? [True, True] Translation: X:88.84, Y:2.39, Z:0.92 [[ 9.98812822e-01 -4.62699059e-02 -1.52329613e-02 8.88421490e+01] [ 4.62700089e-02 9.98928910e-01 -3.45862072e-04 2.38855750e+00] [ 1.52326484e-02 -3.59377782e-04 9.99883912e-01 9.19412357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.115099893 meters 0.015875959709227977 Centerline is valid? [True, True] Translation: X:88.87, Y:2.39, Z:0.92 [[ 9.98817676e-01 -4.61649805e-02 -1.52330030e-02 8.88746933e+01] [ 4.61650994e-02 9.98933764e-01 -3.44016994e-04 2.38920305e+00] [ 1.52326425e-02 -3.59622842e-04 9.99883912e-01 9.19814380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.145099893 meters 0.016325846179818807 Centerline is valid? [True, True] Translation: X:88.91, Y:2.39, Z:0.92 [[ 9.98580708e-01 -5.06567088e-02 -1.64458656e-02 8.89060747e+01] [ 5.06574815e-02 9.98716017e-01 -3.69858721e-04 2.38636369e+00] [ 1.64434852e-02 -4.63772348e-04 9.99864689e-01 9.18908085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.175099893 meters 0.017397689550395015 Centerline is valid? [True, True] Translation: X:88.94, Y:2.38, Z:0.92 [[ 9.98468184e-01 -5.26095382e-02 -1.71324770e-02 8.89375360e+01] [ 5.26106763e-02 9.98615025e-01 -3.84581984e-04 2.38364788e+00] [ 1.71289816e-02 -5.17358324e-04 9.99853154e-01 9.18591680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.205099893 meters 0.01839294859071448 Centerline is valid? [True, True] Translation: X:88.97, Y:2.38, Z:0.92 [[ 9.98344523e-01 -5.44955391e-02 -1.83970188e-02 8.89701107e+01] [ 5.44971924e-02 9.98513839e-01 -4.11829715e-04 2.38123128e+00] [ 1.83921208e-02 -5.91437935e-04 9.99830676e-01 9.18141828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23509989299998 meters 0.019031401640779346 Centerline is valid? [True, True] Translation: X:89.00, Y:2.38, Z:0.92 [[ 9.98172095e-01 -5.71843700e-02 -1.95554829e-02 8.90026398e+01] [ 5.71867816e-02 9.98363402e-01 -4.36325072e-04 2.37839161e+00] [ 1.95484294e-02 -6.82787618e-04 9.99808678e-01 9.16930285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26509989299998 meters 0.020201069533144683 Centerline is valid? [True, True] Translation: X:89.03, Y:2.38, Z:0.92 [[ 9.98088047e-01 -5.83393115e-02 -2.04150541e-02 8.90342475e+01] [ 5.83422087e-02 9.98296539e-01 -4.54159108e-04 2.37552837e+00] [ 2.04067732e-02 -7.37768569e-04 9.99791488e-01 9.16131761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29509989299999 meters 0.0194233654796805 Centerline is valid? [True, True] Translation: X:89.07, Y:2.38, Z:0.92 [[ 9.98083918e-01 -5.82394303e-02 -2.08964306e-02 8.90671731e+01] [ 5.82424770e-02 9.98302359e-01 -4.63286079e-04 2.37722421e+00] [ 2.08879375e-02 -7.54661493e-04 9.99781538e-01 9.16512410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32509989299999 meters 0.020117801204557643 Centerline is valid? [True, True] Translation: X:89.10, Y:2.38, Z:0.92 [[ 9.98171573e-01 -5.66644744e-02 -2.10392188e-02 8.90988781e+01] [ 5.66672542e-02 9.98393012e-01 -4.64511821e-04 2.37639265e+00] [ 2.10317304e-02 -7.28572268e-04 9.99778543e-01 9.16174089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35509989299999 meters 0.01754874094025798 Centerline is valid? [True, True] Translation: X:89.13, Y:2.38, Z:0.92 [[ 9.98256119e-01 -5.51760882e-02 -2.09838150e-02 8.91306523e+01] [ 5.51785564e-02 9.98476396e-01 -4.61794444e-04 2.38113050e+00] [ 2.09773240e-02 -6.96867487e-04 9.99779709e-01 9.17367921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38509989299999 meters 0.017023570517724428 Centerline is valid? [True, True] Translation: X:89.16, Y:2.38, Z:0.92 [[ 9.98504330e-01 -5.10320519e-02 -1.96171377e-02 8.91610899e+01] [ 5.10334288e-02 9.98696853e-01 -4.30744835e-04 2.38280550e+00] [ 1.96135554e-02 -5.71029216e-04 9.99807473e-01 9.18224815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41509989299999 meters 0.016231432353166857 Centerline is valid? [True, True] Translation: X:89.19, Y:2.39, Z:0.92 [[ 9.98660344e-01 -4.81752762e-02 -1.88854700e-02 8.91921510e+01] [ 4.81760503e-02 9.98838774e-01 -4.14229431e-04 2.38504307e+00] [ 1.88834953e-02 -4.96152847e-04 9.99821568e-01 9.19302115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44509989299999 meters 0.015160594071037835 Centerline is valid? [True, True] Translation: X:89.22, Y:2.39, Z:0.92 [[ 9.98918811e-01 -4.30311784e-02 -1.75933849e-02 8.92223563e+01] [ 4.30310614e-02 9.99073661e-01 -3.85385149e-04 2.38884226e+00] [ 1.75936711e-02 -3.72093554e-04 9.99845150e-01 9.21050755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47509989299999 meters 0.013889575806332778 Centerline is valid? [True, True] Translation: X:89.25, Y:2.39, Z:0.92 [[ 9.99135632e-01 -3.79422107e-02 -1.69817079e-02 8.92534295e+01] [ 3.79413732e-02 9.99279898e-01 -3.71609001e-04 2.39377123e+00] [ 1.69835790e-02 -2.73021522e-04 9.99855731e-01 9.22448769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.505099893 meters 0.013706549163726453 Centerline is valid? [True, True] Translation: X:89.28, Y:2.40, Z:0.92 [[ 9.99216829e-01 -3.56970670e-02 -1.70718544e-02 8.92842884e+01] [ 3.56959048e-02 9.99362629e-01 -3.72889067e-04 2.39528484e+00] [ 1.70742844e-02 -2.36798259e-04 9.99854196e-01 9.22964024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.535099893 meters 0.0134434792756793 Centerline is valid? [True, True] Translation: X:89.32, Y:2.40, Z:0.92 [[ 9.99280734e-01 -3.36999015e-02 -1.73876940e-02 8.93168802e+01] [ 3.36984112e-02 9.99431975e-01 -3.78773909e-04 2.39701654e+00] [ 1.73905820e-02 -2.07436194e-04 9.99848751e-01 9.23065473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.565099893 meters 0.0134434792756793 Centerline is valid? [True, True] Translation: X:89.35, Y:2.40, Z:0.92 [[ 9.99283057e-01 -3.36309169e-02 -1.73877201e-02 8.93485693e+01] [ 3.36294371e-02 9.99434299e-01 -3.77572964e-04 2.39764480e+00] [ 1.73905820e-02 -2.07436974e-04 9.99848751e-01 9.23457162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.595099893 meters 0.01301666987899098 Centerline is valid? [True, True] Translation: X:89.38, Y:2.40, Z:0.92 [[ 9.99350250e-01 -3.09431417e-02 -1.84824088e-02 8.93807340e+01] [ 3.09410348e-02 9.99521132e-01 -4.00007968e-04 2.39957621e+00] [ 1.84859357e-02 -1.72116793e-04 9.99829106e-01 9.23435666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62509989299998 meters 0.012691798333887967 Centerline is valid? [True, True] Translation: X:89.41, Y:2.40, Z:0.92 [[ 9.99378726e-01 -2.97373326e-02 -1.89170256e-02 8.94125487e+01] [ 2.97349330e-02 9.99557736e-01 -4.08171621e-04 2.40115064e+00] [ 1.89207972e-02 -1.54578455e-04 9.99820974e-01 9.24320083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65509989299998 meters 0.01263239761829564 Centerline is valid? [True, True] Translation: X:89.44, Y:2.40, Z:0.92 [[ 9.99403610e-01 -2.86918396e-02 -1.92146617e-02 8.94442965e+01] [ 2.86891886e-02 9.99588295e-01 -4.13664485e-04 2.40206813e+00] [ 1.92186198e-02 -1.37835275e-04 9.99815296e-01 9.24359623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68509989299999 meters 0.012599333898981123 Centerline is valid? [True, True] Translation: X:89.47, Y:2.40, Z:0.92 [[ 9.99458264e-01 -2.68108778e-02 -1.90880816e-02 8.94745020e+01] [ 2.68079293e-02 9.99640519e-01 -4.10377602e-04 2.40353974e+00] [ 1.90922224e-02 -1.01556657e-04 9.99817722e-01 9.24962666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71509989299999 meters 0.012553582974431984 Centerline is valid? [True, True] Translation: X:89.51, Y:2.40, Z:0.93 [[ 9.99489743e-01 -2.60942930e-02 -1.84212510e-02 8.95052257e+01] [ 2.60914311e-02 9.99659482e-01 -3.95721094e-04 2.40430419e+00] [ 1.84253043e-02 -8.51176265e-05 9.99830236e-01 9.25099078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74509989299999 meters 0.01242119044308577 Centerline is valid? [True, True] Translation: X:89.54, Y:2.40, Z:0.93 [[ 9.99519574e-01 -2.56582547e-02 -1.73860360e-02 8.95359689e+01] [ 2.56556431e-02 9.99670770e-01 -3.73276574e-04 2.40481860e+00] [ 1.73898896e-02 -7.29526914e-05 9.99848782e-01 9.25640945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77509989299999 meters 0.012470622037458615 Centerline is valid? [True, True] Translation: X:89.57, Y:2.40, Z:0.93 [[ 9.99507887e-01 -2.60081903e-02 -1.75373001e-02 8.95675805e+01] [ 2.60055901e-02 9.99661727e-01 -3.76342065e-04 2.40496498e+00] [ 1.75411557e-02 -7.99109756e-05 9.99846139e-01 9.25591688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80509989299999 meters 0.012564644440133466 Centerline is valid? [True, True] Translation: X:89.60, Y:2.40, Z:0.93 [[ 9.99457110e-01 -2.76953820e-02 -1.78451990e-02 8.95990923e+01] [ 2.76929699e-02 9.99616403e-01 -3.82314621e-04 2.40396344e+00] [ 1.78489420e-02 -1.12079493e-04 9.99840689e-01 9.25194744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83509989299999 meters 0.012733644000034239 Centerline is valid? [True, True] Translation: X:89.63, Y:2.40, Z:0.93 [[ 9.99413392e-01 -2.92485055e-02 -1.78156224e-02 8.96301329e+01] [ 2.92463592e-02 9.99572161e-01 -3.81056784e-04 2.40373160e+00] [ 1.78191456e-02 -1.40208841e-04 9.99841217e-01 9.25072309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.865099893 meters 0.013417776427818306 Centerline is valid? [True, True] Translation: X:89.66, Y:2.40, Z:0.93 [[ 9.99294830e-01 -3.34174412e-02 -1.71206590e-02 8.96616067e+01] [ 3.34160868e-02 9.99441460e-01 -3.65255252e-04 2.40162295e+00] [ 1.71233023e-02 -2.07107743e-04 9.99853364e-01 9.25323744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.895099893 meters 0.013964309669504885 Centerline is valid? [True, True] Translation: X:89.69, Y:2.40, Z:0.93 [[ 9.99211877e-01 -3.59121688e-02 -1.69098184e-02 8.96929964e+01] [ 3.59112313e-02 9.99354919e-01 -3.59188508e-04 2.40000976e+00] [ 1.69118095e-02 -2.48346978e-04 9.99856954e-01 9.25353161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.925099893 meters 0.014725097773655549 Centerline is valid? [True, True] Translation: X:89.72, Y:2.40, Z:0.92 [[ 9.98927716e-01 -4.27248636e-02 -1.78326859e-02 8.97243631e+01] [ 4.27249215e-02 9.99086802e-01 -3.77912867e-04 2.39758591e+00] [ 1.78325474e-02 -3.84392466e-04 9.99840914e-01 9.24570988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.955099893 meters 0.016286968542728236 Centerline is valid? [True, True] Translation: X:89.76, Y:2.39, Z:0.92 [[ 9.98754060e-01 -4.67003220e-02 -1.75900098e-02 8.97559031e+01] [ 4.67010109e-02 9.98908843e-01 -3.71824211e-04 2.39432378e+00] [ 1.75881807e-02 -4.50110300e-04 9.99845215e-01 9.24341262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98509989299998 meters 0.018037977477576937 Centerline is valid? [True, True] Translation: X:89.79, Y:2.39, Z:0.92 [[ 9.98544899e-01 -5.11581086e-02 -1.70567245e-02 8.97860700e+01] [ 5.11594257e-02 9.98690435e-01 -3.59392948e-04 2.39127542e+00] [ 1.70527735e-02 -5.13742236e-04 9.99854459e-01 9.24755918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01509989299998 meters 0.019958740337423776 Centerline is valid? [True, True] Translation: X:89.82, Y:2.39, Z:0.93 [[ 9.98043424e-01 -6.06079742e-02 -1.53621951e-02 8.98162874e+01] [ 6.06101600e-02 9.98161462e-01 -3.23679772e-04 2.38815709e+00] [ 1.53535687e-02 -6.08058638e-04 9.99881942e-01 9.27034358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04509989299999 meters 0.02397660333499853 Centerline is valid? [True, True] Translation: X:89.85, Y:2.38, Z:0.93 [[ 9.97539827e-01 -6.85587747e-02 -1.46283187e-02 8.98457401e+01] [ 6.85616094e-02 9.97646837e-01 -3.08215851e-04 2.38227580e+00] [ 1.46150268e-02 -6.95483486e-04 9.99892953e-01 9.29034612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07509989299999 meters 0.026008065552945048 Centerline is valid? [True, True] Translation: X:89.88, Y:2.38, Z:0.93 [[ 9.97329585e-01 -7.15326444e-02 -1.47234219e-02 8.98760443e+01] [ 7.15358373e-02 9.97437982e-01 -3.10358389e-04 2.37991578e+00] [ 1.47079010e-02 -7.43722709e-04 9.99891556e-01 9.29754748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10509989299999 meters 0.025864624713983906 Centerline is valid? [True, True] Translation: X:89.91, Y:2.38, Z:0.93 [[ 9.97144456e-01 -7.40461768e-02 -1.48356628e-02 8.99072218e+01] [ 7.40497005e-02 9.97254503e-01 -3.12416786e-04 2.38074562e+00] [ 1.48180648e-02 -7.87051719e-04 9.99889897e-01 9.30357078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13509989299999 meters 0.027865086022140956 Centerline is valid? [True, True] Translation: X:89.94, Y:2.38, Z:0.93 [[ 9.96882608e-01 -7.75404533e-02 -1.45788880e-02 8.99383948e+01] [ 7.75442353e-02 9.96988865e-01 -3.06538140e-04 2.37819633e+00] [ 1.45587581e-02 -8.24926181e-04 9.99893675e-01 9.30467928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16509989299999 meters 0.030190035560241406 Centerline is valid? [True, True] Translation: X:89.97, Y:2.38, Z:0.93 [[ 9.96828428e-01 -7.82704913e-02 -1.43810946e-02 8.99700535e+01] [ 7.82742568e-02 9.96931818e-01 -3.01702643e-04 2.37542502e+00] [ 1.43605852e-02 -8.24923720e-04 9.99896541e-01 9.30755192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19509989299999 meters 0.02896517433747267 Centerline is valid? [True, True] Translation: X:90.00, Y:2.38, Z:0.93 [[ 9.96810600e-01 -7.84960903e-02 -1.43872282e-02 9.00018033e+01] [ 7.84999297e-02 9.96914074e-01 -2.98542946e-04 2.37768769e+00] [ 1.43662647e-02 -8.31805625e-04 9.99896454e-01 9.30737973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22509989299999 meters 0.028713970923927565 Centerline is valid? [True, True] Translation: X:90.03, Y:2.38, Z:0.93 [[ 9.96844214e-01 -7.76653833e-02 -1.64225655e-02 9.00341577e+01] [ 7.76703314e-02 9.96979040e-01 -3.37263916e-04 2.37943168e+00] [ 1.63991473e-02 -9.39346524e-04 9.99865084e-01 9.29345712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.255099893 meters 0.028371531580077783 Centerline is valid? [True, True] Translation: X:90.07, Y:2.38, Z:0.93 [[ 9.96936384e-01 -7.63643471e-02 -1.69213978e-02 9.00667886e+01] [ 7.63694391e-02 9.97079530e-01 -3.46004400e-04 2.38125517e+00] [ 1.68984018e-02 -9.47333285e-04 9.99856763e-01 9.28634172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.285099893 meters 0.025225088927557187 Centerline is valid? [True, True] Translation: X:90.10, Y:2.39, Z:0.93 [[ 9.97037732e-01 -7.49466306e-02 -1.72847888e-02 9.00987337e+01] [ 7.49517666e-02 9.97187098e-01 -3.51394127e-04 2.38729045e+00] [ 1.72625042e-02 -9.45172251e-04 9.99850545e-01 9.29175823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.315099893 meters 0.024794050290372134 Centerline is valid? [True, True] Translation: X:90.13, Y:2.39, Z:0.93 [[ 9.97361546e-01 -7.06576456e-02 -1.66566265e-02 9.01283641e+01] [ 7.06618328e-02 9.97500271e-01 -3.37753604e-04 2.39144184e+00] [ 1.66388543e-02 -8.40125300e-04 9.99861212e-01 9.30106144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.345099893 meters 0.02184287487113771 Centerline is valid? [True, True] Translation: X:90.16, Y:2.40, Z:0.93 [[ 9.97822149e-01 -6.40550256e-02 -1.57452436e-02 9.01589447e+01] [ 6.40579465e-02 9.97946130e-01 -3.19272418e-04 2.39989900e+00] [ 1.57333559e-02 -6.90030883e-04 9.99875985e-01 9.31612572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37509989299998 meters 0.01970734784280285 Centerline is valid? [True, True] Translation: X:90.19, Y:2.41, Z:0.93 [[ 9.98081996e-01 -5.99581479e-02 -1.54061322e-02 9.01891101e+01] [ 5.99604571e-02 9.98200704e-01 -3.12393683e-04 2.40550522e+00] [ 1.53971425e-02 -6.11964215e-04 9.99881270e-01 9.32629333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40509989299998 meters 0.01828037076770359 Centerline is valid? [True, True] Translation: X:90.22, Y:2.41, Z:0.93 [[ 9.98340722e-01 -5.56298262e-02 -1.48703090e-02 9.02207086e+01] [ 5.56315009e-02 9.98451323e-01 -3.01329440e-04 2.41063738e+00] [ 1.48640426e-02 -5.26428160e-04 9.99889385e-01 9.33679390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43509989299999 meters 0.016302645414969473 Centerline is valid? [True, True] Translation: X:90.25, Y:2.42, Z:0.94 [[ 9.98850413e-01 -4.58713736e-02 -1.39164870e-02 9.02502888e+01] [ 4.58719061e-02 9.98947291e-01 -2.81108525e-04 2.41932852e+00] [ 1.39147318e-02 -3.57590418e-04 9.99903121e-01 9.35302951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46509989299999 meters 0.013757175832376423 Centerline is valid? [True, True] Translation: X:90.28, Y:2.43, Z:0.94 [[ 9.99263752e-01 -3.54908182e-02 -1.45724128e-02 9.02808206e+01] [ 3.54902957e-02 9.99369978e-01 -2.94543424e-04 2.43004938e+00] [ 1.45736855e-02 -2.22852672e-04 9.99893773e-01 9.35655911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49509989299999 meters 0.012909169997993472 Centerline is valid? [True, True] Translation: X:90.31, Y:2.43, Z:0.94 [[ 9.99436467e-01 -3.02506893e-02 -1.45480238e-02 9.03134307e+01] [ 3.02496199e-02 9.99542332e-01 -2.93601428e-04 2.43499924e+00] [ 1.45502473e-02 -1.46636217e-04 9.99894129e-01 9.35991153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52509989299999 meters 0.012406970318544482 Centerline is valid? [True, True] Translation: X:90.35, Y:2.44, Z:0.94 [[ 9.99552090e-01 -2.56083500e-02 -1.54864818e-02 9.03453838e+01] [ 2.56066060e-02 9.99672049e-01 -3.10929744e-04 2.43975185e+00] [ 1.54893654e-02 -8.57657615e-05 9.99880029e-01 9.36213083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55509989299999 meters 0.012233218247499605 Centerline is valid? [True, True] Translation: X:90.38, Y:2.45, Z:0.94 [[ 9.99708043e-01 -1.75348744e-02 -1.66240036e-02 9.03763465e+01] [ 1.75317663e-02 9.99846251e-01 -3.32695276e-04 2.44734561e+00] [ 1.66272815e-02 4.11499975e-05 9.99861756e-01 9.35720764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58509989299999 meters 0.012572285016366954 Centerline is valid? [True, True] Translation: X:90.41, Y:2.45, Z:0.94 [[ 9.99792577e-01 -1.14142413e-02 -1.68676916e-02 9.04062917e+01] [ 1.14101750e-02 9.99934845e-01 -3.37291923e-04 2.45304306e+00] [ 1.68704425e-02 1.44758648e-04 9.99857673e-01 9.36662669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.615099893 meters 0.012859097302678105 Centerline is valid? [True, True] Translation: X:90.43, Y:2.46, Z:0.94 [[ 9.99815186e-01 -9.55287539e-03 -1.66833952e-02 9.04338962e+01] [ 9.54862158e-03 9.99954355e-01 -3.34613165e-04 2.45529668e+00] [ 1.66858302e-02 1.75247896e-04 9.99860766e-01 9.37171804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.645099893 meters 0.01341576355290186 Centerline is valid? [True, True] Translation: X:90.46, Y:2.46, Z:0.94 [[ 9.99836964e-01 -7.35914591e-03 -1.64890504e-02 9.04616955e+01] [ 7.35465970e-03 9.99972899e-01 -3.32696341e-04 2.45741500e+00] [ 1.64910519e-02 2.11370745e-04 9.99863991e-01 9.36984470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.675099893 meters 0.013128314345740811 Centerline is valid? [True, True] Translation: X:90.49, Y:2.46, Z:0.94 [[ 9.99840668e-01 -7.20497286e-03 -1.63317906e-02 9.04891657e+01] [ 7.20051565e-03 9.99974021e-01 -3.31703370e-04 2.45562207e+00] [ 1.63337562e-02 2.14053205e-04 9.99866572e-01 9.37411059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.705099893 meters 0.013101530433772436 Centerline is valid? [True, True] Translation: X:90.52, Y:2.46, Z:0.94 [[ 9.99845376e-01 -7.91271676e-03 -1.57038953e-02 9.05172856e+01] [ 7.90861571e-03 9.99968674e-01 -3.23234002e-04 2.45541211e+00] [ 1.57059610e-02 1.98987950e-04 9.99876634e-01 9.37625853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73509989299998 meters 0.012954338658589396 Centerline is valid? [True, True] Translation: X:90.55, Y:2.45, Z:0.94 [[ 9.99847062e-01 -9.49030919e-03 -1.46897027e-02 9.05452497e+01] [ 9.48684050e-03 9.99954952e-01 -3.05797815e-04 2.45422645e+00] [ 1.46919431e-02 1.66392180e-04 9.99892054e-01 9.39059839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76509989299998 meters 0.012347919823443337 Centerline is valid? [True, True] Translation: X:90.57, Y:2.45, Z:0.94 [[ 9.99816356e-01 -1.24813879e-02 -1.45420122e-02 9.05738433e+01] [ 1.24782873e-02 9.99922097e-01 -3.03935287e-04 2.45117369e+00] [ 1.45446729e-02 1.22420065e-04 9.99894213e-01 9.39842792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79509989299999 meters 0.012099244368954465 Centerline is valid? [True, True] Translation: X:90.60, Y:2.45, Z:0.94 [[ 9.99779687e-01 -1.49344124e-02 -1.47492313e-02 9.06029924e+01] [ 1.49314682e-02 9.99888471e-01 -3.09723600e-04 2.44954689e+00] [ 1.47522119e-02 8.94276858e-05 9.99891176e-01 9.40210346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82509989299999 meters 0.011752530132711719 Centerline is valid? [True, True] Translation: X:90.63, Y:2.44, Z:0.94 [[ 9.99671011e-01 -2.10197865e-02 -1.46982645e-02 9.06321511e+01] [ 2.10174742e-02 9.99779060e-01 -3.11782107e-04 2.44333759e+00] [ 1.47015706e-02 2.75913881e-06 9.99891926e-01 9.39606049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85509989299999 meters 0.011747327700265311 Centerline is valid? [True, True] Translation: X:90.66, Y:2.44, Z:0.94 [[ 9.99584684e-01 -2.44397094e-02 -1.52695696e-02 9.06640465e+01] [ 2.44376043e-02 9.99701305e-01 -3.24464869e-04 2.43999850e+00] [ 1.52729385e-02 -4.88215860e-05 9.99883361e-01 9.39875305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88509989299999 meters 0.012010201750633474 Centerline is valid? [True, True] Translation: X:90.70, Y:2.44, Z:0.94 [[ 9.99483722e-01 -2.81553287e-02 -1.54779764e-02 9.06953087e+01] [ 2.81536196e-02 9.99603554e-01 -3.28346339e-04 2.43662333e+00] [ 1.54810849e-02 -1.07584240e-04 9.99880155e-01 9.39859797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91509989299999 meters 0.012352692783620604 Centerline is valid? [True, True] Translation: X:90.73, Y:2.43, Z:0.94 [[ 9.99358723e-01 -3.18919687e-02 -1.62801919e-02 9.07273260e+01] [ 3.18905855e-02 9.99491307e-01 -3.44631326e-04 2.43373937e+00] [ 1.62829013e-02 -1.74774531e-04 9.99867409e-01 9.39925064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94509989299999 meters 0.012880391252440898 Centerline is valid? [True, True] Translation: X:90.76, Y:2.43, Z:0.94 [[ 9.99233213e-01 -3.51394183e-02 -1.72686719e-02 9.07594710e+01] [ 3.51383689e-02 9.99382390e-01 -3.64277421e-04 2.43074973e+00] [ 1.72708071e-02 -2.42794865e-04 9.99850819e-01 9.39834523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97509989299999 meters 0.013960407452789203 Centerline is valid? [True, True] Translation: X:90.79, Y:2.42, Z:0.94 [[ 9.99012733e-01 -4.05187969e-02 -1.82150149e-02 9.07912567e+01] [ 4.05185496e-02 9.99178713e-01 -3.82783440e-04 2.42469999e+00] [ 1.82155651e-02 -3.55640456e-04 9.99834020e-01 9.39054266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.005099893 meters 0.014772289014352317 Centerline is valid? [True, True] Translation: X:90.82, Y:2.42, Z:0.94 [[ 9.98885757e-01 -4.38151327e-02 -1.75350725e-02 9.08238825e+01] [ 4.38154364e-02 9.99039575e-01 -3.67047900e-04 2.41982700e+00] [ 1.75343136e-02 -4.01667934e-04 9.99846181e-01 9.39144767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.035099893 meters 0.015131771690076302 Centerline is valid? [True, True] Translation: X:90.86, Y:2.42, Z:0.94 [[ 9.98863567e-01 -4.44897704e-02 -1.70948757e-02 9.08559722e+01] [ 4.44901780e-02 9.99009758e-01 -3.56646602e-04 2.41798592e+00] [ 1.70938147e-02 -4.04312764e-04 9.99853808e-01 9.40092774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.065099893 meters 0.014767017996520344 Centerline is valid? [True, True] Translation: X:90.89, Y:2.42, Z:0.94 [[ 9.98865042e-01 -4.49843120e-02 -1.56537240e-02 9.08877498e+01] [ 4.49847306e-02 9.98987622e-01 -3.25546728e-04 2.41798779e+00] [ 1.56525210e-02 -3.79001310e-04 9.99877420e-01 9.41547551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.095099893 meters 0.01498065951931277 Centerline is valid? [True, True] Translation: X:90.92, Y:2.42, Z:0.94 [[ 9.98897823e-01 -4.48178982e-02 -1.39461221e-02 9.09188045e+01] [ 4.48182264e-02 9.98995117e-01 -2.89155760e-04 2.41593137e+00] [ 1.39450672e-02 -3.36203397e-04 9.99902706e-01 9.43856983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12509989299998 meters 0.015160838779720713 Centerline is valid? [True, True] Translation: X:90.95, Y:2.41, Z:0.94 [[ 9.98912581e-01 -4.47407128e-02 -1.31120059e-02 9.09519011e+01] [ 4.47410055e-02 9.98998583e-01 -2.71157222e-04 2.41421881e+00] [ 1.31110071e-02 -3.15781968e-04 9.99913997e-01 9.44997773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15509989299998 meters 0.015449160594016418 Centerline is valid? [True, True] Translation: X:90.98, Y:2.41, Z:0.95 [[ 9.98911259e-01 -4.47307181e-02 -1.32460968e-02 9.09839269e+01] [ 4.47310346e-02 9.98999029e-01 -2.72523470e-04 2.41329704e+00] [ 1.32450281e-02 -3.20284853e-04 9.99912229e-01 9.45167208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18509989299999 meters 0.014570355169405472 Centerline is valid? [True, True] Translation: X:91.02, Y:2.41, Z:0.94 [[ 9.98835035e-01 -4.59777992e-02 -1.46497349e-02 9.10165138e+01] [ 4.59783405e-02 9.98942392e-01 -3.00028477e-04 2.41291546e+00] [ 1.46480358e-02 -3.73891545e-04 9.99892642e-01 9.44120366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21509989299999 meters 0.015494393355707752 Centerline is valid? [True, True] Translation: X:91.05, Y:2.41, Z:0.94 [[ 9.98786165e-01 -4.67397260e-02 -1.55432829e-02 9.10474234e+01] [ 4.67404453e-02 9.98907018e-01 -3.17189751e-04 2.41032242e+00] [ 1.55411198e-02 -4.09695230e-04 9.99879146e-01 9.43295601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24509989299999 meters 0.015749411158281885 Centerline is valid? [True, True] Translation: X:91.08, Y:2.41, Z:0.94 [[ 9.98687567e-01 -4.79850640e-02 -1.79046834e-02 9.10800008e+01] [ 4.79862397e-02 9.98847930e-01 -3.64202975e-04 2.40857233e+00] [ 1.79015323e-02 -4.95453447e-04 9.99839632e-01 9.41645030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27509989299999 meters 0.015364490826505227 Centerline is valid? [True, True] Translation: X:91.11, Y:2.41, Z:0.94 [[ 9.98636680e-01 -4.83572297e-02 -1.96560578e-02 9.11121699e+01] [ 4.83587483e-02 9.98829952e-01 -3.98327650e-04 2.40913431e+00] [ 1.96523213e-02 -5.52757752e-04 9.99806722e-01 9.41093307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30509989299999 meters 0.01588511226559681 Centerline is valid? [True, True] Translation: X:91.14, Y:2.41, Z:0.94 [[ 9.98594144e-01 -4.80783443e-02 -2.23205898e-02 9.11429511e+01] [ 4.80802841e-02 9.98843373e-01 -4.50049910e-04 2.40793867e+00] [ 2.23164109e-02 -6.23763095e-04 9.99750763e-01 9.38872844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33509989299999 meters 0.01692674728358771 Centerline is valid? [True, True] Translation: X:91.17, Y:2.41, Z:0.94 [[ 9.98611452e-01 -4.74437440e-02 -2.28967228e-02 9.11739187e+01] [ 4.74456844e-02 9.98873714e-01 -4.58802232e-04 2.40659644e+00] [ 2.28927019e-02 -6.28185521e-04 9.99737730e-01 9.38172899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.365099893 meters 0.015238680685584165 Centerline is valid? [True, True] Translation: X:91.21, Y:2.41, Z:0.94 [[ 9.98719580e-01 -4.54632813e-02 -2.21876359e-02 9.12054601e+01] [ 4.54646545e-02 9.98965850e-01 -4.42805000e-04 2.41050479e+00] [ 2.21848220e-02 -5.66515180e-04 9.99753726e-01 9.40493073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.395099893 meters 0.013879925952682769 Centerline is valid? [True, True] Translation: X:91.24, Y:2.41, Z:0.94 [[ 9.98927445e-01 -4.19925803e-02 -1.95085372e-02 9.12363659e+01] [ 4.19929926e-02 9.99117830e-01 -3.88694150e-04 2.41420560e+00] [ 1.95076496e-02 -4.30944605e-04 9.99809615e-01 9.44005626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.425099893 meters 0.013427003133037548 Centerline is valid? [True, True] Translation: X:91.27, Y:2.42, Z:0.95 [[ 9.99047143e-01 -3.96245397e-02 -1.82948396e-02 9.12688146e+01] [ 3.96245208e-02 9.99214574e-01 -3.63666920e-04 2.41639456e+00] [ 1.82948805e-02 -3.61603853e-04 9.99832569e-01 9.45778357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.455099893 meters 0.013427003133037548 Centerline is valid? [True, True] Translation: X:91.30, Y:2.42, Z:0.95 [[ 9.99049978e-01 -3.95529869e-02 -1.82948656e-02 9.13005086e+01] [ 3.95529800e-02 9.99217409e-01 -3.62356102e-04 2.41696555e+00] [ 1.82948804e-02 -3.61604596e-04 9.99832569e-01 9.46170098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48509989299998 meters 0.012648642222488314 Centerline is valid? [True, True] Translation: X:91.33, Y:2.42, Z:0.95 [[ 9.99162298e-01 -3.67662866e-02 -1.79705823e-02 9.13330393e+01] [ 3.67658541e-02 9.99323845e-01 -3.54556139e-04 2.41996914e+00] [ 1.79714671e-02 -3.06444682e-04 9.99838453e-01 9.47130694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51509989299998 meters 0.011634717196364535 Centerline is valid? [True, True] Translation: X:91.36, Y:2.42, Z:0.95 [[ 9.99356982e-01 -3.14602193e-02 -1.72011057e-02 9.13646151e+01] [ 3.14590586e-02 9.99504984e-01 -3.38128254e-04 2.42399822e+00] [ 1.72032285e-02 -2.03219762e-04 9.99851993e-01 9.48562860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54509989299999 meters 0.011493001858099747 Centerline is valid? [True, True] Translation: X:91.40, Y:2.43, Z:0.95 [[ 9.99448629e-01 -2.88485730e-02 -1.64376747e-02 9.13957504e+01] [ 2.88471754e-02 9.99583782e-01 -3.22170818e-04 2.42506824e+00] [ 1.64401272e-02 -1.52187304e-04 9.99864840e-01 9.48944660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57509989299999 meters 0.010909790261427913 Centerline is valid? [True, True] Translation: X:91.43, Y:2.43, Z:0.95 [[ 9.99552899e-01 -2.51999403e-02 -1.60924197e-02 9.14271069e+01] [ 2.51981551e-02 9.99682427e-01 -3.13721793e-04 2.42698721e+00] [ 1.60952149e-02 -9.19177584e-05 9.99870459e-01 9.49599136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60509989299999 meters 0.010787586053370699 Centerline is valid? [True, True] Translation: X:91.46, Y:2.43, Z:0.95 [[ 9.99586081e-01 -2.39532184e-02 -1.59345704e-02 9.14583730e+01] [ 2.39513188e-02 9.99713078e-01 -3.10070242e-04 2.42706803e+00] [ 1.59374256e-02 -7.17120772e-05 9.99872989e-01 9.49718886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63509989299999 meters 0.010793250919366469 Centerline is valid? [True, True] Translation: X:91.49, Y:2.43, Z:0.95 [[ 9.99604852e-01 -2.30672992e-02 -1.60636217e-02 9.14888333e+01] [ 2.30652652e-02 9.99733913e-01 -3.11898600e-04 2.42604907e+00] [ 1.60665420e-02 -5.87363399e-05 9.99870923e-01 9.49539436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66509989299999 meters 0.010745187942884244 Centerline is valid? [True, True] Translation: X:91.52, Y:2.43, Z:0.95 [[ 9.99575387e-01 -2.34819768e-02 -1.72523085e-02 9.15189929e+01] [ 2.34797068e-02 9.99724258e-01 -3.34149106e-04 2.42521919e+00] [ 1.72553978e-02 -7.10719234e-05 9.99851112e-01 9.49391813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69509989299999 meters 0.01080104765458136 Centerline is valid? [True, True] Translation: X:91.55, Y:2.42, Z:0.95 [[ 9.99535665e-01 -2.43105001e-02 -1.83698971e-02 9.15481068e+01] [ 2.43080644e-02 9.99704452e-01 -3.55902508e-04 2.42343260e+00] [ 1.83731201e-02 -9.07993920e-05 9.99831196e-01 9.48905014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72509989299999 meters 0.010852196033114594 Centerline is valid? [True, True] Translation: X:91.58, Y:2.42, Z:0.95 [[ 9.99513874e-01 -2.46983099e-02 -1.90265493e-02 9.15776926e+01] [ 2.46957584e-02 9.99694945e-01 -3.69087262e-04 2.42260379e+00] [ 1.90298610e-02 -1.00967225e-04 9.99818911e-01 9.48498739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.755099893 meters 0.010781747641134402 Centerline is valid? [True, True] Translation: X:91.61, Y:2.42, Z:0.95 [[ 9.99502714e-01 -2.48588221e-02 -1.94001145e-02 9.16070204e+01] [ 2.48561862e-02 9.99690966e-01 -3.77026080e-04 2.42197075e+00] [ 1.94034917e-02 -1.05374269e-04 9.99811729e-01 9.48431466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.785099893 meters 0.010739932721436954 Centerline is valid? [True, True] Translation: X:91.64, Y:2.42, Z:0.95 [[ 9.99512171e-01 -2.48988148e-02 -1.88538952e-02 9.16363225e+01] [ 2.48963198e-02 9.99689971e-01 -3.67074386e-04 2.42167528e+00] [ 1.88571896e-02 -1.02497288e-04 9.99822182e-01 9.48758340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.815099893 meters 0.010821012121869561 Centerline is valid? [True, True] Translation: X:91.66, Y:2.42, Z:0.95 [[ 9.99519464e-01 -2.50067356e-02 -1.83167971e-02 9.16647631e+01] [ 2.50043850e-02 9.99687278e-01 -3.57375069e-04 2.42034775e+00] [ 1.83200058e-02 -1.00796908e-04 9.99832170e-01 9.49154544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.845099893 meters 0.01081759240070359 Centerline is valid? [True, True] Translation: X:91.69, Y:2.42, Z:0.95 [[ 9.99522908e-01 -2.52139006e-02 -1.78386099e-02 9.16943777e+01] [ 2.52116891e-02 9.99682074e-01 -3.48888024e-04 2.42038202e+00] [ 1.78417354e-02 -1.01019915e-04 9.99840818e-01 9.49960667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87509989299998 meters 0.010805207502795438 Centerline is valid? [True, True] Translation: X:91.73, Y:2.42, Z:0.95 [[ 9.99523959e-01 -2.57479361e-02 -1.69970379e-02 9.17251487e+01] [ 2.57459985e-02 9.99668461e-01 -3.32842072e-04 2.42016688e+00] [ 1.69999727e-02 -1.04922087e-04 9.99855485e-01 9.50609315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90509989299998 meters 0.011040593944137691 Centerline is valid? [True, True] Translation: X:91.76, Y:2.42, Z:0.95 [[ 9.99469446e-01 -2.80094706e-02 -1.66221646e-02 9.17557973e+01] [ 2.80079302e-02 9.99607648e-01 -3.25501169e-04 2.41771632e+00] [ 1.66247599e-02 -1.40223953e-04 9.99861789e-01 9.50582931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93509989299999 meters 0.011300113472668587 Centerline is valid? [True, True] Translation: X:91.79, Y:2.42, Z:0.95 [[ 9.99418744e-01 -2.98784936e-02 -1.64149525e-02 9.17871824e+01] [ 2.98772458e-02 9.99553524e-01 -3.21300621e-04 2.41621002e+00] [ 1.64172236e-02 -1.69319708e-04 9.99865214e-01 9.51095840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96509989299999 meters 0.011896371729115259 Centerline is valid? [True, True] Translation: X:91.82, Y:2.41, Z:0.95 [[ 9.99288055e-01 -3.42662476e-02 -1.57862843e-02 9.18189123e+01] [ 3.42656494e-02 9.99412713e-01 -3.08453901e-04 2.41239350e+00] [ 1.57875828e-02 -2.32692984e-04 9.99875341e-01 9.51463629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99509989299999 meters 0.012428903441149728 Centerline is valid? [True, True] Translation: X:91.85, Y:2.41, Z:0.95 [[ 9.99203116e-01 -3.66567234e-02 -1.57929330e-02 9.18512922e+01] [ 3.66564339e-02 9.99327880e-01 -3.07896877e-04 2.41041170e+00] [ 1.57936047e-02 -2.71261087e-04 9.99875236e-01 9.51675116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02509989299999 meters 0.01358380928941909 Centerline is valid? [True, True] Translation: X:91.88, Y:2.41, Z:0.95 [[ 9.99011797e-01 -4.15042736e-02 -1.59004925e-02 9.18834358e+01] [ 4.15046121e-02 9.99138265e-01 -3.08848406e-04 2.40569348e+00] [ 1.58996090e-02 -3.51400573e-04 9.99873531e-01 9.51551773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05509989299999 meters 0.013645312336667355 Centerline is valid? [True, True] Translation: X:91.92, Y:2.40, Z:0.95 [[ 9.98923701e-01 -4.36370356e-02 -1.57241182e-02 9.19154293e+01] [ 4.36376483e-02 9.99047378e-01 -3.04299006e-04 2.40463408e+00] [ 1.57224178e-02 -3.82192051e-04 9.99876322e-01 9.52320443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08509989299999 meters 0.015099043133059566 Centerline is valid? [True, True] Translation: X:91.95, Y:2.40, Z:0.95 [[ 9.98847207e-01 -4.56035758e-02 -1.49856919e-02 9.19467804e+01] [ 4.56043685e-02 9.98959538e-01 -2.89002635e-04 2.40126103e+00] [ 1.49832794e-02 -3.94743539e-04 9.99887666e-01 9.52888566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.115099893 meters 0.01585739849189867 Centerline is valid? [True, True] Translation: X:91.98, Y:2.40, Z:0.95 [[ 9.98747378e-01 -4.80203788e-02 -1.40612245e-02 9.19790952e+01] [ 4.80213265e-02 9.98846274e-01 -2.70420353e-04 2.39804820e+00] [ 1.40579874e-02 -4.05157033e-04 9.99901100e-01 9.53955052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.145099893 meters 0.017008588760280798 Centerline is valid? [True, True] Translation: X:92.01, Y:2.40, Z:0.95 [[ 9.98725192e-01 -4.86023299e-02 -1.36310169e-02 9.20105598e+01] [ 4.86032882e-02 9.98818128e-01 -2.61155111e-04 2.39597248e+00] [ 1.36275995e-02 -4.01690054e-04 9.99907059e-01 9.54653934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.175099893 meters 0.01608444311393075 Centerline is valid? [True, True] Translation: X:92.04, Y:2.40, Z:0.95 [[ 9.98751093e-01 -4.77767332e-02 -1.46163762e-02 9.20430652e+01] [ 4.77777705e-02 9.98857951e-01 -2.78408165e-04 2.39704790e+00] [ 1.46129850e-02 -4.20277410e-04 9.99893136e-01 9.54376674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.205099893 meters 0.01500310659974859 Centerline is valid? [True, True] Translation: X:92.08, Y:2.40, Z:0.95 [[ 9.98866635e-01 -4.46328954e-02 -1.65333102e-02 9.20751599e+01] [ 4.46338137e-02 9.99003366e-01 -3.13639148e-04 2.39946069e+00] [ 1.65308311e-02 -4.24661005e-04 9.99863266e-01 9.52849601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23509989299998 meters 0.014519358482938519 Centerline is valid? [True, True] Translation: X:92.11, Y:2.40, Z:0.95 [[ 9.98976404e-01 -4.19442491e-02 -1.69359120e-02 9.21061840e+01] [ 4.19448457e-02 9.99119876e-01 -3.20140585e-04 2.40130182e+00] [ 1.69344344e-02 -3.90561326e-04 9.99856526e-01 9.53001186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26509989299998 meters 0.012620935797869222 Centerline is valid? [True, True] Translation: X:92.14, Y:2.41, Z:0.95 [[ 9.99222126e-01 -3.60024879e-02 -1.60923664e-02 9.21373887e+01] [ 3.60022682e-02 9.99351662e-01 -3.03444212e-04 2.40684209e+00] [ 1.60928579e-02 -2.76153523e-04 9.99870463e-01 9.54724684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29509989299999 meters 0.011412253934429304 Centerline is valid? [True, True] Translation: X:92.17, Y:2.41, Z:0.96 [[ 9.99433416e-01 -2.95896750e-02 -1.60405063e-02 9.21680754e+01] [ 2.95886400e-02 9.99562115e-01 -3.01898581e-04 2.41162059e+00] [ 1.60424155e-02 -1.72889235e-04 9.99871297e-01 9.55730634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32509989299999 meters 0.010572224258160986 Centerline is valid? [True, True] Translation: X:92.20, Y:2.42, Z:0.96 [[ 9.99595355e-01 -2.28697509e-02 -1.69145177e-02 9.21988816e+01] [ 2.28676452e-02 9.99738451e-01 -3.17917492e-04 2.41775279e+00] [ 1.69173644e-02 -6.90063406e-05 9.99856889e-01 9.56003192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35509989299999 meters 0.010502387636402552 Centerline is valid? [True, True] Translation: X:92.23, Y:2.42, Z:0.96 [[ 9.99692183e-01 -1.71967126e-02 -1.78833085e-02 9.22283547e+01] [ 1.71934478e-02 9.99852125e-01 -3.36306160e-04 2.42252950e+00] [ 1.78864473e-02 2.87269097e-05 9.99840024e-01 9.55817411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38509989299999 meters 0.010607670450206828 Centerline is valid? [True, True] Translation: X:92.26, Y:2.42, Z:0.96 [[ 9.99718628e-01 -1.51822655e-02 -1.82253793e-02 9.22572911e+01] [ 1.51785092e-02 9.99884740e-01 -3.44426138e-04 2.42418072e+00] [ 1.82285078e-02 6.76951398e-05 9.99833845e-01 9.56241717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41509989299999 meters 0.010836264227079588 Centerline is valid? [True, True] Translation: X:92.29, Y:2.43, Z:0.96 [[ 9.99743790e-01 -1.33638257e-02 -1.82691861e-02 9.22850965e+01] [ 1.33596815e-02 9.99910695e-01 -3.48871571e-04 2.42586395e+00] [ 1.82722168e-02 1.04711678e-04 9.99833044e-01 9.56012184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44509989299999 meters 0.010897862351736511 Centerline is valid? [True, True] Translation: X:92.31, Y:2.43, Z:0.96 [[ 9.99765539e-01 -1.20239276e-02 -1.80081164e-02 9.23136842e+01] [ 1.20196390e-02 9.99927702e-01 -3.46362750e-04 2.42649667e+00] [ 1.80109790e-02 1.29830483e-04 9.99837781e-01 9.56705478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47509989299999 meters 0.011131557946237075 Centerline is valid? [True, True] Translation: X:92.34, Y:2.43, Z:0.96 [[ 9.99787148e-01 -1.03240053e-02 -1.78626106e-02 9.23421015e+01] [ 1.03194359e-02 9.99946693e-01 -3.47962197e-04 2.42693264e+00] [ 1.78652508e-02 1.63556068e-04 9.99840390e-01 9.56717209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.505099893 meters 0.011182799976172388 Centerline is valid? [True, True] Translation: X:92.37, Y:2.43, Z:0.96 [[ 9.99786988e-01 -1.04360426e-02 -1.78064065e-02 9.23693751e+01] [ 1.04314536e-02 9.99945529e-01 -3.50578454e-04 2.42728785e+00] [ 1.78090952e-02 1.64757073e-04 9.99841392e-01 9.57081155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.535099893 meters 0.010849355695943776 Centerline is valid? [True, True] Translation: X:92.40, Y:2.43, Z:0.96 [[ 9.99777627e-01 -1.25049290e-02 -1.69800844e-02 9.23981102e+01] [ 1.25010103e-02 9.99921803e-01 -3.36910595e-04 2.42552208e+00] [ 1.69829696e-02 1.24567466e-04 9.99855771e-01 9.58568712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.565099893 meters 0.010728325377774454 Centerline is valid? [True, True] Translation: X:92.43, Y:2.42, Z:0.96 [[ 9.99761091e-01 -1.43453807e-02 -1.64915404e-02 9.24259025e+01] [ 1.43418789e-02 9.99897095e-01 -3.30596495e-04 2.42447273e+00] [ 1.64945859e-02 9.39978378e-05 9.99863951e-01 9.58883908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.595099893 meters 0.01040902077126253 Centerline is valid? [True, True] Translation: X:92.45, Y:2.42, Z:0.96 [[ 9.99679393e-01 -1.97037887e-02 -1.59019565e-02 9.24549658e+01] [ 1.97011898e-02 9.99805861e-01 -3.20082488e-04 2.41946378e+00] [ 1.59051762e-02 6.69240243e-06 9.99873505e-01 9.59375126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62509989299998 meters 0.010457111725395905 Centerline is valid? [True, True] Translation: X:92.48, Y:2.42, Z:0.96 [[ 9.99609247e-01 -2.30139803e-02 -1.58653979e-02 9.24841752e+01] [ 2.30117937e-02 9.99735142e-01 -3.20387581e-04 2.41644161e+00] [ 1.58685692e-02 -4.48288734e-05 9.99874085e-01 9.59278202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65509989299998 meters 0.010701557810732211 Centerline is valid? [True, True] Translation: X:92.51, Y:2.41, Z:0.96 [[ 9.99510281e-01 -2.68644976e-02 -1.60466918e-02 9.25140094e+01] [ 2.68627444e-02 9.99639079e-01 -3.24827454e-04 2.41337781e+00] [ 1.60496265e-02 -1.06389800e-04 9.99871191e-01 9.59609384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68509989299999 meters 0.011076699062988834 Centerline is valid? [True, True] Translation: X:92.54, Y:2.41, Z:0.96 [[ 9.99388437e-01 -3.10477928e-02 -1.60868335e-02 9.25442359e+01] [ 3.10465657e-02 9.99517886e-01 -3.26076124e-04 2.41065033e+00] [ 1.60892017e-02 -1.73564224e-04 9.99870545e-01 9.59648497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71509989299999 meters 0.01294154234722421 Centerline is valid? [True, True] Translation: X:92.57, Y:2.40, Z:0.96 [[ 9.99076752e-01 -3.97197377e-02 -1.63702671e-02 9.25743173e+01] [ 3.97196361e-02 9.99210809e-01 -3.31465488e-04 2.40279047e+00] [ 1.63705136e-02 -3.19061590e-04 9.99865943e-01 9.58945725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74509989299999 meters 0.015625596391988246 Centerline is valid? [True, True] Translation: X:92.60, Y:2.40, Z:0.96 [[ 9.98748531e-01 -4.74071079e-02 -1.59354311e-02 9.26044362e+01] [ 4.74080062e-02 9.98875557e-01 -3.21592222e-04 2.39564187e+00] [ 1.59327584e-02 -4.34277259e-04 9.99872971e-01 9.59110766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77509989299999 meters 0.015237446662769268 Centerline is valid? [True, True] Translation: X:92.64, Y:2.40, Z:0.96 [[ 9.98612527e-01 -5.03995545e-02 -1.52612226e-02 9.26363563e+01] [ 5.04007307e-02 9.98729028e-01 -3.07774049e-04 2.39581493e+00] [ 1.52573377e-02 -4.61829752e-04 9.99883493e-01 9.60050522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80509989299999 meters 0.017289680298038262 Centerline is valid? [True, True] Translation: X:92.67, Y:2.39, Z:0.96 [[ 9.98412077e-01 -5.40896723e-02 -1.57363474e-02 9.26669573e+01] [ 5.40913963e-02 9.98535939e-01 -3.16362059e-04 2.39142076e+00] [ 1.57304203e-02 -5.35341302e-04 9.99876126e-01 9.60074270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83509989299999 meters 0.017654878967201207 Centerline is valid? [True, True] Translation: X:92.70, Y:2.39, Z:0.96 [[ 9.98354110e-01 -5.51245021e-02 -1.58227970e-02 9.26988625e+01] [ 5.51263824e-02 9.98479334e-01 -3.17627500e-04 2.39086753e+00] [ 1.58162449e-02 -5.55148841e-04 9.99874761e-01 9.60633575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.865099893 meters 0.018935453955238084 Centerline is valid? [True, True] Translation: X:92.73, Y:2.39, Z:0.96 [[ 9.98270542e-01 -5.67233749e-02 -1.54396840e-02 9.27304279e+01] [ 5.67253744e-02 9.98389772e-01 -3.08756326e-04 2.38889479e+00] [ 1.54323363e-02 -5.67599511e-04 9.99880753e-01 9.61481480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.895099893 meters 0.018269973194641444 Centerline is valid? [True, True] Translation: X:92.76, Y:2.39, Z:0.96 [[ 9.98250182e-01 -5.71745881e-02 -1.50877743e-02 9.27624519e+01] [ 5.71765707e-02 9.98364037e-01 -3.00277484e-04 2.39009995e+00] [ 1.50802595e-02 -5.62915138e-04 9.99886128e-01 9.62121793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.925099893 meters 0.019052600466868495 Centerline is valid? [True, True] Translation: X:92.79, Y:2.39, Z:0.96 [[ 9.98205235e-01 -5.80828758e-02 -1.45838272e-02 9.27944823e+01] [ 5.80848397e-02 9.98311609e-01 -2.89231675e-04 2.38885421e+00] [ 1.45760034e-02 -5.58386696e-04 9.99893609e-01 9.62634045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.955099893 meters 0.02075127152231424 Centerline is valid? [True, True] Translation: X:92.83, Y:2.39, Z:0.96 [[ 9.98135589e-01 -5.93784955e-02 -1.41258369e-02 9.28254820e+01] [ 5.93804809e-02 9.98235383e-01 -2.79201518e-04 2.38663674e+00] [ 1.41174888e-02 -5.60118020e-04 9.99900186e-01 9.62550583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98509989299998 meters 0.01998073236077782 Centerline is valid? [True, True] Translation: X:92.86, Y:2.39, Z:0.96 [[ 9.98074815e-01 -6.04083305e-02 -1.40533599e-02 9.28571634e+01] [ 6.04104079e-02 9.98173585e-01 -2.77024683e-04 2.38813644e+00] [ 1.40444272e-02 -5.72477842e-04 9.99901208e-01 9.62977287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01509989299998 meters 0.02085466763048959 Centerline is valid? [True, True] Translation: X:92.89, Y:2.39, Z:0.96 [[ 9.97871799e-01 -6.33655564e-02 -1.53843852e-02 9.28880912e+01] [ 6.33684088e-02 9.97990157e-01 -3.02482464e-04 2.38764048e+00] [ 1.53726319e-02 -6.73045288e-04 9.99881608e-01 9.62376289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04509989299999 meters 0.02403590286675356 Centerline is valid? [True, True] Translation: X:92.92, Y:2.38, Z:0.96 [[ 9.97570126e-01 -6.75346021e-02 -1.71149325e-02 9.29187131e+01] [ 6.75387502e-02 9.97716595e-01 -3.36177898e-04 2.38398684e+00] [ 1.70985558e-02 -8.20560123e-04 9.99853472e-01 9.60840716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07509989299999 meters 0.025063275905360203 Centerline is valid? [True, True] Translation: X:92.95, Y:2.38, Z:0.96 [[ 9.97209814e-01 -7.22440175e-02 -1.87986380e-02 9.29498782e+01] [ 7.22498638e-02 9.97386495e-01 -3.68866613e-04 2.38326218e+00] [ 1.87761560e-02 -9.90361627e-04 9.99823222e-01 9.60297794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10509989299999 meters 0.025063275905360203 Centerline is valid? [True, True] Translation: X:92.98, Y:2.38, Z:0.96 [[ 9.97217519e-01 -7.21375736e-02 -1.87986568e-02 9.29824520e+01] [ 7.21434190e-02 9.97394201e-01 -3.67905967e-04 2.38381105e+00] [ 1.87762111e-02 -9.89317097e-04 9.99823222e-01 9.60700629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13509989299999 meters 0.02400872709828385 Centerline is valid? [True, True] Translation: X:93.01, Y:2.39, Z:0.96 [[ 9.97056535e-01 -7.41662489e-02 -1.94327838e-02 9.30140048e+01] [ 7.41729136e-02 9.97245324e-01 -3.78567930e-04 2.38600483e+00] [ 1.94073297e-02 -1.06393257e-03 9.99811094e-01 9.61047870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16509989299999 meters 0.02498293594646709 Centerline is valid? [True, True] Translation: X:93.04, Y:2.39, Z:0.96 [[ 9.96753043e-01 -7.77145155e-02 -2.10671811e-02 9.30446581e+01] [ 7.77231573e-02 9.96974896e-01 -4.09520883e-04 2.38575997e+00] [ 2.10352764e-02 -1.22921665e-03 9.99777978e-01 9.60882206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19509989299999 meters 0.027370020001224276 Centerline is valid? [True, True] Translation: X:93.08, Y:2.38, Z:0.96 [[ 9.96652452e-01 -7.88562456e-02 -2.15773580e-02 9.30761179e+01] [ 7.88655937e-02 9.96885170e-01 -4.18703429e-04 2.38389030e+00] [ 2.15431656e-02 -1.28440935e-03 9.99767094e-01 9.60358150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22509989299999 meters 0.029286631415448502 Centerline is valid? [True, True] Translation: X:93.11, Y:2.38, Z:0.96 [[ 9.96538229e-01 -8.00310139e-02 -2.25076808e-02 9.31070556e+01] [ 8.00415123e-02 9.96791436e-01 -4.35509809e-04 2.38451681e+00] [ 2.24703177e-02 -1.36754663e-03 9.99746575e-01 9.60105713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.255099893 meters 0.026693300943190806 Centerline is valid? [True, True] Translation: X:93.14, Y:2.39, Z:0.96 [[ 9.96566341e-01 -7.97148358e-02 -2.23846451e-02 9.31395461e+01] [ 7.97251712e-02 9.96816789e-01 -4.31744247e-04 2.38988414e+00] [ 2.23478065e-02 -1.35435788e-03 9.99749339e-01 9.61068958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.285099893 meters 0.029185077674026158 Centerline is valid? [True, True] Translation: X:93.17, Y:2.39, Z:0.96 [[ 9.96772952e-01 -7.73484741e-02 -2.14684757e-02 9.31702043e+01] [ 7.73574590e-02 9.97003337e-01 -4.12882869e-04 2.39036123e+00] [ 2.14360778e-02 -1.24919625e-03 9.99769440e-01 9.61654837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.315099893 meters 0.026286547744355467 Centerline is valid? [True, True] Translation: X:93.20, Y:2.40, Z:0.96 [[ 9.96910615e-01 -7.58198019e-02 -2.05081270e-02 9.32018030e+01] [ 7.58276988e-02 9.97120858e-01 -3.93407056e-04 2.39713392e+00] [ 2.04789093e-02 -1.16289241e-03 9.99789609e-01 9.63703386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.345099893 meters 0.023923677794266962 Centerline is valid? [True, True] Translation: X:93.23, Y:2.40, Z:0.97 [[ 9.97069158e-01 -7.40280445e-02 -1.93117349e-02 9.32328528e+01] [ 7.40347325e-02 9.97255595e-01 -3.69372745e-04 2.40339265e+00] [ 1.92860796e-02 -1.06144896e-03 9.99813443e-01 9.65687123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37509989299998 meters 0.023923677794266962 Centerline is valid? [True, True] Translation: X:93.27, Y:2.40, Z:0.97 [[ 9.97077287e-01 -7.39184731e-02 -1.93117581e-02 9.32654338e+01] [ 7.39251640e-02 9.97263724e-01 -3.68155478e-04 2.40392927e+00] [ 1.92861293e-02 -1.06054542e-03 9.99813443e-01 9.66089989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40509989299998 meters 0.023255473071467154 Centerline is valid? [True, True] Translation: X:93.30, Y:2.41, Z:0.97 [[ 9.97368185e-01 -7.03613118e-02 -1.74925663e-02 9.32959910e+01] [ 7.03662786e-02 9.97521166e-01 -3.32151180e-04 2.40959123e+00] [ 1.74725757e-02 -8.99609772e-04 9.99846938e-01 9.68536770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43509989299999 meters 0.02388599469759415 Centerline is valid? [True, True] Translation: X:93.33, Y:2.41, Z:0.97 [[ 9.97470732e-01 -6.91245664e-02 -1.65509108e-02 9.33270475e+01] [ 6.91288501e-02 9.97607690e-01 -3.13833861e-04 2.41094106e+00] [ 1.65330095e-02 -8.31105343e-04 9.99862975e-01 9.69488516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46509989299999 meters 0.02274859457031248 Centerline is valid? [True, True] Translation: X:93.36, Y:2.42, Z:0.97 [[ 9.97576906e-01 -6.78111531e-02 -1.55551881e-02 9.33588839e+01] [ 6.78147908e-02 9.97697884e-01 -2.94096270e-04 2.41559102e+00] [ 1.55393212e-02 -7.61488178e-04 9.99878967e-01 9.70861147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49509989299999 meters 0.021561160291046058 Centerline is valid? [True, True] Translation: X:93.39, Y:2.42, Z:0.97 [[ 9.97600910e-01 -6.74780947e-02 -1.54638797e-02 9.33913417e+01] [ 6.74816671e-02 9.97720472e-01 -2.91257287e-04 2.41878024e+00] [ 1.54482828e-02 -7.52969848e-04 9.99880385e-01 9.71079618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52509989299999 meters 0.022837792161573087 Centerline is valid? [True, True] Translation: X:93.42, Y:2.42, Z:0.97 [[ 9.97572937e-01 -6.77436638e-02 -1.60944407e-02 9.34229244e+01] [ 6.77475916e-02 9.97702447e-01 -3.01671736e-04 2.41929304e+00] [ 1.60778992e-02 -7.89420035e-04 9.99870431e-01 9.70848838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55509989299999 meters 0.024263156423518187 Centerline is valid? [True, True] Translation: X:93.45, Y:2.42, Z:0.97 [[ 9.97540281e-01 -6.80632314e-02 -1.67566461e-02 9.34539482e+01] [ 6.80675680e-02 9.97680665e-01 -3.12059794e-04 2.41918560e+00] [ 1.67390216e-02 -8.29291933e-04 9.99859549e-01 9.70628436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58509989299999 meters 0.023403009544155477 Centerline is valid? [True, True] Translation: X:93.49, Y:2.42, Z:0.97 [[ 9.97545426e-01 -6.77770517e-02 -1.75895945e-02 9.34859494e+01] [ 6.77818047e-02 9.97700115e-01 -3.26503021e-04 2.42202165e+00] [ 1.75712698e-02 -8.66552861e-04 9.99845238e-01 9.70432700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.615099893 meters 0.022021403604186803 Centerline is valid? [True, True] Translation: X:93.52, Y:2.43, Z:0.97 [[ 9.97577432e-01 -6.68226175e-02 -1.93391826e-02 9.35182738e+01] [ 6.68282130e-02 9.97764432e-01 -3.57503685e-04 2.42741294e+00] [ 1.93198378e-02 -9.35765404e-04 9.99812917e-01 9.69640716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.645099893 meters 0.020978829863797406 Centerline is valid? [True, True] Translation: X:93.55, Y:2.43, Z:0.97 [[ 9.97632910e-01 -6.57162317e-02 -2.02473325e-02 9.35506356e+01] [ 6.57221687e-02 9.97837891e-01 -3.72774502e-04 2.43091676e+00] [ 2.02280530e-02 -9.58806495e-04 9.99794932e-01 9.69561709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.675099893 meters 0.021653635106473574 Centerline is valid? [True, True] Translation: X:93.58, Y:2.43, Z:0.97 [[ 9.97876975e-01 -6.12669132e-02 -2.20886210e-02 9.35799393e+01] [ 6.12729097e-02 9.98120968e-01 -4.05861280e-04 2.43343096e+00] [ 2.20719817e-02 -9.48434454e-04 9.99755934e-01 9.67540261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.705099893 meters 0.01784667086325868 Centerline is valid? [True, True] Translation: X:93.61, Y:2.44, Z:0.97 [[ 9.98227605e-01 -5.47079616e-02 -2.34240651e-02 9.36110155e+01] [ 5.47129008e-02 9.98502035e-01 -4.30453851e-04 2.44453007e+00] [ 2.34125259e-02 -8.51907632e-04 9.99725526e-01 9.67883412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73509989299998 meters 0.01892435098630159 Centerline is valid? [True, True] Translation: X:93.64, Y:2.45, Z:0.97 [[ 9.98432344e-01 -5.07022753e-02 -2.37093427e-02 9.36418345e+01] [ 5.07062221e-02 9.98713517e-01 -4.35080316e-04 2.44624854e+00] [ 2.37009006e-02 -7.67812935e-04 9.99718799e-01 9.67082661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76509989299998 meters 0.016041215578455833 Centerline is valid? [True, True] Translation: X:93.67, Y:2.45, Z:0.97 [[ 9.98636240e-01 -4.65561971e-02 -2.36258654e-02 9.36730809e+01] [ 4.65589769e-02 9.98915449e-01 -4.32701564e-04 2.45444136e+00] [ 2.36203869e-02 -6.67884659e-04 9.99720777e-01 9.69169981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79509989299999 meters 0.013651536536807665 Centerline is valid? [True, True] Translation: X:93.70, Y:2.46, Z:0.97 [[ 9.99053611e-01 -3.79154626e-02 -2.13143015e-02 9.37037238e+01] [ 3.79157708e-02 9.99280863e-01 -3.89808630e-04 2.46466003e+00] [ 2.13137534e-02 -4.18708450e-04 9.99772748e-01 9.71523195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82509989299999 meters 0.012769523510351271 Centerline is valid? [True, True] Translation: X:93.74, Y:2.47, Z:0.97 [[ 9.99232621e-01 -3.37502024e-02 -1.98769299e-02 9.37351888e+01] [ 3.37496557e-02 9.99430252e-01 -3.63052929e-04 2.46909852e+00] [ 1.98778581e-02 -3.08065209e-04 9.99802368e-01 9.72848560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85509989299999 meters 0.011500425298831366 Centerline is valid? [True, True] Translation: X:93.77, Y:2.48, Z:0.97 [[ 9.99505785e-01 -2.63063104e-02 -1.72094045e-02 9.37661600e+01] [ 2.63048050e-02 9.99653919e-01 -3.13868878e-04 2.47706365e+00] [ 1.72117054e-02 -1.38976271e-04 9.99851858e-01 9.74798242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88509989299999 meters 0.011081781042941939 Centerline is valid? [True, True] Translation: X:93.80, Y:2.48, Z:0.98 [[ 9.99592067e-01 -2.35763553e-02 -1.61200431e-02 9.37971515e+01] [ 2.35746849e-02 9.99722035e-01 -2.93666009e-04 2.48052054e+00] [ 1.61224859e-02 -8.64787251e-05 9.99870021e-01 9.75708934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91509989299999 meters 0.01097612145634596 Centerline is valid? [True, True] Translation: X:93.83, Y:2.48, Z:0.98 [[ 9.99648561e-01 -2.14741075e-02 -1.55440704e-02 9.38274730e+01] [ 2.14723067e-02 9.99769403e-01 -2.82755508e-04 2.48354387e+00] [ 1.55465579e-02 -5.11109106e-05 9.99879144e-01 9.76447119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94509989299999 meters 0.010831171325658072 Centerline is valid? [True, True] Translation: X:93.86, Y:2.49, Z:0.98 [[ 9.99699074e-01 -1.91313633e-02 -1.53542000e-02 9.38576239e+01] [ 1.91293299e-02 9.99816979e-01 -2.79301657e-04 2.48694660e+00] [ 1.53567333e-02 -1.44979498e-05 9.99882078e-01 9.76360164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97509989299999 meters 0.01083528239593587 Centerline is valid? [True, True] Translation: X:93.89, Y:2.49, Z:0.98 [[ 9.99694913e-01 -1.91174104e-02 -1.56398689e-02 9.38877493e+01] [ 1.91152970e-02 9.99817246e-01 -2.84616926e-04 2.48821511e+00] [ 1.56424518e-02 -1.44306479e-05 9.99877649e-01 9.76544191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.005099893 meters 0.010791393573480117 Centerline is valid? [True, True] Translation: X:93.92, Y:2.49, Z:0.98 [[ 9.99644788e-01 -2.08363226e-02 -1.66176065e-02 9.39168619e+01] [ 2.08341651e-02 9.99782899e-01 -3.02962728e-04 2.48778179e+00] [ 1.66203114e-02 -4.33588441e-05 9.99861872e-01 9.75350982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.035099893 meters 0.010850877042908444 Centerline is valid? [True, True] Translation: X:93.95, Y:2.49, Z:0.98 [[ 9.99599948e-01 -2.24024531e-02 -1.72648180e-02 9.39462614e+01] [ 2.24003508e-02 9.99749031e-01 -3.15169369e-04 2.48723921e+00] [ 1.72675456e-02 -7.16946934e-05 9.99850902e-01 9.75071420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.065099893 meters 0.011303031220871769 Centerline is valid? [True, True] Translation: X:93.98, Y:2.48, Z:0.97 [[ 9.99453086e-01 -2.70198456e-02 -1.90645345e-02 9.39754005e+01] [ 2.70181079e-02 9.99634883e-01 -3.48754357e-04 2.48417630e+00] [ 1.90669971e-02 -1.66524033e-04 9.99818194e-01 9.73504061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.095099893 meters 0.011620654415975522 Centerline is valid? [True, True] Translation: X:94.01, Y:2.48, Z:0.97 [[ 9.99373275e-01 -2.95574938e-02 -1.94784852e-02 9.40062457e+01] [ 2.95561529e-02 9.99563058e-01 -3.56778608e-04 2.48262122e+00] [ 1.94805197e-02 -2.19154081e-04 9.99810213e-01 9.73293960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12509989299998 meters 0.012818163149539936 Centerline is valid? [True, True] Translation: X:94.04, Y:2.48, Z:0.97 [[ 9.99220922e-01 -3.46216906e-02 -1.89443093e-02 9.40367152e+01] [ 3.46213342e-02 9.99400442e-01 -3.46880048e-04 2.47905806e+00] [ 1.89449606e-02 -3.09267460e-04 9.99820480e-01 9.73329333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15509989299998 meters 0.013520798037677905 Centerline is valid? [True, True] Translation: X:94.07, Y:2.48, Z:0.98 [[ 9.99081185e-01 -3.92464841e-02 -1.72191394e-02 9.40681557e+01] [ 3.92468823e-02 9.99229495e-01 -3.14923277e-04 2.47768631e+00] [ 1.72182316e-02 -3.61163619e-04 9.99851690e-01 9.75314959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18509989299999 meters 0.014913503452589582 Centerline is valid? [True, True] Translation: X:94.10, Y:2.48, Z:0.98 [[ 9.98948635e-01 -4.29500018e-02 -1.60288028e-02 9.40997413e+01] [ 4.29508330e-02 9.99077144e-01 -2.92548087e-04 2.47510582e+00] [ 1.60265754e-02 -3.96209919e-04 9.99871488e-01 9.76022865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21509989299999 meters 0.015368527244921614 Centerline is valid? [True, True] Translation: X:94.13, Y:2.47, Z:0.98 [[ 9.98872638e-01 -4.49199726e-02 -1.53508513e-02 9.41313912e+01] [ 4.49209795e-02 9.98990504e-01 -2.79384567e-04 2.47420272e+00] [ 1.53479047e-02 -4.10505679e-04 9.99882130e-01 9.76743864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24509989299999 meters 0.0170965335006948 Centerline is valid? [True, True] Translation: X:94.16, Y:2.47, Z:0.98 [[ 9.98711798e-01 -4.89202339e-02 -1.34742103e-02 9.41627893e+01] [ 4.89213826e-02 9.98802602e-01 -2.44533853e-04 2.47023547e+00] [ 1.34700390e-02 -4.14958154e-04 9.99909189e-01 9.78031055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27509989299999 meters 0.01723874921456177 Centerline is valid? [True, True] Translation: X:94.19, Y:2.47, Z:0.98 [[ 9.98601204e-01 -5.12768220e-02 -1.28966335e-02 9.41944888e+01] [ 5.12780872e-02 9.98684386e-01 -2.32762715e-04 2.46928956e+00] [ 1.28916018e-02 -4.28877570e-04 9.99916808e-01 9.78763748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30509989299999 meters 0.01848826717301836 Centerline is valid? [True, True] Translation: X:94.23, Y:2.47, Z:0.98 [[ 9.98473046e-01 -5.36755518e-02 -1.30579875e-02 9.42252058e+01] [ 5.36770629e-02 9.98558320e-01 -2.34976959e-04 2.46691378e+00] [ 1.30517746e-02 -4.66296256e-04 9.99914713e-01 9.78653854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33509989299999 meters 0.018558143881120984 Centerline is valid? [True, True] Translation: X:94.26, Y:2.47, Z:0.98 [[ 9.98234953e-01 -5.74778020e-02 -1.49425961e-02 9.42568363e+01] [ 5.74802150e-02 9.98346610e-01 -2.68292026e-04 2.46521803e+00] [ 1.49333110e-02 -5.91085157e-04 9.99888317e-01 9.77522584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.365099893 meters 0.020141366199340927 Centerline is valid? [True, True] Translation: X:94.29, Y:2.46, Z:0.98 [[ 9.98155466e-01 -5.85295790e-02 -1.61230945e-02 9.42879657e+01] [ 5.85325366e-02 9.98285460e-01 -2.88798605e-04 2.46258422e+00] [ 1.61123541e-02 -6.55459715e-04 9.99869973e-01 9.76707911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.395099893 meters 0.020405452196377388 Centerline is valid? [True, True] Translation: X:94.32, Y:2.46, Z:0.97 [[ 9.98118890e-01 -5.85059830e-02 -1.83229516e-02 9.43200664e+01] [ 5.85098209e-02 9.98286779e-01 -3.27016487e-04 2.46171063e+00] [ 1.83106928e-02 -7.45671283e-04 9.99832067e-01 9.74986456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.425099893 meters 0.020475293869769023 Centerline is valid? [True, True] Translation: X:94.35, Y:2.46, Z:0.97 [[ 9.98175863e-01 -5.73135140e-02 -1.89765117e-02 9.43510472e+01] [ 5.73174392e-02 9.98355947e-01 -3.37426110e-04 2.46196238e+00] [ 1.89646524e-02 -7.50874459e-04 9.99819873e-01 9.74367149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.455099893 meters 0.01802144491374088 Centerline is valid? [True, True] Translation: X:94.38, Y:2.47, Z:0.97 [[ 9.98393397e-01 -5.31095747e-02 -1.97483504e-02 9.43825067e+01] [ 5.31130257e-02 9.98588446e-01 -3.50077229e-04 2.46693684e+00] [ 1.97390669e-02 -6.99379846e-04 9.99804921e-01 9.74954935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48509989299998 meters 0.01655183926976411 Centerline is valid? [True, True] Translation: X:94.41, Y:2.47, Z:0.98 [[ 9.98528702e-01 -5.03263107e-02 -2.01914040e-02 9.44139760e+01] [ 5.03293694e-02 9.98732610e-01 -3.56971579e-04 2.47087756e+00] [ 2.01837787e-02 -6.59774264e-04 9.99796069e-01 9.75738171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51509989299998 meters 0.015223387412350662 Centerline is valid? [True, True] Translation: X:94.44, Y:2.48, Z:0.98 [[ 9.98851302e-01 -4.31923543e-02 -2.07484151e-02 9.44437238e+01] [ 4.31940556e-02 9.99066634e-01 -3.66358082e-04 2.47576644e+00] [ 2.07448731e-02 -5.30270947e-04 9.99784661e-01 9.75120394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54509989299999 meters 0.01431894156219827 Centerline is valid? [True, True] Translation: X:94.47, Y:2.48, Z:0.98 [[ 9.99007043e-01 -3.93677769e-02 -2.08591870e-02 9.44741284e+01] [ 3.93686777e-02 9.99224685e-01 -3.67616982e-04 2.47928758e+00] [ 2.08574869e-02 -4.53946656e-04 9.99782356e-01 9.75383159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57509989299999 meters 0.012020680722479636 Centerline is valid? [True, True] Translation: X:94.51, Y:2.49, Z:0.98 [[ 9.99293115e-01 -3.17878565e-02 -2.00699266e-02 9.45056955e+01] [ 3.17871889e-02 9.99494598e-01 -3.52355562e-04 2.48757447e+00] [ 2.00709839e-02 -2.85860062e-04 9.99798517e-01 9.77276707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60509989299999 meters 0.011166835883803189 Centerline is valid? [True, True] Translation: X:94.54, Y:2.49, Z:0.98 [[ 9.99460636e-01 -2.63078722e-02 -1.96553757e-02 9.45364734e+01] [ 2.63061836e-02 9.99653873e-01 -3.44507083e-04 2.49327018e+00] [ 1.96576357e-02 -1.72736652e-04 9.99806755e-01 9.77511176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63509989299999 meters 0.010922256321337209 Centerline is valid? [True, True] Translation: X:94.57, Y:2.50, Z:0.98 [[ 9.99507035e-01 -2.44194823e-02 -1.97325962e-02 9.45665495e+01] [ 2.44173999e-02 9.99701791e-01 -3.46489882e-04 2.49577025e+00] [ 1.97351728e-02 -1.35499617e-04 9.99805233e-01 9.77562916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66509989299999 meters 0.010787649514945546 Centerline is valid? [True, True] Translation: X:94.60, Y:2.50, Z:0.98 [[ 9.99535324e-01 -2.32028279e-02 -1.97677682e-02 9.45956319e+01] [ 2.32004726e-02 9.99730772e-01 -3.48506180e-04 2.49759282e+00] [ 1.97705325e-02 -1.10277327e-04 9.99804538e-01 9.77793454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69509989299999 meters 0.01074665606712914 Centerline is valid? [True, True] Translation: X:94.62, Y:2.50, Z:0.98 [[ 9.99566093e-01 -2.31337925e-02 -1.82332911e-02 9.46242973e+01] [ 2.31317393e-02 9.99732373e-01 -3.23531302e-04 2.49893301e+00] [ 1.82358959e-02 -9.83768174e-05 9.99833707e-01 9.79015779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72509989299999 meters 0.010874906537256252 Centerline is valid? [True, True] Translation: X:94.65, Y:2.50, Z:0.98 [[ 9.99546128e-01 -2.42110100e-02 -1.79266634e-02 9.46536768e+01] [ 2.42091404e-02 9.99706864e-01 -3.21324870e-04 2.49927578e+00] [ 1.79291880e-02 -1.12810082e-04 9.99839253e-01 9.79622798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.755099893 meters 0.011258218498000138 Centerline is valid? [True, True] Translation: X:94.68, Y:2.50, Z:0.98 [[ 9.99447848e-01 -2.73545248e-02 -1.88607723e-02 9.46836039e+01] [ 2.73530040e-02 9.99625779e-01 -3.38647252e-04 2.49791485e+00] [ 1.88629777e-02 -1.77438512e-04 9.99822062e-01 9.79360758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.785099893 meters 0.011436537989777602 Centerline is valid? [True, True] Translation: X:94.71, Y:2.50, Z:0.98 [[ 9.99385877e-01 -2.92679309e-02 -1.92680463e-02 9.47137750e+01] [ 2.92666949e-02 9.99571579e-01 -3.46183404e-04 2.49761865e+00] [ 1.92699236e-02 -2.17941229e-04 9.99814294e-01 9.79425513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.815099893 meters 0.012422724919178061 Centerline is valid? [True, True] Translation: X:94.74, Y:2.50, Z:0.98 [[ 9.99212778e-01 -3.42482066e-02 -2.00221047e-02 9.47441174e+01] [ 3.42478715e-02 9.99413305e-01 -3.59731352e-04 2.49536437e+00] [ 2.00226779e-02 -3.26266304e-04 9.99799473e-01 9.79326278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.845099893 meters 0.012801960372012063 Centerline is valid? [True, True] Translation: X:94.78, Y:2.49, Z:0.98 [[ 9.99114672e-01 -3.70938901e-02 -1.98473098e-02 9.47756792e+01] [ 3.70941273e-02 9.99311713e-01 -3.56321311e-04 2.49489982e+00] [ 1.98468665e-02 -3.80212787e-04 9.99802959e-01 9.80092356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87509989299998 meters 0.013449645646458336 Centerline is valid? [True, True] Translation: X:94.81, Y:2.49, Z:0.98 [[ 9.99016228e-01 -3.98037330e-02 -1.95509240e-02 9.48080213e+01] [ 3.98045005e-02 9.99207426e-01 -3.50043194e-04 2.49396223e+00] [ 1.95493615e-02 -4.28515932e-04 9.99808801e-01 9.81085344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90509989299998 meters 0.015552543887839266 Centerline is valid? [True, True] Translation: X:94.84, Y:2.49, Z:0.98 [[ 9.98796280e-01 -4.51819028e-02 -1.90941681e-02 9.48380660e+01] [ 4.51836446e-02 9.98978640e-01 -3.40397758e-04 2.49126891e+00] [ 1.90900459e-02 -5.22756092e-04 9.99817632e-01 9.82182154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93509989299999 meters 0.016542287676983587 Centerline is valid? [True, True] Translation: X:94.87, Y:2.49, Z:0.98 [[ 9.98553808e-01 -5.02431200e-02 -1.91290639e-02 9.48689615e+01] [ 5.02458191e-02 9.98736823e-01 -3.39800082e-04 2.49109466e+00] [ 1.91219732e-02 -6.21846820e-04 9.99816965e-01 9.82887720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96509989299999 meters 0.017411551372477765 Centerline is valid? [True, True] Translation: X:94.90, Y:2.49, Z:0.98 [[ 9.98440700e-01 -5.23280808e-02 -1.94406803e-02 9.49014142e+01] [ 5.23312775e-02 9.98629720e-01 -3.44601144e-04 2.49094328e+00] [ 1.94320735e-02 -6.73291831e-04 9.99810953e-01 9.83434036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99509989299999 meters 0.017881451984014564 Centerline is valid? [True, True] Translation: X:94.93, Y:2.49, Z:0.98 [[ 9.98243376e-01 -5.61355661e-02 -1.89462677e-02 9.49322544e+01] [ 5.61393056e-02 9.98422889e-01 -3.34851263e-04 2.49283282e+00] [ 1.89351845e-02 -7.29367260e-04 9.99820447e-01 9.84956188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02509989299999 meters 0.018896929442574626 Centerline is valid? [True, True] Translation: X:94.96, Y:2.49, Z:0.98 [[ 9.98219838e-01 -5.65428240e-02 -1.89753791e-02 9.49633193e+01] [ 5.65466596e-02 9.98399901e-01 -3.34779108e-04 2.49271399e+00] [ 1.89639460e-02 -7.38811158e-04 9.99819895e-01 9.84875616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05509989299999 meters 0.01918273367052844 Centerline is valid? [True, True] Translation: X:94.99, Y:2.49, Z:0.98 [[ 9.98345021e-01 -5.42969957e-02 -1.89487736e-02 9.49937805e+01] [ 5.43004316e-02 9.98524588e-01 -3.33518541e-04 2.49357956e+00] [ 1.89389254e-02 -6.95960008e-04 9.99820400e-01 9.84674403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08509989299999 meters 0.018216453285247118 Centerline is valid? [True, True] Translation: X:95.03, Y:2.50, Z:0.99 [[ 9.98459414e-01 -5.23692198e-02 -1.83375033e-02 9.50258390e+01] [ 5.23721244e-02 9.98627587e-01 -3.22123687e-04 2.49686531e+00] [ 1.83292060e-02 -6.38746577e-04 9.99831802e-01 9.86196685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.115099893 meters 0.01799428785506855 Centerline is valid? [True, True] Translation: X:95.06, Y:2.50, Z:0.99 [[ 9.98497483e-01 -5.17703864e-02 -1.79611863e-02 9.50585555e+01] [ 5.17731016e-02 9.98658824e-01 -3.14100850e-04 2.49793745e+00] [ 1.79533584e-02 -6.16277418e-04 9.99838636e-01 9.86972680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.145099893 meters 0.018148530409948835 Centerline is valid? [True, True] Translation: X:95.09, Y:2.50, Z:0.99 [[ 9.98511765e-01 -5.14234876e-02 -1.81625780e-02 9.50905767e+01] [ 5.14262367e-02 9.98676746e-01 -3.15970823e-04 2.49852102e+00] [ 1.81547926e-02 -6.18532450e-04 9.99834997e-01 9.87274429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.175099893 meters 0.018385683495440185 Centerline is valid? [True, True] Translation: X:95.12, Y:2.50, Z:0.99 [[ 9.98523026e-01 -5.09896980e-02 -1.87568050e-02 9.51216579e+01] [ 5.09925767e-02 9.98698979e-01 -3.25075488e-04 2.49876667e+00] [ 1.87489775e-02 -6.31862459e-04 9.99824023e-01 9.87381090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.205099893 meters 0.01710548548427744 Centerline is valid? [True, True] Translation: X:95.15, Y:2.50, Z:0.99 [[ 9.98484882e-01 -5.13332253e-02 -1.98201769e-02 9.51539338e+01] [ 5.13365317e-02 9.98681352e-01 -3.42280382e-04 2.50147183e+00] [ 1.98116114e-02 -6.75737352e-04 9.99803502e-01 9.87201210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23509989299998 meters 0.01884733666134382 Centerline is valid? [True, True] Translation: X:95.18, Y:2.50, Z:0.99 [[ 9.98480420e-01 -5.13759903e-02 -1.99338365e-02 9.51848823e+01] [ 5.13793693e-02 9.98679149e-01 -3.42933865e-04 2.49939423e+00] [ 1.99251254e-02 -6.81775198e-04 9.99801243e-01 9.86853286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26509989299998 meters 0.01884733666134382 Centerline is valid? [True, True] Translation: X:95.22, Y:2.50, Z:0.99 [[ 9.98484013e-01 -5.13061106e-02 -1.99338571e-02 9.52165906e+01] [ 5.13094996e-02 9.98682742e-01 -3.41735314e-04 2.49987669e+00] [ 1.99251321e-02 -6.81578983e-04 9.99801243e-01 9.87245249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29509989299999 meters 0.017608734695515174 Centerline is valid? [True, True] Translation: X:95.25, Y:2.50, Z:0.99 [[ 9.98486706e-01 -5.11315375e-02 -2.02450822e-02 9.52487572e+01] [ 5.11350266e-02 9.98691689e-01 -3.45627163e-04 2.50286936e+00] [ 2.02362678e-02 -6.90128689e-04 9.99794988e-01 9.88244045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32509989299999 meters 0.01695626355419726 Centerline is valid? [True, True] Translation: X:95.28, Y:2.50, Z:0.99 [[ 9.98501204e-01 -5.07814735e-02 -2.04104615e-02 9.52807967e+01] [ 5.07849769e-02 9.98709550e-01 -3.46977377e-04 2.50480117e+00] [ 2.04017429e-02 -6.90087487e-04 9.99791625e-01 9.89063210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35509989299999 meters 0.018117214246616616 Centerline is valid? [True, True] Translation: X:95.31, Y:2.50, Z:0.99 [[ 9.98507334e-01 -5.05274735e-02 -2.07383426e-02 9.53122238e+01] [ 5.05310638e-02 9.98722428e-01 -3.51196091e-04 2.50396121e+00] [ 2.07295929e-02 -6.97258638e-04 9.99784876e-01 9.89080533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38509989299999 meters 0.017266826952641232 Centerline is valid? [True, True] Translation: X:95.34, Y:2.51, Z:0.99 [[ 9.98564557e-01 -4.97819389e-02 -1.97631964e-02 9.53448893e+01] [ 4.97850790e-02 9.98759898e-01 -3.33393201e-04 2.50604453e+00] [ 1.97552850e-02 -6.50997663e-04 9.99804633e-01 9.90662731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41509989299999 meters 0.01692682235668974 Centerline is valid? [True, True] Translation: X:95.38, Y:2.51, Z:0.99 [[ 9.98585820e-01 -4.94674192e-02 -1.94765331e-02 9.53773772e+01] [ 4.94704400e-02 9.98775535e-01 -3.26967598e-04 2.50700581e+00] [ 1.94688590e-02 -6.37007453e-04 9.99810261e-01 9.91643747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44509989299999 meters 0.017309894453274 Centerline is valid? [True, True] Translation: X:95.41, Y:2.51, Z:0.99 [[ 9.98613443e-01 -4.93249268e-02 -1.83913997e-02 9.54086745e+01] [ 4.93276173e-02 9.98782605e-01 -3.07594256e-04 2.50634939e+00] [ 1.83841821e-02 -6.00036167e-04 9.99830817e-01 9.93547827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47509989299999 meters 0.016942941775196944 Centerline is valid? [True, True] Translation: X:95.44, Y:2.51, Z:1.00 [[ 9.98613268e-01 -4.96912113e-02 -1.73874694e-02 9.54411835e+01] [ 4.96936886e-02 9.98764463e-01 -2.89821195e-04 2.50642723e+00] [ 1.73803881e-02 -5.74628199e-04 9.99848785e-01 9.95461422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.505099893 meters 0.0176882495531494 Centerline is valid? [True, True] Translation: X:95.47, Y:2.50, Z:1.00 [[ 9.98587539e-01 -5.00864466e-02 -1.77278029e-02 9.54720265e+01] [ 5.00891051e-02 9.98744710e-01 -2.94306698e-04 2.50449491e+00] [ 1.77202901e-02 -5.94078779e-04 9.99842807e-01 9.96019124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.535099893 meters 0.01779455336874979 Centerline is valid? [True, True] Translation: X:95.50, Y:2.50, Z:1.00 [[ 9.98576873e-01 -4.99516767e-02 -1.86831232e-02 9.55043562e+01] [ 4.99546272e-02 9.98751440e-01 -3.09029443e-04 2.50327415e+00] [ 1.86752327e-02 -6.24718797e-04 9.99825407e-01 9.96193810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.565099893 meters 0.01765696815928544 Centerline is valid? [True, True] Translation: X:95.54, Y:2.50, Z:1.00 [[ 9.98600673e-01 -4.92573703e-02 -1.92459584e-02 9.55367191e+01] [ 4.92603990e-02 9.98785919e-01 -3.16965246e-04 2.50325740e+00] [ 1.92382051e-02 -6.31541880e-04 9.99814729e-01 9.96351600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.595099893 meters 0.01765696815928544 Centerline is valid? [True, True] Translation: X:95.57, Y:2.50, Z:1.00 [[ 9.98604113e-01 -4.91875739e-02 -1.92459804e-02 9.55684260e+01] [ 4.91906156e-02 9.98789359e-01 -3.15620316e-04 2.50371772e+00] [ 1.92382051e-02 -6.31541879e-04 9.99814729e-01 9.96743476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62509989299998 meters 0.016879958994475128 Centerline is valid? [True, True] Translation: X:95.60, Y:2.50, Z:1.00 [[ 9.98690745e-01 -4.69170307e-02 -2.03859683e-02 9.56006978e+01] [ 4.69200011e-02 9.98898595e-01 -3.32839128e-04 2.50416850e+00] [ 2.03791309e-02 -6.24106298e-04 9.99792129e-01 9.95978181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65509989299998 meters 0.014831321897933335 Centerline is valid? [True, True] Translation: X:95.63, Y:2.51, Z:1.00 [[ 9.98758825e-01 -4.50613193e-02 -2.12199764e-02 9.56324487e+01] [ 4.50641522e-02 9.98984036e-01 -3.44909348e-04 2.50750345e+00] [ 2.12139597e-02 -6.11778988e-04 9.99774771e-01 9.96410896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68509989299999 meters 0.01356725127886593 Centerline is valid? [True, True] Translation: X:95.66, Y:2.51, Z:1.00 [[ 9.98974250e-01 -3.95423604e-02 -2.20646464e-02 9.56630635e+01] [ 3.95441065e-02 9.99217762e-01 -3.57345947e-04 2.50996983e+00] [ 2.20615169e-02 -5.15547330e-04 9.99756482e-01 9.96269109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71509989299999 meters 0.012810294321999148 Centerline is valid? [True, True] Translation: X:95.69, Y:2.51, Z:1.00 [[ 9.99116297e-01 -3.59479602e-02 -2.17800196e-02 9.56936560e+01] [ 3.59488212e-02 9.99353570e-01 -3.52123685e-04 2.51232660e+00] [ 2.17785985e-02 -4.31153518e-04 9.99762725e-01 9.96644901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74509989299999 meters 0.011994145356252461 Centerline is valid? [True, True] Translation: X:95.73, Y:2.52, Z:1.00 [[ 9.99252696e-01 -3.18412955e-02 -2.19130596e-02 9.57251320e+01] [ 3.18411921e-02 9.99492878e-01 -3.53714766e-04 2.51527724e+00] [ 2.19132097e-02 -3.44287508e-04 9.99759818e-01 9.97158174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77509989299999 meters 0.010646944236495195 Centerline is valid? [True, True] Translation: X:95.76, Y:2.52, Z:1.00 [[ 9.99476088e-01 -2.33395146e-02 -2.24235785e-02 9.57554213e+01] [ 2.33372769e-02 9.99727583e-01 -3.61507484e-04 2.52116769e+00] [ 2.24259074e-02 -1.61987176e-04 9.99748495e-01 9.96910865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80509989299999 meters 0.010353423187039837 Centerline is valid? [True, True] Translation: X:95.78, Y:2.53, Z:1.00 [[ 9.99619639e-01 -1.53659695e-02 -2.29011699e-02 9.57827735e+01] [ 1.53615114e-02 9.99881936e-01 -3.70583153e-04 2.52693029e+00] [ 2.29041605e-02 1.86456142e-05 9.99737665e-01 9.96801528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83509989299999 meters 0.010334444365849555 Centerline is valid? [True, True] Translation: X:95.81, Y:2.53, Z:1.00 [[ 9.99668557e-01 -1.24315252e-02 -2.25440119e-02 9.58106573e+01] [ 1.24263568e-02 9.99922722e-01 -3.69334990e-04 2.52925635e+00] [ 2.25468612e-02 8.90726397e-05 9.99745783e-01 9.98173346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.865099893 meters 0.010707658325661363 Centerline is valid? [True, True] Translation: X:95.84, Y:2.53, Z:1.00 [[ 9.99750942e-01 -7.32952999e-03 -2.10791643e-02 9.58390877e+01] [ 7.32376103e-03 9.99973119e-01 -3.50866811e-04 2.53290058e+00] [ 2.10811694e-02 1.96400663e-04 9.99777748e-01 9.99704847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.895099893 meters 0.011103286251108912 Centerline is valid? [True, True] Translation: X:95.87, Y:2.53, Z:1.00 [[ 9.99776395e-01 -5.64846412e-03 -2.03777806e-02 9.58665860e+01] [ 5.64264791e-03 9.99984021e-01 -3.42906634e-04 2.53487532e+00] [ 2.03793919e-02 2.27845318e-04 9.99792293e-01 1.00051134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.925099893 meters 0.01120223772212032 Centerline is valid? [True, True] Translation: X:95.90, Y:2.54, Z:1.00 [[ 9.99808085e-01 -4.35873070e-03 -1.90995963e-02 9.58953231e+01] [ 4.35333443e-03 9.99990472e-01 -3.24101763e-04 2.53587245e+00] [ 1.91008269e-02 2.40892633e-04 9.99817534e-01 1.00234810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.955099893 meters 0.010948897760066446 Centerline is valid? [True, True] Translation: X:95.92, Y:2.54, Z:1.00 [[ 9.99808588e-01 -5.22465994e-03 -1.88544479e-02 9.59236580e+01] [ 5.21946285e-03 9.99986326e-01 -3.24841984e-04 2.53541532e+00] [ 1.88558873e-02 2.26369715e-04 9.99822186e-01 1.00326177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98509989299998 meters 0.010573305044954498 Centerline is valid? [True, True] Translation: X:95.95, Y:2.53, Z:1.00 [[ 9.99791045e-01 -8.68594462e-03 -1.85046142e-02 9.59520486e+01] [ 8.68145870e-03 9.99962263e-01 -3.22739793e-04 2.53228885e+00] [ 1.85067192e-02 1.62025310e-04 9.99828723e-01 1.00321438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01509989299998 meters 0.010230403518592147 Centerline is valid? [True, True] Translation: X:95.98, Y:2.53, Z:1.00 [[ 9.99765468e-01 -1.16840169e-02 -1.82343915e-02 9.59811176e+01] [ 1.16801363e-02 9.99931734e-01 -3.19305429e-04 2.52971660e+00] [ 1.82368775e-02 1.06250363e-04 9.99833689e-01 1.00366598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04509989299999 meters 0.009982780210744354 Centerline is valid? [True, True] Translation: X:96.01, Y:2.52, Z:1.00 [[ 9.99638196e-01 -1.99472811e-02 -1.80439165e-02 9.60097746e+01] [ 1.99448043e-02 9.99801032e-01 -3.17229301e-04 2.52231634e+00] [ 1.80466542e-02 -4.27678576e-05 9.99837145e-01 1.00387352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07509989299999 meters 0.01030531046084033 Centerline is valid? [True, True] Translation: X:96.04, Y:2.52, Z:1.00 [[ 9.99536915e-01 -2.47049186e-02 -1.77657728e-02 9.60388664e+01] [ 2.47032301e-02 9.99694779e-01 -3.14522528e-04 2.51811671e+00] [ 1.77681205e-02 -1.24495095e-04 9.99842127e-01 1.00452465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10509989299999 meters 0.01101960481752476 Centerline is valid? [True, True] Translation: X:96.07, Y:2.51, Z:1.00 [[ 9.99411177e-01 -2.96323468e-02 -1.72980474e-02 9.60694484e+01] [ 2.96314327e-02 9.99560845e-01 -3.09198858e-04 2.51353775e+00] [ 1.72996132e-02 -2.03549134e-04 9.99850330e-01 1.00482447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13509989299999 meters 0.013130849211210186 Centerline is valid? [True, True] Translation: X:96.10, Y:2.50, Z:1.00 [[ 9.99115221e-01 -3.83636245e-02 -1.72338864e-02 9.61010373e+01] [ 3.83640182e-02 9.99263783e-01 -3.07880595e-04 2.50421041e+00] [ 1.72330100e-02 -3.53552944e-04 9.99851438e-01 1.00498452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16509989299999 meters 0.015180119196563674 Centerline is valid? [True, True] Translation: X:96.13, Y:2.50, Z:1.00 [[ 9.98784082e-01 -4.58376718e-02 -1.81456806e-02 9.61318291e+01] [ 4.58393508e-02 9.98948772e-01 -3.23608874e-04 2.49601456e+00] [ 1.81414389e-02 -5.08570828e-04 9.99835301e-01 1.00492510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19509989299999 meters 0.01602785676497991 Centerline is valid? [True, True] Translation: X:96.16, Y:2.49, Z:1.01 [[ 9.98637669e-01 -4.89047352e-02 -1.81970844e-02 9.61637366e+01] [ 4.89069420e-02 9.98803287e-01 -3.23991740e-04 2.49298963e+00] [ 1.81911525e-02 -5.66413396e-04 9.99834367e-01 1.00546162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22509989299999 meters 0.018198674177031266 Centerline is valid? [True, True] Translation: X:96.19, Y:2.49, Z:1.01 [[ 9.98402482e-01 -5.34368362e-02 -1.83572648e-02 9.61935171e+01] [ 5.34398594e-02 9.98571017e-01 -3.26172416e-04 2.48619365e+00] [ 1.83484622e-02 -6.55358303e-04 9.99831438e-01 1.00541143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.255099893 meters 0.017290450205672055 Centerline is valid? [True, True] Translation: X:96.23, Y:2.48, Z:1.01 [[ 9.98304169e-01 -5.52595771e-02 -1.83075095e-02 9.62252655e+01] [ 5.52628959e-02 9.98471786e-01 -3.24961936e-04 2.48438953e+00] [ 1.82974890e-02 -6.87315136e-04 9.99832351e-01 1.00544296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.285099893 meters 0.017999698838206603 Centerline is valid? [True, True] Translation: X:96.26, Y:2.48, Z:1.01 [[ 9.98297420e-01 -5.52994611e-02 -1.85534407e-02 9.62560463e+01] [ 5.53029026e-02 9.98469570e-01 -3.27921735e-04 2.48213782e+00] [ 1.85431798e-02 -6.98695700e-04 9.99827816e-01 1.00545978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.315099893 meters 0.017336064975646964 Centerline is valid? [True, True] Translation: X:96.29, Y:2.48, Z:1.01 [[ 9.98401464e-01 -5.32521009e-02 -1.89402046e-02 9.62879027e+01] [ 5.32553562e-02 9.98580871e-01 -3.32820472e-04 2.48106325e+00] [ 1.89310494e-02 -6.76378897e-04 9.99820563e-01 1.00507927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.345099893 meters 0.017689794978491137 Centerline is valid? [True, True] Translation: X:96.32, Y:2.48, Z:1.00 [[ 9.98485095e-01 -5.14113400e-02 -1.96058266e-02 9.63191888e+01] [ 5.14144996e-02 9.98677341e-01 -3.43204868e-04 2.48038770e+00] [ 1.95975394e-02 -6.65338820e-04 9.99807728e-01 1.00477542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37509989299998 meters 0.014976043306150624 Centerline is valid? [True, True] Translation: X:96.35, Y:2.48, Z:1.00 [[ 9.98743909e-01 -4.57358643e-02 -2.04654523e-02 9.63501014e+01] [ 4.57381340e-02 9.98953400e-01 -3.57399612e-04 2.48465887e+00] [ 2.04603792e-02 -5.79100917e-04 9.99790497e-01 1.00482489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40509989299998 meters 0.014910925638600928 Centerline is valid? [True, True] Translation: X:96.38, Y:2.49, Z:1.00 [[ 9.98887974e-01 -4.23639814e-02 -2.06907881e-02 9.63805312e+01] [ 4.23655867e-02 9.99102110e-01 -3.60940380e-04 2.48541550e+00] [ 2.06875009e-02 -5.16038372e-04 9.99785858e-01 1.00454212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43509989299999 meters 0.012351046442054535 Centerline is valid? [True, True] Translation: X:96.41, Y:2.49, Z:1.00 [[ 9.99153807e-01 -3.50126303e-02 -2.15820706e-02 9.64117226e+01] [ 3.50126743e-02 9.99386798e-01 -3.75942573e-04 2.49146231e+00] [ 2.15819991e-02 -3.80021555e-04 9.99767009e-01 1.00413880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46509989299999 meters 0.011324605997633456 Centerline is valid? [True, True] Translation: X:96.44, Y:2.49, Z:1.00 [[ 9.99279770e-01 -3.11124734e-02 -2.17245101e-02 9.64424043e+01] [ 3.11116059e-02 9.99515845e-01 -3.77995756e-04 2.49457551e+00] [ 2.17257525e-02 -2.98160884e-04 9.99763924e-01 1.00446021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49509989299999 meters 0.010442021081845476 Centerline is valid? [True, True] Translation: X:96.47, Y:2.50, Z:1.00 [[ 9.99486993e-01 -2.39657396e-02 -2.12460185e-02 9.64723478e+01] [ 2.39632832e-02 9.99712771e-01 -3.70240246e-04 2.49882141e+00] [ 2.12487891e-02 -1.39074047e-04 9.99774209e-01 1.00451399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52509989299999 meters 0.010219427821669324 Centerline is valid? [True, True] Translation: X:96.50, Y:2.50, Z:1.01 [[ 9.99555851e-01 -2.11763613e-02 -2.09681503e-02 9.65012816e+01] [ 2.11732924e-02 9.99775753e-01 -3.68379294e-04 2.50099717e+00] [ 2.09712491e-02 -7.57490981e-05 9.99780076e-01 1.00513069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55509989299999 meters 0.010208779689125924 Centerline is valid? [True, True] Translation: X:96.53, Y:2.50, Z:1.00 [[ 9.99650473e-01 -1.64785644e-02 -2.06734007e-02 9.65286764e+01] [ 1.64744967e-02 9.99864219e-01 -3.67066050e-04 2.50424744e+00] [ 2.06766424e-02 2.63538784e-05 9.99786215e-01 1.00499621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58509989299999 meters 0.010394963682964475 Centerline is valid? [True, True] Translation: X:96.56, Y:2.51, Z:1.00 [[ 9.99659840e-01 -1.51817466e-02 -2.12065545e-02 9.65559468e+01] [ 1.51771230e-02 9.99884749e-01 -3.78963974e-04 2.50571507e+00] [ 2.12098637e-02 5.69805794e-05 9.99775044e-01 1.00448399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.615099893 meters 0.010386209876895165 Centerline is valid? [True, True] Translation: X:96.58, Y:2.51, Z:1.00 [[ 9.99664339e-01 -1.50203808e-02 -2.11091808e-02 9.65835447e+01] [ 1.50156734e-02 9.99887186e-01 -3.81496846e-04 2.50609881e+00] [ 2.11125296e-02 6.44002274e-05 9.99777104e-01 1.00458016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.645099893 meters 0.010364238190751385 Centerline is valid? [True, True] Translation: X:96.61, Y:2.51, Z:1.01 [[ 9.99655620e-01 -1.62611567e-02 -2.05965321e-02 9.66100182e+01] [ 1.62568352e-02 9.99867778e-01 -3.77250193e-04 2.50598798e+00] [ 2.05999433e-02 4.22858477e-05 9.99787798e-01 1.00511351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.675099893 meters 0.010219533613532538 Centerline is valid? [True, True] Translation: X:96.64, Y:2.51, Z:1.01 [[ 9.99637517e-01 -1.81983236e-02 -1.98407521e-02 9.66381653e+01] [ 1.81946068e-02 9.99834397e-01 -3.67849446e-04 2.50536141e+00] [ 1.98441607e-02 6.72142403e-06 9.99803085e-01 1.00653796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.705099893 meters 0.010266203305125293 Centerline is valid? [True, True] Translation: X:96.67, Y:2.50, Z:1.01 [[ 9.99548157e-01 -2.36443655e-02 -1.85587200e-02 9.66674510e+01] [ 2.36419823e-02 9.99720429e-01 -3.47835038e-04 2.50221259e+00] [ 1.85617559e-02 -9.10870586e-05 9.99827712e-01 1.00810036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73509989299998 meters 0.010591398121460066 Centerline is valid? [True, True] Translation: X:96.70, Y:2.50, Z:1.01 [[ 9.99471707e-01 -2.72781391e-02 -1.76694684e-02 9.66965982e+01] [ 2.72765078e-02 9.99627871e-01 -3.33358886e-04 2.50041334e+00] [ 1.76719865e-02 -1.48778618e-04 9.99843827e-01 1.00885443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76509989299998 meters 0.011680224101629152 Centerline is valid? [True, True] Translation: X:96.73, Y:2.50, Z:1.01 [[ 9.99263324e-01 -3.47913174e-02 -1.61979435e-02 9.67272266e+01] [ 3.47908867e-02 9.99394566e-01 -3.08463097e-04 2.49586542e+00] [ 1.61988686e-02 -2.55304957e-04 9.99868757e-01 1.01036229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79509989299999 meters 0.012613667843535886 Centerline is valid? [True, True] Translation: X:96.76, Y:2.49, Z:1.01 [[ 9.99124061e-01 -3.87287225e-02 -1.58491863e-02 9.67592444e+01] [ 3.87288092e-02 9.99249713e-01 -3.01571146e-04 2.49356123e+00] [ 1.58489743e-02 -3.12513125e-04 9.99874348e-01 1.01083686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82509989299999 meters 0.014695282388998561 Centerline is valid? [True, True] Translation: X:96.79, Y:2.49, Z:1.01 [[ 9.98804822e-01 -4.64031113e-02 -1.53518018e-02 9.67908147e+01] [ 4.64041132e-02 9.98922706e-01 -2.91139441e-04 2.48777132e+00] [ 1.53487731e-02 -4.21595268e-04 9.99882112e-01 1.01059150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85509989299999 meters 0.01652448479395039 Centerline is valid? [True, True] Translation: X:96.82, Y:2.48, Z:1.01 [[ 9.98617318e-01 -5.01249427e-02 -1.58411547e-02 9.68221062e+01] [ 5.01264874e-02 9.98742832e-01 -2.99776621e-04 2.48441310e+00] [ 1.58362660e-02 -4.94699317e-04 9.99874476e-01 1.01034341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88509989299999 meters 0.019207515311146974 Centerline is valid? [True, True] Translation: X:96.85, Y:2.48, Z:1.01 [[ 9.98240282e-01 -5.70630836e-02 -1.61289771e-02 9.68528161e+01] [ 5.70656002e-02 9.98370384e-01 -3.04533602e-04 2.47942639e+00] [ 1.61200707e-02 -6.16412050e-04 9.99869873e-01 1.00982590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91509989299999 meters 0.021005501963258462 Centerline is valid? [True, True] Translation: X:96.88, Y:2.48, Z:1.01 [[ 9.98049774e-01 -6.01772987e-02 -1.65934272e-02 9.68834687e+01] [ 6.01803966e-02 9.98187468e-01 -3.13031867e-04 2.47698477e+00] [ 1.65821885e-02 -6.86177647e-04 9.99862271e-01 1.00991375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94509989299999 meters 0.020609947750894635 Centerline is valid? [True, True] Translation: X:96.91, Y:2.48, Z:1.01 [[ 9.97759739e-01 -6.49712029e-02 -1.59450699e-02 9.69146664e+01] [ 6.49746847e-02 9.97886867e-01 -3.00132449e-04 2.47799118e+00] [ 1.59308758e-02 -7.36565816e-04 9.99872824e-01 1.01097017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97509989299999 meters 0.020182213431913794 Centerline is valid? [True, True] Translation: X:96.95, Y:2.48, Z:1.01 [[ 9.97653364e-01 -6.67141831e-02 -1.53942361e-02 9.69466387e+01] [ 6.67176422e-02 9.97771854e-01 -2.89322253e-04 2.47967170e+00] [ 1.53792373e-02 -7.38423814e-04 9.99881460e-01 1.01167666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.005099893 meters 0.022364099251786326 Centerline is valid? [True, True] Translation: X:96.98, Y:2.48, Z:1.01 [[ 9.97461786e-01 -6.94472875e-02 -1.57181230e-02 9.69767301e+01] [ 6.94512517e-02 9.97585303e-01 -2.94169109e-04 2.47827691e+00] [ 1.57005978e-02 -7.98220875e-04 9.99876419e-01 1.01189484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.035099893 meters 0.024483143796100646 Centerline is valid? [True, True] Translation: X:97.01, Y:2.48, Z:1.01 [[ 9.97394709e-01 -7.04983341e-02 -1.52898528e-02 9.70081737e+01] [ 7.05022273e-02 9.97511581e-01 -2.84909569e-04 2.47642421e+00] [ 1.52718909e-02 -7.93801383e-04 9.99883063e-01 1.01218790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.065099893 meters 0.026582044117783966 Centerline is valid? [True, True] Translation: X:97.04, Y:2.47, Z:1.01 [[ 9.97357775e-01 -7.10030164e-02 -1.53636253e-02 9.70388960e+01] [ 7.10070190e-02 9.97475775e-01 -2.85502392e-04 2.47459138e+00] [ 1.53451155e-02 -8.06177201e-04 9.99881932e-01 1.01250633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.095099893 meters 0.026312828670638704 Centerline is valid? [True, True] Translation: X:97.07, Y:2.48, Z:1.01 [[ 9.97364924e-01 -7.10790346e-02 -1.45251230e-02 9.70712454e+01] [ 7.10826284e-02 9.97470394e-01 -2.69353766e-04 2.47691813e+00] [ 1.45075255e-02 -7.63839921e-04 9.99894469e-01 1.01290019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12509989299998 meters 0.022702810073978986 Centerline is valid? [True, True] Translation: X:97.10, Y:2.48, Z:1.01 [[ 9.97439925e-01 -7.01658957e-02 -1.37965111e-02 9.71036932e+01] [ 7.01690636e-02 9.97535081e-01 -2.54918066e-04 2.48447118e+00] [ 1.37803903e-02 -7.13822805e-04 9.99904791e-01 1.01375271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15509989299998 meters 0.02371701153895677 Centerline is valid? [True, True] Translation: X:97.13, Y:2.48, Z:1.01 [[ 9.97504759e-01 -6.92431534e-02 -1.37710475e-02 9.71346345e+01] [ 6.92462353e-02 9.97599566e-01 -2.53467853e-04 2.48484693e+00] [ 1.37555419e-02 -7.00757805e-04 9.99905143e-01 1.01410369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18509989299999 meters 0.02371701153895677 Centerline is valid? [True, True] Translation: X:97.17, Y:2.49, Z:1.01 [[ 9.97512215e-01 -6.91356593e-02 -1.37710626e-02 9.71672089e+01] [ 6.91387424e-02 9.97607022e-01 -2.52641810e-04 2.48535645e+00] [ 1.37555753e-02 -7.00100660e-04 9.99905143e-01 1.01450639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21509989299999 meters 0.02406230229019222 Centerline is valid? [True, True] Translation: X:97.20, Y:2.49, Z:1.01 [[ 9.97627937e-01 -6.73158766e-02 -1.43899646e-02 9.71973401e+01] [ 6.73190748e-02 9.97731463e-01 -2.62567481e-04 2.48792507e+00] [ 1.43749954e-02 -7.06774450e-04 9.99896425e-01 1.01449798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24509989299999 meters 0.022666924780278378 Centerline is valid? [True, True] Translation: X:97.23, Y:2.49, Z:1.01 [[ 9.97699179e-01 -6.61569012e-02 -1.48193233e-02 9.72294658e+01] [ 6.61601715e-02 9.97808979e-01 -2.70000725e-04 2.49139077e+00] [ 1.48047163e-02 -7.11069472e-04 9.99890151e-01 1.01468890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27509989299999 meters 0.02227845132601225 Centerline is valid? [True, True] Translation: X:97.26, Y:2.49, Z:1.01 [[ 9.97759317e-01 -6.51775474e-02 -1.51073625e-02 9.72613732e+01] [ 6.51808507e-02 9.97873430e-01 -2.74151157e-04 2.49356401e+00] [ 1.50931041e-02 -7.11173869e-04 9.99885840e-01 1.01493158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30509989299999 meters 0.019450547803492105 Centerline is valid? [True, True] Translation: X:97.29, Y:2.50, Z:1.01 [[ 9.97929997e-01 -6.22120451e-02 -1.62905463e-02 9.72930129e+01] [ 6.22155109e-02 9.98062695e-01 -2.94451086e-04 2.50071882e+00] [ 1.62773049e-02 -7.19683088e-04 9.99867257e-01 1.01468343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33509989299999 meters 0.021160628593445894 Centerline is valid? [True, True] Translation: X:97.32, Y:2.50, Z:1.01 [[ 9.98140310e-01 -5.83691782e-02 -1.75772943e-02 9.73239261e+01] [ 5.83726348e-02 9.98294814e-01 -3.16781105e-04 2.50203101e+00] [ 1.75658120e-02 -7.09840992e-04 9.99845457e-01 1.01398649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.365099893 meters 0.017646902523214016 Centerline is valid? [True, True] Translation: X:97.36, Y:2.51, Z:1.01 [[ 9.98284357e-01 -5.57824951e-02 -1.77948395e-02 9.73555027e+01] [ 5.57856408e-02 9.98442717e-01 -3.19946463e-04 2.50932428e+00] [ 1.77849753e-02 -6.73298976e-04 9.99841608e-01 1.01461996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.395099893 meters 0.016775812323399204 Centerline is valid? [True, True] Translation: X:97.39, Y:2.52, Z:1.01 [[ 9.98598752e-01 -4.97994290e-02 -1.79038767e-02 9.73852118e+01] [ 4.98016649e-02 9.98759076e-01 -3.21225164e-04 2.51537895e+00] [ 1.78976562e-02 -5.70867820e-04 9.99839661e-01 1.01492935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.425099893 meters 0.015087154018055614 Centerline is valid? [True, True] Translation: X:97.42, Y:2.52, Z:1.02 [[ 9.98799035e-01 -4.57651242e-02 -1.74940173e-02 9.74171054e+01] [ 4.57666454e-02 9.98952109e-01 -3.13595746e-04 2.52086433e+00] [ 1.74900372e-02 -4.87423356e-04 9.99846919e-01 1.01567568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.455099893 meters 0.012635060372934364 Centerline is valid? [True, True] Translation: X:97.45, Y:2.53, Z:1.02 [[ 9.99190903e-01 -3.65667241e-02 -1.67455475e-02 9.74475326e+01] [ 3.65668384e-02 9.99331165e-01 -2.99464508e-04 2.53024661e+00] [ 1.67452980e-02 -3.13109518e-04 9.99859739e-01 1.01659865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48509989299998 meters 0.011201731125443624 Centerline is valid? [True, True] Translation: X:97.48, Y:2.54, Z:1.02 [[ 9.99376384e-01 -3.13900019e-02 -1.61713223e-02 9.74790539e+01] [ 3.13894366e-02 9.99507188e-01 -2.88842701e-04 2.53631535e+00] [ 1.61724197e-02 -2.18946122e-04 9.99869194e-01 1.01785200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51509989299998 meters 0.010218230403274738 Centerline is valid? [True, True] Translation: X:97.51, Y:2.55, Z:1.02 [[ 9.99660737e-01 -2.14466256e-02 -1.47801839e-02 9.75091549e+01] [ 2.14450732e-02 9.99769993e-01 -2.63533204e-04 2.54527853e+00] [ 1.47824362e-02 -5.35183283e-05 9.99890732e-01 1.01896646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54509989299999 meters 0.01009690910503448 Centerline is valid? [True, True] Translation: X:97.54, Y:2.55, Z:1.02 [[ 9.99755581e-01 -1.69600203e-02 -1.41822547e-02 9.75399323e+01] [ 1.69581425e-02 9.99856168e-01 -2.52656419e-04 2.55013866e+00] [ 1.41844999e-02 1.20899678e-05 9.99899395e-01 1.02058838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57509989299999 meters 0.010644698641276993 Centerline is valid? [True, True] Translation: X:97.57, Y:2.56, Z:1.02 [[ 9.99860743e-01 -9.20568504e-03 -1.39193939e-02 9.75690132e+01] [ 9.20312447e-03 9.99957620e-01 -2.48001237e-04 2.55756052e+00] [ 1.39210870e-02 1.19864787e-04 9.99903090e-01 1.02130443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60509989299999 meters 0.011116310448809336 Centerline is valid? [True, True] Translation: X:97.60, Y:2.56, Z:1.02 [[ 9.99857689e-01 -5.61942861e-03 -1.59067082e-02 9.75978803e+01] [ 5.61561276e-03 9.99984192e-01 -2.84545688e-04 2.56111755e+00] [ 1.59080557e-02 1.95179281e-04 9.99873440e-01 1.01989068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63509989299999 meters 0.011534784474392138 Centerline is valid? [True, True] Translation: X:97.63, Y:2.56, Z:1.02 [[ 9.99856705e-01 -4.72567098e-03 -1.62553787e-02 9.76259881e+01] [ 4.72151097e-03 9.99988810e-01 -2.94283947e-04 2.56298075e+00] [ 1.62565875e-02 2.17491828e-04 9.99867829e-01 1.01935210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66509989299999 meters 0.011605054260922716 Centerline is valid? [True, True] Translation: X:97.65, Y:2.56, Z:1.02 [[ 9.99857477e-01 -4.88002692e-03 -1.61620508e-02 9.76533786e+01] [ 4.87590003e-03 9.99988069e-01 -2.94739362e-04 2.56385226e+00] [ 1.61632963e-02 2.15892810e-04 9.99869342e-01 1.01945398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69509989299999 meters 0.011304561279401578 Centerline is valid? [True, True] Translation: X:97.68, Y:2.56, Z:1.02 [[ 9.99848590e-01 -6.16846366e-03 -1.62710408e-02 9.76816678e+01] [ 6.16437947e-03 9.99980955e-01 -3.01152254e-04 2.56374153e+00] [ 1.62725886e-02 2.00805787e-04 9.99867573e-01 1.01975957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72509989299999 meters 0.010893611990188226 Centerline is valid? [True, True] Translation: X:97.71, Y:2.56, Z:1.02 [[ 9.99844236e-01 -7.58317241e-03 -1.59373437e-02 9.77101244e+01] [ 7.57938233e-03 9.99971232e-01 -2.98200539e-04 2.56299010e+00] [ 1.59391465e-02 1.77358869e-04 9.99872948e-01 1.02015007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.755099893 meters 0.010693977510861907 Centerline is valid? [True, True] Translation: X:97.74, Y:2.56, Z:1.02 [[ 9.99822955e-01 -1.11017919e-02 -1.51923661e-02 9.77380487e+01] [ 1.10987375e-02 9.99938366e-01 -2.85353882e-04 2.56227840e+00] [ 1.51945977e-02 1.16687279e-04 9.99884549e-01 1.02081943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.785099893 meters 0.010259064058070063 Centerline is valid? [True, True] Translation: X:97.77, Y:2.56, Z:1.02 [[ 9.99806556e-01 -1.34222218e-02 -1.43768911e-02 9.77669063e+01] [ 1.34197042e-02 9.99909915e-01 -2.71580245e-04 2.56109785e+00] [ 1.43792412e-02 7.85940840e-05 9.99896610e-01 1.02158267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.815099893 meters 0.01012479862474118 Centerline is valid? [True, True] Translation: X:97.79, Y:2.56, Z:1.02 [[ 9.99730059e-01 -1.84643696e-02 -1.41023400e-02 9.77949906e+01] [ 1.84624035e-02 9.99829519e-01 -2.69598641e-04 2.55934706e+00] [ 1.41049138e-02 9.16277305e-06 9.99900521e-01 1.02229813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.845099893 meters 0.010099216752829938 Centerline is valid? [True, True] Translation: X:97.83, Y:2.56, Z:1.02 [[ 9.99687813e-01 -2.08709562e-02 -1.37360968e-02 9.78257568e+01] [ 2.08693034e-02 9.99782178e-01 -2.63670312e-04 2.55820442e+00] [ 1.37386079e-02 -2.30747754e-05 9.99905621e-01 1.02298793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87509989299998 meters 0.010452689838362648 Centerline is valid? [True, True] Translation: X:97.86, Y:2.56, Z:1.02 [[ 9.99566844e-01 -2.61205858e-02 -1.35587408e-02 9.78574849e+01] [ 2.61194588e-02 9.99658795e-01 -2.60223681e-04 2.55558879e+00] [ 1.35609116e-02 -9.40360063e-05 9.99908042e-01 1.02364137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90509989299998 meters 0.010838021875339603 Centerline is valid? [True, True] Translation: X:97.89, Y:2.55, Z:1.02 [[ 9.99503570e-01 -2.85343439e-02 -1.33567926e-02 9.78897855e+01] [ 2.85334724e-02 9.99592805e-01 -2.55847400e-04 2.55412092e+00] [ 1.33586542e-02 -1.25395282e-04 9.99910761e-01 1.02373746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93509989299999 meters 0.011710830176831853 Centerline is valid? [True, True] Translation: X:97.92, Y:2.55, Z:1.02 [[ 9.99369861e-01 -3.32415688e-02 -1.24450664e-02 9.79222228e+01] [ 3.32411873e-02 9.99447331e-01 -2.37563652e-04 2.55016184e+00] [ 1.24460854e-02 -1.76274831e-04 9.99922529e-01 1.02391618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96509989299999 meters 0.012314872811092961 Centerline is valid? [True, True] Translation: X:97.95, Y:2.55, Z:1.02 [[ 9.99308186e-01 -3.52806330e-02 -1.17654698e-02 9.79536487e+01] [ 3.52804423e-02 9.99377426e-01 -2.23824368e-04 2.54805018e+00] [ 1.17660416e-02 -1.91421457e-04 9.99930759e-01 1.02439097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99509989299999 meters 0.013110308741533704 Centerline is valid? [True, True] Translation: X:97.99, Y:2.54, Z:1.02 [[ 9.99177640e-01 -3.91629498e-02 -1.05026911e-02 9.79860218e+01] [ 3.91630229e-02 9.99232815e-01 -1.98775926e-04 2.54492295e+00] [ 1.05024182e-02 -2.12704670e-04 9.99944825e-01 1.02483773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02509989299999 meters 0.013699102651153091 Centerline is valid? [True, True] Translation: X:98.02, Y:2.54, Z:1.03 [[ 9.99105990e-01 -4.10127316e-02 -1.02555799e-02 9.80179794e+01] [ 4.10129061e-02 9.99158598e-01 -1.93387874e-04 2.54333269e+00] [ 1.02548822e-02 -2.27396153e-04 9.99947391e-01 1.02515960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05509989299999 meters 0.014798925138378482 Centerline is valid? [True, True] Translation: X:98.05, Y:2.54, Z:1.02 [[ 9.98972394e-01 -4.40374731e-02 -1.07171116e-02 9.80503060e+01] [ 4.40378462e-02 9.99029843e-01 -2.01287250e-04 2.53961659e+00] [ 1.07155785e-02 -2.70878106e-04 9.99942550e-01 1.02412829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08509989299999 meters 0.014568571450269926 Centerline is valid? [True, True] Translation: X:98.08, Y:2.54, Z:1.02 [[ 9.98850789e-01 -4.63619583e-02 -1.21519778e-02 9.80824833e+01] [ 4.63626217e-02 9.98924650e-01 -2.27261584e-04 2.53889820e+00] [ 1.21494465e-02 -3.36397137e-04 9.99926136e-01 1.02275021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.115099893 meters 0.01493222125620305 Centerline is valid? [True, True] Translation: X:98.11, Y:2.54, Z:1.02 [[ 9.98818144e-01 -4.69922135e-02 -1.24116074e-02 9.81144383e+01] [ 4.69929657e-02 9.98895194e-01 -2.31190969e-04 2.53787647e+00] [ 1.24087592e-02 -3.52340508e-04 9.99922946e-01 1.02220835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.145099893 meters 0.014794556253381646 Centerline is valid? [True, True] Translation: X:98.15, Y:2.54, Z:1.02 [[ 9.98836674e-01 -4.64734181e-02 -1.28654420e-02 9.81470612e+01] [ 4.64741957e-02 9.98919462e-01 -2.38678610e-04 2.53744732e+00] [ 1.28626326e-02 -3.59510120e-04 9.99917208e-01 1.02238327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.175099893 meters 0.014697450757577902 Centerline is valid? [True, True] Translation: X:98.18, Y:2.54, Z:1.02 [[ 9.98893165e-01 -4.51981761e-02 -1.30218828e-02 9.81788033e+01] [ 4.51988769e-02 9.98977980e-01 -2.40624280e-04 2.53808143e+00] [ 1.30194500e-02 -3.48216530e-04 9.99915183e-01 1.02263903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.205099893 meters 0.013407663398052596 Centerline is valid? [True, True] Translation: X:98.21, Y:2.54, Z:1.02 [[ 9.99075112e-01 -4.08217641e-02 -1.35094097e-02 9.82101597e+01] [ 4.08221316e-02 9.99166398e-01 -2.48666247e-04 2.54124213e+00] [ 1.35082992e-02 -3.03046642e-04 9.99908713e-01 1.02243886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23509989299998 meters 0.013241990340817153 Centerline is valid? [True, True] Translation: X:98.24, Y:2.54, Z:1.02 [[ 9.99180783e-01 -3.79931713e-02 -1.39385302e-02 9.82411127e+01] [ 3.79932951e-02 9.99277961e-01 -2.56015522e-04 2.54259019e+00] [ 1.39381929e-02 -2.73764901e-04 9.99902821e-01 1.02272884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26509989299998 meters 0.0119000679145426 Centerline is valid? [True, True] Translation: X:98.27, Y:2.55, Z:1.02 [[ 9.99302215e-01 -3.46135969e-02 -1.40350475e-02 9.82737683e+01] [ 3.46134009e-02 9.99400744e-01 -2.56947150e-04 2.54663161e+00] [ 1.40355307e-02 -2.29032868e-04 9.99901471e-01 1.02319058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29509989299999 meters 0.011680250812373491 Centerline is valid? [True, True] Translation: X:98.30, Y:2.55, Z:1.02 [[ 9.99411990e-01 -3.12444474e-02 -1.41230116e-02 9.83047675e+01] [ 3.12439318e-02 9.99511756e-01 -2.57201998e-04 2.54886129e+00] [ 1.41241522e-02 -1.84207650e-04 9.99900232e-01 1.02341958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32509989299999 meters 0.010901465873213624 Centerline is valid? [True, True] Translation: X:98.34, Y:2.55, Z:1.02 [[ 9.99505220e-01 -2.79606424e-02 -1.44054976e-02 9.83369348e+01] [ 2.79597769e-02 9.99609015e-01 -2.61517746e-04 2.55253675e+00] [ 1.44071775e-02 -1.41386147e-04 9.99896201e-01 1.02389659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35509989299999 meters 0.010308442095140195 Centerline is valid? [True, True] Translation: X:98.37, Y:2.56, Z:1.02 [[ 9.99637354e-01 -2.20306801e-02 -1.54858174e-02 9.83684641e+01] [ 2.20289849e-02 9.99757293e-01 -2.80059315e-04 2.55643046e+00] [ 1.54882288e-02 -6.11790845e-05 9.99880048e-01 1.02338563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38509989299999 meters 0.01020279450081645 Centerline is valid? [True, True] Translation: X:98.40, Y:2.56, Z:1.02 [[ 9.99679203e-01 -1.95330043e-02 -1.61230301e-02 9.83993467e+01] [ 1.95308493e-02 9.99809212e-01 -2.91121685e-04 2.55829798e+00] [ 1.61256406e-02 -2.38681771e-05 9.99869973e-01 1.02329337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41509989299999 meters 0.010266789107696326 Centerline is valid? [True, True] Translation: X:98.43, Y:2.56, Z:1.02 [[ 9.99720689e-01 -1.61653520e-02 -1.72402038e-02 9.84284221e+01] [ 1.61623827e-02 9.99869332e-01 -3.11554262e-04 2.56040673e+00] [ 1.72429874e-02 3.28244695e-05 9.99851328e-01 1.02302030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44509989299999 meters 0.010371247237481715 Centerline is valid? [True, True] Translation: X:98.46, Y:2.56, Z:1.02 [[ 9.99731511e-01 -1.53799935e-02 -1.73309534e-02 9.84563403e+01] [ 1.53768392e-02 9.99881720e-01 -3.15251302e-04 2.56122623e+00] [ 1.73337521e-02 4.86713767e-05 9.99849758e-01 1.02309659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47509989299999 meters 0.010458816764385653 Centerline is valid? [True, True] Translation: X:98.48, Y:2.56, Z:1.02 [[ 9.99730656e-01 -1.51422367e-02 -1.75877280e-02 9.84847021e+01] [ 1.51388637e-02 9.99885348e-01 -3.24916059e-04 2.56130429e+00] [ 1.75906315e-02 5.85703281e-05 9.99845271e-01 1.02362859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.505099893 meters 0.010342816781189663 Centerline is valid? [True, True] Translation: X:98.51, Y:2.56, Z:1.02 [[ 9.99706409e-01 -1.64484469e-02 -1.77916914e-02 9.85116410e+01] [ 1.64451273e-02 9.99864714e-01 -3.32880197e-04 2.56036001e+00] [ 1.77947598e-02 4.01958352e-05 9.99841660e-01 1.02375899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.535099893 meters 0.010237544066195819 Centerline is valid? [True, True] Translation: X:98.54, Y:2.56, Z:1.02 [[ 9.99676322e-01 -1.79062420e-02 -1.80725560e-02 9.85398136e+01] [ 1.79029973e-02 9.99839670e-01 -3.41323975e-04 2.55967047e+00] [ 1.80757703e-02 1.76605747e-05 9.99836620e-01 1.02422211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.565099893 meters 0.010312522472482509 Centerline is valid? [True, True] Translation: X:98.57, Y:2.56, Z:1.02 [[ 9.99639678e-01 -1.96867366e-02 -1.82468434e-02 9.85671908e+01] [ 1.96836499e-02 9.99806197e-01 -3.48759849e-04 2.55867019e+00] [ 1.82501731e-02 -1.05302956e-05 9.99833452e-01 1.02356666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.595099893 meters 0.010297680645229809 Centerline is valid? [True, True] Translation: X:98.60, Y:2.56, Z:1.02 [[ 9.99587537e-01 -2.22232267e-02 -1.81902305e-02 9.85964231e+01] [ 2.22205336e-02 9.99753032e-01 -3.50179485e-04 2.55735669e+00] [ 1.81935202e-02 -5.41615786e-05 9.99834483e-01 1.02362271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62509989299998 meters 0.010424753562908473 Centerline is valid? [True, True] Translation: X:98.63, Y:2.56, Z:1.02 [[ 9.99529891e-01 -2.48822909e-02 -1.79128276e-02 9.86263362e+01] [ 2.48800505e-02 9.99690383e-01 -3.47953336e-04 2.55618741e+00] [ 1.79159394e-02 -9.78822960e-05 9.99839492e-01 1.02428629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65509989299998 meters 0.011431574223562257 Centerline is valid? [True, True] Translation: X:98.66, Y:2.55, Z:1.03 [[ 9.99392174e-01 -3.06420129e-02 -1.66237539e-02 9.86558078e+01] [ 3.06408719e-02 9.99530406e-01 -3.23391386e-04 2.55165410e+00] [ 1.66258569e-02 -1.86171493e-04 9.99861764e-01 1.02508256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68509989299999 meters 0.012415013969715248 Centerline is valid? [True, True] Translation: X:98.69, Y:2.55, Z:1.03 [[ 9.99294933e-01 -3.40631855e-02 -1.57903963e-02 9.86866289e+01] [ 3.40625822e-02 9.99419655e-01 -3.07228346e-04 2.54906432e+00] [ 1.57916976e-02 -2.30849942e-04 9.99875277e-01 1.02593765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71509989299999 meters 0.013559472422595042 Centerline is valid? [True, True] Translation: X:98.72, Y:2.55, Z:1.03 [[ 9.99160672e-01 -3.78924509e-02 -1.55600051e-02 9.87186272e+01] [ 3.78923412e-02 9.99281782e-01 -3.01974525e-04 2.54648654e+00] [ 1.55602722e-02 -2.87883954e-04 9.99878890e-01 1.02661488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74509989299999 meters 0.014495547923566667 Centerline is valid? [True, True] Translation: X:98.75, Y:2.54, Z:1.03 [[ 9.98802777e-01 -4.64755789e-02 -1.52654022e-02 9.87496428e+01] [ 4.64764881e-02 9.98919340e-01 -2.95387216e-04 2.54401367e+00] [ 1.52626338e-02 -4.14448712e-04 9.99883433e-01 1.02759009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77509989299999 meters 0.01907937328978932 Centerline is valid? [True, True] Translation: X:98.78, Y:2.54, Z:1.03 [[ 9.98354580e-01 -5.52194895e-02 -1.54576850e-02 9.87798004e+01] [ 5.52214725e-02 9.98474086e-01 -2.98829914e-04 2.53626096e+00] [ 1.54505991e-02 -5.55257915e-04 9.99880478e-01 1.02739511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80509989299999 meters 0.017945984161192037 Centerline is valid? [True, True] Translation: X:98.81, Y:2.54, Z:1.03 [[ 9.98137341e-01 -5.89696926e-02 -1.56340593e-02 9.88108083e+01] [ 5.89721863e-02 9.98259581e-01 -3.01865889e-04 2.53820088e+00] [ 1.56246504e-02 -6.20671038e-04 9.99877735e-01 1.02794344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83509989299999 meters 0.019896283305771766 Centerline is valid? [True, True] Translation: X:98.84, Y:2.54, Z:1.03 [[ 9.97977577e-01 -6.14603199e-02 -1.62291640e-02 9.88419208e+01] [ 6.14633538e-02 9.98109292e-01 -3.12250493e-04 2.53534478e+00] [ 1.62176704e-02 -6.85879860e-04 9.99868250e-01 1.02786403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.865099893 meters 0.020936147654113228 Centerline is valid? [True, True] Translation: X:98.87, Y:2.53, Z:1.03 [[ 9.97827586e-01 -6.35057673e-02 -1.75249940e-02 9.88742525e+01] [ 6.35096543e-02 9.97981168e-01 -3.35219496e-04 2.53284459e+00] [ 1.75109024e-02 -7.78515052e-04 9.99846369e-01 1.02680796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.895099893 meters 0.020755801235729426 Centerline is valid? [True, True] Translation: X:98.91, Y:2.53, Z:1.03 [[ 9.97811339e-01 -6.38108602e-02 -1.73408960e-02 9.89061043e+01] [ 6.38147334e-02 9.97961708e-01 -3.30460193e-04 2.53335264e+00] [ 1.73266371e-02 -7.76867724e-04 9.99849581e-01 1.02732095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.925099893 meters 0.02392300859706506 Centerline is valid? [True, True] Translation: X:98.94, Y:2.53, Z:1.03 [[ 9.97780064e-01 -6.43250814e-02 -1.72403018e-02 9.89372467e+01] [ 6.43290131e-02 9.97928690e-01 -3.26991290e-04 2.52984779e+00] [ 1.72256255e-02 -7.82786208e-04 9.99851321e-01 1.02787155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.955099893 meters 0.02141652508870541 Centerline is valid? [True, True] Translation: X:98.97, Y:2.53, Z:1.03 [[ 9.97769740e-01 -6.44789484e-02 -1.72629955e-02 9.89691035e+01] [ 6.44829485e-02 9.97918756e-01 -3.25388900e-04 2.53378940e+00] [ 1.72480478e-02 -7.88505654e-04 9.99850930e-01 1.02890242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98509989299998 meters 0.02119304780349801 Centerline is valid? [True, True] Translation: X:99.00, Y:2.53, Z:1.03 [[ 9.97738812e-01 -6.49795608e-02 -1.71732336e-02 9.90012814e+01] [ 6.49836145e-02 9.97886279e-01 -3.22465158e-04 2.53481618e+00] [ 1.71578878e-02 -7.94242787e-04 9.99852477e-01 1.02948041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01509989299998 meters 0.02212355276008508 Centerline is valid? [True, True] Translation: X:99.03, Y:2.53, Z:1.03 [[ 9.97677516e-01 -6.55291510e-02 -1.85877634e-02 9.90326953e+01] [ 6.55340198e-02 9.97850275e-01 -3.47720592e-04 2.53330820e+00] [ 1.85705907e-02 -8.71217840e-04 9.99827172e-01 1.02820682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04509989299999 meters 0.0223987303171492 Centerline is valid? [True, True] Translation: X:99.07, Y:2.53, Z:1.03 [[ 9.97664197e-01 -6.54927266e-02 -1.94126827e-02 9.90650791e+01] [ 6.54980537e-02 9.97852631e-01 -3.61953464e-04 2.53295515e+00] [ 1.93947018e-02 -9.10384921e-04 9.99811491e-01 1.02731186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07509989299999 meters 0.0223987303171492 Centerline is valid? [True, True] Translation: X:99.10, Y:2.53, Z:1.03 [[ 9.97671204e-01 -6.53858908e-02 -1.94127131e-02 9.90976489e+01] [ 6.53912294e-02 9.97859638e-01 -3.60318657e-04 2.53347176e+00] [ 1.93947226e-02 -9.09941624e-04 9.99811491e-01 1.02771444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10509989299999 meters 0.02138733241507157 Centerline is valid? [True, True] Translation: X:99.13, Y:2.54, Z:1.03 [[ 9.97692234e-01 -6.47742365e-02 -2.03594080e-02 9.91299319e+01] [ 6.47800216e-02 9.97899498e-01 -3.75925236e-04 2.53567735e+00] [ 2.03409933e-02 -9.43825205e-04 9.99792655e-01 1.02714933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13509989299999 meters 0.02214691017427673 Centerline is valid? [True, True] Translation: X:99.16, Y:2.54, Z:1.03 [[ 9.97770863e-01 -6.34927536e-02 -2.05420410e-02 9.91614756e+01] [ 6.34983994e-02 9.97981869e-01 -3.77959377e-04 2.53589116e+00] [ 2.05245821e-02 -9.27269869e-04 9.99788919e-01 1.02735276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16509989299999 meters 0.022482302633767045 Centerline is valid? [True, True] Translation: X:99.19, Y:2.54, Z:1.03 [[ 9.97838964e-01 -6.24350115e-02 -2.04761057e-02 9.91930618e+01] [ 6.24404240e-02 9.98048622e-01 -3.75516328e-04 2.53750536e+00] [ 2.04595944e-02 -9.03831897e-04 9.99790272e-01 1.02792708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19509989299999 meters 0.018650249423726156 Centerline is valid? [True, True] Translation: X:99.22, Y:2.55, Z:1.03 [[ 9.98020226e-01 -5.94596920e-02 -2.04981408e-02 9.92241582e+01] [ 5.94645137e-02 9.98230350e-01 -3.74755006e-04 2.54629840e+00] [ 2.04841491e-02 -8.44898900e-04 9.99789821e-01 1.02990004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22509989299999 meters 0.017993481516135834 Centerline is valid? [True, True] Translation: X:99.26, Y:2.55, Z:1.03 [[ 9.98133667e-01 -5.76859174e-02 -2.00379248e-02 9.92565815e+01] [ 5.76901882e-02 9.98334467e-01 -3.65334547e-04 2.54890339e+00] [ 2.00256257e-02 -7.91338943e-04 9.99799154e-01 1.03061200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.255099893 meters 0.019314165672908508 Centerline is valid? [True, True] Translation: X:99.29, Y:2.55, Z:1.03 [[ 9.98300173e-01 -5.48503669e-02 -1.97028481e-02 9.92866128e+01] [ 5.48539648e-02 9.98494324e-01 -3.58198810e-04 2.54966979e+00] [ 1.96928293e-02 -7.23189403e-04 9.99805816e-01 1.03085018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.285099893 meters 0.018936793116528308 Centerline is valid? [True, True] Translation: X:99.32, Y:2.55, Z:1.03 [[ 9.98395818e-01 -5.32356161e-02 -1.92810869e-02 9.93184105e+01] [ 5.32387743e-02 9.98581750e-01 -3.49827021e-04 2.55164250e+00] [ 1.92723648e-02 -6.77235599e-04 9.99814041e-01 1.03146631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.315099893 meters 0.017167930158173465 Centerline is valid? [True, True] Translation: X:99.35, Y:2.56, Z:1.03 [[ 9.98467465e-01 -5.18712695e-02 -1.92896816e-02 9.93508756e+01] [ 5.18742024e-02 9.98653566e-01 -3.48625680e-04 2.55549567e+00] [ 1.92817930e-02 -6.52545447e-04 9.99813876e-01 1.03234298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.345099893 meters 0.01667696713609956 Centerline is valid? [True, True] Translation: X:99.38, Y:2.56, Z:1.03 [[ 9.98593319e-01 -4.91875329e-02 -1.97982482e-02 9.93814566e+01] [ 4.91901162e-02 9.98789370e-01 -3.56777020e-04 2.55883383e+00] [ 1.97918288e-02 -6.17602982e-04 9.99803932e-01 1.03291517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37509989299998 meters 0.015708746366819713 Centerline is valid? [True, True] Translation: X:99.41, Y:2.56, Z:1.03 [[ 9.98680711e-01 -4.72102488e-02 -2.01997450e-02 9.94140358e+01] [ 4.72125525e-02 9.98884800e-01 -3.63092943e-04 2.56196707e+00] [ 2.01943600e-02 -5.91067604e-04 9.99795898e-01 1.03355937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40509989299998 meters 0.014267915688234224 Centerline is valid? [True, True] Translation: X:99.45, Y:2.57, Z:1.03 [[ 9.98859512e-01 -4.30743311e-02 -2.05980133e-02 9.94454154e+01] [ 4.30758770e-02 9.99071736e-01 -3.68834810e-04 2.56712494e+00] [ 2.05947802e-02 -5.18863330e-04 9.99787770e-01 1.03428094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43509989299999 meters 0.013997623800538055 Centerline is valid? [True, True] Translation: X:99.48, Y:2.57, Z:1.03 [[ 9.98955926e-01 -4.06912289e-02 -2.07673297e-02 9.94762121e+01] [ 4.06923043e-02 9.99171656e-01 -3.70970567e-04 2.56940294e+00] [ 2.07652225e-02 -4.74487253e-04 9.99784267e-01 1.03474123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46509989299999 meters 0.012836928169437366 Centerline is valid? [True, True] Translation: X:99.51, Y:2.57, Z:1.04 [[ 9.99065906e-01 -3.79939561e-02 -2.05857665e-02 9.95075049e+01] [ 3.79944600e-02 9.99277883e-01 -3.66779067e-04 2.57323412e+00] [ 2.05848366e-02 -4.15708621e-04 9.99788023e-01 1.03563294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49509989299999 meters 0.01223574685277072 Centerline is valid? [True, True] Translation: X:99.54, Y:2.58, Z:1.04 [[ 9.99156319e-01 -3.54515937e-02 -2.07324494e-02 9.95393762e+01] [ 3.54515762e-02 9.99371327e-01 -3.68496852e-04 2.57610166e+00] [ 2.07324793e-02 -3.66812052e-04 9.99784992e-01 1.03616129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52509989299999 meters 0.011385498091258257 Centerline is valid? [True, True] Translation: X:99.57, Y:2.58, Z:1.04 [[ 9.99321368e-01 -3.06215658e-02 -2.04724884e-02 9.95710069e+01] [ 3.06205578e-02 9.99531015e-01 -3.62783117e-04 2.58001145e+00] [ 2.04739961e-02 -2.64342095e-04 9.99790351e-01 1.03638392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55509989299999 meters 0.010810867930713551 Centerline is valid? [True, True] Translation: X:99.60, Y:2.58, Z:1.04 [[ 9.99457632e-01 -2.67602957e-02 -1.91918721e-02 9.96012162e+01] [ 2.67587100e-02 9.99641864e-01 -3.39463992e-04 2.58337753e+00] [ 1.91940830e-02 -1.74269862e-04 9.99815761e-01 1.03678019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58509989299999 meters 0.010729378412992313 Centerline is valid? [True, True] Translation: X:99.63, Y:2.58, Z:1.04 [[ 9.99500235e-01 -2.52550801e-02 -1.90121551e-02 9.96309267e+01] [ 2.52532524e-02 9.99681029e-01 -3.36242756e-04 2.58471054e+00] [ 1.90145826e-02 -1.44044038e-04 9.99819196e-01 1.03689003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.615099893 meters 0.010591157490431212 Centerline is valid? [True, True] Translation: X:99.66, Y:2.59, Z:1.04 [[ 9.99513349e-01 -2.44532150e-02 -1.93676145e-02 9.96603851e+01] [ 2.44511646e-02 9.99700967e-01 -3.42697653e-04 2.58613968e+00] [ 1.93702030e-02 -1.31029853e-04 9.99812371e-01 1.03688485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.645099893 meters 0.010790402652353826 Centerline is valid? [True, True] Translation: X:99.69, Y:2.59, Z:1.04 [[ 9.99493669e-01 -2.52612017e-02 -1.93462343e-02 9.96897788e+01] [ 2.52592939e-02 9.99680874e-01 -3.43006012e-04 2.58557901e+00] [ 1.93487252e-02 -1.45839881e-04 9.99812785e-01 1.03684497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.675099893 meters 0.010988680550359176 Centerline is valid? [True, True] Translation: X:99.72, Y:2.58, Z:1.04 [[ 9.99485218e-01 -2.63467220e-02 -1.83070744e-02 9.97195612e+01] [ 2.63451842e-02 9.99652853e-01 -3.25208260e-04 2.58484217e+00] [ 1.83092874e-02 -1.57262400e-04 9.99832359e-01 1.03737947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.705099893 meters 0.011705385352951642 Centerline is valid? [True, True] Translation: X:99.75, Y:2.58, Z:1.04 [[ 9.99395083e-01 -2.98175356e-02 -1.78992229e-02 9.97495461e+01] [ 2.98166126e-02 9.99555335e-01 -3.18489260e-04 2.58136564e+00] [ 1.79007603e-02 -2.15397595e-04 9.99839745e-01 1.03757455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73509989299998 meters 0.012129838778194018 Centerline is valid? [True, True] Translation: X:99.78, Y:2.58, Z:1.04 [[ 9.99324046e-01 -3.19849127e-02 -1.81222790e-02 9.97808108e+01] [ 3.19843225e-02 9.99488319e-01 -3.22479566e-04 2.57994624e+00] [ 1.81233207e-02 -2.57367232e-04 9.99835726e-01 1.03772447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76509989299998 meters 0.012385157414153558 Centerline is valid? [True, True] Translation: X:99.81, Y:2.58, Z:1.04 [[ 9.99249731e-01 -3.40824678e-02 -1.83945869e-02 9.98120605e+01] [ 3.40822269e-02 9.99418979e-01 -3.26679186e-04 2.57874664e+00] [ 1.83950333e-02 -3.00494396e-04 9.99830752e-01 1.03811407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79509989299999 meters 0.013517771687026399 Centerline is valid? [True, True] Translation: X:99.84, Y:2.58, Z:1.04 [[ 9.99101773e-01 -3.79752658e-02 -1.88023039e-02 9.98436138e+01] [ 3.79757178e-02 9.99278607e-01 -3.33135790e-04 2.57518762e+00] [ 1.88013910e-02 -3.81194428e-04 9.99823166e-01 1.03835522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82509989299999 meters 0.014691218658676926 Centerline is valid? [True, True] Translation: X:99.87, Y:2.57, Z:1.04 [[ 9.98986242e-01 -4.12604415e-02 -1.80017701e-02 9.98743442e+01] [ 4.12614036e-02 9.99148335e-01 -3.18131816e-04 2.57113977e+00] [ 1.79995648e-02 -4.24968992e-04 9.99837904e-01 1.03858925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85509989299999 meters 0.015373984619015542 Centerline is valid? [True, True] Translation: X:99.91, Y:2.57, Z:1.04 [[ 9.98932541e-01 -4.27998450e-02 -1.73767823e-02 9.99061334e+01] [ 4.28009859e-02 9.99083571e-01 -3.06409180e-04 2.56945464e+00] [ 1.73739719e-02 -4.37661312e-04 9.99848965e-01 1.03936157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88509989299999 meters 0.014992367928441986 Centerline is valid? [True, True] Translation: X:99.94, Y:2.57, Z:1.04 [[ 9.98902345e-01 -4.38452809e-02 -1.64832429e-02 9.99383805e+01] [ 4.38464645e-02 9.99038239e-01 -2.89750323e-04 2.56946413e+00] [ 1.64800941e-02 -4.33299648e-04 9.99864100e-01 1.04024489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91509989299999 meters 0.015801335979954048 Centerline is valid? [True, True] Translation: X:99.97, Y:2.57, Z:1.04 [[ 9.98879313e-01 -4.46812052e-02 -1.56111490e-02 9.99694768e+01] [ 4.46823845e-02 9.99001206e-01 -2.73417690e-04 2.56788181e+00] [ 1.56077733e-02 -4.24432088e-04 9.99878101e-01 1.04101745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94509989299999 meters 0.015253599713350642 Centerline is valid? [True, True] Translation: X:100.00, Y:2.57, Z:1.04 [[ 9.98882931e-01 -4.49339628e-02 -1.46228918e-02 1.00001899e+02] [ 4.49350358e-02 9.98989879e-01 -2.55335176e-04 2.56789226e+00] [ 1.46195941e-02 -4.02030216e-04 9.99893047e-01 1.04153255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97509989299999 meters 0.01521814413508243 Centerline is valid? [True, True] Translation: X:100.03, Y:2.57, Z:1.04 [[ 9.98915746e-01 -4.43058727e-02 -1.42941268e-02 1.00033902e+02] [ 4.43068480e-02 9.99017938e-01 -2.48593095e-04 2.56775212e+00] [ 1.42911032e-02 -3.85004146e-04 9.99897803e-01 1.04182784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.005099893 meters 0.01461425189129655 Centerline is valid? [True, True] Translation: X:100.07, Y:2.57, Z:1.04 [[ 9.99017998e-01 -4.24011164e-02 -1.28524048e-02 1.00066120e+02] [ 4.24017580e-02 9.99100616e-01 -2.22693942e-04 2.56892440e+00] [ 1.28502881e-02 -3.22489303e-04 9.99917380e-01 1.04313206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.035099893 meters 0.015537890378788692 Centerline is valid? [True, True] Translation: X:100.10, Y:2.57, Z:1.04 [[ 9.99079238e-01 -4.11016495e-02 -1.23016240e-02 1.00097582e+02] [ 4.11021491e-02 9.99154927e-01 -2.12308934e-04 2.56801145e+00] [ 1.22999544e-02 -2.93509735e-04 9.99924310e-01 1.04418204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.065099893 meters 0.013465752584868066 Centerline is valid? [True, True] Translation: X:100.13, Y:2.57, Z:1.04 [[ 9.99182273e-01 -3.85162640e-02 -1.22997293e-02 1.00130120e+02] [ 3.85165757e-02 9.99257939e-01 -2.11624208e-04 2.57181162e+00] [ 1.22987531e-02 -2.62292297e-04 9.99924333e-01 1.04448404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.095099893 meters 0.013208965777920715 Centerline is valid? [True, True] Translation: X:100.16, Y:2.57, Z:1.04 [[ 9.99208924e-01 -3.75145619e-02 -1.31978404e-02 1.00162706e+02] [ 3.75148500e-02 9.99296045e-01 -2.25828878e-04 2.57242498e+00] [ 1.31970216e-02 -2.69464773e-04 9.99912879e-01 1.04427966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12509989299998 meters 0.012899425244078626 Centerline is valid? [True, True] Translation: X:100.19, Y:2.57, Z:1.04 [[ 9.99214140e-01 -3.69124147e-02 -1.44421941e-02 1.00194622e+02] [ 3.69127130e-02 9.99318463e-01 -2.46002938e-04 2.57167822e+00] [ 1.44414317e-02 -2.87290949e-04 9.99895676e-01 1.04303101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15509989299998 meters 0.013338530276386741 Centerline is valid? [True, True] Translation: X:100.23, Y:2.57, Z:1.04 [[ 9.99203232e-01 -3.70493935e-02 -1.48406274e-02 1.00226080e+02] [ 3.70497391e-02 9.99313391e-01 -2.51736461e-04 2.56930239e+00] [ 1.48397643e-02 -2.98305487e-04 9.99889840e-01 1.04214257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18509989299999 meters 0.012990685224862523 Centerline is valid? [True, True] Translation: X:100.26, Y:2.57, Z:1.04 [[ 9.99188363e-01 -3.72280569e-02 -1.53846559e-02 1.00258784e+02] [ 3.72284636e-02 9.99306747e-01 -2.60055033e-04 2.56849380e+00] [ 1.53836718e-02 -3.12903139e-04 9.99881615e-01 1.04186437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21509989299999 meters 0.012914633997271626 Centerline is valid? [True, True] Translation: X:100.29, Y:2.57, Z:1.04 [[ 9.99195891e-01 -3.68995014e-02 -1.56843491e-02 1.00290764e+02] [ 3.68999017e-02 9.99318932e-01 -2.63969937e-04 2.56595613e+00] [ 1.56834073e-02 -3.14993263e-04 9.99876958e-01 1.04181770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24509989299999 meters 0.013441088314461266 Centerline is valid? [True, True] Translation: X:100.32, Y:2.56, Z:1.04 [[ 9.99222571e-01 -3.62358952e-02 -1.55310409e-02 1.00321812e+02] [ 3.62362240e-02 9.99343218e-01 -2.60332846e-04 2.56435416e+00] [ 1.55302738e-02 -3.02655822e-04 9.99879352e-01 1.04247103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27509989299999 meters 0.012715690059614392 Centerline is valid? [True, True] Translation: X:100.35, Y:2.57, Z:1.04 [[ 9.99251779e-01 -3.54383962e-02 -1.54920347e-02 1.00354314e+02] [ 3.54386413e-02 9.99371821e-01 -2.58789382e-04 2.56545632e+00] [ 1.54914740e-02 -2.90420911e-04 9.99879958e-01 1.04371161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30509989299999 meters 0.01245643916866839 Centerline is valid? [True, True] Translation: X:100.39, Y:2.56, Z:1.04 [[ 9.99322317e-01 -3.30836471e-02 -1.61362786e-02 1.00385434e+02] [ 3.30836244e-02 9.99452551e-01 -2.68423098e-04 2.56494987e+00] [ 1.61363252e-02 -2.65605389e-04 9.99869766e-01 1.04419170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33509989299999 meters 0.01217853078806508 Centerline is valid? [True, True] Translation: X:100.42, Y:2.57, Z:1.04 [[ 9.99351887e-01 -3.19715408e-02 -1.65416859e-02 1.00417280e+02] [ 3.19713785e-02 9.99488747e-01 -2.74330050e-04 2.56530692e+00] [ 1.65419997e-02 -2.54708247e-04 9.99863139e-01 1.04442324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.365099893 meters 0.011670891977876253 Centerline is valid? [True, True] Translation: X:100.45, Y:2.56, Z:1.04 [[ 9.99427595e-01 -2.98627207e-02 -1.58965748e-02 1.00448420e+02] [ 2.98623132e-02 9.99553987e-01 -2.63055001e-04 2.56463096e+00] [ 1.58973402e-02 -2.11804067e-04 9.99873607e-01 1.04478025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.395099893 meters 0.011493612532362396 Centerline is valid? [True, True] Translation: X:100.48, Y:2.56, Z:1.05 [[ 9.99447223e-01 -2.91111596e-02 -1.60558000e-02 1.00479992e+02] [ 2.91106563e-02 9.99576160e-01 -2.65109732e-04 2.56423583e+00] [ 1.60567126e-02 -2.02431690e-04 9.99871062e-01 1.04533731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.425099893 meters 0.011223628916593781 Centerline is valid? [True, True] Translation: X:100.51, Y:2.56, Z:1.05 [[ 9.99508761e-01 -2.73773623e-02 -1.52550768e-02 1.00511223e+02] [ 2.73767140e-02 9.99625156e-01 -2.51363107e-04 2.56332227e+00] [ 1.52562402e-02 -1.66394248e-04 9.99883603e-01 1.04599810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.455099893 meters 0.010958902561504126 Centerline is valid? [True, True] Translation: X:100.54, Y:2.56, Z:1.05 [[ 9.99547142e-01 -2.62946051e-02 -1.46323203e-02 1.00542293e+02] [ 2.62939001e-02 9.99654227e-01 -2.40595506e-04 2.56372259e+00] [ 1.46335872e-02 -1.44254219e-04 9.99892913e-01 1.04694486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48509989299998 meters 0.010723253649369244 Centerline is valid? [True, True] Translation: X:100.57, Y:2.56, Z:1.05 [[ 9.99639630e-01 -2.33196923e-02 -1.32966969e-02 1.00573578e+02] [ 2.33188527e-02 9.99728055e-01 -2.18196577e-04 2.56430837e+00] [ 1.32981692e-02 -9.19457710e-05 9.99911571e-01 1.04876760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51509989299998 meters 0.010597939462507994 Centerline is valid? [True, True] Translation: X:100.60, Y:2.56, Z:1.05 [[ 9.99678743e-01 -2.17378940e-02 -1.30335794e-02 1.00603909e+02] [ 2.17369587e-02 9.99763702e-01 -2.13431842e-04 2.56468797e+00] [ 1.30351391e-02 -6.99471018e-05 9.99915037e-01 1.04973157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54509989299999 meters 0.010410445084274496 Centerline is valid? [True, True] Translation: X:100.63, Y:2.57, Z:1.05 [[ 9.99741617e-01 -1.90298100e-02 -1.24324074e-02 1.00634002e+02] [ 1.90287522e-02 9.99818916e-01 -2.03377548e-04 2.56506040e+00] [ 1.24340263e-02 -3.32482014e-05 9.99922694e-01 1.05056083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57509989299999 meters 0.010351320655884441 Centerline is valid? [True, True] Translation: X:100.66, Y:2.56, Z:1.05 [[ 9.99755791e-01 -1.79586408e-02 -1.28781389e-02 1.00663045e+02] [ 1.79574169e-02 9.99838730e-01 -2.10678416e-04 2.56493187e+00] [ 1.28798455e-02 -2.06311420e-05 9.99917051e-01 1.05081196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60509989299999 meters 0.01034108934510754 Centerline is valid? [True, True] Translation: X:100.69, Y:2.56, Z:1.05 [[ 9.99761996e-01 -1.71689280e-02 -1.34602766e-02 1.00692470e+02] [ 1.71675156e-02 9.99852603e-01 -2.20475489e-04 2.56443922e+00] [ 1.34620779e-02 -1.06564938e-05 9.99909382e-01 1.05053133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63509989299999 meters 0.010354837167100887 Centerline is valid? [True, True] Translation: X:100.72, Y:2.56, Z:1.05 [[ 9.99747872e-01 -1.70108779e-02 -1.46568250e-02 1.00721596e+02] [ 1.70091768e-02 9.99855305e-01 -2.40724402e-04 2.56359384e+00] [ 1.46587992e-02 -8.63681832e-06 9.99892554e-01 1.04963094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66509989299999 meters 0.010339883996575622 Centerline is valid? [True, True] Translation: X:100.75, Y:2.56, Z:1.05 [[ 9.99707068e-01 -1.77820811e-02 -1.64187700e-02 1.00750593e+02] [ 1.77800175e-02 9.99841886e-01 -2.71663021e-04 2.56028364e+00] [ 1.64210047e-02 -2.03425746e-05 9.99865166e-01 1.04801694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69509989299999 meters 0.010445265228939005 Centerline is valid? [True, True] Translation: X:100.78, Y:2.56, Z:1.05 [[ 9.99669742e-01 -1.87908596e-02 -1.75302996e-02 1.00778184e+02] [ 1.87885962e-02 9.99823436e-01 -2.93820826e-04 2.55867406e+00] [ 1.75327255e-02 -3.56459299e-05 9.99846289e-01 1.04772581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72509989299999 meters 0.010479293153842098 Centerline is valid? [True, True] Translation: X:100.81, Y:2.55, Z:1.05 [[ 9.99615285e-01 -2.06595939e-02 -1.85057675e-02 1.00806454e+02] [ 2.06573604e-02 9.99786565e-01 -3.11865807e-04 2.55483291e+00] [ 1.85082607e-02 -7.05344798e-05 9.99828705e-01 1.04696793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.755099893 meters 0.010475439957822382 Centerline is valid? [True, True] Translation: X:100.83, Y:2.55, Z:1.05 [[ 9.99577146e-01 -2.20340353e-02 -1.89744689e-02 1.00834258e+02] [ 2.20318771e-02 9.99757217e-01 -3.22801519e-04 2.55355367e+00] [ 1.89769749e-02 -9.53781461e-05 9.99819916e-01 1.04754558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.785099893 meters 0.010579281747163582 Centerline is valid? [True, True] Translation: X:100.86, Y:2.55, Z:1.05 [[ 9.99545876e-01 -2.33637438e-02 -1.90309301e-02 1.00861927e+02] [ 2.33617334e-02 9.99727024e-01 -3.27981349e-04 2.55183692e+00] [ 1.90333979e-02 -1.16763108e-04 9.99818842e-01 1.04791435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.815099893 meters 0.010665082097832988 Centerline is valid? [True, True] Translation: X:100.89, Y:2.55, Z:1.05 [[ 9.99489648e-01 -2.61599950e-02 -1.83329649e-02 1.00890940e+02] [ 2.61585523e-02 9.99657756e-01 -3.18531000e-04 2.54825560e+00] [ 1.83350233e-02 -1.61195383e-04 9.99831886e-01 1.04964920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.845099893 meters 0.011006658170066009 Centerline is valid? [True, True] Translation: X:100.92, Y:2.55, Z:1.05 [[ 9.99457718e-01 -2.77185452e-02 -1.77750363e-02 1.00919814e+02] [ 2.77173752e-02 9.99615751e-01 -3.12222625e-04 2.54583343e+00] [ 1.77768607e-02 -1.80624039e-04 9.99841963e-01 1.05026867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87509989299998 meters 0.011525355907160698 Centerline is valid? [True, True] Translation: X:100.95, Y:2.54, Z:1.05 [[ 9.99362880e-01 -3.14283108e-02 -1.69143683e-02 1.00949415e+02] [ 3.14277664e-02 9.99505981e-01 -2.98059864e-04 2.54156768e+00] [ 1.69153798e-02 -2.33710853e-04 9.99856897e-01 1.05197459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90509989299998 meters 0.011661047687106121 Centerline is valid? [True, True] Translation: X:100.98, Y:2.54, Z:1.05 [[ 9.99297509e-01 -3.36124954e-02 -1.65737066e-02 1.00980170e+02] [ 3.36122659e-02 9.99434905e-01 -2.92487053e-04 2.54019895e+00] [ 1.65741721e-02 -2.64798250e-04 9.99862604e-01 1.05313578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93509989299999 meters 0.012613646801258798 Centerline is valid? [True, True] Translation: X:101.01, Y:2.54, Z:1.05 [[ 9.99132593e-01 -3.85217587e-02 -1.58156687e-02 1.01011358e+02] [ 3.85221663e-02 9.99257707e-01 -2.78983654e-04 2.53531419e+00] [ 1.58146758e-02 -3.30512160e-04 9.99874886e-01 1.05405095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96509989299999 meters 0.014280456633847647 Centerline is valid? [True, True] Translation: X:101.04, Y:2.53, Z:1.05 [[ 9.99017127e-01 -4.14522282e-02 -1.57001172e-02 1.01042717e+02] [ 4.14530014e-02 9.99140417e-01 -2.76316004e-04 2.53077210e+00] [ 1.56980755e-02 -3.74772559e-04 9.99876707e-01 1.05419931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99509989299999 meters 0.014280456633847647 Centerline is valid? [True, True] Translation: X:101.07, Y:2.53, Z:1.05 [[ 9.99020044e-01 -4.13818459e-02 -1.57001331e-02 1.01074411e+02] [ 4.13826247e-02 9.99143334e-01 -2.75406850e-04 2.53126920e+00] [ 1.56980802e-02 -3.74575754e-04 9.99876707e-01 1.05459114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02509989299999 meters 0.014686809725273925 Centerline is valid? [True, True] Translation: X:101.11, Y:2.53, Z:1.05 [[ 9.98883428e-01 -4.45637024e-02 -1.56835546e-02 1.01105644e+02] [ 4.45648869e-02 9.99006454e-01 -2.74126997e-04 2.52894509e+00] [ 1.56801884e-02 -4.25114923e-04 9.99876968e-01 1.05438857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05509989299999 meters 0.016911960691133054 Centerline is valid? [True, True] Translation: X:101.14, Y:2.52, Z:1.05 [[ 9.98730474e-01 -4.78285159e-02 -1.58073915e-02 1.01136953e+02] [ 4.78301398e-02 9.98855446e-01 -2.75527754e-04 2.52396338e+00] [ 1.58024772e-02 -4.80891782e-04 9.99875017e-01 1.05423810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08509989299999 meters 0.019109553618293806 Centerline is valid? [True, True] Translation: X:101.17, Y:2.52, Z:1.05 [[ 9.98395385e-01 -5.42675661e-02 -1.61767308e-02 1.01168258e+02] [ 5.42701307e-02 9.98526251e-01 -2.80730951e-04 2.51809692e+00] [ 1.61681249e-02 -5.97632809e-04 9.99869109e-01 1.05373961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.115099893 meters 0.019335402750070393 Centerline is valid? [True, True] Translation: X:101.20, Y:2.52, Z:1.05 [[ 9.98071672e-01 -5.97966967e-02 -1.66520756e-02 1.01198845e+02] [ 5.98001873e-02 9.98210326e-01 -2.88684829e-04 2.51566367e+00] [ 1.66395362e-02 -7.07669090e-04 9.99861303e-01 1.05304182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.145099893 meters 0.022611239416973017 Centerline is valid? [True, True] Translation: X:101.23, Y:2.51, Z:1.05 [[ 9.97940059e-01 -6.19208816e-02 -1.67762616e-02 1.01229999e+02] [ 6.19247346e-02 9.98080780e-01 -2.90200332e-04 2.51086741e+00] [ 1.67620338e-02 -7.49263013e-04 9.99859227e-01 1.05268927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.175099893 meters 0.02237760748526415 Centerline is valid? [True, True] Translation: X:101.26, Y:2.51, Z:1.05 [[ 9.97827970e-01 -6.36753698e-02 -1.68757219e-02 1.01261968e+02] [ 6.36795440e-02 9.97970356e-01 -2.90437214e-04 2.51094803e+00] [ 1.68599639e-02 -7.84831901e-04 9.99857553e-01 1.05303824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.205099893 meters 0.0236336997498804 Centerline is valid? [True, True] Translation: X:101.29, Y:2.51, Z:1.05 [[ 9.97670927e-01 -6.61313882e-02 -1.67141106e-02 1.01292722e+02] [ 6.61358424e-02 9.97810587e-01 -2.86707857e-04 2.50860905e+00] [ 1.66964769e-02 -8.19361693e-04 9.99860268e-01 1.05299106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23509989299998 meters 0.024972039920862478 Centerline is valid? [True, True] Translation: X:101.32, Y:2.51, Z:1.05 [[ 9.97629399e-01 -6.68467969e-02 -1.63428447e-02 1.01323443e+02] [ 6.68511570e-02 9.97762920e-01 -2.79985186e-04 2.50693264e+00] [ 1.63250006e-02 -8.13216624e-04 9.99866408e-01 1.05290713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26509989299998 meters 0.02232696101573341 Centerline is valid? [True, True] Translation: X:101.36, Y:2.51, Z:1.05 [[ 9.97576260e-01 -6.76287160e-02 -1.63695630e-02 1.01355752e+02] [ 6.76332073e-02 9.97710214e-01 -2.79712532e-04 2.51104922e+00] [ 1.63509968e-02 -8.28091468e-04 9.99865971e-01 1.05306148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29509989299999 meters 0.022856914940482594 Centerline is valid? [True, True] Translation: X:101.39, Y:2.51, Z:1.05 [[ 9.97595387e-01 -6.73571301e-02 -1.63236135e-02 1.01387427e+02] [ 6.73615793e-02 9.97728591e-01 -2.77738210e-04 2.51141906e+00] [ 1.63052435e-02 -8.22514026e-04 9.99866722e-01 1.05337811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32509989299999 meters 0.023701224321372196 Centerline is valid? [True, True] Translation: X:101.42, Y:2.51, Z:1.05 [[ 9.97733488e-01 -6.53536335e-02 -1.60246464e-02 1.01417538e+02] [ 6.53576837e-02 9.97861864e-01 -2.71380908e-04 2.51332089e+00] [ 1.60081193e-02 -7.76567951e-04 9.99871560e-01 1.05431204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35509989299999 meters 0.02378517781950766 Centerline is valid? [True, True] Translation: X:101.45, Y:2.52, Z:1.06 [[ 9.97846886e-01 -6.35724960e-02 -1.61285557e-02 1.01449121e+02] [ 6.35763923e-02 9.97976938e-01 -2.71556885e-04 2.51532614e+00] [ 1.61131902e-02 -7.54423193e-04 9.99869890e-01 1.05502593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38509989299999 meters 0.01996446560778711 Centerline is valid? [True, True] Translation: X:101.48, Y:2.52, Z:1.06 [[ 9.98158028e-01 -5.85017372e-02 -1.60654357e-02 1.01479710e+02] [ 5.85049622e-02 9.98287081e-01 -2.69574668e-04 2.52477620e+00] [ 1.60536875e-02 -6.70829588e-04 9.99870906e-01 1.05585696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41509989299999 meters 0.019119173551467476 Centerline is valid? [True, True] Translation: X:101.51, Y:2.53, Z:1.06 [[ 9.98329349e-01 -5.55670589e-02 -1.58370939e-02 1.01511319e+02] [ 5.55698305e-02 9.98454768e-01 -2.65337429e-04 2.52833206e+00] [ 1.58273659e-02 -6.15170482e-04 9.99874550e-01 1.05658768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44509989299999 meters 0.017726860526891125 Centerline is valid? [True, True] Translation: X:101.54, Y:2.53, Z:1.06 [[ 9.98510086e-01 -5.24744343e-02 -1.49680221e-02 1.01542758e+02] [ 5.24765738e-02 9.98622124e-01 -2.50053489e-04 2.53300551e+00] [ 1.49605194e-02 -5.35789583e-04 9.99887942e-01 1.05790894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47509989299999 meters 0.01511428278978808 Centerline is valid? [True, True] Translation: X:101.57, Y:2.54, Z:1.06 [[ 9.98866964e-01 -4.56637109e-02 -1.34020099e-02 1.01573471e+02] [ 4.56648191e-02 9.98956793e-01 -2.23471784e-04 2.54166320e+00] [ 1.33982334e-02 -3.88781775e-04 9.99910164e-01 1.05979828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.505099893 meters 0.014375888799232952 Centerline is valid? [True, True] Translation: X:101.60, Y:2.55, Z:1.06 [[ 9.99024682e-01 -4.21063807e-02 -1.32942309e-02 1.01604412e+02] [ 4.21071598e-02 9.99113076e-01 -2.21417093e-04 2.54558828e+00] [ 1.32917630e-02 -3.38581166e-04 9.99911603e-01 1.06066926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.535099893 meters 0.012836761647455475 Centerline is valid? [True, True] Translation: X:101.63, Y:2.55, Z:1.06 [[ 9.99316360e-01 -3.45783224e-02 -1.30824873e-02 1.01633720e+02] [ 3.45784376e-02 9.99401963e-01 -2.17459736e-04 2.55320071e+00] [ 1.30821829e-02 -2.35060899e-04 9.99914397e-01 1.06070956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.565099893 meters 0.012149363555992611 Centerline is valid? [True, True] Translation: X:101.66, Y:2.56, Z:1.06 [[ 9.99438932e-01 -3.06190426e-02 -1.35755482e-02 1.01664386e+02] [ 3.06187989e-02 9.99531109e-01 -2.25842971e-04 2.55715288e+00] [ 1.35760979e-02 -1.89950723e-04 9.99907822e-01 1.06038053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59509989299998 meters 0.011370604770245566 Centerline is valid? [True, True] Translation: X:101.70, Y:2.56, Z:1.06 [[ 9.99542964e-01 -2.65702901e-02 -1.44181564e-02 1.01696189e+02] [ 2.65696023e-02 9.99646937e-01 -2.39286147e-04 2.56186206e+00] [ 1.44194237e-02 -1.43907896e-04 9.99896024e-01 1.06000516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62509989299998 meters 0.010993024189315193 Centerline is valid? [True, True] Translation: X:101.73, Y:2.57, Z:1.06 [[ 9.99633800e-01 -2.27377021e-02 -1.46718377e-02 1.01726092e+02] [ 2.27365877e-02 9.99741461e-01 -2.42776062e-04 2.56565275e+00] [ 1.46735646e-02 -9.09003668e-05 9.99892333e-01 1.05968878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65509989299998 meters 0.010788903571817382 Centerline is valid? [True, True] Translation: X:101.76, Y:2.57, Z:1.06 [[ 9.99776309e-01 -1.47358340e-02 -1.51719077e-02 1.01756705e+02] [ 1.47337243e-02 9.99891421e-01 -2.50822528e-04 2.57294098e+00] [ 1.51739565e-02 2.72277152e-05 9.99884869e-01 1.05932873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68509989299999 meters 0.01096261346133266 Centerline is valid? [True, True] Translation: X:101.78, Y:2.58, Z:1.06 [[ 9.99828068e-01 -1.10177933e-02 -1.49145338e-02 1.01784825e+02] [ 1.10153375e-02 9.99939299e-01 -2.46797970e-04 2.57646516e+00] [ 1.49163477e-02 8.24669134e-05 9.99888742e-01 1.05931001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71509989299999 meters 0.011780841518117818 Centerline is valid? [True, True] Translation: X:101.81, Y:2.58, Z:1.06 [[ 9.99878423e-01 -4.33829029e-03 -1.49772625e-02 1.01812970e+02] [ 4.33504423e-03 9.99990573e-01 -2.49191650e-04 2.58253371e+00] [ 1.49782023e-02 1.84234259e-04 9.99887803e-01 1.05969967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74509989299999 meters 0.012206919144650248 Centerline is valid? [True, True] Translation: X:101.84, Y:2.59, Z:1.06 [[ 9.99886792e-01 -1.71906886e-03 -1.49482033e-02 1.01841286e+02] [ 1.71552277e-03 9.99998497e-01 -2.50044548e-04 2.58548336e+00] [ 1.49486106e-02 2.24372258e-04 9.99888238e-01 1.05975766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77509989299999 meters 0.012533121623001055 Centerline is valid? [True, True] Translation: X:101.87, Y:2.59, Z:1.06 [[ 9.99884935e-01 -1.82936165e-04 -1.51684781e-02 1.01870275e+02] [ 1.79080341e-04 9.99999951e-01 -2.55557634e-04 2.58758204e+00] [ 1.51685242e-02 2.52811852e-04 9.99884919e-01 1.05994263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80509989299999 meters 0.013021453156754143 Centerline is valid? [True, True] Translation: X:101.90, Y:2.59, Z:1.06 [[ 9.99895308e-01 1.65340092e-03 -1.43749817e-02 1.01898251e+02] [-1.65709849e-03 9.99998597e-01 -2.45315390e-04 2.58965069e+00] [ 1.43745559e-02 2.69110468e-04 9.99896645e-01 1.06012864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83509989299999 meters 0.01296654664640318 Centerline is valid? [True, True] Translation: X:101.93, Y:2.59, Z:1.06 [[ 9.99916026e-01 8.63626798e-04 -1.29303765e-02 1.01926748e+02] [-8.66565778e-04 9.99999600e-01 -2.21691665e-04 2.58952494e+00] [ 1.29301798e-02 2.32878070e-04 9.99916375e-01 1.06088803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.865099893 meters 0.01235095352395031 Centerline is valid? [True, True] Translation: X:101.96, Y:2.59, Z:1.06 [[ 9.99923676e-01 -6.07569210e-04 -1.23398959e-02 1.01955535e+02] [ 6.04994299e-04 9.99999794e-01 -2.12397380e-04 2.58787551e+00] [ 1.23400224e-02 2.04915602e-04 9.99923838e-01 1.06150768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.895099893 meters 0.012078326962708734 Centerline is valid? [True, True] Translation: X:101.98, Y:2.59, Z:1.06 [[ 9.99928692e-01 -3.02338869e-03 -1.15529565e-02 1.01984593e+02] [ 3.02128390e-03 9.99995416e-01 -1.99634394e-04 2.58676718e+00] [ 1.15535071e-02 1.64715397e-04 9.99933242e-01 1.06200858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.925099893 meters 0.011827931062913192 Centerline is valid? [True, True] Translation: X:102.01, Y:2.59, Z:1.06 [[ 9.99920182e-01 -6.19241594e-03 -1.10129115e-02 1.02012301e+02] [ 6.19068746e-03 9.99980819e-01 -1.91033382e-04 2.58547147e+00] [ 1.10138833e-02 1.22840641e-04 9.99939338e-01 1.06267789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.955099893 meters 0.011113990923720308 Centerline is valid? [True, True] Translation: X:102.04, Y:2.58, Z:1.06 [[ 9.99840611e-01 -1.45271029e-02 -1.03785941e-02 1.02039950e+02] [ 1.45260076e-02 9.99894476e-01 -1.80921016e-04 2.58075626e+00] [ 1.03801271e-02 3.01326433e-05 9.99946125e-01 1.06376503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98509989299998 meters 0.011102392604051995 Centerline is valid? [True, True] Translation: X:102.07, Y:2.58, Z:1.06 [[ 9.99751355e-01 -1.94934489e-02 -1.08274867e-02 1.02069544e+02] [ 1.94925362e-02 9.99809984e-01 -1.89831025e-04 2.57762081e+00] [ 1.08291297e-02 -2.12713514e-05 9.99941363e-01 1.06383049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01509989299998 meters 0.012251609281172028 Centerline is valid? [True, True] Translation: X:102.10, Y:2.57, Z:1.06 [[ 9.99476904e-01 -3.04891742e-02 -1.07855455e-02 1.02100357e+02] [ 3.04889038e-02 9.99535087e-01 -1.89534305e-04 2.56912998e+00] [ 1.07863100e-02 -1.39404299e-04 9.99941816e-01 1.06331358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04509989299999 meters 0.013561050296119004 Centerline is valid? [True, True] Translation: X:102.13, Y:2.56, Z:1.06 [[ 9.99286321e-01 -3.60149190e-02 -1.13918198e-02 1.02131254e+02] [ 3.60149758e-02 9.99351230e-01 -2.00222889e-04 2.56457428e+00] [ 1.13916401e-02 -2.10196119e-04 9.99935091e-01 1.06344394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07509989299999 meters 0.015036092060413541 Centerline is valid? [True, True] Translation: X:102.16, Y:2.56, Z:1.06 [[ 9.99077498e-01 -4.14856651e-02 -1.10947377e-02 1.02161998e+02] [ 4.14860601e-02 9.99139064e-01 -1.94640973e-04 2.56082015e+00] [ 1.10932606e-02 -2.65815538e-04 9.99938433e-01 1.06367978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10509989299999 meters 0.01866983155546308 Centerline is valid? [True, True] Translation: X:102.19, Y:2.55, Z:1.06 [[ 9.98615845e-01 -5.14954771e-02 -1.07055929e-02 1.02191479e+02] [ 5.14964263e-02 9.98673161e-01 -1.87158691e-04 2.55289707e+00] [ 1.07010261e-02 -3.64400141e-04 9.99942676e-01 1.06387010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13509989299999 meters 0.019897552635226107 Centerline is valid? [True, True] Translation: X:102.22, Y:2.55, Z:1.06 [[ 9.98397206e-01 -5.56462823e-02 -1.03203395e-02 1.02222504e+02] [ 5.56473836e-02 9.98450468e-01 -1.80635422e-04 2.55047393e+00] [ 1.03143995e-02 -3.93953991e-04 9.99946728e-01 1.06422963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16509989299999 meters 0.023374278569958617 Centerline is valid? [True, True] Translation: X:102.25, Y:2.55, Z:1.06 [[ 9.98183386e-01 -5.93818544e-02 -1.01844604e-02 1.02253144e+02] [ 5.93831222e-02 9.98235249e-01 -1.78140201e-04 2.54514960e+00] [ 1.01770657e-02 -4.26968470e-04 9.99948121e-01 1.06445890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19509989299999 meters 0.023981084093400058 Centerline is valid? [True, True] Translation: X:102.28, Y:2.54, Z:1.06 [[ 9.97817311e-01 -6.51700519e-02 -1.06526151e-02 1.02283327e+02] [ 6.51717741e-02 9.97874043e-01 -1.85750781e-04 2.54334631e+00] [ 1.06420735e-02 -5.08904480e-04 9.99943242e-01 1.06365642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22509989299999 meters 0.023732647772812542 Centerline is valid? [True, True] Translation: X:102.32, Y:2.54, Z:1.06 [[ 9.97699631e-01 -6.69547644e-02 -1.06069060e-02 1.02315076e+02] [ 6.69565719e-02 9.97755874e-01 -1.85007027e-04 2.54387091e+00] [ 1.05954898e-02 -5.25620620e-04 9.99943728e-01 1.06322556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.255099893 meters 0.02718740947564422 Centerline is valid? [True, True] Translation: X:102.35, Y:2.54, Z:1.06 [[ 9.97608629e-01 -6.84071528e-02 -9.87343750e-03 1.02346507e+02] [ 6.84087947e-02 9.97657360e-01 -1.71725829e-04 2.54058149e+00] [ 9.86205486e-03 -5.04114790e-04 9.99951242e-01 1.06391431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.285099893 meters 0.024764039595854485 Centerline is valid? [True, True] Translation: X:102.38, Y:2.55, Z:1.06 [[ 9.97614959e-01 -6.83117779e-02 -9.89419321e-03 1.02379365e+02] [ 6.83134260e-02 9.97663894e-01 -1.71689550e-04 2.54552721e+00] [ 9.88280775e-03 -5.04626172e-04 9.99951037e-01 1.06425933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.315099893 meters 0.024817439763924563 Centerline is valid? [True, True] Translation: X:102.41, Y:2.55, Z:1.06 [[ 9.97649421e-01 -6.78140169e-02 -9.84338890e-03 1.02411996e+02] [ 6.78156347e-02 9.97697856e-01 -1.69711769e-04 2.54700864e+00] [ 9.83223683e-03 -4.98222818e-04 9.99951538e-01 1.06473935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34509989299998 meters 0.022943245208340964 Centerline is valid? [True, True] Translation: X:102.44, Y:2.55, Z:1.06 [[ 9.97745995e-01 -6.63196775e-02 -1.02288708e-02 1.02444224e+02] [ 6.63213562e-02 9.97798300e-01 -1.75372367e-04 2.55119140e+00] [ 1.02179805e-02 -5.03415507e-04 9.99947668e-01 1.06382993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37509989299998 meters 0.023760074074181386 Centerline is valid? [True, True] Translation: X:102.48, Y:2.55, Z:1.06 [[ 9.97785002e-01 -6.56485735e-02 -1.07403453e-02 1.02475916e+02] [ 6.56503944e-02 9.97842669e-01 -1.83316892e-04 2.55131242e+00] [ 1.07292093e-02 -5.22197060e-04 9.99942304e-01 1.06368092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40509989299998 meters 0.024380540436062137 Centerline is valid? [True, True] Translation: X:102.51, Y:2.55, Z:1.06 [[ 9.97842454e-01 -6.47957134e-02 -1.05807701e-02 1.02507542e+02] [ 6.47974407e-02 9.97898421e-01 -1.79842458e-04 2.55186015e+00] [ 1.05701868e-02 -5.06152386e-04 9.99944006e-01 1.06335210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43509989299999 meters 0.021624941552230825 Centerline is valid? [True, True] Translation: X:102.54, Y:2.56, Z:1.06 [[ 9.97952209e-01 -6.28705069e-02 -1.17765760e-02 1.02540148e+02] [ 6.28725235e-02 9.98021546e-01 -1.99271758e-04 2.55853904e+00] [ 1.17658049e-02 -5.41559363e-04 9.99930634e-01 1.06202758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46509989299999 meters 0.023283645293022858 Centerline is valid? [True, True] Translation: X:102.57, Y:2.56, Z:1.06 [[ 9.98036608e-01 -6.13077329e-02 -1.28176053e-02 1.02571033e+02] [ 6.13100160e-02 9.98118748e-01 -2.15111240e-04 2.55787708e+00] [ 1.28066801e-02 -5.71158691e-04 9.99917828e-01 1.06130697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49509989299999 meters 0.021640906736449812 Centerline is valid? [True, True] Translation: X:102.60, Y:2.56, Z:1.06 [[ 9.98220496e-01 -5.78154857e-02 -1.46017756e-02 1.02602768e+02] [ 5.78180887e-02 9.98327105e-01 -2.44176278e-04 2.56430386e+00] [ 1.45914655e-02 -6.00504991e-04 9.99893359e-01 1.06031058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52509989299999 meters 0.018358504739769473 Centerline is valid? [True, True] Translation: X:102.63, Y:2.57, Z:1.06 [[ 9.98349797e-01 -5.53977452e-02 -1.51252576e-02 1.02633744e+02] [ 5.54002728e-02 9.98464194e-01 -2.52155369e-04 2.57153940e+00] [ 1.51159969e-02 -5.86204134e-04 9.99885575e-01 1.06024149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55509989299999 meters 0.01731322463849987 Centerline is valid? [True, True] Translation: X:102.67, Y:2.58, Z:1.06 [[ 9.98477202e-01 -5.28049452e-02 -1.59660737e-02 1.02665404e+02] [ 5.28074415e-02 9.98604678e-01 -2.65492814e-04 2.57561605e+00] [ 1.59578153e-02 -5.78038983e-04 9.99872499e-01 1.06041261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58509989299999 meters 0.01711013251356806 Centerline is valid? [True, True] Translation: X:102.70, Y:2.58, Z:1.06 [[ 9.98623392e-01 -4.98701353e-02 -1.62569894e-02 1.02695745e+02] [ 4.98723475e-02 9.98755564e-01 -2.69562464e-04 2.57879278e+00] [ 1.62502017e-02 -5.41582842e-04 9.99867810e-01 1.06070836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.615099893 meters 0.014769519207420829 Centerline is valid? [True, True] Translation: X:102.73, Y:2.59, Z:1.06 [[ 9.98953306e-01 -4.28570657e-02 -1.59863711e-02 1.02726171e+02] [ 4.28583120e-02 9.99081125e-01 -2.64784959e-04 2.58894321e+00] [ 1.59830295e-02 -4.20641071e-04 9.99872175e-01 1.06178609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.645099893 meters 0.014185394454697286 Centerline is valid? [True, True] Translation: X:102.76, Y:2.59, Z:1.06 [[ 9.99125307e-01 -3.89265835e-02 -1.52755404e-02 1.02756752e+02] [ 3.89272671e-02 9.99242015e-01 -2.52689987e-04 2.59344853e+00] [ 1.52737981e-02 -3.42166079e-04 9.99883290e-01 1.06256780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.675099893 meters 0.012416028281572523 Centerline is valid? [True, True] Translation: X:102.79, Y:2.60, Z:1.06 [[ 9.99438267e-01 -2.99125752e-02 -1.51125030e-02 1.02787411e+02] [ 2.99122221e-02 9.99552498e-01 -2.49451982e-04 2.60369828e+00] [ 1.51132019e-02 -2.02736689e-04 9.99885768e-01 1.06358388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.705099893 meters 0.011671079336406879 Centerline is valid? [True, True] Translation: X:102.82, Y:2.61, Z:1.06 [[ 9.99567744e-01 -2.56951272e-02 -1.42858797e-02 1.02818525e+02] [ 2.56943877e-02 9.99669817e-01 -2.35330147e-04 2.61009073e+00] [ 1.42872096e-02 -1.31838509e-04 9.99897924e-01 1.06451392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73509989299998 meters 0.011367623516822682 Centerline is valid? [True, True] Translation: X:102.85, Y:2.62, Z:1.07 [[ 9.99674985e-01 -2.12870035e-02 -1.40280915e-02 1.02849996e+02] [ 2.12858635e-02 9.99773404e-01 -2.30583088e-04 2.61592593e+00] [ 1.40298212e-02 -6.80918953e-05 9.99901575e-01 1.06526330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76509989299998 meters 0.011285683671899137 Centerline is valid? [True, True] Translation: X:102.88, Y:2.62, Z:1.07 [[ 9.99804145e-01 -1.46779306e-02 -1.32751915e-02 1.02880290e+02] [ 1.46763330e-02 9.99892273e-01 -2.17766139e-04 2.62497761e+00] [ 1.32769578e-02 2.28923571e-05 9.99911857e-01 1.06564709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79509989299999 meters 0.011318994347440717 Centerline is valid? [True, True] Translation: X:102.91, Y:2.63, Z:1.07 [[ 9.99834755e-01 -1.23510399e-02 -1.33384869e-02 1.02909378e+02] [ 1.23492222e-02 9.99923722e-01 -2.18633379e-04 2.62892918e+00] [ 1.33401698e-02 5.38773131e-05 9.99911015e-01 1.06612442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82509989299999 meters 0.011663578217804166 Centerline is valid? [True, True] Translation: X:102.94, Y:2.63, Z:1.07 [[ 9.99874151e-01 -9.69881888e-03 -1.25544591e-02 1.02937432e+02] [ 9.69699133e-03 9.99952962e-01 -2.06435707e-04 2.63488719e+00] [ 1.25558707e-02 8.46692468e-05 9.99921168e-01 1.06667448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85509989299999 meters 0.011615636495707444 Centerline is valid? [True, True] Translation: X:102.97, Y:2.64, Z:1.07 [[ 9.99875503e-01 -9.47786353e-03 -1.26154119e-02 1.02965533e+02] [ 9.47597855e-03 9.99955080e-01 -2.09185698e-04 2.63720074e+00] [ 1.26168278e-02 8.96162823e-05 9.99920401e-01 1.06714935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88509989299999 meters 0.011615636495707444 Centerline is valid? [True, True] Translation: X:102.99, Y:2.64, Z:1.07 [[ 9.99872749e-01 -9.76417101e-03 -1.26153510e-02 1.02992911e+02] [ 9.76226327e-03 9.99952325e-01 -2.12796443e-04 2.63772088e+00] [ 1.26168273e-02 8.96149874e-05 9.99920401e-01 1.06748923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91509989299999 meters 0.011675309959943371 Centerline is valid? [True, True] Translation: X:103.02, Y:2.64, Z:1.07 [[ 9.99872698e-01 -9.87299202e-03 -1.25344605e-02 1.03021119e+02] [ 9.87107291e-03 9.99951257e-01 -2.14965593e-04 2.64006941e+00] [ 1.25359718e-02 9.12096545e-05 9.99921417e-01 1.06783185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94509989299999 meters 0.011626683180936128 Centerline is valid? [True, True] Translation: X:103.05, Y:2.64, Z:1.07 [[ 9.99859193e-01 -1.18246064e-02 -1.19068771e-02 1.03049349e+02] [ 1.18230022e-02 9.99930085e-01 -2.05110889e-04 2.64308003e+00] [ 1.19084700e-02 6.43069723e-05 9.99929090e-01 1.06845794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97509989299999 meters 0.011553412376249237 Centerline is valid? [True, True] Translation: X:103.08, Y:2.64, Z:1.07 [[ 9.99839105e-01 -1.35812042e-02 -1.17181878e-02 1.03078383e+02] [ 1.35797318e-02 9.99907770e-01 -2.05213568e-04 2.64423553e+00] [ 1.17198941e-02 4.60507025e-05 9.99931319e-01 1.06836245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.005099893 meters 0.011512203286861731 Centerline is valid? [True, True] Translation: X:103.11, Y:2.64, Z:1.07 [[ 9.99800795e-01 -1.56032346e-02 -1.24462817e-02 1.03107617e+02] [ 1.56016890e-02 9.99878262e-01 -2.21273958e-04 2.64469220e+00] [ 1.24482191e-02 2.70468640e-05 9.99922518e-01 1.06814115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.035099893 meters 0.011651145705895644 Centerline is valid? [True, True] Translation: X:103.14, Y:2.64, Z:1.07 [[ 9.99682429e-01 -2.10994185e-02 -1.37787844e-02 1.03137269e+02] [ 2.10980398e-02 9.99777381e-01 -2.45426951e-04 2.64404851e+00] [ 1.37808954e-02 -4.53563320e-05 9.99905038e-01 1.06656382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.065099893 meters 0.011889972458240078 Centerline is valid? [True, True] Translation: X:103.17, Y:2.64, Z:1.07 [[ 9.99601674e-01 -2.41255773e-02 -1.46440836e-02 1.03168111e+02] [ 2.41243501e-02 9.99708932e-01 -2.60472535e-04 2.64335855e+00] [ 1.46461052e-02 -9.29102176e-05 9.99892736e-01 1.06643801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09509989299998 meters 0.012216900322024897 Centerline is valid? [True, True] Translation: X:103.20, Y:2.64, Z:1.07 [[ 9.99523484e-01 -2.71433559e-02 -1.46984310e-02 1.03199720e+02] [ 2.71424564e-02 9.99631542e-01 -2.60719952e-04 2.64266923e+00] [ 1.47000921e-02 -1.38355808e-04 9.99891938e-01 1.06642468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12509989299998 meters 0.012592614437866953 Centerline is valid? [True, True] Translation: X:103.23, Y:2.64, Z:1.07 [[ 9.99433654e-01 -3.03404855e-02 -1.45542747e-02 1.03231402e+02] [ 3.03399506e-02 9.99539605e-01 -2.57605922e-04 2.64192548e+00] [ 1.45553899e-02 -1.84115948e-04 9.99894048e-01 1.06690109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15509989299998 meters 0.013412078317316231 Centerline is valid? [True, True] Translation: X:103.26, Y:2.64, Z:1.07 [[ 9.99349456e-01 -3.32047984e-02 -1.40750166e-02 1.03262681e+02] [ 3.32045924e-02 9.99448545e-01 -2.48384890e-04 2.64084088e+00] [ 1.40755024e-02 -2.19131885e-04 9.99900911e-01 1.06748676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18509989299999 meters 0.014444507627325688 Centerline is valid? [True, True] Translation: X:103.29, Y:2.64, Z:1.07 [[ 9.99191236e-01 -3.79127118e-02 -1.33977773e-02 1.03294387e+02] [ 3.79129574e-02 9.99281018e-01 -2.35746743e-04 2.64000656e+00] [ 1.33970823e-02 -2.72393280e-04 9.99910218e-01 1.06837484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21509989299999 meters 0.015028087575619653 Centerline is valid? [True, True] Translation: X:103.33, Y:2.64, Z:1.07 [[ 9.99130468e-01 -3.96181308e-02 -1.29888825e-02 1.03326057e+02] [ 3.96185144e-02 9.99214852e-01 -2.27879782e-04 2.63965878e+00] [ 1.29877125e-02 -2.86918595e-04 9.99915615e-01 1.06904055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24509989299999 meters 0.015162356999386097 Centerline is valid? [True, True] Translation: X:103.36, Y:2.64, Z:1.07 [[ 9.99085603e-01 -4.10273630e-02 -1.20296553e-02 1.03358370e+02] [ 4.10278011e-02 9.99157983e-01 -2.10468200e-04 2.64030321e+00] [ 1.20281611e-02 -2.83274558e-04 9.99927619e-01 1.07007626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27509989299999 meters 0.01545708014288363 Centerline is valid? [True, True] Translation: X:103.39, Y:2.64, Z:1.07 [[ 9.99057002e-01 -4.18620065e-02 -1.15186442e-02 1.03390124e+02] [ 4.18624727e-02 9.99123362e-01 -2.00741572e-04 2.64077731e+00] [ 1.15169500e-02 -2.81646655e-04 9.99933638e-01 1.07122439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30509989299999 meters 0.015741742283128378 Centerline is valid? [True, True] Translation: X:103.42, Y:2.64, Z:1.07 [[ 9.99005845e-01 -4.31797404e-02 -1.10829738e-02 1.03421983e+02] [ 4.31802614e-02 9.99067279e-01 -1.92391876e-04 2.64199216e+00] [ 1.10809439e-02 -2.86365098e-04 9.99938563e-01 1.07131651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33509989299999 meters 0.016197955171607156 Centerline is valid? [True, True] Translation: X:103.45, Y:2.64, Z:1.07 [[ 9.98977376e-01 -4.37699318e-02 -1.13311442e-02 1.03453612e+02] [ 4.37705239e-02 9.99041592e-01 -1.95848440e-04 2.64236484e+00] [ 1.13288566e-02 -3.00321957e-04 9.99935781e-01 1.07174591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.365099893 meters 0.01645473380087397 Centerline is valid? [True, True] Translation: X:103.49, Y:2.64, Z:1.07 [[ 9.98952880e-01 -4.42953102e-02 -1.14485025e-02 1.03485729e+02] [ 4.42959560e-02 9.99018433e-01 -1.97273802e-04 2.64310211e+00] [ 1.14460033e-02 -3.10055130e-04 9.99934444e-01 1.07176196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.395099893 meters 0.016553623373031526 Centerline is valid? [True, True] Translation: X:103.52, Y:2.64, Z:1.07 [[ 9.98935494e-01 -4.46437083e-02 -1.16110911e-02 1.03518368e+02] [ 4.46444059e-02 9.99002922e-01 -1.99238934e-04 2.64378796e+00] [ 1.16084087e-02 -3.19343422e-04 9.99932569e-01 1.07197204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.425099893 meters 0.016752243165575643 Centerline is valid? [True, True] Translation: X:103.55, Y:2.64, Z:1.07 [[ 9.98875393e-01 -4.57478365e-02 -1.24533063e-02 1.03550279e+02] [ 4.57487365e-02 9.98952956e-01 -2.12741026e-04 2.64427643e+00] [ 1.24499995e-02 -3.57221251e-04 9.99922432e-01 1.07140845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.455099893 meters 0.017129530964310743 Centerline is valid? [True, True] Translation: X:103.58, Y:2.64, Z:1.07 [[ 9.98848146e-01 -4.62175454e-02 -1.28964675e-02 1.03582116e+02] [ 4.62185620e-02 9.98931327e-01 -2.19361756e-04 2.64445782e+00] [ 1.28928238e-02 -3.76947101e-04 9.99916813e-01 1.07119569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48509989299998 meters 0.01737676467979792 Centerline is valid? [True, True] Translation: X:103.61, Y:2.64, Z:1.07 [[ 9.98840911e-01 -4.62248923e-02 -1.34199224e-02 1.03614533e+02] [ 4.62260084e-02 9.98930981e-01 -2.27173489e-04 2.64498520e+00] [ 1.34160773e-02 -3.93439272e-04 9.99909923e-01 1.07145543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51509989299998 meters 0.0178979318595478 Centerline is valid? [True, True] Translation: X:103.65, Y:2.65, Z:1.07 [[ 9.98814072e-01 -4.65436320e-02 -1.42877799e-02 1.03646000e+02] [ 4.65449632e-02 9.98916167e-01 -2.39530099e-04 2.64562982e+00] [ 1.42834429e-02 -4.25778154e-04 9.99897896e-01 1.07083113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54509989299999 meters 0.01796331763323003 Centerline is valid? [True, True] Translation: X:103.68, Y:2.65, Z:1.07 [[ 9.98813620e-01 -4.63584847e-02 -1.49078022e-02 1.03678185e+02] [ 4.63599267e-02 9.98924770e-01 -2.49025628e-04 2.64657345e+00] [ 1.49033173e-02 -4.42394427e-04 9.99888842e-01 1.07051599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57509989299999 meters 0.01695058088830684 Centerline is valid? [True, True] Translation: X:103.71, Y:2.65, Z:1.07 [[ 9.98800061e-01 -4.64100439e-02 -1.56379534e-02 1.03710199e+02] [ 4.64116583e-02 9.98922365e-01 -2.59854996e-04 2.64953708e+00] [ 1.56331613e-02 -4.66240165e-04 9.99877686e-01 1.07054249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60509989299999 meters 0.017687028823429894 Centerline is valid? [True, True] Translation: X:103.74, Y:2.65, Z:1.07 [[ 9.98792759e-01 -4.63275656e-02 -1.63334501e-02 1.03742390e+02] [ 4.63293368e-02 9.98926183e-01 -2.70134062e-04 2.64937400e+00] [ 1.63284257e-02 -4.86909967e-04 9.99866564e-01 1.07048163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63509989299999 meters 0.017516192670572393 Centerline is valid? [True, True] Translation: X:103.77, Y:2.65, Z:1.07 [[ 9.98775124e-01 -4.64159365e-02 -1.71409391e-02 1.03774322e+02] [ 4.64179258e-02 9.98922067e-01 -2.81994503e-04 2.65077179e+00] [ 1.71355514e-02 -5.13997746e-04 9.99853044e-01 1.06974885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66509989299999 meters 0.017680809370591317 Centerline is valid? [True, True] Translation: X:103.81, Y:2.65, Z:1.07 [[ 9.98786982e-01 -4.58494744e-02 -1.79552170e-02 1.03805354e+02] [ 4.58515942e-02 9.98948219e-01 -2.93810595e-04 2.65142864e+00] [ 1.79498031e-02 -5.29821128e-04 9.99838749e-01 1.06955072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69509989299999 meters 0.017288012020590056 Centerline is valid? [True, True] Translation: X:103.84, Y:2.65, Z:1.07 [[ 9.98822271e-01 -4.50575116e-02 -1.79970088e-02 1.03837868e+02] [ 4.50595466e-02 9.98984260e-01 -2.92619292e-04 2.65268269e+00] [ 1.79919132e-02 -5.18662391e-04 9.99837998e-01 1.06980416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72509989299999 meters 0.015586933333838503 Centerline is valid? [True, True] Translation: X:103.87, Y:2.66, Z:1.07 [[ 9.98941001e-01 -4.25231735e-02 -1.75685925e-02 1.03869846e+02] [ 4.25247425e-02 9.99095374e-01 -2.84429144e-04 2.65775807e+00] [ 1.75647944e-02 -4.62971941e-04 9.99845620e-01 1.07205302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.755099893 meters 0.01662303727909931 Centerline is valid? [True, True] Translation: X:103.90, Y:2.66, Z:1.07 [[ 9.99010382e-01 -4.10445743e-02 -1.71347546e-02 1.03901598e+02] [ 4.10458703e-02 9.99157225e-01 -2.76186152e-04 2.65737390e+00] [ 1.71316498e-02 -4.27398082e-04 9.99853151e-01 1.07263996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.785099893 meters 0.016260251778869035 Centerline is valid? [True, True] Translation: X:103.93, Y:2.66, Z:1.07 [[ 9.99075593e-01 -3.93441217e-02 -1.73205075e-02 1.03933670e+02] [ 3.93452120e-02 9.99225639e-01 -2.77942974e-04 2.65936693e+00] [ 1.73180306e-02 -4.03792996e-04 9.99849950e-01 1.07369535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.815099893 meters 0.0148702126533674 Centerline is valid? [True, True] Translation: X:103.97, Y:2.66, Z:1.08 [[ 9.99177202e-01 -3.67852650e-02 -1.70810512e-02 1.03966228e+02] [ 3.67859729e-02 9.99323130e-01 -2.72853121e-04 2.66382689e+00] [ 1.70795265e-02 -3.55714468e-04 9.99854071e-01 1.07557025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84509989299998 meters 0.014468933030209429 Centerline is valid? [True, True] Translation: X:104.00, Y:2.67, Z:1.08 [[ 9.99206023e-01 -3.59843725e-02 -1.71011258e-02 1.03998317e+02] [ 3.59849893e-02 9.99352294e-01 -2.71744614e-04 2.66540288e+00] [ 1.70998279e-02 -3.43854975e-04 9.99853728e-01 1.07636457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87509989299998 meters 0.014238074118986564 Centerline is valid? [True, True] Translation: X:104.03, Y:2.67, Z:1.08 [[ 9.99233203e-01 -3.52758427e-02 -1.69888503e-02 1.04030281e+02] [ 3.52763697e-02 9.99377559e-01 -2.68750173e-04 2.66652959e+00] [ 1.69877562e-02 -3.30760869e-04 9.99855643e-01 1.07708695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90509989299998 meters 0.013847365328776735 Centerline is valid? [True, True] Translation: X:104.06, Y:2.67, Z:1.08 [[ 9.99264227e-01 -3.38951817e-02 -1.79477465e-02 1.04062476e+02] [ 3.38955713e-02 9.99425340e-01 -2.82575268e-04 2.66793800e+00] [ 1.79470105e-02 -3.25981763e-04 9.99838886e-01 1.07732328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93509989299999 meters 0.013459099838682308 Centerline is valid? [True, True] Translation: X:104.09, Y:2.67, Z:1.08 [[ 9.99281188e-01 -3.29753115e-02 -1.87012481e-02 1.04094762e+02] [ 3.29755997e-02 9.99456114e-01 -2.93042265e-04 2.66955316e+00] [ 1.87007399e-02 -3.23853247e-04 9.99825073e-01 1.07812663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96509989299999 meters 0.01346133544069269 Centerline is valid? [True, True] Translation: X:104.13, Y:2.67, Z:1.08 [[ 9.99330351e-01 -3.14793151e-02 -1.86521260e-02 1.04125795e+02] [ 3.14793732e-02 9.99504359e-01 -2.90561196e-04 2.67012637e+00] [ 1.86520279e-02 -2.96790612e-04 9.99825992e-01 1.07892938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99509989299999 meters 0.013438499889391048 Centerline is valid? [True, True] Translation: X:104.16, Y:2.67, Z:1.08 [[ 9.99385255e-01 -2.98672544e-02 -1.83591871e-02 1.04156056e+02] [ 2.98670744e-02 9.99553839e-01 -2.84055758e-04 2.67108142e+00] [ 1.83594799e-02 -2.64454072e-04 9.99831416e-01 1.07962981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02509989299999 meters 0.012749639142556318 Centerline is valid? [True, True] Translation: X:104.19, Y:2.67, Z:1.08 [[ 9.99483603e-01 -2.62192093e-02 -1.85763432e-02 1.04187581e+02] [ 2.62184141e-02 9.99656197e-01 -2.86392270e-04 2.67461514e+00] [ 1.85774656e-02 -2.00797880e-04 9.99827404e-01 1.08161093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05509989299999 meters 0.012576641964173643 Centerline is valid? [True, True] Translation: X:104.22, Y:2.68, Z:1.08 [[ 9.99534440e-01 -2.44007234e-02 -1.83168749e-02 1.04217827e+02] [ 2.43996547e-02 9.99702244e-01 -2.81854460e-04 2.67626082e+00] [ 1.83182984e-02 -1.65202185e-04 9.99832192e-01 1.08268484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08509989299999 meters 0.012366160265850098 Centerline is valid? [True, True] Translation: X:104.25, Y:2.68, Z:1.08 [[ 9.99580402e-01 -2.25665378e-02 -1.81595916e-02 1.04248417e+02] [ 2.25651887e-02 9.99745335e-01 -2.79218368e-04 2.67792893e+00] [ 1.81612680e-02 -1.30673403e-04 9.99835062e-01 1.08402520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.115099893 meters 0.012329396128012343 Centerline is valid? [True, True] Translation: X:104.28, Y:2.68, Z:1.08 [[ 9.99615771e-01 -2.12922670e-02 -1.77468265e-02 1.04277849e+02] [ 2.12907760e-02 9.99773288e-01 -2.72967116e-04 2.67844640e+00] [ 1.77486152e-02 -1.04981475e-04 9.99842475e-01 1.08477995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.145099893 meters 0.012325839729720548 Centerline is valid? [True, True] Translation: X:104.31, Y:2.68, Z:1.09 [[ 9.99654986e-01 -1.98168324e-02 -1.72395326e-02 1.04307388e+02] [ 1.98151994e-02 9.99803624e-01 -2.65549529e-04 2.67794655e+00] [ 1.72414095e-02 -7.61468645e-05 9.99851353e-01 1.08585941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.175099893 meters 0.012342513083435579 Centerline is valid? [True, True] Translation: X:104.34, Y:2.68, Z:1.09 [[ 9.99663360e-01 -1.94398031e-02 -1.71831555e-02 1.04336833e+02] [ 1.94381147e-02 9.99811027e-01 -2.65286339e-04 2.67724985e+00] [ 1.71850655e-02 -6.88111149e-05 9.99852323e-01 1.08618942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.205099893 meters 0.012329491509695117 Centerline is valid? [True, True] Translation: X:104.37, Y:2.68, Z:1.09 [[ 9.99663967e-01 -1.93659730e-02 -1.72311459e-02 1.04366584e+02] [ 1.93642537e-02 9.99812460e-01 -2.66637935e-04 2.67663299e+00] [ 1.72330780e-02 -6.71199444e-05 9.99851497e-01 1.08692833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23509989299998 meters 0.012362950620281761 Centerline is valid? [True, True] Translation: X:104.40, Y:2.68, Z:1.09 [[ 9.99658972e-01 -1.95976687e-02 -1.72589476e-02 1.04395346e+02] [ 1.95959662e-02 9.99807945e-01 -2.67775286e-04 2.67525912e+00] [ 1.72608807e-02 -7.05217860e-05 9.99851017e-01 1.08711689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26509989299998 meters 0.012453070972300142 Centerline is valid? [True, True] Translation: X:104.42, Y:2.67, Z:1.09 [[ 9.99637846e-01 -2.06832726e-02 -1.72156636e-02 1.04424497e+02] [ 2.06817074e-02 9.99786074e-01 -2.68971012e-04 2.67238866e+00] [ 1.72175439e-02 -8.71757130e-05 9.99851763e-01 1.08846131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29509989299999 meters 0.012488213999199388 Centerline is valid? [True, True] Translation: X:104.45, Y:2.67, Z:1.09 [[ 9.99623228e-01 -2.14312917e-02 -1.71493965e-02 1.04454574e+02] [ 2.14297931e-02 9.99770319e-01 -2.71169715e-04 2.67076079e+00] [ 1.71512691e-02 -9.64404733e-05 9.99852902e-01 1.08890976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32509989299999 meters 0.012571418929096703 Centerline is valid? [True, True] Translation: X:104.48, Y:2.67, Z:1.09 [[ 9.99597269e-01 -2.23818594e-02 -1.74456914e-02 1.04484386e+02] [ 2.23804458e-02 9.99749488e-01 -2.76289793e-04 2.66861434e+00] [ 1.74475049e-02 -1.14263827e-04 9.99847774e-01 1.08963686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35509989299999 meters 0.01280301401684603 Centerline is valid? [True, True] Translation: X:104.51, Y:2.66, Z:1.09 [[ 9.99550893e-01 -2.43102062e-02 -1.75221772e-02 1.04513896e+02] [ 2.43090734e-02 9.99704452e-01 -2.77665404e-04 2.66392498e+00] [ 1.75237487e-02 -1.48407191e-04 9.99846436e-01 1.09015188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38509989299999 meters 0.013051161502854418 Centerline is valid? [True, True] Translation: X:104.54, Y:2.66, Z:1.09 [[ 9.99511557e-01 -2.57296637e-02 -1.77378717e-02 1.04543145e+02] [ 2.57287167e-02 9.99668922e-01 -2.81626583e-04 2.66106903e+00] [ 1.77392452e-02 -1.74883651e-04 9.99842632e-01 1.09002661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41509989299999 meters 0.013128969954767485 Centerline is valid? [True, True] Translation: X:104.57, Y:2.66, Z:1.09 [[ 9.99480926e-01 -2.69725782e-02 -1.76170071e-02 1.04573856e+02] [ 2.69718332e-02 9.99636155e-01 -2.79925741e-04 2.65888355e+00] [ 1.76181475e-02 -1.95382538e-04 9.99844769e-01 1.09069087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44509989299999 meters 0.013614928783638501 Centerline is valid? [True, True] Translation: X:104.60, Y:2.65, Z:1.09 [[ 9.99394487e-01 -2.99883339e-02 -1.76453566e-02 1.04604593e+02] [ 2.99880565e-02 9.99550218e-01 -2.80376202e-04 2.65374053e+00] [ 1.76458281e-02 -2.48943520e-04 9.99844269e-01 1.09180487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47509989299999 meters 0.01400319196316077 Centerline is valid? [True, True] Translation: X:104.64, Y:2.65, Z:1.09 [[ 9.99338151e-01 -3.18673362e-02 -1.75422994e-02 1.04636082e+02] [ 3.18673547e-02 9.99492068e-01 -2.78554867e-04 2.65115693e+00] [ 1.75422659e-02 -2.80656172e-04 9.99846083e-01 1.09237381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.505099893 meters 0.014326236917722869 Centerline is valid? [True, True] Translation: X:104.67, Y:2.65, Z:1.09 [[ 9.99275659e-01 -3.37499714e-02 -1.75811638e-02 1.04667485e+02] [ 3.37502922e-02 9.99430258e-01 -2.78544528e-04 2.64861910e+00] [ 1.75805479e-02 -3.15026649e-04 9.99845401e-01 1.09291828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.535099893 meters 0.015538504723479977 Centerline is valid? [True, True] Translation: X:104.70, Y:2.64, Z:1.09 [[ 9.99139068e-01 -3.77554219e-02 -1.71944824e-02 1.04698910e+02] [ 3.77563335e-02 9.99286938e-01 -2.71723868e-04 2.64089505e+00] [ 1.71924807e-02 -3.77710678e-04 9.99852127e-01 1.09237711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.565099893 meters 0.01529927756753873 Centerline is valid? [True, True] Translation: X:104.73, Y:2.64, Z:1.09 [[ 9.99064543e-01 -3.99443199e-02 -1.65677369e-02 1.04731283e+02] [ 3.99454826e-02 9.99201827e-01 -2.60871846e-04 2.63910557e+00] [ 1.65649333e-02 -4.01178436e-04 9.99862712e-01 1.09284685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59509989299998 meters 0.017358892274500815 Centerline is valid? [True, True] Translation: X:104.76, Y:2.63, Z:1.09 [[ 9.98990630e-01 -4.20174239e-02 -1.58826266e-02 1.04762000e+02] [ 4.20187700e-02 9.99116790e-01 -2.49089249e-04 2.63298649e+00] [ 1.58790650e-02 -4.18530608e-04 9.99873832e-01 1.09292958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62509989299998 meters 0.018430625045332445 Centerline is valid? [True, True] Translation: X:104.79, Y:2.63, Z:1.09 [[ 9.98811601e-01 -4.60796476e-02 -1.58761637e-02 1.04793227e+02] [ 4.60815144e-02 9.98937652e-01 -2.48415341e-04 2.62724955e+00] [ 1.58707446e-02 -4.83477543e-04 9.99873935e-01 1.09272739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65509989299998 meters 0.0190589355194074 Centerline is valid? [True, True] Translation: X:104.82, Y:2.62, Z:1.09 [[ 9.98735261e-01 -4.76503336e-02 -1.60413463e-02 1.04824895e+02] [ 4.76524518e-02 9.98863945e-01 -2.50374679e-04 2.62439399e+00] [ 1.60350529e-02 -5.14351462e-04 9.99871298e-01 1.09253251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68509989299999 meters 0.01817718640481958 Centerline is valid? [True, True] Translation: X:104.86, Y:2.62, Z:1.09 [[ 9.98663328e-01 -4.90605474e-02 -1.62671192e-02 1.04857461e+02] [ 4.90629278e-02 9.98795657e-01 -2.52961896e-04 2.62409967e+00] [ 1.62599384e-02 -5.45488724e-04 9.99867650e-01 1.09290449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71509989299999 meters 0.019354918234222154 Centerline is valid? [True, True] Translation: X:104.89, Y:2.62, Z:1.09 [[ 9.98534269e-01 -5.18525661e-02 -1.55120765e-02 1.04889295e+02] [ 5.18550848e-02 9.98654591e-01 -2.40069999e-04 2.61833944e+00] [ 1.55036547e-02 -5.64661922e-04 9.99879652e-01 1.09281693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74509989299999 meters 0.020517732776397384 Centerline is valid? [True, True] Translation: X:104.92, Y:2.61, Z:1.09 [[ 9.98458227e-01 -5.33428522e-02 -1.53528322e-02 1.04920690e+02] [ 5.33455156e-02 9.98576086e-01 -2.36283710e-04 2.61468112e+00] [ 1.53435752e-02 -5.83085336e-04 9.99882110e-01 1.09256952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77509989299999 meters 0.019824129903761888 Centerline is valid? [True, True] Translation: X:104.95, Y:2.61, Z:1.09 [[ 9.98385154e-01 -5.47654384e-02 -1.50940748e-02 1.04952478e+02] [ 5.47681871e-02 9.98499070e-01 -2.31501913e-04 2.61376266e+00] [ 1.50840980e-02 -5.95547041e-04 9.99886051e-01 1.09260219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80509989299999 meters 0.019824129903761888 Centerline is valid? [True, True] Translation: X:104.99, Y:2.61, Z:1.09 [[ 9.98391137e-01 -5.46562454e-02 -1.50940897e-02 1.04985037e+02] [ 5.46589964e-02 9.98505053e-01 -2.30528014e-04 2.61417531e+00] [ 1.50841246e-02 -5.94870668e-04 9.99886051e-01 1.09300470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83509989299999 meters 0.02200339361846135 Centerline is valid? [True, True] Translation: X:105.02, Y:2.61, Z:1.09 [[ 9.98195661e-01 -5.81521378e-02 -1.49582890e-02 1.05015704e+02] [ 5.81552520e-02 9.98307525e-01 -2.27066926e-04 2.60698626e+00] [ 1.49461769e-02 -6.43245843e-04 9.99888093e-01 1.09252887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.865099893 meters 0.023949648865971264 Centerline is valid? [True, True] Translation: X:105.05, Y:2.60, Z:1.09 [[ 9.98102499e-01 -5.96379639e-02 -1.53204101e-02 1.05046564e+02] [ 5.96414146e-02 9.98219839e-01 -2.31970299e-04 2.60267174e+00] [ 1.53069716e-02 -6.82200797e-04 9.99882609e-01 1.09210659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.895099893 meters 0.02466290555516531 Centerline is valid? [True, True] Translation: X:105.08, Y:2.60, Z:1.09 [[ 9.98019542e-01 -6.06184015e-02 -1.68048658e-02 1.05079129e+02] [ 6.06227254e-02 9.98160719e-01 -2.52459191e-04 2.60029579e+00] [ 1.67892607e-02 -7.66797563e-04 9.99858756e-01 1.09061574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.925099893 meters 0.023457223106932823 Centerline is valid? [True, True] Translation: X:105.11, Y:2.60, Z:1.09 [[ 9.97972115e-01 -6.10220897e-02 -1.81097429e-02 1.05111528e+02] [ 6.10272019e-02 9.98136067e-01 -2.70730005e-04 2.60066222e+00] [ 1.80925081e-02 -8.35005943e-04 9.99835969e-01 1.08920913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.955099893 meters 0.022543178184131187 Centerline is valid? [True, True] Translation: X:105.14, Y:2.60, Z:1.09 [[ 9.97990100e-01 -6.07991634e-02 -1.78667757e-02 1.05143621e+02] [ 6.08041263e-02 9.98149682e-01 -2.65833929e-04 2.60107254e+00] [ 1.78498789e-02 -8.21074054e-04 9.99840341e-01 1.08896935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98509989299998 meters 0.024511138085686758 Centerline is valid? [True, True] Translation: X:105.17, Y:2.60, Z:1.09 [[ 9.98039914e-01 -6.02926868e-02 -1.67667024e-02 1.05174458e+02] [ 6.02970038e-02 9.98180449e-01 -2.48392351e-04 2.59873082e+00] [ 1.67511708e-02 -7.63076438e-04 9.99859398e-01 1.08970791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01509989299998 meters 0.023485083502488374 Centerline is valid? [True, True] Translation: X:105.21, Y:2.60, Z:1.09 [[ 9.98078220e-01 -5.97690111e-02 -1.63564110e-02 1.05206575e+02] [ 5.97730644e-02 9.98211963e-01 -2.41383090e-04 2.60087502e+00] [ 1.63415924e-02 -7.36753604e-04 9.99866196e-01 1.09096694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04509989299999 meters 0.022062722292700735 Centerline is valid? [True, True] Translation: X:105.24, Y:2.60, Z:1.09 [[ 9.98135187e-01 -5.88692728e-02 -1.61418106e-02 1.05238926e+02] [ 5.88731213e-02 9.98265445e-01 -2.37080842e-04 2.60379700e+00] [ 1.61277685e-02 -7.13680043e-04 9.99869684e-01 1.09195908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07509989299999 meters 0.02234088310894822 Centerline is valid? [True, True] Translation: X:105.27, Y:2.60, Z:1.09 [[ 9.98259996e-01 -5.68935477e-02 -1.54953164e-02 1.05268952e+02] [ 5.68968748e-02 9.98380035e-01 -2.26402243e-04 2.60392893e+00] [ 1.54830953e-02 -6.55626774e-04 9.99879915e-01 1.09195440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10509989299999 meters 0.021719148107121725 Centerline is valid? [True, True] Translation: X:105.30, Y:2.60, Z:1.09 [[ 9.98324734e-01 -5.59341873e-02 -1.48017455e-02 1.05301402e+02] [ 5.59371386e-02 9.98434269e-01 -2.14864594e-04 2.60499572e+00] [ 1.47905882e-02 -6.13462650e-04 9.99890425e-01 1.09233693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13509989299999 meters 0.020572302920153537 Centerline is valid? [True, True] Translation: X:105.33, Y:2.61, Z:1.09 [[ 9.98370455e-01 -5.52198694e-02 -1.43944660e-02 1.05333829e+02] [ 5.52226008e-02 9.98474046e-01 -2.07949600e-04 2.60704309e+00] [ 1.43839837e-02 -5.87289115e-04 9.99896373e-01 1.09315324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16509989299999 meters 0.021933017730288006 Centerline is valid? [True, True] Translation: X:105.37, Y:2.61, Z:1.09 [[ 9.98444205e-01 -5.39652633e-02 -1.40328100e-02 1.05365571e+02] [ 5.39677494e-02 9.98542659e-01 -2.01731500e-04 2.60619670e+00] [ 1.40232459e-02 -5.55901526e-04 9.99901515e-01 1.09333090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19509989299999 meters 0.021769337452912648 Centerline is valid? [True, True] Translation: X:105.40, Y:2.61, Z:1.09 [[ 9.98482216e-01 -5.32269266e-02 -1.41477461e-02 1.05398130e+02] [ 5.32293940e-02 9.98582290e-01 -2.02364168e-04 2.60764152e+00] [ 1.41384599e-02 -5.51018929e-04 9.99899895e-01 1.09380088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22509989299999 meters 0.02085367242660884 Centerline is valid? [True, True] Translation: X:105.43, Y:2.61, Z:1.09 [[ 9.98517429e-01 -5.23821907e-02 -1.48003202e-02 1.05430040e+02] [ 5.23848143e-02 9.98626951e-01 -2.10623909e-04 2.61023710e+00] [ 1.47910316e-02 -5.65000382e-04 9.99890447e-01 1.09402055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.255099893 meters 0.018888964902660798 Centerline is valid? [True, True] Translation: X:105.46, Y:2.61, Z:1.09 [[ 9.98557411e-01 -5.16016989e-02 -1.48445907e-02 1.05462447e+02] [ 5.16042678e-02 9.98667590e-01 -2.10196236e-04 2.61448716e+00] [ 1.48356581e-02 -5.56151226e-04 9.99889791e-01 1.09378474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.285099893 meters 0.020293130034457547 Centerline is valid? [True, True] Translation: X:105.49, Y:2.61, Z:1.09 [[ 9.98587984e-01 -5.08523375e-02 -1.53648289e-02 1.05494068e+02] [ 5.08550180e-02 9.98706023e-01 -2.16457317e-04 2.61351914e+00] [ 1.53559545e-02 -5.65226975e-04 9.99881931e-01 1.09301274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.315099893 meters 0.018678623310792525 Centerline is valid? [True, True] Translation: X:105.53, Y:2.62, Z:1.09 [[ 9.98612825e-01 -5.04129216e-02 -1.51974607e-02 1.05526721e+02] [ 5.04155073e-02 9.98728307e-01 -2.13170323e-04 2.61703653e+00] [ 1.51888808e-02 -5.53313075e-04 9.99884489e-01 1.09359526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34509989299998 meters 0.01967769182378614 Centerline is valid? [True, True] Translation: X:105.56, Y:2.62, Z:1.09 [[ 9.98628273e-01 -5.01795446e-02 -1.49527586e-02 1.05557986e+02] [ 5.01820404e-02 9.98740066e-01 -2.08484237e-04 2.61772169e+00] [ 1.49443807e-02 -5.42161680e-04 9.99888180e-01 1.09447359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37509989299998 meters 0.02007358646835273 Centerline is valid? [True, True] Translation: X:105.59, Y:2.62, Z:1.09 [[ 9.98611341e-01 -5.03785987e-02 -1.54073576e-02 1.05589495e+02] [ 5.03812854e-02 9.98730034e-01 -2.13964987e-04 2.61847195e+00] [ 1.53985700e-02 -5.62574615e-04 9.99881277e-01 1.09475380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40509989299998 meters 0.020759342003839713 Centerline is valid? [True, True] Translation: X:105.62, Y:2.62, Z:1.09 [[ 9.98595157e-01 -5.07341463e-02 -1.52891570e-02 1.05620194e+02] [ 5.07368451e-02 9.98712034e-01 -2.11566267e-04 2.61851338e+00] [ 1.52801987e-02 -5.64454541e-04 9.99883092e-01 1.09469587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43509989299999 meters 0.020625627359811716 Centerline is valid? [True, True] Translation: X:105.65, Y:2.62, Z:1.09 [[ 9.98522488e-01 -5.20164634e-02 -1.57203472e-02 1.05652096e+02] [ 5.20194861e-02 9.98646046e-01 -2.16846005e-04 2.62045039e+00] [ 1.57103421e-02 -6.01238769e-04 9.99876404e-01 1.09429425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46509989299999 meters 0.02204340221540695 Centerline is valid? [True, True] Translation: X:105.68, Y:2.62, Z:1.09 [[ 9.98460777e-01 -5.31240684e-02 -1.59345346e-02 1.05683127e+02] [ 5.31273320e-02 9.98587722e-01 -2.18722593e-04 2.61893343e+00] [ 1.59236501e-02 -6.28173380e-04 9.99873013e-01 1.09394684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49509989299999 meters 0.02067985351080332 Centerline is valid? [True, True] Translation: X:105.72, Y:2.62, Z:1.09 [[ 9.98403489e-01 -5.41277259e-02 -1.61450426e-02 1.05715630e+02] [ 5.41312224e-02 9.98533806e-01 -2.20676336e-04 2.62169840e+00] [ 1.61333155e-02 -6.53626867e-04 9.99869636e-01 1.09403683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52509989299999 meters 0.022301708497537154 Centerline is valid? [True, True] Translation: X:105.75, Y:2.62, Z:1.09 [[ 9.98339022e-01 -5.52324138e-02 -1.63883169e-02 1.05747170e+02] [ 5.52361835e-02 9.98473292e-01 -2.22876951e-04 2.62013473e+00] [ 1.63756067e-02 -6.82721320e-04 9.99865678e-01 1.09407602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55509989299999 meters 0.02131395549095373 Centerline is valid? [True, True] Translation: X:105.78, Y:2.62, Z:1.09 [[ 9.98234086e-01 -5.71698681e-02 -1.61342797e-02 1.05778861e+02] [ 5.71737883e-02 9.98364217e-01 -2.18559578e-04 2.62335182e+00] [ 1.61203826e-02 -7.04284272e-04 9.99869810e-01 1.09489281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58509989299999 meters 0.022349332040108975 Centerline is valid? [True, True] Translation: X:105.81, Y:2.62, Z:1.10 [[ 9.98186875e-01 -5.79636224e-02 -1.62228717e-02 1.05810208e+02] [ 5.79677048e-02 9.98318435e-01 -2.18871022e-04 2.62285156e+00] [ 1.62082785e-02 -7.21928460e-04 9.99868377e-01 1.09537164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.615099893 meters 0.021562751550038773 Centerline is valid? [True, True] Translation: X:105.84, Y:2.63, Z:1.10 [[ 9.98125601e-01 -5.88764711e-02 -1.66986926e-02 1.05842246e+02] [ 5.88809408e-02 9.98264987e-01 -2.24282129e-04 2.62512484e+00] [ 1.66829251e-02 -7.59372995e-04 9.99860542e-01 1.09565815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.645099893 meters 0.022603486963064686 Centerline is valid? [True, True] Translation: X:105.87, Y:2.62, Z:1.10 [[ 9.98074181e-01 -5.95603725e-02 -1.73347058e-02 1.05873788e+02] [ 5.95653132e-02 9.98224384e-01 -2.31611318e-04 2.62477515e+00] [ 1.73177209e-02 -8.01381905e-04 9.99849716e-01 1.09545747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.675099893 meters 0.023361118119706523 Centerline is valid? [True, True] Translation: X:105.91, Y:2.63, Z:1.10 [[ 9.98008461e-01 -6.05125416e-02 -1.78141359e-02 1.05905806e+02] [ 6.05179301e-02 9.98167082e-01 -2.36931305e-04 2.62619109e+00] [ 1.77958214e-02 -8.41615185e-04 9.99841288e-01 1.09542106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.705099893 meters 0.02523407053346522 Centerline is valid? [True, True] Translation: X:105.94, Y:2.63, Z:1.10 [[ 9.97985986e-01 -6.07634046e-02 -1.82148628e-02 1.05937160e+02] [ 6.07691023e-02 9.98151821e-01 -2.41040714e-04 2.62509882e+00] [ 1.81958449e-02 -8.66345608e-04 9.99834067e-01 1.09569859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73509989299998 meters 0.024385439960266035 Centerline is valid? [True, True] Translation: X:105.97, Y:2.63, Z:1.10 [[ 9.97996331e-01 -6.06732443e-02 -1.79466117e-02 1.05969364e+02] [ 6.06787796e-02 9.98157317e-01 -2.36445124e-04 2.62961171e+00] [ 1.79278876e-02 -8.53007127e-04 9.99838919e-01 1.09688539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76509989299998 meters 0.023806700771210453 Centerline is valid? [True, True] Translation: X:106.00, Y:2.63, Z:1.10 [[ 9.98042306e-01 -5.99838065e-02 -1.77059128e-02 1.06002064e+02] [ 5.99891097e-02 9.98199005e-01 -2.31937902e-04 2.63228195e+00] [ 1.76879370e-02 -8.30678106e-04 9.99843211e-01 1.09769146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79509989299999 meters 0.02384260771314384 Centerline is valid? [True, True] Translation: X:106.03, Y:2.63, Z:1.10 [[ 9.98129591e-01 -5.88779344e-02 -1.64532096e-02 1.06034260e+02] [ 5.88823851e-02 9.98264904e-01 -2.14219063e-04 2.63363343e+00] [ 1.64372745e-02 -7.54985837e-04 9.99864614e-01 1.09858290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82509989299999 meters 0.024234488249643943 Centerline is valid? [True, True] Translation: X:106.06, Y:2.64, Z:1.10 [[ 9.98298332e-01 -5.65692292e-02 -1.41549772e-02 1.06064867e+02] [ 5.65723030e-02 9.98398488e-01 -1.83481602e-04 2.63636362e+00] [ 1.41426872e-02 -6.17610279e-04 9.99899796e-01 1.10092777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85509989299999 meters 0.021557152913457393 Centerline is valid? [True, True] Translation: X:106.10, Y:2.64, Z:1.10 [[ 9.98384743e-01 -5.52006863e-02 -1.34458215e-02 1.06097358e+02] [ 5.52033427e-02 9.98475118e-01 -1.73779693e-04 2.64258510e+00] [ 1.34349109e-02 -5.68755297e-04 9.99909586e-01 1.10251752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88509989299999 meters 0.02117271099588325 Centerline is valid? [True, True] Translation: X:106.13, Y:2.65, Z:1.10 [[ 9.98491865e-01 -5.33906000e-02 -1.27843411e-02 1.06129579e+02] [ 5.33928672e-02 9.98573570e-01 -1.64144510e-04 2.64737336e+00] [ 1.27748689e-02 -5.18695669e-04 9.99918263e-01 1.10396043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91509989299999 meters 0.020258536959095765 Centerline is valid? [True, True] Translation: X:106.16, Y:2.65, Z:1.10 [[ 9.98514846e-01 -5.28142087e-02 -1.33701549e-02 1.06162065e+02] [ 5.28166503e-02 9.98604212e-01 -1.70665318e-04 2.65056032e+00] [ 1.33605065e-02 -5.35754939e-04 9.99910601e-01 1.10371096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94509989299999 meters 0.020407854757687333 Centerline is valid? [True, True] Translation: X:106.19, Y:2.65, Z:1.10 [[ 9.98525479e-01 -5.23526032e-02 -1.43552410e-02 1.06193915e+02] [ 5.23553862e-02 9.98628500e-01 -1.82131578e-04 2.65168456e+00] [ 1.43450878e-02 -5.69711164e-04 9.99896942e-01 1.10330763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97509989299999 meters 0.020932352049377524 Centerline is valid? [True, True] Translation: X:106.23, Y:2.65, Z:1.10 [[ 9.98501581e-01 -5.25223174e-02 -1.53622857e-02 1.06225347e+02] [ 5.25255418e-02 9.98619562e-01 -1.93792557e-04 2.65199588e+00] [ 1.53512575e-02 -6.13410206e-04 9.99881974e-01 1.10235106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.005099893 meters 0.02249696875710918 Centerline is valid? [True, True] Translation: X:106.26, Y:2.65, Z:1.10 [[ 9.98473954e-01 -5.27944377e-02 -1.62021855e-02 1.06256461e+02] [ 5.27980749e-02 9.98605188e-01 -2.03482071e-04 2.65041147e+00] [ 1.61903292e-02 -6.52272656e-04 9.99868715e-01 1.10179984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.035099893 meters 0.022291134518565518 Centerline is valid? [True, True] Translation: X:106.29, Y:2.65, Z:1.10 [[ 9.98386486e-01 -5.40252370e-02 -1.74842316e-02 1.06288513e+02] [ 5.40296798e-02 9.98539306e-01 -2.18512595e-04 2.65203413e+00] [ 1.74704977e-02 -7.26507413e-04 9.99847115e-01 1.10069642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.065099893 meters 0.022281185078520057 Centerline is valid? [True, True] Translation: X:106.32, Y:2.65, Z:1.10 [[ 9.98295054e-01 -5.53110016e-02 -1.86461184e-02 1.06320907e+02] [ 5.53163041e-02 9.98468854e-01 -2.31659591e-04 2.65341090e+00] [ 1.86303818e-02 -8.00169730e-04 9.99826119e-01 1.09952299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09509989299998 meters 0.02387396849150862 Centerline is valid? [True, True] Translation: X:106.35, Y:2.65, Z:1.10 [[ 9.98255322e-01 -5.58102146e-02 -1.92751920e-02 1.06351904e+02] [ 5.58159985e-02 9.98441044e-01 -2.38202911e-04 2.65255428e+00] [ 1.92584370e-02 -8.38076763e-04 9.99814188e-01 1.09935797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12509989299998 meters 0.021468193659664136 Centerline is valid? [True, True] Translation: X:106.38, Y:2.66, Z:1.10 [[ 9.98213861e-01 -5.63472147e-02 -1.98514009e-02 1.06383916e+02] [ 5.63534798e-02 9.98410850e-01 -2.44104052e-04 2.65898499e+00] [ 1.98336086e-02 -8.75027470e-04 9.99802912e-01 1.09979560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15509989299998 meters 0.02270216938969623 Centerline is valid? [True, True] Translation: X:106.42, Y:2.66, Z:1.10 [[ 9.98251284e-01 -5.55502272e-02 -2.02125043e-02 1.06415063e+02] [ 5.55565865e-02 9.98455510e-01 -2.47199090e-04 2.66047880e+00] [ 2.01950182e-02 -8.76170935e-04 9.99795676e-01 1.09983346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18509989299999 meters 0.020606149406581967 Centerline is valid? [True, True] Translation: X:106.45, Y:2.67, Z:1.10 [[ 9.98323110e-01 -5.43019179e-02 -2.00566454e-02 1.06446871e+02] [ 5.43079526e-02 9.98524204e-01 -2.44064310e-04 2.66582684e+00] [ 2.00402990e-02 -8.45580308e-04 9.99798815e-01 1.10101817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21509989299999 meters 0.02065674517616491 Centerline is valid? [True, True] Translation: X:106.48, Y:2.67, Z:1.10 [[ 9.98420903e-01 -5.25797507e-02 -1.97755073e-02 1.06477936e+02] [ 5.25853057e-02 9.98616407e-01 -2.39351522e-04 2.66815743e+00] [ 1.97607310e-02 -8.00927532e-04 9.99804417e-01 1.10181922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24509989299999 meters 0.01911953661587198 Centerline is valid? [True, True] Translation: X:106.51, Y:2.68, Z:1.10 [[ 9.98674410e-01 -4.79380010e-02 -1.87449071e-02 1.06508614e+02] [ 4.79421894e-02 9.98850087e-01 -2.26126594e-04 2.67514352e+00] [ 1.87341921e-02 -6.72845042e-04 9.99824273e-01 1.10391196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27509989299999 meters 0.018912901866358984 Centerline is valid? [True, True] Translation: X:106.54, Y:2.68, Z:1.11 [[ 9.98814692e-01 -4.53034663e-02 -1.77990908e-02 1.06538835e+02] [ 4.53068387e-02 9.98973095e-01 -2.13932748e-04 2.67756452e+00] [ 1.77905047e-02 -5.92741364e-04 9.99841561e-01 1.10509960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30509989299999 meters 0.017460951651145844 Centerline is valid? [True, True] Translation: X:106.57, Y:2.68, Z:1.11 [[ 9.99025727e-01 -4.07662079e-02 -1.69030612e-02 1.06570552e+02] [ 4.07686254e-02 9.99168594e-01 -2.01681401e-04 2.68251305e+00] [ 1.68972297e-02 -4.87629663e-04 9.99857113e-01 1.10606139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33509989299999 meters 0.016887669507729745 Centerline is valid? [True, True] Translation: X:106.60, Y:2.68, Z:1.11 [[ 9.99101816e-01 -3.88960363e-02 -1.68124849e-02 1.06602794e+02] [ 3.88981797e-02 9.99243159e-01 -1.99625557e-04 2.68438313e+00] [ 1.68075251e-02 -4.54528800e-04 9.99858640e-01 1.10647228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.365099893 meters 0.016422967726403448 Centerline is valid? [True, True] Translation: X:106.64, Y:2.69, Z:1.11 [[ 9.99174900e-01 -3.67949314e-02 -1.71945224e-02 1.06635193e+02] [ 3.67968839e-02 9.99322745e-01 -2.02919536e-04 2.68646340e+00] [ 1.71903437e-02 -4.29952736e-04 9.99852143e-01 1.10711671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.395099893 meters 0.016329841889756454 Centerline is valid? [True, True] Translation: X:106.67, Y:2.69, Z:1.11 [[ 9.99188275e-01 -3.64758983e-02 -1.70968070e-02 1.06667325e+02] [ 3.64778025e-02 9.99334443e-01 -2.00559041e-04 2.68732700e+00] [ 1.70927437e-02 -4.23257709e-04 9.99853819e-01 1.10765846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.425099893 meters 0.01670131269577385 Centerline is valid? [True, True] Translation: X:106.70, Y:2.69, Z:1.11 [[ 9.99159837e-01 -3.70857134e-02 -1.74433492e-02 1.06699798e+02] [ 3.70878104e-02 9.99311990e-01 -2.03370284e-04 2.68754886e+00] [ 1.74388902e-02 -4.43736210e-04 9.99847833e-01 1.10855404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.455099893 meters 0.016462602914757256 Centerline is valid? [True, True] Translation: X:106.73, Y:2.69, Z:1.11 [[ 9.99120380e-01 -3.82145876e-02 -1.72658804e-02 1.06731449e+02] [ 3.82168301e-02 9.99269450e-01 -2.00172050e-04 2.68807500e+00] [ 1.72609163e-02 -4.59851243e-04 9.99850914e-01 1.10903064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48509989299998 meters 0.017287181434897464 Centerline is valid? [True, True] Translation: X:106.76, Y:2.69, Z:1.11 [[ 9.99077935e-01 -3.93187409e-02 -1.72428703e-02 1.06762840e+02] [ 3.93211578e-02 9.99226604e-01 -1.98973534e-04 2.68633462e+00] [ 1.72373582e-02 -4.79219556e-04 9.99851311e-01 1.10935019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51509989299998 meters 0.01821338194106716 Centerline is valid? [True, True] Translation: X:106.80, Y:2.68, Z:1.11 [[ 9.98985714e-01 -4.16974222e-02 -1.69961266e-02 1.06795173e+02] [ 4.17001310e-02 9.99130152e-01 -1.95144125e-04 2.68370304e+00] [ 1.69894796e-02 -5.13794514e-04 9.99855536e-01 1.10946144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54509989299999 meters 0.01799111336827127 Centerline is valid? [True, True] Translation: X:106.83, Y:2.68, Z:1.11 [[ 9.98869143e-01 -4.39518755e-02 -1.81292104e-02 1.06827715e+02] [ 4.39553529e-02 9.99033475e-01 -2.06807344e-04 2.68258326e+00] [ 1.81207776e-02 -5.90302368e-04 9.99835631e-01 1.10973709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57509989299999 meters 0.018935571549716562 Centerline is valid? [True, True] Translation: X:106.86, Y:2.68, Z:1.11 [[ 9.98832929e-01 -4.46308652e-02 -1.84625630e-02 1.06858788e+02] [ 4.46346162e-02 9.99003357e-01 -2.09056762e-04 2.68070780e+00] [ 1.84534928e-02 -6.15256633e-04 9.99829531e-01 1.10955501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60509989299999 meters 0.01923236128050318 Centerline is valid? [True, True] Translation: X:106.89, Y:2.68, Z:1.11 [[ 9.98802512e-01 -4.51512392e-02 -1.88389950e-02 1.06890764e+02] [ 4.51552709e-02 9.98979958e-01 -2.11529057e-04 2.68012911e+00] [ 1.88293292e-02 -6.39404170e-04 9.99822508e-01 1.10996211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63509989299999 meters 0.018775407827206807 Centerline is valid? [True, True] Translation: X:106.92, Y:2.68, Z:1.11 [[ 9.98765040e-01 -4.57504356e-02 -1.93724582e-02 1.06923236e+02] [ 4.57548388e-02 9.98952676e-01 -2.16113241e-04 2.68087941e+00] [ 1.93620562e-02 -6.70537352e-04 9.99812313e-01 1.11049567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66509989299999 meters 0.01857625823354808 Centerline is valid? [True, True] Translation: X:106.96, Y:2.68, Z:1.11 [[ 9.98763604e-01 -4.57828730e-02 -1.93698885e-02 1.06955379e+02] [ 4.57873082e-02 9.98951188e-01 -2.14684362e-04 2.68131823e+00] [ 1.93594020e-02 -6.72476127e-04 9.99812363e-01 1.11068805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69509989299999 meters 0.01857625823354808 Centerline is valid? [True, True] Translation: X:106.99, Y:2.68, Z:1.11 [[ 9.98766922e-01 -4.57104248e-02 -1.93699040e-02 1.06987090e+02] [ 4.57148736e-02 9.98954506e-01 -2.13279860e-04 2.68161100e+00] [ 1.93594020e-02 -6.72475843e-04 9.99812363e-01 1.11107995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72509989299999 meters 0.018506966473120303 Centerline is valid? [True, True] Translation: X:107.02, Y:2.68, Z:1.11 [[ 9.98788395e-01 -4.52739169e-02 -1.92876553e-02 1.07019330e+02] [ 4.52782736e-02 9.98974391e-01 -2.10979744e-04 2.68182454e+00] [ 1.92774255e-02 -6.62587612e-04 9.99813954e-01 1.11184965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.755099893 meters 0.019009041957992412 Centerline is valid? [True, True] Translation: X:107.05, Y:2.68, Z:1.11 [[ 9.98802482e-01 -4.49309098e-02 -1.93601343e-02 1.07050162e+02] [ 4.49352596e-02 9.98989879e-01 -2.10496098e-04 2.68112650e+00] [ 1.93500360e-02 -6.59708635e-04 9.99812553e-01 1.11186626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.785099893 meters 0.018652098050258362 Centerline is valid? [True, True] Translation: X:107.08, Y:2.68, Z:1.11 [[ 9.98832371e-01 -4.39957437e-02 -1.99566694e-02 1.07082147e+02] [ 4.40002040e-02 9.99031499e-01 -2.15753273e-04 2.68163589e+00] [ 1.99468336e-02 -6.62596172e-04 9.99800823e-01 1.11158822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.815099893 meters 0.01844911262888935 Centerline is valid? [True, True] Translation: X:107.11, Y:2.68, Z:1.11 [[ 9.98838917e-01 -4.37350622e-02 -2.02005282e-02 1.07113926e+02] [ 4.37396082e-02 9.99042942e-01 -2.16937395e-04 2.68205843e+00] [ 2.01906829e-02 -6.66877677e-04 9.99795925e-01 1.11228862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84509989299998 meters 0.018001755877740572 Centerline is valid? [True, True] Translation: X:107.15, Y:2.68, Z:1.11 [[ 9.98825272e-01 -4.44194452e-02 -1.93646073e-02 1.07145862e+02] [ 4.44237774e-02 9.99012755e-01 -2.06602453e-04 2.68264485e+00] [ 1.93546668e-02 -6.53889251e-04 9.99812467e-01 1.11373456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87509989299998 meters 0.01848223493615613 Centerline is valid? [True, True] Translation: X:107.18, Y:2.68, Z:1.11 [[ 9.98828329e-01 -4.46277569e-02 -1.87171923e-02 1.07177496e+02] [ 4.46318713e-02 9.99003482e-01 -1.98062904e-04 2.68153100e+00] [ 1.87073794e-02 -6.37552478e-04 9.99824798e-01 1.11454670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90509989299998 meters 0.01923692782200912 Centerline is valid? [True, True] Translation: X:107.21, Y:2.68, Z:1.12 [[ 9.98780415e-01 -4.57047248e-02 -1.86751105e-02 1.07208979e+02] [ 4.57090426e-02 9.98954776e-01 -1.95799004e-04 2.67947127e+00] [ 1.86645398e-02 -6.58061212e-04 9.99825586e-01 1.11530961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93509989299999 meters 0.019970119421967122 Centerline is valid? [True, True] Translation: X:107.24, Y:2.68, Z:1.12 [[ 9.98777984e-01 -4.58116956e-02 -1.85425960e-02 1.07239875e+02] [ 4.58159964e-02 9.98949877e-01 -1.93021978e-04 2.67802379e+00] [ 1.85319666e-02 -6.56761409e-04 9.99828053e-01 1.11532839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96509989299999 meters 0.0193452452680296 Centerline is valid? [True, True] Translation: X:107.27, Y:2.68, Z:1.12 [[ 9.98745975e-01 -4.63714951e-02 -1.88722599e-02 1.07271832e+02] [ 4.63760868e-02 9.98924032e-01 -1.94506344e-04 2.67900689e+00] [ 1.88609735e-02 -6.80959134e-04 9.99821884e-01 1.11634356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99509989299999 meters 0.019106995015842166 Centerline is valid? [True, True] Translation: X:107.30, Y:2.68, Z:1.12 [[ 9.98725871e-01 -4.67648312e-02 -1.89653724e-02 1.07303924e+02] [ 4.67695652e-02 9.98905686e-01 -1.94094456e-04 2.67954627e+00] [ 1.89536951e-02 -6.93155067e-04 9.99820122e-01 1.11714315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02509989299999 meters 0.020038628323740766 Centerline is valid? [True, True] Translation: X:107.33, Y:2.68, Z:1.12 [[ 9.98711591e-01 -4.68736993e-02 -1.94425803e-02 1.07334939e+02] [ 4.68787205e-02 9.98900569e-01 -1.97678205e-04 2.67808643e+00] [ 1.94304705e-02 -7.14019775e-04 9.99810956e-01 1.11764091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05509989299999 meters 0.019028734408594233 Centerline is valid? [True, True] Translation: X:107.37, Y:2.68, Z:1.12 [[ 9.98673307e-01 -4.73986096e-02 -2.01245375e-02 1.07367396e+02] [ 4.74041210e-02 9.98875772e-01 -2.03355471e-04 2.67911983e+00] [ 2.01115517e-02 -7.50900328e-04 9.99797460e-01 1.11807560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08509989299999 meters 0.0208045768505641 Centerline is valid? [True, True] Translation: X:107.40, Y:2.68, Z:1.12 [[ 9.98641154e-01 -4.73658533e-02 -2.17329686e-02 1.07398929e+02] [ 4.73723058e-02 9.98877278e-01 -2.18124661e-04 2.67550613e+00] [ 2.17189002e-02 -8.11712571e-04 9.99763787e-01 1.11607622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.115099893 meters 0.020518942256584148 Centerline is valid? [True, True] Translation: X:107.43, Y:2.68, Z:1.12 [[ 9.98643110e-01 -4.70351310e-02 -2.23525298e-02 1.07430747e+02] [ 4.70419052e-02 9.98892892e-01 -2.22950456e-04 2.67557730e+00] [ 2.23382697e-02 -8.28857654e-04 9.99750126e-01 1.11626269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.145099893 meters 0.020116349590539567 Centerline is valid? [True, True] Translation: X:107.46, Y:2.68, Z:1.12 [[ 9.98667950e-01 -4.64957100e-02 -2.23712837e-02 1.07463248e+02] [ 4.65023956e-02 9.98918154e-01 -2.21563935e-04 2.67664583e+00] [ 2.23573832e-02 -8.19049485e-04 9.99749707e-01 1.11681868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.175099893 meters 0.0192113913026252 Centerline is valid? [True, True] Translation: X:107.50, Y:2.68, Z:1.12 [[ 9.98707135e-01 -4.56744653e-02 -2.23137103e-02 1.07495680e+02] [ 4.56809472e-02 9.98956057e-01 -2.19410727e-04 2.67853192e+00] [ 2.23004376e-02 -8.00184365e-04 9.99750994e-01 1.11780324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.205099893 meters 0.018041550623246437 Centerline is valid? [True, True] Translation: X:107.53, Y:2.68, Z:1.12 [[ 9.98830980e-01 -4.28577591e-02 -2.23581191e-02 1.07526980e+02] [ 4.28635899e-02 9.99080910e-01 -2.18598459e-04 2.68150142e+00] [ 2.23469386e-02 -7.40006335e-04 9.99750002e-01 1.11838236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23509989299998 meters 0.017779828475002684 Centerline is valid? [True, True] Translation: X:107.56, Y:2.68, Z:1.12 [[ 9.98913265e-01 -4.08588650e-02 -2.24241219e-02 1.07557339e+02] [ 4.08642413e-02 9.99164684e-01 -2.18615695e-04 2.68263185e+00] [ 2.24143231e-02 -6.97966609e-04 9.99748524e-01 1.11901828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26509989299998 meters 0.016603847524103817 Centerline is valid? [True, True] Translation: X:107.59, Y:2.69, Z:1.12 [[ 9.99084492e-01 -3.64491815e-02 -2.23972319e-02 1.07587564e+02] [ 3.64534426e-02 9.99335329e-01 -2.18133426e-04 2.68670290e+00] [ 2.23902958e-02 -5.98522484e-04 9.99749127e-01 1.12004065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29509989299999 meters 0.01625239039544557 Centerline is valid? [True, True] Translation: X:107.62, Y:2.69, Z:1.12 [[ 9.99149062e-01 -3.48846942e-02 -2.20047906e-02 1.07617852e+02] [ 3.48884280e-02 9.99391191e-01 -2.14311322e-04 2.68848979e+00] [ 2.19988701e-02 -5.53583598e-04 9.99757842e-01 1.12060011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32509989299999 meters 0.016109466397559453 Centerline is valid? [True, True] Translation: X:107.65, Y:2.69, Z:1.12 [[ 9.99207689e-01 -3.34288131e-02 -2.15988207e-02 1.07647016e+02] [ 3.34320671e-02 9.99440970e-01 -2.10519340e-04 2.68940813e+00] [ 2.15937837e-02 -5.11740680e-04 9.99766696e-01 1.12122719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35509989299999 meters 0.015155486297852586 Centerline is valid? [True, True] Translation: X:107.68, Y:2.69, Z:1.12 [[ 9.99253009e-01 -3.25941215e-02 -2.07616913e-02 1.07677984e+02] [ 3.25969468e-02 9.99468558e-01 -2.02416803e-04 2.69198983e+00] [ 2.07572553e-02 -4.74502148e-04 9.99784432e-01 1.12333219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38509989299999 meters 0.01534144323419516 Centerline is valid? [True, True] Translation: X:107.71, Y:2.69, Z:1.12 [[ 9.99258421e-01 -3.27778182e-02 -2.02045450e-02 1.07709024e+02] [ 3.27805414e-02 9.99462554e-01 -1.96485469e-04 2.69176966e+00] [ 2.02001265e-02 -4.65976165e-04 9.99795848e-01 1.12403062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41509989299999 meters 0.01666131066557019 Centerline is valid? [True, True] Translation: X:107.74, Y:2.69, Z:1.12 [[ 9.99193515e-01 -3.46525054e-02 -2.02860564e-02 1.07739759e+02] [ 3.46556486e-02 9.99399293e-01 -1.96689789e-04 2.68832379e+00] [ 2.02806862e-02 -5.06495281e-04 9.99794197e-01 1.12388804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44509989299999 meters 0.016664339595713094 Centerline is valid? [True, True] Translation: X:107.77, Y:2.69, Z:1.12 [[ 9.99136484e-01 -3.61485135e-02 -2.04834630e-02 1.07771165e+02] [ 3.61520428e-02 9.99346282e-01 -1.98094708e-04 2.68790485e+00] [ 2.04772334e-02 -5.42595383e-04 9.99790172e-01 1.12468560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47509989299999 meters 0.017884643827013963 Centerline is valid? [True, True] Translation: X:107.80, Y:2.69, Z:1.12 [[ 9.99065674e-01 -3.79309639e-02 -2.07128035e-02 1.07801757e+02] [ 3.79349676e-02 9.99280190e-01 -1.99726196e-04 2.68554599e+00] [ 2.07054700e-02 -5.86199943e-04 9.99785447e-01 1.12485493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.505099893 meters 0.018252523375258217 Centerline is valid? [True, True] Translation: X:107.83, Y:2.68, Z:1.13 [[ 9.98847166e-01 -4.21895321e-02 -2.28993840e-02 1.07833258e+02] [ 4.21955579e-02 9.99109347e-01 -2.20197720e-04 2.68421434e+00] [ 2.28882787e-02 -7.46308417e-04 9.99737750e-01 1.12554106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.535099893 meters 0.019178208734960317 Centerline is valid? [True, True] Translation: X:107.86, Y:2.68, Z:1.12 [[ 9.98564654e-01 -4.72781887e-02 -2.51675397e-02 1.07864601e+02] [ 4.72871054e-02 9.98881310e-01 -2.41063823e-04 2.68085545e+00] [ 2.51507821e-02 -9.49382290e-04 9.99683218e-01 1.12475454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.565099893 meters 0.02331900922408343 Centerline is valid? [True, True] Translation: X:107.89, Y:2.67, Z:1.12 [[ 9.98416875e-01 -4.99516699e-02 -2.58568122e-02 1.07894815e+02] [ 4.99619951e-02 9.98751089e-01 -2.46966237e-04 2.67381713e+00] [ 2.58368557e-02 -1.04528266e-03 9.99665626e-01 1.12285654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59509989299998 meters 0.020791587817400096 Centerline is valid? [True, True] Translation: X:107.93, Y:2.68, Z:1.12 [[ 9.98259377e-01 -5.26003998e-02 -2.66723535e-02 1.07925675e+02] [ 5.26123520e-02 9.98614979e-01 -2.53950816e-04 2.67680979e+00] [ 2.66487696e-02 -1.14978646e-03 9.99644197e-01 1.12497436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62509989299998 meters 0.023353272672857826 Centerline is valid? [True, True] Translation: X:107.96, Y:2.67, Z:1.13 [[ 9.98040197e-01 -5.65528539e-02 -2.67869178e-02 1.07955663e+02] [ 5.65663426e-02 9.98398810e-01 -2.54541231e-04 2.67178910e+00] [ 2.67584219e-02 -1.26119559e-03 9.99641134e-01 1.12510238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65509989299998 meters 0.022947522143923312 Centerline is valid? [True, True] Translation: X:107.99, Y:2.67, Z:1.13 [[ 9.97944045e-01 -5.84588692e-02 -2.62724777e-02 1.07987204e+02] [ 5.84725231e-02 9.98288987e-01 -2.48895044e-04 2.67238901e+00] [ 2.62420753e-02 -1.28783473e-03 9.99654788e-01 1.12719033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68509989299999 meters 0.02381572758321787 Centerline is valid? [True, True] Translation: X:108.02, Y:2.67, Z:1.13 [[ 9.97956427e-01 -5.86263448e-02 -2.54150005e-02 1.08018679e+02] [ 5.86392101e-02 9.98279212e-01 -2.39414812e-04 2.67132905e+00] [ 2.53853027e-02 -1.25139000e-03 9.99676958e-01 1.12777761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71509989299999 meters 0.023520423717218117 Centerline is valid? [True, True] Translation: X:108.05, Y:2.67, Z:1.13 [[ 9.98002522e-01 -5.83246718e-02 -2.42734264e-02 1.08050573e+02] [ 5.83363540e-02 9.98296959e-01 -2.27164953e-04 2.67157571e+00] [ 2.42453371e-02 -1.18931200e-03 9.99705331e-01 1.12871058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74509989299999 meters 0.024342024916944004 Centerline is valid? [True, True] Translation: X:108.08, Y:2.67, Z:1.13 [[ 9.98015354e-01 -5.81875299e-02 -2.40741369e-02 1.08081566e+02] [ 5.81990176e-02 9.98304976e-01 -2.23787210e-04 2.66997063e+00] [ 2.40463523e-02 -1.17774805e-03 9.99710151e-01 1.12861583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77509989299999 meters 0.023480864608910506 Centerline is valid? [True, True] Translation: X:108.11, Y:2.67, Z:1.13 [[ 9.98023682e-01 -5.80756039e-02 -2.39990524e-02 1.08114243e+02] [ 5.80870236e-02 9.98311499e-01 -2.21591129e-04 2.67065372e+00] [ 2.39713990e-02 -1.17288033e-03 9.99711957e-01 1.12890445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80509989299999 meters 0.023462141509117528 Centerline is valid? [True, True] Translation: X:108.15, Y:2.67, Z:1.13 [[ 9.98027363e-01 -5.79581648e-02 -2.41295379e-02 1.08146655e+02] [ 5.79697167e-02 9.98318318e-01 -2.21058865e-04 2.67045815e+00] [ 2.41017719e-02 -1.17815968e-03 9.99708816e-01 1.12936597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83509989299999 meters 0.024777969956475375 Centerline is valid? [True, True] Translation: X:108.18, Y:2.67, Z:1.13 [[ 9.98035292e-01 -5.78473269e-02 -2.40674751e-02 1.08177952e+02] [ 5.78588237e-02 9.98324751e-01 -2.18980025e-04 2.66896180e+00] [ 2.40398235e-02 -1.17396600e-03 9.99710312e-01 1.12970149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.865099893 meters 0.02339221671657769 Centerline is valid? [True, True] Translation: X:108.21, Y:2.67, Z:1.13 [[ 9.98025385e-01 -5.79502254e-02 -2.42302014e-02 1.08210466e+02] [ 5.79619452e-02 9.98318769e-01 -2.18942515e-04 2.67127590e+00] [ 2.42021526e-02 -1.18591942e-03 9.99706382e-01 1.13069868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.895099893 meters 0.024988661104607506 Centerline is valid? [True, True] Translation: X:108.24, Y:2.67, Z:1.13 [[ 9.97979859e-01 -5.83433068e-02 -2.51447770e-02 1.08241551e+02] [ 5.83560934e-02 9.98295806e-01 -2.25599438e-04 2.66843236e+00] [ 2.51150877e-02 -1.24220726e-03 9.99683795e-01 1.13006559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.925099893 meters 0.025804187414798497 Centerline is valid? [True, True] Translation: X:108.27, Y:2.67, Z:1.13 [[ 9.97908106e-01 -5.88409685e-02 -2.67796973e-02 1.08273069e+02] [ 5.88557096e-02 9.98266472e-01 -2.38104558e-04 2.66622591e+00] [ 2.67472843e-02 -1.33853162e-03 9.99641331e-01 1.12869175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.955099893 meters 0.024192248500359153 Centerline is valid? [True, True] Translation: X:108.31, Y:2.67, Z:1.13 [[ 9.97881740e-01 -5.85810030e-02 -2.82895606e-02 1.08305660e+02] [ 5.85974196e-02 9.98281664e-01 -2.49070908e-04 2.66818402e+00] [ 2.82555405e-02 -1.40915194e-03 9.99599739e-01 1.12843156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98509989299998 meters 0.023505458011374554 Centerline is valid? [True, True] Translation: X:108.34, Y:2.67, Z:1.13 [[ 9.97880168e-01 -5.82552771e-02 -2.90084845e-02 1.08338170e+02] [ 5.82724631e-02 9.98300684e-01 -2.53296035e-04 2.66977719e+00] [ 2.89739457e-02 -1.43763675e-03 9.99579133e-01 1.12907178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01509989299998 meters 0.025564621314306906 Centerline is valid? [True, True] Translation: X:108.37, Y:2.67, Z:1.13 [[ 9.97909042e-01 -5.74388477e-02 -2.96365258e-02 1.08368228e+02] [ 5.74564634e-02 9.98347980e-01 -2.57562015e-04 2.66790056e+00] [ 2.96023598e-02 -1.44578650e-03 9.99560709e-01 1.12830214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04509989299999 meters 0.024257139844424493 Centerline is valid? [True, True] Translation: X:108.40, Y:2.67, Z:1.13 [[ 9.97954896e-01 -5.65627904e-02 -2.97771009e-02 1.08399259e+02] [ 5.65802094e-02 9.98398024e-01 -2.57952180e-04 2.67093321e+00] [ 2.97439892e-02 -1.42736997e-03 9.99556531e-01 1.12950332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07509989299999 meters 0.024257139844424493 Centerline is valid? [True, True] Translation: X:108.43, Y:2.67, Z:1.13 [[ 9.97956878e-01 -5.65278192e-02 -2.97771099e-02 1.08430142e+02] [ 5.65452538e-02 9.98400004e-01 -2.56909128e-04 2.67116986e+00] [ 2.97439892e-02 -1.42737001e-03 9.99556531e-01 1.12988513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10509989299999 meters 0.021813632898181633 Centerline is valid? [True, True] Translation: X:108.46, Y:2.68, Z:1.13 [[ 9.98116376e-01 -5.37582032e-02 -2.95593429e-02 1.08461015e+02] [ 5.37741935e-02 9.98553089e-01 -2.54292584e-04 2.67582123e+00] [ 2.95302435e-02 -1.33571623e-03 9.99562995e-01 1.13206685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13509989299999 meters 0.023820886243108623 Centerline is valid? [True, True] Translation: X:108.49, Y:2.67, Z:1.13 [[ 9.98238740e-01 -5.19164333e-02 -2.87071848e-02 1.08491291e+02] [ 5.19307992e-02 9.98650656e-01 -2.45395357e-04 2.67356085e+00] [ 2.86811889e-02 -1.24582390e-03 9.99587834e-01 1.13157416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16509989299999 meters 0.02011857961002793 Centerline is valid? [True, True] Translation: X:108.52, Y:2.68, Z:1.13 [[ 9.98461374e-01 -4.79886915e-02 -2.77843631e-02 1.08522126e+02] [ 4.80006650e-02 9.98847276e-01 -2.36243379e-04 2.68019467e+00] [ 2.77636724e-02 -1.09778802e-03 9.99613912e-01 1.13450674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19509989299999 meters 0.020756166135914668 Centerline is valid? [True, True] Translation: X:108.55, Y:2.68, Z:1.13 [[ 9.98570741e-01 -4.58377167e-02 -2.74841652e-02 1.08552391e+02] [ 4.58486325e-02 9.98948371e-01 -2.33207468e-04 2.68037682e+00] [ 2.74659517e-02 -1.02723723e-03 9.99622212e-01 1.13440211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22509989299999 meters 0.01972791836756222 Centerline is valid? [True, True] Translation: X:108.58, Y:2.68, Z:1.14 [[ 9.98676316e-01 -4.36331099e-02 -2.72353931e-02 1.08582434e+02] [ 4.36430091e-02 9.99047163e-01 -2.31138032e-04 2.68328479e+00] [ 2.72195274e-02 -9.57802428e-04 9.99629021e-01 1.13539615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.255099893 meters 0.016726459676853798 Centerline is valid? [True, True] Translation: X:108.61, Y:2.69, Z:1.14 [[ 9.98860128e-01 -3.91462219e-02 -2.73133431e-02 1.08612890e+02] [ 3.91544963e-02 9.99233142e-01 -2.32013924e-04 2.68967246e+00] [ 2.73014801e-02 -8.37690735e-04 9.99626894e-01 1.13750749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.285099893 meters 0.015738840693974354 Centerline is valid? [True, True] Translation: X:108.64, Y:2.69, Z:1.14 [[ 9.98941553e-01 -3.70742242e-02 -2.72263829e-02 1.08642818e+02] [ 3.70816625e-02 9.99312212e-01 -2.31812851e-04 2.69199458e+00] [ 2.72162512e-02 -7.78032053e-04 9.99629266e-01 1.13816039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.315099893 meters 0.015552312626282979 Centerline is valid? [True, True] Translation: X:108.67, Y:2.69, Z:1.14 [[ 9.99063867e-01 -3.36633885e-02 -2.71691950e-02 1.08672069e+02] [ 3.36695088e-02 9.99432994e-01 -2.32302242e-04 2.69281178e+00] [ 2.71616100e-02 -6.82688676e-04 9.99630822e-01 1.13805650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34509989299998 meters 0.014778091058552342 Centerline is valid? [True, True] Translation: X:108.70, Y:2.69, Z:1.14 [[ 9.99076706e-01 -3.27365990e-02 -2.78217695e-02 1.08700370e+02] [ 3.27425376e-02 9.99463790e-01 -2.42211249e-04 2.69464599e+00] [ 2.78147804e-02 -6.68967716e-04 9.99612870e-01 1.13864632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37509989299998 meters 0.014871504719300389 Centerline is valid? [True, True] Translation: X:108.73, Y:2.70, Z:1.14 [[ 9.99110032e-01 -3.07289315e-02 -2.88942189e-02 1.08728559e+02] [ 3.07343625e-02 9.99527555e-01 -2.56239778e-04 2.69522523e+00] [ 2.88884419e-02 -6.32033663e-04 9.99582442e-01 1.13777582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40509989299998 meters 0.014445431533558664 Centerline is valid? [True, True] Translation: X:108.76, Y:2.70, Z:1.14 [[ 9.99132183e-01 -3.03406597e-02 -2.85363822e-02 1.08757042e+02] [ 3.03456549e-02 9.99539431e-01 -2.58103732e-04 2.69722337e+00] [ 2.85310703e-02 -6.08075460e-04 9.99592721e-01 1.13982389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43509989299999 meters 0.013998435971266784 Centerline is valid? [True, True] Translation: X:108.78, Y:2.70, Z:1.14 [[ 9.99122501e-01 -3.07825984e-02 -2.84017428e-02 1.08784939e+02] [ 3.07875100e-02 9.99525917e-01 -2.64453846e-04 2.69860949e+00] [ 2.83964186e-02 -6.10197151e-04 9.99596554e-01 1.14152153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46509989299999 meters 0.014259042281180809 Centerline is valid? [True, True] Translation: X:108.81, Y:2.70, Z:1.14 [[ 9.99100667e-01 -3.14792157e-02 -2.84062797e-02 1.08814051e+02] [ 3.14841975e-02 9.99504213e-01 -2.71984219e-04 2.69850873e+00] [ 2.84007581e-02 -6.22609306e-04 9.99596423e-01 1.14210731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49509989299999 meters 0.014323074998925434 Centerline is valid? [True, True] Translation: X:108.84, Y:2.70, Z:1.14 [[ 9.99044608e-01 -3.24950940e-02 -2.92222423e-02 1.08842902e+02] [ 3.25005864e-02 9.99471675e-01 -2.87122767e-04 2.69833608e+00] [ 2.92161335e-02 -6.62891559e-04 9.99572898e-01 1.14213347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52509989299999 meters 0.015057313650008172 Centerline is valid? [True, True] Translation: X:108.87, Y:2.70, Z:1.14 [[ 9.98906806e-01 -3.46816592e-02 -3.13428610e-02 1.08872551e+02] [ 3.46889302e-02 9.99398109e-01 -3.11912331e-04 2.69682398e+00] [ 3.13348136e-02 -7.75678965e-04 9.99508643e-01 1.14059458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55509989299999 meters 0.016128621260619005 Centerline is valid? [True, True] Translation: X:108.90, Y:2.70, Z:1.14 [[ 9.98856896e-01 -3.59131427e-02 -3.15459580e-02 1.08899954e+02] [ 3.59210282e-02 9.99354581e-01 -3.16902161e-04 2.69514095e+00] [ 3.15369786e-02 -8.16623339e-04 9.99502252e-01 1.14000305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58509989299999 meters 0.015564029776946245 Centerline is valid? [True, True] Translation: X:108.93, Y:2.70, Z:1.14 [[ 9.98819950e-01 -3.73599575e-02 -3.10312810e-02 1.08928640e+02] [ 3.73680918e-02 9.99301518e-01 -3.17961117e-04 2.69626238e+00] [ 3.10214852e-02 -8.41993847e-04 9.99518363e-01 1.14175737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.615099893 meters 0.015564029776946245 Centerline is valid? [True, True] Translation: X:108.96, Y:2.70, Z:1.14 [[ 9.98809336e-01 -3.76427339e-02 -3.10311939e-02 1.08956038e+02] [ 3.76507454e-02 9.99290906e-01 -3.26306075e-04 2.69661489e+00] [ 3.10214729e-02 -8.42430025e-04 9.99518363e-01 1.14209728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.645099893 meters 0.015593515369518229 Centerline is valid? [True, True] Translation: X:108.98, Y:2.70, Z:1.14 [[ 9.98761969e-01 -3.95541024e-02 -3.01662572e-02 1.08984377e+02] [ 3.95623065e-02 9.99217053e-01 -3.25081889e-04 2.69722780e+00] [ 3.01554970e-02 -8.68767288e-04 9.99544842e-01 1.14391487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.675099893 meters 0.015667103774776474 Centerline is valid? [True, True] Translation: X:109.01, Y:2.70, Z:1.15 [[ 9.98690722e-01 -4.24166385e-02 -2.85949393e-02 1.09013338e+02] [ 4.24249787e-02 9.99099606e-01 -3.15237071e-04 2.69760489e+00] [ 2.85825639e-02 -8.98315356e-04 9.99591031e-01 1.14679889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.705099893 meters 0.016536706721528193 Centerline is valid? [True, True] Translation: X:109.04, Y:2.70, Z:1.15 [[ 9.98639547e-01 -4.38288352e-02 -2.82504556e-02 1.09042462e+02] [ 4.38374436e-02 9.99038628e-01 -3.14847028e-04 2.69646124e+00] [ 2.82370958e-02 -9.24009061e-04 9.99600827e-01 1.14748733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73509989299998 meters 0.017747657990724905 Centerline is valid? [True, True] Translation: X:109.07, Y:2.69, Z:1.15 [[ 9.98469549e-01 -4.74609232e-02 -2.83905110e-02 1.09073109e+02] [ 4.74710768e-02 9.98872563e-01 -3.16632790e-04 2.69421252e+00] [ 2.83735302e-02 -1.03157993e-03 9.99596858e-01 1.14760133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76509989299998 meters 0.020636281778597287 Centerline is valid? [True, True] Translation: X:109.10, Y:2.69, Z:1.15 [[ 9.98359907e-01 -4.95698001e-02 -2.86414357e-02 1.09103398e+02] [ 4.95810213e-02 9.98770054e-01 -3.18701501e-04 2.68990221e+00] [ 2.86220063e-02 -1.10189284e-03 9.99589699e-01 1.14621260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79509989299999 meters 0.019855351172683316 Centerline is valid? [True, True] Translation: X:109.13, Y:2.69, Z:1.15 [[ 9.98227850e-01 -5.22914056e-02 -2.84036544e-02 1.09134368e+02] [ 5.23035754e-02 9.98631182e-01 -3.14837992e-04 2.69064609e+00] [ 2.83812383e-02 -1.17133263e-03 9.99596485e-01 1.14749935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82509989299999 meters 0.02247051837366291 Centerline is valid? [True, True] Translation: X:109.16, Y:2.69, Z:1.15 [[ 9.97963061e-01 -5.71648207e-02 -2.83180679e-02 1.09164585e+02] [ 5.71788890e-02 9.98363900e-01 -3.13376009e-04 2.68620905e+00] [ 2.82896507e-02 -1.30645798e-03 9.99598914e-01 1.14717759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85509989299999 meters 0.021567325735259144 Centerline is valid? [True, True] Translation: X:109.20, Y:2.69, Z:1.15 [[ 9.97835710e-01 -5.94120116e-02 -2.81799196e-02 1.09195997e+02] [ 5.94268530e-02 9.98232614e-01 -3.11272589e-04 2.68702029e+00] [ 2.81486081e-02 -1.36404503e-03 9.99602819e-01 1.14846616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88509989299999 meters 0.024034536847919997 Centerline is valid? [True, True] Translation: X:109.23, Y:2.68, Z:1.15 [[ 9.97585921e-01 -6.35188411e-02 -2.80657543e-02 1.09225899e+02] [ 6.35352231e-02 9.97979549e-01 -3.08572783e-04 2.68253929e+00] [ 2.80286490e-02 -1.47533610e-03 9.99606032e-01 1.14846266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91509989299999 meters 0.02540213443109089 Centerline is valid? [True, True] Translation: X:109.26, Y:2.68, Z:1.15 [[ 9.97475744e-01 -6.51610855e-02 -2.82165416e-02 1.09257196e+02] [ 6.51783452e-02 9.97873583e-01 -3.08597037e-04 2.68036858e+00] [ 2.81766500e-02 -1.53128943e-03 9.99601786e-01 1.14855270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94509989299999 meters 0.025888617827006435 Centerline is valid? [True, True] Translation: X:109.29, Y:2.68, Z:1.15 [[ 9.97412031e-01 -6.61960008e-02 -2.80593871e-02 1.09289022e+02] [ 6.62135189e-02 9.97805430e-01 -3.05377754e-04 2.67919458e+00] [ 2.80180236e-02 -1.55332331e-03 9.99606211e-01 1.14890611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97509989299999 meters 0.025239555180849412 Centerline is valid? [True, True] Translation: X:109.32, Y:2.68, Z:1.15 [[ 9.97314647e-01 -6.76766357e-02 -2.79886987e-02 1.09321185e+02] [ 6.76946969e-02 9.97706037e-01 -3.02810566e-04 2.67991230e+00] [ 2.79449869e-02 -1.59268906e-03 9.99608194e-01 1.15016496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.005099893 meters 0.02498364471846575 Centerline is valid? [True, True] Translation: X:109.35, Y:2.68, Z:1.15 [[ 9.97343076e-01 -6.69124824e-02 -2.88011890e-02 1.09353329e+02] [ 6.69313516e-02 9.97757535e-01 -3.09481798e-04 2.68079252e+00] [ 2.87573115e-02 -1.61904298e-03 9.99585112e-01 1.15041995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.035099893 meters 0.024549498069603846 Centerline is valid? [True, True] Translation: X:109.39, Y:2.68, Z:1.15 [[ 9.97372841e-01 -6.62699632e-02 -2.92524860e-02 1.09385707e+02] [ 6.62892159e-02 9.97800402e-01 -3.12189950e-04 2.68211564e+00] [ 2.92088311e-02 -1.62775458e-03 9.99572006e-01 1.15068186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.065099893 meters 0.026449576184281204 Centerline is valid? [True, True] Translation: X:109.42, Y:2.68, Z:1.15 [[ 9.97495087e-01 -6.40434552e-02 -3.00331110e-02 1.09416212e+02] [ 6.40628161e-02 9.97945817e-01 -3.18114589e-04 2.68130549e+00] [ 2.99917907e-02 -1.60668793e-03 9.99548854e-01 1.15008322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09509989299998 meters 0.02301109263839982 Centerline is valid? [True, True] Translation: X:109.45, Y:2.69, Z:1.15 [[ 9.97609532e-01 -6.24557215e-02 -2.95720179e-02 1.09447679e+02] [ 6.24738452e-02 9.98046553e-01 -3.11579480e-04 2.68716657e+00] [ 2.95337105e-02 -1.53664301e-03 9.99562604e-01 1.15215556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12509989299998 meters 0.023687743774758723 Centerline is valid? [True, True] Translation: X:109.48, Y:2.69, Z:1.15 [[ 9.97837210e-01 -5.90359293e-02 -2.89078087e-02 1.09477174e+02] [ 5.90518625e-02 9.98254870e-01 -3.02968657e-04 2.68922139e+00] [ 2.88752469e-02 -1.40474655e-03 9.99582036e-01 1.15313174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15509989299998 meters 0.02259773120515 Centerline is valid? [True, True] Translation: X:109.51, Y:2.69, Z:1.15 [[ 9.97967102e-01 -5.71203449e-02 -2.82653319e-02 1.09508959e+02] [ 5.71348588e-02 9.98366426e-01 -2.94534329e-04 2.69221853e+00] [ 2.82359823e-02 -1.32100018e-03 9.99600412e-01 1.15385854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18509989299999 meters 0.019919205292647905 Centerline is valid? [True, True] Translation: X:109.54, Y:2.70, Z:1.15 [[ 9.98210770e-01 -5.31289799e-02 -2.74330290e-02 1.09539340e+02] [ 5.31411642e-02 9.98586969e-01 -2.85223255e-04 2.69791678e+00] [ 2.74094189e-02 -1.17311017e-03 9.99623603e-01 1.15469342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21509989299999 meters 0.020861686468163432 Centerline is valid? [True, True] Translation: X:109.57, Y:2.70, Z:1.15 [[ 9.98319331e-01 -5.11176329e-02 -2.73038670e-02 1.09570130e+02] [ 5.11289665e-02 9.98692019e-01 -2.83343977e-04 2.69743526e+00] [ 2.72826380e-02 -1.11315073e-03 9.99627140e-01 1.15428802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24509989299999 meters 0.017878079547445566 Centerline is valid? [True, True] Translation: X:109.60, Y:2.70, Z:1.16 [[ 9.98498704e-01 -4.79024150e-02 -2.65649667e-02 1.09601181e+02] [ 4.79120321e-02 9.98851521e-01 -2.74726545e-04 2.70361227e+00] [ 2.65476175e-02 -9.98467439e-04 9.99647051e-01 1.15546643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27509989299999 meters 0.017841430935939286 Centerline is valid? [True, True] Translation: X:109.63, Y:2.71, Z:1.16 [[ 9.98639491e-01 -4.51374620e-02 -2.61108579e-02 1.09631375e+02] [ 4.51458524e-02 9.98980370e-01 -2.68374162e-04 2.70569183e+00] [ 2.60963482e-02 -9.10787899e-04 9.99659017e-01 1.15557656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30509989299999 meters 0.019623702890512965 Centerline is valid? [True, True] Translation: X:109.66, Y:2.71, Z:1.16 [[ 9.98715980e-01 -4.37404395e-02 -2.55570862e-02 1.09661636e+02] [ 4.37480539e-02 9.99042561e-01 -2.61382663e-04 2.70520819e+00] [ 2.55440499e-02 -8.57025743e-04 9.99673330e-01 1.15539119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33509989299999 meters 0.01751772166893876 Centerline is valid? [True, True] Translation: X:109.69, Y:2.71, Z:1.16 [[ 9.98748666e-01 -4.31430368e-02 -2.52938743e-02 1.09692970e+02] [ 4.31503206e-02 9.99068558e-01 -2.58021013e-04 2.70898571e+00] [ 2.52814463e-02 -8.33740643e-04 9.99680025e-01 1.15691538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.365099893 meters 0.018087654543635045 Centerline is valid? [True, True] Translation: X:109.72, Y:2.71, Z:1.16 [[ 9.98752511e-01 -4.34058148e-02 -2.46851565e-02 1.09723390e+02] [ 4.34128481e-02 9.99057186e-01 -2.51171871e-04 2.70840881e+00] [ 2.46727854e-02 -8.20794414e-04 9.99695244e-01 1.15742557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.395099893 meters 0.017534565713709097 Centerline is valid? [True, True] Translation: X:109.76, Y:2.71, Z:1.16 [[ 9.98720396e-01 -4.52685190e-02 -2.25462191e-02 1.09755024e+02] [ 4.52748895e-02 9.98974540e-01 -2.28078403e-04 2.70894170e+00] [ 2.25334236e-02 -7.92991026e-04 9.99745776e-01 1.16039557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.425099893 meters 0.019094235456587907 Centerline is valid? [True, True] Translation: X:109.79, Y:2.71, Z:1.16 [[ 9.98611715e-01 -4.76885645e-02 -2.23706124e-02 1.09786424e+02] [ 4.76954850e-02 9.98861898e-01 -2.24400360e-04 2.70708702e+00] [ 2.23558536e-02 -8.42888378e-04 9.99749721e-01 1.16128231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.455099893 meters 0.019094235456587907 Centerline is valid? [True, True] Translation: X:109.82, Y:2.71, Z:1.16 [[ 9.98615099e-01 -4.76176294e-02 -2.23706261e-02 1.09818140e+02] [ 4.76245629e-02 9.98865282e-01 -2.23026350e-04 2.70734472e+00] [ 2.23558617e-02 -8.42673808e-04 9.99749721e-01 1.16167434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48509989299998 meters 0.018146477917047082 Centerline is valid? [True, True] Translation: X:109.85, Y:2.71, Z:1.16 [[ 9.98527907e-01 -4.93580926e-02 -2.24899643e-02 1.09850539e+02] [ 4.93655776e-02 9.98780752e-01 -2.22589863e-04 2.70927477e+00] [ 2.24735301e-02 -8.87967888e-04 9.99747044e-01 1.16304129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51509989299998 meters 0.021266047006067327 Centerline is valid? [True, True] Translation: X:109.88, Y:2.71, Z:1.16 [[ 9.98439171e-01 -5.07679096e-02 -2.32774918e-02 1.09882034e+02] [ 5.07763464e-02 9.98710023e-01 -2.28848475e-04 2.70501329e+00] [ 2.32590826e-02 -9.53454708e-04 9.99729016e-01 1.16231610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54509989299999 meters 0.02129761916035302 Centerline is valid? [True, True] Translation: X:109.91, Y:2.71, Z:1.16 [[ 9.98325128e-01 -5.26377949e-02 -2.40041751e-02 1.09913920e+02] [ 5.26473484e-02 9.98613139e-01 -2.34237902e-04 2.70522242e+00] [ 2.39832144e-02 -1.02991058e-03 9.99711831e-01 1.16250842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57509989299999 meters 0.02132530247568148 Centerline is valid? [True, True] Translation: X:109.95, Y:2.71, Z:1.16 [[ 9.98246072e-01 -5.36992636e-02 -2.49232649e-02 1.09945766e+02] [ 5.37099447e-02 9.98556550e-01 -2.41143407e-04 2.70510233e+00] [ 2.49002387e-02 -1.09790672e-03 9.99689338e-01 1.16204985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60509989299999 meters 0.023114822512628856 Centerline is valid? [True, True] Translation: X:109.98, Y:2.70, Z:1.16 [[ 9.98191085e-01 -5.45630042e-02 -2.52475130e-02 1.09976839e+02] [ 5.45742807e-02 9.98509684e-01 -2.42701919e-04 2.70244051e+00] [ 2.52231287e-02 -1.13560197e-03 9.99681201e-01 1.16110771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63509989299999 meters 0.02069573601453914 Centerline is valid? [True, True] Translation: X:110.01, Y:2.71, Z:1.16 [[ 9.98169995e-01 -5.50021060e-02 -2.51282431e-02 1.10008957e+02] [ 5.50134548e-02 9.98485584e-01 -2.39972146e-04 2.70607156e+00] [ 2.51033875e-02 -1.14285847e-03 9.99684207e-01 1.16251302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66509989299999 meters 0.02266726535600688 Centerline is valid? [True, True] Translation: X:110.04, Y:2.70, Z:1.16 [[ 9.98230933e-01 -5.43978089e-02 -2.39975684e-02 1.10040351e+02] [ 5.44080203e-02 9.98518761e-01 -2.27684788e-04 2.70334312e+00] [ 2.39744078e-02 -1.07837819e-03 9.99711991e-01 1.16241232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69509989299999 meters 0.021446358507771365 Centerline is valid? [True, True] Translation: X:110.07, Y:2.71, Z:1.16 [[ 9.98250381e-01 -5.41282294e-02 -2.37973026e-02 1.10072876e+02] [ 5.41382298e-02 9.98533425e-01 -2.24303904e-04 2.70509212e+00] [ 2.37745433e-02 -1.06443238e-03 9.99716779e-01 1.16356545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72509989299999 meters 0.021082787212627234 Centerline is valid? [True, True] Translation: X:110.10, Y:2.71, Z:1.16 [[ 9.98286563e-01 -5.38936895e-02 -2.27905240e-02 1.10104782e+02] [ 5.39028365e-02 9.98546163e-01 -2.13219767e-04 2.70546766e+00] [ 2.27688815e-02 -1.01561946e-03 9.99740240e-01 1.16449774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.755099893 meters 0.020250487274692325 Centerline is valid? [True, True] Translation: X:110.14, Y:2.71, Z:1.17 [[ 9.98344139e-01 -5.32332001e-02 -2.17992202e-02 1.10137200e+02] [ 5.32414448e-02 9.98581648e-01 -2.02409741e-04 2.70649140e+00] [ 2.17790761e-02 -9.58547397e-04 9.99762348e-01 1.16575947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.785099893 meters 0.020877470407650617 Centerline is valid? [True, True] Translation: X:110.17, Y:2.70, Z:1.17 [[ 9.98439505e-01 -5.26837609e-02 -1.85196138e-02 1.10168702e+02] [ 5.26896367e-02 9.98610922e-01 -1.70860970e-04 2.70442588e+00] [ 1.85028902e-02 -8.05197378e-04 9.99828483e-01 1.16716901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.815099893 meters 0.022000482000555772 Centerline is valid? [True, True] Translation: X:110.20, Y:2.70, Z:1.17 [[ 9.98518950e-01 -5.18022158e-02 -1.66263871e-02 1.10200386e+02] [ 5.18068443e-02 9.98657112e-01 -1.52490840e-04 2.70220040e+00] [ 1.66119590e-02 -7.09095653e-04 9.99861760e-01 1.16868289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84509989299998 meters 0.02105460091706972 Centerline is valid? [True, True] Translation: X:110.23, Y:2.70, Z:1.17 [[ 9.98567688e-01 -5.11598347e-02 -1.56602937e-02 1.10233086e+02] [ 5.11638795e-02 9.98690261e-01 -1.42510915e-04 2.70352374e+00] [ 1.56470737e-02 -6.58934587e-04 9.99877360e-01 1.16968259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87509989299998 meters 0.020436807419175695 Centerline is valid? [True, True] Translation: X:110.27, Y:2.70, Z:1.17 [[ 9.98628620e-01 -5.02387703e-02 -1.47290319e-02 1.10265818e+02] [ 5.02422671e-02 9.98737051e-01 -1.32760196e-04 2.70443197e+00] [ 1.47170996e-02 -6.07441821e-04 9.99891513e-01 1.17088211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90509989299998 meters 0.01964296651699528 Centerline is valid? [True, True] Translation: X:110.30, Y:2.71, Z:1.17 [[ 9.98704431e-01 -4.88473476e-02 -1.42617073e-02 1.10298362e+02] [ 4.88505040e-02 9.98806093e-01 -1.27168047e-04 2.70519526e+00] [ 1.42508919e-02 -5.69688295e-04 9.99898289e-01 1.17150151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93509989299999 meters 0.018418841163858623 Centerline is valid? [True, True] Translation: X:110.33, Y:2.71, Z:1.17 [[ 9.98811456e-01 -4.68904684e-02 -1.33026397e-02 1.10330477e+02] [ 4.68930531e-02 9.98899909e-01 -1.17717033e-04 2.70621550e+00] [ 1.32935254e-02 -5.06224267e-04 9.99911509e-01 1.17221538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96509989299999 meters 0.019417833308701976 Centerline is valid? [True, True] Translation: X:110.36, Y:2.70, Z:1.17 [[ 9.98861122e-01 -4.57959939e-02 -1.33860707e-02 1.10362231e+02] [ 4.57985262e-02 9.98950690e-01 -1.17472655e-04 2.70473067e+00] [ 1.33774043e-02 -4.95723441e-04 9.99910396e-01 1.17264958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99509989299999 meters 0.017940589107064225 Centerline is valid? [True, True] Translation: X:110.39, Y:2.71, Z:1.17 [[ 9.98906823e-01 -4.46637980e-02 -1.37950931e-02 1.10394033e+02] [ 4.46663937e-02 9.99001951e-01 -1.20036625e-04 2.70686067e+00] [ 1.37866862e-02 -4.96271655e-04 9.99904836e-01 1.17269317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02509989299999 meters 0.018049244063425254 Centerline is valid? [True, True] Translation: X:110.43, Y:2.71, Z:1.17 [[ 9.98948944e-01 -4.32905306e-02 -1.50644100e-02 1.10425149e+02] [ 4.32934871e-02 9.99062389e-01 -1.29951231e-04 2.70558508e+00] [ 1.50559112e-02 -5.22376197e-04 9.99886517e-01 1.17234711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05509989299999 meters 0.01752624189857203 Centerline is valid? [True, True] Translation: X:110.46, Y:2.70, Z:1.17 [[ 9.98992273e-01 -4.19091643e-02 -1.60642736e-02 1.10457173e+02] [ 4.19123638e-02 9.99121281e-01 -1.37595488e-04 2.70462988e+00] [ 1.60559241e-02 -5.35834850e-04 9.99870952e-01 1.17185601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08509989299999 meters 0.017183513415586882 Centerline is valid? [True, True] Translation: X:110.49, Y:2.70, Z:1.17 [[ 9.99021406e-01 -4.11237556e-02 -1.62808549e-02 1.10489068e+02] [ 4.11269571e-02 9.99153919e-01 -1.38264198e-04 2.70427440e+00] [ 1.62727659e-02 -5.31453129e-04 9.99867449e-01 1.17186103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.115099893 meters 0.017292321094289298 Centerline is valid? [True, True] Translation: X:110.52, Y:2.70, Z:1.17 [[ 9.99059989e-01 -4.00198118e-02 -1.66598966e-02 1.10520097e+02] [ 4.00230299e-02 9.99198748e-01 -1.40336889e-04 2.70307740e+00] [ 1.66521641e-02 -5.26574570e-04 9.99861204e-01 1.17164723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.145099893 meters 0.01621986636551731 Centerline is valid? [True, True] Translation: X:110.55, Y:2.70, Z:1.17 [[ 9.99148965e-01 -3.74921807e-02 -1.71954346e-02 1.10552258e+02] [ 3.74952528e-02 9.99296795e-01 -1.43813530e-04 2.70265369e+00] [ 1.71887346e-02 -5.01056029e-04 9.99852137e-01 1.17107006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.175099893 meters 0.015666875796449282 Centerline is valid? [True, True] Translation: X:110.58, Y:2.70, Z:1.17 [[ 9.99270865e-01 -3.44079000e-02 -1.65479834e-02 1.10582469e+02] [ 3.44103379e-02 9.99407780e-01 -1.37467375e-04 2.70181314e+00] [ 1.65429133e-02 -4.32054557e-04 9.99863063e-01 1.17161199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.205099893 meters 0.01500106436695012 Centerline is valid? [True, True] Translation: X:110.61, Y:2.70, Z:1.17 [[ 9.99351341e-01 -3.24962883e-02 -1.55205618e-02 1.10613416e+02] [ 3.24982074e-02 9.99471785e-01 -1.28613572e-04 2.70268404e+00] [ 1.55165431e-02 -3.75860292e-04 9.99879541e-01 1.17265229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23509989299998 meters 0.014430557280875918 Centerline is valid? [True, True] Translation: X:110.64, Y:2.70, Z:1.17 [[ 9.99493669e-01 -2.86558461e-02 -1.38292314e-02 1.10643932e+02] [ 2.86570080e-02 9.99589297e-01 -1.14179379e-04 2.70266048e+00] [ 1.38268236e-02 -2.82182828e-04 9.99904365e-01 1.17445829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26509989299998 meters 0.013323709185032229 Centerline is valid? [True, True] Translation: X:110.68, Y:2.70, Z:1.18 [[ 9.99575800e-01 -2.59390855e-02 -1.32432332e-02 1.10675097e+02] [ 2.59399158e-02 9.99663498e-01 -1.09100154e-04 2.70330640e+00] [ 1.32416068e-02 -2.34474481e-04 9.99912299e-01 1.17535977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29509989299999 meters 0.013052905899438234 Centerline is valid? [True, True] Translation: X:110.71, Y:2.70, Z:1.18 [[ 9.99598692e-01 -2.49881070e-02 -1.33435112e-02 1.10706529e+02] [ 2.49888716e-02 9.99687723e-01 -1.09442376e-04 2.70180535e+00] [ 1.33420791e-02 -2.24040832e-04 9.99910965e-01 1.17557914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32509989299999 meters 0.013290979697344756 Centerline is valid? [True, True] Translation: X:110.74, Y:2.70, Z:1.18 [[ 9.99595980e-01 -2.51650549e-02 -1.32134837e-02 1.10737958e+02] [ 2.51658267e-02 9.99683285e-01 -1.07886120e-04 2.69996678e+00] [ 1.32120138e-02 -2.24685710e-04 9.99912692e-01 1.17589113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35509989299999 meters 0.014180545123977083 Centerline is valid? [True, True] Translation: X:110.77, Y:2.69, Z:1.18 [[ 9.99511850e-01 -2.86535557e-02 -1.24513364e-02 1.10769539e+02] [ 2.86545194e-02 9.99589370e-01 -1.01028635e-04 2.69298821e+00] [ 1.24491183e-02 -2.55807743e-04 9.99922474e-01 1.17606520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38509989299999 meters 0.015961995111937886 Centerline is valid? [True, True] Translation: X:110.80, Y:2.68, Z:1.18 [[ 9.99365558e-01 -3.33306544e-02 -1.25518383e-02 1.10801081e+02] [ 3.33320081e-02 9.99444329e-01 -1.01390767e-04 2.68477002e+00] [ 1.25482430e-02 -3.17051534e-04 9.99921217e-01 1.17600385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41509989299999 meters 0.015820619504888445 Centerline is valid? [True, True] Translation: X:110.83, Y:2.68, Z:1.18 [[ 9.99256206e-01 -3.63689484e-02 -1.28192758e-02 1.10833643e+02] [ 3.63706191e-02 9.99338365e-01 -1.02860635e-04 2.68171738e+00] [ 1.28145351e-02 -3.63460870e-04 9.99917824e-01 1.17569519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44509989299999 meters 0.015820619504888445 Centerline is valid? [True, True] Translation: X:110.87, Y:2.68, Z:1.18 [[ 9.99258861e-01 -3.62959274e-02 -1.28192833e-02 1.10865346e+02] [ 3.62976041e-02 9.99341020e-01 -1.01924326e-04 2.68191340e+00] [ 1.28145350e-02 -3.63460482e-04 9.99917824e-01 1.17608700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47509989299999 meters 0.017051324755349442 Centerline is valid? [True, True] Translation: X:110.90, Y:2.68, Z:1.18 [[ 9.99205057e-01 -3.77524085e-02 -1.28066559e-02 1.10896064e+02] [ 3.77542132e-02 9.99287050e-01 -1.00905143e-04 2.67804644e+00] [ 1.28013349e-02 -3.82680289e-04 9.99917986e-01 1.17617029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.505099893 meters 0.017051324755349442 Centerline is valid? [True, True] Translation: X:110.93, Y:2.68, Z:1.18 [[ 9.99207739e-01 -3.76813495e-02 -1.28066597e-02 1.10927768e+02] [ 3.76831545e-02 9.99289733e-01 -1.00423547e-04 2.67823666e+00] [ 1.28013477e-02 -3.82251352e-04 9.99917986e-01 1.17656225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.535099893 meters 0.017051324755349442 Centerline is valid? [True, True] Translation: X:110.96, Y:2.68, Z:1.18 [[ 9.99210416e-01 -3.76102851e-02 -1.28066668e-02 1.10959471e+02] [ 3.76120959e-02 9.99292410e-01 -9.95128018e-05 2.67842443e+00] [ 1.28013476e-02 -3.82251351e-04 9.99917986e-01 1.17695408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.565099893 meters 0.0175244406319247 Centerline is valid? [True, True] Translation: X:110.99, Y:2.68, Z:1.18 [[ 9.99169632e-01 -3.86971843e-02 -1.27504432e-02 1.10991622e+02] [ 3.86990791e-02 9.99250905e-01 -9.81730545e-05 2.67616218e+00] [ 1.27446910e-02 -3.95338877e-04 9.99918705e-01 1.17731218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59509989299998 meters 0.0175244406319247 Centerline is valid? [True, True] Translation: X:111.02, Y:2.68, Z:1.18 [[ 9.99172376e-01 -3.86262780e-02 -1.27504501e-02 1.11023326e+02] [ 3.86281786e-02 9.99253649e-01 -9.72686555e-05 2.67634520e+00] [ 1.27446909e-02 -3.95338511e-04 9.99918705e-01 1.17770403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62509989299998 meters 0.01818436219557801 Centerline is valid? [True, True] Translation: X:111.05, Y:2.67, Z:1.18 [[ 9.99146755e-01 -3.93737407e-02 -1.24687943e-02 1.11054125e+02] [ 3.93756271e-02 9.99224475e-01 -9.42564169e-05 2.67381766e+00] [ 1.24628356e-02 -3.96790600e-04 9.99922257e-01 1.17804383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65509989299998 meters 0.01847679942336145 Centerline is valid? [True, True] Translation: X:111.09, Y:2.67, Z:1.18 [[ 9.99129505e-01 -3.99189169e-02 -1.21124724e-02 1.11086628e+02] [ 3.99207445e-02 9.99202845e-01 -9.09453095e-05 2.67101250e+00] [ 1.21064474e-02 -3.92672775e-04 9.99926637e-01 1.17812712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68509989299999 meters 0.017421375703161532 Centerline is valid? [True, True] Translation: X:111.12, Y:2.67, Z:1.18 [[ 9.99140571e-01 -3.96926646e-02 -1.19420448e-02 1.11118907e+02] [ 3.96944349e-02 9.99211861e-01 -8.88396975e-05 2.67167079e+00] [ 1.19361591e-02 -3.85269374e-04 9.99928687e-01 1.17855169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71509989299999 meters 0.017748813411505974 Centerline is valid? [True, True] Translation: X:111.15, Y:2.67, Z:1.18 [[ 9.99179094e-01 -3.87941950e-02 -1.16682754e-02 1.11150593e+02] [ 3.87958335e-02 9.99247155e-01 -8.59798893e-05 2.66944733e+00] [ 1.16628266e-02 -3.66771164e-04 9.99931920e-01 1.17885588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74509989299999 meters 0.017480349907090933 Centerline is valid? [True, True] Translation: X:111.18, Y:2.67, Z:1.18 [[ 9.99204025e-01 -3.80678363e-02 -1.19229276e-02 1.11183229e+02] [ 3.80695058e-02 9.99275090e-01 -8.69826985e-05 2.66907774e+00] [ 1.19175958e-02 -3.66986498e-04 9.99928916e-01 1.17861747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77509989299999 meters 0.017120825186212524 Centerline is valid? [True, True] Translation: X:111.22, Y:2.67, Z:1.18 [[ 9.99241425e-01 -3.69791403e-02 -1.22113420e-02 1.11215583e+02] [ 3.69808212e-02 9.99315972e-01 -8.81938223e-05 2.66783112e+00] [ 1.22062504e-02 -3.63458534e-04 9.99925435e-01 1.17834143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80509989299999 meters 0.01677850936767164 Centerline is valid? [True, True] Translation: X:111.25, Y:2.67, Z:1.18 [[ 9.99261641e-01 -3.66802780e-02 -1.14337405e-02 1.11247501e+02] [ 3.66817408e-02 9.99326995e-01 -8.18174382e-05 2.66763242e+00] [ 1.14290467e-02 -3.37652480e-04 9.99934629e-01 1.17889883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83509989299999 meters 0.0181200426494966 Centerline is valid? [True, True] Translation: X:111.28, Y:2.66, Z:1.18 [[ 9.99259687e-01 -3.66961915e-02 -1.15528105e-02 1.11278375e+02] [ 3.66976959e-02 9.99326409e-01 -8.18115240e-05 2.66463478e+00] [ 1.15480308e-02 -3.42210567e-04 9.99933261e-01 1.17930960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.865099893 meters 0.01694863803454429 Centerline is valid? [True, True] Translation: X:111.31, Y:2.66, Z:1.18 [[ 9.99254553e-01 -3.68671391e-02 -1.14521843e-02 1.11310099e+02] [ 3.68686355e-02 9.99320118e-01 -8.05052562e-05 2.66462051e+00] [ 1.14473662e-02 -3.41781166e-04 9.99934418e-01 1.17925828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.895099893 meters 0.01730562515082964 Centerline is valid? [True, True] Translation: X:111.34, Y:2.66, Z:1.18 [[ 9.99236793e-01 -3.72311799e-02 -1.18182188e-02 1.11341525e+02] [ 3.72328094e-02 9.99306615e-01 -8.21881289e-05 2.66313093e+00] [ 1.18130842e-02 -3.57900086e-04 9.99930159e-01 1.17945122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.925099893 meters 0.017278069269604606 Centerline is valid? [True, True] Translation: X:111.37, Y:2.66, Z:1.18 [[ 9.99221837e-01 -3.75491154e-02 -1.20741216e-02 1.11373878e+02] [ 3.75508474e-02 9.99294715e-01 -8.33099179e-05 2.66235363e+00] [ 1.20687341e-02 -3.70148408e-04 9.99927102e-01 1.17964219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.955099893 meters 0.01751363835847343 Centerline is valid? [True, True] Translation: X:111.41, Y:2.66, Z:1.18 [[ 9.99207486e-01 -3.74476738e-02 -1.34934231e-02 1.11405870e+02] [ 3.74498421e-02 9.99298504e-01 -9.20302936e-05 2.66026054e+00] [ 1.34874039e-02 -4.13369207e-04 9.99908955e-01 1.17850058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98509989299998 meters 0.018054224475638293 Centerline is valid? [True, True] Translation: X:111.44, Y:2.66, Z:1.18 [[ 9.99226845e-01 -3.68396712e-02 -1.37313753e-02 1.11437198e+02] [ 3.68418727e-02 9.99321103e-01 -9.26837215e-05 2.65756729e+00] [ 1.37254676e-02 -4.13277519e-04 9.99905716e-01 1.17822184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01509989299998 meters 0.017978737961195736 Centerline is valid? [True, True] Translation: X:111.47, Y:2.66, Z:1.18 [[ 9.99249349e-01 -3.64038017e-02 -1.32476779e-02 1.11469893e+02] [ 3.64058219e-02 9.99337084e-01 -8.87088450e-05 2.65728008e+00] [ 1.32421251e-02 -3.93650345e-04 9.99912242e-01 1.17877998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04509989299999 meters 0.016650006035132354 Centerline is valid? [True, True] Translation: X:111.50, Y:2.66, Z:1.18 [[ 9.99284808e-01 -3.57775543e-02 -1.22408664e-02 1.11501645e+02] [ 3.57792442e-02 9.99359715e-01 -8.09815693e-05 2.65936271e+00] [ 1.22359261e-02 -3.57045297e-04 9.99925075e-01 1.17996765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07509989299999 meters 0.017919645478153605 Centerline is valid? [True, True] Translation: X:111.53, Y:2.66, Z:1.18 [[ 9.99286195e-01 -3.57011511e-02 -1.23502117e-02 1.11532647e+02] [ 3.57028766e-02 9.99362446e-01 -8.08029463e-05 2.65723016e+00] [ 1.23452225e-02 -3.60192815e-04 9.99923730e-01 1.18073455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10509989299999 meters 0.018991945935745182 Centerline is valid? [True, True] Translation: X:111.56, Y:2.66, Z:1.18 [[ 9.99267528e-01 -3.61455800e-02 -1.25660106e-02 1.11564261e+02] [ 3.61474101e-02 9.99346465e-01 -8.15256473e-05 2.65577188e+00] [ 1.25607451e-02 -3.72762807e-04 9.99921041e-01 1.18116132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13509989299999 meters 0.018096917360334343 Centerline is valid? [True, True] Translation: X:111.60, Y:2.66, Z:1.18 [[ 9.99236159e-01 -3.70693510e-02 -1.23677687e-02 1.11596242e+02] [ 3.70712023e-02 9.99312624e-01 -7.96078311e-05 2.65742231e+00] [ 1.23622184e-02 -3.78941031e-04 9.99923513e-01 1.18147788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16509989299999 meters 0.02070631626304164 Centerline is valid? [True, True] Translation: X:111.63, Y:2.65, Z:1.18 [[ 9.99136815e-01 -3.96632258e-02 -1.23471798e-02 1.11627332e+02] [ 3.96652796e-02 9.99213020e-01 -7.86084409e-05 2.65304124e+00] [ 1.23405807e-02 -4.11213753e-04 9.99923768e-01 1.18155102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19509989299999 meters 0.018996251327053616 Centerline is valid? [True, True] Translation: X:111.66, Y:2.66, Z:1.18 [[ 9.99068983e-01 -4.12567012e-02 -1.26115431e-02 1.11659836e+02] [ 4.12589857e-02 9.99148482e-01 -7.90890504e-05 2.65572365e+00] [ 1.26040671e-02 -4.41324061e-04 9.99920468e-01 1.18206430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22509989299999 meters 0.019888864165390464 Centerline is valid? [True, True] Translation: X:111.69, Y:2.65, Z:1.18 [[ 9.98987205e-01 -4.32210729e-02 -1.25101295e-02 1.11692033e+02] [ 4.32234858e-02 9.99065425e-01 -7.75656613e-05 2.65471100e+00] [ 1.25017904e-02 -4.63244303e-04 9.99921742e-01 1.18227675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.255099893 meters 0.019148753693888253 Centerline is valid? [True, True] Translation: X:111.72, Y:2.66, Z:1.18 [[ 9.98908006e-01 -4.49774750e-02 -1.26420595e-02 1.11724217e+02] [ 4.49800910e-02 9.98987881e-01 -7.74726202e-05 2.65595596e+00] [ 1.26327488e-02 -4.91252966e-04 9.99920083e-01 1.18259614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.285099893 meters 0.02270045440765706 Centerline is valid? [True, True] Translation: X:111.75, Y:2.65, Z:1.18 [[ 9.98722418e-01 -4.90234209e-02 -1.22571172e-02 1.11754193e+02] [ 4.90261949e-02 9.98797490e-01 -7.42330873e-05 2.65098491e+00] [ 1.22460171e-02 -5.26781570e-04 9.99924876e-01 1.18311722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.315099893 meters 0.02260818728617827 Centerline is valid? [True, True] Translation: X:111.78, Y:2.65, Z:1.18 [[ 9.98559394e-01 -5.23269439e-02 -1.18754761e-02 1.11784939e+02] [ 5.23297808e-02 9.98629856e-01 -7.19305654e-05 2.65120477e+00] [ 1.18629689e-02 -5.49614119e-04 9.99929481e-01 1.18384369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34509989299998 meters 0.023999516199730626 Centerline is valid? [True, True] Translation: X:111.82, Y:2.65, Z:1.18 [[ 9.98502773e-01 -5.33984845e-02 -1.18665207e-02 1.11816149e+02] [ 5.34013950e-02 9.98573125e-01 -7.16810693e-05 2.64945443e+00] [ 1.18534163e-02 -5.62115013e-04 9.99929588e-01 1.18428224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37509989299998 meters 0.0222176288148225 Centerline is valid? [True, True] Translation: X:111.85, Y:2.65, Z:1.18 [[ 9.98453987e-01 -5.43608566e-02 -1.15988084e-02 1.11848277e+02] [ 5.43637089e-02 9.98521198e-01 -6.94698237e-05 2.65253748e+00] [ 1.15854325e-02 -5.61191823e-04 9.99932729e-01 1.18455762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40509989299998 meters 0.022943147579325973 Centerline is valid? [True, True] Translation: X:111.88, Y:2.65, Z:1.18 [[ 9.98366229e-01 -5.58088685e-02 -1.22573638e-02 1.11880857e+02] [ 5.58121744e-02 9.98441283e-01 -7.24587747e-05 2.65256279e+00] [ 1.22423019e-02 -6.11769734e-04 9.99924873e-01 1.18436463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43509989299999 meters 0.02455128445727688 Centerline is valid? [True, True] Translation: X:111.91, Y:2.65, Z:1.18 [[ 9.98334331e-01 -5.62864689e-02 -1.26648214e-02 1.11911809e+02] [ 5.62900488e-02 9.98414456e-01 -7.39108162e-05 2.65107664e+00] [ 1.26489009e-02 -6.39115707e-04 9.99919795e-01 1.18430338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46509989299999 meters 0.024005101971727276 Centerline is valid? [True, True] Translation: X:111.94, Y:2.65, Z:1.18 [[ 9.98284645e-01 -5.69364652e-02 -1.36384088e-02 1.11944345e+02] [ 5.69406884e-02 9.98377560e-01 -7.87683784e-05 2.65301648e+00] [ 1.36207661e-02 -6.97947125e-04 9.99906989e-01 1.18358366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49509989299999 meters 0.024210321424694183 Centerline is valid? [True, True] Translation: X:111.98, Y:2.65, Z:1.18 [[ 9.98271739e-01 -5.71290705e-02 -1.37769222e-02 1.11976749e+02] [ 5.71334121e-02 9.98366549e-01 -7.85566991e-05 2.65352447e+00] [ 1.37589061e-02 -7.08701640e-04 9.99905091e-01 1.18345765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52509989299999 meters 0.024776428577880927 Centerline is valid? [True, True] Translation: X:112.01, Y:2.65, Z:1.18 [[ 9.98286036e-01 -5.69713308e-02 -1.33886980e-02 1.12007995e+02] [ 5.69754294e-02 9.98375578e-01 -7.54164289e-05 2.65382896e+00] [ 1.33712457e-02 -6.87539653e-04 9.99910365e-01 1.18384698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55509989299999 meters 0.023355120480491588 Centerline is valid? [True, True] Translation: X:112.04, Y:2.66, Z:1.19 [[ 9.98349343e-01 -5.60401592e-02 -1.25733933e-02 1.12040414e+02] [ 5.60437082e-02 9.98428314e-01 -7.01810394e-05 2.65916712e+00] [ 1.25575648e-02 -6.34594389e-04 9.99920949e-01 1.18506076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58509989299999 meters 0.02373227323858698 Centerline is valid? [True, True] Translation: X:112.07, Y:2.66, Z:1.19 [[ 9.98414294e-01 -5.49037382e-02 -1.24288666e-02 1.12071588e+02] [ 5.49071294e-02 9.98491463e-01 -6.84755683e-05 2.66289821e+00] [ 1.24138767e-02 -6.14066399e-04 9.99922756e-01 1.18569078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.615099893 meters 0.023858853011309248 Centerline is valid? [True, True] Translation: X:112.10, Y:2.66, Z:1.19 [[ 9.98446732e-01 -5.43940453e-02 -1.20586747e-02 1.12103652e+02] [ 5.43972080e-02 9.98519374e-01 -6.58033718e-05 2.66488580e+00] [ 1.20443996e-02 -5.90257074e-04 9.99927289e-01 1.18613691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.645099893 meters 0.0238906173362959 Centerline is valid? [True, True] Translation: X:112.13, Y:2.67, Z:1.19 [[ 9.98543499e-01 -5.27412942e-02 -1.13681863e-02 1.12134797e+02] [ 5.27440071e-02 9.98608064e-01 -6.12485411e-05 2.66870298e+00] [ 1.13555929e-02 -5.38444367e-04 9.99935378e-01 1.18727417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.675099893 meters 0.023997752142732583 Centerline is valid? [True, True] Translation: X:112.17, Y:2.67, Z:1.19 [[ 9.98601723e-01 -5.17776744e-02 -1.06616922e-02 1.12167064e+02] [ 5.17800111e-02 9.98658514e-01 -5.69397631e-05 2.67033692e+00] [ 1.06503379e-02 -4.95202396e-04 9.99943161e-01 1.18814995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.705099893 meters 0.023593850993212352 Centerline is valid? [True, True] Translation: X:112.20, Y:2.67, Z:1.19 [[ 9.98657555e-01 -5.07478142e-02 -1.03801674e-02 1.12199621e+02] [ 5.07499810e-02 9.98711388e-01 -5.47244766e-05 2.67276081e+00] [ 1.03695685e-02 -4.72142284e-04 9.99946123e-01 1.18836625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73509989299998 meters 0.02198516224995365 Centerline is valid? [True, True] Translation: X:112.23, Y:2.68, Z:1.19 [[ 9.98777579e-01 -4.84334994e-02 -9.87644468e-03 1.12231136e+02] [ 4.84353554e-02 9.98826318e-01 -5.13232131e-05 2.67888401e+00] [ 9.86733864e-03 -4.27108633e-04 9.99951225e-01 1.18901741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76509989299998 meters 0.021807715135858177 Centerline is valid? [True, True] Translation: X:112.26, Y:2.68, Z:1.19 [[ 9.98827606e-01 -4.74371397e-02 -9.65041477e-03 1.12263484e+02] [ 4.74388676e-02 9.98874142e-01 -4.99064643e-05 2.68129875e+00] [ 9.64191719e-03 -4.07956794e-04 9.99953432e-01 1.18962494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79509989299999 meters 0.0229232530175545 Centerline is valid? [True, True] Translation: X:112.29, Y:2.68, Z:1.19 [[ 9.98880207e-01 -4.64990497e-02 -8.72756508e-03 1.12294821e+02] [ 4.65004325e-02 9.98918269e-01 -4.45251480e-05 2.68321328e+00] [ 8.72019458e-03 -3.61360262e-04 9.99961913e-01 1.19116047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82509989299999 meters 0.02272254013553401 Centerline is valid? [True, True] Translation: X:112.33, Y:2.69, Z:1.19 [[ 9.98851917e-01 -4.71082044e-02 -8.69852061e-03 1.12327073e+02] [ 4.71096046e-02 9.98889725e-01 -4.39762191e-05 2.68506220e+00] [ 8.69093450e-03 -3.65858135e-04 9.99962166e-01 1.19182259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85509989299999 meters 0.024565450507656846 Centerline is valid? [True, True] Translation: X:112.36, Y:2.68, Z:1.19 [[ 9.98747087e-01 -4.85688128e-02 -1.20551223e-02 1.12358612e+02] [ 4.85716227e-02 9.98819700e-01 -5.97569463e-05 2.68498894e+00] [ 1.20437960e-02 -5.25854778e-04 9.99927333e-01 1.18946155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88509989299999 meters 0.024294523431900736 Centerline is valid? [True, True] Translation: X:112.39, Y:2.69, Z:1.19 [[ 9.98651175e-01 -4.98579161e-02 -1.44920280e-02 1.12390549e+02] [ 4.98621259e-02 9.98756108e-01 -7.09097063e-05 2.68637905e+00] [ 1.44775369e-02 -6.51789263e-04 9.99894983e-01 1.18740560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91509989299999 meters 0.02263373002296598 Centerline is valid? [True, True] Translation: X:112.42, Y:2.69, Z:1.19 [[ 9.98582412e-01 -5.05231494e-02 -1.67504444e-02 1.12422524e+02] [ 5.05288892e-02 9.98722597e-01 -8.06495005e-05 2.68974342e+00] [ 1.67331220e-02 -7.65846177e-04 9.99859698e-01 1.18563776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94509989299999 meters 0.02381230693125244 Centerline is valid? [True, True] Translation: X:112.45, Y:2.69, Z:1.18 [[ 9.98534548e-01 -5.11985210e-02 -1.75347521e-02 1.12453754e+02] [ 5.12049361e-02 9.98688163e-01 -8.32173312e-05 2.68923603e+00] [ 1.75160100e-02 -8.14770480e-04 9.99846251e-01 1.18468410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97509989299999 meters 0.02443925700312534 Centerline is valid? [True, True] Translation: X:112.49, Y:2.69, Z:1.19 [[ 9.98506474e-01 -5.19807200e-02 -1.68174478e-02 1.12485555e+02] [ 5.19867475e-02 9.98647772e-01 -7.88628506e-05 2.69086393e+00] [ 1.67988061e-02 -7.95539346e-04 9.99858574e-01 1.18552171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.005099893 meters 0.02427424808128405 Centerline is valid? [True, True] Translation: X:112.52, Y:2.69, Z:1.19 [[ 9.98525963e-01 -5.18663510e-02 -1.59931924e-02 1.12517838e+02] [ 5.18718048e-02 9.98653749e-01 -7.39109462e-05 2.69224970e+00] [ 1.59754951e-02 -7.55793757e-04 9.99872098e-01 1.18662613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.035099893 meters 0.024423120183458467 Centerline is valid? [True, True] Translation: X:112.55, Y:2.69, Z:1.19 [[ 9.98608526e-01 -5.05220433e-02 -1.51174016e-02 1.12549422e+02] [ 5.05267777e-02 9.98722704e-01 -6.88432932e-05 2.69430874e+00] [ 1.51015703e-02 -6.95086092e-04 9.99885723e-01 1.18802910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.065099893 meters 0.0235091304251802 Centerline is valid? [True, True] Translation: X:112.58, Y:2.70, Z:1.19 [[ 9.98710322e-01 -4.85947563e-02 -1.47051866e-02 1.12580487e+02] [ 4.85990411e-02 9.98818366e-01 -6.60396217e-05 2.69881269e+00] [ 1.46910196e-02 -6.48703515e-04 9.99891871e-01 1.18893096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09509989299998 meters 0.022321802568638686 Centerline is valid? [True, True] Translation: X:112.61, Y:2.70, Z:1.19 [[ 9.98733242e-01 -4.81286252e-02 -1.46814835e-02 1.12612905e+02] [ 4.81328547e-02 9.98840940e-01 -6.53326225e-05 2.70223175e+00] [ 1.46676112e-02 -6.41411852e-04 9.99892219e-01 1.18988789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12509989299998 meters 0.022975540034150907 Centerline is valid? [True, True] Translation: X:112.64, Y:2.70, Z:1.19 [[ 9.98777817e-01 -4.75599399e-02 -1.34507819e-02 1.12644167e+02] [ 4.75634502e-02 9.98868217e-01 -5.89877910e-05 2.70423139e+00] [ 1.34383640e-02 -5.80849897e-04 9.99909532e-01 1.19196109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15509989299998 meters 0.023567056400796642 Centerline is valid? [True, True] Translation: X:112.68, Y:2.70, Z:1.19 [[ 9.98791578e-01 -4.74133847e-02 -1.29365963e-02 1.12675970e+02] [ 4.74166282e-02 9.98875198e-01 -5.60494793e-05 2.70466912e+00] [ 1.29247027e-02 -5.57428028e-04 9.99916317e-01 1.19306760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18509989299999 meters 0.021499400353237635 Centerline is valid? [True, True] Translation: X:112.71, Y:2.71, Z:1.19 [[ 9.98803145e-01 -4.71830268e-02 -1.28856701e-02 1.12707744e+02] [ 4.71862401e-02 9.98886107e-01 -5.47095459e-05 2.70838206e+00] [ 1.28738982e-02 -5.53382255e-04 9.99916975e-01 1.19357973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21509989299999 meters 0.021889329717827283 Centerline is valid? [True, True] Translation: X:112.74, Y:2.71, Z:1.19 [[ 9.98778991e-01 -4.76118586e-02 -1.31772156e-02 1.12740409e+02] [ 4.76152690e-02 9.98865748e-01 -5.49734668e-05 2.70835482e+00] [ 1.31648867e-02 -5.72530322e-04 9.99913175e-01 1.19327552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24509989299999 meters 0.022350999955913404 Centerline is valid? [True, True] Translation: X:112.77, Y:2.71, Z:1.19 [[ 9.98734516e-01 -4.83317966e-02 -1.39069776e-02 1.12772392e+02] [ 4.83356796e-02 9.98831146e-01 -5.69673280e-05 2.70805385e+00] [ 1.38934757e-02 -6.15307977e-04 9.99903292e-01 1.19326778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27509989299999 meters 0.023874390519438474 Centerline is valid? [True, True] Translation: X:112.80, Y:2.71, Z:1.19 [[ 9.98652350e-01 -5.00413336e-02 -1.37603782e-02 1.12803627e+02] [ 5.00453101e-02 9.98746947e-01 -5.54140228e-05 2.70668810e+00] [ 1.37459087e-02 -6.33303048e-04 9.99905320e-01 1.19373145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30509989299999 meters 0.02297020689218716 Centerline is valid? [True, True] Translation: X:112.84, Y:2.71, Z:1.19 [[ 9.98612510e-01 -5.09051458e-02 -1.34803765e-02 1.12835915e+02] [ 5.09090506e-02 9.98703292e-01 -5.35572808e-05 2.70842750e+00] [ 1.34656227e-02 -6.32790197e-04 9.99909134e-01 1.19444155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33509989299999 meters 0.02451506690990817 Centerline is valid? [True, True] Translation: X:112.87, Y:2.71, Z:1.20 [[ 9.98575851e-01 -5.16543652e-02 -1.33452581e-02 1.12867104e+02] [ 5.16582713e-02 9.98664819e-01 -5.20822847e-05 2.70651940e+00] [ 1.33301300e-02 -6.37384850e-04 9.99910947e-01 1.19505289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.365099893 meters 0.025024354249232827 Centerline is valid? [True, True] Translation: X:112.90, Y:2.71, Z:1.20 [[ 9.98490086e-01 -5.32214916e-02 -1.36022133e-02 1.12898758e+02] [ 5.32257047e-02 9.98582506e-01 -5.23400862e-05 2.70630484e+00] [ 1.35857179e-02 -6.71726332e-04 9.99907484e-01 1.19544564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.395099893 meters 0.024983039733396845 Centerline is valid? [True, True] Translation: X:112.93, Y:2.71, Z:1.20 [[ 9.98461465e-01 -5.39618951e-02 -1.27599877e-02 1.12931136e+02] [ 5.39656711e-02 9.98542790e-01 -4.84528927e-05 2.70681995e+00] [ 1.27440083e-02 -6.40222951e-04 9.99918587e-01 1.19543298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.425099893 meters 0.024983039733396845 Centerline is valid? [True, True] Translation: X:112.96, Y:2.71, Z:1.20 [[ 9.98467259e-01 -5.38545789e-02 -1.27599911e-02 1.12963716e+02] [ 5.38583580e-02 9.98548584e-01 -4.75274572e-05 2.70685279e+00] [ 1.27440306e-02 -6.39777559e-04 9.99918587e-01 1.19583563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.455099893 meters 0.024612302101945517 Centerline is valid? [True, True] Translation: X:113.00, Y:2.71, Z:1.20 [[ 9.98452830e-01 -5.41809215e-02 -1.25049378e-02 1.12995810e+02] [ 5.41845930e-02 9.98530935e-01 -4.52648948e-05 2.70735351e+00] [ 1.24890198e-02 -6.32380105e-04 9.99921809e-01 1.19659615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48509989299998 meters 0.025821039641807233 Centerline is valid? [True, True] Translation: X:113.03, Y:2.71, Z:1.20 [[ 9.98458745e-01 -5.42508363e-02 -1.17038762e-02 1.13027044e+02] [ 5.42540658e-02 9.98527163e-01 -4.16217860e-05 2.70565853e+00] [ 1.16888963e-02 -5.93425233e-04 9.99931506e-01 1.19697865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51509989299998 meters 0.027095737459344953 Centerline is valid? [True, True] Translation: X:113.06, Y:2.70, Z:1.20 [[ 9.98469819e-01 -5.42096784e-02 -1.09238560e-02 1.13058630e+02] [ 5.42125035e-02 9.98529420e-01 -3.75528743e-05 2.70361175e+00] [ 1.09098273e-02 -5.54714170e-04 9.99940332e-01 1.19741374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54509989299999 meters 0.027153225558097734 Centerline is valid? [True, True] Translation: X:113.09, Y:2.70, Z:1.20 [[ 9.98509403e-01 -5.35044161e-02 -1.07818819e-02 1.13090497e+02] [ 5.35071538e-02 9.98567466e-01 -3.46009488e-05 2.70301208e+00] [ 1.07682877e-02 -5.42358438e-04 9.99941873e-01 1.19731747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57509989299999 meters 0.024271378050446005 Centerline is valid? [True, True] Translation: X:113.12, Y:2.71, Z:1.20 [[ 9.98556530e-01 -5.24923258e-02 -1.13759055e-02 1.13122988e+02] [ 5.24953174e-02 9.98621170e-01 -3.56730599e-05 2.70660790e+00] [ 1.13620926e-02 -5.61560202e-04 9.99935292e-01 1.19603049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60509989299999 meters 0.024167898650465727 Centerline is valid? [True, True] Translation: X:113.15, Y:2.71, Z:1.19 [[ 9.98607522e-01 -5.10022972e-02 -1.34826907e-02 1.13153887e+02] [ 5.10063792e-02 9.98698327e-01 -4.11609016e-05 2.70653910e+00] [ 1.34672399e-02 -6.46599648e-04 9.99909104e-01 1.19397462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63509989299999 meters 0.023477427632924472 Centerline is valid? [True, True] Translation: X:113.18, Y:2.71, Z:1.19 [[ 9.98949611e-01 -4.37638823e-02 -1.35792673e-02 1.13183046e+02] [ 4.37673641e-02 9.99041749e-01 -4.08064595e-05 2.70951241e+00] [ 1.35680408e-02 -5.53565139e-04 9.99907797e-01 1.19338214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66509989299999 meters 0.02328178756289914 Centerline is valid? [True, True] Translation: X:113.22, Y:2.71, Z:1.19 [[ 9.99015367e-01 -4.23620405e-02 -1.31815780e-02 1.13215370e+02] [ 4.23651974e-02 9.99102191e-01 -3.97708149e-05 2.71057598e+00] [ 1.31714283e-02 -5.18708500e-04 9.99913118e-01 1.19389735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69509989299999 meters 0.02328178756289914 Centerline is valid? [True, True] Translation: X:113.25, Y:2.71, Z:1.19 [[ 9.99018256e-01 -4.22938529e-02 -1.31815807e-02 1.13247086e+02] [ 4.22970157e-02 9.99105080e-01 -3.88716130e-05 2.71060651e+00] [ 1.31714283e-02 -5.18708075e-04 9.99913118e-01 1.19428931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72509989299999 meters 0.02328178756289914 Centerline is valid? [True, True] Translation: X:113.28, Y:2.71, Z:1.19 [[ 9.99021140e-01 -4.22256651e-02 -1.31815833e-02 1.13278801e+02] [ 4.22288339e-02 9.99107964e-01 -3.79719866e-05 2.71063488e+00] [ 1.31714282e-02 -5.18708074e-04 9.99913118e-01 1.19468127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.755099893 meters 0.020210929565342282 Centerline is valid? [True, True] Translation: X:113.31, Y:2.72, Z:1.20 [[ 9.99087667e-01 -4.07445664e-02 -1.27950607e-02 1.13310835e+02] [ 4.07474416e-02 9.99169477e-01 -3.60083108e-05 2.71600196e+00] [ 1.27859013e-02 -4.85390529e-04 9.99918139e-01 1.19562264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.785099893 meters 0.020210929565342282 Centerline is valid? [True, True] Translation: X:113.34, Y:2.72, Z:1.20 [[ 9.99092095e-01 -4.06358440e-02 -1.27950633e-02 1.13343399e+02] [ 4.06387223e-02 9.99173905e-01 -3.50680340e-05 2.71600453e+00] [ 1.27859184e-02 -4.84938828e-04 9.99918139e-01 1.19602508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.815099893 meters 0.02031839993778187 Centerline is valid? [True, True] Translation: X:113.38, Y:2.72, Z:1.20 [[ 9.99146278e-01 -3.93001392e-02 -1.27363725e-02 1.13375028e+02] [ 3.93029002e-02 9.99227342e-01 -3.35411256e-05 2.71658997e+00] [ 1.27278498e-02 -4.67063886e-04 9.99918889e-01 1.19628629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84509989299998 meters 0.02031839993778187 Centerline is valid? [True, True] Translation: X:113.41, Y:2.72, Z:1.20 [[ 9.99149079e-01 -3.92288481e-02 -1.27363748e-02 1.13406742e+02] [ 3.92316149e-02 9.99230143e-01 -3.26279725e-05 2.71661210e+00] [ 1.27278496e-02 -4.67068344e-04 9.99918889e-01 1.19667821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87509989299998 meters 0.019450672155947764 Centerline is valid? [True, True] Translation: X:113.44, Y:2.72, Z:1.20 [[ 9.99195933e-01 -3.78019953e-02 -1.33602988e-02 1.13439014e+02] [ 3.78049258e-02 9.99285138e-01 -3.32292211e-05 2.71875849e+00] [ 1.33520041e-02 -4.71882602e-04 9.99910747e-01 1.19649461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90509989299998 meters 0.019450672155947764 Centerline is valid? [True, True] Translation: X:113.47, Y:2.72, Z:1.20 [[ 9.99198651e-01 -3.77300820e-02 -1.33603011e-02 1.13470726e+02] [ 3.77330190e-02 9.99287856e-01 -3.22669043e-05 2.71877711e+00] [ 1.33520041e-02 -4.71883449e-04 9.99910747e-01 1.19688651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93509989299999 meters 0.019450672155947764 Centerline is valid? [True, True] Translation: X:113.50, Y:2.72, Z:1.20 [[ 9.99201363e-01 -3.76581686e-02 -1.33603034e-02 1.13502439e+02] [ 3.76611120e-02 9.99290568e-01 -3.13054358e-05 2.71879344e+00] [ 1.33520041e-02 -4.71883447e-04 9.99910747e-01 1.19727841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96509989299999 meters 0.018967693781797444 Centerline is valid? [True, True] Translation: X:113.53, Y:2.72, Z:1.20 [[ 9.99285258e-01 -3.50898428e-02 -1.40597242e-02 1.13534217e+02] [ 3.50928629e-02 9.99384055e-01 -3.19169770e-05 2.72086702e+00] [ 1.40521841e-02 -4.61501809e-04 9.99901157e-01 1.19624113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99509989299999 meters 0.018302098585283175 Centerline is valid? [True, True] Translation: X:113.57, Y:2.72, Z:1.20 [[ 9.99323555e-01 -3.36761889e-02 -1.47765663e-02 1.13566821e+02] [ 3.36793834e-02 9.99432688e-01 -3.26746514e-05 2.72314492e+00] [ 1.47692837e-02 -4.65013094e-04 9.99890820e-01 1.19581912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02509989299999 meters 0.018115080365104192 Centerline is valid? [True, True] Translation: X:113.60, Y:2.72, Z:1.20 [[ 9.99345176e-01 -3.30492772e-02 -1.47297220e-02 1.13599241e+02] [ 3.30523989e-02 9.99453620e-01 -3.15173460e-05 2.72422188e+00] [ 1.47227156e-02 -4.55355940e-04 9.99891511e-01 1.19597015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05509989299999 meters 0.01815879635521229 Centerline is valid? [True, True] Translation: X:113.63, Y:2.72, Z:1.20 [[ 9.99357754e-01 -3.26556035e-02 -1.47543837e-02 1.13631725e+02] [ 3.26587085e-02 9.99466562e-01 -3.05092938e-05 2.72460020e+00] [ 1.47475095e-02 -4.51369418e-04 9.99891148e-01 1.19623059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08509989299999 meters 0.018387759397511593 Centerline is valid? [True, True] Translation: X:113.66, Y:2.72, Z:1.20 [[ 9.99365431e-01 -3.25316553e-02 -1.45060634e-02 1.13664084e+02] [ 3.25346585e-02 9.99470607e-01 -2.89731023e-05 2.72463267e+00] [ 1.44993265e-02 -4.42995101e-04 9.99894781e-01 1.19659922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.115099893 meters 0.018812618226122204 Centerline is valid? [True, True] Translation: X:113.69, Y:2.72, Z:1.20 [[ 9.99358393e-01 -3.27361544e-02 -1.45308678e-02 1.13694956e+02] [ 3.27392039e-02 9.99463928e-01 -2.80270292e-05 2.72441387e+00] [ 1.45239957e-02 -4.47719997e-04 9.99894421e-01 1.19672508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.145099893 meters 0.018810208031318842 Centerline is valid? [True, True] Translation: X:113.73, Y:2.72, Z:1.20 [[ 9.99359305e-01 -3.26433127e-02 -1.46762924e-02 1.13727241e+02] [ 3.26464256e-02 9.99466963e-01 -2.74827800e-05 2.72443973e+00] [ 1.46693665e-02 -4.51663317e-04 9.99892297e-01 1.19699402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.175099893 meters 0.018310566487430995 Centerline is valid? [True, True] Translation: X:113.76, Y:2.73, Z:1.20 [[ 9.99387302e-01 -3.17386069e-02 -1.47540384e-02 1.13759200e+02] [ 3.17416699e-02 9.99496106e-01 -2.65811851e-05 2.72570338e+00] [ 1.47474475e-02 -4.41752916e-04 9.99891153e-01 1.19726734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.205099893 meters 0.017610805727332573 Centerline is valid? [True, True] Translation: X:113.79, Y:2.73, Z:1.20 [[ 9.99413163e-01 -3.07820878e-02 -1.50263847e-02 1.13791561e+02] [ 3.07851732e-02 9.99526024e-01 -2.59844597e-05 2.72765343e+00] [ 1.50200624e-02 -4.36620644e-04 9.99887097e-01 1.19783476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23509989299998 meters 0.01706411563423159 Centerline is valid? [True, True] Translation: X:113.82, Y:2.73, Z:1.20 [[ 9.99473793e-01 -2.86389654e-02 -1.52298269e-02 1.13822837e+02] [ 2.86419017e-02 9.99589736e-01 -2.53318259e-05 2.72999071e+00] [ 1.52243041e-02 -4.10892708e-04 9.99884019e-01 1.19827967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26509989299998 meters 0.017414259103179324 Centerline is valid? [True, True] Translation: X:113.85, Y:2.73, Z:1.20 [[ 9.99510321e-01 -2.73641262e-02 -1.51763824e-02 1.13853662e+02] [ 2.73669040e-02 9.99625456e-01 -2.46494314e-05 2.72978409e+00] [ 1.51713727e-02 -3.90693239e-04 9.99884832e-01 1.19854188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29509989299999 meters 0.016377027506267943 Centerline is valid? [True, True] Translation: X:113.89, Y:2.73, Z:1.20 [[ 9.99565052e-01 -2.55052164e-02 -1.48051119e-02 1.13885482e+02] [ 2.55076674e-02 9.99674626e-01 -2.32918712e-05 2.73304883e+00] [ 1.48008888e-02 -3.54362130e-04 9.99890398e-01 1.19927849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32509989299999 meters 0.016703359725925217 Centerline is valid? [True, True] Translation: X:113.92, Y:2.73, Z:1.20 [[ 9.99582951e-01 -2.46253617e-02 -1.50836137e-02 1.13915378e+02] [ 2.46278147e-02 9.99696689e-01 -2.31320270e-05 2.73245561e+00] [ 1.50796083e-02 -3.48354064e-04 9.99886236e-01 1.19928537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35509989299999 meters 0.016307643270566167 Centerline is valid? [True, True] Translation: X:113.95, Y:2.73, Z:1.20 [[ 9.99587851e-01 -2.47451390e-02 -1.45535404e-02 1.13946352e+02] [ 2.47474395e-02 9.99693735e-01 -2.20285966e-05 2.73328857e+00] [ 1.45496282e-02 -3.38143342e-04 9.99894091e-01 1.20015330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38509989299999 meters 0.016733528782537924 Centerline is valid? [True, True] Translation: X:113.98, Y:2.73, Z:1.20 [[ 9.99576379e-01 -2.54603620e-02 -1.41007815e-02 1.13977759e+02] [ 2.54625999e-02 9.99675775e-01 -2.08229877e-05 2.73244531e+00] [ 1.40967398e-02 -3.38228391e-04 9.99900579e-01 1.20098795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41509989299999 meters 0.017232674015603546 Centerline is valid? [True, True] Translation: X:114.01, Y:2.73, Z:1.20 [[ 9.99550644e-01 -2.66252552e-02 -1.37697661e-02 1.14010129e+02] [ 2.66275100e-02 9.99645425e-01 -1.95908282e-05 2.73126948e+00] [ 1.37654053e-02 -3.47072559e-04 9.99905192e-01 1.20167445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44509989299999 meters 0.01806742109976167 Centerline is valid? [True, True] Translation: X:114.04, Y:2.73, Z:1.20 [[ 9.99463397e-01 -2.95715269e-02 -1.40869976e-02 1.14041629e+02] [ 2.95741926e-02 9.99562588e-01 -1.90905647e-05 2.72856112e+00] [ 1.40814003e-02 -3.97531260e-04 9.99900773e-01 1.20176116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47509989299999 meters 0.018135881226936688 Centerline is valid? [True, True] Translation: X:114.07, Y:2.73, Z:1.20 [[ 9.99358962e-01 -3.25921006e-02 -1.48128514e-02 1.14073266e+02] [ 3.25953884e-02 9.99468629e-01 -1.94846437e-05 2.72764838e+00] [ 1.48056154e-02 -4.63358492e-04 9.99890284e-01 1.20217797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.505099893 meters 0.020476061520521126 Centerline is valid? [True, True] Translation: X:114.10, Y:2.72, Z:1.20 [[ 9.99302290e-01 -3.38504641e-02 -1.57822191e-02 1.14104735e+02] [ 3.38543674e-02 9.99426776e-01 -1.98573158e-05 2.72348969e+00] [ 1.57738445e-02 -5.14453581e-04 9.99875453e-01 1.20177286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.535099893 meters 0.019462723452453905 Centerline is valid? [True, True] Translation: X:114.14, Y:2.72, Z:1.20 [[ 9.99235955e-01 -3.53241713e-02 -1.67245288e-02 1.14136783e+02] [ 3.53287779e-02 9.99375744e-01 -2.00231027e-05 2.72486098e+00] [ 1.67147957e-02 -5.70849360e-04 9.99860135e-01 1.20209064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.565099893 meters 0.02067645590746796 Centerline is valid? [True, True] Translation: X:114.17, Y:2.72, Z:1.20 [[ 9.99124314e-01 -3.79522353e-02 -1.76134488e-02 1.14168188e+02] [ 3.79577776e-02 9.99279344e-01 -1.96610850e-05 2.72151154e+00] [ 1.76015017e-02 -6.48923503e-04 9.99844871e-01 1.20220860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59509989299998 meters 0.020679882436684918 Centerline is valid? [True, True] Translation: X:114.20, Y:2.72, Z:1.20 [[ 9.99077459e-01 -3.90510037e-02 -1.78675756e-02 1.14199841e+02] [ 3.90569090e-02 9.99236988e-01 -1.84630752e-05 2.72076965e+00] [ 1.78546634e-02 -6.79406231e-04 9.99840362e-01 1.20289388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62509989299998 meters 0.021007182797947194 Centerline is valid? [True, True] Translation: X:114.23, Y:2.72, Z:1.20 [[ 9.98995438e-01 -4.12157643e-02 -1.75890854e-02 1.14231975e+02] [ 4.12218400e-02 9.99150019e-01 -1.71449332e-05 2.71843484e+00] [ 1.75748416e-02 -7.07926752e-04 9.99845300e-01 1.20322985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65509989299998 meters 0.023203123633008454 Centerline is valid? [True, True] Translation: X:114.26, Y:2.71, Z:1.20 [[ 9.98931863e-01 -4.27583976e-02 -1.75172175e-02 1.14262682e+02] [ 4.27646873e-02 9.99085172e-01 -1.55396033e-05 2.71379385e+00] [ 1.75018567e-02 -7.33595324e-04 9.99846562e-01 1.20358914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68509989299999 meters 0.023113852923962005 Centerline is valid? [True, True] Translation: X:114.30, Y:2.71, Z:1.20 [[ 9.98915255e-01 -4.31977018e-02 -1.73859539e-02 1.14295006e+02] [ 4.32039969e-02 9.99066271e-01 -1.35312339e-05 2.71365644e+00] [ 1.73703047e-02 -7.37626145e-04 9.99848853e-01 1.20409013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71509989299999 meters 0.022243290284611746 Centerline is valid? [True, True] Translation: X:114.33, Y:2.71, Z:1.20 [[ 9.98911716e-01 -4.32321003e-02 -1.75034298e-02 1.14326986e+02] [ 4.32385078e-02 9.99064778e-01 -1.23783873e-05 2.71480685e+00] [ 1.74875954e-02 -7.44457272e-04 9.99846803e-01 1.20479926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74509989299999 meters 0.020871413703871307 Centerline is valid? [True, True] Translation: X:114.36, Y:2.72, Z:1.21 [[ 9.98911069e-01 -4.33491628e-02 -1.72489510e-02 1.14358898e+02] [ 4.33554240e-02 9.99059711e-01 -1.09646782e-05 2.71677660e+00] [ 1.72332074e-02 -7.36882847e-04 9.99851226e-01 1.20546016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77509989299999 meters 0.02119173987001538 Centerline is valid? [True, True] Translation: X:114.39, Y:2.72, Z:1.21 [[ 9.98897933e-01 -4.35127823e-02 -1.75942450e-02 1.14390780e+02] [ 4.35193452e-02 9.99052584e-01 -9.87096189e-06 2.71517853e+00] [ 1.75780054e-02 -7.55829938e-04 9.99845209e-01 1.20525390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80509989299999 meters 0.021648871003438545 Centerline is valid? [True, True] Translation: X:114.42, Y:2.71, Z:1.21 [[ 9.98852355e-01 -4.45368487e-02 -1.76193553e-02 1.14423163e+02] [ 4.45436120e-02 9.99007441e-01 -8.59266010e-06 2.71356224e+00] [ 1.76022497e-02 -7.76246928e-04 9.99844767e-01 1.20567579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83509989299999 meters 0.022670470641396195 Centerline is valid? [True, True] Translation: X:114.45, Y:2.71, Z:1.21 [[ 9.98842012e-01 -4.50089245e-02 -1.69950374e-02 1.14453870e+02] [ 4.50153100e-02 9.98986297e-01 -6.82737709e-06 2.71118308e+00] [ 1.69781168e-02 -7.58217405e-04 9.99855574e-01 1.20605966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.865099893 meters 0.02392827770712361 Centerline is valid? [True, True] Translation: X:114.49, Y:2.71, Z:1.21 [[ 9.98805584e-01 -4.57802610e-02 -1.70755136e-02 1.14485308e+02] [ 4.57868508e-02 9.98951232e-01 -5.02977349e-06 2.70862270e+00] [ 1.70578356e-02 -7.76810226e-04 9.99854203e-01 1.20657783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.895099893 meters 0.023690879761564393 Centerline is valid? [True, True] Translation: X:114.52, Y:2.71, Z:1.21 [[ 9.98769028e-01 -4.66240414e-02 -1.69300923e-02 1.14517837e+02] [ 4.66306571e-02 9.98912199e-01 -4.00093373e-06 2.70830517e+00] [ 1.69118623e-02 -7.85465319e-04 9.99856676e-01 1.20744667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.925099893 meters 0.024865239845931104 Centerline is valid? [True, True] Translation: X:114.55, Y:2.71, Z:1.21 [[ 9.98684103e-01 -4.83141550e-02 -1.71989943e-02 1.14548860e+02] [ 4.83212525e-02 9.98831846e-01 -2.90354437e-06 2.70639801e+00] [ 1.71790435e-02 -8.28177221e-04 9.99852086e-01 1.20819633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.955099893 meters 0.02422330389631412 Centerline is valid? [True, True] Translation: X:114.58, Y:2.71, Z:1.21 [[ 9.98582680e-01 -4.97291964e-02 -1.89641475e-02 1.14581307e+02] [ 4.97381033e-02 9.98762295e-01 -1.99474619e-06 2.70687080e+00] [ 1.89407746e-02 -9.41248806e-04 9.99820164e-01 1.20807004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98509989299998 meters 0.024485082249413627 Centerline is valid? [True, True] Translation: X:114.61, Y:2.71, Z:1.21 [[ 9.98528703e-01 -5.05702679e-02 -1.95723381e-02 1.14613092e+02] [ 5.05799422e-02 9.98720016e-01 -7.44005090e-07 2.70624696e+00] [ 1.95473235e-02 -9.89224821e-04 9.99808443e-01 1.20799221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01509989299998 meters 0.02523670147492567 Centerline is valid? [True, True] Translation: X:114.65, Y:2.70, Z:1.21 [[ 9.98443762e-01 -5.17872071e-02 -2.06915488e-02 1.14645416e+02] [ 5.17983077e-02 9.98657567e-01 5.25043514e-07 2.70442192e+00] [ 2.06637446e-02 -1.07231144e-03 9.99785907e-01 1.20719348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04509989299999 meters 0.025729706782100147 Centerline is valid? [True, True] Translation: X:114.68, Y:2.70, Z:1.21 [[ 9.98414630e-01 -5.22656943e-02 -2.08931607e-02 1.14677951e+02] [ 5.22771483e-02 9.98632615e-01 2.04441508e-06 2.70307025e+00] [ 2.08644849e-02 -1.09427603e-03 9.99781714e-01 1.20746340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07509989299999 meters 0.026700033630448563 Centerline is valid? [True, True] Translation: X:114.71, Y:2.70, Z:1.21 [[ 9.98379096e-01 -5.30631197e-02 -2.05787831e-02 1.14709430e+02] [ 5.30744274e-02 9.98590559e-01 3.32745283e-06 2.70039349e+00] [ 2.05496020e-02 -1.09552919e-03 9.99788234e-01 1.20807897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10509989299999 meters 0.025300418275588266 Centerline is valid? [True, True] Translation: X:114.74, Y:2.70, Z:1.21 [[ 9.98367629e-01 -5.35044781e-02 -1.99837037e-02 1.14741916e+02] [ 5.35152532e-02 9.98567032e-01 4.42719558e-06 2.70198510e+00] [ 1.99548308e-02 -1.07385293e-03 9.99800306e-01 1.20920540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13509989299999 meters 0.02780456740341968 Centerline is valid? [True, True] Translation: X:114.77, Y:2.70, Z:1.21 [[ 9.98396005e-01 -5.32118019e-02 -1.93370705e-02 1.14773520e+02] [ 5.32218601e-02 9.98582712e-01 5.53435174e-06 2.69873622e+00] [ 1.93093698e-02 -1.03468033e-03 9.99813021e-01 1.21001056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16509989299999 meters 0.024381258002655764 Centerline is valid? [True, True] Translation: X:114.81, Y:2.70, Z:1.21 [[ 9.98489964e-01 -5.16946463e-02 -1.85864239e-02 1.14806211e+02] [ 5.17036990e-02 9.98662469e-01 6.53500118e-06 2.70345451e+00] [ 1.85612262e-02 -9.67512000e-04 9.99827257e-01 1.21082975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19509989299999 meters 0.02438113287653546 Centerline is valid? [True, True] Translation: X:114.84, Y:2.70, Z:1.21 [[ 9.98603746e-01 -4.95986734e-02 -1.81804704e-02 1.14836267e+02] [ 4.96070105e-02 9.98768814e-01 7.60627516e-06 2.70295055e+00] [ 1.81577096e-02 -9.09474441e-04 9.99834722e-01 1.21054247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22509989299999 meters 0.0235509854764487 Centerline is valid? [True, True] Translation: X:114.87, Y:2.70, Z:1.21 [[ 9.98635128e-01 -4.89031582e-02 -1.83401610e-02 1.14868602e+02] [ 4.89115376e-02 9.98803114e-01 8.33937146e-06 2.70378616e+00] [ 1.83178021e-02 -9.05373465e-04 9.99831805e-01 1.21069166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.255099893 meters 0.025366138517673976 Centerline is valid? [True, True] Translation: X:114.90, Y:2.70, Z:1.21 [[ 9.98676322e-01 -4.79594253e-02 -1.85875827e-02 1.14899680e+02] [ 4.79678927e-02 9.98848878e-01 9.70998829e-06 2.70026992e+00] [ 1.85657204e-02 -9.01304306e-04 9.99827236e-01 1.21055217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.285099893 meters 0.026017534077900414 Centerline is valid? [True, True] Translation: X:114.93, Y:2.70, Z:1.21 [[ 9.98747702e-01 -4.64071708e-02 -1.86923003e-02 1.14931396e+02] [ 4.64154837e-02 9.98922221e-01 1.08867679e-05 2.69939999e+00] [ 1.86716489e-02 -8.78485295e-04 9.99825284e-01 1.21097448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.315099893 meters 0.026017534077900414 Centerline is valid? [True, True] Translation: X:114.96, Y:2.70, Z:1.21 [[ 9.98750912e-01 -4.63380390e-02 -1.86922995e-02 1.14963123e+02] [ 4.63463641e-02 9.98925430e-01 1.21888276e-05 2.69931774e+00] [ 1.86716485e-02 -8.78493720e-04 9.99825284e-01 1.21136658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34509989299998 meters 0.022613789356634124 Centerline is valid? [True, True] Translation: X:115.00, Y:2.71, Z:1.21 [[ 9.98822775e-01 -4.48706261e-02 -1.84307287e-02 1.14995497e+02] [ 4.48784941e-02 9.98992453e-01 1.33033877e-05 2.70501879e+00] [ 1.84115620e-02 -8.40431078e-04 9.99830140e-01 1.21326172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37509989299998 meters 0.02211424364083126 Centerline is valid? [True, True] Translation: X:115.03, Y:2.71, Z:1.21 [[ 9.98870250e-01 -4.37084218e-02 -1.86493512e-02 1.15027880e+02] [ 4.37163010e-02 9.99043985e-01 1.48305967e-05 2.70601588e+00] [ 1.86308740e-02 -8.30094494e-04 9.99826086e-01 1.21391020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40509989299998 meters 0.02211424364083126 Centerline is valid? [True, True] Translation: X:115.06, Y:2.71, Z:1.21 [[ 9.98873444e-01 -4.36353516e-02 -1.86493501e-02 1.15059604e+02] [ 4.36432435e-02 9.99047180e-01 1.61933485e-05 2.70593168e+00] [ 1.86308740e-02 -8.30093232e-04 9.99826086e-01 1.21430225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43509989299999 meters 0.0243073278352743 Centerline is valid? [True, True] Translation: X:115.09, Y:2.70, Z:1.21 [[ 9.98919519e-01 -4.25004122e-02 -1.88018517e-02 1.15091046e+02] [ 4.25082568e-02 9.99096115e-01 1.75883806e-05 2.70288883e+00] [ 1.87841095e-02 -8.16803315e-04 9.99823229e-01 1.21421644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46509989299999 meters 0.02096967916628709 Centerline is valid? [True, True] Translation: X:115.12, Y:2.71, Z:1.22 [[ 9.99083884e-01 -3.85021635e-02 -1.86809232e-02 1.15122035e+02] [ 3.85092243e-02 9.99258245e-01 1.82585336e-05 2.70841714e+00] [ 1.86663635e-02 -7.37629667e-04 9.99825496e-01 1.21508339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49509989299999 meters 0.021699665496009386 Centerline is valid? [True, True] Translation: X:115.15, Y:2.71, Z:1.22 [[ 9.99187947e-01 -3.58610747e-02 -1.83692469e-02 1.15152229e+02] [ 3.58674622e-02 9.99356555e-01 1.82796602e-05 2.70716129e+00] [ 1.83567718e-02 -6.77123085e-04 9.99831271e-01 1.21513770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52509989299999 meters 0.020387979597867742 Centerline is valid? [True, True] Translation: X:115.18, Y:2.71, Z:1.22 [[ 9.99280788e-01 -3.32964622e-02 -1.81452899e-02 1.15184040e+02] [ 3.33022820e-02 9.99445325e-01 1.85800875e-05 2.70946630e+00] [ 1.81346065e-02 -6.22846287e-04 9.99835361e-01 1.21600201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55509989299999 meters 0.01792805232536215 Centerline is valid? [True, True] Translation: X:115.22, Y:2.71, Z:1.22 [[ 9.99458562e-01 -2.79645053e-02 -1.73369344e-02 1.15215016e+02] [ 2.79690289e-02 9.99608790e-01 1.84667940e-05 2.71463483e+00] [ 1.73296356e-02 -5.03354015e-04 9.99849704e-01 1.21800916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58509989299999 meters 0.017324095989317154 Centerline is valid? [True, True] Translation: X:115.25, Y:2.72, Z:1.22 [[ 9.99519939e-01 -2.57787867e-02 -1.71856035e-02 1.15245450e+02] [ 2.57829127e-02 9.99667565e-01 1.85261925e-05 2.71607021e+00] [ 1.71794128e-02 -4.61612213e-04 9.99852316e-01 1.21913211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.615099893 meters 0.01719614094921386 Centerline is valid? [True, True] Translation: X:115.28, Y:2.72, Z:1.22 [[ 9.99576226e-01 -2.41603200e-02 -1.62371924e-02 1.15275806e+02] [ 2.41637897e-02 9.99708013e-01 1.75037991e-05 2.71671489e+00] [ 1.62320284e-02 -4.09848483e-04 9.99868168e-01 1.22018421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.645099893 meters 0.016238274322918696 Centerline is valid? [True, True] Translation: X:115.31, Y:2.72, Z:1.22 [[ 9.99639663e-01 -2.14750199e-02 -1.61049118e-02 1.15305934e+02] [ 2.14780850e-02 9.99769319e-01 1.73611997e-05 2.71763370e+00] [ 1.61008238e-02 -3.63257607e-04 9.99870307e-01 1.22065607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.675099893 meters 0.015828531986672435 Centerline is valid? [True, True] Translation: X:115.34, Y:2.72, Z:1.22 [[ 9.99680946e-01 -1.87629642e-02 -1.69102993e-02 1.15335085e+02] [ 1.87659529e-02 9.99823904e-01 1.80669286e-05 2.71716696e+00] [ 1.69069825e-02 -3.35399045e-04 9.99857011e-01 1.22028027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.705099893 meters 0.015347516997695806 Centerline is valid? [True, True] Translation: X:115.36, Y:2.72, Z:1.22 [[ 9.99686430e-01 -1.80617702e-02 -1.73440085e-02 1.15363859e+02] [ 1.80647791e-02 9.99836818e-01 1.68139448e-05 2.71833040e+00] [ 1.73408746e-02 -3.30124355e-04 9.99849581e-01 1.22064034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73509989299998 meters 0.0156038726579972 Centerline is valid? [True, True] Translation: X:115.39, Y:2.72, Z:1.22 [[ 9.99703122e-01 -1.68647877e-02 -1.75854383e-02 1.15391274e+02] [ 1.68676316e-02 9.99857731e-01 1.33985230e-05 2.71763108e+00] [ 1.75827105e-02 -3.10019240e-04 9.99845364e-01 1.22066919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76509989299998 meters 0.01502709985198758 Centerline is valid? [True, True] Translation: X:115.42, Y:2.72, Z:1.22 [[ 9.99727558e-01 -1.52936968e-02 -1.76327121e-02 1.15419692e+02] [ 1.52962691e-02 9.99883005e-01 1.10153530e-05 2.71853570e+00] [ 1.76304807e-02 -2.80727062e-04 9.99844532e-01 1.22173352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79509989299999 meters 0.014853402105133577 Centerline is valid? [True, True] Translation: X:115.45, Y:2.72, Z:1.22 [[ 9.99726306e-01 -1.50932303e-02 -1.78747886e-02 1.15447992e+02] [ 1.50957580e-02 9.99886053e-01 6.48037938e-06 2.71886551e+00] [ 1.78726540e-02 -2.76312089e-04 9.99840233e-01 1.22280955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82509989299999 meters 0.014860138520626988 Centerline is valid? [True, True] Translation: X:115.48, Y:2.72, Z:1.22 [[ 9.99738908e-01 -1.41204671e-02 -1.79646379e-02 1.15476161e+02] [ 1.41227864e-02 9.99900268e-01 2.23959567e-06 2.71724881e+00] [ 1.79628147e-02 -2.55949755e-04 9.99838623e-01 1.22269366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85509989299999 meters 0.014759444529002274 Centerline is valid? [True, True] Translation: X:115.50, Y:2.72, Z:1.22 [[ 9.99742860e-01 -1.40380019e-02 -1.78086623e-02 1.15503604e+02] [ 1.40402129e-02 9.99901431e-01 -8.75063238e-07 2.71669208e+00] [ 1.78069192e-02 -2.49162572e-04 9.99841413e-01 1.22336165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88509989299999 meters 0.014826550921530898 Centerline is valid? [True, True] Translation: X:115.53, Y:2.72, Z:1.22 [[ 9.99742914e-01 -1.43878537e-02 -1.75241287e-02 1.15531184e+02] [ 1.43899630e-02 9.99896459e-01 -5.73074977e-06 2.71620518e+00] [ 1.75223966e-02 -2.46442287e-04 9.99846441e-01 1.22399663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91509989299999 meters 0.015106032536686147 Centerline is valid? [True, True] Translation: X:115.56, Y:2.71, Z:1.23 [[ 9.99732620e-01 -1.55259338e-02 -1.71357692e-02 1.15559274e+02] [ 1.55280526e-02 9.99879432e-01 -9.40429982e-06 2.71418615e+00] [ 1.71338492e-02 -2.56683340e-04 9.99853172e-01 1.22528030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94509989299999 meters 0.015262692561592333 Centerline is valid? [True, True] Translation: X:115.59, Y:2.71, Z:1.23 [[ 9.99722130e-01 -1.67290583e-02 -1.66072656e-02 1.15588289e+02] [ 1.67311801e-02 9.99860024e-01 -1.11753315e-05 2.71291492e+00] [ 1.66051280e-02 -2.66686926e-04 9.99862090e-01 1.22587100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97509989299999 meters 0.016078826243479883 Centerline is valid? [True, True] Translation: X:115.62, Y:2.71, Z:1.23 [[ 9.99689103e-01 -1.90338699e-02 -1.61061911e-02 1.15616472e+02] [ 1.90361130e-02 9.99818797e-01 -1.40462555e-05 2.70850857e+00] [ 1.61035400e-02 -2.92557385e-04 9.99870287e-01 1.22618206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.005099893 meters 0.015621214677711815 Centerline is valid? [True, True] Translation: X:115.65, Y:2.71, Z:1.23 [[ 9.99625835e-01 -2.24175567e-02 -1.56730060e-02 1.15645648e+02] [ 2.24200765e-02 9.99748638e-01 -1.49409563e-05 2.70575331e+00] [ 1.56694014e-02 -3.36454628e-04 9.99877171e-01 1.22680156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.035099893 meters 0.016365991879802762 Centerline is valid? [True, True] Translation: X:115.68, Y:2.70, Z:1.23 [[ 9.99580166e-01 -2.42618655e-02 -1.58383872e-02 1.15675119e+02] [ 2.42646544e-02 9.99705570e-01 -1.60930153e-05 2.70212107e+00] [ 1.58341144e-02 -3.68226732e-04 9.99874565e-01 1.22685245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.065099893 meters 0.016765706124553 Centerline is valid? [True, True] Translation: X:115.71, Y:2.70, Z:1.23 [[ 9.99458810e-01 -2.86814789e-02 -1.61077518e-02 1.15705474e+02] [ 2.86849333e-02 9.99588502e-01 -1.65937541e-05 2.69820108e+00] [ 1.61015995e-02 -4.45465013e-04 9.99870262e-01 1.22700155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09509989299998 meters 0.017568730356814916 Centerline is valid? [True, True] Translation: X:115.74, Y:2.70, Z:1.23 [[ 9.99401015e-01 -3.03640058e-02 -1.66023355e-02 1.15735447e+02] [ 3.03679139e-02 9.99538788e-01 -1.67189572e-05 2.69525804e+00] [ 1.65951859e-02 -4.87469351e-04 9.99862172e-01 1.22683878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12509989299998 meters 0.01812871649805719 Centerline is valid? [True, True] Translation: X:115.77, Y:2.69, Z:1.23 [[ 9.99333624e-01 -3.18628774e-02 -1.78063317e-02 1.15766848e+02] [ 3.18676356e-02 9.99492098e-01 -1.65332484e-05 2.69285987e+00] [ 1.77978146e-02 -5.50923458e-04 9.99841455e-01 1.22634859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15509989299998 meters 0.018827581247283596 Centerline is valid? [True, True] Translation: X:115.80, Y:2.69, Z:1.23 [[ 9.99233386e-01 -3.44387517e-02 -1.86175470e-02 1.15797747e+02] [ 3.44444107e-02 9.99406615e-01 -1.67110175e-05 2.68883640e+00] [ 1.86070752e-02 -6.24572230e-04 9.99826678e-01 1.22510686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18509989299999 meters 0.019541926565826005 Centerline is valid? [True, True] Translation: X:115.83, Y:2.69, Z:1.23 [[ 9.99196660e-01 -3.52644589e-02 -1.90381713e-02 1.15827737e+02] [ 3.52705329e-02 9.99377801e-01 -1.67428165e-05 2.68650928e+00] [ 1.90269162e-02 -6.54757081e-04 9.99818757e-01 1.22520773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21509989299999 meters 0.019310008718101377 Centerline is valid? [True, True] Translation: X:115.86, Y:2.69, Z:1.23 [[ 9.99166594e-01 -3.63209394e-02 -1.86254441e-02 1.15859191e+02] [ 3.63269443e-02 9.99339959e-01 -1.59391411e-05 2.68502779e+00] [ 1.86137294e-02 -6.60679612e-04 9.99826531e-01 1.22582738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24509989299999 meters 0.018925989279042838 Centerline is valid? [True, True] Translation: X:115.89, Y:2.68, Z:1.23 [[ 9.99161487e-01 -3.63109963e-02 -1.89164900e-02 1.15890081e+02] [ 3.63172017e-02 9.99340313e-01 -1.54981735e-05 2.68454669e+00] [ 1.89045738e-02 -6.71508805e-04 9.99821067e-01 1.22633128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27509989299999 meters 0.018881640730294857 Centerline is valid? [True, True] Translation: X:115.92, Y:2.68, Z:1.23 [[ 9.99168075e-01 -3.59583153e-02 -1.92394543e-02 1.15921391e+02] [ 3.59646828e-02 9.99353061e-01 -1.50560193e-05 2.68407312e+00] [ 1.92275490e-02 -6.76897378e-04 9.99814904e-01 1.22661298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30509989299999 meters 0.019132482941183845 Centerline is valid? [True, True] Translation: X:115.95, Y:2.68, Z:1.23 [[ 9.99192272e-01 -3.53023378e-02 -1.91976165e-02 1.15952001e+02] [ 3.53085676e-02 9.99376458e-01 -1.44524813e-05 2.68303512e+00] [ 1.91861562e-02 -6.63399533e-04 9.99815709e-01 1.22650916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33509989299999 meters 0.020877611904967962 Centerline is valid? [True, True] Translation: X:115.98, Y:2.68, Z:1.23 [[ 9.99210867e-01 -3.49203776e-02 -1.89264235e-02 1.15982868e+02] [ 3.49263727e-02 9.99389888e-01 -1.37954100e-05 2.67973445e+00] [ 1.89153580e-02 -6.47246798e-04 9.99820879e-01 1.22615477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.365099893 meters 0.020877611904967962 Centerline is valid? [True, True] Translation: X:116.01, Y:2.68, Z:1.23 [[ 9.99210868e-01 -3.49203722e-02 -1.89264238e-02 1.16012884e+02] [ 3.49263756e-02 9.99389888e-01 -1.33553332e-05 2.67975541e+00] [ 1.89153430e-02 -6.47686593e-04 9.99820879e-01 1.22652586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.395099893 meters 0.019544585554213352 Centerline is valid? [True, True] Translation: X:116.04, Y:2.68, Z:1.23 [[ 9.99225347e-01 -3.46078813e-02 -1.87350082e-02 1.16043787e+02] [ 3.46137132e-02 9.99400766e-01 -1.29955585e-05 2.68116202e+00] [ 1.87242313e-02 -6.35502710e-04 9.99824484e-01 1.22760683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.425099893 meters 0.019714943728603787 Centerline is valid? [True, True] Translation: X:116.08, Y:2.68, Z:1.23 [[ 9.99228796e-01 -3.43593891e-02 -1.90064708e-02 1.16075615e+02] [ 3.43653592e-02 9.99409337e-01 -1.25086505e-05 2.68069516e+00] [ 1.89956742e-02 -6.40665193e-04 9.99819361e-01 1.22761098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.455099893 meters 0.018996125273157097 Centerline is valid? [True, True] Translation: X:116.11, Y:2.68, Z:1.23 [[ 9.99213417e-01 -3.41024538e-02 -2.02378543e-02 1.16106621e+02] [ 3.41091795e-02 9.99418113e-01 -1.28578438e-05 2.68115440e+00] [ 2.02265167e-02 -6.77448876e-04 9.99795194e-01 1.22707705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48509989299998 meters 0.020114821127146316 Centerline is valid? [True, True] Translation: X:116.14, Y:2.68, Z:1.23 [[ 9.99198213e-01 -3.46354083e-02 -2.00828333e-02 1.16135951e+02] [ 3.46421383e-02 9.99399781e-01 -1.27862667e-05 2.67908946e+00] [ 2.00712221e-02 -6.82936274e-04 9.99798319e-01 1.22742273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51509989299998 meters 0.019835626096597232 Centerline is valid? [True, True] Translation: X:116.17, Y:2.68, Z:1.23 [[ 9.99170764e-01 -3.55828502e-02 -1.97900115e-02 1.16166646e+02] [ 3.55895701e-02 9.99366491e-01 -1.26423328e-05 2.67909864e+00] [ 1.97779242e-02 -6.91686153e-04 9.99804158e-01 1.22863638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54509989299999 meters 0.020366526301994998 Centerline is valid? [True, True] Translation: X:116.20, Y:2.68, Z:1.23 [[ 9.99141634e-01 -3.63054296e-02 -1.99476885e-02 1.16196880e+02] [ 3.63124008e-02 9.99340487e-01 -1.27430606e-05 2.67826197e+00] [ 1.99349953e-02 -7.11616337e-04 9.99801025e-01 1.22885586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57509989299999 meters 0.019592020745981212 Centerline is valid? [True, True] Translation: X:116.23, Y:2.68, Z:1.23 [[ 9.99060631e-01 -3.82188116e-02 -2.04249606e-02 1.16227235e+02] [ 3.82265197e-02 9.99269099e-01 -1.30479535e-05 2.68019704e+00] [ 2.04105307e-02 -7.67739464e-04 9.99791389e-01 1.23010396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60509989299999 meters 0.020172231061183536 Centerline is valid? [True, True] Translation: X:116.26, Y:2.68, Z:1.23 [[ 9.99013072e-01 -3.95268654e-02 -2.02610287e-02 1.16258038e+02] [ 3.95347218e-02 9.99218197e-01 -1.28005910e-05 2.67974938e+00] [ 2.02456945e-02 -7.88226174e-04 9.99794724e-01 1.23052565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63509989299999 meters 0.021347450519968704 Centerline is valid? [True, True] Translation: X:116.29, Y:2.68, Z:1.23 [[ 9.98961109e-01 -4.08842411e-02 -2.01291352e-02 1.16287852e+02] [ 4.08922890e-02 9.99163560e-01 -1.17987463e-05 2.67852901e+00] [ 2.01127808e-02 -8.11339927e-04 9.99797388e-01 1.23124855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66509989299999 meters 0.021190527895974656 Centerline is valid? [True, True] Translation: X:116.32, Y:2.68, Z:1.23 [[ 9.98903242e-01 -4.23892288e-02 -1.98863142e-02 1.16319473e+02] [ 4.23974086e-02 9.99100826e-01 -1.02893352e-05 2.67931343e+00] [ 1.98688690e-02 -8.32850136e-04 9.99802248e-01 1.23227880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69509989299999 meters 0.021852209504685284 Centerline is valid? [True, True] Translation: X:116.35, Y:2.68, Z:1.23 [[ 9.98854736e-01 -4.37271042e-02 -1.94205234e-02 1.16350784e+02] [ 4.37351709e-02 9.99043160e-01 -9.36009017e-06 2.67857279e+00] [ 1.94023503e-02 -8.40010537e-04 9.99811404e-01 1.23297168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72509989299999 meters 0.022372786151972086 Centerline is valid? [True, True] Translation: X:116.38, Y:2.68, Z:1.23 [[ 9.98788916e-01 -4.57204979e-02 -1.81751877e-02 1.16382405e+02] [ 4.57279036e-02 9.98953932e-01 -8.13514423e-06 2.67858991e+00] [ 1.81565472e-02 -8.22987939e-04 9.99834818e-01 1.23413915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.755099893 meters 0.021960479047135134 Centerline is valid? [True, True] Translation: X:116.41, Y:2.68, Z:1.24 [[ 9.98710383e-01 -4.76285038e-02 -1.75811685e-02 1.16414794e+02] [ 4.76357425e-02 9.98864774e-01 -7.05350840e-06 2.68065452e+00] [ 1.75615458e-02 -8.30447603e-04 9.99845439e-01 1.23539616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.785099893 meters 0.022835136531754213 Centerline is valid? [True, True] Translation: X:116.45, Y:2.68, Z:1.24 [[ 9.98680114e-01 -4.83973648e-02 -1.71966297e-02 1.16446269e+02] [ 4.84044239e-02 9.98827819e-01 -5.74159826e-06 2.68023022e+00] [ 1.71767501e-02 -8.26658936e-04 9.99852127e-01 1.23608533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.815099893 meters 0.02608181085536887 Centerline is valid? [True, True] Translation: X:116.48, Y:2.68, Z:1.24 [[ 9.98596405e-01 -4.99846970e-02 -1.75142755e-02 1.16477159e+02] [ 4.99922799e-02 9.98749604e-01 -4.87565768e-06 2.67782086e+00] [ 1.74926195e-02 -8.70709750e-04 9.99846613e-01 1.23584917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84509989299998 meters 0.02549171956048276 Centerline is valid? [True, True] Translation: X:116.51, Y:2.68, Z:1.24 [[ 9.98543554e-01 -5.10827074e-02 -1.73588122e-02 1.16509236e+02] [ 5.10903394e-02 9.98694036e-01 -3.81066199e-06 2.67954688e+00] [ 1.73363369e-02 -8.83062497e-04 9.99849324e-01 1.23617402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87509989299998 meters 0.026597659251743306 Centerline is valid? [True, True] Translation: X:116.54, Y:2.68, Z:1.24 [[ 9.98492151e-01 -5.19752860e-02 -1.76633693e-02 1.16539997e+02] [ 5.19833467e-02 9.98647952e-01 -2.79326763e-06 2.67865885e+00] [ 1.76396328e-02 -9.15411994e-04 9.99843991e-01 1.23624867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90509989299998 meters 0.02732783790291783 Centerline is valid? [True, True] Translation: X:116.57, Y:2.68, Z:1.24 [[ 9.98349243e-01 -5.43933968e-02 -1.84430776e-02 1.16571359e+02] [ 5.44026087e-02 9.98519082e-01 -2.24389728e-06 2.67931969e+00] [ 1.84158870e-02 -1.00111134e-03 9.99829912e-01 1.23657314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93509989299999 meters 0.02790618312953717 Centerline is valid? [True, True] Translation: X:116.60, Y:2.68, Z:1.24 [[ 9.98279045e-01 -5.56283060e-02 -1.85591094e-02 1.16603661e+02] [ 5.56378632e-02 9.98451014e-01 -1.38171395e-06 2.67914177e+00] [ 1.85304384e-02 -1.03120985e-03 9.99827765e-01 1.23681089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96509989299999 meters 0.026759836764244056 Centerline is valid? [True, True] Translation: X:116.63, Y:2.68, Z:1.24 [[ 9.98133428e-01 -5.79058464e-02 -1.94054630e-02 1.16634967e+02] [ 5.79167470e-02 9.98321416e-01 -2.75338161e-07 2.68241773e+00] [ 1.93729053e-02 -1.12362647e-03 9.99811696e-01 1.23699623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99509989299999 meters 0.027419167290315814 Centerline is valid? [True, True] Translation: X:116.67, Y:2.68, Z:1.24 [[ 9.98091106e-01 -5.86074139e-02 -1.94760108e-02 1.16667575e+02] [ 5.86185458e-02 9.98280455e-01 6.89934370e-07 2.68216828e+00] [ 1.94424805e-02 -1.14234405e-03 9.99810325e-01 1.23742152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02509989299999 meters 0.029739961824516072 Centerline is valid? [True, True] Translation: X:116.70, Y:2.68, Z:1.24 [[ 9.98023608e-01 -5.99250810e-02 -1.89172335e-02 1.16698315e+02] [ 5.99358399e-02 9.98202232e-01 1.77747939e-06 2.68095857e+00] [ 1.88831181e-02 -1.13559424e-03 9.99821053e-01 1.23818356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05509989299999 meters 0.02896421623988815 Centerline is valid? [True, True] Translation: X:116.73, Y:2.68, Z:1.24 [[ 9.97983940e-01 -6.06285985e-02 -1.87677571e-02 1.16730286e+02] [ 6.06393289e-02 9.98159743e-01 2.66550420e-06 2.68271732e+00] [ 1.87330580e-02 -1.14072432e-03 9.99823870e-01 1.23926205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08509989299999 meters 0.029980650544545767 Centerline is valid? [True, True] Translation: X:116.76, Y:2.68, Z:1.24 [[ 9.97972995e-01 -6.08898383e-02 -1.85021264e-02 1.16761687e+02] [ 6.09003339e-02 9.98143852e-01 3.83134752e-06 2.68175130e+00] [ 1.84675504e-02 -1.13060926e-03 9.99828821e-01 1.23961603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.115099893 meters 0.03251792541580558 Centerline is valid? [True, True] Translation: X:116.79, Y:2.68, Z:1.24 [[ 9.98016638e-01 -6.01062349e-02 -1.87090931e-02 1.16793100e+02] [ 6.01168483e-02 9.98191347e-01 4.87860909e-06 2.67941702e+00] [ 1.86749616e-02 -1.12960064e-03 9.99824970e-01 1.23913325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.145099893 meters 0.030691234062553915 Centerline is valid? [True, True] Translation: X:116.83, Y:2.68, Z:1.24 [[ 9.98038298e-01 -5.97702345e-02 -1.86299470e-02 1.16825448e+02] [ 5.97807202e-02 9.98211533e-01 5.94837395e-06 2.68242849e+00] [ 1.85962724e-02 -1.11964835e-03 9.99826447e-01 1.23937021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.175099893 meters 0.028566313745564974 Centerline is valid? [True, True] Translation: X:116.86, Y:2.69, Z:1.24 [[ 9.98072388e-01 -5.90017395e-02 -1.92432441e-02 1.16857969e+02] [ 5.90128115e-02 9.98257225e-01 7.53206982e-06 2.68777942e+00] [ 1.92092630e-02 -1.14311549e-03 9.99814832e-01 1.23989974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20509989299998 meters 0.02817882447189368 Centerline is valid? [True, True] Translation: X:116.89, Y:2.69, Z:1.24 [[ 9.98095595e-01 -5.86115762e-02 -1.92319303e-02 1.16889765e+02] [ 5.86225895e-02 9.98280217e-01 8.90706741e-06 2.68987903e+00] [ 1.91983335e-02 -1.13631566e-03 9.99815049e-01 1.24073078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23509989299998 meters 0.02817882447189368 Centerline is valid? [True, True] Translation: X:116.92, Y:2.69, Z:1.24 [[ 9.98099809e-01 -5.85397734e-02 -1.92319296e-02 1.16921511e+02] [ 5.85508000e-02 9.98284430e-01 1.02900725e-05 2.68980352e+00] [ 1.91983335e-02 -1.13631538e-03 9.99815049e-01 1.24112313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26509989299998 meters 0.02863425330618929 Centerline is valid? [True, True] Translation: X:116.95, Y:2.69, Z:1.24 [[ 9.98104338e-01 -5.84309590e-02 -1.93275456e-02 1.16953793e+02] [ 5.84421020e-02 9.98290800e-01 1.17328708e-05 2.69129053e+00] [ 1.92938254e-02 -1.14125302e-03 9.99813205e-01 1.24159059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29509989299999 meters 0.028548115996840907 Centerline is valid? [True, True] Translation: X:116.99, Y:2.69, Z:1.24 [[ 9.98088762e-01 -5.84128101e-02 -2.01684365e-02 1.16986482e+02] [ 5.84249702e-02 9.98291802e-01 1.37244530e-05 2.69264615e+00] [ 2.01331832e-02 -1.19203853e-03 9.99796596e-01 1.24133370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32509989299999 meters 0.02940290060872038 Centerline is valid? [True, True] Translation: X:117.02, Y:2.69, Z:1.24 [[ 9.98068921e-01 -5.84989216e-02 -2.08879107e-02 1.17017226e+02] [ 5.85120251e-02 9.98286704e-01 1.61875136e-05 2.69261741e+00] [ 2.08511766e-02 -1.23835021e-03 9.99781824e-01 1.24110466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35509989299999 meters 0.026754360311958512 Centerline is valid? [True, True] Translation: X:117.05, Y:2.70, Z:1.24 [[ 9.98036016e-01 -5.87694077e-02 -2.16856442e-02 1.17049287e+02] [ 5.87836444e-02 9.98270746e-01 1.90819922e-05 2.69841406e+00] [ 2.16470227e-02 -1.29380571e-03 9.99764839e-01 1.24196383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38509989299999 meters 0.03181973431788006 Centerline is valid? [True, True] Translation: X:117.08, Y:2.69, Z:1.24 [[ 9.98018873e-01 -5.89081831e-02 -2.20942477e-02 1.17080730e+02] [ 5.89230276e-02 9.98262529e-01 2.08978007e-05 2.69250492e+00] [ 2.20546285e-02 -1.32271636e-03 9.99755892e-01 1.24129582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41509989299999 meters 0.03181973431788006 Centerline is valid? [True, True] Translation: X:117.11, Y:2.69, Z:1.24 [[ 9.98022939e-01 -5.88392535e-02 -2.20942463e-02 1.17112478e+02] [ 5.88541108e-02 9.98266594e-01 2.22450357e-05 2.69241071e+00] [ 2.20546392e-02 -1.32253828e-03 9.99755892e-01 1.24168825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44509989299999 meters 0.027277247390657063 Centerline is valid? [True, True] Translation: X:117.14, Y:2.70, Z:1.24 [[ 9.98043834e-01 -5.83781664e-02 -2.23717463e-02 1.17144649e+02] [ 5.83933196e-02 9.98293654e-01 2.41178186e-05 2.69933889e+00] [ 2.23321644e-02 -1.33043118e-03 9.99749721e-01 1.24303393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47509989299999 meters 0.028010477488720927 Centerline is valid? [True, True] Translation: X:117.18, Y:2.70, Z:1.24 [[ 9.98083944e-01 -5.76780468e-02 -2.23982884e-02 1.17175763e+02] [ 5.76930927e-02 9.98334366e-01 2.55921611e-05 2.69884223e+00] [ 2.23595050e-02 -1.31776965e-03 9.99749127e-01 1.24290850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.505099893 meters 0.028429627184776676 Centerline is valid? [True, True] Translation: X:117.21, Y:2.70, Z:1.24 [[ 9.98128267e-01 -5.71848700e-02 -2.16761048e-02 1.17207749e+02] [ 5.71988735e-02 9.98362804e-01 2.60800784e-05 2.69944259e+00] [ 2.16391254e-02 -1.26588004e-03 9.99765045e-01 1.24453951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.535099893 meters 0.027006538265183844 Centerline is valid? [True, True] Translation: X:117.24, Y:2.70, Z:1.25 [[ 9.98170162e-01 -5.68907050e-02 -2.04884130e-02 1.17240122e+02] [ 5.69031829e-02 9.98379701e-01 2.60747973e-05 2.70186766e+00] [ 2.04537322e-02 -1.19188300e-03 9.99790090e-01 1.24630615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.565099893 meters 0.028537804491971876 Centerline is valid? [True, True] Translation: X:117.27, Y:2.70, Z:1.25 [[ 9.98201073e-01 -5.64579580e-02 -2.01771515e-02 1.17271603e+02] [ 5.64699977e-02 9.98404296e-01 2.69854838e-05 2.70068489e+00] [ 2.01434312e-02 -1.16634064e-03 9.99796420e-01 1.24766279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59509989299998 meters 0.029703123821168867 Centerline is valid? [True, True] Translation: X:117.30, Y:2.70, Z:1.25 [[ 9.98204962e-01 -5.64326357e-02 -2.00552255e-02 1.17302607e+02] [ 5.64445557e-02 9.98405735e-01 2.83444162e-05 2.69935581e+00] [ 2.00216526e-02 -1.16030183e-03 9.99798873e-01 1.24811357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62509989299998 meters 0.028838843050801827 Centerline is valid? [True, True] Translation: X:117.33, Y:2.70, Z:1.25 [[ 9.98209929e-01 -5.62088305e-02 -2.04329153e-02 1.17334960e+02] [ 5.62211974e-02 9.98418337e-01 3.08536385e-05 2.70026307e+00] [ 2.03988631e-02 -1.17956138e-03 9.99791226e-01 1.24827769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65509989299998 meters 0.026038799354399466 Centerline is valid? [True, True] Translation: X:117.37, Y:2.70, Z:1.25 [[ 9.98164173e-01 -5.67907296e-02 -2.10498506e-02 1.17367421e+02] [ 5.68040162e-02 9.98385348e-01 3.33262578e-05 2.70382848e+00] [ 2.10139698e-02 -1.22898113e-03 9.99778427e-01 1.24895089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68509989299999 meters 0.02832668409446871 Centerline is valid? [True, True] Translation: X:117.40, Y:2.70, Z:1.25 [[ 9.98063458e-01 -5.79365495e-02 -2.26426668e-02 1.17398116e+02] [ 5.79522481e-02 9.98319355e-01 3.72051825e-05 2.69976662e+00] [ 2.26024569e-02 -1.34932658e-03 9.99743621e-01 1.24754072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71509989299999 meters 0.030190836379090848 Centerline is valid? [True, True] Translation: X:117.43, Y:2.70, Z:1.25 [[ 9.97994021e-01 -5.86256782e-02 -2.38948539e-02 1.17429543e+02] [ 5.86433849e-02 9.98278995e-01 4.03586780e-05 2.69693713e+00] [ 2.38513647e-02 -1.44155283e-03 9.99714476e-01 1.24687071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74509989299999 meters 0.029493363137897927 Centerline is valid? [True, True] Translation: X:117.46, Y:2.70, Z:1.25 [[ 9.97864275e-01 -5.99534421e-02 -2.59320887e-02 1.17462046e+02] [ 5.99747887e-02 9.98199891e-01 4.54922093e-05 2.69736945e+00] [ 2.58826807e-02 -1.60066659e-03 9.99663706e-01 1.24596766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77509989299999 meters 0.029989744960614878 Centerline is valid? [True, True] Translation: X:117.49, Y:2.70, Z:1.25 [[ 9.97912005e-01 -5.90953223e-02 -2.60647874e-02 1.17493801e+02] [ 5.91166451e-02 9.98251081e-01 4.75943367e-05 2.69718503e+00] [ 2.60163896e-02 -1.58835775e-03 9.99660255e-01 1.24595395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80509989299999 meters 0.030639002169214988 Centerline is valid? [True, True] Translation: X:117.52, Y:2.70, Z:1.25 [[ 9.98013406e-01 -5.75021689e-02 -2.57437728e-02 1.17523868e+02] [ 5.75224926e-02 9.98344209e-01 4.89976668e-05 2.69674042e+00] [ 2.56983290e-02 -1.52974631e-03 9.99668573e-01 1.24626712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83509989299999 meters 0.027391881837298657 Centerline is valid? [True, True] Translation: X:117.56, Y:2.70, Z:1.25 [[ 9.98152508e-01 -5.53019574e-02 -2.51647503e-02 1.17555898e+02] [ 5.53207226e-02 9.98468635e-01 4.95982155e-05 2.70183480e+00] [ 2.51234710e-02 -1.44163876e-03 9.99683316e-01 1.24798717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.865099893 meters 0.025717376696513795 Centerline is valid? [True, True] Translation: X:117.59, Y:2.70, Z:1.25 [[ 9.98317749e-01 -5.26477989e-02 -2.42874580e-02 1.17587847e+02] [ 5.26645285e-02 9.98612260e-01 4.92466832e-05 2.70488883e+00] [ 2.42511606e-02 -1.32825136e-03 9.99705015e-01 1.24929120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.895099893 meters 0.024406508433634264 Centerline is valid? [True, True] Translation: X:117.62, Y:2.71, Z:1.25 [[ 9.98642917e-01 -4.69232514e-02 -2.25949676e-02 1.17617624e+02] [ 4.69362800e-02 9.98897884e-01 4.63400113e-05 2.70872844e+00] [ 2.25678910e-02 -1.10680085e-03 9.99744700e-01 1.25107941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.925099893 meters 0.021844927496414653 Centerline is valid? [True, True] Translation: X:117.65, Y:2.71, Z:1.25 [[ 9.98770817e-01 -4.44333655e-02 -2.19665903e-02 1.17649254e+02] [ 4.44450855e-02 9.99011828e-01 4.53703495e-05 2.71344141e+00] [ 2.19428675e-02 -1.02162156e-03 9.99758704e-01 1.25305590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95509989299998 meters 0.022221105254397164 Centerline is valid? [True, True] Translation: X:117.68, Y:2.71, Z:1.25 [[ 9.98964798e-01 -4.04070595e-02 -2.08950434e-02 1.17679083e+02] [ 4.04167982e-02 9.99182906e-01 4.38094900e-05 2.71387936e+00] [ 2.08762000e-02 -8.88274892e-04 9.99781674e-01 1.25402092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98509989299998 meters 0.021771650345300382 Centerline is valid? [True, True] Translation: X:117.71, Y:2.71, Z:1.25 [[ 9.99022638e-01 -3.90972038e-02 -2.06198404e-02 1.17710048e+02] [ 3.91064151e-02 9.99235051e-01 4.35256732e-05 2.71462851e+00] [ 2.06023656e-02 -8.49851171e-04 9.99787388e-01 1.25496422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01509989299998 meters 0.019891607148993854 Centerline is valid? [True, True] Translation: X:117.74, Y:2.72, Z:1.26 [[ 9.99070871e-01 -3.76731863e-02 -2.09314775e-02 1.17741307e+02] [ 3.76823820e-02 9.99289766e-01 4.49431683e-05 2.71701950e+00] [ 2.09149181e-02 -8.33649344e-04 9.99780912e-01 1.25639851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04509989299999 meters 0.02174720107223788 Centerline is valid? [True, True] Translation: X:117.77, Y:2.71, Z:1.26 [[ 9.99079236e-01 -3.72822983e-02 -2.12299240e-02 1.17771217e+02] [ 3.72916916e-02 9.99304422e-01 4.65986430e-05 2.71327499e+00] [ 2.12134196e-02 -8.38255514e-04 9.99774619e-01 1.25589993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07509989299999 meters 0.0211583756110761 Centerline is valid? [True, True] Translation: X:117.80, Y:2.71, Z:1.26 [[ 9.99074586e-01 -3.71154583e-02 -2.17350742e-02 1.17802992e+02] [ 3.71252892e-02 9.99310618e-01 4.88329129e-05 2.71314256e+00] [ 2.17182779e-02 -8.55708636e-04 9.99763764e-01 1.25646089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10509989299999 meters 0.02052611914410705 Centerline is valid? [True, True] Translation: X:117.83, Y:2.71, Z:1.26 [[ 9.99045249e-01 -3.76332804e-02 -2.21884202e-02 1.17833838e+02] [ 3.76436672e-02 9.99291225e-01 5.04775409e-05 2.71255985e+00] [ 2.21707939e-02 -8.85682851e-04 9.99753805e-01 1.25715709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13509989299999 meters 0.021198160114246283 Centerline is valid? [True, True] Translation: X:117.86, Y:2.71, Z:1.26 [[ 9.99018707e-01 -3.78665738e-02 -2.29727102e-02 1.17863677e+02] [ 3.78777750e-02 9.99282378e-01 5.24938322e-05 2.71039491e+00] [ 2.29542368e-02 -9.22597470e-04 9.99736091e-01 1.25705585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16509989299999 meters 0.021530310550007852 Centerline is valid? [True, True] Translation: X:117.90, Y:2.71, Z:1.26 [[ 9.98961127e-01 -3.80169080e-02 -2.51273202e-02 1.17895486e+02] [ 3.80303687e-02 9.99276582e-01 5.78693176e-05 2.70719209e+00] [ 2.51069426e-02 -1.01341045e-03 9.99684257e-01 1.25552775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19509989299999 meters 0.021773188192399248 Centerline is valid? [True, True] Translation: X:117.93, Y:2.71, Z:1.25 [[ 9.98933538e-01 -3.81635497e-02 -2.59871338e-02 1.17925301e+02] [ 3.81779967e-02 9.99270953e-01 5.98219601e-05 2.70564392e+00] [ 2.59659049e-02 -1.05189487e-03 9.99662276e-01 1.25478751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22509989299999 meters 0.021426028819595676 Centerline is valid? [True, True] Translation: X:117.96, Y:2.70, Z:1.25 [[ 9.98898273e-01 -3.76998860e-02 -2.79456436e-02 1.17955131e+02] [ 3.77163843e-02 9.99288482e-01 6.33101979e-05 2.70413017e+00] [ 2.79233730e-02 -1.11724908e-03 9.99609442e-01 1.25304760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.255099893 meters 0.021765125096074447 Centerline is valid? [True, True] Translation: X:117.98, Y:2.70, Z:1.25 [[ 9.98895664e-01 -3.74240408e-02 -2.84058707e-02 1.17982921e+02] [ 3.74409234e-02 9.99298841e-01 6.25027800e-05 2.70270138e+00] [ 2.83836146e-02 -1.12597579e-03 9.99596470e-01 1.25243710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.285099893 meters 0.02162281517478891 Centerline is valid? [True, True] Translation: X:118.01, Y:2.70, Z:1.25 [[ 9.98944529e-01 -3.64251787e-02 -2.79827584e-02 1.18011580e+02] [ 3.64410341e-02 9.99335803e-01 5.66910699e-05 2.70162845e+00] [ 2.79621074e-02 -1.07635189e-03 9.99608404e-01 1.25315559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.315099893 meters 0.019761769043053476 Centerline is valid? [True, True] Translation: X:118.04, Y:2.70, Z:1.26 [[ 9.98992219e-01 -3.57124415e-02 -2.71876470e-02 1.18040551e+02] [ 3.57269630e-02 9.99361587e-01 4.84002613e-05 2.70437815e+00] [ 2.71685616e-02 -1.01968354e-03 9.99630346e-01 1.25537725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34509989299998 meters 0.019603227826405507 Centerline is valid? [True, True] Translation: X:118.07, Y:2.70, Z:1.26 [[ 9.99065769e-01 -3.45246467e-02 -2.59930235e-02 1.18069466e+02] [ 3.45373516e-02 9.99403407e-01 3.98660794e-05 2.70450020e+00] [ 2.59761399e-02 -9.37559028e-04 9.99662123e-01 1.25610694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37509989299998 meters 0.019562352706541795 Centerline is valid? [True, True] Translation: X:118.10, Y:2.70, Z:1.26 [[ 9.99208305e-01 -3.16545913e-02 -2.40987396e-02 1.18098456e+02] [ 3.16645981e-02 9.99498550e-01 3.36671839e-05 2.70415290e+00] [ 2.40855896e-02 -7.96717435e-04 9.99709583e-01 1.25776286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40509989299998 meters 0.018724358286028128 Centerline is valid? [True, True] Translation: X:118.13, Y:2.71, Z:1.26 [[ 9.99289227e-01 -3.01498444e-02 -2.26280116e-02 1.18127272e+02] [ 3.01582147e-02 9.99545137e-01 2.86669843e-05 2.70529752e+00] [ 2.26168547e-02 -7.11067040e-04 9.99743953e-01 1.26033940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43509989299999 meters 0.018998546739494814 Centerline is valid? [True, True] Translation: X:118.16, Y:2.70, Z:1.26 [[ 9.99312093e-01 -2.94885738e-02 -2.24892027e-02 1.18156031e+02] [ 2.94965942e-02 9.99564880e-01 2.49279614e-05 2.70443149e+00] [ 2.24786821e-02 -6.88265699e-04 9.99747086e-01 1.26113118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46509989299999 meters 0.01903434862817863 Centerline is valid? [True, True] Translation: X:118.18, Y:2.70, Z:1.26 [[ 9.99313974e-01 -2.97060659e-02 -2.21163288e-02 1.18184485e+02] [ 2.97138093e-02 9.99558447e-01 2.15113600e-05 2.70397304e+00] [ 2.21059242e-02 -6.78656978e-04 9.99755404e-01 1.26204530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49509989299999 meters 0.017954616786481754 Centerline is valid? [True, True] Translation: X:118.21, Y:2.70, Z:1.26 [[ 9.99285559e-01 -3.02362654e-02 -2.26746413e-02 1.18213801e+02] [ 3.02444630e-02 9.99542531e-01 1.86067144e-05 2.70444990e+00] [ 2.26637058e-02 -7.04375772e-04 9.99742897e-01 1.26301411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52509989299999 meters 0.018172807835523143 Centerline is valid? [True, True] Translation: X:118.24, Y:2.70, Z:1.26 [[ 9.99244612e-01 -3.12183626e-02 -2.31434386e-02 1.18242173e+02] [ 3.12270926e-02 9.99512315e-01 1.58204356e-05 2.70320811e+00] [ 2.31316580e-02 -7.38510784e-04 9.99732155e-01 1.26314905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55509989299999 meters 0.018359577615769465 Centerline is valid? [True, True] Translation: X:118.27, Y:2.70, Z:1.26 [[ 9.99115010e-01 -3.41434399e-02 -2.45646397e-02 1.18271811e+02] [ 3.41540662e-02 9.99416580e-01 1.30363993e-05 2.69949260e+00] [ 2.45498631e-02 -8.52007192e-04 9.99698244e-01 1.26185150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58509989299999 meters 0.020959750412560513 Centerline is valid? [True, True] Translation: X:118.30, Y:2.69, Z:1.26 [[ 9.99053089e-01 -3.55190716e-02 -2.51261013e-02 1.18300267e+02] [ 3.55305947e-02 9.99368589e-01 1.21765696e-05 2.69465507e+00] [ 2.51098039e-02 -9.04910360e-04 9.99684290e-01 1.26046509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.615099893 meters 0.021173782695396853 Centerline is valid? [True, True] Translation: X:118.33, Y:2.69, Z:1.26 [[ 9.98915377e-01 -3.82809870e-02 -2.65072750e-02 1.18329497e+02] [ 3.82947447e-02 9.99266487e-01 1.13890577e-05 2.69333025e+00] [ 2.64873956e-02 -1.02646603e-03 9.99648620e-01 1.26018036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.645099893 meters 0.021513098637939647 Centerline is valid? [True, True] Translation: X:118.36, Y:2.69, Z:1.26 [[ 9.98834380e-01 -4.00499406e-02 -2.69422410e-02 1.18358705e+02] [ 4.00647485e-02 9.99197086e-01 9.80701838e-06 2.69217213e+00] [ 2.69202159e-02 -1.08922970e-03 9.99636992e-01 1.25996470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.675099893 meters 0.02186260350620977 Centerline is valid? [True, True] Translation: X:118.39, Y:2.69, Z:1.26 [[ 9.98630896e-01 -4.42360300e-02 -2.79196539e-02 1.18388600e+02] [ 4.42535298e-02 9.99020333e-01 8.91016893e-06 2.68986335e+00] [ 2.78919078e-02 -1.24444121e-03 9.99610170e-01 1.26000267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70509989299998 meters 0.023003530025166644 Centerline is valid? [True, True] Translation: X:118.42, Y:2.69, Z:1.26 [[ 9.98532689e-01 -4.63856253e-02 -2.79435540e-02 1.18418473e+02] [ 4.64039809e-02 9.98922755e-01 8.41504148e-06 2.68751722e+00] [ 2.79130616e-02 -1.30509484e-03 9.99609503e-01 1.25994844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73509989299998 meters 0.024569501289888163 Centerline is valid? [True, True] Translation: X:118.45, Y:2.68, Z:1.26 [[ 9.98457277e-01 -4.81041499e-02 -2.77318838e-02 1.18448140e+02] [ 4.81228757e-02 9.98841423e-01 7.85773323e-06 2.68456677e+00] [ 2.76993763e-02 -1.34238361e-03 9.99615397e-01 1.25960610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76509989299998 meters 0.024608247061248707 Centerline is valid? [True, True] Translation: X:118.48, Y:2.68, Z:1.26 [[ 9.98388963e-01 -4.98845465e-02 -2.70372145e-02 1.18478895e+02] [ 4.99029908e-02 9.98754070e-01 7.44632157e-06 2.68420691e+00] [ 2.70031566e-02 -1.35667219e-03 9.99634428e-01 1.26049213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79509989299999 meters 0.025394174188922373 Centerline is valid? [True, True] Translation: X:118.51, Y:2.68, Z:1.26 [[ 9.98325159e-01 -5.19826343e-02 -2.53906073e-02 1.18509832e+02] [ 5.19995818e-02 9.98647107e-01 7.22570713e-06 2.68338602e+00] [ 2.53558809e-02 -1.32751457e-03 9.99677607e-01 1.26232017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82509989299999 meters 0.025046797505411972 Centerline is valid? [True, True] Translation: X:118.54, Y:2.68, Z:1.26 [[ 9.98335602e-01 -5.25941841e-02 -2.36617114e-02 1.18541815e+02] [ 5.26090967e-02 9.98615183e-01 7.75791882e-06 2.68440994e+00] [ 2.36285362e-02 -1.25256627e-03 9.99720022e-01 1.26435390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85509989299999 meters 0.0257110885314561 Centerline is valid? [True, True] Translation: X:118.57, Y:2.68, Z:1.27 [[ 9.98371760e-01 -5.28955803e-02 -2.13514968e-02 1.18573812e+02] [ 5.29078219e-02 9.98599400e-01 8.45444573e-06 2.68440333e+00] [ 2.13211447e-02 -1.13810187e-03 9.99772031e-01 1.26705545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88509989299999 meters 0.028326632983764206 Centerline is valid? [True, True] Translation: X:118.60, Y:2.68, Z:1.27 [[ 9.98384733e-01 -5.28388596e-02 -2.08801206e-02 1.18604543e+02] [ 5.28505818e-02 9.98602431e-01 9.59267575e-06 2.68125305e+00] [ 2.08504323e-02 -1.11310370e-03 9.99781986e-01 1.26754633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91509989299999 meters 0.025992003271992345 Centerline is valid? [True, True] Translation: X:118.64, Y:2.68, Z:1.27 [[ 9.98390294e-01 -5.29004836e-02 -2.04538194e-02 1.18636497e+02] [ 5.29117698e-02 9.98599191e-01 1.06244926e-05 2.68480867e+00] [ 2.04246055e-02 -1.09285517e-03 9.99790799e-01 1.26903567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94509989299999 meters 0.027651516910512458 Centerline is valid? [True, True] Translation: X:118.67, Y:2.68, Z:1.27 [[ 9.98315050e-01 -5.43627100e-02 -2.02918011e-02 1.18667794e+02] [ 5.43741455e-02 9.98520632e-01 1.18415960e-05 2.68266364e+00] [ 2.02611384e-02 -1.11517099e-03 9.99794100e-01 1.27013183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97509989299999 meters 0.02873977797668095 Centerline is valid? [True, True] Translation: X:118.70, Y:2.68, Z:1.27 [[ 9.98259430e-01 -5.51694309e-02 -2.08433467e-02 1.18698816e+02] [ 5.51816955e-02 9.98476329e-01 1.32875300e-05 2.68091885e+00] [ 2.08108553e-02 -1.16343561e-03 9.99782754e-01 1.27015621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.005099893 meters 0.02670355254235181 Centerline is valid? [True, True] Translation: X:118.73, Y:2.68, Z:1.27 [[ 9.98098498e-01 -5.76559638e-02 -2.17985943e-02 1.18729773e+02] [ 5.76699882e-02 9.98335701e-01 1.47491517e-05 2.68294949e+00] [ 2.17614645e-02 -1.27184578e-03 9.99762382e-01 1.27034476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.035099893 meters 0.02885225363741087 Centerline is valid? [True, True] Translation: X:118.76, Y:2.68, Z:1.27 [[ 9.98027897e-01 -5.87387272e-02 -2.21377192e-02 1.18760775e+02] [ 5.87534737e-02 9.98272522e-01 1.57377407e-05 2.67956942e+00] [ 2.20985524e-02 -1.31637461e-03 9.99754931e-01 1.27021755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.065099893 meters 0.029502094326314975 Centerline is valid? [True, True] Translation: X:118.79, Y:2.68, Z:1.27 [[ 9.97947453e-01 -5.98124333e-02 -2.28769121e-02 1.18793249e+02] [ 5.98284954e-02 9.98208671e-01 1.77050585e-05 2.67816820e+00] [ 2.28348731e-02 -1.38635995e-03 9.99738289e-01 1.26971900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09509989299998 meters 0.029664726632269083 Centerline is valid? [True, True] Translation: X:118.83, Y:2.68, Z:1.27 [[ 9.97938746e-01 -5.97424133e-02 -2.34329397e-02 1.18825898e+02] [ 5.97592862e-02 9.98212817e-01 1.98233759e-05 2.67778669e+00] [ 2.33898764e-02 -1.42011826e-03 9.99725411e-01 1.26962352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12509989299998 meters 0.029664726632269083 Centerline is valid? [True, True] Translation: X:118.86, Y:2.68, Z:1.27 [[ 9.97943002e-01 -5.96712914e-02 -2.34329382e-02 1.18857648e+02] [ 5.96881838e-02 9.98217071e-01 2.14913862e-05 2.67769781e+00] [ 2.33898765e-02 -1.42011670e-03 9.99725411e-01 1.27001592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15509989299998 meters 0.02731534857583546 Centerline is valid? [True, True] Translation: X:118.89, Y:2.68, Z:1.27 [[ 9.97959480e-01 -5.93410610e-02 -2.35693678e-02 1.18889864e+02] [ 5.93580992e-02 9.98236753e-01 2.33239765e-05 2.68114975e+00] [ 2.35264252e-02 -1.42230926e-03 9.99722204e-01 1.27081440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18509989299999 meters 0.027547122285219973 Centerline is valid? [True, True] Translation: X:118.92, Y:2.68, Z:1.27 [[ 9.98006360e-01 -5.83774287e-02 -2.39871023e-02 1.18921224e+02] [ 5.83948579e-02 9.98293564e-01 2.61877960e-05 2.68168782e+00] [ 2.39446411e-02 -1.42685902e-03 9.99712268e-01 1.27046574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21509989299999 meters 0.02837710603811788 Centerline is valid? [True, True] Translation: X:118.95, Y:2.68, Z:1.27 [[ 9.98095468e-01 -5.70585354e-02 -2.34469674e-02 1.18952032e+02] [ 5.70748720e-02 9.98369901e-01 2.75870922e-05 2.68084223e+00] [ 2.34071724e-02 -1.36576721e-03 9.99725082e-01 1.26985722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24509989299999 meters 0.02844545566419869 Centerline is valid? [True, True] Translation: X:118.98, Y:2.68, Z:1.27 [[ 9.98145744e-01 -5.63172030e-02 -2.30964650e-02 1.18984785e+02] [ 5.63328890e-02 9.98412042e-01 2.85659473e-05 2.68112333e+00] [ 2.30581800e-02 -1.32960358e-03 9.99733241e-01 1.27003462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27509989299999 meters 0.02895529551060944 Centerline is valid? [True, True] Translation: X:119.02, Y:2.68, Z:1.27 [[ 9.98171386e-01 -5.59395448e-02 -2.29052588e-02 1.19016633e+02] [ 5.59549148e-02 9.98433296e-01 3.01598346e-05 2.68067377e+00] [ 2.28676859e-02 -1.31176649e-03 9.99737640e-01 1.27031921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30509989299999 meters 0.02898817169452063 Centerline is valid? [True, True] Translation: X:119.05, Y:2.68, Z:1.27 [[ 9.98187627e-01 -5.58573372e-02 -2.23923778e-02 1.19048473e+02] [ 5.58720406e-02 9.98437937e-01 3.10415537e-05 2.68111499e+00] [ 2.23556656e-02 -1.28209314e-03 9.99749259e-01 1.27110810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33509989299999 meters 0.029405277233054763 Centerline is valid? [True, True] Translation: X:119.08, Y:2.68, Z:1.27 [[ 9.98245410e-01 -5.50400201e-02 -2.18333990e-02 1.19080862e+02] [ 5.50538363e-02 9.98483387e-01 3.17741149e-05 2.68176013e+00] [ 2.17985374e-02 -1.23373074e-03 9.99761622e-01 1.27162851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.365099893 meters 0.030265334038951364 Centerline is valid? [True, True] Translation: X:119.11, Y:2.68, Z:1.27 [[ 9.98264557e-01 -5.48790420e-02 -2.13580283e-02 1.19112348e+02] [ 5.48922655e-02 9.98492282e-01 3.29250907e-05 2.68175882e+00] [ 2.13240195e-02 -1.20525851e-03 9.99771891e-01 1.27190733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.395099893 meters 0.02620194842776964 Centerline is valid? [True, True] Translation: X:119.14, Y:2.69, Z:1.27 [[ 9.98250093e-01 -5.52197210e-02 -2.11549887e-02 1.19144526e+02] [ 5.52328127e-02 9.98473503e-01 3.46144224e-05 2.68761086e+00] [ 2.11207842e-02 -1.20300338e-03 9.99776208e-01 1.27341219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.425099893 meters 0.027404858020174123 Centerline is valid? [True, True] Translation: X:119.18, Y:2.69, Z:1.27 [[ 9.98205158e-01 -5.60554065e-02 -2.10773150e-02 1.19175874e+02] [ 5.60686167e-02 9.98426917e-01 3.58566073e-05 2.68651799e+00] [ 2.10421487e-02 -1.21756815e-03 9.99777848e-01 1.27353824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45509989299998 meters 0.026409973157564673 Centerline is valid? [True, True] Translation: X:119.21, Y:2.69, Z:1.27 [[ 9.98177921e-01 -5.65812981e-02 -2.09617625e-02 1.19207821e+02] [ 5.65945065e-02 9.98397246e-01 3.69558261e-05 2.68832244e+00] [ 2.09260750e-02 -1.22320910e-03 9.99780277e-01 1.27454161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48509989299998 meters 0.02776166739154545 Centerline is valid? [True, True] Translation: X:119.24, Y:2.69, Z:1.27 [[ 9.98111051e-01 -5.76479871e-02 -2.12376808e-02 1.19239127e+02] [ 5.76618159e-02 9.98336173e-01 3.88432296e-05 2.68746902e+00] [ 2.12001057e-02 -1.26337310e-03 9.99774454e-01 1.27482664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51509989299998 meters 0.027961455106569874 Centerline is valid? [True, True] Translation: X:119.27, Y:2.69, Z:1.28 [[ 9.98105073e-01 -5.76269509e-02 -2.15730853e-02 1.19271710e+02] [ 5.76412443e-02 9.98337360e-01 4.08054183e-05 2.68815514e+00] [ 2.15348655e-02 -1.28422757e-03 9.99767273e-01 1.27510667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54509989299999 meters 0.029009111262877696 Centerline is valid? [True, True] Translation: X:119.30, Y:2.69, Z:1.28 [[ 9.98149510e-01 -5.70554951e-02 -2.10291794e-02 1.19302803e+02] [ 5.70689783e-02 9.98370237e-01 4.11123794e-05 2.68846951e+00] [ 2.09925611e-02 -1.24115008e-03 9.99778862e-01 1.27556456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57509989299999 meters 0.02935375134265874 Centerline is valid? [True, True] Translation: X:119.33, Y:2.69, Z:1.28 [[ 9.98211332e-01 -5.61914727e-02 -2.04121309e-02 1.19334187e+02] [ 5.62040298e-02 9.98419303e-01 4.15634941e-05 2.68883761e+00] [ 2.03775300e-02 -1.18873316e-03 9.99791650e-01 1.27635404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60509989299999 meters 0.027525727989040693 Centerline is valid? [True, True] Translation: X:119.37, Y:2.69, Z:1.28 [[ 9.98261852e-01 -5.54979362e-02 -1.98306201e-02 1.19366483e+02] [ 5.55096920e-02 9.98458147e-01 4.24263408e-05 2.69217194e+00] [ 1.97976896e-02 -1.14314421e-03 9.99803353e-01 1.27774155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63509989299999 meters 0.0289663609259792 Centerline is valid? [True, True] Translation: X:119.40, Y:2.69, Z:1.28 [[ 9.98342074e-01 -5.43073834e-02 -1.90738542e-02 1.19398047e+02] [ 5.43180766e-02 9.98523683e-01 4.26121421e-05 2.69183617e+00] [ 1.90433810e-02 -1.07859657e-03 9.99818077e-01 1.27812480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66509989299999 meters 0.026050994980480774 Centerline is valid? [True, True] Translation: X:119.43, Y:2.70, Z:1.28 [[ 9.98402992e-01 -5.32326163e-02 -1.89144016e-02 1.19430415e+02] [ 5.32429810e-02 9.98581586e-01 4.44688412e-05 2.69686609e+00] [ 1.88852059e-02 -1.05145695e-03 9.99821106e-01 1.27827052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69509989299999 meters 0.02699181018289469 Centerline is valid? [True, True] Translation: X:119.46, Y:2.70, Z:1.28 [[ 9.98395493e-01 -5.35796047e-02 -1.83211830e-02 1.19461967e+02] [ 5.35894093e-02 9.98563054e-01 4.42643032e-05 2.69620340e+00] [ 1.82924848e-02 -1.02601465e-03 9.99832152e-01 1.27879446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72509989299999 meters 0.02634837010710757 Centerline is valid? [True, True] Translation: X:119.49, Y:2.70, Z:1.28 [[ 9.98369409e-01 -5.42330234e-02 -1.78130072e-02 1.19494101e+02] [ 5.42424137e-02 9.98527796e-01 4.40820281e-05 2.69748957e+00] [ 1.77843921e-02 -1.01023065e-03 9.99841335e-01 1.27956281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.755099893 meters 0.031060738217288084 Centerline is valid? [True, True] Translation: X:119.52, Y:2.69, Z:1.28 [[ 9.98273641e-01 -5.60820756e-02 -1.74510301e-02 1.19524939e+02] [ 5.60913882e-02 9.98425638e-01 4.42511503e-05 2.69125977e+00] [ 1.74210742e-02 -1.02302726e-03 9.99847718e-01 1.27973313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.785099893 meters 0.02723715323330921 Centerline is valid? [True, True] Translation: X:119.56, Y:2.70, Z:1.28 [[ 9.98211304e-01 -5.70487940e-02 -1.78781085e-02 1.19556553e+02] [ 5.70587361e-02 9.98370822e-01 4.60956027e-05 2.69638349e+00] [ 1.78463522e-02 -1.06611543e-03 9.99840173e-01 1.28040312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.815099893 meters 0.027508179305215784 Centerline is valid? [True, True] Translation: X:119.59, Y:2.70, Z:1.28 [[ 9.98116361e-01 -5.82829785e-02 -1.91526552e-02 1.19588848e+02] [ 5.82946389e-02 9.98299420e-01 5.06043467e-05 2.69555197e+00] [ 1.91171352e-02 -1.16700614e-03 9.99816570e-01 1.27947034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84509989299998 meters 0.030954487159717027 Centerline is valid? [True, True] Translation: X:119.62, Y:2.69, Z:1.28 [[ 9.98053249e-01 -5.90662802e-02 -2.00221363e-02 1.19620364e+02] [ 5.90792078e-02 9.98253297e-01 5.42625023e-05 2.69023456e+00] [ 1.99839585e-02 -1.23704882e-03 9.99799535e-01 1.27797282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87509989299998 meters 0.029860367480554983 Centerline is valid? [True, True] Translation: X:119.65, Y:2.69, Z:1.28 [[ 9.98043095e-01 -5.92319336e-02 -2.00389376e-02 1.19652100e+02] [ 5.92449407e-02 9.98243474e-01 5.55303989e-05 2.69183610e+00] [ 2.00004495e-02 -1.24262740e-03 9.99799199e-01 1.27837005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90509989299998 meters 0.03167665722475794 Centerline is valid? [True, True] Translation: X:119.68, Y:2.69, Z:1.28 [[ 9.98074733e-01 -5.85442558e-02 -2.04791900e-02 1.19683755e+02] [ 5.85577269e-02 9.98284022e-01 5.82279153e-05 2.69016259e+00] [ 2.04406393e-02 -1.25733063e-03 9.99790278e-01 1.27822783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93509989299999 meters 0.02862837546093198 Centerline is valid? [True, True] Translation: X:119.72, Y:2.69, Z:1.28 [[ 9.98110199e-01 -5.79305429e-02 -2.04959289e-02 1.19715799e+02] [ 5.79439371e-02 9.98319837e-01 5.97408757e-05 2.69467599e+00] [ 2.04580316e-02 -1.24724279e-03 9.99789935e-01 1.27917180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96509989299999 meters 0.02919005251194919 Centerline is valid? [True, True] Translation: X:119.75, Y:2.69, Z:1.28 [[ 9.98158139e-01 -5.71513719e-02 -2.03482093e-02 1.19746590e+02] [ 5.71644505e-02 9.98364774e-01 6.11873446e-05 2.69435718e+00] [ 2.03114384e-02 -1.22426885e-03 9.99792952e-01 1.27993313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99509989299999 meters 0.02894461084981019 Centerline is valid? [True, True] Translation: X:119.78, Y:2.70, Z:1.28 [[ 9.98230230e-01 -5.61843949e-02 -1.94864622e-02 1.19778958e+02] [ 5.61962437e-02 9.98419741e-01 6.05694759e-05 2.69513794e+00] [ 1.94522655e-02 -1.15552826e-03 9.99810119e-01 1.28081097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02509989299999 meters 0.028577191258819485 Centerline is valid? [True, True] Translation: X:119.81, Y:2.70, Z:1.28 [[ 9.98284703e-01 -5.54951583e-02 -1.86531404e-02 1.19811489e+02] [ 5.55059193e-02 9.98458356e-01 5.92724532e-05 2.69611346e+00] [ 1.86210946e-02 -1.09453049e-03 9.99826013e-01 1.28187504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05509989299999 meters 0.02874992125265217 Centerline is valid? [True, True] Translation: X:119.84, Y:2.70, Z:1.28 [[ 9.98399686e-01 -5.38651732e-02 -1.72223751e-02 1.19841970e+02] [ 5.38741201e-02 9.98547734e-01 5.56270203e-05 2.69611313e+00] [ 1.71943672e-02 -9.83378302e-04 9.99851682e-01 1.28259104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08509989299999 meters 0.026638827415447326 Centerline is valid? [True, True] Translation: X:119.87, Y:2.70, Z:1.28 [[ 9.98424241e-01 -5.36868051e-02 -1.63328573e-02 1.19874068e+02] [ 5.36948358e-02 9.98557390e-01 5.32486768e-05 2.69846052e+00] [ 1.63064366e-02 -9.30154863e-04 9.99866609e-01 1.28278263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.115099893 meters 0.02864951842816702 Centerline is valid? [True, True] Translation: X:119.90, Y:2.70, Z:1.28 [[ 9.98410605e-01 -5.38467236e-02 -1.66371407e-02 1.19904873e+02] [ 5.38550976e-02 9.98548760e-01 5.53863266e-05 2.69543242e+00] [ 1.66100138e-02 -9.51293130e-04 9.99861592e-01 1.28244499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.145099893 meters 0.030244199429663658 Centerline is valid? [True, True] Translation: X:119.94, Y:2.69, Z:1.28 [[ 9.98357818e-01 -5.48089328e-02 -1.66627896e-02 1.19935684e+02] [ 5.48174861e-02 9.98496390e-01 5.66696482e-05 2.69219617e+00] [ 1.66346292e-02 -9.69988823e-04 9.99861164e-01 1.28164948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.175099893 meters 0.03263517441016522 Centerline is valid? [True, True] Translation: X:119.97, Y:2.69, Z:1.28 [[ 9.98297000e-01 -5.59719646e-02 -1.64389342e-02 1.19966299e+02] [ 5.59804737e-02 9.98431862e-01 5.75487838e-05 2.68846705e+00] [ 1.64099346e-02 -9.77710102e-04 9.99864870e-01 1.28168654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20509989299998 meters 0.03118107593237749 Centerline is valid? [True, True] Translation: X:120.00, Y:2.69, Z:1.28 [[ 9.98226078e-01 -5.72890499e-02 -1.62068284e-02 1.19998701e+02] [ 5.72975044e-02 9.98357147e-01 5.74294367e-05 2.68936358e+00] [ 1.61769129e-02 -9.85938383e-04 9.99868659e-01 1.28255926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23509989299998 meters 0.030401078400092766 Centerline is valid? [True, True] Translation: X:120.03, Y:2.69, Z:1.28 [[ 9.98209691e-01 -5.76426661e-02 -1.59604513e-02 1.20031336e+02] [ 5.76509282e-02 9.98336800e-01 5.76647548e-05 2.68967593e+00] [ 1.59305820e-02 -9.77696351e-04 9.99872622e-01 1.28329734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26509989299998 meters 0.028321461885860905 Centerline is valid? [True, True] Translation: X:120.06, Y:2.69, Z:1.28 [[ 9.98224805e-01 -5.74528476e-02 -1.56973916e-02 1.20063438e+02] [ 5.74608335e-02 9.98347760e-01 5.78202091e-05 2.69138583e+00] [ 1.56681338e-02 -9.59702775e-04 9.99876787e-01 1.28398473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29509989299999 meters 0.030886067340703982 Centerline is valid? [True, True] Translation: X:120.09, Y:2.69, Z:1.29 [[ 9.98274593e-01 -5.69704041e-02 -1.42200697e-02 1.20094171e+02] [ 5.69769216e-02 9.98375494e-01 5.32958938e-05 2.68668780e+00] [ 1.41939328e-02 -8.63419733e-04 9.99898888e-01 1.28545581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32509989299999 meters 0.030725781023329988 Centerline is valid? [True, True] Translation: X:120.13, Y:2.69, Z:1.29 [[ 9.98312154e-01 -5.63958006e-02 -1.38692924e-02 1.20126563e+02] [ 5.64019558e-02 9.98408141e-01 5.27423336e-05 2.68690265e+00] [ 1.38442400e-02 -8.34908528e-04 9.99903815e-01 1.28670113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35509989299999 meters 0.029310355632756073 Centerline is valid? [True, True] Translation: X:120.16, Y:2.69, Z:1.29 [[ 9.98415616e-01 -5.44172720e-02 -1.43184780e-02 1.20157908e+02] [ 5.44236435e-02 9.98517934e-01 5.54223454e-05 2.69008581e+00] [ 1.42942411e-02 -8.34598276e-04 9.99897484e-01 1.28784898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38509989299999 meters 0.0266096028979972 Centerline is valid? [True, True] Translation: X:120.19, Y:2.69, Z:1.29 [[ 9.98519756e-01 -5.24696057e-02 -1.43261092e-02 1.20189777e+02] [ 5.24757920e-02 9.98622195e-01 5.60004288e-05 2.69417588e+00] [ 1.43034323e-02 -8.07691461e-04 9.99897374e-01 1.28789309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41509989299999 meters 0.02613432552359174 Centerline is valid? [True, True] Translation: X:120.22, Y:2.69, Z:1.29 [[ 9.98567776e-01 -5.14715065e-02 -1.45972899e-02 1.20222477e+02] [ 5.14778360e-02 9.98674136e-01 5.79508628e-05 2.69441724e+00] [ 1.45749530e-02 -8.09304757e-04 9.99893452e-01 1.28768860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44509989299999 meters 0.026956337586943498 Centerline is valid? [True, True] Translation: X:120.25, Y:2.69, Z:1.29 [[ 9.98628104e-01 -5.02661619e-02 -1.46704471e-02 1.20253487e+02] [ 5.02724436e-02 9.98735540e-01 5.94949065e-05 2.69275432e+00] [ 1.46489063e-02 -7.96932509e-04 9.99892381e-01 1.28725971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47509989299999 meters 0.02601328621552517 Centerline is valid? [True, True] Translation: X:120.29, Y:2.69, Z:1.29 [[ 9.98677360e-01 -4.92463847e-02 -1.47757679e-02 1.20285821e+02] [ 4.92526583e-02 9.98786350e-01 6.07699429e-05 2.69368489e+00] [ 1.47548426e-02 -7.88435413e-04 9.99890831e-01 1.28746616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.505099893 meters 0.027556539423379805 Centerline is valid? [True, True] Translation: X:120.32, Y:2.69, Z:1.29 [[ 9.98780225e-01 -4.72504853e-02 -1.43336320e-02 1.20316631e+02] [ 4.72561974e-02 9.98882800e-01 5.98856443e-05 2.69110478e+00] [ 1.43147888e-02 -7.37165539e-04 9.99897266e-01 1.28733427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.535099893 meters 0.025016660873539397 Centerline is valid? [True, True] Translation: X:120.35, Y:2.69, Z:1.29 [[ 9.98863782e-01 -4.55067415e-02 -1.41520501e-02 1.20348344e+02] [ 4.55121427e-02 9.98963784e-01 5.96603173e-05 2.69431713e+00] [ 1.41346706e-02 -7.03682655e-04 9.99899853e-01 1.28734328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.565099893 meters 0.024320904596447538 Centerline is valid? [True, True] Translation: X:120.38, Y:2.70, Z:1.29 [[ 9.98927819e-01 -4.42291718e-02 -1.36745642e-02 1.20380656e+02] [ 4.42341053e-02 9.99021191e-01 5.83848837e-05 2.69541017e+00] [ 1.36585971e-02 -6.63204398e-04 9.99906497e-01 1.28765266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59509989299998 meters 0.024718353326858778 Centerline is valid? [True, True] Translation: X:120.41, Y:2.69, Z:1.29 [[ 9.98927677e-01 -4.41393353e-02 -1.39719262e-02 1.20413774e+02] [ 4.41444920e-02 9.99025155e-01 6.07362163e-05 2.69444365e+00] [ 1.39556249e-02 -6.77454671e-04 9.99902386e-01 1.28797821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62509989299998 meters 0.026149688232990992 Centerline is valid? [True, True] Translation: X:120.45, Y:2.69, Z:1.29 [[ 9.98935780e-01 -4.41078534e-02 -1.34835237e-02 1.20445505e+02] [ 4.41126717e-02 9.99026561e-01 5.99937996e-05 2.69156326e+00] [ 1.34677521e-02 -6.54724205e-04 9.99909091e-01 1.28826530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65509989299998 meters 0.025100219422721216 Centerline is valid? [True, True] Translation: X:120.48, Y:2.69, Z:1.29 [[ 9.98930345e-01 -4.43340831e-02 -1.31398029e-02 1.20477432e+02] [ 4.43386931e-02 9.99016555e-01 5.95898811e-05 2.69209697e+00] [ 1.31242387e-02 -6.42127826e-04 9.99913667e-01 1.28869170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68509989299999 meters 0.025486770409816298 Centerline is valid? [True, True] Translation: X:120.51, Y:2.69, Z:1.29 [[ 9.98889692e-01 -4.55257876e-02 -1.21154893e-02 1.20509543e+02] [ 4.55298038e-02 9.98962979e-01 5.57390049e-05 2.68986431e+00] [ 1.21003878e-02 -6.07292969e-04 9.99926603e-01 1.29013125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71509989299999 meters 0.027676047825140715 Centerline is valid? [True, True] Translation: X:120.54, Y:2.69, Z:1.29 [[ 9.98832271e-01 -4.69737186e-02 -1.12944581e-02 1.20540821e+02] [ 4.69773092e-02 9.98895955e-01 5.26741236e-05 2.68575419e+00] [ 1.12795142e-02 -5.83195865e-04 9.99936214e-01 1.29135829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74509989299999 meters 0.027459697896133912 Centerline is valid? [True, True] Translation: X:120.57, Y:2.69, Z:1.29 [[ 9.98803026e-01 -4.75607077e-02 -1.14233700e-02 1.20572998e+02] [ 4.75644329e-02 9.98868170e-01 5.44851348e-05 2.68511584e+00] [ 1.14078493e-02 -5.97766032e-04 9.99934750e-01 1.29178450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77509989299999 meters 0.02894633571178063 Centerline is valid? [True, True] Translation: X:120.60, Y:2.68, Z:1.29 [[ 9.98783625e-01 -4.80829001e-02 -1.09227156e-02 1.20603818e+02] [ 4.80863453e-02 9.98843181e-01 5.28527293e-05 2.68216938e+00] [ 1.09075386e-02 -5.78021912e-04 9.99940344e-01 1.29238025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80509989299999 meters 0.025378273580848654 Centerline is valid? [True, True] Translation: X:120.64, Y:2.69, Z:1.29 [[ 9.98736955e-01 -4.91593477e-02 -1.03852244e-02 1.20636365e+02] [ 4.91625250e-02 9.98790791e-01 5.07223569e-05 2.68568886e+00] [ 1.03701730e-02 -5.61222147e-04 9.99946071e-01 1.29298437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83509989299999 meters 0.027429801342732287 Centerline is valid? [True, True] Translation: X:120.67, Y:2.68, Z:1.29 [[ 9.98725713e-01 -4.93724183e-02 -1.04553318e-02 1.20667335e+02] [ 4.93756570e-02 9.98780277e-01 5.17098605e-05 2.68136096e+00] [ 1.04400261e-02 -5.67882842e-04 9.99945340e-01 1.29370982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.865099893 meters 0.028089230539214048 Centerline is valid? [True, True] Translation: X:120.70, Y:2.68, Z:1.29 [[ 9.98706215e-01 -4.96955861e-02 -1.07816642e-02 1.20699822e+02] [ 4.96990669e-02 9.98764236e-01 5.49895040e-05 2.67965774e+00] [ 1.07656079e-02 -5.90757008e-04 9.99941875e-01 1.29396770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.895099893 meters 0.029468712785499663 Centerline is valid? [True, True] Translation: X:120.73, Y:2.68, Z:1.29 [[ 9.98665274e-01 -5.03815985e-02 -1.13739159e-02 1.20731424e+02] [ 5.03855264e-02 9.98729841e-01 5.88802201e-05 2.67609673e+00] [ 1.13565027e-02 -6.31882370e-04 9.99935313e-01 1.29385984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.925099893 meters 0.030899738055635503 Centerline is valid? [True, True] Translation: X:120.76, Y:2.67, Z:1.29 [[ 9.98640701e-01 -5.07785388e-02 -1.17596666e-02 1.20762097e+02] [ 5.07827728e-02 9.98709721e-01 6.15298795e-05 2.67308351e+00] [ 1.17413689e-02 -6.58634719e-04 9.99930851e-01 1.29399851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95509989299998 meters 0.027126454219216573 Centerline is valid? [True, True] Translation: X:120.79, Y:2.68, Z:1.29 [[ 9.98615718e-01 -5.13411153e-02 -1.14340220e-02 1.20793929e+02] [ 5.13451588e-02 9.98680966e-01 6.01759438e-05 2.67601142e+00] [ 1.14158506e-02 -6.47174319e-04 9.99934628e-01 1.29381880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98509989299998 meters 0.027761214467728317 Centerline is valid? [True, True] Translation: X:120.83, Y:2.67, Z:1.29 [[ 9.98596574e-01 -5.16959446e-02 -1.15069946e-02 1.20825656e+02] [ 5.17000732e-02 9.98662655e-01 6.14133135e-05 2.67412636e+00] [ 1.14884309e-02 -6.56239585e-04 9.99933790e-01 1.29384951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01509989299998 meters 0.029041190342276136 Centerline is valid? [True, True] Translation: X:120.86, Y:2.67, Z:1.29 [[ 9.98499862e-01 -5.33303927e-02 -1.24053993e-02 1.20857167e+02] [ 5.33353258e-02 9.98576656e-01 6.69301709e-05 2.66976642e+00] [ 1.23841728e-02 -7.28475783e-04 9.99923048e-01 1.29291750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04509989299999 meters 0.029041190342276136 Centerline is valid? [True, True] Translation: X:120.89, Y:2.67, Z:1.29 [[ 9.98505575e-01 -5.32233239e-02 -1.24053957e-02 1.20889759e+02] [ 5.32282570e-02 9.98582369e-01 6.75970372e-05 2.66949923e+00] [ 1.23842117e-02 -7.27813610e-04 9.99923048e-01 1.29332039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07509989299999 meters 0.026642688496569842 Centerline is valid? [True, True] Translation: X:120.92, Y:2.67, Z:1.29 [[ 9.98500757e-01 -5.32552587e-02 -1.26536507e-02 1.20922337e+02] [ 5.32604112e-02 9.98580655e-01 7.03235569e-05 2.67169797e+00] [ 1.26319457e-02 -7.44156765e-04 9.99919937e-01 1.29320421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10509989299999 meters 0.02881952303380053 Centerline is valid? [True, True] Translation: X:120.95, Y:2.67, Z:1.29 [[ 9.98435810e-01 -5.42210763e-02 -1.36384914e-02 1.20953752e+02] [ 5.42271663e-02 9.98528622e-01 7.68490349e-05 2.66645018e+00] [ 1.36142572e-02 -8.16305570e-04 9.99906988e-01 1.29243351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13509989299999 meters 0.029738344565698537 Centerline is valid? [True, True] Translation: X:120.98, Y:2.66, Z:1.29 [[ 9.98409262e-01 -5.46920532e-02 -1.37012749e-02 1.20984518e+02] [ 5.46982552e-02 9.98502927e-01 7.80526179e-05 2.66376115e+00] [ 1.36764942e-02 -8.27364286e-04 9.99906130e-01 1.29258656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16509989299999 meters 0.029255663744400376 Centerline is valid? [True, True] Translation: X:121.02, Y:2.66, Z:1.29 [[ 9.98370967e-01 -5.54107363e-02 -1.36037950e-02 1.21016679e+02] [ 5.54169389e-02 9.98463298e-01 7.91172683e-05 2.66319864e+00] [ 1.35785061e-02 -8.32869060e-04 9.99907461e-01 1.29279501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19509989299999 meters 0.03048012276615715 Centerline is valid? [True, True] Translation: X:121.05, Y:2.66, Z:1.29 [[ 9.98332324e-01 -5.60626876e-02 -1.37675500e-02 1.21047858e+02] [ 5.60691155e-02 9.98426887e-01 8.10482916e-05 2.66024010e+00] [ 1.37413483e-02 -8.52847483e-04 9.99905220e-01 1.29315566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22509989299999 meters 0.03162605161592395 Centerline is valid? [True, True] Translation: X:121.08, Y:2.66, Z:1.29 [[ 9.98299993e-01 -5.65698950e-02 -1.40346442e-02 1.21078562e+02] [ 5.65766351e-02 9.98398256e-01 8.33592266e-05 2.65744169e+00] [ 1.40074487e-02 -8.77250459e-04 9.99901506e-01 1.29319343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.255099893 meters 0.031087683252396393 Centerline is valid? [True, True] Translation: X:121.11, Y:2.66, Z:1.29 [[ 9.98252085e-01 -5.72223809e-02 -1.47774765e-02 1.21111016e+02] [ 5.72299341e-02 9.98361020e-01 8.84072577e-05 2.65664374e+00] [ 1.47481976e-02 -9.33966734e-04 9.99890803e-01 1.29316140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.285099893 meters 0.030298859226295032 Centerline is valid? [True, True] Translation: X:121.14, Y:2.66, Z:1.29 [[ 9.98301159e-01 -5.63116240e-02 -1.49598378e-02 1.21142890e+02] [ 5.63192791e-02 9.98412806e-01 9.05785019e-05 2.65594179e+00] [ 1.49309930e-02 -9.32951902e-04 9.99888091e-01 1.29308288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.315099893 meters 0.029975071987878046 Centerline is valid? [True, True] Translation: X:121.17, Y:2.65, Z:1.29 [[ 9.98417455e-01 -5.43877214e-02 -1.43025217e-02 1.21174103e+02] [ 5.43945348e-02 9.98519518e-01 8.75131424e-05 2.65443377e+00] [ 1.42765875e-02 -8.65353666e-04 9.99897710e-01 1.29368009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34509989299998 meters 0.0277847457638151 Centerline is valid? [True, True] Translation: X:121.21, Y:2.66, Z:1.30 [[ 9.98565801e-01 -5.16036000e-02 -1.42621650e-02 1.21205658e+02] [ 5.16100997e-02 9.98667307e-01 8.78081227e-05 2.65690788e+00] [ 1.42386267e-02 -8.23753946e-04 9.99898286e-01 1.29500265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37509989299998 meters 0.028570356372502742 Centerline is valid? [True, True] Translation: X:121.24, Y:2.66, Z:1.30 [[ 9.98651354e-01 -4.98786021e-02 -1.44082705e-02 1.21236336e+02] [ 4.98850674e-02 9.98754961e-01 8.94501410e-05 2.65574251e+00] [ 1.43858700e-02 -8.08087051e-04 9.99896191e-01 1.29575739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40509989299998 meters 0.029127682286116053 Centerline is valid? [True, True] Translation: X:121.27, Y:2.65, Z:1.30 [[ 9.98752447e-01 -4.78115669e-02 -1.44084647e-02 1.21266572e+02] [ 4.78178248e-02 9.98856069e-01 8.99305915e-05 2.65460863e+00] [ 1.43876827e-02 -7.78799840e-04 9.99896189e-01 1.29622311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43509989299999 meters 0.024986227232406854 Centerline is valid? [True, True] Translation: X:121.30, Y:2.66, Z:1.30 [[ 9.98829455e-01 -4.61319408e-02 -1.45452603e-02 1.21298109e+02] [ 4.61381449e-02 9.98935065e-01 9.10846188e-05 2.66035925e+00] [ 1.45255686e-02 -7.62069326e-04 9.99894208e-01 1.29730818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46509989299999 meters 0.022151552038865374 Centerline is valid? [True, True] Translation: X:121.33, Y:2.66, Z:1.30 [[ 9.99037323e-01 -4.12761872e-02 -1.48561178e-02 1.21328689e+02] [ 4.12821313e-02 9.99147525e-01 9.35388672e-05 2.66410176e+00] [ 1.48395924e-02 -7.06741025e-04 9.99889637e-01 1.29759809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49509989299999 meters 0.02431606229287199 Centerline is valid? [True, True] Translation: X:121.36, Y:2.66, Z:1.30 [[ 9.99140757e-01 -3.86484573e-02 -1.49681377e-02 1.21359040e+02] [ 3.86542013e-02 9.99252643e-01 9.45223350e-05 2.66071588e+00] [ 1.49532980e-02 -6.73022525e-04 9.99887967e-01 1.29776897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52509989299999 meters 0.023516080702889963 Centerline is valid? [True, True] Translation: X:121.39, Y:2.66, Z:1.30 [[ 9.99242010e-01 -3.59317908e-02 -1.49770154e-02 1.21390785e+02] [ 3.59372425e-02 9.99354044e-01 9.49443376e-05 2.66182572e+00] [ 1.49639294e-02 -6.33105006e-04 9.99887834e-01 1.29831152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55509989299999 meters 0.022593620175560027 Centerline is valid? [True, True] Translation: X:121.42, Y:2.66, Z:1.30 [[ 9.99327065e-01 -3.34526916e-02 -1.50444244e-02 1.21422430e+02] [ 3.34579239e-02 9.99440122e-01 9.61611323e-05 2.66336438e+00] [ 1.50327845e-02 -5.99451628e-04 9.99886822e-01 1.29911335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58509989299999 meters 0.021368964483780176 Centerline is valid? [True, True] Translation: X:121.45, Y:2.67, Z:1.30 [[ 9.99411704e-01 -3.09092650e-02 -1.48614661e-02 1.21454394e+02] [ 3.09141015e-02 9.99522040e-01 9.57614276e-05 2.66532928e+00] [ 1.48514030e-02 -5.55133963e-04 9.99889558e-01 1.29978831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.615099893 meters 0.021022284257927626 Centerline is valid? [True, True] Translation: X:121.48, Y:2.67, Z:1.30 [[ 9.99473476e-01 -2.85361291e-02 -1.54421670e-02 1.21484599e+02] [ 2.85410793e-02 9.99592615e-01 1.00232522e-04 2.66578687e+00] [ 1.54330158e-02 -5.40915859e-04 9.99880758e-01 1.29998432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.645099893 meters 0.018901039689160574 Centerline is valid? [True, True] Translation: X:121.52, Y:2.67, Z:1.30 [[ 9.99529922e-01 -2.55887689e-02 -1.68863941e-02 1.21515503e+02] [ 2.55942737e-02 9.99672407e-01 1.09921009e-04 2.66889394e+00] [ 1.68780495e-02 -5.42064330e-04 9.99857409e-01 1.29993049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.675099893 meters 0.018347990870228297 Centerline is valid? [True, True] Translation: X:121.54, Y:2.67, Z:1.30 [[ 9.99572790e-01 -2.29155343e-02 -1.81415507e-02 1.21544956e+02] [ 2.29214506e-02 9.99737262e-01 1.18224928e-04 2.66915317e+00] [ 1.81340751e-02 -5.34005080e-04 9.99835422e-01 1.29874454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70509989299998 meters 0.018245237313879198 Centerline is valid? [True, True] Translation: X:121.57, Y:2.67, Z:1.30 [[ 9.99583301e-01 -2.19105042e-02 -1.87924048e-02 1.21572393e+02] [ 2.19166605e-02 9.99759794e-01 1.21682154e-04 2.66900835e+00] [ 1.87852246e-02 -5.33498203e-04 9.99823400e-01 1.29827734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73509989299998 meters 0.01812686536662018 Centerline is valid? [True, True] Translation: X:121.60, Y:2.67, Z:1.30 [[ 9.99611268e-01 -2.11107729e-02 -1.82112339e-02 1.21600730e+02] [ 2.11163769e-02 9.99777018e-01 1.15462285e-04 2.66887797e+00] [ 1.82047356e-02 -4.99972680e-04 9.99834155e-01 1.29873365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76509989299998 meters 0.01796134217141686 Centerline is valid? [True, True] Translation: X:121.63, Y:2.67, Z:1.30 [[ 9.99623428e-01 -2.09835262e-02 -1.76831660e-02 1.21629246e+02] [ 2.09887158e-02 9.99779707e-01 1.07920799e-04 2.66902890e+00] [ 1.76770059e-02 -4.79027103e-04 9.99843635e-01 1.29922108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79509989299999 meters 0.016748734673504573 Centerline is valid? [True, True] Translation: X:121.66, Y:2.67, Z:1.30 [[ 9.99615707e-01 -2.13069711e-02 -1.77327889e-02 1.21657871e+02] [ 2.13121632e-02 9.99772865e-01 1.03852596e-04 2.67146072e+00] [ 1.77265484e-02 -4.81736777e-04 9.99842756e-01 1.30063415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82509989299999 meters 0.01756038231848001 Centerline is valid? [True, True] Translation: X:121.69, Y:2.67, Z:1.30 [[ 9.99609026e-01 -2.25620683e-02 -1.65150935e-02 1.21685922e+02] [ 2.25666884e-02 9.99745335e-01 9.34203802e-05 2.66893047e+00] [ 1.65087799e-02 -4.66074824e-04 9.99863612e-01 1.30135374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85509989299999 meters 0.019161403910632646 Centerline is valid? [True, True] Translation: X:121.72, Y:2.66, Z:1.30 [[ 9.99503045e-01 -2.76425094e-02 -1.51510351e-02 1.21715763e+02] [ 2.76469638e-02 9.99617746e-01 8.45862322e-05 2.66369819e+00] [ 1.51429054e-02 -5.03424316e-04 9.99885213e-01 1.30304176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88509989299999 meters 0.02129849639745835 Centerline is valid? [True, True] Translation: X:121.75, Y:2.66, Z:1.30 [[ 9.99272727e-01 -3.48333985e-02 -1.55129247e-02 1.21746569e+02] [ 3.48389265e-02 9.99392937e-01 8.61692789e-05 2.65876153e+00] [ 1.55005058e-02 -6.26560255e-04 9.99879664e-01 1.30424892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91509989299999 meters 0.022101269541554884 Centerline is valid? [True, True] Translation: X:121.78, Y:2.66, Z:1.30 [[ 9.99172795e-01 -3.74070780e-02 -1.59510863e-02 1.21777815e+02] [ 3.74132529e-02 9.99299875e-01 8.87773667e-05 2.65683820e+00] [ 1.59365976e-02 -6.85485955e-04 9.99872769e-01 1.30408329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94509989299999 meters 0.024117798795999724 Centerline is valid? [True, True] Translation: X:121.81, Y:2.65, Z:1.30 [[ 9.99072654e-01 -3.98482346e-02 -1.63079707e-02 1.21807916e+02] [ 3.98550220e-02 9.99205469e-01 9.12862802e-05 2.65274412e+00] [ 1.62913759e-02 -7.41156156e-04 9.99867012e-01 1.30394172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97509989299999 meters 0.025231944165997527 Centerline is valid? [True, True] Translation: X:121.84, Y:2.65, Z:1.30 [[ 9.98876018e-01 -4.44117361e-02 -1.65619798e-02 1.21838645e+02] [ 4.44193672e-02 9.99012968e-01 9.30049427e-05 2.64926424e+00] [ 1.65415021e-02 -8.28573071e-04 9.99862837e-01 1.30395844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.005099893 meters 0.026805262295354553 Centerline is valid? [True, True] Translation: X:121.87, Y:2.65, Z:1.30 [[ 9.98783564e-01 -4.64177828e-02 -1.66367560e-02 1.21869070e+02] [ 4.64257655e-02 9.98921738e-01 9.37175345e-05 2.64618327e+00] [ 1.66144670e-02 -8.65977664e-04 9.99861595e-01 1.30397846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.035099893 meters 0.026805262295354553 Centerline is valid? [True, True] Translation: X:121.90, Y:2.65, Z:1.30 [[ 9.98786827e-01 -4.63475161e-02 -1.66367530e-02 1.21900801e+02] [ 4.63554976e-02 9.98925002e-01 9.42355072e-05 2.64594351e+00] [ 1.66145010e-02 -8.65326149e-04 9.99861595e-01 1.30437083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.065099893 meters 0.025987609492074813 Centerline is valid? [True, True] Translation: X:121.93, Y:2.65, Z:1.30 [[ 9.98635493e-01 -4.92596450e-02 -1.73389464e-02 1.21931614e+02] [ 4.92687717e-02 9.98785552e-01 9.93391228e-05 2.64607803e+00] [ 1.73129957e-02 -9.53472164e-04 9.99849664e-01 1.30458999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09509989299998 meters 0.02726655780873277 Centerline is valid? [True, True] Translation: X:121.96, Y:2.64, Z:1.31 [[ 9.98531851e-01 -5.12178220e-02 -1.76316890e-02 1.21962956e+02] [ 5.12275770e-02 9.98687001e-01 1.01759981e-04 2.64367621e+00] [ 1.76033266e-02 -1.00483928e-03 9.99844545e-01 1.30506364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12509989299998 meters 0.026884959903647723 Centerline is valid? [True, True] Translation: X:122.00, Y:2.64, Z:1.31 [[ 9.98525674e-01 -5.11056019e-02 -1.82946703e-02 1.21995427e+02] [ 5.11161019e-02 9.98692712e-01 1.06474940e-04 2.64351010e+00] [ 1.82653125e-02 -1.04147019e-03 9.99832633e-01 1.30507532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15509989299998 meters 0.02675067803297731 Centerline is valid? [True, True] Translation: X:122.03, Y:2.64, Z:1.30 [[ 9.98535921e-01 -5.07910455e-02 -1.86086931e-02 1.22028014e+02] [ 5.08018800e-02 9.98708745e-01 1.09663952e-04 2.64371256e+00] [ 1.85790946e-02 -1.05485999e-03 9.99826837e-01 1.30492538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18509989299999 meters 0.02669976616580991 Centerline is valid? [True, True] Translation: X:122.06, Y:2.64, Z:1.30 [[ 9.98562988e-01 -4.99288240e-02 -1.94697500e-02 1.22059981e+02] [ 4.99405494e-02 9.98752185e-01 1.16185196e-04 2.64352207e+00] [ 1.94396543e-02 -1.08834825e-03 9.99810440e-01 1.30471829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21509989299999 meters 0.027859330299975796 Centerline is valid? [True, True] Translation: X:122.09, Y:2.64, Z:1.30 [[ 9.98597940e-01 -4.90991306e-02 -1.97845967e-02 1.22091258e+02] [ 4.91111017e-02 9.98793315e-01 1.19365497e-04 2.64196493e+00] [ 1.97548622e-02 -1.09084148e-03 9.99804259e-01 1.30474039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24509989299999 meters 0.02795402718050486 Centerline is valid? [True, True] Translation: X:122.12, Y:2.64, Z:1.31 [[ 9.98656802e-01 -4.79130696e-02 -1.97212897e-02 1.22122187e+02] [ 4.79247517e-02 9.98850942e-01 1.19900878e-04 2.64199318e+00] [ 1.96928840e-02 -1.06487774e-03 9.99805509e-01 1.30536948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27509989299999 meters 0.027106078495427663 Centerline is valid? [True, True] Translation: X:122.15, Y:2.64, Z:1.31 [[ 9.98742394e-01 -4.61928815e-02 -1.94897077e-02 1.22153971e+02] [ 4.62039797e-02 9.98932019e-01 1.19294485e-04 2.64436977e+00] [ 1.94633825e-02 -1.01964652e-03 9.99810050e-01 1.30647433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30509989299999 meters 0.02749087631975407 Centerline is valid? [True, True] Translation: X:122.18, Y:2.64, Z:1.31 [[ 9.98789338e-01 -4.52337724e-02 -1.93329862e-02 1.22184032e+02] [ 4.52445285e-02 9.98975935e-01 1.19101364e-04 2.64406375e+00] [ 1.93078006e-02 -9.93669019e-04 9.99813093e-01 1.30731820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33509989299999 meters 0.025623782500053583 Centerline is valid? [True, True] Translation: X:122.22, Y:2.65, Z:1.31 [[ 9.98825471e-01 -4.46507993e-02 -1.88144813e-02 1.22215627e+02] [ 4.46608911e-02 9.99002198e-01 1.16343928e-04 2.64697019e+00] [ 1.87905134e-02 -9.56478781e-04 9.99822985e-01 1.30869765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.365099893 meters 0.02638221632102186 Centerline is valid? [True, True] Translation: X:122.25, Y:2.65, Z:1.31 [[ 9.98867275e-01 -4.38370214e-02 -1.85062581e-02 1.22247007e+02] [ 4.38466598e-02 9.99038266e-01 1.15193777e-04 2.64647262e+00] [ 1.84834103e-02 -9.26500899e-04 9.99828738e-01 1.30958401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.395099893 meters 0.026551146858359416 Centerline is valid? [True, True] Translation: X:122.28, Y:2.65, Z:1.31 [[ 9.98874497e-01 -4.37140262e-02 -1.84071434e-02 1.22279051e+02] [ 4.37235605e-02 9.99043661e-01 1.15650679e-04 2.64605533e+00] [ 1.83844844e-02 -9.20346365e-04 9.99830567e-01 1.30994973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.425099893 meters 0.0274303661692272 Centerline is valid? [True, True] Translation: X:122.31, Y:2.64, Z:1.31 [[ 9.98866658e-01 -4.35884569e-02 -1.91166534e-02 1.22309933e+02] [ 4.35987496e-02 9.99049115e-01 1.21778335e-04 2.64477704e+00] [ 1.90931675e-02 -9.55102503e-04 9.99817253e-01 1.30962174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45509989299998 meters 0.02469516865681065 Centerline is valid? [True, True] Translation: X:122.34, Y:2.65, Z:1.31 [[ 9.98855728e-01 -4.36658902e-02 -1.95070342e-02 1.22342100e+02] [ 4.36766605e-02 9.99045711e-01 1.26220952e-04 2.64868578e+00] [ 1.94829073e-02 -9.78078630e-04 9.99809712e-01 1.31040717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48509989299998 meters 0.025066689070065297 Centerline is valid? [True, True] Translation: X:122.37, Y:2.65, Z:1.31 [[ 9.98818809e-01 -4.41748302e-02 -2.02378513e-02 1.22374181e+02] [ 4.41865570e-02 9.99023288e-01 1.32432846e-04 2.64885405e+00] [ 2.02122346e-02 -1.02651739e-03 9.99795185e-01 1.31073463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51509989299998 meters 0.024720240936066878 Centerline is valid? [True, True] Translation: X:122.41, Y:2.65, Z:1.31 [[ 9.98795470e-01 -4.45706549e-02 -2.05198971e-02 1.22405825e+02] [ 4.45828187e-02 9.99005683e-01 1.35468666e-04 2.65059410e+00] [ 2.04934559e-02 -1.05014034e-03 9.99789436e-01 1.31183569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54509989299999 meters 0.023717405852544667 Centerline is valid? [True, True] Translation: X:122.44, Y:2.65, Z:1.31 [[ 9.98781267e-01 -4.50602434e-02 -2.01383797e-02 1.22438093e+02] [ 4.50720784e-02 9.98983728e-01 1.33957285e-04 2.65271702e+00] [ 2.01118775e-02 -1.04147266e-03 9.99797193e-01 1.31260611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57509989299999 meters 0.02611627604855099 Centerline is valid? [True, True] Translation: X:122.47, Y:2.65, Z:1.31 [[ 9.98768069e-01 -4.53839684e-02 -2.00658903e-02 1.22469529e+02] [ 4.53958101e-02 9.98969070e-01 1.34801322e-04 2.64924705e+00] [ 2.00390860e-02 -1.04554260e-03 9.99798651e-01 1.31250062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60509989299999 meters 0.027423099190974798 Centerline is valid? [True, True] Translation: X:122.50, Y:2.65, Z:1.31 [[ 9.98746754e-01 -4.57381947e-02 -2.03208849e-02 1.22500732e+02] [ 4.57504349e-02 9.98952891e-01 1.37619962e-04 2.64768959e+00] [ 2.02933122e-02 -1.06713681e-03 9.99793500e-01 1.31279996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63509989299999 meters 0.024503627092847795 Centerline is valid? [True, True] Translation: X:122.53, Y:2.65, Z:1.31 [[ 9.98743768e-01 -4.58552531e-02 -2.02035131e-02 1.22532667e+02] [ 4.58674008e-02 9.98947527e-01 1.38047226e-04 2.65201486e+00] [ 2.01759192e-02 -1.06455644e-03 9.99795879e-01 1.31361745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66509989299999 meters 0.025813671934356564 Centerline is valid? [True, True] Translation: X:122.56, Y:2.65, Z:1.31 [[ 9.98707816e-01 -4.64224300e-02 -2.06798362e-02 1.22563568e+02] [ 4.64353071e-02 9.98921289e-01 1.42677528e-04 2.65016460e+00] [ 2.06509052e-02 -1.10276771e-03 9.99786139e-01 1.31332998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69509989299999 meters 0.025240091212901803 Centerline is valid? [True, True] Translation: X:122.60, Y:2.65, Z:1.31 [[ 9.98704979e-01 -4.65190145e-02 -2.05996763e-02 1.22595899e+02] [ 4.65318384e-02 9.98916797e-01 1.43390569e-04 2.65104052e+00] [ 2.05706923e-02 -1.10174568e-03 9.99787794e-01 1.31355975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72509989299999 meters 0.02937563856548195 Centerline is valid? [True, True] Translation: X:122.63, Y:2.65, Z:1.31 [[ 9.98676480e-01 -4.72906395e-02 -2.02208523e-02 1.22626930e+02] [ 4.73031801e-02 9.98880568e-01 1.42058594e-04 2.64589546e+00] [ 2.01914984e-02 -1.09838119e-03 9.99795528e-01 1.31344661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.755099893 meters 0.026385687699242117 Centerline is valid? [True, True] Translation: X:122.66, Y:2.65, Z:1.32 [[ 9.98687572e-01 -4.72027641e-02 -1.98754123e-02 1.22659411e+02] [ 4.72148862e-02 9.98884745e-01 1.40828289e-04 2.65116013e+00] [ 1.98465987e-02 -1.07905879e-03 9.99802455e-01 1.31541179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.785099893 meters 0.028498438120532616 Centerline is valid? [True, True] Translation: X:122.69, Y:2.65, Z:1.32 [[ 9.98708884e-01 -4.69332732e-02 -1.94379070e-02 1.22690905e+02] [ 4.69448407e-02 9.98897474e-01 1.38974718e-04 2.64923126e+00] [ 1.94099537e-02 -1.05130473e-03 9.99811056e-01 1.31625482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.815099893 meters 0.026982149186282355 Centerline is valid? [True, True] Translation: X:122.72, Y:2.65, Z:1.32 [[ 9.98725671e-01 -4.65507997e-02 -1.94950438e-02 1.22722759e+02] [ 4.65623854e-02 9.98915374e-01 1.40552046e-04 2.65178541e+00] [ 1.94673561e-02 -1.04810868e-03 9.99809944e-01 1.31732447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84509989299998 meters 0.026682536439106022 Centerline is valid? [True, True] Translation: X:122.75, Y:2.65, Z:1.32 [[ 9.98714832e-01 -4.67652334e-02 -1.95370611e-02 1.22754727e+02] [ 4.67769371e-02 9.98905350e-01 1.42243803e-04 2.65224428e+00] [ 1.95090228e-02 -1.05594488e-03 9.99809123e-01 1.31813291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87509989299998 meters 0.026275439362501953 Centerline is valid? [True, True] Translation: X:122.79, Y:2.65, Z:1.32 [[ 9.98665553e-01 -4.75327511e-02 -2.01928252e-02 1.22787161e+02] [ 4.75454399e-02 9.98869065e-01 1.48492032e-04 2.65281773e+00] [ 2.01629302e-02 -1.10837064e-03 9.99796093e-01 1.31875394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90509989299998 meters 0.026238504191887543 Centerline is valid? [True, True] Translation: X:122.82, Y:2.65, Z:1.32 [[ 9.98666327e-01 -4.71952042e-02 -2.09327480e-02 1.22819831e+02] [ 4.72087986e-02 9.98885031e-01 1.55473069e-04 2.65288544e+00] [ 2.09020711e-02 -1.14347560e-03 9.99780874e-01 1.31877186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93509989299999 meters 0.026238504191887543 Centerline is valid? [True, True] Translation: X:122.85, Y:2.65, Z:1.32 [[ 9.98669722e-01 -4.71233197e-02 -2.09327368e-02 1.22851568e+02] [ 4.71369299e-02 9.98888425e-01 1.56979860e-04 2.65258925e+00] [ 2.09020710e-02 -1.14347598e-03 9.99780874e-01 1.31916412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96509989299999 meters 0.024969273859320074 Centerline is valid? [True, True] Translation: X:122.88, Y:2.65, Z:1.32 [[ 9.98678044e-01 -4.66142179e-02 -2.16628351e-02 1.22883951e+02] [ 4.66287095e-02 9.98912277e-01 1.64056946e-04 2.65446711e+00] [ 2.16316245e-02 -1.17395011e-03 9.99765320e-01 1.31970288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99509989299999 meters 0.025957564767823224 Centerline is valid? [True, True] Translation: X:122.91, Y:2.65, Z:1.32 [[ 9.98719192e-01 -4.52227757e-02 -2.26909018e-02 1.22914789e+02] [ 4.52383479e-02 9.98976207e-01 1.73165039e-04 2.65389418e+00] [ 2.26598400e-02 -1.19944216e-03 9.99742513e-01 1.31973327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02509989299999 meters 0.024812481789197746 Centerline is valid? [True, True] Translation: X:122.95, Y:2.66, Z:1.32 [[ 9.98784346e-01 -4.37471297e-02 -2.27160324e-02 1.22946723e+02] [ 4.37623778e-02 9.99041953e-01 1.74329725e-04 2.65580053e+00] [ 2.26866430e-02 -1.16822539e-03 9.99741942e-01 1.32050247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05509989299999 meters 0.025445563819671235 Centerline is valid? [True, True] Translation: X:122.98, Y:2.66, Z:1.32 [[ 9.98838475e-01 -4.22096764e-02 -2.32388290e-02 1.22977090e+02] [ 4.22252391e-02 9.99108101e-01 1.79177138e-04 2.65535788e+00] [ 2.32105393e-02 -1.16023413e-03 9.99729926e-01 1.32079245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08509989299999 meters 0.022343639155386216 Centerline is valid? [True, True] Translation: X:123.01, Y:2.66, Z:1.32 [[ 9.99001226e-01 -3.82483379e-02 -2.31000951e-02 1.23008057e+02] [ 3.82626660e-02 9.99267700e-01 1.78425642e-04 2.66110363e+00] [ 2.30763544e-02 -1.06211866e-03 9.99733141e-01 1.32243882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.115099893 meters 0.023556590153398563 Centerline is valid? [True, True] Translation: X:123.04, Y:2.66, Z:1.32 [[ 9.99082166e-01 -3.60841247e-02 -2.30816154e-02 1.23038196e+02] [ 3.60978562e-02 9.99348244e-01 1.78396857e-04 2.65942180e+00] [ 2.30601345e-02 -1.01142995e-03 9.99733568e-01 1.32222672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.145099893 meters 0.023326065746264005 Centerline is valid? [True, True] Translation: X:123.07, Y:2.66, Z:1.32 [[ 9.99146878e-01 -3.44467892e-02 -2.27801430e-02 1.23067505e+02] [ 3.44597353e-02 9.99406071e-01 1.75886231e-04 2.65991918e+00] [ 2.27605545e-02 -9.60733877e-04 9.99740483e-01 1.32272160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.175099893 meters 0.022319486190324436 Centerline is valid? [True, True] Translation: X:123.10, Y:2.66, Z:1.32 [[ 9.99218636e-01 -3.22524585e-02 -2.28450717e-02 1.23096874e+02] [ 3.22648929e-02 9.99479337e-01 1.75809375e-04 2.66161636e+00] [ 2.28275068e-02 -9.12765793e-04 9.99739002e-01 1.32382836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20509989299998 meters 0.019652488458460533 Centerline is valid? [True, True] Translation: X:123.13, Y:2.67, Z:1.33 [[ 9.99249022e-01 -3.11800515e-02 -2.30042570e-02 1.23126771e+02] [ 3.11923573e-02 9.99513385e-01 1.76215375e-04 2.66550581e+00] [ 2.29875684e-02 -8.93640047e-04 9.99735352e-01 1.32515164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23509989299998 meters 0.02000923698339238 Centerline is valid? [True, True] Translation: X:123.16, Y:2.66, Z:1.33 [[ 9.99258609e-01 -3.05644841e-02 -2.34103399e-02 1.23155549e+02] [ 3.05770349e-02 9.99532397e-01 1.78268552e-04 2.66446643e+00] [ 2.33939445e-02 -8.93955166e-04 9.99725925e-01 1.32523392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26509989299998 meters 0.019351715333846803 Centerline is valid? [True, True] Translation: X:123.18, Y:2.66, Z:1.33 [[ 9.99267473e-01 -2.93599707e-02 -2.45460677e-02 1.23184379e+02] [ 2.93733135e-02 9.99568494e-01 1.83127683e-04 2.66454235e+00] [ 2.45300993e-02 -9.03992879e-04 9.99698683e-01 1.32530082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29509989299999 meters 0.0196941355859987 Centerline is valid? [True, True] Translation: X:123.21, Y:2.66, Z:1.33 [[ 9.99279313e-01 -2.84436534e-02 -2.51358993e-02 1.23212521e+02] [ 2.84572323e-02 9.99594994e-01 1.82607138e-04 2.66366792e+00] [ 2.51205251e-02 -8.97773661e-04 9.99684027e-01 1.32525034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32509989299999 meters 0.019359839414142457 Centerline is valid? [True, True] Translation: X:123.24, Y:2.66, Z:1.33 [[ 9.99326346e-01 -2.68848059e-02 -2.49812200e-02 1.23241519e+02] [ 2.68976126e-02 9.99638178e-01 1.76712818e-04 2.66438913e+00] [ 2.49674303e-02 -8.48528951e-04 9.99687905e-01 1.32669822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35509989299999 meters 0.019030997334430852 Centerline is valid? [True, True] Translation: X:123.27, Y:2.67, Z:1.33 [[ 9.99347161e-01 -2.60927106e-02 -2.49884469e-02 1.23270356e+02] [ 2.61051229e-02 9.99659189e-01 1.70579588e-04 2.66501618e+00] [ 2.49754797e-02 -8.22794705e-04 9.99687725e-01 1.32770429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38509989299999 meters 0.01817781602031087 Centerline is valid? [True, True] Translation: X:123.30, Y:2.67, Z:1.33 [[ 9.99374876e-01 -2.53355506e-02 -2.46569709e-02 1.23299328e+02] [ 2.53472550e-02 9.99678694e-01 1.62212226e-04 2.66633488e+00] [ 2.46449387e-02 -7.87097351e-04 9.99695958e-01 1.32885116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41509989299999 meters 0.017417406092548698 Centerline is valid? [True, True] Translation: X:123.33, Y:2.67, Z:1.33 [[ 9.99377998e-01 -2.44664258e-02 -2.53970592e-02 1.23328363e+02] [ 2.44783979e-02 9.99700346e-01 1.60569092e-04 2.66746047e+00] [ 2.53855203e-02 -7.82148538e-04 9.99677430e-01 1.32976436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44509989299999 meters 0.0173207368404827 Centerline is valid? [True, True] Translation: X:123.36, Y:2.67, Z:1.33 [[ 9.99365751e-01 -2.44622922e-02 -2.58784084e-02 1.23356722e+02] [ 2.44745367e-02 9.99700441e-01 1.56479324e-04 2.66693605e+00] [ 2.58668285e-02 -7.89742133e-04 9.99665086e-01 1.32977041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47509989299999 meters 0.017981774264969694 Centerline is valid? [True, True] Translation: X:123.38, Y:2.66, Z:1.33 [[ 9.99338753e-01 -2.50246299e-02 -2.63784977e-02 1.23384915e+02] [ 2.50373993e-02 9.99686503e-01 1.53862879e-04 2.66416768e+00] [ 2.63663778e-02 -8.14210119e-04 9.99652015e-01 1.32918036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.505099893 meters 0.018713681838362896 Centerline is valid? [True, True] Translation: X:123.41, Y:2.66, Z:1.33 [[ 9.99315918e-01 -2.57036234e-02 -2.65898387e-02 1.23412636e+02] [ 2.57167584e-02 9.99669258e-01 1.52082485e-04 2.66193347e+00] [ 2.65771353e-02 -8.35782906e-04 9.99646416e-01 1.32887101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.535099893 meters 0.018820333107519214 Centerline is valid? [True, True] Translation: X:123.44, Y:2.66, Z:1.33 [[ 9.99304466e-01 -2.65453248e-02 -2.61902792e-02 1.23441021e+02] [ 2.65582393e-02 9.99647257e-01 1.45321606e-04 2.66075952e+00] [ 2.61771831e-02 -8.40788230e-04 9.99656965e-01 1.32935200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.565099893 meters 0.02001334451206006 Centerline is valid? [True, True] Translation: X:123.47, Y:2.66, Z:1.33 [[ 9.99268667e-01 -2.82869007e-02 -2.57290311e-02 1.23469046e+02] [ 2.82998167e-02 9.99599470e-01 1.37941684e-04 2.65708120e+00] [ 2.57148239e-02 -8.65967667e-04 9.99668944e-01 1.33012729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59509989299998 meters 0.020179842967435618 Centerline is valid? [True, True] Translation: X:123.50, Y:2.65, Z:1.33 [[ 9.99210964e-01 -3.03275359e-02 -2.56454728e-02 1.23498018e+02] [ 3.03409128e-02 9.99539600e-01 1.32562237e-04 2.65483170e+00] [ 2.56296453e-02 -9.10564692e-04 9.99671092e-01 1.33169370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62509989299998 meters 0.02010992959641393 Centerline is valid? [True, True] Translation: X:123.53, Y:2.65, Z:1.33 [[ 9.99152049e-01 -3.19801392e-02 -2.59316991e-02 1.23527125e+02] [ 3.19942062e-02 9.99488046e-01 1.27637229e-04 2.65391223e+00] [ 2.59143414e-02 -9.57193128e-04 9.99663709e-01 1.33244486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65509989299998 meters 0.020805639269002 Centerline is valid? [True, True] Translation: X:123.56, Y:2.65, Z:1.33 [[ 9.99034352e-01 -3.48511364e-02 -2.67537231e-02 1.23556297e+02] [ 3.48670327e-02 9.99391952e-01 1.27763804e-04 2.65089675e+00] [ 2.67330028e-02 -1.06046337e-03 9.99642047e-01 1.33291020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68509989299999 meters 0.020811320090742456 Centerline is valid? [True, True] Translation: X:123.59, Y:2.65, Z:1.33 [[ 9.98836208e-01 -3.91938051e-02 -2.81082689e-02 1.23586737e+02] [ 3.92130491e-02 9.99230864e-01 1.33540308e-04 2.64862558e+00] [ 2.80814158e-02 -1.23559582e-03 9.99604876e-01 1.33413541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71509989299999 meters 0.024596557098939535 Centerline is valid? [True, True] Translation: X:123.62, Y:2.64, Z:1.33 [[ 9.98747156e-01 -4.09748723e-02 -2.87259146e-02 1.23615579e+02] [ 4.09956813e-02 9.99159314e-01 1.35584798e-04 2.64221244e+00] [ 2.86962096e-02 -1.31305337e-03 9.99587317e-01 1.33242303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74509989299999 meters 0.023132981636009988 Centerline is valid? [True, True] Translation: X:123.65, Y:2.64, Z:1.33 [[ 9.98633751e-01 -4.37498404e-02 -2.85759230e-02 1.23645379e+02] [ 4.37715300e-02 9.99041558e-01 1.33624421e-04 2.64214767e+00] [ 2.85426886e-02 -1.38425373e-03 9.99591616e-01 1.33422865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77509989299999 meters 0.02418053780797613 Centerline is valid? [True, True] Translation: X:123.67, Y:2.64, Z:1.34 [[ 9.98655522e-01 -4.45498800e-02 -2.65039143e-02 1.23673788e+02] [ 4.45687868e-02 9.99006310e-01 1.22764304e-04 2.63908588e+00] [ 2.64721085e-02 -1.30384655e-03 9.99648702e-01 1.33620515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80509989299999 meters 0.023597467605612266 Centerline is valid? [True, True] Translation: X:123.70, Y:2.64, Z:1.34 [[ 9.98688788e-01 -4.44988335e-02 -2.53092395e-02 1.23704579e+02] [ 4.45160411e-02 9.99008663e-01 1.16597272e-04 2.63930072e+00] [ 2.52789611e-02 -1.24311154e-03 9.99679663e-01 1.33844049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83509989299999 meters 0.02399446335004232 Centerline is valid? [True, True] Translation: X:123.73, Y:2.64, Z:1.34 [[ 9.98682999e-01 -4.39568205e-02 -2.64587320e-02 1.23734123e+02] [ 4.39754311e-02 9.99032605e-01 1.21642109e-04 2.63844988e+00] [ 2.64277890e-02 -1.28501605e-03 9.99649899e-01 1.33854326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.865099893 meters 0.025595691651852923 Centerline is valid? [True, True] Translation: X:123.76, Y:2.64, Z:1.34 [[ 9.98679284e-01 -4.33534829e-02 -2.75710427e-02 1.23763523e+02] [ 4.33734489e-02 9.99058921e-01 1.26258388e-04 2.63583297e+00] [ 2.75396224e-02 -1.32194285e-03 9.99619839e-01 1.33746579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.895099893 meters 0.023954581946863545 Centerline is valid? [True, True] Translation: X:123.79, Y:2.64, Z:1.34 [[ 9.98683046e-01 -4.29688818e-02 -2.80330076e-02 1.23793640e+02] [ 4.29893500e-02 9.99075522e-01 1.27598847e-04 2.63782298e+00] [ 2.80016090e-02 -1.33255158e-03 9.99606990e-01 1.33817809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.925099893 meters 0.02478367384372486 Centerline is valid? [True, True] Translation: X:123.82, Y:2.64, Z:1.34 [[ 9.98695917e-01 -4.23493129e-02 -2.85131614e-02 1.23822171e+02] [ 4.23702000e-02 9.99101972e-01 1.28492128e-04 2.63605334e+00] [ 2.84821142e-02 -1.33643292e-03 9.99593409e-01 1.33790777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95509989299998 meters 0.021891872308590705 Centerline is valid? [True, True] Translation: X:123.85, Y:2.64, Z:1.34 [[ 9.98713541e-01 -4.19520318e-02 -2.84831561e-02 1.23850796e+02] [ 4.19725787e-02 9.99118755e-01 1.23611376e-04 2.63965421e+00] [ 2.84528697e-02 -1.31896387e-03 9.99594265e-01 1.33916592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98509989299998 meters 0.021891872308590705 Centerline is valid? [True, True] Translation: X:123.88, Y:2.64, Z:1.34 [[ 9.98702838e-01 -4.22060277e-02 -2.84831862e-02 1.23879072e+02] [ 4.22264716e-02 9.99108058e-01 1.16371067e-04 2.63956986e+00] [ 2.84528693e-02 -1.31896457e-03 9.99594265e-01 1.33951653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01509989299998 meters 0.0241431126915309 Centerline is valid? [True, True] Translation: X:123.91, Y:2.64, Z:1.34 [[ 9.98776414e-01 -4.03316625e-02 -2.86187409e-02 1.23906959e+02] [ 4.03514016e-02 9.99185544e-01 1.12304567e-04 2.63528569e+00] [ 2.85909028e-02 -1.26697346e-03 9.99590394e-01 1.33797262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04509989299999 meters 0.02080879132808984 Centerline is valid? [True, True] Translation: X:123.94, Y:2.64, Z:1.34 [[ 9.98839279e-01 -3.93779932e-02 -2.77392923e-02 1.23935964e+02] [ 3.93960320e-02 9.99223670e-01 1.03870563e-04 2.64003127e+00] [ 2.77136672e-02 -1.19656804e-03 9.99615186e-01 1.34009783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07509989299999 meters 0.020797208283014824 Centerline is valid? [True, True] Translation: X:123.96, Y:2.64, Z:1.34 [[ 9.98966299e-01 -3.68121798e-02 -2.66682900e-02 1.23964449e+02] [ 3.68278406e-02 9.99321620e-01 9.61621661e-05 2.64045799e+00] [ 2.66466589e-02 -1.07819830e-03 9.99644333e-01 1.34094861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10509989299999 meters 0.019611761076788397 Centerline is valid? [True, True] Translation: X:123.99, Y:2.64, Z:1.34 [[ 9.99124649e-01 -3.25128799e-02 -2.63220210e-02 1.23994870e+02] [ 3.25266250e-02 9.99470865e-01 9.40877405e-05 2.64308100e+00] [ 2.63050340e-02 -9.50171887e-04 9.99653511e-01 1.34050626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13509989299999 meters 0.019865089408513174 Centerline is valid? [True, True] Translation: X:124.02, Y:2.64, Z:1.34 [[ 9.99166239e-01 -3.15210311e-02 -2.59470927e-02 1.24023086e+02] [ 3.15339611e-02 9.99502677e-01 8.91935025e-05 2.64269610e+00] [ 2.59313772e-02 -9.07333748e-04 9.99663314e-01 1.34065222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16509989299999 meters 0.018178173021366106 Centerline is valid? [True, True] Translation: X:124.05, Y:2.65, Z:1.34 [[ 9.99188573e-01 -3.09110000e-02 -2.58206292e-02 1.24051676e+02] [ 3.09234351e-02 9.99521753e-01 8.23416278e-05 2.64548776e+00] [ 2.58057353e-02 -8.80737365e-04 9.99666589e-01 1.34220453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19509989299999 meters 0.01904789508001851 Centerline is valid? [True, True] Translation: X:124.08, Y:2.64, Z:1.34 [[ 9.99224481e-01 -3.02251969e-02 -2.52363710e-02 1.24079589e+02] [ 3.02367511e-02 9.99542762e-01 7.62832072e-05 2.64425704e+00] [ 2.52225263e-02 -8.39289917e-04 9.99681509e-01 1.34216178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22509989299999 meters 0.019373083917992324 Centerline is valid? [True, True] Translation: X:124.11, Y:2.64, Z:1.34 [[ 9.99250493e-01 -2.99414052e-02 -2.45349725e-02 1.24107381e+02] [ 2.99521752e-02 9.99551330e-01 7.15060011e-05 2.64363624e+00] [ 2.45218234e-02 -8.06328202e-04 9.99698970e-01 1.34276696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.255099893 meters 0.01915391831617833 Centerline is valid? [True, True] Translation: X:124.14, Y:2.64, Z:1.34 [[ 9.99251371e-01 -3.00405426e-02 -2.43775141e-02 1.24135711e+02] [ 3.00510838e-02 9.99548362e-01 6.61095602e-05 2.64373422e+00] [ 2.43645184e-02 -7.98630790e-04 9.99702822e-01 1.34356384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.285099893 meters 0.019076774811900937 Centerline is valid? [True, True] Translation: X:124.16, Y:2.64, Z:1.34 [[ 9.99294813e-01 -2.83629613e-02 -2.46052536e-02 1.24163474e+02] [ 2.83730688e-02 9.99597402e-01 6.16959229e-05 2.64385647e+00] [ 2.45935977e-02 -7.59778969e-04 9.99697243e-01 1.34264106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.315099893 meters 0.016867129765638363 Centerline is valid? [True, True] Translation: X:124.19, Y:2.65, Z:1.34 [[ 9.99383874e-01 -2.59891957e-02 -2.35888493e-02 1.24191977e+02] [ 2.59977697e-02 9.99661999e-01 5.68299008e-05 2.64791148e+00] [ 2.35793993e-02 -6.70052359e-04 9.99721743e-01 1.34443829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34509989299998 meters 0.018040017284249088 Centerline is valid? [True, True] Translation: X:124.22, Y:2.65, Z:1.34 [[ 9.99430089e-01 -2.41784242e-02 -2.35563329e-02 1.24219583e+02] [ 2.41864279e-02 9.99707464e-01 5.48746990e-05 2.64596383e+00] [ 2.35481151e-02 -6.24586972e-04 9.99722510e-01 1.34339637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37509989299998 meters 0.015435690272951028 Centerline is valid? [True, True] Translation: X:124.25, Y:2.65, Z:1.34 [[ 9.99491593e-01 -2.11848835e-02 -2.38276178e-02 1.24248713e+02] [ 2.11921605e-02 9.99775420e-01 5.28981422e-05 2.65207340e+00] [ 2.38211459e-02 -5.57829948e-04 9.99716081e-01 1.34482433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40509989299998 meters 0.01433984973250613 Centerline is valid? [True, True] Translation: X:124.28, Y:2.66, Z:1.34 [[ 9.99578159e-01 -1.43265808e-02 -2.52636858e-02 1.24277225e+02] [ 1.43325114e-02 9.99897283e-01 5.36774902e-05 2.65589677e+00] [ 2.52603218e-02 -4.15746911e-04 9.99680821e-01 1.34347340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43509989299999 meters 0.013092933279174893 Centerline is valid? [True, True] Translation: X:124.31, Y:2.66, Z:1.34 [[ 9.99693150e-01 -3.23135920e-03 -2.45593957e-02 1.24305681e+02] [ 3.23358426e-03 9.99994771e-01 5.08862888e-05 2.66170392e+00] [ 2.45591029e-02 -1.30285550e-04 9.99698371e-01 1.34364996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46509989299999 meters 0.012992607599169708 Centerline is valid? [True, True] Translation: X:124.33, Y:2.66, Z:1.34 [[ 9.99735939e-01 3.97761273e-04 -2.29759415e-02 1.24334501e+02] [-3.96846429e-04 9.99999920e-01 4.43770514e-05 2.66324829e+00] [ 2.29759573e-02 -3.52474129e-05 9.99736017e-01 1.34483526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49509989299999 meters 0.012951662377387348 Centerline is valid? [True, True] Translation: X:124.36, Y:2.66, Z:1.35 [[ 9.99756362e-01 1.44947111e-03 -2.20253503e-02 1.24362072e+02] [-1.44900965e-03 9.99998950e-01 3.69104321e-05 2.66382260e+00] [ 2.20253806e-02 -4.98649419e-06 9.99757412e-01 1.34584300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52509989299999 meters 0.012951662377387348 Centerline is valid? [True, True] Translation: X:124.39, Y:2.66, Z:1.35 [[ 9.99756508e-01 1.34440398e-03 -2.20253570e-02 1.24389532e+02] [-1.34401582e-03 9.99999096e-01 3.24263089e-05 2.66387012e+00] [ 2.20253807e-02 -2.81598504e-06 9.99757412e-01 1.34618371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55509989299999 meters 0.012973242717482455 Centerline is valid? [True, True] Translation: X:124.42, Y:2.66, Z:1.35 [[ 9.99767173e-01 1.85205762e-03 -2.14981350e-02 1.24417354e+02] [-1.85188753e-03 9.99998285e-01 2.78200682e-05 2.66408303e+00] [ 2.14981497e-02 1.19985372e-05 9.99768888e-01 1.34691980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58509989299999 meters 0.012973242717482455 Centerline is valid? [True, True] Translation: X:124.44, Y:2.66, Z:1.35 [[ 9.99767362e-01 1.74684992e-03 -2.14981400e-02 1.24444814e+02] [-1.74675077e-03 9.99998474e-01 2.33900756e-05 2.66414173e+00] [ 2.14981480e-02 1.41672583e-05 9.99768888e-01 1.34726051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.615099893 meters 0.012950034416709258 Centerline is valid? [True, True] Translation: X:124.47, Y:2.66, Z:1.35 [[ 9.99787690e-01 1.97259135e-03 -2.05105832e-02 1.24473029e+02] [-1.97262104e-03 9.99998054e-01 1.87842598e-05 2.66394947e+00] [ 2.05105804e-02 2.16793364e-05 9.99789636e-01 1.34815835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.645099893 meters 0.012951229426612447 Centerline is valid? [True, True] Translation: X:124.50, Y:2.66, Z:1.35 [[ 9.99794670e-01 2.03875501e-03 -2.01608810e-02 1.24500890e+02] [-2.03888313e-03 9.99997921e-01 1.42002435e-05 2.66370299e+00] [ 2.01608680e-02 2.69083524e-05 9.99796749e-01 1.34972252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.675099893 meters 0.012951229426612447 Centerline is valid? [True, True] Translation: X:124.53, Y:2.66, Z:1.35 [[ 9.99794885e-01 1.93063349e-03 -2.01608823e-02 1.24528349e+02] [-1.93078366e-03 9.99998136e-01 1.20161521e-05 2.66376908e+00] [ 2.01608680e-02 2.69126149e-05 9.99796749e-01 1.35006254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70509989299998 meters 0.012943519828766828 Centerline is valid? [True, True] Translation: X:124.56, Y:2.66, Z:1.35 [[ 9.99807938e-01 1.70258592e-03 -1.95240220e-02 1.24556019e+02] [-1.70272106e-03 9.99998550e-01 9.70182725e-06 2.66342808e+00] [ 1.95240102e-02 2.35439995e-05 9.99809388e-01 1.35026890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73509989299998 meters 0.012924104613256694 Centerline is valid? [True, True] Translation: X:124.58, Y:2.66, Z:1.35 [[ 9.99815732e-01 7.37796048e-04 -1.91822416e-02 1.24583910e+02] [-7.37784004e-04 9.99999728e-01 7.70471365e-06 2.66285683e+00] [ 1.91822420e-02 6.44905708e-06 9.99816004e-01 1.35157301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76509989299998 meters 0.013054088346043642 Centerline is valid? [True, True] Translation: X:124.61, Y:2.66, Z:1.35 [[ 9.99825366e-01 -2.13830618e-03 -1.85651491e-02 1.24610864e+02] [ 2.13876762e-03 9.99997713e-01 5.00042586e-06 2.66004544e+00] [ 1.85650959e-02 -4.47060923e-05 9.99827653e-01 1.35173257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79509989299999 meters 0.013338848747582278 Centerline is valid? [True, True] Translation: X:124.64, Y:2.66, Z:1.35 [[ 9.99818846e-01 -7.16445131e-03 -1.76336355e-02 1.24640086e+02] [ 7.16560409e-03 9.99974327e-01 2.19164633e-06 2.65511201e+00] [ 1.76331671e-02 -1.28546900e-04 9.99844515e-01 1.35217805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82509989299999 meters 0.013687465008505574 Centerline is valid? [True, True] Translation: X:124.67, Y:2.65, Z:1.35 [[ 9.99794266e-01 -1.03763550e-02 -1.74286266e-02 1.24668584e+02] [ 1.03779479e-02 9.99946148e-01 9.54178570e-07 2.65210610e+00] [ 1.74276782e-02 -1.81827362e-04 9.99848110e-01 1.35271001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85509989299999 meters 0.013687465008505574 Centerline is valid? [True, True] Translation: X:124.70, Y:2.65, Z:1.35 [[ 9.99791298e-01 -1.06584556e-02 -1.74286264e-02 1.24695982e+02] [ 1.06600513e-02 9.99943180e-01 -1.34324083e-06 2.65217278e+00] [ 1.74276505e-02 -1.84447092e-04 9.99848110e-01 1.35304911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88509989299999 meters 0.014380128619393591 Centerline is valid? [True, True] Translation: X:124.72, Y:2.65, Z:1.35 [[ 9.99752811e-01 -1.42117949e-02 -1.70979823e-02 1.24723959e+02] [ 1.42137846e-02 9.99898979e-01 -5.15376402e-06 2.64809772e+00] [ 1.70963283e-02 -2.37874546e-04 9.99853819e-01 1.35309956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91509989299999 meters 0.015494397898706016 Centerline is valid? [True, True] Translation: X:124.75, Y:2.64, Z:1.35 [[ 9.99631901e-01 -2.13042330e-02 -1.67985591e-02 1.24753751e+02] [ 2.13071341e-02 9.99772977e-01 -6.28177247e-06 2.64209156e+00] [ 1.67948793e-02 -3.51649691e-04 9.99858894e-01 1.35307965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94509989299999 meters 0.016293714319915872 Centerline is valid? [True, True] Translation: X:124.78, Y:2.64, Z:1.35 [[ 9.99534620e-01 -2.51831246e-02 -1.72149030e-02 1.24782392e+02] [ 2.51867176e-02 9.99682764e-01 -8.09793570e-06 2.63895778e+00] [ 1.72096457e-02 -4.25492734e-04 9.99851813e-01 1.35320808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97509989299999 meters 0.020067277921365024 Centerline is valid? [True, True] Translation: X:124.81, Y:2.63, Z:1.35 [[ 9.99224874e-01 -3.52437063e-02 -1.75365829e-02 1.24812286e+02] [ 3.52489254e-02 9.99378563e-01 -1.14893399e-05 2.62791417e+00] [ 1.75260899e-02 -6.06665268e-04 9.99846222e-01 1.35193559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.005099893 meters 0.0245446135414505 Centerline is valid? [True, True] Translation: X:124.84, Y:2.62, Z:1.35 [[ 9.98875958e-01 -4.43619876e-02 -1.66983539e-02 1.24842223e+02] [ 4.43679882e-02 9.99015256e-01 -1.11201026e-05 2.61681152e+00] [ 1.66824036e-02 -7.29764764e-04 9.99860573e-01 1.35213921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.035099893 meters 0.02586903786430067 Centerline is valid? [True, True] Translation: X:124.87, Y:2.61, Z:1.35 [[ 9.98366518e-01 -5.49796860e-02 -1.55412465e-02 1.24873163e+02] [ 5.49861679e-02 9.98487116e-01 -1.02364692e-05 2.61149395e+00] [ 1.55182972e-02 -8.44333841e-04 9.99879227e-01 1.35403359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.065099893 meters 0.02702220189698674 Centerline is valid? [True, True] Translation: X:124.90, Y:2.61, Z:1.35 [[ 9.98091602e-01 -5.98236914e-02 -1.53061812e-02 1.24903417e+02] [ 5.98305469e-02 9.98208548e-01 -1.00437239e-05 2.60870981e+00] [ 1.52793618e-02 -9.05752638e-04 9.99882853e-01 1.35445525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09509989299998 meters 0.02825255171097942 Centerline is valid? [True, True] Translation: X:124.93, Y:2.61, Z:1.36 [[ 9.97955586e-01 -6.20402113e-02 -1.53512593e-02 1.24934297e+02] [ 6.20473714e-02 9.98073206e-01 -9.88007480e-06 2.60652622e+00] [ 1.53222935e-02 -9.42645409e-04 9.99882162e-01 1.35501352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12509989299998 meters 0.02825255171097942 Centerline is valid? [True, True] Translation: X:124.97, Y:2.61, Z:1.36 [[ 9.97960094e-01 -6.19676519e-02 -1.53512598e-02 1.24966045e+02] [ 6.19748165e-02 9.98077713e-01 -9.02858985e-06 2.60648707e+00] [ 1.53223097e-02 -9.42381334e-04 9.99882162e-01 1.35540598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15509989299998 meters 0.029361837534508863 Centerline is valid? [True, True] Translation: X:125.00, Y:2.60, Z:1.36 [[ 9.97818548e-01 -6.43010239e-02 -1.49507127e-02 1.24996730e+02] [ 6.43080952e-02 9.97930092e-01 -7.79381177e-06 2.60434417e+00] [ 1.49202672e-02 -9.53675045e-04 9.99888232e-01 1.35585789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18509989299999 meters 0.029361837534508863 Centerline is valid? [True, True] Translation: X:125.03, Y:2.60, Z:1.36 [[ 9.97823220e-01 -6.42284833e-02 -1.49507131e-02 1.25028482e+02] [ 6.42355582e-02 9.97934764e-01 -7.01451801e-06 2.60430084e+00] [ 1.49202868e-02 -9.53368150e-04 9.99888232e-01 1.35625042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21509989299999 meters 0.030606375474961527 Centerline is valid? [True, True] Translation: X:125.06, Y:2.60, Z:1.36 [[ 9.97671725e-01 -6.64626737e-02 -1.52918876e-02 1.25059245e+02] [ 6.64703527e-02 9.97788401e-01 -6.11581860e-06 2.60189576e+00] [ 1.52584746e-02 -1.01035558e-03 9.99883072e-01 1.35629062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24509989299999 meters 0.030606375474961527 Centerline is valid? [True, True] Translation: X:125.09, Y:2.60, Z:1.36 [[ 9.97676539e-01 -6.63903751e-02 -1.52918879e-02 1.25091001e+02] [ 6.63980578e-02 9.97793214e-01 -5.31504224e-06 2.60184814e+00] [ 1.52584949e-02 -1.01004896e-03 9.99883072e-01 1.35668322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27509989299999 meters 0.03384761002698622 Centerline is valid? [True, True] Translation: X:125.12, Y:2.60, Z:1.36 [[ 9.97532189e-01 -6.82596189e-02 -1.64364584e-02 1.25121089e+02] [ 6.82687633e-02 9.97666966e-01 -4.74970051e-06 2.59700124e+00] [ 1.63984358e-02 -1.11735871e-03 9.99864912e-01 1.35623475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30509989299999 meters 0.03349565826774822 Centerline is valid? [True, True] Translation: X:125.15, Y:2.60, Z:1.36 [[ 9.97428295e-01 -6.94478841e-02 -1.77140354e-02 1.25153015e+02] [ 6.94586988e-02 9.97584828e-01 -4.73837304e-06 2.59744831e+00] [ 1.76715820e-02 -1.22566766e-03 9.99843094e-01 1.35566282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33509989299999 meters 0.03588670967953319 Centerline is valid? [True, True] Translation: X:125.18, Y:2.59, Z:1.35 [[ 9.97379418e-01 -6.98663649e-02 -1.87879784e-02 1.25183866e+02] [ 6.98786289e-02 9.97555501e-01 -3.75186895e-06 2.59451865e+00] [ 1.87423133e-02 -1.30913613e-03 9.99823490e-01 1.35497812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.365099893 meters 0.03409787028217322 Centerline is valid? [True, True] Translation: X:125.22, Y:2.60, Z:1.36 [[ 9.97527792e-01 -6.81175730e-02 -1.72713737e-02 1.25215731e+02] [ 6.81276905e-02 9.97676610e-01 -2.58695133e-06 2.59884651e+00] [ 1.72314218e-02 -1.17407825e-03 9.99850839e-01 1.35799632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.395099893 meters 0.03523752917859604 Centerline is valid? [True, True] Translation: X:125.25, Y:2.60, Z:1.36 [[ 9.97671129e-01 -6.61220946e-02 -1.67388137e-02 1.25246192e+02] [ 6.61313298e-02 9.97810928e-01 -1.79677511e-06 2.59889963e+00] [ 1.67022901e-02 -1.10516742e-03 9.99859896e-01 1.35933117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.425099893 meters 0.03435254248656568 Centerline is valid? [True, True] Translation: X:125.28, Y:2.60, Z:1.36 [[ 9.97829859e-01 -6.37997115e-02 -1.62839990e-02 1.25277439e+02] [ 6.38081492e-02 9.97962184e-01 -1.40154487e-06 2.60149313e+00] [ 1.62509046e-02 -1.03765334e-03 9.99867407e-01 1.36082782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45509989299998 meters 0.02559736732868271 Centerline is valid? [True, True] Translation: X:125.31, Y:2.62, Z:1.36 [[ 9.98187942e-01 -5.78329966e-02 -1.66185880e-02 1.25308529e+02] [ 5.78409682e-02 9.98325810e-01 -9.76898227e-07 2.61605805e+00] [ 1.65908219e-02 -9.60260093e-04 9.99861902e-01 1.36228394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48509989299998 meters 0.02528643543889069 Centerline is valid? [True, True] Translation: X:125.34, Y:2.62, Z:1.36 [[ 9.98370421e-01 -5.45327495e-02 -1.68131282e-02 1.25338530e+02] [ 5.45404433e-02 9.98511562e-01 -9.28359513e-07 2.61806274e+00] [ 1.67881535e-02 -9.16068617e-04 9.99858649e-01 1.36252490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51509989299998 meters 0.024949290580499005 Centerline is valid? [True, True] Translation: X:125.37, Y:2.62, Z:1.36 [[ 9.98721150e-01 -4.77439819e-02 -1.66306134e-02 1.25367826e+02] [ 4.77505691e-02 9.98859291e-01 -9.98242597e-07 2.62113208e+00] [ 1.66116903e-02 -7.93124287e-04 9.99861702e-01 1.36312723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54509989299999 meters 0.02015917731040687 Centerline is valid? [True, True] Translation: X:125.40, Y:2.63, Z:1.36 [[ 9.99023625e-01 -4.08483609e-02 -1.68288175e-02 1.25398567e+02] [ 4.08541256e-02 9.99165122e-01 -1.23998413e-06 2.63103790e+00] [ 1.68148181e-02 -6.86287849e-04 9.99858385e-01 1.36488280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57509989299999 meters 0.01990400072861563 Centerline is valid? [True, True] Translation: X:125.43, Y:2.63, Z:1.37 [[ 9.99155083e-01 -3.73138975e-02 -1.72276658e-02 1.25428969e+02] [ 3.73194159e-02 9.99303388e-01 -1.16655239e-06 2.63262017e+00] [ 1.72157083e-02 -6.41760857e-04 9.99851593e-01 1.36520882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60509989299999 meters 0.017619700822999282 Centerline is valid? [True, True] Translation: X:125.46, Y:2.64, Z:1.37 [[ 9.99265686e-01 -3.40466156e-02 -1.75760504e-02 1.25460916e+02] [ 3.40518642e-02 9.99420067e-01 -6.49269071e-07 2.63744029e+00] [ 1.75658795e-02 -5.97848488e-04 9.99845529e-01 1.36595173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63509989299999 meters 0.016343973084408246 Centerline is valid? [True, True] Translation: X:125.49, Y:2.64, Z:1.37 [[ 9.99458409e-01 -2.74794225e-02 -1.81044288e-02 1.25490538e+02] [ 2.74839286e-02 9.99622245e-01 8.75579760e-08 2.64164280e+00] [ 1.80975874e-02 -4.97668341e-04 9.99836101e-01 1.36687890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66509989299999 meters 0.01539661427984053 Centerline is valid? [True, True] Translation: X:125.52, Y:2.64, Z:1.37 [[ 9.99529179e-01 -2.41215992e-02 -1.89623172e-02 1.25519872e+02] [ 2.41259342e-02 9.99708927e-01 -1.49347832e-07 2.64429994e+00] [ 1.89568014e-02 -4.57334341e-04 9.99820199e-01 1.36697633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69509989299999 meters 0.015531368528625316 Centerline is valid? [True, True] Translation: X:125.55, Y:2.64, Z:1.37 [[ 9.99585794e-01 -2.06927230e-02 -2.00012987e-02 1.25548173e+02] [ 2.06968119e-02 9.99785798e-01 -2.57301797e-06 2.64492132e+00] [ 1.99970677e-02 -4.11391165e-04 9.99799954e-01 1.36618089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72509989299999 meters 0.013691169182150716 Centerline is valid? [True, True] Translation: X:125.58, Y:2.65, Z:1.37 [[ 9.99689603e-01 -1.36621851e-02 -2.08336706e-02 1.25576669e+02] [ 1.36650144e-02 9.99906629e-01 -6.55641549e-06 2.65093161e+00] [ 2.08318149e-02 -2.78138029e-04 9.99782956e-01 1.36651796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.755099893 meters 0.013285939883749804 Centerline is valid? [True, True] Translation: X:125.61, Y:2.65, Z:1.37 [[ 9.99729272e-01 -1.00990843e-02 -2.09616657e-02 1.25605745e+02] [ 1.01011016e-02 9.99948983e-01 -9.64280046e-06 2.65365959e+00] [ 2.09606937e-02 -2.02095725e-04 9.99780280e-01 1.36686680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.785099893 meters 0.012840646330255084 Centerline is valid? [True, True] Translation: X:125.63, Y:2.66, Z:1.37 [[ 9.99773663e-01 -3.15061023e-03 -2.10403391e-02 1.25633762e+02] [ 3.15101449e-03 9.99995035e-01 -1.39394198e-05 2.65831141e+00] [ 2.10402785e-02 -5.23621485e-05 9.99778627e-01 1.36702002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.815099893 meters 0.01272009879072515 Centerline is valid? [True, True] Translation: X:125.66, Y:2.66, Z:1.37 [[ 9.99787411e-01 1.39392967e-03 -2.05715607e-02 1.25661801e+02] [-1.39458731e-03 9.99999027e-01 -1.76224252e-05 2.66056080e+00] [ 2.05715161e-02 4.63075163e-05 9.99788383e-01 1.36780069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84509989299998 meters 0.012742397982884417 Centerline is valid? [True, True] Translation: X:125.69, Y:2.66, Z:1.37 [[ 9.99778292e-01 2.61892309e-03 -2.08927559e-02 1.25690085e+02] [-2.61996155e-03 9.99996568e-01 -2.23323572e-05 2.66081407e+00] [ 2.08926257e-02 7.70656231e-05 9.99781722e-01 1.36786557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87509989299998 meters 0.012913351564063046 Centerline is valid? [True, True] Translation: X:125.72, Y:2.66, Z:1.37 [[ 9.99772487e-01 3.58651521e-03 -2.10264598e-02 1.25718192e+02] [-3.58782082e-03 9.99993563e-01 -2.43701293e-05 2.66093157e+00] [ 2.10262371e-02 9.98037551e-05 9.99778919e-01 1.36686539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90509989299998 meters 0.012865929305458481 Centerline is valid? [True, True] Translation: X:125.75, Y:2.66, Z:1.37 [[ 9.99777917e-01 3.68527912e-03 -2.07493706e-02 1.25746008e+02] [-3.68661278e-03 9.99993204e-01 -2.60233616e-05 2.65870428e+00] [ 2.07491337e-02 1.02512477e-04 9.99784708e-01 1.36717618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93509989299999 meters 0.012700514250491048 Centerline is valid? [True, True] Translation: X:125.77, Y:2.66, Z:1.37 [[ 9.99806078e-01 2.48648950e-03 -1.95352181e-02 1.25774895e+02] [-2.48747694e-03 9.99996906e-01 -2.62475473e-05 2.65581060e+00] [ 1.95350924e-02 7.48358618e-05 9.99809169e-01 1.36872595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96509989299999 meters 0.012590887320414993 Centerline is valid? [True, True] Translation: X:125.80, Y:2.65, Z:1.37 [[ 9.99817900e-01 4.01830975e-04 -1.90789488e-02 1.25802848e+02] [-4.02421400e-04 9.99999919e-01 -2.71071866e-05 2.65166427e+00] [ 1.90789363e-02 3.47800277e-05 9.99817980e-01 1.36916968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99509989299999 meters 0.012567357872260774 Centerline is valid? [True, True] Translation: X:125.83, Y:2.64, Z:1.37 [[ 9.99819431e-01 -5.56134927e-03 -1.81707792e-02 1.25830694e+02] [ 5.56176798e-03 9.99984533e-01 -2.74922942e-05 2.64201034e+00] [ 1.81706510e-02 -7.35743278e-05 9.99834897e-01 1.36940771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02509989299999 meters 0.013039721430811039 Centerline is valid? [True, True] Translation: X:125.86, Y:2.63, Z:1.37 [[ 9.99798762e-01 -1.10654629e-02 -1.67329408e-02 1.25857965e+02] [ 1.10665605e-02 9.99938763e-01 -2.69990785e-05 2.63359679e+00] [ 1.67322149e-02 -1.58182456e-04 9.99859994e-01 1.37025988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05509989299999 meters 0.013945843695929432 Centerline is valid? [True, True] Translation: X:125.89, Y:2.62, Z:1.37 [[ 9.99679788e-01 -1.91326052e-02 -1.65609495e-02 1.25887760e+02] [ 1.91347628e-02 9.99816913e-01 -2.81740839e-05 2.62310329e+00] [ 1.65584564e-02 -2.88724778e-04 9.99862858e-01 1.37122590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08509989299999 meters 0.015088340290467394 Centerline is valid? [True, True] Translation: X:125.92, Y:2.62, Z:1.37 [[ 9.99575082e-01 -2.32927248e-02 -1.75243795e-02 1.25916317e+02] [ 2.32957666e-02 9.99728616e-01 -3.05674090e-05 2.61549248e+00] [ 1.75203356e-02 -3.77689433e-04 9.99846436e-01 1.37051357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.115099893 meters 0.015250489509088676 Centerline is valid? [True, True] Translation: X:125.95, Y:2.61, Z:1.37 [[ 9.99524363e-01 -2.48621186e-02 -1.82461646e-02 1.25945142e+02] [ 2.48656379e-02 9.99690802e-01 -3.40049986e-05 2.61274687e+00] [ 1.82413684e-02 -4.19713697e-04 9.99833524e-01 1.37032187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.145099893 meters 0.015753797365343006 Centerline is valid? [True, True] Translation: X:125.97, Y:2.61, Z:1.37 [[ 9.99481159e-01 -2.63512594e-02 -1.85209112e-02 1.25973315e+02] [ 2.63550669e-02 9.99652644e-01 -3.85162999e-05 2.60943649e+00] [ 1.85154928e-02 -4.49623536e-04 9.99828472e-01 1.37027277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.175099893 meters 0.015753797365343006 Centerline is valid? [True, True] Translation: X:126.00, Y:2.61, Z:1.37 [[ 9.99474544e-01 -2.66009851e-02 -1.85209040e-02 1.26001575e+02] [ 2.66047759e-02 9.99646029e-01 -4.17321090e-05 2.60953384e+00] [ 1.85154582e-02 -4.51034319e-04 9.99828472e-01 1.37062271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20509989299998 meters 0.015745483882449677 Centerline is valid? [True, True] Translation: X:126.03, Y:2.61, Z:1.37 [[ 9.99433079e-01 -2.78843645e-02 -1.88674858e-02 1.26030390e+02] [ 2.78884367e-02 9.99611041e-01 -4.73036181e-05 2.60729849e+00] [ 1.88614662e-02 -4.78907883e-04 9.99821992e-01 1.37077522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23509989299998 meters 0.015745483882449677 Centerline is valid? [True, True] Translation: X:126.06, Y:2.61, Z:1.37 [[ 9.99425998e-01 -2.81370260e-02 -1.88674729e-02 1.26058651e+02] [ 2.81410532e-02 9.99603961e-01 -5.20725749e-05 2.60740697e+00] [ 1.88614658e-02 -4.78907873e-04 9.99821992e-01 1.37112554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26509989299998 meters 0.01594022020500879 Centerline is valid? [True, True] Translation: X:126.09, Y:2.61, Z:1.37 [[ 9.99406698e-01 -2.86873319e-02 -1.90601642e-02 1.26087604e+02] [ 2.86914495e-02 9.99588314e-01 -5.74474267e-05 2.60513747e+00] [ 1.90539654e-02 -4.89450395e-04 9.99818337e-01 1.37152595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29509989299999 meters 0.01733572056923494 Centerline is valid? [True, True] Translation: X:126.12, Y:2.60, Z:1.37 [[ 9.99398812e-01 -2.89488900e-02 -1.90781460e-02 1.26115792e+02] [ 2.89529922e-02 9.99580772e-01 -6.12157693e-05 2.60115979e+00] [ 1.90719200e-02 -4.91190443e-04 9.99817994e-01 1.37125406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32509989299999 meters 0.016619031697827667 Centerline is valid? [True, True] Translation: X:126.14, Y:2.60, Z:1.37 [[ 9.99392922e-01 -2.90957475e-02 -1.91631312e-02 1.26144768e+02] [ 2.90998601e-02 9.99576507e-01 -6.42620204e-05 2.60125966e+00] [ 1.91568855e-02 -4.93421428e-04 9.99816368e-01 1.37204980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35509989299999 meters 0.016590458228701525 Centerline is valid? [True, True] Translation: X:126.17, Y:2.60, Z:1.37 [[ 9.99390324e-01 -2.90499609e-02 -1.93669836e-02 1.26173481e+02] [ 2.90540604e-02 9.99577839e-01 -6.97225168e-05 2.60004168e+00] [ 1.93608330e-02 -4.93009502e-04 9.99812440e-01 1.37234831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38509989299999 meters 0.016527359089409745 Centerline is valid? [True, True] Translation: X:126.20, Y:2.60, Z:1.37 [[ 9.99392542e-01 -2.83248475e-02 -2.03039635e-02 1.26201767e+02] [ 2.83291005e-02 9.99598647e-01 -7.81882760e-05 2.59738400e+00] [ 2.02980291e-02 -4.97052243e-04 9.99793850e-01 1.37140869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41509989299999 meters 0.016450443257685934 Centerline is valid? [True, True] Translation: X:126.23, Y:2.60, Z:1.37 [[ 9.99401240e-01 -2.77658427e-02 -2.06450787e-02 1.26230219e+02] [ 2.77700165e-02 9.99614335e-01 -8.45443034e-05 2.59630521e+00] [ 2.06394640e-02 -4.88820494e-04 9.99786864e-01 1.37132395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44509989299999 meters 0.015351148373843788 Centerline is valid? [True, True] Translation: X:126.26, Y:2.60, Z:1.37 [[ 9.99408776e-01 -2.73105215e-02 -2.08862157e-02 1.26258695e+02] [ 2.73145864e-02 9.99626883e-01 -9.06865405e-05 2.59763442e+00] [ 2.08808994e-02 -4.79865421e-04 9.99781855e-01 1.37205155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47509989299999 meters 0.015574271938881815 Centerline is valid? [True, True] Translation: X:126.29, Y:2.60, Z:1.37 [[ 9.99443489e-01 -2.66012264e-02 -2.01267826e-02 1.26286146e+02] [ 2.66047831e-02 9.99646026e-01 -9.10724487e-05 2.59634641e+00] [ 2.01220809e-02 -4.44446919e-04 9.99797432e-01 1.37274187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.505099893 meters 0.016095924499419236 Centerline is valid? [True, True] Translation: X:126.31, Y:2.60, Z:1.37 [[ 9.99462940e-01 -2.63839860e-02 -1.94349487e-02 1.26314168e+02] [ 2.63872287e-02 9.99651792e-01 -8.96179034e-05 2.59509859e+00] [ 1.94305458e-02 -4.23264663e-04 9.99811120e-01 1.37347265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.535099893 meters 0.015232692526267105 Centerline is valid? [True, True] Translation: X:126.34, Y:2.60, Z:1.37 [[ 9.99490951e-01 -2.59717361e-02 -1.85285530e-02 1.26343259e+02] [ 2.59745653e-02 9.99662600e-01 -8.79821020e-05 2.59574110e+00] [ 1.85245865e-02 -3.93333795e-04 9.99828328e-01 1.37436818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.565099893 meters 0.014848983625664483 Centerline is valid? [True, True] Translation: X:126.37, Y:2.60, Z:1.37 [[ 9.99491182e-01 -2.58173181e-02 -1.87307929e-02 1.26371614e+02] [ 2.58200905e-02 9.99666601e-01 -9.38475981e-05 2.59504053e+00] [ 1.87269710e-02 -3.89830923e-04 9.99824559e-01 1.37380947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59509989299998 meters 0.014919666236929282 Centerline is valid? [True, True] Translation: X:126.40, Y:2.59, Z:1.37 [[ 9.99478664e-01 -2.62219146e-02 -1.88364499e-02 1.26399136e+02] [ 2.62246881e-02 9.99656069e-01 -9.98001276e-05 2.59384876e+00] [ 1.88325884e-02 -3.94231926e-04 9.99822573e-01 1.37409834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62509989299998 meters 0.015059571348666975 Centerline is valid? [True, True] Translation: X:126.43, Y:2.59, Z:1.37 [[ 9.99463655e-01 -2.69524937e-02 -1.86001272e-02 1.26427502e+02] [ 2.69552304e-02 9.99636636e-01 -1.03605074e-04 2.59348497e+00] [ 1.85961610e-02 -3.97821208e-04 9.99826997e-01 1.37478629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65509989299998 meters 0.015152887273668082 Centerline is valid? [True, True] Translation: X:126.46, Y:2.59, Z:1.38 [[ 9.99440602e-01 -2.79130496e-02 -1.84212878e-02 1.26455824e+02] [ 2.79158124e-02 9.99610272e-01 -1.07196143e-04 2.59320001e+00] [ 1.84171007e-02 -4.07109037e-04 9.99830308e-01 1.37564364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68509989299999 meters 0.015892646012979978 Centerline is valid? [True, True] Translation: X:126.48, Y:2.59, Z:1.38 [[ 9.99422785e-01 -2.86881119e-02 -1.81958365e-02 1.26483961e+02] [ 2.86908706e-02 9.99588326e-01 -1.09470590e-04 2.59140611e+00] [ 1.81914863e-02 -4.12646990e-04 9.99834436e-01 1.37628965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71509989299999 meters 0.015620346090600682 Centerline is valid? [True, True] Translation: X:126.51, Y:2.59, Z:1.38 [[ 9.99382309e-01 -3.00016447e-02 -1.83003263e-02 1.26512668e+02] [ 3.00046079e-02 9.99549754e-01 -1.12690924e-04 2.59094508e+00] [ 1.82954676e-02 -4.36472800e-04 9.99832529e-01 1.37693701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74509989299999 meters 0.015620346090600682 Centerline is valid? [True, True] Translation: X:126.54, Y:2.59, Z:1.38 [[ 9.99374763e-01 -3.02519881e-02 -1.83002971e-02 1.26540933e+02] [ 3.02549093e-02 9.99542209e-01 -1.17275066e-04 2.59115922e+00] [ 1.82954672e-02 -4.36472089e-04 9.99832529e-01 1.37728731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77509989299999 meters 0.01591721561118324 Centerline is valid? [True, True] Translation: X:126.57, Y:2.59, Z:1.38 [[ 9.99362715e-01 -3.05856546e-02 -1.84033105e-02 1.26570020e+02] [ 3.05886021e-02 9.99532052e-01 -1.21370996e-04 2.59013663e+00] [ 1.83984109e-02 -4.41637895e-04 9.99830637e-01 1.37755013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80509989299999 meters 0.015915508197754686 Centerline is valid? [True, True] Translation: X:126.60, Y:2.59, Z:1.38 [[ 9.99353181e-01 -3.12139549e-02 -1.78580063e-02 1.26598345e+02] [ 3.12167946e-02 9.99512630e-01 -1.19786595e-04 2.58987376e+00] [ 1.78530419e-02 -4.37760601e-04 9.99840526e-01 1.37874974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83509989299999 meters 0.01570361731152443 Centerline is valid? [True, True] Translation: X:126.63, Y:2.59, Z:1.38 [[ 9.99353722e-01 -3.13095672e-02 -1.76592325e-02 1.26627922e+02] [ 3.13123016e-02 9.99509642e-01 -1.21702488e-04 2.59023522e+00] [ 1.76543837e-02 -4.31327381e-04 9.99844056e-01 1.37972341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.865099893 meters 0.016089091127700777 Centerline is valid? [True, True] Translation: X:126.66, Y:2.59, Z:1.38 [[ 9.99346327e-01 -3.14830538e-02 -1.77689588e-02 1.26656108e+02] [ 3.14858365e-02 9.99504191e-01 -1.23196208e-04 2.58942285e+00] [ 1.77640274e-02 -4.36354855e-04 9.99842112e-01 1.37985449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.895099893 meters 0.015571194904906202 Centerline is valid? [True, True] Translation: X:126.69, Y:2.59, Z:1.38 [[ 9.99338785e-01 -3.16461350e-02 -1.79029388e-02 1.26685844e+02] [ 3.16489705e-02 9.99499038e-01 -1.24994679e-04 2.59032689e+00] [ 1.78979257e-02 -4.41697551e-04 9.99839722e-01 1.38035956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.925099893 meters 0.016018590635864086 Centerline is valid? [True, True] Translation: X:126.71, Y:2.59, Z:1.38 [[ 9.99321278e-01 -3.20480721e-02 -1.81632946e-02 1.26714626e+02] [ 3.20510430e-02 9.99486225e-01 -1.27585104e-04 2.58806419e+00] [ 1.81580517e-02 -4.54654028e-04 9.99835026e-01 1.38030508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95509989299998 meters 0.01661825226218828 Centerline is valid? [True, True] Translation: X:126.74, Y:2.59, Z:1.38 [[ 9.99318358e-01 -3.23601589e-02 -1.77662489e-02 1.26743320e+02] [ 3.23630338e-02 9.99476172e-01 -1.25741161e-04 2.58633620e+00] [ 1.77610115e-02 -4.49314263e-04 9.99842160e-01 1.38070700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98509989299998 meters 0.015797268275690016 Centerline is valid? [True, True] Translation: X:126.77, Y:2.59, Z:1.38 [[ 9.99295981e-01 -3.33566503e-02 -1.71719801e-02 1.26773033e+02] [ 3.33594691e-02 9.99443411e-01 -1.22349508e-04 2.58691283e+00] [ 1.71665035e-02 -4.50584768e-04 9.99852543e-01 1.38200146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01509989299998 meters 0.016545625334054948 Centerline is valid? [True, True] Translation: X:126.80, Y:2.58, Z:1.38 [[ 9.99293796e-01 -3.35346622e-02 -1.69510010e-02 1.26802288e+02] [ 3.35374254e-02 9.99437455e-01 -1.21307286e-04 2.58496582e+00] [ 1.69455333e-02 -4.47271314e-04 9.99856314e-01 1.38214227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04509989299999 meters 0.016078274157101866 Centerline is valid? [True, True] Translation: X:126.83, Y:2.59, Z:1.38 [[ 9.99255459e-01 -3.44043982e-02 -1.74603723e-02 1.26832093e+02] [ 3.44074554e-02 9.99407880e-01 -1.25371457e-04 2.58543969e+00] [ 1.74543470e-02 -4.75488869e-04 9.99847548e-01 1.38281233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07509989299999 meters 0.016419470130411944 Centerline is valid? [True, True] Translation: X:126.86, Y:2.58, Z:1.38 [[ 9.99233089e-01 -3.47030065e-02 -1.81365504e-02 1.26862042e+02] [ 3.47063438e-02 9.99397545e-01 -1.30802042e-04 2.58478918e+00] [ 1.81301631e-02 -4.98751624e-04 9.99835511e-01 1.38267056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10509989299999 meters 0.016758399485900806 Centerline is valid? [True, True] Translation: X:126.89, Y:2.58, Z:1.38 [[ 9.99177252e-01 -3.59126766e-02 -1.88440466e-02 1.26891314e+02] [ 3.59164856e-02 9.99354786e-01 -1.36373114e-04 2.58344896e+00] [ 1.88367857e-02 -5.40551017e-04 9.99822426e-01 1.38226913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13509989299999 meters 0.017057142449612647 Centerline is valid? [True, True] Translation: X:126.92, Y:2.58, Z:1.38 [[ 9.99124877e-01 -3.66678223e-02 -2.01233920e-02 1.26921138e+02] [ 3.66723040e-02 9.99327334e-01 -1.46390772e-04 2.58253681e+00] [ 2.01152235e-02 -5.91708486e-04 9.99797493e-01 1.38204764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16509989299999 meters 0.018299457384032432 Centerline is valid? [True, True] Translation: X:126.95, Y:2.58, Z:1.38 [[ 9.99063623e-01 -3.82212933e-02 -2.02734004e-02 1.26949768e+02] [ 3.82261439e-02 9.99269103e-01 -1.48356863e-04 2.57973933e+00] [ 2.02642530e-02 -6.26755975e-04 9.99794462e-01 1.38130760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19509989299999 meters 0.017575469949575193 Centerline is valid? [True, True] Translation: X:126.98, Y:2.58, Z:1.38 [[ 9.99043047e-01 -3.91004958e-02 -1.95995278e-02 1.26978951e+02] [ 3.91051496e-02 9.99235090e-01 -1.45902107e-04 2.58113702e+00] [ 1.95902408e-02 -6.20679983e-04 9.99807900e-01 1.38233833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22509989299999 meters 0.01885704814046963 Centerline is valid? [True, True] Translation: X:127.01, Y:2.58, Z:1.38 [[ 9.99018455e-01 -3.98665695e-02 -1.93075826e-02 1.27007439e+02] [ 3.98711593e-02 9.99204818e-01 -1.47319005e-04 2.57917103e+00] [ 1.92981026e-02 -6.22641296e-04 9.99813580e-01 1.38280944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.255099893 meters 0.019961943534176404 Centerline is valid? [True, True] Translation: X:127.04, Y:2.58, Z:1.38 [[ 9.98984924e-01 -4.12124045e-02 -1.81840396e-02 1.27036806e+02] [ 4.12166810e-02 9.99150222e-01 -1.39689534e-04 2.57783856e+00] [ 1.81743442e-02 -6.09938022e-04 9.99834647e-01 1.38423317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.285099893 meters 0.018578140328275056 Centerline is valid? [True, True] Translation: X:127.07, Y:2.58, Z:1.39 [[ 9.98964970e-01 -4.19116822e-02 -1.76748055e-02 1.27067429e+02] [ 4.19158282e-02 9.99121136e-01 -1.35987198e-04 2.58038292e+00] [ 1.76649712e-02 -6.05007664e-04 9.99843779e-01 1.38516727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.315099893 meters 0.019611771282942662 Centerline is valid? [True, True] Translation: X:127.10, Y:2.58, Z:1.38 [[ 9.98903037e-01 -4.28439404e-02 -1.88975789e-02 1.27097515e+02] [ 4.28488488e-02 9.99081556e-01 -1.45278457e-04 2.57879008e+00] [ 1.88864469e-02 -6.64620410e-04 9.99821414e-01 1.38419394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34509989299998 meters 0.019450841857877876 Centerline is valid? [True, True] Translation: X:127.13, Y:2.58, Z:1.38 [[ 9.98887892e-01 -4.33335790e-02 -1.85790220e-02 1.27127734e+02] [ 4.33384119e-02 9.99060439e-01 -1.42612533e-04 2.57963953e+00] [ 1.85677458e-02 -6.62731376e-04 9.99827385e-01 1.38439205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37509989299998 meters 0.019873580175562747 Centerline is valid? [True, True] Translation: X:127.16, Y:2.58, Z:1.38 [[ 9.98819723e-01 -4.48719109e-02 -1.85922538e-02 1.27158636e+02] [ 4.48770167e-02 9.98992509e-01 -1.42714100e-04 2.58077130e+00] [ 1.85799261e-02 -6.91819226e-04 9.99827139e-01 1.38483267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40509989299998 meters 0.02056028534910332 Centerline is valid? [True, True] Translation: X:127.19, Y:2.58, Z:1.38 [[ 9.98764039e-01 -4.61432209e-02 -1.84715474e-02 1.27188963e+02] [ 4.61484778e-02 9.98934581e-01 -1.41787558e-04 2.58046533e+00] [ 1.84584100e-02 -7.10821480e-04 9.99829376e-01 1.38494672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43509989299999 meters 0.021977028003291117 Centerline is valid? [True, True] Translation: X:127.22, Y:2.58, Z:1.39 [[ 9.98617016e-01 -4.94484077e-02 -1.78580398e-02 1.27220098e+02] [ 4.94538525e-02 9.98776400e-01 -1.36862415e-04 2.57884365e+00] [ 1.78429563e-02 -7.46475727e-04 9.99840523e-01 1.38504086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46509989299999 meters 0.022430173001623095 Centerline is valid? [True, True] Translation: X:127.25, Y:2.58, Z:1.39 [[ 9.98522306e-01 -5.12871634e-02 -1.79674993e-02 1.27251471e+02] [ 5.12929845e-02 9.98683639e-01 -1.37013329e-04 2.57856238e+00] [ 1.79508746e-02 -7.84795800e-04 9.99838562e-01 1.38522654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49509989299999 meters 0.024455424999598557 Centerline is valid? [True, True] Translation: X:127.28, Y:2.58, Z:1.38 [[ 9.98404032e-01 -5.33944788e-02 -1.83961543e-02 1.27282148e+02] [ 5.34009482e-02 9.98573142e-01 -1.39725929e-04 2.57629789e+00] [ 1.83773662e-02 -8.42869150e-04 9.99830767e-01 1.38467967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52509989299999 meters 0.026075088554247602 Centerline is valid? [True, True] Translation: X:127.31, Y:2.58, Z:1.38 [[ 9.98162469e-01 -5.73556174e-02 -1.95452910e-02 1.27313133e+02] [ 5.73636864e-02 9.98353337e-01 -1.48027320e-04 2.57567482e+00] [ 1.95215967e-02 -9.73434629e-04 9.99808962e-01 1.38391693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55509989299999 meters 0.02687268951096963 Centerline is valid? [True, True] Translation: X:127.34, Y:2.58, Z:1.38 [[ 9.98053568e-01 -5.93070173e-02 -1.92809084e-02 1.27344544e+02] [ 5.93152435e-02 9.98239290e-01 -1.45452460e-04 2.57607450e+00] [ 1.92555866e-02 -9.98482427e-04 9.99814095e-01 1.38447384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58509989299999 meters 0.028654123827968177 Centerline is valid? [True, True] Translation: X:127.37, Y:2.58, Z:1.39 [[ 9.97923300e-01 -6.15382911e-02 -1.90296205e-02 1.27374476e+02] [ 6.15467168e-02 9.98104194e-01 -1.43130757e-04 2.57609841e+00] [ 1.90023520e-02 -1.02837714e-03 9.99818910e-01 1.38525468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.615099893 meters 0.02441866761993624 Centerline is valid? [True, True] Translation: X:127.41, Y:2.58, Z:1.39 [[ 9.97896653e-01 -6.20525236e-02 -1.87551086e-02 1.27406262e+02] [ 6.20608073e-02 9.98072360e-01 -1.40595443e-04 2.58311846e+00] [ 1.87276798e-02 -1.02365746e-03 9.99824098e-01 1.38660983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.645099893 meters 0.030311367381379427 Centerline is valid? [True, True] Translation: X:127.44, Y:2.58, Z:1.39 [[ 9.97919800e-01 -6.18362745e-02 -1.82304348e-02 1.27437459e+02] [ 6.18440870e-02 9.98085813e-01 -1.35455279e-04 2.57629532e+00] [ 1.82039144e-02 -9.92271093e-04 9.99833803e-01 1.38632393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.675099893 meters 0.029026923387517358 Centerline is valid? [True, True] Translation: X:127.47, Y:2.58, Z:1.39 [[ 9.98060744e-01 -5.97785686e-02 -1.73572487e-02 1.27469099e+02] [ 5.97853558e-02 9.98211248e-01 -1.28065125e-04 2.58122028e+00] [ 1.73338564e-02 -9.09892513e-04 9.99849343e-01 1.38817101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70509989299998 meters 0.026430256965643287 Centerline is valid? [True, True] Translation: X:127.50, Y:2.59, Z:1.39 [[ 9.98177358e-01 -5.79963890e-02 -1.66847583e-02 1.27500948e+02] [ 5.80024258e-02 9.98316435e-01 -1.22272197e-04 2.58702461e+00] [ 1.66637597e-02 -8.45707117e-04 9.99860792e-01 1.38960960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73509989299998 meters 0.024748412874599657 Centerline is valid? [True, True] Translation: X:127.53, Y:2.59, Z:1.39 [[ 9.98478968e-01 -5.29496812e-02 -1.53649755e-02 1.27531103e+02] [ 5.29542137e-02 9.98596935e-01 -1.11987380e-04 2.59456640e+00] [ 1.53493471e-02 -7.01823150e-04 9.99881946e-01 1.39098969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76509989299998 meters 0.022434035509944727 Centerline is valid? [True, True] Translation: X:127.56, Y:2.60, Z:1.39 [[ 9.98793391e-01 -4.66464157e-02 -1.53582184e-02 1.27561530e+02] [ 4.66502023e-02 9.98911280e-01 -1.11804177e-04 2.60284266e+00] [ 1.53467129e-02 -6.04794724e-04 9.99882049e-01 1.39158165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79509989299999 meters 0.018988056737201435 Centerline is valid? [True, True] Translation: X:127.59, Y:2.61, Z:1.39 [[ 9.98929716e-01 -4.37467315e-02 -1.50214985e-02 1.27593326e+02] [ 4.37500291e-02 9.99042503e-01 -1.09180113e-04 2.61043984e+00] [ 1.50118918e-02 -5.48127738e-04 9.99887165e-01 1.39238182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82509989299999 meters 0.01713279074761935 Centerline is valid? [True, True] Translation: X:127.62, Y:2.62, Z:1.39 [[ 9.99131081e-01 -3.89995390e-02 -1.47009566e-02 1.27623998e+02] [ 3.90021943e-02 9.99239119e-01 -1.06146887e-04 2.61745974e+00] [ 1.46939106e-02 -4.67314909e-04 9.99891929e-01 1.39280662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85509989299999 meters 0.017291109434487764 Centerline is valid? [True, True] Translation: X:127.65, Y:2.62, Z:1.39 [[ 9.99229375e-01 -3.65523944e-02 -1.43031165e-02 1.27654052e+02] [ 3.65546610e-02 9.99331650e-01 -1.03018199e-04 2.62060479e+00] [ 1.42973226e-02 -4.19906765e-04 9.99897700e-01 1.39327276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88509989299999 meters 0.017770683480883107 Centerline is valid? [True, True] Translation: X:127.68, Y:2.62, Z:1.39 [[ 9.99243563e-01 -3.58749170e-02 -1.50097219e-02 1.27684781e+02] [ 3.58773425e-02 9.99356195e-01 -1.07730038e-04 2.62147208e+00] [ 1.50039233e-02 -4.30860384e-04 9.99887342e-01 1.39315585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91509989299999 meters 0.016224091635505682 Centerline is valid? [True, True] Translation: X:127.72, Y:2.63, Z:1.39 [[ 9.99208646e-01 -3.59930405e-02 -1.69287602e-02 1.27715898e+02] [ 3.59961584e-02 9.99351921e-01 -1.20590027e-04 2.62744499e+00] [ 1.69221294e-02 -4.88875736e-04 9.99856691e-01 1.39191554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94509989299999 meters 0.016640752219597276 Centerline is valid? [True, True] Translation: X:127.75, Y:2.63, Z:1.39 [[ 9.99171128e-01 -3.63405537e-02 -1.83417978e-02 1.27746119e+02] [ 3.63442836e-02 9.99339320e-01 -1.30052320e-04 2.62782625e+00] [ 1.83344059e-02 -5.36674977e-04 9.99831767e-01 1.39094658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97509989299999 meters 0.017196183280558833 Centerline is valid? [True, True] Translation: X:127.78, Y:2.63, Z:1.39 [[ 9.99106781e-01 -3.73655070e-02 -1.97347085e-02 1.27776382e+02] [ 3.73700323e-02 9.99301487e-01 -1.39552048e-04 2.62855370e+00] [ 1.97261380e-02 -5.98059296e-04 9.99805242e-01 1.38961126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.005099893 meters 0.01749498772704701 Centerline is valid? [True, True] Translation: X:127.81, Y:2.63, Z:1.39 [[ 9.99085606e-01 -3.80956304e-02 -1.94081281e-02 1.27807247e+02] [ 3.81001490e-02 9.99273916e-01 -1.37022547e-04 2.62989670e+00] [ 1.93992561e-02 -6.02555319e-04 9.99811635e-01 1.39004639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.035099893 meters 0.017983119621554664 Centerline is valid? [True, True] Translation: X:127.84, Y:2.63, Z:1.39 [[ 9.99139344e-01 -3.75723783e-02 -1.75752217e-02 1.27837686e+02] [ 3.75760043e-02 9.99293765e-01 -1.23989112e-04 2.63116405e+00] [ 1.75674680e-02 -5.36524205e-04 9.99845536e-01 1.39181407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.065099893 meters 0.01688328769149871 Centerline is valid? [True, True] Translation: X:127.87, Y:2.63, Z:1.39 [[ 9.99176531e-01 -3.71482751e-02 -1.63176686e-02 1.27868984e+02] [ 3.71513498e-02 9.99309644e-01 -1.14768423e-04 2.63451493e+00] [ 1.63106671e-02 -4.91549501e-04 9.99866851e-01 1.39338574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09509989299998 meters 0.01651645262843636 Centerline is valid? [True, True] Translation: X:127.90, Y:2.64, Z:1.39 [[ 9.99258923e-01 -3.53450839e-02 -1.52423561e-02 1.27900717e+02] [ 3.53475657e-02 9.99375074e-01 -1.06635905e-04 2.63745474e+00] [ 1.52365998e-02 -4.32223305e-04 9.99883823e-01 1.39498909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12509989299998 meters 0.016491046087690933 Centerline is valid? [True, True] Translation: X:127.93, Y:2.64, Z:1.40 [[ 9.99303155e-01 -3.43203317e-02 -1.46737575e-02 1.27932386e+02] [ 3.43225316e-02 9.99410803e-01 -1.01959513e-04 2.63860105e+00] [ 1.46686110e-02 -4.01752041e-04 9.99892329e-01 1.39580152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15509989299998 meters 0.015730969446968314 Centerline is valid? [True, True] Translation: X:127.96, Y:2.64, Z:1.40 [[ 9.99375184e-01 -3.24923897e-02 -1.39099418e-02 1.27963571e+02] [ 3.24941962e-02 9.99471920e-01 -9.61723171e-05 2.64198158e+00] [ 1.39057211e-02 -3.55880152e-04 9.99903247e-01 1.39689813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18509989299999 meters 0.015897869135555135 Centerline is valid? [True, True] Translation: X:127.99, Y:2.64, Z:1.40 [[ 9.99407301e-01 -3.14607824e-02 -1.39737463e-02 1.27994808e+02] [ 3.14625124e-02 9.99504928e-01 -9.60717963e-05 2.64257666e+00] [ 1.39698507e-02 -3.43634310e-04 9.99902358e-01 1.39730568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21509989299999 meters 0.016042808489188643 Centerline is valid? [True, True] Translation: X:128.03, Y:2.64, Z:1.40 [[ 9.99460822e-01 -2.95896936e-02 -1.42307594e-02 1.28025192e+02] [ 2.95913085e-02 9.99562077e-01 -9.71177381e-05 2.64375232e+00] [ 1.42274011e-02 -3.24041418e-04 9.99898733e-01 1.39679135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24509989299999 meters 0.015029926632648712 Centerline is valid? [True, True] Translation: X:128.06, Y:2.65, Z:1.40 [[ 9.99486901e-01 -2.86223442e-02 -1.43769299e-02 1.28056983e+02] [ 2.86238972e-02 9.99590248e-01 -9.77839370e-05 2.64656428e+00] [ 1.43738378e-02 -3.13790001e-04 9.99896642e-01 1.39739440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27509989299999 meters 0.015174060447690627 Centerline is valid? [True, True] Translation: X:128.09, Y:2.65, Z:1.40 [[ 9.99552528e-01 -2.68226549e-02 -1.32397109e-02 1.28087516e+02] [ 2.68238230e-02 9.99640173e-01 -8.93705971e-05 2.64661611e+00] [ 1.32373441e-02 -2.65809056e-04 9.99912347e-01 1.39806492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30509989299999 meters 0.014487051784090665 Centerline is valid? [True, True] Translation: X:128.12, Y:2.65, Z:1.40 [[ 9.99579716e-01 -2.56283129e-02 -1.35492287e-02 1.28118623e+02] [ 2.56294388e-02 9.99671508e-01 -9.05606595e-05 2.64826807e+00] [ 1.35470988e-02 -2.56736530e-04 9.99908201e-01 1.39840701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33509989299999 meters 0.014293854162470806 Centerline is valid? [True, True] Translation: X:128.15, Y:2.65, Z:1.40 [[ 9.99601959e-01 -2.42878219e-02 -1.43535681e-02 1.28150275e+02] [ 2.42889552e-02 9.99704975e-01 -9.53896742e-05 2.64879165e+00] [ 1.43516502e-02 -2.53281467e-04 9.99896978e-01 1.39856139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.365099893 meters 0.013908618920584752 Centerline is valid? [True, True] Translation: X:128.18, Y:2.65, Z:1.40 [[ 9.99655886e-01 -2.07509684e-02 -1.60470392e-02 1.28180096e+02] [ 2.07519364e-02 9.99784650e-01 -1.06210258e-04 2.65005478e+00] [ 1.60457874e-02 -2.26833426e-04 9.99871232e-01 1.39721760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.395099893 meters 0.013578392184888299 Centerline is valid? [True, True] Translation: X:128.21, Y:2.65, Z:1.40 [[ 9.99689325e-01 -1.88385449e-02 -1.63206470e-02 1.28209163e+02] [ 1.88392718e-02 9.99822519e-01 -1.09218304e-04 2.65168321e+00] [ 1.63198079e-02 -1.98284732e-04 9.99866803e-01 1.39719029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.425099893 meters 0.012940623634180914 Centerline is valid? [True, True] Translation: X:128.24, Y:2.65, Z:1.40 [[ 9.99761398e-01 -1.43492663e-02 -1.64695555e-02 1.28238371e+02] [ 1.43493308e-02 9.99897037e-01 -1.14260978e-04 2.65499125e+00] [ 1.64694993e-02 -1.22093386e-04 9.99864361e-01 1.39722075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45509989299998 meters 0.012855401529935416 Centerline is valid? [True, True] Translation: X:128.27, Y:2.66, Z:1.40 [[ 9.99795692e-01 -1.21450694e-02 -1.61576982e-02 1.28265850e+02] [ 1.21447913e-02 9.99926243e-01 -1.15337109e-04 2.65563461e+00] [ 1.61579072e-02 -8.09183283e-05 9.99869449e-01 1.39712610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48509989299998 meters 0.012740020931240343 Centerline is valid? [True, True] Translation: X:128.29, Y:2.66, Z:1.40 [[ 9.99839440e-01 -8.67169421e-03 -1.56810988e-02 1.28293428e+02] [ 8.67098084e-03 9.99962400e-01 -1.13482764e-04 2.65661596e+00] [ 1.56814933e-02 -2.25059649e-05 9.99877038e-01 1.39718227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51509989299998 meters 0.01276319984174715 Centerline is valid? [True, True] Translation: X:128.32, Y:2.66, Z:1.40 [[ 9.99846561e-01 -7.70097007e-03 -1.57337304e-02 1.28321173e+02] [ 7.70008921e-03 9.99970347e-01 -1.16564837e-04 2.65702625e+00] [ 1.57341615e-02 -4.60417635e-06 9.99876210e-01 1.39756910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54509989299999 meters 0.012816147022048472 Centerline is valid? [True, True] Translation: X:128.35, Y:2.66, Z:1.40 [[ 9.99837356e-01 -7.70821402e-03 -1.63047415e-02 1.28348037e+02] [ 7.70719944e-03 9.99970291e-01 -1.25062265e-04 2.65734345e+00] [ 1.63052211e-02 -6.21969769e-07 9.99867061e-01 1.39701834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57509989299999 meters 0.012800011659822069 Centerline is valid? [True, True] Translation: X:128.38, Y:2.66, Z:1.40 [[ 9.99814588e-01 -9.86923614e-03 -1.65344259e-02 1.28376673e+02] [ 9.86845685e-03 9.99951297e-01 -1.28722897e-04 2.65589291e+00] [ 1.65348910e-02 -3.44702380e-05 9.99863289e-01 1.39716188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60509989299999 meters 0.013120169988870523 Centerline is valid? [True, True] Translation: X:128.40, Y:2.65, Z:1.40 [[ 9.99753813e-01 -1.52754644e-02 -1.60926399e-02 1.28404281e+02] [ 1.52754063e-02 9.99883316e-01 -1.26537116e-04 2.65011143e+00] [ 1.60926951e-02 -1.19315649e-04 9.99870497e-01 1.39653289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63509989299999 meters 0.013554863450137997 Centerline is valid? [True, True] Translation: X:128.43, Y:2.65, Z:1.40 [[ 9.99689592e-01 -1.90077727e-02 -1.61066344e-02 1.28432674e+02] [ 1.90081637e-02 9.99819320e-01 -1.28827263e-04 2.64653821e+00] [ 1.61061730e-02 -1.77370268e-04 9.99870271e-01 1.39621099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66509989299999 meters 0.013554863450137997 Centerline is valid? [True, True] Translation: X:128.46, Y:2.65, Z:1.40 [[ 9.99684187e-01 -1.92900034e-02 -1.61066006e-02 1.28460077e+02] [ 1.92903649e-02 9.99813915e-01 -1.32931055e-04 2.64683007e+00] [ 1.61061677e-02 -1.77813130e-04 9.99870271e-01 1.39655076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69509989299999 meters 0.014726805955206024 Centerline is valid? [True, True] Translation: X:128.49, Y:2.64, Z:1.40 [[ 9.99491936e-01 -2.72995734e-02 -1.64499923e-02 1.28489903e+02] [ 2.73009737e-02 9.99627249e-01 -1.39477397e-04 2.64006579e+00] [ 1.64476682e-02 -3.09694273e-04 9.99864680e-01 1.39660041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72509989299999 meters 0.016605955857979526 Centerline is valid? [True, True] Translation: X:128.52, Y:2.63, Z:1.40 [[ 9.99260918e-01 -3.50066736e-02 -1.58792780e-02 1.28520678e+02] [ 3.50089438e-02 9.99386990e-01 -1.35067629e-04 2.63464928e+00] [ 1.58742721e-02 -4.20948949e-04 9.99873907e-01 1.39751321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.755099893 meters 0.017937408453269042 Centerline is valid? [True, True] Translation: X:128.55, Y:2.63, Z:1.40 [[ 9.99142092e-01 -3.83911408e-02 -1.55306126e-02 1.28551134e+02] [ 3.83937228e-02 9.99262680e-01 -1.31975719e-04 2.63187448e+00] [ 1.55242283e-02 -4.64415541e-04 9.99879384e-01 1.39824512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.785099893 meters 0.018930407045262245 Centerline is valid? [True, True] Translation: X:128.58, Y:2.63, Z:1.40 [[ 9.99024138e-01 -4.15640375e-02 -1.49399384e-02 1.28581892e+02] [ 4.15667890e-02 9.99135720e-01 -1.26436424e-04 2.62954720e+00] [ 1.49322813e-02 -4.94692228e-04 9.99888385e-01 1.39905799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.815099893 meters 0.020266694465928596 Centerline is valid? [True, True] Translation: X:128.61, Y:2.63, Z:1.40 [[ 9.98903421e-01 -4.45406842e-02 -1.44250541e-02 1.28613572e+02] [ 4.45435633e-02 9.99007435e-01 -1.21795309e-04 2.62659307e+00] [ 1.44161611e-02 -5.20881558e-04 9.99895946e-01 1.40005505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84509989299998 meters 0.021004886119944277 Centerline is valid? [True, True] Translation: X:128.64, Y:2.62, Z:1.40 [[ 9.98773701e-01 -4.74857304e-02 -1.40071270e-02 1.28644747e+02] [ 4.74887409e-02 9.98871766e-01 -1.17786362e-04 2.62460447e+00] [ 1.39969169e-02 -5.47538906e-04 9.99901888e-01 1.40088271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87509989299998 meters 0.02289246622397441 Centerline is valid? [True, True] Translation: X:128.68, Y:2.62, Z:1.40 [[ 9.98526930e-01 -5.25444966e-02 -1.35294293e-02 1.28675803e+02] [ 5.25477747e-02 9.98618405e-01 -1.13325873e-04 2.61994447e+00] [ 1.35166918e-02 -5.97782467e-04 9.99908467e-01 1.40120394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90509989299998 meters 0.022102963425495004 Centerline is valid? [True, True] Translation: X:128.71, Y:2.62, Z:1.40 [[ 9.98415445e-01 -5.45451222e-02 -1.38357643e-02 1.28708070e+02] [ 5.45487466e-02 9.98511102e-01 -1.15560733e-04 2.62047402e+00] [ 1.38214675e-02 -6.39345980e-04 9.99904275e-01 1.40119060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93509989299999 meters 0.025120959760614594 Centerline is valid? [True, True] Translation: X:128.74, Y:2.62, Z:1.40 [[ 9.98206395e-01 -5.82351635e-02 -1.38801872e-02 1.28738106e+02] [ 5.82391797e-02 9.98302652e-01 -1.15026014e-04 2.61610144e+00] [ 1.38633262e-02 -6.93551014e-04 9.99903659e-01 1.40184834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96509989299999 meters 0.02807470827121717 Centerline is valid? [True, True] Translation: X:128.77, Y:2.61, Z:1.40 [[ 9.98146072e-01 -5.93343275e-02 -1.35593985e-02 1.28768770e+02] [ 5.93382619e-02 9.98237927e-01 -1.12325311e-04 2.61238731e+00] [ 1.35421705e-02 -6.92474069e-04 9.99908061e-01 1.40226295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99509989299999 meters 0.024771201410946693 Centerline is valid? [True, True] Translation: X:128.80, Y:2.62, Z:1.40 [[ 9.98084623e-01 -6.05447037e-02 -1.27052841e-02 1.28800441e+02] [ 6.05482615e-02 9.98165265e-01 -1.04803543e-04 2.61733208e+00] [ 1.26883185e-02 -6.64680056e-04 9.99919279e-01 1.40259537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02509989299999 meters 0.025083130210773453 Centerline is valid? [True, True] Translation: X:128.83, Y:2.62, Z:1.40 [[ 9.98108519e-01 -5.98670898e-02 -1.39755439e-02 1.28831249e+02] [ 5.98713495e-02 9.98206095e-01 -1.13767026e-04 2.61791984e+00] [ 1.39572840e-02 -7.23182835e-04 9.99902331e-01 1.40235384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05509989299999 meters 0.02470114362199553 Centerline is valid? [True, True] Translation: X:128.86, Y:2.62, Z:1.40 [[ 9.98151037e-01 -5.88455469e-02 -1.52219958e-02 1.28863899e+02] [ 5.88504970e-02 9.98266800e-01 -1.22925367e-04 2.61943757e+00] [ 1.52028467e-02 -7.73123936e-04 9.99884131e-01 1.40157801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08509989299999 meters 0.022661593881559274 Centerline is valid? [True, True] Translation: X:128.89, Y:2.62, Z:1.40 [[ 9.98256486e-01 -5.63478575e-02 -1.75757607e-02 1.28894984e+02] [ 5.63540970e-02 9.98410835e-01 -1.40457060e-04 2.62497620e+00] [ 1.75557444e-02 -8.50253953e-04 9.99845525e-01 1.40021834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.115099893 meters 0.02247333201970217 Centerline is valid? [True, True] Translation: X:128.93, Y:2.63, Z:1.40 [[ 9.98319767e-01 -5.51599121e-02 -1.77489921e-02 1.28927306e+02] [ 5.51661031e-02 9.98477181e-01 -1.40988756e-04 2.62685011e+00] [ 1.77297406e-02 -8.38390868e-04 9.99842464e-01 1.40082743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.145099893 meters 0.021674504508228495 Centerline is valid? [True, True] Translation: X:128.96, Y:2.63, Z:1.40 [[ 9.98473947e-01 -5.26232348e-02 -1.67503084e-02 1.28959076e+02] [ 5.26284108e-02 9.98614156e-01 -1.31944711e-04 2.63035508e+00] [ 1.67340384e-02 -7.49798755e-04 9.99859695e-01 1.40190450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.175099893 meters 0.022377778143065373 Centerline is valid? [True, True] Translation: X:128.99, Y:2.63, Z:1.40 [[ 9.98529485e-01 -5.14579746e-02 -1.70570767e-02 1.28990012e+02] [ 5.14631894e-02 9.98674883e-01 -1.33363053e-04 2.63053071e+00] [ 1.70413367e-02 -7.44644629e-04 9.99854509e-01 1.40239334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20509989299998 meters 0.021578729379180678 Centerline is valid? [True, True] Translation: X:129.02, Y:2.63, Z:1.40 [[ 9.98597106e-01 -5.00380732e-02 -1.73208364e-02 1.29022490e+02] [ 5.00432553e-02 9.98747042e-01 -1.34386019e-04 2.63330487e+00] [ 1.73058585e-02 -7.32593547e-04 9.99849974e-01 1.40310776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23509989299998 meters 0.01974836855649645 Centerline is valid? [True, True] Translation: X:129.05, Y:2.64, Z:1.40 [[ 9.98669298e-01 -4.84239203e-02 -1.77413930e-02 1.29054311e+02] [ 4.84291243e-02 9.98826612e-01 -1.36439386e-04 2.63780472e+00] [ 1.77271824e-02 -7.22942301e-04 9.99842600e-01 1.40388312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26509989299998 meters 0.01919291158146057 Centerline is valid? [True, True] Translation: X:129.08, Y:2.64, Z:1.40 [[ 9.98831409e-01 -4.47766930e-02 -1.81896848e-02 1.29084548e+02] [ 4.47815743e-02 9.98996792e-01 -1.39075241e-04 2.64274107e+00] [ 1.81776641e-02 -6.75650001e-04 9.99834544e-01 1.40451479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29509989299999 meters 0.020353166057289193 Centerline is valid? [True, True] Translation: X:129.12, Y:2.64, Z:1.40 [[ 9.98922727e-01 -4.25359963e-02 -1.85492543e-02 1.29115157e+02] [ 4.25406931e-02 9.99094725e-01 -1.41479207e-04 2.64303245e+00] [ 1.85384801e-02 -6.47771341e-04 9.99827938e-01 1.40482851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32509989299999 meters 0.018980152442911024 Centerline is valid? [True, True] Translation: X:129.14, Y:2.65, Z:1.41 [[ 9.99142890e-01 -3.74027895e-02 -1.77345959e-02 1.29144797e+02] [ 3.74062786e-02 9.99300131e-01 -1.35052405e-04 2.64895820e+00] [ 1.77272354e-02 -5.28448586e-04 9.99842721e-01 1.40610943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35509989299999 meters 0.016920314512576806 Centerline is valid? [True, True] Translation: X:129.18, Y:2.65, Z:1.41 [[ 9.99236827e-01 -3.50867913e-02 -1.71662866e-02 1.29175826e+02] [ 3.50897218e-02 9.99384158e-01 -1.30553001e-04 2.65433196e+00] [ 1.71602956e-02 -4.71906855e-04 9.99852640e-01 1.40769214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38509989299999 meters 0.015761182950559033 Centerline is valid? [True, True] Translation: X:129.21, Y:2.66, Z:1.41 [[ 9.99403679e-01 -2.97677699e-02 -1.74975955e-02 1.29206387e+02] [ 2.97700077e-02 9.99556766e-01 -1.32622057e-04 2.65935381e+00] [ 1.74937878e-02 -3.88360580e-04 9.99846897e-01 1.40703049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41509989299999 meters 0.01493378222471054 Centerline is valid? [True, True] Translation: X:129.24, Y:2.66, Z:1.41 [[ 9.99527196e-01 -2.53763438e-02 -1.73616385e-02 1.29236650e+02] [ 2.53778847e-02 9.99677921e-01 -1.31591579e-04 2.66430726e+00] [ 1.73593860e-02 -3.09072299e-04 9.99849267e-01 1.40714268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44509989299999 meters 0.014331821251645177 Centerline is valid? [True, True] Translation: X:129.26, Y:2.67, Z:1.41 [[ 9.99626590e-01 -2.18608598e-02 -1.63945966e-02 1.29264880e+02] [ 2.18617576e-02 9.99760995e-01 -1.24478713e-04 2.66871681e+00] [ 1.63933994e-02 -2.33982466e-04 9.99865592e-01 1.40832526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47509989299999 meters 0.01384717081197505 Centerline is valid? [True, True] Translation: X:129.29, Y:2.67, Z:1.41 [[ 9.99660864e-01 -2.02912966e-02 -1.63224052e-02 1.29294099e+02] [ 2.02919641e-02 9.99794089e-01 -1.24735170e-04 2.67107752e+00] [ 1.63215753e-02 -2.06520794e-04 9.99866773e-01 1.40928323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.505099893 meters 0.01376587723787722 Centerline is valid? [True, True] Translation: X:129.32, Y:2.67, Z:1.41 [[ 9.99688624e-01 -1.90180983e-02 -1.61544599e-02 1.29322273e+02] [ 1.90185757e-02 9.99819123e-01 -1.24093927e-04 2.67190807e+00] [ 1.61538980e-02 -1.83179531e-04 9.99869500e-01 1.40931281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.535099893 meters 0.013620770375808552 Centerline is valid? [True, True] Translation: X:129.35, Y:2.67, Z:1.41 [[ 9.99689874e-01 -1.85423636e-02 -1.66233673e-02 1.29351139e+02] [ 1.85427743e-02 9.99828060e-01 -1.29439840e-04 2.67296069e+00] [ 1.66229092e-02 -1.78843650e-04 9.99861814e-01 1.40955517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.565099893 meters 0.0135232974889169 Centerline is valid? [True, True] Translation: X:129.38, Y:2.68, Z:1.41 [[ 9.99719797e-01 -1.68705506e-02 -1.66045815e-02 1.29378695e+02] [ 1.68706723e-02 9.99857671e-01 -1.32754362e-04 2.67502507e+00] [ 1.66044578e-02 -1.47413289e-04 9.99862126e-01 1.40976747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59509989299998 meters 0.01335365831558632 Centerline is valid? [True, True] Translation: X:129.41, Y:2.68, Z:1.41 [[ 9.99719317e-01 -1.62132044e-02 -1.72748179e-02 1.29406545e+02] [ 1.62131938e-02 9.99868548e-01 -1.40673443e-04 2.67827701e+00] [ 1.72748278e-02 -1.39446012e-04 9.99850769e-01 1.40989492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62509989299998 meters 0.013569122384559566 Centerline is valid? [True, True] Translation: X:129.43, Y:2.68, Z:1.41 [[ 9.99716053e-01 -1.61770717e-02 -1.74961438e-02 1.29433051e+02] [ 1.61769805e-02 9.99869133e-01 -1.46751204e-04 2.67840891e+00] [ 1.74962281e-02 -1.36325242e-04 9.99846920e-01 1.40970082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65509989299998 meters 0.013601421642515673 Centerline is valid? [True, True] Translation: X:129.46, Y:2.68, Z:1.41 [[ 9.99694496e-01 -1.79666025e-02 -1.69739962e-02 1.29461475e+02] [ 1.79667297e-02 9.99838575e-01 -1.45007446e-04 2.67795955e+00] [ 1.69738614e-02 -1.60004056e-04 9.99855921e-01 1.41042719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68509989299999 meters 0.013767431204678167 Centerline is valid? [True, True] Translation: X:129.49, Y:2.68, Z:1.41 [[ 9.99681935e-01 -1.94644519e-02 -1.60363256e-02 1.29489793e+02] [ 1.94646975e-02 9.99810535e-01 -1.40779536e-04 2.67753977e+00] [ 1.60360275e-02 -1.71407468e-04 9.99871400e-01 1.41150914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71509989299999 meters 0.014221619308853314 Centerline is valid? [True, True] Translation: X:129.52, Y:2.68, Z:1.41 [[ 9.99608277e-01 -2.34050647e-02 -1.53458739e-02 1.29518198e+02] [ 2.34056969e-02 9.99726040e-01 -1.38432697e-04 2.67505801e+00] [ 1.53449097e-02 -2.20802402e-04 9.99882236e-01 1.41287001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74509989299999 meters 0.014975098507673429 Centerline is valid? [True, True] Translation: X:129.55, Y:2.67, Z:1.41 [[ 9.99505316e-01 -2.76418011e-02 -1.50017919e-02 1.29547944e+02] [ 2.76428355e-02 9.99617854e-01 -1.38439746e-04 2.67346353e+00] [ 1.49998858e-02 -2.76320805e-04 9.99887457e-01 1.41412858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77509989299999 meters 0.01588452729446087 Centerline is valid? [True, True] Translation: X:129.58, Y:2.67, Z:1.41 [[ 9.99387363e-01 -3.15574584e-02 -1.51335761e-02 1.29579632e+02] [ 3.15589545e-02 9.99501882e-01 -1.40002082e-04 2.67108976e+00] [ 1.51304559e-02 -3.37683528e-04 9.99885471e-01 1.41446359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80509989299999 meters 0.016299437669535923 Centerline is valid? [True, True] Translation: X:129.61, Y:2.67, Z:1.41 [[ 9.99270037e-01 -3.50490639e-02 -1.51972624e-02 1.29610386e+02] [ 3.50509836e-02 9.99385516e-01 -1.40096085e-04 2.66860277e+00] [ 1.51928341e-02 -3.92685174e-04 9.99884505e-01 1.41418735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83509989299999 meters 0.018586063464080985 Centerline is valid? [True, True] Translation: X:129.64, Y:2.66, Z:1.41 [[ 9.99163141e-01 -3.76934666e-02 -1.58814463e-02 1.29641645e+02] [ 3.76959036e-02 9.99289246e-01 -1.45977196e-04 2.66354108e+00] [ 1.58756609e-02 -4.52810437e-04 9.99873871e-01 1.41310776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.865099893 meters 0.017773933854995025 Centerline is valid? [True, True] Translation: X:129.67, Y:2.67, Z:1.41 [[ 9.99072089e-01 -3.96315780e-02 -1.68611588e-02 1.29673851e+02] [ 3.96346183e-02 9.99214228e-01 -1.53942994e-04 2.66653881e+00] [ 1.68540108e-02 -5.14485445e-04 9.99857829e-01 1.41332669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.895099893 meters 0.018152893074034344 Centerline is valid? [True, True] Translation: X:129.71, Y:2.67, Z:1.41 [[ 9.99058340e-01 -4.02074788e-02 -1.63031268e-02 1.29706300e+02] [ 4.02104165e-02 9.99191223e-01 -1.47699593e-04 2.66658377e+00] [ 1.62958798e-02 -5.07995008e-04 9.99867084e-01 1.41390629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.925099893 meters 0.018653540490433846 Centerline is valid? [True, True] Translation: X:129.74, Y:2.67, Z:1.41 [[ 9.99029951e-01 -4.08716190e-02 -1.63910968e-02 1.29737062e+02] [ 4.08746960e-02 9.99164270e-01 -1.47384654e-04 2.66623685e+00] [ 1.63834221e-02 -5.22739414e-04 9.99865646e-01 1.41446220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95509989299998 meters 0.019314445884566732 Centerline is valid? [True, True] Translation: X:129.77, Y:2.67, Z:1.41 [[ 9.99000782e-01 -4.14930215e-02 -1.66062433e-02 1.29768431e+02] [ 4.14962805e-02 9.99138647e-01 -1.48420453e-04 2.66585294e+00] [ 1.65980978e-02 -5.40825180e-04 9.99862096e-01 1.41452023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98509989299998 meters 0.018343931811739093 Centerline is valid? [True, True] Translation: X:129.80, Y:2.67, Z:1.41 [[ 9.98948551e-01 -4.21938601e-02 -1.79296073e-02 1.29800297e+02] [ 4.21977922e-02 9.99109264e-01 -1.59132285e-04 2.66814153e+00] [ 1.79203511e-02 -5.97624877e-04 9.99839239e-01 1.41432706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01509989299998 meters 0.018682458845789406 Centerline is valid? [True, True] Translation: X:129.83, Y:2.67, Z:1.41 [[ 9.98914476e-01 -4.27443131e-02 -1.85146860e-02 1.29832345e+02] [ 4.27486260e-02 9.99085846e-01 -1.62947761e-04 2.66824252e+00] [ 1.85047258e-02 -6.28706510e-04 9.99828575e-01 1.41389112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04509989299999 meters 0.019999541727385797 Centerline is valid? [True, True] Translation: X:129.86, Y:2.67, Z:1.41 [[ 9.98889967e-01 -4.26289468e-02 -2.00401105e-02 1.29863101e+02] [ 4.26340045e-02 9.99090742e-01 -1.74986289e-04 2.66699149e+00] [ 2.00293483e-02 -6.79598111e-04 9.99799162e-01 1.41258215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.075099893 meters 0.019994031752972246 Centerline is valid? [True, True] Translation: X:129.89, Y:2.67, Z:1.41 [[ 9.98882438e-01 -4.24740336e-02 -2.07323640e-02 1.29894672e+02] [ 4.24794340e-02 9.99097325e-01 -1.80047691e-04 2.66840482e+00] [ 2.07212968e-02 -7.00852612e-04 9.99785045e-01 1.41252873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105099893 meters 0.019319439765247776 Centerline is valid? [True, True] Translation: X:129.93, Y:2.67, Z:1.41 [[ 9.98916447e-01 -4.21001277e-02 -1.98371083e-02 1.29926385e+02] [ 4.21050114e-02 9.99113176e-01 -1.71596670e-04 2.67217545e+00] [ 1.98267406e-02 -6.63830936e-04 9.99803210e-01 1.41453855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.135099893 meters 0.018847649541280362 Centerline is valid? [True, True] Translation: X:129.96, Y:2.67, Z:1.42 [[ 9.98941877e-01 -4.18682096e-02 -1.90309903e-02 1.29957531e+02] [ 4.18726747e-02 9.99122942e-01 -1.63965737e-04 2.67414794e+00] [ 1.90211640e-02 -6.33086226e-04 9.99818881e-01 1.41595348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.165099893 meters 0.019243793469718527 Centerline is valid? [True, True] Translation: X:129.99, Y:2.68, Z:1.42 [[ 9.98968522e-01 -4.15711027e-02 -1.82684414e-02 1.29988675e+02] [ 4.15751809e-02 9.99135366e-01 -1.56656154e-04 2.67516380e+00] [ 1.82591583e-02 -6.03019190e-04 9.99833106e-01 1.41722606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.195099893 meters 0.018780120141206294 Centerline is valid? [True, True] Translation: X:130.02, Y:2.68, Z:1.42 [[ 9.98962286e-01 -4.15847913e-02 -1.85756752e-02 1.30020734e+02] [ 4.15890311e-02 9.99134789e-01 -1.58173172e-04 2.67681253e+00] [ 1.85661809e-02 -6.14535299e-04 9.99827445e-01 1.41780950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.225099893 meters 0.0203293394685108 Centerline is valid? [True, True] Translation: X:130.05, Y:2.68, Z:1.42 [[ 9.98886217e-01 -4.30656855e-02 -1.92787874e-02 1.30051870e+02] [ 4.30705585e-02 9.99072020e-01 -1.62569139e-04 2.67684849e+00] [ 1.92678982e-02 -6.67960068e-04 9.99814134e-01 1.41792160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.255099893 meters 0.021300173473264548 Centerline is valid? [True, True] Translation: X:130.08, Y:2.68, Z:1.42 [[ 9.98840591e-01 -4.40013217e-02 -1.95284014e-02 1.30082880e+02] [ 4.40065312e-02 9.99031230e-01 -1.63088335e-04 2.67649676e+00] [ 1.95166590e-02 -6.96477958e-04 9.99809289e-01 1.41816942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.285099893 meters 0.0202369769238045 Centerline is valid? [True, True] Translation: X:130.11, Y:2.68, Z:1.42 [[ 9.98710299e-01 -4.67584862e-02 -1.97833987e-02 1.30113934e+02] [ 4.67643910e-02 9.98905934e-01 -1.64299127e-04 2.67944750e+00] [ 1.97694367e-02 -7.61071363e-04 9.99804276e-01 1.41942184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.315099893 meters 0.02269544360133821 Centerline is valid? [True, True] Translation: X:130.15, Y:2.68, Z:1.42 [[ 9.98636369e-01 -4.83809405e-02 -1.96134448e-02 1.30145208e+02] [ 4.83870729e-02 9.98828646e-01 -1.62056047e-04 2.67563718e+00] [ 1.95983110e-02 -7.87202123e-04 9.99807625e-01 1.41968396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.345099893 meters 0.024789946743630425 Centerline is valid? [True, True] Translation: X:130.17, Y:2.67, Z:1.42 [[ 9.98509649e-01 -5.15497202e-02 -1.79194891e-02 1.30174916e+02] [ 5.15553590e-02 9.98670127e-01 -1.47451301e-04 2.67243876e+00] [ 1.79032595e-02 -7.76614144e-04 9.99839422e-01 1.42139763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.375099893 meters 0.021594982475741445 Centerline is valid? [True, True] Translation: X:130.21, Y:2.68, Z:1.42 [[ 9.98444615e-01 -5.29439449e-02 -1.74725603e-02 1.30207358e+02] [ 5.29495255e-02 9.98597180e-01 -1.43399508e-04 2.67781244e+00] [ 1.74556416e-02 -7.81987312e-04 9.99847333e-01 1.42332866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.405099893 meters 0.02280665027766117 Centerline is valid? [True, True] Translation: X:130.24, Y:2.68, Z:1.42 [[ 9.98371750e-01 -5.43523342e-02 -1.73110635e-02 1.30238585e+02] [ 5.43580434e-02 9.98521499e-01 -1.40906393e-04 2.67679902e+00] [ 1.72931277e-02 -8.00318579e-04 9.99850142e-01 1.42423552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.435099893 meters 0.022309494957344612 Centerline is valid? [True, True] Translation: X:130.27, Y:2.68, Z:1.43 [[ 9.98444382e-01 -5.36020552e-02 -1.53504585e-02 1.30271251e+02] [ 5.36064691e-02 9.98562132e-01 -1.24078114e-04 2.67848185e+00] [ 1.53350374e-02 -6.98998783e-04 9.99882167e-01 1.42637296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.465099893 meters 0.021152149504699017 Centerline is valid? [True, True] Translation: X:130.30, Y:2.68, Z:1.43 [[ 9.98604100e-01 -5.09164425e-02 -1.40487253e-02 1.30302725e+02] [ 5.09198894e-02 9.98702735e-01 -1.12466278e-04 2.68092542e+00] [ 1.40362267e-02 -6.03050252e-04 9.99901305e-01 1.42795772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.495099893 meters 0.02288864127619516 Centerline is valid? [True, True] Translation: X:130.33, Y:2.68, Z:1.43 [[ 9.98719940e-01 -4.86824823e-02 -1.37294188e-02 1.30332992e+02] [ 4.86855717e-02 9.98814148e-01 -1.09320291e-04 2.67873499e+00] [ 1.37184597e-02 -5.59244246e-04 9.99905741e-01 1.42816787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52509989299998 meters 0.019967200930002118 Centerline is valid? [True, True] Translation: X:130.36, Y:2.68, Z:1.43 [[ 9.98943338e-01 -4.39018383e-02 -1.35954682e-02 1.30363543e+02] [ 4.39044432e-02 9.99035729e-01 -1.06950184e-04 2.68477932e+00] [ 1.35870538e-02 -4.90064287e-04 9.99907572e-01 1.42890978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55509989299998 meters 0.019967200930002118 Centerline is valid? [True, True] Translation: X:130.40, Y:2.68, Z:1.43 [[ 9.98946468e-01 -4.38305420e-02 -1.35954689e-02 1.30395253e+02] [ 4.38331415e-02 9.99038860e-01 -1.06862425e-04 2.68497051e+00] [ 1.35870856e-02 -4.89182269e-04 9.99907572e-01 1.42930196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58509989299998 meters 0.018385350559340468 Centerline is valid? [True, True] Translation: X:130.43, Y:2.69, Z:1.43 [[ 9.99190150e-01 -3.77944673e-02 -1.38065718e-02 1.30426520e+02] [ 3.77965852e-02 9.99285448e-01 -1.07599911e-04 2.69017440e+00] [ 1.38007729e-02 -4.14328494e-04 9.99904679e-01 1.42970986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61509989299998 meters 0.016434223732737032 Centerline is valid? [True, True] Translation: X:130.46, Y:2.70, Z:1.43 [[ 9.99425616e-01 -3.11332042e-02 -1.33851310e-02 1.30457182e+02] [ 3.11346007e-02 9.99515195e-01 -1.04083446e-04 2.69550478e+00] [ 1.33818823e-02 -3.12717048e-04 9.99910410e-01 1.43015492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64509989299998 meters 0.014535703199197246 Centerline is valid? [True, True] Translation: X:130.49, Y:2.70, Z:1.43 [[ 9.99609980e-01 -2.40459139e-02 -1.42014827e-02 1.30488504e+02] [ 2.40467756e-02 9.99710828e-01 -1.10101150e-04 2.70043691e+00] [ 1.42000235e-02 -2.31441659e-04 9.99899148e-01 1.42955143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67509989299998 meters 0.013269660811967376 Centerline is valid? [True, True] Translation: X:130.52, Y:2.71, Z:1.43 [[ 9.99785171e-01 -1.25570044e-02 -1.64904072e-02 1.30518933e+02] [ 1.25566123e-02 9.99921155e-01 -1.27322294e-04 2.70640112e+00] [ 1.64907058e-02 -7.97687069e-05 9.99864016e-01 1.42706940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70509989299998 meters 0.013069402376240368 Centerline is valid? [True, True] Translation: X:130.55, Y:2.71, Z:1.43 [[ 9.99833767e-01 -7.99712342e-03 -1.63854925e-02 1.30546483e+02] [ 7.99611544e-03 9.99968022e-01 -1.27031265e-04 2.70627063e+00] [ 1.63859844e-02 -4.01014129e-06 9.99865741e-01 1.42717749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73509989299998 meters 0.013150427036541833 Centerline is valid? [True, True] Translation: X:130.58, Y:2.70, Z:1.43 [[ 9.99801559e-01 -1.22431769e-02 -1.57145275e-02 1.30575562e+02] [ 1.22427464e-02 9.99925047e-01 -1.23599568e-04 2.69976943e+00] [ 1.57148629e-02 -6.88139341e-05 9.99876512e-01 1.42752058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76509989299998 meters 0.013150427036541833 Centerline is valid? [True, True] Translation: X:130.60, Y:2.70, Z:1.43 [[ 9.99798012e-01 -1.25295146e-02 -1.57145128e-02 1.30602952e+02] [ 1.25290905e-02 9.99921500e-01 -1.25440284e-04 2.70004631e+00] [ 1.57148509e-02 -7.14736058e-05 9.99876512e-01 1.42785961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79509989299999 meters 0.013249305641835801 Centerline is valid? [True, True] Translation: X:130.63, Y:2.70, Z:1.43 [[ 9.99760321e-01 -1.52460901e-02 -1.57116709e-02 1.30631878e+02] [ 1.52459326e-02 9.99883766e-01 -1.29811491e-04 2.69791960e+00] [ 1.57118238e-02 -1.09758696e-04 9.99876556e-01 1.42812526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825099893 meters 0.013249305641835801 Centerline is valid? [True, True] Translation: X:130.66, Y:2.70, Z:1.43 [[ 9.99755840e-01 -1.55372204e-02 -1.57116358e-02 1.30659267e+02] [ 1.55370339e-02 9.99879284e-01 -1.33937370e-04 2.69820499e+00] [ 1.57118202e-02 -1.10207550e-04 9.99876556e-01 1.42846500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.855099893 meters 0.013593779908228066 Centerline is valid? [True, True] Translation: X:130.69, Y:2.69, Z:1.43 [[ 9.99697997e-01 -1.86512881e-02 -1.60013927e-02 1.30687397e+02] [ 1.86514297e-02 9.99826037e-01 -1.40402171e-04 2.69484170e+00] [ 1.60012278e-02 -1.58089082e-04 9.99871960e-01 1.42850794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.885099893 meters 0.013593779908228066 Centerline is valid? [True, True] Translation: X:130.72, Y:2.70, Z:1.43 [[ 9.99693340e-01 -1.88992484e-02 -1.60013748e-02 1.30715637e+02] [ 1.88993894e-02 9.99821380e-01 -1.42417645e-04 2.69512724e+00] [ 1.60012082e-02 -1.60042242e-04 9.99871960e-01 1.42885754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.915099893 meters 0.013793297854910947 Centerline is valid? [True, True] Translation: X:130.74, Y:2.69, Z:1.43 [[ 9.99614745e-01 -2.28859407e-02 -1.57033213e-02 1.30744346e+02] [ 2.28865075e-02 9.99738059e-01 -1.43634121e-04 2.69229321e+00] [ 1.57024952e-02 -2.15815397e-04 9.99876685e-01 1.42905157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.945099893 meters 0.014562300097701571 Centerline is valid? [True, True] Translation: X:130.77, Y:2.69, Z:1.43 [[ 9.99522932e-01 -2.65775105e-02 -1.57335374e-02 1.30774034e+02] [ 2.65784855e-02 9.99646719e-01 -1.47160844e-04 2.68785617e+00] [ 1.57318902e-02 -2.71082958e-04 9.99876209e-01 1.42896134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.975099893 meters 0.014562300097701571 Centerline is valid? [True, True] Translation: X:130.80, Y:2.69, Z:1.43 [[ 9.99522932e-01 -2.65775132e-02 -1.57335353e-02 1.30804035e+02] [ 2.65784848e-02 9.99646719e-01 -1.47385943e-04 2.68813732e+00] [ 1.57318941e-02 -2.70857898e-04 9.99876209e-01 1.42933246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.005099893 meters 0.014562300097701571 Centerline is valid? [True, True] Translation: X:130.83, Y:2.69, Z:1.43 [[ 9.99522932e-01 -2.65775132e-02 -1.57335353e-02 1.30834036e+02] [ 2.65784848e-02 9.99646719e-01 -1.47385943e-04 2.68841836e+00] [ 1.57318941e-02 -2.70857898e-04 9.99876209e-01 1.42970351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.035099893 meters 0.015978883100171776 Centerline is valid? [True, True] Translation: X:130.86, Y:2.68, Z:1.43 [[ 9.99412966e-01 -3.04079459e-02 -1.57822546e-02 1.30864472e+02] [ 3.04094017e-02 9.99537516e-01 -1.47781405e-04 2.68303639e+00] [ 1.57794493e-02 -3.32234268e-04 9.99875442e-01 1.42964233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.065099893 meters 0.018475288423737316 Centerline is valid? [True, True] Translation: X:130.90, Y:2.67, Z:1.43 [[ 9.99162410e-01 -3.83392953e-02 -1.43030092e-02 1.30896028e+02] [ 3.83413066e-02 9.99264693e-01 -1.33663256e-04 2.67413719e+00] [ 1.42976167e-02 -4.14844761e-04 9.99897698e-01 1.43070767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.095099893 meters 0.020567334255328824 Centerline is valid? [True, True] Translation: X:130.93, Y:2.67, Z:1.43 [[ 9.98861226e-01 -4.54562848e-02 -1.44906025e-02 1.30926971e+02] [ 4.54591035e-02 9.98966191e-01 -1.34970968e-04 2.66680950e+00] [ 1.44817573e-02 -5.23912534e-04 9.99894997e-01 1.43026002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.125099893 meters 0.02084068181232982 Centerline is valid? [True, True] Translation: X:130.96, Y:2.66, Z:1.43 [[ 9.98597430e-01 -4.99570626e-02 -1.75346572e-02 1.30958281e+02] [ 4.99618882e-02 9.98751112e-01 -1.63026054e-04 2.66326118e+00] [ 1.75209027e-02 -7.13267184e-04 9.99846243e-01 1.42743614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.155099893 meters 0.020278243604069934 Centerline is valid? [True, True] Translation: X:130.99, Y:2.66, Z:1.43 [[ 9.98535083e-01 -5.07396851e-02 -1.87929058e-02 1.30990023e+02] [ 5.07453907e-02 9.98711608e-01 -1.73447193e-04 2.66326187e+00] [ 1.87774938e-02 -7.80460240e-04 9.99823383e-01 1.42610302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.185099893 meters 0.02105226155924483 Centerline is valid? [True, True] Translation: X:131.02, Y:2.66, Z:1.43 [[ 9.98559008e-01 -5.06291186e-02 -1.77932521e-02 1.31021458e+02] [ 5.06342446e-02 9.98717251e-01 -1.62593400e-04 2.66089125e+00] [ 1.77786598e-02 -7.38588777e-04 9.99841674e-01 1.42627138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.215099893 meters 0.019342284438848695 Centerline is valid? [True, True] Translation: X:131.05, Y:2.66, Z:1.43 [[ 9.98834351e-01 -4.63791370e-02 -1.33759126e-02 1.31052176e+02] [ 4.63816599e-02 9.98923784e-01 -1.21700926e-04 2.66384424e+00] [ 1.33671616e-02 -4.98837966e-04 9.99910531e-01 1.43099765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.245099893 meters 0.0198207051533468 Centerline is valid? [True, True] Translation: X:131.08, Y:2.66, Z:1.43 [[ 9.98904348e-01 -4.48745869e-02 -1.32806280e-02 1.31083235e+02] [ 4.48769458e-02 9.98992515e-01 -1.20487539e-04 2.66321003e+00] [ 1.32726548e-02 -4.75638497e-04 9.99911801e-01 1.43093440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27509989299998 meters 0.0198207051533468 Centerline is valid? [True, True] Translation: X:131.11, Y:2.66, Z:1.43 [[ 9.98907547e-01 -4.48033105e-02 -1.32806435e-02 1.31114943e+02] [ 4.48056861e-02 9.98995714e-01 -1.18756611e-04 2.66343448e+00] [ 1.32726266e-02 -4.76421470e-04 9.99911801e-01 1.43132609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30509989299998 meters 0.018497680785082148 Centerline is valid? [True, True] Translation: X:131.15, Y:2.67, Z:1.43 [[ 9.98963752e-01 -4.38407059e-02 -1.22235128e-02 1.31147062e+02] [ 4.38426561e-02 9.99038443e-01 -1.08502082e-04 2.66597105e+00] [ 1.22165160e-02 -4.27521621e-04 9.99925284e-01 1.43210987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33509989299998 meters 0.018497680785082148 Centerline is valid? [True, True] Translation: X:131.18, Y:2.67, Z:1.43 [[ 9.98966960e-01 -4.37675420e-02 -1.22235207e-02 1.31178770e+02] [ 4.37694977e-02 9.99041651e-01 -1.07606802e-04 2.66619391e+00] [ 1.22165159e-02 -4.27521720e-04 9.99925284e-01 1.43250176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36509989299998 meters 0.019239155377906138 Centerline is valid? [True, True] Translation: X:131.21, Y:2.67, Z:1.43 [[ 9.98953557e-01 -4.44183735e-02 -1.08995244e-02 1.31209596e+02] [ 4.44199742e-02 9.99012941e-01 -9.53006401e-05 2.66511121e+00] [ 1.08929991e-02 -3.88955681e-04 9.99940594e-01 1.43443355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39509989299998 meters 0.019272612195007824 Centerline is valid? [True, True] Translation: X:131.24, Y:2.66, Z:1.43 [[ 9.98846892e-01 -4.62587223e-02 -1.28459306e-02 1.31241943e+02] [ 4.62611183e-02 9.98929375e-01 -1.10724587e-04 2.66414184e+00] [ 1.28372994e-02 -4.83670206e-04 9.99917481e-01 1.43388487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42509989299998 meters 0.02219098401557184 Centerline is valid? [True, True] Translation: X:131.27, Y:2.66, Z:1.43 [[ 9.98718648e-01 -4.79700181e-02 -1.61226525e-02 1.31272897e+02] [ 4.79740369e-02 9.98848574e-01 -1.37625527e-04 2.65865026e+00] [ 1.61106904e-02 -6.36019546e-04 9.99870012e-01 1.43055499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45509989299998 meters 0.019961367258895017 Centerline is valid? [True, True] Translation: X:131.30, Y:2.66, Z:1.43 [[ 9.98686440e-01 -4.83659481e-02 -1.69153701e-02 1.31304622e+02] [ 4.83704462e-02 9.98829455e-01 -1.43350025e-04 2.66230178e+00] [ 1.69025032e-02 -6.75042275e-04 9.99856915e-01 1.43123477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48509989299998 meters 0.02036373286693515 Centerline is valid? [True, True] Translation: X:131.34, Y:2.66, Z:1.43 [[ 9.98730787e-01 -4.75779999e-02 -1.65272406e-02 1.31335971e+02] [ 4.75822046e-02 9.98867316e-01 -1.38947928e-04 2.66284722e+00] [ 1.65151313e-02 -6.47630969e-04 9.99863406e-01 1.43167272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51509989299998 meters 0.019378404826972794 Centerline is valid? [True, True] Translation: X:131.37, Y:2.67, Z:1.43 [[ 9.98786491e-01 -4.66603251e-02 -1.57593945e-02 1.31368338e+02] [ 4.66640481e-02 9.98910631e-01 -1.31599743e-04 2.66545320e+00] [ 1.57483671e-02 -6.03957095e-04 9.99875804e-01 1.43303740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54509989299999 meters 0.018749043902255236 Centerline is valid? [True, True] Translation: X:131.40, Y:2.67, Z:1.43 [[ 9.98979518e-01 -4.26994790e-02 -1.47199591e-02 1.31399048e+02] [ 4.27023112e-02 9.99087833e-01 -1.21985797e-04 2.66833266e+00] [ 1.47117407e-02 -5.06714960e-04 9.99891648e-01 1.43483067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.575099893 meters 0.017658136391896753 Centerline is valid? [True, True] Translation: X:131.43, Y:2.67, Z:1.44 [[ 9.99205659e-01 -3.72956712e-02 -1.40386687e-02 1.31428579e+02] [ 3.72977221e-02 9.99304191e-01 -1.15793294e-04 2.67247070e+00] [ 1.40332191e-02 -4.07909050e-04 9.99901446e-01 1.43558875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605099893 meters 0.016143197713760098 Centerline is valid? [True, True] Translation: X:131.46, Y:2.68, Z:1.44 [[ 9.99324565e-01 -3.41047526e-02 -1.36850306e-02 1.31459961e+02] [ 3.41064145e-02 9.99418201e-01 -1.11995761e-04 2.67657953e+00] [ 1.36808882e-02 -3.54827211e-04 9.99906349e-01 1.43557729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.635099893 meters 0.015006636252369775 Centerline is valid? [True, True] Translation: X:131.49, Y:2.68, Z:1.44 [[ 9.99556025e-01 -2.74116396e-02 -1.16771295e-02 1.31490003e+02] [ 2.74123973e-02 9.99624205e-01 -9.51889013e-05 2.68159446e+00] [ 1.16753506e-02 -2.24951475e-04 9.99931815e-01 1.43716002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.665099893 meters 0.013683263028088463 Centerline is valid? [True, True] Translation: X:131.52, Y:2.69, Z:1.44 [[ 9.99757861e-01 -2.00325522e-02 -9.10579873e-03 1.31521069e+02] [ 2.00327074e-02 9.99799322e-01 -7.41713785e-05 2.68715153e+00] [ 9.10545724e-03 -1.08260383e-04 9.99958539e-01 1.43868347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.695099893 meters 0.013208878239498744 Centerline is valid? [True, True] Translation: X:131.55, Y:2.69, Z:1.44 [[ 9.99875178e-01 -1.32977722e-02 -8.53212815e-03 1.31550953e+02] [ 1.32976663e-02 9.99911580e-01 -6.91413805e-05 2.69151539e+00] [ 8.53229316e-03 -4.43246426e-05 9.99963598e-01 1.43957269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.725099893 meters 0.012985779372619088 Centerline is valid? [True, True] Translation: X:131.58, Y:2.69, Z:1.44 [[ 9.99922536e-01 -8.53883535e-03 -9.05592491e-03 1.31581658e+02] [ 8.53852306e-03 9.99963543e-01 -7.31484504e-05 2.69469861e+00] [ 9.05621936e-03 -4.18143956e-06 9.99958992e-01 1.43960202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.755099893 meters 0.012994990651233438 Centerline is valid? [True, True] Translation: X:131.61, Y:2.69, Z:1.44 [[ 9.99911242e-01 -5.54675928e-03 -1.21137290e-02 1.31610129e+02] [ 5.54598107e-03 9.99984616e-01 -9.78341426e-05 2.69368727e+00] [ 1.21140853e-02 3.06429473e-05 9.99926621e-01 1.43539821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.785099893 meters 0.013126176867946154 Centerline is valid? [True, True] Translation: X:131.64, Y:2.68, Z:1.43 [[ 9.99813004e-01 -1.26508027e-02 -1.46257835e-02 1.31638794e+02] [ 1.26504143e-02 9.99919973e-01 -1.19077374e-04 2.68486608e+00] [ 1.46261195e-02 -6.59671133e-05 9.99893030e-01 1.43256810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.815099893 meters 0.013126176867946154 Centerline is valid? [True, True] Translation: X:131.67, Y:2.69, Z:1.43 [[ 9.99809405e-01 -1.29321378e-02 -1.46257711e-02 1.31666192e+02] [ 1.29317575e-02 9.99916374e-01 -1.20580357e-04 2.68515617e+00] [ 1.46261074e-02 -6.85795503e-05 9.99893030e-01 1.43290721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.845099893 meters 0.013211691347301076 Centerline is valid? [True, True] Translation: X:131.69, Y:2.68, Z:1.43 [[ 9.99796831e-01 -1.47958531e-02 -1.36886680e-02 1.31693860e+02] [ 1.47956448e-02 9.99890532e-01 -1.16491543e-04 2.68381976e+00] [ 1.36888931e-02 -8.60647946e-05 9.99906299e-01 1.43388964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.875099893 meters 0.013266877971764736 Centerline is valid? [True, True] Translation: X:131.72, Y:2.68, Z:1.43 [[ 9.99772949e-01 -1.71249366e-02 -1.26801879e-02 1.31722389e+02] [ 1.71249024e-02 9.99853352e-01 -1.11280041e-04 2.68208290e+00] [ 1.26802341e-02 -1.05892206e-04 9.99919597e-01 1.43476547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.905099893 meters 0.013266877971764736 Centerline is valid? [True, True] Translation: X:131.75, Y:2.68, Z:1.44 [[ 9.99772333e-01 -1.71609065e-02 -1.26801597e-02 1.31751541e+02] [ 1.71608355e-02 9.99852735e-01 -1.14409043e-04 2.68237530e+00] [ 1.26802557e-02 -1.03219140e-04 9.99919597e-01 1.43512691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.935099893 meters 0.013579444611787771 Centerline is valid? [True, True] Translation: X:131.78, Y:2.68, Z:1.44 [[ 9.99732648e-01 -1.95914765e-02 -1.22803712e-02 1.31780910e+02] [ 1.95915881e-02 9.99808060e-01 -1.11229268e-04 2.68063589e+00] [ 1.22801933e-02 -1.29392443e-04 9.99924587e-01 1.43595246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.965099893 meters 0.013579444611787771 Centerline is valid? [True, True] Translation: X:131.81, Y:2.68, Z:1.44 [[ 9.99732647e-01 -1.95914821e-02 -1.22803671e-02 1.31810908e+02] [ 1.95915881e-02 9.99808060e-01 -1.11675940e-04 2.68090890e+00] [ 1.22801979e-02 -1.28945811e-04 9.99924587e-01 1.43632360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.995099893 meters 0.013579444611787771 Centerline is valid? [True, True] Translation: X:131.84, Y:2.68, Z:1.44 [[ 9.99732647e-01 -1.95914821e-02 -1.22803671e-02 1.31840906e+02] [ 1.95915881e-02 9.99808060e-01 -1.11675940e-04 2.68118170e+00] [ 1.22801979e-02 -1.28945811e-04 9.99924587e-01 1.43669461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02509989299998 meters 0.013816731178539376 Centerline is valid? [True, True] Translation: X:131.87, Y:2.68, Z:1.44 [[ 9.99680651e-01 -2.20463882e-02 -1.23512191e-02 1.31870673e+02] [ 2.20466828e-02 9.99756936e-01 -1.12319997e-04 2.67928371e+00] [ 1.23506932e-02 -1.60019282e-04 9.99923714e-01 1.43746762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05509989299998 meters 0.013816731178539376 Centerline is valid? [True, True] Translation: X:131.90, Y:2.68, Z:1.44 [[ 9.99680651e-01 -2.20463909e-02 -1.23512171e-02 1.31900672e+02] [ 2.20466828e-02 9.99756936e-01 -1.12541728e-04 2.67955716e+00] [ 1.23506961e-02 -1.59797577e-04 9.99923714e-01 1.43783870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08509989299998 meters 0.015325705094309309 Centerline is valid? [True, True] Translation: X:131.93, Y:2.67, Z:1.44 [[ 9.99448245e-01 -3.10392560e-02 -1.18224433e-02 1.31931456e+02] [ 3.10401522e-02 9.99518133e-01 -1.07723652e-04 2.67389071e+00] [ 1.18200901e-02 -2.59306225e-04 9.99930107e-01 1.43855704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11509989299998 meters 0.02411846387210543 Centerline is valid? [True, True] Translation: X:131.96, Y:2.65, Z:1.44 [[ 9.98433644e-01 -5.48418402e-02 -1.10738679e-02 1.31960933e+02] [ 5.48440868e-02 9.98494925e-01 -1.00930746e-04 2.65249443e+00] [ 1.10627361e-02 -5.06563517e-04 9.99938678e-01 1.43939497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14509989299998 meters 0.027061694826278546 Centerline is valid? [True, True] Translation: X:131.99, Y:2.65, Z:1.44 [[ 9.97961942e-01 -6.26382023e-02 -1.21826812e-02 1.31991954e+02] [ 6.26415041e-02 9.98036086e-01 -1.10748139e-04 2.64826257e+00] [ 1.21656925e-02 -6.52619044e-04 9.99925782e-01 1.43928131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17509989299998 meters 0.027859856133830817 Centerline is valid? [True, True] Translation: X:132.02, Y:2.65, Z:1.44 [[ 9.97723338e-01 -6.62023869e-02 -1.28602305e-02 1.32023346e+02] [ 6.62063668e-02 9.97805945e-01 -1.16482165e-04 2.64745700e+00] [ 1.28397258e-02 -7.35212163e-04 9.99917297e-01 1.43904381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20509989299998 meters 0.029258063241846786 Centerline is valid? [True, True] Translation: X:132.05, Y:2.65, Z:1.44 [[ 9.97503552e-01 -6.93277713e-02 -1.34284677e-02 1.32054201e+02] [ 6.93323993e-02 9.97593607e-01 -1.21150338e-04 2.64562513e+00] [ 1.34045526e-02 -8.10179989e-04 9.99909827e-01 1.43879634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23509989299998 meters 0.031364870652053886 Centerline is valid? [True, True] Translation: X:132.08, Y:2.64, Z:1.44 [[ 9.97353688e-01 -7.14347676e-02 -1.35164596e-02 1.32084279e+02] [ 7.14396522e-02 9.97444916e-01 -1.21722569e-04 2.64299785e+00] [ 1.34906191e-02 -8.44210717e-04 9.99908641e-01 1.43854937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26509989299998 meters 0.031364870652053886 Centerline is valid? [True, True] Translation: X:132.12, Y:2.64, Z:1.44 [[ 9.97361262e-01 -7.13289400e-02 -1.35164607e-02 1.32116872e+02] [ 7.13338165e-02 9.97452491e-01 -1.21600468e-04 2.64319963e+00] [ 1.34907010e-02 -8.42901128e-04 9.99908641e-01 1.43895247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29509989299999 meters 0.033516855090510125 Centerline is valid? [True, True] Translation: X:132.15, Y:2.64, Z:1.44 [[ 9.97254021e-01 -7.27987511e-02 -1.35926428e-02 1.32147887e+02] [ 7.28038375e-02 9.97346272e-01 -1.20901663e-04 2.64069980e+00] [ 1.35653731e-02 -8.69026884e-04 9.99907608e-01 1.43902884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325099893 meters 0.03278934460796551 Centerline is valid? [True, True] Translation: X:132.18, Y:2.64, Z:1.44 [[ 9.97214853e-01 -7.33602138e-02 -1.34467765e-02 1.32180199e+02] [ 7.33652520e-02 9.97305132e-01 -1.18885491e-04 2.64259425e+00] [ 1.34192606e-02 -8.67971768e-04 9.99909581e-01 1.43930221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.355099893 meters 0.03278934460796551 Centerline is valid? [True, True] Translation: X:132.21, Y:2.64, Z:1.44 [[ 9.97222584e-01 -7.32550453e-02 -1.34467851e-02 1.32212797e+02] [ 7.32600872e-02 9.97312863e-01 -1.17904598e-04 2.64278744e+00] [ 1.34192888e-02 -8.67535519e-04 9.99909581e-01 1.43970515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.385099893 meters 0.02910928728482752 Centerline is valid? [True, True] Translation: X:132.24, Y:2.65, Z:1.44 [[ 9.97237478e-01 -7.30046725e-02 -1.37014354e-02 1.32244631e+02] [ 7.30099032e-02 9.97331209e-01 -1.18711006e-04 2.64929682e+00] [ 1.36735355e-02 -8.81957405e-04 9.99906124e-01 1.44019878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.415099893 meters 0.029371885758290875 Centerline is valid? [True, True] Translation: X:132.28, Y:2.65, Z:1.44 [[ 9.97299800e-01 -7.21472195e-02 -1.37072029e-02 1.32276872e+02] [ 7.21523877e-02 9.97393613e-01 -1.17760055e-04 2.65103100e+00] [ 1.36799727e-02 -8.71565340e-04 9.99906045e-01 1.44070743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.445099893 meters 0.029638323556418697 Centerline is valid? [True, True] Translation: X:132.31, Y:2.66, Z:1.44 [[ 9.97536508e-01 -6.88533052e-02 -1.34215056e-02 1.32306872e+02] [ 6.88579749e-02 9.97626466e-01 -1.14427307e-04 2.65508340e+00] [ 1.33975279e-02 -8.10032277e-04 9.99909921e-01 1.44112054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.475099893 meters 0.029638323556418697 Centerline is valid? [True, True] Translation: X:132.34, Y:2.66, Z:1.44 [[ 9.97543862e-01 -6.87466820e-02 -1.34215065e-02 1.32339463e+02] [ 6.87513435e-02 9.97633820e-01 -1.14314466e-04 2.65527110e+00] [ 1.33976076e-02 -8.08712911e-04 9.99909921e-01 1.44152361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.505099893 meters 0.025632324146033517 Centerline is valid? [True, True] Translation: X:132.37, Y:2.66, Z:1.44 [[ 9.97687782e-01 -6.65552025e-02 -1.37657259e-02 1.32371439e+02] [ 6.65599185e-02 9.97782423e-01 -1.15781864e-04 2.66300725e+00] [ 1.37429052e-02 -8.00731441e-04 9.99905241e-01 1.44176643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.535099893 meters 0.025616049902880376 Centerline is valid? [True, True] Translation: X:132.40, Y:2.67, Z:1.44 [[ 9.98177254e-01 -5.87037632e-02 -1.40013463e-02 1.32401155e+02] [ 5.87078852e-02 9.98275198e-01 -1.16790934e-04 2.66964909e+00] [ 1.39840528e-02 -7.05411377e-04 9.99901970e-01 1.44206326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.565099893 meters 0.020858292236477668 Centerline is valid? [True, True] Translation: X:132.43, Y:2.69, Z:1.44 [[ 9.98694789e-01 -4.87789564e-02 -1.51436958e-02 1.32432097e+02] [ 4.87826397e-02 9.98809410e-01 -1.26298079e-04 2.68565915e+00] [ 1.51318265e-02 -6.12616221e-04 9.99885320e-01 1.44193111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.595099893 meters 0.017106532552729713 Centerline is valid? [True, True] Translation: X:132.46, Y:2.70, Z:1.44 [[ 9.99189259e-01 -3.74134030e-02 -1.48681698e-02 1.32462290e+02] [ 3.74156991e-02 9.99299780e-01 -1.23804478e-04 2.70123966e+00] [ 1.48623907e-02 -4.32598862e-04 9.99889455e-01 1.44254343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.625099893 meters 0.015668137331038518 Centerline is valid? [True, True] Translation: X:132.49, Y:2.71, Z:1.44 [[ 9.99421117e-01 -3.06039222e-02 -1.48603499e-02 1.32492087e+02] [ 3.06054632e-02 9.99531535e-01 -1.23758242e-04 2.70927172e+00] [ 1.48571759e-02 -3.31121294e-04 9.99889571e-01 1.44224380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.655099893 meters 0.015142844603135128 Centerline is valid? [True, True] Translation: X:132.52, Y:2.71, Z:1.44 [[ 9.99514757e-01 -2.73408142e-02 -1.49241331e-02 1.32522557e+02] [ 2.73420055e-02 9.99626130e-01 -1.24244251e-04 2.71303903e+00] [ 1.49219504e-02 -2.83871768e-04 9.99888621e-01 1.44230395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.685099893 meters 0.01418898784895057 Centerline is valid? [True, True] Translation: X:132.55, Y:2.72, Z:1.44 [[ 9.99587005e-01 -2.45637567e-02 -1.49144391e-02 1.32554186e+02] [ 2.45646421e-02 9.99698236e-01 -1.23853340e-04 2.71784224e+00] [ 1.49129807e-02 -2.42565669e-04 9.99888766e-01 1.44258258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.715099893 meters 0.013896816217910543 Centerline is valid? [True, True] Translation: X:132.59, Y:2.72, Z:1.44 [[ 9.99646645e-01 -2.22297655e-02 -1.45747010e-02 1.32585009e+02] [ 2.22303693e-02 9.99752868e-01 -1.20596067e-04 2.72180269e+00] [ 1.45737800e-02 -2.03447533e-04 9.99893776e-01 1.44311533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.745099893 meters 0.013455848158284935 Centerline is valid? [True, True] Translation: X:132.61, Y:2.73, Z:1.44 [[ 9.99732331e-01 -1.75076016e-02 -1.51245121e-02 1.32614155e+02] [ 1.75077122e-02 9.99846720e-01 -1.25106075e-04 2.72829920e+00] [ 1.51243841e-02 -1.39723017e-04 9.99885610e-01 1.44319300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77509989299998 meters 0.013274994976144022 Centerline is valid? [True, True] Translation: X:132.64, Y:2.73, Z:1.44 [[ 9.99758049e-01 -1.57225377e-02 -1.53832561e-02 1.32642657e+02] [ 1.57224320e-02 9.99876387e-01 -1.27813685e-04 2.73192201e+00] [ 1.53833640e-02 -1.14079438e-04 9.99881663e-01 1.44312669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80509989299998 meters 0.013022265051981506 Centerline is valid? [True, True] Translation: X:132.67, Y:2.74, Z:1.44 [[ 9.99778160e-01 -1.38397961e-02 -1.58773939e-02 1.32671103e+02] [ 1.38393818e-02 9.99904222e-01 -1.35971299e-04 2.73509324e+00] [ 1.58777550e-02 -8.37921810e-05 9.99873937e-01 1.44338921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83509989299998 meters 0.013022265051981506 Centerline is valid? [True, True] Translation: X:132.70, Y:2.74, Z:1.44 [[ 9.99774088e-01 -1.41309323e-02 -1.58773572e-02 1.32698485e+02] [ 1.41304885e-02 9.99900150e-01 -1.40141780e-04 2.73538692e+00] [ 1.58777521e-02 -8.42446931e-05 9.99873937e-01 1.44372894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86509989299998 meters 0.012993314627465556 Centerline is valid? [True, True] Translation: X:132.73, Y:2.74, Z:1.44 [[ 9.99789896e-01 -1.23142084e-02 -1.63866867e-02 1.32725940e+02] [ 1.23134248e-02 9.99924176e-01 -1.48715910e-04 2.73804819e+00] [ 1.63872755e-02 -5.30915704e-05 9.99865718e-01 1.44376906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89509989299998 meters 0.012960135634656937 Centerline is valid? [True, True] Translation: X:132.75, Y:2.74, Z:1.44 [[ 9.99800086e-01 -1.08133450e-02 -1.68184578e-02 1.32753489e+02] [ 1.08122667e-02 9.99941534e-01 -1.55044592e-04 2.74106931e+00] [ 1.68191510e-02 -2.68320548e-05 9.99858548e-01 1.44348689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92509989299998 meters 0.012961125004197204 Centerline is valid? [True, True] Translation: X:132.78, Y:2.74, Z:1.44 [[ 9.99809093e-01 -9.71942850e-03 -1.69502147e-02 1.32780677e+02] [ 9.71810071e-03 9.99952765e-01 -1.60702745e-04 2.74355072e+00] [ 1.69509760e-02 -4.05182784e-06 9.99856322e-01 1.44349220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95509989299998 meters 0.013009691654975172 Centerline is valid? [True, True] Translation: X:132.81, Y:2.75, Z:1.44 [[ 9.99818137e-01 -9.25150105e-03 -1.66764153e-02 1.32808103e+02] [ 9.25009047e-03 9.99957204e-01 -1.61719276e-04 2.74588382e+00] [ 1.66771978e-02 7.43151499e-06 9.99860926e-01 1.44396748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98509989299998 meters 0.012980035218664818 Centerline is valid? [True, True] Translation: X:132.84, Y:2.75, Z:1.44 [[ 9.99833645e-01 -9.78812951e-03 -1.53907454e-02 1.32835304e+02] [ 9.78693233e-03 9.99952095e-01 -1.53104103e-04 2.74883467e+00] [ 1.53915067e-02 2.45044928e-06 9.99881544e-01 1.44478367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01509989299998 meters 0.012962028469981937 Centerline is valid? [True, True] Translation: X:132.86, Y:2.75, Z:1.45 [[ 9.99812055e-01 -1.22966856e-02 -1.49882055e-02 1.32862845e+02] [ 1.22957924e-02 9.99924392e-01 -1.51745945e-04 2.74917349e+00] [ 1.49889382e-02 -3.25744379e-05 9.99887659e-01 1.44509479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04509989299999 meters 0.013085209908256575 Centerline is valid? [True, True] Translation: X:132.89, Y:2.75, Z:1.44 [[ 9.99780613e-01 -1.44857021e-02 -1.51291084e-02 1.32890197e+02] [ 1.44850185e-02 9.99895075e-01 -1.54767228e-04 2.74873534e+00] [ 1.51297629e-02 -6.44121406e-05 9.99885537e-01 1.44475536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.075099893 meters 0.01336148892011273 Centerline is valid? [True, True] Translation: X:132.92, Y:2.75, Z:1.44 [[ 9.99668310e-01 -2.01030535e-02 -1.60977104e-02 1.32918800e+02] [ 2.01029845e-02 9.99797901e-01 -1.66122927e-04 2.74752269e+00] [ 1.60977967e-02 -1.57544197e-04 9.99870410e-01 1.44459202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.105099893 meters 0.01336148892011273 Centerline is valid? [True, True] Translation: X:132.95, Y:2.75, Z:1.44 [[ 9.99667578e-01 -2.01394436e-02 -1.60976997e-02 1.32947949e+02] [ 2.01393625e-02 9.99797168e-01 -1.67158796e-04 2.74785295e+00] [ 1.60978010e-02 -1.57094182e-04 9.99870410e-01 1.44495285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.135099893 meters 0.014392816559928027 Centerline is valid? [True, True] Translation: X:132.98, Y:2.75, Z:1.45 [[ 9.99541303e-01 -2.62417750e-02 -1.51179431e-02 1.32976992e+02] [ 2.62423934e-02 9.99655597e-01 -1.57507087e-04 2.74533064e+00] [ 1.51168697e-02 -2.39296171e-04 9.99885705e-01 1.44572815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.165099893 meters 0.015021015640076433 Centerline is valid? [True, True] Translation: X:133.01, Y:2.74, Z:1.45 [[ 9.99472153e-01 -2.88952400e-02 -1.48485964e-02 1.33007959e+02] [ 2.88961267e-02 9.99582408e-01 -1.54869365e-04 2.74338781e+00] [ 1.48468708e-02 -2.74279306e-04 9.99889742e-01 1.44627034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.195099893 meters 0.016006281469517995 Centerline is valid? [True, True] Translation: X:133.04, Y:2.74, Z:1.45 [[ 9.99305558e-01 -3.43036272e-02 -1.45486664e-02 1.33039392e+02] [ 3.43050715e-02 9.99411397e-01 -1.50344163e-04 2.74030843e+00] [ 1.45452604e-02 -3.48853286e-04 9.99894151e-01 1.44664693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.225099893 meters 0.016459035125516885 Centerline is valid? [True, True] Translation: X:133.07, Y:2.74, Z:1.45 [[ 9.99240077e-01 -3.61837951e-02 -1.44914460e-02 1.33071954e+02] [ 3.61854343e-02 9.99345082e-01 -1.49159977e-04 2.73874940e+00] [ 1.44873525e-02 -3.75332640e-04 9.99894982e-01 1.44690683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.255099893 meters 0.016620591816282778 Centerline is valid? [True, True] Translation: X:133.10, Y:2.74, Z:1.45 [[ 9.99179351e-01 -3.77748501e-02 -1.46179638e-02 1.33104583e+02] [ 3.77767037e-02 9.99286194e-01 -1.49400872e-04 2.73839972e+00] [ 1.46131730e-02 -4.02940222e-04 9.99893141e-01 1.44735694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.285099893 meters 0.01817568980825341 Centerline is valid? [True, True] Translation: X:133.14, Y:2.74, Z:1.45 [[ 9.99141402e-01 -3.87209471e-02 -1.47358862e-02 1.33135294e+02] [ 3.87229513e-02 9.99249974e-01 -1.49399322e-04 2.73615797e+00] [ 1.47306187e-02 -4.21345953e-04 9.99891410e-01 1.44778032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.315099893 meters 0.01735303467551348 Centerline is valid? [True, True] Translation: X:133.17, Y:2.74, Z:1.45 [[ 9.99159420e-01 -3.81772171e-02 -1.49316300e-02 1.33167565e+02] [ 3.81792405e-02 9.99270896e-01 -1.49618927e-04 2.73811382e+00] [ 1.49264553e-02 -4.20585134e-04 9.99888506e-01 1.44799242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.345099893 meters 0.017216965644310578 Centerline is valid? [True, True] Translation: X:133.20, Y:2.74, Z:1.45 [[ 9.99192744e-01 -3.72858143e-02 -1.49541947e-02 1.33199423e+02] [ 3.72877601e-02 9.99304559e-01 -1.48777092e-04 2.73886723e+00] [ 1.49493422e-02 -4.08951434e-04 9.99888169e-01 1.44819079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.375099893 meters 0.016614042290532795 Centerline is valid? [True, True] Translation: X:133.23, Y:2.74, Z:1.45 [[ 9.99304181e-01 -3.42505912e-02 -1.47665747e-02 1.33230083e+02] [ 3.42521714e-02 9.99413212e-01 -1.45955656e-04 2.74076637e+00] [ 1.47629089e-02 -3.59933150e-04 9.99890958e-01 1.44861542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.405099893 meters 0.016250051936051495 Centerline is valid? [True, True] Translation: X:133.26, Y:2.74, Z:1.45 [[ 9.99359533e-01 -3.26755563e-02 -1.45887549e-02 1.33262143e+02] [ 3.26769395e-02 9.99465956e-01 -1.43608490e-04 2.74206119e+00] [ 1.45856563e-02 -3.33199348e-04 9.99893568e-01 1.44882865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.435099893 meters 0.014914495991344359 Centerline is valid? [True, True] Translation: X:133.29, Y:2.75, Z:1.45 [[ 9.99484695e-01 -2.83757117e-02 -1.50054732e-02 1.33293796e+02] [ 2.83767063e-02 9.99597289e-01 -1.46673414e-04 2.74719906e+00] [ 1.50035923e-02 -2.79208074e-04 9.99887401e-01 1.44885042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.465099893 meters 0.014336610691218488 Centerline is valid? [True, True] Translation: X:133.32, Y:2.75, Z:1.45 [[ 9.99544799e-01 -2.59860538e-02 -1.53270781e-02 1.33324861e+02] [ 2.59868226e-02 9.99662274e-01 -1.49029824e-04 2.75019785e+00] [ 1.53257744e-02 -2.49340075e-04 9.99882522e-01 1.44931929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.495099893 meters 0.013893544045913421 Centerline is valid? [True, True] Translation: X:133.36, Y:2.75, Z:1.45 [[ 9.99625947e-01 -2.16320865e-02 -1.67337418e-02 1.33355444e+02] [ 2.16324065e-02 9.99765979e-01 -1.61908539e-04 2.75444440e+00] [ 1.67333282e-02 -2.00143127e-04 9.99859968e-01 1.44851544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52509989299998 meters 0.013417142612999816 Centerline is valid? [True, True] Translation: X:133.39, Y:2.76, Z:1.45 [[ 9.99668241e-01 -1.83893120e-02 -1.80344638e-02 1.33385070e+02] [ 1.83891696e-02 9.99830890e-01 -1.73743905e-04 2.75880435e+00] [ 1.80346090e-02 -1.57952549e-04 9.99837351e-01 1.44791929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55509989299998 meters 0.013412162646229022 Centerline is valid? [True, True] Translation: X:133.41, Y:2.76, Z:1.45 [[ 9.99663292e-01 -1.86134608e-02 -1.80787736e-02 1.33413430e+02] [ 1.86133170e-02 9.99826742e-01 -1.76234952e-04 2.75951055e+00] [ 1.80789217e-02 -1.60330333e-04 9.99836550e-01 1.44812726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58509989299998 meters 0.013483841710692243 Centerline is valid? [True, True] Translation: X:133.44, Y:2.76, Z:1.45 [[ 9.99620858e-01 -1.92648870e-02 -1.96724296e-02 1.33441100e+02] [ 1.92647550e-02 9.99814398e-01 -1.96235721e-04 2.76008737e+00] [ 1.96725588e-02 -1.82823217e-04 9.99806460e-01 1.44645205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61509989299998 meters 0.013704793911385741 Centerline is valid? [True, True] Translation: X:133.47, Y:2.76, Z:1.45 [[ 9.99570999e-01 -2.10431929e-02 -2.03716046e-02 1.33469416e+02] [ 2.10433833e-02 9.99778542e-01 -2.05040796e-04 2.76069616e+00] [ 2.03714079e-02 -2.23734652e-04 9.99792456e-01 1.44623788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64509989299998 meters 0.01381563655955292 Centerline is valid? [True, True] Translation: X:133.50, Y:2.76, Z:1.45 [[ 9.99545212e-01 -2.25339631e-02 -2.00396894e-02 1.33497843e+02] [ 2.25343874e-02 9.99746048e-01 -2.04668078e-04 2.76080278e+00] [ 2.00392122e-02 -2.47007126e-04 9.99799164e-01 1.44640434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67509989299998 meters 0.013979853015403743 Centerline is valid? [True, True] Translation: X:133.53, Y:2.76, Z:1.45 [[ 9.99517823e-01 -2.39578458e-02 -1.97520490e-02 1.33526412e+02] [ 2.39584400e-02 9.99712934e-01 -2.06585773e-04 2.76109065e+00] [ 1.97513282e-02 -2.66742121e-04 9.99804888e-01 1.44723690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70509989299998 meters 0.014218975304809511 Centerline is valid? [True, True] Translation: X:133.56, Y:2.76, Z:1.45 [[ 9.99487298e-01 -2.52721063e-02 -1.96586546e-02 1.33555067e+02] [ 2.52728810e-02 9.99680568e-01 -2.09068723e-04 2.76068812e+00] [ 1.96576586e-02 -2.87869306e-04 9.99806728e-01 1.44738171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73509989299998 meters 0.014596861022913736 Centerline is valid? [True, True] Translation: X:133.58, Y:2.76, Z:1.45 [[ 9.99445097e-01 -2.68096978e-02 -1.97670865e-02 1.33584944e+02] [ 2.68107636e-02 9.99640505e-01 -2.11141986e-04 2.76048742e+00] [ 1.97656410e-02 -3.18945860e-04 9.99804590e-01 1.44727727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76509989299998 meters 0.014750344805859418 Centerline is valid? [True, True] Translation: X:133.62, Y:2.76, Z:1.45 [[ 9.99350002e-01 -3.01584624e-02 -1.97494258e-02 1.33615016e+02] [ 3.01601699e-02 9.99545056e-01 -2.11454530e-04 2.76139159e+00] [ 1.97468181e-02 -3.84328955e-04 9.99804939e-01 1.44774365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79509989299999 meters 0.01616362373807911 Centerline is valid? [True, True] Translation: X:133.65, Y:2.76, Z:1.45 [[ 9.99256630e-01 -3.35571508e-02 -1.89764452e-02 1.33645483e+02] [ 3.35593399e-02 9.99436706e-01 -2.03165788e-04 2.76079302e+00] [ 1.89725736e-02 -4.33822217e-04 9.99819910e-01 1.44899724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825099893 meters 0.016695476599482326 Centerline is valid? [True, True] Translation: X:133.68, Y:2.76, Z:1.45 [[ 9.99198742e-01 -3.54238690e-02 -1.86285745e-02 1.33676781e+02] [ 3.54263110e-02 9.99372271e-01 -1.99002367e-04 2.76097161e+00] [ 1.86239303e-02 -4.61098760e-04 9.99826453e-01 1.44979961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.855099893 meters 0.016600806681388563 Centerline is valid? [True, True] Translation: X:133.71, Y:2.76, Z:1.45 [[ 9.99147898e-01 -3.69615129e-02 -1.83663922e-02 1.33708494e+02] [ 3.69641600e-02 9.99316573e-01 -1.95447824e-04 2.76240463e+00] [ 1.83610641e-02 -4.83616976e-04 9.99831304e-01 1.45085965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.885099893 meters 0.017716695408907527 Centerline is valid? [True, True] Translation: X:133.74, Y:2.76, Z:1.45 [[ 9.99011628e-01 -4.01666313e-02 -1.90370236e-02 1.33740783e+02] [ 4.01700789e-02 9.99192836e-01 -2.01412670e-04 2.76243396e+00] [ 1.90297477e-02 -5.63505141e-04 9.99818759e-01 1.45030980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.915099893 meters 0.018468893946863362 Centerline is valid? [True, True] Translation: X:133.77, Y:2.76, Z:1.45 [[ 9.98890041e-01 -4.32578572e-02 -1.86398499e-02 1.33772639e+02] [ 4.32617276e-02 9.99063754e-01 -1.95732451e-04 2.76310264e+00] [ 1.86308654e-02 -6.10876913e-04 9.99826244e-01 1.45067162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.945099893 meters 0.02015024978583254 Centerline is valid? [True, True] Translation: X:133.80, Y:2.76, Z:1.45 [[ 9.98823303e-01 -4.53072676e-02 -1.72991740e-02 1.33803822e+02] [ 4.53109319e-02 9.98972916e-01 -1.80270899e-04 2.76238590e+00] [ 1.72895739e-02 -6.03782921e-04 9.99850342e-01 1.45189085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.975099893 meters 0.019199851709878035 Centerline is valid? [True, True] Translation: X:133.84, Y:2.76, Z:1.45 [[ 9.98850481e-01 -4.45825349e-02 -1.76100767e-02 1.33835969e+02] [ 4.45862382e-02 9.99005523e-01 -1.82461607e-04 2.76482611e+00] [ 1.76006985e-02 -6.02915210e-04 9.99844914e-01 1.45222294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.005099893 meters 0.018782709196790582 Centerline is valid? [True, True] Translation: X:133.87, Y:2.77, Z:1.45 [[ 9.98890465e-01 -4.35002773e-02 -1.80434388e-02 1.33868301e+02] [ 4.35040124e-02 9.99053235e-01 -1.85640715e-04 2.76643217e+00] [ 1.80344313e-02 -5.99527245e-04 9.99837187e-01 1.45254300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.035099893 meters 0.01812266879764479 Centerline is valid? [True, True] Translation: X:133.90, Y:2.77, Z:1.45 [[ 9.98945084e-01 -4.22160178e-02 -1.80700630e-02 1.33900111e+02] [ 4.22195775e-02 9.99108339e-01 -1.84616725e-04 2.76862613e+00] [ 1.80617444e-02 -5.78488455e-04 9.99836706e-01 1.45297143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.065099893 meters 0.01786316304979164 Centerline is valid? [True, True] Translation: X:133.93, Y:2.77, Z:1.45 [[ 9.98993645e-01 -4.12349219e-02 -1.76459011e-02 1.33932314e+02] [ 4.12381856e-02 9.99149328e-01 -1.79030575e-04 2.76979241e+00] [ 1.76382725e-02 -5.48834538e-04 9.99844283e-01 1.45331358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.095099893 meters 0.01782503545349334 Centerline is valid? [True, True] Translation: X:133.96, Y:2.77, Z:1.45 [[ 9.99045432e-01 -3.97930301e-02 -1.80205050e-02 1.33963885e+02] [ 3.97962214e-02 9.99207800e-01 -1.81616749e-04 2.77074054e+00] [ 1.80134562e-02 -5.35704624e-04 9.99837601e-01 1.45363883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.125099893 meters 0.018618349034875678 Centerline is valid? [True, True] Translation: X:134.00, Y:2.77, Z:1.45 [[ 9.99042961e-01 -3.96395334e-02 -1.84897368e-02 1.33995354e+02] [ 3.96428855e-02 9.99213895e-01 -1.85338989e-04 2.76974327e+00] [ 1.84825487e-02 -5.47824907e-04 9.99829033e-01 1.45361196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.155099893 meters 0.01802109760323493 Centerline is valid? [True, True] Translation: X:134.03, Y:2.77, Z:1.45 [[ 9.99017665e-01 -3.99574652e-02 -1.91600128e-02 1.34027278e+02] [ 3.99611455e-02 9.99201216e-01 -1.90894097e-04 2.77072797e+00] [ 1.91523358e-02 -5.74949486e-04 9.99816412e-01 1.45391979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.185099893 meters 0.018239448157647296 Centerline is valid? [True, True] Translation: X:134.06, Y:2.77, Z:1.45 [[ 9.98968769e-01 -4.03469614e-02 -2.08211500e-02 1.34059455e+02] [ 4.03514247e-02 9.99185528e-01 -2.05889450e-04 2.76995701e+00] [ 2.08124987e-02 -6.34485934e-04 9.99783195e-01 1.45289209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.215099893 meters 0.018694667173394297 Centerline is valid? [True, True] Translation: X:134.09, Y:2.77, Z:1.45 [[ 9.98971286e-01 -4.00879590e-02 -2.11972764e-02 1.34090774e+02] [ 4.00925556e-02 9.99195949e-01 -2.08251744e-04 2.76926977e+00] [ 2.11885811e-02 -6.41815469e-04 9.99775291e-01 1.45242729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.245099893 meters 0.01795486757327799 Centerline is valid? [True, True] Translation: X:134.12, Y:2.77, Z:1.45 [[ 9.99032399e-01 -3.85263806e-02 -2.12128198e-02 1.34121872e+02] [ 3.85306526e-02 9.99257397e-01 -2.07442136e-04 2.77146043e+00] [ 2.12050591e-02 -6.10102378e-04 9.99774961e-01 1.45366858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27509989299998 meters 0.017746754030975295 Centerline is valid? [True, True] Translation: X:134.15, Y:2.77, Z:1.46 [[ 9.99104439e-01 -3.68592514e-02 -2.07777871e-02 1.34152422e+02] [ 3.68630016e-02 9.99320308e-01 -2.02617225e-04 2.77284159e+00] [ 2.07711329e-02 -5.63495830e-04 9.99784098e-01 1.45513142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30509989299998 meters 0.016645688357335445 Centerline is valid? [True, True] Translation: X:134.18, Y:2.78, Z:1.46 [[ 9.99306327e-01 -3.21781294e-02 -1.87465632e-02 1.34182873e+02] [ 3.21803645e-02 9.99482061e-01 -1.82504004e-04 2.77628679e+00] [ 1.87427262e-02 -4.20893830e-04 9.99824251e-01 1.45766003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33509989299998 meters 0.015954423851366802 Centerline is valid? [True, True] Translation: X:134.21, Y:2.78, Z:1.46 [[ 9.99408174e-01 -2.94178209e-02 -1.78295759e-02 1.34214075e+02] [ 2.94194105e-02 9.99567140e-01 -1.73185713e-04 2.77848250e+00] [ 1.78269529e-02 -3.51452395e-04 9.99841025e-01 1.45876020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36509989299998 meters 0.015954423851366802 Centerline is valid? [True, True] Translation: X:134.24, Y:2.78, Z:1.46 [[ 9.99409174e-01 -2.93838203e-02 -1.78295818e-02 1.34244925e+02] [ 2.93854153e-02 9.99568141e-01 -1.72578349e-04 2.77875051e+00] [ 1.78269529e-02 -3.51453280e-04 9.99841025e-01 1.45914160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39509989299998 meters 0.015383037376958996 Centerline is valid? [True, True] Translation: X:134.28, Y:2.78, Z:1.46 [[ 9.99490049e-01 -2.69048055e-02 -1.71980406e-02 1.34276431e+02] [ 2.69059323e-02 9.99637956e-01 -1.65896171e-04 2.78047203e+00] [ 1.71962775e-02 -2.96917743e-04 9.99852089e-01 1.45970810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42509989299998 meters 0.014014845535633499 Centerline is valid? [True, True] Translation: X:134.31, Y:2.79, Z:1.46 [[ 9.99631177e-01 -2.10716330e-02 -1.71317432e-02 1.34307478e+02] [ 2.10719033e-02 9.99777949e-01 -1.64757477e-04 2.78546475e+00] [ 1.71314108e-02 -1.96301726e-04 9.99853227e-01 1.46000414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45509989299998 meters 0.01337264764461632 Centerline is valid? [True, True] Translation: X:134.34, Y:2.79, Z:1.46 [[ 9.99753030e-01 -1.51616353e-02 -1.62481677e-02 1.34336526e+02] [ 1.51610990e-02 9.99885052e-01 -1.56190632e-04 2.78931931e+00] [ 1.62486681e-02 -9.01880212e-05 9.99867978e-01 1.46052277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48509989299998 meters 0.01321240835652803 Centerline is valid? [True, True] Translation: X:134.37, Y:2.79, Z:1.46 [[ 9.99800669e-01 -1.23249152e-02 -1.57073055e-02 1.34365268e+02] [ 1.23240453e-02 9.99924044e-01 -1.52178067e-04 2.79175757e+00] [ 1.57079880e-02 -4.14298111e-05 9.99876621e-01 1.46087266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51509989299998 meters 0.013230929679123224 Centerline is valid? [True, True] Translation: X:134.39, Y:2.79, Z:1.46 [[ 9.99840159e-01 -6.99638700e-03 -1.64531711e-02 1.34392871e+02] [ 6.99464276e-03 9.99975524e-01 -1.63556891e-04 2.79482946e+00] [ 1.64539127e-02 4.84466942e-05 9.99864624e-01 1.46106000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54509989299999 meters 0.013425835007365487 Centerline is valid? [True, True] Translation: X:134.42, Y:2.80, Z:1.46 [[ 9.99849306e-01 -5.24866806e-03 -1.65474004e-02 1.34421382e+02] [ 5.24659012e-03 9.99986222e-01 -1.68984303e-04 2.79558519e+00] [ 1.65480593e-02 8.21414111e-05 9.99863068e-01 1.46097956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.575099893 meters 0.013552249340632426 Centerline is valid? [True, True] Translation: X:134.45, Y:2.80, Z:1.46 [[ 9.99859164e-01 -3.88216755e-03 -1.63272858e-02 1.34449897e+02] [ 3.87989837e-03 9.99992459e-01 -1.70655143e-04 2.79593787e+00] [ 1.63278252e-02 1.07282900e-04 9.99866686e-01 1.46122109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.605099893 meters 0.013825580696091834 Centerline is valid? [True, True] Translation: X:134.48, Y:2.80, Z:1.46 [[ 9.99865843e-01 -1.95374187e-03 -1.62627948e-02 1.34477166e+02] [ 1.95118049e-03 9.99998081e-01 -1.73364966e-04 2.79585160e+00] [ 1.62631023e-02 1.41610060e-04 9.99867737e-01 1.46193576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.635099893 meters 0.013698759855882819 Centerline is valid? [True, True] Translation: X:134.50, Y:2.79, Z:1.46 [[ 9.99860803e-01 -2.13565395e-03 -1.65473022e-02 1.34504873e+02] [ 2.13298585e-03 9.99997709e-01 -1.78888140e-04 2.79320834e+00] [ 1.65476464e-02 1.43568078e-04 9.99863068e-01 1.46239726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.665099893 meters 0.0136180422097489 Centerline is valid? [True, True] Translation: X:134.53, Y:2.79, Z:1.46 [[ 9.99856468e-01 -2.71144056e-03 -1.67239784e-02 1.34532738e+02] [ 2.70872811e-03 9.99996314e-01 -1.84838936e-04 2.79206536e+00] [ 1.67244180e-02 1.39511695e-04 9.99860127e-01 1.46254470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.695099893 meters 0.013503493647853193 Centerline is valid? [True, True] Translation: X:134.56, Y:2.79, Z:1.46 [[ 9.99851833e-01 -4.75315212e-03 -1.65444436e-02 1.34560702e+02] [ 4.75074943e-03 9.99988698e-01 -1.84525538e-04 2.78829534e+00] [ 1.65451337e-02 1.05899691e-04 9.99863114e-01 1.46249997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.725099893 meters 0.013238014310275931 Centerline is valid? [True, True] Translation: X:134.59, Y:2.78, Z:1.46 [[ 9.99828788e-01 -8.64079324e-03 -1.63625289e-02 1.34589855e+02] [ 8.63894151e-03 9.99962667e-01 -1.83849488e-04 2.78276338e+00] [ 1.63635066e-02 4.24630808e-05 9.99866108e-01 1.46267221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.755099893 meters 0.01345200650141512 Centerline is valid? [True, True] Translation: X:134.62, Y:2.77, Z:1.46 [[ 9.99724615e-01 -1.77410985e-02 -1.53605783e-02 1.34619209e+02] [ 1.77405251e-02 9.99842609e-01 -1.73604090e-04 2.77202449e+00] [ 1.53612406e-02 -9.89484433e-05 9.99882004e-01 1.46409915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.785099893 meters 0.013625785572277244 Centerline is valid? [True, True] Translation: X:134.65, Y:2.77, Z:1.46 [[ 9.99650877e-01 -2.13595922e-02 -1.55528435e-02 1.34649233e+02] [ 2.13594267e-02 9.99771846e-01 -1.76768224e-04 2.76897772e+00] [ 1.55530707e-02 -1.55493310e-04 9.99879032e-01 1.46460691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.815099893 meters 0.013625785572277244 Centerline is valid? [True, True] Translation: X:134.68, Y:2.77, Z:1.46 [[ 9.99650877e-01 -2.13595977e-02 -1.55528384e-02 1.34679230e+02] [ 2.13594253e-02 9.99771846e-01 -1.77214883e-04 2.76931974e+00] [ 1.55530752e-02 -1.55046676e-04 9.99879032e-01 1.46497808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.845099893 meters 0.014400872953346248 Centerline is valid? [True, True] Translation: X:134.71, Y:2.76, Z:1.46 [[ 9.99560490e-01 -2.49741407e-02 -1.59724603e-02 1.34708786e+02] [ 2.49744192e-02 9.99688074e-01 -1.82060954e-04 2.76442664e+00] [ 1.59720249e-02 -2.16921983e-04 9.99872416e-01 1.46489062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.875099893 meters 0.014746359418233192 Centerline is valid? [True, True] Translation: X:134.74, Y:2.76, Z:1.47 [[ 9.99457560e-01 -2.86426448e-02 -1.62537517e-02 1.34739643e+02] [ 2.86434144e-02 9.99589676e-01 -1.85493084e-04 2.76122157e+00] [ 1.62523954e-02 -2.80170481e-04 9.99867882e-01 1.46517765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.905099893 meters 0.015987196613503136 Centerline is valid? [True, True] Translation: X:134.77, Y:2.76, Z:1.47 [[ 9.99350213e-01 -3.22068059e-02 -1.61825089e-02 1.34769576e+02] [ 3.22080413e-02 9.99481169e-01 -1.84341626e-04 2.75578422e+00] [ 1.61800500e-02 -3.36985072e-04 9.99869038e-01 1.46521510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.935099893 meters 0.016664794523441176 Centerline is valid? [True, True] Translation: X:134.80, Y:2.75, Z:1.47 [[ 9.99104110e-01 -3.90367880e-02 -1.63434237e-02 1.34800296e+02] [ 3.90389804e-02 9.99237671e-01 -1.84995213e-04 2.74914234e+00] [ 1.63381862e-02 -4.53201118e-04 9.99866420e-01 1.46576071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.965099893 meters 0.018309724328711554 Centerline is valid? [True, True] Translation: X:134.83, Y:2.74, Z:1.47 [[ 9.98993593e-01 -4.17761711e-02 -1.63264268e-02 1.34831152e+02] [ 4.17787362e-02 9.99126870e-01 -1.84077037e-04 2.74365647e+00] [ 1.63198618e-02 -4.98205700e-04 9.99866698e-01 1.46601657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.995099893 meters 0.01861833453739431 Centerline is valid? [True, True] Translation: X:134.86, Y:2.74, Z:1.47 [[ 9.98895915e-01 -4.39101825e-02 -1.66987165e-02 1.34863079e+02] [ 4.39131957e-02 9.99035333e-01 -1.86363138e-04 2.74100535e+00] [ 1.66907910e-02 -5.47136626e-04 9.99860549e-01 1.46623813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02509989299998 meters 0.02020994203743888 Centerline is valid? [True, True] Translation: X:134.89, Y:2.73, Z:1.47 [[ 9.98765049e-01 -4.66093857e-02 -1.72029803e-02 1.34894651e+02] [ 4.66130037e-02 9.98913005e-01 -1.90819238e-04 2.73435149e+00] [ 1.71931747e-02 -6.11298997e-04 9.99852000e-01 1.46593994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05509989299998 meters 0.021971488222886065 Centerline is valid? [True, True] Translation: X:134.93, Y:2.73, Z:1.47 [[ 9.98727019e-01 -4.76115693e-02 -1.66577547e-02 1.34925716e+02] [ 4.76151151e-02 9.98865740e-01 -1.83906427e-04 2.72867282e+00] [ 1.66476166e-02 -6.09488590e-04 9.99861233e-01 1.46619482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08509989299998 meters 0.019323946245806137 Centerline is valid? [True, True] Translation: X:134.96, Y:2.73, Z:1.47 [[ 9.98744373e-01 -4.74640589e-02 -1.60262335e-02 1.34957425e+02] [ 4.74673362e-02 9.98872775e-01 -1.76045431e-04 2.73185586e+00] [ 1.60165242e-02 -5.84898231e-04 9.99871556e-01 1.46744675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11509989299998 meters 0.018824018012755767 Centerline is valid? [True, True] Translation: X:134.99, Y:2.73, Z:1.47 [[ 9.98807262e-01 -4.61693323e-02 -1.58885662e-02 1.34990172e+02] [ 4.61724091e-02 9.98933471e-01 -1.73325797e-04 2.73115245e+00] [ 1.58796229e-02 -5.60494312e-04 9.99873754e-01 1.46758857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14509989299998 meters 0.02070379432438434 Centerline is valid? [True, True] Translation: X:135.02, Y:2.73, Z:1.47 [[ 9.98862234e-01 -4.47907412e-02 -1.63715419e-02 1.35021065e+02] [ 4.47938455e-02 9.98996236e-01 -1.77219149e-04 2.72733888e+00] [ 1.63630465e-02 -5.56326804e-04 9.99865962e-01 1.46746946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17509989299998 meters 0.020023200255551717 Centerline is valid? [True, True] Translation: X:135.05, Y:2.73, Z:1.47 [[ 9.98870288e-01 -4.43182025e-02 -1.71477024e-02 1.35052963e+02] [ 4.43215563e-02 9.99017300e-01 -1.84585454e-04 2.72820709e+00] [ 1.71390318e-02 -5.75635931e-04 9.99852950e-01 1.46704506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20509989299998 meters 0.021014034179817707 Centerline is valid? [True, True] Translation: X:135.08, Y:2.73, Z:1.47 [[ 9.98864101e-01 -4.43487301e-02 -1.74269133e-02 1.35084581e+02] [ 4.43522185e-02 9.99015939e-01 -1.86455793e-04 2.72634352e+00] [ 1.74180332e-02 -5.86678267e-04 9.99848122e-01 1.46692054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23509989299998 meters 0.01975382374905269 Centerline is valid? [True, True] Translation: X:135.12, Y:2.73, Z:1.47 [[ 9.98797043e-01 -4.56838755e-02 -1.78171136e-02 1.35116629e+02] [ 4.56877526e-02 9.98955751e-01 -1.89591107e-04 2.72795436e+00] [ 1.78071693e-02 -6.24660839e-04 9.99841245e-01 1.46719235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26509989299998 meters 0.02080460865572683 Centerline is valid? [True, True] Translation: X:135.15, Y:2.73, Z:1.47 [[ 9.98678361e-01 -4.76361076e-02 -1.92959325e-02 1.35148095e+02] [ 4.76410445e-02 9.98864500e-01 -2.04012961e-04 2.72588289e+00] [ 1.92837403e-02 -7.15535047e-04 9.99813795e-01 1.46608830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29509989299999 meters 0.019257166838206836 Centerline is valid? [True, True] Translation: X:135.18, Y:2.73, Z:1.47 [[ 9.98617151e-01 -4.87872071e-02 -1.95855632e-02 1.35180184e+02] [ 4.87925377e-02 9.98808914e-01 -2.05882741e-04 2.72890897e+00] [ 1.95722795e-02 -7.50031293e-04 9.99808163e-01 1.46701421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325099893 meters 0.019957240729706022 Centerline is valid? [True, True] Translation: X:135.21, Y:2.73, Z:1.47 [[ 9.98562434e-01 -4.98459428e-02 -1.97090760e-02 1.35211691e+02] [ 4.98515727e-02 9.98756616e-01 -2.05864544e-04 2.72835319e+00] [ 1.96948316e-02 -7.76959833e-04 9.99805736e-01 1.46731594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.355099893 meters 0.019917833293849434 Centerline is valid? [True, True] Translation: X:135.24, Y:2.73, Z:1.47 [[ 9.98508820e-01 -5.07805974e-02 -2.00366399e-02 1.35243374e+02] [ 5.07866261e-02 9.98709505e-01 -2.08174130e-04 2.72915182e+00] [ 2.00213539e-02 -8.09729634e-04 9.99799225e-01 1.46771139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.385099893 meters 0.022991265216272257 Centerline is valid? [True, True] Translation: X:135.27, Y:2.73, Z:1.47 [[ 9.98434569e-01 -5.18443683e-02 -2.09898489e-02 1.35274862e+02] [ 5.18512441e-02 9.98654796e-01 -2.16892450e-04 2.72522303e+00] [ 2.09728579e-02 -8.71796858e-04 9.99779665e-01 1.46712132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.415099893 meters 0.02177727547879619 Centerline is valid? [True, True] Translation: X:135.31, Y:2.73, Z:1.47 [[ 9.98429617e-01 -5.18315458e-02 -2.12553769e-02 1.35306570e+02] [ 5.18386218e-02 9.98655451e-01 -2.18320046e-04 2.72793784e+00] [ 2.12381138e-02 -8.83872242e-04 9.99774055e-01 1.46801253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.445099893 meters 0.02188245350277433 Centerline is valid? [True, True] Translation: X:135.34, Y:2.73, Z:1.47 [[ 9.98464806e-01 -5.10745186e-02 -2.14341942e-02 1.35338707e+02] [ 5.10815727e-02 9.98694460e-01 -2.18630992e-04 2.72869936e+00] [ 2.14173775e-02 -8.76596999e-04 9.99770237e-01 1.46855617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.475099893 meters 0.02032311903468892 Centerline is valid? [True, True] Translation: X:135.37, Y:2.73, Z:1.47 [[ 9.98630971e-01 -4.80655271e-02 -2.06370891e-02 1.35370105e+02] [ 4.80714480e-02 9.98843878e-01 -2.09364386e-04 2.73351274e+00] [ 2.06232933e-02 -7.82976996e-04 9.99787011e-01 1.46968133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.505099893 meters 0.019034641776247488 Centerline is valid? [True, True] Translation: X:135.40, Y:2.74, Z:1.47 [[ 9.98759449e-01 -4.54544765e-02 -2.03335515e-02 1.35401170e+02] [ 4.54596989e-02 9.98966152e-01 -2.05558214e-04 2.73737142e+00] [ 2.03218732e-02 -7.19053917e-04 9.99793231e-01 1.47099881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.535099893 meters 0.019925732242468006 Centerline is valid? [True, True] Translation: X:135.43, Y:2.74, Z:1.47 [[ 9.98908602e-01 -4.24406322e-02 -1.95037916e-02 1.35431363e+02] [ 4.24448739e-02 9.99098791e-01 -1.96609620e-04 2.73775997e+00] [ 1.94945589e-02 -6.31440936e-04 9.99809764e-01 1.47140899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.565099893 meters 0.016282239933788578 Centerline is valid? [True, True] Translation: X:135.46, Y:2.75, Z:1.47 [[ 9.99219991e-01 -3.57216491e-02 -1.68336841e-02 1.35462414e+02] [ 3.57238604e-02 9.99361685e-01 -1.69419387e-04 2.74790718e+00] [ 1.68289908e-02 -4.32076943e-04 9.99858289e-01 1.47488692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.595099893 meters 0.01580800277451485 Centerline is valid? [True, True] Translation: X:135.49, Y:2.75, Z:1.48 [[ 9.99347618e-01 -3.19816602e-02 -1.67783120e-02 1.35492802e+02] [ 3.19833352e-02 9.99488388e-01 -1.68560818e-04 2.75047027e+00] [ 1.67751188e-02 -3.68175523e-04 9.99859220e-01 1.47539828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.625099893 meters 0.01418103118793002 Centerline is valid? [True, True] Translation: X:135.52, Y:2.76, Z:1.47 [[ 9.99545779e-01 -2.47762986e-02 -1.71572073e-02 1.35523544e+02] [ 2.47769942e-02 9.99692988e-01 -1.72056252e-04 2.75704162e+00] [ 1.71562027e-02 -2.53125926e-04 9.99852789e-01 1.47490541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.655099893 meters 0.013390852768062724 Centerline is valid? [True, True] Translation: X:135.55, Y:2.76, Z:1.48 [[ 9.99677515e-01 -1.85115403e-02 -1.73835584e-02 1.35553068e+02] [ 1.85113125e-02 9.99828636e-01 -1.74025755e-04 2.76284950e+00] [ 1.73838009e-02 -1.47822847e-04 9.99848879e-01 1.47518609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.685099893 meters 0.01308136508927044 Centerline is valid? [True, True] Translation: X:135.58, Y:2.77, Z:1.48 [[ 9.99706878e-01 -1.63280256e-02 -1.78760591e-02 1.35581506e+02] [ 1.63274145e-02 9.99866683e-01 -1.80141305e-04 2.76589896e+00] [ 1.78766173e-02 -1.11781325e-04 9.99840194e-01 1.47558957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.715099893 meters 0.012913023197457386 Centerline is valid? [True, True] Translation: X:135.61, Y:2.77, Z:1.48 [[ 9.99742620e-01 -1.43354025e-02 -1.75837767e-02 1.35610734e+02] [ 1.43344281e-02 9.99897240e-01 -1.81454707e-04 2.76813158e+00] [ 1.75845710e-02 -7.06453788e-05 9.99845377e-01 1.47584168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.745099893 meters 0.012861669240677893 Centerline is valid? [True, True] Translation: X:135.64, Y:2.77, Z:1.48 [[ 9.99757457e-01 -1.21107508e-02 -1.83944959e-02 1.35637666e+02] [ 1.21092393e-02 9.99926662e-01 -1.93557767e-04 2.76983301e+00] [ 1.83954911e-02 -2.92325316e-05 9.99830788e-01 1.47578550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77509989299998 meters 0.012903656039334613 Centerline is valid? [True, True] Translation: X:135.67, Y:2.77, Z:1.47 [[ 9.99769574e-01 -8.55028490e-03 -1.96898857e-02 1.35666489e+02] [ 8.54779481e-03 9.99963445e-01 -2.10624463e-04 2.77262032e+00] [ 1.96909668e-02 4.22708266e-05 9.99806113e-01 1.47460993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80509989299998 meters 0.013028483527342953 Centerline is valid? [True, True] Translation: X:135.69, Y:2.77, Z:1.47 [[ 9.99771308e-01 -7.41435757e-03 -2.00589066e-02 1.35694551e+02] [ 7.41143920e-03 9.99972511e-01 -2.19826802e-04 2.77408118e+00] [ 2.00599851e-02 7.11111624e-05 9.99798776e-01 1.47460315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83509989299998 meters 0.013073783962901752 Centerline is valid? [True, True] Translation: X:135.72, Y:2.78, Z:1.47 [[ 9.99779841e-01 -5.06718769e-03 -2.03615844e-02 1.35723549e+02] [ 5.06358105e-03 9.99987154e-01 -2.28682648e-04 2.77574458e+00] [ 2.03624816e-02 1.25529768e-04 9.99792655e-01 1.47486701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86509989299998 meters 0.013175748530436012 Centerline is valid? [True, True] Translation: X:135.75, Y:2.78, Z:1.47 [[ 9.99787261e-01 -4.39342244e-03 -2.01526772e-02 1.35751766e+02] [ 4.38967622e-03 9.99990339e-01 -2.30124644e-04 2.77688182e+00] [ 2.01534935e-02 1.41611959e-04 9.99796888e-01 1.47484771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89509989299998 meters 0.01329989870077269 Centerline is valid? [True, True] Translation: X:135.78, Y:2.78, Z:1.48 [[ 9.99793120e-01 -3.42498445e-03 -2.00495966e-02 1.35780789e+02] [ 3.42102144e-03 9.99994121e-01 -2.31955621e-04 2.77797993e+00] [ 2.00502732e-02 1.63317534e-04 9.99798960e-01 1.47504024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92509989299998 meters 0.01328048709057055 Centerline is valid? [True, True] Translation: X:135.81, Y:2.78, Z:1.47 [[ 9.99787605e-01 -4.36131507e-03 -2.01425718e-02 1.35807489e+02] [ 4.35741271e-03 9.99990478e-01 -2.37622665e-04 2.77736648e+00] [ 2.01434164e-02 1.49802697e-04 9.99797090e-01 1.47477611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95509989299998 meters 0.012978109972867654 Centerline is valid? [True, True] Translation: X:135.84, Y:2.77, Z:1.48 [[ 9.99788581e-01 -7.76549861e-03 -1.90391816e-02 1.35836382e+02] [ 7.76257720e-03 9.99969845e-01 -2.27341918e-04 2.77496374e+00] [ 1.90403729e-02 7.95007358e-05 9.99818713e-01 1.47633393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98509989299998 meters 0.012730604626377554 Centerline is valid? [True, True] Translation: X:135.86, Y:2.77, Z:1.48 [[ 9.99748711e-01 -1.30871170e-02 -1.82000450e-02 1.35864385e+02] [ 1.30853020e-02 9.99914360e-01 -2.18812836e-04 2.77106900e+00] [ 1.82013500e-02 -1.93952355e-05 9.99834342e-01 1.47727248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01509989299998 meters 0.012846066973168771 Centerline is valid? [True, True] Translation: X:135.89, Y:2.77, Z:1.48 [[ 9.99699153e-01 -1.63309250e-02 -1.83003925e-02 1.35892389e+02] [ 1.63295774e-02 9.99866639e-01 -2.23074666e-04 2.76881087e+00] [ 1.83015950e-02 -7.58301223e-05 9.99832509e-01 1.47749808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04509989299999 meters 0.0132015654162045 Centerline is valid? [True, True] Translation: X:135.92, Y:2.76, Z:1.48 [[ 9.99600319e-01 -2.20666339e-02 -1.76710469e-02 1.35920955e+02] [ 2.20662068e-02 9.99756488e-01 -2.19171946e-04 2.76379344e+00] [ 1.76715801e-02 -1.70848628e-04 9.99843831e-01 1.47824126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.075099893 meters 0.013387409204733733 Centerline is valid? [True, True] Translation: X:135.95, Y:2.76, Z:1.48 [[ 9.99543074e-01 -2.46304220e-02 -1.75210227e-02 1.35950117e+02] [ 2.46303576e-02 9.99696603e-01 -2.19495485e-04 2.76166763e+00] [ 1.75211132e-02 -2.12153864e-04 9.99846471e-01 1.47866269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.105099893 meters 0.01402885072020108 Centerline is valid? [True, True] Translation: X:135.98, Y:2.76, Z:1.48 [[ 9.99457327e-01 -2.80511836e-02 -1.72679445e-02 1.35979639e+02] [ 2.80515766e-02 9.99606453e-01 -2.19500771e-04 2.75724036e+00] [ 1.72673061e-02 -2.65011415e-04 9.99850874e-01 1.47836797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.135099893 meters 0.014154304976798367 Centerline is valid? [True, True] Translation: X:136.01, Y:2.76, Z:1.48 [[ 9.99435677e-01 -2.87293408e-02 -1.74055383e-02 1.36010638e+02] [ 2.87298391e-02 9.99587188e-01 -2.21473194e-04 2.75598906e+00] [ 1.74047158e-02 -2.78710102e-04 9.99848488e-01 1.47858869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.165099893 meters 0.014178300536565344 Centerline is valid? [True, True] Translation: X:136.04, Y:2.75, Z:1.48 [[ 9.99452381e-01 -2.85423499e-02 -1.67413634e-02 1.36041637e+02] [ 2.85427846e-02 9.99592549e-01 -2.13022037e-04 2.75396406e+00] [ 1.67406223e-02 -2.64939747e-04 9.99859831e-01 1.47908900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.195099893 meters 0.014101686846572932 Centerline is valid? [True, True] Translation: X:136.07, Y:2.75, Z:1.48 [[ 9.99487134e-01 -2.79370838e-02 -1.56521205e-02 1.36072571e+02] [ 2.79373914e-02 9.99609655e-01 -1.99045784e-04 2.75353983e+00] [ 1.56515715e-02 -2.38335717e-04 9.99877478e-01 1.48007491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.225099893 meters 0.013710586129346376 Centerline is valid? [True, True] Translation: X:136.10, Y:2.75, Z:1.48 [[ 9.99517756e-01 -2.68739376e-02 -1.55578467e-02 1.36104127e+02] [ 2.68741213e-02 9.99638806e-01 -1.97296335e-04 2.75441584e+00] [ 1.55575294e-02 -2.20902267e-04 9.99878950e-01 1.48046232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.255099893 meters 0.013783357513295062 Centerline is valid? [True, True] Translation: X:136.13, Y:2.75, Z:1.48 [[ 9.99536176e-01 -2.57951574e-02 -1.61877173e-02 1.36134285e+02] [ 2.57952235e-02 9.99667227e-01 -2.04750968e-04 2.75392758e+00] [ 1.61876121e-02 -2.12909787e-04 9.99868949e-01 1.47999778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.285099893 meters 0.013783357513295062 Centerline is valid? [True, True] Translation: X:136.16, Y:2.75, Z:1.48 [[ 9.99536176e-01 -2.57951547e-02 -1.61877201e-02 1.36164283e+02] [ 2.57952243e-02 9.99667227e-01 -2.04529705e-04 2.75430650e+00] [ 1.61876092e-02 -2.13131033e-04 9.99868949e-01 1.48036873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.315099893 meters 0.013242891339211818 Centerline is valid? [True, True] Translation: X:136.19, Y:2.76, Z:1.48 [[ 9.99614773e-01 -2.22394196e-02 -1.66046425e-02 1.36194819e+02] [ 2.22390023e-02 9.99752661e-01 -2.09797464e-04 2.75523156e+00] [ 1.66052013e-02 -1.59554039e-04 9.99862111e-01 1.47985129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.345099893 meters 0.013077915071114816 Centerline is valid? [True, True] Translation: X:136.22, Y:2.76, Z:1.48 [[ 9.99665631e-01 -1.99425347e-02 -1.64597026e-02 1.36224444e+02] [ 1.99418110e-02 9.99801121e-01 -2.08112016e-04 2.75614023e+00] [ 1.64605794e-02 -1.20193848e-04 9.99864508e-01 1.48037434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.375099893 meters 0.012827181764544261 Centerline is valid? [True, True] Translation: X:136.25, Y:2.76, Z:1.48 [[ 9.99765736e-01 -1.49255364e-02 -1.56748634e-02 1.36253353e+02] [ 1.49242440e-02 9.99888607e-01 -1.99428265e-04 2.75821973e+00] [ 1.56760939e-02 -3.45539411e-05 9.99877122e-01 1.48123657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.405099893 meters 0.012947245952647327 Centerline is valid? [True, True] Translation: X:136.28, Y:2.76, Z:1.48 [[ 9.99820839e-01 -9.84635310e-03 -1.61659609e-02 1.36281456e+02] [ 9.84425804e-03 9.99951522e-01 -2.09169852e-04 2.75915634e+00] [ 1.61672367e-02 4.99904873e-05 9.99869300e-01 1.48107565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.435099893 meters 0.013090764789962635 Centerline is valid? [True, True] Translation: X:136.31, Y:2.76, Z:1.48 [[ 9.99830045e-01 -7.99546529e-03 -1.66118371e-02 1.36309914e+02] [ 7.99296139e-03 9.99968032e-01 -2.17118873e-04 2.75914809e+00] [ 1.66130420e-02 8.43042003e-05 9.99861990e-01 1.48086220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.465099893 meters 0.01329256994632513 Centerline is valid? [True, True] Translation: X:136.34, Y:2.76, Z:1.48 [[ 9.99821267e-01 -5.45131573e-03 -1.81029683e-02 1.36339114e+02] [ 5.44783781e-03 9.99985131e-01 -2.41428498e-04 2.75862540e+00] [ 1.81040152e-02 1.42763312e-04 9.99836099e-01 1.48000682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.495099893 meters 0.013280672974063082 Centerline is valid? [True, True] Translation: X:136.37, Y:2.76, Z:1.48 [[ 9.99814172e-01 -4.92500294e-03 -1.86377755e-02 1.36367827e+02] [ 4.92113577e-03 9.99987859e-01 -2.53348824e-04 2.75828785e+00] [ 1.86387970e-02 1.61582720e-04 9.99826269e-01 1.47966047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52509989299998 meters 0.013334858652422479 Centerline is valid? [True, True] Translation: X:136.40, Y:2.76, Z:1.48 [[ 9.99796034e-01 -5.09147739e-03 -1.95439630e-02 1.36395357e+02] [ 5.08715185e-03 9.99987024e-01 -2.71034080e-04 2.75640516e+00] [ 1.95450893e-02 1.71555691e-04 9.99808962e-01 1.47894446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55509989299998 meters 0.013315454512140881 Centerline is valid? [True, True] Translation: X:136.42, Y:2.75, Z:1.48 [[ 9.99787634e-01 -6.15196614e-03 -1.96682480e-02 1.36423234e+02] [ 6.14767820e-03 9.99981064e-01 -2.78469425e-04 2.75494315e+00] [ 1.96695887e-02 1.57496228e-04 9.99806523e-01 1.47877131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58509989299998 meters 0.013326528428891957 Centerline is valid? [True, True] Translation: X:136.45, Y:2.75, Z:1.48 [[ 9.99776717e-01 -7.42473858e-03 -1.97835419e-02 1.36451155e+02] [ 7.42056518e-03 9.99972427e-01 -2.84355513e-04 2.75347128e+00] [ 1.97851077e-02 1.37486959e-04 9.99804246e-01 1.47899171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61509989299998 meters 0.013069046380124459 Centerline is valid? [True, True] Translation: X:136.48, Y:2.75, Z:1.48 [[ 9.99771994e-01 -1.07832421e-02 -1.84304779e-02 1.36479622e+02] [ 1.07801639e-02 9.99941857e-01 -2.66362271e-04 2.74871654e+00] [ 1.84322786e-02 6.76179661e-05 9.99830109e-01 1.47978745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64509989299998 meters 0.012926890320992297 Centerline is valid? [True, True] Translation: X:136.51, Y:2.75, Z:1.48 [[ 9.99761796e-01 -1.32250598e-02 -1.73623024e-02 1.36508097e+02] [ 1.32226608e-02 9.99912545e-01 -2.52966818e-04 2.74653212e+00] [ 1.73641295e-02 2.33307240e-05 9.99849232e-01 1.48051721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67509989299998 meters 0.012916488350709689 Centerline is valid? [True, True] Translation: X:136.54, Y:2.74, Z:1.48 [[ 9.99696284e-01 -1.84209743e-02 -1.63709428e-02 1.36536350e+02] [ 1.84194843e-02 9.99830318e-01 -2.41804751e-04 2.74139499e+00] [ 1.63726192e-02 -5.98130134e-05 9.99865958e-01 1.48191656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70509989299998 meters 0.013759005723662785 Centerline is valid? [True, True] Translation: X:136.57, Y:2.73, Z:1.48 [[ 9.99490828e-01 -2.76279300e-02 -1.59619053e-02 1.36565119e+02] [ 2.76276626e-02 9.99618255e-01 -2.37303218e-04 2.73156734e+00] [ 1.59623682e-02 -2.03807746e-04 9.99872573e-01 1.48292437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73509989299998 meters 0.014840988106977255 Centerline is valid? [True, True] Translation: X:136.60, Y:2.72, Z:1.48 [[ 9.99290583e-01 -3.44525284e-02 -1.52103409e-02 1.36595542e+02] [ 3.44530630e-02 9.99406291e-01 -2.26965828e-04 2.72458668e+00] [ 1.52091299e-02 -2.97238019e-04 9.99884290e-01 1.48351882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76509989299998 meters 0.01550937173893772 Centerline is valid? [True, True] Translation: X:136.63, Y:2.72, Z:1.48 [[ 9.99185099e-01 -3.73922502e-02 -1.51973206e-02 1.36627086e+02] [ 3.73931253e-02 9.99300607e-01 -2.26669847e-04 2.72163582e+00] [ 1.51951674e-02 -3.41790179e-04 9.99884488e-01 1.48391425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79509989299999 meters 0.01659783094268953 Centerline is valid? [True, True] Translation: X:136.66, Y:2.72, Z:1.48 [[ 9.99079903e-01 -3.99991013e-02 -1.54731859e-02 1.36658106e+02] [ 4.00003304e-02 9.99199640e-01 -2.30165447e-04 2.71809702e+00] [ 1.54700082e-02 -3.88978877e-04 9.99880257e-01 1.48405221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825099893 meters 0.017338185807416306 Centerline is valid? [True, True] Translation: X:136.69, Y:2.72, Z:1.48 [[ 9.98940871e-01 -4.32502770e-02 -1.57019290e-02 1.36689472e+02] [ 4.32519565e-02 9.99064169e-01 -2.32775660e-04 2.71519848e+00] [ 1.56973023e-02 -4.46610031e-04 9.99876690e-01 1.48471508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.855099893 meters 0.017620155090921595 Centerline is valid? [True, True] Translation: X:136.72, Y:2.71, Z:1.49 [[ 9.98902538e-01 -4.43074796e-02 -1.51843992e-02 1.36721731e+02] [ 4.43091817e-02 9.99017841e-01 -2.24478267e-04 2.71434239e+00] [ 1.51794318e-02 -4.48576394e-04 9.99884685e-01 1.48558748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.885099893 meters 0.017812913201135153 Centerline is valid? [True, True] Translation: X:136.75, Y:2.71, Z:1.49 [[ 9.98866064e-01 -4.52005735e-02 -1.49497142e-02 1.36754241e+02] [ 4.52023390e-02 9.98977828e-01 -2.19955137e-04 2.71394086e+00] [ 1.49443751e-02 -4.56056328e-04 9.99888223e-01 1.48665531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.915099893 meters 0.01697201951053744 Centerline is valid? [True, True] Translation: X:136.79, Y:2.72, Z:1.49 [[ 9.98857618e-01 -4.54988651e-02 -1.46051825e-02 1.36786520e+02] [ 4.55005971e-02 9.98964289e-01 -2.13854986e-04 2.71523452e+00] [ 1.45997859e-02 -4.50933841e-04 9.99893316e-01 1.48757962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.945099893 meters 0.01833275771840496 Centerline is valid? [True, True] Translation: X:136.82, Y:2.71, Z:1.49 [[ 9.98838507e-01 -4.56860261e-02 -1.53108940e-02 1.36818095e+02] [ 4.56879686e-02 9.98955735e-01 -2.23071316e-04 2.71296169e+00] [ 1.53050966e-02 -4.76711423e-04 9.99882757e-01 1.48791305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.975099893 meters 0.01737770646891385 Centerline is valid? [True, True] Translation: X:136.85, Y:2.71, Z:1.49 [[ 9.98831822e-01 -4.57494671e-02 -1.55556612e-02 1.36850467e+02] [ 4.57514942e-02 9.98952827e-01 -2.25715205e-04 2.71478607e+00] [ 1.55496980e-02 -4.86243213e-04 9.99878978e-01 1.48828283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.005099893 meters 0.01726412017729014 Centerline is valid? [True, True] Translation: X:136.88, Y:2.72, Z:1.49 [[ 9.98829236e-01 -4.55669672e-02 -1.62421936e-02 1.36882426e+02] [ 4.55691731e-02 9.98961158e-01 -2.34450652e-04 2.71517146e+00] [ 1.62360037e-02 -5.05967166e-04 9.99868059e-01 1.48773140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.035099893 meters 0.018401787522213765 Centerline is valid? [True, True] Translation: X:136.91, Y:2.71, Z:1.49 [[ 9.98795323e-01 -4.58361681e-02 -1.75199229e-02 1.36913260e+02] [ 4.58387982e-02 9.98948818e-01 -2.51638310e-04 2.71374637e+00] [ 1.75130404e-02 -5.51757044e-04 9.99846483e-01 1.48654641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.065099893 meters 0.01868456645224975 Centerline is valid? [True, True] Translation: X:136.94, Y:2.71, Z:1.49 [[ 9.98719458e-01 -4.70637300e-02 -1.85593443e-02 1.36944593e+02] [ 4.70669106e-02 9.98891704e-01 -2.65635146e-04 2.71409713e+00] [ 1.85512768e-02 -6.08236007e-04 9.99827725e-01 1.48575904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.095099893 meters 0.019645667613885264 Centerline is valid? [True, True] Translation: X:136.98, Y:2.71, Z:1.48 [[ 9.98493730e-01 -5.06521331e-02 -2.10862939e-02 1.36975959e+02] [ 5.06570552e-02 9.98716062e-01 -3.00996035e-04 2.71381738e+00] [ 2.10744665e-02 -7.67626900e-04 9.99777614e-01 1.48420957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.125099893 meters 0.0202014920508168 Centerline is valid? [True, True] Translation: X:137.01, Y:2.71, Z:1.48 [[ 9.98399494e-01 -5.24081979e-02 -2.12563361e-02 1.37007376e+02] [ 5.24136133e-02 9.98625416e-01 -3.02663640e-04 2.71363130e+00] [ 2.12429795e-02 -8.11942152e-04 9.99774013e-01 1.48438830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.155099893 meters 0.0210362471242269 Centerline is valid? [True, True] Translation: X:137.04, Y:2.71, Z:1.48 [[ 9.98301396e-01 -5.40783411e-02 -2.16761387e-02 1.37038561e+02] [ 5.40843824e-02 9.98536321e-01 -3.07862093e-04 2.71364838e+00] [ 2.16610604e-02 -8.65001415e-04 9.99764998e-01 1.48467085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.185099893 meters 0.022186738740839988 Centerline is valid? [True, True] Translation: X:137.07, Y:2.71, Z:1.48 [[ 9.98190492e-01 -5.58927038e-02 -2.21753625e-02 1.37069104e+02] [ 5.58994874e-02 9.98436352e-01 -3.14331489e-04 2.71321520e+00] [ 2.21582568e-02 -9.25828691e-04 9.99754047e-01 1.48478386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.215099893 meters 0.02288393586485792 Centerline is valid? [True, True] Translation: X:137.10, Y:2.71, Z:1.49 [[ 9.98082478e-01 -5.78767040e-02 -2.19466017e-02 1.37099906e+02] [ 5.78838403e-02 9.98323277e-01 -3.10481981e-04 2.71377976e+00] [ 2.19277730e-02 -9.60466962e-04 9.99759096e-01 1.48559856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.245099893 meters 0.02212471680898395 Centerline is valid? [True, True] Translation: X:137.13, Y:2.72, Z:1.49 [[ 9.98005706e-01 -5.93489270e-02 -2.15015086e-02 1.37131593e+02] [ 5.93561489e-02 9.98236824e-01 -3.02725502e-04 2.71636898e+00] [ 2.14815640e-02 -9.74124964e-04 9.99768770e-01 1.48680563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27509989299998 meters 0.023609430086522058 Centerline is valid? [True, True] Translation: X:137.16, Y:2.72, Z:1.49 [[ 9.97921290e-01 -6.09692979e-02 -2.08768769e-02 1.37162813e+02] [ 6.09764960e-02 9.98139159e-01 -2.92203467e-04 2.71585453e+00] [ 2.08558439e-02 -9.81402742e-04 9.99782012e-01 1.48777271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30509989299998 meters 0.022702274650558775 Centerline is valid? [True, True] Translation: X:137.19, Y:2.72, Z:1.49 [[ 9.97795871e-01 -6.32672026e-02 -2.00165080e-02 1.37194595e+02] [ 6.32743017e-02 9.97996135e-01 -2.79098773e-04 2.72026128e+00] [ 1.99940554e-02 -9.88046961e-04 9.99799611e-01 1.48978343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33509989299998 meters 0.023652356535578414 Centerline is valid? [True, True] Translation: X:137.23, Y:2.72, Z:1.49 [[ 9.97741636e-01 -6.42357363e-02 -1.96315651e-02 1.37225625e+02] [ 6.42427807e-02 9.97934262e-01 -2.72262983e-04 2.72060208e+00] [ 1.96085005e-02 -9.89538220e-04 9.99807245e-01 1.49068117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36509989299998 meters 0.02634695113225246 Centerline is valid? [True, True] Translation: X:137.26, Y:2.72, Z:1.49 [[ 9.97667510e-01 -6.58453341e-02 -1.79981220e-02 1.37256846e+02] [ 6.58515438e-02 9.97829401e-01 -2.48055875e-04 2.72038309e+00] [ 1.79753886e-02 -9.37726830e-04 9.99837990e-01 1.49198026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39509989299998 meters 0.024469876998172425 Centerline is valid? [True, True] Translation: X:137.29, Y:2.73, Z:1.49 [[ 9.97632174e-01 -6.65043359e-02 -1.75276400e-02 1.37289112e+02] [ 6.65103445e-02 9.97785707e-01 -2.40542769e-04 2.72526766e+00] [ 1.75048258e-02 -9.25796166e-04 9.99846350e-01 1.49317326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42509989299998 meters 0.026059301972536714 Centerline is valid? [True, True] Translation: X:137.32, Y:2.73, Z:1.49 [[ 9.97584552e-01 -6.72873748e-02 -1.72473538e-02 1.37320464e+02] [ 6.72933292e-02 9.97733207e-01 -2.35544695e-04 2.72705244e+00] [ 1.72241069e-02 -9.25656112e-04 9.99851226e-01 1.49403230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45509989299998 meters 0.023945217407173938 Centerline is valid? [True, True] Translation: X:137.35, Y:2.73, Z:1.49 [[ 9.97562509e-01 -6.76463649e-02 -1.71175120e-02 1.37352392e+02] [ 6.76523001e-02 9.97708932e-01 -2.32754320e-04 2.73211945e+00] [ 1.70940396e-02 -9.25852078e-04 9.99853458e-01 1.49470319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48509989299998 meters 0.02676928632129605 Centerline is valid? [True, True] Translation: X:137.38, Y:2.73, Z:1.49 [[ 9.97508360e-01 -6.81207263e-02 -1.83476880e-02 1.37383744e+02] [ 6.81276495e-02 9.97676582e-01 -2.48171585e-04 2.73165884e+00] [ 1.83219643e-02 -1.00243163e-03 9.99831636e-01 1.49354263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51509989299998 meters 0.029660483797234637 Centerline is valid? [True, True] Translation: X:137.41, Y:2.73, Z:1.49 [[ 9.97422128e-01 -6.91673877e-02 -1.91042335e-02 1.37414414e+02] [ 6.91751146e-02 9.97604500e-01 -2.56864401e-04 2.73100868e+00] [ 1.90762359e-02 -1.06533530e-03 9.99817464e-01 1.49262090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54509989299999 meters 0.028269280222201064 Centerline is valid? [True, True] Translation: X:137.45, Y:2.73, Z:1.49 [[ 9.97383697e-01 -6.97001895e-02 -1.91740821e-02 1.37446541e+02] [ 6.97081096e-02 9.97567398e-01 -2.55792419e-04 2.73465325e+00] [ 1.91452679e-02 -1.08146583e-03 9.99816128e-01 1.49265415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.575099893 meters 0.028149710567591663 Centerline is valid? [True, True] Translation: X:137.48, Y:2.74, Z:1.49 [[ 9.97291246e-01 -7.07374449e-02 -2.01590033e-02 1.37478506e+02] [ 7.07464408e-02 9.97494296e-01 -2.67460065e-04 2.73774695e+00] [ 2.01274102e-02 -1.15944215e-03 9.99796751e-01 1.49202507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.605099893 meters 0.028433023841941598 Centerline is valid? [True, True] Translation: X:137.51, Y:2.74, Z:1.49 [[ 9.97251132e-01 -7.11014486e-02 -2.08509960e-02 1.37510182e+02] [ 7.11111806e-02 9.97468358e-01 -2.75276933e-04 2.73966210e+00] [ 2.08177813e-02 -1.20821871e-03 9.99782556e-01 1.49203855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.635099893 meters 0.02745924467662263 Centerline is valid? [True, True] Translation: X:137.54, Y:2.75, Z:1.49 [[ 9.97289778e-01 -7.00263208e-02 -2.25701831e-02 1.37542459e+02] [ 7.00374828e-02 9.97544316e-01 -2.96524984e-04 2.74514459e+00] [ 2.25355224e-02 -1.28503747e-03 9.99745217e-01 1.49110680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.665099893 meters 0.026282450230582573 Centerline is valid? [True, True] Translation: X:137.57, Y:2.75, Z:1.49 [[ 9.97353890e-01 -6.90223770e-02 -2.28282485e-02 1.37574223e+02] [ 6.90335715e-02 9.97614293e-01 -2.98260275e-04 2.74916578e+00] [ 2.27943736e-02 -1.27844448e-03 9.99739357e-01 1.49139729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.695099893 meters 0.02670171136174783 Centerline is valid? [True, True] Translation: X:137.60, Y:2.75, Z:1.49 [[ 9.97553435e-01 -6.63548826e-02 -2.20039511e-02 1.37604758e+02] [ 6.63646624e-02 9.97795395e-01 -2.86279335e-04 2.75407209e+00] [ 2.19744371e-02 -1.17470585e-03 9.99757843e-01 1.49176196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.725099893 meters 0.0241144223111742 Centerline is valid? [True, True] Translation: X:137.64, Y:2.76, Z:1.49 [[ 9.97671487e-01 -6.49176827e-02 -2.09116788e-02 1.37636556e+02] [ 6.49262224e-02 9.97890030e-01 -2.71021606e-04 2.76048719e+00] [ 2.08851499e-02 -1.08732578e-03 9.99781290e-01 1.49370667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.755099893 meters 0.028271387557935686 Centerline is valid? [True, True] Translation: X:137.67, Y:2.76, Z:1.49 [[ 9.97920058e-01 -6.12458358e-02 -2.01123381e-02 1.37666416e+02] [ 6.12530083e-02 9.98122238e-01 -2.59795332e-04 2.75972438e+00] [ 2.00904833e-02 -9.72686243e-04 9.99797693e-01 1.49377305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.785099893 meters 0.02374148123193617 Centerline is valid? [True, True] Translation: X:137.70, Y:2.77, Z:1.49 [[ 9.98048849e-01 -5.91190832e-02 -2.00855427e-02 1.37698136e+02] [ 5.91258175e-02 9.98250505e-01 -2.58918168e-04 2.76914212e+00] [ 2.00657101e-02 -9.29161151e-04 9.99798232e-01 1.49482741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.815099893 meters 0.02279658689978405 Centerline is valid? [True, True] Translation: X:137.73, Y:2.77, Z:1.50 [[ 9.98167770e-01 -5.72135412e-02 -1.96904234e-02 1.37729657e+02] [ 5.72196647e-02 9.98361581e-01 -2.52728723e-04 2.77365600e+00] [ 1.96726217e-02 -8.74413758e-04 9.99806093e-01 1.49555624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.845099893 meters 0.02186677055031403 Centerline is valid? [True, True] Translation: X:137.76, Y:2.78, Z:1.50 [[ 9.98406615e-01 -5.32905535e-02 -1.85566004e-02 1.37759110e+02] [ 5.32953211e-02 9.98578766e-01 -2.37867769e-04 2.78123291e+00] [ 1.85429032e-02 -7.51491222e-04 9.99827783e-01 1.49670909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.875099893 meters 0.02071773254130243 Centerline is valid? [True, True] Translation: X:137.79, Y:2.79, Z:1.50 [[ 9.98504623e-01 -5.14982134e-02 -1.83426045e-02 1.37791228e+02] [ 5.15025736e-02 9.98672834e-01 -2.34913594e-04 2.78612936e+00] [ 1.83303585e-02 -7.10129029e-04 9.99831733e-01 1.49758211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.905099893 meters 0.02157968589236028 Centerline is valid? [True, True] Translation: X:137.82, Y:2.79, Z:1.50 [[ 9.98595224e-01 -4.98926836e-02 -1.78409119e-02 1.37822990e+02] [ 4.98965747e-02 9.98754364e-01 -2.27243453e-04 2.78756462e+00] [ 1.78300264e-02 -6.63276169e-04 9.99840812e-01 1.49779540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.935099893 meters 0.01956033781330984 Centerline is valid? [True, True] Translation: X:137.85, Y:2.79, Z:1.50 [[ 9.98668525e-01 -4.84147724e-02 -1.78097719e-02 1.37854799e+02] [ 4.84184378e-02 9.98827114e-01 -2.25584023e-04 2.79322804e+00] [ 1.77998047e-02 -6.37037671e-04 9.99841368e-01 1.49824766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.965099893 meters 0.019625227134897023 Centerline is valid? [True, True] Translation: X:137.89, Y:2.80, Z:1.50 [[ 9.98738700e-01 -4.66607192e-02 -1.85414868e-02 1.37886320e+02] [ 4.66644134e-02 9.98910596e-01 -2.33600530e-04 2.79719960e+00] [ 1.85321876e-02 -6.31921714e-04 9.99828065e-01 1.49717364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.995099893 meters 0.019569390973150802 Centerline is valid? [True, True] Translation: X:137.92, Y:2.80, Z:1.50 [[ 9.98741677e-01 -4.63272822e-02 -1.92053423e-02 1.37918674e+02] [ 4.63312065e-02 9.98926104e-01 -2.40799658e-04 2.79956828e+00] [ 1.91958734e-02 -6.49310027e-04 9.99815531e-01 1.49675087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02509989299998 meters 0.01931097877378083 Centerline is valid? [True, True] Translation: X:137.95, Y:2.80, Z:1.50 [[ 9.98673731e-01 -4.71531942e-02 -2.06725917e-02 1.37950446e+02] [ 4.71579496e-02 9.98887412e-01 -2.57667660e-04 2.80437776e+00] [ 2.06617415e-02 -7.17551116e-04 9.99786266e-01 1.49645069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05509989299998 meters 0.02090299608413274 Centerline is valid? [True, True] Translation: X:137.98, Y:2.81, Z:1.50 [[ 9.98621321e-01 -4.86751364e-02 -1.96516710e-02 1.37981704e+02] [ 4.86797519e-02 9.98814408e-01 -2.43717017e-04 2.80644985e+00] [ 1.96402351e-02 -7.13257458e-04 9.99806858e-01 1.49672455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08509989299998 meters 0.019412319423977063 Centerline is valid? [True, True] Translation: X:138.01, Y:2.81, Z:1.50 [[ 9.98683591e-01 -4.72979255e-02 -1.98492254e-02 1.38013869e+02] [ 4.73023863e-02 9.98880586e-01 -2.44968408e-04 2.80977317e+00] [ 1.98385924e-02 -6.94269797e-04 9.99802955e-01 1.49682197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11509989299998 meters 0.018549009696577093 Centerline is valid? [True, True] Translation: X:138.05, Y:2.81, Z:1.50 [[ 9.98828190e-01 -4.41760820e-02 -1.97666744e-02 1.38045792e+02] [ 4.41799226e-02 9.99023561e-01 -2.42560838e-04 2.81247507e+00] [ 1.97580889e-02 -6.31013545e-04 9.99804591e-01 1.49669098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14509989299998 meters 0.01789487964328194 Centerline is valid? [True, True] Translation: X:138.08, Y:2.81, Z:1.50 [[ 9.98899231e-01 -4.26134054e-02 -1.96067378e-02 1.38077585e+02] [ 4.26169101e-02 9.99091458e-01 -2.39235903e-04 2.81447269e+00] [ 1.95991189e-02 -5.96606022e-04 9.99807741e-01 1.49710461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17509989299998 meters 0.01789487964328194 Centerline is valid? [True, True] Translation: X:138.11, Y:2.81, Z:1.50 [[ 9.98902283e-01 -4.25418013e-02 -1.96067549e-02 1.38109292e+02] [ 4.25453198e-02 9.99094510e-01 -2.37831077e-04 2.81480000e+00] [ 1.95991189e-02 -5.96605649e-04 9.99807741e-01 1.49749645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20509989299998 meters 0.017985047378082524 Centerline is valid? [True, True] Translation: X:138.14, Y:2.82, Z:1.50 [[ 9.99001155e-01 -4.03767945e-02 -1.91417406e-02 1.38140100e+02] [ 4.03797743e-02 9.99184378e-01 -2.30963117e-04 2.81566380e+00] [ 1.91354538e-02 -5.42206747e-04 9.99816753e-01 1.49757861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23509989299998 meters 0.017442876117474807 Centerline is valid? [True, True] Translation: X:138.17, Y:2.82, Z:1.50 [[ 9.99011354e-01 -4.02266901e-02 -1.89242927e-02 1.38172522e+02] [ 4.02295970e-02 9.99190436e-01 -2.27217239e-04 2.81741193e+00] [ 1.89181125e-02 -5.34324068e-04 9.99820894e-01 1.49912512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26509989299998 meters 0.017372696410885857 Centerline is valid? [True, True] Translation: X:138.20, Y:2.82, Z:1.50 [[ 9.99006788e-01 -4.05949416e-02 -1.83708731e-02 1.38204732e+02] [ 4.05977668e-02 9.99175547e-01 -2.19280154e-04 2.81837624e+00] [ 1.83646289e-02 -5.26754062e-04 9.99831217e-01 1.50008580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29509989299999 meters 0.017719375683001463 Centerline is valid? [True, True] Translation: X:138.24, Y:2.82, Z:1.50 [[ 9.98978238e-01 -4.12486100e-02 -1.84670810e-02 1.38236453e+02] [ 4.12515991e-02 9.99148766e-01 -2.19202047e-04 2.81809623e+00] [ 1.84604030e-02 -5.42818550e-04 9.99829445e-01 1.50005473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325099893 meters 0.01779153929617772 Centerline is valid? [True, True] Translation: X:138.27, Y:2.82, Z:1.50 [[ 9.98918781e-01 -4.23055937e-02 -1.92744869e-02 1.38268209e+02] [ 4.23090672e-02 9.99104545e-01 -2.27717535e-04 2.81776143e+00] [ 1.92668612e-02 -5.88014241e-04 9.99814204e-01 1.50006279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.355099893 meters 0.019013347083207104 Centerline is valid? [True, True] Translation: X:138.30, Y:2.81, Z:1.50 [[ 9.98794565e-01 -4.52865932e-02 -1.89351909e-02 1.38299918e+02] [ 4.52904995e-02 9.98973834e-01 -2.22698210e-04 2.81493864e+00] [ 1.89258455e-02 -6.35154493e-04 9.99820688e-01 1.50014900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.385099893 meters 0.018740940647403306 Centerline is valid? [True, True] Translation: X:138.33, Y:2.82, Z:1.50 [[ 9.98742804e-01 -4.64511072e-02 -1.88442560e-02 1.38332163e+02] [ 4.64552045e-02 9.98920350e-01 -2.20491842e-04 2.81510480e+00] [ 1.88341529e-02 -6.55199125e-04 9.99822407e-01 1.50063995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.415099893 meters 0.020085576239790133 Centerline is valid? [True, True] Translation: X:138.36, Y:2.81, Z:1.50 [[ 9.98706608e-01 -4.72918892e-02 -1.86705339e-02 1.38363469e+02] [ 4.72960811e-02 9.98880891e-01 -2.17221717e-04 2.81234180e+00] [ 1.86599123e-02 -6.66102319e-04 9.99825667e-01 1.50033979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.445099893 meters 0.019465061360691493 Centerline is valid? [True, True] Translation: X:138.40, Y:2.81, Z:1.50 [[ 9.98682598e-01 -4.75510470e-02 -1.92864526e-02 1.38395991e+02] [ 4.75555914e-02 9.98868568e-01 -2.23197809e-04 2.81249653e+00] [ 1.92752446e-02 -6.94274893e-04 9.99813974e-01 1.50003033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.475099893 meters 0.019999499670730798 Centerline is valid? [True, True] Translation: X:138.43, Y:2.81, Z:1.50 [[ 9.98714662e-01 -4.69215008e-02 -1.91675823e-02 1.38427716e+02] [ 4.69258997e-02 9.98898349e-01 -2.20453776e-04 2.81146137e+00] [ 1.91568104e-02 -6.79285628e-04 9.99816261e-01 1.50037354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.505099893 meters 0.020551385936843594 Centerline is valid? [True, True] Translation: X:138.46, Y:2.81, Z:1.50 [[ 9.98750746e-01 -4.63877759e-02 -1.85774715e-02 1.38459036e+02] [ 4.63918378e-02 9.98923296e-01 -2.12483826e-04 2.80979921e+00] [ 1.85673257e-02 -6.49624665e-04 9.99827401e-01 1.50123128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.535099893 meters 0.02021631242539945 Centerline is valid? [True, True] Translation: X:138.49, Y:2.81, Z:1.50 [[ 9.98760027e-01 -4.65131275e-02 -1.77464867e-02 1.38491214e+02] [ 4.65168716e-02 9.98917484e-01 -2.01976155e-04 2.81030774e+00] [ 1.77366704e-02 -6.23785335e-04 9.99842498e-01 1.50228632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.565099893 meters 0.01989552977819936 Centerline is valid? [True, True] Translation: X:138.52, Y:2.81, Z:1.50 [[ 9.98731101e-01 -4.76210849e-02 -1.63835356e-02 1.38523314e+02] [ 4.76244426e-02 9.98865295e-01 -1.85375611e-04 2.80991505e+00] [ 1.63737729e-02 -5.95116363e-04 9.99865764e-01 1.50338049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.595099893 meters 0.021274253161632922 Centerline is valid? [True, True] Translation: X:138.55, Y:2.81, Z:1.50 [[ 9.98611006e-01 -4.99880731e-02 -1.66508702e-02 1.38554593e+02] [ 4.99918885e-02 9.98749606e-01 -1.87274673e-04 2.80699537e+00] [ 1.66394116e-02 -6.45393896e-04 9.99861347e-01 1.50358242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.625099893 meters 0.0231286212637119 Centerline is valid? [True, True] Translation: X:138.59, Y:2.80, Z:1.50 [[ 9.98541147e-01 -5.10964136e-02 -1.74566224e-02 1.38585716e+02] [ 5.11007930e-02 9.98693482e-01 -1.95379924e-04 2.80405862e+00] [ 1.74437982e-02 -6.96952355e-04 9.99847602e-01 1.50324129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.655099893 meters 0.022754792079251428 Centerline is valid? [True, True] Translation: X:138.62, Y:2.80, Z:1.50 [[ 9.98470197e-01 -5.21653163e-02 -1.83315667e-02 1.38617693e+02] [ 5.21703459e-02 9.98638179e-01 -2.04073447e-04 2.80411047e+00] [ 1.83172479e-02 -7.52602919e-04 9.99831942e-01 1.50291612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.685099893 meters 0.022218617855347397 Centerline is valid? [True, True] Translation: X:138.65, Y:2.80, Z:1.50 [[ 9.98394144e-01 -5.31500342e-02 -1.96012067e-02 1.38649498e+02] [ 5.31560000e-02 9.98586197e-01 -2.16899379e-04 2.80430665e+00] [ 1.95850227e-02 -8.25370672e-04 9.99807854e-01 1.50254525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.715099893 meters 0.023622067488948212 Centerline is valid? [True, True] Translation: X:138.68, Y:2.80, Z:1.50 [[ 9.98267490e-01 -5.48695940e-02 -2.12448894e-02 1.38680887e+02] [ 5.48770164e-02 9.98493094e-01 -2.33903498e-04 2.80035891e+00] [ 2.12257096e-02 -9.32357888e-04 9.99774275e-01 1.50124415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.745099893 meters 0.022645790135637747 Centerline is valid? [True, True] Translation: X:138.71, Y:2.80, Z:1.50 [[ 9.98217440e-01 -5.54844132e-02 -2.19868522e-02 1.38712701e+02] [ 5.54925422e-02 9.98459073e-01 -2.40705953e-04 2.80109536e+00] [ 2.19663275e-02 -9.79829442e-04 9.99758231e-01 1.50162265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77509989299998 meters 0.023811133815992012 Centerline is valid? [True, True] Translation: X:138.74, Y:2.80, Z:1.50 [[ 9.98193910e-01 -5.58077998e-02 -2.22352948e-02 1.38743731e+02] [ 5.58162252e-02 9.98441030e-01 -2.42003950e-04 2.79900869e+00] [ 2.22141364e-02 -9.99523356e-04 9.99752736e-01 1.50112992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80509989299998 meters 0.023801771710818553 Centerline is valid? [True, True] Translation: X:138.78, Y:2.80, Z:1.50 [[ 9.98186942e-01 -5.59799740e-02 -2.21149625e-02 1.38776141e+02] [ 5.59883802e-02 9.98431392e-01 -2.39351850e-04 2.79858718e+00] [ 2.20936717e-02 -9.99263037e-04 9.99755406e-01 1.50201967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83509989299998 meters 0.02164983984357093 Centerline is valid? [True, True] Translation: X:138.81, Y:2.80, Z:1.50 [[ 9.98213523e-01 -5.55629656e-02 -2.19663393e-02 1.38808104e+02] [ 5.55711929e-02 9.98454699e-01 -2.36175876e-04 2.80213173e+00] [ 2.19455173e-02 -9.84941724e-04 9.99758683e-01 1.50374062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86509989299998 meters 0.023477342794657418 Centerline is valid? [True, True] Translation: X:138.84, Y:2.80, Z:1.50 [[ 9.98260520e-01 -5.50523750e-02 -2.10990532e-02 1.38838895e+02] [ 5.50598933e-02 9.98483028e-01 -2.24860458e-04 2.80024385e+00] [ 2.10794256e-02 -9.37242301e-04 9.99777365e-01 1.50408265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89509989299998 meters 0.021987366185874664 Centerline is valid? [True, True] Translation: X:138.87, Y:2.80, Z:1.51 [[ 9.98328802e-01 -5.39802433e-02 -2.06334022e-02 1.38871372e+02] [ 5.39872490e-02 9.98541601e-01 -2.17749303e-04 2.80314685e+00] [ 2.06150646e-02 -8.96555223e-04 9.99787085e-01 1.50547221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92509989299998 meters 0.023276299349592387 Centerline is valid? [True, True] Translation: X:138.90, Y:2.80, Z:1.51 [[ 9.98480579e-01 -5.15046213e-02 -1.95909800e-02 1.38901533e+02] [ 5.15104802e-02 9.98672433e-01 -2.05773436e-04 2.80264745e+00] [ 1.95755700e-02 -8.03680009e-04 9.99808057e-01 1.50652229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95509989299998 meters 0.020626089276833483 Centerline is valid? [True, True] Translation: X:138.93, Y:2.81, Z:1.51 [[ 9.98610181e-01 -4.87984756e-02 -1.99101727e-02 1.38932702e+02] [ 4.88039999e-02 9.98808353e-01 -2.08628690e-04 2.80748306e+00] [ 1.98966275e-02 -7.63357331e-04 9.99801751e-01 1.50663042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98509989299998 meters 0.020176910337234365 Centerline is valid? [True, True] Translation: X:138.96, Y:2.81, Z:1.51 [[ 9.98670686e-01 -4.75281385e-02 -1.99483356e-02 1.38964687e+02] [ 4.75334507e-02 9.98869625e-01 -2.08041635e-04 2.80858692e+00] [ 1.99356743e-02 -7.40448144e-04 9.99800991e-01 1.50686773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01509989299998 meters 0.019087123912801575 Centerline is valid? [True, True] Translation: X:139.00, Y:2.81, Z:1.51 [[ 9.98776400e-01 -4.53721213e-02 -1.96741702e-02 1.38996532e+02] [ 4.53768981e-02 9.98969917e-01 -2.03781501e-04 2.81092319e+00] [ 1.96631502e-02 -6.89220663e-04 9.99806424e-01 1.50751938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04509989299999 meters 0.019350165956002002 Centerline is valid? [True, True] Translation: X:139.03, Y:2.81, Z:1.51 [[ 9.98855207e-01 -4.36889040e-02 -1.94821789e-02 1.39027486e+02] [ 4.36932930e-02 9.99044972e-01 -2.00524284e-04 2.81097249e+00] [ 1.94723336e-02 -6.50945827e-04 9.99810184e-01 1.50788890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.075099893 meters 0.019220345069705765 Centerline is valid? [True, True] Translation: X:139.06, Y:2.81, Z:1.51 [[ 9.98917188e-01 -4.23756924e-02 -1.92029266e-02 1.39059681e+02] [ 4.23797358e-02 9.99101556e-01 -1.96514883e-04 2.81140256e+00] [ 1.91940013e-02 -6.17512865e-04 9.99815587e-01 1.50845937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.105099893 meters 0.01879983889148649 Centerline is valid? [True, True] Translation: X:139.09, Y:2.81, Z:1.51 [[ 9.98932983e-01 -4.20528990e-02 -1.90905778e-02 1.39092040e+02] [ 4.20568619e-02 9.99115200e-01 -1.94026739e-04 2.81227908e+00] [ 1.90818458e-02 -6.09070084e-04 9.99817739e-01 1.50898964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.135099893 meters 0.018084880821275386 Centerline is valid? [True, True] Translation: X:139.12, Y:2.81, Z:1.51 [[ 9.98944693e-01 -4.14765073e-02 -1.97281634e-02 1.39124206e+02] [ 4.14806555e-02 9.99139287e-01 -1.99070796e-04 2.81328496e+00] [ 1.97194399e-02 -6.19476434e-04 9.99805361e-01 1.50889917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.165099893 meters 0.019551653606326463 Centerline is valid? [True, True] Translation: X:139.16, Y:2.81, Z:1.51 [[ 9.98938604e-01 -4.10047742e-02 -2.09826877e-02 1.39155407e+02] [ 4.10093925e-02 9.99158739e-01 -2.10320535e-04 2.81082627e+00] [ 2.09736599e-02 -6.50389975e-04 9.99779817e-01 1.50800908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.195099893 meters 0.018270655653827 Centerline is valid? [True, True] Translation: X:139.19, Y:2.81, Z:1.51 [[ 9.98949843e-01 -4.06683657e-02 -2.11020113e-02 1.39187982e+02] [ 4.06729889e-02 9.99172490e-01 -2.10229599e-04 2.81313344e+00] [ 2.10930988e-02 -6.48273046e-04 9.99777306e-01 1.50893954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.225099893 meters 0.01844604220009588 Centerline is valid? [True, True] Translation: X:139.22, Y:2.81, Z:1.51 [[ 9.98972419e-01 -4.02671091e-02 -2.08006174e-02 1.39219968e+02] [ 4.02715447e-02 9.99188751e-01 -2.05766960e-04 2.81280730e+00] [ 2.07920285e-02 -6.32117474e-04 9.99783623e-01 1.50930381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.255099893 meters 0.01851194197841348 Centerline is valid? [True, True] Translation: X:139.25, Y:2.81, Z:1.51 [[ 9.98978116e-01 -3.99664080e-02 -2.11047191e-02 1.39252292e+02] [ 3.99709388e-02 9.99200821e-01 -2.07278043e-04 2.81201981e+00] [ 2.10961369e-02 -6.36509209e-04 9.99777249e-01 1.50951081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.285099893 meters 0.01858667041638822 Centerline is valid? [True, True] Translation: X:139.28, Y:2.81, Z:1.51 [[ 9.98978388e-01 -3.99517126e-02 -2.11196875e-02 1.39283496e+02] [ 3.99562713e-02 9.99201408e-01 -2.06250682e-04 2.81204968e+00] [ 2.11110616e-02 -6.37823991e-04 9.99776933e-01 1.50992706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.315099893 meters 0.018093573041615296 Centerline is valid? [True, True] Translation: X:139.32, Y:2.81, Z:1.51 [[ 9.98975697e-01 -3.98402214e-02 -2.14549325e-02 1.39316170e+02] [ 3.98449237e-02 9.99205854e-01 -2.08438177e-04 2.81313244e+00] [ 2.14461984e-02 -6.46645479e-04 9.99769795e-01 1.51035230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.345099893 meters 0.018690875234835033 Centerline is valid? [True, True] Translation: X:139.35, Y:2.81, Z:1.51 [[ 9.98951145e-01 -4.02193985e-02 -2.18862781e-02 1.39347612e+02] [ 4.02244262e-02 9.99190648e-01 -2.10642962e-04 2.81239486e+00] [ 2.18770364e-02 -6.69940953e-04 9.99760445e-01 1.51064884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.375099893 meters 0.01991785474092178 Centerline is valid? [True, True] Translation: X:139.38, Y:2.81, Z:1.51 [[ 9.98884591e-01 -4.19874835e-02 -2.16014953e-02 1.39379027e+02] [ 4.19928347e-02 9.99117891e-01 -2.06025480e-04 2.81054295e+00] [ 2.15910909e-02 -7.01312343e-04 9.99766639e-01 1.51081923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.405099893 meters 0.018824200944844736 Centerline is valid? [True, True] Translation: X:139.41, Y:2.81, Z:1.51 [[ 9.98790995e-01 -4.41821702e-02 -2.15518771e-02 1.39410549e+02] [ 4.41880281e-02 9.99023211e-01 -2.04574702e-04 2.81314416e+00] [ 2.15398641e-02 -7.48007582e-04 9.99767710e-01 1.51256251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.435099893 meters 0.01994321373839037 Centerline is valid? [True, True] Translation: X:139.44, Y:2.81, Z:1.51 [[ 9.98738303e-01 -4.55202911e-02 -2.12062410e-02 1.39441650e+02] [ 4.55262833e-02 9.98963121e-01 -2.00373604e-04 2.81144705e+00] [ 2.11933738e-02 -7.65320542e-04 9.99775102e-01 1.51290684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.465099893 meters 0.020334057463636812 Centerline is valid? [True, True] Translation: X:139.47, Y:2.81, Z:1.51 [[ 9.98683258e-01 -4.67007239e-02 -2.12318847e-02 1.39473769e+02] [ 4.67070246e-02 9.98908612e-01 -1.99311890e-04 2.81081137e+00] [ 2.12180205e-02 -7.92628712e-04 9.99774558e-01 1.51340783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.495099893 meters 0.02160165011420342 Centerline is valid? [True, True] Translation: X:139.51, Y:2.81, Z:1.51 [[ 9.98567737e-01 -4.95638675e-02 -2.01469149e-02 1.39505878e+02] [ 4.95701502e-02 9.98770627e-01 -1.87735180e-04 2.80819545e+00] [ 2.01314517e-02 -8.11219304e-04 9.99797013e-01 1.51415829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52509989299998 meters 0.0225584126407418 Centerline is valid? [True, True] Translation: X:139.54, Y:2.81, Z:1.52 [[ 9.98502144e-01 -5.11590954e-02 -1.93962673e-02 1.39537203e+02] [ 5.11652427e-02 9.98690185e-01 -1.79516736e-04 2.80663052e+00] [ 1.93800457e-02 -8.13166880e-04 9.99811859e-01 1.51521598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55509989299998 meters 0.023267369136948393 Centerline is valid? [True, True] Translation: X:139.57, Y:2.81, Z:1.52 [[ 9.98356302e-01 -5.43147738e-02 -1.82920429e-02 1.39568416e+02] [ 5.43207846e-02 9.98523522e-01 -1.68463612e-04 2.80573077e+00] [ 1.82741852e-02 -8.25451415e-04 9.99832672e-01 1.51731522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58509989299998 meters 0.02333590778351659 Centerline is valid? [True, True] Translation: X:139.60, Y:2.81, Z:1.52 [[ 9.98282078e-01 -5.57705319e-02 -1.79594210e-02 1.39600269e+02] [ 5.57765760e-02 9.98443262e-01 -1.64566051e-04 2.80571503e+00] [ 1.79406408e-02 -8.37431670e-04 9.99838703e-01 1.51826338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61509989299998 meters 0.026843996946942717 Centerline is valid? [True, True] Translation: X:139.63, Y:2.80, Z:1.52 [[ 9.98122350e-01 -5.80681347e-02 -1.94901313e-02 1.39630549e+02] [ 5.80757116e-02 9.98312166e-01 -1.77499363e-04 2.80104782e+00] [ 1.94675423e-02 -9.54737165e-04 9.99810034e-01 1.51725527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64509989299998 meters 0.025290759840564354 Centerline is valid? [True, True] Translation: X:139.66, Y:2.80, Z:1.52 [[ 9.98075943e-01 -5.85851148e-02 -2.03026148e-02 1.39662952e+02] [ 5.85934596e-02 9.98281910e-01 -1.84107429e-04 2.80360442e+00] [ 2.02785190e-02 -1.00584724e-03 9.99793864e-01 1.51745067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67509989299998 meters 0.023543477411032143 Centerline is valid? [True, True] Translation: X:139.70, Y:2.81, Z:1.52 [[ 9.98062652e-01 -5.85493632e-02 -2.10455331e-02 1.39695177e+02] [ 5.85583546e-02 9.98283969e-01 -1.89303166e-04 2.80662558e+00] [ 2.10205019e-02 -1.04345537e-03 9.99778500e-01 1.51792465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70509989299998 meters 0.02453527246383702 Centerline is valid? [True, True] Translation: X:139.73, Y:2.81, Z:1.52 [[ 9.98107834e-01 -5.76070861e-02 -2.14982534e-02 1.39726763e+02] [ 5.76162811e-02 9.98338784e-01 -1.91958472e-04 2.80558423e+00] [ 2.14735984e-02 -1.04705416e-03 9.99768867e-01 1.51728074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73509989299998 meters 0.02646964429630012 Centerline is valid? [True, True] Translation: X:139.76, Y:2.80, Z:1.52 [[ 9.98164209e-01 -5.66299423e-02 -2.14769883e-02 1.39758319e+02] [ 5.66389337e-02 9.98394709e-01 -1.89892531e-04 2.80362435e+00] [ 2.14532651e-02 -1.02688979e-03 9.99769325e-01 1.51785929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76509989299998 meters 0.0237828732840628 Centerline is valid? [True, True] Translation: X:139.79, Y:2.81, Z:1.52 [[ 9.98214832e-01 -5.57447660e-02 -2.14399067e-02 1.39790177e+02] [ 5.57535716e-02 9.98444542e-01 -1.87280132e-04 2.80807863e+00] [ 2.14169977e-02 -1.00840557e-03 9.99770121e-01 1.51919263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79509989299999 meters 0.024281267957134128 Centerline is valid? [True, True] Translation: X:139.82, Y:2.81, Z:1.52 [[ 9.98309998e-01 -5.42679870e-02 -2.07877966e-02 1.39821228e+02] [ 5.42759882e-02 9.98525956e-01 -1.79524242e-04 2.80895122e+00] [ 2.07668969e-02 -9.49057359e-04 9.99783894e-01 1.52091447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.825099893 meters 0.02300881058522195 Centerline is valid? [True, True] Translation: X:139.85, Y:2.81, Z:1.52 [[ 9.98354917e-01 -5.35958390e-02 -2.03702398e-02 1.39853368e+02] [ 5.36034291e-02 9.98562288e-01 -1.73618360e-04 2.81203114e+00] [ 2.03502585e-02 -9.18581963e-04 9.99792490e-01 1.52231711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.855099893 meters 0.02463658974787548 Centerline is valid? [True, True] Translation: X:139.88, Y:2.81, Z:1.52 [[ 9.98468376e-01 -5.17250815e-02 -1.96320513e-02 1.39884045e+02] [ 5.17317922e-02 9.98661001e-01 -1.66212248e-04 2.81122201e+00] [ 1.96143613e-02 -8.49643524e-04 9.99807259e-01 1.52311685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.885099893 meters 0.024028123001677046 Centerline is valid? [True, True] Translation: X:139.92, Y:2.81, Z:1.52 [[ 9.98515451e-01 -5.09439697e-02 -1.92770914e-02 1.39915872e+02] [ 5.09503122e-02 9.98701176e-01 -1.62294543e-04 2.81291719e+00] [ 1.92603218e-02 -8.20120216e-04 9.99814166e-01 1.52403055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.915099893 meters 0.021713340505573497 Centerline is valid? [True, True] Translation: X:139.95, Y:2.82, Z:1.52 [[ 9.98560920e-01 -5.00142950e-02 -1.93560983e-02 1.39948406e+02] [ 5.00205416e-02 9.98748176e-01 -1.61598636e-04 2.81692270e+00] [ 1.93399501e-02 -8.06836435e-04 9.99812640e-01 1.52498672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.945099893 meters 0.021437317568042194 Centerline is valid? [True, True] Translation: X:139.98, Y:2.82, Z:1.52 [[ 9.98598414e-01 -4.87690432e-02 -2.05617987e-02 1.39980818e+02] [ 4.87758604e-02 9.98809735e-01 -1.70135488e-04 2.81764068e+00] [ 2.05456221e-02 -8.33022396e-04 9.99788569e-01 1.52433523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.975099893 meters 0.021987507199653835 Centerline is valid? [True, True] Translation: X:140.01, Y:2.82, Z:1.52 [[ 9.98625767e-01 -4.78092516e-02 -2.14674750e-02 1.40012378e+02] [ 4.78165058e-02 9.98856121e-01 -1.75558417e-04 2.81718764e+00] [ 2.14513122e-02 -8.51182486e-04 9.99769532e-01 1.52384435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.005099893 meters 0.021422754996263716 Centerline is valid? [True, True] Translation: X:140.04, Y:2.82, Z:1.52 [[ 9.98604917e-01 -4.80172118e-02 -2.19674085e-02 1.40044946e+02] [ 4.80249083e-02 9.98846123e-01 -1.77365209e-04 2.81824850e+00] [ 2.19505774e-02 -8.77865009e-04 9.99758672e-01 1.52462643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.035099893 meters 0.021274884848606044 Centerline is valid? [True, True] Translation: X:140.08, Y:2.82, Z:1.53 [[ 9.98589635e-01 -4.82934723e-02 -2.20563250e-02 1.40076642e+02] [ 4.83013297e-02 9.98832794e-01 -1.76673314e-04 2.81824653e+00] [ 2.20391129e-02 -8.88925686e-04 9.99756714e-01 1.52511628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.065099893 meters 0.020952911065856457 Centerline is valid? [True, True] Translation: X:140.11, Y:2.82, Z:1.53 [[ 9.98558759e-01 -4.89759362e-02 -2.19490809e-02 1.40108736e+02] [ 4.89839116e-02 9.98799552e-01 -1.74455143e-04 2.81854142e+00] [ 2.19312763e-02 -9.00948127e-04 9.99759075e-01 1.52578547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.095099893 meters 0.020952911065856457 Centerline is valid? [True, True] Translation: X:140.14, Y:2.82, Z:1.53 [[ 9.98562326e-01 -4.89031576e-02 -2.19490935e-02 1.40140457e+02] [ 4.89111506e-02 9.98803118e-01 -1.72858303e-04 2.81873459e+00] [ 2.19312763e-02 -9.00945627e-04 9.99759075e-01 1.52617747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.125099893 meters 0.022862708534000485 Centerline is valid? [True, True] Translation: X:140.17, Y:2.81, Z:1.53 [[ 9.98470111e-01 -5.07078293e-02 -2.20489036e-02 1.40171162e+02] [ 5.07163620e-02 9.98713082e-01 -1.72387553e-04 2.81454625e+00] [ 2.20292698e-02 -9.46116356e-04 9.99756879e-01 1.52629312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.155099893 meters 0.022862708534000485 Centerline is valid? [True, True] Translation: X:140.20, Y:2.81, Z:1.53 [[ 9.98473697e-01 -5.06371580e-02 -2.20489124e-02 1.40202885e+02] [ 5.06456985e-02 9.98716668e-01 -1.71253285e-04 2.81473368e+00] [ 2.20292881e-02 -9.45690667e-04 9.99756879e-01 1.52668530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.185099893 meters 0.021674188161675895 Centerline is valid? [True, True] Translation: X:140.23, Y:2.82, Z:1.53 [[ 9.98428548e-01 -5.13584204e-02 -2.24220128e-02 1.40234812e+02] [ 5.13674704e-02 9.98679805e-01 -1.72527678e-04 2.81546074e+00] [ 2.24012722e-02 -9.79505522e-04 9.99748580e-01 1.52778459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.215099893 meters 0.022815721408845076 Centerline is valid? [True, True] Translation: X:140.27, Y:2.81, Z:1.53 [[ 9.98436919e-01 -5.11742407e-02 -2.24703412e-02 1.40266324e+02] [ 5.11833159e-02 9.98689260e-01 -1.71445189e-04 2.81378177e+00] [ 2.24496620e-02 -9.78929363e-04 9.99747495e-01 1.52782855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.245099893 meters 0.021582933365284832 Centerline is valid? [True, True] Translation: X:140.30, Y:2.82, Z:1.53 [[ 9.98476861e-01 -5.02355097e-02 -2.28111952e-02 1.40298172e+02] [ 5.02446506e-02 9.98736925e-01 -1.72606732e-04 2.81642291e+00] [ 2.27910540e-02 -9.73796706e-04 9.99739776e-01 1.52923352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27509989299998 meters 0.022135947803655985 Centerline is valid? [True, True] Translation: X:140.33, Y:2.82, Z:1.53 [[ 9.98508692e-01 -4.98319963e-02 -2.22971652e-02 1.40329852e+02] [ 4.98406648e-02 9.98757168e-01 -1.67130824e-04 2.81615520e+00] [ 2.22777820e-02 -9.44423954e-04 9.99751373e-01 1.53034881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30509989299998 meters 0.021893448024919066 Centerline is valid? [True, True] Translation: X:140.36, Y:2.82, Z:1.53 [[ 9.98503595e-01 -4.98524754e-02 -2.24789145e-02 1.40361689e+02] [ 4.98613273e-02 9.98756136e-01 -1.66873043e-04 2.81694678e+00] [ 2.24592729e-02 -9.54205182e-04 9.99747303e-01 1.53109789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33509989299998 meters 0.0226893280014707 Centerline is valid? [True, True] Translation: X:140.39, Y:2.82, Z:1.53 [[ 9.98487692e-01 -5.03560578e-02 -2.20589218e-02 1.40393075e+02] [ 5.03647353e-02 9.98730878e-01 -1.62365556e-04 2.81539975e+00] [ 2.20391025e-02 -9.48871750e-04 9.99756659e-01 1.53178220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36509989299998 meters 0.023224092780225466 Centerline is valid? [True, True] Translation: X:140.43, Y:2.81, Z:1.53 [[ 9.98456690e-01 -5.09593256e-02 -2.20768157e-02 1.40425060e+02] [ 5.09681940e-02 9.98700264e-01 -1.61149612e-04 2.81441152e+00] [ 2.20563337e-02 -9.64314517e-04 9.99756264e-01 1.53250384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39509989299998 meters 0.023685421277916324 Centerline is valid? [True, True] Translation: X:140.46, Y:2.81, Z:1.53 [[ 9.98421103e-01 -5.17137522e-02 -2.19314765e-02 1.40456731e+02] [ 5.17227158e-02 9.98661472e-01 -1.58716733e-04 2.81379320e+00] [ 2.19103284e-02 -9.75889388e-04 9.99759464e-01 1.53308870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42509989299998 meters 0.024051346205165015 Centerline is valid? [True, True] Translation: X:140.49, Y:2.81, Z:1.53 [[ 9.98389239e-01 -5.20250954e-02 -2.26343972e-02 1.40488517e+02] [ 5.20347545e-02 9.98645261e-01 -1.62411338e-04 2.81275003e+00] [ 2.26121830e-02 -1.01562557e-03 9.99743796e-01 1.53330731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45509989299998 meters 0.022497099621316703 Centerline is valid? [True, True] Translation: X:140.52, Y:2.81, Z:1.53 [[ 9.98395182e-01 -5.19369630e-02 -2.25745775e-02 1.40520964e+02] [ 5.19465846e-02 9.98649852e-01 -1.60384042e-04 2.81461677e+00] [ 2.25524284e-02 -1.01254555e-03 9.99745149e-01 1.53432584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48509989299998 meters 0.023211289438869357 Centerline is valid? [True, True] Translation: X:140.55, Y:2.81, Z:1.53 [[ 9.98410466e-01 -5.16279078e-02 -2.26075277e-02 1.40552212e+02] [ 5.16375110e-02 9.98665881e-01 -1.59176995e-04 2.81248509e+00] [ 2.25855845e-02 -1.00847248e-03 9.99744405e-01 1.53451744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51509989299998 meters 0.025341485536018695 Centerline is valid? [True, True] Translation: X:140.58, Y:2.81, Z:1.53 [[ 9.98418854e-01 -5.16764463e-02 -2.21209760e-02 1.40583166e+02] [ 5.16856915e-02 9.98663390e-01 -1.53977578e-04 2.80893314e+00] [ 2.20993659e-02 -9.89603824e-04 9.99755289e-01 1.53426380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54509989299999 meters 0.02378876364053811 Centerline is valid? [True, True] Translation: X:140.62, Y:2.81, Z:1.54 [[ 9.98441658e-01 -5.17039977e-02 -2.09988836e-02 1.40615658e+02] [ 5.17123756e-02 9.98662010e-01 -1.44205835e-04 2.81015184e+00] [ 2.09782433e-02 -9.41921042e-04 9.99779489e-01 1.53529083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.575099893 meters 0.024068156954516896 Centerline is valid? [True, True] Translation: X:140.65, Y:2.81, Z:1.54 [[ 9.98456031e-01 -5.17539784e-02 -2.01762400e-02 1.40648272e+02] [ 5.17617507e-02 9.98659453e-01 -1.37171164e-04 2.80964357e+00] [ 2.01562920e-02 -9.07398131e-04 9.99796430e-01 1.53636785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.605099893 meters 0.024490529269896606 Centerline is valid? [True, True] Translation: X:140.68, Y:2.81, Z:1.54 [[ 9.98482175e-01 -5.14458339e-02 -1.96640092e-02 1.40679722e+02] [ 5.14531810e-02 9.98675399e-01 -1.32460437e-04 2.80920503e+00] [ 1.96447767e-02 -8.79516436e-04 9.99806636e-01 1.53684535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.635099893 meters 0.023808497496941042 Centerline is valid? [True, True] Translation: X:140.71, Y:2.81, Z:1.54 [[ 9.98523460e-01 -5.09531656e-02 -1.88328303e-02 1.40711535e+02] [ 5.09598372e-02 9.98700695e-01 -1.25787265e-04 2.81009850e+00] [ 1.88147700e-02 -8.34116433e-04 9.99822639e-01 1.53822631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.665099893 meters 0.02324526287680013 Centerline is valid? [True, True] Translation: X:140.74, Y:2.81, Z:1.54 [[ 9.98497752e-01 -5.13356109e-02 -1.91544932e-02 1.40743452e+02] [ 5.13426088e-02 9.98681090e-01 -1.26569924e-04 2.81075986e+00] [ 1.91357277e-02 -8.57061866e-04 9.99816528e-01 1.53895586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.695099893 meters 0.02368093179526173 Centerline is valid? [True, True] Translation: X:140.78, Y:2.81, Z:1.54 [[ 9.98461122e-01 -5.16755825e-02 -2.01251712e-02 1.40776097e+02] [ 5.16834064e-02 9.98663511e-01 -1.31510548e-04 2.80916430e+00] [ 2.01050700e-02 -9.08829232e-04 9.99797460e-01 1.53840089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.725099893 meters 0.022804203654351547 Centerline is valid? [True, True] Translation: X:140.81, Y:2.81, Z:1.54 [[ 9.98442117e-01 -5.19159114e-02 -2.04469334e-02 1.40808541e+02] [ 5.19240680e-02 9.98651027e-01 -1.32141823e-04 2.80975424e+00] [ 2.04262113e-02 -9.29751997e-04 9.99790931e-01 1.53828326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.755099893 meters 0.024476450892053157 Centerline is valid? [True, True] Translation: X:140.84, Y:2.81, Z:1.54 [[ 9.98403729e-01 -5.24685739e-02 -2.09055603e-02 1.40839566e+02] [ 5.24772500e-02 9.98622111e-01 -1.33737288e-04 2.80669245e+00] [ 2.08837717e-02 -9.63542506e-04 9.99781446e-01 1.53795150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.785099893 meters 0.02447534147475027 Centerline is valid? [True, True] Translation: X:140.87, Y:2.81, Z:1.54 [[ 9.98417018e-01 -5.24038620e-02 -2.04277755e-02 1.40872036e+02] [ 5.24121573e-02 9.98625530e-01 -1.29465509e-04 2.80673505e+00] [ 2.04064826e-02 -9.41403215e-04 9.99791323e-01 1.53861621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.815099893 meters 0.025385735083269162 Centerline is valid? [True, True] Translation: X:140.90, Y:2.81, Z:1.54 [[ 9.98439846e-01 -5.17616414e-02 -2.09429250e-02 1.40903016e+02] [ 5.17702475e-02 9.98659013e-01 -1.31389852e-04 2.80532005e+00] [ 2.09216418e-02 -9.53035550e-04 9.99780664e-01 1.53903968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.845099893 meters 0.022541842463093424 Centerline is valid? [True, True] Translation: X:140.93, Y:2.81, Z:1.54 [[ 9.98553211e-01 -4.92208702e-02 -2.16515778e-02 1.40934553e+02] [ 4.92294945e-02 9.98787484e-01 -1.34834489e-04 2.80903922e+00] [ 2.16319616e-02 -9.31256816e-04 9.99765568e-01 1.53901177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.875099893 meters 0.022392961368407464 Centerline is valid? [True, True] Translation: X:140.97, Y:2.81, Z:1.54 [[ 9.98644588e-01 -4.74963405e-02 -2.12857862e-02 1.40966084e+02] [ 4.75043040e-02 9.98871025e-01 -1.31648346e-04 2.80898684e+00] [ 2.12680079e-02 -8.79696551e-04 9.99773423e-01 1.53877449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.905099893 meters 0.023042043833199837 Centerline is valid? [True, True] Translation: X:141.00, Y:2.81, Z:1.54 [[ 9.98729898e-01 -4.55955932e-02 -2.14390246e-02 1.40997281e+02] [ 4.56032589e-02 9.98959622e-01 -1.31458556e-04 2.80818118e+00] [ 2.14227138e-02 -8.46397798e-04 9.99770149e-01 1.53883353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.935099893 meters 0.01957802536014395 Centerline is valid? [True, True] Translation: X:141.03, Y:2.81, Z:1.54 [[ 9.98891920e-01 -4.23216074e-02 -2.05867201e-02 1.41028581e+02] [ 4.23280002e-02 9.99103761e-01 -1.25310647e-04 2.81401996e+00] [ 2.05735728e-02 -7.46222899e-04 9.99788063e-01 1.54078004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.965099893 meters 0.020141328158935587 Centerline is valid? [True, True] Translation: X:141.06, Y:2.81, Z:1.54 [[ 9.98981395e-01 -4.05610833e-02 -1.97730093e-02 1.41058997e+02] [ 4.05666472e-02 9.99176828e-01 -1.19794324e-04 2.81295890e+00] [ 1.97615917e-02 -6.82452394e-04 9.99804488e-01 1.54105868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99509989299997 meters 0.017573211602108042 Centerline is valid? [True, True] Translation: X:141.09, Y:2.82, Z:1.54 [[ 9.99137427e-01 -3.66554872e-02 -1.95135321e-02 1.41090153e+02] [ 3.66601713e-02 9.99327783e-01 -1.17741313e-04 2.81738314e+00] [ 1.95047307e-02 -5.97729679e-04 9.99809586e-01 1.54189284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02509989299998 meters 0.01773518153195622 Centerline is valid? [True, True] Translation: X:141.12, Y:2.82, Z:1.54 [[ 9.99223653e-01 -3.45536045e-02 -1.89245968e-02 1.41121079e+02] [ 3.45576462e-02 9.99402700e-01 -1.13509171e-04 2.81741492e+00] [ 1.89172153e-02 -5.40568472e-04 9.99820907e-01 1.54182317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05509989299998 meters 0.017047899308307527 Centerline is valid? [True, True] Translation: X:141.15, Y:2.82, Z:1.54 [[ 9.99365299e-01 -3.06250855e-02 -1.81962263e-02 1.41151362e+02] [ 3.06281810e-02 9.99530841e-01 -1.08605561e-04 2.81940185e+00] [ 1.81910155e-02 -4.48780685e-04 9.99834429e-01 1.54219609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08509989299998 meters 0.015929389542369273 Centerline is valid? [True, True] Translation: X:141.18, Y:2.82, Z:1.54 [[ 9.99457733e-01 -2.73269384e-02 -1.83705676e-02 1.41181930e+02] [ 2.73295408e-02 9.99626472e-01 -1.09422229e-04 2.82247724e+00] [ 1.83666959e-02 -3.92696284e-04 9.99831241e-01 1.54268120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11509989299998 meters 0.016073060335105884 Centerline is valid? [True, True] Translation: X:141.21, Y:2.82, Z:1.54 [[ 9.99482422e-01 -2.61030057e-02 -1.88021403e-02 1.41211094e+02] [ 2.61055132e-02 9.99659187e-01 -1.12106995e-04 2.82252861e+00] [ 1.87986586e-02 -3.78790552e-04 9.99823218e-01 1.54243788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14509989299998 meters 0.01539539297714654 Centerline is valid? [True, True] Translation: X:141.24, Y:2.82, Z:1.54 [[ 9.99506395e-01 -2.52500896e-02 -1.86922160e-02 1.41240759e+02] [ 2.52524105e-02 9.99681101e-01 -1.11897700e-04 2.82431987e+00] [ 1.86890805e-02 -3.60181045e-04 9.99825279e-01 1.54285323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17509989299998 meters 0.015569066818749245 Centerline is valid? [True, True] Translation: X:141.27, Y:2.82, Z:1.54 [[ 9.99542137e-01 -2.42813635e-02 -1.80535908e-02 1.41270633e+02] [ 2.42833609e-02 9.99705110e-01 -1.08606946e-04 2.82355350e+00] [ 1.80509041e-02 -3.29844641e-04 9.99837015e-01 1.54256514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20509989299998 meters 0.015653067867377947 Centerline is valid? [True, True] Translation: X:141.30, Y:2.82, Z:1.54 [[ 9.99550370e-01 -2.44348153e-02 -1.73780628e-02 1.41300648e+02] [ 2.44366824e-02 9.99701374e-01 -1.04931877e-04 2.82300631e+00] [ 1.73754373e-02 -3.19777506e-04 9.99848985e-01 1.54339877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23509989299998 meters 0.015653067867377947 Centerline is valid? [True, True] Translation: X:141.33, Y:2.82, Z:1.54 [[ 9.99549513e-01 -2.44698623e-02 -1.73780591e-02 1.41329803e+02] [ 2.44717240e-02 9.99700517e-01 -1.05541868e-04 2.82321278e+00] [ 1.73754373e-02 -3.19776745e-04 9.99848985e-01 1.54375950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26509989299998 meters 0.015552662640432004 Centerline is valid? [True, True] Translation: X:141.36, Y:2.82, Z:1.54 [[ 9.99541186e-01 -2.50788503e-02 -1.69843807e-02 1.41360447e+02] [ 2.50807093e-02 9.99685424e-01 -1.03574659e-04 2.82340860e+00] [ 1.69816353e-02 -3.22453177e-04 9.99855750e-01 1.54453625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29509989299999 meters 0.01571193976984526 Centerline is valid? [True, True] Translation: X:141.39, Y:2.82, Z:1.54 [[ 9.99518533e-01 -2.59412011e-02 -1.70222100e-02 1.41391298e+02] [ 2.59431934e-02 9.99663413e-01 -1.03805351e-04 2.82286542e+00] [ 1.70191734e-02 -3.37855114e-04 9.99855106e-01 1.54467781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.325099893 meters 0.016416164650301473 Centerline is valid? [True, True] Translation: X:141.42, Y:2.82, Z:1.54 [[ 9.99455979e-01 -2.84127015e-02 -1.67470746e-02 1.41421646e+02] [ 2.84149780e-02 9.99596208e-01 -1.02049889e-04 2.81989370e+00] [ 1.67432118e-02 -3.73873385e-04 9.99859753e-01 1.54495484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.355099893 meters 0.017022523251016945 Centerline is valid? [True, True] Translation: X:141.45, Y:2.82, Z:1.55 [[ 9.99412589e-01 -2.98327435e-02 -1.68666929e-02 1.41452271e+02] [ 2.98352598e-02 9.99554824e-01 -1.02479384e-04 2.81817324e+00] [ 1.68622415e-02 -4.00802978e-04 9.99857742e-01 1.54509118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.385099893 meters 0.01718771990510757 Centerline is valid? [True, True] Translation: X:141.48, Y:2.82, Z:1.55 [[ 9.99380081e-01 -3.14107838e-02 -1.59002130e-02 1.41483922e+02] [ 3.14132247e-02 9.99506478e-01 -9.62783166e-05 2.81723432e+00] [ 1.58953901e-02 -4.03258333e-04 9.99873579e-01 1.54574517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.415099893 meters 0.018330968429602544 Centerline is valid? [True, True] Translation: X:141.51, Y:2.81, Z:1.55 [[ 9.99322569e-01 -3.30733287e-02 -1.61418026e-02 1.41514609e+02] [ 3.30760704e-02 9.99452832e-01 -9.71641690e-05 2.81437546e+00] [ 1.61361839e-02 -4.36809053e-04 9.99869708e-01 1.54594069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.445099893 meters 0.018282761139924886 Centerline is valid? [True, True] Translation: X:141.55, Y:2.81, Z:1.55 [[ 9.99265826e-01 -3.47421160e-02 -1.61491225e-02 1.41547096e+02] [ 3.47450892e-02 9.99396202e-01 -9.65047233e-05 2.81382530e+00] [ 1.61427244e-02 -4.64668829e-04 9.99869590e-01 1.54655755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.475099893 meters 0.01910803656757478 Centerline is valid? [True, True] Translation: X:141.58, Y:2.81, Z:1.55 [[ 9.99131757e-01 -3.87823040e-02 -1.52205735e-02 1.41578449e+02] [ 3.87854274e-02 9.99247558e-01 -9.00325817e-05 2.81063793e+00] [ 1.52126125e-02 -5.00382035e-04 9.99884156e-01 1.54709382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.505099893 meters 0.020534522715965134 Centerline is valid? [True, True] Translation: X:141.61, Y:2.81, Z:1.55 [[ 9.98939765e-01 -4.36259885e-02 -1.47010158e-02 1.41609057e+02] [ 4.36294328e-02 9.99047779e-01 -8.64932176e-05 2.80677127e+00] [ 1.46907906e-02 -5.54995468e-04 9.99891930e-01 1.54707270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.535099893 meters 0.022662764282350836 Centerline is valid? [True, True] Translation: X:141.64, Y:2.80, Z:1.55 [[ 9.98822367e-01 -4.62508387e-02 -1.46539649e-02 1.41639642e+02] [ 4.62545475e-02 9.98929682e-01 -8.59148865e-05 2.80253313e+00] [ 1.46422541e-02 -5.91998805e-04 9.99892621e-01 1.54717167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.565099893 meters 0.022944071575878158 Centerline is valid? [True, True] Translation: X:141.67, Y:2.80, Z:1.55 [[ 9.98695447e-01 -4.88977044e-02 -1.47111499e-02 1.41671226e+02] [ 4.89017389e-02 9.98803591e-01 -8.55604092e-05 2.80125542e+00] [ 1.46977330e-02 -6.33952018e-04 9.99891782e-01 1.54747197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.595099893 meters 0.024401572424003554 Centerline is valid? [True, True] Translation: X:141.70, Y:2.80, Z:1.55 [[ 9.98569746e-01 -5.13669681e-02 -1.48289473e-02 1.41701876e+02] [ 5.13713599e-02 9.98679616e-01 -8.48501398e-05 2.79807733e+00] [ 1.48137259e-02 -6.77054405e-04 9.99890042e-01 1.54770605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.625099893 meters 0.025555287716076344 Centerline is valid? [True, True] Translation: X:141.73, Y:2.79, Z:1.55 [[ 9.98283696e-01 -5.68534909e-02 -1.40478600e-02 1.41732824e+02] [ 5.68579797e-02 9.98382273e-01 -7.99655746e-05 2.79480593e+00] [ 1.40296807e-02 -7.18904610e-04 9.99901321e-01 1.54867391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.655099893 meters 0.0252006080299357 Centerline is valid? [True, True] Translation: X:141.76, Y:2.79, Z:1.55 [[ 9.98046622e-01 -6.06842663e-02 -1.48445598e-02 1.41764124e+02] [ 6.06897033e-02 9.98156677e-01 -8.43601386e-05 2.79421423e+00] [ 1.48223159e-02 -8.16716581e-04 9.99889810e-01 1.54870957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.685099893 meters 0.028747455196459056 Centerline is valid? [True, True] Translation: X:141.80, Y:2.79, Z:1.55 [[ 9.97922351e-01 -6.23959278e-02 -1.60539891e-02 1.41795397e+02] [ 6.24025189e-02 9.98051060e-01 -9.05418629e-05 2.78817430e+00] [ 1.60283503e-02 -9.11455611e-04 9.99871122e-01 1.54708476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.715099893 meters 0.028519064893367495 Centerline is valid? [True, True] Translation: X:141.83, Y:2.79, Z:1.55 [[ 9.97905913e-01 -6.26671712e-02 -1.60192052e-02 1.41827647e+02] [ 6.26737835e-02 9.98034062e-01 -8.94095451e-05 2.78851102e+00] [ 1.59933154e-02 -9.14761882e-04 9.99871680e-01 1.54763904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74509989299997 meters 0.027893903054476397 Centerline is valid? [True, True] Translation: X:141.86, Y:2.79, Z:1.55 [[ 9.97926908e-01 -6.26236185e-02 -1.48381058e-02 1.41861131e+02] [ 6.26293028e-02 9.98036855e-01 -8.17324243e-05 2.79010861e+00] [ 1.48140948e-02 -8.47737234e-04 9.99889906e-01 1.54955326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77509989299998 meters 0.026427964409213998 Centerline is valid? [True, True] Translation: X:141.89, Y:2.79, Z:1.55 [[ 9.98050331e-01 -6.06376217e-02 -1.47856482e-02 1.41892980e+02] [ 6.06430703e-02 9.98159512e-01 -7.99750083e-05 2.79340154e+00] [ 1.47632849e-02 -8.16828021e-04 9.99890683e-01 1.55027209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80509989299998 meters 0.026326363009959653 Centerline is valid? [True, True] Translation: X:141.93, Y:2.79, Z:1.55 [[ 9.98128775e-01 -5.92854177e-02 -1.49729339e-02 1.41925644e+02] [ 5.92908672e-02 9.98240746e-01 -8.00709066e-05 2.79407839e+00] [ 1.49513398e-02 -8.07837162e-04 9.99887896e-01 1.55024090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83509989299998 meters 0.025992514606860376 Centerline is valid? [True, True] Translation: X:141.96, Y:2.80, Z:1.55 [[ 9.98190985e-01 -5.80662148e-02 -1.55907867e-02 1.41958171e+02] [ 5.80719968e-02 9.98312394e-01 -8.19867540e-05 2.79537527e+00] [ 1.55692362e-02 -8.23549676e-04 9.99878453e-01 1.55031947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86509989299998 meters 0.027876532327904425 Centerline is valid? [True, True] Translation: X:141.99, Y:2.79, Z:1.55 [[ 9.98279923e-01 -5.64169907e-02 -1.59473566e-02 1.41988694e+02] [ 5.64228459e-02 9.98406959e-01 -8.28901162e-05 2.79339590e+00] [ 1.59266282e-02 -8.17047706e-04 9.99872829e-01 1.54979859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89509989299998 meters 0.02784292507637046 Centerline is valid? [True, True] Translation: X:142.02, Y:2.80, Z:1.55 [[ 9.98399624e-01 -5.41863249e-02 -1.61874284e-02 1.42019568e+02] [ 5.41920710e-02 9.98530527e-01 -8.37836570e-05 2.79506986e+00] [ 1.61681813e-02 -7.93580695e-04 9.99868971e-01 1.54980381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92509989299998 meters 0.02358795191759649 Centerline is valid? [True, True] Translation: X:142.05, Y:2.80, Z:1.55 [[ 9.98465249e-01 -5.28772554e-02 -1.64664002e-02 1.42051416e+02] [ 5.28830357e-02 9.98600710e-01 -8.44975484e-05 2.80232237e+00] [ 1.64478269e-02 -7.86425365e-04 9.99864416e-01 1.55052017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95509989299998 meters 0.02443766955408576 Centerline is valid? [True, True] Translation: X:142.08, Y:2.80, Z:1.55 [[ 9.98596522e-01 -5.02022619e-02 -1.68736308e-02 1.42082322e+02] [ 5.02079688e-02 9.98738781e-01 -8.55075922e-05 2.80341525e+00] [ 1.68566421e-02 -7.61803144e-04 9.99857627e-01 1.55028716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98509989299998 meters 0.02443766955408576 Centerline is valid? [True, True] Translation: X:142.11, Y:2.80, Z:1.55 [[ 9.98600043e-01 -5.01321646e-02 -1.68736346e-02 1.42114045e+02] [ 5.01378744e-02 9.98742302e-01 -8.47459993e-05 2.80351422e+00] [ 1.68566612e-02 -7.61380815e-04 9.99857627e-01 1.55067935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01509989299998 meters 0.023993196523649195 Centerline is valid? [True, True] Translation: X:142.15, Y:2.81, Z:1.55 [[ 9.98658307e-01 -4.89445531e-02 -1.69120090e-02 1.42146640e+02] [ 4.89501403e-02 9.98801220e-01 -8.36709609e-05 2.80535896e+00] [ 1.68958305e-02 -7.44286516e-04 9.99856978e-01 1.55098580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04509989299999 meters 0.02332058139693085 Centerline is valid? [True, True] Translation: X:142.18, Y:2.81, Z:1.55 [[ 9.98711212e-01 -4.77769942e-02 -1.71252412e-02 1.42178649e+02] [ 4.77825764e-02 9.98857757e-01 -8.32958190e-05 2.80763790e+00] [ 1.71096596e-02 -7.35099678e-04 9.99853349e-01 1.55122739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.075099893 meters 0.02233225414974771 Centerline is valid? [True, True] Translation: X:142.21, Y:2.81, Z:1.55 [[ 9.98767086e-01 -4.63479249e-02 -1.77813907e-02 1.42210957e+02] [ 4.63537399e-02 9.98925084e-01 -8.52005783e-05 2.81181321e+00] [ 1.77662261e-02 -7.39138429e-04 9.99841895e-01 1.55132645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.105099893 meters 0.023215062310303076 Centerline is valid? [True, True] Translation: X:142.24, Y:2.81, Z:1.55 [[ 9.98777341e-01 -4.59676948e-02 -1.81877728e-02 1.42242510e+02] [ 4.59737378e-02 9.98942645e-01 -8.59410300e-05 2.81181811e+00] [ 1.81724924e-02 -7.50323944e-04 9.99834585e-01 1.55146371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.135099893 meters 0.022771271584488405 Centerline is valid? [True, True] Translation: X:142.27, Y:2.81, Z:1.55 [[ 9.98786223e-01 -4.55072292e-02 -1.88460488e-02 1.42274997e+02] [ 4.55136571e-02 9.98963713e-01 -8.79193759e-05 2.81463709e+00] [ 1.88305199e-02 -7.69939943e-04 9.99822394e-01 1.55151977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.165099893 meters 0.024737251544297807 Centerline is valid? [True, True] Translation: X:142.31, Y:2.81, Z:1.55 [[ 9.98784240e-01 -4.54339922e-02 -1.91257543e-02 1.42306534e+02] [ 4.54406307e-02 9.98967037e-01 -8.75653252e-05 2.81259396e+00] [ 1.91099765e-02 -7.81627472e-04 9.99817082e-01 1.55128888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.195099893 meters 0.020513375853959927 Centerline is valid? [True, True] Translation: X:142.34, Y:2.82, Z:1.55 [[ 9.98780196e-01 -4.55938157e-02 -1.89558345e-02 1.42338295e+02] [ 4.56004015e-02 9.98959757e-01 -8.48867163e-05 2.82017776e+00] [ 1.89399862e-02 -7.79610494e-04 9.99820318e-01 1.55270255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.225099893 meters 0.02252099172675986 Centerline is valid? [True, True] Translation: X:142.37, Y:2.82, Z:1.55 [[ 9.98796886e-01 -4.53312712e-02 -1.87044341e-02 1.42369863e+02] [ 4.53376607e-02 9.98971716e-01 -8.25171571e-05 2.81962127e+00] [ 1.86889413e-02 -7.65597409e-04 9.99825053e-01 1.55317863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.255099893 meters 0.023367798821009467 Centerline is valid? [True, True] Translation: X:142.40, Y:2.82, Z:1.55 [[ 9.98810934e-01 -4.49575973e-02 -1.88555564e-02 1.42400612e+02] [ 4.49640433e-02 9.98988603e-01 -8.21609530e-05 2.81978530e+00] [ 1.88401797e-02 -7.65758796e-04 9.99822215e-01 1.55368450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.285099893 meters 0.02112261950734094 Centerline is valid? [True, True] Translation: X:142.43, Y:2.83, Z:1.56 [[ 9.98863575e-01 -4.41709140e-02 -1.79021788e-02 1.42432745e+02] [ 4.41766165e-02 9.99023734e-01 -7.69920614e-05 2.82631043e+00] [ 1.78881024e-02 -7.13953124e-04 9.99839740e-01 1.55603944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.315099893 meters 0.02191064855337418 Centerline is valid? [True, True] Translation: X:142.46, Y:2.83, Z:1.56 [[ 9.98870190e-01 -4.43183707e-02 -1.71530180e-02 1.42464215e+02] [ 4.43236464e-02 9.99017222e-01 -7.26625833e-05 2.82630002e+00] [ 1.71393806e-02 -6.87703816e-04 9.99852874e-01 1.55722084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.345099893 meters 0.021020952107816626 Centerline is valid? [True, True] Translation: X:142.50, Y:2.83, Z:1.56 [[ 9.98897535e-01 -4.36331659e-02 -1.73165051e-02 1.42496512e+02] [ 4.36384577e-02 9.99047386e-01 -7.23311562e-05 2.82960547e+00] [ 1.73031652e-02 -6.83414162e-04 9.99850055e-01 1.55798672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.375099893 meters 0.021774363333290647 Centerline is valid? [True, True] Translation: X:142.53, Y:2.83, Z:1.56 [[ 9.98927705e-01 -4.29626777e-02 -1.72524937e-02 1.42527553e+02] [ 4.29678504e-02 9.99076453e-01 -7.09155333e-05 2.83037160e+00] [ 1.72396069e-02 -6.70463078e-04 9.99851162e-01 1.55803708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.405099893 meters 0.024844333896618165 Centerline is valid? [True, True] Translation: X:142.56, Y:2.83, Z:1.56 [[ 9.98954216e-01 -4.22170275e-02 -1.75555241e-02 1.42558595e+02] [ 4.22222916e-02 9.99108239e-01 -7.08466165e-05 2.82688710e+00] [ 1.75428597e-02 -6.70461933e-04 9.99845887e-01 1.55765753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.435099893 meters 0.021336052477020983 Centerline is valid? [True, True] Translation: X:142.59, Y:2.83, Z:1.56 [[ 9.99009004e-01 -4.06526833e-02 -1.81209809e-02 1.42590790e+02] [ 4.06580709e-02 9.99173116e-01 -7.11506353e-05 2.83365812e+00] [ 1.81088894e-02 -6.65684000e-04 9.99835799e-01 1.55760693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.465099893 meters 0.01979062993768007 Centerline is valid? [True, True] Translation: X:142.62, Y:2.84, Z:1.56 [[ 9.99067949e-01 -3.88257505e-02 -1.88625097e-02 1.42623569e+02] [ 3.88312909e-02 9.99245778e-01 -7.25828746e-05 2.83791906e+00] [ 1.88511013e-02 -6.59940380e-04 9.99822084e-01 1.55733110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49509989299997 meters 0.01947390412662074 Centerline is valid? [True, True] Translation: X:142.65, Y:2.84, Z:1.56 [[ 9.99178864e-01 -3.60646171e-02 -1.84646062e-02 1.42654034e+02] [ 3.60694772e-02 9.99349282e-01 -6.98614070e-05 2.84037115e+00] [ 1.84551105e-02 -5.96204652e-04 9.99829512e-01 1.55778198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52509989299998 meters 0.01809028526373111 Centerline is valid? [True, True] Translation: X:142.69, Y:2.84, Z:1.56 [[ 9.99316134e-01 -3.24838157e-02 -1.76654143e-02 1.42685331e+02] [ 3.24877122e-02 9.99472133e-01 -6.64390994e-05 2.84466984e+00] [ 1.76582475e-02 -5.07515230e-04 9.99843952e-01 1.55906890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55509989299998 meters 0.017663878589966462 Centerline is valid? [True, True] Translation: X:142.72, Y:2.85, Z:1.56 [[ 9.99457103e-01 -2.83186147e-02 -1.68391028e-02 1.42715441e+02] [ 2.83215727e-02 9.99598862e-01 -6.28310829e-05 2.84725775e+00] [ 1.68341273e-02 -4.14112902e-04 9.99858210e-01 1.55993772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58509989299998 meters 0.016319563425893722 Centerline is valid? [True, True] Translation: X:142.75, Y:2.85, Z:1.56 [[ 9.99520794e-01 -2.62173214e-02 -1.64570540e-02 1.42746539e+02] [ 2.62198680e-02 9.99656198e-01 -6.10442631e-05 2.85091820e+00] [ 1.64529964e-02 -3.70486773e-04 9.99864572e-01 1.56085612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61509989299998 meters 0.016249743443173894 Centerline is valid? [True, True] Translation: X:142.78, Y:2.85, Z:1.56 [[ 9.99576394e-01 -2.41342257e-02 -1.62656632e-02 1.42776750e+02] [ 2.41364459e-02 9.99708672e-01 -5.98284540e-05 2.85197924e+00] [ 1.62623685e-02 -3.32792191e-04 9.99867704e-01 1.56098629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64509989299998 meters 0.016249743443173894 Centerline is valid? [True, True] Translation: X:142.81, Y:2.85, Z:1.56 [[ 9.99577234e-01 -2.40993943e-02 -1.62656645e-02 1.42807603e+02] [ 2.41016157e-02 9.99709512e-01 -5.94737837e-05 2.85206256e+00] [ 1.62623728e-02 -3.32580155e-04 9.99867704e-01 1.56136777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67509989299998 meters 0.015618118976336842 Centerline is valid? [True, True] Translation: X:142.84, Y:2.85, Z:1.56 [[ 9.99624995e-01 -2.21830789e-02 -1.60555106e-02 1.42839039e+02] [ 2.21850051e-02 9.99753881e-01 -5.81494638e-05 2.85429619e+00] [ 1.60528489e-02 -2.98063926e-04 9.99871100e-01 1.56176181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70509989299998 meters 0.015176743732506607 Centerline is valid? [True, True] Translation: X:142.87, Y:2.86, Z:1.56 [[ 9.99660478e-01 -2.03421154e-02 -1.62827153e-02 1.42869627e+02] [ 2.03438596e-02 9.99793041e-01 -5.85284504e-05 2.85608609e+00] [ 1.62805361e-02 -2.72744696e-04 9.99867426e-01 1.56189997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73509989299998 meters 0.014903926376371052 Centerline is valid? [True, True] Translation: X:142.90, Y:2.86, Z:1.56 [[ 9.99707167e-01 -1.71234688e-02 -1.70987571e-02 1.42898835e+02] [ 1.71249201e-02 9.99853356e-01 -6.15455537e-05 2.85817168e+00] [ 1.70973035e-02 -2.31287319e-04 9.99853804e-01 1.56170235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76509989299998 meters 0.014624343461636675 Centerline is valid? [True, True] Translation: X:142.93, Y:2.86, Z:1.56 [[ 9.99715355e-01 -1.61729739e-02 -1.75397925e-02 1.42927478e+02] [ 1.61743286e-02 9.99869185e-01 -6.46286393e-05 2.85985594e+00] [ 1.75385433e-02 -2.19084126e-04 9.99846164e-01 1.56215210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79509989299999 meters 0.014379711505108072 Centerline is valid? [True, True] Translation: X:142.96, Y:2.86, Z:1.56 [[ 9.99726406e-01 -1.51424374e-02 -1.78274923e-02 1.42955983e+02] [ 1.51435937e-02 9.99885327e-01 -7.01410340e-05 2.86088453e+00] [ 1.78265100e-02 -1.99850455e-04 9.99841075e-01 1.56211029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.825099893 meters 0.014175051237736677 Centerline is valid? [True, True] Translation: X:142.98, Y:2.86, Z:1.56 [[ 9.99736732e-01 -1.30693187e-02 -1.88589132e-02 1.42984000e+02] [ 1.30701715e-02 9.99914579e-01 -7.80417853e-05 2.86065851e+00] [ 1.88583222e-02 -1.68467991e-04 9.99822152e-01 1.56107694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.855099893 meters 0.014100311759755783 Centerline is valid? [True, True] Translation: X:143.01, Y:2.86, Z:1.56 [[ 9.99739403e-01 -1.23060338e-02 -1.92272616e-02 1.43010981e+02] [ 1.23067415e-02 9.99924266e-01 -8.15183887e-05 2.86052974e+00] [ 1.92268086e-02 -1.55127794e-04 9.99815136e-01 1.56097763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.885099893 meters 0.013913627506413801 Centerline is valid? [True, True] Translation: X:143.04, Y:2.86, Z:1.56 [[ 9.99755172e-01 -1.16765554e-02 -1.87950322e-02 1.43038638e+02] [ 1.16770581e-02 9.99931817e-01 -8.30023093e-05 2.86082282e+00] [ 1.87947199e-02 -1.36488694e-04 9.99823354e-01 1.56203654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.915099893 meters 0.014138089784430888 Centerline is valid? [True, True] Translation: X:143.07, Y:2.86, Z:1.56 [[ 9.99763586e-01 -1.14193556e-02 -1.85032605e-02 1.43065375e+02] [ 1.14197202e-02 9.99934789e-01 -8.59573743e-05 2.86032412e+00] [ 1.85030354e-02 -1.25365005e-04 9.99828796e-01 1.56257022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.945099893 meters 0.01388793619396761 Centerline is valid? [True, True] Translation: X:143.09, Y:2.86, Z:1.57 [[ 9.99784473e-01 -1.16362541e-02 -1.71931846e-02 1.43092990e+02] [ 1.16365525e-02 9.99932290e-01 -8.26885537e-05 2.86044141e+00] [ 1.71929826e-02 -1.17398662e-04 9.99852183e-01 1.56520366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.975099893 meters 0.01396654158142908 Centerline is valid? [True, True] Translation: X:143.12, Y:2.86, Z:1.57 [[ 9.99793082e-01 -1.18161335e-02 -1.65581507e-02 1.43119762e+02] [ 1.18163693e-02 9.99930181e-01 -8.35981329e-05 2.85941271e+00] [ 1.65579824e-02 -1.12076388e-04 9.99862901e-01 1.56581394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.005099893 meters 0.013949496211351777 Centerline is valid? [True, True] Translation: X:143.15, Y:2.86, Z:1.57 [[ 9.99775673e-01 -1.26968652e-02 -1.69526721e-02 1.43147665e+02] [ 1.26971897e-02 9.99919384e-01 -8.84982522e-05 2.85832800e+00] [ 1.69524291e-02 -1.26772894e-04 9.99856289e-01 1.56599292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.035099893 meters 0.014079614827057375 Centerline is valid? [True, True] Translation: X:143.18, Y:2.86, Z:1.57 [[ 9.99753634e-01 -1.39058494e-02 -1.73002755e-02 1.43175044e+02] [ 1.39062976e-02 9.99903298e-01 -9.44028169e-05 2.85510208e+00] [ 1.72999153e-02 -1.46203221e-04 9.99850335e-01 1.56553010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.065099893 meters 0.014110145745059373 Centerline is valid? [True, True] Translation: X:143.20, Y:2.85, Z:1.57 [[ 9.99744840e-01 -1.45104970e-02 -1.73118518e-02 1.43201450e+02] [ 1.45109982e-02 9.99894705e-01 -9.66699689e-05 2.85392565e+00] [ 1.73114317e-02 -1.54566948e-04 9.99850134e-01 1.56594567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.095099893 meters 0.014268073509507064 Centerline is valid? [True, True] Translation: X:143.23, Y:2.85, Z:1.57 [[ 9.99735308e-01 -1.54683197e-02 -1.70307141e-02 1.43229672e+02] [ 1.54688907e-02 9.99880345e-01 -9.82090762e-05 2.85186218e+00] [ 1.70301954e-02 -1.65263175e-04 9.99854962e-01 1.56617134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.125099893 meters 0.014335447094415537 Centerline is valid? [True, True] Translation: X:143.26, Y:2.85, Z:1.57 [[ 9.99698994e-01 -1.71151713e-02 -1.75782004e-02 1.43258332e+02] [ 1.71159921e-02 9.99853505e-01 -1.03765956e-04 2.85024328e+00] [ 1.75774013e-02 -1.97133617e-04 9.99845486e-01 1.56685503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.155099893 meters 0.014354746141702405 Centerline is valid? [True, True] Translation: X:143.29, Y:2.85, Z:1.57 [[ 9.99649198e-01 -1.87608790e-02 -1.86951744e-02 1.43286995e+02] [ 1.87620048e-02 9.99823971e-01 -1.15189402e-04 2.84732097e+00] [ 1.86940445e-02 -2.35609958e-04 9.99825223e-01 1.56642168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.185099893 meters 0.014675382862719149 Centerline is valid? [True, True] Translation: X:143.32, Y:2.84, Z:1.57 [[ 9.99598236e-01 -2.05870176e-02 -1.94818034e-02 1.43316016e+02] [ 2.05884893e-02 9.99788027e-01 -1.25043122e-04 2.84367809e+00] [ 1.94802480e-02 -2.76108016e-04 9.99810204e-01 1.56578115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.215099893 meters 0.014911361731065047 Centerline is valid? [True, True] Translation: X:143.34, Y:2.84, Z:1.57 [[ 9.99572474e-01 -2.21353115e-02 -1.91022791e-02 1.43343639e+02] [ 2.21369397e-02 9.99754940e-01 -1.26240943e-04 2.84049558e+00] [ 1.91003923e-02 -2.96679028e-04 9.99817527e-01 1.56575343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24509989299997 meters 0.015104705308314034 Centerline is valid? [True, True] Translation: X:143.37, Y:2.84, Z:1.57 [[ 9.99546831e-01 -2.32098139e-02 -1.91686520e-02 1.43372192e+02] [ 2.32115978e-02 9.99730566e-01 -1.29453625e-04 2.83914594e+00] [ 1.91664919e-02 -3.15540078e-04 9.99816256e-01 1.56571099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27509989299998 meters 0.015343281288756741 Centerline is valid? [True, True] Translation: X:143.40, Y:2.84, Z:1.57 [[ 9.99525290e-01 -2.41176265e-02 -1.91711931e-02 1.43400665e+02] [ 2.41194874e-02 9.99709074e-01 -1.34180890e-04 2.83772807e+00] [ 1.91688518e-02 -3.28282157e-04 9.99816207e-01 1.56561755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30509989299998 meters 0.015343281288756741 Centerline is valid? [True, True] Translation: X:143.43, Y:2.84, Z:1.57 [[ 9.99524447e-01 -2.41525477e-02 -1.91711697e-02 1.43429819e+02] [ 2.41543525e-02 9.99708232e-01 -1.37445149e-04 2.83796778e+00] [ 1.91688958e-02 -3.25687404e-04 9.99816207e-01 1.56597916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33509989299998 meters 0.015539988803435231 Centerline is valid? [True, True] Translation: X:143.46, Y:2.84, Z:1.57 [[ 9.99487712e-01 -2.59946459e-02 -1.86706170e-02 1.43459893e+02] [ 2.59966669e-02 9.99662020e-01 -1.34498336e-04 2.83561000e+00] [ 1.86678029e-02 -3.50944376e-04 9.99825680e-01 1.56641796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36509989299998 meters 0.015715457205339435 Centerline is valid? [True, True] Translation: X:143.49, Y:2.83, Z:1.57 [[ 9.99452570e-01 -2.78248915e-02 -1.78979188e-02 1.43489780e+02] [ 2.78270309e-02 9.99612745e-01 -1.29545629e-04 2.83375710e+00] [ 1.78945924e-02 -3.68571228e-04 9.99839811e-01 1.56818031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39509989299998 meters 0.015735193258680894 Centerline is valid? [True, True] Translation: X:143.52, Y:2.83, Z:1.57 [[ 9.99421385e-01 -2.87561207e-02 -1.81653895e-02 1.43520655e+02] [ 2.87584702e-02 9.99586381e-01 -1.31928790e-04 2.83278528e+00] [ 1.81616698e-02 -3.90556360e-04 9.99834987e-01 1.56834268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42509989299998 meters 0.016103152611598684 Centerline is valid? [True, True] Translation: X:143.55, Y:2.83, Z:1.57 [[ 9.99379102e-01 -3.00015756e-02 -1.84747267e-02 1.43551511e+02] [ 3.00042185e-02 9.99549763e-01 -1.34175396e-04 2.83121148e+00] [ 1.84704342e-02 -4.20227652e-04 9.99829319e-01 1.56875241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45509989299998 meters 0.016287005898801263 Centerline is valid? [True, True] Translation: X:143.58, Y:2.83, Z:1.57 [[ 9.99332155e-01 -3.12842066e-02 -1.88823422e-02 1.43582677e+02] [ 3.12872007e-02 9.99510426e-01 -1.36900244e-04 2.83040788e+00] [ 1.88773807e-02 -4.53966815e-04 9.99821703e-01 1.56969626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48509989299998 meters 0.016868178261924962 Centerline is valid? [True, True] Translation: X:143.61, Y:2.83, Z:1.57 [[ 9.99214909e-01 -3.41268672e-02 -2.01226852e-02 1.43614091e+02] [ 3.41308589e-02 9.99417362e-01 -1.45135670e-04 2.82828791e+00] [ 2.01159140e-02 -5.41782803e-04 9.99797508e-01 1.56970010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51509989299998 meters 0.01744137460551801 Centerline is valid? [True, True] Translation: X:143.65, Y:2.83, Z:1.57 [[ 9.99154965e-01 -3.55491690e-02 -2.06303824e-02 1.43645244e+02] [ 3.55536833e-02 9.99367757e-01 -1.48040859e-04 2.82678252e+00] [ 2.06226017e-02 -5.85570322e-04 9.99787160e-01 1.56982128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54509989299999 meters 0.01761341321292934 Centerline is valid? [True, True] Translation: X:143.68, Y:2.83, Z:1.57 [[ 9.99099723e-01 -3.68886018e-02 -2.09517334e-02 1.43676980e+02] [ 3.68935681e-02 9.99319189e-01 -1.49583986e-04 2.82625571e+00] [ 2.09429871e-02 -6.23534883e-04 9.99780477e-01 1.57069218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.575099893 meters 0.018644964245983473 Centerline is valid? [True, True] Translation: X:143.71, Y:2.82, Z:1.57 [[ 9.98991284e-01 -3.89388128e-02 -2.23647617e-02 1.43707309e+02] [ 3.89450063e-02 9.99241343e-01 -1.58719731e-04 2.82340034e+00] [ 2.23539749e-02 -7.12436159e-04 9.99749865e-01 1.56989647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.605099893 meters 0.019136688087302442 Centerline is valid? [True, True] Translation: X:143.74, Y:2.82, Z:1.57 [[ 9.98933820e-01 -4.03399574e-02 -2.24479644e-02 1.43738418e+02] [ 4.03465717e-02 9.99185733e-01 -1.58362461e-04 2.82170663e+00] [ 2.24360741e-02 -7.47504787e-04 9.99748000e-01 1.57060644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.635099893 meters 0.019663934571077495 Centerline is valid? [True, True] Translation: X:143.77, Y:2.82, Z:1.57 [[ 9.98930015e-01 -4.08057271e-02 -2.17650472e-02 1.43768856e+02] [ 4.08120762e-02 9.99166828e-01 -1.52585204e-04 2.82055834e+00] [ 2.17531395e-02 -7.35854822e-04 9.99763102e-01 1.57144630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.665099893 meters 0.01991985738341841 Centerline is valid? [True, True] Translation: X:143.80, Y:2.82, Z:1.57 [[ 9.98907932e-01 -4.14585916e-02 -2.15436344e-02 1.43799913e+02] [ 4.14649856e-02 9.99139946e-01 -1.50016289e-04 2.82013074e+00] [ 2.15313252e-02 -7.43454032e-04 9.99767898e-01 1.57229886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.695099893 meters 0.020377900594000145 Centerline is valid? [True, True] Translation: X:143.83, Y:2.82, Z:1.57 [[ 9.98842121e-01 -4.27452353e-02 -2.20740052e-02 1.43831383e+02] [ 4.27522794e-02 9.99085692e-01 -1.52921672e-04 2.81944386e+00] [ 2.20603594e-02 -7.90969428e-04 9.99756328e-01 1.57250133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.725099893 meters 0.01961862690990933 Centerline is valid? [True, True] Translation: X:143.86, Y:2.82, Z:1.57 [[ 9.98815717e-01 -4.33523299e-02 -2.20848242e-02 1.43862274e+02] [ 4.33595463e-02 9.99059521e-01 -1.52210293e-04 2.82116046e+00] [ 2.20706526e-02 -8.05557926e-04 9.99756089e-01 1.57305857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.755099893 meters 0.020247052831917734 Centerline is valid? [True, True] Translation: X:143.89, Y:2.82, Z:1.57 [[ 9.98737654e-01 -4.50577388e-02 -2.22013306e-02 1.43893194e+02] [ 4.50654663e-02 9.98984024e-01 -1.52386792e-04 2.82090033e+00] [ 2.21856408e-02 -8.48318887e-04 9.99753508e-01 1.57296134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.785099893 meters 0.023459172788394 Centerline is valid? [True, True] Translation: X:143.92, Y:2.82, Z:1.57 [[ 9.98669965e-01 -4.69671502e-02 -2.12693880e-02 1.43923738e+02] [ 4.69746826e-02 9.98896070e-01 -1.45616022e-04 2.81583424e+00] [ 2.12527472e-02 -8.53700401e-04 9.99773770e-01 1.57215581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.815099893 meters 0.023022922614993294 Centerline is valid? [True, True] Translation: X:143.95, Y:2.82, Z:1.57 [[ 9.98556685e-01 -5.02754808e-02 -1.88924064e-02 1.43954969e+02] [ 5.02820221e-02 9.98735051e-01 -1.28915003e-04 2.81715961e+00] [ 1.88749897e-02 -8.21219457e-04 9.99821514e-01 1.57434558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.845099893 meters 0.024718554665367605 Centerline is valid? [True, True] Translation: X:143.99, Y:2.82, Z:1.58 [[ 9.98480468e-01 -5.22641840e-02 -1.74702893e-02 1.43985640e+02] [ 5.22700914e-02 9.98632977e-01 -1.18627498e-04 2.81545686e+00] [ 1.74526069e-02 -7.94726376e-04 9.99847376e-01 1.57554621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.875099893 meters 0.02539908664323858 Centerline is valid? [True, True] Translation: X:144.02, Y:2.81, Z:1.58 [[ 9.98454728e-01 -5.28053319e-02 -1.73133683e-02 1.44016915e+02] [ 5.28112267e-02 9.98604507e-01 -1.16872027e-04 2.81498868e+00] [ 1.72953790e-02 -7.97648788e-04 9.99850106e-01 1.57601048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.905099893 meters 0.02539908664323858 Centerline is valid? [True, True] Translation: X:144.05, Y:2.82, Z:1.58 [[ 9.98458383e-01 -5.27361687e-02 -1.73133749e-02 1.44048639e+02] [ 5.27420702e-02 9.98608162e-01 -1.15885235e-04 2.81513970e+00] [ 1.72953888e-02 -7.97436647e-04 9.99850106e-01 1.57640262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.935099893 meters 0.024460128658743658 Centerline is valid? [True, True] Translation: X:144.08, Y:2.82, Z:1.58 [[ 9.98425530e-01 -5.33265299e-02 -1.73995148e-02 1.44080361e+02] [ 5.33325993e-02 9.98576798e-01 -1.15333598e-04 2.81696042e+00] [ 1.73809021e-02 -8.12809343e-04 9.99848610e-01 1.57705763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.965099893 meters 0.024460128658743658 Centerline is valid? [True, True] Translation: X:144.11, Y:2.82, Z:1.58 [[ 9.98429301e-01 -5.32558656e-02 -1.73995215e-02 1.44112087e+02] [ 5.32619419e-02 9.98580569e-01 -1.14320460e-04 2.81710934e+00] [ 1.73809123e-02 -8.12591405e-04 9.99848610e-01 1.57744978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99509989299997 meters 0.02414945090765017 Centerline is valid? [True, True] Translation: X:144.14, Y:2.82, Z:1.58 [[ 9.98385148e-01 -5.39344905e-02 -1.78372587e-02 1.44144094e+02] [ 5.39410075e-02 9.98544117e-01 -1.15908138e-04 2.81879853e+00] [ 1.78175412e-02 -8.46438745e-04 9.99840897e-01 1.57725067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02509989299998 meters 0.02429014592667409 Centerline is valid? [True, True] Translation: X:144.18, Y:2.82, Z:1.58 [[ 9.98357400e-01 -5.41375153e-02 -1.87518407e-02 1.44176123e+02] [ 5.41447796e-02 9.98533088e-01 -1.20465388e-04 2.81911780e+00] [ 1.87308551e-02 -8.95046770e-04 9.99824162e-01 1.57689523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05509989299998 meters 0.02657151307040902 Centerline is valid? [True, True] Translation: X:144.21, Y:2.82, Z:1.58 [[ 9.98321669e-01 -5.44805747e-02 -1.96395316e-02 1.44207494e+02] [ 5.44886352e-02 9.98514383e-01 -1.24855759e-04 2.81618875e+00] [ 1.96171570e-02 -9.45485064e-04 9.99807118e-01 1.57651047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08509989299998 meters 0.025293253014325376 Centerline is valid? [True, True] Translation: X:144.24, Y:2.82, Z:1.58 [[ 9.98297159e-01 -5.47968946e-02 -2.00020646e-02 1.44239270e+02] [ 5.48053430e-02 9.98497050e-01 -1.25951518e-04 2.81841092e+00] [ 1.99789042e-02 -9.70482967e-04 9.99799931e-01 1.57687966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11509989299998 meters 0.025616449581047453 Centerline is valid? [True, True] Translation: X:144.27, Y:2.82, Z:1.58 [[ 9.98262172e-01 -5.52826942e-02 -2.04073622e-02 1.44270957e+02] [ 5.52916167e-02 9.98470240e-01 -1.27188423e-04 2.81832213e+00] [ 2.03831751e-02 -1.00138866e-03 9.99791740e-01 1.57727255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14509989299998 meters 0.02439989098692383 Centerline is valid? [True, True] Translation: X:144.30, Y:2.82, Z:1.58 [[ 9.98196263e-01 -5.62787169e-02 -2.09027721e-02 1.44302670e+02] [ 5.62883287e-02 9.98414547e-01 -1.28706049e-04 2.82029146e+00] [ 2.08768752e-02 -1.04810821e-03 9.99781505e-01 1.57855113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17509989299998 meters 0.027824277563352397 Centerline is valid? [True, True] Translation: X:144.33, Y:2.82, Z:1.58 [[ 9.98163985e-01 -5.68999691e-02 -2.07618034e-02 1.44333366e+02] [ 5.69096344e-02 9.98379326e-01 -1.25488794e-04 2.81572657e+00] [ 2.07352956e-02 -1.05628825e-03 9.99784443e-01 1.57868743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20509989299998 meters 0.028090407594639277 Centerline is valid? [True, True] Translation: X:144.37, Y:2.82, Z:1.58 [[ 9.98117457e-01 -5.79051221e-02 -2.02123438e-02 1.44365709e+02] [ 5.79145293e-02 9.98321538e-01 -1.20114084e-04 2.81570836e+00] [ 2.01853734e-02 -1.05070041e-03 9.99795702e-01 1.57972898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23509989299998 meters 0.028283860134825388 Centerline is valid? [True, True] Translation: X:144.40, Y:2.82, Z:1.58 [[ 9.98096524e-01 -5.82810929e-02 -2.01653977e-02 1.44398263e+02] [ 5.82905611e-02 9.98299653e-01 -1.18441945e-04 2.81563178e+00] [ 2.01380125e-02 -1.05723585e-03 9.99796651e-01 1.58011995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26509989299998 meters 0.026316901097071254 Centerline is valid? [True, True] Translation: X:144.43, Y:2.82, Z:1.58 [[ 9.98083767e-01 -5.86924349e-02 -1.95957304e-02 1.44430499e+02] [ 5.87014810e-02 9.98275575e-01 -1.13747521e-04 2.81925545e+00] [ 1.95686151e-02 -1.03676884e-03 9.99807979e-01 1.58176501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29509989299999 meters 0.028156698833363365 Centerline is valid? [True, True] Translation: X:144.46, Y:2.82, Z:1.58 [[ 9.98055399e-01 -5.93658168e-02 -1.90031824e-02 1.44461713e+02] [ 5.93744685e-02 9.98235774e-01 -1.09097856e-04 2.81733651e+00] [ 1.89761332e-02 -1.01941815e-03 9.99819417e-01 1.58248820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.325099893 meters 0.027877480972064956 Centerline is valid? [True, True] Translation: X:144.49, Y:2.82, Z:1.58 [[ 9.98056293e-01 -5.95641713e-02 -1.83233539e-02 1.44494203e+02] [ 5.95722676e-02 9.98223990e-01 -1.04140924e-04 2.81846188e+00] [ 1.82970145e-02 -9.87625239e-04 9.99832108e-01 1.58375811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.355099893 meters 0.027957069726214447 Centerline is valid? [True, True] Translation: X:144.53, Y:2.82, Z:1.58 [[ 9.98063911e-01 -5.93095553e-02 -1.87298438e-02 1.44526876e+02] [ 5.93179952e-02 9.98239132e-01 -1.05115414e-04 2.81867146e+00] [ 1.87030973e-02 -1.00610488e-03 9.99824576e-01 1.58401693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.385099893 meters 0.02700454771427658 Centerline is valid? [True, True] Translation: X:144.56, Y:2.82, Z:1.58 [[ 9.98083739e-01 -5.89379499e-02 -1.88458836e-02 1.44558891e+02] [ 5.89464537e-02 9.98261141e-01 -1.04433994e-04 2.82111366e+00] [ 1.88192684e-02 -1.00666413e-03 9.99822395e-01 1.58443987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.415099893 meters 0.026762940778769277 Centerline is valid? [True, True] Translation: X:144.59, Y:2.82, Z:1.58 [[ 9.98072394e-01 -5.89639236e-02 -1.93585007e-02 1.44590824e+02] [ 5.89729284e-02 9.98259577e-01 -1.05875627e-04 2.82228216e+00] [ 1.93310516e-02 -1.03595594e-03 9.99812601e-01 1.58474404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.445099893 meters 0.029060129809085816 Centerline is valid? [True, True] Translation: X:144.62, Y:2.82, Z:1.59 [[ 9.98054233e-01 -5.92795877e-02 -1.93307704e-02 1.44621789e+02] [ 5.92886498e-02 9.98240875e-01 -1.04475154e-04 2.81974244e+00] [ 1.93029584e-02 -1.04182341e-03 9.99813138e-01 1.58500565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.475099893 meters 0.0277772379423417 Centerline is valid? [True, True] Translation: X:144.66, Y:2.82, Z:1.59 [[ 9.98055795e-01 -5.91996821e-02 -1.94943012e-02 1.44655204e+02] [ 5.92089106e-02 9.98245608e-01 -1.03942833e-04 2.82331582e+00] [ 1.94662539e-02 -1.05049559e-03 9.99809963e-01 1.58623718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.505099893 meters 0.027119785088453904 Centerline is valid? [True, True] Translation: X:144.69, Y:2.83, Z:1.59 [[ 9.98165824e-01 -5.74995070e-02 -1.89418599e-02 1.44686322e+02] [ 5.75079429e-02 9.98345044e-01 -9.94923678e-05 2.82544998e+00] [ 1.89162327e-02 -9.89997517e-04 9.99820582e-01 1.58714901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.535099893 meters 0.02620791574374299 Centerline is valid? [True, True] Translation: X:144.72, Y:2.83, Z:1.59 [[ 9.98219336e-01 -5.66255241e-02 -1.87538377e-02 1.44718726e+02] [ 5.66336561e-02 9.98395022e-01 -9.76180573e-05 2.82738348e+00] [ 1.87292658e-02 -9.64654160e-04 9.99824127e-01 1.58801399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.565099893 meters 0.027102150335228142 Centerline is valid? [True, True] Translation: X:144.75, Y:2.83, Z:1.59 [[ 9.98297282e-01 -5.56095894e-02 -1.76099511e-02 1.44750306e+02] [ 5.56166293e-02 9.98452193e-01 -9.01008994e-05 2.82649866e+00] [ 1.75877048e-02 -8.89458641e-04 9.99844929e-01 1.58893242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.595099893 meters 0.02443831060464413 Centerline is valid? [True, True] Translation: X:144.78, Y:2.83, Z:1.59 [[ 9.98365042e-01 -5.46108663e-02 -1.68788731e-02 1.44782877e+02] [ 5.46172263e-02 9.98507362e-01 -8.42842068e-05 2.83091956e+00] [ 1.68582819e-02 -8.37730828e-04 9.99857538e-01 1.59055307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.625099893 meters 0.02562374289028104 Centerline is valid? [True, True] Translation: X:144.81, Y:2.83, Z:1.59 [[ 9.98520307e-01 -5.21201773e-02 -1.55140031e-02 1.44813872e+02] [ 5.21252678e-02 9.98640551e-01 -7.63294699e-05 2.82957606e+00] [ 1.54968909e-02 -7.32455038e-04 9.99879648e-01 1.59133800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.655099893 meters 0.02325696097141929 Centerline is valid? [True, True] Translation: X:144.85, Y:2.83, Z:1.59 [[ 9.98566557e-01 -5.13351525e-02 -1.51503637e-02 1.44845927e+02] [ 5.13399267e-02 9.98681234e-01 -7.39048477e-05 2.83348022e+00] [ 1.51341778e-02 -7.04019651e-04 9.99885224e-01 1.59236005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.685099893 meters 0.023815993983036046 Centerline is valid? [True, True] Translation: X:144.88, Y:2.83, Z:1.59 [[ 9.98635573e-01 -4.99581645e-02 -1.52043847e-02 1.44877234e+02] [ 4.99628295e-02 9.98751075e-01 -7.31179435e-05 2.83277051e+00] [ 1.51890484e-02 -6.86635902e-04 9.99884404e-01 1.59259533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.715099893 meters 0.02345154226358479 Centerline is valid? [True, True] Translation: X:144.91, Y:2.83, Z:1.59 [[ 9.98629677e-01 -5.01025038e-02 -1.51164697e-02 1.44909133e+02] [ 5.01071444e-02 9.98743845e-01 -7.18363092e-05 2.83350206e+00] [ 1.51010803e-02 -6.85705262e-04 9.99885737e-01 1.59320203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74509989299997 meters 0.02423428786700964 Centerline is valid? [True, True] Translation: X:144.94, Y:2.83, Z:1.59 [[ 9.98611816e-01 -5.02510466e-02 -1.57883761e-02 1.44940733e+02] [ 5.02561449e-02 9.98736359e-01 -7.39232765e-05 2.83259827e+00] [ 1.57721400e-02 -7.19642259e-04 9.99875353e-01 1.59325329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77509989299998 meters 0.023104472938824446 Centerline is valid? [True, True] Translation: X:144.97, Y:2.83, Z:1.59 [[ 9.98611571e-01 -5.00230246e-02 -1.65114143e-02 1.44972681e+02] [ 5.00285859e-02 9.98747783e-01 -7.63223505e-05 2.83409987e+00] [ 1.64945563e-02 -7.49826325e-04 9.99863674e-01 1.59313999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80509989299998 meters 0.024517017548016544 Centerline is valid? [True, True] Translation: X:145.00, Y:2.83, Z:1.59 [[ 9.98569769e-01 -5.02905342e-02 -1.81460509e-02 1.45003742e+02] [ 5.02973248e-02 9.98734285e-01 -8.22620285e-05 2.83118652e+00] [ 1.81272202e-02 -8.30553440e-04 9.99835343e-01 1.59156110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83509989299998 meters 0.02326964439478984 Centerline is valid? [True, True] Translation: X:145.04, Y:2.83, Z:1.59 [[ 9.98569512e-01 -5.01555309e-02 -1.85297896e-02 1.45035457e+02] [ 5.01626227e-02 9.98741060e-01 -8.21623357e-05 2.83251238e+00] [ 1.85105826e-02 -8.47458043e-04 9.99828305e-01 1.59152845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86509989299998 meters 0.02432107683144328 Centerline is valid? [True, True] Translation: X:145.07, Y:2.83, Z:1.59 [[ 9.98578001e-01 -4.96524891e-02 -1.94063293e-02 1.45066954e+02] [ 4.96601985e-02 9.98766168e-01 -8.47404720e-05 2.83018289e+00] [ 1.93865927e-02 -8.79102193e-04 9.99811676e-01 1.59117061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89509989299998 meters 0.02426802923183085 Centerline is valid? [True, True] Translation: X:145.10, Y:2.83, Z:1.59 [[ 9.98606811e-01 -4.88358412e-02 -1.99874235e-02 1.45099374e+02] [ 4.88438804e-02 9.98806422e-01 -8.60604484e-05 2.83032038e+00] [ 1.99677697e-02 -8.90322772e-04 9.99800228e-01 1.59150098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92509989299998 meters 0.022206710249817924 Centerline is valid? [True, True] Translation: X:145.13, Y:2.83, Z:1.59 [[ 9.98722830e-01 -4.58151882e-02 -2.12997011e-02 1.45131290e+02] [ 4.58236622e-02 9.98949540e-01 -9.03096320e-05 2.83407146e+00] [ 2.12814642e-02 -8.85836019e-04 9.99773132e-01 1.59148604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95509989299998 meters 0.021707756496327047 Centerline is valid? [True, True] Translation: X:145.16, Y:2.84, Z:1.59 [[ 9.98816013e-01 -4.36340611e-02 -2.15091103e-02 1.45163023e+02] [ 4.36422225e-02 9.99047220e-01 -9.00451400e-05 2.83522262e+00] [ 2.14925459e-02 -8.48766852e-04 9.99768648e-01 1.59149844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98509989299998 meters 0.020274049282397948 Centerline is valid? [True, True] Translation: X:145.19, Y:2.84, Z:1.59 [[ 9.98911862e-01 -4.15956788e-02 -2.10924321e-02 1.45194930e+02] [ 4.16030966e-02 9.99134213e-01 -8.71874995e-05 2.83781820e+00] [ 2.10777972e-02 -7.90417864e-04 9.99777526e-01 1.59242099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01509989299998 meters 0.01892567683614117 Centerline is valid? [True, True] Translation: X:145.23, Y:2.84, Z:1.59 [[ 9.99140107e-01 -3.62415569e-02 -2.01394160e-02 1.45226127e+02] [ 3.62472487e-02 9.99342849e-01 -8.24622152e-05 2.84143572e+00] [ 2.01291699e-02 -6.47607114e-04 9.99797178e-01 1.59382843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04509989299999 meters 0.017472806224480292 Centerline is valid? [True, True] Translation: X:145.26, Y:2.85, Z:1.60 [[ 9.99386678e-01 -2.97227621e-02 -1.85155455e-02 1.45255715e+02] [ 2.97264589e-02 9.99558068e-01 -7.55946480e-05 2.84531469e+00] [ 1.85096097e-02 -4.74853317e-04 9.99828570e-01 1.59569897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.075099893 meters 0.016510695088691987 Centerline is valid? [True, True] Translation: X:145.29, Y:2.85, Z:1.60 [[ 9.99488828e-01 -2.67440947e-02 -1.75167642e-02 1.45285991e+02] [ 2.67469461e-02 9.99642234e-01 -7.15168575e-05 2.84797155e+00] [ 1.75124100e-02 -3.97039649e-04 9.99846567e-01 1.59720986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.105099893 meters 0.015047314682757083 Centerline is valid? [True, True] Translation: X:145.32, Y:2.85, Z:1.60 [[ 9.99614285e-01 -2.24979641e-02 -1.62826040e-02 1.45316269e+02] [ 2.24998647e-02 9.99746844e-01 -6.64780693e-05 2.85150423e+00] [ 1.62799775e-02 -2.99903958e-04 9.99867427e-01 1.59915074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.135099893 meters 0.015477321760988231 Centerline is valid? [True, True] Translation: X:145.35, Y:2.85, Z:1.60 [[ 9.99653454e-01 -2.08908602e-02 -1.60169783e-02 1.45345452e+02] [ 2.08924936e-02 9.99781726e-01 -6.53596666e-05 2.85019360e+00] [ 1.60148476e-02 -2.69297601e-04 9.99871718e-01 1.59930916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.165099893 meters 0.014889621900535612 Centerline is valid? [True, True] Translation: X:145.37, Y:2.85, Z:1.60 [[ 9.99671717e-01 -1.98768665e-02 -1.61668754e-02 1.45374945e+02] [ 1.98783978e-02 9.99802403e-01 -6.59888744e-05 2.85056795e+00] [ 1.61649925e-02 -2.55404370e-04 9.99869305e-01 1.59947829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.195099893 meters 0.014903787785612027 Centerline is valid? [True, True] Translation: X:145.40, Y:2.85, Z:1.60 [[ 9.99662812e-01 -2.03672050e-02 -1.61070956e-02 1.45404475e+02] [ 2.03687795e-02 9.99792533e-01 -6.63097011e-05 2.84981020e+00] [ 1.61051045e-02 -2.61794538e-04 9.99870270e-01 1.59950456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.225099893 meters 0.015050408369276463 Centerline is valid? [True, True] Translation: X:145.43, Y:2.85, Z:1.60 [[ 9.99588469e-01 -2.24356423e-02 -1.78755450e-02 1.45434529e+02] [ 2.24379000e-02 9.99748236e-01 -7.42728392e-05 2.84714109e+00] [ 1.78727110e-02 -3.26847419e-04 9.99840217e-01 1.59818168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.255099893 meters 0.015333424298853607 Centerline is valid? [True, True] Translation: X:145.46, Y:2.85, Z:1.60 [[ 9.99541176e-01 -2.37076507e-02 -1.88516434e-02 1.45464531e+02] [ 2.37103747e-02 9.99718866e-01 -7.90304063e-05 2.84546638e+00] [ 1.88482172e-02 -3.67985383e-04 9.99822289e-01 1.59766908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.285099893 meters 0.015808217945667318 Centerline is valid? [True, True] Translation: X:145.49, Y:2.84, Z:1.60 [[ 9.99480383e-01 -2.49537117e-02 -2.04028523e-02 1.45493139e+02] [ 2.49571410e-02 9.99688518e-01 -8.65662457e-05 2.84329151e+00] [ 2.03986573e-02 -4.22675597e-04 9.99791836e-01 1.59684698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.315099893 meters 0.016853610784422508 Centerline is valid? [True, True] Translation: X:145.52, Y:2.84, Z:1.60 [[ 9.99364711e-01 -2.79221876e-02 -2.21478367e-02 1.45521379e+02] [ 2.79269218e-02 9.99609963e-01 -9.55763252e-05 2.84012254e+00] [ 2.21418669e-02 -5.23005296e-04 9.99754702e-01 1.59605151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.345099893 meters 0.01754071205658312 Centerline is valid? [True, True] Translation: X:145.55, Y:2.84, Z:1.60 [[ 9.99270092e-01 -3.01317549e-02 -2.34810730e-02 1.45550337e+02] [ 3.01376012e-02 9.99545754e-01 -1.04941103e-04 2.83782051e+00] [ 2.34735688e-02 -6.02798707e-04 9.99724276e-01 1.59602558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.375099893 meters 0.01745631712460883 Centerline is valid? [True, True] Translation: X:145.58, Y:2.84, Z:1.60 [[ 9.99255696e-01 -3.04993499e-02 -2.36187201e-02 1.45578955e+02] [ 3.05052317e-02 9.99534601e-01 -1.11308595e-04 2.83739270e+00] [ 2.36111228e-02 -6.09268783e-04 9.99721033e-01 1.59641987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.405099893 meters 0.016660194434824548 Centerline is valid? [True, True] Translation: X:145.61, Y:2.84, Z:1.60 [[ 9.99271628e-01 -3.05968036e-02 -2.28045903e-02 1.45607941e+02] [ 3.06021860e-02 9.99531637e-01 -1.13002209e-04 2.83892174e+00] [ 2.27973670e-02 -5.84950412e-04 9.99739935e-01 1.59774599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.435099893 meters 0.01655726705319635 Centerline is valid? [True, True] Translation: X:145.64, Y:2.84, Z:1.60 [[ 9.99308416e-01 -2.97304241e-02 -2.23336272e-02 1.45637171e+02] [ 2.97352505e-02 9.99557803e-01 -1.16027295e-04 2.83938038e+00] [ 2.23272009e-02 -5.48148947e-04 9.99750567e-01 1.59830469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.465099893 meters 0.01591650207954253 Centerline is valid? [True, True] Translation: X:145.67, Y:2.84, Z:1.60 [[ 9.99364257e-01 -2.81534759e-02 -2.18738266e-02 1.45666793e+02] [ 2.81576590e-02 9.99603488e-01 -1.16792043e-04 2.84079387e+00] [ 2.18684414e-02 -4.99197957e-04 9.99760732e-01 1.59948964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49509989299997 meters 0.015374353825609394 Centerline is valid? [True, True] Translation: X:145.70, Y:2.84, Z:1.60 [[ 9.99519716e-01 -2.38594109e-02 -1.97754053e-02 1.45695278e+02] [ 2.38619738e-02 9.99715257e-01 -1.06386925e-04 2.84268153e+00] [ 1.97723127e-02 -3.65544374e-04 9.99804442e-01 1.60126408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52509989299998 meters 0.01432059273592387 Centerline is valid? [True, True] Translation: X:145.72, Y:2.85, Z:1.60 [[ 9.99653081e-01 -1.91081327e-02 -1.81272240e-02 1.45724552e+02] [ 1.91094804e-02 9.99817392e-01 -9.88823777e-05 2.84587887e+00] [ 1.81258032e-02 -2.47553757e-04 9.99835683e-01 1.60378340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55509989299998 meters 0.014029710242521991 Centerline is valid? [True, True] Translation: X:145.75, Y:2.85, Z:1.60 [[ 9.99703871e-01 -1.65685952e-02 -1.78227904e-02 1.45751899e+02] [ 1.65694575e-02 9.99862712e-01 -9.92963351e-05 2.84659923e+00] [ 1.78219887e-02 -1.96047037e-04 9.99841157e-01 1.60411014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58509989299998 meters 0.013604880572760653 Centerline is valid? [True, True] Translation: X:145.78, Y:2.85, Z:1.60 [[ 9.99737694e-01 -1.45316912e-02 -1.77023269e-02 1.45780197e+02] [ 1.45321796e-02 9.99894397e-01 -1.01055943e-04 2.84758232e+00] [ 1.77019260e-02 -1.56223958e-04 9.99843296e-01 1.60484928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61509989299998 meters 0.013336163733651258 Centerline is valid? [True, True] Translation: X:145.81, Y:2.85, Z:1.60 [[ 9.99780077e-01 -1.09130870e-02 -1.79081720e-02 1.45808525e+02] [ 1.09129245e-02 9.99940447e-01 -1.06796925e-04 2.84779277e+00] [ 1.79082710e-02 -8.86570913e-05 9.99839630e-01 1.60496298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64509989299998 meters 0.01321063291878738 Centerline is valid? [True, True] Translation: X:145.84, Y:2.85, Z:1.60 [[ 9.99779968e-01 -8.24039451e-03 -1.92901796e-02 1.45835534e+02] [ 8.23962675e-03 9.99966047e-01 -1.19280593e-04 2.84724103e+00] [ 1.92905076e-02 -3.96895326e-05 9.99813920e-01 1.60438656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67509989299998 meters 0.013122048092697276 Centerline is valid? [True, True] Translation: X:145.86, Y:2.85, Z:1.60 [[ 9.99771765e-01 -7.71603776e-03 -1.99218419e-02 1.45863225e+02] [ 7.71503862e-03 9.99970231e-01 -1.27009802e-04 2.84689209e+00] [ 1.99222289e-02 -2.67169661e-05 9.99801532e-01 1.60496475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70509989299998 meters 0.013265854078957105 Centerline is valid? [True, True] Translation: X:145.89, Y:2.84, Z:1.60 [[ 9.99741839e-01 -6.79609002e-03 -2.16810459e-02 1.45890693e+02] [ 6.79458610e-03 9.99976906e-01 -1.43031537e-04 2.84463874e+00] [ 2.16815172e-02 -4.31912157e-06 9.99764928e-01 1.60318582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73509989299998 meters 0.013180235125466884 Centerline is valid? [True, True] Translation: X:145.92, Y:2.84, Z:1.60 [[ 9.99721054e-01 -6.89435399e-03 -2.25894222e-02 1.45919076e+02] [ 6.89266267e-03 9.99976234e-01 -1.52732852e-04 2.84312577e+00] [ 2.25899384e-02 -3.01101924e-06 9.99744815e-01 1.60301867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76509989299998 meters 0.013125794264954449 Centerline is valid? [True, True] Translation: X:145.95, Y:2.84, Z:1.60 [[ 9.99680376e-01 -8.65561884e-03 -2.37534586e-02 1.45947686e+02] [ 8.65410220e-03 9.99962539e-01 -1.66647363e-04 2.83756625e+00] [ 2.37540112e-02 -3.89707603e-05 9.99717833e-01 1.60231813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79509989299999 meters 0.013125794264954449 Centerline is valid? [True, True] Translation: X:145.98, Y:2.84, Z:1.60 [[ 9.99677889e-01 -8.93834141e-03 -2.37534133e-02 1.45975075e+02] [ 8.93675534e-03 9.99960051e-01 -1.72927949e-04 2.83782614e+00] [ 2.37540101e-02 -3.94061957e-05 9.99717833e-01 1.60265788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.825099893 meters 0.013159213106731675 Centerline is valid? [True, True] Translation: X:146.00, Y:2.84, Z:1.60 [[ 9.99676373e-01 -9.96185991e-03 -2.34074825e-02 1.46002867e+02] [ 9.96044545e-03 9.99950378e-01 -1.77019900e-04 2.83614664e+00] [ 2.34080844e-02 -5.61863406e-05 9.99725992e-01 1.60378280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.855099893 meters 0.013202449610134582 Centerline is valid? [True, True] Translation: X:146.03, Y:2.83, Z:1.61 [[ 9.99701460e-01 -1.20778738e-02 -2.12394900e-02 1.46030659e+02] [ 1.20771016e-02 9.99927056e-01 -1.64628000e-04 2.83235499e+00] [ 2.12399290e-02 -9.19326277e-05 9.99774403e-01 1.60553445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.885099893 meters 0.013160606237788435 Centerline is valid? [True, True] Translation: X:146.06, Y:2.83, Z:1.61 [[ 9.99704998e-01 -1.35454412e-02 -2.01602876e-02 1.46058268e+02] [ 1.35449777e-02 9.99908250e-01 -1.59547181e-04 2.83074972e+00] [ 2.01605990e-02 -1.13570532e-04 9.99796748e-01 1.60715158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.915099893 meters 0.01324698614635848 Centerline is valid? [True, True] Translation: X:146.09, Y:2.83, Z:1.61 [[ 9.99707409e-01 -1.51559167e-02 -1.88518909e-02 1.46085558e+02] [ 1.51557197e-02 9.99885134e-01 -1.53327155e-04 2.82861847e+00] [ 1.88520493e-02 -1.32431682e-04 9.99822276e-01 1.60838714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.945099893 meters 0.013555073004531923 Centerline is valid? [True, True] Translation: X:146.11, Y:2.82, Z:1.61 [[ 9.99673579e-01 -1.94812217e-02 -1.65292661e-02 1.46114232e+02] [ 1.94816341e-02 9.99810206e-01 -1.36084083e-04 2.82304099e+00] [ 1.65287800e-02 -1.85977451e-04 9.99863373e-01 1.61062643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.975099893 meters 0.013833375981165706 Centerline is valid? [True, True] Translation: X:146.14, Y:2.82, Z:1.61 [[ 9.99622987e-01 -2.23003152e-02 -1.60180922e-02 1.46142820e+02] [ 2.23010359e-02 9.99751292e-01 -1.33652999e-04 2.81987630e+00] [ 1.60170889e-02 -2.23617439e-04 9.99871693e-01 1.61122000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.005099893 meters 0.01424030642110866 Centerline is valid? [True, True] Translation: X:146.17, Y:2.82, Z:1.61 [[ 9.99533274e-01 -2.58214662e-02 -1.63243811e-02 1.46172490e+02] [ 2.58226297e-02 9.99666531e-01 -1.39541536e-04 2.81604712e+00] [ 1.63225406e-02 -2.82062039e-04 9.99866739e-01 1.61158225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.035099893 meters 0.016384350004416272 Centerline is valid? [True, True] Translation: X:146.20, Y:2.81, Z:1.61 [[ 9.99308050e-01 -3.33420975e-02 -1.64840994e-02 1.46202138e+02] [ 3.33442977e-02 9.99443914e-01 -1.41431394e-04 2.80654790e+00] [ 1.64796485e-02 -4.08317187e-04 9.99864118e-01 1.61134913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.065099893 meters 0.018619743061192375 Centerline is valid? [True, True] Translation: X:146.23, Y:2.80, Z:1.61 [[ 9.99142666e-01 -3.79878052e-02 -1.64578159e-02 1.46232257e+02] [ 3.79906243e-02 9.99278086e-01 -1.41426953e-04 2.80035555e+00] [ 1.64513072e-02 -4.83936997e-04 9.99864551e-01 1.61140987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.095099893 meters 0.018278439305972876 Centerline is valid? [True, True] Translation: X:146.26, Y:2.80, Z:1.61 [[ 9.98956226e-01 -4.24347458e-02 -1.69041525e-02 1.46263432e+02] [ 4.24383586e-02 9.99099077e-01 -1.45098412e-04 2.79849356e+00] [ 1.68950803e-02 -5.72437523e-04 9.99857104e-01 1.61175957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.125099893 meters 0.01907795753112762 Centerline is valid? [True, True] Translation: X:146.29, Y:2.79, Z:1.61 [[ 9.98741031e-01 -4.67550624e-02 -1.81746370e-02 1.46294284e+02] [ 4.67599665e-02 9.98906142e-01 -1.55268481e-04 2.79466264e+00] [ 1.81620161e-02 -6.94772413e-04 9.99834816e-01 1.61141140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.155099893 meters 0.022211522027728747 Centerline is valid? [True, True] Translation: X:146.32, Y:2.78, Z:1.61 [[ 9.98292048e-01 -5.49427755e-02 -1.98564253e-02 1.46324860e+02] [ 5.49502632e-02 9.98489079e-01 -1.68733544e-04 2.78469144e+00] [ 1.98356944e-02 -9.22670439e-04 9.99802828e-01 1.60947638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.185099893 meters 0.023661968846008907 Centerline is valid? [True, True] Translation: X:146.36, Y:2.78, Z:1.61 [[ 9.98084179e-01 -5.84551627e-02 -2.02722753e-02 1.46356423e+02] [ 5.84637065e-02 9.98289520e-01 -1.71458602e-04 2.78054692e+00] [ 2.02476226e-02 -1.01406223e-03 9.99794482e-01 1.60941042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.215099893 meters 0.025321549612414822 Centerline is valid? [True, True] Translation: X:146.39, Y:2.77, Z:1.61 [[ 9.97722213e-01 -6.38402194e-02 -2.17901665e-02 1.46387241e+02] [ 6.38513824e-02 9.97959402e-01 -1.83778155e-04 2.77466838e+00] [ 2.17574340e-02 -1.20797271e-03 9.99762549e-01 1.60893718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24509989299997 meters 0.027316478317244965 Centerline is valid? [True, True] Translation: X:146.42, Y:2.77, Z:1.61 [[ 9.97596915e-01 -6.55151997e-02 -2.25422724e-02 1.46418403e+02] [ 6.55275868e-02 9.97850740e-01 -1.89517350e-04 2.77098789e+00] [ 2.25062395e-02 -1.28807879e-03 9.99745873e-01 1.60837669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27509989299998 meters 0.02668373178855073 Centerline is valid? [True, True] Translation: X:146.45, Y:2.77, Z:1.61 [[ 9.97521726e-01 -6.66689351e-02 -2.24868564e-02 1.46450889e+02] [ 6.66815849e-02 9.97774289e-01 -1.87646685e-04 2.77088346e+00] [ 2.24493173e-02 -1.31227758e-03 9.99747121e-01 1.60919937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30509989299998 meters 0.02552479182863864 Centerline is valid? [True, True] Translation: X:146.48, Y:2.77, Z:1.61 [[ 9.97529001e-01 -6.67733047e-02 -2.18453391e-02 1.46482716e+02] [ 6.67853021e-02 9.97767353e-01 -1.80720508e-04 2.77263738e+00] [ 2.18086335e-02 -1.27867362e-03 9.99761346e-01 1.61043224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33509989299998 meters 0.025791135787514928 Centerline is valid? [True, True] Translation: X:146.51, Y:2.77, Z:1.61 [[ 9.97591105e-01 -6.61478696e-02 -2.08912824e-02 1.46514848e+02] [ 6.61587361e-02 9.97809096e-01 -1.71328558e-04 2.77255978e+00] [ 2.08568446e-02 -1.21122500e-03 9.99781739e-01 1.61186152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36509989299998 meters 0.02898177461132285 Centerline is valid? [True, True] Translation: X:146.55, Y:2.77, Z:1.61 [[ 9.97648620e-01 -6.52780733e-02 -2.08807135e-02 1.46546434e+02] [ 6.52887676e-02 9.97866398e-01 -1.69868551e-04 2.76848619e+00] [ 2.08472511e-02 -1.19380692e-03 9.99781960e-01 1.61172105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39509989299998 meters 0.02595992957144997 Centerline is valid? [True, True] Translation: X:146.58, Y:2.77, Z:1.61 [[ 9.97752781e-01 -6.38387488e-02 -2.03470360e-02 1.46578072e+02] [ 6.38486288e-02 9.97959581e-01 -1.64351757e-04 2.77404791e+00] [ 2.03160116e-02 -1.13514793e-03 9.99792964e-01 1.61293075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42509989299998 meters 0.02409679733283447 Centerline is valid? [True, True] Translation: X:146.61, Y:2.78, Z:1.61 [[ 9.97797685e-01 -6.31472517e-02 -2.03028305e-02 1.46610055e+02] [ 6.31569742e-02 9.98003592e-01 -1.62607972e-04 2.77831474e+00] [ 2.02725661e-02 -1.12001549e-03 9.99793863e-01 1.61393524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45509989299998 meters 0.025717348182627286 Centerline is valid? [True, True] Translation: X:146.64, Y:2.78, Z:1.61 [[ 9.97785819e-01 -6.31299383e-02 -2.09301067e-02 1.46641485e+02] [ 6.31402969e-02 9.98004647e-01 -1.66213617e-04 2.77730826e+00] [ 2.08988368e-02 -1.15568756e-03 9.99780928e-01 1.61381073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48509989299998 meters 0.026734030294854858 Centerline is valid? [True, True] Translation: X:146.67, Y:2.78, Z:1.61 [[ 9.97753658e-01 -6.34595125e-02 -2.14599419e-02 1.46672754e+02] [ 6.34705039e-02 9.97983701e-01 -1.69230043e-04 2.77671308e+00] [ 2.14274115e-02 -1.19322343e-03 9.99769695e-01 1.61343185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51509989299998 meters 0.026917249317681892 Centerline is valid? [True, True] Translation: X:146.70, Y:2.78, Z:1.61 [[ 9.97717720e-01 -6.37881740e-02 -2.21454236e-02 1.46704826e+02] [ 6.37999905e-02 9.97962690e-01 -1.73247483e-04 2.77712773e+00] [ 2.21113576e-02 -1.24002573e-03 9.99754745e-01 1.61330433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54509989299999 meters 0.026364854998877772 Centerline is valid? [True, True] Translation: X:146.74, Y:2.78, Z:1.61 [[ 9.97682583e-01 -6.42631394e-02 -2.23542548e-02 1.46737273e+02] [ 6.42753349e-02 9.97932188e-01 -1.73266407e-04 2.77874831e+00] [ 2.23191650e-02 -1.26396234e-03 9.99750097e-01 1.61341093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.575099893 meters 0.027487518696392307 Centerline is valid? [True, True] Translation: X:146.77, Y:2.78, Z:1.61 [[ 9.97682735e-01 -6.42090095e-02 -2.25025227e-02 1.46768574e+02] [ 6.42213861e-02 9.97935661e-01 -1.72970381e-04 2.77896335e+00] [ 2.24671761e-02 -1.27257363e-03 9.99746771e-01 1.61317731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.605099893 meters 0.025843220887833165 Centerline is valid? [True, True] Translation: X:146.80, Y:2.78, Z:1.61 [[ 9.97706402e-01 -6.38593413e-02 -2.24481614e-02 1.46800975e+02] [ 6.38716012e-02 9.97958110e-01 -1.71155150e-04 2.78268784e+00] [ 2.24132546e-02 -1.26303743e-03 9.99747994e-01 1.61429258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.635099893 meters 0.025142402051770117 Centerline is valid? [True, True] Translation: X:146.83, Y:2.79, Z:1.62 [[ 9.97811139e-01 -6.24648339e-02 -2.17042787e-02 1.46832199e+02] [ 6.24759918e-02 9.98046454e-01 -1.64272189e-04 2.78635243e+00] [ 2.16721397e-02 -1.19208372e-03 9.99764421e-01 1.61538931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.665099893 meters 0.025298857589229416 Centerline is valid? [True, True] Translation: X:146.86, Y:2.79, Z:1.62 [[ 9.97891702e-01 -6.13346826e-02 -2.12181196e-02 1.46864170e+02] [ 6.13451143e-02 9.98116602e-01 -1.59509980e-04 2.78755440e+00] [ 2.11879409e-02 -1.14245429e-03 9.99774858e-01 1.61602356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.695099893 meters 0.023843719239604162 Centerline is valid? [True, True] Translation: X:146.90, Y:2.79, Z:1.62 [[ 9.98083813e-01 -5.83310912e-02 -2.06442508e-02 1.46895580e+02] [ 5.83403495e-02 9.98296739e-01 -1.54025190e-04 2.79288622e+00] [ 2.06180727e-02 -1.05066276e-03 9.99786873e-01 1.61714279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.725099893 meters 0.02631186421594812 Centerline is valid? [True, True] Translation: X:146.93, Y:2.79, Z:1.62 [[ 9.98219256e-01 -5.59913753e-02 -2.05738356e-02 1.46925816e+02] [ 5.60000870e-02 9.98430752e-01 -1.52903080e-04 2.79120603e+00] [ 2.05501114e-02 -9.99505782e-04 9.99788325e-01 1.61672760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.755099893 meters 0.021395486017407987 Centerline is valid? [True, True] Translation: X:146.96, Y:2.80, Z:1.62 [[ 9.98544376e-01 -5.00382001e-02 -2.01322334e-02 1.46956501e+02] [ 5.00453389e-02 9.98746936e-01 -1.49376055e-04 2.80286860e+00] [ 2.01144810e-02 -8.58365825e-04 9.99797315e-01 1.61850389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.785099893 meters 0.019697802846374877 Centerline is valid? [True, True] Translation: X:146.99, Y:2.81, Z:1.62 [[ 9.98724340e-01 -4.65606949e-02 -1.95395405e-02 1.46987646e+02] [ 4.65667608e-02 9.98915170e-01 -1.44677685e-04 2.80817528e+00] [ 1.95250797e-02 -7.65399983e-04 9.99809074e-01 1.61956676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.815099893 meters 0.019484999820718062 Centerline is valid? [True, True] Translation: X:147.02, Y:2.81, Z:1.62 [[ 9.98891032e-01 -4.29150314e-02 -1.93650670e-02 1.47018465e+02] [ 4.29203188e-02 9.99078488e-01 -1.42683410e-04 2.81072967e+00] [ 1.93533451e-02 -6.88629669e-04 9.99812469e-01 1.62030353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.845099893 meters 0.01767214151688772 Centerline is valid? [True, True] Translation: X:147.05, Y:2.82, Z:1.62 [[ 9.99190531e-01 -3.56818714e-02 -1.85765215e-02 1.47048513e+02] [ 3.56854959e-02 9.99363061e-01 -1.36446128e-04 2.81720863e+00] [ 1.85695580e-02 -5.26576702e-04 9.99827432e-01 1.62137516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.875099893 meters 0.01669278418967125 Centerline is valid? [True, True] Translation: X:147.08, Y:2.82, Z:1.62 [[ 9.99300577e-01 -3.24785101e-02 -1.85338363e-02 1.47080022e+02] [ 3.24815712e-02 9.99472325e-01 -1.35920782e-04 2.82069028e+00] [ 1.85284710e-02 -4.66182409e-04 9.99828224e-01 1.62196484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.905099893 meters 0.014947360474083836 Centerline is valid? [True, True] Translation: X:147.11, Y:2.83, Z:1.62 [[ 9.99464246e-01 -2.65187440e-02 -1.91827268e-02 1.47110387e+02] [ 2.65209347e-02 9.99648248e-01 -1.40226866e-04 2.82706469e+00] [ 1.91796978e-02 -3.68592105e-04 9.99815985e-01 1.62192877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.935099893 meters 0.014461755157223203 Centerline is valid? [True, True] Translation: X:147.14, Y:2.83, Z:1.62 [[ 9.99534355e-01 -2.39976762e-02 -1.88463519e-02 1.47139911e+02] [ 2.39993384e-02 9.99711965e-01 -1.37998333e-04 2.82937299e+00] [ 1.88442351e-02 -3.14365902e-04 9.99822382e-01 1.62203789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.965099893 meters 0.014145901251861845 Centerline is valid? [True, True] Translation: X:147.17, Y:2.83, Z:1.62 [[ 9.99572019e-01 -2.24920833e-02 -1.87052393e-02 1.47168288e+02] [ 2.24934196e-02 9.99746981e-01 -1.38974906e-04 2.83128986e+00] [ 1.87036323e-02 -2.81829368e-04 9.99825032e-01 1.62253211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99509989299997 meters 0.01368943686961168 Centerline is valid? [True, True] Translation: X:147.20, Y:2.83, Z:1.62 [[ 9.99645153e-01 -1.93685362e-02 -1.82873878e-02 1.47196564e+02] [ 1.93692093e-02 9.99812389e-01 -1.40327770e-04 2.83329291e+00] [ 1.82866748e-02 -2.13934266e-04 9.99832762e-01 1.62231631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02509989299998 meters 0.013332535155864265 Centerline is valid? [True, True] Translation: X:147.23, Y:2.83, Z:1.62 [[ 9.99694534e-01 -1.73647959e-02 -1.75869969e-02 1.47225027e+02] [ 1.73650341e-02 9.99849207e-01 -1.39177884e-04 2.83430958e+00] [ 1.75867617e-02 -1.66263431e-04 9.99845327e-01 1.62225246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05509989299998 meters 0.013430954690195526 Centerline is valid? [True, True] Translation: X:147.25, Y:2.83, Z:1.62 [[ 9.99700111e-01 -1.68848157e-02 -1.77366880e-02 1.47251682e+02] [ 1.68849156e-02 9.99857429e-01 -1.44127740e-04 2.83416174e+00] [ 1.77365928e-02 -1.55397963e-04 9.99842682e-01 1.62210942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08509989299998 meters 0.013277233336612421 Centerline is valid? [True, True] Translation: X:147.28, Y:2.83, Z:1.62 [[ 9.99680428e-01 -1.76454849e-02 -1.81019100e-02 1.47279585e+02] [ 1.76456559e-02 9.99844292e-01 -1.50288323e-04 2.83482319e+00] [ 1.81017433e-02 -1.69179779e-04 9.99836136e-01 1.62215565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11509989299998 meters 0.013781409757550636 Centerline is valid? [True, True] Translation: X:147.31, Y:2.83, Z:1.62 [[ 9.99635250e-01 -2.08007177e-02 -1.72248776e-02 1.47307575e+02] [ 2.08012756e-02 9.99783619e-01 -1.46793720e-04 2.83308353e+00] [ 1.72242039e-02 -2.11559248e-04 9.99851630e-01 1.62299682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14509989299998 meters 0.014185875036591904 Centerline is valid? [True, True] Translation: X:147.34, Y:2.83, Z:1.62 [[ 9.99570470e-01 -2.37807111e-02 -1.71275497e-02 1.47336443e+02] [ 2.37816613e-02 9.99717165e-01 -1.48225520e-04 2.83149518e+00] [ 1.71262303e-02 -2.59159733e-04 9.99853302e-01 1.62351747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17509989299998 meters 0.014615372530083551 Centerline is valid? [True, True] Translation: X:147.37, Y:2.83, Z:1.62 [[ 9.99497129e-01 -2.69337946e-02 -1.67349841e-02 1.47365539e+02] [ 2.69350896e-02 9.99637174e-01 -1.48047411e-04 2.82971806e+00] [ 1.67328997e-02 -3.02785334e-04 9.99859949e-01 1.62382312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20509989299998 meters 0.01594798145803156 Centerline is valid? [True, True] Translation: X:147.40, Y:2.83, Z:1.62 [[ 9.99389298e-01 -3.07209378e-02 -1.66509604e-02 1.47395076e+02] [ 3.07227329e-02 9.99527934e-01 -1.48042310e-04 2.82593067e+00] [ 1.66476480e-02 -3.63611107e-04 9.99861352e-01 1.62389391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23509989299998 meters 0.017820588992627544 Centerline is valid? [True, True] Translation: X:147.43, Y:2.82, Z:1.62 [[ 9.99107066e-01 -3.87133354e-02 -1.69218047e-02 1.47425805e+02] [ 3.87163321e-02 9.99250230e-01 -1.50593785e-04 2.82057942e+00] [ 1.69149472e-02 -5.04690895e-04 9.99856805e-01 1.62399889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26509989299998 meters 0.018930262365484025 Centerline is valid? [True, True] Translation: X:147.46, Y:2.82, Z:1.62 [[ 9.98938828e-01 -4.28601350e-02 -1.68590162e-02 1.47457211e+02] [ 4.28637057e-02 9.99080918e-01 -1.49657766e-04 2.81825029e+00] [ 1.68499357e-02 -5.73140954e-04 9.99857865e-01 1.62387916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29509989299999 meters 0.02182323704792273 Centerline is valid? [True, True] Translation: X:147.49, Y:2.81, Z:1.62 [[ 9.98759525e-01 -4.66882037e-02 -1.73096383e-02 1.47487776e+02] [ 4.66925513e-02 9.98909296e-01 -1.53118995e-04 2.81298835e+00] [ 1.72979074e-02 -6.55302118e-04 9.99850165e-01 1.62350825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.325099893 meters 0.022618999085601117 Centerline is valid? [True, True] Translation: X:147.52, Y:2.81, Z:1.62 [[ 9.98380144e-01 -5.42754577e-02 -1.70663968e-02 1.47518582e+02] [ 5.42807939e-02 9.98525700e-01 -1.50738431e-04 2.81020473e+00] [ 1.70494172e-02 -7.75883312e-04 9.99854347e-01 1.62423937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.355099893 meters 0.023483302514333247 Centerline is valid? [True, True] Translation: X:147.55, Y:2.81, Z:1.62 [[ 9.98225364e-01 -5.72211213e-02 -1.64883752e-02 1.47549246e+02] [ 5.72265068e-02 9.98361210e-01 -1.45392090e-04 2.80822111e+00] [ 1.64696737e-02 -7.98438046e-04 9.99864047e-01 1.62465035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.385099893 meters 0.023483302514333247 Centerline is valid? [True, True] Translation: X:147.58, Y:2.81, Z:1.63 [[ 9.98229494e-01 -5.71490188e-02 -1.64883833e-02 1.47580972e+02] [ 5.71544097e-02 9.98365340e-01 -1.44474721e-04 2.80844142e+00] [ 1.64696870e-02 -7.98164885e-04 9.99864047e-01 1.62504254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.415099893 meters 0.024927669606583585 Centerline is valid? [True, True] Translation: X:147.61, Y:2.80, Z:1.63 [[ 9.97953610e-01 -6.19883628e-02 -1.56855215e-02 1.47611217e+02] [ 6.19938510e-02 9.98076522e-01 -1.36573960e-04 2.80446803e+00] [ 1.56638167e-02 -8.36111403e-04 9.99876965e-01 1.62542660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.445099893 meters 0.02413184028695848 Centerline is valid? [True, True] Translation: X:147.64, Y:2.81, Z:1.63 [[ 9.97865034e-01 -6.35974065e-02 -1.48574530e-02 1.47643138e+02] [ 6.36025117e-02 9.97975302e-01 -1.29121837e-04 2.80501347e+00] [ 1.48355829e-02 -8.16125161e-04 9.99889614e-01 1.62642919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.475099893 meters 0.02704188928037841 Centerline is valid? [True, True] Translation: X:147.67, Y:2.80, Z:1.63 [[ 9.97808206e-01 -6.45713975e-02 -1.44678782e-02 1.47674503e+02] [ 6.45763551e-02 9.97912761e-01 -1.24726606e-04 2.80059092e+00] [ 1.44457340e-02 -8.09829609e-04 9.99895327e-01 1.62698350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.505099893 meters 0.029735513593428485 Centerline is valid? [True, True] Translation: X:147.71, Y:2.80, Z:1.63 [[ 9.97792005e-01 -6.48560639e-02 -1.43110077e-02 1.47706084e+02] [ 6.48609549e-02 9.97894304e-01 -1.22593763e-04 2.79682148e+00] [ 1.42888240e-02 -8.05902549e-04 9.99897585e-01 1.62750125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.535099893 meters 0.029341420744822027 Centerline is valid? [True, True] Translation: X:147.74, Y:2.80, Z:1.63 [[ 9.97799661e-01 -6.47679455e-02 -1.41756472e-02 1.47738923e+02] [ 6.47727475e-02 9.97900033e-01 -1.20590937e-04 2.79734994e+00] [ 1.41536893e-02 -7.97870023e-04 9.99899513e-01 1.62750387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.565099893 meters 0.025871234355980616 Centerline is valid? [True, True] Translation: X:147.77, Y:2.80, Z:1.63 [[ 9.97821491e-01 -6.43362305e-02 -1.45986806e-02 1.47771255e+02] [ 6.43412992e-02 9.97927944e-01 -1.22693119e-04 2.80196533e+00] [ 1.45763249e-02 -8.16872246e-04 9.99893426e-01 1.62766131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.595099893 meters 0.02706111881233329 Centerline is valid? [True, True] Translation: X:147.80, Y:2.80, Z:1.63 [[ 9.97900871e-01 -6.29961503e-02 -1.50112431e-02 1.47802887e+02] [ 6.30013752e-02 9.98013432e-01 -1.25045014e-04 2.80013776e+00] [ 1.49892996e-02 -8.20946427e-04 9.99887317e-01 1.62699793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.625099893 meters 0.027214419355788787 Centerline is valid? [True, True] Translation: X:147.84, Y:2.80, Z:1.63 [[ 9.97942942e-01 -6.21308323e-02 -1.58001147e-02 1.47835313e+02] [ 6.21365313e-02 9.98067650e-01 -1.30435639e-04 2.79992057e+00] [ 1.57776874e-02 -8.51596997e-04 9.99875162e-01 1.62699325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.655099893 meters 0.026215127594524542 Centerline is valid? [True, True] Translation: X:147.87, Y:2.80, Z:1.63 [[ 9.97968302e-01 -6.14611554e-02 -1.67867151e-02 1.47867720e+02] [ 6.14675150e-02 9.98109075e-01 -1.37335565e-04 2.80178039e+00] [ 1.67634135e-02 -8.94781123e-04 9.99859084e-01 1.62701359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.685099893 meters 0.024271272213194254 Centerline is valid? [True, True] Translation: X:147.90, Y:2.81, Z:1.63 [[ 9.98098133e-01 -5.87524025e-02 -1.86620716e-02 1.47898960e+02] [ 5.87598132e-02 9.98272138e-01 -1.51466112e-04 2.80569360e+00] [ 1.86387252e-02 -9.45401800e-04 9.99825837e-01 1.62556113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.715099893 meters 0.024271272213194254 Centerline is valid? [True, True] Translation: X:147.93, Y:2.81, Z:1.63 [[ 9.98102378e-01 -5.86802397e-02 -1.86620789e-02 1.47930690e+02] [ 5.86876546e-02 9.98276383e-01 -1.50561843e-04 2.80589218e+00] [ 1.86387477e-02 -9.44957509e-04 9.99825837e-01 1.62595342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74509989299997 meters 0.025657041006540784 Centerline is valid? [True, True] Translation: X:147.96, Y:2.81, Z:1.63 [[ 9.98190645e-01 -5.69547893e-02 -1.92766141e-02 1.47962310e+02] [ 5.69624072e-02 9.98376312e-01 -1.54100793e-04 2.80500949e+00] [ 1.92540917e-02 -9.44220370e-04 9.99814177e-01 1.62558437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77509989299998 meters 0.023493267292725044 Centerline is valid? [True, True] Translation: X:147.99, Y:2.81, Z:1.63 [[ 9.98306827e-01 -5.47401649e-02 -1.96721712e-02 1.47993587e+02] [ 5.47476926e-02 9.98500208e-01 -1.56096109e-04 2.80944638e+00] [ 1.96512118e-02 -9.21174173e-04 9.99806472e-01 1.62651206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80509989299998 meters 0.021678739915543296 Centerline is valid? [True, True] Translation: X:148.03, Y:2.81, Z:1.63 [[ 9.98434790e-01 -5.24902355e-02 -1.93066016e-02 1.48025381e+02] [ 5.24970829e-02 9.98621066e-01 -1.52327462e-04 2.81397027e+00] [ 1.92879748e-02 -8.61451227e-04 9.99813599e-01 1.62739648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83509989299998 meters 0.02165876038583478 Centerline is valid? [True, True] Translation: X:148.06, Y:2.82, Z:1.63 [[ 9.98590383e-01 -4.94314340e-02 -1.93334144e-02 1.48055860e+02] [ 4.94377577e-02 9.98777195e-01 -1.51013010e-04 2.81575801e+00] [ 1.93172382e-02 -8.05000518e-04 9.99813081e-01 1.62755371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86509989299998 meters 0.020959288266917297 Centerline is valid? [True, True] Translation: X:148.09, Y:2.82, Z:1.63 [[ 9.98732884e-01 -4.66400899e-02 -1.89031331e-02 1.48086855e+02] [ 4.66456651e-02 9.98911488e-01 -1.46111332e-04 2.81877215e+00] [ 1.88893715e-02 -7.35823024e-04 9.99821309e-01 1.62835284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89509989299998 meters 0.018147339351718243 Centerline is valid? [True, True] Translation: X:148.12, Y:2.83, Z:1.63 [[ 9.99027536e-01 -4.01074687e-02 -1.83131953e-02 1.48117924e+02] [ 4.01116147e-02 9.99195195e-01 -1.41018489e-04 2.82725443e+00] [ 1.83041126e-02 -5.93690478e-04 9.99832289e-01 1.63011405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92509989299998 meters 0.01768365092386058 Centerline is valid? [True, True] Translation: X:148.15, Y:2.83, Z:1.63 [[ 9.99155889e-01 -3.67120090e-02 -1.84319793e-02 1.48148143e+02] [ 3.67156377e-02 9.99325744e-01 -1.41601486e-04 2.82992216e+00] [ 1.84247499e-02 -5.35259917e-04 9.99830107e-01 1.63018470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95509989299998 meters 0.016281369104865228 Centerline is valid? [True, True] Translation: X:148.18, Y:2.84, Z:1.63 [[ 9.99351268e-01 -3.08036235e-02 -1.86595780e-02 1.48177523e+02] [ 3.08063152e-02 9.99525363e-01 -1.43237731e-04 2.83610496e+00] [ 1.86551337e-02 -4.31688034e-04 9.99825885e-01 1.63056256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98509989299998 meters 0.015666136755716206 Centerline is valid? [True, True] Translation: X:148.21, Y:2.84, Z:1.63 [[ 9.99431600e-01 -2.83266510e-02 -1.82777774e-02 1.48208066e+02] [ 2.83288158e-02 9.99598649e-01 -1.40519810e-04 2.83930690e+00] [ 1.82744221e-02 -3.77347851e-04 9.99832938e-01 1.63105702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01509989299998 meters 0.014818378465904392 Centerline is valid? [True, True] Translation: X:148.24, Y:2.84, Z:1.63 [[ 9.99498201e-01 -2.61782183e-02 -1.78338665e-02 1.48238880e+02] [ 2.61799373e-02 9.99657237e-01 -1.37107017e-04 2.84322336e+00] [ 1.78313429e-02 -3.29851288e-04 9.99840955e-01 1.63219800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04509989299999 meters 0.014089501295483508 Centerline is valid? [True, True] Translation: X:148.27, Y:2.85, Z:1.63 [[ 9.99600633e-01 -2.28910469e-02 -1.65703064e-02 1.48269011e+02] [ 2.28920794e-02 9.99737934e-01 -1.27392749e-04 2.84781083e+00] [ 1.65688800e-02 -2.51986897e-04 9.99862695e-01 1.63336253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.075099893 meters 0.014074526284616166 Centerline is valid? [True, True] Translation: X:148.30, Y:2.85, Z:1.63 [[ 9.99614367e-01 -2.20484276e-02 -1.68814947e-02 1.48298968e+02] [ 2.20493777e-02 9.99756874e-01 -1.29866257e-04 2.84900618e+00] [ 1.68802537e-02 -2.42410277e-04 9.99857489e-01 1.63376602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.105099893 meters 0.013937247619631568 Centerline is valid? [True, True] Translation: X:148.33, Y:2.85, Z:1.63 [[ 9.99629717e-01 -2.13576834e-02 -1.68605649e-02 1.48328263e+02] [ 2.13585264e-02 9.99771872e-01 -1.30089027e-04 2.85055876e+00] [ 1.68594969e-02 -2.30075963e-04 9.99857842e-01 1.63398177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.135099893 meters 0.014005107039445646 Centerline is valid? [True, True] Translation: X:148.36, Y:2.85, Z:1.63 [[ 9.99645775e-01 -2.03707381e-02 -1.71276802e-02 1.48356753e+02] [ 2.03714501e-02 9.99792472e-01 -1.32920228e-04 2.85261605e+00] [ 1.71268334e-02 -2.16042539e-04 9.99853302e-01 1.63392585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.165099893 meters 0.013896995932161682 Centerline is valid? [True, True] Translation: X:148.39, Y:2.85, Z:1.63 [[ 9.99652277e-01 -1.98591358e-02 -1.73476423e-02 1.48385221e+02] [ 1.98597701e-02 9.99802766e-01 -1.35724202e-04 2.85356445e+00] [ 1.73469161e-02 -2.08843180e-04 9.99849509e-01 1.63397050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.195099893 meters 0.013896995932161682 Centerline is valid? [True, True] Translation: X:148.41, Y:2.85, Z:1.63 [[ 9.99647375e-01 -2.01043743e-02 -1.73476274e-02 1.48413458e+02] [ 2.01050131e-02 9.99797864e-01 -1.37596396e-04 2.85382496e+00] [ 1.73468871e-02 -2.11226399e-04 9.99849509e-01 1.63431994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.225099893 meters 0.013793285023757542 Centerline is valid? [True, True] Translation: X:148.44, Y:2.86, Z:1.63 [[ 9.99657161e-01 -1.93775836e-02 -1.76087693e-02 1.48442348e+02] [ 1.93780519e-02 9.99812218e-01 -1.44043213e-04 2.85613261e+00] [ 1.76082539e-02 -1.97229817e-04 9.99844943e-01 1.63431957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.255099893 meters 0.013793285023757542 Centerline is valid? [True, True] Translation: X:148.47, Y:2.86, Z:1.63 [[ 9.99652332e-01 -1.96251738e-02 -1.76087328e-02 1.48470583e+02] [ 1.96256039e-02 9.99807388e-01 -1.48398272e-04 2.85640672e+00] [ 1.76082535e-02 -1.97235336e-04 9.99844943e-01 1.63466979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.285099893 meters 0.013602353896652777 Centerline is valid? [True, True] Translation: X:148.50, Y:2.86, Z:1.64 [[ 9.99682265e-01 -1.80912943e-02 -1.75520195e-02 1.48498133e+02] [ 1.80914237e-02 9.99836325e-01 -1.51427331e-04 2.85828476e+00] [ 1.75518862e-02 -1.66161804e-04 9.99845940e-01 1.63558098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.315099893 meters 0.013542134964860562 Centerline is valid? [True, True] Translation: X:148.53, Y:2.86, Z:1.64 [[ 9.99702804e-01 -1.73127648e-02 -1.71631076e-02 1.48527236e+02] [ 1.73127355e-02 9.99850112e-01 -1.50302290e-04 2.85943075e+00] [ 1.71631372e-02 -1.46882720e-04 9.99852692e-01 1.63580973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.345099893 meters 0.01339931687584179 Centerline is valid? [True, True] Translation: X:148.56, Y:2.86, Z:1.64 [[ 9.99708106e-01 -1.64927659e-02 -1.76547935e-02 1.48555233e+02] [ 1.64925259e-02 9.99863976e-01 -1.59200607e-04 2.86104518e+00] [ 1.76550177e-02 -1.32018000e-04 9.99844129e-01 1.63637581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.375099893 meters 0.01327349082063947 Centerline is valid? [True, True] Translation: X:148.58, Y:2.86, Z:1.64 [[ 9.99722267e-01 -1.52692452e-02 -1.79510390e-02 1.48583585e+02] [ 1.52687084e-02 9.99883413e-01 -1.66970250e-04 2.86246314e+00] [ 1.79514956e-02 -1.07165303e-04 9.99838853e-01 1.63623948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.405099893 meters 0.013184388954278618 Centerline is valid? [True, True] Translation: X:148.61, Y:2.86, Z:1.64 [[ 9.99742424e-01 -1.37963983e-02 -1.80206680e-02 1.48611158e+02] [ 1.37955264e-02 9.99904822e-01 -1.72696342e-04 2.86423283e+00] [ 1.80213354e-02 -7.59527420e-05 9.99837600e-01 1.63615268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.435099893 meters 0.013097442606802373 Centerline is valid? [True, True] Translation: X:148.64, Y:2.87, Z:1.64 [[ 9.99762458e-01 -1.22259144e-02 -1.80431493e-02 1.48639391e+02] [ 1.22246919e-02 9.99925260e-01 -1.78053284e-04 2.86572285e+00] [ 1.80439776e-02 -4.25609527e-05 9.99837193e-01 1.63638106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.465099893 meters 0.013119493682717509 Centerline is valid? [True, True] Translation: X:148.67, Y:2.87, Z:1.64 [[ 9.99803885e-01 -9.09257097e-03 -1.75931129e-02 1.48666777e+02] [ 9.09083684e-03 9.99958662e-01 -1.78541781e-04 2.86777840e+00] [ 1.75940090e-02 1.85706472e-05 9.99845213e-01 1.63712988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49509989299997 meters 0.013120071192059938 Centerline is valid? [True, True] Translation: X:148.69, Y:2.87, Z:1.64 [[ 9.99819935e-01 -8.20814618e-03 -1.71091802e-02 1.48694555e+02] [ 8.20629436e-03 9.99966312e-01 -1.78440181e-04 2.86861118e+00] [ 1.71100684e-02 3.80050820e-05 9.99853611e-01 1.63765621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52509989299998 meters 0.013173192911661283 Centerline is valid? [True, True] Translation: X:148.72, Y:2.87, Z:1.64 [[ 9.99823913e-01 -7.51159370e-03 -1.71964605e-02 1.48722396e+02] [ 7.50953502e-03 9.99971786e-01 -1.84286246e-04 2.86925220e+00] [ 1.71973596e-02 5.51163734e-05 9.99852113e-01 1.63818404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55509989299998 meters 0.013179788090140122 Centerline is valid? [True, True] Translation: X:148.75, Y:2.87, Z:1.64 [[ 9.99826825e-01 -7.48394060e-03 -1.70385335e-02 1.48750484e+02] [ 7.48183238e-03 9.99971993e-01 -1.87474191e-04 2.86933404e+00] [ 1.70394593e-02 5.99622735e-05 9.99854816e-01 1.63875686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58509989299998 meters 0.013171989044735093 Centerline is valid? [True, True] Translation: X:148.78, Y:2.87, Z:1.64 [[ 9.99825340e-01 -7.81164828e-03 -1.69784185e-02 1.48778478e+02] [ 7.80951902e-03 9.99969487e-01 -1.91708826e-04 2.86923169e+00] [ 1.69793980e-02 5.90820604e-05 9.99855838e-01 1.63913708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61509989299998 meters 0.013150134668777708 Centerline is valid? [True, True] Translation: X:148.81, Y:2.87, Z:1.64 [[ 9.99817403e-01 -9.67403743e-03 -1.64794985e-02 1.48805180e+02] [ 9.67221433e-03 9.99953205e-01 -1.90328564e-04 2.86698004e+00] [ 1.64805686e-02 3.09005685e-05 9.99864186e-01 1.63895681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64509989299998 meters 0.01316602637320433 Centerline is valid? [True, True] Translation: X:148.83, Y:2.87, Z:1.64 [[ 9.99801551e-01 -1.16263854e-02 -1.61766860e-02 1.48833554e+02] [ 1.16248286e-02 9.99932411e-01 -1.90269384e-04 2.86517813e+00] [ 1.61778048e-02 2.18042246e-06 9.99869131e-01 1.63931033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67509989299998 meters 0.013117718890449817 Centerline is valid? [True, True] Translation: X:148.86, Y:2.86, Z:1.64 [[ 9.99779605e-01 -1.38763529e-02 -1.57540107e-02 1.48861429e+02] [ 1.38750876e-02 9.99903718e-01 -1.89621866e-04 2.86313118e+00] [ 1.57551251e-02 -2.90082035e-05 9.99875880e-01 1.64007899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70509989299998 meters 0.01317375348480617 Centerline is valid? [True, True] Translation: X:148.89, Y:2.86, Z:1.64 [[ 9.99761096e-01 -1.61130570e-02 -1.47689250e-02 1.48888941e+02] [ 1.61121309e-02 9.99870175e-01 -1.81698945e-04 2.86097618e+00] [ 1.47699354e-02 -5.63033167e-05 9.99890917e-01 1.64076912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73509989299998 meters 0.013395036753060212 Centerline is valid? [True, True] Translation: X:148.92, Y:2.86, Z:1.64 [[ 9.99723036e-01 -1.86092552e-02 -1.44064984e-02 1.48917119e+02] [ 1.86085812e-02 9.99826829e-01 -1.80843568e-04 2.85859588e+00] [ 1.44073689e-02 -8.72910145e-05 9.99896205e-01 1.64152338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76509989299998 meters 0.013606141206800126 Centerline is valid? [True, True] Translation: X:148.95, Y:2.86, Z:1.64 [[ 9.99681309e-01 -2.09731485e-02 -1.40501554e-02 1.48946532e+02] [ 2.09727252e-02 9.99780032e-01 -1.77490259e-04 2.85634004e+00] [ 1.40507873e-02 -1.17236352e-04 9.99901276e-01 1.64224344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79509989299999 meters 0.013807771184267162 Centerline is valid? [True, True] Translation: X:148.98, Y:2.85, Z:1.64 [[ 9.99625932e-01 -2.36689736e-02 -1.37031065e-02 1.48976640e+02] [ 2.36688183e-02 9.99719839e-01 -1.73527675e-04 2.85433408e+00] [ 1.37033747e-02 -1.50873576e-04 9.99906093e-01 1.64300244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.825099893 meters 0.014237463438478473 Centerline is valid? [True, True] Translation: X:149.01, Y:2.85, Z:1.64 [[ 9.99557601e-01 -2.67008442e-02 -1.31021989e-02 1.49007558e+02] [ 2.67009628e-02 9.99643452e-01 -1.65904932e-04 2.85181862e+00] [ 1.31019571e-02 -1.84009788e-04 9.99914149e-01 1.64352706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.855099893 meters 0.01562535203566981 Centerline is valid? [True, True] Translation: X:149.04, Y:2.84, Z:1.64 [[ 9.99368020e-01 -3.31688999e-02 -1.27822396e-02 1.49038151e+02] [ 3.31695445e-02 9.99449726e-01 -1.61622261e-04 2.84480201e+00] [ 1.27805667e-02 -2.62460947e-04 9.99918291e-01 1.64439445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.885099893 meters 0.016722278674524752 Centerline is valid? [True, True] Translation: X:149.07, Y:2.84, Z:1.64 [[ 9.99251766e-01 -3.63045830e-02 -1.33373719e-02 1.49069608e+02] [ 3.63055714e-02 9.99340721e-01 -1.68083599e-04 2.84099313e+00] [ 1.33346811e-02 -3.16263076e-04 9.99911039e-01 1.64408004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.915099893 meters 0.01680426765591009 Centerline is valid? [True, True] Translation: X:149.10, Y:2.84, Z:1.64 [[ 9.99120614e-01 -3.96185023e-02 -1.37248786e-02 1.49101589e+02] [ 3.96198805e-02 9.99214810e-01 -1.71573203e-04 2.83921882e+00] [ 1.37208994e-02 -3.72355726e-04 9.99905795e-01 1.64350986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.945099893 meters 0.019385883947877977 Centerline is valid? [True, True] Translation: X:149.13, Y:2.83, Z:1.64 [[ 9.98969354e-01 -4.30141901e-02 -1.44917011e-02 1.49132911e+02] [ 4.30160991e-02 9.99074363e-01 -1.80095334e-04 2.83300967e+00] [ 1.44860337e-02 -4.43466731e-04 9.99894974e-01 1.64296509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.975099893 meters 0.018329190652962433 Centerline is valid? [True, True] Translation: X:149.17, Y:2.83, Z:1.64 [[ 9.98818767e-01 -4.63724990e-02 -1.45142188e-02 1.49165350e+02] [ 4.63747801e-02 9.98924095e-01 -1.79545777e-04 2.83350921e+00] [ 1.45069289e-02 -4.93760014e-04 9.99894647e-01 1.64313422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.005099893 meters 0.020385542425011186 Centerline is valid? [True, True] Translation: X:149.20, Y:2.83, Z:1.64 [[ 9.98667440e-01 -4.94296165e-02 -1.48342986e-02 1.49196104e+02] [ 4.94323544e-02 9.98777457e-01 -1.82265789e-04 2.82885859e+00] [ 1.48251724e-02 -5.51271399e-04 9.99889949e-01 1.64281309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.035099893 meters 0.023439458281223756 Centerline is valid? [True, True] Translation: X:149.23, Y:2.82, Z:1.64 [[ 9.98309360e-01 -5.61280276e-02 -1.51018331e-02 1.49225317e+02] [ 5.61316536e-02 9.98423359e-01 -1.83992545e-04 2.82156018e+00] [ 1.50883501e-02 -6.64009386e-04 9.99885944e-01 1.64254467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.065099893 meters 0.02278798836902882 Centerline is valid? [True, True] Translation: X:149.26, Y:2.82, Z:1.64 [[ 9.98143082e-01 -5.90949547e-02 -1.47707002e-02 1.49256234e+02] [ 5.90987456e-02 9.98252125e-01 -1.80089634e-04 2.82143050e+00] [ 1.47555253e-02 -6.93174631e-04 9.99890891e-01 1.64270722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.095099893 meters 0.023923544668454852 Centerline is valid? [True, True] Translation: X:149.29, Y:2.82, Z:1.64 [[ 9.98000111e-01 -6.14734084e-02 -1.47240878e-02 1.49288221e+02] [ 6.14774394e-02 9.98108457e-01 -1.79128856e-04 2.81893405e+00] [ 1.47072482e-02 -7.26428596e-04 9.99891579e-01 1.64268170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.125099893 meters 0.026251972932859958 Centerline is valid? [True, True] Translation: X:149.32, Y:2.81, Z:1.64 [[ 9.97862079e-01 -6.35567964e-02 -1.52251681e-02 1.49319102e+02] [ 6.35613638e-02 9.97977915e-01 -1.84203730e-04 2.81492304e+00] [ 1.52060889e-02 -7.83922531e-04 9.99884073e-01 1.64226169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.155099893 meters 0.028687747810561007 Centerline is valid? [True, True] Translation: X:149.35, Y:2.81, Z:1.64 [[ 9.97652927e-01 -6.68422855e-02 -1.48575070e-02 1.49348776e+02] [ 6.68470046e-02 9.97763221e-01 -1.79319927e-04 2.81046417e+00] [ 1.48362602e-02 -8.14280786e-04 9.99889605e-01 1.64229569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.185099893 meters 0.029634591811028187 Centerline is valid? [True, True] Translation: X:149.38, Y:2.81, Z:1.64 [[ 9.97616874e-01 -6.75014886e-02 -1.42871434e-02 1.49381241e+02] [ 6.75059216e-02 9.97718859e-01 -1.72302957e-04 2.80897597e+00] [ 1.42661831e-02 -7.92574447e-04 9.99897919e-01 1.64289300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.215099893 meters 0.029983262489111834 Centerline is valid? [True, True] Translation: X:149.41, Y:2.81, Z:1.64 [[ 9.97597519e-01 -6.78713615e-02 -1.38804998e-02 1.49413259e+02] [ 6.78755944e-02 9.97693779e-01 -1.66462199e-04 2.80871273e+00] [ 1.38597863e-02 -7.76084895e-04 9.99903647e-01 1.64366767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24509989299997 meters 0.030281623931565277 Centerline is valid? [True, True] Translation: X:149.45, Y:2.81, Z:1.64 [[ 9.97590281e-01 -6.81098588e-02 -1.32165757e-02 1.49445884e+02] [ 6.81137287e-02 9.97677551e-01 -1.57627139e-04 2.80846057e+00] [ 1.31966168e-02 -7.42982947e-04 9.99912645e-01 1.64453264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27509989299998 meters 0.025786676821598107 Centerline is valid? [True, True] Translation: X:149.48, Y:2.82, Z:1.65 [[ 9.97599401e-01 -6.80380149e-02 -1.28943606e-02 1.49479339e+02] [ 6.80417039e-02 9.97682466e-01 -1.52893394e-04 2.81502716e+00] [ 1.28748801e-02 -7.24827908e-04 9.99916853e-01 1.64554291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30509989299998 meters 0.0267915858324785 Centerline is valid? [True, True] Translation: X:149.51, Y:2.81, Z:1.65 [[ 9.97674531e-01 -6.69616411e-02 -1.27149006e-02 1.49511002e+02] [ 6.69651583e-02 9.97755303e-01 -1.49394389e-04 2.81384946e+00] [ 1.26963632e-02 -7.02408356e-04 9.99919151e-01 1.64644718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33509989299998 meters 0.027691930010695455 Centerline is valid? [True, True] Translation: X:149.54, Y:2.81, Z:1.65 [[ 9.97727798e-01 -6.61670768e-02 -1.26948521e-02 1.49541818e+02] [ 6.61705305e-02 9.97808318e-01 -1.48243951e-04 2.81311739e+00] [ 1.26768379e-02 -6.92117990e-04 9.99919406e-01 1.64656992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36509989299998 meters 0.0266248448907129 Centerline is valid? [True, True] Translation: X:149.57, Y:2.82, Z:1.65 [[ 9.97785592e-01 -6.53029064e-02 -1.26271046e-02 1.49574412e+02] [ 6.53062630e-02 9.97865257e-01 -1.46770276e-04 2.81524504e+00] [ 1.26097335e-02 -6.78183746e-04 9.99920264e-01 1.64707703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39509989299998 meters 0.02578663384297368 Centerline is valid? [True, True] Translation: X:149.61, Y:2.82, Z:1.65 [[ 9.97834087e-01 -6.45729053e-02 -1.25488584e-02 1.49606266e+02] [ 6.45761767e-02 9.97912770e-01 -1.44749543e-04 2.81727629e+00] [ 1.25320129e-02 -6.65921267e-04 9.99921249e-01 1.64761179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42509989299998 meters 0.025867287584394754 Centerline is valid? [True, True] Translation: X:149.64, Y:2.82, Z:1.65 [[ 9.97986176e-01 -6.20144249e-02 -1.33343216e-02 1.49637127e+02] [ 6.20179040e-02 9.98075025e-01 -1.52828085e-04 2.81900879e+00] [ 1.33181309e-02 -6.74446361e-04 9.99911082e-01 1.64700490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45509989299998 meters 0.025380877119526284 Centerline is valid? [True, True] Translation: X:149.67, Y:2.82, Z:1.65 [[ 9.98144168e-01 -5.90545477e-02 -1.48586758e-02 1.49667945e+02] [ 5.90585493e-02 9.98254506e-01 -1.69717807e-04 2.82225793e+00] [ 1.48427627e-02 -7.08129000e-04 9.99889589e-01 1.64652234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48509989299998 meters 0.025380877119526284 Centerline is valid? [True, True] Translation: X:149.70, Y:2.82, Z:1.65 [[ 9.98148306e-01 -5.89845709e-02 -1.48586828e-02 1.49699668e+02] [ 5.89885739e-02 9.98258644e-01 -1.69106249e-04 2.82255831e+00] [ 1.48427832e-02 -7.07699391e-04 9.99889589e-01 1.64691457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51509989299998 meters 0.025418807796270287 Centerline is valid? [True, True] Translation: X:149.73, Y:2.83, Z:1.65 [[ 9.98339772e-01 -5.58127517e-02 -1.42350241e-02 1.49730690e+02] [ 5.58161166e-02 9.98441052e-01 -1.61112562e-04 2.82564553e+00] [ 1.42218245e-02 -6.33698685e-04 9.99898664e-01 1.64715911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54509989299999 meters 0.025418807796270287 Centerline is valid? [True, True] Translation: X:149.76, Y:2.83, Z:1.65 [[ 9.98343589e-01 -5.57444363e-02 -1.42350304e-02 1.49762409e+02] [ 5.57478022e-02 9.98444869e-01 -1.60553101e-04 2.82594068e+00] [ 1.42218430e-02 -6.33284498e-04 9.99898664e-01 1.64755127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.575099893 meters 0.025133221067126198 Centerline is valid? [True, True] Translation: X:149.79, Y:2.83, Z:1.65 [[ 9.98460258e-01 -5.36278243e-02 -1.41834445e-02 1.49792959e+02] [ 5.36309650e-02 9.98560812e-01 -1.59097322e-04 2.82830031e+00] [ 1.41715639e-02 -6.01819465e-04 9.99899397e-01 1.64818337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.605099893 meters 0.025133221067126198 Centerline is valid? [True, True] Translation: X:149.82, Y:2.83, Z:1.65 [[ 9.98463890e-01 -5.35601565e-02 -1.41834483e-02 1.49824675e+02] [ 5.35632952e-02 9.98564444e-01 -1.58764755e-04 2.82859187e+00] [ 1.41715906e-02 -6.01191350e-04 9.99899397e-01 1.64857555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.635099893 meters 0.025133221067126198 Centerline is valid? [True, True] Translation: X:149.86, Y:2.83, Z:1.65 [[ 9.98467518e-01 -5.34924807e-02 -1.41834590e-02 1.49856390e+02] [ 5.34956262e-02 9.98568071e-01 -1.57803500e-04 2.82888097e+00] [ 1.41715906e-02 -6.01191349e-04 9.99899397e-01 1.64896756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.665099893 meters 0.019924596937985456 Centerline is valid? [True, True] Translation: X:149.89, Y:2.84, Z:1.65 [[ 9.98733136e-01 -4.85831759e-02 -1.31071625e-02 1.49886626e+02] [ 4.85854500e-02 9.98819019e-01 -1.45054205e-04 2.84004118e+00] [ 1.30987304e-02 -4.91946945e-04 9.99914087e-01 1.64995049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.695099893 meters 0.019547462987028613 Centerline is valid? [True, True] Translation: X:149.92, Y:2.84, Z:1.65 [[ 9.98850801e-01 -4.61908320e-02 -1.27861328e-02 1.49916893e+02] [ 4.61928004e-02 9.98932533e-01 -1.41493913e-04 2.84227956e+00] [ 1.27790197e-02 -4.49295971e-04 9.99918244e-01 1.65084308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.725099893 meters 0.020888394182015345 Centerline is valid? [True, True] Translation: X:149.95, Y:2.84, Z:1.65 [[ 9.98969274e-01 -4.37307033e-02 -1.21661758e-02 1.49948564e+02] [ 4.37323056e-02 9.99043276e-01 -1.34436945e-04 2.84190970e+00] [ 1.21604152e-02 -3.97756541e-04 9.99925980e-01 1.65140306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.755099893 meters 0.017288844408817942 Centerline is valid? [True, True] Translation: X:149.98, Y:2.85, Z:1.65 [[ 9.99129022e-01 -3.99557703e-02 -1.20305046e-02 1.49980466e+02] [ 3.99570738e-02 9.99201389e-01 -1.32092638e-04 2.85090824e+00] [ 1.20261748e-02 -3.48726173e-04 9.99927622e-01 1.65159739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.785099893 meters 0.017100275259474645 Centerline is valid? [True, True] Translation: X:150.01, Y:2.85, Z:1.65 [[ 9.99194534e-01 -3.82721435e-02 -1.20634606e-02 1.50013066e+02] [ 3.82733394e-02 9.99267299e-01 -1.31803009e-04 2.85208985e+00] [ 1.20596661e-02 -3.30012075e-04 9.99927225e-01 1.65198328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.815099893 meters 0.017459591695023726 Centerline is valid? [True, True] Translation: X:150.04, Y:2.85, Z:1.65 [[ 9.99254846e-01 -3.66903155e-02 -1.19822529e-02 1.50044680e+02] [ 3.66913946e-02 9.99326636e-01 -1.29834742e-04 2.85240156e+00] [ 1.19789481e-02 -3.09907573e-04 9.99928202e-01 1.65166970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.845099893 meters 0.016638697738426352 Centerline is valid? [True, True] Translation: X:150.08, Y:2.85, Z:1.65 [[ 9.99308745e-01 -3.51006065e-02 -1.22465956e-02 1.50076788e+02] [ 3.51016255e-02 9.99383739e-01 -1.31801654e-04 2.85450707e+00] [ 1.22436748e-02 -2.98164866e-04 9.99924999e-01 1.65138177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.875099893 meters 0.016121810047052536 Centerline is valid? [True, True] Translation: X:150.11, Y:2.86, Z:1.65 [[ 9.99340598e-01 -3.38164026e-02 -1.32219429e-02 1.50108846e+02] [ 3.38174914e-02 9.99428015e-01 -1.41284366e-04 2.85613089e+00] [ 1.32191579e-02 -3.05941737e-04 9.99912576e-01 1.65121183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.905099893 meters 0.016242946502669924 Centerline is valid? [True, True] Translation: X:150.14, Y:2.86, Z:1.65 [[ 9.99383307e-01 -3.23231406e-02 -1.37193427e-02 1.50140446e+02] [ 3.23241873e-02 9.99477426e-01 -1.45501544e-04 2.85662170e+00] [ 1.37168764e-02 -2.98054788e-04 9.99905875e-01 1.65130257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.935099893 meters 0.014985762637552625 Centerline is valid? [True, True] Translation: X:150.17, Y:2.86, Z:1.65 [[ 9.99481931e-01 -2.85288240e-02 -1.48988677e-02 1.50171500e+02] [ 2.85296639e-02 9.99592934e-01 -1.56210792e-04 2.86114180e+00] [ 1.48972594e-02 -2.68929824e-04 9.99888994e-01 1.65159746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.965099893 meters 0.014747750339511638 Centerline is valid? [True, True] Translation: X:150.20, Y:2.86, Z:1.65 [[ 9.99536130e-01 -2.64281251e-02 -1.51353643e-02 1.50203361e+02] [ 2.64287597e-02 9.99650687e-01 -1.58123398e-04 2.86278912e+00] [ 1.51342562e-02 -2.41958857e-04 9.99885441e-01 1.65247323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99509989299997 meters 0.014313445218284723 Centerline is valid? [True, True] Translation: X:150.23, Y:2.86, Z:1.65 [[ 9.99594887e-01 -2.42461120e-02 -1.49060005e-02 1.50234739e+02] [ 2.42464938e-02 9.99705999e-01 -1.55126659e-04 2.86465815e+00] [ 1.49053794e-02 -2.06354435e-04 9.99888887e-01 1.65327380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02509989299998 meters 0.014105274404057256 Centerline is valid? [True, True] Translation: X:150.27, Y:2.87, Z:1.65 [[ 9.99648964e-01 -2.20766402e-02 -1.46482318e-02 1.50265192e+02] [ 2.20767830e-02 9.99756267e-01 -1.51967460e-04 2.86604586e+00] [ 1.46480165e-02 -1.71471722e-04 9.99892697e-01 1.65395070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05509989299998 meters 0.013595707724754616 Centerline is valid? [True, True] Translation: X:150.29, Y:2.87, Z:1.65 [[ 9.99741026e-01 -1.72358080e-02 -1.48596051e-02 1.50294805e+02] [ 1.72354230e-02 9.99851447e-01 -1.53981203e-04 2.86854031e+00] [ 1.48600516e-02 -1.02170252e-04 9.99889578e-01 1.65464195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08509989299998 meters 0.01348201000302699 Centerline is valid? [True, True] Translation: X:150.32, Y:2.87, Z:1.66 [[ 9.99775149e-01 -1.51017726e-02 -1.48858469e-02 1.50323694e+02] [ 1.51011370e-02 9.99885959e-01 -1.55106417e-04 2.87037826e+00] [ 1.48864917e-02 -6.97216712e-05 9.99889188e-01 1.65512406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11509989299998 meters 0.013355139806135934 Centerline is valid? [True, True] Translation: X:150.35, Y:2.87, Z:1.66 [[ 9.99802815e-01 -1.31498854e-02 -1.48798949e-02 1.50351470e+02] [ 1.31489828e-02 9.99913536e-01 -1.58496256e-04 2.87198226e+00] [ 1.48806926e-02 -3.71904788e-05 9.99889276e-01 1.65585609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14509989299998 meters 0.013355139806135934 Centerline is valid? [True, True] Translation: X:150.38, Y:2.87, Z:1.66 [[ 9.99799043e-01 -1.34336555e-02 -1.48798693e-02 1.50378857e+02] [ 1.34327490e-02 9.99909764e-01 -1.60868382e-04 2.87233924e+00] [ 1.48806876e-02 -3.90414955e-05 9.99889276e-01 1.65619536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17509989299998 meters 0.01341353892907486 Centerline is valid? [True, True] Translation: X:150.41, Y:2.87, Z:1.66 [[ 9.99829238e-01 -1.01583631e-02 -1.54370663e-02 1.50406693e+02] [ 1.01569270e-02 9.99948402e-01 -1.71427187e-04 2.87452180e+00] [ 1.54380112e-02 1.46047585e-05 9.99880827e-01 1.65592995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20509989299998 meters 0.013455947440959268 Centerline is valid? [True, True] Translation: X:150.43, Y:2.88, Z:1.66 [[ 9.99833057e-01 -9.12748617e-03 -1.58286503e-02 1.50434443e+02] [ 9.12578383e-03 9.99958343e-01 -1.79775152e-04 2.87551101e+00] [ 1.58296318e-02 3.52962992e-05 9.99874703e-01 1.65587995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23509989299998 meters 0.013377664227102319 Centerline is valid? [True, True] Translation: X:150.46, Y:2.88, Z:1.66 [[ 9.99830338e-01 -9.21143051e-03 -1.59512940e-02 1.50462302e+02] [ 9.20967789e-03 9.99957573e-01 -1.83329255e-04 2.87555715e+00] [ 1.59523059e-02 3.63918716e-05 9.99872753e-01 1.65639540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26509989299998 meters 0.01344190526091968 Centerline is valid? [True, True] Translation: X:150.49, Y:2.88, Z:1.66 [[ 9.99828823e-01 -9.78635990e-03 -1.57019646e-02 1.50488978e+02] [ 9.78467048e-03 9.99952112e-01 -1.84415537e-04 2.87538594e+00] [ 1.57030174e-02 3.07454204e-05 9.99876700e-01 1.65656046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29509989299999 meters 0.013411558087172376 Centerline is valid? [True, True] Translation: X:150.52, Y:2.87, Z:1.66 [[ 9.99820856e-01 -1.08736465e-02 -1.54925822e-02 1.50515495e+02] [ 1.08721026e-02 9.99940880e-01 -1.83874758e-04 2.87452789e+00] [ 1.54936657e-02 1.54048748e-05 9.99879966e-01 1.65656743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.325099893 meters 0.01342421648593368 Centerline is valid? [True, True] Translation: X:150.54, Y:2.87, Z:1.66 [[ 9.99769996e-01 -1.50139998e-02 -1.53145304e-02 1.50544634e+02] [ 1.50129506e-02 9.99887282e-01 -1.83478612e-04 2.87047791e+00] [ 1.53155590e-02 -4.64798789e-05 9.99882709e-01 1.65678767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.355099893 meters 0.013498688355845535 Centerline is valid? [True, True] Translation: X:150.57, Y:2.87, Z:1.66 [[ 9.99723375e-01 -1.80598337e-02 -1.50670772e-02 1.50573512e+02] [ 1.80591407e-02 9.99836904e-01 -1.82058322e-04 2.86802307e+00] [ 1.50679078e-02 -9.00905076e-05 9.99886469e-01 1.65694921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.385099893 meters 0.01379876690455013 Centerline is valid? [True, True] Translation: X:150.60, Y:2.87, Z:1.66 [[ 9.99654200e-01 -2.19049372e-02 -1.45483418e-02 1.50602729e+02] [ 2.19046468e-02 9.99760048e-01 -1.79325627e-04 2.86550440e+00] [ 1.45487790e-02 -1.39412672e-04 9.99894151e-01 1.65750412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.415099893 meters 0.014328058169265157 Centerline is valid? [True, True] Translation: X:150.63, Y:2.86, Z:1.66 [[ 9.99573479e-01 -2.57448387e-02 -1.37863493e-02 1.50631974e+02] [ 2.57449018e-02 9.99668530e-01 -1.72924959e-04 2.86195606e+00] [ 1.37862315e-02 -1.82077007e-04 9.99904949e-01 1.65799297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.445099893 meters 0.015266704953019268 Centerline is valid? [True, True] Translation: X:150.66, Y:2.86, Z:1.66 [[ 9.99461737e-01 -3.00415749e-02 -1.31810297e-02 1.50662725e+02] [ 3.00420047e-02 9.99548623e-01 -1.65443564e-04 2.85772144e+00] [ 1.31800503e-02 -2.30630044e-04 9.99913113e-01 1.65881788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.475099893 meters 0.016396234017389467 Centerline is valid? [True, True] Translation: X:150.69, Y:2.85, Z:1.66 [[ 9.99164999e-01 -3.87029319e-02 -1.30915052e-02 1.50693419e+02] [ 3.87041187e-02 9.99250702e-01 -1.62789466e-04 2.85093722e+00] [ 1.30879962e-02 -3.44041636e-04 9.99914289e-01 1.65867073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.505099893 meters 0.017606550692377373 Centerline is valid? [True, True] Translation: X:150.72, Y:2.85, Z:1.66 [[ 9.98997971e-01 -4.26910121e-02 -1.34362289e-02 1.50724628e+02] [ 4.26926270e-02 9.99088240e-01 -1.66744704e-04 2.84659345e+00] [ 1.34310968e-02 -4.07050287e-04 9.99909716e-01 1.65781702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.535099893 meters 0.022041407871433508 Centerline is valid? [True, True] Translation: X:150.75, Y:2.84, Z:1.66 [[ 9.98623008e-01 -5.06046043e-02 -1.38297639e-02 1.50754247e+02] [ 5.06070888e-02 9.98718626e-01 -1.70473946e-04 2.83596035e+00] [ 1.38206695e-02 -5.29644883e-04 9.99904350e-01 1.65732693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.565099893 meters 0.02197794266058368 Centerline is valid? [True, True] Translation: X:150.79, Y:2.84, Z:1.66 [[ 9.98449355e-01 -5.39612552e-02 -1.36773140e-02 1.50785861e+02] [ 5.39639977e-02 9.98542868e-01 -1.68732519e-04 2.83519129e+00] [ 1.36664894e-02 -5.69611668e-04 9.99906447e-01 1.65793359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.595099893 meters 0.023571064542760912 Centerline is valid? [True, True] Translation: X:150.82, Y:2.83, Z:1.66 [[ 9.98268792e-01 -5.71575430e-02 -1.38720879e-02 1.50817320e+02] [ 5.71606791e-02 9.98364977e-01 -1.70635800e-04 2.83233454e+00] [ 1.38591598e-02 -6.22597570e-04 9.99903763e-01 1.65852275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.625099893 meters 0.025007613528174398 Centerline is valid? [True, True] Translation: X:150.85, Y:2.83, Z:1.66 [[ 9.98078786e-01 -6.02566701e-02 -1.44177300e-02 1.50848963e+02] [ 6.02603879e-02 9.98182676e-01 -1.76821564e-04 2.82979041e+00] [ 1.44021830e-02 -6.92336150e-04 9.99896043e-01 1.65923784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.655099893 meters 0.025286916233353288 Centerline is valid? [True, True] Translation: X:150.88, Y:2.83, Z:1.66 [[ 9.97901632e-01 -6.31112667e-02 -1.44672375e-02 1.50880466e+02] [ 6.31153167e-02 9.98006225e-01 -1.76916714e-04 2.82877957e+00] [ 1.44495585e-02 -7.36558798e-04 9.99895328e-01 1.65952356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.685099893 meters 0.02476594212142694 Centerline is valid? [True, True] Translation: X:150.91, Y:2.83, Z:1.66 [[ 9.97731090e-01 -6.55910453e-02 -1.51817676e-02 1.50911606e+02] [ 6.55958001e-02 9.97846259e-01 -1.85087763e-04 2.82901651e+00] [ 1.51612101e-02 -8.11192374e-04 9.99884733e-01 1.65958538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.715099893 meters 0.025035215935750303 Centerline is valid? [True, True] Translation: X:150.94, Y:2.83, Z:1.66 [[ 9.97583003e-01 -6.76666903e-02 -1.57914790e-02 1.50943275e+02] [ 6.76721045e-02 9.97707597e-01 -1.91862786e-04 2.82798390e+00] [ 1.57682613e-02 -8.77243565e-04 9.99875288e-01 1.65952840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74509989299997 meters 0.02650627983293477 Centerline is valid? [True, True] Translation: X:150.97, Y:2.83, Z:1.66 [[ 9.97447927e-01 -6.95644816e-02 -1.60753032e-02 1.50974241e+02] [ 6.95703566e-02 9.97577029e-01 -1.94144199e-04 2.82541795e+00] [ 1.60498587e-02 -9.24715846e-04 9.99870765e-01 1.65919105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77509989299998 meters 0.02672644400586953 Centerline is valid? [True, True] Translation: X:151.01, Y:2.82, Z:1.66 [[ 9.97313630e-01 -7.14019917e-02 -1.63486819e-02 1.51006526e+02] [ 7.14083453e-02 9.97447146e-01 -1.95542652e-04 2.82480009e+00] [ 1.63209082e-02 -9.72414970e-04 9.99866332e-01 1.65939707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80509989299998 meters 0.032359152186938654 Centerline is valid? [True, True] Translation: X:151.04, Y:2.82, Z:1.66 [[ 9.97222139e-01 -7.25893575e-02 -1.66970272e-02 1.51037817e+02] [ 7.25961701e-02 9.97361397e-01 -1.98541690e-04 2.81680253e+00] [ 1.66673824e-02 -1.01415005e-03 9.99860575e-01 1.65912340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83509989299998 meters 0.03157696111738843 Centerline is valid? [True, True] Translation: X:151.07, Y:2.82, Z:1.66 [[ 9.97149616e-01 -7.35963081e-02 -1.66200615e-02 1.51069412e+02] [ 7.36032122e-02 9.97287586e-01 -1.96727498e-04 2.81785487e+00] [ 1.65894594e-02 -1.02712317e-03 9.99861858e-01 1.66001423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86509989299998 meters 0.028991819550317533 Centerline is valid? [True, True] Translation: X:151.10, Y:2.82, Z:1.66 [[ 9.97159425e-01 -7.34370563e-02 -1.67355865e-02 1.51102002e+02] [ 7.34440506e-02 9.97299319e-01 -1.97122700e-04 2.82194716e+00] [ 1.67048652e-02 -1.03256651e-03 9.99859931e-01 1.66091054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89509989299998 meters 0.02894549932686884 Centerline is valid? [True, True] Translation: X:151.13, Y:2.82, Z:1.66 [[ 9.97223952e-01 -7.24981454e-02 -1.69826062e-02 1.51134095e+02] [ 7.25052332e-02 9.97368012e-01 -1.98790588e-04 2.82266815e+00] [ 1.69523202e-02 -1.03308909e-03 9.99855765e-01 1.66124279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92509989299998 meters 0.028824756340156046 Centerline is valid? [True, True] Translation: X:151.17, Y:2.82, Z:1.66 [[ 9.97324320e-01 -7.09460416e-02 -1.76312144e-02 1.51165443e+02] [ 7.09534593e-02 9.97479606e-01 -2.05268662e-04 2.82367739e+00] [ 1.76013398e-02 -1.04627622e-03 9.99844537e-01 1.66103273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95509989299998 meters 0.029546134237881043 Centerline is valid? [True, True] Translation: X:151.20, Y:2.82, Z:1.66 [[ 9.97425160e-01 -6.94490530e-02 -1.78851630e-02 1.51196201e+02] [ 6.94564576e-02 9.97584963e-01 -2.07578484e-04 2.82355064e+00] [ 1.78563858e-02 -1.03519606e-03 9.99840026e-01 1.66129331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98509989299998 meters 0.025528352343196108 Centerline is valid? [True, True] Translation: X:151.23, Y:2.83, Z:1.66 [[ 9.97562778e-01 -6.75949601e-02 -1.73038926e-02 1.51227387e+02] [ 6.76016236e-02 9.97712374e-01 -2.00224127e-04 2.82993687e+00] [ 1.72778419e-02 -9.70035094e-04 9.99850256e-01 1.66231480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01509989299998 meters 0.02811935009840127 Centerline is valid? [True, True] Translation: X:151.26, Y:2.83, Z:1.66 [[ 9.97805946e-01 -6.41416351e-02 -1.64056353e-02 1.51257554e+02] [ 6.41471662e-02 9.97940432e-01 -1.89398313e-04 2.82840806e+00] [ 1.63839951e-02 -8.63392253e-04 9.99865401e-01 1.66322388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04509989299999 meters 0.026131884828030832 Centerline is valid? [True, True] Translation: X:151.29, Y:2.83, Z:1.66 [[ 9.97927746e-01 -6.22365627e-02 -1.63347460e-02 1.51289358e+02] [ 6.22417949e-02 9.98061082e-01 -1.88369378e-04 2.83243856e+00] [ 1.63147977e-02 -8.28724879e-04 9.99866561e-01 1.66421450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.075099893 meters 0.023746690079320905 Centerline is valid? [True, True] Translation: X:151.32, Y:2.84, Z:1.66 [[ 9.98032902e-01 -6.04234496e-02 -1.67132825e-02 1.51321084e+02] [ 6.04286888e-02 9.98172499e-01 -1.91826819e-04 2.83750586e+00] [ 1.66943298e-02 -8.18512273e-04 9.99860305e-01 1.66493245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.105099893 meters 0.02525436879882118 Centerline is valid? [True, True] Translation: X:151.35, Y:2.84, Z:1.67 [[ 9.98156214e-01 -5.82643404e-02 -1.70129068e-02 1.51351315e+02] [ 5.82694693e-02 9.98300872e-01 -1.94497193e-04 2.83684519e+00] [ 1.69953319e-02 -7.97194465e-04 9.99855251e-01 1.66501835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.135099893 meters 0.022890800038026772 Centerline is valid? [True, True] Translation: X:151.38, Y:2.84, Z:1.67 [[ 9.98282373e-01 -5.59497247e-02 -1.73762129e-02 1.51383131e+02] [ 5.59547349e-02 9.98433287e-01 -1.98083452e-04 2.84216428e+00] [ 1.73600721e-02 -7.74538168e-04 9.99849003e-01 1.66548566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.165099893 meters 0.02429305066040639 Centerline is valid? [True, True] Translation: X:151.41, Y:2.84, Z:1.67 [[ 9.98401961e-01 -5.37231977e-02 -1.75311544e-02 1.51413828e+02] [ 5.37279732e-02 9.98555590e-01 -1.98817477e-04 2.84185590e+00] [ 1.75165133e-02 -7.43413632e-04 9.99846298e-01 1.66527423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.195099893 meters 0.02101196802205345 Centerline is valid? [True, True] Translation: X:151.45, Y:2.85, Z:1.67 [[ 9.98541441e-01 -5.12091377e-02 -1.71060121e-02 1.51445632e+02] [ 5.12133278e-02 9.98687718e-01 -1.93311000e-04 2.84878809e+00] [ 1.70934635e-02 -6.83026761e-04 9.99853663e-01 1.66628066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.225099893 meters 0.019408854363366392 Centerline is valid? [True, True] Translation: X:151.48, Y:2.86, Z:1.67 [[ 9.98788807e-01 -4.61461558e-02 -1.70719356e-02 1.51476141e+02] [ 4.61496019e-02 9.98934521e-01 -1.92259307e-04 2.85534621e+00] [ 1.70626178e-02 -5.95836586e-04 9.99854245e-01 1.66714704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.255099893 meters 0.01872338011116943 Centerline is valid? [True, True] Translation: X:151.51, Y:2.86, Z:1.67 [[ 9.98919547e-01 -4.32691613e-02 -1.69563428e-02 1.51507248e+02] [ 4.32721496e-02 9.99063304e-01 -1.90792977e-04 2.85860595e+00] [ 1.69487153e-02 -5.43150568e-04 9.99856213e-01 1.66767263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.285099893 meters 0.018037916002287182 Centerline is valid? [True, True] Translation: X:151.54, Y:2.86, Z:1.67 [[ 9.99050025e-01 -4.01185820e-02 -1.70160713e-02 1.51538774e+02] [ 4.01211452e-02 9.99194804e-01 -1.90854856e-04 2.86193320e+00] [ 1.70100269e-02 -4.92030719e-04 9.99855198e-01 1.66772310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.315099893 meters 0.01773824488295954 Centerline is valid? [True, True] Translation: X:151.57, Y:2.86, Z:1.67 [[ 9.99160936e-01 -3.71227691e-02 -1.73010062e-02 1.51569477e+02] [ 3.71249808e-02 9.99310612e-01 -1.93429544e-04 2.86484773e+00] [ 1.72962597e-02 -4.49032278e-04 9.99850308e-01 1.66783380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.345099893 meters 0.01626663959832884 Centerline is valid? [True, True] Translation: X:151.60, Y:2.87, Z:1.67 [[ 9.99283613e-01 -3.38643531e-02 -1.68957798e-02 1.51600698e+02] [ 3.38660068e-02 9.99426365e-01 -1.88310854e-04 2.87003130e+00] [ 1.68924648e-02 -3.84016642e-04 9.99857238e-01 1.66854983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.375099893 meters 0.015505454389914105 Centerline is valid? [True, True] Translation: X:151.63, Y:2.87, Z:1.67 [[ 9.99385960e-01 -3.07904366e-02 -1.67228019e-02 1.51631842e+02] [ 3.07916364e-02 9.99525808e-01 -1.85788456e-04 2.87371195e+00] [ 1.67205925e-02 -3.29248059e-04 9.99860147e-01 1.66934766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.405099893 meters 0.01477181636380764 Centerline is valid? [True, True] Translation: X:151.66, Y:2.88, Z:1.67 [[ 9.99479565e-01 -2.78309293e-02 -1.63107042e-02 1.51663644e+02] [ 2.78316873e-02 9.99612607e-01 -1.80560811e-04 2.87769075e+00] [ 1.63094108e-02 -2.73487579e-04 9.99866955e-01 1.67013898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.435099893 meters 0.014325347056188324 Centerline is valid? [True, True] Translation: X:151.69, Y:2.88, Z:1.67 [[ 9.99614295e-01 -2.22747916e-02 -1.65859776e-02 1.51693491e+02] [ 2.22748223e-02 9.99751869e-01 -1.82913621e-04 2.88195065e+00] [ 1.65859364e-02 -1.86606632e-04 9.99862426e-01 1.67030589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.465099893 meters 0.013888127852276902 Centerline is valid? [True, True] Translation: X:151.72, Y:2.89, Z:1.67 [[ 9.99673873e-01 -1.94977647e-02 -1.64919670e-02 1.51722909e+02] [ 1.94974147e-02 9.99809891e-01 -1.82025392e-04 2.88523060e+00] [ 1.64923808e-02 -1.39584691e-04 9.99863982e-01 1.67085503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49509989299997 meters 0.013591012066385971 Centerline is valid? [True, True] Translation: X:151.75, Y:2.89, Z:1.67 [[ 9.99717044e-01 -1.71080035e-02 -1.65272159e-02 1.51751888e+02] [ 1.71073007e-02 9.99853643e-01 -1.83913053e-04 2.88783254e+00] [ 1.65279434e-02 -9.88750376e-05 9.99863399e-01 1.67167468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52509989299998 meters 0.013591012066385971 Centerline is valid? [True, True] Translation: X:151.78, Y:2.89, Z:1.67 [[ 9.99712056e-01 -1.73970421e-02 -1.65271667e-02 1.51779273e+02] [ 1.73963072e-02 9.99848655e-01 -1.88243086e-04 2.88819981e+00] [ 1.65279403e-02 -9.93227864e-05 9.99863399e-01 1.67201441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55509989299998 meters 0.013604096328994925 Centerline is valid? [True, True] Translation: X:151.81, Y:2.89, Z:1.67 [[ 9.99743215e-01 -1.54583281e-02 -1.65693577e-02 1.51806589e+02] [ 1.54572575e-02 9.99880511e-01 -1.92683850e-04 2.89017390e+00] [ 1.65703564e-02 -6.34824572e-05 9.99862700e-01 1.67228990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58509989299998 meters 0.013525606853886003 Centerline is valid? [True, True] Translation: X:151.83, Y:2.89, Z:1.67 [[ 9.99762592e-01 -1.25364976e-02 -1.78211929e-02 1.51833277e+02] [ 1.25347617e-02 9.99921415e-01 -2.09106017e-04 2.89332606e+00] [ 1.78224139e-02 -1.43280331e-05 9.99841168e-01 1.67242659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61509989299998 meters 0.013512702694518472 Centerline is valid? [True, True] Translation: X:151.86, Y:2.89, Z:1.67 [[ 9.99759453e-01 -1.13951426e-02 -1.87399571e-02 1.51860706e+02] [ 1.13929580e-02 9.99935073e-01 -2.23337899e-04 2.89480205e+00] [ 1.87412854e-02 9.78063180e-06 9.99824367e-01 1.67233390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64509989299998 meters 0.013628495216060339 Centerline is valid? [True, True] Translation: X:151.89, Y:2.90, Z:1.67 [[ 9.99774858e-01 -8.71632613e-03 -1.93457553e-02 1.51888886e+02] [ 8.71341299e-03 9.99962010e-01 -2.34870825e-04 2.89710479e+00] [ 1.93470676e-02 6.62503900e-05 9.99812826e-01 1.67222914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67509989299998 meters 0.013618638240390534 Centerline is valid? [True, True] Translation: X:151.92, Y:2.90, Z:1.67 [[ 9.99794603e-01 -7.96367206e-03 -1.86368607e-02 1.51916688e+02] [ 7.96078398e-03 9.99968286e-01 -2.29150262e-04 2.89806890e+00] [ 1.86380946e-02 8.07391725e-05 9.99826292e-01 1.67305588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70509989299998 meters 0.013731111640004835 Centerline is valid? [True, True] Translation: X:151.94, Y:2.90, Z:1.67 [[ 9.99806318e-01 -7.64538065e-03 -1.81348923e-02 1.51943693e+02] [ 7.64251725e-03 9.99970770e-01 -2.27193794e-04 2.89899415e+00] [ 1.81360992e-02 8.85535634e-05 9.99835524e-01 1.67367536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73509989299998 meters 0.013731111640004835 Centerline is valid? [True, True] Translation: X:151.97, Y:2.90, Z:1.67 [[ 9.99804117e-01 -7.92808694e-03 -1.81348520e-02 1.51971078e+02] [ 7.92521230e-03 9.99968568e-01 -2.30377277e-04 2.89940254e+00] [ 1.81361084e-02 8.66095985e-05 9.99835524e-01 1.67401459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76509989299998 meters 0.013617407532333165 Centerline is valid? [True, True] Translation: X:152.00, Y:2.90, Z:1.67 [[ 9.99802108e-01 -8.69933434e-03 -1.78903912e-02 1.51997954e+02] [ 8.69657922e-03 9.99962157e-01 -2.31794951e-04 2.89935570e+00] [ 1.78917306e-02 7.61638766e-05 9.99839927e-01 1.67468887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79509989299999 meters 0.013488315477408324 Centerline is valid? [True, True] Translation: X:152.03, Y:2.90, Z:1.68 [[ 9.99778425e-01 -1.20327576e-02 -1.72717771e-02 1.52026386e+02] [ 1.20306412e-02 9.99927604e-01 -2.26437222e-04 2.89669728e+00] [ 1.72732513e-02 1.85964964e-05 9.99850806e-01 1.67542136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.825099893 meters 0.013488829912629329 Centerline is valid? [True, True] Translation: X:152.05, Y:2.89, Z:1.68 [[ 9.99739550e-01 -1.50002169e-02 -1.71995954e-02 1.52054593e+02] [ 1.49985197e-02 9.99887490e-01 -2.27674605e-04 2.89481709e+00] [ 1.72010755e-02 -3.03531632e-05 9.99852050e-01 1.67572070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.855099893 meters 0.013595697115280027 Centerline is valid? [True, True] Translation: X:152.08, Y:2.89, Z:1.68 [[ 9.99680033e-01 -1.80963262e-02 -1.76735392e-02 1.52083463e+02] [ 1.80949322e-02 9.99836245e-01 -2.38803091e-04 2.89327132e+00] [ 1.76749666e-02 -8.10748111e-05 9.99843782e-01 1.67597241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.885099893 meters 0.01413433297420218 Centerline is valid? [True, True] Translation: X:152.11, Y:2.89, Z:1.68 [[ 9.99525989e-01 -2.47580686e-02 -1.82984805e-02 1.52111050e+02] [ 2.47576212e-02 9.99693452e-01 -2.51015777e-04 2.88839766e+00] [ 1.82990858e-02 -2.02130057e-04 9.99832537e-01 1.67562387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.915099893 meters 0.014744969058307708 Centerline is valid? [True, True] Translation: X:152.14, Y:2.89, Z:1.68 [[ 9.99441403e-01 -2.80188845e-02 -1.82160373e-02 1.52140084e+02] [ 2.80189670e-02 9.99607360e-01 -2.50741994e-04 2.88514423e+00] [ 1.82159104e-02 -2.59792617e-04 9.99834043e-01 1.67545699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.945099893 meters 0.014954412291881457 Centerline is valid? [True, True] Translation: X:152.17, Y:2.88, Z:1.68 [[ 9.99353164e-01 -3.10184147e-02 -1.81964449e-02 1.52170353e+02] [ 3.10190034e-02 9.99518764e-01 -2.49955032e-04 2.88364594e+00] [ 1.81954413e-02 -3.14642232e-04 9.99834400e-01 1.67632738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.975099893 meters 0.015576969124604736 Centerline is valid? [True, True] Translation: X:152.20, Y:2.88, Z:1.68 [[ 9.99278658e-01 -3.36890773e-02 -1.75273767e-02 1.52200242e+02] [ 3.36900422e-02 9.99432301e-01 -2.40301736e-04 2.88082109e+00] [ 1.75255220e-02 -3.50369665e-04 9.99846355e-01 1.67702070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.005099893 meters 0.01661792870472642 Centerline is valid? [True, True] Translation: X:152.23, Y:2.88, Z:1.68 [[ 9.99138498e-01 -3.80130559e-02 -1.66514244e-02 1.52231439e+02] [ 3.80145468e-02 9.99277160e-01 -2.27087025e-04 2.87633654e+00] [ 1.66480204e-02 -4.06104965e-04 9.99861330e-01 1.67893231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.035099893 meters 0.016800516437507202 Centerline is valid? [True, True] Translation: X:152.26, Y:2.88, Z:1.68 [[ 9.99081055e-01 -3.97602037e-02 -1.60053877e-02 1.52263263e+02] [ 3.97618161e-02 9.99209163e-01 -2.17590198e-04 2.87549068e+00] [ 1.60013815e-02 -4.19013040e-04 9.99871882e-01 1.67988359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.065099893 meters 0.017300806871481996 Centerline is valid? [True, True] Translation: X:152.30, Y:2.87, Z:1.68 [[ 9.99022185e-01 -4.11578285e-02 -1.61464027e-02 1.52295360e+02] [ 4.11596709e-02 9.99152558e-01 -2.18332649e-04 2.87395081e+00] [ 1.61417056e-02 -4.46461459e-04 9.99869615e-01 1.68042799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.095099893 meters 0.017878419238671277 Centerline is valid? [True, True] Translation: X:152.33, Y:2.87, Z:1.68 [[ 9.98983017e-01 -4.22354579e-02 -1.57828451e-02 1.52327083e+02] [ 4.22373692e-02 9.99107582e-01 -2.12362585e-04 2.87222490e+00] [ 1.57777294e-02 -4.54479238e-04 9.99875421e-01 1.68094996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.125099893 meters 0.01792460536536756 Centerline is valid? [True, True] Translation: X:152.36, Y:2.87, Z:1.68 [[ 9.98917156e-01 -4.35501459e-02 -1.63676767e-02 1.52359348e+02] [ 4.35523939e-02 9.99051120e-01 -2.19253760e-04 2.87134132e+00] [ 1.63616942e-02 -4.93835158e-04 9.99866017e-01 1.68126603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.155099893 meters 0.01908408879886221 Centerline is valid? [True, True] Translation: X:152.39, Y:2.87, Z:1.68 [[ 9.98857381e-01 -4.46548438e-02 -1.70257806e-02 1.52390114e+02] [ 4.46574551e-02 9.99002332e-01 -2.26974001e-04 2.86834767e+00] [ 1.70189300e-02 -5.33613377e-04 9.99855025e-01 1.68076365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.185099893 meters 0.01908408879886221 Centerline is valid? [True, True] Translation: X:152.42, Y:2.87, Z:1.68 [[ 9.98860518e-01 -4.45846265e-02 -1.70257908e-02 1.52421817e+02] [ 4.45872408e-02 9.99005469e-01 -2.26201914e-04 2.86870968e+00] [ 1.70189433e-02 -5.33188876e-04 9.99855025e-01 1.68115563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.215099893 meters 0.01913485892755469 Centerline is valid? [True, True] Translation: X:152.45, Y:2.87, Z:1.68 [[ 9.98724985e-01 -4.73123357e-02 -1.76053458e-02 1.52454310e+02] [ 4.73155768e-02 9.98879964e-01 -2.32626365e-04 2.86596097e+00] [ 1.75966333e-02 -6.00677329e-04 9.99844987e-01 1.68033376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24509989299997 meters 0.019742046961290755 Centerline is valid? [True, True] Translation: X:152.49, Y:2.86, Z:1.68 [[ 9.98630067e-01 -4.90835153e-02 -1.81327968e-02 1.52486181e+02] [ 4.90872693e-02 9.98794465e-01 -2.38266534e-04 2.86425612e+00] [ 1.81226320e-02 -6.52149354e-04 9.99835559e-01 1.68034347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27509989299998 meters 0.021541874786438563 Centerline is valid? [True, True] Translation: X:152.52, Y:2.86, Z:1.68 [[ 9.98532521e-01 -5.07480910e-02 -1.89059744e-02 1.52517090e+02] [ 5.07524940e-02 9.98711231e-01 -2.47150172e-04 2.86061501e+00] [ 1.88941513e-02 -7.12737867e-04 9.99821236e-01 1.67990695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30509989299998 meters 0.02173383434007321 Centerline is valid? [True, True] Translation: X:152.55, Y:2.86, Z:1.68 [[ 9.98308007e-01 -5.42560344e-02 -2.09142734e-02 1.52548521e+02] [ 5.42622131e-02 9.98526684e-01 -2.72367601e-04 2.85994032e+00] [ 2.08982376e-02 -8.62948001e-04 9.99781236e-01 1.67922528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33509989299998 meters 0.021991798252914998 Centerline is valid? [True, True] Translation: X:152.58, Y:2.86, Z:1.68 [[ 9.98201364e-01 -5.58501943e-02 -2.17897412e-02 1.52580389e+02] [ 5.58573050e-02 9.98438722e-01 -2.82632832e-04 2.85970154e+00] [ 2.17715064e-02 -9.34991740e-04 9.99762535e-01 1.67931822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36509989299998 meters 0.02307941824843558 Centerline is valid? [True, True] Translation: X:152.61, Y:2.86, Z:1.68 [[ 9.98102997e-01 -5.73388101e-02 -2.24202765e-02 1.52611547e+02] [ 5.73467459e-02 9.98354279e-01 -2.89357724e-04 2.85819323e+00] [ 2.23999704e-02 -9.96921090e-04 9.99748592e-01 1.67933048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39509989299998 meters 0.022694684446866058 Centerline is valid? [True, True] Translation: X:152.64, Y:2.86, Z:1.68 [[ 9.98025074e-01 -5.86724084e-02 -2.24388118e-02 1.52643696e+02] [ 5.86807249e-02 9.98276760e-01 -2.88206289e-04 2.85904671e+00] [ 2.24170541e-02 -1.02908864e-03 9.99748177e-01 1.67984028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42509989299998 meters 0.02259042223342095 Centerline is valid? [True, True] Translation: X:152.68, Y:2.86, Z:1.68 [[ 9.97933551e-01 -6.00338986e-02 -2.29032550e-02 1.52675660e+02] [ 6.00429592e-02 9.98195751e-01 -2.92490093e-04 2.85927269e+00] [ 2.28794911e-02 -1.08329353e-03 9.99737643e-01 1.68023198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45509989299998 meters 0.024187666343111525 Centerline is valid? [True, True] Translation: X:152.71, Y:2.86, Z:1.68 [[ 9.97846234e-01 -6.13829491e-02 -2.31306340e-02 1.52706797e+02] [ 6.13925868e-02 9.98113653e-01 -2.93894675e-04 2.85698828e+00] [ 2.31050418e-02 -1.12678776e-03 9.99732408e-01 1.68017885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48509989299998 meters 0.024701050150702574 Centerline is valid? [True, True] Translation: X:152.74, Y:2.86, Z:1.68 [[ 9.97758469e-01 -6.30556619e-02 -2.24058301e-02 1.52738373e+02] [ 6.30651522e-02 9.98009372e-01 -2.83489237e-04 2.85630409e+00] [ 2.23791040e-02 -1.13017330e-03 9.99748918e-01 1.68109442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51509989299998 meters 0.024701050150702574 Centerline is valid? [True, True] Translation: X:152.77, Y:2.86, Z:1.68 [[ 9.97763013e-01 -6.29837139e-02 -2.24058477e-02 1.52770102e+02] [ 6.29932174e-02 9.98013915e-01 -2.82096076e-04 2.85664593e+00] [ 2.23791152e-02 -1.12995140e-03 9.99748918e-01 1.68148665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54509989299999 meters 0.024852867140437915 Centerline is valid? [True, True] Translation: X:152.80, Y:2.86, Z:1.68 [[ 9.97690846e-01 -6.44857888e-02 -2.13204035e-02 1.52801896e+02] [ 6.44947638e-02 9.97918010e-01 -2.67093689e-04 2.85694739e+00] [ 2.12932384e-02 -1.10857746e-03 9.99772659e-01 1.68304817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.575099893 meters 0.026884035141186112 Centerline is valid? [True, True] Translation: X:152.83, Y:2.85, Z:1.68 [[ 9.97688911e-01 -6.45392388e-02 -2.12490962e-02 1.52833284e+02] [ 6.45481904e-02 9.97914556e-01 -2.65048625e-04 2.85453527e+00] [ 2.12218885e-02 -1.10715463e-03 9.99774177e-01 1.68293441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.605099893 meters 0.0266000284186172 Centerline is valid? [True, True] Translation: X:152.87, Y:2.86, Z:1.68 [[ 9.97650437e-01 -6.53302812e-02 -2.06291006e-02 1.52865449e+02] [ 6.53389120e-02 9.97863097e-01 -2.56078981e-04 2.85579468e+00] [ 2.06017479e-02 -1.09240568e-03 9.99787165e-01 1.68390241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.635099893 meters 0.02560665279840259 Centerline is valid? [True, True] Translation: X:152.90, Y:2.86, Z:1.69 [[ 9.97646472e-01 -6.57776710e-02 -1.93601487e-02 1.52897101e+02] [ 6.57853796e-02 9.97833767e-01 -2.39121180e-04 2.85819676e+00] [ 1.93339389e-02 -1.03505633e-03 9.99812546e-01 1.68586745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.665099893 meters 0.028204110282129817 Centerline is valid? [True, True] Translation: X:152.93, Y:2.86, Z:1.69 [[ 9.97630726e-01 -6.63230858e-02 -1.82806489e-02 1.52928085e+02] [ 6.63300672e-02 9.97797711e-01 -2.24831460e-04 2.85565845e+00] [ 1.82553011e-02 -9.88257897e-04 9.99832870e-01 1.68725479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.695099893 meters 0.026897736886245107 Centerline is valid? [True, True] Translation: X:152.96, Y:2.86, Z:1.69 [[ 9.97609450e-01 -6.68222933e-02 -1.76115457e-02 1.52960686e+02] [ 6.68288684e-02 9.97764429e-01 -2.15580445e-04 2.85849471e+00] [ 1.75865794e-02 -9.61894581e-04 9.99844881e-01 1.68899271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.725099893 meters 0.026897736886245107 Centerline is valid? [True, True] Translation: X:152.99, Y:2.86, Z:1.69 [[ 9.97616656e-01 -6.67146187e-02 -1.76115634e-02 1.52993269e+02] [ 6.67212026e-02 9.97771635e-01 -2.14127304e-04 2.85880282e+00] [ 1.75866038e-02 -9.61447724e-04 9.99844881e-01 1.68939543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.755099893 meters 0.026905640245380953 Centerline is valid? [True, True] Translation: X:153.03, Y:2.86, Z:1.69 [[ 9.97627996e-01 -6.66829745e-02 -1.70810840e-02 1.53025832e+02] [ 6.66891938e-02 9.97773776e-01 -2.05873931e-04 2.85945364e+00] [ 1.70567859e-02 -9.33738122e-04 9.99854086e-01 1.69026916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.785099893 meters 0.02740672498437439 Centerline is valid? [True, True] Translation: X:153.06, Y:2.86, Z:1.69 [[ 9.97612880e-01 -6.68928239e-02 -1.71432569e-02 1.53058123e+02] [ 6.68991483e-02 9.97759722e-01 -2.04942739e-04 2.85989341e+00] [ 1.71185604e-02 -9.42415766e-04 9.99853023e-01 1.69076868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.815099893 meters 0.027708905885672014 Centerline is valid? [True, True] Translation: X:153.09, Y:2.86, Z:1.69 [[ 9.97593332e-01 -6.70879153e-02 -1.75144239e-02 1.53090350e+02] [ 6.70945686e-02 9.97746599e-01 -2.08113909e-04 2.86047428e+00] [ 1.74889188e-02 -9.67509668e-04 9.99846589e-01 1.69061096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.845099893 meters 0.027708905885672014 Centerline is valid? [True, True] Translation: X:153.12, Y:2.86, Z:1.69 [[ 9.97600488e-01 -6.69814133e-02 -1.75144408e-02 1.53122934e+02] [ 6.69880752e-02 9.97753755e-01 -2.06686815e-04 2.86076963e+00] [ 1.74889432e-02 -9.67067808e-04 9.99846589e-01 1.69101369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.875099893 meters 0.026677756157490722 Centerline is valid? [True, True] Translation: X:153.16, Y:2.86, Z:1.69 [[ 9.97589952e-01 -6.70218741e-02 -1.79542743e-02 1.53155481e+02] [ 6.70289129e-02 9.97751011e-01 -2.10120975e-04 2.86335495e+00] [ 1.79279780e-02 -9.93840913e-04 9.99838787e-01 1.69095702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.905099893 meters 0.026406045269654344 Centerline is valid? [True, True] Translation: X:153.19, Y:2.87, Z:1.69 [[ 9.97559933e-01 -6.71995947e-02 -1.89313208e-02 1.53188016e+02] [ 6.72074794e-02 9.97738997e-01 -2.20139501e-04 2.86501330e+00] [ 1.89033103e-02 -1.05272401e-03 9.99820762e-01 1.69017841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.935099893 meters 0.028198299507633397 Centerline is valid? [True, True] Translation: X:153.22, Y:2.86, Z:1.69 [[ 9.97554169e-01 -6.72166557e-02 -1.91729257e-02 1.53219338e+02] [ 6.72247706e-02 9.97737832e-01 -2.21674032e-04 2.86317000e+00] [ 1.91444535e-02 -1.06776368e-03 9.99816158e-01 1.68980310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.965099893 meters 0.029079098636166426 Centerline is valid? [True, True] Translation: X:153.25, Y:2.86, Z:1.69 [[ 9.97545071e-01 -6.72448916e-02 -1.95436877e-02 1.53250904e+02] [ 6.72533496e-02 9.97735905e-01 -2.24902745e-04 2.86247497e+00] [ 1.95145625e-02 -1.09002783e-03 9.99808979e-01 1.68927482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99509989299997 meters 0.026644756384593522 Centerline is valid? [True, True] Translation: X:153.28, Y:2.87, Z:1.69 [[ 9.97526997e-01 -6.71500870e-02 -2.07546853e-02 1.53283372e+02] [ 6.71596325e-02 9.97742215e-01 -2.37541646e-04 2.86646185e+00] [ 2.07237766e-02 -1.15692283e-03 9.99784570e-01 1.68893394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02509989299998 meters 0.028858514044802788 Centerline is valid? [True, True] Translation: X:153.32, Y:2.86, Z:1.69 [[ 9.97509679e-01 -6.71920713e-02 -2.14397981e-02 1.53315075e+02] [ 6.72022975e-02 9.97739341e-01 -2.43972344e-04 2.86444743e+00] [ 2.14077230e-02 -1.19743891e-03 9.99770111e-01 1.68826669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05509989299998 meters 0.027559738281091307 Centerline is valid? [True, True] Translation: X:153.35, Y:2.87, Z:1.69 [[ 9.97518011e-01 -6.68951770e-02 -2.19739293e-02 1.53347112e+02] [ 6.69058774e-02 9.97759260e-01 -2.48683817e-04 2.86742428e+00] [ 2.19413272e-02 -1.22211844e-03 9.99758513e-01 1.68860208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08509989299998 meters 0.029733774882679854 Centerline is valid? [True, True] Translation: X:153.38, Y:2.87, Z:1.69 [[ 9.97548492e-01 -6.64553331e-02 -2.19247320e-02 1.53378762e+02] [ 6.64659102e-02 9.97788666e-01 -2.46740418e-04 2.86557838e+00] [ 2.18926464e-02 -1.21111174e-03 9.99759594e-01 1.68837169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11509989299998 meters 0.028963013397169626 Centerline is valid? [True, True] Translation: X:153.41, Y:2.87, Z:1.69 [[ 9.97567035e-01 -6.61766677e-02 -2.19239572e-02 1.53410972e+02] [ 6.61872058e-02 9.97807193e-01 -2.45407852e-04 2.86752619e+00] [ 2.18921224e-02 -1.20627468e-03 9.99759611e-01 1.68901562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14509989299998 meters 0.02953558854420032 Centerline is valid? [True, True] Translation: X:153.44, Y:2.87, Z:1.69 [[ 9.97572426e-01 -6.61392044e-02 -2.17912720e-02 1.53441978e+02] [ 6.61496358e-02 9.97809685e-01 -2.42573609e-04 2.86737120e+00] [ 2.17595859e-02 -1.19949997e-03 9.99762513e-01 1.68944134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17509989299998 meters 0.025938206379897525 Centerline is valid? [True, True] Translation: X:153.47, Y:2.87, Z:1.69 [[ 9.97581532e-01 -6.61832147e-02 -2.12336591e-02 1.53473698e+02] [ 6.61931558e-02 9.97806800e-01 -2.35093074e-04 2.87315410e+00] [ 2.12026487e-02 -1.17099840e-03 9.99774513e-01 1.69100631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20509989299998 meters 0.02968756223474947 Centerline is valid? [True, True] Translation: X:153.51, Y:2.87, Z:1.69 [[ 9.97597682e-01 -6.62037951e-02 -2.03941602e-02 1.53505144e+02] [ 6.62130071e-02 9.97805486e-01 -2.23963147e-04 2.86931834e+00] [ 2.03642321e-02 -1.12693355e-03 9.99791992e-01 1.69133267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23509989299998 meters 0.030253973951912698 Centerline is valid? [True, True] Translation: X:153.54, Y:2.87, Z:1.69 [[ 9.97623050e-01 -6.58612368e-02 -2.02619787e-02 1.53536164e+02] [ 6.58703075e-02 9.97828169e-01 -2.20126634e-04 2.86935665e+00] [ 2.02324710e-02 -1.11505937e-03 9.99794681e-01 1.69196723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26509989299998 meters 0.0266748546546127 Centerline is valid? [True, True] Translation: X:153.57, Y:2.88, Z:1.69 [[ 9.97625200e-01 -6.59087933e-02 -1.99998013e-02 1.53567815e+02] [ 6.59176790e-02 9.97825041e-01 -2.15336648e-04 2.87544900e+00] [ 1.99704952e-02 -1.10351522e-03 9.99799961e-01 1.69359023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29509989299999 meters 0.028087260019478772 Centerline is valid? [True, True] Translation: X:153.60, Y:2.87, Z:1.69 [[ 9.97619718e-01 -6.60496118e-02 -1.98077441e-02 1.53599001e+02] [ 6.60583807e-02 9.97815737e-01 -2.11986950e-04 2.87464657e+00] [ 1.97784804e-02 -1.09698514e-03 9.99803785e-01 1.69405812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.325099893 meters 0.028752588491475196 Centerline is valid? [True, True] Translation: X:153.63, Y:2.88, Z:1.70 [[ 9.97629052e-01 -6.60909216e-02 -1.91902103e-02 1.53630767e+02] [ 6.60991835e-02 9.97813037e-01 -2.04132654e-04 2.87506281e+00] [ 1.91617333e-02 -1.06480856e-03 9.99815830e-01 1.69511652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.355099893 meters 0.027396285277154077 Centerline is valid? [True, True] Translation: X:153.66, Y:2.88, Z:1.70 [[ 9.97626773e-01 -6.62486054e-02 -1.87601939e-02 1.53662770e+02] [ 6.62565575e-02 9.97802600e-01 -1.98034193e-04 2.87895826e+00] [ 1.87320897e-02 -1.04542165e-03 9.99823992e-01 1.69662568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.385099893 meters 0.026599719522016594 Centerline is valid? [True, True] Translation: X:153.70, Y:2.88, Z:1.70 [[ 9.97599810e-01 -6.66295161e-02 -1.88447996e-02 1.53695153e+02] [ 6.66376334e-02 9.97777223e-01 -1.97566479e-04 2.88106727e+00] [ 1.88160756e-02 -1.05868057e-03 9.99822401e-01 1.69698026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.415099893 meters 0.026599719522016594 Centerline is valid? [True, True] Translation: X:153.73, Y:2.88, Z:1.70 [[ 9.97607119e-01 -6.65199883e-02 -1.88448164e-02 1.53727742e+02] [ 6.65281165e-02 9.97784532e-01 -1.95955038e-04 2.88131995e+00] [ 1.88161012e-02 -1.05822400e-03 9.99822401e-01 1.69738303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.445099893 meters 0.02756946454662777 Centerline is valid? [True, True] Translation: X:153.76, Y:2.88, Z:1.70 [[ 9.97572570e-01 -6.70275622e-02 -1.88752285e-02 1.53758717e+02] [ 6.70358395e-02 9.97750549e-01 -1.94557651e-04 2.88051568e+00] [ 1.88458103e-02 -1.07123141e-03 9.99821828e-01 1.69740544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.475099893 meters 0.028242157017661647 Centerline is valid? [True, True] Translation: X:153.79, Y:2.88, Z:1.70 [[ 9.97528511e-01 -6.75429175e-02 -1.93603613e-02 1.53790587e+02] [ 6.75517456e-02 9.97715752e-01 -1.98368972e-04 2.88038353e+00] [ 1.93295359e-02 -1.10994750e-03 9.99812551e-01 1.69734007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.505099893 meters 0.02879236250391174 Centerline is valid? [True, True] Translation: X:153.82, Y:2.88, Z:1.70 [[ 9.97472698e-01 -6.82042680e-02 -1.99096391e-02 1.53822630e+02] [ 6.82137644e-02 9.97670708e-01 -2.02551067e-04 2.88032579e+00] [ 1.98770786e-02 -1.15607227e-03 9.99801763e-01 1.69710557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.535099893 meters 0.02820932935428905 Centerline is valid? [True, True] Translation: X:153.85, Y:2.88, Z:1.70 [[ 9.97411978e-01 -6.91649528e-02 -1.96355752e-02 1.53854960e+02] [ 6.91744023e-02 9.97604562e-01 -1.98370100e-04 2.88179283e+00] [ 1.96022596e-02 -1.16042246e-03 9.99807184e-01 1.69743569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.565099893 meters 0.029636630585148576 Centerline is valid? [True, True] Translation: X:153.89, Y:2.88, Z:1.70 [[ 9.97340094e-01 -7.01520463e-02 -1.97845375e-02 1.53885752e+02] [ 7.01618562e-02 9.97535601e-01 -1.98710235e-04 2.87998981e+00] [ 1.97497204e-02 -1.18993819e-03 9.99804247e-01 1.69747481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.595099893 meters 0.03250133078615333 Centerline is valid? [True, True] Translation: X:153.92, Y:2.88, Z:1.70 [[ 9.97158522e-01 -7.26852961e-02 -1.97921659e-02 1.53915456e+02] [ 7.26956193e-02 9.97354154e-01 -1.98342766e-04 2.87692352e+00] [ 1.97542155e-02 -1.24102458e-03 9.99804096e-01 1.69787016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.625099893 meters 0.033356414026784874 Centerline is valid? [True, True] Translation: X:153.95, Y:2.88, Z:1.70 [[ 9.97094457e-01 -7.35900184e-02 -1.96761826e-02 1.53947778e+02] [ 7.36004064e-02 9.97287793e-01 -1.96672909e-04 2.87606169e+00] [ 1.96372898e-02 -1.25207357e-03 9.99806386e-01 1.69869626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.655099893 meters 0.031943559900972106 Centerline is valid? [True, True] Translation: X:153.98, Y:2.88, Z:1.70 [[ 9.97037074e-01 -7.43936080e-02 -1.95618125e-02 1.53979573e+02] [ 7.44040635e-02 9.97228157e-01 -1.93784979e-04 2.87828996e+00] [ 1.95220066e-02 -1.26226753e-03 9.99808631e-01 1.69948669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.685099893 meters 0.029072705789931375 Centerline is valid? [True, True] Translation: X:154.01, Y:2.88, Z:1.70 [[ 9.97029046e-01 -7.45542336e-02 -1.93583785e-02 1.54011713e+02] [ 7.45645422e-02 9.97216172e-01 -1.89740802e-04 2.88264462e+00] [ 1.93186341e-02 -1.25427154e-03 9.99812591e-01 1.70039976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.715099893 meters 0.03150886948454113 Centerline is valid? [True, True] Translation: X:154.04, Y:2.88, Z:1.70 [[ 9.97080436e-01 -7.38485280e-02 -1.94164858e-02 1.54042690e+02] [ 7.38588029e-02 9.97268691e-01 -1.88372488e-04 2.88026675e+00] [ 1.93773644e-02 -1.24625588e-03 9.99811465e-01 1.70080914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74509989299997 meters 0.031511849819836554 Centerline is valid? [True, True] Translation: X:154.07, Y:2.88, Z:1.70 [[ 9.97167520e-01 -7.28522091e-02 -1.86947032e-02 1.54074868e+02] [ 7.28616004e-02 9.97342045e-01 -1.79186627e-04 2.88116903e+00] [ 1.86580676e-02 -1.18344691e-03 9.99825223e-01 1.70163313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77509989299998 meters 0.03057974886948483 Centerline is valid? [True, True] Translation: X:154.11, Y:2.88, Z:1.70 [[ 9.97243154e-01 -7.18807866e-02 -1.84185618e-02 1.54107103e+02] [ 7.18897612e-02 9.97412568e-01 -1.75244957e-04 2.88322767e+00] [ 1.83835018e-02 -1.14934418e-03 9.99830349e-01 1.70269836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80509989299998 meters 0.031352866851370856 Centerline is valid? [True, True] Translation: X:154.14, Y:2.88, Z:1.70 [[ 9.97342041e-01 -7.06155034e-02 -1.79528055e-02 1.54138299e+02] [ 7.06238462e-02 9.97503004e-01 -1.69658846e-04 2.88289355e+00] [ 1.79199580e-02 -1.09868828e-03 9.99838821e-01 1.70347964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83509989299998 meters 0.0284657465185387 Centerline is valid? [True, True] Translation: X:154.17, Y:2.89, Z:1.70 [[ 9.97450323e-01 -6.92024578e-02 -1.74319671e-02 1.54170084e+02] [ 6.92101258e-02 9.97602091e-01 -1.63738755e-04 2.88756106e+00] [ 1.74014979e-02 -1.04314736e-03 9.99848038e-01 1.70474045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86509989299998 meters 0.029856881389240312 Centerline is valid? [True, True] Translation: X:154.20, Y:2.89, Z:1.71 [[ 9.97523531e-01 -6.81903771e-02 -1.72301509e-02 1.54200909e+02] [ 6.81977376e-02 9.97671811e-01 -1.60708685e-04 2.88608045e+00] [ 1.72009947e-02 -1.01474662e-03 9.99851537e-01 1.70572653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89509989299998 meters 0.027477083755775834 Centerline is valid? [True, True] Translation: X:154.23, Y:2.89, Z:1.71 [[ 9.97702462e-01 -6.55217397e-02 -1.72249717e-02 1.54232291e+02] [ 6.55287138e-02 9.97850671e-01 -1.59819368e-04 2.88977439e+00] [ 1.71984212e-02 -9.69278065e-04 9.99851626e-01 1.70622556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92509989299998 meters 0.025980944377851676 Centerline is valid? [True, True] Translation: X:154.26, Y:2.89, Z:1.71 [[ 9.97782365e-01 -6.41306994e-02 -1.78214943e-02 1.54264342e+02] [ 6.41379591e-02 9.97941028e-01 -1.64496823e-04 2.89189901e+00] [ 1.77953497e-02 -9.78902245e-04 9.99841171e-01 1.70583001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95509989299998 meters 0.028632553128425383 Centerline is valid? [True, True] Translation: X:154.29, Y:2.89, Z:1.70 [[ 9.97899318e-01 -6.18857723e-02 -1.91599294e-02 1.54294859e+02] [ 6.18937720e-02 9.98082727e-01 -1.75760581e-04 2.88827938e+00] [ 1.91340716e-02 -1.01048894e-03 9.99816416e-01 1.70425520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98509989299998 meters 0.02586749125340167 Centerline is valid? [True, True] Translation: X:154.33, Y:2.89, Z:1.70 [[ 9.97935795e-01 -6.12031751e-02 -1.94504437e-02 1.54327082e+02] [ 6.12113044e-02 9.98124814e-01 -1.77687307e-04 2.89249625e+00] [ 1.94248456e-02 -1.01326651e-03 9.99810806e-01 1.70474000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01509989299998 meters 0.0270831921654388 Centerline is valid? [True, True] Translation: X:154.36, Y:2.89, Z:1.70 [[ 9.97967839e-01 -6.04775416e-02 -2.00663592e-02 1.54358592e+02] [ 6.04860745e-02 9.98169025e-01 -1.81982226e-04 2.89110118e+00] [ 2.00406240e-02 -1.03212289e-03 9.99798634e-01 1.70461486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04509989299999 meters 0.025927754720663124 Centerline is valid? [True, True] Translation: X:154.39, Y:2.89, Z:1.70 [[ 9.98043116e-01 -5.90742180e-02 -2.04981607e-02 1.54391369e+02] [ 5.90828556e-02 9.98253065e-01 -1.84499812e-04 2.89288497e+00] [ 2.04732509e-02 -1.02695110e-03 9.99789874e-01 1.70465468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.075099893 meters 0.02434602008734144 Centerline is valid? [True, True] Translation: X:154.42, Y:2.90, Z:1.70 [[ 9.98145641e-01 -5.69822465e-02 -2.14080167e-02 1.54423299e+02] [ 5.69912230e-02 9.98374661e-01 -1.91061639e-04 2.89556697e+00] [ 2.13841085e-02 -1.02936171e-03 9.99770804e-01 1.70497077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.105099893 meters 0.02308913528285421 Centerline is valid? [True, True] Translation: X:154.45, Y:2.90, Z:1.71 [[ 9.98275650e-01 -5.44283325e-02 -2.19836815e-02 1.54454813e+02] [ 5.44372032e-02 9.98517177e-01 -1.95168526e-04 2.89812215e+00] [ 2.19617063e-02 -1.00189815e-03 9.99758311e-01 1.70526027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.135099893 meters 0.021733071220449596 Centerline is valid? [True, True] Translation: X:154.49, Y:2.90, Z:1.71 [[ 9.98457749e-01 -5.10799538e-02 -2.17476860e-02 1.54486149e+02] [ 5.10878592e-02 9.98694144e-01 -1.92289851e-04 2.90098895e+00] [ 2.17291088e-02 -9.19049426e-04 9.99763473e-01 1.70604329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.165099893 meters 0.02026133352786844 Centerline is valid? [True, True] Translation: X:154.52, Y:2.90, Z:1.71 [[ 9.98837093e-01 -4.40697000e-02 -1.95530999e-02 1.54515305e+02] [ 4.40747540e-02 9.99028221e-01 -1.72600016e-04 2.90464753e+00] [ 1.95417050e-02 -6.89398769e-04 9.99808805e-01 1.70847393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.195099893 meters 0.020080333193876955 Centerline is valid? [True, True] Translation: X:154.55, Y:2.91, Z:1.71 [[ 9.99029762e-01 -3.99331544e-02 -1.85708729e-02 1.54545927e+02] [ 3.99369998e-02 9.99202186e-01 -1.63904292e-04 2.90559008e+00] [ 1.85626020e-02 -5.77919681e-04 9.99827533e-01 1.70937188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.225099893 meters 0.01766028709266813 Centerline is valid? [True, True] Translation: X:154.58, Y:2.91, Z:1.71 [[ 9.99190595e-01 -3.60752795e-02 -1.77968983e-02 1.54577192e+02] [ 3.60782104e-02 9.99348957e-01 -1.56460970e-04 2.91079691e+00] [ 1.77909561e-02 -4.85745911e-04 9.99841610e-01 1.71135754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.255099893 meters 0.01766028709266813 Centerline is valid? [True, True] Translation: X:154.61, Y:2.91, Z:1.71 [[ 9.99191878e-01 -3.60397188e-02 -1.77969039e-02 1.54608047e+02] [ 3.60426553e-02 9.99350240e-01 -1.55824534e-04 2.91103830e+00] [ 1.77909560e-02 -4.85749064e-04 9.99841610e-01 1.71173900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.285099893 meters 0.015863431479027294 Centerline is valid? [True, True] Translation: X:154.64, Y:2.92, Z:1.71 [[ 9.99455399e-01 -2.82316886e-02 -1.70844198e-02 1.54639177e+02] [ 2.82332630e-02 9.99601351e-01 -1.49079834e-04 2.91560173e+00] [ 1.70818178e-02 -3.33350271e-04 9.99854040e-01 1.71331839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.315099893 meters 0.015189313734152108 Centerline is valid? [True, True] Translation: X:154.67, Y:2.92, Z:1.71 [[ 9.99554743e-01 -2.44336049e-02 -1.71264279e-02 1.54670100e+02] [ 2.44346349e-02 9.99701419e-01 -1.49141543e-04 2.91733567e+00] [ 1.71249584e-02 -2.69402877e-04 9.99853321e-01 1.71374436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.345099893 meters 0.01450495365182604 Centerline is valid? [True, True] Translation: X:154.70, Y:2.92, Z:1.71 [[ 9.99625639e-01 -2.12520457e-02 -1.72317072e-02 1.54699407e+02] [ 2.12526165e-02 9.99774126e-01 -1.50014582e-04 2.91931420e+00] [ 1.72310031e-02 -2.16260443e-04 9.99851512e-01 1.71408579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.375099893 meters 0.014301374094830682 Centerline is valid? [True, True] Translation: X:154.73, Y:2.92, Z:1.71 [[ 9.99674042e-01 -1.85743316e-02 -1.75157998e-02 1.54728398e+02] [ 1.85744976e-02 9.99827467e-01 -1.53221565e-04 2.92010915e+00] [ 1.75156238e-02 -1.72175560e-04 9.99846575e-01 1.71447182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.405099893 meters 0.01413068543266361 Centerline is valid? [True, True] Translation: X:154.76, Y:2.92, Z:1.71 [[ 9.99697262e-01 -1.69934644e-02 -1.77934181e-02 1.54756719e+02] [ 1.69933491e-02 9.99855590e-01 -1.57687790e-04 2.92060199e+00] [ 1.77935282e-02 -1.44729714e-04 9.99841672e-01 1.71464814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.435099893 meters 0.014071228339246301 Centerline is valid? [True, True] Translation: X:154.78, Y:2.92, Z:1.71 [[ 9.99707421e-01 -1.60149882e-02 -1.81271251e-02 1.54784115e+02] [ 1.60146299e-02 9.99871744e-01 -1.64936759e-04 2.92059044e+00] [ 1.81274417e-02 -1.25410697e-04 9.99835677e-01 1.71455561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.465099893 meters 0.014030453275622797 Centerline is valid? [True, True] Translation: X:154.81, Y:2.92, Z:1.71 [[ 9.99699405e-01 -1.59099708e-02 -1.86540280e-02 1.54811897e+02] [ 1.59094931e-02 9.99873421e-01 -1.74017868e-04 2.91995776e+00] [ 1.86544354e-02 -1.22810571e-04 9.99825983e-01 1.71452459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49509989299997 meters 0.014007244633773773 Centerline is valid? [True, True] Translation: X:154.84, Y:2.92, Z:1.71 [[ 9.99683647e-01 -1.55027673e-02 -1.98057886e-02 1.54840144e+02] [ 1.55020624e-02 9.99879818e-01 -1.89131687e-04 2.91789102e+00] [ 1.98063403e-02 -1.17958714e-04 9.99803828e-01 1.71385215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52509989299998 meters 0.013902899883884387 Centerline is valid? [True, True] Translation: X:154.87, Y:2.92, Z:1.71 [[ 9.99668254e-01 -1.60180142e-02 -2.01693935e-02 1.54867630e+02] [ 1.60173205e-02 9.99871695e-01 -1.95949214e-04 2.91710785e+00] [ 2.01699444e-02 -1.27175430e-04 9.99796558e-01 1.71443645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55509989299998 meters 0.013956304554179382 Centerline is valid? [True, True] Translation: X:154.90, Y:2.92, Z:1.71 [[ 9.99654797e-01 -1.66034158e-02 -2.03620696e-02 1.54895999e+02] [ 1.66027106e-02 9.99862145e-01 -2.03690945e-04 2.91568518e+00] [ 2.03626446e-02 -1.34444919e-04 9.99792651e-01 1.71442059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58509989299998 meters 0.01384282858715793 Centerline is valid? [True, True] Translation: X:154.92, Y:2.91, Z:1.72 [[ 9.99638842e-01 -1.75804181e-02 -2.03252377e-02 1.54924131e+02] [ 1.75797991e-02 9.99845442e-01 -2.09142870e-04 2.91393857e+00] [ 2.03257731e-02 -1.48246260e-04 9.99793399e-01 1.71501859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61509989299998 meters 0.014078744925685657 Centerline is valid? [True, True] Translation: X:154.95, Y:2.91, Z:1.72 [[ 9.99624857e-01 -1.93163534e-02 -1.94171201e-02 1.54951663e+02] [ 1.93160375e-02 9.99813407e-01 -2.03835249e-04 2.90989656e+00] [ 1.94174343e-02 -1.71303037e-04 9.99811449e-01 1.71613415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64509989299998 meters 0.01413528708785843 Centerline is valid? [True, True] Translation: X:154.98, Y:2.91, Z:1.72 [[ 9.99602951e-01 -2.11437507e-02 -1.86247723e-02 1.54980741e+02] [ 2.11437284e-02 9.99776427e-01 -1.98136408e-04 2.90840648e+00] [ 1.86247977e-02 -1.95739389e-04 9.99826524e-01 1.71739364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67509989299998 meters 0.014277062726167602 Centerline is valid? [True, True] Translation: X:155.01, Y:2.91, Z:1.72 [[ 9.99579864e-01 -2.27893650e-02 -1.79092425e-02 1.55008607e+02] [ 2.27895466e-02 9.99740266e-01 -1.93975339e-04 2.90624247e+00] [ 1.79090114e-02 -2.14249674e-04 9.99839598e-01 1.71826137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70509989299998 meters 0.014561916810471897 Centerline is valid? [True, True] Translation: X:155.04, Y:2.90, Z:1.72 [[ 9.99499026e-01 -2.64785743e-02 -1.73372893e-02 1.55037276e+02] [ 2.64792594e-02 9.99649345e-01 -1.90083362e-04 2.90167168e+00] [ 1.73362430e-02 -2.69090444e-04 9.99849680e-01 1.71872009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73509989299998 meters 0.014987212879666126 Centerline is valid? [True, True] Translation: X:155.07, Y:2.90, Z:1.72 [[ 9.99443863e-01 -2.87796567e-02 -1.68432737e-02 1.55066698e+02] [ 2.87805764e-02 9.99585736e-01 -1.87840969e-04 2.89886961e+00] [ 1.68417022e-02 -2.97022622e-04 9.99858124e-01 1.71892270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76509989299998 meters 0.016102882819596247 Centerline is valid? [True, True] Translation: X:155.10, Y:2.89, Z:1.72 [[ 9.99308720e-01 -3.34125375e-02 -1.62998472e-02 1.55096300e+02] [ 3.34140066e-02 9.99441580e-01 -1.82277830e-04 2.89264319e+00] [ 1.62968354e-02 -3.62491377e-04 9.99867132e-01 1.71934513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79509989299999 meters 0.016102882819596247 Centerline is valid? [True, True] Translation: X:155.13, Y:2.89, Z:1.72 [[ 9.99309898e-01 -3.33772840e-02 -1.62998463e-02 1.55127150e+02] [ 3.33787471e-02 9.99442758e-01 -1.82358133e-04 2.89295956e+00] [ 1.62968499e-02 -3.61836160e-04 9.99867132e-01 1.71972674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.825099893 meters 0.017383880914669345 Centerline is valid? [True, True] Translation: X:155.16, Y:2.89, Z:1.72 [[ 9.99093275e-01 -3.89195611e-02 -1.72596254e-02 1.55157852e+02] [ 3.89220374e-02 9.99242232e-01 -1.92547102e-04 2.88736221e+00] [ 1.72540405e-02 -4.79407270e-04 9.99851023e-01 1.71953782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.855099893 meters 0.017383880914669345 Centerline is valid? [True, True] Translation: X:155.19, Y:2.89, Z:1.72 [[ 9.99094656e-01 -3.88841033e-02 -1.72596298e-02 1.55188706e+02] [ 3.88865811e-02 9.99243612e-01 -1.92154249e-04 2.88767684e+00] [ 1.72540465e-02 -4.79187710e-04 9.99851023e-01 1.71991935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.885099893 meters 0.018420469599407886 Centerline is valid? [True, True] Translation: X:155.22, Y:2.88, Z:1.72 [[ 9.98982246e-01 -4.16463742e-02 -1.73220028e-02 1.55219479e+02] [ 4.16492939e-02 9.99132273e-01 -1.92320777e-04 2.88427101e+00] [ 1.73149815e-02 -5.29324144e-04 9.99849944e-01 1.71990127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.915099893 meters 0.01986888699354907 Centerline is valid? [True, True] Translation: X:155.25, Y:2.88, Z:1.72 [[ 9.98827639e-01 -4.51258591e-02 -1.75215203e-02 1.55249259e+02] [ 4.51293849e-02 9.98981131e-01 -1.94315340e-04 2.88039664e+00] [ 1.75124368e-02 -5.96647902e-04 9.99846467e-01 1.71948187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.945099893 meters 0.020857600425638983 Centerline is valid? [True, True] Translation: X:155.28, Y:2.88, Z:1.72 [[ 9.98630495e-01 -4.87943797e-02 -1.88743947e-02 1.55280318e+02] [ 4.87991307e-02 9.98808591e-01 -2.09044048e-04 2.87702840e+00] [ 1.88621078e-02 -7.12296295e-04 9.99821841e-01 1.71888599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.975099893 meters 0.021545152524274462 Centerline is valid? [True, True] Translation: X:155.31, Y:2.87, Z:1.72 [[ 9.98421338e-01 -5.26092078e-02 -1.96749477e-02 1.55311332e+02] [ 5.26151231e-02 9.98614841e-01 -2.17235904e-04 2.87424518e+00] [ 1.96591234e-02 -8.18306834e-04 9.99806406e-01 1.71849149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.005099893 meters 0.027138985651851084 Centerline is valid? [True, True] Translation: X:155.34, Y:2.86, Z:1.72 [[ 9.98031443e-01 -5.89915244e-02 -2.12893880e-02 1.55341190e+02] [ 5.89999015e-02 9.98257961e-01 -2.34955867e-04 2.86356258e+00] [ 2.12661615e-02 -1.02157845e-03 9.99773328e-01 1.71666857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.035099893 meters 0.023407090096439837 Centerline is valid? [True, True] Translation: X:155.37, Y:2.87, Z:1.72 [[ 9.97878571e-01 -6.14781181e-02 -2.14195940e-02 1.55372667e+02] [ 6.14871723e-02 9.98107846e-01 -2.36249173e-04 2.86821789e+00] [ 2.13935890e-02 -1.08128228e-03 9.99770546e-01 1.71799972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.065099893 meters 0.026897310085099994 Centerline is valid? [True, True] Translation: X:155.40, Y:2.86, Z:1.72 [[ 9.97722547e-01 -6.41391455e-02 -2.08779548e-02 1.55403161e+02] [ 6.41483460e-02 9.97940347e-01 -2.29428912e-04 2.86262090e+00] [ 2.08496688e-02 -1.11037987e-03 9.99782005e-01 1.71892858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.095099893 meters 0.026100016309999384 Centerline is valid? [True, True] Translation: X:155.44, Y:2.86, Z:1.72 [[ 9.97687374e-01 -6.47788927e-02 -2.05815163e-02 1.55435183e+02] [ 6.47879935e-02 9.97899026e-01 -2.24999645e-04 2.86407447e+00] [ 2.05528502e-02 -1.10895584e-03 9.99788153e-01 1.71962863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.125099893 meters 0.024155844684745298 Centerline is valid? [True, True] Translation: X:155.47, Y:2.87, Z:1.72 [[ 9.97766307e-01 -6.39260017e-02 -1.93871987e-02 1.55467816e+02] [ 6.39339447e-02 9.97954110e-01 -2.10464655e-04 2.86760287e+00] [ 1.93609888e-02 -1.02950555e-03 9.99812028e-01 1.72121443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.155099893 meters 0.02516476934135199 Centerline is valid? [True, True] Translation: X:155.50, Y:2.87, Z:1.72 [[ 9.97893581e-01 -6.23542852e-02 -1.78981512e-02 1.55498334e+02] [ 6.23608229e-02 9.98053651e-01 -1.93151657e-04 2.86797310e+00] [ 1.78753589e-02 -9.23398637e-04 9.99839797e-01 1.72210168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.185099893 meters 0.025091662754956404 Centerline is valid? [True, True] Translation: X:155.53, Y:2.87, Z:1.72 [[ 9.97959948e-01 -6.14163453e-02 -1.74348678e-02 1.55530608e+02] [ 6.14224162e-02 9.98111843e-01 -1.87570617e-04 2.86930657e+00] [ 1.74134680e-02 -8.83703745e-04 9.99847984e-01 1.72269141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.215099893 meters 0.025387040433226735 Centerline is valid? [True, True] Translation: X:155.56, Y:2.87, Z:1.72 [[ 9.98033815e-01 -6.01854776e-02 -1.74989117e-02 1.55562258e+02] [ 6.01914264e-02 9.98186835e-01 -1.87007357e-04 2.87008731e+00] [ 1.74784384e-02 -8.66644792e-04 9.99846865e-01 1.72260706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24509989299997 meters 0.02385278455431778 Centerline is valid? [True, True] Translation: X:155.59, Y:2.87, Z:1.72 [[ 9.98088390e-01 -5.93026412e-02 -1.74000548e-02 1.55594146e+02] [ 5.93084106e-02 9.98239690e-01 -1.84714980e-04 2.87356353e+00] [ 1.73803794e-02 -8.47607718e-04 9.99848591e-01 1.72300021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27509989299998 meters 0.02385278455431778 Centerline is valid? [True, True] Translation: X:155.63, Y:2.87, Z:1.72 [[ 9.98092652e-01 -5.92308715e-02 -1.74000680e-02 1.55625871e+02] [ 5.92366518e-02 9.98243951e-01 -1.83462761e-04 2.87384004e+00] [ 1.73803793e-02 -8.47608937e-04 9.99848591e-01 1.72339233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30509989299998 meters 0.022655673295080427 Centerline is valid? [True, True] Translation: X:155.66, Y:2.88, Z:1.72 [[ 9.98125404e-01 -5.86862217e-02 -1.73667727e-02 1.55658133e+02] [ 5.86919194e-02 9.98276127e-01 -1.81857970e-04 2.87686569e+00] [ 1.73475071e-02 -8.37772162e-04 9.99849170e-01 1.72355289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33509989299998 meters 0.022655673295080427 Centerline is valid? [True, True] Translation: X:155.69, Y:2.88, Z:1.72 [[ 9.98129702e-01 -5.86130741e-02 -1.73667859e-02 1.55689858e+02] [ 5.86187829e-02 9.98280424e-01 -1.80585930e-04 2.87713917e+00] [ 1.73475071e-02 -8.37771672e-04 9.99849170e-01 1.72394500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36509989299998 meters 0.024633360678208677 Centerline is valid? [True, True] Translation: X:155.72, Y:2.88, Z:1.72 [[ 9.98166502e-01 -5.80660220e-02 -1.70871704e-02 1.55721484e+02] [ 5.80714880e-02 9.98312412e-01 -1.76528983e-04 2.87536430e+00] [ 1.70685846e-02 -8.16072092e-04 9.99853988e-01 1.72408772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39509989299998 meters 0.026635243749228266 Centerline is valid? [True, True] Translation: X:155.75, Y:2.87, Z:1.72 [[ 9.98201423e-01 -5.74578438e-02 -1.71030673e-02 1.55753126e+02] [ 5.74632467e-02 9.98347607e-01 -1.75768111e-04 2.87376798e+00] [ 1.70849055e-02 -8.07345795e-04 9.99853716e-01 1.72414195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42509989299998 meters 0.024727309268151518 Centerline is valid? [True, True] Translation: X:155.79, Y:2.88, Z:1.72 [[ 9.98251540e-01 -5.65332830e-02 -1.72583822e-02 1.55785068e+02] [ 5.65386639e-02 9.98400395e-01 -1.76366160e-04 2.87782305e+00] [ 1.72407462e-02 -7.99708080e-04 9.99851047e-01 1.72440281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45509989299998 meters 0.021529566280105626 Centerline is valid? [True, True] Translation: X:155.82, Y:2.88, Z:1.72 [[ 9.98297824e-01 -5.56923765e-02 -1.73151578e-02 1.55817688e+02] [ 5.56976895e-02 9.98447663e-01 -1.75625559e-04 2.88415222e+00] [ 1.72980599e-02 -7.89087671e-04 9.99850066e-01 1.72497672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48509989299998 meters 0.023549953802858965 Centerline is valid? [True, True] Translation: X:155.85, Y:2.88, Z:1.72 [[ 9.98357750e-01 -5.45832256e-02 -1.73917998e-02 1.55848830e+02] [ 5.45884424e-02 9.98508924e-01 -1.74987047e-04 2.88292787e+00] [ 1.73754187e-02 -7.74691588e-04 9.99848736e-01 1.72474661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51509989299998 meters 0.02259078917888684 Centerline is valid? [True, True] Translation: X:155.88, Y:2.89, Z:1.73 [[ 9.98442764e-01 -5.31527576e-02 -1.69360982e-02 1.55880690e+02] [ 5.31575158e-02 9.98586125e-01 -1.69417684e-04 2.88619914e+00] [ 1.69211577e-02 -7.31127047e-04 9.99856560e-01 1.72541255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54509989299999 meters 0.02045495976788312 Centerline is valid? [True, True] Translation: X:155.91, Y:2.89, Z:1.73 [[ 9.98529896e-01 -5.17470868e-02 -1.61333823e-02 1.55913237e+02] [ 5.17512411e-02 9.98659994e-01 -1.60166462e-04 2.89155374e+00] [ 1.61200516e-02 -6.74991557e-04 9.99869836e-01 1.72670451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.575099893 meters 0.02059342254728013 Centerline is valid? [True, True] Translation: X:155.94, Y:2.89, Z:1.73 [[ 9.98616783e-01 -5.02028259e-02 -1.56268144e-02 1.55944946e+02] [ 5.02065574e-02 9.98738844e-01 -1.53674501e-04 2.89364567e+00] [ 1.56148215e-02 -6.31106619e-04 9.99877882e-01 1.72735555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.605099893 meters 0.020165132725710348 Centerline is valid? [True, True] Translation: X:155.98, Y:2.90, Z:1.73 [[ 9.98706854e-01 -4.85110579e-02 -1.52084347e-02 1.55976762e+02] [ 4.85144128e-02 9.98822472e-01 -1.48478550e-04 2.89652316e+00] [ 1.51977292e-02 -5.89541736e-04 9.99884334e-01 1.72812920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.635099893 meters 0.020211102157260397 Centerline is valid? [True, True] Translation: X:156.01, Y:2.90, Z:1.73 [[ 9.98869244e-01 -4.48143758e-02 -1.58715268e-02 1.56006996e+02] [ 4.48175795e-02 9.98995176e-01 -1.53956183e-04 2.90077262e+00] [ 1.58624781e-02 -5.57541316e-04 9.99874028e-01 1.72868985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.665099893 meters 0.01939167053826267 Centerline is valid? [True, True] Translation: X:156.04, Y:2.90, Z:1.73 [[ 9.98956044e-01 -4.25814739e-02 -1.65420885e-02 1.56039117e+02] [ 4.25846570e-02 9.99092849e-01 -1.59934255e-04 2.90394157e+00] [ 1.65338925e-02 -5.44671872e-04 9.99863158e-01 1.72861045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.695099893 meters 0.01768383740282091 Centerline is valid? [True, True] Translation: X:156.07, Y:2.91, Z:1.73 [[ 9.99045647e-01 -4.04136516e-02 -1.65690233e-02 1.56070673e+02] [ 4.04165641e-02 9.99182904e-01 -1.59173339e-04 2.90882183e+00] [ 1.65619176e-02 -5.10641562e-04 9.99862712e-01 1.72895489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.725099893 meters 0.0174596992617751 Centerline is valid? [True, True] Translation: X:156.10, Y:2.91, Z:1.73 [[ 9.99137227e-01 -3.81192742e-02 -1.64840201e-02 1.56101161e+02] [ 3.81218574e-02 9.99273085e-01 -1.57598137e-04 2.91100446e+00] [ 1.64780451e-02 -4.70939296e-04 9.99864117e-01 1.72952468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.755099893 meters 0.016698664007384133 Centerline is valid? [True, True] Translation: X:156.13, Y:2.92, Z:1.73 [[ 9.99318947e-01 -3.32561787e-02 -1.59896394e-02 1.56131587e+02] [ 3.32580028e-02 9.99446788e-01 -1.51891155e-04 2.91649858e+00] [ 1.59858450e-02 -3.79995761e-04 9.99872146e-01 1.73072265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.785099893 meters 0.015621107545999428 Centerline is valid? [True, True] Translation: X:156.16, Y:2.92, Z:1.73 [[ 9.99406198e-01 -3.08107899e-02 -1.54255048e-02 1.56162736e+02] [ 3.08122013e-02 9.99525181e-01 -1.46210524e-04 2.92075108e+00] [ 1.54226853e-02 -3.29170053e-04 9.99881009e-01 1.73168789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.815099893 meters 0.014857460951049081 Centerline is valid? [True, True] Translation: X:156.19, Y:2.92, Z:1.73 [[ 9.99485734e-01 -2.82179655e-02 -1.52319858e-02 1.56193888e+02] [ 2.82190489e-02 9.99601753e-01 -1.43841785e-04 2.92422488e+00] [ 1.52299786e-02 -2.86064338e-04 9.99883976e-01 1.73219638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.845099893 meters 0.01415176989235367 Centerline is valid? [True, True] Translation: X:156.22, Y:2.93, Z:1.73 [[ 9.99602717e-01 -2.35909857e-02 -1.54231360e-02 1.56224180e+02] [ 2.35915536e-02 9.99721670e-01 -1.45145128e-04 2.92880129e+00] [ 1.54222674e-02 -2.18768274e-04 9.99881046e-01 1.73210979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.875099893 meters 0.013966234419590606 Centerline is valid? [True, True] Translation: X:156.25, Y:2.93, Z:1.73 [[ 9.99649714e-01 -2.15536150e-02 -1.53587178e-02 1.56253425e+02] [ 2.15539402e-02 9.99767676e-01 -1.44373277e-04 2.93025037e+00] [ 1.53582614e-02 -1.86718180e-04 9.99882038e-01 1.73221807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.905099893 meters 0.013675952090514589 Centerline is valid? [True, True] Translation: X:156.28, Y:2.93, Z:1.73 [[ 9.99694214e-01 -1.96484315e-02 -1.50139204e-02 1.56282964e+02] [ 1.96485228e-02 9.99806939e-01 -1.41436474e-04 2.93237095e+00] [ 1.50138008e-02 -1.53608133e-04 9.99887275e-01 1.73205452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.935099893 meters 0.013454144890283631 Centerline is valid? [True, True] Translation: X:156.31, Y:2.93, Z:1.73 [[ 9.99728229e-01 -1.79385964e-02 -1.48887800e-02 1.56312159e+02] [ 1.79384818e-02 9.99839083e-01 -1.41253254e-04 2.93406922e+00] [ 1.48889180e-02 -1.25867244e-04 9.99889146e-01 1.73195964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.965099893 meters 0.013262670411632076 Centerline is valid? [True, True] Translation: X:156.34, Y:2.94, Z:1.73 [[ 9.99747350e-01 -1.67590193e-02 -1.49790606e-02 1.56340805e+02] [ 1.67587194e-02 9.99859552e-01 -1.45548430e-04 2.93570530e+00] [ 1.49793960e-02 -1.05518216e-04 9.99887797e-01 1.73211879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99509989299997 meters 0.013176347761968717 Centerline is valid? [True, True] Translation: X:156.37, Y:2.94, Z:1.73 [[ 9.99773195e-01 -1.53690856e-02 -1.47428002e-02 1.56369422e+02] [ 1.53685989e-02 9.99881885e-01 -1.46310604e-04 2.93759470e+00] [ 1.47433075e-02 -8.02987635e-05 9.99891308e-01 1.73235156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02509989299998 meters 0.012834359314331583 Centerline is valid? [True, True] Translation: X:156.40, Y:2.94, Z:1.73 [[ 9.99816984e-01 -1.27079400e-02 -1.43006015e-02 1.56398202e+02] [ 1.27071943e-02 9.99919250e-01 -1.43016822e-04 2.94079142e+00] [ 1.43012642e-02 -3.87298743e-05 9.99897731e-01 1.73309717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05509989299998 meters 0.012790007200202316 Centerline is valid? [True, True] Translation: X:156.43, Y:2.94, Z:1.73 [[ 9.99830739e-01 -1.17990176e-02 -1.41165129e-02 1.56425967e+02] [ 1.17981506e-02 9.99930389e-01 -1.44700598e-04 2.94181713e+00] [ 1.41172376e-02 -2.18726393e-05 9.99900347e-01 1.73354843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08509989299998 meters 0.012790007200202316 Centerline is valid? [True, True] Translation: X:156.45, Y:2.94, Z:1.73 [[ 9.99827375e-01 -1.20807666e-02 -1.41164711e-02 1.56453352e+02] [ 1.20798714e-02 9.99927025e-01 -1.48679042e-04 2.94217043e+00] [ 1.41172371e-02 -2.18717791e-05 9.99900347e-01 1.73388830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11509989299998 meters 0.012885612476384185 Centerline is valid? [True, True] Translation: X:156.48, Y:2.94, Z:1.73 [[ 9.99842150e-01 -1.09263761e-02 -1.40103129e-02 1.56481514e+02] [ 1.09253261e-02 9.99940305e-01 -1.51484358e-04 2.94206304e+00] [ 1.40111317e-02 -1.60679109e-06 9.99901839e-01 1.73416452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14509989299998 meters 0.012822282902591055 Centerline is valid? [True, True] Translation: X:156.51, Y:2.94, Z:1.73 [[ 9.99837800e-01 -1.09941627e-02 -1.42653994e-02 1.56508186e+02] [ 1.09930269e-02 9.99939562e-01 -1.58034515e-04 2.94151617e+00] [ 1.42662747e-02 1.18896332e-06 9.99898232e-01 1.73425864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17509989299998 meters 0.012823372539989561 Centerline is valid? [True, True] Translation: X:156.54, Y:2.94, Z:1.73 [[ 9.99824101e-01 -1.16622944e-02 -1.46886748e-02 1.56535920e+02] [ 1.16611299e-02 9.99931993e-01 -1.64926255e-04 2.94074234e+00] [ 1.46895993e-02 -6.38930032e-06 9.99892102e-01 1.73418699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20509989299998 meters 0.01287872017652892 Centerline is valid? [True, True] Translation: X:156.56, Y:2.94, Z:1.73 [[ 9.99799656e-01 -1.27505540e-02 -1.54295531e-02 1.56563454e+02] [ 1.27493296e-02 9.99918708e-01 -1.77718893e-04 2.93961579e+00] [ 1.54305648e-02 -1.90331711e-05 9.99880942e-01 1.73452506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23509989299998 meters 0.012861543497317584 Centerline is valid? [True, True] Translation: X:156.59, Y:2.94, Z:1.73 [[ 9.99768017e-01 -1.43991198e-02 -1.60180292e-02 1.56590945e+02] [ 1.43979362e-02 9.99896326e-01 -1.89212045e-04 2.93854259e+00] [ 1.60190930e-02 -4.14584109e-05 9.99871685e-01 1.73466071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26509989299998 meters 0.012968917865150855 Centerline is valid? [True, True] Translation: X:156.62, Y:2.94, Z:1.73 [[ 9.99730128e-01 -1.63436762e-02 -1.65092597e-02 1.56618904e+02] [ 1.63426180e-02 9.99866431e-01 -1.99020499e-04 2.93696425e+00] [ 1.65103073e-02 -7.08377344e-05 9.99863693e-01 1.73439712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29509989299999 meters 0.013097690817346023 Centerline is valid? [True, True] Translation: X:156.65, Y:2.94, Z:1.73 [[ 9.99680320e-01 -1.87029778e-02 -1.70134466e-02 1.56647216e+02] [ 1.87021568e-02 9.99825078e-01 -2.07372836e-04 2.93509385e+00] [ 1.70143491e-02 -1.10881603e-04 9.99855239e-01 1.73480481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.325099893 meters 0.013992232205102564 Centerline is valid? [True, True] Translation: X:156.68, Y:2.93, Z:1.74 [[ 9.99567591e-01 -2.39673003e-02 -1.70352428e-02 1.56675285e+02] [ 2.39671795e-02 9.99712724e-01 -2.11278145e-04 2.92845703e+00] [ 1.70354127e-02 -1.97099936e-04 9.99854867e-01 1.73503809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.355099893 meters 0.014024149330946594 Centerline is valid? [True, True] Translation: X:156.70, Y:2.93, Z:1.74 [[ 9.99502680e-01 -2.68085098e-02 -1.66040976e-02 1.56704442e+02] [ 2.68087583e-02 9.99640559e-01 -2.07656082e-04 2.92648816e+00] [ 1.66036963e-02 -2.37582429e-04 9.99862121e-01 1.73584033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.385099893 meters 0.014468702152312291 Centerline is valid? [True, True] Translation: X:156.73, Y:2.92, Z:1.74 [[ 9.99425908e-01 -2.98266477e-02 -1.60694173e-02 1.56734512e+02] [ 2.98272592e-02 9.99555048e-01 -2.01669394e-04 2.92366853e+00] [ 1.60682823e-02 -2.77753056e-04 9.99870858e-01 1.73667118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.415099893 meters 0.015250943396671286 Centerline is valid? [True, True] Translation: X:156.76, Y:2.92, Z:1.74 [[ 9.99341328e-01 -3.27299846e-02 -1.56734730e-02 1.56764445e+02] [ 3.27309244e-02 9.99464180e-01 -1.96623015e-04 2.92045009e+00] [ 1.56715103e-02 -3.16513756e-04 9.99877144e-01 1.73757215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.445099893 meters 0.015771092560693874 Centerline is valid? [True, True] Translation: X:156.80, Y:2.92, Z:1.74 [[ 9.99250760e-01 -3.55960357e-02 -1.51934608e-02 1.56795876e+02] [ 3.55972675e-02 9.99366198e-01 -1.89442160e-04 2.91830726e+00] [ 1.51905745e-02 -3.51545465e-04 9.99884555e-01 1.73841567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.475099893 meters 0.016436728218581914 Centerline is valid? [True, True] Translation: X:156.83, Y:2.92, Z:1.74 [[ 9.99152331e-01 -3.81864374e-02 -1.53757882e-02 1.56827512e+02] [ 3.81880148e-02 9.99270553e-01 -1.91108250e-04 2.91596616e+00] [ 1.53718701e-02 -3.96224573e-04 9.99881767e-01 1.73915330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.505099893 meters 0.017925225350812226 Centerline is valid? [True, True] Translation: X:156.86, Y:2.91, Z:1.74 [[ 9.98965771e-01 -4.29261774e-02 -1.49910582e-02 1.56858349e+02] [ 4.29282204e-02 9.99078142e-01 -1.85632186e-04 2.91113859e+00] [ 1.49852070e-02 -4.58099249e-04 9.99887611e-01 1.73986315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.535099893 meters 0.019301170981905293 Centerline is valid? [True, True] Translation: X:156.89, Y:2.91, Z:1.74 [[ 9.98886831e-01 -4.47484777e-02 -1.49222054e-02 1.56889960e+02] [ 4.47507103e-02 9.98998168e-01 -1.84425247e-04 2.90752624e+00] [ 1.49155086e-02 -4.83559338e-04 9.99888641e-01 1.73976546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.565099893 meters 0.020314834756248328 Centerline is valid? [True, True] Translation: X:156.92, Y:2.90, Z:1.74 [[ 9.98793446e-01 -4.65546470e-02 -1.56306509e-02 1.56921128e+02] [ 4.65573331e-02 9.98915601e-01 -1.92189907e-04 2.90444576e+00] [ 1.56226484e-02 -5.35763401e-04 9.99877815e-01 1.73921360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.595099893 meters 0.021528402447468235 Centerline is valid? [True, True] Translation: X:156.95, Y:2.90, Z:1.74 [[ 9.98605212e-01 -5.02202325e-02 -1.62959582e-02 1.56952491e+02] [ 5.02236612e-02 9.98737976e-01 -1.99035964e-04 2.90003348e+00] [ 1.62853879e-02 -6.19684333e-04 9.99867192e-01 1.73860938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.625099893 meters 0.021128339319182794 Centerline is valid? [True, True] Translation: X:156.98, Y:2.90, Z:1.74 [[ 9.98517990e-01 -5.19271327e-02 -1.62910083e-02 1.56984106e+02] [ 5.19307965e-02 9.98650666e-01 -1.98337171e-04 2.89972896e+00] [ 1.62793253e-02 -6.47961801e-04 9.99867273e-01 1.73875152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.655099893 meters 0.021128339319182794 Centerline is valid? [True, True] Translation: X:157.02, Y:2.90, Z:1.74 [[ 9.98521682e-01 -5.18560790e-02 -1.62910197e-02 1.57015819e+02] [ 5.18597487e-02 9.98654358e-01 -1.97396485e-04 2.90005454e+00] [ 1.62793340e-02 -6.47743516e-04 9.99867273e-01 1.73914355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.685099893 meters 0.020994131863485782 Centerline is valid? [True, True] Translation: X:157.05, Y:2.90, Z:1.74 [[ 9.98420829e-01 -5.37583529e-02 -1.63060566e-02 1.57047668e+02] [ 5.37623005e-02 9.98553742e-01 -1.96483623e-04 2.90001795e+00] [ 1.62930365e-02 -6.80477773e-04 9.99867028e-01 1.73982890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.715099893 meters 0.021036706131054447 Centerline is valid? [True, True] Translation: X:157.08, Y:2.90, Z:1.74 [[ 9.98345919e-01 -5.50427206e-02 -1.66049679e-02 1.57080011e+02] [ 5.50470081e-02 9.98483744e-01 -1.99091378e-04 2.89954128e+00] [ 1.65907490e-02 -7.15291734e-04 9.99862108e-01 1.74009952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74509989299997 meters 0.022711046369494215 Centerline is valid? [True, True] Translation: X:157.11, Y:2.90, Z:1.74 [[ 9.98193252e-01 -5.75413250e-02 -1.72981916e-02 1.57110568e+02] [ 5.75463716e-02 9.98342813e-01 -2.06286639e-04 2.89619916e+00] [ 1.72813953e-02 -7.89534233e-04 9.99850354e-01 1.73955318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77509989299998 meters 0.024450918150041637 Centerline is valid? [True, True] Translation: X:157.14, Y:2.89, Z:1.74 [[ 9.98154848e-01 -5.81332131e-02 -1.75336302e-02 1.57141313e+02] [ 5.81385004e-02 9.98308505e-01 -2.08459968e-04 2.89358073e+00] [ 1.75160906e-02 -8.11303641e-04 9.99846252e-01 1.73946298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80509989299998 meters 0.021695088444247387 Centerline is valid? [True, True] Translation: X:157.17, Y:2.90, Z:1.74 [[ 9.98123022e-01 -5.85506732e-02 -1.79513706e-02 1.57173465e+02] [ 5.85562984e-02 9.98284085e-01 -2.12560576e-04 2.89802310e+00] [ 1.79330131e-02 -8.39004209e-04 9.99838839e-01 1.74049511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83509989299998 meters 0.024728694945702595 Centerline is valid? [True, True] Translation: X:157.20, Y:2.89, Z:1.74 [[ 9.98131620e-01 -5.83934069e-02 -1.79855471e-02 1.57204525e+02] [ 5.83990569e-02 9.98293296e-01 -2.11359621e-04 2.89388447e+00] [ 1.79671932e-02 -8.39374270e-04 9.99838225e-01 1.74010149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86509989299998 meters 0.02166800741333379 Centerline is valid? [True, True] Translation: X:157.24, Y:2.90, Z:1.74 [[ 9.98192569e-01 -5.73303832e-02 -1.80228456e-02 1.57236366e+02] [ 5.73359187e-02 9.98354921e-01 -2.09857938e-04 2.89931922e+00] [ 1.80052278e-02 -8.23877774e-04 9.99837553e-01 1.74151168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89509989299998 meters 0.02284866083565378 Centerline is valid? [True, True] Translation: X:157.27, Y:2.90, Z:1.74 [[ 9.98242471e-01 -5.65072251e-02 -1.78578431e-02 1.57267570e+02] [ 5.65125496e-02 9.98401867e-01 -2.06737938e-04 2.89840351e+00] [ 1.78409861e-02 -8.02817657e-04 9.99840515e-01 1.74222969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92509989299998 meters 0.02284866083565378 Centerline is valid? [True, True] Translation: X:157.30, Y:2.90, Z:1.74 [[ 9.98246500e-01 -5.64359954e-02 -1.78578554e-02 1.57299289e+02] [ 5.64413276e-02 9.98405897e-01 -2.05670623e-04 2.89871048e+00] [ 1.78409954e-02 -8.02611090e-04 9.99840515e-01 1.74262180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95509989299998 meters 0.023202786512702335 Centerline is valid? [True, True] Translation: X:157.33, Y:2.90, Z:1.74 [[ 9.98389215e-01 -5.41253550e-02 -1.70124011e-02 1.57329576e+02] [ 5.41298750e-02 9.98533885e-01 -1.95009731e-04 2.89996906e+00] [ 1.69980140e-02 -7.26183534e-04 9.99855260e-01 1.74377021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98509989299998 meters 0.02209147652994798 Centerline is valid? [True, True] Translation: X:157.36, Y:2.90, Z:1.74 [[ 9.98437965e-01 -5.30736852e-02 -1.74589040e-02 1.57361445e+02] [ 5.30782954e-02 9.98590334e-01 -1.99540463e-04 2.90267770e+00] [ 1.74448831e-02 -7.27460091e-04 9.99847562e-01 1.74442450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01509989299998 meters 0.021221906551491684 Centerline is valid? [True, True] Translation: X:157.39, Y:2.91, Z:1.74 [[ 9.98502207e-01 -5.16064623e-02 -1.81691098e-02 1.57393428e+02] [ 5.16112368e-02 9.98667231e-01 -2.06333541e-04 2.90599792e+00] [ 1.81555427e-02 -7.31705732e-04 9.99834907e-01 1.74454950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04509989299999 meters 0.019394655156678597 Centerline is valid? [True, True] Translation: X:157.43, Y:2.91, Z:1.75 [[ 9.98537657e-01 -5.07302289e-02 -1.86813191e-02 1.57425408e+02] [ 5.07351491e-02 9.98712121e-01 -2.10779102e-04 2.91010809e+00] [ 1.86679527e-02 -7.37328640e-04 9.99825467e-01 1.74514086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.075099893 meters 0.021590962011404122 Centerline is valid? [True, True] Translation: X:157.46, Y:2.91, Z:1.74 [[ 9.98577969e-01 -4.99900682e-02 -1.85211258e-02 1.57456533e+02] [ 4.99948001e-02 9.98749456e-01 -2.07730891e-04 2.90794945e+00] [ 1.85083488e-02 -7.18524490e-04 9.99828448e-01 1.74485954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.105099893 meters 0.02079511608283476 Centerline is valid? [True, True] Translation: X:157.49, Y:2.91, Z:1.75 [[ 9.98617879e-01 -4.90790253e-02 -1.88037707e-02 1.57488632e+02] [ 4.90837631e-02 9.98794644e-01 -2.09757406e-04 2.91040884e+00] [ 1.87914002e-02 -7.13492331e-04 9.99823171e-01 1.74570208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.135099893 meters 0.019737226543959742 Centerline is valid? [True, True] Translation: X:157.52, Y:2.91, Z:1.75 [[ 9.98658842e-01 -4.80449683e-02 -1.92924403e-02 1.57520400e+02] [ 4.80497898e-02 9.98844919e-01 -2.13814541e-04 2.91338956e+00] [ 1.92804287e-02 -7.13469919e-04 9.99813861e-01 1.74620159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.165099893 meters 0.019465839650278535 Centerline is valid? [True, True] Translation: X:157.55, Y:2.92, Z:1.75 [[ 9.98701492e-01 -4.70119244e-02 -1.96267466e-02 1.57552566e+02] [ 4.70167433e-02 9.98894078e-01 -2.16095777e-04 2.91505730e+00] [ 1.96152001e-02 -7.06970533e-04 9.99807354e-01 1.74625800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.195099893 meters 0.01942694453402167 Centerline is valid? [True, True] Translation: X:157.58, Y:2.92, Z:1.75 [[ 9.98789521e-01 -4.47185425e-02 -2.04876845e-02 1.57582991e+02] [ 4.47233439e-02 9.98999386e-01 -2.23997628e-04 2.91698760e+00] [ 2.04772011e-02 -6.92551278e-04 9.99790080e-01 1.74619608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.225099893 meters 0.01942694453402167 Centerline is valid? [True, True] Translation: X:157.61, Y:2.92, Z:1.75 [[ 9.98792666e-01 -4.46482317e-02 -2.04877016e-02 1.57614699e+02] [ 4.46530505e-02 9.99002530e-01 -2.22432168e-04 2.91727258e+00] [ 2.04771969e-02 -6.92674753e-04 9.99790080e-01 1.74658793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.255099893 meters 0.01807356826745913 Centerline is valid? [True, True] Translation: X:157.65, Y:2.92, Z:1.75 [[ 9.98841623e-01 -4.36082918e-02 -2.03403298e-02 1.57645654e+02] [ 4.36128496e-02 9.99048483e-01 -2.19680348e-04 2.92078263e+00] [ 2.03305555e-02 -6.67673868e-04 9.99793090e-01 1.74749001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.285099893 meters 0.018280495249425877 Centerline is valid? [True, True] Translation: X:157.68, Y:2.92, Z:1.75 [[ 9.98910258e-01 -4.21652641e-02 -2.00096929e-02 1.57676249e+02] [ 4.21693971e-02 9.99110452e-01 -2.15533839e-04 2.92145673e+00] [ 2.00009813e-02 -6.28497723e-04 9.99799763e-01 1.74782405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.315099893 meters 0.017485402944042185 Centerline is valid? [True, True] Translation: X:157.71, Y:2.92, Z:1.75 [[ 9.98963331e-01 -4.07699395e-02 -2.02503161e-02 1.57707217e+02] [ 4.07738964e-02 9.99168375e-01 -2.17619141e-04 2.92403733e+00] [ 2.02423478e-02 -6.08290749e-04 9.99794918e-01 1.74857355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.345099893 meters 0.017200111215522385 Centerline is valid? [True, True] Translation: X:157.74, Y:2.93, Z:1.75 [[ 9.99027624e-01 -3.91013409e-02 -2.03688797e-02 1.57738498e+02] [ 3.91050127e-02 9.99235083e-01 -2.18161320e-04 2.92552841e+00] [ 2.03618296e-02 -5.78576114e-04 9.99792509e-01 1.74860917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.375099893 meters 0.016215335099676396 Centerline is valid? [True, True] Translation: X:157.77, Y:2.93, Z:1.75 [[ 9.99082171e-01 -3.71786983e-02 -2.12734661e-02 1.57769466e+02] [ 3.71822814e-02 9.99308474e-01 -2.27227125e-04 2.92842334e+00] [ 2.12672029e-02 -5.63977431e-04 9.99773668e-01 1.74899096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.405099893 meters 0.015999596455735298 Centerline is valid? [True, True] Translation: X:157.80, Y:2.93, Z:1.75 [[ 9.99235536e-01 -3.27143976e-02 -2.14035303e-02 1.57799406e+02] [ 3.27170059e-02 9.99464629e-01 -2.28390828e-04 2.93093424e+00] [ 2.13995432e-02 -4.72043195e-04 9.99770892e-01 1.74786351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.435099893 meters 0.015999596455735298 Centerline is valid? [True, True] Translation: X:157.83, Y:2.93, Z:1.75 [[ 9.99234395e-01 -3.27492442e-02 -2.14035270e-02 1.57828564e+02] [ 3.27518537e-02 9.99463488e-01 -2.28706006e-04 2.93127522e+00] [ 2.13995337e-02 -4.72474276e-04 9.99770892e-01 1.74822414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.465099893 meters 0.014759335529167833 Centerline is valid? [True, True] Translation: X:157.86, Y:2.94, Z:1.75 [[ 9.99309060e-01 -2.99535366e-02 -2.20042879e-02 1.57858535e+02] [ 2.99555999e-02 9.99551202e-01 -2.35917437e-04 2.93519857e+00] [ 2.20014790e-02 -4.23397212e-04 9.99757849e-01 1.74917422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49509989299997 meters 0.013752637682772172 Centerline is valid? [True, True] Translation: X:157.89, Y:2.94, Z:1.75 [[ 9.99480296e-01 -2.34474117e-02 -2.21214258e-02 1.57886916e+02] [ 2.34478822e-02 9.99725032e-01 -2.38148128e-04 2.94005395e+00] [ 2.21209271e-02 -2.80676225e-04 9.99755263e-01 1.74950147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52509989299998 meters 0.013356046155384663 Centerline is valid? [True, True] Translation: X:157.92, Y:2.94, Z:1.75 [[ 9.99562150e-01 -1.97817965e-02 -2.20043104e-02 1.57915127e+02] [ 1.97813066e-02 9.99804302e-01 -2.39946372e-04 2.94277314e+00] [ 2.20047508e-02 -1.95432700e-04 9.99757847e-01 1.74977212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55509989299998 meters 0.013054631036226236 Centerline is valid? [True, True] Translation: X:157.94, Y:2.95, Z:1.75 [[ 9.99621923e-01 -1.63154289e-02 -2.21318187e-02 1.57944293e+02] [ 1.63139659e-02 9.99866888e-01 -2.46666823e-04 2.94576116e+00] [ 2.21328971e-02 -1.14484171e-04 9.99755031e-01 1.75015461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58509989299998 meters 0.01293749327645201 Centerline is valid? [True, True] Translation: X:157.97, Y:2.95, Z:1.75 [[ 9.99664044e-01 -1.30747415e-02 -2.23796899e-02 1.57972577e+02] [ 1.30723060e-02 9.99914521e-01 -2.55123510e-04 2.94855714e+00] [ 2.23811126e-02 -3.75163554e-05 9.99749511e-01 1.75056945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61509989299998 meters 0.012991330175842987 Centerline is valid? [True, True] Translation: X:158.00, Y:2.95, Z:1.75 [[ 9.99705554e-01 -1.00541542e-02 -2.20843731e-02 1.58000086e+02] [ 1.00509083e-02 9.99949455e-01 -2.57973582e-04 2.95104413e+00] [ 2.20858506e-02 3.59296135e-05 9.99756077e-01 1.75117750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64509989299998 meters 0.013131062573170479 Centerline is valid? [True, True] Translation: X:158.03, Y:2.95, Z:1.75 [[ 9.99732748e-01 -7.32096303e-03 -2.19279584e-02 1.58028071e+02] [ 7.31701037e-03 9.99973196e-01 -2.60485325e-04 2.95358569e+00] [ 2.19292777e-02 9.99686105e-05 9.99759519e-01 1.75135912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67509989299998 meters 0.01356098233168922 Centerline is valid? [True, True] Translation: X:158.06, Y:2.96, Z:1.75 [[ 9.99762845e-01 -3.16790735e-03 -2.15457380e-02 1.58056333e+02] [ 3.16308686e-03 9.99994964e-01 -2.57808675e-04 2.95607027e+00] [ 2.15464462e-02 1.89596494e-04 9.99767830e-01 1.75183708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70509989299998 meters 0.013825267610605893 Centerline is valid? [True, True] Translation: X:158.08, Y:2.96, Z:1.75 [[ 9.99763493e-01 -2.08701809e-03 -2.16472490e-02 1.58084597e+02] [ 2.08185818e-03 9.99997799e-01 -2.60896303e-04 2.95681929e+00] [ 2.16477458e-02 2.15768097e-04 9.99765637e-01 1.75191482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73509989299998 meters 0.013488325816403137 Centerline is valid? [True, True] Translation: X:158.11, Y:2.96, Z:1.75 [[ 9.99755083e-01 -1.87956694e-03 -2.20508897e-02 1.58113090e+02] [ 1.87408458e-03 9.99998208e-01 -2.69285518e-04 2.95558976e+00] [ 2.20513563e-02 2.27894333e-04 9.99756813e-01 1.75294853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76509989299998 meters 0.01387944997517233 Centerline is valid? [True, True] Translation: X:158.14, Y:2.96, Z:1.75 [[ 9.99759717e-01 -2.17164973e-03 -2.18126842e-02 1.58140159e+02] [ 2.16626167e-03 9.99997617e-01 -2.70640457e-04 2.95606011e+00] [ 2.18132200e-02 2.23323444e-04 9.99762038e-01 1.75231076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79509989299999 meters 0.01347296767452864 Centerline is valid? [True, True] Translation: X:158.17, Y:2.95, Z:1.75 [[ 9.99768804e-01 -3.06318759e-03 -2.12827432e-02 1.58168237e+02] [ 3.05817393e-03 9.99995288e-01 -2.68116837e-04 2.95409637e+00] [ 2.12834642e-02 2.02968519e-04 9.99773461e-01 1.75387107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.825099893 meters 0.013322316756484322 Centerline is valid? [True, True] Translation: X:158.20, Y:2.95, Z:1.75 [[ 9.99773208e-01 -4.46883401e-03 -2.08221530e-02 1.58196935e+02] [ 4.46425544e-03 9.99990000e-01 -2.66367045e-04 2.95239042e+00] [ 2.08231352e-02 1.73351225e-04 9.99783160e-01 1.75444306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.855099893 meters 0.013145416514779386 Centerline is valid? [True, True] Translation: X:158.23, Y:2.95, Z:1.75 [[ 9.99755320e-01 -6.30492507e-03 -2.12025362e-02 1.58225735e+02] [ 6.30055827e-03 9.99980114e-01 -2.72752350e-04 2.95029898e+00] [ 2.12038342e-02 1.39097799e-04 9.99775164e-01 1.75454707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.885099893 meters 0.01294186842095309 Centerline is valid? [True, True] Translation: X:158.25, Y:2.95, Z:1.75 [[ 9.99740403e-01 -8.86511789e-03 -2.09889518e-02 1.58254341e+02] [ 8.86137160e-03 9.99960700e-01 -2.71489469e-04 2.94758891e+00] [ 2.09905337e-02 8.54280895e-05 9.99779671e-01 1.75469132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.915099893 meters 0.012775971981357385 Centerline is valid? [True, True] Translation: X:158.28, Y:2.94, Z:1.76 [[ 9.99696262e-01 -1.44431141e-02 -1.99694702e-02 1.58283170e+02] [ 1.44408080e-02 9.99895692e-01 -2.59688226e-04 2.94166570e+00] [ 1.99711379e-02 -2.87659345e-05 9.99800557e-01 1.75614328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.945099893 meters 0.012828640024261245 Centerline is valid? [True, True] Translation: X:158.31, Y:2.94, Z:1.76 [[ 9.99659862e-01 -1.76373277e-02 -1.92115635e-02 1.58310585e+02] [ 1.76357551e-02 9.99844446e-01 -2.51288317e-04 2.93843368e+00] [ 1.92130071e-02 -8.76075839e-05 9.99815409e-01 1.75667631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.975099893 meters 0.01307816739945279 Centerline is valid? [True, True] Translation: X:158.34, Y:2.94, Z:1.76 [[ 9.99603091e-01 -2.04919919e-02 -1.93323234e-02 1.58338586e+02] [ 2.04909002e-02 9.99790007e-01 -2.54578642e-04 2.93508559e+00] [ 1.93334806e-02 -1.41659111e-04 9.99813081e-01 1.75715269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.005099893 meters 0.013405305970989684 Centerline is valid? [True, True] Translation: X:158.37, Y:2.93, Z:1.76 [[ 9.99521982e-01 -2.37569327e-02 -1.97842136e-02 1.58367248e+02] [ 2.37563711e-02 9.99717743e-01 -2.63444572e-04 2.93181594e+00] [ 1.97848880e-02 -2.06682478e-04 9.99804239e-01 1.75719045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.035099893 meters 0.014096341671676305 Centerline is valid? [True, True] Translation: X:158.40, Y:2.93, Z:1.76 [[ 9.99355484e-01 -2.96135177e-02 -2.02893057e-02 1.58396417e+02] [ 2.96140306e-02 9.99561371e-01 -2.75242079e-04 2.92519868e+00] [ 2.02885571e-02 -3.25783439e-04 9.99794113e-01 1.75709673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.065099893 meters 0.014503852430394069 Centerline is valid? [True, True] Translation: X:158.43, Y:2.92, Z:1.76 [[ 9.99261942e-01 -3.23661881e-02 -2.06881910e-02 1.58425551e+02] [ 3.23672367e-02 9.99476003e-01 -2.84246734e-04 2.92223831e+00] [ 2.06865504e-02 -3.85582632e-04 9.99785936e-01 1.75731415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.095099893 meters 0.015110171785541108 Centerline is valid? [True, True] Translation: X:158.45, Y:2.92, Z:1.76 [[ 9.99182644e-01 -3.46400885e-02 -2.08352427e-02 1.58453888e+02] [ 3.46416227e-02 9.99399758e-01 -2.87389840e-04 2.91897771e+00] [ 2.08326917e-02 -4.34611676e-04 9.99782881e-01 1.75725843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.125099893 meters 0.015652735866747054 Centerline is valid? [True, True] Translation: X:158.48, Y:2.92, Z:1.76 [[ 9.99105454e-01 -3.68594126e-02 -2.07286313e-02 1.58483875e+02] [ 3.68613887e-02 9.99320347e-01 -2.86873010e-04 2.91648890e+00] [ 2.07251170e-02 -4.77469747e-04 9.99785098e-01 1.75807486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.155099893 meters 0.016190745939816446 Centerline is valid? [True, True] Translation: X:158.51, Y:2.91, Z:1.76 [[ 9.99050651e-01 -3.84048356e-02 -2.05636745e-02 1.58514305e+02] [ 3.84070986e-02 9.99262135e-01 -2.85025223e-04 2.91393971e+00] [ 2.05594476e-02 -5.05036438e-04 9.99788505e-01 1.75876610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.185099893 meters 0.017509118771673736 Centerline is valid? [True, True] Translation: X:158.54, Y:2.91, Z:1.76 [[ 9.98963280e-01 -4.04667672e-02 -2.08519849e-02 1.58544339e+02] [ 4.04695584e-02 9.99180730e-01 -2.88280026e-04 2.90934619e+00] [ 2.08465672e-02 -5.55889458e-04 9.99782532e-01 1.75902008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.215099893 meters 0.01638734724103292 Centerline is valid? [True, True] Translation: X:158.58, Y:2.91, Z:1.76 [[ 9.98951823e-01 -4.07753480e-02 -2.07996952e-02 1.58575078e+02] [ 4.07782144e-02 9.99168182e-01 -2.86479800e-04 2.91046812e+00] [ 2.07940749e-02 -5.61994911e-04 9.99783622e-01 1.75988662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24509989299997 meters 0.01671529876332021 Centerline is valid? [True, True] Translation: X:158.61, Y:2.91, Z:1.76 [[ 9.98940947e-01 -4.10537703e-02 -2.07743077e-02 1.58605542e+02] [ 4.10567000e-02 9.99156777e-01 -2.85644793e-04 2.90904292e+00] [ 2.07685171e-02 -5.67582238e-04 9.99784150e-01 1.76026067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27509989299998 meters 0.01649889386915088 Centerline is valid? [True, True] Translation: X:158.64, Y:2.91, Z:1.76 [[ 9.98952934e-01 -4.09375802e-02 -2.04242592e-02 1.58636739e+02] [ 4.09404079e-02 9.99161551e-01 -2.79841259e-04 2.90863116e+00] [ 2.04185905e-02 -5.56629255e-04 9.99791364e-01 1.76072979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30509989299998 meters 0.016142761228640876 Centerline is valid? [True, True] Translation: X:158.67, Y:2.91, Z:1.76 [[ 9.98967661e-01 -4.05246510e-02 -2.05271930e-02 1.58668306e+02] [ 4.05274354e-02 9.99178387e-01 -2.80510919e-04 2.90846135e+00] [ 2.05216952e-02 -5.51693151e-04 9.99789256e-01 1.76150667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33509989299998 meters 0.016041939346445176 Centerline is valid? [True, True] Translation: X:158.70, Y:2.91, Z:1.76 [[ 9.98974067e-01 -4.02986133e-02 -2.06599776e-02 1.58699897e+02] [ 4.03014010e-02 9.99187529e-01 -2.81574538e-04 2.90866275e+00] [ 2.06545390e-02 -5.51340381e-04 9.99786520e-01 1.76161476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36509989299998 meters 0.01711014384666516 Centerline is valid? [True, True] Translation: X:158.73, Y:2.91, Z:1.76 [[ 9.98968066e-01 -4.00566899e-02 -2.14071134e-02 1.58730765e+02] [ 4.00596409e-02 9.99197248e-01 -2.91130497e-04 2.90674439e+00] [ 2.14015905e-02 -5.66731206e-04 9.99770799e-01 1.76078722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39509989299998 meters 0.01608435663497931 Centerline is valid? [True, True] Translation: X:158.76, Y:2.91, Z:1.76 [[ 9.98978709e-01 -3.96853004e-02 -2.16012824e-02 1.58760756e+02] [ 3.96882234e-02 9.99212069e-01 -2.93547110e-04 2.90899179e+00] [ 2.15959116e-02 -5.64069209e-04 9.99766622e-01 1.76159786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42509989299998 meters 0.01648136574427815 Centerline is valid? [True, True] Translation: X:158.79, Y:2.91, Z:1.76 [[ 9.98981948e-01 -3.94465745e-02 -2.18868928e-02 1.58790593e+02] [ 3.94495143e-02 9.99221521e-01 -2.97598444e-04 2.90845665e+00] [ 2.18815935e-02 -5.66131817e-04 9.99760409e-01 1.76123920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45509989299998 meters 0.016845177442555558 Centerline is valid? [True, True] Translation: X:158.82, Y:2.91, Z:1.76 [[ 9.98989756e-01 -3.92718773e-02 -2.18446315e-02 1.58820189e+02] [ 3.92747599e-02 9.99228405e-01 -2.97209737e-04 2.90841778e+00] [ 2.18394482e-02 -5.61033174e-04 9.99761333e-01 1.76109296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48509989299998 meters 0.01668839956854677 Centerline is valid? [True, True] Translation: X:158.85, Y:2.91, Z:1.76 [[ 9.98989315e-01 -3.90421957e-02 -2.22722838e-02 1.58849537e+02] [ 3.90451287e-02 9.99237402e-01 -3.03327158e-04 2.90965401e+00] [ 2.22671416e-02 -5.66603598e-04 9.99751896e-01 1.76143672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51509989299998 meters 0.015954643039410972 Centerline is valid? [True, True] Translation: X:158.88, Y:2.91, Z:1.76 [[ 9.98996045e-01 -3.87742191e-02 -2.24379403e-02 1.58879406e+02] [ 3.87771106e-02 9.99247838e-01 -3.06376225e-04 2.91219769e+00] [ 2.24329428e-02 -5.64009855e-04 9.99748191e-01 1.76201055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54509989299999 meters 0.01595784390179081 Centerline is valid? [True, True] Translation: X:158.91, Y:2.91, Z:1.76 [[ 9.99026707e-01 -3.76263827e-02 -2.30194399e-02 1.58908514e+02] [ 3.76291026e-02 9.99291725e-01 -3.15145698e-04 2.91466938e+00] [ 2.30149936e-02 -5.51361896e-04 9.99734968e-01 1.76195427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.575099893 meters 0.0158596968036465 Centerline is valid? [True, True] Translation: X:158.94, Y:2.92, Z:1.76 [[ 9.99051207e-01 -3.68890089e-02 -2.31492139e-02 1.58937955e+02] [ 3.68915428e-02 9.99319225e-01 -3.17741042e-04 2.91633571e+00] [ 2.31451756e-02 -5.36570642e-04 9.99731971e-01 1.76256058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.605099893 meters 0.015281378241965675 Centerline is valid? [True, True] Translation: X:158.97, Y:2.92, Z:1.76 [[ 9.99083810e-01 -3.61443713e-02 -2.29156185e-02 1.58967142e+02] [ 3.61465924e-02 9.99346448e-01 -3.17417864e-04 2.91922870e+00] [ 2.29121148e-02 -5.11194472e-04 9.99737352e-01 1.76356255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.635099893 meters 0.015884777765218943 Centerline is valid? [True, True] Translation: X:159.00, Y:2.92, Z:1.76 [[ 9.99131163e-01 -3.50258421e-02 -2.25855933e-02 1.58995914e+02] [ 3.50276378e-02 9.99386294e-01 -3.16222581e-04 2.91958297e+00] [ 2.25828083e-02 -4.75172145e-04 9.99744863e-01 1.76339525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.665099893 meters 0.014551535994442578 Centerline is valid? [True, True] Translation: X:159.03, Y:2.92, Z:1.77 [[ 9.99188059e-01 -3.38447207e-02 -2.18576505e-02 1.59025083e+02] [ 3.38460574e-02 9.99427010e-01 -3.08889396e-04 2.92411839e+00] [ 2.18555805e-02 -4.31156695e-04 9.99761045e-01 1.76550605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.695099893 meters 0.014163353868764385 Centerline is valid? [True, True] Translation: X:159.05, Y:2.93, Z:1.77 [[ 9.99245593e-01 -3.22577121e-02 -2.16260356e-02 1.59054860e+02] [ 3.22585799e-02 9.99479509e-01 -3.08816994e-04 2.92700999e+00] [ 2.16247411e-02 -3.89041175e-04 9.99766082e-01 1.76645566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.725099893 meters 0.013806051494150665 Centerline is valid? [True, True] Translation: X:159.08, Y:2.93, Z:1.77 [[ 9.99374660e-01 -2.88283929e-02 -2.04746709e-02 1.59083898e+02] [ 2.88284364e-02 9.99584331e-01 -2.93091841e-04 2.93156004e+00] [ 2.04746096e-02 -2.97344189e-04 9.99790329e-01 1.76741493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.755099893 meters 0.013552680588520598 Centerline is valid? [True, True] Translation: X:159.11, Y:2.93, Z:1.77 [[ 9.99419897e-01 -2.73200622e-02 -2.03342839e-02 1.59112955e+02] [ 2.73197442e-02 9.99626703e-01 -2.93479375e-04 2.93414204e+00] [ 2.03347111e-02 -2.62218309e-04 9.99793194e-01 1.76820482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.785099893 meters 0.013333855713581711 Centerline is valid? [True, True] Translation: X:159.14, Y:2.94, Z:1.77 [[ 9.99469983e-01 -2.59085278e-02 -1.97104315e-02 1.59142017e+02] [ 2.59078612e-02 9.99664293e-01 -2.89212306e-04 2.93641786e+00] [ 1.97113077e-02 -2.21596106e-04 9.99805689e-01 1.76887291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.815099893 meters 0.012861444762519542 Centerline is valid? [True, True] Translation: X:159.17, Y:2.94, Z:1.77 [[ 9.99507099e-01 -2.46763935e-02 -1.94070636e-02 1.59171137e+02] [ 2.46754225e-02 9.99695473e-01 -2.89530781e-04 2.93896009e+00] [ 1.94082982e-02 -1.89489422e-04 9.99811623e-01 1.77006186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.845099893 meters 0.012687418587841464 Centerline is valid? [True, True] Translation: X:159.20, Y:2.94, Z:1.77 [[ 9.99580726e-01 -2.23043818e-02 -1.84631123e-02 1.59198491e+02] [ 2.23030329e-02 9.99751217e-01 -2.78991752e-04 2.94098687e+00] [ 1.84647417e-02 -1.32908622e-04 9.99829503e-01 1.77094548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.875099893 meters 0.012546746257684479 Centerline is valid? [True, True] Translation: X:159.23, Y:2.94, Z:1.77 [[ 9.99590095e-01 -2.18962682e-02 -1.84443693e-02 1.59227049e+02] [ 2.18948038e-02 9.99760240e-01 -2.81353433e-04 2.94235232e+00] [ 1.84461076e-02 -1.22597741e-04 9.99829849e-01 1.77153323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.905099893 meters 0.012562436298534317 Centerline is valid? [True, True] Translation: X:159.25, Y:2.94, Z:1.77 [[ 9.99592627e-01 -2.15276280e-02 -1.87387663e-02 1.59254789e+02] [ 2.15259762e-02 9.99768247e-01 -2.89871750e-04 2.94371422e+00] [ 1.87406638e-02 -1.13616574e-04 9.99824372e-01 1.77217503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.935099893 meters 0.0126397907835587 Centerline is valid? [True, True] Translation: X:159.28, Y:2.94, Z:1.77 [[ 9.99585976e-01 -2.21417435e-02 -1.83744172e-02 1.59282943e+02] [ 2.21402145e-02 9.99754834e-01 -2.86659793e-04 2.94363853e+00] [ 1.83762596e-02 -1.20272430e-04 9.99831135e-01 1.77232768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.965099893 meters 0.012523539459888083 Centerline is valid? [True, True] Translation: X:159.31, Y:2.94, Z:1.77 [[ 9.99555972e-01 -2.32538118e-02 -1.86311064e-02 1.59311301e+02] [ 2.32523723e-02 9.99729584e-01 -2.93916760e-04 2.94352080e+00] [ 1.86329029e-02 -1.39431169e-04 9.99826383e-01 1.77284958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99509989299997 meters 0.012667593746833869 Centerline is valid? [True, True] Translation: X:159.34, Y:2.94, Z:1.77 [[ 9.99526357e-01 -2.43405677e-02 -1.88307932e-02 1.59338847e+02] [ 2.43392134e-02 9.99703712e-01 -3.01134756e-04 2.94225144e+00] [ 1.88325436e-02 -1.57334568e-04 9.99822640e-01 1.77231365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02509989299998 meters 0.012882021993343176 Centerline is valid? [True, True] Translation: X:159.37, Y:2.94, Z:1.77 [[ 9.99488427e-01 -2.59526822e-02 -1.86907029e-02 1.59366785e+02] [ 2.59515879e-02 9.99663155e-01 -3.01130214e-04 2.94054856e+00] [ 1.86922221e-02 -1.84077255e-04 9.99825268e-01 1.77187272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05509989299998 meters 0.012961366068819476 Centerline is valid? [True, True] Translation: X:159.40, Y:2.94, Z:1.77 [[ 9.99435055e-01 -2.77214984e-02 -1.90023367e-02 1.59395086e+02] [ 2.77206340e-02 9.99615662e-01 -3.08940147e-04 2.93988827e+00] [ 1.90035976e-02 -2.17991208e-04 9.99819392e-01 1.77231693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08509989299998 meters 0.013210191174638085 Centerline is valid? [True, True] Translation: X:159.43, Y:2.94, Z:1.77 [[ 9.99383053e-01 -2.95110226e-02 -1.90423781e-02 1.59425034e+02] [ 2.95104153e-02 9.99564424e-01 -3.12952966e-04 2.93885549e+00] [ 1.90433192e-02 -2.49188594e-04 9.99818629e-01 1.77240908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11509989299998 meters 0.013521762115768901 Centerline is valid? [True, True] Translation: X:159.45, Y:2.94, Z:1.77 [[ 9.99326104e-01 -3.15030068e-02 -1.88387262e-02 1.59454868e+02] [ 3.15027535e-02 9.99503617e-01 -3.10278761e-04 2.93760020e+00] [ 1.88391497e-02 -2.83402084e-04 9.99822487e-01 1.77275499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14509989299998 meters 0.013521762115768901 Centerline is valid? [True, True] Translation: X:159.48, Y:2.94, Z:1.77 [[ 9.99326104e-01 -3.15030123e-02 -1.88387189e-02 1.59484865e+02] [ 3.15027506e-02 9.99503617e-01 -3.10723961e-04 2.93809520e+00] [ 1.88391564e-02 -2.82956898e-04 9.99822487e-01 1.77312616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17509989299998 meters 0.013902084295453726 Centerline is valid? [True, True] Translation: X:159.52, Y:2.94, Z:1.77 [[ 9.99268644e-01 -3.33691299e-02 -1.86729507e-02 1.59515359e+02] [ 3.33691985e-02 9.99443046e-01 -3.07989797e-04 2.93662461e+00] [ 1.86728281e-02 -3.15336853e-04 9.99825598e-01 1.77344182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20509989299998 meters 0.014675735666819121 Centerline is valid? [True, True] Translation: X:159.55, Y:2.93, Z:1.77 [[ 9.99127241e-01 -3.77470435e-02 -1.78862299e-02 1.59545761e+02] [ 3.77478075e-02 9.99287254e-01 -2.95013701e-04 2.93227804e+00] [ 1.78846174e-02 -3.80409737e-04 9.99839985e-01 1.77398754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23509989299998 meters 0.015163417913683714 Centerline is valid? [True, True] Translation: X:159.58, Y:2.93, Z:1.77 [[ 9.99030796e-01 -4.03596083e-02 -1.75661968e-02 1.59577088e+02] [ 4.03607520e-02 9.99185131e-01 -2.89547129e-04 2.93051038e+00] [ 1.75635687e-02 -4.19718416e-04 9.99845661e-01 1.77437895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26509989299998 meters 0.017212837240754605 Centerline is valid? [True, True] Translation: X:159.61, Y:2.93, Z:1.77 [[ 9.98933075e-01 -4.30513468e-02 -1.67120828e-02 1.59608139e+02] [ 4.30527694e-02 9.99072762e-01 -2.74808247e-04 2.92560930e+00] [ 1.67084176e-02 -4.44986401e-04 9.99860306e-01 1.77430463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29509989299999 meters 0.01666459485200102 Centerline is valid? [True, True] Translation: X:159.64, Y:2.93, Z:1.77 [[ 9.98827270e-01 -4.54294439e-02 -1.67406686e-02 1.59640057e+02] [ 4.54312216e-02 9.98967431e-01 -2.74292377e-04 2.92580171e+00] [ 1.67358436e-02 -4.86578316e-04 9.99859828e-01 1.77492272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.325099893 meters 0.018334234832534234 Centerline is valid? [True, True] Translation: X:159.67, Y:2.92, Z:1.78 [[ 9.98712565e-01 -4.80222301e-02 -1.63425268e-02 1.59671040e+02] [ 4.80242887e-02 9.98846133e-01 -2.66683820e-04 2.92216934e+00] [ 1.63364764e-02 -5.18497743e-04 9.99866416e-01 1.77536290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.355099893 meters 0.01816908388532 Centerline is valid? [True, True] Translation: X:159.70, Y:2.92, Z:1.78 [[ 9.98603680e-01 -5.05154738e-02 -1.54556784e-02 1.59703295e+02] [ 5.05176264e-02 9.98723138e-01 -2.51358985e-04 2.92211780e+00] [ 1.54486411e-02 -5.29776178e-04 9.99880522e-01 1.77647117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.385099893 meters 0.01857055876031555 Centerline is valid? [True, True] Translation: X:159.74, Y:2.92, Z:1.78 [[ 9.98491878e-01 -5.28913539e-02 -1.47130377e-02 1.59735036e+02] [ 5.28935765e-02 9.98600127e-01 -2.38303481e-04 2.92124122e+00] [ 1.47050455e-02 -5.40281091e-04 9.99891729e-01 1.77726426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.415099893 meters 0.019277984660672695 Centerline is valid? [True, True] Translation: X:159.77, Y:2.92, Z:1.78 [[ 9.98388516e-01 -5.49230144e-02 -1.42770222e-02 1.59767473e+02] [ 5.49253260e-02 9.98490438e-01 -2.30444819e-04 2.91949502e+00] [ 1.42681269e-02 -5.54096639e-04 9.99898052e-01 1.77781806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.445099893 meters 0.020842136364214378 Centerline is valid? [True, True] Translation: X:159.80, Y:2.92, Z:1.78 [[ 9.98175584e-01 -5.87418494e-02 -1.39605889e-02 1.59798826e+02] [ 5.87444455e-02 9.98273029e-01 -2.24397570e-04 2.91505723e+00] [ 1.39496609e-02 -5.96118879e-04 9.99902521e-01 1.77799831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.475099893 meters 0.02079372683984784 Centerline is valid? [True, True] Translation: X:159.83, Y:2.91, Z:1.78 [[ 9.98090075e-01 -6.01392433e-02 -1.41235390e-02 1.59831102e+02] [ 6.01420481e-02 9.98189803e-01 -2.26435950e-04 2.91455844e+00] [ 1.41115903e-02 -6.23415087e-04 9.99900232e-01 1.77811635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.505099893 meters 0.023007501315054017 Centerline is valid? [True, True] Translation: X:159.86, Y:2.91, Z:1.78 [[ 9.98030163e-01 -6.11602824e-02 -1.39718544e-02 1.59862692e+02] [ 6.11631410e-02 9.98127758e-01 -2.23018967e-04 2.91082856e+00] [ 1.39593356e-02 -6.31982846e-04 9.99902364e-01 1.77820380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.535099893 meters 0.02150027236551912 Centerline is valid? [True, True] Translation: X:159.89, Y:2.91, Z:1.78 [[ 9.97957043e-01 -6.23027080e-02 -1.41461208e-02 1.59894887e+02] [ 6.23057644e-02 9.98057083e-01 -2.24986072e-04 2.91270381e+00] [ 1.41326533e-02 -6.56858431e-04 9.99899913e-01 1.77882161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.565099893 meters 0.022076108272069024 Centerline is valid? [True, True] Translation: X:159.93, Y:2.91, Z:1.78 [[ 9.97894989e-01 -6.33078211e-02 -1.40609696e-02 1.59927331e+02] [ 6.33109546e-02 9.97993824e-01 -2.22607861e-04 2.91177964e+00] [ 1.40468536e-02 -6.68074138e-04 9.99901115e-01 1.77878766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.595099893 meters 0.025480666956340048 Centerline is valid? [True, True] Translation: X:159.96, Y:2.91, Z:1.78 [[ 9.97840421e-01 -6.41436707e-02 -1.41450655e-02 1.59958191e+02] [ 6.41469417e-02 9.97940439e-01 -2.22804783e-04 2.90688614e+00] [ 1.41302244e-02 -6.85039076e-04 9.99899929e-01 1.77869763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.625099893 meters 0.025987738368198315 Centerline is valid? [True, True] Translation: X:159.99, Y:2.91, Z:1.78 [[ 9.97723219e-01 -6.58597265e-02 -1.45215447e-02 1.59990777e+02] [ 6.58633808e-02 9.97828624e-01 -2.26974462e-04 2.90543338e+00] [ 1.45049615e-02 -7.29980340e-04 9.99894531e-01 1.77792444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.655099893 meters 0.02604084639644042 Centerline is valid? [True, True] Translation: X:160.02, Y:2.91, Z:1.78 [[ 9.97681495e-01 -6.63741391e-02 -1.50369190e-02 1.60023339e+02] [ 6.63781320e-02 9.97794512e-01 -2.33946012e-04 2.90526300e+00] [ 1.50192832e-02 -7.64718987e-04 9.99886912e-01 1.77778522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.685099893 meters 0.027254282251928698 Centerline is valid? [True, True] Translation: X:160.05, Y:2.90, Z:1.78 [[ 9.97629687e-01 -6.70022854e-02 -1.56748467e-02 1.60054278e+02] [ 6.70067186e-02 9.97752495e-01 -2.42792484e-04 2.90361677e+00] [ 1.56558850e-02 -8.08103049e-04 9.99877113e-01 1.77744209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.715099893 meters 0.0258477676709742 Centerline is valid? [True, True] Translation: X:160.09, Y:2.91, Z:1.78 [[ 9.97573349e-01 -6.77830547e-02 -1.59019327e-02 1.60086206e+02] [ 6.77877306e-02 9.97699736e-01 -2.45403284e-04 2.90566856e+00] [ 1.58819882e-02 -8.33148152e-04 9.99873526e-01 1.77749738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74509989299997 meters 0.02442387091587162 Centerline is valid? [True, True] Translation: X:160.12, Y:2.91, Z:1.78 [[ 9.97459249e-01 -6.92722238e-02 -1.66254763e-02 1.60118007e+02] [ 6.92775603e-02 9.97597391e-01 -2.55419261e-04 2.90770597e+00] [ 1.66032253e-02 -8.97002136e-04 9.99861755e-01 1.77730053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77509989299998 meters 0.027546599201078614 Centerline is valid? [True, True] Translation: X:160.15, Y:2.90, Z:1.78 [[ 9.97420590e-01 -6.97994535e-02 -1.67392361e-02 1.60149352e+02] [ 6.98049528e-02 9.97560626e-01 -2.56246174e-04 2.90414243e+00] [ 1.67162887e-02 -9.12896377e-04 9.99859856e-01 1.77730787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80509989299998 meters 0.02843874102914288 Centerline is valid? [True, True] Translation: X:160.18, Y:2.90, Z:1.78 [[ 9.97383487e-01 -7.02350978e-02 -1.71234061e-02 1.60180959e+02] [ 7.02409324e-02 9.97530021e-01 -2.61189665e-04 2.90381896e+00] [ 1.70994563e-02 -9.42257753e-04 9.99853350e-01 1.77752245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83509989299998 meters 0.026408892219044657 Centerline is valid? [True, True] Translation: X:160.21, Y:2.91, Z:1.78 [[ 9.97349082e-01 -7.06397141e-02 -1.74596678e-02 1.60212615e+02] [ 7.06458583e-02 9.97501425e-01 -2.65384492e-04 2.90736732e+00] [ 1.74347902e-02 -9.68772236e-04 9.99847533e-01 1.77781784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86509989299998 meters 0.027777895668082683 Centerline is valid? [True, True] Translation: X:160.24, Y:2.91, Z:1.78 [[ 9.97318650e-01 -7.10998033e-02 -1.73299767e-02 1.60243664e+02] [ 7.11059418e-02 9.97468734e-01 -2.62487644e-04 2.90619546e+00] [ 1.73047727e-02 -9.70480490e-04 9.99849790e-01 1.77800090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89509989299998 meters 0.025274176182133387 Centerline is valid? [True, True] Translation: X:160.28, Y:2.91, Z:1.78 [[ 9.97314625e-01 -7.12682741e-02 -1.68633018e-02 1.60275447e+02] [ 7.12741267e-02 9.97456733e-01 -2.54448594e-04 2.91033929e+00] [ 1.68385480e-02 -9.48151801e-04 9.99857772e-01 1.77876153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92509989299998 meters 0.027958904182838078 Centerline is valid? [True, True] Translation: X:160.31, Y:2.91, Z:1.78 [[ 9.97327683e-01 -7.11662883e-02 -1.65182332e-02 1.60306589e+02] [ 7.11719081e-02 9.97464033e-01 -2.48131942e-04 2.90879543e+00] [ 1.64940021e-02 -9.28165320e-04 9.99863534e-01 1.77974003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95509989299998 meters 0.026819142494537308 Centerline is valid? [True, True] Translation: X:160.34, Y:2.91, Z:1.78 [[ 9.97343691e-01 -7.10222216e-02 -1.61680712e-02 1.60338279e+02] [ 7.10276018e-02 9.97474321e-01 -2.41941380e-04 2.91176641e+00] [ 1.61444191e-02 -9.07080615e-04 9.99869259e-01 1.78061552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98509989299998 meters 0.026232677940702536 Centerline is valid? [True, True] Translation: X:160.37, Y:2.91, Z:1.78 [[ 9.97387377e-01 -7.05418858e-02 -1.55648125e-02 1.60370577e+02] [ 7.05468305e-02 9.97508442e-01 -2.31832471e-04 2.91386032e+00] [ 1.55423857e-02 -8.66821407e-04 9.99878834e-01 1.78156772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01509989299998 meters 0.027159000138115556 Centerline is valid? [True, True] Translation: X:160.40, Y:2.91, Z:1.78 [[ 9.97418237e-01 -7.01740342e-02 -1.52468477e-02 1.60402272e+02] [ 7.01787524e-02 9.97534406e-01 -2.26019182e-04 2.91408969e+00] [ 1.52251158e-02 -8.44569092e-04 9.99883735e-01 1.78244396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04509989299999 meters 0.02821219721364873 Centerline is valid? [True, True] Translation: X:160.43, Y:2.91, Z:1.78 [[ 9.97446652e-01 -6.97675195e-02 -1.52535216e-02 1.60433962e+02] [ 6.97722110e-02 9.97562924e-01 -2.25031162e-04 2.91401401e+00] [ 1.52320475e-02 -8.39815347e-04 9.99883633e-01 1.78303283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.075099893 meters 0.026718607528315196 Centerline is valid? [True, True] Translation: X:160.47, Y:2.92, Z:1.78 [[ 9.97402732e-01 -7.05185543e-02 -1.46602885e-02 1.60466375e+02] [ 7.05229834e-02 9.97510132e-01 -2.15278252e-04 2.91857908e+00] [ 1.46389675e-02 -8.19168169e-04 9.99892509e-01 1.78411272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.105099893 meters 0.026718607528315196 Centerline is valid? [True, True] Translation: X:160.50, Y:2.92, Z:1.78 [[ 9.97410312e-01 -7.04112594e-02 -1.46603051e-02 1.60498955e+02] [ 7.04156935e-02 9.97517711e-01 -2.14147579e-04 2.91896619e+00] [ 1.46389923e-02 -8.18722545e-04 9.99892509e-01 1.78451545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.135099893 meters 0.025730980978885272 Centerline is valid? [True, True] Translation: X:160.53, Y:2.92, Z:1.78 [[ 9.97262426e-01 -7.20911817e-02 -1.64473466e-02 1.60531432e+02] [ 7.20970202e-02 9.97397595e-01 -2.38460564e-04 2.92190824e+00] [ 1.64217349e-02 -9.47996922e-04 9.99864705e-01 1.78375574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.165099893 meters 0.02910318895473625 Centerline is valid? [True, True] Translation: X:160.56, Y:2.92, Z:1.78 [[ 9.97175517e-01 -7.30308781e-02 -1.75350805e-02 1.60562397e+02] [ 7.30376811e-02 9.97329150e-01 -2.52985457e-04 2.91801620e+00] [ 1.75067227e-02 -1.02845072e-03 9.99846217e-01 1.78234837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.195099893 meters 0.03030599034989704 Centerline is valid? [True, True] Translation: X:160.59, Y:2.92, Z:1.78 [[ 9.97076832e-01 -7.42009996e-02 -1.82209399e-02 1.60593283e+02] [ 7.42085584e-02 9.97242709e-01 -2.61872854e-04 2.91736248e+00] [ 1.81901307e-02 -1.09104233e-03 9.99833951e-01 1.78195412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.225099893 meters 0.025740218431370143 Centerline is valid? [True, True] Translation: X:160.63, Y:2.92, Z:1.78 [[ 9.96994294e-01 -7.53010500e-02 -1.82244045e-02 1.60625275e+02] [ 7.53088145e-02 9.97160225e-01 -2.60840520e-04 2.92447909e+00] [ 1.81922928e-02 -1.11240179e-03 9.99833888e-01 1.78273354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.255099893 meters 0.02791202954733938 Centerline is valid? [True, True] Translation: X:160.66, Y:2.92, Z:1.78 [[ 9.96931602e-01 -7.61418500e-02 -1.81603974e-02 1.60656748e+02] [ 7.61497213e-02 9.97096361e-01 -2.58690960e-04 2.92282693e+00] [ 1.81273634e-02 -1.12501201e-03 9.99835053e-01 1.78295688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.285099893 meters 0.026757535473669266 Centerline is valid? [True, True] Translation: X:160.69, Y:2.93, Z:1.78 [[ 9.96846974e-01 -7.72602464e-02 -1.80821547e-02 1.60688941e+02] [ 7.72682532e-02 9.97010307e-01 -2.56473222e-04 2.92656974e+00] [ 1.80479097e-02 -1.14151195e-03 9.99836472e-01 1.78315491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.315099893 meters 0.026550262511651573 Centerline is valid? [True, True] Translation: X:160.72, Y:2.93, Z:1.78 [[ 9.96865673e-01 -7.71261111e-02 -1.76179453e-02 1.60721523e+02] [ 7.71337136e-02 9.97020726e-01 -2.48608010e-04 2.92847723e+00] [ 1.75846308e-02 -1.11110875e-03 9.99844761e-01 1.78375929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.345099893 meters 0.02693390128597194 Centerline is valid? [True, True] Translation: X:160.75, Y:2.93, Z:1.78 [[ 9.96903655e-01 -7.66674277e-02 -1.74702263e-02 1.60753609e+02] [ 7.66748555e-02 9.97056120e-01 -2.45238030e-04 2.92967095e+00] [ 1.74375978e-02 -1.09504839e-03 9.99847354e-01 1.78415494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.375099893 meters 0.030196985760122357 Centerline is valid? [True, True] Translation: X:160.79, Y:2.93, Z:1.78 [[ 9.96981057e-01 -7.57095320e-02 -1.72289909e-02 1.60785416e+02] [ 7.57166351e-02 9.97129346e-01 -2.40598610e-04 2.92719297e+00] [ 1.71977481e-02 -1.06464896e-03 9.99851541e-01 1.78425661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.405099893 meters 0.02692200628952432 Centerline is valid? [True, True] Translation: X:160.82, Y:2.93, Z:1.79 [[ 9.97050234e-01 -7.48384227e-02 -1.70306022e-02 1.60817389e+02] [ 7.48452575e-02 9.97195132e-01 -2.36594153e-04 2.93356283e+00] [ 1.70005399e-02 -1.03876355e-03 9.99854941e-01 1.78526207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.435099893 meters 0.027104525811816882 Centerline is valid? [True, True] Translation: X:160.85, Y:2.94, Z:1.79 [[ 9.97212265e-01 -7.29244761e-02 -1.58025266e-02 1.60848002e+02] [ 7.29301362e-02 9.97337028e-01 -2.18568396e-04 2.93649121e+00] [ 1.57763839e-02 -9.34521335e-04 9.99875108e-01 1.78604250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.465099893 meters 0.026666122202147535 Centerline is valid? [True, True] Translation: X:160.88, Y:2.94, Z:1.79 [[ 9.97259563e-01 -7.22396241e-02 -1.59624727e-02 1.60880205e+02] [ 7.22453234e-02 9.97386868e-01 -2.20066232e-04 2.93873942e+00] [ 1.59366581e-02 -9.33750847e-04 9.99872567e-01 1.78661370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49509989299997 meters 0.02573599344134346 Centerline is valid? [True, True] Translation: X:160.91, Y:2.94, Z:1.79 [[ 9.97301790e-01 -7.16938433e-02 -1.57839512e-02 1.60912907e+02] [ 7.16993666e-02 9.97426265e-01 -2.16407562e-04 2.94144724e+00] [ 1.57588426e-02 -9.15875656e-04 9.99875402e-01 1.78695849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52509989299998 meters 0.02695026668687699 Centerline is valid? [True, True] Translation: X:160.94, Y:2.94, Z:1.79 [[ 9.97342859e-01 -7.10046981e-02 -1.62958454e-02 1.60944446e+02] [ 7.10105221e-02 9.97475542e-01 -2.21688283e-04 2.94257389e+00] [ 1.62704482e-02 -9.36077265e-04 9.99867189e-01 1.78629928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55509989299998 meters 0.02691939454102419 Centerline is valid? [True, True] Translation: X:160.98, Y:2.94, Z:1.79 [[ 9.97336184e-01 -7.10345979e-02 -1.65717412e-02 1.60976814e+02] [ 7.10406602e-02 9.97473396e-01 -2.23309817e-04 2.94455317e+00] [ 1.65457336e-02 -9.54552471e-04 9.99862654e-01 1.78600029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58509989299998 meters 0.02614824178344038 Centerline is valid? [True, True] Translation: X:161.01, Y:2.95, Z:1.79 [[ 9.97324702e-01 -7.11223427e-02 -1.68834768e-02 1.61008764e+02] [ 7.11286686e-02 9.97467123e-01 -2.26277986e-04 2.94745823e+00] [ 1.68568064e-02 -9.75226598e-04 9.99857438e-01 1.78657735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61509989299998 meters 0.027814757595538957 Centerline is valid? [True, True] Translation: X:161.04, Y:2.95, Z:1.79 [[ 9.97318350e-01 -7.12104919e-02 -1.68870956e-02 1.61039877e+02] [ 7.12168588e-02 9.97460831e-01 -2.24800878e-04 2.94697009e+00] [ 1.68602245e-02 -9.78447859e-04 9.99857378e-01 1.78705251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64509989299998 meters 0.029813222028521397 Centerline is valid? [True, True] Translation: X:161.07, Y:2.95, Z:1.79 [[ 9.97244354e-01 -7.22007630e-02 -1.70513398e-02 1.61071422e+02] [ 7.22074324e-02 9.97389611e-01 -2.25004612e-04 2.94742691e+00] [ 1.70230747e-02 -1.00684889e-03 9.99854590e-01 1.78716744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67509989299998 meters 0.026588972647940207 Centerline is valid? [True, True] Translation: X:161.10, Y:2.95, Z:1.79 [[ 9.97198960e-01 -7.27904335e-02 -1.71984453e-02 1.61103769e+02] [ 7.27973234e-02 9.97346729e-01 -2.25931148e-04 2.95318767e+00] [ 1.71692588e-02 -1.02670248e-03 9.99852070e-01 1.78722563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70509989299998 meters 0.027703973328999487 Centerline is valid? [True, True] Translation: X:161.14, Y:2.95, Z:1.79 [[ 9.97154567e-01 -7.33038770e-02 -1.75872697e-02 1.61135416e+02] [ 7.33111898e-02 9.97309088e-01 -2.29426438e-04 2.95317704e+00] [ 1.75567618e-02 -1.06057005e-03 9.99845306e-01 1.78717015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73509989299998 meters 0.02930541730932077 Centerline is valid? [True, True] Translation: X:161.17, Y:2.95, Z:1.79 [[ 9.97027567e-01 -7.49879634e-02 -1.76871698e-02 1.61166849e+02] [ 7.49956576e-02 9.97183834e-01 -2.28799763e-04 2.95398227e+00] [ 1.76545170e-02 -1.09834126e-03 9.99843544e-01 1.78742757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76509989299998 meters 0.027009261585381396 Centerline is valid? [True, True] Translation: X:161.20, Y:2.96, Z:1.79 [[ 9.96998197e-01 -7.55214538e-02 -1.70618147e-02 1.61198486e+02] [ 7.55287066e-02 9.97143604e-01 -2.19808323e-04 2.95893020e+00] [ 1.70296796e-02 -1.06950830e-03 9.99854412e-01 1.78837760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79509989299999 meters 0.030046914404350186 Centerline is valid? [True, True] Translation: X:161.23, Y:2.96, Z:1.79 [[ 9.97016295e-01 -7.54573041e-02 -1.62697050e-02 1.61230724e+02] [ 7.54639125e-02 9.97148512e-01 -2.08245460e-04 2.95665922e+00] [ 1.62390258e-02 -1.02015148e-03 9.99867618e-01 1.78911892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.825099893 meters 0.031242335969554523 Centerline is valid? [True, True] Translation: X:161.26, Y:2.96, Z:1.79 [[ 9.97105201e-01 -7.44547373e-02 -1.54178268e-02 1.61261628e+02] [ 7.44605914e-02 9.97223938e-01 -1.94792791e-04 2.95850379e+00] [ 1.53895292e-02 -9.53791601e-04 9.99881119e-01 1.79004810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.855099893 meters 0.030843139140035055 Centerline is valid? [True, True] Translation: X:161.29, Y:2.96, Z:1.79 [[ 9.97186789e-01 -7.33820970e-02 -1.52832011e-02 1.61294047e+02] [ 7.33877535e-02 9.97303465e-01 -1.91152506e-04 2.96060841e+00] [ 1.52560166e-02 -9.30985041e-04 9.99883187e-01 1.79018104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.885099893 meters 0.02664004081008924 Centerline is valid? [True, True] Translation: X:161.33, Y:2.97, Z:1.79 [[ 9.97322122e-01 -7.15934155e-02 -1.49320925e-02 1.61325419e+02] [ 7.15986292e-02 9.97433507e-01 -1.85821970e-04 2.96906100e+00] [ 1.49070730e-02 -8.83792989e-04 9.99888493e-01 1.79067307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.915099893 meters 0.02756608613871162 Centerline is valid? [True, True] Translation: X:161.36, Y:2.97, Z:1.79 [[ 9.97407271e-01 -7.04699144e-02 -1.45851474e-02 1.61356706e+02] [ 7.04747771e-02 9.97513545e-01 -1.80941966e-04 2.96941201e+00] [ 1.45616330e-02 -8.47412176e-04 9.99893615e-01 1.79076266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.945099893 meters 0.026890746053154373 Centerline is valid? [True, True] Translation: X:161.39, Y:2.97, Z:1.79 [[ 9.97428430e-01 -7.00034901e-02 -1.53635270e-02 1.61388767e+02] [ 7.00088447e-02 9.97546353e-01 -1.89675792e-04 2.97204780e+00] [ 1.53391083e-02 -8.86394746e-04 9.99881956e-01 1.79088290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.975099893 meters 0.029886800060062457 Centerline is valid? [True, True] Translation: X:161.42, Y:2.97, Z:1.79 [[ 9.97464352e-01 -6.94300337e-02 -1.56312485e-02 1.61419894e+02] [ 6.94355278e-02 9.97586423e-01 -1.91609279e-04 2.96955488e+00] [ 1.56068247e-02 -8.94240564e-04 9.99877806e-01 1.79026726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.005099893 meters 0.02606263392021086 Centerline is valid? [True, True] Translation: X:161.45, Y:2.98, Z:1.79 [[ 9.97528566e-01 -6.80537808e-02 -1.74769401e-02 1.61451692e+02] [ 6.80604797e-02 9.97681175e-01 -2.11893633e-04 2.97646038e+00] [ 1.74508343e-02 -9.78118976e-04 9.99847244e-01 1.78928874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.035099893 meters 0.02606263392021086 Centerline is valid? [True, True] Translation: X:161.48, Y:2.98, Z:1.79 [[ 9.97535937e-01 -6.79456366e-02 -1.74769575e-02 1.61484279e+02] [ 6.79523442e-02 9.97688546e-01 -2.10447959e-04 2.97676538e+00] [ 1.74508594e-02 -9.77670831e-04 9.99847244e-01 1.78969150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.065099893 meters 0.028440360698461408 Centerline is valid? [True, True] Translation: X:161.52, Y:2.97, Z:1.79 [[ 9.97553840e-01 -6.75449482e-02 -1.80004691e-02 1.61515497e+02] [ 6.75520380e-02 9.97715729e-01 -2.14574200e-04 2.97447684e+00] [ 1.79738446e-02 -1.00191906e-03 9.99837955e-01 1.78910025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.095099893 meters 0.024843935512777103 Centerline is valid? [True, True] Translation: X:161.55, Y:2.98, Z:1.79 [[ 9.97611285e-01 -6.66232897e-02 -1.82499444e-02 1.61547196e+02] [ 6.66304637e-02 9.97777698e-01 -2.15347266e-04 2.98005101e+00] [ 1.82237346e-02 -1.00116939e-03 9.99833433e-01 1.78955629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.125099893 meters 0.025464118017348 Centerline is valid? [True, True] Translation: X:161.58, Y:2.98, Z:1.79 [[ 9.97739888e-01 -6.48031052e-02 -1.77672292e-02 1.61577329e+02] [ 6.48096427e-02 9.97897623e-01 -2.08199253e-04 2.98046571e+00] [ 1.77433678e-02 -9.43759077e-04 9.99842129e-01 1.78990592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.155099893 meters 0.025186106722002933 Centerline is valid? [True, True] Translation: X:161.61, Y:2.98, Z:1.79 [[ 9.97850432e-01 -6.31443527e-02 -1.75301365e-02 1.61610103e+02] [ 6.31504949e-02 9.98003995e-01 -2.03510886e-04 2.98194834e+00] [ 1.75079968e-02 -9.03963371e-04 9.99846315e-01 1.79070429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.185099893 meters 0.02500827328991473 Centerline is valid? [True, True] Translation: X:161.64, Y:2.98, Z:1.79 [[ 9.98095950e-01 -5.92592940e-02 -1.71117158e-02 1.61639728e+02] [ 5.92646011e-02 9.98242289e-01 -1.97231424e-04 2.98466727e+00] [ 1.70933261e-02 -8.17263126e-04 9.99853564e-01 1.79171225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.215099893 meters 0.02117845709690741 Centerline is valid? [True, True] Translation: X:161.67, Y:2.99, Z:1.79 [[ 9.98386422e-01 -5.41792004e-02 -1.70048732e-02 1.61670849e+02] [ 5.41837073e-02 9.98530965e-01 -1.95917429e-04 2.99210821e+00] [ 1.69905071e-02 -7.25785772e-04 9.99855387e-01 1.79214766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24509989299997 meters 0.02117845709690741 Centerline is valid? [True, True] Translation: X:161.70, Y:2.99, Z:1.79 [[ 9.98390285e-01 -5.41079748e-02 -1.70048796e-02 1.61702568e+02] [ 5.41124808e-02 9.98534827e-01 -1.95366558e-04 2.99241444e+00] [ 1.69905354e-02 -7.25124144e-04 9.99855387e-01 1.79253988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27509989299998 meters 0.020269815487927688 Centerline is valid? [True, True] Translation: X:161.73, Y:2.99, Z:1.79 [[ 9.98519402e-01 -5.15816157e-02 -1.72725676e-02 1.61734271e+02] [ 5.15859073e-02 9.98668541e-01 -1.97282957e-04 2.99490877e+00] [ 1.72597461e-02 -6.94030213e-04 9.99850799e-01 1.79254668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30509989299998 meters 0.019180754969045696 Centerline is valid? [True, True] Translation: X:161.77, Y:3.00, Z:1.79 [[ 9.98664114e-01 -4.86317658e-02 -1.74624877e-02 1.61766235e+02] [ 4.86357185e-02 9.98816563e-01 -1.98509461e-04 2.99729190e+00] [ 1.74514758e-02 -6.51056363e-04 9.99847499e-01 1.79243074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33509989299998 meters 0.01748077374091728 Centerline is valid? [True, True] Translation: X:161.80, Y:3.00, Z:1.79 [[ 9.98805503e-01 -4.56025642e-02 -1.75491778e-02 1.61797593e+02] [ 4.56061043e-02 9.98959481e-01 -1.98641070e-04 3.00078099e+00] [ 1.75399760e-02 -6.01945837e-04 9.99845982e-01 1.79242854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36509989299998 meters 0.01614037526644485 Centerline is valid? [True, True] Translation: X:161.83, Y:3.01, Z:1.79 [[ 9.99069159e-01 -3.93215811e-02 -1.77377521e-02 1.61827765e+02] [ 3.93242166e-02 9.99226484e-01 -2.00321368e-04 3.00552644e+00] [ 1.77319086e-02 -4.97388303e-04 9.99842654e-01 1.79196336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39509989299998 meters 0.015284873197386174 Centerline is valid? [True, True] Translation: X:161.86, Y:3.01, Z:1.79 [[ 9.99188052e-01 -3.60139800e-02 -1.80618327e-02 1.61859177e+02] [ 3.60161763e-02 9.99351186e-01 -2.03779590e-04 3.00843244e+00] [ 1.80574529e-02 -4.46904019e-04 9.99836851e-01 1.79221355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42509989299998 meters 0.013833171963560058 Centerline is valid? [True, True] Translation: X:161.89, Y:3.01, Z:1.79 [[ 9.99383352e-01 -3.02760618e-02 -1.77841442e-02 1.61890041e+02] [ 3.02772922e-02 9.99541518e-01 -2.00120899e-04 3.01321013e+00] [ 1.77820493e-02 -3.38458235e-04 9.99841830e-01 1.79236436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45509989299998 meters 0.013299189407825426 Centerline is valid? [True, True] Translation: X:161.92, Y:3.02, Z:1.79 [[ 9.99456366e-01 -2.77636207e-02 -1.77807175e-02 1.61921013e+02] [ 2.77644587e-02 9.99614473e-01 -1.99772714e-04 3.01556247e+00] [ 1.77794089e-02 -2.94007885e-04 9.99841891e-01 1.79273021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48509989299998 meters 0.012604981017521086 Centerline is valid? [True, True] Translation: X:161.95, Y:3.02, Z:1.79 [[ 9.99518074e-01 -2.54221622e-02 -1.78138367e-02 1.61951075e+02] [ 2.54226354e-02 9.99676773e-01 -1.99929467e-04 3.01787850e+00] [ 1.78131614e-02 -2.53041560e-04 9.99841301e-01 1.79313850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51509989299998 meters 0.011960603626260549 Centerline is valid? [True, True] Translation: X:161.98, Y:3.02, Z:1.79 [[ 9.99608519e-01 -2.14165197e-02 -1.80039476e-02 1.61981117e+02] [ 2.14163516e-02 9.99770623e-01 -2.02162008e-04 3.02070096e+00] [ 1.80041475e-02 -1.83496006e-04 9.99837895e-01 1.79310859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54509989299999 meters 0.011697365322387705 Centerline is valid? [True, True] Translation: X:162.01, Y:3.02, Z:1.79 [[ 9.99645320e-01 -1.95522045e-02 -1.80816237e-02 1.62009817e+02] [ 1.95517194e-02 9.99808826e-01 -2.03621065e-04 3.02219217e+00] [ 1.80821482e-02 -1.49977988e-04 9.99836493e-01 1.79283616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.575099893 meters 0.011423462194135446 Centerline is valid? [True, True] Translation: X:162.04, Y:3.03, Z:1.79 [[ 9.99699798e-01 -1.62140867e-02 -1.83689192e-02 1.62038413e+02] [ 1.62129808e-02 9.99868539e-01 -2.09128694e-04 3.02519918e+00] [ 1.83698952e-02 -8.87490219e-05 9.99831255e-01 1.79344337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.605099893 meters 0.011309756843217727 Centerline is valid? [True, True] Translation: X:162.07, Y:3.03, Z:1.79 [[ 9.99728361e-01 -1.47433765e-02 -1.80509747e-02 1.62066703e+02] [ 1.47419867e-02 9.99891309e-01 -2.10061909e-04 3.02678149e+00] [ 1.80521098e-02 -5.61023814e-05 9.99837046e-01 1.79399317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.635099893 meters 0.011267816150611594 Centerline is valid? [True, True] Translation: X:162.09, Y:3.03, Z:1.79 [[ 9.99751668e-01 -1.34547808e-02 -1.77643120e-02 1.62093671e+02] [ 1.34531591e-02 9.99909480e-01 -2.10796870e-04 3.02786201e+00] [ 1.77655402e-02 -2.82415928e-05 9.99842180e-01 1.79407909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.665099893 meters 0.01122612816521503 Centerline is valid? [True, True] Translation: X:162.12, Y:3.03, Z:1.80 [[ 9.99763731e-01 -1.25930027e-02 -1.77171938e-02 1.62121054e+02] [ 1.25912002e-02 9.99920705e-01 -2.13288433e-04 3.02901907e+00] [ 1.77184748e-02 -9.84269502e-06 9.99843015e-01 1.79538148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.695099893 meters 0.011225819403578797 Centerline is valid? [True, True] Translation: X:162.15, Y:3.03, Z:1.80 [[ 9.99774608e-01 -1.18733975e-02 -1.75998621e-02 1.62148190e+02] [ 1.18714262e-02 9.99929509e-01 -2.16478675e-04 3.02978265e+00] [ 1.76011918e-02 7.49441760e-06 9.99845087e-01 1.79546257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.725099893 meters 0.011173641641219825 Centerline is valid? [True, True] Translation: X:162.18, Y:3.03, Z:1.80 [[ 9.99769910e-01 -1.16976967e-02 -1.79803051e-02 1.62175633e+02] [ 1.16955365e-02 9.99931579e-01 -2.25293069e-04 3.02930466e+00] [ 1.79817102e-02 1.49519172e-05 9.99838316e-01 1.79590187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.755099893 meters 0.011187731009133341 Centerline is valid? [True, True] Translation: X:162.20, Y:3.03, Z:1.80 [[ 9.99755906e-01 -1.27042873e-02 -1.80756672e-02 1.62203440e+02] [ 1.27021740e-02 9.99919297e-01 -2.31718676e-04 3.02885448e+00] [ 1.80771523e-02 2.06184406e-06 9.99836595e-01 1.79628039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.785099893 meters 0.011049389876716326 Centerline is valid? [True, True] Translation: X:162.23, Y:3.03, Z:1.80 [[ 9.99738236e-01 -1.40168517e-02 -1.80827852e-02 1.62231284e+02] [ 1.40148576e-02 9.99901759e-01 -2.36997528e-04 3.02823884e+00] [ 1.80843307e-02 -1.64921696e-05 9.99836465e-01 1.79637394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.815099893 meters 0.011028072869479317 Centerline is valid? [True, True] Translation: X:162.26, Y:3.03, Z:1.80 [[ 9.99669861e-01 -1.76564002e-02 -1.86660491e-02 1.62258868e+02] [ 1.76548313e-02 9.99844110e-01 -2.48846093e-04 3.02560109e+00] [ 1.86675329e-02 -8.07820093e-05 9.99825743e-01 1.79640357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.845099893 meters 0.011210484331947896 Centerline is valid? [True, True] Translation: X:162.29, Y:3.02, Z:1.80 [[ 9.99561107e-01 -2.25589100e-02 -1.92012669e-02 1.62287840e+02] [ 2.25581231e-02 9.99745500e-01 -2.57600624e-04 3.02209797e+00] [ 1.92021913e-02 -1.75656976e-04 9.99815605e-01 1.79656943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.875099893 meters 0.011556483717165765 Centerline is valid? [True, True] Translation: X:162.32, Y:3.02, Z:1.80 [[ 9.99493631e-01 -2.54967099e-02 -1.90368032e-02 1.62315634e+02] [ 2.54964349e-02 9.99674880e-01 -2.57191876e-04 3.01954634e+00] [ 1.90371715e-02 -2.28308972e-04 9.99818751e-01 1.79633623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.905099893 meters 0.012066458571889356 Centerline is valid? [True, True] Translation: X:162.34, Y:3.02, Z:1.80 [[ 9.99406123e-01 -2.86275714e-02 -1.91797625e-02 1.62344840e+02] [ 2.86278290e-02 9.99590106e-01 -2.61187899e-04 3.01682540e+00] [ 1.91793780e-02 -2.88042175e-04 9.99816017e-01 1.79671403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.935099893 meters 0.013770482207861935 Centerline is valid? [True, True] Translation: X:162.37, Y:3.01, Z:1.80 [[ 9.99223325e-01 -3.47207646e-02 -1.86336921e-02 1.62374020e+02] [ 3.47220505e-02 9.99396975e-01 -2.54615678e-04 3.01028008e+00] [ 1.86312960e-02 -3.92582073e-04 9.99826345e-01 1.79630793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.965099893 meters 0.014796002072549429 Centerline is valid? [True, True] Translation: X:162.40, Y:3.01, Z:1.80 [[ 9.99002916e-01 -4.06996907e-02 -1.83496511e-02 1.62404985e+02] [ 4.07019393e-02 9.99171301e-01 -2.51058033e-04 3.00668766e+00] [ 1.83446628e-02 -4.96058679e-04 9.99831599e-01 1.79721414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99509989299997 meters 0.015360391383664431 Centerline is valid? [True, True] Translation: X:162.44, Y:3.01, Z:1.80 [[ 9.98876669e-01 -4.36097260e-02 -1.85362334e-02 1.62436568e+02] [ 4.36125316e-02 9.99048489e-01 -2.53049385e-04 3.00504604e+00] [ 1.85296314e-02 -5.55646936e-04 9.99828157e-01 1.79772909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02509989299998 meters 0.016597245809285965 Centerline is valid? [True, True] Translation: X:162.47, Y:3.00, Z:1.80 [[ 9.98753530e-01 -4.62204040e-02 -1.88430598e-02 1.62467854e+02] [ 4.62237869e-02 9.98931077e-01 -2.56200964e-04 3.00241385e+00] [ 1.88347597e-02 -6.15115965e-04 9.99822421e-01 1.79765025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05509989299998 meters 0.018020250832436593 Centerline is valid? [True, True] Translation: X:162.50, Y:3.00, Z:1.80 [[ 9.98631280e-01 -4.87231993e-02 -1.90162009e-02 1.62499292e+02] [ 4.87271223e-02 9.98812095e-01 -2.57267231e-04 2.99942292e+00] [ 1.90061464e-02 -6.69689644e-04 9.99819143e-01 1.79767485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08509989299998 meters 0.018565690171987788 Centerline is valid? [True, True] Translation: X:162.53, Y:3.00, Z:1.80 [[ 9.98497659e-01 -5.12473654e-02 -1.93941126e-02 1.62530966e+02] [ 5.12519563e-02 9.98685721e-01 -2.60576521e-04 2.99791798e+00] [ 1.93819772e-02 -7.33801168e-04 9.99811883e-01 1.79790000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11509989299998 meters 0.020527739653189506 Centerline is valid? [True, True] Translation: X:162.56, Y:2.99, Z:1.80 [[ 9.98381003e-01 -5.34273547e-02 -1.95164343e-02 1.62561945e+02] [ 5.34324491e-02 9.98571432e-01 -2.60703142e-04 2.99432441e+00] [ 1.95024824e-02 -7.82529819e-04 9.99809502e-01 1.79778096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14509989299998 meters 0.020051826699187928 Centerline is valid? [True, True] Translation: X:162.59, Y:2.99, Z:1.80 [[ 9.98274534e-01 -5.53483310e-02 -1.96091127e-02 1.62593711e+02] [ 5.53538645e-02 9.98466765e-01 -2.60887990e-04 2.99437218e+00] [ 1.95934871e-02 -8.25002331e-04 9.99807689e-01 1.79846831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17509989299998 meters 0.022721949537840975 Centerline is valid? [True, True] Translation: X:162.62, Y:2.99, Z:1.80 [[ 9.98086734e-01 -5.85098800e-02 -1.99866220e-02 1.62624291e+02] [ 5.85162774e-02 9.98286419e-01 -2.65096895e-04 2.98965929e+00] [ 1.99678841e-02 -9.04953024e-04 9.99800212e-01 1.79846253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20509989299998 meters 0.021326302124769384 Centerline is valid? [True, True] Translation: X:162.66, Y:2.99, Z:1.80 [[ 9.97957294e-01 -6.00460533e-02 -2.18107865e-02 1.62656079e+02] [ 6.00540547e-02 9.98195085e-01 -2.88540323e-04 2.99128295e+00] [ 2.17887456e-02 -1.02187525e-03 9.99762075e-01 1.79804028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23509989299998 meters 0.0220862448904841 Centerline is valid? [True, True] Translation: X:162.69, Y:2.99, Z:1.80 [[ 9.97935310e-01 -5.99608015e-02 -2.30177963e-02 1.62687548e+02] [ 5.99697204e-02 9.98200151e-01 -3.03226051e-04 2.99025870e+00] [ 2.29945494e-02 -1.07777082e-03 9.99735009e-01 1.79738839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26509989299998 meters 0.02030878097922461 Centerline is valid? [True, True] Translation: X:162.72, Y:2.99, Z:1.80 [[ 9.97944663e-01 -5.96059317e-02 -2.35283488e-02 1.62719637e+02] [ 5.96151876e-02 9.98221385e-01 -3.08451947e-04 2.99321278e+00] [ 2.35048865e-02 -1.09482896e-03 9.99723122e-01 1.79748290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29509989299999 meters 0.020340079016021775 Centerline is valid? [True, True] Translation: X:162.75, Y:2.99, Z:1.80 [[ 9.98004237e-01 -5.83255078e-02 -2.42007687e-02 1.62751987e+02] [ 5.83349684e-02 9.98297016e-01 -3.15473805e-04 2.99471651e+00] [ 2.41779553e-02 -1.09690688e-03 9.99707069e-01 1.79783837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.325099893 meters 0.022397268678889175 Centerline is valid? [True, True] Translation: X:162.78, Y:2.99, Z:1.80 [[ 9.98049344e-01 -5.74174829e-02 -2.45100077e-02 1.62782775e+02] [ 5.74269521e-02 9.98349660e-01 -3.17936423e-04 2.99260278e+00] [ 2.44878130e-02 -1.09021880e-03 9.99699534e-01 1.79762414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.355099893 meters 0.021557288894091756 Centerline is valid? [True, True] Translation: X:162.82, Y:2.99, Z:1.80 [[ 9.98108786e-01 -5.64274246e-02 -2.43884821e-02 1.62815369e+02] [ 5.64365471e-02 9.98406138e-01 -3.14639610e-04 2.99457858e+00] [ 2.43673645e-02 -1.06235716e-03 9.99702507e-01 1.79804553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.385099893 meters 0.02117440728895104 Centerline is valid? [True, True] Translation: X:162.85, Y:3.00, Z:1.80 [[ 9.98139143e-01 -5.55952537e-02 -2.50483417e-02 1.62847142e+02] [ 5.56046655e-02 9.98452812e-01 -3.21148317e-04 2.99605217e+00] [ 2.50274416e-02 -1.07225396e-03 9.99686189e-01 1.79854497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.415099893 meters 0.019531867054118097 Centerline is valid? [True, True] Translation: X:162.88, Y:3.00, Z:1.80 [[ 9.98257901e-01 -5.34116292e-02 -2.50671117e-02 1.62878840e+02] [ 5.34204067e-02 9.98572059e-01 -3.19839299e-04 2.99967699e+00] [ 2.50484005e-02 -1.01981320e-03 9.99685719e-01 1.79888430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.445099893 meters 0.018506965033964737 Centerline is valid? [True, True] Translation: X:162.91, Y:3.00, Z:1.80 [[ 9.98315951e-01 -5.22244201e-02 -2.52561100e-02 1.62910146e+02] [ 5.22329799e-02 9.98634875e-01 -3.21120687e-04 3.00195227e+00] [ 2.52384026e-02 -9.98621982e-04 9.99680962e-01 1.79942554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.475099893 meters 0.018352642028355452 Centerline is valid? [True, True] Translation: X:162.94, Y:3.00, Z:1.80 [[ 9.98381423e-01 -5.09428703e-02 -2.52855185e-02 1.62941317e+02] [ 5.09510625e-02 9.98701100e-01 -3.20588070e-04 3.00336285e+00] [ 2.52690068e-02 -9.68254860e-04 9.99680219e-01 1.79957638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.505099893 meters 0.0166363085739362 Centerline is valid? [True, True] Translation: X:162.97, Y:3.01, Z:1.80 [[ 9.98468148e-01 -4.92297024e-02 -2.52546000e-02 1.62972970e+02] [ 4.92373505e-02 9.98787055e-01 -3.19282998e-04 3.00682065e+00] [ 2.52396858e-02 -9.24675690e-04 9.99681001e-01 1.80070485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.535099893 meters 0.015863069454588184 Centerline is valid? [True, True] Translation: X:163.00, Y:3.01, Z:1.80 [[ 9.98665213e-01 -4.51386560e-02 -2.51056643e-02 1.63003314e+02] [ 4.51449400e-02 9.98980397e-01 -3.16716446e-04 3.01076260e+00] [ 2.50943627e-02 -8.17100013e-04 9.99684753e-01 1.80111791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.565099893 meters 0.015477159437068743 Centerline is valid? [True, True] Translation: X:163.03, Y:3.01, Z:1.80 [[ 9.98764511e-01 -4.29783178e-02 -2.49462581e-02 1.63033967e+02] [ 4.29838547e-02 9.99075718e-01 -3.14479893e-04 3.01323395e+00] [ 2.49367166e-02 -7.58194979e-04 9.99688744e-01 1.80149361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.595099893 meters 0.015122144770375287 Centerline is valid? [True, True] Translation: X:163.06, Y:3.02, Z:1.80 [[ 9.98882067e-01 -4.02471597e-02 -2.47947967e-02 1.63063298e+02] [ 4.02517833e-02 9.99189520e-01 -3.12791129e-04 3.01534568e+00] [ 2.47872900e-02 -6.85593335e-04 9.99692513e-01 1.80201189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.625099893 meters 0.013183548106483645 Centerline is valid? [True, True] Translation: X:163.09, Y:3.02, Z:1.80 [[ 9.99091183e-01 -3.45611633e-02 -2.49466429e-02 1.63093213e+02] [ 3.45640501e-02 9.99402435e-01 -3.15597382e-04 3.02155077e+00] [ 2.49426430e-02 -5.46946452e-04 9.99688734e-01 1.80291992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.655099893 meters 0.012489148581424329 Centerline is valid? [True, True] Translation: X:163.12, Y:3.02, Z:1.80 [[ 9.99184119e-01 -3.15535961e-02 -2.52084735e-02 1.63123146e+02] [ 3.15555589e-02 9.99501948e-01 -3.20029793e-04 3.02493612e+00] [ 2.52060164e-02 -4.75698781e-04 9.99682165e-01 1.80353711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.685099893 meters 0.011772237766090344 Centerline is valid? [True, True] Translation: X:163.15, Y:3.03, Z:1.80 [[ 9.99272111e-01 -2.88150342e-02 -2.49988406e-02 1.63151616e+02] [ 2.88160181e-02 9.99584681e-01 -3.20956050e-04 3.02847849e+00] [ 2.49977065e-02 -3.99644613e-04 9.99687429e-01 1.80414217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.715099893 meters 0.011300017023813617 Centerline is valid? [True, True] Translation: X:163.18, Y:3.03, Z:1.80 [[ 9.99349216e-01 -2.62272828e-02 -2.47643912e-02 1.63179976e+02] [ 2.62273015e-02 9.99655953e-01 -3.24102188e-04 3.03159688e+00] [ 2.47643714e-02 -3.25611887e-04 9.99693263e-01 1.80478574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74509989299997 meters 0.011035333434263245 Centerline is valid? [True, True] Translation: X:163.21, Y:3.03, Z:1.80 [[ 9.99423693e-01 -2.35570877e-02 -2.44406355e-02 1.63208056e+02] [ 2.35562069e-02 9.99722462e-01 -3.23982603e-04 3.03418929e+00] [ 2.44414843e-02 -2.51932777e-04 9.99701231e-01 1.80490060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77509989299998 meters 0.010506914735707695 Centerline is valid? [True, True] Translation: X:163.24, Y:3.04, Z:1.80 [[ 9.99553466e-01 -1.78585922e-02 -2.39570474e-02 1.63237238e+02] [ 1.78560202e-02 9.99840517e-01 -3.21289406e-04 3.03970663e+00] [ 2.39589644e-02 -1.06631583e-04 9.99712937e-01 1.80495205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80509989299998 meters 0.010523904518961397 Centerline is valid? [True, True] Translation: X:163.26, Y:3.04, Z:1.81 [[ 9.99589872e-01 -1.50352917e-02 -2.43727051e-02 1.63264597e+02] [ 1.50316358e-02 9.99886963e-01 -3.33207514e-04 3.04283022e+00] [ 2.43749599e-02 -3.32907707e-05 9.99702886e-01 1.80562141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83509989299998 meters 0.010650954456490957 Centerline is valid? [True, True] Translation: X:163.29, Y:3.05, Z:1.81 [[ 9.99633845e-01 -1.21870779e-02 -2.41588839e-02 1.63292269e+02] [ 1.21824855e-02 9.99925734e-01 -3.37263762e-04 3.04578943e+00] [ 2.41611999e-02 4.28250176e-05 9.99708075e-01 1.80605928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86509989299998 meters 0.011394113469651647 Centerline is valid? [True, True] Translation: X:163.32, Y:3.05, Z:1.81 [[ 9.99726587e-01 -6.44914711e-03 -2.24757580e-02 1.63319795e+02] [ 6.44362676e-03 9.99979189e-01 -3.18027246e-04 3.05170906e+00] [ 2.24773412e-02 1.73114898e-04 9.99747338e-01 1.80587194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89509989299998 meters 0.011443401839181199 Centerline is valid? [True, True] Translation: X:163.35, Y:3.05, Z:1.81 [[ 9.99747661e-01 -4.14528465e-03 -2.20778267e-02 1.63348335e+02] [ 4.13931799e-03 9.99991383e-01 -3.15948063e-04 3.05299644e+00] [ 2.20789462e-02 2.24481192e-04 9.99756205e-01 1.80734363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92509989299998 meters 0.012113234194947054 Centerline is valid? [True, True] Translation: X:163.38, Y:3.06, Z:1.81 [[ 9.99762616e-01 -1.24074002e-03 -2.17525049e-02 1.63375939e+02] [ 1.23417525e-03 9.99999189e-01 -3.15215875e-04 3.05508404e+00] [ 2.17528784e-02 2.88294645e-04 9.99763337e-01 1.80691149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95509989299998 meters 0.012113234194947054 Centerline is valid? [True, True] Translation: X:163.40, Y:3.06, Z:1.81 [[ 9.99762222e-01 -1.52678271e-03 -2.17524494e-02 1.63403318e+02] [ 1.52020312e-03 9.99998794e-01 -3.19008603e-04 3.05553820e+00] [ 2.17529102e-02 2.85864608e-04 9.99763337e-01 1.80725053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98509989299998 meters 0.012549542040958293 Centerline is valid? [True, True] Translation: X:163.43, Y:3.06, Z:1.81 [[ 9.99769997e-01 -1.10092041e-03 -2.14182217e-02 1.63431272e+02] [ 1.09435201e-03 9.99999351e-01 -3.18392162e-04 3.05673117e+00] [ 2.14185583e-02 2.94879857e-04 9.99770553e-01 1.80673839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01509989299998 meters 0.01207257597557376 Centerline is valid? [True, True] Translation: X:163.46, Y:3.05, Z:1.81 [[ 9.99786111e-01 -2.76560713e-03 -2.04959582e-02 1.63459818e+02] [ 2.75990871e-03 9.99996145e-01 -3.06307418e-04 3.05435452e+00] [ 2.04967263e-02 2.49674929e-04 9.99789889e-01 1.80673104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04509989299999 meters 0.011915848306983967 Centerline is valid? [True, True] Translation: X:163.49, Y:3.05, Z:1.81 [[ 9.99792517e-01 -4.56279424e-03 -1.98520426e-02 1.63488478e+02] [ 4.55777513e-03 9.99989569e-01 -2.98063961e-04 3.05307857e+00] [ 1.98531955e-02 2.07520972e-04 9.99802884e-01 1.80663414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.075099893 meters 0.011895201169222942 Centerline is valid? [True, True] Translation: X:163.52, Y:3.05, Z:1.81 [[ 9.99786939e-01 -6.67905348e-03 -1.95311896e-02 1.63516498e+02] [ 6.67456998e-03 9.99977681e-01 -2.94735054e-04 3.05149270e+00] [ 1.95327222e-02 1.64309966e-04 9.99809205e-01 1.80655575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.105099893 meters 0.01145612366194969 Centerline is valid? [True, True] Translation: X:163.55, Y:3.05, Z:1.81 [[ 9.99725000e-01 -1.31351210e-02 -1.94266049e-02 1.63545277e+02] [ 1.31318734e-02 9.99913730e-01 -2.94736607e-04 3.04648480e+00] [ 1.94288003e-02 3.95478401e-05 9.99811242e-01 1.80663370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.135099893 meters 0.011406417079595575 Centerline is valid? [True, True] Translation: X:163.57, Y:3.04, Z:1.81 [[ 9.99675851e-01 -1.68873805e-02 -1.90528089e-02 1.63572924e+02] [ 1.68849080e-02 9.99857398e-01 -2.90644197e-04 3.04382924e+00] [ 1.90550002e-02 -3.11549402e-05 9.99818437e-01 1.80688388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.165099893 meters 0.011712312999369782 Centerline is valid? [True, True] Translation: X:163.60, Y:3.04, Z:1.81 [[ 9.99601529e-01 -2.09516877e-02 -1.89158806e-02 1.63601740e+02] [ 2.09499218e-02 9.99780484e-01 -2.91531849e-04 3.04066844e+00] [ 1.89178363e-02 -1.04870537e-04 9.99821036e-01 1.80703505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.195099893 meters 0.012057536271866138 Centerline is valid? [True, True] Translation: X:163.63, Y:3.04, Z:1.81 [[ 9.99520220e-01 -2.51180216e-02 -1.81222090e-02 1.63630420e+02] [ 2.51170047e-02 9.99684478e-01 -2.83751977e-04 3.03775175e+00] [ 1.81236183e-02 -1.71559770e-04 9.99835739e-01 1.80754169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.225099893 meters 0.01341567013259156 Centerline is valid? [True, True] Translation: X:163.66, Y:3.03, Z:1.81 [[ 9.99331435e-01 -3.25318845e-02 -1.66841038e-02 1.63658918e+02] [ 3.25320036e-02 9.99470659e-01 -2.64333836e-04 3.03165407e+00] [ 1.66838715e-02 -2.78610213e-04 9.99860776e-01 1.80903875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.255099893 meters 0.014070130324962021 Centerline is valid? [True, True] Translation: X:163.69, Y:3.03, Z:1.81 [[ 9.99244191e-01 -3.54380883e-02 -1.59746522e-02 1.63690095e+02] [ 3.54385612e-02 9.99371825e-01 -2.53565881e-04 3.02942781e+00] [ 1.59736032e-02 -3.12744456e-04 9.99872365e-01 1.80984239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.285099893 meters 0.014625505091328296 Centerline is valid? [True, True] Translation: X:163.72, Y:3.03, Z:1.81 [[ 9.99152122e-01 -3.81908863e-02 -1.53783417e-02 1.63722544e+02] [ 3.81916603e-02 9.99270403e-01 -2.43457045e-04 3.02778988e+00] [ 1.53764195e-02 -3.44073779e-04 9.99881717e-01 1.81122036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.315099893 meters 0.01517481617736923 Centerline is valid? [True, True] Translation: X:163.75, Y:3.03, Z:1.81 [[ 9.99075669e-01 -4.03433603e-02 -1.48398277e-02 1.63754213e+02] [ 4.03443350e-02 9.99185809e-01 -2.33801820e-04 3.02604424e+00] [ 1.48371776e-02 -3.65117270e-04 9.99889856e-01 1.81204739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.345099893 meters 0.017442970294041744 Centerline is valid? [True, True] Translation: X:163.79, Y:3.02, Z:1.81 [[ 9.98991700e-01 -4.22237188e-02 -1.52558404e-02 1.63785463e+02] [ 4.22249933e-02 9.99108099e-01 -2.38696633e-04 3.02110986e+00] [ 1.52523124e-02 -4.05721806e-04 9.99883594e-01 1.81186308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.375099893 meters 0.016468260807853193 Centerline is valid? [True, True] Translation: X:163.82, Y:3.02, Z:1.81 [[ 9.98921609e-01 -4.39627731e-02 -1.49296337e-02 1.63817444e+02] [ 4.39642093e-02 9.99033080e-01 -2.32150479e-04 3.02230237e+00] [ 1.49254040e-02 -4.24469412e-04 9.99888520e-01 1.81260295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.405099893 meters 0.01754929062998234 Centerline is valid? [True, True] Translation: X:163.85, Y:3.02, Z:1.81 [[ 9.98887418e-01 -4.49498489e-02 -1.42631421e-02 1.63848310e+02] [ 4.49512738e-02 9.98989156e-01 -2.20832370e-04 3.01971708e+00] [ 1.42586507e-02 -4.20559730e-04 9.99898252e-01 1.81300247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.435099893 meters 0.017103111582259595 Centerline is valid? [True, True] Translation: X:163.88, Y:3.02, Z:1.81 [[ 9.98854358e-01 -4.58266277e-02 -1.37800991e-02 1.63880176e+02] [ 4.58280514e-02 9.98949320e-01 -2.12608461e-04 3.01920121e+00] [ 1.37753637e-02 -4.19150201e-04 9.99905027e-01 1.81392795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.465099893 meters 0.017353826553539772 Centerline is valid? [True, True] Translation: X:163.91, Y:3.02, Z:1.81 [[ 9.98874514e-01 -4.55132821e-02 -1.33508700e-02 1.63910996e+02] [ 4.55146027e-02 9.98963652e-01 -2.05065251e-04 3.01858128e+00] [ 1.33463671e-02 -4.02825091e-04 9.99910852e-01 1.81468435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49509989299997 meters 0.01733072985960662 Centerline is valid? [True, True] Translation: X:163.94, Y:3.02, Z:1.82 [[ 9.98964224e-01 -4.37019504e-02 -1.26735595e-02 1.63941890e+02] [ 4.37030033e-02 9.99044548e-01 -1.93989541e-04 3.01818922e+00] [ 1.26699283e-02 -3.60084002e-04 9.99919668e-01 1.81508711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52509989299998 meters 0.017269450735305458 Centerline is valid? [True, True] Translation: X:163.97, Y:3.02, Z:1.82 [[ 9.99017692e-01 -4.24751675e-02 -1.26297837e-02 1.63972875e+02] [ 4.24761349e-02 9.99097463e-01 -1.91760206e-04 3.01837878e+00] [ 1.26265299e-02 -3.44892558e-04 9.99920223e-01 1.81551314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55509989299998 meters 0.01660769929551378 Centerline is valid? [True, True] Translation: X:164.01, Y:3.02, Z:1.82 [[ 9.99126921e-01 -3.97985911e-02 -1.27070181e-02 1.64005641e+02] [ 3.97993628e-02 9.99207673e-01 -1.92240128e-04 3.01968777e+00] [ 1.27046009e-02 -3.13658935e-04 9.99919244e-01 1.81603325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58509989299998 meters 0.015764539151341843 Centerline is valid? [True, True] Translation: X:164.04, Y:3.02, Z:1.82 [[ 9.99185967e-01 -3.82523874e-02 -1.28124265e-02 1.64037469e+02] [ 3.82530613e-02 9.99268065e-01 -1.92559875e-04 3.02145538e+00] [ 1.28104145e-02 -2.97711412e-04 9.99917899e-01 1.81608036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61509989299998 meters 0.01502249723734097 Centerline is valid? [True, True] Translation: X:164.07, Y:3.02, Z:1.82 [[ 9.99255793e-01 -3.60579684e-02 -1.36997184e-02 1.64069294e+02] [ 3.60585471e-02 9.99349658e-01 -2.04846584e-04 3.02249708e+00] [ 1.36981953e-02 -2.89297807e-04 9.99906133e-01 1.81543438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64509989299998 meters 0.015288625165683608 Centerline is valid? [True, True] Translation: X:164.10, Y:3.02, Z:1.81 [[ 9.99279151e-01 -3.51134780e-02 -1.44298760e-02 1.64100661e+02] [ 3.51140390e-02 9.99383289e-01 -2.14556068e-04 3.02158231e+00] [ 1.44285108e-02 -2.92289823e-04 9.99895861e-01 1.81498745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67509989299998 meters 0.015462328015826473 Centerline is valid? [True, True] Translation: X:164.13, Y:3.02, Z:1.81 [[ 9.99286172e-01 -3.44557955e-02 -1.54901277e-02 1.64132198e+02] [ 3.44563913e-02 9.99406176e-01 -2.28496006e-04 3.02111185e+00] [ 1.54888023e-02 -3.05401002e-04 9.99879995e-01 1.81418115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70509989299998 meters 0.014775693926280994 Centerline is valid? [True, True] Translation: X:164.16, Y:3.02, Z:1.81 [[ 9.99309296e-01 -3.27862335e-02 -1.74926754e-02 1.64164080e+02] [ 3.27867553e-02 9.99462337e-01 -2.57028460e-04 3.02210950e+00] [ 1.74916972e-02 -3.16677139e-04 9.99846958e-01 1.81303226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73509989299998 meters 0.014556791982598138 Centerline is valid? [True, True] Translation: X:164.20, Y:3.02, Z:1.81 [[ 9.99337591e-01 -3.19352236e-02 -1.74505029e-02 1.64195329e+02] [ 3.19356278e-02 9.99489895e-01 -2.55576402e-04 3.02280684e+00] [ 1.74497632e-02 -3.01885660e-04 9.99847696e-01 1.81301075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76509989299998 meters 0.014339994088112484 Centerline is valid? [True, True] Translation: X:164.23, Y:3.02, Z:1.81 [[ 9.99347596e-01 -3.15159920e-02 -1.76387095e-02 1.64226556e+02] [ 3.15163509e-02 9.99503203e-01 -2.57698840e-04 3.02380860e+00] [ 1.76380682e-02 -2.98377039e-04 9.99844393e-01 1.81380204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79509989299999 meters 0.014239520466411004 Centerline is valid? [True, True] Translation: X:164.26, Y:3.02, Z:1.81 [[ 9.99394065e-01 -3.02475445e-02 -1.72217339e-02 1.64256473e+02] [ 3.02477073e-02 9.99542402e-01 -2.51084301e-04 3.02435550e+00] [ 1.72214480e-02 -2.69985807e-04 9.99851663e-01 1.81457561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.825099893 meters 0.014179208054852694 Centerline is valid? [True, True] Translation: X:164.29, Y:3.02, Z:1.82 [[ 9.99405691e-01 -2.97595669e-02 -1.73963628e-02 1.64286562e+02] [ 2.97596646e-02 9.99557051e-01 -2.53318305e-04 3.02446392e+00] [ 1.73961957e-02 -2.64542166e-04 9.99848640e-01 1.81500576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.855099893 meters 0.014028465402013832 Centerline is valid? [True, True] Translation: X:164.32, Y:3.03, Z:1.82 [[ 9.99421400e-01 -2.92251907e-02 -1.73998042e-02 1.64317198e+02] [ 2.92252112e-02 9.99572820e-01 -2.53150261e-04 3.02511928e+00] [ 1.73997697e-02 -2.55509165e-04 9.99848580e-01 1.81552974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.885099893 meters 0.013786021788491757 Centerline is valid? [True, True] Translation: X:164.35, Y:3.03, Z:1.82 [[ 9.99441918e-01 -2.89415393e-02 -1.66805289e-02 1.64348086e+02] [ 2.89415186e-02 9.99581077e-01 -2.42685503e-04 3.02617358e+00] [ 1.66805647e-02 -2.40209772e-04 9.99860841e-01 1.81655375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.915099893 meters 0.013654742450758523 Centerline is valid? [True, True] Translation: X:164.38, Y:3.03, Z:1.82 [[ 9.99505766e-01 -2.75649829e-02 -1.51127579e-02 1.64378426e+02] [ 2.75648093e-02 9.99619994e-01 -2.19826548e-04 3.02657124e+00] [ 1.51130745e-02 -1.96862388e-04 9.99885772e-01 1.81844548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.945099893 meters 0.013430785800336034 Centerline is valid? [True, True] Translation: X:164.41, Y:3.03, Z:1.82 [[ 9.99535140e-01 -2.66961021e-02 -1.47248824e-02 1.64410027e+02] [ 2.66958475e-02 9.99643579e-01 -2.13883059e-04 3.02770492e+00] [ 1.47253439e-02 -1.79309580e-04 9.99891560e-01 1.81980582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.975099893 meters 0.013228133001267408 Centerline is valid? [True, True] Translation: X:164.44, Y:3.03, Z:1.82 [[ 9.99568238e-01 -2.57397262e-02 -1.41705297e-02 1.64441634e+02] [ 2.57394013e-02 9.99668666e-01 -2.05337222e-04 3.02878361e+00] [ 1.41711198e-02 -1.59492385e-04 9.99899572e-01 1.82072717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.005099893 meters 0.01303069470314895 Centerline is valid? [True, True] Translation: X:164.47, Y:3.03, Z:1.82 [[ 9.99612937e-01 -2.39997481e-02 -1.40707984e-02 1.64472642e+02] [ 2.39992625e-02 9.99711956e-01 -2.03384927e-04 3.02961812e+00] [ 1.40716266e-02 -1.34382582e-04 9.99900981e-01 1.82187713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.035099893 meters 0.012982361170925855 Centerline is valid? [True, True] Translation: X:164.50, Y:3.03, Z:1.82 [[ 9.99627218e-01 -2.33791596e-02 -1.41010429e-02 1.64502651e+02] [ 2.33786165e-02 9.99726662e-01 -2.03375412e-04 3.03010775e+00] [ 1.41019433e-02 -1.26363277e-04 9.99900555e-01 1.82248551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.065099893 meters 0.012872784411613264 Centerline is valid? [True, True] Translation: X:164.53, Y:3.03, Z:1.82 [[ 9.99630794e-01 -2.32501939e-02 -1.40607624e-02 1.64533598e+02] [ 2.32496412e-02 9.99729670e-01 -2.02794457e-04 3.03043657e+00] [ 1.40616763e-02 -1.24188096e-04 9.99901122e-01 1.82287875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.095099893 meters 0.01308812512461309 Centerline is valid? [True, True] Translation: X:164.56, Y:3.03, Z:1.82 [[ 9.99613742e-01 -2.36945247e-02 -1.45236789e-02 1.64563907e+02] [ 2.36939824e-02 9.99719236e-01 -2.09432530e-04 3.02971945e+00] [ 1.45245635e-02 -1.34772157e-04 9.99894504e-01 1.82300990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.125099893 meters 0.013223593721619922 Centerline is valid? [True, True] Translation: X:164.59, Y:3.03, Z:1.82 [[ 9.99546098e-01 -2.57130039e-02 -1.56983808e-02 1.64594324e+02] [ 2.57126230e-02 9.99669350e-01 -2.26133818e-04 3.02859211e+00] [ 1.56990048e-02 -1.77615373e-04 9.99876747e-01 1.82300223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.155099893 meters 0.013578137551113529 Centerline is valid? [True, True] Translation: X:164.62, Y:3.03, Z:1.82 [[ 9.99482093e-01 -2.74595294e-02 -1.67785430e-02 1.64623789e+02] [ 2.74593390e-02 9.99622892e-01 -2.41772073e-04 3.02694560e+00] [ 1.67788546e-02 -2.19080842e-04 9.99859201e-01 1.82253575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.185099893 meters 0.01433835188044155 Centerline is valid? [True, True] Translation: X:164.65, Y:3.02, Z:1.82 [[ 9.99415968e-01 -2.91791280e-02 -1.77848437e-02 1.64653786e+02] [ 2.91791817e-02 9.99574164e-01 -2.56525268e-04 3.02410731e+00] [ 1.77847555e-02 -2.62571737e-04 9.99841804e-01 1.82157927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.215099893 meters 0.014038242118689818 Centerline is valid? [True, True] Translation: X:164.68, Y:3.02, Z:1.82 [[ 9.99336885e-01 -3.13624833e-02 -1.84982171e-02 1.64683785e+02] [ 3.13629125e-02 9.99508027e-01 -2.66970735e-04 3.02436659e+00] [ 1.84974894e-02 -3.13364262e-04 9.99828858e-01 1.82202795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24509989299997 meters 0.014753118498572653 Centerline is valid? [True, True] Translation: X:164.71, Y:3.02, Z:1.82 [[ 9.99180277e-01 -3.52616933e-02 -1.98843337e-02 1.64714566e+02] [ 3.52629563e-02 9.99378027e-01 -2.87213755e-04 3.02180761e+00] [ 1.98820939e-02 -4.14202071e-04 9.99802246e-01 1.82137728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27509989299998 meters 0.01567208964379483 Centerline is valid? [True, True] Translation: X:164.75, Y:3.02, Z:1.82 [[ 9.99100555e-01 -3.71025581e-02 -2.05300243e-02 1.64745219e+02] [ 3.71042959e-02 9.99311355e-01 -2.96394707e-04 3.01980967e+00] [ 2.05268834e-02 -4.65623979e-04 9.99789193e-01 1.82090067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30509989299998 meters 0.01571388535874554 Centerline is valid? [True, True] Translation: X:164.78, Y:3.02, Z:1.82 [[ 9.99024906e-01 -3.89270254e-02 -2.08308294e-02 1.64775852e+02] [ 3.89292155e-02 9.99241926e-01 -3.00513849e-04 3.01958196e+00] [ 2.08267361e-02 -5.10707025e-04 9.99782970e-01 1.82131552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33509989299998 meters 0.016931180668677624 Centerline is valid? [True, True] Translation: X:164.81, Y:3.02, Z:1.82 [[ 9.98889065e-01 -4.26066597e-02 -2.01322859e-02 1.64805833e+02] [ 4.26094519e-02 9.99091763e-01 -2.90436382e-04 3.01683741e+00] [ 2.01263755e-02 -5.67711942e-04 9.99797283e-01 1.82241871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36509989299998 meters 0.01767031080230747 Centerline is valid? [True, True] Translation: X:164.84, Y:3.02, Z:1.82 [[ 9.98809249e-01 -4.45159820e-02 -1.99602256e-02 1.64836784e+02] [ 4.45191102e-02 9.99008491e-01 -2.87819991e-04 3.01566400e+00] [ 1.99532474e-02 -6.01134213e-04 9.99800733e-01 1.82313469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39509989299998 meters 0.01845157873320802 Centerline is valid? [True, True] Translation: X:164.87, Y:3.01, Z:1.82 [[ 9.98731515e-01 -4.64324220e-02 -1.94779541e-02 1.64867706e+02] [ 4.64357758e-02 9.98921238e-01 -2.80301748e-04 3.01435452e+00] [ 1.94699571e-02 -6.24527721e-04 9.99810247e-01 1.82418621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42509989299998 meters 0.019868276318980364 Centerline is valid? [True, True] Translation: X:164.90, Y:3.01, Z:1.82 [[ 9.98564483e-01 -4.97146320e-02 -1.99355969e-02 1.64897868e+02] [ 4.97188137e-02 9.98763214e-01 -2.86131158e-04 3.01202767e+00] [ 1.99251657e-02 -7.05453815e-04 9.99801225e-01 1.82437699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45509989299998 meters 0.020461350817614982 Centerline is valid? [True, True] Translation: X:164.93, Y:3.01, Z:1.83 [[ 9.98492709e-01 -5.12624263e-02 -1.96079974e-02 1.64929811e+02] [ 5.12667837e-02 9.98684954e-01 -2.80709534e-04 3.01149633e+00] [ 1.95966019e-02 -7.24952538e-04 9.99807705e-01 1.82528388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48509989299998 meters 0.021675420276752136 Centerline is valid? [True, True] Translation: X:164.96, Y:3.01, Z:1.83 [[ 9.98452140e-01 -5.23919652e-02 -1.86656254e-02 1.64960659e+02] [ 5.23961322e-02 9.98626344e-01 -2.66064766e-04 3.01027794e+00] [ 1.86539249e-02 -7.12353639e-04 9.99825747e-01 1.82641003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51509989299998 meters 0.02201073078986229 Centerline is valid? [True, True] Translation: X:164.99, Y:3.01, Z:1.83 [[ 9.98363918e-01 -5.40056572e-02 -1.87850194e-02 1.64992254e+02] [ 5.40101815e-02 9.98540349e-01 -2.66781812e-04 3.01073494e+00] [ 1.87720076e-02 -7.48236971e-04 9.99823510e-01 1.82770197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54509989299999 meters 0.022354489323475037 Centerline is valid? [True, True] Translation: X:165.02, Y:3.01, Z:1.83 [[ 9.98220116e-01 -5.61914518e-02 -1.99780124e-02 1.65023883e+02] [ 5.61970278e-02 9.98419658e-01 -2.82638208e-04 3.01149891e+00] [ 1.99623222e-02 -8.40569775e-04 9.99800380e-01 1.82771742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.575099893 meters 0.023662261176504086 Centerline is valid? [True, True] Translation: X:165.05, Y:3.01, Z:1.83 [[ 9.98160623e-01 -5.69877545e-02 -2.06825330e-02 1.65054566e+02] [ 5.69939213e-02 9.98374483e-01 -2.91641485e-04 3.01022355e+00] [ 2.06655332e-02 -8.87673612e-04 9.99786051e-01 1.82722828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.605099893 meters 0.021794837328362085 Centerline is valid? [True, True] Translation: X:165.09, Y:3.01, Z:1.83 [[ 9.98098341e-01 -5.78316883e-02 -2.13353492e-02 1.65086273e+02] [ 5.78384719e-02 9.98325909e-01 -2.99501639e-04 3.01389964e+00] [ 2.13169526e-02 -9.35071905e-04 9.99772331e-01 1.82818385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.635099893 meters 0.022664018627974316 Centerline is valid? [True, True] Translation: X:165.12, Y:3.01, Z:1.83 [[ 9.98009905e-01 -5.90619883e-02 -2.20886887e-02 1.65117974e+02] [ 5.90696001e-02 9.98253819e-01 -3.08273606e-04 3.01414130e+00] [ 2.20683251e-02 -9.97109897e-04 9.99755968e-01 1.82839202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.665099893 meters 0.020864994451162477 Centerline is valid? [True, True] Translation: X:165.15, Y:3.02, Z:1.83 [[ 9.97968584e-01 -5.96835895e-02 -2.22839555e-02 1.65150326e+02] [ 5.96915223e-02 9.98216823e-01 -3.09600174e-04 3.01774737e+00] [ 2.22626974e-02 -1.02119198e-03 9.99751634e-01 1.82962190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.695099893 meters 0.022417137153244393 Centerline is valid? [True, True] Translation: X:165.18, Y:3.02, Z:1.83 [[ 9.97940408e-01 -5.99099708e-02 -2.29289553e-02 1.65181535e+02] [ 5.99184642e-02 9.98203224e-01 -3.17040401e-04 3.01735610e+00] [ 2.29067510e-02 -1.05748036e-03 9.99737047e-01 1.82951305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.725099893 meters 0.021654592825095978 Centerline is valid? [True, True] Translation: X:165.21, Y:3.02, Z:1.83 [[ 9.97977553e-01 -5.91561023e-02 -2.32671092e-02 1.65213663e+02] [ 5.91646782e-02 9.98248185e-01 -3.20232612e-04 3.01991909e+00] [ 2.32452932e-02 -1.05700607e-03 9.99729233e-01 1.82998501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.755099893 meters 0.02312741476807374 Centerline is valid? [True, True] Translation: X:165.24, Y:3.02, Z:1.83 [[ 9.98060725e-01 -5.78654220e-02 -2.29430139e-02 1.65244779e+02] [ 5.78734537e-02 9.98323878e-01 -3.14312974e-04 3.01928366e+00] [ 2.29227465e-02 -1.01408802e-03 9.99736725e-01 1.82959980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.785099893 meters 0.02097003197773514 Centerline is valid? [True, True] Translation: X:165.28, Y:3.03, Z:1.83 [[ 9.98249050e-01 -5.43878903e-02 -2.32549176e-02 1.65275932e+02] [ 5.43952248e-02 9.98519433e-01 -3.17518363e-04 3.02541298e+00] [ 2.32377563e-02 -9.47994066e-04 9.99729517e-01 1.83016804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.815099893 meters 0.022299379387139183 Centerline is valid? [True, True] Translation: X:165.31, Y:3.03, Z:1.83 [[ 9.98363448e-01 -5.20287083e-02 -2.37368650e-02 1.65306895e+02] [ 5.20357047e-02 9.98645173e-01 -3.23244675e-04 3.02541211e+00] [ 2.37215237e-02 -9.12448831e-04 9.99718189e-01 1.82927804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.845099893 meters 0.022299379387139183 Centerline is valid? [True, True] Translation: X:165.34, Y:3.03, Z:1.83 [[ 9.98365211e-01 -5.19948604e-02 -2.37368762e-02 1.65337761e+02] [ 5.20018668e-02 9.98646936e-01 -3.22421357e-04 3.02580019e+00] [ 2.37215230e-02 -9.12467610e-04 9.99718189e-01 1.82965966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.875099893 meters 0.018088679043302705 Centerline is valid? [True, True] Translation: X:165.37, Y:3.04, Z:1.83 [[ 9.98632434e-01 -4.60667921e-02 -2.47206910e-02 1.65368383e+02] [ 4.60725936e-02 9.98938038e-01 -3.35128543e-04 3.03612633e+00] [ 2.47098769e-02 -8.04276119e-04 9.99694341e-01 1.83032873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.905099893 meters 0.017302806338666002 Centerline is valid? [True, True] Translation: X:165.40, Y:3.04, Z:1.83 [[ 9.98774041e-01 -4.29559831e-02 -2.46007799e-02 1.65398517e+02] [ 4.29607911e-02 9.99076703e-01 -3.33284295e-04 3.03953552e+00] [ 2.45923826e-02 -7.23993263e-04 9.99697299e-01 1.83015325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.935099893 meters 0.016447351630772582 Centerline is valid? [True, True] Translation: X:165.43, Y:3.04, Z:1.83 [[ 9.98892959e-01 -4.00373965e-02 -2.46954005e-02 1.65429416e+02] [ 4.00413557e-02 9.99197967e-01 -3.34348140e-04 3.04291169e+00] [ 2.46889804e-02 -6.54859314e-04 9.99694966e-01 1.83050873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.965099893 meters 0.01578158781522966 Centerline is valid? [True, True] Translation: X:165.46, Y:3.05, Z:1.83 [[ 9.99004020e-01 -3.73907721e-02 -2.43494983e-02 1.65459783e+02] [ 3.73938407e-02 9.99300551e-01 -3.29449442e-04 3.04598939e+00] [ 2.43447855e-02 -5.81399945e-04 9.99703453e-01 1.83108219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99509989299997 meters 0.015291162230280004 Centerline is valid? [True, True] Translation: X:165.49, Y:3.05, Z:1.83 [[ 9.99104926e-01 -3.50370570e-02 -2.37012819e-02 1.65489798e+02] [ 3.50392977e-02 9.99385884e-01 -3.20877945e-04 3.04885003e+00] [ 2.36979692e-02 -5.09885537e-04 9.99719034e-01 1.83166578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02509989299998 meters 0.01440421186274608 Centerline is valid? [True, True] Translation: X:165.52, Y:3.05, Z:1.83 [[ 9.99238000e-01 -3.12214713e-02 -2.34230493e-02 1.65519581e+02] [ 3.12225977e-02 9.99512405e-01 -3.17713045e-04 3.05402850e+00] [ 2.34215478e-02 -4.13857498e-04 9.99725592e-01 1.83238117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05509989299998 meters 0.014240871337876538 Centerline is valid? [True, True] Translation: X:165.55, Y:3.06, Z:1.83 [[ 9.99277946e-01 -2.97768679e-02 -2.35992422e-02 1.65547785e+02] [ 2.97775846e-02 9.99556498e-01 -3.21123983e-04 3.05646900e+00] [ 2.35983379e-02 -3.81836316e-04 9.99721448e-01 1.83230942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08509989299998 meters 0.013690915730966896 Centerline is valid? [True, True] Translation: X:165.58, Y:3.06, Z:1.83 [[ 9.99322258e-01 -2.76384228e-02 -2.43134335e-02 1.65576568e+02] [ 2.76384637e-02 9.99617929e-01 -3.34427694e-04 3.06140847e+00] [ 2.43133871e-02 -3.37784910e-04 9.99704329e-01 1.83257529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11509989299998 meters 0.013290084247308155 Centerline is valid? [True, True] Translation: X:165.60, Y:3.06, Z:1.83 [[ 9.99337426e-01 -2.66555687e-02 -2.47828411e-02 1.65604822e+02] [ 2.66551446e-02 9.99644628e-01 -3.47518281e-04 3.06454557e+00] [ 2.47832972e-02 -3.13302188e-04 9.99692798e-01 1.83332679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14509989299998 meters 0.013045359347928978 Centerline is valid? [True, True] Translation: X:165.63, Y:3.07, Z:1.83 [[ 9.99398716e-01 -2.42559232e-02 -2.47761258e-02 1.65632522e+02] [ 2.42546472e-02 9.99705751e-01 -3.52057775e-04 3.06831309e+00] [ 2.47773749e-02 -2.49090103e-04 9.99692963e-01 1.83378812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17509989299998 meters 0.01291846376322083 Centerline is valid? [True, True] Translation: X:165.66, Y:3.07, Z:1.84 [[ 9.99416462e-01 -2.35936866e-02 -2.46996767e-02 1.65660208e+02] [ 2.35921022e-02 9.99721604e-01 -3.55588471e-04 3.07057387e+00] [ 2.47011901e-02 -2.27336327e-04 9.99694853e-01 1.83501679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20509989299998 meters 0.012904437092122592 Centerline is valid? [True, True] Translation: X:165.69, Y:3.07, Z:1.84 [[ 9.99455522e-01 -2.27499542e-02 -2.38976686e-02 1.65688305e+02] [ 2.27481115e-02 9.99741167e-01 -3.48991981e-04 3.07209557e+00] [ 2.38994227e-02 -1.94824867e-04 9.99714349e-01 1.83557725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23509989299998 meters 0.012794631809646021 Centerline is valid? [True, True] Translation: X:165.72, Y:3.08, Z:1.84 [[ 9.99533924e-01 -2.11130497e-02 -2.20493572e-02 1.65716342e+02] [ 2.11110309e-02 9.99777085e-01 -3.24352073e-04 3.07546056e+00] [ 2.20512901e-02 -1.41283760e-04 9.99756831e-01 1.83781001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26509989299998 meters 0.012530022832427724 Centerline is valid? [True, True] Translation: X:165.74, Y:3.08, Z:1.84 [[ 9.99582190e-01 -1.98010479e-02 -2.10562237e-02 1.65744903e+02] [ 1.97988494e-02 9.99803935e-01 -3.12891758e-04 3.07835885e+00] [ 2.10582909e-02 -1.04127973e-04 9.99778244e-01 1.83963242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29509989299999 meters 0.01259114860045906 Centerline is valid? [True, True] Translation: X:165.77, Y:3.08, Z:1.84 [[ 9.99595947e-01 -1.96383762e-02 -2.05493899e-02 1.65772756e+02] [ 1.96361727e-02 9.99807144e-01 -3.09022587e-04 3.07905426e+00] [ 2.05514955e-02 -9.46136425e-05 9.99788791e-01 1.83969948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.325099893 meters 0.012454199540282948 Centerline is valid? [True, True] Translation: X:165.80, Y:3.08, Z:1.84 [[ 9.99597037e-01 -1.98182059e-02 -2.03224659e-02 1.65800553e+02] [ 1.98160213e-02 9.99803596e-01 -3.08883437e-04 3.07978904e+00] [ 2.03245960e-02 -9.39514502e-05 9.99793430e-01 1.84002677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.355099893 meters 0.012580770400078734 Centerline is valid? [True, True] Translation: X:165.83, Y:3.08, Z:1.84 [[ 9.99593445e-01 -2.02594729e-02 -2.00623493e-02 1.65827497e+02] [ 2.02573461e-02 9.99794751e-01 -3.09253075e-04 3.07962813e+00] [ 2.00644968e-02 -9.72826052e-05 9.99798683e-01 1.83974052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.385099893 meters 0.012546542276458465 Centerline is valid? [True, True] Translation: X:165.86, Y:3.08, Z:1.84 [[ 9.99562041e-01 -2.17474953e-02 -2.00692158e-02 1.65855326e+02] [ 2.17455922e-02 9.99763488e-01 -3.13078863e-04 3.07973956e+00] [ 2.00712778e-02 -1.23475234e-04 9.99798544e-01 1.84053771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.415099893 meters 0.013087111966964932 Centerline is valid? [True, True] Translation: X:165.88, Y:3.08, Z:1.84 [[ 9.99478592e-01 -2.51700088e-02 -2.02240957e-02 1.65882763e+02] [ 2.51686896e-02 9.99683167e-01 -3.19802894e-04 3.07633348e+00] [ 2.02257375e-02 -1.89377840e-04 9.99795421e-01 1.83971414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.445099893 meters 0.013506802340256712 Centerline is valid? [True, True] Translation: X:165.91, Y:3.07, Z:1.84 [[ 9.99360523e-01 -2.94229238e-02 -2.03184039e-02 1.65911899e+02] [ 2.94224083e-02 9.99567015e-01 -3.24374524e-04 3.07386392e+00] [ 2.03191504e-02 -2.73649283e-04 9.99793507e-01 1.84026397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.475099893 meters 0.013828846600215546 Centerline is valid? [True, True] Translation: X:165.94, Y:3.07, Z:1.84 [[ 9.99289240e-01 -3.14422907e-02 -2.07941468e-02 1.65941867e+02] [ 3.14421165e-02 9.99505518e-01 -3.35398455e-04 3.07250966e+00] [ 2.07944102e-02 -3.18651920e-04 9.99783722e-01 1.84049657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.505099893 meters 0.014223163337541572 Centerline is valid? [True, True] Translation: X:165.97, Y:3.07, Z:1.84 [[ 9.99221259e-01 -3.33520935e-02 -2.10834835e-02 1.65971912e+02] [ 3.33523268e-02 9.99443598e-01 -3.40659936e-04 3.07117707e+00] [ 2.10831143e-02 -3.62788580e-04 9.99777661e-01 1.84065436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.535099893 meters 0.014793061700910267 Centerline is valid? [True, True] Translation: X:166.00, Y:3.07, Z:1.84 [[ 9.99155881e-01 -3.50329740e-02 -2.14526525e-02 1.66002311e+02] [ 3.50336084e-02 9.99386075e-01 -3.46367865e-04 3.06947989e+00] [ 2.14516165e-02 -4.05488336e-04 9.99769805e-01 1.84027270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.565099893 meters 0.014789732380163671 Centerline is valid? [True, True] Translation: X:166.03, Y:3.07, Z:1.84 [[ 9.99002698e-01 -3.84922497e-02 -2.26264577e-02 1.66032839e+02] [ 3.84938578e-02 9.99258770e-01 -3.64633361e-04 3.06850064e+00] [ 2.26237218e-02 -5.06709932e-04 9.99743922e-01 1.84009053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.595099893 meters 0.016082096202097777 Centerline is valid? [True, True] Translation: X:166.06, Y:3.07, Z:1.84 [[ 9.98934223e-01 -4.02176609e-02 -2.26485515e-02 1.66063339e+02] [ 4.02197194e-02 9.99190793e-01 -3.64804144e-04 3.06561897e+00] [ 2.26448957e-02 -5.46503042e-04 9.99743422e-01 1.83934715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.625099893 meters 0.01636467245941386 Centerline is valid? [True, True] Translation: X:166.09, Y:3.06, Z:1.84 [[ 9.98865258e-01 -4.18231684e-02 -2.27819875e-02 1.66094565e+02] [ 4.18256820e-02 9.99124856e-01 -3.66361915e-04 3.06468081e+00] [ 2.27773724e-02 -5.86925975e-04 9.99740390e-01 1.83933530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.655099893 meters 0.017066755064565422 Centerline is valid? [True, True] Translation: X:166.13, Y:3.06, Z:1.84 [[ 9.98800404e-01 -4.31611587e-02 -2.31271948e-02 1.66125370e+02] [ 4.31641483e-02 9.99067925e-01 -3.70150013e-04 3.06279824e+00] [ 2.31216146e-02 -6.28559682e-04 9.99732462e-01 1.83932870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.685099893 meters 0.017107418692750943 Centerline is valid? [True, True] Translation: X:166.16, Y:3.06, Z:1.84 [[ 9.98708257e-01 -4.54894883e-02 -2.26389881e-02 1.66156797e+02] [ 4.54929924e-02 9.98964593e-01 -3.60484976e-04 3.06200876e+00] [ 2.26319458e-02 -6.69895990e-04 9.99743640e-01 1.84072659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.715099893 meters 0.017709731090426506 Centerline is valid? [True, True] Translation: X:166.19, Y:3.06, Z:1.84 [[ 9.98667911e-01 -4.64776257e-02 -2.24105584e-02 1.66187564e+02] [ 4.64813297e-02 9.98919095e-01 -3.55875181e-04 3.06121881e+00] [ 2.24028750e-02 -6.86271432e-04 9.99748789e-01 1.84129013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74509989299997 meters 0.01823693981407575 Centerline is valid? [True, True] Translation: X:166.22, Y:3.06, Z:1.84 [[ 9.98622093e-01 -4.75951600e-02 -2.21046579e-02 1.66219314e+02] [ 4.75990753e-02 9.98866461e-01 -3.49287591e-04 3.06032809e+00] [ 2.20962258e-02 -7.03354970e-04 9.99755601e-01 1.84196396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77509989299998 meters 0.019531257665515295 Centerline is valid? [True, True] Translation: X:166.25, Y:3.06, Z:1.84 [[ 9.98472615e-01 -5.09613477e-02 -2.13395945e-02 1.66251224e+02] [ 5.09658022e-02 9.98700343e-01 -3.35413467e-04 3.05784118e+00] [ 2.13289534e-02 -7.52688390e-04 9.99772229e-01 1.84296344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80509989299998 meters 0.018785852843100612 Centerline is valid? [True, True] Translation: X:166.28, Y:3.06, Z:1.84 [[ 9.98380455e-01 -5.28315212e-02 -2.11020542e-02 1.66283413e+02] [ 5.28363208e-02 9.98603131e-01 -3.30413400e-04 3.05905789e+00] [ 2.10900336e-02 -7.85076625e-04 9.99777272e-01 1.84419189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83509989299998 meters 0.020735975039955796 Centerline is valid? [True, True] Translation: X:166.31, Y:3.06, Z:1.84 [[ 9.98266372e-01 -5.48740511e-02 -2.12859092e-02 1.66314447e+02] [ 5.48794360e-02 9.98492933e-01 -3.31527023e-04 3.05602992e+00] [ 2.12720221e-02 -8.37206412e-04 9.99773374e-01 1.84429400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86509989299998 meters 0.02118948676671843 Centerline is valid? [True, True] Translation: X:166.35, Y:3.06, Z:1.85 [[ 9.98143899e-01 -5.70488619e-02 -2.13116178e-02 1.66346495e+02] [ 5.70547934e-02 9.98370994e-01 -3.30099299e-04 3.05538480e+00] [ 2.12957328e-02 -8.86443350e-04 9.99772827e-01 1.84509512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89509989299998 meters 0.02237593945430868 Centerline is valid? [True, True] Translation: X:166.38, Y:3.05, Z:1.85 [[ 9.97870519e-01 -6.13989940e-02 -2.20134381e-02 1.66377243e+02] [ 6.14064076e-02 9.98112788e-01 -3.39670212e-04 3.05291622e+00] [ 2.19927495e-02 -1.01281926e-03 9.99757617e-01 1.84531620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92509989299998 meters 0.025039884030664518 Centerline is valid? [True, True] Translation: X:166.41, Y:3.05, Z:1.84 [[ 9.97724908e-01 -6.35322438e-02 -2.25535281e-02 1.66408675e+02] [ 6.35405933e-02 9.97979194e-01 -3.46948388e-04 3.04884202e+00] [ 2.25299942e-02 -1.08690551e-03 9.99745577e-01 1.84472305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95509989299998 meters 0.025456650697328602 Centerline is valid? [True, True] Translation: X:166.44, Y:3.05, Z:1.84 [[ 9.97557903e-01 -6.57511045e-02 -2.35589291e-02 1.66439567e+02] [ 6.57608619e-02 9.97835346e-01 -3.61165378e-04 3.04805519e+00] [ 2.35316792e-02 -1.18897211e-03 9.99722385e-01 1.84495401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98509989299998 meters 0.024999621686855343 Centerline is valid? [True, True] Translation: X:166.47, Y:3.05, Z:1.85 [[ 9.97377975e-01 -6.82319523e-02 -2.41158874e-02 1.66470311e+02] [ 6.82429200e-02 9.97668666e-01 -3.68865250e-04 3.04886605e+00] [ 2.40848336e-02 -1.27784050e-03 9.99709102e-01 1.84553849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01509989299998 meters 0.02671241733300577 Centerline is valid? [True, True] Translation: X:166.50, Y:3.05, Z:1.84 [[ 9.97067766e-01 -7.21577326e-02 -2.54780460e-02 1.66500695e+02] [ 7.21712612e-02 9.97392178e-01 -3.89351099e-04 3.04566520e+00] [ 2.54396984e-02 -1.45057328e-03 9.99675306e-01 1.84472946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04509989299999 meters 0.027821160144045214 Centerline is valid? [True, True] Translation: X:166.53, Y:3.04, Z:1.84 [[ 9.96941581e-01 -7.36339613e-02 -2.61824985e-02 1.66532879e+02] [ 7.36487849e-02 9.97284161e-01 -3.99018068e-04 3.04418735e+00] [ 2.61407723e-02 -1.53051149e-03 9.99657100e-01 1.84444551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.075099893 meters 0.03129104729083222 Centerline is valid? [True, True] Translation: X:166.56, Y:3.04, Z:1.84 [[ 9.96865562e-01 -7.44921388e-02 -2.66453047e-02 1.66564271e+02] [ 7.45078409e-02 9.97220346e-01 -4.04411939e-04 3.03988462e+00] [ 2.66013655e-02 -1.58213979e-03 9.99644869e-01 1.84352285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.105099893 meters 0.0296930400255743 Centerline is valid? [True, True] Translation: X:166.60, Y:3.04, Z:1.85 [[ 9.96818723e-01 -7.49981896e-02 -2.69759966e-02 1.66596279e+02] [ 7.50145145e-02 9.97182359e-01 -4.07733661e-04 3.04382182e+00] [ 2.69305672e-02 -1.61715474e-03 9.99635998e-01 1.84516620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.135099893 meters 0.029783318048485392 Centerline is valid? [True, True] Translation: X:166.63, Y:3.05, Z:1.85 [[ 9.96868620e-01 -7.45061301e-02 -2.64913317e-02 1.66628580e+02] [ 7.45217492e-02 9.97219309e-01 -3.98556835e-04 3.04563545e+00] [ 2.64473624e-02 -1.57687157e-03 9.99648964e-01 1.84630877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.165099893 meters 0.029571883472119333 Centerline is valid? [True, True] Translation: X:166.66, Y:3.05, Z:1.85 [[ 9.96942786e-01 -7.35351456e-02 -2.64133090e-02 1.66660697e+02] [ 7.35503820e-02 9.97291424e-01 -3.95530161e-04 3.04790028e+00] [ 2.63708520e-02 -1.54838803e-03 9.99651029e-01 1.84753356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.195099893 meters 0.02854052624529242 Centerline is valid? [True, True] Translation: X:166.69, Y:3.05, Z:1.85 [[ 9.97206669e-01 -7.02749126e-02 -2.53040814e-02 1.66691652e+02] [ 7.02878759e-02 9.97526677e-01 -3.77864930e-04 3.05226278e+00] [ 2.52680506e-02 -1.40176070e-03 9.99679729e-01 1.84854606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.225099893 meters 0.027367188561329688 Centerline is valid? [True, True] Translation: X:166.72, Y:3.06, Z:1.85 [[ 9.97372887e-01 -6.82432782e-02 -2.42936223e-02 1.66723488e+02] [ 6.82546456e-02 9.97667867e-01 -3.61943813e-04 3.05570833e+00] [ 2.42616666e-02 -1.29715963e-03 9.99704801e-01 1.84948289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.255099893 meters 0.02803695303511425 Centerline is valid? [True, True] Translation: X:166.75, Y:3.06, Z:1.85 [[ 9.97528897e-01 -6.61384159e-02 -2.37025296e-02 1.66754139e+02] [ 6.61486682e-02 9.97809716e-01 -3.52110197e-04 3.05647818e+00] [ 2.36739023e-02 -1.21665067e-03 9.99718994e-01 1.85000461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.285099893 meters 0.02267383789860803 Centerline is valid? [True, True] Translation: X:166.78, Y:3.07, Z:1.85 [[ 9.97830564e-01 -6.18706888e-02 -2.24984986e-02 1.66784971e+02] [ 6.18788579e-02 9.98083612e-01 -3.33568861e-04 3.06693173e+00] [ 2.24760208e-02 -1.05933619e-03 9.99746821e-01 1.85208283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.315099893 meters 0.024100837186583186 Centerline is valid? [True, True] Translation: X:166.82, Y:3.07, Z:1.85 [[ 9.97962877e-01 -5.97901925e-02 -2.22537266e-02 1.66815532e+02] [ 5.97976792e-02 9.98210463e-01 -3.29464720e-04 3.06636700e+00] [ 2.22336015e-02 -1.00192764e-03 9.99752301e-01 1.85169161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.345099893 meters 0.02286332624646729 Centerline is valid? [True, True] Translation: X:166.85, Y:3.07, Z:1.85 [[ 9.98134800e-01 -5.68304554e-02 -2.22984386e-02 1.66847469e+02] [ 5.68372515e-02 9.98383402e-01 -3.29384922e-04 3.07100323e+00] [ 2.22811101e-02 -9.38611411e-04 9.99751305e-01 1.85220653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.375099893 meters 0.02043556477856281 Centerline is valid? [True, True] Translation: X:166.88, Y:3.08, Z:1.85 [[ 9.98179834e-01 -5.58014714e-02 -2.28739048e-02 1.66879528e+02] [ 5.58083860e-02 9.98441441e-01 -3.36457835e-04 3.07637000e+00] [ 2.28570294e-02 -9.40710285e-04 9.99738301e-01 1.85307576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.405099893 meters 0.02017051679802948 Centerline is valid? [True, True] Translation: X:166.91, Y:3.08, Z:1.85 [[ 9.98223283e-01 -5.49256100e-02 -2.30966305e-02 1.66911887e+02] [ 5.49324648e-02 9.98490015e-01 -3.38048030e-04 3.07825742e+00] [ 2.30803224e-02 -9.31307428e-04 9.99733180e-01 1.85319986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.435099893 meters 0.0195871803124845 Centerline is valid? [True, True] Translation: X:166.94, Y:3.08, Z:1.85 [[ 9.98266175e-01 -5.38240293e-02 -2.38247196e-02 1.66944370e+02] [ 5.38310521e-02 9.98549997e-01 -3.46941623e-04 3.08071084e+00] [ 2.38088475e-02 -9.36169636e-04 9.99716091e-01 1.85317199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.465099893 meters 0.020035669362396123 Centerline is valid? [True, True] Translation: X:166.98, Y:3.08, Z:1.85 [[ 9.98270489e-01 -5.35622611e-02 -2.42304429e-02 1.66975879e+02] [ 5.35694863e-02 9.98564062e-01 -3.51285616e-04 3.08083420e+00] [ 2.42144652e-02 -9.47334315e-04 9.99706338e-01 1.85325305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49509989299997 meters 0.020773896669316137 Centerline is valid? [True, True] Translation: X:167.01, Y:3.08, Z:1.85 [[ 9.98276168e-01 -5.34321061e-02 -2.42837814e-02 1.67006773e+02] [ 5.34393565e-02 9.98571035e-01 -3.50744970e-04 3.08077976e+00] [ 2.42678218e-02 -9.47569309e-04 9.99705044e-01 1.85324330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52509989299998 meters 0.02059888303967681 Centerline is valid? [True, True] Translation: X:167.04, Y:3.08, Z:1.85 [[ 9.98327140e-01 -5.26833770e-02 -2.38198181e-02 1.67038854e+02] [ 5.26901749e-02 9.98610849e-01 -3.42581567e-04 3.08200037e+00] [ 2.38047772e-02 -9.13061909e-04 9.99716209e-01 1.85370687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55509989299998 meters 0.020564116396704635 Centerline is valid? [True, True] Translation: X:167.07, Y:3.08, Z:1.85 [[ 9.98366330e-01 -5.22785041e-02 -2.30570877e-02 1.67071447e+02] [ 5.22848026e-02 9.98632160e-01 -3.30006841e-04 3.08293842e+00] [ 2.30428015e-02 -8.76067558e-04 9.99734096e-01 1.85485829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58509989299998 meters 0.01932606084525939 Centerline is valid? [True, True] Translation: X:167.10, Y:3.09, Z:1.86 [[ 9.98404405e-01 -5.18622568e-02 -2.23371962e-02 1.67103788e+02] [ 5.18680991e-02 9.98653894e-01 -3.18129349e-04 3.08593453e+00] [ 2.23236269e-02 -8.40966163e-04 9.99750443e-01 1.85652949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61509989299998 meters 0.020913389770855932 Centerline is valid? [True, True] Translation: X:167.14, Y:3.08, Z:1.86 [[ 9.98437667e-01 -5.14832198e-02 -2.17187265e-02 1.67135001e+02] [ 5.14886832e-02 9.98673531e-01 -3.07940123e-04 3.08435909e+00] [ 2.17057711e-02 -8.10809613e-04 9.99764073e-01 1.85705369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64509989299998 meters 0.019741226831336098 Centerline is valid? [True, True] Translation: X:167.17, Y:3.09, Z:1.86 [[ 9.98479446e-01 -5.11832926e-02 -2.04711116e-02 1.67167321e+02] [ 5.11881080e-02 9.98688988e-01 -2.89038234e-04 3.08755187e+00] [ 2.04590676e-02 -7.59278735e-04 9.99790403e-01 1.85862619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67509989299998 meters 0.020383074964233354 Centerline is valid? [True, True] Translation: X:167.20, Y:3.09, Z:1.86 [[ 9.98475235e-01 -5.13660096e-02 -2.02172582e-02 1.67198222e+02] [ 5.13707699e-02 9.98679610e-01 -2.84158405e-04 3.08738356e+00] [ 2.02051597e-02 -7.54850990e-04 9.99795570e-01 1.85922060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70509989299998 meters 0.02061174425054193 Centerline is valid? [True, True] Translation: X:167.23, Y:3.09, Z:1.86 [[ 9.98469897e-01 -5.15358899e-02 -2.00478461e-02 1.67230898e+02] [ 5.15406288e-02 9.98670859e-01 -2.80581130e-04 3.08780421e+00] [ 2.00356597e-02 -7.53126784e-04 9.99798982e-01 1.85939954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73509989299998 meters 0.02187284448595264 Centerline is valid? [True, True] Translation: X:167.26, Y:3.09, Z:1.86 [[ 9.98370462e-01 -5.32543130e-02 -2.05036146e-02 1.67262384e+02] [ 5.32596588e-02 9.98580656e-01 -2.85642550e-04 3.08682121e+00] [ 2.04897247e-02 -8.06838435e-04 9.99789738e-01 1.85866641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76509989299998 meters 0.02187284448595264 Centerline is valid? [True, True] Translation: X:167.29, Y:3.09, Z:1.86 [[ 9.98374162e-01 -5.31849041e-02 -2.05036315e-02 1.67294099e+02] [ 5.31902602e-02 9.98584356e-01 -2.84428722e-04 3.08720090e+00] [ 2.04897330e-02 -8.06627207e-04 9.99789738e-01 1.85905845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79509989299999 meters 0.02167356613063572 Centerline is valid? [True, True] Translation: X:167.33, Y:3.09, Z:1.86 [[ 9.98309548e-01 -5.43184856e-02 -2.06772698e-02 1.67325847e+02] [ 5.43242025e-02 9.98523309e-01 -2.85529227e-04 3.08775165e+00] [ 2.06622454e-02 -8.38229641e-04 9.99786162e-01 1.85894889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.825099893 meters 0.02403970747527306 Centerline is valid? [True, True] Translation: X:167.36, Y:3.08, Z:1.86 [[ 9.98113811e-01 -5.77852725e-02 -2.07287970e-02 1.67355665e+02] [ 5.77917777e-02 9.98328618e-01 -2.85582689e-04 3.08443445e+00] [ 2.07106537e-02 -9.12910001e-04 9.99785095e-01 1.85827578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.855099893 meters 0.02199358434016782 Centerline is valid? [True, True] Translation: X:167.39, Y:3.09, Z:1.86 [[ 9.98008515e-01 -5.95958123e-02 -2.06722742e-02 1.67388136e+02] [ 5.96026820e-02 9.98222139e-01 -2.84199934e-04 3.08744202e+00] [ 2.06524589e-02 -9.48489033e-04 9.99786265e-01 1.85920282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.885099893 meters 0.023093594216672526 Centerline is valid? [True, True] Translation: X:167.42, Y:3.09, Z:1.86 [[ 9.97937566e-01 -6.09383869e-02 -2.01773796e-02 1.67419551e+02] [ 6.09452315e-02 9.98141073e-01 -2.76095565e-04 3.08575918e+00] [ 2.01566962e-02 -9.54188936e-04 9.99796378e-01 1.85917867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.915099893 meters 0.024954458920345913 Centerline is valid? [True, True] Translation: X:167.45, Y:3.08, Z:1.86 [[ 9.97898155e-01 -6.16527948e-02 -1.99550954e-02 1.67450826e+02] [ 6.16596532e-02 9.98097196e-01 -2.71983959e-04 3.08292957e+00] [ 1.99338934e-02 -9.59011974e-04 9.99800840e-01 1.85874375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.945099893 meters 0.022694544155310418 Centerline is valid? [True, True] Translation: X:167.48, Y:3.09, Z:1.86 [[ 9.97907553e-01 -6.17175343e-02 -1.92733540e-02 1.67483515e+02] [ 6.17239710e-02 9.98093224e-01 -2.61291206e-04 3.08608662e+00] [ 1.92527303e-02 -9.28883478e-04 9.99814218e-01 1.86005401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.975099893 meters 0.025132101838720108 Centerline is valid? [True, True] Translation: X:167.51, Y:3.08, Z:1.86 [[ 9.97924722e-01 -6.16415098e-02 -1.86165082e-02 1.67514859e+02] [ 6.16475326e-02 9.98097951e-01 -2.50733941e-04 3.08283560e+00] [ 1.85965543e-02 -8.97448198e-04 9.99826666e-01 1.86021649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.005099893 meters 0.023974522634750566 Centerline is valid? [True, True] Translation: X:167.55, Y:3.08, Z:1.86 [[ 9.97936578e-01 -6.17222796e-02 -1.76903092e-02 1.67548076e+02] [ 6.17277519e-02 9.98092996e-01 -2.37046895e-04 3.08431650e+00] [ 1.76712048e-02 -8.55425248e-04 9.99843486e-01 1.86104051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.035099893 meters 0.02403072960051172 Centerline is valid? [True, True] Translation: X:167.58, Y:3.08, Z:1.86 [[ 9.97934363e-01 -6.19301378e-02 -1.70781866e-02 1.67580151e+02] [ 6.19352960e-02 9.98080141e-01 -2.27219600e-04 3.08327907e+00] [ 1.70594706e-02 -8.30992295e-04 9.99854131e-01 1.86160991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.065099893 meters 0.02646839451795507 Centerline is valid? [True, True] Translation: X:167.61, Y:3.08, Z:1.86 [[ 9.97897162e-01 -6.26562168e-02 -1.65967759e-02 1.67611432e+02] [ 6.26612064e-02 9.98034832e-01 -2.19727164e-04 3.07946381e+00] [ 1.65779277e-02 -8.20708885e-04 9.99862240e-01 1.86181953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.095099893 meters 0.023642138896102477 Centerline is valid? [True, True] Translation: X:167.64, Y:3.08, Z:1.86 [[ 9.97878390e-01 -6.31288242e-02 -1.59207229e-02 1.67643739e+02] [ 6.31334897e-02 9.98005069e-01 -2.09884594e-04 3.08258348e+00] [ 1.59022120e-02 -7.95691497e-04 9.99873235e-01 1.86255967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.125099893 meters 0.02596160683823632 Centerline is valid? [True, True] Translation: X:167.67, Y:3.08, Z:1.86 [[ 9.97784242e-01 -6.45327321e-02 -1.61904962e-02 1.67674553e+02] [ 6.45377584e-02 9.97915243e-01 -2.12387813e-04 3.07776524e+00] [ 1.61704489e-02 -8.32981121e-04 9.99868903e-01 1.86272563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.155099893 meters 0.027036052812875574 Centerline is valid? [True, True] Translation: X:167.71, Y:3.08, Z:1.86 [[ 9.97725723e-01 -6.53770900e-02 -1.64078512e-02 1.67705637e+02] [ 6.53823770e-02 9.97860260e-01 -2.14570352e-04 3.07590526e+00] [ 1.63867706e-02 -8.58701951e-04 9.99865359e-01 1.86262129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.185099893 meters 0.02755397792241464 Centerline is valid? [True, True] Translation: X:167.74, Y:3.07, Z:1.86 [[ 9.97684344e-01 -6.59014255e-02 -1.68211741e-02 1.67738087e+02] [ 6.59070731e-02 9.97825741e-01 -2.18992675e-04 3.07472695e+00] [ 1.67990325e-02 -8.90148789e-04 9.99858490e-01 1.86238525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.215099893 meters 0.029154930494597726 Centerline is valid? [True, True] Translation: X:167.77, Y:3.07, Z:1.86 [[ 9.97583693e-01 -6.70175912e-02 -1.83144291e-02 1.67769016e+02] [ 6.70244968e-02 9.97751302e-01 -2.37179718e-04 3.07078439e+00] [ 1.82891407e-02 -9.90908775e-04 9.99832249e-01 1.86089201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24509989299997 meters 0.027356799059589113 Centerline is valid? [True, True] Translation: X:167.80, Y:3.07, Z:1.86 [[ 9.97555011e-01 -6.72966680e-02 -1.88456438e-02 1.67800747e+02] [ 6.73040509e-02 9.97732482e-01 -2.42937355e-04 3.07252368e+00] [ 1.88192599e-02 -1.02604480e-03 9.99822376e-01 1.86077782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27509989299998 meters 0.02868455462335458 Centerline is valid? [True, True] Translation: X:167.83, Y:3.07, Z:1.86 [[ 9.97558085e-01 -6.71122523e-02 -1.93342558e-02 1.67832704e+02] [ 6.71200178e-02 9.97744878e-01 -2.47725074e-04 3.07051574e+00] [ 1.93072801e-02 -1.05059545e-03 9.99813045e-01 1.86076421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30509989299998 meters 0.02653905889473724 Centerline is valid? [True, True] Translation: X:167.86, Y:3.07, Z:1.86 [[ 9.97585210e-01 -6.66446423e-02 -1.95509469e-02 1.67864940e+02] [ 6.66525248e-02 9.97776217e-01 -2.48889776e-04 3.07370681e+00] [ 1.95240570e-02 -1.05483121e-03 9.99808831e-01 1.86185625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33509989299998 meters 0.025579499907204883 Centerline is valid? [True, True] Translation: X:167.90, Y:3.08, Z:1.86 [[ 9.97622054e-01 -6.61070073e-02 -1.94961844e-02 1.67896992e+02] [ 6.61147705e-02 9.97811994e-01 -2.46800875e-04 3.07541633e+00] [ 1.94698419e-02 -1.04277176e-03 9.99809901e-01 1.86267086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36509989299998 meters 0.027550215128391495 Centerline is valid? [True, True] Translation: X:167.93, Y:3.07, Z:1.86 [[ 9.97668480e-01 -6.53372311e-02 -1.97141969e-02 1.67928387e+02] [ 6.53450445e-02 9.97862698e-01 -2.48269015e-04 3.07305484e+00] [ 1.96882829e-02 -1.04053490e-03 9.99805626e-01 1.86292311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39509989299998 meters 0.02599869339667912 Centerline is valid? [True, True] Translation: X:167.96, Y:3.08, Z:1.86 [[ 9.97752982e-01 -6.42061428e-02 -1.91456907e-02 1.67960348e+02] [ 6.42133258e-02 9.97936166e-01 -2.39984534e-04 3.07526639e+00] [ 1.91215857e-02 -9.89963189e-04 9.99816676e-01 1.86352456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42509989299998 meters 0.025542468294226014 Centerline is valid? [True, True] Translation: X:167.99, Y:3.08, Z:1.86 [[ 9.97907080e-01 -6.17205371e-02 -1.92881875e-02 1.67990868e+02] [ 6.17273838e-02 9.98093018e-01 -2.40760338e-04 3.07569428e+00] [ 1.92662651e-02 -9.50352905e-04 9.99813937e-01 1.86392248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45509989299998 meters 0.02419905108710667 Centerline is valid? [True, True] Translation: X:168.02, Y:3.08, Z:1.86 [[ 9.98082377e-01 -5.90290772e-02 -1.86316169e-02 1.68022136e+02] [ 5.90350058e-02 9.98255886e-01 -2.32128149e-04 3.07792155e+00] [ 1.86128235e-02 -8.68234595e-04 9.99826389e-01 1.86486605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48509989299998 meters 0.022950572903186573 Centerline is valid? [True, True] Translation: X:168.05, Y:3.08, Z:1.87 [[ 9.98171985e-01 -5.74151681e-02 -1.88729130e-02 1.68054842e+02] [ 5.74209827e-02 9.98350027e-01 -2.34109549e-04 3.08035176e+00] [ 1.88552146e-02 -8.50019617e-04 9.99821863e-01 1.86542765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51509989299998 meters 0.023343872607274396 Centerline is valid? [True, True] Translation: X:168.09, Y:3.08, Z:1.87 [[ 9.98279460e-01 -5.56313004e-02 -1.85277909e-02 1.68085695e+02] [ 5.56366236e-02 9.98451057e-01 -2.28418880e-04 3.08004186e+00] [ 1.85117997e-02 -8.02797853e-04 9.99828320e-01 1.86563550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54509989299999 meters 0.021978168401784126 Centerline is valid? [True, True] Translation: X:168.12, Y:3.08, Z:1.87 [[ 9.98448720e-01 -5.23596437e-02 -1.89373137e-02 1.68117534e+02] [ 5.23646367e-02 9.98628004e-01 -2.32451741e-04 3.08242065e+00] [ 1.89235029e-02 -7.59554411e-04 9.99820646e-01 1.86580923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.575099893 meters 0.021117253785839046 Centerline is valid? [True, True] Translation: X:168.15, Y:3.08, Z:1.87 [[ 9.98527577e-01 -5.06090836e-02 -1.95294359e-02 1.68149961e+02] [ 5.06140824e-02 9.98718257e-01 -2.38546886e-04 3.08380429e+00] [ 1.95164768e-02 -7.50268835e-04 9.99809254e-01 1.86620692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.605099893 meters 0.021293585017656165 Centerline is valid? [True, True] Translation: X:168.18, Y:3.08, Z:1.87 [[ 9.98604084e-01 -4.89894428e-02 -1.97463507e-02 1.68180901e+02] [ 4.89942621e-02 9.98799031e-01 -2.39932910e-04 3.08340868e+00] [ 1.97343902e-02 -7.27859899e-04 9.99804993e-01 1.86592865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.635099893 meters 0.01905706438318232 Centerline is valid? [True, True] Translation: X:168.21, Y:3.09, Z:1.87 [[ 9.98665992e-01 -4.74753130e-02 -2.03059351e-02 1.68213470e+02] [ 4.74801248e-02 9.98872153e-01 -2.45355588e-04 3.08705225e+00] [ 2.02946814e-02 -7.19100051e-04 9.99793783e-01 1.86662935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.665099893 meters 0.017903600637145016 Centerline is valid? [True, True] Translation: X:168.25, Y:3.09, Z:1.87 [[ 9.98777561e-01 -4.46323255e-02 -2.12447530e-02 1.68245330e+02] [ 4.46369849e-02 9.99003240e-01 -2.55066548e-04 3.08854223e+00] [ 2.12349613e-02 -6.93546976e-04 9.99774272e-01 1.86681111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.695099893 meters 0.01814216468614584 Centerline is valid? [True, True] Translation: X:168.28, Y:3.09, Z:1.87 [[ 9.98835893e-01 -4.30693058e-02 -2.17231029e-02 1.68276238e+02] [ 4.30738339e-02 9.99071858e-01 -2.59631214e-04 3.08804000e+00] [ 2.17141229e-02 -6.76368351e-04 9.99763992e-01 1.86716220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.725099893 meters 0.01739691196591786 Centerline is valid? [True, True] Translation: X:168.31, Y:3.09, Z:1.87 [[ 9.98889918e-01 -4.14531164e-02 -2.23734338e-02 1.68308087e+02] [ 4.14575404e-02 9.99140231e-01 -2.66258342e-04 3.08928383e+00] [ 2.23652351e-02 -6.61584763e-04 9.99749648e-01 1.86774020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.755099893 meters 0.01684062052233486 Centerline is valid? [True, True] Translation: X:168.34, Y:3.09, Z:1.87 [[ 9.99004922e-01 -3.83093288e-02 -2.28377037e-02 1.68338531e+02] [ 3.83131351e-02 9.99265746e-01 -2.71021442e-04 3.08964319e+00] [ 2.28313176e-02 -6.04232271e-04 9.99739149e-01 1.86811476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.785099893 meters 0.016253365233788702 Centerline is valid? [True, True] Translation: X:168.37, Y:3.09, Z:1.87 [[ 9.99071175e-01 -3.64234385e-02 -2.30243655e-02 1.68369450e+02] [ 3.64268162e-02 9.99336286e-01 -2.72827314e-04 3.09075976e+00] [ 2.30190213e-02 -5.66130427e-04 9.99734867e-01 1.86865398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.815099893 meters 0.015975729835056834 Centerline is valid? [True, True] Translation: X:168.40, Y:3.09, Z:1.87 [[ 9.99134974e-01 -3.45428318e-02 -2.31537454e-02 1.68398781e+02] [ 3.45457437e-02 9.99403080e-01 -2.74329867e-04 3.09121962e+00] [ 2.31494006e-02 -5.25770791e-04 9.99731878e-01 1.86917468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.845099893 meters 0.014803078270035047 Centerline is valid? [True, True] Translation: X:168.43, Y:3.09, Z:1.87 [[ 9.99259300e-01 -3.12191537e-02 -2.24992584e-02 1.68428151e+02] [ 3.12210481e-02 9.99512469e-01 -2.67150247e-04 3.09342152e+00] [ 2.24966295e-02 -4.35498061e-04 9.99746824e-01 1.87115545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.875099893 meters 0.014681258128288783 Centerline is valid? [True, True] Translation: X:168.46, Y:3.09, Z:1.87 [[ 9.99316134e-01 -2.94961365e-02 -2.22989455e-02 1.68456500e+02] [ 2.94975469e-02 9.99564817e-01 -2.65741119e-04 3.09396177e+00] [ 2.22970797e-02 -3.92204804e-04 9.99751312e-01 1.87172358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.905099893 meters 0.014188838773366689 Centerline is valid? [True, True] Translation: X:168.49, Y:3.10, Z:1.87 [[ 9.99366414e-01 -2.80286854e-02 -2.19354275e-02 1.68485533e+02] [ 2.80296297e-02 9.99607058e-01 -2.64470495e-04 3.09563022e+00] [ 2.19342209e-02 -3.50538978e-04 9.99759355e-01 1.87295101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.935099893 meters 0.013762789386349925 Centerline is valid? [True, True] Translation: X:168.51, Y:3.10, Z:1.87 [[ 9.99443290e-01 -2.56398605e-02 -2.13473235e-02 1.68513820e+02] [ 2.56400967e-02 9.99671204e-01 -2.62688421e-04 3.09629027e+00] [ 2.13470399e-02 -2.84805259e-04 9.99772085e-01 1.87439313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.965099893 meters 0.01366668027678614 Centerline is valid? [True, True] Translation: X:168.54, Y:3.10, Z:1.88 [[ 9.99459429e-01 -2.51476315e-02 -2.11765481e-02 1.68542408e+02] [ 2.51476404e-02 9.99683713e-01 -2.65922101e-04 3.09630383e+00] [ 2.11765376e-02 -2.66761865e-04 9.99775716e-01 1.87500958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99509989299997 meters 0.013893395934202779 Centerline is valid? [True, True] Translation: X:168.57, Y:3.09, Z:1.87 [[ 9.99472849e-01 -2.47645527e-02 -2.09938169e-02 1.68570123e+02] [ 2.47643957e-02 9.99693280e-01 -2.67499017e-04 3.09499924e+00] [ 2.09940021e-02 -2.52541183e-04 9.99779570e-01 1.87499028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02509989299998 meters 0.013604773035473056 Centerline is valid? [True, True] Translation: X:168.60, Y:3.09, Z:1.88 [[ 9.99480553e-01 -2.46648488e-02 -2.07429503e-02 1.68597790e+02] [ 2.46646014e-02 9.99695747e-01 -2.67799435e-04 3.09416099e+00] [ 2.07432444e-02 -2.43956272e-04 9.99784806e-01 1.87612388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05509989299998 meters 0.013565544260206255 Centerline is valid? [True, True] Translation: X:168.63, Y:3.09, Z:1.88 [[ 9.99465140e-01 -2.54462508e-02 -2.05407524e-02 1.68626633e+02] [ 2.54460581e-02 9.99676160e-01 -2.70792690e-04 3.09374071e+00] [ 2.05409911e-02 -2.52033325e-04 9.99788980e-01 1.87721980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08509989299998 meters 0.013760197220365682 Centerline is valid? [True, True] Translation: X:168.65, Y:3.09, Z:1.88 [[ 9.99452377e-01 -2.61712762e-02 -2.02486989e-02 1.68654709e+02] [ 2.61711602e-02 9.99657440e-01 -2.70769605e-04 3.09210775e+00] [ 2.02488489e-02 -2.59310618e-04 9.99794937e-01 1.87752198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11509989299998 meters 0.014045847004886914 Centerline is valid? [True, True] Translation: X:168.68, Y:3.09, Z:1.88 [[ 9.99426598e-01 -2.74298437e-02 -1.98514030e-02 1.68683306e+02] [ 2.74299506e-02 9.99623692e-01 -2.66951258e-04 3.09022196e+00] [ 1.98512552e-02 -2.77724816e-04 9.99802906e-01 1.87799670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14509989299998 meters 0.014527420023170335 Centerline is valid? [True, True] Translation: X:168.71, Y:3.09, Z:1.88 [[ 9.99349986e-01 -3.03014122e-02 -1.95302204e-02 1.68712685e+02] [ 3.03020463e-02 9.99540753e-01 -2.63533187e-04 3.08596511e+00] [ 1.95292366e-02 -3.28443754e-04 9.99809232e-01 1.87837726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17509989299998 meters 0.015018850170298127 Centerline is valid? [True, True] Translation: X:168.74, Y:3.08, Z:1.88 [[ 9.99304568e-01 -3.18881676e-02 -1.93268073e-02 1.68742004e+02] [ 3.18890744e-02 9.99491380e-01 -2.61344009e-04 3.08322206e+00] [ 1.93253111e-02 -3.55151735e-04 9.99813186e-01 1.87875454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20509989299998 meters 0.015325175263890427 Centerline is valid? [True, True] Translation: X:168.77, Y:3.08, Z:1.88 [[ 9.99247613e-01 -3.37761248e-02 -1.90625453e-02 1.68772556e+02] [ 3.37773462e-02 9.99429349e-01 -2.57985148e-04 3.08119956e+00] [ 1.90603810e-02 -3.86091149e-04 9.99818260e-01 1.87896579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23509989299998 meters 0.015778097307162692 Centerline is valid? [True, True] Translation: X:168.80, Y:3.08, Z:1.88 [[ 9.99178795e-01 -3.56960340e-02 -1.91710572e-02 1.68803473e+02] [ 3.56976225e-02 9.99362603e-01 -2.59453707e-04 3.07877203e+00] [ 1.91680991e-02 -4.25120522e-04 9.99816185e-01 1.87927236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26509989299998 meters 0.016328976218267285 Centerline is valid? [True, True] Translation: X:168.83, Y:3.07, Z:1.88 [[ 9.99021613e-01 -3.99736557e-02 -1.89188771e-02 1.68834791e+02] [ 3.99759736e-02 9.99200609e-01 -2.55804098e-04 3.07413346e+00] [ 1.89139789e-02 -5.00746708e-04 9.99820989e-01 1.87983625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29509989299999 meters 0.017817710178041922 Centerline is valid? [True, True] Translation: X:168.87, Y:3.07, Z:1.88 [[ 9.98929237e-01 -4.21123043e-02 -1.91555130e-02 1.68866339e+02] [ 4.21150891e-02 9.99112733e-01 -2.58184419e-04 3.06979831e+00] [ 1.91493897e-02 -5.48828173e-04 9.99816483e-01 1.87933873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.325099893 meters 0.018805938631886156 Centerline is valid? [True, True] Translation: X:168.90, Y:3.06, Z:1.88 [[ 9.98707068e-01 -4.66964996e-02 -2.00905501e-02 1.68897355e+02] [ 4.67005062e-02 9.98908900e-01 -2.69948984e-04 3.06478317e+00] [ 2.00812350e-02 -6.68638901e-04 9.99798128e-01 1.87920983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.355099893 meters 0.020089422479985103 Centerline is valid? [True, True] Translation: X:168.93, Y:3.06, Z:1.88 [[ 9.98591295e-01 -4.90344805e-02 -2.02742311e-02 1.68927586e+02] [ 4.90390493e-02 9.98796825e-01 -2.72056166e-04 3.06119417e+00] [ 2.02631778e-02 -7.22556097e-04 9.99794420e-01 1.87900795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.385099893 meters 0.01967632614781434 Centerline is valid? [True, True] Translation: X:168.96, Y:3.06, Z:1.88 [[ 9.98489744e-01 -5.10518310e-02 -2.02963427e-02 1.68958602e+02] [ 5.10568361e-02 9.98695712e-01 -2.71848841e-04 3.06045729e+00] [ 2.02837488e-02 -7.64828764e-04 9.99793971e-01 1.87984505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.415099893 meters 0.02079093482817023 Centerline is valid? [True, True] Translation: X:168.99, Y:3.06, Z:1.88 [[ 9.98380921e-01 -5.30297205e-02 -2.05763459e-02 1.68989596e+02] [ 5.30353024e-02 9.98592600e-01 -2.74705247e-04 3.05728826e+00] [ 2.05619543e-02 -8.17012248e-04 9.99788247e-01 1.87960856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.445099893 meters 0.022948286100826876 Centerline is valid? [True, True] Translation: X:169.02, Y:3.05, Z:1.88 [[ 9.98181371e-01 -5.66952815e-02 -2.04840243e-02 1.69019459e+02] [ 5.67016098e-02 9.98391132e-01 -2.72200304e-04 3.05133480e+00] [ 2.04665007e-02 -8.89771881e-04 9.99790143e-01 1.87938665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.475099893 meters 0.023806333880432434 Centerline is valid? [True, True] Translation: X:169.05, Y:3.05, Z:1.88 [[ 9.98052422e-01 -5.90234353e-02 -2.01890417e-02 1.69051250e+02] [ 5.90300846e-02 9.98256168e-01 -2.66951330e-04 3.04819338e+00] [ 2.01695918e-02 -9.25329418e-04 9.99796145e-01 1.88009871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.505099893 meters 0.024351131218534623 Centerline is valid? [True, True] Translation: X:169.08, Y:3.05, Z:1.88 [[ 9.98014273e-01 -5.97418498e-02 -1.99605065e-02 1.69083001e+02] [ 5.97485136e-02 9.98213427e-01 -2.62881448e-04 3.04659030e+00] [ 1.99405507e-02 -9.30251160e-04 9.99800735e-01 1.88058410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.535099893 meters 0.024970885460593648 Centerline is valid? [True, True] Translation: X:169.12, Y:3.05, Z:1.88 [[ 9.97983005e-01 -6.03430130e-02 -1.97140224e-02 1.69115516e+02] [ 6.03496530e-02 9.98177265e-01 -2.58478076e-04 3.04519232e+00] [ 1.96936863e-02 -9.31777685e-04 9.99805626e-01 1.88119647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.565099893 meters 0.022991617054731604 Centerline is valid? [True, True] Translation: X:169.15, Y:3.05, Z:1.88 [[ 9.98011932e-01 -6.01062423e-02 -1.89584449e-02 1.69147283e+02] [ 6.01123650e-02 9.98191586e-01 -2.47265850e-04 3.04710842e+00] [ 1.89390224e-02 -8.92862691e-04 9.99820242e-01 1.88303564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.595099893 meters 0.02231051446139127 Centerline is valid? [True, True] Translation: X:169.18, Y:3.05, Z:1.88 [[ 9.98047909e-01 -5.96403139e-02 -1.85311946e-02 1.69179381e+02] [ 5.96461080e-02 9.98219557e-01 -2.40373353e-04 3.04806639e+00] [ 1.85125368e-02 -8.65409514e-04 9.99828254e-01 1.88388854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.625099893 meters 0.024902211635542525 Centerline is valid? [True, True] Translation: X:169.21, Y:3.04, Z:1.88 [[ 9.98103995e-01 -5.87631628e-02 -1.83113672e-02 1.69210234e+02] [ 5.87686951e-02 9.98271599e-01 -2.36309697e-04 3.04398131e+00] [ 1.82936041e-02 -8.40273500e-04 9.99832305e-01 1.88378764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.655099893 meters 0.024902211635542525 Centerline is valid? [True, True] Translation: X:169.24, Y:3.04, Z:1.88 [[ 9.98108072e-01 -5.86938671e-02 -1.83113811e-02 1.69241954e+02] [ 5.86994076e-02 9.98275675e-01 -2.35226151e-04 3.04432742e+00] [ 1.82936126e-02 -8.40086101e-04 9.99832305e-01 1.88417976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.685099893 meters 0.02252791913470713 Centerline is valid? [True, True] Translation: X:169.27, Y:3.05, Z:1.89 [[ 9.98159421e-01 -5.79819856e-02 -1.77724176e-02 1.69273879e+02] [ 5.79871137e-02 9.98317306e-01 -2.27080418e-04 3.04772474e+00] [ 1.77556786e-02 -8.03908742e-04 9.99842032e-01 1.88520243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.715099893 meters 0.02598893529479633 Centerline is valid? [True, True] Translation: X:169.30, Y:3.04, Z:1.89 [[ 9.98219033e-01 -5.70872746e-02 -1.73148913e-02 1.69304831e+02] [ 5.70920272e-02 9.98368896e-01 -2.20102800e-04 3.04264979e+00] [ 1.72992140e-02 -7.68831444e-04 9.99850062e-01 1.88553247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74509989299997 meters 0.023924082829559115 Centerline is valid? [True, True] Translation: X:169.34, Y:3.05, Z:1.89 [[ 9.98281499e-01 -5.61245841e-02 -1.68546523e-02 1.69337287e+02] [ 5.61289665e-02 9.98423504e-01 -2.13296448e-04 3.04587503e+00] [ 1.68400521e-02 -7.33104314e-04 9.99857928e-01 1.88703463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77509989299998 meters 0.02156615109497824 Centerline is valid? [True, True] Translation: X:169.37, Y:3.05, Z:1.89 [[ 9.98284959e-01 -5.59359831e-02 -1.72715294e-02 1.69369303e+02] [ 5.59405782e-02 9.98434076e-01 -2.17338669e-04 3.04933732e+00] [ 1.72566406e-02 -7.49213417e-04 9.99850812e-01 1.88728491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80509989299998 meters 0.022119149158102768 Centerline is valid? [True, True] Translation: X:169.40, Y:3.05, Z:1.89 [[ 9.98279237e-01 -5.60015811e-02 -1.73892979e-02 1.69400480e+02] [ 5.60062693e-02 9.98430393e-01 -2.17650633e-04 3.04829648e+00] [ 1.73741923e-02 -7.56633594e-04 9.99848771e-01 1.88694793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83509989299998 meters 0.023344181846475583 Centerline is valid? [True, True] Translation: X:169.43, Y:3.05, Z:1.89 [[ 9.98214717e-01 -5.70865087e-02 -1.75644185e-02 1.69431918e+02] [ 5.70914762e-02 9.98368928e-01 -2.18892288e-04 3.04589231e+00] [ 1.75482654e-02 -7.84277076e-04 9.99845710e-01 1.88693245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86509989299998 meters 0.02149688337185733 Centerline is valid? [True, True] Translation: X:169.46, Y:3.05, Z:1.89 [[ 9.98149439e-01 -5.80771223e-02 -1.80206839e-02 1.69464488e+02] [ 5.80825321e-02 9.98311760e-01 -2.23486363e-04 3.04853357e+00] [ 1.80032401e-02 -8.23614165e-04 9.99837589e-01 1.88776227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89509989299998 meters 0.023140614740171806 Centerline is valid? [True, True] Translation: X:169.50, Y:3.05, Z:1.89 [[ 9.98084628e-01 -5.89020661e-02 -1.89109128e-02 1.69495828e+02] [ 5.89081962e-02 9.98263377e-01 -2.33216852e-04 3.04612239e+00] [ 1.88918087e-02 -8.81237609e-04 9.99821145e-01 1.88751753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92509989299998 meters 0.025865542623120557 Centerline is valid? [True, True] Translation: X:169.53, Y:3.04, Z:1.89 [[ 9.97941770e-01 -6.08642095e-02 -2.01933481e-02 1.69526872e+02] [ 6.08716232e-02 9.98145573e-01 -2.47892290e-04 3.04258092e+00] [ 2.01709888e-02 -9.81819809e-04 9.99796063e-01 1.88719395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95509989299998 meters 0.022974390581269627 Centerline is valid? [True, True] Translation: X:169.56, Y:3.05, Z:1.89 [[ 9.97867378e-01 -6.18885469e-02 -2.07485802e-02 1.69559330e+02] [ 6.18966218e-02 9.98082534e-01 -2.53415798e-04 3.04738464e+00] [ 2.07244790e-02 -1.03139166e-03 9.99784693e-01 1.88877660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98509989299998 meters 0.02521699630956495 Centerline is valid? [True, True] Translation: X:169.59, Y:3.04, Z:1.89 [[ 9.97823470e-01 -6.27493075e-02 -2.02693783e-02 1.69590359e+02] [ 6.27572173e-02 9.98028793e-01 -2.46247560e-04 3.04479111e+00] [ 2.02448750e-02 -1.02633818e-03 9.99794525e-01 1.88929377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01509989299998 meters 0.023503247771282855 Centerline is valid? [True, True] Translation: X:169.62, Y:3.05, Z:1.89 [[ 9.97804108e-01 -6.32289441e-02 -1.97246856e-02 1.69622318e+02] [ 6.32365514e-02 9.97998538e-01 -2.38434501e-04 3.04789998e+00] [ 1.97002834e-02 -1.00941017e-03 9.99805421e-01 1.89081005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04509989299999 meters 0.025873122210473942 Centerline is valid? [True, True] Translation: X:169.65, Y:3.05, Z:1.89 [[ 9.97803135e-01 -6.32907173e-02 -1.95752111e-02 1.69653711e+02] [ 6.32982469e-02 9.97994628e-01 -2.35332961e-04 3.04561410e+00] [ 1.95508499e-02 -1.00426058e-03 9.99808360e-01 1.89190851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.075099893 meters 0.024027037261130903 Centerline is valid? [True, True] Translation: X:169.69, Y:3.05, Z:1.89 [[ 9.97844993e-01 -6.26307495e-02 -1.95642361e-02 1.69685905e+02] [ 6.26381675e-02 9.98036275e-01 -2.34004206e-04 3.04935865e+00] [ 1.95404732e-02 -9.91967973e-04 9.99808575e-01 1.89302734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.105099893 meters 0.023771871537753786 Centerline is valid? [True, True] Translation: X:169.72, Y:3.05, Z:1.89 [[ 9.97988221e-01 -6.06123699e-02 -1.85916805e-02 1.69717104e+02] [ 6.06187391e-02 9.98160969e-01 -2.21295972e-04 3.05182203e+00] [ 1.85709031e-02 -9.06153457e-04 9.99827135e-01 1.89422467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.135099893 meters 0.024770028740325387 Centerline is valid? [True, True] Translation: X:169.75, Y:3.05, Z:1.89 [[ 9.98072270e-01 -5.92766420e-02 -1.83854283e-02 1.69748311e+02] [ 5.92826586e-02 9.98241213e-01 -2.18076534e-04 3.05135121e+00] [ 1.83660191e-02 -8.72280926e-04 9.99830950e-01 1.89435246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.165099893 meters 0.0219193191966715 Centerline is valid? [True, True] Translation: X:169.78, Y:3.06, Z:1.90 [[ 9.98147765e-01 -5.79610121e-02 -1.84813332e-02 1.69780786e+02] [ 5.79668871e-02 9.98318482e-01 -2.18099986e-04 3.05665724e+00] [ 1.84628978e-02 -8.53609342e-04 9.99829182e-01 1.89518314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.195099893 meters 0.02161608445009306 Centerline is valid? [True, True] Translation: X:169.81, Y:3.06, Z:1.90 [[ 9.98219440e-01 -5.67228416e-02 -1.84518239e-02 1.69812986e+02] [ 5.67285116e-02 9.98389618e-01 -2.16403866e-04 3.05794681e+00] [ 1.84343844e-02 -8.30725959e-04 9.99829727e-01 1.89577162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.225099893 meters 0.022434138171614805 Centerline is valid? [True, True] Translation: X:169.84, Y:3.06, Z:1.90 [[ 9.98295903e-01 -5.50928297e-02 -1.92371993e-02 1.69843849e+02] [ 5.50987162e-02 9.98480887e-01 -2.24297937e-04 3.05847133e+00] [ 1.92203331e-02 -8.36029274e-04 9.99814923e-01 1.89555920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.255099893 meters 0.021599007065724825 Centerline is valid? [True, True] Translation: X:169.88, Y:3.06, Z:1.90 [[ 9.98326233e-01 -5.45080267e-02 -1.93289500e-02 1.69876493e+02] [ 5.45138853e-02 9.98512987e-01 -2.24064288e-04 3.06062608e+00] [ 1.93124209e-02 -8.30006906e-04 9.99813153e-01 1.89572807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.285099893 meters 0.02067629562855881 Centerline is valid? [True, True] Translation: X:169.91, Y:3.06, Z:1.90 [[ 9.98319550e-01 -5.44008793e-02 -1.99655045e-02 1.69908816e+02] [ 5.44071429e-02 9.98518808e-01 -2.29738129e-04 3.06301859e+00] [ 1.99484297e-02 -8.56913992e-04 9.99800643e-01 1.89596038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.315099893 meters 0.02331351895624332 Centerline is valid? [True, True] Translation: X:169.94, Y:3.06, Z:1.90 [[ 9.98311651e-01 -5.44300109e-02 -2.02786024e-02 1.69940414e+02] [ 5.44365059e-02 9.98517207e-01 -2.31987966e-04 3.05975670e+00] [ 2.02611605e-02 -8.72299968e-04 9.99794341e-01 1.89509106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.345099893 meters 0.024275003088932382 Centerline is valid? [True, True] Translation: X:169.97, Y:3.06, Z:1.89 [[ 9.98273155e-01 -5.49440328e-02 -2.07812843e-02 1.69971922e+02] [ 5.49509885e-02 9.98489025e-01 -2.36608835e-04 3.05948682e+00] [ 2.07628845e-02 -9.05751866e-04 9.99784018e-01 1.89447984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.375099893 meters 0.024596506892423292 Centerline is valid? [True, True] Translation: X:170.00, Y:3.06, Z:1.89 [[ 9.98264720e-01 -5.49911364e-02 -2.10599993e-02 1.70003804e+02] [ 5.49983168e-02 9.98486419e-01 -2.38534734e-04 3.05970184e+00] [ 2.10412406e-02 -9.20143705e-04 9.99778185e-01 1.89432141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.405099893 meters 0.021203928487435922 Centerline is valid? [True, True] Translation: X:170.04, Y:3.07, Z:1.90 [[ 9.98228230e-01 -5.53331494e-02 -2.18778988e-02 1.70036168e+02] [ 5.53410150e-02 9.98467481e-01 -2.46224318e-04 3.06564284e+00] [ 2.18579949e-02 -9.64957061e-04 9.99760620e-01 1.89542387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.435099893 meters 0.022940391508434275 Centerline is valid? [True, True] Translation: X:170.07, Y:3.06, Z:1.89 [[ 9.98230982e-01 -5.53620493e-02 -2.16783514e-02 1.70067246e+02] [ 5.53698220e-02 9.98465885e-01 -2.41982785e-04 3.06412195e+00] [ 2.16584909e-02 -9.58771744e-04 9.99764968e-01 1.89483896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.465099893 meters 0.021197017648753504 Centerline is valid? [True, True] Translation: X:170.10, Y:3.07, Z:1.90 [[ 9.98224165e-01 -5.56645395e-02 -2.12126066e-02 1.70099714e+02] [ 5.56720940e-02 9.98449079e-01 -2.34704032e-04 3.06938625e+00] [ 2.11927722e-02 -9.46662991e-04 9.99774960e-01 1.89659962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49509989299997 meters 0.02148913250998918 Centerline is valid? [True, True] Translation: X:170.13, Y:3.07, Z:1.90 [[ 9.98243263e-01 -5.54008731e-02 -2.10031087e-02 1.70131751e+02] [ 5.54082528e-02 9.98463756e-01 -2.30858124e-04 3.07018664e+00] [ 2.09836325e-02 -9.33292988e-04 9.99779384e-01 1.89714745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52509989299998 meters 0.024696638154618564 Centerline is valid? [True, True] Translation: X:170.16, Y:3.07, Z:1.90 [[ 9.98251734e-01 -5.54340648e-02 -2.05070897e-02 1.70163184e+02] [ 5.54411340e-02 9.98461932e-01 -2.24083917e-04 3.06687573e+00] [ 2.04879703e-02 -9.13244150e-04 9.99789682e-01 1.89694705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55509989299998 meters 0.02191051950170175 Centerline is valid? [True, True] Translation: X:170.20, Y:3.07, Z:1.90 [[ 9.98271519e-01 -5.55673526e-02 -1.91374752e-02 1.70195268e+02] [ 5.55735546e-02 9.98454574e-01 -2.07999144e-04 3.07353721e+00] [ 1.91194576e-02 -8.55897902e-04 9.99816840e-01 1.89932376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58509989299998 meters 0.021961405386950142 Centerline is valid? [True, True] Translation: X:170.23, Y:3.07, Z:1.90 [[ 9.98274170e-01 -5.58716804e-02 -1.80841795e-02 1.70226966e+02] [ 5.58772909e-02 9.98437625e-01 -1.95286733e-04 3.07497735e+00] [ 1.80668362e-02 -8.15545256e-04 9.99836449e-01 1.90057278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61509989299998 meters 0.0214412015667962 Centerline is valid? [True, True] Translation: X:170.26, Y:3.08, Z:1.90 [[ 9.98246115e-01 -5.64665966e-02 -1.77824974e-02 1.70259177e+02] [ 5.64721385e-02 9.98404157e-01 -1.90745943e-04 3.07743657e+00] [ 1.77648902e-02 -8.13804262e-04 9.99841861e-01 1.90174068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64509989299998 meters 0.024786574851842914 Centerline is valid? [True, True] Translation: X:170.29, Y:3.07, Z:1.90 [[ 9.98136179e-01 -5.81931139e-02 -1.83774241e-02 1.70290365e+02] [ 5.81993535e-02 9.98304962e-01 -1.95567978e-04 3.07484633e+00] [ 1.83576544e-02 -8.74350725e-04 9.99831102e-01 1.90099532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67509989299998 meters 0.02418608345013026 Centerline is valid? [True, True] Translation: X:170.32, Y:3.08, Z:1.90 [[ 9.98077880e-01 -5.90752038e-02 -1.87260633e-02 1.70322418e+02] [ 5.90818701e-02 9.98253121e-01 -1.97528111e-04 3.07666403e+00] [ 1.87050201e-02 -9.09222399e-04 9.99824632e-01 1.90134219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70509989299998 meters 0.024671937407783513 Centerline is valid? [True, True] Translation: X:170.35, Y:3.08, Z:1.90 [[ 9.97882994e-01 -6.21568047e-02 -1.91327545e-02 1.70353336e+02] [ 6.21643482e-02 9.98065906e-01 -2.00793890e-04 3.07778979e+00] [ 1.91082307e-02 -9.89006405e-04 9.99816932e-01 1.90140308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73509989299998 meters 0.02688715850044277 Centerline is valid? [True, True] Translation: X:170.38, Y:3.08, Z:1.90 [[ 9.97801959e-01 -6.32323369e-02 -1.98222593e-02 1.70384266e+02] [ 6.32406583e-02 9.97998285e-01 -2.07397508e-04 3.07576630e+00] [ 1.97956950e-02 -1.04663109e-03 9.99803498e-01 1.90062780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76509989299998 meters 0.026538378010803394 Centerline is valid? [True, True] Translation: X:170.42, Y:3.08, Z:1.90 [[ 9.97635864e-01 -6.54169398e-02 -2.10548469e-02 1.70415067e+02] [ 6.54268318e-02 9.97857345e-01 -2.19430556e-04 3.07827138e+00] [ 2.10240881e-02 -1.15864013e-03 9.99778298e-01 1.90037596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79509989299999 meters 0.02722408687682529 Centerline is valid? [True, True] Translation: X:170.45, Y:3.08, Z:1.90 [[ 9.97593964e-01 -6.60909781e-02 -2.09347971e-02 1.70447393e+02] [ 6.61009229e-02 9.97812919e-01 -2.17346383e-04 3.07896655e+00] [ 2.09033757e-02 -1.16698597e-03 9.99780819e-01 1.90092064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.825099893 meters 0.02698657121301252 Centerline is valid? [True, True] Translation: X:170.48, Y:3.08, Z:1.90 [[ 9.97567694e-01 -6.65465876e-02 -2.07423970e-02 1.70479285e+02] [ 6.65564792e-02 9.97782636e-01 -2.13869158e-04 3.08076650e+00] [ 2.07106359e-02 -1.16719195e-03 9.99784830e-01 1.90169790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.855099893 meters 0.027339887509779993 Centerline is valid? [True, True] Translation: X:170.51, Y:3.08, Z:1.90 [[ 9.97557304e-01 -6.67369176e-02 -2.06303111e-02 1.70511766e+02] [ 6.67467736e-02 9.97769925e-01 -2.11233695e-04 3.08165664e+00] [ 2.05984010e-02 -1.16628899e-03 9.99787150e-01 1.90190874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.885099893 meters 0.02756717527808861 Centerline is valid? [True, True] Translation: X:170.54, Y:3.08, Z:1.90 [[ 9.97551518e-01 -6.68215105e-02 -2.06362597e-02 1.70544261e+02] [ 6.68314207e-02 9.97764259e-01 -2.09813466e-04 3.08286798e+00] [ 2.06041424e-02 -1.16985081e-03 9.99787028e-01 1.90236084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.915099893 meters 0.02801252421965261 Centerline is valid? [True, True] Translation: X:170.58, Y:3.08, Z:1.90 [[ 9.97578022e-01 -6.64871738e-02 -2.04339425e-02 1.70575248e+02] [ 6.64968473e-02 9.97786614e-01 -2.06449252e-04 3.08349012e+00] [ 2.04024406e-02 -1.15284352e-03 9.99791184e-01 1.90269821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.945099893 meters 0.028623172997292185 Centerline is valid? [True, True] Translation: X:170.61, Y:3.09, Z:1.90 [[ 9.97628786e-01 -6.58704566e-02 -1.99471611e-02 1.70606502e+02] [ 6.58795725e-02 9.97827561e-01 -2.00487314e-04 3.08508115e+00] [ 1.99170333e-02 -1.11409853e-03 9.99801015e-01 1.90319185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.975099893 meters 0.02533251084496462 Centerline is valid? [True, True] Translation: X:170.64, Y:3.09, Z:1.90 [[ 9.97662283e-01 -6.54377470e-02 -1.96944444e-02 1.70638168e+02] [ 6.54465725e-02 9.97856055e-01 -1.96764856e-04 3.09114393e+00] [ 1.96650965e-02 -1.09262901e-03 9.99806026e-01 1.90445870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.005099893 meters 0.026825250396848545 Centerline is valid? [True, True] Translation: X:170.67, Y:3.09, Z:1.90 [[ 9.97687957e-01 -6.51251446e-02 -1.94282338e-02 1.70669759e+02] [ 6.51337102e-02 9.97876527e-01 -1.92237739e-04 3.09048417e+00] [ 1.93994979e-02 -1.07363967e-03 9.99811236e-01 1.90459259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.035099893 meters 0.026114049964582203 Centerline is valid? [True, True] Translation: X:170.70, Y:3.09, Z:1.91 [[ 9.97684124e-01 -6.52762024e-02 -1.91155736e-02 1.70702069e+02] [ 6.52845634e-02 9.97866670e-01 -1.86978982e-04 3.09330950e+00] [ 1.90869991e-02 -1.06140592e-03 9.99817263e-01 1.90520880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.065099893 meters 0.028956041824055232 Centerline is valid? [True, True] Translation: X:170.73, Y:3.09, Z:1.91 [[ 9.97677349e-01 -6.53535886e-02 -1.92045512e-02 1.70733690e+02] [ 6.53620663e-02 9.97861596e-01 -1.86579300e-04 3.09032449e+00] [ 1.91756777e-02 -1.06910320e-03 9.99815558e-01 1.90522307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.095099893 meters 0.029398397080659402 Centerline is valid? [True, True] Translation: X:170.77, Y:3.09, Z:1.91 [[ 9.97670837e-01 -6.55059219e-02 -1.90230394e-02 1.70765431e+02] [ 6.55142891e-02 9.97851614e-01 -1.83690932e-04 3.09040083e+00] [ 1.89942034e-02 -1.06301781e-03 9.99819029e-01 1.90523569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.125099893 meters 0.02827527429194281 Centerline is valid? [True, True] Translation: X:170.80, Y:3.09, Z:1.91 [[ 9.97615274e-01 -6.61041785e-02 -1.98494989e-02 1.70797312e+02] [ 6.61134350e-02 9.97812095e-01 -1.90243158e-04 3.09269278e+00] [ 1.98186460e-02 -1.12252908e-03 9.99802961e-01 1.90561352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.155099893 meters 0.031506868609818404 Centerline is valid? [True, True] Translation: X:170.83, Y:3.09, Z:1.90 [[ 9.97520347e-01 -6.73045115e-02 -2.05732952e-02 1.70828052e+02] [ 6.73147494e-02 9.97731771e-01 -1.95263970e-04 3.08913186e+00] [ 2.05397724e-02 -1.19010643e-03 9.99788328e-01 1.90441568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.185099893 meters 0.028989563040768142 Centerline is valid? [True, True] Translation: X:170.86, Y:3.09, Z:1.90 [[ 9.97467214e-01 -6.78879314e-02 -2.12222832e-02 1.70860377e+02] [ 6.78990038e-02 9.97692180e-01 -1.99226221e-04 3.09313753e+00] [ 2.11868311e-02 -1.24225027e-03 9.99774762e-01 1.90493383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.215099893 meters 0.03336008539244166 Centerline is valid? [True, True] Translation: X:170.89, Y:3.09, Z:1.90 [[ 9.97421739e-01 -6.83537401e-02 -2.18549989e-02 1.70891897e+02] [ 6.83656251e-02 9.97660313e-01 -2.03756073e-04 3.08748647e+00] [ 2.18177926e-02 -1.29089993e-03 9.99761130e-01 1.90398971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24509989299997 meters 0.030411299308747308 Centerline is valid? [True, True] Translation: X:170.92, Y:3.09, Z:1.90 [[ 9.97383606e-01 -6.88192111e-02 -2.21327311e-02 1.70923633e+02] [ 6.88315442e-02 9.97628276e-01 -2.04995359e-04 3.09181076e+00] [ 2.20943460e-02 -1.31897105e-03 9.99755020e-01 1.90486430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27509989299998 meters 0.02897422066066236 Centerline is valid? [True, True] Translation: X:170.96, Y:3.09, Z:1.91 [[ 9.97395460e-01 -6.83042956e-02 -2.31693727e-02 1.70956329e+02] [ 6.83177165e-02 9.97663593e-01 -2.12726346e-04 3.09450135e+00] [ 2.31297697e-02 -1.37070634e-03 9.99731531e-01 1.90516948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30509989299998 meters 0.02776203217434119 Centerline is valid? [True, True] Translation: X:170.99, Y:3.10, Z:1.91 [[ 9.97433023e-01 -6.77489755e-02 -2.31827715e-02 1.70988862e+02] [ 6.77623061e-02 9.97701471e-01 -2.10964342e-04 3.09704240e+00] [ 2.31437779e-02 -1.36049526e-03 9.99731221e-01 1.90574982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33509989299998 meters 0.02817972650675497 Centerline is valid? [True, True] Translation: X:171.02, Y:3.10, Z:1.91 [[ 9.97491388e-01 -6.69527060e-02 -2.29840263e-02 1.71019752e+02] [ 6.69656318e-02 9.97755261e-01 -2.07694432e-04 3.09737147e+00] [ 2.29463388e-02 -1.33196643e-03 9.99735811e-01 1.90635805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36509989299998 meters 0.027732912547297237 Centerline is valid? [True, True] Translation: X:171.05, Y:3.10, Z:1.91 [[ 9.97660060e-01 -6.48194680e-02 -2.17449251e-02 1.71051079e+02] [ 6.48305530e-02 9.97896268e-01 -1.95530735e-04 3.09962662e+00] [ 2.17118538e-02 -1.21466232e-03 9.99763532e-01 1.90743157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39509989299998 meters 0.0285315573305507 Centerline is valid? [True, True] Translation: X:171.08, Y:3.10, Z:1.91 [[ 9.97754507e-01 -6.35403051e-02 -2.11795632e-02 1.71081972e+02] [ 6.35505682e-02 9.97978602e-01 -1.88814598e-04 3.09939018e+00] [ 2.11487482e-02 -1.15758266e-03 9.99775670e-01 1.90791705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42509989299998 meters 0.02719684476110685 Centerline is valid? [True, True] Translation: X:171.11, Y:3.10, Z:1.91 [[ 9.97881479e-01 -6.17413716e-02 -2.05074953e-02 1.71113295e+02] [ 6.17506541e-02 9.98091591e-01 -1.80900447e-04 3.10215520e+00] [ 2.04795276e-02 -1.08583404e-03 9.99789683e-01 1.90880945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45509989299998 meters 0.027113586829151062 Centerline is valid? [True, True] Translation: X:171.14, Y:3.10, Z:1.91 [[ 9.98006132e-01 -5.97825148e-02 -2.02437873e-02 1.71143293e+02] [ 5.97911697e-02 9.98210892e-01 -1.78001573e-04 3.10283998e+00] [ 2.02182104e-02 -1.03275306e-03 9.99795058e-01 1.90911894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48509989299998 meters 0.024491980589553933 Centerline is valid? [True, True] Translation: X:171.17, Y:3.11, Z:1.91 [[ 9.98184350e-01 -5.67940823e-02 -2.00607984e-02 1.71174727e+02] [ 5.68019892e-02 9.98385448e-01 -1.75899741e-04 3.10712961e+00] [ 2.00383992e-02 -9.63912884e-04 9.99798746e-01 1.90927536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51509989299998 meters 0.02643717035832711 Centerline is valid? [True, True] Translation: X:171.21, Y:3.10, Z:1.91 [[ 9.98231608e-01 -5.58440648e-02 -2.03739123e-02 1.71206064e+02] [ 5.58520409e-02 9.98439041e-01 -1.77770653e-04 3.10455900e+00] [ 2.03520369e-02 -9.60468299e-04 9.99792415e-01 1.90880957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54509989299999 meters 0.026113691999962992 Centerline is valid? [True, True] Translation: X:171.24, Y:3.11, Z:1.91 [[ 9.98257327e-01 -5.52484148e-02 -2.07345418e-02 1.71238615e+02] [ 5.52565734e-02 9.98472172e-01 -1.79675124e-04 3.10522154e+00] [ 2.07127897e-02 -9.66357721e-04 9.99785000e-01 1.90873626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.575099893 meters 0.026113691999962992 Centerline is valid? [True, True] Translation: X:171.27, Y:3.11, Z:1.91 [[ 9.98261116e-01 -5.51799131e-02 -2.07345540e-02 1.71270340e+02] [ 5.51880864e-02 9.98475960e-01 -1.78252601e-04 3.10543229e+00] [ 2.07127897e-02 -9.66357719e-04 9.99785000e-01 1.90912836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.605099893 meters 0.02613781635600049 Centerline is valid? [True, True] Translation: X:171.30, Y:3.11, Z:1.91 [[ 9.98255043e-01 -5.51382202e-02 -2.11339864e-02 1.71302941e+02] [ 5.51467333e-02 9.98478245e-01 -1.80220095e-04 3.10564524e+00] [ 2.11117627e-02 -9.85564691e-04 9.99776636e-01 1.90875241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.635099893 meters 0.025173867715489035 Centerline is valid? [True, True] Translation: X:171.33, Y:3.11, Z:1.91 [[ 9.98150529e-01 -5.67642802e-02 -2.17563493e-02 1.71334566e+02] [ 5.67737253e-02 9.98387054e-01 -1.83790136e-04 3.10660765e+00] [ 2.17316902e-02 -1.05173878e-03 9.99763286e-01 1.90853194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.665099893 meters 0.02652517360414238 Centerline is valid? [True, True] Translation: X:171.37, Y:3.10, Z:1.91 [[ 9.98065779e-01 -5.81861631e-02 -2.18877047e-02 1.71365927e+02] [ 5.81960996e-02 9.98305154e-01 -1.83255305e-04 3.10446050e+00] [ 2.18612714e-02 -1.09087820e-03 9.99760419e-01 1.90871246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.695099893 meters 0.024679507064187773 Centerline is valid? [True, True] Translation: X:171.40, Y:3.11, Z:1.91 [[ 9.97947099e-01 -6.00754002e-02 -2.21931046e-02 1.71398297e+02] [ 6.00861123e-02 9.98193180e-01 -1.84439396e-04 3.10643660e+00] [ 2.21640859e-02 -1.14943662e-03 9.99753686e-01 1.90957945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.725099893 meters 0.030424785731636723 Centerline is valid? [True, True] Translation: X:171.43, Y:3.10, Z:1.91 [[ 9.97872193e-01 -6.12778011e-02 -2.22736753e-02 1.71429184e+02] [ 6.12889179e-02 9.98120050e-01 -1.83849351e-04 3.09831728e+00] [ 2.22430678e-02 -1.18167130e-03 9.99751894e-01 1.90854454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.755099893 meters 0.03265495101679298 Centerline is valid? [True, True] Translation: X:171.46, Y:3.09, Z:1.91 [[ 9.97794825e-01 -6.27426591e-02 -2.16528450e-02 1.71459880e+02] [ 6.27535413e-02 9.98029038e-01 -1.77205355e-04 3.09492198e+00] [ 2.16212864e-02 -1.18197812e-03 9.99765534e-01 1.90954261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.785099893 meters 0.03021807888718753 Centerline is valid? [True, True] Translation: X:171.49, Y:3.10, Z:1.91 [[ 9.97750142e-01 -6.36499410e-02 -2.10556314e-02 1.71491598e+02] [ 6.36604713e-02 9.97971600e-01 -1.70463867e-04 3.09828710e+00] [ 2.10237721e-02 -1.17033107e-03 9.99778291e-01 1.91150805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.815099893 meters 0.034826234071262896 Centerline is valid? [True, True] Translation: X:171.52, Y:3.09, Z:1.91 [[ 9.97741460e-01 -6.40950689e-02 -2.00947896e-02 1.71522383e+02] [ 6.41047699e-02 9.97943161e-01 -1.61680211e-04 3.09184910e+00] [ 2.00638208e-02 -1.12685681e-03 9.99798066e-01 1.91170870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.845099893 meters 0.030287155722503154 Centerline is valid? [True, True] Translation: X:171.55, Y:3.10, Z:1.91 [[ 9.97627737e-01 -6.61150826e-02 -1.91753469e-02 1.71554160e+02] [ 6.61243061e-02 9.97811381e-01 -1.53325145e-04 3.09659317e+00] [ 1.91435165e-02 -1.11499509e-03 9.99816124e-01 1.91393842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.875099893 meters 0.030287155722503154 Centerline is valid? [True, True] Translation: X:171.59, Y:3.10, Z:1.91 [[ 9.97634664e-01 -6.60104800e-02 -1.91753577e-02 1.71586752e+02] [ 6.60197101e-02 9.97818308e-01 -1.51969637e-04 3.09675988e+00] [ 1.91435545e-02 -1.11434138e-03 9.99816124e-01 1.91434130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.905099893 meters 0.028395961920946844 Centerline is valid? [True, True] Translation: X:171.62, Y:3.10, Z:1.92 [[ 9.97600077e-01 -6.65988023e-02 -1.89389859e-02 1.71618865e+02] [ 6.66079450e-02 9.97779214e-01 -1.48344440e-04 3.09866701e+00] [ 1.89068060e-02 -1.11349851e-03 9.99820630e-01 1.91511358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.935099893 meters 0.02885900966075111 Centerline is valid? [True, True] Translation: X:171.65, Y:3.10, Z:1.91 [[ 9.97584120e-01 -6.69726442e-02 -1.84550479e-02 1.71651182e+02] [ 6.69814133e-02 9.97754213e-01 -1.43251762e-04 3.09571025e+00] [ 1.84231957e-02 -1.09323951e-03 9.99829681e-01 1.91483589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96509989299997 meters 0.02823634727799135 Centerline is valid? [True, True] Translation: X:171.68, Y:3.10, Z:1.92 [[ 9.97525295e-01 -6.77691799e-02 -1.87249362e-02 1.71683541e+02] [ 6.77783727e-02 9.97700392e-01 -1.43981056e-04 3.09572030e+00] [ 1.86916336e-02 -1.12552096e-03 9.99824663e-01 1.91535134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99509989299997 meters 0.031534770927543074 Centerline is valid? [True, True] Translation: X:171.71, Y:3.09, Z:1.92 [[ 9.97498896e-01 -6.83033540e-02 -1.81825091e-02 1.71714657e+02] [ 6.83121318e-02 9.97663988e-01 -1.38621849e-04 3.09050836e+00] [ 1.81495029e-02 -1.10381082e-03 9.99834675e-01 1.91528233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02509989299998 meters 0.030388258992202224 Centerline is valid? [True, True] Translation: X:171.75, Y:3.09, Z:1.91 [[ 9.97432169e-01 -6.90194571e-02 -1.91150024e-02 1.71746568e+02] [ 6.90293122e-02 9.97614622e-01 -1.44549268e-04 3.09024421e+00] [ 1.90793826e-02 -1.17531738e-03 9.99817281e-01 1.91441304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05509989299998 meters 0.03266789384448098 Centerline is valid? [True, True] Translation: X:171.78, Y:3.09, Z:1.91 [[ 9.97390482e-01 -6.95737907e-02 -1.92798895e-02 1.71778092e+02] [ 6.95839439e-02 9.97576089e-01 -1.44541624e-04 3.08598655e+00] [ 1.92432131e-02 -1.19740631e-03 9.99814115e-01 1.91346410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08509989299998 meters 0.03409759850549835 Centerline is valid? [True, True] Translation: X:171.81, Y:3.08, Z:1.91 [[ 9.97344969e-01 -7.00631852e-02 -1.98535419e-02 1.71809247e+02] [ 7.00740782e-02 9.97541780e-01 -1.47334144e-04 3.08270097e+00] [ 1.98150602e-02 -1.24427568e-03 9.99802888e-01 1.91302653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11509989299998 meters 0.03403131187047546 Centerline is valid? [True, True] Translation: X:171.84, Y:3.08, Z:1.91 [[ 9.97285549e-01 -7.08747375e-02 -1.99575811e-02 1.71841386e+02] [ 7.08859448e-02 9.97484417e-01 -1.46200268e-04 3.08150234e+00] [ 1.99177381e-02 -1.26890858e-03 9.99800817e-01 1.91289104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14509989299998 meters 0.03384237191183629 Centerline is valid? [True, True] Translation: X:171.87, Y:3.08, Z:1.91 [[ 9.97145705e-01 -7.27067869e-02 -2.03510766e-02 1.71872078e+02] [ 7.27188410e-02 9.97352469e-01 -1.48074923e-04 3.07937424e+00] [ 2.03079626e-02 -1.33225443e-03 9.99792884e-01 1.91301291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17509989299998 meters 0.032866464933895764 Centerline is valid? [True, True] Translation: X:171.90, Y:3.08, Z:1.91 [[ 9.97118234e-01 -7.31369591e-02 -2.01547305e-02 1.71904429e+02] [ 7.31488845e-02 9.97321021e-01 -1.45882393e-04 3.07964664e+00] [ 2.01114058e-02 -1.32883406e-03 9.99796862e-01 1.91369190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20509989299998 meters 0.03206603201977659 Centerline is valid? [True, True] Translation: X:171.94, Y:3.08, Z:1.91 [[ 9.97071961e-01 -7.37351171e-02 -2.02642012e-02 1.71936362e+02] [ 7.37473247e-02 9.97276948e-01 -1.45229768e-04 3.08004288e+00] [ 2.02197293e-02 -1.34962610e-03 9.99794649e-01 1.91439947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23509989299998 meters 0.03253801068517028 Centerline is valid? [True, True] Translation: X:171.97, Y:3.08, Z:1.92 [[ 9.97130306e-01 -7.29226535e-02 -2.03332148e-02 1.71968880e+02] [ 7.29348057e-02 9.97336700e-01 -1.44271499e-04 3.07795447e+00] [ 2.02895820e-02 -1.33914158e-03 9.99793248e-01 1.91506947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26509989299998 meters 0.03303740218247621 Centerline is valid? [True, True] Translation: X:172.00, Y:3.08, Z:1.92 [[ 9.97236485e-01 -7.15244554e-02 -2.00909269e-02 1.71999118e+02] [ 7.15360572e-02 9.97438004e-01 -1.41550054e-04 3.07688078e+00] [ 2.00495783e-02 -1.29606681e-03 9.99798147e-01 1.91518634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29509989299999 meters 0.03266130187825364 Centerline is valid? [True, True] Translation: X:172.03, Y:3.08, Z:1.92 [[ 9.97345940e-01 -7.01106866e-02 -1.96358926e-02 1.72030343e+02] [ 7.01215048e-02 9.97538448e-01 -1.37877505e-04 3.07681573e+00] [ 1.95972245e-02 -1.23938677e-03 9.99807188e-01 1.91549072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.325099893 meters 0.03239480972238363 Centerline is valid? [True, True] Translation: X:172.06, Y:3.08, Z:1.92 [[ 9.97445865e-01 -6.88412778e-02 -1.90427254e-02 1.72061582e+02] [ 6.88512341e-02 9.97626929e-01 -1.33059912e-04 3.07637867e+00] [ 1.90066957e-02 -1.17839509e-03 9.99818662e-01 1.91633043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.355099893 meters 0.031413425895057474 Centerline is valid? [True, True] Translation: X:172.09, Y:3.08, Z:1.92 [[ 9.97666920e-01 -6.60685129e-02 -1.71949825e-02 1.72092166e+02] [ 6.60762267e-02 9.97814571e-01 -1.19759436e-04 3.07628383e+00] [ 1.71653164e-02 -1.01669954e-03 9.99852148e-01 1.91801510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.385099893 meters 0.02649789297632202 Centerline is valid? [True, True] Translation: X:172.12, Y:3.08, Z:1.92 [[ 9.97803433e-01 -6.42239925e-02 -1.62353841e-02 1.72124028e+02] [ 6.42306292e-02 9.97935075e-01 -1.12862837e-04 3.08254947e+00] [ 1.62091077e-02 -9.30194009e-04 9.99868191e-01 1.91933007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.415099893 meters 0.02561068953882471 Centerline is valid? [True, True] Translation: X:172.15, Y:3.08, Z:1.92 [[ 9.98045833e-01 -6.05945726e-02 -1.52582265e-02 1.72154239e+02] [ 6.06000212e-02 9.98162124e-01 -1.05429666e-04 3.08238122e+00] [ 1.52365723e-02 -8.19425213e-04 9.99883581e-01 1.91983168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.445099893 meters 0.02596938529923826 Centerline is valid? [True, True] Translation: X:172.19, Y:3.08, Z:1.92 [[ 9.98124531e-01 -5.93734805e-02 -1.49067495e-02 1.72185248e+02] [ 5.93785506e-02 9.98235532e-01 -1.02635467e-04 3.08118597e+00] [ 1.48865408e-02 -7.82698200e-04 9.99888883e-01 1.92002176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.475099893 meters 0.026077257822135543 Centerline is valid? [True, True] Translation: X:172.22, Y:3.08, Z:1.92 [[ 9.98177403e-01 -5.84459569e-02 -1.50313874e-02 1.72217423e+02] [ 5.84510370e-02 9.98290271e-01 -1.01509854e-04 3.08040975e+00] [ 1.50116207e-02 -7.77275342e-04 9.99887017e-01 1.92037215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.505099893 meters 0.02437965824455919 Centerline is valid? [True, True] Translation: X:172.25, Y:3.08, Z:1.92 [[ 9.98244893e-01 -5.71495940e-02 -1.55260343e-02 1.72249691e+02] [ 5.71548753e-02 9.98365319e-01 -1.03712697e-04 3.08104634e+00] [ 1.55065813e-02 -7.83857882e-04 9.99879458e-01 1.91955633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.535099893 meters 0.024572100858103293 Centerline is valid? [True, True] Translation: X:172.28, Y:3.08, Z:1.92 [[ 9.98284750e-01 -5.62153051e-02 -1.63522916e-02 1.72281381e+02] [ 5.62210587e-02 9.98418340e-01 -1.08001083e-04 3.07975357e+00] [ 1.63324991e-02 -8.11527313e-04 9.99866287e-01 1.91895425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.565099893 meters 0.0259093040608682 Centerline is valid? [True, True] Translation: X:172.31, Y:3.08, Z:1.92 [[ 9.98371697e-01 -5.44981973e-02 -1.68493774e-02 1.72312778e+02] [ 5.45040815e-02 9.98513542e-01 -1.10128523e-04 3.07641471e+00] [ 1.68303333e-02 -8.08410637e-04 9.99858033e-01 1.91827890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.595099893 meters 0.02603038468841684 Centerline is valid? [True, True] Translation: X:172.34, Y:3.08, Z:1.92 [[ 9.98453649e-01 -5.28054007e-02 -1.73752985e-02 1.72343986e+02] [ 5.28114187e-02 9.98604497e-01 -1.12625007e-04 3.07577743e+00] [ 1.73569984e-02 -8.05163314e-04 9.99849032e-01 1.91858658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.625099893 meters 0.025119529890610667 Centerline is valid? [True, True] Translation: X:172.37, Y:3.08, Z:1.92 [[ 9.98552179e-01 -5.09855491e-02 -1.71470082e-02 1.72374980e+02] [ 5.09911559e-02 9.98699099e-01 -1.10346737e-04 3.07692492e+00] [ 1.71303277e-02 -7.64158794e-04 9.99852973e-01 1.91897740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.655099893 meters 0.023111451425240293 Centerline is valid? [True, True] Translation: X:172.40, Y:3.08, Z:1.92 [[ 9.98861161e-01 -4.46285568e-02 -1.68722308e-02 1.72404664e+02] [ 4.46330857e-02 9.99003441e-01 -1.08225927e-04 3.07921846e+00] [ 1.68602466e-02 -6.44957048e-04 9.99857648e-01 1.91921842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.685099893 meters 0.018430159799468614 Centerline is valid? [True, True] Translation: X:172.44, Y:3.09, Z:1.92 [[ 9.99023701e-01 -4.08543615e-02 -1.68096949e-02 1.72436302e+02] [ 4.08583243e-02 9.99164944e-01 -1.07763620e-04 3.08677863e+00] [ 1.68000605e-02 -5.79157557e-04 9.99858701e-01 1.92052204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71509989299997 meters 0.016900019277167725 Centerline is valid? [True, True] Translation: X:172.47, Y:3.09, Z:1.92 [[ 9.99386164e-01 -3.12427624e-02 -1.58487931e-02 1.72465881e+02] [ 3.12450864e-02 9.99511748e-01 -1.01016037e-04 3.08998733e+00] [ 1.58442109e-02 -3.94242881e-04 9.99874395e-01 1.92177903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74509989299997 meters 0.015249214699816032 Centerline is valid? [True, True] Translation: X:172.50, Y:3.09, Z:1.92 [[ 9.99547186e-01 -2.57861340e-02 -1.55080231e-02 1.72496340e+02] [ 2.57876995e-02 9.99667437e-01 -9.90421368e-05 3.09427701e+00] [ 1.55054197e-02 -3.00918952e-04 9.99879738e-01 1.92292385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77509989299998 meters 0.015249214699816032 Centerline is valid? [True, True] Translation: X:172.53, Y:3.09, Z:1.92 [[ 9.99547186e-01 -2.57861340e-02 -1.55080231e-02 1.72526343e+02] [ 2.57876995e-02 9.99667437e-01 -9.90421368e-05 3.09446863e+00] [ 1.55054197e-02 -3.00918952e-04 9.99879738e-01 1.92329491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80509989299998 meters 0.01436993364734387 Centerline is valid? [True, True] Translation: X:172.56, Y:3.10, Z:1.92 [[ 9.99677914e-01 -2.04022140e-02 -1.50936312e-02 1.72556604e+02] [ 2.04030835e-02 9.99791831e-01 -9.63956190e-05 3.09745043e+00] [ 1.50924559e-02 -2.11592048e-04 9.99886080e-01 1.92425467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83509989299998 meters 0.013442529446387899 Centerline is valid? [True, True] Translation: X:172.59, Y:3.10, Z:1.92 [[ 9.99843039e-01 -1.00436953e-02 -1.45952572e-02 1.72585746e+02] [ 1.00434005e-02 9.99949559e-01 -9.34950921e-05 3.10189601e+00] [ 1.45954600e-02 -5.31055966e-05 9.99893479e-01 1.92478165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86509989299998 meters 0.013440263521357175 Centerline is valid? [True, True] Translation: X:172.61, Y:3.10, Z:1.93 [[ 9.99876340e-01 -5.35610864e-03 -1.47857092e-02 1.72613344e+02] [ 5.35525990e-03 9.99985656e-01 -9.69952457e-05 3.10374990e+00] [ 1.47860166e-02 1.78019357e-05 9.99890681e-01 1.92510001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89509989299998 meters 0.013985561619240385 Centerline is valid? [True, True] Translation: X:172.64, Y:3.11, Z:1.93 [[ 9.99892366e-01 3.55335386e-03 -1.42347858e-02 1.72642112e+02] [-3.55509861e-03 9.99993676e-01 -9.72673408e-05 3.10594673e+00] [ 1.42343501e-02 1.47862939e-04 9.99898676e-01 1.92532382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92509989299998 meters 0.014728745889863597 Centerline is valid? [True, True] Translation: X:172.67, Y:3.11, Z:1.93 [[ 9.99876806e-01 7.30394988e-03 -1.38933543e-02 1.72669525e+02] [-7.30601834e-03 9.99973306e-01 -9.81318903e-05 3.10770054e+00] [ 1.38922666e-02 1.99624902e-04 9.99903478e-01 1.92556777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95509989299998 meters 0.01491092720425601 Centerline is valid? [True, True] Translation: X:172.70, Y:3.11, Z:1.93 [[ 9.99860505e-01 1.01654064e-02 -1.32527300e-02 1.72698024e+02] [-1.01675567e-02 9.99948305e-01 -9.48865665e-05 3.10725821e+00] [ 1.32510804e-02 2.29621215e-04 9.99912174e-01 1.92642006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98509989299998 meters 0.016274520718799545 Centerline is valid? [True, True] Translation: X:172.73, Y:3.11, Z:1.93 [[ 9.99809300e-01 1.37929829e-02 -1.38245313e-02 1.72726108e+02] [-1.37957159e-02 9.99904829e-01 -1.02339181e-04 3.10765570e+00] [ 1.38218040e-02 2.93038970e-04 9.99904431e-01 1.92623999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01509989299998 meters 0.01568326403026321 Centerline is valid? [True, True] Translation: X:172.76, Y:3.10, Z:1.93 [[ 9.99797628e-01 1.42990996e-02 -1.41505941e-02 1.72755339e+02] [-1.43020313e-02 9.99897715e-01 -1.06000984e-04 3.10462058e+00] [ 1.41476309e-02 3.08361772e-04 9.99899870e-01 1.92583134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04509989299999 meters 0.01584011907323527 Centerline is valid? [True, True] Translation: X:172.78, Y:3.10, Z:1.93 [[ 9.99787896e-01 1.38724857e-02 -1.52222912e-02 1.72782772e+02] [-1.38758472e-02 9.99903719e-01 -1.15228406e-04 3.10250344e+00] [ 1.52192271e-02 3.26426152e-04 9.99884128e-01 1.92546971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.075099893 meters 0.014903817948546004 Centerline is valid? [True, True] Translation: X:172.81, Y:3.09, Z:1.93 [[ 9.99830542e-01 1.01897608e-02 -1.53315555e-02 1.72812214e+02] [-1.01927573e-02 9.99948046e-01 -1.17315407e-04 3.09472425e+00] [ 1.53295636e-02 2.73566351e-04 9.99882458e-01 1.92503175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.105099893 meters 0.014466634302094434 Centerline is valid? [True, True] Translation: X:172.84, Y:3.09, Z:1.93 [[ 9.99855638e-01 7.01292597e-03 -1.54764875e-02 1.72841201e+02] [-7.01561282e-03 9.99975383e-01 -1.19322988e-04 3.09062374e+00] [ 1.54752697e-02 2.27882806e-04 9.99880225e-01 1.92583718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.135099893 meters 0.013996461769534263 Centerline is valid? [True, True] Translation: X:172.87, Y:3.09, Z:1.93 [[ 9.99882042e-01 3.18834707e-03 -1.50245164e-02 1.72870206e+02] [-3.19046357e-03 9.99994904e-01 -1.16902773e-04 3.08646036e+00] [ 1.50240671e-02 1.64824156e-04 9.99887119e-01 1.92643820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.165099893 meters 0.01376901352587175 Centerline is valid? [True, True] Translation: X:172.90, Y:3.08, Z:1.93 [[ 9.99888355e-01 -1.08425663e-03 -1.49030702e-02 1.72898539e+02] [ 1.08263270e-03 9.99999407e-01 -1.17033742e-04 3.08264580e+00] [ 1.49031882e-02 1.00886125e-04 9.99888936e-01 1.92706330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.195099893 meters 0.013460208916488822 Centerline is valid? [True, True] Translation: X:172.93, Y:3.07, Z:1.93 [[ 9.99850728e-01 -1.04871794e-02 -1.37310126e-02 1.72926478e+02] [ 1.04866745e-02 9.99945007e-01 -1.08772094e-04 3.07249628e+00] [ 1.37313982e-02 -3.52368026e-05 9.99905719e-01 1.92813959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.225099893 meters 0.013731237074174927 Centerline is valid? [True, True] Translation: X:172.96, Y:3.07, Z:1.93 [[ 9.99790484e-01 -1.52125763e-02 -1.36954394e-02 1.72955358e+02] [ 1.52125012e-02 9.99884277e-01 -1.09668231e-04 3.06742691e+00] [ 1.36955229e-02 -9.86966350e-05 9.99906207e-01 1.92925319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.255099893 meters 0.014116794238625859 Centerline is valid? [True, True] Translation: X:172.98, Y:3.06, Z:1.93 [[ 9.99712214e-01 -2.01318521e-02 -1.30459739e-02 1.72984082e+02] [ 2.01321913e-02 9.99797321e-01 -1.05343990e-04 3.06239636e+00] [ 1.30454505e-02 -1.57330368e-04 9.99914892e-01 1.93002570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.285099893 meters 0.01624918483970374 Centerline is valid? [True, True] Translation: X:173.01, Y:3.05, Z:1.93 [[ 9.99494165e-01 -2.91836606e-02 -1.26383436e-02 1.73013574e+02] [ 2.91846912e-02 9.99574031e-01 -1.02918903e-04 3.04970317e+00] [ 1.26359636e-02 -2.65979312e-04 9.99920128e-01 1.93082547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.315099893 meters 0.0170645100100211 Centerline is valid? [True, True] Translation: X:173.04, Y:3.04, Z:1.93 [[ 9.99356494e-01 -3.37198585e-02 -1.22298335e-02 1.73043987e+02] [ 3.37211603e-02 9.99431275e-01 -9.98058372e-05 3.04498198e+00] [ 1.22262435e-02 -3.12662565e-04 9.99925208e-01 1.93120109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.345099893 meters 0.01743761510614194 Centerline is valid? [True, True] Translation: X:173.07, Y:3.04, Z:1.93 [[ 9.99212764e-01 -3.77481691e-02 -1.22036115e-02 1.73074930e+02] [ 3.77497655e-02 9.99287219e-01 -9.95947877e-05 3.04147106e+00] [ 1.21986725e-02 -3.61167090e-04 9.99925528e-01 1.93173833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.375099893 meters 0.01825587908422899 Centerline is valid? [True, True] Translation: X:173.11, Y:3.04, Z:1.93 [[ 9.99060496e-01 -4.15283162e-02 -1.23904574e-02 1.73106395e+02] [ 4.15302550e-02 9.99137242e-01 -1.00890843e-04 3.03739232e+00] [ 1.23839572e-02 -4.13782798e-04 9.99923230e-01 1.93200139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.405099893 meters 0.019935513450750317 Centerline is valid? [True, True] Translation: X:173.14, Y:3.03, Z:1.93 [[ 9.98902603e-01 -4.51174486e-02 -1.25700600e-02 1.73137020e+02] [ 4.51197336e-02 9.98981581e-01 -1.01891707e-04 3.03209603e+00] [ 1.25618555e-02 -4.65377866e-04 9.99920988e-01 1.93237673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.435099893 meters 0.022452074796141697 Centerline is valid? [True, True] Translation: X:173.17, Y:3.02, Z:1.93 [[ 9.98619152e-01 -5.08198182e-02 -1.33092437e-02 1.73166830e+02] [ 5.08228885e-02 9.98707676e-01 -1.07646741e-04 3.02313293e+00] [ 1.32975145e-02 -5.68916114e-04 9.99911422e-01 1.93245667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46509989299997 meters 0.022452074796141697 Centerline is valid? [True, True] Translation: X:173.20, Y:3.02, Z:1.93 [[ 9.98622773e-01 -5.07486049e-02 -1.33092442e-02 1.73198542e+02] [ 5.07516697e-02 9.98711298e-01 -1.07587662e-04 3.02333055e+00] [ 1.32975525e-02 -5.68026878e-04 9.99911422e-01 1.93284887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49509989299997 meters 0.02359608310977505 Centerline is valid? [True, True] Translation: X:173.23, Y:3.02, Z:1.93 [[ 9.98486145e-01 -5.33825180e-02 -1.32561058e-02 1.73229966e+02] [ 5.33858020e-02 9.98573956e-01 -1.06248092e-04 3.01946212e+00] [ 1.32428738e-02 -6.01600590e-04 9.99912128e-01 1.93339031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52509989299998 meters 0.022726615249343222 Centerline is valid? [True, True] Translation: X:173.26, Y:3.02, Z:1.93 [[ 9.98389693e-01 -5.51469057e-02 -1.32980848e-02 1.73262409e+02] [ 5.51503735e-02 9.98478054e-01 -1.06076146e-04 3.01835287e+00] [ 1.32836956e-02 -6.27489011e-04 9.99911571e-01 1.93342885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55509989299998 meters 0.02352978314740557 Centerline is valid? [True, True] Translation: X:173.29, Y:3.01, Z:1.93 [[ 9.98283980e-01 -5.63407359e-02 -1.59629720e-02 1.73294489e+02] [ 5.63459069e-02 9.98411299e-01 -1.25986838e-04 3.01378699e+00] [ 1.59447098e-02 -7.73677493e-04 9.99872576e-01 1.93117566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58509989299998 meters 0.0230588200839507 Centerline is valid? [True, True] Translation: X:173.33, Y:3.01, Z:1.93 [[ 9.98307683e-01 -5.56353155e-02 -1.69257634e-02 1.73325745e+02] [ 5.56410470e-02 9.98450828e-01 -1.32467327e-04 3.01397705e+00] [ 1.69069124e-02 -8.09524048e-04 9.99856740e-01 1.93111367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61509989299998 meters 0.02215276655523979 Centerline is valid? [True, True] Translation: X:173.36, Y:3.02, Z:1.93 [[ 9.98469457e-01 -5.25054868e-02 -1.73757912e-02 1.73356394e+02] [ 5.25110623e-02 9.98620333e-01 -1.35527576e-04 3.01536380e+00] [ 1.73589344e-02 -7.77101110e-04 9.99849020e-01 1.93125380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64509989299998 meters 0.02313164735378595 Centerline is valid? [True, True] Translation: X:173.39, Y:3.01, Z:1.93 [[ 9.98584749e-01 -5.01753427e-02 -1.76333081e-02 1.73386484e+02] [ 5.01807238e-02 9.98740144e-01 -1.37441331e-04 3.01404561e+00] [ 1.76179888e-02 -7.47605344e-04 9.99844512e-01 1.93131477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67509989299998 meters 0.022445017765637277 Centerline is valid? [True, True] Translation: X:173.42, Y:3.02, Z:1.93 [[ 9.98808089e-01 -4.53127067e-02 -1.81427877e-02 1.73416215e+02] [ 4.53176064e-02 9.98972620e-01 -1.41183400e-04 3.01542387e+00] [ 1.81305455e-02 -6.81172588e-04 9.99835396e-01 1.93104630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70509989299998 meters 0.019385638529655157 Centerline is valid? [True, True] Translation: X:173.45, Y:3.02, Z:1.93 [[ 9.98912488e-01 -4.28843150e-02 -1.82969060e-02 1.73446863e+02] [ 4.28888915e-02 9.99079838e-01 -1.42382717e-04 3.02088812e+00] [ 1.82861759e-02 -6.42506142e-04 9.99832587e-01 1.93210509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73509989299998 meters 0.018886752381457834 Centerline is valid? [True, True] Translation: X:173.48, Y:3.02, Z:1.93 [[ 9.99000028e-01 -4.07995993e-02 -1.82848775e-02 1.73476454e+02] [ 4.08038172e-02 9.99167167e-01 -1.42501273e-04 3.02270423e+00] [ 1.82754632e-02 -6.03734021e-04 9.99832807e-01 1.93277246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76509989299998 meters 0.01776051901895515 Centerline is valid? [True, True] Translation: X:173.51, Y:3.03, Z:1.93 [[ 9.99136262e-01 -3.75045225e-02 -1.78924623e-02 1.73506721e+02] [ 3.75080237e-02 9.99296317e-01 -1.39976387e-04 3.02651441e+00] [ 1.78851214e-02 -5.31255416e-04 9.99839907e-01 1.93420295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79509989299999 meters 0.01776051901895515 Centerline is valid? [True, True] Translation: X:173.54, Y:3.03, Z:1.93 [[ 9.99134909e-01 -3.75405508e-02 -1.78924590e-02 1.73535887e+02] [ 3.75440503e-02 9.99294964e-01 -1.40398629e-04 3.02677151e+00] [ 1.78851148e-02 -5.31478207e-04 9.99839907e-01 1.93456372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.825099893 meters 0.017736063588366265 Centerline is valid? [True, True] Translation: X:173.56, Y:3.03, Z:1.94 [[ 9.99173567e-01 -3.65234400e-02 -1.78387520e-02 1.73564878e+02] [ 3.65267434e-02 9.99332666e-01 -1.40715504e-04 3.02787485e+00] [ 1.78319870e-02 -5.10992303e-04 9.99840867e-01 1.93556564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.855099893 meters 0.017214309055215118 Centerline is valid? [True, True] Translation: X:173.59, Y:3.03, Z:1.94 [[ 9.99209252e-01 -3.53155499e-02 -1.82670029e-02 1.73594171e+02] [ 3.53187746e-02 9.99376087e-01 -1.46150996e-04 3.02979541e+00] [ 1.82607672e-02 -4.99132728e-04 9.99833134e-01 1.93577010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.885099893 meters 0.017585441126519906 Centerline is valid? [True, True] Translation: X:173.62, Y:3.03, Z:1.94 [[ 9.99203814e-01 -3.51889043e-02 -1.88010183e-02 1.73623305e+02] [ 3.51922356e-02 9.99380550e-01 -1.53738660e-04 3.02967756e+00] [ 1.87947819e-02 -5.08033610e-04 9.99823233e-01 1.93552826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.915099893 meters 0.017454655165879587 Centerline is valid? [True, True] Translation: X:173.65, Y:3.03, Z:1.94 [[ 9.99186694e-01 -3.53061309e-02 -1.94788917e-02 1.73651855e+02] [ 3.53096814e-02 9.99376406e-01 -1.61732623e-04 3.03052885e+00] [ 1.94724549e-02 -5.26192375e-04 9.99810255e-01 1.93555408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.945099893 meters 0.017454655165879587 Centerline is valid? [True, True] Translation: X:173.68, Y:3.03, Z:1.94 [[ 9.99177896e-01 -3.55542835e-02 -1.94788506e-02 1.73680126e+02] [ 3.55577869e-02 9.99367608e-01 -1.66569389e-04 3.03080739e+00] [ 1.94724546e-02 -5.26192365e-04 9.99810255e-01 1.93590441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.975099893 meters 0.017348593322368794 Centerline is valid? [True, True] Translation: X:173.71, Y:3.03, Z:1.94 [[ 9.99163124e-01 -3.58837674e-02 -1.96317668e-02 1.73709179e+02] [ 3.58872932e-02 9.99355829e-01 -1.72787301e-04 3.03194491e+00] [ 1.96253209e-02 -5.31888272e-04 9.99807263e-01 1.93656858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.005099893 meters 0.018536205492280525 Centerline is valid? [True, True] Translation: X:173.74, Y:3.03, Z:1.94 [[ 9.99126238e-01 -3.67050890e-02 -1.99873971e-02 1.73737022e+02] [ 3.67088252e-02 9.99325988e-01 -1.80057787e-04 3.03200582e+00] [ 1.99805344e-02 -5.53813409e-04 9.99800216e-01 1.93707961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.035099893 meters 0.017413650954649848 Centerline is valid? [True, True] Translation: X:173.77, Y:3.04, Z:1.94 [[ 9.99086327e-01 -3.75672713e-02 -2.03767350e-02 1.73765917e+02] [ 3.75712590e-02 9.99293933e-01 -1.87230328e-04 3.03507798e+00] [ 2.03693814e-02 -5.78520326e-04 9.99792355e-01 1.93808600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.065099893 meters 0.018059962225080228 Centerline is valid? [True, True] Translation: X:173.79, Y:3.04, Z:1.94 [[ 9.99004154e-01 -3.94733176e-02 -2.07980202e-02 1.73794411e+02] [ 3.94777745e-02 9.99220430e-01 -1.96397030e-04 3.03528581e+00] [ 2.07895591e-02 -6.24858102e-04 9.99783678e-01 1.93818896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.095099893 meters 0.018153223296502007 Centerline is valid? [True, True] Translation: X:173.82, Y:3.04, Z:1.94 [[ 9.98960500e-01 -4.07613617e-02 -2.04066341e-02 1.73823132e+02] [ 4.07658174e-02 9.99168709e-01 -1.97773746e-04 3.03625020e+00] [ 2.03977318e-02 -6.34324961e-04 9.99791743e-01 1.93897579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.125099893 meters 0.01854783275980446 Centerline is valid? [True, True] Translation: X:173.85, Y:3.04, Z:1.94 [[ 9.98916897e-01 -4.18928433e-02 -2.02489902e-02 1.73851505e+02] [ 4.18973597e-02 9.99121900e-01 -2.01323910e-04 3.03652719e+00] [ 2.02396436e-02 -6.47273372e-04 9.99794948e-01 1.93953152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.155099893 meters 0.01893486781657945 Centerline is valid? [True, True] Translation: X:173.88, Y:3.04, Z:1.94 [[ 9.98887840e-01 -4.28509109e-02 -1.96693140e-02 1.73881377e+02] [ 4.28552935e-02 9.99081270e-01 -1.98836739e-04 3.03782993e+00] [ 1.96597635e-02 -6.44318622e-04 9.99806521e-01 1.94063052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.185099893 meters 0.020262642699315412 Centerline is valid? [True, True] Translation: X:173.91, Y:3.04, Z:1.94 [[ 9.98898277e-01 -4.27243350e-02 -1.94129477e-02 1.73910680e+02] [ 4.27285692e-02 9.99086698e-01 -1.96805571e-04 3.03696733e+00] [ 1.94036263e-02 -6.32898736e-04 9.99811532e-01 1.94117692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21509989299997 meters 0.01847413096084244 Centerline is valid? [True, True] Translation: X:173.94, Y:3.04, Z:1.94 [[ 9.98945466e-01 -4.19452170e-02 -1.86696284e-02 1.73941426e+02] [ 4.19489932e-02 9.99119736e-01 -1.89480459e-04 3.04171818e+00] [ 1.86611420e-02 -5.93891472e-04 9.99825689e-01 1.94310550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24509989299997 meters 0.019174594521839377 Centerline is valid? [True, True] Translation: X:173.97, Y:3.04, Z:1.94 [[ 9.99015683e-01 -4.05445363e-02 -1.79946247e-02 1.73971383e+02] [ 4.05478173e-02 9.99177582e-01 -1.82629759e-04 3.04212648e+00] [ 1.79872302e-02 -5.47192761e-04 9.99838067e-01 1.94412307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27509989299998 meters 0.018420417779080666 Centerline is valid? [True, True] Translation: X:174.00, Y:3.05, Z:1.95 [[ 9.99162626e-01 -3.68478014e-02 -1.77844613e-02 1.74000879e+02] [ 3.68504194e-02 9.99320776e-01 -1.80589835e-04 3.04624981e+00] [ 1.77790360e-02 -4.74926243e-04 9.99841828e-01 1.94559116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30509989299998 meters 0.016354307531719035 Centerline is valid? [True, True] Translation: X:174.03, Y:3.05, Z:1.95 [[ 9.99234242e-01 -3.47315422e-02 -1.80180529e-02 1.74030889e+02] [ 3.47338799e-02 9.99396580e-01 -1.83279099e-04 3.05174536e+00] [ 1.80135460e-02 -4.42698134e-04 9.99837645e-01 1.94663466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33509989299998 meters 0.016140290994236292 Centerline is valid? [True, True] Translation: X:174.06, Y:3.05, Z:1.95 [[ 9.99289641e-01 -3.28458849e-02 -1.84759557e-02 1.74060507e+02] [ 3.28480180e-02 9.99460341e-01 -1.88095081e-04 3.05380188e+00] [ 1.84721631e-02 -4.18937060e-04 9.99829287e-01 1.94711516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36509989299998 meters 0.015645800429155025 Centerline is valid? [True, True] Translation: X:174.09, Y:3.06, Z:1.95 [[ 9.99326753e-01 -3.13852350e-02 -1.90002291e-02 1.74090100e+02] [ 3.13872253e-02 9.99507281e-01 -1.93523916e-04 3.05619356e+00] [ 1.89969411e-02 -4.02970844e-04 9.99819461e-01 1.94765619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39509989299998 meters 0.015424521998875187 Centerline is valid? [True, True] Translation: X:174.12, Y:3.06, Z:1.95 [[ 9.99365201e-01 -2.95598357e-02 -1.98849449e-02 1.74118173e+02] [ 2.95616318e-02 9.99562939e-01 -2.03674513e-04 3.05835844e+00] [ 1.98822746e-02 -3.84286201e-04 9.99802254e-01 1.94798192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42509989299998 meters 0.015196026448256255 Centerline is valid? [True, True] Translation: X:174.15, Y:3.06, Z:1.95 [[ 9.99361688e-01 -2.94930544e-02 -2.01587535e-02 1.74145786e+02] [ 2.94948186e-02 9.99564911e-01 -2.09859035e-04 3.05967111e+00] [ 2.01561721e-02 -3.84853700e-04 9.99796770e-01 1.94892487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45509989299998 meters 0.015423123359095537 Centerline is valid? [True, True] Translation: X:174.17, Y:3.06, Z:1.95 [[ 9.99343229e-01 -2.97467671e-02 -2.06939601e-02 1.74172264e+02] [ 2.97485703e-02 9.99557389e-01 -2.20767546e-04 3.05963762e+00] [ 2.06913678e-02 -3.94993173e-04 9.99785833e-01 1.94910011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48509989299998 meters 0.015766306676222423 Centerline is valid? [True, True] Translation: X:174.20, Y:3.06, Z:1.95 [[ 9.99312812e-01 -3.05399772e-02 -2.10050716e-02 1.74199711e+02] [ 3.05419417e-02 9.99533460e-01 -2.27345760e-04 3.05879871e+00] [ 2.10022150e-02 -4.14346141e-04 9.99779343e-01 1.94904496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51509989299998 meters 0.01561110523394356 Centerline is valid? [True, True] Translation: X:174.23, Y:3.06, Z:1.95 [[ 9.99285001e-01 -3.13277941e-02 -2.11673274e-02 1.74228905e+02] [ 3.13298960e-02 9.99509071e-01 -2.32398599e-04 3.05929102e+00] [ 2.11642163e-02 -4.30937731e-04 9.99775920e-01 1.94976433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54509989299999 meters 0.01583612675855774 Centerline is valid? [True, True] Translation: X:174.26, Y:3.06, Z:1.95 [[ 9.99214285e-01 -3.31505904e-02 -2.17221511e-02 1.74257401e+02] [ 3.31531146e-02 9.99450255e-01 -2.44005942e-04 3.05985946e+00] [ 2.17182984e-02 -4.76342742e-04 9.99764016e-01 1.95080701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.575099893 meters 0.016106438925998705 Centerline is valid? [True, True] Translation: X:174.29, Y:3.06, Z:1.95 [[ 9.99173301e-01 -3.41585088e-02 -2.20433725e-02 1.74285905e+02] [ 3.41612311e-02 9.99416303e-01 -2.53161824e-04 3.06001212e+00] [ 2.20391535e-02 -5.00076208e-04 9.99756983e-01 1.95136779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.605099893 meters 0.016106438925998705 Centerline is valid? [True, True] Translation: X:174.31, Y:3.06, Z:1.95 [[ 9.99163537e-01 -3.44429961e-02 -2.20433044e-02 1.74313324e+02] [ 3.44456590e-02 9.99406539e-01 -2.58992056e-04 3.06039790e+00] [ 2.20391430e-02 -5.00520726e-04 9.99756983e-01 1.95170766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.635099893 meters 0.016009484662964875 Centerline is valid? [True, True] Translation: X:174.34, Y:3.06, Z:1.95 [[ 9.99119133e-01 -3.57552221e-02 -2.19664087e-02 1.74341721e+02] [ 3.57580528e-02 9.99360441e-01 -2.64030549e-04 3.06147843e+00] [ 2.19618003e-02 -5.21678029e-04 9.99758674e-01 1.95251415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.665099893 meters 0.0169994969894133 Centerline is valid? [True, True] Translation: X:174.37, Y:3.06, Z:1.95 [[ 9.99072298e-01 -3.71816764e-02 -2.17271039e-02 1.74369192e+02] [ 3.71846972e-02 9.99308375e-01 -2.65093981e-04 3.06002488e+00] [ 2.17219335e-02 -5.43067726e-04 9.99763903e-01 1.95275417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.695099893 meters 0.01826956059643506 Centerline is valid? [True, True] Translation: X:174.40, Y:3.06, Z:1.95 [[ 9.98948152e-01 -4.09114931e-02 -2.07084186e-02 1.74398448e+02] [ 4.09150068e-02 9.99162598e-01 -2.54157425e-04 3.05805881e+00] [ 2.07014753e-02 -5.93394997e-04 9.99785525e-01 1.95391440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.725099893 meters 0.018783109141046556 Centerline is valid? [True, True] Translation: X:174.43, Y:3.06, Z:1.95 [[ 9.98863572e-01 -4.32160331e-02 -2.00982367e-02 1.74428055e+02] [ 4.32197908e-02 9.99065558e-01 -2.47565805e-04 3.05722327e+00] [ 2.00901549e-02 -6.21357120e-04 9.99797979e-01 1.95487238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.755099893 meters 0.01902673819270939 Centerline is valid? [True, True] Translation: X:174.46, Y:3.06, Z:1.96 [[ 9.98774054e-01 -4.54122545e-02 -1.97006656e-02 1.74458162e+02] [ 4.54162807e-02 9.98968119e-01 -2.43222508e-04 3.05674018e+00] [ 1.96913821e-02 -6.51806629e-04 9.99805893e-01 1.95565289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.785099893 meters 0.018425240085803957 Centerline is valid? [True, True] Translation: X:174.49, Y:3.06, Z:1.96 [[ 9.98679513e-01 -4.75960041e-02 -1.93352025e-02 1.74488697e+02] [ 4.76002868e-02 9.98866435e-01 -2.38925410e-04 3.05817819e+00] [ 1.93246566e-02 -6.81751270e-04 9.99813029e-01 1.95658707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.815099893 meters 0.020101145753954802 Centerline is valid? [True, True] Translation: X:174.52, Y:3.06, Z:1.96 [[ 9.98435960e-01 -5.22678173e-02 -1.98420896e-02 1.74518967e+02] [ 5.22732513e-02 9.98632789e-01 -2.45053091e-04 3.05671528e+00] [ 1.98277697e-02 -7.92540717e-04 9.99803096e-01 1.95683912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.845099893 meters 0.020487357046005763 Centerline is valid? [True, True] Translation: X:174.55, Y:3.06, Z:1.96 [[ 9.98322111e-01 -5.43325648e-02 -2.00233424e-02 1.74550518e+02] [ 5.43385232e-02 9.98522541e-01 -2.46784306e-04 3.05681895e+00] [ 2.00071672e-02 -8.41668626e-04 9.99799482e-01 1.95732894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.875099893 meters 0.023271965355265174 Centerline is valid? [True, True] Translation: X:174.58, Y:3.05, Z:1.96 [[ 9.98203050e-01 -5.63704266e-02 -2.03235364e-02 1.74581012e+02] [ 5.63769989e-02 9.98409521e-01 -2.49879881e-04 3.05350293e+00] [ 2.03052980e-02 -8.96349127e-04 9.99793424e-01 1.95725216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.905099893 meters 0.02290027411054521 Centerline is valid? [True, True] Translation: X:174.61, Y:3.06, Z:1.96 [[ 9.97978027e-01 -5.98175464e-02 -2.14876321e-02 1.74612173e+02] [ 5.98256991e-02 9.98208804e-01 -2.63789815e-04 3.05551287e+00] [ 2.14649228e-02 -1.02225617e-03 9.99769079e-01 1.95747287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.935099893 meters 0.023044112127837843 Centerline is valid? [True, True] Translation: X:174.64, Y:3.06, Z:1.96 [[ 9.97896327e-01 -6.09922379e-02 -2.19742556e-02 1.74643202e+02] [ 6.10010610e-02 9.98137665e-01 -2.69185228e-04 3.05608523e+00] [ 2.19497503e-02 -1.07183395e-03 9.99758501e-01 1.95735784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96509989299997 meters 0.025690982294452398 Centerline is valid? [True, True] Translation: X:174.67, Y:3.05, Z:1.96 [[ 9.97782215e-01 -6.25557572e-02 -2.27470764e-02 1.74673656e+02] [ 6.25656323e-02 9.98040813e-01 -2.77998747e-04 3.05313494e+00] [ 2.27199011e-02 -1.14580301e-03 9.99741213e-01 1.95642883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99509989299997 meters 0.025548955731163506 Centerline is valid? [True, True] Translation: X:174.70, Y:3.05, Z:1.96 [[ 9.97687825e-01 -6.39249184e-02 -2.30783081e-02 1.74704645e+02] [ 6.39354582e-02 9.97953996e-01 -2.81629594e-04 3.05409702e+00] [ 2.30490929e-02 -1.19454379e-03 9.99733621e-01 1.95664194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02509989299998 meters 0.025077011073033426 Centerline is valid? [True, True] Translation: X:174.74, Y:3.06, Z:1.96 [[ 9.97606484e-01 -6.52858614e-02 -2.27828775e-02 1.74735709e+02] [ 6.52965003e-02 9.97865868e-01 -2.77431695e-04 3.05555994e+00] [ 2.27523682e-02 -1.21087451e-03 9.99740398e-01 1.95708691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05509989299998 meters 0.026446883039281832 Centerline is valid? [True, True] Translation: X:174.77, Y:3.05, Z:1.96 [[ 9.97503544e-01 -6.68109352e-02 -2.28687204e-02 1.74766019e+02] [ 6.68220685e-02 9.97764869e-01 -2.77841515e-04 3.05475532e+00] [ 2.28361687e-02 -1.25098731e-03 9.99738438e-01 1.95730283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08509989299998 meters 0.028924585927526274 Centerline is valid? [True, True] Translation: X:174.80, Y:3.05, Z:1.96 [[ 9.97330924e-01 -6.92128309e-02 -2.32510475e-02 1.74796368e+02] [ 6.92249999e-02 9.97601032e-01 -2.82069031e-04 3.05308268e+00] [ 2.32147918e-02 -1.32823759e-03 9.99729618e-01 1.95683859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11509989299998 meters 0.03019720245275496 Centerline is valid? [True, True] Translation: X:174.83, Y:3.05, Z:1.96 [[ 9.97251175e-01 -7.03319316e-02 -2.33133746e-02 1.74826876e+02] [ 7.03444802e-02 9.97522719e-01 -2.82415461e-04 3.05240617e+00] [ 2.32754836e-02 -1.35832807e-03 9.99728166e-01 1.95665643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14509989299998 meters 0.03052772817252214 Centerline is valid? [True, True] Translation: X:174.86, Y:3.05, Z:1.96 [[ 9.97173427e-01 -7.13386841e-02 -2.35785607e-02 1.74858551e+02] [ 7.13518147e-02 9.97451170e-01 -2.85020616e-04 3.05333168e+00] [ 2.35387960e-02 -1.39815811e-03 9.99721946e-01 1.95652192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17509989299998 meters 0.029890638558665573 Centerline is valid? [True, True] Translation: X:174.89, Y:3.06, Z:1.96 [[ 9.97032761e-01 -7.29143441e-02 -2.46814049e-02 1.74890012e+02] [ 7.29292351e-02 9.97337074e-01 -2.97467276e-04 3.05729670e+00] [ 2.46373698e-02 -1.50341136e-03 9.99695323e-01 1.95675422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20509989299998 meters 0.028321178927468212 Centerline is valid? [True, True] Translation: X:174.92, Y:3.06, Z:1.96 [[ 9.96994300e-01 -7.34794519e-02 -2.45588073e-02 1.74921659e+02] [ 7.34944081e-02 9.97295586e-01 -2.94273142e-04 3.06122735e+00] [ 2.45140131e-02 -1.51154636e-03 9.99698344e-01 1.95805308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23509989299998 meters 0.027803874348178267 Centerline is valid? [True, True] Translation: X:174.95, Y:3.06, Z:1.96 [[ 9.96949287e-01 -7.41465827e-02 -2.43803792e-02 1.74953718e+02] [ 7.41615739e-02 9.97246197e-01 -2.89963238e-04 3.06396356e+00] [ 2.43347402e-02 -1.51900865e-03 9.99702712e-01 1.95929727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26509989299998 meters 0.029185406375056278 Centerline is valid? [True, True] Translation: X:174.98, Y:3.06, Z:1.96 [[ 9.96956823e-01 -7.41744264e-02 -2.39843287e-02 1.74984627e+02] [ 7.41889788e-02 9.97244160e-01 -2.83726129e-04 3.06403980e+00] [ 2.39392770e-02 -1.49651016e-03 9.99712294e-01 1.95966131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29509989299999 meters 0.03061300410501192 Centerline is valid? [True, True] Translation: X:175.02, Y:3.07, Z:1.96 [[ 9.96939165e-01 -7.43237750e-02 -2.42544558e-02 1.75015993e+02] [ 7.43387333e-02 9.97233007e-01 -2.85599555e-04 3.06641353e+00] [ 2.42085707e-02 -1.51832014e-03 9.99705777e-01 1.95965807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.325099893 meters 0.02999150348671459 Centerline is valid? [True, True] Translation: X:175.05, Y:3.07, Z:1.96 [[ 9.96983810e-01 -7.39339695e-02 -2.36019119e-02 1.75048471e+02] [ 7.39480586e-02 9.97262056e-01 -2.76468142e-04 3.06947085e+00] [ 2.35577316e-02 -1.46968131e-03 9.99721398e-01 1.96071339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.355099893 meters 0.03045800751527961 Centerline is valid? [True, True] Translation: X:175.08, Y:3.07, Z:1.96 [[ 9.97028117e-01 -7.34162534e-02 -2.33449597e-02 1.75080236e+02] [ 7.34299344e-02 9.97300341e-01 -2.71810289e-04 3.07128889e+00] [ 2.33018916e-02 -1.44321636e-03 9.99727432e-01 1.96133070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.385099893 meters 0.03045800751527961 Centerline is valid? [True, True] Translation: X:175.11, Y:3.07, Z:1.96 [[ 9.97033306e-01 -7.33457428e-02 -2.33449788e-02 1.75111983e+02] [ 7.33594429e-02 9.97305529e-01 -2.70160130e-04 3.07159618e+00] [ 2.33018916e-02 -1.44321599e-03 9.99727432e-01 1.96172313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.415099893 meters 0.030611685782018956 Centerline is valid? [True, True] Translation: X:175.14, Y:3.07, Z:1.96 [[ 9.97110188e-01 -7.24607077e-02 -2.28192542e-02 1.75143769e+02] [ 7.24735987e-02 9.97370297e-01 -2.62669958e-04 3.07368987e+00] [ 2.27782796e-02 -1.39188258e-03 9.99739572e-01 1.96243449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.445099893 meters 0.029554082164560905 Centerline is valid? [True, True] Translation: X:175.18, Y:3.08, Z:1.96 [[ 9.97291192e-01 -7.02384749e-02 -2.18365664e-02 1.75175663e+02] [ 7.02497735e-02 9.97529401e-01 -2.50196039e-04 3.07948148e+00] [ 2.18001904e-02 -1.28449554e-03 9.99761522e-01 1.96348591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.475099893 meters 0.028650198477657325 Centerline is valid? [True, True] Translation: X:175.21, Y:3.08, Z:1.96 [[ 9.97368333e-01 -6.92609165e-02 -2.14320818e-02 1.75208011e+02] [ 6.92716039e-02 9.97597807e-01 -2.44228821e-04 3.08296730e+00] [ 2.13975133e-02 -1.24104859e-03 9.99770277e-01 1.96441807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.505099893 meters 0.02471942807289153 Centerline is valid? [True, True] Translation: X:175.24, Y:3.09, Z:1.97 [[ 9.97524623e-01 -6.68380304e-02 -2.18472871e-02 1.75239524e+02] [ 6.68485878e-02 9.97763101e-01 -2.47540136e-04 3.09283972e+00] [ 2.18149620e-02 -1.21353291e-03 9.99761289e-01 1.96540803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.535099893 meters 0.028533175340505777 Centerline is valid? [True, True] Translation: X:175.27, Y:3.09, Z:1.96 [[ 9.97577674e-01 -6.60246477e-02 -2.18981619e-02 1.75271211e+02] [ 6.60350893e-02 9.97817271e-01 -2.46731789e-04 3.08953960e+00] [ 2.18666545e-02 -1.19991295e-03 9.99760176e-01 1.96462384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.565099893 meters 0.027488260652740664 Centerline is valid? [True, True] Translation: X:175.30, Y:3.09, Z:1.97 [[ 9.97637068e-01 -6.51455603e-02 -2.18251554e-02 1.75303358e+02] [ 6.51557568e-02 9.97875076e-01 -2.44342012e-04 3.09299195e+00] [ 2.17946964e-02 -1.17826987e-03 9.99761773e-01 1.96536627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.595099893 meters 0.02707227504213485 Centerline is valid? [True, True] Translation: X:175.34, Y:3.10, Z:1.97 [[ 9.97695757e-01 -6.43123368e-02 -2.16124707e-02 1.75335940e+02] [ 6.43221767e-02 9.97929156e-01 -2.40286048e-04 3.09558211e+00] [ 2.15831680e-02 -1.15042879e-03 9.99766394e-01 1.96565372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.625099893 meters 0.024698767891425666 Centerline is valid? [True, True] Translation: X:175.37, Y:3.10, Z:1.97 [[ 9.97723374e-01 -6.38509798e-02 -2.17053093e-02 1.75368560e+02] [ 6.38608377e-02 9.97958785e-01 -2.39376339e-04 3.10074720e+00] [ 2.16762885e-02 -1.14728787e-03 9.99764383e-01 1.96658237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.655099893 meters 0.024684044526197286 Centerline is valid? [True, True] Translation: X:175.40, Y:3.10, Z:1.97 [[ 9.97757465e-01 -6.31341125e-02 -2.22289034e-02 1.75400867e+02] [ 6.31443159e-02 9.98004377e-01 -2.43283951e-04 3.10336581e+00] [ 2.21999024e-02 -1.16089052e-03 9.99752878e-01 1.96646203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.685099893 meters 0.027896493509284543 Centerline is valid? [True, True] Translation: X:175.43, Y:3.10, Z:1.97 [[ 9.97762799e-01 -6.29427765e-02 -2.25300772e-02 1.75432126e+02] [ 6.29532427e-02 9.98016447e-01 -2.45122507e-04 3.10017419e+00] [ 2.25008162e-02 -1.17376730e-03 9.99746136e-01 1.96577165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71509989299997 meters 0.025532759815300832 Centerline is valid? [True, True] Translation: X:175.46, Y:3.10, Z:1.97 [[ 9.97771684e-01 -6.29189518e-02 -2.22007432e-02 1.75463893e+02] [ 6.29291383e-02 9.98017969e-01 -2.40178502e-04 3.10481514e+00] [ 2.21718524e-02 -1.15743033e-03 9.99753504e-01 1.96694354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74509989299997 meters 0.02441686767026565 Centerline is valid? [True, True] Translation: X:175.50, Y:3.11, Z:1.97 [[ 9.97767445e-01 -6.30043607e-02 -2.21489751e-02 1.75496334e+02] [ 6.30145560e-02 9.98012580e-01 -2.38023782e-04 3.10775792e+00] [ 2.21199523e-02 -1.15821545e-03 9.99754653e-01 1.96772155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77509989299998 meters 0.02588311606460955 Centerline is valid? [True, True] Translation: X:175.53, Y:3.11, Z:1.97 [[ 9.97728866e-01 -6.36286097e-02 -2.21022516e-02 1.75527656e+02] [ 6.36389463e-02 9.97972960e-01 -2.36094244e-04 3.10765712e+00] [ 2.20724718e-02 -1.17100596e-03 9.99755688e-01 1.96782760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80509989299998 meters 0.026206913908146928 Centerline is valid? [True, True] Translation: X:175.56, Y:3.11, Z:1.97 [[ 9.97694522e-01 -6.41576440e-02 -2.21232276e-02 1.75559991e+02] [ 6.41681602e-02 9.97939072e-01 -2.34948080e-04 3.10861676e+00] [ 2.20927070e-02 -1.18520040e-03 9.99755224e-01 1.96815781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83509989299998 meters 0.026420808478253555 Centerline is valid? [True, True] Translation: X:175.59, Y:3.11, Z:1.97 [[ 9.97670837e-01 -6.44567149e-02 -2.23211315e-02 1.75591824e+02] [ 6.44675305e-02 9.97919777e-01 -2.35446582e-04 3.10978602e+00] [ 2.22898747e-02 -1.20409004e-03 9.99750825e-01 1.96875276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86509989299998 meters 0.026165644354536357 Centerline is valid? [True, True] Translation: X:175.62, Y:3.11, Z:1.97 [[ 9.97626004e-01 -6.49527305e-02 -2.28800816e-02 1.75623961e+02] [ 6.49642629e-02 9.97887562e-01 -2.39680428e-04 3.11246055e+00] [ 2.28473167e-02 -1.24727621e-03 9.99738188e-01 1.96887187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89509989299998 meters 0.02514191979562491 Centerline is valid? [True, True] Translation: X:175.66, Y:3.12, Z:1.97 [[ 9.97614485e-01 -6.50725241e-02 -2.30414130e-02 1.75656515e+02] [ 6.50842902e-02 9.97879741e-01 -2.39695126e-04 3.11533347e+00] [ 2.30081568e-02 -1.26051068e-03 9.99734483e-01 1.96949178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92509989299998 meters 0.02590966213412251 Centerline is valid? [True, True] Translation: X:175.69, Y:3.12, Z:1.97 [[ 9.97592778e-01 -6.53770289e-02 -2.31191272e-02 1.75687591e+02] [ 6.53889904e-02 9.97859821e-01 -2.39013879e-04 3.11563468e+00] [ 2.30852741e-02 -1.27329786e-03 9.99732689e-01 1.96997108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95509989299998 meters 0.027138316550575 Centerline is valid? [True, True] Translation: X:175.72, Y:3.12, Z:1.97 [[ 9.97573019e-01 -6.61013173e-02 -2.18789102e-02 1.75718242e+02] [ 6.61122244e-02 9.97812168e-01 -2.25213647e-04 3.11645891e+00] [ 2.18459298e-02 -1.22179637e-03 9.99760603e-01 1.97121752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98509989299998 meters 0.02696795513699624 Centerline is valid? [True, True] Translation: X:175.75, Y:3.12, Z:1.97 [[ 9.97563808e-01 -6.65085971e-02 -2.10488788e-02 1.75750350e+02] [ 6.65188045e-02 9.97785148e-01 -2.15618233e-04 3.11805061e+00] [ 2.10165991e-02 -1.18505331e-03 9.99778425e-01 1.97227115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01509989299998 meters 0.027533290370904028 Centerline is valid? [True, True] Translation: X:175.78, Y:3.12, Z:1.97 [[ 9.97553338e-01 -6.68679588e-02 -2.03963999e-02 1.75782748e+02] [ 6.68776470e-02 9.97761162e-01 -2.07501368e-04 3.11844297e+00] [ 2.03646108e-02 -1.15706955e-03 9.99791950e-01 1.97307331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04509989299999 meters 0.02719605481995798 Centerline is valid? [True, True] Translation: X:175.82, Y:3.12, Z:1.97 [[ 9.97520844e-01 -6.74436624e-02 -2.00877869e-02 1.75815036e+02] [ 6.74532044e-02 9.97722418e-01 -2.02936465e-04 3.11988948e+00] [ 2.00557221e-02 -1.15255224e-03 9.99798199e-01 1.97373913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.075099893 meters 0.026000382950466888 Centerline is valid? [True, True] Translation: X:175.85, Y:3.12, Z:1.97 [[ 9.97405395e-01 -6.92801368e-02 -1.95637823e-02 1.75847039e+02] [ 6.92895667e-02 9.97596570e-01 -1.96243909e-04 3.12294141e+00] [ 1.95303579e-02 -1.15983127e-03 9.99808592e-01 1.97438904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.105099893 meters 0.031041245050712447 Centerline is valid? [True, True] Translation: X:175.88, Y:3.12, Z:1.97 [[ 9.97327389e-01 -7.02318163e-02 -2.01388052e-02 1.75878461e+02] [ 7.02420297e-02 9.97529958e-01 -2.00641808e-04 3.11671752e+00] [ 2.01031530e-02 -1.21448499e-03 9.99797174e-01 1.97348710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.135099893 meters 0.030894003144350837 Centerline is valid? [True, True] Translation: X:175.91, Y:3.12, Z:1.97 [[ 9.97280158e-01 -7.08312102e-02 -2.03771079e-02 1.75911062e+02] [ 7.08418170e-02 9.97487542e-01 -2.01763374e-04 3.11761670e+00] [ 2.03402024e-02 -1.24233674e-03 9.99792345e-01 1.97378145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.165099893 meters 0.028579899762433757 Centerline is valid? [True, True] Translation: X:175.94, Y:3.12, Z:1.97 [[ 9.97156824e-01 -7.25097599e-02 -2.05085867e-02 1.75942803e+02] [ 7.25208846e-02 9.97366874e-01 -2.01744987e-04 3.12221487e+00] [ 2.04692135e-02 -1.28612946e-03 9.99789656e-01 1.97456554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.195099893 meters 0.030167541225597807 Centerline is valid? [True, True] Translation: X:175.97, Y:3.12, Z:1.98 [[ 9.97130584e-01 -7.28757417e-02 -2.04871648e-02 1.75973667e+02] [ 7.28869430e-02 9.97340189e-01 -2.00416211e-04 3.12068718e+00] [ 2.04472783e-02 -1.29340568e-03 9.99790096e-01 1.97505009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.225099893 meters 0.031224079567421816 Centerline is valid? [True, True] Translation: X:176.00, Y:3.12, Z:1.98 [[ 9.97113738e-01 -7.30618300e-02 -2.06437190e-02 1.76004778e+02] [ 7.30732659e-02 9.97326555e-01 -2.00828700e-04 3.12060142e+00] [ 2.06032021e-02 -1.30825491e-03 9.99786876e-01 1.97510250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.255099893 meters 0.02820913296954683 Centerline is valid? [True, True] Translation: X:176.04, Y:3.13, Z:1.98 [[ 9.97140816e-01 -7.26076335e-02 -2.09362101e-02 1.76036532e+02] [ 7.26193234e-02 9.97359711e-01 -2.02377066e-04 3.12535842e+00] [ 2.08956266e-02 -1.31857498e-03 9.99780793e-01 1.97578135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.285099893 meters 0.0297276032372173 Centerline is valid? [True, True] Translation: X:176.07, Y:3.12, Z:1.98 [[ 9.97169127e-01 -7.22440430e-02 -2.08453845e-02 1.76068121e+02] [ 7.22555809e-02 9.97386129e-01 -2.00135170e-04 3.12423249e+00] [ 2.08053560e-02 -1.30662676e-03 9.99782691e-01 1.97581684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.315099893 meters 0.02967279459073437 Centerline is valid? [True, True] Translation: X:176.10, Y:3.13, Z:1.98 [[ 9.97224269e-01 -7.12798794e-02 -2.15159535e-02 1.76100772e+02] [ 7.12919809e-02 9.97455468e-01 -2.05059394e-04 3.12654299e+00] [ 2.14758221e-02 -1.32942474e-03 9.99768484e-01 1.97621193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.345099893 meters 0.028215719113512023 Centerline is valid? [True, True] Translation: X:176.13, Y:3.13, Z:1.98 [[ 9.97287384e-01 -7.02486052e-02 -2.19774129e-02 1.76133215e+02] [ 7.02610221e-02 9.97528619e-01 -2.07631690e-04 3.12967670e+00] [ 2.19376842e-02 -1.33708703e-03 9.99758446e-01 1.97655302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.375099893 meters 0.03093098694816 Centerline is valid? [True, True] Translation: X:176.16, Y:3.13, Z:1.98 [[ 9.97372454e-01 -6.88808799e-02 -2.24413150e-02 1.76164954e+02] [ 6.88935185e-02 9.97623997e-01 -2.10375035e-04 3.12699456e+00] [ 2.24024852e-02 -1.33623888e-03 9.99748140e-01 1.97567589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.405099893 meters 0.027814743728230708 Centerline is valid? [True, True] Translation: X:176.20, Y:3.13, Z:1.98 [[ 9.97590834e-01 -6.54033609e-02 -2.31284997e-02 1.76195807e+02] [ 6.54158797e-02 9.97858064e-01 -2.15711385e-04 3.13335902e+00] [ 2.30930682e-02 -1.29777945e-03 9.99732477e-01 1.97600585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.435099893 meters 0.027776267206831035 Centerline is valid? [True, True] Translation: X:176.23, Y:3.13, Z:1.98 [[ 9.97733691e-01 -6.34561294e-02 -2.23786016e-02 1.76226447e+02] [ 6.34673735e-02 9.97983892e-01 -2.08152366e-04 3.13490507e+00] [ 2.23466925e-02 -1.21263044e-03 9.99749546e-01 1.97638691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46509989299997 meters 0.02689878031226256 Centerline is valid? [True, True] Translation: X:176.26, Y:3.14, Z:1.98 [[ 9.97862844e-01 -6.13272050e-02 -2.25548073e-02 1.76257620e+02] [ 6.13381027e-02 9.98117024e-01 -2.08993224e-04 3.13795900e+00] [ 2.25251541e-02 -1.17492251e-03 9.99745586e-01 1.97727598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49509989299997 meters 0.02433140610398036 Centerline is valid? [True, True] Translation: X:176.29, Y:3.14, Z:1.98 [[ 9.98124392e-01 -5.71636021e-02 -2.19093669e-02 1.76287927e+02] [ 5.71728933e-02 9.98364272e-01 -2.02590027e-04 3.14479062e+00] [ 2.18851099e-02 -1.05041185e-03 9.99759940e-01 1.97886409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52509989299998 meters 0.022927140367079785 Centerline is valid? [True, True] Translation: X:176.32, Y:3.15, Z:1.98 [[ 9.98214714e-01 -5.55266551e-02 -2.20039640e-02 1.76320567e+02] [ 5.55356490e-02 9.98456684e-01 -2.02597253e-04 3.14858450e+00] [ 2.19812545e-02 -1.01976886e-03 9.99757863e-01 1.97983982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55509989299998 meters 0.02163872726234478 Centerline is valid? [True, True] Translation: X:176.35, Y:3.15, Z:1.98 [[ 9.98365624e-01 -5.27376325e-02 -2.20186864e-02 1.76351994e+02] [ 5.27459937e-02 9.98607941e-01 -2.01267962e-04 3.15316121e+00] [ 2.19986495e-02 -9.60458481e-04 9.99757539e-01 1.98054726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58509989299998 meters 0.02163872726234478 Centerline is valid? [True, True] Translation: X:176.38, Y:3.15, Z:1.98 [[ 9.98369435e-01 -5.26654374e-02 -2.20186969e-02 1.76383716e+02] [ 5.26738064e-02 9.98611751e-01 -2.00120124e-04 3.15339292e+00] [ 2.19986689e-02 -9.60014762e-04 9.99757539e-01 1.98093944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61509989299998 meters 0.0218381554081884 Centerline is valid? [True, True] Translation: X:176.41, Y:3.15, Z:1.98 [[ 9.98436769e-01 -5.12194133e-02 -2.23738661e-02 1.76414610e+02] [ 5.12277245e-02 9.98686978e-01 -2.01900301e-04 3.15410323e+00] [ 2.23548299e-02 -9.44577565e-04 9.99749653e-01 1.98107223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64509989299998 meters 0.021382560293805128 Centerline is valid? [True, True] Translation: X:176.45, Y:3.16, Z:1.98 [[ 9.98530646e-01 -4.92477073e-02 -2.26099972e-02 1.76446414e+02] [ 4.92557218e-02 9.98786180e-01 -2.02637521e-04 3.15672882e+00] [ 2.25925322e-02 -9.11331958e-04 9.99744341e-01 1.98128322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67509989299998 meters 0.020021371275458985 Centerline is valid? [True, True] Translation: X:176.48, Y:3.16, Z:1.98 [[ 9.98580297e-01 -4.83495851e-02 -2.23541416e-02 1.76478418e+02] [ 4.83572301e-02 9.98830085e-01 -1.98758443e-04 3.16002760e+00] [ 2.23375990e-02 -8.82508103e-04 9.99750095e-01 1.98219877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70509989299998 meters 0.020052796918244967 Centerline is valid? [True, True] Translation: X:176.51, Y:3.16, Z:1.98 [[ 9.98615872e-01 -4.76234575e-02 -2.23236944e-02 1.76510536e+02] [ 4.76309366e-02 9.98864983e-01 -1.96869244e-04 3.16113526e+00] [ 2.23077322e-02 -8.66701719e-04 9.99750776e-01 1.98276275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73509989299998 meters 0.01976936559356542 Centerline is valid? [True, True] Translation: X:176.54, Y:3.16, Z:1.98 [[ 9.98618713e-01 -4.75419309e-02 -2.23702998e-02 1.76542322e+02] [ 4.75494572e-02 9.98868866e-01 -1.95655534e-04 3.16293518e+00] [ 2.23542978e-02 -8.68310336e-04 9.99749734e-01 1.98321561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76509989299998 meters 0.02004734540225923 Centerline is valid? [True, True] Translation: X:176.57, Y:3.16, Z:1.98 [[ 9.98608089e-01 -4.78036095e-02 -2.22867504e-02 1.76574294e+02] [ 4.78111808e-02 9.98856373e-01 -1.93306349e-04 3.16343760e+00] [ 2.22705034e-02 -8.72518568e-04 9.99751601e-01 1.98349302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79509989299999 meters 0.02155575612832626 Centerline is valid? [True, True] Translation: X:176.61, Y:3.16, Z:1.98 [[ 9.98580441e-01 -4.82634552e-02 -2.25331281e-02 1.76605131e+02] [ 4.82713446e-02 9.98834240e-01 -1.93982437e-04 3.16192800e+00] [ 2.25162222e-02 -8.93997326e-04 9.99746078e-01 1.98333848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.825099893 meters 0.02151968788355134 Centerline is valid? [True, True] Translation: X:176.64, Y:3.16, Z:1.98 [[ 9.98527806e-01 -4.92470958e-02 -2.27363971e-02 1.76637185e+02] [ 4.92554150e-02 9.98786197e-01 -1.94314759e-04 3.16287067e+00] [ 2.27183690e-02 -9.25861984e-04 9.99741476e-01 1.98398421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.855099893 meters 0.021622851555664787 Centerline is valid? [True, True] Translation: X:176.67, Y:3.16, Z:1.98 [[ 9.98386364e-01 -5.19172850e-02 -2.30057452e-02 1.76668796e+02] [ 5.19265394e-02 9.98650888e-01 -1.95338546e-04 3.16371690e+00] [ 2.29848494e-02 -9.99585396e-04 9.99735314e-01 1.98398795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.885099893 meters 0.02424058470554019 Centerline is valid? [True, True] Translation: X:176.70, Y:3.16, Z:1.98 [[ 9.98309097e-01 -5.32941277e-02 -2.32095483e-02 1.76700354e+02] [ 5.33039527e-02 9.98578315e-01 -1.95578080e-04 3.15998991e+00] [ 2.31869748e-02 -1.04191329e-03 9.99730603e-01 1.98354070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.915099893 meters 0.02580057169640965 Centerline is valid? [True, True] Translation: X:176.73, Y:3.16, Z:1.98 [[ 9.98114134e-01 -5.69943504e-02 -2.27995695e-02 1.76731893e+02] [ 5.70048290e-02 9.98373884e-01 -1.90595799e-04 3.15773285e+00] [ 2.27733577e-02 -1.10944920e-03 9.99740038e-01 1.98361086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.945099893 meters 0.02708464820828248 Centerline is valid? [True, True] Translation: X:176.76, Y:3.16, Z:1.98 [[ 9.97997191e-01 -5.88722460e-02 -2.31444453e-02 1.76763556e+02] [ 5.88835708e-02 9.98264839e-01 -1.92482046e-04 3.15572262e+00] [ 2.31156178e-02 -1.17073104e-03 9.99732113e-01 1.98375671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.975099893 meters 0.024931263786825843 Centerline is valid? [True, True] Translation: X:176.80, Y:3.16, Z:1.99 [[ 9.97906913e-01 -6.06245791e-02 -2.25045020e-02 1.76795751e+02] [ 6.06357610e-02 9.98159942e-01 -1.85800318e-04 3.15874037e+00] [ 2.24743565e-02 -1.17916618e-03 9.99746724e-01 1.98509815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.005099893 meters 0.02578406088861002 Centerline is valid? [True, True] Translation: X:176.83, Y:3.16, Z:1.99 [[ 9.97731666e-01 -6.35883401e-02 -2.20917513e-02 1.76826445e+02] [ 6.35998688e-02 9.97975463e-01 -1.81065676e-04 3.15764925e+00] [ 2.20585394e-02 -1.22437753e-03 9.99755931e-01 1.98612894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.035099893 meters 0.026638228208004412 Centerline is valid? [True, True] Translation: X:176.86, Y:3.16, Z:1.99 [[ 9.97670882e-01 -6.46229628e-02 -2.18331042e-02 1.76858466e+02] [ 6.46344971e-02 9.97908989e-01 -1.77698438e-04 3.15641073e+00] [ 2.17989344e-02 -1.23388716e-03 9.99761614e-01 1.98623135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.065099893 meters 0.0280566248161789 Centerline is valid? [True, True] Translation: X:176.89, Y:3.15, Z:1.99 [[ 9.97639272e-01 -6.51225774e-02 -2.17929502e-02 1.76889955e+02] [ 6.51342186e-02 9.97876497e-01 -1.75971604e-04 3.15443919e+00] [ 2.17581325e-02 -1.24391060e-03 9.99762490e-01 1.98636590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.095099893 meters 0.028461071449673706 Centerline is valid? [True, True] Translation: X:176.92, Y:3.15, Z:1.99 [[ 9.97614154e-01 -6.55215159e-02 -2.17469574e-02 1.76922461e+02] [ 6.55332313e-02 9.97850372e-01 -1.74270768e-04 3.15392799e+00] [ 2.17116280e-02 -1.25129341e-03 9.99763492e-01 1.98664922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.125099893 meters 0.025769806219265577 Centerline is valid? [True, True] Translation: X:176.95, Y:3.16, Z:1.99 [[ 9.97677503e-01 -6.47247454e-02 -2.12204353e-02 1.76954708e+02] [ 6.47357525e-02 9.97902427e-01 -1.68546041e-04 3.15779525e+00] [ 2.11868329e-02 -1.20556625e-03 9.99774807e-01 1.98731376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.155099893 meters 0.028428893333022974 Centerline is valid? [True, True] Translation: X:176.99, Y:3.15, Z:1.99 [[ 9.97739650e-01 -6.39568949e-02 -2.06181092e-02 1.76986449e+02] [ 6.39671529e-02 9.97951991e-01 -1.62280522e-04 3.15425233e+00] [ 2.05862621e-02 -1.15696803e-03 9.99787411e-01 1.98758382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.185099893 meters 0.02728359928158188 Centerline is valid? [True, True] Translation: X:177.02, Y:3.16, Z:1.99 [[ 9.97813854e-01 -6.29604964e-02 -2.00870286e-02 1.77018301e+02] [ 6.29700599e-02 9.98015404e-01 -1.56673917e-04 3.15615919e+00] [ 2.00570283e-02 -1.10854999e-03 9.99798223e-01 1.98862435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21509989299997 meters 0.027112372832321586 Centerline is valid? [True, True] Translation: X:177.05, Y:3.16, Z:1.99 [[ 9.97963071e-01 -6.07072899e-02 -1.96044560e-02 1.77048521e+02] [ 6.07159851e-02 9.98155071e-01 -1.51920220e-04 3.15780271e+00] [ 1.95775099e-02 -1.03869309e-03 9.99807803e-01 1.98962177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24509989299997 meters 0.028612340161501958 Centerline is valid? [True, True] Translation: X:177.08, Y:3.16, Z:1.99 [[ 9.98051108e-01 -5.93998051e-02 -1.91219546e-02 1.77079821e+02] [ 5.94078490e-02 9.98233783e-01 -1.47610649e-04 3.15622629e+00] [ 1.90969491e-02 -9.88671218e-04 9.99817148e-01 1.98970926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27509989299998 meters 0.028612340161501958 Centerline is valid? [True, True] Translation: X:177.11, Y:3.16, Z:1.99 [[ 9.98055172e-01 -5.93314807e-02 -1.91219631e-02 1.77111553e+02] [ 5.93395334e-02 9.98237847e-01 -1.46498853e-04 3.15640676e+00] [ 1.90969593e-02 -9.88474430e-04 9.99817148e-01 1.99010151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30509989299998 meters 0.02594375555601971 Centerline is valid? [True, True] Translation: X:177.14, Y:3.16, Z:1.99 [[ 9.98132886e-01 -5.81098591e-02 -1.88145286e-02 1.77143856e+02] [ 5.81174626e-02 9.98309742e-01 -1.42854891e-04 3.16086036e+00] [ 1.87910285e-02 -9.50864501e-04 9.99822981e-01 1.99078928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33509989299998 meters 0.025298483171737246 Centerline is valid? [True, True] Translation: X:177.18, Y:3.16, Z:1.99 [[ 9.98242418e-01 -5.60352456e-02 -1.92905893e-02 1.77175581e+02] [ 5.60428768e-02 9.98428352e-01 -1.45207129e-04 3.16236598e+00] [ 1.92684080e-02 -9.36148202e-04 9.99813909e-01 1.99043057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36509989299998 meters 0.024817328292610956 Centerline is valid? [True, True] Translation: X:177.21, Y:3.16, Z:1.99 [[ 9.98291782e-01 -5.49783337e-02 -1.97712362e-02 1.77207642e+02] [ 5.49861668e-02 9.98487105e-01 -1.47631570e-04 3.16329422e+00] [ 1.97494409e-02 -9.39765107e-04 9.99804519e-01 1.99005522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39509989299998 meters 0.024571108405523144 Centerline is valid? [True, True] Translation: X:177.24, Y:3.16, Z:1.99 [[ 9.98357520e-01 -5.35988399e-02 -2.02342723e-02 1.77240358e+02] [ 5.36067936e-02 9.98562111e-01 -1.49504334e-04 3.16417556e+00] [ 2.02131909e-02 -9.35435685e-04 9.99795255e-01 1.98984797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42509989299998 meters 0.024686449184033885 Centerline is valid? [True, True] Translation: X:177.27, Y:3.16, Z:1.99 [[ 9.98429358e-01 -5.21684749e-02 -2.04271178e-02 1.77271331e+02] [ 5.21763133e-02 9.98637877e-01 -1.49411718e-04 3.16441291e+00] [ 2.04070881e-02 -9.16634652e-04 9.99791333e-01 1.98955538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45509989299998 meters 0.02193065034944953 Centerline is valid? [True, True] Translation: X:177.30, Y:3.17, Z:1.99 [[ 9.98489125e-01 -5.08402242e-02 -2.08503713e-02 1.77303798e+02] [ 5.08481285e-02 9.98706386e-01 -1.51232581e-04 3.16926478e+00] [ 2.08310876e-02 -9.09198270e-04 9.99782596e-01 1.99030053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48509989299998 meters 0.02096506640938993 Centerline is valid? [True, True] Translation: X:177.34, Y:3.17, Z:1.99 [[ 9.98655548e-01 -4.75444326e-02 -2.06548508e-02 1.77335024e+02] [ 4.75515100e-02 9.98868776e-01 -1.48625819e-04 3.17140428e+00] [ 2.06385519e-02 -8.33743347e-04 9.99786655e-01 1.99047140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51509989299998 meters 0.021763737296260945 Centerline is valid? [True, True] Translation: X:177.37, Y:3.17, Z:1.99 [[ 9.98731752e-01 -4.59349984e-02 -2.06122213e-02 1.77366393e+02] [ 4.59417229e-02 9.98944111e-01 -1.47426355e-04 3.17047441e+00] [ 2.05972291e-02 -7.99721579e-04 9.99787535e-01 1.99066732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54509989299999 meters 0.021585138219511985 Centerline is valid? [True, True] Translation: X:177.40, Y:3.17, Z:1.99 [[ 9.98892867e-01 -4.31370360e-02 -1.87679545e-02 1.77396872e+02] [ 4.31421309e-02 9.99068936e-01 -1.33515674e-04 3.17071473e+00] [ 1.87562398e-02 -6.76321696e-04 9.99823858e-01 1.99187459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.575099893 meters 0.019721124761286294 Centerline is valid? [True, True] Translation: X:177.43, Y:3.17, Z:1.99 [[ 9.98971754e-01 -4.15590986e-02 -1.81183932e-02 1.77429173e+02] [ 4.15635989e-02 9.99135852e-01 -1.28275427e-04 3.17393154e+00] [ 1.81080673e-02 -6.24922100e-04 9.99835840e-01 1.99313429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.605099893 meters 0.019250692053033674 Centerline is valid? [True, True] Translation: X:177.46, Y:3.17, Z:1.99 [[ 9.99051140e-01 -3.98723537e-02 -1.75218466e-02 1.77460566e+02] [ 3.98763214e-02 9.99204616e-01 -1.23018725e-04 3.17485480e+00] [ 1.75128150e-02 -5.75804788e-04 9.99846473e-01 1.99402899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.635099893 meters 0.019163036502012287 Centerline is valid? [True, True] Translation: X:177.49, Y:3.18, Z:1.99 [[ 9.99108929e-01 -3.85360488e-02 -1.72139689e-02 1.77492003e+02] [ 3.85396920e-02 9.99257063e-01 -1.20170730e-04 3.17509241e+00] [ 1.72058109e-02 -5.43357408e-04 9.99851821e-01 1.99463719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.665099893 meters 0.017776135929934097 Centerline is valid? [True, True] Translation: X:177.52, Y:3.18, Z:2.00 [[ 9.99190502e-01 -3.66814905e-02 -1.65169257e-02 1.77524469e+02] [ 3.66846067e-02 9.99326887e-01 -1.14376886e-04 3.17703337e+00] [ 1.65100035e-02 -4.91632626e-04 9.99863580e-01 1.99543307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.695099893 meters 0.01801820781070318 Centerline is valid? [True, True] Translation: X:177.56, Y:3.18, Z:2.00 [[ 9.99222757e-01 -3.60565773e-02 -1.59312750e-02 1.77555717e+02] [ 3.60594138e-02 9.99349642e-01 -1.09268128e-04 3.17637486e+00] [ 1.59248538e-02 -4.65289236e-04 9.99873083e-01 1.99604218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.725099893 meters 0.01784761010546932 Centerline is valid? [True, True] Translation: X:177.59, Y:3.18, Z:2.00 [[ 9.99242646e-01 -3.55921935e-02 -1.57267437e-02 1.77588212e+02] [ 3.55949142e-02 9.99366295e-01 -1.06967875e-04 3.17585231e+00] [ 1.57205848e-02 -4.52905230e-04 9.99876321e-01 1.99660881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.755099893 meters 0.018124098457326713 Centerline is valid? [True, True] Translation: X:177.62, Y:3.17, Z:2.00 [[ 9.99227665e-01 -3.62447533e-02 -1.51786737e-02 1.77620270e+02] [ 3.62473789e-02 9.99342843e-01 -1.02187070e-04 3.17353663e+00] [ 1.51724026e-02 -4.48078989e-04 9.99884792e-01 1.99718393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.785099893 meters 0.018883632200881274 Centerline is valid? [True, True] Translation: X:177.65, Y:3.17, Z:2.00 [[ 9.99209368e-01 -3.69197464e-02 -1.47502660e-02 1.77651335e+02] [ 3.69223138e-02 9.99318134e-01 -9.83189879e-05 3.17140065e+00] [ 1.47438382e-02 -4.46372695e-04 9.99891204e-01 1.99742575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.815099893 meters 0.019303375589658348 Centerline is valid? [True, True] Translation: X:177.68, Y:3.17, Z:2.00 [[ 9.99121768e-01 -3.91889221e-02 -1.48297429e-02 1.77683103e+02] [ 3.91917803e-02 9.99231702e-01 -9.79439553e-05 3.16930785e+00] [ 1.48221876e-02 -4.83346089e-04 9.99890029e-01 1.99749331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.845099893 meters 0.018917884701699916 Centerline is valid? [True, True] Translation: X:177.72, Y:3.17, Z:2.00 [[ 9.99065218e-01 -4.04475384e-02 -1.52540844e-02 1.77715607e+02] [ 4.04507315e-02 9.99181529e-01 -9.92744283e-05 3.16947642e+00] [ 1.52456148e-02 -5.17857244e-04 9.99883645e-01 1.99754424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.875099893 meters 0.020464638565531223 Centerline is valid? [True, True] Translation: X:177.75, Y:3.17, Z:2.00 [[ 9.98993341e-01 -4.18888398e-02 -1.60508630e-02 1.77747206e+02] [ 4.18925795e-02 9.99122115e-01 -1.03316842e-04 3.16625764e+00] [ 1.60411000e-02 -5.69199218e-04 9.99871171e-01 1.99721656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.905099893 meters 0.02057134586069032 Centerline is valid? [True, True] Translation: X:177.78, Y:3.17, Z:2.00 [[ 9.98928781e-01 -4.32326343e-02 -1.64993794e-02 1.77779743e+02] [ 4.32367851e-02 9.99064847e-01 -1.05222865e-04 3.16557131e+00] [ 1.64884990e-02 -6.08269975e-04 9.99863870e-01 1.99704196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.935099893 meters 0.022305512647416717 Centerline is valid? [True, True] Translation: X:177.81, Y:3.16, Z:2.00 [[ 9.98825394e-01 -4.56272423e-02 -1.63090833e-02 1.77810397e+02] [ 4.56316387e-02 9.98958329e-01 -1.02656249e-04 3.16141867e+00] [ 1.62967785e-02 -6.41674527e-04 9.99866993e-01 1.99650071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96509989299997 meters 0.021302422375930254 Centerline is valid? [True, True] Translation: X:177.84, Y:3.16, Z:2.00 [[ 9.98791939e-01 -4.65185173e-02 -1.58332256e-02 1.77842423e+02] [ 4.65227999e-02 9.98917224e-01 -9.79337430e-05 3.16256011e+00] [ 1.58206375e-02 -6.38790555e-04 9.99874642e-01 1.99724924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99509989299997 meters 0.020736129719259037 Centerline is valid? [True, True] Translation: X:177.87, Y:3.16, Z:2.00 [[ 9.98762152e-01 -4.73402550e-02 -1.52664450e-02 1.77874088e+02] [ 4.73443477e-02 9.98878623e-01 -9.34134522e-05 3.16327016e+00] [ 1.52537478e-02 -6.29482062e-04 9.99883457e-01 1.99802749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02509989299998 meters 0.022457381975979344 Centerline is valid? [True, True] Translation: X:177.91, Y:3.16, Z:2.00 [[ 9.98708138e-01 -4.86875172e-02 -1.45457941e-02 1.77905567e+02] [ 4.86913863e-02 9.98813867e-01 -8.82386382e-05 3.16085107e+00] [ 1.45328370e-02 -6.20130236e-04 9.99894200e-01 1.99948205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05509989299998 meters 0.022675960852441213 Centerline is valid? [True, True] Translation: X:177.94, Y:3.16, Z:2.00 [[ 9.98699960e-01 -4.89622184e-02 -1.41806906e-02 1.77938125e+02] [ 4.89659345e-02 9.98800446e-01 -8.52386032e-05 3.16100328e+00] [ 1.41678536e-02 -6.09242979e-04 9.99899445e-01 2.00038525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08509989299998 meters 0.02232733518777278 Centerline is valid? [True, True] Translation: X:177.97, Y:3.16, Z:2.00 [[ 9.98683839e-01 -4.94781924e-02 -1.35091960e-02 1.77969804e+02] [ 4.94816242e-02 9.98775031e-01 -8.03004263e-05 3.16197201e+00] [ 1.34966207e-02 -5.88262220e-04 9.99908743e-01 2.00094200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11509989299998 meters 0.02391452533678365 Centerline is valid? [True, True] Translation: X:178.00, Y:3.16, Z:2.00 [[ 9.98638063e-01 -5.04304967e-02 -1.33709906e-02 1.78000781e+02] [ 5.04339533e-02 9.98727395e-01 -7.87631933e-05 3.15984297e+00] [ 1.33579467e-02 -5.95695994e-04 9.99910601e-01 2.00173359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14509989299998 meters 0.02367705991854439 Centerline is valid? [True, True] Translation: X:178.03, Y:3.16, Z:2.00 [[ 9.98600080e-01 -5.11576362e-02 -1.34453367e-02 1.78032468e+02] [ 5.11612068e-02 9.98690405e-01 -7.84771505e-05 3.16006953e+00] [ 1.34317435e-02 -6.09512364e-04 9.99909604e-01 2.00201274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17509989299998 meters 0.02463401845072068 Centerline is valid? [True, True] Translation: X:178.06, Y:3.16, Z:2.00 [[ 9.98538010e-01 -5.21876792e-02 -1.40815042e-02 1.78064640e+02] [ 5.21917095e-02 9.98637081e-01 -8.13774623e-05 3.15829632e+00] [ 1.40665591e-02 -6.53679285e-04 9.99900847e-01 2.00199272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20509989299998 meters 0.02551426890710662 Centerline is valid? [True, True] Translation: X:178.10, Y:3.16, Z:2.00 [[ 9.98471543e-01 -5.33952906e-02 -1.42660864e-02 1.78095530e+02] [ 5.33995642e-02 9.98573222e-01 -8.14572019e-05 3.15673959e+00] [ 1.42500813e-02 -6.80470097e-04 9.99898231e-01 2.00195986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23509989299998 meters 0.025672696712081902 Centerline is valid? [True, True] Translation: X:178.13, Y:3.16, Z:2.00 [[ 9.98379402e-01 -5.49381525e-02 -1.48448123e-02 1.78127723e+02] [ 5.49429628e-02 9.98489491e-01 -8.39046691e-05 3.15629204e+00] [ 1.48269987e-02 -7.31849278e-04 9.99889806e-01 2.00229256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26509989299998 meters 0.028664395332771226 Centerline is valid? [True, True] Translation: X:178.16, Y:3.15, Z:2.00 [[ 9.98160237e-01 -5.86755858e-02 -1.52747286e-02 1.78158112e+02] [ 5.86811297e-02 9.98276774e-01 -8.53862661e-05 3.15098379e+00] [ 1.52534169e-02 -8.11109154e-04 9.99883331e-01 2.00178098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29509989299999 meters 0.02841307546794969 Centerline is valid? [True, True] Translation: X:178.19, Y:3.15, Z:2.00 [[ 9.98028103e-01 -6.08092791e-02 -1.55607292e-02 1.78189217e+02] [ 6.08152971e-02 9.98149033e-01 -8.65993303e-05 3.15084292e+00] [ 1.55371928e-02 -8.59901802e-04 9.99878921e-01 2.00219765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.325099893 meters 0.02996640379465735 Centerline is valid? [True, True] Translation: X:178.22, Y:3.15, Z:2.00 [[ 9.97910511e-01 -6.25476336e-02 -1.61989533e-02 1.78219887e+02] [ 6.25544021e-02 9.98041552e-01 -8.90150427e-05 3.14820487e+00] [ 1.61727961e-02 -9.24486790e-04 9.99868784e-01 2.00203735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.355099893 meters 0.027035185303237303 Centerline is valid? [True, True] Translation: X:178.25, Y:3.15, Z:2.00 [[ 9.97821830e-01 -6.38884325e-02 -1.64275196e-02 1.78251948e+02] [ 6.38956044e-02 9.97956584e-01 -8.84445805e-05 3.15158472e+00] [ 1.63996019e-02 -9.61394359e-04 9.99865055e-01 2.00224777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.385099893 meters 0.029150563873285004 Centerline is valid? [True, True] Translation: X:178.28, Y:3.15, Z:2.00 [[ 9.97724081e-01 -6.51085409e-02 -1.75366965e-02 1.78283116e+02] [ 6.51169237e-02 9.97877637e-01 -9.31732000e-05 3.14807679e+00] [ 1.75055436e-02 -1.04897458e-03 9.99846216e-01 2.00190820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.415099893 meters 0.02805244075310303 Centerline is valid? [True, True] Translation: X:178.31, Y:3.15, Z:2.00 [[ 9.97603599e-01 -6.65255449e-02 -1.90108347e-02 1.78314944e+02] [ 6.65356738e-02 9.97784042e-01 -9.99132448e-05 3.14941318e+00] [ 1.89753543e-02 -1.16522489e-03 9.99819273e-01 2.00150407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.445099893 meters 0.0283774949945448 Centerline is valid? [True, True] Translation: X:178.35, Y:3.15, Z:2.00 [[ 9.97595508e-01 -6.64809952e-02 -1.95826247e-02 1.78347388e+02] [ 6.64917581e-02 9.97786969e-01 -1.01695353e-04 3.14923282e+00] [ 1.95460485e-02 -1.20063232e-03 9.99808237e-01 2.00140042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.475099893 meters 0.030281799445883637 Centerline is valid? [True, True] Translation: X:178.38, Y:3.15, Z:2.00 [[ 9.97595750e-01 -6.62580851e-02 -2.03121900e-02 1.78379465e+02] [ 6.62696671e-02 9.97801744e-01 -1.03117841e-04 3.14715057e+00] [ 2.02743710e-02 -1.24321215e-03 9.99793681e-01 2.00124560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.505099893 meters 0.02934526918280639 Centerline is valid? [True, True] Translation: X:178.41, Y:3.15, Z:2.00 [[ 9.97614739e-01 -6.59380153e-02 -2.04208177e-02 1.78411697e+02] [ 6.59497123e-02 9.97822943e-01 -1.00849269e-04 3.14889912e+00] [ 2.03830102e-02 -1.24613834e-03 9.99791468e-01 2.00154748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.535099893 meters 0.02878145475216717 Centerline is valid? [True, True] Translation: X:178.44, Y:3.15, Z:2.00 [[ 9.97723140e-01 -6.42012346e-02 -2.06576092e-02 1.78443675e+02] [ 6.42128640e-02 9.97936219e-01 -1.00547790e-04 3.15065823e+00] [ 2.06214317e-02 -1.22616539e-03 9.99786604e-01 2.00189977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.565099893 meters 0.03115707793896252 Centerline is valid? [True, True] Translation: X:178.48, Y:3.15, Z:2.00 [[ 9.97812785e-01 -6.29112008e-02 -2.02935175e-02 1.78475053e+02] [ 6.29221834e-02 9.98018431e-01 -9.75122269e-05 3.14813847e+00] [ 2.02594391e-02 -1.17961348e-03 9.99794061e-01 2.00212158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.595099893 meters 0.02694563318594543 Centerline is valid? [True, True] Translation: X:178.51, Y:3.15, Z:2.00 [[ 9.97903610e-01 -6.17194952e-02 -1.94701881e-02 1.78507477e+02] [ 6.17294007e-02 9.98092918e-01 -9.24087046e-05 3.15496795e+00] [ 1.94387603e-02 -1.10966806e-03 9.99810434e-01 2.00380695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.625099893 meters 0.02907156015649667 Centerline is valid? [True, True] Translation: X:178.54, Y:3.15, Z:2.01 [[ 9.98033831e-01 -5.99146872e-02 -1.84038819e-02 1.78538190e+02] [ 5.99232508e-02 9.98202984e-01 -8.62827053e-05 3.15349581e+00] [ 1.83759794e-02 -1.01670737e-03 9.99830630e-01 2.00507295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.655099893 meters 0.025830547824863145 Centerline is valid? [True, True] Translation: X:178.57, Y:3.16, Z:2.01 [[ 9.98088538e-01 -5.90684507e-02 -1.81710657e-02 1.78570838e+02] [ 5.90766767e-02 9.98253444e-01 -8.42231026e-05 3.15874482e+00] [ 1.81443039e-02 -9.89424061e-04 9.99834889e-01 2.00629105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.685099893 meters 0.027689767551929464 Centerline is valid? [True, True] Translation: X:178.60, Y:3.16, Z:2.01 [[ 9.98132817e-01 -5.83040649e-02 -1.82075784e-02 1.78602432e+02] [ 5.83122235e-02 9.98298391e-01 -8.29481259e-05 3.15701405e+00] [ 1.81814324e-02 -9.78931131e-04 9.99834225e-01 2.00657666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71509989299997 meters 0.02953248386251583 Centerline is valid? [True, True] Translation: X:178.63, Y:3.16, Z:2.01 [[ 9.98156633e-01 -5.76843114e-02 -1.88641492e-02 1.78633589e+02] [ 5.76929784e-02 9.98334369e-01 -8.49011769e-05 3.15581892e+00] [ 1.88376260e-02 -1.00358428e-03 9.99822053e-01 2.00702740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74509989299997 meters 0.026080185117836743 Centerline is valid? [True, True] Translation: X:178.67, Y:3.16, Z:2.01 [[ 9.98176061e-01 -5.74296399e-02 -1.86114934e-02 1.78665663e+02] [ 5.74380523e-02 9.98349069e-01 -8.26740109e-05 3.16097688e+00] [ 1.85855151e-02 -9.86484715e-04 9.99826788e-01 2.00816226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77509989299998 meters 0.025466907057530942 Centerline is valid? [True, True] Translation: X:178.70, Y:3.16, Z:2.01 [[ 9.98190316e-01 -5.71419592e-02 -1.87320628e-02 1.78697686e+02] [ 5.71504559e-02 9.98365574e-01 -8.18512734e-05 3.16193353e+00] [ 1.87061238e-02 -9.88842781e-04 9.99824536e-01 2.00886911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80509989299998 meters 0.028760210909359575 Centerline is valid? [True, True] Translation: X:178.73, Y:3.16, Z:2.01 [[ 9.98213940e-01 -5.66775315e-02 -1.88835110e-02 1.78728509e+02] [ 5.66861150e-02 9.98392046e-01 -8.08352344e-05 3.15749616e+00] [ 1.88577287e-02 -9.89742019e-04 9.99821687e-01 2.00869706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83509989299998 meters 0.02546012172739939 Centerline is valid? [True, True] Translation: X:178.76, Y:3.16, Z:2.01 [[ 9.98248185e-01 -5.61407024e-02 -1.86757044e-02 1.78760554e+02] [ 5.61490398e-02 9.98422395e-01 -7.80414119e-05 3.16259968e+00] [ 1.86506229e-02 -9.70718175e-04 9.99825591e-01 2.00991014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86509989299998 meters 0.026335211518018074 Centerline is valid? [True, True] Translation: X:178.79, Y:3.16, Z:2.01 [[ 9.98324384e-01 -5.48458992e-02 -1.84486395e-02 1.78792225e+02] [ 5.48538387e-02 9.98494392e-01 -7.57792912e-05 3.16272406e+00] [ 1.84250193e-02 -9.36326384e-04 9.99829806e-01 2.01063361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89509989299998 meters 0.027322597052830612 Centerline is valid? [True, True] Translation: X:178.82, Y:3.16, Z:2.01 [[ 9.98336478e-01 -5.46085895e-02 -1.84980819e-02 1.78823109e+02] [ 5.46165534e-02 9.98507399e-01 -7.47753897e-05 3.16206238e+00] [ 1.84745550e-02 -9.35650476e-04 9.99828893e-01 2.01124137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92509989299998 meters 0.02563216890418174 Centerline is valid? [True, True] Translation: X:178.86, Y:3.17, Z:2.01 [[ 9.98347754e-01 -5.40553146e-02 -1.94880793e-02 1.78855536e+02] [ 5.40640720e-02 9.98537466e-01 -7.75878443e-05 3.16563738e+00] [ 1.94637713e-02 -9.76145271e-04 9.99810086e-01 2.01182045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95509989299998 meters 0.02561093112325354 Centerline is valid? [True, True] Translation: X:178.89, Y:3.17, Z:2.01 [[ 9.98416635e-01 -5.25522942e-02 -2.00619072e-02 1.78887459e+02] [ 5.25613013e-02 9.98617696e-01 -7.84276087e-05 3.16579815e+00] [ 2.00382971e-02 -9.76176518e-04 9.99798737e-01 2.01126757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98509989299998 meters 0.02527184231226902 Centerline is valid? [True, True] Translation: X:178.92, Y:3.17, Z:2.01 [[ 9.98502164e-01 -5.05980473e-02 -2.08150605e-02 1.78917605e+02] [ 5.06073418e-02 9.98718624e-01 -8.03220190e-05 3.16651590e+00] [ 2.07924527e-02 -9.73193170e-04 9.99783340e-01 2.01068547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01509989299998 meters 0.022616849643145916 Centerline is valid? [True, True] Translation: X:178.95, Y:3.17, Z:2.01 [[ 9.98629222e-01 -4.79551938e-02 -2.09755917e-02 1.78949497e+02] [ 4.79640663e-02 9.98849059e-01 -8.01855968e-05 3.17089177e+00] [ 2.09552954e-02 -9.25998992e-04 9.99779985e-01 2.01130908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04509989299999 meters 0.02168088048336902 Centerline is valid? [True, True] Translation: X:178.98, Y:3.17, Z:2.01 [[ 9.98900251e-01 -4.21921273e-02 -2.04478168e-02 1.78979623e+02] [ 4.21993681e-02 9.99109207e-01 -7.74393448e-05 3.17409964e+00] [ 2.04328693e-02 -7.85530766e-04 9.99790919e-01 2.01206599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.075099893 meters 0.024315527358885772 Centerline is valid? [True, True] Translation: X:179.01, Y:3.17, Z:2.01 [[ 9.99024422e-01 -3.92029243e-02 -2.03306249e-02 1.79009988e+02] [ 3.92094662e-02 9.99231010e-01 -7.68943372e-05 3.17098955e+00] [ 2.03180054e-02 -7.20333630e-04 9.99793309e-01 2.01163027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.105099893 meters 0.02017549710943207 Centerline is valid? [True, True] Translation: X:179.04, Y:3.18, Z:2.01 [[ 9.99143100e-01 -3.62831162e-02 -1.99148627e-02 1.79041523e+02] [ 3.62888233e-02 9.99341341e-01 -7.48457951e-05 3.17827843e+00] [ 1.99044613e-02 -6.47905275e-04 9.99801677e-01 2.01372178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.135099893 meters 0.018863785775847835 Centerline is valid? [True, True] Translation: X:179.07, Y:3.18, Z:2.01 [[ 9.99248454e-01 -3.33007683e-02 -1.98390140e-02 1.79072751e+02] [ 3.33058585e-02 9.99445203e-01 -7.38691783e-05 3.18116053e+00] [ 1.98304673e-02 -5.86941732e-04 9.99803185e-01 2.01474710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.165099893 meters 0.01775678951489938 Centerline is valid? [True, True] Translation: X:179.10, Y:3.18, Z:2.02 [[ 9.99439207e-01 -2.73055708e-02 -1.93824139e-02 1.79102050e+02] [ 2.73093085e-02 9.99627029e-01 -7.18655089e-05 3.18340388e+00] [ 1.93771471e-02 -4.57495114e-04 9.99812141e-01 2.01534235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.195099893 meters 0.01775678951489938 Centerline is valid? [True, True] Translation: X:179.13, Y:3.18, Z:2.02 [[ 9.99438278e-01 -2.73395350e-02 -1.93824122e-02 1.79131210e+02] [ 2.73432703e-02 9.99626100e-01 -7.23182979e-05 3.18354353e+00] [ 1.93771423e-02 -4.57700862e-04 9.99812141e-01 2.01570304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.225099893 meters 0.01705521002433158 Centerline is valid? [True, True] Translation: X:179.16, Y:3.18, Z:2.02 [[ 9.99511812e-01 -2.49381538e-02 -1.88208793e-02 1.79160627e+02] [ 2.49412385e-02 9.99688916e-01 -7.08501303e-05 3.18488137e+00] [ 1.88167913e-02 -3.98600496e-04 9.99822869e-01 2.01658552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.255099893 meters 0.016087839753308197 Centerline is valid? [True, True] Translation: X:179.19, Y:3.19, Z:2.02 [[ 9.99634457e-01 -2.05260812e-02 -1.75963665e-02 1.79189590e+02] [ 2.05280842e-02 9.99789274e-01 -6.68084549e-05 3.18684235e+00] [ 1.75940299e-02 -2.94435660e-04 9.99845170e-01 2.01818342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.285099893 meters 0.014952621671694075 Centerline is valid? [True, True] Translation: X:179.22, Y:3.19, Z:2.02 [[ 9.99680007e-01 -1.85896868e-02 -1.71553695e-02 1.79218563e+02] [ 1.85912780e-02 9.99827165e-01 -6.67373961e-05 3.19022748e+00] [ 1.71536451e-02 -2.52224202e-04 9.99852834e-01 2.01964344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.315099893 meters 0.014569107520318257 Centerline is valid? [True, True] Translation: X:179.25, Y:3.19, Z:2.02 [[ 9.99721237e-01 -1.66516966e-02 -1.67382325e-02 1.79247138e+02] [ 1.66528708e-02 9.99861329e-01 -6.92367330e-05 3.19156772e+00] [ 1.67370643e-02 -2.09522192e-04 9.99859904e-01 2.02014564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.345099893 meters 0.014201160487186153 Centerline is valid? [True, True] Translation: X:179.28, Y:3.19, Z:2.02 [[ 9.99795779e-01 -1.26840273e-02 -1.57326109e-02 1.79275656e+02] [ 1.26845139e-02 9.99919546e-01 -6.88573740e-05 3.19217803e+00] [ 1.57322186e-02 -1.30717210e-04 9.99876232e-01 2.02071137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.375099893 meters 0.014201160487186153 Centerline is valid? [True, True] Translation: X:179.30, Y:3.19, Z:2.02 [[ 9.99792091e-01 -1.29714979e-02 -1.57325921e-02 1.79303039e+02] [ 1.29719560e-02 9.99915858e-01 -7.29344653e-05 3.19236283e+00] [ 1.57322144e-02 -1.31163192e-04 9.99876232e-01 2.02105110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.405099893 meters 0.014029778766136229 Centerline is valid? [True, True] Translation: X:179.33, Y:3.19, Z:2.02 [[ 9.99814483e-01 -1.15059414e-02 -1.54471207e-02 1.79332142e+02] [ 1.15061422e-02 9.99933799e-01 -7.58792170e-05 3.19112388e+00] [ 1.54469712e-02 -1.01871627e-04 9.99880683e-01 2.02142803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.435099893 meters 0.014004258293347107 Centerline is valid? [True, True] Translation: X:179.36, Y:3.19, Z:2.02 [[ 9.99807500e-01 -1.20561921e-02 -1.54793733e-02 1.79360442e+02] [ 1.20564069e-02 9.99927316e-01 -7.94450490e-05 3.19001426e+00] [ 1.54792060e-02 -1.07195868e-04 9.99880184e-01 2.02176958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46509989299997 meters 0.014222836551355797 Centerline is valid? [True, True] Translation: X:179.39, Y:3.19, Z:2.02 [[ 9.99787713e-01 -1.29382901e-02 -1.60352762e-02 1.79388561e+02] [ 1.29386103e-02 9.99916289e-01 -8.37824960e-05 3.18855214e+00] [ 1.60350179e-02 -1.23709479e-04 9.99871423e-01 2.02155976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49509989299997 meters 0.014276699812269523 Centerline is valid? [True, True] Translation: X:179.42, Y:3.19, Z:2.02 [[ 9.99755056e-01 -1.44117031e-02 -1.67967501e-02 1.79417373e+02] [ 1.44122242e-02 9.99896134e-01 -9.00295470e-05 3.18687352e+00] [ 1.67963030e-02 -1.52071034e-04 9.99858921e-01 2.02143756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52509989299998 meters 0.014655112555035835 Centerline is valid? [True, True] Translation: X:179.45, Y:3.18, Z:2.02 [[ 9.99677041e-01 -1.79226925e-02 -1.80163897e-02 1.79446062e+02] [ 1.79237768e-02 9.99839351e-01 -1.01296917e-04 3.18210790e+00] [ 1.80153109e-02 -2.21657546e-04 9.99837687e-01 2.01995607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55509989299998 meters 0.014964361451041453 Centerline is valid? [True, True] Translation: X:179.47, Y:3.18, Z:2.02 [[ 9.99626340e-01 -1.99856100e-02 -1.86481916e-02 1.79474650e+02] [ 1.99870420e-02 9.99800233e-01 -1.09604899e-04 3.17928564e+00] [ 1.86466568e-02 -2.63158244e-04 9.99826101e-01 2.01983995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58509989299998 meters 0.015627217529733617 Centerline is valid? [True, True] Translation: X:179.50, Y:3.17, Z:2.02 [[ 9.99546538e-01 -2.40584999e-02 -1.81082088e-02 1.79503681e+02] [ 2.40604384e-02 9.99710500e-01 -1.10836476e-04 3.17351867e+00] [ 1.81056330e-02 -3.24905226e-04 9.99836027e-01 2.01988870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61509989299998 meters 0.016227318114514822 Centerline is valid? [True, True] Translation: X:179.53, Y:3.17, Z:2.02 [[ 9.99500562e-01 -2.59681489e-02 -1.80078049e-02 1.79532328e+02] [ 2.59703155e-02 9.99662708e-01 -1.13570715e-04 3.17022624e+00] [ 1.80046802e-02 -3.54154380e-04 9.99837840e-01 2.01980663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64509989299998 meters 0.016867683280356 Centerline is valid? [True, True] Translation: X:179.56, Y:3.17, Z:2.02 [[ 9.99457345e-01 -2.76841353e-02 -1.78495105e-02 1.79562270e+02] [ 2.76865225e-02 9.99616648e-01 -1.13407695e-04 3.16733751e+00] [ 1.78458074e-02 -3.80844719e-04 9.99840678e-01 2.01996377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67509989299998 meters 0.01677868785299636 Centerline is valid? [True, True] Translation: X:179.59, Y:3.16, Z:2.02 [[ 9.99396090e-01 -3.03352364e-02 -1.69478051e-02 1.79593049e+02] [ 3.03377625e-02 9.99539698e-01 -1.08084487e-04 3.16409155e+00] [ 1.69432828e-02 -4.06139272e-04 9.99856370e-01 2.02106548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70509989299998 meters 0.016874634770451608 Centerline is valid? [True, True] Translation: X:179.62, Y:3.16, Z:2.02 [[ 9.99381589e-01 -3.12455966e-02 -1.61292350e-02 1.79624139e+02] [ 3.12480052e-02 9.99511657e-01 -1.02728656e-04 3.16212973e+00] [ 1.61245682e-02 -4.01341290e-04 9.99869910e-01 2.02197961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73509989299998 meters 0.017463163726441237 Centerline is valid? [True, True] Translation: X:179.65, Y:3.16, Z:2.02 [[ 9.99350777e-01 -3.26142417e-02 -1.53080393e-02 1.79654487e+02] [ 3.26165789e-02 9.99467933e-01 -9.70236042e-05 3.15796134e+00] [ 1.53030587e-02 -4.02335256e-04 9.99882820e-01 2.02308343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76509989299998 meters 0.017586151534899258 Centerline is valid? [True, True] Translation: X:179.69, Y:3.16, Z:2.02 [[ 9.99324910e-01 -3.31459053e-02 -1.58453135e-02 1.79685592e+02] [ 3.31484819e-02 9.99450433e-01 -1.00076598e-04 3.15635746e+00] [ 1.58399225e-02 -4.25239050e-04 9.99874450e-01 2.02363864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79509989299999 meters 0.017695149304509022 Centerline is valid? [True, True] Translation: X:179.72, Y:3.15, Z:2.02 [[ 9.99314502e-01 -3.33105626e-02 -1.61533827e-02 1.79717400e+02] [ 3.33132713e-02 9.99444954e-01 -1.01438877e-04 3.15465735e+00] [ 1.61477958e-02 -4.36752680e-04 9.99869520e-01 2.02404248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.825099893 meters 0.017336057020581976 Centerline is valid? [True, True] Translation: X:179.75, Y:3.15, Z:2.02 [[ 9.99310698e-01 -3.33226282e-02 -1.63624960e-02 1.79748432e+02] [ 3.33254187e-02 9.99444549e-01 -1.02162537e-04 3.15377379e+00] [ 1.63568118e-02 -4.43194915e-04 9.99866120e-01 2.02393194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.855099893 meters 0.017767747766360455 Centerline is valid? [True, True] Translation: X:179.78, Y:3.15, Z:2.02 [[ 9.99277462e-01 -3.37361468e-02 -1.75050489e-02 1.79778385e+02] [ 3.37394141e-02 9.99430658e-01 -1.08726774e-04 3.14960361e+00] [ 1.74987506e-02 -4.81961880e-04 9.99846769e-01 2.02332360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.885099893 meters 0.017750240478348746 Centerline is valid? [True, True] Translation: X:179.81, Y:3.15, Z:2.02 [[ 9.99270087e-01 -3.34408430e-02 -1.84662742e-02 1.79809584e+02] [ 3.34444371e-02 9.99440572e-01 -1.14247387e-04 3.14623108e+00] [ 1.84597641e-02 -5.03430148e-04 9.99829477e-01 2.02311048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.915099893 meters 0.017560718790908942 Centerline is valid? [True, True] Translation: X:179.84, Y:3.14, Z:2.02 [[ 9.99254359e-01 -3.30811424e-02 -1.99088986e-02 1.79840557e+02] [ 3.30852582e-02 9.99452525e-01 -1.22701376e-04 3.14421697e+00] [ 1.99020580e-02 -5.36081164e-04 9.99801791e-01 2.02271866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.945099893 meters 0.017123178963312807 Centerline is valid? [True, True] Translation: X:179.87, Y:3.14, Z:2.02 [[ 9.99248366e-01 -3.25602009e-02 -2.10365617e-02 1.79870414e+02] [ 3.25646744e-02 9.99469622e-01 -1.29962534e-04 3.14442131e+00] [ 2.10296359e-02 -5.55183932e-04 9.99778699e-01 2.02268520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.975099893 meters 0.01676458533634884 Centerline is valid? [True, True] Translation: X:179.90, Y:3.14, Z:2.02 [[ 9.99255032e-01 -3.18381730e-02 -2.18108077e-02 1.79900397e+02] [ 3.18427927e-02 9.99492881e-01 -1.35547112e-04 3.14422023e+00] [ 2.18040626e-02 -5.59070893e-04 9.99762107e-01 2.02261469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.005099893 meters 0.016817569241763333 Centerline is valid? [True, True] Translation: X:179.93, Y:3.14, Z:2.02 [[ 9.99266233e-01 -3.10977701e-02 -2.23589987e-02 1.79929155e+02] [ 3.11024176e-02 9.99516193e-01 -1.39948718e-04 3.14340742e+00] [ 2.23525333e-02 -5.55572886e-04 9.99749997e-01 2.02231427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.035099893 meters 0.016817569241763333 Centerline is valid? [True, True] Translation: X:179.96, Y:3.14, Z:2.02 [[ 9.99258448e-01 -3.13469406e-02 -2.23589785e-02 1.79957409e+02] [ 3.13515798e-02 9.99508408e-01 -1.43104611e-04 3.14362062e+00] [ 2.23524729e-02 -5.57990808e-04 9.99749997e-01 2.02266389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.065099893 meters 0.016573935113722973 Centerline is valid? [True, True] Translation: X:179.99, Y:3.14, Z:2.02 [[ 9.99279988e-01 -3.04339476e-02 -2.26557112e-02 1.79986647e+02] [ 3.04383514e-02 9.99536635e-01 -1.50519805e-04 3.14380348e+00] [ 2.26497943e-02 -5.39191072e-04 9.99743315e-01 2.02314301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.095099893 meters 0.01622738913590068 Centerline is valid? [True, True] Translation: X:180.01, Y:3.14, Z:2.02 [[ 9.99298150e-01 -2.96915995e-02 -2.28389012e-02 1.80014982e+02] [ 2.96957548e-02 9.99558971e-01 -1.57268564e-04 3.14388258e+00] [ 2.28334981e-02 -5.21060224e-04 9.99739146e-01 2.02301632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.125099893 meters 0.016934018737850533 Centerline is valid? [True, True] Translation: X:180.04, Y:3.14, Z:2.02 [[ 9.99316713e-01 -2.90597829e-02 -2.28393597e-02 1.80042643e+02] [ 2.90636811e-02 9.99577549e-01 -1.61313516e-04 3.14183173e+00] [ 2.28343989e-02 -5.02592573e-04 9.99739135e-01 2.02247924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.155099893 meters 0.015744551792335287 Centerline is valid? [True, True] Translation: X:180.07, Y:3.14, Z:2.02 [[ 9.99330164e-01 -2.86609527e-02 -2.27546183e-02 1.80071584e+02] [ 2.86646337e-02 9.99589071e-01 -1.64450530e-04 3.14399304e+00] [ 2.27499811e-02 -4.87912422e-04 9.99741067e-01 2.02443487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.185099893 meters 0.015239350376355425 Centerline is valid? [True, True] Translation: X:180.10, Y:3.14, Z:2.03 [[ 9.99384122e-01 -2.83116261e-02 -2.07323177e-02 1.80100179e+02] [ 2.83145024e-02 9.99599052e-01 -1.54851940e-04 3.14348293e+00] [ 2.07283893e-02 -4.32268691e-04 9.99785050e-01 2.02691529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21509989299997 meters 0.015416168247111103 Centerline is valid? [True, True] Translation: X:180.13, Y:3.14, Z:2.03 [[ 9.99396835e-01 -2.83164362e-02 -2.01033917e-02 1.80128424e+02] [ 2.83190398e-02 9.99598924e-01 -1.55218443e-04 3.14246344e+00] [ 2.00997239e-02 -4.14183929e-04 9.99797894e-01 2.02738622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24509989299997 meters 0.01583443262445808 Centerline is valid? [True, True] Translation: X:180.16, Y:3.14, Z:2.03 [[ 9.99405484e-01 -2.87995399e-02 -1.89543013e-02 1.80156306e+02] [ 2.88018734e-02 9.99585129e-01 -1.49915401e-04 3.13976275e+00] [ 1.89507552e-02 -3.96093111e-04 9.99820340e-01 2.02879727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27509989299998 meters 0.015284500708110492 Centerline is valid? [True, True] Translation: X:180.19, Y:3.14, Z:2.03 [[ 9.99416196e-01 -2.92886463e-02 -1.75909948e-02 1.80185693e+02] [ 2.92907104e-02 9.99570925e-01 -1.40353137e-04 3.14022049e+00] [ 1.75875577e-02 -3.74981536e-04 9.99845257e-01 2.03031745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30509989299998 meters 0.015687510691281513 Centerline is valid? [True, True] Translation: X:180.22, Y:3.14, Z:2.03 [[ 9.99409382e-01 -3.01882861e-02 -1.64180918e-02 1.80215180e+02] [ 3.01901972e-02 9.99544163e-01 -1.31489364e-04 3.13840145e+00] [ 1.64145772e-02 -3.64253724e-04 9.99865205e-01 2.03157210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33509989299998 meters 0.016110264552661898 Centerline is valid? [True, True] Translation: X:180.25, Y:3.14, Z:2.03 [[ 9.99388689e-01 -3.12423390e-02 -1.56896486e-02 1.80245585e+02] [ 3.12442137e-02 9.99511772e-01 -1.25679736e-04 3.13636256e+00] [ 1.56859150e-02 -3.64607828e-04 9.99876902e-01 2.03218731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36509989299998 meters 0.01713184569109186 Centerline is valid? [True, True] Translation: X:180.28, Y:3.13, Z:2.03 [[ 9.99344909e-01 -3.27300642e-02 -1.54433079e-02 1.80276276e+02] [ 3.27320695e-02 9.99464155e-01 -1.22958433e-04 3.13310649e+00] [ 1.54390571e-02 -3.82613544e-04 9.99880737e-01 2.03239307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39509989299998 meters 0.0169806763070778 Centerline is valid? [True, True] Translation: X:180.31, Y:3.13, Z:2.03 [[ 9.99288580e-01 -3.42233076e-02 -1.58461066e-02 1.80307996e+02] [ 3.42256120e-02 9.99414124e-01 -1.25817658e-04 3.13214700e+00] [ 1.58411287e-02 -4.16614549e-04 9.99874435e-01 2.03275048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42509989299998 meters 0.019558249689953424 Centerline is valid? [True, True] Translation: X:180.34, Y:3.13, Z:2.03 [[ 9.99115860e-01 -3.84613937e-02 -1.69770415e-02 1.80338636e+02] [ 3.84646609e-02 9.99259952e-01 -1.34159842e-04 3.12513466e+00] [ 1.69696377e-02 -5.18974919e-04 9.99855871e-01 2.03193991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45509989299998 meters 0.01898590439261092 Centerline is valid? [True, True] Translation: X:180.37, Y:3.13, Z:2.03 [[ 9.99008439e-01 -4.08008180e-02 -1.78166412e-02 1.80370209e+02] [ 4.08047999e-02 9.99167127e-01 -1.40131636e-04 3.12509001e+00] [ 1.78075196e-02 -5.87011790e-04 9.99841261e-01 2.03225287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48509989299998 meters 0.019838219065740192 Centerline is valid? [True, True] Translation: X:180.40, Y:3.12, Z:2.03 [[ 9.98902541e-01 -4.34060682e-02 -1.75962160e-02 1.80401311e+02] [ 4.34103666e-02 9.99057316e-01 -1.37781581e-04 3.12252805e+00] [ 1.75856089e-02 -6.26227817e-04 9.99845165e-01 2.03251424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51509989299998 meters 0.02205203536832027 Centerline is valid? [True, True] Translation: X:180.43, Y:3.12, Z:2.03 [[ 9.98665295e-01 -4.82841266e-02 -1.83377153e-02 1.80431727e+02] [ 4.82896262e-02 9.98833365e-01 -1.43027440e-04 3.11664913e+00] [ 1.83232279e-02 -7.42684878e-04 9.99831840e-01 2.03252229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54509989299999 meters 0.022922531834389578 Centerline is valid? [True, True] Translation: X:180.46, Y:3.11, Z:2.03 [[ 9.98561624e-01 -5.02740226e-02 -1.86334796e-02 1.80462760e+02] [ 5.02800560e-02 9.98735148e-01 -1.44849614e-04 3.11419649e+00] [ 1.86171931e-02 -7.92251130e-04 9.99826371e-01 2.03230211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.575099893 meters 0.02380805239840752 Centerline is valid? [True, True] Translation: X:180.49, Y:3.11, Z:2.03 [[ 9.98447962e-01 -5.20286637e-02 -1.98666805e-02 1.80493609e+02] [ 5.20358826e-02 9.98645204e-01 -1.53749484e-04 3.11224245e+00] [ 1.98477646e-02 -8.80269397e-04 9.99802626e-01 2.03163346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.605099893 meters 0.025084823286611442 Centerline is valid? [True, True] Translation: X:180.52, Y:3.11, Z:2.03 [[ 9.98356128e-01 -5.33905410e-02 -2.08444701e-02 1.80523624e+02] [ 5.33987892e-02 9.98573254e-01 -1.61090874e-04 3.10948167e+00] [ 2.08233311e-02 -9.52243405e-04 9.99782717e-01 2.03068910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.635099893 meters 0.022158817783774945 Centerline is valid? [True, True] Translation: X:180.55, Y:3.11, Z:2.03 [[ 9.98192791e-01 -5.58139279e-02 -2.22701003e-02 1.80554399e+02] [ 5.58239491e-02 9.98440613e-01 -1.71926419e-04 3.11200708e+00] [ 2.22449685e-02 -1.07158923e-03 9.99751976e-01 2.03047834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.665099893 meters 0.024352573894646484 Centerline is valid? [True, True] Translation: X:180.58, Y:3.11, Z:2.03 [[ 9.98119771e-01 -5.70638469e-02 -2.23749908e-02 1.80584790e+02] [ 5.70742852e-02 9.98369920e-01 -1.72325214e-04 3.10808531e+00] [ 2.23483513e-02 -1.10503540e-03 9.99749634e-01 2.03021787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.695099893 meters 0.02359660172081782 Centerline is valid? [True, True] Translation: X:180.62, Y:3.11, Z:2.03 [[ 9.98117686e-01 -5.74058853e-02 -2.15789005e-02 1.80616388e+02] [ 5.74156853e-02 9.98350345e-01 -1.65643416e-04 3.10892995e+00] [ 2.15528117e-02 -1.07363574e-03 9.99767135e-01 2.03137159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.725099893 meters 0.0241756377067335 Centerline is valid? [True, True] Translation: X:180.65, Y:3.11, Z:2.03 [[ 9.98113760e-01 -5.77446855e-02 -2.08440065e-02 1.80647357e+02] [ 5.77539182e-02 9.98330837e-01 -1.59266072e-04 3.10815285e+00] [ 2.08184112e-02 -1.04485739e-03 9.99782727e-01 2.03216989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.755099893 meters 0.024578048906310424 Centerline is valid? [True, True] Translation: X:180.68, Y:3.11, Z:2.03 [[ 9.98113391e-01 -5.78718710e-02 -2.05062375e-02 1.80679886e+02] [ 5.78808545e-02 9.98323486e-01 -1.55664383e-04 3.10766412e+00] [ 2.04808671e-02 -1.03154784e-03 9.99789713e-01 2.03297243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.785099893 meters 0.02428405201621366 Centerline is valid? [True, True] Translation: X:180.71, Y:3.11, Z:2.03 [[ 9.98117694e-01 -5.80648708e-02 -1.97367724e-02 1.80712539e+02] [ 5.80732574e-02 9.98312313e-01 -1.48438073e-04 3.10853437e+00] [ 1.97120820e-02 -9.98019999e-04 9.99805200e-01 2.03374297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.815099893 meters 0.025377057689893196 Centerline is valid? [True, True] Translation: X:180.74, Y:3.11, Z:2.03 [[ 9.98136689e-01 -5.79797026e-02 -1.90132879e-02 1.80743461e+02] [ 5.79874931e-02 9.98317300e-01 -1.41780701e-04 3.10729183e+00] [ 1.89895146e-02 -9.61016381e-04 9.99819221e-01 2.03421410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.845099893 meters 0.02646305160537597 Centerline is valid? [True, True] Translation: X:180.77, Y:3.11, Z:2.04 [[ 9.98130424e-01 -5.85363146e-02 -1.75828415e-02 1.80774375e+02] [ 5.85430785e-02 9.98284875e-01 -1.30224127e-04 3.10659622e+00] [ 1.75603076e-02 -8.99373006e-04 9.99845401e-01 2.03565146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.875099893 meters 0.025210723781164898 Centerline is valid? [True, True] Translation: X:180.81, Y:3.11, Z:2.04 [[ 9.98128957e-01 -5.87161472e-02 -1.70586714e-02 1.80806765e+02] [ 5.87225564e-02 9.98274334e-01 -1.25372861e-04 3.10883509e+00] [ 1.70365952e-02 -8.76590511e-04 9.99854482e-01 2.03667006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.905099893 meters 0.0236135091838205 Centerline is valid? [True, True] Translation: X:180.84, Y:3.11, Z:2.04 [[ 9.98106229e-01 -5.92795332e-02 -1.64283980e-02 1.80838541e+02] [ 5.92855725e-02 9.98241056e-01 -1.19589851e-04 3.11171617e+00] [ 1.64065906e-02 -8.54603605e-04 9.99865038e-01 2.03763233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.935099893 meters 0.022606923201864765 Centerline is valid? [True, True] Translation: X:180.87, Y:3.11, Z:2.04 [[ 9.98086616e-01 -5.96844937e-02 -1.61514055e-02 1.80870337e+02] [ 5.96904029e-02 9.98216931e-01 -1.16395458e-04 3.11341208e+00] [ 1.61295534e-02 -8.47911153e-04 9.99869551e-01 2.03850627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96509989299997 meters 0.024568464573962164 Centerline is valid? [True, True] Translation: X:180.90, Y:3.11, Z:2.04 [[ 9.98049916e-01 -6.04297698e-02 -1.56399533e-02 1.80901527e+02] [ 6.04354213e-02 9.98172103e-01 -1.11464778e-04 3.11118641e+00] [ 1.56181008e-02 -8.33959751e-04 9.99877682e-01 2.03874647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99509989299997 meters 0.024648695573210155 Centerline is valid? [True, True] Translation: X:180.93, Y:3.11, Z:2.04 [[ 9.98030458e-01 -6.07421045e-02 -1.56717114e-02 1.80933598e+02] [ 6.07478417e-02 9.98153138e-01 -1.10136982e-04 3.11183653e+00] [ 1.56494579e-02 -8.42102583e-04 9.99877185e-01 2.03938695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02509989299998 meters 0.024949020102814856 Centerline is valid? [True, True] Translation: X:180.97, Y:3.11, Z:2.04 [[ 9.98035177e-01 -6.06914651e-02 -1.55669862e-02 1.80966203e+02] [ 6.06971373e-02 9.98156223e-01 -1.08270748e-04 3.11242890e+00] [ 1.55448553e-02 -8.36813483e-04 9.99878821e-01 2.03966793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05509989299998 meters 0.025597925308338564 Centerline is valid? [True, True] Translation: X:181.00, Y:3.11, Z:2.04 [[ 9.98061347e-01 -6.01258590e-02 -1.60757205e-02 1.80997234e+02] [ 6.01318571e-02 9.98190437e-01 -1.10418191e-04 3.11242940e+00] [ 1.60532695e-02 -8.56458803e-04 9.99870771e-01 2.03964780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08509989299998 meters 0.025597925308338564 Centerline is valid? [True, True] Translation: X:181.03, Y:3.11, Z:2.04 [[ 9.98065674e-01 -6.00539862e-02 -1.60757328e-02 1.81028966e+02] [ 6.00600040e-02 9.98194763e-01 -1.08614106e-04 3.11258476e+00] [ 1.60532350e-02 -8.57104563e-04 9.99870771e-01 2.04003985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11509989299998 meters 0.026596587444117272 Centerline is valid? [True, True] Translation: X:181.06, Y:3.11, Z:2.04 [[ 9.98117677e-01 -5.87221600e-02 -1.76864405e-02 1.81059985e+02] [ 5.87292584e-02 9.98273940e-01 -1.18231683e-04 3.11307853e+00] [ 1.76628555e-02 -9.20702402e-04 9.99843576e-01 2.03859076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14509989299998 meters 0.025659445665002417 Centerline is valid? [True, True] Translation: X:181.09, Y:3.12, Z:2.04 [[ 9.98178130e-01 -5.75078502e-02 -1.82556103e-02 1.81092693e+02] [ 5.75152324e-02 9.98344622e-01 -1.20831394e-04 3.11550512e+00] [ 1.82323391e-02 -9.29364415e-04 9.99833345e-01 2.03888598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17509989299998 meters 0.024985234473935268 Centerline is valid? [True, True] Translation: X:181.12, Y:3.12, Z:2.04 [[ 9.98247210e-01 -5.62472729e-02 -1.84052356e-02 1.81124922e+02] [ 5.62545910e-02 9.98416449e-01 -1.20291918e-04 3.11769625e+00] [ 1.83828561e-02 -9.15297930e-04 9.99830602e-01 2.03927357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20509989299998 meters 0.02219445959303962 Centerline is valid? [True, True] Translation: X:181.16, Y:3.12, Z:2.04 [[ 9.98429485e-01 -5.27891820e-02 -1.87580641e-02 1.81156163e+02] [ 5.27961956e-02 9.98605301e-01 -1.21472643e-04 3.12404041e+00] [ 1.87383147e-02 -8.69072553e-04 9.99824045e-01 2.03986897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23509989299998 meters 0.020967974377068033 Centerline is valid? [True, True] Translation: X:181.19, Y:3.13, Z:2.04 [[ 9.98542577e-01 -5.07248608e-02 -1.84312229e-02 1.81187462e+02] [ 5.07312932e-02 9.98712332e-01 -1.18693833e-04 3.12696861e+00] [ 1.84135103e-02 -8.16518929e-04 9.99830124e-01 2.04059044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26509989299998 meters 0.022713000397105026 Centerline is valid? [True, True] Translation: X:181.22, Y:3.13, Z:2.04 [[ 9.98737185e-01 -4.70653607e-02 -1.75751984e-02 1.81218458e+02] [ 4.70706547e-02 9.98891556e-01 -1.12557142e-04 3.12725485e+00] [ 1.75610149e-02 -7.14861094e-04 9.99845538e-01 2.04138193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29509989299999 meters 0.019025752053318454 Centerline is valid? [True, True] Translation: X:181.25, Y:3.13, Z:2.04 [[ 9.98822379e-01 -4.52684629e-02 -1.74534327e-02 1.81249538e+02] [ 4.52734210e-02 9.98974627e-01 -1.11142971e-04 3.13426255e+00] [ 1.74405677e-02 -6.79164518e-04 9.99847671e-01 2.04228389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.325099893 meters 0.01962135963801904 Centerline is valid? [True, True] Translation: X:181.28, Y:3.14, Z:2.04 [[ 9.98933833e-01 -4.24924041e-02 -1.80442078e-02 1.81280508e+02] [ 4.24972635e-02 9.99096577e-01 -1.14228471e-04 3.13529105e+00] [ 1.80327600e-02 -6.52722767e-04 9.99837184e-01 2.04205553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.355099893 meters 0.01962135963801904 Centerline is valid? [True, True] Translation: X:181.31, Y:3.14, Z:2.04 [[ 9.98935334e-01 -4.24570887e-02 -1.80442119e-02 1.81311371e+02] [ 4.24619541e-02 9.99098078e-01 -1.13575288e-04 3.13545599e+00] [ 1.80327595e-02 -6.52738128e-04 9.99837184e-01 2.04243710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.385099893 meters 0.020337213960525045 Centerline is valid? [True, True] Translation: X:181.34, Y:3.14, Z:2.04 [[ 9.98975190e-01 -4.15838880e-02 -1.78703461e-02 1.81342236e+02] [ 4.15885317e-02 9.99134816e-01 -1.11855013e-04 3.13533245e+00] [ 1.78595363e-02 -6.31461071e-04 9.99840306e-01 2.04257339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.415099893 meters 0.01782940986244113 Centerline is valid? [True, True] Translation: X:181.37, Y:3.14, Z:2.04 [[ 9.99031983e-01 -4.01173745e-02 -1.80469648e-02 1.81373497e+02] [ 4.01218832e-02 9.99194787e-01 -1.12316234e-04 3.14031267e+00] [ 1.80369390e-02 -6.11870702e-04 9.99837134e-01 2.04310302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.445099893 meters 0.018089037740875398 Centerline is valid? [True, True] Translation: X:181.40, Y:3.14, Z:2.04 [[ 9.99041365e-01 -3.97614919e-02 -1.83132304e-02 1.81404084e+02] [ 3.97660852e-02 9.99209010e-01 -1.13410219e-04 3.14079910e+00] [ 1.83032541e-02 -6.14943978e-04 9.99832292e-01 2.04322511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.475099893 meters 0.017736701110583262 Centerline is valid? [True, True] Translation: X:181.44, Y:3.14, Z:2.04 [[ 9.99058275e-01 -3.93074702e-02 -1.83708154e-02 1.81435463e+02] [ 3.93120238e-02 9.99226977e-01 -1.13325558e-04 3.14252718e+00] [ 1.83610689e-02 -6.08975099e-04 9.99831236e-01 2.04399966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.505099893 meters 0.018315371809361308 Centerline is valid? [True, True] Translation: X:181.47, Y:3.14, Z:2.04 [[ 9.99082484e-01 -3.87865713e-02 -1.81601948e-02 1.81465341e+02] [ 3.87909451e-02 9.99247342e-01 -1.11479208e-04 3.14347126e+00] [ 1.81508503e-02 -5.93074197e-04 9.99835084e-01 2.04460017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.535099893 meters 0.019240112056927553 Centerline is valid? [True, True] Translation: X:181.50, Y:3.14, Z:2.04 [[ 9.99088834e-01 -3.85702893e-02 -1.82711608e-02 1.81495988e+02] [ 3.85746866e-02 9.99255714e-01 -1.11832476e-04 3.14272246e+00] [ 1.82618753e-02 -5.93073725e-04 9.99833062e-01 2.04465394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.565099893 meters 0.018024762002810186 Centerline is valid? [True, True] Translation: X:181.53, Y:3.15, Z:2.05 [[ 9.99093902e-01 -3.84144370e-02 -1.83222710e-02 1.81527504e+02] [ 3.84188407e-02 9.99261718e-01 -1.11713481e-04 3.14557726e+00] [ 1.83130354e-02 -5.92308153e-04 9.99832127e-01 2.04584873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.595099893 meters 0.018226724243742606 Centerline is valid? [True, True] Translation: X:181.56, Y:3.15, Z:2.05 [[ 9.99108779e-01 -3.80812375e-02 -1.82062310e-02 1.81558954e+02] [ 3.80855421e-02 9.99274476e-01 -1.10358756e-04 3.14632600e+00] [ 1.81972246e-02 -5.83133777e-04 9.99834247e-01 2.04666116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.625099893 meters 0.01760121644896557 Centerline is valid? [True, True] Translation: X:181.59, Y:3.15, Z:2.05 [[ 9.99155695e-01 -3.66006502e-02 -1.86624995e-02 1.81590637e+02] [ 3.66049279e-02 9.99329809e-01 -1.12449573e-04 3.14920951e+00] [ 1.86541078e-02 -5.70784818e-04 9.99825834e-01 2.04814820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.655099893 meters 0.018258477511275725 Centerline is valid? [True, True] Translation: X:181.62, Y:3.15, Z:2.05 [[ 9.99189046e-01 -3.55002605e-02 -1.89995004e-02 1.81620850e+02] [ 3.55045062e-02 9.99369510e-01 -1.13914452e-04 3.14945583e+00] [ 1.89915654e-02 -5.60745808e-04 9.99819487e-01 2.04869944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.685099893 meters 0.0169120214877171 Centerline is valid? [True, True] Translation: X:181.65, Y:3.15, Z:2.05 [[ 9.99230900e-01 -3.42709564e-02 -1.90554543e-02 1.81652245e+02] [ 3.42750125e-02 9.99412433e-01 -1.13792156e-04 3.15334946e+00] [ 1.90481577e-02 -5.39421297e-04 9.99818422e-01 2.05015487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71509989299997 meters 0.016697715249146716 Centerline is valid? [True, True] Translation: X:181.68, Y:3.16, Z:2.05 [[ 9.99271251e-01 -3.28739593e-02 -1.93976496e-02 1.81682831e+02] [ 3.28779081e-02 9.99459369e-01 -1.15386038e-04 3.15521753e+00] [ 1.93909558e-02 -5.22452188e-04 9.99811841e-01 2.05090246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74509989299997 meters 0.016933956441218423 Centerline is valid? [True, True] Translation: X:181.71, Y:3.16, Z:2.05 [[ 9.99340009e-01 -3.03153882e-02 -2.00130979e-02 1.81712671e+02] [ 3.03190762e-02 9.99540264e-01 -1.19182102e-04 3.15735343e+00] [ 2.00075103e-02 -4.87675200e-04 9.99799711e-01 2.05132944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77509989299998 meters 0.01574053831323709 Centerline is valid? [True, True] Translation: X:181.74, Y:3.16, Z:2.05 [[ 9.99359990e-01 -2.92032980e-02 -2.06586084e-02 1.81742480e+02] [ 2.92069798e-02 9.99573378e-01 -1.23545111e-04 3.16083690e+00] [ 2.06534028e-02 -4.79909515e-04 9.99786581e-01 2.05231240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80509989299998 meters 0.01660281462019304 Centerline is valid? [True, True] Translation: X:181.77, Y:3.16, Z:2.05 [[ 9.99375651e-01 -2.83845548e-02 -2.10386787e-02 1.81770998e+02] [ 2.83881730e-02 9.99596967e-01 -1.26720485e-04 3.15988863e+00] [ 2.10337963e-02 -4.70608281e-04 9.99778654e-01 2.05222069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83509989299998 meters 0.015012584264138516 Centerline is valid? [True, True] Translation: X:181.80, Y:3.16, Z:2.05 [[ 9.99377165e-01 -2.77334474e-02 -2.18205805e-02 1.81799484e+02] [ 2.77371176e-02 9.99615243e-01 -1.34496265e-04 3.16463421e+00] [ 2.18159150e-02 -4.70827513e-04 9.99761894e-01 2.05399650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86509989299998 meters 0.01528450732339357 Centerline is valid? [True, True] Translation: X:181.83, Y:3.17, Z:2.05 [[ 9.99352210e-01 -2.80174399e-02 -2.25872504e-02 1.81826764e+02] [ 2.80213473e-02 9.99607315e-01 -1.43556243e-04 3.16500294e+00] [ 2.25824028e-02 -4.89461940e-04 9.99744865e-01 2.05428029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89509989299998 meters 0.015134740282401186 Centerline is valid? [True, True] Translation: X:181.86, Y:3.17, Z:2.05 [[ 9.99322990e-01 -2.85489697e-02 -2.32060111e-02 1.81855664e+02] [ 2.85531421e-02 9.99592264e-01 -1.51594666e-04 3.16598869e+00] [ 2.32008771e-02 -5.11112498e-04 9.99730693e-01 2.05467260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92509989299998 meters 0.015364924691136416 Centerline is valid? [True, True] Translation: X:181.88, Y:3.17, Z:2.05 [[ 9.99291442e-01 -2.91107301e-02 -2.38574757e-02 1.81884817e+02] [ 2.91151547e-02 9.99576051e-01 -1.61950819e-04 3.16578584e+00] [ 2.38520758e-02 -5.32778028e-04 9.99715357e-01 2.05438577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95509989299998 meters 0.015587861710906994 Centerline is valid? [True, True] Translation: X:181.91, Y:3.17, Z:2.05 [[ 9.99254300e-01 -3.00629117e-02 -2.42294479e-02 1.81913110e+02] [ 3.00676066e-02 9.99547853e-01 -1.70605586e-04 3.16594332e+00] [ 2.42236215e-02 -5.58043143e-04 9.99706409e-01 2.05480577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98509989299998 meters 0.016774093005227902 Centerline is valid? [True, True] Translation: X:181.94, Y:3.16, Z:2.05 [[ 9.99245893e-01 -3.06783252e-02 -2.38009753e-02 1.81940933e+02] [ 3.06829205e-02 9.99529154e-01 -1.72184027e-04 3.16410523e+00] [ 2.37950510e-02 -5.58229251e-04 9.99716702e-01 2.05434759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01509989299998 meters 0.016471426277179613 Centerline is valid? [True, True] Translation: X:181.97, Y:3.16, Z:2.06 [[ 9.99211206e-01 -3.17026000e-02 -2.39146795e-02 1.81969234e+02] [ 3.17074245e-02 9.99497177e-01 -1.77520991e-04 3.16495152e+00] [ 2.39082826e-02 -5.80891931e-04 9.99713987e-01 2.05515444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04509989299999 meters 0.01654559395001031 Centerline is valid? [True, True] Translation: X:182.00, Y:3.16, Z:2.06 [[ 9.99193205e-01 -3.21723724e-02 -2.40390722e-02 1.81997491e+02] [ 3.21772312e-02 9.99482162e-01 -1.84762795e-04 3.16487005e+00] [ 2.40325681e-02 -5.88897055e-04 9.99711003e-01 2.05535636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.075099893 meters 0.01576354479107688 Centerline is valid? [True, True] Translation: X:182.03, Y:3.17, Z:2.06 [[ 9.99191384e-01 -3.23964942e-02 -2.38126977e-02 1.82026591e+02] [ 3.24011746e-02 9.99474926e-01 -1.89358093e-04 3.16660295e+00] [ 2.38063289e-02 -5.82354402e-04 9.99716420e-01 2.05656024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.105099893 meters 0.015624542158342459 Centerline is valid? [True, True] Translation: X:182.06, Y:3.17, Z:2.06 [[ 9.99179719e-01 -3.26539232e-02 -2.39501580e-02 1.82055295e+02] [ 3.26585854e-02 9.99466547e-01 -1.96559221e-04 3.16699006e+00] [ 2.39438001e-02 -5.85780294e-04 9.99713135e-01 2.05726470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.135099893 meters 0.016043337737938465 Centerline is valid? [True, True] Translation: X:182.08, Y:3.17, Z:2.06 [[ 9.99176224e-01 -3.28011514e-02 -2.38947298e-02 1.82083474e+02] [ 3.28057341e-02 9.99461727e-01 -2.00290536e-04 3.16635442e+00] [ 2.38884376e-02 -5.83758609e-04 9.99714460e-01 2.05691606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.165099893 meters 0.016012825802940372 Centerline is valid? [True, True] Translation: X:182.11, Y:3.17, Z:2.06 [[ 9.99156811e-01 -3.32993799e-02 -2.40170271e-02 1.82111850e+02] [ 3.33040557e-02 9.99445245e-01 -2.05383877e-04 3.16643016e+00] [ 2.40105427e-02 -5.94653711e-04 9.99711529e-01 2.05711180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.195099893 meters 0.01651826925508535 Centerline is valid? [True, True] Translation: X:182.14, Y:3.17, Z:2.06 [[ 9.99132229e-01 -3.42582263e-02 -2.36888840e-02 1.82139894e+02] [ 3.42629474e-02 9.99412831e-01 -2.06675469e-04 3.16535392e+00] [ 2.36820550e-02 -6.05154863e-04 9.99719358e-01 2.05672284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.225099893 meters 0.016990111527179247 Centerline is valid? [True, True] Translation: X:182.17, Y:3.16, Z:2.06 [[ 9.99111098e-01 -3.50326352e-02 -2.34463051e-02 1.82168371e+02] [ 3.50374336e-02 9.99385979e-01 -2.06242432e-04 3.16454130e+00] [ 2.34391338e-02 -6.15439254e-04 9.99725076e-01 2.05653246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.255099893 meters 0.016987100970644622 Centerline is valid? [True, True] Translation: X:182.20, Y:3.16, Z:2.06 [[ 9.99086313e-01 -3.59487136e-02 -2.31133881e-02 1.82196996e+02] [ 3.59535447e-02 9.99353441e-01 -2.06640887e-04 3.16442054e+00] [ 2.31058724e-02 -6.24556148e-04 9.99732829e-01 2.05688704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.285099893 meters 0.017099163269996432 Centerline is valid? [True, True] Translation: X:182.23, Y:3.16, Z:2.06 [[ 9.99065443e-01 -3.65206700e-02 -2.31188603e-02 1.82226375e+02] [ 3.65255762e-02 9.99332696e-01 -2.10157169e-04 3.16420906e+00] [ 2.31111081e-02 -6.34468930e-04 9.99732701e-01 2.05733625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.315099893 meters 0.01725511861757183 Centerline is valid? [True, True] Translation: X:182.26, Y:3.16, Z:2.06 [[ 9.99055154e-01 -3.71385510e-02 -2.25727218e-02 1.82255595e+02] [ 3.71433677e-02 9.99309926e-01 -2.05988384e-04 3.16407364e+00] [ 2.25647950e-02 -6.32633147e-04 9.99745182e-01 2.05775511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.345099893 meters 0.01720116447265681 Centerline is valid? [True, True] Translation: X:182.28, Y:3.16, Z:2.06 [[ 9.99007141e-01 -3.88014673e-02 -2.18901646e-02 1.82284893e+02] [ 3.88063788e-02 9.99246729e-01 -2.00534560e-04 3.16401696e+00] [ 2.18814564e-02 -6.49142563e-04 9.99760362e-01 2.05911635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.375099893 meters 0.01756007673470381 Centerline is valid? [True, True] Translation: X:182.32, Y:3.16, Z:2.06 [[ 9.98975571e-01 -3.98636120e-02 -2.14172965e-02 1.82315276e+02] [ 3.98685479e-02 9.99204914e-01 -1.96641915e-04 3.16343113e+00] [ 2.14081068e-02 -6.57436043e-04 9.99770604e-01 2.05990102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.405099893 meters 0.017806112743137127 Centerline is valid? [True, True] Translation: X:182.35, Y:3.16, Z:2.06 [[ 9.98944047e-01 -4.08690433e-02 -2.09883894e-02 1.82346188e+02] [ 4.08740116e-02 9.99164290e-01 -1.92390800e-04 3.16252595e+00] [ 2.09787120e-02 -6.65692029e-04 9.99779701e-01 2.06046309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.435099893 meters 0.018244264456247744 Centerline is valid? [True, True] Translation: X:182.38, Y:3.16, Z:2.06 [[ 9.98871741e-01 -4.27899765e-02 -2.05976380e-02 1.82376966e+02] [ 4.27951816e-02 9.99083849e-01 -1.88218251e-04 3.16099915e+00] [ 2.05868213e-02 -6.93473765e-04 9.99787828e-01 2.06178678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46509989299997 meters 0.019924619974684293 Centerline is valid? [True, True] Translation: X:182.41, Y:3.16, Z:2.06 [[ 9.98824102e-01 -4.37497424e-02 -2.08895533e-02 1.82407230e+02] [ 4.37553138e-02 9.99042259e-01 -1.90502963e-04 3.15822043e+00] [ 2.08778810e-02 -7.23750007e-04 9.99781771e-01 2.06164068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49509989299997 meters 0.021177244738811673 Centerline is valid? [True, True] Translation: X:182.44, Y:3.16, Z:2.06 [[ 9.98782916e-01 -4.45627468e-02 -2.11387680e-02 1.82437382e+02] [ 4.45686418e-02 9.99006306e-01 -1.92396416e-04 3.15644908e+00] [ 2.11263363e-02 -7.49963927e-04 9.99776533e-01 2.06122677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52509989299998 meters 0.020133442708059453 Centerline is valid? [True, True] Translation: X:182.47, Y:3.16, Z:2.06 [[ 9.98697526e-01 -4.57591306e-02 -2.25688623e-02 1.82468242e+02] [ 4.57661649e-02 9.98952159e-01 -2.05000441e-04 3.15797239e+00] [ 2.25545944e-02 -8.28156842e-04 9.99745270e-01 2.06151076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55509989299998 meters 0.02205260070714084 Centerline is valid? [True, True] Translation: X:182.50, Y:3.16, Z:2.06 [[ 9.98660594e-01 -4.62433943e-02 -2.32070405e-02 1.82498581e+02] [ 4.62509725e-02 9.98929829e-01 -2.10378778e-04 3.15506268e+00] [ 2.31919336e-02 -8.63251197e-04 9.99730658e-01 2.06100326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58509989299998 meters 0.022446913295412978 Centerline is valid? [True, True] Translation: X:182.53, Y:3.15, Z:2.06 [[ 9.98643452e-01 -4.64305600e-02 -2.35681660e-02 1.82528634e+02] [ 4.64384333e-02 9.98921131e-01 -2.13430408e-04 3.15458396e+00] [ 2.35526488e-02 -8.81327827e-04 9.99722209e-01 2.06094659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61509989299998 meters 0.020217369965131196 Centerline is valid? [True, True] Translation: X:182.56, Y:3.16, Z:2.06 [[ 9.98634039e-01 -4.64636518e-02 -2.38994818e-02 1.82560319e+02] [ 4.64717674e-02 9.98919580e-01 -2.16018561e-04 3.15829102e+00] [ 2.38836973e-02 -8.94927671e-04 9.99714343e-01 2.06237461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64509989299998 meters 0.021606560445956897 Centerline is valid? [True, True] Translation: X:182.59, Y:3.16, Z:2.06 [[ 9.98619193e-01 -4.62984287e-02 -2.48226423e-02 1.82589725e+02] [ 4.63071388e-02 9.98927224e-01 -2.24124708e-04 3.15688912e+00] [ 2.48063898e-02 -9.25650306e-04 9.99691846e-01 2.06212118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67509989299998 meters 0.020339929660913615 Centerline is valid? [True, True] Translation: X:182.62, Y:3.16, Z:2.06 [[ 9.98603504e-01 -4.62199904e-02 -2.55881523e-02 1.82620824e+02] [ 4.62292269e-02 9.98930831e-01 -2.30791596e-04 3.15974296e+00] [ 2.55714614e-02 -9.52451198e-04 9.99672543e-01 2.06344724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70509989299998 meters 0.02056625615999529 Centerline is valid? [True, True] Translation: X:182.65, Y:3.16, Z:2.06 [[ 9.98596463e-01 -4.61661973e-02 -2.59573788e-02 1.82651674e+02] [ 4.61756958e-02 9.98933306e-01 -2.33675039e-04 3.16028897e+00] [ 2.59404781e-02 -9.65252959e-04 9.99663023e-01 2.06405340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73509989299998 meters 0.021110645988447734 Centerline is valid? [True, True] Translation: X:182.68, Y:3.16, Z:2.06 [[ 9.98603728e-01 -4.59202762e-02 -2.61136434e-02 1.82681287e+02] [ 4.59297992e-02 9.98944642e-01 -2.35323142e-04 3.16012833e+00] [ 2.60968903e-02 -9.64399830e-04 9.99658953e-01 2.06433688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76509989299998 meters 0.02079818020855476 Centerline is valid? [True, True] Translation: X:182.71, Y:3.16, Z:2.07 [[ 9.98602799e-01 -4.59615279e-02 -2.60765876e-02 1.82711519e+02] [ 4.59710323e-02 9.98942746e-01 -2.35205967e-04 3.16206498e+00] [ 2.60598284e-02 -9.63890313e-04 9.99659920e-01 2.06570737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79509989299999 meters 0.020257124550668797 Centerline is valid? [True, True] Translation: X:182.74, Y:3.16, Z:2.07 [[ 9.98609174e-01 -4.59941654e-02 -2.57731170e-02 1.82742122e+02] [ 4.60034606e-02 9.98941253e-01 -2.32468718e-04 3.16384788e+00] [ 2.57565220e-02 -9.53507176e-04 9.99667791e-01 2.06655255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.825099893 meters 0.02060151590437525 Centerline is valid? [True, True] Translation: X:182.77, Y:3.16, Z:2.07 [[ 9.98616879e-01 -4.60290125e-02 -2.54098225e-02 1.82771579e+02] [ 4.60380528e-02 9.98939660e-01 -2.29421901e-04 3.16403927e+00] [ 2.53934395e-02 -9.40714167e-04 9.99677092e-01 2.06713540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.855099893 meters 0.02018150849499188 Centerline is valid? [True, True] Translation: X:182.80, Y:3.17, Z:2.07 [[ 9.98607823e-01 -4.63145498e-02 -2.52463419e-02 1.82801929e+02] [ 4.63235597e-02 9.98926462e-01 -2.28162484e-04 3.16564101e+00] [ 2.52298062e-02 -9.41655581e-04 9.99681234e-01 2.06795261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.885099893 meters 0.019716926350816354 Centerline is valid? [True, True] Translation: X:182.83, Y:3.17, Z:2.07 [[ 9.98576648e-01 -4.71820209e-02 -2.48703476e-02 1.82832746e+02] [ 4.71910385e-02 9.98885857e-01 -2.24537972e-04 3.16799260e+00] [ 2.48532327e-02 -9.49439156e-04 9.99690660e-01 2.06965791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.915099893 meters 0.020814950170616648 Centerline is valid? [True, True] Translation: X:182.86, Y:3.17, Z:2.07 [[ 9.98563924e-01 -4.76449410e-02 -2.44959004e-02 1.82862893e+02] [ 4.76538387e-02 9.98863886e-01 -2.20718881e-04 3.16705657e+00] [ 2.44785864e-02 -9.46921776e-04 9.99699906e-01 2.06997432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.945099893 meters 0.02098377317909464 Centerline is valid? [True, True] Translation: X:182.89, Y:3.17, Z:2.07 [[ 9.98522566e-01 -4.83987380e-02 -2.47032017e-02 1.82894635e+02] [ 4.84080337e-02 9.98827619e-01 -2.21924710e-04 3.16776430e+00] [ 2.46849810e-02 -9.74236588e-04 9.99694805e-01 2.07084225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.975099893 meters 0.02237146050633893 Centerline is valid? [True, True] Translation: X:182.93, Y:3.17, Z:2.07 [[ 9.98417693e-01 -5.02297070e-02 -2.52801826e-02 1.82925004e+02] [ 5.02400452e-02 9.98737146e-01 -2.26431343e-04 3.16696758e+00] [ 2.52596310e-02 -1.04400446e-03 9.99680379e-01 2.07105785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.005099893 meters 0.02237146050633893 Centerline is valid? [True, True] Translation: X:182.96, Y:3.17, Z:2.07 [[ 9.98419448e-01 -5.01948022e-02 -2.52801886e-02 1.82955875e+02] [ 5.02051461e-02 9.98738901e-01 -2.25762153e-04 3.16721354e+00] [ 2.52596399e-02 -1.04379024e-03 9.99680379e-01 2.07143958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.035099893 meters 0.023131352944261503 Centerline is valid? [True, True] Translation: X:182.99, Y:3.17, Z:2.07 [[ 9.98349923e-01 -5.12445638e-02 -2.59118850e-02 1.82985727e+02] [ 5.12557958e-02 9.98685531e-01 -2.30960454e-04 3.16641360e+00] [ 2.58896601e-02 -1.09755493e-03 9.99664204e-01 2.07133473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.065099893 meters 0.022482985531228836 Centerline is valid? [True, True] Translation: X:183.02, Y:3.17, Z:2.07 [[ 9.98272336e-01 -5.23721545e-02 -2.66364573e-02 1.83017144e+02] [ 5.23844379e-02 9.98626965e-01 -2.36912745e-04 3.16793465e+00] [ 2.66122922e-02 -1.15883241e-03 9.99645159e-01 2.07182350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.095099893 meters 0.02371613510285318 Centerline is valid? [True, True] Translation: X:183.05, Y:3.17, Z:2.07 [[ 9.98202499e-01 -5.33013789e-02 -2.73995169e-02 1.83047057e+02] [ 5.33147382e-02 9.98577728e-01 -2.43248664e-04 3.16679643e+00] [ 2.73735129e-02 -1.21798665e-03 9.99624533e-01 2.07145703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.125099893 meters 0.02252742795876218 Centerline is valid? [True, True] Translation: X:183.08, Y:3.17, Z:2.07 [[ 9.98073188e-01 -5.50083226e-02 -2.87053424e-02 1.83078633e+02] [ 5.50237078e-02 9.98485016e-01 -2.54253347e-04 3.17003630e+00] [ 2.86758403e-02 -1.32571093e-03 9.99587884e-01 2.07263366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.155099893 meters 0.024122387510232126 Centerline is valid? [True, True] Translation: X:183.11, Y:3.17, Z:2.07 [[ 9.98036827e-01 -5.55143650e-02 -2.89939052e-02 1.83109253e+02] [ 5.55303109e-02 9.98456969e-01 -2.55549465e-04 3.16860743e+00] [ 2.89633534e-02 -1.35499279e-03 9.99579556e-01 2.07265222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.185099893 meters 0.02276921935008762 Centerline is valid? [True, True] Translation: X:183.14, Y:3.17, Z:2.07 [[ 9.98051623e-01 -5.53249207e-02 -2.88463335e-02 1.83139317e+02] [ 5.53406429e-02 9.98467500e-01 -2.53649447e-04 3.17159910e+00] [ 2.88161596e-02 -1.34321940e-03 9.99583826e-01 2.07408316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21509989299997 meters 0.023020418742883908 Centerline is valid? [True, True] Translation: X:183.17, Y:3.17, Z:2.07 [[ 9.98078111e-01 -5.46581959e-02 -2.91987478e-02 1.83169710e+02] [ 5.46740290e-02 9.98504224e-01 -2.56447133e-04 3.17255448e+00] [ 2.91690899e-02 -1.34045891e-03 9.99573593e-01 2.07491462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24509989299997 meters 0.021757564523263568 Centerline is valid? [True, True] Translation: X:183.20, Y:3.18, Z:2.08 [[ 9.98148224e-01 -5.35101853e-02 -2.89271972e-02 1.83200223e+02] [ 5.35252504e-02 9.98566464e-01 -2.53843048e-04 3.17599228e+00] [ 2.88993122e-02 -1.29496249e-03 9.99581489e-01 2.07643642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27509989299998 meters 0.021709382178654004 Centerline is valid? [True, True] Translation: X:183.23, Y:3.18, Z:2.08 [[ 9.98371923e-01 -4.97042494e-02 -2.79819742e-02 1.83229804e+02] [ 4.97168532e-02 9.98763322e-01 -2.45548491e-04 3.17904149e+00] [ 2.79595743e-02 -1.14602698e-03 9.99608398e-01 2.07759622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30509989299998 meters 0.02107991272710545 Centerline is valid? [True, True] Translation: X:183.26, Y:3.18, Z:2.08 [[ 9.98497827e-01 -4.72329379e-02 -2.77694081e-02 1.83260075e+02] [ 4.72443966e-02 9.98883330e-01 -2.43683173e-04 3.18187650e+00] [ 2.77499087e-02 -1.06863181e-03 9.99614326e-01 2.07881247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33509989299998 meters 0.018881304431186886 Centerline is valid? [True, True] Translation: X:183.29, Y:3.19, Z:2.08 [[ 9.98630985e-01 -4.46469747e-02 -2.72544280e-02 1.83291131e+02] [ 4.46570577e-02 9.99002347e-01 -2.38895899e-04 3.18732110e+00] [ 2.72379035e-02 -9.78533716e-04 9.99628501e-01 2.08099590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36509989299998 meters 0.017971196911496772 Centerline is valid? [True, True] Translation: X:183.32, Y:3.19, Z:2.08 [[ 9.98755967e-01 -4.19202299e-02 -2.70039452e-02 1.83321299e+02] [ 4.19291389e-02 9.99120559e-01 -2.36479658e-04 3.19036994e+00] [ 2.69901101e-02 -8.96066699e-04 9.99635299e-01 2.08189366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39509989299998 meters 0.016339716142795953 Centerline is valid? [True, True] Translation: X:183.35, Y:3.20, Z:2.08 [[ 9.98947737e-01 -3.72701335e-02 -2.67274375e-02 1.83350992e+02] [ 3.72771840e-02 9.99304937e-01 -2.34582637e-04 3.19622109e+00] [ 2.67176032e-02 -7.61987813e-04 9.99642731e-01 2.08320978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42509989299998 meters 0.01596388170850919 Centerline is valid? [True, True] Translation: X:183.38, Y:3.20, Z:2.08 [[ 9.99050756e-01 -3.48433327e-02 -2.61443706e-02 1.83380012e+02] [ 3.48492239e-02 9.99392555e-01 -2.30405010e-04 3.19843128e+00] [ 2.61365174e-02 -6.80924726e-04 9.99658151e-01 2.08370027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45509989299998 meters 0.015136985607105536 Centerline is valid? [True, True] Translation: X:183.41, Y:3.20, Z:2.08 [[ 9.99211794e-01 -3.01781158e-02 -2.57889944e-02 1.83408111e+02] [ 3.01822591e-02 9.99544386e-01 -2.28661398e-04 3.20297098e+00] [ 2.57841451e-02 -5.49888944e-04 9.99667382e-01 2.08420395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48509989299998 meters 0.014240457863181438 Centerline is valid? [True, True] Translation: X:183.44, Y:3.21, Z:2.08 [[ 9.99269036e-01 -2.78387640e-02 -2.61991885e-02 1.83437062e+02] [ 2.78421219e-02 9.99612305e-01 -2.36679490e-04 3.20611014e+00] [ 2.61956200e-02 -4.92934512e-04 9.99656714e-01 2.08483091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51509989299998 meters 0.014038371056917137 Centerline is valid? [True, True] Translation: X:183.46, Y:3.21, Z:2.08 [[ 9.99331270e-01 -2.54161791e-02 -2.62874622e-02 1.83464504e+02] [ 2.54186067e-02 9.99676866e-01 -2.41854645e-04 3.20792171e+00] [ 2.62851148e-02 -4.26497752e-04 9.99654396e-01 2.08448624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54509989299999 meters 0.013694918286358335 Centerline is valid? [True, True] Translation: X:183.49, Y:3.21, Z:2.08 [[ 9.99388559e-01 -2.27395517e-02 -2.65597456e-02 1.83492067e+02] [ 2.27410224e-02 9.99741359e-01 -2.46716216e-04 3.21029279e+00] [ 2.65584864e-02 -3.57430406e-04 9.99647197e-01 2.08398456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.575099893 meters 0.012834758194199573 Centerline is valid? [True, True] Translation: X:183.52, Y:3.22, Z:2.08 [[ 9.99483234e-01 -1.72814519e-02 -2.71037926e-02 1.83520475e+02] [ 1.72808488e-02 9.99850642e-01 -2.56499172e-04 3.21551165e+00] [ 2.71041771e-02 -2.12009920e-04 9.99632592e-01 2.08435207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.605099893 meters 0.01260772581671791 Centerline is valid? [True, True] Translation: X:183.55, Y:3.22, Z:2.08 [[ 9.99509037e-01 -1.50111428e-02 -2.75018186e-02 1.83548480e+02] [ 1.50094606e-02 9.99887316e-01 -2.67610275e-04 3.21775477e+00] [ 2.75027367e-02 -1.45308574e-04 9.99621718e-01 2.08479292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.635099893 meters 0.012428381502712197 Centerline is valid? [True, True] Translation: X:183.58, Y:3.22, Z:2.09 [[ 9.99543539e-01 -1.30273767e-02 -2.72580425e-02 1.83577129e+02] [ 1.30247924e-02 9.99915137e-01 -2.72364265e-04 3.21961329e+00] [ 2.72592775e-02 -8.27904024e-05 9.99628393e-01 2.08552045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.665099893 meters 0.012425637554939693 Centerline is valid? [True, True] Translation: X:183.61, Y:3.22, Z:2.09 [[ 9.99562385e-01 -1.13537650e-02 -2.73153737e-02 1.83605216e+02] [ 1.13503462e-02 9.99935543e-01 -2.80208800e-04 3.22100676e+00] [ 2.73167945e-02 -2.99527725e-05 9.99626826e-01 2.08593526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.695099893 meters 0.012343466823339857 Centerline is valid? [True, True] Translation: X:183.63, Y:3.22, Z:2.09 [[ 9.99597592e-01 -9.28598323e-03 -2.68034524e-02 1.83632559e+02] [ 9.28178205e-03 9.99956884e-01 -2.81152773e-04 3.22243753e+00] [ 2.68049075e-02 3.22558312e-05 9.99640683e-01 2.08613648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.725099893 meters 0.012147800867545116 Centerline is valid? [True, True] Translation: X:183.66, Y:3.22, Z:2.09 [[ 9.99617536e-01 -9.08390820e-03 -2.61202007e-02 1.83659957e+02] [ 9.07968603e-03 9.99958740e-01 -2.80243522e-04 3.22253731e+00] [ 2.61216686e-02 4.29731173e-05 9.99658770e-01 2.08762978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.755099893 meters 0.012034773204108583 Centerline is valid? [True, True] Translation: X:183.69, Y:3.22, Z:2.09 [[ 9.99622972e-01 -9.60365992e-03 -2.57232151e-02 1.83687649e+02] [ 9.59954936e-03 9.99953883e-01 -2.83283637e-04 3.22190095e+00] [ 2.57247494e-02 3.62455573e-05 9.99669063e-01 2.08798294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.785099893 meters 0.011832063563401392 Centerline is valid? [True, True] Translation: X:183.72, Y:3.22, Z:2.09 [[ 9.99631903e-01 -1.25069030e-02 -2.40756085e-02 1.83716015e+02] [ 1.25040447e-02 9.99921785e-01 -2.69268142e-04 3.21840740e+00] [ 2.40770931e-02 -3.18734589e-05 9.99710104e-01 2.08848292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.815099893 meters 0.0117670847840659 Centerline is valid? [True, True] Translation: X:183.74, Y:3.22, Z:2.09 [[ 9.99619202e-01 -1.50820998e-02 -2.31080234e-02 1.83743569e+02] [ 1.50800649e-02 9.99886255e-01 -2.62324454e-04 3.21612672e+00] [ 2.31093513e-02 -8.62459319e-05 9.99732940e-01 2.08928177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.845099893 meters 0.011876710388401312 Centerline is valid? [True, True] Translation: X:183.77, Y:3.21, Z:2.09 [[ 9.99578934e-01 -1.85910339e-02 -2.22784023e-02 1.83772736e+02] [ 1.85898833e-02 9.99827160e-01 -2.58768110e-04 3.21350332e+00] [ 2.22793625e-02 -1.55493747e-04 9.99751772e-01 2.09045458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.875099893 meters 0.01207316850544044 Centerline is valid? [True, True] Translation: X:183.80, Y:3.21, Z:2.09 [[ 9.99515750e-01 -2.23234653e-02 -2.16778335e-02 1.83801344e+02] [ 2.23231370e-02 9.99750775e-01 -2.57162701e-04 3.21054624e+00] [ 2.16781716e-02 -2.26879076e-04 9.99764975e-01 2.09112589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.905099893 meters 0.012610546090672286 Centerline is valid? [True, True] Translation: X:183.83, Y:3.21, Z:2.09 [[ 9.99412388e-01 -2.67574871e-02 -2.14223226e-02 1.83830473e+02] [ 2.67580697e-02 9.99641905e-01 -2.59499700e-04 3.20688569e+00] [ 2.14215950e-02 -3.13872787e-04 9.99770482e-01 2.09110361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.935099893 meters 0.013487981143284153 Centerline is valid? [True, True] Translation: X:183.86, Y:3.20, Z:2.09 [[ 9.99265186e-01 -3.17160456e-02 -2.15216378e-02 1.83859218e+02] [ 3.17176660e-02 9.99496833e-01 -2.66137082e-04 3.20284550e+00] [ 2.15192496e-02 -4.16674597e-04 9.99768347e-01 2.09095078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96509989299997 meters 0.015442937812628257 Centerline is valid? [True, True] Translation: X:183.89, Y:3.19, Z:2.09 [[ 9.98920791e-01 -4.11581938e-02 -2.15234121e-02 1.83889748e+02] [ 4.11619335e-02 9.99152452e-01 -2.69434692e-04 3.19484575e+00] [ 2.15162595e-02 -6.16801343e-04 9.99768308e-01 2.09127689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99509989299997 meters 0.0177490554068052 Centerline is valid? [True, True] Translation: X:183.92, Y:3.19, Z:2.09 [[ 9.98723789e-01 -4.59635840e-02 -2.09318545e-02 1.83920345e+02] [ 4.59681735e-02 9.98942870e-01 -2.62093234e-04 3.18926792e+00] [ 2.09217735e-02 -7.00440371e-04 9.99780870e-01 2.09134472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02509989299998 meters 0.01946317770806507 Centerline is valid? [True, True] Translation: X:183.95, Y:3.18, Z:2.09 [[ 9.98518626e-01 -5.03394725e-02 -2.06516758e-02 1.83951325e+02] [ 5.03448819e-02 9.98731859e-01 -2.58219115e-04 3.18489240e+00] [ 2.06384852e-02 -7.81869586e-04 9.99786698e-01 2.09190782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05509989299998 meters 0.019953019312346134 Centerline is valid? [True, True] Translation: X:183.98, Y:3.18, Z:2.09 [[ 9.98302375e-01 -5.45229065e-02 -2.04846623e-02 1.83982875e+02] [ 5.45291181e-02 9.98512148e-01 -2.55622127e-04 3.18237781e+00] [ 2.04681214e-02 -8.61822392e-04 9.99790135e-01 2.09258307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08509989299998 meters 0.024461664072411505 Centerline is valid? [True, True] Translation: X:184.01, Y:3.17, Z:2.09 [[ 9.97894570e-01 -6.17961451e-02 -1.96891566e-02 1.84012603e+02] [ 6.18033048e-02 9.98088318e-01 -2.45224490e-04 3.17251406e+00] [ 1.96666711e-02 -9.72146759e-04 9.99806120e-01 2.09231193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11509989299998 meters 0.027114467615813344 Centerline is valid? [True, True] Translation: X:184.04, Y:3.17, Z:2.09 [[ 9.97721287e-01 -6.45274906e-02 -1.97087923e-02 1.84042676e+02] [ 6.45351974e-02 9.97915401e-01 -2.45396223e-04 3.16778292e+00] [ 1.96835421e-02 -1.02707376e-03 9.99805733e-01 2.09221992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14509989299998 meters 0.028301262424944577 Centerline is valid? [True, True] Translation: X:184.07, Y:3.17, Z:2.09 [[ 9.97576661e-01 -6.68790226e-02 -1.91833798e-02 1.84073461e+02] [ 6.68867595e-02 9.97760545e-01 -2.38737144e-04 3.16531540e+00] [ 1.91563860e-02 -1.04495551e-03 9.99815954e-01 2.09279589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17509989299998 meters 0.029579730210430564 Centerline is valid? [True, True] Translation: X:184.11, Y:3.16, Z:2.09 [[ 9.97463692e-01 -6.87534439e-02 -1.84159520e-02 1.84105632e+02] [ 6.87609038e-02 9.97633142e-01 -2.28567256e-04 3.16281040e+00] [ 1.83880789e-02 -1.03830997e-03 9.99830386e-01 2.09305122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20509989299998 meters 0.030354515582844552 Centerline is valid? [True, True] Translation: X:184.14, Y:3.16, Z:2.09 [[ 9.97305941e-01 -7.13475360e-02 -1.70407811e-02 1.84137108e+02] [ 7.13543165e-02 9.97451010e-01 -2.10553071e-04 3.15997285e+00] [ 1.70123668e-02 -1.00594746e-03 9.99854773e-01 2.09394171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23509989299998 meters 0.025148435384115764 Centerline is valid? [True, True] Translation: X:184.17, Y:3.17, Z:2.10 [[ 9.97280368e-01 -7.18363380e-02 -1.64744628e-02 1.84168719e+02] [ 7.18427522e-02 9.97415950e-01 -2.02916080e-04 3.16629113e+00] [ 1.64464687e-02 -9.81206525e-04 9.99864266e-01 2.09510367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26509989299998 meters 0.027660969189933778 Centerline is valid? [True, True] Translation: X:184.20, Y:3.16, Z:2.09 [[ 9.97269857e-01 -7.20962495e-02 -1.59675912e-02 1.84199781e+02] [ 7.21023220e-02 9.97397221e-01 -1.95809999e-04 3.16242584e+00] [ 1.59401483e-02 -9.56024996e-04 9.99872491e-01 2.09498361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29509989299999 meters 0.027773869628274682 Centerline is valid? [True, True] Translation: X:184.23, Y:3.16, Z:2.09 [[ 9.97299077e-01 -7.18219479e-02 -1.53674284e-02 1.84232376e+02] [ 7.18275533e-02 9.97417048e-01 -1.87581182e-04 3.16120809e+00] [ 1.53412076e-02 -9.16730245e-04 9.99881897e-01 2.09446654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.325099893 meters 0.027751568989171534 Centerline is valid? [True, True] Translation: X:184.26, Y:3.16, Z:2.09 [[ 9.97324255e-01 -7.13603867e-02 -1.58752998e-02 1.84264709e+02] [ 7.13663290e-02 9.97450154e-01 -1.92615416e-04 3.16120390e+00] [ 1.58485653e-02 -9.40861839e-04 9.99873961e-01 2.09397393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.355099893 meters 0.024796534796208226 Centerline is valid? [True, True] Translation: X:184.30, Y:3.16, Z:2.09 [[ 9.97366883e-01 -7.08187176e-02 -1.56208255e-02 1.84297355e+02] [ 7.08244229e-02 9.97488780e-01 -1.88358627e-04 3.16499142e+00] [ 1.55949375e-02 -9.18473296e-04 9.99877970e-01 2.09397700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.385099893 meters 0.026147689604360595 Centerline is valid? [True, True] Translation: X:184.33, Y:3.16, Z:2.09 [[ 9.97375049e-01 -7.06259169e-02 -1.59684356e-02 1.84328358e+02] [ 7.06318761e-02 9.97502432e-01 -1.91185604e-04 3.16333675e+00] [ 1.59420560e-02 -9.37196810e-04 9.99872478e-01 2.09363598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.415099893 meters 0.027626760054933825 Centerline is valid? [True, True] Translation: X:184.36, Y:3.16, Z:2.09 [[ 9.97364007e-01 -7.07339649e-02 -1.61784855e-02 1.84359735e+02] [ 7.07401106e-02 9.97494762e-01 -1.92804347e-04 3.16160761e+00] [ 1.61515923e-02 -9.52171734e-04 9.99869101e-01 2.09329568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.445099893 meters 0.025455345147906278 Centerline is valid? [True, True] Translation: X:184.39, Y:3.16, Z:2.09 [[ 9.97376475e-01 -7.01744449e-02 -1.77683604e-02 1.84391702e+02] [ 7.01817897e-02 9.97534196e-01 -2.10623864e-04 3.16466121e+00] [ 1.77393275e-02 -1.03694404e-03 9.99842108e-01 2.09128925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.475099893 meters 0.029293326234616925 Centerline is valid? [True, True] Translation: X:184.42, Y:3.16, Z:2.09 [[ 9.97368146e-01 -7.01723993e-02 -1.82377788e-02 1.84422971e+02] [ 7.01801597e-02 9.97534310e-01 -2.14943647e-04 3.16031016e+00] [ 1.82078932e-02 -1.06555228e-03 9.99833655e-01 2.09056002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.505099893 meters 0.026726047183924212 Centerline is valid? [True, True] Translation: X:184.46, Y:3.16, Z:2.09 [[ 9.97400523e-01 -6.97085752e-02 -1.82458454e-02 1.84455252e+02] [ 6.97162851e-02 9.97566837e-01 -2.13945570e-04 3.16469848e+00] [ 1.82163641e-02 -1.05864314e-03 9.99833508e-01 2.09107743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.535099893 meters 0.027358799736463896 Centerline is valid? [True, True] Translation: X:184.49, Y:3.17, Z:2.09 [[ 9.97461741e-01 -6.90918890e-02 -1.72158908e-02 1.84486905e+02] [ 6.90986816e-02 9.97609809e-01 -2.00687966e-04 3.16650740e+00] [ 1.71886074e-02 -9.89416789e-04 9.99851775e-01 2.09179701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.565099893 meters 0.027844058339043014 Centerline is valid? [True, True] Translation: X:184.52, Y:3.17, Z:2.09 [[ 9.97524998e-01 -6.84842826e-02 -1.59304907e-02 1.84518560e+02] [ 6.84900382e-02 9.97651783e-01 -1.84639882e-04 3.16741297e+00] [ 1.59057274e-02 -9.06897021e-04 9.99873085e-01 2.09284675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.595099893 meters 0.024735850572310245 Centerline is valid? [True, True] Translation: X:184.55, Y:3.17, Z:2.09 [[ 9.97572213e-01 -6.79643154e-02 -1.51832420e-02 1.84551159e+02] [ 6.79695012e-02 9.97687384e-01 -1.74820431e-04 3.17331763e+00] [ 1.51600105e-02 -8.57601379e-04 9.99884713e-01 2.09406928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.625099893 meters 0.026232128477771847 Centerline is valid? [True, True] Translation: X:184.58, Y:3.17, Z:2.10 [[ 9.97729000e-01 -6.60605238e-02 -1.31472295e-02 1.84581275e+02] [ 6.60642637e-02 9.97815359e-01 -1.50112228e-04 3.17436780e+00] [ 1.31284240e-02 -7.18790711e-04 9.99913560e-01 2.09557604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.655099893 meters 0.02422221705318123 Centerline is valid? [True, True] Translation: X:184.61, Y:3.18, Z:2.10 [[ 9.97830054e-01 -6.48246265e-02 -1.15304503e-02 1.84613495e+02] [ 6.48274223e-02 9.97896482e-01 -1.31514108e-04 3.17870428e+00] [ 1.15147212e-02 -6.16260644e-04 9.99933513e-01 2.09654599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.685099893 meters 0.02339985519940414 Centerline is valid? [True, True] Translation: X:184.65, Y:3.18, Z:2.10 [[ 9.97916529e-01 -6.37322539e-02 -1.00399436e-02 1.84646013e+02] [ 6.37343245e-02 9.97966895e-01 -1.13902910e-04 3.18146838e+00] [ 1.00267906e-02 -5.26223425e-04 9.99949592e-01 2.09745052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71509989299997 meters 0.02600564058443639 Centerline is valid? [True, True] Translation: X:184.68, Y:3.18, Z:2.10 [[ 9.98050928e-01 -6.19112441e-02 -7.83221781e-03 1.84676818e+02] [ 6.19124519e-02 9.98081580e-01 -8.83951072e-05 3.18102851e+00] [ 7.82266498e-03 -3.96688990e-04 9.99969324e-01 2.09898903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74509989299997 meters 0.02178339577317107 Centerline is valid? [True, True] Translation: X:184.71, Y:3.19, Z:2.10 [[ 9.98107144e-01 -6.10794053e-02 -7.17183654e-03 1.84709302e+02] [ 6.10803981e-02 9.98132846e-01 -8.07204554e-05 3.18796228e+00] [ 7.16337598e-03 -3.57490968e-04 9.99974279e-01 2.09887021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77509989299998 meters 0.0238866952781879 Centerline is valid? [True, True] Translation: X:184.74, Y:3.19, Z:2.10 [[ 9.98141617e-01 -6.05464413e-02 -6.88767983e-03 1.84740162e+02] [ 6.05473483e-02 9.98165323e-01 -7.69472838e-05 3.18616641e+00] [ 6.87970205e-03 -3.40226463e-04 9.99976277e-01 2.09881429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80509989299998 meters 0.022577658753930658 Centerline is valid? [True, True] Translation: X:184.77, Y:3.19, Z:2.10 [[ 9.98187256e-01 -5.95935099e-02 -8.41518119e-03 1.84772244e+02] [ 5.95948347e-02 9.98222644e-01 -9.34674363e-05 3.18924929e+00] [ 8.40579447e-03 -4.08203328e-04 9.99964587e-01 2.09700074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83509989299998 meters 0.021671784383595943 Centerline is valid? [True, True] Translation: X:184.80, Y:3.19, Z:2.10 [[ 9.98219732e-01 -5.90440309e-02 -8.43620902e-03 1.84804830e+02] [ 5.90453478e-02 9.98255297e-01 -9.30917204e-05 3.19172221e+00] [ 8.42698685e-03 -4.05192903e-04 9.99964410e-01 2.09646134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86509989299998 meters 0.02127554585438733 Centerline is valid? [True, True] Translation: X:184.84, Y:3.19, Z:2.10 [[ 9.98253910e-01 -5.83530518e-02 -9.16805139e-03 1.84837127e+02] [ 5.83545849e-02 9.98295914e-01 -1.00418781e-04 3.19373214e+00] [ 9.15828798e-03 -4.34754392e-04 9.99957967e-01 2.09619026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89509989299998 meters 0.02127554585438733 Centerline is valid? [True, True] Translation: X:184.87, Y:3.19, Z:2.10 [[ 9.98260334e-01 -5.82430527e-02 -9.16805741e-03 1.84869700e+02] [ 5.82445863e-02 9.98302338e-01 -9.98654327e-05 3.19400087e+00] [ 9.15830962e-03 -4.34298011e-04 9.99957967e-01 2.09659284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92509989299998 meters 0.021724105622392544 Centerline is valid? [True, True] Translation: X:184.90, Y:3.19, Z:2.10 [[ 9.98317922e-01 -5.71643132e-02 -9.67302323e-03 1.84901435e+02] [ 5.71659818e-02 9.98364683e-01 -1.04123614e-04 3.19475210e+00] [ 9.66315692e-03 -4.49019401e-04 9.99953210e-01 2.09646437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95509989299998 meters 0.020156714598040318 Centerline is valid? [True, True] Translation: X:184.93, Y:3.20, Z:2.10 [[ 9.98412864e-01 -5.55278606e-02 -9.40264746e-03 1.84933501e+02] [ 5.55293709e-02 9.98457049e-01 -1.00558593e-04 3.19848994e+00] [ 9.39372344e-03 -4.21724105e-04 9.99955789e-01 2.09634365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98509989299998 meters 0.019298167824547 Centerline is valid? [True, True] Translation: X:184.96, Y:3.20, Z:2.10 [[ 9.98672349e-01 -5.05659468e-02 -9.82974868e-03 1.84963590e+02] [ 5.05673669e-02 9.98720647e-01 -1.04174482e-04 3.20226376e+00] [ 9.82244064e-03 -3.93028334e-04 9.99951681e-01 2.09523330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01509989299998 meters 0.01829263419268732 Centerline is valid? [True, True] Translation: X:185.00, Y:3.21, Z:2.09 [[ 9.98831602e-01 -4.73705937e-02 -9.56331201e-03 1.84995426e+02] [ 4.73717901e-02 9.98877321e-01 -1.01503079e-04 3.20504107e+00] [ 9.55738375e-03 -3.51646726e-04 9.99954265e-01 2.09482281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04509989299999 meters 0.017755619531759675 Centerline is valid? [True, True] Translation: X:185.03, Y:3.21, Z:2.09 [[ 9.98992955e-01 -4.39216876e-02 -9.16306249e-03 1.85025868e+02] [ 4.39226465e-02 9.99034930e-01 -9.66692223e-05 3.20716001e+00] [ 9.15846537e-03 -3.05894082e-04 9.99958014e-01 2.09471099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.075099893 meters 0.017475738949603647 Centerline is valid? [True, True] Translation: X:185.06, Y:3.21, Z:2.09 [[ 9.99137711e-01 -4.05639586e-02 -8.85431684e-03 1.85056517e+02] [ 4.05647230e-02 9.99176909e-01 -9.33198548e-05 3.20931320e+00] [ 8.85081435e-03 -2.65933524e-04 9.99960795e-01 2.09474820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.105099893 meters 0.016179482477183326 Centerline is valid? [True, True] Translation: X:185.09, Y:3.21, Z:2.10 [[ 9.99271064e-01 -3.72257121e-02 -8.46091533e-03 1.85087845e+02] [ 3.72262929e-02 9.99306857e-01 -8.88916578e-05 3.21321135e+00] [ 8.45835976e-03 -2.26141650e-04 9.99964202e-01 2.09526699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.135099893 meters 0.014383626952936802 Centerline is valid? [True, True] Translation: X:185.12, Y:3.22, Z:2.10 [[ 9.99392249e-01 -3.40319763e-02 -7.54693998e-03 1.85120016e+02] [ 3.40323476e-02 9.99420729e-01 -7.92520090e-05 3.21868500e+00] [ 7.54526535e-03 -1.77636241e-04 9.99971518e-01 2.09540367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.165099893 meters 0.013472567429978204 Centerline is valid? [True, True] Translation: X:185.15, Y:3.22, Z:2.10 [[ 9.99590368e-01 -2.78209219e-02 -6.71515535e-03 1.85150471e+02] [ 2.78210805e-02 9.99612916e-01 -6.98187756e-05 3.22425147e+00] [ 6.71449845e-03 -1.17032702e-04 9.99977451e-01 2.09637943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.195099893 meters 0.012844656589324866 Centerline is valid? [True, True] Translation: X:185.18, Y:3.23, Z:2.10 [[ 9.99659062e-01 -2.54397391e-02 -5.88044261e-03 1.85182870e+02] [ 2.54398179e-02 9.99676354e-01 -6.14125280e-05 3.22777429e+00] [ 5.88010175e-03 -8.82057992e-05 9.99982708e-01 2.09666572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.225099893 meters 0.012573440581099014 Centerline is valid? [True, True] Translation: X:185.21, Y:3.23, Z:2.10 [[ 9.99742367e-01 -2.21675170e-02 -4.87866293e-03 1.85213845e+02] [ 2.21675339e-02 9.99754269e-01 -5.06109544e-05 3.23090257e+00] [ 4.87858601e-03 -5.75500108e-05 9.99988098e-01 2.09762431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.255099893 meters 0.012512046303909018 Centerline is valid? [True, True] Translation: X:185.25, Y:3.23, Z:2.10 [[ 9.99756628e-01 -2.15516412e-02 -4.71288130e-03 1.85245982e+02] [ 2.15516507e-02 9.99767735e-01 -4.87924233e-05 3.23211701e+00] [ 4.71283822e-03 -5.27898228e-05 9.99988893e-01 2.09766570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.285099893 meters 0.012799352652416066 Centerline is valid? [True, True] Translation: X:185.28, Y:3.23, Z:2.10 [[ 9.99756578e-01 -2.16174923e-02 -4.41233733e-03 1.85276761e+02] [ 2.16175030e-02 9.99766313e-01 -4.52768812e-05 3.23174038e+00] [ 4.41228500e-03 -5.01178555e-05 9.99990265e-01 2.09810176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.315099893 meters 0.012672022474120345 Centerline is valid? [True, True] Translation: X:185.31, Y:3.23, Z:2.10 [[ 9.99739541e-01 -2.25143158e-02 -3.73565087e-03 1.85308732e+02] [ 2.25143295e-02 9.99746520e-01 -3.84065888e-05 3.23255947e+00] [ 3.73556866e-03 -4.57090890e-05 9.99993022e-01 2.09746707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.345099893 meters 0.012922183303680909 Centerline is valid? [True, True] Translation: X:185.34, Y:3.23, Z:2.10 [[ 9.99707192e-01 -2.38646479e-02 -4.00103456e-03 1.85340410e+02] [ 2.38646764e-02 9.99715197e-01 -4.06242723e-05 3.23187227e+00] [ 4.00086454e-03 -5.48710178e-05 9.99991995e-01 2.09733269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.375099893 meters 0.014325262223795711 Centerline is valid? [True, True] Translation: X:185.37, Y:3.23, Z:2.10 [[ 9.99604344e-01 -2.77896392e-02 -4.34643113e-03 1.85371966e+02] [ 2.77897113e-02 9.99613790e-01 -4.38306502e-05 3.22837792e+00] [ 4.34597054e-03 -7.69727579e-05 9.99990553e-01 2.09679626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.405099893 meters 0.014360484672889473 Centerline is valid? [True, True] Translation: X:185.40, Y:3.23, Z:2.10 [[ 9.99540983e-01 -2.99895247e-02 -4.29550272e-03 1.85404264e+02] [ 2.99896157e-02 9.99550209e-01 -4.32404105e-05 3.22822247e+00] [ 4.29486740e-03 -8.55999135e-05 9.99990773e-01 2.09618039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.435099893 meters 0.014905409676765407 Centerline is valid? [True, True] Translation: X:185.44, Y:3.23, Z:2.10 [[ 9.99465808e-01 -3.23530686e-02 -4.62359189e-03 1.85436620e+02] [ 3.23532011e-02 9.99476497e-01 -4.61382971e-05 3.22647957e+00] [ 4.62266415e-03 -1.03474348e-04 9.99989310e-01 2.09614736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46509989299997 meters 0.016683732392124125 Centerline is valid? [True, True] Translation: X:185.47, Y:3.22, Z:2.10 [[ 9.99280388e-01 -3.76962110e-02 -4.20729094e-03 1.85467364e+02] [ 3.76963709e-02 9.99289238e-01 -4.13159154e-05 3.22205826e+00] [ 4.20585801e-03 -1.17313416e-04 9.99991148e-01 2.09556096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49509989299997 meters 0.017555861193035892 Centerline is valid? [True, True] Translation: X:185.50, Y:3.22, Z:2.10 [[ 9.99176244e-01 -4.03316586e-02 -4.49340228e-03 1.85499320e+02] [ 4.03318661e-02 9.99186338e-01 -4.44547633e-05 3.22010666e+00] [ 4.49153910e-03 -1.36809156e-04 9.99989904e-01 2.09578638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52509989299998 meters 0.018851467600190536 Centerline is valid? [True, True] Translation: X:185.53, Y:3.22, Z:2.10 [[ 9.99060775e-01 -4.31542181e-02 -3.90900536e-03 1.85529928e+02] [ 4.31543986e-02 9.99068414e-01 -3.82031484e-05 3.21744770e+00] [ 3.90701242e-03 -1.30523508e-04 9.99992359e-01 2.09644504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55509989299998 meters 0.02269170943159129 Centerline is valid? [True, True] Translation: X:185.56, Y:3.21, Z:2.10 [[ 9.98826370e-01 -4.83133190e-02 -3.42130557e-03 1.85559598e+02] [ 4.83134888e-02 9.98832221e-01 -3.30488106e-05 3.21017186e+00] [ 3.41890694e-03 -1.32285185e-04 9.99994147e-01 2.09757752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58509989299998 meters 0.02269170943159129 Centerline is valid? [True, True] Translation: X:185.59, Y:3.21, Z:2.10 [[ 9.98831356e-01 -4.82101324e-02 -3.42129669e-03 1.85592160e+02] [ 4.82102984e-02 9.98837207e-01 -3.39729110e-05 3.21039350e+00] [ 3.41895627e-03 -1.31008526e-04 9.99994147e-01 2.09798022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61509989299998 meters 0.024005438603877983 Centerline is valid? [True, True] Translation: X:185.62, Y:3.21, Z:2.10 [[ 9.98619552e-01 -5.23478998e-02 -4.32286088e-03 1.85623100e+02] [ 5.23482100e-02 9.98628892e-01 -4.14497362e-05 3.20728867e+00] [ 4.31910358e-03 -1.84901512e-04 9.99990656e-01 2.09706626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64509989299998 meters 0.02513856376172493 Centerline is valid? [True, True] Translation: X:185.65, Y:3.21, Z:2.10 [[ 9.98544383e-01 -5.37615890e-02 -4.33669859e-03 1.85654586e+02] [ 5.37619135e-02 9.98553782e-01 -4.17832137e-05 3.20541762e+00] [ 4.33267311e-03 -1.91426821e-04 9.99990596e-01 2.09720645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67509989299998 meters 0.02342563149099654 Centerline is valid? [True, True] Translation: X:185.69, Y:3.21, Z:2.10 [[ 9.98501161e-01 -5.45041777e-02 -4.97262515e-03 1.85686510e+02] [ 5.45046147e-02 9.98513518e-01 -4.77039426e-05 3.20741487e+00] [ 4.96783350e-03 -2.23398576e-04 9.99987635e-01 2.09606120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70509989299998 meters 0.026593728839756827 Centerline is valid? [True, True] Translation: X:185.72, Y:3.20, Z:2.10 [[ 9.98524103e-01 -5.40704311e-02 -5.09937083e-03 1.85717832e+02] [ 5.40708876e-02 9.98537098e-01 -4.84023854e-05 3.20284393e+00] [ 5.09452809e-03 -2.27396559e-04 9.99986997e-01 2.09630716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73509989299998 meters 0.0218084073275076 Centerline is valid? [True, True] Translation: X:185.75, Y:3.21, Z:2.10 [[ 9.98567287e-01 -5.32375968e-02 -5.39742834e-03 1.85750408e+02] [ 5.32380965e-02 9.98581846e-01 -5.11702697e-05 3.20981025e+00] [ 5.39249814e-03 -2.36251853e-04 9.99985432e-01 2.09557564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76509989299998 meters 0.020894474332470495 Centerline is valid? [True, True] Translation: X:185.78, Y:3.21, Z:2.10 [[ 9.98640704e-01 -5.18345360e-02 -5.47033079e-03 1.85782504e+02] [ 5.18350317e-02 9.98655660e-01 -5.12276483e-05 3.21168415e+00] [ 5.46563216e-03 -2.32396755e-04 9.99985036e-01 2.09555241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79509989299999 meters 0.021976781788922355 Centerline is valid? [True, True] Translation: X:185.81, Y:3.21, Z:2.10 [[ 9.98721783e-01 -5.01788326e-02 -6.07331962e-03 1.85814052e+02] [ 5.01794163e-02 9.98740218e-01 -5.63254183e-05 3.21095383e+00] [ 6.06849490e-03 -2.48502211e-04 9.99981556e-01 2.09627733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.825099893 meters 0.02061735953261722 Centerline is valid? [True, True] Translation: X:185.85, Y:3.21, Z:2.10 [[ 9.98835781e-01 -4.78235221e-02 -6.32408806e-03 1.85845366e+02] [ 4.78241124e-02 9.98855771e-01 -5.79318102e-05 3.21381054e+00] [ 6.31962236e-03 -2.44579534e-04 9.99980001e-01 2.09645105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.855099893 meters 0.019452969595113865 Centerline is valid? [True, True] Translation: X:185.88, Y:3.22, Z:2.10 [[ 9.99080799e-01 -4.23581206e-02 -6.58376401e-03 1.85875265e+02] [ 4.23586449e-02 9.99102468e-01 -5.98466854e-05 3.21793863e+00] [ 6.58038987e-03 -2.19087647e-04 9.99978325e-01 2.09719077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.885099893 meters 0.017306333866888596 Centerline is valid? [True, True] Translation: X:185.91, Y:3.22, Z:2.10 [[ 9.99217982e-01 -3.89658258e-02 -6.71482097e-03 1.85906468e+02] [ 3.89662933e-02 9.99240524e-01 -6.12441741e-05 3.22247740e+00] [ 6.71210766e-03 -2.00455403e-04 9.99977453e-01 2.09732283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.915099893 meters 0.01685717592238435 Centerline is valid? [True, True] Translation: X:185.94, Y:3.22, Z:2.10 [[ 9.99340499e-01 -3.56968396e-02 -6.65601046e-03 1.85936843e+02] [ 3.56972255e-02 9.99362649e-01 -6.08626343e-05 3.22440866e+00] [ 6.65394085e-03 -1.76778611e-04 9.99977847e-01 2.09768769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.945099893 meters 0.015896742365481605 Centerline is valid? [True, True] Translation: X:185.97, Y:3.23, Z:2.10 [[ 9.99457314e-01 -3.22457576e-02 -6.72964511e-03 1.85968736e+02] [ 3.22460801e-02 9.99479958e-01 -6.06117203e-05 3.22744722e+00] [ 6.72809988e-03 -1.56425848e-04 9.99977354e-01 2.09788812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.975099893 meters 0.014583602630972302 Centerline is valid? [True, True] Translation: X:186.00, Y:3.23, Z:2.10 [[ 9.99647133e-01 -2.57231721e-02 -6.62784414e-03 1.86000090e+02] [ 2.57233458e-02 9.99669098e-01 -5.90492695e-05 3.23194851e+00] [ 6.62716991e-03 -1.11461894e-04 9.99978034e-01 2.09789876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.005099893 meters 0.014026912839891027 Centerline is valid? [True, True] Translation: X:186.03, Y:3.23, Z:2.10 [[ 9.99720709e-01 -2.27065153e-02 -6.55117613e-03 1.86032121e+02] [ 2.27066204e-02 9.99742170e-01 -5.83477071e-05 3.23405060e+00] [ 6.55081192e-03 -9.04236587e-05 9.99978539e-01 2.09820114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.035099893 meters 0.013457988052248033 Centerline is valid? [True, True] Translation: X:186.06, Y:3.24, Z:2.10 [[ 9.99801794e-01 -1.84750904e-02 -7.41910383e-03 1.86064860e+02] [ 1.84751129e-02 9.99829318e-01 -6.55126924e-05 3.23640203e+00] [ 7.41904787e-03 -7.15690733e-05 9.99972476e-01 2.09816775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.065099893 meters 0.013400409358170376 Centerline is valid? [True, True] Translation: X:186.10, Y:3.24, Z:2.10 [[ 9.99824723e-01 -1.71244086e-02 -7.56823818e-03 1.86096850e+02] [ 1.71243993e-02 9.99853365e-01 -6.60348017e-05 3.23722414e+00] [ 7.56825921e-03 -6.35783052e-05 9.99971358e-01 2.09793630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.095099893 meters 0.013370226906678528 Centerline is valid? [True, True] Translation: X:186.13, Y:3.24, Z:2.10 [[ 9.99827592e-01 -1.64280012e-02 -8.65493248e-03 1.86127992e+02] [ 1.64279701e-02 9.99865049e-01 -7.46905157e-05 3.23706191e+00] [ 8.65499150e-03 -6.75053339e-05 9.99962543e-01 2.09820166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.125099893 meters 0.013474999238015133 Centerline is valid? [True, True] Translation: X:186.16, Y:3.24, Z:2.10 [[ 9.99806963e-01 -1.67018927e-02 -1.03480988e-02 1.86159731e+02] [ 1.67018705e-02 9.99860510e-01 -8.85730829e-05 3.23537012e+00] [ 1.03481347e-02 -8.42766209e-05 9.99946453e-01 2.09715952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.155099893 meters 0.013522574813074733 Centerline is valid? [True, True] Translation: X:186.19, Y:3.23, Z:2.10 [[ 9.99778190e-01 -1.79433264e-02 -1.10276321e-02 1.86190054e+02] [ 1.79433818e-02 9.99839000e-01 -9.39269831e-05 3.23462333e+00] [ 1.10275420e-02 -1.03966863e-04 9.99939189e-01 2.09693586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.185099893 meters 0.013959273661728796 Centerline is valid? [True, True] Translation: X:186.22, Y:3.23, Z:2.10 [[ 9.99697455e-01 -2.14786576e-02 -1.19861042e-02 1.86220745e+02] [ 2.14789771e-02 9.99769295e-01 -1.02090694e-04 3.23119495e+00] [ 1.19855317e-02 -1.55389451e-04 9.99928159e-01 2.09728706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21509989299997 meters 0.014582066477152763 Centerline is valid? [True, True] Translation: X:186.25, Y:3.23, Z:2.10 [[ 9.99649746e-01 -2.36136986e-02 -1.19490157e-02 1.86251231e+02] [ 2.36141683e-02 9.99721141e-01 -1.01797431e-04 3.22847269e+00] [ 1.19480874e-02 -1.80404292e-04 9.99928603e-01 2.09777434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24509989299997 meters 0.014945680723666897 Centerline is valid? [True, True] Translation: X:186.28, Y:3.23, Z:2.10 [[ 9.99590854e-01 -2.58320636e-02 -1.22812614e-02 1.86282892e+02] [ 2.58327356e-02 9.99666274e-01 -1.03940569e-04 3.22632663e+00] [ 1.22798478e-02 -2.13360537e-04 9.99924577e-01 2.09829944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27509989299998 meters 0.015566370558973463 Centerline is valid? [True, True] Translation: X:186.31, Y:3.22, Z:2.10 [[ 9.99531944e-01 -2.81911715e-02 -1.18807298e-02 1.86314689e+02] [ 2.81919717e-02 9.99602522e-01 -1.00154292e-04 3.22370102e+00] [ 1.18788309e-02 -2.34833783e-04 9.99929417e-01 2.09881388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30509989299998 meters 0.017022303664908672 Centerline is valid? [True, True] Translation: X:186.35, Y:3.22, Z:2.10 [[ 9.99369160e-01 -3.34222831e-02 -1.20097242e-02 1.86345547e+02] [ 3.34234861e-02 9.99441274e-01 -1.00587088e-04 3.21840201e+00] [ 1.20063759e-02 -3.00883216e-04 9.99927876e-01 2.09992697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33509989299998 meters 0.0173553630597694 Centerline is valid? [True, True] Translation: X:186.38, Y:3.22, Z:2.10 [[ 9.99286448e-01 -3.58364750e-02 -1.19306944e-02 1.86377392e+02] [ 3.58378361e-02 9.99357613e-01 -9.97554503e-05 3.21658145e+00] [ 1.19266052e-02 -3.27886002e-04 9.99928822e-01 2.10059283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36509989299998 meters 0.019367427412090046 Centerline is valid? [True, True] Translation: X:186.41, Y:3.21, Z:2.10 [[ 9.99195344e-01 -3.82823745e-02 -1.19634796e-02 1.86408870e+02] [ 3.82839335e-02 9.99266897e-01 -9.87544795e-05 3.21189638e+00] [ 1.19584897e-02 -3.59334041e-04 9.99928430e-01 2.10080802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39509989299998 meters 0.020115953402428253 Centerline is valid? [True, True] Translation: X:186.44, Y:3.21, Z:2.10 [[ 9.99087612e-01 -4.08997616e-02 -1.22944263e-02 1.86441371e+02] [ 4.09016143e-02 9.99163174e-01 -1.00815837e-04 3.20967007e+00] [ 1.22882614e-02 -4.02138029e-04 9.99924416e-01 2.10088973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42509989299998 meters 0.019550583514798214 Centerline is valid? [True, True] Translation: X:186.47, Y:3.21, Z:2.10 [[ 9.98838069e-01 -4.63363328e-02 -1.32460134e-02 1.86472931e+02] [ 4.63389733e-02 9.98925767e-01 -1.07669232e-04 3.20834312e+00] [ 1.32367731e-02 -5.06262535e-04 9.99912262e-01 2.10107998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45509989299998 meters 0.020430075787645417 Centerline is valid? [True, True] Translation: X:186.50, Y:3.21, Z:2.10 [[ 9.98698625e-01 -4.90547463e-02 -1.39530410e-02 1.86504650e+02] [ 4.90579502e-02 9.98795928e-01 -1.12764604e-04 3.20599968e+00] [ 1.39417722e-02 -5.71889736e-04 9.99902645e-01 2.10131517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48509989299998 meters 0.022308126802937926 Centerline is valid? [True, True] Translation: X:186.54, Y:3.20, Z:2.10 [[ 9.98562100e-01 -5.16881763e-02 -1.42149684e-02 1.86535391e+02] [ 5.16917889e-02 9.98663079e-01 -1.13404465e-04 3.20200449e+00] [ 1.42018258e-02 -6.21555745e-04 9.99898956e-01 2.10134076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51509989299998 meters 0.02250872379580673 Centerline is valid? [True, True] Translation: X:186.57, Y:3.20, Z:2.10 [[ 9.98421339e-01 -5.43330008e-02 -1.42391713e-02 1.86566656e+02] [ 5.43369015e-02 9.98522653e-01 -1.13078367e-04 3.20074087e+00] [ 1.42242790e-02 -6.60812596e-04 9.99898611e-01 2.10215452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54509989299999 meters 0.02489192726064544 Centerline is valid? [True, True] Translation: X:186.60, Y:3.19, Z:2.10 [[ 9.98178086e-01 -5.86857166e-02 -1.40176921e-02 1.86596325e+02] [ 5.86899326e-02 9.98276254e-01 -1.10771118e-04 3.19495426e+00] [ 1.40000298e-02 -7.12128101e-04 9.99901741e-01 2.10320375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.575099893 meters 0.024386822138506282 Centerline is valid? [True, True] Translation: X:186.63, Y:3.19, Z:2.10 [[ 9.98081046e-01 -6.02490983e-02 -1.42923954e-02 1.86628319e+02] [ 6.02536547e-02 9.98183092e-01 -1.11984749e-04 3.19495543e+00] [ 1.42731744e-02 -7.49399199e-04 9.99897852e-01 2.10351122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.605099893 meters 0.025355182965616535 Centerline is valid? [True, True] Translation: X:186.66, Y:3.19, Z:2.10 [[ 9.98017398e-01 -6.11316765e-02 -1.49730369e-02 1.86659410e+02] [ 6.11367952e-02 9.98129390e-01 -1.16058036e-04 3.19295567e+00] [ 1.49521231e-02 -7.99575553e-04 9.99887891e-01 2.10322796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.635099893 meters 0.024968368292856966 Centerline is valid? [True, True] Translation: X:186.69, Y:3.19, Z:2.10 [[ 9.97953171e-01 -6.18672154e-02 -1.61838312e-02 1.86691904e+02] [ 6.18733225e-02 9.98084003e-01 -1.23552488e-04 3.19318541e+00] [ 1.61604669e-02 -8.78047809e-04 9.99869026e-01 2.10353160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.665099893 meters 0.025245477800684736 Centerline is valid? [True, True] Translation: X:186.72, Y:3.19, Z:2.10 [[ 9.97966846e-01 -6.15610550e-02 -1.65048706e-02 1.86724392e+02] [ 6.15673853e-02 9.98102921e-01 -1.24781356e-04 3.19306945e+00] [ 1.64812412e-02 -8.91634071e-04 9.99863778e-01 2.10389703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.695099893 meters 0.02397196063911414 Centerline is valid? [True, True] Translation: X:186.76, Y:3.20, Z:2.10 [[ 9.98007570e-01 -6.08159940e-02 -1.68019635e-02 1.86756369e+02] [ 6.08224698e-02 9.98148592e-01 -1.25785220e-04 3.19514842e+00] [ 1.67785060e-02 -8.96402318e-04 9.99858829e-01 2.10418375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.725099893 meters 0.0239109845846985 Centerline is valid? [True, True] Translation: X:186.79, Y:3.20, Z:2.10 [[ 9.98060145e-01 -5.97739437e-02 -1.74075173e-02 1.86788574e+02] [ 5.97807597e-02 9.98211523e-01 -1.29003362e-04 3.19548592e+00] [ 1.73840954e-02 -9.11881492e-04 9.99848469e-01 2.10432420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.755099893 meters 0.02413706776982968 Centerline is valid? [True, True] Translation: X:186.82, Y:3.20, Z:2.10 [[ 9.98136896e-01 -5.83819672e-02 -1.77280002e-02 1.86819688e+02] [ 5.83888392e-02 9.98293908e-01 -1.30158436e-04 3.19533319e+00] [ 1.77053535e-02 -9.05201416e-04 9.99842838e-01 2.10470331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.785099893 meters 0.023281017923783495 Centerline is valid? [True, True] Translation: X:186.85, Y:3.20, Z:2.10 [[ 9.98332892e-01 -5.46321468e-02 -1.86216154e-02 1.86849760e+02] [ 5.46390917e-02 9.98506160e-01 -1.36006810e-04 3.19718710e+00] [ 1.86012280e-02 -8.81688078e-04 9.99826593e-01 2.10487348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.815099893 meters 0.023281017923783495 Centerline is valid? [True, True] Translation: X:186.88, Y:3.20, Z:2.11 [[ 9.98336819e-01 -5.45603387e-02 -1.86216187e-02 1.86881485e+02] [ 5.45672795e-02 9.98510087e-01 -1.35556839e-04 3.19736044e+00] [ 1.86012701e-02 -8.80799687e-04 9.99826593e-01 2.10526583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.845099893 meters 0.022188282622466905 Centerline is valid? [True, True] Translation: X:186.91, Y:3.20, Z:2.11 [[ 9.98445632e-01 -5.22788271e-02 -1.93195046e-02 1.86913087e+02] [ 5.22858945e-02 9.98632147e-01 -1.39462261e-04 3.19981209e+00] [ 1.93003693e-02 -8.70892094e-04 9.99813351e-01 2.10588691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.875099893 meters 0.02121761713340768 Centerline is valid? [True, True] Translation: X:186.94, Y:3.20, Z:2.11 [[ 9.98583617e-01 -4.95644961e-02 -1.93421735e-02 1.86944919e+02] [ 4.95710879e-02 9.98770588e-01 -1.38798957e-04 3.20223828e+00] [ 1.93252735e-02 -8.20210217e-04 9.99812913e-01 2.10622353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.905099893 meters 0.0207605524860421 Centerline is valid? [True, True] Translation: X:186.98, Y:3.20, Z:2.11 [[ 9.98720162e-01 -4.65122202e-02 -1.98658164e-02 1.86975749e+02] [ 4.65185900e-02 9.98917414e-01 -1.41598858e-04 3.20432795e+00] [ 1.98508960e-02 -7.82712134e-04 9.99802645e-01 2.10643928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.935099893 meters 0.018683917368871063 Centerline is valid? [True, True] Translation: X:187.01, Y:3.21, Z:2.11 [[ 9.99015848e-01 -3.93368984e-02 -2.04925392e-02 1.87005814e+02] [ 3.93421763e-02 9.99225786e-01 -1.45692223e-04 3.21019230e+00] [ 2.04824047e-02 -6.60672249e-04 9.99789995e-01 2.10699863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96509989299997 meters 0.01776198701288547 Centerline is valid? [True, True] Translation: X:187.04, Y:3.21, Z:2.11 [[ 9.99164645e-01 -3.53295137e-02 -2.05386913e-02 1.87035677e+02] [ 3.53339669e-02 9.99375550e-01 -1.46148778e-04 3.21337699e+00] [ 2.05310293e-02 -5.79686749e-04 9.99789048e-01 2.10720681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99509989299997 meters 0.016684039872250242 Centerline is valid? [True, True] Translation: X:187.07, Y:3.22, Z:2.11 [[ 9.99294667e-01 -3.13391615e-02 -2.06887834e-02 1.87065584e+02] [ 3.13428225e-02 9.99508682e-01 -1.47360360e-04 3.21706780e+00] [ 2.06832368e-02 -5.01188444e-04 9.99785953e-01 2.10738902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02509989299998 meters 0.01505677567119677 Centerline is valid? [True, True] Translation: X:187.09, Y:3.22, Z:2.11 [[ 9.99416761e-01 -2.71771095e-02 -2.06770885e-02 1.87094886e+02] [ 2.71798654e-02 9.99630548e-01 -1.47783977e-04 3.22187751e+00] [ 2.06734656e-02 -4.14302699e-04 9.99786195e-01 2.10837044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05509989299998 meters 0.01437043322829012 Centerline is valid? [True, True] Translation: X:187.12, Y:3.22, Z:2.11 [[ 9.99525291e-01 -2.30818457e-02 -2.04063886e-02 1.87123647e+02] [ 2.30836596e-02 9.99733526e-01 -1.46693668e-04 3.22497604e+00] [ 2.04043368e-02 -3.24430096e-04 9.99791757e-01 2.10865856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08509989299998 meters 0.012972618432581014 Centerline is valid? [True, True] Translation: X:187.15, Y:3.23, Z:2.11 [[ 9.99684960e-01 -1.49396366e-02 -2.01689777e-02 1.87152257e+02] [ 1.49397277e-02 9.99888385e-01 -1.46165596e-04 3.23254637e+00] [ 2.01689102e-02 -1.55199487e-04 9.99796575e-01 2.10969139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11509989299998 meters 0.012724070429752649 Centerline is valid? [True, True] Translation: X:187.18, Y:3.24, Z:2.11 [[ 9.99730017e-01 -1.16150265e-02 -2.01242245e-02 1.87180864e+02] [ 1.16143878e-02 9.99932540e-01 -1.48619599e-04 3.23581374e+00] [ 2.01245931e-02 -8.51510729e-05 9.99797476e-01 2.10993205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14509989299998 meters 0.012577259371336974 Centerline is valid? [True, True] Translation: X:187.21, Y:3.24, Z:2.11 [[ 9.99762265e-01 -8.05788131e-03 -2.02603867e-02 1.87208919e+02] [ 8.05642760e-03 9.99967535e-01 -1.53372968e-04 3.23867056e+00] [ 2.02609648e-02 -9.88983324e-06 9.99794726e-01 2.10989469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17509989299998 meters 0.012664529652725175 Centerline is valid? [True, True] Translation: X:187.24, Y:3.24, Z:2.11 [[ 9.99776573e-01 -5.25163763e-03 -2.04749596e-02 1.87237181e+02] [ 5.24949643e-03 9.99986209e-01 -1.58322521e-04 3.24116938e+00] [ 2.04755087e-02 5.08039197e-05 9.99790354e-01 2.10999753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20509989299998 meters 0.012825491805961165 Centerline is valid? [True, True] Translation: X:187.27, Y:3.24, Z:2.11 [[ 9.99779720e-01 -2.68610865e-03 -2.08157781e-02 1.87265935e+02] [ 2.68322515e-03 9.99996386e-01 -1.66453034e-04 3.24326773e+00] [ 2.08161500e-02 1.10562948e-04 9.99783314e-01 2.10972462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23509989299998 meters 0.013495037998222263 Centerline is valid? [True, True] Translation: X:187.29, Y:3.25, Z:2.11 [[ 9.99763820e-01 1.61287581e-03 -2.16726495e-02 1.87293826e+02] [-1.61709557e-03 9.99998677e-01 -1.77180249e-04 3.24679754e+00] [ 2.16723350e-02 2.12185148e-04 9.99765105e-01 2.10936513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26509989299998 meters 0.013760395903265539 Centerline is valid? [True, True] Translation: X:187.32, Y:3.25, Z:2.11 [[ 9.99767089e-01 3.19027527e-03 -2.13445349e-02 1.87322166e+02] [-3.19479458e-03 9.99994881e-01 -1.77635017e-04 3.24815164e+00] [ 2.13438590e-02 2.45785048e-04 9.99772164e-01 2.11008305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29509989299999 meters 0.014094805783064301 Centerline is valid? [True, True] Translation: X:187.35, Y:3.25, Z:2.11 [[ 9.99761681e-01 4.69227866e-03 -2.13204874e-02 1.87350444e+02] [-4.69723553e-03 9.99988951e-01 -1.82419435e-04 3.24928431e+00] [ 2.13193959e-02 2.82523312e-04 9.99772676e-01 2.11120711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.325099893 meters 0.014423466411182273 Centerline is valid? [True, True] Translation: X:187.38, Y:3.25, Z:2.11 [[ 9.99780986e-01 6.63772131e-03 -1.98474566e-02 1.87378899e+02] [-6.64248811e-03 9.99977923e-01 -1.74256293e-04 3.24936676e+00] [ 1.98458618e-02 3.06054623e-04 9.99803005e-01 2.11300962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.355099893 meters 0.014273754999624355 Centerline is valid? [True, True] Translation: X:187.41, Y:3.25, Z:2.11 [[ 9.99781427e-01 7.05685384e-03 -1.96799162e-02 1.87408190e+02] [-7.06168803e-03 9.99975050e-01 -1.76157095e-04 3.24834567e+00] [ 1.96781821e-02 3.15092020e-04 9.99806316e-01 2.11384641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.385099893 meters 0.014683928593313723 Centerline is valid? [True, True] Translation: X:187.44, Y:3.25, Z:2.11 [[ 9.99788489e-01 7.07128097e-03 -1.93125423e-02 1.87435289e+02] [-7.07597073e-03 9.99974950e-01 -1.74511331e-04 3.24810904e+00] [ 1.93108245e-02 3.11129405e-04 9.99813480e-01 2.11391939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.415099893 meters 0.014646428198449924 Centerline is valid? [True, True] Translation: X:187.46, Y:3.25, Z:2.11 [[ 9.99787356e-01 6.70535527e-03 -1.95008001e-02 1.87464361e+02] [-6.71010522e-03 9.99977471e-01 -1.78154499e-04 3.24706710e+00] [ 1.94991662e-02 3.08969036e-04 9.99809825e-01 2.11439283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.445099893 meters 0.013499618105572793 Centerline is valid? [True, True] Translation: X:187.49, Y:3.24, Z:2.11 [[ 9.99791046e-01 4.79743563e-03 -1.98708054e-02 1.87493363e+02] [-4.80201780e-03 9.99988454e-01 -1.82889607e-04 3.24106354e+00] [ 1.98696985e-02 2.78271352e-04 9.99802539e-01 2.11466180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.475099893 meters 0.013015749663568256 Centerline is valid? [True, True] Translation: X:187.52, Y:3.24, Z:2.11 [[ 9.99782840e-01 3.46981029e-03 -2.05483167e-02 1.87522129e+02] [-3.47446041e-03 9.99993946e-01 -1.90605089e-04 3.23787844e+00] [ 2.05475310e-02 2.61958010e-04 9.99788843e-01 2.11450046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.505099893 meters 0.012799663802836567 Centerline is valid? [True, True] Translation: X:187.55, Y:3.23, Z:2.11 [[ 9.99767748e-01 2.00768374e-03 -2.14573688e-02 1.87551094e+02] [-2.01245165e-03 9.99997955e-01 -2.00612562e-04 3.23498202e+00] [ 2.14569221e-02 2.43747887e-04 9.99769744e-01 2.11409837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.535099893 meters 0.012747469845227732 Centerline is valid? [True, True] Translation: X:187.58, Y:3.23, Z:2.11 [[ 9.99748175e-01 3.66027602e-05 -2.24406852e-02 1.87579075e+02] [-4.13724340e-05 9.99999977e-01 -2.12081584e-04 3.23246809e+00] [ 2.24406769e-02 2.12956602e-04 9.99748154e-01 2.11388919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.565099893 meters 0.012294253982776749 Centerline is valid? [True, True] Translation: X:187.61, Y:3.23, Z:2.11 [[ 9.99733368e-01 -3.49347650e-03 -2.28251778e-02 1.87606835e+02] [ 3.48940232e-03 9.99993888e-01 -2.18320934e-04 3.22642240e+00] [ 2.28258010e-02 1.38616494e-04 9.99739448e-01 2.11358282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.595099893 meters 0.012118284936301817 Centerline is valid? [True, True] Translation: X:187.64, Y:3.22, Z:2.11 [[ 9.99733395e-01 -5.57370402e-03 -2.24070022e-02 1.87636115e+02] [ 5.57022358e-03 9.99984462e-01 -2.17739377e-04 3.22320588e+00] [ 2.24078677e-02 9.28693142e-05 9.99748908e-01 2.11466972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.625099893 meters 0.01205208191890595 Centerline is valid? [True, True] Translation: X:187.66, Y:3.22, Z:2.12 [[ 9.99728228e-01 -7.77203845e-03 -2.19787353e-02 1.87664148e+02] [ 7.76913973e-03 9.99969796e-01 -2.17273794e-04 3.22056177e+00] [ 2.19797601e-02 4.64588803e-05 9.99758415e-01 2.11514517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.655099893 meters 0.011887399526105681 Centerline is valid? [True, True] Translation: X:187.69, Y:3.21, Z:2.12 [[ 9.99705258e-01 -1.16477610e-02 -2.13008800e-02 1.87693480e+02] [ 1.16458814e-02 9.99932162e-01 -2.12293275e-04 3.21397244e+00] [ 2.13019077e-02 -3.58368189e-05 9.99773088e-01 2.11638530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.685099893 meters 0.011900509144387419 Centerline is valid? [True, True] Translation: X:187.72, Y:3.21, Z:2.12 [[ 9.99673907e-01 -1.38744015e-02 -2.14378278e-02 1.87721547e+02] [ 1.38729634e-02 9.99903743e-01 -2.15809019e-04 3.21047344e+00] [ 2.14387585e-02 -8.16675559e-05 9.99770160e-01 2.11552554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71509989299997 meters 0.011999121512651008 Centerline is valid? [True, True] Translation: X:187.75, Y:3.21, Z:2.12 [[ 9.99630305e-01 -1.62924750e-02 -2.17671447e-02 1.87750387e+02] [ 1.62914767e-02 9.99867260e-01 -2.23204617e-04 3.20725667e+00] [ 2.17678919e-02 -1.31496832e-04 9.99763043e-01 2.11568293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74509989299997 meters 0.012308769169143863 Centerline is valid? [True, True] Translation: X:187.78, Y:3.20, Z:2.11 [[ 9.99585650e-01 -1.86751651e-02 -2.19035633e-02 1.87778029e+02] [ 1.86746391e-02 9.99825588e-01 -2.28574782e-04 3.20339066e+00] [ 2.19040118e-02 -1.80561069e-04 9.99760062e-01 2.11480768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77509989299998 meters 0.012383780203882594 Centerline is valid? [True, True] Translation: X:187.81, Y:3.20, Z:2.12 [[ 9.99534851e-01 -2.12394046e-02 -2.18853463e-02 1.87806608e+02] [ 2.12394181e-02 9.99774391e-01 -2.31853652e-04 3.20032044e+00] [ 2.18853332e-02 -2.33086213e-04 9.99760460e-01 2.11520132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80509989299998 meters 0.01297790043743197 Centerline is valid? [True, True] Translation: X:187.83, Y:3.20, Z:2.11 [[ 9.99464178e-01 -2.39188776e-02 -2.23437582e-02 1.87834820e+02] [ 2.39194711e-02 9.99713860e-01 -2.40734153e-04 3.19620630e+00] [ 2.23431229e-02 -2.93845716e-04 9.99750318e-01 2.11456434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83509989299998 meters 0.013329102205370652 Centerline is valid? [True, True] Translation: X:187.86, Y:3.19, Z:2.12 [[ 9.99329818e-01 -2.94746746e-02 -2.17061842e-02 1.87863618e+02] [ 2.94764698e-02 9.99565446e-01 -2.37305634e-04 3.19112930e+00] [ 2.17037462e-02 -4.02675088e-04 9.99764365e-01 2.11561960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86509989299998 meters 0.014988421639626003 Centerline is valid? [True, True] Translation: X:187.89, Y:3.19, Z:2.12 [[ 9.99257440e-01 -3.20183904e-02 -2.14334110e-02 1.87891233e+02] [ 3.20206321e-02 9.99487180e-01 -2.38683250e-04 3.18601504e+00] [ 2.14300618e-02 -4.47805355e-04 9.99770250e-01 2.11512502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89509989299998 meters 0.015193061922420587 Centerline is valid? [True, True] Translation: X:187.92, Y:3.18, Z:2.12 [[ 9.99153876e-01 -3.50877419e-02 -2.14565335e-02 1.87919620e+02] [ 3.50906420e-02 9.99384105e-01 -2.41444997e-04 3.18440516e+00] [ 2.14517903e-02 -5.11682831e-04 9.99769753e-01 2.11601859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92509989299998 meters 0.016896250134999218 Centerline is valid? [True, True] Translation: X:187.95, Y:3.18, Z:2.12 [[ 9.98954766e-01 -4.03837690e-02 -2.14132508e-02 1.87949028e+02] [ 4.03878393e-02 9.99184049e-01 -2.42523975e-04 3.17818494e+00] [ 2.14055727e-02 -6.22564454e-04 9.99770681e-01 2.11624187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95509989299998 meters 0.016915964276577947 Centerline is valid? [True, True] Translation: X:187.98, Y:3.18, Z:2.12 [[ 9.98845575e-01 -4.30347888e-02 -2.13429954e-02 1.87979008e+02] [ 4.30394162e-02 9.99073346e-01 -2.42700638e-04 3.17710716e+00] [ 2.13336624e-02 -6.76169605e-04 9.99772183e-01 2.11695579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98509989299998 meters 0.01740777507105307 Centerline is valid? [True, True] Translation: X:188.01, Y:3.18, Z:2.12 [[ 9.98737541e-01 -4.53549579e-02 -2.15928686e-02 1.88009307e+02] [ 4.53602262e-02 9.98970665e-01 -2.45991738e-04 3.17546559e+00] [ 2.15817992e-02 -7.33776220e-04 9.99766817e-01 2.11744390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01509989299998 meters 0.018263665138484143 Centerline is valid? [True, True] Translation: X:188.04, Y:3.17, Z:2.12 [[ 9.98648373e-01 -4.72353797e-02 -2.16851472e-02 1.88039839e+02] [ 4.72411359e-02 9.98883484e-01 -2.47043001e-04 3.17342100e+00] [ 2.16726046e-02 -7.77721895e-04 9.99764819e-01 2.11735471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04509989299999 meters 0.01879016946824891 Centerline is valid? [True, True] Translation: X:188.07, Y:3.17, Z:2.12 [[ 9.98511582e-01 -4.98261853e-02 -2.21804405e-02 1.88070263e+02] [ 4.98328457e-02 9.98757540e-01 -2.52685515e-04 3.17125898e+00] [ 2.21654726e-02 -8.53005058e-04 9.99753952e-01 2.11729659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.075099893 meters 0.02068561140665633 Centerline is valid? [True, True] Translation: X:188.10, Y:3.17, Z:2.12 [[ 9.98467890e-01 -5.05773798e-02 -2.24455361e-02 1.88100322e+02] [ 5.05843939e-02 9.98719757e-01 -2.55524652e-04 3.16830306e+00] [ 2.24297242e-02 -8.80260682e-04 9.99748035e-01 2.11668469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.105099893 meters 0.019458741526635834 Centerline is valid? [True, True] Translation: X:188.13, Y:3.17, Z:2.12 [[ 9.98451605e-01 -5.07922244e-02 -2.26835385e-02 1.88131110e+02] [ 5.07994486e-02 9.98708841e-01 -2.58009878e-04 3.17019455e+00] [ 2.26673554e-02 -8.94700873e-04 9.99742662e-01 2.11747285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.135099893 meters 0.019675432406122916 Centerline is valid? [True, True] Translation: X:188.16, Y:3.17, Z:2.12 [[ 9.98451252e-01 -5.08049980e-02 -2.26704517e-02 1.88161729e+02] [ 5.08122171e-02 9.98708192e-01 -2.57861024e-04 3.17014533e+00] [ 2.26542664e-02 -8.94474251e-04 9.99742959e-01 2.11757034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.165099893 meters 0.01843818735690793 Centerline is valid? [True, True] Translation: X:188.19, Y:3.17, Z:2.12 [[ 9.98482409e-01 -4.99623688e-02 -2.31655136e-02 1.88192474e+02] [ 4.99696805e-02 9.98750700e-01 -2.63492017e-04 3.17366958e+00] [ 2.31497376e-02 -8.94481167e-04 9.99731609e-01 2.11792228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.195099893 meters 0.01877244364324508 Centerline is valid? [True, True] Translation: X:188.22, Y:3.17, Z:2.12 [[ 9.98509464e-01 -4.92653285e-02 -2.34899423e-02 1.88221724e+02] [ 4.92726492e-02 9.98785330e-01 -2.67384072e-04 3.17440179e+00] [ 2.34745825e-02 -8.90426158e-04 9.99724037e-01 2.11772197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.225099893 meters 0.018417296567341937 Centerline is valid? [True, True] Translation: X:188.25, Y:3.18, Z:2.12 [[ 9.98560953e-01 -4.78101000e-02 -2.42943970e-02 1.88252103e+02] [ 4.78174953e-02 9.98856051e-01 -2.76773186e-04 3.17750571e+00] [ 2.42798380e-02 -8.85322318e-04 9.99704809e-01 2.11772856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.255099893 meters 0.01735300225611299 Centerline is valid? [True, True] Translation: X:188.28, Y:3.18, Z:2.12 [[ 9.98581009e-01 -4.73907602e-02 -2.42916551e-02 1.88281432e+02] [ 4.73980192e-02 9.98876044e-01 -2.77182798e-04 3.18045959e+00] [ 2.42774883e-02 -8.74586859e-04 9.99704876e-01 2.11829106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.285099893 meters 0.01780804990800148 Centerline is valid? [True, True] Translation: X:188.31, Y:3.18, Z:2.12 [[ 9.98596797e-01 -4.70223751e-02 -2.43584391e-02 1.88311199e+02] [ 4.70295481e-02 9.98893460e-01 -2.78622814e-04 3.18068544e+00] [ 2.43445870e-02 -8.67334535e-04 9.99703250e-01 2.11818404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.315099893 meters 0.019081076162884597 Centerline is valid? [True, True] Translation: X:188.34, Y:3.18, Z:2.12 [[ 9.98612491e-01 -4.67103300e-02 -2.43153916e-02 1.88340237e+02] [ 4.67173640e-02 9.98908109e-01 -2.79003831e-04 3.17960448e+00] [ 2.43018742e-02 -8.57334292e-04 9.99704298e-01 2.11774652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.345099893 meters 0.019557594240626364 Centerline is valid? [True, True] Translation: X:188.37, Y:3.18, Z:2.12 [[ 9.98639372e-01 -4.62916413e-02 -2.40101840e-02 1.88368477e+02] [ 4.62983484e-02 9.98927618e-01 -2.76772859e-04 3.18125374e+00] [ 2.39972482e-02 -8.35235589e-04 9.99711676e-01 2.11824705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.375099893 meters 0.017569125187911164 Centerline is valid? [True, True] Translation: X:188.40, Y:3.19, Z:2.12 [[ 9.98649698e-01 -4.61240968e-02 -2.39028838e-02 1.88398034e+02] [ 4.61306708e-02 9.98935376e-01 -2.76600228e-04 3.18615634e+00] [ 2.38901941e-02 -8.26429328e-04 9.99714247e-01 2.12017826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.405099893 meters 0.018291024973391405 Centerline is valid? [True, True] Translation: X:188.43, Y:3.19, Z:2.12 [[ 9.98686694e-01 -4.54578344e-02 -2.36320304e-02 1.88427567e+02] [ 4.54640585e-02 9.98965937e-01 -2.74113914e-04 3.18634790e+00] [ 2.36200540e-02 -8.00654095e-04 9.99720687e-01 2.12010339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.435099893 meters 0.017943842676737178 Centerline is valid? [True, True] Translation: X:188.46, Y:3.19, Z:2.12 [[ 9.98699398e-01 -4.50656847e-02 -2.38452811e-02 1.88457463e+02] [ 4.50718949e-02 9.98983707e-01 -2.77221990e-04 3.18871092e+00] [ 2.38335405e-02 -7.97890570e-04 9.99715622e-01 2.12083991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46509989299997 meters 0.017250479609886713 Centerline is valid? [True, True] Translation: X:188.49, Y:3.19, Z:2.12 [[ 9.98758421e-01 -4.37980036e-02 -2.37350185e-02 1.88487591e+02] [ 4.38037677e-02 9.99040116e-01 -2.77257588e-04 3.19323945e+00] [ 2.37243790e-02 -7.62769886e-04 9.99718246e-01 2.12201190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49509989299997 meters 0.018285587726563326 Centerline is valid? [True, True] Translation: X:188.52, Y:3.19, Z:2.12 [[ 9.98791509e-01 -4.32390924e-02 -2.33645460e-02 1.88517204e+02] [ 4.32444986e-02 9.99064482e-01 -2.74065973e-04 3.19359222e+00] [ 2.33545384e-02 -7.36653310e-04 9.99726974e-01 2.12205696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52509989299998 meters 0.017357195415087397 Centerline is valid? [True, True] Translation: X:188.55, Y:3.20, Z:2.12 [[ 9.98827464e-01 -4.26389169e-02 -2.29264078e-02 1.88547174e+02] [ 4.26439507e-02 9.99090297e-01 -2.69515282e-04 3.19696884e+00] [ 2.29170434e-02 -7.08473339e-04 9.99737119e-01 2.12328565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55509989299998 meters 0.015528428655770405 Centerline is valid? [True, True] Translation: X:188.58, Y:3.20, Z:2.13 [[ 9.98901320e-01 -4.12290831e-02 -2.22781537e-02 1.88577623e+02] [ 4.12334763e-02 9.99149504e-01 -2.62318911e-04 3.20385816e+00] [ 2.22700214e-02 -6.56575018e-04 9.99751777e-01 2.12590460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58509989299998 meters 0.016025816567374233 Centerline is valid? [True, True] Translation: X:188.61, Y:3.21, Z:2.13 [[ 9.98958575e-01 -4.00573884e-02 -2.18442561e-02 1.88607095e+02] [ 4.00613284e-02 9.99197190e-01 -2.57383289e-04 3.20529314e+00] [ 2.18370294e-02 -6.17994672e-04 9.99761353e-01 2.12633533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61509989299998 meters 0.015575426633924595 Centerline is valid? [True, True] Translation: X:188.64, Y:3.21, Z:2.13 [[ 9.99027622e-01 -3.86824240e-02 -2.11537307e-02 1.88637389e+02] [ 3.86858062e-02 9.99251393e-01 -2.49466096e-04 3.20842211e+00] [ 2.11475448e-02 -5.69125604e-04 9.99776204e-01 2.12733019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64509989299998 meters 0.015274725307555135 Centerline is valid? [True, True] Translation: X:188.67, Y:3.21, Z:2.13 [[ 9.99087740e-01 -3.71553919e-02 -2.10514973e-02 1.88668241e+02] [ 3.71584027e-02 9.99309357e-01 -2.48260457e-04 3.21158263e+00] [ 2.10461824e-02 -5.34206035e-04 9.99778362e-01 2.12824884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67509989299998 meters 0.015751534639013805 Centerline is valid? [True, True] Translation: X:188.70, Y:3.21, Z:2.13 [[ 9.99158056e-01 -3.55801779e-02 -2.04262227e-02 1.88697683e+02] [ 3.55826805e-02 9.99366707e-01 -2.41029978e-04 3.21287201e+00] [ 2.04218628e-02 -4.85992711e-04 9.99791334e-01 2.12827767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70509989299998 meters 0.015751534639013805 Centerline is valid? [True, True] Translation: X:188.73, Y:3.21, Z:2.13 [[ 9.99156830e-01 -3.56145797e-02 -2.04262168e-02 1.88726843e+02] [ 3.56170794e-02 9.99365481e-01 -2.41527407e-04 3.21324692e+00] [ 2.04218579e-02 -4.86198427e-04 9.99791334e-01 2.12863838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73509989299998 meters 0.014970048109385166 Centerline is valid? [True, True] Translation: X:188.76, Y:3.22, Z:2.13 [[ 9.99219116e-01 -3.41202771e-02 -1.99240019e-02 1.88757585e+02] [ 3.41223501e-02 9.99417635e-01 -2.36004296e-04 3.21675612e+00] [ 1.99204514e-02 -4.44033765e-04 9.99801470e-01 2.12936686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76509989299998 meters 0.01388301636816275 Centerline is valid? [True, True] Translation: X:188.79, Y:3.22, Z:2.13 [[ 9.99320477e-01 -3.15766617e-02 -1.90131284e-02 1.88788059e+02] [ 3.15780893e-02 9.99501262e-01 -2.25214794e-04 3.22240612e+00] [ 1.90107574e-02 -3.75336512e-04 9.99819209e-01 2.13007981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79509989299999 meters 0.01363474899290865 Centerline is valid? [True, True] Translation: X:188.82, Y:3.22, Z:2.13 [[ 9.99363270e-01 -3.04311497e-02 -1.86279078e-02 1.88817412e+02] [ 3.04323169e-02 9.99536805e-01 -2.20874944e-04 3.22478180e+00] [ 1.86260009e-02 -3.46156085e-04 9.99826461e-01 2.13020943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.825099893 meters 0.013630706374079376 Centerline is valid? [True, True] Translation: X:188.85, Y:3.23, Z:2.13 [[ 9.99385220e-01 -2.95575489e-02 -1.88556031e-02 1.88846497e+02] [ 2.95585788e-02 9.99563025e-01 -2.24135508e-04 3.22664755e+00] [ 1.88539885e-02 -3.33347116e-04 9.99822192e-01 2.13000509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.855099893 meters 0.012913802003404138 Centerline is valid? [True, True] Translation: X:188.88, Y:3.23, Z:2.13 [[ 9.99416602e-01 -2.84058926e-02 -1.89620711e-02 1.88875838e+02] [ 2.84067183e-02 9.99596422e-01 -2.25861189e-04 3.22976469e+00] [ 1.89608342e-02 -3.12920789e-04 9.99820178e-01 2.13022015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.885099893 meters 0.012773220761911308 Centerline is valid? [True, True] Translation: X:188.91, Y:3.23, Z:2.13 [[ 9.99452766e-01 -2.72539030e-02 -1.87454959e-02 1.88905048e+02] [ 2.72544946e-02 9.99628502e-01 -2.23957829e-04 3.23281879e+00] [ 1.87446358e-02 -2.87063747e-04 9.99824263e-01 2.13005041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.915099893 meters 0.012770153467757473 Centerline is valid? [True, True] Translation: X:188.93, Y:3.23, Z:2.13 [[ 9.99479142e-01 -2.69596831e-02 -1.77375575e-02 1.88934742e+02] [ 2.69601555e-02 9.99636486e-01 -2.12534855e-04 3.23450419e+00] [ 1.77368396e-02 -2.65783155e-04 9.99842655e-01 2.13072411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.945099893 meters 0.012965948427719027 Centerline is valid? [True, True] Translation: X:188.96, Y:3.24, Z:2.13 [[ 9.99495787e-01 -2.68202360e-02 -1.69955082e-02 1.88963906e+02] [ 2.68206407e-02 9.99640241e-01 -2.04158457e-04 3.23515210e+00] [ 1.69948695e-02 -2.51774903e-04 9.99855545e-01 2.13110005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.975099893 meters 0.013012691350970464 Centerline is valid? [True, True] Translation: X:188.99, Y:3.24, Z:2.13 [[ 9.99517453e-01 -2.61296836e-02 -1.67958337e-02 1.88993955e+02] [ 2.61299750e-02 9.99658533e-01 -2.02137416e-04 3.23620548e+00] [ 1.67953803e-02 -2.36834840e-04 9.99858920e-01 2.13117579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.005099893 meters 0.012859457116447023 Centerline is valid? [True, True] Translation: X:189.02, Y:3.24, Z:2.13 [[ 9.99545274e-01 -2.55164072e-02 -1.60672794e-02 1.89023745e+02] [ 2.55165858e-02 9.99674380e-01 -1.93917970e-04 3.23859514e+00] [ 1.60669957e-02 -2.16152324e-04 9.99870894e-01 2.13132499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.035099893 meters 0.012999649228866799 Centerline is valid? [True, True] Translation: X:189.05, Y:3.24, Z:2.13 [[ 9.99565698e-01 -2.51363346e-02 -1.53811723e-02 1.89053608e+02] [ 2.51364461e-02 9.99684012e-01 -1.86109548e-04 3.23980928e+00] [ 1.53809902e-02 -2.00599288e-04 9.99881685e-01 2.13232792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.065099893 meters 0.012863353266587343 Centerline is valid? [True, True] Translation: X:189.08, Y:3.24, Z:2.13 [[ 9.99571448e-01 -2.54648448e-02 -1.44381876e-02 1.89084273e+02] [ 2.54649744e-02 9.99675700e-01 -1.74903457e-04 3.24143379e+00] [ 1.44379591e-02 -1.92839574e-04 9.99895749e-01 2.13351425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.095099893 meters 0.013404149812879325 Centerline is valid? [True, True] Translation: X:189.11, Y:3.24, Z:2.13 [[ 9.99520750e-01 -2.74454665e-02 -1.43183762e-02 1.89114584e+02] [ 2.74457975e-02 9.99623278e-01 -1.73417163e-04 3.24065600e+00] [ 1.43177417e-02 -2.19645203e-04 9.99897472e-01 2.13352567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.125099893 meters 0.013601463400855943 Centerline is valid? [True, True] Translation: X:189.15, Y:3.24, Z:2.13 [[ 9.99482072e-01 -2.89841796e-02 -1.39822798e-02 1.89145594e+02] [ 2.89846496e-02 9.99579842e-01 -1.69072986e-04 3.24005792e+00] [ 1.39813055e-02 -2.36286063e-04 9.99902229e-01 2.13388665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.155099893 meters 0.014411932396130497 Centerline is valid? [True, True] Translation: X:189.18, Y:3.24, Z:2.13 [[ 9.99436577e-01 -3.06689387e-02 -1.36361410e-02 1.89175789e+02] [ 3.06695492e-02 9.99529565e-01 -1.64392485e-04 3.23804127e+00] [ 1.36347678e-02 -2.53914435e-04 9.99907010e-01 2.13427139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.185099893 meters 0.015337035996629762 Centerline is valid? [True, True] Translation: X:189.21, Y:3.24, Z:2.13 [[ 9.99392384e-01 -3.23253760e-02 -1.30358582e-02 1.89206684e+02] [ 3.23260831e-02 9.99477363e-01 -1.56521403e-04 3.23558751e+00] [ 1.30341048e-02 -2.64971936e-04 9.99915017e-01 2.13464038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21509989299997 meters 0.015345901316570184 Centerline is valid? [True, True] Translation: X:189.24, Y:3.23, Z:2.14 [[ 9.99321288e-01 -3.46514298e-02 -1.24996846e-02 1.89239040e+02] [ 3.46522696e-02 9.99399419e-01 -1.49457223e-04 3.23481193e+00] [ 1.24973564e-02 -2.83786655e-04 9.99921865e-01 2.13567174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24509989299997 meters 0.014943949998006432 Centerline is valid? [True, True] Translation: X:189.27, Y:3.24, Z:2.14 [[ 9.99299244e-01 -3.53641065e-02 -1.22637724e-02 1.89271526e+02] [ 3.53649789e-02 9.99374453e-01 -1.45787481e-04 3.23528531e+00] [ 1.22612565e-02 -2.88022733e-04 9.99924786e-01 2.13602599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27509989299998 meters 0.015718918787703092 Centerline is valid? [True, True] Translation: X:189.30, Y:3.23, Z:2.14 [[ 9.99292236e-01 -3.55990335e-02 -1.21546765e-02 1.89302976e+02] [ 3.55999185e-02 9.99366112e-01 -1.43610605e-04 3.23342415e+00] [ 1.21520842e-02 -2.89196529e-04 9.99926119e-01 2.13646782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30509989299998 meters 0.015039677931967806 Centerline is valid? [True, True] Translation: X:189.34, Y:3.23, Z:2.14 [[ 9.99294941e-01 -3.54655757e-02 -1.23212863e-02 1.89335176e+02] [ 3.54664833e-02 9.99370856e-01 -1.44902844e-04 3.23422765e+00] [ 1.23186735e-02 -2.92192015e-04 9.99924080e-01 2.13680402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33509989299998 meters 0.015353078873628993 Centerline is valid? [True, True] Translation: X:189.37, Y:3.23, Z:2.14 [[ 9.99341098e-01 -3.41943240e-02 -1.21703518e-02 1.89366222e+02] [ 3.41951258e-02 9.99415166e-01 -1.42266954e-04 3.23225676e+00] [ 1.21680989e-02 -2.73993498e-04 9.99925928e-01 2.13666689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36509989299998 meters 0.014573473558724615 Centerline is valid? [True, True] Translation: X:189.40, Y:3.23, Z:2.14 [[ 9.99381136e-01 -3.31932145e-02 -1.16428112e-02 1.89398394e+02] [ 3.31938973e-02 9.99448922e-01 -1.34648458e-04 3.23296806e+00] [ 1.16408645e-02 -2.51905150e-04 9.99932211e-01 2.13689662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39509989299998 meters 0.014248707655370738 Centerline is valid? [True, True] Translation: X:189.43, Y:3.23, Z:2.14 [[ 9.99425402e-01 -3.19191094e-02 -1.14033277e-02 1.89430353e+02] [ 3.19196907e-02 9.99490428e-01 -1.31067719e-04 3.23293155e+00] [ 1.14017005e-02 -2.32998286e-04 9.99934971e-01 2.13745261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42509989299998 meters 0.014039337847431521 Centerline is valid? [True, True] Translation: X:189.46, Y:3.23, Z:2.14 [[ 9.99460324e-01 -3.07804932e-02 -1.14726381e-02 1.89462556e+02] [ 3.07810163e-02 9.99526144e-01 -1.31021183e-04 3.23286229e+00] [ 1.14712346e-02 -2.22188987e-04 9.99934179e-01 2.13777018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45509989299998 meters 0.013986957431910745 Centerline is valid? [True, True] Translation: X:189.49, Y:3.23, Z:2.14 [[ 9.99493919e-01 -2.97400435e-02 -1.12887497e-02 1.89493746e+02] [ 2.97404930e-02 9.99557645e-01 -1.28091323e-04 3.23234997e+00] [ 1.12875655e-02 -2.07706483e-04 9.99936272e-01 2.13750843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48509989299998 meters 0.013471324501799742 Centerline is valid? [True, True] Translation: X:189.53, Y:3.23, Z:2.14 [[ 9.99535165e-01 -2.81719976e-02 -1.16530030e-02 1.89525631e+02] [ 2.81723775e-02 9.99603071e-01 -1.31582229e-04 3.23211181e+00] [ 1.16520846e-02 -1.96771736e-04 9.99932093e-01 2.13680567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51509989299998 meters 0.013628942223656933 Centerline is valid? [True, True] Translation: X:189.56, Y:3.23, Z:2.14 [[ 9.99550638e-01 -2.76389228e-02 -1.16022444e-02 1.89556498e+02] [ 2.76392737e-02 9.99617954e-01 -1.30127928e-04 3.23127936e+00] [ 1.16014084e-02 -1.90608153e-04 9.99932683e-01 2.13696566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54509989299999 meters 0.014276577841228837 Centerline is valid? [True, True] Translation: X:189.59, Y:3.23, Z:2.14 [[ 9.99546708e-01 -2.75045009e-02 -1.22425511e-02 1.89586880e+02] [ 2.75048874e-02 9.99621660e-01 -1.36835871e-04 3.22901592e+00] [ 1.22416829e-02 -1.99956146e-04 9.99925048e-01 2.13705804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.575099893 meters 0.013953300573730653 Centerline is valid? [True, True] Translation: X:189.62, Y:3.23, Z:2.14 [[ 9.99505951e-01 -2.87296997e-02 -1.27459107e-02 1.89618820e+02] [ 2.87302215e-02 9.99587192e-01 -1.42203094e-04 3.22838191e+00] [ 1.27447345e-02 -2.24059999e-04 9.99918757e-01 2.13672401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.605099893 meters 0.014018804909179517 Centerline is valid? [True, True] Translation: X:189.65, Y:3.23, Z:2.14 [[ 9.99476197e-01 -2.99411748e-02 -1.22824430e-02 1.89650548e+02] [ 2.99417612e-02 9.99551636e-01 -1.36178778e-04 3.22745910e+00] [ 1.22810134e-02 -2.31650529e-04 9.99924559e-01 2.13692414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.635099893 meters 0.014627896778507917 Centerline is valid? [True, True] Translation: X:189.68, Y:3.23, Z:2.14 [[ 9.99427256e-01 -3.13800672e-02 -1.26669512e-02 1.89681532e+02] [ 3.13808155e-02 9.99507491e-01 -1.39724912e-04 3.22520048e+00] [ 1.26650972e-02 -2.57854372e-04 9.99919761e-01 2.13694423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.665099893 meters 0.014847646905141357 Centerline is valid? [True, True] Translation: X:189.71, Y:3.22, Z:2.14 [[ 9.99371208e-01 -3.32935637e-02 -1.21953834e-02 1.89712740e+02] [ 3.32944076e-02 9.99445579e-01 -1.33880451e-04 3.22389267e+00] [ 1.21930793e-02 -2.72241796e-04 9.99925625e-01 2.13697435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.695099893 meters 0.016428295806537384 Centerline is valid? [True, True] Translation: X:189.74, Y:3.22, Z:2.14 [[ 9.99201856e-01 -3.79968939e-02 -1.23242259e-02 1.89743436e+02] [ 3.79981187e-02 9.99277802e-01 -1.34842044e-04 3.21869102e+00] [ 1.23204489e-02 -3.33562978e-04 9.99924045e-01 2.13673709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.725099893 meters 0.017108056237147087 Centerline is valid? [True, True] Translation: X:189.78, Y:3.22, Z:2.14 [[ 9.99105712e-01 -4.04672193e-02 -1.22548399e-02 1.89775163e+02] [ 4.04686186e-02 9.99180801e-01 -1.33867155e-04 3.21658998e+00] [ 1.22502179e-02 -3.62189002e-04 9.99924898e-01 2.13692816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.755099893 meters 0.01766231280931604 Centerline is valid? [True, True] Translation: X:189.81, Y:3.22, Z:2.14 [[ 9.99003546e-01 -4.30081788e-02 -1.19252677e-02 1.89806780e+02] [ 4.30096922e-02 9.99074647e-01 -1.29642911e-04 3.21504863e+00] [ 1.19198083e-02 -3.83388365e-04 9.99928883e-01 2.13719238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.785099893 meters 0.019213689336633394 Centerline is valid? [True, True] Translation: X:189.84, Y:3.21, Z:2.14 [[ 9.98893845e-01 -4.54871210e-02 -1.19167569e-02 1.89837800e+02] [ 4.54888159e-02 9.98964840e-01 -1.28922779e-04 3.21164952e+00] [ 1.19102855e-02 -4.13298992e-04 9.99928985e-01 2.13779730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.815099893 meters 0.020118663296125387 Centerline is valid? [True, True] Translation: X:189.87, Y:3.21, Z:2.14 [[ 9.98699684e-01 -4.98987934e-02 -1.04428230e-02 1.89869337e+02] [ 4.99003462e-02 9.98754195e-01 -1.11968119e-04 3.20822371e+00] [ 1.04354004e-02 -4.09277960e-04 9.99945466e-01 2.13855099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.845099893 meters 0.021068214384885302 Centerline is valid? [True, True] Translation: X:189.90, Y:3.21, Z:2.14 [[ 9.98608553e-01 -5.17153444e-02 -1.03189819e-02 1.89901305e+02] [ 5.17169605e-02 9.98661776e-01 -1.10347867e-04 3.20596321e+00] [ 1.03108795e-02 -4.23472056e-04 9.99946752e-01 2.13915543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.875099893 meters 0.020676271900815963 Centerline is valid? [True, True] Translation: X:189.93, Y:3.21, Z:2.14 [[ 9.98514246e-01 -5.35721048e-02 -9.96649214e-03 1.89933008e+02] [ 5.35737119e-02 9.98563892e-01 -1.05852673e-04 3.20568899e+00] [ 9.95784993e-03 -4.28246576e-04 9.99950328e-01 2.13986386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.905099893 meters 0.022218134972065692 Centerline is valid? [True, True] Translation: X:189.96, Y:3.20, Z:2.14 [[ 9.98360060e-01 -5.64199265e-02 -9.69442719e-03 1.89962872e+02] [ 5.64215850e-02 9.98407028e-01 -1.02541835e-04 3.20168296e+00] [ 9.68476964e-03 -4.44601275e-04 9.99953003e-01 2.14045331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.935099893 meters 0.023227037849196618 Centerline is valid? [True, True] Translation: X:189.99, Y:3.20, Z:2.14 [[ 9.98225768e-01 -5.87647162e-02 -9.59293240e-03 1.89994502e+02] [ 5.87664574e-02 9.98271753e-01 -1.00513844e-04 3.19840426e+00] [ 9.58226012e-03 -4.63407144e-04 9.99953982e-01 2.14053058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96509989299997 meters 0.022462984891741204 Centerline is valid? [True, True] Translation: X:190.03, Y:3.20, Z:2.14 [[ 9.98166743e-01 -5.97711085e-02 -9.51673360e-03 1.90026217e+02] [ 5.97728726e-02 9.98211998e-01 -9.92052216e-05 3.19855305e+00] [ 9.50564727e-03 -4.69819152e-04 9.99954710e-01 2.14085173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99509989299997 meters 0.023116698749393517 Centerline is valid? [True, True] Translation: X:190.06, Y:3.20, Z:2.14 [[ 9.98102042e-01 -6.07640555e-02 -1.00021755e-02 1.90058042e+02] [ 6.07660594e-02 9.98152030e-01 -1.03716314e-04 3.19673466e+00] [ 9.98999401e-03 -5.04273327e-04 9.99949972e-01 2.14100603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02509989299998 meters 0.024184556041416363 Centerline is valid? [True, True] Translation: X:190.09, Y:3.19, Z:2.14 [[ 9.98014352e-01 -6.20797388e-02 -1.06516800e-02 1.90090225e+02] [ 6.20820951e-02 9.98071040e-01 -1.09607735e-04 3.19329203e+00] [ 1.06379378e-02 -5.51888519e-04 9.99943263e-01 2.14076189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05509989299998 meters 0.025434281011520614 Centerline is valid? [True, True] Translation: X:190.12, Y:3.19, Z:2.14 [[ 9.97972034e-01 -6.26625712e-02 -1.11902380e-02 1.90121201e+02] [ 6.26652183e-02 9.98034597e-01 -1.14265163e-04 3.19094478e+00] [ 1.11754048e-02 -5.87205268e-04 9.99937381e-01 2.14068700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08509989299998 meters 0.02364151077852022 Centerline is valid? [True, True] Translation: X:190.15, Y:3.19, Z:2.14 [[ 9.97967887e-01 -6.26072912e-02 -1.18500639e-02 1.90154008e+02] [ 6.26102636e-02 9.98038046e-01 -1.20347316e-04 3.19310218e+00] [ 1.18343492e-02 -6.21832867e-04 9.99929778e-01 2.14070861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11509989299998 meters 0.024213272903705303 Centerline is valid? [True, True] Translation: X:190.18, Y:3.19, Z:2.14 [[ 9.97974173e-01 -6.23665966e-02 -1.25681537e-02 1.90184866e+02] [ 6.23699396e-02 9.98053092e-01 -1.26170121e-04 3.19209335e+00] [ 1.25515535e-02 -6.57960465e-04 9.99921010e-01 2.14035205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14509989299998 meters 0.024204432513799126 Centerline is valid? [True, True] Translation: X:190.22, Y:3.19, Z:2.14 [[ 9.98044246e-01 -6.09241690e-02 -1.39974367e-02 1.90215790e+02] [ 6.09281861e-02 9.98142142e-01 -1.39670398e-04 3.19209398e+00] [ 1.39799408e-02 -7.13441191e-04 9.99902021e-01 2.14032742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17509989299998 meters 0.024204432513799126 Centerline is valid? [True, True] Translation: X:190.25, Y:3.19, Z:2.14 [[ 9.98048660e-01 -6.08518130e-02 -1.39974446e-02 1.90247517e+02] [ 6.08558340e-02 9.98146556e-01 -1.38877580e-04 3.19235090e+00] [ 1.39799521e-02 -7.13219581e-04 9.99902021e-01 2.14071964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20509989299998 meters 0.023519247791528565 Centerline is valid? [True, True] Translation: X:190.28, Y:3.19, Z:2.14 [[ 9.98121349e-01 -5.97088803e-02 -1.37339905e-02 1.90279786e+02] [ 5.97126569e-02 9.98215598e-01 -1.35284286e-04 3.19356559e+00] [ 1.37175612e-02 -6.85062926e-04 9.99905675e-01 2.14120431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23509989299998 meters 0.021920593090685985 Centerline is valid? [True, True] Translation: X:190.31, Y:3.20, Z:2.14 [[ 9.98309802e-01 -5.66955910e-02 -1.27729785e-02 1.90311519e+02] [ 5.66986225e-02 9.98391331e-01 -1.24949887e-04 3.19670223e+00] [ 1.27595152e-02 -5.99471591e-04 9.99918414e-01 2.14291020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26509989299998 meters 0.023964277955964133 Centerline is valid? [True, True] Translation: X:190.34, Y:3.19, Z:2.14 [[ 9.98422955e-01 -5.47465992e-02 -1.24263054e-02 1.90341643e+02] [ 5.47493286e-02 9.98500123e-01 -1.20680504e-04 3.19432900e+00] [ 1.24142743e-02 -5.59841694e-04 9.99922783e-01 2.14401675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29509989299999 meters 0.02193182567566094 Centerline is valid? [True, True] Translation: X:190.37, Y:3.20, Z:2.15 [[ 9.98564961e-01 -5.22371337e-02 -1.18025643e-02 1.90373575e+02] [ 5.22394231e-02 9.98634583e-01 -1.14439418e-04 3.19820356e+00] [ 1.17924268e-02 -5.02283956e-04 9.99930341e-01 2.14534282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.325099893 meters 0.020373279408402164 Centerline is valid? [True, True] Translation: X:190.40, Y:3.20, Z:2.15 [[ 9.98703108e-01 -4.96634145e-02 -1.12092199e-02 1.90404578e+02] [ 4.96653243e-02 9.98765910e-01 -1.08096397e-04 3.20142210e+00] [ 1.12007552e-02 -4.48753334e-04 9.99937169e-01 2.14642162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.355099893 meters 0.018806357635137452 Centerline is valid? [True, True] Translation: X:190.44, Y:3.20, Z:2.15 [[ 9.98855018e-01 -4.66134295e-02 -1.07629595e-02 1.90435903e+02] [ 4.66150174e-02 9.98912924e-01 -1.03419612e-04 3.20474082e+00] [ 1.07560801e-02 -3.98414347e-04 9.99942072e-01 2.14716958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.385099893 meters 0.017198855097488603 Centerline is valid? [True, True] Translation: X:190.47, Y:3.21, Z:2.15 [[ 9.99164954e-01 -3.94429946e-02 -1.06604223e-02 1.90466144e+02] [ 3.94441495e-02 9.99221772e-01 -1.01980080e-04 3.20881408e+00] [ 1.06561484e-02 -3.18596367e-04 9.99943171e-01 2.14789850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.415099893 meters 0.016164022910605445 Centerline is valid? [True, True] Translation: X:190.50, Y:3.21, Z:2.15 [[ 9.99314001e-01 -3.55516476e-02 -1.03734196e-02 1.90497659e+02] [ 3.55525309e-02 9.99367804e-01 -9.93090666e-05 3.21183918e+00] [ 1.03703921e-02 -2.69560379e-04 9.99946190e-01 2.14858178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.445099893 meters 0.01569248312794861 Centerline is valid? [True, True] Translation: X:190.53, Y:3.21, Z:2.15 [[ 9.99448797e-01 -3.15451231e-02 -1.03444696e-02 1.90528492e+02] [ 3.15457908e-02 9.99502303e-01 -9.86538532e-05 3.21393875e+00] [ 1.03424333e-02 -2.27725001e-04 9.99946490e-01 2.14941092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.475099893 meters 0.014628739465201565 Centerline is valid? [True, True] Translation: X:190.56, Y:3.22, Z:2.15 [[ 9.99560338e-01 -2.76494678e-02 -1.07068919e-02 1.90559575e+02] [ 2.76499641e-02 9.99617661e-01 -1.01705818e-04 3.21727992e+00] [ 1.07056104e-02 -1.94384075e-04 9.99942674e-01 2.14965500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.505099893 meters 0.01357738432058654 Centerline is valid? [True, True] Translation: X:190.59, Y:3.22, Z:2.15 [[ 9.99713784e-01 -2.07042593e-02 -1.19868046e-02 1.90590315e+02] [ 2.07043879e-02 9.99785635e-01 -1.13375093e-04 3.22084800e+00] [ 1.19865824e-02 -1.34836809e-04 9.99928149e-01 2.14935517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.535099893 meters 0.013302322454374349 Centerline is valid? [True, True] Translation: X:190.62, Y:3.22, Z:2.15 [[ 9.99752631e-01 -1.84076250e-02 -1.24834262e-02 1.90620544e+02] [ 1.84075913e-02 9.99830559e-01 -1.17608630e-04 3.22239951e+00] [ 1.24834759e-02 -1.12210269e-04 9.99922072e-01 2.14925708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.565099893 meters 0.013095047685685852 Centerline is valid? [True, True] Translation: X:190.65, Y:3.22, Z:2.15 [[ 9.99771785e-01 -1.66285052e-02 -1.34115813e-02 1.90650238e+02] [ 1.66283057e-02 9.99861732e-01 -1.26390491e-04 3.22336990e+00] [ 1.34118286e-02 -9.66502274e-05 9.99910053e-01 2.14897612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.595099893 meters 0.012983612124831047 Centerline is valid? [True, True] Translation: X:190.68, Y:3.22, Z:2.15 [[ 9.99774872e-01 -1.60489254e-02 -1.38793642e-02 1.90679110e+02] [ 1.60486442e-02 9.99871204e-01 -1.31638556e-04 3.22346321e+00] [ 1.38796892e-02 -9.11360570e-05 9.99903668e-01 2.14894499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.625099893 meters 0.012983612124831047 Centerline is valid? [True, True] Translation: X:190.71, Y:3.22, Z:2.15 [[ 9.99770226e-01 -1.63358110e-02 -1.38793297e-02 1.90706513e+02] [ 1.63355083e-02 9.99866558e-01 -1.35179841e-04 3.22378888e+00] [ 1.38796859e-02 -9.15771259e-05 9.99903668e-01 2.14928474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.655099893 meters 0.013033394636789446 Centerline is valid? [True, True] Translation: X:190.73, Y:3.22, Z:2.15 [[ 9.99758107e-01 -1.65311771e-02 -1.45067916e-02 1.90734093e+02] [ 1.65308105e-02 9.99863346e-01 -1.45190061e-04 3.22206526e+00] [ 1.45072094e-02 -9.46540822e-05 9.99894760e-01 2.14843234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.685099893 meters 0.013131203627889358 Centerline is valid? [True, True] Translation: X:190.76, Y:3.22, Z:2.15 [[ 9.99724576e-01 -1.76018363e-02 -1.55225054e-02 1.90763053e+02] [ 1.76015154e-02 9.99845069e-01 -1.57305844e-04 3.22077631e+00] [ 1.55228694e-02 -1.15957099e-04 9.99879506e-01 2.14794411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71509989299997 meters 0.013185879952919132 Centerline is valid? [True, True] Translation: X:190.79, Y:3.22, Z:2.15 [[ 9.99685217e-01 -1.92685402e-02 -1.60683156e-02 1.90791585e+02] [ 1.92683460e-02 9.99814334e-01 -1.66913767e-04 3.21974349e+00] [ 1.60685484e-02 -1.42748640e-04 9.99870882e-01 2.14753980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74509989299997 meters 0.013488383731422913 Centerline is valid? [True, True] Translation: X:190.82, Y:3.22, Z:2.15 [[ 9.99642337e-01 -2.11593816e-02 -1.63547831e-02 1.90819795e+02] [ 2.11593757e-02 9.99776100e-01 -1.73420763e-04 3.21755883e+00] [ 1.63547907e-02 -1.72698262e-04 9.99866237e-01 2.14739305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77509989299998 meters 0.014091502990621337 Centerline is valid? [True, True] Translation: X:190.85, Y:3.21, Z:2.15 [[ 9.99521714e-01 -2.60846188e-02 -1.66113352e-02 1.90848590e+02] [ 2.60852564e-02 9.99659706e-01 -1.78323620e-04 3.21445123e+00] [ 1.66103340e-02 -2.55072607e-04 9.99862006e-01 2.14715187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80509989299998 meters 0.014975465015902294 Centerline is valid? [True, True] Translation: X:190.88, Y:3.21, Z:2.15 [[ 9.99438115e-01 -2.88011744e-02 -1.71448725e-02 1.90877392e+02] [ 2.88021924e-02 9.99585113e-01 -1.87595648e-04 3.21196446e+00] [ 1.71431623e-02 -3.06319675e-04 9.99852998e-01 2.14698648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83509989299998 meters 0.015861494384181787 Centerline is valid? [True, True] Translation: X:190.91, Y:3.21, Z:2.15 [[ 9.99344601e-01 -3.20892281e-02 -1.67525911e-02 1.90905977e+02] [ 3.20906289e-02 9.99484946e-01 -1.85265045e-04 3.20976080e+00] [ 1.67499076e-02 -3.52457561e-04 9.99859648e-01 2.14710376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86509989299998 meters 0.016079135549939304 Centerline is valid? [True, True] Translation: X:190.94, Y:3.21, Z:2.15 [[ 9.99225067e-01 -3.53643003e-02 -1.72809539e-02 1.90935879e+02] [ 3.53662239e-02 9.99374401e-01 -1.94372904e-04 3.20895682e+00] [ 1.72770168e-02 -4.16939806e-04 9.99850654e-01 2.14763215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89509989299998 meters 0.016792856500437554 Centerline is valid? [True, True] Translation: X:190.97, Y:3.21, Z:2.15 [[ 9.99109260e-01 -3.84748531e-02 -1.73312769e-02 1.90966417e+02] [ 3.84772479e-02 9.99259457e-01 -1.95381070e-04 3.20694940e+00] [ 1.73259596e-02 -4.71652800e-04 9.99849783e-01 2.14764265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92509989299998 meters 0.01880566052047132 Centerline is valid? [True, True] Translation: X:191.00, Y:3.20, Z:2.15 [[ 9.98825048e-01 -4.52337535e-02 -1.73905361e-02 1.90997118e+02] [ 4.52371878e-02 9.98976255e-01 -1.96049118e-04 3.20267023e+00] [ 1.73816006e-02 -5.90880175e-04 9.99848754e-01 2.14791033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95509989299998 meters 0.02015292372285838 Centerline is valid? [True, True] Translation: X:191.03, Y:3.20, Z:2.15 [[ 9.98674494e-01 -4.84706620e-02 -1.73161520e-02 1.91027280e+02] [ 4.84745544e-02 9.98824399e-01 -1.95122599e-04 3.20019281e+00] [ 1.73052529e-02 -6.44528790e-04 9.99850045e-01 2.14807755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98509989299998 meters 0.021228281181480083 Centerline is valid? [True, True] Translation: X:191.06, Y:3.20, Z:2.15 [[ 9.98509947e-01 -5.17382168e-02 -1.73505885e-02 1.91058051e+02] [ 5.17426224e-02 9.98660434e-01 -1.95201964e-04 3.19810950e+00] [ 1.73374456e-02 -7.02853845e-04 9.99849448e-01 2.14853732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01509989299998 meters 0.023210375579060968 Centerline is valid? [True, True] Translation: X:191.09, Y:3.19, Z:2.15 [[ 9.98206707e-01 -5.74689293e-02 -1.67538560e-02 1.91088319e+02] [ 5.74738462e-02 9.98346995e-01 -1.88257714e-04 3.19455604e+00] [ 1.67369807e-02 -7.74988428e-04 9.99859627e-01 2.14956828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04509989299999 meters 0.024637772452758975 Centerline is valid? [True, True] Translation: X:191.12, Y:3.19, Z:2.15 [[ 9.98066263e-01 -5.99369605e-02 -1.64710237e-02 1.91119865e+02] [ 5.99420513e-02 9.98201841e-01 -1.84882469e-04 3.19276904e+00] [ 1.64524875e-02 -8.02781995e-04 9.99864326e-01 2.15029567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.075099893 meters 0.026852175248124936 Centerline is valid? [True, True] Translation: X:191.15, Y:3.19, Z:2.15 [[ 9.97959606e-01 -6.18835622e-02 -1.57178055e-02 1.91150962e+02] [ 6.18884503e-02 9.98083057e-01 -1.75690560e-04 3.19003511e+00] [ 1.56985478e-02 -7.97418545e-04 9.99876452e-01 2.15156688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.105099893 meters 0.026826922338305737 Centerline is valid? [True, True] Translation: X:191.18, Y:3.19, Z:2.15 [[ 9.97865954e-01 -6.34186405e-02 -1.55439107e-02 1.91182622e+02] [ 6.34236274e-02 9.97986680e-01 -1.72413641e-04 3.19056052e+00] [ 1.55235501e-02 -8.13805498e-04 9.99879171e-01 2.15210324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.135099893 meters 0.025637845859390638 Centerline is valid? [True, True] Translation: X:191.22, Y:3.19, Z:2.15 [[ 9.97830046e-01 -6.37062502e-02 -1.66346640e-02 1.91215057e+02] [ 6.37120183e-02 9.97968309e-01 -1.83506389e-04 3.19331834e+00] [ 1.66125580e-02 -8.76719828e-04 9.99861618e-01 2.15107455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.165099893 meters 0.027820435590487944 Centerline is valid? [True, True] Translation: X:191.25, Y:3.19, Z:2.15 [[ 9.97852160e-01 -6.32766457e-02 -1.69449792e-02 1.91246416e+02] [ 6.32825936e-02 9.97995631e-01 -1.85494200e-04 3.19158359e+00] [ 1.69227527e-02 -8.87226446e-04 9.99856406e-01 2.15095044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.195099893 meters 0.025934728022099344 Centerline is valid? [True, True] Translation: X:191.28, Y:3.20, Z:2.15 [[ 9.97916171e-01 -6.23707552e-02 -1.65289278e-02 1.91279049e+02] [ 6.23763199e-02 9.98052685e-01 -1.79169712e-04 3.19551070e+00] [ 1.65079158e-02 -8.52217337e-04 9.99863372e-01 2.15181656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.225099893 meters 0.02573489173843498 Centerline is valid? [True, True] Translation: X:191.31, Y:3.20, Z:2.15 [[ 9.97965652e-01 -6.15641505e-02 -1.65653891e-02 1.91311760e+02] [ 6.15696533e-02 9.98102773e-01 -1.78093714e-04 3.19728862e+00] [ 1.65449250e-02 -8.42193857e-04 9.99862769e-01 2.15248712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.255099893 meters 0.024869736536777796 Centerline is valid? [True, True] Translation: X:191.34, Y:3.20, Z:2.15 [[ 9.98006286e-01 -6.08719324e-02 -1.66751545e-02 1.91343685e+02] [ 6.08774355e-02 9.98145233e-01 -1.77862880e-04 3.19991835e+00] [ 1.66550528e-02 -8.37632367e-04 9.99860944e-01 2.15310075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.285099893 meters 0.026190661973260754 Centerline is valid? [True, True] Translation: X:191.38, Y:3.20, Z:2.15 [[ 9.98034490e-01 -6.03315187e-02 -1.69488572e-02 1.91375339e+02] [ 6.03371506e-02 9.98178038e-01 -1.79340941e-04 3.19934333e+00] [ 1.69287969e-02 -8.43657302e-04 9.99856342e-01 2.15326366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.315099893 meters 0.026442588040443825 Centerline is valid? [True, True] Translation: X:191.41, Y:3.20, Z:2.15 [[ 9.98045186e-01 -5.96313113e-02 -1.87059568e-02 1.91407010e+02] [ 5.96380876e-02 9.98220046e-01 -1.95880006e-04 3.20085964e+00] [ 1.86843417e-02 -9.20090395e-04 9.99825009e-01 2.15246646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.345099893 meters 0.025122657542969915 Centerline is valid? [True, True] Translation: X:191.44, Y:3.20, Z:2.15 [[ 9.98037080e-01 -5.95967865e-02 -1.92408613e-02 1.91438797e+02] [ 5.96039758e-02 9.98222083e-01 -2.00113777e-04 3.20411346e+00] [ 1.92185788e-02 -9.47110861e-04 9.99814857e-01 2.15252768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.375099893 meters 0.022467526753802692 Centerline is valid? [True, True] Translation: X:191.47, Y:3.21, Z:2.15 [[ 9.98047248e-01 -5.87814448e-02 -2.11289291e-02 1.91470936e+02] [ 5.87899665e-02 9.98270350e-01 -2.18145433e-04 3.21081083e+00] [ 2.11052064e-02 -1.02444959e-03 9.99776735e-01 2.15261043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.405099893 meters 0.02220773126219028 Centerline is valid? [True, True] Translation: X:191.50, Y:3.21, Z:2.15 [[ 9.98095437e-01 -5.77387713e-02 -2.17194319e-02 1.91502524e+02] [ 5.77475576e-02 9.98331192e-01 -2.22965143e-04 3.21312099e+00] [ 2.16960600e-02 -1.03170365e-03 9.99764080e-01 2.15239495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.435099893 meters 0.022399417983227365 Centerline is valid? [True, True] Translation: X:191.53, Y:3.22, Z:2.15 [[ 9.98160510e-01 -5.62101626e-02 -2.27159220e-02 1.91533423e+02] [ 5.62193983e-02 9.98418412e-01 -2.32346893e-04 3.21509782e+00] [ 2.26930551e-02 -1.04515598e-03 9.99741933e-01 2.15213935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46509989299997 meters 0.021403851259073754 Centerline is valid? [True, True] Translation: X:191.56, Y:3.22, Z:2.15 [[ 9.98402483e-01 -5.13400954e-02 -2.35940075e-02 1.91563284e+02] [ 5.13487128e-02 9.98680756e-01 -2.40862963e-04 3.22103991e+00] [ 2.35752472e-02 -9.71043733e-04 9.99721594e-01 2.15209726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49509989299997 meters 0.0197647627005642 Centerline is valid? [True, True] Translation: X:191.59, Y:3.23, Z:2.15 [[ 9.98543978e-01 -4.86216712e-02 -2.33635745e-02 1.91594334e+02] [ 4.86293778e-02 9.98816863e-01 -2.38522890e-04 3.22622814e+00] [ 2.33475296e-02 -8.97980496e-04 9.99727006e-01 2.15325625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52509989299998 meters 0.018468227358696836 Centerline is valid? [True, True] Translation: X:191.62, Y:3.23, Z:2.15 [[ 9.98720095e-01 -4.53461953e-02 -2.24030073e-02 1.91624540e+02] [ 4.53524452e-02 9.98971022e-01 -2.29283972e-04 3.23089818e+00] [ 2.23903523e-02 -7.87040653e-04 9.99748995e-01 2.15498613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55509989299998 meters 0.017778440599283383 Centerline is valid? [True, True] Translation: X:191.65, Y:3.24, Z:2.16 [[ 9.99055737e-01 -3.87962347e-02 -1.95572833e-02 1.91654410e+02] [ 3.87997303e-02 9.99246987e-01 -2.00822001e-04 3.23700511e+00] [ 1.95503475e-02 -5.58184943e-04 9.99808718e-01 2.15782368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58509989299998 meters 0.01673539386181702 Centerline is valid? [True, True] Translation: X:191.68, Y:3.24, Z:2.16 [[ 9.99202880e-01 -3.54965453e-02 -1.82647365e-02 1.91684795e+02] [ 3.54990411e-02 9.99369693e-01 -1.87656385e-04 3.24129595e+00] [ 1.82598852e-02 -4.60873831e-04 9.99833168e-01 2.15954877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61509989299998 meters 0.01524385545329974 Centerline is valid? [True, True] Translation: X:191.71, Y:3.25, Z:2.16 [[ 9.99322875e-01 -3.23442088e-02 -1.75397751e-02 1.91714873e+02] [ 3.23460251e-02 9.99476714e-01 -1.80207954e-04 3.24665634e+00] [ 1.75364255e-02 -3.87256075e-04 9.99846150e-01 2.16138328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64509989299998 meters 0.015266927049710007 Centerline is valid? [True, True] Translation: X:191.74, Y:3.25, Z:2.16 [[ 9.99425072e-01 -2.93166885e-02 -1.70310557e-02 1.91744927e+02] [ 2.93179615e-02 9.99570121e-01 -1.74981246e-04 3.24890048e+00] [ 1.70288643e-02 -3.24435192e-04 9.99854946e-01 2.16167981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67509989299998 meters 0.013858769884742179 Centerline is valid? [True, True] Translation: X:191.77, Y:3.26, Z:2.16 [[ 9.99553661e-01 -2.42331864e-02 -1.74708754e-02 1.91775000e+02] [ 2.42337496e-02 9.99706303e-01 -1.79500061e-04 3.25694010e+00] [ 1.74700941e-02 -2.43964877e-04 9.99847356e-01 2.16195375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70509989299998 meters 0.013660415373916142 Centerline is valid? [True, True] Translation: X:191.80, Y:3.26, Z:2.16 [[ 9.99583252e-01 -2.22434539e-02 -1.83997814e-02 1.91804068e+02] [ 2.22437133e-02 9.99752560e-01 -1.90580967e-04 3.25969086e+00] [ 1.83994677e-02 -2.18777920e-04 9.99830692e-01 2.16156329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73509989299998 meters 0.013489700049768535 Centerline is valid? [True, True] Translation: X:191.83, Y:3.26, Z:2.16 [[ 9.99601301e-01 -2.05116925e-02 -1.94038506e-02 1.91831794e+02] [ 2.05115781e-02 9.99789594e-01 -2.04937077e-04 3.26204302e+00] [ 1.94039715e-02 -1.93148227e-04 9.99811707e-01 2.16099249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76509989299998 meters 0.013410549067819898 Centerline is valid? [True, True] Translation: X:191.86, Y:3.26, Z:2.16 [[ 9.99626386e-01 -1.89598460e-02 -1.96878562e-02 1.91859944e+02] [ 1.89593922e-02 9.99820233e-01 -2.09720809e-04 3.26345253e+00] [ 1.96882933e-02 -1.63627332e-04 9.99806153e-01 2.16005132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79509989299999 meters 0.01315772426522811 Centerline is valid? [True, True] Translation: X:191.89, Y:3.27, Z:2.16 [[ 9.99642118e-01 -1.74436079e-02 -2.02819288e-02 1.91887631e+02] [ 1.74427445e-02 9.99847840e-01 -2.19487144e-04 3.26663826e+00] [ 2.02826714e-02 -1.34363908e-04 9.99794276e-01 2.16077701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.825099893 meters 0.01316666486317194 Centerline is valid? [True, True] Translation: X:191.91, Y:3.27, Z:2.16 [[ 9.99654970e-01 -1.67088290e-02 -2.02671205e-02 1.91914761e+02] [ 1.67077228e-02 9.99860391e-01 -2.23916067e-04 3.26814534e+00] [ 2.02680325e-02 -1.14778623e-04 9.99794576e-01 2.16087255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.855099893 meters 0.013089164577811526 Centerline is valid? [True, True] Translation: X:191.94, Y:3.27, Z:2.16 [[ 9.99675072e-01 -1.57115161e-02 -2.00723188e-02 1.91943011e+02] [ 1.57101544e-02 9.99876562e-01 -2.25532727e-04 3.27100233e+00] [ 2.00733846e-02 -8.98797824e-05 9.99798505e-01 2.16159747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.885099893 meters 0.013075672829839081 Centerline is valid? [True, True] Translation: X:191.97, Y:3.27, Z:2.16 [[ 9.99681517e-01 -1.55693218e-02 -1.98610575e-02 1.91970394e+02] [ 1.55678473e-02 9.99878788e-01 -2.28863463e-04 3.27245447e+00] [ 1.98622133e-02 -8.04033354e-05 9.99802724e-01 2.16224040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.915099893 meters 0.013004819356719032 Centerline is valid? [True, True] Translation: X:192.00, Y:3.27, Z:2.16 [[ 9.99695453e-01 -1.54585066e-02 -1.92363182e-02 1.91998508e+02] [ 1.54569978e-02 9.99880508e-01 -2.27127149e-04 3.27369605e+00] [ 1.92375306e-02 -7.02777492e-05 9.99814939e-01 2.16285555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.945099893 meters 0.01309573957253816 Centerline is valid? [True, True] Translation: X:192.03, Y:3.27, Z:2.16 [[ 9.99709002e-01 -1.51424905e-02 -1.87780987e-02 1.92025120e+02] [ 1.51409160e-02 9.99885344e-01 -2.26022445e-04 3.27472455e+00] [ 1.87793682e-02 -5.83609419e-05 9.99823650e-01 2.16312005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.975099893 meters 0.013115982836721347 Centerline is valid? [True, True] Translation: X:192.05, Y:3.28, Z:2.16 [[ 9.99705944e-01 -1.52923696e-02 -1.88193804e-02 1.92053076e+02] [ 1.52907504e-02 9.99883063e-01 -2.29938004e-04 3.27562456e+00] [ 1.88206960e-02 -5.78920588e-05 9.99822873e-01 2.16350524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.005099893 meters 0.01304265514179989 Centerline is valid? [True, True] Translation: X:192.08, Y:3.28, Z:2.16 [[ 9.99704835e-01 -1.54594898e-02 -1.87415749e-02 1.92081407e+02] [ 1.54578120e-02 9.99880493e-01 -2.34394235e-04 3.27639083e+00] [ 1.87429588e-02 -5.53786920e-05 9.99824334e-01 2.16299104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.035099893 meters 0.013155577220995088 Centerline is valid? [True, True] Translation: X:192.11, Y:3.28, Z:2.16 [[ 9.99702181e-01 -1.56582174e-02 -1.87181677e-02 1.92108790e+02] [ 1.56564964e-02 9.99877401e-01 -2.38489122e-04 3.27675023e+00] [ 1.87196072e-02 -5.46428306e-05 9.99824771e-01 2.16294917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.065099893 meters 0.013194457665617136 Centerline is valid? [True, True] Translation: X:192.14, Y:3.28, Z:2.16 [[ 9.99671233e-01 -1.71891452e-02 -1.90252030e-02 1.92136970e+02] [ 1.71875786e-02 9.99852252e-01 -2.45864001e-04 3.27689062e+00] [ 1.90266183e-02 -8.12140027e-05 9.99818974e-01 2.16340012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.095099893 meters 0.013140183729119015 Centerline is valid? [True, True] Translation: X:192.16, Y:3.28, Z:2.16 [[ 9.99639915e-01 -1.86754905e-02 -1.92682548e-02 1.92164653e+02] [ 1.86740529e-02 9.99825592e-01 -2.54547621e-04 3.27701431e+00] [ 1.92696480e-02 -1.05360446e-04 9.99814318e-01 2.16382843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.125099893 meters 0.013544906814049483 Centerline is valid? [True, True] Translation: X:192.19, Y:3.27, Z:2.16 [[ 9.99523573e-01 -2.28384845e-02 -2.07612742e-02 1.92192410e+02] [ 2.28376085e-02 9.99739149e-01 -2.79315572e-04 3.27458270e+00] [ 2.07622377e-02 -1.94955354e-04 9.99784423e-01 2.16300225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.155099893 meters 0.013905263156709487 Centerline is valid? [True, True] Translation: X:192.22, Y:3.27, Z:2.16 [[ 9.99445173e-01 -2.56881995e-02 -2.12005238e-02 1.92221467e+02] [ 2.56878433e-02 9.99669971e-01 -2.89175940e-04 3.27257326e+00] [ 2.12009554e-02 -2.55580235e-04 9.99775202e-01 2.16267392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.185099893 meters 0.014292899014945664 Centerline is valid? [True, True] Translation: X:192.25, Y:3.27, Z:2.16 [[ 9.99333707e-01 -2.91664075e-02 -2.19422655e-02 1.92250402e+02] [ 2.91667421e-02 9.99574514e-01 -3.04851489e-04 3.27067159e+00] [ 2.19418208e-02 -3.35336030e-04 9.99759193e-01 2.16247476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21509989299997 meters 0.01476601440321483 Centerline is valid? [True, True] Translation: X:192.28, Y:3.27, Z:2.16 [[ 9.99223189e-01 -3.26580861e-02 -2.20560113e-02 1.92278891e+02] [ 3.26591518e-02 9.99466499e-01 -3.11983533e-04 3.26878690e+00] [ 2.20544332e-02 -4.08589441e-04 9.99756688e-01 2.16268655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24509989299997 meters 0.015840377920787106 Centerline is valid? [True, True] Translation: X:192.31, Y:3.27, Z:2.16 [[ 9.99116804e-01 -3.60053685e-02 -2.16616147e-02 1.92307327e+02] [ 3.60071055e-02 9.99351486e-01 -3.09964905e-04 3.26597284e+00] [ 2.16587273e-02 -4.70280901e-04 9.99765312e-01 2.16269077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27509989299998 meters 0.016345304949922656 Centerline is valid? [True, True] Translation: X:192.34, Y:3.26, Z:2.16 [[ 9.99006473e-01 -3.89695050e-02 -2.16204588e-02 1.92336997e+02] [ 3.89719077e-02 9.99240258e-01 -3.10365743e-04 3.26440509e+00] [ 2.16161276e-02 -5.32533138e-04 9.99766202e-01 2.16321821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30509989299998 meters 0.016616132247414907 Centerline is valid? [True, True] Translation: X:192.37, Y:3.26, Z:2.16 [[ 9.98905526e-01 -4.16135566e-02 -2.13555958e-02 1.92366950e+02] [ 4.16164917e-02 9.99133611e-01 -3.07160187e-04 3.26315142e+00] [ 2.13498756e-02 -5.81920966e-04 9.99771896e-01 2.16367951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33509989299998 meters 0.01832307310040696 Centerline is valid? [True, True] Translation: X:192.40, Y:3.26, Z:2.16 [[ 9.98788171e-01 -4.47237998e-02 -2.05419588e-02 1.92397109e+02] [ 4.47271711e-02 9.98999196e-01 -2.95526103e-04 3.25877501e+00] [ 2.05346173e-02 -6.23615728e-04 9.99788948e-01 2.16407655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36509989299998 meters 0.018151914148009443 Centerline is valid? [True, True] Translation: X:192.43, Y:3.26, Z:2.16 [[ 9.98774522e-01 -4.52829945e-02 -1.99726071e-02 1.92428867e+02] [ 4.52863027e-02 9.98974008e-01 -2.86849440e-04 3.25932542e+00] [ 1.99651047e-02 -6.17987618e-04 9.99800486e-01 2.16498919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39509989299998 meters 0.017638323763882042 Centerline is valid? [True, True] Translation: X:192.46, Y:3.26, Z:2.17 [[ 9.98772238e-01 -4.53674806e-02 -1.98949263e-02 1.92460359e+02] [ 4.53707940e-02 9.98970175e-01 -2.85024902e-04 3.26055828e+00] [ 1.98873689e-02 -6.17973643e-04 9.99802036e-01 2.16607610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42509989299998 meters 0.01808838775323968 Centerline is valid? [True, True] Translation: X:192.49, Y:3.26, Z:2.17 [[ 9.98800303e-01 -4.48893188e-02 -1.95679111e-02 1.92491688e+02] [ 4.48924585e-02 9.98991786e-01 -2.79010760e-04 3.26019407e+00] [ 1.95607071e-02 -5.99775604e-04 9.99808491e-01 2.16626451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45509989299998 meters 0.01811596723988291 Centerline is valid? [True, True] Translation: X:192.52, Y:3.26, Z:2.17 [[ 9.98844170e-01 -4.40432892e-02 -1.92487008e-02 1.92522945e+02] [ 4.40462039e-02 9.99029458e-01 -2.72714148e-04 3.26060740e+00] [ 1.92420303e-02 -5.75433260e-04 9.99814689e-01 2.16684329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48509989299998 meters 0.016697311850267967 Centerline is valid? [True, True] Translation: X:192.55, Y:3.26, Z:2.17 [[ 9.98925607e-01 -4.23182219e-02 -1.88891450e-02 1.92554497e+02] [ 4.23207330e-02 9.99104041e-01 -2.66957274e-04 3.26364327e+00] [ 1.88835183e-02 -5.32732005e-04 9.99821549e-01 2.16819254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51509989299998 meters 0.016697311850267967 Centerline is valid? [True, True] Translation: X:192.59, Y:3.26, Z:2.17 [[ 9.98927141e-01 -4.22819803e-02 -1.88891547e-02 1.92585351e+02] [ 4.22844978e-02 9.99105575e-01 -2.66272280e-04 3.26405021e+00] [ 1.88835183e-02 -5.32731813e-04 9.99821549e-01 2.16857401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54509989299999 meters 0.01738483742321637 Centerline is valid? [True, True] Translation: X:192.62, Y:3.26, Z:2.17 [[ 9.98952479e-01 -4.16939978e-02 -1.88561880e-02 1.92616924e+02] [ 4.16964170e-02 9.99130291e-01 -2.65007528e-04 3.26299744e+00] [ 1.88508379e-02 -5.21505552e-04 9.99822171e-01 2.16886126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.575099893 meters 0.016448877078174436 Centerline is valid? [True, True] Translation: X:192.65, Y:3.27, Z:2.17 [[ 9.98959202e-01 -4.14151136e-02 -1.91128372e-02 1.92648432e+02] [ 4.14175658e-02 9.99141889e-01 -2.67689543e-04 3.26500100e+00] [ 1.91075226e-02 -5.24196260e-04 9.99817297e-01 2.16960336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.605099893 meters 0.017299775266279616 Centerline is valid? [True, True] Translation: X:192.68, Y:3.26, Z:2.17 [[ 9.98944808e-01 -4.13479987e-02 -1.99903315e-02 1.92678580e+02] [ 4.13506801e-02 9.99144656e-01 -2.79372825e-04 3.26305606e+00] [ 1.99847844e-02 -5.47535772e-04 9.99800134e-01 2.16902365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.635099893 meters 0.017621655739267952 Centerline is valid? [True, True] Translation: X:192.71, Y:3.26, Z:2.17 [[ 9.98935333e-01 -4.12819179e-02 -2.05913559e-02 1.92708967e+02] [ 4.12847567e-02 9.99147380e-01 -2.87399784e-04 3.26231820e+00] [ 2.05856637e-02 -5.63015320e-04 9.99787934e-01 2.16878009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.665099893 meters 0.016517559618691426 Centerline is valid? [True, True] Translation: X:192.74, Y:3.26, Z:2.17 [[ 9.98916117e-01 -4.13720138e-02 -2.13295189e-02 1.92740682e+02] [ 4.13750920e-02 9.99143640e-01 -2.97154634e-04 3.26453475e+00] [ 2.13235470e-02 -5.85678253e-04 9.99772456e-01 2.16937418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.695099893 meters 0.016859434551877377 Centerline is valid? [True, True] Translation: X:192.77, Y:3.26, Z:2.17 [[ 9.98899659e-01 -4.14520491e-02 -2.19362405e-02 1.92770925e+02] [ 4.14553382e-02 9.99140311e-01 -3.04974708e-04 3.26406007e+00] [ 2.19300240e-02 -6.04735140e-04 9.99759325e-01 2.16923512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.725099893 meters 0.017144541915943907 Centerline is valid? [True, True] Translation: X:192.80, Y:3.26, Z:2.17 [[ 9.98895202e-01 -4.07242216e-02 -2.34502210e-02 1.92801521e+02] [ 4.07277906e-02 9.99170226e-01 -3.25588910e-04 3.26411344e+00] [ 2.34440220e-02 -6.29846491e-04 9.99724953e-01 2.16901912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.755099893 meters 0.016314847132354152 Centerline is valid? [True, True] Translation: X:192.83, Y:3.27, Z:2.17 [[ 9.98904129e-01 -4.00311633e-02 -2.42496712e-02 1.92831270e+02] [ 4.00347709e-02 9.99198230e-01 -3.36890893e-04 3.26653387e+00] [ 2.42437146e-02 -6.34308326e-04 9.99705877e-01 2.16986624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.785099893 meters 0.01624440271517997 Centerline is valid? [True, True] Translation: X:192.86, Y:3.27, Z:2.17 [[ 9.98928126e-01 -3.90530337e-02 -2.48487529e-02 1.92860754e+02] [ 3.90564970e-02 9.99236944e-01 -3.46119340e-04 3.26757270e+00] [ 2.48433089e-02 -6.24756901e-04 9.99691162e-01 2.17026487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.815099893 meters 0.01679290537837746 Centerline is valid? [True, True] Translation: X:192.89, Y:3.27, Z:2.17 [[ 9.98983096e-01 -3.72518592e-02 -2.53982698e-02 1.92889175e+02] [ 3.72548666e-02 9.99305733e-01 -3.54924035e-04 3.26746903e+00] [ 2.53938582e-02 -5.91646040e-04 9.99677349e-01 2.17017920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.845099893 meters 0.015601951046614855 Centerline is valid? [True, True] Translation: X:192.92, Y:3.27, Z:2.17 [[ 9.99014602e-01 -3.68281531e-02 -2.47691748e-02 1.92918190e+02] [ 3.68307898e-02 9.99321455e-01 -3.49897827e-04 3.27028240e+00] [ 2.47652539e-02 -5.62715235e-04 9.99693136e-01 2.17212049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.875099893 meters 0.015365893351076817 Centerline is valid? [True, True] Translation: X:192.95, Y:3.27, Z:2.17 [[ 9.99036025e-01 -3.66885101e-02 -2.41033877e-02 1.92946487e+02] [ 3.66908215e-02 9.99326605e-01 -3.46493791e-04 3.27135219e+00] [ 2.40998689e-02 -5.38213316e-04 9.99709411e-01 2.17348164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.905099893 meters 0.015840278496810484 Centerline is valid? [True, True] Translation: X:192.98, Y:3.27, Z:2.17 [[ 9.99059550e-01 -3.64777867e-02 -2.34390076e-02 1.92975340e+02] [ 3.64798291e-02 9.99334331e-01 -3.40585871e-04 3.27056971e+00] [ 2.34358288e-02 -5.14785423e-04 9.99725211e-01 2.17389618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.935099893 meters 0.01558573664945044 Centerline is valid? [True, True] Translation: X:193.00, Y:3.27, Z:2.18 [[ 9.99083669e-01 -3.67680688e-02 -2.19073289e-02 1.93003939e+02] [ 3.67698569e-02 9.99323709e-01 -3.21319478e-04 3.27092334e+00] [ 2.19043274e-02 -4.84504306e-04 9.99759954e-01 2.17556141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96509989299997 meters 0.015056911381158876 Centerline is valid? [True, True] Translation: X:193.03, Y:3.27, Z:2.18 [[ 9.99098456e-01 -3.68793196e-02 -2.10283337e-02 1.93033907e+02] [ 3.68809231e-02 9.99319619e-01 -3.11688529e-04 3.27216144e+00] [ 2.10255213e-02 -4.64136830e-04 9.99778832e-01 2.17709374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99509989299997 meters 0.016296560734724456 Centerline is valid? [True, True] Translation: X:193.06, Y:3.27, Z:2.18 [[ 9.99096857e-01 -3.71164638e-02 -2.06842758e-02 1.93063636e+02] [ 3.71180537e-02 9.99310840e-01 -3.07183835e-04 3.26978966e+00] [ 2.06814226e-02 -4.60853655e-04 9.99786010e-01 2.17708325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02509989299998 meters 0.015814249679596184 Centerline is valid? [True, True] Translation: X:193.09, Y:3.27, Z:2.18 [[ 9.99094594e-01 -3.73332367e-02 -2.04014896e-02 1.93094040e+02] [ 3.73348240e-02 9.99302766e-01 -3.03205089e-04 3.27101158e+00] [ 2.03985846e-02 -4.58755457e-04 9.99791822e-01 2.17795513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05509989299998 meters 0.016839401016449037 Centerline is valid? [True, True] Translation: X:193.12, Y:3.27, Z:2.18 [[ 9.99051229e-01 -3.84757737e-02 -2.04023669e-02 1.93124419e+02] [ 3.84776021e-02 9.99259417e-01 -3.03077720e-04 3.26904095e+00] [ 2.03989184e-02 -4.82243986e-04 9.99791804e-01 2.17844087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08509989299998 meters 0.016095832754887456 Centerline is valid? [True, True] Translation: X:193.15, Y:3.27, Z:2.18 [[ 9.99018886e-01 -3.93280945e-02 -2.03609075e-02 1.93154779e+02] [ 3.93300968e-02 9.99226227e-01 -3.02246297e-04 3.27073022e+00] [ 2.03570396e-02 -4.98846705e-04 9.99792650e-01 2.17945326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11509989299998 meters 0.017009613716198614 Centerline is valid? [True, True] Translation: X:193.19, Y:3.27, Z:2.18 [[ 9.98976325e-01 -4.03791694e-02 -2.03917604e-02 1.93185483e+02] [ 4.03813994e-02 9.99184293e-01 -3.02562496e-04 3.26881181e+00] [ 2.03873439e-02 -5.21195050e-04 9.99792021e-01 2.17923903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14509989299998 meters 0.017106936714792718 Centerline is valid? [True, True] Translation: X:193.22, Y:3.27, Z:2.18 [[ 9.98913504e-01 -4.18147706e-02 -2.05751395e-02 1.93217271e+02] [ 4.18173557e-02 9.99125225e-01 -3.04774671e-04 3.26817362e+00] [ 2.05698850e-02 -5.55954393e-04 9.99788263e-01 2.17968138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17509989299998 meters 0.01860891501431191 Centerline is valid? [True, True] Translation: X:193.25, Y:3.26, Z:2.18 [[ 9.98773529e-01 -4.47755616e-02 -2.11326252e-02 1.93247891e+02] [ 4.47789635e-02 9.98996870e-01 -3.12433638e-04 3.26358290e+00] [ 2.11254158e-02 -6.34246606e-04 9.99776632e-01 2.17965790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20509989299998 meters 0.01694789739261002 Centerline is valid? [True, True] Translation: X:193.28, Y:3.27, Z:2.18 [[ 9.98697851e-01 -4.66217097e-02 -2.07127532e-02 1.93279537e+02] [ 4.66253850e-02 9.98912399e-01 -3.05706214e-04 3.26595263e+00] [ 2.07044785e-02 -6.60431953e-04 9.99785421e-01 2.18137265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23509989299998 meters 0.019463353212653776 Centerline is valid? [True, True] Translation: X:193.31, Y:3.26, Z:2.18 [[ 9.98644409e-01 -4.79240442e-02 -2.03133095e-02 1.93310817e+02] [ 4.79278662e-02 9.98850755e-01 -2.98923682e-04 3.26119123e+00] [ 2.03042902e-02 -6.75055117e-04 9.99793619e-01 2.18095088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26509989299998 meters 0.018034453283273442 Centerline is valid? [True, True] Translation: X:193.34, Y:3.26, Z:2.18 [[ 9.98551538e-01 -4.99526438e-02 -1.99889999e-02 1.93342404e+02] [ 4.99567696e-02 9.98751338e-01 -2.93198789e-04 3.26194575e+00] [ 1.99786865e-02 -7.05811764e-04 9.99800157e-01 2.18227460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29509989299999 meters 0.021123521212359952 Centerline is valid? [True, True] Translation: X:193.37, Y:3.26, Z:2.18 [[ 9.98534448e-01 -5.04381907e-02 -1.96200390e-02 1.93373693e+02] [ 5.04422757e-02 9.98726937e-01 -2.86941511e-04 3.25636945e+00] [ 1.96095343e-02 -7.03158434e-04 9.99807467e-01 2.18163408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.325099893 meters 0.019117087794188553 Centerline is valid? [True, True] Translation: X:193.41, Y:3.26, Z:2.18 [[ 9.98551196e-01 -5.01905443e-02 -1.94015044e-02 1.93406013e+02] [ 5.01945149e-02 9.98739421e-01 -2.82566124e-04 3.25927942e+00] [ 1.93912294e-02 -6.91692363e-04 9.99811733e-01 2.18265268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.355099893 meters 0.018498397115556932 Centerline is valid? [True, True] Translation: X:193.44, Y:3.26, Z:2.18 [[ 9.98581479e-01 -4.96002476e-02 -1.93609231e-02 1.93438167e+02] [ 4.96041179e-02 9.98768919e-01 -2.80575395e-04 3.26027076e+00] [ 1.93510049e-02 -6.80204122e-04 9.99812520e-01 2.18340443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.385099893 meters 0.01790166647743802 Centerline is valid? [True, True] Translation: X:193.47, Y:3.26, Z:2.18 [[ 9.98694488e-01 -4.72087690e-02 -1.95102747e-02 1.93469277e+02] [ 4.72122663e-02 9.98884840e-01 -2.81569749e-04 3.26125222e+00] [ 1.95018101e-02 -6.39922126e-04 9.99809617e-01 2.18347286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.415099893 meters 0.017859173140121302 Centerline is valid? [True, True] Translation: X:193.50, Y:3.26, Z:2.18 [[ 9.98758062e-01 -4.57090642e-02 -1.98246288e-02 1.93499725e+02] [ 4.57123917e-02 9.98954601e-01 -2.85513105e-04 3.26141244e+00] [ 1.98169547e-02 -6.21072682e-04 9.99803432e-01 2.18372586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.445099893 meters 0.01733934645165122 Centerline is valid? [True, True] Translation: X:193.53, Y:3.26, Z:2.18 [[ 9.98867444e-01 -4.35250441e-02 -1.92197890e-02 1.93531126e+02] [ 4.35277766e-02 9.99052179e-01 -2.76341288e-04 3.26233124e+00] [ 1.92135998e-02 -5.60566365e-04 9.99815245e-01 2.18478094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.475099893 meters 0.017535480599268956 Centerline is valid? [True, True] Translation: X:193.56, Y:3.26, Z:2.19 [[ 9.98903886e-01 -4.29781484e-02 -1.85446688e-02 1.93561015e+02] [ 4.29806080e-02 9.99075871e-01 -2.66097890e-04 3.26175554e+00] [ 1.85389675e-02 -5.31254923e-04 9.99827997e-01 2.18516593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.505099893 meters 0.01755670075012608 Centerline is valid? [True, True] Translation: X:193.59, Y:3.26, Z:2.19 [[ 9.98931290e-01 -4.26310868e-02 -1.78568903e-02 1.93592400e+02] [ 4.26333190e-02 9.99090754e-01 -2.55824129e-04 3.26138960e+00] [ 1.78515600e-02 -5.05747773e-04 9.99840520e-01 2.18589312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.535099893 meters 0.017108074996703672 Centerline is valid? [True, True] Translation: X:193.62, Y:3.26, Z:2.19 [[ 9.98956694e-01 -4.22019884e-02 -1.74503971e-02 1.93623537e+02] [ 4.22040654e-02 9.99108980e-01 -2.49392739e-04 3.26170877e+00] [ 1.74453733e-02 -4.87345153e-04 9.99847699e-01 2.18697274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.565099893 meters 0.017143719319359447 Centerline is valid? [True, True] Translation: X:193.66, Y:3.26, Z:2.19 [[ 9.98971375e-01 -4.19095951e-02 -1.73140706e-02 1.93655277e+02] [ 4.19116065e-02 9.99121292e-01 -2.46829334e-04 3.26137323e+00] [ 1.73092011e-02 -4.79085074e-04 9.99850070e-01 2.18728504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.595099893 meters 0.01647372485487959 Centerline is valid? [True, True] Translation: X:193.69, Y:3.26, Z:2.19 [[ 9.99010856e-01 -4.08826004e-02 -1.74906157e-02 1.93686876e+02] [ 4.08845068e-02 9.99163848e-01 -2.48714788e-04 3.26238382e+00] [ 1.74861590e-02 -4.66626421e-04 9.99846997e-01 2.18786921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.625099893 meters 0.016855640603316794 Centerline is valid? [True, True] Translation: X:193.72, Y:3.26, Z:2.19 [[ 9.99048156e-01 -3.97010238e-02 -1.80723489e-02 1.93717565e+02] [ 3.97028762e-02 9.99211497e-01 -2.56420731e-04 3.26167642e+00] [ 1.80682790e-02 -4.61347574e-04 9.99836649e-01 2.18772241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.655099893 meters 0.015966422628667747 Centerline is valid? [True, True] Translation: X:193.75, Y:3.26, Z:2.19 [[ 9.99101406e-01 -3.81848773e-02 -1.83928400e-02 1.93748794e+02] [ 3.81865474e-02 9.99270594e-01 -2.60524167e-04 3.26356176e+00] [ 1.83893722e-02 -4.42068994e-04 9.99830803e-01 2.18847313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.685099893 meters 0.01527040138049945 Centerline is valid? [True, True] Translation: X:193.78, Y:3.26, Z:2.19 [[ 9.99256485e-01 -3.39159052e-02 -1.83354519e-02 1.93779314e+02] [ 3.39168567e-02 9.99424624e-01 -2.59159971e-04 3.26448237e+00] [ 1.83336917e-02 -3.62913612e-04 9.99831858e-01 2.18933511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71509989299997 meters 0.014905290220022122 Centerline is valid? [True, True] Translation: X:193.81, Y:3.26, Z:2.19 [[ 9.99346301e-01 -3.10759256e-02 -1.84731823e-02 1.93808989e+02] [ 3.10764085e-02 9.99516978e-01 -2.60991803e-04 3.26488483e+00] [ 1.84723699e-02 -3.13258968e-04 9.99829322e-01 2.18977306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74509989299997 meters 0.01432757380183432 Centerline is valid? [True, True] Translation: X:193.84, Y:3.27, Z:2.19 [[ 9.99426167e-01 -2.86038066e-02 -1.81427370e-02 1.93838312e+02] [ 2.86038576e-02 9.99590793e-01 -2.56741533e-04 3.26612996e+00] [ 1.81426567e-02 -2.62358060e-04 9.99835374e-01 2.19015390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77509989299998 meters 0.013636081811149522 Centerline is valid? [True, True] Translation: X:193.87, Y:3.27, Z:2.19 [[ 9.99551604e-01 -2.41146936e-02 -1.77502679e-02 1.93867548e+02] [ 2.41140236e-02 9.99709183e-01 -2.51807157e-04 3.26782929e+00] [ 1.77511781e-02 -1.76336131e-04 9.99842420e-01 2.19129022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80509989299998 meters 0.013436113204921957 Centerline is valid? [True, True] Translation: X:193.90, Y:3.27, Z:2.19 [[ 9.99597986e-01 -2.24698859e-02 -1.72907671e-02 1.93896609e+02] [ 2.24689752e-02 9.99747510e-01 -2.46958993e-04 3.26821396e+00] [ 1.72919505e-02 -1.41646106e-04 9.99850473e-01 2.19166099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83509989299998 meters 0.013273857525131653 Centerline is valid? [True, True] Translation: X:193.93, Y:3.27, Z:2.19 [[ 9.99621862e-01 -2.13353543e-02 -1.73475057e-02 1.93925895e+02] [ 2.13342006e-02 9.99772368e-01 -2.51585072e-04 3.26823712e+00] [ 1.73489245e-02 -1.18605228e-04 9.99849489e-01 2.19188471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86509989299998 meters 0.01321938089654222 Centerline is valid? [True, True] Translation: X:193.95, Y:3.27, Z:2.19 [[ 9.99636716e-01 -2.04562337e-02 -1.75493397e-02 1.93953809e+02] [ 2.04548747e-02 9.99790744e-01 -2.56953203e-04 3.26736314e+00] [ 1.75509237e-02 -1.02109688e-04 9.99845965e-01 2.19154973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89509989299998 meters 0.013157158455699827 Centerline is valid? [True, True] Translation: X:193.98, Y:3.26, Z:2.19 [[ 9.99619911e-01 -2.04641849e-02 -1.84729885e-02 1.93981639e+02] [ 2.04626158e-02 9.99790581e-01 -2.73975258e-04 3.26467421e+00] [ 1.84747266e-02 -1.04134543e-04 9.99829322e-01 2.19066316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92509989299998 meters 0.013165606236179444 Centerline is valid? [True, True] Translation: X:194.01, Y:3.26, Z:2.19 [[ 9.99590750e-01 -2.16686336e-02 -1.86762693e-02 1.94009341e+02] [ 2.16671395e-02 9.99765200e-01 -2.82370613e-04 3.26300559e+00] [ 1.86780027e-02 -1.22406279e-04 9.99825543e-01 2.19045373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95509989299998 meters 0.013302128017549363 Centerline is valid? [True, True] Translation: X:194.04, Y:3.26, Z:2.19 [[ 9.99551957e-01 -2.28518909e-02 -1.93307250e-02 1.94037201e+02] [ 2.28504288e-02 9.99738851e-01 -2.96541319e-04 3.26088857e+00] [ 1.93324534e-02 -1.45306900e-04 9.99813100e-01 2.19003100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98509989299998 meters 0.013520236204457609 Centerline is valid? [True, True] Translation: X:194.06, Y:3.26, Z:2.19 [[ 9.99510254e-01 -2.45009661e-02 -1.94667361e-02 1.94064742e+02] [ 2.44997624e-02 9.99699791e-01 -3.00353085e-04 3.25832564e+00] [ 1.94682510e-02 -1.76724422e-04 9.99810460e-01 2.18957682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01509989299998 meters 0.013962642100928482 Centerline is valid? [True, True] Translation: X:194.09, Y:3.25, Z:2.19 [[ 9.99364612e-01 -2.98695076e-02 -1.94469927e-02 1.94093861e+02] [ 2.98692668e-02 9.99553768e-01 -3.02905980e-04 3.25346610e+00] [ 1.94473625e-02 -2.78153897e-04 9.99810843e-01 2.19034602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04509989299999 meters 0.014516320966232973 Centerline is valid? [True, True] Translation: X:194.12, Y:3.25, Z:2.19 [[ 9.99266240e-01 -3.33785001e-02 -1.87844998e-02 1.94122927e+02] [ 3.33788087e-02 9.99442728e-01 -2.97189069e-04 3.25047351e+00] [ 1.87839514e-02 -3.30033220e-04 9.99823512e-01 2.19088147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.075099893 meters 0.01479520054022794 Centerline is valid? [True, True] Translation: X:194.15, Y:3.25, Z:2.19 [[ 9.99143147e-01 -3.68139779e-02 -1.89130131e-02 1.94152372e+02] [ 3.68148424e-02 9.99322058e-01 -3.02581053e-04 3.24798440e+00] [ 1.89113304e-02 -3.93957810e-04 9.99821087e-01 2.19170390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.105099893 meters 0.01784695569247561 Centerline is valid? [True, True] Translation: X:194.18, Y:3.24, Z:2.19 [[ 9.98826897e-01 -4.44129817e-02 -1.92954898e-02 1.94181433e+02] [ 4.44152842e-02 9.99013106e-01 -3.09412785e-04 3.23819395e+00] [ 1.92901892e-02 -5.47964853e-04 9.99813777e-01 2.19130282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.135099893 meters 0.01936019532804336 Centerline is valid? [True, True] Translation: X:194.21, Y:3.23, Z:2.19 [[ 9.98647006e-01 -4.81912954e-02 -1.95385764e-02 1.94212150e+02] [ 4.81943697e-02 9.98837927e-01 -3.13765272e-04 3.23412726e+00] [ 1.95309919e-02 -6.28308624e-04 9.99809055e-01 2.19125060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.165099893 meters 0.018360166211886953 Centerline is valid? [True, True] Translation: X:194.24, Y:3.23, Z:2.19 [[ 9.98448441e-01 -5.19252175e-02 -2.01117508e-02 1.94243005e+02] [ 5.19292376e-02 9.98650715e-01 -3.22660331e-04 3.23431600e+00] [ 2.01013685e-02 -7.22228182e-04 9.99797686e-01 2.19210432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.195099893 meters 0.020964361341253807 Centerline is valid? [True, True] Translation: X:194.27, Y:3.23, Z:2.19 [[ 9.98036817e-01 -5.91503966e-02 -2.05849964e-02 1.94272795e+02] [ 5.91561496e-02 9.98248687e-01 -3.29873428e-04 3.22760954e+00] [ 2.05684577e-02 -8.88503297e-04 9.99788052e-01 2.19234622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.225099893 meters 0.024515651981657664 Centerline is valid? [True, True] Translation: X:194.30, Y:3.22, Z:2.19 [[ 9.97855173e-01 -6.22158482e-02 -2.03529209e-02 1.94303074e+02] [ 6.22221075e-02 9.98062274e-01 -3.26197820e-04 3.22148794e+00] [ 2.03337772e-02 -9.40903452e-04 9.99792805e-01 2.19219169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.255099893 meters 0.023838203843990345 Centerline is valid? [True, True] Translation: X:194.33, Y:3.22, Z:2.19 [[ 9.97640218e-01 -6.55632174e-02 -2.03828362e-02 1.94333774e+02] [ 6.55702018e-02 9.97847905e-01 -3.26194251e-04 3.22169139e+00] [ 2.03603567e-02 -1.01108218e-03 9.99792195e-01 2.19326560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.285099893 meters 0.02791592911068695 Centerline is valid? [True, True] Translation: X:194.36, Y:3.21, Z:2.19 [[ 9.97446495e-01 -6.84817938e-02 -2.02665660e-02 1.94363562e+02] [ 6.84893179e-02 9.97651797e-01 -3.23420141e-04 3.21490632e+00] [ 2.02411244e-02 -1.06544900e-03 9.99794560e-01 2.19302600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.315099893 meters 0.026115776264460266 Centerline is valid? [True, True] Translation: X:194.39, Y:3.22, Z:2.19 [[ 9.96996475e-01 -7.47824145e-02 -2.01400110e-02 1.94394387e+02] [ 7.47911423e-02 9.97199169e-01 -3.20574744e-04 3.21555759e+00] [ 2.01075756e-02 -1.18668254e-03 9.99797118e-01 2.19489492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.345099893 meters 0.028982971113514475 Centerline is valid? [True, True] Translation: X:194.42, Y:3.21, Z:2.20 [[ 9.96812925e-01 -7.71939821e-02 -2.01266611e-02 1.94424464e+02] [ 7.72031888e-02 9.97015328e-01 -3.20322840e-04 3.21125540e+00] [ 2.00913167e-02 -1.23454047e-03 9.99797387e-01 2.19502795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.375099893 meters 0.028392203637595044 Centerline is valid? [True, True] Translation: X:194.46, Y:3.21, Z:2.20 [[ 9.96614090e-01 -7.96352910e-02 -2.04591552e-02 1.94455580e+02] [ 7.96453197e-02 9.96823213e-01 -3.25466947e-04 3.21204630e+00] [ 2.04200794e-02 -1.30511101e-03 9.99790637e-01 2.19559343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.405099893 meters 0.028494586919730565 Centerline is valid? [True, True] Translation: X:194.49, Y:3.21, Z:2.20 [[ 9.96451784e-01 -8.16968239e-02 -2.02353892e-02 1.94487019e+02] [ 8.17070679e-02 9.96656336e-01 -3.21394590e-04 3.21186898e+00] [ 2.01939858e-02 -1.33312011e-03 9.99795192e-01 2.19628695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.435099893 meters 0.028494586919730565 Centerline is valid? [True, True] Translation: X:194.52, Y:3.21, Z:2.20 [[ 9.96457815e-01 -8.16232223e-02 -2.02354056e-02 1.94518770e+02] [ 8.16334722e-02 9.96662367e-01 -3.20358471e-04 3.21231526e+00] [ 2.01940159e-02 -1.33266272e-03 9.99795192e-01 2.19667956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46509989299997 meters 0.03356210863561204 Centerline is valid? [True, True] Translation: X:194.55, Y:3.21, Z:2.20 [[ 9.96182042e-01 -8.48363279e-02 -2.05945616e-02 1.94549112e+02] [ 8.48476572e-02 9.96393883e-01 -3.24635765e-04 3.20518610e+00] [ 2.05478361e-02 -1.42400398e-03 9.99787857e-01 2.19612024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49509989299997 meters 0.030472152032357765 Centerline is valid? [True, True] Translation: X:194.58, Y:3.21, Z:2.20 [[ 9.96105676e-01 -8.56652660e-02 -2.08553258e-02 1.94581381e+02] [ 8.56770931e-02 9.96322904e-01 -3.27392124e-04 3.20921050e+00] [ 2.08066849e-02 -1.46070653e-03 9.99782450e-01 2.19622740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52509989299998 meters 0.030824615195864834 Centerline is valid? [True, True] Translation: X:194.61, Y:3.21, Z:2.20 [[ 9.96030957e-01 -8.64223507e-02 -2.12957583e-02 1.94613141e+02] [ 8.64348852e-02 9.96257447e-01 -3.32882268e-04 3.20869522e+00] [ 2.12448262e-02 -1.50913538e-03 9.99773164e-01 2.19583338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55509989299998 meters 0.032186791404345966 Centerline is valid? [True, True] Translation: X:194.64, Y:3.21, Z:2.20 [[ 9.95957001e-01 -8.69904594e-02 -2.24123316e-02 1.94643787e+02] [ 8.70045108e-02 9.96207856e-01 -3.49246403e-04 3.20707150e+00] [ 2.23577219e-02 -1.60213954e-03 9.99748751e-01 2.19532318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58509989299998 meters 0.0331321611723585 Centerline is valid? [True, True] Translation: X:194.68, Y:3.21, Z:2.19 [[ 9.95910407e-01 -8.72662103e-02 -2.33895349e-02 1.94675408e+02] [ 8.72816301e-02 9.96183610e-01 -3.62754546e-04 3.20691070e+00] [ 2.33319275e-02 -1.68020570e-03 9.99726362e-01 2.19397869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61509989299998 meters 0.0312643774537263 Centerline is valid? [True, True] Translation: X:194.71, Y:3.21, Z:2.19 [[ 9.95904052e-01 -8.70821711e-02 -2.43272268e-02 1.94707624e+02] [ 8.70988548e-02 9.96199603e-01 -3.74965178e-04 3.21069994e+00] [ 2.42674265e-02 -1.74544426e-03 9.99703979e-01 2.19408097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64509989299998 meters 0.033343493807992716 Centerline is valid? [True, True] Translation: X:194.74, Y:3.21, Z:2.19 [[ 9.95958459e-01 -8.63772597e-02 -2.46113028e-02 1.94737700e+02] [ 8.63941495e-02 9.96260964e-01 -3.78200896e-04 3.20922835e+00] [ 2.45519482e-02 -1.74960019e-03 9.99697024e-01 2.19362339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67509989299998 meters 0.032079639301749154 Centerline is valid? [True, True] Translation: X:194.77, Y:3.21, Z:2.19 [[ 9.96045983e-01 -8.52700880e-02 -2.49281519e-02 1.94769320e+02] [ 8.52870876e-02 9.96356345e-01 -3.82388650e-04 3.21268236e+00] [ 2.48699287e-02 -1.74517280e-03 9.99689172e-01 2.19407687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70509989299998 meters 0.029897005021615734 Centerline is valid? [True, True] Translation: X:194.80, Y:3.22, Z:2.20 [[ 9.96303742e-01 -8.22429572e-02 -2.47981928e-02 1.94799886e+02] [ 8.22588632e-02 9.96610925e-01 -3.79724482e-04 3.21907620e+00] [ 2.47453795e-02 -1.66155022e-03 9.99692405e-01 2.19513766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73509989299998 meters 0.032894002882436026 Centerline is valid? [True, True] Translation: X:194.83, Y:3.22, Z:2.19 [[ 9.96485181e-01 -8.01759720e-02 -2.42713148e-02 1.94830077e+02] [ 8.01906091e-02 9.96779478e-01 -3.71218117e-04 3.21691077e+00] [ 2.42229112e-02 -1.57641816e-03 9.99705339e-01 2.19472832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76509989299998 meters 0.03224122223873408 Centerline is valid? [True, True] Translation: X:194.86, Y:3.22, Z:2.20 [[ 9.96672269e-01 -7.79767840e-02 -2.37488872e-02 1.94860603e+02] [ 7.79901808e-02 9.96954061e-01 -3.63006398e-04 3.21961846e+00] [ 2.37048556e-02 -1.49038160e-03 9.99717889e-01 2.19566966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79509989299999 meters 0.030094013244379273 Centerline is valid? [True, True] Translation: X:194.89, Y:3.23, Z:2.20 [[ 9.96843361e-01 -7.59467405e-02 -2.31388601e-02 1.94891122e+02] [ 7.59589127e-02 9.97110886e-01 -3.53682014e-04 3.22518569e+00] [ 2.30988703e-02 -1.40503709e-03 9.99732198e-01 2.19714007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.825099893 meters 0.024491314785575813 Centerline is valid? [True, True] Translation: X:194.92, Y:3.24, Z:2.20 [[ 9.97248789e-01 -7.09091580e-02 -2.16042832e-02 1.94921227e+02] [ 7.09185903e-02 9.97482052e-01 -3.30216999e-04 3.23747468e+00] [ 2.15733001e-02 -1.20283681e-03 9.99766546e-01 2.19976168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.855099893 meters 0.02414846249140806 Centerline is valid? [True, True] Translation: X:194.95, Y:3.24, Z:2.20 [[ 9.97433479e-01 -6.84942761e-02 -2.08564030e-02 1.94952992e+02] [ 6.85025501e-02 9.97650890e-01 -3.18306585e-04 3.24034487e+00] [ 2.08292112e-02 -1.11122714e-03 9.99782431e-01 2.20081806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.885099893 meters 0.023630158074992087 Centerline is valid? [True, True] Translation: X:194.98, Y:3.25, Z:2.20 [[ 9.97775766e-01 -6.37218980e-02 -1.95714056e-02 1.94982259e+02] [ 6.37282789e-02 9.97967243e-01 -2.98115423e-04 3.24562919e+00] [ 1.95506181e-02 -9.49799649e-04 9.99808417e-01 2.20207790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.915099893 meters 0.025940299699671765 Centerline is valid? [True, True] Translation: X:195.01, Y:3.24, Z:2.20 [[ 9.97900758e-01 -6.17071452e-02 -1.96546382e-02 1.95013047e+02] [ 6.17131937e-02 9.98093879e-01 -2.99224876e-04 3.24487895e+00] [ 1.96356384e-02 -9.14353764e-04 9.99806784e-01 2.20185193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.945099893 meters 0.022383166109199985 Centerline is valid? [True, True] Translation: X:195.04, Y:3.25, Z:2.20 [[ 9.98015781e-01 -5.98114295e-02 -1.96746750e-02 1.95044772e+02] [ 5.98171392e-02 9.98209307e-01 -2.98693042e-04 3.25259018e+00] [ 1.96573089e-02 -8.78782400e-04 9.99806390e-01 2.20274819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.975099893 meters 0.020037239416891405 Centerline is valid? [True, True] Translation: X:195.08, Y:3.26, Z:2.20 [[ 9.98160195e-01 -5.72347838e-02 -2.00101095e-02 1.95076103e+02] [ 5.72401923e-02 9.98360390e-01 -3.02824774e-04 3.26034695e+00] [ 1.99946329e-02 -8.43114882e-04 9.99799732e-01 2.20345551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.005099893 meters 0.0216217525856841 Centerline is valid? [True, True] Translation: X:195.11, Y:3.26, Z:2.20 [[ 9.98188671e-01 -5.69252149e-02 -1.94652952e-02 1.95107327e+02] [ 5.69302997e-02 9.98378112e-01 -2.93260563e-04 3.25994266e+00] [ 1.94504186e-02 -8.15435717e-04 9.99810490e-01 2.20373087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.035099893 meters 0.02037497350807384 Centerline is valid? [True, True] Translation: X:195.14, Y:3.26, Z:2.20 [[ 9.98145846e-01 -5.73647068e-02 -2.03509230e-02 1.95139647e+02] [ 5.73704005e-02 9.98352916e-01 -3.04427437e-04 3.26338926e+00] [ 2.03348667e-02 -8.63677622e-04 9.99792852e-01 2.20445186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.065099893 meters 0.020977250868774708 Centerline is valid? [True, True] Translation: X:195.17, Y:3.27, Z:2.20 [[ 9.97908982e-01 -5.96761928e-02 -2.48277338e-02 1.95170964e+02] [ 5.96854214e-02 9.98217168e-01 -3.69832076e-04 3.26509300e+00] [ 2.48055403e-02 -1.11279500e-03 9.99691676e-01 2.20147623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.095099893 meters 0.021245036796017865 Centerline is valid? [True, True] Translation: X:195.20, Y:3.27, Z:2.20 [[ 9.97753135e-01 -6.11747513e-02 -2.73190512e-02 1.95202011e+02] [ 6.11865078e-02 9.98126268e-01 -4.06169257e-04 3.26618408e+00] [ 2.72927099e-02 -1.26630069e-03 9.99626683e-01 2.19990081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.125099893 meters 0.022055072906915475 Centerline is valid? [True, True] Translation: X:195.23, Y:3.27, Z:2.20 [[ 9.97704815e-01 -6.14706900e-02 -2.83981648e-02 1.95231149e+02] [ 6.14835124e-02 9.98108010e-01 -4.22269369e-04 3.26632400e+00] [ 2.83703929e-02 -1.32471873e-03 9.99596602e-01 2.19848223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.155099893 meters 0.02236407374329309 Centerline is valid? [True, True] Translation: X:195.26, Y:3.27, Z:2.20 [[ 9.97677064e-01 -6.16167057e-02 -2.90492149e-02 1.95261492e+02] [ 6.16301783e-02 9.98098960e-01 -4.32181031e-04 3.26771090e+00] [ 2.90206207e-02 -1.35913119e-03 9.99577889e-01 2.19821369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.185099893 meters 0.023275367975755648 Centerline is valid? [True, True] Translation: X:195.29, Y:3.27, Z:2.20 [[ 9.97810995e-01 -5.99180099e-02 -2.79830473e-02 1.95291151e+02] [ 5.99298544e-02 9.98202504e-01 -4.15961461e-04 3.27026692e+00] [ 2.79576715e-02 -1.26196903e-03 9.99608311e-01 2.19907825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21509989299997 meters 0.023215143393134925 Centerline is valid? [True, True] Translation: X:195.32, Y:3.27, Z:2.20 [[ 9.97948278e-01 -5.79693235e-02 -2.71807409e-02 1.95320171e+02] [ 5.79797701e-02 9.98317676e-01 -4.04278607e-04 3.27240968e+00] [ 2.71584499e-02 -1.17248397e-03 9.99630454e-01 2.20020697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24509989299997 meters 0.021115762658630993 Centerline is valid? [True, True] Translation: X:195.35, Y:3.28, Z:2.20 [[ 9.98100365e-01 -5.57315666e-02 -2.62612696e-02 1.95350389e+02] [ 5.57405337e-02 9.98445211e-01 -3.91020394e-04 3.27778521e+00] [ 2.62422311e-02 -1.07353959e-03 9.99655037e-01 2.20269024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27509989299998 meters 0.020670809542480083 Centerline is valid? [True, True] Translation: X:195.38, Y:3.28, Z:2.20 [[ 9.98263071e-01 -5.32011185e-02 -2.53077388e-02 1.95380193e+02] [ 5.32086340e-02 9.98583346e-01 -3.76822681e-04 3.28050676e+00] [ 2.52919339e-02 -9.70422047e-04 9.99679637e-01 2.20400408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30509989299998 meters 0.017802646583001014 Centerline is valid? [True, True] Translation: X:195.41, Y:3.29, Z:2.21 [[ 9.98544282e-01 -4.82189566e-02 -2.41712463e-02 1.95410978e+02] [ 4.82243591e-02 9.98836464e-01 -3.59685042e-04 3.28898362e+00] [ 2.41604658e-02 -8.06481420e-04 9.99707768e-01 2.20649800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33509989299998 meters 0.018420909492584136 Centerline is valid? [True, True] Translation: X:195.44, Y:3.29, Z:2.21 [[ 9.98658421e-01 -4.59965211e-02 -2.37839732e-02 1.95440685e+02] [ 4.60011225e-02 9.98941325e-01 -3.53906705e-04 3.28981108e+00] [ 2.37750722e-02 -7.40657555e-04 9.99717059e-01 2.20662382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36509989299998 meters 0.01732337530307905 Centerline is valid? [True, True] Translation: X:195.47, Y:3.29, Z:2.21 [[ 9.98757031e-01 -4.42717225e-02 -2.28999375e-02 1.95471413e+02] [ 4.42755301e-02 9.99019300e-01 -3.40967783e-04 3.29329690e+00] [ 2.28925748e-02 -6.73362902e-04 9.99737704e-01 2.20852284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39509989299998 meters 0.016715318213042916 Centerline is valid? [True, True] Translation: X:195.50, Y:3.30, Z:2.21 [[ 9.98827542e-01 -4.32083591e-02 -2.18306758e-02 1.95501785e+02] [ 4.32115656e-02 9.99065891e-01 -3.25047050e-04 3.29591113e+00] [ 2.18243283e-02 -6.18671732e-04 9.99761630e-01 2.21032481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42509989299998 meters 0.01683946921146589 Centerline is valid? [True, True] Translation: X:195.53, Y:3.30, Z:2.21 [[ 9.98868684e-01 -4.26830677e-02 -2.09644616e-02 1.95531789e+02] [ 4.26859090e-02 9.99088492e-01 -3.12149585e-04 3.29664221e+00] [ 2.09586758e-02 -5.83090654e-04 9.99780173e-01 2.21199544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45509989299998 meters 0.016891226740848312 Centerline is valid? [True, True] Translation: X:195.56, Y:3.30, Z:2.21 [[ 9.98859438e-01 -4.28700641e-02 -2.10233521e-02 1.95563166e+02] [ 4.28729693e-02 9.99080483e-01 -3.12716952e-04 3.29646978e+00] [ 2.10174270e-02 -5.88973251e-04 9.99778936e-01 2.21270266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48509989299998 meters 0.019321440483224532 Centerline is valid? [True, True] Translation: X:195.59, Y:3.29, Z:2.21 [[ 9.98848051e-01 -4.33823800e-02 -2.05070567e-02 1.95593174e+02] [ 4.33852639e-02 9.99058370e-01 -3.04461639e-04 3.29221707e+00] [ 2.05009549e-02 -5.85593153e-04 9.99789662e-01 2.21232252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51509989299998 meters 0.017320732805045376 Centerline is valid? [True, True] Translation: X:195.62, Y:3.30, Z:2.21 [[ 9.98777855e-01 -4.50500923e-02 -2.03294203e-02 1.95624408e+02] [ 4.50532817e-02 9.98984540e-01 -3.01319703e-04 3.29505406e+00] [ 2.03223510e-02 -6.14955651e-04 9.99793291e-01 2.21390012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54509989299999 meters 0.017650010413854066 Centerline is valid? [True, True] Translation: X:195.66, Y:3.29, Z:2.21 [[ 9.98725460e-01 -4.60071940e-02 -2.07555839e-02 1.95655527e+02] [ 4.60107408e-02 9.98940898e-01 -3.06879374e-04 3.29439015e+00] [ 2.07477202e-02 -6.48491545e-04 9.99784533e-01 2.21393787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.575099893 meters 0.018760814488451065 Centerline is valid? [True, True] Translation: X:195.69, Y:3.29, Z:2.21 [[ 9.98614320e-01 -4.82005570e-02 -2.11221610e-02 1.95685430e+02] [ 4.82047298e-02 9.98837428e-01 -3.11846788e-04 3.29211825e+00] [ 2.11126361e-02 -7.06773395e-04 9.99776854e-01 2.21369391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.605099893 meters 0.01971214942823172 Centerline is valid? [True, True] Translation: X:195.72, Y:3.29, Z:2.21 [[ 9.98541409e-01 -4.95793465e-02 -2.13762201e-02 1.95715471e+02] [ 4.95839392e-02 9.98769910e-01 -3.15438803e-04 3.29065327e+00] [ 2.13655647e-02 -7.44938492e-04 9.99771453e-01 2.21365134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.635099893 meters 0.02089857599114418 Centerline is valid? [True, True] Translation: X:195.75, Y:3.29, Z:2.21 [[ 9.98465021e-01 -5.09286588e-02 -2.17686451e-02 1.95745315e+02] [ 5.09337647e-02 9.98701982e-01 -3.20190383e-04 3.28867571e+00] [ 2.17566959e-02 -7.89060150e-04 9.99762984e-01 2.21358119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.665099893 meters 0.021220758975118034 Centerline is valid? [True, True] Translation: X:195.78, Y:3.29, Z:2.21 [[ 9.98324977e-01 -5.33046414e-02 -2.24912275e-02 1.95776690e+02] [ 5.33107269e-02 9.98577918e-01 -3.29354371e-04 3.28689528e+00] [ 2.24767992e-02 -8.70220990e-04 9.99746986e-01 2.21297898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.695099893 meters 0.021961555227433805 Centerline is valid? [True, True] Translation: X:195.81, Y:3.29, Z:2.21 [[ 9.98262691e-01 -5.44311108e-02 -2.25578070e-02 1.95807532e+02] [ 5.44375333e-02 9.98517124e-01 -3.29718319e-04 3.28586960e+00] [ 2.25423035e-02 -8.98845876e-04 9.99745486e-01 2.21312218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.725099893 meters 0.020654034014527995 Centerline is valid? [True, True] Translation: X:195.84, Y:3.29, Z:2.21 [[ 9.98174779e-01 -5.63257237e-02 -2.17835407e-02 1.95838843e+02] [ 5.63321750e-02 9.98412032e-01 -3.17851166e-04 3.28796605e+00] [ 2.17668523e-02 -9.09843206e-04 9.99762660e-01 2.21439937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.755099893 meters 0.021116598072258127 Centerline is valid? [True, True] Translation: X:195.87, Y:3.29, Z:2.22 [[ 9.98092160e-01 -5.78961090e-02 -2.14495033e-02 1.95870205e+02] [ 5.79027423e-02 9.98322180e-01 -3.12204649e-04 3.28704049e+00] [ 2.14315904e-02 -9.30376053e-04 9.99769884e-01 2.21505708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.785099893 meters 0.023543603792092426 Centerline is valid? [True, True] Translation: X:195.90, Y:3.28, Z:2.22 [[ 9.98007269e-01 -5.92817838e-02 -2.16138901e-02 1.95901799e+02] [ 5.92888640e-02 9.98240819e-01 -3.13643654e-04 3.28370983e+00] [ 2.15944607e-02 -9.68444347e-04 9.99766343e-01 2.21538305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.815099893 meters 0.02078631628676435 Centerline is valid? [True, True] Translation: X:195.93, Y:3.29, Z:2.22 [[ 9.97979667e-01 -5.78868168e-02 -2.61858727e-02 1.95933719e+02] [ 5.78967800e-02 9.98322503e-01 -3.78166168e-04 3.29204851e+00] [ 2.61638368e-02 -1.13867556e-03 9.99657020e-01 2.21673229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.845099893 meters 0.021540701317164825 Centerline is valid? [True, True] Translation: X:195.96, Y:3.29, Z:2.22 [[ 9.98073024e-01 -5.61528207e-02 -2.64026331e-02 1.95963976e+02] [ 5.61623748e-02 9.98421576e-01 -3.80131173e-04 3.29226157e+00] [ 2.63823040e-02 -1.10343591e-03 9.99651317e-01 2.21639582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.875099893 meters 0.020065799784456936 Centerline is valid? [True, True] Translation: X:195.99, Y:3.30, Z:2.22 [[ 9.98175542e-01 -5.42526668e-02 -2.64997389e-02 1.95994300e+02] [ 5.42616289e-02 9.98526680e-01 -3.81304915e-04 3.29588690e+00] [ 2.64813831e-02 -1.05730976e-03 9.99648748e-01 2.21694996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.905099893 meters 0.020065799784456936 Centerline is valid? [True, True] Translation: X:196.02, Y:3.30, Z:2.22 [[ 9.98175542e-01 -5.42526668e-02 -2.64997389e-02 1.96024322e+02] [ 5.42616289e-02 9.98526680e-01 -3.81304915e-04 3.29631888e+00] [ 2.64813831e-02 -1.05730976e-03 9.99648748e-01 2.21732128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.935099893 meters 0.020065799784456936 Centerline is valid? [True, True] Translation: X:196.05, Y:3.30, Z:2.22 [[ 9.98175542e-01 -5.42526668e-02 -2.64997389e-02 1.96054343e+02] [ 5.42616289e-02 9.98526680e-01 -3.81304915e-04 3.29675086e+00] [ 2.64813831e-02 -1.05730976e-03 9.99648748e-01 2.21769260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96509989299997 meters 0.020065799784456936 Centerline is valid? [True, True] Translation: X:196.08, Y:3.30, Z:2.22 [[ 9.98175542e-01 -5.42526668e-02 -2.64997389e-02 1.96084365e+02] [ 5.42616289e-02 9.98526680e-01 -3.81304915e-04 3.29718284e+00] [ 2.64813831e-02 -1.05730976e-03 9.99648748e-01 2.21806391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99509989299997 meters 0.020694188803694027 Centerline is valid? [True, True] Translation: X:196.11, Y:3.30, Z:2.22 [[ 9.98283873e-01 -5.22084506e-02 -2.65252108e-02 1.96114359e+02] [ 5.22167094e-02 9.98635704e-01 -3.81671431e-04 3.29743699e+00] [ 2.65089491e-02 -1.00404279e-03 9.99648072e-01 2.21763633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02509989299998 meters 0.020694188803694027 Centerline is valid? [True, True] Translation: X:196.14, Y:3.30, Z:2.22 [[ 9.98283873e-01 -5.22084506e-02 -2.65252108e-02 1.96144378e+02] [ 5.22167094e-02 9.98635704e-01 -3.81671431e-04 3.29786893e+00] [ 2.65089491e-02 -1.00404279e-03 9.99648072e-01 2.21800762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05509989299998 meters 0.01886340994264407 Centerline is valid? [True, True] Translation: X:196.18, Y:3.30, Z:2.22 [[ 9.98386585e-01 -5.00732911e-02 -2.67748416e-02 1.96175093e+02] [ 5.00809395e-02 9.98745088e-01 -3.85263369e-04 3.30209005e+00] [ 2.67605329e-02 -9.56267442e-04 9.99641415e-01 2.21893561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08509989299998 meters 0.01886340994264407 Centerline is valid? [True, True] Translation: X:196.21, Y:3.30, Z:2.22 [[ 9.98386585e-01 -5.00732911e-02 -2.67748416e-02 1.96205110e+02] [ 5.00809395e-02 9.98745088e-01 -3.85263369e-04 3.30252196e+00] [ 2.67605329e-02 -9.56267442e-04 9.99641415e-01 2.21930687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11509989299998 meters 0.01886340994264407 Centerline is valid? [True, True] Translation: X:196.24, Y:3.30, Z:2.22 [[ 9.98386585e-01 -5.00732911e-02 -2.67748416e-02 1.96235126e+02] [ 5.00809395e-02 9.98745088e-01 -3.85263369e-04 3.30295387e+00] [ 2.67605329e-02 -9.56267442e-04 9.99641415e-01 2.21967813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14509989299998 meters 0.018899772216824682 Centerline is valid? [True, True] Translation: X:196.26, Y:3.30, Z:2.22 [[ 9.98486746e-01 -4.78146234e-02 -2.71657666e-02 1.96264954e+02] [ 4.78216621e-02 9.98855813e-01 -3.90888391e-04 3.30475309e+00] [ 2.71533740e-02 -9.08815231e-04 9.99630866e-01 2.21951341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17509989299998 meters 0.018899772216824682 Centerline is valid? [True, True] Translation: X:196.29, Y:3.31, Z:2.22 [[ 9.98485055e-01 -4.78499337e-02 -2.71657590e-02 1.96294122e+02] [ 4.78569711e-02 9.98854122e-01 -3.91411740e-04 3.30520233e+00] [ 2.71533594e-02 -9.09252172e-04 9.99630866e-01 2.21987418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20509989299998 meters 0.01832336937077957 Centerline is valid? [True, True] Translation: X:196.32, Y:3.31, Z:2.22 [[ 9.98568494e-01 -4.57564662e-02 -2.77003434e-02 1.96324154e+02] [ 4.57629383e-02 9.98952248e-01 -4.00586555e-04 3.30821033e+00] [ 2.76896497e-02 -8.67635993e-04 9.99616192e-01 2.22017357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23509989299998 meters 0.017918431460071015 Centerline is valid? [True, True] Translation: X:196.35, Y:3.31, Z:2.22 [[ 9.98666509e-01 -4.37615089e-02 -2.73885770e-02 1.96353428e+02] [ 4.37669706e-02 9.99041687e-01 -4.00310090e-04 3.31113249e+00] [ 2.73798483e-02 -7.98938763e-04 9.99624782e-01 2.22071022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26509989299998 meters 0.01740278643263627 Centerline is valid? [True, True] Translation: X:196.38, Y:3.31, Z:2.22 [[ 9.98760939e-01 -4.16379007e-02 -2.72556949e-02 1.96382571e+02] [ 4.16423515e-02 9.99132499e-01 -4.04529184e-04 3.31410352e+00] [ 2.72488944e-02 -7.30963282e-04 9.99628413e-01 2.22175836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29509989299999 meters 0.016663041582242563 Centerline is valid? [True, True] Translation: X:196.41, Y:3.32, Z:2.22 [[ 9.98909302e-01 -3.89675841e-02 -2.57241974e-02 1.96411801e+02] [ 3.89705184e-02 9.99240286e-01 -3.87439578e-04 3.31775898e+00] [ 2.57197519e-02 -6.15468308e-04 9.99669003e-01 2.22317651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.325099893 meters 0.016663041582242563 Centerline is valid? [True, True] Translation: X:196.44, Y:3.32, Z:2.22 [[ 9.98899847e-01 -3.92092595e-02 -2.57241058e-02 1.96440054e+02] [ 3.92121191e-02 9.99230832e-01 -3.93449896e-04 3.31823414e+00] [ 2.57197465e-02 -6.15679660e-04 9.99669003e-01 2.22352677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.355099893 meters 0.015458597475298246 Centerline is valid? [True, True] Translation: X:196.47, Y:3.32, Z:2.23 [[ 9.98951429e-01 -3.84479599e-02 -2.48555153e-02 1.96468745e+02] [ 3.84502438e-02 9.99260441e-01 -3.86205769e-04 3.32181597e+00] [ 2.48519820e-02 -5.69899820e-04 9.99690979e-01 2.22564079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.385099893 meters 0.015271327622460175 Centerline is valid? [True, True] Translation: X:196.50, Y:3.32, Z:2.23 [[ 9.98985721e-01 -3.80987570e-02 -2.40002806e-02 1.96498363e+02] [ 3.81007032e-02 9.99273834e-01 -3.76348693e-04 3.32418794e+00] [ 2.39971908e-02 -5.38460598e-04 9.99711881e-01 2.22711033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.415099893 meters 0.015891443381992783 Centerline is valid? [True, True] Translation: X:196.53, Y:3.32, Z:2.23 [[ 9.98963677e-01 -3.87917439e-02 -2.38069719e-02 1.96526855e+02] [ 3.87938303e-02 9.99247166e-01 -3.74375149e-04 3.32385892e+00] [ 2.38035719e-02 -5.49576454e-04 9.99716504e-01 2.22710493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.445099893 meters 0.015807295385061527 Centerline is valid? [True, True] Translation: X:196.56, Y:3.32, Z:2.23 [[ 9.98885700e-01 -4.04650201e-02 -2.42887032e-02 1.96556405e+02] [ 4.04676593e-02 9.99180775e-01 -3.83058153e-04 3.32446646e+00] [ 2.42843057e-02 -6.00275652e-04 9.99704913e-01 2.22749152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.475099893 meters 0.018585778204577016 Centerline is valid? [True, True] Translation: X:196.59, Y:3.32, Z:2.23 [[ 9.98508074e-01 -4.82069429e-02 -2.56459915e-02 1.96585867e+02] [ 4.82124116e-02 9.98837023e-01 -4.05407462e-04 3.31939207e+00] [ 2.56357093e-02 -8.31652477e-04 9.99671005e-01 2.22571567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.505099893 meters 0.02028922047435256 Centerline is valid? [True, True] Translation: X:196.62, Y:3.32, Z:2.22 [[ 9.98324211e-01 -5.15121211e-02 -2.63680031e-02 1.96615620e+02] [ 5.15190351e-02 9.98671925e-01 -4.17519225e-04 3.31665699e+00] [ 2.63544917e-02 -9.41634524e-04 9.99652217e-01 2.22481897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.535099893 meters 0.020977409252010294 Centerline is valid? [True, True] Translation: X:196.65, Y:3.32, Z:2.23 [[ 9.97919115e-01 -5.82004473e-02 -2.77515404e-02 1.96646033e+02] [ 5.82106817e-02 9.98304224e-01 -4.39627431e-04 3.31579437e+00] [ 2.77300666e-02 -1.17672347e-03 9.99614755e-01 2.22505890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.565099893 meters 0.020977409252010294 Centerline is valid? [True, True] Translation: X:196.68, Y:3.32, Z:2.23 [[ 9.97921211e-01 -5.81644854e-02 -2.77515496e-02 1.96676905e+02] [ 5.81747220e-02 9.98306320e-01 -4.39050920e-04 3.31625457e+00] [ 2.77300845e-02 -1.17630046e-03 9.99614755e-01 2.22544072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.595099893 meters 0.02134707423798353 Centerline is valid? [True, True] Translation: X:196.71, Y:3.32, Z:2.23 [[ 9.97744554e-01 -6.11790239e-02 -2.76212243e-02 1.96708032e+02] [ 6.11903446e-02 9.98126020e-01 -4.35988882e-04 3.31686525e+00] [ 2.75961361e-02 -1.25514670e-03 9.99618366e-01 2.22634816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.625099893 meters 0.022950113014856464 Centerline is valid? [True, True] Translation: X:196.74, Y:3.32, Z:2.23 [[ 9.97572960e-01 -6.38433864e-02 -2.77887086e-02 1.96738093e+02] [ 6.38558886e-02 9.97959034e-01 -4.38178690e-04 3.31575059e+00] [ 2.77599676e-02 -1.33735747e-03 9.99613723e-01 2.22638456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.655099893 meters 0.024078751458738383 Centerline is valid? [True, True] Translation: X:196.77, Y:3.31, Z:2.23 [[ 9.97450265e-01 -6.55936355e-02 -2.81148494e-02 1.96769008e+02] [ 6.56071821e-02 9.97845430e-01 -4.41341084e-04 3.31497064e+00] [ 2.80832232e-02 -1.40432027e-03 9.99604602e-01 2.22650216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.685099893 meters 0.02479436368237723 Centerline is valid? [True, True] Translation: X:196.80, Y:3.32, Z:2.23 [[ 9.97287075e-01 -6.83464636e-02 -2.73358993e-02 1.96800303e+02] [ 6.83603565e-02 9.97660603e-01 -4.27063319e-04 3.31500578e+00] [ 2.73011380e-02 -1.44278709e-03 9.99626213e-01 2.22749732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71509989299997 meters 0.025808045950569486 Centerline is valid? [True, True] Translation: X:196.83, Y:3.31, Z:2.23 [[ 9.97272113e-01 -6.88433282e-02 -2.66257315e-02 1.96831802e+02] [ 6.88567166e-02 9.97626473e-01 -4.14767271e-04 3.31448404e+00] [ 2.65910886e-02 -1.41972461e-03 9.99645386e-01 2.22819684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74509989299997 meters 0.025223635409025738 Centerline is valid? [True, True] Translation: X:196.86, Y:3.32, Z:2.23 [[ 9.97263239e-01 -6.93177251e-02 -2.57115717e-02 1.96863832e+02] [ 6.93304078e-02 9.97593673e-01 -3.98919981e-04 3.31653628e+00] [ 2.56773535e-02 -1.38476552e-03 9.99669323e-01 2.22975658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77509989299998 meters 0.02522694027154258 Centerline is valid? [True, True] Translation: X:196.90, Y:3.32, Z:2.23 [[ 9.97297152e-01 -6.92138595e-02 -2.46542705e-02 1.96896018e+02] [ 6.92255314e-02 9.97600963e-01 -3.80769624e-04 3.31754340e+00] [ 2.46214785e-02 -1.32696452e-03 9.99695965e-01 2.23065637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80509989299998 meters 0.02485701734163827 Centerline is valid? [True, True] Translation: X:196.93, Y:3.32, Z:2.23 [[ 9.97283469e-01 -6.93826333e-02 -2.47332210e-02 1.96927718e+02] [ 6.93944764e-02 9.97589225e-01 -3.80189309e-04 3.31965325e+00] [ 2.46999733e-02 -1.33719241e-03 9.99694015e-01 2.23159198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83509989299998 meters 0.026394168485872557 Centerline is valid? [True, True] Translation: X:196.96, Y:3.32, Z:2.23 [[ 9.97257624e-01 -6.97846409e-02 -2.46441667e-02 1.96958844e+02] [ 6.97965596e-02 9.97561175e-01 -3.77257411e-04 3.31875207e+00] [ 2.46103907e-02 -1.34385522e-03 9.99696215e-01 2.23190866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86509989299998 meters 0.027449821189082697 Centerline is valid? [True, True] Translation: X:196.99, Y:3.32, Z:2.23 [[ 9.97241320e-01 -7.01826701e-02 -2.41690575e-02 1.96990190e+02] [ 7.01942809e-02 9.97533271e-01 -3.68699230e-04 3.31831231e+00] [ 2.41353153e-02 -1.32884751e-03 9.99707818e-01 2.23256016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89509989299998 meters 0.025944930174813502 Centerline is valid? [True, True] Translation: X:197.02, Y:3.32, Z:2.23 [[ 9.97222040e-01 -7.05320377e-02 -2.39464974e-02 1.97022205e+02] [ 7.05435715e-02 9.97508633e-01 -3.63817129e-04 3.32147686e+00] [ 2.39124986e-02 -1.32646499e-03 9.99713175e-01 2.23409271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92509989299998 meters 0.030381991778554624 Centerline is valid? [True, True] Translation: X:197.05, Y:3.32, Z:2.23 [[ 9.97147799e-01 -7.15714915e-02 -2.39538683e-02 1.97053794e+02] [ 7.15833676e-02 9.97434554e-01 -3.62414810e-04 3.31750415e+00] [ 2.39183546e-02 -1.35331743e-03 9.99712999e-01 2.23337901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95509989299998 meters 0.02848624524918536 Centerline is valid? [True, True] Translation: X:197.09, Y:3.32, Z:2.23 [[ 9.97116986e-01 -7.18939270e-02 -2.42689154e-02 1.97085890e+02] [ 7.19062496e-02 9.97411328e-01 -3.65670838e-04 3.32131330e+00] [ 2.42323807e-02 -1.38047009e-03 9.99705400e-01 2.23451811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98509989299998 meters 0.027425478584428797 Centerline is valid? [True, True] Translation: X:197.12, Y:3.32, Z:2.24 [[ 9.97102504e-01 -7.21278115e-02 -2.41697223e-02 1.97117585e+02] [ 7.21401432e-02 9.97394440e-01 -3.62466966e-04 3.32417598e+00] [ 2.41328906e-02 -1.38219051e-03 9.99707804e-01 2.23555135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01509989299998 meters 0.02691343143224237 Centerline is valid? [True, True] Translation: X:197.15, Y:3.33, Z:2.24 [[ 9.97121069e-01 -7.20561310e-02 -2.36111938e-02 1.97149438e+02] [ 7.20679185e-02 9.97399665e-01 -3.52418974e-04 3.32769366e+00] [ 2.35751907e-02 -1.35020520e-03 9.99721155e-01 2.23646733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04509989299999 meters 0.030626501999202155 Centerline is valid? [True, True] Translation: X:197.18, Y:3.32, Z:2.24 [[ 9.97162594e-01 -7.15157632e-02 -2.35001479e-02 1.97180633e+02] [ 7.15273252e-02 9.97438579e-01 -3.49278976e-04 3.32407585e+00] [ 2.34649331e-02 -1.33261479e-03 9.99723772e-01 2.23586727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.075099893 meters 0.026410845192871325 Centerline is valid? [True, True] Translation: X:197.21, Y:3.33, Z:2.24 [[ 9.97239112e-01 -7.03741718e-02 -2.36987194e-02 1.97212956e+02] [ 7.03856439e-02 9.97519793e-01 -3.50748102e-04 3.33157273e+00] [ 2.36646253e-02 -1.31826990e-03 9.99719084e-01 2.23656371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.105099893 meters 0.026051285937589312 Centerline is valid? [True, True] Translation: X:197.25, Y:3.33, Z:2.24 [[ 9.97322171e-01 -6.88478871e-02 -2.46669125e-02 1.97245110e+02] [ 6.88598953e-02 9.97626274e-01 -3.63273594e-04 3.33413033e+00] [ 2.46333706e-02 -1.33626020e-03 9.99695659e-01 2.23621837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.135099893 meters 0.023789042545999527 Centerline is valid? [True, True] Translation: X:197.28, Y:3.34, Z:2.24 [[ 9.97615008e-01 -6.42167462e-02 -2.53082043e-02 1.97276123e+02] [ 6.42279296e-02 9.97935186e-01 -3.71578131e-04 3.34155397e+00] [ 2.52798091e-02 -1.25480165e-03 9.99679627e-01 2.23574279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.165099893 meters 0.024442456157101628 Centerline is valid? [True, True] Translation: X:197.31, Y:3.34, Z:2.24 [[ 9.97807408e-01 -6.10160841e-02 -2.56400878e-02 1.97306984e+02] [ 6.10265266e-02 9.98136074e-01 -3.75750085e-04 3.34318825e+00] [ 2.56152234e-02 -1.18979928e-03 9.99671168e-01 2.23507760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.195099893 meters 0.022448467622524552 Centerline is valid? [True, True] Translation: X:197.34, Y:3.35, Z:2.24 [[ 9.97995118e-01 -5.76695541e-02 -2.60761778e-02 1.97338409e+02] [ 5.76792395e-02 9.98335094e-01 -3.81203596e-04 3.34896864e+00] [ 2.60547473e-02 -1.12361478e-03 9.99659886e-01 2.23592751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.225099893 meters 0.020098037735949214 Centerline is valid? [True, True] Translation: X:197.37, Y:3.36, Z:2.24 [[ 9.98379311e-01 -5.10274556e-02 -2.51982068e-02 1.97369085e+02] [ 5.10343981e-02 9.98696828e-01 -3.67917883e-04 3.35753189e+00] [ 2.51841431e-02 -9.18653713e-04 9.99682407e-01 2.23727900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.255099893 meters 0.019126432904360745 Centerline is valid? [True, True] Translation: X:197.40, Y:3.36, Z:2.24 [[ 9.98543860e-01 -4.79398645e-02 -2.47371964e-02 1.97400057e+02] [ 4.79456202e-02 9.98849882e-01 -3.60725389e-04 3.36142146e+00] [ 2.47260388e-02 -8.25840100e-04 9.99693924e-01 2.23792741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.285099893 meters 0.01814001267081048 Centerline is valid? [True, True] Translation: X:197.43, Y:3.37, Z:2.24 [[ 9.98791805e-01 -4.31580225e-02 -2.35013791e-02 1.97429389e+02] [ 4.31619198e-02 9.99068032e-01 -3.41630258e-04 3.36629099e+00] [ 2.34942206e-02 -6.73147137e-04 9.99723746e-01 2.23876559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.315099893 meters 0.017826538946939918 Centerline is valid? [True, True] Translation: X:197.46, Y:3.37, Z:2.24 [[ 9.98892311e-01 -4.13727645e-02 -2.24153152e-02 1.97459651e+02] [ 4.13758801e-02 9.99143599e-01 -3.24971517e-04 3.36812730e+00] [ 2.24095637e-02 -6.02841846e-04 9.99748692e-01 2.23959360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.345099893 meters 0.015906424165118307 Centerline is valid? [True, True] Translation: X:197.49, Y:3.37, Z:2.24 [[ 9.98949683e-01 -4.02340240e-02 -2.19261009e-02 1.97491242e+02] [ 4.02367430e-02 9.99190124e-01 -3.17327535e-04 3.37293128e+00] [ 2.19211108e-02 -5.65240646e-04 9.99759544e-01 2.24150623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.375099893 meters 0.01585221411314802 Centerline is valid? [True, True] Translation: X:197.52, Y:3.37, Z:2.24 [[ 9.98994789e-01 -3.92486269e-02 -2.16554297e-02 1.97522963e+02] [ 3.92510645e-02 9.99229331e-01 -3.12637455e-04 3.37421038e+00] [ 2.16510111e-02 -5.37675479e-04 9.99765445e-01 2.24212190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.405099893 meters 0.015564910857935614 Centerline is valid? [True, True] Translation: X:197.55, Y:3.38, Z:2.24 [[ 9.99011514e-01 -3.87565947e-02 -2.17697300e-02 1.97554056e+02] [ 3.87589585e-02 9.99248540e-01 -3.13503354e-04 3.37603404e+00] [ 2.17655212e-02 -5.30578601e-04 9.99762962e-01 2.24275636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.435099893 meters 0.015566392216902931 Centerline is valid? [True, True] Translation: X:197.59, Y:3.38, Z:2.24 [[ 9.98992506e-01 -3.87447813e-02 -2.26454002e-02 1.97585664e+02] [ 3.87473551e-02 9.99248986e-01 -3.25278030e-04 3.37765132e+00] [ 2.26409960e-02 -5.52499046e-04 9.99743507e-01 2.24255759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46509989299997 meters 0.015890823640777426 Centerline is valid? [True, True] Translation: X:197.62, Y:3.38, Z:2.24 [[ 9.98963760e-01 -3.91552411e-02 -2.32007017e-02 1.97616406e+02] [ 3.91580686e-02 9.99232973e-01 -3.32602270e-04 3.37747689e+00] [ 2.31959293e-02 -5.76237055e-04 9.99730772e-01 2.24250453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49509989299997 meters 0.016116869634985674 Centerline is valid? [True, True] Translation: X:197.65, Y:3.38, Z:2.24 [[ 9.98925394e-01 -4.00666530e-02 -2.32963473e-02 1.97647233e+02] [ 4.00697612e-02 9.99196829e-01 -3.33554999e-04 3.37782718e+00] [ 2.32910008e-02 -6.00282515e-04 9.99728548e-01 2.24278955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52509989299998 meters 0.016178460996910858 Centerline is valid? [True, True] Translation: X:197.68, Y:3.38, Z:2.24 [[ 9.98882545e-01 -4.10213403e-02 -2.34714975e-02 1.97678322e+02] [ 4.10247734e-02 9.99158073e-01 -3.35438584e-04 3.37803046e+00] [ 2.34654963e-02 -6.27849119e-04 9.99724450e-01 2.24325122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55509989299998 meters 0.0176517681299818 Centerline is valid? [True, True] Translation: X:197.71, Y:3.38, Z:2.24 [[ 9.98759062e-01 -4.40737074e-02 -2.31914923e-02 1.97708756e+02] [ 4.40778958e-02 9.99028042e-01 -3.30802075e-04 3.37584436e+00] [ 2.31835308e-02 -6.91840612e-04 9.99730986e-01 2.24346443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58509989299998 meters 0.017536528646796487 Centerline is valid? [True, True] Translation: X:197.74, Y:3.38, Z:2.24 [[ 9.98701959e-01 -4.55986157e-02 -2.26971956e-02 1.97741294e+02] [ 4.56030425e-02 9.98959588e-01 -3.22787301e-04 3.37637228e+00] [ 2.26882998e-02 -7.12692866e-04 9.99742333e-01 2.24441005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61509989299998 meters 0.018495407123985855 Centerline is valid? [True, True] Translation: X:197.77, Y:3.38, Z:2.24 [[ 9.98629765e-01 -4.71083153e-02 -2.27903284e-02 1.97772362e+02] [ 4.71132046e-02 9.98889504e-01 -3.22651892e-04 3.37515848e+00] [ 2.27802194e-02 -7.51515618e-04 9.99740215e-01 2.24479153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64509989299998 meters 0.021377366874933128 Centerline is valid? [True, True] Translation: X:197.80, Y:3.37, Z:2.24 [[ 9.98482356e-01 -5.03041046e-02 -2.24161266e-02 1.97803022e+02] [ 5.03096609e-02 9.98733617e-01 -3.16359148e-04 3.37127481e+00] [ 2.24036533e-02 -8.11868699e-04 9.99748677e-01 2.24492213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67509989299998 meters 0.020305112581149514 Centerline is valid? [True, True] Translation: X:197.84, Y:3.37, Z:2.25 [[ 9.98426241e-01 -5.15319071e-02 -2.21247330e-02 1.97835172e+02] [ 5.15376453e-02 9.98671004e-01 -3.11143426e-04 3.37320132e+00] [ 2.21113632e-02 -8.29602881e-04 9.99755170e-01 2.24597683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70509989299998 meters 0.02077695455353418 Centerline is valid? [True, True] Translation: X:197.87, Y:3.37, Z:2.25 [[ 9.98314350e-01 -5.37961381e-02 -2.17815022e-02 1.97867006e+02] [ 5.38022673e-02 9.98551563e-01 -3.04949778e-04 3.37213728e+00] [ 2.17663582e-02 -8.67458463e-04 9.99762708e-01 2.24623179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73509989299998 meters 0.022639605242731405 Centerline is valid? [True, True] Translation: X:197.90, Y:3.37, Z:2.25 [[ 9.98250147e-01 -5.51380763e-02 -2.13643840e-02 1.97898620e+02] [ 5.51443038e-02 9.98478351e-01 -2.97979710e-04 3.36959998e+00] [ 2.13483049e-02 -8.80665791e-04 9.99771711e-01 2.24628080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76509989299998 meters 0.02320001536023094 Centerline is valid? [True, True] Translation: X:197.93, Y:3.37, Z:2.25 [[ 9.98213774e-01 -5.59441900e-02 -2.09644660e-02 1.97930618e+02] [ 5.59503900e-02 9.98433508e-01 -2.91156228e-04 3.36904349e+00] [ 2.09479139e-02 -8.82333894e-04 9.99780179e-01 2.24666215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79509989299999 meters 0.022255988976978322 Centerline is valid? [True, True] Translation: X:197.96, Y:3.37, Z:2.25 [[ 9.98105027e-01 -5.78117734e-02 -2.10749480e-02 1.97962988e+02] [ 5.78184858e-02 9.98327070e-01 -2.91200830e-04 3.37106166e+00] [ 2.10565259e-02 -9.27872571e-04 9.99777856e-01 2.24772345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.825099893 meters 0.024284153453308414 Centerline is valid? [True, True] Translation: X:197.99, Y:3.37, Z:2.25 [[ 9.98031281e-01 -5.88895818e-02 -2.15772654e-02 1.97993766e+02] [ 5.88968960e-02 9.98264027e-01 -2.96905962e-04 3.36845615e+00] [ 2.15572925e-02 -9.74512520e-04 9.99767140e-01 2.24760253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.855099893 meters 0.02449517949102411 Centerline is valid? [True, True] Translation: X:198.03, Y:3.37, Z:2.25 [[ 9.97963446e-01 -5.98362445e-02 -2.21039312e-02 1.98025568e+02] [ 5.98441733e-02 9.98207685e-01 -3.03190908e-04 3.36810486e+00] [ 2.20824558e-02 -1.02021805e-03 9.99755632e-01 2.24747512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.885099893 meters 0.025304164714456068 Centerline is valid? [True, True] Translation: X:198.06, Y:3.37, Z:2.25 [[ 9.97766698e-01 -6.27508343e-02 -2.28899536e-02 1.98056295e+02] [ 6.27601285e-02 9.98028591e-01 -3.12828609e-04 3.36620071e+00] [ 2.28644584e-02 -1.12444646e-03 9.99737942e-01 2.24646976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.915099893 meters 0.025325953062895507 Centerline is valid? [True, True] Translation: X:198.09, Y:3.37, Z:2.25 [[ 9.97670988e-01 -6.40213772e-02 -2.35342890e-02 1.98088101e+02] [ 6.40315822e-02 9.97947821e-01 -3.20468825e-04 3.36596910e+00] [ 2.35065093e-02 -1.18721531e-03 9.99722979e-01 2.24667377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.945099893 meters 0.023529773823851564 Centerline is valid? [True, True] Translation: X:198.12, Y:3.37, Z:2.25 [[ 9.97581794e-01 -6.54239059e-02 -2.34579953e-02 1.98119945e+02] [ 6.54344660e-02 9.97856818e-01 -3.17957838e-04 3.36871105e+00] [ 2.34285226e-02 -1.21777244e-03 9.99724773e-01 2.24773645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.975099893 meters 0.025972547103524868 Centerline is valid? [True, True] Translation: X:198.15, Y:3.37, Z:2.25 [[ 9.97485233e-01 -6.67847875e-02 -2.37276779e-02 1.98151235e+02] [ 6.67960124e-02 9.97766601e-01 -3.20069682e-04 3.36557632e+00] [ 2.36960603e-02 -1.26564949e-03 9.99718408e-01 2.24760014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.005099893 meters 0.02858286211155171 Centerline is valid? [True, True] Translation: X:198.18, Y:3.36, Z:2.25 [[ 9.97404555e-01 -6.80146293e-02 -2.36254791e-02 1.98181867e+02] [ 6.80261269e-02 9.97683489e-01 -3.17614207e-04 3.36228301e+00] [ 2.35923528e-02 -1.29035998e-03 9.99720829e-01 2.24771468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.035099893 meters 0.029955204337526013 Centerline is valid? [True, True] Translation: X:198.21, Y:3.36, Z:2.25 [[ 9.97232225e-01 -7.01946458e-02 -2.45071569e-02 1.98213001e+02] [ 7.02076905e-02 9.97532341e-01 -3.28800657e-04 3.36133535e+00] [ 2.44697616e-02 -1.39270028e-03 9.99699600e-01 2.24812722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.065099893 meters 0.028771180642317755 Centerline is valid? [True, True] Translation: X:198.25, Y:3.36, Z:2.25 [[ 9.97160660e-01 -7.11816060e-02 -2.45722683e-02 1.98245113e+02] [ 7.11950451e-02 9.97462359e-01 -3.28597497e-04 3.36346041e+00] [ 2.45333028e-02 -1.42175925e-03 9.99698002e-01 2.24922704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.095099893 meters 0.03224659499030826 Centerline is valid? [True, True] Translation: X:198.28, Y:3.36, Z:2.25 [[ 9.97094275e-01 -7.20746317e-02 -2.46628273e-02 1.98276733e+02] [ 7.20884799e-02 9.97398187e-01 -3.28281997e-04 3.35941333e+00] [ 2.46223200e-02 -1.45057763e-03 9.99695772e-01 2.24939307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.125099893 meters 0.03058741543106002 Centerline is valid? [True, True] Translation: X:198.31, Y:3.36, Z:2.25 [[ 9.97039537e-01 -7.29678035e-02 -2.42458611e-02 1.98308922e+02] [ 7.29814860e-02 9.97333244e-01 -3.21258094e-04 3.36247686e+00] [ 2.42046448e-02 -1.44919195e-03 9.99705974e-01 2.25165977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.155099893 meters 0.030018439854053974 Centerline is valid? [True, True] Translation: X:198.34, Y:3.36, Z:2.25 [[ 9.97013530e-01 -7.32965051e-02 -2.43237077e-02 1.98340810e+02] [ 7.33104147e-02 9.97309120e-01 -3.20579413e-04 3.36403465e+00] [ 2.42817529e-02 -1.46355909e-03 9.99704083e-01 2.25274967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.185099893 meters 0.02850769359143685 Centerline is valid? [True, True] Translation: X:198.37, Y:3.37, Z:2.25 [[ 9.97021875e-01 -7.31775521e-02 -2.43398358e-02 1.98374106e+02] [ 7.31914973e-02 9.97317855e-01 -3.18627600e-04 3.36688882e+00] [ 2.42978692e-02 -1.46379034e-03 9.99703692e-01 2.25405439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21509989299997 meters 0.025965941545102445 Centerline is valid? [True, True] Translation: X:198.41, Y:3.37, Z:2.26 [[ 9.97033883e-01 -7.29507412e-02 -2.45280545e-02 1.98406027e+02] [ 7.29648898e-02 9.97334459e-01 -3.18844351e-04 3.37195879e+00] [ 2.44859339e-02 -1.47178817e-03 9.99699091e-01 2.25600942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24509989299997 meters 0.025965941545102445 Centerline is valid? [True, True] Translation: X:198.44, Y:3.37, Z:2.26 [[ 9.97042003e-01 -7.28396620e-02 -2.45280839e-02 1.98438626e+02] [ 7.28538328e-02 9.97342578e-01 -3.16573692e-04 3.37229675e+00] [ 2.44859615e-02 -1.47132765e-03 9.99699091e-01 2.25641231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27509989299998 meters 0.028287978586756992 Centerline is valid? [True, True] Translation: X:198.47, Y:3.37, Z:2.26 [[ 9.97099189e-01 -7.22169634e-02 -2.40398994e-02 1.98469739e+02] [ 7.22304429e-02 9.97387923e-01 -3.08279076e-04 3.37002538e+00] [ 2.39993683e-02 -1.42902776e-03 9.99710952e-01 2.25636526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30509989299998 meters 0.027531654066431377 Centerline is valid? [True, True] Translation: X:198.50, Y:3.37, Z:2.26 [[ 9.97142979e-01 -7.15921919e-02 -2.40922639e-02 1.98502168e+02] [ 7.16055854e-02 9.97432978e-01 -3.07418446e-04 3.37211756e+00] [ 2.40524273e-02 -1.41860052e-03 9.99709692e-01 2.25722334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33509989299998 meters 0.026273647186885872 Centerline is valid? [True, True] Translation: X:198.53, Y:3.37, Z:2.26 [[ 9.97188655e-01 -7.09521030e-02 -2.40953254e-02 1.98534866e+02] [ 7.09653611e-02 9.97478734e-01 -3.05488506e-04 3.37480796e+00] [ 2.40562497e-02 -1.40530380e-03 9.99709619e-01 2.25803843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36509989299998 meters 0.02856535450438973 Centerline is valid? [True, True] Translation: X:198.57, Y:3.37, Z:2.26 [[ 9.97239245e-01 -7.01997040e-02 -2.42051761e-02 1.98566548e+02] [ 7.02129107e-02 9.97531982e-01 -3.04885166e-04 3.37236275e+00] [ 2.41668401e-02 -1.39547242e-03 9.99706965e-01 2.25802624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39509989299998 meters 0.028654233546602906 Centerline is valid? [True, True] Translation: X:198.60, Y:3.37, Z:2.26 [[ 9.97272060e-01 -6.97675496e-02 -2.41024268e-02 1.98598326e+02] [ 6.97805600e-02 9.97562320e-01 -3.01870794e-04 3.37354503e+00] [ 2.40647335e-02 -1.38083353e-03 9.99709449e-01 2.25874411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42509989299998 meters 0.027873161639948858 Centerline is valid? [True, True] Translation: X:198.63, Y:3.38, Z:2.26 [[ 9.97257753e-01 -6.98756471e-02 -2.43796629e-02 1.98630055e+02] [ 6.98890333e-02 9.97554726e-01 -3.03602507e-04 3.37537152e+00] [ 2.43412623e-02 -1.40110112e-03 9.99702726e-01 2.25903562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45509989299998 meters 0.027140498075271118 Centerline is valid? [True, True] Translation: X:198.66, Y:3.38, Z:2.26 [[ 9.97191454e-01 -7.06549357e-02 -2.48411700e-02 1.98662012e+02] [ 7.06691195e-02 9.97499765e-01 -3.07543623e-04 3.37710741e+00] [ 2.48007907e-02 -1.44882374e-03 9.99691363e-01 2.25963536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48509989299998 meters 0.028896678357867835 Centerline is valid? [True, True] Translation: X:198.69, Y:3.38, Z:2.26 [[ 9.97166505e-01 -7.10293454e-02 -2.47748509e-02 1.98692770e+02] [ 7.10436018e-02 9.97473164e-01 -3.05380801e-04 3.37521867e+00] [ 2.47339399e-02 -1.45557914e-03 9.99693010e-01 2.25956747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51509989299998 meters 0.028385377702235936 Centerline is valid? [True, True] Translation: X:198.72, Y:3.38, Z:2.26 [[ 9.97130360e-01 -7.14549273e-02 -2.50047769e-02 1.98724689e+02] [ 7.14696169e-02 9.97442730e-01 -3.06859170e-04 3.37654052e+00] [ 2.49627596e-02 -1.48110324e-03 9.99687285e-01 2.25994431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54509989299999 meters 0.028444170310028924 Centerline is valid? [True, True] Translation: X:198.76, Y:3.38, Z:2.26 [[ 9.97067593e-01 -7.23033198e-02 -2.50688234e-02 1.98756702e+02] [ 7.23183971e-02 9.97381550e-01 -3.05842967e-04 3.37680990e+00] [ 2.50252954e-02 -1.50799101e-03 9.99685681e-01 2.26031767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.575099893 meters 0.028936087500888268 Centerline is valid? [True, True] Translation: X:198.79, Y:3.38, Z:2.26 [[ 9.97011670e-01 -7.31661189e-02 -2.47880867e-02 1.98788642e+02] [ 7.31811696e-02 9.97318618e-01 -3.00648197e-04 3.37645809e+00] [ 2.47436176e-02 -1.51427141e-03 9.99692683e-01 2.26074658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.605099893 meters 0.03006700289592556 Centerline is valid? [True, True] Translation: X:198.82, Y:3.38, Z:2.26 [[ 9.96953864e-01 -7.39187297e-02 -2.48800125e-02 1.98819269e+02] [ 7.39341589e-02 9.97263080e-01 -3.00426515e-04 3.37512852e+00] [ 2.48341251e-02 -1.53997143e-03 9.99690399e-01 2.26112787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.635099893 meters 0.030346602614609485 Centerline is valid? [True, True] Translation: X:198.85, Y:3.38, Z:2.26 [[ 9.96907195e-01 -7.46137645e-02 -2.46744753e-02 1.98851562e+02] [ 7.46291841e-02 9.97211310e-01 -2.96630981e-04 3.37509786e+00] [ 2.46277986e-02 -1.54572240e-03 9.99695495e-01 2.26166962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.665099893 meters 0.03149709711846904 Centerline is valid? [True, True] Translation: X:198.88, Y:3.37, Z:2.26 [[ 9.96932315e-01 -7.43570966e-02 -2.44332166e-02 1.98882417e+02] [ 7.43721761e-02 9.97230512e-01 -2.92219948e-04 3.37375533e+00] [ 2.43872777e-02 -1.52582798e-03 9.99701422e-01 2.26190670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.695099893 meters 0.031286244595613404 Centerline is valid? [True, True] Translation: X:198.92, Y:3.37, Z:2.26 [[ 9.97023507e-01 -7.33294559e-02 -2.38100167e-02 1.98915013e+02] [ 7.33435287e-02 9.97306696e-01 -2.82871237e-04 3.37493963e+00] [ 2.37666319e-02 -1.46428137e-03 9.99716461e-01 2.26306492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.725099893 meters 0.02785125100661679 Centerline is valid? [True, True] Translation: X:198.95, Y:3.38, Z:2.26 [[ 9.97092475e-01 -7.25411771e-02 -2.33318127e-02 1.98947700e+02] [ 7.25545361e-02 9.97364409e-01 -2.74572395e-04 3.38063168e+00] [ 2.32902374e-02 -1.41905478e-03 9.99727738e-01 2.26478693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.755099893 meters 0.03081376441161056 Centerline is valid? [True, True] Translation: X:198.98, Y:3.38, Z:2.27 [[ 9.97258791e-01 -7.05367029e-02 -2.23489712e-02 1.98978204e+02] [ 7.05484931e-02 9.97508317e-01 -2.61433951e-04 3.37821686e+00] [ 2.23117254e-02 -1.31596894e-03 9.99750196e-01 2.26524827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.785099893 meters 0.02611486065423522 Centerline is valid? [True, True] Translation: X:199.01, Y:3.39, Z:2.27 [[ 9.97365088e-01 -6.92155321e-02 -2.17276443e-02 1.99009962e+02] [ 6.92263828e-02 9.97600944e-01 -2.53260051e-04 3.38565486e+00] [ 2.16930480e-02 -1.25153349e-03 9.99763895e-01 2.26711490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.815099893 meters 0.025904211452818002 Centerline is valid? [True, True] Translation: X:199.04, Y:3.39, Z:2.27 [[ 9.97458210e-01 -6.80717650e-02 -2.10559808e-02 1.99042633e+02] [ 6.80817361e-02 9.97679717e-01 -2.43757936e-04 3.38652451e+00] [ 2.10237180e-02 -1.19038938e-03 9.99778269e-01 2.26769103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.845099893 meters 0.026667811725116362 Centerline is valid? [True, True] Translation: X:199.07, Y:3.39, Z:2.27 [[ 9.97541474e-01 -6.69616129e-02 -2.06676312e-02 1.99074119e+02] [ 6.69710142e-02 9.97754893e-01 -2.37700442e-04 3.38556732e+00] [ 2.06371470e-02 -1.14701618e-03 9.99786373e-01 2.26808909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.875099893 meters 0.02538309979189536 Centerline is valid? [True, True] Translation: X:199.11, Y:3.39, Z:2.27 [[ 9.97626203e-01 -6.58905191e-02 -2.00099600e-02 1.99106062e+02] [ 6.58991408e-02 9.97826263e-01 -2.28925566e-04 3.38760708e+00] [ 1.99815476e-02 -1.09025703e-03 9.99799754e-01 2.26861935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.905099893 meters 0.025283646889507422 Centerline is valid? [True, True] Translation: X:199.14, Y:3.39, Z:2.27 [[ 9.97738634e-01 -6.43811398e-02 -1.93051176e-02 1.99137667e+02] [ 6.43889045e-02 9.97924857e-01 -2.19738475e-04 3.38798645e+00] [ 1.92792038e-02 -1.02379381e-03 9.99813615e-01 2.26956726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.935099893 meters 0.0253560272121523 Centerline is valid? [True, True] Translation: X:199.17, Y:3.39, Z:2.27 [[ 9.97765417e-01 -6.40205615e-02 -1.91190849e-02 1.99169806e+02] [ 6.40281291e-02 9.97948071e-01 -2.16689596e-04 3.38785244e+00] [ 1.90937265e-02 -1.00795385e-03 9.99817190e-01 2.27005140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96509989299997 meters 0.025007271933407595 Centerline is valid? [True, True] Translation: X:199.20, Y:3.39, Z:2.27 [[ 9.97792220e-01 -6.37660006e-02 -1.85629615e-02 1.99201933e+02] [ 6.37731147e-02 9.97964401e-01 -2.09072670e-04 3.38832684e+00] [ 1.85385064e-02 -9.75206786e-04 9.99827672e-01 2.27067660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99509989299997 meters 0.026722958451544244 Centerline is valid? [True, True] Translation: X:199.23, Y:3.38, Z:2.27 [[ 9.97784724e-01 -6.40561098e-02 -1.79571359e-02 1.99233370e+02] [ 6.40628347e-02 9.97945847e-01 -2.01081526e-04 3.38484533e+00] [ 1.79331297e-02 -9.49748955e-04 9.99838737e-01 2.27054311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02509989299998 meters 0.02676699661609907 Centerline is valid? [True, True] Translation: X:199.27, Y:3.38, Z:2.27 [[ 9.97758605e-01 -6.43056554e-02 -1.85080872e-02 1.99265094e+02] [ 6.43128704e-02 9.97929763e-01 -2.05730582e-04 3.38403690e+00] [ 1.84830007e-02 -9.85038757e-04 9.99828690e-01 2.27094932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05509989299998 meters 0.026782245741892082 Centerline is valid? [True, True] Translation: X:199.30, Y:3.38, Z:2.27 [[ 9.97728878e-01 -6.48420274e-02 -1.82372326e-02 1.99297591e+02] [ 6.48491597e-02 9.97895058e-01 -2.00646959e-04 3.38326624e+00] [ 1.82118547e-02 -9.82477948e-04 9.99833668e-01 2.27071145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08509989299998 meters 0.029159944608938008 Centerline is valid? [True, True] Translation: X:199.33, Y:3.38, Z:2.27 [[ 9.97658246e-01 -6.60731506e-02 -1.76737868e-02 1.99329197e+02] [ 6.60800618e-02 9.97814305e-01 -1.93303782e-04 3.37811146e+00] [ 1.76479295e-02 -9.75033811e-04 9.99843788e-01 2.27056159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11509989299998 meters 0.02609589472358079 Centerline is valid? [True, True] Translation: X:199.36, Y:3.38, Z:2.27 [[ 9.97629657e-01 -6.63644957e-02 -1.81885105e-02 1.99361128e+02] [ 6.63718837e-02 9.97794936e-01 -1.97828732e-04 3.38201638e+00] [ 1.81615325e-02 -1.00984590e-03 9.99834556e-01 2.27143479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14509989299998 meters 0.02664945131883738 Centerline is valid? [True, True] Translation: X:199.39, Y:3.38, Z:2.27 [[ 9.97614830e-01 -6.66255183e-02 -1.80469151e-02 1.99393137e+02] [ 6.66328577e-02 9.97777542e-01 -1.94987532e-04 3.38082703e+00] [ 1.80197977e-02 -1.00799507e-03 9.99837122e-01 2.27152536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17509989299998 meters 0.027968160465832635 Centerline is valid? [True, True] Translation: X:199.42, Y:3.38, Z:2.27 [[ 9.97606334e-01 -6.67155177e-02 -1.81835721e-02 1.99424449e+02] [ 6.67230056e-02 9.97771518e-01 -1.95251584e-04 3.37854617e+00] [ 1.81560767e-02 -1.01847837e-03 9.99834646e-01 2.27170346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20509989299998 meters 0.02913745987949198 Centerline is valid? [True, True] Translation: X:199.46, Y:3.38, Z:2.27 [[ 9.97566201e-01 -6.73466717e-02 -1.80582718e-02 1.99455835e+02] [ 6.73541772e-02 9.97729110e-01 -1.92945097e-04 3.37589553e+00] [ 1.80302577e-02 -1.02382453e-03 9.99836917e-01 2.27177414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23509989299998 meters 0.02562544635604873 Centerline is valid? [True, True] Translation: X:199.49, Y:3.38, Z:2.27 [[ 9.97569642e-01 -6.72416945e-02 -1.82582397e-02 1.99489324e+02] [ 6.72493735e-02 9.97736180e-01 -1.93768551e-04 3.38047059e+00] [ 1.82299357e-02 -1.03455756e-03 9.99833286e-01 2.27255868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26509989299998 meters 0.029774198894015245 Centerline is valid? [True, True] Translation: X:199.52, Y:3.37, Z:2.27 [[ 9.97592962e-01 -6.69369908e-02 -1.81030840e-02 1.99520981e+02] [ 6.69445201e-02 9.97756681e-01 -1.90450587e-04 3.37398840e+00] [ 1.80752212e-02 -1.02191011e-03 9.99836108e-01 2.27234674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29509989299999 meters 0.02675618697756133 Centerline is valid? [True, True] Translation: X:199.55, Y:3.38, Z:2.27 [[ 9.97648090e-01 -6.61513217e-02 -1.79524416e-02 1.99553309e+02] [ 6.61586186e-02 9.97809101e-01 -1.87791646e-04 3.37792121e+00] [ 1.79255323e-02 -1.00035876e-03 9.99838824e-01 2.27316395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.325099893 meters 0.02667337728044636 Centerline is valid? [True, True] Translation: X:199.59, Y:3.38, Z:2.27 [[ 9.97714728e-01 -6.51170405e-02 -1.80303432e-02 1.99585255e+02] [ 6.51242560e-02 9.97877145e-01 -1.87304027e-04 3.37785294e+00] [ 1.80042640e-02 -9.87336696e-04 9.99837423e-01 2.27382523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.355099893 meters 0.027901834330300062 Centerline is valid? [True, True] Translation: X:199.62, Y:3.38, Z:2.28 [[ 9.97886079e-01 -6.27933133e-02 -1.67443500e-02 1.99615407e+02] [ 6.27992248e-02 9.98026166e-01 -1.73042604e-04 3.37598616e+00] [ 1.67221653e-02 -8.78855394e-04 9.99859789e-01 2.27500389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.385099893 meters 0.025876447610026457 Centerline is valid? [True, True] Translation: X:199.65, Y:3.38, Z:2.28 [[ 9.98012216e-01 -6.09252682e-02 -1.61160789e-02 1.99646478e+02] [ 6.09305070e-02 9.98141997e-01 -1.66202464e-04 3.37902887e+00] [ 1.60962611e-02 -8.16088771e-04 9.99870114e-01 2.27615690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.415099893 meters 0.023816743051736398 Centerline is valid? [True, True] Translation: X:199.68, Y:3.38, Z:2.28 [[ 9.98261111e-01 -5.70936253e-02 -1.46653659e-02 1.99677034e+02] [ 5.70975573e-02 9.98368592e-01 -1.50789368e-04 3.38219710e+00] [ 1.46500498e-02 -6.86829405e-04 9.99892446e-01 2.27738467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.445099893 meters 0.02283739525658559 Centerline is valid? [True, True] Translation: X:199.71, Y:3.38, Z:2.28 [[ 9.98402676e-01 -5.47699945e-02 -1.38688563e-02 1.99708033e+02] [ 5.47732915e-02 9.98498806e-01 -1.42280376e-04 3.38337805e+00] [ 1.38558292e-02 -6.17589804e-04 9.99903813e-01 2.27793357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.475099893 meters 0.020909535557253972 Centerline is valid? [True, True] Translation: X:199.74, Y:3.39, Z:2.28 [[ 9.98547556e-01 -5.22782155e-02 -1.30294726e-02 1.99740006e+02] [ 5.22809198e-02 9.98632409e-01 -1.33199934e-04 3.38597306e+00] [ 1.30186170e-02 -5.48186342e-04 9.99915104e-01 2.27820576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.505099893 meters 0.020307430353514802 Centerline is valid? [True, True] Translation: X:199.77, Y:3.39, Z:2.28 [[ 9.98671883e-01 -4.99504298e-02 -1.26263379e-02 1.99771912e+02] [ 4.99527955e-02 9.98751572e-01 -1.28140193e-04 3.38649817e+00] [ 1.26169755e-02 -5.02750866e-04 9.99920276e-01 2.27833388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.535099893 meters 0.019303617554362246 Centerline is valid? [True, True] Translation: X:199.80, Y:3.39, Z:2.28 [[ 9.98786154e-01 -4.77726568e-02 -1.19996984e-02 1.99804234e+02] [ 4.77746465e-02 9.98858132e-01 -1.20941903e-04 3.38787090e+00] [ 1.19917741e-02 -4.52486252e-04 9.99927994e-01 2.27897720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.565099893 meters 0.021233802765012074 Centerline is valid? [True, True] Translation: X:199.84, Y:3.38, Z:2.28 [[ 9.98898549e-01 -4.54781020e-02 -1.15511985e-02 1.99835646e+02] [ 4.54798013e-02 9.98965252e-01 -1.15665351e-04 3.38442364e+00] [ 1.15445062e-02 -4.09808262e-04 9.99933276e-01 2.28030501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.595099893 meters 0.020123975814003384 Centerline is valid? [True, True] Translation: X:199.87, Y:3.39, Z:2.28 [[ 9.98908830e-01 -4.47749495e-02 -1.32798366e-02 1.99868012e+02] [ 4.47771619e-02 9.98996991e-01 -1.30833253e-04 3.38601410e+00] [ 1.32723748e-02 -4.63942900e-04 9.99911811e-01 2.27929586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.625099893 meters 0.01882959336777432 Centerline is valid? [True, True] Translation: X:199.90, Y:3.39, Z:2.28 [[ 9.98873612e-01 -4.47058847e-02 -1.59025233e-02 1.99900608e+02] [ 4.47090694e-02 9.99000038e-01 -1.55371973e-04 3.38757029e+00] [ 1.58935674e-02 -5.55790053e-04 9.99873535e-01 2.27768488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.655099893 meters 0.02033088220146342 Centerline is valid? [True, True] Translation: X:199.93, Y:3.38, Z:2.27 [[ 9.98745780e-01 -4.60325032e-02 -1.96945515e-02 1.99932144e+02] [ 4.60376757e-02 9.98939686e-01 -1.90912270e-04 3.38341454e+00] [ 1.96824572e-02 -7.16018548e-04 9.99806025e-01 2.27390002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.685099893 meters 0.019987836571063167 Centerline is valid? [True, True] Translation: X:199.96, Y:3.38, Z:2.27 [[ 9.98705203e-01 -4.65173795e-02 -2.05925177e-02 1.99964181e+02] [ 4.65231641e-02 9.98917192e-01 -1.98328041e-04 3.38313416e+00] [ 2.05794457e-02 -7.59957835e-04 9.99787932e-01 2.27312920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71509989299997 meters 0.019306144737785563 Centerline is valid? [True, True] Translation: X:200.00, Y:3.38, Z:2.27 [[ 9.98672723e-01 -4.71530059e-02 -2.07216216e-02 1.99996725e+02] [ 4.71590310e-02 9.98887374e-01 -1.98070218e-04 3.38339489e+00] [ 2.07079058e-02 -7.79404270e-04 9.99785265e-01 2.27341798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74509989299997 meters 0.02054146678049475 Centerline is valid? [True, True] Translation: X:200.03, Y:3.38, Z:2.27 [[ 9.98697440e-01 -4.71934249e-02 -1.93959897e-02 2.00028098e+02] [ 4.71987443e-02 9.98885501e-01 -1.83690794e-04 3.38038708e+00] [ 1.93830419e-02 -7.32014830e-04 9.99811863e-01 2.27483593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77509989299998 meters 0.020316696911798382 Centerline is valid? [True, True] Translation: X:200.06, Y:3.38, Z:2.28 [[ 9.98757459e-01 -4.63314549e-02 -1.83557554e-02 2.00060574e+02] [ 4.63361076e-02 9.98925891e-01 -1.71978303e-04 3.38078153e+00] [ 1.83440073e-02 -6.78769643e-04 9.99831504e-01 2.27632099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80509989299998 meters 0.01989829829505656 Centerline is valid? [True, True] Translation: X:200.09, Y:3.38, Z:2.28 [[ 9.98857144e-01 -4.47283079e-02 -1.68459186e-02 2.00092599e+02] [ 4.47320177e-02 9.98999010e-01 -1.56706717e-04 3.38185807e+00] [ 1.68360652e-02 -5.97024304e-04 9.99858085e-01 2.27863768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83509989299998 meters 0.018455576168326427 Centerline is valid? [True, True] Translation: X:200.12, Y:3.38, Z:2.28 [[ 9.98917773e-01 -4.36347517e-02 -1.61025508e-02 2.00124732e+02] [ 4.36380172e-02 9.99047397e-01 -1.48678682e-04 3.38479722e+00] [ 1.60936990e-02 -5.54165612e-04 9.99870334e-01 2.28008147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86509989299998 meters 0.01844781217062097 Centerline is valid? [True, True] Translation: X:200.16, Y:3.38, Z:2.28 [[ 9.98977778e-01 -4.25271220e-02 -1.53246137e-02 2.00155954e+02] [ 4.25299685e-02 9.99095182e-01 -1.40246063e-04 3.38465245e+00] [ 1.53167120e-02 -5.11652639e-04 9.99882561e-01 2.28103038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89509989299998 meters 0.018526830761566238 Centerline is valid? [True, True] Translation: X:200.19, Y:3.38, Z:2.28 [[ 9.99003299e-01 -4.23238003e-02 -1.41811150e-02 2.00188272e+02] [ 4.23262405e-02 9.99103835e-01 -1.28147015e-04 3.38453674e+00] [ 1.41738301e-02 -4.72213994e-04 9.99899435e-01 2.28259886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92509989299998 meters 0.020140997412578427 Centerline is valid? [True, True] Translation: X:200.22, Y:3.38, Z:2.28 [[ 9.99005361e-01 -4.29892279e-02 -1.18412737e-02 2.00219770e+02] [ 4.29909844e-02 9.99075455e-01 -1.06283895e-04 3.38023825e+00] [ 1.18348950e-02 -4.02889834e-04 9.99929884e-01 2.28467141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95509989299998 meters 0.0194498284459683 Centerline is valid? [True, True] Translation: X:200.25, Y:3.38, Z:2.29 [[ 9.98973980e-01 -4.38376152e-02 -1.13688302e-02 2.00251617e+02] [ 4.38392957e-02 9.99038591e-01 -1.01474275e-04 3.38049654e+00] [ 1.13623485e-02 -3.97031347e-04 9.99935368e-01 2.28531691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98509989299998 meters 0.02037695962233057 Centerline is valid? [True, True] Translation: X:200.28, Y:3.38, Z:2.29 [[ 9.98847217e-01 -4.65087004e-02 -1.18818367e-02 2.00284175e+02] [ 4.65107352e-02 9.98917785e-01 -1.05160695e-04 3.37730917e+00] [ 1.18738688e-02 -4.47593491e-04 9.99929403e-01 2.28560704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01509989299998 meters 0.020278041339700136 Centerline is valid? [True, True] Translation: X:200.32, Y:3.38, Z:2.29 [[ 9.98774724e-01 -4.78199933e-02 -1.27396637e-02 2.00316444e+02] [ 4.78224516e-02 9.98855846e-01 -1.11775421e-04 3.37709054e+00] [ 1.27304326e-02 -4.97603483e-04 9.99918841e-01 2.28577368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04509989299999 meters 0.022663285238288422 Centerline is valid? [True, True] Translation: X:200.35, Y:3.37, Z:2.29 [[ 9.98681671e-01 -4.96190936e-02 -1.31478265e-02 2.00347337e+02] [ 4.96218803e-02 9.98768069e-01 -1.14385428e-04 3.37272081e+00] [ 1.31373050e-02 -5.38185243e-04 9.99913557e-01 2.28529690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.075099893 meters 0.022471586172813786 Centerline is valid? [True, True] Translation: X:200.38, Y:3.37, Z:2.28 [[ 9.98543666e-01 -5.21866693e-02 -1.36784221e-02 2.00379752e+02] [ 5.21899368e-02 9.98637170e-01 -1.18209393e-04 3.37128791e+00] [ 1.36659497e-02 -5.95838747e-04 9.99906439e-01 2.28473405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.105099893 meters 0.02266551886146952 Centerline is valid? [True, True] Translation: X:200.41, Y:3.37, Z:2.28 [[ 9.98522109e-01 -5.27303175e-02 -1.31571931e-02 2.00411901e+02] [ 5.27333997e-02 9.98608620e-01 -1.12797334e-04 3.37054672e+00] [ 1.31448343e-02 -5.81192893e-04 9.99913434e-01 2.28492508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.135099893 meters 0.02266551886146952 Centerline is valid? [True, True] Translation: X:200.44, Y:3.37, Z:2.29 [[ 9.98527801e-01 -5.26224161e-02 -1.31572014e-02 2.00444469e+02] [ 5.26255017e-02 9.98614312e-01 -1.11824354e-04 3.37073615e+00] [ 1.31448541e-02 -5.80744599e-04 9.99913434e-01 2.28532759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.165099893 meters 0.023057630569527365 Centerline is valid? [True, True] Translation: X:200.48, Y:3.37, Z:2.29 [[ 9.98530602e-01 -5.26626848e-02 -1.27780531e-02 2.00476612e+02] [ 5.26656154e-02 9.98612198e-01 -1.07274726e-04 3.36964558e+00] [ 1.27659691e-02 -5.65846934e-04 9.99918352e-01 2.28583394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.195099893 meters 0.025329069214984165 Centerline is valid? [True, True] Translation: X:200.51, Y:3.37, Z:2.29 [[ 9.98546287e-01 -5.24789545e-02 -1.22992356e-02 2.00507948e+02] [ 5.24816660e-02 9.98621883e-01 -1.02409233e-04 3.36622270e+00] [ 1.22876602e-02 -5.43224017e-04 9.99924356e-01 2.28637966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.225099893 meters 0.024271774767369473 Centerline is valid? [True, True] Translation: X:200.54, Y:3.37, Z:2.29 [[ 9.98580743e-01 -5.19027255e-02 -1.19417697e-02 2.00539666e+02] [ 5.19052479e-02 9.98652009e-01 -9.88235880e-05 3.36798517e+00] [ 1.19308015e-02 -5.21157183e-04 9.99928690e-01 2.28674495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.255099893 meters 0.02302451107913896 Centerline is valid? [True, True] Translation: X:200.57, Y:3.37, Z:2.29 [[ 9.98710885e-01 -4.94793537e-02 -1.13297165e-02 2.00570719e+02] [ 4.94814772e-02 9.98775037e-01 -9.29783416e-05 3.37106981e+00] [ 1.13204386e-02 -4.67752629e-04 9.99935812e-01 2.28781735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.285099893 meters 0.02137567470830102 Centerline is valid? [True, True] Translation: X:200.60, Y:3.37, Z:2.29 [[ 9.98883670e-01 -4.61662464e-02 -1.00046170e-02 2.00602396e+02] [ 4.61677384e-02 9.98933698e-01 -8.18920698e-05 3.37403281e+00] [ 9.99772969e-03 -3.80089888e-04 9.99949949e-01 2.28827715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.315099893 meters 0.01974305886773892 Centerline is valid? [True, True] Translation: X:200.63, Y:3.38, Z:2.29 [[ 9.99012090e-01 -4.34526179e-02 -9.31204188e-03 2.00634091e+02] [ 4.34537985e-02 9.99055435e-01 -7.56015041e-05 3.37613397e+00] [ 9.30653113e-03 -3.29116775e-04 9.99956639e-01 2.28886589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.345099893 meters 0.02016512196989076 Centerline is valid? [True, True] Translation: X:200.67, Y:3.38, Z:2.29 [[ 9.99086501e-01 -4.17051185e-02 -9.31916696e-03 2.00665547e+02] [ 4.17062316e-02 9.99129914e-01 -7.49452096e-05 3.37506922e+00] [ 9.31418408e-03 -3.13790588e-04 9.99956573e-01 2.28910437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.375099893 meters 0.016307050972310666 Centerline is valid? [True, True] Translation: X:200.70, Y:3.38, Z:2.28 [[ 9.99320662e-01 -3.25393913e-02 -1.73032425e-02 2.00695885e+02] [ 3.25418783e-02 9.99470363e-01 -1.37882859e-04 3.38066951e+00] [ 1.72985647e-02 -4.25290822e-04 9.99850278e-01 2.28460569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.405099893 meters 0.016003794387529278 Centerline is valid? [True, True] Translation: X:200.73, Y:3.38, Z:2.29 [[ 9.99384732e-01 -3.06793643e-02 -1.69980781e-02 2.00727596e+02] [ 3.06814999e-02 9.99529203e-01 -1.35189279e-04 3.38171428e+00] [ 1.69942230e-02 -3.86420430e-04 9.99855513e-01 2.28522294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.435099893 meters 0.016003794387529278 Centerline is valid? [True, True] Translation: X:200.76, Y:3.38, Z:2.29 [[ 9.99385836e-01 -3.06433567e-02 -1.69980830e-02 2.00758448e+02] [ 3.06454975e-02 9.99530307e-01 -1.34576886e-04 3.38193037e+00] [ 1.69942230e-02 -3.86420475e-04 9.99855513e-01 2.28560436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46509989299997 meters 0.015436886618321568 Centerline is valid? [True, True] Translation: X:200.79, Y:3.38, Z:2.29 [[ 9.99435206e-01 -2.89541843e-02 -1.70565193e-02 2.00789744e+02] [ 2.89561046e-02 9.99580675e-01 -1.34420603e-04 3.38373776e+00] [ 1.70532591e-02 -3.59545673e-04 9.99854518e-01 2.28610847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49509989299997 meters 0.015601863284129533 Centerline is valid? [True, True] Translation: X:200.82, Y:3.38, Z:2.29 [[ 9.99489679e-01 -2.72516622e-02 -1.66651800e-02 2.00820361e+02] [ 2.72532674e-02 9.99628552e-01 -1.30815580e-04 3.38354948e+00] [ 1.66625547e-02 -3.23431784e-04 9.99861118e-01 2.28616517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52509989299998 meters 0.015601863284129533 Centerline is valid? [True, True] Translation: X:200.85, Y:3.38, Z:2.29 [[ 9.99489679e-01 -2.72516594e-02 -1.66651817e-02 2.00850363e+02] [ 2.72532684e-02 9.99628552e-01 -1.30590835e-04 3.38378448e+00] [ 1.66625503e-02 -3.23656478e-04 9.99861118e-01 2.28653616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55509989299998 meters 0.015601863284129533 Centerline is valid? [True, True] Translation: X:200.88, Y:3.38, Z:2.29 [[ 9.99489679e-01 -2.72516594e-02 -1.66651817e-02 2.00880366e+02] [ 2.72532684e-02 9.99628552e-01 -1.30590835e-04 3.38401959e+00] [ 1.66625503e-02 -3.23656478e-04 9.99861118e-01 2.28690722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58509989299998 meters 0.015120745605149187 Centerline is valid? [True, True] Translation: X:200.91, Y:3.39, Z:2.29 [[ 9.99544523e-01 -2.53856711e-02 -1.63191477e-02 2.00910728e+02] [ 2.53869653e-02 9.99677691e-01 -1.27879261e-04 3.38518436e+00] [ 1.63171342e-02 -2.86472621e-04 9.99866826e-01 2.28742815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61509989299998 meters 0.015120745605149187 Centerline is valid? [True, True] Translation: X:200.94, Y:3.39, Z:2.29 [[ 9.99544523e-01 -2.53856711e-02 -1.63191477e-02 2.00940730e+02] [ 2.53869653e-02 9.99677691e-01 -1.27879261e-04 3.38541946e+00] [ 1.63171342e-02 -2.86472621e-04 9.99866826e-01 2.28779919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64509989299998 meters 0.01484746668702571 Centerline is valid? [True, True] Translation: X:200.97, Y:3.39, Z:2.29 [[ 9.99581898e-01 -2.39817495e-02 -1.61525763e-02 2.00971199e+02] [ 2.39828342e-02 9.99712362e-01 -1.26573983e-04 3.38625872e+00] [ 1.61509656e-02 -2.60863496e-04 9.99869531e-01 2.28814807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67509989299998 meters 0.01484746668702571 Centerline is valid? [True, True] Translation: X:201.00, Y:3.39, Z:2.29 [[ 9.99581044e-01 -2.40172968e-02 -1.61525752e-02 2.01000353e+02] [ 2.40183840e-02 9.99711509e-01 -1.26708656e-04 3.38651587e+00] [ 1.61509585e-02 -2.61303183e-04 9.99869531e-01 2.28850864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70509989299998 meters 0.01484746668702571 Centerline is valid? [True, True] Translation: X:201.03, Y:3.39, Z:2.29 [[ 9.99580189e-01 -2.40528496e-02 -1.61525707e-02 2.01029507e+02] [ 2.40539321e-02 9.99710654e-01 -1.27283090e-04 3.38677428e+00] [ 1.61509585e-02 -2.61303183e-04 9.99869531e-01 2.28886935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73509989299998 meters 0.014560903912913993 Centerline is valid? [True, True] Translation: X:201.06, Y:3.39, Z:2.29 [[ 9.99606683e-01 -2.28321544e-02 -1.62840966e-02 2.01059428e+02] [ 2.28330833e-02 9.99739283e-01 -1.28902835e-04 3.38761745e+00] [ 1.62827942e-02 -2.42963999e-04 9.99867397e-01 2.28927450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76509989299998 meters 0.014560903912913993 Centerline is valid? [True, True] Translation: X:201.09, Y:3.39, Z:2.29 [[ 9.99605867e-01 -2.28678422e-02 -1.62840920e-02 2.01088581e+02] [ 2.28687663e-02 9.99738467e-01 -1.29484316e-04 3.38787769e+00] [ 1.62827942e-02 -2.42963813e-04 9.99867397e-01 2.28963520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79509989299999 meters 0.01441389130559289 Centerline is valid? [True, True] Translation: X:201.12, Y:3.39, Z:2.29 [[ 9.99633517e-01 -2.18815753e-02 -1.59382477e-02 2.01118628e+02] [ 2.18823263e-02 9.99760545e-01 -1.27294077e-04 3.38839218e+00] [ 1.59372166e-02 -2.21518510e-04 9.99872970e-01 2.29029188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.825099893 meters 0.014398463696128058 Centerline is valid? [True, True] Translation: X:201.15, Y:3.39, Z:2.29 [[ 9.99640023e-01 -2.16143253e-02 -1.58947944e-02 2.01147567e+02] [ 2.16150284e-02 9.99766360e-01 -1.27575783e-04 3.38846270e+00] [ 1.58938382e-02 -2.16036575e-04 9.99873662e-01 2.29083922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.855099893 meters 0.014576534549938014 Centerline is valid? [True, True] Translation: X:201.18, Y:3.39, Z:2.29 [[ 9.99629064e-01 -2.23154267e-02 -1.56126656e-02 2.01176061e+02] [ 2.23161778e-02 9.99750955e-01 -1.26129136e-04 3.38821181e+00] [ 1.56115920e-02 -2.22332672e-04 9.99878107e-01 2.29156497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.885099893 meters 0.014735707402012861 Centerline is valid? [True, True] Translation: X:201.21, Y:3.39, Z:2.29 [[ 9.99590974e-01 -2.36757727e-02 -1.60419102e-02 2.01206027e+02] [ 2.36767280e-02 9.99719658e-01 -1.30394945e-04 3.38753048e+00] [ 1.60405002e-02 -2.49478335e-04 9.99871312e-01 2.29218196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.915099893 meters 0.015761207884942285 Centerline is valid? [True, True] Translation: X:201.24, Y:3.38, Z:2.29 [[ 9.99466265e-01 -2.82610524e-02 -1.63859356e-02 2.01236107e+02] [ 2.82626566e-02 9.99600522e-01 -1.33705863e-04 3.38325920e+00] [ 1.63831685e-02 -3.29475571e-04 9.99865733e-01 2.29248563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.945099893 meters 0.017075273219397853 Centerline is valid? [True, True] Translation: X:201.27, Y:3.38, Z:2.29 [[ 9.99256100e-01 -3.46056538e-02 -1.70204486e-02 2.01266209e+02] [ 3.46082991e-02 9.99400944e-01 -1.39190352e-04 3.37789676e+00] [ 1.70150692e-02 -4.49961969e-04 9.99855132e-01 2.29232625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.975099893 meters 0.018655185342417058 Centerline is valid? [True, True] Translation: X:201.30, Y:3.37, Z:2.29 [[ 9.99134572e-01 -3.76959267e-02 -1.75819327e-02 2.01296948e+02] [ 3.76992251e-02 9.99289121e-01 -1.43916631e-04 3.37402420e+00] [ 1.75748592e-02 -5.19033157e-04 9.99845416e-01 2.29203202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.005099893 meters 0.020908015985292502 Centerline is valid? [True, True] Translation: X:201.33, Y:3.37, Z:2.29 [[ 9.98880079e-01 -4.35459716e-02 -1.85023386e-02 2.01327118e+02] [ 4.35506309e-02 9.99051210e-01 -1.51222104e-04 3.36871075e+00] [ 1.84913689e-02 -6.54735771e-04 9.99828806e-01 2.29208425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.035099893 meters 0.022509816707669023 Centerline is valid? [True, True] Translation: X:201.36, Y:3.37, Z:2.29 [[ 9.98692127e-01 -4.78771179e-02 -1.79392658e-02 2.01358215e+02] [ 4.78821972e-02 9.98852979e-01 -1.46523803e-04 3.36550966e+00] [ 1.79257043e-02 -7.12639295e-04 9.99839068e-01 2.29324363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.065099893 meters 0.02324455803721594 Centerline is valid? [True, True] Translation: X:201.39, Y:3.36, Z:2.29 [[ 9.98631377e-01 -4.93020045e-02 -1.74552393e-02 2.01389923e+02] [ 4.93070388e-02 9.98783658e-01 -1.42098440e-04 3.36409268e+00] [ 1.74410135e-02 -7.18762201e-04 9.99847636e-01 2.29412091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.095099893 meters 0.025014586420270928 Centerline is valid? [True, True] Translation: X:201.42, Y:3.36, Z:2.30 [[ 9.98547412e-01 -5.11841664e-02 -1.68299470e-02 2.01420567e+02] [ 5.11891326e-02 9.98688968e-01 -1.35853744e-04 3.36032786e+00] [ 1.68148359e-02 -7.25853984e-04 9.99858357e-01 2.29549555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.125099893 meters 0.025014586420270928 Centerline is valid? [True, True] Translation: X:201.45, Y:3.36, Z:2.30 [[ 9.98550896e-01 -5.11161562e-02 -1.68299612e-02 2.01452284e+02] [ 5.11211428e-02 9.98692451e-01 -1.34066764e-04 3.36051719e+00] [ 1.68148082e-02 -7.26494365e-04 9.99858357e-01 2.29588739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.155099893 meters 0.023053677499492185 Centerline is valid? [True, True] Translation: X:201.48, Y:3.36, Z:2.30 [[ 9.98514443e-01 -5.18576310e-02 -1.67240061e-02 2.01484036e+02] [ 5.18626780e-02 9.98654217e-01 -1.32077117e-04 3.36305705e+00] [ 1.67083485e-02 -7.35470836e-04 9.99860135e-01 2.29706564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.185099893 meters 0.023007365744086954 Centerline is valid? [True, True] Translation: X:201.52, Y:3.36, Z:2.30 [[ 9.98487070e-01 -5.22927554e-02 -1.70011463e-02 2.01516038e+02] [ 5.22980547e-02 9.98631512e-01 -1.33045125e-04 3.36288411e+00] [ 1.69848377e-02 -7.56283040e-04 9.99855461e-01 2.29748465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21509989299997 meters 0.023299781451061163 Centerline is valid? [True, True] Translation: X:201.55, Y:3.36, Z:2.30 [[ 9.98458500e-01 -5.28258105e-02 -1.70310811e-02 2.01548147e+02] [ 5.28312265e-02 9.98603447e-01 -1.32066275e-04 3.36242860e+00] [ 1.70142728e-02 -7.67910209e-04 9.99854952e-01 2.29798730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24509989299997 meters 0.023596034585946557 Centerline is valid? [True, True] Translation: X:201.58, Y:3.36, Z:2.30 [[ 9.98430605e-01 -5.33268081e-02 -1.71049033e-02 2.01580611e+02] [ 5.33323654e-02 9.98576808e-01 -1.31419251e-04 3.36212669e+00] [ 1.70875679e-02 -7.81031950e-04 9.99853692e-01 2.29816511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27509989299998 meters 0.02436644330791889 Centerline is valid? [True, True] Translation: X:201.61, Y:3.36, Z:2.30 [[ 9.98372711e-01 -5.40428709e-02 -1.82015786e-02 2.01612771e+02] [ 5.40493071e-02 9.98538258e-01 -1.38499420e-04 3.36066653e+00] [ 1.81824575e-02 -8.45508672e-04 9.99834328e-01 2.29751199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30509989299998 meters 0.025028221383999332 Centerline is valid? [True, True] Translation: X:201.64, Y:3.36, Z:2.30 [[ 9.98363847e-01 -5.41387391e-02 -1.84017734e-02 2.01644168e+02] [ 5.41453560e-02 9.98533055e-01 -1.38824377e-04 3.35942811e+00] [ 1.83822948e-02 -8.57773335e-04 9.99830663e-01 2.29723786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33509989299998 meters 0.025548013873998368 Centerline is valid? [True, True] Translation: X:201.68, Y:3.36, Z:2.30 [[ 9.98351746e-01 -5.41969410e-02 -1.88807413e-02 2.01675805e+02] [ 5.42039363e-02 9.98529876e-01 -1.41431196e-04 3.35857352e+00] [ 1.88606494e-02 -8.82212416e-04 9.99821733e-01 2.29733190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36509989299998 meters 0.025707807237471816 Centerline is valid? [True, True] Translation: X:201.71, Y:3.36, Z:2.30 [[ 9.98397910e-01 -5.32167405e-02 -1.92247633e-02 2.01707786e+02] [ 5.32238335e-02 9.98582597e-01 -1.42882232e-04 3.35855347e+00] [ 1.92051178e-02 -8.80562281e-04 9.99815177e-01 2.29707987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39509989299998 meters 0.025872909646436737 Centerline is valid? [True, True] Translation: X:201.74, Y:3.36, Z:2.30 [[ 9.98435163e-01 -5.22878420e-02 -1.98294667e-02 2.01738608e+02] [ 5.22952304e-02 9.98631658e-01 -1.46118703e-04 3.35910826e+00] [ 1.98099734e-02 -8.91096477e-04 9.99803366e-01 2.29729978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42509989299998 meters 0.025077627319378078 Centerline is valid? [True, True] Translation: X:201.77, Y:3.36, Z:2.30 [[ 9.98499507e-01 -5.08834746e-02 -2.02387144e-02 2.01769652e+02] [ 5.08909019e-02 9.98704208e-01 -1.48219322e-04 3.36158921e+00] [ 2.02200311e-02 -8.81969506e-04 9.99795165e-01 2.29765376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45509989299998 meters 0.02089682348234921 Centerline is valid? [True, True] Translation: X:201.80, Y:3.37, Z:2.30 [[ 9.98664118e-01 -4.71947344e-02 -2.10389374e-02 2.01800805e+02] [ 4.72019593e-02 9.98885355e-01 -1.53330283e-04 3.36992665e+00] [ 2.10227228e-02 -8.39953615e-04 9.99778645e-01 2.29844277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48509989299998 meters 0.02059942690519022 Centerline is valid? [True, True] Translation: X:201.83, Y:3.37, Z:2.30 [[ 9.98742645e-01 -4.53035860e-02 -2.14642484e-02 2.01831662e+02] [ 4.53106867e-02 9.98972931e-01 -1.55653891e-04 3.37109798e+00] [ 2.14492548e-02 -8.17101656e-04 9.99769604e-01 2.29839841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51509989299998 meters 0.019373200939465405 Centerline is valid? [True, True] Translation: X:201.86, Y:3.37, Z:2.30 [[ 9.98919993e-01 -4.12895005e-02 -2.13078594e-02 2.01862459e+02] [ 4.12955961e-02 9.99146961e-01 -1.54047629e-04 3.37365127e+00] [ 2.12960435e-02 -7.26039500e-04 9.99772950e-01 2.29842371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54509989299999 meters 0.017853487720977713 Centerline is valid? [True, True] Translation: X:201.89, Y:3.38, Z:2.30 [[ 9.99012864e-01 -3.92434285e-02 -2.08146975e-02 2.01893523e+02] [ 3.92488057e-02 9.99229457e-01 -1.50278360e-04 3.37650090e+00] [ 2.08045563e-02 -6.66822002e-04 9.99783339e-01 2.29929472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.575099893 meters 0.01801910755291632 Centerline is valid? [True, True] Translation: X:201.92, Y:3.38, Z:2.30 [[ 9.99072996e-01 -3.77516023e-02 -2.06872964e-02 2.01923551e+02] [ 3.77565990e-02 9.99286954e-01 -1.49135965e-04 3.37668486e+00] [ 2.06781755e-02 -6.32084238e-04 9.99785984e-01 2.29950599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.605099893 meters 0.017342711261452752 Centerline is valid? [True, True] Translation: X:201.95, Y:3.38, Z:2.30 [[ 9.99184914e-01 -3.45646457e-02 -2.08516782e-02 2.01953741e+02] [ 3.45690287e-02 9.99402301e-01 -1.50321004e-04 3.37936516e+00] [ 2.08444110e-02 -5.70623784e-04 9.99782569e-01 2.30037813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.635099893 meters 0.019618282629493732 Centerline is valid? [True, True] Translation: X:201.98, Y:3.38, Z:2.30 [[ 9.99224203e-01 -3.33087320e-02 -2.10123844e-02 2.01983677e+02] [ 3.33129023e-02 9.99444960e-01 -1.51630592e-04 3.37591380e+00] [ 2.10057723e-02 -5.48470550e-04 9.99779204e-01 2.29922372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.665099893 meters 0.015971427497334427 Centerline is valid? [True, True] Translation: X:202.01, Y:3.38, Z:2.30 [[ 9.99245133e-01 -3.23683282e-02 -2.14815046e-02 2.02013443e+02] [ 3.23724578e-02 9.99475863e-01 -1.55567380e-04 3.38299953e+00] [ 2.14752808e-02 -5.39959155e-04 9.99769234e-01 2.30163673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.695099893 meters 0.018084210785877217 Centerline is valid? [True, True] Translation: X:202.04, Y:3.38, Z:2.30 [[ 9.99280244e-01 -3.13930154e-02 -2.12949014e-02 2.02041866e+02] [ 3.13968300e-02 9.99506986e-01 -1.55264209e-04 3.37876634e+00] [ 2.12892769e-02 -5.13439942e-04 9.99773226e-01 2.30024695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.725099893 meters 0.01592784637654396 Centerline is valid? [True, True] Translation: X:202.07, Y:3.38, Z:2.30 [[ 9.99285001e-01 -3.13603988e-02 -2.11189782e-02 2.02071030e+02] [ 3.13641191e-02 9.99508013e-01 -1.55125481e-04 3.38313105e+00] [ 2.11134527e-02 -5.07363582e-04 9.99776957e-01 2.30220275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.755099893 meters 0.015923576094666818 Centerline is valid? [True, True] Translation: X:202.10, Y:3.38, Z:2.30 [[ 9.99283032e-01 -3.14936731e-02 -2.10136015e-02 2.02100529e+02] [ 3.14973700e-02 9.99503823e-01 -1.55105558e-04 3.38342314e+00] [ 2.10080599e-02 -5.06878831e-04 9.99779178e-01 2.30262729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.785099893 meters 0.016317967287238843 Centerline is valid? [True, True] Translation: X:202.13, Y:3.38, Z:2.30 [[ 9.99270900e-01 -3.19766074e-02 -2.08606179e-02 2.02129199e+02] [ 3.19803370e-02 9.99488486e-01 -1.54873045e-04 3.38308940e+00] [ 2.08548998e-02 -5.12369464e-04 9.99782382e-01 2.30325567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.815099893 meters 0.01657493707811801 Centerline is valid? [True, True] Translation: X:202.16, Y:3.38, Z:2.30 [[ 9.99254196e-01 -3.26112730e-02 -2.06774452e-02 2.02158854e+02] [ 3.26150535e-02 9.99467976e-01 -1.54463116e-04 3.38286545e+00] [ 2.06714815e-02 -5.20048065e-04 9.99786187e-01 2.30383509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.845099893 meters 0.016981928992210314 Centerline is valid? [True, True] Translation: X:202.19, Y:3.38, Z:2.30 [[ 9.99218272e-01 -3.38541369e-02 -2.04142831e-02 2.02188134e+02] [ 3.38580663e-02 9.99426640e-01 -1.53213028e-04 3.38227884e+00] [ 2.04077652e-02 -5.38094893e-04 9.99791595e-01 2.30474629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.875099893 meters 0.016732334374667274 Centerline is valid? [True, True] Translation: X:202.22, Y:3.38, Z:2.31 [[ 9.99195987e-01 -3.44782974e-02 -2.04603871e-02 2.02219059e+02] [ 3.44823664e-02 9.99405295e-01 -1.53997070e-04 3.38300149e+00] [ 2.04535288e-02 -5.51649311e-04 9.99790653e-01 2.30536636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.905099893 meters 0.017037659718000277 Centerline is valid? [True, True] Translation: X:202.25, Y:3.38, Z:2.31 [[ 9.99180473e-01 -3.50763431e-02 -2.01997942e-02 2.02249984e+02] [ 3.50804312e-02 9.99384481e-01 -1.52035692e-04 3.38258217e+00] [ 2.01926937e-02 -5.56706394e-04 9.99795952e-01 2.30552930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.935099893 meters 0.01736481219907506 Centerline is valid? [True, True] Translation: X:202.28, Y:3.38, Z:2.31 [[ 9.99134629e-01 -3.62721447e-02 -2.03549570e-02 2.02280883e+02] [ 3.62765467e-02 9.99341778e-01 -1.53060176e-04 3.38269375e+00] [ 2.03471107e-02 -5.85479827e-04 9.99792805e-01 2.30584392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96509989299997 meters 0.01845265679550805 Centerline is valid? [True, True] Translation: X:202.31, Y:3.38, Z:2.31 [[ 9.99122356e-01 -3.64617387e-02 -2.06169617e-02 2.02311740e+02] [ 3.64663095e-02 9.99334871e-01 -1.54329538e-04 3.38117186e+00] [ 2.06088759e-02 -5.97630416e-04 9.99787436e-01 2.30544279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99509989299997 meters 0.017590353625775598 Centerline is valid? [True, True] Translation: X:202.34, Y:3.38, Z:2.31 [[ 9.99100307e-01 -3.69653458e-02 -2.07879542e-02 2.02342313e+02] [ 3.69701167e-02 9.99316360e-01 -1.54890205e-04 3.38366863e+00] [ 2.07794683e-02 -6.13782243e-04 9.99783895e-01 2.30604330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02509989299998 meters 0.017731286980921315 Centerline is valid? [True, True] Translation: X:202.37, Y:3.38, Z:2.31 [[ 9.99090710e-01 -3.70088026e-02 -2.11684153e-02 2.02372357e+02] [ 3.70137595e-02 9.99314744e-01 -1.57725005e-04 3.38426044e+00] [ 2.11597467e-02 -6.25941045e-04 9.99775912e-01 2.30604625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05509989299998 meters 0.017731286980921315 Centerline is valid? [True, True] Translation: X:202.40, Y:3.38, Z:2.31 [[ 9.99090710e-01 -3.70088026e-02 -2.11684153e-02 2.02402369e+02] [ 3.70137595e-02 9.99314744e-01 -1.57725005e-04 3.38448405e+00] [ 2.11597467e-02 -6.25941045e-04 9.99775912e-01 2.30641741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08509989299998 meters 0.01848120790016196 Centerline is valid? [True, True] Translation: X:202.43, Y:3.38, Z:2.31 [[ 9.99089968e-01 -3.70719382e-02 -2.10928410e-02 2.02432524e+02] [ 3.70768772e-02 9.99312404e-01 -1.57007206e-04 3.38387118e+00] [ 2.10841582e-02 -6.25192349e-04 9.99777509e-01 2.30641570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11509989299998 meters 0.01833796998897202 Centerline is valid? [True, True] Translation: X:202.46, Y:3.38, Z:2.31 [[ 9.99096548e-01 -3.71011818e-02 -2.07265763e-02 2.02462823e+02] [ 3.71059614e-02 9.99311325e-01 -1.54065494e-04 3.38464199e+00] [ 2.07180184e-02 -6.15153235e-04 9.99785170e-01 2.30697112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14509989299998 meters 0.018451626175015425 Centerline is valid? [True, True] Translation: X:202.49, Y:3.39, Z:2.31 [[ 9.99100779e-01 -3.73352432e-02 -2.00926067e-02 2.02493264e+02] [ 3.73397820e-02 9.99302616e-01 -1.49353050e-04 3.38522058e+00] [ 2.00841706e-02 -6.01034807e-04 9.99798112e-01 2.30745112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17509989299998 meters 0.018347707088781733 Centerline is valid? [True, True] Translation: X:202.52, Y:3.39, Z:2.31 [[ 9.99105379e-01 -3.73081756e-02 -1.99133412e-02 2.02524203e+02] [ 3.73126337e-02 9.99303630e-01 -1.47755423e-04 3.38582680e+00] [ 1.99049866e-02 -5.95395967e-04 9.99801699e-01 2.30799028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20509989299998 meters 0.01769602921197525 Centerline is valid? [True, True] Translation: X:202.56, Y:3.39, Z:2.31 [[ 9.99134456e-01 -3.68081949e-02 -1.93776897e-02 2.02555230e+02] [ 3.68123354e-02 9.99322186e-01 -1.43107745e-04 3.38754097e+00] [ 1.93698227e-02 -5.70354132e-04 9.99812225e-01 2.30890167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23509989299998 meters 0.017813216496847663 Centerline is valid? [True, True] Translation: X:202.59, Y:3.39, Z:2.31 [[ 9.99162533e-01 -3.61866190e-02 -1.90987240e-02 2.02585623e+02] [ 3.61905382e-02 9.99344898e-01 -1.40492646e-04 3.38895547e+00] [ 1.90912964e-02 -5.50818113e-04 9.99817593e-01 2.30927476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26509989299998 meters 0.017617641738150124 Centerline is valid? [True, True] Translation: X:202.62, Y:3.39, Z:2.31 [[ 9.99165400e-01 -3.58875445e-02 -1.95086571e-02 2.02617125e+02] [ 3.58915862e-02 9.99355679e-01 -1.43029622e-04 3.39060329e+00] [ 1.95012202e-02 -5.57286398e-04 9.99809678e-01 2.30944131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29509989299999 meters 0.01698369287430308 Centerline is valid? [True, True] Translation: X:202.65, Y:3.39, Z:2.31 [[ 9.99167033e-01 -3.54119348e-02 -2.02789236e-02 2.02648555e+02] [ 3.54162193e-02 9.99372638e-01 -1.47932050e-04 3.39254763e+00] [ 2.02714399e-02 -5.70393978e-04 9.99794351e-01 2.30939062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.325099893 meters 0.018098917212873745 Centerline is valid? [True, True] Translation: X:202.68, Y:3.39, Z:2.31 [[ 9.99169496e-01 -3.50332545e-02 -2.08083756e-02 2.02679060e+02] [ 3.50377039e-02 9.99385980e-01 -1.50821877e-04 3.39118612e+00] [ 2.08008826e-02 -5.78381083e-04 9.99783471e-01 2.30874155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.355099893 meters 0.01716405081742707 Centerline is valid? [True, True] Translation: X:202.71, Y:3.39, Z:2.31 [[ 9.99176685e-01 -3.48363881e-02 -2.07937123e-02 2.02709173e+02] [ 3.48408042e-02 9.99392864e-01 -1.49965429e-04 3.39428647e+00] [ 2.07863119e-02 -5.74627699e-04 9.99783776e-01 2.30967766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.385099893 meters 0.017430165876913227 Centerline is valid? [True, True] Translation: X:202.74, Y:3.39, Z:2.31 [[ 9.99181611e-01 -3.49119933e-02 -2.04269859e-02 2.02739397e+02] [ 3.49162708e-02 9.99390230e-01 -1.47320577e-04 3.39489097e+00] [ 2.04196734e-02 -5.66034158e-04 9.99791337e-01 2.30995950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.415099893 meters 0.018092387244481433 Centerline is valid? [True, True] Translation: X:202.77, Y:3.39, Z:2.31 [[ 9.99187950e-01 -3.48099084e-02 -2.02906650e-02 2.02770249e+02] [ 3.48141175e-02 9.99393794e-01 -1.45867313e-04 3.39444887e+00] [ 2.02834423e-02 -5.60652734e-04 9.99794113e-01 2.31024253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.445099893 meters 0.018607795079478507 Centerline is valid? [True, True] Translation: X:202.80, Y:3.40, Z:2.31 [[ 9.99192029e-01 -3.47706341e-02 -2.01566880e-02 2.02800742e+02] [ 3.47747971e-02 9.99395163e-01 -1.44040696e-04 3.39533518e+00] [ 2.01495049e-02 -5.57020423e-04 9.99796823e-01 2.31070745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.475099893 meters 0.017108482021673446 Centerline is valid? [True, True] Translation: X:202.83, Y:3.40, Z:2.31 [[ 9.99191533e-01 -3.49028165e-02 -1.99517632e-02 2.02831544e+02] [ 3.49069287e-02 9.99390557e-01 -1.42227187e-04 3.39932246e+00] [ 1.99445679e-02 -5.54342573e-04 9.99800934e-01 2.31204005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.505099893 meters 0.017139523449029134 Centerline is valid? [True, True] Translation: X:202.86, Y:3.40, Z:2.31 [[ 9.99209577e-01 -3.44281029e-02 -1.98727777e-02 2.02862893e+02] [ 3.44320985e-02 9.99407030e-01 -1.41171085e-04 3.40041062e+00] [ 1.98658540e-02 -5.43201938e-04 9.99802507e-01 2.31172123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.535099893 meters 0.017337746752932016 Centerline is valid? [True, True] Translation: X:202.89, Y:3.40, Z:2.31 [[ 9.99210445e-01 -3.44735949e-02 -1.97498784e-02 2.02894568e+02] [ 3.44775641e-02 9.99405462e-01 -1.39591273e-04 3.40067967e+00] [ 1.97429485e-02 -5.41446638e-04 9.99804942e-01 2.31159800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.565099893 meters 0.018167607285031362 Centerline is valid? [True, True] Translation: X:202.93, Y:3.40, Z:2.31 [[ 9.99206857e-01 -3.45248725e-02 -1.98416179e-02 2.02925112e+02] [ 3.45289002e-02 9.99403690e-01 -1.39661661e-04 3.39969049e+00] [ 1.98346080e-02 -5.45558356e-04 9.99803126e-01 2.31137507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.595099893 meters 0.01847974302150239 Centerline is valid? [True, True] Translation: X:202.96, Y:3.40, Z:2.31 [[ 9.99212013e-01 -3.46387086e-02 -1.93781435e-02 2.02956571e+02] [ 3.46425805e-02 9.99399756e-01 -1.35942940e-04 3.39977378e+00] [ 1.93712208e-02 -5.35473076e-04 9.99812217e-01 2.31136132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.625099893 meters 0.01709764386884847 Centerline is valid? [True, True] Translation: X:202.99, Y:3.40, Z:2.31 [[ 9.99194320e-01 -3.57193491e-02 -1.82985970e-02 2.02988097e+02] [ 3.57229938e-02 9.99361722e-01 -1.27749646e-04 3.40353325e+00] [ 1.82914806e-02 -5.26033948e-04 9.99832558e-01 2.31255695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.655099893 meters 0.018028334580600644 Centerline is valid? [True, True] Translation: X:203.02, Y:3.40, Z:2.31 [[ 9.99173267e-01 -3.66287793e-02 -1.76384731e-02 2.03018043e+02] [ 3.66323167e-02 9.99328804e-01 -1.22608452e-04 3.40237657e+00] [ 1.76311252e-02 -5.23631043e-04 9.99844423e-01 2.31287460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.685099893 meters 0.018923808408886928 Centerline is valid? [True, True] Translation: X:203.05, Y:3.40, Z:2.31 [[ 9.99094498e-01 -3.92739568e-02 -1.63628008e-02 2.03049646e+02] [ 3.92773610e-02 9.99228340e-01 -1.13390105e-04 3.40173889e+00] [ 1.63546276e-02 -5.29400206e-04 9.99866114e-01 2.31353131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71509989299997 meters 0.019248908257117118 Centerline is valid? [True, True] Translation: X:203.08, Y:3.40, Z:2.31 [[ 9.99039558e-01 -4.05329966e-02 -1.66444618e-02 2.03081953e+02] [ 4.05367062e-02 9.99178043e-01 -1.14586736e-04 3.40185803e+00] [ 1.66354253e-02 -5.60234975e-04 9.99861465e-01 2.31387052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74509989299997 meters 0.019572061582135633 Centerline is valid? [True, True] Translation: X:203.11, Y:3.40, Z:2.31 [[ 9.98986757e-01 -4.18440518e-02 -1.65691095e-02 2.03114011e+02] [ 4.18479276e-02 9.99123985e-01 -1.12883377e-04 3.40174296e+00] [ 1.65593183e-02 -5.80613898e-04 9.99862717e-01 2.31337653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77509989299998 meters 0.02010746250286023 Centerline is valid? [True, True] Translation: X:203.15, Y:3.40, Z:2.31 [[ 9.98927261e-01 -4.31871788e-02 -1.67091086e-02 2.03146312e+02] [ 4.31913282e-02 9.99066813e-01 -1.12629470e-04 3.40145914e+00] [ 1.66983800e-02 -6.09179946e-04 9.99860387e-01 2.31294777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80509989299998 meters 0.021925322951959068 Centerline is valid? [True, True] Translation: X:203.18, Y:3.40, Z:2.31 [[ 9.98810902e-01 -4.59794722e-02 -1.62071098e-02 2.03177371e+02] [ 4.59837602e-02 9.98942182e-01 -1.08178927e-04 3.39985080e+00] [ 1.61949396e-02 -6.37213557e-04 9.99868650e-01 2.31309131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83509989299998 meters 0.02215230667953389 Centerline is valid? [True, True] Translation: X:203.21, Y:3.40, Z:2.31 [[ 9.98730348e-01 -4.80031724e-02 -1.52770398e-02 2.03209290e+02] [ 4.80072313e-02 9.98846983e-01 -1.01139803e-04 3.40089354e+00] [ 1.52642802e-02 -6.32396994e-04 9.99883294e-01 2.31364181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86509989299998 meters 0.02416245914854813 Centerline is valid? [True, True] Translation: X:203.24, Y:3.40, Z:2.31 [[ 9.98697311e-01 -4.87202117e-02 -1.51664669e-02 2.03240093e+02] [ 4.87243131e-02 9.98812260e-01 -9.91876649e-05 3.39842443e+00] [ 1.51532856e-02 -6.39917229e-04 9.99884978e-01 2.31380960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89509989299998 meters 0.02456570462259373 Centerline is valid? [True, True] Translation: X:203.27, Y:3.40, Z:2.31 [[ 9.98663550e-01 -4.94996073e-02 -1.48627680e-02 2.03272018e+02] [ 4.95036570e-02 9.98773938e-01 -9.55329796e-05 3.39848141e+00] [ 1.48492741e-02 -6.40356063e-04 9.99889538e-01 2.31394685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92509989299998 meters 0.02504553680966507 Centerline is valid? [True, True] Translation: X:203.30, Y:3.40, Z:2.31 [[ 9.98630501e-01 -4.99822039e-02 -1.54564629e-02 2.03303719e+02] [ 4.99866574e-02 9.98749881e-01 -9.83037682e-05 3.39849703e+00] [ 1.54420539e-02 -6.74447774e-04 9.99880537e-01 2.31403603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95509989299998 meters 0.024220567185104732 Centerline is valid? [True, True] Translation: X:203.34, Y:3.40, Z:2.31 [[ 9.98553983e-01 -5.15088409e-02 -1.53877612e-02 2.03335503e+02] [ 5.15134480e-02 9.98672296e-01 -9.70727736e-05 3.40145589e+00] [ 1.53723309e-02 -6.95744233e-04 9.99881597e-01 2.31449887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98509989299998 meters 0.023252386002571408 Centerline is valid? [True, True] Translation: X:203.37, Y:3.40, Z:2.31 [[ 9.98504729e-01 -5.22313078e-02 -1.61306164e-02 2.03367747e+02] [ 5.22364801e-02 9.98634738e-01 -1.00802924e-04 3.40398207e+00] [ 1.61138590e-02 -7.41954426e-04 9.99869888e-01 2.31464943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01509989299998 meters 0.022768540537053256 Centerline is valid? [True, True] Translation: X:203.40, Y:3.41, Z:2.31 [[ 9.98460817e-01 -5.28625264e-02 -1.67794794e-02 2.03400312e+02] [ 5.28682330e-02 9.98601492e-01 -1.03611054e-04 3.40534611e+00] [ 1.67614903e-02 -7.83649852e-04 9.99859209e-01 2.31471210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04509989299999 meters 0.022213154355541276 Centerline is valid? [True, True] Translation: X:203.43, Y:3.41, Z:2.31 [[ 9.98408482e-01 -5.36245299e-02 -1.74617557e-02 2.03432147e+02] [ 5.36308494e-02 9.98560825e-01 -1.06509917e-04 3.40716702e+00] [ 1.74423367e-02 -8.30148385e-04 9.99847526e-01 2.31455323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.075099893 meters 0.02499061269867396 Centerline is valid? [True, True] Translation: X:203.46, Y:3.40, Z:2.31 [[ 9.98348080e-01 -5.45344315e-02 -1.80861037e-02 2.03463061e+02] [ 5.45413829e-02 9.98511505e-01 -1.09056070e-04 3.40480612e+00] [ 1.80651300e-02 -8.77565191e-04 9.99836427e-01 2.31441085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.105099893 meters 0.023763219271853864 Centerline is valid? [True, True] Translation: X:203.50, Y:3.41, Z:2.32 [[ 9.98359362e-01 -5.47881276e-02 -1.66386741e-02 2.03495253e+02] [ 5.47940614e-02 9.98497672e-01 -9.93908319e-05 3.40886713e+00] [ 1.66191228e-02 -8.12472762e-04 9.99861563e-01 2.31705346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.135099893 meters 0.024528527919810524 Centerline is valid? [True, True] Translation: X:203.53, Y:3.41, Z:2.32 [[ 9.98383863e-01 -5.45174409e-02 -1.60471669e-02 2.03526833e+02] [ 5.45229424e-02 9.98512514e-01 -9.47905653e-05 3.40935992e+00] [ 1.60284647e-02 -7.80301389e-04 9.99871231e-01 2.31833085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.165099893 meters 0.02394160464428612 Centerline is valid? [True, True] Translation: X:203.56, Y:3.41, Z:2.32 [[ 9.98438121e-01 -5.36248834e-02 -1.56745170e-02 2.03559380e+02] [ 5.36300366e-02 9.98560870e-01 -9.16961845e-05 3.41176327e+00] [ 1.56568765e-02 -7.49071954e-04 9.99877143e-01 2.31917692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.195099893 meters 0.023336898909540923 Centerline is valid? [True, True] Translation: X:203.59, Y:3.41, Z:2.32 [[ 9.98499317e-01 -5.25504230e-02 -1.54132169e-02 2.03591267e+02] [ 5.25552949e-02 9.98618012e-01 -8.90703528e-05 3.41420036e+00] [ 1.53965967e-02 -7.21109476e-04 9.99881205e-01 2.31940699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.225099893 meters 0.02315438360276039 Centerline is valid? [True, True] Translation: X:203.62, Y:3.42, Z:2.32 [[ 9.98660199e-01 -4.95766416e-02 -1.48311665e-02 2.03621582e+02] [ 4.95808386e-02 9.98770110e-01 -8.47992969e-05 3.41798894e+00] [ 1.48171299e-02 -6.50655989e-04 9.99890009e-01 2.32017372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.255099893 meters 0.022736488437712844 Centerline is valid? [True, True] Translation: X:203.65, Y:3.42, Z:2.32 [[ 9.98731809e-01 -4.82319655e-02 -1.44378607e-02 2.03653689e+02] [ 4.82358078e-02 9.98835973e-01 -8.21839496e-05 3.42049552e+00] [ 1.44250185e-02 -6.14342148e-04 9.99895765e-01 2.32140219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.285099893 meters 0.021630476553406604 Centerline is valid? [True, True] Translation: X:203.69, Y:3.42, Z:2.32 [[ 9.98802716e-01 -4.68120317e-02 -1.42045221e-02 2.03686306e+02] [ 4.68156221e-02 9.98903544e-01 -7.98239356e-05 3.42391113e+00] [ 1.41926842e-02 -5.85265177e-04 9.99899107e-01 2.32221111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.315099893 meters 0.02147392634229567 Centerline is valid? [True, True] Translation: X:203.72, Y:3.43, Z:2.32 [[ 9.98897160e-01 -4.45337388e-02 -1.48731189e-02 2.03717794e+02] [ 4.45374458e-02 9.99007712e-01 -8.20559352e-05 3.42705313e+00] [ 1.48620148e-02 -5.80445287e-04 9.99889386e-01 2.32233675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.345099893 meters 0.021607474436717053 Centerline is valid? [True, True] Translation: X:203.75, Y:3.43, Z:2.32 [[ 9.98911057e-01 -4.37532098e-02 -1.61974339e-02 2.03748864e+02] [ 4.37575384e-02 9.99042176e-01 -8.72362375e-05 3.42828345e+00] [ 1.61857365e-02 -6.21618593e-04 9.99868809e-01 2.32210602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.375099893 meters 0.02135958767828358 Centerline is valid? [True, True] Translation: X:203.78, Y:3.43, Z:2.32 [[ 9.98932665e-01 -4.29911160e-02 -1.68906887e-02 2.03781447e+02] [ 4.29957313e-02 9.99075252e-01 -8.99661226e-05 3.43015705e+00] [ 1.68789368e-02 -6.36357415e-04 9.99857338e-01 2.32219158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.405099893 meters 0.021560929041029738 Centerline is valid? [True, True] Translation: X:203.81, Y:3.43, Z:2.32 [[ 9.98944782e-01 -4.25289829e-02 -1.73380309e-02 2.03813281e+02] [ 4.25337980e-02 9.99095024e-01 -9.11067342e-05 3.43141291e+00] [ 1.73262150e-02 -6.46441705e-04 9.99849681e-01 2.32232983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43509989299997 meters 0.02056583760361693 Centerline is valid? [True, True] Translation: X:203.85, Y:3.44, Z:2.32 [[ 9.98949557e-01 -4.23396348e-02 -1.75253606e-02 2.03845679e+02] [ 4.23445472e-02 9.99103063e-01 -9.08482100e-05 3.43575536e+00] [ 1.75134880e-02 -6.51350681e-04 9.99846415e-01 2.32399991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46509989299997 meters 0.020241717395337012 Centerline is valid? [True, True] Translation: X:203.88, Y:3.44, Z:2.32 [[ 9.98964218e-01 -4.21789324e-02 -1.70712743e-02 2.03878168e+02] [ 4.21835906e-02 9.99109872e-01 -8.72947161e-05 3.43763965e+00] [ 1.70597607e-02 -6.32923348e-04 9.99854271e-01 2.32491615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49509989299997 meters 0.020912075367579067 Centerline is valid? [True, True] Translation: X:203.91, Y:3.44, Z:2.33 [[ 9.99001204e-01 -4.13920745e-02 -1.68312104e-02 2.03909278e+02] [ 4.13965153e-02 9.99142793e-01 -8.46216735e-05 3.43782922e+00] [ 1.68202852e-02 -6.12216306e-04 9.99858342e-01 2.32575708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52509989299998 meters 0.020718098732163178 Centerline is valid? [True, True] Translation: X:203.94, Y:3.44, Z:2.33 [[ 9.99031816e-01 -4.08252623e-02 -1.63929595e-02 2.03941945e+02] [ 4.08294295e-02 9.99166128e-01 -8.05355605e-05 3.43925274e+00] [ 1.63825778e-02 -5.88857598e-04 9.99865623e-01 2.32648577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55509989299998 meters 0.019804449512166138 Centerline is valid? [True, True] Translation: X:203.97, Y:3.44, Z:2.33 [[ 9.99126354e-01 -3.84816448e-02 -1.63000686e-02 2.03973702e+02] [ 3.84854743e-02 9.99259157e-01 -7.87901553e-05 3.44276095e+00] [ 1.62910248e-02 -5.48594551e-04 9.99867142e-01 2.32719272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58509989299998 meters 0.019454608975390395 Centerline is valid? [True, True] Translation: X:204.01, Y:3.44, Z:2.33 [[ 9.99167439e-01 -3.73237860e-02 -1.64731198e-02 2.04005852e+02] [ 3.73275558e-02 9.99303081e-01 -7.86726055e-05 3.44443571e+00] [ 1.64645757e-02 -5.36294192e-04 9.99864306e-01 2.32788801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61509989299998 meters 0.01923456362807094 Centerline is valid? [True, True] Translation: X:204.04, Y:3.45, Z:2.33 [[ 9.99210655e-01 -3.63043106e-02 -1.61264983e-02 2.04038071e+02] [ 3.63078089e-02 9.99340651e-01 -7.58928743e-05 3.44592464e+00] [ 1.61186206e-02 -5.09684852e-04 9.99869957e-01 2.32876057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64509989299998 meters 0.01769076276367959 Centerline is valid? [True, True] Translation: X:204.07, Y:3.45, Z:2.33 [[ 9.99283952e-01 -3.40838610e-02 -1.64278171e-02 2.04070297e+02] [ 3.40872109e-02 9.99418859e-01 -7.61251863e-05 3.45037246e+00] [ 1.64208649e-02 -4.83907790e-04 9.99865051e-01 2.33008891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67509989299998 meters 0.018084325617080215 Centerline is valid? [True, True] Translation: X:204.10, Y:3.45, Z:2.33 [[ 9.99305068e-01 -3.31527801e-02 -1.70374206e-02 2.04101741e+02] [ 3.31562683e-02 9.99450177e-01 -7.77686468e-05 3.45055819e+00] [ 1.70306312e-02 -4.87182685e-04 9.99854850e-01 2.33028620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70509989299998 meters 0.01733627258672673 Centerline is valid? [True, True] Translation: X:204.13, Y:3.45, Z:2.33 [[ 9.99334297e-01 -3.18593234e-02 -1.77748780e-02 2.04134210e+02] [ 3.18629351e-02 9.99492245e-01 -8.00503340e-05 3.45255052e+00] [ 1.77684031e-02 -4.86362740e-04 9.99842011e-01 2.33040441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73509989299998 meters 0.01692266241847797 Centerline is valid? [True, True] Translation: X:204.17, Y:3.45, Z:2.33 [[ 9.99357556e-01 -3.11628644e-02 -1.77017498e-02 2.04165218e+02] [ 3.11663562e-02 9.99514208e-01 -7.86438391e-05 3.45287845e+00] [ 1.76956012e-02 -4.73105727e-04 9.99843309e-01 2.33048206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76509989299998 meters 0.017611421644538414 Centerline is valid? [True, True] Translation: X:204.20, Y:3.45, Z:2.33 [[ 9.99380382e-01 -3.05844317e-02 -1.74196757e-02 2.04196818e+02] [ 3.05877440e-02 9.99532083e-01 -7.63154063e-05 3.45139845e+00] [ 1.74138588e-02 -4.56560461e-04 9.99848263e-01 2.33069864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79509989299999 meters 0.016802829050113783 Centerline is valid? [True, True] Translation: X:204.23, Y:3.45, Z:2.33 [[ 9.99406465e-01 -2.98544038e-02 -1.71881237e-02 2.04227805e+02] [ 2.98575501e-02 9.99554161e-01 -7.35935956e-05 3.45326946e+00] [ 1.71826577e-02 -4.39645349e-04 9.99852271e-01 2.33159582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.825099893 meters 0.016515163564450097 Centerline is valid? [True, True] Translation: X:204.26, Y:3.45, Z:2.33 [[ 9.99445399e-01 -2.84974631e-02 -1.72275482e-02 2.04258725e+02] [ 2.85004330e-02 9.99593777e-01 -7.31431555e-05 3.45415577e+00] [ 1.72226344e-02 -4.17889994e-04 9.99851592e-01 2.33195441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.855099893 meters 0.015828476169444265 Centerline is valid? [True, True] Translation: X:204.29, Y:3.46, Z:2.33 [[ 9.99488442e-01 -2.66004308e-02 -1.77558863e-02 2.04289857e+02] [ 2.66032982e-02 9.99646067e-01 -7.47347497e-05 3.45616275e+00] [ 1.77515899e-02 -3.97668619e-04 9.99842349e-01 2.33256594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.885099893 meters 0.01522607190441941 Centerline is valid? [True, True] Translation: X:204.32, Y:3.46, Z:2.33 [[ 9.99583630e-01 -2.20462272e-02 -1.86153285e-02 2.04319025e+02] [ 2.20485962e-02 9.99756897e-01 -7.79941834e-05 3.45908351e+00] [ 1.86125225e-02 -3.32480151e-04 9.99826717e-01 2.33281508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.915099893 meters 0.014636555872767073 Centerline is valid? [True, True] Translation: X:204.35, Y:3.46, Z:2.33 [[ 9.99617921e-01 -1.96438566e-02 -1.94455760e-02 2.04349013e+02] [ 1.96459778e-02 9.99806996e-01 -8.19590818e-05 3.46158276e+00] [ 1.94434329e-02 -3.00099588e-04 9.99810914e-01 2.33289162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.945099893 meters 0.014636555872767073 Centerline is valid? [True, True] Translation: X:204.38, Y:3.46, Z:2.33 [[ 9.99612956e-01 -1.98949182e-02 -1.94455663e-02 2.04377242e+02] [ 1.98970436e-02 9.99802031e-01 -8.41811201e-05 3.46173313e+00] [ 1.94433915e-02 -3.02760744e-04 9.99810914e-01 2.33324090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.975099893 meters 0.014371453515998764 Centerline is valid? [True, True] Translation: X:204.40, Y:3.46, Z:2.33 [[ 9.99650033e-01 -1.77174461e-02 -1.96444074e-02 2.04404707e+02] [ 1.77191207e-02 9.99843000e-01 -8.88262583e-05 3.46323729e+00] [ 1.96428970e-02 -2.59286453e-04 9.99807026e-01 2.33319747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.005099893 meters 0.013953981640070392 Centerline is valid? [True, True] Translation: X:204.43, Y:3.47, Z:2.33 [[ 9.99680937e-01 -1.57767083e-02 -1.97261208e-02 2.04433843e+02] [ 1.57779609e-02 9.99875516e-01 -9.21387282e-05 3.46505117e+00] [ 1.97251189e-02 -2.19128633e-04 9.99805417e-01 2.33366081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.035099893 meters 0.013728264996851229 Centerline is valid? [True, True] Translation: X:204.46, Y:3.47, Z:2.33 [[ 9.99721709e-01 -1.28206272e-02 -1.98024032e-02 2.04461772e+02] [ 1.28212353e-02 9.99917800e-01 -9.62542366e-05 3.46651710e+00] [ 1.98020095e-02 -1.57663821e-04 9.99803909e-01 2.33347435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.065099893 meters 0.013484112775258362 Centerline is valid? [True, True] Translation: X:204.49, Y:3.47, Z:2.33 [[ 9.99736356e-01 -1.12495431e-02 -2.00166286e-02 2.04489149e+02] [ 1.12498143e-02 9.99936714e-01 -9.90624514e-05 3.46660425e+00] [ 2.00164763e-02 -1.26147020e-04 9.99799642e-01 2.33330861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.095099893 meters 0.013484112775258362 Centerline is valid? [True, True] Translation: X:204.52, Y:3.47, Z:2.33 [[ 9.99733202e-01 -1.15264889e-02 -2.00166124e-02 2.04516530e+02] [ 1.15267517e-02 9.99933560e-01 -1.02252266e-04 3.46681417e+00] [ 2.00164611e-02 -1.28501535e-04 9.99799642e-01 2.33364762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.125099893 meters 0.01347571835647396 Centerline is valid? [True, True] Translation: X:204.54, Y:3.47, Z:2.33 [[ 9.99714495e-01 -1.25433268e-02 -2.03369946e-02 2.04544465e+02] [ 1.25436913e-02 9.99921319e-01 -1.09646936e-04 3.46595956e+00] [ 2.03367698e-02 -1.45485350e-04 9.99793176e-01 2.33446842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.155099893 meters 0.013491655348018623 Centerline is valid? [True, True] Translation: X:204.57, Y:3.46, Z:2.33 [[ 9.99693198e-01 -1.41959652e-02 -2.02974115e-02 2.04573587e+02] [ 1.41965566e-02 9.99899217e-01 -1.14958749e-04 3.46491922e+00] [ 2.02969978e-02 -1.73229872e-04 9.99793980e-01 2.33476723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18509989299997 meters 0.013818765234511336 Centerline is valid? [True, True] Translation: X:204.60, Y:3.46, Z:2.33 [[ 9.99667195e-01 -1.62779586e-02 -2.00131677e-02 2.04601647e+02] [ 1.62788755e-02 9.99867483e-01 -1.17103360e-04 3.46238727e+00] [ 2.00124219e-02 -2.08727479e-04 9.99799710e-01 2.33423336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21509989299997 meters 0.013928559858300044 Centerline is valid? [True, True] Translation: X:204.63, Y:3.46, Z:2.33 [[ 9.99641828e-01 -1.78867152e-02 -1.99068337e-02 2.04630198e+02] [ 1.78878825e-02 9.99839992e-01 -1.19436422e-04 3.46088628e+00] [ 1.99057848e-02 -2.36697459e-04 9.99801832e-01 2.33466322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24509989299997 meters 0.013928559858300044 Centerline is valid? [True, True] Translation: X:204.66, Y:3.46, Z:2.34 [[ 9.99636751e-01 -1.81682625e-02 -1.99068016e-02 2.04657580e+02] [ 1.81693827e-02 9.99834915e-01 -1.24605739e-04 3.46112265e+00] [ 1.99057792e-02 -2.37133820e-04 9.99801832e-01 2.33500297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27509989299998 meters 0.014235449621022585 Centerline is valid? [True, True] Translation: X:204.69, Y:3.46, Z:2.34 [[ 9.99617531e-01 -1.97632291e-02 -1.93443936e-02 2.04685430e+02] [ 1.97645022e-02 9.99804655e-01 -1.25389323e-04 3.45912763e+00] [ 1.93430929e-02 -2.56990945e-04 9.99812872e-01 2.33512218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30509989299998 meters 0.014769676961245825 Centerline is valid? [True, True] Translation: X:204.71, Y:3.46, Z:2.34 [[ 9.99548078e-01 -2.31343528e-02 -1.91948451e-02 2.04713682e+02] [ 2.31361850e-02 9.99732315e-01 -1.26638348e-04 3.45585494e+00] [ 1.91926366e-02 -3.17514370e-04 9.99815754e-01 2.33560407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33509989299998 meters 0.014804859137796528 Centerline is valid? [True, True] Translation: X:204.74, Y:3.46, Z:2.34 [[ 9.99503341e-01 -2.50621187e-02 -1.91039512e-02 2.04742831e+02] [ 2.50642579e-02 9.99685834e-01 -1.27486734e-04 3.45541274e+00] [ 1.91011445e-02 -3.51402944e-04 9.99817495e-01 2.33665231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36509989299998 meters 0.015575927078191444 Centerline is valid? [True, True] Translation: X:204.77, Y:3.45, Z:2.34 [[ 9.99423436e-01 -2.83363853e-02 -1.87041231e-02 2.04772659e+02] [ 2.83389924e-02 9.99598362e-01 -1.25702692e-04 3.45235440e+00] [ 1.87001728e-02 -4.04425786e-04 9.99825055e-01 2.33736931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39509989299998 meters 0.01705338739169375 Centerline is valid? [True, True] Translation: X:204.80, Y:3.45, Z:2.34 [[ 9.99376647e-01 -3.00380208e-02 -1.85481482e-02 2.04802933e+02] [ 3.00408714e-02 9.99548663e-01 -1.24984376e-04 3.44845788e+00] [ 1.85435310e-02 -4.32296066e-04 9.99827960e-01 2.33725184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42509989299998 meters 0.016647395310392065 Centerline is valid? [True, True] Translation: X:204.83, Y:3.45, Z:2.34 [[ 9.99326165e-01 -3.18090127e-02 -1.83139813e-02 2.04834361e+02] [ 3.18120968e-02 9.99493860e-01 -1.22977666e-04 3.44844320e+00] [ 1.83086237e-02 -4.59711347e-04 9.99832277e-01 2.33805105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45509989299998 meters 0.017059152072127194 Centerline is valid? [True, True] Translation: X:204.87, Y:3.45, Z:2.34 [[ 9.99260526e-01 -3.39655267e-02 -1.80206711e-02 2.04865643e+02] [ 3.39688745e-02 9.99422884e-01 -1.20374816e-04 3.44668748e+00] [ 1.80143596e-02 -4.91856113e-04 9.99837607e-01 2.33876585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48509989299998 meters 0.018023607750641366 Centerline is valid? [True, True] Translation: X:204.90, Y:3.44, Z:2.34 [[ 9.99110745e-01 -3.83421089e-02 -1.75385609e-02 2.04896757e+02] [ 3.83459626e-02 9.99264516e-01 -1.16632870e-04 3.44321171e+00] [ 1.75301335e-02 -5.56003847e-04 9.99846181e-01 2.33981789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51509989299998 meters 0.019211064545158325 Centerline is valid? [True, True] Translation: X:204.93, Y:3.44, Z:2.34 [[ 9.99040134e-01 -4.01586300e-02 -1.74955587e-02 2.04928300e+02] [ 4.01627518e-02 9.99193144e-01 -1.15849787e-04 3.44068175e+00] [ 1.74860947e-02 -5.86931194e-04 9.99846934e-01 2.34037976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54509989299999 meters 0.019416460034530285 Centerline is valid? [True, True] Translation: X:204.96, Y:3.44, Z:2.34 [[ 9.98955466e-01 -4.24023977e-02 -1.70297872e-02 2.04959966e+02] [ 4.24066437e-02 9.99100427e-01 -1.11866839e-04 3.43982787e+00] [ 1.70192111e-02 -6.10426128e-04 9.99854976e-01 2.34100107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.575099893 meters 0.02039567085096111 Centerline is valid? [True, True] Translation: X:204.99, Y:3.44, Z:2.34 [[ 9.98781461e-01 -4.61955715e-02 -1.73655778e-02 2.04991615e+02] [ 4.62005741e-02 9.98932177e-01 -1.13211329e-04 3.43660964e+00] [ 1.73522643e-02 -6.89226286e-04 9.99849201e-01 2.34054862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.605099893 meters 0.021779250516552853 Centerline is valid? [True, True] Translation: X:205.02, Y:3.43, Z:2.34 [[ 9.98691810e-01 -4.81294316e-02 -1.72692448e-02 2.05023058e+02] [ 4.81346796e-02 9.98840848e-01 -1.11876403e-04 3.43385750e+00] [ 1.72546117e-02 -7.19519518e-04 9.99850869e-01 2.34080722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.635099893 meters 0.023490930252641866 Centerline is valid? [True, True] Translation: X:205.05, Y:3.43, Z:2.34 [[ 9.98466401e-01 -5.25613984e-02 -1.73823113e-02 2.05054372e+02] [ 5.25674002e-02 9.98617372e-01 -1.11760232e-04 3.42943475e+00] [ 1.73641523e-02 -8.02154079e-04 9.99848910e-01 2.34037434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.665099893 meters 0.02431619942650938 Centerline is valid? [True, True] Translation: X:205.09, Y:3.43, Z:2.34 [[ 9.98321334e-01 -5.51702895e-02 -1.76282157e-02 2.05085853e+02] [ 5.51768792e-02 9.98476589e-01 -1.12707819e-04 3.42707934e+00] [ 1.76075788e-02 -8.60151306e-04 9.99844605e-01 2.34037789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.695099893 meters 0.025063251408088218 Centerline is valid? [True, True] Translation: X:205.12, Y:3.42, Z:2.34 [[ 9.98192367e-01 -5.74501972e-02 -1.76486297e-02 2.05117702e+02] [ 5.74571703e-02 9.98347966e-01 -1.12115580e-04 3.42482220e+00] [ 1.76259146e-02 -9.02127406e-04 9.99844245e-01 2.34011715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.725099893 meters 0.026424401865561074 Centerline is valid? [True, True] Translation: X:205.15, Y:3.42, Z:2.34 [[ 9.98070526e-01 -5.93367973e-02 -1.82857604e-02 2.05148479e+02] [ 5.93446248e-02 9.98237548e-01 -1.14744449e-04 3.42188026e+00] [ 1.82603412e-02 -9.70638535e-04 9.99832795e-01 2.33928103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.755099893 meters 0.027908905210072527 Centerline is valid? [True, True] Translation: X:205.18, Y:3.42, Z:2.34 [[ 9.97855362e-01 -6.24089717e-02 -1.97432507e-02 2.05179867e+02] [ 6.24187343e-02 9.98050042e-01 -1.21969481e-04 3.41797578e+00] [ 1.97123642e-02 -1.11064082e-03 9.99805076e-01 2.33773265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.785099893 meters 0.02862442823951226 Centerline is valid? [True, True] Translation: X:205.21, Y:3.42, Z:2.34 [[ 9.97792388e-01 -6.32987028e-02 -2.00904011e-02 2.05211615e+02] [ 6.33090088e-02 9.97993965e-01 -1.23260276e-04 3.41684772e+00] [ 2.00579013e-02 -1.14891522e-03 9.99798160e-01 2.33783353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.815099893 meters 0.02904572727935224 Centerline is valid? [True, True] Translation: X:205.24, Y:3.42, Z:2.34 [[ 9.97773790e-01 -6.33529342e-02 -2.08295444e-02 2.05243514e+02] [ 6.33640510e-02 9.97990471e-01 -1.26521576e-04 3.41634975e+00] [ 2.07957024e-02 -1.19360440e-03 9.99783033e-01 2.33802458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.845099893 meters 0.02731494972437707 Centerline is valid? [True, True] Translation: X:205.28, Y:3.42, Z:2.34 [[ 9.97823007e-01 -6.25231777e-02 -2.09785551e-02 2.05275574e+02] [ 6.25343026e-02 9.98042807e-01 -1.25936299e-04 3.41934839e+00] [ 2.09453699e-02 -1.18621717e-03 9.99779918e-01 2.33872519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.875099893 meters 0.02679365103334036 Centerline is valid? [True, True] Translation: X:205.31, Y:3.42, Z:2.34 [[ 9.98023054e-01 -5.93910775e-02 -2.05592610e-02 2.05305358e+02] [ 5.94011172e-02 9.98234187e-01 -1.22551883e-04 3.42127657e+00] [ 2.05302357e-02 -1.09893347e-03 9.99788629e-01 2.33984652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.905099893 meters 0.024566553008771988 Centerline is valid? [True, True] Translation: X:205.34, Y:3.43, Z:2.34 [[ 9.98163554e-01 -5.72424318e-02 -1.98197656e-02 2.05337083e+02] [ 5.72513476e-02 9.98359790e-01 -1.17738075e-04 3.42531209e+00] [ 1.97939966e-02 -1.01718644e-03 9.99803562e-01 2.34116298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93509989299997 meters 0.024455662243184278 Centerline is valid? [True, True] Translation: X:205.37, Y:3.43, Z:2.34 [[ 9.98460339e-01 -5.23290694e-02 -1.84016421e-02 2.05367168e+02] [ 5.23359327e-02 9.98629530e-01 -1.08736315e-04 3.42796756e+00] [ 1.83821133e-02 -8.54498206e-04 9.99830670e-01 2.34299598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96509989299997 meters 0.024455662243184278 Centerline is valid? [True, True] Translation: X:205.40, Y:3.43, Z:2.34 [[ 9.98464010e-01 -5.22589791e-02 -1.84016440e-02 2.05398894e+02] [ 5.22658365e-02 9.98633201e-01 -1.08409779e-04 3.42809492e+00] [ 1.83821581e-02 -8.53534056e-04 9.99830670e-01 2.34338837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99509989299997 meters 0.02174594782769091 Centerline is valid? [True, True] Translation: X:205.43, Y:3.43, Z:2.35 [[ 9.98740709e-01 -4.70066172e-02 -1.75321144e-02 2.05429334e+02] [ 4.70120499e-02 9.98894317e-01 -1.02369489e-04 3.43473951e+00] [ 1.75175414e-02 -7.21980060e-04 9.99846295e-01 2.34586421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02509989299998 meters 0.020627672472797152 Centerline is valid? [True, True] Translation: X:205.46, Y:3.44, Z:2.35 [[ 9.98832655e-01 -4.46540663e-02 -1.84212548e-02 2.05460998e+02] [ 4.46596749e-02 9.99002253e-01 -1.07008263e-04 3.43781010e+00] [ 1.84076534e-02 -7.15803903e-04 9.99830309e-01 2.34585706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05509989299998 meters 0.019846802517555655 Centerline is valid? [True, True] Translation: X:205.49, Y:3.44, Z:2.35 [[ 9.98916426e-01 -4.20480731e-02 -1.99482837e-02 2.05492849e+02] [ 4.20541540e-02 9.99115326e-01 -1.14753125e-04 3.43997763e+00] [ 1.99354611e-02 -7.24279413e-04 9.99801007e-01 2.34504014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08509989299998 meters 0.01948972816876425 Centerline is valid? [True, True] Translation: X:205.52, Y:3.44, Z:2.34 [[ 9.99016420e-01 -3.88828950e-02 -2.13146135e-02 2.05523277e+02] [ 3.88891366e-02 9.99243524e-01 -1.21746326e-04 3.44152783e+00] [ 2.13032234e-02 -7.07280338e-04 9.99772810e-01 2.34343429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11509989299998 meters 0.017134397219959515 Centerline is valid? [True, True] Translation: X:205.55, Y:3.45, Z:2.34 [[ 9.99201659e-01 -3.31155795e-02 -2.23473342e-02 2.05554226e+02] [ 3.31210088e-02 9.99451341e-01 -1.27237995e-04 3.44745682e+00] [ 2.23392867e-02 -6.13029836e-04 9.99750259e-01 2.34322645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14509989299998 meters 0.016136128482844774 Centerline is valid? [True, True] Translation: X:205.59, Y:3.45, Z:2.34 [[ 9.99297803e-01 -3.01789049e-02 -2.22066174e-02 2.05585171e+02] [ 3.01835502e-02 9.99544365e-01 -1.26040195e-04 3.45092224e+00] [ 2.22003031e-02 -5.44322862e-04 9.99753395e-01 2.34479253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17509989299998 meters 0.01580763858888193 Centerline is valid? [True, True] Translation: X:205.61, Y:3.45, Z:2.35 [[ 9.99387592e-01 -2.74130687e-02 -2.17477636e-02 2.05614985e+02] [ 2.74168706e-02 9.99624079e-01 -1.23385300e-04 3.45278483e+00] [ 2.17429705e-02 -4.72945882e-04 9.99763482e-01 2.34570074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20509989299998 meters 0.015411715235580398 Centerline is valid? [True, True] Translation: X:205.64, Y:3.45, Z:2.35 [[ 9.99442435e-01 -2.51965738e-02 -2.19077931e-02 2.05643241e+02] [ 2.51998836e-02 9.99682425e-01 -1.25020817e-04 3.45464228e+00] [ 2.19039858e-02 -4.27122725e-04 9.99759988e-01 2.34632937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23509989299998 meters 0.014708054526535288 Centerline is valid? [True, True] Translation: X:205.67, Y:3.46, Z:2.35 [[ 9.99479854e-01 -2.21742755e-02 -2.34163119e-02 2.05672059e+02] [ 2.21771479e-02 9.99754047e-01 -1.37049119e-04 3.45739063e+00] [ 2.34135916e-02 -3.82329179e-04 9.99725791e-01 2.34660945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26509989299998 meters 0.014646615511066295 Centerline is valid? [True, True] Translation: X:205.70, Y:3.46, Z:2.35 [[ 9.99501359e-01 -2.13193379e-02 -2.32920598e-02 2.05700284e+02] [ 2.13218152e-02 9.99772654e-01 -1.42015271e-04 3.45805592e+00] [ 2.32897921e-02 -3.54684538e-04 9.99728693e-01 2.34632602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29509989299999 meters 0.0141774357846773 Centerline is valid? [True, True] Translation: X:205.73, Y:3.46, Z:2.35 [[ 9.99498352e-01 -2.10812439e-02 -2.36352633e-02 2.05728278e+02] [ 2.10835792e-02 9.99777705e-01 -1.50410195e-04 3.45953265e+00] [ 2.36331802e-02 -3.47981205e-04 9.99720637e-01 2.34717497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.325099893 meters 0.014502049658213159 Centerline is valid? [True, True] Translation: X:205.76, Y:3.46, Z:2.35 [[ 9.99496487e-01 -2.13715492e-02 -2.34526899e-02 2.05755245e+02] [ 2.13738132e-02 9.99771542e-01 -1.54162600e-04 3.45869622e+00] [ 2.34506266e-02 -3.47188435e-04 9.99724936e-01 2.34719367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.355099893 meters 0.014620192553290131 Centerline is valid? [True, True] Translation: X:205.78, Y:3.46, Z:2.35 [[ 9.99484436e-01 -2.23617571e-02 -2.30393979e-02 2.05783197e+02] [ 2.23641007e-02 9.99749880e-01 -1.55966099e-04 3.45831406e+00] [ 2.30371230e-02 -3.59369726e-04 9.99734546e-01 2.34802856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.385099893 meters 0.014752936904445657 Centerline is valid? [True, True] Translation: X:205.81, Y:3.46, Z:2.35 [[ 9.99458560e-01 -2.37538499e-02 -2.27671324e-02 2.05812175e+02] [ 2.37563628e-02 9.99717765e-01 -1.60123384e-04 3.45753684e+00] [ 2.27645102e-02 -3.80827571e-04 9.99740782e-01 2.34872209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.415099893 meters 0.015009517984074343 Centerline is valid? [True, True] Translation: X:205.84, Y:3.46, Z:2.35 [[ 9.99385288e-01 -2.73328020e-02 -2.19536784e-02 2.05841146e+02] [ 2.73358840e-02 9.99626292e-01 -1.59757475e-04 3.45565564e+00] [ 2.19498407e-02 -4.40463935e-04 9.99758976e-01 2.35047241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.445099893 meters 0.015465246703326727 Centerline is valid? [True, True] Translation: X:205.87, Y:3.45, Z:2.35 [[ 9.99337723e-01 -2.93578919e-02 -2.14995052e-02 2.05870787e+02] [ 2.93612432e-02 9.99568853e-01 -1.59834000e-04 3.45402205e+00] [ 2.14949281e-02 -4.71524055e-04 9.99768846e-01 2.35146837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.475099893 meters 0.016153815529188088 Centerline is valid? [True, True] Translation: X:205.90, Y:3.45, Z:2.35 [[ 9.99292355e-01 -3.15871057e-02 -2.04216665e-02 2.05900579e+02] [ 3.15905829e-02 9.99500881e-01 -1.52387186e-04 3.45156520e+00] [ 2.04162872e-02 -4.92853000e-04 9.99791444e-01 2.35249058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.505099893 meters 0.016590561446393846 Centerline is valid? [True, True] Translation: X:205.93, Y:3.45, Z:2.35 [[ 9.99225514e-01 -3.43403116e-02 -1.92123569e-02 2.05931548e+02] [ 3.43438997e-02 9.99410064e-01 -1.43251723e-04 3.44969247e+00] [ 1.92059422e-02 -5.16686483e-04 9.99815415e-01 2.35385255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.535099893 meters 0.018267955533572848 Centerline is valid? [True, True] Translation: X:205.96, Y:3.44, Z:2.36 [[ 9.99084546e-01 -3.91563818e-02 -1.72292968e-02 2.05961865e+02] [ 3.91599929e-02 9.99232945e-01 -1.27861179e-04 3.44405874e+00] [ 1.72210875e-02 -5.46955011e-04 9.99851556e-01 2.35646187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.565099893 meters 0.01887605034296351 Centerline is valid? [True, True] Translation: X:205.99, Y:3.44, Z:2.36 [[ 9.98871337e-01 -4.39575560e-02 -1.79940511e-02 2.05993284e+02] [ 4.39622807e-02 9.99033183e-01 -1.33100310e-04 3.44000326e+00] [ 1.79825049e-02 -6.58109440e-04 9.99838085e-01 2.35624819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.595099893 meters 0.020476636906685258 Centerline is valid? [True, True] Translation: X:206.02, Y:3.44, Z:2.35 [[ 9.98756847e-01 -4.52408534e-02 -2.09290800e-02 2.06024725e+02] [ 4.52475477e-02 9.98975793e-01 -1.53817983e-04 3.43581093e+00] [ 2.09146031e-02 -7.93362782e-04 9.99780951e-01 2.35374376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.625099893 meters 0.020205079710581705 Centerline is valid? [True, True] Translation: X:206.06, Y:3.44, Z:2.35 [[ 9.98668747e-01 -4.59692782e-02 -2.33999854e-02 2.06056403e+02] [ 4.59778927e-02 9.98942443e-01 -1.70024983e-04 3.43547235e+00] [ 2.33830545e-02 -9.06083384e-04 9.99726168e-01 2.35190306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.655099893 meters 0.02008944292726352 Centerline is valid? [True, True] Translation: X:206.09, Y:3.43, Z:2.35 [[ 9.98743314e-01 -4.28941411e-02 -2.59207497e-02 2.06087238e+02] [ 4.29037296e-02 9.99079194e-01 -1.86368996e-04 3.43485988e+00] [ 2.59048758e-02 -9.25962046e-04 9.99663984e-01 2.34897431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68509989299997 meters 0.018717659460781886 Centerline is valid? [True, True] Translation: X:206.12, Y:3.44, Z:2.35 [[ 9.98884305e-01 -4.01873509e-02 -2.48016598e-02 2.06117621e+02] [ 4.01953060e-02 9.99191826e-01 -1.77899215e-04 3.43713436e+00] [ 2.47887650e-02 -8.19209570e-04 9.99692376e-01 2.35057354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71509989299997 meters 0.015768652838913384 Centerline is valid? [True, True] Translation: X:206.15, Y:3.44, Z:2.35 [[ 9.99280660e-01 -3.11823990e-02 -2.15828908e-02 2.06148450e+02] [ 3.11863264e-02 9.99513576e-01 -1.54671635e-04 3.44354055e+00] [ 2.15772154e-02 -5.18530704e-04 9.99767050e-01 2.35456933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74509989299997 meters 0.015099030462707514 Centerline is valid? [True, True] Translation: X:206.18, Y:3.45, Z:2.36 [[ 9.99455888e-01 -2.58354191e-02 -2.05050849e-02 2.06178560e+02] [ 2.58378427e-02 9.99666136e-01 -1.46769533e-04 3.44568800e+00] [ 2.05020308e-02 -3.83117484e-04 9.99789738e-01 2.35594648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77509989299998 meters 0.014226450526764507 Centerline is valid? [True, True] Translation: X:206.21, Y:3.45, Z:2.36 [[ 9.99573762e-01 -2.10740235e-02 -2.02034660e-02 2.06207761e+02] [ 2.10753846e-02 9.99777879e-01 -1.45569070e-04 3.44866061e+00] [ 2.02020461e-02 -2.80288795e-04 9.99795879e-01 2.35694996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80509989299998 meters 0.013182078027352629 Centerline is valid? [True, True] Translation: X:206.24, Y:3.45, Z:2.36 [[ 9.99695407e-01 -1.23890401e-02 -2.13448880e-02 2.06236575e+02] [ 1.23884998e-02 9.99923247e-01 -1.57550377e-04 3.45371492e+00] [ 2.13452016e-02 -1.06928752e-04 9.99772160e-01 2.35646522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83509989299998 meters 0.012951478284215558 Centerline is valid? [True, True] Translation: X:206.27, Y:3.46, Z:2.36 [[ 9.99758013e-01 -6.68006321e-03 -2.09593134e-02 2.06265136e+02] [ 6.67818103e-03 9.99977688e-01 -1.59794037e-04 3.45652409e+00] [ 2.09599132e-02 1.97852795e-05 9.99780317e-01 2.35732229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86509989299998 meters 0.012951478284215558 Centerline is valid? [True, True] Translation: X:206.29, Y:3.46, Z:2.36 [[ 9.99756043e-01 -6.96881257e-03 -2.09592695e-02 2.06292518e+02] [ 6.96687637e-03 9.99975717e-01 -1.65396805e-04 3.45679405e+00] [ 2.09599132e-02 1.93358156e-05 9.99780317e-01 2.35766201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89509989299998 meters 0.012983006469770283 Centerline is valid? [True, True] Translation: X:206.32, Y:3.46, Z:2.36 [[ 9.99781500e-01 -5.88157785e-03 -2.00589044e-02 2.06320182e+02] [ 5.87947263e-03 9.99982702e-01 -1.63924806e-04 3.45636947e+00] [ 2.00595216e-02 4.59532092e-05 9.99798786e-01 2.35830349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92509989299998 meters 0.012938374664705514 Centerline is valid? [True, True] Translation: X:206.35, Y:3.45, Z:2.36 [[ 9.99788147e-01 -6.47172260e-03 -1.95391451e-02 2.06347832e+02] [ 6.46972963e-03 9.99979057e-01 -1.65210197e-04 3.45221917e+00] [ 1.95398051e-02 3.87622106e-05 9.99809079e-01 2.35916555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95509989299998 meters 0.01305922184002947 Centerline is valid? [True, True] Translation: X:206.38, Y:3.44, Z:2.36 [[ 9.99730656e-01 -1.27725579e-02 -1.93772124e-02 2.06375635e+02] [ 1.27717007e-02 9.99918424e-01 -1.67993619e-04 3.44268155e+00] [ 1.93777774e-02 -7.95315871e-05 9.99812230e-01 2.35902227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98509989299998 meters 0.01341116727989875 Centerline is valid? [True, True] Translation: X:206.40, Y:3.44, Z:2.36 [[ 9.99627098e-01 -1.92131165e-02 -1.94041282e-02 2.06404165e+02] [ 1.92134387e-02 9.99815390e-01 -1.69837199e-04 3.43616559e+00] [ 1.94038091e-02 -2.03046161e-04 9.99811708e-01 2.35931085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01509989299998 meters 0.014130558797271889 Centerline is valid? [True, True] Translation: X:206.43, Y:3.43, Z:2.36 [[ 9.99549032e-01 -2.30057995e-02 -1.92993582e-02 2.06431565e+02] [ 2.30067935e-02 9.99735294e-01 -1.70553350e-04 3.43193401e+00] [ 1.92981733e-02 -2.73539914e-04 9.99813735e-01 2.35923157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04509989299999 meters 0.014594883117652273 Centerline is valid? [True, True] Translation: X:206.46, Y:3.43, Z:2.36 [[ 9.99456288e-01 -2.68065700e-02 -1.91973046e-02 2.06460286e+02] [ 2.68081960e-02 9.99640581e-01 -1.72685377e-04 3.42814815e+00] [ 1.91950338e-02 -3.42053620e-04 9.99815700e-01 2.35971158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.075099893 meters 0.014594883117652273 Centerline is valid? [True, True] Translation: X:206.49, Y:3.43, Z:2.36 [[ 9.99455327e-01 -2.68423811e-02 -1.91972740e-02 2.06489441e+02] [ 2.68439495e-02 9.99639621e-01 -1.76027589e-04 3.42844511e+00] [ 1.91950807e-02 -3.39398943e-04 9.99815700e-01 2.36007314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.105099893 meters 0.01566424655198033 Centerline is valid? [True, True] Translation: X:206.52, Y:3.42, Z:2.36 [[ 9.99355408e-01 -3.05639437e-02 -1.88311866e-02 2.06517929e+02] [ 3.05660986e-02 9.99532733e-01 -1.73449459e-04 3.42298675e+00] [ 1.88276887e-02 -4.02258253e-04 9.99822662e-01 2.35963687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.135099893 meters 0.015900849205545825 Centerline is valid? [True, True] Translation: X:206.55, Y:3.42, Z:2.36 [[ 9.99232109e-01 -3.44015948e-02 -1.87542546e-02 2.06548619e+02] [ 3.44043952e-02 9.99407979e-01 -1.73397007e-04 3.41930437e+00] [ 1.87491168e-02 -4.71964929e-04 9.99824108e-01 2.35985416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.165099893 meters 0.015900849205545825 Centerline is valid? [True, True] Translation: X:206.58, Y:3.42, Z:2.36 [[ 9.99233360e-01 -3.43652470e-02 -1.87542567e-02 2.06579473e+02] [ 3.43680454e-02 9.99409229e-01 -1.73164612e-04 3.41956168e+00] [ 1.87491281e-02 -4.71515289e-04 9.99824108e-01 2.36023574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.195099893 meters 0.019479826141326543 Centerline is valid? [True, True] Translation: X:206.61, Y:3.41, Z:2.36 [[ 9.98977507e-01 -4.17481331e-02 -1.73503341e-02 2.06609577e+02] [ 4.17516511e-02 9.99128007e-01 -1.59572438e-04 3.40725683e+00] [ 1.73418666e-02 -5.64995823e-04 9.99849459e-01 2.35981923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.225099893 meters 0.020235015930431182 Centerline is valid? [True, True] Translation: X:206.64, Y:3.40, Z:2.36 [[ 9.98847492e-01 -4.50992698e-02 -1.64238948e-02 2.06641217e+02] [ 4.51028850e-02 9.98982336e-01 -1.50409181e-04 3.40395945e+00] [ 1.64139641e-02 -5.90529205e-04 9.99865107e-01 2.36071659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.255099893 meters 0.02035249487921536 Centerline is valid? [True, True] Translation: X:206.67, Y:3.40, Z:2.36 [[ 9.98710566e-01 -4.84420663e-02 -1.51846154e-02 2.06672229e+02] [ 4.84455490e-02 9.98825815e-01 -1.38608417e-04 3.40208893e+00] [ 1.51735004e-02 -5.97197342e-04 9.99884697e-01 2.36155452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.285099893 meters 0.02292909017915433 Centerline is valid? [True, True] Translation: X:206.70, Y:3.39, Z:2.36 [[ 9.98444332e-01 -5.40506696e-02 -1.36908854e-02 2.06702228e+02] [ 5.40540295e-02 9.98538004e-01 -1.24787635e-04 3.39395567e+00] [ 1.36776143e-02 -6.15454018e-04 9.99906268e-01 2.36206667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.315099893 meters 0.025541214681824954 Centerline is valid? [True, True] Translation: X:206.73, Y:3.39, Z:2.36 [[ 9.98205613e-01 -5.85512011e-02 -1.25424047e-02 2.06732289e+02] [ 5.85543736e-02 9.98284214e-01 -1.14444825e-04 3.38577899e+00] [ 1.25275855e-02 -6.20173187e-04 9.99921334e-01 2.36175418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.345099893 meters 0.02662730608277392 Centerline is valid? [True, True] Translation: X:206.76, Y:3.37, Z:2.36 [[ 9.97730868e-01 -6.50925671e-02 -1.72067772e-02 2.06763389e+02] [ 6.50995105e-02 9.97878765e-01 -1.56875718e-04 3.37170269e+00] [ 1.71804890e-02 -9.63633029e-04 9.99851940e-01 2.35585503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.375099893 meters 0.025252575904837805 Centerline is valid? [True, True] Translation: X:206.80, Y:3.37, Z:2.36 [[ 9.97825010e-01 -6.35297983e-02 -1.75844911e-02 2.06795590e+02] [ 6.35368207e-02 9.97979482e-01 -1.59600432e-04 3.37482407e+00] [ 1.75591007e-02 -9.58009357e-04 9.99845368e-01 2.35590236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.405099893 meters 0.025252575904837805 Centerline is valid? [True, True] Translation: X:206.83, Y:3.38, Z:2.36 [[ 9.97829633e-01 -6.34571416e-02 -1.75845027e-02 2.06827324e+02] [ 6.34641752e-02 9.97984105e-01 -1.58319831e-04 3.37505263e+00] [ 1.75591007e-02 -9.58009739e-04 9.99845368e-01 2.35629459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43509989299997 meters 0.025252575904837805 Centerline is valid? [True, True] Translation: X:206.86, Y:3.38, Z:2.36 [[ 9.97834251e-01 -6.33844845e-02 -1.75845141e-02 2.06859059e+02] [ 6.33915294e-02 9.97988722e-01 -1.57039613e-04 3.37527889e+00] [ 1.75591006e-02 -9.58009737e-04 9.99845368e-01 2.35668683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46509989299997 meters 0.02534954896030188 Centerline is valid? [True, True] Translation: X:206.89, Y:3.38, Z:2.36 [[ 9.97927000e-01 -6.17196965e-02 -1.82313439e-02 2.06890826e+02] [ 6.17270170e-02 9.98093056e-01 -1.61461539e-04 3.37661062e+00] [ 1.82065431e-02 -9.64239642e-04 9.99833782e-01 2.35695202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49509989299997 meters 0.02534954896030188 Centerline is valid? [True, True] Translation: X:206.92, Y:3.38, Z:2.36 [[ 9.97931446e-01 -6.16477702e-02 -1.82313554e-02 2.06922558e+02] [ 6.16551026e-02 9.98097502e-01 -1.60151019e-04 3.37683124e+00] [ 1.82065432e-02 -9.64236348e-04 9.99833782e-01 2.35734423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52509989299998 meters 0.02534954896030188 Centerline is valid? [True, True] Translation: X:206.95, Y:3.38, Z:2.36 [[ 9.97935886e-01 -6.15758435e-02 -1.82313668e-02 2.06954290e+02] [ 6.15831878e-02 9.98101942e-01 -1.58837201e-04 3.37704957e+00] [ 1.82065432e-02 -9.64236346e-04 9.99833782e-01 2.35773643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55509989299998 meters 0.026503623985491647 Centerline is valid? [True, True] Translation: X:206.99, Y:3.38, Z:2.36 [[ 9.98052464e-01 -5.95763566e-02 -1.84915389e-02 2.06985157e+02] [ 5.95835906e-02 9.98223307e-01 -1.59980261e-04 3.37670326e+00] [ 1.84682162e-02 -9.42123590e-04 9.99829004e-01 2.35794124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58509989299998 meters 0.026503623985491647 Centerline is valid? [True, True] Translation: X:207.02, Y:3.38, Z:2.36 [[ 9.98056632e-01 -5.95064829e-02 -1.84915464e-02 2.07016884e+02] [ 5.95137210e-02 9.98227475e-01 -1.59107880e-04 3.37691580e+00] [ 1.84682376e-02 -9.41702060e-04 9.99829004e-01 2.35833351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61509989299998 meters 0.02502266149760335 Centerline is valid? [True, True] Translation: X:207.05, Y:3.38, Z:2.36 [[ 9.98190885e-01 -5.75008475e-02 -1.75672666e-02 2.07048570e+02] [ 5.75070894e-02 9.98345087e-01 -1.50056113e-04 3.38023951e+00] [ 1.75468226e-02 -8.60457724e-04 9.99845672e-01 2.35948863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64509989299998 meters 0.02502266149760335 Centerline is valid? [True, True] Translation: X:207.08, Y:3.38, Z:2.36 [[ 9.98194957e-01 -5.74301115e-02 -1.75672753e-02 2.07080295e+02] [ 5.74363605e-02 9.98349159e-01 -1.49030252e-04 3.38044901e+00] [ 1.75468333e-02 -8.60239110e-04 9.99845672e-01 2.35988081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67509989299998 meters 0.02502266149760335 Centerline is valid? [True, True] Translation: X:207.11, Y:3.38, Z:2.36 [[ 9.98199025e-01 -5.73593726e-02 -1.75672858e-02 2.07112020e+02] [ 5.73656326e-02 9.98353225e-01 -1.47785509e-04 3.38065616e+00] [ 1.75468333e-02 -8.60239108e-04 9.99845672e-01 2.36027293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70509989299998 meters 0.02265349498169433 Centerline is valid? [True, True] Translation: X:207.14, Y:3.39, Z:2.36 [[ 9.98317529e-01 -5.53845499e-02 -1.71657217e-02 2.07143598e+02] [ 5.53902533e-02 9.98464771e-01 -1.43375727e-04 3.38533397e+00] [ 1.71473092e-02 -8.07679169e-04 9.99852648e-01 2.36177172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73509989299998 meters 0.022536046072735436 Centerline is valid? [True, True] Translation: X:207.17, Y:3.39, Z:2.36 [[ 9.98444445e-01 -5.31897462e-02 -1.67194897e-02 2.07173811e+02] [ 5.31948584e-02 9.98584142e-01 -1.39130111e-04 3.38697707e+00] [ 1.67032176e-02 -7.50477200e-04 9.99860210e-01 2.36281629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76509989299998 meters 0.02185945316649832 Centerline is valid? [True, True] Translation: X:207.20, Y:3.39, Z:2.36 [[ 9.98707705e-01 -4.83467976e-02 -1.56686733e-02 2.07203238e+02] [ 4.83506946e-02 9.98830413e-01 -1.30236060e-04 3.39095687e+00] [ 1.56566439e-02 -6.27523482e-04 9.99877230e-01 2.36397450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79509989299999 meters 0.02011522791184795 Centerline is valid? [True, True] Translation: X:207.23, Y:3.40, Z:2.36 [[ 9.98821973e-01 -4.59920747e-02 -1.54723959e-02 2.07234643e+02] [ 4.59955909e-02 9.98941634e-01 -1.28710292e-04 3.39522954e+00] [ 1.54619401e-02 -5.83103323e-04 9.99880287e-01 2.36472734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.825099893 meters 0.019504241659755443 Centerline is valid? [True, True] Translation: X:207.27, Y:3.40, Z:2.37 [[ 9.98931408e-01 -4.36123473e-02 -1.52972589e-02 2.07266556e+02] [ 4.36155148e-02 9.99048383e-01 -1.26655539e-04 3.39793786e+00] [ 1.52882255e-02 -5.40677628e-04 9.99882982e-01 2.36505791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.855099893 meters 0.01814414540804353 Centerline is valid? [True, True] Translation: X:207.30, Y:3.40, Z:2.37 [[ 9.99047254e-01 -4.09330473e-02 -1.51350701e-02 2.07298344e+02] [ 4.09358530e-02 9.99161769e-01 -1.24504505e-04 3.40143187e+00] [ 1.51274798e-02 -4.95181122e-04 9.99885451e-01 2.36539146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.885099893 meters 0.018279231030827108 Centerline is valid? [True, True] Translation: X:207.33, Y:3.40, Z:2.37 [[ 9.99135102e-01 -3.86427453e-02 -1.53553207e-02 2.07328759e+02] [ 3.86453744e-02 9.99252981e-01 -1.25578890e-04 3.40243522e+00] [ 1.53487027e-02 -4.67941842e-04 9.99882092e-01 2.36549394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.915099893 meters 0.01588193929718635 Centerline is valid? [True, True] Translation: X:207.36, Y:3.41, Z:2.37 [[ 9.99304830e-01 -3.39444870e-02 -1.54152333e-02 2.07360012e+02] [ 3.39465833e-02 9.99423641e-01 -1.25733529e-04 3.40864913e+00] [ 1.54106165e-02 -3.97648378e-04 9.99881170e-01 2.36582345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.945099893 meters 0.016182442644436714 Centerline is valid? [True, True] Translation: X:207.39, Y:3.41, Z:2.37 [[ 9.99379697e-01 -3.17272739e-02 -1.52840346e-02 2.07390666e+02] [ 3.17290855e-02 9.99496498e-01 -1.24000508e-04 3.40899059e+00] [ 1.52802733e-02 -3.61024852e-04 9.99883185e-01 2.36591404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.975099893 meters 0.015136657483322765 Centerline is valid? [True, True] Translation: X:207.42, Y:3.41, Z:2.37 [[ 9.99503837e-01 -2.69489740e-02 -1.63043569e-02 2.07422246e+02] [ 2.69504179e-02 9.99636763e-01 -1.31192450e-04 3.41329338e+00] [ 1.63019700e-02 -3.08281875e-04 9.99867067e-01 2.36557977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.005099893 meters 0.014322165339465887 Centerline is valid? [True, True] Translation: X:207.45, Y:3.42, Z:2.37 [[ 9.99573195e-01 -2.40718876e-02 -1.65521264e-02 2.07453013e+02] [ 2.40729888e-02 9.99710195e-01 -1.32742076e-04 3.41650535e+00] [ 1.65505249e-02 -2.65773733e-04 9.99862995e-01 2.36569805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.035099893 meters 0.01340996215317873 Centerline is valid? [True, True] Translation: X:207.48, Y:3.42, Z:2.37 [[ 9.99694697e-01 -1.78976504e-02 -1.70348589e-02 2.07482922e+02] [ 1.78979177e-02 9.99839810e-01 -1.36781695e-04 3.42161901e+00] [ 1.70345782e-02 -1.68148567e-04 9.99854887e-01 2.36584568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.065099893 meters 0.013087221551774166 Centerline is valid? [True, True] Translation: X:207.51, Y:3.42, Z:2.37 [[ 9.99750851e-01 -1.45898150e-02 -1.68929769e-02 2.07512092e+02] [ 1.45895802e-02 9.99893557e-01 -1.37150585e-04 3.42428026e+00] [ 1.68931797e-02 -1.09345027e-04 9.99857294e-01 2.36629183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.095099893 meters 0.012992826142382967 Centerline is valid? [True, True] Translation: X:207.54, Y:3.43, Z:2.37 [[ 9.99793675e-01 -1.09758283e-02 -1.70920878e-02 2.07540066e+02] [ 1.09750021e-02 9.99939763e-01 -1.42137530e-04 3.42689480e+00] [ 1.70926183e-02 -4.54774960e-05 9.99853909e-01 2.36641736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.125099893 meters 0.012992826142382967 Centerline is valid? [True, True] Translation: X:207.57, Y:3.43, Z:2.37 [[ 9.99790645e-01 -1.12484490e-02 -1.70920675e-02 2.07567463e+02] [ 1.12476217e-02 9.99936733e-01 -1.44535425e-04 3.42720172e+00] [ 1.70926120e-02 -4.77399446e-05 9.99853909e-01 2.36675654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.155099893 meters 0.013089742145277552 Centerline is valid? [True, True] Translation: X:207.60, Y:3.43, Z:2.37 [[ 9.99837730e-01 -4.18823632e-03 -1.75206101e-02 2.07595723e+02] [ 4.18619997e-03 9.99991226e-01 -1.52899388e-04 3.43274660e+00] [ 1.75210968e-02 7.95297993e-05 9.99846491e-01 2.36756795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18509989299997 meters 0.013228563382414637 Centerline is valid? [True, True] Translation: X:207.62, Y:3.43, Z:2.37 [[ 9.99857842e-01 -1.40483825e-03 -1.68024342e-02 2.07623992e+02] [ 1.40250400e-03 9.99999005e-01 -1.50706387e-04 3.43479205e+00] [ 1.68026292e-02 1.27119482e-04 9.99858818e-01 2.36865126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21509989299997 meters 0.013827723837465005 Centerline is valid? [True, True] Translation: X:207.65, Y:3.44, Z:2.37 [[ 9.99870101e-01 2.66682689e-03 -1.58955442e-02 2.07651847e+02] [-2.66948516e-03 9.99996426e-01 -1.46017793e-04 3.43791480e+00] [ 1.58950980e-02 1.88431745e-04 9.99873647e-01 2.36954149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24509989299997 meters 0.013685650899264818 Centerline is valid? [True, True] Translation: X:207.68, Y:3.44, Z:2.37 [[ 9.99875220e-01 3.32119063e-03 -1.54438785e-02 2.07681138e+02] [-3.32380707e-03 9.99994466e-01 -1.43751115e-04 3.43742455e+00] [ 1.54433156e-02 1.95065651e-04 9.99880726e-01 2.37014579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27509989299998 meters 0.013337741901161234 Centerline is valid? [True, True] Translation: X:207.71, Y:3.44, Z:2.37 [[ 9.99891040e-01 2.11750677e-03 -1.46090572e-02 2.07710346e+02] [-2.11973409e-03 9.99997744e-01 -1.36978858e-04 3.43504365e+00] [ 1.46087342e-02 1.67931249e-04 9.99893273e-01 2.37104500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30509989299998 meters 0.013063358437181502 Centerline is valid? [True, True] Translation: X:207.74, Y:3.43, Z:2.37 [[ 9.99880481e-01 -2.61811445e-03 -1.52370791e-02 2.07739607e+02] [ 2.61622376e-03 9.99996567e-01 -1.44016038e-04 3.43076710e+00] [ 1.52374039e-02 1.04135217e-04 9.99883899e-01 2.37062527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33509989299998 meters 0.012864836753796342 Centerline is valid? [True, True] Translation: X:207.77, Y:3.43, Z:2.37 [[ 9.99863722e-01 -6.43839640e-03 -1.52014357e-02 2.07767719e+02] [ 6.43693750e-03 9.99979272e-01 -1.44897964e-04 3.42810947e+00] [ 1.52020535e-02 4.70275262e-05 9.99884441e-01 2.37061868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36509989299998 meters 0.012816765218414744 Centerline is valid? [True, True] Translation: X:207.80, Y:3.42, Z:2.37 [[ 9.99835598e-01 -1.04938684e-02 -1.47869790e-02 2.07797011e+02] [ 1.04929087e-02 9.99944938e-01 -1.42481343e-04 3.42476968e+00] [ 1.47876600e-02 -1.27005023e-05 9.99890656e-01 2.37098012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39509989299998 meters 0.012907087059883575 Centerline is valid? [True, True] Translation: X:207.83, Y:3.42, Z:2.37 [[ 9.99785470e-01 -1.50124857e-02 -1.42702492e-02 2.07825802e+02] [ 1.50120380e-02 9.99887303e-01 -1.38495732e-04 3.42124436e+00] [ 1.42707202e-02 -7.57595027e-05 9.99898165e-01 2.37204913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42509989299998 meters 0.013212568495833726 Centerline is valid? [True, True] Translation: X:207.85, Y:3.42, Z:2.37 [[ 9.99716195e-01 -1.93598077e-02 -1.38825994e-02 2.07854104e+02] [ 1.93597890e-02 9.99812573e-01 -1.35752034e-04 3.41712881e+00] [ 1.38826256e-02 -1.33050688e-04 9.99903623e-01 2.37245787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45509989299998 meters 0.014237605697222726 Centerline is valid? [True, True] Translation: X:207.88, Y:3.41, Z:2.37 [[ 9.99549117e-01 -2.69638959e-02 -1.32102608e-02 2.07883565e+02] [ 2.69645281e-02 9.99636383e-01 -1.30278898e-04 3.40882058e+00] [ 1.32089701e-02 -2.25988290e-04 9.99912732e-01 2.37226335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48509989299998 meters 0.014849248156478345 Centerline is valid? [True, True] Translation: X:207.91, Y:3.41, Z:2.37 [[ 9.99471879e-01 -2.96747569e-02 -1.32428379e-02 2.07914580e+02] [ 2.96756246e-02 9.99559573e-01 -1.31019367e-04 3.40531169e+00] [ 1.32408934e-02 -2.62039315e-04 9.99912301e-01 2.37221227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51509989299998 meters 0.015535837782561178 Centerline is valid? [True, True] Translation: X:207.95, Y:3.40, Z:2.37 [[ 9.99376147e-01 -3.28362433e-02 -1.30037484e-02 2.07945815e+02] [ 3.28373535e-02 9.99460700e-01 -1.28191743e-04 3.40094879e+00] [ 1.30009448e-02 -2.98896912e-04 9.99915439e-01 2.37221706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54509989299999 meters 0.015646472812996394 Centerline is valid? [True, True] Translation: X:207.98, Y:3.40, Z:2.37 [[ 9.99366254e-01 -3.31385809e-02 -1.29971158e-02 2.07977051e+02] [ 3.31397216e-02 9.99450720e-01 -1.27656566e-04 3.39974708e+00] [ 1.29942071e-02 -3.03145134e-04 9.99915526e-01 2.37219699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.575099893 meters 0.016357132184298382 Centerline is valid? [True, True] Translation: X:208.01, Y:3.40, Z:2.37 [[ 9.99370887e-01 -3.29698937e-02 -1.30697047e-02 2.08008684e+02] [ 3.29710391e-02 9.99456299e-01 -1.27881353e-04 3.39733416e+00] [ 1.30668149e-02 -3.03120842e-04 9.99914580e-01 2.37228310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.605099893 meters 0.015458994642890713 Centerline is valid? [True, True] Translation: X:208.04, Y:3.40, Z:2.37 [[ 9.99411858e-01 -3.13349420e-02 -1.39305467e-02 2.08039901e+02] [ 3.13360952e-02 9.99508895e-01 -1.35534488e-04 3.39781248e+00] [ 1.39279523e-02 -3.01074162e-04 9.99902956e-01 2.37210763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.635099893 meters 0.015351986215431001 Centerline is valid? [True, True] Translation: X:208.07, Y:3.40, Z:2.37 [[ 9.99454772e-01 -2.96686534e-02 -1.44889824e-02 2.08070083e+02] [ 2.96697332e-02 9.99559747e-01 -1.40469124e-04 3.39718546e+00] [ 1.44867711e-02 -2.89491706e-04 9.99895019e-01 2.37171795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.665099893 meters 0.014508493437379302 Centerline is valid? [True, True] Translation: X:208.10, Y:3.40, Z:2.37 [[ 9.99513372e-01 -2.75584165e-02 -1.46134483e-02 2.08101746e+02] [ 2.75592939e-02 9.99620161e-01 -1.41372668e-04 3.39918954e+00] [ 1.46117935e-02 -2.61432442e-04 9.99893208e-01 2.37189156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.695099893 meters 0.013956977548982905 Centerline is valid? [True, True] Translation: X:208.13, Y:3.40, Z:2.37 [[ 9.99636476e-01 -2.26030113e-02 -1.46976231e-02 2.08131328e+02] [ 2.26033693e-02 9.99744501e-01 -1.41777761e-04 3.40087311e+00] [ 1.46970725e-02 -1.90489582e-04 9.99891974e-01 2.37251163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.725099893 meters 0.013484038765934422 Centerline is valid? [True, True] Translation: X:208.16, Y:3.40, Z:2.37 [[ 9.99693990e-01 -2.01316253e-02 -1.43751465e-02 2.08160913e+02] [ 2.01317081e-02 9.99797327e-01 -1.38958104e-04 3.40340594e+00] [ 1.43750305e-02 -1.50480673e-04 9.99896663e-01 2.37360506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.755099893 meters 0.013484038765934422 Centerline is valid? [True, True] Translation: X:208.19, Y:3.40, Z:2.37 [[ 9.99688812e-01 -2.03871201e-02 -1.43751371e-02 2.08189159e+02] [ 2.03872155e-02 9.99792149e-01 -1.39922543e-04 3.40370481e+00] [ 1.43750018e-02 -1.53190017e-04 9.99896663e-01 2.37395452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.785099893 meters 0.0132967242259937 Centerline is valid? [True, True] Translation: X:208.22, Y:3.41, Z:2.38 [[ 9.99747364e-01 -1.80999328e-02 -1.33266726e-02 2.08219101e+02] [ 1.80997720e-02 9.99836177e-01 -1.32682194e-04 3.40520817e+00] [ 1.33268909e-02 -1.08561061e-04 9.99911187e-01 2.37518978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.815099893 meters 0.012966799163874328 Centerline is valid? [True, True] Translation: X:208.25, Y:3.41, Z:2.38 [[ 9.99798855e-01 -1.39009315e-02 -1.44572826e-02 2.08247778e+02] [ 1.39002947e-02 9.99903376e-01 -1.44538106e-04 3.40719255e+00] [ 1.44578948e-02 -5.64514548e-05 9.99895478e-01 2.37537142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.845099893 meters 0.01300751486741189 Centerline is valid? [True, True] Translation: X:208.28, Y:3.41, Z:2.37 [[ 9.99771808e-01 -1.24100398e-02 -1.73874605e-02 2.08275492e+02] [ 1.24088541e-02 9.99922992e-01 -1.76084671e-04 3.40823591e+00] [ 1.73883067e-02 -3.97139695e-05 9.99848811e-01 2.37353995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.875099893 meters 0.012980378027844375 Centerline is valid? [True, True] Translation: X:208.30, Y:3.41, Z:2.37 [[ 9.99755226e-01 -1.03406759e-02 -1.95590852e-02 2.08302787e+02] [ 1.03386801e-02 9.99946534e-01 -2.03161481e-04 3.40904376e+00] [ 1.95601402e-02 8.96629305e-07 9.99808682e-01 2.37161013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.905099893 meters 0.013091547612509077 Centerline is valid? [True, True] Translation: X:208.33, Y:3.41, Z:2.37 [[ 9.99755770e-01 -8.11778880e-03 -2.05548327e-02 2.08331040e+02] [ 8.11506027e-03 9.99967049e-01 -2.16152449e-04 3.40992161e+00] [ 2.05559100e-02 4.92959518e-05 9.99788704e-01 2.37082323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93509989299997 meters 0.013208128666214519 Centerline is valid? [True, True] Translation: X:208.36, Y:3.41, Z:2.37 [[ 9.99807112e-01 -4.54640668e-03 -1.91067653e-02 2.08358588e+02] [ 4.54334029e-03 9.99989658e-01 -2.03892276e-04 3.41105273e+00] [ 1.91074947e-02 1.17044411e-04 9.99817428e-01 2.37298312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96509989299997 meters 0.013340585621467452 Centerline is valid? [True, True] Translation: X:208.39, Y:3.41, Z:2.37 [[ 9.99819945e-01 -3.04695611e-03 -1.87295083e-02 2.08386829e+02] [ 3.04366984e-03 9.99995347e-01 -2.03962572e-04 3.41187943e+00] [ 1.87300426e-02 1.46919408e-04 9.99824567e-01 2.37364538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99509989299997 meters 0.013689836769370472 Centerline is valid? [True, True] Translation: X:208.41, Y:3.41, Z:2.37 [[ 9.99800467e-01 -1.26897699e-03 -1.99352727e-02 2.08414992e+02] [ 1.26486359e-03 9.99999176e-01 -2.18945239e-04 3.41230451e+00] [ 1.99355341e-02 1.93686151e-04 9.99801249e-01 2.37401334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02509989299998 meters 0.01370175273830997 Centerline is valid? [True, True] Translation: X:208.44, Y:3.41, Z:2.37 [[ 9.99789948e-01 -8.37239421e-04 -2.04782724e-02 2.08443946e+02] [ 8.32744424e-04 9.99999627e-01 -2.28027313e-04 3.41217387e+00] [ 2.04784557e-02 2.10926248e-04 9.99790272e-01 2.37421614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05509989299998 meters 0.013611857649200981 Centerline is valid? [True, True] Translation: X:208.47, Y:3.41, Z:2.38 [[ 9.99795369e-01 -1.01495498e-03 -2.02036895e-02 2.08472201e+02] [ 1.01050996e-03 9.99999463e-01 -2.30218483e-04 3.41135898e+00] [ 2.02039123e-02 2.09755344e-04 9.99795858e-01 2.37517282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08509989299998 meters 0.01348806046189409 Centerline is valid? [True, True] Translation: X:208.50, Y:3.41, Z:2.38 [[ 9.99818382e-01 -1.93770138e-03 -1.89591025e-02 2.08500981e+02] [ 1.93388110e-03 9.99998106e-01 -2.19832967e-04 3.40896249e+00] [ 1.89594926e-02 1.83128392e-04 9.99820236e-01 2.37591333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11509989299998 meters 0.013411761678712813 Centerline is valid? [True, True] Translation: X:208.53, Y:3.41, Z:2.38 [[ 9.99830936e-01 -3.11288788e-03 -1.81220804e-02 2.08529136e+02] [ 3.10956602e-03 9.99995143e-01 -2.11479943e-04 3.40781844e+00] [ 1.81226507e-02 1.55092383e-04 9.99835759e-01 2.37691646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14509989299998 meters 0.013158725247239484 Centerline is valid? [True, True] Translation: X:208.56, Y:3.40, Z:2.38 [[ 9.99837263e-01 -6.34527266e-03 -1.68874448e-02 2.08556680e+02] [ 6.34282515e-03 9.99979864e-01 -1.98488124e-04 3.40382609e+00] [ 1.68883642e-02 9.13417132e-05 9.99857377e-01 2.37855219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17509989299998 meters 0.013017645890404005 Centerline is valid? [True, True] Translation: X:208.59, Y:3.40, Z:2.38 [[ 9.99813848e-01 -8.52977099e-03 -1.73064047e-02 2.08585053e+02] [ 8.52750240e-03 9.99963619e-01 -2.04877067e-04 3.40130188e+00] [ 1.73075226e-02 5.72585215e-05 9.99850212e-01 2.37862872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20509989299998 meters 0.01299443372141204 Centerline is valid? [True, True] Translation: X:208.61, Y:3.40, Z:2.38 [[ 9.99748020e-01 -1.33659800e-02 -1.80346049e-02 2.08612016e+02] [ 1.33642740e-02 9.99910671e-01 -2.15121472e-04 3.39580261e+00] [ 1.80358692e-02 -2.59521359e-05 9.99837340e-01 2.37732956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23509989299998 meters 0.012996649856669129 Centerline is valid? [True, True] Translation: X:208.64, Y:3.39, Z:2.38 [[ 9.99719765e-01 -1.64236240e-02 -1.70486606e-02 2.08639597e+02] [ 1.64224965e-02 9.99865120e-01 -2.06146934e-04 3.39319633e+00] [ 1.70497468e-02 -7.38924042e-05 9.99854640e-01 2.37879090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26509989299998 meters 0.013922474398224046 Centerline is valid? [True, True] Translation: X:208.67, Y:3.39, Z:2.38 [[ 9.99633993e-01 -2.28986778e-02 -1.44059556e-02 2.08667889e+02] [ 2.28984990e-02 9.99737779e-01 -1.77377366e-04 3.38555293e+00] [ 1.44062398e-02 -1.52562316e-04 9.99896213e-01 2.38095552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29509989299999 meters 0.014087446180496527 Centerline is valid? [True, True] Translation: X:208.70, Y:3.38, Z:2.38 [[ 9.99557902e-01 -2.62421697e-02 -1.39767307e-02 2.08697705e+02] [ 2.62423104e-02 9.99655596e-01 -1.73363293e-04 3.38343816e+00] [ 1.39764665e-02 -1.93495057e-04 9.99902306e-01 2.38217398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.325099893 meters 0.014539784810290958 Centerline is valid? [True, True] Translation: X:208.73, Y:3.38, Z:2.38 [[ 9.99477844e-01 -2.91172035e-02 -1.40081389e-02 2.08727292e+02] [ 2.91176201e-02 9.99575977e-01 -1.74252366e-04 3.38049008e+00] [ 1.40072729e-02 -2.33722287e-04 9.99901866e-01 2.38262744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.355099893 meters 0.015502478046753507 Centerline is valid? [True, True] Translation: X:208.76, Y:3.38, Z:2.38 [[ 9.99314996e-01 -3.38751125e-02 -1.49001574e-02 2.08757631e+02] [ 3.38761055e-02 9.99426023e-01 -1.85818046e-04 3.37501500e+00] [ 1.48978997e-02 -3.19068544e-04 9.99888969e-01 2.38187956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.385099893 meters 0.015502478046753507 Centerline is valid? [True, True] Translation: X:208.79, Y:3.38, Z:2.38 [[ 9.99316209e-01 -3.38393263e-02 -1.49001585e-02 2.08788478e+02] [ 3.38403167e-02 9.99427235e-01 -1.85727261e-04 3.37537100e+00] [ 1.48979091e-02 -3.18625821e-04 9.99888969e-01 2.38226107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.415099893 meters 0.0166062508910078 Centerline is valid? [True, True] Translation: X:208.82, Y:3.37, Z:2.38 [[ 9.99232578e-01 -3.59791200e-02 -1.54840965e-02 2.08818815e+02] [ 3.59804542e-02 9.99352475e-01 -1.92490234e-04 3.37047238e+00] [ 1.54809958e-02 -3.64782314e-04 9.99880096e-01 2.38150418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.445099893 meters 0.015598358671559232 Centerline is valid? [True, True] Translation: X:208.85, Y:3.37, Z:2.38 [[ 9.99227118e-01 -3.62214437e-02 -1.52700035e-02 2.08850195e+02] [ 3.62227745e-02 9.99343722e-01 -1.89506012e-04 3.37136630e+00] [ 1.52668463e-02 -3.63762347e-04 9.99883389e-01 2.38203090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.475099893 meters 0.01546433356461029 Centerline is valid? [True, True] Translation: X:208.88, Y:3.37, Z:2.38 [[ 9.99241342e-01 -3.58485145e-02 -1.52191949e-02 2.08881744e+02] [ 3.58498017e-02 9.99357172e-01 -1.88321254e-04 3.37087619e+00] [ 1.52161626e-02 -3.57426734e-04 9.99884164e-01 2.38254120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.505099893 meters 0.015331509535118195 Centerline is valid? [True, True] Translation: X:208.91, Y:3.37, Z:2.38 [[ 9.99259514e-01 -3.53808924e-02 -1.51200619e-02 2.08912843e+02] [ 3.53821177e-02 9.99373839e-01 -1.86543184e-04 3.37082705e+00] [ 1.51171944e-02 -3.48574756e-04 9.99885668e-01 2.38284223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.535099893 meters 0.015683184118758985 Centerline is valid? [True, True] Translation: X:208.94, Y:3.37, Z:2.38 [[ 9.99325607e-01 -3.32744631e-02 -1.55286965e-02 2.08942345e+02] [ 3.32755092e-02 9.99446199e-01 -1.91079199e-04 3.36908610e+00] [ 1.55264548e-02 -3.25774949e-04 9.99879404e-01 2.38246123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.565099893 meters 0.015157906555697072 Centerline is valid? [True, True] Translation: X:208.97, Y:3.37, Z:2.38 [[ 9.99342176e-01 -3.26795247e-02 -1.57246037e-02 2.08973020e+02] [ 3.26805262e-02 9.99465830e-01 -1.93334833e-04 3.37030270e+00] [ 1.57225222e-02 -3.20680671e-04 9.99876342e-01 2.38263139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.595099893 meters 0.014792113036771115 Centerline is valid? [True, True] Translation: X:209.00, Y:3.37, Z:2.38 [[ 9.99364593e-01 -3.20706577e-02 -1.55525985e-02 2.09003503e+02] [ 3.20715637e-02 9.99485557e-01 -1.91220021e-04 3.37098288e+00] [ 1.55507302e-02 -3.07697636e-04 9.99879033e-01 2.38301484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.625099893 meters 0.014874904166012249 Centerline is valid? [True, True] Translation: X:209.03, Y:3.37, Z:2.38 [[ 9.99341937e-01 -3.26568453e-02 -1.57868408e-02 2.09033643e+02] [ 3.26578520e-02 9.99466571e-01 -1.94100042e-04 3.37001080e+00] [ 1.57847583e-02 -3.21591998e-04 9.99875361e-01 2.38297825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.655099893 meters 0.01527262988329062 Centerline is valid? [True, True] Translation: X:209.06, Y:3.37, Z:2.38 [[ 9.99259298e-01 -3.46094960e-02 -1.68237461e-02 2.09063754e+02] [ 3.46109131e-02 9.99400841e-01 -2.07010594e-04 3.36772796e+00] [ 1.68208305e-02 -3.75427953e-04 9.99858449e-01 2.38198609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68509989299997 meters 0.015746129544782734 Centerline is valid? [True, True] Translation: X:209.09, Y:3.37, Z:2.38 [[ 9.99203360e-01 -3.60663077e-02 -1.70841331e-02 2.09093748e+02] [ 3.60679711e-02 9.99349317e-01 -2.10840424e-04 3.36649835e+00] [ 1.70806210e-02 -4.05517559e-04 9.99854033e-01 2.38203928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71509989299997 meters 0.017593114675413142 Centerline is valid? [True, True] Translation: X:209.12, Y:3.36, Z:2.38 [[ 9.98962549e-01 -4.18693644e-02 -1.79103984e-02 2.09122776e+02] [ 4.18721125e-02 9.99122954e-01 -2.21704139e-04 3.36219020e+00] [ 1.79039727e-02 -5.28472083e-04 9.99839571e-01 2.38160614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74509989299997 meters 0.018134968186720796 Centerline is valid? [True, True] Translation: X:209.15, Y:3.36, Z:2.38 [[ 9.98896762e-01 -4.34906844e-02 -1.77149365e-02 2.09152777e+02] [ 4.34936180e-02 9.99053681e-01 -2.19818039e-04 3.36178862e+00] [ 1.77077325e-02 -5.50911152e-04 9.99843054e-01 2.38255513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77509989299998 meters 0.018840094506009805 Centerline is valid? [True, True] Translation: X:209.18, Y:3.36, Z:2.38 [[ 9.98896701e-01 -4.35057285e-02 -1.76814089e-02 2.09182656e+02] [ 4.35086512e-02 9.99053026e-01 -2.19528162e-04 3.36164354e+00] [ 1.76742158e-02 -5.50008296e-04 9.99843648e-01 2.38292591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80509989299998 meters 0.018840094506009805 Centerline is valid? [True, True] Translation: X:209.21, Y:3.36, Z:2.38 [[ 9.98896701e-01 -4.35057258e-02 -1.76814116e-02 2.09212667e+02] [ 4.35086524e-02 9.99053026e-01 -2.19309683e-04 3.36201566e+00] [ 1.76742090e-02 -5.50226672e-04 9.99843648e-01 2.38329703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83509989299998 meters 0.018840094506009805 Centerline is valid? [True, True] Translation: X:209.24, Y:3.36, Z:2.38 [[ 9.98896701e-01 -4.35057258e-02 -1.76814116e-02 2.09242677e+02] [ 4.35086524e-02 9.99053026e-01 -2.19309683e-04 3.36238789e+00] [ 1.76742090e-02 -5.50226672e-04 9.99843648e-01 2.38366820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86509989299998 meters 0.017763572179054332 Centerline is valid? [True, True] Translation: X:209.27, Y:3.37, Z:2.38 [[ 9.98902086e-01 -4.32069042e-02 -1.81048359e-02 2.09273580e+02] [ 4.32099274e-02 9.99065990e-01 -2.24354975e-04 3.36512053e+00] [ 1.80976195e-02 -5.58199993e-04 9.99836069e-01 2.38454292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89509989299998 meters 0.017763572179054332 Centerline is valid? [True, True] Translation: X:209.30, Y:3.37, Z:2.38 [[ 9.98902087e-01 -4.32068987e-02 -1.81048414e-02 2.09303590e+02] [ 4.32099299e-02 9.99065990e-01 -2.23909956e-04 3.36549146e+00] [ 1.80976058e-02 -5.58644807e-04 9.99836069e-01 2.38491399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92509989299998 meters 0.01719303363479637 Centerline is valid? [True, True] Translation: X:209.33, Y:3.37, Z:2.39 [[ 9.98934832e-01 -4.24091139e-02 -1.81843019e-02 2.09334536e+02] [ 4.24120417e-02 9.99100179e-01 -2.24786831e-04 3.36750609e+00] [ 1.81774723e-02 -5.46685975e-04 9.99834627e-01 2.38537927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95509989299998 meters 0.016680301518304075 Centerline is valid? [True, True] Translation: X:209.36, Y:3.37, Z:2.39 [[ 9.99050261e-01 -4.02194658e-02 -1.67621498e-02 2.09364722e+02] [ 4.02216489e-02 9.99190761e-01 -2.06999461e-04 3.37047846e+00] [ 1.67569106e-02 -4.67398436e-04 9.99859484e-01 2.38728231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98509989299998 meters 0.017170840348114343 Centerline is valid? [True, True] Translation: X:209.39, Y:3.37, Z:2.39 [[ 9.99131115e-01 -3.85125246e-02 -1.59311176e-02 2.09393861e+02] [ 3.85142787e-02 9.99258031e-01 -1.96801134e-04 3.37048307e+00] [ 1.59268766e-02 -4.16945368e-04 9.99873072e-01 2.38792697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01509989299998 meters 0.015573531816827782 Centerline is valid? [True, True] Translation: X:209.42, Y:3.37, Z:2.39 [[ 9.99250580e-01 -3.49724890e-02 -1.65892818e-02 2.09424326e+02] [ 3.49738997e-02 9.99388205e-01 -2.05163667e-04 3.37466968e+00] [ 1.65863076e-02 -3.75181963e-04 9.99862367e-01 2.38804529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04509989299999 meters 0.015046409699146317 Centerline is valid? [True, True] Translation: X:209.45, Y:3.38, Z:2.39 [[ 9.99305784e-01 -3.30798012e-02 -1.71370197e-02 2.09454417e+02] [ 3.30810284e-02 9.99452651e-01 -2.11937675e-04 3.37674807e+00] [ 1.71346506e-02 -3.55119692e-04 9.99853128e-01 2.38831502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.075099893 meters 0.01479518522083854 Centerline is valid? [True, True] Translation: X:209.48, Y:3.38, Z:2.39 [[ 9.99360382e-01 -3.11760170e-02 -1.75180727e-02 2.09483488e+02] [ 3.11770080e-02 9.99513855e-01 -2.16597069e-04 3.37862157e+00] [ 1.75163090e-02 -3.29702563e-04 9.99846523e-01 2.38849943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.105099893 meters 0.014031921613622142 Centerline is valid? [True, True] Translation: X:209.51, Y:3.38, Z:2.39 [[ 9.99430714e-01 -2.83380572e-02 -1.83085186e-02 2.09512897e+02] [ 2.83386621e-02 9.99598354e-01 -2.26454174e-04 3.38279869e+00] [ 1.83075823e-02 -2.92513666e-04 9.99832359e-01 2.38863954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.135099893 meters 0.0141627095984953 Centerline is valid? [True, True] Translation: X:209.54, Y:3.38, Z:2.39 [[ 9.99450611e-01 -2.72065756e-02 -1.89282415e-02 2.09541182e+02] [ 2.72069789e-02 9.99629794e-01 -2.36254262e-04 3.38324406e+00] [ 1.89276618e-02 -2.78855800e-04 9.99820817e-01 2.38809621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.165099893 meters 0.01360574546119362 Centerline is valid? [True, True] Translation: X:209.57, Y:3.39, Z:2.39 [[ 9.99485700e-01 -2.51008895e-02 -1.99569587e-02 2.09570456e+02] [ 2.51008305e-02 9.99684892e-01 -2.53489657e-04 3.38570029e+00] [ 1.99570330e-02 -2.47576950e-04 9.99800808e-01 2.38805544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.195099893 meters 0.01356143970219772 Centerline is valid? [True, True] Translation: X:209.60, Y:3.39, Z:2.39 [[ 9.99495624e-01 -2.46273201e-02 -2.00497411e-02 2.09598353e+02] [ 2.46270852e-02 9.99696674e-01 -2.58658136e-04 3.38638876e+00] [ 2.00500296e-02 -2.35239009e-04 9.99798950e-01 2.38791443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.225099893 meters 0.013574640401578904 Centerline is valid? [True, True] Translation: X:209.63, Y:3.39, Z:2.39 [[ 9.99511835e-01 -2.40207259e-02 -1.99774033e-02 2.09626159e+02] [ 2.40202570e-02 9.99711437e-01 -2.63462036e-04 3.38727226e+00] [ 1.99779671e-02 -2.16528938e-04 9.99800397e-01 2.38788714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.255099893 meters 0.013373476419876686 Centerline is valid? [True, True] Translation: X:209.65, Y:3.39, Z:2.39 [[ 9.99513738e-01 -2.37059510e-02 -2.02562499e-02 2.09654250e+02] [ 2.37052854e-02 9.99718953e-01 -2.73005098e-04 3.38853276e+00] [ 2.02570288e-02 -2.07307839e-04 9.99794784e-01 2.38840667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.285099893 meters 0.013375229394104874 Centerline is valid? [True, True] Translation: X:209.68, Y:3.39, Z:2.39 [[ 9.99533640e-01 -2.33372103e-02 -1.96946132e-02 2.09681989e+02] [ 2.33363999e-02 9.99727632e-01 -2.70999169e-04 3.38969550e+00] [ 1.96955734e-02 -1.88728585e-04 9.99806006e-01 2.38908284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.315099893 meters 0.013307648981466332 Centerline is valid? [True, True] Translation: X:209.71, Y:3.39, Z:2.39 [[ 9.99542665e-01 -2.33294960e-02 -1.92404383e-02 2.09709572e+02] [ 2.33286162e-02 9.99727814e-01 -2.70203061e-04 3.39104732e+00] [ 1.92415050e-02 -1.78773314e-04 9.99814849e-01 2.39015039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.345099893 meters 0.013218339895577436 Centerline is valid? [True, True] Translation: X:209.74, Y:3.39, Z:2.39 [[ 9.99548886e-01 -2.32306536e-02 -1.90357942e-02 2.09737703e+02] [ 2.32296701e-02 9.99730118e-01 -2.72809632e-04 3.39195954e+00] [ 1.90369943e-02 -1.69508655e-04 9.99818766e-01 2.39070201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.375099893 meters 0.013221609494670649 Centerline is valid? [True, True] Translation: X:209.77, Y:3.39, Z:2.39 [[ 9.99541330e-01 -2.38861428e-02 -1.86167036e-02 2.09765244e+02] [ 2.38852168e-02 9.99714670e-01 -2.72116486e-04 3.39235603e+00] [ 1.86178915e-02 -1.72672329e-04 9.99826657e-01 2.39086209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.405099893 meters 0.013275792220325289 Centerline is valid? [True, True] Translation: X:209.79, Y:3.39, Z:2.39 [[ 9.99525120e-01 -2.47112012e-02 -1.84089931e-02 2.09793199e+02] [ 2.47103384e-02 9.99694615e-01 -2.74367491e-04 3.39229003e+00] [ 1.84101512e-02 -1.80655249e-04 9.99830502e-01 2.39124186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43509989299997 meters 0.013327380381826586 Centerline is valid? [True, True] Translation: X:209.82, Y:3.39, Z:2.39 [[ 9.99499153e-01 -2.64511881e-02 -1.73717708e-02 2.09822276e+02] [ 2.64506012e-02 9.99650087e-01 -2.63586275e-04 3.39133313e+00] [ 1.73726644e-02 -1.96039524e-04 9.99849065e-01 2.39179128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46509989299997 meters 0.013505130812446885 Centerline is valid? [True, True] Translation: X:209.85, Y:3.39, Z:2.39 [[ 9.99475155e-01 -2.76113369e-02 -1.69418973e-02 2.09850431e+02] [ 2.76108874e-02 9.99618713e-01 -2.60484093e-04 3.39092525e+00] [ 1.69426299e-02 -2.07433439e-04 9.99856442e-01 2.39207199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49509989299997 meters 0.01399652494013495 Centerline is valid? [True, True] Translation: X:209.88, Y:3.39, Z:2.39 [[ 9.99406465e-01 -3.06860135e-02 -1.56552508e-02 2.09879378e+02] [ 3.06859808e-02 9.99529045e-01 -2.42359515e-04 3.38894221e+00] [ 1.56553149e-02 -2.38181059e-04 9.99877420e-01 2.39278499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52509989299998 meters 0.014447985950299091 Centerline is valid? [True, True] Translation: X:209.91, Y:3.39, Z:2.39 [[ 9.99347624e-01 -3.27733642e-02 -1.51734192e-02 2.09908898e+02] [ 3.27735266e-02 9.99462775e-01 -2.38020183e-04 3.38767792e+00] [ 1.51730684e-02 -2.59421555e-04 9.99884849e-01 2.39327029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55509989299998 meters 0.015805177777138718 Centerline is valid? [True, True] Translation: X:209.94, Y:3.38, Z:2.39 [[ 9.99190787e-01 -3.73857608e-02 -1.48349669e-02 2.09938824e+02] [ 3.73864170e-02 9.99300856e-01 -2.33187457e-04 3.38284225e+00] [ 1.48333130e-02 -3.21627499e-04 9.99889929e-01 2.39315270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58509989299998 meters 0.016068204844297097 Centerline is valid? [True, True] Translation: X:209.97, Y:3.38, Z:2.39 [[ 9.99095120e-01 -3.97737918e-02 -1.50661011e-02 2.09969762e+02] [ 3.97747387e-02 9.99208644e-01 -2.36907346e-04 3.38147739e+00] [ 1.50636012e-02 -3.62557262e-04 9.99886472e-01 2.39296515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61509989299998 meters 0.016683245249934555 Centerline is valid? [True, True] Translation: X:210.00, Y:3.38, Z:2.39 [[ 9.98992624e-01 -4.23198809e-02 -1.49253196e-02 2.10000880e+02] [ 4.23211046e-02 9.99104033e-01 -2.33984164e-04 3.37978596e+00] [ 1.49218492e-02 -3.97907557e-04 9.99888584e-01 2.39283333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64509989299998 meters 0.01670935780573172 Centerline is valid? [True, True] Translation: X:210.03, Y:3.38, Z:2.39 [[ 9.98901056e-01 -4.44649260e-02 -1.48172220e-02 2.10032503e+02] [ 4.44663757e-02 9.99010855e-01 -2.31759782e-04 3.37918630e+00] [ 1.48128708e-02 -4.27363072e-04 9.99890192e-01 2.39328481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67509989299998 meters 0.01670935780573172 Centerline is valid? [True, True] Translation: X:210.06, Y:3.38, Z:2.39 [[ 9.98902681e-01 -4.44284155e-02 -1.48172305e-02 2.10063354e+02] [ 4.44298692e-02 9.99012479e-01 -2.31218457e-04 3.37963999e+00] [ 1.48128708e-02 -4.27362877e-04 9.99890192e-01 2.39366629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70509989299998 meters 0.018018450716183715 Centerline is valid? [True, True] Translation: X:210.09, Y:3.38, Z:2.39 [[ 9.98710939e-01 -4.87024592e-02 -1.43014262e-02 2.10094546e+02] [ 4.87042584e-02 9.98813219e-01 -2.22662720e-04 3.37674053e+00] [ 1.42952978e-02 -4.74164665e-04 9.99897705e-01 2.39349947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73509989299998 meters 0.019027331029629994 Centerline is valid? [True, True] Translation: X:210.13, Y:3.38, Z:2.39 [[ 9.98606357e-01 -5.05893036e-02 -1.50355058e-02 2.10125749e+02] [ 5.05915152e-02 9.98719402e-01 -2.33472983e-04 3.37526531e+00] [ 1.50280626e-02 -5.27521414e-04 9.99886933e-01 2.39330023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76509989299998 meters 0.01974646071247824 Centerline is valid? [True, True] Translation: X:210.16, Y:3.37, Z:2.39 [[ 9.98532975e-01 -5.21653927e-02 -1.45144891e-02 2.10157102e+02] [ 5.21676305e-02 9.98638317e-01 -2.24654768e-04 3.37403588e+00] [ 1.45064442e-02 -5.32861312e-04 9.99894634e-01 2.39323501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79509989299999 meters 0.020589726796683642 Centerline is valid? [True, True] Translation: X:210.19, Y:3.37, Z:2.39 [[ 9.98448107e-01 -5.38248864e-02 -1.42919281e-02 2.10188252e+02] [ 5.38272330e-02 9.98550239e-01 -2.20704505e-04 3.37292105e+00] [ 1.42830876e-02 -5.48932948e-04 9.99897841e-01 2.39339733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.825099893 meters 0.02298856991306753 Centerline is valid? [True, True] Translation: X:210.22, Y:3.37, Z:2.39 [[ 9.98242443e-01 -5.75995375e-02 -1.39398427e-02 2.10218444e+02] [ 5.76021432e-02 9.98339595e-01 -2.14837158e-04 3.36996985e+00] [ 1.39290715e-02 -5.88505247e-04 9.99902813e-01 2.39364891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.855099893 meters 0.023582347291740663 Centerline is valid? [True, True] Translation: X:210.25, Y:3.37, Z:2.39 [[ 9.98146463e-01 -5.91311326e-02 -1.43926056e-02 2.10250914e+02] [ 5.91340714e-02 9.98250025e-01 -2.21672876e-04 3.36964866e+00] [ 1.43805267e-02 -6.29831370e-04 9.99896397e-01 2.39356510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.885099893 meters 0.02428536912569982 Centerline is valid? [True, True] Translation: X:210.28, Y:3.37, Z:2.39 [[ 9.98015833e-01 -6.12468869e-02 -1.46019221e-02 2.10281975e+02] [ 6.12501517e-02 9.98122422e-01 -2.23938982e-04 3.36941820e+00] [ 1.45882214e-02 -6.70875294e-04 9.99893361e-01 2.39391580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.915099893 meters 0.02578494075066351 Centerline is valid? [True, True] Translation: X:210.31, Y:3.37, Z:2.39 [[ 9.97833963e-01 -6.40315342e-02 -1.50779866e-02 2.10313213e+02] [ 6.40353407e-02 9.97947605e-01 -2.30697545e-04 3.36872986e+00] [ 1.50618125e-02 -7.35326164e-04 9.99886294e-01 2.39381750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.945099893 meters 0.024758467458227372 Centerline is valid? [True, True] Translation: X:210.35, Y:3.37, Z:2.39 [[ 9.97756295e-01 -6.51847258e-02 -1.52750596e-02 2.10345487e+02] [ 6.51887771e-02 9.97872922e-01 -2.33067812e-04 3.37096234e+00] [ 1.52577608e-02 -7.63217579e-04 9.99883302e-01 2.39389257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.975099893 meters 0.028242387672955692 Centerline is valid? [True, True] Translation: X:210.38, Y:3.37, Z:2.39 [[ 9.97672621e-01 -6.63477556e-02 -1.57263145e-02 2.10376428e+02] [ 6.63522111e-02 9.97796235e-01 -2.38861728e-04 3.36697011e+00] [ 1.57075054e-02 -8.05169934e-04 9.99876305e-01 2.39360355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.005099893 meters 0.02455513612707371 Centerline is valid? [True, True] Translation: X:210.41, Y:3.37, Z:2.39 [[ 9.97603406e-01 -6.73919676e-02 -1.56769346e-02 2.10408377e+02] [ 6.73965379e-02 9.97726240e-01 -2.37211526e-04 3.37274864e+00] [ 1.56572752e-02 -8.19928089e-04 9.99877081e-01 2.39447641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.035099893 meters 0.02493831843366381 Centerline is valid? [True, True] Translation: X:210.44, Y:3.37, Z:2.39 [[ 9.97555299e-01 -6.81051565e-02 -1.56560909e-02 2.10440106e+02] [ 6.81098219e-02 9.97677802e-01 -2.35635039e-04 3.37284423e+00] [ 1.56357823e-02 -8.31274583e-04 9.99877408e-01 2.39479534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.065099893 meters 0.02449909197155673 Centerline is valid? [True, True] Translation: X:210.47, Y:3.38, Z:2.39 [[ 9.97436614e-01 -6.97319631e-02 -1.60516373e-02 2.10472402e+02] [ 6.97371039e-02 9.97565376e-01 -2.39924762e-04 3.37549339e+00] [ 1.60292880e-02 -8.80084958e-04 9.99871135e-01 2.39490910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.095099893 meters 0.027079939261313534 Centerline is valid? [True, True] Translation: X:210.50, Y:3.37, Z:2.39 [[ 9.97410913e-01 -7.00275352e-02 -1.63589687e-02 2.10504088e+02] [ 7.00329370e-02 9.97544650e-01 -2.43135178e-04 3.37338256e+00] [ 1.63358279e-02 -9.03160945e-04 9.99866154e-01 2.39488325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.125099893 meters 0.028206729096774852 Centerline is valid? [True, True] Translation: X:210.53, Y:3.37, Z:2.40 [[ 9.97394799e-01 -7.02258216e-02 -1.64908555e-02 2.10534732e+02] [ 7.02313635e-02 9.97530699e-01 -2.43539539e-04 3.37481594e+00] [ 1.64672374e-02 -9.15270196e-04 9.99863987e-01 2.39528968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.155099893 meters 0.027856048558949378 Centerline is valid? [True, True] Translation: X:210.57, Y:3.38, Z:2.40 [[ 9.97398486e-01 -7.01672840e-02 -1.65170323e-02 2.10566398e+02] [ 7.01728511e-02 9.97534817e-01 -2.42989726e-04 3.37716753e+00] [ 1.64933647e-02 -9.16689660e-04 9.99863555e-01 2.39623860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18509989299997 meters 0.02670328279343868 Centerline is valid? [True, True] Translation: X:210.60, Y:3.38, Z:2.40 [[ 9.97430965e-01 -6.99251004e-02 -1.55547482e-02 2.10598520e+02] [ 6.99300333e-02 9.97551873e-01 -2.27213608e-04 3.38070421e+00] [ 1.55325561e-02 -8.61114170e-04 9.99878992e-01 2.39709301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21509989299997 meters 0.028578201321120413 Centerline is valid? [True, True] Translation: X:210.63, Y:3.38, Z:2.40 [[ 9.97511363e-01 -6.89169576e-02 -1.48840082e-02 2.10630157e+02] [ 6.89213776e-02 9.97622071e-01 -2.16383239e-04 3.38143971e+00] [ 1.48635276e-02 -8.09981609e-04 9.99889204e-01 2.39797882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24509989299997 meters 0.02851592665729076 Centerline is valid? [True, True] Translation: X:210.66, Y:3.38, Z:2.40 [[ 9.97572480e-01 -6.80047608e-02 -1.49833084e-02 2.10662102e+02] [ 6.80091534e-02 9.97684674e-01 -2.16754655e-04 3.38375067e+00] [ 1.49633575e-02 -8.02773644e-04 9.99887720e-01 2.39873342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27509989299998 meters 0.024645239317225922 Centerline is valid? [True, True] Translation: X:210.69, Y:3.39, Z:2.40 [[ 9.97671707e-01 -6.66560856e-02 -1.44267827e-02 2.10694073e+02] [ 6.66600314e-02 9.97775725e-01 -2.07726396e-04 3.39160358e+00] [ 1.44085398e-02 -7.54447037e-04 9.99895907e-01 2.39969803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30509989299998 meters 0.023996740765134188 Centerline is valid? [True, True] Translation: X:210.73, Y:3.40, Z:2.40 [[ 9.97766812e-01 -6.53757727e-02 -1.36892867e-02 2.10726034e+02] [ 6.53792182e-02 9.97860471e-01 -1.96155499e-04 3.39524287e+00] [ 1.36728218e-02 -6.99277412e-04 9.99906278e-01 2.40051384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33509989299998 meters 0.023668801775819693 Centerline is valid? [True, True] Translation: X:210.76, Y:3.40, Z:2.40 [[ 9.97863936e-01 -6.39047800e-02 -1.35552035e-02 2.10758267e+02] [ 6.39080362e-02 9.97955773e-01 -1.93252062e-04 3.39833839e+00] [ 1.35398433e-02 -6.73447174e-04 9.99908105e-01 2.40145368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36509989299998 meters 0.022531832476334467 Centerline is valid? [True, True] Translation: X:210.79, Y:3.41, Z:2.40 [[ 9.98020125e-01 -6.13144685e-02 -1.40130635e-02 2.10789206e+02] [ 6.13177076e-02 9.98118279e-01 -1.98786530e-04 3.40512123e+00] [ 1.39988833e-02 -6.60855971e-04 9.99901792e-01 2.40221834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39509989299998 meters 0.02428834829628181 Centerline is valid? [True, True] Translation: X:210.82, Y:3.41, Z:2.40 [[ 9.98099642e-01 -6.00562590e-02 -1.37967892e-02 2.10820003e+02] [ 6.00592862e-02 9.98194793e-01 -1.95192861e-04 3.40549759e+00] [ 1.37836057e-02 -6.33803386e-04 9.99904801e-01 2.40247543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42509989299998 meters 0.024497958608088333 Centerline is valid? [True, True] Translation: X:210.85, Y:3.41, Z:2.40 [[ 9.98159619e-01 -5.90902302e-02 -1.36278979e-02 2.10851257e+02] [ 5.90931038e-02 9.98252457e-01 -1.92071063e-04 3.40808592e+00] [ 1.36154321e-02 -6.13597208e-04 9.99907117e-01 2.40287034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45509989299998 meters 0.0227229334357374 Centerline is valid? [True, True] Translation: X:210.88, Y:3.41, Z:2.40 [[ 9.98222844e-01 -5.80301281e-02 -1.35520444e-02 2.10883167e+02] [ 5.80328822e-02 9.98314654e-01 -1.90271684e-04 3.41311565e+00] [ 1.35402460e-02 -5.96530654e-04 9.99908149e-01 2.40340450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48509989299998 meters 0.020892812305320873 Centerline is valid? [True, True] Translation: X:210.92, Y:3.42, Z:2.40 [[ 9.98275587e-01 -5.68815928e-02 -1.45030086e-02 2.10915756e+02] [ 5.68846426e-02 9.98380737e-01 -2.02481875e-04 3.42054920e+00] [ 1.44910419e-02 -6.22865748e-04 9.99894805e-01 2.40333610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51509989299998 meters 0.024308934822745005 Centerline is valid? [True, True] Translation: X:210.95, Y:3.42, Z:2.40 [[ 9.98287759e-01 -5.65393291e-02 -1.49951257e-02 2.10946600e+02] [ 5.65425706e-02 9.98400167e-01 -2.08037005e-04 3.41780555e+00] [ 1.49828982e-02 -6.40182156e-04 9.99887545e-01 2.40294174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54509989299999 meters 0.023054322587277624 Centerline is valid? [True, True] Translation: X:210.98, Y:3.42, Z:2.40 [[ 9.98289278e-01 -5.64020590e-02 -1.54053750e-02 2.10978497e+02] [ 5.64054779e-02 9.98407921e-01 -2.12820501e-04 3.42190839e+00] [ 1.53928520e-02 -6.56491118e-04 9.99881308e-01 2.40298686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.575099893 meters 0.021513031944430498 Centerline is valid? [True, True] Translation: X:211.01, Y:3.43, Z:2.40 [[ 9.98284822e-01 -5.64087705e-02 -1.56672971e-02 2.11010343e+02] [ 5.64123252e-02 9.98407534e-01 -2.15317160e-04 3.42668286e+00] [ 1.56544932e-02 -6.68880806e-04 9.99877237e-01 2.40353265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.605099893 meters 0.02159408927042955 Centerline is valid? [True, True] Translation: X:211.04, Y:3.43, Z:2.40 [[ 9.98292562e-01 -5.61442478e-02 -1.61178389e-02 2.11042735e+02] [ 5.61479947e-02 9.98422433e-01 -2.20318217e-04 3.43024860e+00] [ 1.61047816e-02 -6.85042297e-04 9.99870075e-01 2.40325184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.635099893 meters 0.02092496686392589 Centerline is valid? [True, True] Translation: X:211.07, Y:3.43, Z:2.40 [[ 9.98295934e-01 -5.59955084e-02 -1.64235256e-02 2.11074808e+02] [ 5.59993985e-02 9.98430778e-01 -2.23291586e-04 3.43348930e+00] [ 1.64102567e-02 -6.96796470e-04 9.99865100e-01 2.40317072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.665099893 meters 0.02045278634263464 Centerline is valid? [True, True] Translation: X:211.11, Y:3.44, Z:2.40 [[ 9.98313903e-01 -5.56296136e-02 -1.65739637e-02 2.11106539e+02] [ 5.56335452e-02 9.98451230e-01 -2.24114507e-04 3.43663658e+00] [ 1.65607619e-02 -6.98331730e-04 9.99862617e-01 2.40371439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.695099893 meters 0.02024774986263321 Centerline is valid? [True, True] Translation: X:211.14, Y:3.44, Z:2.40 [[ 9.98387282e-01 -5.44624647e-02 -1.60210531e-02 2.11138545e+02] [ 5.44660067e-02 9.98515602e-01 -2.15487046e-04 3.44149774e+00] [ 1.60090074e-02 -6.57463257e-04 9.99871631e-01 2.40442248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.725099893 meters 0.02128092640894208 Centerline is valid? [True, True] Translation: X:211.17, Y:3.44, Z:2.40 [[ 9.98430814e-01 -5.35702436e-02 -1.63137594e-02 2.11170028e+02] [ 5.35738160e-02 9.98563868e-01 -2.18280032e-04 3.44187203e+00] [ 1.63020240e-02 -6.56052834e-04 9.99866898e-01 2.40443640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.755099893 meters 0.0212137684884466 Centerline is valid? [True, True] Translation: X:211.20, Y:3.44, Z:2.40 [[ 9.98467652e-01 -5.30019606e-02 -1.59103940e-02 2.11202482e+02] [ 5.30053010e-02 9.98594208e-01 -2.11968879e-04 3.44393093e+00] [ 1.58992620e-02 -6.31691152e-04 9.99873399e-01 2.40477605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.785099893 meters 0.020772191809229422 Centerline is valid? [True, True] Translation: X:211.23, Y:3.45, Z:2.41 [[ 9.98597572e-01 -5.06020429e-02 -1.55667222e-02 2.11232704e+02] [ 5.06049636e-02 9.98718727e-01 -2.06471303e-04 3.44777296e+00] [ 1.55572248e-02 -5.81571667e-04 9.99878810e-01 2.40557888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.815099893 meters 0.021224833498247327 Centerline is valid? [True, True] Translation: X:211.26, Y:3.45, Z:2.41 [[ 9.98679735e-01 -4.89674782e-02 -1.55233043e-02 2.11264445e+02] [ 4.89701922e-02 9.98800219e-01 -2.05457064e-04 3.44912058e+00] [ 1.55147405e-02 -5.54993389e-04 9.99879485e-01 2.40603550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.845099893 meters 0.01779023492152141 Centerline is valid? [True, True] Translation: X:211.30, Y:3.46, Z:2.41 [[ 9.98884466e-01 -4.45181281e-02 -1.57467463e-02 2.11296026e+02] [ 4.45203853e-02 9.99008455e-01 -2.07352396e-04 3.45942225e+00] [ 1.57403636e-02 -4.93930124e-04 9.99875991e-01 2.40665011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.875099893 meters 0.016555025950881774 Centerline is valid? [True, True] Translation: X:211.33, Y:3.46, Z:2.41 [[ 9.99011494e-01 -4.16293353e-02 -1.55895516e-02 2.11327395e+02] [ 4.16312084e-02 9.99133025e-01 -2.04493060e-04 3.46427110e+00] [ 1.55845487e-02 -4.44720953e-04 9.99878455e-01 2.40754885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.905099893 meters 0.015728675919958517 Centerline is valid? [True, True] Translation: X:211.36, Y:3.47, Z:2.41 [[ 9.99268284e-01 -3.52796208e-02 -1.47731117e-02 2.11358049e+02] [ 3.52806170e-02 9.99377427e-01 -1.93258423e-04 3.47067609e+00] [ 1.47707325e-02 -3.28087485e-04 9.99890853e-01 2.40821691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93509989299997 meters 0.01505362391665987 Centerline is valid? [True, True] Translation: X:211.39, Y:3.47, Z:2.41 [[ 9.99376242e-01 -3.21061032e-02 -1.47080137e-02 2.11389018e+02] [ 3.21067550e-02 9.99484427e-01 -1.91869006e-04 3.47393814e+00] [ 1.47065908e-02 -2.80477267e-04 9.99891813e-01 2.40852015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96509989299997 meters 0.014566015068070252 Centerline is valid? [True, True] Translation: X:211.42, Y:3.48, Z:2.41 [[ 9.99481925e-01 -2.87941485e-02 -1.43797712e-02 2.11420392e+02] [ 2.87944362e-02 9.99585337e-01 -1.87077397e-04 3.47674057e+00] [ 1.43791952e-02 -2.27076928e-04 9.99896588e-01 2.40866203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99509989299997 meters 0.014094137090864087 Centerline is valid? [True, True] Translation: X:211.45, Y:3.48, Z:2.41 [[ 9.99561793e-01 -2.58582964e-02 -1.44073085e-02 2.11451732e+02] [ 2.58582877e-02 9.99665601e-01 -1.86917032e-04 3.47967794e+00] [ 1.44073240e-02 -1.85713204e-04 9.99896192e-01 2.40896456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02509989299998 meters 0.01376882310253409 Centerline is valid? [True, True] Translation: X:211.48, Y:3.48, Z:2.41 [[ 9.99619104e-01 -2.35033735e-02 -1.44650832e-02 2.11482768e+02] [ 2.35031258e-02 9.99723746e-01 -1.87145175e-04 3.48262435e+00] [ 1.44654857e-02 -1.52900779e-04 9.99895358e-01 2.40964290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05509989299998 meters 0.01364013712408846 Centerline is valid? [True, True] Translation: X:211.51, Y:3.48, Z:2.41 [[ 9.99670669e-01 -2.14705609e-02 -1.40559127e-02 2.11513166e+02] [ 2.14701322e-02 9.99769474e-01 -1.81416915e-04 3.48495806e+00] [ 1.40565676e-02 -1.20425135e-04 9.99901194e-01 2.41015300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08509989299998 meters 0.013431364580974601 Centerline is valid? [True, True] Translation: X:211.54, Y:3.49, Z:2.41 [[ 9.99693894e-01 -2.00923470e-02 -1.44366343e-02 2.11543285e+02] [ 2.00917505e-02 9.99798123e-01 -1.86368292e-04 3.48756332e+00] [ 1.44374644e-02 -1.03746011e-04 9.99895769e-01 2.41042817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11509989299998 meters 0.013465478534306947 Centerline is valid? [True, True] Translation: X:211.57, Y:3.49, Z:2.41 [[ 9.99691250e-01 -2.01860155e-02 -1.44889748e-02 2.11572300e+02] [ 2.01854213e-02 9.99796236e-01 -1.87262236e-04 3.48773234e+00] [ 1.44898026e-02 -1.05261643e-04 9.99895012e-01 2.41037780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14509989299998 meters 0.01352679381234648 Centerline is valid? [True, True] Translation: X:211.60, Y:3.49, Z:2.41 [[ 9.99669994e-01 -2.12600560e-02 -1.44191883e-02 2.11601566e+02] [ 2.12595788e-02 9.99773972e-01 -1.86397441e-04 3.48737401e+00] [ 1.44198920e-02 -1.20209941e-04 9.99896021e-01 2.41068072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17509989299998 meters 0.013711917306737653 Centerline is valid? [True, True] Translation: X:211.63, Y:3.49, Z:2.41 [[ 9.99629353e-01 -2.30101955e-02 -1.45495062e-02 2.11631412e+02] [ 2.30098873e-02 9.99735220e-01 -1.88605430e-04 3.48606827e+00] [ 1.45499936e-02 -1.46246973e-04 9.99894133e-01 2.41073918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20509989299998 meters 0.014318557615983381 Centerline is valid? [True, True] Translation: X:211.66, Y:3.48, Z:2.41 [[ 9.99499235e-01 -2.79849760e-02 -1.47688718e-02 2.11662155e+02] [ 2.79851947e-02 9.99608319e-01 -1.91894535e-04 3.48254950e+00] [ 1.47684572e-02 -2.21511311e-04 9.99890916e-01 2.41095219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23509989299998 meters 0.015264257792340696 Centerline is valid? [True, True] Translation: X:211.69, Y:3.48, Z:2.41 [[ 9.99421709e-01 -3.07368601e-02 -1.45427855e-02 2.11692966e+02] [ 3.07373674e-02 9.99527478e-01 -1.88683140e-04 3.47956428e+00] [ 1.45417133e-02 -2.58432916e-04 9.99894230e-01 2.41124161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26509989299998 meters 0.016948469843715556 Centerline is valid? [True, True] Translation: X:211.72, Y:3.47, Z:2.41 [[ 9.99210010e-01 -3.70677480e-02 -1.43296388e-02 2.11723836e+02] [ 3.70689136e-02 9.99312695e-01 -1.84351648e-04 3.47435225e+00] [ 1.43266235e-02 -3.46978130e-04 9.99897308e-01 2.41164403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29509989299999 meters 0.018042737822416353 Centerline is valid? [True, True] Translation: X:211.76, Y:3.47, Z:2.41 [[ 9.99081504e-01 -4.02994744e-02 -1.45637108e-02 2.11756046e+02] [ 4.03010267e-02 9.99187566e-01 -1.86992246e-04 3.47164986e+00] [ 1.45594145e-02 -4.00112006e-04 9.99893926e-01 2.41171168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.325099893 meters 0.017851890267137367 Centerline is valid? [True, True] Translation: X:211.79, Y:3.47, Z:2.41 [[ 9.98954456e-01 -4.31851279e-02 -1.50013369e-02 2.11788303e+02] [ 4.31871162e-02 9.99066983e-01 -1.91537245e-04 3.47102120e+00] [ 1.49956120e-02 -4.56527495e-04 9.99887455e-01 2.41163558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.355099893 meters 0.02172639583470186 Centerline is valid? [True, True] Translation: X:211.82, Y:3.46, Z:2.41 [[ 9.98650991e-01 -4.95077475e-02 -1.56582609e-02 2.11818652e+02] [ 4.95107044e-02 9.98773573e-01 -1.98994613e-04 3.46221244e+00] [ 1.56489089e-02 -5.76525357e-04 9.99877382e-01 2.41084816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.385099893 meters 0.02380976344519589 Centerline is valid? [True, True] Translation: X:211.85, Y:3.46, Z:2.41 [[ 9.98497339e-01 -5.25243932e-02 -1.56285443e-02 2.11848448e+02] [ 5.25277121e-02 9.98619447e-01 -1.98339638e-04 3.45842481e+00] [ 1.56173859e-02 -6.22890075e-04 9.99877847e-01 2.41088287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.415099893 meters 0.02258564901078403 Centerline is valid? [True, True] Translation: X:211.88, Y:3.46, Z:2.41 [[ 9.98164461e-01 -5.84892117e-02 -1.57073773e-02 2.11878664e+02] [ 5.84933178e-02 9.98287780e-01 -1.98270976e-04 3.45949766e+00] [ 1.56920796e-02 -7.20869573e-04 9.99876612e-01 2.41146859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.445099893 meters 0.02349813231126147 Centerline is valid? [True, True] Translation: X:211.91, Y:3.46, Z:2.41 [[ 9.98011840e-01 -6.08815698e-02 -1.63034393e-02 2.11910925e+02] [ 6.08863174e-02 9.98144686e-01 -2.05462351e-04 3.45786060e+00] [ 1.62857001e-02 -7.87602519e-04 9.99867069e-01 2.41158094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.475099893 meters 0.02371682251709543 Centerline is valid? [True, True] Translation: X:211.94, Y:3.46, Z:2.41 [[ 9.97869069e-01 -6.32047401e-02 -1.62012687e-02 2.11943048e+02] [ 6.32097525e-02 9.98000243e-01 -2.03015505e-04 3.45731968e+00] [ 1.61817016e-02 -8.21495290e-04 9.99868730e-01 2.41188725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.505099893 meters 0.025288709959061354 Centerline is valid? [True, True] Translation: X:211.97, Y:3.46, Z:2.41 [[ 9.97734400e-01 -6.52626451e-02 -1.63357021e-02 2.11974170e+02] [ 6.52680382e-02 9.97867748e-01 -2.03346504e-04 3.45506573e+00] [ 1.63141412e-02 -8.63313428e-04 9.99866543e-01 2.41229658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.535099893 meters 0.028068088549379446 Centerline is valid? [True, True] Translation: X:212.00, Y:3.45, Z:2.41 [[ 9.97487071e-01 -6.90025131e-02 -1.60685173e-02 2.12004662e+02] [ 6.90082390e-02 9.97616070e-01 -1.98508164e-04 3.45119953e+00] [ 1.60439086e-02 -9.10850753e-04 9.99870873e-01 2.41259024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.565099893 meters 0.028068088549379446 Centerline is valid? [True, True] Translation: X:212.04, Y:3.45, Z:2.41 [[ 9.97494443e-01 -6.88958532e-02 -1.60685277e-02 2.12037246e+02] [ 6.89015790e-02 9.97623443e-01 -1.97657051e-04 3.45151125e+00] [ 1.60439577e-02 -9.09985124e-04 9.99870873e-01 2.41299311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.595099893 meters 0.028068088549379446 Centerline is valid? [True, True] Translation: X:212.07, Y:3.45, Z:2.41 [[ 9.97501805e-01 -6.87891819e-02 -1.60685487e-02 2.12069831e+02] [ 6.87949215e-02 9.97630804e-01 -1.95938920e-04 3.45181905e+00] [ 1.60439576e-02 -9.09985120e-04 9.99870873e-01 2.41339574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.625099893 meters 0.026893516837131398 Centerline is valid? [True, True] Translation: X:212.10, Y:3.45, Z:2.41 [[ 9.97332839e-01 -7.12787735e-02 -1.57017469e-02 2.12100480e+02] [ 7.12845827e-02 9.97456000e-01 -1.90113215e-04 3.45370532e+00] [ 1.56753527e-02 -9.29686324e-04 9.99876702e-01 2.41403805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.655099893 meters 0.026525259112014213 Centerline is valid? [True, True] Translation: X:212.13, Y:3.45, Z:2.41 [[ 9.97276055e-01 -7.21286871e-02 -1.54247676e-02 2.12132424e+02] [ 7.21344013e-02 9.97394903e-01 -1.86312071e-04 3.45476387e+00] [ 1.53980230e-02 -9.26851807e-04 9.99881014e-01 2.41471296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68509989299997 meters 0.030288818262013153 Centerline is valid? [True, True] Translation: X:212.16, Y:3.45, Z:2.41 [[ 9.97242882e-01 -7.27118953e-02 -1.48193909e-02 2.12163413e+02] [ 7.27172488e-02 9.97352581e-01 -1.77986231e-04 3.45000109e+00] [ 1.47930995e-02 -9.00129836e-04 9.99890171e-01 2.41499229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71509989299997 meters 0.02742199856592662 Centerline is valid? [True, True] Translation: X:212.20, Y:3.45, Z:2.42 [[ 9.97226593e-01 -7.28242020e-02 -1.53544027e-02 2.12195639e+02] [ 7.28299765e-02 9.97344354e-01 -1.83486350e-04 3.45401493e+00] [ 1.53269890e-02 -9.35283317e-04 9.99882097e-01 2.41507033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74509989299997 meters 0.030745314799127007 Centerline is valid? [True, True] Translation: X:212.23, Y:3.45, Z:2.41 [[ 9.97218244e-01 -7.29582092e-02 -1.52602200e-02 2.12226999e+02] [ 7.29639449e-02 9.97334563e-01 -1.81300805e-04 3.44962027e+00] [ 1.52327722e-02 -9.32649379e-04 9.99883540e-01 2.41434987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77509989299998 meters 0.03008673993241452 Centerline is valid? [True, True] Translation: X:212.26, Y:3.45, Z:2.41 [[ 9.97206524e-01 -7.29767361e-02 -1.59230574e-02 2.12258998e+02] [ 7.29829986e-02 9.97333167e-01 -1.88217610e-04 3.45090474e+00] [ 1.58943288e-02 -9.74420649e-04 9.99873202e-01 2.41444574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80509989299998 meters 0.028317292781648146 Centerline is valid? [True, True] Translation: X:212.29, Y:3.45, Z:2.41 [[ 9.97193642e-01 -7.30764913e-02 -1.62685688e-02 2.12290656e+02] [ 7.30830599e-02 9.97325839e-01 -1.91189416e-04 3.45404331e+00] [ 1.62390355e-02 -9.98303918e-04 9.99867640e-01 2.41441980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83509989299998 meters 0.0303376152374642 Centerline is valid? [True, True] Translation: X:212.32, Y:3.45, Z:2.41 [[ 9.97202746e-01 -7.28303570e-02 -1.68054373e-02 2.12322034e+02] [ 7.28373472e-02 9.97343813e-01 -1.96559966e-04 3.45195159e+00] [ 1.67751145e-02 -1.02805334e-03 9.99858759e-01 2.41402158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86509989299998 meters 0.028930558718263295 Centerline is valid? [True, True] Translation: X:212.35, Y:3.46, Z:2.41 [[ 9.97202504e-01 -7.25441906e-02 -1.80140810e-02 2.12354422e+02] [ 7.25521966e-02 9.97364595e-01 -2.09571991e-04 3.45569701e+00] [ 1.79818098e-02 -1.09797543e-03 9.99837711e-01 2.41359514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89509989299998 meters 0.030179690577883778 Centerline is valid? [True, True] Translation: X:212.39, Y:3.46, Z:2.41 [[ 9.97235200e-01 -7.20829840e-02 -1.80554260e-02 2.12385622e+02] [ 7.20909730e-02 9.97398039e-01 -2.08856389e-04 3.45507495e+00] [ 1.80235014e-02 -1.09335428e-03 9.99836966e-01 2.41389856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92509989299998 meters 0.029340927174725966 Centerline is valid? [True, True] Translation: X:212.42, Y:3.46, Z:2.41 [[ 9.97297563e-01 -7.13105776e-02 -1.76740648e-02 2.12418056e+02] [ 7.13181298e-02 9.97453599e-01 -2.03418187e-04 3.45725955e+00] [ 1.76435654e-02 -1.05761278e-03 9.99843781e-01 2.41454679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95509989299998 meters 0.026889232280271326 Centerline is valid? [True, True] Translation: X:212.45, Y:3.46, Z:2.42 [[ 9.97468167e-01 -6.88857777e-02 -1.76636564e-02 2.12449589e+02] [ 6.88929627e-02 9.97624037e-01 -2.02129664e-04 3.46292105e+00] [ 1.76356120e-02 -1.01528371e-03 9.99843965e-01 2.41602854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98509989299998 meters 0.028738188424826748 Centerline is valid? [True, True] Translation: X:212.48, Y:3.46, Z:2.42 [[ 9.97601113e-01 -6.70060072e-02 -1.73842869e-02 2.12480559e+02] [ 6.70126968e-02 9.97752103e-01 -1.98088740e-04 3.46174508e+00] [ 1.73584820e-02 -9.67354401e-04 9.99848862e-01 2.41607323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01509989299998 meters 0.029652762623066917 Centerline is valid? [True, True] Translation: X:212.51, Y:3.46, Z:2.42 [[ 9.97766785e-01 -6.44680203e-02 -1.74733385e-02 2.12511203e+02] [ 6.44744016e-02 9.97919342e-01 -1.98476498e-04 3.46183332e+00] [ 1.74497778e-02 -9.28549785e-04 9.99847310e-01 2.41608604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04509989299999 meters 0.0234936558903056 Centerline is valid? [True, True] Translation: X:212.54, Y:3.47, Z:2.42 [[ 9.97947966e-01 -6.17881992e-02 -1.67950941e-02 2.12542508e+02] [ 6.17937257e-02 9.98088924e-01 -1.90194272e-04 3.47221625e+00] [ 1.67747491e-02 -8.48027450e-04 9.99858934e-01 2.41772170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.075099893 meters 0.021802933304766816 Centerline is valid? [True, True] Translation: X:212.57, Y:3.48, Z:2.42 [[ 9.98342508e-01 -5.50942908e-02 -1.66390111e-02 2.12573394e+02] [ 5.50987946e-02 9.98480890e-01 -1.87977806e-04 3.47883515e+00] [ 1.66240911e-02 -7.29123220e-04 9.99861544e-01 2.41850356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.105099893 meters 0.023716559936311016 Centerline is valid? [True, True] Translation: X:212.60, Y:3.48, Z:2.42 [[ 9.98531797e-01 -5.14726056e-02 -1.68766629e-02 2.12604288e+02] [ 5.14767252e-02 9.98674176e-01 -1.90507960e-04 3.47809051e+00] [ 1.68640934e-02 -6.78527084e-04 9.99857561e-01 2.41818223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.135099893 meters 0.022373283585328585 Centerline is valid? [True, True] Translation: X:212.64, Y:3.48, Z:2.42 [[ 9.98731900e-01 -4.75306489e-02 -1.65960848e-02 2.12636034e+02] [ 4.75340999e-02 9.98869598e-01 -1.86686198e-04 3.48208347e+00] [ 1.65861979e-02 -6.02430493e-04 9.99862258e-01 2.41852463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.165099893 meters 0.020856892018361748 Centerline is valid? [True, True] Translation: X:212.67, Y:3.49, Z:2.42 [[ 9.98900201e-01 -4.38247409e-02 -1.66667196e-02 2.12667639e+02] [ 4.38277202e-02 9.99039086e-01 -1.86632298e-04 3.48625080e+00] [ 1.66588835e-02 -5.44037285e-04 9.99861083e-01 2.41901945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.195099893 meters 0.01881406162450772 Centerline is valid? [True, True] Translation: X:212.70, Y:3.49, Z:2.42 [[ 9.99181970e-01 -3.71468575e-02 -1.59844377e-02 2.12697267e+02] [ 3.71487535e-02 9.99309731e-01 -1.78388443e-04 3.49193871e+00] [ 1.59800307e-02 -4.15559421e-04 9.99872225e-01 2.41950653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.225099893 meters 0.015773502943103736 Centerline is valid? [True, True] Translation: X:212.73, Y:3.50, Z:2.42 [[ 9.99284294e-01 -3.43290229e-02 -1.58876466e-02 2.12728395e+02] [ 3.43305422e-02 9.99410517e-01 -1.77179564e-04 3.49918559e+00] [ 1.58843635e-02 -3.68378766e-04 9.99873768e-01 2.42036248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.255099893 meters 0.015276044174475575 Centerline is valid? [True, True] Translation: X:212.76, Y:3.50, Z:2.42 [[ 9.99405009e-01 -3.01390392e-02 -1.67710018e-02 2.12759198e+02] [ 3.01401531e-02 9.99545665e-01 -1.86393307e-04 3.50222967e+00] [ 1.67689998e-02 -3.19198155e-04 9.99859339e-01 2.41972298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.285099893 meters 0.014937090202881613 Centerline is valid? [True, True] Translation: X:212.79, Y:3.50, Z:2.42 [[ 9.99441247e-01 -2.86285685e-02 -1.72510311e-02 2.12790758e+02] [ 2.86295332e-02 9.99590073e-01 -1.91088533e-04 3.50446710e+00] [ 1.72494300e-02 -3.02907207e-04 9.99851172e-01 2.41972254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.315099893 meters 0.014923917862222044 Centerline is valid? [True, True] Translation: X:212.82, Y:3.51, Z:2.42 [[ 9.99454865e-01 -2.76988554e-02 -1.79651416e-02 2.12821350e+02] [ 2.76997598e-02 9.99616268e-01 -1.98534495e-04 3.50563557e+00] [ 1.79637469e-02 -2.99203839e-04 9.99838594e-01 2.41942428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.345099893 meters 0.015093617677507101 Centerline is valid? [True, True] Translation: X:212.85, Y:3.51, Z:2.42 [[ 9.99468812e-01 -2.69591439e-02 -1.83111424e-02 2.12851286e+02] [ 2.69599601e-02 9.99636494e-01 -2.02323603e-04 3.50535507e+00] [ 1.83099407e-02 -2.91451538e-04 9.99832317e-01 2.41837153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.375099893 meters 0.014932244428500106 Centerline is valid? [True, True] Translation: X:212.88, Y:3.51, Z:2.42 [[ 9.99457751e-01 -2.69263812e-02 -1.89518725e-02 2.12880583e+02] [ 2.69272468e-02 9.99637374e-01 -2.09558656e-04 3.50577240e+00] [ 1.89506427e-02 -3.00876725e-04 9.99820375e-01 2.41765772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.405099893 meters 0.015023117479665327 Centerline is valid? [True, True] Translation: X:212.91, Y:3.51, Z:2.42 [[ 9.99452416e-01 -2.72402756e-02 -1.87839357e-02 2.12909805e+02] [ 2.72411690e-02 9.99628869e-01 -2.08354453e-04 3.50578047e+00] [ 1.87826400e-02 -3.03456006e-04 9.99823545e-01 2.41789046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43509989299997 meters 0.014802081356893688 Centerline is valid? [True, True] Translation: X:212.94, Y:3.51, Z:2.42 [[ 9.99442387e-01 -2.74565797e-02 -1.90013434e-02 2.12939534e+02] [ 2.74575202e-02 9.99622949e-01 -2.11440048e-04 3.50637664e+00] [ 1.89999843e-02 -3.10407623e-04 9.99819436e-01 2.41838037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46509989299997 meters 0.015068453547280057 Centerline is valid? [True, True] Translation: X:212.97, Y:3.51, Z:2.42 [[ 9.99429219e-01 -2.78140778e-02 -1.91732451e-02 2.12968646e+02] [ 2.78150857e-02 9.99613063e-01 -2.14155993e-04 3.50613735e+00] [ 1.91717828e-02 -3.19271699e-04 9.99816154e-01 2.41861395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49509989299997 meters 0.01489863793725596 Centerline is valid? [True, True] Translation: X:213.00, Y:3.51, Z:2.42 [[ 9.99436478e-01 -2.83998431e-02 -1.78934347e-02 2.12998217e+02] [ 2.84008003e-02 9.99596596e-01 -2.00669271e-04 3.50746449e+00] [ 1.78919154e-02 -3.07631675e-04 9.99839880e-01 2.42054494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52509989299998 meters 0.014978876801019824 Centerline is valid? [True, True] Translation: X:213.03, Y:3.51, Z:2.42 [[ 9.99427218e-01 -2.90613725e-02 -1.73399325e-02 2.13028707e+02] [ 2.90623634e-02 9.99577581e-01 -1.94891476e-04 3.50791971e+00] [ 1.73382716e-02 -3.09159575e-04 9.99849633e-01 2.42178184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55509989299998 meters 0.015266852777229962 Centerline is valid? [True, True] Translation: X:213.06, Y:3.51, Z:2.42 [[ 9.99420648e-01 -2.98622317e-02 -1.63283392e-02 2.13059231e+02] [ 2.98632183e-02 9.99553978e-01 -1.83450953e-04 3.50737511e+00] [ 1.63265347e-02 -3.04272088e-04 9.99866667e-01 2.42300232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58509989299998 meters 0.015712829448065888 Centerline is valid? [True, True] Translation: X:213.09, Y:3.51, Z:2.42 [[ 9.99374555e-01 -3.19904819e-02 -1.50700782e-02 2.13090683e+02] [ 3.19915687e-02 9.99488124e-01 -1.69013944e-04 3.50565230e+00] [ 1.50677710e-02 -3.13207206e-04 9.99886426e-01 2.42458885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61509989299998 meters 0.016574385929223577 Centerline is valid? [True, True] Translation: X:213.12, Y:3.50, Z:2.42 [[ 9.99328566e-01 -3.34270296e-02 -1.50017137e-02 2.13122028e+02] [ 3.34282770e-02 9.99441105e-01 -1.67667322e-04 3.50349129e+00] [ 1.49989340e-02 -3.33926698e-04 9.99887454e-01 2.42498559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64509989299998 meters 0.01627956728757374 Centerline is valid? [True, True] Translation: X:213.15, Y:3.50, Z:2.43 [[ 9.99278550e-01 -3.49306065e-02 -1.49074228e-02 2.13154375e+02] [ 3.49320180e-02 9.99389677e-01 -1.65774077e-04 3.50385409e+00] [ 1.49041150e-02 -3.55091881e-04 9.99888864e-01 2.42580855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67509989299998 meters 0.01704211504955691 Centerline is valid? [True, True] Translation: X:213.19, Y:3.50, Z:2.43 [[ 9.99219761e-01 -3.65585888e-02 -1.49444960e-02 2.13185933e+02] [ 3.65602068e-02 9.99331439e-01 -1.65017874e-04 3.50208407e+00] [ 1.49405376e-02 -3.81484745e-04 9.99888311e-01 2.42641379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70509989299998 meters 0.01788658480144419 Centerline is valid? [True, True] Translation: X:213.22, Y:3.50, Z:2.43 [[ 9.99075142e-01 -4.01426178e-02 -1.54087634e-02 2.13218130e+02] [ 4.01447877e-02 9.99193859e-01 -1.68583454e-04 3.49979828e+00] [ 1.54031092e-02 -4.50153999e-04 9.99881264e-01 2.42648530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73509989299998 meters 0.01966456328076145 Centerline is valid? [True, True] Translation: X:213.25, Y:3.50, Z:2.43 [[ 9.99000394e-01 -4.17269276e-02 -1.60335727e-02 2.13249472e+02] [ 4.17295016e-02 9.99128930e-01 -1.74132343e-04 3.49605893e+00] [ 1.60268723e-02 -4.95114717e-04 9.99871439e-01 2.42644113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76509989299998 meters 0.018385316215047267 Centerline is valid? [True, True] Translation: X:213.28, Y:3.50, Z:2.43 [[ 9.98932927e-01 -4.31648101e-02 -1.64257854e-02 2.13281926e+02] [ 4.31677314e-02 9.99067823e-01 -1.76830575e-04 3.49757647e+00] [ 1.64181065e-02 -5.32422009e-04 9.99865072e-01 2.42691736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79509989299999 meters 0.02015121728321539 Centerline is valid? [True, True] Translation: X:213.31, Y:3.49, Z:2.43 [[ 9.98874844e-01 -4.43756466e-02 -1.67286837e-02 2.13312672e+02] [ 4.43788642e-02 9.99014757e-01 -1.79019370e-04 3.49356209e+00] [ 1.67201459e-02 -5.63582035e-04 9.99860050e-01 2.42652623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.825099893 meters 0.0197778315011183 Centerline is valid? [True, True] Translation: X:213.34, Y:3.49, Z:2.43 [[ 9.98746927e-01 -4.67512748e-02 -1.78576264e-02 2.13344905e+02] [ 4.67553363e-02 9.98906353e-01 -1.90227786e-04 3.49317727e+00] [ 1.78469898e-02 -6.44949910e-04 9.99840522e-01 2.42708629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.855099893 meters 0.01985384541554468 Centerline is valid? [True, True] Translation: X:213.38, Y:3.49, Z:2.43 [[ 9.98705638e-01 -4.75208069e-02 -1.81334583e-02 2.13377528e+02] [ 4.75251454e-02 9.98870023e-01 -1.91844158e-04 3.49316819e+00] [ 1.81220845e-02 -6.70199402e-04 9.99835557e-01 2.42784036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.885099893 meters 0.020680440048688832 Centerline is valid? [True, True] Translation: X:213.41, Y:3.49, Z:2.43 [[ 9.98702920e-01 -4.74279617e-02 -1.85220368e-02 2.13408597e+02] [ 4.74325028e-02 9.98874427e-01 -1.94305049e-04 3.49193020e+00] [ 1.85104044e-02 -6.84493544e-04 9.99828433e-01 2.42830463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.915099893 meters 0.020702046813222155 Centerline is valid? [True, True] Translation: X:213.44, Y:3.49, Z:2.43 [[ 9.98718061e-01 -4.68511854e-02 -1.91624685e-02 2.13440573e+02] [ 4.68559786e-02 9.98901636e-01 -1.99014525e-04 3.49207050e+00] [ 1.91507452e-02 -6.99116814e-04 9.99816363e-01 2.42899316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.945099893 meters 0.02157104136855378 Centerline is valid? [True, True] Translation: X:213.47, Y:3.49, Z:2.43 [[ 9.98760850e-01 -4.57450320e-02 -1.95999049e-02 2.13472070e+02] [ 4.57498589e-02 9.98952907e-01 -2.02284625e-04 3.49058040e+00] [ 1.95886355e-02 -6.94658920e-04 9.99807883e-01 2.42923608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.975099893 meters 0.019009574966014714 Centerline is valid? [True, True] Translation: X:213.50, Y:3.49, Z:2.43 [[ 9.98803953e-01 -4.45810247e-02 -2.00797247e-02 2.13504196e+02] [ 4.45858806e-02 9.99005534e-01 -2.06010875e-04 3.49492637e+00] [ 2.00689403e-02 -6.89507732e-04 9.99798361e-01 2.43030905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.005099893 meters 0.019649649382226502 Centerline is valid? [True, True] Translation: X:213.54, Y:3.49, Z:2.43 [[ 9.98946130e-01 -4.07915191e-02 -2.10399823e-02 2.13535103e+02] [ 4.07960374e-02 9.99167472e-01 -2.14609848e-04 3.49457559e+00] [ 2.10312201e-02 -6.43964225e-04 9.99778612e-01 2.43048364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.035099893 meters 0.018648493041675113 Centerline is valid? [True, True] Translation: X:213.57, Y:3.50, Z:2.43 [[ 9.99022571e-01 -3.87697056e-02 -2.12323679e-02 2.13565460e+02] [ 3.87738602e-02 9.99247988e-01 -2.16121301e-04 3.49744068e+00] [ 2.12247799e-02 -6.07350809e-04 9.99774545e-01 2.43143687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.065099893 meters 0.017047650821778382 Centerline is valid? [True, True] Translation: X:213.60, Y:3.50, Z:2.43 [[ 9.99078557e-01 -3.68785108e-02 -2.19547808e-02 2.13595934e+02] [ 3.68824969e-02 9.99319584e-01 -2.23474640e-04 3.50151897e+00] [ 2.19480838e-02 -5.86478412e-04 9.99758940e-01 2.43309609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.095099893 meters 0.016675759060509554 Centerline is valid? [True, True] Translation: X:213.63, Y:3.50, Z:2.43 [[ 9.99140230e-01 -3.48806354e-02 -2.24085165e-02 2.13626814e+02] [ 3.48842859e-02 9.99391332e-01 -2.28093152e-04 3.50294754e+00] [ 2.24028332e-02 -5.53808051e-04 9.99748872e-01 2.43382929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.125099893 meters 0.01628068620115113 Centerline is valid? [True, True] Translation: X:213.66, Y:3.50, Z:2.43 [[ 9.99201087e-01 -3.21256596e-02 -2.37724443e-02 2.13656024e+02] [ 3.21289922e-02 9.99483701e-01 -2.41844928e-04 3.50435653e+00] [ 2.37679401e-02 -5.22132962e-04 9.99717366e-01 2.43384897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.155099893 meters 0.015917369778433874 Centerline is valid? [True, True] Translation: X:213.68, Y:3.51, Z:2.43 [[ 9.99198885e-01 -3.15926622e-02 -2.45660679e-02 2.13684817e+02] [ 3.15959886e-02 9.99500690e-01 -2.52831941e-04 3.50524900e+00] [ 2.45617895e-02 -5.23559809e-04 9.99698177e-01 2.43439251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18509989299997 meters 0.01606205523013908 Centerline is valid? [True, True] Translation: X:213.71, Y:3.50, Z:2.43 [[ 9.99196878e-01 -3.13065003e-02 -2.50100357e-02 2.13713091e+02] [ 3.13097515e-02 9.99509695e-01 -2.61680709e-04 3.50498910e+00] [ 2.50059654e-02 -5.21587453e-04 9.99687166e-01 2.43437948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21509989299997 meters 0.01604418024300503 Centerline is valid? [True, True] Translation: X:213.74, Y:3.50, Z:2.44 [[ 9.99183622e-01 -3.13335078e-02 -2.55009794e-02 2.13741238e+02] [ 3.13367737e-02 9.99508846e-01 -2.71643031e-04 3.50485196e+00] [ 2.54969660e-02 -5.27697153e-04 9.99674760e-01 2.43576743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24509989299997 meters 0.015587924847963933 Centerline is valid? [True, True] Translation: X:213.77, Y:3.51, Z:2.44 [[ 9.99161881e-01 -3.19456199e-02 -2.55932362e-02 2.13770095e+02] [ 3.19489344e-02 9.99489463e-01 -2.79490856e-04 3.50617132e+00] [ 2.55890984e-02 -5.38420014e-04 9.99672400e-01 2.43777079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27509989299998 meters 0.016452758651601344 Centerline is valid? [True, True] Translation: X:213.80, Y:3.50, Z:2.44 [[ 9.99181303e-01 -3.20339350e-02 -2.47093270e-02 2.13797502e+02] [ 3.20369489e-02 9.99486648e-01 -2.73983675e-04 3.50450855e+00] [ 2.47054191e-02 -5.17852082e-04 9.99694640e-01 2.43790833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30509989299998 meters 0.01561697843600037 Centerline is valid? [True, True] Translation: X:213.83, Y:3.51, Z:2.44 [[ 9.99148729e-01 -3.33961287e-02 -2.42180872e-02 2.13825838e+02] [ 3.33993239e-02 9.99442050e-01 -2.72660954e-04 3.50604947e+00] [ 2.42136806e-02 -5.36438895e-04 9.99706662e-01 2.44070663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33509989299998 meters 0.01608664786972049 Centerline is valid? [True, True] Translation: X:213.85, Y:3.51, Z:2.44 [[ 9.99134221e-01 -3.40619194e-02 -2.38871072e-02 2.13854667e+02] [ 3.40651242e-02 9.99419578e-01 -2.72857532e-04 3.50506325e+00] [ 2.38825366e-02 -5.41095975e-04 9.99714625e-01 2.44126678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36509989299998 meters 0.01603266342952474 Centerline is valid? [True, True] Translation: X:213.88, Y:3.51, Z:2.44 [[ 9.99105278e-01 -3.50171714e-02 -2.37158352e-02 2.13882994e+02] [ 3.50205109e-02 9.99386556e-01 -2.74629585e-04 3.50509689e+00] [ 2.37109036e-02 -5.56156796e-04 9.99718702e-01 2.44196274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39509989299998 meters 0.01659315255233634 Centerline is valid? [True, True] Translation: X:213.91, Y:3.50, Z:2.44 [[ 9.99028996e-01 -3.73795730e-02 -2.33202214e-02 2.13912862e+02] [ 3.73833640e-02 9.99300960e-01 -2.73522442e-04 3.50409261e+00] [ 2.33141438e-02 -5.98531475e-04 9.99728009e-01 2.44285595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42509989299998 meters 0.01709565898417092 Centerline is valid? [True, True] Translation: X:213.94, Y:3.50, Z:2.44 [[ 9.98963070e-01 -3.91044876e-02 -2.33157471e-02 2.13943477e+02] [ 3.91087361e-02 9.99234923e-01 -2.73915525e-04 3.50368095e+00] [ 2.33086200e-02 -6.38217904e-04 9.99728113e-01 2.44368066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45509989299998 meters 0.01814170223915766 Centerline is valid? [True, True] Translation: X:213.97, Y:3.50, Z:2.45 [[ 9.98806079e-01 -4.30714033e-02 -2.30493080e-02 2.13973886e+02] [ 4.30766102e-02 9.99071735e-01 -2.70785375e-04 3.50247244e+00] [ 2.30395752e-02 -7.22423978e-04 9.99734293e-01 2.44501485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48509989299998 meters 0.01814170223915766 Centerline is valid? [True, True] Translation: X:214.00, Y:3.50, Z:2.45 [[ 9.98807622e-01 -4.30356147e-02 -2.30493125e-02 2.14004745e+02] [ 4.30408210e-02 9.99073278e-01 -2.70402570e-04 3.50280630e+00] [ 2.30395891e-02 -7.21981184e-04 9.99734293e-01 2.44539651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51509989299998 meters 0.018532846387933222 Centerline is valid? [True, True] Translation: X:214.04, Y:3.50, Z:2.45 [[ 9.98691166e-01 -4.58760176e-02 -2.26129636e-02 2.14036014e+02] [ 4.58817739e-02 9.98946842e-01 -2.64476733e-04 3.50263928e+00] [ 2.26012817e-02 -7.73392308e-04 9.99744259e-01 2.44639979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54509989299999 meters 0.021197848889710432 Centerline is valid? [True, True] Translation: X:214.07, Y:3.50, Z:2.45 [[ 9.98574009e-01 -4.84321253e-02 -2.24561405e-02 2.14066772e+02] [ 4.84384675e-02 9.98826134e-01 -2.61745961e-04 3.49814698e+00] [ 2.24424569e-02 -8.26368316e-04 9.99747795e-01 2.44607858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.575099893 meters 0.020933612857250154 Centerline is valid? [True, True] Translation: X:214.10, Y:3.50, Z:2.45 [[ 9.98372527e-01 -5.22073137e-02 -2.29498007e-02 2.14097483e+02] [ 5.22149509e-02 9.98635833e-01 -2.66745235e-04 3.49902284e+00] [ 2.29324194e-02 -9.32011603e-04 9.99736583e-01 2.44715247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.605099893 meters 0.02204393397761739 Centerline is valid? [True, True] Translation: X:214.13, Y:3.50, Z:2.45 [[ 9.98189113e-01 -5.55114193e-02 -2.31727729e-02 2.14128883e+02] [ 5.55201083e-02 9.98457533e-01 -2.68723765e-04 3.49757567e+00] [ 2.31519469e-02 -1.01831772e-03 9.99731439e-01 2.44735587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.635099893 meters 0.02756769543198741 Centerline is valid? [True, True] Translation: X:214.16, Y:3.49, Z:2.45 [[ 9.97774391e-01 -6.23935260e-02 -2.35226035e-02 2.14158816e+02] [ 6.24043989e-02 9.98050909e-01 -2.72260204e-04 3.49020464e+00] [ 2.34937431e-02 -1.19625967e-03 9.99723268e-01 2.44670096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.665099893 meters 0.029244783689635314 Centerline is valid? [True, True] Translation: X:214.19, Y:3.49, Z:2.45 [[ 9.97548296e-01 -6.56757335e-02 -2.41680666e-02 2.14189833e+02] [ 6.56881786e-02 9.97840160e-01 -2.79449777e-04 3.48857054e+00] [ 2.41342205e-02 -1.30879163e-03 9.99707871e-01 2.44681903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.695099893 meters 0.026788569820768653 Centerline is valid? [True, True] Translation: X:214.22, Y:3.49, Z:2.45 [[ 9.97317361e-01 -6.89561018e-02 -2.45588610e-02 2.14220970e+02] [ 6.89699547e-02 9.97618697e-01 -2.83532975e-04 3.49292308e+00] [ 2.45199302e-02 -1.41105117e-03 9.99698345e-01 2.44783494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.725099893 meters 0.030329808548033608 Centerline is valid? [True, True] Translation: X:214.25, Y:3.49, Z:2.45 [[ 9.97155991e-01 -7.11426435e-02 -2.48727712e-02 2.14250822e+02] [ 7.11575363e-02 9.97465048e-01 -2.86931217e-04 3.48852694e+00] [ 2.48301330e-02 -1.48376994e-03 9.99690584e-01 2.44705515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.755099893 meters 0.03126832406254653 Centerline is valid? [True, True] Translation: X:214.28, Y:3.49, Z:2.45 [[ 9.96907776e-01 -7.42607427e-02 -2.56949004e-02 2.14282345e+02] [ 7.42776803e-02 9.97237554e-01 -2.95946578e-04 3.48884783e+00] [ 2.56458969e-02 -1.61352615e-03 9.99669788e-01 2.44684150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.785099893 meters 0.029489680481655074 Centerline is valid? [True, True] Translation: X:214.31, Y:3.49, Z:2.45 [[ 9.96844113e-01 -7.50780135e-02 -2.57896536e-02 2.14314165e+02] [ 7.50953849e-02 9.97176311e-01 -2.95630395e-04 3.49228567e+00] [ 2.57390270e-02 -1.64198654e-03 9.99667348e-01 2.44725475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.815099893 meters 0.02971993672685849 Centerline is valid? [True, True] Translation: X:214.35, Y:3.49, Z:2.45 [[ 9.96834463e-01 -7.52799672e-02 -2.55730389e-02 2.14345957e+02] [ 7.52971611e-02 9.97161097e-01 -2.91304948e-04 3.49305644e+00] [ 2.55223689e-02 -1.63519441e-03 9.99672914e-01 2.44757363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.845099893 meters 0.029714860415226384 Centerline is valid? [True, True] Translation: X:214.38, Y:3.50, Z:2.45 [[ 9.96901847e-01 -7.47002738e-02 -2.46287944e-02 2.14378467e+02] [ 7.47160875e-02 9.97204808e-01 -2.78802027e-04 3.49542392e+00] [ 2.45807788e-02 -1.56222891e-03 9.99696626e-01 2.44822469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.875099893 meters 0.03467611831304143 Centerline is valid? [True, True] Translation: X:214.41, Y:3.49, Z:2.45 [[ 9.96949166e-01 -7.42139710e-02 -2.41794696e-02 2.14410256e+02] [ 7.42291118e-02 9.97241177e-01 -2.71993771e-04 3.49038377e+00] [ 2.41329484e-02 -1.52365659e-03 9.99707597e-01 2.44753922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.905099893 meters 0.03056550875592185 Centerline is valid? [True, True] Translation: X:214.44, Y:3.50, Z:2.45 [[ 9.97015398e-01 -7.33976289e-02 -2.39391782e-02 2.14442498e+02] [ 7.34122764e-02 9.97301642e-01 -2.67591629e-04 3.49750323e+00] [ 2.38942223e-02 -1.49063659e-03 9.99713381e-01 2.44891483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93509989299997 meters 0.02961495304754743 Centerline is valid? [True, True] Translation: X:214.47, Y:3.50, Z:2.45 [[ 9.97138814e-01 -7.17258488e-02 -2.38660390e-02 2.14474243e+02] [ 7.17399653e-02 9.97423334e-01 -2.65282173e-04 3.50198195e+00] [ 2.38235718e-02 -1.44762566e-03 9.99715130e-01 2.44922645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96509989299997 meters 0.028211643939848274 Centerline is valid? [True, True] Translation: X:214.51, Y:3.51, Z:2.45 [[ 9.97197672e-01 -7.09399630e-02 -2.37555254e-02 2.14506283e+02] [ 7.09537620e-02 9.97479571e-01 -2.62573038e-04 3.50578395e+00] [ 2.37142782e-02 -1.42370667e-03 9.99717763e-01 2.45010624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99509989299997 meters 0.0350891238475544 Centerline is valid? [True, True] Translation: X:214.54, Y:3.50, Z:2.45 [[ 9.97255522e-01 -7.01912791e-02 -2.35501225e-02 2.14538029e+02] [ 7.02046721e-02 9.97532574e-01 -2.58615052e-04 3.49871413e+00] [ 2.35101668e-02 -1.39542334e-03 9.99722624e-01 2.44925866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02509989299998 meters 0.027436817537449684 Centerline is valid? [True, True] Translation: X:214.57, Y:3.51, Z:2.45 [[ 9.97328399e-01 -6.92081061e-02 -2.33731375e-02 2.14570414e+02] [ 6.92210685e-02 9.97601312e-01 -2.54996131e-04 3.51154565e+00] [ 2.33347204e-02 -1.36359867e-03 9.99726778e-01 2.45211800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05509989299998 meters 0.027841229186554687 Centerline is valid? [True, True] Translation: X:214.60, Y:3.52, Z:2.45 [[ 9.97465852e-01 -6.71833542e-02 -2.34151751e-02 2.14600886e+02] [ 6.71958329e-02 9.97739773e-01 -2.54360202e-04 3.51561406e+00] [ 2.33793403e-02 -1.31968658e-03 9.99725795e-01 2.45266946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08509989299998 meters 0.024423545448406615 Centerline is valid? [True, True] Translation: X:214.63, Y:3.52, Z:2.45 [[ 9.97559558e-01 -6.57453665e-02 -2.35047745e-02 2.14632918e+02] [ 6.57575676e-02 9.97835597e-01 -2.54284327e-04 3.52298933e+00] [ 2.34706187e-02 -1.29195304e-03 9.99723692e-01 2.45430260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11509989299998 meters 0.025520281199109058 Centerline is valid? [True, True] Translation: X:214.66, Y:3.52, Z:2.45 [[ 9.97674112e-01 -6.39839925e-02 -2.35035295e-02 2.14663323e+02] [ 6.39957545e-02 9.97950139e-01 -2.52160303e-04 3.52399112e+00] [ 2.34714848e-02 -1.25255230e-03 9.99723722e-01 2.45449541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14509989299998 meters 0.025098861369111915 Centerline is valid? [True, True] Translation: X:214.69, Y:3.53, Z:2.45 [[ 9.97943141e-01 -5.95994838e-02 -2.36090876e-02 2.14693296e+02] [ 5.96101593e-02 9.98221702e-01 -2.51959744e-04 3.53001185e+00] [ 2.35821203e-02 -1.15589998e-03 9.99721235e-01 2.45493492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17509989299998 meters 0.022671707344777817 Centerline is valid? [True, True] Translation: X:214.73, Y:3.54, Z:2.46 [[ 9.98113270e-01 -5.67729872e-02 -2.33822162e-02 2.14725263e+02] [ 5.67826985e-02 9.98386530e-01 -2.48940444e-04 3.53658798e+00] [ 2.33586227e-02 -1.07923457e-03 9.99726568e-01 2.45591159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20509989299998 meters 0.02288526558321374 Centerline is valid? [True, True] Translation: X:214.76, Y:3.54, Z:2.46 [[ 9.98288066e-01 -5.35558878e-02 -2.35096403e-02 2.14755935e+02] [ 5.35648402e-02 9.98564342e-01 -2.49221078e-04 3.53909257e+00] [ 2.34892358e-02 -1.01049570e-03 9.99723579e-01 2.45599821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23509989299998 meters 0.021677445783868387 Centerline is valid? [True, True] Translation: X:214.79, Y:3.54, Z:2.46 [[ 9.98480880e-01 -5.00298374e-02 -2.30856691e-02 2.14787567e+02] [ 5.00375519e-02 9.98747307e-01 -2.43723785e-04 3.54390652e+00] [ 2.30689433e-02 -9.11796827e-04 9.99733461e-01 2.45669691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26509989299998 meters 0.01830850499972346 Centerline is valid? [True, True] Translation: X:214.82, Y:3.55, Z:2.46 [[ 9.98834164e-01 -4.26552558e-02 -2.26018249e-02 2.14817799e+02] [ 4.26607796e-02 9.99089586e-01 -2.37933136e-04 3.55436242e+00] [ 2.25913970e-02 -7.26555725e-04 9.99744518e-01 2.45805913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29509989299999 meters 0.017387987862451115 Centerline is valid? [True, True] Translation: X:214.85, Y:3.56, Z:2.46 [[ 9.98996943e-01 -3.88138402e-02 -2.23291956e-02 2.14849504e+02] [ 3.88182859e-02 9.99246259e-01 -2.34476567e-04 3.55847727e+00] [ 2.23214661e-02 -6.32539723e-04 9.99750645e-01 2.45830358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.325099893 meters 0.016351506948453623 Centerline is valid? [True, True] Translation: X:214.88, Y:3.56, Z:2.46 [[ 9.99136211e-01 -3.51989062e-02 -2.20877448e-02 2.14880938e+02] [ 3.52023957e-02 9.99380177e-01 -2.30934585e-04 3.56287326e+00] [ 2.20821830e-02 -5.46806428e-04 9.99756009e-01 2.45879262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.355099893 meters 0.016072831307043213 Centerline is valid? [True, True] Translation: X:214.91, Y:3.57, Z:2.46 [[ 9.99261254e-01 -3.15282027e-02 -2.19753904e-02 2.14911835e+02] [ 3.15307869e-02 9.99502755e-01 -2.28973367e-04 3.56589954e+00] [ 2.19716824e-02 -4.64097140e-04 9.99758486e-01 2.45906558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.385099893 meters 0.01458448471751561 Centerline is valid? [True, True] Translation: X:214.94, Y:3.57, Z:2.46 [[ 9.99414431e-01 -2.59999273e-02 -2.22440923e-02 2.14942157e+02] [ 2.60012162e-02 9.99661884e-01 -2.31326153e-04 3.57422349e+00] [ 2.22425857e-02 -3.47182759e-04 9.99752543e-01 2.45957882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.415099893 meters 0.014251983450786612 Centerline is valid? [True, True] Translation: X:214.97, Y:3.58, Z:2.46 [[ 9.99453514e-01 -2.41780016e-02 -2.25410161e-02 2.14971493e+02] [ 2.41788538e-02 9.99707621e-01 -2.34773824e-04 3.57690658e+00] [ 2.25401020e-02 -3.10370410e-04 9.99745891e-01 2.45951392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.445099893 meters 0.014197804435265172 Centerline is valid? [True, True] Translation: X:215.00, Y:3.58, Z:2.46 [[ 9.99471674e-01 -2.31454929e-02 -2.28179728e-02 2.15000077e+02] [ 2.31460281e-02 9.99732066e-01 -2.40684096e-04 3.57904170e+00] [ 2.28174298e-02 -2.87588503e-04 9.99739607e-01 2.45925839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.475099893 meters 0.014141145890776413 Centerline is valid? [True, True] Translation: X:215.03, Y:3.58, Z:2.46 [[ 9.99496463e-01 -2.27099297e-02 -2.21602946e-02 2.15029235e+02] [ 2.27102082e-02 9.99742061e-01 -2.39127236e-04 3.58089874e+00] [ 2.21600091e-02 -2.64258077e-04 9.99754402e-01 2.45951665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.505099893 meters 0.01413053848679382 Centerline is valid? [True, True] Translation: X:215.06, Y:3.58, Z:2.46 [[ 9.99473261e-01 -2.35202096e-02 -2.23606715e-02 2.15058017e+02] [ 2.35205717e-02 9.99723323e-01 -2.46844128e-04 3.58090186e+00] [ 2.23602906e-02 -2.79221671e-04 9.99749938e-01 2.45956971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.535099893 meters 0.01419152238012685 Centerline is valid? [True, True] Translation: X:215.09, Y:3.58, Z:2.46 [[ 9.99451436e-01 -2.49257516e-02 -2.18067617e-02 2.15086562e+02] [ 2.49263133e-02 9.99689261e-01 -2.46096387e-04 3.58035580e+00] [ 2.18061196e-02 -2.97600787e-04 9.99762174e-01 2.46000004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.565099893 meters 0.015065300852284472 Centerline is valid? [True, True] Translation: X:215.11, Y:3.58, Z:2.46 [[ 9.99374133e-01 -2.82146417e-02 -2.13372049e-02 2.15114969e+02] [ 2.82158537e-02 9.99601824e-01 -2.44317918e-04 3.57596298e+00] [ 2.13356023e-02 -3.57882443e-04 9.99772306e-01 2.45970083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.595099893 meters 0.01510276253002898 Centerline is valid? [True, True] Translation: X:215.15, Y:3.58, Z:2.46 [[ 9.99321962e-01 -3.02456420e-02 -2.09956294e-02 2.15145013e+02] [ 3.02472465e-02 9.99542418e-01 -2.41211259e-04 3.57510239e+00] [ 2.09933177e-02 -3.94012269e-04 9.99779538e-01 2.46095123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.625099893 meters 0.015346228314422316 Centerline is valid? [True, True] Translation: X:215.18, Y:3.57, Z:2.46 [[ 9.99276924e-01 -3.23166236e-02 -2.00315974e-02 2.15175780e+02] [ 3.23184957e-02 9.99477594e-01 -2.30347672e-04 3.57413888e+00] [ 2.00285768e-02 -4.17209980e-04 9.99799321e-01 2.46218913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.655099893 meters 0.015809664827515463 Centerline is valid? [True, True] Translation: X:215.21, Y:3.57, Z:2.46 [[ 9.99222056e-01 -3.42828737e-02 -1.94927317e-02 2.15206818e+02] [ 3.42850254e-02 9.99412071e-01 -2.23893515e-04 3.57254711e+00] [ 1.94889471e-02 -4.44589464e-04 9.99809974e-01 2.46336863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68509989299997 meters 0.018247055990160348 Centerline is valid? [True, True] Translation: X:215.24, Y:3.57, Z:2.46 [[ 9.99157383e-01 -3.62032910e-02 -1.93351008e-02 2.15237853e+02] [ 3.62057831e-02 9.99344331e-01 -2.21262865e-04 3.56752552e+00] [ 1.93304338e-02 -4.78966040e-04 9.99813035e-01 2.46288245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71509989299997 meters 0.017763578314023285 Centerline is valid? [True, True] Translation: X:215.27, Y:3.57, Z:2.46 [[ 9.99065654e-01 -3.92711268e-02 -1.80443375e-02 2.15270113e+02] [ 3.92738156e-02 9.99228465e-01 -2.05467924e-04 3.56754253e+00] [ 1.80384846e-02 -5.03394036e-04 9.99837167e-01 2.46457119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74509989299997 meters 0.017410447268893584 Centerline is valid? [True, True] Translation: X:215.30, Y:3.57, Z:2.47 [[ 9.99030779e-01 -4.04092330e-02 -1.74527179e-02 2.15302039e+02] [ 4.04119429e-02 9.99183084e-01 -1.97521678e-04 3.56757129e+00] [ 1.74464422e-02 -5.07968005e-04 9.99847670e-01 2.46531531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77509989299998 meters 0.017543116193553462 Centerline is valid? [True, True] Translation: X:215.33, Y:3.57, Z:2.47 [[ 9.99001100e-01 -4.17164598e-02 -1.60168295e-02 2.15334209e+02] [ 4.17189272e-02 9.99129370e-01 -1.80187035e-04 3.56662273e+00] [ 1.60104016e-02 -4.88197899e-04 9.99871706e-01 2.46655671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80509989299998 meters 0.01907310769866315 Centerline is valid? [True, True] Translation: X:215.37, Y:3.56, Z:2.47 [[ 9.98939680e-01 -4.37358587e-02 -1.43767593e-02 2.15365178e+02] [ 4.37380687e-02 9.99043020e-01 -1.60819915e-04 3.56167513e+00] [ 1.43700346e-02 -4.68162291e-04 9.99896636e-01 2.46772211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83509989299998 meters 0.01907824411204166 Centerline is valid? [True, True] Translation: X:215.40, Y:3.56, Z:2.47 [[ 9.98897206e-01 -4.45804647e-02 -1.47293647e-02 2.15397734e+02] [ 4.45828887e-02 9.99005675e-01 -1.63907384e-04 3.56036880e+00] [ 1.47220260e-02 -4.92951000e-04 9.99891504e-01 2.46781121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86509989299998 meters 0.01957036656207247 Centerline is valid? [True, True] Translation: X:215.43, Y:3.56, Z:2.47 [[ 9.98867127e-01 -4.51972053e-02 -1.48887735e-02 2.15428463e+02] [ 4.51997651e-02 9.98977955e-01 -1.64696995e-04 3.55842180e+00] [ 1.48810004e-02 -5.08458651e-04 9.99889143e-01 2.46779612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89509989299998 meters 0.01943361228669366 Centerline is valid? [True, True] Translation: X:215.46, Y:3.56, Z:2.47 [[ 9.98863211e-01 -4.54901768e-02 -1.42453219e-02 2.15460750e+02] [ 4.54925578e-02 9.98964665e-01 -1.57022684e-04 3.55688388e+00] [ 1.42377162e-02 -4.91211946e-04 9.99898518e-01 2.46841454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92509989299998 meters 0.019178061718456436 Centerline is valid? [True, True] Translation: X:215.49, Y:3.56, Z:2.47 [[ 9.98855823e-01 -4.57283376e-02 -1.39987474e-02 2.15493252e+02] [ 4.57306741e-02 9.98953794e-01 -1.53318678e-04 3.55696725e+00] [ 1.39911128e-02 -4.87028901e-04 9.99902001e-01 2.46936881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95509989299998 meters 0.019242293294752178 Centerline is valid? [True, True] Translation: X:215.53, Y:3.56, Z:2.47 [[ 9.98856076e-01 -4.57296519e-02 -1.39763192e-02 2.15526654e+02] [ 4.57319959e-02 9.98953733e-01 -1.52006920e-04 3.55646311e+00] [ 1.39686475e-02 -4.87331935e-04 9.99902315e-01 2.46962436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98509989299998 meters 0.019492061803872304 Centerline is valid? [True, True] Translation: X:215.56, Y:3.56, Z:2.47 [[ 9.98848438e-01 -4.58099381e-02 -1.42565079e-02 2.15558787e+02] [ 4.58124066e-02 9.98950049e-01 -1.53550599e-04 3.55567392e+00] [ 1.42485734e-02 -4.99751161e-04 9.99898359e-01 2.46965133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01509989299998 meters 0.02069033853135322 Centerline is valid? [True, True] Translation: X:215.59, Y:3.55, Z:2.47 [[ 9.98830069e-01 -4.55531975e-02 -1.62295830e-02 2.15590847e+02] [ 4.55563849e-02 9.98961754e-01 -1.73448489e-04 3.55201589e+00] [ 1.62206339e-02 -5.66115566e-04 9.99868277e-01 2.46797774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04509989299999 meters 0.020123341586030387 Centerline is valid? [True, True] Translation: X:215.62, Y:3.55, Z:2.47 [[ 9.98833822e-01 -4.51636353e-02 -1.70658186e-02 2.15623377e+02] [ 4.51671284e-02 9.98979428e-01 -1.80894455e-04 3.55224236e+00] [ 1.70565716e-02 -5.90130522e-04 9.99854352e-01 2.46736994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.075099893 meters 0.020406810379824072 Centerline is valid? [True, True] Translation: X:215.65, Y:3.55, Z:2.47 [[ 9.98850740e-01 -4.46091539e-02 -1.75277395e-02 2.15654758e+02] [ 4.46127738e-02 9.99004337e-01 -1.84625985e-04 3.55127757e+00] [ 1.75185238e-02 -5.97547276e-04 9.99846360e-01 2.46671697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.105099893 meters 0.02027858813906833 Centerline is valid? [True, True] Translation: X:215.69, Y:3.55, Z:2.47 [[ 9.98892016e-01 -4.35985517e-02 -1.77174216e-02 2.15686634e+02] [ 4.36021098e-02 9.99048959e-01 -1.85599185e-04 3.55130301e+00] [ 1.77086635e-02 -5.87123420e-04 9.99843017e-01 2.46692762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.135099893 meters 0.018472227499887597 Centerline is valid? [True, True] Translation: X:215.72, Y:3.55, Z:2.47 [[ 9.98993722e-01 -4.06883494e-02 -1.88680265e-02 2.15718180e+02] [ 4.06918877e-02 9.99171723e-01 -1.96513087e-04 3.55429590e+00] [ 1.88603943e-02 -5.71460275e-04 9.99821964e-01 2.46734371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.165099893 meters 0.017850688826385932 Centerline is valid? [True, True] Translation: X:215.75, Y:3.56, Z:2.47 [[ 9.99055657e-01 -3.86318723e-02 -1.98839942e-02 2.15750309e+02] [ 3.86354149e-02 9.99253352e-01 -2.06102382e-04 3.55556091e+00] [ 1.98771100e-02 -5.62318614e-04 9.99802273e-01 2.46706690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.195099893 meters 0.016859546993546224 Centerline is valid? [True, True] Translation: X:215.78, Y:3.56, Z:2.47 [[ 9.99140691e-01 -3.61483170e-02 -2.02775327e-02 2.15782183e+02] [ 3.61515167e-02 9.99346298e-01 -2.08870078e-04 3.55745898e+00] [ 2.02718276e-02 -5.24372970e-04 9.99794368e-01 2.46726144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.225099893 meters 0.016189054159937648 Centerline is valid? [True, True] Translation: X:215.81, Y:3.56, Z:2.47 [[ 9.99335609e-01 -3.03678400e-02 -2.01528047e-02 2.15812481e+02] [ 3.03698416e-02 9.99538709e-01 -2.06790166e-04 3.55926176e+00] [ 2.01497881e-02 -4.05384710e-04 9.99796890e-01 2.46757415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.255099893 meters 0.015121872727740768 Centerline is valid? [True, True] Translation: X:215.84, Y:3.56, Z:2.47 [[ 9.99436506e-01 -2.73272527e-02 -1.94907945e-02 2.15843215e+02] [ 2.73285510e-02 9.99626485e-01 -1.99783998e-04 3.56210735e+00] [ 1.94889739e-02 -3.32983752e-04 9.99810016e-01 2.46871613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.285099893 meters 0.013917516904841255 Centerline is valid? [True, True] Translation: X:215.87, Y:3.57, Z:2.47 [[ 9.99592229e-01 -2.18947659e-02 -1.83301818e-02 2.15873216e+02] [ 2.18949990e-02 9.99760258e-01 -1.87992817e-04 3.56642768e+00] [ 1.83299033e-02 -2.13423153e-04 9.99831970e-01 2.47099278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.315099893 meters 0.01362722319176453 Centerline is valid? [True, True] Translation: X:215.90, Y:3.57, Z:2.47 [[ 9.99648521e-01 -1.95195460e-02 -1.79393861e-02 2.15903168e+02] [ 1.95193794e-02 9.99809462e-01 -1.84395765e-04 3.56783685e+00] [ 1.79395673e-02 -1.65834731e-04 9.99839059e-01 2.47209526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.345099893 meters 0.013303405223071062 Centerline is valid? [True, True] Translation: X:215.93, Y:3.57, Z:2.47 [[ 9.99734936e-01 -1.59740277e-02 -1.65797573e-02 2.15931413e+02] [ 1.59733875e-02 9.99872403e-01 -1.71046814e-04 3.56817568e+00] [ 1.65803741e-02 -9.38334124e-05 9.99862532e-01 2.47261275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.375099893 meters 0.013303405223071062 Centerline is valid? [True, True] Translation: X:215.96, Y:3.57, Z:2.47 [[ 9.99730453e-01 -1.62521887e-02 -1.65797383e-02 2.15958796e+02] [ 1.62515566e-02 9.99867920e-01 -1.72870562e-04 3.56852898e+00] [ 1.65803579e-02 -9.66225885e-05 9.99862532e-01 2.47295164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.405099893 meters 0.013183484173341567 Centerline is valid? [True, True] Translation: X:215.99, Y:3.57, Z:2.47 [[ 9.99759730e-01 -1.54573766e-02 -1.55419373e-02 2.15986167e+02] [ 1.54566685e-02 9.99880525e-01 -1.65686374e-04 3.56762854e+00] [ 1.55426415e-02 -7.45800085e-05 9.99879203e-01 2.47340953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43509989299997 meters 0.01319836268666817 Centerline is valid? [True, True] Translation: X:216.02, Y:3.57, Z:2.47 [[ 9.99749224e-01 -1.60811797e-02 -1.55847778e-02 2.16015394e+02] [ 1.60805064e-02 9.99870686e-01 -1.68520170e-04 3.56663833e+00] [ 1.55854724e-02 -8.21332093e-05 9.99878536e-01 2.47390645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46509989299997 meters 0.013302626775955333 Centerline is valid? [True, True] Translation: X:216.04, Y:3.57, Z:2.47 [[ 9.99734814e-01 -1.75691119e-02 -1.48871458e-02 2.16043840e+02] [ 1.75686113e-02 9.99845647e-01 -1.64411499e-04 3.56504611e+00] [ 1.48877364e-02 -9.71785777e-05 9.99889167e-01 2.47405347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49509989299997 meters 0.013534250246264137 Centerline is valid? [True, True] Translation: X:216.07, Y:3.56, Z:2.47 [[ 9.99690327e-01 -1.94314647e-02 -1.55456710e-02 2.16073645e+02] [ 1.94310946e-02 9.99811183e-01 -1.74871142e-04 3.56306230e+00] [ 1.55461337e-02 -1.27252414e-04 9.99879143e-01 2.47404636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52509989299998 meters 0.013915217791890576 Centerline is valid? [True, True] Translation: X:216.10, Y:3.56, Z:2.47 [[ 9.99632625e-01 -2.21215701e-02 -1.56604772e-02 2.16103182e+02] [ 2.21215161e-02 9.99755274e-01 -1.76694828e-04 3.56053730e+00] [ 1.56605535e-02 -1.69803584e-04 9.99877352e-01 2.47376676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55509989299998 meters 0.014355499810302569 Centerline is valid? [True, True] Translation: X:216.13, Y:3.56, Z:2.47 [[ 9.99553184e-01 -2.52060577e-02 -1.60650651e-02 2.16133895e+02] [ 2.52063923e-02 9.99682252e-01 -1.81685999e-04 3.55823483e+00] [ 1.60645401e-02 -2.23337515e-04 9.99870932e-01 2.47389673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58509989299998 meters 0.014836089068256057 Centerline is valid? [True, True] Translation: X:216.16, Y:3.56, Z:2.47 [[ 9.99467464e-01 -2.85606499e-02 -1.57821744e-02 2.16164249e+02] [ 2.85613909e-02 9.99592024e-01 -1.78486680e-04 3.55612672e+00] [ 1.57808334e-02 -2.72369224e-04 9.99875438e-01 2.47419847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61509989299998 meters 0.01566716215325798 Centerline is valid? [True, True] Translation: X:216.19, Y:3.55, Z:2.47 [[ 9.99356691e-01 -3.19786237e-02 -1.62349179e-02 2.16194907e+02] [ 3.19798609e-02 9.99488497e-01 -1.83471406e-04 3.55298522e+00] [ 1.62324809e-02 -3.35837039e-04 9.99868188e-01 2.47399704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64509989299998 meters 0.017411380547802974 Centerline is valid? [True, True] Translation: X:216.23, Y:3.55, Z:2.47 [[ 9.99129892e-01 -3.84579026e-02 -1.61384252e-02 2.16226457e+02] [ 3.84599786e-02 9.99260125e-01 -1.81818681e-04 3.54775639e+00] [ 1.61334772e-02 -4.39023010e-04 9.99869751e-01 2.47339511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67509989299998 meters 0.018944010980151044 Centerline is valid? [True, True] Translation: X:216.26, Y:3.54, Z:2.47 [[ 9.99005332e-01 -4.14996882e-02 -1.63132759e-02 2.16257424e+02] [ 4.15022251e-02 9.99138395e-01 -1.83145655e-04 3.54464240e+00] [ 1.63068208e-02 -4.94073763e-04 9.99866913e-01 2.47340768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70509989299998 meters 0.019601841709789018 Centerline is valid? [True, True] Translation: X:216.29, Y:3.54, Z:2.47 [[ 9.98763682e-01 -4.71185752e-02 -1.58413068e-02 2.16288651e+02] [ 4.71216841e-02 9.98889141e-01 -1.77157209e-04 3.54234126e+00] [ 1.58320568e-02 -5.69530870e-04 9.99874503e-01 2.47417437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73509989299998 meters 0.02270731011710434 Centerline is valid? [True, True] Translation: X:216.32, Y:3.54, Z:2.47 [[ 9.98661418e-01 -4.93808102e-02 -1.53918165e-02 2.16319801e+02] [ 4.93840192e-02 9.98779850e-01 -1.71754770e-04 3.53683568e+00] [ 1.53815176e-02 -5.88584900e-04 9.99881524e-01 2.47453914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76509989299998 meters 0.021794890726764878 Centerline is valid? [True, True] Translation: X:216.35, Y:3.54, Z:2.47 [[ 9.98463707e-01 -5.33848362e-02 -1.48419906e-02 2.16350870e+02] [ 5.33882716e-02 9.98573816e-01 -1.64939068e-04 3.53653466e+00] [ 1.48296284e-02 -6.27702552e-04 9.99889838e-01 2.47499540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79509989299999 meters 0.026034310145557536 Centerline is valid? [True, True] Translation: X:216.38, Y:3.53, Z:2.48 [[ 9.98365962e-01 -5.50940361e-02 -1.51675152e-02 2.16382366e+02] [ 5.50978264e-02 9.98480947e-01 -1.68181528e-04 3.52947714e+00] [ 1.51537407e-02 -6.67790407e-04 9.99884952e-01 2.47501303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.825099893 meters 0.02270369357196796 Centerline is valid? [True, True] Translation: X:216.41, Y:3.53, Z:2.48 [[ 9.98233801e-01 -5.73423360e-02 -1.55285383e-02 2.16414038e+02] [ 5.73465935e-02 9.98354315e-01 -1.71337002e-04 3.53258951e+00] [ 1.55128081e-02 -7.19474387e-04 9.99879410e-01 2.47522776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.855099893 meters 0.02248830543745077 Centerline is valid? [True, True] Translation: X:216.45, Y:3.53, Z:2.48 [[ 9.98205237e-01 -5.79334874e-02 -1.51662745e-02 2.16445924e+02] [ 5.79376297e-02 9.98320191e-01 -1.66478633e-04 3.53273291e+00] [ 1.51504427e-02 -7.12518152e-04 9.99884972e-01 2.47561414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.885099893 meters 0.026175126868209976 Centerline is valid? [True, True] Translation: X:216.48, Y:3.53, Z:2.48 [[ 9.98173610e-01 -5.85172063e-02 -1.50060443e-02 2.16477278e+02] [ 5.85213429e-02 9.98286144e-01 -1.63680971e-04 3.52729979e+00] [ 1.49899042e-02 -7.14791837e-04 9.99887390e-01 2.47604835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.915099893 meters 0.024290605635337328 Centerline is valid? [True, True] Translation: X:216.51, Y:3.53, Z:2.48 [[ 9.98164735e-01 -5.87342461e-02 -1.47462097e-02 2.16509837e+02] [ 5.87382765e-02 9.98273404e-01 -1.60013372e-04 3.52976959e+00] [ 1.47301473e-02 -7.06447240e-04 9.99891256e-01 2.47700665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.945099893 meters 0.023973104284305737 Centerline is valid? [True, True] Translation: X:216.54, Y:3.53, Z:2.48 [[ 9.98180863e-01 -5.85942661e-02 -1.42012845e-02 2.16542127e+02] [ 5.85980038e-02 9.98281649e-01 -1.53120449e-04 3.53000262e+00] [ 1.41858537e-02 -6.79325022e-04 9.99899145e-01 2.47748616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.975099893 meters 0.024499041248924477 Centerline is valid? [True, True] Translation: X:216.57, Y:3.53, Z:2.48 [[ 9.98198481e-01 -5.82608365e-02 -1.43341226e-02 2.16573103e+02] [ 5.82646246e-02 9.98301162e-01 -1.53552808e-04 3.52897615e+00] [ 1.43187173e-02 -6.81896090e-04 9.99897249e-01 2.47786687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.005099893 meters 0.023079608935789343 Centerline is valid? [True, True] Translation: X:216.61, Y:3.53, Z:2.48 [[ 9.98246741e-01 -5.73299547e-02 -1.47214090e-02 2.16605793e+02] [ 5.73338623e-02 9.98355049e-01 -1.56812534e-04 3.53106751e+00] [ 1.47061830e-02 -6.87497633e-04 9.99891622e-01 2.47853385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.035099893 meters 0.02226596431534043 Centerline is valid? [True, True] Translation: X:216.64, Y:3.53, Z:2.48 [[ 9.98374078e-01 -5.48963017e-02 -1.53491287e-02 2.16637291e+02] [ 5.49002821e-02 9.98491829e-01 -1.62230578e-04 3.53303372e+00] [ 1.53348854e-02 -6.80704690e-04 9.99882182e-01 2.47880128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.065099893 meters 0.024600208111338798 Centerline is valid? [True, True] Translation: X:216.67, Y:3.53, Z:2.48 [[ 9.98470073e-01 -5.29130886e-02 -1.60536005e-02 2.16667910e+02] [ 5.29171955e-02 9.98598889e-01 -1.69144658e-04 3.53037354e+00] [ 1.60400576e-02 -6.80625639e-04 9.99871118e-01 2.47854120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.095099893 meters 0.020637412491186245 Centerline is valid? [True, True] Translation: X:216.70, Y:3.54, Z:2.48 [[ 9.98661628e-01 -4.88126744e-02 -1.70960749e-02 2.16699702e+02] [ 4.88167423e-02 9.98807736e-01 -1.79542289e-04 3.53799622e+00] [ 1.70844558e-02 -6.55272687e-04 9.99853835e-01 2.47860625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.125099893 meters 0.019371358565023592 Centerline is valid? [True, True] Translation: X:216.73, Y:3.54, Z:2.48 [[ 9.98757895e-01 -4.65681790e-02 -1.77220784e-02 2.16731686e+02] [ 4.65722212e-02 9.98914908e-01 -1.84776262e-04 3.54102474e+00] [ 1.77114530e-02 -6.40809804e-04 9.99842935e-01 2.47875386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.155099893 meters 0.019566659709534036 Centerline is valid? [True, True] Translation: X:216.76, Y:3.54, Z:2.48 [[ 9.98851673e-01 -4.41697599e-02 -1.85571635e-02 2.16762798e+02] [ 4.41738022e-02 9.99023843e-01 -1.92220188e-04 3.54187901e+00] [ 1.85475391e-02 -6.27741012e-04 9.99827783e-01 2.47851970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18509989299997 meters 0.01788299767110988 Centerline is valid? [True, True] Translation: X:216.79, Y:3.55, Z:2.48 [[ 9.99033019e-01 -3.95795045e-02 -1.91439450e-02 2.16793941e+02] [ 3.95829823e-02 9.99216267e-01 -1.97373962e-04 3.54704864e+00] [ 1.91367533e-02 -5.60591332e-04 9.99816718e-01 2.47854742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21509989299997 meters 0.016609005642383375 Centerline is valid? [True, True] Translation: X:216.83, Y:3.55, Z:2.48 [[ 9.99116649e-01 -3.72658491e-02 -1.94210523e-02 2.16825276e+02] [ 3.72690051e-02 9.99305249e-01 -1.99530589e-04 3.55082975e+00] [ 1.94149952e-02 -5.24448963e-04 9.99811374e-01 2.47915603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24509989299997 meters 0.016206221649899374 Centerline is valid? [True, True] Translation: X:216.86, Y:3.55, Z:2.48 [[ 9.99194422e-01 -3.50280617e-02 -1.95842129e-02 2.16856775e+02] [ 3.50308554e-02 9.99386211e-01 -2.00497372e-04 3.55298239e+00] [ 1.95792154e-02 -4.85715874e-04 9.99808191e-01 2.47938083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27509989299998 meters 0.01601820549285394 Centerline is valid? [True, True] Translation: X:216.89, Y:3.55, Z:2.48 [[ 9.99275523e-01 -3.27224099e-02 -1.94338254e-02 2.16887307e+02] [ 3.27247433e-02 9.99464383e-01 -1.98018009e-04 3.55489575e+00] [ 1.94298959e-02 -4.38092397e-04 9.99811126e-01 2.47987027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30509989299998 meters 0.015183795681295216 Centerline is valid? [True, True] Translation: X:216.92, Y:3.56, Z:2.48 [[ 9.99421106e-01 -2.89102633e-02 -1.79346108e-02 2.16918140e+02] [ 2.89116531e-02 9.99581954e-01 -1.81836760e-04 3.55899083e+00] [ 1.79323703e-02 -3.36787752e-04 9.99839145e-01 2.48127888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33509989299998 meters 0.014620434163398473 Centerline is valid? [True, True] Translation: X:216.95, Y:3.56, Z:2.48 [[ 9.99470582e-01 -2.72442723e-02 -1.77849884e-02 2.16949193e+02] [ 2.72453827e-02 9.99628759e-01 -1.79909405e-04 3.56114288e+00] [ 1.77832874e-02 -3.04744656e-04 9.99841818e-01 2.48217027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36509989299998 meters 0.01438006080199526 Centerline is valid? [True, True] Translation: X:216.98, Y:3.56, Z:2.48 [[ 9.99517035e-01 -2.56982194e-02 -1.74727773e-02 2.16979624e+02] [ 2.56990625e-02 9.99669709e-01 -1.76316408e-04 3.56265959e+00] [ 1.74715372e-02 -2.72802742e-04 9.99847324e-01 2.48302394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39509989299998 meters 0.014669515856964402 Centerline is valid? [True, True] Translation: X:217.01, Y:3.56, Z:2.48 [[ 9.99554804e-01 -2.43132068e-02 -1.72934246e-02 2.17008982e+02] [ 2.43138239e-02 9.99704360e-01 -1.74594146e-04 3.56256413e+00] [ 1.72925569e-02 -2.45952863e-04 9.99850442e-01 2.48319917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42509989299998 meters 0.01387188755080041 Centerline is valid? [True, True] Translation: X:217.04, Y:3.57, Z:2.48 [[ 9.99579233e-01 -2.32453077e-02 -1.73497261e-02 2.17039470e+02] [ 2.32457642e-02 9.99729765e-01 -1.75383012e-04 3.56541424e+00] [ 1.73491144e-02 -2.27998425e-04 9.99849467e-01 2.48427408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45509989299998 meters 0.01395776341092207 Centerline is valid? [True, True] Translation: X:217.07, Y:3.57, Z:2.48 [[ 9.99610834e-01 -2.20958542e-02 -1.70280104e-02 2.17068661e+02] [ 2.20961258e-02 9.99755836e-01 -1.72215501e-04 3.56572525e+00] [ 1.70276580e-02 -2.04104578e-04 9.99854998e-01 2.48438610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48509989299998 meters 0.013747448717829043 Centerline is valid? [True, True] Translation: X:217.10, Y:3.57, Z:2.48 [[ 9.99617913e-01 -2.18770336e-02 -1.68944878e-02 2.17097894e+02] [ 2.18772481e-02 9.99760650e-01 -1.72141262e-04 3.56664007e+00] [ 1.68942100e-02 -1.97529411e-04 9.99857263e-01 2.48462813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51509989299998 meters 0.0138230395626796 Centerline is valid? [True, True] Translation: X:217.13, Y:3.57, Z:2.48 [[ 9.99595303e-01 -2.25247695e-02 -1.73742647e-02 2.17127799e+02] [ 2.25250397e-02 9.99746263e-01 -1.80166066e-04 3.56605714e+00] [ 1.73739144e-02 -2.11262850e-04 9.99849040e-01 2.48431123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54509989299999 meters 0.01393930235196542 Centerline is valid? [True, True] Translation: X:217.16, Y:3.57, Z:2.48 [[ 9.99570696e-01 -2.33993174e-02 -1.76322558e-02 2.17157026e+02] [ 2.33997205e-02 9.99726172e-01 -1.83474834e-04 3.56542370e+00] [ 1.76317208e-02 -2.29193789e-04 9.99844523e-01 2.48424236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.575099893 meters 0.014062797737419391 Centerline is valid? [True, True] Translation: X:217.19, Y:3.57, Z:2.48 [[ 9.99541636e-01 -2.46009009e-02 -1.76441038e-02 2.17186549e+02] [ 2.46014806e-02 9.99697321e-01 -1.84227160e-04 3.56504391e+00] [ 1.76432955e-02 -2.49928360e-04 9.99844314e-01 2.48431529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.605099893 meters 0.01454748866957097 Centerline is valid? [True, True] Translation: X:217.22, Y:3.56, Z:2.48 [[ 9.99467713e-01 -2.68130930e-02 -1.85835733e-02 2.17215891e+02] [ 2.68141077e-02 9.99640418e-01 -1.94615979e-04 3.56284935e+00] [ 1.85821093e-02 -3.03789548e-04 9.99827292e-01 2.48370440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.635099893 meters 0.015060895862873083 Centerline is valid? [True, True] Translation: X:217.25, Y:3.56, Z:2.48 [[ 9.99436555e-01 -2.79677723e-02 -1.85573568e-02 2.17245196e+02] [ 2.79689786e-02 9.99608773e-01 -1.94579603e-04 3.56199842e+00] [ 1.85555387e-02 -3.24560349e-04 9.99827778e-01 2.48393698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.665099893 meters 0.01491484602297799 Centerline is valid? [True, True] Translation: X:217.28, Y:3.56, Z:2.48 [[ 9.99422774e-01 -2.85149522e-02 -1.84666372e-02 2.17276165e+02] [ 2.85162394e-02 9.99593311e-01 -1.93663679e-04 3.56265314e+00] [ 1.84646493e-02 -3.33047157e-04 9.99829458e-01 2.48488901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.695099893 meters 0.014878532125824611 Centerline is valid? [True, True] Translation: X:217.31, Y:3.56, Z:2.49 [[ 9.99432767e-01 -2.84108424e-02 -1.80822915e-02 2.17306249e+02] [ 2.84120596e-02 9.99596278e-01 -1.89632961e-04 3.56305936e+00] [ 1.80803789e-02 -3.24229749e-04 9.99836484e-01 2.48576324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.725099893 meters 0.014943323642630544 Centerline is valid? [True, True] Translation: X:217.34, Y:3.56, Z:2.49 [[ 9.99464538e-01 -2.78130134e-02 -1.72358178e-02 2.17336885e+02] [ 2.78140355e-02 9.99613099e-01 -1.80456839e-04 3.56241369e+00] [ 1.72341683e-02 -2.99037438e-04 9.99851436e-01 2.48661629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.755099893 meters 0.01464512841099493 Centerline is valid? [True, True] Translation: X:217.37, Y:3.56, Z:2.49 [[ 9.99492176e-01 -2.72317477e-02 -1.65475964e-02 2.17367900e+02] [ 2.72326247e-02 9.99629108e-01 -1.72375756e-04 3.56278337e+00] [ 1.65461531e-02 -2.78346263e-04 9.99863064e-01 2.48742229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.785099893 meters 0.014727437545055403 Centerline is valid? [True, True] Translation: X:217.40, Y:3.56, Z:2.49 [[ 9.99508968e-01 -2.68789363e-02 -1.61042386e-02 2.17397996e+02] [ 2.68797289e-02 9.99638661e-01 -1.67269750e-04 3.56248052e+00] [ 1.61029155e-02 -2.65689953e-04 9.99870304e-01 2.48819462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.815099893 meters 0.014070586430109307 Centerline is valid? [True, True] Translation: X:217.43, Y:3.56, Z:2.49 [[ 9.99530220e-01 -2.64033189e-02 -1.55629371e-02 2.17429593e+02] [ 2.64040065e-02 9.99651340e-01 -1.61322323e-04 3.56375947e+00] [ 1.55617704e-02 -2.49677357e-04 9.99878877e-01 2.48936961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.845099893 meters 0.014586589364002124 Centerline is valid? [True, True] Translation: X:217.46, Y:3.56, Z:2.49 [[ 9.99530489e-01 -2.61724690e-02 -1.59312339e-02 2.17460057e+02] [ 2.61731713e-02 9.99657410e-01 -1.64454183e-04 3.56163290e+00] [ 1.59300801e-02 -2.52593942e-04 9.99873076e-01 2.48921032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.875099893 meters 0.014523760277533902 Centerline is valid? [True, True] Translation: X:217.49, Y:3.56, Z:2.49 [[ 9.99528110e-01 -2.61064766e-02 -1.61866812e-02 2.17491070e+02] [ 2.61072078e-02 9.99659135e-01 -1.66168367e-04 3.56123849e+00] [ 1.61855018e-02 -2.56499095e-04 9.99868973e-01 2.48916914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.905099893 meters 0.01447307623692175 Centerline is valid? [True, True] Translation: X:217.52, Y:3.56, Z:2.49 [[ 9.99490243e-01 -2.72712781e-02 -1.65991177e-02 2.17521524e+02] [ 2.72722150e-02 9.99628030e-01 -1.69959496e-04 3.56008194e+00] [ 1.65975783e-02 -2.82821847e-04 9.99862211e-01 2.48927420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93509989299997 meters 0.014861828729738914 Centerline is valid? [True, True] Translation: X:217.55, Y:3.56, Z:2.49 [[ 9.99456120e-01 -2.79429930e-02 -1.75115477e-02 2.17552279e+02] [ 2.79441440e-02 9.99609470e-01 -1.79005263e-04 3.55823685e+00] [ 1.75097109e-02 -3.10437305e-04 9.99846645e-01 2.48889631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96509989299997 meters 0.014916585774083597 Centerline is valid? [True, True] Translation: X:217.58, Y:3.56, Z:2.49 [[ 9.99423404e-01 -2.88612151e-02 -1.78854900e-02 2.17583136e+02] [ 2.88625758e-02 9.99583372e-01 -1.82099701e-04 3.55705147e+00] [ 1.78832940e-02 -3.34226608e-04 9.99840025e-01 2.48860958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99509989299997 meters 0.015386687141658846 Centerline is valid? [True, True] Translation: X:217.61, Y:3.55, Z:2.49 [[ 9.99366085e-01 -3.03218517e-02 -1.86551420e-02 2.17613702e+02] [ 3.03235885e-02 9.99540116e-01 -1.89825209e-04 3.55492477e+00] [ 1.86523187e-02 -3.75985975e-04 9.99825960e-01 2.48840477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02509989299998 meters 0.01576136282175083 Centerline is valid? [True, True] Translation: X:217.64, Y:3.55, Z:2.49 [[ 9.99264501e-01 -3.29131317e-02 -1.96769414e-02 2.17644492e+02] [ 3.29155707e-02 9.99458116e-01 -1.99993092e-04 3.55228086e+00] [ 1.96728612e-02 -4.47831758e-04 9.99806370e-01 2.48836961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05509989299998 meters 0.016087876669778577 Centerline is valid? [True, True] Translation: X:217.68, Y:3.55, Z:2.49 [[ 9.99214962e-01 -3.42809653e-02 -1.98563708e-02 2.17675369e+02] [ 3.42837215e-02 9.99412120e-01 -2.01683393e-04 3.55122436e+00] [ 1.98516115e-02 -4.79225221e-04 9.99802822e-01 2.48869161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08509989299998 meters 0.017482785416449643 Centerline is valid? [True, True] Translation: X:217.71, Y:3.55, Z:2.49 [[ 9.99156075e-01 -3.55810162e-02 -2.05214055e-02 2.17705400e+02] [ 3.55842419e-02 9.99366659e-01 -2.08066608e-04 3.54806154e+00] [ 2.05158117e-02 -5.22347641e-04 9.99789392e-01 2.48799641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11509989299998 meters 0.01670593247439192 Centerline is valid? [True, True] Translation: X:217.74, Y:3.55, Z:2.49 [[ 9.99116183e-01 -3.62875356e-02 -2.12147864e-02 2.17736844e+02] [ 3.62911536e-02 9.99341236e-01 -2.14558032e-04 3.54934636e+00] [ 2.12085966e-02 -5.55540669e-04 9.99774918e-01 2.48859466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14509989299998 meters 0.01707128222620672 Centerline is valid? [True, True] Translation: X:217.77, Y:3.55, Z:2.49 [[ 9.99077406e-01 -3.72099952e-02 -2.14418649e-02 2.17767149e+02] [ 3.72139129e-02 9.99307299e-01 -2.16412639e-04 3.54893545e+00] [ 2.14350648e-02 -5.81722714e-04 9.99770073e-01 2.48852559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17509989299998 meters 0.016782074495590736 Centerline is valid? [True, True] Translation: X:217.80, Y:3.55, Z:2.49 [[ 9.99062505e-01 -3.73215250e-02 -2.19365940e-02 2.17798391e+02] [ 3.73256600e-02 9.99303130e-01 -2.21063445e-04 3.55015590e+00] [ 2.19295574e-02 -5.97941649e-04 9.99759340e-01 2.48909913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20509989299998 meters 0.0177426293689526 Centerline is valid? [True, True] Translation: X:217.83, Y:3.55, Z:2.49 [[ 9.99075838e-01 -3.72592285e-02 -2.14294030e-02 2.17828888e+02] [ 3.72631728e-02 9.99305464e-01 -2.15358675e-04 3.54909283e+00] [ 2.14225436e-02 -5.83367898e-04 9.99770341e-01 2.48886756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23509989299998 meters 0.016981114032796327 Centerline is valid? [True, True] Translation: X:217.86, Y:3.55, Z:2.49 [[ 9.99115908e-01 -3.67918816e-02 -2.03410949e-02 2.17859944e+02] [ 3.67953485e-02 9.99322801e-01 -2.03931745e-04 3.55179984e+00] [ 2.03348229e-02 -5.44706223e-04 9.99793078e-01 2.49061875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26509989299998 meters 0.016829442467796284 Centerline is valid? [True, True] Translation: X:217.89, Y:3.55, Z:2.49 [[ 9.99138897e-01 -3.64778809e-02 -1.97694047e-02 2.17890847e+02] [ 3.64811077e-02 9.99334323e-01 -1.97516119e-04 3.55329600e+00] [ 1.97634497e-02 -5.23863746e-04 9.99804547e-01 2.49188717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29509989299999 meters 0.016829442467796284 Centerline is valid? [True, True] Translation: X:217.92, Y:3.55, Z:2.49 [[ 9.99140182e-01 -3.64426413e-02 -1.97694117e-02 2.17921702e+02] [ 3.64458749e-02 9.99335609e-01 -1.96819169e-04 3.55357406e+00] [ 1.97634497e-02 -5.23863564e-04 9.99804547e-01 2.49226863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.325099893 meters 0.017830284409386797 Centerline is valid? [True, True] Translation: X:217.95, Y:3.55, Z:2.49 [[ 9.99161810e-01 -3.60264279e-02 -1.94363924e-02 2.17951647e+02] [ 3.60294914e-02 9.99350709e-01 -1.92646715e-04 3.55301202e+00] [ 1.94307129e-02 -5.07798093e-04 9.99811077e-01 2.49247723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.355099893 meters 0.017786031533605993 Centerline is valid? [True, True] Translation: X:217.98, Y:3.55, Z:2.49 [[ 9.99183390e-01 -3.54522261e-02 -1.93828124e-02 2.17981787e+02] [ 3.54551793e-02 9.99371249e-01 -1.91368811e-04 3.55414700e+00] [ 1.93774099e-02 -4.96008553e-04 9.99812117e-01 2.49297679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.385099893 meters 0.016288324572293462 Centerline is valid? [True, True] Translation: X:218.01, Y:3.56, Z:2.49 [[ 9.99237490e-01 -3.41813964e-02 -1.88698584e-02 2.18013353e+02] [ 3.41839732e-02 9.99415540e-01 -1.86074341e-04 3.55926043e+00] [ 1.88651900e-02 -4.59114276e-04 9.99821931e-01 2.49416888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.415099893 meters 0.015931582852064856 Centerline is valid? [True, True] Translation: X:218.04, Y:3.56, Z:2.49 [[ 9.99263082e-01 -3.34324943e-02 -1.88563499e-02 2.18044670e+02] [ 3.34349467e-02 9.99440879e-01 -1.85272756e-04 3.56138266e+00] [ 1.88520011e-02 -4.45324831e-04 9.99822186e-01 2.49452190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.445099893 meters 0.015859946294022723 Centerline is valid? [True, True] Translation: X:218.08, Y:3.56, Z:2.49 [[ 9.99293572e-01 -3.26567888e-02 -1.85981537e-02 2.18076243e+02] [ 3.26590524e-02 9.99466534e-01 -1.82079713e-04 3.56289668e+00] [ 1.85941783e-02 -4.25446988e-04 9.99827023e-01 2.49465178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.475099893 meters 0.015784197583860907 Centerline is valid? [True, True] Translation: X:218.11, Y:3.56, Z:2.49 [[ 9.99296313e-01 -3.24961578e-02 -1.87317695e-02 2.18107260e+02] [ 3.24984384e-02 9.99471770e-01 -1.82719273e-04 3.56416536e+00] [ 1.87278125e-02 -4.26162562e-04 9.99824528e-01 2.49499787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.505099893 meters 0.015409573868618402 Centerline is valid? [True, True] Translation: X:218.14, Y:3.57, Z:2.50 [[ 9.99290152e-01 -3.26570197e-02 -1.87805865e-02 2.18138774e+02] [ 3.26593533e-02 9.99466524e-01 -1.82521881e-04 3.56626990e+00] [ 1.87765281e-02 -4.30969491e-04 9.99823613e-01 2.49552219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.535099893 meters 0.016222866663071687 Centerline is valid? [True, True] Translation: X:218.17, Y:3.57, Z:2.50 [[ 9.99278370e-01 -3.29320263e-02 -1.89267082e-02 2.18169171e+02] [ 3.29344564e-02 9.99457497e-01 -1.83371852e-04 3.56520400e+00] [ 1.89224792e-02 -4.40101321e-04 9.99820857e-01 2.49550206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.565099893 meters 0.016038497274217148 Centerline is valid? [True, True] Translation: X:218.20, Y:3.57, Z:2.50 [[ 9.99254399e-01 -3.37658643e-02 -1.87219871e-02 2.18200524e+02] [ 3.37683968e-02 9.99429669e-01 -1.80941240e-04 3.56661362e+00] [ 1.87174190e-02 -4.51405159e-04 9.99824712e-01 2.49613698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.595099893 meters 0.016149906605872334 Centerline is valid? [True, True] Translation: X:218.23, Y:3.57, Z:2.50 [[ 9.99204463e-01 -3.50164802e-02 -1.90863251e-02 2.18232202e+02] [ 3.50193535e-02 9.99386617e-01 -1.83769902e-04 3.56774569e+00] [ 1.90810528e-02 -4.84767058e-04 9.99817823e-01 2.49647050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.625099893 meters 0.016389007511434836 Centerline is valid? [True, True] Translation: X:218.26, Y:3.57, Z:2.50 [[ 9.99171007e-01 -3.57898904e-02 -1.94005623e-02 2.18263590e+02] [ 3.57930184e-02 9.99359207e-01 -1.86090321e-04 3.56821998e+00] [ 1.93947908e-02 -5.08468631e-04 9.99811774e-01 2.49676275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.655099893 meters 0.01672948143963932 Centerline is valid? [True, True] Translation: X:218.29, Y:3.57, Z:2.50 [[ 9.99161512e-01 -3.60285004e-02 -1.94478957e-02 2.18293894e+02] [ 3.60317000e-02 9.99350630e-01 -1.85973287e-04 3.56847150e+00] [ 1.94419671e-02 -5.14923392e-04 9.99810854e-01 2.49677650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68509989299997 meters 0.01721857658454341 Centerline is valid? [True, True] Translation: X:218.32, Y:3.57, Z:2.50 [[ 9.99141377e-01 -3.64269866e-02 -1.97378451e-02 2.18323806e+02] [ 3.64303669e-02 9.99336176e-01 -1.88392280e-04 3.56856458e+00] [ 1.97316052e-02 -5.30826418e-04 9.99805172e-01 2.49689049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71509989299997 meters 0.017443795509492748 Centerline is valid? [True, True] Translation: X:218.36, Y:3.57, Z:2.50 [[ 9.99144637e-01 -3.65140126e-02 -1.94093014e-02 2.18355121e+02] [ 3.65173067e-02 9.99333004e-01 -1.84796325e-04 3.56970836e+00] [ 1.94031031e-02 -5.24137154e-04 9.99811605e-01 2.49722137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74509989299997 meters 0.017809928117819576 Centerline is valid? [True, True] Translation: X:218.39, Y:3.57, Z:2.50 [[ 9.99171636e-01 -3.61665549e-02 -1.86553515e-02 2.18385882e+02] [ 3.61695591e-02 9.99345652e-01 -1.76456398e-04 3.57013983e+00] [ 1.86495262e-02 -4.98445610e-04 9.99825958e-01 2.49784482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77509989299998 meters 0.01657148451445966 Centerline is valid? [True, True] Translation: X:218.42, Y:3.57, Z:2.50 [[ 9.99204681e-01 -3.55971764e-02 -1.79679377e-02 2.18418096e+02] [ 3.55999038e-02 9.99366108e-01 -1.68136665e-04 3.57404261e+00] [ 1.79625332e-02 -4.71653912e-04 9.99838549e-01 2.49975640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80509989299998 meters 0.016853471284397507 Centerline is valid? [True, True] Translation: X:218.45, Y:3.58, Z:2.50 [[ 9.99270886e-01 -3.46482865e-02 -1.60372485e-02 2.18449367e+02] [ 3.46503529e-02 9.99399485e-01 -1.49081515e-04 3.57640822e+00] [ 1.60327834e-02 -4.06723504e-04 9.99871384e-01 2.50182473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83509989299998 meters 0.016754949549885063 Centerline is valid? [True, True] Translation: X:218.48, Y:3.58, Z:2.50 [[ 9.99302224e-01 -3.37722227e-02 -1.59530957e-02 2.18481713e+02] [ 3.37741704e-02 9.99429479e-01 -1.47389982e-04 3.57804918e+00] [ 1.59489718e-02 -3.91515435e-04 9.99872730e-01 2.50258279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86509989299998 meters 0.01595801393827237 Centerline is valid? [True, True] Translation: X:218.51, Y:3.58, Z:2.50 [[ 9.99337020e-01 -3.26417436e-02 -1.61256773e-02 2.18513556e+02] [ 3.26436051e-02 9.99467045e-01 -1.47839799e-04 3.58212602e+00] [ 1.61219088e-02 -3.78658458e-04 9.99869962e-01 2.50341049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89509989299998 meters 0.016419689222454674 Centerline is valid? [True, True] Translation: X:218.54, Y:3.58, Z:2.50 [[ 9.99355422e-01 -3.21908906e-02 -1.58898616e-02 2.18544924e+02] [ 3.21926579e-02 9.99481672e-01 -1.44617855e-04 3.58242429e+00] [ 1.58862808e-02 -3.67012240e-04 9.99873738e-01 2.50357526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92509989299998 meters 0.016070829745511415 Centerline is valid? [True, True] Translation: X:218.58, Y:3.59, Z:2.50 [[ 9.99368431e-01 -3.19083722e-02 -1.56395146e-02 2.18576891e+02] [ 3.19100634e-02 9.99490734e-01 -1.41459908e-04 3.58523422e+00] [ 1.56360637e-02 -3.57687336e-04 9.99877685e-01 2.50428630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95509989299998 meters 0.015617129587869408 Centerline is valid? [True, True] Translation: X:218.61, Y:3.59, Z:2.51 [[ 9.99379833e-01 -3.17447210e-02 -1.52388366e-02 2.18608688e+02] [ 3.17463237e-02 9.99495949e-01 -1.36779576e-04 3.58715882e+00] [ 1.52354974e-02 -3.47082288e-04 9.99883873e-01 2.50511803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98509989299998 meters 0.015595745989301638 Centerline is valid? [True, True] Translation: X:218.64, Y:3.59, Z:2.51 [[ 9.99382218e-01 -3.17860094e-02 -1.49944205e-02 2.18641365e+02] [ 3.17875817e-02 9.99494638e-01 -1.33519538e-04 3.58820872e+00] [ 1.49910870e-02 -3.43199315e-04 9.99887568e-01 2.50540484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01509989299998 meters 0.016100777138289862 Centerline is valid? [True, True] Translation: X:218.67, Y:3.59, Z:2.51 [[ 9.99364259e-01 -3.21236049e-02 -1.54645603e-02 2.18672646e+02] [ 3.21253347e-02 9.99483839e-01 -1.36616514e-04 3.58799678e+00] [ 1.54609667e-02 -3.60274514e-04 9.99880407e-01 2.50537472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04509989299999 meters 0.01613317351676392 Centerline is valid? [True, True] Translation: X:218.70, Y:3.59, Z:2.50 [[ 9.99302492e-01 -3.37616234e-02 -1.59587536e-02 2.18704337e+02] [ 3.37636915e-02 9.99429834e-01 -1.39904869e-04 3.58779222e+00] [ 1.59543779e-02 -3.99019148e-04 9.99872641e-01 2.50413706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.075099893 meters 0.017398817557871628 Centerline is valid? [True, True] Translation: X:218.74, Y:3.58, Z:2.50 [[ 9.99247315e-01 -3.51744819e-02 -1.63572118e-02 2.18735468e+02] [ 3.51768695e-02 9.99381092e-01 -1.41812869e-04 3.58495475e+00] [ 1.63520764e-02 -4.33689377e-04 9.99866202e-01 2.50354313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.105099893 meters 0.01727751491998286 Centerline is valid? [True, True] Translation: X:218.77, Y:3.58, Z:2.50 [[ 9.99184620e-01 -3.69174103e-02 -1.63462361e-02 2.18767921e+02] [ 3.69200433e-02 9.99318213e-01 -1.40770369e-04 3.58452629e+00] [ 1.63402883e-02 -4.62848158e-04 9.99866381e-01 2.50336535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.135099893 meters 0.01775167416418798 Centerline is valid? [True, True] Translation: X:218.80, Y:3.58, Z:2.50 [[ 9.99134675e-01 -3.82907240e-02 -1.62395179e-02 2.18800501e+02] [ 3.82935226e-02 9.99266524e-01 -1.38701785e-04 3.58297555e+00] [ 1.62329176e-02 -4.83286584e-04 9.99868121e-01 2.50336431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.165099893 meters 0.018195644186694206 Centerline is valid? [True, True] Translation: X:218.83, Y:3.58, Z:2.50 [[ 9.99022359e-01 -4.11307676e-02 -1.62044950e-02 2.18832873e+02] [ 4.11339459e-02 9.99153632e-01 -1.37250642e-04 3.58138840e+00] [ 1.61964252e-02 -5.29438361e-04 9.99868689e-01 2.50332924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.195099893 meters 0.01928495216379898 Centerline is valid? [True, True] Translation: X:218.86, Y:3.58, Z:2.50 [[ 9.98987636e-01 -4.18058435e-02 -1.66124593e-02 2.18864452e+02] [ 4.18092961e-02 9.99125599e-01 -1.39566701e-04 3.57961608e+00] [ 1.66037680e-02 -5.55129819e-04 9.99861994e-01 2.50351319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.225099893 meters 0.01971067564732901 Centerline is valid? [True, True] Translation: X:218.90, Y:3.58, Z:2.50 [[ 9.98971286e-01 -4.21178111e-02 -1.68065430e-02 2.18896562e+02] [ 4.21214055e-02 9.99112490e-01 -1.40216056e-04 3.57948628e+00] [ 1.67975327e-02 -5.67843400e-04 9.99858750e-01 2.50376257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.255099893 meters 0.01819237784094845 Centerline is valid? [True, True] Translation: X:218.93, Y:3.58, Z:2.50 [[ 9.98985218e-01 -4.19786368e-02 -1.63195794e-02 2.18928595e+02] [ 4.19820256e-02 9.99118357e-01 -1.35027749e-04 3.58234924e+00] [ 1.63108596e-02 -5.50238274e-04 9.99866818e-01 2.50422294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.285099893 meters 0.02005584395457985 Centerline is valid? [True, True] Translation: X:218.96, Y:3.58, Z:2.50 [[ 9.98997954e-01 -4.17193006e-02 -1.62045443e-02 2.18960109e+02] [ 4.17226256e-02 9.99129223e-01 -1.32974959e-04 3.57984315e+00] [ 1.61959814e-02 -5.43254424e-04 9.99868689e-01 2.50433036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.315099893 meters 0.019561061883502897 Centerline is valid? [True, True] Translation: X:218.99, Y:3.58, Z:2.50 [[ 9.99021206e-01 -4.12373926e-02 -1.60033426e-02 2.18992802e+02] [ 4.12405893e-02 9.99149237e-01 -1.30345629e-04 3.58096527e+00] [ 1.59951027e-02 -5.29769234e-04 9.99871930e-01 2.50490495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.345099893 meters 0.01871355794975415 Centerline is valid? [True, True] Translation: X:219.02, Y:3.58, Z:2.51 [[ 9.99066645e-01 -4.04062005e-02 -1.52701624e-02 2.19024701e+02] [ 4.04090329e-02 9.99183214e-01 -1.23140901e-04 3.58239181e+00] [ 1.52626656e-02 -4.94026527e-04 9.99883397e-01 2.50515044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.375099893 meters 0.017972278431908562 Centerline is valid? [True, True] Translation: X:219.06, Y:3.58, Z:2.51 [[ 9.99102365e-01 -3.98240765e-02 -1.44397731e-02 2.19057360e+02] [ 3.98265631e-02 9.99206601e-01 -1.15429015e-04 3.58359980e+00] [ 1.44329135e-02 -4.59761135e-04 9.99895734e-01 2.50565586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.405099893 meters 0.01811814621913368 Centerline is valid? [True, True] Translation: X:219.09, Y:3.58, Z:2.51 [[ 9.99124638e-01 -3.93568412e-02 -1.41773468e-02 2.19089191e+02] [ 3.93592085e-02 9.99225120e-01 -1.12110173e-04 3.58366525e+00] [ 1.41707733e-02 -4.45997111e-04 9.99899490e-01 2.50631306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43509989299997 meters 0.01776599554552323 Centerline is valid? [True, True] Translation: X:219.12, Y:3.58, Z:2.51 [[ 9.99203876e-01 -3.73440082e-02 -1.40370607e-02 2.19120065e+02] [ 3.73461439e-02 9.99302383e-01 -1.10037001e-04 3.58478001e+00] [ 1.40313775e-02 -4.14280692e-04 9.99901470e-01 2.50650840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46509989299997 meters 0.016957846789336685 Centerline is valid? [True, True] Translation: X:219.15, Y:3.59, Z:2.51 [[ 9.99239153e-01 -3.63722561e-02 -1.40774426e-02 2.19152646e+02] [ 3.63743189e-02 9.99338229e-01 -1.09568782e-04 3.58698854e+00] [ 1.40721118e-02 -4.02571968e-04 9.99900902e-01 2.50677296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49509989299997 meters 0.01765592299019932 Centerline is valid? [True, True] Translation: X:219.18, Y:3.59, Z:2.51 [[ 9.99279689e-01 -3.51640476e-02 -1.42685973e-02 2.19184222e+02] [ 3.51660581e-02 9.99381477e-01 -1.10046999e-04 3.58631546e+00] [ 1.42636415e-02 -3.91802591e-04 9.99898192e-01 2.50704781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52509989299998 meters 0.01672411708515286 Centerline is valid? [True, True] Translation: X:219.22, Y:3.59, Z:2.51 [[ 9.99332321e-01 -3.37859435e-02 -1.39076364e-02 2.19216297e+02] [ 3.37877308e-02 9.99429026e-01 -1.06503586e-04 3.58862128e+00] [ 1.39032939e-02 -3.63475000e-04 9.99903278e-01 2.50755690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55509989299998 meters 0.016399948226591354 Centerline is valid? [True, True] Translation: X:219.25, Y:3.59, Z:2.51 [[ 9.99412277e-01 -3.14778899e-02 -1.35736279e-02 2.19247586e+02] [ 3.14793921e-02 9.99504396e-01 -1.03022590e-04 3.58968563e+00] [ 1.35701437e-02 -3.24327514e-04 9.99907869e-01 2.50780073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58509989299998 meters 0.015789296140493916 Centerline is valid? [True, True] Translation: X:219.28, Y:3.59, Z:2.51 [[ 9.99436854e-01 -3.06052482e-02 -1.37583748e-02 2.19279362e+02] [ 3.06067195e-02 9.99531499e-01 -1.03660461e-04 3.59080041e+00] [ 1.37551015e-02 -3.17496631e-04 9.99905344e-01 2.50773802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61509989299998 meters 0.015504068946791008 Centerline is valid? [True, True] Translation: X:219.31, Y:3.59, Z:2.51 [[ 9.99458624e-01 -2.97909401e-02 -1.39627346e-02 2.19311747e+02] [ 2.97923901e-02 9.99556103e-01 -1.04187858e-04 3.59093352e+00] [ 1.39596404e-02 -3.11851782e-04 9.99902511e-01 2.50741982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64509989299998 meters 0.01611710582807441 Centerline is valid? [True, True] Translation: X:219.34, Y:3.59, Z:2.51 [[ 9.99483097e-01 -2.88984380e-02 -1.40861164e-02 2.19343482e+02] [ 2.88998394e-02 9.99582307e-01 -1.04091143e-04 3.58865510e+00] [ 1.40832408e-02 -3.03049166e-04 9.99900780e-01 2.50616289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67509989299998 meters 0.01589645088244409 Centerline is valid? [True, True] Translation: X:219.38, Y:3.59, Z:2.51 [[ 9.99482754e-01 -2.88253232e-02 -1.42592005e-02 2.19375651e+02] [ 2.88267665e-02 9.99584417e-01 -1.04347638e-04 3.58851599e+00] [ 1.42562824e-02 -3.06752977e-04 9.99898327e-01 2.50614492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70509989299998 meters 0.015149985791372953 Centerline is valid? [True, True] Translation: X:219.41, Y:3.59, Z:2.51 [[ 9.99485355e-01 -2.86086480e-02 -1.45110399e-02 2.19407918e+02] [ 2.86101349e-02 9.99590641e-01 -1.05158094e-04 3.58984377e+00] [ 1.45081081e-02 -3.10058835e-04 9.99894704e-01 2.50664679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73509989299998 meters 0.0154339904376626 Centerline is valid? [True, True] Translation: X:219.44, Y:3.59, Z:2.51 [[ 9.99500870e-01 -2.82488903e-02 -1.41424956e-02 2.19438992e+02] [ 2.82502804e-02 9.99600876e-01 -1.01516507e-04 3.58890108e+00] [ 1.41397187e-02 -2.98063628e-04 9.99899985e-01 2.50686007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76509989299998 meters 0.015428334277718279 Centerline is valid? [True, True] Translation: X:219.47, Y:3.59, Z:2.51 [[ 9.99510100e-01 -2.77740783e-02 -1.44277799e-02 2.19470197e+02] [ 2.77754864e-02 9.99614181e-01 -1.02810624e-04 3.58904754e+00] [ 1.44250689e-02 -2.97978348e-04 9.99895909e-01 2.50735941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79509989299999 meters 0.015205442688493616 Centerline is valid? [True, True] Translation: X:219.50, Y:3.59, Z:2.51 [[ 9.99563353e-01 -2.58173430e-02 -1.43725002e-02 2.19501375e+02] [ 2.58185459e-02 9.99666641e-01 -1.01876495e-04 3.58843992e+00] [ 1.43703392e-02 -2.69245046e-04 9.99896705e-01 2.50743631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.825099893 meters 0.014782876000185848 Centerline is valid? [True, True] Translation: X:219.53, Y:3.59, Z:2.51 [[ 9.99588709e-01 -2.48466199e-02 -1.43198855e-02 2.19532424e+02] [ 2.48477248e-02 9.99691243e-01 -1.00785268e-04 3.58952240e+00] [ 1.43179683e-02 -2.55072757e-04 9.99897460e-01 2.50795784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.855099893 meters 0.014578534772210513 Centerline is valid? [True, True] Translation: X:219.56, Y:3.59, Z:2.51 [[ 9.99624960e-01 -2.33833716e-02 -1.42533331e-02 2.19563436e+02] [ 2.33843246e-02 9.99726544e-01 -9.98184768e-05 3.59010344e+00] [ 1.42517696e-02 -2.33523528e-04 9.99898411e-01 2.50846590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.885099893 meters 0.014098534805307178 Centerline is valid? [True, True] Translation: X:219.59, Y:3.59, Z:2.51 [[ 9.99658149e-01 -2.20886488e-02 -1.39884633e-02 2.19594812e+02] [ 2.20894467e-02 9.99755994e-01 -9.74820314e-05 3.59148689e+00] [ 1.39872033e-02 -2.11548708e-04 9.99902152e-01 2.50903203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.915099893 meters 0.014217653383769548 Centerline is valid? [True, True] Translation: X:219.63, Y:3.59, Z:2.51 [[ 9.99691204e-01 -2.07430310e-02 -1.36829437e-02 2.19625086e+02] [ 2.07436746e-02 9.99784822e-01 -9.48967253e-05 3.59102471e+00] [ 1.36819678e-02 -1.88967110e-04 9.99906380e-01 2.50928750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.945099893 meters 0.013600329038267092 Centerline is valid? [True, True] Translation: X:219.66, Y:3.59, Z:2.51 [[ 9.99747875e-01 -1.84664867e-02 -1.27739957e-02 2.19655619e+02] [ 1.84668644e-02 9.99829469e-01 -8.83878153e-05 3.59264526e+00] [ 1.27734495e-02 -1.47530116e-04 9.99918405e-01 2.51018600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.975099893 meters 0.013529372789578477 Centerline is valid? [True, True] Translation: X:219.69, Y:3.59, Z:2.51 [[ 9.99776921e-01 -1.71599013e-02 -1.23144360e-02 2.19685940e+02] [ 1.71601532e-02 9.99852750e-01 -8.52079584e-05 3.59321817e+00] [ 1.23140848e-02 -1.26128658e-04 9.99924171e-01 2.51053960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.005099893 meters 0.013404439412640454 Centerline is valid? [True, True] Translation: X:219.72, Y:3.59, Z:2.51 [[ 9.99791332e-01 -1.58088998e-02 -1.29371639e-02 2.19715411e+02] [ 1.58090646e-02 9.99875025e-01 -8.95268596e-05 3.59350269e+00] [ 1.29369624e-02 -1.15016282e-04 9.99916307e-01 2.51055712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.035099893 meters 0.013085994333241037 Centerline is valid? [True, True] Translation: X:219.75, Y:3.60, Z:2.51 [[ 9.99842761e-01 -1.21107031e-02 -1.29531734e-02 2.19745274e+02] [ 1.21105550e-02 9.99926661e-01 -8.98760509e-05 3.59588580e+00] [ 1.29533119e-02 -6.70082009e-05 9.99916100e-01 2.51052517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.065099893 meters 0.013077881713419 Centerline is valid? [True, True] Translation: X:219.77, Y:3.60, Z:2.51 [[ 9.99867360e-01 -1.03299687e-02 -1.25917999e-02 2.19772879e+02] [ 1.03296817e-02 9.99946644e-01 -8.78318495e-05 3.59706615e+00] [ 1.25920353e-02 -4.22490850e-05 9.99920716e-01 2.51101418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.095099893 meters 0.013056219677167717 Centerline is valid? [True, True] Translation: X:219.80, Y:3.60, Z:2.51 [[ 9.99881743e-01 -8.64972207e-03 -1.27154706e-02 2.19800940e+02] [ 8.64927091e-03 9.99962590e-01 -9.04734452e-05 3.59846345e+00] [ 1.27157775e-02 -1.95168041e-05 9.99919151e-01 2.51146566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.125099893 meters 0.013019073335886623 Centerline is valid? [True, True] Translation: X:219.83, Y:3.60, Z:2.51 [[ 9.99898161e-01 -7.15758467e-03 -1.23464850e-02 2.19829208e+02] [ 7.15700346e-03 9.99974384e-01 -9.12579559e-05 3.59947537e+00] [ 1.23468220e-02 2.88482622e-06 9.99923775e-01 2.51186493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.155099893 meters 0.013160051474209058 Centerline is valid? [True, True] Translation: X:219.86, Y:3.60, Z:2.51 [[ 9.99912195e-01 -4.26583388e-03 -1.25460773e-02 2.19857397e+02] [ 4.26496009e-03 9.99990900e-01 -9.64010400e-05 3.60014448e+00] [ 1.25463744e-02 4.28840564e-05 9.99921290e-01 2.51208684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18509989299997 meters 0.013160051474209058 Centerline is valid? [True, True] Translation: X:219.88, Y:3.60, Z:2.51 [[ 9.99910949e-01 -4.54871244e-03 -1.25460683e-02 2.19884778e+02] [ 4.54784632e-03 9.99989654e-01 -9.75637873e-05 3.60041976e+00] [ 1.25463823e-02 4.04975087e-05 9.99921290e-01 2.51242587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21509989299997 meters 0.01330370996170392 Centerline is valid? [True, True] Translation: X:219.91, Y:3.60, Z:2.51 [[ 9.99914972e-01 -3.58904864e-03 -1.25366564e-02 2.19912387e+02] [ 3.58806438e-03 9.99993558e-01 -1.01001560e-04 3.60048153e+00] [ 1.25369381e-02 5.60106421e-05 9.99921408e-01 2.51273253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24509989299997 meters 0.013248099464732849 Centerline is valid? [True, True] Translation: X:219.94, Y:3.60, Z:2.51 [[ 9.99916120e-01 -3.19126889e-03 -1.25526707e-02 2.19939985e+02] [ 3.19023651e-03 9.99994906e-01 -1.02266689e-04 3.60039996e+00] [ 1.25529331e-02 6.22121223e-05 9.99921207e-01 2.51294396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27509989299998 meters 0.013299497047957905 Centerline is valid? [True, True] Translation: X:219.97, Y:3.60, Z:2.51 [[ 9.99914958e-01 -3.04103016e-03 -1.26818157e-02 2.19968200e+02] [ 3.03991898e-03 9.99995374e-01 -1.06895554e-04 3.59991523e+00] [ 1.26820821e-02 6.83347712e-05 9.99919577e-01 2.51308472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30509989299998 meters 0.013343593754323166 Centerline is valid? [True, True] Translation: X:219.99, Y:3.60, Z:2.51 [[ 9.99914994e-01 -3.31259918e-03 -1.26107451e-02 2.19994847e+02] [ 3.31147831e-03 9.99994511e-01 -1.09762576e-04 3.59951340e+00] [ 1.26110395e-02 6.79930366e-05 9.99920475e-01 2.51326643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33509989299998 meters 0.013230590649815837 Centerline is valid? [True, True] Translation: X:220.02, Y:3.60, Z:2.51 [[ 9.99905906e-01 -4.98589201e-03 -1.27796485e-02 2.20023403e+02] [ 4.98485781e-03 9.99987569e-01 -1.12778429e-04 3.59612859e+00] [ 1.27800520e-02 4.90630868e-05 9.99918331e-01 2.51303567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36509989299998 meters 0.013155293029278845 Centerline is valid? [True, True] Translation: X:220.05, Y:3.59, Z:2.51 [[ 9.99900607e-01 -6.17853866e-03 -1.26728498e-02 2.20051250e+02] [ 6.17760558e-03 9.99980912e-01 -1.12772624e-04 3.59435313e+00] [ 1.26733046e-02 3.44735476e-05 9.99919690e-01 2.51337072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39509989299998 meters 0.01311850462752487 Centerline is valid? [True, True] Translation: X:220.08, Y:3.59, Z:2.51 [[ 9.99886067e-01 -7.95831816e-03 -1.28264348e-02 2.20078162e+02] [ 7.95746282e-03 9.99968332e-01 -1.17720449e-04 3.59286816e+00] [ 1.28269655e-02 1.56411587e-05 9.99917731e-01 2.51373835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42509989299998 meters 0.013064215396708526 Centerline is valid? [True, True] Translation: X:220.11, Y:3.59, Z:2.51 [[ 9.99861847e-01 -9.92907230e-03 -1.33304516e-02 2.20106513e+02] [ 9.92828978e-03 9.99950706e-01 -1.24878982e-04 3.59089646e+00] [ 1.33310344e-02 -7.48685663e-06 9.99911138e-01 2.51373157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45509989299998 meters 0.013227604243522473 Centerline is valid? [True, True] Translation: X:220.13, Y:3.59, Z:2.51 [[ 9.99805458e-01 -1.40790100e-02 -1.38140052e-02 2.20134746e+02] [ 1.40785131e-02 9.99900884e-01 -1.33222263e-04 3.58583016e+00] [ 1.38145116e-02 -6.12843071e-05 9.99904573e-01 2.51340947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48509989299998 meters 0.013408619944070497 Centerline is valid? [True, True] Translation: X:220.16, Y:3.58, Z:2.51 [[ 9.99759106e-01 -1.68507941e-02 -1.40634639e-02 2.20163227e+02] [ 1.68505316e-02 9.99858010e-01 -1.37170130e-04 3.58354764e+00] [ 1.40637784e-02 -9.98397561e-05 9.99901095e-01 2.51377655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51509989299998 meters 0.014034739338343297 Centerline is valid? [True, True] Translation: X:220.19, Y:3.58, Z:2.51 [[ 9.99642173e-01 -2.27000692e-02 -1.41503700e-02 2.20192546e+02] [ 2.27003443e-02 9.99742304e-01 -1.41198580e-04 3.57834951e+00] [ 1.41499287e-02 -1.80070215e-04 9.99899869e-01 2.51414444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54509989299999 meters 0.014423366390606247 Centerline is valid? [True, True] Translation: X:220.22, Y:3.58, Z:2.51 [[ 9.99569447e-01 -2.57909097e-02 -1.39910781e-02 2.20223209e+02] [ 2.57914722e-02 9.99667335e-01 -1.40261489e-04 3.57596857e+00] [ 1.39900413e-02 -2.20649403e-04 9.99902110e-01 2.51442912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.575099893 meters 0.015458247710902016 Centerline is valid? [True, True] Translation: X:220.25, Y:3.57, Z:2.51 [[ 9.99487363e-01 -2.86021470e-02 -1.43850086e-02 2.20253319e+02] [ 2.86030340e-02 9.99590839e-01 -1.44108801e-04 3.57193979e+00] [ 1.43832446e-02 -2.67419966e-04 9.99896520e-01 2.51439197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.605099893 meters 0.01583682221384387 Centerline is valid? [True, True] Translation: X:220.28, Y:3.57, Z:2.51 [[ 9.99409186e-01 -3.13183740e-02 -1.41576310e-02 2.20284831e+02] [ 3.13195152e-02 9.99509414e-01 -1.41153688e-04 3.56989036e+00] [ 1.41551061e-02 -3.02339846e-04 9.99899766e-01 2.51445364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.635099893 meters 0.016089488542365235 Centerline is valid? [True, True] Translation: X:220.32, Y:3.57, Z:2.51 [[ 9.99325499e-01 -3.39033363e-02 -1.41106765e-02 2.20317005e+02] [ 3.39047354e-02 9.99425059e-01 -1.40123832e-04 3.56811751e+00] [ 1.41073144e-02 -3.38389434e-04 9.99900430e-01 2.51487824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.665099893 meters 0.017964966193003726 Centerline is valid? [True, True] Translation: X:220.35, Y:3.56, Z:2.52 [[ 9.99134505e-01 -3.92471951e-02 -1.37803662e-02 2.20347419e+02] [ 3.92490501e-02 9.99229450e-01 -1.35907770e-04 3.56262394e+00] [ 1.37750817e-02 -4.05076140e-04 9.99905037e-01 2.51560082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.695099893 meters 0.019087828595796285 Centerline is valid? [True, True] Translation: X:220.38, Y:3.56, Z:2.52 [[ 9.99029397e-01 -4.19302765e-02 -1.34950024e-02 2.20379609e+02] [ 4.19323086e-02 9.99120445e-01 -1.32459135e-04 3.56012919e+00] [ 1.34886868e-02 -4.33546034e-04 9.99908930e-01 2.51653281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.725099893 meters 0.020096458968106766 Centerline is valid? [True, True] Translation: X:220.41, Y:3.56, Z:2.52 [[ 9.98919823e-01 -4.45514786e-02 -1.32042828e-02 2.20411628e+02] [ 4.45536648e-02 9.99006984e-01 -1.28694077e-04 3.55807818e+00] [ 1.31969043e-02 -4.59744127e-04 9.99912811e-01 2.51733465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.755099893 meters 0.02058638999915155 Centerline is valid? [True, True] Translation: X:220.44, Y:3.56, Z:2.52 [[ 9.98801241e-01 -4.70032304e-02 -1.36666169e-02 2.20443206e+02] [ 4.70058149e-02 9.98894607e-01 -1.32228708e-04 3.55659234e+00] [ 1.36577251e-02 -5.10340264e-04 9.99906599e-01 2.51764242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.785099893 meters 0.02158283030608626 Centerline is valid? [True, True] Translation: X:220.47, Y:3.55, Z:2.52 [[ 9.98579726e-01 -5.12685109e-02 -1.44937999e-02 2.20473963e+02] [ 5.12718769e-02 9.98684723e-01 -1.39494344e-04 3.55387466e+00] [ 1.44818882e-02 -6.03828103e-04 9.99894950e-01 2.51736277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.815099893 meters 0.022466949638330846 Centerline is valid? [True, True] Translation: X:220.51, Y:3.55, Z:2.52 [[ 9.98490219e-01 -5.29361506e-02 -1.46644511e-02 2.20506250e+02] [ 5.29397815e-02 9.98597697e-01 -1.40749044e-04 3.55217047e+00] [ 1.46513378e-02 -6.35796295e-04 9.99892461e-01 2.51751264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.845099893 meters 0.022695282320750843 Centerline is valid? [True, True] Translation: X:220.54, Y:3.55, Z:2.52 [[ 9.98395669e-01 -5.46121524e-02 -1.49532914e-02 2.20538118e+02] [ 5.46161328e-02 9.98507415e-01 -1.42357888e-04 3.55186232e+00] [ 1.49387469e-02 -6.74561453e-04 9.99888183e-01 2.51788945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.875099893 meters 0.024423224027572507 Centerline is valid? [True, True] Translation: X:220.57, Y:3.55, Z:2.52 [[ 9.98234260e-01 -5.72548091e-02 -1.58192371e-02 2.20568532e+02] [ 5.72596170e-02 9.98359311e-01 -1.49207167e-04 3.54909099e+00] [ 1.58018255e-02 -7.56859752e-04 9.99874857e-01 2.51767095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.905099893 meters 0.025721404846775563 Centerline is valid? [True, True] Translation: X:220.60, Y:3.55, Z:2.52 [[ 9.98160978e-01 -5.83871713e-02 -1.62972226e-02 2.20599616e+02] [ 5.83924319e-02 9.98293694e-01 -1.53281062e-04 3.54750186e+00] [ 1.62783642e-02 -7.98635287e-04 9.99867180e-01 2.51769525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93509989299997 meters 0.023630344547839903 Centerline is valid? [True, True] Translation: X:220.63, Y:3.55, Z:2.52 [[ 9.98089044e-01 -5.93619915e-02 -1.71584920e-02 2.20632140e+02] [ 5.93679843e-02 9.98236153e-01 -1.60343143e-04 3.55078313e+00] [ 1.71377453e-02 -8.58628347e-04 9.99852769e-01 2.51805498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96509989299997 meters 0.027092149556074384 Centerline is valid? [True, True] Translation: X:220.66, Y:3.55, Z:2.52 [[ 9.98013803e-01 -6.03642148e-02 -1.80169594e-02 2.20663414e+02] [ 6.03710079e-02 9.98175993e-01 -1.67111614e-04 3.54617579e+00] [ 1.79941839e-02 -9.20922300e-04 9.99837667e-01 2.51706560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99509989299997 meters 0.02639500957528983 Centerline is valid? [True, True] Translation: X:220.70, Y:3.55, Z:2.52 [[ 9.97943446e-01 -6.13022070e-02 -1.87327860e-02 2.20695753e+02] [ 6.13097371e-02 9.98118774e-01 -1.72601955e-04 3.54763488e+00] [ 1.87081262e-02 -9.76255194e-04 9.99824511e-01 2.51719102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02509989299998 meters 0.026654548995773568 Centerline is valid? [True, True] Translation: X:220.73, Y:3.55, Z:2.52 [[ 9.97844934e-01 -6.26217113e-02 -1.95961595e-02 2.20728282e+02] [ 6.26302334e-02 9.98036784e-01 -1.79126440e-04 3.54827069e+00] [ 1.95689052e-02 -1.04857164e-03 9.99807961e-01 2.51683421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05509989299998 meters 0.026754399745440218 Centerline is valid? [True, True] Translation: X:220.76, Y:3.55, Z:2.52 [[ 9.97792861e-01 -6.31857320e-02 -2.04198221e-02 2.20760452e+02] [ 6.31951340e-02 9.98001173e-01 -1.85166672e-04 3.54892169e+00] [ 2.03907063e-02 -1.10567541e-03 9.99791477e-01 2.51701194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08509989299998 meters 0.028478702786359007 Centerline is valid? [True, True] Translation: X:220.79, Y:3.55, Z:2.52 [[ 9.97747946e-01 -6.36934588e-02 -2.10280779e-02 2.20791579e+02] [ 6.37035706e-02 9.97968847e-01 -1.89316373e-04 3.54755687e+00] [ 2.09974249e-02 -1.15067362e-03 9.99778868e-01 2.51705443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11509989299998 meters 0.02691394805163612 Centerline is valid? [True, True] Translation: X:220.82, Y:3.55, Z:2.52 [[ 9.97730456e-01 -6.38986532e-02 -2.12343903e-02 2.20823851e+02] [ 6.39090383e-02 9.97955710e-01 -1.89876679e-04 3.55058756e+00] [ 2.12031139e-02 -1.16762371e-03 9.99774507e-01 2.51765055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14509989299998 meters 0.02855066532062612 Centerline is valid? [True, True] Translation: X:220.86, Y:3.55, Z:2.52 [[ 9.97731239e-01 -6.38674822e-02 -2.12913211e-02 2.20855165e+02] [ 6.38779562e-02 9.97957700e-01 -1.88493482e-04 3.54937086e+00] [ 2.12598765e-02 -1.17198024e-03 9.99773296e-01 2.51780035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17509989299998 meters 0.029699299535266097 Centerline is valid? [True, True] Translation: X:220.89, Y:3.55, Z:2.52 [[ 9.97791810e-01 -6.30591975e-02 -2.08576674e-02 2.20886350e+02] [ 6.30691107e-02 9.98009145e-01 -1.82847836e-04 3.54965818e+00] [ 2.08276731e-02 -1.13303046e-03 9.99782438e-01 2.51872886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20509989299998 meters 0.02771058057673703 Centerline is valid? [True, True] Translation: X:220.92, Y:3.55, Z:2.52 [[ 9.97860044e-01 -6.22547924e-02 -1.99918427e-02 2.20918929e+02] [ 6.22637640e-02 9.98059714e-01 -1.73971804e-04 3.55327516e+00] [ 1.99638834e-02 -1.07116787e-03 9.99800128e-01 2.52003521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23509989299998 meters 0.02599787711663755 Centerline is valid? [True, True] Translation: X:220.95, Y:3.56, Z:2.52 [[ 9.97919533e-01 -6.13146099e-02 -1.99279853e-02 2.20950676e+02] [ 6.13233696e-02 9.98117936e-01 -1.71794260e-04 3.55661136e+00] [ 1.99010131e-02 -1.05061436e-03 9.99801403e-01 2.52088465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26509989299998 meters 0.025627604990759213 Centerline is valid? [True, True] Translation: X:220.98, Y:3.56, Z:2.52 [[ 9.97985733e-01 -6.03586569e-02 -1.95271242e-02 2.20982487e+02] [ 6.03669120e-02 9.98176241e-01 -1.66961121e-04 3.55813048e+00] [ 1.95015890e-02 -1.01216737e-03 9.99809314e-01 2.52158608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29509989299999 meters 0.03011341171408392 Centerline is valid? [True, True] Translation: X:221.01, Y:3.55, Z:2.52 [[ 9.98058869e-01 -5.90801272e-02 -1.96985574e-02 2.21013698e+02] [ 5.90883049e-02 9.98252746e-01 -1.67145179e-04 3.55367405e+00] [ 1.96740140e-02 -9.97133638e-04 9.99805951e-01 2.52088012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.325099893 meters 0.027109111427836948 Centerline is valid? [True, True] Translation: X:221.05, Y:3.56, Z:2.52 [[ 9.98079185e-01 -5.86759501e-02 -1.98764275e-02 2.21045697e+02] [ 5.86842197e-02 9.98276582e-01 -1.67470401e-04 3.55874218e+00] [ 1.98519986e-02 -9.99283919e-04 9.99802430e-01 2.52166935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.355099893 meters 0.02482470107609952 Centerline is valid? [True, True] Translation: X:221.08, Y:3.56, Z:2.52 [[ 9.98037531e-01 -5.89772079e-02 -2.10422485e-02 2.21078082e+02] [ 5.89865753e-02 9.98258761e-01 -1.75764370e-04 3.56400903e+00] [ 2.10159750e-02 -1.06579074e-03 9.99778572e-01 2.52235556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.385099893 meters 0.02559558124855293 Centerline is valid? [True, True] Translation: X:221.11, Y:3.56, Z:2.52 [[ 9.98011893e-01 -5.94600938e-02 -2.08987693e-02 2.21108935e+02] [ 5.94694674e-02 9.98230110e-01 -1.73227123e-04 3.56374677e+00] [ 2.08720809e-02 -1.06995595e-03 9.99781582e-01 2.52260098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.415099893 meters 0.02624720197922174 Centerline is valid? [True, True] Translation: X:221.14, Y:3.56, Z:2.52 [[ 9.97937567e-01 -6.05349541e-02 -2.13572307e-02 2.21141069e+02] [ 6.05450171e-02 9.98165452e-01 -1.75711185e-04 3.56339420e+00] [ 2.13286865e-02 -1.11772510e-03 9.99771893e-01 2.52299915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.445099893 meters 0.028341434237482255 Centerline is valid? [True, True] Translation: X:221.17, Y:3.56, Z:2.52 [[ 9.97878892e-01 -6.14388461e-02 -2.15171031e-02 2.21172018e+02] [ 6.14492995e-02 9.98110191e-01 -1.75654744e-04 3.56080770e+00] [ 2.14872319e-02 -1.14692875e-03 9.99768465e-01 2.52290915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.475099893 meters 0.0252363187611344 Centerline is valid? [True, True] Translation: X:221.20, Y:3.57, Z:2.52 [[ 9.97721094e-01 -6.39092205e-02 -2.16386197e-02 2.21203226e+02] [ 6.39203930e-02 9.97954985e-01 -1.75646549e-04 3.56590123e+00] [ 2.16055938e-02 -1.20790281e-03 9.99765842e-01 2.52431708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.505099893 meters 0.02678398631186487 Centerline is valid? [True, True] Translation: X:221.23, Y:3.56, Z:2.52 [[ 9.97662392e-01 -6.48978826e-02 -2.14013146e-02 2.21233930e+02] [ 6.49090722e-02 9.97891168e-01 -1.72118207e-04 3.56401030e+00] [ 2.13673529e-02 -1.21742361e-03 9.99770951e-01 2.52415922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.535099893 meters 0.028569074475791954 Centerline is valid? [True, True] Translation: X:221.27, Y:3.56, Z:2.52 [[ 9.97613277e-01 -6.56482331e-02 -2.14023072e-02 2.21265003e+02] [ 6.56596496e-02 9.97842062e-01 -1.69611017e-04 3.56185023e+00] [ 2.13672570e-02 -1.23606179e-03 9.99770930e-01 2.52417453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.565099893 meters 0.027394499501207214 Centerline is valid? [True, True] Translation: X:221.30, Y:3.56, Z:2.52 [[ 9.97577007e-01 -6.62010408e-02 -2.13901231e-02 2.21296899e+02] [ 6.62126123e-02 9.97805523e-01 -1.67579261e-04 3.56417260e+00] [ 2.13542769e-02 -1.24912271e-03 9.99771191e-01 2.52469988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.595099893 meters 0.027188247180284696 Centerline is valid? [True, True] Translation: X:221.33, Y:3.57, Z:2.52 [[ 9.97546133e-01 -6.65142367e-02 -2.18533684e-02 2.21329447e+02] [ 6.65264250e-02 9.97784649e-01 -1.69601914e-04 3.56619569e+00] [ 2.18162364e-02 -1.28464074e-03 9.99761172e-01 2.52488263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.625099893 meters 0.028560551370184713 Centerline is valid? [True, True] Translation: X:221.36, Y:3.57, Z:2.52 [[ 9.97563766e-01 -6.62139805e-02 -2.19599925e-02 2.21360834e+02] [ 6.62262468e-02 9.97804618e-01 -1.69004978e-04 3.56501592e+00] [ 2.19229725e-02 -1.28573464e-03 9.99758836e-01 2.52478531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.655099893 meters 0.026724011574081948 Centerline is valid? [True, True] Translation: X:221.39, Y:3.57, Z:2.53 [[ 9.97592403e-01 -6.57545501e-02 -2.20394181e-02 2.21392802e+02] [ 6.57668239e-02 9.97835005e-01 -1.68236927e-04 3.56797577e+00] [ 2.20027652e-02 -1.28163065e-03 9.99757088e-01 2.52534864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68509989299997 meters 0.026599822772222333 Centerline is valid? [True, True] Translation: X:221.42, Y:3.57, Z:2.53 [[ 9.97626223e-01 -6.53199612e-02 -2.17995746e-02 2.21424671e+02] [ 6.53319003e-02 9.97863576e-01 -1.64821621e-04 3.56855810e+00] [ 2.17637676e-02 -1.25977726e-03 9.99762347e-01 2.52547614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71509989299997 meters 0.026340375728846663 Centerline is valid? [True, True] Translation: X:221.46, Y:3.57, Z:2.53 [[ 9.97743453e-01 -6.35991329e-02 -2.15209899e-02 2.21455860e+02] [ 6.36103961e-02 9.97974795e-01 -1.61486890e-04 3.56985629e+00] [ 2.14876759e-02 -1.20783621e-03 9.99768384e-01 2.52553462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74509989299997 meters 0.024589901090223826 Centerline is valid? [True, True] Translation: X:221.49, Y:3.57, Z:2.53 [[ 9.97818812e-01 -6.23611548e-02 -2.16496044e-02 2.21488567e+02] [ 6.23722948e-02 9.98052940e-01 -1.60966114e-04 3.57340177e+00] [ 2.16174894e-02 -1.18972049e-03 9.99765607e-01 2.52663987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77509989299998 meters 0.02480822925398657 Centerline is valid? [True, True] Translation: X:221.52, Y:3.57, Z:2.53 [[ 9.97895145e-01 -6.10973480e-02 -2.17346316e-02 2.21519661e+02] [ 6.11083179e-02 9.98131128e-01 -1.59703635e-04 3.57433783e+00] [ 2.17037698e-02 -1.16879929e-03 9.99763762e-01 2.52708946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80509989299998 meters 0.024067255568395125 Centerline is valid? [True, True] Translation: X:221.55, Y:3.58, Z:2.53 [[ 9.98008595e-01 -5.93417668e-02 -2.13868870e-02 2.21551215e+02] [ 5.93520078e-02 9.98237103e-01 -1.56146030e-04 3.57709264e+00] [ 2.13584501e-02 -1.11351960e-03 9.99771262e-01 2.52775053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83509989299998 meters 0.02449328412366605 Centerline is valid? [True, True] Translation: X:221.58, Y:3.58, Z:2.53 [[ 9.98273570e-01 -5.47263763e-02 -2.13284471e-02 2.21580924e+02] [ 5.47355201e-02 9.98500876e-01 -1.55264947e-04 3.57997255e+00] [ 2.13049702e-02 -1.01242675e-03 9.99772511e-01 2.52765514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86509989299998 meters 0.024270576083225255 Centerline is valid? [True, True] Translation: X:221.61, Y:3.58, Z:2.53 [[ 9.98436614e-01 -5.17439226e-02 -2.11398706e-02 2.21611742e+02] [ 5.17522447e-02 9.98659943e-01 -1.53583084e-04 3.58200343e+00] [ 2.11194890e-02 -9.40692784e-04 9.99776516e-01 2.52775665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89509989299998 meters 0.02166540920337416 Centerline is valid? [True, True] Translation: X:221.64, Y:3.59, Z:2.53 [[ 9.98602646e-01 -4.84307608e-02 -2.11474928e-02 2.21642965e+02] [ 4.84383633e-02 9.98826162e-01 -1.52887114e-04 3.58753761e+00] [ 2.11300735e-02 -8.71676461e-04 9.99776355e-01 2.52881484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92509989299998 meters 0.020776587031932994 Centerline is valid? [True, True] Translation: X:221.67, Y:3.59, Z:2.53 [[ 9.98782514e-01 -4.47803072e-02 -2.06933198e-02 2.21674122e+02] [ 4.47868193e-02 9.98996556e-01 -1.48871527e-04 3.59069315e+00] [ 2.06792217e-02 -7.78097697e-04 9.99785859e-01 2.52922853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95509989299998 meters 0.018551436161961938 Centerline is valid? [True, True] Translation: X:221.70, Y:3.60, Z:2.53 [[ 9.99113462e-01 -3.69880336e-02 -2.01041247e-02 2.21703504e+02] [ 3.69926104e-02 9.99315529e-01 -1.44316481e-04 3.59805892e+00] [ 2.00957020e-02 -5.99515515e-04 9.99797881e-01 2.52996266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98509989299998 meters 0.017094583895984408 Centerline is valid? [True, True] Translation: X:221.73, Y:3.60, Z:2.53 [[ 9.99261240e-01 -3.29874615e-02 -1.97180584e-02 2.21733826e+02] [ 3.29910823e-02 9.99455636e-01 -1.41721486e-04 3.60263392e+00] [ 1.97119996e-02 -5.08903300e-04 9.99805570e-01 2.53098685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01509989299998 meters 0.015434979631481969 Centerline is valid? [True, True] Translation: X:221.76, Y:3.61, Z:2.53 [[ 9.99498482e-01 -2.49289661e-02 -1.95276895e-02 2.21763180e+02] [ 2.49309774e-02 9.99689165e-01 -1.40478456e-04 3.60963213e+00] [ 1.95251216e-02 -3.46436382e-04 9.99809307e-01 2.53123435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04509989299999 meters 0.01427054475873844 Centerline is valid? [True, True] Translation: X:221.79, Y:3.62, Z:2.53 [[ 9.99580937e-01 -2.11915968e-02 -1.97197172e-02 2.21792537e+02] [ 2.11929112e-02 9.99775395e-01 -1.42344223e-04 3.61508420e+00] [ 1.97183046e-02 -2.75633644e-04 9.99805537e-01 2.53211188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.075099893 meters 0.013945521574996882 Centerline is valid? [True, True] Translation: X:221.82, Y:3.62, Z:2.53 [[ 9.99641301e-01 -1.77679208e-02 -2.00392397e-02 2.21820489e+02] [ 1.77685675e-02 9.99842116e-01 -1.45793187e-04 3.61792469e+00] [ 2.00386663e-02 -2.10327693e-04 9.99799184e-01 2.53159898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.105099893 meters 0.013945521574996882 Centerline is valid? [True, True] Translation: X:221.85, Y:3.62, Z:2.53 [[ 9.99636213e-01 -1.80519075e-02 -2.00392153e-02 2.21847871e+02] [ 1.80525453e-02 9.99837028e-01 -1.49081568e-04 3.61818837e+00] [ 2.00386407e-02 -2.12731509e-04 9.99799184e-01 2.53193803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.135099893 meters 0.01356313818083708 Centerline is valid? [True, True] Translation: X:221.88, Y:3.62, Z:2.53 [[ 9.99665684e-01 -1.52079356e-02 -2.09102422e-02 2.21876155e+02] [ 1.52078865e-02 9.99884340e-01 -1.61375094e-04 3.62139683e+00] [ 2.09102779e-02 -1.56679446e-04 9.99781344e-01 2.53174537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.165099893 meters 0.01348132666715349 Centerline is valid? [True, True] Translation: X:221.90, Y:3.62, Z:2.53 [[ 9.99673571e-01 -1.30798478e-02 -2.19469380e-02 2.21903527e+02] [ 1.30791831e-02 9.99914449e-01 -1.73832961e-04 3.62387305e+00] [ 2.19473341e-02 -1.13271804e-04 9.99759122e-01 2.53146072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.195099893 meters 0.013417910038115943 Centerline is valid? [True, True] Translation: X:221.93, Y:3.63, Z:2.53 [[ 9.99691366e-01 -1.11333823e-02 -2.22085665e-02 2.21931187e+02] [ 1.11321250e-02 9.99938020e-01 -1.80247745e-04 3.62612330e+00] [ 2.22091968e-02 -6.70364235e-05 9.99753343e-01 2.53131458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.225099893 meters 0.01336307053859029 Centerline is valid? [True, True] Translation: X:221.96, Y:3.63, Z:2.53 [[ 9.99704569e-01 -7.65393519e-03 -2.30693022e-02 2.21958877e+02] [ 7.65149803e-03 9.99970708e-01 -1.93913710e-04 3.62913927e+00] [ 2.30701107e-02 1.73417013e-05 9.99733849e-01 2.53012255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.255099893 meters 0.013464790197023483 Centerline is valid? [True, True] Translation: X:221.99, Y:3.63, Z:2.53 [[ 9.99692718e-01 -6.77888196e-03 -2.38435898e-02 2.21987843e+02] [ 6.77587368e-03 9.99977022e-01 -2.06958176e-04 3.63021229e+00] [ 2.38444449e-02 4.53334286e-05 9.99715680e-01 2.53001994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.285099893 meters 0.013603222796767513 Centerline is valid? [True, True] Translation: X:222.02, Y:3.63, Z:2.53 [[ 9.99679953e-01 -6.09211138e-03 -2.45535840e-02 2.22015851e+02] [ 6.08860841e-03 9.99981441e-01 -2.17424107e-04 3.63132107e+00] [ 2.45544528e-02 6.78573630e-05 9.99698492e-01 2.52898243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.315099893 meters 0.013462487688552446 Centerline is valid? [True, True] Translation: X:222.04, Y:3.63, Z:2.53 [[ 9.99678930e-01 -6.52003477e-03 -2.44852077e-02 2.22043394e+02] [ 6.51656906e-03 9.99978742e-01 -2.21332628e-04 3.63105820e+00] [ 2.44861303e-02 6.17020178e-05 9.99700168e-01 2.52963115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.345099893 meters 0.013372271256126115 Centerline is valid? [True, True] Translation: X:222.07, Y:3.63, Z:2.53 [[ 9.99674171e-01 -7.31000068e-03 -2.44564090e-02 2.22071173e+02] [ 7.30661031e-03 9.99973280e-01 -2.27987571e-04 3.63050808e+00] [ 2.44574222e-02 4.92198357e-05 9.99700871e-01 2.53045836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.375099893 meters 0.013361722793953517 Centerline is valid? [True, True] Translation: X:222.10, Y:3.63, Z:2.53 [[ 9.99684877e-01 -8.34743950e-03 -2.36741921e-02 2.22099344e+02] [ 8.34439564e-03 9.99965159e-01 -2.27359216e-04 3.62998551e+00] [ 2.36752652e-02 2.97407444e-05 9.99719701e-01 2.53124363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.405099893 meters 0.013283086536808715 Centerline is valid? [True, True] Translation: X:222.13, Y:3.63, Z:2.53 [[ 9.99681654e-01 -9.54105667e-03 -2.33572182e-02 2.22127669e+02] [ 9.53826375e-03 9.99954483e-01 -2.30982854e-04 3.62946480e+00] [ 2.33583589e-02 8.12201442e-06 9.99727156e-01 2.53224365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43509989299997 meters 0.01331482594930444 Centerline is valid? [True, True] Translation: X:222.15, Y:3.63, Z:2.53 [[ 9.99668005e-01 -1.25003966e-02 -2.25304227e-02 2.22154359e+02] [ 1.24984276e-02 9.99921866e-01 -2.28208541e-04 3.62675311e+00] [ 2.25315150e-02 -5.34620808e-05 9.99746132e-01 2.53292677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46509989299997 meters 0.013386107777823463 Centerline is valid? [True, True] Translation: X:222.18, Y:3.63, Z:2.53 [[ 9.99645032e-01 -1.46897692e-02 -2.22265577e-02 2.22182528e+02] [ 1.46882791e-02 9.99892095e-01 -2.30303079e-04 3.62506830e+00] [ 2.22275424e-02 -9.62485555e-05 9.99752933e-01 2.53367315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49509989299997 meters 0.013701877300637566 Centerline is valid? [True, True] Translation: X:222.21, Y:3.62, Z:2.53 [[ 9.99561566e-01 -1.99069077e-02 -2.19178010e-02 2.22211242e+02] [ 1.99066218e-02 9.99801817e-01 -2.31247482e-04 3.62095768e+00] [ 2.19180607e-02 -2.05163280e-04 9.99759749e-01 2.53449659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52509989299998 meters 0.014034526281429777 Centerline is valid? [True, True] Translation: X:222.24, Y:3.62, Z:2.54 [[ 9.99493179e-01 -2.29789926e-02 -2.20306750e-02 2.22239377e+02] [ 2.29794111e-02 9.99735911e-01 -2.34194998e-04 3.61834554e+00] [ 2.20302385e-02 -2.72175634e-04 9.99757268e-01 2.53510022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55509989299998 meters 0.01459964888164363 Centerline is valid? [True, True] Translation: X:222.27, Y:3.62, Z:2.54 [[ 9.99416651e-01 -2.63077198e-02 -2.17775326e-02 2.22267161e+02] [ 2.63088767e-02 9.99653834e-01 -2.33427795e-04 3.61525466e+00] [ 2.17761350e-02 -3.39650797e-04 9.99762814e-01 2.53534100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58509989299998 meters 0.015169323298577175 Centerline is valid? [True, True] Translation: X:222.30, Y:3.61, Z:2.54 [[ 9.99318564e-01 -2.99521874e-02 -2.15701920e-02 2.22295751e+02] [ 2.99540982e-02 9.99551248e-01 -2.34578883e-04 3.61248175e+00] [ 2.15675384e-02 -4.11696615e-04 9.99767309e-01 2.53608699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61509989299998 meters 0.017007457866671096 Centerline is valid? [True, True] Translation: X:222.32, Y:3.61, Z:2.54 [[ 9.99102804e-01 -3.65357716e-02 -2.14178762e-02 2.22324680e+02] [ 3.65390912e-02 9.99332196e-01 -2.36456824e-04 3.60550715e+00] [ 2.14122124e-02 -5.46345057e-04 9.99770583e-01 2.53686035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64509989299998 meters 0.017009616103024296 Centerline is valid? [True, True] Translation: X:222.36, Y:3.60, Z:2.54 [[ 9.98988793e-01 -3.94954756e-02 -2.14825431e-02 2.22356282e+02] [ 3.94994919e-02 9.99219562e-01 -2.37497188e-04 3.60433201e+00] [ 2.14751573e-02 -6.11292508e-04 9.99769195e-01 2.53801219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67509989299998 meters 0.017759085167937783 Centerline is valid? [True, True] Translation: X:222.39, Y:3.60, Z:2.54 [[ 9.98876704e-01 -4.21109544e-02 -2.17254936e-02 2.22387298e+02] [ 4.21156936e-02 9.99112712e-01 -2.39562871e-04 3.60211607e+00] [ 2.17163051e-02 -6.75690461e-04 9.99763945e-01 2.53851919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70509989299998 meters 0.020720229088821398 Centerline is valid? [True, True] Translation: X:222.42, Y:3.60, Z:2.54 [[ 9.98705496e-01 -4.58505430e-02 -2.20240613e-02 2.22417884e+02] [ 4.58563303e-02 9.98948016e-01 -2.42456248e-04 3.59540300e+00] [ 2.20120091e-02 -7.67800244e-04 9.99757412e-01 2.53797163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73509989299998 meters 0.01951718027262322 Centerline is valid? [True, True] Translation: X:222.45, Y:3.60, Z:2.54 [[ 9.98668492e-01 -4.65937118e-02 -2.21420209e-02 2.22449639e+02] [ 4.65997640e-02 9.98913611e-01 -2.42833927e-04 3.59650310e+00] [ 2.21292806e-02 -7.89302358e-04 9.99754806e-01 2.53887653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76509989299998 meters 0.019529132912280655 Centerline is valid? [True, True] Translation: X:222.48, Y:3.60, Z:2.54 [[ 9.98665508e-01 -4.68116345e-02 -2.18145363e-02 2.22481614e+02] [ 4.68175946e-02 9.98903427e-01 -2.37694993e-04 3.59598708e+00] [ 2.18017420e-02 -7.83926328e-04 9.99762006e-01 2.53960390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79509989299999 meters 0.02101438430534407 Centerline is valid? [True, True] Translation: X:222.51, Y:3.59, Z:2.54 [[ 9.98678334e-01 -4.65420722e-02 -2.18041440e-02 2.22513000e+02] [ 4.65479927e-02 9.98916027e-01 -2.36192928e-04 3.59297003e+00] [ 2.17915018e-02 -7.79058376e-04 9.99762233e-01 2.53929165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.825099893 meters 0.019466768156567137 Centerline is valid? [True, True] Translation: X:222.54, Y:3.60, Z:2.54 [[ 9.98727100e-01 -4.55430240e-02 -2.16797663e-02 2.22544108e+02] [ 4.55486634e-02 9.98962094e-01 -2.33859566e-04 3.59514476e+00] [ 2.16679154e-02 -7.53922494e-04 9.99764939e-01 2.54054604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.855099893 meters 0.019436820871508272 Centerline is valid? [True, True] Translation: X:222.57, Y:3.60, Z:2.54 [[ 9.98871839e-01 -4.24369919e-02 -2.13108059e-02 2.22574456e+02] [ 4.24417474e-02 9.99098917e-01 -2.29288900e-04 3.59508591e+00] [ 2.13013335e-02 -6.75437617e-04 9.99772873e-01 2.54066390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.885099893 meters 0.01871387739947083 Centerline is valid? [True, True] Translation: X:222.61, Y:3.60, Z:2.54 [[ 9.98969298e-01 -4.01751544e-02 -2.11257965e-02 2.22606082e+02] [ 4.01793333e-02 9.99192459e-01 -2.26778110e-04 3.59687336e+00] [ 2.11178474e-02 -6.22276050e-04 9.99776800e-01 2.54139774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.915099893 meters 0.015643711195749498 Centerline is valid? [True, True] Translation: X:222.64, Y:3.60, Z:2.54 [[ 9.99144085e-01 -3.54563330e-02 -2.13060090e-02 2.22637065e+02] [ 3.54595277e-02 9.99371087e-01 -2.27952775e-04 3.60322824e+00] [ 2.13006917e-02 -5.27743349e-04 9.99772975e-01 2.54290219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.945099893 meters 0.015881912871258168 Centerline is valid? [True, True] Translation: X:222.67, Y:3.60, Z:2.54 [[ 9.99203000e-01 -3.33102375e-02 -2.19952851e-02 2.22666754e+02] [ 3.33131291e-02 9.99444936e-01 -2.35030920e-04 3.60301693e+00] [ 2.19909053e-02 -4.97888173e-04 9.99758047e-01 2.54217852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.975099893 meters 0.01506514560208738 Centerline is valid? [True, True] Translation: X:222.70, Y:3.60, Z:2.54 [[ 9.99252788e-01 -3.14372666e-02 -2.24847704e-02 2.22696896e+02] [ 3.14398053e-02 9.99505618e-01 -2.40673607e-04 3.60484468e+00] [ 2.24812205e-02 -4.66423032e-04 9.99747157e-01 2.54200718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.005099893 meters 0.015225860086335133 Centerline is valid? [True, True] Translation: X:222.73, Y:3.60, Z:2.54 [[ 9.99281313e-01 -2.93590398e-02 -2.39771482e-02 2.22725245e+02] [ 2.93613084e-02 9.99568831e-01 -2.57508119e-04 3.60430906e+00] [ 2.39743702e-02 -4.46677393e-04 9.99712474e-01 2.53985223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.035099893 meters 0.014683137697154215 Centerline is valid? [True, True] Translation: X:222.75, Y:3.61, Z:2.54 [[ 9.99271803e-01 -2.89788670e-02 -2.48211559e-02 2.22753127e+02] [ 2.89810756e-02 9.99579924e-01 -2.70815223e-04 3.60538544e+00] [ 2.48185770e-02 -4.48725780e-04 9.99691871e-01 2.53998856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.065099893 meters 0.015086056185471918 Centerline is valid? [True, True] Translation: X:222.78, Y:3.60, Z:2.54 [[ 9.99252846e-01 -2.85243390e-02 -2.60789582e-02 2.22780474e+02] [ 2.85264943e-02 9.99592995e-01 -2.89458755e-04 3.60459941e+00] [ 2.60766005e-02 -4.54698767e-04 9.99659844e-01 2.53903563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.095099893 meters 0.01446300233724329 Centerline is valid? [True, True] Translation: X:222.81, Y:3.61, Z:2.54 [[ 9.99287735e-01 -2.68730833e-02 -2.64926532e-02 2.22809247e+02] [ 2.68746064e-02 9.99638768e-01 -2.98624121e-04 3.60691891e+00] [ 2.64911081e-02 -4.13568206e-04 9.99648963e-01 2.53972443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.125099893 meters 0.01446300233724329 Centerline is valid? [True, True] Translation: X:222.84, Y:3.61, Z:2.54 [[ 9.99280170e-01 -2.71529993e-02 -2.64925731e-02 2.22836640e+02] [ 2.71544355e-02 9.99631204e-01 -3.05611515e-04 3.60730162e+00] [ 2.64911010e-02 -4.13999340e-04 9.99648963e-01 2.54006423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.155099893 meters 0.01356613269764863 Centerline is valid? [True, True] Translation: X:222.87, Y:3.61, Z:2.54 [[ 9.99375249e-01 -2.36691980e-02 -2.62465254e-02 2.22865371e+02] [ 2.36692242e-02 9.99719797e-01 -3.09717977e-04 3.61134293e+00] [ 2.62465018e-02 -3.11710413e-04 9.99655453e-01 2.54281381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18509989299997 meters 0.013331489002434336 Centerline is valid? [True, True] Translation: X:222.89, Y:3.61, Z:2.54 [[ 9.99452644e-01 -2.18301219e-02 -2.48567702e-02 2.22892710e+02] [ 2.18294614e-02 9.99761665e-01 -2.97950728e-04 3.61287647e+00] [ 2.48573502e-02 -2.44822263e-04 9.99690978e-01 2.54402513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21509989299997 meters 0.013136263858119326 Centerline is valid? [True, True] Translation: X:222.92, Y:3.62, Z:2.55 [[ 9.99570819e-01 -1.84628366e-02 -2.27442451e-02 2.22920821e+02] [ 1.84613567e-02 9.99829537e-01 -2.75059045e-04 3.61543650e+00] [ 2.27454465e-02 -1.44948626e-04 9.99741278e-01 2.54617309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24509989299997 meters 0.012921879516526041 Centerline is valid? [True, True] Translation: X:222.95, Y:3.62, Z:2.55 [[ 9.99611297e-01 -1.73941098e-02 -2.17876097e-02 2.22949663e+02] [ 1.73924233e-02 9.99848705e-01 -2.66910719e-04 3.61685834e+00] [ 2.17889560e-02 -1.12132359e-04 9.99762586e-01 2.54821100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27509989299998 meters 0.012838406697102003 Centerline is valid? [True, True] Translation: X:222.98, Y:3.62, Z:2.55 [[ 9.99645533e-01 -1.62380653e-02 -2.10981891e-02 2.22977066e+02] [ 1.62361464e-02 9.99868151e-01 -2.62255657e-04 3.61763586e+00] [ 2.10996659e-02 -8.03905908e-05 9.99777374e-01 2.54921778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30509989299998 meters 0.01278869894269671 Centerline is valid? [True, True] Translation: X:223.01, Y:3.62, Z:2.55 [[ 9.99682305e-01 -1.55697871e-02 -1.98209935e-02 2.23005853e+02] [ 1.55679047e-02 9.99878782e-01 -2.49275221e-04 3.61869667e+00] [ 1.98224720e-02 -5.93753104e-05 9.99803514e-01 2.55038908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33509989299998 meters 0.01269907839399582 Centerline is valid? [True, True] Translation: X:223.03, Y:3.62, Z:2.55 [[ 9.99702067e-01 -1.48351108e-02 -1.93829131e-02 2.23033493e+02] [ 1.48330752e-02 9.99889953e-01 -2.48791184e-04 3.61967917e+00] [ 1.93844709e-02 -3.87911472e-05 9.99812103e-01 2.55152975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36509989299998 meters 0.012739812784551108 Centerline is valid? [True, True] Translation: X:223.06, Y:3.62, Z:2.55 [[ 9.99726458e-01 -1.41211926e-02 -1.86440553e-02 2.23061769e+02] [ 1.41190876e-02 9.99900291e-01 -2.44534583e-04 3.62026318e+00] [ 1.86456494e-02 -1.87693570e-05 9.99826155e-01 2.55264246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39509989299998 meters 0.012757802083649449 Centerline is valid? [True, True] Translation: X:223.09, Y:3.62, Z:2.55 [[ 9.99764258e-01 -1.29817850e-02 -1.74040867e-02 2.23089337e+02] [ 1.29797118e-02 9.99915733e-01 -2.32078938e-04 3.62035327e+00] [ 1.74056329e-02 6.12419782e-06 9.99848510e-01 2.55357947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42509989299998 meters 0.012762772728638258 Centerline is valid? [True, True] Translation: X:223.12, Y:3.62, Z:2.55 [[ 9.99778672e-01 -1.26527149e-02 -1.68082350e-02 2.23116976e+02] [ 1.26506951e-02 9.99919951e-01 -2.26491043e-04 3.62027295e+00] [ 1.68097553e-02 1.38050583e-05 9.99858706e-01 2.55419350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45509989299998 meters 0.012782223622530703 Centerline is valid? [True, True] Translation: X:223.15, Y:3.62, Z:2.55 [[ 9.99784113e-01 -1.26203393e-02 -1.65061893e-02 2.23145159e+02] [ 1.26183093e-02 9.99920360e-01 -2.27129130e-04 3.61972936e+00] [ 1.65077412e-02 1.87998942e-05 9.99863738e-01 2.55476952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48509989299998 meters 0.01277525522018606 Centerline is valid? [True, True] Translation: X:223.17, Y:3.62, Z:2.55 [[ 9.99788574e-01 -1.22842372e-02 -1.64895514e-02 2.23171727e+02] [ 1.22820981e-02 9.99924546e-01 -2.30995226e-04 3.61914012e+00] [ 1.64911448e-02 2.84200993e-05 9.99864011e-01 2.55458977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51509989299998 meters 0.012809681267390285 Centerline is valid? [True, True] Translation: X:223.20, Y:3.62, Z:2.55 [[ 9.99794622e-01 -1.18731429e-02 -1.64238488e-02 2.23199338e+02] [ 1.18709216e-02 9.99929511e-01 -2.32734754e-04 3.61648425e+00] [ 1.64254544e-02 3.77207332e-05 9.99865092e-01 2.55452495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54509989299999 meters 0.012717390201657314 Centerline is valid? [True, True] Translation: X:223.23, Y:3.62, Z:2.55 [[ 9.99801618e-01 -1.18636480e-02 -1.59993020e-02 2.23227500e+02] [ 1.18614692e-02 9.99929624e-01 -2.31068796e-04 3.61532005e+00] [ 1.60009174e-02 4.12477281e-05 9.99871976e-01 2.55498004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.575099893 meters 0.012830985581184177 Centerline is valid? [True, True] Translation: X:223.25, Y:3.61, Z:2.56 [[ 9.99801041e-01 -1.14554729e-02 -1.63294537e-02 2.23254882e+02] [ 1.14530817e-02 9.99934383e-01 -2.39950249e-04 3.61439037e+00] [ 1.63311310e-02 5.28799415e-05 9.99866637e-01 2.55511524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.605099893 meters 0.012763629931503387 Centerline is valid? [True, True] Translation: X:223.28, Y:3.61, Z:2.55 [[ 9.99812489e-01 -1.10021594e-02 -1.59354731e-02 2.23282637e+02] [ 1.09997840e-02 9.99939473e-01 -2.36705812e-04 3.61078327e+00] [ 1.59371129e-02 6.13746648e-05 9.99872994e-01 2.55476288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.635099893 meters 0.012824696917092574 Centerline is valid? [True, True] Translation: X:223.31, Y:3.61, Z:2.55 [[ 9.99822613e-01 -1.07745516e-02 -1.54483332e-02 2.23309846e+02] [ 1.07722318e-02 9.99941951e-01 -2.33373017e-04 3.60916556e+00] [ 1.54499509e-02 6.69185939e-05 9.99880640e-01 2.55440867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.665099893 meters 0.012818691794449485 Centerline is valid? [True, True] Translation: X:223.34, Y:3.61, Z:2.55 [[ 9.99826061e-01 -1.09299132e-02 -1.51124191e-02 2.23337290e+02] [ 1.09276757e-02 9.99940265e-01 -2.30629700e-04 3.60723570e+00] [ 1.51140371e-02 6.54459704e-05 9.99885774e-01 2.55425200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.695099893 meters 0.012841954692236274 Centerline is valid? [True, True] Translation: X:223.36, Y:3.61, Z:2.55 [[ 9.99827359e-01 -1.10335032e-02 -1.49503673e-02 2.23364309e+02] [ 1.10312670e-02 9.99939127e-01 -2.32033414e-04 3.60531815e+00] [ 1.49520174e-02 6.70718619e-05 9.99888210e-01 2.55424217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.725099893 meters 0.01278504852608235 Centerline is valid? [True, True] Translation: X:223.39, Y:3.60, Z:2.55 [[ 9.99830227e-01 -1.21664097e-02 -1.38382032e-02 2.23392018e+02] [ 1.21645766e-02 9.99925985e-01 -2.16634321e-04 3.60300069e+00] [ 1.38398146e-02 4.82616600e-05 9.99904224e-01 2.55429708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.755099893 meters 0.01272574900286413 Centerline is valid? [True, True] Translation: X:223.42, Y:3.60, Z:2.55 [[ 9.99785297e-01 -1.62659497e-02 -1.28366489e-02 2.23421307e+02] [ 1.62646675e-02 9.99867701e-01 -2.04281500e-04 3.59692278e+00] [ 1.28382735e-02 -4.54618659e-06 9.99917586e-01 2.55453650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.785099893 meters 0.012761922722436472 Centerline is valid? [True, True] Translation: X:223.45, Y:3.59, Z:2.55 [[ 9.99733913e-01 -1.92196015e-02 -1.27558001e-02 2.23449953e+02] [ 1.92185644e-02 9.99815286e-01 -2.03892305e-04 3.59319620e+00] [ 1.27573626e-02 -4.13101132e-05 9.99918621e-01 2.55443798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.815099893 meters 0.013036026479676218 Centerline is valid? [True, True] Translation: X:223.48, Y:3.59, Z:2.55 [[ 9.99651788e-01 -2.29343351e-02 -1.30506353e-02 2.23479454e+02] [ 2.29335569e-02 9.99736969e-01 -2.09301510e-04 3.58919634e+00] [ 1.30520028e-02 -9.00688590e-05 9.99914815e-01 2.55419306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.845099893 meters 0.01342650028213284 Centerline is valid? [True, True] Translation: X:223.51, Y:3.59, Z:2.55 [[ 9.99545483e-01 -2.72078966e-02 -1.29830105e-02 2.23509728e+02] [ 2.72074812e-02 9.99629786e-01 -2.08648878e-04 3.58507663e+00] [ 1.29838809e-02 -1.44680970e-04 9.99915695e-01 2.55406867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.875099893 meters 0.014890023371211737 Centerline is valid? [True, True] Translation: X:223.54, Y:3.57, Z:2.55 [[ 9.99246388e-01 -3.64403587e-02 -1.33699698e-02 2.23541334e+02] [ 3.64407446e-02 9.99335792e-01 -2.14831538e-04 3.57486699e+00] [ 1.33689179e-02 -2.72542017e-04 9.99910595e-01 2.55327266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.905099893 meters 0.016035900696041834 Centerline is valid? [True, True] Translation: X:223.57, Y:3.57, Z:2.55 [[ 9.99061364e-01 -4.12214324e-02 -1.33110650e-02 2.23572814e+02] [ 4.12222454e-02 9.99149979e-01 -2.13408669e-04 3.56984321e+00] [ 1.33085473e-02 -3.35503631e-04 9.99911381e-01 2.55321009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93509989299997 meters 0.01810572284619218 Centerline is valid? [True, True] Translation: X:223.60, Y:3.56, Z:2.55 [[ 9.98863199e-01 -4.57506519e-02 -1.33861301e-02 2.23602826e+02] [ 4.57518863e-02 9.98952811e-01 -2.14165323e-04 3.56342561e+00] [ 1.33819105e-02 -3.98518845e-04 9.99910379e-01 2.55287781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96509989299997 meters 0.019360522869060422 Centerline is valid? [True, True] Translation: X:223.63, Y:3.56, Z:2.55 [[ 9.98652394e-01 -5.00754621e-02 -1.36324926e-02 2.23633817e+02] [ 5.00771451e-02 9.98745329e-01 -2.18084529e-04 3.55931950e+00] [ 1.36263090e-02 -4.64885673e-04 9.99907049e-01 2.55289921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99509989299997 meters 0.019360522869060422 Centerline is valid? [True, True] Translation: X:223.67, Y:3.56, Z:2.55 [[ 9.98655933e-01 -5.00048206e-02 -1.36324975e-02 2.23665520e+02] [ 5.00065012e-02 9.98748869e-01 -2.17776862e-04 3.55976682e+00] [ 1.36263314e-02 -4.64229348e-04 9.99907049e-01 2.55329126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02509989299998 meters 0.022501424651690277 Centerline is valid? [True, True] Translation: X:223.70, Y:3.55, Z:2.55 [[ 9.98287477e-01 -5.67886760e-02 -1.40413271e-02 2.23695249e+02] [ 5.67911411e-02 9.98386056e-01 -2.23430275e-04 3.55154871e+00] [ 1.40313535e-02 -5.74375343e-04 9.99901391e-01 2.55296606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05509989299998 meters 0.022497160267361236 Centerline is valid? [True, True] Translation: X:223.73, Y:3.55, Z:2.55 [[ 9.98111922e-01 -5.97765724e-02 -1.41191941e-02 2.23726661e+02] [ 5.97793617e-02 9.98211589e-01 -2.24781430e-04 3.55062721e+00] [ 1.41073799e-02 -6.19679387e-04 9.99900294e-01 2.55313797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08509989299998 meters 0.02234068512207393 Centerline is valid? [True, True] Translation: X:223.76, Y:3.55, Z:2.55 [[ 9.97979889e-01 -6.19774812e-02 -1.39618345e-02 2.23758741e+02] [ 6.19804312e-02 9.98077340e-01 -2.21725429e-04 3.54987269e+00] [ 1.39487326e-02 -6.44083005e-04 9.99902504e-01 2.55357999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11509989299998 meters 0.023354752834671758 Centerline is valid? [True, True] Translation: X:223.79, Y:3.55, Z:2.55 [[ 9.97867779e-01 -6.37477704e-02 -1.40042169e-02 2.23791155e+02] [ 6.37509266e-02 9.97965816e-01 -2.21377877e-04 3.54795440e+00] [ 1.39898421e-02 -6.71875954e-04 9.99901912e-01 2.55415389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14509989299998 meters 0.027940440328728843 Centerline is valid? [True, True] Translation: X:223.82, Y:3.54, Z:2.56 [[ 9.97759108e-01 -6.55453489e-02 -1.34376451e-02 2.23822267e+02] [ 6.55484297e-02 9.97849367e-01 -2.11504576e-04 3.54059861e+00] [ 1.34226088e-02 -6.69785917e-04 9.99909688e-01 2.55578851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17509989299998 meters 0.023069863432789117 Centerline is valid? [True, True] Translation: X:223.85, Y:3.55, Z:2.56 [[ 9.97749046e-01 -6.58566640e-02 -1.26388583e-02 2.23854163e+02] [ 6.58594225e-02 9.97828892e-01 -1.98284609e-04 3.54754624e+00] [ 1.26244763e-02 -6.34549629e-04 9.99920107e-01 2.55731925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20509989299998 meters 0.02317655583020489 Centerline is valid? [True, True] Translation: X:223.89, Y:3.55, Z:2.56 [[ 9.97774986e-01 -6.56051720e-02 -1.18760142e-02 2.23886255e+02] [ 6.56075994e-02 9.97845483e-01 -1.85493993e-04 3.54751372e+00] [ 1.18625965e-02 -5.94075519e-04 9.99929460e-01 2.55896003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23509989299998 meters 0.024510543793919273 Centerline is valid? [True, True] Translation: X:223.92, Y:3.55, Z:2.56 [[ 9.97873492e-01 -6.41799198e-02 -1.13768364e-02 2.23917906e+02] [ 6.41820642e-02 9.97938190e-01 -1.76896818e-04 3.54549702e+00] [ 1.13647328e-02 -5.53668200e-04 9.99935266e-01 2.56058064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26509989299998 meters 0.02346116509385156 Centerline is valid? [True, True] Translation: X:223.95, Y:3.55, Z:2.56 [[ 9.97947632e-01 -6.29228913e-02 -1.18841604e-02 2.23949817e+02] [ 6.29251530e-02 9.98018232e-01 -1.83876704e-04 3.54747128e+00] [ 1.18721788e-02 -5.64313290e-04 9.99929364e-01 2.56090383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29509989299999 meters 0.02422020705103324 Centerline is valid? [True, True] Translation: X:223.98, Y:3.55, Z:2.56 [[ 9.98056105e-01 -6.09728328e-02 -1.28966824e-02 2.23980053e+02] [ 6.09753472e-02 9.98139253e-01 -1.98516506e-04 3.54682955e+00] [ 1.28847891e-02 -5.88249079e-04 9.99916815e-01 2.56058538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.325099893 meters 0.02083560013736952 Centerline is valid? [True, True] Translation: X:224.01, Y:3.55, Z:2.56 [[ 9.98268587e-01 -5.65493488e-02 -1.61863647e-02 2.24010788e+02] [ 5.65527569e-02 9.98399582e-01 -2.47460418e-04 3.55347709e+00] [ 1.61744534e-02 -6.68351583e-04 9.99868962e-01 2.55979078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.355099893 meters 0.019800972265448524 Centerline is valid? [True, True] Translation: X:224.04, Y:3.56, Z:2.56 [[ 9.98408087e-01 -5.36936078e-02 -1.72710465e-02 2.24042599e+02] [ 5.36970702e-02 9.98557237e-01 -2.63534688e-04 3.55629178e+00] [ 1.72602786e-02 -6.64289435e-04 9.99850810e-01 2.55931506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.385099893 meters 0.019111518794245472 Centerline is valid? [True, True] Translation: X:224.07, Y:3.56, Z:2.56 [[ 9.98535557e-01 -5.07779654e-02 -1.86638357e-02 2.24074375e+02] [ 5.07815204e-02 9.98709746e-01 -2.83710372e-04 3.55883279e+00] [ 1.86541608e-02 -6.64483058e-04 9.99825775e-01 2.55914672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.415099893 meters 0.01714557914692759 Centerline is valid? [True, True] Translation: X:224.10, Y:3.57, Z:2.56 [[ 9.98785718e-01 -4.43082819e-02 -2.15375220e-02 2.24104809e+02] [ 4.43115305e-02 9.99017708e-01 -3.26614452e-04 3.56531527e+00] [ 2.15308376e-02 -6.28142711e-04 9.99767987e-01 2.55842107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.445099893 meters 0.016827906622826894 Centerline is valid? [True, True] Translation: X:224.13, Y:3.57, Z:2.56 [[ 9.98908903e-01 -4.08185341e-02 -2.26903157e-02 2.24134239e+02] [ 4.08212452e-02 9.99166406e-01 -3.43881569e-04 3.56764492e+00] [ 2.26854379e-02 -5.82740579e-04 9.99742483e-01 2.55791762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.475099893 meters 0.015802190317549855 Centerline is valid? [True, True] Translation: X:224.16, Y:3.57, Z:2.56 [[ 9.99013418e-01 -3.75454220e-02 -2.37177408e-02 2.24163961e+02] [ 3.75474592e-02 9.99294781e-01 -3.59592434e-04 3.57146797e+00] [ 2.37145157e-02 -5.31303239e-04 9.99718630e-01 2.55817442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.505099893 meters 0.015299452404414186 Centerline is valid? [True, True] Translation: X:224.19, Y:3.57, Z:2.56 [[ 9.99120109e-01 -3.41050550e-02 -2.44101166e-02 2.24192267e+02] [ 3.41061598e-02 9.99418147e-01 -3.71191881e-04 3.57455238e+00] [ 2.44085730e-02 -4.61670064e-04 9.99701960e-01 2.55837487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.535099893 meters 0.014226371771540115 Centerline is valid? [True, True] Translation: X:224.22, Y:3.58, Z:2.56 [[ 9.99315975e-01 -2.78364062e-02 -2.43457626e-02 2.24221498e+02] [ 2.78355616e-02 9.99612446e-01 -3.73646912e-04 3.58134457e+00] [ 2.43467283e-02 -3.04286648e-04 9.99703528e-01 2.55953467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.565099893 meters 0.013883243824169327 Centerline is valid? [True, True] Translation: X:224.25, Y:3.58, Z:2.56 [[ 9.99394236e-01 -2.52027407e-02 -2.39996284e-02 2.24250650e+02] [ 2.52010282e-02 9.99682334e-01 -3.73850948e-04 3.58460405e+00] [ 2.40014266e-02 -2.31190829e-04 9.99711898e-01 2.56052338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.595099893 meters 0.01366722017505877 Centerline is valid? [True, True] Translation: X:224.28, Y:3.59, Z:2.56 [[ 9.99453814e-01 -2.28754278e-02 -2.38492837e-02 2.24279489e+02] [ 2.28729378e-02 9.99738309e-01 -3.77227269e-04 3.58739466e+00] [ 2.38516718e-02 -1.68481950e-04 9.99715494e-01 2.56191037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.625099893 meters 0.01353733623058641 Centerline is valid? [True, True] Translation: X:224.31, Y:3.59, Z:2.56 [[ 9.99512917e-01 -2.11524559e-02 -2.29456216e-02 2.24307932e+02] [ 2.11495684e-02 9.99776255e-01 -3.68539862e-04 3.58976523e+00] [ 2.29482831e-02 -1.16929639e-04 9.99736647e-01 2.56299423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.655099893 meters 0.013491306365170869 Centerline is valid? [True, True] Translation: X:224.34, Y:3.59, Z:2.56 [[ 9.99575904e-01 -1.87217805e-02 -2.23048698e-02 2.24336051e+02] [ 1.87183608e-02 9.99824731e-01 -3.62109499e-04 3.59280525e+00] [ 2.23077398e-02 -5.55546708e-05 9.99751150e-01 2.56419109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68509989299997 meters 0.013378510447032988 Centerline is valid? [True, True] Translation: X:224.36, Y:3.59, Z:2.57 [[ 9.99573387e-01 -1.90074313e-02 -2.21756839e-02 2.24364328e+02] [ 1.90040368e-02 9.99819341e-01 -3.63820902e-04 3.59407145e+00] [ 2.21785930e-02 -5.77618215e-05 9.99754023e-01 2.56589479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71509989299997 meters 0.013449347098315603 Centerline is valid? [True, True] Translation: X:224.39, Y:3.59, Z:2.57 [[ 9.99556399e-01 -1.99870401e-02 -2.20799345e-02 2.24391860e+02] [ 1.99837788e-02 9.99800236e-01 -3.68367065e-04 3.59463880e+00] [ 2.20828863e-02 -7.30368677e-05 9.99756141e-01 2.56708557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74509989299997 meters 0.013371337601509005 Centerline is valid? [True, True] Translation: X:224.42, Y:3.59, Z:2.57 [[ 9.99521227e-01 -2.19932579e-02 -2.17626660e-02 2.24419973e+02] [ 2.19904330e-02 9.99758113e-01 -3.69139761e-04 3.59482142e+00] [ 2.17655205e-02 -1.09607422e-04 9.99763097e-01 2.56869755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77509989299998 meters 0.013476053371694758 Centerline is valid? [True, True] Translation: X:224.45, Y:3.59, Z:2.57 [[ 9.99465962e-01 -2.45643610e-02 -2.15495545e-02 2.24448851e+02] [ 2.45620638e-02 9.99698238e-01 -3.71315270e-04 3.59418303e+00] [ 2.15521727e-02 -1.58184558e-04 9.99767712e-01 2.56963401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80509989299998 meters 0.014312868806534177 Centerline is valid? [True, True] Translation: X:224.48, Y:3.59, Z:2.57 [[ 9.99224098e-01 -3.22323599e-02 -2.26335301e-02 2.24478385e+02] [ 3.22317104e-02 9.99480346e-01 -3.93598259e-04 3.59001866e+00] [ 2.26344551e-02 -3.36224519e-04 9.99743751e-01 2.57034182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83509989299998 meters 0.014869451847207256 Centerline is valid? [True, True] Translation: X:224.51, Y:3.59, Z:2.57 [[ 9.99039386e-01 -3.72525725e-02 -2.30770598e-02 2.24507453e+02] [ 3.72532065e-02 9.99305777e-01 -4.02579722e-04 3.58791417e+00] [ 2.30760363e-02 -4.57501476e-04 9.99733608e-01 2.57105146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86509989299998 meters 0.017932628033296896 Centerline is valid? [True, True] Translation: X:224.54, Y:3.58, Z:2.57 [[ 9.98552866e-01 -4.81536059e-02 -2.39458593e-02 2.24536775e+02] [ 4.81573897e-02 9.98839672e-01 -4.18959805e-04 3.57988908e+00] [ 2.39382487e-02 -7.34816566e-04 9.99713169e-01 2.57070654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89509989299998 meters 0.020145881758614696 Centerline is valid? [True, True] Translation: X:224.57, Y:3.58, Z:2.57 [[ 9.98277821e-01 -5.34965809e-02 -2.40729791e-02 2.24566731e+02] [ 5.35019652e-02 9.98567656e-01 -4.20806346e-04 3.57564695e+00] [ 2.40610100e-02 -8.67870050e-04 9.99710115e-01 2.57075326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92509989299998 meters 0.020886871209044432 Centerline is valid? [True, True] Translation: X:224.60, Y:3.57, Z:2.57 [[ 9.97956710e-01 -5.88196165e-02 -2.49530988e-02 2.24597669e+02] [ 5.88270871e-02 9.98268092e-01 -4.35215802e-04 3.57409323e+00] [ 2.49354815e-02 -1.03359158e-03 9.99688528e-01 2.57119809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95509989299998 meters 0.02476154920943556 Centerline is valid? [True, True] Translation: X:224.63, Y:3.57, Z:2.57 [[ 9.97673471e-01 -6.33457812e-02 -2.51983726e-02 2.24627547e+02] [ 6.33548467e-02 9.97990967e-01 -4.39220238e-04 3.56823222e+00] [ 2.51755710e-02 -1.15824065e-03 9.99682374e-01 2.57040798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98509989299998 meters 0.024634518480686814 Centerline is valid? [True, True] Translation: X:224.66, Y:3.57, Z:2.57 [[ 9.97403574e-01 -6.74944917e-02 -2.51118222e-02 2.24658113e+02] [ 6.75048120e-02 9.97718853e-01 -4.37484243e-04 3.56844005e+00] [ 2.50840662e-02 -1.25882049e-03 9.99684553e-01 2.57105850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01509989299998 meters 0.026407837599693233 Centerline is valid? [True, True] Translation: X:224.69, Y:3.57, Z:2.57 [[ 9.97173358e-01 -7.08060023e-02 -2.51357219e-02 2.24689549e+02] [ 7.08174080e-02 9.97489200e-01 -4.37227533e-04 3.56623116e+00] [ 2.51035695e-02 -1.34405503e-03 9.99683952e-01 2.57114741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04509989299999 meters 0.026429774061441112 Centerline is valid? [True, True] Translation: X:224.72, Y:3.57, Z:2.57 [[ 9.96811472e-01 -7.54812102e-02 -2.58742355e-02 2.24719713e+02] [ 7.54948786e-02 9.97146088e-01 -4.49578269e-04 3.56753536e+00] [ 2.58343274e-02 -1.50522749e-03 9.99665105e-01 2.57168525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.075099893 meters 0.02930675017123939 Centerline is valid? [True, True] Translation: X:224.75, Y:3.56, Z:2.57 [[ 9.96746132e-01 -7.64134400e-02 -2.56541372e-02 2.24750419e+02] [ 7.64272284e-02 9.97075063e-01 -4.44030441e-04 3.56472377e+00] [ 2.56130303e-02 -1.51808898e-03 9.99670780e-01 2.57141357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.105099893 meters 0.027993882326235786 Centerline is valid? [True, True] Translation: X:224.78, Y:3.57, Z:2.57 [[ 9.96727890e-01 -7.68980730e-02 -2.49038064e-02 2.24782292e+02] [ 7.69112772e-02 9.97037849e-01 -4.28618202e-04 3.56773145e+00] [ 2.48629975e-02 -1.48816784e-03 9.99689760e-01 2.57261103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.135099893 meters 0.02684891880755086 Centerline is valid? [True, True] Translation: X:224.81, Y:3.57, Z:2.57 [[ 9.96722916e-01 -7.69989221e-02 -2.47910176e-02 2.24814492e+02] [ 7.70120825e-02 9.97030069e-01 -4.24876845e-04 3.57062272e+00] [ 2.47501050e-02 -1.48572340e-03 9.99692565e-01 2.57360355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.165099893 meters 0.0283757310138773 Centerline is valid? [True, True] Translation: X:224.85, Y:3.57, Z:2.57 [[ 9.96773832e-01 -7.66322956e-02 -2.38624904e-02 2.24845501e+02] [ 7.66444192e-02 9.97058407e-01 -4.07461815e-04 3.57049585e+00] [ 2.38235214e-02 -1.42277944e-03 9.99715167e-01 2.57330354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.195099893 meters 0.028679265666877993 Centerline is valid? [True, True] Translation: X:224.88, Y:3.57, Z:2.57 [[ 9.96799127e-01 -7.63363835e-02 -2.37540785e-02 2.24877986e+02] [ 7.63483487e-02 9.97081123e-01 -4.04125037e-04 3.57146468e+00] [ 2.37155927e-02 -1.41075318e-03 9.99717750e-01 2.57366444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.225099893 meters 0.028965652477465756 Centerline is valid? [True, True] Translation: X:224.91, Y:3.57, Z:2.57 [[ 9.96828536e-01 -7.60542105e-02 -2.34227883e-02 2.24910591e+02] [ 7.60658053e-02 9.97102721e-01 -3.96834280e-04 3.57262305e+00] [ 2.33851069e-02 -1.38609752e-03 9.99725570e-01 2.57378984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.255099893 meters 0.02734561454727165 Centerline is valid? [True, True] Translation: X:224.94, Y:3.58, Z:2.57 [[ 9.96906149e-01 -7.52941848e-02 -2.25591686e-02 2.24942341e+02] [ 7.53047816e-02 9.97160491e-01 -3.80621796e-04 3.57748586e+00] [ 2.25237703e-02 -1.31936906e-03 9.99745437e-01 2.57463834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.285099893 meters 0.029195568161305543 Centerline is valid? [True, True] Translation: X:224.97, Y:3.58, Z:2.57 [[ 9.96923833e-01 -7.48960107e-02 -2.30967241e-02 2.24973606e+02] [ 7.49070466e-02 9.97190445e-01 -3.88201601e-04 3.57671318e+00] [ 2.30609073e-02 -1.34309996e-03 9.99733160e-01 2.57459887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.315099893 meters 0.028344528928399153 Centerline is valid? [True, True] Translation: X:225.01, Y:3.58, Z:2.57 [[ 9.96976685e-01 -7.41908755e-02 -2.30912124e-02 2.25006117e+02] [ 7.42017505e-02 9.97243175e-01 -3.86685257e-04 3.57941535e+00] [ 2.30562425e-02 -1.32789220e-03 9.99733288e-01 2.57473776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.345099893 meters 0.029292944540587906 Centerline is valid? [True, True] Translation: X:225.04, Y:3.58, Z:2.57 [[ 9.97004155e-01 -7.35999917e-02 -2.37856117e-02 2.25037036e+02] [ 7.36113992e-02 9.97286922e-01 -3.96808661e-04 3.57941930e+00] [ 2.37502846e-02 -1.35527228e-03 9.99717004e-01 2.57417447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.375099893 meters 0.02987613100015404 Centerline is valid? [True, True] Translation: X:225.07, Y:3.58, Z:2.57 [[ 9.97026129e-01 -7.31928148e-02 -2.41186558e-02 2.25068453e+02] [ 7.32044560e-02 9.97316874e-01 -4.01091602e-04 3.58007237e+00] [ 2.40832995e-02 -1.36569427e-03 9.99709022e-01 2.57410653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.405099893 meters 0.02498345730914646 Centerline is valid? [True, True] Translation: X:225.10, Y:3.59, Z:2.57 [[ 9.97116228e-01 -7.15721269e-02 -2.52320855e-02 2.25100189e+02] [ 7.15843919e-02 9.97434459e-01 -4.17994317e-04 3.58941890e+00] [ 2.51972683e-02 -1.38943458e-03 9.99681533e-01 2.57495490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43509989299997 meters 0.027802393093054465 Centerline is valid? [True, True] Translation: X:225.13, Y:3.59, Z:2.57 [[ 9.97173612e-01 -7.04748037e-02 -2.60401534e-02 2.25131016e+02] [ 7.04875380e-02 9.97512568e-01 -4.29703101e-04 3.58726753e+00] [ 2.60056635e-02 -1.40701771e-03 9.99660805e-01 2.57383790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46509989299997 meters 0.02690851373616799 Centerline is valid? [True, True] Translation: X:225.16, Y:3.59, Z:2.57 [[ 9.97255084e-01 -6.91886166e-02 -2.63672526e-02 2.25162788e+02] [ 6.92012686e-02 9.97602625e-01 -4.33437215e-04 3.59031365e+00] [ 2.63340293e-02 -1.39239986e-03 9.99652230e-01 2.57391911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49509989299997 meters 0.02323657127478439 Centerline is valid? [True, True] Translation: X:225.19, Y:3.60, Z:2.58 [[ 9.97482037e-01 -6.52057983e-02 -2.78888837e-02 2.25193527e+02] [ 6.52184344e-02 9.97870907e-01 -4.57253545e-04 3.59950462e+00] [ 2.78593212e-02 -1.36276713e-03 9.99610925e-01 2.57500287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52509989299998 meters 0.023123880709583603 Centerline is valid? [True, True] Translation: X:225.22, Y:3.60, Z:2.58 [[ 9.97641765e-01 -6.26924726e-02 -2.79385384e-02 2.25224161e+02] [ 6.27041924e-02 9.98032051e-01 -4.57283728e-04 3.60221122e+00] [ 2.79122251e-02 -1.29565814e-03 9.99609538e-01 2.57521474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55509989299998 meters 0.02234594001364471 Centerline is valid? [True, True] Translation: X:225.25, Y:3.61, Z:2.58 [[ 9.97856442e-01 -5.94067915e-02 -2.74473020e-02 2.25254608e+02] [ 5.94168739e-02 9.98233156e-01 -4.48806276e-04 3.60564855e+00] [ 2.74254691e-02 -1.18298865e-03 9.99623151e-01 2.57559138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58509989299998 meters 0.021083021471970775 Centerline is valid? [True, True] Translation: X:225.29, Y:3.61, Z:2.58 [[ 9.98095016e-01 -5.56028336e-02 -2.67332063e-02 2.25285520e+02] [ 5.56110425e-02 9.98452413e-01 -4.36876048e-04 3.61005209e+00] [ 2.67161259e-02 -1.05061767e-03 9.99642509e-01 2.57626124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61509989299998 meters 0.01904932053475924 Centerline is valid? [True, True] Translation: X:225.32, Y:3.62, Z:2.58 [[ 9.98330027e-01 -5.15882331e-02 -2.59963869e-02 2.25316459e+02] [ 5.15946480e-02 9.98668019e-01 -4.24378059e-04 3.61601501e+00] [ 2.59836531e-02 -9.17605070e-04 9.99661947e-01 2.57767434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64509989299998 meters 0.016592526521573506 Centerline is valid? [True, True] Translation: X:225.35, Y:3.63, Z:2.58 [[ 9.98820482e-01 -4.19187187e-02 -2.45043927e-02 2.25345952e+02] [ 4.19215096e-02 9.99120827e-01 -4.00030864e-04 3.62556544e+00] [ 2.44996179e-02 -6.27702112e-04 9.99699642e-01 2.57853156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67509989299998 meters 0.015572936533692882 Centerline is valid? [True, True] Translation: X:225.38, Y:3.63, Z:2.58 [[ 9.99026118e-01 -3.70371995e-02 -2.39804455e-02 2.25375859e+02] [ 3.70384564e-02 9.99313764e-01 -3.91898898e-04 3.63090149e+00] [ 2.39785041e-02 -4.96681452e-04 9.99712351e-01 2.57923269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70509989299998 meters 0.014517086875237305 Centerline is valid? [True, True] Translation: X:225.41, Y:3.64, Z:2.58 [[ 9.99215722e-01 -3.20028355e-02 -2.33186634e-02 2.25405550e+02] [ 3.20026395e-02 9.99487711e-01 -3.81679225e-04 3.63630639e+00] [ 2.33189323e-02 -3.64878895e-04 9.99728010e-01 2.57984705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73509989299998 meters 0.013207943213909919 Centerline is valid? [True, True] Translation: X:225.43, Y:3.65, Z:2.58 [[ 9.99481035e-01 -2.33009107e-02 -2.22424735e-02 2.25434655e+02] [ 2.32985164e-02 9.99728485e-01 -3.66812816e-04 3.64608163e+00] [ 2.22449814e-02 -1.51594180e-04 9.99752538e-01 2.58086431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76509989299998 meters 0.013038868725909305 Centerline is valid? [True, True] Translation: X:225.46, Y:3.65, Z:2.58 [[ 9.99556167e-01 -1.97126790e-02 -2.23356204e-02 2.25462646e+02] [ 1.97092833e-02 9.99805684e-01 -3.72180872e-04 3.64960245e+00] [ 2.23386169e-02 -6.82033837e-05 9.99750460e-01 2.58062211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79509989299999 meters 0.01306678087117399 Centerline is valid? [True, True] Translation: X:225.49, Y:3.65, Z:2.58 [[ 9.99618029e-01 -1.65787495e-02 -2.21120049e-02 2.25490758e+02] [ 1.65745698e-02 9.99862563e-01 -3.72296096e-04 3.65287503e+00] [ 2.21151381e-02 5.65692237e-06 9.99755430e-01 2.58050419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.825099893 meters 0.013259897683182545 Centerline is valid? [True, True] Translation: X:225.52, Y:3.66, Z:2.58 [[ 9.99705114e-01 -1.12844579e-02 -2.15022229e-02 2.25519719e+02] [ 1.12791602e-02 9.99936321e-01 -3.67647291e-04 3.65809458e+00] [ 2.15050024e-02 1.25011860e-04 9.99768733e-01 2.58100091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.855099893 meters 0.013504602213099407 Centerline is valid? [True, True] Translation: X:225.55, Y:3.66, Z:2.58 [[ 9.99738311e-01 -9.12510030e-03 -2.09771717e-02 2.25548092e+02] [ 9.11947692e-03 9.99958351e-01 -3.63718955e-04 3.66069812e+00] [ 2.09796170e-02 1.72322941e-04 9.99779889e-01 2.58106944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.885099893 meters 0.013812960239748621 Centerline is valid? [True, True] Translation: X:225.58, Y:3.66, Z:2.58 [[ 9.99757937e-01 -7.15959726e-03 -2.08040172e-02 2.25575707e+02] [ 7.15356369e-03 9.99974347e-01 -3.64425396e-04 3.66332577e+00] [ 2.08060926e-02 2.15514320e-04 9.99783507e-01 2.58136350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.915099893 meters 0.013812960239748621 Centerline is valid? [True, True] Translation: X:225.60, Y:3.66, Z:2.58 [[ 9.99755928e-01 -7.43509623e-03 -2.08039573e-02 2.25603092e+02] [ 7.42905175e-03 9.99972337e-01 -3.67815727e-04 3.66387773e+00] [ 2.08061166e-02 2.13172278e-04 9.99783507e-01 2.58170260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.945099893 meters 0.013725036309862153 Centerline is valid? [True, True] Translation: X:225.63, Y:3.67, Z:2.58 [[ 9.99763611e-01 -5.86766100e-03 -2.09354179e-02 2.25631475e+02] [ 5.86107967e-03 9.99982753e-01 -3.75708954e-04 3.66538704e+00] [ 2.09372613e-02 2.52915989e-04 9.99780760e-01 2.58282274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.975099893 meters 0.014218358194974225 Centerline is valid? [True, True] Translation: X:225.66, Y:3.67, Z:2.58 [[ 9.99770931e-01 -3.81847348e-03 -2.10595468e-02 2.25658722e+02] [ 3.81126560e-03 9.99992664e-01 -3.82387813e-04 3.66892725e+00] [ 2.10608525e-02 3.02036693e-04 9.99778150e-01 2.58283883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.005099893 meters 0.01417218575897159 Centerline is valid? [True, True] Translation: X:225.69, Y:3.67, Z:2.58 [[ 9.99764424e-01 -3.86680066e-03 -2.13575588e-02 2.25686564e+02] [ 3.85930285e-03 9.99992476e-01 -3.92267383e-04 3.67013863e+00] [ 2.13589149e-02 3.09749686e-04 9.99771824e-01 2.58332191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.035099893 meters 0.014494318271215039 Centerline is valid? [True, True] Translation: X:225.71, Y:3.67, Z:2.58 [[ 9.99761455e-01 -4.28844257e-03 -2.14159469e-02 2.25713032e+02] [ 4.28090220e-03 9.99990758e-01 -3.97924551e-04 3.67148961e+00] [ 2.14174555e-02 3.06150054e-04 9.99770573e-01 2.58288312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.065099893 meters 0.013742019835562799 Centerline is valid? [True, True] Translation: X:225.74, Y:3.67, Z:2.58 [[ 9.99751181e-01 -6.59798742e-03 -2.13082990e-02 2.25742277e+02] [ 6.59100184e-03 9.99978200e-01 -3.98047448e-04 3.66982929e+00] [ 2.13104608e-02 2.57505368e-04 9.99772873e-01 2.58337327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.095099893 meters 0.013301796410751156 Centerline is valid? [True, True] Translation: X:225.77, Y:3.67, Z:2.58 [[ 9.99758571e-01 -8.26288137e-03 -2.03598858e-02 2.25770856e+02] [ 8.25682048e-03 9.99965839e-01 -3.81733666e-04 3.66851857e+00] [ 2.03623445e-02 2.13533583e-04 9.99792643e-01 2.58471760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.125099893 meters 0.013178930006741899 Centerline is valid? [True, True] Translation: X:225.80, Y:3.67, Z:2.59 [[ 9.99743798e-01 -1.04516623e-02 -2.00773872e-02 2.25798330e+02] [ 1.04461783e-02 9.99945366e-01 -3.78006061e-04 3.66810125e+00] [ 2.00802411e-02 1.68177248e-04 9.99798357e-01 2.58540804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.155099893 meters 0.013033210772593744 Centerline is valid? [True, True] Translation: X:225.83, Y:3.67, Z:2.59 [[ 9.99726782e-01 -1.28333972e-02 -1.95362308e-02 2.25826439e+02] [ 1.28286261e-02 9.99917642e-01 -3.69528993e-04 3.66779093e+00] [ 1.95393641e-02 1.18805032e-04 9.99809081e-01 2.58569369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18509989299997 meters 0.012868997464122494 Centerline is valid? [True, True] Translation: X:225.86, Y:3.67, Z:2.59 [[ 9.99700199e-01 -1.53458461e-02 -1.90792330e-02 2.25855272e+02] [ 1.53417012e-02 9.99882243e-01 -3.63602675e-04 3.66681116e+00] [ 1.90825661e-02 7.07857740e-05 9.99817909e-01 2.58696493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21509989299997 meters 0.012694674488358473 Centerline is valid? [True, True] Translation: X:225.88, Y:3.66, Z:2.59 [[ 9.99651764e-01 -2.01093607e-02 -1.70869502e-02 2.25884469e+02] [ 2.01066799e-02 9.99797786e-01 -3.28687215e-04 3.66396635e+00] [ 1.70901047e-02 -1.49890845e-05 9.99853953e-01 2.58855674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24509989299997 meters 0.012772786821988314 Centerline is valid? [True, True] Translation: X:225.91, Y:3.66, Z:2.59 [[ 9.99609907e-01 -2.27424681e-02 -1.62115370e-02 2.25913397e+02] [ 2.27403723e-02 9.99741355e-01 -3.13631631e-04 3.66261418e+00] [ 1.62144768e-02 -5.51471023e-05 9.99868535e-01 2.58887488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27509989299998 meters 0.012944748205900091 Centerline is valid? [True, True] Translation: X:225.94, Y:3.66, Z:2.59 [[ 9.99559747e-01 -2.53079660e-02 -1.54861155e-02 2.25943549e+02] [ 2.53063144e-02 9.99679698e-01 -3.02627481e-04 3.66085136e+00] [ 1.54888142e-02 -8.94022609e-05 9.99880037e-01 2.58874366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30509989299998 meters 0.013405312434021328 Centerline is valid? [True, True] Translation: X:225.97, Y:3.66, Z:2.59 [[ 9.99424636e-01 -3.02285386e-02 -1.53828920e-02 2.25974374e+02] [ 3.02274851e-02 9.99543000e-01 -3.01040838e-04 3.65665933e+00] [ 1.53849621e-02 -1.64118510e-04 9.99881631e-01 2.58840723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33509989299998 meters 0.013731874805685617 Centerline is valid? [True, True] Translation: X:226.01, Y:3.66, Z:2.59 [[ 9.99347535e-01 -3.24917113e-02 -1.57731421e-02 2.26006221e+02] [ 3.24908894e-02 9.99471984e-01 -3.08429921e-04 3.65517929e+00] [ 1.57748350e-02 -2.04254734e-04 9.99875549e-01 2.58826149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36509989299998 meters 0.014216379236352807 Centerline is valid? [True, True] Translation: X:226.04, Y:3.65, Z:2.59 [[ 9.99278361e-01 -3.45547546e-02 -1.57710527e-02 2.26037781e+02] [ 3.45542099e-02 9.99402778e-01 -3.07108519e-04 3.65317341e+00] [ 1.57722459e-02 -2.38069367e-04 9.99875582e-01 2.58820286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39509989299998 meters 0.014397440402325584 Centerline is valid? [True, True] Translation: X:226.07, Y:3.65, Z:2.59 [[ 9.99230415e-01 -3.60181627e-02 -1.55328700e-02 2.26070030e+02] [ 3.60178358e-02 9.99351102e-01 -3.00882036e-04 3.65217738e+00] [ 1.55336280e-02 -2.58809880e-04 9.99879312e-01 2.58810490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42509989299998 meters 0.015139165970618962 Centerline is valid? [True, True] Translation: X:226.10, Y:3.65, Z:2.59 [[ 9.99141521e-01 -3.82942005e-02 -1.58042940e-02 2.26101643e+02] [ 3.82941665e-02 9.99266463e-01 -3.04885506e-04 3.64933839e+00] [ 1.58043763e-02 -3.00588499e-04 9.99875058e-01 2.58751989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45509989299998 meters 0.01503452332692987 Centerline is valid? [True, True] Translation: X:226.13, Y:3.65, Z:2.59 [[ 9.99121140e-01 -3.88974466e-02 -1.56184603e-02 2.26133640e+02] [ 3.88975105e-02 9.99243160e-01 -2.99802241e-04 3.64915708e+00] [ 1.56183011e-02 -3.07980465e-04 9.99877979e-01 2.58747777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48509989299998 meters 0.015524282543871348 Centerline is valid? [True, True] Translation: X:226.17, Y:3.65, Z:2.59 [[ 9.99088530e-01 -3.96764788e-02 -1.57443955e-02 2.26165110e+02] [ 3.96766573e-02 9.99212526e-01 -3.01147700e-04 3.64825005e+00] [ 1.57439457e-02 -3.23811773e-04 9.99876004e-01 2.58717404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51509989299998 meters 0.01522556165013772 Centerline is valid? [True, True] Translation: X:226.20, Y:3.65, Z:2.59 [[ 9.99064452e-01 -4.01856814e-02 -1.59790915e-02 2.26197481e+02] [ 4.01859452e-02 9.99192172e-01 -3.04706782e-04 3.64866013e+00] [ 1.59784280e-02 -3.37713181e-04 9.99872280e-01 2.58715993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54509989299999 meters 0.015754728736374877 Centerline is valid? [True, True] Translation: X:226.23, Y:3.65, Z:2.59 [[ 9.99018485e-01 -4.13019934e-02 -1.60066331e-02 2.26229142e+02] [ 4.13024187e-02 9.99146645e-01 -3.04143216e-04 3.64736398e+00] [ 1.60055355e-02 -3.57267969e-04 9.99871839e-01 2.58640562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.575099893 meters 0.015969426409470217 Centerline is valid? [True, True] Translation: X:226.26, Y:3.65, Z:2.59 [[ 9.98998445e-01 -4.16796050e-02 -1.62762772e-02 2.26260887e+02] [ 4.16801105e-02 9.99130959e-01 -3.08314275e-04 3.64722638e+00] [ 1.62749829e-02 -3.70391552e-04 9.99867485e-01 2.58631683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.605099893 meters 0.016244840666782473 Centerline is valid? [True, True] Translation: X:226.29, Y:3.65, Z:2.59 [[ 9.98976874e-01 -4.20359150e-02 -1.66789185e-02 2.26292677e+02] [ 4.20365155e-02 9.99116025e-01 -3.14738389e-04 3.64757206e+00] [ 1.66774051e-02 -3.86707245e-04 9.99860848e-01 2.58619454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.635099893 meters 0.016572315502117085 Centerline is valid? [True, True] Translation: X:226.32, Y:3.65, Z:2.59 [[ 9.98959133e-01 -4.21620597e-02 -1.74072199e-02 2.26324320e+02] [ 4.21627533e-02 9.99110702e-01 -3.27308221e-04 3.64779038e+00] [ 1.74055397e-02 -4.06968782e-04 9.99848429e-01 2.58595660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.665099893 meters 0.016534675493813558 Centerline is valid? [True, True] Translation: X:226.36, Y:3.65, Z:2.59 [[ 9.98938001e-01 -4.26743638e-02 -1.73714873e-02 2.26356175e+02] [ 4.26751494e-02 9.99088948e-01 -3.25637556e-04 3.64861561e+00] [ 1.73695573e-02 -4.16039086e-04 9.99849051e-01 2.58618041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.695099893 meters 0.016538729534036827 Centerline is valid? [True, True] Translation: X:226.39, Y:3.65, Z:2.59 [[ 9.98905370e-01 -4.38380472e-02 -1.63183009e-02 2.26388430e+02] [ 4.38389134e-02 9.99038566e-01 -3.04798346e-04 3.64951232e+00] [ 1.63159737e-02 -4.10911872e-04 9.99866801e-01 2.58680479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.725099893 meters 0.01643878218314863 Centerline is valid? [True, True] Translation: X:226.42, Y:3.65, Z:2.59 [[ 9.98868797e-01 -4.48095259e-02 -1.59132636e-02 2.26420281e+02] [ 4.48104906e-02 9.98995462e-01 -2.96118272e-04 3.65045345e+00] [ 1.59105471e-02 -4.17297848e-04 9.99873332e-01 2.58753278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.755099893 meters 0.017356317311866005 Centerline is valid? [True, True] Translation: X:226.45, Y:3.65, Z:2.59 [[ 9.98829821e-01 -4.56661771e-02 -1.59244482e-02 2.26451207e+02] [ 4.56672692e-02 9.98956662e-01 -2.95240106e-04 3.64926654e+00] [ 1.59213162e-02 -4.32331443e-04 9.99873154e-01 2.58777790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.785099893 meters 0.017562932451873757 Centerline is valid? [True, True] Translation: X:226.48, Y:3.65, Z:2.59 [[ 9.98785198e-01 -4.68397370e-02 -1.53024982e-02 2.26483567e+02] [ 4.68408960e-02 9.98902323e-01 -2.82860262e-04 3.64960859e+00] [ 1.52989501e-02 -4.34266081e-04 9.99882870e-01 2.58853358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.815099893 meters 0.017531045244591786 Centerline is valid? [True, True] Translation: X:226.52, Y:3.65, Z:2.59 [[ 9.98652232e-01 -4.96502497e-02 -1.51185915e-02 2.26516093e+02] [ 4.96517189e-02 9.98766554e-01 -2.78393037e-04 3.65074855e+00] [ 1.51137658e-02 -4.72646227e-04 9.99885669e-01 2.58944158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.845099893 meters 0.018215904766781317 Centerline is valid? [True, True] Translation: X:226.55, Y:3.65, Z:2.59 [[ 9.98575136e-01 -5.10704829e-02 -1.54758758e-02 2.26547355e+02] [ 5.10722096e-02 9.98694923e-01 -2.83878596e-04 3.64996524e+00] [ 1.54701764e-02 -5.06913065e-04 9.99880201e-01 2.58963662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.875099893 meters 0.020034338873566582 Centerline is valid? [True, True] Translation: X:226.58, Y:3.65, Z:2.59 [[ 9.98493396e-01 -5.26194697e-02 -1.55605117e-02 2.26578932e+02] [ 5.26214164e-02 9.98614493e-01 -2.84582318e-04 3.64740315e+00] [ 1.55539270e-02 -5.34662600e-04 9.99878887e-01 2.58962672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.905099893 meters 0.02062254020128959 Centerline is valid? [True, True] Translation: X:226.61, Y:3.65, Z:2.59 [[ 9.98401355e-01 -5.42064479e-02 -1.60123232e-02 2.26611090e+02] [ 5.42087282e-02 9.98529583e-01 -2.91903238e-04 3.64676820e+00] [ 1.60046015e-02 -5.76571090e-04 9.99871752e-01 2.58977363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93509989299997 meters 0.02085570121417357 Centerline is valid? [True, True] Translation: X:226.64, Y:3.65, Z:2.59 [[ 9.98168032e-01 -5.81411984e-02 -1.67386344e-02 2.26642673e+02] [ 5.81442604e-02 9.98308145e-01 -3.04083211e-04 3.64671797e+00] [ 1.67279948e-02 -6.69729379e-04 9.99859853e-01 2.58991333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96509989299997 meters 0.023004248188957327 Centerline is valid? [True, True] Translation: X:226.67, Y:3.64, Z:2.59 [[ 9.98065423e-01 -5.97843587e-02 -1.70658108e-02 2.26673561e+02] [ 5.97877919e-02 9.98211062e-01 -3.09407109e-04 3.64389695e+00] [ 1.70537788e-02 -7.11518608e-04 9.99854321e-01 2.58977324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99509989299997 meters 0.02308629313345117 Centerline is valid? [True, True] Translation: X:226.71, Y:3.64, Z:2.59 [[ 9.97969302e-01 -6.13968556e-02 -1.69616728e-02 2.26705406e+02] [ 6.14004925e-02 9.98113163e-01 -3.06754714e-04 3.64450945e+00] [ 1.69485026e-02 -7.35323274e-04 9.99856093e-01 2.59052283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02509989299998 meters 0.02371774703576357 Centerline is valid? [True, True] Translation: X:226.74, Y:3.65, Z:2.59 [[ 9.97804200e-01 -6.41291364e-02 -1.65599617e-02 2.26736516e+02] [ 6.41329950e-02 9.97941316e-01 -2.98489450e-04 3.64501330e+00] [ 1.65450119e-02 -7.64205916e-04 9.99862830e-01 2.59205758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05509989299998 meters 0.02380122246028122 Centerline is valid? [True, True] Translation: X:226.77, Y:3.65, Z:2.59 [[ 9.97760895e-01 -6.49296937e-02 -1.60415228e-02 2.26768822e+02] [ 6.49334287e-02 9.97889556e-01 -2.88456969e-04 3.64603679e+00] [ 1.60263975e-02 -7.53819991e-04 9.99871285e-01 2.59299346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08509989299998 meters 0.025169338119753634 Centerline is valid? [True, True] Translation: X:226.80, Y:3.65, Z:2.59 [[ 9.97719393e-01 -6.56618162e-02 -1.56377281e-02 2.26800352e+02] [ 6.56654714e-02 9.97841654e-01 -2.80159879e-04 3.64528688e+00] [ 1.56223723e-02 -7.47337842e-04 9.99877684e-01 2.59357592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11509989299998 meters 0.02504333651571167 Centerline is valid? [True, True] Translation: X:226.83, Y:3.65, Z:2.59 [[ 9.97700610e-01 -6.59643692e-02 -1.55626343e-02 2.26832869e+02] [ 6.59680398e-02 9.97821698e-01 -2.77932626e-04 3.64678295e+00] [ 1.55470678e-02 -7.49342928e-04 9.99878856e-01 2.59414374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14509989299998 meters 0.02322694883618536 Centerline is valid? [True, True] Translation: X:226.86, Y:3.65, Z:2.59 [[ 9.97740771e-01 -6.54908303e-02 -1.49768435e-02 2.26864848e+02] [ 6.54941919e-02 9.97852915e-01 -2.66438070e-04 3.65160477e+00] [ 1.49621362e-02 -7.15060134e-04 9.99887805e-01 2.59490015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17509989299998 meters 0.025222219450287096 Centerline is valid? [True, True] Translation: X:226.90, Y:3.65, Z:2.60 [[ 9.97779674e-01 -6.48835576e-02 -1.50281923e-02 2.26895732e+02] [ 6.48868893e-02 9.97892590e-01 -2.66303342e-04 3.65013008e+00] [ 1.50138005e-02 -7.09420591e-04 9.99887035e-01 2.59551936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20509989299998 meters 0.02314552184025401 Centerline is valid? [True, True] Translation: X:226.93, Y:3.66, Z:2.60 [[ 9.97862445e-01 -6.36092067e-02 -1.49803241e-02 2.26928100e+02] [ 6.36123868e-02 9.97974646e-01 -2.64597266e-04 3.65555338e+00] [ 1.49668145e-02 -6.88902496e-04 9.99887754e-01 2.59600411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23509989299998 meters 0.024056449187270845 Centerline is valid? [True, True] Translation: X:226.96, Y:3.66, Z:2.60 [[ 9.97925726e-01 -6.24753194e-02 -1.55267748e-02 2.26959232e+02] [ 6.24786158e-02 9.98046265e-01 -2.73156564e-04 3.65544763e+00] [ 1.55135051e-02 -6.97501434e-04 9.99879415e-01 2.59634280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26509989299998 meters 0.02290327415750776 Centerline is valid? [True, True] Translation: X:226.99, Y:3.66, Z:2.60 [[ 9.97967567e-01 -6.17215167e-02 -1.58489367e-02 2.26991227e+02] [ 6.17248711e-02 9.98093164e-01 -2.77897862e-04 3.65857707e+00] [ 1.58358676e-02 -7.00940521e-04 9.99874359e-01 2.59654692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29509989299999 meters 0.022537628744447872 Centerline is valid? [True, True] Translation: X:227.02, Y:3.66, Z:2.60 [[ 9.98007734e-01 -6.09233610e-02 -1.63983863e-02 2.27023620e+02] [ 6.09268643e-02 9.98142192e-01 -2.86329278e-04 3.66043049e+00] [ 1.63853654e-02 -7.13343422e-04 9.99865496e-01 2.59713278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.325099893 meters 0.020892407750402728 Centerline is valid? [True, True] Translation: X:227.06, Y:3.67, Z:2.60 [[ 9.98114885e-01 -5.89715612e-02 -1.70009281e-02 2.27056353e+02] [ 5.89750668e-02 9.98259412e-01 -2.95510990e-04 3.66523098e+00] [ 1.69887632e-02 -7.07676950e-04 9.99855430e-01 2.59743795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.355099893 meters 0.022005922989508993 Centerline is valid? [True, True] Translation: X:227.09, Y:3.67, Z:2.60 [[ 9.98175878e-01 -5.76984594e-02 -1.77708710e-02 2.27087987e+02] [ 5.77021164e-02 9.98333798e-01 -3.07326670e-04 3.66510044e+00] [ 1.77589934e-02 -7.18650799e-04 9.99842038e-01 2.59750144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.385099893 meters 0.020831440784250758 Centerline is valid? [True, True] Translation: X:227.12, Y:3.67, Z:2.60 [[ 9.98248227e-01 -5.63483376e-02 -1.80372287e-02 2.27120611e+02] [ 5.63519104e-02 9.98410920e-01 -3.10518387e-04 3.66862741e+00] [ 1.80260633e-02 -7.06457865e-04 9.99837268e-01 2.59804913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.415099893 meters 0.020818485091069965 Centerline is valid? [True, True] Translation: X:227.15, Y:3.67, Z:2.60 [[ 9.98318518e-01 -5.48793272e-02 -1.86653841e-02 2.27151534e+02] [ 5.48829246e-02 9.98492745e-01 -3.19850046e-04 3.67036235e+00] [ 1.86548037e-02 -7.05098644e-04 9.99825735e-01 2.59828103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.445099893 meters 0.018409177739881346 Centerline is valid? [True, True] Translation: X:227.18, Y:3.68, Z:2.60 [[ 9.98498020e-01 -5.12312689e-02 -1.94180828e-02 2.27182713e+02] [ 5.12344917e-02 9.98686596e-01 -3.31801460e-04 3.67727016e+00] [ 1.94095776e-02 -6.63572501e-04 9.99811396e-01 2.59919030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.475099893 meters 0.018493298848822233 Centerline is valid? [True, True] Translation: X:227.21, Y:3.68, Z:2.60 [[ 9.98612067e-01 -4.90614687e-02 -1.91549539e-02 2.27213817e+02] [ 4.90642217e-02 9.98795572e-01 -3.26486861e-04 3.67905430e+00] [ 1.91479011e-02 -6.13789188e-04 9.99816474e-01 2.59940818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.505099893 meters 0.01790712367183197 Centerline is valid? [True, True] Translation: X:227.25, Y:3.68, Z:2.60 [[ 9.98733351e-01 -4.65286656e-02 -1.91514281e-02 2.27245913e+02] [ 4.65309745e-02 9.98916795e-01 -3.25268492e-04 3.68193273e+00] [ 1.91458175e-02 -5.66278124e-04 9.99816542e-01 2.60012897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.535099893 meters 0.01741284958377743 Centerline is valid? [True, True] Translation: X:227.28, Y:3.68, Z:2.60 [[ 9.98836249e-01 -4.42767563e-02 -1.91236916e-02 2.27278627e+02] [ 4.42786744e-02 9.99019166e-01 -3.23317488e-04 3.68479493e+00] [ 1.91192499e-02 -5.23830489e-04 9.99817073e-01 2.60105238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.565099893 meters 0.016015335074389007 Centerline is valid? [True, True] Translation: X:227.31, Y:3.69, Z:2.60 [[ 9.99050326e-01 -3.93893764e-02 -1.86258693e-02 2.27310249e+02] [ 3.93903732e-02 9.99223849e-01 -3.13498494e-04 3.69011385e+00] [ 1.86237613e-02 -4.20479168e-04 9.99826474e-01 2.60129215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.595099893 meters 0.015908209046247034 Centerline is valid? [True, True] Translation: X:227.34, Y:3.69, Z:2.60 [[ 9.99122865e-01 -3.72864808e-02 -1.90582907e-02 2.27341476e+02] [ 3.72871617e-02 9.99304541e-01 -3.19743125e-04 3.69161154e+00] [ 1.90569585e-02 -3.91166899e-04 9.99818323e-01 2.60125589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.625099893 meters 0.015406697198043237 Centerline is valid? [True, True] Translation: X:227.37, Y:3.69, Z:2.60 [[ 9.99203390e-01 -3.53016645e-02 -1.86112490e-02 2.27373294e+02] [ 3.53019877e-02 9.99376642e-01 -3.11274639e-04 3.69398542e+00] [ 1.86106361e-02 -3.45987410e-04 9.99826747e-01 2.60159085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.655099893 meters 0.014883330091942941 Centerline is valid? [True, True] Translation: X:227.41, Y:3.70, Z:2.60 [[ 9.99263363e-01 -3.36427660e-02 -1.84633389e-02 2.27405069e+02] [ 3.36428208e-02 9.99433873e-01 -3.07725455e-04 3.69679424e+00] [ 1.84632391e-02 -3.13660031e-04 9.99829491e-01 2.60230367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68509989299997 meters 0.014304969215220802 Centerline is valid? [True, True] Translation: X:227.44, Y:3.70, Z:2.60 [[ 9.99323658e-01 -3.19370959e-02 -1.82276748e-02 2.27436119e+02] [ 3.19368853e-02 9.99489842e-01 -3.02717494e-04 3.69963113e+00] [ 1.82280437e-02 -2.79622407e-04 9.99833816e-01 2.60295523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71509989299997 meters 0.014009830221931615 Centerline is valid? [True, True] Translation: X:227.47, Y:3.70, Z:2.60 [[ 9.99413563e-01 -2.86779056e-02 -1.87111705e-02 2.27466701e+02] [ 2.86771234e-02 9.99588679e-01 -3.10173775e-04 3.70273167e+00] [ 1.87123693e-02 -2.26590667e-04 9.99824883e-01 2.60286738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74509989299997 meters 0.01376643450201149 Centerline is valid? [True, True] Translation: X:227.50, Y:3.70, Z:2.60 [[ 9.99467103e-01 -2.66586100e-02 -1.88368832e-02 2.27496811e+02] [ 2.66574629e-02 9.99644578e-01 -3.12034209e-04 3.70480724e+00] [ 1.88385066e-02 -1.90275588e-04 9.99822521e-01 2.60303494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77509989299998 meters 0.01353111840594022 Centerline is valid? [True, True] Translation: X:227.53, Y:3.71, Z:2.60 [[ 9.99522755e-01 -2.43263867e-02 -1.90391502e-02 2.27526331e+02] [ 2.43247895e-02 9.99704059e-01 -3.15503041e-04 3.70682183e+00] [ 1.90411908e-02 -1.47770853e-04 9.99818689e-01 2.60334792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80509989299998 meters 0.01353111840594022 Centerline is valid? [True, True] Translation: X:227.56, Y:3.71, Z:2.60 [[ 9.99521895e-01 -2.43617002e-02 -1.90391427e-02 2.27555478e+02] [ 2.43601007e-02 9.99703199e-01 -3.15957849e-04 3.70733409e+00] [ 1.90411891e-02 -1.47988646e-04 9.99818689e-01 2.60370851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83509989299998 meters 0.013290062375546797 Centerline is valid? [True, True] Translation: X:227.59, Y:3.71, Z:2.60 [[ 9.99563099e-01 -2.18695164e-02 -1.98830209e-02 2.27585498e+02] [ 2.18672646e-02 9.99760828e-01 -3.30686284e-04 3.71012113e+00] [ 1.98854974e-02 -1.04245472e-04 9.99802259e-01 2.60441847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86509989299998 meters 0.013187540796903468 Centerline is valid? [True, True] Translation: X:227.61, Y:3.71, Z:2.60 [[ 9.99646252e-01 -1.69305288e-02 -2.05116439e-02 2.27612929e+02] [ 1.69270686e-02 9.99856668e-01 -3.42314868e-04 3.71429205e+00] [ 2.05144995e-02 -5.00822877e-06 9.99789555e-01 2.60454072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89509989299998 meters 0.013248214614441605 Centerline is valid? [True, True] Translation: X:227.64, Y:3.72, Z:2.61 [[ 9.99681512e-01 -1.45892237e-02 -2.05919675e-02 2.27640320e+02] [ 1.45851704e-02 9.99893571e-01 -3.47018762e-04 3.71633160e+00] [ 2.05948387e-02 4.65708856e-05 9.99787903e-01 2.60521499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92509989299998 meters 0.013323213383078557 Centerline is valid? [True, True] Translation: X:227.67, Y:3.72, Z:2.61 [[ 9.99711207e-01 -1.22433127e-02 -2.06785958e-02 2.27667571e+02] [ 1.22386350e-02 9.99925043e-01 -3.52751588e-04 3.71839570e+00] [ 2.06813647e-02 9.95719293e-05 9.99786113e-01 2.60588459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95509989299998 meters 0.013525273288169583 Centerline is valid? [True, True] Translation: X:227.70, Y:3.72, Z:2.61 [[ 9.99738605e-01 -9.96787663e-03 -2.05757858e-02 2.27696454e+02] [ 9.96269709e-03 9.99950308e-01 -3.54223243e-04 3.72015205e+00] [ 2.05782942e-02 1.49140329e-04 9.99788233e-01 2.60681835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98509989299998 meters 0.013931436483682396 Centerline is valid? [True, True] Translation: X:227.72, Y:3.72, Z:2.61 [[ 9.99757718e-01 -7.28144428e-03 -2.07722394e-02 2.27724942e+02] [ 7.27548192e-03 9.99973468e-01 -3.62593771e-04 3.72220376e+00] [ 2.07743285e-02 2.11377868e-04 9.99784168e-01 2.60771201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01509989299998 meters 0.013981390794911265 Centerline is valid? [True, True] Translation: X:227.75, Y:3.72, Z:2.61 [[ 9.99752329e-01 -7.19832020e-03 -2.10586173e-02 2.27752893e+02] [ 7.19206160e-03 9.99974067e-01 -3.72920499e-04 3.72262853e+00] [ 2.10607556e-02 2.21373265e-04 9.99778173e-01 2.60821051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04509989299999 meters 0.013904982131856819 Centerline is valid? [True, True] Translation: X:227.78, Y:3.72, Z:2.61 [[ 9.99743038e-01 -7.78558873e-03 -2.12894827e-02 2.27780483e+02] [ 7.77920214e-03 9.99969668e-01 -3.82789805e-04 3.72246879e+00] [ 2.12918172e-02 2.17076253e-04 9.99773280e-01 2.60919154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.075099893 meters 0.013780730261892436 Centerline is valid? [True, True] Translation: X:227.81, Y:3.72, Z:2.61 [[ 9.99730415e-01 -8.98080405e-03 -2.14112571e-02 2.27808072e+02] [ 8.97449451e-03 9.99959652e-01 -3.90756015e-04 3.72177737e+00] [ 2.14139025e-02 1.98495464e-04 9.99770676e-01 2.60978112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.105099893 meters 0.013662935491499537 Centerline is valid? [True, True] Translation: X:227.84, Y:3.72, Z:2.61 [[ 9.99710471e-01 -1.05382459e-02 -2.16314436e-02 2.27836297e+02] [ 1.05320813e-02 9.99944457e-01 -3.98889435e-04 3.72066761e+00] [ 2.16344458e-02 1.70949822e-04 9.99765933e-01 2.60983891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.135099893 meters 0.013085516676912603 Centerline is valid? [True, True] Translation: X:227.86, Y:3.72, Z:2.61 [[ 9.99616314e-01 -1.60613306e-02 -2.25667426e-02 2.27864105e+02] [ 1.60559855e-02 9.99871007e-01 -4.18038754e-04 3.71510638e+00] [ 2.25705459e-02 5.55470660e-05 9.99745251e-01 2.60928474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.165099893 meters 0.012811751158892251 Centerline is valid? [True, True] Translation: X:227.89, Y:3.71, Z:2.61 [[ 9.99537840e-01 -1.97550210e-02 -2.31050999e-02 2.27891845e+02] [ 1.97503091e-02 9.99804850e-01 -4.32132942e-04 3.71173224e+00] [ 2.31091278e-02 -2.43996389e-05 9.99732948e-01 2.61157615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.195099893 meters 0.012916464934962754 Centerline is valid? [True, True] Translation: X:227.92, Y:3.71, Z:2.61 [[ 9.99438693e-01 -2.39151023e-02 -2.34598877e-02 2.27919872e+02] [ 2.39112825e-02 9.99713986e-01 -4.43365843e-04 3.70848943e+00] [ 2.34637810e-02 -1.17839025e-04 9.99724681e-01 2.61137609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.225099893 meters 0.013087737632919672 Centerline is valid? [True, True] Translation: X:227.95, Y:3.70, Z:2.61 [[ 9.99321013e-01 -2.82216934e-02 -2.36864541e-02 2.27948600e+02] [ 2.82189148e-02 9.99601665e-01 -4.51615888e-04 3.70493831e+00] [ 2.36897643e-02 -2.17096782e-04 9.99719335e-01 2.61155951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.255099893 meters 0.01470398184438441 Centerline is valid? [True, True] Translation: X:227.98, Y:3.70, Z:2.61 [[ 9.99046376e-01 -3.67249370e-02 -2.36139378e-02 2.27976812e+02] [ 3.67244568e-02 9.99325326e-01 -4.54149419e-04 3.69576756e+00] [ 2.36146847e-02 -4.13492708e-04 9.99721049e-01 2.61029636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.285099893 meters 0.015441875874142181 Centerline is valid? [True, True] Translation: X:228.01, Y:3.69, Z:2.61 [[ 9.98896103e-01 -4.06067282e-02 -2.36150012e-02 2.28007088e+02] [ 4.06073111e-02 9.99175079e-01 -4.55054948e-04 3.69252184e+00] [ 2.36139989e-02 -5.04389083e-04 9.99721023e-01 2.61076764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.315099893 meters 0.016340602354377988 Centerline is valid? [True, True] Translation: X:228.04, Y:3.69, Z:2.61 [[ 9.98763599e-01 -4.40859487e-02 -2.29717784e-02 2.28038605e+02] [ 4.40874282e-02 9.99027579e-01 -4.42286637e-04 3.68952037e+00] [ 2.29689388e-02 -5.71026837e-04 9.99736016e-01 2.61110651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.345099893 meters 0.017206810982560147 Centerline is valid? [True, True] Translation: X:228.07, Y:3.69, Z:2.61 [[ 9.98623548e-01 -4.70670392e-02 -2.31452666e-02 2.28069688e+02] [ 4.70693600e-02 9.98891524e-01 -4.44807855e-04 3.68732329e+00] [ 2.31405465e-02 -6.45237290e-04 9.99732013e-01 2.61153454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.375099893 meters 0.01864940225132044 Centerline is valid? [True, True] Translation: X:228.10, Y:3.68, Z:2.61 [[ 9.98420072e-01 -5.13941848e-02 -2.27155756e-02 2.28101223e+02] [ 5.13975567e-02 9.98678177e-01 -4.35757697e-04 3.68283491e+00] [ 2.27079450e-02 -7.32455853e-04 9.99741873e-01 2.61144346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.405099893 meters 0.025182715870231777 Centerline is valid? [True, True] Translation: X:228.13, Y:3.67, Z:2.61 [[ 9.98327313e-01 -5.32849450e-02 -2.24341388e-02 2.28132174e+02] [ 5.32887282e-02 9.98579054e-01 -4.29575018e-04 3.67262165e+00] [ 2.24251510e-02 -7.66630250e-04 9.99748231e-01 2.60928294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43509989299997 meters 0.01949792633920568 Centerline is valid? [True, True] Translation: X:228.16, Y:3.68, Z:2.61 [[ 9.98253171e-01 -5.49511059e-02 -2.17021319e-02 2.28164465e+02] [ 5.49550629e-02 9.98488743e-01 -4.14470614e-04 3.68107045e+00] [ 2.16921100e-02 -7.78895420e-04 9.99764395e-01 2.61277091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46509989299997 meters 0.020339089807770525 Centerline is valid? [True, True] Translation: X:228.20, Y:3.68, Z:2.61 [[ 9.98116957e-01 -5.80235585e-02 -1.98948891e-02 2.28196925e+02] [ 5.80275197e-02 9.98314912e-01 -3.78604580e-04 3.67929027e+00] [ 1.98833324e-02 -7.76559417e-04 9.99802005e-01 2.61472200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49509989299997 meters 0.02030458366425773 Centerline is valid? [True, True] Translation: X:228.23, Y:3.68, Z:2.62 [[ 9.98061174e-01 -5.93510370e-02 -1.87442645e-02 2.28229030e+02] [ 5.93548112e-02 9.98236886e-01 -3.55406679e-04 3.67932586e+00] [ 1.87323100e-02 -7.57844676e-04 9.99824248e-01 2.61590748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52509989299998 meters 0.021104426693961023 Centerline is valid? [True, True] Translation: X:228.26, Y:3.68, Z:2.62 [[ 9.98004113e-01 -6.06602951e-02 -1.75533307e-02 2.28261131e+02] [ 6.06638282e-02 9.98158199e-01 -3.31608837e-04 3.67837770e+00] [ 1.75411164e-02 -7.33905253e-04 9.99845873e-01 2.61740303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55509989299998 meters 0.025194998834863782 Centerline is valid? [True, True] Translation: X:228.29, Y:3.67, Z:2.62 [[ 9.97900508e-01 -6.29585214e-02 -1.51921473e-02 2.28292647e+02] [ 6.29614476e-02 9.98015919e-01 -2.86076428e-04 3.67296818e+00] [ 1.51800158e-02 -6.71043775e-04 9.99884552e-01 2.61932833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58509989299998 meters 0.02364388799425258 Centerline is valid? [True, True] Translation: X:228.33, Y:3.68, Z:2.62 [[ 9.97849234e-01 -6.37770082e-02 -1.51459121e-02 2.28325025e+02] [ 6.37800237e-02 9.97963941e-01 -2.84344438e-04 3.67567238e+00] [ 1.51332088e-02 -6.82273752e-04 9.99885254e-01 2.62011550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61509989299998 meters 0.021933937578442142 Centerline is valid? [True, True] Translation: X:228.36, Y:3.68, Z:2.62 [[ 9.97809732e-01 -6.44352961e-02 -1.49609717e-02 2.28357437e+02] [ 6.44383280e-02 9.97921652e-01 -2.79820262e-04 3.67868339e+00] [ 1.49479079e-02 -6.84852619e-04 9.99888039e-01 2.62065808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64509989299998 meters 0.02404210098136137 Centerline is valid? [True, True] Translation: X:228.39, Y:3.68, Z:2.62 [[ 9.97765683e-01 -6.50343033e-02 -1.53029980e-02 2.28388710e+02] [ 6.50375660e-02 9.97882776e-01 -2.84890332e-04 3.67596471e+00] [ 1.52891257e-02 -7.11015944e-04 9.99882862e-01 2.62090540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67509989299998 meters 0.02235026026433052 Centerline is valid? [True, True] Translation: X:228.42, Y:3.68, Z:2.62 [[ 9.97733435e-01 -6.54539998e-02 -1.56129974e-02 2.28420587e+02] [ 6.54574779e-02 9.97855318e-01 -2.88696892e-04 3.67873668e+00] [ 1.55984088e-02 -7.33944889e-04 9.99878068e-01 2.62113697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70509989299998 meters 0.024092309951141002 Centerline is valid? [True, True] Translation: X:228.45, Y:3.68, Z:2.62 [[ 9.97640400e-01 -6.64176361e-02 -1.73876434e-02 2.28452002e+02] [ 6.64221184e-02 9.97791561e-01 -3.20226563e-04 3.67590508e+00] [ 1.73705125e-02 -8.35453153e-04 9.99848772e-01 2.61929519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73509989299998 meters 0.02352740351009011 Centerline is valid? [True, True] Translation: X:228.48, Y:3.68, Z:2.62 [[ 9.97605118e-01 -6.65935577e-02 -1.86902688e-02 2.28484190e+02] [ 6.65987900e-02 9.97779777e-01 -3.43033544e-04 3.67688953e+00] [ 1.86716161e-02 -9.02537270e-04 9.99825263e-01 2.61903253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76509989299998 meters 0.02456215088477687 Centerline is valid? [True, True] Translation: X:228.52, Y:3.68, Z:2.62 [[ 9.97573978e-01 -6.69051857e-02 -1.92315838e-02 2.28515170e+02] [ 6.69108082e-02 9.97758899e-01 -3.51677947e-04 3.67574422e+00] [ 1.92120129e-02 -9.35976044e-04 9.99814994e-01 2.61847579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79509989299999 meters 0.02399882921859639 Centerline is valid? [True, True] Translation: X:228.55, Y:3.68, Z:2.62 [[ 9.97581159e-01 -6.66695885e-02 -1.96722423e-02 2.28547937e+02] [ 6.66754549e-02 9.97774652e-01 -3.58262961e-04 3.67710687e+00] [ 1.96523499e-02 -9.54259322e-04 9.99806419e-01 2.61887448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.825099893 meters 0.02536188529435801 Centerline is valid? [True, True] Translation: X:228.58, Y:3.68, Z:2.62 [[ 9.97645574e-01 -6.53499407e-02 -2.08013028e-02 2.28579473e+02] [ 6.53562528e-02 9.97861923e-01 -3.76956373e-04 3.67593909e+00] [ 2.07814621e-02 -9.83426346e-04 9.99783558e-01 2.61823113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.855099893 meters 0.025012759272142644 Centerline is valid? [True, True] Translation: X:228.61, Y:3.68, Z:2.62 [[ 9.97731782e-01 -6.37949529e-02 -2.14824543e-02 2.28612116e+02] [ 6.38013573e-02 9.97962543e-01 -3.87827014e-04 3.67749746e+00] [ 2.14634261e-02 -9.83662405e-04 9.99769150e-01 2.61826476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.885099893 meters 0.021603227169587826 Centerline is valid? [True, True] Translation: X:228.64, Y:3.69, Z:2.62 [[ 9.98034046e-01 -5.86924658e-02 -2.19826469e-02 2.28642362e+02] [ 5.86979605e-02 9.98275710e-01 -3.95764316e-04 3.68506395e+00] [ 2.19679709e-02 -8.95350281e-04 9.99758274e-01 2.61915219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.915099893 meters 0.020220997621933898 Centerline is valid? [True, True] Translation: X:228.67, Y:3.69, Z:2.62 [[ 9.98253086e-01 -5.49617855e-02 -2.16789692e-02 2.28673396e+02] [ 5.49662581e-02 9.98488136e-01 -3.89964952e-04 3.68893174e+00] [ 2.16676267e-02 -8.02328101e-04 9.99764907e-01 2.62000248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.945099893 meters 0.01874882312590551 Centerline is valid? [True, True] Translation: X:228.71, Y:3.69, Z:2.62 [[ 9.98496112e-01 -5.06051126e-02 -2.10864310e-02 2.28705400e+02] [ 5.06083923e-02 9.98718503e-01 -3.78412479e-04 3.69323945e+00] [ 2.10785584e-02 -6.89306982e-04 9.99777585e-01 2.62093935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.975099893 meters 0.016650903387523383 Centerline is valid? [True, True] Translation: X:228.74, Y:3.70, Z:2.62 [[ 9.98744885e-01 -4.58673176e-02 -2.01207182e-02 2.28737143e+02] [ 4.58693641e-02 9.98947382e-01 -3.60028265e-04 3.69903552e+00] [ 2.01160523e-02 -5.63348159e-04 9.99797493e-01 2.62251071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.005099893 meters 0.014618398296074519 Centerline is valid? [True, True] Translation: X:228.77, Y:3.71, Z:2.63 [[ 9.99185813e-01 -3.60861746e-02 -1.80416042e-02 2.28767162e+02] [ 3.60862366e-02 9.99348628e-01 -3.22220984e-04 3.70750817e+00] [ 1.80414801e-02 -3.29094961e-04 9.99837185e-01 2.62529067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.035099893 meters 0.013878829779996254 Centerline is valid? [True, True] Translation: X:228.80, Y:3.71, Z:2.63 [[ 9.99383036e-01 -3.08103934e-02 -1.68602375e-02 2.28797066e+02] [ 3.08096981e-02 9.99525223e-01 -3.01046459e-04 3.71170898e+00] [ 1.68615080e-02 -2.18598103e-04 9.99857811e-01 2.62655676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.065099893 meters 0.013144659479125279 Centerline is valid? [True, True] Translation: X:228.83, Y:3.72, Z:2.63 [[ 9.99541692e-01 -2.56786322e-02 -1.60316499e-02 2.28828426e+02] [ 2.56773490e-02 9.99670242e-01 -2.85911653e-04 3.71594312e+00] [ 1.60337051e-02 -1.25869651e-04 9.99871444e-01 2.62757695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.095099893 meters 0.012744948752790598 Centerline is valid? [True, True] Translation: X:228.86, Y:3.72, Z:2.63 [[ 9.99728483e-01 -1.74255027e-02 -1.54697037e-02 2.28858697e+02] [ 1.74233263e-02 9.99848164e-01 -2.75463559e-04 3.72187702e+00] [ 1.54721549e-02 5.85507134e-06 9.99880299e-01 2.62816946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.125099893 meters 0.012840560680617534 Centerline is valid? [True, True] Translation: X:228.89, Y:3.72, Z:2.63 [[ 9.99783606e-01 -1.43995273e-02 -1.50131730e-02 2.28887464e+02] [ 1.43971342e-02 9.99896320e-01 -2.67473826e-04 3.72430534e+00] [ 1.50154679e-02 5.12692803e-05 9.99887260e-01 2.62885900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.155099893 meters 0.013015641644499842 Centerline is valid? [True, True] Translation: X:228.92, Y:3.73, Z:2.63 [[ 9.99814505e-01 -1.23139519e-02 -1.48095560e-02 2.28916432e+02] [ 1.23113760e-02 9.99924177e-01 -2.65089858e-04 3.72596257e+00] [ 1.48116974e-02 8.27146725e-05 9.99890297e-01 2.62945245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18509989299997 meters 0.013118835311134974 Centerline is valid? [True, True] Translation: X:228.95, Y:3.73, Z:2.63 [[ 9.99829526e-01 -1.09810089e-02 -1.48437510e-02 2.28945463e+02] [ 1.09782201e-02 9.99939701e-01 -2.69355510e-04 3.72697156e+00] [ 1.48458137e-02 1.06351628e-04 9.99889789e-01 2.62964748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21509989299997 meters 0.013163619511657463 Centerline is valid? [True, True] Translation: X:228.97, Y:3.73, Z:2.63 [[ 9.99815886e-01 -1.02564300e-02 -1.62172501e-02 2.28973985e+02] [ 1.02529366e-02 9.99947393e-01 -2.98543845e-04 3.72558474e+00] [ 1.62194590e-02 1.32214441e-04 9.99868447e-01 2.62840231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24509989299997 meters 0.013348998386864437 Centerline is valid? [True, True] Translation: X:229.00, Y:3.72, Z:2.63 [[ 9.99785872e-01 -1.05624709e-02 -1.77945158e-02 2.29001503e+02] [ 1.05582448e-02 9.99944205e-01 -3.31430476e-04 3.72492502e+00] [ 1.77970236e-02 1.43480655e-04 9.99841610e-01 2.62746507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27509989299998 meters 0.013324253981677617 Centerline is valid? [True, True] Translation: X:229.03, Y:3.72, Z:2.63 [[ 9.99771980e-01 -1.09638237e-02 -1.83243766e-02 2.29029018e+02] [ 1.09593587e-02 9.99939885e-01 -3.44071723e-04 3.72347553e+00] [ 1.83270474e-02 1.43169852e-04 9.99832035e-01 2.62703633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30509989299998 meters 0.013167714843177615 Centerline is valid? [True, True] Translation: X:229.06, Y:3.72, Z:2.63 [[ 9.99760462e-01 -1.14519652e-02 -1.86512802e-02 2.29056731e+02] [ 1.14473260e-02 9.99934414e-01 -3.55484918e-04 3.72211997e+00] [ 1.86541279e-02 1.41892482e-04 9.99825987e-01 2.62722985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33509989299998 meters 0.013423960610364816 Centerline is valid? [True, True] Translation: X:229.08, Y:3.72, Z:2.63 [[ 9.99760861e-01 -1.11390542e-02 -1.88186544e-02 2.29084628e+02] [ 1.11341985e-02 9.99937947e-01 -3.62788268e-04 3.72101961e+00] [ 1.88215278e-02 1.53170878e-04 9.99822848e-01 2.62703042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36509989299998 meters 0.013526489359851625 Centerline is valid? [True, True] Translation: X:229.11, Y:3.72, Z:2.63 [[ 9.99774088e-01 -1.07580589e-02 -1.83313252e-02 2.29112294e+02] [ 1.07533386e-02 9.99942118e-01 -3.56052333e-04 3.72054436e+00] [ 1.83340946e-02 1.58848949e-04 9.99831904e-01 2.62726123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39509989299998 meters 0.013448339359096236 Centerline is valid? [True, True] Translation: X:229.14, Y:3.72, Z:2.63 [[ 9.99781012e-01 -1.01764172e-02 -1.82857509e-02 2.29140634e+02] [ 1.01715321e-02 9.99948204e-01 -3.60135654e-04 3.71895868e+00] [ 1.82884686e-02 1.74062686e-04 9.99832737e-01 2.62814104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42509989299998 meters 0.013402845945611438 Centerline is valid? [True, True] Translation: X:229.17, Y:3.72, Z:2.63 [[ 9.99797583e-01 -9.62517603e-03 -1.76677124e-02 2.29168767e+02] [ 9.62044349e-03 9.99953660e-01 -3.52838485e-04 3.71768828e+00] [ 1.76702898e-02 1.82795836e-04 9.99843852e-01 2.62896327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45509989299998 meters 0.013858203289902714 Centerline is valid? [True, True] Translation: X:229.20, Y:3.72, Z:2.63 [[ 9.99807837e-01 -9.01991112e-03 -1.74048667e-02 2.29196381e+02] [ 9.01515801e-03 9.99959301e-01 -3.51532550e-04 3.71810148e+00] [ 1.74073291e-02 1.94557375e-04 9.99848462e-01 2.62894870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48509989299998 meters 0.013528904745371023 Centerline is valid? [True, True] Translation: X:229.22, Y:3.71, Z:2.63 [[ 9.99847159e-01 -9.04374456e-03 -1.49622489e-02 2.29224719e+02] [ 9.04020965e-03 9.99959090e-01 -3.03874058e-04 3.71317495e+00] [ 1.49643850e-02 1.68565746e-04 9.99888013e-01 2.63095401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51509989299998 meters 0.013513530867079774 Centerline is valid? [True, True] Translation: X:229.25, Y:3.71, Z:2.63 [[ 9.99834706e-01 -9.67707969e-03 -1.53920470e-02 2.29252880e+02] [ 9.67334548e-03 9.99953162e-01 -3.17040027e-04 3.71124252e+00] [ 1.53943940e-02 1.68095035e-04 9.99881485e-01 2.63114036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54509989299999 meters 0.013422776556004988 Centerline is valid? [True, True] Translation: X:229.28, Y:3.71, Z:2.63 [[ 9.99816674e-01 -1.08656365e-02 -1.57656634e-02 2.29281290e+02] [ 1.08617955e-02 9.99940955e-01 -3.29236401e-04 3.70896682e+00] [ 1.57683099e-02 1.57932631e-04 9.99875660e-01 2.63045756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.575099893 meters 0.013326004417741184 Centerline is valid? [True, True] Translation: X:229.31, Y:3.71, Z:2.63 [[ 9.99790725e-01 -1.20506965e-02 -1.65313810e-02 2.29309586e+02] [ 1.20465563e-02 9.99927376e-01 -3.50005425e-04 3.70682779e+00] [ 1.65343983e-02 1.50785965e-04 9.99863286e-01 2.62996668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.605099893 meters 0.01308793673762079 Centerline is valid? [True, True] Translation: X:229.34, Y:3.70, Z:2.63 [[ 9.99802333e-01 -1.34089968e-02 -1.46797388e-02 2.29338247e+02] [ 1.34058252e-02 9.99910088e-01 -3.14438031e-04 3.70080892e+00] [ 1.46826352e-02 1.17581864e-04 9.99892197e-01 2.63114446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.635099893 meters 0.013022463471212596 Centerline is valid? [True, True] Translation: X:229.37, Y:3.70, Z:2.63 [[ 9.99804787e-01 -1.38889926e-02 -1.40528663e-02 2.29365672e+02] [ 1.38860885e-02 9.99903537e-01 -3.04213701e-04 3.69848072e+00] [ 1.40557359e-02 1.09014970e-04 9.99901207e-01 2.63199489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.665099893 meters 0.013029579568451976 Centerline is valid? [True, True] Translation: X:229.39, Y:3.70, Z:2.63 [[ 9.99802260e-01 -1.43135317e-02 -1.38044490e-02 2.29393537e+02] [ 1.43107431e-02 9.99897551e-01 -3.00772093e-04 3.69591463e+00] [ 1.38073399e-02 1.03160695e-04 9.99904669e-01 2.63251247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.695099893 meters 0.013171840699798426 Centerline is valid? [True, True] Translation: X:229.42, Y:3.69, Z:2.63 [[ 9.99797190e-01 -1.41812950e-02 -1.42992618e-02 2.29421888e+02] [ 1.41782287e-02 9.99899434e-01 -3.15791634e-04 3.69087172e+00] [ 1.43023021e-02 1.12989385e-04 9.99897710e-01 2.63264895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.725099893 meters 0.013171840699798426 Centerline is valid? [True, True] Translation: X:229.45, Y:3.69, Z:2.63 [[ 9.99793075e-01 -1.44685878e-02 -1.42991700e-02 2.29449276e+02] [ 1.44654921e-02 9.99895318e-01 -3.19898321e-04 3.69154038e+00] [ 1.43023016e-02 1.12987596e-04 9.99897710e-01 2.63298883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.755099893 meters 0.013132498237921715 Centerline is valid? [True, True] Translation: X:229.48, Y:3.69, Z:2.63 [[ 9.99787971e-01 -1.44200555e-02 -1.46994655e-02 2.29476811e+02] [ 1.44167151e-02 9.99896018e-01 -3.33188569e-04 3.68961451e+00] [ 1.47027416e-02 1.21199917e-04 9.99891902e-01 2.63295412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.785099893 meters 0.013193744943234366 Centerline is valid? [True, True] Translation: X:229.50, Y:3.69, Z:2.63 [[ 9.99784666e-01 -1.43550396e-02 -1.49851338e-02 2.29504834e+02] [ 1.43514943e-02 9.99896953e-01 -3.44098148e-04 3.68814980e+00] [ 1.49885292e-02 1.28964989e-04 9.99887657e-01 2.63274122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.815099893 meters 0.013266048223558195 Centerline is valid? [True, True] Translation: X:229.53, Y:3.69, Z:2.63 [[ 9.99775201e-01 -1.44326497e-02 -1.55321006e-02 2.29532446e+02] [ 1.44287785e-02 9.99895834e-01 -3.61277849e-04 3.68645650e+00] [ 1.55356969e-02 1.37087395e-04 9.99879304e-01 2.63294633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.845099893 meters 0.013324036787595188 Centerline is valid? [True, True] Translation: X:229.56, Y:3.68, Z:2.63 [[ 9.99768207e-01 -1.46189795e-02 -1.58056318e-02 2.29559727e+02] [ 1.46149300e-02 9.99893127e-01 -3.71692538e-04 3.68480615e+00] [ 1.58093763e-02 1.40608181e-04 9.99875014e-01 2.63265069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.875099893 meters 0.013211279567582111 Centerline is valid? [True, True] Translation: X:229.59, Y:3.68, Z:2.63 [[ 9.99747670e-01 -1.51735373e-02 -1.65638382e-02 2.29588134e+02] [ 1.51691189e-02 9.99884865e-01 -3.92362932e-04 3.68211543e+00] [ 1.65678847e-02 1.41005095e-04 9.99862733e-01 2.63260183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.905099893 meters 0.013267689774838562 Centerline is valid? [True, True] Translation: X:229.62, Y:3.68, Z:2.63 [[ 9.99707946e-01 -1.63325150e-02 -1.78121426e-02 2.29616497e+02] [ 1.63274924e-02 9.99866606e-01 -4.27377712e-04 3.67710041e+00] [ 1.78167467e-02 1.36425273e-04 9.99841260e-01 2.63176821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93509989299997 meters 0.013147196002605338 Centerline is valid? [True, True] Translation: X:229.64, Y:3.67, Z:2.63 [[ 9.99668115e-01 -1.75909491e-02 -1.88207071e-02 2.29644553e+02] [ 1.75854581e-02 9.99845259e-01 -4.57227820e-04 3.67472881e+00] [ 1.88258378e-02 1.26105317e-04 9.99822770e-01 2.63162383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96509989299997 meters 0.013130476868990626 Centerline is valid? [True, True] Translation: X:229.67, Y:3.67, Z:2.63 [[ 9.99650405e-01 -1.88590679e-02 -1.85311690e-02 2.29672221e+02] [ 1.88538868e-02 9.99822146e-01 -4.54276558e-04 3.67221420e+00] [ 1.85364404e-02 1.04733184e-04 9.99828180e-01 2.63155043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99509989299997 meters 0.013013567284473662 Centerline is valid? [True, True] Translation: X:229.70, Y:3.67, Z:2.63 [[ 9.99623684e-01 -2.06338004e-02 -1.80758738e-02 2.29700353e+02] [ 2.06291112e-02 9.99787098e-01 -4.45859099e-04 3.66949834e+00] [ 1.80812252e-02 7.28021057e-05 9.99836519e-01 2.63220229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02509989299998 meters 0.012888949668069982 Centerline is valid? [True, True] Translation: X:229.73, Y:3.66, Z:2.63 [[ 9.99533550e-01 -2.48377908e-02 -1.77698457e-02 2.29728585e+02] [ 2.48338518e-02 9.99691494e-01 -4.42331951e-04 3.66399531e+00] [ 1.77753502e-02 8.31909594e-07 9.99842006e-01 2.63372567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05509989299998 meters 0.01291088117147329 Centerline is valid? [True, True] Translation: X:229.76, Y:3.66, Z:2.63 [[ 9.99470559e-01 -2.75200186e-02 -1.73565438e-02 2.29756585e+02] [ 2.75166213e-02 9.99621252e-01 -4.34566327e-04 3.66118397e+00] [ 1.73619293e-02 -4.32571924e-05 9.99849269e-01 2.63419355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08509989299998 meters 0.013164445951471222 Centerline is valid? [True, True] Translation: X:229.79, Y:3.65, Z:2.63 [[ 9.99315077e-01 -3.28773769e-02 -1.69839563e-02 2.29785180e+02] [ 3.28748186e-02 9.99459385e-01 -4.29879193e-04 3.65375904e+00] [ 1.69889078e-02 -1.28759723e-04 9.99855670e-01 2.63447886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11509989299998 meters 0.013472661313221727 Centerline is valid? [True, True] Translation: X:229.82, Y:3.65, Z:2.63 [[ 9.99231839e-01 -3.52882560e-02 -1.70431971e-02 2.29815067e+02] [ 3.52859757e-02 9.99377162e-01 -4.34583053e-04 3.65022758e+00] [ 1.70479176e-02 -1.67136615e-04 9.99854660e-01 2.63462226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14509989299998 meters 0.013968915381617344 Centerline is valid? [True, True] Translation: X:229.85, Y:3.64, Z:2.63 [[ 9.99066542e-01 -3.97384501e-02 -1.69381244e-02 2.29845941e+02] [ 3.97368335e-02 9.99210087e-01 -4.32122638e-04 3.64355789e+00] [ 1.69419166e-02 -2.41348158e-04 9.99856446e-01 2.63467669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17509989299998 meters 0.014055168008754417 Centerline is valid? [True, True] Translation: X:229.88, Y:3.64, Z:2.64 [[ 9.99004944e-01 -4.14013281e-02 -1.65846934e-02 2.29877493e+02] [ 4.14000099e-02 9.99142563e-01 -4.22951338e-04 3.64145151e+00] [ 1.65879838e-02 -2.64075992e-04 9.99862375e-01 2.63514609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20509989299998 meters 0.014284818715647313 Centerline is valid? [True, True] Translation: X:229.91, Y:3.64, Z:2.64 [[ 9.98973153e-01 -4.22833790e-02 -1.62713280e-02 2.29907738e+02] [ 4.22822354e-02 9.99105620e-01 -4.14444621e-04 3.63911362e+00] [ 1.62742994e-02 -2.73969071e-04 9.99867527e-01 2.63598489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23509989299998 meters 0.014834587315265711 Centerline is valid? [True, True] Translation: X:229.94, Y:3.64, Z:2.64 [[ 9.98953106e-01 -4.26699427e-02 -1.64914322e-02 2.29937689e+02] [ 4.26688257e-02 9.99089183e-01 -4.19749303e-04 3.63692121e+00] [ 1.64943222e-02 -2.84360174e-04 9.99863919e-01 2.63615842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26509989299998 meters 0.01441523551839621 Centerline is valid? [True, True] Translation: X:229.97, Y:3.64, Z:2.64 [[ 9.98976967e-01 -4.21202771e-02 -1.64590766e-02 2.29968666e+02] [ 4.21190959e-02 9.99112509e-01 -4.18557347e-04 3.63744863e+00] [ 1.64620991e-02 -2.75112276e-04 9.99864453e-01 2.63656545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29509989299999 meters 0.014174074900197712 Centerline is valid? [True, True] Translation: X:230.00, Y:3.64, Z:2.64 [[ 9.99104983e-01 -3.89393953e-02 -1.65213739e-02 2.29999231e+02] [ 3.89377789e-02 9.99241549e-01 -4.19621242e-04 3.63624061e+00] [ 1.65251830e-02 -2.24059930e-04 9.99863425e-01 2.63678283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.325099893 meters 0.013604598575204175 Centerline is valid? [True, True] Translation: X:230.03, Y:3.64, Z:2.64 [[ 9.99197620e-01 -3.63665926e-02 -1.67805516e-02 2.30029670e+02] [ 3.63645661e-02 9.99338500e-01 -4.25979998e-04 3.63798860e+00] [ 1.67849427e-02 -1.84579278e-04 9.99859106e-01 2.63729771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.355099893 meters 0.01333985878794118 Centerline is valid? [True, True] Translation: X:230.06, Y:3.64, Z:2.64 [[ 9.99293820e-01 -3.34235375e-02 -1.71676659e-02 2.30059782e+02] [ 3.34209822e-02 9.99441268e-01 -4.35807025e-04 3.63910885e+00] [ 1.71726399e-02 -1.38260988e-04 9.99852530e-01 2.63750234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.385099893 meters 0.013009673380006786 Centerline is valid? [True, True] Translation: X:230.09, Y:3.64, Z:2.64 [[ 9.99498158e-01 -2.69086888e-02 -1.67139028e-02 2.30087993e+02] [ 2.69053511e-02 9.99637895e-01 -4.24567322e-04 3.64115898e+00] [ 1.67192752e-02 -2.53391669e-05 9.99860223e-01 2.63721364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.415099893 meters 0.012982950500981229 Centerline is valid? [True, True] Translation: X:230.12, Y:3.64, Z:2.64 [[ 9.99577014e-01 -2.37686846e-02 -1.67583472e-02 2.30116548e+02] [ 2.37648563e-02 9.99717484e-01 -4.27575866e-04 3.64286896e+00] [ 1.67637756e-02 2.91352940e-05 9.99859478e-01 2.63753569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.445099893 meters 0.013363648131817875 Centerline is valid? [True, True] Translation: X:230.14, Y:3.65, Z:2.64 [[ 9.99708533e-01 -1.79684894e-02 -1.61239956e-02 2.30144771e+02] [ 1.79641383e-02 9.99838546e-01 -4.14654896e-04 3.64527499e+00] [ 1.61288430e-02 1.24880349e-04 9.99869914e-01 2.63803381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.475099893 meters 0.013817021517409368 Centerline is valid? [True, True] Translation: X:230.17, Y:3.65, Z:2.64 [[ 9.99763844e-01 -1.45158489e-02 -1.61724042e-02 2.30172073e+02] [ 1.45109929e-02 9.99894623e-01 -4.17579520e-04 3.64635039e+00] [ 1.61767615e-02 1.82803263e-04 9.99869131e-01 2.63768307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.505099893 meters 0.013940988281204093 Centerline is valid? [True, True] Translation: X:230.20, Y:3.64, Z:2.64 [[ 9.99728539e-01 -1.51498189e-02 -1.77011649e-02 2.30199459e+02] [ 1.51440454e-02 9.99885216e-01 -4.60166890e-04 3.64490065e+00] [ 1.77061045e-02 1.91974727e-04 9.99843216e-01 2.63611721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.535099893 meters 0.013254021047614698 Centerline is valid? [True, True] Translation: X:230.23, Y:3.64, Z:2.64 [[ 9.99630402e-01 -1.99280417e-02 -1.84914063e-02 2.30228387e+02] [ 1.99225052e-02 9.99801410e-01 -4.83590200e-04 3.64007985e+00] [ 1.84973711e-02 1.15016327e-04 9.99828902e-01 2.63533549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.565099893 meters 0.01299536643524591 Centerline is valid? [True, True] Translation: X:230.26, Y:3.64, Z:2.64 [[ 9.99547017e-01 -2.37097265e-02 -1.85367138e-02 2.30257207e+02] [ 2.37047695e-02 9.99718884e-01 -4.87122431e-04 3.63718397e+00] [ 1.85430524e-02 4.74932442e-05 9.99828062e-01 2.63573405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.595099893 meters 0.01299536643524591 Centerline is valid? [True, True] Translation: X:230.28, Y:3.64, Z:2.64 [[ 9.99540383e-01 -2.39878737e-02 -1.85365887e-02 2.30284615e+02] [ 2.39828769e-02 9.99712248e-01 -4.91847519e-04 3.63797818e+00] [ 1.85430531e-02 4.70607333e-05 9.99828062e-01 2.63607383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.625099893 meters 0.012881529737370263 Centerline is valid? [True, True] Translation: X:230.31, Y:3.63, Z:2.64 [[ 9.99411732e-01 -2.87357897e-02 -1.87201776e-02 2.30311267e+02] [ 2.87314383e-02 9.99587041e-01 -5.01411627e-04 3.63468620e+00] [ 1.87268554e-02 -3.67409664e-05 9.99824636e-01 2.63619041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.655099893 meters 0.013216719476899577 Centerline is valid? [True, True] Translation: X:230.34, Y:3.63, Z:2.64 [[ 9.99246903e-01 -3.39082147e-02 -1.88642397e-02 2.30339965e+02] [ 3.39046428e-02 9.99424943e-01 -5.09225996e-04 3.63127264e+00] [ 1.88706587e-02 -1.30742811e-04 9.99821925e-01 2.63681348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68509989299997 meters 0.013804686962044635 Centerline is valid? [True, True] Translation: X:230.37, Y:3.63, Z:2.64 [[ 9.99066461e-01 -3.92694275e-02 -1.80033194e-02 2.30369032e+02] [ 3.92669683e-02 9.99228635e-01 -4.90213005e-04 3.62777658e+00] [ 1.80086827e-02 -2.17180401e-04 9.99837807e-01 2.63762178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71509989299997 meters 0.01489147929116687 Centerline is valid? [True, True] Translation: X:230.40, Y:3.62, Z:2.64 [[ 9.98848106e-01 -4.46208342e-02 -1.76477197e-02 2.30397996e+02] [ 4.46192471e-02 9.99003948e-01 -4.83862052e-04 3.62363163e+00] [ 1.76517320e-02 -3.04123273e-04 9.99844150e-01 2.63834053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74509989299997 meters 0.016292169496078132 Centerline is valid? [True, True] Translation: X:230.43, Y:3.62, Z:2.64 [[ 9.98614030e-01 -4.97469790e-02 -1.71830660e-02 2.30427564e+02] [ 4.97462150e-02 9.98761779e-01 -4.72148829e-04 3.61950187e+00] [ 1.71852776e-02 -3.83298054e-04 9.99852249e-01 2.63858467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77509989299998 meters 0.018104160670166135 Centerline is valid? [True, True] Translation: X:230.46, Y:3.62, Z:2.64 [[ 9.98372509e-01 -5.46208764e-02 -1.63979661e-02 2.30456930e+02] [ 5.46208285e-02 9.98507066e-01 -4.51120127e-04 3.61507051e+00] [ 1.63981256e-02 -4.45284564e-04 9.99865443e-01 2.63916384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80509989299998 meters 0.02007834831682824 Centerline is valid? [True, True] Translation: X:230.49, Y:3.61, Z:2.64 [[ 9.98123422e-01 -5.91621138e-02 -1.57949190e-02 2.30487142e+02] [ 5.91626309e-02 9.98248263e-01 -4.34937056e-04 3.61094139e+00] [ 1.57929823e-02 -5.00348103e-04 9.99875158e-01 2.63947676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83509989299998 meters 0.02351500309275658 Centerline is valid? [True, True] Translation: X:230.52, Y:3.60, Z:2.64 [[ 9.97645249e-01 -6.70116661e-02 -1.46080069e-02 2.30518085e+02] [ 6.70129483e-02 9.97752025e-01 -4.02247324e-04 3.60457808e+00] [ 1.46021237e-02 -5.77625477e-04 9.99893216e-01 2.64065010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86509989299998 meters 0.022463784492602834 Centerline is valid? [True, True] Translation: X:230.55, Y:3.61, Z:2.64 [[ 9.97427454e-01 -7.02633295e-02 -1.41964047e-02 2.30549082e+02] [ 7.02648701e-02 9.97528293e-01 -3.90847211e-04 3.60649030e+00] [ 1.41887775e-02 -6.07666791e-04 9.99899150e-01 2.64139187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89509989299998 meters 0.021245445936402877 Centerline is valid? [True, True] Translation: X:230.58, Y:3.61, Z:2.64 [[ 9.97246428e-01 -7.27914975e-02 -1.41760128e-02 2.30580861e+02] [ 7.27932930e-02 9.97346973e-01 -3.89969616e-04 3.60882030e+00] [ 1.41667899e-02 -6.43022847e-04 9.99899439e-01 2.64191733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92509989299998 meters 0.022438985994084296 Centerline is valid? [True, True] Translation: X:230.61, Y:3.61, Z:2.64 [[ 9.97080429e-01 -7.49787087e-02 -1.44503168e-02 2.30613326e+02] [ 7.49808156e-02 9.97184898e-01 -3.96684314e-04 3.60782639e+00] [ 1.44393806e-02 -6.87970377e-04 9.99895510e-01 2.64208592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95509989299998 meters 0.027201155663580966 Centerline is valid? [True, True] Translation: X:230.64, Y:3.60, Z:2.64 [[ 9.96973406e-01 -7.64463674e-02 -1.41414316e-02 2.30644632e+02] [ 7.64485463e-02 9.97073453e-01 -3.87219630e-04 3.60167867e+00] [ 1.41296475e-02 -6.95044212e-04 9.99899930e-01 2.64214893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98509989299998 meters 0.02436966598562692 Centerline is valid? [True, True] Translation: X:230.68, Y:3.61, Z:2.64 [[ 9.96836695e-01 -7.83108728e-02 -1.35650770e-02 2.30676195e+02] [ 7.83130595e-02 9.96928747e-01 -3.70723649e-04 3.60635445e+00] [ 1.35524469e-02 -6.92771748e-04 9.99907921e-01 2.64262872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01509989299998 meters 0.024894328042236572 Centerline is valid? [True, True] Translation: X:230.71, Y:3.61, Z:2.64 [[ 9.96832591e-01 -7.84578207e-02 -1.30059645e-02 2.30708826e+02] [ 7.84598524e-02 9.96917211e-01 -3.54749619e-04 3.60664177e+00] [ 1.29937028e-02 -6.66820075e-04 9.99915356e-01 2.64303306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04509989299999 meters 0.025326885729516184 Centerline is valid? [True, True] Translation: X:230.74, Y:3.61, Z:2.64 [[ 9.96857780e-01 -7.82292701e-02 -1.24398015e-02 2.30741033e+02] [ 7.82311217e-02 9.96935192e-01 -3.38447187e-04 3.60791989e+00] [ 1.24281523e-02 -6.35795910e-04 9.99922565e-01 2.64369761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.075099893 meters 0.02608302414962356 Centerline is valid? [True, True] Translation: X:230.77, Y:3.61, Z:2.64 [[ 9.96980446e-01 -7.67023434e-02 -1.21136841e-02 2.30771928e+02] [ 7.67039967e-02 9.97053855e-01 -3.28746124e-04 3.61053832e+00] [ 1.21032110e-02 -6.01414526e-04 9.99926573e-01 2.64405430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.105099893 meters 0.024124944462301408 Centerline is valid? [True, True] Translation: X:230.80, Y:3.62, Z:2.64 [[ 9.97065353e-01 -7.55682494e-02 -1.22524236e-02 2.30803766e+02] [ 7.55698764e-02 9.97140454e-01 -3.30795294e-04 3.61577161e+00] [ 1.22423848e-02 -5.96089610e-04 9.99924882e-01 2.64430880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.135099893 meters 0.02434353981207563 Centerline is valid? [True, True] Translation: X:230.84, Y:3.62, Z:2.64 [[ 9.97177752e-01 -7.39794607e-02 -1.27894821e-02 2.30835043e+02] [ 7.39811153e-02 9.97259583e-01 -3.44342761e-04 3.61819455e+00] [ 1.27799078e-02 -6.02809206e-04 9.99918152e-01 2.64400550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.165099893 meters 0.021462463978220523 Centerline is valid? [True, True] Translation: X:230.87, Y:3.63, Z:2.64 [[ 9.97421322e-01 -7.03547400e-02 -1.41745120e-02 2.30866652e+02] [ 7.03564189e-02 9.97521844e-01 -3.80798682e-04 3.62716368e+00] [ 1.41661764e-02 -6.17451181e-04 9.99899464e-01 2.64298948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.195099893 meters 0.021087410482357117 Centerline is valid? [True, True] Translation: X:230.90, Y:3.63, Z:2.64 [[ 9.97564998e-01 -6.82696487e-02 -1.42593724e-02 2.30897847e+02] [ 6.82711458e-02 9.97666730e-01 -3.82328915e-04 3.63051661e+00] [ 1.42522029e-02 -5.92105750e-04 9.99898257e-01 2.64274859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.225099893 meters 0.02030649903761851 Centerline is valid? [True, True] Translation: X:230.93, Y:3.63, Z:2.64 [[ 9.97732334e-01 -6.57188136e-02 -1.45336428e-02 2.30929463e+02] [ 6.57201072e-02 9.97838021e-01 -3.89095617e-04 3.63465676e+00] [ 1.45277923e-02 -5.66939284e-04 9.99894305e-01 2.64270719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.255099893 meters 0.01955748005265921 Centerline is valid? [True, True] Translation: X:230.96, Y:3.64, Z:2.64 [[ 9.97862372e-01 -6.35957788e-02 -1.50420255e-02 2.30962121e+02] [ 6.35969386e-02 9.97975585e-01 -4.01707506e-04 3.63986985e+00] [ 1.50371211e-02 -5.55777967e-04 9.99886782e-01 2.64290188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.285099893 meters 0.017792704295210557 Centerline is valid? [True, True] Translation: X:230.99, Y:3.65, Z:2.64 [[ 9.98170700e-01 -5.82970141e-02 -1.60222156e-02 2.30992510e+02] [ 5.82976685e-02 9.98299153e-01 -4.26611050e-04 3.64968444e+00] [ 1.60198344e-02 -5.08227163e-04 9.99871545e-01 2.64301802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.315099893 meters 0.017451436422417716 Centerline is valid? [True, True] Translation: X:231.02, Y:3.65, Z:2.64 [[ 9.98316827e-01 -5.56438092e-02 -1.63487079e-02 2.31022447e+02] [ 5.56441406e-02 9.98450570e-01 -4.34967231e-04 3.65379575e+00] [ 1.63475800e-02 -4.75474697e-04 9.99866256e-01 2.64326737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.345099893 meters 0.016867568125005547 Centerline is valid? [True, True] Translation: X:231.05, Y:3.66, Z:2.64 [[ 9.98479986e-01 -5.25946553e-02 -1.64778807e-02 2.31052753e+02] [ 5.25945819e-02 9.98615851e-01 -4.38105818e-04 3.65799421e+00] [ 1.64781149e-02 -4.29207358e-04 9.99864135e-01 2.64304386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.375099893 meters 0.016049155459603642 Centerline is valid? [True, True] Translation: X:231.08, Y:3.66, Z:2.64 [[ 9.98623265e-01 -4.97473264e-02 -1.66366431e-02 2.31084572e+02] [ 4.97468643e-02 9.98761761e-01 -4.41874230e-04 3.66294144e+00] [ 1.66380250e-02 -3.86354941e-04 9.99861504e-01 2.64343246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.405099893 meters 0.015291176930860618 Centerline is valid? [True, True] Translation: X:231.12, Y:3.67, Z:2.64 [[ 9.98760813e-01 -4.68800309e-02 -1.67063129e-02 2.31115965e+02] [ 4.68791777e-02 9.98900469e-01 -4.42899682e-04 3.66788667e+00] [ 1.67087069e-02 -3.40827363e-04 9.99860342e-01 2.64369380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43509989299997 meters 0.014495674534025697 Centerline is valid? [True, True] Translation: X:231.15, Y:3.68, Z:2.64 [[ 9.98989249e-01 -4.19594280e-02 -1.61209964e-02 2.31146087e+02] [ 4.19580009e-02 9.99119284e-01 -4.26885399e-04 3.67574710e+00] [ 1.61247102e-02 -2.49950857e-04 9.99869957e-01 2.64383814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46509989299997 meters 0.014148874486247758 Centerline is valid? [True, True] Translation: X:231.18, Y:3.68, Z:2.64 [[ 9.99072540e-01 -3.98926293e-02 -1.62061174e-02 2.31177309e+02] [ 3.98909211e-02 9.99203948e-01 -4.28779734e-04 3.68033682e+00] [ 1.62103217e-02 -2.18094893e-04 9.99868580e-01 2.64462309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49509989299997 meters 0.013935924355477428 Centerline is valid? [True, True] Translation: X:231.21, Y:3.68, Z:2.65 [[ 9.99141144e-01 -3.81632403e-02 -1.61413149e-02 2.31208153e+02] [ 3.81613272e-02 9.99271500e-01 -4.26624377e-04 3.68462520e+00] [ 1.61458373e-02 -1.89716031e-04 9.99869629e-01 2.64509926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52509989299998 meters 0.013685355591370844 Centerline is valid? [True, True] Translation: X:231.24, Y:3.69, Z:2.65 [[ 9.99189918e-01 -3.68280600e-02 -1.62234698e-02 2.31239680e+02] [ 3.68259537e-02 9.99321603e-01 -4.28654953e-04 3.68831053e+00] [ 1.62282504e-02 -1.69137041e-04 9.99868299e-01 2.64526536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55509989299998 meters 0.013993228664201184 Centerline is valid? [True, True] Translation: X:231.27, Y:3.69, Z:2.65 [[ 9.99217111e-01 -3.61425563e-02 -1.60897567e-02 2.31270343e+02] [ 3.61404040e-02 9.99346632e-01 -4.24607459e-04 3.69016628e+00] [ 1.60945905e-02 -1.57215267e-04 9.99870461e-01 2.64514817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58509989299998 meters 0.013820187810323561 Centerline is valid? [True, True] Translation: X:231.30, Y:3.69, Z:2.65 [[ 9.99251585e-01 -3.54676852e-02 -1.54373986e-02 2.31301934e+02] [ 3.54656284e-02 9.99370814e-01 -4.07071266e-04 3.69443753e+00] [ 1.54421235e-02 -1.40730434e-04 9.99880753e-01 2.64636220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61509989299998 meters 0.013820187810323561 Centerline is valid? [True, True] Translation: X:231.33, Y:3.70, Z:2.65 [[ 9.99252803e-01 -3.54333376e-02 -1.54374126e-02 2.31332767e+02] [ 3.54312848e-02 9.99372032e-01 -4.06540308e-04 3.69521937e+00] [ 1.54421235e-02 -1.40730820e-04 9.99880753e-01 2.64674353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64509989299998 meters 0.013825409377787656 Centerline is valid? [True, True] Translation: X:231.36, Y:3.70, Z:2.65 [[ 9.99254001e-01 -3.55375393e-02 -1.51170652e-02 2.31364405e+02] [ 3.55355905e-02 9.99368332e-01 -3.97591633e-04 3.69748219e+00] [ 1.51216456e-02 -1.39898808e-04 9.99885652e-01 2.64780192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67509989299998 meters 0.01377176247702408 Centerline is valid? [True, True] Translation: X:231.40, Y:3.70, Z:2.65 [[ 9.99246703e-01 -3.59108056e-02 -1.47119515e-02 2.31396065e+02] [ 3.59090077e-02 9.99354989e-01 -3.86434233e-04 3.69973241e+00] [ 1.47163393e-02 -1.42148448e-04 9.99891699e-01 2.64868171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70509989299998 meters 0.013857127910797734 Centerline is valid? [True, True] Translation: X:231.43, Y:3.70, Z:2.65 [[ 9.99203510e-01 -3.73733813e-02 -1.39848450e-02 2.31427642e+02] [ 3.73719065e-02 9.99301359e-01 -3.66861557e-04 3.70310380e+00] [ 1.39887855e-02 -1.56070964e-04 9.99902140e-01 2.65007535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73509989299998 meters 0.014102238945734825 Centerline is valid? [True, True] Translation: X:231.46, Y:3.70, Z:2.65 [[ 9.99160963e-01 -3.86229466e-02 -1.36249406e-02 2.31459227e+02] [ 3.86216707e-02 9.99253841e-01 -3.56848323e-04 3.70410968e+00] [ 1.36285567e-02 -1.69669055e-04 9.99907113e-01 2.65096519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76509989299998 meters 0.014405336276592108 Centerline is valid? [True, True] Translation: X:231.49, Y:3.70, Z:2.65 [[ 9.99092606e-01 -4.03881557e-02 -1.35189535e-02 2.31491784e+02] [ 4.03870803e-02 9.99184047e-01 -3.52656403e-04 3.70487223e+00] [ 1.35221658e-02 -1.93654657e-04 9.99908553e-01 2.65126804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79509989299999 meters 0.014964442355410336 Centerline is valid? [True, True] Translation: X:231.52, Y:3.71, Z:2.65 [[ 9.98929238e-01 -4.44624017e-02 -1.27856639e-02 2.31523828e+02] [ 4.44617844e-02 9.99011031e-01 -3.32666607e-04 3.70500443e+00] [ 1.27878104e-02 -2.36163030e-04 9.99918205e-01 2.65142972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.825099893 meters 0.015192829951259423 Centerline is valid? [True, True] Translation: X:231.56, Y:3.71, Z:2.65 [[ 9.98820925e-01 -4.68731720e-02 -1.26359105e-02 2.31556135e+02] [ 4.68727733e-02 9.98900814e-01 -3.27867008e-04 3.70526450e+00] [ 1.26373894e-02 -2.64799737e-04 9.99920110e-01 2.65182162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.855099893 meters 0.017218419227889626 Centerline is valid? [True, True] Translation: X:231.59, Y:3.70, Z:2.65 [[ 9.98710546e-01 -4.92432610e-02 -1.23428642e-02 2.31587604e+02] [ 4.92430724e-02 9.98786773e-01 -3.19377434e-04 3.70179396e+00] [ 1.23436167e-02 -2.88834945e-04 9.99923773e-01 2.65210159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.885099893 meters 0.017227928059448096 Centerline is valid? [True, True] Translation: X:231.62, Y:3.70, Z:2.65 [[ 9.98585905e-01 -5.16931439e-02 -1.24100448e-02 2.31619931e+02] [ 5.16931588e-02 9.98662964e-01 -3.19781247e-04 3.70276870e+00] [ 1.24099826e-02 -3.22185373e-04 9.99922941e-01 2.65229599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.915099893 meters 0.01819742563951531 Centerline is valid? [True, True] Translation: X:231.65, Y:3.70, Z:2.65 [[ 9.98310199e-01 -5.65318495e-02 -1.34498043e-02 2.31651387e+02] [ 5.65323190e-02 9.98400710e-01 -3.45590872e-04 3.70268300e+00] [ 1.34478310e-02 -4.15341733e-04 9.99909488e-01 2.65161103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.945099893 meters 0.01884890386017869 Centerline is valid? [True, True] Translation: X:231.68, Y:3.70, Z:2.65 [[ 9.98172962e-01 -5.87518388e-02 -1.41053304e-02 2.31683228e+02] [ 5.87525844e-02 9.98272509e-01 -3.61878494e-04 3.70242506e+00] [ 1.41022246e-02 -4.67507286e-04 9.99900449e-01 2.65133372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.975099893 meters 0.020254469087958547 Centerline is valid? [True, True] Translation: X:231.71, Y:3.70, Z:2.65 [[ 9.98028507e-01 -6.10893038e-02 -1.43943092e-02 2.31714613e+02] [ 6.10903344e-02 9.98132173e-01 -3.68505818e-04 3.70101015e+00] [ 1.43899349e-02 -5.11573849e-04 9.99896329e-01 2.65119967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.005099893 meters 0.02052737744312754 Centerline is valid? [True, True] Translation: X:231.75, Y:3.70, Z:2.65 [[ 9.97897988e-01 -6.31495880e-02 -1.45511376e-02 2.31747125e+02] [ 6.31508718e-02 9.98003922e-01 -3.71698849e-04 3.70124497e+00] [ 1.45455650e-02 -5.47999491e-04 9.99894058e-01 2.65120695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.035099893 meters 0.022413912986055818 Centerline is valid? [True, True] Translation: X:231.78, Y:3.70, Z:2.65 [[ 9.97776291e-01 -6.49443658e-02 -1.49900584e-02 2.31778462e+02] [ 6.49459478e-02 9.97888710e-01 -3.81748170e-04 3.69887528e+00] [ 1.49832025e-02 -5.92644280e-04 9.99887570e-01 2.65101880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.065099893 meters 0.0209264830242344 Centerline is valid? [True, True] Translation: X:231.81, Y:3.70, Z:2.65 [[ 9.97511016e-01 -6.88883448e-02 -1.50389172e-02 2.31809926e+02] [ 6.88904042e-02 9.97624161e-01 -3.81684732e-04 3.70237355e+00] [ 1.50294808e-02 -6.55302363e-04 9.99886836e-01 2.65093880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.095099893 meters 0.024697238961444195 Centerline is valid? [True, True] Translation: X:231.84, Y:3.70, Z:2.65 [[ 9.97391554e-01 -7.05132275e-02 -1.54263493e-02 2.31841123e+02] [ 7.05155980e-02 9.97510600e-01 -3.90883587e-04 3.69806261e+00] [ 1.54155094e-02 -6.97934260e-04 9.99880930e-01 2.65077177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.125099893 meters 0.025954339050969413 Centerline is valid? [True, True] Translation: X:231.87, Y:3.70, Z:2.65 [[ 9.97284662e-01 -7.19232355e-02 -1.58224702e-02 2.31872464e+02] [ 7.19259204e-02 9.97409897e-01 -4.00043700e-04 3.69779000e+00] [ 1.58102608e-02 -7.39088289e-04 9.99874737e-01 2.65063184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.155099893 meters 0.0245549008640487 Centerline is valid? [True, True] Translation: X:231.90, Y:3.70, Z:2.65 [[ 9.97185769e-01 -7.31113091e-02 -1.65915380e-02 2.31904037e+02] [ 7.31144404e-02 9.97323470e-01 -4.18591515e-04 3.70123996e+00] [ 1.65777340e-02 -7.95667513e-04 9.99862263e-01 2.65079955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18509989299997 meters 0.023853014795178387 Centerline is valid? [True, True] Translation: X:231.94, Y:3.70, Z:2.65 [[ 9.97096453e-01 -7.42422214e-02 -1.69338760e-02 2.31935655e+02] [ 7.42456615e-02 9.97239891e-01 -4.26307347e-04 3.70386050e+00] [ 1.69187866e-02 -8.32197279e-04 9.99856521e-01 2.65097899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21509989299997 meters 0.027329685014728284 Centerline is valid? [True, True] Translation: X:231.97, Y:3.70, Z:2.65 [[ 9.96941869e-01 -7.61561119e-02 -1.75258588e-02 2.31966757e+02] [ 7.61601088e-02 9.97095504e-01 -4.40237531e-04 3.70205676e+00] [ 1.75084818e-02 -8.95880083e-04 9.99846313e-01 2.65054785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24509989299997 meters 0.026117877898977147 Centerline is valid? [True, True] Translation: X:232.00, Y:3.71, Z:2.65 [[ 9.96877544e-01 -7.68737569e-02 -1.80440269e-02 2.31998732e+02] [ 7.68781306e-02 9.97040395e-01 -4.52164897e-04 3.70582203e+00] [ 1.80253833e-02 -9.36438021e-04 9.99837091e-01 2.65121746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27509989299998 meters 0.027897442987769843 Centerline is valid? [True, True] Translation: X:232.03, Y:3.71, Z:2.65 [[ 9.96832263e-01 -7.74492146e-02 -1.80847482e-02 2.32030288e+02] [ 7.74537238e-02 9.96995846e-01 -4.52002723e-04 3.70527170e+00] [ 1.80654261e-02 -9.50160193e-04 9.99836355e-01 2.65099688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30509989299998 meters 0.02641888746764416 Centerline is valid? [True, True] Translation: X:232.06, Y:3.71, Z:2.65 [[ 9.96696497e-01 -7.89515677e-02 -1.90458103e-02 2.32062307e+02] [ 7.89568648e-02 9.96877920e-01 -4.74855451e-04 3.71079860e+00] [ 1.90238384e-02 -1.03051071e-03 9.99818499e-01 2.65174214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33509989299998 meters 0.0250739639655178 Centerline is valid? [True, True] Translation: X:232.09, Y:3.72, Z:2.65 [[ 9.96638609e-01 -7.97376200e-02 -1.87987919e-02 2.32094311e+02] [ 7.97429453e-02 9.96815351e-01 -4.67351009e-04 3.71512318e+00] [ 1.87761898e-02 -1.03329097e-03 9.99823178e-01 2.65311853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36509989299998 meters 0.02594214768293656 Centerline is valid? [True, True] Translation: X:232.13, Y:3.72, Z:2.65 [[ 9.96596525e-01 -8.03948287e-02 -1.82219192e-02 2.32126111e+02] [ 8.03999653e-02 9.96762580e-01 -4.51702997e-04 3.71636250e+00] [ 1.81992418e-02 -1.01487604e-03 9.99833865e-01 2.65391898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39509989299998 meters 0.026806256339877044 Centerline is valid? [True, True] Translation: X:232.16, Y:3.72, Z:2.66 [[ 9.96532343e-01 -8.12126285e-02 -1.81052022e-02 2.32157200e+02] [ 8.12178558e-02 9.96696272e-01 -4.47601682e-04 3.71751437e+00] [ 1.80817385e-02 -1.02441615e-03 9.99835987e-01 2.65503536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42509989299998 meters 0.029039085364534152 Centerline is valid? [True, True] Translation: X:232.19, Y:3.72, Z:2.66 [[ 9.96421021e-01 -8.26734001e-02 -1.76141451e-02 2.32188092e+02] [ 8.26785967e-02 9.96576169e-01 -4.34233438e-04 3.71813925e+00] [ 1.75897368e-02 -1.02363347e-03 9.99844765e-01 2.65589296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45509989299998 meters 0.028420892709251962 Centerline is valid? [True, True] Translation: X:232.22, Y:3.72, Z:2.66 [[ 9.96369556e-01 -8.32930649e-02 -1.76060711e-02 2.32220201e+02] [ 8.32983835e-02 9.96524557e-01 -4.32309093e-04 3.72120658e+00] [ 1.75808905e-02 -1.03581764e-03 9.99844908e-01 2.65661342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48509989299998 meters 0.026540114292422052 Centerline is valid? [True, True] Translation: X:232.25, Y:3.73, Z:2.66 [[ 9.96329112e-01 -8.37486975e-02 -1.77329121e-02 2.32251809e+02] [ 8.37541860e-02 9.96486351e-01 -4.34236055e-04 3.72642582e+00] [ 1.77069716e-02 -1.05256360e-03 9.99842665e-01 2.65740441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51509989299998 meters 0.026520335120599554 Centerline is valid? [True, True] Translation: X:232.28, Y:3.73, Z:2.66 [[ 9.96277233e-01 -8.41762769e-02 -1.86018710e-02 2.32283754e+02] [ 8.41824128e-02 9.96450257e-01 -4.54338493e-04 3.73047971e+00] [ 1.85740836e-02 -1.11330328e-03 9.99826867e-01 2.65757624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54509989299999 meters 0.02750087505274149 Centerline is valid? [True, True] Translation: X:232.32, Y:3.73, Z:2.66 [[ 9.96274122e-01 -8.41201323e-02 -1.90178314e-02 2.32315966e+02] [ 8.41265648e-02 9.96454970e-01 -4.62955726e-04 3.73153570e+00] [ 1.89893565e-02 -1.13867402e-03 9.99819038e-01 2.65766857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.575099893 meters 0.030550214294548926 Centerline is valid? [True, True] Translation: X:232.35, Y:3.73, Z:2.66 [[ 9.96246694e-01 -8.42374611e-02 -1.99141861e-02 2.32346859e+02] [ 8.42445697e-02 9.96444990e-01 -4.83178009e-04 3.73182630e+00] [ 1.98840927e-02 -1.19629755e-03 9.99801576e-01 2.65662145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.605099893 meters 0.028082350606142906 Centerline is valid? [True, True] Translation: X:232.38, Y:3.74, Z:2.66 [[ 9.96221199e-01 -8.44389687e-02 -2.03318094e-02 2.32379329e+02] [ 8.44464461e-02 9.96427898e-01 -4.92048777e-04 3.73756639e+00] [ 2.03007301e-02 -1.22675962e-03 9.99793166e-01 2.65697019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.635099893 meters 0.026690129562543918 Centerline is valid? [True, True] Translation: X:232.41, Y:3.74, Z:2.66 [[ 9.96218011e-01 -8.45005443e-02 -2.02319933e-02 2.32411128e+02] [ 8.45079908e-02 9.96422682e-01 -4.88161146e-04 3.74185010e+00] [ 2.02008669e-02 -1.22345018e-03 9.99795193e-01 2.65738272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.665099893 meters 0.03120787331194326 Centerline is valid? [True, True] Translation: X:232.44, Y:3.74, Z:2.66 [[ 9.96220889e-01 -8.44427271e-02 -2.03314248e-02 2.32443043e+02] [ 8.44502686e-02 9.96427575e-01 -4.88910128e-04 3.73823019e+00] [ 2.03000773e-02 -1.22993181e-03 9.99793176e-01 2.65722881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.695099893 meters 0.026838408013556574 Centerline is valid? [True, True] Translation: X:232.48, Y:3.75, Z:2.66 [[ 9.96229468e-01 -8.44065093e-02 -2.00596409e-02 2.32475722e+02] [ 8.44138826e-02 9.96430663e-01 -4.80397889e-04 3.74715161e+00] [ 2.00285900e-02 -1.21472564e-03 9.99798670e-01 2.65844152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.725099893 meters 0.027603070571047706 Centerline is valid? [True, True] Translation: X:232.51, Y:3.75, Z:2.66 [[ 9.96277444e-01 -8.38804482e-02 -1.98827926e-02 2.32506909e+02] [ 8.38876229e-02 9.96475108e-01 -4.74391210e-04 3.75100100e+00] [ 1.98525001e-02 -1.19529495e-03 9.99802205e-01 2.65898877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.755099893 meters 0.029354760228986043 Centerline is valid? [True, True] Translation: X:232.54, Y:3.75, Z:2.66 [[ 9.96303656e-01 -8.36980917e-02 -1.93301506e-02 2.32538085e+02] [ 8.37048587e-02 9.96490484e-01 -4.60168728e-04 3.75174678e+00] [ 1.93008264e-02 -1.15955974e-03 9.99813049e-01 2.65949005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.785099893 meters 0.029537101217080423 Centerline is valid? [True, True] Translation: X:232.57, Y:3.75, Z:2.66 [[ 9.96367592e-01 -8.30607597e-02 -1.87758299e-02 2.32570166e+02] [ 8.30670520e-02 9.96543861e-01 -4.45867708e-04 3.75435488e+00] [ 1.87479721e-02 -1.11540470e-03 9.99823619e-01 2.66016754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.815099893 meters 0.03046758970674349 Centerline is valid? [True, True] Translation: X:232.60, Y:3.76, Z:2.66 [[ 9.96410430e-01 -8.25950096e-02 -1.85558489e-02 2.32601219e+02] [ 8.26010969e-02 9.96582594e-01 -4.39452157e-04 3.75576345e+00] [ 1.85287326e-02 -1.09485876e-03 9.99827729e-01 2.66081205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.845099893 meters 0.0293036837559935 Centerline is valid? [True, True] Translation: X:232.63, Y:3.76, Z:2.66 [[ 9.96480819e-01 -8.19286427e-02 -1.77108739e-02 2.32633750e+02] [ 8.19341026e-02 9.96637661e-01 -4.18345182e-04 3.76135216e+00] [ 1.76855984e-02 -1.03425161e-03 9.99843063e-01 2.66191073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.875099893 meters 0.029237004838257204 Centerline is valid? [True, True] Translation: X:232.67, Y:3.76, Z:2.66 [[ 9.96518586e-01 -8.16082523e-02 -1.70528717e-02 2.32666034e+02] [ 8.16132907e-02 9.96663990e-01 -4.01417618e-04 3.76368256e+00] [ 1.70287422e-02 -9.91720860e-04 9.99854509e-01 2.66268385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.905099893 meters 0.030568977994828102 Centerline is valid? [True, True] Translation: X:232.70, Y:3.76, Z:2.66 [[ 9.96526638e-01 -8.15530222e-02 -1.68453023e-02 2.32698111e+02] [ 8.15579519e-02 9.96668523e-01 -3.95273686e-04 3.76412914e+00] [ 1.68214183e-02 -9.79967597e-04 9.99858030e-01 2.66354954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93509989299997 meters 0.03081466934220593 Centerline is valid? [True, True] Translation: X:232.73, Y:3.77, Z:2.66 [[ 9.96520992e-01 -8.18441912e-02 -1.57302667e-02 2.32730387e+02] [ 8.18485456e-02 9.96644711e-01 -3.67858953e-04 3.76678256e+00] [ 1.57075943e-02 -9.20920286e-04 9.99876204e-01 2.66488889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96509989299997 meters 0.029226551066935405 Centerline is valid? [True, True] Translation: X:232.76, Y:3.77, Z:2.67 [[ 9.96533068e-01 -8.16920611e-02 -1.57559969e-02 2.32762857e+02] [ 8.16964301e-02 9.96657192e-01 -3.67233450e-04 3.77051130e+00] [ 1.57333277e-02 -9.21248422e-04 9.99875799e-01 2.66533625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99509989299997 meters 0.030873678768748736 Centerline is valid? [True, True] Translation: X:232.79, Y:3.77, Z:2.67 [[ 9.96547657e-01 -8.14327125e-02 -1.61703939e-02 2.32793758e+02] [ 8.14373056e-02 9.96678396e-01 -3.75330396e-04 3.76982859e+00] [ 1.61472465e-02 -9.42838685e-04 9.99869180e-01 2.66532680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02509989299998 meters 0.03108675789810322 Centerline is valid? [True, True] Translation: X:232.83, Y:3.77, Z:2.66 [[ 9.96561239e-01 -8.11839147e-02 -1.65791874e-02 2.32825691e+02] [ 8.11887246e-02 9.96698672e-01 -3.83856114e-04 3.77142260e+00] [ 1.65556171e-02 -9.63506959e-04 9.99862482e-01 2.66499572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05509989299998 meters 0.03143992640437392 Centerline is valid? [True, True] Translation: X:232.86, Y:3.77, Z:2.66 [[ 9.96609407e-01 -8.04376664e-02 -1.73052735e-02 2.32856876e+02] [ 8.04428220e-02 9.96759145e-01 -3.99097221e-04 3.77246751e+00] [ 1.72812920e-02 -9.94340988e-04 9.99850173e-01 2.66468435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08509989299998 meters 0.030988889314995445 Centerline is valid? [True, True] Translation: X:232.89, Y:3.78, Z:2.66 [[ 9.96708609e-01 -7.88769631e-02 -1.87182792e-02 2.32889090e+02] [ 7.88827633e-02 9.96883807e-01 -4.29417984e-04 3.77508741e+00] [ 1.86938206e-02 -1.04854499e-03 9.99824705e-01 2.66304360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11509989299998 meters 0.02868705979543664 Centerline is valid? [True, True] Translation: X:232.92, Y:3.78, Z:2.66 [[ 9.96738712e-01 -7.83222516e-02 -1.94310169e-02 2.32921148e+02] [ 7.83284236e-02 9.96927510e-01 -4.44401746e-04 3.77989058e+00] [ 1.94061218e-02 -1.07904850e-03 9.99811101e-01 2.66330131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14509989299998 meters 0.025196531847803877 Centerline is valid? [True, True] Translation: X:232.95, Y:3.79, Z:2.66 [[ 9.96781291e-01 -7.75579397e-02 -2.02934277e-02 2.32953726e+02] [ 7.75645472e-02 9.96987225e-01 -4.62496677e-04 3.78688543e+00] [ 2.02681585e-02 -1.11304249e-03 9.99793960e-01 2.66368492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17509989299998 meters 0.028097931400223358 Centerline is valid? [True, True] Translation: X:232.98, Y:3.79, Z:2.66 [[ 9.96894699e-01 -7.61164808e-02 -2.01801906e-02 2.32984774e+02] [ 7.61227515e-02 9.97098349e-01 -4.58366254e-04 3.78643201e+00] [ 2.01565239e-02 -1.07922874e-03 9.99796254e-01 2.66435033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20509989299998 meters 0.02867030909850183 Centerline is valid? [True, True] Translation: X:233.02, Y:3.79, Z:2.67 [[ 9.96977989e-01 -7.52099782e-02 -1.94511735e-02 2.33015835e+02] [ 7.52156515e-02 9.97167193e-01 -4.40789383e-04 3.78767209e+00] [ 1.94292239e-02 -1.02357538e-03 9.99810711e-01 2.66537321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23509989299998 meters 0.027361673563347292 Centerline is valid? [True, True] Translation: X:233.05, Y:3.79, Z:2.67 [[ 9.97073984e-01 -7.41092898e-02 -1.87425527e-02 2.33047888e+02] [ 7.41143831e-02 9.97249657e-01 -4.23666878e-04 3.79136314e+00] [ 1.87224019e-02 -9.66665507e-04 9.99824253e-01 2.66652140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26509989299998 meters 0.024463499054474445 Centerline is valid? [True, True] Translation: X:233.08, Y:3.80, Z:2.67 [[ 9.97184316e-01 -7.28066380e-02 -1.79620169e-02 2.33080217e+02] [ 7.28111271e-02 9.97345665e-01 -4.04791173e-04 3.79746053e+00] [ 1.79438112e-02 -9.04183284e-04 9.99838588e-01 2.66800596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29509989299999 meters 0.02495690297076334 Centerline is valid? [True, True] Translation: X:233.11, Y:3.80, Z:2.67 [[ 9.97293246e-01 -7.14480195e-02 -1.73597700e-02 2.33111899e+02] [ 7.14520284e-02 9.97443961e-01 -3.89995438e-04 3.79879645e+00] [ 1.73432622e-02 -8.51450963e-04 9.99849232e-01 2.66864627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.325099893 meters 0.02348355695645662 Centerline is valid? [True, True] Translation: X:233.14, Y:3.80, Z:2.67 [[ 9.97426335e-01 -6.95833974e-02 -1.72874850e-02 2.33143653e+02] [ 6.95871147e-02 9.97575803e-01 -3.87142241e-04 3.80406187e+00] [ 1.72725154e-02 -8.16840335e-04 9.99850485e-01 2.66999927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.355099893 meters 0.022562170398219606 Centerline is valid? [True, True] Translation: X:233.18, Y:3.81, Z:2.67 [[ 9.97475408e-01 -6.89189484e-02 -1.71169445e-02 2.33176268e+02] [ 6.89225208e-02 9.97621943e-01 -3.81823817e-04 3.80659010e+00] [ 1.71025543e-02 -7.98883096e-04 9.99853421e-01 2.67065457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.385099893 meters 0.023591912249375263 Centerline is valid? [True, True] Translation: X:233.21, Y:3.81, Z:2.67 [[ 9.97475856e-01 -6.88710412e-02 -1.72828518e-02 2.33208365e+02] [ 6.88747127e-02 9.97625244e-01 -3.83405790e-04 3.80596827e+00] [ 1.72682148e-02 -8.07913435e-04 9.99850567e-01 2.67091044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.415099893 meters 0.024307460356683297 Centerline is valid? [True, True] Translation: X:233.24, Y:3.81, Z:2.67 [[ 9.97451384e-01 -6.91604390e-02 -1.75376879e-02 2.33240347e+02] [ 6.91642906e-02 9.97605208e-01 -3.87553084e-04 3.80607462e+00] [ 1.75224921e-02 -8.26416384e-04 9.99846128e-01 2.67159430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.445099893 meters 0.02504603415253089 Centerline is valid? [True, True] Translation: X:233.27, Y:3.81, Z:2.67 [[ 9.97394890e-01 -6.98138443e-02 -1.81510489e-02 2.33272859e+02] [ 6.98181019e-02 9.97559659e-01 -3.99791455e-04 3.80530097e+00] [ 1.81346651e-02 -8.68521826e-04 9.99835176e-01 2.67218001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.475099893 meters 0.023453091062382664 Centerline is valid? [True, True] Translation: X:233.30, Y:3.81, Z:2.67 [[ 9.97341997e-01 -7.05407618e-02 -1.82466742e-02 2.33304815e+02] [ 7.05452096e-02 9.97508503e-01 -4.00592838e-04 3.80766092e+00] [ 1.82294708e-02 -8.87687395e-04 9.99833435e-01 2.67340891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.505099893 meters 0.02402980899954058 Centerline is valid? [True, True] Translation: X:233.34, Y:3.81, Z:2.67 [[ 9.97296654e-01 -7.11164215e-02 -1.84888629e-02 2.33336682e+02] [ 7.11211118e-02 9.97467605e-01 -4.04555182e-04 3.80690487e+00] [ 1.84708123e-02 -9.11486953e-04 9.99828985e-01 2.67434218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.535099893 meters 0.02402980899954058 Centerline is valid? [True, True] Translation: X:233.37, Y:3.81, Z:2.67 [[ 9.97304383e-01 -7.10079426e-02 -1.84888969e-02 2.33369256e+02] [ 7.10126432e-02 9.97475334e-01 -4.02994791e-04 3.80752854e+00] [ 1.84708344e-02 -9.11036966e-04 9.99828985e-01 2.67474480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.565099893 meters 0.025549750854832652 Centerline is valid? [True, True] Translation: X:233.40, Y:3.81, Z:2.68 [[ 9.97216241e-01 -7.18719736e-02 -1.98541959e-02 2.33400298e+02] [ 7.18776018e-02 9.97413367e-01 -4.30905474e-04 3.80567759e+00] [ 1.98338104e-02 -9.97366053e-04 9.99802793e-01 2.67547233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.595099893 meters 0.02636351558759603 Centerline is valid? [True, True] Translation: X:233.43, Y:3.81, Z:2.68 [[ 9.97159054e-01 -7.24635281e-02 -2.05635350e-02 2.33432745e+02] [ 7.24697173e-02 9.97370514e-01 -4.45035026e-04 3.80549160e+00] [ 2.05417122e-02 -1.04646286e-03 9.99788449e-01 2.67605395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.625099893 meters 0.02657960902244473 Centerline is valid? [True, True] Translation: X:233.47, Y:3.81, Z:2.68 [[ 9.97133679e-01 -7.27211744e-02 -2.08819838e-02 2.33465220e+02] [ 7.27276441e-02 9.97351737e-01 -4.50447295e-04 3.80611064e+00] [ 2.08594399e-02 -1.06954132e-03 9.99781846e-01 2.67690937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.655099893 meters 0.025392485729424843 Centerline is valid? [True, True] Translation: X:233.50, Y:3.81, Z:2.68 [[ 9.97121039e-01 -7.27841227e-02 -2.12627575e-02 2.33497071e+02] [ 7.27908772e-02 9.97347121e-01 -4.57140272e-04 3.80876862e+00] [ 2.12396226e-02 -1.09191059e-03 9.99773818e-01 2.67788957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68509989299997 meters 0.024469407484321172 Centerline is valid? [True, True] Translation: X:233.53, Y:3.81, Z:2.68 [[ 9.97115395e-01 -7.27300864e-02 -2.17076907e-02 2.33529407e+02] [ 7.27371482e-02 9.97351037e-01 -4.65125108e-04 3.81127595e+00] [ 2.16840164e-02 -1.11517211e-03 9.99764252e-01 2.67930202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71509989299997 meters 0.02395938999815213 Centerline is valid? [True, True] Translation: X:233.56, Y:3.81, Z:2.68 [[ 9.97188674e-01 -7.18068761e-02 -2.14130970e-02 2.33562013e+02] [ 7.18135717e-02 9.97417968e-01 -4.57107190e-04 3.81253880e+00] [ 2.13906311e-02 -1.08192887e-03 9.99770609e-01 2.67986189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74509989299997 meters 0.023508292887990872 Centerline is valid? [True, True] Translation: X:233.59, Y:3.81, Z:2.68 [[ 9.97288593e-01 -7.04368191e-02 -2.13100371e-02 2.33593900e+02] [ 7.04431760e-02 9.97515691e-01 -4.53139240e-04 3.81394461e+00] [ 2.12890140e-02 -1.04923610e-03 9.99772813e-01 2.68070269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77509989299998 meters 0.023819933084612294 Centerline is valid? [True, True] Translation: X:233.63, Y:3.81, Z:2.68 [[ 9.97404215e-01 -6.87722866e-02 -2.13355159e-02 2.33625543e+02] [ 6.87783118e-02 9.97631866e-01 -4.52129798e-04 3.81416327e+00] [ 2.13160846e-02 -1.01646460e-03 9.99772270e-01 2.68145261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80509989299998 meters 0.02342085993045058 Centerline is valid? [True, True] Translation: X:233.66, Y:3.82, Z:2.68 [[ 9.97545855e-01 -6.68083764e-02 -2.09501188e-02 2.33657294e+02] [ 6.68137849e-02 9.97765364e-01 -4.42472854e-04 3.81604932e+00] [ 2.09328638e-02 -9.58369768e-04 9.99780424e-01 2.68236922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83509989299998 meters 0.02099057897872898 Centerline is valid? [True, True] Translation: X:233.69, Y:3.82, Z:2.68 [[ 9.97797820e-01 -6.31694094e-02 -2.02270917e-02 2.33689065e+02] [ 6.31737341e-02 9.98002454e-01 -4.25738021e-04 3.82173446e+00] [ 2.02135808e-02 -8.53020444e-04 9.99795321e-01 2.68420715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86509989299998 meters 0.021141168078733123 Centerline is valid? [True, True] Translation: X:233.72, Y:3.82, Z:2.68 [[ 9.97901130e-01 -6.14921560e-02 -2.02989802e-02 2.33720791e+02] [ 6.14961964e-02 9.98107227e-01 -4.25707948e-04 3.82249086e+00] [ 2.02867365e-02 -8.23495628e-04 9.99793864e-01 2.68481719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89509989299998 meters 0.0209131488179495 Centerline is valid? [True, True] Translation: X:233.75, Y:3.82, Z:2.69 [[ 9.97975556e-01 -6.02513978e-02 -2.03607370e-02 2.33752552e+02] [ 6.02552349e-02 9.98182912e-01 -4.25535039e-04 3.82360218e+00] [ 2.03493788e-02 -8.02167421e-04 9.99792608e-01 2.68511681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92509989299998 meters 0.020413136473983413 Centerline is valid? [True, True] Translation: X:233.78, Y:3.83, Z:2.69 [[ 9.98016886e-01 -5.94746607e-02 -2.06169924e-02 2.33784546e+02] [ 5.94784602e-02 9.98229497e-01 -4.29401803e-04 3.82513756e+00] [ 2.06060284e-02 -7.97716709e-04 9.99787355e-01 2.68540615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95509989299998 meters 0.021130767933120798 Centerline is valid? [True, True] Translation: X:233.82, Y:3.82, Z:2.69 [[ 9.98035507e-01 -5.89958604e-02 -2.10858843e-02 2.33816256e+02] [ 5.89997605e-02 9.98257901e-01 -4.37635001e-04 3.82441513e+00] [ 2.10749692e-02 -8.07286852e-04 9.99777572e-01 2.68502004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98509989299998 meters 0.019344146354137105 Centerline is valid? [True, True] Translation: X:233.85, Y:3.83, Z:2.68 [[ 9.98052555e-01 -5.81518395e-02 -2.25712507e-02 2.33848664e+02] [ 5.81561313e-02 9.98307391e-01 -4.66775877e-04 3.82668555e+00] [ 2.25601903e-02 -8.46789763e-04 9.99745128e-01 2.68482756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01509989299998 meters 0.019661643256966472 Centerline is valid? [True, True] Translation: X:233.88, Y:3.83, Z:2.68 [[ 9.98060028e-01 -5.79105705e-02 -2.28592783e-02 2.33879673e+02] [ 5.79149433e-02 9.98321410e-01 -4.71250745e-04 3.82614480e+00] [ 2.28481974e-02 -8.53557277e-04 9.99738581e-01 2.68492779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04509989299999 meters 0.019960198582799835 Centerline is valid? [True, True] Translation: X:233.91, Y:3.83, Z:2.69 [[ 9.98028798e-01 -5.81073588e-02 -2.37076719e-02 2.33911860e+02] [ 5.81121538e-02 9.98309942e-01 -4.87229916e-04 3.82530981e+00] [ 2.36959162e-02 -8.91434388e-04 9.99718815e-01 2.68585675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.075099893 meters 0.020292172639880188 Centerline is valid? [True, True] Translation: X:233.94, Y:3.82, Z:2.69 [[ 9.98003986e-01 -5.82107351e-02 -2.44857868e-02 2.33943585e+02] [ 5.82159196e-02 9.98303889e-01 -5.01654359e-04 3.82481626e+00] [ 2.44734579e-02 -9.24809548e-04 9.99700052e-01 2.68545821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.105099893 meters 0.020807999659595223 Centerline is valid? [True, True] Translation: X:233.98, Y:3.82, Z:2.69 [[ 9.97946185e-01 -5.87444087e-02 -2.55442113e-02 2.33976025e+02] [ 5.87502675e-02 9.98272575e-01 -5.21714669e-04 3.82397971e+00] [ 2.55307334e-02 -9.80086082e-04 9.99673557e-01 2.68517619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.135099893 meters 0.021022869083427955 Centerline is valid? [True, True] Translation: X:234.01, Y:3.82, Z:2.68 [[ 9.97923938e-01 -5.86726455e-02 -2.65581343e-02 2.34008402e+02] [ 5.86790045e-02 9.98276756e-01 -5.40512990e-04 3.82326079e+00] [ 2.65440815e-02 -1.01901403e-03 9.99647124e-01 2.68449110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.165099893 meters 0.021003830335934195 Centerline is valid? [True, True] Translation: X:234.04, Y:3.82, Z:2.69 [[ 9.97995387e-01 -5.76781626e-02 -2.60468296e-02 2.34040708e+02] [ 5.76839878e-02 9.98334753e-01 -5.28294867e-04 3.82401837e+00] [ 2.60339262e-02 -9.75249160e-04 9.99660584e-01 2.68506163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.195099893 meters 0.020726844218897537 Centerline is valid? [True, True] Translation: X:234.07, Y:3.83, Z:2.69 [[ 9.98175951e-01 -5.53737397e-02 -2.40524426e-02 2.34071082e+02] [ 5.53780624e-02 9.98465339e-01 -4.86839939e-04 3.82543714e+00] [ 2.40424884e-02 -8.46025747e-04 9.99710580e-01 2.68676998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.225099893 meters 0.020269924571133233 Centerline is valid? [True, True] Translation: X:234.10, Y:3.83, Z:2.69 [[ 9.98221441e-01 -5.45708962e-02 -2.39994343e-02 2.34103596e+02] [ 5.45749926e-02 9.98509557e-01 -4.84745724e-04 3.82682925e+00] [ 2.39901175e-02 -8.25885372e-04 9.99711855e-01 2.68784100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.255099893 meters 0.019158742024367775 Centerline is valid? [True, True] Translation: X:234.14, Y:3.83, Z:2.69 [[ 9.98269283e-01 -5.38111030e-02 -2.37234672e-02 2.34135518e+02] [ 5.38149305e-02 9.98550813e-01 -4.77522744e-04 3.82920408e+00] [ 2.37147835e-02 -7.99980454e-04 9.99718445e-01 2.68879573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.285099893 meters 0.01866932666402401 Centerline is valid? [True, True] Translation: X:234.17, Y:3.83, Z:2.69 [[ 9.98222760e-01 -5.45254281e-02 -2.40478495e-02 2.34167661e+02] [ 5.45296097e-02 9.98512038e-01 -4.82323710e-04 3.83023154e+00] [ 2.40383661e-02 -8.29853339e-04 9.99710692e-01 2.68865080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.315099893 meters 0.018996240331615715 Centerline is valid? [True, True] Translation: X:234.20, Y:3.83, Z:2.69 [[ 9.98143307e-01 -5.57451149e-02 -2.45442551e-02 2.34200259e+02] [ 5.57498832e-02 9.98444645e-01 -4.90490979e-04 3.82991442e+00] [ 2.45334226e-02 -8.78759067e-04 9.99698624e-01 2.68856611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.345099893 meters 0.018949708392046738 Centerline is valid? [True, True] Translation: X:234.23, Y:3.83, Z:2.69 [[ 9.98055374e-01 -5.72482125e-02 -2.46599202e-02 2.34232301e+02] [ 5.72535282e-02 9.98359551e-01 -4.91004706e-04 3.82974216e+00] [ 2.46475760e-02 -9.21817552e-04 9.99695777e-01 2.68874775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.375099893 meters 0.020060395352008365 Centerline is valid? [True, True] Translation: X:234.26, Y:3.83, Z:2.69 [[ 9.97924658e-01 -5.94366302e-02 -2.47722608e-02 2.34263774e+02] [ 5.94427070e-02 9.98231598e-01 -4.91653466e-04 3.82773481e+00] [ 2.47576757e-02 -9.81897125e-04 9.99693000e-01 2.68876699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40509989299997 meters 0.021473452839621526 Centerline is valid? [True, True] Translation: X:234.30, Y:3.83, Z:2.69 [[ 9.97792613e-01 -6.17557104e-02 -2.44158477e-02 2.34295098e+02] [ 6.17623503e-02 9.98090767e-01 -4.82782230e-04 3.82515628e+00] [ 2.43990467e-02 -1.02626359e-03 9.99701772e-01 2.68891192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43509989299997 meters 0.021604352267947987 Centerline is valid? [True, True] Translation: X:234.33, Y:3.82, Z:2.69 [[ 9.97552531e-01 -6.56922318e-02 -2.39474122e-02 2.34326372e+02] [ 6.56997882e-02 9.97839323e-01 -4.71957678e-04 3.82375896e+00] [ 2.39266735e-02 -1.10253733e-03 9.99713108e-01 2.68950473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46509989299997 meters 0.022591344348706133 Centerline is valid? [True, True] Translation: X:234.36, Y:3.82, Z:2.69 [[ 9.97439889e-01 -6.72813384e-02 -2.42258028e-02 2.34357399e+02] [ 6.72895659e-02 9.97733375e-01 -4.76335889e-04 3.82190020e+00] [ 2.42029405e-02 -1.15502734e-03 9.99706399e-01 2.68983046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49509989299997 meters 0.0241908281550305 Centerline is valid? [True, True] Translation: X:234.39, Y:3.82, Z:2.69 [[ 9.97368363e-01 -6.84061036e-02 -2.40198618e-02 2.34388295e+02] [ 6.84145485e-02 9.97656869e-01 -4.70979915e-04 3.81951381e+00] [ 2.39957980e-02 -1.17356754e-03 9.99711371e-01 2.69017262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52509989299998 meters 0.024139119269336307 Centerline is valid? [True, True] Translation: X:234.42, Y:3.82, Z:2.69 [[ 9.97306248e-01 -6.98831608e-02 -2.22843430e-02 2.34420308e+02] [ 6.98908264e-02 9.97554551e-01 -4.35609298e-04 3.81938220e+00] [ 2.22602895e-02 -1.12303527e-03 9.99751578e-01 2.69227023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55509989299998 meters 0.023066458133491525 Centerline is valid? [True, True] Translation: X:234.45, Y:3.82, Z:2.69 [[ 9.97303791e-01 -7.01406100e-02 -2.15741152e-02 2.34451989e+02] [ 7.01478879e-02 9.97536514e-01 -4.20183195e-04 3.82132235e+00] [ 2.15504396e-02 -1.09432832e-03 9.99767163e-01 2.69422623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58509989299998 meters 0.024575688235143195 Centerline is valid? [True, True] Translation: X:234.48, Y:3.82, Z:2.70 [[ 9.97331717e-01 -7.00448402e-02 -2.05710125e-02 2.34483604e+02] [ 7.00514635e-02 9.97543299e-01 -3.99328185e-04 3.81932343e+00] [ 2.05484465e-02 -1.04276687e-03 9.99788315e-01 2.69535007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61509989299998 meters 0.02514296612715777 Centerline is valid? [True, True] Translation: X:234.52, Y:3.82, Z:2.70 [[ 9.97409211e-01 -6.93165357e-02 -1.92375477e-02 2.34515002e+02] [ 6.93222120e-02 9.97594252e-01 -3.72438741e-04 3.81826076e+00] [ 1.92170832e-02 -9.62115529e-04 9.99814872e-01 2.69691133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64509989299998 meters 0.023698805757322472 Centerline is valid? [True, True] Translation: X:234.55, Y:3.82, Z:2.70 [[ 9.97439594e-01 -6.88737785e-02 -1.92525010e-02 2.34546988e+02] [ 6.88794038e-02 9.97624924e-01 -3.71562087e-04 3.82042180e+00] [ 1.92323658e-02 -9.55490055e-04 9.99814584e-01 2.69771588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67509989299998 meters 0.02585707621876714 Centerline is valid? [True, True] Translation: X:234.58, Y:3.82, Z:2.70 [[ 9.97457604e-01 -6.86463769e-02 -1.91311986e-02 2.34578310e+02] [ 6.86519138e-02 9.97640606e-01 -3.67961697e-04 3.81753108e+00] [ 1.91113198e-02 -9.46367202e-04 9.99816914e-01 2.69750401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70509989299998 meters 0.025697951877612472 Centerline is valid? [True, True] Translation: X:234.61, Y:3.82, Z:2.70 [[ 9.97469866e-01 -6.83437787e-02 -1.95702421e-02 2.34610460e+02] [ 6.83495380e-02 9.97661365e-01 -3.75214669e-04 3.81766053e+00] [ 1.95501180e-02 -9.63351679e-04 9.99808414e-01 2.69765272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73509989299998 meters 0.025633865652342294 Centerline is valid? [True, True] Translation: X:234.64, Y:3.82, Z:2.70 [[ 9.97459608e-01 -6.84281526e-02 -1.97969094e-02 2.34642669e+02] [ 6.84340904e-02 9.97655568e-01 -3.78159183e-04 3.81801073e+00] [ 1.97763736e-02 -9.77584975e-04 9.99803950e-01 2.69785146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76509989299998 meters 0.023969483106291895 Centerline is valid? [True, True] Translation: X:234.67, Y:3.82, Z:2.70 [[ 9.97399312e-01 -6.88888914e-02 -2.11880285e-02 2.34674451e+02] [ 6.88958305e-02 9.97623778e-01 -4.03162203e-04 3.81972158e+00] [ 2.11654545e-02 -1.05765312e-03 9.99775427e-01 2.69783026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79509989299999 meters 0.024499680999923744 Centerline is valid? [True, True] Translation: X:234.71, Y:3.82, Z:2.70 [[ 9.97357423e-01 -6.92249979e-02 -2.20469942e-02 2.34707046e+02] [ 6.92326290e-02 9.97600455e-01 -4.17879031e-04 3.81846103e+00] [ 2.20230191e-02 -1.10959662e-03 9.99756848e-01 2.69731515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.825099893 meters 0.023702443276189936 Centerline is valid? [True, True] Translation: X:234.74, Y:3.82, Z:2.70 [[ 9.97272002e-01 -6.99041798e-02 -2.37056970e-02 2.34739595e+02] [ 6.99132366e-02 9.97552976e-01 -4.47532525e-04 3.81857979e+00] [ 2.36789730e-02 -1.21103035e-03 9.99718880e-01 2.69702840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.855099893 meters 0.025466138283693145 Centerline is valid? [True, True] Translation: X:234.77, Y:3.82, Z:2.70 [[ 9.97212144e-01 -7.03826617e-02 -2.47834925e-02 2.34770534e+02] [ 7.03927490e-02 9.97519245e-01 -4.66256451e-04 3.81530808e+00] [ 2.47548271e-02 -1.27962157e-03 9.99692733e-01 2.69672267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.885099893 meters 0.02610973785158289 Centerline is valid? [True, True] Translation: X:234.80, Y:3.81, Z:2.70 [[ 9.97432709e-01 -6.70415476e-02 -2.51678760e-02 2.34801504e+02] [ 6.70509177e-02 9.97749443e-01 -4.72356832e-04 3.81476173e+00] [ 2.51429018e-02 -1.21638503e-03 9.99683127e-01 2.69773819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.915099893 meters 0.01948744903540599 Centerline is valid? [True, True] Translation: X:234.83, Y:3.83, Z:2.70 [[ 9.98124685e-01 -5.59662373e-02 -2.47970538e-02 2.34831989e+02] [ 5.59719354e-02 9.98432234e-01 -4.64772123e-04 3.82613789e+00] [ 2.47841894e-02 -9.24038566e-04 9.99692398e-01 2.70219605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.945099893 meters 0.02070188838994644 Centerline is valid? [True, True] Translation: X:234.86, Y:3.82, Z:2.70 [[ 9.98185057e-01 -5.47123375e-02 -2.51624966e-02 2.34863668e+02] [ 5.47178355e-02 9.98501746e-01 -4.70495598e-04 3.82440763e+00] [ 2.51505387e-02 -9.07195673e-04 9.99683264e-01 2.70190292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.975099893 meters 0.02070188838994644 Centerline is valid? [True, True] Translation: X:234.90, Y:3.82, Z:2.70 [[ 9.98188881e-01 -5.46425247e-02 -2.51625299e-02 2.34895377e+02] [ 5.46480455e-02 9.98505569e-01 -4.68709017e-04 3.82493856e+00] [ 2.51505377e-02 -9.07222950e-04 9.99683264e-01 2.70229485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.005099893 meters 0.019277910413795778 Centerline is valid? [True, True] Translation: X:234.93, Y:3.83, Z:2.70 [[ 9.98225457e-01 -5.39703642e-02 -2.51622197e-02 2.34927274e+02] [ 5.39757165e-02 9.98542139e-01 -4.66916769e-04 3.82765083e+00] [ 2.51507364e-02 -8.92060634e-04 9.99683272e-01 2.70356814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.035099893 meters 0.019277910413795778 Centerline is valid? [True, True] Translation: X:234.96, Y:3.83, Z:2.70 [[ 9.98229336e-01 -5.38985426e-02 -2.51622532e-02 2.34958983e+02] [ 5.39039177e-02 9.98546019e-01 -4.65106092e-04 3.82818011e+00] [ 2.51507363e-02 -8.92061480e-04 9.99683272e-01 2.70396006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.065099893 meters 0.01918000593829838 Centerline is valid? [True, True] Translation: X:234.99, Y:3.83, Z:2.70 [[ 9.98239513e-01 -5.35543403e-02 -2.54913030e-02 2.34990798e+02] [ 5.35597920e-02 9.98564534e-01 -4.69342082e-04 3.82877363e+00] [ 2.54798464e-02 -8.96793076e-04 9.99674934e-01 2.70427708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.095099893 meters 0.01918000593829838 Centerline is valid? [True, True] Translation: X:235.02, Y:3.83, Z:2.70 [[ 9.98243364e-01 -5.34825092e-02 -2.54913367e-02 2.35022507e+02] [ 5.34879843e-02 9.98568384e-01 -4.67508008e-04 3.82929850e+00] [ 2.54798464e-02 -8.96793450e-04 9.99674934e-01 2.70466901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.125099893 meters 0.019699137341019562 Centerline is valid? [True, True] Translation: X:235.05, Y:3.83, Z:2.70 [[ 9.98221660e-01 -5.34753247e-02 -2.63421021e-02 2.35053759e+02] [ 5.34812131e-02 9.98568740e-01 -4.81441970e-04 3.82859133e+00] [ 2.63301450e-02 -9.28221775e-04 9.99652871e-01 2.70480830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15509989299997 meters 0.019699137341019562 Centerline is valid? [True, True] Translation: X:235.09, Y:3.83, Z:2.71 [[ 9.98225473e-01 -5.34040909e-02 -2.63421324e-02 2.35085468e+02] [ 5.34099984e-02 9.98572552e-01 -4.79781951e-04 3.82911078e+00] [ 2.63301527e-02 -9.28002683e-04 9.99652871e-01 2.70520029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18509989299997 meters 0.019699137341019562 Centerline is valid? [True, True] Translation: X:235.12, Y:3.83, Z:2.71 [[ 9.98229281e-01 -5.33328542e-02 -2.63421665e-02 2.35117177e+02] [ 5.33387864e-02 9.98576359e-01 -4.77902743e-04 3.82962785e+00] [ 2.63301526e-02 -9.28002682e-04 9.99652871e-01 2.70559222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21509989299997 meters 0.019882706985565334 Centerline is valid? [True, True] Translation: X:235.15, Y:3.83, Z:2.71 [[ 9.98208962e-01 -5.37161987e-02 -2.63332160e-02 2.35149376e+02] [ 5.37223095e-02 9.98555801e-01 -4.75864600e-04 3.82942030e+00] [ 2.63207472e-02 -9.39668871e-04 9.99653107e-01 2.70594040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24509989299997 meters 0.01985278238721478 Centerline is valid? [True, True] Translation: X:235.18, Y:3.83, Z:2.71 [[ 9.98163939e-01 -5.43148552e-02 -2.68075885e-02 2.35181507e+02] [ 5.43214555e-02 9.98523383e-01 -4.82510273e-04 3.82918952e+00] [ 2.67942115e-02 -9.74602871e-04 9.99640496e-01 2.70583358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27509989299998 meters 0.021349591389810144 Centerline is valid? [True, True] Translation: X:235.21, Y:3.83, Z:2.71 [[ 9.98049085e-01 -5.61591532e-02 -2.72795247e-02 2.35211930e+02] [ 5.61667076e-02 9.98421284e-01 -4.89842778e-04 3.82525398e+00] [ 2.72639672e-02 -1.04331395e-03 9.99627724e-01 2.70505464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30509989299998 meters 0.02173423761453856 Centerline is valid? [True, True] Translation: X:235.24, Y:3.82, Z:2.71 [[ 9.97975680e-01 -5.75558076e-02 -2.70531310e-02 2.35243521e+02] [ 5.75637690e-02 9.98341714e-01 -4.85046982e-04 3.82433295e+00] [ 2.70361864e-02 -1.07321509e-03 9.99633879e-01 2.70541487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33509989299998 meters 0.02267353845995542 Centerline is valid? [True, True] Translation: X:235.27, Y:3.82, Z:2.71 [[ 9.97889057e-01 -5.90921127e-02 -2.69360776e-02 2.35274849e+02] [ 5.91005892e-02 9.98251916e-01 -4.82012429e-04 3.82274354e+00] [ 2.69174742e-02 -1.11094313e-03 9.99637042e-01 2.70604689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36509989299998 meters 0.022023988303821237 Centerline is valid? [True, True] Translation: X:235.31, Y:3.82, Z:2.71 [[ 9.97807666e-01 -6.04170603e-02 -2.70118723e-02 2.35307357e+02] [ 6.04261089e-02 9.98172557e-01 -4.81896270e-04 3.82363001e+00] [ 2.69916244e-02 -1.15138254e-03 9.99634997e-01 2.70742014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39509989299998 meters 0.02156508280576278 Centerline is valid? [True, True] Translation: X:235.34, Y:3.82, Z:2.71 [[ 9.97729628e-01 -6.20021283e-02 -2.62930626e-02 2.35339425e+02] [ 6.20112997e-02 9.98075338e-01 -4.67204090e-04 3.82416951e+00] [ 2.62714250e-02 -1.16432362e-03 9.99654168e-01 2.70818146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42509989299998 meters 0.02156508280576278 Centerline is valid? [True, True] Translation: X:235.37, Y:3.82, Z:2.71 [[ 9.97734130e-01 -6.19296352e-02 -2.62930964e-02 2.35371146e+02] [ 6.19388317e-02 9.98079839e-01 -4.65294450e-04 3.82467456e+00] [ 2.62714249e-02 -1.16432352e-03 9.99654168e-01 2.70857353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45509989299998 meters 0.024291601111651233 Centerline is valid? [True, True] Translation: X:235.40, Y:3.82, Z:2.71 [[ 9.97550000e-01 -6.52512584e-02 -2.52244076e-02 2.35401761e+02] [ 6.52608087e-02 9.97868142e-01 -4.45289667e-04 3.82017446e+00] [ 2.51996885e-02 -1.20196653e-03 9.99681715e-01 2.70933423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48509989299998 meters 0.022302859615635984 Centerline is valid? [True, True] Translation: X:235.43, Y:3.82, Z:2.71 [[ 9.97466837e-01 -6.66552450e-02 -2.48392397e-02 2.35433378e+02] [ 6.66649626e-02 9.97775321e-01 -4.37579154e-04 3.82322123e+00] [ 2.48131473e-02 -1.21943629e-03 9.99691363e-01 2.71109021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51509989299998 meters 0.023628187359286554 Centerline is valid? [True, True] Translation: X:235.46, Y:3.82, Z:2.71 [[ 9.97382778e-01 -6.80685775e-02 -2.43775156e-02 2.35464282e+02] [ 6.80783905e-02 9.97679883e-01 -4.28110793e-04 3.82135159e+00] [ 2.43500978e-02 -1.23259170e-03 9.99702733e-01 2.71158809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54509989299999 meters 0.027476852997923806 Centerline is valid? [True, True] Translation: X:235.50, Y:3.81, Z:2.71 [[ 9.97238535e-01 -7.03665985e-02 -2.37454486e-02 2.35495450e+02] [ 7.03765887e-02 9.97520407e-01 -4.15731964e-04 3.81491265e+00] [ 2.37158232e-02 -1.25653974e-03 9.99717951e-01 2.71107311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.575099893 meters 0.027179929193709554 Centerline is valid? [True, True] Translation: X:235.53, Y:3.82, Z:2.71 [[ 9.97171181e-01 -7.12976858e-02 -2.37965574e-02 2.35527891e+02] [ 7.13080185e-02 9.97454257e-01 -4.15148033e-04 3.81516753e+00] [ 2.37655766e-02 -1.28291170e-03 9.99716736e-01 2.71154783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.605099893 meters 0.027176020588674372 Centerline is valid? [True, True] Translation: X:235.56, Y:3.81, Z:2.71 [[ 9.97056904e-01 -7.29906457e-02 -2.34498621e-02 2.35560234e+02] [ 7.30011848e-02 9.97331771e-01 -4.07446957e-04 3.81424375e+00] [ 2.34170323e-02 -1.30561992e-03 9.99724931e-01 2.71203789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.635099893 meters 0.026429163465157623 Centerline is valid? [True, True] Translation: X:235.59, Y:3.82, Z:2.71 [[ 9.97014812e-01 -7.36387757e-02 -2.32119605e-02 2.35592397e+02] [ 7.36493156e-02 9.97284120e-01 -4.01654006e-04 3.81510709e+00] [ 2.31784969e-02 -1.30909001e-03 9.99730485e-01 2.71217589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.665099893 meters 0.028033925609141818 Centerline is valid? [True, True] Translation: X:235.62, Y:3.81, Z:2.71 [[ 9.96987398e-01 -7.39348812e-02 -2.34469778e-02 2.35623836e+02] [ 7.39457524e-02 9.97262183e-01 -4.04218458e-04 3.81304068e+00] [ 2.34126701e-02 -1.33080371e-03 9.99725000e-01 2.71167084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.695099893 meters 0.02952928720410407 Centerline is valid? [True, True] Translation: X:235.65, Y:3.81, Z:2.71 [[ 9.96992112e-01 -7.37891434e-02 -2.37042470e-02 2.35654975e+02] [ 7.38002437e-02 9.97272961e-01 -4.07379263e-04 3.81055202e+00] [ 2.36696647e-02 -1.34322529e-03 9.99718932e-01 2.71089162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.725099893 meters 0.029263653903331473 Centerline is valid? [True, True] Translation: X:235.69, Y:3.81, Z:2.71 [[ 9.97026406e-01 -7.34419764e-02 -2.33371191e-02 2.35687153e+02] [ 7.34526735e-02 9.97298624e-01 -3.99660528e-04 3.81119678e+00] [ 2.33034286e-02 -1.31570169e-03 9.99727572e-01 2.71128732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.755099893 meters 0.028787282983765896 Centerline is valid? [True, True] Translation: X:235.72, Y:3.81, Z:2.71 [[ 9.97067207e-01 -7.29286642e-02 -2.32033524e-02 2.35719133e+02] [ 7.29391378e-02 9.97336315e-01 -3.95753583e-04 3.81241143e+00] [ 2.31704077e-02 -1.29783960e-03 9.99730688e-01 2.71179050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.785099893 meters 0.03124324657688558 Centerline is valid? [True, True] Translation: X:235.75, Y:3.81, Z:2.71 [[ 9.97106452e-01 -7.25761344e-02 -2.26147558e-02 2.35750898e+02] [ 7.25860279e-02 9.97362081e-01 -3.84159899e-04 3.80944866e+00] [ 2.25829808e-02 -1.25846698e-03 9.99744180e-01 2.71143209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.815099893 meters 0.02534034619565795 Centerline is valid? [True, True] Translation: X:235.78, Y:3.82, Z:2.71 [[ 9.97117277e-01 -7.24136404e-02 -2.26583487e-02 2.35783201e+02] [ 7.24235668e-02 9.97373892e-01 -3.83287904e-04 3.81825947e+00] [ 2.26266007e-02 -1.25881544e-03 9.99743193e-01 2.71301393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.845099893 meters 0.02643169026584217 Centerline is valid? [True, True] Translation: X:235.81, Y:3.82, Z:2.71 [[ 9.97143362e-01 -7.18569755e-02 -2.32742311e-02 2.35814540e+02] [ 7.18673333e-02 9.97414123e-01 -3.92182066e-04 3.81715467e+00] [ 2.32422278e-02 -1.28159518e-03 9.99729041e-01 2.71287992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.875099893 meters 0.027583932941462466 Centerline is valid? [True, True] Translation: X:235.85, Y:3.82, Z:2.71 [[ 9.97163853e-01 -7.14730588e-02 -2.35765283e-02 2.35845436e+02] [ 7.14836109e-02 9.97441696e-01 -3.95993212e-04 3.81604494e+00] [ 2.35445152e-02 -1.29046526e-03 9.99721957e-01 2.71202224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90509989299997 meters 0.02679411057507383 Centerline is valid? [True, True] Translation: X:235.88, Y:3.82, Z:2.71 [[ 9.97176050e-01 -7.12854454e-02 -2.36286078e-02 2.35877969e+02] [ 7.12960263e-02 9.97455122e-01 -3.95401829e-04 3.81751175e+00] [ 2.35966623e-02 -1.29034061e-03 9.99720727e-01 2.71217523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93509989299997 meters 0.026722150042513215 Centerline is valid? [True, True] Translation: X:235.91, Y:3.82, Z:2.71 [[ 9.97150871e-01 -7.16080748e-02 -2.37154875e-02 2.35910530e+02] [ 7.16188648e-02 9.97431994e-01 -3.95160480e-04 3.81845417e+00] [ 2.36828827e-02 -1.30444168e-03 9.99718670e-01 2.71243994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96509989299997 meters 0.024835607448740766 Centerline is valid? [True, True] Translation: X:235.94, Y:3.82, Z:2.71 [[ 9.97147905e-01 -7.16590356e-02 -2.36862387e-02 2.35943070e+02] [ 7.16698538e-02 9.97428332e-01 -3.92959374e-04 3.82192103e+00] [ 2.36534847e-02 -1.30575065e-03 9.99719364e-01 2.71315407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99509989299997 meters 0.027083931748062947 Centerline is valid? [True, True] Translation: X:235.97, Y:3.82, Z:2.71 [[ 9.97095567e-01 -7.23937031e-02 -2.36554796e-02 2.35973922e+02] [ 7.24047353e-02 9.97375256e-01 -3.90923858e-04 3.82011897e+00] [ 2.36216904e-02 -1.32298029e-03 9.99720094e-01 2.71278867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02509989299998 meters 0.027230314690878794 Centerline is valid? [True, True] Translation: X:236.01, Y:3.82, Z:2.71 [[ 9.97091635e-01 -7.24546712e-02 -2.36345517e-02 2.36006231e+02] [ 7.24657360e-02 9.97370827e-01 -3.89096653e-04 3.82057254e+00] [ 2.36006042e-02 -1.32473017e-03 9.99720589e-01 2.71286902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05509989299998 meters 0.027144306108746585 Centerline is valid? [True, True] Translation: X:236.04, Y:3.82, Z:2.71 [[ 9.97047673e-01 -7.29937980e-02 -2.38294572e-02 2.36038588e+02] [ 7.30052403e-02 9.97331481e-01 -3.90593315e-04 3.82134463e+00] [ 2.37943787e-02 -1.35023509e-03 9.99715962e-01 2.71307907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08509989299998 meters 0.029139030688632574 Centerline is valid? [True, True] Translation: X:236.07, Y:3.82, Z:2.71 [[ 9.96987201e-01 -7.36756861e-02 -2.42572373e-02 2.36069800e+02] [ 7.36877816e-02 9.97281281e-01 -3.96068109e-04 3.81952657e+00] [ 2.42204693e-02 -1.39258717e-03 9.99705671e-01 2.71271220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11509989299998 meters 0.027995813837201025 Centerline is valid? [True, True] Translation: X:236.10, Y:3.82, Z:2.71 [[ 9.96901097e-01 -7.47830027e-02 -2.44070789e-02 2.36102131e+02] [ 7.47956161e-02 9.97198806e-01 -3.96986515e-04 3.82247078e+00] [ 2.43683978e-02 -1.42978621e-03 9.99702024e-01 2.71327586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14509989299998 meters 0.030163403596949093 Centerline is valid? [True, True] Translation: X:236.13, Y:3.82, Z:2.71 [[ 9.96824979e-01 -7.58592189e-02 -2.41938153e-02 2.36133673e+02] [ 7.58719650e-02 9.97117491e-01 -3.92006053e-04 3.81996485e+00] [ 2.41538137e-02 -1.44487088e-03 9.99707210e-01 2.71375613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17509989299998 meters 0.029238655161501884 Centerline is valid? [True, True] Translation: X:236.17, Y:3.82, Z:2.72 [[ 9.96754318e-01 -7.69423590e-02 -2.36791804e-02 2.36165658e+02] [ 7.69549073e-02 9.97034501e-01 -3.82210721e-04 3.82185719e+00] [ 2.36383680e-02 -1.44125895e-03 9.99719536e-01 2.71514639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20509989299998 meters 0.029191946825513286 Centerline is valid? [True, True] Translation: X:236.20, Y:3.82, Z:2.72 [[ 9.96652737e-01 -7.85210591e-02 -2.27544646e-02 2.36197431e+02] [ 7.85331016e-02 9.96911440e-01 -3.65267425e-04 3.82216471e+00] [ 2.27128672e-02 -1.42293390e-03 9.99741017e-01 2.71669079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23509989299998 meters 0.03213851519090204 Centerline is valid? [True, True] Translation: X:236.23, Y:3.82, Z:2.72 [[ 9.96617153e-01 -7.91786781e-02 -2.20224412e-02 2.36228735e+02] [ 7.91901588e-02 9.96859466e-01 -3.51652297e-04 3.81866608e+00] [ 2.19811223e-02 -1.39349790e-03 9.99757415e-01 2.71697583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26509989299998 meters 0.03252977330820348 Centerline is valid? [True, True] Translation: X:236.26, Y:3.82, Z:2.72 [[ 9.96582191e-01 -7.96418801e-02 -2.19341442e-02 2.36261080e+02] [ 7.96534097e-02 9.96822558e-01 -3.48910387e-04 3.81846354e+00] [ 2.18922377e-02 -1.39941150e-03 9.99759357e-01 2.71803743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29509989299999 meters 0.03366732713921446 Centerline is valid? [True, True] Translation: X:236.29, Y:3.82, Z:2.72 [[ 9.96536800e-01 -8.05572950e-02 -2.06137816e-02 2.36293356e+02] [ 8.05677012e-02 9.96749085e-01 -3.26522687e-04 3.81697624e+00] [ 2.05730718e-02 -1.33541313e-03 9.99787460e-01 2.71926048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.325099893 meters 0.03439306810079562 Centerline is valid? [True, True] Translation: X:236.33, Y:3.82, Z:2.72 [[ 9.96515609e-01 -8.09352729e-02 -2.01524781e-02 2.36325411e+02] [ 8.09453231e-02 9.96718493e-01 -3.17838968e-04 3.81651402e+00] [ 2.01120720e-02 -1.31451736e-03 9.99796868e-01 2.72031896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.355099893 meters 0.02920545576264711 Centerline is valid? [True, True] Translation: X:236.36, Y:3.82, Z:2.72 [[ 9.96483308e-01 -8.13860617e-02 -1.99330303e-02 2.36357830e+02] [ 8.13960118e-02 9.96681790e-01 -3.12978291e-04 3.82413647e+00] [ 1.98923604e-02 -1.31059152e-03 9.99801268e-01 2.72204014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.385099893 meters 0.03297966559404854 Centerline is valid? [True, True] Translation: X:236.39, Y:3.82, Z:2.72 [[ 9.96405091e-01 -8.23842192e-02 -1.97417307e-02 2.36389285e+02] [ 8.23942099e-02 9.96599769e-01 -3.08162166e-04 3.81882672e+00] [ 1.96999919e-02 -1.31954995e-03 9.99805066e-01 2.72180770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.415099893 meters 0.030513088761063678 Centerline is valid? [True, True] Translation: X:236.42, Y:3.82, Z:2.72 [[ 9.96340786e-01 -8.31538858e-02 -1.97602824e-02 2.36421376e+02] [ 8.31640868e-02 9.96535820e-01 -3.06378134e-04 3.82214091e+00] [ 1.97173057e-02 -1.33808881e-03 9.99804700e-01 2.72220147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.445099893 meters 0.03155727238772104 Centerline is valid? [True, True] Translation: X:236.45, Y:3.82, Z:2.72 [[ 9.96272733e-01 -8.37978758e-02 -2.04586759e-02 2.36452675e+02] [ 8.38089861e-02 9.96481788e-01 -3.15248668e-04 3.82080387e+00] [ 2.04131151e-02 -1.40054723e-03 9.99790650e-01 2.72205733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.475099893 meters 0.03122543426571245 Centerline is valid? [True, True] Translation: X:236.48, Y:3.82, Z:2.72 [[ 9.96179172e-01 -8.47810260e-02 -2.09579358e-02 2.36484937e+02] [ 8.47929484e-02 9.96398541e-01 -3.20715041e-04 3.82119943e+00] [ 2.09096472e-02 -1.45759553e-03 9.99780307e-01 2.72206617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.505099893 meters 0.03233630365311097 Centerline is valid? [True, True] Translation: X:236.52, Y:3.82, Z:2.72 [[ 9.95963628e-01 -8.71349220e-02 -2.15396710e-02 2.36516424e+02] [ 8.71480903e-02 9.96195313e-01 -3.28357550e-04 3.81905865e+00] [ 2.14863308e-02 -1.55010902e-03 9.99767940e-01 2.72111265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.535099893 meters 0.0351597718185894 Centerline is valid? [True, True] Translation: X:236.55, Y:3.81, Z:2.72 [[ 9.95845217e-01 -8.83893877e-02 -2.19002491e-02 2.36548001e+02] [ 8.84033238e-02 9.96084706e-01 -3.32879178e-04 3.81495851e+00] [ 2.18439261e-02 -1.60455867e-03 9.99760105e-01 2.72055186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.565099893 meters 0.03462325378864058 Centerline is valid? [True, True] Translation: X:236.58, Y:3.82, Z:2.72 [[ 9.95695199e-01 -8.99437936e-02 -2.23871495e-02 2.36578949e+02] [ 8.99587666e-02 9.95945433e-01 -3.39413098e-04 3.81511192e+00] [ 2.23269074e-02 -1.67596836e-03 9.99749319e-01 2.72017480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.595099893 meters 0.035212198067897375 Centerline is valid? [True, True] Translation: X:236.61, Y:3.81, Z:2.72 [[ 9.95681918e-01 -9.00855839e-02 -2.24077295e-02 2.36611082e+02] [ 9.01006412e-02 9.95932608e-01 -3.38781219e-04 3.81432907e+00] [ 2.23471078e-02 -1.68163246e-03 9.99748858e-01 2.72040227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.625099893 meters 0.035786684388566685 Centerline is valid? [True, True] Translation: X:236.64, Y:3.81, Z:2.72 [[ 9.95692223e-01 -8.99579038e-02 -2.24626853e-02 2.36643673e+02] [ 8.99730388e-02 9.95944144e-01 -3.38000969e-04 3.81375555e+00] [ 2.24019857e-02 -1.68449112e-03 9.99747625e-01 2.72066955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65509989299997 meters 0.039126009582124054 Centerline is valid? [True, True] Translation: X:236.67, Y:3.81, Z:2.72 [[ 9.95752620e-01 -8.95488651e-02 -2.13944262e-02 2.36674720e+02] [ 8.95625421e-02 9.95981149e-01 -3.19973326e-04 3.80948655e+00] [ 2.13370984e-02 -1.59752492e-03 9.99771062e-01 2.72064647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68509989299997 meters 0.036956544188764213 Centerline is valid? [True, True] Translation: X:236.71, Y:3.81, Z:2.72 [[ 9.95874850e-01 -8.84828986e-02 -2.01012565e-02 2.36706516e+02] [ 8.84947954e-02 9.96076594e-01 -2.98648638e-04 3.81207922e+00] [ 2.00488164e-02 -1.48143992e-03 9.99797905e-01 2.72293470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71509989299997 meters 0.032860294202252706 Centerline is valid? [True, True] Translation: X:236.74, Y:3.82, Z:2.72 [[ 9.95999867e-01 -8.72060764e-02 -1.94772832e-02 2.36737963e+02] [ 8.72170247e-02 9.96189293e-01 -2.88262807e-04 3.81785982e+00] [ 1.94281993e-02 -1.41164098e-03 9.99810258e-01 2.72434481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74509989299997 meters 0.03285711774773424 Centerline is valid? [True, True] Translation: X:236.77, Y:3.82, Z:2.72 [[ 9.96125862e-01 -8.58390206e-02 -1.91031329e-02 2.36769195e+02] [ 8.58493152e-02 9.96308093e-01 -2.82037602e-04 3.81812092e+00] [ 1.90568158e-02 -1.35904593e-03 9.99817479e-01 2.72497004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77509989299998 meters 0.031693585600109674 Centerline is valid? [True, True] Translation: X:236.80, Y:3.82, Z:2.73 [[ 9.96235443e-01 -8.45625883e-02 -1.90817071e-02 2.36800355e+02] [ 8.45726400e-02 9.96417277e-01 -2.81027314e-04 3.82010373e+00] [ 1.90371071e-02 -1.33382098e-03 9.99817888e-01 2.72565112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80509989299998 meters 0.03302899328493881 Centerline is valid? [True, True] Translation: X:236.83, Y:3.82, Z:2.73 [[ 9.96370853e-01 -8.30595088e-02 -1.86075442e-02 2.36830735e+02] [ 8.30688165e-02 9.96543776e-01 -2.73489249e-04 3.81884196e+00] [ 1.85659482e-02 -1.27320996e-03 9.99826827e-01 2.72594904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83509989299998 meters 0.03259336491449829 Centerline is valid? [True, True] Translation: X:236.86, Y:3.82, Z:2.73 [[ 9.96500595e-01 -8.15471618e-02 -1.83473398e-02 2.36862494e+02] [ 8.15559675e-02 9.96668727e-01 -2.69019224e-04 3.81967712e+00] [ 1.83081576e-02 -1.22825723e-03 9.99831637e-01 2.72641302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86509989299998 meters 0.0332715388266322 Centerline is valid? [True, True] Translation: X:236.89, Y:3.82, Z:2.73 [[ 9.96648242e-01 -7.99462973e-02 -1.73456567e-02 2.36892854e+02] [ 7.99539420e-02 9.96798527e-01 -2.53416727e-04 3.81839251e+00] [ 1.73103848e-02 -1.13428630e-03 9.99849521e-01 2.72699912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89509989299998 meters 0.03397711583529922 Centerline is valid? [True, True] Translation: X:236.92, Y:3.82, Z:2.73 [[ 9.96694025e-01 -7.93769071e-02 -1.73299698e-02 2.36923767e+02] [ 7.93844606e-02 9.96844042e-01 -2.52708796e-04 3.81723543e+00] [ 1.72953363e-02 -1.12385695e-03 9.99849793e-01 2.72706866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92509989299998 meters 0.028805745518478015 Centerline is valid? [True, True] Translation: X:236.96, Y:3.82, Z:2.73 [[ 9.96718301e-01 -7.90917237e-02 -1.72373638e-02 2.36956105e+02] [ 7.90991713e-02 9.96866720e-01 -2.50361361e-04 3.82388465e+00] [ 1.72031558e-02 -1.11392144e-03 9.99851394e-01 2.72795507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95509989299998 meters 0.03252321367824523 Centerline is valid? [True, True] Translation: X:236.99, Y:3.82, Z:2.73 [[ 9.96725937e-01 -7.88961738e-02 -1.76861752e-02 2.36987373e+02] [ 7.89040053e-02 9.96882186e-01 -2.55660721e-04 3.81858024e+00] [ 1.76512037e-02 -1.14068639e-03 9.99843555e-01 2.72744771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98509989299998 meters 0.028878084273558095 Centerline is valid? [True, True] Translation: X:237.02, Y:3.82, Z:2.73 [[ 9.96730983e-01 -7.88046023e-02 -1.78095842e-02 2.37020262e+02] [ 7.88125517e-02 9.96889420e-01 -2.56165287e-04 3.82365321e+00] [ 1.77743731e-02 -1.14829090e-03 9.99841364e-01 2.72785625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01509989299998 meters 0.028882342946618976 Centerline is valid? [True, True] Translation: X:237.05, Y:3.82, Z:2.73 [[ 9.96710371e-01 -7.89025286e-02 -1.85155907e-02 2.37052027e+02] [ 7.89111722e-02 9.96881616e-01 -2.64453390e-04 3.82355346e+00] [ 1.84787181e-02 -1.19750353e-03 9.99828537e-01 2.72781365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04509989299999 meters 0.03181295859209539 Centerline is valid? [True, True] Translation: X:237.08, Y:3.82, Z:2.73 [[ 9.96593849e-01 -8.02438264e-02 -1.90165544e-02 2.37083277e+02] [ 8.02532118e-02 9.96774472e-01 -2.70316000e-04 3.81931855e+00] [ 1.89769072e-02 -1.25674431e-03 9.99819132e-01 2.72722821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.075099893 meters 0.030666207547097802 Centerline is valid? [True, True] Translation: X:237.12, Y:3.82, Z:2.73 [[ 9.96546089e-01 -8.07934787e-02 -1.91913199e-02 2.37115815e+02] [ 8.08031615e-02 9.96730041e-01 -2.71623882e-04 3.82056757e+00] [ 1.91505105e-02 -1.28003360e-03 9.99815793e-01 2.72789389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.105099893 meters 0.03137701913589128 Centerline is valid? [True, True] Translation: X:237.15, Y:3.82, Z:2.73 [[ 9.96549385e-01 -8.07384646e-02 -1.92515746e-02 2.37148953e+02] [ 8.07482297e-02 9.96734493e-01 -2.70831609e-04 3.81941366e+00] [ 1.92105750e-02 -1.28463349e-03 9.99814635e-01 2.72806991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.135099893 meters 0.0326262653991196 Centerline is valid? [True, True] Translation: X:237.18, Y:3.82, Z:2.73 [[ 9.96572536e-01 -8.02764185e-02 -1.99719278e-02 2.37180529e+02] [ 8.02868717e-02 9.96771759e-01 -2.79169783e-04 3.81746704e+00] [ 1.99298643e-02 -1.32527067e-03 9.99800502e-01 2.72841100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.165099893 meters 0.030750742039856137 Centerline is valid? [True, True] Translation: X:237.21, Y:3.82, Z:2.73 [[ 9.96636965e-01 -7.95316545e-02 -1.97351370e-02 2.37212424e+02] [ 7.95417392e-02 9.96831498e-01 -2.74674426e-04 3.82023191e+00] [ 1.96944515e-02 -1.29601644e-03 9.99805205e-01 2.72953279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.195099893 meters 0.03156643888636309 Centerline is valid? [True, True] Translation: X:237.24, Y:3.82, Z:2.73 [[ 9.96702226e-01 -7.86638931e-02 -1.99164620e-02 2.37244136e+02] [ 7.86740202e-02 9.96900357e-01 -2.75760294e-04 3.81935676e+00] [ 1.98764205e-02 -1.29205724e-03 9.99801610e-01 2.72985274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.225099893 meters 0.03204720331299988 Centerline is valid? [True, True] Translation: X:237.28, Y:3.82, Z:2.73 [[ 9.96763626e-01 -7.78413164e-02 -2.00749333e-02 2.37275729e+02] [ 7.78514679e-02 9.96964930e-01 -2.76521566e-04 3.81919202e+00] [ 2.00355293e-02 -1.28723638e-03 9.99798440e-01 2.73049086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.255099893 meters 0.029320226636281723 Centerline is valid? [True, True] Translation: X:237.31, Y:3.82, Z:2.73 [[ 9.96949546e-01 -7.55018230e-02 -1.97756854e-02 2.37307214e+02] [ 7.55112403e-02 9.97144914e-01 -2.71141142e-04 3.82342170e+00] [ 1.97396958e-02 -1.22297249e-03 9.99804405e-01 2.73171302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.285099893 meters 0.028251265681901956 Centerline is valid? [True, True] Translation: X:237.34, Y:3.82, Z:2.73 [[ 9.97002468e-01 -7.47095988e-02 -2.01135522e-02 2.37339298e+02] [ 7.47192051e-02 9.97204575e-01 -2.74533250e-04 3.82492572e+00] [ 2.00778366e-02 -1.22915831e-03 9.99797664e-01 2.73250715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.315099893 meters 0.027905780429624095 Centerline is valid? [True, True] Translation: X:237.37, Y:3.82, Z:2.73 [[ 9.97140848e-01 -7.27899547e-02 -2.02916735e-02 2.37370784e+02] [ 7.27993601e-02 9.97346568e-01 -2.75773157e-04 3.82445377e+00] [ 2.02579044e-02 -1.20223616e-03 9.99794065e-01 2.73261661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.345099893 meters 0.027905780429624095 Centerline is valid? [True, True] Translation: X:237.40, Y:3.82, Z:2.73 [[ 9.97148730e-01 -7.26818977e-02 -2.02916911e-02 2.37403375e+02] [ 7.26913073e-02 9.97354450e-01 -2.74467033e-04 3.82480761e+00] [ 2.02579572e-02 -1.20134510e-03 9.99794065e-01 2.73301955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.375099893 meters 0.030159973619370655 Centerline is valid? [True, True] Translation: X:237.43, Y:3.82, Z:2.73 [[ 9.97228154e-01 -7.16688745e-02 -1.99895334e-02 2.37434303e+02] [ 7.16778375e-02 9.97427800e-01 -2.68650789e-04 3.82148840e+00] [ 1.99573702e-02 -1.16490039e-03 9.99800153e-01 2.73301375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40509989299997 meters 0.028122462328548703 Centerline is valid? [True, True] Translation: X:237.47, Y:3.82, Z:2.73 [[ 9.97269466e-01 -7.09160074e-02 -2.06041947e-02 2.37466820e+02] [ 7.09253963e-02 9.97481585e-01 -2.75640228e-04 3.82416570e+00] [ 2.05718521e-02 -1.18647310e-03 9.99787673e-01 2.73373833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43509989299997 meters 0.029044628010100514 Centerline is valid? [True, True] Translation: X:237.50, Y:3.82, Z:2.73 [[ 9.97336639e-01 -6.99676950e-02 -2.05948875e-02 2.37498393e+02] [ 6.99769011e-02 9.97548574e-01 -2.74197326e-04 3.82277691e+00] [ 2.05635856e-02 -1.16769937e-03 9.99787865e-01 2.73381352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46509989299997 meters 0.025836661574328876 Centerline is valid? [True, True] Translation: X:237.53, Y:3.83, Z:2.73 [[ 9.97441981e-01 -6.83129228e-02 -2.10437455e-02 2.37529752e+02] [ 6.83221883e-02 9.97663270e-01 -2.79185633e-04 3.82698879e+00] [ 2.10136440e-02 -1.15928327e-03 9.99778517e-01 2.73492619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49509989299997 meters 0.02744647753957574 Centerline is valid? [True, True] Translation: X:237.56, Y:3.82, Z:2.74 [[ 9.97528446e-01 -6.70223661e-02 -2.10950501e-02 2.37560776e+02] [ 6.70314086e-02 9.97750827e-01 -2.78941100e-04 3.82488056e+00] [ 2.10662990e-02 -1.13577924e-03 9.99777436e-01 2.73504477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52509989299998 meters 0.0252540582982213 Centerline is valid? [True, True] Translation: X:237.59, Y:3.83, Z:2.74 [[ 9.97620379e-01 -6.55965473e-02 -2.12290654e-02 2.37592988e+02] [ 6.56054111e-02 9.97845605e-01 -2.79398306e-04 3.82812761e+00] [ 2.12016572e-02 -1.11400812e-03 9.99774599e-01 2.73544990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55509989299998 meters 0.026749452238284177 Centerline is valid? [True, True] Translation: X:237.62, Y:3.83, Z:2.74 [[ 9.97677487e-01 -6.47017256e-02 -2.12912927e-02 2.37624727e+02] [ 6.47104709e-02 9.97904042e-01 -2.78682828e-04 3.82615147e+00] [ 2.12646983e-02 -1.09973399e-03 9.99773276e-01 2.73522129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58509989299998 meters 0.023631771596487584 Centerline is valid? [True, True] Translation: X:237.66, Y:3.83, Z:2.74 [[ 9.97772315e-01 -6.28999375e-02 -2.22262473e-02 2.37657451e+02] [ 6.29090667e-02 9.98019221e-01 -2.88915402e-04 3.83055441e+00] [ 2.22003948e-02 -1.10996068e-03 9.99752925e-01 2.73544390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61509989299998 meters 0.024758969612745867 Centerline is valid? [True, True] Translation: X:237.69, Y:3.83, Z:2.73 [[ 9.97819569e-01 -6.21188597e-02 -2.23014601e-02 2.37689093e+02] [ 6.21279140e-02 9.98068154e-01 -2.87302380e-04 3.82886462e+00] [ 2.22762240e-02 -1.09886726e-03 9.99751250e-01 2.73485481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64509989299998 meters 0.023268068984597833 Centerline is valid? [True, True] Translation: X:237.72, Y:3.83, Z:2.74 [[ 9.97868121e-01 -6.13188045e-02 -2.23431707e-02 2.37721751e+02] [ 6.13277499e-02 9.98117641e-01 -2.85277829e-04 3.83112743e+00] [ 2.23186058e-02 -1.08558674e-03 9.99750319e-01 2.73523399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67509989299998 meters 0.023307908117924273 Centerline is valid? [True, True] Translation: X:237.75, Y:3.83, Z:2.74 [[ 9.97925876e-01 -6.05427256e-02 -2.18751966e-02 2.37753542e+02] [ 6.05511563e-02 9.98165057e-01 -2.77366631e-04 3.83117772e+00] [ 2.18518494e-02 -1.04777711e-03 9.99760671e-01 2.73581061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70509989299998 meters 0.02345989583227306 Centerline is valid? [True, True] Translation: X:237.79, Y:3.83, Z:2.74 [[ 9.97967276e-01 -5.99332847e-02 -2.16637529e-02 2.37785440e+02] [ 5.99414435e-02 9.98201858e-01 -2.73129525e-04 3.83095598e+00] [ 2.16411679e-02 -1.02598229e-03 9.99765276e-01 2.73596914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73509989299998 meters 0.022893439430670234 Centerline is valid? [True, True] Translation: X:237.82, Y:3.83, Z:2.74 [[ 9.98017974e-01 -5.91674465e-02 -2.14321434e-02 2.37817694e+02] [ 5.91752885e-02 9.98247571e-01 -2.68671479e-04 3.83182845e+00] [ 2.14104817e-02 -1.00011430e-03 9.99770269e-01 2.73643290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76509989299998 meters 0.023057687966471636 Centerline is valid? [True, True] Translation: X:237.85, Y:3.83, Z:2.74 [[ 9.98095046e-01 -5.80826947e-02 -2.08009671e-02 2.37848890e+02] [ 5.80898739e-02 9.98311324e-01 -2.59435280e-04 3.83196320e+00] [ 2.07809097e-02 -9.49384487e-04 9.99783603e-01 2.73714498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79509989299999 meters 0.023230643300194392 Centerline is valid? [True, True] Translation: X:237.88, Y:3.83, Z:2.74 [[ 9.98132890e-01 -5.74804086e-02 -2.06576160e-02 2.37881248e+02] [ 5.74873862e-02 9.98346200e-01 -2.56395562e-04 3.83235757e+00] [ 2.06381902e-02 -9.31635508e-04 9.99786576e-01 2.73774785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.825099893 meters 0.022445392211620573 Centerline is valid? [True, True] Translation: X:237.91, Y:3.83, Z:2.74 [[ 9.98176790e-01 -5.69749292e-02 -1.99236798e-02 2.37913284e+02] [ 5.69813469e-02 9.98375213e-01 -2.45892503e-04 3.83402598e+00] [ 1.99053178e-02 -8.89833922e-04 9.99801474e-01 2.73857438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.855099893 meters 0.02176725063946354 Centerline is valid? [True, True] Translation: X:237.95, Y:3.84, Z:2.74 [[ 9.98210327e-01 -5.64124409e-02 -1.98438747e-02 2.37945123e+02] [ 5.64187248e-02 9.98407166e-01 -2.43474295e-04 3.83550891e+00] [ 1.98260017e-02 -8.76527552e-04 9.99803061e-01 2.73922044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.885099893 meters 0.022577182983431646 Centerline is valid? [True, True] Translation: X:237.98, Y:3.83, Z:2.74 [[ 9.98224010e-01 -5.63077838e-02 -1.94488661e-02 2.37976372e+02] [ 5.63138340e-02 9.98413089e-01 -2.36887339e-04 3.83484782e+00] [ 1.94313411e-02 -8.58773588e-04 9.99810825e-01 2.73972641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.915099893 meters 0.022800467550702645 Centerline is valid? [True, True] Translation: X:238.01, Y:3.83, Z:2.74 [[ 9.98213901e-01 -5.65195989e-02 -1.93531009e-02 2.38008167e+02] [ 5.65256677e-02 9.98401119e-01 -2.33733349e-04 3.83483817e+00] [ 1.93353681e-02 -8.60631073e-04 9.99812684e-01 2.74019529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.945099893 meters 0.024196891506312487 Centerline is valid? [True, True] Translation: X:238.04, Y:3.83, Z:2.74 [[ 9.98205576e-01 -5.67587912e-02 -1.90805796e-02 2.38039015e+02] [ 5.67647573e-02 9.98387555e-01 -2.29213318e-04 3.83294081e+00] [ 1.90628231e-02 -8.54302460e-04 9.99817923e-01 2.74017144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.975099893 meters 0.025108280338707708 Centerline is valid? [True, True] Translation: X:238.07, Y:3.83, Z:2.74 [[ 9.98194208e-01 -5.71046044e-02 -1.86383138e-02 2.38070562e+02] [ 5.71103753e-02 9.98367846e-01 -2.22930527e-04 3.83188568e+00] [ 1.86206235e-02 -8.41913133e-04 9.99826267e-01 2.74048813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.005099893 meters 0.02633197163153733 Centerline is valid? [True, True] Translation: X:238.10, Y:3.83, Z:2.74 [[ 9.98138210e-01 -5.83164290e-02 -1.78691865e-02 2.38101461e+02] [ 5.83219431e-02 9.98297804e-01 -2.12830889e-04 3.83110433e+00] [ 1.78511812e-02 -8.29731034e-04 9.99840311e-01 2.74179402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.035099893 meters 0.024119063009049112 Centerline is valid? [True, True] Translation: X:238.13, Y:3.84, Z:2.74 [[ 9.98116042e-01 -5.88926440e-02 -1.72053200e-02 2.38134002e+02] [ 5.88978578e-02 9.98263994e-01 -2.03967637e-04 3.83516272e+00] [ 1.71874637e-02 -8.09773122e-04 9.99851957e-01 2.74303967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.065099893 meters 0.022777668305996392 Centerline is valid? [True, True] Translation: X:238.17, Y:3.84, Z:2.74 [[ 9.98101679e-01 -5.92897228e-02 -1.66663683e-02 2.38165738e+02] [ 5.92946896e-02 9.98240503e-01 -1.96411940e-04 3.83782834e+00] [ 1.66486891e-02 -7.92188047e-04 9.99861087e-01 2.74375385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.095099893 meters 0.024660659608790683 Centerline is valid? [True, True] Translation: X:238.20, Y:3.84, Z:2.74 [[ 9.98051664e-01 -5.99628454e-02 -1.72433249e-02 2.38196692e+02] [ 5.99682830e-02 9.98200263e-01 -2.02011163e-04 3.83586393e+00] [ 1.72244046e-02 -8.32435012e-04 9.99851302e-01 2.74391474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.125099893 meters 0.023256216578996652 Centerline is valid? [True, True] Translation: X:238.23, Y:3.84, Z:2.74 [[ 9.98014084e-01 -6.05655425e-02 -1.73119098e-02 2.38228815e+02] [ 6.05711319e-02 9.98163863e-01 -2.01777262e-04 3.83857550e+00] [ 1.72923435e-02 -8.47225423e-04 9.99850117e-01 2.74366982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15509989299997 meters 0.024080150280773944 Centerline is valid? [True, True] Translation: X:238.26, Y:3.84, Z:2.74 [[ 9.97995611e-01 -6.07675085e-02 -1.76655340e-02 2.38260053e+02] [ 6.07733815e-02 9.98151569e-01 -2.04688956e-04 3.83749445e+00] [ 1.76453189e-02 -8.69315559e-04 9.99843931e-01 2.74362769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18509989299997 meters 0.023229790270847907 Centerline is valid? [True, True] Translation: X:238.29, Y:3.84, Z:2.74 [[ 9.97988417e-01 -6.08621293e-02 -1.77459800e-02 2.38292037e+02] [ 6.08680898e-02 9.98145798e-01 -2.04551637e-04 3.83970399e+00] [ 1.77255249e-02 -8.76023742e-04 9.99842507e-01 2.74330054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21509989299997 meters 0.023770024279325515 Centerline is valid? [True, True] Translation: X:238.32, Y:3.84, Z:2.74 [[ 9.98017434e-01 -6.02660639e-02 -1.81439456e-02 2.38322891e+02] [ 6.02722191e-02 9.98181956e-01 -2.07897962e-04 3.84004956e+00] [ 1.81234883e-02 -8.86090072e-04 9.99835363e-01 2.74307829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24509989299997 meters 0.02458886383818157 Centerline is valid? [True, True] Translation: X:238.35, Y:3.84, Z:2.74 [[ 9.98068580e-01 -5.93725293e-02 -1.82760060e-02 2.38354622e+02] [ 5.93786452e-02 9.98235510e-01 -2.08307489e-04 3.83978691e+00] [ 1.82561259e-02 -8.77299313e-04 9.99832958e-01 2.74300874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27509989299998 meters 0.02151599048496286 Centerline is valid? [True, True] Translation: X:238.39, Y:3.85, Z:2.74 [[ 9.98138399e-01 -5.80944724e-02 -1.85679605e-02 2.38386621e+02] [ 5.81005899e-02 9.98310712e-01 -2.10272353e-04 3.84552179e+00] [ 1.85488095e-02 -8.68928547e-04 9.99827578e-01 2.74368783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30509989299998 meters 0.02343681425801082 Centerline is valid? [True, True] Translation: X:238.42, Y:3.84, Z:2.74 [[ 9.98316070e-01 -5.50242718e-02 -1.83672034e-02 2.38416850e+02] [ 5.50297578e-02 9.98484693e-01 -2.06977078e-04 3.84473177e+00] [ 1.83507602e-02 -8.04114209e-04 9.99831287e-01 2.74291709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33509989299998 meters 0.021813099445703053 Centerline is valid? [True, True] Translation: X:238.45, Y:3.85, Z:2.74 [[ 9.98417790e-01 -5.33439490e-02 -1.77859319e-02 2.38448686e+02] [ 5.33488380e-02 9.98575917e-01 -1.99814957e-04 3.84837917e+00] [ 1.77712622e-02 -7.49359991e-04 9.99841798e-01 2.74405981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36509989299998 meters 0.020821497906415246 Centerline is valid? [True, True] Translation: X:238.48, Y:3.85, Z:2.75 [[ 9.98523886e-01 -5.17468496e-02 -1.65019060e-02 2.38480532e+02] [ 5.17508588e-02 9.98660010e-01 -1.84267097e-04 3.85090379e+00] [ 1.64893289e-02 -6.69992710e-04 9.99863817e-01 2.74519265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39509989299998 meters 0.02212992227800903 Centerline is valid? [True, True] Translation: X:238.51, Y:3.85, Z:2.75 [[ 9.98601853e-01 -5.05122285e-02 -1.55837740e-02 2.38511928e+02] [ 5.05156696e-02 9.98723254e-01 -1.72994913e-04 3.84979295e+00] [ 1.55726158e-02 -6.14471736e-04 9.99878551e-01 2.74605779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42509989299998 meters 0.02091752154519022 Centerline is valid? [True, True] Translation: X:238.54, Y:3.85, Z:2.75 [[ 9.98738835e-01 -4.83562326e-02 -1.35061142e-02 2.38543095e+02] [ 4.83586287e-02 9.98830026e-01 -1.49312032e-04 3.85286943e+00] [ 1.34975326e-02 -5.04013438e-04 9.99908777e-01 2.74835732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45509989299998 meters 0.02068302586478474 Centerline is valid? [True, True] Translation: X:238.58, Y:3.85, Z:2.75 [[ 9.98776260e-01 -4.77914994e-02 -1.27261433e-02 2.38575384e+02] [ 4.77935865e-02 9.98857224e-01 -1.40249407e-04 3.85396522e+00] [ 1.27183029e-02 -4.68150250e-04 9.99919010e-01 2.74953368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48509989299998 meters 0.021119752627301768 Centerline is valid? [True, True] Translation: X:238.61, Y:3.85, Z:2.75 [[ 9.98792426e-01 -4.74774659e-02 -1.26324958e-02 2.38606535e+02] [ 4.74795087e-02 9.98872203e-01 -1.38316278e-04 3.85399834e+00] [ 1.26248158e-02 -4.61635445e-04 9.99920197e-01 2.75033999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51509989299998 meters 0.020882574999201604 Centerline is valid? [True, True] Translation: X:238.64, Y:3.85, Z:2.75 [[ 9.98786546e-01 -4.76330400e-02 -1.25111189e-02 2.38638557e+02] [ 4.76350734e-02 9.98864796e-01 -1.35581120e-04 3.85475292e+00] [ 1.25033744e-02 -4.60551468e-04 9.99921724e-01 2.75093855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54509989299999 meters 0.01997051265236797 Centerline is valid? [True, True] Translation: X:238.67, Y:3.86, Z:2.75 [[ 9.98776796e-01 -4.78754079e-02 -1.23635138e-02 2.38670436e+02] [ 4.78774229e-02 9.98853210e-01 -1.33120776e-04 3.85608994e+00] [ 1.23557086e-02 -4.58975236e-04 9.99923560e-01 2.75102085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.575099893 meters 0.020362045805655014 Centerline is valid? [True, True] Translation: X:238.70, Y:3.86, Z:2.75 [[ 9.98726687e-01 -4.87721945e-02 -1.28948400e-02 2.38702929e+02] [ 4.87744735e-02 9.98809808e-01 -1.37872394e-04 3.85552877e+00] [ 1.28862170e-02 -4.91242194e-04 9.99916849e-01 2.75099814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.605099893 meters 0.020386860226267543 Centerline is valid? [True, True] Translation: X:238.74, Y:3.86, Z:2.75 [[ 9.98675641e-01 -4.96477661e-02 -1.34930906e-02 2.38735490e+02] [ 4.96503549e-02 9.98766650e-01 -1.43255625e-04 3.85522130e+00] [ 1.34835613e-02 -5.26870836e-04 9.99908954e-01 2.75121611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.635099893 meters 0.022394151674543613 Centerline is valid? [True, True] Translation: X:238.77, Y:3.85, Z:2.75 [[ 9.98531933e-01 -5.19940077e-02 -1.51855595e-02 2.38766833e+02] [ 5.19975776e-02 9.98647198e-01 -1.59913874e-04 3.85202056e+00] [ 1.51733310e-02 -6.29933198e-04 9.99884680e-01 2.75055382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.665099893 meters 0.0216918818143768 Centerline is valid? [True, True] Translation: X:238.80, Y:3.85, Z:2.75 [[ 9.98457654e-01 -5.31568325e-02 -1.60207243e-02 2.38798525e+02] [ 5.31609810e-02 9.98585941e-01 -1.67108602e-04 3.85304508e+00] [ 1.60069531e-02 -6.84826560e-04 9.99871646e-01 2.75039002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.695099893 meters 0.02266652894381346 Centerline is valid? [True, True] Translation: X:238.83, Y:3.85, Z:2.75 [[ 9.98358029e-01 -5.46534443e-02 -1.71536303e-02 2.38829196e+02] [ 5.46584362e-02 9.98505094e-01 -1.78035329e-04 3.85184736e+00] [ 1.71377175e-02 -7.59847607e-04 9.99852850e-01 2.75044515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.725099893 meters 0.021905296204566094 Centerline is valid? [True, True] Translation: X:238.86, Y:3.85, Z:2.75 [[ 9.98232006e-01 -5.66505750e-02 -1.79882033e-02 2.38860972e+02] [ 5.66564021e-02 9.98393719e-01 -1.85919516e-04 3.85256997e+00] [ 1.79698416e-02 -8.33556066e-04 9.99838182e-01 2.75087160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.755099893 meters 0.024587782843534883 Centerline is valid? [True, True] Translation: X:238.89, Y:3.85, Z:2.75 [[ 9.98175340e-01 -5.78072024e-02 -1.74447024e-02 2.38891629e+02] [ 5.78128736e-02 9.98327421e-01 -1.79452789e-04 3.84851864e+00] [ 1.74258984e-02 -8.29403026e-04 9.99847813e-01 2.75133642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.785099893 meters 0.023900083639003724 Centerline is valid? [True, True] Translation: X:238.92, Y:3.85, Z:2.75 [[ 9.98125133e-01 -5.86748096e-02 -1.74208372e-02 2.38924006e+02] [ 5.86806114e-02 9.98276792e-01 -1.78390964e-04 3.84948470e+00] [ 1.74012845e-02 -8.44208871e-04 9.99848230e-01 2.75213817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.815099893 meters 0.024513010010236886 Centerline is valid? [True, True] Translation: X:238.96, Y:3.85, Z:2.75 [[ 9.98050505e-01 -6.00327034e-02 -1.70664442e-02 2.38956161e+02] [ 6.00384900e-02 9.98196048e-01 -1.73552257e-04 3.84822638e+00] [ 1.70460759e-02 -8.51429622e-04 9.99854343e-01 2.75232027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.845099893 meters 0.023137006184945096 Centerline is valid? [True, True] Translation: X:238.99, Y:3.85, Z:2.75 [[ 9.98014756e-01 -6.07545985e-02 -1.65959283e-02 2.38988252e+02] [ 6.07601895e-02 9.98152379e-01 -1.67589201e-04 3.85042161e+00] [ 1.65754471e-02 -8.41115251e-04 9.99862264e-01 2.75295940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.875099893 meters 0.02442973891491595 Centerline is valid? [True, True] Translation: X:239.02, Y:3.85, Z:2.75 [[ 9.97999303e-01 -6.10907035e-02 -1.62885309e-02 2.39019309e+02] [ 6.10961520e-02 9.98131872e-01 -1.63370338e-04 3.84860784e+00] [ 1.62680822e-02 -8.32123074e-04 9.99867320e-01 2.75314372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90509989299997 meters 0.0246201054898027 Centerline is valid? [True, True] Translation: X:239.05, Y:3.85, Z:2.75 [[ 9.97968269e-01 -6.16178970e-02 -1.62039998e-02 2.39051130e+02] [ 6.16233739e-02 9.98099461e-01 -1.61566468e-04 3.84863275e+00] [ 1.61831589e-02 -8.37306933e-04 9.99868694e-01 2.75350466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93509989299997 meters 0.02610214156076381 Centerline is valid? [True, True] Translation: X:239.08, Y:3.85, Z:2.75 [[ 9.97870139e-01 -6.29771572e-02 -1.70018904e-02 2.39082712e+02] [ 6.29834038e-02 9.98014560e-01 -1.68330913e-04 3.84695990e+00] [ 1.69787352e-02 -9.02864536e-04 9.99855443e-01 2.75365254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96509989299997 meters 0.02673706130357128 Centerline is valid? [True, True] Translation: X:239.12, Y:3.85, Z:2.75 [[ 9.97826670e-01 -6.37345613e-02 -1.67284904e-02 2.39115302e+02] [ 6.37407309e-02 9.97966478e-01 -1.64655826e-04 3.84621985e+00] [ 1.67049670e-02 -9.01988233e-04 9.99860055e-01 2.75385934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99509989299997 meters 0.028551361658750628 Centerline is valid? [True, True] Translation: X:239.15, Y:3.84, Z:2.75 [[ 9.97622345e-01 -6.68741554e-02 -1.66584797e-02 2.39146205e+02] [ 6.68807273e-02 9.97760964e-01 -1.62907170e-04 3.84412964e+00] [ 1.66320751e-02 -9.51611407e-04 9.99861225e-01 2.75444924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02509989299998 meters 0.02789880966290612 Centerline is valid? [True, True] Translation: X:239.18, Y:3.85, Z:2.76 [[ 9.97508924e-01 -6.85898500e-02 -1.64735785e-02 2.39177912e+02] [ 6.85965221e-02 9.97644471e-01 -1.60357606e-04 3.84519913e+00] [ 1.64457734e-02 -9.70072048e-04 9.99864289e-01 2.75514523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05509989299998 meters 0.02973849178495607 Centerline is valid? [True, True] Translation: X:239.21, Y:3.84, Z:2.76 [[ 9.97391413e-01 -7.03148655e-02 -1.63153010e-02 2.39209382e+02] [ 7.03216542e-02 9.97524356e-01 -1.57940812e-04 3.84300956e+00] [ 1.62860157e-02 -9.89790146e-04 9.99866884e-01 2.75539033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08509989299998 meters 0.031389620793196404 Centerline is valid? [True, True] Translation: X:239.24, Y:3.84, Z:2.76 [[ 9.97148070e-01 -7.34699075e-02 -1.72597420e-02 2.39240106e+02] [ 7.34779894e-02 9.97296825e-01 -1.66293092e-04 3.84153246e+00] [ 1.72253035e-02 -1.10239231e-03 9.99851026e-01 2.75504314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11509989299998 meters 0.03255036791855055 Centerline is valid? [True, True] Translation: X:239.27, Y:3.84, Z:2.75 [[ 9.97090793e-01 -7.41753207e-02 -1.75491530e-02 2.39272362e+02] [ 7.41837950e-02 9.97244572e-01 -1.68494207e-04 3.84070586e+00] [ 1.75132956e-02 -1.13385874e-03 9.99845988e-01 2.75486838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14509989299998 meters 0.03342326999467042 Centerline is valid? [True, True] Translation: X:239.30, Y:3.84, Z:2.75 [[ 9.97036950e-01 -7.47264027e-02 -1.82560791e-02 2.39303548e+02] [ 7.47356879e-02 9.97203363e-01 -1.74066605e-04 3.84029576e+00] [ 1.82180308e-02 -1.19082979e-03 9.99833329e-01 2.75459682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17509989299998 meters 0.03141891096247153 Centerline is valid? [True, True] Translation: X:239.34, Y:3.84, Z:2.75 [[ 9.97010592e-01 -7.49801244e-02 -1.86509976e-02 2.39335913e+02] [ 7.49898807e-02 9.97184279e-01 -1.76718047e-04 3.84366794e+00] [ 1.86117319e-02 -1.22244632e-03 9.99826039e-01 2.75480288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20509989299998 meters 0.02976729818182777 Centerline is valid? [True, True] Translation: X:239.37, Y:3.85, Z:2.76 [[ 9.97006791e-01 -7.48117537e-02 -1.95105028e-02 2.39369383e+02] [ 7.48224314e-02 9.97196856e-01 -1.83151087e-04 3.84792354e+00] [ 1.94695139e-02 -1.27722038e-03 9.99809635e-01 2.75541250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23509989299998 meters 0.02976729818182777 Centerline is valid? [True, True] Translation: X:239.40, Y:3.85, Z:2.76 [[ 9.97014984e-01 -7.47024832e-02 -1.95105227e-02 2.39401988e+02] [ 7.47131817e-02 9.97205048e-01 -1.81011286e-04 3.84813956e+00] [ 1.94695137e-02 -1.27722226e-03 9.99809635e-01 2.75581536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26509989299998 meters 0.029787651137725284 Centerline is valid? [True, True] Translation: X:239.43, Y:3.85, Z:2.76 [[ 9.97042652e-01 -7.43256944e-02 -1.95356282e-02 2.39433888e+02] [ 7.43363851e-02 9.97233207e-01 -1.79365827e-04 3.84935014e+00] [ 1.94949087e-02 -1.27337260e-03 9.99809145e-01 2.75626765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29509989299999 meters 0.030630349301765097 Centerline is valid? [True, True] Translation: X:239.46, Y:3.85, Z:2.76 [[ 9.97071971e-01 -7.38671135e-02 -1.97770994e-02 2.39464954e+02] [ 7.38780063e-02 9.97267270e-01 -1.80270563e-04 3.84948983e+00] [ 1.97363700e-02 -1.28134995e-03 9.99804398e-01 2.75661750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.325099893 meters 0.028725286191653595 Centerline is valid? [True, True] Translation: X:239.50, Y:3.85, Z:2.76 [[ 9.97109052e-01 -7.33124040e-02 -1.99707079e-02 2.39497322e+02] [ 7.33234251e-02 9.97308198e-01 -1.80800635e-04 3.85326113e+00] [ 1.99302057e-02 -1.28404276e-03 9.99800549e-01 2.75736683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.355099893 meters 0.03079826182006726 Centerline is valid? [True, True] Translation: X:239.53, Y:3.85, Z:2.76 [[ 9.97189491e-01 -7.19425952e-02 -2.09136686e-02 2.39528370e+02] [ 7.19544115e-02 9.97407904e-01 -1.87919812e-04 3.85239676e+00] [ 2.08729778e-02 -1.31743906e-03 9.99781268e-01 2.75625968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.385099893 meters 0.03119559422830264 Centerline is valid? [True, True] Translation: X:239.56, Y:3.85, Z:2.76 [[ 9.97176060e-01 -7.19155111e-02 -2.16348037e-02 2.39560130e+02] [ 7.19281796e-02 9.97409795e-01 -1.93043664e-04 3.85308678e+00] [ 2.15926479e-02 -1.36365352e-03 9.99765922e-01 2.75624611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.415099893 meters 0.03008074904628232 Centerline is valid? [True, True] Translation: X:239.59, Y:3.86, Z:2.76 [[ 9.97143076e-01 -7.22426852e-02 -2.20608480e-02 2.39591800e+02] [ 7.22559687e-02 9.97386102e-01 -1.95430090e-04 3.85535632e+00] [ 2.20173016e-02 -1.39915618e-03 9.99756611e-01 2.75651889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.445099893 meters 0.03051351146580215 Centerline is valid? [True, True] Translation: X:239.62, Y:3.86, Z:2.76 [[ 9.97131145e-01 -7.24802202e-02 -2.18196488e-02 2.39624092e+02] [ 7.24933005e-02 9.97368881e-01 -1.91956536e-04 3.85534017e+00] [ 2.17761517e-02 -1.39037251e-03 9.99761905e-01 2.75652267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.475099893 meters 0.03394005542210557 Centerline is valid? [True, True] Translation: X:239.66, Y:3.85, Z:2.76 [[ 9.97084299e-01 -7.32883550e-02 -2.12536503e-02 2.39655085e+02] [ 7.33009764e-02 9.97309848e-01 -1.85640412e-04 3.85131980e+00] [ 2.12100800e-02 -1.37281418e-03 9.99774098e-01 2.75612097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.505099893 meters 0.03247179063172019 Centerline is valid? [True, True] Translation: X:239.69, Y:3.85, Z:2.76 [[ 9.97044827e-01 -7.38371753e-02 -2.12057703e-02 2.39687487e+02] [ 7.38498906e-02 9.97269352e-01 -1.83940402e-04 3.85395860e+00] [ 2.11614465e-02 -1.38264699e-03 9.99775115e-01 2.75700619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.535099893 meters 0.030622610832844416 Centerline is valid? [True, True] Translation: X:239.72, Y:3.86, Z:2.76 [[ 9.97023242e-01 -7.42020369e-02 -2.09454452e-02 2.39720016e+02] [ 7.42145529e-02 9.97242281e-01 -1.80200743e-04 3.85728267e+00] [ 2.09010548e-02 -1.37479252e-03 9.99780604e-01 2.75792867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.565099893 meters 0.03235099003743675 Centerline is valid? [True, True] Translation: X:239.75, Y:3.86, Z:2.76 [[ 9.96994846e-01 -7.46328304e-02 -2.07657675e-02 2.39750994e+02] [ 7.46452533e-02 9.97210136e-01 -1.77315559e-04 3.85561541e+00] [ 2.07210674e-02 -1.37328328e-03 9.99784352e-01 2.75832681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.595099893 meters 0.030362893521645524 Centerline is valid? [True, True] Translation: X:239.78, Y:3.86, Z:2.76 [[ 9.96902345e-01 -7.60087978e-02 -2.02083386e-02 2.39783197e+02] [ 7.60208685e-02 9.97106212e-01 -1.71333127e-04 3.85912187e+00] [ 2.01628828e-02 -1.36545306e-03 9.99795776e-01 2.75973114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.625099893 meters 0.030232795723516694 Centerline is valid? [True, True] Translation: X:239.82, Y:3.86, Z:2.76 [[ 9.96859724e-01 -7.66504425e-02 -1.98846522e-02 2.39815290e+02] [ 7.66622852e-02 9.97057103e-01 -1.67146274e-04 3.85952527e+00] [ 1.98389455e-02 -1.35778149e-03 9.99802267e-01 2.75991147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65509989299997 meters 0.03490529890335977 Centerline is valid? [True, True] Translation: X:239.85, Y:3.85, Z:2.76 [[ 9.96804496e-01 -7.73495967e-02 -1.99458433e-02 2.39846388e+02] [ 7.73616892e-02 9.97003080e-01 -1.65776664e-04 3.85324353e+00] [ 1.98988900e-02 -1.37779721e-03 9.99801048e-01 2.75931590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68509989299997 meters 0.03448532573355743 Centerline is valid? [True, True] Translation: X:239.88, Y:3.85, Z:2.76 [[ 9.96711219e-01 -7.83626428e-02 -2.06407657e-02 2.39878625e+02] [ 7.83758549e-02 9.96923867e-01 -1.69323024e-04 3.85420843e+00] [ 2.05905406e-02 -1.44897150e-03 9.99786942e-01 2.75973742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71509989299997 meters 0.03588009488241121 Centerline is valid? [True, True] Translation: X:239.91, Y:3.85, Z:2.76 [[ 9.96552091e-01 -8.01143474e-02 -2.15782601e-02 2.39908836e+02] [ 8.01292192e-02 9.96784469e-01 -1.75933350e-04 3.85337583e+00] [ 2.15229693e-02 -1.55372238e-03 9.99767147e-01 2.75954836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74509989299997 meters 0.03659966135344646 Centerline is valid? [True, True] Translation: X:239.94, Y:3.85, Z:2.76 [[ 9.96489126e-01 -8.07131339e-02 -2.22443840e-02 2.39941355e+02] [ 8.07291071e-02 9.96736063e-01 -1.80447477e-04 3.85289920e+00] [ 2.21863442e-02 -1.61595531e-03 9.99752547e-01 2.75969232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77509989299998 meters 0.03561848256676425 Centerline is valid? [True, True] Translation: X:239.97, Y:3.86, Z:2.76 [[ 9.96346988e-01 -8.21604718e-02 -2.32881230e-02 2.39972275e+02] [ 8.21784072e-02 9.96617617e-01 -1.87437240e-04 3.85514747e+00] [ 2.32247536e-02 -1.72702832e-03 9.99728777e-01 2.76068292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80509989299998 meters 0.037526956388585386 Centerline is valid? [True, True] Translation: X:240.00, Y:3.85, Z:2.76 [[ 9.96340202e-01 -8.23415603e-02 -2.29361948e-02 2.40003254e+02] [ 8.23590327e-02 9.96602707e-01 -1.83408901e-04 3.85297222e+00] [ 2.28733760e-02 -1.70626515e-03 9.99736914e-01 2.76097108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83509989299998 meters 0.033623430570062555 Centerline is valid? [True, True] Translation: X:240.04, Y:3.86, Z:2.76 [[ 9.96315691e-01 -8.26236780e-02 -2.29863178e-02 2.40035389e+02] [ 8.26413343e-02 9.96579338e-01 -1.82377521e-04 3.85836051e+00] [ 2.29227581e-02 -1.71791439e-03 9.99735763e-01 2.76281957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86509989299998 meters 0.03478070668290272 Centerline is valid? [True, True] Translation: X:240.07, Y:3.86, Z:2.76 [[ 9.96372928e-01 -8.20997594e-02 -2.23745037e-02 2.40067113e+02] [ 8.21163924e-02 9.96622731e-01 -1.75920635e-04 3.85716610e+00] [ 2.23133820e-02 -1.66203097e-03 9.99749644e-01 2.76337030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89509989299998 meters 0.03354379281915313 Centerline is valid? [True, True] Translation: X:240.10, Y:3.86, Z:2.76 [[ 9.96413324e-01 -8.16495463e-02 -2.22225039e-02 2.40099546e+02] [ 8.16658782e-02 9.96659749e-01 -1.73118000e-04 3.85908017e+00] [ 2.21624101e-02 -1.64232321e-03 9.99753035e-01 2.76415269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92509989299998 meters 0.0333991917064924 Centerline is valid? [True, True] Translation: X:240.13, Y:3.86, Z:2.76 [[ 9.96499515e-01 -8.07980400e-02 -2.14567914e-02 2.40132333e+02] [ 8.08131054e-02 9.96729258e-01 -1.65457563e-04 3.85957080e+00] [ 2.13999804e-02 -1.56911156e-03 9.99769763e-01 2.76461966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95509989299998 meters 0.03326612146077489 Centerline is valid? [True, True] Translation: X:240.16, Y:3.86, Z:2.77 [[ 9.96591532e-01 -7.97329558e-02 -2.11654104e-02 2.40164995e+02] [ 7.97474159e-02 9.96815090e-01 -1.61306643e-04 3.86029088e+00] [ 2.11108619e-02 -1.52712995e-03 9.99775975e-01 2.76535166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98509989299998 meters 0.033672726029817746 Centerline is valid? [True, True] Translation: X:240.20, Y:3.86, Z:2.77 [[ 9.96789180e-01 -7.74898891e-02 -2.01655317e-02 2.40195148e+02] [ 7.75025795e-02 9.96992140e-01 -1.52619754e-04 3.86023772e+00] [ 2.01167031e-02 -1.41075101e-03 9.99796643e-01 2.76552927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01509989299998 meters 0.031183118882329358 Centerline is valid? [True, True] Translation: X:240.23, Y:3.86, Z:2.77 [[ 9.96870385e-01 -7.65819260e-02 -1.96123486e-02 2.40227064e+02] [ 7.65937651e-02 9.97062372e-01 -1.47902772e-04 3.86326245e+00] [ 1.95660615e-02 -1.35474373e-03 9.99807648e-01 2.76639837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04509989299999 meters 0.032543344659163746 Centerline is valid? [True, True] Translation: X:240.26, Y:3.86, Z:2.77 [[ 9.96889072e-01 -7.64255198e-02 -1.92696027e-02 2.40258064e+02] [ 7.64369439e-02 9.97074407e-01 -1.44051631e-04 3.86136418e+00] [ 1.92242369e-02 -1.32930604e-03 9.99814314e-01 2.76651498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.075099893 meters 0.03380219775128567 Centerline is valid? [True, True] Translation: X:240.29, Y:3.86, Z:2.77 [[ 9.96873197e-01 -7.66502874e-02 -1.91979824e-02 2.40288749e+02] [ 7.66616857e-02 9.97057153e-01 -1.42598178e-04 3.85927929e+00] [ 1.91524158e-02 -1.32959739e-03 9.99815692e-01 2.76659124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.105099893 meters 0.03199687547270398 Centerline is valid? [True, True] Translation: X:240.32, Y:3.86, Z:2.77 [[ 9.96787606e-01 -7.76938424e-02 -1.94457244e-02 2.40320800e+02] [ 7.77057532e-02 9.96976326e-01 -1.43473381e-04 3.85996322e+00] [ 1.93980739e-02 -1.36803217e-03 9.99810904e-01 2.76664399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.135099893 meters 0.03577116155279522 Centerline is valid? [True, True] Translation: X:240.35, Y:3.85, Z:2.77 [[ 9.96646338e-01 -7.93927671e-02 -1.98208532e-02 2.40351383e+02] [ 7.94054970e-02 9.96842388e-01 -1.45187383e-04 3.85415239e+00] [ 1.97697934e-02 -1.42918422e-03 9.99803537e-01 2.76637980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.165099893 meters 0.03827199180138329 Centerline is valid? [True, True] Translation: X:240.38, Y:3.85, Z:2.77 [[ 9.96488112e-01 -8.11834695e-02 -2.05106761e-02 2.40381983e+02] [ 8.11974861e-02 9.96698021e-01 -1.49867132e-04 3.85003413e+00] [ 2.04551170e-02 -1.51607452e-03 9.99789623e-01 2.76577908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.195099893 meters 0.03840576522495627 Centerline is valid? [True, True] Translation: X:240.41, Y:3.85, Z:2.77 [[ 9.96349556e-01 -8.25725054e-02 -2.16643527e-02 2.40413025e+02] [ 8.25884786e-02 9.96583724e-01 -1.57906833e-04 3.84920822e+00] [ 2.16033800e-02 -1.63189552e-03 9.99765288e-01 2.76515921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.225099893 meters 0.03713709353202946 Centerline is valid? [True, True] Translation: X:240.44, Y:3.85, Z:2.76 [[ 9.96092761e-01 -8.51884506e-02 -2.32838993e-02 2.40443642e+02] [ 8.52076224e-02 9.96363203e-01 -1.69287226e-04 3.84925537e+00] [ 2.32136419e-02 -1.81533992e-03 9.99728879e-01 2.76477818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.255099893 meters 0.03933355909883022 Centerline is valid? [True, True] Translation: X:240.47, Y:3.85, Z:2.76 [[ 9.96010279e-01 -8.60929199e-02 -2.34847392e-02 2.40474579e+02] [ 8.61126928e-02 9.96285388e-01 -1.69934696e-04 3.84593165e+00] [ 2.34121327e-02 -1.85307743e-03 9.99724181e-01 2.76473361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.285099893 meters 0.040009670543085046 Centerline is valid? [True, True] Translation: X:240.51, Y:3.84, Z:2.77 [[ 9.95978843e-01 -8.64691821e-02 -2.34355578e-02 2.40506256e+02] [ 8.64890048e-02 9.96252791e-01 -1.68337870e-04 3.84447802e+00] [ 2.33622959e-02 -1.85925711e-03 9.99725335e-01 2.76509054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.315099893 meters 0.03636669619057287 Centerline is valid? [True, True] Translation: X:240.54, Y:3.85, Z:2.77 [[ 9.96005156e-01 -8.63965416e-02 -2.25691530e-02 2.40538898e+02] [ 8.64149415e-02 9.96259219e-01 -1.60564172e-04 3.84878402e+00] [ 2.24985989e-02 -1.79038929e-03 9.99745271e-01 2.76664845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.345099893 meters 0.040165744256524076 Centerline is valid? [True, True] Translation: X:240.57, Y:3.84, Z:2.77 [[ 9.96085661e-01 -8.58039362e-02 -2.12377263e-02 2.40569784e+02] [ 8.58201417e-02 9.96310635e-01 -1.48866945e-04 3.84254360e+00] [ 2.11721460e-02 -1.67434045e-03 9.99774443e-01 2.76747778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.375099893 meters 0.04447012926085388 Centerline is valid? [True, True] Translation: X:240.60, Y:3.84, Z:2.77 [[ 9.96205474e-01 -8.45638752e-02 -2.05816579e-02 2.40600239e+02] [ 8.45788815e-02 9.96416777e-01 -1.41835666e-04 3.83688967e+00] [ 2.05199034e-02 -1.59947613e-03 9.99788165e-01 2.76782571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40509989299997 meters 0.03950266794214991 Centerline is valid? [True, True] Translation: X:240.63, Y:3.84, Z:2.77 [[ 9.96327458e-01 -8.32622958e-02 -1.99746607e-02 2.40631413e+02] [ 8.32761997e-02 9.96526495e-01 -1.36148062e-04 3.84368453e+00] [ 1.99166146e-02 -1.52776578e-03 9.99800477e-01 2.76952208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43509989299997 meters 0.03397045120699058 Centerline is valid? [True, True] Translation: X:240.66, Y:3.85, Z:2.77 [[ 9.96621129e-01 -7.97308535e-02 -1.97310909e-02 2.40662001e+02] [ 7.97437410e-02 9.96815388e-01 -1.34026833e-04 3.85203868e+00] [ 1.96789411e-02 -1.43985702e-03 9.99805314e-01 2.77086852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46509989299997 meters 0.030941445704521314 Centerline is valid? [True, True] Translation: X:240.69, Y:3.86, Z:2.77 [[ 9.96728824e-01 -7.83693708e-02 -1.97457158e-02 2.40693754e+02] [ 7.83820235e-02 9.96923388e-01 -1.33518898e-04 3.85647109e+00] [ 1.96954297e-02 -1.41462703e-03 9.99805025e-01 2.77175649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49509989299997 meters 0.03118783420599142 Centerline is valid? [True, True] Translation: X:240.73, Y:3.86, Z:2.77 [[ 9.96774691e-01 -7.78467254e-02 -1.94962479e-02 2.40725510e+02] [ 7.78589889e-02 9.96964373e-01 -1.30397062e-04 3.85633163e+00] [ 1.94472155e-02 -1.38798166e-03 9.99809922e-01 2.77259617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52509989299998 meters 0.03173525005592561 Centerline is valid? [True, True] Translation: X:240.76, Y:3.86, Z:2.77 [[ 9.96798784e-01 -7.74936281e-02 -1.96703455e-02 2.40758214e+02] [ 7.75060744e-02 9.96991871e-01 -1.29972520e-04 3.85557764e+00] [ 1.96212467e-02 -1.39501482e-03 9.99806512e-01 2.77278289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55509989299998 meters 0.031100381045959906 Centerline is valid? [True, True] Translation: X:240.79, Y:3.85, Z:2.77 [[ 9.96843030e-01 -7.68704387e-02 -1.98723418e-02 2.40790897e+02] [ 7.68830551e-02 9.97040109e-01 -1.29475055e-04 3.85466816e+00] [ 1.98234746e-02 -1.39878004e-03 9.99802517e-01 2.77226232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58509989299998 meters 0.034554886113402634 Centerline is valid? [True, True] Translation: X:240.82, Y:3.85, Z:2.77 [[ 9.96847375e-01 -7.67597176e-02 -2.00812384e-02 2.40823263e+02] [ 7.67726155e-02 9.97048619e-01 -1.28983974e-04 3.84925740e+00] [ 2.00318718e-02 -1.41311186e-03 9.99798343e-01 2.77197669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61509989299998 meters 0.03155041657586297 Centerline is valid? [True, True] Translation: X:240.85, Y:3.85, Z:2.77 [[ 9.96865137e-01 -7.66041346e-02 -1.97915397e-02 2.40854971e+02] [ 7.66166652e-02 9.97060615e-01 -1.25463392e-04 3.85278765e+00] [ 1.97429757e-02 -1.39129169e-03 9.99804120e-01 2.77307190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64509989299998 meters 0.03585522189855312 Centerline is valid? [True, True] Translation: X:240.89, Y:3.85, Z:2.77 [[ 9.96883275e-01 -7.62994164e-02 -2.00533003e-02 2.40886636e+02] [ 7.63122582e-02 9.97083960e-01 -1.25184689e-04 3.84735901e+00] [ 2.00043756e-02 -1.40551810e-03 9.99798905e-01 2.77290127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67509989299998 meters 0.03516450519706745 Centerline is valid? [True, True] Translation: X:240.92, Y:3.85, Z:2.77 [[ 9.96985939e-01 -7.46364703e-02 -2.11762930e-02 2.40917986e+02] [ 7.46504609e-02 9.97209753e-01 -1.30155693e-04 3.84825760e+00] [ 2.11269203e-02 -1.45105664e-03 9.99775749e-01 2.77251052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70509989299998 meters 0.03278290919658948 Centerline is valid? [True, True] Translation: X:240.95, Y:3.85, Z:2.77 [[ 9.97072234e-01 -7.35356816e-02 -2.09633859e-02 2.40950189e+02] [ 7.35491719e-02 9.97291584e-01 -1.27807047e-04 3.85149785e+00] [ 2.09160067e-02 -1.41440681e-03 9.99780236e-01 2.77299980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73509989299998 meters 0.032278181777720405 Centerline is valid? [True, True] Translation: X:240.98, Y:3.85, Z:2.77 [[ 9.97156334e-01 -7.24360135e-02 -2.07910730e-02 2.40982191e+02] [ 7.24490754e-02 9.97372105e-01 -1.25284787e-04 3.85203484e+00] [ 2.07455114e-02 -1.38136550e-03 9.99783834e-01 2.77362591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76509989299998 meters 0.031886512168064596 Centerline is valid? [True, True] Translation: X:241.01, Y:3.85, Z:2.77 [[ 9.97337103e-01 -7.00593530e-02 -2.02580809e-02 2.41013519e+02] [ 7.00712882e-02 9.97541979e-01 -1.20939553e-04 3.85229979e+00] [ 2.02167591e-02 -1.29889232e-03 9.99794777e-01 2.77451441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79509989299999 meters 0.0318472426782336 Centerline is valid? [True, True] Translation: X:241.05, Y:3.85, Z:2.78 [[ 9.97450654e-01 -6.87055374e-02 -1.92805911e-02 2.41045150e+02] [ 6.87161090e-02 9.97636248e-01 -1.14448213e-04 3.85238249e+00] [ 1.92428798e-02 -1.21073075e-03 9.99814106e-01 2.77525171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.825099893 meters 0.028618413314587025 Centerline is valid? [True, True] Translation: X:241.08, Y:3.86, Z:2.78 [[ 9.97543306e-01 -6.74654122e-02 -1.88618828e-02 2.41077207e+02] [ 6.74753257e-02 9.97720937e-01 -1.11064579e-04 3.85678008e+00] [ 1.88263883e-02 -1.16191995e-03 9.99822093e-01 2.77677224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.855099893 meters 0.02796164661859347 Centerline is valid? [True, True] Translation: X:241.11, Y:3.86, Z:2.78 [[ 9.97740140e-01 -6.45941167e-02 -1.84989815e-02 2.41108144e+02] [ 6.46031787e-02 9.97911027e-01 -1.07937063e-04 3.85770514e+00] [ 1.84673098e-02 -1.08739987e-03 9.99828873e-01 2.77749251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.885099893 meters 0.029124678909958714 Centerline is valid? [True, True] Translation: X:241.14, Y:3.86, Z:2.78 [[ 9.97811669e-01 -6.33633824e-02 -1.88932592e-02 2.41139380e+02] [ 6.33726260e-02 9.97989929e-01 -1.09661025e-04 3.85590459e+00] [ 1.88622309e-02 -1.08789440e-03 9.99821500e-01 2.77739421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.915099893 meters 0.025684448072068676 Centerline is valid? [True, True] Translation: X:241.17, Y:3.86, Z:2.78 [[ 9.97933405e-01 -6.11556237e-02 -1.97207617e-02 2.41171299e+02] [ 6.11652868e-02 9.98127645e-01 -1.13369177e-04 3.85945706e+00] [ 1.96907706e-02 -1.09309116e-03 9.99805520e-01 2.77725853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.945099893 meters 0.02546890409056897 Centerline is valid? [True, True] Translation: X:241.20, Y:3.86, Z:2.78 [[ 9.97987192e-01 -6.02061584e-02 -1.99194353e-02 2.41203445e+02] [ 6.02158533e-02 9.98185373e-01 -1.13275942e-04 3.85914045e+00] [ 1.98901089e-02 -1.08641786e-03 9.99801582e-01 2.77761998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.975099893 meters 0.02528189443263646 Centerline is valid? [True, True] Translation: X:241.24, Y:3.86, Z:2.78 [[ 9.98032389e-01 -5.93564311e-02 -2.02030850e-02 2.41235336e+02] [ 5.93662605e-02 9.98236262e-01 -1.13404688e-04 3.85903990e+00] [ 2.01741833e-02 -1.08620005e-03 9.99795890e-01 2.77798688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.005099893 meters 0.025357073464210268 Centerline is valid? [True, True] Translation: X:241.27, Y:3.86, Z:2.78 [[ 9.98068053e-01 -5.87549933e-02 -2.01992937e-02 2.41267483e+02] [ 5.87647258e-02 9.98271854e-01 -1.11917610e-04 3.85869917e+00] [ 2.01709621e-02 -1.07530456e-03 9.99795967e-01 2.77872333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.035099893 meters 0.025379944960968362 Centerline is valid? [True, True] Translation: X:241.30, Y:3.86, Z:2.78 [[ 9.98081621e-01 -5.84598011e-02 -2.03845250e-02 2.41299809e+02] [ 5.84696817e-02 9.98289178e-01 -1.11461775e-04 3.85849835e+00] [ 2.03561668e-02 -1.08062874e-03 9.99792208e-01 2.77968019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.065099893 meters 0.025065352825132236 Centerline is valid? [True, True] Translation: X:241.33, Y:3.86, Z:2.78 [[ 9.98080220e-01 -5.85902165e-02 -2.00763724e-02 2.41331608e+02] [ 5.85998558e-02 9.98281546e-01 -1.08336176e-04 3.85866826e+00] [ 2.00482196e-02 -1.06834433e-03 9.99798443e-01 2.78056808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.095099893 meters 0.026674382213064205 Centerline is valid? [True, True] Translation: X:241.36, Y:3.86, Z:2.78 [[ 9.98118638e-01 -5.78183928e-02 -2.04014154e-02 2.41363171e+02] [ 5.78282135e-02 9.98326543e-01 -1.08741353e-04 3.85579514e+00] [ 2.03735617e-02 -1.07124063e-03 9.99791864e-01 2.78095368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.125099893 meters 0.024445401416416886 Centerline is valid? [True, True] Translation: X:241.40, Y:3.86, Z:2.78 [[ 9.98135279e-01 -5.74782007e-02 -2.05480383e-02 2.41395284e+02] [ 5.74881174e-02 9.98346185e-01 -1.08250517e-04 3.85906594e+00] [ 2.05202776e-02 -1.07321937e-03 9.99788861e-01 2.78174366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15509989299997 meters 0.024445401416416886 Centerline is valid? [True, True] Translation: X:241.43, Y:3.86, Z:2.78 [[ 9.98139471e-01 -5.74053538e-02 -2.05480461e-02 2.41427017e+02] [ 5.74152858e-02 9.98350376e-01 -1.06750307e-04 3.85917414e+00] [ 2.05202776e-02 -1.07322024e-03 9.99788861e-01 2.78213585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18509989299997 meters 0.02505821454647038 Centerline is valid? [True, True] Translation: X:241.46, Y:3.86, Z:2.78 [[ 9.98162172e-01 -5.69861019e-02 -2.06121980e-02 2.41457883e+02] [ 5.69960348e-02 9.98374399e-01 -1.05730049e-04 3.85842356e+00] [ 2.05847160e-02 -1.06927782e-03 9.99787540e-01 2.78245621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21509989299997 meters 0.025333489137683633 Centerline is valid? [True, True] Translation: X:241.49, Y:3.86, Z:2.78 [[ 9.98183577e-01 -5.66492621e-02 -2.05038689e-02 2.41490314e+02] [ 5.66590457e-02 9.98393581e-01 -1.03921140e-04 3.85871182e+00] [ 2.04768181e-02 -1.05799727e-03 9.99789768e-01 2.78319402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24509989299997 meters 0.02534645102451938 Centerline is valid? [True, True] Translation: X:241.52, Y:3.86, Z:2.78 [[ 9.98198532e-01 -5.61692322e-02 -2.10880926e-02 2.41522934e+02] [ 5.61795070e-02 9.98420679e-01 -1.05344139e-04 3.85893473e+00] [ 2.10607048e-02 -1.07956428e-03 9.99777616e-01 2.78348180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27509989299998 meters 0.027347780678871607 Centerline is valid? [True, True] Translation: X:241.55, Y:3.86, Z:2.78 [[ 9.98221913e-01 -5.57911114e-02 -2.09848564e-02 2.41554567e+02] [ 5.58012306e-02 9.98441892e-01 -1.03487032e-04 3.85621079e+00] [ 2.09579334e-02 -1.06767779e-03 9.99779788e-01 2.78307211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30509989299998 meters 0.025715686053168894 Centerline is valid? [True, True] Translation: X:241.59, Y:3.86, Z:2.78 [[ 9.98237161e-01 -5.53296603e-02 -2.14755643e-02 2.41587046e+02] [ 5.53401803e-02 9.98467553e-01 -1.04585809e-04 3.85921310e+00] [ 2.14484408e-02 -1.08406016e-03 9.99769368e-01 2.78343355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33509989299998 meters 0.024985516538472412 Centerline is valid? [True, True] Translation: X:241.62, Y:3.86, Z:2.78 [[ 9.98261087e-01 -5.49832851e-02 -2.12518247e-02 2.41619011e+02] [ 5.49935406e-02 9.98486705e-01 -1.01992334e-04 3.86102832e+00] [ 2.12252723e-02 -1.06689810e-03 9.99774149e-01 2.78386911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36509989299998 meters 0.025584073296035247 Centerline is valid? [True, True] Translation: X:241.65, Y:3.86, Z:2.78 [[ 9.98276212e-01 -5.47474511e-02 -2.11499898e-02 2.41650067e+02] [ 5.47575960e-02 9.98499672e-01 -9.95991723e-05 3.86078978e+00] [ 2.11237107e-02 -1.05869511e-03 9.99776309e-01 2.78425717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39509989299998 meters 0.024586530250813195 Centerline is valid? [True, True] Translation: X:241.68, Y:3.86, Z:2.79 [[ 9.98301016e-01 -5.48326214e-02 -1.97095300e-02 2.41682452e+02] [ 5.48414845e-02 9.98495069e-01 -9.09436357e-05 3.86337116e+00] [ 1.96848552e-02 -9.90110757e-04 9.99805744e-01 2.78565213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42509989299998 meters 0.02613064112319377 Centerline is valid? [True, True] Translation: X:241.71, Y:3.86, Z:2.79 [[ 9.98282513e-01 -5.53322817e-02 -1.92448291e-02 2.41713128e+02] [ 5.53408576e-02 9.98467517e-01 -8.70670037e-05 3.86175671e+00] [ 1.92201544e-02 -9.78107880e-04 9.99814797e-01 2.78638311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45509989299998 meters 0.02486028490709508 Centerline is valid? [True, True] Translation: X:241.75, Y:3.86, Z:2.79 [[ 9.98268008e-01 -5.58163048e-02 -1.85882790e-02 2.41745622e+02] [ 5.58244251e-02 9.98440598e-01 -8.21515072e-05 3.86393771e+00] [ 1.85638778e-02 -9.55670771e-04 9.99827220e-01 2.78729842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48509989299998 meters 0.02448786125908619 Centerline is valid? [True, True] Translation: X:241.78, Y:3.86, Z:2.79 [[ 9.98134803e-01 -5.85482757e-02 -1.72920532e-02 2.41776516e+02] [ 5.85557302e-02 9.98284138e-01 -7.53385048e-05 3.86434294e+00] [ 1.72667933e-02 -9.37350816e-04 9.99850478e-01 2.78872216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51509989299998 meters 0.026577079535796657 Centerline is valid? [True, True] Translation: X:241.81, Y:3.86, Z:2.79 [[ 9.97996453e-01 -6.08271904e-02 -1.74107304e-02 2.41806289e+02] [ 6.08351044e-02 9.98147827e-01 -7.52181153e-05 3.86104551e+00] [ 1.73830580e-02 -9.84116189e-04 9.99848419e-01 2.78933778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54509989299999 meters 0.02792776340033551 Centerline is valid? [True, True] Translation: X:241.84, Y:3.86, Z:2.79 [[ 9.97708574e-01 -6.49906297e-02 -1.88100885e-02 2.41836689e+02] [ 6.50006050e-02 9.97885221e-01 -8.12355452e-05 3.85841863e+00] [ 1.87755889e-02 -1.14161773e-03 9.99823071e-01 2.78861838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.575099893 meters 0.03045629465226934 Centerline is valid? [True, True] Translation: X:241.87, Y:3.85, Z:2.79 [[ 9.97583464e-01 -6.63783708e-02 -2.05217755e-02 2.41867614e+02] [ 6.63905445e-02 9.97793710e-01 -8.82721661e-05 3.85436857e+00] [ 2.04823579e-02 -1.27439300e-03 9.99789402e-01 2.78753450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.605099893 meters 0.029396434412846784 Centerline is valid? [True, True] Translation: X:241.90, Y:3.86, Z:2.79 [[ 9.97471642e-01 -6.78366982e-02 -2.11779394e-02 2.41899567e+02] [ 6.78500138e-02 9.97695528e-01 -8.99901197e-05 3.85514419e+00] [ 2.11352400e-02 -1.34716088e-03 9.99775718e-01 2.78739645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.635099893 meters 0.030152950547331123 Centerline is valid? [True, True] Translation: X:241.93, Y:3.85, Z:2.79 [[ 9.97372964e-01 -6.91816865e-02 -2.14724351e-02 2.41932121e+02] [ 6.91957191e-02 9.97603100e-01 -8.96710319e-05 3.85366231e+00] [ 2.14271714e-02 -1.39636512e-03 9.99769437e-01 2.78740540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.665099893 meters 0.031146862936670492 Centerline is valid? [True, True] Translation: X:241.96, Y:3.85, Z:2.79 [[ 9.97299973e-01 -7.02072885e-02 -2.15337063e-02 2.41963990e+02] [ 7.02216729e-02 9.97531407e-01 -8.83679447e-05 3.85188591e+00] [ 2.14867525e-02 -1.42400353e-03 9.99768119e-01 2.78762533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.695099893 meters 0.03173249582952738 Centerline is valid? [True, True] Translation: X:242.00, Y:3.85, Z:2.79 [[ 9.97177392e-01 -7.17078766e-02 -2.22537600e-02 2.41996163e+02] [ 7.17236475e-02 9.97424539e-01 -8.96896890e-05 3.85091121e+00] [ 2.22028778e-02 -1.50668431e-03 9.99752350e-01 2.78811281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.725099893 meters 0.03387601682638529 Centerline is valid? [True, True] Translation: X:242.03, Y:3.85, Z:2.79 [[ 9.97052525e-01 -7.31662763e-02 -2.30859132e-02 2.42027470e+02] [ 7.31836728e-02 9.97318476e-01 -9.15445932e-05 3.84752861e+00] [ 2.30307058e-02 -1.59823715e-03 9.99733481e-01 2.78831712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.755099893 meters 0.03405573834984423 Centerline is valid? [True, True] Translation: X:242.06, Y:3.85, Z:2.79 [[ 9.96825054e-01 -7.59231865e-02 -2.39891777e-02 2.42058896e+02] [ 7.59427921e-02 9.97112172e-01 -9.40215360e-05 3.84672104e+00] [ 2.39270395e-02 -1.72808211e-03 9.99712214e-01 2.78902583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.785099893 meters 0.03309224267675659 Centerline is valid? [True, True] Translation: X:242.09, Y:3.85, Z:2.79 [[ 9.96715390e-01 -7.72175349e-02 -2.44107291e-02 2.42090484e+02] [ 7.72382490e-02 9.97012660e-01 -9.45618285e-05 3.84739938e+00] [ 2.43451078e-02 -1.79119075e-03 9.99702009e-01 2.78986717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.815099893 meters 0.03528162661657731 Centerline is valid? [True, True] Translation: X:242.12, Y:3.84, Z:2.79 [[ 9.96625358e-01 -7.82834173e-02 -2.46901403e-02 2.42121121e+02] [ 7.83049891e-02 9.96929446e-01 -9.33979831e-05 3.84414710e+00] [ 2.46216394e-02 -1.84027837e-03 9.99695148e-01 2.79002422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.845099893 meters 0.03634379340579182 Centerline is valid? [True, True] Translation: X:242.15, Y:3.84, Z:2.79 [[ 9.96563601e-01 -7.90818088e-02 -2.46385193e-02 2.42152357e+02] [ 7.91035877e-02 9.96866397e-01 -9.09825839e-05 3.84210832e+00] [ 2.45685071e-02 -1.85832534e-03 9.99696421e-01 2.79069227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.875099893 meters 0.03487547786675857 Centerline is valid? [True, True] Translation: X:242.18, Y:3.84, Z:2.79 [[ 9.96408904e-01 -8.12329811e-02 -2.38851228e-02 2.42183818e+02] [ 8.12540874e-02 9.96693416e-01 -8.71383219e-05 3.84316293e+00] [ 2.38132231e-02 -1.85393845e-03 9.99714706e-01 2.79267566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90509989299997 meters 0.037250979716496546 Centerline is valid? [True, True] Translation: X:242.21, Y:3.84, Z:2.79 [[ 9.96435407e-01 -8.11323345e-02 -2.31089742e-02 2.42214900e+02] [ 8.11520874e-02 9.96701727e-01 -8.32870874e-05 3.83932983e+00] [ 2.30395118e-02 -1.79235129e-03 9.99732949e-01 2.79302175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93509989299997 meters 0.03393913389286342 Centerline is valid? [True, True] Translation: X:242.25, Y:3.84, Z:2.79 [[ 9.96542260e-01 -7.99561953e-02 -2.25949085e-02 2.42246065e+02] [ 7.99748017e-02 9.96796882e-01 -8.03987918e-05 3.84288561e+00] [ 2.25289627e-02 -1.72690253e-03 9.99744699e-01 2.79437427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96509989299997 meters 0.03555688828064436 Centerline is valid? [True, True] Translation: X:242.28, Y:3.84, Z:2.79 [[ 9.96612112e-01 -7.90484136e-02 -2.27078503e-02 2.42277727e+02] [ 7.90669997e-02 9.96869301e-01 -7.95887281e-05 3.84035516e+00] [ 2.26430502e-02 -1.71612250e-03 9.99742140e-01 2.79482773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99509989299997 meters 0.03844894553747299 Centerline is valid? [True, True] Translation: X:242.31, Y:3.84, Z:2.79 [[ 9.96707651e-01 -7.78486271e-02 -2.26594419e-02 2.42308691e+02] [ 7.78668543e-02 9.96963764e-01 -7.81526902e-05 3.83644982e+00] [ 2.25967266e-02 -1.68652408e-03 9.99743239e-01 2.79479913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02509989299998 meters 0.03570721603043562 Centerline is valid? [True, True] Translation: X:242.34, Y:3.84, Z:2.80 [[ 9.96812448e-01 -7.65507306e-02 -2.24706447e-02 2.42340150e+02] [ 7.65683451e-02 9.97064332e-01 -7.67029671e-05 3.84010219e+00] [ 2.24105500e-02 -1.64408161e-03 9.99747500e-01 2.79577490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05509989299998 meters 0.037112973297974874 Centerline is valid? [True, True] Translation: X:242.37, Y:3.84, Z:2.80 [[ 9.96901564e-01 -7.51824568e-02 -2.31272519e-02 2.42370905e+02] [ 7.52007692e-02 9.97168410e-01 -7.81107178e-05 3.83839036e+00] [ 2.30676375e-02 -1.66131843e-03 9.99732526e-01 2.79671305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08509989299998 meters 0.03377128772946809 Centerline is valid? [True, True] Translation: X:242.40, Y:3.84, Z:2.80 [[ 9.96926567e-01 -7.46867928e-02 -2.36495912e-02 2.42403128e+02] [ 7.47058330e-02 9.97205612e-01 -7.86178047e-05 3.84249294e+00] [ 2.35893768e-02 -1.68838623e-03 9.99720306e-01 2.79797191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11509989299998 meters 0.033697399340337546 Centerline is valid? [True, True] Translation: X:242.44, Y:3.84, Z:2.80 [[ 9.96963063e-01 -7.40453734e-02 -2.41232851e-02 2.42435164e+02] [ 7.40650397e-02 9.97253410e-01 -7.84444353e-05 3.84144323e+00] [ 2.40628367e-02 -1.70848586e-03 9.99708988e-01 2.79849133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14509989299998 meters 0.035850219095712905 Centerline is valid? [True, True] Translation: X:242.47, Y:3.84, Z:2.80 [[ 9.97012955e-01 -7.32395591e-02 -2.45180515e-02 2.42466150e+02] [ 7.32596700e-02 9.97312897e-01 -7.81787911e-05 3.83804201e+00] [ 2.44578948e-02 -1.71823910e-03 9.99699384e-01 2.79820371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17509989299998 meters 0.03519595451909311 Centerline is valid? [True, True] Translation: X:242.50, Y:3.84, Z:2.80 [[ 9.97099620e-01 -7.19991467e-02 -2.46671854e-02 2.42497881e+02] [ 7.20191577e-02 9.97403246e-01 -7.73435180e-05 3.83847971e+00] [ 2.46086995e-02 -1.69939072e-03 9.99695716e-01 2.79851801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20509989299998 meters 0.032042741167039694 Centerline is valid? [True, True] Translation: X:242.53, Y:3.84, Z:2.80 [[ 9.97195025e-01 -7.06093038e-02 -2.48275651e-02 2.42528975e+02] [ 7.06291745e-02 9.97502639e-01 -7.67441785e-05 3.84236995e+00] [ 2.47709805e-02 -1.67702151e-03 9.99691746e-01 2.79932874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23509989299998 meters 0.03103721889897998 Centerline is valid? [True, True] Translation: X:242.56, Y:3.84, Z:2.80 [[ 9.97435286e-01 -6.67984786e-02 -2.57063103e-02 2.42559641e+02] [ 6.68185390e-02 9.97765141e-01 -7.87706181e-05 3.84389205e+00] [ 2.56541221e-02 -1.63908951e-03 9.99669535e-01 2.79929230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26509989299998 meters 0.027592026765844827 Centerline is valid? [True, True] Translation: X:242.59, Y:3.85, Z:2.80 [[ 9.97595366e-01 -6.41841218e-02 -2.61511952e-02 2.42590988e+02] [ 6.42040071e-02 9.97936791e-01 -7.94111841e-05 3.84919157e+00] [ 2.61023368e-02 -1.59979129e-03 9.99657996e-01 2.80023702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29509989299999 meters 0.02815868022212411 Centerline is valid? [True, True] Translation: X:242.62, Y:3.85, Z:2.80 [[ 9.97761691e-01 -6.12855051e-02 -2.67524746e-02 2.42620588e+02] [ 6.13053155e-02 9.98119057e-01 -7.98171741e-05 3.84893136e+00] [ 2.67070463e-02 -1.56043038e-03 9.99642085e-01 2.79987410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.325099893 meters 0.02558542895447073 Centerline is valid? [True, True] Translation: X:242.65, Y:3.85, Z:2.80 [[ 9.98059980e-01 -5.57713139e-02 -2.76737450e-02 2.42651631e+02] [ 5.57904314e-02 9.98442498e-01 -8.14168748e-05 3.85375381e+00] [ 2.76351838e-02 -1.46267125e-03 9.99617005e-01 2.80043849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.355099893 meters 0.024863131297454894 Centerline is valid? [True, True] Translation: X:242.68, Y:3.86, Z:2.80 [[ 9.98213596e-01 -5.29899204e-02 -2.75986314e-02 2.42681865e+02] [ 5.30078807e-02 9.98594091e-01 -8.09541899e-05 3.85567919e+00] [ 2.75641200e-02 -1.38213539e-03 9.99619082e-01 2.80109910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.385099893 meters 0.024826314595773974 Centerline is valid? [True, True] Translation: X:242.71, Y:3.86, Z:2.80 [[ 9.98320562e-01 -5.10477717e-02 -2.73894276e-02 2.42711106e+02] [ 5.10647241e-02 9.98695343e-01 -8.06067821e-05 3.85618932e+00] [ 2.73578085e-02 -1.31816215e-03 9.99624836e-01 2.80174566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.415099893 meters 0.022995651777216224 Centerline is valid? [True, True] Translation: X:242.74, Y:3.86, Z:2.80 [[ 9.98458294e-01 -4.85521153e-02 -2.69021658e-02 2.42740480e+02] [ 4.85675460e-02 9.98819897e-01 -7.99076409e-05 3.85912523e+00] [ 2.68742982e-02 -1.22678773e-03 9.99638068e-01 2.80384497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.445099893 meters 0.021719990784729432 Centerline is valid? [True, True] Translation: X:242.77, Y:3.86, Z:2.80 [[ 9.98602756e-01 -4.60447644e-02 -2.59309568e-02 2.42770668e+02] [ 4.60582263e-02 9.98938754e-01 -7.82011681e-05 3.86061097e+00] [ 2.59070384e-02 -1.11624197e-03 9.99663733e-01 2.80483435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.475099893 meters 0.020713686408337255 Centerline is valid? [True, True] Translation: X:242.80, Y:3.86, Z:2.81 [[ 9.98762235e-01 -4.30964272e-02 -2.48333468e-02 2.42800793e+02] [ 4.31078305e-02 9.99070423e-01 -7.62113163e-05 3.86128199e+00] [ 2.48135467e-02 -9.94394718e-04 9.99691602e-01 2.80577985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.505099893 meters 0.022517508145153773 Centerline is valid? [True, True] Translation: X:242.83, Y:3.86, Z:2.81 [[ 9.98815213e-01 -4.19228585e-02 -2.47112166e-02 2.42830662e+02] [ 4.19337697e-02 9.99120390e-01 -7.67115679e-05 3.85848871e+00] [ 2.46926963e-02 -9.59613784e-04 9.99694628e-01 2.80544767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.535099893 meters 0.022656287547325137 Centerline is valid? [True, True] Translation: X:242.86, Y:3.86, Z:2.81 [[ 9.98809127e-01 -4.16794571e-02 -2.53604352e-02 2.42860396e+02] [ 4.16908541e-02 9.99130555e-01 -7.93962101e-05 3.85828237e+00] [ 2.53416949e-02 -9.77996545e-04 9.99678369e-01 2.80546697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.565099893 meters 0.022656287547325137 Centerline is valid? [True, True] Translation: X:242.89, Y:3.86, Z:2.81 [[ 9.98799143e-01 -4.19180324e-02 -2.53604238e-02 2.42888670e+02] [ 4.19294169e-02 9.99120572e-01 -8.29211859e-05 3.85842366e+00] [ 2.53415970e-02 -9.80526170e-04 9.99678369e-01 2.80581676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.595099893 meters 0.020660912639608845 Centerline is valid? [True, True] Translation: X:242.92, Y:3.86, Z:2.81 [[ 9.98782460e-01 -4.20396291e-02 -2.58121600e-02 2.42918002e+02] [ 4.20513735e-02 9.99115446e-01 -8.78829401e-05 3.86108010e+00] [ 2.57930223e-02 -9.97660844e-04 9.99666807e-01 2.80699883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.625099893 meters 0.020660912639608845 Centerline is valid? [True, True] Translation: X:242.95, Y:3.86, Z:2.81 [[ 9.98771922e-01 -4.22892612e-02 -2.58121466e-02 2.42946273e+02] [ 4.23009908e-02 9.99104908e-01 -9.16838017e-05 3.86121504e+00] [ 2.57929196e-02 -1.00030817e-03 9.99666807e-01 2.80734858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65509989299997 meters 0.023018317886154233 Centerline is valid? [True, True] Translation: X:242.98, Y:3.86, Z:2.81 [[ 9.98729913e-01 -4.31715413e-02 -2.59765143e-02 2.42975340e+02] [ 4.31836141e-02 9.99067148e-01 -9.62989236e-05 3.85714779e+00] [ 2.59564394e-02 -1.02558315e-03 9.99662549e-01 2.80657062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68509989299997 meters 0.024487716548597 Centerline is valid? [True, True] Translation: X:243.00, Y:3.85, Z:2.81 [[ 9.98683764e-01 -4.43496594e-02 -2.57652465e-02 2.43003767e+02] [ 4.43618889e-02 9.99015522e-01 -9.70295775e-05 3.85436513e+00] [ 2.57441844e-02 -1.04609314e-03 9.99668016e-01 2.80672870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71509989299997 meters 0.021148595790773425 Centerline is valid? [True, True] Translation: X:243.03, Y:3.86, Z:2.81 [[ 9.98589540e-01 -4.60626875e-02 -2.64037796e-02 2.43033114e+02] [ 4.60760982e-02 9.98937928e-01 -1.00588221e-04 3.85885751e+00] [ 2.63803702e-02 -1.11613680e-03 9.99651354e-01 2.80914896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74509989299997 meters 0.028144547989024438 Centerline is valid? [True, True] Translation: X:243.06, Y:3.85, Z:2.81 [[ 9.98342908e-01 -5.04774578e-02 -2.76308492e-02 2.43062399e+02] [ 5.04938084e-02 9.98724368e-01 -1.06098251e-04 3.84749287e+00] [ 2.76009580e-02 -1.28926437e-03 9.99618190e-01 2.80621756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77509989299998 meters 0.02481555964456253 Centerline is valid? [True, True] Translation: X:243.09, Y:3.85, Z:2.81 [[ 9.98234925e-01 -5.23857469e-02 -2.79780093e-02 2.43091762e+02] [ 5.24032350e-02 9.98626001e-01 -1.08282861e-04 3.85170228e+00] [ 2.79452400e-02 -1.35804646e-03 9.99608533e-01 2.80803228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80509989299998 meters 0.023641057476387103 Centerline is valid? [True, True] Translation: X:243.12, Y:3.85, Z:2.81 [[ 9.98134502e-01 -5.39074897e-02 -2.86618045e-02 2.43121898e+02] [ 5.39264482e-02 9.98544904e-01 -1.11670993e-04 3.85296990e+00] [ 2.86261187e-02 -1.43416664e-03 9.99589160e-01 2.80891403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83509989299998 meters 0.026123728125227202 Centerline is valid? [True, True] Translation: X:243.15, Y:3.85, Z:2.81 [[ 9.97989306e-01 -5.65147243e-02 -2.86954970e-02 2.43151426e+02] [ 5.65347858e-02 9.98400624e-01 -1.12363751e-04 3.84919134e+00] [ 2.86559523e-02 -1.51015596e-03 9.99588193e-01 2.80865495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86509989299998 meters 0.02662462564711723 Centerline is valid? [True, True] Translation: X:243.18, Y:3.85, Z:2.81 [[ 9.97968964e-01 -5.73220880e-02 -2.77871491e-02 2.43182255e+02] [ 5.73412039e-02 9.98354634e-01 -1.09054173e-04 3.84879186e+00] [ 2.77476803e-02 -1.48451590e-03 9.99613857e-01 2.80971446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89509989299998 meters 0.026371517388520033 Centerline is valid? [True, True] Translation: X:243.21, Y:3.85, Z:2.81 [[ 9.97948021e-01 -5.79419739e-02 -2.72483871e-02 2.43212228e+02] [ 5.79605784e-02 9.98318867e-01 -1.07204916e-04 3.84967861e+00] [ 2.72087906e-02 -1.47234735e-03 9.99628688e-01 2.81131803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92509989299998 meters 0.02589598420069108 Centerline is valid? [True, True] Translation: X:243.24, Y:3.85, Z:2.81 [[ 9.97956553e-01 -5.82480370e-02 -2.62656598e-02 2.43242756e+02] [ 5.82654232e-02 9.98301122e-01 -1.03550867e-04 3.85090689e+00] [ 2.62270692e-02 -1.42704051e-03 9.99654993e-01 2.81315119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95509989299998 meters 0.02548658045216381 Centerline is valid? [True, True] Translation: X:243.27, Y:3.85, Z:2.82 [[ 9.97991441e-01 -5.83178995e-02 -2.47407644e-02 2.43274409e+02] [ 5.83333571e-02 9.98297155e-01 -9.70909415e-05 3.85224433e+00] [ 2.47042969e-02 -1.34631592e-03 9.99693896e-01 2.81509890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98509989299998 meters 0.025005607140213115 Centerline is valid? [True, True] Translation: X:243.31, Y:3.85, Z:2.82 [[ 9.97985485e-01 -5.86509133e-02 -2.41876378e-02 2.43306967e+02] [ 5.86658160e-02 9.98277673e-01 -9.36167487e-05 3.85312086e+00] [ 2.41514695e-02 -1.32555935e-03 9.99707432e-01 2.81659570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01509989299998 meters 0.02922380821970359 Centerline is valid? [True, True] Translation: X:243.34, Y:3.85, Z:2.82 [[ 9.97951103e-01 -5.95509481e-02 -2.33940378e-02 2.43337579e+02] [ 5.95651602e-02 9.98224415e-01 -8.94699750e-05 3.84752791e+00] [ 2.33578277e-02 -1.30418295e-03 9.99726318e-01 2.81659882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04509989299999 meters 0.02922380821970359 Centerline is valid? [True, True] Translation: X:243.37, Y:3.85, Z:2.82 [[ 9.97953169e-01 -5.95163100e-02 -2.33940401e-02 2.43368470e+02] [ 5.95305268e-02 9.98226482e-01 -8.88637553e-05 3.84761457e+00] [ 2.33578392e-02 -1.30397766e-03 9.99726318e-01 2.81698080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.075099893 meters 0.029130435675897084 Centerline is valid? [True, True] Translation: X:243.40, Y:3.85, Z:2.82 [[ 9.97900202e-01 -6.04723785e-02 -2.32008441e-02 2.43400196e+02] [ 6.04866374e-02 9.98169003e-01 -8.73262592e-05 3.84788107e+00] [ 2.31636442e-02 -1.31619815e-03 9.99730820e-01 2.81808590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.105099893 meters 0.03152508089517755 Centerline is valid? [True, True] Translation: X:243.43, Y:3.84, Z:2.82 [[ 9.97751750e-01 -6.28567845e-02 -2.32480132e-02 2.43429906e+02] [ 6.28717565e-02 9.98021610e-01 -8.70714857e-05 3.84482666e+00] [ 2.32074926e-02 -1.37476770e-03 9.99729725e-01 2.81847983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.135099893 meters 0.02618964210509515 Centerline is valid? [True, True] Translation: X:243.46, Y:3.85, Z:2.82 [[ 9.97670958e-01 -6.41566829e-02 -2.31641922e-02 2.43462365e+02] [ 6.41719147e-02 9.97938855e-01 -8.59561663e-05 3.85232971e+00] [ 2.31219621e-02 -1.40073460e-03 9.99731670e-01 2.82051853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.165099893 meters 0.031713920541048254 Centerline is valid? [True, True] Translation: X:243.49, Y:3.84, Z:2.82 [[ 9.97503448e-01 -6.64330344e-02 -2.39483310e-02 2.43492166e+02] [ 6.64499913e-02 9.97789753e-01 -8.79172156e-05 3.84496082e+00] [ 2.39012398e-02 -1.50366866e-03 9.99713194e-01 2.81937837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.195099893 meters 0.02850745843445475 Centerline is valid? [True, True] Translation: X:243.52, Y:3.85, Z:2.82 [[ 9.97407984e-01 -6.75118528e-02 -2.48890167e-02 2.43523795e+02] [ 6.75305203e-02 9.97717205e-01 -9.06822664e-05 3.84937405e+00] [ 2.48383223e-02 -1.59032103e-03 9.99690216e-01 2.82035869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.225099893 meters 0.030696753475758214 Centerline is valid? [True, True] Translation: X:243.55, Y:3.85, Z:2.82 [[ 9.97323768e-01 -6.85175602e-02 -2.55077762e-02 2.43554528e+02] [ 6.85375253e-02 9.97648535e-01 -9.17612041e-05 3.84664740e+00] [ 2.54540828e-02 -1.65672423e-03 9.99674620e-01 2.81993674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.255099893 meters 0.031196064999550587 Centerline is valid? [True, True] Translation: X:243.59, Y:3.85, Z:2.82 [[ 9.97181063e-01 -7.01140261e-02 -2.67198646e-02 2.43585353e+02] [ 7.01365247e-02 9.97537397e-01 -9.53924656e-05 3.84645853e+00] [ 2.66607526e-02 -1.77891488e-03 9.99642956e-01 2.81941718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.285099893 meters 0.031418260864161364 Centerline is valid? [True, True] Translation: X:243.62, Y:3.85, Z:2.82 [[ 9.97123745e-01 -7.06820002e-02 -2.73549329e-02 2.43617672e+02] [ 7.07058299e-02 9.97497206e-01 -9.63557807e-05 3.84662724e+00] [ 2.72932798e-02 -1.83807460e-03 9.99625779e-01 2.81972648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.315099893 meters 0.03193726265823821 Centerline is valid? [True, True] Translation: X:243.65, Y:3.85, Z:2.82 [[ 9.97111610e-01 -7.06925129e-02 -2.77669932e-02 2.43650137e+02] [ 7.07171259e-02 9.97496405e-01 -9.58052867e-05 3.84633908e+00] [ 2.77042486e-02 -1.86807339e-03 9.99614418e-01 2.81981806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.345099893 meters 0.03203571951432844 Centerline is valid? [True, True] Translation: X:243.68, Y:3.85, Z:2.82 [[ 9.97083474e-01 -7.09277543e-02 -2.81744532e-02 2.43681692e+02] [ 7.09532299e-02 9.97479639e-01 -9.57526086e-05 3.84745533e+00] [ 2.81102349e-02 -1.90359511e-03 9.99603017e-01 2.82052981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.375099893 meters 0.030163252284856324 Centerline is valid? [True, True] Translation: X:243.71, Y:3.85, Z:2.82 [[ 9.97134563e-01 -7.04749977e-02 -2.74943115e-02 2.43714165e+02] [ 7.04991281e-02 9.97511837e-01 -9.19108259e-05 3.85085772e+00] [ 2.74323786e-02 -1.84667753e-03 9.99621956e-01 2.82203624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40509989299997 meters 0.033323720905120945 Centerline is valid? [True, True] Translation: X:243.75, Y:3.85, Z:2.82 [[ 9.97203375e-01 -6.99000826e-02 -2.64462953e-02 2.43745458e+02] [ 6.99222789e-02 9.97552439e-01 -8.56580625e-05 3.84745863e+00] [ 2.63875538e-02 -1.76376672e-03 9.99650232e-01 2.82237317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43509989299997 meters 0.03127189717351958 Centerline is valid? [True, True] Translation: X:243.78, Y:3.85, Z:2.83 [[ 9.97304390e-01 -6.92042197e-02 -2.43870745e-02 2.43777176e+02] [ 6.92229381e-02 9.97601212e-01 -7.68174350e-05 3.85182756e+00] [ 2.43338911e-02 -1.61153458e-03 9.99702588e-01 2.82564273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46509989299997 meters 0.030149983386705593 Centerline is valid? [True, True] Translation: X:243.81, Y:3.85, Z:2.83 [[ 9.97299794e-01 -6.93629367e-02 -2.41227025e-02 2.43809629e+02] [ 6.93813340e-02 9.97590209e-01 -7.44732517e-05 3.85398427e+00] [ 2.40697375e-02 -1.59939312e-03 9.99709002e-01 2.82685878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49509989299997 meters 0.03131941545889969 Centerline is valid? [True, True] Translation: X:243.84, Y:3.85, Z:2.83 [[ 9.97284650e-01 -6.95753465e-02 -2.41370743e-02 2.43840566e+02] [ 6.95938646e-02 9.97575405e-01 -7.29789911e-05 3.85364453e+00] [ 2.40836292e-02 -1.60701145e-03 9.99708656e-01 2.82695213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52509989299998 meters 0.03131941545889969 Centerline is valid? [True, True] Translation: X:243.87, Y:3.85, Z:2.83 [[ 9.97289630e-01 -6.95039214e-02 -2.41370788e-02 2.43872326e+02] [ 6.95224552e-02 9.97580384e-01 -7.14646958e-05 3.85367960e+00] [ 2.40836434e-02 -1.60679798e-03 9.99708656e-01 2.82734474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55509989299998 meters 0.032321924882664575 Centerline is valid? [True, True] Translation: X:243.90, Y:3.85, Z:2.83 [[ 9.97268619e-01 -6.96910913e-02 -2.44632921e-02 2.43903082e+02] [ 6.97102443e-02 9.97567279e-01 -7.00311635e-05 3.85311322e+00] [ 2.44086603e-02 -1.63550219e-03 9.99700726e-01 2.82753689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58509989299998 meters 0.03454883793403244 Centerline is valid? [True, True] Translation: X:243.93, Y:3.85, Z:2.83 [[ 9.97185551e-01 -7.04630914e-02 -2.56111399e-02 2.43933838e+02] [ 7.04843914e-02 9.97512880e-01 -7.12410198e-05 3.85160143e+00] [ 2.55524618e-02 -1.73414509e-03 9.99671978e-01 2.82694354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61509989299998 meters 0.03341735560487941 Centerline is valid? [True, True] Translation: X:243.97, Y:3.85, Z:2.83 [[ 9.97150615e-01 -7.09892063e-02 -2.55182990e-02 2.43965863e+02] [ 7.10105583e-02 9.97475561e-01 -6.96174825e-05 3.85366298e+00] [ 2.54588217e-02 -1.74264954e-03 9.99674353e-01 2.82738686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64509989299998 meters 0.03305051273432856 Centerline is valid? [True, True] Translation: X:244.00, Y:3.85, Z:2.83 [[ 9.97121106e-01 -7.12121494e-02 -2.60447741e-02 2.43998148e+02] [ 7.12345162e-02 9.97459593e-01 -6.91898106e-05 3.85447849e+00] [ 2.59835369e-02 -1.78629626e-03 9.99660775e-01 2.82770535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67509989299998 meters 0.03726262534011537 Centerline is valid? [True, True] Translation: X:244.03, Y:3.85, Z:2.83 [[ 9.97079376e-01 -7.20173797e-02 -2.54207552e-02 2.44029263e+02] [ 7.20389867e-02 9.97401815e-01 -6.59812297e-05 3.84999868e+00] [ 2.53594592e-02 -1.76549692e-03 9.99676838e-01 2.82773661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70509989299998 meters 0.03581444759930763 Centerline is valid? [True, True] Translation: X:244.06, Y:3.85, Z:2.83 [[ 9.97078209e-01 -7.21856688e-02 -2.49854917e-02 2.44061418e+02] [ 7.22066323e-02 9.97389692e-01 -6.33302704e-05 3.85225261e+00] [ 2.49248434e-02 -1.74097298e-03 9.99687812e-01 2.82876868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73509989299998 meters 0.0363841317844931 Centerline is valid? [True, True] Translation: X:244.09, Y:3.85, Z:2.83 [[ 9.97094700e-01 -7.22890874e-02 -2.40093057e-02 2.44093451e+02] [ 7.23085130e-02 9.97382312e-01 -5.92256005e-05 3.85243568e+00] [ 2.39507382e-02 -1.67702366e-03 9.99711733e-01 2.82985563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76509989299998 meters 0.03374830793616435 Centerline is valid? [True, True] Translation: X:244.13, Y:3.86, Z:2.83 [[ 9.97108281e-01 -7.22503190e-02 -2.35577651e-02 2.44126097e+02] [ 7.22690481e-02 9.97385172e-01 -5.64790474e-05 3.85669104e+00] [ 2.35002462e-02 -1.64618153e-03 9.99722476e-01 2.83125647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79509989299999 meters 0.030741432795947814 Centerline is valid? [True, True] Translation: X:244.16, Y:3.86, Z:2.83 [[ 9.97093202e-01 -7.25778837e-02 -2.31861287e-02 2.44158020e+02] [ 7.25961528e-02 9.97361417e-01 -5.39331585e-05 3.86113508e+00] [ 2.31288646e-02 -1.62944736e-03 9.99731164e-01 2.83280465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.825099893 meters 0.03202058970415541 Centerline is valid? [True, True] Translation: X:244.19, Y:3.86, Z:2.83 [[ 9.97072091e-01 -7.28598596e-02 -2.32096300e-02 2.44188856e+02] [ 7.28782916e-02 9.97340840e-01 -5.18320948e-05 3.85959579e+00] [ 2.31516884e-02 -1.63979785e-03 9.99730619e-01 2.83315690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.855099893 meters 0.032494874197871525 Centerline is valid? [True, True] Translation: X:244.22, Y:3.86, Z:2.83 [[ 9.97077431e-01 -7.29004352e-02 -2.28500034e-02 2.44221182e+02] [ 7.29183602e-02 9.97337912e-01 -4.88674503e-05 3.85882711e+00] [ 2.27927371e-02 -1.61746015e-03 9.99738903e-01 2.83318546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.885099893 meters 0.030138144792146927 Centerline is valid? [True, True] Translation: X:244.25, Y:3.86, Z:2.83 [[ 9.96956755e-01 -7.41632385e-02 -2.40217326e-02 2.44252795e+02] [ 7.41834525e-02 9.97244610e-01 -4.97813606e-05 3.86168394e+00] [ 2.39592353e-02 -1.73238520e-03 9.99711435e-01 2.83295365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.915099893 meters 0.03279701572126026 Centerline is valid? [True, True] Translation: X:244.28, Y:3.86, Z:2.83 [[ 9.96904316e-01 -7.45809965e-02 -2.48889385e-02 2.44283776e+02] [ 7.46028615e-02 9.97213322e-01 -5.01708729e-05 3.85803911e+00] [ 2.48233228e-02 -1.80677047e-03 9.99690221e-01 2.83231844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.945099893 meters 0.03244288975072474 Centerline is valid? [True, True] Translation: X:244.32, Y:3.86, Z:2.83 [[ 9.96827607e-01 -7.54052918e-02 -2.54708491e-02 2.44315866e+02] [ 7.54285013e-02 9.97151212e-01 -4.96894982e-05 3.85837944e+00] [ 2.54020348e-02 -1.87169611e-03 9.99675564e-01 2.83224186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.975099893 meters 0.035263873225613925 Centerline is valid? [True, True] Translation: X:244.35, Y:3.85, Z:2.83 [[ 9.96625340e-01 -7.76031581e-02 -2.67522241e-02 2.44346447e+02] [ 7.76295822e-02 9.96982269e-01 -5.09837784e-05 3.85462122e+00] [ 2.66754496e-02 -2.02595225e-03 9.99642094e-01 2.83125537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.005099893 meters 0.03419868510836284 Centerline is valid? [True, True] Translation: X:244.38, Y:3.86, Z:2.83 [[ 9.96556439e-01 -7.82697731e-02 -2.73698088e-02 2.44378627e+02] [ 7.82977178e-02 9.96930020e-01 -5.08448868e-05 3.85603900e+00] [ 2.72897636e-02 -2.09232377e-03 9.99625375e-01 2.83179283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.035099893 meters 0.03260017620464881 Centerline is valid? [True, True] Translation: X:244.41, Y:3.86, Z:2.83 [[ 9.96552590e-01 -7.82232109e-02 -2.76417177e-02 2.44411006e+02] [ 7.82517521e-02 9.96933629e-01 -4.93201303e-05 3.85805754e+00] [ 2.75608159e-02 -2.11386274e-03 9.99617894e-01 2.83262145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.065099893 meters 0.03263983673134766 Centerline is valid? [True, True] Translation: X:244.44, Y:3.86, Z:2.83 [[ 9.96561040e-01 -7.80879125e-02 -2.77195029e-02 2.44442876e+02] [ 7.81166191e-02 9.96944227e-01 -4.74155754e-05 3.85820474e+00] [ 2.76385009e-02 -2.11810133e-03 9.99615740e-01 2.83338950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.095099893 meters 0.03506405658726993 Centerline is valid? [True, True] Translation: X:244.47, Y:3.86, Z:2.83 [[ 9.96646463e-01 -7.73210562e-02 -2.67821172e-02 2.44474359e+02] [ 7.73476225e-02 9.97004184e-01 -4.41391685e-05 3.85574285e+00] [ 2.67052958e-02 -2.02754194e-03 9.99641294e-01 2.83465377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.125099893 meters 0.0325465831167682 Centerline is valid? [True, True] Translation: X:244.51, Y:3.86, Z:2.84 [[ 9.96721608e-01 -7.64527230e-02 -2.64767321e-02 2.44506520e+02] [ 7.64784271e-02 9.97071235e-01 -4.19298877e-05 3.85976945e+00] [ 2.64023937e-02 -1.98310640e-03 9.99649429e-01 2.83614180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15509989299997 meters 0.03335108811238772 Centerline is valid? [True, True] Translation: X:244.54, Y:3.86, Z:2.84 [[ 9.96813490e-01 -7.53448898e-02 -2.61918531e-02 2.44536747e+02] [ 7.53696931e-02 9.97155659e-01 -4.03325648e-05 3.85913192e+00] [ 2.61203934e-02 -1.93386789e-03 9.99656934e-01 2.83666118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18509989299997 meters 0.030990885536146703 Centerline is valid? [True, True] Translation: X:244.57, Y:3.86, Z:2.84 [[ 9.96998085e-01 -7.32175264e-02 -2.51796112e-02 2.44568540e+02] [ 7.32397968e-02 9.97314359e-01 -3.78580360e-05 3.86274225e+00] [ 2.51147597e-02 -1.80640522e-03 9.99682943e-01 2.83807782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21509989299997 meters 0.03349583751831206 Centerline is valid? [True, True] Translation: X:244.60, Y:3.86, Z:2.84 [[ 9.97088804e-01 -7.21368977e-02 -2.47019072e-02 2.44599972e+02] [ 7.21580338e-02 9.97393211e-01 -3.58026237e-05 3.85957278e+00] [ 2.46400972e-02 -1.74674266e-03 9.99694861e-01 2.83792141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24509989299997 meters 0.03367805667323166 Centerline is valid? [True, True] Translation: X:244.63, Y:3.86, Z:2.84 [[ 9.97171758e-01 -7.11023755e-02 -2.43503028e-02 2.44632752e+02] [ 7.11226489e-02 9.97467577e-01 -3.35674967e-05 3.85944433e+00] [ 2.42910242e-02 -1.69838548e-03 9.99703487e-01 2.83826392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27509989299998 meters 0.032563578199212635 Centerline is valid? [True, True] Translation: X:244.66, Y:3.86, Z:2.84 [[ 9.97222459e-01 -7.04073007e-02 -2.42936102e-02 2.44664642e+02] [ 7.04273216e-02 9.97516913e-01 -3.15469072e-05 3.86118619e+00] [ 2.42355082e-02 -1.67947461e-03 9.99704866e-01 2.83874135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30509989299998 meters 0.03258111773849454 Centerline is valid? [True, True] Translation: X:244.70, Y:3.86, Z:2.84 [[ 9.97307164e-01 -6.93463838e-02 -2.38641786e-02 2.44696988e+02] [ 6.93654407e-02 9.97591317e-01 -2.93049431e-05 3.86237661e+00] [ 2.38087296e-02 -1.62612324e-03 9.99715210e-01 2.83959688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33509989299998 meters 0.031099864923671398 Centerline is valid? [True, True] Translation: X:244.73, Y:3.86, Z:2.84 [[ 9.97292552e-01 -6.97238229e-02 -2.33699537e-02 2.44729401e+02] [ 6.97422400e-02 9.97565045e-01 -2.70424830e-05 3.86485836e+00] [ 2.33149344e-02 -1.60290365e-03 9.99726885e-01 2.84058305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36509989299998 meters 0.03062141519328806 Centerline is valid? [True, True] Translation: X:244.76, Y:3.87, Z:2.84 [[ 9.97266687e-01 -7.02225497e-02 -2.29771386e-02 2.44761179e+02] [ 7.02405222e-02 9.97530084e-01 -2.49376592e-05 3.86570842e+00] [ 2.29221382e-02 -1.58905672e-03 9.99735990e-01 2.84073944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39509989299998 meters 0.03353529613085161 Centerline is valid? [True, True] Translation: X:244.79, Y:3.86, Z:2.84 [[ 9.97228163e-01 -7.07655463e-02 -2.29831997e-02 2.44792477e+02] [ 7.07837056e-02 9.97491687e-01 -2.34692245e-05 3.86176146e+00] [ 2.29272114e-02 -1.60343187e-03 9.99735851e-01 2.84029262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42509989299998 meters 0.030042915376107655 Centerline is valid? [True, True] Translation: X:244.82, Y:3.87, Z:2.84 [[ 9.97191069e-01 -7.13193360e-02 -2.28806630e-02 2.44824869e+02] [ 7.13375116e-02 9.97452234e-01 -2.19238859e-05 3.86637435e+00] [ 2.28239320e-02 -1.61038726e-03 9.99738203e-01 2.84134742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45509989299998 meters 0.034692106440385256 Centerline is valid? [True, True] Translation: X:244.86, Y:3.86, Z:2.84 [[ 9.97152468e-01 -7.18243164e-02 -2.29831106e-02 2.44856495e+02] [ 7.18428369e-02 9.97415965e-01 -1.99159563e-05 3.86015955e+00] [ 2.29251518e-02 -1.63131262e-03 9.99735853e-01 2.84055734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48509989299998 meters 0.03604745146381342 Centerline is valid? [True, True] Translation: X:244.89, Y:3.86, Z:2.84 [[ 9.97137425e-01 -7.22616780e-02 -2.22532005e-02 2.44887415e+02] [ 7.22791901e-02 9.97384439e-01 -1.74204809e-05 3.85854873e+00] [ 2.21962547e-02 -1.59107270e-03 9.99752367e-01 2.84066476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51509989299998 meters 0.031523129051436734 Centerline is valid? [True, True] Translation: X:244.92, Y:3.87, Z:2.84 [[ 9.97105519e-01 -7.27821681e-02 -2.19849823e-02 2.44919522e+02] [ 7.27994157e-02 9.97346602e-01 -1.58676055e-05 3.86523545e+00] [ 2.19278023e-02 -1.58467219e-03 9.99758301e-01 2.84182901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54509989299999 meters 0.03660628801485138 Centerline is valid? [True, True] Translation: X:244.95, Y:3.86, Z:2.84 [[ 9.97096853e-01 -7.29358044e-02 -2.18685831e-02 2.44950210e+02] [ 7.29529337e-02 9.97335385e-01 -1.45393556e-05 3.85889564e+00] [ 2.18113721e-02 -1.58088014e-03 9.99760854e-01 2.84133155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.575099893 meters 0.030294223546068814 Centerline is valid? [True, True] Translation: X:244.98, Y:3.87, Z:2.84 [[ 9.97096561e-01 -7.30260259e-02 -2.15788650e-02 2.44982347e+02] [ 7.30427494e-02 9.97328811e-01 -1.32202069e-05 3.86726187e+00] [ 2.15221892e-02 -1.56299780e-03 9.99767149e-01 2.84298534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.605099893 meters 0.030817077431247952 Centerline is valid? [True, True] Translation: X:245.01, Y:3.87, Z:2.84 [[ 9.97111530e-01 -7.29012757e-02 -2.13072985e-02 2.45014994e+02] [ 7.29175927e-02 9.97337969e-01 -1.11585605e-05 3.86664898e+00] [ 2.12513913e-02 -1.54255059e-03 9.99772974e-01 2.84322550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.635099893 meters 0.03415931800990307 Centerline is valid? [True, True] Translation: X:245.05, Y:3.86, Z:2.84 [[ 9.97117854e-01 -7.27631648e-02 -2.14827013e-02 2.45046558e+02] [ 7.27797601e-02 9.97348037e-01 -9.36870146e-06 3.86281598e+00] [ 2.14264116e-02 -1.55416415e-03 9.99769220e-01 2.84292793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.665099893 meters 0.03256674680694059 Centerline is valid? [True, True] Translation: X:245.08, Y:3.86, Z:2.84 [[ 9.97130099e-01 -7.27283751e-02 -2.10273625e-02 2.45080026e+02] [ 7.27443002e-02 9.97350624e-01 -7.56238784e-06 3.86482462e+00] [ 2.09722031e-02 -1.52208009e-03 9.99778901e-01 2.84370174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.695099893 meters 0.035839522655618815 Centerline is valid? [True, True] Translation: X:245.11, Y:3.86, Z:2.84 [[ 9.97187989e-01 -7.21648823e-02 -2.02075193e-02 2.45111525e+02] [ 7.21795222e-02 9.97391657e-01 -4.89011560e-06 3.86051230e+00] [ 2.01551641e-02 -1.45369273e-03 9.99795807e-01 2.84390007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.725099893 meters 0.030803724776400348 Centerline is valid? [True, True] Translation: X:245.14, Y:3.87, Z:2.84 [[ 9.97193153e-01 -7.20238320e-02 -2.04544205e-02 2.45144381e+02] [ 7.20388560e-02 9.97401826e-01 -2.32682700e-06 3.86717080e+00] [ 2.04014439e-02 -1.47119276e-03 9.99790786e-01 2.84469482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.755099893 meters 0.03313825559838945 Centerline is valid? [True, True] Translation: X:245.18, Y:3.86, Z:2.84 [[ 9.97231983e-01 -7.14745405e-02 -2.04880740e-02 2.45175867e+02] [ 7.14895358e-02 9.97441350e-01 -5.15293509e-07 3.86425202e+00] [ 2.04356890e-02 -1.46416903e-03 9.99790097e-01 2.84426691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.785099893 meters 0.03065979058653707 Centerline is valid? [True, True] Translation: X:245.21, Y:3.87, Z:2.84 [[ 9.97359800e-01 -6.96563072e-02 -2.05287140e-02 2.45206940e+02] [ 6.96709988e-02 9.97570024e-01 4.61316954e-07 3.86824027e+00] [ 2.04787976e-02 -1.43071611e-03 9.99789264e-01 2.84439776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.815099893 meters 0.03148422432450937 Centerline is valid? [True, True] Translation: X:245.24, Y:3.87, Z:2.84 [[ 9.97429870e-01 -6.86397489e-02 -2.05484709e-02 2.45237857e+02] [ 6.86542725e-02 9.97640512e-01 1.36016609e-06 3.86746250e+00] [ 2.04998937e-02 -1.41209700e-03 9.99788858e-01 2.84442558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.845099893 meters 0.0325951608065697 Centerline is valid? [True, True] Translation: X:245.27, Y:3.87, Z:2.84 [[ 9.97495125e-01 -6.77628176e-02 -2.02897903e-02 2.45269175e+02] [ 6.77768193e-02 9.97700508e-01 2.43261325e-06 3.86631762e+00] [ 2.02429693e-02 -1.37760397e-03 9.99794141e-01 2.84430000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.875099893 meters 0.029132877771366954 Centerline is valid? [True, True] Translation: X:245.30, Y:3.87, Z:2.84 [[ 9.97593477e-01 -6.64302306e-02 -1.98564623e-02 2.45300393e+02] [ 6.64433960e-02 9.97790196e-01 3.30562727e-06 3.87143709e+00] [ 1.98123638e-02 -1.32262846e-03 9.99802841e-01 2.84490232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90509989299997 meters 0.029518951793287423 Centerline is valid? [True, True] Translation: X:245.33, Y:3.87, Z:2.85 [[ 9.97623096e-01 -6.59328337e-02 -2.00254914e-02 2.45333090e+02] [ 6.59461485e-02 9.97823183e-01 4.53384630e-06 3.87132740e+00] [ 1.99816007e-02 -1.32512710e-03 9.99799470e-01 2.84524637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93509989299997 meters 0.03227517913076392 Centerline is valid? [True, True] Translation: X:245.36, Y:3.87, Z:2.85 [[ 9.97671269e-01 -6.53888057e-02 -1.93995451e-02 2.45364082e+02] [ 6.54012283e-02 9.97859048e-01 5.93295089e-06 3.86797475e+00] [ 1.93576236e-02 -1.27467321e-03 9.99811811e-01 2.84524492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96509989299997 meters 0.03227517913076392 Centerline is valid? [True, True] Translation: X:245.40, Y:3.87, Z:2.85 [[ 9.97675868e-01 -6.53186006e-02 -1.93995446e-02 2.45395840e+02] [ 6.53310326e-02 9.97863646e-01 7.09742737e-06 3.86790224e+00] [ 1.93576368e-02 -1.27447322e-03 9.99811811e-01 2.84563749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99509989299997 meters 0.030931077466282538 Centerline is valid? [True, True] Translation: X:245.43, Y:3.87, Z:2.85 [[ 9.97710292e-01 -6.48711525e-02 -1.91287121e-02 2.45428188e+02] [ 6.48831834e-02 9.97892866e-01 8.33787690e-06 3.86997034e+00] [ 1.90878645e-02 -1.24945052e-03 9.99817029e-01 2.84637068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02509989299998 meters 0.02829998437125952 Centerline is valid? [True, True] Translation: X:245.46, Y:3.87, Z:2.85 [[ 9.97742960e-01 -6.45251752e-02 -1.85872937e-02 2.45460337e+02] [ 6.45364990e-02 9.97915347e-01 9.41331232e-06 3.87370120e+00] [ 1.85479383e-02 -1.20895093e-03 9.99827241e-01 2.84664149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05509989299998 meters 0.033051859874793796 Centerline is valid? [True, True] Translation: X:245.49, Y:3.87, Z:2.85 [[ 9.97760311e-01 -6.40983223e-02 -1.91250350e-02 2.45491558e+02] [ 6.41102577e-02 9.97942821e-01 1.09867666e-05 3.86764128e+00] [ 1.90849872e-02 -1.23707308e-03 9.99817100e-01 2.84612964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08509989299998 meters 0.033592854395588845 Centerline is valid? [True, True] Translation: X:245.52, Y:3.87, Z:2.85 [[ 9.97791082e-01 -6.37260387e-02 -1.87602755e-02 2.45523577e+02] [ 6.37374782e-02 9.97966700e-01 1.18803734e-05 3.86695865e+00] [ 1.87213731e-02 -1.20758678e-03 9.99824010e-01 2.84598329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11509989299998 meters 0.027509006023199965 Centerline is valid? [True, True] Translation: X:245.56, Y:3.87, Z:2.85 [[ 9.97804580e-01 -6.36397752e-02 -1.83302568e-02 2.45556114e+02] [ 6.36507050e-02 9.97972238e-01 1.28802377e-05 3.87465311e+00] [ 1.82922677e-02 -1.17958573e-03 9.99831987e-01 2.84720922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14509989299998 meters 0.030377407198302852 Centerline is valid? [True, True] Translation: X:245.59, Y:3.87, Z:2.85 [[ 9.97759895e-01 -6.43614544e-02 -1.82426497e-02 2.45587701e+02] [ 6.43724224e-02 9.97925945e-01 1.40488563e-05 3.86998397e+00] [ 1.82039092e-02 -1.18834094e-03 9.99833589e-01 2.84702154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17509989299998 meters 0.031204938199927555 Centerline is valid? [True, True] Translation: X:245.62, Y:3.87, Z:2.85 [[ 9.97742447e-01 -6.45918458e-02 -1.83821473e-02 2.45619398e+02] [ 6.46030397e-02 9.97911042e-01 1.51617179e-05 3.86830858e+00] [ 1.83427684e-02 -1.20267008e-03 9.99831034e-01 2.84687818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20509989299998 meters 0.02902198525729457 Centerline is valid? [True, True] Translation: X:245.65, Y:3.87, Z:2.85 [[ 9.97729553e-01 -6.47970085e-02 -1.83599206e-02 2.45651705e+02] [ 6.48082300e-02 9.97897737e-01 1.62391808e-05 3.87096531e+00] [ 1.83202710e-02 -1.20607627e-03 9.99831442e-01 2.84706082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23509989299998 meters 0.031878997575487 Centerline is valid? [True, True] Translation: X:245.68, Y:3.87, Z:2.85 [[ 9.97715110e-01 -6.48371567e-02 -1.89921599e-02 2.45683308e+02] [ 6.48491962e-02 9.97895075e-01 1.80912708e-05 3.86719209e+00] [ 1.89510099e-02 -1.24967624e-03 9.99819633e-01 2.84694737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26509989299998 meters 0.03050291037846575 Centerline is valid? [True, True] Translation: X:245.72, Y:3.87, Z:2.85 [[ 9.97730611e-01 -6.46110304e-02 -1.89484176e-02 2.45715208e+02] [ 6.46229956e-02 9.97909749e-01 1.91928494e-05 3.86887257e+00] [ 1.89075706e-02 -1.24365280e-03 9.99820462e-01 2.84690058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29509989299999 meters 0.03387863285262721 Centerline is valid? [True, True] Translation: X:245.75, Y:3.86, Z:2.85 [[ 9.97742835e-01 -6.43356499e-02 -1.92395485e-02 2.45746190e+02] [ 6.43479590e-02 9.97927522e-01 2.07563248e-05 3.86419221e+00] [ 1.91983396e-02 -1.25873515e-03 9.99814903e-01 2.84662788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.325099893 meters 0.02803677851710076 Centerline is valid? [True, True] Translation: X:245.78, Y:3.87, Z:2.85 [[ 9.97755704e-01 -6.41340085e-02 -1.92453728e-02 2.45778481e+02] [ 6.41463102e-02 9.97940504e-01 2.19304151e-05 3.87175810e+00] [ 1.92043306e-02 -1.25640085e-03 9.99814790e-01 2.84769693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.355099893 meters 0.029756018852530285 Centerline is valid? [True, True] Translation: X:245.81, Y:3.87, Z:2.85 [[ 9.97808643e-01 -6.33142336e-02 -1.92150680e-02 2.45809685e+02] [ 6.33263698e-02 9.97992871e-01 2.31809187e-05 3.86936321e+00] [ 1.91750332e-02 -1.23995063e-03 9.99815373e-01 2.84800952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.385099893 meters 0.029472807251788486 Centerline is valid? [True, True] Translation: X:245.84, Y:3.87, Z:2.85 [[ 9.97833393e-01 -6.30619169e-02 -1.87540645e-02 2.45841532e+02] [ 6.30734542e-02 9.98008887e-01 2.37477964e-05 3.86950848e+00] [ 1.87152254e-02 -1.20657997e-03 9.99824127e-01 2.84815579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.415099893 meters 0.03065223402171217 Centerline is valid? [True, True] Translation: X:245.87, Y:3.87, Z:2.85 [[ 9.97863754e-01 -6.25418497e-02 -1.88797674e-02 2.45872867e+02] [ 6.25534820e-02 9.98041613e-01 2.56252356e-05 3.86783707e+00] [ 1.88411909e-02 -1.20656569e-03 9.99821761e-01 2.84838734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.445099893 meters 0.03295504600983904 Centerline is valid? [True, True] Translation: X:245.90, Y:3.86, Z:2.85 [[ 9.97846088e-01 -6.30340312e-02 -1.81630465e-02 2.45903991e+02] [ 6.30449108e-02 9.98010691e-01 2.64585919e-05 3.86493337e+00] [ 1.81252468e-02 -1.17148925e-03 9.99835038e-01 2.84937991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.475099893 meters 0.030380558252457043 Centerline is valid? [True, True] Translation: X:245.94, Y:3.87, Z:2.85 [[ 9.97866655e-01 -6.26722160e-02 -1.82847452e-02 2.45936570e+02] [ 6.26832011e-02 9.98033474e-01 2.77174238e-05 3.86843369e+00] [ 1.82470507e-02 -1.17380466e-03 9.99832820e-01 2.85041526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.505099893 meters 0.027716963395581974 Centerline is valid? [True, True] Translation: X:245.97, Y:3.87, Z:2.85 [[ 9.97923138e-01 -6.18359541e-02 -1.80478731e-02 2.45968649e+02] [ 6.18465435e-02 9.98085670e-01 2.86481308e-05 3.87180846e+00] [ 1.80115520e-02 -1.14478720e-03 9.99837123e-01 2.85088041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.535099893 meters 0.028975352125332105 Centerline is valid? [True, True] Translation: X:246.00, Y:3.87, Z:2.85 [[ 9.98043733e-01 -5.98266157e-02 -1.81516791e-02 2.45999483e+02] [ 5.98370166e-02 9.98208160e-01 2.99358861e-05 3.87056847e+00] [ 1.81173632e-02 -1.11601965e-03 9.99835244e-01 2.85061133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.565099893 meters 0.028548954717933978 Centerline is valid? [True, True] Translation: X:246.03, Y:3.87, Z:2.85 [[ 9.98132723e-01 -5.84587326e-02 -1.77100126e-02 2.46031338e+02] [ 5.84684333e-02 9.98289257e-01 3.00258946e-05 3.87150183e+00] [ 1.76779600e-02 -1.06544652e-03 9.99843165e-01 2.85127914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.595099893 meters 0.03159624340161444 Centerline is valid? [True, True] Translation: X:246.06, Y:3.87, Z:2.85 [[ 9.98230004e-01 -5.69613506e-02 -1.70957305e-02 2.46061484e+02] [ 5.69701869e-02 9.98375880e-01 2.99121138e-05 3.86812733e+00] [ 1.70662611e-02 -1.00380613e-03 9.99853857e-01 2.85166912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.625099893 meters 0.027042776868417683 Centerline is valid? [True, True] Translation: X:246.09, Y:3.87, Z:2.85 [[ 9.98288568e-01 -5.60575700e-02 -1.66578516e-02 2.46093727e+02] [ 5.60658426e-02 9.98427073e-01 2.96656917e-05 3.87463210e+00] [ 1.66299871e-02 -9.63551408e-04 9.99861248e-01 2.85319477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65509989299997 meters 0.027929560555293952 Centerline is valid? [True, True] Translation: X:246.12, Y:3.87, Z:2.85 [[ 9.98366657e-01 -5.47333964e-02 -1.63790801e-02 2.46124904e+02] [ 5.47412345e-02 9.98500574e-01 3.02550105e-05 3.87333519e+00] [ 1.63528649e-02 -9.26816658e-04 9.99865853e-01 2.85432038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68509989299997 meters 0.02433264661542837 Centerline is valid? [True, True] Translation: X:246.16, Y:3.88, Z:2.86 [[ 9.98418338e-01 -5.37826459e-02 -1.63783429e-02 2.46157658e+02] [ 5.37903726e-02 9.98552249e-01 3.12816142e-05 3.87767962e+00] [ 1.63529488e-02 -9.12229305e-04 9.99865865e-01 2.85504075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71509989299997 meters 0.025683100468010863 Centerline is valid? [True, True] Translation: X:246.19, Y:3.88, Z:2.86 [[ 9.98449908e-01 -5.31345095e-02 -1.65681889e-02 2.46189304e+02] [ 5.31423514e-02 9.98586946e-01 3.30959741e-05 3.87554642e+00] [ 1.65430186e-02 -9.13517188e-04 9.99862738e-01 2.85521308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74509989299997 meters 0.025381536587943843 Centerline is valid? [True, True] Translation: X:246.22, Y:3.88, Z:2.86 [[ 9.98506334e-01 -5.18924122e-02 -1.70961531e-02 2.46221116e+02] [ 5.19006022e-02 9.98652255e-01 3.54192231e-05 3.87573295e+00] [ 1.70712738e-02 -9.22666958e-04 9.99853849e-01 2.85557818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77509989299998 meters 0.0248950261210495 Centerline is valid? [True, True] Translation: X:246.25, Y:3.88, Z:2.86 [[ 9.98541774e-01 -5.12085667e-02 -1.70882310e-02 2.46253815e+02] [ 5.12166716e-02 9.98687564e-01 3.67129467e-05 3.87623877e+00] [ 1.70639238e-02 -9.11861729e-04 9.99853985e-01 2.85577079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80509989299998 meters 0.024823772164015812 Centerline is valid? [True, True] Translation: X:246.29, Y:3.88, Z:2.86 [[ 9.98566780e-01 -5.04411259e-02 -1.78907485e-02 2.46286514e+02] [ 5.04499169e-02 9.98726591e-01 4.00922917e-05 3.87628063e+00] [ 1.78659440e-02 -9.42621606e-04 9.99839947e-01 2.85607784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83509989299998 meters 0.02401978380013634 Centerline is valid? [True, True] Translation: X:246.32, Y:3.88, Z:2.86 [[ 9.98597465e-01 -4.96914557e-02 -1.82719182e-02 2.46318642e+02] [ 4.97005286e-02 9.98764164e-01 4.25032917e-05 3.87742196e+00] [ 1.82472251e-02 -9.50567672e-04 9.99833054e-01 2.85630536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86509989299998 meters 0.024005855694226096 Centerline is valid? [True, True] Translation: X:246.35, Y:3.88, Z:2.86 [[ 9.98615479e-01 -4.88120502e-02 -1.96089074e-02 2.46350856e+02] [ 4.88223597e-02 9.98807476e-01 4.70920509e-05 3.87682698e+00] [ 1.95832247e-02 -1.00437998e-03 9.99807726e-01 2.85599166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89509989299998 meters 0.024499959706075252 Centerline is valid? [True, True] Translation: X:246.38, Y:3.88, Z:2.86 [[ 9.98614486e-01 -4.86299700e-02 -2.01055813e-02 2.46381719e+02] [ 4.86407982e-02 9.98816335e-01 4.96069854e-05 3.87536153e+00] [ 2.00793706e-02 -1.02748978e-03 9.99797861e-01 2.85563517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92509989299998 meters 0.026314916122073366 Centerline is valid? [True, True] Translation: X:246.41, Y:3.87, Z:2.86 [[ 9.98618799e-01 -4.82287871e-02 -2.08441579e-02 2.46413238e+02] [ 4.82403736e-02 9.98835754e-01 5.31096346e-05 3.87215452e+00] [ 2.08173288e-02 -1.05856624e-03 9.99782736e-01 2.85523425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95509989299998 meters 0.026029495004776002 Centerline is valid? [True, True] Translation: X:246.45, Y:3.87, Z:2.86 [[ 9.98618035e-01 -4.79831741e-02 -2.14390830e-02 2.46445445e+02] [ 4.79954207e-02 9.98847554e-01 5.67474203e-05 3.87153658e+00] [ 2.14116527e-02 -1.08564680e-03 9.99770155e-01 2.85549193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98509989299998 meters 0.022125194909418916 Centerline is valid? [True, True] Translation: X:246.48, Y:3.88, Z:2.86 [[ 9.98645835e-01 -4.75291661e-02 -2.11535869e-02 2.46477807e+02] [ 4.75410184e-02 9.98869285e-01 5.74784482e-05 3.87648643e+00] [ 2.11269363e-02 -1.06306368e-03 9.99776236e-01 2.85713429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01509989299998 meters 0.021764393421560085 Centerline is valid? [True, True] Translation: X:246.51, Y:3.88, Z:2.86 [[ 9.98744919e-01 -4.56785251e-02 -2.05440983e-02 2.46509673e+02] [ 4.56893407e-02 9.98955695e-01 5.71471569e-05 3.87595478e+00] [ 2.05200336e-02 -9.95721739e-04 9.99788946e-01 2.85813310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04509989299999 meters 0.020785418738241943 Centerline is valid? [True, True] Translation: X:246.54, Y:3.88, Z:2.86 [[ 9.98817723e-01 -4.43749183e-02 -1.98500299e-02 2.46541394e+02] [ 4.43847790e-02 9.99014509e-01 5.62578521e-05 3.87660226e+00] [ 1.98279715e-02 -9.37230532e-04 9.99802967e-01 2.85860922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.075099893 meters 0.020406431930782423 Centerline is valid? [True, True] Translation: X:246.57, Y:3.88, Z:2.86 [[ 9.98879368e-01 -4.30276135e-02 -1.97137462e-02 2.46573133e+02] [ 4.30370980e-02 9.99073473e-01 5.69140950e-05 3.87680751e+00] [ 1.96930320e-02 -9.05272740e-04 9.99805664e-01 2.85941356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.105099893 meters 0.019373046337347325 Centerline is valid? [True, True] Translation: X:246.60, Y:3.88, Z:2.86 [[ 9.99008390e-01 -4.00206000e-02 -1.95086638e-02 2.46604225e+02] [ 4.00293341e-02 9.99198503e-01 5.72564153e-05 3.87726641e+00] [ 1.94907363e-02 -8.38118461e-04 9.99809686e-01 2.85953001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.135099893 meters 0.018884692896034692 Centerline is valid? [True, True] Translation: X:246.64, Y:3.88, Z:2.86 [[ 9.99061712e-01 -3.86223597e-02 -1.95961556e-02 2.46635724e+02] [ 3.86309179e-02 9.99253546e-01 5.82310018e-05 3.87754951e+00] [ 1.95792790e-02 -8.15193843e-04 9.99807975e-01 2.85987662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.165099893 meters 0.0193776678131957 Centerline is valid? [True, True] Translation: X:246.67, Y:3.88, Z:2.86 [[ 9.99176285e-01 -3.57531682e-02 -1.91953754e-02 2.46665814e+02] [ 3.57608620e-02 9.99360374e-01 5.76049100e-05 3.87582525e+00] [ 1.91810379e-02 -7.44000630e-04 9.99815750e-01 2.85979764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.195099893 meters 0.01784943813258556 Centerline is valid? [True, True] Translation: X:246.70, Y:3.88, Z:2.86 [[ 9.99221887e-01 -3.47184425e-02 -1.87149714e-02 2.46696857e+02] [ 3.47255776e-02 9.99396884e-01 5.63174337e-05 3.87730190e+00] [ 1.87017288e-02 -7.06161804e-04 9.99824858e-01 2.86058374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.225099893 meters 0.01997570091710525 Centerline is valid? [True, True] Translation: X:246.73, Y:3.87, Z:2.86 [[ 9.99254603e-01 -3.39082038e-02 -1.84519031e-02 2.46727068e+02] [ 3.39150014e-02 9.99424719e-01 5.55076579e-05 3.87361001e+00] [ 1.84394059e-02 -6.81262602e-04 9.99829748e-01 2.86040642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.255099893 meters 0.017171298768327854 Centerline is valid? [True, True] Translation: X:246.76, Y:3.88, Z:2.86 [[ 9.99278061e-01 -3.34715623e-02 -1.79725059e-02 2.46758751e+02] [ 3.34779482e-02 9.99439455e-01 5.44845242e-05 3.87710505e+00] [ 1.79606078e-02 -6.56127810e-04 9.99838480e-01 2.86169704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.285099893 meters 0.01737852732926582 Centerline is valid? [True, True] Translation: X:246.79, Y:3.88, Z:2.86 [[ 9.99282485e-01 -3.32489453e-02 -1.81390128e-02 2.46790229e+02] [ 3.32554255e-02 9.99446884e-01 5.56509985e-05 3.87601526e+00] [ 1.81271295e-02 -6.58831656e-04 9.99835473e-01 2.86212836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.315099893 meters 0.01753283523252802 Centerline is valid? [True, True] Translation: X:246.82, Y:3.87, Z:2.86 [[ 9.99279262e-01 -3.32927215e-02 -1.82359615e-02 2.46821928e+02] [ 3.32992905e-02 9.99445423e-01 5.66081964e-05 3.87484441e+00] [ 1.82239636e-02 -6.63811975e-04 9.99833709e-01 2.86227979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.345099893 meters 0.018659179234756736 Centerline is valid? [True, True] Translation: X:246.85, Y:3.87, Z:2.86 [[ 9.99251740e-01 -3.39027503e-02 -1.86162072e-02 2.46852619e+02] [ 3.39097124e-02 9.99424899e-01 5.83539523e-05 3.87103169e+00] [ 1.86035226e-02 -6.89580519e-04 9.99826702e-01 2.86200530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.375099893 meters 0.019201914066574587 Centerline is valid? [True, True] Translation: X:246.88, Y:3.87, Z:2.86 [[ 9.99203856e-01 -3.50023524e-02 -1.91439382e-02 2.46883070e+02] [ 3.50099207e-02 9.99386963e-01 6.02349026e-05 3.86802507e+00] [ 1.91300939e-02 -7.30414707e-04 9.99816736e-01 2.86200835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40509989299997 meters 0.018814911438740953 Centerline is valid? [True, True] Translation: X:246.91, Y:3.87, Z:2.86 [[ 9.99185401e-01 -3.54408980e-02 -1.92996432e-02 2.46913988e+02] [ 3.54486716e-02 9.99371496e-01 6.07248159e-05 3.86612335e+00] [ 1.92853611e-02 -7.44822062e-04 9.99813743e-01 2.86180924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43509989299997 meters 0.01830858690451014 Centerline is valid? [True, True] Translation: X:246.94, Y:3.87, Z:2.86 [[ 9.99190872e-01 -3.53591574e-02 -1.91658991e-02 2.46944558e+02] [ 3.53668087e-02 9.99374397e-01 6.03040007e-05 3.86579207e+00] [ 1.91517765e-02 -7.38091893e-04 9.99816315e-01 2.86220655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46509989299997 meters 0.018132841016991606 Centerline is valid? [True, True] Translation: X:246.97, Y:3.86, Z:2.86 [[ 9.99185147e-01 -3.54968780e-02 -1.92097248e-02 2.46974932e+02] [ 3.55045897e-02 9.99369511e-01 6.04418949e-05 3.86425394e+00] [ 1.91954678e-02 -7.42426043e-04 9.99815474e-01 2.86253061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49509989299997 meters 0.018609783926387097 Centerline is valid? [True, True] Translation: X:247.01, Y:3.86, Z:2.86 [[ 9.99197041e-01 -3.54357766e-02 -1.86970503e-02 2.47005258e+02] [ 3.54430785e-02 9.99371695e-01 5.92099336e-05 3.86232458e+00] [ 1.86832047e-02 -7.21843411e-04 9.99825193e-01 2.86240448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52509989299998 meters 0.018609783926387097 Centerline is valid? [True, True] Translation: X:247.04, Y:3.86, Z:2.86 [[ 9.99198309e-01 -3.53999983e-02 -1.86970471e-02 2.47036124e+02] [ 3.54073121e-02 9.99372963e-01 6.01809572e-05 3.86219632e+00] [ 1.86831930e-02 -7.22144894e-04 9.99825193e-01 2.86278600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55509989299998 meters 0.01881716439792932 Centerline is valid? [True, True] Translation: X:247.07, Y:3.86, Z:2.86 [[ 9.99194077e-01 -3.56301661e-02 -1.84847711e-02 2.47067319e+02] [ 3.56373662e-02 9.99364786e-01 6.01540554e-05 3.86065803e+00] [ 1.84708860e-02 -7.18854134e-04 9.99829140e-01 2.86308872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58509989299998 meters 0.020107240813622272 Centerline is valid? [True, True] Translation: X:247.10, Y:3.86, Z:2.86 [[ 9.99187793e-01 -3.64259441e-02 -1.72309334e-02 2.47097419e+02] [ 3.64323270e-02 9.99336121e-01 5.65720538e-05 3.85565039e+00] [ 1.72174335e-02 -6.84289107e-04 9.99851535e-01 2.86304874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61509989299998 meters 0.02081036310806678 Centerline is valid? [True, True] Translation: X:247.13, Y:3.85, Z:2.86 [[ 9.99157153e-01 -3.72502081e-02 -1.72454655e-02 2.47128908e+02] [ 3.72567311e-02 9.99305725e-01 5.70097727e-05 3.85330580e+00] [ 1.72313688e-02 -6.99471393e-04 9.99851284e-01 2.86290440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64509989299998 meters 0.019231278997238296 Centerline is valid? [True, True] Translation: X:247.16, Y:3.85, Z:2.86 [[ 9.99098538e-01 -3.88668163e-02 -1.70728148e-02 2.47159829e+02] [ 3.88734537e-02 9.99244140e-01 5.69526982e-05 3.85302095e+00] [ 1.70576965e-02 -7.20580632e-04 9.99854247e-01 2.86249247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67509989299998 meters 0.021193931285532236 Centerline is valid? [True, True] Translation: X:247.19, Y:3.85, Z:2.86 [[ 9.99063551e-01 -3.98815316e-02 -1.67775001e-02 2.47190524e+02] [ 3.98880972e-02 9.99204152e-01 5.67481340e-05 3.84920973e+00] [ 1.67618845e-02 -7.25917545e-04 9.99859246e-01 2.86236771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70509989299998 meters 0.021629582143972072 Centerline is valid? [True, True] Translation: X:247.22, Y:3.85, Z:2.86 [[ 9.99020158e-01 -4.09430398e-02 -1.68044907e-02 2.47221866e+02] [ 4.09498054e-02 9.99161203e-01 5.85664558e-05 3.84752563e+00] [ 1.67879973e-02 -7.46649694e-04 9.99858793e-01 2.86254641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73509989299998 meters 0.020864394235013912 Centerline is valid? [True, True] Translation: X:247.25, Y:3.85, Z:2.86 [[ 9.98965697e-01 -4.22082188e-02 -1.69116056e-02 2.47253367e+02] [ 4.22152621e-02 9.99108537e-01 5.95457439e-05 3.84767375e+00] [ 1.68940162e-02 -7.73412021e-04 9.99856987e-01 2.86260277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76509989299998 meters 0.023439832884601216 Centerline is valid? [True, True] Translation: X:247.28, Y:3.84, Z:2.86 [[ 9.98910529e-01 -4.34655297e-02 -1.69853678e-02 2.47284659e+02] [ 4.34728278e-02 9.99054608e-01 6.05060879e-05 3.84286322e+00] [ 1.69666800e-02 -7.98842137e-04 9.99855736e-01 2.86231172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79509989299999 meters 0.02176292617228624 Centerline is valid? [True, True] Translation: X:247.32, Y:3.84, Z:2.86 [[ 9.98808320e-01 -4.58834334e-02 -1.66328309e-02 2.47316117e+02] [ 4.58907796e-02 9.98946461e-01 6.00629584e-05 3.84282067e+00] [ 1.66125517e-02 -8.23284959e-04 9.99861663e-01 2.86292366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.825099893 meters 0.024547077469540282 Centerline is valid? [True, True] Translation: X:247.35, Y:3.84, Z:2.86 [[ 9.98758598e-01 -4.70481135e-02 -1.63627292e-02 2.47346856e+02] [ 4.70553886e-02 9.98892280e-01 5.96787936e-05 3.83779432e+00] [ 1.63417961e-02 -8.29559290e-04 9.99866120e-01 2.86312058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.855099893 meters 0.024547077469540282 Centerline is valid? [True, True] Translation: X:247.38, Y:3.84, Z:2.86 [[ 9.98761935e-01 -4.69772084e-02 -1.63627265e-02 2.47378584e+02] [ 4.69844860e-02 9.98895617e-01 6.04149118e-05 3.83761770e+00] [ 1.63418177e-02 -8.29134409e-04 9.99866120e-01 2.86351285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.885099893 meters 0.0256794837956503 Centerline is valid? [True, True] Translation: X:247.41, Y:3.83, Z:2.86 [[ 9.98671409e-01 -4.91741432e-02 -1.54052387e-02 2.47409394e+02] [ 4.91808680e-02 9.98789887e-01 5.77598579e-05 3.83430864e+00] [ 1.53837564e-02 -8.15326132e-04 9.99881331e-01 2.86411066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.915099893 meters 0.026712118069698965 Centerline is valid? [True, True] Translation: X:247.44, Y:3.83, Z:2.86 [[ 9.98591157e-01 -5.07480685e-02 -1.55027197e-02 2.47441799e+02] [ 5.07550747e-02 9.98711129e-01 5.85668023e-05 3.83147824e+00] [ 1.54797666e-02 -8.45325990e-04 9.99879824e-01 2.86419907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.945099893 meters 0.024964739870372215 Centerline is valid? [True, True] Translation: X:247.47, Y:3.83, Z:2.86 [[ 9.98589897e-01 -5.07762448e-02 -1.54916578e-02 2.47474127e+02] [ 5.07832613e-02 9.98709696e-01 5.96237952e-05 3.83321538e+00] [ 1.54686413e-02 -8.46256623e-04 9.99879995e-01 2.86448296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.975099893 meters 0.025265345665965472 Centerline is valid? [True, True] Translation: X:247.51, Y:3.83, Z:2.86 [[ 9.98579431e-01 -5.09216604e-02 -1.56876925e-02 2.47506536e+02] [ 5.09288915e-02 9.98702280e-01 6.15245498e-05 3.83229770e+00] [ 1.56642014e-02 -8.60393941e-04 9.99876939e-01 2.86454919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.005099893 meters 0.025265345665965472 Centerline is valid? [True, True] Translation: X:247.54, Y:3.83, Z:2.86 [[ 9.98583100e-01 -5.08496598e-02 -1.56876880e-02 2.47538270e+02] [ 5.08568998e-02 9.98705949e-01 6.26563906e-05 3.83211264e+00] [ 1.56642013e-02 -8.60394790e-04 9.99876939e-01 2.86494143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.035099893 meters 0.024617083074911325 Centerline is valid? [True, True] Translation: X:247.57, Y:3.83, Z:2.86 [[ 9.98617599e-01 -5.01905663e-02 -1.56140388e-02 2.47570208e+02] [ 5.01976757e-02 9.98739300e-01 6.34855995e-05 3.83232458e+00] [ 1.55911678e-02 -8.47186295e-04 9.99878091e-01 2.86429600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.065099893 meters 0.027866244967381486 Centerline is valid? [True, True] Translation: X:247.60, Y:3.83, Z:2.86 [[ 9.98638242e-01 -4.97547537e-02 -1.56884325e-02 2.47601052e+02] [ 4.97618943e-02 9.98761107e-01 6.48710140e-05 3.82797344e+00] [ 1.56657686e-02 -8.45468795e-04 9.99876927e-01 2.86393004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.095099893 meters 0.023066472971602237 Centerline is valid? [True, True] Translation: X:247.63, Y:3.83, Z:2.87 [[ 9.98669452e-01 -4.92249992e-02 -1.53696095e-02 2.47633033e+02] [ 4.92318034e-02 9.98787377e-01 6.44316006e-05 3.83452204e+00] [ 1.53478003e-02 -8.21019463e-04 9.99881879e-01 2.86504871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.125099893 meters 0.023908528360620875 Centerline is valid? [True, True] Translation: X:247.66, Y:3.83, Z:2.86 [[ 9.98705626e-01 -4.83754597e-02 -1.57126617e-02 2.47663908e+02] [ 4.83824879e-02 9.98828879e-01 6.72473944e-05 3.83435210e+00] [ 1.56910071e-02 -8.27378014e-04 9.99876546e-01 2.86464951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15509989299997 meters 0.026669370439019353 Centerline is valid? [True, True] Translation: X:247.70, Y:3.83, Z:2.86 [[ 9.98704995e-01 -4.83370538e-02 -1.58701803e-02 2.47695437e+02] [ 4.83442480e-02 9.98830731e-01 6.97618012e-05 3.83105583e+00] [ 1.58482517e-02 -8.36903391e-04 9.99874058e-01 2.86447878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18509989299997 meters 0.02430096352450983 Centerline is valid? [True, True] Translation: X:247.73, Y:3.83, Z:2.87 [[ 9.98706172e-01 -4.83187859e-02 -1.58517287e-02 2.47727758e+02] [ 4.83259757e-02 9.98831615e-01 7.06035422e-05 3.83471096e+00] [ 1.58297963e-02 -8.36562449e-04 9.99874351e-01 2.86522116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21509989299997 meters 0.02602991372997584 Centerline is valid? [True, True] Translation: X:247.76, Y:3.83, Z:2.87 [[ 9.98711521e-01 -4.83358171e-02 -1.54578717e-02 2.47758857e+02] [ 4.83426721e-02 9.98830807e-01 6.98908589e-05 3.83246345e+00] [ 1.54364202e-02 -8.17075627e-04 9.99880518e-01 2.86539662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24509989299997 meters 0.02470122218058849 Centerline is valid? [True, True] Translation: X:247.79, Y:3.83, Z:2.87 [[ 9.98701313e-01 -4.86768701e-02 -1.50415700e-02 2.47791048e+02] [ 4.86834120e-02 9.98814257e-01 6.88532857e-05 3.83474386e+00] [ 1.50203830e-02 -8.01038817e-04 9.99886867e-01 2.86585859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27509989299998 meters 0.02453273700318863 Centerline is valid? [True, True] Translation: X:247.82, Y:3.84, Z:2.87 [[ 9.98704325e-01 -4.86308582e-02 -1.49903403e-02 2.47823644e+02] [ 4.86373667e-02 9.98816501e-01 6.97015967e-05 3.83545305e+00] [ 1.49692096e-02 -7.98701962e-04 9.99887636e-01 2.86621850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30509989299998 meters 0.024751032122425642 Centerline is valid? [True, True] Translation: X:247.86, Y:3.84, Z:2.87 [[ 9.98704400e-01 -4.86278277e-02 -1.49952162e-02 2.47856319e+02] [ 4.86343563e-02 9.98816647e-01 7.08127158e-05 3.83721391e+00] [ 1.49740281e-02 -8.00003660e-04 9.99887563e-01 2.86630939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33509989299998 meters 0.02330103493165238 Centerline is valid? [True, True] Translation: X:247.89, Y:3.84, Z:2.87 [[ 9.98712284e-01 -4.84681955e-02 -1.49869047e-02 2.47888866e+02] [ 4.84747153e-02 9.98824407e-01 7.18619615e-05 3.84052274e+00] [ 1.49658032e-02 -7.98255363e-04 9.99887687e-01 2.86667873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36509989299998 meters 0.028067965199458676 Centerline is valid? [True, True] Translation: X:247.92, Y:3.84, Z:2.87 [[ 9.98737697e-01 -4.79783896e-02 -1.48690045e-02 2.47919711e+02] [ 4.79847686e-02 9.98848065e-01 7.23413905e-05 3.83524158e+00] [ 1.48484056e-02 -7.85735816e-04 9.99889448e-01 2.86685055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39509989299998 meters 0.023143337740815114 Centerline is valid? [True, True] Translation: X:247.95, Y:3.84, Z:2.87 [[ 9.98788111e-01 -4.67482764e-02 -1.53918345e-02 2.47952378e+02] [ 4.67549814e-02 9.98906385e-01 7.58673919e-05 3.84481815e+00] [ 1.53714551e-02 -7.95420385e-04 9.99881536e-01 2.86728912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42509989299998 meters 0.02390654159234863 Centerline is valid? [True, True] Translation: X:247.98, Y:3.85, Z:2.87 [[ 9.98813135e-01 -4.62432670e-02 -1.52932154e-02 2.47983982e+02] [ 4.62498469e-02 9.98929900e-01 7.66695529e-05 3.84511962e+00] [ 1.52733047e-02 -7.83887430e-04 9.99883049e-01 2.86730093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45509989299998 meters 0.023462542074723418 Centerline is valid? [True, True] Translation: X:248.02, Y:3.85, Z:2.87 [[ 9.98831421e-01 -4.58566819e-02 -1.52629437e-02 2.48016310e+02] [ 4.58632043e-02 9.98947727e-01 7.74052227e-05 3.84739668e+00] [ 1.52433334e-02 -7.77322274e-04 9.99883511e-01 2.86785469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48509989299998 meters 0.02346423696364105 Centerline is valid? [True, True] Translation: X:248.05, Y:3.85, Z:2.87 [[ 9.98842670e-01 -4.57595038e-02 -1.48117322e-02 2.48048708e+02] [ 4.57656512e-02 9.98952201e-01 7.61709773e-05 3.84857169e+00] [ 1.47927269e-02 -7.53951392e-04 9.99890297e-01 2.86835953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51509989299998 meters 0.025170137905856673 Centerline is valid? [True, True] Translation: X:248.08, Y:3.85, Z:2.87 [[ 9.98827637e-01 -4.61097424e-02 -1.47391558e-02 2.48080317e+02] [ 4.61158828e-02 9.98936094e-01 7.68242088e-05 3.84910983e+00] [ 1.47199324e-02 -7.56443326e-04 9.99891370e-01 2.86843482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54509989299999 meters 0.025123102312203435 Centerline is valid? [True, True] Translation: X:248.11, Y:3.85, Z:2.87 [[ 9.98791334e-01 -4.68735351e-02 -1.47899536e-02 2.48112148e+02] [ 4.68798140e-02 9.98900534e-01 7.79370997e-05 3.85085793e+00] [ 1.47700394e-02 -7.71193174e-04 9.99890620e-01 2.86892508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.575099893 meters 0.025406534865640214 Centerline is valid? [True, True] Translation: X:248.14, Y:3.85, Z:2.87 [[ 9.98722856e-01 -4.81944381e-02 -1.51641871e-02 2.48144745e+02] [ 4.82012075e-02 9.98837643e-01 8.10206843e-05 3.85378339e+00] [ 1.51426561e-02 -8.11849336e-04 9.99885014e-01 2.86898699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.605099893 meters 0.027129642930643124 Centerline is valid? [True, True] Translation: X:248.18, Y:3.85, Z:2.87 [[ 9.98695841e-01 -4.87642612e-02 -1.51216635e-02 2.48176065e+02] [ 4.87710734e-02 9.98809980e-01 8.18298311e-05 3.85281123e+00] [ 1.50996780e-02 -8.19222872e-04 9.99885658e-01 2.86886358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.635099893 meters 0.02581278767042736 Centerline is valid? [True, True] Translation: X:248.21, Y:3.86, Z:2.87 [[ 9.98659236e-01 -4.94390824e-02 -1.53462693e-02 2.48208288e+02] [ 4.94461915e-02 9.98776785e-01 8.39347148e-05 3.85622013e+00] [ 1.53233479e-02 -8.42636751e-04 9.99882236e-01 2.86928762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.665099893 meters 0.02727400431539642 Centerline is valid? [True, True] Translation: X:248.24, Y:3.86, Z:2.87 [[ 9.98617496e-01 -5.03828712e-02 -1.49887496e-02 2.48239579e+02] [ 5.03897741e-02 9.98729625e-01 8.29923208e-05 3.85761688e+00] [ 1.49655269e-02 -8.38157290e-04 9.99887659e-01 2.87018799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.695099893 meters 0.027098596536205444 Centerline is valid? [True, True] Translation: X:248.27, Y:3.86, Z:2.87 [[ 9.98609971e-01 -5.07982993e-02 -1.40591119e-02 2.48271759e+02] [ 5.08044239e-02 9.98708618e-01 7.85901491e-05 3.85979943e+00] [ 1.40369640e-02 -7.92745986e-04 9.99901163e-01 2.87167725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.725099893 meters 0.028491729525284903 Centerline is valid? [True, True] Translation: X:248.30, Y:3.86, Z:2.87 [[ 9.98634443e-01 -5.05407124e-02 -1.32244374e-02 2.48303051e+02] [ 5.05461211e-02 9.98721725e-01 7.48627810e-05 3.85949238e+00] [ 1.32037493e-02 -7.43204563e-04 9.99912551e-01 2.87265391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.755099893 meters 0.02818780776862124 Centerline is valid? [True, True] Translation: X:248.34, Y:3.86, Z:2.87 [[ 9.98658929e-01 -5.00202627e-02 -1.33535339e-02 2.48335463e+02] [ 5.00257523e-02 9.98747925e-01 7.71809202e-05 3.86161764e+00] [ 1.33329536e-02 -7.45097992e-04 9.99910835e-01 2.87300117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.785099893 meters 0.02852621330902041 Centerline is valid? [True, True] Translation: X:248.37, Y:3.86, Z:2.87 [[ 9.98752618e-01 -4.84260711e-02 -1.21706402e-02 2.48365700e+02] [ 4.84305228e-02 9.98826551e-01 7.11371433e-05 3.86460852e+00] [ 1.21529137e-02 -6.60478875e-04 9.99925932e-01 2.87385383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.815099893 meters 0.02547732779754871 Centerline is valid? [True, True] Translation: X:248.40, Y:3.87, Z:2.88 [[ 9.98815812e-01 -4.72705908e-02 -1.15093359e-02 2.48398266e+02] [ 4.72744969e-02 9.98881934e-01 6.74140078e-05 3.87049712e+00] [ 1.14932810e-02 -6.11432240e-04 9.99933763e-01 2.87501114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.845099893 meters 0.028420976754687483 Centerline is valid? [True, True] Translation: X:248.43, Y:3.87, Z:2.88 [[ 9.98880197e-01 -4.59884663e-02 -1.11091127e-02 2.48429347e+02] [ 4.59920352e-02 9.98941804e-01 6.58642668e-05 3.86811795e+00] [ 1.10943281e-02 -5.76721214e-04 9.99938290e-01 2.87562820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.875099893 meters 0.02782652832103094 Centerline is valid? [True, True] Translation: X:248.46, Y:3.87, Z:2.88 [[ 9.99002919e-01 -4.31012692e-02 -1.16381925e-02 2.48459453e+02] [ 4.31049987e-02 9.99070545e-01 6.96862051e-05 3.87185421e+00] [ 1.16243717e-02 -5.71280994e-04 9.99932272e-01 2.87565676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90509989299997 meters 0.023331084944981192 Centerline is valid? [True, True] Translation: X:248.49, Y:3.88, Z:2.88 [[ 9.99058929e-01 -4.16507271e-02 -1.21026188e-02 2.48492111e+02] [ 4.16546565e-02 9.99132066e-01 7.26653283e-05 3.87954567e+00] [ 1.20890879e-02 -5.76727373e-04 9.99926758e-01 2.87561005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93509989299997 meters 0.021721076471868606 Centerline is valid? [True, True] Translation: X:248.52, Y:3.88, Z:2.88 [[ 9.99122221e-01 -3.99163717e-02 -1.27071096e-02 2.48523984e+02] [ 3.99205786e-02 9.99202853e-01 7.74898697e-05 3.88322789e+00] [ 1.26938871e-02 -5.84697019e-04 9.99919258e-01 2.87550509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96509989299997 meters 0.022309603398447744 Centerline is valid? [True, True] Translation: X:248.55, Y:3.89, Z:2.88 [[ 9.99213936e-01 -3.70923736e-02 -1.39880864e-02 2.48554904e+02] [ 3.70972102e-02 9.99311658e-01 8.63604586e-05 3.88584666e+00] [ 1.39752545e-02 -6.05211556e-04 9.99902158e-01 2.87541194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99509989299997 meters 0.02216186124999125 Centerline is valid? [True, True] Translation: X:248.59, Y:3.89, Z:2.88 [[ 9.99270354e-01 -3.52857825e-02 -1.46175390e-02 2.48587168e+02] [ 3.52908805e-02 9.99377079e-01 9.08781635e-05 3.88779772e+00] [ 1.46052267e-02 -6.06677676e-04 9.99893154e-01 2.87548363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02509989299998 meters 0.019905926843244652 Centerline is valid? [True, True] Translation: X:248.62, Y:3.89, Z:2.88 [[ 9.99319226e-01 -3.36492881e-02 -1.51264398e-02 2.48618242e+02] [ 3.36545753e-02 9.99433520e-01 9.50488494e-05 3.89284084e+00] [ 1.51146726e-02 -6.04058049e-04 9.99885584e-01 2.87605269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05509989299998 meters 0.019474525735802897 Centerline is valid? [True, True] Translation: X:248.65, Y:3.89, Z:2.88 [[ 9.99367493e-01 -3.19945240e-02 -1.55230579e-02 2.48649867e+02] [ 3.19999018e-02 9.99487867e-01 9.81193979e-05 3.89493794e+00] [ 1.55119688e-02 -5.94793666e-04 9.99879505e-01 2.87641899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08509989299998 meters 0.019101822125371173 Centerline is valid? [True, True] Translation: X:248.68, Y:3.90, Z:2.88 [[ 9.99408746e-01 -3.02754715e-02 -1.62958169e-02 2.48680814e+02] [ 3.02811800e-02 9.99541415e-01 1.03617963e-04 3.89674880e+00] [ 1.62852068e-02 -5.97013265e-04 9.99867209e-01 2.87698108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11509989299998 meters 0.01986037013254171 Centerline is valid? [True, True] Translation: X:248.71, Y:3.90, Z:2.88 [[ 9.99483047e-01 -2.75959542e-02 -1.64955317e-02 2.48711589e+02] [ 2.76014489e-02 9.99619002e-01 1.05489075e-04 3.89817925e+00] [ 1.64863358e-02 -5.60735117e-04 9.99863934e-01 2.87765047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14509989299998 meters 0.017967712258153124 Centerline is valid? [True, True] Translation: X:248.74, Y:3.90, Z:2.88 [[ 9.99513123e-01 -2.67302397e-02 -1.60938038e-02 2.48743228e+02] [ 2.67353671e-02 9.99642541e-01 1.03489723e-04 3.90256524e+00] [ 1.60852846e-02 -5.33713089e-04 9.99870481e-01 2.87929861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17509989299998 meters 0.01780487089223481 Centerline is valid? [True, True] Translation: X:248.77, Y:3.91, Z:2.88 [[ 9.99550048e-01 -2.59966705e-02 -1.49624656e-02 2.48774779e+02] [ 2.60010278e-02 9.99661911e-01 9.67245894e-05 3.90505970e+00] [ 1.49548925e-02 -4.85720553e-04 9.99888051e-01 2.88153739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20509989299998 meters 0.01899407144958227 Centerline is valid? [True, True] Translation: X:248.81, Y:3.90, Z:2.88 [[ 9.99538360e-01 -2.62315501e-02 -1.53288147e-02 2.48805788e+02] [ 2.62361605e-02 9.99655768e-01 9.97101858e-05 3.90369896e+00] [ 1.53209225e-02 -5.01833398e-04 9.99882502e-01 2.88219890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23509989299998 meters 0.01826221033169561 Centerline is valid? [True, True] Translation: X:248.84, Y:3.91, Z:2.88 [[ 9.99531450e-01 -2.63628139e-02 -1.55525519e-02 2.48837379e+02] [ 2.63675880e-02 9.99652310e-01 1.01956378e-04 3.90504135e+00] [ 1.55444566e-02 -5.11991888e-04 9.99879047e-01 2.88290660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26509989299998 meters 0.019052924810718 Centerline is valid? [True, True] Translation: X:248.87, Y:3.90, Z:2.88 [[ 9.99509440e-01 -2.71801478e-02 -1.55601859e-02 2.48867233e+02] [ 2.71850368e-02 9.99630413e-01 1.02731287e-04 3.90395078e+00] [ 1.55516428e-02 -5.25685117e-04 9.99878928e-01 2.88358963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29509989299999 meters 0.019817890075675193 Centerline is valid? [True, True] Translation: X:248.90, Y:3.90, Z:2.88 [[ 9.99472384e-01 -2.87696414e-02 -1.50751996e-02 2.48898297e+02] [ 2.87744283e-02 9.99585925e-01 1.00684679e-04 3.90208417e+00] [ 1.50660607e-02 -5.34411806e-04 9.99886358e-01 2.88451844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.325099893 meters 0.018990984872236435 Centerline is valid? [True, True] Translation: X:248.93, Y:3.90, Z:2.89 [[ 9.99433812e-01 -2.99982419e-02 -1.52368116e-02 2.48929925e+02] [ 3.00032836e-02 9.99549795e-01 1.02357845e-04 3.90275158e+00] [ 1.52268814e-02 -5.59454272e-04 9.99883908e-01 2.88538195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.355099893 meters 0.020163369035598983 Centerline is valid? [True, True] Translation: X:248.96, Y:3.90, Z:2.89 [[ 9.99386522e-01 -3.15650657e-02 -1.51731916e-02 2.48960773e+02] [ 3.15702582e-02 9.99501530e-01 1.02750826e-04 3.90034858e+00] [ 1.51623849e-02 -5.81709367e-04 9.99884875e-01 2.88556400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.385099893 meters 0.022751979016060832 Centerline is valid? [True, True] Translation: X:248.99, Y:3.89, Z:2.88 [[ 9.99255451e-01 -3.47626957e-02 -1.67361189e-02 2.48990909e+02] [ 3.47694745e-02 9.99395353e-01 1.14147297e-04 3.89490389e+00] [ 1.67220314e-02 -6.95968368e-04 9.99859935e-01 2.88474652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.415099893 meters 0.021671613478608416 Centerline is valid? [True, True] Translation: X:249.02, Y:3.90, Z:2.88 [[ 9.99177293e-01 -3.64722711e-02 -1.77344276e-02 2.49022530e+02] [ 3.64801608e-02 9.99334370e-01 1.21476798e-04 3.89558563e+00] [ 1.77181925e-02 -7.68331629e-04 9.99842725e-01 2.88450884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.445099893 meters 0.023259592082455177 Centerline is valid? [True, True] Translation: X:249.05, Y:3.89, Z:2.88 [[ 9.99056600e-01 -3.92391969e-02 -1.86063411e-02 2.49052486e+02] [ 3.92483734e-02 9.99229478e-01 1.28147304e-04 3.89104772e+00] [ 1.85869761e-02 -8.58295032e-04 9.99826879e-01 2.88319466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.475099893 meters 0.025135272874258985 Centerline is valid? [True, True] Translation: X:249.08, Y:3.89, Z:2.88 [[ 9.99002220e-01 -4.05231043e-02 -1.87734382e-02 2.49083698e+02] [ 4.05326790e-02 9.99178205e-01 1.29637202e-04 3.88712640e+00] [ 1.87527569e-02 -8.90445595e-04 9.99823755e-01 2.88278873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.505099893 meters 0.023380993031854102 Centerline is valid? [True, True] Translation: X:249.12, Y:3.89, Z:2.88 [[ 9.98964149e-01 -4.15535466e-02 -1.85453837e-02 2.49115458e+02] [ 4.15630854e-02 9.99135873e-01 1.29044488e-04 3.88822877e+00] [ 1.85239958e-02 -8.99714181e-04 9.99828011e-01 2.88349147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.535099893 meters 0.0241670933963362 Centerline is valid? [True, True] Translation: X:249.15, Y:3.88, Z:2.88 [[ 9.98919260e-01 -4.30760159e-02 -1.74576386e-02 2.49147758e+02] [ 4.30847177e-02 9.99071415e-01 1.22476181e-04 3.88494804e+00] [ 1.74361520e-02 -8.74501249e-04 9.99847596e-01 2.88444370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.565099893 meters 0.0241670933963362 Centerline is valid? [True, True] Translation: X:249.18, Y:3.88, Z:2.88 [[ 9.98922365e-01 -4.30039503e-02 -1.74576297e-02 2.49179489e+02] [ 4.30126631e-02 9.99074519e-01 1.23737430e-04 3.88466482e+00] [ 1.74361518e-02 -8.74503232e-04 9.99847596e-01 2.88483585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.595099893 meters 0.02494233980145572 Centerline is valid? [True, True] Translation: X:249.21, Y:3.88, Z:2.89 [[ 9.98875177e-01 -4.43356368e-02 -1.68146259e-02 2.49211188e+02] [ 4.43439261e-02 9.99016317e-01 1.20278780e-04 3.88154147e+00] [ 1.67927530e-02 -8.65770015e-04 9.99858617e-01 2.88566691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.625099893 meters 0.026856729420279966 Centerline is valid? [True, True] Translation: X:249.24, Y:3.88, Z:2.89 [[ 9.98851809e-01 -4.53841296e-02 -1.53409335e-02 2.49242599e+02] [ 4.53911665e-02 9.98969284e-01 1.10638935e-04 3.87687535e+00] [ 1.53201001e-02 -8.06854766e-04 9.99882315e-01 2.88606023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65509989299997 meters 0.024188508873824795 Centerline is valid? [True, True] Translation: X:249.27, Y:3.88, Z:2.89 [[ 9.98827840e-01 -4.58713135e-02 -1.54521247e-02 2.49274975e+02] [ 4.58785334e-02 9.98947019e-01 1.12897702e-04 3.87951581e+00] [ 1.54306752e-02 -8.21686188e-04 9.99880602e-01 2.88685181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68509989299997 meters 0.02576234659530124 Centerline is valid? [True, True] Translation: X:249.31, Y:3.87, Z:2.89 [[ 9.98775406e-01 -4.69686711e-02 -1.55445080e-02 2.49305931e+02] [ 4.69761270e-02 9.98896006e-01 1.14658933e-04 3.87497634e+00] [ 1.55219616e-02 -8.44739304e-04 9.99879170e-01 2.88629776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71509989299997 meters 0.026218901249678562 Centerline is valid? [True, True] Translation: X:249.34, Y:3.87, Z:2.89 [[ 9.98760128e-01 -4.72445202e-02 -1.56895568e-02 2.49338106e+02] [ 4.72521642e-02 9.98882986e-01 1.16648785e-04 3.87267716e+00] [ 1.56665204e-02 -8.57869672e-04 9.99876905e-01 2.88604608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74509989299997 meters 0.024883240775534905 Centerline is valid? [True, True] Translation: X:249.37, Y:3.87, Z:2.89 [[ 9.98735369e-01 -4.74976398e-02 -1.64814023e-02 2.49370025e+02] [ 4.75061298e-02 9.98870939e-01 1.23771955e-04 3.87193201e+00] [ 1.64569149e-02 -9.06583067e-04 9.99864165e-01 2.88522722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77509989299998 meters 0.024883240775534905 Centerline is valid? [True, True] Translation: X:249.40, Y:3.87, Z:2.89 [[ 9.98738851e-01 -4.74243776e-02 -1.64813932e-02 2.49401763e+02] [ 4.74328775e-02 9.98874420e-01 1.24980781e-04 3.87163450e+00] [ 1.64569149e-02 -9.06583065e-04 9.99864165e-01 2.88561946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80509989299998 meters 0.02540842701527991 Centerline is valid? [True, True] Translation: X:249.43, Y:3.87, Z:2.89 [[ 9.98756279e-01 -4.69751467e-02 -1.67101739e-02 2.49432660e+02] [ 4.69838408e-02 9.98895641e-01 1.27872716e-04 3.86971983e+00] [ 1.66857131e-02 -9.12821830e-04 9.99860367e-01 2.88527950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83509989299998 meters 0.02540842701527991 Centerline is valid? [True, True] Translation: X:249.46, Y:3.87, Z:2.89 [[ 9.98759689e-01 -4.69026048e-02 -1.67101663e-02 2.49464397e+02] [ 4.69113053e-02 9.98899050e-01 1.28864062e-04 3.86941741e+00] [ 1.66857252e-02 -9.12599944e-04 9.99860367e-01 2.88567181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86509989299998 meters 0.025967068460899433 Centerline is valid? [True, True] Translation: X:249.50, Y:3.87, Z:2.89 [[ 9.98803444e-01 -4.58945226e-02 -1.68929711e-02 2.49495198e+02] [ 4.59032964e-02 9.98945879e-01 1.31785931e-04 3.86754660e+00] [ 1.68691156e-02 -9.07071299e-04 9.99857295e-01 2.88589361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89509989299998 meters 0.02548457574141607 Centerline is valid? [True, True] Translation: X:249.53, Y:3.87, Z:2.89 [[ 9.98904358e-01 -4.37829304e-02 -1.65269197e-02 2.49526925e+02] [ 4.37910701e-02 9.99040702e-01 1.30767298e-04 3.86759417e+00] [ 1.65053401e-02 -8.54355524e-04 9.99863413e-01 2.88682747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92509989299998 meters 0.024664255379818305 Centerline is valid? [True, True] Translation: X:249.56, Y:3.87, Z:2.89 [[ 9.98974299e-01 -4.23409132e-02 -1.60498079e-02 2.49558710e+02] [ 4.23484174e-02 9.99102895e-01 1.27830294e-04 3.86859563e+00] [ 1.60299971e-02 -8.07383143e-04 9.99871185e-01 2.88749780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95509989299998 meters 0.023082499949879123 Centerline is valid? [True, True] Translation: X:249.59, Y:3.87, Z:2.89 [[ 9.99118781e-01 -3.89592832e-02 -1.56152219e-02 2.49590771e+02] [ 3.89659870e-02 9.99240530e-01 1.25181761e-04 3.87067932e+00] [ 1.55984857e-02 -7.33533984e-04 9.99878067e-01 2.88822528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98509989299998 meters 0.023474387756403228 Centerline is valid? [True, True] Translation: X:249.62, Y:3.87, Z:2.89 [[ 9.99186273e-01 -3.73448035e-02 -1.52367147e-02 2.49621553e+02] [ 3.73510103e-02 9.99302200e-01 1.22892399e-04 3.86976926e+00] [ 1.52214931e-02 -6.91899087e-04 9.99883907e-01 2.88891393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01509989299998 meters 0.022990044794235893 Centerline is valid? [True, True] Translation: X:249.65, Y:3.87, Z:2.89 [[ 9.99248799e-01 -3.58111424e-02 -1.48121602e-02 2.49652937e+02] [ 3.58168475e-02 9.99358364e-01 1.19983834e-04 3.87021207e+00] [ 1.47983594e-02 -6.50418586e-04 9.99890287e-01 2.88945692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04509989299999 meters 0.022377216508729005 Centerline is valid? [True, True] Translation: X:249.68, Y:3.87, Z:2.89 [[ 9.99308241e-01 -3.41698188e-02 -1.46786613e-02 2.49684413e+02] [ 3.41752523e-02 9.99415848e-01 1.19413784e-04 3.87061054e+00] [ 1.46660064e-02 -6.20978133e-04 9.99892256e-01 2.89000585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.075099893 meters 0.021088299128804704 Centerline is valid? [True, True] Translation: X:249.72, Y:3.87, Z:2.89 [[ 9.99320168e-01 -3.38494593e-02 -1.46087502e-02 2.49717071e+02] [ 3.38548157e-02 9.99426754e-01 1.19438243e-04 3.87210246e+00] [ 1.45963329e-02 -6.13933590e-04 9.99893279e-01 2.89020119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.105099893 meters 0.022414541124433297 Centerline is valid? [True, True] Translation: X:249.75, Y:3.87, Z:2.89 [[ 9.99314093e-01 -3.40474135e-02 -1.45642640e-02 2.49748332e+02] [ 3.40527730e-02 9.99420029e-01 1.20081076e-04 3.86921617e+00] [ 1.45517287e-02 -6.15952286e-04 9.99893928e-01 2.88964909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.135099893 meters 0.02293267072880763 Centerline is valid? [True, True] Translation: X:249.78, Y:3.87, Z:2.89 [[ 9.99281009e-01 -3.48240328e-02 -1.49917254e-02 2.49780950e+02] [ 3.48298117e-02 9.99393250e-01 1.24473032e-04 3.86749929e+00] [ 1.49782945e-02 -6.46542509e-04 9.99887610e-01 2.88955015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.165099893 meters 0.023717924579461404 Centerline is valid? [True, True] Translation: X:249.81, Y:3.87, Z:2.89 [[ 9.99236339e-01 -3.61497676e-02 -1.48301564e-02 2.49813004e+02] [ 3.61555836e-02 9.99346165e-01 1.24160673e-04 3.86540652e+00] [ 1.48159716e-02 -6.60258817e-04 9.99890019e-01 2.88943922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.195099893 meters 0.02376113636162805 Centerline is valid? [True, True] Translation: X:249.84, Y:3.86, Z:2.89 [[ 9.99096711e-01 -3.94883191e-02 -1.56982105e-02 2.49843668e+02] [ 3.94952624e-02 9.99219749e-01 1.32402604e-04 3.86340118e+00] [ 1.56807336e-02 -7.52287950e-04 9.99876767e-01 2.88875235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.225099893 meters 0.025699456972482146 Centerline is valid? [True, True] Translation: X:249.87, Y:3.86, Z:2.89 [[ 9.98905980e-01 -4.34980805e-02 -1.71685561e-02 2.49874800e+02] [ 4.35069819e-02 9.99053112e-01 1.45129630e-04 3.85897698e+00] [ 1.71459866e-02 -8.91922917e-04 9.99852599e-01 2.88709292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.255099893 meters 0.025485155943258658 Centerline is valid? [True, True] Translation: X:249.91, Y:3.86, Z:2.89 [[ 9.98836085e-01 -4.49552685e-02 -1.74785408e-02 2.49906514e+02] [ 4.49647255e-02 9.98988564e-01 1.48250124e-04 3.85857676e+00] [ 1.74541977e-02 -9.33995362e-04 9.99847228e-01 2.88743016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.285099893 meters 0.02556382233552157 Centerline is valid? [True, True] Translation: X:249.94, Y:3.86, Z:2.89 [[ 9.98796373e-01 -4.60124519e-02 -1.69900048e-02 2.49938339e+02] [ 4.60215588e-02 9.98940436e-01 1.45212547e-04 3.85829512e+00] [ 1.69653212e-02 -9.26944270e-04 9.99855649e-01 2.88762105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.315099893 meters 0.02551716737102044 Centerline is valid? [True, True] Translation: X:249.97, Y:3.86, Z:2.89 [[ 9.98777166e-01 -4.65738532e-02 -1.65846148e-02 2.49970358e+02] [ 4.65826325e-02 9.98914430e-01 1.43242703e-04 3.85811760e+00] [ 1.65599397e-02 -9.15622558e-04 9.99862456e-01 2.88837755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.345099893 meters 0.0273847327776985 Centerline is valid? [True, True] Translation: X:250.00, Y:3.86, Z:2.89 [[ 9.98799622e-01 -4.63147229e-02 -1.59456082e-02 2.50001607e+02] [ 4.63228225e-02 9.98926512e-01 1.38782138e-04 3.85537686e+00] [ 1.59220631e-02 -8.77261123e-04 9.99872851e-01 2.88903110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.375099893 meters 0.027303772913042406 Centerline is valid? [True, True] Translation: X:250.03, Y:3.86, Z:2.89 [[ 9.98867144e-01 -4.51294628e-02 -1.50917497e-02 2.50034381e+02] [ 4.51365963e-02 9.98980816e-01 1.32224284e-04 3.85524879e+00] [ 1.50704012e-02 -8.13264707e-04 9.99886104e-01 2.88995805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40509989299997 meters 0.022502325762390266 Centerline is valid? [True, True] Translation: X:250.07, Y:3.86, Z:2.89 [[ 9.99065424e-01 -4.10129000e-02 -1.36462741e-02 2.50065112e+02] [ 4.10183632e-02 9.99158386e-01 1.20575878e-04 3.86298928e+00] [ 1.36298440e-02 -6.80211019e-04 9.99906878e-01 2.89131962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43509989299997 meters 0.02437251343794421 Centerline is valid? [True, True] Translation: X:250.10, Y:3.86, Z:2.89 [[ 9.99181147e-01 -3.83056978e-02 -1.30272343e-02 2.50095576e+02] [ 3.83104508e-02 9.99265879e-01 1.15403219e-04 3.86069474e+00] [ 1.30132501e-02 -6.14387940e-04 9.99915135e-01 2.89191908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46509989299997 meters 0.023286991417058936 Centerline is valid? [True, True] Translation: X:250.13, Y:3.86, Z:2.89 [[ 9.99292977e-01 -3.52928886e-02 -1.29598700e-02 2.50127546e+02] [ 3.52973430e-02 9.99376848e-01 1.15066641e-04 3.86310577e+00] [ 1.29477330e-02 -5.72434263e-04 9.99916011e-01 2.89250336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49509989299997 meters 0.021607554973856222 Centerline is valid? [True, True] Translation: X:250.16, Y:3.87, Z:2.89 [[ 9.99499911e-01 -2.93319200e-02 -1.18137802e-02 2.50157115e+02] [ 2.93352127e-02 9.99569624e-01 1.05493871e-04 3.86804175e+00] [ 1.18056015e-02 -4.52000870e-04 9.99930209e-01 2.89361452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52509989299998 meters 0.019637707097863874 Centerline is valid? [True, True] Translation: X:250.19, Y:3.87, Z:2.89 [[ 9.99594707e-01 -2.62789128e-02 -1.09471730e-02 2.50189034e+02] [ 2.62815553e-02 9.99654576e-01 9.75734520e-05 3.87211039e+00] [ 1.09408275e-02 -3.85242640e-04 9.99940073e-01 2.89435459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55509989299998 meters 0.020272941518926186 Centerline is valid? [True, True] Translation: X:250.22, Y:3.87, Z:2.90 [[ 9.99656458e-01 -2.39979726e-02 -1.05386135e-02 2.50219464e+02] [ 2.40003002e-02 9.99711947e-01 9.44327307e-05 3.87172922e+00] [ 1.05333116e-02 -3.47330176e-04 9.99944463e-01 2.89543423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58509989299998 meters 0.017750435795800545 Centerline is valid? [True, True] Translation: X:250.25, Y:3.88, Z:2.90 [[ 9.99744340e-01 -2.05695816e-02 -9.38862080e-03 2.50251448e+02] [ 2.05712841e-02 9.99788385e-01 8.47999373e-05 3.87647402e+00] [ 9.38488973e-03 -2.77914244e-04 9.99955922e-01 2.89547715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61509989299998 meters 0.0176045545590347 Centerline is valid? [True, True] Translation: X:250.28, Y:3.88, Z:2.90 [[ 9.99761407e-01 -1.97131646e-02 -9.40855450e-03 2.50282375e+02] [ 1.97148415e-02 9.99805640e-01 8.55138894e-05 3.87709838e+00] [ 9.40504010e-03 -2.70981647e-04 9.99955735e-01 2.89577901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64509989299998 meters 0.01718609629199269 Centerline is valid? [True, True] Translation: X:250.31, Y:3.88, Z:2.90 [[ 9.99764850e-01 -1.93685669e-02 -9.75214049e-03 2.50314768e+02] [ 1.93703548e-02 9.99812373e-01 8.89050618e-05 3.87799075e+00] [ 9.74858876e-03 -2.77786577e-04 9.99952443e-01 2.89566868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67509989299998 meters 0.017341260128781386 Centerline is valid? [True, True] Translation: X:250.35, Y:3.88, Z:2.90 [[ 9.99748341e-01 -1.97764719e-02 -1.05899355e-02 2.50345724e+02] [ 1.97786127e-02 9.99804379e-01 9.74533197e-05 3.87769369e+00] [ 1.05859366e-02 -3.06883028e-04 9.99943920e-01 2.89538732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70509989299998 meters 0.01878475980414129 Centerline is valid? [True, True] Translation: X:250.38, Y:3.87, Z:2.89 [[ 9.99689795e-01 -2.18516453e-02 -1.19507346e-02 2.50376121e+02] [ 2.18545258e-02 9.99761155e-01 1.10470911e-04 3.87472651e+00] [ 1.19454663e-02 -3.71614280e-04 9.99928581e-01 2.89383866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73509989299998 meters 0.018252443455749882 Centerline is valid? [True, True] Translation: X:250.41, Y:3.88, Z:2.89 [[ 9.99649468e-01 -2.33318522e-02 -1.25126451e-02 2.50407577e+02] [ 2.33351287e-02 9.99727692e-01 1.15901721e-04 3.87513149e+00] [ 1.25065336e-02 -4.07845277e-04 9.99921707e-01 2.89339842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76509989299998 meters 0.01932405097905786 Centerline is valid? [True, True] Translation: X:250.44, Y:3.87, Z:2.89 [[ 9.99596739e-01 -2.51139109e-02 -1.32533555e-02 2.50438008e+02] [ 2.51177498e-02 9.99684492e-01 1.23251354e-04 3.87294636e+00] [ 1.32460787e-02 -4.56096120e-04 9.99912163e-01 2.89293472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79509989299999 meters 0.01960890969172816 Centerline is valid? [True, True] Translation: X:250.47, Y:3.87, Z:2.89 [[ 9.99553711e-01 -2.66202889e-02 -1.35550356e-02 2.50469422e+02] [ 2.66244465e-02 9.99645499e-01 1.26325606e-04 3.87199422e+00] [ 1.35468675e-02 -4.87164550e-04 9.99908118e-01 2.89231968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.825099893 meters 0.02116845409179093 Centerline is valid? [True, True] Translation: X:250.50, Y:3.87, Z:2.89 [[ 9.99459540e-01 -2.95796420e-02 -1.43412613e-02 2.50499529e+02] [ 2.95846074e-02 9.99562271e-01 1.34155388e-04 3.86936609e+00] [ 1.43310155e-02 -5.58363467e-04 9.99897150e-01 2.89169609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.855099893 meters 0.0214285904747443 Centerline is valid? [True, True] Translation: X:250.53, Y:3.87, Z:2.89 [[ 9.99422018e-01 -3.09350766e-02 -1.40943692e-02 2.50530785e+02] [ 3.09400109e-02 9.99521235e-01 1.32122817e-04 3.86903241e+00] [ 1.40835340e-02 -5.68126388e-04 9.99900661e-01 2.89234007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.885099893 meters 0.022857029334747904 Centerline is valid? [True, True] Translation: X:250.56, Y:3.87, Z:2.89 [[ 9.99384852e-01 -3.26839206e-02 -1.27153142e-02 2.50562024e+02] [ 3.26880830e-02 9.99465595e-01 1.19609882e-04 3.86733028e+00] [ 1.27046098e-02 -5.35175552e-04 9.99919150e-01 2.89335980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.915099893 meters 0.02309582895172744 Centerline is valid? [True, True] Translation: X:250.59, Y:3.87, Z:2.89 [[ 9.99367987e-01 -3.33065030e-02 -1.24218592e-02 2.50594053e+02] [ 3.33105315e-02 9.99445043e-01 1.17495182e-04 3.86693958e+00] [ 1.24110522e-02 -5.31199655e-04 9.99922839e-01 2.89395294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.945099893 meters 0.023684087697646274 Centerline is valid? [True, True] Translation: X:250.63, Y:3.87, Z:2.89 [[ 9.99371470e-01 -3.34583166e-02 -1.17134724e-02 2.50625589e+02] [ 3.34619183e-02 9.99439987e-01 1.11580907e-04 3.86612265e+00] [ 1.17031794e-02 -5.03466031e-04 9.99931389e-01 2.89485846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.975099893 meters 0.024181853764674376 Centerline is valid? [True, True] Translation: X:250.66, Y:3.87, Z:2.90 [[ 9.99388758e-01 -3.33665049e-02 -1.04301098e-02 2.50656595e+02] [ 3.33693605e-02 9.99443083e-01 9.98328372e-05 3.86564084e+00] [ 1.04209700e-02 -4.47817909e-04 9.99945600e-01 2.89591526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.005099893 meters 0.0217439544316221 Centerline is valid? [True, True] Translation: X:250.69, Y:3.87, Z:2.90 [[ 9.99409965e-01 -3.30287302e-02 -9.42472609e-03 2.50688947e+02] [ 3.30310503e-02 9.99454322e-01 9.05777655e-05 3.86972118e+00] [ 9.41659156e-03 -4.01832923e-04 9.99955582e-01 2.89671166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.035099893 meters 0.021922070554070076 Centerline is valid? [True, True] Translation: X:250.72, Y:3.87, Z:2.90 [[ 9.99417495e-01 -3.27786382e-02 -9.49905996e-03 2.50721655e+02] [ 3.27809898e-02 9.99462555e-01 9.19364242e-05 3.86941375e+00] [ 9.49094118e-03 -4.03271459e-04 9.99954879e-01 2.89695127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.065099893 meters 0.023398521150430365 Centerline is valid? [True, True] Translation: X:250.75, Y:3.87, Z:2.90 [[ 9.99423431e-01 -3.26367288e-02 -9.36218073e-03 2.50752822e+02] [ 3.26390158e-02 9.99467201e-01 9.15487919e-05 3.86724724e+00] [ 9.35420472e-03 -3.97068372e-04 9.99956170e-01 2.89758727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.095099893 meters 0.023204242410272028 Centerline is valid? [True, True] Translation: X:250.79, Y:3.87, Z:2.90 [[ 9.99423634e-01 -3.26677203e-02 -9.23146606e-03 2.50785165e+02] [ 3.26699492e-02 9.99466191e-01 9.07058913e-05 3.86723873e+00] [ 9.22357506e-03 -3.92245139e-04 9.99957385e-01 2.89779325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.125099893 meters 0.021930757018877704 Centerline is valid? [True, True] Translation: X:250.82, Y:3.87, Z:2.90 [[ 9.99395076e-01 -3.34558098e-02 -9.49691800e-03 2.50817185e+02] [ 3.34582108e-02 9.99440113e-01 9.40029204e-05 3.86920171e+00] [ 9.48845586e-03 -4.11695940e-04 9.99954899e-01 2.89755982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15509989299997 meters 0.022563369942503197 Centerline is valid? [True, True] Translation: X:250.85, Y:3.87, Z:2.90 [[ 9.99380315e-01 -3.38150710e-02 -9.77378399e-03 2.50847995e+02] [ 3.38176372e-02 9.99428015e-01 9.73681290e-05 3.86768026e+00] [ 9.76490103e-03 -4.27834073e-04 9.99952231e-01 2.89775934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18509989299997 meters 0.02399875373976661 Centerline is valid? [True, True] Translation: X:250.88, Y:3.86, Z:2.90 [[ 9.99315637e-01 -3.53860058e-02 -1.07744607e-02 2.50879012e+02] [ 3.53892310e-02 9.99373599e-01 1.08768017e-04 3.86497238e+00] [ 1.07638627e-02 -4.89993458e-04 9.99941948e-01 2.89719450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21509989299997 meters 0.024306666323370415 Centerline is valid? [True, True] Translation: X:250.91, Y:3.86, Z:2.90 [[ 9.99278326e-01 -3.62408822e-02 -1.13765693e-02 2.50911305e+02] [ 3.62445466e-02 9.99342944e-01 1.16024339e-04 3.86396994e+00] [ 1.13648895e-02 -5.28279205e-04 9.99935278e-01 2.89670183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24509989299997 meters 0.024920019920907907 Centerline is valid? [True, True] Translation: X:250.94, Y:3.86, Z:2.90 [[ 9.99238572e-01 -3.69975454e-02 -1.23877804e-02 2.50943357e+02] [ 3.70019602e-02 9.99315185e-01 1.27293428e-04 3.86261995e+00] [ 1.23745875e-02 -5.85568660e-04 9.99923260e-01 2.89633980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27509989299998 meters 0.02572940822260103 Centerline is valid? [True, True] Translation: X:250.97, Y:3.86, Z:2.90 [[ 9.99208059e-01 -3.74553372e-02 -1.34295305e-02 2.50974831e+02] [ 3.74605813e-02 9.99298096e-01 1.39064353e-04 3.86110805e+00] [ 1.34148956e-02 -6.42032243e-04 9.99909810e-01 2.89563496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30509989299998 meters 0.02859701998234661 Centerline is valid? [True, True] Translation: X:251.01, Y:3.86, Z:2.90 [[ 9.99162373e-01 -3.82389982e-02 -1.45716051e-02 2.51005994e+02] [ 3.82452789e-02 9.99268370e-01 1.52503684e-04 3.85677195e+00] [ 1.45551125e-02 -7.09671042e-04 9.99893817e-01 2.89503682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33509989299998 meters 0.027323473226986045 Centerline is valid? [True, True] Translation: X:251.04, Y:3.86, Z:2.89 [[ 9.99115687e-01 -3.89082793e-02 -1.59370407e-02 2.51038121e+02] [ 3.89158925e-02 9.99242476e-01 1.67744963e-04 3.85911652e+00] [ 1.59184414e-02 -7.87800788e-04 9.99872983e-01 2.89429732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36509989299998 meters 0.027787570922849333 Centerline is valid? [True, True] Translation: X:251.07, Y:3.86, Z:2.89 [[ 9.99112727e-01 -3.88803091e-02 -1.61889101e-02 2.51070398e+02] [ 3.88881794e-02 9.99243554e-01 1.71521861e-04 3.85860998e+00] [ 1.61699952e-02 -8.00926913e-04 9.99868936e-01 2.89461043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39509989299998 meters 0.02637131453157761 Centerline is valid? [True, True] Translation: X:251.10, Y:3.86, Z:2.90 [[ 9.99135905e-01 -3.83211544e-02 -1.60913875e-02 2.51102192e+02] [ 3.83288755e-02 9.99265164e-01 1.71589804e-04 3.86091268e+00] [ 1.60729875e-02 -7.88206323e-04 9.99870511e-01 2.89541853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42509989299998 meters 0.023506354593001884 Centerline is valid? [True, True] Translation: X:251.13, Y:3.87, Z:2.90 [[ 9.99182776e-01 -3.74437170e-02 -1.52233066e-02 2.51134059e+02] [ 3.74505414e-02 9.99298469e-01 1.63356603e-04 3.86624875e+00] [ 1.52065103e-02 -7.33344177e-04 9.99884105e-01 2.89690099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45509989299998 meters 0.028338050439988664 Centerline is valid? [True, True] Translation: X:251.16, Y:3.86, Z:2.90 [[ 9.99250017e-01 -3.60584205e-02 -1.41135781e-02 2.51164349e+02] [ 3.60641604e-02 9.99349465e-01 1.52313391e-04 3.86023829e+00] [ 1.40989046e-02 -6.61193504e-04 9.99900387e-01 2.89814241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48509989299998 meters 0.02236904531750309 Centerline is valid? [True, True] Translation: X:251.20, Y:3.87, Z:2.90 [[ 9.99289315e-01 -3.51992594e-02 -1.34861852e-02 2.51196552e+02] [ 3.52044261e-02 9.99380121e-01 1.45836865e-04 3.86925707e+00] [ 1.34726921e-02 -6.20506632e-04 9.99909047e-01 2.89932949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51509989299998 meters 0.02830789104884711 Centerline is valid? [True, True] Translation: X:251.23, Y:3.86, Z:2.90 [[ 9.99338392e-01 -3.40341248e-02 -1.28240592e-02 2.51227994e+02] [ 3.40387123e-02 9.99420505e-01 1.39563502e-04 3.86082279e+00] [ 1.28118779e-02 -5.75985628e-04 9.99917759e-01 2.90004116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54509989299999 meters 0.02262789426864516 Centerline is valid? [True, True] Translation: X:251.26, Y:3.87, Z:2.90 [[ 9.99372675e-01 -3.31704854e-02 -1.24086748e-02 2.51260257e+02] [ 3.31747222e-02 9.99449558e-01 1.35699661e-04 3.86946015e+00] [ 1.23973433e-02 -5.47268872e-04 9.99923000e-01 2.90098055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.575099893 meters 0.023324391765274392 Centerline is valid? [True, True] Translation: X:251.29, Y:3.87, Z:2.90 [[ 9.99402402e-01 -3.22638895e-02 -1.24048304e-02 2.51291019e+02] [ 3.22680649e-02 9.99479241e-01 1.36549811e-04 3.86879244e+00] [ 1.23939649e-02 -5.36748083e-04 9.99923048e-01 2.90182274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.605099893 meters 0.022124313544201205 Centerline is valid? [True, True] Translation: X:251.32, Y:3.87, Z:2.90 [[ 9.99451169e-01 -3.09538762e-02 -1.17991099e-02 2.51323718e+02] [ 3.09575696e-02 9.99520691e-01 1.30462321e-04 3.87140197e+00] [ 1.17894162e-02 -4.95662485e-04 9.99930380e-01 2.90299799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.635099893 meters 0.022638612375318234 Centerline is valid? [True, True] Translation: X:251.35, Y:3.87, Z:2.90 [[ 9.99446892e-01 -3.08672325e-02 -1.23743154e-02 2.51354673e+02] [ 3.08713025e-02 9.99523358e-01 1.37984220e-04 3.87064484e+00] [ 1.23641581e-02 -5.19919134e-04 9.99923426e-01 2.90319884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.665099893 meters 0.022638612375318234 Centerline is valid? [True, True] Translation: X:251.39, Y:3.87, Z:2.90 [[ 9.99449082e-01 -3.07962505e-02 -1.23743080e-02 2.51386390e+02] [ 3.08003232e-02 9.99525548e-01 1.38645597e-04 3.87023012e+00] [ 1.23641672e-02 -5.19701901e-04 9.99923426e-01 2.90359090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.695099893 meters 0.021805471191289397 Centerline is valid? [True, True] Translation: X:251.42, Y:3.87, Z:2.90 [[ 9.99407093e-01 -3.05858017e-02 -1.58104939e-02 2.51418407e+02] [ 3.05924462e-02 9.99531926e-01 1.78516165e-04 3.87146625e+00] [ 1.57976333e-02 -6.62092005e-04 9.99874990e-01 2.90092683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.725099893 meters 0.024748859742942487 Centerline is valid? [True, True] Translation: X:251.45, Y:3.87, Z:2.90 [[ 9.99378741e-01 -3.06437158e-02 -1.74096056e-02 2.51448890e+02] [ 3.06518000e-02 9.99530104e-01 1.97643050e-04 3.86670156e+00] [ 1.73953684e-02 -7.31156011e-04 9.99848422e-01 2.89982213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.755099893 meters 0.0224375586565657 Centerline is valid? [True, True] Translation: X:251.48, Y:3.87, Z:2.90 [[ 9.99368237e-01 -3.07273969e-02 -1.78592654e-02 2.51479894e+02] [ 3.07359251e-02 9.99527519e-01 2.03168690e-04 3.86999251e+00] [ 1.78445844e-02 -7.51961380e-04 9.99840490e-01 2.90022130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.785099893 meters 0.022728922178380507 Centerline is valid? [True, True] Translation: X:251.51, Y:3.87, Z:2.90 [[ 9.99353987e-01 -3.07747047e-02 -1.85613969e-02 2.51511526e+02] [ 3.07839374e-02 9.99526040e-01 2.11829580e-04 3.86981547e+00] [ 1.85460806e-02 -7.83085615e-04 9.99827700e-01 2.90072910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.815099893 meters 0.0234833456196361 Centerline is valid? [True, True] Translation: X:251.54, Y:3.87, Z:2.90 [[ 9.99362211e-01 -3.02002256e-02 -1.90556217e-02 2.51541479e+02] [ 3.02098631e-02 9.99543554e-01 2.18033967e-04 3.86887773e+00] [ 1.90403392e-02 -7.93562631e-04 9.99818401e-01 2.90084503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.845099893 meters 0.020578787145353244 Centerline is valid? [True, True] Translation: X:251.57, Y:3.87, Z:2.90 [[ 9.99374970e-01 -2.95995589e-02 -1.93270450e-02 2.51572004e+02] [ 2.96093651e-02 9.99561522e-01 2.21358838e-04 3.87384463e+00] [ 1.93120184e-02 -7.93482013e-04 9.99813191e-01 2.90193344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.875099893 meters 0.021044572043434896 Centerline is valid? [True, True] Translation: X:251.60, Y:3.87, Z:2.90 [[ 9.99434910e-01 -2.73696018e-02 -1.95132220e-02 2.51602137e+02] [ 2.73791735e-02 9.99625095e-01 2.23491183e-04 3.87411937e+00] [ 1.94997896e-02 -7.57620783e-04 9.99809574e-01 2.90202718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90509989299997 meters 0.022480866222054263 Centerline is valid? [True, True] Translation: X:251.63, Y:3.87, Z:2.90 [[ 9.99471828e-01 -2.62577025e-02 -1.91467566e-02 2.51631977e+02] [ 2.62667120e-02 9.99654946e-01 2.19174555e-04 3.87254858e+00] [ 1.91343949e-02 -7.21981133e-04 9.99816660e-01 2.90241370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93509989299997 meters 0.020974439812342087 Centerline is valid? [True, True] Translation: X:251.66, Y:3.88, Z:2.90 [[ 9.99539709e-01 -2.44503091e-02 -1.79597705e-02 2.51661819e+02] [ 2.44579374e-02 9.99700839e-01 2.05188415e-04 3.87646307e+00] [ 1.79493807e-02 -6.44352911e-04 9.99838689e-01 2.90421191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96509989299997 meters 0.020421340221226134 Centerline is valid? [True, True] Translation: X:251.69, Y:3.88, Z:2.91 [[ 9.99560911e-01 -2.37355537e-02 -1.77372259e-02 2.51691084e+02] [ 2.37428708e-02 9.99718078e-01 2.02033429e-04 3.87791384e+00] [ 1.77274300e-02 -6.23077381e-04 9.99842663e-01 2.90541552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99509989299997 meters 0.02091813462165427 Centerline is valid? [True, True] Translation: X:251.72, Y:3.88, Z:2.91 [[ 9.99572819e-01 -2.34648517e-02 -1.74235552e-02 2.51720268e+02] [ 2.34718623e-02 9.99724478e-01 1.97947538e-04 3.87749018e+00] [ 1.74141098e-02 -6.06826267e-04 9.99848179e-01 2.90554875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02509989299998 meters 0.02009605522124977 Centerline is valid? [True, True] Translation: X:251.75, Y:3.88, Z:2.91 [[ 9.99565193e-01 -2.36507818e-02 -1.76086863e-02 2.51749947e+02] [ 2.36579639e-02 9.99720091e-01 1.99648719e-04 3.87877977e+00] [ 1.75990356e-02 -6.16147576e-04 9.99844935e-01 2.90580931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05509989299998 meters 0.019798132102136913 Centerline is valid? [True, True] Translation: X:251.78, Y:3.88, Z:2.91 [[ 9.99548771e-01 -2.42101397e-02 -1.77798896e-02 2.51779917e+02] [ 2.42175393e-02 9.99706692e-01 2.00956239e-04 3.87926147e+00] [ 1.77698094e-02 -6.31450737e-04 9.99841905e-01 2.90567393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08509989299998 meters 0.020915668918841224 Centerline is valid? [True, True] Translation: X:251.81, Y:3.88, Z:2.91 [[ 9.99464947e-01 -2.68968298e-02 -1.86112980e-02 2.51809232e+02] [ 2.69053922e-02 9.99637962e-01 2.09780003e-04 3.87766649e+00] [ 1.85989176e-02 -7.10412032e-04 9.99826773e-01 2.90532526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11509989299998 meters 0.021449773727766994 Centerline is valid? [True, True] Translation: X:251.84, Y:3.88, Z:2.91 [[ 9.99411829e-01 -2.85751152e-02 -1.89593960e-02 2.51839120e+02] [ 2.85842960e-02 9.99591363e-01 2.13363488e-04 3.87660414e+00] [ 1.89455516e-02 -7.55178982e-04 9.99820232e-01 2.90561737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14509989299998 meters 0.0221478151754356 Centerline is valid? [True, True] Translation: X:251.87, Y:3.88, Z:2.91 [[ 9.99337268e-01 -3.06968964e-02 -1.95633655e-02 2.51869872e+02] [ 3.07070730e-02 9.99528402e-01 2.19934172e-04 3.87559999e+00] [ 1.95473882e-02 -8.20522107e-04 9.99808595e-01 2.90598583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17509989299998 meters 0.023237116699945076 Centerline is valid? [True, True] Translation: X:251.90, Y:3.87, Z:2.91 [[ 9.99257755e-01 -3.28530065e-02 -2.01151569e-02 2.51900678e+02] [ 3.28642014e-02 9.99459801e-01 2.26137489e-04 3.87410279e+00] [ 2.00968614e-02 -8.87038207e-04 9.99797644e-01 2.90624676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20509989299998 meters 0.022685751797764202 Centerline is valid? [True, True] Translation: X:251.93, Y:3.87, Z:2.91 [[ 9.99150425e-01 -3.48089283e-02 -2.20627751e-02 2.51932169e+02] [ 3.48228802e-02 9.99393469e-01 2.48382788e-04 3.87470175e+00] [ 2.20407474e-02 -1.01646114e-03 9.99756556e-01 2.90594942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23509989299998 meters 0.024809780885625524 Centerline is valid? [True, True] Translation: X:251.96, Y:3.87, Z:2.91 [[ 9.99151185e-01 -3.48895669e-02 -2.19003995e-02 2.51962212e+02] [ 3.49033469e-02 9.99390662e-01 2.47168002e-04 3.87145994e+00] [ 2.18784312e-02 -1.01135544e-03 9.99760127e-01 2.90551643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26509989299998 meters 0.023401093416143298 Centerline is valid? [True, True] Translation: X:251.99, Y:3.87, Z:2.91 [[ 9.99163723e-01 -3.43458226e-02 -2.21860102e-02 2.51992681e+02] [ 3.43598357e-02 9.99409495e-01 2.50615267e-04 3.87344805e+00] [ 2.21643016e-02 -1.01271335e-03 9.99753829e-01 2.90644416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29509989299999 meters 0.0249803760055761 Centerline is valid? [True, True] Translation: X:252.02, Y:3.87, Z:2.91 [[ 9.99247147e-01 -3.24058737e-02 -2.13307122e-02 2.52021856e+02] [ 3.24183824e-02 9.99474357e-01 2.40795486e-04 3.87156377e+00] [ 2.13116967e-02 -9.32121388e-04 9.99772445e-01 2.90712199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.325099893 meters 0.021961547980435238 Centerline is valid? [True, True] Translation: X:252.05, Y:3.88, Z:2.91 [[ 9.99294482e-01 -3.12128206e-02 -2.08877395e-02 2.52052701e+02] [ 3.12245504e-02 9.99512367e-01 2.35581196e-04 3.87643383e+00] [ 2.08702008e-02 -8.87625263e-04 9.99781800e-01 2.90900894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.355099893 meters 0.022559034614173044 Centerline is valid? [True, True] Translation: X:252.08, Y:3.88, Z:2.91 [[ 9.99340972e-01 -3.01119693e-02 -2.02704276e-02 2.52082362e+02] [ 3.01227920e-02 9.99546180e-01 2.28725704e-04 3.87587434e+00] [ 2.02543411e-02 -8.39176843e-04 9.99794508e-01 2.91009420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.385099893 meters 0.02133381422706348 Centerline is valid? [True, True] Translation: X:252.11, Y:3.88, Z:2.91 [[ 9.99399762e-01 -2.81943782e-02 -2.01294125e-02 2.52113021e+02] [ 2.82046658e-02 9.99602143e-01 2.27300452e-04 3.87844471e+00] [ 2.01149953e-02 -7.94907369e-04 9.99797357e-01 2.91130302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.415099893 meters 0.02110791712621923 Centerline is valid? [True, True] Translation: X:252.14, Y:3.88, Z:2.91 [[ 9.99408513e-01 -2.75983699e-02 -2.05171907e-02 2.52142582e+02] [ 2.76089265e-02 9.99618774e-01 2.31390537e-04 3.87862914e+00] [ 2.05029830e-02 -7.97711283e-04 9.99789474e-01 2.91155685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.445099893 meters 0.0204443846987503 Centerline is valid? [True, True] Translation: X:252.17, Y:3.88, Z:2.91 [[ 9.99409817e-01 -2.72245731e-02 -2.09485340e-02 2.52171913e+02] [ 2.72354806e-02 9.99629018e-01 2.35500817e-04 3.87973234e+00] [ 2.09343510e-02 -8.05905220e-04 9.99780528e-01 2.91178166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.475099893 meters 0.020023142572171707 Centerline is valid? [True, True] Translation: X:252.20, Y:3.88, Z:2.91 [[ 9.99408100e-01 -2.68921272e-02 -2.14537484e-02 2.52201672e+02] [ 2.69034741e-02 9.99638007e-01 2.40399430e-04 3.88020041e+00] [ 2.14395175e-02 -8.17437503e-04 9.99769813e-01 2.91198394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.505099893 meters 0.02056071154023399 Centerline is valid? [True, True] Translation: X:252.23, Y:3.88, Z:2.91 [[ 9.99401779e-01 -2.69006498e-02 -2.17356728e-02 2.52229981e+02] [ 2.69122782e-02 9.99637770e-01 2.42604884e-04 3.87917317e+00] [ 2.17212732e-02 -8.27416226e-04 9.99763723e-01 2.91179774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.535099893 meters 0.020785153039680093 Centerline is valid? [True, True] Translation: X:252.26, Y:3.88, Z:2.91 [[ 9.99385214e-01 -2.66021220e-02 -2.28368283e-02 2.52258424e+02] [ 2.66148525e-02 9.99645730e-01 2.53644443e-04 3.87917346e+00] [ 2.28219904e-02 -8.61287323e-04 9.99739173e-01 2.91190157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.565099893 meters 0.020962113956781103 Centerline is valid? [True, True] Translation: X:252.29, Y:3.88, Z:2.91 [[ 9.99348796e-01 -2.68406955e-02 -2.41155765e-02 2.52287575e+02] [ 2.68548750e-02 9.99639308e-01 2.64259864e-04 3.87878128e+00] [ 2.40997852e-02 -9.11708570e-04 9.99709142e-01 2.91151885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.595099893 meters 0.02043893064824804 Centerline is valid? [True, True] Translation: X:252.32, Y:3.88, Z:2.91 [[ 9.99323119e-01 -2.73080271e-02 -2.46490597e-02 2.52316382e+02] [ 2.73228309e-02 9.99626627e-01 2.63930145e-04 3.87901412e+00] [ 2.46326489e-02 -9.37233586e-04 9.99696131e-01 2.91159399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.625099893 meters 0.022070735525399926 Centerline is valid? [True, True] Translation: X:252.34, Y:3.88, Z:2.91 [[ 9.99261886e-01 -2.81460523e-02 -2.61435003e-02 2.52344323e+02] [ 2.81628757e-02 9.99603310e-01 2.75449452e-04 3.87564244e+00] [ 2.61253766e-02 -1.01152229e-03 9.99658162e-01 2.91038647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65509989299997 meters 0.023168189089539864 Centerline is valid? [True, True] Translation: X:252.37, Y:3.87, Z:2.91 [[ 9.99215837e-01 -2.91031962e-02 -2.68461362e-02 2.52372447e+02] [ 2.91212180e-02 9.99575848e-01 2.80493753e-04 3.87344781e+00] [ 2.68265861e-02 -1.06206598e-03 9.99639538e-01 2.90978783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68509989299997 meters 0.02058990373063786 Centerline is valid? [True, True] Translation: X:252.40, Y:3.88, Z:2.91 [[ 9.99194236e-01 -2.95330948e-02 -2.71785677e-02 2.52401354e+02] [ 2.95515938e-02 9.99563217e-01 2.79152830e-04 3.87690110e+00] [ 2.71584523e-02 -1.08209789e-03 9.99630556e-01 2.91178989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71509989299997 meters 0.02060875036848722 Centerline is valid? [True, True] Translation: X:252.43, Y:3.88, Z:2.91 [[ 9.99193131e-01 -2.96994417e-02 -2.70375776e-02 2.52429321e+02] [ 2.97176115e-02 9.99558298e-01 2.70361114e-04 3.87638712e+00] [ 2.70176055e-02 -1.07363520e-03 9.99634381e-01 2.91235934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74509989299997 meters 0.021101826631862993 Centerline is valid? [True, True] Translation: X:252.46, Y:3.88, Z:2.91 [[ 9.99198438e-01 -2.91471110e-02 -2.74395055e-02 2.52456895e+02] [ 2.91654626e-02 9.99574561e-01 2.68737030e-04 3.87520070e+00] [ 2.74199988e-02 -1.06880749e-03 9.99623430e-01 2.91230570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77509989299998 meters 0.021101826631862993 Centerline is valid? [True, True] Translation: X:252.48, Y:3.88, Z:2.91 [[ 9.99190137e-01 -2.94302600e-02 -2.74395626e-02 2.52484302e+02] [ 2.94485557e-02 9.99566263e-01 2.62809425e-04 3.87500486e+00] [ 2.74199265e-02 -1.07065207e-03 9.99623430e-01 2.91264522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80509989299998 meters 0.021896529425347425 Centerline is valid? [True, True] Translation: X:252.51, Y:3.87, Z:2.91 [[ 9.99220451e-01 -2.88454630e-02 -2.69523485e-02 2.52512301e+02] [ 2.88627749e-02 9.99583351e-01 2.53423403e-04 3.87327517e+00] [ 2.69338087e-02 -1.03114541e-03 9.99636687e-01 2.91283500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83509989299998 meters 0.019856178234222487 Centerline is valid? [True, True] Translation: X:252.54, Y:3.88, Z:2.92 [[ 9.99271588e-01 -2.74817623e-02 -2.64772862e-02 2.52540888e+02] [ 2.74978691e-02 9.99621832e-01 2.44352762e-04 3.87569381e+00] [ 2.64605581e-02 -9.72243725e-04 9.99649385e-01 2.91510644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86509989299998 meters 0.021250243772041048 Centerline is valid? [True, True] Translation: X:252.57, Y:3.87, Z:2.91 [[ 9.99303566e-01 -2.65401370e-02 -2.62298175e-02 2.52568661e+02] [ 2.65555073e-02 9.99647312e-01 2.37767098e-04 3.87290701e+00] [ 2.62142562e-02 -9.34147621e-04 9.99655911e-01 2.91494472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89509989299998 meters 0.01946195331740255 Centerline is valid? [True, True] Translation: X:252.60, Y:3.88, Z:2.92 [[ 9.99304456e-01 -2.63919093e-02 -2.63452462e-02 2.52597159e+02] [ 2.64072429e-02 9.99651241e-01 2.34219161e-04 3.87548649e+00] [ 2.63298765e-02 -9.29761566e-04 9.99652876e-01 2.91672259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92509989299998 meters 0.01904086028749453 Centerline is valid? [True, True] Translation: X:252.63, Y:3.88, Z:2.92 [[ 9.99304329e-01 -2.62660219e-02 -2.64755256e-02 2.52625688e+02] [ 2.62812871e-02 9.99654561e-01 2.28715564e-04 3.87521420e+00] [ 2.64603725e-02 -9.24367343e-04 9.99649436e-01 2.91789432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95509989299998 meters 0.02000709552212599 Centerline is valid? [True, True] Translation: X:252.65, Y:3.87, Z:2.92 [[ 9.99305515e-01 -2.64325637e-02 -2.62641801e-02 2.52652298e+02] [ 2.64475166e-02 9.99650179e-01 2.22059530e-04 3.87272776e+00] [ 2.62491228e-02 -9.16527654e-04 9.99655012e-01 2.91756641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98509989299998 meters 0.01978024467252141 Centerline is valid? [True, True] Translation: X:252.68, Y:3.87, Z:2.92 [[ 9.99298105e-01 -2.68180331e-02 -2.61551040e-02 2.52680411e+02] [ 2.68328514e-02 9.99639911e-01 2.15689061e-04 3.87230681e+00] [ 2.61399015e-02 -9.17353690e-04 9.99657873e-01 2.91791272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01509989299998 meters 0.019487340823414998 Centerline is valid? [True, True] Translation: X:252.71, Y:3.87, Z:2.92 [[ 9.99286539e-01 -2.71158927e-02 -2.62895571e-02 2.52708519e+02] [ 2.71307695e-02 9.99631871e-01 2.09293217e-04 3.87170672e+00] [ 2.62742040e-02 -9.22399809e-04 9.99654348e-01 2.91830057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04509989299999 meters 0.019908163876832925 Centerline is valid? [True, True] Translation: X:252.74, Y:3.87, Z:2.92 [[ 9.99269225e-01 -2.79691078e-02 -2.60527356e-02 2.52737174e+02] [ 2.79838274e-02 9.99608356e-01 2.00504256e-04 3.86886787e+00] [ 2.60369243e-02 -9.29412988e-04 9.99660550e-01 2.91877983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.075099893 meters 0.01890533615460497 Centerline is valid? [True, True] Translation: X:252.77, Y:3.87, Z:2.92 [[ 9.99255120e-01 -2.83694799e-02 -2.61605972e-02 2.52765476e+02] [ 2.83842730e-02 9.99597066e-01 1.94232315e-04 3.86931500e+00] [ 2.61445460e-02 -9.36637169e-04 9.99657734e-01 2.91988718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.105099893 meters 0.020121626509689784 Centerline is valid? [True, True] Translation: X:252.79, Y:3.87, Z:2.92 [[ 9.99264651e-01 -2.85894046e-02 -2.55499985e-02 2.52792582e+02] [ 2.86034543e-02 9.99590820e-01 1.84517471e-04 3.86617189e+00] [ 2.55342687e-02 -9.15200001e-04 9.99673528e-01 2.91982565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.135099893 meters 0.020655119004268675 Centerline is valid? [True, True] Translation: X:252.82, Y:3.86, Z:2.92 [[ 9.99248543e-01 -2.93674428e-02 -2.52962829e-02 2.52821075e+02] [ 2.93813445e-02 9.99568259e-01 1.77970463e-04 3.86317706e+00] [ 2.52801350e-02 -9.21075529e-04 9.99679982e-01 2.92117527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.165099893 meters 0.01996771710201575 Centerline is valid? [True, True] Translation: X:252.85, Y:3.86, Z:2.92 [[ 9.99243655e-01 -3.00769920e-02 -2.46473465e-02 2.52849844e+02] [ 3.00902563e-02 9.99547172e-01 1.67376955e-04 3.86294445e+00] [ 2.46311513e-02 -9.08895335e-04 9.99696194e-01 2.92237761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.195099893 meters 0.020500845800862106 Centerline is valid? [True, True] Translation: X:252.88, Y:3.86, Z:2.92 [[ 9.99250601e-01 -3.03682119e-02 -2.40001674e-02 2.52878088e+02] [ 3.03807753e-02 9.99538385e-01 1.58938693e-04 3.85908229e+00] [ 2.39842619e-02 -8.87963278e-04 9.99711942e-01 2.92269711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.225099893 meters 0.0206850134771249 Centerline is valid? [True, True] Translation: X:252.91, Y:3.86, Z:2.92 [[ 9.99235271e-01 -3.08879978e-02 -2.39750669e-02 2.52907247e+02] [ 3.09005897e-02 9.99522451e-01 1.54820276e-04 3.85728932e+00] [ 2.39588355e-02 -8.95545584e-04 9.99712545e-01 2.92325866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.255099893 meters 0.022094584126242597 Centerline is valid? [True, True] Translation: X:252.94, Y:3.85, Z:2.92 [[ 9.99227662e-01 -3.13425928e-02 -2.37006549e-02 2.52935081e+02] [ 3.13549309e-02 9.99508302e-01 1.49049968e-04 3.85356219e+00] [ 2.36843297e-02 -8.92067245e-04 9.99719089e-01 2.92336170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.285099893 meters 0.021302883700581365 Centerline is valid? [True, True] Translation: X:252.96, Y:3.85, Z:2.92 [[ 9.99201164e-01 -3.23826094e-02 -2.34179535e-02 2.52964107e+02] [ 3.23948515e-02 9.99475139e-01 1.43491427e-04 3.85138592e+00] [ 2.34010157e-02 -9.01997928e-04 9.99725752e-01 2.92429141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.315099893 meters 0.020178032760356342 Centerline is valid? [True, True] Translation: X:252.99, Y:3.85, Z:2.93 [[ 9.99179450e-01 -3.27731628e-02 -2.37980401e-02 2.52993683e+02] [ 3.27858330e-02 9.99462390e-01 1.42320480e-04 3.85117253e+00] [ 2.37805817e-02 -9.22442268e-04 9.99716776e-01 2.92500087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.345099893 meters 0.0208999218102996 Centerline is valid? [True, True] Translation: X:253.02, Y:3.85, Z:2.93 [[ 9.99168924e-01 -3.29239897e-02 -2.40306564e-02 2.53021826e+02] [ 3.29369299e-02 9.99457422e-01 1.42773584e-04 3.84812560e+00] [ 2.40129173e-02 -9.34150975e-04 9.99711212e-01 2.92519162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.375099893 meters 0.020103444799492 Centerline is valid? [True, True] Translation: X:253.05, Y:3.85, Z:2.93 [[ 9.99192287e-01 -3.28365703e-02 -2.31631951e-02 2.53051065e+02] [ 3.28484989e-02 9.99460333e-01 1.34579475e-04 3.84585674e+00] [ 2.31462756e-02 -8.95346964e-04 9.99731688e-01 2.92636167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40509989299997 meters 0.020127103857294455 Centerline is valid? [True, True] Translation: X:253.08, Y:3.84, Z:2.93 [[ 9.99213651e-01 -3.22475681e-02 -2.30689081e-02 2.53080801e+02] [ 3.22591674e-02 9.99479529e-01 1.30749325e-04 3.84391843e+00] [ 2.30526851e-02 -8.74830279e-04 9.99733869e-01 2.92690520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43509989299997 meters 0.020841727573800466 Centerline is valid? [True, True] Translation: X:253.11, Y:3.84, Z:2.93 [[ 9.99274344e-01 -3.03342880e-02 -2.30351000e-02 2.53109670e+02] [ 3.03453224e-02 9.99539466e-01 1.29545261e-04 3.84002529e+00] [ 2.30205619e-02 -8.28458790e-04 9.99734648e-01 2.92746451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46509989299997 meters 0.020841727573800466 Centerline is valid? [True, True] Translation: X:253.14, Y:3.84, Z:2.93 [[ 9.99266931e-01 -3.05775084e-02 -2.30351179e-02 2.53137930e+02] [ 3.05885323e-02 9.99532053e-01 1.26288859e-04 3.83991305e+00] [ 2.30204771e-02 -8.30806728e-04 9.99734648e-01 2.92781421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49509989299997 meters 0.019174646018621237 Centerline is valid? [True, True] Translation: X:253.17, Y:3.84, Z:2.93 [[ 9.99340146e-01 -2.81439696e-02 -2.29605984e-02 2.53167019e+02] [ 2.81541558e-02 9.99603586e-01 1.20437382e-04 3.84071615e+00] [ 2.29481069e-02 -7.66794178e-04 9.99736363e-01 2.92900924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52509989299998 meters 0.01804224428268694 Centerline is valid? [True, True] Translation: X:253.20, Y:3.84, Z:2.93 [[ 9.99370524e-01 -2.67507623e-02 -2.33013232e-02 2.53195708e+02] [ 2.67607431e-02 9.99641860e-01 1.16562705e-04 3.84128542e+00] [ 2.32898599e-02 -7.40050054e-04 9.99728481e-01 2.92930586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55509989299998 meters 0.017515607431705608 Centerline is valid? [True, True] Translation: X:253.22, Y:3.84, Z:2.93 [[ 9.99435497e-01 -2.35529743e-02 -2.39571466e-02 2.53223259e+02] [ 2.35625053e-02 9.99722359e-01 1.15588110e-04 3.83954996e+00] [ 2.39477726e-02 -6.80013254e-04 9.99712980e-01 2.92859799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58509989299998 meters 0.017515607431705608 Centerline is valid? [True, True] Translation: X:253.25, Y:3.84, Z:2.93 [[ 9.99428722e-01 -2.38386897e-02 -2.39571672e-02 2.53250665e+02] [ 2.38481969e-02 9.99715585e-01 1.11168263e-04 3.83948347e+00] [ 2.39477033e-02 -6.82439996e-04 9.99712980e-01 2.92893726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61509989299998 meters 0.017122226309668725 Centerline is valid? [True, True] Translation: X:253.28, Y:3.84, Z:2.93 [[ 9.99459825e-01 -2.23872183e-02 -2.40597217e-02 2.53279193e+02] [ 2.23962313e-02 9.99749167e-01 1.05178896e-04 3.83862291e+00] [ 2.40513321e-02 -6.43969174e-04 9.99710517e-01 2.92893795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64509989299998 meters 0.01672216706578917 Centerline is valid? [True, True] Translation: X:253.31, Y:3.84, Z:2.93 [[ 9.99486374e-01 -2.11785897e-02 -2.40511096e-02 2.53308386e+02] [ 2.11871071e-02 9.99775523e-01 9.93413384e-05 3.83816819e+00] [ 2.40436068e-02 -6.08863750e-04 9.99710725e-01 2.92944028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67509989299998 meters 0.01610887043137062 Centerline is valid? [True, True] Translation: X:253.34, Y:3.84, Z:2.93 [[ 9.99515464e-01 -1.93545401e-02 -2.43770336e-02 2.53336890e+02] [ 1.93626029e-02 9.99812523e-01 9.47405343e-05 3.83687910e+00] [ 2.43706298e-02 -5.66697451e-04 9.99702831e-01 2.93033867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70509989299998 meters 0.016122640945383272 Centerline is valid? [True, True] Translation: X:253.37, Y:3.84, Z:2.93 [[ 9.99518480e-01 -1.92728317e-02 -2.43180052e-02 2.53365169e+02] [ 1.92806723e-02 9.99814107e-01 8.79687157e-05 3.83532832e+00] [ 2.43117893e-02 -5.56793847e-04 9.99704270e-01 2.93076697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73509989299998 meters 0.016399274370169147 Centerline is valid? [True, True] Translation: X:253.39, Y:3.83, Z:2.93 [[ 9.99521814e-01 -1.90349469e-02 -2.43683067e-02 2.53393201e+02] [ 1.90426367e-02 9.99818669e-01 8.35317574e-05 3.83305947e+00] [ 2.43622980e-02 -5.47528627e-04 9.99703045e-01 2.93096472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76509989299998 meters 0.016837992543381048 Centerline is valid? [True, True] Translation: X:253.42, Y:3.83, Z:2.93 [[ 9.99515494e-01 -1.97859213e-02 -2.40269368e-02 2.53420606e+02] [ 1.97935522e-02 9.99804085e-01 7.97902780e-05 3.82858512e+00] [ 2.40206508e-02 -5.55330046e-04 9.99711308e-01 2.93148354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79509989299999 meters 0.016558539380157444 Centerline is valid? [True, True] Translation: X:253.45, Y:3.83, Z:2.93 [[ 9.99508282e-01 -2.05497417e-02 -2.36833577e-02 2.53448222e+02] [ 2.05572569e-02 9.99788675e-01 7.38709212e-05 3.82710697e+00] [ 2.36768348e-02 -5.60699466e-04 9.99719507e-01 2.93235394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.825099893 meters 0.01688244275520085 Centerline is valid? [True, True] Translation: X:253.48, Y:3.82, Z:2.93 [[ 9.99495911e-01 -2.17903168e-02 -2.30890838e-02 2.53476588e+02] [ 2.17976495e-02 9.99762401e-01 6.59255629e-05 3.82433366e+00] [ 2.30821613e-02 -5.69180086e-04 9.99733409e-01 2.93319975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.855099893 meters 0.017061448159487493 Centerline is valid? [True, True] Translation: X:253.51, Y:3.82, Z:2.93 [[ 9.99484863e-01 -2.31515590e-02 -2.22264264e-02 2.53505328e+02] [ 2.31585700e-02 9.99731803e-01 5.80568292e-05 3.82174763e+00] [ 2.22191212e-02 -5.72759175e-04 9.99752961e-01 2.93432713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.885099893 meters 0.017645453928431188 Centerline is valid? [True, True] Translation: X:253.53, Y:3.82, Z:2.94 [[ 9.99473282e-01 -2.44743274e-02 -2.13111839e-02 2.53532820e+02] [ 2.44809849e-02 9.99700294e-01 5.15249804e-05 3.81844194e+00] [ 2.13035358e-02 -5.73216614e-04 9.99772890e-01 2.93546399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.915099893 meters 0.018915484637845818 Centerline is valid? [True, True] Translation: X:253.56, Y:3.81, Z:2.94 [[ 9.99428688e-01 -2.72430338e-02 -2.00028875e-02 2.53560888e+02] [ 2.72494085e-02 9.99628665e-01 4.61470493e-05 3.81172021e+00] [ 1.99942025e-02 -5.91187537e-04 9.99799921e-01 2.93672213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.945099893 meters 0.018785706778195733 Centerline is valid? [True, True] Translation: X:253.59, Y:3.81, Z:2.94 [[ 9.99397848e-01 -2.85058768e-02 -1.97827530e-02 2.53589242e+02] [ 2.85123251e-02 9.99593440e-01 4.39190207e-05 3.80952920e+00] [ 1.97734582e-02 -6.07944859e-04 9.99804301e-01 2.93729506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.975099893 meters 0.018458634076740525 Centerline is valid? [True, True] Translation: X:253.62, Y:3.81, Z:2.94 [[ 9.99306113e-01 -3.16402019e-02 -1.96517277e-02 2.53618548e+02] [ 3.16471412e-02 9.99499103e-01 4.21477406e-05 3.80553359e+00] [ 1.96405506e-02 -6.64039496e-04 9.99806885e-01 2.93704795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.005099893 meters 0.0192842304324302 Centerline is valid? [True, True] Translation: X:253.65, Y:3.80, Z:2.94 [[ 9.99257409e-01 -3.29526030e-02 -1.99689101e-02 2.53647590e+02] [ 3.29600079e-02 9.99456670e-01 4.17241091e-05 3.80177338e+00] [ 1.99566854e-02 -6.99868559e-04 9.99800601e-01 2.93647939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.035099893 meters 0.01958261917091523 Centerline is valid? [True, True] Translation: X:253.68, Y:3.80, Z:2.94 [[ 9.99186396e-01 -3.48097239e-02 -2.03673509e-02 2.53677495e+02] [ 3.48177926e-02 9.99393676e-01 4.15777903e-05 3.79949493e+00] [ 2.03535544e-02 -7.50690164e-04 9.99792563e-01 2.93624115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.065099893 meters 0.020524015725183444 Centerline is valid? [True, True] Translation: X:253.71, Y:3.80, Z:2.94 [[ 9.99117301e-01 -3.65126501e-02 -2.07712484e-02 2.53706601e+02] [ 3.65213937e-02 9.99332871e-01 4.16393916e-05 3.79590783e+00] [ 2.07558709e-02 -8.00197577e-04 9.99784253e-01 2.93569314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.095099893 meters 0.02167875753437921 Centerline is valid? [True, True] Translation: X:253.74, Y:3.79, Z:2.93 [[ 9.98998729e-01 -3.92864896e-02 -2.14035455e-02 2.53736332e+02] [ 3.92963926e-02 9.99227598e-01 4.21224793e-05 3.79055945e+00] [ 2.13853585e-02 -8.83162430e-04 9.99770917e-01 2.93418599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.125099893 meters 0.021671021285141236 Centerline is valid? [True, True] Translation: X:253.77, Y:3.79, Z:2.93 [[ 9.98937027e-01 -4.07064741e-02 -2.16286646e-02 2.53765850e+02] [ 4.07169018e-02 9.99170722e-01 4.17827059e-05 3.78925012e+00] [ 2.16090276e-02 -9.22390504e-04 9.99766072e-01 2.93431447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15509989299997 meters 0.02576425007962388 Centerline is valid? [True, True] Translation: X:253.80, Y:3.78, Z:2.93 [[ 9.98882193e-01 -4.20494090e-02 -2.15919366e-02 2.53795499e+02] [ 4.20601012e-02 9.99115082e-01 4.10999838e-05 3.78186719e+00] [ 2.15711012e-02 -9.49213079e-04 9.99766866e-01 2.93327259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18509989299997 meters 0.026501736760133017 Centerline is valid? [True, True] Translation: X:253.83, Y:3.78, Z:2.93 [[ 9.98799974e-01 -4.34861320e-02 -2.25292544e-02 2.53825526e+02] [ 4.34981248e-02 9.99053508e-01 4.23087802e-05 3.77918838e+00] [ 2.25060908e-02 -1.02223833e-03 9.99746183e-01 2.93267422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21509989299997 meters 0.022548089206616887 Centerline is valid? [True, True] Translation: X:253.86, Y:3.78, Z:2.93 [[ 9.98792100e-01 -4.37823894e-02 -2.23034465e-02 2.53855658e+02] [ 4.37942073e-02 9.99040573e-01 4.14703788e-05 3.78422487e+00] [ 2.22802323e-02 -1.01818205e-03 9.99751246e-01 2.93446861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24509989299997 meters 0.022362736103295207 Centerline is valid? [True, True] Translation: X:253.89, Y:3.78, Z:2.94 [[ 9.98799287e-01 -4.38342746e-02 -2.18755905e-02 2.53886632e+02] [ 4.38456557e-02 9.99038316e-01 4.06748359e-05 3.78406493e+00] [ 2.18527702e-02 -9.99775608e-04 9.99760700e-01 2.93536438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27509989299998 meters 0.022511240789356863 Centerline is valid? [True, True] Translation: X:253.92, Y:3.78, Z:2.94 [[ 9.98831209e-01 -4.34802452e-02 -2.11112498e-02 2.53916745e+02] [ 4.34907624e-02 9.99053828e-01 3.90947871e-05 3.78357268e+00] [ 2.10895751e-02 -9.57193443e-04 9.99777132e-01 2.93637053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30509989299998 meters 0.021537692335648843 Centerline is valid? [True, True] Translation: X:253.95, Y:3.78, Z:2.94 [[ 9.98936965e-01 -4.12584915e-02 -2.05591180e-02 2.53947133e+02] [ 4.12679915e-02 9.99148113e-01 3.78535915e-05 3.78488350e+00] [ 2.05400422e-02 -8.86246858e-04 9.99788638e-01 2.93757754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33509989299998 meters 0.020977326858688507 Centerline is valid? [True, True] Translation: X:253.98, Y:3.79, Z:2.94 [[ 9.98978571e-01 -4.01005075e-02 -2.08269910e-02 2.53977352e+02] [ 4.01100055e-02 9.99195269e-01 3.83468011e-05 3.78622734e+00] [ 2.08086932e-02 -8.73678358e-04 9.99783094e-01 2.93822935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36509989299998 meters 0.02077780033419852 Centerline is valid? [True, True] Translation: X:254.01, Y:3.79, Z:2.94 [[ 9.99055931e-01 -3.79115514e-02 -2.12122701e-02 2.54007440e+02] [ 3.79209117e-02 9.99280743e-01 3.90561796e-05 3.78678068e+00] [ 2.11955323e-02 -8.43407928e-04 9.99774994e-01 2.93847823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39509989299998 meters 0.019334163849478794 Centerline is valid? [True, True] Translation: X:254.04, Y:3.79, Z:2.94 [[ 9.99175835e-01 -3.44105081e-02 -2.15306135e-02 2.54037702e+02] [ 3.44193362e-02 9.99407478e-01 3.94746614e-05 3.79062620e+00] [ 2.15164978e-02 -7.80511554e-04 9.99768189e-01 2.93875624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42509989299998 meters 0.01881708558304398 Centerline is valid? [True, True] Translation: X:254.07, Y:3.79, Z:2.94 [[ 9.99227166e-01 -3.27525145e-02 -2.17334529e-02 2.54066942e+02] [ 3.27610648e-02 9.99463212e-01 3.73879943e-05 3.79199113e+00] [ 2.17205621e-02 -7.49370156e-04 9.99763800e-01 2.93913506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45509989299998 meters 0.01850259570549529 Centerline is valid? [True, True] Translation: X:254.10, Y:3.79, Z:2.94 [[ 9.99255913e-01 -3.16225863e-02 -2.20824164e-02 2.54096081e+02] [ 3.16310170e-02 9.99499614e-01 3.25096830e-05 3.79278954e+00] [ 2.20703386e-02 -7.30974781e-04 9.99756153e-01 2.93944530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48509989299998 meters 0.018533079988139703 Centerline is valid? [True, True] Translation: X:254.12, Y:3.79, Z:2.94 [[ 9.99305062e-01 -2.97238790e-02 -2.24918802e-02 2.54123761e+02] [ 2.97320518e-02 9.99557904e-01 2.89711707e-05 3.79319511e+00] [ 2.24810755e-02 -6.97680785e-04 9.99747025e-01 2.93873392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51509989299998 meters 0.019079522003070268 Centerline is valid? [True, True] Translation: X:254.15, Y:3.79, Z:2.94 [[ 9.99300725e-01 -2.93225933e-02 -2.32001315e-02 2.54151601e+02] [ 2.93311319e-02 9.99569749e-01 2.77644000e-05 3.79297079e+00] [ 2.31893355e-02 -7.08231103e-04 9.99730840e-01 2.93801054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54509989299999 meters 0.018783200582652784 Centerline is valid? [True, True] Translation: X:254.18, Y:3.79, Z:2.94 [[ 9.99280023e-01 -2.96006689e-02 -2.37326140e-02 2.54179869e+02] [ 2.96095793e-02 9.99561540e-01 2.40552129e-05 3.79397248e+00] [ 2.37214962e-02 -7.26750611e-04 9.99718342e-01 2.93790863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.575099893 meters 0.01935687711172932 Centerline is valid? [True, True] Translation: X:254.21, Y:3.79, Z:2.94 [[ 9.99247768e-01 -3.03226390e-02 -2.41750864e-02 2.54207307e+02] [ 3.03319847e-02 9.99539879e-01 1.98988970e-05 3.79399769e+00] [ 2.41633596e-02 -7.53162279e-04 9.99707740e-01 2.93742807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.605099893 meters 0.017977919498764303 Centerline is valid? [True, True] Translation: X:254.24, Y:3.80, Z:2.94 [[ 9.99218088e-01 -3.11537533e-02 -2.43445457e-02 2.54235921e+02] [ 3.11633755e-02 9.99514304e-01 1.58719105e-05 3.79662895e+00] [ 2.43322272e-02 -7.74517720e-04 9.99703628e-01 2.93884198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.635099893 meters 0.019520251281532237 Centerline is valid? [True, True] Translation: X:254.26, Y:3.79, Z:2.94 [[ 9.99205876e-01 -3.15043765e-02 -2.43945044e-02 2.54264016e+02] [ 3.15140383e-02 9.99503309e-01 1.16314669e-05 3.79417931e+00] [ 2.43820215e-02 -7.80391578e-04 9.99702410e-01 2.93824882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.665099893 meters 0.02049454447760578 Centerline is valid? [True, True] Translation: X:254.29, Y:3.79, Z:2.94 [[ 9.99185546e-01 -3.25402396e-02 -2.38616461e-02 2.54291645e+02] [ 3.25497167e-02 9.99470118e-01 8.77224026e-06 3.79316579e+00] [ 2.38487168e-02 -7.85454915e-04 9.99715270e-01 2.93836123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.695099893 meters 0.019051919559271997 Centerline is valid? [True, True] Translation: X:254.32, Y:3.80, Z:2.94 [[ 9.99170744e-01 -3.31875732e-02 -2.35883470e-02 2.54320305e+02] [ 3.31969100e-02 9.99448831e-01 4.23934647e-06 3.79603961e+00] [ 2.35752051e-02 -7.87296062e-04 9.99721756e-01 2.94008353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.725099893 meters 0.01916738446967486 Centerline is valid? [True, True] Translation: X:254.35, Y:3.80, Z:2.94 [[ 9.99160177e-01 -3.38816348e-02 -2.30429160e-02 2.54349221e+02] [ 3.38905966e-02 9.99425549e-01 -1.60503569e-06 3.79673609e+00] [ 2.30297333e-02 -7.79334483e-04 9.99734477e-01 2.94111075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.755099893 meters 0.019412644307509528 Centerline is valid? [True, True] Translation: X:254.38, Y:3.80, Z:2.94 [[ 9.99134382e-01 -3.47818747e-02 -2.28190270e-02 2.54378388e+02] [ 3.47907667e-02 9.99394618e-01 -7.32873516e-06 3.79737179e+00] [ 2.28054677e-02 -7.86569053e-04 9.99739612e-01 2.94164317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.785099893 meters 0.022349271704230685 Centerline is valid? [True, True] Translation: X:254.41, Y:3.79, Z:2.94 [[ 9.99081700e-01 -3.61841100e-02 -2.29448581e-02 2.54406146e+02] [ 3.61933651e-02 9.99344805e-01 -1.19244915e-05 3.79393733e+00] [ 2.29302562e-02 -8.18538085e-04 9.99736732e-01 2.94047339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.815099893 meters 0.02018726232384989 Centerline is valid? [True, True] Translation: X:254.44, Y:3.80, Z:2.94 [[ 9.99065135e-01 -3.68781605e-02 -2.25578799e-02 2.54435347e+02] [ 3.68871883e-02 9.99319436e-01 -1.59035790e-05 3.79763972e+00] [ 2.25431143e-02 -8.16208052e-04 9.99745539e-01 2.94156284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.845099893 meters 0.020554887380459345 Centerline is valid? [True, True] Translation: X:254.46, Y:3.80, Z:2.94 [[ 9.99033364e-01 -3.78087155e-02 -2.24240819e-02 2.54464190e+02] [ 3.78177450e-02 9.99284653e-01 -2.14118878e-05 3.79749172e+00] [ 2.24088504e-02 -8.26637020e-04 9.99748548e-01 2.94178990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.875099893 meters 0.020557460607864297 Centerline is valid? [True, True] Translation: X:254.49, Y:3.80, Z:2.94 [[ 9.99002754e-01 -3.88258385e-02 -2.20465881e-02 2.54493529e+02] [ 3.88347391e-02 9.99245647e-01 -2.44419659e-05 3.79872682e+00] [ 2.20309062e-02 -8.31755905e-04 9.99756944e-01 2.94253907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90509989299997 meters 0.021169894343507592 Centerline is valid? [True, True] Translation: X:254.52, Y:3.80, Z:2.94 [[ 9.98995688e-01 -3.91996280e-02 -2.17026456e-02 2.54523197e+02] [ 3.92083310e-02 9.99231057e-01 -2.45224179e-05 3.79863037e+00] [ 2.16869188e-02 -8.26426722e-04 9.99764470e-01 2.94272434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93509989299997 meters 0.022764701703032977 Centerline is valid? [True, True] Translation: X:254.55, Y:3.80, Z:2.94 [[ 9.98963414e-01 -4.02458116e-02 -2.12690299e-02 2.54552427e+02] [ 4.02544028e-02 9.99189463e-01 -2.42203619e-05 3.79804742e+00] [ 2.12527654e-02 -8.31976844e-04 9.99773788e-01 2.94324490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96509989299997 meters 0.02264642362824792 Centerline is valid? [True, True] Translation: X:254.58, Y:3.80, Z:2.94 [[ 9.98943609e-01 -4.08773672e-02 -2.09930312e-02 2.54582875e+02] [ 4.08858716e-02 9.99163823e-01 -2.41215554e-05 3.79912041e+00] [ 2.09764633e-02 -8.34222304e-04 9.99779622e-01 2.94395903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99509989299997 meters 0.023349511574878704 Centerline is valid? [True, True] Translation: X:254.61, Y:3.80, Z:2.94 [[ 9.98919604e-01 -4.15597654e-02 -2.07945033e-02 2.54613439e+02] [ 4.15682572e-02 9.99135666e-01 -2.38934414e-05 3.79901819e+00] [ 2.07775229e-02 -8.40523633e-04 9.99783771e-01 2.94445021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02509989299998 meters 0.023729759326998296 Centerline is valid? [True, True] Translation: X:254.64, Y:3.80, Z:2.94 [[ 9.98890641e-01 -4.23139653e-02 -2.06643680e-02 2.54643907e+02] [ 4.23225122e-02 9.99104001e-01 -2.37439126e-05 3.79975611e+00] [ 2.06468575e-02 -8.50850397e-04 9.99786469e-01 2.94469748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05509989299998 meters 0.023687634183933878 Centerline is valid? [True, True] Translation: X:254.68, Y:3.80, Z:2.95 [[ 9.98872698e-01 -4.27707423e-02 -2.05911796e-02 2.54675690e+02] [ 4.27793315e-02 9.99084545e-01 -2.33739647e-05 3.80070672e+00] [ 2.05733290e-02 -8.57529281e-04 9.99787979e-01 2.94518383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08509989299998 meters 0.024391357746694188 Centerline is valid? [True, True] Translation: X:254.71, Y:3.80, Z:2.95 [[ 9.98868381e-01 -4.29064878e-02 -2.05180816e-02 2.54705718e+02] [ 4.29150564e-02 9.99078724e-01 -2.27221569e-05 3.80067850e+00] [ 2.05001537e-02 -8.57838183e-04 9.99789482e-01 2.94526903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11509989299998 meters 0.023191357412792987 Centerline is valid? [True, True] Translation: X:254.74, Y:3.81, Z:2.95 [[ 9.98835557e-01 -4.35716839e-02 -2.07132534e-02 2.54737326e+02] [ 4.35805696e-02 9.99049915e-01 -2.24277690e-05 3.80512279e+00] [ 2.06945512e-02 -8.80293726e-04 9.99785457e-01 2.94628415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14509989299998 meters 0.022334380822323342 Centerline is valid? [True, True] Translation: X:254.77, Y:3.81, Z:2.95 [[ 9.98802262e-01 -4.41711032e-02 -2.10464775e-02 2.54769085e+02] [ 4.41804260e-02 9.99023568e-01 -2.20309794e-05 3.80774033e+00] [ 2.10269002e-02 -9.07837749e-04 9.99778498e-01 2.94701271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17509989299998 meters 0.023954753675731636 Centerline is valid? [True, True] Translation: X:254.80, Y:3.81, Z:2.95 [[ 9.98744845e-01 -4.51630052e-02 -2.16572782e-02 2.54799290e+02] [ 4.51731235e-02 9.98979173e-01 -2.20448661e-05 3.80754055e+00] [ 2.16361655e-02 -9.56309705e-04 9.99765453e-01 2.94663886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20509989299998 meters 0.024573132022002682 Centerline is valid? [True, True] Translation: X:254.83, Y:3.81, Z:2.95 [[ 9.98729557e-01 -4.55172479e-02 -2.16206191e-02 2.54830318e+02] [ 4.55274265e-02 9.98963089e-01 -2.14627440e-05 3.80731945e+00] [ 2.15991774e-02 -9.62895673e-04 9.99766247e-01 2.94703696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23509989299998 meters 0.02454172701638525 Centerline is valid? [True, True] Translation: X:254.86, Y:3.81, Z:2.95 [[ 9.98686384e-01 -4.64482456e-02 -2.16348347e-02 2.54861254e+02] [ 4.64586720e-02 9.98920213e-01 -2.07167650e-05 3.80818422e+00] [ 2.16124360e-02 -9.84436141e-04 9.99765939e-01 2.94767076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26509989299998 meters 0.02534105721074273 Centerline is valid? [True, True] Translation: X:254.89, Y:3.81, Z:2.95 [[ 9.98650450e-01 -4.72160657e-02 -2.16314836e-02 2.54891941e+02] [ 4.72266851e-02 9.98884197e-01 -1.99504256e-05 3.80804764e+00] [ 2.16082891e-02 -1.00165976e-03 9.99766012e-01 2.94830051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29509989299999 meters 0.025490810098244224 Centerline is valid? [True, True] Translation: X:254.92, Y:3.81, Z:2.95 [[ 9.98603242e-01 -4.83991810e-02 -2.11915915e-02 2.54923575e+02] [ 4.84096541e-02 9.98827565e-01 -1.88068774e-05 3.81008784e+00] [ 2.11676560e-02 -1.00709701e-03 9.99775433e-01 2.94917900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.325099893 meters 0.02389408243927839 Centerline is valid? [True, True] Translation: X:254.96, Y:3.81, Z:2.95 [[ 9.98581382e-01 -4.87420551e-02 -2.14344435e-02 2.54955638e+02] [ 4.87528721e-02 9.98810872e-01 -1.79231629e-05 3.81352671e+00] [ 2.14098288e-02 -1.02709295e-03 9.99770256e-01 2.95028192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.355099893 meters 0.027128734814542484 Centerline is valid? [True, True] Translation: X:254.99, Y:3.81, Z:2.95 [[ 9.98591647e-01 -4.86982625e-02 -2.10523548e-02 2.54986370e+02] [ 4.87087159e-02 9.98813026e-01 -1.62494024e-05 3.80976443e+00] [ 2.10281575e-02 -1.00920665e-03 9.99778374e-01 2.94984082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.385099893 meters 0.027319929912686877 Centerline is valid? [True, True] Translation: X:255.02, Y:3.81, Z:2.95 [[ 9.98607424e-01 -4.85634153e-02 -2.06108372e-02 2.55018147e+02] [ 4.85734254e-02 9.98819614e-01 -1.49690625e-05 3.81038201e+00] [ 2.05872355e-02 -9.86190749e-04 9.99787574e-01 2.95001442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.415099893 meters 0.024277063886747007 Centerline is valid? [True, True] Translation: X:255.05, Y:3.82, Z:2.95 [[ 9.98633879e-01 -4.81774667e-02 -2.02313296e-02 2.55049839e+02] [ 4.81870465e-02 9.98838329e-01 -1.39941932e-05 3.81555655e+00] [ 2.02085017e-02 -9.60912944e-04 9.99795326e-01 2.95107317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.445099893 meters 0.023289458679606148 Centerline is valid? [True, True] Translation: X:255.08, Y:3.82, Z:2.95 [[ 9.98733206e-01 -4.64386462e-02 -1.93761729e-02 2.55081272e+02] [ 4.64471198e-02 9.98920750e-01 -1.27207805e-05 3.81800866e+00] [ 1.93558519e-02 -8.87262758e-04 9.99812264e-01 2.95112033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.475099893 meters 0.023289458679606148 Centerline is valid? [True, True] Translation: X:255.11, Y:3.82, Z:2.95 [[ 9.98736576e-01 -4.63660973e-02 -1.93761735e-02 2.55112996e+02] [ 4.63745758e-02 9.98924121e-01 -1.17603893e-05 3.81797153e+00] [ 1.93558724e-02 -8.86816296e-04 9.99812264e-01 2.95151253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.505099893 meters 0.02408271385617021 Centerline is valid? [True, True] Translation: X:255.14, Y:3.82, Z:2.95 [[ 9.98801048e-01 -4.51755715e-02 -1.88582858e-02 2.55144522e+02] [ 4.51834140e-02 9.98978708e-01 -1.02204911e-05 3.81758827e+00] [ 1.88394877e-02 -8.41873500e-04 9.99822167e-01 2.95187481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.535099893 meters 0.021523280189305716 Centerline is valid? [True, True] Translation: X:255.18, Y:3.82, Z:2.95 [[ 9.98951350e-01 -4.21793390e-02 -1.78073895e-02 2.55175612e+02] [ 4.21858713e-02 9.99109780e-01 -8.81759596e-06 3.82427059e+00] [ 1.77919089e-02 -7.42411893e-04 9.99841436e-01 2.95375419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.565099893 meters 0.02224462165943463 Centerline is valid? [True, True] Translation: X:255.21, Y:3.82, Z:2.95 [[ 9.99020265e-01 -4.06063558e-02 -1.75964035e-02 2.55207048e+02] [ 4.06125112e-02 9.99174972e-01 -7.54084585e-06 3.82439440e+00] [ 1.75821921e-02 -7.07100674e-04 9.99845171e-01 2.95430998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.595099893 meters 0.0214188023697208 Centerline is valid? [True, True] Translation: X:255.24, Y:3.83, Z:2.95 [[ 9.99074874e-01 -3.91797502e-02 -1.77297164e-02 2.55238501e+02] [ 3.91858088e-02 9.99231941e-01 -5.68922902e-06 3.82681965e+00] [ 1.77163218e-02 -6.89069311e-04 9.99842816e-01 2.95462994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.625099893 meters 0.021531070924957003 Centerline is valid? [True, True] Translation: X:255.27, Y:3.83, Z:2.95 [[ 9.99118959e-01 -3.79418187e-02 -1.79366840e-02 2.55269916e+02] [ 3.79478321e-02 9.99279722e-01 -5.10552278e-06 3.82755600e+00] [ 1.79239584e-02 -6.75557250e-04 9.99839125e-01 2.95442788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65509989299997 meters 0.021440956652187454 Centerline is valid? [True, True] Translation: X:255.30, Y:3.83, Z:2.95 [[ 9.99151288e-01 -3.66874633e-02 -1.87278902e-02 2.55300523e+02] [ 3.66938098e-02 9.99326555e-01 -4.75530929e-06 3.82936299e+00] [ 1.87154525e-02 -6.82446368e-04 9.99824618e-01 2.95416558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68509989299997 meters 0.020194529682094578 Centerline is valid? [True, True] Translation: X:255.33, Y:3.83, Z:2.95 [[ 9.99144265e-01 -3.64267680e-02 -1.95915512e-02 2.55332294e+02] [ 3.64336731e-02 9.99336073e-01 -4.48140262e-06 3.83218598e+00] [ 1.95787071e-02 -7.09314604e-04 9.99808067e-01 2.95433387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71509989299997 meters 0.021340013305362112 Centerline is valid? [True, True] Translation: X:255.36, Y:3.83, Z:2.95 [[ 9.99132510e-01 -3.63678983e-02 -2.02880017e-02 2.55362632e+02] [ 3.63753034e-02 9.99338200e-01 -4.03193625e-06 3.83091119e+00] [ 2.02747217e-02 -7.33953779e-04 9.99794177e-01 2.95375119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74509989299997 meters 0.020501551699868854 Centerline is valid? [True, True] Translation: X:255.39, Y:3.83, Z:2.95 [[ 9.99127268e-01 -3.57821403e-02 -2.15485885e-02 2.55394292e+02] [ 3.57903707e-02 9.99359319e-01 -3.71450672e-06 3.83383360e+00] [ 2.15349157e-02 -7.67520708e-04 9.99767802e-01 2.95393120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77509989299998 meters 0.021594043525514403 Centerline is valid? [True, True] Translation: X:255.42, Y:3.83, Z:2.95 [[ 9.99138959e-01 -3.54841632e-02 -2.14991640e-02 2.55423364e+02] [ 3.54922930e-02 9.99369950e-01 -3.42470998e-06 3.83285632e+00] [ 2.14857399e-02 -7.59632866e-04 9.99768866e-01 2.95406583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80509989299998 meters 0.022144594565300806 Centerline is valid? [True, True] Translation: X:255.45, Y:3.83, Z:2.95 [[ 9.99172185e-01 -3.48021765e-02 -2.10654417e-02 2.55453323e+02] [ 3.48098256e-02 9.99393954e-01 -3.57237190e-06 3.83264776e+00] [ 2.10527994e-02 -7.29714937e-04 9.99778099e-01 2.95417184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83509989299998 meters 0.019846979082197302 Centerline is valid? [True, True] Translation: X:255.48, Y:3.84, Z:2.96 [[ 9.99196116e-01 -3.37077097e-02 -2.17004869e-02 2.55483990e+02] [ 3.37155693e-02 9.99431469e-01 -3.68006570e-06 3.83741772e+00] [ 2.16882735e-02 -7.27967163e-04 9.99764517e-01 2.95521064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86509989299998 meters 0.019775938255529108 Centerline is valid? [True, True] Translation: X:255.51, Y:3.84, Z:2.96 [[ 9.99208390e-01 -3.32423660e-02 -2.18526473e-02 2.55513712e+02] [ 3.32502177e-02 9.99447059e-01 -4.04779764e-06 3.83807287e+00] [ 2.18406986e-02 -7.22560686e-04 9.99761202e-01 2.95567288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89509989299998 meters 0.02043777502939194 Centerline is valid? [True, True] Translation: X:255.54, Y:3.84, Z:2.96 [[ 9.99223300e-01 -3.30776346e-02 -2.14165301e-02 2.55543601e+02] [ 3.30851253e-02 9.99452537e-01 -4.56570562e-06 3.83747683e+00] [ 2.14049563e-02 -7.04006421e-04 9.99770640e-01 2.95576285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92509989299998 meters 0.021251719376881435 Centerline is valid? [True, True] Translation: X:255.57, Y:3.84, Z:2.96 [[ 9.99222890e-01 -3.31412870e-02 -2.13370922e-02 2.55572597e+02] [ 3.31487286e-02 9.99450430e-01 -4.92601794e-06 3.83645700e+00] [ 2.13255292e-02 -7.02375289e-04 9.99772338e-01 2.95617156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95509989299998 meters 0.01995345813066285 Centerline is valid? [True, True] Translation: X:255.60, Y:3.84, Z:2.96 [[ 9.99201554e-01 -3.39539077e-02 -2.10567399e-02 2.55602718e+02] [ 3.39613308e-02 9.99423148e-01 -5.07464540e-06 3.83943907e+00] [ 2.10447656e-02 -7.10044316e-04 9.99778282e-01 2.95759751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98509989299998 meters 0.022147081234894606 Centerline is valid? [True, True] Translation: X:255.63, Y:3.84, Z:2.96 [[ 9.99171907e-01 -3.51193234e-02 -2.05458968e-02 2.55632309e+02] [ 3.51266356e-02 9.99382869e-01 -4.99903590e-06 3.83646487e+00] [ 2.05333929e-02 -7.16713334e-04 9.99788911e-01 2.95768805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01509989299998 meters 0.02132682228357396 Centerline is valid? [True, True] Translation: X:255.66, Y:3.84, Z:2.96 [[ 9.99128611e-01 -3.64454436e-02 -2.03408135e-02 2.55662446e+02] [ 3.64528835e-02 9.99335373e-01 -5.02022767e-06 3.83817491e+00] [ 2.03274774e-02 -7.36465450e-04 9.99793104e-01 2.95916550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04509989299999 meters 0.022754122185364635 Centerline is valid? [True, True] Translation: X:255.69, Y:3.84, Z:2.96 [[ 9.99096187e-01 -3.78397134e-02 -1.93640146e-02 2.55693146e+02] [ 3.78467195e-02 9.99283556e-01 -4.65627296e-06 3.83611507e+00] [ 1.93503175e-02 -7.28212364e-04 9.99812500e-01 2.95943936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.075099893 meters 0.02264495942021791 Centerline is valid? [True, True] Translation: X:255.72, Y:3.84, Z:2.96 [[ 9.98951727e-01 -4.09885538e-02 -2.03809893e-02 2.55724729e+02] [ 4.09969801e-02 9.99159270e-01 -4.38705004e-06 3.83680038e+00] [ 2.03640342e-02 -8.31176559e-04 9.99792286e-01 2.95969077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.105099893 meters 0.02450598325239606 Centerline is valid? [True, True] Translation: X:255.76, Y:3.83, Z:2.96 [[ 9.98864910e-01 -4.27526287e-02 -2.10024629e-02 2.55755336e+02] [ 4.27619788e-02 9.99085288e-01 -3.91467398e-06 3.83450702e+00] [ 2.09834191e-02 -8.94196644e-04 9.99779424e-01 2.95930807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.135099893 meters 0.023186218309486285 Centerline is valid? [True, True] Translation: X:255.79, Y:3.84, Z:2.96 [[ 9.98766714e-01 -4.45981401e-02 -2.18187241e-02 2.55786818e+02] [ 4.46086832e-02 9.99004537e-01 -3.49872552e-06 3.83734518e+00] [ 2.17971604e-02 -9.69810143e-04 9.99761943e-01 2.96020318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.165099893 meters 0.024081365659390532 Centerline is valid? [True, True] Translation: X:255.82, Y:3.84, Z:2.96 [[ 9.98670402e-01 -4.62854480e-02 -2.26955016e-02 2.55818373e+02] [ 4.62973095e-02 9.98927705e-01 -2.80522060e-06 3.83694523e+00] [ 2.26712951e-02 -1.04793917e-03 9.99742424e-01 2.95995036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.195099893 meters 0.026265592164341794 Centerline is valid? [True, True] Translation: X:255.85, Y:3.84, Z:2.96 [[ 9.98484182e-01 -4.94583522e-02 -2.41497555e-02 2.55848955e+02] [ 4.94727253e-02 9.98775475e-01 -2.30375065e-06 3.83621691e+00] [ 2.41202974e-02 -1.19245396e-03 9.99708352e-01 2.95965457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.225099893 meters 0.026350886086233066 Centerline is valid? [True, True] Translation: X:255.88, Y:3.84, Z:2.96 [[ 9.98413634e-01 -5.07737954e-02 -2.43359282e-02 2.55880104e+02] [ 5.07887965e-02 9.98709416e-01 -1.67467348e-06 3.83701509e+00] [ 2.43046057e-02 -1.23432049e-03 9.99703837e-01 2.96000358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.255099893 meters 0.02733402577516331 Centerline is valid? [True, True] Translation: X:255.91, Y:3.84, Z:2.96 [[ 9.98355836e-01 -5.18560971e-02 -2.44247880e-02 2.55910148e+02] [ 5.18715468e-02 9.98653765e-01 -1.02748757e-06 3.83640736e+00] [ 2.43919598e-02 -1.26592573e-03 9.99701670e-01 2.96021662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.285099893 meters 0.02829624484551553 Centerline is valid? [True, True] Translation: X:255.94, Y:3.84, Z:2.96 [[ 9.98315225e-01 -5.28443002e-02 -2.39622922e-02 2.55941644e+02] [ 5.28594688e-02 9.98601961e-01 -3.89063002e-07 3.83570193e+00] [ 2.39288125e-02 -1.26624563e-03 9.99712863e-01 2.96103445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.315099893 meters 0.029416370379235578 Centerline is valid? [True, True] Translation: X:255.97, Y:3.83, Z:2.96 [[ 9.98301602e-01 -5.33057908e-02 -2.35032641e-02 2.55973235e+02] [ 5.33205347e-02 9.98577448e-01 6.23708508e-07 3.83452325e+00] [ 2.34697963e-02 -1.25382926e-03 9.99723760e-01 2.96147288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.345099893 meters 0.026736894929955554 Centerline is valid? [True, True] Translation: X:256.01, Y:3.84, Z:2.96 [[ 9.98296612e-01 -5.36382233e-02 -2.29524602e-02 2.56005691e+02] [ 5.36524035e-02 9.98559673e-01 2.00107742e-06 3.83943699e+00] [ 2.29192938e-02 -1.23345232e-03 9.99736558e-01 2.96283423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.375099893 meters 0.027295874886514127 Centerline is valid? [True, True] Translation: X:256.04, Y:3.84, Z:2.96 [[ 9.98324715e-01 -5.30257958e-02 -2.31522745e-02 2.56036474e+02] [ 5.30400939e-02 9.98592384e-01 3.49339022e-06 3.83882185e+00] [ 2.31194997e-02 -1.23148635e-03 9.99731950e-01 2.96307558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40509989299997 meters 0.02660015886971427 Centerline is valid? [True, True] Translation: X:256.07, Y:3.84, Z:2.96 [[ 9.98337231e-01 -5.26880382e-02 -2.33825437e-02 2.56068975e+02] [ 5.27025640e-02 9.98610254e-01 4.98585669e-06 3.84012154e+00] [ 2.33497852e-02 -1.23729757e-03 9.99726591e-01 2.96305561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43509989299997 meters 0.024934500774988672 Centerline is valid? [True, True] Translation: X:256.10, Y:3.84, Z:2.96 [[ 9.98362975e-01 -5.16745895e-02 -2.45174683e-02 2.56101031e+02] [ 5.16903000e-02 9.98663163e-01 7.04329353e-06 3.84374545e+00] [ 2.44843285e-02 -1.27434706e-03 9.99699402e-01 2.96275558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46509989299997 meters 0.02586636250321409 Centerline is valid? [True, True] Translation: X:256.13, Y:3.84, Z:2.96 [[ 9.98377222e-01 -5.11456317e-02 -2.50408972e-02 2.56131854e+02] [ 5.11619168e-02 9.98690372e-01 9.68251116e-06 3.84237370e+00] [ 2.50076077e-02 -1.29080710e-03 9.99686428e-01 2.96208123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49509989299997 meters 0.026558734432610028 Centerline is valid? [True, True] Translation: X:256.16, Y:3.84, Z:2.96 [[ 9.98383878e-01 -5.09957876e-02 -2.50811208e-02 2.56163221e+02] [ 5.10121333e-02 9.98698033e-01 1.19082109e-05 3.84106773e+00] [ 2.50478587e-02 -1.29133044e-03 9.99685419e-01 2.96187071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52509989299998 meters 0.02695373858193534 Centerline is valid? [True, True] Translation: X:256.19, Y:3.84, Z:2.96 [[ 9.98359692e-01 -5.15779942e-02 -2.48523000e-02 2.56194781e+02] [ 5.15942500e-02 9.98668130e-01 1.28949027e-05 3.84066591e+00] [ 2.48185349e-02 -1.29510953e-03 9.99691134e-01 2.96280056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55509989299998 meters 0.027223238436225084 Centerline is valid? [True, True] Translation: X:256.23, Y:3.84, Z:2.96 [[ 9.98376584e-01 -5.13966413e-02 -2.45475318e-02 2.56226159e+02] [ 5.14124670e-02 9.98677505e-01 1.35955795e-05 3.84067434e+00] [ 2.45143690e-02 -1.27562268e-03 9.99698664e-01 2.96336158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58509989299998 meters 0.026144073357154195 Centerline is valid? [True, True] Translation: X:256.26, Y:3.84, Z:2.96 [[ 9.98396235e-01 -5.12045614e-02 -2.41464426e-02 2.56258553e+02] [ 5.12198486e-02 9.98687402e-01 1.46435063e-05 3.84250527e+00] [ 2.41139982e-02 -1.25139716e-03 9.99708432e-01 2.96435127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61509989299998 meters 0.027387756155988915 Centerline is valid? [True, True] Translation: X:256.29, Y:3.84, Z:2.96 [[ 9.98427035e-01 -5.06396290e-02 -2.40641554e-02 2.56289969e+02] [ 5.06547035e-02 9.98716226e-01 1.68838034e-05 3.84106863e+00] [ 2.40324074e-02 -1.23581990e-03 9.99710416e-01 2.96451403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64509989299998 meters 0.023913070826849056 Centerline is valid? [True, True] Translation: X:256.32, Y:3.85, Z:2.97 [[ 9.98494218e-01 -4.95258827e-02 -2.35899066e-02 2.56321950e+02] [ 4.95401124e-02 9.98772135e-01 1.88338054e-05 3.84653624e+00] [ 2.35600086e-02 -1.18745207e-03 9.99721719e-01 2.96629451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67509989299998 meters 0.02532946636550175 Centerline is valid? [True, True] Translation: X:256.35, Y:3.85, Z:2.97 [[ 9.98627258e-01 -4.68549993e-02 -2.34138383e-02 2.56352247e+02] [ 4.68683318e-02 9.98901076e-01 2.06947155e-05 3.84659256e+00] [ 2.33871387e-02 -1.11803385e-03 9.99725858e-01 2.96650221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70509989299998 meters 0.023886983567317194 Centerline is valid? [True, True] Translation: X:256.38, Y:3.85, Z:2.97 [[ 9.98687987e-01 -4.53846914e-02 -2.37177974e-02 2.56383953e+02] [ 4.53979979e-02 9.98968979e-01 2.26159153e-05 3.84983363e+00] [ 2.36923174e-02 -1.09932676e-03 9.99718693e-01 2.96665121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73509989299998 meters 0.02316540559428028 Centerline is valid? [True, True] Translation: X:256.42, Y:3.85, Z:2.97 [[ 9.98740568e-01 -4.38644544e-02 -2.43554231e-02 2.56415229e+02] [ 4.38780567e-02 9.99036894e-01 2.41036163e-05 3.85170161e+00] [ 2.43309089e-02 -1.09274189e-03 9.99703362e-01 2.96683578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76509989299998 meters 0.02195820111082762 Centerline is valid? [True, True] Translation: X:256.45, Y:3.86, Z:2.97 [[ 9.98830749e-01 -4.14485424e-02 -2.48827963e-02 2.56446710e+02] [ 4.14620148e-02 9.99140081e-01 2.55299247e-05 3.85508228e+00] [ 2.48603409e-02 -1.05719094e-03 9.99690375e-01 2.96699449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79509989299999 meters 0.022760200691242672 Centerline is valid? [True, True] Translation: X:256.48, Y:3.85, Z:2.97 [[ 9.98875120e-01 -4.05738628e-02 -2.45409070e-02 2.56476667e+02] [ 4.05867147e-02 9.99176019e-01 2.56210457e-05 3.85432324e+00] [ 2.45196463e-02 -1.02162702e-03 9.99698826e-01 2.96703528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.825099893 meters 0.023630285544535574 Centerline is valid? [True, True] Translation: X:256.51, Y:3.85, Z:2.97 [[ 9.98911643e-01 -3.99401475e-02 -2.40897084e-02 2.56505737e+02] [ 3.99523420e-02 9.99201586e-01 2.49430687e-05 3.85334499e+00] [ 2.40694786e-02 -9.87356189e-04 9.99709801e-01 2.96709278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.855099893 meters 0.022160792444496643 Centerline is valid? [True, True] Translation: X:256.54, Y:3.86, Z:2.97 [[ 9.98971109e-01 -3.89912055e-02 -2.31605189e-02 2.56536428e+02] [ 3.90022177e-02 9.99239124e-01 2.37711545e-05 3.85570225e+00] [ 2.31419697e-02 -9.27058294e-04 9.99731759e-01 2.96874689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.885099893 meters 0.02120482669280235 Centerline is valid? [True, True] Translation: X:256.57, Y:3.86, Z:2.97 [[ 9.98990071e-01 -3.91721271e-02 -2.20087117e-02 2.56567947e+02] [ 3.91821222e-02 9.99232086e-01 2.29350912e-05 3.85718158e+00] [ 2.19909124e-02 -8.85259959e-04 9.99757779e-01 2.96998220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.915099893 meters 0.022113860218209613 Centerline is valid? [True, True] Translation: X:256.60, Y:3.86, Z:2.97 [[ 9.99004584e-01 -3.92161844e-02 -2.12586833e-02 2.56598684e+02] [ 3.92255321e-02 9.99230382e-01 2.27405194e-05 3.85534281e+00] [ 2.12414305e-02 -8.56601047e-04 9.99774008e-01 2.97073981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.945099893 meters 0.021946559285258536 Centerline is valid? [True, True] Translation: X:256.63, Y:3.86, Z:2.97 [[ 9.98982774e-01 -3.99538407e-02 -2.09071063e-02 2.56630172e+02] [ 3.99630538e-02 9.99201158e-01 2.28847654e-05 3.85521077e+00] [ 2.08894905e-02 -8.58373300e-04 9.99781422e-01 2.97134428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.975099893 meters 0.02161867066927843 Centerline is valid? [True, True] Translation: X:256.66, Y:3.85, Z:2.97 [[ 9.98983515e-01 -4.01605486e-02 -2.04711262e-02 2.56661752e+02] [ 4.01694394e-02 9.99192882e-01 2.31288771e-05 3.85421275e+00] [ 2.04536748e-02 -8.45419033e-04 9.99790444e-01 2.97086767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.005099893 meters 0.02341916155542451 Centerline is valid? [True, True] Translation: X:256.69, Y:3.85, Z:2.97 [[ 9.98979244e-01 -4.01033403e-02 -2.07892330e-02 2.56692880e+02] [ 4.01125160e-02 9.99195169e-01 2.43903931e-05 3.85080515e+00] [ 2.07715231e-02 -8.58273940e-04 9.99783880e-01 2.97026555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.035099893 meters 0.021202398812967062 Centerline is valid? [True, True] Translation: X:256.72, Y:3.85, Z:2.97 [[ 9.98980523e-01 -4.00368315e-02 -2.08558694e-02 2.56724236e+02] [ 4.00460719e-02 9.99197834e-01 2.54413028e-05 3.85330794e+00] [ 2.08381210e-02 -8.60611014e-04 9.99782492e-01 2.97086470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.065099893 meters 0.02366734281293118 Centerline is valid? [True, True] Translation: X:256.76, Y:3.85, Z:2.97 [[ 9.98982894e-01 -3.98520189e-02 -2.10948904e-02 2.56755205e+02] [ 3.98614509e-02 9.99205216e-01 2.66592839e-05 3.84905233e+00] [ 2.10770621e-02 -8.67505104e-04 9.99777478e-01 2.96975607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.095099893 meters 0.02228415781388888 Centerline is valid? [True, True] Translation: X:256.79, Y:3.85, Z:2.97 [[ 9.98957523e-01 -3.99210890e-02 -2.21398665e-02 2.56786466e+02] [ 3.99315191e-02 9.99202418e-01 2.90299995e-05 3.85026505e+00] [ 2.21210492e-02 -9.13078237e-04 9.99754883e-01 2.96908383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.125099893 meters 0.02419064560271189 Centerline is valid? [True, True] Translation: X:256.82, Y:3.85, Z:2.97 [[ 9.98951716e-01 -3.98063398e-02 -2.26036481e-02 2.56816972e+02] [ 3.98171964e-02 9.99206981e-01 3.02650292e-05 3.84696685e+00] [ 2.25845182e-02 -9.30247199e-04 9.99744504e-01 2.96838708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15509989299997 meters 0.02275205904862554 Centerline is valid? [True, True] Translation: X:256.85, Y:3.85, Z:2.97 [[ 9.98955192e-01 -3.95290300e-02 -2.29342524e-02 2.56848548e+02] [ 3.95401473e-02 9.99217982e-01 3.12984178e-05 3.84841948e+00] [ 2.29150802e-02 -9.38089436e-04 9.99736975e-01 2.96848713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18509989299997 meters 0.02309175229994477 Centerline is valid? [True, True] Translation: X:256.88, Y:3.85, Z:2.97 [[ 9.98966838e-01 -3.93940440e-02 -2.26575640e-02 2.56879565e+02] [ 3.94048776e-02 9.99223326e-01 3.17061052e-05 3.84773384e+00] [ 2.26387174e-02 -9.24491884e-04 9.99743284e-01 2.96834523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21509989299997 meters 0.022254144157324553 Centerline is valid? [True, True] Translation: X:256.91, Y:3.85, Z:2.97 [[ 9.98977765e-01 -3.89844990e-02 -2.28830617e-02 2.56911189e+02] [ 3.89954606e-02 9.99239387e-01 3.28254905e-05 3.84895824e+00] [ 2.28643769e-02 -9.25127467e-04 9.99738148e-01 2.96882282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24509989299997 meters 0.021513273937209653 Centerline is valid? [True, True] Translation: X:256.94, Y:3.85, Z:2.97 [[ 9.99006958e-01 -3.83014663e-02 -2.27617284e-02 2.56942484e+02] [ 3.83121532e-02 9.99265819e-01 3.34558632e-05 3.85033603e+00] [ 2.27437358e-02 -9.05473465e-04 9.99740918e-01 2.96939424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27509989299998 meters 0.02076858867509974 Centerline is valid? [True, True] Translation: X:256.97, Y:3.85, Z:2.97 [[ 9.99098508e-01 -3.67195540e-02 -2.13036487e-02 2.56972700e+02] [ 3.67285649e-02 9.99325278e-01 3.17262421e-05 3.85257313e+00] [ 2.12881097e-02 -8.14150087e-04 9.99773051e-01 2.97061563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30509989299998 meters 0.02221468953699156 Centerline is valid? [True, True] Translation: X:257.00, Y:3.85, Z:2.97 [[ 9.99139508e-01 -3.59495055e-02 -2.06851889e-02 2.57003188e+02] [ 3.59578389e-02 9.99353307e-01 3.09535471e-05 3.85084701e+00] [ 2.06706992e-02 -7.74721604e-04 9.99786038e-01 2.97116065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33509989299998 meters 0.020280255587753343 Centerline is valid? [True, True] Translation: X:257.03, Y:3.85, Z:2.97 [[ 9.99200280e-01 -3.48095361e-02 -1.96747703e-02 2.57033670e+02] [ 3.48168585e-02 9.99393709e-01 2.96512567e-05 3.85379178e+00] [ 1.96618095e-02 -7.14641239e-04 9.99806433e-01 2.97253166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36509989299998 meters 0.02011521864792998 Centerline is valid? [True, True] Translation: X:257.07, Y:3.85, Z:2.97 [[ 9.99242584e-01 -3.40894152e-02 -1.87661693e-02 2.57065427e+02] [ 3.40959543e-02 9.99418564e-01 2.85111439e-05 3.85406266e+00] [ 1.87542861e-02 -6.68340000e-04 9.99823900e-01 2.97336308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39509989299998 meters 0.02011521864792998 Centerline is valid? [True, True] Translation: X:257.10, Y:3.85, Z:2.97 [[ 9.99243808e-01 -3.40535409e-02 -1.87661683e-02 2.57096292e+02] [ 3.40600862e-02 9.99419787e-01 2.91837327e-05 3.85398569e+00] [ 1.87542861e-02 -6.68338974e-04 9.99823900e-01 2.97374464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42509989299998 meters 0.019897951569192197 Centerline is valid? [True, True] Translation: X:257.13, Y:3.85, Z:2.97 [[ 9.99291114e-01 -3.32569298e-02 -1.76421624e-02 2.57127962e+02] [ 3.32626010e-02 9.99446646e-01 2.80419273e-05 3.85420959e+00] [ 1.76314674e-02 -6.14846257e-04 9.99844365e-01 2.97471513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45509989299998 meters 0.019440303125136362 Centerline is valid? [True, True] Translation: X:257.16, Y:3.85, Z:2.98 [[ 9.99327875e-01 -3.27440123e-02 -1.64811266e-02 2.57159522e+02] [ 3.27489011e-02 9.99463611e-01 2.67581183e-05 3.85466723e+00] [ 1.64714102e-02 -5.66478920e-04 9.99864177e-01 2.97595265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48509989299998 meters 0.020782639402383625 Centerline is valid? [True, True] Translation: X:257.19, Y:3.85, Z:2.98 [[ 9.99349612e-01 -3.26147867e-02 -1.53827078e-02 2.57191087e+02] [ 3.26190390e-02 9.99467857e-01 2.55524817e-05 3.85198524e+00] [ 1.53736886e-02 -5.27305007e-04 9.99881679e-01 2.97712816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51509989299998 meters 0.01960981031905608 Centerline is valid? [True, True] Translation: X:257.22, Y:3.85, Z:2.98 [[ 9.99321491e-01 -3.31358816e-02 -1.60801497e-02 2.57223730e+02] [ 3.31406112e-02 9.99450699e-01 2.76748131e-05 3.85322061e+00] [ 1.60703999e-02 -5.60562026e-04 9.99870706e-01 2.97666011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54509989299999 meters 0.020527972581353627 Centerline is valid? [True, True] Translation: X:257.26, Y:3.85, Z:2.97 [[ 9.99221676e-01 -3.48864370e-02 -1.84113812e-02 2.57255084e+02] [ 3.48929593e-02 9.99391055e-01 3.30345764e-05 3.84994124e+00] [ 1.83990172e-02 -6.75436441e-04 9.99830496e-01 2.97456375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.575099893 meters 0.021413401991452828 Centerline is valid? [True, True] Translation: X:257.29, Y:3.85, Z:2.97 [[ 9.99169565e-01 -3.61455690e-02 -1.88063444e-02 2.57285151e+02] [ 3.61526119e-02 9.99346280e-01 3.45360321e-05 3.84783496e+00] [ 1.87928020e-02 -7.14405823e-04 9.99823144e-01 2.97413341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.605099893 meters 0.023398878946085923 Centerline is valid? [True, True] Translation: X:257.32, Y:3.84, Z:2.97 [[ 9.99112479e-01 -3.74674487e-02 -1.92469298e-02 2.57315339e+02] [ 3.74750770e-02 9.99297562e-01 3.56894444e-05 3.84420140e+00] [ 1.92320729e-02 -7.56937946e-04 9.99814760e-01 2.97347849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.635099893 meters 0.02353425298136144 Centerline is valid? [True, True] Translation: X:257.35, Y:3.84, Z:2.97 [[ 9.98982649e-01 -3.98956499e-02 -2.10238994e-02 2.57346026e+02] [ 3.99052971e-02 9.99203466e-01 3.93720802e-05 3.84210237e+00] [ 2.10055824e-02 -8.78296975e-04 9.99778973e-01 2.97222921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.665099893 meters 0.024204083372397853 Centerline is valid? [True, True] Translation: X:257.38, Y:3.84, Z:2.97 [[ 9.98907500e-01 -4.11516762e-02 -2.21437728e-02 2.57377521e+02] [ 4.11626994e-02 9.99152456e-01 4.20358997e-05 3.84057180e+00] [ 2.21232751e-02 -9.53487438e-04 9.99754796e-01 2.97185142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.695099893 meters 0.024114059873713452 Centerline is valid? [True, True] Translation: X:257.41, Y:3.84, Z:2.97 [[ 9.98842492e-01 -4.21328582e-02 -2.32055654e-02 2.57408451e+02] [ 4.21452435e-02 9.99111494e-01 4.46927958e-05 3.84026059e+00] [ 2.31830641e-02 -1.02264527e-03 9.99730714e-01 2.97176165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.725099893 meters 0.023414150378195126 Centerline is valid? [True, True] Translation: X:257.44, Y:3.84, Z:2.97 [[ 9.98789393e-01 -4.31186698e-02 -2.36755036e-02 2.57439940e+02] [ 4.31318532e-02 9.99069388e-01 4.62252734e-05 3.84106138e+00] [ 2.36514777e-02 -1.06733766e-03 9.99719695e-01 2.97198196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.755099893 meters 0.02270041941722013 Centerline is valid? [True, True] Translation: X:257.47, Y:3.84, Z:2.97 [[ 9.98786427e-01 -4.30978941e-02 -2.38378887e-02 2.57471637e+02] [ 4.31112736e-02 9.99070276e-01 4.74036188e-05 3.84203455e+00] [ 2.38136830e-02 -1.07502783e-03 9.99715836e-01 2.97263120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.785099893 meters 0.024894752737684683 Centerline is valid? [True, True] Translation: X:257.50, Y:3.84, Z:2.97 [[ 9.98797248e-01 -4.30122251e-02 -2.35373177e-02 2.57501554e+02] [ 4.30252606e-02 9.99073984e-01 4.74481787e-05 3.83908681e+00] [ 2.35134809e-02 -1.06009034e-03 9.99722958e-01 2.97291714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.815099893 meters 0.0236134003102931 Centerline is valid? [True, True] Translation: X:257.53, Y:3.84, Z:2.97 [[ 9.98843298e-01 -4.23080630e-02 -2.28493918e-02 2.57532273e+02] [ 4.23201684e-02 9.99104099e-01 4.62769085e-05 3.84117585e+00] [ 2.28269631e-02 -1.01321349e-03 9.99738917e-01 2.97408870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.845099893 meters 0.023220900442653854 Centerline is valid? [True, True] Translation: X:257.56, Y:3.84, Z:2.98 [[ 9.98974465e-01 -4.02256782e-02 -2.07825185e-02 2.57563311e+02] [ 4.02352453e-02 9.99190234e-01 4.22388742e-05 3.84258510e+00] [ 2.07639904e-02 -8.78385287e-04 9.99784019e-01 2.97583791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.875099893 meters 0.02160186747674685 Centerline is valid? [True, True] Translation: X:257.59, Y:3.85, Z:2.98 [[ 9.99056618e-01 -3.88188712e-02 -1.94671380e-02 2.57594641e+02] [ 3.88270076e-02 9.99245947e-01 4.00247532e-05 3.84517204e+00] [ 1.94509051e-02 -7.95837711e-04 9.99810497e-01 2.97706335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90509989299997 meters 0.021814454017676423 Centerline is valid? [True, True] Translation: X:257.63, Y:3.85, Z:2.98 [[ 9.99203446e-01 -3.59058456e-02 -1.74139129e-02 2.57625422e+02] [ 3.59119242e-02 9.99354958e-01 3.63831554e-05 3.84576108e+00] [ 1.74013738e-02 -6.61721295e-04 9.99848366e-01 2.97847400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93509989299997 meters 0.021006702694576024 Centerline is valid? [True, True] Translation: X:257.66, Y:3.85, Z:2.98 [[ 9.99255624e-01 -3.46548417e-02 -1.69481273e-02 2.57657128e+02] [ 3.46604298e-02 9.99399146e-01 3.60051734e-05 3.84748615e+00] [ 1.69366962e-02 -6.23407749e-04 9.99856370e-01 2.97967967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96509989299997 meters 0.021053650220748198 Centerline is valid? [True, True] Translation: X:257.69, Y:3.85, Z:2.98 [[ 9.99287000e-01 -3.39070556e-02 -1.66073506e-02 2.57688925e+02] [ 3.39123289e-02 9.99424811e-01 3.59329892e-05 3.84785192e+00] [ 1.65965799e-02 -5.99101306e-04 9.99862088e-01 2.98025632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99509989299997 meters 0.01972986748705647 Centerline is valid? [True, True] Translation: X:257.72, Y:3.85, Z:2.98 [[ 9.99294368e-01 -3.36382035e-02 -1.67104163e-02 2.57721404e+02] [ 3.36435212e-02 9.99433896e-01 3.71271795e-05 3.84981154e+00] [ 1.66997076e-02 -5.99298226e-04 9.99860371e-01 2.98081159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02509989299998 meters 0.021044611358226214 Centerline is valid? [True, True] Translation: X:257.75, Y:3.85, Z:2.98 [[ 9.99250924e-01 -3.44882851e-02 -1.75541699e-02 2.57752775e+02] [ 3.44943105e-02 9.99404893e-01 4.04892593e-05 3.84726000e+00] [ 1.75423269e-02 -6.45977919e-04 9.99845913e-01 2.97977336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05509989299998 meters 0.021244092238927936 Centerline is valid? [True, True] Translation: X:257.78, Y:3.85, Z:2.98 [[ 9.99200723e-01 -3.55176668e-02 -1.83415209e-02 2.57784470e+02] [ 3.55244468e-02 9.99368807e-01 4.38721187e-05 3.84662275e+00] [ 1.83283856e-02 -6.95409436e-04 9.99831779e-01 2.97971027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08509989299998 meters 0.022295612865680808 Centerline is valid? [True, True] Translation: X:257.82, Y:3.84, Z:2.98 [[ 9.99144361e-01 -3.66499360e-02 -1.91658175e-02 2.57815209e+02] [ 3.66575722e-02 9.99327884e-01 4.71431982e-05 3.84442481e+00] [ 1.91512080e-02 -7.49675199e-04 9.99816318e-01 2.97895014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11509989299998 meters 0.022045511911333915 Centerline is valid? [True, True] Translation: X:257.85, Y:3.84, Z:2.98 [[ 9.99011464e-01 -3.95071188e-02 -2.03784777e-02 2.57845879e+02] [ 3.95163843e-02 9.99218921e-01 5.20275613e-05 3.84355174e+00] [ 2.03605050e-02 -8.57259885e-04 9.99792336e-01 2.97842493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14509989299998 meters 0.023874035699909257 Centerline is valid? [True, True] Translation: X:257.88, Y:3.84, Z:2.98 [[ 9.98950745e-01 -4.08075744e-02 -2.07882483e-02 2.57876118e+02] [ 4.08175095e-02 9.99166617e-01 5.36577691e-05 3.84049523e+00] [ 2.07687341e-02 -9.02125992e-04 9.99783900e-01 2.97809880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17509989299998 meters 0.022390966451936264 Centerline is valid? [True, True] Translation: X:257.91, Y:3.84, Z:2.98 [[ 9.98882180e-01 -4.22355510e-02 -2.12261269e-02 2.57907235e+02] [ 4.22462425e-02 9.99107227e-01 5.53342352e-05 3.84245378e+00] [ 2.12048397e-02 -9.51996486e-04 9.99774699e-01 2.97883458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20509989299998 meters 0.02344382107382903 Centerline is valid? [True, True] Translation: X:257.94, Y:3.84, Z:2.98 [[ 9.98887396e-01 -4.22573198e-02 -2.09353621e-02 2.57938292e+02] [ 4.22677440e-02 9.99106318e-01 5.54835361e-05 3.84065369e+00] [ 2.09143079e-02 -9.40312329e-04 9.99780830e-01 2.97889780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23509989299998 meters 0.02265858998264087 Centerline is valid? [True, True] Translation: X:257.97, Y:3.84, Z:2.98 [[ 9.98892763e-01 -4.20621494e-02 -2.10718738e-02 2.57970113e+02] [ 4.20726942e-02 9.99114551e-01 5.71505090e-05 3.84204841e+00] [ 2.10508119e-02 -9.43637733e-04 9.99777962e-01 2.97991268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26509989299998 meters 0.022725041725021208 Centerline is valid? [True, True] Translation: X:258.00, Y:3.84, Z:2.98 [[ 9.98961743e-01 -4.07719489e-02 -2.03244652e-02 2.58000158e+02] [ 4.07815126e-02 9.99168087e-01 5.61288939e-05 3.84283612e+00] [ 2.03052685e-02 -8.84933052e-04 9.99793435e-01 2.98128569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29509989299999 meters 0.022702269167947133 Centerline is valid? [True, True] Translation: X:258.03, Y:3.84, Z:2.98 [[ 9.99031313e-01 -3.94862917e-02 -1.94233962e-02 2.58030587e+02] [ 3.94947973e-02 9.99219775e-01 5.43533347e-05 3.84305840e+00] [ 1.94060954e-02 -8.21423780e-04 9.99811347e-01 2.98178191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.325099893 meters 0.022702609344379485 Centerline is valid? [True, True] Translation: X:258.06, Y:3.84, Z:2.98 [[ 9.99146192e-01 -3.70539207e-02 -1.82727754e-02 2.58061046e+02] [ 3.70610591e-02 9.99313002e-01 5.20649013e-05 3.84371212e+00] [ 1.82582929e-02 -7.29228859e-04 9.99833038e-01 2.98330826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.355099893 meters 0.020780761712786838 Centerline is valid? [True, True] Translation: X:258.09, Y:3.85, Z:2.98 [[ 9.99210112e-01 -3.56849853e-02 -1.74852255e-02 2.58092541e+02] [ 3.56913191e-02 9.99362861e-01 5.02147071e-05 3.84709839e+00] [ 1.74722930e-02 -6.74245805e-04 9.99847120e-01 2.98492459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.385099893 meters 0.01962040586345269 Centerline is valid? [True, True] Translation: X:258.12, Y:3.85, Z:2.99 [[ 9.99318831e-01 -3.28544187e-02 -1.68066036e-02 2.58123800e+02] [ 3.28598805e-02 9.99459967e-01 4.88536294e-05 3.84994131e+00] [ 1.67959225e-02 -6.01083339e-04 9.99858758e-01 2.98628105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.415099893 meters 0.021783261524880325 Centerline is valid? [True, True] Translation: X:258.16, Y:3.85, Z:2.99 [[ 9.99347763e-01 -3.16833203e-02 -1.73267566e-02 2.58155194e+02] [ 3.16889623e-02 9.99497777e-01 5.10968582e-05 3.84659352e+00] [ 1.73164358e-02 -6.00130467e-04 9.99849879e-01 2.98614400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.445099893 meters 0.019214177512135066 Centerline is valid? [True, True] Translation: X:258.19, Y:3.85, Z:2.99 [[ 9.99391525e-01 -3.02725216e-02 -1.73249780e-02 2.58187010e+02] [ 3.02779668e-02 9.99541516e-01 5.20238493e-05 3.85111900e+00] [ 1.73154599e-02 -5.76557304e-04 9.99849910e-01 2.98676421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.475099893 meters 0.019023720818019476 Centerline is valid? [True, True] Translation: X:258.22, Y:3.85, Z:2.99 [[ 9.99366780e-01 -3.02616339e-02 -1.87155837e-02 2.58218615e+02] [ 3.02680043e-02 9.99541817e-01 5.71436573e-05 3.85148835e+00] [ 1.87052793e-02 -6.23590842e-04 9.99824846e-01 2.98655300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.505099893 meters 0.019023720818019476 Centerline is valid? [True, True] Translation: X:258.25, Y:3.85, Z:2.99 [[ 9.99366780e-01 -3.02616284e-02 -1.87155824e-02 2.58248630e+02] [ 3.02680072e-02 9.99541817e-01 5.75881375e-05 3.85139577e+00] [ 1.87052645e-02 -6.24035052e-04 9.99824846e-01 2.98692405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.535099893 meters 0.01963200134300208 Centerline is valid? [True, True] Translation: X:258.28, Y:3.85, Z:2.99 [[ 9.99353788e-01 -3.04576842e-02 -1.90875934e-02 2.58279267e+02] [ 3.04643572e-02 9.99535852e-01 5.88526122e-05 3.84991887e+00] [ 1.90769414e-02 -6.40305842e-04 9.99817814e-01 2.98665882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.565099893 meters 0.01963200134300208 Centerline is valid? [True, True] Translation: X:258.31, Y:3.85, Z:2.99 [[ 9.99353788e-01 -3.04576815e-02 -1.90875927e-02 2.58309283e+02] [ 3.04643586e-02 9.99535852e-01 5.90729799e-05 3.84982587e+00] [ 1.90769340e-02 -6.40526075e-04 9.99817814e-01 2.98702994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.595099893 meters 0.02053802988085155 Centerline is valid? [True, True] Translation: X:258.34, Y:3.85, Z:2.99 [[ 9.99287692e-01 -3.20229167e-02 -1.99660079e-02 2.58339218e+02] [ 3.20305480e-02 9.99486888e-01 6.24561775e-05 3.84823024e+00] [ 1.99537631e-02 -7.01933864e-04 9.99800657e-01 2.98728564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.625099893 meters 0.02092391999636895 Centerline is valid? [True, True] Translation: X:258.37, Y:3.85, Z:2.99 [[ 9.99263517e-01 -3.26627008e-02 -2.01388244e-02 2.58369929e+02] [ 3.26706165e-02 9.99466171e-01 6.40874916e-05 3.84726283e+00] [ 2.01259805e-02 -7.21988103e-04 9.99797191e-01 2.98757579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65509989299997 meters 0.02211578947350215 Centerline is valid? [True, True] Translation: X:258.40, Y:3.85, Z:2.99 [[ 9.99228521e-01 -3.36412873e-02 -2.02639171e-02 2.58400505e+02] [ 3.36495054e-02 9.99433693e-01 6.46224721e-05 3.84540788e+00] [ 2.02502675e-02 -7.46443405e-04 9.99794664e-01 2.98789614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68509989299997 meters 0.02034597164280629 Centerline is valid? [True, True] Translation: X:258.43, Y:3.85, Z:2.99 [[ 9.99164775e-01 -3.52455081e-02 -2.06762324e-02 2.58431753e+02] [ 3.52544178e-02 9.99378368e-01 6.64569740e-05 3.84839277e+00] [ 2.06610371e-02 -7.95330003e-04 9.99786222e-01 2.98958989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71509989299997 meters 0.02238708780519575 Centerline is valid? [True, True] Translation: X:258.46, Y:3.85, Z:2.99 [[ 9.99130123e-01 -3.61542397e-02 -2.07814288e-02 2.58462132e+02] [ 3.61634490e-02 9.99345886e-01 6.73962001e-05 3.84555115e+00] [ 2.07653987e-02 -8.18865713e-04 9.99784041e-01 2.98999804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74509989299997 meters 0.02301385289643351 Centerline is valid? [True, True] Translation: X:258.49, Y:3.84, Z:2.99 [[ 9.99113125e-01 -3.69290148e-02 -2.02289592e-02 2.58493628e+02] [ 3.69379093e-02 9.99317560e-01 6.60937356e-05 3.84492048e+00] [ 2.02127134e-02 -8.13250578e-04 9.99795371e-01 2.99082637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77509989299998 meters 0.021790388462844795 Centerline is valid? [True, True] Translation: X:258.52, Y:3.85, Z:2.99 [[ 9.99077216e-01 -3.78180256e-02 -2.03596075e-02 2.58524798e+02] [ 3.78272342e-02 9.99284292e-01 6.72390651e-05 3.84690923e+00] [ 2.03424931e-02 -8.37324658e-04 9.99792719e-01 2.99216706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80509989299998 meters 0.02231610249245 Centerline is valid? [True, True] Translation: X:258.56, Y:3.85, Z:2.99 [[ 9.99033532e-01 -3.88798249e-02 -2.05027306e-02 2.58556561e+02] [ 3.88894018e-02 9.99243519e-01 6.84465028e-05 3.84612453e+00] [ 2.04845594e-02 -8.65719278e-04 9.99789795e-01 2.99288938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83509989299998 meters 0.022394065980102604 Centerline is valid? [True, True] Translation: X:258.59, Y:3.85, Z:2.99 [[ 9.98897957e-01 -4.19862840e-02 -2.09767417e-02 2.58587656e+02] [ 4.19970051e-02 9.99117734e-01 7.06344151e-05 3.84603461e+00] [ 2.09552689e-02 -9.51516899e-04 9.99779961e-01 2.99389944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86509989299998 meters 0.024054613933138683 Centerline is valid? [True, True] Translation: X:258.62, Y:3.84, Z:2.99 [[ 9.98797461e-01 -4.39799311e-02 -2.16655717e-02 2.58617994e+02] [ 4.39918447e-02 9.99031887e-01 7.33529392e-05 3.84351758e+00] [ 2.16413709e-02 -1.02637319e-03 9.99765271e-01 2.99433487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89509989299998 meters 0.024883244047772205 Centerline is valid? [True, True] Translation: X:258.65, Y:3.84, Z:2.99 [[ 9.98669293e-01 -4.63273389e-02 -2.26588133e-02 2.58649579e+02] [ 4.63409866e-02 9.98925676e-01 7.73165403e-05 3.84170900e+00] [ 2.26308885e-02 -1.12724542e-03 9.99743253e-01 2.99429377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92509989299998 meters 0.02399027696023521 Centerline is valid? [True, True] Translation: X:258.68, Y:3.84, Z:2.99 [[ 9.98638709e-01 -4.66042537e-02 -2.34258808e-02 2.58681358e+02] [ 4.66189470e-02 9.98912743e-01 8.11995984e-05 3.84248163e+00] [ 2.33966266e-02 -1.17317896e-03 9.99725573e-01 2.99496744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95509989299998 meters 0.023608542211809625 Centerline is valid? [True, True] Translation: X:258.71, Y:3.84, Z:3.00 [[ 9.98635512e-01 -4.67165645e-02 -2.33382975e-02 2.58713178e+02] [ 4.67312184e-02 9.98907496e-01 8.26013294e-05 3.84249144e+00] [ 2.33089415e-02 -1.17311570e-03 9.99727621e-01 2.99577318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98509989299998 meters 0.02386840548451543 Centerline is valid? [True, True] Translation: X:258.74, Y:3.84, Z:3.00 [[ 9.98638840e-01 -4.63428157e-02 -2.39334604e-02 2.58744989e+02] [ 4.63581622e-02 9.98924879e-01 8.64771543e-05 3.84190146e+00] [ 2.39037214e-02 -1.19587068e-03 9.99713550e-01 2.99638361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01509989299998 meters 0.02410600204462427 Centerline is valid? [True, True] Translation: X:258.78, Y:3.84, Z:3.00 [[ 9.98671852e-01 -4.57883232e-02 -2.36212263e-02 2.58776875e+02] [ 4.58031522e-02 9.98950481e-01 8.68421628e-05 3.84136062e+00] [ 2.35924590e-02 -1.16865345e-03 9.99720976e-01 2.99722215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04509989299999 meters 0.02526667556779246 Centerline is valid? [True, True] Translation: X:258.81, Y:3.84, Z:3.00 [[ 9.98700908e-01 -4.55226715e-02 -2.28950213e-02 2.58808315e+02] [ 4.55365605e-02 9.98962669e-01 8.53864818e-05 3.83991677e+00] [ 2.28673846e-02 -1.12783608e-03 9.99737871e-01 2.99888678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.075099893 meters 0.024144980804952042 Centerline is valid? [True, True] Translation: X:258.84, Y:3.84, Z:3.00 [[ 9.98728685e-01 -4.47272920e-02 -2.32483040e-02 2.58839369e+02] [ 4.47414230e-02 9.98998597e-01 8.77704525e-05 3.84138315e+00] [ 2.32210974e-02 -1.12782107e-03 9.99729718e-01 2.99957980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.105099893 meters 0.024136490284187587 Centerline is valid? [True, True] Translation: X:258.87, Y:3.84, Z:3.00 [[ 9.98753314e-01 -4.41075073e-02 -2.33740343e-02 2.58871108e+02] [ 4.41216418e-02 9.99026162e-01 8.90819480e-05 3.84140460e+00] [ 2.33473426e-02 -1.12027166e-03 9.99726786e-01 2.99958039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.135099893 meters 0.02311792988882033 Centerline is valid? [True, True] Translation: X:258.90, Y:3.84, Z:3.00 [[ 9.98788771e-01 -4.31700547e-02 -2.36079876e-02 2.58902161e+02] [ 4.31842324e-02 9.99067122e-01 9.08210524e-05 3.84282904e+00] [ 2.35820435e-02 -1.11020387e-03 9.99721288e-01 3.00016938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.165099893 meters 0.025458179010241347 Centerline is valid? [True, True] Translation: X:258.93, Y:3.84, Z:3.00 [[ 9.98785534e-01 -4.31118048e-02 -2.38501382e-02 2.58932634e+02] [ 4.31262739e-02 9.99069625e-01 9.24047249e-05 3.83935738e+00] [ 2.38239649e-02 -1.12086009e-03 9.99715541e-01 2.99949934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.195099893 meters 0.023486420796240862 Centerline is valid? [True, True] Translation: X:258.96, Y:3.84, Z:3.00 [[ 9.98795336e-01 -4.28628262e-02 -2.38884033e-02 2.58963782e+02] [ 4.28772858e-02 9.99080342e-01 9.31842937e-05 3.84208112e+00] [ 2.38624400e-02 -1.11734193e-03 9.99714627e-01 3.00064141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.225099893 meters 0.02362320082234083 Centerline is valid? [True, True] Translation: X:259.00, Y:3.84, Z:3.00 [[ 9.98771259e-01 -4.29741911e-02 -2.46818066e-02 2.58995381e+02] [ 4.29896836e-02 9.99075511e-01 9.71722056e-05 3.84184296e+00] [ 2.46548127e-02 -1.15811586e-03 9.99695353e-01 3.00124504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.255099893 meters 0.02531946619184506 Centerline is valid? [True, True] Translation: X:259.03, Y:3.84, Z:3.00 [[ 9.98739014e-01 -4.31343837e-02 -2.56866946e-02 2.59025478e+02] [ 4.31512346e-02 9.99068546e-01 1.01819700e-04 3.83911070e+00] [ 2.56583767e-02 -1.21010389e-03 9.99670037e-01 3.00031523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.285099893 meters 0.02531946619184506 Centerline is valid? [True, True] Translation: X:259.06, Y:3.84, Z:3.00 [[ 9.98739014e-01 -4.31343811e-02 -2.56866937e-02 2.59055512e+02] [ 4.31512375e-02 9.99068546e-01 1.02037205e-04 3.83899129e+00] [ 2.56583664e-02 -1.21032116e-03 9.99670037e-01 3.00068658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.315099893 meters 0.023401952486947243 Centerline is valid? [True, True] Translation: X:259.09, Y:3.84, Z:3.00 [[ 9.98706922e-01 -4.33686890e-02 -2.65262401e-02 2.59086659e+02] [ 4.33867618e-02 9.99058345e-01 1.05878456e-04 3.84150753e+00] [ 2.64966697e-02 -1.25662921e-03 9.99648112e-01 3.00142132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.345099893 meters 0.02302999043711371 Centerline is valid? [True, True] Translation: X:259.12, Y:3.84, Z:3.00 [[ 9.98687038e-01 -4.34491420e-02 -2.71361745e-02 2.59116809e+02] [ 4.34680977e-02 9.99054810e-01 1.08765171e-04 3.84235766e+00] [ 2.71057999e-02 -1.28818025e-03 9.99631740e-01 3.00224742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.375099893 meters 0.022250445946716713 Centerline is valid? [True, True] Translation: X:259.15, Y:3.84, Z:3.00 [[ 9.98687404e-01 -4.33798461e-02 -2.72333873e-02 2.59147576e+02] [ 4.33989123e-02 9.99057817e-01 1.09154812e-04 3.84404688e+00] [ 2.72029933e-02 -1.29091092e-03 9.99629097e-01 3.00348561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40509989299997 meters 0.02466639100392966 Centerline is valid? [True, True] Translation: X:259.18, Y:3.84, Z:3.00 [[ 9.98700028e-01 -4.31981564e-02 -2.70586905e-02 2.59177793e+02] [ 4.32169193e-02 9.99065707e-01 1.08720566e-04 3.84084887e+00] [ 2.70287132e-02 -1.27797247e-03 9.99633841e-01 3.00319707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43509989299997 meters 0.022646605518986493 Centerline is valid? [True, True] Translation: X:259.21, Y:3.84, Z:3.00 [[ 9.98732607e-01 -4.27077920e-02 -2.66312737e-02 2.59207969e+02] [ 4.27257984e-02 9.99086830e-01 1.07223487e-04 3.84393114e+00] [ 2.66023756e-02 -1.24493003e-03 9.99645319e-01 3.00472439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46509989299997 meters 0.022313816282799867 Centerline is valid? [True, True] Translation: X:259.24, Y:3.85, Z:3.01 [[ 9.98820392e-01 -4.11674375e-02 -2.57500914e-02 2.59238445e+02] [ 4.11837608e-02 9.99151584e-01 1.03675650e-04 3.84554637e+00] [ 2.57239765e-02 -1.16403896e-03 9.99668406e-01 3.00612236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49509989299997 meters 0.021312457897032015 Centerline is valid? [True, True] Translation: X:259.27, Y:3.85, Z:3.01 [[ 9.98867021e-01 -4.03025097e-02 -2.53057605e-02 2.59268573e+02] [ 4.03179972e-02 9.99186894e-01 1.01886674e-04 3.84761616e+00] [ 2.52810780e-02 -1.12204882e-03 9.99679753e-01 3.00739697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52509989299998 meters 0.02203422636549481 Centerline is valid? [True, True] Translation: X:259.30, Y:3.85, Z:3.01 [[ 9.98935740e-01 -3.89531523e-02 -2.46989741e-02 2.59298012e+02] [ 3.89674885e-02 9.99240474e-01 9.92214435e-05 3.84691596e+00] [ 2.46763496e-02 -1.06157284e-03 9.99694929e-01 3.00787701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55509989299998 meters 0.022958595561037534 Centerline is valid? [True, True] Translation: X:259.33, Y:3.85, Z:3.01 [[ 9.99013602e-01 -3.72305597e-02 -2.42014084e-02 2.59327571e+02] [ 3.72438191e-02 9.99306204e-01 9.72093141e-05 3.84605483e+00] [ 2.41809984e-02 -9.98466302e-04 9.99707098e-01 3.00805164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58509989299998 meters 0.018975191313178874 Centerline is valid? [True, True] Translation: X:259.36, Y:3.85, Z:3.01 [[ 9.99151191e-01 -3.35992354e-02 -2.38325023e-02 2.59358465e+02] [ 3.36110721e-02 9.99434984e-01 9.61470353e-05 3.85284214e+00] [ 2.38158061e-02 -8.97101379e-04 9.99715961e-01 3.01003621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61509989299998 meters 0.019465409279594826 Centerline is valid? [True, True] Translation: X:259.39, Y:3.85, Z:3.01 [[ 9.99217851e-01 -3.17004819e-02 -2.36382454e-02 2.59388045e+02] [ 3.17115962e-02 9.99497056e-01 9.53829710e-05 3.85220225e+00] [ 2.36233330e-02 -8.44914860e-04 9.99720573e-01 3.01006098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64509989299998 meters 0.018317256339155027 Centerline is valid? [True, True] Translation: X:259.42, Y:3.85, Z:3.01 [[ 9.99287100e-01 -2.97049548e-02 -2.33003831e-02 2.59417321e+02] [ 2.97151976e-02 9.99558402e-01 9.34078378e-05 3.85420686e+00] [ 2.32873190e-02 -7.85716734e-04 9.99728505e-01 3.01085968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67509989299998 meters 0.017751245308533052 Centerline is valid? [True, True] Translation: X:259.45, Y:3.86, Z:3.01 [[ 9.99339969e-01 -2.78328947e-02 -2.33443076e-02 2.59446591e+02] [ 2.78426464e-02 9.99612314e-01 9.27471387e-05 3.85567789e+00] [ 2.33326760e-02 -7.42653226e-04 9.99727480e-01 3.01146583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70509989299998 meters 0.016612302993734986 Centerline is valid? [True, True] Translation: X:259.48, Y:3.86, Z:3.01 [[ 9.99422278e-01 -2.44249924e-02 -2.36332316e-02 2.59475100e+02] [ 2.44340055e-02 9.99701441e-01 9.26377105e-05 3.85896580e+00] [ 2.36239130e-02 -6.70038702e-04 9.99720692e-01 3.01230786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73509989299998 meters 0.016831069655984455 Centerline is valid? [True, True] Translation: X:259.50, Y:3.86, Z:3.01 [[ 9.99449547e-01 -2.27796564e-02 -2.41182639e-02 2.59503079e+02] [ 2.27885177e-02 9.99740304e-01 9.25865794e-05 3.85901942e+00] [ 2.41098914e-02 -6.42155097e-04 9.99709108e-01 3.01246929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76509989299998 meters 0.015568338518063418 Centerline is valid? [True, True] Translation: X:259.53, Y:3.86, Z:3.01 [[ 9.99517770e-01 -1.96537878e-02 -2.40407259e-02 2.59531639e+02] [ 1.96616424e-02 9.99806687e-01 9.03661918e-05 3.86146625e+00] [ 2.40343025e-02 -5.63002770e-04 9.99710976e-01 3.01367295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79509989299999 meters 0.015009117338954818 Centerline is valid? [True, True] Translation: X:259.56, Y:3.86, Z:3.01 [[ 9.99543001e-01 -1.82276585e-02 -2.41151634e-02 2.59560073e+02] [ 1.82350552e-02 9.99833724e-01 8.68391992e-05 3.86234394e+00] [ 2.41095708e-02 -5.26540851e-04 9.99709183e-01 3.01415794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.825099893 meters 0.014544441894827813 Centerline is valid? [True, True] Translation: X:259.59, Y:3.86, Z:3.01 [[ 9.99562648e-01 -1.67776285e-02 -2.43520723e-02 2.59588552e+02] [ 1.67845924e-02 9.99859125e-01 8.15843411e-05 3.86302294e+00] [ 2.43472730e-02 -4.90288269e-04 9.99703441e-01 3.01463593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.855099893 meters 0.013863635322052316 Centerline is valid? [True, True] Translation: X:259.62, Y:3.86, Z:3.02 [[ 9.99612520e-01 -1.33982313e-02 -2.43987143e-02 2.59617381e+02] [ 1.34040672e-02 9.99910159e-01 7.56506439e-05 3.86472979e+00] [ 2.43955087e-02 -4.02663337e-04 9.99702304e-01 3.01527698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.885099893 meters 0.013831595241216844 Centerline is valid? [True, True] Translation: X:259.65, Y:3.87, Z:3.02 [[ 9.99633678e-01 -1.18488434e-02 -2.43334086e-02 2.59645657e+02] [ 1.18540427e-02 9.99929736e-01 6.94305286e-05 3.86511916e+00] [ 2.43308762e-02 -3.57854359e-04 9.99703896e-01 3.01510139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.915099893 meters 0.013088139563977393 Centerline is valid? [True, True] Translation: X:259.67, Y:3.87, Z:3.02 [[ 9.99642631e-01 -1.06911534e-02 -2.45012318e-02 2.59674114e+02] [ 1.06959270e-02 9.99942795e-01 6.37843611e-05 3.86763213e+00] [ 2.44991483e-02 -3.25824952e-04 9.99699798e-01 3.01698127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.945099893 meters 0.012805087668884108 Centerline is valid? [True, True] Translation: X:259.70, Y:3.87, Z:3.02 [[ 9.99652886e-01 -8.47429309e-03 -2.49458223e-02 2.59702338e+02] [ 8.47844438e-03 9.99964056e-01 6.06475522e-05 3.86893375e+00] [ 2.49444117e-02 -2.72128268e-04 9.99688803e-01 3.01710956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.975099893 meters 0.012751145957045538 Centerline is valid? [True, True] Translation: X:259.73, Y:3.87, Z:3.02 [[ 9.99654388e-01 -8.04092215e-03 -2.50289425e-02 2.59730488e+02] [ 8.04484858e-03 9.99967638e-01 5.61850340e-05 3.86933878e+00] [ 2.50276807e-02 -2.57519668e-04 9.99686725e-01 3.01769527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.005099893 meters 0.01270375691707528 Centerline is valid? [True, True] Translation: X:259.76, Y:3.87, Z:3.02 [[ 9.99659606e-01 -7.93855040e-03 -2.48526025e-02 2.59758422e+02] [ 7.94221737e-03 9.99968459e-01 4.88429476e-05 3.86937940e+00] [ 2.48514309e-02 -2.46211093e-04 9.99691125e-01 3.01824558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.035099893 meters 0.012630353425793047 Centerline is valid? [True, True] Translation: X:259.79, Y:3.87, Z:3.02 [[ 9.99681728e-01 -7.78089839e-03 -2.39979322e-02 2.59786293e+02] [ 7.78416753e-03 9.99969702e-01 4.28118909e-05 3.86882884e+00] [ 2.39968720e-02 -2.29602190e-04 9.99712007e-01 3.01882096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.065099893 meters 0.012762783796223962 Centerline is valid? [True, True] Translation: X:259.81, Y:3.87, Z:3.02 [[ 9.99692066e-01 -9.16518951e-03 -2.30601711e-02 2.59812971e+02] [ 9.16852284e-03 9.99957967e-01 3.88233122e-05 3.86688814e+00] [ 2.30588460e-02 -2.50239062e-04 9.99734078e-01 3.01972962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.095099893 meters 0.01269666476184162 Centerline is valid? [True, True] Translation: X:259.84, Y:3.87, Z:3.02 [[ 9.99686702e-01 -1.06703695e-02 -2.26415578e-02 2.59841556e+02] [ 1.06738781e-02 9.99943032e-01 3.41120702e-05 3.86602063e+00] [ 2.26399040e-02 -2.75774611e-04 9.99743646e-01 3.02085936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.125099893 meters 0.012762425129189741 Centerline is valid? [True, True] Translation: X:259.87, Y:3.86, Z:3.02 [[ 9.99668972e-01 -1.27075141e-02 -2.23710950e-02 2.59870544e+02] [ 1.27113247e-02 9.99919207e-01 2.81362750e-05 3.86463794e+00] [ 2.23689301e-02 -3.12493213e-04 9.99749735e-01 3.02152219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15509989299997 meters 0.013974029316443844 Centerline is valid? [True, True] Translation: X:259.90, Y:3.86, Z:3.02 [[ 9.99613056e-01 -1.72793697e-02 -2.17981953e-02 2.59898272e+02] [ 1.72839889e-02 9.99850620e-01 2.35071012e-05 3.85895444e+00] [ 2.17945329e-02 -4.00257770e-04 9.99762391e-01 3.02063477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18509989299997 meters 0.014068618420951301 Centerline is valid? [True, True] Translation: X:259.93, Y:3.86, Z:3.02 [[ 9.99565557e-01 -2.02331825e-02 -2.14316602e-02 2.59927302e+02] [ 2.02382536e-02 9.99795185e-01 1.97248086e-05 3.85712829e+00] [ 2.14268716e-02 -4.53455612e-04 9.99770315e-01 3.02130410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21509989299997 meters 0.014817156268896176 Centerline is valid? [True, True] Translation: X:259.96, Y:3.85, Z:3.02 [[ 9.99506915e-01 -2.31896631e-02 -2.11699476e-02 2.59955662e+02] [ 2.31951916e-02 9.99730955e-01 1.56054551e-05 3.85389485e+00] [ 2.11638900e-02 -5.06638750e-04 9.99775891e-01 3.02143062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24509989299997 meters 0.016951159388414176 Centerline is valid? [True, True] Translation: X:259.98, Y:3.85, Z:3.02 [[ 9.99359081e-01 -2.92335732e-02 -2.06597302e-02 2.59984419e+02] [ 2.92400971e-02 9.99572417e-01 1.37045704e-05 3.84588334e+00] [ 2.06504958e-02 -6.17788304e-04 9.99786565e-01 3.02094278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27509989299998 meters 0.017800232058349266 Centerline is valid? [True, True] Translation: X:260.01, Y:3.84, Z:3.02 [[ 9.99267635e-01 -3.24050892e-02 -2.03495516e-02 2.60014341e+02] [ 3.24120596e-02 9.99474591e-01 1.27239226e-05 3.84280640e+00] [ 2.03384475e-02 -6.72285485e-04 9.99792926e-01 3.02133863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30509989299998 meters 0.019013774319654012 Centerline is valid? [True, True] Translation: X:260.05, Y:3.84, Z:3.02 [[ 9.99174573e-01 -3.54913514e-02 -1.97619819e-02 2.60045165e+02] [ 3.54985241e-02 9.99369729e-01 1.21681125e-05 3.83926528e+00] [ 1.97490947e-02 -7.13679261e-04 9.99804713e-01 3.02193232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33509989299998 meters 0.01985971870460617 Centerline is valid? [True, True] Translation: X:260.08, Y:3.84, Z:3.02 [[ 9.99073397e-01 -3.85673989e-02 -1.91024360e-02 2.60076752e+02] [ 3.85746667e-02 9.99255720e-01 1.20014235e-05 3.83625356e+00] [ 1.90877555e-02 -7.48860402e-04 9.99817532e-01 3.02274065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36509989299998 meters 0.02096148311952686 Centerline is valid? [True, True] Translation: X:260.11, Y:3.83, Z:3.02 [[ 9.98838000e-01 -4.43743891e-02 -1.88032713e-02 2.60107584e+02] [ 4.43824665e-02 9.99014613e-01 1.22827685e-05 3.83158812e+00] [ 1.87841977e-02 -8.46804054e-04 9.99823203e-01 3.02330780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39509989299998 meters 0.02266845388925892 Centerline is valid? [True, True] Translation: X:260.14, Y:3.83, Z:3.02 [[ 9.98717121e-01 -4.69217010e-02 -1.90385467e-02 2.60137355e+02] [ 4.69304450e-02 9.98898160e-01 1.25078645e-05 3.82756933e+00] [ 1.90169823e-02 -9.05979286e-04 9.99818750e-01 3.02312189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42509989299998 meters 0.023738270315764365 Centerline is valid? [True, True] Translation: X:260.17, Y:3.82, Z:3.02 [[ 9.98486784e-01 -5.12157322e-02 -2.00272327e-02 2.60168471e+02] [ 5.12262750e-02 9.98687072e-01 1.34283731e-05 3.82286312e+00] [ 2.00002506e-02 -1.03932858e-03 9.99799435e-01 3.02234283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45509989299998 meters 0.025978532189654867 Centerline is valid? [True, True] Translation: X:260.20, Y:3.82, Z:3.02 [[ 9.98385156e-01 -5.30004779e-02 -2.04457937e-02 2.60199741e+02] [ 5.30118572e-02 9.98593883e-01 1.45922427e-05 3.81813433e+00] [ 2.04162711e-02 -1.09843817e-03 9.99790963e-01 3.02179715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48509989299998 meters 0.026641360189187016 Centerline is valid? [True, True] Translation: X:260.23, Y:3.82, Z:3.02 [[ 9.98305453e-01 -5.44844651e-02 -2.04368731e-02 2.60231515e+02] [ 5.44961670e-02 9.98513980e-01 1.56858880e-05 3.81612140e+00] [ 2.04056489e-02 -1.12939056e-03 9.99791145e-01 3.02210665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51509989299998 meters 0.025969918899832342 Centerline is valid? [True, True] Translation: X:260.26, Y:3.82, Z:3.02 [[ 9.98196337e-01 -5.62785285e-02 -2.08997762e-02 2.60263070e+02] [ 5.62911823e-02 9.98414394e-01 1.71823803e-05 3.81559071e+00] [ 2.08656704e-02 -1.19362450e-03 9.99781576e-01 3.02282383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54509989299999 meters 0.026622709323027186 Centerline is valid? [True, True] Translation: X:260.29, Y:3.81, Z:3.02 [[ 9.98166654e-01 -5.66759303e-02 -2.12407656e-02 2.60294203e+02] [ 5.66891150e-02 9.98391879e-01 1.86268365e-05 3.81426898e+00] [ 2.12055522e-02 -1.22271289e-03 9.99774389e-01 3.02325064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.575099893 meters 0.02510211101350511 Centerline is valid? [True, True] Translation: X:260.33, Y:3.82, Z:3.02 [[ 9.98160655e-01 -5.67835397e-02 -2.12352788e-02 2.60326528e+02] [ 5.67967698e-02 9.98385760e-01 1.99410652e-05 3.81598084e+00] [ 2.11998677e-02 -1.22599963e-03 9.99774506e-01 3.02435035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.605099893 meters 0.026325865795591628 Centerline is valid? [True, True] Translation: X:260.36, Y:3.81, Z:3.02 [[ 9.98191131e-01 -5.62433831e-02 -2.12402422e-02 2.60357729e+02] [ 5.62565407e-02 9.98416347e-01 2.19829248e-05 3.81404674e+00] [ 2.12053686e-02 -1.21684571e-03 9.99774400e-01 3.02483125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.635099893 meters 0.026325865795591628 Centerline is valid? [True, True] Translation: X:260.39, Y:3.81, Z:3.03 [[ 9.98195198e-01 -5.61711574e-02 -2.12402397e-02 2.60389473e+02] [ 5.61843458e-02 9.98420412e-01 2.41999223e-05 3.81395190e+00] [ 2.12053296e-02 -1.21752522e-03 9.99774400e-01 3.02522335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.665099893 meters 0.027087865421184607 Centerline is valid? [True, True] Translation: X:260.42, Y:3.81, Z:3.03 [[ 9.98244552e-01 -5.54844133e-02 -2.07194034e-02 2.60420493e+02] [ 5.54968425e-02 9.98458862e-01 2.49292987e-05 3.81170463e+00] [ 2.06860888e-02 -1.17474700e-03 9.99785330e-01 3.02556238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.695099893 meters 0.02533226166069101 Centerline is valid? [True, True] Translation: X:260.45, Y:3.81, Z:3.03 [[ 9.98245406e-01 -5.55394594e-02 -2.05299077e-02 2.60453147e+02] [ 5.55516996e-02 9.98455812e-01 2.59563306e-05 3.81351924e+00] [ 2.04967640e-02 -1.16638205e-03 9.99789239e-01 3.02636506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.725099893 meters 0.028892921030869725 Centerline is valid? [True, True] Translation: X:260.48, Y:3.81, Z:3.03 [[ 9.98254749e-01 -5.52094372e-02 -2.09612654e-02 2.60484852e+02] [ 5.52221570e-02 9.98474092e-01 2.80417286e-05 3.80811437e+00] [ 2.09277322e-02 -1.18551907e-03 9.99780288e-01 3.02552777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.755099893 meters 0.026023405731396713 Centerline is valid? [True, True] Translation: X:260.52, Y:3.81, Z:3.03 [[ 9.98233910e-01 -5.51622221e-02 -2.20497201e-02 2.60517456e+02] [ 5.51763222e-02 9.98476626e-01 3.11334774e-05 3.81080252e+00] [ 2.20144127e-02 -1.24770095e-03 9.99756875e-01 3.02503066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.785099893 meters 0.02609180296755989 Centerline is valid? [True, True] Translation: X:260.55, Y:3.81, Z:3.02 [[ 9.98226425e-01 -5.52412370e-02 -2.21903279e-02 2.60549653e+02] [ 5.52555726e-02 9.98472243e-01 3.29328648e-05 3.81006095e+00] [ 2.21546072e-02 -1.25901373e-03 9.99753764e-01 3.02499446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.815099893 meters 0.0269018675440783 Centerline is valid? [True, True] Translation: X:260.58, Y:3.81, Z:3.03 [[ 9.98224220e-01 -5.53117506e-02 -2.21137462e-02 2.60582173e+02] [ 5.53260394e-02 9.98468341e-01 3.43989822e-05 3.80859166e+00] [ 2.20779728e-02 -1.25780389e-03 9.99755461e-01 3.02538459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.845099893 meters 0.027590848694974985 Centerline is valid? [True, True] Translation: X:260.61, Y:3.81, Z:3.03 [[ 9.98216509e-01 -5.54307922e-02 -2.21636740e-02 2.60614595e+02] [ 5.54452099e-02 9.98461731e-01 3.60540022e-05 3.80762347e+00] [ 2.21275818e-02 -1.26485925e-03 9.99754355e-01 3.02581341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.875099893 meters 0.02781755958141306 Centerline is valid? [True, True] Translation: X:260.65, Y:3.81, Z:3.03 [[ 9.98192338e-01 -5.58243595e-02 -2.22642426e-02 2.60647014e+02] [ 5.58390410e-02 9.98439783e-01 3.77992236e-05 3.80726634e+00] [ 2.22273955e-02 -1.28094485e-03 9.99752120e-01 3.02631734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90509989299997 meters 0.027563103516628485 Centerline is valid? [True, True] Translation: X:260.68, Y:3.81, Z:3.03 [[ 9.98173763e-01 -5.58995225e-02 -2.28993992e-02 2.60679371e+02] [ 5.59151114e-02 9.98435526e-01 4.05269178e-05 3.80769603e+00] [ 2.28613082e-02 -1.32087536e-03 9.99737774e-01 3.02649500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93509989299997 meters 0.029642636259002784 Centerline is valid? [True, True] Translation: X:260.71, Y:3.81, Z:3.03 [[ 9.98171762e-01 -5.56891355e-02 -2.34915531e-02 2.60710930e+02] [ 5.57055183e-02 9.98447241e-01 4.30651071e-05 3.80526514e+00] [ 2.34526782e-02 -1.35159552e-03 9.99724034e-01 3.02599330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96509989299997 meters 0.03007246148564044 Centerline is valid? [True, True] Translation: X:260.74, Y:3.81, Z:3.03 [[ 9.98204370e-01 -5.49693245e-02 -2.37993654e-02 2.60742251e+02] [ 5.49859655e-02 9.98487126e-01 4.48814419e-05 3.80593137e+00] [ 2.37608928e-02 -1.35343193e-03 9.99716754e-01 3.02655651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99509989299997 meters 0.027962738942895506 Centerline is valid? [True, True] Translation: X:260.77, Y:3.81, Z:3.03 [[ 9.98236501e-01 -5.45331016e-02 -2.34527035e-02 2.60774744e+02] [ 5.45491741e-02 9.98511084e-01 4.56329819e-05 3.80938464e+00] [ 2.34152959e-02 -1.32487812e-03 9.99724946e-01 3.02803156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.025099893 meters 0.02935223307308898 Centerline is valid? [True, True] Translation: X:260.81, Y:3.81, Z:3.03 [[ 9.98294619e-01 -5.37950268e-02 -2.26704429e-02 2.60805743e+02] [ 5.38099020e-02 9.98551197e-01 4.61902553e-05 3.80806246e+00] [ 2.26351131e-02 -1.26600579e-03 9.99742991e-01 3.02876676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05509989300003 meters 0.028337001835409964 Centerline is valid? [True, True] Translation: X:260.84, Y:3.81, Z:3.03 [[ 9.98460872e-01 -5.09843865e-02 -2.18284122e-02 2.60836038e+02] [ 5.09975383e-02 9.98698778e-01 4.59080179e-05 3.81071255e+00] [ 2.17976680e-02 -1.15903265e-03 9.99761731e-01 3.03036666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.085099893 meters 0.023603257045359805 Centerline is valid? [True, True] Translation: X:260.87, Y:3.82, Z:3.03 [[ 9.98564531e-01 -4.92019884e-02 -2.11669856e-02 2.60867981e+02] [ 4.92139658e-02 9.98788258e-01 4.49940310e-05 3.81774640e+00] [ 2.11391228e-02 -1.08664075e-03 9.99775953e-01 3.03188346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11509989300004 meters 0.022565138667264853 Centerline is valid? [True, True] Translation: X:260.90, Y:3.82, Z:3.03 [[ 9.98770051e-01 -4.53933064e-02 -1.99457406e-02 2.60898718e+02] [ 4.54031994e-02 9.98968742e-01 4.31965447e-05 3.82092628e+00] [ 1.99232106e-02 -9.48743853e-04 9.99801063e-01 3.03287189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.145099893 meters 0.022565138667264853 Centerline is valid? [True, True] Translation: X:260.93, Y:3.82, Z:3.03 [[ 9.98773302e-01 -4.53217187e-02 -1.99457388e-02 2.60930445e+02] [ 4.53316137e-02 9.98971993e-01 4.40120374e-05 3.82079835e+00] [ 1.99232398e-02 -9.48130575e-04 9.99801063e-01 3.03326418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17509989300004 meters 0.024720966160427186 Centerline is valid? [True, True] Translation: X:260.96, Y:3.82, Z:3.03 [[ 9.98943259e-01 -4.19848711e-02 -1.86985529e-02 2.60961192e+02] [ 4.19930033e-02 9.99117904e-01 4.23126867e-05 3.82005154e+00] [ 1.86802824e-02 -8.27476366e-04 9.99825166e-01 3.03399542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.205099893 meters 0.021601905532488353 Centerline is valid? [True, True] Translation: X:260.99, Y:3.82, Z:3.04 [[ 9.99003278e-01 -4.06836259e-02 -1.83655236e-02 2.60993340e+02] [ 4.06912670e-02 9.99171767e-01 4.24085802e-05 3.82494278e+00] [ 1.83485873e-02 -7.89682735e-04 9.99831339e-01 3.03525815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23509989300004 meters 0.021601905532488353 Centerline is valid? [True, True] Translation: X:261.03, Y:3.82, Z:3.04 [[ 9.99006150e-01 -4.06130490e-02 -1.83655205e-02 2.61025061e+02] [ 4.06207021e-02 9.99174638e-01 4.37062883e-05 3.82480790e+00] [ 1.83485873e-02 -7.89683188e-04 9.99831339e-01 3.03565017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.265099893 meters 0.020878527954721303 Centerline is valid? [True, True] Translation: X:261.06, Y:3.83, Z:3.04 [[ 9.99077066e-01 -3.90548828e-02 -1.78810328e-02 2.61056730e+02] [ 3.90619069e-02 9.99236792e-01 4.35984739e-05 3.82594080e+00] [ 1.78656832e-02 -7.42025476e-04 9.99840121e-01 3.03580241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.295099893 meters 0.02092686188200717 Centerline is valid? [True, True] Translation: X:261.09, Y:3.83, Z:3.04 [[ 9.99076815e-01 -3.90256212e-02 -1.79587939e-02 2.61089214e+02] [ 3.90327168e-02 9.99237932e-01 4.46225903e-05 3.82567746e+00] [ 1.79433667e-02 -7.45561912e-04 9.99838727e-01 3.03616333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.325099893 meters 0.022279707401397845 Centerline is valid? [True, True] Translation: X:261.12, Y:3.82, Z:3.04 [[ 9.99077748e-01 -3.91005987e-02 -1.77425003e-02 2.61120863e+02] [ 3.91075565e-02 9.99235006e-01 4.52336782e-05 3.82327666e+00] [ 1.77271587e-02 -7.39057795e-04 9.99842588e-01 3.03609926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.355099893 meters 0.02212315255350298 Centerline is valid? [True, True] Translation: X:261.15, Y:3.82, Z:3.04 [[ 9.99055825e-01 -3.96352192e-02 -1.77906767e-02 2.61153372e+02] [ 3.96423179e-02 9.99213933e-01 4.63887541e-05 3.82296266e+00] [ 1.77748534e-02 -7.51608617e-04 9.99841732e-01 3.03647747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.385099893 meters 0.021000357848869906 Centerline is valid? [True, True] Translation: X:261.18, Y:3.82, Z:3.04 [[ 9.98992635e-01 -4.14107891e-02 -1.72876339e-02 2.61184599e+02] [ 4.14177747e-02 9.99141915e-01 4.60917171e-05 3.82363568e+00] [ 1.72708910e-02 -7.62060613e-04 9.99850557e-01 3.03715111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.415099893 meters 0.023881084916174432 Centerline is valid? [True, True] Translation: X:261.22, Y:3.82, Z:3.04 [[ 9.98967121e-01 -4.21887244e-02 -1.68761064e-02 2.61215966e+02] [ 4.21955080e-02 9.99109372e-01 4.59327642e-05 3.81887423e+00] [ 1.68591382e-02 -7.57981203e-04 9.99857587e-01 3.03718458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.445099893 meters 0.020624736349509055 Centerline is valid? [True, True] Translation: X:261.25, Y:3.82, Z:3.04 [[ 9.98902492e-01 -4.35391044e-02 -1.72672566e-02 2.61247582e+02] [ 4.35464366e-02 9.99051403e-01 4.86842376e-05 3.82181751e+00] [ 1.72487573e-02 -8.00558301e-04 9.99850909e-01 3.03703305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.475099893 meters 0.023160608064476094 Centerline is valid? [True, True] Translation: X:261.28, Y:3.82, Z:3.04 [[ 9.98868197e-01 -4.39635603e-02 -1.81529524e-02 2.61278931e+02] [ 4.39717593e-02 9.99032773e-01 5.25737348e-05 3.81770967e+00] [ 1.81330831e-02 -8.50731486e-04 9.99835220e-01 3.03632224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.505099893 meters 0.022246969615929132 Centerline is valid? [True, True] Translation: X:261.31, Y:3.82, Z:3.04 [[ 9.98854493e-01 -4.39241014e-02 -1.89835364e-02 2.61310977e+02] [ 4.39330984e-02 9.99034474e-01 5.69577254e-05 3.81896008e+00] [ 1.89627055e-02 -8.90898055e-04 9.99819795e-01 3.03624887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.535099893 meters 0.02311850068137562 Centerline is valid? [True, True] Translation: X:261.34, Y:3.82, Z:3.03 [[ 9.98849765e-01 -4.34459833e-02 -2.02877481e-02 2.61342549e+02] [ 4.34561888e-02 9.99055332e-01 6.22452842e-05 3.81782316e+00] [ 2.02658786e-02 -9.43801902e-04 9.99794181e-01 3.03480765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.565099893 meters 0.021510627094045186 Centerline is valid? [True, True] Translation: X:261.37, Y:3.82, Z:3.04 [[ 9.98866515e-01 -4.29790992e-02 -2.04568232e-02 2.61374621e+02] [ 4.29894035e-02 9.99075526e-01 6.40175879e-05 3.82016561e+00] [ 2.04351599e-02 -9.43371651e-04 9.99790735e-01 3.03520968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.595099893 meters 0.021053401369615726 Centerline is valid? [True, True] Translation: X:261.41, Y:3.82, Z:3.04 [[ 9.98898526e-01 -4.21748686e-02 -2.05673562e-02 2.61406422e+02] [ 4.21851422e-02 9.99109809e-01 6.57084830e-05 3.82068068e+00] [ 2.05462761e-02 -9.33272955e-04 9.99788467e-01 3.03557358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.625099893 meters 0.02059990537601177 Centerline is valid? [True, True] Translation: X:261.44, Y:3.82, Z:3.04 [[ 9.99014392e-01 -4.00906083e-02 -1.90522616e-02 2.61437471e+02] [ 4.00990618e-02 9.99195707e-01 6.17324738e-05 3.82220300e+00] [ 1.90344631e-02 -8.25649444e-04 9.99818487e-01 3.03707262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.655099893 meters 0.02032294596674869 Centerline is valid? [True, True] Translation: X:261.47, Y:3.82, Z:3.04 [[ 9.99078206e-01 -3.89224130e-02 -1.81048182e-02 2.61468579e+02] [ 3.89298664e-02 9.99241944e-01 5.92963337e-05 3.82320494e+00] [ 1.80887857e-02 -7.64059828e-04 9.99836093e-01 3.03804262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68509989300003 meters 0.019658768648533047 Centerline is valid? [True, True] Translation: X:261.50, Y:3.82, Z:3.04 [[ 9.99158517e-01 -3.73332057e-02 -1.69849848e-02 2.61500523e+02] [ 3.73395475e-02 9.99302634e-01 5.62923885e-05 3.82438163e+00] [ 1.69710385e-02 -6.90456667e-04 9.99855743e-01 3.03915625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.715099893 meters 0.01992984146885998 Centerline is valid? [True, True] Translation: X:261.53, Y:3.82, Z:3.04 [[ 9.99223940e-01 -3.59929883e-02 -1.60006730e-02 2.61531378e+02] [ 3.59984567e-02 9.99351844e-01 5.37799110e-05 3.82397932e+00] [ 1.59883664e-02 -6.29737708e-04 9.99871980e-01 3.04009388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74509989300003 meters 0.01873450854706185 Centerline is valid? [True, True] Translation: X:261.56, Y:3.83, Z:3.04 [[ 9.99314975e-01 -3.34790514e-02 -1.57713221e-02 2.61562888e+02] [ 3.34840603e-02 9.99439250e-01 5.35677583e-05 3.82635067e+00] [ 1.57606849e-02 -5.81618962e-04 9.99875624e-01 3.04028534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.775099893 meters 0.01844477486613035 Centerline is valid? [True, True] Translation: X:261.59, Y:3.83, Z:3.04 [[ 9.99368772e-01 -3.15213932e-02 -1.63847064e-02 2.61593212e+02] [ 3.15265454e-02 9.99502913e-01 5.61866747e-05 3.82658829e+00] [ 1.63747907e-02 -5.72704399e-04 9.99865760e-01 3.03919317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80509989300003 meters 0.01844477486613035 Centerline is valid? [True, True] Translation: X:261.62, Y:3.83, Z:3.04 [[ 9.99369889e-01 -3.14859594e-02 -1.63847052e-02 2.61624075e+02] [ 3.14911128e-02 9.99504030e-01 5.65493225e-05 3.82645268e+00] [ 1.63747983e-02 -5.72486288e-04 9.99865760e-01 3.03957478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.835099893 meters 0.0192736704970526 Centerline is valid? [True, True] Translation: X:261.65, Y:3.82, Z:3.04 [[ 9.99401132e-01 -3.05943987e-02 -1.61666537e-02 2.61654567e+02] [ 3.05993102e-02 9.99531730e-01 5.64741939e-05 3.82475415e+00] [ 1.61573555e-02 -5.51128823e-04 9.99869310e-01 3.03940888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86509989300004 meters 0.01990899093175992 Centerline is valid? [True, True] Translation: X:261.69, Y:3.82, Z:3.04 [[ 9.99421518e-01 -3.00415146e-02 -1.59416439e-02 2.61685352e+02] [ 3.00462335e-02 9.99548508e-01 5.65351269e-05 3.82265699e+00] [ 1.59327480e-02 -5.35488779e-04 9.99872922e-01 3.03938530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.895099893 meters 0.019302625335094668 Centerline is valid? [True, True] Translation: X:261.72, Y:3.82, Z:3.04 [[ 9.99415706e-01 -3.00952042e-02 -1.62026280e-02 2.61716443e+02] [ 3.01000916e-02 9.99546888e-01 5.78089761e-05 3.82317715e+00] [ 1.61935466e-02 -5.45475785e-04 9.99868727e-01 3.03933792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92509989300004 meters 0.017261789787149134 Centerline is valid? [True, True] Translation: X:261.75, Y:3.83, Z:3.04 [[ 9.99394056e-01 -2.99652223e-02 -1.77089285e-02 2.61747600e+02] [ 2.99710523e-02 9.99550765e-01 6.38436025e-05 3.82534805e+00] [ 1.76990600e-02 -5.94560141e-04 9.99843183e-01 3.03864614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.955099893 meters 0.018331249996135966 Centerline is valid? [True, True] Translation: X:261.78, Y:3.82, Z:3.04 [[ 9.99373647e-01 -3.00242768e-02 -1.87311865e-02 2.61777681e+02] [ 3.00308208e-02 9.99548971e-01 6.81175302e-05 3.82298365e+00] [ 1.87206930e-02 -6.30587769e-04 9.99824554e-01 3.03761600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98509989300004 meters 0.017727239273271415 Centerline is valid? [True, True] Translation: X:261.81, Y:3.82, Z:3.04 [[ 9.99356652e-01 -3.02762975e-02 -1.92256854e-02 2.61808090e+02] [ 3.02832427e-02 9.99541355e-01 7.01436520e-05 3.82362681e+00] [ 1.92147440e-02 -6.52314622e-04 9.99815167e-01 3.03722427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.015099893 meters 0.017846880615437648 Centerline is valid? [True, True] Translation: X:261.84, Y:3.82, Z:3.04 [[ 9.99330601e-01 -3.06062154e-02 -2.00402156e-02 2.61838585e+02] [ 3.06138280e-02 9.99531284e-01 7.31154118e-05 3.82305995e+00] [ 2.00285846e-02 -6.86574180e-04 9.99799172e-01 3.03692253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.045099893 meters 0.01864555196484663 Centerline is valid? [True, True] Translation: X:261.87, Y:3.82, Z:3.04 [[ 9.99295041e-01 -3.12586610e-02 -2.07922290e-02 2.61867874e+02] [ 3.12669937e-02 9.99511065e-01 7.57090875e-05 3.82143843e+00] [ 2.07796963e-02 -7.25766207e-04 9.99783815e-01 3.03610488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.075099893 meters 0.01845024605024082 Centerline is valid? [True, True] Translation: X:261.90, Y:3.82, Z:3.04 [[ 9.99284462e-01 -3.13817692e-02 -2.11127352e-02 2.61897311e+02] [ 3.13903770e-02 9.99507198e-01 7.63416690e-05 3.82171156e+00] [ 2.10999350e-02 -7.39023759e-04 9.99777098e-01 3.03620724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.105099893 meters 0.01839744823673895 Centerline is valid? [True, True] Translation: X:261.93, Y:3.82, Z:3.04 [[ 9.99283932e-01 -3.08613769e-02 -2.18906118e-02 2.61927193e+02] [ 3.08704888e-02 9.99523390e-01 7.83615332e-05 3.82229531e+00] [ 2.18777602e-02 -7.54079307e-04 9.99760369e-01 3.03599332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.135099893 meters 0.017785426634747265 Centerline is valid? [True, True] Translation: X:261.96, Y:3.82, Z:3.04 [[ 9.99317905e-01 -3.03237501e-02 -2.10759259e-02 2.61956665e+02] [ 3.03320613e-02 9.99539874e-01 7.47114099e-05 3.82400038e+00] [ 2.10639628e-02 -7.13936726e-04 9.99777875e-01 3.03697902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.165099893 meters 0.01771710451929123 Centerline is valid? [True, True] Translation: X:261.99, Y:3.82, Z:3.04 [[ 9.99338985e-01 -3.01901754e-02 -2.02520476e-02 2.61986459e+02] [ 3.01978076e-02 9.99543940e-01 7.10816802e-05 3.82478418e+00] [ 2.02406654e-02 -6.82602130e-04 9.99794904e-01 3.03827028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.195099893 meters 0.017962492322849757 Centerline is valid? [True, True] Translation: X:262.02, Y:3.83, Z:3.04 [[ 9.99363132e-01 -3.00016391e-02 -1.93192112e-02 2.62016076e+02] [ 3.00085361e-02 9.99549640e-01 6.71369662e-05 3.82503784e+00] [ 1.93084963e-02 -6.46835454e-04 9.99813364e-01 3.03967806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.225099893 meters 0.017893725008716964 Centerline is valid? [True, True] Translation: X:262.05, Y:3.83, Z:3.04 [[ 9.99394771e-01 -3.00005666e-02 -1.76084356e-02 2.62046210e+02] [ 3.00062870e-02 9.99549708e-01 6.06970818e-05 3.82645766e+00] [ 1.75986857e-02 -5.89024118e-04 9.99844958e-01 3.04159477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.255099893 meters 0.017899830143188373 Centerline is valid? [True, True] Translation: X:262.08, Y:3.83, Z:3.04 [[ 9.99392743e-01 -3.02431924e-02 -1.73059230e-02 2.62077854e+02] [ 3.02487536e-02 9.99542400e-01 5.96143288e-05 3.82655896e+00] [ 1.72962008e-02 -5.83060726e-04 9.99850240e-01 3.04180660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.285099893 meters 0.019089214715289713 Centerline is valid? [True, True] Translation: X:262.11, Y:3.82, Z:3.04 [[ 9.99377105e-01 -3.07230744e-02 -1.73635981e-02 2.62108162e+02] [ 3.07287543e-02 9.99527759e-01 6.03468860e-05 3.82447216e+00] [ 1.73535443e-02 -5.93871037e-04 9.99849240e-01 3.04166781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.315099893 meters 0.01921507879443739 Centerline is valid? [True, True] Translation: X:262.14, Y:3.82, Z:3.04 [[ 9.99309150e-01 -3.25108446e-02 -1.80074622e-02 2.62138993e+02] [ 3.25172494e-02 9.99471172e-01 6.29126359e-05 3.82430834e+00] [ 1.79958940e-02 -6.48422313e-04 9.99837851e-01 3.04112847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.345099893 meters 0.01964111915777647 Centerline is valid? [True, True] Translation: X:262.17, Y:3.82, Z:3.04 [[ 9.99269664e-01 -3.36338546e-02 -1.81356646e-02 2.62170734e+02] [ 3.36405434e-02 9.99433995e-01 6.37851057e-05 3.82362703e+00] [ 1.81232544e-02 -6.73832133e-04 9.99835533e-01 3.04117680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.375099893 meters 0.01938655897748283 Centerline is valid? [True, True] Translation: X:262.20, Y:3.82, Z:3.04 [[ 9.99230099e-01 -3.48373017e-02 -1.80435922e-02 2.62201665e+02] [ 3.48441283e-02 9.99392757e-01 6.39990430e-05 3.82386446e+00] [ 1.80304058e-02 -6.92663013e-04 9.99837199e-01 3.04162403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.405099893 meters 0.021644252674300122 Centerline is valid? [True, True] Translation: X:262.23, Y:3.82, Z:3.04 [[ 9.99161041e-01 -3.67893077e-02 -1.79933575e-02 2.62232267e+02] [ 3.67964181e-02 9.99322780e-01 6.41431643e-05 3.81989528e+00] [ 1.79788122e-02 -7.26180455e-04 9.99838104e-01 3.04090014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43509989300003 meters 0.02133126621000311 Centerline is valid? [True, True] Translation: X:262.26, Y:3.82, Z:3.04 [[ 9.99125609e-01 -3.76143308e-02 -1.82531830e-02 2.62263208e+02] [ 3.76217934e-02 9.99292048e-01 6.55019208e-05 3.82005014e+00] [ 1.82377968e-02 -7.52162127e-04 9.99833395e-01 3.04132009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.465099893 meters 0.02106606135052418 Centerline is valid? [True, True] Translation: X:262.29, Y:3.82, Z:3.04 [[ 9.99055190e-01 -3.92987982e-02 -1.85561944e-02 2.62294045e+02] [ 3.93068110e-02 9.99227186e-01 6.71458107e-05 3.82067871e+00] [ 1.85392152e-02 -7.96467196e-04 9.99827817e-01 3.04163369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49509989300003 meters 0.021249631028751024 Centerline is valid? [True, True] Translation: X:262.33, Y:3.82, Z:3.04 [[ 9.99034710e-01 -3.97115653e-02 -1.87787217e-02 2.62325800e+02] [ 3.97198572e-02 9.99210853e-01 6.86392677e-05 3.82042462e+00] [ 1.87611768e-02 -8.14461156e-04 9.99823662e-01 3.04194626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.525099893 meters 0.021055811896626055 Centerline is valid? [True, True] Translation: X:262.36, Y:3.82, Z:3.04 [[ 9.99025972e-01 -4.00089320e-02 -1.86116396e-02 2.62357659e+02] [ 4.00171534e-02 9.99198991e-01 6.93673990e-05 3.82123910e+00] [ 1.85939562e-02 -8.14084670e-04 9.99826786e-01 3.04228117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55509989300003 meters 0.022476230395117997 Centerline is valid? [True, True] Translation: X:262.39, Y:3.82, Z:3.04 [[ 9.99029776e-01 -4.00644455e-02 -1.82851792e-02 2.62388458e+02] [ 4.00724121e-02 9.99196776e-01 6.93542158e-05 3.81976702e+00] [ 1.82677135e-02 -8.02018163e-04 9.99832810e-01 3.04252582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.585099893 meters 0.021579755183850656 Centerline is valid? [True, True] Translation: X:262.42, Y:3.82, Z:3.04 [[ 9.99065775e-01 -3.91409554e-02 -1.83183705e-02 2.62419402e+02] [ 3.91488122e-02 9.99233389e-01 7.03636203e-05 3.82174686e+00] [ 1.83015733e-02 -7.87440330e-04 9.99832202e-01 3.04318741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61509989300004 meters 0.02160611690372078 Centerline is valid? [True, True] Translation: X:262.45, Y:3.82, Z:3.04 [[ 9.99096206e-01 -3.84859523e-02 -1.80444729e-02 2.62451619e+02] [ 3.84934844e-02 9.99258849e-01 7.01532389e-05 3.82238759e+00] [ 1.80283993e-02 -7.64684470e-04 9.99837183e-01 3.04369278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.645099893 meters 0.02135224528167623 Centerline is valid? [True, True] Translation: X:262.48, Y:3.82, Z:3.04 [[ 9.99168018e-01 -3.67096405e-02 -1.77672179e-02 2.62483331e+02] [ 3.67166831e-02 9.99325713e-01 7.02328205e-05 3.82493759e+00] [ 1.77526595e-02 -7.22527698e-04 9.99842148e-01 3.04404099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67509989300004 meters 0.020348545992586297 Centerline is valid? [True, True] Translation: X:262.51, Y:3.83, Z:3.05 [[ 9.99215746e-01 -3.56752332e-02 -1.71805061e-02 2.62514380e+02] [ 3.56816795e-02 9.99363204e-01 6.87217873e-05 3.82801518e+00] [ 1.71671140e-02 -6.81697205e-04 9.99852402e-01 3.04513262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.705099893 meters 0.021057963597449044 Centerline is valid? [True, True] Translation: X:262.55, Y:3.83, Z:3.05 [[ 9.99217022e-01 -3.57193073e-02 -1.70139243e-02 2.62545406e+02] [ 3.57256473e-02 9.99361633e-01 6.87422986e-05 3.82797459e+00] [ 1.70006078e-02 -6.76521934e-04 9.99855250e-01 3.04581084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73509989300004 meters 0.01929109169053144 Centerline is valid? [True, True] Translation: X:262.58, Y:3.83, Z:3.05 [[ 9.99201992e-01 -3.61111824e-02 -1.70692934e-02 2.62577513e+02] [ 3.61176380e-02 9.99347543e-01 6.99765114e-05 3.83073333e+00] [ 1.70556295e-02 -6.86423228e-04 9.99854307e-01 3.04672506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.765099893 meters 0.02152451597158392 Centerline is valid? [True, True] Translation: X:262.61, Y:3.83, Z:3.05 [[ 9.99166436e-01 -3.68163789e-02 -1.76348106e-02 2.62608999e+02] [ 3.68234008e-02 9.99321786e-01 7.35275968e-05 3.82720681e+00] [ 1.76201434e-02 -7.22840004e-04 9.99844492e-01 3.04626964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.795099893 meters 0.021211373241973783 Centerline is valid? [True, True] Translation: X:262.64, Y:3.83, Z:3.05 [[ 9.99125668e-01 -3.75715360e-02 -1.83378988e-02 2.62641079e+02] [ 3.75792769e-02 9.99293646e-01 7.75952473e-05 3.82722082e+00] [ 1.83220303e-02 -7.66652378e-04 9.99831844e-01 3.04606824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.825099893 meters 0.023068806268917046 Centerline is valid? [True, True] Translation: X:262.67, Y:3.82, Z:3.05 [[ 9.99077323e-01 -3.85952384e-02 -1.88390704e-02 2.62672407e+02] [ 3.86036137e-02 9.99254599e-01 8.09760816e-05 3.82419018e+00] [ 1.88219024e-02 -8.08157562e-04 9.99822526e-01 3.04568378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.855099893 meters 0.023481852483697656 Centerline is valid? [True, True] Translation: X:262.70, Y:3.82, Z:3.05 [[ 9.99017796e-01 -3.99349248e-02 -1.92001238e-02 2.62704110e+02] [ 3.99438887e-02 9.99201921e-01 8.34416715e-05 3.82336506e+00] [ 1.91814683e-02 -8.50287321e-04 9.99815657e-01 3.04590478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.885099893 meters 0.021095801730611874 Centerline is valid? [True, True] Translation: X:262.74, Y:3.83, Z:3.05 [[ 9.98964460e-01 -4.11137163e-02 -1.94851259e-02 2.62736682e+02] [ 4.11231908e-02 9.99154080e-01 8.56441668e-05 3.82625365e+00] [ 1.94651219e-02 -8.86846028e-04 9.99810143e-01 3.04650747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.915099893 meters 0.022928809820719848 Centerline is valid? [True, True] Translation: X:262.77, Y:3.82, Z:3.05 [[ 9.98856978e-01 -4.35686883e-02 -1.96597912e-02 2.62766733e+02] [ 4.35788390e-02 9.99049987e-01 8.79976561e-05 3.82318968e+00] [ 1.96372802e-02 -9.44647951e-04 9.99806724e-01 3.04623796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.945099893 meters 0.023256666347810998 Centerline is valid? [True, True] Translation: X:262.80, Y:3.82, Z:3.05 [[ 9.98815626e-01 -4.45618109e-02 -1.95343438e-02 2.62798969e+02] [ 4.45720540e-02 9.99006168e-01 8.90770770e-05 3.82276904e+00] [ 1.95109605e-02 -9.59657404e-04 9.99809183e-01 3.04701324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.975099893 meters 0.02627869381135964 Centerline is valid? [True, True] Translation: X:262.83, Y:3.82, Z:3.05 [[ 9.98780404e-01 -4.51531522e-02 -1.99724088e-02 2.62829647e+02] [ 4.51640017e-02 9.98979582e-01 9.22699582e-05 3.81867269e+00] [ 1.99478623e-02 -9.94191332e-04 9.99800527e-01 3.04674226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.005099893 meters 0.024720278099601763 Centerline is valid? [True, True] Translation: X:262.86, Y:3.82, Z:3.05 [[ 9.98755081e-01 -4.56415761e-02 -2.01279624e-02 2.62862129e+02] [ 4.56527145e-02 9.98957367e-01 9.39953301e-05 3.82164104e+00] [ 2.01026862e-02 -1.01277444e-03 9.99797408e-01 3.04707276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.035099893 meters 0.02417552569662606 Centerline is valid? [True, True] Translation: X:262.89, Y:3.82, Z:3.05 [[ 9.98772962e-01 -4.54933151e-02 -1.95685688e-02 2.62894515e+02] [ 4.55038415e-02 9.98964159e-01 9.27617328e-05 3.82316079e+00] [ 1.95440789e-02 -9.83092964e-04 9.99808513e-01 3.04800113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.065099893 meters 0.02614159057061647 Centerline is valid? [True, True] Translation: X:262.93, Y:3.82, Z:3.05 [[ 9.98812940e-01 -4.51413315e-02 -1.83021890e-02 2.62925972e+02] [ 4.51505013e-02 9.98980192e-01 8.79108091e-05 3.82303364e+00] [ 1.82795559e-02 -9.14159461e-04 9.99832497e-01 3.04992031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.095099893 meters 0.02614159057061647 Centerline is valid? [True, True] Translation: X:262.96, Y:3.82, Z:3.05 [[ 9.98816094e-01 -4.50714954e-02 -1.83021837e-02 2.62957703e+02] [ 4.50806733e-02 9.98983346e-01 8.89896455e-05 3.82281870e+00] [ 1.82795659e-02 -9.13959056e-04 9.99832497e-01 3.05031252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.125099893 meters 0.024764930097206223 Centerline is valid? [True, True] Translation: X:262.99, Y:3.83, Z:3.05 [[ 9.98829378e-01 -4.49317264e-02 -1.79168596e-02 2.62990139e+02] [ 4.49405216e-02 9.98989660e-01 8.83591771e-05 3.82589403e+00] [ 1.78947874e-02 -8.93448759e-04 9.99839476e-01 3.05160552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.155099893 meters 0.0252245499274321 Centerline is valid? [True, True] Translation: X:263.02, Y:3.83, Z:3.05 [[ 9.98844843e-01 -4.47658048e-02 -1.74643097e-02 2.63021854e+02] [ 4.47741573e-02 9.98997131e-01 8.73511415e-05 3.82607242e+00] [ 1.74428849e-02 -8.69199986e-04 9.99847483e-01 3.05241733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18509989300003 meters 0.02432828118244224 Centerline is valid? [True, True] Translation: X:263.05, Y:3.83, Z:3.05 [[ 9.98855425e-01 -4.47867859e-02 -1.67923777e-02 2.63054203e+02] [ 4.47945304e-02 9.98996218e-01 8.51543983e-05 3.82801436e+00] [ 1.67717080e-02 -8.37263606e-04 9.99858994e-01 3.05339313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.215099893 meters 0.025590019138294735 Centerline is valid? [True, True] Translation: X:263.09, Y:3.83, Z:3.05 [[ 9.98864402e-01 -4.49227810e-02 -1.58698037e-02 2.63085355e+02] [ 4.49297312e-02 9.98990146e-01 8.15066808e-05 3.82684423e+00] [ 1.58501160e-02 -7.94440134e-04 9.99874063e-01 3.05368887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24509989300003 meters 0.02576201202637061 Centerline is valid? [True, True] Translation: X:263.12, Y:3.83, Z:3.05 [[ 9.98891608e-01 -4.41911345e-02 -1.62080053e-02 2.63116489e+02] [ 4.41983023e-02 9.99022774e-01 8.41230303e-05 3.82625888e+00] [ 1.61884489e-02 -8.00396106e-04 9.99868638e-01 3.05338437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.275099893 meters 0.023355708695180083 Centerline is valid? [True, True] Translation: X:263.15, Y:3.83, Z:3.05 [[ 9.98927768e-01 -4.32723618e-02 -1.64565089e-02 2.63148548e+02] [ 4.32796425e-02 9.99062994e-01 8.63719249e-05 3.82986753e+00] [ 1.64373515e-02 -7.98511135e-04 9.99864579e-01 3.05330012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30509989300003 meters 0.025090445846366726 Centerline is valid? [True, True] Translation: X:263.18, Y:3.83, Z:3.05 [[ 9.98994934e-01 -4.15828937e-02 -1.67327669e-02 2.63179678e+02] [ 4.15902037e-02 9.99134749e-01 8.89716028e-05 3.82834586e+00] [ 1.67145892e-02 -7.84801366e-04 9.99859993e-01 3.05252750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.335099893 meters 0.02519689107293594 Centerline is valid? [True, True] Translation: X:263.21, Y:3.83, Z:3.05 [[ 9.99024251e-01 -4.09587351e-02 -1.65205354e-02 2.63212122e+02] [ 4.09657913e-02 9.99160546e-01 8.87926967e-05 3.82878016e+00] [ 1.65030303e-02 -7.65482862e-04 9.99863523e-01 3.05304829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36509989300004 meters 0.02473707412684741 Centerline is valid? [True, True] Translation: X:263.24, Y:3.83, Z:3.05 [[ 9.99047641e-01 -4.03952986e-02 -1.64933824e-02 2.63244582e+02] [ 4.04022740e-02 9.99183491e-01 8.97916980e-05 3.83013313e+00] [ 1.64762883e-02 -7.56076340e-04 9.99863971e-01 3.05364035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.395099893 meters 0.02380762737406704 Centerline is valid? [True, True] Translation: X:263.28, Y:3.83, Z:3.05 [[ 9.99061393e-01 -4.01736706e-02 -1.61990685e-02 2.63276487e+02] [ 4.01803881e-02 9.99192438e-01 8.93071101e-05 3.83192081e+00] [ 1.61823989e-02 -7.40108145e-04 9.99868782e-01 3.05444605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42509989300004 meters 0.023285621104359503 Centerline is valid? [True, True] Translation: X:263.31, Y:3.83, Z:3.06 [[ 9.99072664e-01 -4.00785120e-02 -1.57329516e-02 2.63308790e+02] [ 4.00848538e-02 9.99196275e-01 8.78258278e-05 3.83317128e+00] [ 1.57167867e-02 -7.18397448e-04 9.99876226e-01 3.05508104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.455099893 meters 0.02306423140873155 Centerline is valid? [True, True] Translation: X:263.34, Y:3.83, Z:3.06 [[ 9.99079973e-01 -3.98625222e-02 -1.58172675e-02 2.63340569e+02] [ 3.98689230e-02 9.99204914e-01 8.94304167e-05 3.83289390e+00] [ 1.58011265e-02 -7.19965559e-04 9.99874895e-01 3.05520256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48509989300004 meters 0.02303118700883598 Centerline is valid? [True, True] Translation: X:263.37, Y:3.83, Z:3.06 [[ 9.99088983e-01 -3.95750698e-02 -1.59692784e-02 2.63372474e+02] [ 3.95815760e-02 9.99216338e-01 9.14428048e-05 3.83247973e+00] [ 1.59531451e-02 -7.23448708e-04 9.99872479e-01 3.05523652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.515099893 meters 0.02389199968574202 Centerline is valid? [True, True] Translation: X:263.40, Y:3.83, Z:3.06 [[ 9.99110303e-01 -3.93739010e-02 -1.51095189e-02 2.63404151e+02] [ 3.93797181e-02 9.99224314e-01 8.75522250e-05 3.83102786e+00] [ 1.50943514e-02 -6.82482923e-04 9.99885841e-01 3.05629305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.545099893 meters 0.02316340380073961 Centerline is valid? [True, True] Translation: X:263.44, Y:3.83, Z:3.06 [[ 9.99131176e-01 -3.89007808e-02 -1.49539814e-02 2.63436137e+02] [ 3.89064416e-02 9.99242854e-01 8.77033426e-05 3.83229054e+00] [ 1.49392473e-02 -6.69433347e-04 9.99888179e-01 3.05689778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.575099893 meters 0.022845580668999187 Centerline is valid? [True, True] Translation: X:263.47, Y:3.83, Z:3.06 [[ 9.99145125e-01 -3.86216714e-02 -1.47440370e-02 2.63468204e+02] [ 3.86271594e-02 9.99253689e-01 8.75146362e-05 3.83269679e+00] [ 1.47296534e-02 -6.56960088e-04 9.99891297e-01 3.05787529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.605099893 meters 0.021469701411816144 Centerline is valid? [True, True] Translation: X:263.50, Y:3.83, Z:3.06 [[ 9.99150491e-01 -3.84165592e-02 -1.49152337e-02 2.63500600e+02] [ 3.84221687e-02 9.99261592e-01 8.96157439e-05 3.83424852e+00] [ 1.49007775e-02 -6.62615242e-04 9.99888758e-01 3.05819550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.635099893 meters 0.0229492018099557 Centerline is valid? [True, True] Translation: X:263.53, Y:3.83, Z:3.06 [[ 9.99133318e-01 -3.87673494e-02 -1.51560543e-02 2.63531797e+02] [ 3.87731981e-02 9.99248033e-01 9.21376814e-05 3.83178505e+00] [ 1.51410855e-02 -6.79706522e-04 9.99885136e-01 3.05850586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.665099893 meters 0.023190961392235497 Centerline is valid? [True, True] Translation: X:263.56, Y:3.83, Z:3.06 [[ 9.99120592e-01 -3.90767233e-02 -1.52004243e-02 2.63564289e+02] [ 3.90826554e-02 9.99235977e-01 9.32888158e-05 3.83073521e+00] [ 1.51851654e-02 -6.87279723e-04 9.99884463e-01 3.05833360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.695099893 meters 0.022831148378971 Centerline is valid? [True, True] Translation: X:263.60, Y:3.83, Z:3.06 [[ 9.99052948e-01 -4.04153068e-02 -1.61186197e-02 2.63596103e+02] [ 4.04221727e-02 9.99182685e-01 1.00259636e-04 3.82992704e+00] [ 1.61013937e-02 -7.51714314e-04 9.99870082e-01 3.05827954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.725099893 meters 0.024918302251812807 Centerline is valid? [True, True] Translation: X:263.63, Y:3.83, Z:3.06 [[ 9.99000770e-01 -4.13806114e-02 -1.68851070e-02 2.63626694e+02] [ 4.13883093e-02 9.99143131e-01 1.06555057e-04 3.82610330e+00] [ 1.68662294e-02 -8.05294615e-04 9.99857431e-01 3.05832477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.755099893 meters 0.02926279599872262 Centerline is valid? [True, True] Translation: X:263.66, Y:3.82, Z:3.06 [[ 9.98952208e-01 -4.24178783e-02 -1.71816576e-02 2.63658201e+02] [ 4.24260177e-02 9.99099605e-01 1.09338759e-04 3.81937523e+00] [ 1.71615494e-02 -8.38173502e-04 9.99852378e-01 3.05776306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.785099893 meters 0.025885983780904984 Centerline is valid? [True, True] Translation: X:263.69, Y:3.82, Z:3.06 [[ 9.98858395e-01 -4.43356180e-02 -1.77837074e-02 2.63689971e+02] [ 4.43446678e-02 9.99016285e-01 1.14674264e-04 3.82261689e+00] [ 1.77611292e-02 -9.03155950e-04 9.99841851e-01 3.05891165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.815099893 meters 0.02823087613425365 Centerline is valid? [True, True] Translation: X:263.72, Y:3.82, Z:3.06 [[ 9.98773863e-01 -4.61810215e-02 -1.78349183e-02 2.63720839e+02] [ 4.61904338e-02 9.98932646e-01 1.15952074e-04 3.81742536e+00] [ 1.78105273e-02 -9.39612514e-04 9.99840938e-01 3.05950507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.845099893 meters 0.026901597913040094 Centerline is valid? [True, True] Translation: X:263.75, Y:3.82, Z:3.06 [[ 9.98711402e-01 -4.75165511e-02 -1.78244841e-02 2.63753145e+02] [ 4.75261830e-02 9.98869986e-01 1.16924168e-04 3.81805061e+00] [ 1.77987863e-02 -9.63903192e-04 9.99841124e-01 3.06076196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.875099893 meters 0.027146307610663348 Centerline is valid? [True, True] Translation: X:263.78, Y:3.82, Z:3.06 [[ 9.98651931e-01 -4.87337689e-02 -1.78701182e-02 2.63784786e+02] [ 4.87436696e-02 9.98811314e-01 1.18635219e-04 3.81662164e+00] [ 1.78430947e-02 -9.89530426e-04 9.99840310e-01 3.06161888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.905099893 meters 0.028581982738573385 Centerline is valid? [True, True] Translation: X:263.82, Y:3.81, Z:3.06 [[ 9.98601612e-01 -4.98850489e-02 -1.75014978e-02 2.63816263e+02] [ 4.98947467e-02 9.98754475e-01 1.17628083e-04 3.81334431e+00] [ 1.74738313e-02 -9.90696391e-04 9.99846830e-01 3.06222572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93509989300003 meters 0.030094628068304635 Centerline is valid? [True, True] Translation: X:263.85, Y:3.81, Z:3.06 [[ 9.98506746e-01 -5.17443871e-02 -1.75156336e-02 2.63848629e+02] [ 5.17544034e-02 9.98659836e-01 1.18740507e-04 3.80856082e+00] [ 1.74860156e-02 -1.02507437e-03 9.99846582e-01 3.06273981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.965099893 meters 0.030094628068304635 Centerline is valid? [True, True] Translation: X:263.88, Y:3.81, Z:3.06 [[ 9.98510381e-01 -5.16741887e-02 -1.75156253e-02 2.63880374e+02] [ 5.16842157e-02 9.98663471e-01 1.19965261e-04 3.80828200e+00] [ 1.74860160e-02 -1.02506791e-03 9.99846582e-01 3.06313213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99509989300003 meters 0.032156868823995204 Centerline is valid? [True, True] Translation: X:263.91, Y:3.80, Z:3.06 [[ 9.98419198e-01 -5.31910554e-02 -1.81608789e-02 2.63911265e+02] [ 5.32021068e-02 9.98583757e-01 1.25589553e-04 3.80378040e+00] [ 1.81284785e-02 -1.09158804e-03 9.99835070e-01 3.06358220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.025099893 meters 0.03075853814812952 Centerline is valid? [True, True] Translation: X:263.94, Y:3.80, Z:3.06 [[ 9.98396971e-01 -5.35956691e-02 -1.81931990e-02 2.63943046e+02] [ 5.36068461e-02 9.98562111e-01 1.26873940e-04 3.80452542e+00] [ 1.81602393e-02 -1.10195057e-03 9.99834482e-01 3.06463474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05509989300003 meters 0.031058392295867147 Centerline is valid? [True, True] Translation: X:263.98, Y:3.80, Z:3.07 [[ 9.98365149e-01 -5.41612136e-02 -1.82644920e-02 2.63975476e+02] [ 5.41725962e-02 9.98531579e-01 1.28662891e-04 3.80298859e+00] [ 1.82307035e-02 -1.11788750e-03 9.99833182e-01 3.06566641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.085099893 meters 0.028696513090225733 Centerline is valid? [True, True] Translation: X:264.01, Y:3.81, Z:3.07 [[ 9.98348991e-01 -5.45299156e-02 -1.80493882e-02 2.64007281e+02] [ 5.45411145e-02 9.98511517e-01 1.28417233e-04 3.80503231e+00] [ 1.80155194e-02 -1.11263896e-03 9.99837088e-01 3.06703971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11509989300004 meters 0.03274766070533363 Centerline is valid? [True, True] Translation: X:264.04, Y:3.80, Z:3.07 [[ 9.98346158e-01 -5.46934932e-02 -1.77079026e-02 2.64038657e+02] [ 5.47043185e-02 9.98502590e-01 1.27152677e-04 3.79768165e+00] [ 1.76744322e-02 -1.09564113e-03 9.99843195e-01 3.06803871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.145099893 meters 0.03665682747271411 Centerline is valid? [True, True] Translation: X:264.07, Y:3.79, Z:3.07 [[ 9.98314903e-01 -5.48769318e-02 -1.88646928e-02 2.64069506e+02] [ 5.48892703e-02 9.98492438e-01 1.36505977e-04 3.79022986e+00] [ 1.88287621e-02 -1.17174518e-03 9.99822037e-01 3.06771984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17509989300004 meters 0.03089662106107524 Centerline is valid? [True, True] Translation: X:264.10, Y:3.80, Z:3.07 [[ 9.98344057e-01 -5.41848066e-02 -1.93171109e-02 2.64101711e+02] [ 5.41976372e-02 9.98530218e-01 1.40925933e-04 3.79632884e+00] [ 1.92810829e-02 -1.18763434e-03 9.99813397e-01 3.06850403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.205099893 meters 0.02980573330444059 Centerline is valid? [True, True] Translation: X:264.13, Y:3.80, Z:3.07 [[ 9.98369963e-01 -5.35406464e-02 -1.97690720e-02 2.64134160e+02] [ 5.35539868e-02 9.98564945e-01 1.45640139e-04 3.79693840e+00] [ 1.97329046e-02 -1.20411536e-03 9.99804562e-01 3.06873634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23509989300004 meters 0.03045034889954139 Centerline is valid? [True, True] Translation: X:264.16, Y:3.79, Z:3.07 [[ 9.98482845e-01 -5.10657189e-02 -2.05985589e-02 2.64164909e+02] [ 5.10797027e-02 9.98694568e-01 1.52957163e-04 3.79458328e+00] [ 2.05638580e-02 -1.20489337e-03 9.99787815e-01 3.06879458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.265099893 meters 0.02868951384046105 Centerline is valid? [True, True] Translation: X:264.20, Y:3.80, Z:3.07 [[ 9.98550390e-01 -4.94330835e-02 -2.12952683e-02 2.64196387e+02] [ 4.94476758e-02 9.98776703e-01 1.58898470e-04 3.79628840e+00] [ 2.12613630e-02 -1.21166965e-03 9.99773217e-01 3.06914289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.295099893 meters 0.026663894598911685 Centerline is valid? [True, True] Translation: X:264.23, Y:3.80, Z:3.07 [[ 9.98653689e-01 -4.69700417e-02 -2.20142008e-02 2.64228454e+02] [ 4.69850609e-02 9.98895579e-01 1.65231045e-04 3.79850008e+00] [ 2.19821270e-02 -1.19934716e-03 9.99757644e-01 3.06945718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.325099893 meters 0.024940014054792327 Centerline is valid? [True, True] Translation: X:264.26, Y:3.80, Z:3.07 [[ 9.98874161e-01 -4.13292200e-02 -2.32874783e-02 2.64258262e+02] [ 4.13445108e-02 9.99144935e-01 1.75315751e-04 3.80039197e+00] [ 2.32603203e-02 -1.13792777e-03 9.99728795e-01 3.06926550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.355099893 meters 0.024406104832943105 Centerline is valid? [True, True] Translation: X:264.29, Y:3.80, Z:3.07 [[ 9.98989106e-01 -3.81523881e-02 -2.37731258e-02 2.64288344e+02] [ 3.81674213e-02 9.99271343e-01 1.78773608e-04 3.80086138e+00] [ 2.37489827e-02 -1.08595180e-03 9.99717363e-01 3.06950467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.385099893 meters 0.02085355515511369 Centerline is valid? [True, True] Translation: X:264.32, Y:3.81, Z:3.07 [[ 9.99093282e-01 -3.53019943e-02 -2.37988221e-02 2.64318995e+02] [ 3.53162530e-02 9.99376171e-01 1.78966844e-04 3.80624213e+00] [ 2.37776578e-02 -1.01928979e-03 9.99716752e-01 3.07109063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.415099893 meters 0.020257291431758816 Centerline is valid? [True, True] Translation: X:264.35, Y:3.81, Z:3.07 [[ 9.99268966e-01 -2.97773771e-02 -2.39758578e-02 2.64348455e+02] [ 2.97902510e-02 9.99556156e-01 1.79880228e-04 3.80641908e+00] [ 2.39598598e-02 -8.93995550e-04 9.99712522e-01 3.07128004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.445099893 meters 0.018850300129661525 Centerline is valid? [True, True] Translation: X:264.38, Y:3.81, Z:3.07 [[ 9.99334941e-01 -2.74070225e-02 -2.40526823e-02 2.64376916e+02] [ 2.74192627e-02 9.99624005e-01 1.79173756e-04 3.80796094e+00] [ 2.40387280e-02 -8.38561408e-04 9.99710676e-01 3.07206082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.475099893 meters 0.01868736974748701 Centerline is valid? [True, True] Translation: X:264.41, Y:3.81, Z:3.07 [[ 9.99459137e-01 -2.25829343e-02 -2.39048952e-02 2.64405856e+02] [ 2.25936153e-02 9.99744716e-01 1.76783956e-04 3.80655203e+00] [ 2.38948004e-02 -7.16786347e-04 9.99714222e-01 3.07213264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.505099893 meters 0.01665143992061198 Centerline is valid? [True, True] Translation: X:264.43, Y:3.81, Z:3.07 [[ 9.99510327e-01 -2.06312380e-02 -2.35257092e-02 2.64434399e+02] [ 2.06409665e-02 9.99786938e-01 1.70745459e-04 3.80922163e+00] [ 2.35171740e-02 -6.56255223e-04 9.99723218e-01 3.07328688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.535099893 meters 0.016227523642634526 Centerline is valid? [True, True] Translation: X:264.46, Y:3.81, Z:3.07 [[ 9.99559627e-01 -1.82686881e-02 -2.33838896e-02 2.64462501e+02] [ 1.82775173e-02 9.99832939e-01 1.63887640e-04 3.80914534e+00] [ 2.33769891e-02 -5.91214917e-04 9.99726546e-01 3.07334070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.565099893 meters 0.01533850876767481 Centerline is valid? [True, True] Translation: X:264.49, Y:3.81, Z:3.07 [[ 9.99639433e-01 -1.43769779e-02 -2.26783131e-02 2.64489960e+02] [ 1.43841930e-02 9.99896530e-01 1.55048343e-04 3.80956525e+00] [ 2.26737375e-02 -4.81201671e-04 9.99742802e-01 3.07426207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.595099893 meters 0.015097323895670157 Centerline is valid? [True, True] Translation: X:264.52, Y:3.81, Z:3.08 [[ 9.99666335e-01 -1.32505194e-02 -2.21730005e-02 2.64518884e+02] [ 1.32570626e-02 9.99912110e-01 1.48123800e-04 3.80934391e+00] [ 2.21690890e-02 -4.42023233e-04 9.99754138e-01 3.07521687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.625099893 meters 0.01483365444143583 Centerline is valid? [True, True] Translation: X:264.55, Y:3.81, Z:3.08 [[ 9.99688930e-01 -1.23693555e-02 -2.16573910e-02 2.64547934e+02] [ 1.23752779e-02 9.99923414e-01 1.39448165e-04 3.80790555e+00] [ 2.16540075e-02 -4.07421019e-04 9.99765441e-01 3.07620741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.655099893 meters 0.014762001836942665 Centerline is valid? [True, True] Translation: X:264.58, Y:3.81, Z:3.08 [[ 9.99677362e-01 -1.31399176e-02 -2.17374193e-02 2.64576623e+02] [ 1.31459499e-02 9.99913579e-01 1.34628782e-04 3.80665243e+00] [ 2.17337717e-02 -4.20344370e-04 9.99763705e-01 3.07674143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68509989300003 meters 0.014589148712022583 Centerline is valid? [True, True] Translation: X:264.61, Y:3.81, Z:3.08 [[ 9.99650968e-01 -1.39412962e-02 -2.24406241e-02 2.64605397e+02] [ 1.39478003e-02 9.99902716e-01 1.33339314e-04 3.80531631e+00] [ 2.24365820e-02 -4.46290118e-04 9.99748169e-01 3.07713652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.715099893 meters 0.01495482591557955 Centerline is valid? [True, True] Translation: X:264.63, Y:3.80, Z:3.08 [[ 9.99629646e-01 -1.52611753e-02 -2.25314557e-02 2.64633680e+02] [ 1.52679405e-02 9.99883430e-01 1.28253064e-04 3.80318565e+00] [ 2.25268719e-02 -4.72214490e-04 9.99746126e-01 3.07702657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74509989300003 meters 0.016050406582470127 Centerline is valid? [True, True] Translation: X:264.66, Y:3.80, Z:3.08 [[ 9.99554646e-01 -1.82063920e-02 -2.36439638e-02 2.64661009e+02] [ 1.82145608e-02 9.99834093e-01 1.30160245e-04 3.79754042e+00] [ 2.36376713e-02 -5.60766694e-04 9.99720434e-01 3.07569484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.775099893 meters 0.016042925037604367 Centerline is valid? [True, True] Translation: X:264.69, Y:3.80, Z:3.08 [[ 9.99513780e-01 -1.99647492e-02 -2.39502096e-02 2.64689643e+02] [ 1.99735349e-02 9.99800501e-01 1.27646835e-04 3.79561790e+00] [ 2.39428832e-02 -6.05955120e-04 9.99713144e-01 3.07606735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80509989300003 meters 0.016043766918473933 Centerline is valid? [True, True] Translation: X:264.72, Y:3.79, Z:3.08 [[ 9.99481854e-01 -2.15740555e-02 -2.38869072e-02 2.64718137e+02] [ 2.15831118e-02 9.99767050e-01 1.21353572e-04 3.79382322e+00] [ 2.38787246e-02 -6.36844480e-04 9.99714660e-01 3.07674639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.835099893 meters 0.016564792598772953 Centerline is valid? [True, True] Translation: X:264.75, Y:3.79, Z:3.08 [[ 9.99472233e-01 -2.22698103e-02 -2.36497715e-02 2.64746348e+02] [ 2.22787857e-02 9.99751790e-01 1.16067234e-04 3.79102339e+00] [ 2.36413166e-02 -6.42894167e-04 9.99720298e-01 3.07642992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86509989300004 meters 0.016761406680273944 Centerline is valid? [True, True] Translation: X:264.77, Y:3.79, Z:3.08 [[ 9.99476920e-01 -2.30340997e-02 -2.27005917e-02 2.64774218e+02] [ 2.30424757e-02 9.99734481e-01 1.07439109e-04 3.78741280e+00] [ 2.26920895e-02 -6.30460742e-04 9.99742303e-01 3.07670011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.895099893 meters 0.017119886842225644 Centerline is valid? [True, True] Translation: X:264.80, Y:3.78, Z:3.08 [[ 9.99534505e-01 -2.23768888e-02 -2.07376139e-02 2.64802087e+02] [ 2.23836559e-02 9.99749450e-01 9.42327384e-05 3.78424953e+00] [ 2.07303095e-02 -5.58372488e-04 9.99784948e-01 3.07801062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92509989300004 meters 0.017119886842225644 Centerline is valid? [True, True] Translation: X:264.83, Y:3.78, Z:3.08 [[ 9.99528279e-01 -2.26532829e-02 -2.07376288e-02 2.64829497e+02] [ 2.26600391e-02 9.99743224e-01 9.08389036e-05 3.78420322e+00] [ 2.07302461e-02 -5.60711533e-04 9.99784948e-01 3.07834993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.955099893 meters 0.016597228298874073 Centerline is valid? [True, True] Translation: X:264.86, Y:3.78, Z:3.08 [[ 9.99563751e-01 -2.25099235e-02 -1.91209546e-02 2.64858180e+02] [ 2.25155490e-02 9.99746490e-01 7.89490097e-05 3.78217798e+00] [ 1.91143301e-02 -5.09433360e-04 9.99817175e-01 3.07943818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98509989300004 meters 0.01668354532221881 Centerline is valid? [True, True] Translation: X:264.89, Y:3.78, Z:3.08 [[ 9.99572376e-01 -2.28931022e-02 -1.81926138e-02 2.64886001e+02] [ 2.28981759e-02 9.99737800e-01 7.06035557e-05 3.78027874e+00] [ 1.81862273e-02 -4.87151035e-04 9.99834498e-01 3.08017962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.015099893 meters 0.01693204994270828 Centerline is valid? [True, True] Translation: X:264.91, Y:3.78, Z:3.08 [[ 9.99569832e-01 -2.40494871e-02 -1.67861093e-02 2.64914310e+02] [ 2.40539094e-02 9.99710661e-01 6.15695938e-05 3.77609499e+00] [ 1.67797717e-02 -4.65314661e-04 9.99859101e-01 3.08105575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.045099893 meters 0.01693204994270828 Centerline is valid? [True, True] Translation: X:264.94, Y:3.78, Z:3.08 [[ 9.99568990e-01 -2.40844343e-02 -1.67861138e-02 2.64943474e+02] [ 2.40888408e-02 9.99709820e-01 6.03345367e-05 3.77602021e+00] [ 1.67797897e-02 -4.64666555e-04 9.99859101e-01 3.08141673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.075099893 meters 0.016663793760180765 Centerline is valid? [True, True] Translation: X:264.97, Y:3.77, Z:3.08 [[ 9.99544500e-01 -2.54138500e-02 -1.62766517e-02 2.64972851e+02] [ 2.54181600e-02 9.99676905e-01 5.79448299e-05 3.77442497e+00] [ 1.62699202e-02 -4.71640975e-04 9.99867525e-01 3.08207209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.105099893 meters 0.017763589577666095 Centerline is valid? [True, True] Translation: X:265.00, Y:3.77, Z:3.08 [[ 9.99461952e-01 -2.85127275e-02 -1.62120892e-02 2.65002574e+02] [ 2.85174013e-02 9.99593295e-01 5.71393636e-05 3.76877285e+00] [ 1.62038664e-02 -5.19435273e-04 9.99868574e-01 3.08196554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.135099893 meters 0.01816937062365836 Centerline is valid? [True, True] Translation: X:265.03, Y:3.77, Z:3.08 [[ 9.99395657e-01 -3.02789414e-02 -1.70735817e-02 2.65032620e+02] [ 3.02843734e-02 9.99541321e-01 5.96302291e-05 3.76613449e+00] [ 1.70639449e-02 -5.76656915e-04 9.99854234e-01 3.08162478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.165099893 meters 0.0192802900957877 Centerline is valid? [True, True] Translation: X:265.06, Y:3.76, Z:3.08 [[ 9.99336838e-01 -3.19007865e-02 -1.75563183e-02 2.65062549e+02] [ 3.19067840e-02 9.99490847e-01 6.15481606e-05 3.76263225e+00] [ 1.75454160e-02 -6.21673000e-04 9.99845874e-01 3.08144219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.195099893 meters 0.020659926529449826 Centerline is valid? [True, True] Translation: X:265.09, Y:3.76, Z:3.08 [[ 9.99217667e-01 -3.47434861e-02 -1.88929742e-02 2.65092274e+02] [ 3.47509593e-02 9.99396001e-01 6.72948316e-05 3.75768267e+00] [ 1.88792248e-02 -7.23791164e-04 9.99821510e-01 3.08132533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.225099893 meters 0.020166172988832772 Centerline is valid? [True, True] Translation: X:265.12, Y:3.76, Z:3.08 [[ 9.99186112e-01 -3.54432226e-02 -1.92585668e-02 2.65123016e+02] [ 3.54511135e-02 9.99371409e-01 6.83768572e-05 3.75706497e+00] [ 1.92440375e-02 -7.51058842e-04 9.99814534e-01 3.08199213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.255099893 meters 0.02141916925653568 Centerline is valid? [True, True] Translation: X:265.15, Y:3.75, Z:3.08 [[ 9.99159390e-01 -3.55760376e-02 -2.03681093e-02 2.65152160e+02] [ 3.55848912e-02 9.99366655e-01 7.22924785e-05 3.75305904e+00] [ 2.03526374e-02 -7.97028663e-04 9.99792546e-01 3.08203616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.285099893 meters 0.020613787209963014 Centerline is valid? [True, True] Translation: X:265.18, Y:3.75, Z:3.08 [[ 9.99173366e-01 -3.50391071e-02 -2.06117969e-02 2.65181967e+02] [ 3.50480531e-02 9.99385626e-01 7.28319050e-05 3.75336148e+00] [ 2.05965816e-02 -7.95175051e-04 9.99787552e-01 3.08255624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.315099893 meters 0.017867475808302835 Centerline is valid? [True, True] Translation: X:265.21, Y:3.76, Z:3.08 [[ 9.99197416e-01 -3.40407875e-02 -2.11127386e-02 2.65211784e+02] [ 3.40499351e-02 9.99420130e-01 7.38370746e-05 3.75667653e+00] [ 2.10979825e-02 -7.92665193e-04 9.99777099e-01 3.08377883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.345099893 meters 0.019514924096979847 Centerline is valid? [True, True] Translation: X:265.24, Y:3.75, Z:3.08 [[ 9.99225472e-01 -3.29725091e-02 -2.14772052e-02 2.65240440e+02] [ 3.29817083e-02 9.99455953e-01 7.41495480e-05 3.75373549e+00] [ 2.14630757e-02 -7.82447034e-04 9.99769335e-01 3.08353798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.375099893 meters 0.01671114163680386 Centerline is valid? [True, True] Translation: X:265.27, Y:3.76, Z:3.09 [[ 9.99329859e-01 -2.97296109e-02 -2.13537775e-02 2.65269824e+02] [ 2.97379053e-02 9.99557728e-01 7.09139162e-05 3.75750537e+00] [ 2.13422250e-02 -7.05883005e-04 9.99771980e-01 3.08509685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.405099893 meters 0.015102769832135078 Centerline is valid? [True, True] Translation: X:265.30, Y:3.76, Z:3.09 [[ 9.99468836e-01 -2.53097891e-02 -2.05295159e-02 2.65299551e+02] [ 2.53164595e-02 9.99679485e-01 6.50487286e-05 3.75908233e+00] [ 2.05212895e-02 -5.84748835e-04 9.99789245e-01 3.08603906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43509989300003 meters 0.015190596714318098 Centerline is valid? [True, True] Translation: X:265.33, Y:3.76, Z:3.09 [[ 9.99523110e-01 -2.31878407e-02 -2.03930404e-02 2.65327258e+02] [ 2.31939572e-02 9.99730982e-01 6.34241607e-05 3.75803023e+00] [ 2.03860837e-02 -5.36389221e-04 9.99792038e-01 3.08637408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.465099893 meters 0.014010719960965196 Centerline is valid? [True, True] Translation: X:265.36, Y:3.76, Z:3.09 [[ 9.99631763e-01 -1.93417567e-02 -1.90324629e-02 2.65356301e+02] [ 1.93463579e-02 9.99812840e-01 5.76466996e-05 3.75885260e+00] [ 1.90277858e-02 -4.25834312e-04 9.99818865e-01 3.08735361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49509989300003 meters 0.013801856189145194 Centerline is valid? [True, True] Translation: X:265.38, Y:3.76, Z:3.09 [[ 9.99654442e-01 -1.79481298e-02 -1.92057574e-02 2.65384653e+02] [ 1.79525073e-02 9.99838839e-01 5.55223766e-05 3.75876652e+00] [ 1.92016657e-02 -4.00294691e-04 9.99815551e-01 3.08749261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.525099893 meters 0.013377227430666777 Centerline is valid? [True, True] Translation: X:265.41, Y:3.76, Z:3.09 [[ 9.99663736e-01 -1.69358100e-02 -1.96365481e-02 2.65413543e+02] [ 1.69400912e-02 9.99856505e-01 5.16903960e-05 3.75917120e+00] [ 1.96328549e-02 -3.84317930e-04 9.99807183e-01 3.08758905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55509989300003 meters 0.013361107880477964 Centerline is valid? [True, True] Translation: X:265.44, Y:3.76, Z:3.09 [[ 9.99662651e-01 -1.66249470e-02 -1.99548325e-02 2.65441627e+02] [ 1.66291979e-02 9.99861724e-01 4.70984536e-05 3.75871754e+00] [ 1.99512903e-02 -3.78915424e-04 9.99800881e-01 3.08777559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.585099893 meters 0.013418645602862996 Centerline is valid? [True, True] Translation: X:265.47, Y:3.76, Z:3.09 [[ 9.99657148e-01 -1.65294301e-02 -2.03067735e-02 2.65469381e+02] [ 1.65336916e-02 9.99863308e-01 4.19685166e-05 3.75817875e+00] [ 2.03033040e-02 -3.77700057e-04 9.99793795e-01 3.08798358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61509989300004 meters 0.01353036877253338 Centerline is valid? [True, True] Translation: X:265.50, Y:3.76, Z:3.09 [[ 9.99666945e-01 -1.66239104e-02 -1.97394352e-02 2.65495965e+02] [ 1.66278684e-02 9.99861747e-01 3.63907912e-05 3.75710371e+00] [ 1.97361012e-02 -3.64603402e-04 9.99805158e-01 3.08836026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.645099893 meters 0.013772779646535257 Centerline is valid? [True, True] Translation: X:265.52, Y:3.75, Z:3.09 [[ 9.99658874e-01 -1.75895993e-02 -1.93065329e-02 2.65524670e+02] [ 1.75935030e-02 9.99845222e-01 3.23461448e-05 3.75495532e+00] [ 1.93029757e-02 -3.72004655e-04 9.99813611e-01 3.08895910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67509989300004 meters 0.014237034179413287 Centerline is valid? [True, True] Translation: X:265.55, Y:3.75, Z:3.09 [[ 9.99652108e-01 -1.83673759e-02 -1.89288664e-02 2.65551972e+02] [ 1.83711973e-02 9.99831235e-01 2.80003529e-05 3.75308618e+00] [ 1.89251576e-02 -3.75736552e-04 9.99820833e-01 3.08919526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.705099893 meters 0.014194793230283772 Centerline is valid? [True, True] Translation: X:265.58, Y:3.75, Z:3.09 [[ 9.99629298e-01 -1.93135464e-02 -1.91899255e-02 2.65580848e+02] [ 1.93175905e-02 9.99813398e-01 2.53749069e-05 3.75252390e+00] [ 1.91858545e-02 -3.96068623e-04 9.99815856e-01 3.08983786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73509989300004 meters 0.014622016582202094 Centerline is valid? [True, True] Translation: X:265.61, Y:3.75, Z:3.09 [[ 9.99596320e-01 -2.08197026e-02 -1.93323001e-02 2.65609214e+02] [ 2.08240171e-02 9.99783156e-01 2.18724463e-05 3.75107792e+00] [ 1.93276527e-02 -4.24439766e-04 9.99813113e-01 3.08988475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.765099893 meters 0.014745239961916927 Centerline is valid? [True, True] Translation: X:265.64, Y:3.75, Z:3.09 [[ 9.99571700e-01 -2.20122142e-02 -1.92841475e-02 2.65637871e+02] [ 2.20166750e-02 9.99757603e-01 1.90198947e-05 3.75075465e+00] [ 1.92790544e-02 -4.43584557e-04 9.99814043e-01 3.09050676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.795099893 meters 0.015184466967726238 Centerline is valid? [True, True] Translation: X:265.67, Y:3.75, Z:3.09 [[ 9.99520985e-01 -2.41843264e-02 -1.93111052e-02 2.65666945e+02] [ 2.41891121e-02 9.99707401e-01 1.42458953e-05 3.74960829e+00] [ 1.93051103e-02 -4.81357561e-04 9.99813523e-01 3.09064335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.825099893 meters 0.015525040392120671 Centerline is valid? [True, True] Translation: X:265.70, Y:3.75, Z:3.09 [[ 9.99486860e-01 -2.55165393e-02 -1.93629490e-02 2.65696055e+02] [ 2.55215070e-02 9.99674273e-01 9.45111587e-06 3.74846042e+00] [ 1.93564008e-02 -5.03617903e-04 9.99812520e-01 3.09049921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.855099893 meters 0.01612392038366113 Centerline is valid? [True, True] Translation: X:265.72, Y:3.75, Z:3.09 [[ 9.99437982e-01 -2.69364144e-02 -1.99536852e-02 2.65723925e+02] [ 2.69418891e-02 9.99637001e-01 5.55317530e-06 3.74710827e+00] [ 1.99462924e-02 -5.43140027e-04 9.99800905e-01 3.08991508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.885099893 meters 0.016680604049109753 Centerline is valid? [True, True] Translation: X:265.75, Y:3.75, Z:3.09 [[ 9.99388132e-01 -2.85139863e-02 -2.02562000e-02 2.65752274e+02] [ 2.85198788e-02 9.99593226e-01 2.01841090e-06 3.74596608e+00] [ 2.02479027e-02 -5.79721545e-04 9.99794822e-01 3.08944772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.915099893 meters 0.016492104754533797 Centerline is valid? [True, True] Translation: X:265.78, Y:3.75, Z:3.09 [[ 9.99306618e-01 -3.13665422e-02 -2.00605021e-02 2.65780569e+02] [ 3.13728212e-02 9.99507752e-01 -1.70560073e-06 3.74573486e+00] [ 2.00506808e-02 -6.27650126e-04 9.99798768e-01 3.08951038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.945099893 meters 0.018156527490216547 Centerline is valid? [True, True] Translation: X:265.81, Y:3.74, Z:3.09 [[ 9.99251958e-01 -3.32113432e-02 -1.98124134e-02 2.65808320e+02] [ 3.32177950e-02 9.99448137e-01 -3.45677529e-06 3.74319846e+00] [ 1.98015945e-02 -6.54670498e-04 9.99803715e-01 3.08940508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.975099893 meters 0.01876606353397343 Centerline is valid? [True, True] Translation: X:265.84, Y:3.74, Z:3.09 [[ 9.99120567e-01 -3.72848053e-02 -1.91816302e-02 2.65838044e+02] [ 3.72915770e-02 9.99304427e-01 -4.66508833e-06 3.74210343e+00] [ 1.91684619e-02 -7.10652254e-04 9.99816016e-01 3.09030527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.005099893 meters 0.01876606353397343 Centerline is valid? [True, True] Translation: X:265.87, Y:3.74, Z:3.09 [[ 9.99120567e-01 -3.72848108e-02 -1.91816301e-02 2.65868062e+02] [ 3.72915740e-02 9.99304427e-01 -5.10790363e-06 3.74211164e+00] [ 1.91684783e-02 -7.10209766e-04 9.99816016e-01 3.09067663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.035099893 meters 0.019857873355304843 Centerline is valid? [True, True] Translation: X:265.90, Y:3.74, Z:3.09 [[ 9.98938401e-01 -4.20207979e-02 -1.88765212e-02 2.65897826e+02] [ 4.20281893e-02 9.99116425e-01 -5.14469406e-06 3.73979390e+00] [ 1.88600586e-02 -7.88206775e-04 9.99821823e-01 3.09118705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.065099893 meters 0.020818084585782833 Centerline is valid? [True, True] Translation: X:265.93, Y:3.74, Z:3.09 [[ 9.98849342e-01 -4.41136040e-02 -1.88144248e-02 2.65929256e+02] [ 4.41213175e-02 9.99026180e-01 -5.11814674e-06 3.73838716e+00] [ 1.87963287e-02 -8.25004952e-04 9.99822993e-01 3.09176001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.095099893 meters 0.02410112668182545 Centerline is valid? [True, True] Translation: X:265.96, Y:3.73, Z:3.09 [[ 9.98672127e-01 -4.79363228e-02 -1.88703957e-02 2.65959028e+02] [ 4.79447786e-02 9.98849988e-01 -4.31408890e-06 3.73499615e+00] [ 1.88489013e-02 -9.00428584e-04 9.99821938e-01 3.09294956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.125099893 meters 0.022242358821664733 Centerline is valid? [True, True] Translation: X:265.99, Y:3.74, Z:3.09 [[ 9.98608714e-01 -4.93518993e-02 -1.85748814e-02 2.65989877e+02] [ 4.93603516e-02 9.98781035e-01 -3.43901874e-06 3.73822366e+00] [ 1.85524090e-02 -9.13428445e-04 9.99827472e-01 3.09456120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.155099893 meters 0.02276279860848154 Centerline is valid? [True, True] Translation: X:266.02, Y:3.74, Z:3.10 [[ 9.98544146e-01 -5.05981084e-02 -1.86927836e-02 2.66020765e+02] [ 5.06068962e-02 9.98718650e-01 -2.92230000e-06 3.73818334e+00] [ 1.86689794e-02 -9.43065711e-04 9.99825275e-01 3.09573735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18509989300003 meters 0.02504295223276503 Centerline is valid? [True, True] Translation: X:266.05, Y:3.74, Z:3.10 [[ 9.98490043e-01 -5.15759431e-02 -1.89091486e-02 2.66051398e+02] [ 5.15851265e-02 9.98668601e-01 -2.10164526e-06 3.73557586e+00] [ 1.88840814e-02 -9.73332350e-04 9.99821206e-01 3.09626896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.215099893 meters 0.02484212643986542 Centerline is valid? [True, True] Translation: X:266.08, Y:3.74, Z:3.10 [[ 9.98362062e-01 -5.36726946e-02 -1.98099730e-02 2.66082101e+02] [ 5.36831977e-02 9.98558017e-01 -1.59605540e-06 3.73635324e+00] [ 1.97814931e-02 -1.06186926e-03 9.99803763e-01 3.09623575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24509989300003 meters 0.025255560869724414 Centerline is valid? [True, True] Translation: X:266.11, Y:3.74, Z:3.10 [[ 9.98283594e-01 -5.47925695e-02 -2.06794686e-02 2.66113455e+02] [ 5.48042656e-02 9.98497117e-01 -1.13546369e-06 3.73601671e+00] [ 2.06484519e-02 -1.13218957e-03 9.99786157e-01 3.09644598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.275099893 meters 0.02585614591019273 Centerline is valid? [True, True] Translation: X:266.15, Y:3.74, Z:3.10 [[ 9.98213594e-01 -5.57867572e-02 -2.13882905e-02 2.66145006e+02] [ 5.57995133e-02 9.98441993e-01 -3.90856600e-07 3.73574706e+00] [ 2.13549892e-02 -1.19306604e-03 9.99771244e-01 3.09663083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30509989300003 meters 0.026912899971957636 Centerline is valid? [True, True] Translation: X:266.18, Y:3.74, Z:3.10 [[ 9.98103365e-01 -5.72093142e-02 -2.27325073e-02 2.66175705e+02] [ 5.72241074e-02 9.98361358e-01 2.41618980e-07 3.73600235e+00] [ 2.26952430e-02 -1.30108860e-03 9.99741583e-01 3.09683632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.335099893 meters 0.026275179196326902 Centerline is valid? [True, True] Translation: X:266.21, Y:3.74, Z:3.10 [[ 9.98047408e-01 -5.77902249e-02 -2.36993764e-02 2.66206573e+02] [ 5.78064772e-02 9.98327807e-01 6.86355823e-07 3.73783725e+00] [ 2.36597068e-02 -1.37066248e-03 9.99719130e-01 3.09742949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36509989300004 meters 0.025840702835332505 Centerline is valid? [True, True] Translation: X:266.24, Y:3.74, Z:3.10 [[ 9.98041260e-01 -5.76228867e-02 -2.43566446e-02 2.66238416e+02] [ 5.76400199e-02 9.98337432e-01 1.36848410e-06 3.73957574e+00] [ 2.43160712e-02 -1.40528328e-03 9.99703333e-01 3.09742986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.395099893 meters 0.024019414694194507 Centerline is valid? [True, True] Translation: X:266.27, Y:3.74, Z:3.10 [[ 9.98134990e-01 -5.56755084e-02 -2.50355552e-02 2.66269483e+02] [ 5.56930231e-02 9.98447939e-01 2.33564002e-06 3.74471740e+00] [ 2.49965685e-02 -1.39663704e-03 9.99686561e-01 3.09807285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42509989300004 meters 0.02532793250267674 Centerline is valid? [True, True] Translation: X:266.30, Y:3.74, Z:3.10 [[ 9.98245797e-01 -5.39254588e-02 -2.44412445e-02 2.66299495e+02] [ 5.39416449e-02 9.98544090e-01 2.94712164e-06 3.74460513e+00] [ 2.44055013e-02 -1.32134288e-03 9.99701268e-01 3.09852108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.455099893 meters 0.02199132184225345 Centerline is valid? [True, True] Translation: X:266.33, Y:3.75, Z:3.10 [[ 9.98536964e-01 -4.89970803e-02 -2.28739325e-02 2.66330548e+02] [ 4.90099724e-02 9.98798289e-01 3.01671956e-06 3.75397713e+00] [ 2.28462969e-02 -1.12406311e-03 9.99738357e-01 3.10165525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48509989300004 meters 0.021160211495727548 Centerline is valid? [True, True] Translation: X:266.36, Y:3.76, Z:3.10 [[ 9.98682452e-01 -4.62268186e-02 -2.22809568e-02 2.66360889e+02] [ 4.62383640e-02 9.98930435e-01 2.99315916e-06 3.75786678e+00] [ 2.22569875e-02 -1.03322421e-03 9.99751749e-01 3.10310727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.515099893 meters 0.020836469658077672 Centerline is valid? [True, True] Translation: X:266.39, Y:3.76, Z:3.10 [[ 9.98930128e-01 -4.07761877e-02 -2.18151975e-02 2.66390779e+02] [ 4.07859575e-02 9.99167907e-01 2.91661171e-06 3.76313724e+00] [ 2.17969263e-02 -8.92667208e-04 9.99762020e-01 3.10432474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.545099893 meters 0.020593870325129708 Centerline is valid? [True, True] Translation: X:266.42, Y:3.77, Z:3.10 [[ 9.99017606e-01 -3.86967408e-02 -2.15959679e-02 2.66420161e+02] [ 3.87058262e-02 9.99250649e-01 2.70716412e-06 3.76536455e+00] [ 2.15796802e-02 -8.38594285e-04 9.99766780e-01 3.10493040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.575099893 meters 0.018942724717513668 Centerline is valid? [True, True] Translation: X:266.45, Y:3.77, Z:3.11 [[ 9.99071646e-01 -3.73487011e-02 -2.14690617e-02 2.66450584e+02] [ 3.73573646e-02 9.99301970e-01 2.47547047e-06 3.76973006e+00] [ 2.14539832e-02 -8.04500739e-04 9.99769513e-01 3.10615768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.605099893 meters 0.019069776396688023 Centerline is valid? [True, True] Translation: X:266.48, Y:3.77, Z:3.11 [[ 9.99096919e-01 -3.66600496e-02 -2.14799406e-02 2.66481215e+02] [ 3.66685630e-02 9.99327482e-01 2.47672484e-06 3.77122232e+00] [ 2.14654041e-02 -7.90113042e-04 9.99769279e-01 3.10643079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.635099893 meters 0.019346377793703396 Centerline is valid? [True, True] Translation: X:266.51, Y:3.77, Z:3.11 [[ 9.99085503e-01 -3.63105923e-02 -2.25765222e-02 2.66510465e+02] [ 3.63199042e-02 9.99340215e-01 2.42280464e-06 3.77249044e+00] [ 2.25615386e-02 -8.22397713e-04 9.99745118e-01 3.10616901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.665099893 meters 0.023001370602463447 Centerline is valid? [True, True] Translation: X:266.54, Y:3.77, Z:3.10 [[ 9.98991728e-01 -3.72678875e-02 -2.50326272e-02 2.66539159e+02] [ 3.72796073e-02 9.99304874e-01 1.50583173e-06 3.76993899e+00] [ 2.50151703e-02 -9.34710827e-04 9.99686635e-01 3.10319121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.695099893 meters 0.020678117180047147 Centerline is valid? [True, True] Translation: X:266.57, Y:3.77, Z:3.10 [[ 9.98931956e-01 -3.85817701e-02 -2.54242850e-02 2.66568029e+02] [ 3.85941798e-02 9.99254967e-01 -2.59032786e-06 3.77473466e+00] [ 2.54054431e-02 -9.78641868e-04 9.99676751e-01 3.10477065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.725099893 meters 0.019962614102584555 Centerline is valid? [True, True] Translation: X:266.60, Y:3.78, Z:3.11 [[ 9.98870174e-01 -4.01995408e-02 -2.53450798e-02 2.66596925e+02] [ 4.02122345e-02 9.99191161e-01 -8.84365425e-06 3.77707645e+00] [ 2.53249352e-02 -1.01034863e-03 9.99678762e-01 3.10563627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.755099893 meters 0.021543488846546506 Centerline is valid? [True, True] Translation: X:266.63, Y:3.78, Z:3.11 [[ 9.98742697e-01 -4.30285747e-02 -2.57209420e-02 2.66625451e+02] [ 4.30424851e-02 9.99073243e-01 -1.28283006e-05 3.77703514e+00] [ 2.56976569e-02 -1.09428109e-03 9.99669162e-01 3.10606934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.785099893 meters 0.020734521345747346 Centerline is valid? [True, True] Translation: X:266.66, Y:3.78, Z:3.11 [[ 9.98680022e-01 -4.45584065e-02 -2.55492027e-02 2.66656127e+02] [ 4.45726145e-02 9.99006147e-01 -1.33961890e-05 3.77906496e+00] [ 2.55244075e-02 -1.12541626e-03 9.99673566e-01 3.10687534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.815099893 meters 0.021285628068223986 Centerline is valid? [True, True] Translation: X:266.69, Y:3.78, Z:3.11 [[ 9.98606273e-01 -4.58310512e-02 -2.61730104e-02 2.66686275e+02] [ 4.58463981e-02 9.98948501e-01 -1.37232695e-05 3.77895385e+00] [ 2.61461184e-02 -1.18623411e-03 9.99657428e-01 3.10658833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.845099893 meters 0.024767433514706942 Centerline is valid? [True, True] Translation: X:266.72, Y:3.78, Z:3.11 [[ 9.98471865e-01 -4.84658225e-02 -2.65518170e-02 2.66715987e+02] [ 4.84825396e-02 9.98824030e-01 -1.41774356e-05 3.77538379e+00] [ 2.65212800e-02 -1.27314375e-03 9.99647438e-01 3.10531183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.875099893 meters 0.025127861524213868 Centerline is valid? [True, True] Translation: X:266.75, Y:3.78, Z:3.11 [[ 9.98416202e-01 -4.97409128e-02 -2.62855233e-02 2.66746256e+02] [ 4.97577311e-02 9.98761317e-01 -1.42557365e-05 3.77566625e+00] [ 2.62536729e-02 -1.29367484e-03 9.99654476e-01 3.10571667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.905099893 meters 0.025127861524213868 Centerline is valid? [True, True] Translation: X:266.78, Y:3.78, Z:3.11 [[ 9.98416202e-01 -4.97409128e-02 -2.62855233e-02 2.66776293e+02] [ 4.97577311e-02 9.98761317e-01 -1.42557365e-05 3.77568254e+00] [ 2.62536729e-02 -1.29367484e-03 9.99654476e-01 3.10608814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93509989300003 meters 0.023779607304549547 Centerline is valid? [True, True] Translation: X:266.81, Y:3.78, Z:3.11 [[ 9.98376163e-01 -5.09243942e-02 -2.55292723e-02 2.66807133e+02] [ 5.09406604e-02 9.98701682e-01 -1.32051478e-05 3.77846817e+00] [ 2.54967996e-02 -1.28729428e-03 9.99674075e-01 3.10760991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.965099893 meters 0.023431657931829566 Centerline is valid? [True, True] Translation: X:266.84, Y:3.78, Z:3.11 [[ 9.98330152e-01 -5.19443453e-02 -2.52723724e-02 2.66838837e+02] [ 5.19606383e-02 9.98649134e-01 -1.20076634e-05 3.77980082e+00] [ 2.52388565e-02 -1.30118099e-03 9.99680603e-01 3.10839455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99509989300003 meters 0.024890894384268756 Centerline is valid? [True, True] Translation: X:266.87, Y:3.78, Z:3.11 [[ 9.98246754e-01 -5.35254773e-02 -2.52673820e-02 2.66869379e+02] [ 5.35422947e-02 9.98565583e-01 -1.09862169e-05 3.77917900e+00] [ 2.52317261e-02 -1.34190666e-03 9.99680729e-01 3.10849160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.025099893 meters 0.025582175073877878 Centerline is valid? [True, True] Translation: X:266.90, Y:3.78, Z:3.11 [[ 9.98222751e-01 -5.40670302e-02 -2.50618296e-02 2.66900869e+02] [ 5.40837699e-02 9.98536402e-01 -9.90259060e-06 3.77909170e+00] [ 2.50256846e-02 -1.34555323e-03 9.99685903e-01 3.10893620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05509989300003 meters 0.029010152678512556 Centerline is valid? [True, True] Translation: X:266.93, Y:3.78, Z:3.11 [[ 9.98205792e-01 -5.45462646e-02 -2.46962102e-02 2.66931650e+02] [ 5.45626816e-02 9.98510347e-01 -9.10594294e-06 3.77601505e+00] [ 2.46599182e-02 -1.33840185e-03 9.99695002e-01 3.10867483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.085099893 meters 0.024390975046962304 Centerline is valid? [True, True] Translation: X:266.96, Y:3.78, Z:3.11 [[ 9.98224475e-01 -5.44860578e-02 -2.40658844e-02 2.66963995e+02] [ 5.45016553e-02 9.98513680e-01 -7.80575302e-06 3.78330791e+00] [ 2.40305401e-02 -1.30383864e-03 9.99710375e-01 3.11078724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11509989300004 meters 0.026837421954234483 Centerline is valid? [True, True] Translation: X:266.99, Y:3.78, Z:3.11 [[ 9.98251073e-01 -5.42305532e-02 -2.35338401e-02 2.66994843e+02] [ 5.42454326e-02 9.98527633e-01 -6.14262273e-06 3.78092558e+00] [ 2.34995227e-02 -1.27047146e-03 9.99723041e-01 3.11072280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.145099893 meters 0.027015540890968866 Centerline is valid? [True, True] Translation: X:267.03, Y:3.78, Z:3.11 [[ 9.98266696e-01 -5.38313999e-02 -2.37862234e-02 2.67026859e+02] [ 5.38465225e-02 9.98549224e-01 -4.72683252e-06 3.78146413e+00] [ 2.37519693e-02 -1.27608677e-03 9.99717068e-01 3.11131445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17509989300004 meters 0.02493775008650813 Centerline is valid? [True, True] Translation: X:267.06, Y:3.79, Z:3.11 [[ 9.98302962e-01 -5.33011979e-02 -2.34558702e-02 2.67058915e+02] [ 5.33157961e-02 9.98577701e-01 -3.00418645e-06 3.78622354e+00] [ 2.34226691e-02 -1.24756931e-03 9.99724873e-01 3.11224467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.205099893 meters 0.02640589637161286 Centerline is valid? [True, True] Translation: X:267.09, Y:3.79, Z:3.11 [[ 9.98304757e-01 -5.30829155e-02 -2.38708142e-02 2.67090341e+02] [ 5.30980092e-02 9.98589306e-01 -1.53015295e-06 3.78507689e+00] [ 2.38372210e-02 -1.26596515e-03 9.99715052e-01 3.11193353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23509989300004 meters 0.025389015446337076 Centerline is valid? [True, True] Translation: X:267.12, Y:3.79, Z:3.11 [[ 9.98313720e-01 -5.28845232e-02 -2.39362396e-02 2.67122502e+02] [ 5.28996787e-02 9.98599832e-01 -3.98229013e-08 3.78698379e+00] [ 2.39027270e-02 -1.26617963e-03 9.99713487e-01 3.11246782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.265099893 meters 0.025733143657404672 Centerline is valid? [True, True] Translation: X:267.16, Y:3.79, Z:3.11 [[ 9.98329292e-01 -5.26569247e-02 -2.37880906e-02 2.67155111e+02] [ 5.26718689e-02 9.98611874e-01 1.65033922e-06 3.78746653e+00] [ 2.37549828e-02 -1.25461077e-03 9.99717023e-01 3.11241600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.295099893 meters 0.02608680548484461 Centerline is valid? [True, True] Translation: X:267.19, Y:3.79, Z:3.11 [[ 9.98367699e-01 -5.21226126e-02 -2.33488978e-02 2.67187460e+02] [ 5.21369022e-02 9.98639947e-01 3.25587756e-06 3.78761181e+00] [ 2.33169723e-02 -1.22058976e-03 9.99727377e-01 3.11258632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.325099893 meters 0.024583335019946164 Centerline is valid? [True, True] Translation: X:267.22, Y:3.79, Z:3.11 [[ 9.98445084e-01 -5.07093534e-02 -2.31511621e-02 2.67218631e+02] [ 5.07230518e-02 9.98712758e-01 4.47567796e-06 3.79158339e+00] [ 2.31211340e-02 -1.17876632e-03 9.99731976e-01 3.11333324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.355099893 meters 0.023211918068081774 Centerline is valid? [True, True] Translation: X:267.25, Y:3.79, Z:3.11 [[ 9.98489191e-01 -4.98241366e-02 -2.31708845e-02 2.67250861e+02] [ 4.98376490e-02 9.98757332e-01 5.70273519e-06 3.79450405e+00] [ 2.31418067e-02 -1.16047653e-03 9.99731519e-01 3.11372490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.385099893 meters 0.024664914221737742 Centerline is valid? [True, True] Translation: X:267.28, Y:3.79, Z:3.11 [[ 9.98540136e-01 -4.85548734e-02 -2.36647558e-02 2.67282066e+02] [ 4.85686694e-02 9.98819846e-01 8.22094856e-06 3.79350458e+00] [ 2.36364286e-02 -1.15757465e-03 9.99719950e-01 3.11311767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.415099893 meters 0.02393892695523531 Centerline is valid? [True, True] Translation: X:267.31, Y:3.80, Z:3.11 [[ 9.98647931e-01 -4.61310594e-02 -2.39631972e-02 2.67313375e+02] [ 4.61445585e-02 9.98934772e-01 1.03737704e-05 3.79752523e+00] [ 2.39371923e-02 -1.11613090e-03 9.99712841e-01 3.11257228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.445099893 meters 0.02374460150759277 Centerline is valid? [True, True] Translation: X:267.34, Y:3.80, Z:3.11 [[ 9.98695269e-01 -4.50852275e-02 -2.39808713e-02 2.67344974e+02] [ 4.50984658e-02 9.98982547e-01 1.12206895e-05 3.79919601e+00] [ 2.39559660e-02 -1.09270655e-03 9.99712417e-01 3.11242601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.475099893 meters 0.020565109767050855 Centerline is valid? [True, True] Translation: X:267.38, Y:3.80, Z:3.11 [[ 9.98737077e-01 -4.40969512e-02 -2.40771589e-02 2.67376540e+02] [ 4.41100302e-02 9.99026679e-01 1.21261206e-05 3.80498794e+00] [ 2.40531894e-02 -1.07415501e-03 9.99710103e-01 3.11351285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.505099893 meters 0.02160712523662597 Centerline is valid? [True, True] Translation: X:267.41, Y:3.81, Z:3.11 [[ 9.98795660e-01 -4.27351955e-02 -2.41025311e-02 2.67407325e+02] [ 4.27479276e-02 9.99085889e-01 1.30176717e-05 3.80570514e+00] [ 2.40799424e-02 -1.04333525e-03 9.99709492e-01 3.11306064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.535099893 meters 0.020380480339032177 Centerline is valid? [True, True] Translation: X:267.44, Y:3.81, Z:3.11 [[ 9.98833237e-01 -4.22955939e-02 -2.33076889e-02 2.67439036e+02] [ 4.23073997e-02 9.99104641e-01 1.34190947e-05 3.80864909e+00] [ 2.32862526e-02 -9.99491149e-04 9.99728339e-01 3.11370427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.565099893 meters 0.021169521996994185 Centerline is valid? [True, True] Translation: X:267.47, Y:3.81, Z:3.11 [[ 9.98906993e-01 -4.10653920e-02 -2.23260503e-02 2.67469203e+02] [ 4.10759308e-02 9.99156028e-01 1.34628689e-05 3.81010229e+00] [ 2.23066549e-02 -9.30511453e-04 9.99750743e-01 3.11405020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.595099893 meters 0.02016725233218834 Centerline is valid? [True, True] Translation: X:267.50, Y:3.82, Z:3.12 [[ 9.99006148e-01 -3.94396977e-02 -2.07660085e-02 2.67500847e+02] [ 3.94484747e-02 9.99221606e-01 1.30326901e-05 3.81505317e+00] [ 2.07493303e-02 -8.32207096e-04 9.99784363e-01 3.11569568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.625099893 meters 0.019488957866644806 Centerline is valid? [True, True] Translation: X:267.53, Y:3.82, Z:3.12 [[ 9.99056504e-01 -3.82923053e-02 -2.04890354e-02 2.67532431e+02] [ 3.83006237e-02 9.99266262e-01 1.35923334e-05 3.81762427e+00] [ 2.04734813e-02 -7.98322345e-04 9.99790078e-01 3.11636700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.655099893 meters 0.01912155511107067 Centerline is valid? [True, True] Translation: X:267.57, Y:3.82, Z:3.12 [[ 9.99080827e-01 -3.76886689e-02 -2.04221846e-02 2.67565028e+02] [ 3.76968282e-02 9.99289222e-01 1.45755481e-05 3.81968371e+00] [ 2.04071196e-02 -7.84413735e-04 9.99791445e-01 3.11685218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68509989300003 meters 0.019619206870987137 Centerline is valid? [True, True] Translation: X:267.60, Y:3.82, Z:3.12 [[ 9.99117284e-01 -3.70765444e-02 -1.97479885e-02 2.67595802e+02] [ 3.70840793e-02 9.99312149e-01 1.53589397e-05 3.82003935e+00] [ 1.97338353e-02 -7.47681353e-04 9.99804989e-01 3.11721751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.715099893 meters 0.01953480067987968 Centerline is valid? [True, True] Translation: X:267.63, Y:3.82, Z:3.12 [[ 9.99141878e-01 -3.66268237e-02 -1.93386429e-02 2.67627531e+02] [ 3.66339875e-02 9.99328750e-01 1.61916417e-05 3.82118058e+00] [ 1.93250688e-02 -7.24629351e-04 9.99812991e-01 3.11782120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74509989300003 meters 0.01965042158921776 Centerline is valid? [True, True] Translation: X:267.66, Y:3.82, Z:3.12 [[ 9.99159053e-01 -3.62102159e-02 -1.92355913e-02 2.67659396e+02] [ 3.62172503e-02 9.99343940e-01 1.73464326e-05 3.82191640e+00] [ 1.92223434e-02 -7.13992069e-04 9.99814979e-01 3.11816584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.775099893 meters 0.020463413892209428 Centerline is valid? [True, True] Translation: X:267.69, Y:3.82, Z:3.12 [[ 9.99147975e-01 -3.63641353e-02 -1.95185718e-02 2.67690488e+02] [ 3.63714279e-02 9.99338341e-01 1.86432013e-05 3.82243448e+00] [ 1.95049792e-02 -7.28545645e-04 9.99809494e-01 3.11761444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80509989300003 meters 0.018596315148978623 Centerline is valid? [True, True] Translation: X:267.72, Y:3.83, Z:3.12 [[ 9.99147698e-01 -3.65661551e-02 -1.91518645e-02 2.67722686e+02] [ 3.65732350e-02 9.99330975e-01 1.94273904e-05 3.82585151e+00] [ 1.91383410e-02 -7.19856473e-04 9.99816586e-01 3.11846100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.835099893 meters 0.020244689881829234 Centerline is valid? [True, True] Translation: X:267.75, Y:3.82, Z:3.12 [[ 9.99131254e-01 -3.70106415e-02 -1.91559105e-02 2.67753807e+02] [ 3.70178302e-02 9.99314605e-01 2.07000789e-05 3.82401103e+00] [ 1.91420150e-02 -7.29792338e-04 9.99816508e-01 3.11839592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86509989300004 meters 0.021278738001881334 Centerline is valid? [True, True] Translation: X:267.78, Y:3.82, Z:3.12 [[ 9.99093088e-01 -3.80054096e-02 -1.91987016e-02 2.67784880e+02] [ 3.80128336e-02 9.99277251e-01 2.17767972e-05 3.82409374e+00] [ 1.91839981e-02 -7.51554096e-04 9.99815688e-01 3.11871251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.895099893 meters 0.019785582970254106 Centerline is valid? [True, True] Translation: X:267.82, Y:3.83, Z:3.12 [[ 9.99060518e-01 -3.86114690e-02 -1.96783071e-02 2.67817318e+02] [ 3.86194095e-02 9.99253992e-01 2.35138947e-05 3.82753192e+00] [ 1.96627190e-02 -7.83456402e-04 9.99806363e-01 3.11917511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92509989300004 meters 0.02062618951402521 Centerline is valid? [True, True] Translation: X:267.85, Y:3.83, Z:3.12 [[ 9.99058859e-01 -3.86713877e-02 -1.96448707e-02 2.67848693e+02] [ 3.86793380e-02 9.99251674e-01 2.47548425e-05 3.82643007e+00] [ 1.96292127e-02 -7.84582140e-04 9.99807021e-01 3.11917822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.955099893 meters 0.020873773083015714 Centerline is valid? [True, True] Translation: X:267.88, Y:3.83, Z:3.12 [[ 9.99060396e-01 -3.86633603e-02 -1.95823827e-02 2.67880651e+02] [ 3.86712814e-02 9.99251986e-01 2.58478339e-05 3.82651807e+00] [ 1.95667354e-02 -7.83099377e-04 9.99808246e-01 3.11930010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98509989300004 meters 0.021049146914689124 Centerline is valid? [True, True] Translation: X:267.91, Y:3.83, Z:3.12 [[ 9.99092125e-01 -3.81364266e-02 -1.89878805e-02 2.67913332e+02] [ 3.81438060e-02 9.99272260e-01 2.64869716e-05 3.82664851e+00] [ 1.89730522e-02 -7.50732956e-04 9.99819714e-01 3.11971908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.015099893 meters 0.018973759654824576 Centerline is valid? [True, True] Translation: X:267.94, Y:3.83, Z:3.12 [[ 9.99164241e-01 -3.64919693e-02 -1.84161631e-02 2.67944997e+02] [ 3.64986552e-02 9.99333702e-01 2.69537891e-05 3.83080673e+00] [ 1.84029088e-02 -6.99096448e-04 9.99830408e-01 3.12056569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.045099893 meters 0.02031856629058304 Centerline is valid? [True, True] Translation: X:267.98, Y:3.83, Z:3.12 [[ 9.99204716e-01 -3.55423798e-02 -1.80741311e-02 2.67976617e+02] [ 3.55486855e-02 9.99367945e-01 2.76202790e-05 3.82936178e+00] [ 1.80617256e-02 -6.70109917e-04 9.99836649e-01 3.12055336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.075099893 meters 0.017793086154622047 Centerline is valid? [True, True] Translation: X:268.01, Y:3.83, Z:3.12 [[ 9.99242063e-01 -3.47343315e-02 -1.75734616e-02 2.68009289e+02] [ 3.47402033e-02 9.99396377e-01 2.88706722e-05 3.83370307e+00] [ 1.75618511e-02 -6.39354420e-04 9.99845574e-01 3.12157555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.105099893 meters 0.0190561692465679 Centerline is valid? [True, True] Translation: X:268.04, Y:3.83, Z:3.12 [[ 9.99263520e-01 -3.40998012e-02 -1.75960567e-02 2.68040849e+02] [ 3.41056148e-02 9.99418234e-01 3.03261928e-05 3.83218873e+00] [ 1.75847858e-02 -6.30428190e-04 9.99845177e-01 3.12148954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.135099893 meters 0.01761378201914266 Centerline is valid? [True, True] Translation: X:268.07, Y:3.83, Z:3.12 [[ 9.99317167e-01 -3.30291288e-02 -1.65613026e-02 2.68073391e+02] [ 3.30341473e-02 9.99454223e-01 2.94833183e-05 3.83462292e+00] [ 1.65512900e-02 -5.76551697e-04 9.99862852e-01 3.12171711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.165099893 meters 0.018419266134475323 Centerline is valid? [True, True] Translation: X:268.10, Y:3.83, Z:3.12 [[ 9.99328456e-01 -3.26801010e-02 -1.65724796e-02 2.68104663e+02] [ 3.26850971e-02 9.99465699e-01 3.06317239e-05 3.83350821e+00] [ 1.65626239e-02 -5.72284259e-04 9.99862667e-01 3.12194746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.195099893 meters 0.01844008197465296 Centerline is valid? [True, True] Translation: X:268.14, Y:3.83, Z:3.12 [[ 9.99347042e-01 -3.23152572e-02 -1.61621059e-02 2.68136863e+02] [ 3.23199762e-02 9.99477573e-01 3.07976100e-05 3.83370350e+00] [ 1.61526672e-02 -5.53136380e-04 9.99869384e-01 3.12215643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.225099893 meters 0.018020212997490313 Centerline is valid? [True, True] Translation: X:268.17, Y:3.84, Z:3.12 [[ 9.99349677e-01 -3.20740004e-02 -1.64766927e-02 2.68169009e+02] [ 3.20788918e-02 9.99485339e-01 3.25907081e-05 3.83515264e+00] [ 1.64671675e-02 -5.61123556e-04 9.99864250e-01 3.12277059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.255099893 meters 0.018138748491319894 Centerline is valid? [True, True] Translation: X:268.20, Y:3.84, Z:3.12 [[ 9.99349807e-01 -3.18684692e-02 -1.68630670e-02 2.68201208e+02] [ 3.18735843e-02 9.99491908e-01 3.45856073e-05 3.83534710e+00] [ 1.68533968e-02 -5.72049507e-04 9.99857808e-01 3.12294769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.285099893 meters 0.018531663312283182 Centerline is valid? [True, True] Translation: X:268.23, Y:3.83, Z:3.12 [[ 9.99344004e-01 -3.20601332e-02 -1.68436706e-02 2.68233046e+02] [ 3.20652838e-02 9.99485776e-01 3.57454209e-05 3.83470102e+00] [ 1.68338632e-02 -5.75819052e-04 9.99858135e-01 3.12254333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.315099893 meters 0.01886098186662288 Centerline is valid? [True, True] Translation: X:268.26, Y:3.83, Z:3.12 [[ 9.99341397e-01 -3.21443171e-02 -1.68378944e-02 2.68264660e+02] [ 3.21494949e-02 9.99483071e-01 3.68464883e-05 3.83370119e+00] [ 1.68280060e-02 -5.78152020e-04 9.99858232e-01 3.12262811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.345099893 meters 0.017848608101821567 Centerline is valid? [True, True] Translation: X:268.30, Y:3.83, Z:3.12 [[ 9.99353914e-01 -3.20397874e-02 -1.62851616e-02 2.68297303e+02] [ 3.20446318e-02 9.99486438e-01 3.65512789e-05 3.83460377e+00] [ 1.62756271e-02 -5.58379671e-04 9.99867387e-01 3.12345196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.375099893 meters 0.017898040442217638 Centerline is valid? [True, True] Translation: X:268.33, Y:3.83, Z:3.12 [[ 9.99382757e-01 -3.15031325e-02 -1.55453492e-02 2.68329192e+02] [ 3.15074985e-02 9.99503515e-01 3.59684757e-05 3.83375681e+00] [ 1.55364981e-02 -5.25741342e-04 9.99879163e-01 3.12377958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.405099893 meters 0.018203855138050153 Centerline is valid? [True, True] Translation: X:268.36, Y:3.83, Z:3.12 [[ 9.99394354e-01 -3.11516815e-02 -1.55079837e-02 2.68360059e+02] [ 3.11560008e-02 9.99514533e-01 3.69396799e-05 3.83306751e+00] [ 1.54993043e-02 -5.20084059e-04 9.99879743e-01 3.12431994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43509989300003 meters 0.018451909460016378 Centerline is valid? [True, True] Translation: X:268.39, Y:3.83, Z:3.12 [[ 9.99390922e-01 -3.10778778e-02 -1.58729443e-02 2.68391913e+02] [ 3.10824083e-02 9.99516824e-01 3.87397901e-05 3.83267925e+00] [ 1.58640709e-02 -5.32085528e-04 9.99874016e-01 3.12464148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.465099893 meters 0.017093957049768578 Centerline is valid? [True, True] Translation: X:268.42, Y:3.83, Z:3.12 [[ 9.99428930e-01 -2.96694198e-02 -1.61721577e-02 2.68423487e+02] [ 2.96739551e-02 9.99559630e-01 4.04981509e-05 3.83463218e+00] [ 1.61638344e-02 -5.20366906e-04 9.99869221e-01 3.12462851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49509989300003 meters 0.017512038485370404 Centerline is valid? [True, True] Translation: X:268.45, Y:3.83, Z:3.12 [[ 9.99433534e-01 -2.95495623e-02 -1.61069619e-02 2.68454458e+02] [ 2.95540560e-02 9.99563183e-01 4.09802252e-05 3.83368932e+00] [ 1.60987152e-02 -5.16983067e-04 9.99870274e-01 3.12473370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.525099893 meters 0.018096378784028318 Centerline is valid? [True, True] Translation: X:268.49, Y:3.83, Z:3.12 [[ 9.99427073e-01 -2.94623752e-02 -1.66581839e-02 2.68485720e+02] [ 2.94671890e-02 9.99565747e-01 4.35407740e-05 3.83244579e+00] [ 1.66496672e-02 -5.34385681e-04 9.99861242e-01 3.12454509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55509989300003 meters 0.018547150914442926 Centerline is valid? [True, True] Translation: X:268.52, Y:3.83, Z:3.12 [[ 9.99408277e-01 -2.99709174e-02 -1.68772143e-02 2.68517159e+02] [ 2.99759568e-02 9.99550619e-01 4.56445866e-05 3.83111188e+00] [ 1.68682620e-02 -5.51528224e-04 9.99857569e-01 3.12428559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.585099893 meters 0.01842492894848412 Centerline is valid? [True, True] Translation: X:268.55, Y:3.83, Z:3.12 [[ 9.99370175e-01 -3.11285264e-02 -1.70372777e-02 2.68548731e+02] [ 3.11338401e-02 9.99515223e-01 4.66749786e-05 3.82979218e+00] [ 1.70275655e-02 -5.77081461e-04 9.99854854e-01 3.12387509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61509989300004 meters 0.019065136362057748 Centerline is valid? [True, True] Translation: X:268.58, Y:3.83, Z:3.12 [[ 9.99342548e-01 -3.16894458e-02 -1.76139203e-02 2.68579581e+02] [ 3.16952251e-02 9.99497579e-01 4.89793472e-05 3.82848232e+00] [ 1.76035186e-02 -6.07224316e-04 9.99844862e-01 3.12401541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.645099893 meters 0.01909816368273238 Centerline is valid? [True, True] Translation: X:268.61, Y:3.83, Z:3.12 [[ 9.99319634e-01 -3.25165108e-02 -1.74053554e-02 2.68610699e+02] [ 3.25222936e-02 9.99471009e-01 4.92179060e-05 3.82800872e+00] [ 1.73945477e-02 -6.15246499e-04 9.99848514e-01 3.12468769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67509989300004 meters 0.019149067746690496 Centerline is valid? [True, True] Translation: X:268.64, Y:3.83, Z:3.13 [[ 9.99327777e-01 -3.24963277e-02 -1.69700722e-02 2.68641840e+02] [ 3.25018318e-02 9.99471675e-01 4.85717957e-05 3.82767602e+00] [ 1.69595281e-02 -6.00097577e-04 9.99855997e-01 3.12536231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.705099893 meters 0.019498172950523186 Centerline is valid? [True, True] Translation: X:268.67, Y:3.83, Z:3.13 [[ 9.99341592e-01 -3.22762732e-02 -1.65718258e-02 2.68673169e+02] [ 3.22815024e-02 9.99478815e-01 4.80758450e-05 3.82673608e+00] [ 1.65616371e-02 -5.83007626e-04 9.99862677e-01 3.12590246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73509989300004 meters 0.017957348216822835 Centerline is valid? [True, True] Translation: X:268.70, Y:3.83, Z:3.13 [[ 9.99356292e-01 -3.21059482e-02 -1.60065681e-02 2.68704948e+02] [ 3.21108191e-02 9.99484314e-01 4.73252414e-05 3.82832742e+00] [ 1.59967943e-02 -5.61278792e-04 9.99871886e-01 3.12694082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.765099893 meters 0.01847267488772524 Centerline is valid? [True, True] Translation: X:268.74, Y:3.83, Z:3.13 [[ 9.99358379e-01 -3.21450970e-02 -1.57962934e-02 2.68736488e+02] [ 3.21498625e-02 9.99483058e-01 4.77711781e-05 3.82633182e+00] [ 1.57865921e-02 -5.55589189e-04 9.99875230e-01 3.12696250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.795099893 meters 0.022688656424291395 Centerline is valid? [True, True] Translation: X:268.77, Y:3.82, Z:3.13 [[ 9.99357183e-01 -3.23700587e-02 -1.54078254e-02 2.68767410e+02] [ 3.23746349e-02 9.99475803e-01 4.76032531e-05 3.81891445e+00] [ 1.53982078e-02 -5.46395376e-04 9.99881291e-01 3.12676004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.825099893 meters 0.020459090158250707 Centerline is valid? [True, True] Translation: X:268.80, Y:3.82, Z:3.13 [[ 9.99332564e-01 -3.30512700e-02 -1.55576312e-02 2.68799870e+02] [ 3.30560443e-02 9.99453498e-01 4.97549623e-05 3.82110896e+00] [ 1.55474845e-02 -5.63995501e-04 9.99878971e-01 3.12731275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.855099893 meters 0.020459090158250707 Centerline is valid? [True, True] Translation: X:268.83, Y:3.82, Z:3.13 [[ 9.99334836e-01 -3.29825002e-02 -1.55576278e-02 2.68831582e+02] [ 3.29872828e-02 9.99455770e-01 5.08255291e-05 3.82094370e+00] [ 1.55474845e-02 -5.63995588e-04 9.99878971e-01 3.12770465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.885099893 meters 0.020459109513643714 Centerline is valid? [True, True] Translation: X:268.86, Y:3.82, Z:3.13 [[ 9.99272624e-01 -3.46992062e-02 -1.58173087e-02 2.68863785e+02] [ 3.47043821e-02 9.99397620e-01 5.27814481e-05 3.81979634e+00] [ 1.58059492e-02 -6.01672980e-04 9.99874897e-01 3.12764876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.915099893 meters 0.021500823329968742 Centerline is valid? [True, True] Translation: X:268.89, Y:3.82, Z:3.13 [[ 9.99230381e-01 -3.58166174e-02 -1.59942304e-02 2.68894665e+02] [ 3.58220697e-02 9.99358182e-01 5.44414553e-05 3.81783288e+00] [ 1.59820151e-02 -6.27345993e-04 9.99872083e-01 3.12768720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.945099893 meters 0.020090637785713336 Centerline is valid? [True, True] Translation: X:268.93, Y:3.82, Z:3.13 [[ 9.99149856e-01 -3.78727301e-02 -1.62856097e-02 2.68926260e+02] [ 3.78786699e-02 9.99282344e-01 5.63103111e-05 3.81874042e+00] [ 1.62717896e-02 -6.73139673e-04 9.99867379e-01 3.12814299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.975099893 meters 0.021140304980720528 Centerline is valid? [True, True] Translation: X:268.96, Y:3.82, Z:3.13 [[ 9.99122167e-01 -3.85902315e-02 -1.62999934e-02 2.68957676e+02] [ 3.85962915e-02 9.99254884e-01 5.72491910e-05 3.81638517e+00] [ 1.62856388e-02 -6.86318233e-04 9.99867145e-01 3.12833049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.005099893 meters 0.02082284089601241 Centerline is valid? [True, True] Translation: X:268.99, Y:3.82, Z:3.13 [[ 9.99099530e-01 -3.91065855e-02 -1.64561066e-02 2.68990203e+02] [ 3.91128481e-02 9.99234798e-01 5.87704092e-05 3.81607701e+00] [ 1.64412160e-02 -7.02362686e-04 9.99864587e-01 3.12882976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.035099893 meters 0.020557776208426432 Centerline is valid? [True, True] Translation: X:269.02, Y:3.82, Z:3.13 [[ 9.99086162e-01 -3.94981657e-02 -1.63320634e-02 2.69022485e+02] [ 3.95044056e-02 9.99219395e-01 5.94966167e-05 3.81558214e+00] [ 1.63169645e-02 -7.04630702e-04 9.99866621e-01 3.12885602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.065099893 meters 0.020621771407948967 Centerline is valid? [True, True] Translation: X:269.06, Y:3.81, Z:3.13 [[ 9.99064114e-01 -3.98168532e-02 -1.68971901e-02 2.69055151e+02] [ 3.98235991e-02 9.99206724e-01 6.28125754e-05 3.81464193e+00] [ 1.68812850e-02 -7.35660715e-04 9.99857230e-01 3.12899251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.095099893 meters 0.02182359540555837 Centerline is valid? [True, True] Translation: X:269.09, Y:3.81, Z:3.13 [[ 9.99043395e-01 -4.01956137e-02 -1.72222878e-02 2.69085865e+02] [ 4.02027042e-02 9.99191542e-01 6.55474626e-05 3.81181226e+00] [ 1.72057296e-02 -7.57867302e-04 9.99851683e-01 3.12854760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.125099893 meters 0.02063817430845504 Centerline is valid? [True, True] Translation: X:269.12, Y:3.81, Z:3.13 [[ 9.99022226e-01 -4.05328767e-02 -1.76543844e-02 2.69117778e+02] [ 4.05404150e-02 9.99177897e-01 6.91713380e-05 3.81305174e+00] [ 1.76370670e-02 -7.84819774e-04 9.99844147e-01 3.12911372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.155099893 meters 0.020793147551545103 Centerline is valid? [True, True] Translation: X:269.15, Y:3.81, Z:3.13 [[ 9.99022092e-01 -4.05329345e-02 -1.76618370e-02 2.69149853e+02] [ 4.05405019e-02 9.99177893e-01 7.04880115e-05 3.81253633e+00] [ 1.76444600e-02 -7.86438819e-04 9.99844015e-01 3.12949873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18509989300003 meters 0.021961468564996686 Centerline is valid? [True, True] Translation: X:269.18, Y:3.81, Z:3.13 [[ 9.99027583e-01 -4.06282889e-02 -1.71239819e-02 2.69180955e+02] [ 4.06354357e-02 9.99174037e-01 6.94711423e-05 3.80985445e+00] [ 1.71070157e-02 -7.65244054e-04 9.99853371e-01 3.12997057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.215099893 meters 0.02173812813471396 Centerline is valid? [True, True] Translation: X:269.21, Y:3.81, Z:3.13 [[ 9.99060426e-01 -4.00323011e-02 -1.66036261e-02 2.69213464e+02] [ 4.00389537e-02 9.99198117e-01 6.83128001e-05 3.80950715e+00] [ 1.65875772e-02 -7.33040430e-04 9.99862148e-01 3.13050476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24509989300003 meters 0.02259414473587971 Centerline is valid? [True, True] Translation: X:269.24, Y:3.81, Z:3.13 [[ 9.99100312e-01 -3.91483570e-02 -1.63086472e-02 2.69244597e+02] [ 3.91546801e-02 9.99233159e-01 6.84716748e-05 3.80761211e+00] [ 1.62934605e-02 -7.06969935e-04 9.99867003e-01 3.13070915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.275099893 meters 0.01968005898779345 Centerline is valid? [True, True] Translation: X:269.28, Y:3.81, Z:3.13 [[ 9.99200047e-01 -3.67230079e-02 -1.58330675e-02 2.69276349e+02] [ 3.67286909e-02 9.99325272e-01 6.81974624e-05 3.81149246e+00] [ 1.58198800e-02 -6.49670749e-04 9.99874647e-01 3.13196580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30509989300003 meters 0.021658232578757784 Centerline is valid? [True, True] Translation: X:269.31, Y:3.81, Z:3.13 [[ 9.99260155e-01 -3.49521611e-02 -1.60464929e-02 2.69307311e+02] [ 3.49577895e-02 9.99388787e-01 7.03078567e-05 3.80867204e+00] [ 1.60342277e-02 -6.31205762e-04 9.99871244e-01 3.13149170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.335099893 meters 0.019056898477534924 Centerline is valid? [True, True] Translation: X:269.34, Y:3.81, Z:3.13 [[ 9.99366806e-01 -3.14238114e-02 -1.66892311e-02 2.69338481e+02] [ 3.14294405e-02 9.99505970e-01 7.50492232e-05 3.81283671e+00] [ 1.66786278e-02 -5.99534899e-04 9.99860722e-01 3.13121337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36509989300004 meters 0.01821034280990214 Centerline is valid? [True, True] Translation: X:269.37, Y:3.81, Z:3.13 [[ 9.99414901e-01 -2.97904589e-02 -1.68042925e-02 2.69369910e+02] [ 2.97959454e-02 9.99555999e-01 7.61667591e-05 3.81452114e+00] [ 1.67945623e-02 -5.76821976e-04 9.99858795e-01 3.13133932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.395099893 meters 0.017304730483796254 Centerline is valid? [True, True] Translation: X:269.40, Y:3.82, Z:3.13 [[ 9.99507316e-01 -2.65129078e-02 -1.67985691e-02 2.69401181e+02] [ 2.65179382e-02 9.99648335e-01 7.67367195e-05 3.81634501e+00] [ 1.67906271e-02 -5.22162329e-04 9.99858891e-01 3.13117949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42509989300004 meters 0.01661571019608979 Centerline is valid? [True, True] Translation: X:269.43, Y:3.82, Z:3.13 [[ 9.99538773e-01 -2.51511258e-02 -1.70194803e-02 2.69431801e+02] [ 2.51560997e-02 9.99683532e-01 7.81901866e-05 3.81744324e+00] [ 1.70121276e-02 -5.06297867e-04 9.99855155e-01 3.13144821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.455099893 meters 0.016162388276682073 Centerline is valid? [True, True] Translation: X:269.46, Y:3.82, Z:3.13 [[ 9.99571035e-01 -2.41169828e-02 -1.66167474e-02 2.69462621e+02] [ 2.41215813e-02 9.99709029e-01 7.63399681e-05 3.81790508e+00] [ 1.66100714e-02 -4.77129446e-04 9.99861929e-01 3.13150700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48509989300004 meters 0.016184794726724572 Centerline is valid? [True, True] Translation: X:269.49, Y:3.82, Z:3.13 [[ 9.99592757e-01 -2.32519619e-02 -1.65428932e-02 2.69491984e+02] [ 2.32564000e-02 9.99729530e-01 7.59270484e-05 3.81744510e+00] [ 1.65366534e-02 -4.60624270e-04 9.99863154e-01 3.13171474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.515099893 meters 0.016063732019380023 Centerline is valid? [True, True] Translation: X:269.52, Y:3.82, Z:3.13 [[ 9.99607571e-01 -2.25314048e-02 -1.66445225e-02 2.69522839e+02] [ 2.25357942e-02 9.99746034e-01 7.61742109e-05 3.81782743e+00] [ 1.66385790e-02 -4.51241852e-04 9.99861467e-01 3.13165979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.545099893 meters 0.01600788819205962 Centerline is valid? [True, True] Translation: X:269.55, Y:3.82, Z:3.13 [[ 9.99612460e-01 -2.23619368e-02 -1.65793211e-02 2.69552059e+02] [ 2.23662661e-02 9.99749841e-01 7.57276993e-05 3.81781030e+00] [ 1.65734802e-02 -4.46515859e-04 9.99862551e-01 3.13173900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.575099893 meters 0.01674576437183083 Centerline is valid? [True, True] Translation: X:269.58, Y:3.82, Z:3.13 [[ 9.99593223e-01 -2.28499569e-02 -1.70665674e-02 2.69581804e+02] [ 2.28546065e-02 9.99738796e-01 7.74237480e-05 3.81665259e+00] [ 1.70603404e-02 -4.67441934e-04 9.99854353e-01 3.13157020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.605099893 meters 0.016447959918126503 Centerline is valid? [True, True] Translation: X:269.61, Y:3.82, Z:3.13 [[ 9.99571082e-01 -2.36515894e-02 -1.72700706e-02 2.69611920e+02] [ 2.36564633e-02 9.99720144e-01 7.79563428e-05 3.81689333e+00] [ 1.72633937e-02 -4.86471699e-04 9.99850858e-01 3.13167724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.635099893 meters 0.016572855613902465 Centerline is valid? [True, True] Translation: X:269.64, Y:3.82, Z:3.13 [[ 9.99564585e-01 -2.39560464e-02 -1.72264116e-02 2.69641378e+02] [ 2.39609305e-02 9.99712893e-01 7.71553093e-05 3.81624980e+00] [ 1.72196174e-02 -4.89882565e-04 9.99851611e-01 3.13154502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.665099893 meters 0.016090408128773503 Centerline is valid? [True, True] Translation: X:269.67, Y:3.82, Z:3.13 [[ 9.99542374e-01 -2.51754548e-02 -1.67701930e-02 2.69671183e+02] [ 2.51802453e-02 9.99682925e-01 7.45297496e-05 3.81610924e+00] [ 1.67629993e-02 -4.96773217e-04 9.99859368e-01 3.13241518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.695099893 meters 0.016461681316639297 Centerline is valid? [True, True] Translation: X:269.70, Y:3.82, Z:3.13 [[ 9.99534207e-01 -2.57127592e-02 -1.64384755e-02 2.69701641e+02] [ 2.57174274e-02 9.99669250e-01 7.26172748e-05 3.81510660e+00] [ 1.64311713e-02 -4.95338751e-04 9.99864876e-01 3.13303143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.725099893 meters 0.017008200596507803 Centerline is valid? [True, True] Translation: X:269.73, Y:3.81, Z:3.13 [[ 9.99531491e-01 -2.60255478e-02 -1.61080611e-02 2.69732271e+02] [ 2.60300719e-02 9.99661158e-01 7.12241732e-05 3.81366857e+00] [ 1.61007493e-02 -4.90484792e-04 9.99870254e-01 3.13312697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.755099893 meters 0.017233713493543606 Centerline is valid? [True, True] Translation: X:269.76, Y:3.81, Z:3.13 [[ 9.99522843e-01 -2.63870358e-02 -1.60564660e-02 2.69764069e+02] [ 2.63915831e-02 9.99651679e-01 7.13456206e-05 3.81300519e+00] [ 1.60489906e-02 -4.95067135e-04 9.99871084e-01 3.13347708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.785099893 meters 0.016881944137258176 Centerline is valid? [True, True] Translation: X:269.80, Y:3.81, Z:3.13 [[ 9.99512825e-01 -2.70577344e-02 -1.55560901e-02 2.69795533e+02] [ 2.70620922e-02 9.99633752e-01 6.96605745e-05 3.81332962e+00] [ 1.55485079e-02 -4.90606982e-04 9.99878994e-01 3.13436203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.815099893 meters 0.017257139007256103 Centerline is valid? [True, True] Translation: X:269.83, Y:3.81, Z:3.13 [[ 9.99511297e-01 -2.70985127e-02 -1.55832434e-02 2.69826130e+02] [ 2.71028985e-02 9.99632647e-01 7.02848770e-05 3.81265578e+00] [ 1.55756143e-02 -4.92601594e-04 9.99878571e-01 3.13477293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.845099893 meters 0.017356638437712124 Centerline is valid? [True, True] Translation: X:269.86, Y:3.81, Z:3.14 [[ 9.99520006e-01 -2.69614835e-02 -1.52589432e-02 2.69857076e+02] [ 2.69656775e-02 9.99636358e-01 6.91412166e-05 3.81222076e+00] [ 1.52515302e-02 -4.80575770e-04 9.99883573e-01 3.13517564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.875099893 meters 0.01735535908298092 Centerline is valid? [True, True] Translation: X:269.89, Y:3.81, Z:3.14 [[ 9.99523713e-01 -2.68331400e-02 -1.52423993e-02 2.69888533e+02] [ 2.68373182e-02 9.99639812e-01 6.96073844e-05 3.81199777e+00] [ 1.52350414e-02 -4.78639353e-04 9.99883825e-01 3.13563678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.905099893 meters 0.017740441001345232 Centerline is valid? [True, True] Translation: X:269.92, Y:3.81, Z:3.14 [[ 9.99523411e-01 -2.66247735e-02 -1.56228269e-02 2.69919063e+02] [ 2.66291455e-02 9.99645379e-01 7.18512694e-05 3.81065583e+00] [ 1.56153737e-02 -4.87839556e-04 9.99877954e-01 3.13545174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93509989300003 meters 0.016986419687064977 Centerline is valid? [True, True] Translation: X:269.95, Y:3.81, Z:3.14 [[ 9.99517868e-01 -2.67681877e-02 -1.57320111e-02 2.69949962e+02] [ 2.67726441e-02 9.99641546e-01 7.26926251e-05 3.81136060e+00] [ 1.57244261e-02 -4.93845112e-04 9.99876242e-01 3.13549337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.965099893 meters 0.01746829818398146 Centerline is valid? [True, True] Translation: X:269.98, Y:3.81, Z:3.13 [[ 9.99486319e-01 -2.76891680e-02 -1.61371934e-02 2.69981014e+02] [ 2.76939863e-02 9.99616445e-01 7.51531789e-05 3.80976608e+00] [ 1.61289230e-02 -5.22017788e-04 9.99869784e-01 3.13476127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99509989300003 meters 0.0189582813441098 Centerline is valid? [True, True] Translation: X:270.01, Y:3.81, Z:3.13 [[ 9.99463239e-01 -2.85700987e-02 -1.60306893e-02 2.70011610e+02] [ 2.85749749e-02 9.99591649e-01 7.51600300e-05 3.80687582e+00] [ 1.60219958e-02 -5.33196231e-04 9.99871497e-01 3.13495320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.025099893 meters 0.017828647950213303 Centerline is valid? [True, True] Translation: X:270.04, Y:3.81, Z:3.14 [[ 9.99440261e-01 -2.95737683e-02 -1.56383156e-02 2.70042464e+02] [ 2.95785356e-02 9.99562457e-01 7.35929320e-05 3.80818144e+00] [ 1.56292967e-02 -5.36110214e-04 9.99877711e-01 3.13567494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05509989300003 meters 0.022058284227345668 Centerline is valid? [True, True] Translation: X:270.07, Y:3.80, Z:3.14 [[ 9.99361024e-01 -3.20871101e-02 -1.57467677e-02 2.70072754e+02] [ 3.20922598e-02 9.99484908e-01 7.43879312e-05 3.80058033e+00] [ 1.57362698e-02 -5.79689759e-04 9.99876009e-01 3.13529386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.085099893 meters 0.019299772044156945 Centerline is valid? [True, True] Translation: X:270.11, Y:3.80, Z:3.14 [[ 9.99325715e-01 -3.32131105e-02 -1.56526449e-02 2.70105328e+02] [ 3.32183439e-02 9.99448116e-01 7.43993726e-05 3.80369963e+00] [ 1.56415354e-02 -5.94304148e-04 9.99877487e-01 3.13568690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11509989300004 meters 0.02031797245815054 Centerline is valid? [True, True] Translation: X:270.14, Y:3.80, Z:3.14 [[ 9.99267197e-01 -3.46280667e-02 -1.63084574e-02 2.70136490e+02] [ 3.46339576e-02 9.99400061e-01 7.88394887e-05 3.80122028e+00] [ 1.62959432e-02 -6.43608136e-04 9.99867005e-01 3.13557521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.145099893 meters 0.02019114782123352 Centerline is valid? [True, True] Translation: X:270.17, Y:3.80, Z:3.14 [[ 9.99133347e-01 -3.79108977e-02 -1.71848247e-02 2.70167905e+02] [ 3.79179491e-02 9.99280852e-01 8.45629970e-05 3.80014417e+00] [ 1.71692604e-02 -7.36103017e-04 9.99852326e-01 3.13510266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17509989300004 meters 0.021694590622760804 Centerline is valid? [True, True] Translation: X:270.20, Y:3.80, Z:3.14 [[ 9.99060245e-01 -3.96739059e-02 -1.74530096e-02 2.70198654e+02] [ 3.96814668e-02 9.99212377e-01 8.69813878e-05 3.79732736e+00] [ 1.74358123e-02 -7.79460665e-04 9.99847681e-01 3.13527796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.205099893 meters 0.0234808996738143 Centerline is valid? [True, True] Translation: X:270.23, Y:3.79, Z:3.14 [[ 9.98894051e-01 -4.37006460e-02 -1.73472871e-02 2.70229267e+02] [ 4.37087497e-02 9.99044312e-01 8.80968547e-05 3.79301900e+00] [ 1.73268586e-02 -8.46227653e-04 9.99849521e-01 3.13580087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23509989300004 meters 0.02519690660108731 Centerline is valid? [True, True] Translation: X:270.26, Y:3.79, Z:3.14 [[ 9.98809259e-01 -4.55061017e-02 -1.75857378e-02 2.70259916e+02] [ 4.55147161e-02 9.98963664e-01 8.97167648e-05 3.78961418e+00] [ 1.75634304e-02 -8.90019799e-04 9.99845355e-01 3.13631891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.265099893 meters 0.023478542387399253 Centerline is valid? [True, True] Translation: X:270.29, Y:3.79, Z:3.14 [[ 9.98672803e-01 -4.84607329e-02 -1.74410627e-02 2.70290676e+02] [ 4.84696646e-02 9.98824651e-01 8.95084443e-05 3.79014897e+00] [ 1.74162257e-02 -9.34752108e-04 9.99847889e-01 3.13685505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.295099893 meters 0.028312584105685174 Centerline is valid? [True, True] Translation: X:270.32, Y:3.78, Z:3.14 [[ 9.98636629e-01 -4.92603713e-02 -1.72713409e-02 2.70321285e+02] [ 4.92692561e-02 9.98785529e-01 8.90419488e-05 3.78292207e+00] [ 1.72459791e-02 -9.39866668e-04 9.99850835e-01 3.13712144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.325099893 meters 0.026272045881542333 Centerline is valid? [True, True] Translation: X:270.35, Y:3.79, Z:3.14 [[ 9.98630752e-01 -4.96983963e-02 -1.63306852e-02 2.70353235e+02] [ 4.97064095e-02 9.98763869e-01 8.49049232e-05 3.78524848e+00] [ 1.63062787e-02 -8.96528396e-04 9.99866642e-01 3.13842504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.355099893 meters 0.025772221289378148 Centerline is valid? [True, True] Translation: X:270.38, Y:3.79, Z:3.14 [[ 9.98630490e-01 -4.97480436e-02 -1.61949824e-02 2.70384944e+02] [ 4.97559493e-02 9.98761402e-01 8.53536603e-05 3.78581403e+00] [ 1.61706772e-02 -8.91033493e-04 9.99868849e-01 3.13961639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.385099893 meters 0.024407666252064624 Centerline is valid? [True, True] Translation: X:270.42, Y:3.79, Z:3.14 [[ 9.98653556e-01 -4.94125843e-02 -1.57946645e-02 2.70417121e+02] [ 4.94200798e-02 9.98778078e-01 8.43660342e-05 3.78770723e+00] [ 1.57711959e-02 -8.64826022e-04 9.99875253e-01 3.14056796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.415099893 meters 0.026891352898970957 Centerline is valid? [True, True] Translation: X:270.45, Y:3.78, Z:3.14 [[ 9.98721736e-01 -4.80697387e-02 -1.56267282e-02 2.70448774e+02] [ 4.80769295e-02 9.98843632e-01 8.46016389e-05 3.78450622e+00] [ 1.56045912e-02 -8.35778604e-04 9.99877892e-01 3.14157449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.445099893 meters 0.023685973954507524 Centerline is valid? [True, True] Translation: X:270.48, Y:3.79, Z:3.14 [[ 9.98769687e-01 -4.72218502e-02 -1.51396590e-02 2.70480550e+02] [ 4.72285187e-02 9.98884107e-01 8.30373956e-05 3.78834427e+00] [ 1.51188436e-02 -7.97958902e-04 9.99885385e-01 3.14254580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.475099893 meters 0.024409982153246756 Centerline is valid? [True, True] Translation: X:270.51, Y:3.79, Z:3.14 [[ 9.98806622e-01 -4.65079769e-02 -1.49110647e-02 2.70511731e+02] [ 4.65143844e-02 9.98917617e-01 8.30107516e-05 3.78699284e+00] [ 1.48910646e-02 -7.76490684e-04 9.99888820e-01 3.14329423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.505099893 meters 0.023404181231121642 Centerline is valid? [True, True] Translation: X:270.54, Y:3.79, Z:3.14 [[ 9.98838748e-01 -4.58602554e-02 -1.47645710e-02 2.70543552e+02] [ 4.58664933e-02 9.98947575e-01 8.39705836e-05 3.78803605e+00] [ 1.47451815e-02 -7.61072171e-04 9.99890994e-01 3.14419269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.535099893 meters 0.024790586362196762 Centerline is valid? [True, True] Translation: X:270.57, Y:3.79, Z:3.14 [[ 9.98856883e-01 -4.52387817e-02 -1.54395339e-02 2.70574959e+02] [ 4.52455461e-02 9.98975892e-01 8.89193702e-05 3.78619047e+00] [ 1.54196995e-02 -7.87387868e-04 9.99880799e-01 3.14449322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.565099893 meters 0.02285318405221491 Centerline is valid? [True, True] Translation: X:270.61, Y:3.79, Z:3.14 [[ 9.98854459e-01 -4.48983294e-02 -1.65502449e-02 2.70607475e+02] [ 4.49060727e-02 9.98991209e-01 9.63421075e-05 3.78872138e+00] [ 1.65292236e-02 -8.39438245e-04 9.99863031e-01 3.14438233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.595099893 meters 0.02555395816046054 Centerline is valid? [True, True] Translation: X:270.64, Y:3.78, Z:3.14 [[ 9.98851801e-01 -4.43984074e-02 -1.79961649e-02 2.70638533e+02] [ 4.44075052e-02 9.99013495e-01 1.06048328e-04 3.78492910e+00] [ 1.79737032e-02 -9.05091350e-04 9.99838050e-01 3.14287198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.625099893 meters 0.02351186861252385 Centerline is valid? [True, True] Translation: X:270.67, Y:3.79, Z:3.14 [[ 9.98865812e-01 -4.38732111e-02 -1.84995098e-02 2.70670944e+02] [ 4.38827563e-02 9.99036682e-01 1.10148344e-04 3.78750910e+00] [ 1.84768563e-02 -9.21832895e-04 9.99828863e-01 3.14335033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.655099893 meters 0.024969053417582772 Centerline is valid? [True, True] Translation: X:270.70, Y:3.79, Z:3.14 [[ 9.98905146e-01 -4.24075393e-02 -1.97512249e-02 2.70701904e+02] [ 4.24181609e-02 9.99099938e-01 1.18947129e-04 3.78567312e+00] [ 1.97284033e-02 -9.56627537e-04 9.99804918e-01 3.14290201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68509989300003 meters 0.023118838078648406 Centerline is valid? [True, True] Translation: X:270.73, Y:3.79, Z:3.14 [[ 9.98962541e-01 -4.05756307e-02 -2.06751193e-02 2.70733276e+02] [ 4.05868985e-02 9.99176004e-01 1.25500631e-04 3.78913047e+00] [ 2.06529908e-02 -9.64509397e-04 9.99786239e-01 3.14338230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.715099893 meters 0.023118838078648406 Centerline is valid? [True, True] Translation: X:270.76, Y:3.79, Z:3.14 [[ 9.98963977e-01 -4.05402648e-02 -2.06751148e-02 2.70764154e+02] [ 4.05515403e-02 9.99177440e-01 1.26235086e-04 3.78891228e+00] [ 2.06529907e-02 -9.64512054e-04 9.99786239e-01 3.14376404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74509989300003 meters 0.022862648694354042 Centerline is valid? [True, True] Translation: X:270.80, Y:3.79, Z:3.14 [[ 9.99005607e-01 -3.93436858e-02 -2.09731007e-02 2.70795402e+02] [ 3.93550413e-02 9.99225282e-01 1.28801524e-04 3.78965178e+00] [ 2.09517849e-02 -9.54070688e-04 9.99780032e-01 3.14395149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.775099893 meters 0.022492215173706802 Centerline is valid? [True, True] Translation: X:270.83, Y:3.79, Z:3.14 [[ 9.99048034e-01 -3.81301654e-02 -2.11923410e-02 2.70826883e+02] [ 3.81415030e-02 9.99272340e-01 1.30897721e-04 3.79089225e+00] [ 2.11719290e-02 -9.39080848e-04 9.99775409e-01 3.14441629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80509989300003 meters 0.02251531583321851 Centerline is valid? [True, True] Translation: X:270.86, Y:3.79, Z:3.14 [[ 9.99091615e-01 -3.69415051e-02 -2.12430964e-02 2.70857388e+02] [ 3.69526508e-02 9.99317009e-01 1.32241104e-04 3.79162176e+00] [ 2.12237023e-02 -9.17109700e-04 9.99774331e-01 3.14494266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.835099893 meters 0.021891177192009927 Centerline is valid? [True, True] Translation: X:270.89, Y:3.79, Z:3.15 [[ 9.99198532e-01 -3.44802929e-02 -2.03323029e-02 2.70888321e+02] [ 3.44900133e-02 9.99405034e-01 1.27501643e-04 3.79424548e+00] [ 2.03158096e-02 -8.28660853e-04 9.99793269e-01 3.14662196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86509989300004 meters 0.022003315069705067 Centerline is valid? [True, True] Translation: X:270.92, Y:3.79, Z:3.15 [[ 9.99240872e-01 -3.33942768e-02 -2.00624691e-02 2.70918310e+02] [ 3.34035266e-02 9.99441939e-01 1.26020145e-04 3.79473693e+00] [ 2.00470647e-02 -7.96081700e-04 9.99798720e-01 3.14742350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.895099893 meters 0.01844838081149846 Centerline is valid? [True, True] Translation: X:270.95, Y:3.80, Z:3.15 [[ 9.99324449e-01 -3.10379812e-02 -1.96796873e-02 2.70948597e+02] [ 3.10464250e-02 9.99517936e-01 1.23615744e-04 3.80086416e+00] [ 1.96663637e-02 -7.34516172e-04 9.99806329e-01 3.14887297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92509989300004 meters 0.01823237016996907 Centerline is valid? [True, True] Translation: X:270.98, Y:3.80, Z:3.15 [[ 9.99382311e-01 -2.96766915e-02 -1.88226127e-02 2.70978717e+02] [ 2.96841746e-02 9.99559321e-01 1.18232126e-04 3.80183539e+00] [ 1.88108092e-02 -6.76892817e-04 9.99822832e-01 3.14968901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.955099893 meters 0.0176635009742456 Centerline is valid? [True, True] Translation: X:271.01, Y:3.80, Z:3.15 [[ 9.99439205e-01 -2.79734121e-02 -1.84055442e-02 2.71009267e+02] [ 2.79802788e-02 9.99608469e-01 1.15612357e-04 3.80461165e+00] [ 1.83951038e-02 -6.30539781e-04 9.99830597e-01 3.15121370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98509989300004 meters 0.0179689483938076 Centerline is valid? [True, True] Translation: X:271.04, Y:3.80, Z:3.15 [[ 9.99455744e-01 -2.74357182e-02 -1.83165891e-02 2.71039406e+02] [ 2.74424304e-02 9.99623379e-01 1.15159652e-04 3.80469276e+00] [ 1.83065312e-02 -6.17748698e-04 9.99832231e-01 3.15176141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.015099893 meters 0.0179689483938076 Centerline is valid? [True, True] Translation: X:271.07, Y:3.80, Z:3.15 [[ 9.99455744e-01 -2.74357155e-02 -1.83165877e-02 2.71069420e+02] [ 2.74424317e-02 9.99623379e-01 1.15380018e-04 3.80450358e+00] [ 1.83065238e-02 -6.17968929e-04 9.99832231e-01 3.15213253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.045099893 meters 0.01817381548939677 Centerline is valid? [True, True] Translation: X:271.10, Y:3.81, Z:3.15 [[ 9.99449815e-01 -2.77454471e-02 -1.81730130e-02 2.71099910e+02] [ 2.77521095e-02 9.99614829e-01 1.14475610e-04 3.80509542e+00] [ 1.81628371e-02 -6.18752074e-04 9.99834851e-01 3.15286829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.075099893 meters 0.019343051653092885 Centerline is valid? [True, True] Translation: X:271.13, Y:3.80, Z:3.15 [[ 9.99434514e-01 -2.79787594e-02 -1.86505284e-02 2.71130622e+02] [ 2.79858193e-02 9.99608313e-01 1.17593890e-04 3.80348489e+00] [ 1.86399331e-02 -6.39477710e-04 9.99826057e-01 3.15283465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.105099893 meters 0.018286220439462316 Centerline is valid? [True, True] Translation: X:271.16, Y:3.81, Z:3.15 [[ 9.99416214e-01 -2.85709264e-02 -1.87332243e-02 2.71161186e+02] [ 2.85781570e-02 9.99591554e-01 1.18333292e-04 3.80511263e+00] [ 1.87221919e-02 -6.53625237e-04 9.99824511e-01 3.15327382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.135099893 meters 0.01905439974903068 Centerline is valid? [True, True] Translation: X:271.19, Y:3.80, Z:3.15 [[ 9.99374613e-01 -2.94489474e-02 -1.95740006e-02 2.71190966e+02] [ 2.94570100e-02 9.99566040e-01 1.23644275e-04 3.80362850e+00] [ 1.95618650e-02 -7.00158479e-04 9.99808403e-01 3.15295397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.165099893 meters 0.017849817336203104 Centerline is valid? [True, True] Translation: X:271.22, Y:3.81, Z:3.15 [[ 9.99368643e-01 -2.95964014e-02 -1.96562348e-02 2.71221115e+02] [ 2.96045604e-02 9.99561681e-01 1.24163728e-04 3.80568744e+00] [ 1.96439443e-02 -7.05999525e-04 9.99806790e-01 3.15371776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.195099893 meters 0.017988888931845935 Centerline is valid? [True, True] Translation: X:271.25, Y:3.81, Z:3.15 [[ 9.99354489e-01 -2.96367785e-02 -2.03043751e-02 2.71251692e+02] [ 2.96454929e-02 9.99560468e-01 1.28257875e-04 3.80596337e+00] [ 2.02916495e-02 -7.30108289e-04 9.99793837e-01 3.15413209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.225099893 meters 0.0180855388528198 Centerline is valid? [True, True] Translation: X:271.28, Y:3.81, Z:3.15 [[ 9.99377239e-01 -2.83064330e-02 -2.10684510e-02 2.71280995e+02] [ 2.83155172e-02 9.99599027e-01 1.32928099e-04 3.80771298e+00] [ 2.10562404e-02 -7.29409403e-04 9.99778027e-01 3.15421214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.255099893 meters 0.01864572619318406 Centerline is valid? [True, True] Translation: X:271.31, Y:3.81, Z:3.15 [[ 9.99391881e-01 -2.74607262e-02 -2.14889816e-02 2.71310091e+02] [ 2.74699732e-02 9.99622620e-01 1.35193751e-04 3.80751053e+00] [ 2.14771596e-02 -7.25413286e-04 9.99769076e-01 3.15435075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.285099893 meters 0.016864127273149884 Centerline is valid? [True, True] Translation: X:271.34, Y:3.81, Z:3.16 [[ 9.99441500e-01 -2.60517693e-02 -2.09282716e-02 2.71339938e+02] [ 2.60602205e-02 9.99660366e-01 1.31143106e-04 3.81060369e+00] [ 2.09177472e-02 -6.76465235e-04 9.99780971e-01 3.15565794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.315099893 meters 0.016699563136927567 Centerline is valid? [True, True] Translation: X:271.37, Y:3.81, Z:3.16 [[ 9.99487697e-01 -2.45727717e-02 -2.05066459e-02 2.71369619e+02] [ 2.45805597e-02 9.99697844e-01 1.27769769e-04 3.81157161e+00] [ 2.04973100e-02 -6.31769147e-04 9.99789708e-01 3.15629875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.345099893 meters 0.015994718973747112 Centerline is valid? [True, True] Translation: X:271.40, Y:3.81, Z:3.16 [[ 9.99569833e-01 -2.18698655e-02 -1.95411668e-02 2.71398252e+02] [ 2.18764030e-02 9.99760676e-01 1.20820356e-04 3.81368395e+00] [ 1.95338478e-02 -5.48258824e-04 9.99809046e-01 3.15737260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.375099893 meters 0.01502606195899363 Centerline is valid? [True, True] Translation: X:271.43, Y:3.82, Z:3.16 [[ 9.99598965e-01 -2.06499701e-02 -1.93775352e-02 2.71427373e+02] [ 2.06561179e-02 9.99786633e-01 1.17145898e-04 3.81591558e+00] [ 1.93709816e-02 -5.17363571e-04 9.99812231e-01 3.15813545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.405099893 meters 0.014688334429884656 Centerline is valid? [True, True] Translation: X:271.46, Y:3.82, Z:3.16 [[ 9.99649217e-01 -1.80704139e-02 -1.93623926e-02 2.71455466e+02] [ 1.80759952e-02 9.99836609e-01 1.13268180e-04 3.81809801e+00] [ 1.93571821e-02 -4.63222963e-04 9.99812525e-01 3.15841020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43509989300003 meters 0.01437279036006451 Centerline is valid? [True, True] Translation: X:271.48, Y:3.82, Z:3.16 [[ 9.99653835e-01 -1.72856760e-02 -1.98347030e-02 2.71484013e+02] [ 1.72913187e-02 9.99850488e-01 1.13008359e-04 3.81951939e+00] [ 1.98297841e-02 -4.55937411e-04 9.99803267e-01 3.15846323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.465099893 meters 0.014457743211394949 Centerline is valid? [True, True] Translation: X:271.51, Y:3.82, Z:3.16 [[ 9.99666143e-01 -1.63167160e-02 -2.00341611e-02 2.71512246e+02] [ 1.63221771e-02 9.99866778e-01 1.09094767e-04 3.81979850e+00] [ 2.00297121e-02 -4.36059471e-04 9.99799290e-01 3.15843566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49509989300003 meters 0.013695122801454941 Centerline is valid? [True, True] Translation: X:271.54, Y:3.82, Z:3.16 [[ 9.99709302e-01 -1.46287637e-02 -1.91653412e-02 2.71540689e+02] [ 1.46333620e-02 9.99892922e-01 9.97052925e-05 3.82186812e+00] [ 1.91618304e-02 -3.80129685e-04 9.99816323e-01 3.15920528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.525099893 meters 0.01391098888289397 Centerline is valid? [True, True] Translation: X:271.57, Y:3.82, Z:3.16 [[ 9.99729258e-01 -1.36597112e-02 -1.88367502e-02 2.71568515e+02] [ 1.36639128e-02 9.99906640e-01 9.43602752e-05 3.82151340e+00] [ 1.88337026e-02 -3.51718439e-04 9.99822568e-01 3.15950934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55509989300003 meters 0.013099631256936415 Centerline is valid? [True, True] Translation: X:271.60, Y:3.82, Z:3.16 [[ 9.99777068e-01 -1.15662866e-02 -1.76645099e-02 2.71597114e+02] [ 1.15696128e-02 9.99933066e-01 8.61158890e-05 3.82328801e+00] [ 1.76623315e-02 -2.90468231e-04 9.99843967e-01 3.16043687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.585099893 meters 0.013370263954644789 Centerline is valid? [True, True] Translation: X:271.63, Y:3.82, Z:3.16 [[ 9.99788667e-01 -1.05652015e-02 -1.76351252e-02 2.71625031e+02] [ 1.05682977e-02 9.99944151e-01 8.23809665e-05 3.82286126e+00] [ 1.76332699e-02 -2.68736810e-04 9.99844486e-01 3.16054638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61509989300004 meters 0.013187322934469486 Centerline is valid? [True, True] Translation: X:271.65, Y:3.82, Z:3.16 [[ 9.99798106e-01 -9.80311579e-03 -1.75398369e-02 2.71653871e+02] [ 9.80601992e-03 9.99951917e-01 7.95745100e-05 3.82355423e+00] [ 1.75382135e-02 -2.51554435e-04 9.99846162e-01 3.16109934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.645099893 meters 0.013015104786832855 Centerline is valid? [True, True] Translation: X:271.68, Y:3.82, Z:3.16 [[ 9.99809392e-01 -9.03314434e-03 -1.73084634e-02 2.71682319e+02] [ 9.03578464e-03 9.99959174e-01 7.43451213e-05 3.82418767e+00] [ 1.73070852e-02 -2.30726498e-04 9.99850195e-01 3.16135484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67509989300004 meters 0.012781319530536114 Centerline is valid? [True, True] Translation: X:271.71, Y:3.83, Z:3.16 [[ 9.99809802e-01 -8.38995910e-03 -1.76059276e-02 2.71709894e+02] [ 8.39251126e-03 9.99964780e-01 7.10794628e-05 3.82510668e+00] [ 1.76047112e-02 -2.18823889e-04 9.99845001e-01 3.16070009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.705099893 meters 0.012764696421683366 Centerline is valid? [True, True] Translation: X:271.74, Y:3.82, Z:3.16 [[ 9.99798828e-01 -8.62346118e-03 -1.81090823e-02 2.71738083e+02] [ 8.62610473e-03 9.99962792e-01 6.78710679e-05 3.82448170e+00] [ 1.81078233e-02 -2.24068255e-04 9.99836015e-01 3.16043235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73509989300004 meters 0.012796106598449097 Centerline is valid? [True, True] Translation: X:271.77, Y:3.82, Z:3.16 [[ 9.99777013e-01 -9.27190293e-03 -1.89725220e-02 2.71766622e+02] [ 9.27482021e-03 9.99956986e-01 6.57758715e-05 3.82386121e+00] [ 1.89710961e-02 -2.41727935e-04 9.99820003e-01 3.16008842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.765099893 meters 0.01316474112789576 Centerline is valid? [True, True] Translation: X:271.79, Y:3.82, Z:3.16 [[ 9.99769852e-01 -1.11402918e-02 -1.83340174e-02 2.71793963e+02] [ 1.11432654e-02 9.99937910e-01 6.00357360e-05 3.82165883e+00] [ 1.83322102e-02 -2.64322740e-04 9.99831916e-01 3.15983553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.795099893 meters 0.013592435821888493 Centerline is valid? [True, True] Translation: X:271.82, Y:3.82, Z:3.16 [[ 9.99725040e-01 -1.38836650e-02 -1.88967736e-02 2.71822807e+02] [ 1.38872616e-02 9.99903566e-01 5.91115545e-05 3.81988593e+00] [ 1.88941306e-02 -3.21519740e-04 9.99821438e-01 3.15994635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.825099893 meters 0.014385861668098418 Centerline is valid? [True, True] Translation: X:271.85, Y:3.82, Z:3.16 [[ 9.99696460e-01 -1.54587535e-02 -1.91836988e-02 2.71850587e+02] [ 1.54626781e-02 9.99880444e-01 5.62598960e-05 3.81730789e+00] [ 1.91805355e-02 -3.52874177e-04 9.99815974e-01 3.15923717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.855099893 meters 0.014689291754203122 Centerline is valid? [True, True] Translation: X:271.88, Y:3.82, Z:3.16 [[ 9.99635455e-01 -1.92704043e-02 -1.89105248e-02 2.71879091e+02] [ 1.92748481e-02 9.99814221e-01 5.27371836e-05 3.81533428e+00] [ 1.89059954e-02 -4.17215452e-04 9.99821179e-01 3.15953328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.885099893 meters 0.014689291754203122 Centerline is valid? [True, True] Translation: X:271.91, Y:3.82, Z:3.16 [[ 9.99629885e-01 -1.95572013e-02 -1.89105376e-02 2.71906479e+02] [ 1.95616023e-02 9.99808652e-01 4.77591416e-05 3.81532533e+00] [ 1.89059851e-02 -4.17661882e-04 9.99821179e-01 3.15987307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.915099893 meters 0.016822780105522933 Centerline is valid? [True, True] Translation: X:271.93, Y:3.81, Z:3.16 [[ 9.99557430e-01 -2.34874405e-02 -1.82560880e-02 2.71934593e+02] [ 2.34921270e-02 9.99724021e-01 4.22634201e-05 3.80967617e+00] [ 1.82500570e-02 -4.71119052e-04 9.99833343e-01 3.16003140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.945099893 meters 0.016950878347752718 Centerline is valid? [True, True] Translation: X:271.96, Y:3.81, Z:3.16 [[ 9.99513159e-01 -2.55414778e-02 -1.79186469e-02 2.71963832e+02] [ 2.55463017e-02 9.99673639e-01 4.03289200e-05 3.80865833e+00] [ 1.79117689e-02 -4.98064446e-04 9.99839447e-01 3.16068676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.975099893 meters 0.017145936601312223 Centerline is valid? [True, True] Translation: X:271.99, Y:3.81, Z:3.16 [[ 9.99466808e-01 -2.74612626e-02 -1.76629063e-02 2.71994044e+02] [ 2.74662380e-02 9.99622731e-01 3.91143265e-05 3.80719989e+00] [ 1.76551685e-02 -5.24227058e-04 9.99843998e-01 3.16124976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.005099893 meters 0.01860307458395466 Centerline is valid? [True, True] Translation: X:272.02, Y:3.80, Z:3.16 [[ 9.99364463e-01 -3.14014761e-02 -1.68706016e-02 2.72024765e+02] [ 3.14065758e-02 9.99506691e-01 3.73597757e-05 3.80274387e+00] [ 1.68611060e-02 -5.67183859e-04 9.99857681e-01 3.16168512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.035099893 meters 0.020109023455388533 Centerline is valid? [True, True] Translation: X:272.06, Y:3.80, Z:3.16 [[ 9.99256109e-01 -3.51250220e-02 -1.59204609e-02 2.72055390e+02] [ 3.51300362e-02 9.99382749e-01 3.53183037e-05 3.79849419e+00] [ 1.59093935e-02 -5.94578400e-04 9.99873261e-01 3.16265403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.065099893 meters 0.01933545869389873 Centerline is valid? [True, True] Translation: X:272.09, Y:3.80, Z:3.16 [[ 9.99219243e-01 -3.63122467e-02 -1.55668031e-02 2.72087702e+02] [ 3.63171914e-02 9.99340313e-01 3.49797100e-05 3.79880125e+00] [ 1.55552637e-02 -6.00294967e-04 9.99878829e-01 3.16314736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.095099893 meters 0.022200555928595492 Centerline is valid? [True, True] Translation: X:272.12, Y:3.79, Z:3.16 [[ 9.99185114e-01 -3.73175172e-02 -1.53788791e-02 2.72118499e+02] [ 3.73224783e-02 9.99303273e-01 3.56101980e-05 3.79338235e+00] [ 1.53668353e-02 -6.09559060e-04 9.99881737e-01 3.16302625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.125099893 meters 0.02057345005608184 Centerline is valid? [True, True] Translation: X:272.15, Y:3.79, Z:3.16 [[ 9.99144528e-01 -3.83652305e-02 -1.54376538e-02 2.72150748e+02] [ 3.83703682e-02 9.99263586e-01 3.66410318e-05 3.79481166e+00] [ 1.54248795e-02 -6.28958146e-04 9.99880832e-01 3.16366156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.155099893 meters 0.0204268545744437 Centerline is valid? [True, True] Translation: X:272.18, Y:3.79, Z:3.16 [[ 9.99079275e-01 -3.97926215e-02 -1.60359061e-02 2.72183284e+02] [ 3.97983679e-02 9.99207730e-01 3.92542954e-05 3.79309341e+00] [ 1.60216393e-02 -6.77421042e-04 9.99871416e-01 3.16323429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18509989300003 meters 0.022738428782206818 Centerline is valid? [True, True] Translation: X:272.21, Y:3.79, Z:3.16 [[ 9.99039364e-01 -4.05307405e-02 -1.66615587e-02 2.72213974e+02] [ 4.05370647e-02 9.99178035e-01 4.18787554e-05 3.78883921e+00] [ 1.66461661e-02 -7.17249210e-04 9.99861186e-01 3.16275346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.215099893 meters 0.022966006502016408 Centerline is valid? [True, True] Translation: X:272.25, Y:3.79, Z:3.16 [[ 9.98973193e-01 -4.16483827e-02 -1.78317678e-02 2.72246144e+02] [ 4.16558199e-02 9.99132019e-01 4.56866635e-05 3.78731991e+00] [ 1.78143874e-02 -7.88436661e-04 9.99841000e-01 3.16191709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24509989300003 meters 0.023379952222270066 Centerline is valid? [True, True] Translation: X:272.28, Y:3.79, Z:3.16 [[ 9.98943538e-01 -4.22393333e-02 -1.81010324e-02 2.72278132e+02] [ 4.22471170e-02 9.99107191e-01 4.76670922e-05 3.78559291e+00] [ 1.80828582e-02 -8.12333167e-04 9.99836162e-01 3.16160608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.275099893 meters 0.024355000246855097 Centerline is valid? [True, True] Translation: X:272.31, Y:3.78, Z:3.16 [[ 9.98914098e-01 -4.27508951e-02 -1.85198505e-02 2.72309756e+02] [ 4.27591534e-02 9.99085408e-01 4.99826069e-05 3.78312237e+00] [ 1.85007756e-02 -8.41821460e-04 9.99828492e-01 3.16135526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30509989300003 meters 0.02337335623853877 Centerline is valid? [True, True] Translation: X:272.34, Y:3.78, Z:3.16 [[ 9.98861133e-01 -4.34076876e-02 -1.98042732e-02 2.72342104e+02] [ 4.34172844e-02 9.99057024e-01 5.46699746e-05 3.78320093e+00] [ 1.97832252e-02 -9.14455476e-04 9.99803875e-01 3.16057450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.335099893 meters 0.023962427853174477 Centerline is valid? [True, True] Translation: X:272.37, Y:3.78, Z:3.16 [[ 9.98856230e-01 -4.33955142e-02 -2.00763780e-02 2.72373226e+02] [ 4.34054002e-02 9.99057540e-01 5.67186485e-05 3.78177609e+00] [ 2.00549954e-02 -9.28076995e-04 9.99798448e-01 3.16030535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36509989300004 meters 0.02456023149281426 Centerline is valid? [True, True] Translation: X:272.40, Y:3.78, Z:3.16 [[ 9.98873854e-01 -4.29067114e-02 -2.02493931e-02 2.72404891e+02] [ 4.29166927e-02 9.99078653e-01 5.84172721e-05 3.78065577e+00] [ 2.02282299e-02 -9.27388467e-04 9.99794958e-01 3.16068764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.395099893 meters 0.024459667276576325 Centerline is valid? [True, True] Translation: X:272.44, Y:3.78, Z:3.16 [[ 9.98944422e-01 -4.16845170e-02 -1.92987943e-02 2.72436149e+02] [ 4.16933759e-02 9.99130452e-01 5.67365077e-05 3.78152977e+00] [ 1.92796480e-02 -8.61308502e-04 9.99813759e-01 3.16193593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42509989300004 meters 0.024489357051211247 Centerline is valid? [True, True] Translation: X:272.47, Y:3.78, Z:3.16 [[ 9.98993608e-01 -4.06517049e-02 -1.89528212e-02 2.72466896e+02] [ 4.06600756e-02 9.99173036e-01 5.63626472e-05 3.78200264e+00] [ 1.89348567e-02 -8.26929067e-04 9.99820378e-01 3.16283958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.455099893 meters 0.02459214194541312 Centerline is valid? [True, True] Translation: X:272.50, Y:3.78, Z:3.16 [[ 9.99050475e-01 -3.94396743e-02 -1.85111030e-02 2.72497196e+02] [ 3.94474612e-02 9.99221644e-01 5.55658998e-05 3.78224534e+00] [ 1.84945033e-02 -7.85729157e-04 9.99828653e-01 3.16374428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48509989300004 meters 0.020376452172235614 Centerline is valid? [True, True] Translation: X:272.53, Y:3.79, Z:3.17 [[ 9.99166817e-01 -3.69398717e-02 -1.73527602e-02 2.72529169e+02] [ 3.69463461e-02 9.99317249e-01 5.25557490e-05 3.78975620e+00] [ 1.73389712e-02 -6.93633044e-04 9.99849428e-01 3.16614476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.515099893 meters 0.019781885415451124 Centerline is valid? [True, True] Translation: X:272.56, Y:3.79, Z:3.17 [[ 9.99219335e-01 -3.57523452e-02 -1.68074341e-02 2.72560293e+02] [ 3.57582648e-02 9.99360467e-01 5.17146540e-05 3.79111726e+00] [ 1.67948362e-02 -6.52678960e-04 9.99858744e-01 3.16636108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.545099893 meters 0.02303082338373305 Centerline is valid? [True, True] Translation: X:272.59, Y:3.79, Z:3.17 [[ 9.99293386e-01 -3.38185538e-02 -1.64022726e-02 2.72591038e+02] [ 3.38239408e-02 9.99427806e-01 5.10493091e-05 3.78636918e+00] [ 1.63911609e-02 -6.05802735e-04 9.99865472e-01 3.16686456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.575099893 meters 0.01953105535886859 Centerline is valid? [True, True] Translation: X:272.62, Y:3.79, Z:3.17 [[ 9.99319966e-01 -3.32523457e-02 -1.59338460e-02 2.72623663e+02] [ 3.32573684e-02 9.99446819e-01 5.02782709e-05 3.79190458e+00] [ 1.59233599e-02 -5.80161867e-04 9.99873047e-01 3.16825550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.605099893 meters 0.020078436925641298 Centerline is valid? [True, True] Translation: X:272.66, Y:3.79, Z:3.17 [[ 9.99344017e-01 -3.28028079e-02 -1.53463879e-02 2.72655032e+02] [ 3.28074296e-02 9.99461690e-01 4.94386010e-05 3.79107900e+00] [ 1.53365051e-02 -5.52881712e-04 9.99882236e-01 3.16881500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.635099893 meters 0.02168518963825915 Centerline is valid? [True, True] Translation: X:272.69, Y:3.79, Z:3.17 [[ 9.99348122e-01 -3.26843721e-02 -1.53317426e-02 2.72686334e+02] [ 3.26889836e-02 9.99465571e-01 5.02077104e-05 3.78832610e+00] [ 1.53219079e-02 -5.51354065e-04 9.99882461e-01 3.16908358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.665099893 meters 0.02168518963825915 Centerline is valid? [True, True] Translation: X:272.72, Y:3.79, Z:3.17 [[ 9.99350348e-01 -3.26162509e-02 -1.53317398e-02 2.72718045e+02] [ 3.26208675e-02 9.99467797e-01 5.10608870e-05 3.78815796e+00] [ 1.53219148e-02 -5.51162367e-04 9.99882461e-01 3.16947555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.695099893 meters 0.02033630246505012 Centerline is valid? [True, True] Translation: X:272.75, Y:3.79, Z:3.17 [[ 9.99335590e-01 -3.30025565e-02 -1.54663865e-02 2.72750195e+02] [ 3.30073173e-02 9.99455109e-01 5.25783871e-05 3.78958884e+00] [ 1.54562237e-02 -5.63047379e-04 9.99880387e-01 3.16959400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.725099893 meters 0.02444581103103899 Centerline is valid? [True, True] Translation: X:272.78, Y:3.78, Z:3.17 [[ 9.99306579e-01 -3.34843102e-02 -1.62838237e-02 2.72781016e+02] [ 3.34896698e-02 9.99439062e-01 5.64819811e-05 3.78296891e+00] [ 1.62727982e-02 -6.01782694e-04 9.99867408e-01 3.16902347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.755099893 meters 0.020233914942640683 Centerline is valid? [True, True] Translation: X:272.81, Y:3.79, Z:3.17 [[ 9.99278977e-01 -3.39891652e-02 -1.69193148e-02 2.72813392e+02] [ 3.39950405e-02 9.99422000e-01 5.96859338e-05 3.78912424e+00] [ 1.69075068e-02 -6.34815692e-04 9.99856856e-01 3.16956284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.785099893 meters 0.020893451488626282 Centerline is valid? [True, True] Translation: X:272.84, Y:3.79, Z:3.17 [[ 9.99219205e-01 -3.50403281e-02 -1.82525796e-02 2.72844385e+02] [ 3.50473623e-02 9.99385650e-01 6.55479309e-05 3.78790042e+00] [ 1.82390693e-02 -7.05201521e-04 9.99833406e-01 3.16897238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.815099893 meters 0.021361357508227978 Centerline is valid? [True, True] Translation: X:272.88, Y:3.79, Z:3.17 [[ 9.99195487e-01 -3.53940960e-02 -1.88583103e-02 2.72876081e+02] [ 3.54016807e-02 9.99373162e-01 6.84034551e-05 3.78687152e+00] [ 1.88440681e-02 -7.35964301e-04 9.99822164e-01 3.16872894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.845099893 meters 0.020265508513196518 Centerline is valid? [True, True] Translation: X:272.91, Y:3.79, Z:3.17 [[ 9.99168456e-01 -3.61518950e-02 -1.88530600e-02 2.72907679e+02] [ 3.61596228e-02 9.99346025e-01 6.90544013e-05 3.78829361e+00] [ 1.88382341e-02 -7.50716517e-04 9.99822263e-01 3.16921313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.875099893 meters 0.02051004078704808 Centerline is valid? [True, True] Translation: X:272.94, Y:3.79, Z:3.17 [[ 9.99159721e-01 -3.64783464e-02 -1.86864277e-02 2.72939459e+02] [ 3.64860077e-02 9.99334162e-01 6.91160869e-05 3.78741413e+00] [ 1.86714643e-02 -7.50851153e-04 9.99825391e-01 3.16953557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.905099893 meters 0.022328111964849927 Centerline is valid? [True, True] Translation: X:272.97, Y:3.78, Z:3.17 [[ 9.99115763e-01 -3.76732451e-02 -1.86660034e-02 2.72970492e+02] [ 3.76811125e-02 9.99289812e-01 6.98260866e-05 3.78391359e+00] [ 1.86501165e-02 -7.73120118e-04 9.99825773e-01 3.16955817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93509989300003 meters 0.02114622732767486 Centerline is valid? [True, True] Translation: X:273.00, Y:3.79, Z:3.17 [[ 9.99126068e-01 -3.80416239e-02 -1.73186221e-02 2.73002505e+02] [ 3.80484684e-02 9.99275893e-01 6.57649504e-05 3.78576513e+00] [ 1.73035797e-02 -7.24654521e-04 9.99850019e-01 3.17087607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.965099893 meters 0.024067881203620713 Centerline is valid? [True, True] Translation: X:273.03, Y:3.78, Z:3.17 [[ 9.99131980e-01 -3.80722326e-02 -1.69053924e-02 2.73033272e+02] [ 3.80787776e-02 9.99274738e-01 6.53186729e-05 3.78134175e+00] [ 1.68906447e-02 -7.08998652e-04 9.99857092e-01 3.17167511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99509989300003 meters 0.021830477837678136 Centerline is valid? [True, True] Translation: X:273.07, Y:3.78, Z:3.17 [[ 9.99136271e-01 -3.83343918e-02 -1.60370405e-02 2.73065895e+02] [ 3.83403297e-02 9.99264737e-01 6.28604788e-05 3.78442479e+00] [ 1.60228394e-02 -6.77671605e-04 9.99871396e-01 3.17309831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.025099893 meters 0.023160375682422983 Centerline is valid? [True, True] Translation: X:273.10, Y:3.78, Z:3.17 [[ 9.99129478e-01 -3.87667443e-02 -1.54086453e-02 2.73097188e+02] [ 3.87722957e-02 9.99248070e-01 6.16008993e-05 3.78187951e+00] [ 1.53946710e-02 -6.58975827e-04 9.99881278e-01 3.17340448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05509989300003 meters 0.02269057557563756 Centerline is valid? [True, True] Translation: X:273.13, Y:3.78, Z:3.17 [[ 9.99111452e-01 -3.92299100e-02 -1.54052315e-02 2.73129488e+02] [ 3.92355391e-02 9.99229988e-01 6.32255241e-05 3.78197880e+00] [ 1.53908889e-02 -6.67601908e-04 9.99881330e-01 3.17399514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.085099893 meters 0.023390509631143183 Centerline is valid? [True, True] Translation: X:273.16, Y:3.78, Z:3.17 [[ 9.99071541e-01 -4.03677392e-02 -1.50499665e-02 2.73161396e+02] [ 4.03732563e-02 9.99184666e-01 6.28164208e-05 3.78000820e+00] [ 1.50351600e-02 -6.70374254e-04 9.99886741e-01 3.17446441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11509989300004 meters 0.02515848902810817 Centerline is valid? [True, True] Translation: X:273.19, Y:3.78, Z:3.17 [[ 9.99047571e-01 -4.09499512e-02 -1.50682643e-02 2.73192923e+02] [ 4.09555632e-02 9.99160967e-01 6.39127986e-05 3.77683610e+00] [ 1.50530043e-02 -6.80981177e-04 9.99886465e-01 3.17466421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.145099893 meters 0.02408224940733536 Centerline is valid? [True, True] Translation: X:273.22, Y:3.78, Z:3.18 [[ 9.99026346e-01 -4.14076990e-02 -1.52237698e-02 2.73224764e+02] [ 4.14134935e-02 9.99142091e-01 6.54342056e-05 3.77775985e+00] [ 1.52079997e-02 -6.95839989e-04 9.99884110e-01 3.17514765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17509989300004 meters 0.023386476233545114 Centerline is valid? [True, True] Translation: X:273.26, Y:3.78, Z:3.18 [[ 9.99004650e-01 -4.19971143e-02 -1.50316673e-02 2.73256765e+02] [ 4.20028459e-02 9.99117489e-01 6.56630804e-05 3.77852392e+00] [ 1.50156440e-02 -6.96970528e-04 9.99887016e-01 3.17577185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.205099893 meters 0.02240947448619148 Centerline is valid? [True, True] Translation: X:273.29, Y:3.78, Z:3.18 [[ 9.99002161e-01 -4.23776597e-02 -1.41001987e-02 2.73289077e+02] [ 4.23827542e-02 9.99101445e-01 6.25554362e-05 3.77938009e+00] [ 1.40848779e-02 -6.60098270e-04 9.99900585e-01 3.17715502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23509989300004 meters 0.024484374822637586 Centerline is valid? [True, True] Translation: X:273.32, Y:3.78, Z:3.18 [[ 9.99015048e-01 -4.20612566e-02 -1.41345320e-02 2.73320083e+02] [ 4.20663586e-02 9.99114817e-01 6.37116920e-05 3.77555687e+00] [ 1.41193406e-02 -6.58237232e-04 9.99900100e-01 3.17741800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.265099893 meters 0.02293058049883145 Centerline is valid? [True, True] Translation: X:273.35, Y:3.78, Z:3.18 [[ 9.99018864e-01 -4.17653355e-02 -1.47297629e-02 2.73352581e+02] [ 4.17708570e-02 9.99127215e-01 6.72684363e-05 3.77734925e+00] [ 1.47140975e-02 -6.82477259e-04 9.99891509e-01 3.17750698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.295099893 meters 0.024569903320207982 Centerline is valid? [True, True] Translation: X:273.38, Y:3.77, Z:3.18 [[ 9.99064259e-01 -4.04054130e-02 -1.54275426e-02 2.73384160e+02] [ 4.04113293e-02 9.99183126e-01 7.18075490e-05 3.77468849e+00] [ 1.54120388e-02 -6.95187860e-04 9.99880986e-01 3.17676018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.325099893 meters 0.024991220016724224 Centerline is valid? [True, True] Translation: X:273.42, Y:3.77, Z:3.18 [[ 9.99096720e-01 -3.95012854e-02 -1.56650317e-02 2.73415268e+02] [ 3.95073035e-02 9.99219279e-01 7.47798219e-05 3.77409412e+00] [ 1.56498478e-02 -6.93595435e-04 9.99877293e-01 3.17696911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.355099893 meters 0.021761192913671804 Centerline is valid? [True, True] Translation: X:273.45, Y:3.78, Z:3.18 [[ 9.99132077e-01 -3.86337144e-02 -1.55733352e-02 2.73447605e+02] [ 3.86395706e-02 9.99253210e-01 7.52111793e-05 3.77865159e+00] [ 1.55587995e-02 -6.76892886e-04 9.99878725e-01 3.17760180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.385099893 meters 0.022746172859615412 Centerline is valid? [True, True] Translation: X:273.48, Y:3.78, Z:3.18 [[ 9.99228424e-01 -3.61611253e-02 -1.53273905e-02 2.73477786e+02] [ 3.61665219e-02 9.99345775e-01 7.49571200e-05 3.77705402e+00] [ 1.53146524e-02 -6.29237690e-04 9.99882526e-01 3.17804519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.415099893 meters 0.020782909815277004 Centerline is valid? [True, True] Translation: X:273.51, Y:3.78, Z:3.18 [[ 9.99283865e-01 -3.47380437e-02 -1.50008579e-02 2.73510065e+02] [ 3.47430588e-02 9.99396275e-01 7.37668747e-05 3.77980014e+00] [ 1.49892390e-02 -5.94889736e-04 9.99887478e-01 3.17846384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.445099893 meters 0.021572954616500373 Centerline is valid? [True, True] Translation: X:273.54, Y:3.78, Z:3.18 [[ 9.99388052e-01 -3.17564146e-02 -1.46646288e-02 2.73540544e+02] [ 3.17609002e-02 9.99495493e-01 7.30264781e-05 3.77792486e+00] [ 1.46549113e-02 -5.38743602e-04 9.99892466e-01 3.17856332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.475099893 meters 0.019852315459456225 Centerline is valid? [True, True] Translation: X:273.57, Y:3.78, Z:3.18 [[ 9.99432388e-01 -3.04501620e-02 -1.44114468e-02 2.73572204e+02] [ 3.04543626e-02 9.99536156e-01 7.20572948e-05 3.78041858e+00] [ 1.44025680e-02 -5.10907822e-04 9.99896147e-01 3.17917632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.505099893 meters 0.019365449060392174 Centerline is valid? [True, True] Translation: X:273.60, Y:3.78, Z:3.18 [[ 9.99493417e-01 -2.81339931e-02 -1.48790749e-02 2.73602494e+02] [ 2.81382217e-02 9.99604039e-01 7.48912565e-05 3.78178727e+00] [ 1.48710764e-02 -4.93524027e-04 9.99889298e-01 3.17957342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.535099893 meters 0.018903418298531545 Centerline is valid? [True, True] Translation: X:273.63, Y:3.78, Z:3.18 [[ 9.99514595e-01 -2.72861220e-02 -1.50346866e-02 2.73633478e+02] [ 2.72903485e-02 9.99627546e-01 7.59878799e-05 3.78278314e+00] [ 1.50270135e-02 -4.86252832e-04 9.99886970e-01 3.17992778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.565099893 meters 0.01837035581730564 Centerline is valid? [True, True] Translation: X:273.66, Y:3.78, Z:3.18 [[ 9.99518707e-01 -2.69653241e-02 -1.53370762e-02 2.73664761e+02] [ 2.69696930e-02 9.99636249e-01 7.80659271e-05 3.78400077e+00] [ 1.53293922e-02 -4.91664590e-04 9.99882377e-01 3.18068189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.595099893 meters 0.017540954962934095 Centerline is valid? [True, True] Translation: X:273.70, Y:3.79, Z:3.18 [[ 9.99521907e-01 -2.64309227e-02 -1.60425581e-02 2.73695954e+02] [ 2.64356437e-02 9.99650514e-01 8.22524057e-05 3.78542509e+00] [ 1.60347775e-02 -5.06308432e-04 9.99871307e-01 3.18045818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.625099893 meters 0.01758992414602808 Centerline is valid? [True, True] Translation: X:273.73, Y:3.79, Z:3.18 [[ 9.99518740e-01 -2.60188207e-02 -1.68911212e-02 2.73727445e+02] [ 2.60240064e-02 9.99661314e-01 8.72418221e-05 3.78520370e+00] [ 1.68831305e-02 -5.26774483e-04 9.99857331e-01 3.17993457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.655099893 meters 0.017359406573651894 Centerline is valid? [True, True] Translation: X:273.76, Y:3.79, Z:3.18 [[ 9.99522612e-01 -2.51401560e-02 -1.79588729e-02 2.73757574e+02] [ 2.51458852e-02 9.99683788e-01 9.32338832e-05 3.78585800e+00] [ 1.79508501e-02 -5.44781129e-04 9.99838722e-01 3.17923576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68509989300003 meters 0.017238126153602856 Centerline is valid? [True, True] Translation: X:273.79, Y:3.79, Z:3.18 [[ 9.99557780e-01 -2.37098840e-02 -1.79467527e-02 2.73787004e+02] [ 2.37153715e-02 9.99718747e-01 9.29708238e-05 3.78746811e+00] [ 1.79395008e-02 -5.18543618e-04 9.99838940e-01 3.18031842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.715099893 meters 0.01727397323217914 Centerline is valid? [True, True] Translation: X:273.82, Y:3.79, Z:3.18 [[ 9.99576993e-01 -2.30692538e-02 -1.77100251e-02 2.73815607e+02] [ 2.30744842e-02 9.99733745e-01 9.10217530e-05 3.78801550e+00] [ 1.77032099e-02 -4.99632944e-04 9.99843161e-01 3.18055499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74509989300003 meters 0.01711121973037376 Centerline is valid? [True, True] Translation: X:273.84, Y:3.79, Z:3.18 [[ 9.99588986e-01 -2.24386652e-02 -1.78427931e-02 2.73844861e+02] [ 2.24438586e-02 9.99748101e-01 9.08451957e-05 3.78902658e+00] [ 1.78362601e-02 -4.91268982e-04 9.99840801e-01 3.18092228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.775099893 meters 0.01713900192333049 Centerline is valid? [True, True] Translation: X:273.87, Y:3.79, Z:3.18 [[ 9.99620257e-01 -2.13065711e-02 -1.74749074e-02 2.73873461e+02] [ 2.13113674e-02 9.99772883e-01 8.82730849e-05 3.79093082e+00] [ 1.74690578e-02 -4.60653737e-04 9.99847298e-01 3.18230603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80509989300003 meters 0.017220111819543808 Centerline is valid? [True, True] Translation: X:273.90, Y:3.79, Z:3.18 [[ 9.99620156e-01 -2.14369028e-02 -1.73205846e-02 2.73902229e+02] [ 2.14416021e-02 9.99770099e-01 8.56319498e-05 3.79172714e+00] [ 1.73147669e-02 -4.56980508e-04 9.99849984e-01 3.18268838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.835099893 meters 0.01702372741045341 Centerline is valid? [True, True] Translation: X:273.93, Y:3.79, Z:3.18 [[ 9.99604981e-01 -2.17047197e-02 -1.78545969e-02 2.73932189e+02] [ 2.17096967e-02 9.99764313e-01 8.49532312e-05 3.79252570e+00] [ 1.78485449e-02 -4.72537557e-04 9.99840590e-01 3.18248930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86509989300004 meters 0.017027995078021517 Centerline is valid? [True, True] Translation: X:273.96, Y:3.79, Z:3.18 [[ 9.99569917e-01 -2.28418472e-02 -1.83910674e-02 2.73961179e+02] [ 2.28472842e-02 9.99738963e-01 8.55492630e-05 3.79329443e+00] [ 1.83843125e-02 -5.05698413e-04 9.99830866e-01 3.18278616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.895099893 meters 0.017549285445852877 Centerline is valid? [True, True] Translation: X:273.99, Y:3.79, Z:3.18 [[ 9.99555831e-01 -2.35551909e-02 -1.82563314e-02 2.73989651e+02] [ 2.35606056e-02 9.99722407e-01 8.15403954e-05 3.79274919e+00] [ 1.82493428e-02 -5.11634401e-04 9.99833336e-01 3.18335653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92509989300004 meters 0.017541288738251254 Centerline is valid? [True, True] Translation: X:274.02, Y:3.79, Z:3.18 [[ 9.99532670e-01 -2.49387051e-02 -1.76777205e-02 2.74019377e+02] [ 2.49439835e-02 9.99688847e-01 7.81307622e-05 3.79319414e+00] [ 1.76702715e-02 -5.19047018e-04 9.99843734e-01 3.18440104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.955099893 meters 0.017926936438123688 Centerline is valid? [True, True] Translation: X:274.05, Y:3.79, Z:3.19 [[ 9.99481672e-01 -2.74327746e-02 -1.68472668e-02 2.74050088e+02] [ 2.74379155e-02 9.99623507e-01 7.40389365e-05 3.79288876e+00] [ 1.68388928e-02 -5.36254443e-04 9.99858072e-01 3.18602034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98509989300004 meters 0.01881562923462929 Centerline is valid? [True, True] Translation: X:274.08, Y:3.79, Z:3.19 [[ 9.99388159e-01 -2.99660022e-02 -1.80373404e-02 2.74081070e+02] [ 2.99723092e-02 9.99550726e-01 7.93709220e-05 3.79150483e+00] [ 1.80268582e-02 -6.19943102e-04 9.99837311e-01 3.18630534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.015099893 meters 0.019857086762764174 Centerline is valid? [True, True] Translation: X:274.11, Y:3.79, Z:3.19 [[ 9.99343811e-01 -3.12680614e-02 -1.82826679e-02 2.74111427e+02] [ 3.12747648e-02 9.99510822e-01 8.07813049e-05 3.79003869e+00] [ 1.82711986e-02 -6.52514437e-04 9.99832855e-01 3.18667464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.045099893 meters 0.01891290731901018 Centerline is valid? [True, True] Translation: X:274.14, Y:3.79, Z:3.19 [[ 9.99292527e-01 -3.26071905e-02 -1.87407503e-02 2.74142547e+02] [ 3.26144779e-02 9.99468003e-01 8.32651780e-05 3.79164361e+00] [ 1.87280653e-02 -6.94426058e-04 9.99824373e-01 3.18746139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.075099893 meters 0.02019924552533169 Centerline is valid? [True, True] Translation: X:274.17, Y:3.79, Z:3.19 [[ 9.99231488e-01 -3.41426309e-02 -1.92539155e-02 2.74172980e+02] [ 3.41506189e-02 9.99416694e-01 8.61363633e-05 3.78967314e+00] [ 1.92397437e-02 -7.43603297e-04 9.99814622e-01 3.18755526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.105099893 meters 0.022159546785536017 Centerline is valid? [True, True] Translation: X:274.20, Y:3.79, Z:3.19 [[ 9.99114224e-01 -3.68017912e-02 -2.04057599e-02 2.74203229e+02] [ 3.68113253e-02 9.99322229e-01 9.16714840e-05 3.78620298e+00] [ 2.03885558e-02 -8.42753348e-04 9.99791777e-01 3.18726562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.135099893 meters 0.02353117288960572 Centerline is valid? [True, True] Translation: X:274.23, Y:3.78, Z:3.19 [[ 9.99075040e-01 -3.75789385e-02 -2.09018554e-02 2.74233990e+02] [ 3.75891382e-02 9.99293274e-01 9.51692045e-05 3.78378854e+00] [ 2.08835072e-02 -8.80763909e-04 9.99781528e-01 3.18744358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.165099893 meters 0.021719928366151393 Centerline is valid? [True, True] Translation: X:274.27, Y:3.79, Z:3.19 [[ 9.99041640e-01 -3.83620763e-02 -2.10749237e-02 2.74265107e+02] [ 3.83726582e-02 9.99263494e-01 9.77931720e-05 3.78624637e+00] [ 2.10556504e-02 -9.06400296e-04 9.99777894e-01 3.18880302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.195099893 meters 0.022311159062523428 Centerline is valid? [True, True] Translation: X:274.30, Y:3.79, Z:3.19 [[ 9.99047832e-01 -3.79812425e-02 -2.14675159e-02 2.74295872e+02] [ 3.79921479e-02 9.99278033e-01 1.00229733e-04 3.78532088e+00] [ 2.14482103e-02 -9.15731338e-04 9.99769541e-01 3.18892957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.225099893 meters 0.02224217725883002 Centerline is valid? [True, True] Translation: X:274.33, Y:3.79, Z:3.19 [[ 9.99155832e-01 -3.51167429e-02 -2.13175453e-02 2.74326249e+02] [ 3.51268536e-02 9.99382857e-01 9.99082760e-05 3.78682181e+00] [ 2.13008808e-02 -8.48642228e-04 9.99772750e-01 3.19032183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.255099893 meters 0.021708157340670043 Centerline is valid? [True, True] Translation: X:274.36, Y:3.79, Z:3.19 [[ 9.99236602e-01 -3.30432267e-02 -2.08412819e-02 2.74357086e+02] [ 3.30524477e-02 9.99453614e-01 9.80380247e-05 3.78861925e+00] [ 2.08266550e-02 -7.86818563e-04 9.99782792e-01 3.19196351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.285099893 meters 0.019511907980476154 Centerline is valid? [True, True] Translation: X:274.39, Y:3.79, Z:3.19 [[ 9.99308390e-01 -3.12830056e-02 -2.01025958e-02 2.74387488e+02] [ 3.12912329e-02 9.99510305e-01 9.47692550e-05 3.79284542e+00] [ 2.00897870e-02 -7.23738718e-04 9.99797918e-01 3.19380436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.315099893 meters 0.018266530609261273 Centerline is valid? [True, True] Translation: X:274.42, Y:3.80, Z:3.19 [[ 9.99374995e-01 -2.90349901e-02 -2.01640548e-02 2.74417868e+02] [ 2.90428108e-02 9.99578164e-01 9.50589899e-05 3.79532033e+00] [ 2.01527888e-02 -6.80620405e-04 9.99796680e-01 3.19443111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.345099893 meters 0.017998167505272753 Centerline is valid? [True, True] Translation: X:274.45, Y:3.80, Z:3.19 [[ 9.99476957e-01 -2.44819679e-02 -2.11292491e-02 2.74447653e+02] [ 2.44895390e-02 9.99700081e-01 9.96091860e-05 3.79633753e+00] [ 2.11204735e-02 -6.17002658e-04 9.99776748e-01 3.19307695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.375099893 meters 0.017300220451376094 Centerline is valid? [True, True] Translation: X:274.48, Y:3.80, Z:3.19 [[ 9.99499867e-01 -2.27174742e-02 -2.19984639e-02 2.74476207e+02] [ 2.27252018e-02 9.99741744e-01 1.01321325e-04 3.79774284e+00] [ 2.19904809e-02 -6.01190183e-04 9.99757999e-01 3.19303044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.405099893 meters 0.01612939274153 Centerline is valid? [True, True] Translation: X:274.51, Y:3.80, Z:3.19 [[ 9.99521633e-01 -2.15327026e-02 -2.22001969e-02 2.74505264e+02] [ 2.15401562e-02 9.99767979e-01 9.66448136e-05 3.80034015e+00] [ 2.21929649e-02 -5.74794289e-04 9.99753541e-01 3.19392817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43509989300003 meters 0.01608087771577095 Centerline is valid? [True, True] Translation: X:274.53, Y:3.80, Z:3.19 [[ 9.99576332e-01 -1.89554200e-02 -2.20872938e-02 2.74532690e+02] [ 1.89620721e-02 9.99820200e-01 9.17587023e-05 3.80126929e+00] [ 2.20815832e-02 -5.10540685e-04 9.99756042e-01 3.19429350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.465099893 meters 0.015844875663010443 Centerline is valid? [True, True] Translation: X:274.56, Y:3.80, Z:3.20 [[ 9.99597041e-01 -1.82927728e-02 -2.17055255e-02 2.74561356e+02] [ 1.82989564e-02 9.99832556e-01 8.62897285e-05 3.80222623e+00] [ 2.17003126e-02 -4.83443423e-04 9.99764404e-01 3.19513349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49509989300003 meters 0.015734521406598326 Centerline is valid? [True, True] Translation: X:274.59, Y:3.80, Z:3.20 [[ 9.99606873e-01 -1.83222260e-02 -2.12225273e-02 2.74589170e+02] [ 1.83280266e-02 9.99832025e-01 7.88357771e-05 3.80311358e+00] [ 2.12175180e-02 -4.67771831e-04 9.99774774e-01 3.19642142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.525099893 meters 0.015734521406598326 Centerline is valid? [True, True] Translation: X:274.62, Y:3.80, Z:3.20 [[ 9.99601605e-01 -1.86073998e-02 -2.12225485e-02 2.74616558e+02] [ 1.86131362e-02 9.99826758e-01 7.27817502e-05 3.80308141e+00] [ 2.12175175e-02 -4.67770939e-04 9.99774774e-01 3.19676138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55509989300003 meters 0.015798453063411388 Centerline is valid? [True, True] Translation: X:274.64, Y:3.80, Z:3.20 [[ 9.99609911e-01 -1.78656649e-02 -2.14672554e-02 2.74643885e+02] [ 1.78712696e-02 9.99840294e-01 6.92501530e-05 3.80296575e+00] [ 2.14625897e-02 -4.52870247e-04 9.99769550e-01 3.19696260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.585099893 meters 0.015268854884916104 Centerline is valid? [True, True] Translation: X:274.67, Y:3.80, Z:3.20 [[ 9.99592694e-01 -1.82447956e-02 -2.19447756e-02 2.74671555e+02] [ 1.82506584e-02 9.99833441e-01 6.68942736e-05 3.80395367e+00] [ 2.19399000e-02 -4.67373630e-04 9.99759182e-01 3.19758507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61509989300004 meters 0.015553678804783116 Centerline is valid? [True, True] Translation: X:274.70, Y:3.80, Z:3.20 [[ 9.99605228e-01 -1.87230385e-02 -2.09484199e-02 2.74698426e+02] [ 1.87283914e-02 9.99824607e-01 5.93507079e-05 3.80396442e+00] [ 2.09436345e-02 -4.51657485e-04 9.99780556e-01 3.19854831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.645099893 meters 0.015763236495751436 Centerline is valid? [True, True] Translation: X:274.73, Y:3.80, Z:3.20 [[ 9.99593687e-01 -1.95526235e-02 -2.07401766e-02 2.74727063e+02] [ 1.95579735e-02 9.99808723e-01 5.51249392e-05 3.80368050e+00] [ 2.07351317e-02 -4.60738365e-04 9.99784898e-01 3.19969619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67509989300004 meters 0.016068884952818892 Centerline is valid? [True, True] Translation: X:274.75, Y:3.80, Z:3.20 [[ 9.99593960e-01 -2.02036640e-02 -2.00929517e-02 2.74754847e+02] [ 2.02087426e-02 9.99795781e-01 4.97211368e-05 3.80322636e+00] [ 2.00878438e-02 -4.55754237e-04 9.99798115e-01 3.20073522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.705099893 meters 0.016839923765502994 Centerline is valid? [True, True] Translation: X:274.78, Y:3.80, Z:3.20 [[ 9.99563054e-01 -2.21319465e-02 -1.95928070e-02 2.74782819e+02] [ 2.21371121e-02 9.99754943e-01 4.67797480e-05 3.80114675e+00] [ 1.95869703e-02 -4.80487473e-04 9.99808041e-01 3.20060401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73509989300004 meters 0.01665509411262326 Centerline is valid? [True, True] Translation: X:274.81, Y:3.80, Z:3.20 [[ 9.99481277e-01 -2.49860837e-02 -2.03192604e-02 2.74811849e+02] [ 2.49921650e-02 9.99687646e-01 4.53685967e-05 3.80037539e+00] [ 2.03117800e-02 -5.53167372e-04 9.99793541e-01 3.20075486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.765099893 meters 0.018666501388547578 Centerline is valid? [True, True] Translation: X:274.84, Y:3.80, Z:3.20 [[ 9.99373288e-01 -2.91837354e-02 -2.00334684e-02 2.74840762e+02] [ 2.91904190e-02 9.99573868e-01 4.12178376e-05 3.79562992e+00] [ 2.00237286e-02 -6.25977342e-04 9.99799309e-01 3.20025467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.795099893 meters 0.019440999515009195 Centerline is valid? [True, True] Translation: X:274.87, Y:3.79, Z:3.20 [[ 9.99291461e-01 -3.17257323e-02 -2.02497683e-02 2.74871020e+02] [ 3.17330687e-02 9.99496379e-01 4.09880757e-05 3.79378036e+00] [ 2.02382697e-02 -6.83546321e-04 9.99794952e-01 3.20044093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.825099893 meters 0.020679077128663813 Centerline is valid? [True, True] Translation: X:274.90, Y:3.79, Z:3.20 [[ 9.99201179e-01 -3.40786212e-02 -2.08722644e-02 2.74900956e+02] [ 3.40869433e-02 9.99418870e-01 4.29682546e-05 3.79104861e+00] [ 2.08586706e-02 -7.54405624e-04 9.99782150e-01 3.20020219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.855099893 meters 0.02127359125144804 Centerline is valid? [True, True] Translation: X:274.93, Y:3.79, Z:3.20 [[ 9.99106734e-01 -3.66089056e-02 -2.11073854e-02 2.74932372e+02] [ 3.66180089e-02 9.99329335e-01 4.48182663e-05 3.78962898e+00] [ 2.10915887e-02 -8.17688658e-04 9.99777213e-01 3.20048169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.885099893 meters 0.021823309490827118 Centerline is valid? [True, True] Translation: X:274.96, Y:3.79, Z:3.20 [[ 9.99012622e-01 -3.89228996e-02 -2.14193541e-02 2.74963796e+02] [ 3.89328213e-02 9.99241829e-01 4.62419802e-05 3.78863119e+00] [ 2.14013147e-02 -8.80112205e-04 9.99770578e-01 3.20073984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.915099893 meters 0.024178456977852304 Centerline is valid? [True, True] Translation: X:274.99, Y:3.78, Z:3.20 [[ 9.98834909e-01 -4.30521955e-02 -2.18021179e-02 2.74993451e+02] [ 4.30634663e-02 9.99072338e-01 4.75133625e-05 3.78430871e+00] [ 2.17798474e-02 -9.86332776e-04 9.99762304e-01 3.20047470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.945099893 meters 0.023018090642704502 Centerline is valid? [True, True] Translation: X:275.02, Y:3.79, Z:3.20 [[ 9.98767738e-01 -4.49949845e-02 -2.09393504e-02 2.75024924e+02] [ 4.50058131e-02 9.98986724e-01 4.59433141e-05 3.78542479e+00] [ 2.09160658e-02 -9.88279191e-04 9.99780747e-01 3.20130846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.975099893 meters 0.025232575076443456 Centerline is valid? [True, True] Translation: X:275.06, Y:3.78, Z:3.20 [[ 9.98703012e-01 -4.65697443e-02 -2.05803889e-02 2.75055986e+02] [ 4.65805564e-02 9.98914536e-01 4.60410784e-05 3.78155146e+00] [ 2.05559055e-02 -1.00462733e-03 9.99788200e-01 3.20177884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.005099893 meters 0.025883767051166198 Centerline is valid? [True, True] Translation: X:275.09, Y:3.78, Z:3.20 [[ 9.98632776e-01 -4.82523719e-02 -2.01069115e-02 2.75088165e+02] [ 4.82630564e-02 9.98834659e-01 4.61840934e-05 3.77990985e+00] [ 2.00812516e-02 -1.01654195e-03 9.99797835e-01 3.20264364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.035099893 meters 0.025825470635498306 Centerline is valid? [True, True] Translation: X:275.12, Y:3.78, Z:3.20 [[ 9.98637373e-01 -4.81848456e-02 -2.00404259e-02 2.75120758e+02] [ 4.81954744e-02 9.98837922e-01 4.74447927e-05 3.77936773e+00] [ 2.00148513e-02 -1.01323798e-03 9.99799169e-01 3.20294760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.065099893 meters 0.02464866462028899 Centerline is valid? [True, True] Translation: X:275.15, Y:3.78, Z:3.20 [[ 9.98648818e-01 -4.78427132e-02 -2.02882317e-02 2.75152706e+02] [ 4.78535656e-02 9.98854361e-01 4.94867601e-05 3.78093847e+00] [ 2.02626211e-02 -1.02028412e-03 9.99794171e-01 3.20357954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.095099893 meters 0.02551657127391327 Centerline is valid? [True, True] Translation: X:275.18, Y:3.78, Z:3.20 [[ 9.98649341e-01 -4.73476349e-02 -2.13938231e-02 2.75184389e+02] [ 4.73596232e-02 9.98877902e-01 5.37643851e-05 3.77997361e+00] [ 2.13672716e-02 -1.06689517e-03 9.99771125e-01 3.20305036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.125099893 meters 0.024017833441283314 Centerline is valid? [True, True] Translation: X:275.22, Y:3.78, Z:3.20 [[ 9.98657100e-01 -4.71685766e-02 -2.14271153e-02 2.75216429e+02] [ 4.71805940e-02 9.98886374e-01 5.53864429e-05 3.78222951e+00] [ 2.14006411e-02 -1.06625609e-03 9.99770411e-01 3.20358186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.155099893 meters 0.024204726986936462 Centerline is valid? [True, True] Translation: X:275.25, Y:3.78, Z:3.20 [[ 9.98619893e-01 -4.75771155e-02 -2.22424852e-02 2.75248151e+02] [ 4.75902120e-02 9.98866942e-01 5.95498425e-05 3.78280271e+00] [ 2.22144500e-02 -1.11799224e-03 9.99752604e-01 3.20408358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18509989300003 meters 0.024889529423121927 Centerline is valid? [True, True] Translation: X:275.28, Y:3.78, Z:3.20 [[ 9.98576679e-01 -4.82365574e-02 -2.27563322e-02 2.75280607e+02] [ 4.82504868e-02 9.98835265e-01 6.31153070e-05 3.78158170e+00] [ 2.27267826e-02 -1.16102958e-03 9.99741039e-01 3.20368733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.215099893 meters 0.024889529423121927 Centerline is valid? [True, True] Translation: X:275.31, Y:3.78, Z:3.20 [[ 9.98580147e-01 -4.81647068e-02 -2.27563276e-02 2.75312343e+02] [ 4.81786548e-02 9.98838732e-01 6.47522659e-05 3.78143363e+00] [ 2.27267826e-02 -1.16102958e-03 9.99741039e-01 3.20407951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24509989300003 meters 0.025462963126090126 Centerline is valid? [True, True] Translation: X:275.34, Y:3.78, Z:3.20 [[ 9.98556301e-01 -4.84798241e-02 -2.31305269e-02 2.75344686e+02] [ 4.84943578e-02 9.98823454e-01 6.74912409e-05 3.78020954e+00] [ 2.31000408e-02 -1.18909385e-03 9.99732451e-01 3.20423670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.275099893 meters 0.02622595396325908 Centerline is valid? [True, True] Translation: X:275.38, Y:3.78, Z:3.20 [[ 9.98515201e-01 -4.92684431e-02 -2.32382084e-02 2.75377167e+02] [ 4.92833639e-02 9.98784834e-01 6.94663632e-05 3.77871300e+00] [ 2.32065476e-02 -1.21462030e-03 9.99729954e-01 3.20412365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30509989300003 meters 0.024792575392481003 Centerline is valid? [True, True] Translation: X:275.41, Y:3.78, Z:3.21 [[ 9.98530127e-01 -4.91645446e-02 -2.28129921e-02 2.75409150e+02] [ 4.91789341e-02 9.98789982e-01 6.98152495e-05 3.78064413e+00] [ 2.27819556e-02 -1.19163127e-03 9.99739747e-01 3.20500905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.335099893 meters 0.025524042188820036 Centerline is valid? [True, True] Translation: X:275.44, Y:3.78, Z:3.21 [[ 9.98601271e-01 -4.82744394e-02 -2.15657178e-02 2.75440751e+02] [ 4.82871235e-02 9.98833494e-01 6.75081334e-05 3.77963148e+00] [ 2.15373023e-02 -1.10876018e-03 9.99767431e-01 3.20547552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36509989300004 meters 0.027562654206958467 Centerline is valid? [True, True] Translation: X:275.47, Y:3.78, Z:3.21 [[ 9.98665635e-01 -4.71733107e-02 -2.10149485e-02 2.75471692e+02] [ 4.71851540e-02 9.98886158e-01 6.77965775e-05 3.77695728e+00] [ 2.09883430e-02 -1.05929970e-03 9.99779159e-01 3.20569503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.395099893 meters 0.02439120801844276 Centerline is valid? [True, True] Translation: X:275.50, Y:3.78, Z:3.21 [[ 9.98731114e-01 -4.59930762e-02 -2.05133922e-02 2.75503528e+02] [ 4.60041572e-02 9.98941246e-01 6.83637517e-05 3.78166680e+00] [ 2.04885293e-02 -1.01197833e-03 9.99789576e-01 3.20712609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42509989300004 meters 0.023997819383445647 Centerline is valid? [True, True] Translation: X:275.54, Y:3.78, Z:3.21 [[ 9.98790167e-01 -4.47370648e-02 -2.04156335e-02 2.75535547e+02] [ 4.47478086e-02 9.98998313e-01 6.95018514e-05 3.78244052e+00] [ 2.03920741e-02 -9.82972626e-04 9.99791577e-01 3.20753681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.455099893 meters 0.024381162596741578 Centerline is valid? [True, True] Translation: X:275.57, Y:3.78, Z:3.21 [[ 9.98882916e-01 -4.25592934e-02 -2.05335559e-02 2.75565929e+02] [ 4.25697238e-02 9.99093496e-01 7.09403520e-05 3.78179959e+00] [ 2.05119230e-02 -9.44968909e-04 9.99789162e-01 3.20702853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48509989300004 meters 0.02452611615800182 Centerline is valid? [True, True] Translation: X:275.60, Y:3.78, Z:3.21 [[ 9.98920245e-01 -4.17914010e-02 -2.02934371e-02 2.75597768e+02] [ 4.18014464e-02 9.99125935e-01 7.08808368e-05 3.78140383e+00] [ 2.02727371e-02 -9.19099327e-04 9.99794064e-01 3.20704096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.515099893 meters 0.024084634610002178 Centerline is valid? [True, True] Translation: X:275.63, Y:3.78, Z:3.21 [[ 9.98960181e-01 -4.13751548e-02 -1.91482113e-02 2.75628778e+02] [ 4.13840419e-02 9.99143311e-01 6.79325393e-05 3.78193652e+00] [ 1.91289965e-02 -8.60292279e-04 9.99816654e-01 3.20786986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.545099893 meters 0.02358320583260749 Centerline is valid? [True, True] Translation: X:275.66, Y:3.78, Z:3.21 [[ 9.98964357e-01 -4.14574416e-02 -1.87481904e-02 2.75661039e+02] [ 4.14659921e-02 9.99139914e-01 6.73889852e-05 3.78230774e+00] [ 1.87292715e-02 -8.44731507e-04 9.99824235e-01 3.20872002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.575099893 meters 0.024169289865892184 Centerline is valid? [True, True] Translation: X:275.69, Y:3.78, Z:3.21 [[ 9.98942600e-01 -4.19080548e-02 -1.89049186e-02 2.75693382e+02] [ 4.19168547e-02 9.99121100e-01 6.92954005e-05 3.78148179e+00] [ 1.88853990e-02 -8.61656854e-04 9.99821284e-01 3.20898900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.605099893 meters 0.024742902140681283 Centerline is valid? [True, True] Translation: X:275.73, Y:3.78, Z:3.21 [[ 9.98936435e-01 -4.20340543e-02 -1.89509298e-02 2.75725325e+02] [ 4.20429449e-02 9.99115802e-01 7.07973733e-05 3.78065062e+00] [ 1.89311975e-02 -8.67474975e-04 9.99820412e-01 3.20914740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.635099893 meters 0.022316034462613595 Centerline is valid? [True, True] Translation: X:275.76, Y:3.78, Z:3.21 [[ 9.98939019e-01 -4.19897528e-02 -1.89128565e-02 2.75757116e+02] [ 4.19986253e-02 9.99117666e-01 7.19982311e-05 3.78365288e+00] [ 1.88931459e-02 -8.66235817e-04 9.99821133e-01 3.20924489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.665099893 meters 0.022122578372918308 Centerline is valid? [True, True] Translation: X:275.79, Y:3.78, Z:3.21 [[ 9.98977255e-01 -4.14137131e-02 -1.81479830e-02 2.75789225e+02] [ 4.14218108e-02 9.99141746e-01 7.03796130e-05 3.78362632e+00] [ 1.81294928e-02 -8.22029953e-04 9.99835309e-01 3.20903519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.695099893 meters 0.024641508845164396 Centerline is valid? [True, True] Translation: X:275.82, Y:3.78, Z:3.21 [[ 9.98990637e-01 -4.11614750e-02 -1.79844654e-02 2.75820911e+02] [ 4.11694101e-02 9.99152178e-01 7.10521167e-05 3.77963983e+00] [ 1.79662931e-02 -8.11390229e-04 9.99838264e-01 3.20918070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.725099893 meters 0.0225531168127906 Centerline is valid? [True, True] Translation: X:275.85, Y:3.78, Z:3.21 [[ 9.99053711e-01 -4.00241506e-02 -1.70220623e-02 2.75853697e+02] [ 4.00311158e-02 9.99198431e-01 6.85177520e-05 3.78265346e+00] [ 1.70056755e-02 -7.49865060e-04 9.99855112e-01 3.20987839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.755099893 meters 0.023009891893049843 Centerline is valid? [True, True] Translation: X:275.88, Y:3.78, Z:3.21 [[ 9.99091787e-01 -3.92245284e-02 -1.66444728e-02 2.75884683e+02] [ 3.92311043e-02 9.99230162e-01 6.86279073e-05 3.78151797e+00] [ 1.66289673e-02 -7.21546627e-04 9.99861469e-01 3.21023023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.785099893 meters 0.02225924554515208 Centerline is valid? [True, True] Translation: X:275.92, Y:3.78, Z:3.21 [[ 9.99164561e-01 -3.80616840e-02 -1.48824852e-02 2.75916973e+02] [ 3.80668360e-02 9.99275193e-01 6.29496241e-05 3.78244418e+00] [ 1.48693023e-02 -6.29426157e-04 9.99889248e-01 3.21158476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.815099893 meters 0.022611507637655247 Centerline is valid? [True, True] Translation: X:275.95, Y:3.78, Z:3.21 [[ 9.99211255e-01 -3.72540705e-02 -1.37478337e-02 2.75948674e+02] [ 3.72584030e-02 9.99305663e-01 5.90659401e-05 3.78170264e+00] [ 1.37360876e-02 -5.71241681e-04 9.99905492e-01 3.21272680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.845099893 meters 0.021376970942569996 Centerline is valid? [True, True] Translation: X:275.98, Y:3.78, Z:3.21 [[ 9.99249725e-01 -3.66103022e-02 -1.26361485e-02 2.75980840e+02] [ 3.66139214e-02 9.99329484e-01 5.51157816e-05 3.78351740e+00] [ 1.26256580e-02 -5.17733378e-04 9.99920159e-01 3.21399126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.875099893 meters 0.021714469075999016 Centerline is valid? [True, True] Translation: X:276.01, Y:3.78, Z:3.21 [[ 9.99278994e-01 -3.59405393e-02 -1.22380196e-02 2.76012095e+02] [ 3.59438943e-02 9.99353808e-01 5.42378136e-05 3.78270310e+00] [ 1.22281622e-02 -4.94080793e-04 9.99925111e-01 3.21460885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.905099893 meters 0.02152940684224633 Centerline is valid? [True, True] Translation: X:276.04, Y:3.78, Z:3.21 [[ 9.99329967e-01 -3.45433558e-02 -1.20984775e-02 2.76044401e+02] [ 3.45465402e-02 9.99403089e-01 5.42581610e-05 3.78293620e+00] [ 1.20893815e-02 -4.72182345e-04 9.99926809e-01 3.21484633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93509989300003 meters 0.021582440302583203 Centerline is valid? [True, True] Translation: X:276.08, Y:3.78, Z:3.21 [[ 9.99348705e-01 -3.39467137e-02 -1.22387522e-02 2.76076410e+02] [ 3.39499385e-02 9.99423533e-01 5.57674904e-05 3.78276219e+00] [ 1.22298038e-02 -4.71236053e-04 9.99925102e-01 3.21491440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.965099893 meters 0.02151910195683804 Centerline is valid? [True, True] Translation: X:276.11, Y:3.78, Z:3.21 [[ 9.99354403e-01 -3.35132048e-02 -1.29476888e-02 2.76108792e+02] [ 3.35167902e-02 9.99438153e-01 5.99655506e-05 3.78241064e+00] [ 1.29384045e-02 -4.93891806e-04 9.99916173e-01 3.21461254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99509989300003 meters 0.020893693587544653 Centerline is valid? [True, True] Translation: X:276.14, Y:3.78, Z:3.21 [[ 9.99353707e-01 -3.30156972e-02 -1.42172953e-02 2.76140742e+02] [ 3.30199856e-02 9.99454689e-01 6.69375461e-05 3.78245211e+00] [ 1.42073325e-02 -5.36349171e-04 9.99898927e-01 3.21315026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.025099893 meters 0.022072865174440747 Centerline is valid? [True, True] Translation: X:276.17, Y:3.78, Z:3.21 [[ 9.99359252e-01 -3.29681857e-02 -1.39349679e-02 2.76171505e+02] [ 3.29723156e-02 9.99456263e-01 6.66624190e-05 3.78019017e+00] [ 1.39251932e-02 -5.26087866e-04 9.99902901e-01 3.21344776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05509989300003 meters 0.020150784216761107 Centerline is valid? [True, True] Translation: X:276.20, Y:3.78, Z:3.21 [[ 9.99382382e-01 -3.25398323e-02 -1.32670372e-02 2.76203497e+02] [ 3.25435575e-02 9.99470316e-01 6.49363044e-05 3.78293952e+00] [ 1.32578969e-02 -4.96652787e-04 9.99911987e-01 3.21442359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.085099893 meters 0.02071216541618394 Centerline is valid? [True, True] Translation: X:276.23, Y:3.78, Z:3.22 [[ 9.99390652e-01 -3.24807366e-02 -1.27798852e-02 2.76234244e+02] [ 3.24841997e-02 9.99472247e-01 6.34381814e-05 3.78156954e+00] [ 1.27710801e-02 -4.78543868e-04 9.99918332e-01 3.21515861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11509989300004 meters 0.02306526885532758 Centerline is valid? [True, True] Translation: X:276.26, Y:3.78, Z:3.22 [[ 9.99398769e-01 -3.23041726e-02 -1.25912971e-02 2.76264939e+02] [ 3.23075287e-02 9.99477974e-01 6.31719812e-05 3.77746514e+00] [ 1.25826834e-02 -4.69927693e-04 9.99920724e-01 3.21570314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.145099893 meters 0.021002862406982813 Centerline is valid? [True, True] Translation: X:276.30, Y:3.78, Z:3.22 [[ 9.99413802e-01 -3.18303885e-02 -1.26046725e-02 2.76296832e+02] [ 3.18337226e-02 9.99493177e-01 6.39158380e-05 3.78012144e+00] [ 1.25962496e-02 -4.65132018e-04 9.99920556e-01 3.21561350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17509989300004 meters 0.021108904928126088 Centerline is valid? [True, True] Translation: X:276.33, Y:3.78, Z:3.22 [[ 9.99409828e-01 -3.21160788e-02 -1.21882166e-02 2.76328866e+02] [ 3.21192277e-02 9.99484043e-01 6.26456268e-05 3.77835483e+00] [ 1.21799160e-02 -4.54084758e-04 9.99925719e-01 3.21552510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.205099893 meters 0.02129904204253849 Centerline is valid? [True, True] Translation: X:276.36, Y:3.78, Z:3.22 [[ 9.99399365e-01 -3.22649382e-02 -1.26444798e-02 2.76361076e+02] [ 3.22683510e-02 9.99479239e-01 6.59236183e-05 3.77684982e+00] [ 1.26357680e-02 -4.73900534e-04 9.99920053e-01 3.21560132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23509989300004 meters 0.02304137903419618 Centerline is valid? [True, True] Translation: X:276.39, Y:3.77, Z:3.22 [[ 9.99348474e-01 -3.38047455e-02 -1.26438361e-02 2.76392314e+02] [ 3.38082923e-02 9.99428334e-01 6.68208591e-05 3.77244655e+00] [ 1.26343492e-02 -4.94243832e-04 9.99920061e-01 3.21539095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.265099893 meters 0.023060065808384166 Centerline is valid? [True, True] Translation: X:276.42, Y:3.77, Z:3.22 [[ 9.99312329e-01 -3.49232349e-02 -1.24593894e-02 2.76424909e+02] [ 3.49267811e-02 9.99389872e-01 6.70744621e-05 3.77156195e+00] [ 1.24494451e-02 -5.02194703e-04 9.99922377e-01 3.21536457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.295099893 meters 0.022576709488286887 Centerline is valid? [True, True] Translation: X:276.46, Y:3.77, Z:3.21 [[ 9.99215156e-01 -3.71168482e-02 -1.38351652e-02 2.76457303e+02] [ 3.71214455e-02 9.99310759e-01 7.55420065e-05 3.76979081e+00] [ 1.38228256e-02 -5.89064049e-04 9.99904287e-01 3.21455449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.325099893 meters 0.022576709488286887 Centerline is valid? [True, True] Translation: X:276.49, Y:3.77, Z:3.21 [[ 9.99217802e-01 -3.70455512e-02 -1.38351598e-02 2.76489023e+02] [ 3.70501552e-02 9.99313404e-01 7.65294607e-05 3.76955675e+00] [ 1.38228255e-02 -5.89064417e-04 9.99904287e-01 3.21494649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.355099893 meters 0.024678245644952673 Centerline is valid? [True, True] Translation: X:276.52, Y:3.76, Z:3.22 [[ 9.99119137e-01 -3.96165954e-02 -1.38374553e-02 2.76519854e+02] [ 3.96214600e-02 9.99214759e-01 7.74759165e-05 3.76408780e+00] [ 1.38235202e-02 -6.25667851e-04 9.99904255e-01 3.21525950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.385099893 meters 0.02359399234205359 Centerline is valid? [True, True] Translation: X:276.55, Y:3.76, Z:3.22 [[ 9.99073702e-01 -4.07184946e-02 -1.39191163e-02 2.76551918e+02] [ 4.07235310e-02 9.99170450e-01 7.84792120e-05 3.76481755e+00] [ 1.39043742e-02 -6.45242082e-04 9.99903121e-01 3.21612300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.415099893 meters 0.023907096260047955 Centerline is valid? [True, True] Translation: X:276.58, Y:3.76, Z:3.22 [[ 9.99007365e-01 -4.23541365e-02 -1.37989613e-02 2.76583513e+02] [ 4.23592563e-02 9.99102441e-01 7.88335731e-05 3.76315987e+00] [ 1.37832370e-02 -6.63269059e-04 9.99904787e-01 3.21716012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.445099893 meters 0.025388117636552816 Centerline is valid? [True, True] Translation: X:276.61, Y:3.76, Z:3.22 [[ 9.98967882e-01 -4.33773301e-02 -1.34750898e-02 2.76614833e+02] [ 4.33823226e-02 9.99058541e-01 7.82758357e-05 3.76017797e+00] [ 1.34590081e-02 -6.62775737e-04 9.99909204e-01 3.21902086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.475099893 meters 0.025388117636552816 Centerline is valid? [True, True] Translation: X:276.65, Y:3.76, Z:3.22 [[ 9.98972530e-01 -4.32701650e-02 -1.34750852e-02 2.76647410e+02] [ 4.32751583e-02 9.99063188e-01 7.90620259e-05 3.75989809e+00] [ 1.34590405e-02 -6.62117235e-04 9.99909204e-01 3.21942353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.505099893 meters 0.025388117636552816 Centerline is valid? [True, True] Translation: X:276.68, Y:3.76, Z:3.22 [[ 9.98977166e-01 -4.31629912e-02 -1.34750765e-02 2.76679986e+02] [ 4.31679942e-02 9.99067824e-01 8.05075518e-05 3.75961438e+00] [ 1.34590404e-02 -6.62117231e-04 9.99909204e-01 3.21982600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.535099893 meters 0.02598239829126317 Centerline is valid? [True, True] Translation: X:276.71, Y:3.76, Z:3.22 [[ 9.98977227e-01 -4.30437016e-02 -1.38469904e-02 2.76712313e+02] [ 4.30489939e-02 9.99072959e-01 8.42243735e-05 3.75749216e+00] [ 1.38305284e-02 -6.80237238e-04 9.99904122e-01 3.22023760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.565099893 meters 0.024466612210622924 Centerline is valid? [True, True] Translation: X:276.74, Y:3.76, Z:3.22 [[ 9.98989514e-01 -4.26080010e-02 -1.43006700e-02 2.76744305e+02] [ 4.26136195e-02 9.99091623e-01 8.82581548e-05 3.75886059e+00] [ 1.42839191e-02 -6.97572283e-04 9.99897736e-01 3.21957834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.595099893 meters 0.02363722679290451 Centerline is valid? [True, True] Translation: X:276.78, Y:3.76, Z:3.22 [[ 9.99045956e-01 -4.15327487e-02 -1.34984823e-02 2.76776832e+02] [ 4.15376690e-02 9.99136935e-01 8.42314036e-05 3.75852311e+00] [ 1.34833338e-02 -6.44846532e-04 9.99908888e-01 3.22031356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.625099893 meters 0.024754758122700046 Centerline is valid? [True, True] Translation: X:276.81, Y:3.76, Z:3.22 [[ 9.99091679e-01 -4.05524008e-02 -1.30889468e-02 2.76808126e+02] [ 4.05569550e-02 9.99177225e-01 8.25876331e-05 3.75615377e+00] [ 1.30748284e-02 -6.13360444e-04 9.99914333e-01 3.22115227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.655099893 meters 0.023335079572407175 Centerline is valid? [True, True] Translation: X:276.84, Y:3.76, Z:3.22 [[ 9.99137502e-01 -3.93472740e-02 -1.32681966e-02 2.76840786e+02] [ 3.93518581e-02 9.99225412e-01 8.44938516e-05 3.75816055e+00] [ 1.32545946e-02 -6.06549164e-04 9.99911970e-01 3.22168004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68509989300003 meters 0.023779832233816474 Centerline is valid? [True, True] Translation: X:276.87, Y:3.76, Z:3.22 [[ 9.99154310e-01 -3.85271021e-02 -1.43641164e-02 2.76871611e+02] [ 3.85324142e-02 9.99257346e-01 9.31428927e-05 3.75724503e+00] [ 1.43498603e-02 -6.46548206e-04 9.99896826e-01 3.22177565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.715099893 meters 0.02399707583744486 Centerline is valid? [True, True] Translation: X:276.90, Y:3.76, Z:3.22 [[ 9.99156092e-01 -3.77459055e-02 -1.61972063e-02 2.76902814e+02] [ 3.77525902e-02 9.99287111e-01 1.07033433e-04 3.75613893e+00] [ 1.61816194e-02 -7.18429597e-04 9.99868811e-01 3.22030388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74509989300003 meters 0.02353411291845734 Centerline is valid? [True, True] Translation: X:276.94, Y:3.76, Z:3.22 [[ 9.99153090e-01 -3.74249027e-02 -1.71020101e-02 2.76935247e+02] [ 3.74323259e-02 9.99299158e-01 1.14042497e-04 3.75642862e+00] [ 1.70857562e-02 -7.54113928e-04 9.99853743e-01 3.22011382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.775099893 meters 0.02440791508728795 Centerline is valid? [True, True] Translation: X:276.97, Y:3.76, Z:3.22 [[ 9.99152321e-01 -3.72129111e-02 -1.76022626e-02 2.76966385e+02] [ 3.72207629e-02 9.99307060e-01 1.18558023e-04 3.75511360e+00] [ 1.75856534e-02 -7.73627168e-04 9.99845061e-01 3.22001672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80509989300003 meters 0.023382126445342342 Centerline is valid? [True, True] Translation: X:277.00, Y:3.76, Z:3.22 [[ 9.99146365e-01 -3.66616249e-02 -1.90385654e-02 2.76998607e+02] [ 3.66707333e-02 9.99327394e-01 1.29410709e-04 3.75596226e+00] [ 1.90210155e-02 -8.27458392e-04 9.99818742e-01 3.21991726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.835099893 meters 0.022213127700289315 Centerline is valid? [True, True] Translation: X:277.03, Y:3.76, Z:3.22 [[ 9.99159980e-01 -3.60165972e-02 -1.95483847e-02 2.77030344e+02] [ 3.60260994e-02 9.99350840e-01 1.34032616e-04 3.75728830e+00] [ 1.95308673e-02 -8.38172077e-04 9.99808903e-01 3.22033624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86509989300004 meters 0.021657577069717555 Centerline is valid? [True, True] Translation: X:277.06, Y:3.76, Z:3.22 [[ 9.99223600e-01 -3.39978941e-02 -1.99082881e-02 2.77061217e+02] [ 3.40073613e-02 9.99421573e-01 1.37087842e-04 3.75791373e+00] [ 1.98921119e-02 -8.14009754e-04 9.99801801e-01 3.22082565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.895099893 meters 0.021881417372766217 Centerline is valid? [True, True] Translation: X:277.09, Y:3.76, Z:3.22 [[ 9.99274438e-01 -3.22107255e-02 -2.03240477e-02 2.77090650e+02] [ 3.22202250e-02 9.99480784e-01 1.40035360e-04 3.75745696e+00] [ 2.03089845e-02 -7.94779145e-04 9.99793435e-01 3.22075920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92509989300004 meters 0.02072336460924808 Centerline is valid? [True, True] Translation: X:277.12, Y:3.76, Z:3.22 [[ 9.99439793e-01 -2.72535322e-02 -1.94253811e-02 2.77119694e+02] [ 2.72612675e-02 9.99628334e-01 1.33463664e-04 3.76028985e+00] [ 1.94145240e-02 -6.62949407e-04 9.99811301e-01 3.22202302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.955099893 meters 0.01853079380549189 Centerline is valid? [True, True] Translation: X:277.15, Y:3.77, Z:3.22 [[ 9.99601706e-01 -2.20135738e-02 -1.76587886e-02 2.77149379e+02] [ 2.20191410e-02 9.99757542e-01 1.20869462e-04 3.76539827e+00] [ 1.76518464e-02 -5.09652678e-04 9.99844064e-01 3.22434204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98509989300004 meters 0.01853079380549189 Centerline is valid? [True, True] Translation: X:277.18, Y:3.77, Z:3.22 [[ 9.99596245e-01 -2.22601187e-02 -1.76588004e-02 2.77177626e+02] [ 2.22656935e-02 9.99752082e-01 1.19127885e-04 3.76524468e+00] [ 1.76517706e-02 -5.12265223e-04 9.99844064e-01 3.22469151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.015099893 meters 0.016612584561862397 Centerline is valid? [True, True] Translation: X:277.21, Y:3.77, Z:3.23 [[ 9.99682428e-01 -1.77625650e-02 -1.78755352e-02 2.77207252e+02] [ 1.77675003e-02 9.99842139e-01 1.17301833e-04 3.76917009e+00] [ 1.78706298e-02 -4.34868158e-04 9.99840213e-01 3.22602066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.045099893 meters 0.016762576310391263 Centerline is valid? [True, True] Translation: X:277.24, Y:3.77, Z:3.23 [[ 9.99700583e-01 -1.67055608e-02 -1.78792742e-02 2.77235197e+02] [ 1.67103123e-02 9.99860366e-01 1.16377255e-04 3.76861447e+00] [ 1.78748335e-02 -4.15110664e-04 9.99840146e-01 3.22644551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.075099893 meters 0.016456258820401772 Centerline is valid? [True, True] Translation: X:277.26, Y:3.77, Z:3.23 [[ 9.99681169e-01 -1.67616087e-02 -1.88840664e-02 2.77263194e+02] [ 1.67668612e-02 9.99859419e-01 1.19840958e-04 3.76883255e+00] [ 1.88794030e-02 -4.36429269e-04 9.99821673e-01 3.22698579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.105099893 meters 0.016643922588341596 Centerline is valid? [True, True] Translation: X:277.29, Y:3.77, Z:3.23 [[ 9.99664554e-01 -1.74537068e-02 -1.91349658e-02 2.77292401e+02] [ 1.74591240e-02 9.99847571e-01 1.16077383e-04 3.76764704e+00] [ 1.91300231e-02 -4.50118188e-04 9.99816903e-01 3.22735700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.135099893 meters 0.017377606538012316 Centerline is valid? [True, True] Translation: X:277.32, Y:3.77, Z:3.23 [[ 9.99642004e-01 -1.85197960e-02 -1.93101328e-02 2.77320191e+02] [ 1.85254388e-02 9.99828383e-01 1.13364655e-04 3.76523920e+00] [ 1.93047194e-02 -4.71052756e-04 9.99813536e-01 3.22730955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.165099893 meters 0.016929784780595886 Centerline is valid? [True, True] Translation: X:277.35, Y:3.77, Z:3.23 [[ 9.99611795e-01 -1.99932664e-02 -1.94043248e-02 2.77348964e+02] [ 1.99991854e-02 9.99799990e-01 1.11013154e-04 3.76566527e+00] [ 1.93982242e-02 -4.99040748e-04 9.99811712e-01 3.22826805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.195099893 meters 0.017754868883148416 Centerline is valid? [True, True] Translation: X:277.38, Y:3.76, Z:3.23 [[ 9.99527450e-01 -2.33090927e-02 -2.00390581e-02 2.77377421e+02] [ 2.33159671e-02 9.99728140e-01 1.09451160e-04 3.76250287e+00] [ 2.00310591e-02 -5.76629458e-04 9.99799192e-01 3.22800842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.225099893 meters 0.018619951741343135 Centerline is valid? [True, True] Translation: X:277.41, Y:3.76, Z:3.23 [[ 9.99420426e-01 -2.68044924e-02 -2.09840829e-02 2.77407284e+02] [ 2.68127252e-02 9.99640468e-01 1.11031442e-04 3.75955848e+00] [ 2.09735623e-02 -6.73607539e-04 9.99779804e-01 3.22748550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.255099893 meters 0.01931104843147933 Centerline is valid? [True, True] Translation: X:277.44, Y:3.76, Z:3.23 [[ 9.99354534e-01 -2.87336628e-02 -2.15613613e-02 2.77436163e+02] [ 2.87427437e-02 9.99586836e-01 1.11315090e-04 3.75784803e+00] [ 2.15492544e-02 -7.30975920e-04 9.99767521e-01 3.22747295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.285099893 meters 0.02160720626958672 Centerline is valid? [True, True] Translation: X:277.46, Y:3.75, Z:3.23 [[ 9.99239428e-01 -3.22505666e-02 -2.19195553e-02 2.77464770e+02] [ 3.22607163e-02 9.99479482e-01 1.09493886e-04 3.75372749e+00] [ 2.19046145e-02 -8.16551162e-04 9.99759732e-01 3.22691182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.315099893 meters 0.022446880918021096 Centerline is valid? [True, True] Translation: X:277.49, Y:3.75, Z:3.23 [[ 9.99176046e-01 -3.42248994e-02 -2.18148091e-02 2.77494199e+02] [ 3.42354005e-02 9.99413791e-01 1.07985178e-04 3.75208353e+00] [ 2.17983253e-02 -8.54734931e-04 9.99762023e-01 3.22770305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.345099893 meters 0.02174825079797084 Centerline is valid? [True, True] Translation: X:277.52, Y:3.75, Z:3.23 [[ 9.99081228e-01 -3.72949001e-02 -2.11137516e-02 2.77524931e+02] [ 3.73054124e-02 9.99303905e-01 1.04099415e-04 3.75278686e+00] [ 2.10951720e-02 -8.91660983e-04 9.99777074e-01 3.22982762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.375099893 meters 0.022026479279958246 Centerline is valid? [True, True] Translation: X:277.56, Y:3.75, Z:3.23 [[ 9.99069889e-01 -3.79096957e-02 -2.05477857e-02 2.77556650e+02] [ 3.79197876e-02 9.99280781e-01 1.01604026e-04 3.75217974e+00] [ 2.05291556e-02 -8.80677194e-04 9.99788867e-01 3.23058959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.405099893 meters 0.024640057581941023 Centerline is valid? [True, True] Translation: X:277.59, Y:3.75, Z:3.23 [[ 9.99035140e-01 -3.85759330e-02 -2.09925404e-02 2.77586814e+02] [ 3.85866263e-02 9.99255253e-01 1.04413157e-04 3.74879289e+00] [ 2.09728785e-02 -9.14343725e-04 9.99779627e-01 3.23049118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43509989300003 meters 0.021901420491284466 Centerline is valid? [True, True] Translation: X:277.62, Y:3.75, Z:3.23 [[ 9.99001855e-01 -3.83682505e-02 -2.28729143e-02 2.77618157e+02] [ 3.83809059e-02 9.99263175e-01 1.14387696e-04 3.75385037e+00] [ 2.28516721e-02 -9.92156691e-04 9.99738374e-01 3.23029204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.465099893 meters 0.021772752073746002 Centerline is valid? [True, True] Translation: X:277.65, Y:3.75, Z:3.23 [[ 9.99012244e-01 -3.82197610e-02 -2.26668397e-02 2.77649087e+02] [ 3.82321697e-02 9.99268877e-01 1.14175604e-04 3.75481659e+00] [ 2.26459037e-02 -9.80665287e-04 9.99743068e-01 3.23076678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49509989300003 meters 0.02318369600525985 Centerline is valid? [True, True] Translation: X:277.68, Y:3.75, Z:3.23 [[ 9.99033738e-01 -3.78650202e-02 -2.23121364e-02 2.77679746e+02] [ 3.78769690e-02 9.99282404e-01 1.13010762e-04 3.75306997e+00] [ 2.22918461e-02 -9.58017662e-04 9.99751047e-01 3.23105875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.525099893 meters 0.02318369600525985 Centerline is valid? [True, True] Translation: X:277.71, Y:3.75, Z:3.23 [[ 9.99035071e-01 -3.78298142e-02 -2.23121335e-02 2.77710619e+02] [ 3.78417671e-02 9.99283737e-01 1.13584322e-04 3.75288342e+00] [ 2.22918553e-02 -9.57805279e-04 9.99751047e-01 3.23144050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55509989300003 meters 0.022218479802330465 Centerline is valid? [True, True] Translation: X:277.74, Y:3.76, Z:3.23 [[ 9.99053155e-01 -3.77918000e-02 -2.15539460e-02 2.77741482e+02] [ 3.78029614e-02 9.99285206e-01 1.10475929e-04 3.75523147e+00] [ 2.15343643e-02 -9.25174313e-04 9.99767681e-01 3.23325685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.585099893 meters 0.022938668587091992 Centerline is valid? [True, True] Translation: X:277.77, Y:3.75, Z:3.23 [[ 9.99051844e-01 -3.72256340e-02 -2.25757515e-02 2.77771443e+02] [ 3.72377494e-02 9.99306428e-01 1.16361380e-04 3.75448743e+00] [ 2.25557619e-02 -9.56921229e-04 9.99745128e-01 3.23308425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61509989300004 meters 0.022938668587091992 Centerline is valid? [True, True] Translation: X:277.80, Y:3.75, Z:3.23 [[ 9.99051844e-01 -3.72256312e-02 -2.25757503e-02 2.77801469e+02] [ 3.72377517e-02 9.99306428e-01 1.16582247e-04 3.75433227e+00] [ 2.25557526e-02 -9.57141895e-04 9.99745128e-01 3.23345551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.645099893 meters 0.023375164873075498 Centerline is valid? [True, True] Translation: X:277.83, Y:3.76, Z:3.23 [[ 9.99028774e-01 -3.74581590e-02 -2.32033553e-02 2.77832095e+02] [ 3.74710256e-02 9.99297707e-01 1.19823229e-04 3.75519771e+00] [ 2.31825714e-02 -9.89160374e-04 9.99730759e-01 3.23423366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67509989300004 meters 0.023547061022383835 Centerline is valid? [True, True] Translation: X:277.86, Y:3.76, Z:3.24 [[ 9.99017818e-01 -3.76906108e-02 -2.32984576e-02 2.77862325e+02] [ 3.77036461e-02 9.99288958e-01 1.20314342e-04 3.75592455e+00] [ 2.32773567e-02 -9.98632974e-04 9.99728547e-01 3.23533455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.705099893 meters 0.024619299492559553 Centerline is valid? [True, True] Translation: X:277.89, Y:3.76, Z:3.24 [[ 9.98989085e-01 -3.83265276e-02 -2.34922233e-02 2.77892549e+02] [ 3.83399608e-02 9.99264746e-01 1.21508179e-04 3.75578623e+00] [ 2.34702935e-02 -1.02207626e-03 9.99724012e-01 3.23590712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73509989300004 meters 0.025018679017484672 Centerline is valid? [True, True] Translation: X:277.92, Y:3.76, Z:3.24 [[ 9.98943415e-01 -3.86274311e-02 -2.48992828e-02 2.77923195e+02] [ 3.86426213e-02 9.99253087e-01 1.29013453e-04 3.75581048e+00] [ 2.48757017e-02 -1.09105070e-03 9.99689956e-01 3.23605371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.765099893 meters 0.023924612869225807 Centerline is valid? [True, True] Translation: X:277.95, Y:3.76, Z:3.24 [[ 9.98945405e-01 -3.85193165e-02 -2.49867907e-02 2.77954179e+02] [ 3.85345800e-02 9.99257259e-01 1.29466867e-04 3.75762091e+00] [ 2.49632450e-02 -1.09218581e-03 9.99687773e-01 3.23653994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.795099893 meters 0.023134710012839753 Centerline is valid? [True, True] Translation: X:277.98, Y:3.76, Z:3.24 [[ 9.98968690e-01 -3.85380706e-02 -2.40077746e-02 2.77984801e+02] [ 3.85521663e-02 9.99256581e-01 1.24394181e-04 3.76048371e+00] [ 2.39851329e-02 -1.04981761e-03 9.99711764e-01 3.23874855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.825099893 meters 0.024490976165074736 Centerline is valid? [True, True] Translation: X:278.01, Y:3.76, Z:3.24 [[ 9.98999456e-01 -3.84907763e-02 -2.27716100e-02 2.78014766e+02] [ 3.85034451e-02 9.99258460e-01 1.17989102e-04 3.76023341e+00] [ 2.27501824e-02 -9.94656482e-04 9.99740686e-01 3.24089979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.855099893 meters 0.023247193391413325 Centerline is valid? [True, True] Translation: X:278.05, Y:3.76, Z:3.24 [[ 9.99009191e-01 -3.87891104e-02 -2.18183632e-02 2.78046522e+02] [ 3.88008187e-02 9.99246958e-01 1.13385867e-04 3.76263698e+00] [ 2.17975350e-02 -9.59843879e-04 9.99761945e-01 3.24275683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.885099893 meters 0.023247193391413325 Centerline is valid? [True, True] Translation: X:278.08, Y:3.76, Z:3.24 [[ 9.99010567e-01 -3.87536646e-02 -2.18183592e-02 2.78077397e+02] [ 3.87653813e-02 9.99248334e-01 1.14160598e-04 3.76244624e+00] [ 2.17975349e-02 -9.59844657e-04 9.99761945e-01 3.24313853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.915099893 meters 0.023142085395219208 Centerline is valid? [True, True] Translation: X:278.11, Y:3.76, Z:3.24 [[ 9.99020653e-01 -3.84415616e-02 -2.19084794e-02 2.78108302e+02] [ 3.84533175e-02 9.99260391e-01 1.15410835e-04 3.76311696e+00] [ 2.18878391e-02 -9.57751520e-04 9.99759974e-01 3.24338476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.945099893 meters 0.022791301379554468 Centerline is valid? [True, True] Translation: X:278.14, Y:3.76, Z:3.24 [[ 9.99026447e-01 -3.83041765e-02 -2.18849053e-02 2.78139830e+02] [ 3.83158912e-02 9.99265670e-01 1.16064913e-04 3.76385333e+00] [ 2.18643887e-02 -9.54491567e-04 9.99760490e-01 3.24340410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.975099893 meters 0.024309231963860586 Centerline is valid? [True, True] Translation: X:278.17, Y:3.76, Z:3.24 [[ 9.99042479e-01 -3.77994131e-02 -2.20301959e-02 2.78170512e+02] [ 3.78111750e-02 9.99284895e-01 1.17452325e-04 3.76196316e+00] [ 2.20100024e-02 -9.50327456e-04 9.99757299e-01 3.24261265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.005099893 meters 0.02257136866773651 Centerline is valid? [True, True] Translation: X:278.20, Y:3.77, Z:3.24 [[ 9.99103108e-01 -3.70088390e-02 -2.05748559e-02 2.78201656e+02] [ 3.70189407e-02 9.99314558e-01 1.10191534e-04 3.76612728e+00] [ 2.05566749e-02 -8.71752074e-04 9.99788309e-01 3.24452865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.035099893 meters 0.022368235353726985 Centerline is valid? [True, True] Translation: X:278.23, Y:3.77, Z:3.25 [[ 9.99135062e-01 -3.62667823e-02 -2.03432407e-02 2.78232824e+02] [ 3.62765190e-02 9.99341784e-01 1.09671843e-04 3.76733202e+00] [ 2.03258730e-02 -8.47558941e-04 9.99793049e-01 3.24545950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.065099893 meters 0.02466371690505045 Centerline is valid? [True, True] Translation: X:278.26, Y:3.76, Z:3.25 [[ 9.99155927e-01 -3.57161040e-02 -2.02926876e-02 2.78263023e+02] [ 3.57256906e-02 9.99361628e-01 1.09978658e-04 3.76469765e+00] [ 2.02758053e-02 -8.34856108e-04 9.99794076e-01 3.24578592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.095099893 meters 0.021444609059376618 Centerline is valid? [True, True] Translation: X:278.29, Y:3.77, Z:3.25 [[ 9.99228043e-01 -3.36781488e-02 -2.02262363e-02 2.78294686e+02] [ 3.36872661e-02 9.99432417e-01 1.10118264e-04 3.77088263e+00] [ 2.02110477e-02 -7.91399863e-04 9.99795423e-01 3.24657607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.125099893 meters 0.02171797983633246 Centerline is valid? [True, True] Translation: X:278.33, Y:3.77, Z:3.25 [[ 9.99241068e-01 -3.28780479e-02 -2.08883036e-02 2.78325385e+02] [ 3.28876102e-02 9.99459050e-01 1.14332335e-04 3.77056043e+00] [ 2.08732451e-02 -8.01211951e-04 9.99781809e-01 3.24573079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.155099893 meters 0.020804519110680146 Centerline is valid? [True, True] Translation: X:278.36, Y:3.77, Z:3.25 [[ 9.99276226e-01 -3.18154786e-02 -2.08518250e-02 2.78357086e+02] [ 3.18247874e-02 9.99493457e-01 1.14654550e-04 3.77354169e+00] [ 2.08376149e-02 -7.78176464e-04 9.99782570e-01 3.24639651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18509989300003 meters 0.021756098711702254 Centerline is valid? [True, True] Translation: X:278.39, Y:3.77, Z:3.25 [[ 9.99305964e-01 -3.14623141e-02 -1.99427692e-02 2.78387249e+02] [ 3.14707696e-02 9.99504667e-01 1.10213230e-04 3.77349917e+00] [ 1.99294234e-02 -7.37751033e-04 9.99801117e-01 3.24776009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.215099893 meters 0.020746363733251096 Centerline is valid? [True, True] Translation: X:278.42, Y:3.78, Z:3.25 [[ 9.99300937e-01 -3.18740254e-02 -1.95367106e-02 2.78419010e+02] [ 3.18822278e-02 9.99491627e-01 1.08441267e-04 3.77554606e+00] [ 1.95233222e-02 -7.31239319e-04 9.99809134e-01 3.25009989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24509989300003 meters 0.020332771440416172 Centerline is valid? [True, True] Translation: X:278.45, Y:3.78, Z:3.25 [[ 9.99307575e-01 -3.23572810e-02 -1.83678064e-02 2.78450483e+02] [ 3.23646242e-02 9.99476123e-01 1.02587930e-04 3.77549439e+00] [ 1.83548644e-02 -6.96984045e-04 9.99831292e-01 3.25089297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.275099893 meters 0.021226554218441825 Centerline is valid? [True, True] Translation: X:278.48, Y:3.77, Z:3.25 [[ 9.99303728e-01 -3.31495624e-02 -1.71220694e-02 2.78480625e+02] [ 3.31560678e-02 9.99450182e-01 9.61338869e-05 3.77315105e+00] [ 1.71094686e-02 -6.63767446e-04 9.99853402e-01 3.25251696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30509989300003 meters 0.021285373428905758 Centerline is valid? [True, True] Translation: X:278.51, Y:3.77, Z:3.25 [[ 9.99300624e-01 -3.35595059e-02 -1.64931211e-02 2.78513258e+02] [ 3.35656062e-02 9.99436512e-01 9.31124151e-05 3.77252467e+00] [ 1.64807026e-02 -6.46648902e-04 9.99863975e-01 3.25333360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.335099893 meters 0.021285373428905758 Centerline is valid? [True, True] Translation: X:278.54, Y:3.77, Z:3.25 [[ 9.99303025e-01 -3.34879373e-02 -1.64931143e-02 2.78544975e+02] [ 3.34940473e-02 9.99438913e-01 9.42938407e-05 3.77228559e+00] [ 1.64807025e-02 -6.46649272e-04 9.99863975e-01 3.25372555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36509989300004 meters 0.02098686778630511 Centerline is valid? [True, True] Translation: X:278.58, Y:3.77, Z:3.25 [[ 9.99268016e-01 -3.46114861e-02 -1.62934792e-02 2.78577398e+02] [ 3.46176171e-02 9.99400626e-01 9.43131111e-05 3.77206674e+00] [ 1.62804490e-02 -6.58285499e-04 9.99867248e-01 3.25424203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.395099893 meters 0.02098686778630511 Centerline is valid? [True, True] Translation: X:278.61, Y:3.77, Z:3.25 [[ 9.99270534e-01 -3.45387029e-02 -1.62934722e-02 2.78609117e+02] [ 3.45448436e-02 9.99403144e-01 9.54989436e-05 3.77182438e+00] [ 1.62804490e-02 -6.58284731e-04 9.99867248e-01 3.25463400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42509989300004 meters 0.021892387473572156 Centerline is valid? [True, True] Translation: X:278.64, Y:3.77, Z:3.25 [[ 9.99232559e-01 -3.52387461e-02 -1.71033338e-02 2.78640335e+02] [ 3.52456396e-02 9.99378674e-01 1.01696125e-04 3.76956300e+00] [ 1.70891235e-02 -7.04436021e-04 9.99853722e-01 3.25403171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.455099893 meters 0.0219854843024815 Centerline is valid? [True, True] Translation: X:278.67, Y:3.77, Z:3.25 [[ 9.99189126e-01 -3.60283362e-02 -1.79735619e-02 2.78672792e+02] [ 3.60361089e-02 9.99350483e-01 1.08660367e-04 3.76852643e+00] [ 1.79579729e-02 -7.56269490e-04 9.99838457e-01 3.25323733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48509989300004 meters 0.0219854843024815 Centerline is valid? [True, True] Translation: X:278.70, Y:3.77, Z:3.25 [[ 9.99191727e-01 -3.59561511e-02 -1.79735539e-02 2.78704513e+02] [ 3.59639354e-02 9.99353082e-01 1.09957304e-04 3.76827485e+00] [ 1.79579729e-02 -7.56268162e-04 9.99838457e-01 3.25362933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.515099893 meters 0.022912679432649852 Centerline is valid? [True, True] Translation: X:278.74, Y:3.77, Z:3.25 [[ 9.99071168e-01 -3.83784103e-02 -1.95933322e-02 2.78735775e+02] [ 3.83881503e-02 9.99262896e-01 1.21099488e-04 3.76507304e+00] [ 1.95742423e-02 -8.73138788e-04 9.99808025e-01 3.25216118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.545099893 meters 0.023389605131072903 Centerline is valid? [True, True] Translation: X:278.77, Y:3.76, Z:3.25 [[ 9.99020064e-01 -3.93980383e-02 -2.01669647e-02 2.78767791e+02] [ 3.94085849e-02 9.99223172e-01 1.25660074e-04 3.76326620e+00] [ 2.01463477e-02 -9.20288474e-04 9.99796618e-01 3.25213621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.575099893 meters 0.024487308576555372 Centerline is valid? [True, True] Translation: X:278.80, Y:3.76, Z:3.25 [[ 9.98937704e-01 -4.18639639e-02 -1.92580483e-02 2.78799300e+02] [ 4.18740592e-02 9.99122890e-01 1.21088316e-04 3.76037949e+00] [ 1.92360876e-02 -9.27372337e-04 9.99814539e-01 3.25323027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.605099893 meters 0.02403857519161845 Centerline is valid? [True, True] Translation: X:278.83, Y:3.76, Z:3.25 [[ 9.98913521e-01 -4.28508883e-02 -1.83188385e-02 2.78831030e+02] [ 4.28602019e-02 9.99081073e-01 1.15927019e-04 3.75998956e+00] [ 1.82970372e-02 -9.00950181e-04 9.99832189e-01 3.25437011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.635099893 meters 0.02484164589322723 Centerline is valid? [True, True] Translation: X:278.86, Y:3.76, Z:3.26 [[ 9.98881556e-01 -4.38258687e-02 -1.77463017e-02 2.78862991e+02] [ 4.38347809e-02 9.99038788e-01 1.13345349e-04 3.75802808e+00] [ 1.77242763e-02 -8.91123827e-04 9.99842516e-01 3.25536186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.665099893 meters 0.025159513664209432 Centerline is valid? [True, True] Translation: X:278.89, Y:3.76, Z:3.26 [[ 9.98806247e-01 -4.58563995e-02 -1.68306564e-02 2.78894584e+02] [ 4.58647214e-02 9.98947654e-01 1.08586555e-04 3.75600628e+00] [ 1.68079653e-02 -8.80390296e-04 9.99858349e-01 3.25608541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.695099893 meters 0.02474328972115836 Centerline is valid? [True, True] Translation: X:278.93, Y:3.76, Z:3.26 [[ 9.98780827e-01 -4.63036378e-02 -1.71123681e-02 2.78927151e+02] [ 4.63123238e-02 9.98927002e-01 1.11438595e-04 3.75550471e+00] [ 1.70888465e-02 -9.03816263e-04 9.99853566e-01 3.25619523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.725099893 meters 0.026121021159485995 Centerline is valid? [True, True] Translation: X:278.96, Y:3.75, Z:3.26 [[ 9.98739103e-01 -4.68304320e-02 -1.80862874e-02 2.78958711e+02] [ 4.68402503e-02 9.98902386e-01 1.19386937e-04 3.75193327e+00] [ 1.80608447e-02 -9.66402631e-04 9.99836423e-01 3.25533758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.755099893 meters 0.02681149605822117 Centerline is valid? [True, True] Translation: X:278.99, Y:3.75, Z:3.26 [[ 9.98737820e-01 -4.69084575e-02 -1.79544732e-02 2.78990342e+02] [ 4.69181760e-02 9.98898729e-01 1.20206656e-04 3.74990076e+00] [ 1.79290617e-02 -9.62446066e-04 9.99838798e-01 3.25544403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.785099893 meters 0.02679000844687163 Centerline is valid? [True, True] Translation: X:279.02, Y:3.75, Z:3.26 [[ 9.98746725e-01 -4.68312445e-02 -1.76582356e-02 2.79022259e+02] [ 4.68406510e-02 9.98902367e-01 1.19253021e-04 3.74904212e+00] [ 1.76332686e-02 -9.46226818e-04 9.99844074e-01 3.25567129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.815099893 meters 0.02815685361432889 Centerline is valid? [True, True] Translation: X:279.05, Y:3.75, Z:3.26 [[ 9.98773477e-01 -4.65636459e-02 -1.68335624e-02 2.79053780e+02] [ 4.65721744e-02 9.98914921e-01 1.14761573e-04 3.74550501e+00] [ 1.68099529e-02 -8.98596417e-04 9.99858299e-01 3.25656352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.845099893 meters 0.027945052584013575 Centerline is valid? [True, True] Translation: X:279.09, Y:3.74, Z:3.26 [[ 9.98811974e-01 -4.59352050e-02 -1.62664323e-02 2.79085572e+02] [ 4.59431000e-02 9.98944052e-01 1.11802379e-04 3.74498986e+00] [ 1.62441201e-02 -8.58999879e-04 9.99867687e-01 3.25731320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.875099893 meters 0.02804903332072614 Centerline is valid? [True, True] Translation: X:279.12, Y:3.74, Z:3.26 [[ 9.98855413e-01 -4.49891569e-02 -1.62431528e-02 2.79117407e+02] [ 4.49969230e-02 9.98987119e-01 1.12774220e-04 3.74435841e+00] [ 1.62216268e-02 -8.43537037e-04 9.99868065e-01 3.25728996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.905099893 meters 0.02546099575134039 Centerline is valid? [True, True] Translation: X:279.15, Y:3.75, Z:3.26 [[ 9.98901948e-01 -4.39298720e-02 -1.62808022e-02 2.79149294e+02] [ 4.39375523e-02 9.99034273e-01 1.14175248e-04 3.74744515e+00] [ 1.62600637e-02 -8.29388478e-04 9.99867452e-01 3.25777841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93509989300003 meters 0.024357679151567342 Centerline is valid? [True, True] Translation: X:279.18, Y:3.75, Z:3.26 [[ 9.98937092e-01 -4.29583883e-02 -1.67111423e-02 2.79181641e+02] [ 4.29663649e-02 9.99076512e-01 1.18417183e-04 3.74868026e+00] [ 1.66906228e-02 -8.36308354e-04 9.99860352e-01 3.25770113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.965099893 meters 0.022817099273433377 Centerline is valid? [True, True] Translation: X:279.21, Y:3.75, Z:3.26 [[ 9.99045860e-01 -4.03856597e-02 -1.66243246e-02 2.79213331e+02] [ 4.03932178e-02 9.99183854e-01 1.18980838e-04 3.74986064e+00] [ 1.66059516e-02 -7.90377279e-04 9.99861799e-01 3.25764261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99509989300003 meters 0.023408647958428785 Centerline is valid? [True, True] Translation: X:279.24, Y:3.75, Z:3.26 [[ 9.99167825e-01 -3.70643485e-02 -1.70262122e-02 2.79243611e+02] [ 3.70718183e-02 9.99312596e-01 1.23207913e-04 3.74846764e+00] [ 1.70099417e-02 -7.54298026e-04 9.99855036e-01 3.25691815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.025099893 meters 0.0201849257010585 Centerline is valid? [True, True] Translation: X:279.28, Y:3.75, Z:3.26 [[ 9.99305638e-01 -3.33786593e-02 -1.65561721e-02 2.79275613e+02] [ 3.33852424e-02 9.99442550e-01 1.21319340e-04 3.75401275e+00] [ 1.65428934e-02 -6.73966920e-04 9.99862930e-01 3.25757429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05509989300003 meters 0.02051978433394747 Centerline is valid? [True, True] Translation: X:279.31, Y:3.75, Z:3.26 [[ 9.99368429e-01 -3.15971268e-02 -1.62592735e-02 2.79305910e+02] [ 3.16032560e-02 9.99500485e-01 1.20096848e-04 3.75374213e+00] [ 1.62473570e-02 -6.33866981e-04 9.99867802e-01 3.25792091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.085099893 meters 0.020632758119369824 Centerline is valid? [True, True] Translation: X:279.34, Y:3.75, Z:3.26 [[ 9.99425896e-01 -2.98619535e-02 -1.60044144e-02 2.79336568e+02] [ 2.98676856e-02 9.99553854e-01 1.19200019e-04 3.75373453e+00] [ 1.59937146e-02 -5.97146403e-04 9.99871914e-01 3.25794758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11509989300004 meters 0.020632758119369824 Centerline is valid? [True, True] Translation: X:279.37, Y:3.75, Z:3.26 [[ 9.99426955e-01 -2.98264995e-02 -1.60044118e-02 2.79367434e+02] [ 2.98322326e-02 9.99554913e-01 1.19550973e-04 3.75347479e+00] [ 1.59937227e-02 -5.96929801e-04 9.99871914e-01 3.25832923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.145099893 meters 0.0194907802447072 Centerline is valid? [True, True] Translation: X:279.40, Y:3.76, Z:3.26 [[ 9.99486477e-01 -2.78624528e-02 -1.58260898e-02 2.79399181e+02] [ 2.78678228e-02 9.99611610e-01 1.18840211e-04 3.75525589e+00] [ 1.58166319e-02 -5.59817850e-04 9.99874753e-01 3.25873273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17509989300004 meters 0.01890263639655839 Centerline is valid? [True, True] Translation: X:279.43, Y:3.76, Z:3.26 [[ 9.99575707e-01 -2.46575030e-02 -1.55052810e-02 2.79429733e+02] [ 2.46622871e-02 9.99695833e-01 1.17381518e-04 3.75576526e+00] [ 1.54976705e-02 -4.99727406e-04 9.99879779e-01 3.25889561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.205099893 meters 0.018417614641564748 Centerline is valid? [True, True] Translation: X:279.46, Y:3.76, Z:3.26 [[ 9.99611646e-01 -2.30190891e-02 -1.57060170e-02 2.79460100e+02] [ 2.30238143e-02 9.99734910e-01 1.20073521e-04 3.75615875e+00] [ 1.56990895e-02 -4.81639308e-04 9.99876646e-01 3.25880996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23509989300004 meters 0.018535701526564412 Centerline is valid? [True, True] Translation: X:279.49, Y:3.76, Z:3.26 [[ 9.99634961e-01 -2.18414195e-02 -1.59027460e-02 2.79489788e+02] [ 2.18461139e-02 9.99761338e-01 1.21515124e-04 3.75610643e+00] [ 1.58962965e-02 -4.68883965e-04 9.99873536e-01 3.25881877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.265099893 meters 0.01720110611941824 Centerline is valid? [True, True] Translation: X:279.52, Y:3.76, Z:3.26 [[ 9.99717979e-01 -1.89234388e-02 -1.43480528e-02 2.79519273e+02] [ 1.89269559e-02 9.99820863e-01 1.09367769e-04 3.75905124e+00] [ 1.43434130e-02 -3.80901889e-04 9.99897055e-01 3.26038101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.295099893 meters 0.01679929069639779 Centerline is valid? [True, True] Translation: X:279.55, Y:3.76, Z:3.26 [[ 9.99736262e-01 -1.72795648e-02 -1.51269122e-02 2.79549001e+02] [ 1.72832776e-02 9.99850626e-01 1.14739662e-04 3.76012935e+00] [ 1.51226700e-02 -3.76152024e-04 9.99885575e-01 3.26020699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.325099893 meters 0.0168060344489962 Centerline is valid? [True, True] Translation: X:279.58, Y:3.76, Z:3.26 [[ 9.99749472e-01 -1.60629665e-02 -1.55876155e-02 2.79577293e+02] [ 1.60667514e-02 9.99870915e-01 1.17607197e-04 3.76012432e+00] [ 1.55837142e-02 -3.68020076e-04 9.99878499e-01 3.25936314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.355099893 meters 0.01628201655148057 Centerline is valid? [True, True] Translation: X:279.61, Y:3.76, Z:3.26 [[ 9.99770976e-01 -1.43977096e-02 -1.58335366e-02 2.79606195e+02] [ 1.44013819e-02 9.99896288e-01 1.17934648e-04 3.76094508e+00] [ 1.58301965e-02 -3.45932446e-04 9.99874635e-01 3.25912188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.385099893 meters 0.01582613372098133 Centerline is valid? [True, True] Translation: X:279.63, Y:3.76, Z:3.26 [[ 9.99839602e-01 -1.11867198e-02 -1.39867155e-02 2.79634101e+02] [ 1.11892315e-02 9.99937393e-01 1.01329164e-04 3.76212793e+00] [ 1.39847063e-02 -2.57813508e-04 9.99902176e-01 3.26078715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.415099893 meters 0.015146949110663851 Centerline is valid? [True, True] Translation: X:279.66, Y:3.76, Z:3.26 [[ 9.99866012e-01 -8.27310200e-03 -1.41249625e-02 2.79663299e+02] [ 8.27535176e-03 9.99965754e-01 1.00834172e-04 3.76399067e+00] [ 1.41236445e-02 -2.17709694e-04 9.99900233e-01 3.26065282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.445099893 meters 0.014750276509584125 Centerline is valid? [True, True] Translation: X:279.69, Y:3.77, Z:3.26 [[ 9.99865231e-01 -7.05501885e-03 -1.48238793e-02 2.79691979e+02] [ 7.05730973e-03 9.99975092e-01 1.02233847e-04 3.76539721e+00] [ 1.48227888e-02 -2.06836777e-04 9.99890115e-01 3.26067803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.475099893 meters 0.014685581248467172 Centerline is valid? [True, True] Translation: X:279.72, Y:3.77, Z:3.26 [[ 9.99864272e-01 -5.32849394e-03 -1.55898909e-02 2.79720258e+02] [ 5.33075409e-03 9.99985786e-01 1.03423624e-04 3.76556014e+00] [ 1.55891182e-02 -1.86515461e-04 9.99878465e-01 3.26001269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.505099893 meters 0.014568462677699331 Centerline is valid? [True, True] Translation: X:279.75, Y:3.77, Z:3.26 [[ 9.99862276e-01 -5.22158064e-03 -1.57532001e-02 2.79747995e+02] [ 5.22381041e-03 9.99986351e-01 1.00398259e-04 3.76589108e+00] [ 1.57524608e-02 -1.82676162e-04 9.99875906e-01 3.26052791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.535099893 meters 0.014568462677699331 Centerline is valid? [True, True] Translation: X:279.78, Y:3.77, Z:3.26 [[ 9.99860725e-01 -5.51048417e-03 -1.57532279e-02 2.79775379e+02] [ 5.51267803e-03 9.99984800e-01 9.58430025e-05 3.76578086e+00] [ 1.57524603e-02 -1.82672127e-04 9.99875906e-01 3.26086780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.565099893 meters 0.014666712722977874 Centerline is valid? [True, True] Translation: X:279.80, Y:3.76, Z:3.26 [[ 9.99864812e-01 -5.07340500e-03 -1.56402473e-02 2.79803500e+02] [ 5.07545397e-03 9.99987116e-01 9.13158098e-05 3.76434759e+00] [ 1.56395825e-02 -1.70684820e-04 9.99877680e-01 3.26041625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.595099893 meters 0.014766078992953834 Centerline is valid? [True, True] Translation: X:279.83, Y:3.76, Z:3.26 [[ 9.99860424e-01 -5.40022031e-03 -1.58104432e-02 2.79831758e+02] [ 5.40233247e-03 9.99985403e-01 9.08863791e-05 3.76316550e+00] [ 1.58097216e-02 -1.76286964e-04 9.99875003e-01 3.26051811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.625099893 meters 0.014716633710742512 Centerline is valid? [True, True] Translation: X:279.86, Y:3.76, Z:3.26 [[ 9.99872051e-01 -6.17004604e-03 -1.47584485e-02 2.79859215e+02] [ 6.17194493e-03 9.99980950e-01 8.31210954e-05 3.76225026e+00] [ 1.47576544e-02 -1.74198791e-04 9.99891085e-01 3.26193097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.655099893 meters 0.01488166165158619 Centerline is valid? [True, True] Translation: X:279.89, Y:3.76, Z:3.26 [[ 9.99880481e-01 -6.64160559e-03 -1.39611152e-02 2.79886289e+02] [ 6.64330060e-03 9.99977930e-01 7.50363871e-05 3.76090968e+00] [ 1.39603087e-02 -1.67775304e-04 9.99902536e-01 3.26249709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68509989300003 meters 0.01501522152323821 Centerline is valid? [True, True] Translation: X:279.91, Y:3.76, Z:3.26 [[ 9.99884250e-01 -7.43877584e-03 -1.32721978e-02 2.79914522e+02] [ 7.44035723e-03 9.99972318e-01 6.97770720e-05 3.75923284e+00] [ 1.32713114e-02 -1.68518889e-04 9.99911918e-01 3.26323431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.715099893 meters 0.015385243297190456 Centerline is valid? [True, True] Translation: X:279.94, Y:3.76, Z:3.26 [[ 9.99881521e-01 -9.75011817e-03 -1.19112802e-02 2.79942972e+02] [ 9.75154449e-03 9.99952451e-01 6.16711068e-05 3.75645588e+00] [ 1.19101125e-02 -1.77817179e-04 9.99929056e-01 3.26489690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74509989300003 meters 0.01575872846807928 Centerline is valid? [True, True] Translation: X:279.97, Y:3.75, Z:3.27 [[ 9.99887044e-01 -1.10029702e-02 -1.02388858e-02 2.79970884e+02] [ 1.10040840e-02 9.99939452e-01 5.24455271e-05 3.75399174e+00] [ 1.02376888e-02 -1.65109162e-04 9.99947580e-01 3.26598579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.775099893 meters 0.0157009886374904 Centerline is valid? [True, True] Translation: X:280.00, Y:3.75, Z:3.27 [[ 9.99869774e-01 -1.28404559e-02 -9.77541039e-03 2.80000284e+02] [ 1.28415496e-02 9.99917543e-01 4.91266822e-05 3.75291327e+00] [ 9.77397352e-03 -1.74651702e-04 9.99952218e-01 3.26712854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80509989300003 meters 0.016583224603830857 Centerline is valid? [True, True] Translation: X:280.03, Y:3.75, Z:3.27 [[ 9.99787963e-01 -1.71575711e-02 -1.13862974e-02 2.80030446e+02] [ 1.71593292e-02 9.99852766e-01 5.67184505e-05 3.74765616e+00] [ 1.13836478e-02 -2.52087650e-04 9.99935172e-01 3.26581759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.835099893 meters 0.016964498180196505 Centerline is valid? [True, True] Translation: X:280.06, Y:3.75, Z:3.27 [[ 9.99727038e-01 -1.94796028e-02 -1.28993804e-02 2.80061193e+02] [ 1.94820491e-02 9.99810205e-01 6.40031007e-05 3.74501491e+00] [ 1.28956854e-02 -3.15291993e-04 9.99916797e-01 3.26503036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86509989300004 meters 0.018649222219124396 Centerline is valid? [True, True] Translation: X:280.09, Y:3.74, Z:3.26 [[ 9.99603991e-01 -2.43984534e-02 -1.40205576e-02 2.80090917e+02] [ 2.44018265e-02 9.99702229e-01 6.95364107e-05 3.73850064e+00] [ 1.40146861e-02 -4.11636088e-04 9.99901705e-01 3.26366566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.895099893 meters 0.019341957924343196 Centerline is valid? [True, True] Translation: X:280.12, Y:3.74, Z:3.26 [[ 9.99531770e-01 -2.69251118e-02 -1.45354161e-02 2.80122204e+02] [ 2.69290019e-02 9.99637346e-01 7.19370436e-05 3.73565338e+00] [ 1.45282079e-02 -4.63327608e-04 9.99894353e-01 3.26352617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92509989300004 meters 0.01922285925391831 Centerline is valid? [True, True] Translation: X:280.15, Y:3.73, Z:3.26 [[ 9.99467849e-01 -2.90641915e-02 -1.48084800e-02 2.80153735e+02] [ 2.90684716e-02 9.99577420e-01 7.38236309e-05 3.73424669e+00] [ 1.48000766e-02 -5.04244226e-04 9.99890346e-01 3.26340294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.955099893 meters 0.021306760691005986 Centerline is valid? [True, True] Translation: X:280.18, Y:3.73, Z:3.26 [[ 9.99359411e-01 -3.25742769e-02 -1.48217271e-02 2.80183595e+02] [ 3.25789568e-02 9.99469162e-01 7.43388333e-05 3.72844019e+00] [ 1.48114376e-02 -5.57167619e-04 9.99890149e-01 3.26353071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98509989300004 meters 0.021242699037330327 Centerline is valid? [True, True] Translation: X:280.22, Y:3.73, Z:3.26 [[ 9.99327978e-01 -3.36052254e-02 -1.46383650e-02 2.80215407e+02] [ 3.36099030e-02 9.99435025e-01 7.35819646e-05 3.72742161e+00] [ 1.46276219e-02 -5.65526542e-04 9.99892851e-01 3.26384170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.015099893 meters 0.022319064240907772 Centerline is valid? [True, True] Translation: X:280.25, Y:3.72, Z:3.26 [[ 9.99273048e-01 -3.53557053e-02 -1.42600480e-02 2.80246380e+02] [ 3.53603359e-02 9.99374625e-01 7.26442985e-05 3.72451020e+00] [ 1.42485617e-02 -5.76831576e-04 9.99898318e-01 3.26396071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.045099893 meters 0.022693560456407684 Centerline is valid? [True, True] Translation: X:280.28, Y:3.72, Z:3.26 [[ 9.99256920e-01 -3.59958892e-02 -1.37805923e-02 2.80278249e+02] [ 3.60002846e-02 9.99351777e-01 7.09397092e-05 3.72350491e+00] [ 1.37691059e-02 -5.66992241e-04 9.99905041e-01 3.26453247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.075099893 meters 0.022453724000447966 Centerline is valid? [True, True] Translation: X:280.31, Y:3.72, Z:3.27 [[ 9.99247243e-01 -3.64715193e-02 -1.32202765e-02 2.80310435e+02] [ 3.64756179e-02 9.99334541e-01 6.89558067e-05 3.72341393e+00] [ 1.32089640e-02 -5.51121654e-04 9.99912606e-01 3.26543373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.105099893 meters 0.023530454354158965 Centerline is valid? [True, True] Translation: X:280.34, Y:3.72, Z:3.27 [[ 9.99181886e-01 -3.87335319e-02 -1.16306909e-02 2.80342754e+02] [ 3.87368654e-02 9.99249444e-01 6.13895506e-05 3.72127395e+00] [ 1.16195836e-02 -5.11875835e-04 9.99932359e-01 3.26792779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.135099893 meters 0.02411986721286991 Centerline is valid? [True, True] Translation: X:280.37, Y:3.72, Z:3.27 [[ 9.99066808e-01 -4.07017156e-02 -1.44528005e-02 2.80374380e+02] [ 4.07070877e-02 9.99171120e-01 7.75853706e-05 3.71922765e+00] [ 1.44376630e-02 -6.65844386e-04 9.99895550e-01 3.26541032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.165099893 meters 0.0259062083919076 Centerline is valid? [True, True] Translation: X:280.41, Y:3.72, Z:3.26 [[ 9.98982597e-01 -4.23216226e-02 -1.55772870e-02 2.80405714e+02] [ 4.23280829e-02 9.99103761e-01 8.51155215e-05 3.71568725e+00] [ 1.55597238e-02 -7.44385619e-04 9.99878663e-01 3.26361035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.195099893 meters 0.025841154737475093 Centerline is valid? [True, True] Translation: X:280.44, Y:3.72, Z:3.27 [[ 9.98872822e-01 -4.51728806e-02 -1.45772681e-02 2.80437151e+02] [ 4.51788509e-02 9.98978911e-01 8.03458820e-05 3.71546879e+00] [ 1.45587539e-02 -7.38839539e-04 9.99893743e-01 3.26577626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.225099893 meters 0.02985409150812153 Centerline is valid? [True, True] Translation: X:280.47, Y:3.71, Z:3.27 [[ 9.98728765e-01 -4.80998352e-02 -1.50751355e-02 2.80467397e+02] [ 4.81065615e-02 9.98842206e-01 8.36643609e-05 3.70952944e+00] [ 1.50536574e-02 -8.08770937e-04 9.99886360e-01 3.26607799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.255099893 meters 0.029657555717827338 Centerline is valid? [True, True] Translation: X:280.50, Y:3.71, Z:3.27 [[ 9.98641655e-01 -4.93719620e-02 -1.66509622e-02 2.80499106e+02] [ 4.93803582e-02 9.98780042e-01 9.32349992e-05 3.70957350e+00] [ 1.66260456e-02 -9.15338835e-04 9.99861359e-01 3.26528525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.285099893 meters 0.029657555717827338 Centerline is valid? [True, True] Translation: X:280.53, Y:3.71, Z:3.27 [[ 9.98645077e-01 -4.93026877e-02 -1.66509569e-02 2.80530842e+02] [ 4.93110900e-02 9.98783464e-01 9.41775249e-05 3.70933216e+00] [ 1.66260572e-02 -9.15126758e-04 9.99861359e-01 3.26567756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.315099893 meters 0.029657555717827338 Centerline is valid? [True, True] Translation: X:280.56, Y:3.71, Z:3.27 [[ 9.98648495e-01 -4.92334106e-02 -1.66509503e-02 2.80562579e+02] [ 4.92418225e-02 9.98786881e-01 9.53324581e-05 3.70908852e+00] [ 1.66260572e-02 -9.15126756e-04 9.99861359e-01 3.26606980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.345099893 meters 0.030661266105810058 Centerline is valid? [True, True] Translation: X:280.59, Y:3.71, Z:3.27 [[ 9.98558633e-01 -5.05388610e-02 -1.80687574e-02 2.80594314e+02] [ 5.05490020e-02 9.98721577e-01 1.04675810e-04 3.70743035e+00] [ 1.80403676e-02 -1.01788258e-03 9.99836741e-01 3.26527482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.375099893 meters 0.031615715922036776 Centerline is valid? [True, True] Translation: X:280.63, Y:3.71, Z:3.26 [[ 9.98449078e-01 -5.22668333e-02 -1.91733258e-02 2.80625566e+02] [ 5.22785873e-02 9.98632533e-01 1.11987021e-04 3.70602767e+00] [ 1.91412537e-02 -1.11416772e-03 9.99816169e-01 3.26408463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.405099893 meters 0.032314520726736906 Centerline is valid? [True, True] Translation: X:280.66, Y:3.71, Z:3.26 [[ 9.98419107e-01 -5.27407051e-02 -1.94346191e-02 2.80658203e+02] [ 5.27528889e-02 9.98607590e-01 1.14425565e-04 3.70508575e+00] [ 1.94015233e-02 -1.13947697e-03 9.99811123e-01 3.26409537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43509989300003 meters 0.03003469236703374 Centerline is valid? [True, True] Translation: X:280.69, Y:3.71, Z:3.27 [[ 9.98426777e-01 -5.27618652e-02 -1.89778058e-02 2.80689926e+02] [ 5.27735111e-02 9.98606501e-01 1.13026609e-04 3.70871672e+00] [ 1.89453968e-02 -1.11437424e-03 9.99819899e-01 3.26535345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.465099893 meters 0.03003469236703374 Centerline is valid? [True, True] Translation: X:280.72, Y:3.71, Z:3.27 [[ 9.98430490e-01 -5.26915471e-02 -1.89777978e-02 2.80721670e+02] [ 5.27032057e-02 9.98610214e-01 1.14362592e-04 3.70846496e+00] [ 1.89453967e-02 -1.11437388e-03 9.99819899e-01 3.26574578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49509989300003 meters 0.030762001960394973 Centerline is valid? [True, True] Translation: X:280.75, Y:3.71, Z:3.27 [[ 9.98575684e-01 -5.02793471e-02 -1.78491282e-02 2.80752146e+02] [ 5.02892921e-02 9.98734687e-01 1.08476897e-04 3.70931646e+00] [ 1.78210893e-02 -1.00594241e-03 9.99840686e-01 3.26740276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.525099893 meters 0.027310860042838486 Centerline is valid? [True, True] Translation: X:280.78, Y:3.72, Z:3.27 [[ 9.98694617e-01 -4.81002904e-02 -1.71878932e-02 2.80783657e+02] [ 4.81091969e-02 9.98842077e-01 1.04840969e-04 3.71503103e+00] [ 1.71629481e-02 -9.31599850e-04 9.99852272e-01 3.26901351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55509989300003 meters 0.028776717614687784 Centerline is valid? [True, True] Translation: X:280.81, Y:3.71, Z:3.27 [[ 9.98831378e-01 -4.55678655e-02 -1.61074034e-02 2.80813740e+02] [ 4.55753665e-02 9.98960898e-01 9.87313658e-05 3.71366101e+00] [ 1.60861672e-02 -8.32716799e-04 9.99870262e-01 3.26960517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.585099893 meters 0.024171566943854517 Centerline is valid? [True, True] Translation: X:280.85, Y:3.72, Z:3.27 [[ 9.98968374e-01 -4.27278758e-02 -1.53790636e-02 2.80845432e+02] [ 4.27343837e-02 9.99086464e-01 9.46416623e-05 3.72119433e+00] [ 1.53609705e-02 -7.51758835e-04 9.99881731e-01 3.27076732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61509989300004 meters 0.023827757702317726 Centerline is valid? [True, True] Translation: X:280.88, Y:3.72, Z:3.27 [[ 9.99204469e-01 -3.71791161e-02 -1.44271147e-02 2.80875086e+02] [ 3.71842747e-02 9.99308422e-01 8.93909445e-05 3.72416829e+00] [ 1.44138137e-02 -6.25781628e-04 9.99895920e-01 3.27157258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.645099893 meters 0.02070332887216194 Centerline is valid? [True, True] Translation: X:280.91, Y:3.73, Z:3.27 [[ 9.99299096e-01 -3.45686059e-02 -1.43641642e-02 2.80906563e+02] [ 3.45734493e-02 9.99402156e-01 8.89300747e-05 3.73036381e+00] [ 1.43525025e-02 -5.85486446e-04 9.99896826e-01 3.27254483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67509989300004 meters 0.02052785929579255 Centerline is valid? [True, True] Translation: X:280.94, Y:3.73, Z:3.27 [[ 9.99410102e-01 -3.07537905e-02 -1.52856961e-02 2.80936682e+02] [ 3.07588382e-02 9.99526830e-01 9.51769835e-05 3.73264631e+00] [ 1.52755363e-02 -5.65291092e-04 9.99883162e-01 3.27226650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.705099893 meters 0.019874613288876394 Centerline is valid? [True, True] Translation: X:280.97, Y:3.73, Z:3.27 [[ 9.99446260e-01 -2.90949363e-02 -1.61449383e-02 2.80967916e+02] [ 2.91003575e-02 9.99576490e-01 1.00905063e-04 3.73404491e+00] [ 1.61351649e-02 -5.70672664e-04 9.99869657e-01 3.27190980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73509989300004 meters 0.0195331232725043 Centerline is valid? [True, True] Translation: X:281.00, Y:3.74, Z:3.27 [[ 9.99482498e-01 -2.70003940e-02 -1.74846964e-02 2.80998588e+02] [ 2.70064423e-02 9.99635253e-01 1.09853053e-04 3.73506839e+00] [ 1.74753528e-02 -5.81995648e-04 9.99847125e-01 3.27155420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.765099893 meters 0.019204716517164967 Centerline is valid? [True, True] Translation: X:281.03, Y:3.74, Z:3.27 [[ 9.99534517e-01 -2.48355764e-02 -1.77184329e-02 2.81029263e+02] [ 2.48414518e-02 9.99691397e-01 1.11545317e-04 3.73647287e+00] [ 1.77101947e-02 -5.51644992e-04 9.99843010e-01 3.27166146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.795099893 meters 0.01788205636819154 Centerline is valid? [True, True] Translation: X:281.06, Y:3.74, Z:3.27 [[ 9.99583144e-01 -2.21255690e-02 -1.85471883e-02 2.81059399e+02] [ 2.21315388e-02 9.99755061e-01 1.16651077e-04 3.74052547e+00] [ 1.85400644e-02 -5.27080269e-04 9.99827979e-01 3.27282262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.825099893 meters 0.01788205636819154 Centerline is valid? [True, True] Translation: X:281.09, Y:3.74, Z:3.27 [[ 9.99577514e-01 -2.23784623e-02 -1.85471994e-02 2.81087644e+02] [ 2.23844425e-02 9.99749430e-01 1.14863893e-04 3.74037920e+00] [ 1.85399815e-02 -5.29984082e-04 9.99827979e-01 3.27317200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.855099893 meters 0.017971885506980815 Centerline is valid? [True, True] Translation: X:281.12, Y:3.74, Z:3.27 [[ 9.99612498e-01 -2.09610916e-02 -1.83163128e-02 2.81116096e+02] [ 2.09666225e-02 9.99780170e-01 1.09963793e-04 3.74117341e+00] [ 1.83099813e-02 -4.93952397e-04 9.99832236e-01 3.27348408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.885099893 meters 0.017565814452668922 Centerline is valid? [True, True] Translation: X:281.14, Y:3.74, Z:3.27 [[ 9.99643588e-01 -1.94980177e-02 -1.82352452e-02 2.81144814e+02] [ 1.95032156e-02 9.99809788e-01 1.07234697e-04 3.74265420e+00] [ 1.82296858e-02 -4.62842396e-04 9.99833718e-01 3.27421073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.915099893 meters 0.017015851876821284 Centerline is valid? [True, True] Translation: X:281.17, Y:3.75, Z:3.27 [[ 9.99680707e-01 -1.66489054e-02 -1.90078455e-02 2.81174069e+02] [ 1.66539615e-02 9.99861307e-01 1.07732428e-04 3.74535237e+00] [ 1.90034156e-02 -4.24253957e-04 9.99819329e-01 3.27386466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.945099893 meters 0.016906666317509988 Centerline is valid? [True, True] Translation: X:281.20, Y:3.75, Z:3.27 [[ 9.99689979e-01 -1.55008844e-02 -1.94850754e-02 2.81201518e+02] [ 1.55059360e-02 9.99879770e-01 1.08192956e-04 3.74632945e+00] [ 1.94810556e-02 -4.10293746e-04 9.99810142e-01 3.27404861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.975099893 meters 0.01616241314546119 Centerline is valid? [True, True] Translation: X:281.23, Y:3.75, Z:3.27 [[ 9.99696267e-01 -1.39025927e-02 -2.03492525e-02 2.81230103e+02] [ 1.39077082e-02 9.99903277e-01 1.09877089e-04 3.74903342e+00] [ 2.03457567e-02 -3.92855181e-04 9.99792926e-01 3.27445960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.005099893 meters 0.01604039910812284 Centerline is valid? [True, True] Translation: X:281.26, Y:3.75, Z:3.27 [[ 9.99702220e-01 -1.34448504e-02 -2.03643424e-02 2.81258883e+02] [ 1.34497755e-02 9.99909542e-01 1.04895838e-04 3.74989067e+00] [ 2.03610900e-02 -3.78760435e-04 9.99792620e-01 3.27491215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.035099893 meters 0.01625614995527524 Centerline is valid? [True, True] Translation: X:281.29, Y:3.75, Z:3.28 [[ 9.99690225e-01 -1.41378695e-02 -2.04835418e-02 2.81287954e+02] [ 1.41428937e-02 9.99899979e-01 1.00429203e-04 3.74996699e+00] [ 2.04800732e-02 -3.90094645e-04 9.99790185e-01 3.27565201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.065099893 meters 0.0174697676117525 Centerline is valid? [True, True] Translation: X:281.32, Y:3.75, Z:3.27 [[ 9.99590625e-01 -1.80351988e-02 -2.22106954e-02 2.81316409e+02] [ 1.80419829e-02 9.99837225e-01 1.05078230e-04 3.74724860e+00] [ 2.22051850e-02 -5.05760201e-04 9.99753307e-01 3.27474354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.095099893 meters 0.017671379916912276 Centerline is valid? [True, True] Translation: X:281.35, Y:3.75, Z:3.28 [[ 9.99504313e-01 -2.13483988e-02 -2.31381453e-02 2.81345850e+02] [ 2.13566241e-02 9.99771915e-01 1.08408987e-04 3.74657464e+00] [ 2.31305535e-02 -6.02507922e-04 9.99732271e-01 3.27563802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.125099893 meters 0.017671379916912276 Centerline is valid? [True, True] Translation: X:281.37, Y:3.75, Z:3.28 [[ 9.99498179e-01 -2.16336595e-02 -2.31381612e-02 2.81373247e+02] [ 2.16418800e-02 9.99765782e-01 1.04895007e-04 3.74651128e+00] [ 2.31304726e-02 -6.05595676e-04 9.99732271e-01 3.27597698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.155099893 meters 0.017923277779191803 Centerline is valid? [True, True] Translation: X:281.40, Y:3.75, Z:3.28 [[ 9.99462807e-01 -2.35535293e-02 -2.27887955e-02 2.81401585e+02] [ 2.35618632e-02 9.99722376e-01 9.72239222e-05 3.74577951e+00] [ 2.27801788e-02 -6.34118176e-04 9.99740297e-01 3.27705098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18509989300003 meters 0.017923277779191803 Centerline is valid? [True, True] Translation: X:281.43, Y:3.75, Z:3.28 [[ 9.99456007e-01 -2.38402998e-02 -2.27888202e-02 2.81428982e+02] [ 2.38485694e-02 9.99715578e-01 9.11354850e-05 3.74573103e+00] [ 2.27801659e-02 -6.34566670e-04 9.99740297e-01 3.27739084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.215099893 meters 0.018210543032802163 Centerline is valid? [True, True] Translation: X:281.46, Y:3.75, Z:3.28 [[ 9.99411898e-01 -2.55268461e-02 -2.28962695e-02 2.81457843e+02] [ 2.55354937e-02 9.99673912e-01 8.53456021e-05 3.74522456e+00] [ 2.28866247e-02 -6.69962956e-04 9.99737842e-01 3.27829409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24509989300003 meters 0.018210543032802163 Centerline is valid? [True, True] Translation: X:281.49, Y:3.75, Z:3.28 [[ 9.99404493e-01 -2.58151095e-02 -2.28962912e-02 2.81485242e+02] [ 2.58236918e-02 9.99666510e-01 7.91905564e-05 3.74518872e+00] [ 2.28866112e-02 -6.70410165e-04 9.99737842e-01 3.27863397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.275099893 meters 0.01967819019302107 Centerline is valid? [True, True] Translation: X:281.51, Y:3.74, Z:3.28 [[ 9.99345748e-01 -2.82372926e-02 -2.25993505e-02 2.81513069e+02] [ 2.82461721e-02 9.99600995e-01 7.37310924e-05 3.74193578e+00] [ 2.25882513e-02 -7.12028000e-04 9.99744599e-01 3.27873712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30509989300003 meters 0.019655007349047748 Centerline is valid? [True, True] Translation: X:281.54, Y:3.74, Z:3.28 [[ 9.99273810e-01 -3.04714892e-02 -2.28766657e-02 2.81541416e+02] [ 3.04811259e-02 9.99535340e-01 7.25845608e-05 3.74142947e+00] [ 2.28638241e-02 -7.69838380e-04 9.99738292e-01 3.27971038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.335099893 meters 0.01994595002909415 Centerline is valid? [True, True] Translation: X:281.57, Y:3.74, Z:3.28 [[ 9.99233393e-01 -3.17710873e-02 -2.28740955e-02 2.81570677e+02] [ 3.17810282e-02 9.99494853e-01 7.11015682e-05 3.74092669e+00] [ 2.28602818e-02 -7.98009336e-04 9.99738351e-01 3.28026960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36509989300004 meters 0.019506053705165546 Centerline is valid? [True, True] Translation: X:281.60, Y:3.74, Z:3.28 [[ 9.99198230e-01 -3.27816390e-02 -2.29839335e-02 2.81599808e+02] [ 3.27919190e-02 9.99462198e-01 7.04191899e-05 3.74139317e+00] [ 2.29692642e-02 -8.24050015e-04 9.99735832e-01 3.28137199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.395099893 meters 0.020705364189427793 Centerline is valid? [True, True] Translation: X:281.63, Y:3.74, Z:3.28 [[ 9.99138217e-01 -3.41232322e-02 -2.36310690e-02 2.81629245e+02] [ 3.41344555e-02 9.99417247e-01 7.16120792e-05 3.73904388e+00] [ 2.36148543e-02 -8.78184039e-04 9.99720745e-01 3.28113261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42509989300004 meters 0.022285309225044046 Centerline is valid? [True, True] Translation: X:281.66, Y:3.74, Z:3.28 [[ 9.98994821e-01 -3.69679463e-02 -2.53519041e-02 2.81658470e+02] [ 3.69817761e-02 9.99315937e-01 7.67162848e-05 3.73608319e+00] [ 2.53317257e-02 -1.01419761e-03 9.99678586e-01 3.28064293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.455099893 meters 0.022328518499234448 Centerline is valid? [True, True] Translation: X:281.69, Y:3.74, Z:3.28 [[ 9.98908395e-01 -3.84970871e-02 -2.64573899e-02 2.81687811e+02] [ 3.85126722e-02 9.99258109e-01 7.95653304e-05 3.73560063e+00] [ 2.64346983e-02 -1.09842326e-03 9.99649939e-01 3.28081576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48509989300004 meters 0.02209321040888056 Centerline is valid? [True, True] Translation: X:281.72, Y:3.74, Z:3.28 [[ 9.98826927e-01 -4.00792633e-02 -2.71739197e-02 2.81717784e+02] [ 4.00962621e-02 9.99195818e-01 8.07400507e-05 3.73529995e+00] [ 2.71488309e-02 -1.17021794e-03 9.99630718e-01 3.28143560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.515099893 meters 0.023272748573474642 Centerline is valid? [True, True] Translation: X:281.75, Y:3.73, Z:3.28 [[ 9.98772749e-01 -4.12541638e-02 -2.74060116e-02 2.81746130e+02] [ 4.12718525e-02 9.99147951e-01 7.98516078e-05 3.73292741e+00] [ 2.73793661e-02 -1.21085048e-03 9.99624382e-01 3.28147091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.545099893 meters 0.023229061959387 Centerline is valid? [True, True] Translation: X:281.78, Y:3.73, Z:3.28 [[ 9.98635945e-01 -4.33313556e-02 -2.91314746e-02 2.81775864e+02] [ 4.33521787e-02 9.99059849e-01 8.32919836e-05 3.73244041e+00] [ 2.91004775e-02 -1.34609126e-03 9.99575585e-01 3.28163945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.575099893 meters 0.023355272900259523 Centerline is valid? [True, True] Translation: X:281.81, Y:3.73, Z:3.28 [[ 9.98613862e-01 -4.34337285e-02 -2.97298700e-02 2.81805826e+02] [ 4.34554300e-02 9.99055363e-01 8.39330151e-05 3.73227150e+00] [ 2.96981405e-02 -1.37574096e-03 9.99557966e-01 3.28189583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.605099893 meters 0.023550177219852902 Centerline is valid? [True, True] Translation: X:281.83, Y:3.73, Z:3.28 [[ 9.98626122e-01 -4.27151094e-02 -3.03527264e-02 2.81834643e+02] [ 4.27373565e-02 9.99086338e-01 8.42860583e-05 3.73258989e+00] [ 3.03213939e-02 -1.38136555e-03 9.99539246e-01 3.28240214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.635099893 meters 0.02358425673338565 Centerline is valid? [True, True] Translation: X:281.86, Y:3.73, Z:3.28 [[ 9.98674152e-01 -4.17320266e-02 -3.01392683e-02 2.81862771e+02] [ 4.17533639e-02 9.99127945e-01 7.86796945e-05 3.73316491e+00] [ 3.01097018e-02 -1.33699122e-03 9.99545706e-01 3.28266539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.665099893 meters 0.02310984413385879 Centerline is valid? [True, True] Translation: X:281.89, Y:3.73, Z:3.28 [[ 9.98708647e-01 -4.07110966e-02 -3.03915207e-02 2.81891515e+02] [ 4.07320936e-02 9.99170101e-01 7.18466652e-05 3.73435828e+00] [ 3.03633739e-02 -1.30966415e-03 9.99538068e-01 3.28347197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.695099893 meters 0.020459051128535532 Centerline is valid? [True, True] Translation: X:281.92, Y:3.74, Z:3.29 [[ 9.98863549e-01 -3.70238242e-02 -3.00141046e-02 2.81921533e+02] [ 3.70425413e-02 9.99313687e-01 6.76348105e-05 3.73970759e+00] [ 2.99910014e-02 -1.17935665e-03 9.99549473e-01 3.28571545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.725099893 meters 0.020999259117971847 Centerline is valid? [True, True] Translation: X:281.95, Y:3.74, Z:3.29 [[ 9.98951903e-01 -3.48963469e-02 -2.96199440e-02 2.81949439e+02] [ 3.49135896e-02 9.99390333e-01 6.49925799e-05 3.73924639e+00] [ 2.95996177e-02 -1.09906303e-03 9.99561231e-01 3.28571684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.755099893 meters 0.01946727677335971 Centerline is valid? [True, True] Translation: X:281.98, Y:3.74, Z:3.29 [[ 9.99037326e-01 -3.27177797e-02 -2.92227179e-02 2.81978139e+02] [ 3.27335656e-02 9.99464111e-01 6.18439374e-05 3.74248824e+00] [ 2.92050343e-02 -1.01834815e-03 9.99572923e-01 3.28729983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.785099893 meters 0.018270054911782522 Centerline is valid? [True, True] Translation: X:282.01, Y:3.75, Z:3.29 [[ 9.99148838e-01 -2.85172776e-02 -2.98054517e-02 2.82008219e+02] [ 2.85317972e-02 9.99592883e-01 6.18792542e-05 3.74615673e+00] [ 2.97915527e-02 -9.12229688e-04 9.99555717e-01 3.28875881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.815099893 meters 0.017562682526054422 Centerline is valid? [True, True] Translation: X:282.04, Y:3.75, Z:3.29 [[ 9.99199076e-01 -2.67830028e-02 -2.97300584e-02 2.82037536e+02] [ 2.67965573e-02 9.99640906e-01 5.75224901e-05 3.74814683e+00] [ 2.97178419e-02 -8.54139631e-04 9.99557962e-01 3.28963589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.845099893 meters 0.01701465505733111 Centerline is valid? [True, True] Translation: X:282.07, Y:3.75, Z:3.29 [[ 9.99225433e-01 -2.53992092e-02 -3.00568466e-02 2.82065986e+02] [ 2.54122203e-02 9.99677056e-01 5.09077926e-05 3.74952873e+00] [ 3.00458469e-02 -8.14679568e-04 9.99548190e-01 3.29027839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.875099893 meters 0.01671125074795084 Centerline is valid? [True, True] Translation: X:282.09, Y:3.75, Z:3.29 [[ 9.99234602e-01 -2.38861174e-02 -3.09784333e-02 2.82094250e+02] [ 2.38989732e-02 9.99714378e-01 4.47418424e-05 3.75019131e+00] [ 3.09685165e-02 -7.85060346e-04 9.99520052e-01 3.28904023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.905099893 meters 0.015800973519110154 Centerline is valid? [True, True] Translation: X:282.12, Y:3.75, Z:3.29 [[ 9.99209704e-01 -2.36396670e-02 -3.19551930e-02 2.82121691e+02] [ 2.36529399e-02 9.99720229e-01 3.73559901e-05 3.75198877e+00] [ 3.19453698e-02 -7.93160727e-04 9.99489302e-01 3.29007077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93509989300003 meters 0.015608922979996297 Centerline is valid? [True, True] Translation: X:282.15, Y:3.75, Z:3.29 [[ 9.99245555e-01 -2.21339098e-02 -3.19125475e-02 2.82150483e+02] [ 2.21461097e-02 9.99754744e-01 2.88394616e-05 3.75320973e+00] [ 3.19040825e-02 -7.35556481e-04 9.99490665e-01 3.29042111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.965099893 meters 0.015618961315648994 Centerline is valid? [True, True] Translation: X:282.18, Y:3.75, Z:3.29 [[ 9.99276041e-01 -2.12127143e-02 -3.15818606e-02 2.82178610e+02] [ 2.12240520e-02 9.99774744e-01 2.37673253e-05 3.75398437e+00] [ 3.15742424e-02 -6.94045170e-04 9.99501168e-01 3.29083772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99509989300003 meters 0.015325783489531935 Centerline is valid? [True, True] Translation: X:282.21, Y:3.76, Z:3.29 [[ 9.99295051e-01 -2.01548953e-02 -3.16730288e-02 2.82207859e+02] [ 2.01655918e-02 9.99796654e-01 1.82862434e-05 3.75548559e+00] [ 3.16662196e-02 -6.56978721e-04 9.99498284e-01 3.29196253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.025099893 meters 0.015172947772484003 Centerline is valid? [True, True] Translation: X:282.24, Y:3.76, Z:3.29 [[ 9.99343068e-01 -1.79404541e-02 -3.14892519e-02 2.82235800e+02] [ 1.79497606e-02 9.99838890e-01 1.28654845e-05 3.75697389e+00] [ 3.14839479e-02 -5.78081568e-04 9.99504090e-01 3.29207886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05509989300003 meters 0.014944190407050958 Centerline is valid? [True, True] Translation: X:282.26, Y:3.76, Z:3.29 [[ 9.99362618e-01 -1.71459207e-02 -3.13109306e-02 2.82264958e+02] [ 1.71545398e-02 9.99852850e-01 6.64873018e-06 3.75782514e+00] [ 3.13062092e-02 -5.43769098e-04 9.99509693e-01 3.29255223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.085099893 meters 0.013861066660727507 Centerline is valid? [True, True] Translation: X:282.29, Y:3.76, Z:3.29 [[ 9.99438287e-01 -1.61962413e-02 -2.93392724e-02 2.82294017e+02] [ 1.62031925e-02 9.99868720e-01 -8.23515289e-07 3.75979158e+00] [ 2.93354341e-02 -4.74566825e-04 9.99569511e-01 3.29469786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11509989300004 meters 0.013639446825674901 Centerline is valid? [True, True] Translation: X:282.32, Y:3.76, Z:3.30 [[ 9.99446640e-01 -1.63263394e-02 -2.89804192e-02 2.82321571e+02] [ 1.63329471e-02 9.99866608e-01 -8.71239490e-06 3.76001699e+00] [ 2.89766957e-02 -4.64628080e-04 9.99579979e-01 3.29562528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.145099893 meters 0.013639446825674901 Centerline is valid? [True, True] Translation: X:282.35, Y:3.76, Z:3.30 [[ 9.99441858e-01 -1.66164819e-02 -2.89804149e-02 2.82348958e+02] [ 1.66229677e-02 9.99861829e-01 -1.71242250e-05 3.76008575e+00] [ 2.89766952e-02 -4.64625833e-04 9.99579979e-01 3.29596524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17509989300004 meters 0.0138412076989353 Centerline is valid? [True, True] Translation: X:282.38, Y:3.76, Z:3.30 [[ 9.99468589e-01 -1.67619410e-02 -2.79566895e-02 2.82377159e+02] [ 1.67678776e-02 9.99859409e-01 -2.20890065e-05 3.75933109e+00] [ 2.79531293e-02 -4.46697078e-04 9.99609135e-01 3.29593518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.205099893 meters 0.013943342683760233 Centerline is valid? [True, True] Translation: X:282.40, Y:3.76, Z:3.30 [[ 9.99479566e-01 -1.72970200e-02 -2.72288526e-02 2.82404968e+02] [ 1.73026904e-02 9.99850297e-01 -2.73637722e-05 3.75909596e+00] [ 2.72252497e-02 -4.43782876e-04 9.99629226e-01 3.29638101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.235099893 meters 0.013748595315052653 Centerline is valid? [True, True] Translation: X:282.43, Y:3.76, Z:3.30 [[ 9.99461590e-01 -1.80952304e-02 -2.73695736e-02 2.82433355e+02] [ 1.81010580e-02 9.99836162e-01 -3.48379538e-05 3.75950893e+00] [ 2.73657198e-02 -4.60599043e-04 9.99625382e-01 3.29721817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.265099893 meters 0.014874150123679781 Centerline is valid? [True, True] Translation: X:282.46, Y:3.76, Z:3.30 [[ 9.99411652e-01 -2.02934568e-02 -2.76500607e-02 2.82460859e+02] [ 2.03001200e-02 9.99793931e-01 -3.97296252e-05 3.75673602e+00] [ 2.76451691e-02 -5.21593299e-04 9.99617663e-01 3.29561264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.295099893 meters 0.01445775004626982 Centerline is valid? [True, True] Translation: X:282.49, Y:3.76, Z:3.30 [[ 9.99391274e-01 -2.18363887e-02 -2.72076127e-02 2.82490029e+02] [ 2.18432808e-02 9.99761406e-01 -4.39016194e-05 3.75686795e+00] [ 2.72020798e-02 -5.50428629e-04 9.99629803e-01 3.29711549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.325099893 meters 0.015236554182926304 Centerline is valid? [True, True] Translation: X:282.52, Y:3.75, Z:3.30 [[ 9.99356452e-01 -2.38019943e-02 -2.68355480e-02 2.82517279e+02] [ 2.38092668e-02 9.99716518e-01 -4.85331534e-05 3.75475230e+00] [ 2.68290958e-02 -5.90432802e-04 9.99639861e-01 3.29723457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.355099893 meters 0.015512928865466112 Centerline is valid? [True, True] Translation: X:282.55, Y:3.75, Z:3.30 [[ 9.99290400e-01 -2.60706488e-02 -2.71848822e-02 2.82545847e+02] [ 2.60787991e-02 9.99659889e-01 -5.47457669e-05 3.75352393e+00] [ 2.71770636e-02 -6.54242163e-04 9.99630421e-01 3.29722009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.385099893 meters 0.016884037043894844 Centerline is valid? [True, True] Translation: X:282.57, Y:3.75, Z:3.30 [[ 9.99172561e-01 -3.00146225e-02 -2.74466155e-02 2.82574653e+02] [ 3.00242996e-02 9.99549167e-01 -5.95555708e-05 3.74980390e+00] [ 2.74360292e-02 -7.64559114e-04 9.99623269e-01 3.29701022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.415099893 meters 0.0173811062446988 Centerline is valid? [True, True] Translation: X:282.60, Y:3.75, Z:3.30 [[ 9.99132085e-01 -3.20830273e-02 -2.65660613e-02 2.82603457e+02] [ 3.20927056e-02 9.99484895e-01 -6.20852316e-05 3.74846987e+00] [ 2.65543688e-02 -7.90545435e-04 9.99647058e-01 3.29773730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.445099893 meters 0.018064861215718927 Centerline is valid? [True, True] Translation: X:282.63, Y:3.75, Z:3.30 [[ 9.99077812e-01 -3.39805886e-02 -2.62458454e-02 2.82632196e+02] [ 3.39905197e-02 9.99422153e-01 -6.77790927e-05 3.74675674e+00] [ 2.62329825e-02 -8.24393337e-04 9.99655516e-01 3.29807551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.475099893 meters 0.01961639447780418 Centerline is valid? [True, True] Translation: X:282.66, Y:3.74, Z:3.30 [[ 9.99009893e-01 -3.69379543e-02 -2.47955903e-02 2.82660924e+02] [ 3.69476400e-02 9.99317201e-01 -6.75631745e-05 3.74267104e+00] [ 2.47811555e-02 -8.48642264e-04 9.99692540e-01 3.29847805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.505099893 meters 0.020464313189193603 Centerline is valid? [True, True] Translation: X:282.69, Y:3.74, Z:3.30 [[ 9.98968476e-01 -3.82701489e-02 -2.44413449e-02 2.82690871e+02] [ 3.82799371e-02 9.99267052e-01 -6.74440247e-05 3.74086821e+00] [ 2.44260117e-02 -8.68238690e-04 9.99701263e-01 3.29865565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.535099893 meters 0.019787813004966567 Centerline is valid? [True, True] Translation: X:282.72, Y:3.74, Z:3.30 [[ 9.98908787e-01 -4.04628884e-02 -2.33236102e-02 2.82721695e+02] [ 4.04723980e-02 9.99180655e-01 -6.43675580e-05 3.74093435e+00] [ 2.33071046e-02 -8.79665115e-04 9.99727966e-01 3.29991403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.565099893 meters 0.019346274889833585 Centerline is valid? [True, True] Translation: X:282.75, Y:3.74, Z:3.30 [[ 9.98877270e-01 -4.14426862e-02 -2.29500056e-02 2.82753182e+02] [ 4.14521655e-02 9.99140488e-01 -6.27360926e-05 3.74129008e+00] [ 2.29328798e-02 -8.88661773e-04 9.99736612e-01 3.30062817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.595099893 meters 0.023120714726155782 Centerline is valid? [True, True] Translation: X:282.78, Y:3.74, Z:3.30 [[ 9.98847906e-01 -4.25842782e-02 -2.21232669e-02 2.82783898e+02] [ 4.25933796e-02 9.99092488e-01 -5.98688899e-05 3.73557499e+00] [ 2.21057393e-02 -8.82504790e-04 9.99755249e-01 3.29999470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.625099893 meters 0.02119736302061282 Centerline is valid? [True, True] Translation: X:282.82, Y:3.74, Z:3.30 [[ 9.98726637e-01 -4.54524926e-02 -2.18900935e-02 2.82815159e+02] [ 4.54621028e-02 9.98966062e-01 -5.86766766e-05 3.73770484e+00] [ 2.18701275e-02 -9.36567723e-04 9.99760381e-01 3.30203687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.655099893 meters 0.02182822648985884 Centerline is valid? [True, True] Translation: X:282.85, Y:3.74, Z:3.30 [[ 9.98673527e-01 -4.67456255e-02 -2.15878103e-02 2.82847037e+02] [ 4.67552973e-02 9.98906371e-01 -5.67669545e-05 3.73628940e+00] [ 2.15668548e-02 -9.52652833e-04 9.99766954e-01 3.30204179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68509989300003 meters 0.023131706742946984 Centerline is valid? [True, True] Translation: X:282.88, Y:3.73, Z:3.30 [[ 9.98620341e-01 -4.80116845e-02 -2.12671884e-02 2.82878296e+02] [ 4.80213862e-02 9.98846306e-01 -5.45711478e-05 3.73371060e+00] [ 2.12452726e-02 -9.66784008e-04 9.99773826e-01 3.30179609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.715099893 meters 0.023541635930489184 Centerline is valid? [True, True] Translation: X:282.91, Y:3.73, Z:3.30 [[ 9.98565197e-01 -4.91725073e-02 -2.12040698e-02 2.82910641e+02] [ 4.91824400e-02 9.98789810e-01 -5.31205795e-05 3.73234110e+00] [ 2.11810209e-02 -9.89823527e-04 9.99775167e-01 3.30191537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74509989300003 meters 0.024661668502324163 Centerline is valid? [True, True] Translation: X:282.94, Y:3.73, Z:3.30 [[ 9.98490648e-01 -5.10443061e-02 -2.02708042e-02 2.82943197e+02] [ 5.10537964e-02 9.98695903e-01 -4.93859448e-05 3.73006839e+00] [ 2.02468900e-02 -9.85590107e-04 9.99794525e-01 3.30242104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.775099893 meters 0.02412589880293287 Centerline is valid? [True, True] Translation: X:282.98, Y:3.73, Z:3.30 [[ 9.98470888e-01 -5.16246428e-02 -1.97682200e-02 2.82975295e+02] [ 5.16338089e-02 9.98666084e-01 -4.67816824e-05 3.73074385e+00] [ 1.97442659e-02 -9.73998345e-04 9.99804589e-01 3.30352423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80509989300003 meters 0.02476427643965444 Centerline is valid? [True, True] Translation: X:283.01, Y:3.73, Z:3.30 [[ 9.98465186e-01 -5.20280022e-02 -1.89831552e-02 2.83007920e+02] [ 5.20365523e-02 9.98645180e-01 -4.36059742e-05 3.72996294e+00] [ 1.89597051e-02 -9.44278900e-04 9.99819803e-01 3.30427878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.835099893 meters 0.024958073285130854 Centerline is valid? [True, True] Translation: X:283.04, Y:3.73, Z:3.31 [[ 9.98512473e-01 -5.12886200e-02 -1.85018552e-02 2.83039998e+02] [ 5.12966391e-02 9.98683460e-01 -4.12128586e-05 3.72909425e+00] [ 1.84796106e-02 -9.07931438e-04 9.99828825e-01 3.30508568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86509989300004 meters 0.023590885397447105 Centerline is valid? [True, True] Translation: X:283.07, Y:3.73, Z:3.31 [[ 9.98605738e-01 -4.96751693e-02 -1.78593671e-02 2.83071812e+02] [ 4.96824056e-02 9.98765066e-01 -3.85490252e-05 3.73018958e+00] [ 1.78392269e-02 -8.48801041e-04 9.99840508e-01 3.30561968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.895099893 meters 0.024744732765463007 Centerline is valid? [True, True] Translation: X:283.10, Y:3.73, Z:3.31 [[ 9.98651382e-01 -4.88563713e-02 -1.75633746e-02 2.83103056e+02] [ 4.88632633e-02 9.98805477e-01 -3.67670704e-05 3.72845353e+00] [ 1.75441911e-02 -8.21486313e-04 9.99845751e-01 3.30614660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92509989300004 meters 0.024089596737543878 Centerline is valid? [True, True] Translation: X:283.14, Y:3.73, Z:3.31 [[ 9.98707710e-01 -4.78422525e-02 -1.71472701e-02 2.83135422e+02] [ 4.78486893e-02 9.98854595e-01 -3.49205609e-05 3.72915767e+00] [ 1.71293002e-02 -7.85598968e-04 9.99852974e-01 3.30682808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.955099893 meters 0.021338961463107927 Centerline is valid? [True, True] Translation: X:283.17, Y:3.73, Z:3.31 [[ 9.98750108e-01 -4.70902135e-02 -1.67550958e-02 2.83168161e+02] [ 4.70962752e-02 9.98890354e-01 -3.28275057e-05 3.73335885e+00] [ 1.67380495e-02 -7.56316129e-04 9.99859623e-01 3.30747297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.985099893 meters 0.021002745577855763 Centerline is valid? [True, True] Translation: X:283.20, Y:3.73, Z:3.31 [[ 9.98786490e-01 -4.61964516e-02 -1.70714685e-02 2.83199907e+02] [ 4.62026421e-02 9.98932087e-01 -3.18147774e-05 3.73379669e+00] [ 1.70547073e-02 -7.56970777e-04 9.99854271e-01 3.30801890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.015099893 meters 0.021630336219980815 Centerline is valid? [True, True] Translation: X:283.23, Y:3.73, Z:3.31 [[ 9.98863922e-01 -4.42276873e-02 -1.77419571e-02 2.83231543e+02] [ 4.42340873e-02 9.99021193e-01 -3.17343781e-05 3.73246735e+00] [ 1.77259947e-02 -7.53100953e-04 9.99842599e-01 3.30754119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.045099893 meters 0.019846459231097915 Centerline is valid? [True, True] Translation: X:283.26, Y:3.73, Z:3.31 [[ 9.98916839e-01 -4.29675764e-02 -1.78587968e-02 2.83263447e+02] [ 4.29738832e-02 9.99076196e-01 -3.06385190e-05 3.73469243e+00] [ 1.78436152e-02 -7.36856514e-04 9.99840519e-01 3.30818123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.075099893 meters 0.021057174585191064 Centerline is valid? [True, True] Translation: X:283.30, Y:3.73, Z:3.31 [[ 9.98970458e-01 -4.15890204e-02 -1.81211721e-02 2.83295009e+02] [ 4.15953098e-02 9.99134540e-01 -2.98542387e-05 3.73242354e+00] [ 1.81067305e-02 -7.23932265e-04 9.99835798e-01 3.30803035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.105099893 meters 0.018664625459376166 Centerline is valid? [True, True] Translation: X:283.33, Y:3.74, Z:3.31 [[ 9.99101217e-01 -3.80426354e-02 -1.86953524e-02 2.83326386e+02] [ 3.80487272e-02 9.99275885e-01 -2.98730774e-05 3.73590769e+00] [ 1.86829512e-02 -6.81488134e-04 9.99825226e-01 3.30830922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.135099893 meters 0.018128611166217327 Centerline is valid? [True, True] Translation: X:283.36, Y:3.74, Z:3.31 [[ 9.99168507e-01 -3.58840115e-02 -1.93554075e-02 2.83358161e+02] [ 3.58901530e-02 9.99355740e-01 -3.00830152e-05 3.73699637e+00] [ 1.93440171e-02 -6.64610537e-04 9.99812666e-01 3.30843978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.165099893 meters 0.016854655866517645 Centerline is valid? [True, True] Translation: X:283.39, Y:3.74, Z:3.31 [[ 9.99306858e-01 -3.11179341e-02 -2.04322501e-02 2.83388961e+02] [ 3.11238003e-02 9.99515537e-01 -3.09075443e-05 3.74038932e+00] [ 2.04233133e-02 -6.05043153e-04 9.99791239e-01 3.30845548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.195099893 meters 0.016135812627060795 Centerline is valid? [True, True] Translation: X:283.42, Y:3.74, Z:3.31 [[ 9.99374668e-01 -2.85090052e-02 -2.09167146e-02 2.83419469e+02] [ 2.85145868e-02 9.99593376e-01 -3.14152764e-05 3.74245563e+00] [ 2.09091050e-02 -5.65035841e-04 9.99781221e-01 3.30866735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.225099893 meters 0.014458573001316746 Centerline is valid? [True, True] Translation: X:283.45, Y:3.75, Z:3.31 [[ 9.99515585e-01 -2.25961411e-02 -2.14011461e-02 2.83449762e+02] [ 2.26006262e-02 9.99744573e-01 -3.23032115e-05 3.74638732e+00] [ 2.13964096e-02 -4.51391739e-04 9.99770969e-01 3.30931173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.255099893 meters 0.0129846043416221 Centerline is valid? [True, True] Translation: X:283.48, Y:3.75, Z:3.31 [[ 9.99644126e-01 -1.61640052e-02 -2.12213826e-02 2.83478374e+02] [ 1.61669484e-02 9.99869306e-01 -3.28747875e-05 3.75042850e+00] [ 2.12191405e-02 -3.10221909e-04 9.99774801e-01 3.31045099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.285099893 meters 0.01245183700990176 Centerline is valid? [True, True] Translation: X:283.51, Y:3.75, Z:3.31 [[ 9.99687113e-01 -1.32713073e-02 -2.12025678e-02 2.83506315e+02] [ 1.32735523e-02 9.99911902e-01 -3.48480376e-05 3.75220446e+00] [ 2.12011623e-02 -2.46596259e-04 9.99775200e-01 3.31137202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.315099893 meters 0.011870794281080047 Centerline is valid? [True, True] Translation: X:283.53, Y:3.76, Z:3.31 [[ 9.99738364e-01 -8.25625135e-03 -2.13316225e-02 2.83534306e+02] [ 8.25732346e-03 9.99965907e-01 -3.78226462e-05 3.75571097e+00] [ 2.13312075e-02 -1.38329357e-04 9.99772454e-01 3.31276506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.345099893 meters 0.011870794281080047 Centerline is valid? [True, True] Translation: X:283.56, Y:3.76, Z:3.31 [[ 9.99736009e-01 -8.53661692e-03 -2.13316145e-02 2.83561693e+02] [ 8.53766473e-03 9.99963553e-01 -4.19525428e-05 3.75583017e+00] [ 2.13311952e-02 -1.40180705e-04 9.99772454e-01 3.31310430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.375099893 meters 0.011641298162016873 Centerline is valid? [True, True] Translation: X:283.59, Y:3.76, Z:3.31 [[ 9.99755720e-01 -5.78136914e-03 -2.13325297e-02 2.83590209e+02] [ 5.78166896e-03 9.99983285e-01 -4.76220357e-05 3.75789589e+00] [ 2.13324485e-02 -7.57272224e-05 9.99772435e-01 3.31359499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.405099893 meters 0.011583090982517263 Centerline is valid? [True, True] Translation: X:283.62, Y:3.76, Z:3.31 [[ 9.99760935e-01 -2.79321078e-03 -2.16857224e-02 2.83617026e+02] [ 2.79272628e-03 9.99996099e-01 -5.26265421e-05 3.75978735e+00] [ 2.16857848e-02 -7.94832580e-06 9.99764836e-01 3.31378701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43509989300003 meters 0.011831837689575958 Centerline is valid? [True, True] Translation: X:283.65, Y:3.76, Z:3.31 [[ 9.99737780e-01 3.07722188e-03 -2.26914699e-02 2.83645922e+02] [-3.07935722e-03 9.99995257e-01 -5.91613849e-05 3.76249206e+00] [ 2.26911802e-02 1.29021013e-04 9.99742514e-01 3.31431924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.465099893 meters 0.011993029277382515 Centerline is valid? [True, True] Translation: X:283.67, Y:3.76, Z:3.32 [[ 9.99716779e-01 5.52576115e-03 -2.31479743e-02 2.83674549e+02] [-5.52877402e-03 9.99984714e-01 -6.61597741e-05 3.76309252e+00] [ 2.31472549e-02 1.94120955e-04 9.99732048e-01 3.31561150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49509989300003 meters 0.012313715508204912 Centerline is valid? [True, True] Translation: X:283.70, Y:3.76, Z:3.32 [[ 9.99695455e-01 7.43415413e-03 -2.35314692e-02 2.83702060e+02] [-7.43789459e-03 9.99972336e-01 -7.14340346e-05 3.76414045e+00] [ 2.35302871e-02 2.46436867e-04 9.99723094e-01 3.31582381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.525099893 meters 0.012431977994120434 Centerline is valid? [True, True] Translation: X:283.73, Y:3.76, Z:3.32 [[ 9.99667011e-01 9.19684349e-03 -2.41098393e-02 2.83730358e+02] [-9.20133518e-03 9.99957664e-01 -7.53676228e-05 3.76417980e+00] [ 2.41081255e-02 2.97185239e-04 9.99709313e-01 3.31624057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55509989300003 meters 0.012949986278502277 Centerline is valid? [True, True] Translation: X:283.76, Y:3.76, Z:3.32 [[ 9.99645690e-01 1.02117011e-02 -2.45807865e-02 2.83757824e+02] [-1.02167307e-02 9.99947805e-01 -7.90349044e-05 3.76331580e+00] [ 2.45786964e-02 3.30142179e-04 9.99697844e-01 3.31608065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.585099893 meters 0.01286558924325081 Centerline is valid? [True, True] Translation: X:283.78, Y:3.76, Z:3.32 [[ 9.99635535e-01 8.97464797e-03 -2.54607908e-02 2.83784963e+02] [-8.97971210e-03 9.99959678e-01 -8.45702540e-05 3.76040866e+00] [ 2.54590052e-02 3.13170003e-04 9.99675818e-01 3.31578590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61509989300004 meters 0.012701181778491596 Centerline is valid? [True, True] Translation: X:283.81, Y:3.76, Z:3.32 [[ 9.99645754e-01 7.29829470e-03 -2.55949654e-02 2.83812989e+02] [-7.30293028e-03 9.99973329e-01 -8.76418498e-05 3.75845108e+00] [ 2.55936431e-02 2.74529050e-04 9.99672391e-01 3.31572319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.645099893 meters 0.012011230819367268 Centerline is valid? [True, True] Translation: X:283.84, Y:3.75, Z:3.32 [[ 9.99651770e-01 5.05063597e-03 -2.59003700e-02 2.83841951e+02] [-5.05468107e-03 9.99987221e-01 -9.07111636e-05 3.75488889e+00] [ 2.58995808e-02 2.21597685e-04 9.99664525e-01 3.31689473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67509989300004 meters 0.01168608142667027 Centerline is valid? [True, True] Translation: X:283.87, Y:3.75, Z:3.32 [[ 9.99656725e-01 2.13481211e-03 -2.61127129e-02 2.83870529e+02] [-2.13804162e-03 9.99997710e-01 -9.57567672e-05 3.75144533e+00] [ 2.61124486e-02 1.51553963e-04 9.99659000e-01 3.31736034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.705099893 meters 0.011483192588575794 Centerline is valid? [True, True] Translation: X:283.90, Y:3.75, Z:3.32 [[ 9.99654590e-01 -1.19858921e-03 -2.62538522e-02 2.83898944e+02] [ 1.19636689e-03 9.99999279e-01 -1.00354622e-04 3.74774178e+00] [ 2.62539535e-02 6.89107190e-05 9.99655303e-01 3.31788956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.735099893 meters 0.011390322684006518 Centerline is valid? [True, True] Translation: X:283.93, Y:3.74, Z:3.32 [[ 9.99641923e-01 -8.48832069e-03 -2.53766583e-02 2.83927967e+02] [ 8.48854758e-03 9.99963967e-01 -9.87838154e-05 3.73883635e+00] [ 2.53765824e-02 -1.16662529e-04 9.99677956e-01 3.31891597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.765099893 meters 0.011695582510598976 Centerline is valid? [True, True] Translation: X:283.96, Y:3.73, Z:3.32 [[ 9.99613230e-01 -1.26911791e-02 -2.47451732e-02 2.83956552e+02] [ 1.26926389e-02 9.99919440e-01 -9.80775874e-05 3.73440841e+00] [ 2.47444245e-02 -2.16041894e-04 9.99693787e-01 3.31963359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.795099893 meters 0.012784908062706392 Centerline is valid? [True, True] Translation: X:283.99, Y:3.73, Z:3.32 [[ 9.99506187e-01 -2.05032618e-02 -2.38117082e-02 2.83985853e+02] [ 2.05067943e-02 9.99789709e-01 -9.58473591e-05 3.72587059e+00] [ 2.38086660e-02 -3.92501775e-04 9.99716456e-01 3.32101273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.825099893 meters 0.013327354370003743 Centerline is valid? [True, True] Translation: X:284.01, Y:3.72, Z:3.32 [[ 9.99430793e-01 -2.42411902e-02 -2.34617616e-02 2.84014295e+02] [ 2.42455676e-02 9.99706028e-01 -9.79095058e-05 3.72197696e+00] [ 2.34572380e-02 -4.70989953e-04 9.99724730e-01 3.32183734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.855099893 meters 0.01457889205174423 Centerline is valid? [True, True] Translation: X:284.04, Y:3.72, Z:3.32 [[ 9.99359546e-01 -2.75851961e-02 -2.27937598e-02 2.84042043e+02] [ 2.75901061e-02 9.99619316e-01 -9.91042264e-05 3.71714963e+00] [ 2.27878163e-02 -5.29841496e-04 9.99740184e-01 3.32199849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.885099893 meters 0.01535970699926471 Centerline is valid? [True, True] Translation: X:284.07, Y:3.71, Z:3.32 [[ 9.99268839e-01 -3.08314599e-02 -2.26099289e-02 2.84070426e+02] [ 3.08370758e-02 9.99524419e-01 -1.00316097e-04 3.71317438e+00] [ 2.26022689e-02 -5.96981342e-04 9.99744358e-01 3.32252807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.915099893 meters 0.01755212972609107 Centerline is valid? [True, True] Translation: X:284.10, Y:3.70, Z:3.32 [[ 9.99092066e-01 -3.66504972e-02 -2.17205881e-02 2.84099377e+02] [ 3.66570198e-02 9.99327901e-01 -9.79143816e-05 3.70440268e+00] [ 2.17095783e-02 -6.98386547e-04 9.99764075e-01 3.32254228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.945099893 meters 0.018614786199964664 Centerline is valid? [True, True] Translation: X:284.13, Y:3.70, Z:3.32 [[ 9.98987838e-01 -3.93062581e-02 -2.18704612e-02 2.84129540e+02] [ 3.93134888e-02 9.99226921e-01 -9.94059747e-05 3.70040676e+00] [ 2.18574609e-02 -7.60498770e-04 9.99760808e-01 3.32252655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.975099893 meters 0.019611209192942302 Centerline is valid? [True, True] Translation: X:284.16, Y:3.70, Z:3.32 [[ 9.98787926e-01 -4.39683990e-02 -2.21237186e-02 2.84159628e+02] [ 4.39769313e-02 9.99032542e-01 -1.00950468e-04 3.69520546e+00] [ 2.21067534e-02 -8.72105143e-04 9.99755235e-01 3.32260218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.005099893 meters 0.020298958573067582 Centerline is valid? [True, True] Translation: X:284.19, Y:3.69, Z:3.32 [[ 9.98694413e-01 -4.59011389e-02 -2.24177238e-02 2.84191219e+02] [ 4.59103886e-02 9.98945557e-01 -1.02156715e-04 3.69269544e+00] [ 2.23987747e-02 -9.27183070e-04 9.99748686e-01 3.32260201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.035099893 meters 0.022291815522941977 Centerline is valid? [True, True] Translation: X:284.22, Y:3.69, Z:3.32 [[ 9.98591467e-01 -4.78136317e-02 -2.29986502e-02 2.84220992e+02] [ 4.78238839e-02 9.98855778e-01 -1.04351285e-04 3.68830031e+00] [ 2.29773241e-02 -9.95680476e-04 9.99735491e-01 3.32193527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.065099893 meters 0.02324314677798458 Centerline is valid? [True, True] Translation: X:284.25, Y:3.69, Z:3.32 [[ 9.98488937e-01 -4.95968302e-02 -2.36642590e-02 2.84251657e+02] [ 4.96081843e-02 9.98768750e-01 -1.07371338e-04 3.68557946e+00] [ 2.36404477e-02 -1.06673183e-03 9.99719956e-01 3.32138153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.095099893 meters 0.02324314677798458 Centerline is valid? [True, True] Translation: X:284.28, Y:3.69, Z:3.32 [[ 9.98488937e-01 -4.95968302e-02 -2.36642590e-02 2.84281687e+02] [ 4.96081843e-02 9.98768750e-01 -1.07371338e-04 3.68571571e+00] [ 2.36404477e-02 -1.06673183e-03 9.99719956e-01 3.32175291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.125099893 meters 0.025361015311050138 Centerline is valid? [True, True] Translation: X:284.31, Y:3.68, Z:3.32 [[ 9.98401787e-01 -5.12131931e-02 -2.38972864e-02 2.84311445e+02] [ 5.12252292e-02 9.98687120e-01 -1.08627618e-04 3.68157840e+00] [ 2.38714753e-02 -1.11568997e-03 9.99714413e-01 3.32127107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.155099893 meters 0.023756793034207364 Centerline is valid? [True, True] Translation: X:284.34, Y:3.68, Z:3.32 [[ 9.98212457e-01 -5.44897211e-02 -2.45511819e-02 2.84342009e+02] [ 5.45034083e-02 9.98513578e-01 -1.11819144e-04 3.68181944e+00] [ 2.45207815e-02 -1.22650383e-03 9.99698568e-01 3.32171508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18509989300003 meters 0.026548717389180517 Centerline is valid? [True, True] Translation: X:284.37, Y:3.68, Z:3.32 [[ 9.98143568e-01 -5.55536476e-02 -2.49641870e-02 2.84372766e+02] [ 5.55681368e-02 9.98454891e-01 -1.13477380e-04 3.67743752e+00] [ 2.49319187e-02 -1.27394664e-03 9.99688340e-01 3.32090068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.215099893 meters 0.02386568536083161 Centerline is valid? [True, True] Translation: X:284.40, Y:3.68, Z:3.32 [[ 9.98055330e-01 -5.70405303e-02 -2.51383375e-02 2.84404308e+02] [ 5.70557099e-02 9.98370990e-01 -1.13587766e-04 3.68113444e+00] [ 2.51038660e-02 -1.32091882e-03 9.99683976e-01 3.32227071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24509989300003 meters 0.02682117931277024 Centerline is valid? [True, True] Translation: X:284.44, Y:3.68, Z:3.32 [[ 9.97996818e-01 -5.78866505e-02 -2.55242609e-02 2.84435101e+02] [ 5.79025934e-02 9.98322231e-01 -1.14642514e-04 3.67704957e+00] [ 2.54880734e-02 -1.36350804e-03 9.99674196e-01 3.32148022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.275099893 meters 0.025777138532954994 Centerline is valid? [True, True] Translation: X:284.47, Y:3.68, Z:3.32 [[ 9.97928532e-01 -5.89885349e-02 -2.56709507e-02 2.84466770e+02] [ 5.90050429e-02 9.98257678e-01 -1.14605592e-04 3.67819899e+00] [ 2.56329841e-02 -1.40034736e-03 9.99670440e-01 3.32150100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30509989300003 meters 0.0260988637303269 Centerline is valid? [True, True] Translation: X:284.50, Y:3.68, Z:3.32 [[ 9.97940305e-01 -5.88756423e-02 -2.54716970e-02 2.84498144e+02] [ 5.88918812e-02 9.98264361e-01 -1.12816175e-04 3.67763334e+00] [ 2.54341294e-02 -1.38749234e-03 9.99675537e-01 3.32173769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.335099893 meters 0.02522869018462848 Centerline is valid? [True, True] Translation: X:284.53, Y:3.68, Z:3.32 [[ 9.97981549e-01 -5.85533699e-02 -2.45831378e-02 2.84529881e+02] [ 5.85684187e-02 9.98283391e-01 -1.08021126e-04 3.67901797e+00] [ 2.45472632e-02 -1.33199242e-03 9.99697783e-01 3.32262927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36509989300004 meters 0.024240448747973823 Centerline is valid? [True, True] Translation: X:284.56, Y:3.68, Z:3.32 [[ 9.98046931e-01 -5.77943216e-02 -2.37094695e-02 2.84560963e+02] [ 5.78081255e-02 9.98327707e-01 -1.03345373e-04 3.68141875e+00] [ 2.36757931e-02 -1.26745646e-03 9.99718886e-01 3.32396883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.395099893 meters 0.02324178727018301 Centerline is valid? [True, True] Translation: X:284.59, Y:3.68, Z:3.32 [[ 9.98095591e-01 -5.70666059e-02 -2.34220807e-02 2.84592176e+02] [ 5.70798970e-02 9.98369608e-01 -1.01246743e-04 3.68346138e+00] [ 2.33896713e-02 -1.23587602e-03 9.99725660e-01 3.32476510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42509989300004 meters 0.023669093581572844 Centerline is valid? [True, True] Translation: X:284.62, Y:3.68, Z:3.32 [[ 9.98171004e-01 -5.56542072e-02 -2.36062870e-02 2.84622961e+02] [ 5.56673348e-02 9.98449367e-01 -1.01179341e-04 3.68407528e+00] [ 2.35753134e-02 -1.21310480e-03 9.99721328e-01 3.32485507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.455099893 meters 0.02355850081081569 Centerline is valid? [True, True] Translation: X:284.65, Y:3.68, Z:3.33 [[ 9.98221293e-01 -5.50615163e-02 -2.28578217e-02 2.84653925e+02] [ 5.50736880e-02 9.98482288e-01 -9.71582863e-05 3.68448627e+00] [ 2.28284798e-02 -1.16187907e-03 9.99738721e-01 3.32517667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.485099893 meters 0.02362186322851848 Centerline is valid? [True, True] Translation: X:284.69, Y:3.68, Z:3.33 [[ 9.98271602e-01 -5.44070180e-02 -2.22190344e-02 2.84685259e+02] [ 5.44183743e-02 9.98518218e-01 -9.36560748e-05 3.68446205e+00] [ 2.21912062e-02 -1.11562953e-03 9.99753122e-01 3.32552523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.515099893 meters 0.023989862273626917 Centerline is valid? [True, True] Translation: X:284.72, Y:3.68, Z:3.33 [[ 9.98369876e-01 -5.29478765e-02 -2.13099094e-02 2.84715413e+02] [ 5.29580147e-02 9.98596736e-01 -8.86930982e-05 3.68433169e+00] [ 2.12847020e-02 -1.03998198e-03 9.99772914e-01 3.32572415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.545099893 meters 0.02285972994920576 Centerline is valid? [True, True] Translation: X:284.75, Y:3.69, Z:3.33 [[ 9.98428352e-01 -5.19045736e-02 -2.11362373e-02 2.84747085e+02] [ 5.19143410e-02 9.98651538e-01 -8.66882372e-05 3.68665156e+00] [ 2.11122354e-02 -1.01072184e-03 9.99776601e-01 3.32652061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.575099893 meters 0.022627600343175385 Centerline is valid? [True, True] Translation: X:284.78, Y:3.69, Z:3.33 [[ 9.98519223e-01 -5.02140888e-02 -2.09262013e-02 2.84778422e+02] [ 5.02233082e-02 9.98738010e-01 -8.50808916e-05 3.68799638e+00] [ 2.09040649e-02 -9.66028150e-04 9.99781019e-01 3.32699789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.605099893 meters 0.022226487197472944 Centerline is valid? [True, True] Translation: X:284.81, Y:3.69, Z:3.33 [[ 9.98619349e-01 -4.83345665e-02 -2.05709697e-02 2.84809475e+02] [ 4.83430925e-02 9.98830786e-01 -8.29072376e-05 3.68976919e+00] [ 2.05509251e-02 -9.11671516e-04 9.99788392e-01 3.32764758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.635099893 meters 0.020969412987441143 Centerline is valid? [True, True] Translation: X:284.84, Y:3.69, Z:3.33 [[ 9.98891782e-01 -4.28431194e-02 -1.94852555e-02 2.84839685e+02] [ 4.28497338e-02 9.99081525e-01 -7.81173707e-05 3.69351455e+00] [ 1.94707055e-02 -7.56907211e-04 9.99810141e-01 3.32769873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.665099893 meters 0.017982031710337687 Centerline is valid? [True, True] Translation: X:284.87, Y:3.70, Z:3.33 [[ 9.99033831e-01 -3.96216878e-02 -1.90138363e-02 2.84870752e+02] [ 3.96274054e-02 9.99214523e-01 -7.61129709e-05 3.69935895e+00] [ 1.90019171e-02 -6.77429567e-04 9.99819218e-01 3.32862993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.695099893 meters 0.018832867178199385 Centerline is valid? [True, True] Translation: X:284.90, Y:3.70, Z:3.33 [[ 9.99187070e-01 -3.59207073e-02 -1.83003201e-02 2.84900704e+02] [ 3.59253891e-02 9.99354472e-01 -7.29618976e-05 3.69917818e+00] [ 1.82911276e-02 -5.84543537e-04 9.99832532e-01 3.32836994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.725099893 meters 0.015983929546306883 Centerline is valid? [True, True] Translation: X:284.93, Y:3.71, Z:3.33 [[ 9.99466484e-01 -2.75683206e-02 -1.75138483e-02 2.84931323e+02] [ 2.75713302e-02 9.99619836e-01 -6.96395939e-05 3.70751120e+00] [ 1.75091100e-02 -4.13277654e-04 9.99846618e-01 3.32934158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.755099893 meters 0.014788535474788783 Centerline is valid? [True, True] Translation: X:284.96, Y:3.71, Z:3.33 [[ 9.99571027e-01 -2.33342380e-02 -1.76996083e-02 2.84960658e+02] [ 2.33366463e-02 9.99727661e-01 -7.04879252e-05 3.71213864e+00] [ 1.76964327e-02 -3.42591810e-04 9.99843347e-01 3.32991041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.785099893 meters 0.014073172677994851 Centerline is valid? [True, True] Translation: X:284.99, Y:3.72, Z:3.33 [[ 9.99652498e-01 -1.93995543e-02 -1.78476797e-02 2.84989105e+02] [ 1.94013438e-02 9.99811774e-01 -7.28933846e-05 3.71590201e+00] [ 1.78457344e-02 -2.73400916e-04 9.99840715e-01 3.33008308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.815099893 meters 0.013266338676428253 Centerline is valid? [True, True] Translation: X:285.02, Y:3.72, Z:3.33 [[ 9.99777155e-01 -1.17518259e-02 -1.75366847e-02 2.85016639e+02] [ 1.17523160e-02 9.99930936e-01 -7.51157784e-05 3.72237367e+00] [ 1.75363563e-02 -1.30997620e-04 9.99846218e-01 3.33049500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.845099893 meters 0.013024614312266918 Centerline is valid? [True, True] Translation: X:285.04, Y:3.73, Z:3.33 [[ 9.99820992e-01 -8.37583953e-03 -1.69655410e-02 2.85044537e+02] [ 8.37578743e-03 9.99964920e-01 -7.41270137e-05 3.72529967e+00] [ 1.69655667e-02 -6.79860208e-05 9.99856072e-01 3.33116971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.875099893 meters 0.012980351934235272 Centerline is valid? [True, True] Translation: X:285.07, Y:3.73, Z:3.33 [[ 9.99857058e-01 -4.94834700e-03 -1.61671489e-02 2.85073783e+02] [ 4.94782679e-03 9.99987757e-01 -7.21760725e-05 3.72824928e+00] [ 1.61673081e-02 -7.82649684e-06 9.99869301e-01 3.33188320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.905099893 meters 0.0130556078270837 Centerline is valid? [True, True] Translation: X:285.10, Y:3.73, Z:3.33 [[ 9.99864209e-01 -2.07374481e-03 -1.63481970e-02 2.85101489e+02] [ 2.07278302e-03 9.99997849e-01 -7.57753441e-05 3.73094078e+00] [ 1.63483190e-02 4.18787893e-05 9.99866356e-01 3.33237610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93509989300003 meters 0.013572214360450065 Centerline is valid? [True, True] Translation: X:285.13, Y:3.74, Z:3.33 [[ 9.99864919e-01 3.04542284e-03 -1.61514393e-02 2.85128895e+02] [-3.04709031e-03 9.99995355e-01 -7.86316353e-05 3.73572358e+00] [ 1.61511248e-02 1.27835908e-04 9.99869554e-01 3.33250022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.965099893 meters 0.013570885416961947 Centerline is valid? [True, True] Translation: X:285.16, Y:3.74, Z:3.33 [[ 9.99863904e-01 4.53009720e-03 -1.58635292e-02 2.85157157e+02] [-4.53192347e-03 9.99989728e-01 -7.91771421e-05 3.73622340e+00] [ 1.58630076e-02 1.51058667e-04 9.99874163e-01 3.33333677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99509989300003 meters 0.013769971285725725 Centerline is valid? [True, True] Translation: X:285.19, Y:3.74, Z:3.33 [[ 9.99874103e-01 5.51516623e-03 -1.48782239e-02 2.85185743e+02] [-5.51692831e-03 9.99984779e-01 -7.73922705e-05 3.73686908e+00] [ 1.48775706e-02 1.59464622e-04 9.99889310e-01 3.33361658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.025099893 meters 0.013804985162133214 Centerline is valid? [True, True] Translation: X:285.21, Y:3.74, Z:3.33 [[ 9.99877069e-01 5.05172025e-03 -1.48434040e-02 2.85212879e+02] [-5.05344103e-03 9.99987228e-01 -7.84237167e-05 3.73633380e+00] [ 1.48428183e-02 1.53424343e-04 9.99889828e-01 3.33358453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05509989300003 meters 0.013818298137350804 Centerline is valid? [True, True] Translation: X:285.24, Y:3.74, Z:3.33 [[ 9.99885676e-01 3.82749341e-03 -1.46282281e-02 2.85240335e+02] [-3.82905917e-03 9.99992666e-01 -7.90307659e-05 3.73538909e+00] [ 1.46278183e-02 1.35034082e-04 9.99892999e-01 3.33345467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.085099893 meters 0.013489073690179166 Centerline is valid? [True, True] Translation: X:285.27, Y:3.73, Z:3.33 [[ 9.99889953e-01 2.65445440e-04 -1.48327633e-02 2.85268778e+02] [-2.66682653e-04 9.99999961e-01 -8.14329577e-05 3.73214206e+00] [ 1.48327412e-02 8.53796370e-05 9.99889985e-01 3.33304083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11509989300004 meters 0.013480793419178974 Centerline is valid? [True, True] Translation: X:285.30, Y:3.73, Z:3.33 [[ 9.99887394e-01 -2.20213794e-03 -1.48442115e-02 2.85296569e+02] [ 2.20115303e-03 9.99997574e-01 -8.26876892e-05 3.73068977e+00] [ 1.48443575e-02 5.00039970e-05 9.99889815e-01 3.33305358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.145099893 meters 0.013517280476017444 Centerline is valid? [True, True] Translation: X:285.33, Y:3.73, Z:3.33 [[ 9.99884225e-01 -4.90868816e-03 -1.44028341e-02 2.85325890e+02] [ 4.90801868e-03 9.99987952e-01 -8.18288329e-05 3.72849471e+00] [ 1.44030623e-02 1.11299801e-05 9.99896270e-01 3.33351933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17509989300004 meters 0.013777780459089428 Centerline is valid? [True, True] Translation: X:285.35, Y:3.72, Z:3.33 [[ 9.99846408e-01 -1.09347792e-02 -1.36963717e-02 2.85354380e+02] [ 1.09347294e-02 9.99940211e-01 -7.85271117e-05 3.72330030e+00] [ 1.36964115e-02 -7.12510680e-05 9.99906197e-01 3.33387257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.205099893 meters 0.014047019885498883 Centerline is valid? [True, True] Translation: X:285.38, Y:3.72, Z:3.33 [[ 9.99805397e-01 -1.43864595e-02 -1.34981050e-02 2.85383272e+02] [ 1.43867129e-02 9.99896503e-01 -7.83383545e-05 3.72015408e+00] [ 1.34978350e-02 -1.15870251e-04 9.99908893e-01 3.33408381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.235099893 meters 0.014314247004452394 Centerline is valid? [True, True] Translation: X:285.41, Y:3.72, Z:3.33 [[ 9.99757347e-01 -1.77544616e-02 -1.30394401e-02 2.85412322e+02] [ 1.77549727e-02 9.99842365e-01 -7.65722293e-05 3.71735496e+00] [ 1.30387442e-02 -1.54961255e-04 9.99914980e-01 3.33441443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.265099893 meters 0.015299414081550342 Centerline is valid? [True, True] Translation: X:285.44, Y:3.71, Z:3.33 [[ 9.99632902e-01 -2.40670986e-02 -1.24433321e-02 2.85441362e+02] [ 2.40680421e-02 9.99710320e-01 -7.39409547e-05 3.71082419e+00] [ 1.24415071e-02 -2.25572829e-04 9.99922576e-01 3.33486315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.295099893 meters 0.016056903489656025 Centerline is valid? [True, True] Translation: X:285.47, Y:3.71, Z:3.34 [[ 9.99559322e-01 -2.71258307e-02 -1.20562020e-02 2.85472987e+02] [ 2.71269334e-02 9.99631994e-01 -7.20883444e-05 3.70736356e+00] [ 1.20537207e-02 -2.54991210e-04 9.99927319e-01 3.33579683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.325099893 meters 0.016523270955633714 Centerline is valid? [True, True] Translation: X:285.51, Y:3.71, Z:3.34 [[ 9.99495794e-01 -2.90250359e-02 -1.28726761e-02 2.85505613e+02] [ 2.90264571e-02 9.99578641e-01 -7.64568549e-05 3.70519292e+00] [ 1.28694712e-02 -2.97229875e-04 9.99917141e-01 3.33530775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.355099893 meters 0.017251470404025714 Centerline is valid? [True, True] Translation: X:285.54, Y:3.70, Z:3.33 [[ 9.99409803e-01 -3.08772145e-02 -1.50546748e-02 2.85535736e+02] [ 3.08793850e-02 9.99523114e-01 -8.83152529e-05 3.70225951e+00] [ 1.50502224e-02 -3.76615970e-04 9.99886668e-01 3.33372172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.385099893 meters 0.016783001154174422 Centerline is valid? [True, True] Translation: X:285.57, Y:3.70, Z:3.33 [[ 9.99373663e-01 -3.12914668e-02 -1.65264923e-02 2.85566994e+02] [ 3.12941456e-02 9.99510214e-01 -9.65538535e-05 3.70117838e+00] [ 1.65214191e-02 -4.20689078e-04 9.99863424e-01 3.33233258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.415099893 meters 0.016831657590364722 Centerline is valid? [True, True] Translation: X:285.60, Y:3.70, Z:3.33 [[ 9.99394589e-01 -3.09017444e-02 -1.59855532e-02 2.85597951e+02] [ 3.09042078e-02 9.99522347e-01 -9.29569968e-05 3.70070975e+00] [ 1.59807902e-02 -4.01120139e-04 9.99872219e-01 3.33323310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.445099893 meters 0.01671165531275683 Centerline is valid? [True, True] Translation: X:285.63, Y:3.70, Z:3.33 [[ 9.99434175e-01 -3.00555007e-02 -1.50995733e-02 2.85629711e+02] [ 3.00576035e-02 9.99548164e-01 -8.77059761e-05 3.70043445e+00] [ 1.50953868e-02 -3.66200637e-04 9.99885991e-01 3.33411598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.475099893 meters 0.01609694194371154 Centerline is valid? [True, True] Translation: X:285.66, Y:3.70, Z:3.34 [[ 9.99522502e-01 -2.69949904e-02 -1.50345730e-02 2.85660658e+02] [ 2.69967365e-02 9.99635518e-01 -8.68342764e-05 3.70099392e+00] [ 1.50314373e-02 -3.19091594e-04 9.99886971e-01 3.33533282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.505099893 meters 0.015862420952805985 Centerline is valid? [True, True] Translation: X:285.69, Y:3.70, Z:3.34 [[ 9.99565497e-01 -2.49322993e-02 -1.57225448e-02 2.85690013e+02] [ 2.49339581e-02 9.99689096e-01 -9.05359382e-05 3.70144116e+00] [ 1.57199139e-02 -3.01528673e-04 9.99876389e-01 3.33577641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.535099893 meters 0.015609938775690802 Centerline is valid? [True, True] Translation: X:285.72, Y:3.70, Z:3.34 [[ 9.99617164e-01 -2.27522134e-02 -1.57436233e-02 2.85719168e+02] [ 2.27536068e-02 9.99741099e-01 -9.06373302e-05 3.70251987e+00] [ 1.57416095e-02 -2.67621583e-04 9.99876057e-01 3.33598212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.565099893 meters 0.014903539466134489 Centerline is valid? [True, True] Translation: X:285.75, Y:3.70, Z:3.34 [[ 9.99711965e-01 -1.73880501e-02 -1.65421682e-02 2.85747532e+02] [ 1.73888430e-02 9.99848798e-01 -9.59117956e-05 3.70495938e+00] [ 1.65413347e-02 -1.91764995e-04 9.99863164e-01 3.33543015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.595099893 meters 0.014437249782511664 Centerline is valid? [True, True] Translation: X:285.78, Y:3.71, Z:3.34 [[ 9.99743542e-01 -1.47603273e-02 -1.71750479e-02 2.85776606e+02] [ 1.47607627e-02 9.99891049e-01 -1.01424333e-04 3.70661712e+00] [ 1.71746738e-02 -1.52118485e-04 9.99852493e-01 3.33513381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.625099893 meters 0.01397871670524046 Centerline is valid? [True, True] Translation: X:285.81, Y:3.71, Z:3.34 [[ 9.99786365e-01 -9.01468734e-03 -1.85999740e-02 2.85805817e+02] [ 9.01411602e-03 9.99959365e-01 -1.14556116e-04 3.70978608e+00] [ 1.86002509e-02 -5.31306809e-05 9.99826999e-01 3.33521158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.655099893 meters 0.013985436017046032 Centerline is valid? [True, True] Translation: X:285.83, Y:3.71, Z:3.33 [[ 9.99791427e-01 -6.05519218e-03 -1.95048236e-02 2.85834090e+02] [ 6.05390131e-03 9.99981667e-01 -1.25227822e-04 3.71073356e+00] [ 1.95052243e-02 7.12142560e-06 9.99809755e-01 3.33479194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68509989300003 meters 0.014232179325704876 Centerline is valid? [True, True] Translation: X:285.86, Y:3.71, Z:3.33 [[ 9.99789078e-01 -1.94284788e-04 -2.05368218e-02 2.85863042e+02] [ 1.91497264e-04 9.99999972e-01 -1.37699453e-04 3.71241743e+00] [ 2.05368479e-02 1.33737664e-04 9.99789088e-01 3.33445322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.715099893 meters 0.014488157192445918 Centerline is valid? [True, True] Translation: X:285.89, Y:3.71, Z:3.33 [[ 9.99785201e-01 2.34742319e-03 -2.05922519e-02 2.85891650e+02] [-2.35087275e-03 9.99997226e-01 -1.43311591e-04 3.71349232e+00] [ 2.05918583e-02 1.91690572e-04 9.99787947e-01 3.33462924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74509989300003 meters 0.014594713300734688 Centerline is valid? [True, True] Translation: X:285.92, Y:3.71, Z:3.34 [[ 9.99784175e-01 4.88351460e-03 -2.01929514e-02 2.85920563e+02] [-4.88745074e-03 9.99988046e-01 -1.45579931e-04 3.71441546e+00] [ 2.01919991e-02 2.44240567e-04 9.99796091e-01 3.33547488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.775099893 meters 0.015284382713976514 Centerline is valid? [True, True] Translation: X:285.95, Y:3.72, Z:3.34 [[ 9.99784374e-01 7.02280735e-03 -1.95419149e-02 2.85948255e+02] [-7.02697405e-03 9.99975300e-01 -1.44558722e-04 3.71628382e+00] [ 1.95404170e-02 2.81848080e-04 9.99809028e-01 3.33594500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80509989300003 meters 0.015203120648554417 Centerline is valid? [True, True] Translation: X:285.98, Y:3.72, Z:3.34 [[ 9.99792047e-01 8.39251288e-03 -1.85857162e-02 2.85977042e+02] [-8.39656672e-03 9.99964738e-01 -1.40090457e-04 3.71518128e+00] [ 1.85838851e-02 2.96117531e-04 9.99827261e-01 3.33739184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.835099893 meters 0.015241098715536736 Centerline is valid? [True, True] Translation: X:286.01, Y:3.71, Z:3.34 [[ 9.99795663e-01 9.17631289e-03 -1.80118760e-02 2.86005818e+02] [-9.18032681e-03 9.99957850e-01 -1.40175619e-04 3.71434351e+00] [ 1.80098305e-02 3.05501884e-04 9.99837763e-01 3.33815579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86509989300004 meters 0.015057977463724882 Centerline is valid? [True, True] Translation: X:286.03, Y:3.71, Z:3.34 [[ 9.99798650e-01 8.48397593e-03 -1.81846288e-02 2.86034253e+02] [-8.48803856e-03 9.99963965e-01 -1.46238144e-04 3.71045125e+00] [ 1.81827328e-02 3.00560530e-04 9.99834635e-01 3.33820607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.895099893 meters 0.015214501216437653 Centerline is valid? [True, True] Translation: X:286.06, Y:3.71, Z:3.34 [[ 9.99802554e-01 7.06006656e-03 -1.85744152e-02 2.86061802e+02] [-7.06413375e-03 9.99975037e-01 -1.53363953e-04 3.70900669e+00] [ 1.85728687e-02 2.84545825e-04 9.99827469e-01 3.33773474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92509989300004 meters 0.014688296808068137 Centerline is valid? [True, True] Translation: X:286.09, Y:3.71, Z:3.34 [[ 9.99815911e-01 4.33708008e-03 -1.86904507e-02 2.86090602e+02] [-4.34075197e-03 9.99990567e-01 -1.55893552e-04 3.70551694e+00] [ 1.86895983e-02 2.36995465e-04 9.99825306e-01 3.33837125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.955099893 meters 0.014137457916277858 Centerline is valid? [True, True] Translation: X:286.12, Y:3.70, Z:3.34 [[ 9.99838925e-01 -2.74705716e-03 -1.77363264e-02 2.86118901e+02] [ 2.74484336e-03 9.99996222e-01 -1.49159828e-04 3.69852008e+00] [ 1.77366692e-02 1.00452364e-04 9.99842688e-01 3.33886849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.985099893 meters 0.014137457916277858 Centerline is valid? [True, True] Translation: X:286.15, Y:3.70, Z:3.34 [[ 9.99838109e-01 -3.02976254e-03 -1.77363059e-02 2.86146305e+02] [ 3.02755066e-03 9.99995405e-01 -1.51558858e-04 3.69881371e+00] [ 1.77366836e-02 9.78367573e-05 9.99842688e-01 3.33920765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.015099893 meters 0.014016259412357228 Centerline is valid? [True, True] Translation: X:286.18, Y:3.69, Z:3.34 [[ 9.99831769e-01 -7.42217569e-03 -1.67733351e-02 2.86175545e+02] [ 7.42075488e-03 9.99972455e-01 -1.46945307e-04 3.69431721e+00] [ 1.67739637e-02 2.24497786e-05 9.99859307e-01 3.33999226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.045099893 meters 0.014363663224731852 Centerline is valid? [True, True] Translation: X:286.20, Y:3.69, Z:3.34 [[ 9.99732286e-01 -1.69004721e-02 -1.58028381e-02 2.86204201e+02] [ 1.69003781e-02 9.99857169e-01 -1.39505178e-04 3.68536154e+00] [ 1.58029387e-02 -1.27606108e-04 9.99875118e-01 3.34163277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.075099893 meters 0.015054157744460422 Centerline is valid? [True, True] Translation: X:286.23, Y:3.68, Z:3.34 [[ 9.99640751e-01 -2.18923358e-02 -1.54626776e-02 2.86232157e+02] [ 2.18928251e-02 9.99760314e-01 -1.37646185e-04 3.68033932e+00] [ 1.54619848e-02 -2.00924961e-04 9.99880436e-01 3.34213235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.105099893 meters 0.015447384779035424 Centerline is valid? [True, True] Translation: X:286.26, Y:3.68, Z:3.34 [[ 9.99519595e-01 -2.70758026e-02 -1.50824164e-02 2.86260940e+02] [ 2.70768313e-02 9.99633346e-01 -1.36031948e-04 3.67707319e+00] [ 1.50805695e-02 -2.72417447e-04 9.99886245e-01 3.34277368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.135099893 meters 0.016676112659326565 Centerline is valid? [True, True] Translation: X:286.29, Y:3.67, Z:3.34 [[ 9.99367266e-01 -3.20048819e-02 -1.55163196e-02 2.86290801e+02] [ 3.20065130e-02 9.99487650e-01 -1.43260161e-04 3.67226477e+00] [ 1.55129549e-02 -3.53453770e-04 9.99879604e-01 3.34285799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.165099893 meters 0.019006724930843946 Centerline is valid? [True, True] Translation: X:286.32, Y:3.66, Z:3.34 [[ 9.99019613e-01 -4.15428011e-02 -1.52973095e-02 2.86321203e+02] [ 4.15454996e-02 9.99136603e-01 -1.41476606e-04 3.66433032e+00] [ 1.52899792e-02 -4.94196464e-04 9.99882979e-01 3.34269635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.195099893 meters 0.02153407508701415 Centerline is valid? [True, True] Translation: X:286.35, Y:3.66, Z:3.34 [[ 9.98621649e-01 -5.01575435e-02 -1.54603685e-02 2.86351596e+02] [ 5.01613294e-02 9.98741118e-01 -1.43050059e-04 3.65686521e+00] [ 1.54480808e-02 -6.32659751e-04 9.99880471e-01 3.34221691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.225099893 meters 0.023798151623078426 Centerline is valid? [True, True] Translation: X:286.38, Y:3.65, Z:3.34 [[ 9.98223171e-01 -5.73608180e-02 -1.61318485e-02 2.86382353e+02] [ 5.73658789e-02 9.98353211e-01 -1.49221819e-04 3.65128703e+00] [ 1.61138422e-02 -7.76460990e-04 9.99869862e-01 3.34169746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.255099893 meters 0.025936135698167335 Centerline is valid? [True, True] Translation: X:286.41, Y:3.65, Z:3.34 [[ 9.97942555e-01 -6.20811482e-02 -1.60183551e-02 2.86413575e+02] [ 6.20867461e-02 9.98070746e-01 -1.48071115e-04 3.64794770e+00] [ 1.59966441e-02 -8.46761082e-04 9.99871687e-01 3.34180990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.285099893 meters 0.026601726365359124 Centerline is valid? [True, True] Translation: X:286.44, Y:3.65, Z:3.34 [[ 9.97768204e-01 -6.48086360e-02 -1.60764523e-02 2.86444616e+02] [ 6.48146351e-02 9.97897310e-01 -1.48131735e-04 3.64802674e+00] [ 1.60522487e-02 -8.94188254e-04 9.99870755e-01 3.34224814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.315099893 meters 0.027130917881007664 Centerline is valid? [True, True] Translation: X:286.48, Y:3.65, Z:3.34 [[ 9.97708086e-01 -6.56588387e-02 -1.63552103e-02 2.86476399e+02] [ 6.56651744e-02 9.97841702e-01 -1.49918979e-04 3.64828484e+00] [ 1.63297544e-02 -9.24392357e-04 9.99866233e-01 3.34261287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.345099893 meters 0.028420334286749782 Centerline is valid? [True, True] Translation: X:286.51, Y:3.65, Z:3.34 [[ 9.97696246e-01 -6.57796397e-02 -1.65903426e-02 2.86507816e+02] [ 6.57861906e-02 9.97833731e-01 -1.51161246e-04 3.64726957e+00] [ 1.65643468e-02 -9.40602434e-04 9.99862359e-01 3.34246442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.375099893 meters 0.028420334286749782 Centerline is valid? [True, True] Translation: X:286.54, Y:3.65, Z:3.34 [[ 9.97700937e-01 -6.57084582e-02 -1.65903514e-02 2.86539550e+02] [ 6.57150155e-02 9.97838421e-01 -1.50190270e-04 3.64749726e+00] [ 1.65643588e-02 -9.40390227e-04 9.99862359e-01 3.34285674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.405099893 meters 0.030271243880005953 Centerline is valid? [True, True] Translation: X:286.57, Y:3.65, Z:3.34 [[ 9.97705030e-01 -6.55711440e-02 -1.68848703e-02 2.86570531e+02] [ 6.55779402e-02 9.97847439e-01 -1.51456394e-04 3.64576542e+00] [ 1.68584557e-02 -9.56166205e-04 9.99857429e-01 3.34215276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43509989300003 meters 0.027494154544224502 Centerline is valid? [True, True] Translation: X:286.60, Y:3.65, Z:3.34 [[ 9.97702614e-01 -6.54443725e-02 -1.75079290e-02 2.86602367e+02] [ 6.54516916e-02 9.97855727e-01 -1.55249497e-04 3.65060970e+00] [ 1.74805474e-02 -9.91030738e-04 9.99846712e-01 3.34208012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.465099893 meters 0.02797016856006087 Centerline is valid? [True, True] Translation: X:286.63, Y:3.65, Z:3.34 [[ 9.97736593e-01 -6.47748978e-02 -1.80527776e-02 2.86633173e+02] [ 6.47825992e-02 9.97899389e-01 -1.58481692e-04 3.65104062e+00] [ 1.80251214e-02 -1.01138288e-03 9.99837023e-01 3.34174905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49509989300003 meters 0.027242879930457892 Centerline is valid? [True, True] Translation: X:286.67, Y:3.65, Z:3.34 [[ 9.97795089e-01 -6.39626136e-02 -1.77128336e-02 2.86665534e+02] [ 6.39699325e-02 9.97951815e-01 -1.53662545e-04 3.65350988e+00] [ 1.76863831e-02 -9.79765035e-04 9.99843104e-01 3.34195159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.525099893 meters 0.026439293304902745 Centerline is valid? [True, True] Translation: X:286.70, Y:3.66, Z:3.34 [[ 9.97863783e-01 -6.27765489e-02 -1.80824433e-02 2.86697383e+02] [ 6.27840043e-02 9.98027126e-01 -1.55650654e-04 3.65623929e+00] [ 1.80565401e-02 -9.79970049e-04 9.99836487e-01 3.34208112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55509989300003 meters 0.026907796495489363 Centerline is valid? [True, True] Translation: X:286.73, Y:3.66, Z:3.34 [[ 9.98061431e-01 -5.96006830e-02 -1.79203415e-02 2.86727198e+02] [ 5.96075067e-02 9.98221880e-01 -1.53590377e-04 3.65964220e+00] [ 1.78976311e-02 -9.14894247e-04 9.99839406e-01 3.34218434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.585099893 meters 0.024129629859146136 Centerline is valid? [True, True] Translation: X:286.76, Y:3.67, Z:3.34 [[ 9.98177666e-01 -5.77371092e-02 -1.75434524e-02 2.86758396e+02] [ 5.77433650e-02 9.98331449e-01 -1.50170945e-04 3.66609338e+00] [ 1.75228507e-02 -8.63120691e-04 9.99846091e-01 3.34317783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61509989300004 meters 0.022667195146211155 Centerline is valid? [True, True] Translation: X:286.79, Y:3.67, Z:3.34 [[ 9.98405133e-01 -5.35276382e-02 -1.79438536e-02 2.86789451e+02] [ 5.35335146e-02 9.98566042e-01 -1.53035101e-04 3.67338555e+00] [ 1.79263145e-02 -8.07806518e-04 9.99838984e-01 3.34373575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.645099893 meters 0.022286258119734628 Centerline is valid? [True, True] Translation: X:286.82, Y:3.68, Z:3.34 [[ 9.98545711e-01 -5.09172241e-02 -1.77172322e-02 2.86819728e+02] [ 5.09225484e-02 9.98702594e-01 -1.50783525e-04 3.67646027e+00] [ 1.77019232e-02 -7.51642371e-04 9.99843026e-01 3.34387459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67509989300004 meters 0.021785560997107517 Centerline is valid? [True, True] Translation: X:286.85, Y:3.68, Z:3.34 [[ 9.98670224e-01 -4.85166601e-02 -1.74332478e-02 2.86851285e+02] [ 4.85214569e-02 9.98822129e-01 -1.47962377e-04 3.67988843e+00] [ 1.74198923e-02 -6.98120961e-04 9.99848018e-01 3.34476717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.705099893 meters 0.019731531538570272 Centerline is valid? [True, True] Translation: X:286.88, Y:3.69, Z:3.35 [[ 9.98969938e-01 -4.23284270e-02 -1.63513630e-02 2.86882044e+02] [ 4.23318268e-02 9.99103597e-01 -1.38291055e-04 3.68826271e+00] [ 1.63425593e-02 -5.54034461e-04 9.99866298e-01 3.34586747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.735099893 meters 0.018777500212513055 Centerline is valid? [True, True] Translation: X:286.91, Y:3.69, Z:3.35 [[ 9.99112825e-01 -3.89325073e-02 -1.60568795e-02 2.86913303e+02] [ 3.89353532e-02 9.99241722e-01 -1.35449821e-04 3.69259328e+00] [ 1.60499773e-02 -4.89850621e-04 9.99871071e-01 3.34669288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.765099893 meters 0.016713766723592354 Centerline is valid? [True, True] Translation: X:286.94, Y:3.70, Z:3.35 [[ 9.99405835e-01 -3.11213845e-02 -1.48133733e-02 2.86944104e+02] [ 3.11229557e-02 9.99515556e-01 -1.24504919e-04 3.70216354e+00] [ 1.48100718e-02 -3.36605018e-04 9.99890268e-01 3.34782497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.795099893 meters 0.016713766723592354 Centerline is valid? [True, True] Translation: X:286.97, Y:3.70, Z:3.35 [[ 9.99406954e-01 -3.10854449e-02 -1.48133759e-02 2.86974954e+02] [ 3.10870168e-02 9.99516674e-01 -1.24194279e-04 3.70239391e+00] [ 1.48100768e-02 -3.36383039e-04 9.99890268e-01 3.34820644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.825099893 meters 0.015491299783743492 Centerline is valid? [True, True] Translation: X:287.00, Y:3.71, Z:3.35 [[ 9.99633196e-01 -2.31206926e-02 -1.41034574e-02 2.87004722e+02] [ 2.31213308e-02 9.99732659e-01 -1.17818993e-04 3.71061512e+00] [ 1.41024110e-02 -2.08314927e-04 9.99900534e-01 3.34858093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.855099893 meters 0.014544524036608539 Centerline is valid? [True, True] Translation: X:287.03, Y:3.72, Z:3.35 [[ 9.99769249e-01 -1.62158456e-02 -1.40888526e-02 2.87034479e+02] [ 1.62157961e-02 9.99868508e-01 -1.17757952e-04 3.71827181e+00] [ 1.40889096e-02 -1.10731182e-04 9.99900740e-01 3.34843660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.885099893 meters 0.01442493861160001 Centerline is valid? [True, True] Translation: X:287.06, Y:3.72, Z:3.35 [[ 9.99806398e-01 -1.34640716e-02 -1.43487342e-02 2.87062198e+02] [ 1.34637280e-02 9.99909353e-01 -1.20549386e-04 3.72145439e+00] [ 1.43490566e-02 -7.26614077e-05 9.99897044e-01 3.34823578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.915099893 meters 0.014270598083341343 Centerline is valid? [True, True] Translation: X:287.09, Y:3.72, Z:3.35 [[ 9.99820519e-01 -1.18014369e-02 -1.48207835e-02 2.87089880e+02] [ 1.18008608e-02 9.99930359e-01 -1.26326944e-04 3.72473620e+00] [ 1.48212422e-02 -4.85937324e-05 9.99890158e-01 3.34817348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.945099893 meters 0.014220066342248512 Centerline is valid? [True, True] Translation: X:287.12, Y:3.73, Z:3.35 [[ 9.99829373e-01 -1.05205711e-02 -1.51836228e-02 2.87116594e+02] [ 1.05197562e-02 9.99944657e-01 -1.33539588e-04 3.72728035e+00] [ 1.51841874e-02 -2.62112076e-05 9.99884713e-01 3.34812172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.975099893 meters 0.014221568547076971 Centerline is valid? [True, True] Translation: X:287.14, Y:3.73, Z:3.35 [[ 9.99836018e-01 -1.01858745e-02 -1.49728002e-02 2.87144512e+02] [ 1.01849984e-02 9.99948122e-01 -1.34766393e-04 3.72921976e+00] [ 1.49733961e-02 -1.77536520e-05 9.99887892e-01 3.34833177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.005099893 meters 0.01420924027456566 Centerline is valid? [True, True] Translation: X:287.17, Y:3.73, Z:3.35 [[ 9.99840457e-01 -1.09616781e-02 -1.41032757e-02 2.87172889e+02] [ 1.09609260e-02 9.99939919e-01 -1.30624433e-04 3.73062216e+00] [ 1.41038603e-02 -2.39813689e-05 9.99900535e-01 3.34932585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.035099893 meters 0.014259722814743078 Centerline is valid? [True, True] Translation: X:287.20, Y:3.73, Z:3.35 [[ 9.99831593e-01 -1.26395321e-02 -1.33051864e-02 2.87200346e+02] [ 1.26389648e-02 9.99920117e-01 -1.26721647e-04 3.73083817e+00] [ 1.33057253e-02 -4.14634772e-05 9.99911474e-01 3.34986937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.065099893 meters 0.014421303184279732 Centerline is valid? [True, True] Translation: X:287.23, Y:3.73, Z:3.35 [[ 9.99809526e-01 -1.46267162e-02 -1.29217145e-02 2.87228128e+02] [ 1.46263011e-02 9.99893022e-01 -1.26633007e-04 3.72946395e+00] [ 1.29221844e-02 -6.23880003e-05 9.99916503e-01 3.35027469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.095099893 meters 0.014855173159325054 Centerline is valid? [True, True] Translation: X:287.26, Y:3.73, Z:3.35 [[ 9.99742302e-01 -1.99199672e-02 -1.08868936e-02 2.87257123e+02] [ 1.99199720e-02 9.99801572e-01 -1.07999603e-04 3.72760152e+00] [ 1.08868847e-02 -1.08894844e-04 9.99940730e-01 3.35194371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.125099893 meters 0.015371993851627639 Centerline is valid? [True, True] Translation: X:287.29, Y:3.73, Z:3.35 [[ 9.99681214e-01 -2.32669913e-02 -9.80394914e-03 2.87288005e+02] [ 2.32671484e-02 9.99729278e-01 -9.80473528e-05 3.72580137e+00] [ 9.80357627e-03 -1.30093843e-04 9.99951935e-01 3.35307592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.155099893 meters 0.016735866232542782 Centerline is valid? [True, True] Translation: X:287.32, Y:3.72, Z:3.35 [[ 9.99467946e-01 -3.11576684e-02 -9.64495559e-03 2.87319276e+02] [ 3.11581867e-02 9.99514461e-01 -9.65541911e-05 3.72104815e+00] [ 9.64328100e-03 -2.04016508e-04 9.99953482e-01 3.35351484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18509989300003 meters 0.01750177000401974 Centerline is valid? [True, True] Translation: X:287.35, Y:3.72, Z:3.35 [[ 9.99323866e-01 -3.53766876e-02 -1.00149876e-02 2.87350960e+02] [ 3.53774615e-02 9.99374017e-01 -9.99284989e-05 3.71835229e+00] [ 1.00122535e-02 -2.54443904e-04 9.99949844e-01 3.35343885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.215099893 meters 0.02021415289834931 Centerline is valid? [True, True] Translation: X:287.38, Y:3.71, Z:3.35 [[ 9.98981561e-01 -4.33816597e-02 -1.24045690e-02 2.87380558e+02] [ 4.33834736e-02 9.99058486e-01 -1.22942161e-04 3.71138330e+00] [ 1.23982233e-02 -4.15336338e-04 9.99923053e-01 3.35131953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24509989300003 meters 0.021629091722397777 Centerline is valid? [True, True] Translation: X:287.41, Y:3.71, Z:3.35 [[ 9.98810053e-01 -4.70664286e-02 -1.27760923e-02 2.87411453e+02] [ 4.70686522e-02 9.98891649e-01 -1.26757153e-04 3.70813891e+00] [ 1.27678979e-02 -4.74747124e-04 9.99918374e-01 3.35080190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.275099893 meters 0.023109913714163783 Centerline is valid? [True, True] Translation: X:287.44, Y:3.71, Z:3.35 [[ 9.98674437e-01 -4.99495527e-02 -1.24262223e-02 2.87442861e+02] [ 4.99518816e-02 9.98751618e-01 -1.23069058e-04 3.70518656e+00] [ 1.24168569e-02 -4.97807264e-04 9.99922784e-01 3.35156493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30509989300003 meters 0.025151805656359345 Centerline is valid? [True, True] Translation: X:287.47, Y:3.70, Z:3.35 [[ 9.98425054e-01 -5.51818154e-02 -1.01182482e-02 2.87473549e+02] [ 5.51836366e-02 9.98476217e-01 -9.93242165e-05 3.70184602e+00] [ 1.01083111e-02 -4.59193945e-04 9.99948804e-01 3.35403729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.335099893 meters 0.023461625128964016 Centerline is valid? [True, True] Translation: X:287.51, Y:3.70, Z:3.35 [[ 9.98327504e-01 -5.70578374e-02 -9.30580130e-03 2.87505454e+02] [ 5.70594581e-02 9.98370778e-01 -9.14528326e-05 3.70415198e+00] [ 9.29585819e-03 -4.39684102e-04 9.99956696e-01 3.35467112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36509989300004 meters 0.024513797442602965 Centerline is valid? [True, True] Translation: X:287.54, Y:3.70, Z:3.35 [[ 9.98255799e-01 -5.82675360e-02 -9.50020012e-03 2.87536471e+02] [ 5.82692872e-02 9.98300897e-01 -9.25972815e-05 3.70240125e+00] [ 9.48945372e-03 -4.61134116e-04 9.99954868e-01 3.35496814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.395099893 meters 0.025938978480978744 Centerline is valid? [True, True] Translation: X:287.57, Y:3.70, Z:3.36 [[ 9.98204852e-01 -5.91249051e-02 -9.55610467e-03 2.87567804e+02] [ 5.91267190e-02 9.98250481e-01 -9.28307782e-05 3.70020286e+00] [ 9.54487470e-03 -4.72356983e-04 9.99954335e-01 3.35503204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42509989300004 meters 0.024033281502143067 Centerline is valid? [True, True] Translation: X:287.60, Y:3.70, Z:3.35 [[ 9.98142114e-01 -6.01636851e-02 -9.62553404e-03 2.87599835e+02] [ 6.01655874e-02 9.98188406e-01 -9.20834554e-05 3.70353860e+00] [ 9.61363656e-03 -4.87213534e-04 9.99953669e-01 3.35446688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.455099893 meters 0.025392600442968007 Centerline is valid? [True, True] Translation: X:287.63, Y:3.70, Z:3.35 [[ 9.98143195e-01 -6.01490111e-02 -9.60514102e-03 2.87632089e+02] [ 6.01509109e-02 9.98189290e-01 -9.12329794e-05 3.70209897e+00] [ 9.59323647e-03 -4.86694404e-04 9.99953865e-01 3.35472373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.485099893 meters 0.025832156099385797 Centerline is valid? [True, True] Translation: X:287.66, Y:3.70, Z:3.36 [[ 9.98136598e-01 -6.02659861e-02 -9.55728662e-03 2.87664336e+02] [ 6.02678812e-02 9.98182235e-01 -8.98496979e-05 3.70221229e+00] [ 9.54532860e-03 -4.86315143e-04 9.99954324e-01 3.35509130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.515099893 meters 0.024565856738044616 Centerline is valid? [True, True] Translation: X:287.70, Y:3.70, Z:3.36 [[ 9.98142301e-01 -6.01422865e-02 -9.73920228e-03 2.87697177e+02] [ 6.01442546e-02 9.98189692e-01 -9.09452833e-05 3.70494819e+00] [ 9.72704098e-03 -4.94980727e-04 9.99952569e-01 3.35556642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.545099893 meters 0.025154590959107877 Centerline is valid? [True, True] Translation: X:287.73, Y:3.71, Z:3.36 [[ 9.98148424e-01 -6.00130678e-02 -9.90738053e-03 2.87728400e+02] [ 6.00151105e-02 9.98197465e-01 -9.12652604e-05 3.70548975e+00] [ 9.89499923e-03 -5.03496261e-04 9.99950917e-01 3.35659054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.575099893 meters 0.024806871582978923 Centerline is valid? [True, True] Translation: X:287.76, Y:3.71, Z:3.36 [[ 9.98158821e-01 -5.98112176e-02 -1.00789760e-02 2.87761000e+02] [ 5.98133266e-02 9.98209576e-01 -9.23272692e-05 3.70668734e+00] [ 1.00664526e-02 -5.10699806e-04 9.99949202e-01 3.35709414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.605099893 meters 0.026835827452239586 Centerline is valid? [True, True] Translation: X:287.79, Y:3.71, Z:3.36 [[ 9.98209147e-01 -5.89015212e-02 -1.04455490e-02 2.87792232e+02] [ 5.89037436e-02 9.98263663e-01 -9.50312858e-05 3.70556242e+00] [ 1.04330095e-02 -5.20420840e-04 9.99945439e-01 3.35752628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.635099893 meters 0.024213279484024994 Centerline is valid? [True, True] Translation: X:287.82, Y:3.71, Z:3.36 [[ 9.98240637e-01 -5.82916972e-02 -1.08493881e-02 2.87824369e+02] [ 5.82940777e-02 9.98299450e-01 -9.69656230e-05 3.71031187e+00] [ 1.08365905e-02 -5.35660049e-04 9.99941139e-01 3.35756938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.665099893 meters 0.02411435945930221 Centerline is valid? [True, True] Translation: X:287.86, Y:3.71, Z:3.36 [[ 9.98303039e-01 -5.71590899e-02 -1.11301426e-02 2.87856779e+02] [ 5.71615343e-02 9.98364938e-01 -9.86411955e-05 3.71150677e+00] [ 1.11175824e-02 -5.37742224e-04 9.99938053e-01 3.35804901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.695099893 meters 0.02388523674092275 Centerline is valid? [True, True] Translation: X:287.89, Y:3.71, Z:3.36 [[ 9.98366359e-01 -5.59754844e-02 -1.14611985e-02 2.87889425e+02] [ 5.59780081e-02 9.98431997e-01 -1.00734385e-04 3.71296417e+00] [ 1.14488659e-02 -5.41005239e-04 9.99934313e-01 3.35821542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.725099893 meters 0.023614442307023167 Centerline is valid? [True, True] Translation: X:287.92, Y:3.71, Z:3.36 [[ 9.98507341e-01 -5.30569506e-02 -1.29634133e-02 2.87920425e+02] [ 5.30599505e-02 9.98591322e-01 -1.12656198e-04 3.71494487e+00] [ 1.29511292e-02 -5.75350027e-04 9.99915965e-01 3.35805089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.755099893 meters 0.02309350974534759 Centerline is valid? [True, True] Translation: X:287.95, Y:3.72, Z:3.36 [[ 9.98599397e-01 -5.10988946e-02 -1.37166633e-02 2.87953056e+02] [ 5.11020770e-02 9.98693428e-01 -1.18613772e-04 3.71661531e+00] [ 1.37048025e-02 -5.82502341e-04 9.99905915e-01 3.35830686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.785099893 meters 0.022485270814442085 Centerline is valid? [True, True] Translation: X:287.98, Y:3.72, Z:3.36 [[ 9.98705705e-01 -4.88569565e-02 -1.41390280e-02 2.87984901e+02] [ 4.88601307e-02 9.98805623e-01 -1.21053004e-04 3.71864535e+00] [ 1.41280550e-02 -5.69938431e-04 9.99900032e-01 3.35873969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.815099893 meters 0.021753497613423916 Centerline is valid? [True, True] Translation: X:288.02, Y:3.72, Z:3.36 [[ 9.98826764e-01 -4.62729621e-02 -1.42796304e-02 2.88016344e+02] [ 4.62759465e-02 9.98928687e-01 -1.21530100e-04 3.72121037e+00] [ 1.42699560e-02 -5.39415895e-04 9.99898033e-01 3.35953636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.845099893 meters 0.018347438306532203 Centerline is valid? [True, True] Translation: X:288.05, Y:3.73, Z:3.36 [[ 9.99104584e-01 -3.99580930e-02 -1.39061324e-02 2.88047473e+02] [ 3.99603186e-02 9.99201261e-01 -1.17891165e-04 3.72971099e+00] [ 1.38997357e-02 -4.37907876e-04 9.99903298e-01 3.36161229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.875099893 meters 0.0173698078711638 Centerline is valid? [True, True] Translation: X:288.08, Y:3.73, Z:3.36 [[ 9.99236435e-01 -3.64125306e-02 -1.41659328e-02 2.88078862e+02] [ 3.64144894e-02 9.99336765e-01 -1.19726151e-04 3.73330217e+00] [ 1.41608970e-02 -3.96210476e-04 9.99899651e-01 3.36259871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.905099893 meters 0.0173698078711638 Centerline is valid? [True, True] Translation: X:288.11, Y:3.73, Z:3.36 [[ 9.99239073e-01 -3.63400908e-02 -1.41659377e-02 2.88110564e+02] [ 3.63420505e-02 9.99339402e-01 -1.19145117e-04 3.73351247e+00] [ 1.41609094e-02 -3.95764765e-04 9.99899651e-01 3.36299063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93509989300003 meters 0.016660025071271064 Centerline is valid? [True, True] Translation: X:288.14, Y:3.74, Z:3.36 [[ 9.99353258e-01 -3.28326188e-02 -1.46657953e-02 2.88142074e+02] [ 3.28343567e-02 9.99460800e-01 -1.22337991e-04 3.73649771e+00] [ 1.46619042e-02 -3.59283084e-04 9.99892444e-01 3.36377658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.965099893 meters 0.01584725695872532 Centerline is valid? [True, True] Translation: X:288.17, Y:3.74, Z:3.36 [[ 9.99456070e-01 -2.93321100e-02 -1.50729040e-02 2.88173216e+02] [ 2.93335562e-02 9.99569671e-01 -1.25176725e-04 3.73952019e+00] [ 1.50700894e-02 -3.17033238e-04 9.99886389e-01 3.36461510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99509989300003 meters 0.014671722352907967 Centerline is valid? [True, True] Translation: X:288.20, Y:3.74, Z:3.37 [[ 9.99608365e-01 -2.37558562e-02 -1.47910892e-02 2.88203450e+02] [ 2.37566450e-02 9.99717764e-01 -1.22397811e-04 3.74369552e+00] [ 1.47898223e-02 -2.29036779e-04 9.99890598e-01 3.36547659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.025099893 meters 0.014669328825835447 Centerline is valid? [True, True] Translation: X:288.23, Y:3.74, Z:3.37 [[ 9.99659258e-01 -2.16842043e-02 -1.45314221e-02 2.88232655e+02] [ 2.16847462e-02 9.99764851e-01 -1.20287981e-04 3.74392784e+00] [ 1.45306134e-02 -1.94863207e-04 9.99894406e-01 3.36593320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05509989300003 meters 0.014286073362111438 Centerline is valid? [True, True] Translation: X:288.26, Y:3.75, Z:3.37 [[ 9.99704842e-01 -1.96649988e-02 -1.42659515e-02 2.88261903e+02] [ 1.96653115e-02 9.99806612e-01 -1.18375369e-04 3.74565893e+00] [ 1.42655205e-02 -1.62203951e-04 9.99898229e-01 3.36660810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.085099893 meters 0.013748900766009244 Centerline is valid? [True, True] Translation: X:288.29, Y:3.75, Z:3.37 [[ 9.99768584e-01 -1.61426263e-02 -1.42194988e-02 2.88291521e+02] [ 1.61425736e-02 9.99869693e-01 -1.18488791e-04 3.74826162e+00] [ 1.42195586e-02 -1.11077935e-04 9.99898891e-01 3.36727270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11509989300004 meters 0.013638680657509995 Centerline is valid? [True, True] Translation: X:288.32, Y:3.75, Z:3.37 [[ 9.99782812e-01 -1.49190318e-02 -1.45517105e-02 2.88319195e+02] [ 1.49188375e-02 9.99888701e-01 -1.21907808e-04 3.74902751e+00] [ 1.45519096e-02 -9.52132733e-05 9.99894111e-01 3.36741565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.145099893 meters 0.013487951691109966 Centerline is valid? [True, True] Translation: X:288.35, Y:3.75, Z:3.37 [[ 9.99781827e-01 -1.41793793e-02 -1.53376209e-02 2.88347292e+02] [ 1.41790457e-02 9.99899464e-01 -1.30498038e-04 3.74973454e+00] [ 1.53379293e-02 -8.70032606e-05 9.99882363e-01 3.36713754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17509989300004 meters 0.013450610591198063 Centerline is valid? [True, True] Translation: X:288.37, Y:3.75, Z:3.37 [[ 9.99767393e-01 -1.35358360e-02 -1.67911230e-02 2.88374879e+02] [ 1.35352600e-02 9.99908383e-01 -1.47950286e-04 3.74953992e+00] [ 1.67915873e-02 -7.93563441e-05 9.99859008e-01 3.36625220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.205099893 meters 0.013318343306135393 Centerline is valid? [True, True] Translation: X:288.40, Y:3.75, Z:3.37 [[ 9.99754072e-01 -1.37426066e-02 -1.74050778e-02 2.88402431e+02] [ 1.37419305e-02 9.99905563e-01 -1.58448913e-04 3.74907548e+00] [ 1.74056116e-02 -8.07694228e-05 9.99848508e-01 3.36662213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.235099893 meters 0.01352878877993528 Centerline is valid? [True, True] Translation: X:288.43, Y:3.75, Z:3.37 [[ 9.99734566e-01 -1.49373630e-02 -1.75406239e-02 2.88430459e+02] [ 1.49367877e-02 9.99888427e-01 -1.63815220e-04 3.74589997e+00] [ 1.75411138e-02 -9.82288377e-05 9.99846138e-01 3.36657653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.265099893 meters 0.013510481804302298 Centerline is valid? [True, True] Translation: X:288.46, Y:3.74, Z:3.37 [[ 9.99709712e-01 -1.63589874e-02 -1.76882810e-02 2.88458421e+02] [ 1.63585775e-02 9.99866175e-01 -1.67872973e-04 3.74489175e+00] [ 1.76886601e-02 -1.21530874e-04 9.99843536e-01 3.36756182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.295099893 meters 0.013610238145617327 Centerline is valid? [True, True] Translation: X:288.49, Y:3.74, Z:3.37 [[ 9.99686297e-01 -1.78826098e-02 -1.75362188e-02 2.88486851e+02] [ 1.78823559e-02 9.99840083e-01 -1.71299830e-04 3.74328366e+00] [ 1.75364777e-02 -1.42342812e-04 9.99846214e-01 3.36848115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.325099893 meters 0.014023536632294118 Centerline is valid? [True, True] Translation: X:288.51, Y:3.74, Z:3.37 [[ 9.99653833e-01 -1.97762968e-02 -1.73526087e-02 2.88514413e+02] [ 1.97762718e-02 9.99804415e-01 -1.73053783e-04 3.74073438e+00] [ 1.73526372e-02 -1.70176028e-04 9.99849417e-01 3.36857625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.355099893 meters 0.014172147478267835 Centerline is valid? [True, True] Translation: X:288.54, Y:3.74, Z:3.37 [[ 9.99603602e-01 -2.20135428e-02 -1.75511733e-02 2.88543094e+02] [ 2.20138197e-02 9.99757651e-01 -1.77444375e-04 3.73848307e+00] [ 1.75508260e-02 -2.08994329e-04 9.99845951e-01 3.36961522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.385099893 meters 0.014958197603135189 Centerline is valid? [True, True] Translation: X:288.57, Y:3.73, Z:3.37 [[ 9.99485333e-01 -2.69716049e-02 -1.73666872e-02 2.88572027e+02] [ 2.69725498e-02 9.99636158e-01 -1.79862155e-04 3.73302038e+00] [ 1.73652197e-02 -2.88654250e-04 9.99849172e-01 3.37057538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.415099893 meters 0.015118347262550973 Centerline is valid? [True, True] Translation: X:288.60, Y:3.73, Z:3.37 [[ 9.99407522e-01 -2.97052244e-02 -1.73840192e-02 2.88601746e+02] [ 2.97065279e-02 9.99558647e-01 -1.83300859e-04 3.73077017e+00] [ 1.73817917e-02 -3.33226594e-04 9.99848870e-01 3.37133522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.445099893 meters 0.016162289129106822 Centerline is valid? [True, True] Translation: X:288.63, Y:3.73, Z:3.37 [[ 9.99324520e-01 -3.25617844e-02 -1.70362717e-02 2.88631438e+02] [ 3.25634421e-02 9.99469654e-01 -1.80159517e-04 3.72635180e+00] [ 1.70331029e-02 -3.74721825e-04 9.99854856e-01 3.37142178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.475099893 meters 0.01641243027299556 Centerline is valid? [True, True] Translation: X:288.66, Y:3.72, Z:3.37 [[ 9.99224031e-01 -3.55192526e-02 -1.70211318e-02 2.88662390e+02] [ 3.55213338e-02 9.99368902e-01 -1.80138315e-04 3.72391391e+00] [ 1.70167882e-02 -4.24614772e-04 9.99855114e-01 3.37215150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.505099893 meters 0.017865547379271214 Centerline is valid? [True, True] Translation: X:288.69, Y:3.72, Z:3.37 [[ 9.99006863e-01 -4.13242841e-02 -1.66610634e-02 2.88693437e+02] [ 4.13270896e-02 9.99145655e-01 -1.76031057e-04 3.71789308e+00] [ 1.66541035e-02 -5.12697025e-04 9.99861179e-01 3.37302282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.535099893 meters 0.018361669167215742 Centerline is valid? [True, True] Translation: X:288.72, Y:3.72, Z:3.37 [[ 9.98897075e-01 -4.38453766e-02 -1.67992718e-02 2.88724375e+02] [ 4.38485900e-02 9.99038172e-01 -1.77184891e-04 3.71561403e+00] [ 1.67908826e-02 -5.59634915e-04 9.99858867e-01 3.37333508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.565099893 meters 0.019086997865625663 Centerline is valid? [True, True] Translation: X:288.76, Y:3.71, Z:3.37 [[ 9.98790975e-01 -4.61318344e-02 -1.69836116e-02 2.88755384e+02] [ 4.61354542e-02 9.98935177e-01 -1.78817662e-04 3.71319044e+00] [ 1.69737762e-02 -6.04945166e-04 9.99855752e-01 3.37376884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.595099893 meters 0.021826495962859765 Centerline is valid? [True, True] Translation: X:288.79, Y:3.71, Z:3.37 [[ 9.98704976e-01 -4.78700272e-02 -1.72287870e-02 2.88786251e+02] [ 4.78740175e-02 9.98853365e-01 -1.80994354e-04 3.70749981e+00] [ 1.72176960e-02 -6.44051285e-04 9.99851557e-01 3.37338629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.625099893 meters 0.022112494805673462 Centerline is valid? [True, True] Translation: X:288.82, Y:3.70, Z:3.37 [[ 9.98570206e-01 -5.06956601e-02 -1.69556353e-02 2.88817531e+02] [ 5.06999416e-02 9.98713915e-01 -1.77521547e-04 3.70463985e+00] [ 1.69428285e-02 -6.82381993e-04 9.99856227e-01 3.37355304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.655099893 meters 0.021648280774702388 Centerline is valid? [True, True] Translation: X:288.85, Y:3.70, Z:3.37 [[ 9.98524042e-01 -5.15136940e-02 -1.72068631e-02 2.88850019e+02] [ 5.15182382e-02 9.98672038e-01 -1.79364699e-04 3.70438112e+00] [ 1.71932527e-02 -7.07367306e-04 9.99851935e-01 3.37386855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68509989300003 meters 0.0223640101244552 Centerline is valid? [True, True] Translation: X:288.88, Y:3.70, Z:3.37 [[ 9.98514352e-01 -5.17105197e-02 -1.71787811e-02 2.88881683e+02] [ 5.17151028e-02 9.98661863e-01 -1.77635791e-04 3.70164749e+00] [ 1.71649792e-02 -7.11030544e-04 9.99852418e-01 3.37345121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.715099893 meters 0.021608769138664267 Centerline is valid? [True, True] Translation: X:288.91, Y:3.70, Z:3.37 [[ 9.98572118e-01 -5.04415970e-02 -1.75889327e-02 2.88914150e+02] [ 5.04462372e-02 9.98726762e-01 -1.80053028e-04 3.70251797e+00] [ 1.75756200e-02 -7.07499538e-04 9.99845287e-01 3.37353991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74509989300003 meters 0.020171507469059668 Centerline is valid? [True, True] Translation: X:288.95, Y:3.70, Z:3.37 [[ 9.98666518e-01 -4.84648362e-02 -1.77860855e-02 2.88945870e+02] [ 4.84692890e-02 9.98824657e-01 -1.80886410e-04 3.70488757e+00] [ 1.77739474e-02 -6.81433716e-04 9.99841799e-01 3.37377782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.775099893 meters 0.019688677028713283 Centerline is valid? [True, True] Translation: X:288.98, Y:3.71, Z:3.37 [[ 9.98939115e-01 -4.23923618e-02 -1.79870037e-02 2.88975434e+02] [ 4.23959447e-02 9.99100871e-01 -1.82250006e-04 3.70621206e+00] [ 1.79785571e-02 -5.80519353e-04 9.99838204e-01 3.37366439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80509989300003 meters 0.017857500383096643 Centerline is valid? [True, True] Translation: X:289.01, Y:3.71, Z:3.37 [[ 9.99107139e-01 -3.84057911e-02 -1.76045353e-02 2.89005647e+02] [ 3.84086048e-02 9.99262101e-01 -1.78374715e-04 3.71016215e+00] [ 1.75983956e-02 -4.97950188e-04 9.99845012e-01 3.37432695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.835099893 meters 0.016017686465857724 Centerline is valid? [True, True] Translation: X:289.04, Y:3.71, Z:3.38 [[ 9.99260209e-01 -3.41397524e-02 -1.77062743e-02 2.89035913e+02] [ 3.41419295e-02 9.99416978e-01 -1.79405567e-04 3.71469261e+00] [ 1.77020760e-02 -4.25253525e-04 9.99843216e-01 3.37517079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86509989300004 meters 0.014926035937722128 Centerline is valid? [True, True] Translation: X:289.07, Y:3.72, Z:3.38 [[ 9.99522829e-01 -2.55280158e-02 -1.73906621e-02 2.89065337e+02] [ 2.55288112e-02 9.99674071e-01 -1.76298543e-04 3.71861328e+00] [ 1.73894945e-02 -2.67748510e-04 9.99848755e-01 3.37520871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.895099893 meters 0.014068351169537127 Centerline is valid? [True, True] Translation: X:289.09, Y:3.72, Z:3.38 [[ 9.99612171e-01 -2.20605650e-02 -1.69952556e-02 2.89093819e+02] [ 2.20607997e-02 9.99756616e-01 -1.73692047e-04 3.72221422e+00] [ 1.69949509e-02 -2.01304244e-04 9.99855555e-01 3.37609139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92509989300004 meters 0.013837575915134282 Centerline is valid? [True, True] Translation: X:289.12, Y:3.72, Z:3.38 [[ 9.99680742e-01 -1.88509011e-02 -1.68243346e-02 2.89121181e+02] [ 1.88506171e-02 9.99822296e-01 -1.75476684e-04 3.72375774e+00] [ 1.68246527e-02 -1.41728428e-04 9.99858445e-01 3.37636587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.955099893 meters 0.013720974868558855 Centerline is valid? [True, True] Translation: X:289.15, Y:3.72, Z:3.38 [[ 9.99727198e-01 -1.64915016e-02 -1.65396351e-02 2.89148896e+02] [ 1.64908801e-02 9.99864001e-01 -1.73972719e-04 3.72498956e+00] [ 1.65402548e-02 -9.88278790e-05 9.99863196e-01 3.37645175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.985099893 meters 0.013456896009218873 Centerline is valid? [True, True] Translation: X:289.18, Y:3.73, Z:3.38 [[ 9.99734486e-01 -1.47515110e-02 -1.77016889e-02 2.89176397e+02] [ 1.47504793e-02 9.99891188e-01 -1.88853125e-04 3.72613655e+00] [ 1.77025486e-02 -7.23054136e-05 9.99843295e-01 3.37588520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.015099893 meters 0.013455618149923205 Centerline is valid? [True, True] Translation: X:289.20, Y:3.73, Z:3.38 [[ 9.99724890e-01 -1.52561701e-02 -1.78155355e-02 2.89204450e+02] [ 1.52551152e-02 9.99883615e-01 -1.95115001e-04 3.72566852e+00] [ 1.78164387e-02 -7.67167236e-05 9.99841272e-01 3.37582441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.045099893 meters 0.01352527482031484 Centerline is valid? [True, True] Translation: X:289.23, Y:3.72, Z:3.38 [[ 9.99694865e-01 -1.66122965e-02 -1.82813793e-02 2.89232441e+02] [ 1.66113144e-02 9.99862001e-01 -2.05585967e-04 3.72453197e+00] [ 1.82822717e-02 -9.81545024e-05 9.99832860e-01 3.37581976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.075099893 meters 0.013649848987317262 Centerline is valid? [True, True] Translation: X:289.26, Y:3.72, Z:3.38 [[ 9.99650665e-01 -1.87432020e-02 -1.86343612e-02 2.89261414e+02] [ 1.87424542e-02 9.99824322e-01 -2.14788339e-04 3.72323693e+00] [ 1.86351134e-02 -1.34540356e-04 9.99826342e-01 3.37589206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.105099893 meters 0.014041478149322831 Centerline is valid? [True, True] Translation: X:289.29, Y:3.72, Z:3.38 [[ 9.99550230e-01 -2.36275546e-02 -1.84682475e-02 2.89289987e+02] [ 2.36275882e-02 9.99720806e-01 -2.16407804e-04 3.71943630e+00] [ 1.84682045e-02 -2.20049677e-04 9.99829424e-01 3.37628526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.135099893 meters 0.014283290766672684 Centerline is valid? [True, True] Translation: X:289.32, Y:3.72, Z:3.38 [[ 9.99484834e-01 -2.64080933e-02 -1.82394805e-02 2.89318314e+02] [ 2.64085631e-02 9.99651210e-01 -2.15139605e-04 3.71800714e+00] [ 1.82388002e-02 -2.66649701e-04 9.99833624e-01 3.37720397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.165099893 meters 0.0156775195244974 Centerline is valid? [True, True] Translation: X:289.35, Y:3.71, Z:3.38 [[ 9.99342868e-01 -3.16769390e-02 -1.76182975e-02 2.89347131e+02] [ 3.16781715e-02 9.99498099e-01 -2.09186007e-04 3.71273809e+00] [ 1.76160813e-02 -3.49066907e-04 9.99844764e-01 3.37771318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.195099893 meters 0.015343427178844531 Centerline is valid? [True, True] Translation: X:289.38, Y:3.71, Z:3.38 [[ 9.99272874e-01 -3.40170377e-02 -1.72210672e-02 2.89377176e+02] [ 3.40185497e-02 9.99421181e-01 -2.05214675e-04 3.71250291e+00] [ 1.72180801e-02 -3.80770272e-04 9.99851685e-01 3.37884986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.225099893 meters 0.016532115437299388 Centerline is valid? [True, True] Translation: X:289.41, Y:3.71, Z:3.38 [[ 9.99183053e-01 -3.65461856e-02 -1.72511460e-02 2.89406889e+02] [ 3.65480742e-02 9.99331875e-01 -2.05889500e-04 3.70945014e+00] [ 1.72471446e-02 -4.24774865e-04 9.99851167e-01 3.37948100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.255099893 meters 0.017210045071666378 Centerline is valid? [True, True] Translation: X:289.44, Y:3.71, Z:3.38 [[ 9.99112570e-01 -3.86332718e-02 -1.67792354e-02 2.89437464e+02] [ 3.86353489e-02 9.99253356e-01 -2.00476286e-04 3.70764227e+00] [ 1.67744524e-02 -4.47973237e-04 9.99859199e-01 3.37988668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.285099893 meters 0.017656541882280136 Centerline is valid? [True, True] Translation: X:289.47, Y:3.71, Z:3.38 [[ 9.98938446e-01 -4.30758429e-02 -1.63233712e-02 2.89468940e+02] [ 4.30784034e-02 9.99071676e-01 -1.94885854e-04 3.70589591e+00] [ 1.63166127e-02 -5.08505797e-04 9.99866746e-01 3.38074682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.315099893 meters 0.018034037333825574 Centerline is valid? [True, True] Translation: X:289.50, Y:3.71, Z:3.38 [[ 9.98855485e-01 -4.52030705e-02 -1.56333875e-02 2.89500726e+02] [ 4.52056889e-02 9.98977683e-01 -1.86037488e-04 3.70500844e+00] [ 1.56258147e-02 -5.20893485e-04 9.99877774e-01 3.38136997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.345099893 meters 0.019548058074058995 Centerline is valid? [True, True] Translation: X:289.53, Y:3.70, Z:3.38 [[ 9.98754322e-01 -4.75373630e-02 -1.51658850e-02 2.89531592e+02] [ 4.75401112e-02 9.98869314e-01 -1.79455804e-04 3.70210121e+00] [ 1.51572679e-02 -5.41755598e-04 9.99884975e-01 3.38201036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.375099893 meters 0.019769450736542914 Centerline is valid? [True, True] Translation: X:289.56, Y:3.70, Z:3.38 [[ 9.98631115e-01 -5.00720506e-02 -1.51223326e-02 2.89563244e+02] [ 5.00750992e-02 9.98745440e-01 -1.77219715e-04 3.70165093e+00] [ 1.51122344e-02 -5.80275182e-04 9.99885635e-01 3.38257402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.405099893 meters 0.020080863236262472 Centerline is valid? [True, True] Translation: X:289.60, Y:3.70, Z:3.38 [[ 9.98488378e-01 -5.28223284e-02 -1.51907771e-02 2.89595314e+02] [ 5.28257358e-02 9.98603730e-01 -1.77135893e-04 3.70071714e+00] [ 1.51789234e-02 -6.25595848e-04 9.99884598e-01 3.38266961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43509989300003 meters 0.02393277125244164 Centerline is valid? [True, True] Translation: X:289.63, Y:3.69, Z:3.38 [[ 9.98099545e-01 -5.94940407e-02 -1.60548331e-02 2.89625401e+02] [ 5.94987223e-02 9.98228364e-01 -1.86318798e-04 3.69449336e+00] [ 1.60374746e-02 -7.69277349e-04 9.99871096e-01 3.38254175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.465099893 meters 0.024207137717012 Centerline is valid? [True, True] Translation: X:289.66, Y:3.69, Z:3.38 [[ 9.97872994e-01 -6.30766730e-02 -1.64566370e-02 2.89656039e+02] [ 6.30820758e-02 9.98008324e-01 -1.91099170e-04 3.69434219e+00] [ 1.64359146e-02 -8.47426120e-04 9.99864562e-01 3.38330753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49509989300003 meters 0.02627690835453524 Centerline is valid? [True, True] Translation: X:289.69, Y:3.69, Z:3.38 [[ 9.97645098e-01 -6.66173963e-02 -1.63212033e-02 2.89686091e+02] [ 6.66231865e-02 9.97778189e-01 -1.89303133e-04 3.69181253e+00] [ 1.62975515e-02 -8.98513228e-04 9.99866782e-01 3.38401312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.525099893 meters 0.028878783629240394 Centerline is valid? [True, True] Translation: X:289.72, Y:3.69, Z:3.38 [[ 9.97225574e-01 -7.25674929e-02 -1.65865175e-02 2.89716610e+02] [ 7.25742930e-02 9.97362991e-01 -1.92367568e-04 3.68887081e+00] [ 1.65567383e-02 -1.01192092e-03 9.99862416e-01 3.38472165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55509989300003 meters 0.029925024563625408 Centerline is valid? [True, True] Translation: X:289.75, Y:3.69, Z:3.39 [[ 9.97070143e-01 -7.46061252e-02 -1.68836012e-02 2.89747402e+02] [ 7.46134642e-02 9.97212511e-01 -1.95693874e-04 3.68809923e+00] [ 1.68511383e-02 -1.06462345e-03 9.99857443e-01 3.38502517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.585099893 meters 0.028438019914656647 Centerline is valid? [True, True] Translation: X:289.78, Y:3.69, Z:3.39 [[ 9.96947752e-01 -7.60155378e-02 -1.77993839e-02 2.89779082e+02] [ 7.60239319e-02 9.97105972e-01 -2.05554916e-04 3.69095473e+00] [ 1.77634974e-02 -1.14825164e-03 9.99841557e-01 3.38525152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61509989300004 meters 0.029595891298802628 Centerline is valid? [True, True] Translation: X:289.81, Y:3.69, Z:3.38 [[ 9.96840528e-01 -7.72113964e-02 -1.86376752e-02 2.89811577e+02] [ 7.72208397e-02 9.97013990e-01 -2.13536734e-04 3.69154104e+00] [ 1.85985104e-02 -1.22635486e-03 9.99826281e-01 3.38467942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.645099893 meters 0.032599459331297424 Centerline is valid? [True, True] Translation: X:289.84, Y:3.69, Z:3.38 [[ 9.96864198e-01 -7.68738169e-02 -1.87666381e-02 2.89842504e+02] [ 7.68833555e-02 9.97040071e-01 -2.13750878e-04 3.68916767e+00] [ 1.87275220e-02 -1.22976151e-03 9.99823868e-01 3.38461451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67509989300004 meters 0.029718348846681023 Centerline is valid? [True, True] Translation: X:289.87, Y:3.69, Z:3.39 [[ 9.96898265e-01 -7.63650807e-02 -1.90321740e-02 2.89874409e+02] [ 7.63748212e-02 9.97079154e-01 -2.15602323e-04 3.69489678e+00] [ 1.89930484e-02 -1.23864530e-03 9.99818849e-01 3.38537080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.705099893 meters 0.03004980049765215 Centerline is valid? [True, True] Translation: X:289.91, Y:3.70, Z:3.39 [[ 9.96979256e-01 -7.52537702e-02 -1.92154255e-02 2.89906085e+02] [ 7.52635207e-02 9.97163655e-01 -2.16269753e-04 3.69644072e+00] [ 1.91771990e-02 -1.23060411e-03 9.99815343e-01 3.38555185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.735099893 meters 0.02959602272663945 Centerline is valid? [True, True] Translation: X:289.94, Y:3.70, Z:3.39 [[ 9.97164723e-01 -7.25322007e-02 -2.00398227e-02 2.89937290e+02] [ 7.25422800e-02 9.97365313e-01 -2.24476646e-04 3.70118460e+00] [ 2.00033058e-02 -1.22989424e-03 9.99799157e-01 3.38573634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.765099893 meters 0.030054479567344954 Centerline is valid? [True, True] Translation: X:289.97, Y:3.70, Z:3.39 [[ 9.97262050e-01 -7.11327037e-02 -2.02124057e-02 2.89968374e+02] [ 7.11426838e-02 9.97466124e-01 -2.25772990e-04 3.70299902e+00] [ 2.01772498e-02 -1.21280995e-03 9.99795683e-01 3.38645936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.795099893 meters 0.030054479567344954 Centerline is valid? [True, True] Translation: X:290.00, Y:3.70, Z:3.39 [[ 9.97267080e-01 -7.10621548e-02 -2.02124191e-02 2.90000116e+02] [ 7.10721449e-02 9.97471152e-01 -2.24564709e-04 3.70329123e+00] [ 2.01772630e-02 -1.21258899e-03 9.99795683e-01 3.38685178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.825099893 meters 0.02808843965411248 Centerline is valid? [True, True] Translation: X:290.03, Y:3.71, Z:3.39 [[ 9.97366694e-01 -6.97480579e-02 -1.98717356e-02 2.90032371e+02] [ 6.97574818e-02 9.97563956e-01 -2.19383380e-04 3.70839153e+00] [ 1.98386287e-02 -1.16739656e-03 9.99802513e-01 3.38774941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.855099893 meters 0.02757643358079972 Centerline is valid? [True, True] Translation: X:290.06, Y:3.71, Z:3.39 [[ 9.97461015e-01 -6.85289441e-02 -1.93728262e-02 2.90064356e+02] [ 6.85376978e-02 9.97648505e-01 -2.12510321e-04 3.71155268e+00] [ 1.93418342e-02 -1.11579815e-03 9.99812307e-01 3.38907773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.885099893 meters 0.027958423530337003 Centerline is valid? [True, True] Translation: X:290.09, Y:3.72, Z:3.39 [[ 9.97609407e-01 -6.63529092e-02 -1.93070476e-02 2.90094443e+02] [ 6.63612169e-02 9.97795643e-01 -2.10777502e-04 3.71576827e+00] [ 1.92784737e-02 -1.07096556e-03 9.99813579e-01 3.39022446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.915099893 meters 0.027841807015492503 Centerline is valid? [True, True] Translation: X:290.13, Y:3.72, Z:3.39 [[ 9.97682229e-01 -6.53230901e-02 -1.90542150e-02 2.90127102e+02] [ 6.53310097e-02 9.97863626e-01 -2.07208644e-04 3.71831998e+00] [ 1.90270436e-02 -1.03810272e-03 9.99818430e-01 3.39068364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.945099893 meters 0.027503433520360467 Centerline is valid? [True, True] Translation: X:290.16, Y:3.72, Z:3.39 [[ 9.97775424e-01 -6.38015349e-02 -1.93278712e-02 2.90158995e+02] [ 6.38094273e-02 9.97962080e-01 -2.08713752e-04 3.72071280e+00] [ 1.93017988e-02 -1.02505094e-03 9.99813177e-01 3.39131884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.975099893 meters 0.025277060532966262 Centerline is valid? [True, True] Translation: X:290.19, Y:3.73, Z:3.39 [[ 9.97954008e-01 -6.08557178e-02 -1.96056065e-02 2.90190330e+02] [ 6.08632898e-02 9.98146089e-01 -2.10792597e-04 3.72740640e+00] [ 1.95820874e-02 -9.82900392e-04 9.99807769e-01 3.39176133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.005099893 meters 0.024968748792872204 Centerline is valid? [True, True] Translation: X:290.22, Y:3.73, Z:3.39 [[ 9.98078937e-01 -5.87528537e-02 -1.96605403e-02 2.90222307e+02] [ 5.87600782e-02 9.98272112e-01 -2.10518836e-04 3.72991339e+00] [ 1.96389376e-02 -9.45140467e-04 9.99806691e-01 3.39193769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.035099893 meters 0.02601566962513311 Centerline is valid? [True, True] Translation: X:290.25, Y:3.73, Z:3.39 [[ 9.98207054e-01 -5.65308656e-02 -1.96707753e-02 2.90252409e+02] [ 5.65376837e-02 9.98400444e-01 -2.09785332e-04 3.73067990e+00] [ 1.96511702e-02 -9.02730876e-04 9.99806490e-01 3.39216270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.065099893 meters 0.021014501316082186 Centerline is valid? [True, True] Translation: X:290.28, Y:3.74, Z:3.39 [[ 9.98498791e-01 -5.09127992e-02 -2.02002896e-02 2.90282930e+02] [ 5.09188490e-02 9.98702771e-01 -2.15068754e-04 3.74240619e+00] [ 2.01850349e-02 -8.13829604e-04 9.99795930e-01 3.39405164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.095099893 meters 0.021126136487082624 Centerline is valid? [True, True] Translation: X:290.31, Y:3.74, Z:3.39 [[ 9.98652542e-01 -4.77602161e-02 -2.02993228e-02 2.90313712e+02] [ 4.77656853e-02 9.98858545e-01 -2.15618391e-04 3.74441129e+00] [ 2.02864500e-02 -7.54283211e-04 9.99793924e-01 3.39400042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.125099893 meters 0.0179584441753744 Centerline is valid? [True, True] Translation: X:290.35, Y:3.75, Z:3.40 [[ 9.98785762e-01 -4.44935359e-02 -2.11501100e-02 2.90345193e+02] [ 4.44987585e-02 9.99009415e-01 -2.23868185e-04 3.75180895e+00] [ 2.11391197e-02 -7.17557281e-04 9.99776286e-01 3.39531931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.155099893 meters 0.018975877160085166 Centerline is valid? [True, True] Translation: X:290.38, Y:3.75, Z:3.39 [[ 9.98939608e-01 -4.08130154e-02 -2.13062815e-02 2.90375240e+02] [ 4.08174889e-02 9.99166594e-01 -2.25058535e-04 3.75185006e+00] [ 2.12977101e-02 -6.44849026e-04 9.99772970e-01 3.39447945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18509989300003 meters 0.017918056888372686 Centerline is valid? [True, True] Translation: X:290.41, Y:3.76, Z:3.39 [[ 9.99078418e-01 -3.70860910e-02 -2.16087148e-02 2.90406117e+02] [ 3.70898250e-02 9.99311910e-01 -2.28093510e-04 3.75559776e+00] [ 2.16023051e-02 -5.73580146e-04 9.99766478e-01 3.39480378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.215099893 meters 0.015342684754648415 Centerline is valid? [True, True] Translation: X:290.44, Y:3.76, Z:3.40 [[ 9.99330466e-01 -2.92338737e-02 -2.20000063e-02 2.90436195e+02] [ 2.92358431e-02 9.99572514e-01 -2.32177696e-04 3.76438154e+00] [ 2.19973890e-02 -4.11166487e-04 9.99757944e-01 3.39609535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24509989300003 meters 0.014450711947404021 Centerline is valid? [True, True] Translation: X:290.46, Y:3.77, Z:3.40 [[ 9.99427448e-01 -2.56448234e-02 -2.20707854e-02 2.90464572e+02] [ 2.56458712e-02 9.99671063e-01 -2.35620916e-04 3.76860791e+00] [ 2.20695679e-02 -3.30538509e-04 9.99756383e-01 3.39700352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.275099893 meters 0.01372979144527527 Centerline is valid? [True, True] Translation: X:290.49, Y:3.77, Z:3.40 [[ 9.99569018e-01 -1.83557704e-02 -2.29094760e-02 2.90493804e+02] [ 1.83548785e-02 9.99831504e-01 -2.49227288e-04 3.77423554e+00] [ 2.29101906e-02 -1.71380774e-04 9.99737512e-01 3.39679932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30509989300003 meters 0.013560126893032246 Centerline is valid? [True, True] Translation: X:290.52, Y:3.78, Z:3.40 [[ 9.99618751e-01 -1.59368795e-02 -2.25470513e-02 2.90522611e+02] [ 1.59353056e-02 9.99872994e-01 -2.49484730e-04 3.77673195e+00] [ 2.25481637e-02 -1.09904539e-04 9.99745752e-01 3.39737975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.335099893 meters 0.013514980558920937 Centerline is valid? [True, True] Translation: X:290.55, Y:3.78, Z:3.40 [[ 9.99657264e-01 -1.38207173e-02 -2.22337933e-02 2.90550175e+02] [ 1.38185741e-02 9.99904488e-01 -2.50036292e-04 3.77858596e+00] [ 2.22351254e-02 -5.72887245e-05 9.99752767e-01 3.39714342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36509989300004 meters 0.013449360532869964 Centerline is valid? [True, True] Translation: X:290.58, Y:3.78, Z:3.40 [[ 9.99682160e-01 -1.23998432e-02 -2.19504742e-02 2.90577833e+02] [ 1.23973282e-02 9.99923119e-01 -2.50659168e-04 3.77999987e+00] [ 2.19518948e-02 -2.15477345e-05 9.99759028e-01 3.39754901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.395099893 meters 0.013379057214354735 Centerline is valid? [True, True] Translation: X:290.61, Y:3.78, Z:3.40 [[ 9.99706639e-01 -1.16100068e-02 -2.12566359e-02 2.90606016e+02] [ 1.16073443e-02 9.99932602e-01 -2.48636221e-04 3.78099639e+00] [ 2.12580899e-02 1.83018938e-06 9.99774021e-01 3.39815621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42509989300004 meters 0.013341268135442903 Centerline is valid? [True, True] Translation: X:290.63, Y:3.78, Z:3.40 [[ 9.99699385e-01 -1.22694507e-02 -2.12273275e-02 2.90632885e+02] [ 1.22668331e-02 9.99924727e-01 -2.53525957e-04 3.78091684e+00] [ 2.12288403e-02 -6.94233911e-06 9.99774643e-01 3.39834028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.455099893 meters 0.01331049972699475 Centerline is valid? [True, True] Translation: X:290.66, Y:3.78, Z:3.40 [[ 9.99654811e-01 -1.53639963e-02 -2.13121320e-02 2.90660771e+02] [ 1.53619550e-02 9.99881965e-01 -2.59504735e-04 3.77903400e+00] [ 2.13136034e-02 -6.79808567e-05 9.99772837e-01 3.39833606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.485099893 meters 0.01331049972699475 Centerline is valid? [True, True] Translation: X:290.69, Y:3.78, Z:3.40 [[ 9.99650401e-01 -1.56484099e-02 -2.13120568e-02 2.90688163e+02] [ 1.56463040e-02 9.99877554e-01 -2.65566030e-04 3.77943463e+00] [ 2.13136029e-02 -6.79817303e-05 9.99772837e-01 3.39867593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.515099893 meters 0.013565650692534398 Centerline is valid? [True, True] Translation: X:290.72, Y:3.78, Z:3.40 [[ 9.99545913e-01 -2.08971415e-02 -2.17089418e-02 2.90716680e+02] [ 2.08961019e-02 9.99781615e-01 -2.74754953e-04 3.77547019e+00] [ 2.17099425e-02 -1.79002071e-04 9.99764295e-01 3.39815105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.545099893 meters 0.013911864563069226 Centerline is valid? [True, True] Translation: X:290.75, Y:3.77, Z:3.40 [[ 9.99480619e-01 -2.45181630e-02 -2.09129484e-02 2.90745553e+02] [ 2.45179283e-02 9.99699355e-01 -2.67659741e-04 3.77329356e+00] [ 2.09132236e-02 -2.45221446e-04 9.99781265e-01 3.39855033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.575099893 meters 0.014237109369704081 Centerline is valid? [True, True] Translation: X:290.77, Y:3.77, Z:3.40 [[ 9.99391144e-01 -2.83688803e-02 -2.03112815e-02 2.90774266e+02] [ 2.83693521e-02 9.99597474e-01 -2.64969444e-04 3.77095427e+00] [ 2.03106225e-02 -3.11409779e-04 9.99793670e-01 3.39927415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.605099893 meters 0.015551126177126303 Centerline is valid? [True, True] Translation: X:290.80, Y:3.76, Z:3.40 [[ 9.99193292e-01 -3.54047875e-02 -1.89542968e-02 2.90804056e+02] [ 3.54064036e-02 9.99372965e-01 -2.50417857e-04 3.76476140e+00] [ 1.89512778e-02 -4.20887639e-04 9.99820320e-01 3.39997609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.635099893 meters 0.016387985959331424 Centerline is valid? [True, True] Translation: X:290.84, Y:3.76, Z:3.40 [[ 9.99081931e-01 -3.85963901e-02 -1.85906986e-02 2.90835239e+02] [ 3.85984930e-02 9.99254770e-01 -2.45825402e-04 3.76182254e+00] [ 1.85863322e-02 -4.71973232e-04 9.99827148e-01 3.40017663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.665099893 meters 0.018354411247083504 Centerline is valid? [True, True] Translation: X:290.87, Y:3.76, Z:3.40 [[ 9.98980063e-01 -4.14735325e-02 -1.78544173e-02 2.90865984e+02] [ 4.14759433e-02 9.99139475e-01 -2.35405881e-04 3.75704967e+00] [ 1.78488163e-02 -5.05363019e-04 9.99840569e-01 3.40033386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.695099893 meters 0.01865101340459276 Centerline is valid? [True, True] Translation: X:290.90, Y:3.76, Z:3.40 [[ 9.98862274e-01 -4.42971901e-02 -1.76611363e-02 2.90896887e+02] [ 4.43000017e-02 9.99018246e-01 -2.32188601e-04 3.75577857e+00] [ 1.76540827e-02 -5.50463933e-04 9.99844003e-01 3.40087740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.725099893 meters 0.01885017484550791 Centerline is valid? [True, True] Translation: X:290.93, Y:3.75, Z:3.40 [[ 9.98655005e-01 -4.87597803e-02 -1.76256829e-02 2.90927701e+02] [ 4.87632826e-02 9.98810337e-01 -2.31274070e-04 3.75409970e+00] [ 1.76159911e-02 -6.28523147e-04 9.99844629e-01 3.40077209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.755099893 meters 0.02141587679031826 Centerline is valid? [True, True] Translation: X:290.96, Y:3.75, Z:3.40 [[ 9.98551947e-01 -5.07074221e-02 -1.79657255e-02 2.90959174e+02] [ 5.07113911e-02 9.98713322e-01 -2.34876957e-04 3.74972785e+00] [ 1.79545194e-02 -6.76530089e-04 9.99838576e-01 3.40082610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.785099893 meters 0.019441279285370955 Centerline is valid? [True, True] Translation: X:290.99, Y:3.75, Z:3.40 [[ 9.98448300e-01 -5.25676776e-02 -1.83747379e-02 2.90991462e+02] [ 5.25721646e-02 9.98617099e-01 -2.39096207e-04 3.75263178e+00] [ 1.83618962e-02 -7.27274544e-04 9.99831142e-01 3.40157613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.815099893 meters 0.02010978771911588 Centerline is valid? [True, True] Translation: X:291.02, Y:3.75, Z:3.40 [[ 9.98347904e-01 -5.44342870e-02 -1.83948610e-02 2.91023860e+02] [ 5.44391250e-02 9.98517063e-01 -2.38001228e-04 3.75131162e+00] [ 1.83805380e-02 -7.63792111e-04 9.99830772e-01 3.40156898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.845099893 meters 0.022666552682517344 Centerline is valid? [True, True] Translation: X:291.05, Y:3.75, Z:3.40 [[ 9.98145615e-01 -5.81797626e-02 -1.79009982e-02 2.91053873e+02] [ 5.81849694e-02 9.98305793e-01 -2.30264083e-04 3.74636514e+00] [ 1.78840669e-02 -8.11731946e-04 9.99839738e-01 3.40099411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.875099893 meters 0.02326060239904852 Centerline is valid? [True, True] Translation: X:291.09, Y:3.75, Z:3.40 [[ 9.98012894e-01 -6.03009766e-02 -1.82771751e-02 2.91086382e+02] [ 6.03067865e-02 9.98179862e-01 -2.33625169e-04 3.74550567e+00] [ 1.82579960e-02 -8.69076768e-04 9.99832931e-01 3.40126923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.905099893 meters 0.024749778294176353 Centerline is valid? [True, True] Translation: X:291.12, Y:3.74, Z:3.40 [[ 9.97875341e-01 -6.24936095e-02 -1.84215210e-02 2.91117660e+02] [ 6.24999068e-02 9.98044942e-01 -2.34245790e-04 3.74372897e+00] [ 1.84001447e-02 -9.17595247e-04 9.99830282e-01 3.40113556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93509989300003 meters 0.026531687698053044 Centerline is valid? [True, True] Translation: X:291.15, Y:3.74, Z:3.40 [[ 9.97623183e-01 -6.62564548e-02 -1.89226575e-02 2.91148709e+02] [ 6.62637893e-02 9.97802111e-01 -2.39819106e-04 3.74218644e+00] [ 1.88969572e-02 -1.01463789e-03 9.99820922e-01 3.40035121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.965099893 meters 0.026876675131605077 Centerline is valid? [True, True] Translation: X:291.18, Y:3.74, Z:3.40 [[ 9.97497667e-01 -6.79361318e-02 -1.95725692e-02 2.91181173e+02] [ 6.79443159e-02 9.97689084e-01 -2.47311421e-04 3.74282672e+00] [ 1.95441400e-02 -1.08315226e-03 9.99808408e-01 3.40007809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99509989300003 meters 0.029919445941790867 Centerline is valid? [True, True] Translation: X:291.21, Y:3.74, Z:3.40 [[ 9.97398690e-01 -6.92513772e-02 -2.00024789e-02 2.91211973e+02] [ 6.92602255e-02 9.97598596e-01 -2.50887356e-04 3.73963198e+00] [ 1.99718192e-02 -1.13514148e-03 9.99799899e-01 3.39964667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.025099893 meters 0.03036925858917493 Centerline is valid? [True, True] Translation: X:291.24, Y:3.74, Z:3.40 [[ 9.97247806e-01 -7.12028012e-02 -2.06633484e-02 2.91243180e+02] [ 7.12127003e-02 9.97461120e-01 -2.57299489e-04 3.74133757e+00] [ 2.06292070e-02 -1.21490148e-03 9.99786457e-01 3.39900725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05509989300003 meters 0.030516324292425224 Centerline is valid? [True, True] Translation: X:291.27, Y:3.74, Z:3.40 [[ 9.97212692e-01 -7.15999734e-02 -2.09831283e-02 2.91274986e+02] [ 7.16102907e-02 9.97432654e-01 -2.60242625e-04 3.74237110e+00] [ 2.09478907e-02 -1.24309067e-03 9.99779796e-01 3.39897260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.085099893 meters 0.027313147993469997 Centerline is valid? [True, True] Translation: X:291.31, Y:3.75, Z:3.40 [[ 9.97214598e-01 -7.14905680e-02 -2.12636722e-02 2.91307435e+02] [ 7.15011707e-02 9.97440481e-01 -2.62200118e-04 3.74817793e+00] [ 2.12279923e-02 -1.25890767e-03 9.99773868e-01 3.39995894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11509989300004 meters 0.02794982482539077 Centerline is valid? [True, True] Translation: X:291.34, Y:3.75, Z:3.40 [[ 9.97250873e-01 -7.10758611e-02 -2.09503653e-02 2.91338710e+02] [ 7.10861034e-02 9.97470150e-01 -2.56375606e-04 3.74912613e+00] [ 2.09155861e-02 -1.23360903e-03 9.99780484e-01 3.40038770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.145099893 meters 0.027398374487883407 Centerline is valid? [True, True] Translation: X:291.37, Y:3.75, Z:3.40 [[ 9.97377393e-01 -6.94148817e-02 -2.04917008e-02 2.91370619e+02] [ 6.94243708e-02 9.97587187e-01 -2.48808949e-04 3.75350098e+00] [ 2.04595292e-02 -1.17446701e-03 9.99789992e-01 3.40115871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17509989300004 meters 0.026286638059441005 Centerline is valid? [True, True] Translation: X:291.40, Y:3.76, Z:3.40 [[ 9.97462866e-01 -6.82541037e-02 -2.02288989e-02 2.91402997e+02] [ 6.82631378e-02 9.97667321e-01 -2.44388190e-04 3.75707861e+00] [ 2.01983919e-02 -1.13711997e-03 9.99795345e-01 3.40214977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.205099893 meters 0.02448134669443656 Centerline is valid? [True, True] Translation: X:291.43, Y:3.76, Z:3.40 [[ 9.97579953e-01 -6.66563212e-02 -1.97780736e-02 2.91433925e+02] [ 6.66646667e-02 9.97775408e-01 -2.37789978e-04 3.76199350e+00] [ 1.97499256e-02 -1.08128417e-03 9.99804366e-01 3.40321607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.235099893 meters 0.027538193108002172 Centerline is valid? [True, True] Translation: X:291.46, Y:3.76, Z:3.40 [[ 9.97704761e-01 -6.49342152e-02 -1.92030715e-02 2.91464354e+02] [ 6.49417752e-02 9.97889028e-01 -2.30307022e-04 3.76019582e+00] [ 1.91774892e-02 -1.01730314e-03 9.99815577e-01 3.40379094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.265099893 meters 0.02405248584485848 Centerline is valid? [True, True] Translation: X:291.49, Y:3.77, Z:3.41 [[ 9.98075637e-01 -5.92619373e-02 -1.82495475e-02 2.91494670e+02] [ 5.92678229e-02 9.98242094e-01 -2.18648600e-04 3.76963165e+00] [ 1.82304240e-02 -8.63383108e-04 9.99833439e-01 3.40530121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.295099893 meters 0.022891863023418536 Centerline is valid? [True, True] Translation: X:291.53, Y:3.77, Z:3.41 [[ 9.98268319e-01 -5.60064221e-02 -1.79900952e-02 2.91526220e+02] [ 5.60116197e-02 9.98430094e-01 -2.15222380e-04 3.77403014e+00] [ 1.79739063e-02 -7.92804687e-04 9.99838142e-01 3.40562751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.325099893 meters 0.021340937130471502 Centerline is valid? [True, True] Translation: X:291.56, Y:3.78, Z:3.41 [[ 9.98467043e-01 -5.24240310e-02 -1.77562684e-02 2.91558101e+02] [ 5.24285454e-02 9.98624656e-01 -2.11481917e-04 3.77906619e+00] [ 1.77429342e-02 -7.19777601e-04 9.99842323e-01 3.40633720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.355099893 meters 0.019625713681425065 Centerline is valid? [True, True] Translation: X:291.59, Y:3.79, Z:3.41 [[ 9.98849226e-01 -4.48881339e-02 -1.68902126e-02 2.91587764e+02] [ 4.48911519e-02 9.98991864e-01 -2.00605221e-04 3.78766171e+00] [ 1.68821898e-02 -5.57846732e-04 9.99857330e-01 3.40755878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.385099893 meters 0.017683166495903676 Centerline is valid? [True, True] Translation: X:291.62, Y:3.79, Z:3.41 [[ 9.99022173e-01 -4.11289639e-02 -1.62205748e-02 2.91619142e+02] [ 4.11312514e-02 9.99153733e-01 -1.92699138e-04 3.79395182e+00] [ 1.62147734e-02 -4.74661828e-04 9.99868419e-01 3.40880726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.415099893 meters 0.016969051253323857 Centerline is valid? [True, True] Translation: X:291.65, Y:3.80, Z:3.41 [[ 9.99166561e-01 -3.73706224e-02 -1.64200851e-02 2.91650757e+02] [ 3.73724704e-02 9.99301386e-01 -1.94397598e-04 3.79785019e+00] [ 1.64158786e-02 -4.19423565e-04 9.99865162e-01 3.40952923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.445099893 meters 0.015522113285425847 Centerline is valid? [True, True] Translation: X:291.68, Y:3.80, Z:3.41 [[ 9.99406552e-01 -3.03445737e-02 -1.63018826e-02 2.91681829e+02] [ 3.03454738e-02 9.99539452e-01 -1.92197589e-04 3.80468876e+00] [ 1.63002070e-02 -3.02604822e-04 9.99867097e-01 3.40964564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.475099893 meters 0.014719213709404733 Centerline is valid? [True, True] Translation: X:291.71, Y:3.81, Z:3.41 [[ 9.99498699e-01 -2.71249571e-02 -1.63275245e-02 2.91713165e+02] [ 2.71254402e-02 9.99632019e-01 -1.91912669e-04 3.80926216e+00] [ 1.63267219e-02 -2.51074825e-04 9.99866679e-01 3.41030405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.505099893 meters 0.014580817741085886 Centerline is valid? [True, True] Translation: X:291.74, Y:3.81, Z:3.41 [[ 9.99577161e-01 -2.41747195e-02 -1.61580077e-02 2.91744004e+02] [ 2.41748166e-02 9.99707728e-01 -1.89338294e-04 3.81180700e+00] [ 1.61578624e-02 -2.01358638e-04 9.99869433e-01 3.41061124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.535099893 meters 0.014074571140896632 Centerline is valid? [True, True] Translation: X:291.77, Y:3.82, Z:3.41 [[ 9.99638809e-01 -2.13016431e-02 -1.63857078e-02 2.91774885e+02] [ 2.13013645e-02 9.99773082e-01 -1.91554638e-04 3.81554950e+00] [ 1.63860700e-02 -1.57552484e-04 9.99865727e-01 3.41124775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.565099893 meters 0.013971297158935464 Centerline is valid? [True, True] Translation: X:291.80, Y:3.82, Z:3.41 [[ 9.99686299e-01 -1.87358280e-02 -1.66214429e-02 2.91804014e+02] [ 1.87351855e-02 9.99824462e-01 -1.94386684e-04 3.81807710e+00] [ 1.66221672e-02 -1.17080111e-04 9.99861835e-01 3.41118167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.595099893 meters 0.013690693504500709 Centerline is valid? [True, True] Translation: X:291.83, Y:3.82, Z:3.41 [[ 9.99742490e-01 -1.43392087e-02 -1.75880999e-02 2.91832267e+02] [ 1.43377816e-02 9.99897187e-01 -2.07243935e-04 3.82281828e+00] [ 1.75892633e-02 -4.49837667e-05 9.99845296e-01 3.41110967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.625099893 meters 0.013736716983445295 Centerline is valid? [True, True] Translation: X:291.86, Y:3.82, Z:3.41 [[ 9.99762391e-01 -1.19867847e-02 -1.82065593e-02 2.91859557e+02] [ 1.19847933e-02 9.99928156e-01 -2.18491136e-04 3.82481554e+00] [ 1.82078703e-02 2.37370982e-07 9.99834223e-01 3.41094930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.655099893 meters 0.013685498663028355 Centerline is valid? [True, True] Translation: X:291.89, Y:3.83, Z:3.41 [[ 9.99775485e-01 -1.00380260e-02 -1.86606150e-02 2.91887204e+02] [ 1.00355308e-02 9.99949617e-01 -2.27354240e-04 3.82641450e+00] [ 1.86619570e-02 4.00340191e-05 9.99825850e-01 3.41075650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68509989300003 meters 0.013795666191885327 Centerline is valid? [True, True] Translation: X:291.91, Y:3.83, Z:3.41 [[ 9.99796685e-01 -6.59526025e-03 -1.90549735e-02 2.91914617e+02] [ 6.59195183e-03 9.99978245e-01 -2.36431084e-04 3.82931411e+00] [ 1.90561183e-02 1.10773546e-04 9.99818410e-01 3.41094557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.715099893 meters 0.013795666191885327 Centerline is valid? [True, True] Translation: X:291.94, Y:3.83, Z:3.41 [[ 9.99794757e-01 -6.88144006e-03 -1.90549355e-02 2.91941999e+02] [ 6.87812593e-03 9.99976317e-01 -2.39456993e-04 3.82971264e+00] [ 1.90561321e-02 1.08345600e-04 9.99818410e-01 3.41128461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74509989300003 meters 0.013817734471198615 Centerline is valid? [True, True] Translation: X:291.97, Y:3.83, Z:3.41 [[ 9.99800996e-01 -5.97154020e-03 -1.90344053e-02 2.91969908e+02] [ 5.96796420e-03 9.99982162e-01 -2.44668523e-04 3.83116589e+00] [ 1.90355268e-02 1.31023183e-04 9.99818799e-01 3.41221586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.775099893 meters 0.013798796908038067 Centerline is valid? [True, True] Translation: X:292.00, Y:3.83, Z:3.41 [[ 9.99795024e-01 -5.92986086e-03 -1.93584013e-02 2.91997798e+02] [ 5.92607152e-03 9.99982409e-01 -2.53106312e-04 3.83232058e+00] [ 1.93595616e-02 1.38335161e-04 9.99812577e-01 3.41303155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80509989300003 meters 0.01366806110942136 Centerline is valid? [True, True] Translation: X:292.03, Y:3.83, Z:3.41 [[ 9.99784993e-01 -6.85796633e-03 -1.95687479e-02 2.92025897e+02] [ 6.85420947e-03 9.99976476e-01 -2.59047131e-04 3.83207744e+00] [ 1.95700641e-02 1.24863136e-04 9.99808480e-01 3.41377576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.835099893 meters 0.013500498409236181 Centerline is valid? [True, True] Translation: X:292.05, Y:3.83, Z:3.41 [[ 9.99774310e-01 -8.86036051e-03 -1.93086376e-02 2.92054685e+02] [ 8.85699883e-03 9.99960742e-01 -2.59613102e-04 3.83118762e+00] [ 1.93101798e-02 8.85379295e-05 9.99813537e-01 3.41478008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86509989300004 meters 0.013307657269741384 Centerline is valid? [True, True] Translation: X:292.08, Y:3.83, Z:3.42 [[ 9.99762227e-01 -1.14521913e-02 -1.85562989e-02 2.92082223e+02] [ 1.14495065e-02 9.99934421e-01 -2.50918012e-04 3.83000053e+00] [ 1.85579556e-02 3.83978849e-05 9.99827786e-01 3.41561631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.895099893 meters 0.01324830624705525 Centerline is valid? [True, True] Translation: X:292.11, Y:3.83, Z:3.42 [[ 9.99720573e-01 -1.48706289e-02 -1.83750121e-02 2.92109814e+02] [ 1.48685414e-02 9.99889426e-01 -2.50220548e-04 3.82782404e+00] [ 1.83767012e-02 -2.30589987e-05 9.99831134e-01 3.41646630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92509989300004 meters 0.013700966914367022 Centerline is valid? [True, True] Translation: X:292.14, Y:3.82, Z:3.42 [[ 9.99581793e-01 -2.29293654e-02 -1.76205188e-02 2.92137500e+02] [ 2.29286668e-02 9.99737074e-01 -2.41700197e-04 3.82119896e+00] [ 1.76214280e-02 -1.62415888e-04 9.99844717e-01 3.41703827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.955099893 meters 0.014081664244520769 Centerline is valid? [True, True] Translation: X:292.17, Y:3.82, Z:3.42 [[ 9.99488622e-01 -2.70225000e-02 -1.70961702e-02 2.92166715e+02] [ 2.70224182e-02 9.99634800e-01 -2.35831808e-04 3.81869879e+00] [ 1.70962994e-02 -2.26268651e-04 9.99853822e-01 3.41811339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.985099893 meters 0.01470700086420414 Centerline is valid? [True, True] Translation: X:292.20, Y:3.82, Z:3.42 [[ 9.99379193e-01 -3.07534380e-02 -1.71887993e-02 2.92197217e+02] [ 3.07538956e-02 9.99526959e-01 -2.37771119e-04 3.81587359e+00] [ 1.71879805e-02 -2.90999029e-04 9.99852233e-01 3.41856424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.015099893 meters 0.016462015640507702 Centerline is valid? [True, True] Translation: X:292.23, Y:3.81, Z:3.42 [[ 9.99171901e-01 -3.67638285e-02 -1.74336970e-02 2.92227621e+02] [ 3.67652151e-02 9.99323902e-01 -2.41069592e-04 3.80933699e+00] [ 1.74307728e-02 -4.00083658e-04 9.99847992e-01 3.41838516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.045099893 meters 0.016694291058940564 Centerline is valid? [True, True] Translation: X:292.26, Y:3.81, Z:3.42 [[ 9.99084635e-01 -3.89037342e-02 -1.77874208e-02 2.92259652e+02] [ 3.89055273e-02 9.99242863e-01 -2.45355404e-04 3.80742450e+00] [ 1.77834985e-02 -4.46898170e-04 9.99841761e-01 3.41878999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.075099893 meters 0.01680136442534643 Centerline is valid? [True, True] Translation: X:292.29, Y:3.81, Z:3.42 [[ 9.99019166e-01 -4.05976691e-02 -1.76786523e-02 2.92291877e+02] [ 4.05997275e-02 9.99175462e-01 -2.42603732e-04 3.80640195e+00] [ 1.76739247e-02 -4.75382688e-04 9.99843691e-01 3.41897156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.105099893 meters 0.01723285838211336 Centerline is valid? [True, True] Translation: X:292.32, Y:3.80, Z:3.42 [[ 9.98987757e-01 -4.14707483e-02 -1.74252375e-02 2.92323898e+02] [ 4.14729023e-02 9.99139601e-01 -2.37888000e-04 3.80433843e+00] [ 1.74201102e-02 -4.85027974e-04 9.99848141e-01 3.41914331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.135099893 meters 0.016789991602862306 Centerline is valid? [True, True] Translation: X:292.36, Y:3.80, Z:3.42 [[ 9.99007230e-01 -4.10589530e-02 -1.72834152e-02 2.92356351e+02] [ 4.10610318e-02 9.99156613e-01 -2.34719845e-04 3.80348728e+00] [ 1.72784760e-02 -4.75188042e-04 9.99850603e-01 3.42023365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.165099893 meters 0.017707920765175834 Centerline is valid? [True, True] Translation: X:292.39, Y:3.80, Z:3.42 [[ 9.99049462e-01 -3.99650944e-02 -1.74058638e-02 2.92387950e+02] [ 3.99670574e-02 9.99200970e-01 -2.35207896e-04 3.80137908e+00] [ 1.74013561e-02 -4.60676834e-04 9.99848479e-01 3.42028766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.195099893 meters 0.017424979365037722 Centerline is valid? [True, True] Translation: X:292.42, Y:3.80, Z:3.42 [[ 9.99120727e-01 -3.82570817e-02 -1.71513378e-02 2.92419639e+02] [ 3.82587502e-02 9.99267839e-01 -2.30946375e-04 3.80160457e+00] [ 1.71476156e-02 -4.25445439e-04 9.99852878e-01 3.42087357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.225099893 meters 0.016113750338280355 Centerline is valid? [True, True] Translation: X:292.45, Y:3.80, Z:3.42 [[ 9.99204073e-01 -3.61549932e-02 -1.68534236e-02 2.92451351e+02] [ 3.61563164e-02 9.99346121e-01 -2.26281720e-04 3.80435145e+00] [ 1.68505847e-02 -3.83256098e-04 9.99857945e-01 3.42179434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.255099893 meters 0.014651489685655703 Centerline is valid? [True, True] Translation: X:292.48, Y:3.81, Z:3.42 [[ 9.99388676e-01 -3.06696804e-02 -1.67822565e-02 2.92483301e+02] [ 3.06702342e-02 9.99529533e-01 -2.24434368e-04 3.80786928e+00] [ 1.67812443e-02 -2.90418570e-04 9.99859143e-01 3.42266430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.285099893 meters 0.014187943338649164 Centerline is valid? [True, True] Translation: X:292.51, Y:3.81, Z:3.42 [[ 9.99465901e-01 -2.78658154e-02 -1.70707203e-02 2.92513642e+02] [ 2.78659927e-02 9.99611642e-01 -2.27523583e-04 3.80909174e+00] [ 1.70704309e-02 -2.48290506e-04 9.99854259e-01 3.42258162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.315099893 meters 0.013820475908494955 Centerline is valid? [True, True] Translation: X:292.54, Y:3.81, Z:3.42 [[ 9.99529800e-01 -2.52221052e-02 -1.74362796e-02 2.92544363e+02] [ 2.52218920e-02 9.99681851e-01 -2.32169404e-04 3.81078439e+00] [ 1.74365880e-02 -2.07715722e-04 9.99847950e-01 3.42265922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.345099893 meters 0.013435043776230659 Centerline is valid? [True, True] Translation: X:292.57, Y:3.81, Z:3.42 [[ 9.99598710e-01 -2.17529675e-02 -1.81446030e-02 2.92573563e+02] [ 2.17521632e-02 9.99763364e-01 -2.41702792e-04 3.81307225e+00] [ 1.81455671e-02 -1.53078567e-04 9.99835344e-01 3.42234748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.375099893 meters 0.01337472926570646 Centerline is valid? [True, True] Translation: X:292.60, Y:3.81, Z:3.42 [[ 9.99600697e-01 -2.14469290e-02 -1.83977265e-02 2.92602184e+02] [ 2.14460191e-02 9.99769977e-01 -2.46776486e-04 3.81391246e+00] [ 1.83987873e-02 -1.47880048e-04 9.99830717e-01 3.42234644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.405099893 meters 0.013269718511514676 Centerline is valid? [True, True] Translation: X:292.63, Y:3.81, Z:3.42 [[ 9.99581658e-01 -2.16843188e-02 -1.91389494e-02 2.92631232e+02] [ 2.16832851e-02 9.99764856e-01 -2.61547393e-04 3.81404846e+00] [ 1.91401205e-02 -1.53557320e-04 9.99816799e-01 3.42230900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43509989300003 meters 0.013335298012888163 Centerline is valid? [True, True] Translation: X:292.66, Y:3.81, Z:3.42 [[ 9.99544904e-01 -2.28467627e-02 -1.96979611e-02 2.92659717e+02] [ 2.28457949e-02 9.99738963e-01 -2.74192768e-04 3.81405648e+00] [ 1.96990836e-02 -1.75947595e-04 9.99805939e-01 3.42267908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.465099893 meters 0.013666998152347518 Centerline is valid? [True, True] Translation: X:292.69, Y:3.81, Z:3.42 [[ 9.99438939e-01 -2.65387767e-02 -2.04328150e-02 2.92687927e+02] [ 2.65384250e-02 9.99647752e-01 -2.88412962e-04 3.81144116e+00] [ 2.04332717e-02 -2.54003583e-04 9.99791187e-01 3.42236126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49509989300003 meters 0.013983507215388415 Centerline is valid? [True, True] Translation: X:292.72, Y:3.81, Z:3.42 [[ 9.99351002e-01 -2.91640392e-02 -2.11431578e-02 2.92717064e+02] [ 2.91642118e-02 9.99574589e-01 -3.00245338e-04 3.81014826e+00] [ 2.11429196e-02 -3.16573054e-04 9.99776413e-01 3.42251695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.525099893 meters 0.014558869793426358 Centerline is valid? [True, True] Translation: X:292.75, Y:3.81, Z:3.42 [[ 9.99256178e-01 -3.19983575e-02 -2.15220067e-02 2.92745475e+02] [ 3.19991627e-02 9.99487849e-01 -3.07055037e-04 3.80824380e+00] [ 2.15208095e-02 -3.81859553e-04 9.99768328e-01 3.42264565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55509989300003 meters 0.01482343550660366 Centerline is valid? [True, True] Translation: X:292.78, Y:3.81, Z:3.42 [[ 9.99168354e-01 -3.47308760e-02 -2.13627420e-02 2.92775312e+02] [ 3.47322725e-02 9.99396606e-01 -3.05769979e-04 3.80761524e+00] [ 2.13604716e-02 -4.36460891e-04 9.99771744e-01 3.42386847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.585099893 meters 0.016020148647428904 Centerline is valid? [True, True] Translation: X:292.81, Y:3.80, Z:3.43 [[ 9.98985088e-01 -4.00098708e-02 -2.06882797e-02 2.92806061e+02] [ 4.00123024e-02 9.99199143e-01 -2.96552828e-04 3.80498434e+00] [ 2.06835764e-02 -5.31533852e-04 9.99785931e-01 3.42536583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61509989300004 meters 0.017487189004068298 Centerline is valid? [True, True] Translation: X:292.84, Y:3.80, Z:3.43 [[ 9.98881169e-01 -4.26545493e-02 -2.04205482e-02 2.92836782e+02] [ 4.26574734e-02 9.99089713e-01 -2.92570031e-04 3.80234566e+00] [ 2.04144391e-02 -5.78846298e-04 9.99791436e-01 3.42575500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.645099893 meters 0.019136756818344584 Centerline is valid? [True, True] Translation: X:292.87, Y:3.80, Z:3.43 [[ 9.98772717e-01 -4.51588157e-02 -2.03406387e-02 2.92867205e+02] [ 4.51622432e-02 9.98979623e-01 -2.91064217e-04 3.79924110e+00] [ 2.03330277e-02 -6.27921874e-04 9.99793065e-01 3.42581139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67509989300004 meters 0.018578675651436036 Centerline is valid? [True, True] Translation: X:292.90, Y:3.80, Z:3.43 [[ 9.98654961e-01 -4.77475356e-02 -2.02099415e-02 2.92898854e+02] [ 4.77514614e-02 9.98859207e-01 -2.88558581e-04 3.80019459e+00] [ 2.02006641e-02 -6.76883784e-04 9.99795717e-01 3.42686349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.705099893 meters 0.01927094395052753 Centerline is valid? [True, True] Translation: X:292.93, Y:3.80, Z:3.43 [[ 9.98409674e-01 -5.28311222e-02 -1.96722131e-02 2.92930108e+02] [ 5.28358448e-02 9.98603172e-01 -2.79968863e-04 3.79872153e+00] [ 1.96595254e-02 -7.59874376e-04 9.99806444e-01 3.42781035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.735099893 meters 0.02180076176864444 Centerline is valid? [True, True] Translation: X:292.96, Y:3.79, Z:3.43 [[ 9.98274049e-01 -5.54613476e-02 -1.93122247e-02 2.92960807e+02] [ 5.54664036e-02 9.98460516e-01 -2.74150310e-04 3.79464219e+00] [ 1.92976986e-02 -7.97502508e-04 9.99813464e-01 3.42791025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.765099893 meters 0.022521696213864795 Centerline is valid? [True, True] Translation: X:292.99, Y:3.79, Z:3.43 [[ 9.98146469e-01 -5.79259397e-02 -1.86604508e-02 2.92992638e+02] [ 5.79311043e-02 9.98320548e-01 -2.64126801e-04 3.79379894e+00] [ 1.86444112e-02 -8.17383286e-04 9.99825844e-01 3.42866889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.795099893 meters 0.025110902023421096 Centerline is valid? [True, True] Translation: X:293.02, Y:3.79, Z:3.43 [[ 9.97896040e-01 -6.21468260e-02 -1.84733548e-02 2.93022370e+02] [ 6.21526210e-02 9.98066623e-01 -2.60826082e-04 3.79021097e+00] [ 1.84538484e-02 -8.87890106e-04 9.99829319e-01 3.42903006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.825099893 meters 0.022918052485431828 Centerline is valid? [True, True] Translation: X:293.05, Y:3.79, Z:3.43 [[ 9.97808475e-01 -6.37562171e-02 -1.77028861e-02 2.93054150e+02] [ 6.37617965e-02 9.97965115e-01 -2.49653687e-04 3.79385079e+00] [ 1.76827797e-02 -8.79661254e-04 9.99843260e-01 3.43010659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.855099893 meters 0.02291650954961632 Centerline is valid? [True, True] Translation: X:293.09, Y:3.79, Z:3.43 [[ 9.97743314e-01 -6.48819653e-02 -1.72803375e-02 2.93086004e+02] [ 6.48874676e-02 9.97892558e-01 -2.42667315e-04 3.79440973e+00] [ 1.72596649e-02 -8.79157648e-04 9.99850654e-01 3.43069368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.885099893 meters 0.02431631766629605 Centerline is valid? [True, True] Translation: X:293.12, Y:3.79, Z:3.43 [[ 9.97700089e-01 -6.55798287e-02 -1.71411271e-02 2.93116906e+02] [ 6.55853719e-02 9.97846933e-01 -2.39165144e-04 3.79337568e+00] [ 1.71199055e-02 -8.85592110e-04 9.99853051e-01 3.43078674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.915099893 meters 0.024179784191209565 Centerline is valid? [True, True] Translation: X:293.15, Y:3.79, Z:3.43 [[ 9.97689336e-01 -6.57360393e-02 -1.71686416e-02 2.93148669e+02] [ 6.57416579e-02 9.97836649e-01 -2.37532669e-04 3.79453048e+00] [ 1.71471142e-02 -8.91711152e-04 9.99852580e-01 3.43079434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.945099893 meters 0.02359698133596135 Centerline is valid? [True, True] Translation: X:293.18, Y:3.80, Z:3.43 [[ 9.97790888e-01 -6.40184889e-02 -1.77475620e-02 2.93180855e+02] [ 6.40242454e-02 9.97948313e-01 -2.44221457e-04 3.79760437e+00] [ 1.77267843e-02 -8.92592322e-04 9.99842470e-01 3.43053106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.975099893 meters 0.0220024350052904 Centerline is valid? [True, True] Translation: X:293.21, Y:3.80, Z:3.43 [[ 9.97888645e-01 -6.23003379e-02 -1.83553751e-02 2.93212929e+02] [ 6.23062308e-02 9.98057048e-01 -2.51214202e-04 3.80162317e+00] [ 1.83353622e-02 -8.92970438e-04 9.99831494e-01 3.43061962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.005099893 meters 0.02341846272622603 Centerline is valid? [True, True] Translation: X:293.24, Y:3.80, Z:3.43 [[ 9.98021905e-01 -6.00277498e-02 -1.86801317e-02 2.93243197e+02] [ 6.00334861e-02 9.98196331e-01 -2.54042411e-04 3.80128894e+00] [ 1.86616885e-02 -8.67893534e-04 9.99825479e-01 3.43029386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.035099893 meters 0.020459489125852468 Centerline is valid? [True, True] Translation: X:293.27, Y:3.81, Z:3.43 [[ 9.98329247e-01 -5.42866409e-02 -1.97907990e-02 2.93274251e+02] [ 5.42919844e-02 9.98525067e-01 -2.67592049e-04 3.80921342e+00] [ 1.97761356e-02 -8.07336782e-04 9.99804107e-01 3.43013159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.065099893 meters 0.019726952189268586 Centerline is valid? [True, True] Translation: X:293.31, Y:3.81, Z:3.43 [[ 9.98491661e-01 -5.11001970e-02 -2.00791480e-02 2.93305576e+02] [ 5.11050641e-02 9.98693246e-01 -2.70994380e-04 3.81254914e+00] [ 2.00667574e-02 -7.55560518e-04 9.99798357e-01 3.43034182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.095099893 meters 0.0187441024679016 Centerline is valid? [True, True] Translation: X:293.34, Y:3.82, Z:3.43 [[ 9.98635319e-01 -4.79527354e-02 -2.06890033e-02 2.93336645e+02] [ 4.79572437e-02 9.98849351e-01 -2.78466992e-04 3.81683838e+00] [ 2.06785508e-02 -7.14100602e-04 9.99785921e-01 3.43048010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.125099893 meters 0.016869130412064497 Centerline is valid? [True, True] Translation: X:293.37, Y:3.82, Z:3.43 [[ 9.98893746e-01 -4.18479222e-02 -2.14484412e-02 2.93367151e+02] [ 4.18513750e-02 9.99123806e-01 -2.88064120e-04 3.82492211e+00] [ 2.14417030e-02 -6.09901306e-04 9.99769914e-01 3.43097137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.155099893 meters 0.016053348021583595 Centerline is valid? [True, True] Translation: X:293.40, Y:3.83, Z:3.43 [[ 9.99017586e-01 -3.87437396e-02 -2.15124654e-02 2.93398340e+02] [ 3.87465058e-02 9.99249031e-01 -2.88369871e-04 3.82882775e+00] [ 2.15074827e-02 -5.45446293e-04 9.99768539e-01 3.43125566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18509989300003 meters 0.01572130320565979 Centerline is valid? [True, True] Translation: X:293.43, Y:3.83, Z:3.43 [[ 9.99101170e-01 -3.61000425e-02 -2.22179941e-02 2.93428528e+02] [ 3.61023541e-02 9.99348053e-01 -2.97189570e-04 3.83171028e+00] [ 2.22142377e-02 -5.05199443e-04 9.99753106e-01 3.43133824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.215099893 meters 0.015394733054183995 Centerline is valid? [True, True] Translation: X:293.46, Y:3.83, Z:3.43 [[ 9.99184539e-01 -3.39200999e-02 -2.19017028e-02 2.93459425e+02] [ 3.39218311e-02 9.99424446e-01 -2.92574302e-04 3.83459078e+00] [ 2.18990214e-02 -4.50610145e-04 9.99760086e-01 3.43135410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24509989300003 meters 0.014772386443346944 Centerline is valid? [True, True] Translation: X:293.49, Y:3.84, Z:3.43 [[ 9.99252259e-01 -3.19202119e-02 -2.18179704e-02 2.93490170e+02] [ 3.19214581e-02 9.99490338e-01 -2.91239336e-04 3.83775192e+00] [ 2.18161470e-02 -4.05439864e-04 9.99761917e-01 3.43211752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.275099893 meters 0.014116911188000635 Centerline is valid? [True, True] Translation: X:293.52, Y:3.84, Z:3.43 [[ 9.99363956e-01 -2.88544419e-02 -2.09548471e-02 2.93520239e+02] [ 2.88549176e-02 9.99583571e-01 -2.79717849e-04 3.84222637e+00] [ 2.09541920e-02 -3.25110450e-04 9.99780384e-01 3.43342156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30509989300003 meters 0.014018056725174312 Centerline is valid? [True, True] Translation: X:293.55, Y:3.84, Z:3.43 [[ 9.99407997e-01 -2.78313003e-02 -2.02256081e-02 2.93549627e+02] [ 2.78315283e-02 9.99612591e-01 -2.70264703e-04 3.84413529e+00] [ 2.02252944e-02 -2.92804879e-04 9.99795405e-01 3.43432458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.335099893 meters 0.013988988826147873 Centerline is valid? [True, True] Translation: X:293.58, Y:3.85, Z:3.44 [[ 9.99445429e-01 -2.68431926e-02 -1.97047549e-02 2.93579018e+02] [ 2.68432033e-02 9.99639621e-01 -2.63997593e-04 3.84604694e+00] [ 1.97047403e-02 -2.65087555e-04 9.99805808e-01 3.43550776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36509989300004 meters 0.013835458316932479 Centerline is valid? [True, True] Translation: X:293.61, Y:3.85, Z:3.44 [[ 9.99514886e-01 -2.51453929e-02 -1.83766738e-02 2.93608376e+02] [ 2.51451058e-02 9.99683781e-01 -2.46722312e-04 3.84877545e+00] [ 1.83770666e-02 -2.15480783e-04 9.99831104e-01 3.43703842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.395099893 meters 0.013841982730656078 Centerline is valid? [True, True] Translation: X:293.64, Y:3.85, Z:3.44 [[ 9.99523293e-01 -2.46465563e-02 -1.85939438e-02 2.93638103e+02] [ 2.46461699e-02 9.99696206e-01 -2.49970100e-04 3.84974508e+00] [ 1.85944560e-02 -2.08418559e-04 9.99827086e-01 3.43746313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42509989300004 meters 0.013847058783462174 Centerline is valid? [True, True] Translation: X:293.67, Y:3.85, Z:3.44 [[ 9.99529747e-01 -2.44818742e-02 -1.84640809e-02 2.93667478e+02] [ 2.44814571e-02 9.99700253e-01 -2.48652657e-04 3.85056343e+00] [ 1.84646339e-02 -2.03491878e-04 9.99829493e-01 3.43768867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.455099893 meters 0.013899987458423232 Centerline is valid? [True, True] Translation: X:293.70, Y:3.85, Z:3.44 [[ 9.99523993e-01 -2.47711138e-02 -1.83896345e-02 2.93696738e+02] [ 2.47707392e-02 9.99693127e-01 -2.48184282e-04 3.85094948e+00] [ 1.83901390e-02 -2.07458695e-04 9.99830866e-01 3.43799731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.485099893 meters 0.014029909177383029 Centerline is valid? [True, True] Translation: X:293.73, Y:3.85, Z:3.44 [[ 9.99518367e-01 -2.55338115e-02 -1.76368649e-02 2.93725926e+02] [ 2.55335789e-02 9.99673937e-01 -2.38410757e-04 3.85082876e+00] [ 1.76372017e-02 -2.12036350e-04 9.99844430e-01 3.43825433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.515099893 meters 0.013985780222965268 Centerline is valid? [True, True] Translation: X:293.76, Y:3.85, Z:3.44 [[ 9.99506849e-01 -2.59247530e-02 -1.77190841e-02 2.93756698e+02] [ 2.59245721e-02 9.99663873e-01 -2.39947284e-04 3.85162079e+00] [ 1.77193488e-02 -2.19530718e-04 9.99842976e-01 3.43908437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.545099893 meters 0.013846255416980556 Centerline is valid? [True, True] Translation: X:293.79, Y:3.85, Z:3.44 [[ 9.99503911e-01 -2.60996678e-02 -1.76278149e-02 2.93787593e+02] [ 2.60995160e-02 9.99659321e-01 -2.38711341e-04 3.85260386e+00] [ 1.76280398e-02 -2.21484518e-04 9.99844590e-01 3.43911438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.575099893 meters 0.013907405902100793 Centerline is valid? [True, True] Translation: X:293.82, Y:3.85, Z:3.44 [[ 9.99513365e-01 -2.55915054e-02 -1.78355581e-02 2.93818379e+02] [ 2.55912708e-02 9.99672461e-01 -2.41426321e-04 3.85251255e+00] [ 1.78358947e-02 -2.15125762e-04 9.99840905e-01 3.43884476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.605099893 meters 0.013907405902100793 Centerline is valid? [True, True] Translation: X:293.85, Y:3.85, Z:3.44 [[ 9.99513365e-01 -2.55915027e-02 -1.78355611e-02 2.93848377e+02] [ 2.55912720e-02 9.99672461e-01 -2.41204368e-04 3.85291813e+00] [ 1.78358920e-02 -2.15347705e-04 9.99840905e-01 3.43921569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.635099893 meters 0.013676146732861869 Centerline is valid? [True, True] Translation: X:293.88, Y:3.85, Z:3.44 [[ 9.99531296e-01 -2.49545780e-02 -1.77329434e-02 2.93879198e+02] [ 2.49542498e-02 9.99688565e-01 -2.39816589e-04 3.85428704e+00] [ 1.77334053e-02 -2.02808113e-04 9.99842730e-01 3.43956476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.665099893 meters 0.013591243917302423 Centerline is valid? [True, True] Translation: X:293.91, Y:3.86, Z:3.44 [[ 9.99556823e-01 -2.36822095e-02 -1.80363929e-02 2.93909328e+02] [ 2.36816610e-02 9.99719520e-01 -2.44022619e-04 3.85519062e+00] [ 1.80371131e-02 -1.83217269e-04 9.99837301e-01 3.43991443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.695099893 meters 0.013338117431166321 Centerline is valid? [True, True] Translation: X:293.94, Y:3.86, Z:3.44 [[ 9.99624670e-01 -2.08699620e-02 -1.77472256e-02 2.93939480e+02] [ 2.08689765e-02 9.99782190e-01 -2.40749892e-04 3.85676203e+00] [ 1.77483845e-02 -1.29706902e-04 9.99842477e-01 3.43987160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.725099893 meters 0.013304503412934373 Centerline is valid? [True, True] Translation: X:293.97, Y:3.86, Z:3.44 [[ 9.99652701e-01 -1.94487334e-02 -1.77827204e-02 2.93968517e+02] [ 1.94474954e-02 9.99810850e-01 -2.42560149e-04 3.85730978e+00] [ 1.77840743e-02 -1.03353466e-04 9.99841846e-01 3.43978483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.755099893 meters 0.013156256147794441 Centerline is valid? [True, True] Translation: X:294.00, Y:3.86, Z:3.44 [[ 9.99665144e-01 -1.82440840e-02 -1.83508164e-02 2.93997560e+02] [ 1.82425192e-02 9.99833559e-01 -2.52680763e-04 3.85821780e+00] [ 1.83523720e-02 -8.21689693e-05 9.99831578e-01 3.44028156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.785099893 meters 0.013229152655473874 Centerline is valid? [True, True] Translation: X:294.03, Y:3.86, Z:3.44 [[ 9.99701284e-01 -1.61558639e-02 -1.83393333e-02 2.94025473e+02] [ 1.61538605e-02 9.99869485e-01 -2.57382309e-04 3.85813008e+00] [ 1.83410979e-02 -3.89456068e-05 9.99831787e-01 3.43996755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.815099893 meters 0.013186625871451339 Centerline is valid? [True, True] Translation: X:294.05, Y:3.86, Z:3.44 [[ 9.99717903e-01 -1.51367095e-02 -1.83028285e-02 2.94052848e+02] [ 1.51344647e-02 9.99885433e-01 -2.61165891e-04 3.85790973e+00] [ 1.83046848e-02 -1.59112943e-05 9.99832455e-01 3.44006698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.845099893 meters 0.013200668945680992 Centerline is valid? [True, True] Translation: X:294.08, Y:3.86, Z:3.44 [[ 9.99729901e-01 -1.47965893e-02 -1.79216408e-02 2.94080754e+02] [ 1.47943266e-02 9.99890524e-01 -2.58835428e-04 3.85727048e+00] [ 1.79235087e-02 -6.37309078e-06 9.99839361e-01 3.44048829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.875099893 meters 0.013171848719426933 Centerline is valid? [True, True] Translation: X:294.11, Y:3.86, Z:3.44 [[ 9.99752603e-01 -1.38602484e-02 -1.73961690e-02 2.94107550e+02] [ 1.38579037e-02 9.99903942e-01 -2.55324663e-04 3.85523604e+00] [ 1.73980368e-02 1.41870613e-05 9.99848643e-01 3.44082515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.905099893 meters 0.013125856508866853 Centerline is valid? [True, True] Translation: X:294.13, Y:3.85, Z:3.44 [[ 9.99748996e-01 -1.42664966e-02 -1.72746064e-02 2.94134980e+02] [ 1.42641945e-02 9.99898228e-01 -2.56475566e-04 3.85415931e+00] [ 1.72765074e-02 1.00028436e-05 9.99850750e-01 3.44130717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93509989300003 meters 0.013048495999488747 Centerline is valid? [True, True] Translation: X:294.16, Y:3.85, Z:3.44 [[ 9.99731814e-01 -1.48926465e-02 -1.77344102e-02 2.94162750e+02] [ 1.48902264e-02 9.99889098e-01 -2.68511034e-04 3.85280049e+00] [ 1.77364423e-02 4.36964024e-06 9.99842697e-01 3.44178660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.965099893 meters 0.013189843359313004 Centerline is valid? [True, True] Translation: X:294.19, Y:3.85, Z:3.44 [[ 9.99686339e-01 -1.74168009e-02 -1.79966469e-02 2.94190295e+02] [ 1.74146423e-02 9.99848315e-01 -2.76664247e-04 3.84833534e+00] [ 1.79987357e-02 -3.68277005e-05 9.99838009e-01 3.44161311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99509989300003 meters 0.013329046884955861 Centerline is valid? [True, True] Translation: X:294.22, Y:3.85, Z:3.44 [[ 9.99640862e-01 -1.96275500e-02 -1.82457259e-02 2.94218017e+02] [ 1.96256487e-02 9.99807358e-01 -2.83272739e-04 3.84593163e+00] [ 1.82477710e-02 -7.49132025e-05 9.99833493e-01 3.44189275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.025099893 meters 0.013395283918278055 Centerline is valid? [True, True] Translation: X:294.25, Y:3.84, Z:3.44 [[ 9.99578154e-01 -2.23309265e-02 -1.85699610e-02 2.94246621e+02] [ 2.23293292e-02 9.99750626e-01 -2.93386325e-04 3.84338751e+00] [ 1.85718817e-02 -1.21392210e-04 9.99827520e-01 3.44263712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05509989300003 meters 0.013750760785431314 Centerline is valid? [True, True] Translation: X:294.27, Y:3.84, Z:3.44 [[ 9.99504521e-01 -2.52165096e-02 -1.88372218e-02 2.94274080e+02] [ 2.52153079e-02 9.99681998e-01 -3.01346167e-04 3.83972410e+00] [ 1.88388304e-02 -1.73789490e-04 9.99822518e-01 3.44228958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.085099893 meters 0.014636126678567346 Centerline is valid? [True, True] Translation: X:294.30, Y:3.83, Z:3.44 [[ 9.99292768e-01 -3.18068151e-02 -2.00571995e-02 2.94303598e+02] [ 3.18067505e-02 9.99493985e-01 -3.22309398e-04 3.83280140e+00] [ 2.00573019e-02 -3.15872890e-04 9.99798782e-01 3.44225510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11509989300004 meters 0.015187574547547756 Centerline is valid? [True, True] Translation: X:294.33, Y:3.83, Z:3.44 [[ 9.99143535e-01 -3.56035713e-02 -2.10851003e-02 2.94333599e+02] [ 3.56043320e-02 9.99365907e-01 -3.39444191e-04 3.82993476e+00] [ 2.10838158e-02 -4.11567441e-04 9.99777627e-01 3.44227016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.145099893 meters 0.015885038185384486 Centerline is valid? [True, True] Translation: X:294.36, Y:3.83, Z:3.44 [[ 9.98995826e-01 -3.91210834e-02 -2.18375818e-02 2.94364131e+02] [ 3.91227342e-02 9.99234351e-01 -3.51787864e-04 3.82696727e+00] [ 2.18346242e-02 -5.02911302e-04 9.99761470e-01 3.44230364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17509989300004 meters 0.017331145328267506 Centerline is valid? [True, True] Translation: X:294.39, Y:3.82, Z:3.44 [[ 9.98827612e-01 -4.28496673e-02 -2.25234756e-02 2.94394265e+02] [ 4.28523707e-02 9.99081349e-01 -3.62837124e-04 3.82234131e+00] [ 2.25183319e-02 -6.02772588e-04 9.99746249e-01 3.44160540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.205099893 meters 0.0187933700071375 Centerline is valid? [True, True] Translation: X:294.42, Y:3.82, Z:3.44 [[ 9.98475046e-01 -4.99829869e-02 -2.34368180e-02 2.94424831e+02] [ 4.99878821e-02 9.98749753e-01 -3.77312613e-04 3.81640608e+00] [ 2.34263754e-02 -7.94819666e-04 9.99725249e-01 3.44204660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.235099893 meters 0.02004209626714186 Centerline is valid? [True, True] Translation: X:294.46, Y:3.81, Z:3.44 [[ 9.98317562e-01 -5.32212434e-02 -2.30118576e-02 2.94456555e+02] [ 5.32268362e-02 9.98582379e-01 -3.69830897e-04 3.81307972e+00] [ 2.29989184e-02 -8.55639697e-04 9.99735124e-01 3.44261969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.265099893 meters 0.02169951091929819 Centerline is valid? [True, True] Translation: X:294.49, Y:3.81, Z:3.44 [[ 9.98022025e-01 -5.88767686e-02 -2.20355323e-02 2.94487761e+02] [ 5.88832887e-02 9.98264811e-01 -3.53398373e-04 3.80814523e+00] [ 2.20181035e-02 -9.44825251e-04 9.99757126e-01 3.44433828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.295099893 meters 0.022168457902978344 Centerline is valid? [True, True] Translation: X:294.52, Y:3.81, Z:3.45 [[ 9.97905077e-01 -6.11164612e-02 -2.12187353e-02 2.94519875e+02] [ 6.11230338e-02 9.98130182e-01 -3.39265526e-04 3.80638188e+00] [ 2.11997949e-02 -9.58398686e-04 9.99774800e-01 3.44534528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.325099893 meters 0.023955512178730896 Centerline is valid? [True, True] Translation: X:294.55, Y:3.80, Z:3.45 [[ 9.97795247e-01 -6.30567049e-02 -2.07001765e-02 2.94551022e+02] [ 6.30634039e-02 9.98009468e-01 -3.29653620e-04 3.80284178e+00] [ 2.06797590e-02 -9.76496775e-04 9.99785674e-01 3.44571276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.355099893 meters 0.025260929477199594 Centerline is valid? [True, True] Translation: X:294.58, Y:3.80, Z:3.45 [[ 9.97715648e-01 -6.45447867e-02 -1.99363047e-02 2.94581795e+02] [ 6.45513279e-02 9.97914338e-01 -3.15915421e-04 3.80023953e+00] [ 1.99151150e-02 -9.71721181e-04 9.99801202e-01 3.44630728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.385099893 meters 0.02595094706752491 Centerline is valid? [True, True] Translation: X:294.61, Y:3.80, Z:3.45 [[ 9.97529416e-01 -6.74811722e-02 -1.95283515e-02 2.94612621e+02] [ 6.74880409e-02 9.97720036e-01 -3.07833956e-04 3.79759723e+00] [ 1.95046006e-02 -1.01085676e-03 9.99809256e-01 3.44707289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.415099893 meters 0.026214825491314056 Centerline is valid? [True, True] Translation: X:294.64, Y:3.80, Z:3.45 [[ 9.97438712e-01 -6.86635559e-02 -2.00332893e-02 2.94644467e+02] [ 6.86710350e-02 9.97639308e-01 -3.15159570e-04 3.79652629e+00] [ 2.00076368e-02 -1.06135435e-03 9.99799264e-01 3.44714107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.445099893 meters 0.0273580893193652 Centerline is valid? [True, True] Translation: X:294.68, Y:3.79, Z:3.45 [[ 9.97330632e-01 -6.99589806e-02 -2.09129315e-02 2.94676729e+02] [ 6.99674421e-02 9.97549222e-01 -3.27706014e-04 3.79449977e+00] [ 2.08846045e-02 -1.13639308e-03 9.99781247e-01 3.44688486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.475099893 meters 0.029719443069817157 Centerline is valid? [True, True] Translation: X:294.71, Y:3.79, Z:3.45 [[ 9.97221999e-01 -7.13606780e-02 -2.13526919e-02 2.94707744e+02] [ 7.13698487e-02 9.97449865e-01 -3.33234475e-04 3.79085176e+00] [ 2.13220195e-02 -1.19162964e-03 9.99771950e-01 3.44649440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.505099893 meters 0.029840422170719385 Centerline is valid? [True, True] Translation: X:294.74, Y:3.79, Z:3.45 [[ 9.97015100e-01 -7.35931665e-02 -2.33438642e-02 2.94738858e+02] [ 7.36047590e-02 9.97287425e-01 -3.63407154e-04 3.78974991e+00] [ 2.33072865e-02 -1.35589708e-03 9.99727429e-01 3.44605055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.535099893 meters 0.030758579660387666 Centerline is valid? [True, True] Translation: X:294.77, Y:3.79, Z:3.45 [[ 9.96931653e-01 -7.43242907e-02 -2.45597131e-02 2.94771348e+02] [ 7.43373702e-02 9.97233077e-01 -3.81262493e-04 3.78846774e+00] [ 2.45200954e-02 -1.44561184e-03 9.99698292e-01 3.44575191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.565099893 meters 0.02811574500032782 Centerline is valid? [True, True] Translation: X:294.80, Y:3.79, Z:3.45 [[ 9.96893796e-01 -7.46423551e-02 -2.51252560e-02 2.94803310e+02] [ 7.46561900e-02 9.97209257e-01 -3.88249277e-04 3.79246210e+00] [ 2.50841178e-02 -1.48871259e-03 9.99684236e-01 3.44661776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.595099893 meters 0.0281243021524009 Centerline is valid? [True, True] Translation: X:294.83, Y:3.79, Z:3.45 [[ 9.96975583e-01 -7.30409551e-02 -2.65462788e-02 2.94834535e+02] [ 7.30558794e-02 9.97327765e-01 -4.08514190e-04 3.79426053e+00] [ 2.65051792e-02 -1.53208307e-03 9.99647502e-01 3.44686312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.625099893 meters 0.024860788741845285 Centerline is valid? [True, True] Translation: X:294.87, Y:3.80, Z:3.45 [[ 9.97125995e-01 -7.07607826e-02 -2.70677128e-02 2.94865713e+02] [ 7.07754948e-02 9.97492184e-01 -4.15323653e-04 3.80045859e+00] [ 2.70292206e-02 -1.50160076e-03 9.99633516e-01 3.44864835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.655099893 meters 0.024672908409325994 Centerline is valid? [True, True] Translation: X:294.90, Y:3.80, Z:3.45 [[ 9.97342173e-01 -6.77031761e-02 -2.69234214e-02 2.94895042e+02] [ 6.77166259e-02 9.97704509e-01 -4.12920865e-04 3.80252379e+00] [ 2.68895750e-02 -1.41133987e-03 9.99637414e-01 3.44922435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68509989300003 meters 0.025174200214666372 Centerline is valid? [True, True] Translation: X:294.92, Y:3.80, Z:3.45 [[ 9.97618943e-01 -6.37524910e-02 -2.63071325e-02 2.94924667e+02] [ 6.37639558e-02 9.97964927e-01 -4.03688479e-04 3.80414299e+00] [ 2.62793317e-02 -1.27471956e-03 9.99653826e-01 3.44975454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.715099893 meters 0.021317137967015842 Centerline is valid? [True, True] Translation: X:294.96, Y:3.81, Z:3.45 [[ 9.98240580e-01 -5.37133766e-02 -2.51121126e-02 2.94955657e+02] [ 5.37206559e-02 9.98555929e-01 -3.85152037e-04 3.81426305e+00] [ 2.50965367e-02 -9.64564766e-04 9.99684567e-01 3.45223941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74509989300003 meters 0.019843644436950955 Centerline is valid? [True, True] Translation: X:294.98, Y:3.82, Z:3.45 [[ 9.98542502e-01 -4.78683784e-02 -2.49297130e-02 2.94984970e+02] [ 4.78737320e-02 9.98853322e-01 -3.82380539e-04 3.81872661e+00] [ 2.49194306e-02 -8.11655181e-04 9.99689133e-01 3.45301318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.775099893 meters 0.014893269619361311 Centerline is valid? [True, True] Translation: X:295.02, Y:3.83, Z:3.46 [[ 9.99086417e-01 -3.52227917e-02 -2.42009418e-02 2.95015744e+02] [ 3.52241201e-02 9.99379369e-01 -3.71530477e-04 3.83252142e+00] [ 2.41990083e-02 -4.81265828e-04 9.99707045e-01 3.45588537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80509989300003 meters 0.013939699472889934 Centerline is valid? [True, True] Translation: X:295.04, Y:3.84, Z:3.46 [[ 9.99277475e-01 -2.92586810e-02 -2.42581580e-02 2.95044754e+02] [ 2.92582453e-02 9.99571816e-01 -3.72960982e-04 3.83755664e+00] [ 2.42586834e-02 -3.37059632e-04 9.99705658e-01 3.45648975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.835099893 meters 0.01330281609243159 Centerline is valid? [True, True] Translation: X:295.07, Y:3.84, Z:3.46 [[ 9.99427837e-01 -2.36419765e-02 -2.41879359e-02 2.95073358e+02] [ 2.36398164e-02 9.99720470e-01 -3.75284241e-04 3.84235254e+00] [ 2.41900471e-02 -1.96728846e-04 9.99707359e-01 3.45674566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86509989300004 meters 0.013056335429211164 Centerline is valid? [True, True] Translation: X:295.10, Y:3.85, Z:3.46 [[ 9.99519230e-01 -1.86397405e-02 -2.47763809e-02 2.95101625e+02] [ 1.86357818e-02 9.99826262e-01 -3.90686600e-04 3.84649445e+00] [ 2.47793586e-02 -7.12284592e-05 9.99692942e-01 3.45688310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.895099893 meters 0.01312552934928161 Centerline is valid? [True, True] Translation: X:295.13, Y:3.85, Z:3.46 [[ 9.99598266e-01 -1.39878124e-02 -2.46504916e-02 2.95128867e+02] [ 1.39823442e-02 9.99902165e-01 -3.94185422e-04 3.85009816e+00] [ 2.46535937e-02 4.93554078e-05 9.99696053e-01 3.45688640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92509989300004 meters 0.013730715179520807 Centerline is valid? [True, True] Translation: X:295.16, Y:3.85, Z:3.46 [[ 9.99662280e-01 -6.40582623e-03 -2.51851510e-02 2.95157898e+02] [ 6.39756960e-03 9.99979452e-01 -4.08398827e-04 3.85498657e+00] [ 2.51872496e-02 2.47137146e-04 9.99682720e-01 3.45700417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.955099893 meters 0.014119123197337225 Centerline is valid? [True, True] Translation: X:295.19, Y:3.86, Z:3.46 [[ 9.99666104e-01 -4.08145391e-03 -2.55151246e-02 2.95186509e+02] [ 4.07206052e-03 9.99991621e-01 -4.20097232e-04 3.85681246e+00] [ 2.55166254e-02 3.16057832e-04 9.99674348e-01 3.45709281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.985099893 meters 0.014904453105362755 Centerline is valid? [True, True] Translation: X:295.21, Y:3.86, Z:3.46 [[ 9.99666868e-01 -2.07684899e-03 -2.57262372e-02 2.95214588e+02] [ 2.06652703e-03 9.99997773e-01 -4.27803161e-04 3.85872205e+00] [ 2.57270684e-02 3.74496682e-04 9.99668934e-01 3.45619929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.015099893 meters 0.014825835221476649 Centerline is valid? [True, True] Translation: X:295.24, Y:3.86, Z:3.46 [[ 9.99662976e-01 -1.24302361e-03 -2.59304861e-02 2.95243149e+02] [ 1.23214323e-03 9.99999146e-01 -4.35571653e-04 3.85859647e+00] [ 2.59310054e-02 4.03474781e-04 9.99663654e-01 3.45688415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.045099893 meters 0.015048873922067508 Centerline is valid? [True, True] Translation: X:295.27, Y:3.86, Z:3.46 [[ 9.99654796e-01 -7.41224306e-04 -2.62628775e-02 2.95270557e+02] [ 7.29778949e-04 9.99999635e-01 -4.45381823e-04 3.85829483e+00] [ 2.62631980e-02 4.26061980e-04 9.99654972e-01 3.45664221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.075099893 meters 0.014506892320568435 Centerline is valid? [True, True] Translation: X:295.30, Y:3.86, Z:3.46 [[ 9.99664962e-01 -1.65146255e-03 -2.58309102e-02 2.95299149e+02] [ 1.64058141e-03 9.99998556e-01 -4.42431463e-04 3.85685979e+00] [ 2.58316036e-02 3.99905521e-04 9.99666228e-01 3.45770778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.105099893 meters 0.014110821707240491 Centerline is valid? [True, True] Translation: X:295.33, Y:3.86, Z:3.46 [[ 9.99660820e-01 -2.71499825e-03 -2.59012223e-02 2.95327997e+02] [ 2.70424693e-03 9.99996242e-01 -4.50108056e-04 3.85556442e+00] [ 2.59023470e-02 3.79912088e-04 9.99664406e-01 3.45871050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.135099893 meters 0.01375631729117264 Centerline is valid? [True, True] Translation: X:295.36, Y:3.85, Z:3.46 [[ 9.99664589e-01 -5.56755697e-03 -2.52925149e-02 2.95357060e+02] [ 5.55811769e-03 9.99984455e-01 -4.43490030e-04 3.85285344e+00] [ 2.52945909e-02 3.02762504e-04 9.99679995e-01 3.45983304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.165099893 meters 0.013480451018766444 Centerline is valid? [True, True] Translation: X:295.39, Y:3.85, Z:3.46 [[ 9.99666414e-01 -7.39076200e-03 -2.47474568e-02 2.95386352e+02] [ 7.38219101e-03 9.99972655e-01 -4.37681021e-04 3.85152591e+00] [ 2.47500149e-02 2.54844564e-04 9.99693639e-01 3.46074031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.195099893 meters 0.013221254358614229 Centerline is valid? [True, True] Translation: X:295.41, Y:3.85, Z:3.46 [[ 9.99673267e-01 -9.30708329e-03 -2.38062516e-02 2.95414817e+02] [ 9.29956075e-03 9.99956667e-01 -4.26682648e-04 3.84983955e+00] [ 2.38091912e-02 2.05155553e-04 9.99716500e-01 3.46182606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.225099893 meters 0.012944587935410274 Centerline is valid? [True, True] Translation: X:295.44, Y:3.85, Z:3.46 [[ 9.99660284e-01 -1.33304950e-02 -2.23967546e-02 2.95442745e+02] [ 1.33247518e-02 9.99911139e-01 -4.05652813e-04 3.84602489e+00] [ 2.24001720e-02 1.07083810e-04 9.99749079e-01 3.46312677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.255099893 meters 0.012776827101339072 Centerline is valid? [True, True] Translation: X:295.47, Y:3.84, Z:3.46 [[ 9.99646505e-01 -1.58275222e-02 -2.13624670e-02 2.95471817e+02] [ 1.58227864e-02 9.99874736e-01 -3.90704228e-04 3.84355008e+00] [ 2.13659749e-02 5.25523636e-05 9.99771720e-01 3.46428809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.285099893 meters 0.012653942273799162 Centerline is valid? [True, True] Translation: X:295.50, Y:3.84, Z:3.46 [[ 9.99553912e-01 -2.16804603e-02 -2.05410296e-02 2.95500258e+02] [ 2.16772445e-02 9.99764949e-01 -3.79228364e-04 3.83694344e+00] [ 2.05444232e-02 -6.62137249e-05 9.99788939e-01 3.46446095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.315099893 meters 0.012849931770281448 Centerline is valid? [True, True] Translation: X:295.53, Y:3.83, Z:3.46 [[ 9.99465931e-01 -2.52771618e-02 -2.07103235e-02 2.95529389e+02] [ 2.52746043e-02 9.99680472e-01 -3.85276886e-04 3.83344884e+00] [ 2.07134447e-02 -1.38374110e-04 9.99785444e-01 3.46418053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.345099893 meters 0.013158193172869164 Centerline is valid? [True, True] Translation: X:295.56, Y:3.83, Z:3.46 [[ 9.99367727e-01 -2.91380970e-02 -2.03744337e-02 2.95558216e+02] [ 2.91363228e-02 9.99575373e-01 -3.83983408e-04 3.82979361e+00] [ 2.03769707e-02 -2.09895452e-04 9.99792346e-01 3.46396332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.375099893 meters 0.013471852924069428 Centerline is valid? [True, True] Translation: X:295.59, Y:3.83, Z:3.46 [[ 9.99242492e-01 -3.29787185e-02 -2.06602497e-02 2.95587433e+02] [ 3.29776075e-02 9.99456013e-01 -3.94561574e-04 3.82654374e+00] [ 2.06620229e-02 -2.87062914e-04 9.99786476e-01 3.46388794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.405099893 meters 0.014349412383242895 Centerline is valid? [True, True] Translation: X:295.62, Y:3.82, Z:3.46 [[ 9.98984137e-01 -3.99674789e-02 -2.08157153e-02 2.95616825e+02] [ 3.99677923e-02 9.99200888e-01 -4.01137202e-04 3.81930334e+00] [ 2.08151136e-02 -4.31228482e-04 9.99783249e-01 3.46315087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43509989300003 meters 0.015014751491261882 Centerline is valid? [True, True] Translation: X:295.65, Y:3.82, Z:3.46 [[ 9.98864825e-01 -4.28383562e-02 -2.08311660e-02 2.95647657e+02] [ 4.28392797e-02 9.99081896e-01 -4.02113402e-04 3.81575786e+00] [ 2.08292667e-02 -4.90735214e-04 9.99782927e-01 3.46281684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.465099893 meters 0.016111528812854967 Centerline is valid? [True, True] Translation: X:295.68, Y:3.81, Z:3.46 [[ 9.98733488e-01 -4.55941512e-02 -2.12742366e-02 2.95678257e+02] [ 4.55957426e-02 9.98959889e-01 -4.10505429e-04 3.81172487e+00] [ 2.12708257e-02 -5.60029096e-04 9.99773594e-01 3.46237156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49509989300003 meters 0.016695103413216894 Centerline is valid? [True, True] Translation: X:295.71, Y:3.81, Z:3.46 [[ 9.98523140e-01 -4.98998526e-02 -2.14835435e-02 2.95709809e+02] [ 4.99024829e-02 9.98754009e-01 -4.13987999e-04 3.80705039e+00] [ 2.14774332e-02 -6.58705567e-04 9.99769116e-01 3.46211625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.525099893 meters 0.016695103413216894 Centerline is valid? [True, True] Translation: X:295.74, Y:3.81, Z:3.46 [[ 9.98524951e-01 -4.98636045e-02 -2.14835585e-02 2.95740662e+02] [ 4.98662432e-02 9.98755820e-01 -4.13208527e-04 3.80761595e+00] [ 2.14774332e-02 -6.58705329e-04 9.99769116e-01 3.46249776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55509989300003 meters 0.01752927711150651 Centerline is valid? [True, True] Translation: X:295.77, Y:3.81, Z:3.46 [[ 9.98416183e-01 -5.16860345e-02 -2.22188923e-02 2.95771277e+02] [ 5.16893219e-02 9.98663122e-01 -4.26709930e-04 3.80515807e+00] [ 2.22112433e-02 -7.22445376e-04 9.99753039e-01 3.46233709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.585099893 meters 0.018298271424147607 Centerline is valid? [True, True] Translation: X:295.80, Y:3.80, Z:3.46 [[ 9.98314435e-01 -5.35686030e-02 -2.23314378e-02 2.95803032e+02] [ 5.35724072e-02 9.98563876e-01 -4.28290665e-04 3.80320536e+00] [ 2.23223100e-02 -7.68780123e-04 9.99750531e-01 3.46234173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61509989300004 meters 0.017673660725452435 Centerline is valid? [True, True] Translation: X:295.83, Y:3.80, Z:3.46 [[ 9.98223172e-01 -5.51054133e-02 -2.26691936e-02 2.95834544e+02] [ 5.51097481e-02 9.98480209e-01 -4.33939383e-04 3.80355725e+00] [ 2.26586536e-02 -8.16125202e-04 9.99742927e-01 3.46323208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.645099893 meters 0.018745381673930337 Centerline is valid? [True, True] Translation: X:295.86, Y:3.80, Z:3.46 [[ 9.98070909e-01 -5.75741841e-02 -2.32308673e-02 2.95864908e+02] [ 5.75794196e-02 9.98340830e-01 -4.44025375e-04 3.79993552e+00] [ 2.32178877e-02 -8.94451046e-04 9.99730028e-01 3.46315483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67509989300004 meters 0.019715657363891234 Centerline is valid? [True, True] Translation: X:295.90, Y:3.80, Z:3.46 [[ 9.98027517e-01 -5.83212854e-02 -2.32314915e-02 2.95896234e+02] [ 5.83267422e-02 9.98297448e-01 -4.43217501e-04 3.79781385e+00] [ 2.32177877e-02 -9.12673956e-04 9.99730014e-01 3.46297213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.705099893 meters 0.019136874944423718 Centerline is valid? [True, True] Translation: X:295.93, Y:3.80, Z:3.46 [[ 9.97994978e-01 -5.88178964e-02 -2.33768826e-02 2.95928162e+02] [ 5.88235926e-02 9.98268294e-01 -4.44504058e-04 3.79844985e+00] [ 2.33625455e-02 -9.31499401e-04 9.99726625e-01 3.46372722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.735099893 meters 0.020838984932866976 Centerline is valid? [True, True] Translation: X:295.96, Y:3.80, Z:3.46 [[ 9.97982844e-01 -5.89570163e-02 -2.35438628e-02 2.95959294e+02] [ 5.89628687e-02 9.98260077e-01 -4.46154995e-04 3.79567427e+00] [ 2.35292023e-02 -9.42958662e-04 9.99722705e-01 3.46352174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.765099893 meters 0.01923231100641893 Centerline is valid? [True, True] Translation: X:295.99, Y:3.80, Z:3.46 [[ 9.98028798e-01 -5.84136249e-02 -2.29426835e-02 2.95990260e+02] [ 5.84190627e-02 9.98292054e-01 -4.33718826e-04 3.79850852e+00] [ 2.29288337e-02 -9.07426187e-04 9.99736688e-01 3.46452448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.795099893 meters 0.018859973573592665 Centerline is valid? [True, True] Translation: X:296.02, Y:3.80, Z:3.47 [[ 9.98071469e-01 -5.77235135e-02 -2.28328389e-02 2.96021189e+02] [ 5.77287380e-02 9.98332213e-01 -4.30810257e-04 3.79989757e+00] [ 2.28196265e-02 -8.88131547e-04 9.99739204e-01 3.46505581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.825099893 meters 0.018587637049789073 Centerline is valid? [True, True] Translation: X:296.05, Y:3.80, Z:3.47 [[ 9.98204068e-01 -5.54038988e-02 -2.27825960e-02 2.96051451e+02] [ 5.54085116e-02 9.98463676e-01 -4.29220899e-04 3.80164079e+00] [ 2.27713751e-02 -8.33899689e-04 9.99740351e-01 3.46561331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.855099893 meters 0.01949433243378946 Centerline is valid? [True, True] Translation: X:296.08, Y:3.80, Z:3.47 [[ 9.98273873e-01 -5.40585874e-02 -2.29552563e-02 2.96082265e+02] [ 5.40629291e-02 9.98537437e-01 -4.31867265e-04 3.80129608e+00] [ 2.29450289e-02 -8.09906586e-04 9.99736400e-01 3.46544539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.885099893 meters 0.017868648764367317 Centerline is valid? [True, True] Translation: X:296.11, Y:3.80, Z:3.47 [[ 9.98359834e-01 -5.25662849e-02 -2.26810084e-02 2.96113668e+02] [ 5.25701572e-02 9.98617142e-01 -4.25896309e-04 3.80490602e+00] [ 2.26720316e-02 -7.67146411e-04 9.99742662e-01 3.46671928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.915099893 meters 0.017260231617651316 Centerline is valid? [True, True] Translation: X:296.14, Y:3.81, Z:3.47 [[ 9.98465062e-01 -5.07645498e-02 -2.21467780e-02 2.96144772e+02] [ 5.07678165e-02 9.98710397e-01 -4.15073612e-04 3.80670490e+00] [ 2.21392885e-02 -7.09907065e-04 9.99754644e-01 3.46721656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.945099893 meters 0.016642341163033442 Centerline is valid? [True, True] Translation: X:296.17, Y:3.81, Z:3.47 [[ 9.98670658e-01 -4.68474888e-02 -2.14995128e-02 2.96174240e+02] [ 4.68496661e-02 9.98901870e-01 -4.02671531e-04 3.80942691e+00] [ 2.14947677e-02 -6.05108752e-04 9.99768778e-01 3.46770137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.975099893 meters 0.016088982758303203 Centerline is valid? [True, True] Translation: X:296.21, Y:3.81, Z:3.47 [[ 9.98770023e-01 -4.47414537e-02 -2.13692294e-02 2.96205176e+02] [ 4.47431218e-02 9.98998445e-01 -4.00291743e-04 3.81160471e+00] [ 2.13657366e-02 -5.56326642e-04 9.99771572e-01 3.46816145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.005099893 meters 0.01520985232538721 Centerline is valid? [True, True] Translation: X:296.24, Y:3.81, Z:3.47 [[ 9.98870587e-01 -4.24772638e-02 -2.12892625e-02 2.96235410e+02] [ 4.24784101e-02 9.99097305e-01 -3.98574589e-04 3.81425901e+00] [ 2.12869752e-02 -5.06209589e-04 9.99773279e-01 3.46878874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.035099893 meters 0.015216662685853739 Centerline is valid? [True, True] Translation: X:296.26, Y:3.82, Z:3.47 [[ 9.98957343e-01 -4.02832911e-02 -2.14821731e-02 2.96264866e+02] [ 4.02839478e-02 9.99188191e-01 -4.02349339e-04 3.81534649e+00] [ 2.14809416e-02 -4.63456912e-04 9.99769151e-01 3.46872913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.065099893 meters 0.014143415356085461 Centerline is valid? [True, True] Translation: X:296.29, Y:3.82, Z:3.47 [[ 9.99136762e-01 -3.59087475e-02 -2.08876199e-02 2.96294226e+02] [ 3.59084019e-02 9.99355009e-01 -3.91727522e-04 3.81913397e+00] [ 2.08882140e-02 -3.58651684e-04 9.99781753e-01 3.46944637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.095099893 meters 0.013617716532341825 Centerline is valid? [True, True] Translation: X:296.32, Y:3.82, Z:3.47 [[ 9.99210618e-01 -3.38014141e-02 -2.08711366e-02 2.96323934e+02] [ 3.38005942e-02 9.99428520e-01 -3.92151829e-04 3.82147753e+00] [ 2.08724645e-02 -3.13614547e-04 9.99782097e-01 3.46998885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.125099893 meters 0.013502699378127349 Centerline is valid? [True, True] Translation: X:296.35, Y:3.82, Z:3.47 [[ 9.99263842e-01 -3.17951147e-02 -2.14673054e-02 2.96352371e+02] [ 3.17937645e-02 9.99494369e-01 -4.04280450e-04 3.82280772e+00] [ 2.14693050e-02 -2.78543618e-04 9.99769469e-01 3.46945959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.155099893 meters 0.012531168805438338 Centerline is valid? [True, True] Translation: X:296.38, Y:3.83, Z:3.47 [[ 9.99387985e-01 -2.81142167e-02 -2.08145526e-02 2.96380832e+02] [ 2.81120909e-02 9.99604699e-01 -3.94784401e-04 3.82724724e+00] [ 2.08174236e-02 -1.90597807e-04 9.99783276e-01 3.47141468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18509989300003 meters 0.012456916211199938 Centerline is valid? [True, True] Translation: X:296.41, Y:3.83, Z:3.47 [[ 9.99454828e-01 -2.65905673e-02 -1.95701162e-02 2.96408580e+02] [ 2.65883248e-02 9.99646398e-01 -3.74815668e-04 3.82817949e+00] [ 1.95731628e-02 -1.45725279e-04 9.99808417e-01 3.47205849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.215099893 meters 0.012402979068290977 Centerline is valid? [True, True] Translation: X:296.44, Y:3.83, Z:3.47 [[ 9.99492072e-01 -2.51822290e-02 -1.95308212e-02 2.96436656e+02] [ 2.51796926e-02 9.99682871e-01 -3.75809563e-04 3.82949665e+00] [ 1.95340911e-02 -1.16161394e-04 9.99809185e-01 3.47300448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24509989300003 meters 0.012207741661406063 Centerline is valid? [True, True] Translation: X:296.46, Y:3.83, Z:3.47 [[ 9.99502244e-01 -2.44079699e-02 -1.99878619e-02 2.96464401e+02] [ 2.44050913e-02 9.99702076e-01 -3.87968743e-04 3.83123059e+00] [ 1.99913766e-02 -1.00029965e-04 9.99800147e-01 3.47366628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.275099893 meters 0.012207328288091377 Centerline is valid? [True, True] Translation: X:296.49, Y:3.83, Z:3.47 [[ 9.99503251e-01 -2.21581805e-02 -2.24112786e-02 2.96492502e+02] [ 2.21538834e-02 9.99754476e-01 -4.40029528e-04 3.83244967e+00] [ 2.24155263e-02 -5.66859078e-05 9.99748739e-01 3.47188818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30509989300003 meters 0.012172781037655133 Centerline is valid? [True, True] Translation: X:296.52, Y:3.83, Z:3.47 [[ 9.99536820e-01 -2.10017242e-02 -2.20243550e-02 2.96520403e+02] [ 2.09972063e-02 9.99779439e-01 -4.36389205e-04 3.83340591e+00] [ 2.20286622e-02 -2.62628463e-05 9.99757339e-01 3.47255257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.335099893 meters 0.012134203193586294 Centerline is valid? [True, True] Translation: X:296.55, Y:3.83, Z:3.47 [[ 9.99642799e-01 -1.81956683e-02 -1.95752948e-02 2.96548423e+02] [ 1.81914852e-02 9.99834444e-01 -3.91755118e-04 3.83414946e+00] [ 1.95791823e-02 3.55114966e-05 9.99808309e-01 3.47384689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36509989300004 meters 0.01217591747611039 Centerline is valid? [True, True] Translation: X:296.58, Y:3.83, Z:3.47 [[ 9.99689871e-01 -1.67812633e-02 -1.83997704e-02 2.96575979e+02] [ 1.67772764e-02 9.99859183e-01 -3.71033718e-04 3.83459390e+00] [ 1.84034058e-02 6.22206167e-05 9.99830641e-01 3.47485830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.395099893 meters 0.012225616052082713 Centerline is valid? [True, True] Translation: X:296.60, Y:3.83, Z:3.48 [[ 9.99703324e-01 -1.57556650e-02 -1.85747902e-02 2.96604186e+02] [ 1.57513240e-02 9.99875868e-01 -3.79989523e-04 3.83475687e+00] [ 1.85784715e-02 8.72992508e-05 9.99827401e-01 3.47573137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42509989300004 meters 0.012564201944332646 Centerline is valid? [True, True] Translation: X:296.63, Y:3.84, Z:3.47 [[ 9.99722702e-01 -1.34790204e-02 -1.93089483e-02 2.96632249e+02] [ 1.34738201e-02 9.99909144e-01 -3.99395895e-04 3.83530386e+00] [ 1.93125774e-02 1.39119847e-04 9.99813485e-01 3.47470615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.455099893 meters 0.01244995350958589 Centerline is valid? [True, True] Translation: X:296.66, Y:3.83, Z:3.48 [[ 9.99732296e-01 -1.30591083e-02 -1.90996086e-02 2.96660393e+02] [ 1.30538851e-02 9.99914715e-01 -3.98126495e-04 3.83433937e+00] [ 1.91031789e-02 1.48695818e-04 9.99817507e-01 3.47539544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.485099893 meters 0.01253806786630848 Centerline is valid? [True, True] Translation: X:296.69, Y:3.83, Z:3.48 [[ 9.99732324e-01 -1.27574950e-02 -1.93009390e-02 2.96688194e+02] [ 1.27519962e-02 9.99918607e-01 -4.07952081e-04 3.83375063e+00] [ 1.93045725e-02 1.61717382e-04 9.99813636e-01 3.47504328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.515099893 meters 0.012558183525566055 Centerline is valid? [True, True] Translation: X:296.72, Y:3.83, Z:3.48 [[ 9.99725357e-01 -1.30484103e-02 -1.94666419e-02 2.96715687e+02] [ 1.30427614e-02 9.99914853e-01 -4.17123282e-04 3.83256341e+00] [ 1.94704271e-02 1.63109957e-04 9.99810420e-01 3.47544045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.545099893 meters 0.012538094394082558 Centerline is valid? [True, True] Translation: X:296.74, Y:3.83, Z:3.48 [[ 9.99719226e-01 -1.40217301e-02 -1.91013289e-02 2.96743465e+02] [ 1.40163898e-02 9.99901680e-01 -4.13431947e-04 3.82928415e+00] [ 1.91052479e-02 1.45584195e-04 9.99817467e-01 3.47548714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.575099893 meters 0.012357305111519242 Centerline is valid? [True, True] Translation: X:296.77, Y:3.83, Z:3.48 [[ 9.99694047e-01 -1.54663740e-02 -1.93029458e-02 2.96771165e+02] [ 1.54611290e-02 9.99880381e-01 -4.20936588e-04 3.82679479e+00] [ 1.93071471e-02 1.22362466e-04 9.99813592e-01 3.47617024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.605099893 meters 0.012172691993833865 Centerline is valid? [True, True] Translation: X:296.80, Y:3.82, Z:3.48 [[ 9.99638936e-01 -1.88536360e-02 -1.91452013e-02 2.96800278e+02] [ 1.88489964e-02 9.99822253e-01 -4.22774663e-04 3.82144677e+00] [ 1.91497691e-02 6.17541850e-05 9.99816624e-01 3.47574189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.635099893 meters 0.01215432785614267 Centerline is valid? [True, True] Translation: X:296.83, Y:3.82, Z:3.48 [[ 9.99600279e-01 -2.12242997e-02 -1.86764710e-02 2.96827932e+02] [ 2.12202070e-02 9.99774739e-01 -4.17309510e-04 3.81912607e+00] [ 1.86811210e-02 2.08241226e-05 9.99825492e-01 3.47649053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.665099893 meters 0.0121295309378829 Centerline is valid? [True, True] Translation: X:296.86, Y:3.82, Z:3.48 [[ 9.99549967e-01 -2.36660181e-02 -1.84331933e-02 2.96855862e+02] [ 2.36623483e-02 9.99719920e-01 -4.17194693e-04 3.81713455e+00] [ 1.84379038e-02 -1.91656976e-05 9.99830007e-01 3.47703117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.695099893 meters 0.01217521335734835 Centerline is valid? [True, True] Translation: X:296.88, Y:3.81, Z:3.48 [[ 9.99491826e-01 -2.63346203e-02 -1.79604421e-02 2.96884217e+02] [ 2.63314750e-02 9.99653182e-01 -4.11624991e-04 3.81487167e+00] [ 1.79650531e-02 -6.15091169e-05 9.99838614e-01 3.47740403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.725099893 meters 0.012464456292957402 Centerline is valid? [True, True] Translation: X:296.91, Y:3.81, Z:3.48 [[ 9.99350481e-01 -3.12555074e-02 -1.79362515e-02 2.96913152e+02] [ 3.12530732e-02 9.99511417e-01 -4.16070544e-04 3.80866058e+00] [ 1.79404927e-02 -1.44762684e-04 9.99839046e-01 3.47704182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.755099893 meters 0.012743207957233472 Centerline is valid? [True, True] Translation: X:296.94, Y:3.81, Z:3.48 [[ 9.99265800e-01 -3.37265360e-02 -1.81764239e-02 2.96942197e+02] [ 3.37243796e-02 9.99431081e-01 -4.25231630e-04 3.80567252e+00] [ 1.81804246e-02 -1.88069196e-04 9.99834705e-01 3.47681948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.785099893 meters 0.013196168465551137 Centerline is valid? [True, True] Translation: X:296.97, Y:3.80, Z:3.48 [[ 9.99162480e-01 -3.64256693e-02 -1.86416040e-02 2.96970810e+02] [ 3.64238480e-02 9.99336336e-01 -4.37336249e-04 3.80258718e+00] [ 1.86451625e-02 -2.42028978e-04 9.99826135e-01 3.47651967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.815099893 meters 0.013752157332501878 Centerline is valid? [True, True] Translation: X:297.00, Y:3.80, Z:3.48 [[ 9.99054323e-01 -3.90771895e-02 -1.90639140e-02 2.96999769e+02] [ 3.90757476e-02 9.99236151e-01 -4.48274493e-04 3.79938177e+00] [ 1.90668694e-02 -2.97086123e-04 9.99818167e-01 3.47649850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.845099893 meters 0.014344963209329195 Centerline is valid? [True, True] Translation: X:297.03, Y:3.79, Z:3.48 [[ 9.98879015e-01 -4.36774803e-02 -1.82480320e-02 2.97029848e+02] [ 4.36769110e-02 9.99045616e-01 -4.29925945e-04 3.79406184e+00] [ 1.82493945e-02 -3.67573666e-04 9.99833398e-01 3.47730334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.875099893 meters 0.015333150023469915 Centerline is valid? [True, True] Translation: X:297.06, Y:3.79, Z:3.48 [[ 9.98807090e-01 -4.53504326e-02 -1.81034555e-02 2.97060174e+02] [ 4.53501408e-02 9.98971062e-01 -4.26858337e-04 3.79065508e+00] [ 1.81041863e-02 -3.94645121e-04 9.99836028e-01 3.47777060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.905099893 meters 0.015143361651077296 Centerline is valid? [True, True] Translation: X:297.09, Y:3.79, Z:3.48 [[ 9.98750656e-01 -4.69606723e-02 -1.70828206e-02 2.97091056e+02] [ 4.69606528e-02 9.98896659e-01 -4.02499577e-04 3.78962250e+00] [ 1.70828740e-02 -4.00223689e-04 9.99853997e-01 3.47929975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93509989300003 meters 0.015819503209832015 Centerline is valid? [True, True] Translation: X:297.12, Y:3.79, Z:3.48 [[ 9.98675111e-01 -4.88749771e-02 -1.61015081e-02 2.97122643e+02] [ 4.88752139e-02 9.98804821e-01 -3.79034753e-04 3.78510719e+00] [ 1.61007893e-02 -4.08432080e-04 9.99870290e-01 3.48037340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.965099893 meters 0.016959503534914436 Centerline is valid? [True, True] Translation: X:297.15, Y:3.78, Z:3.48 [[ 9.98640275e-01 -4.96458472e-02 -1.59025407e-02 2.97153268e+02] [ 4.96461858e-02 9.98766798e-01 -3.73724804e-04 3.78173626e+00] [ 1.59014835e-02 -4.16283850e-04 9.99873477e-01 3.48070062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99509989300003 meters 0.016660555371697822 Centerline is valid? [True, True] Translation: X:297.18, Y:3.78, Z:3.48 [[ 9.98605254e-01 -5.04168889e-02 -1.56743043e-02 2.97184522e+02] [ 5.04173248e-02 9.98728170e-01 -3.67593798e-04 3.77934214e+00] [ 1.56729022e-02 -4.23175394e-04 9.99877083e-01 3.48113001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.025099893 meters 0.017419088749516334 Centerline is valid? [True, True] Translation: X:297.22, Y:3.78, Z:3.48 [[ 9.98584325e-01 -5.07618089e-02 -1.58929073e-02 2.97215033e+02] [ 5.07623087e-02 9.98710694e-01 -3.72215889e-04 3.77708116e+00] [ 1.58913108e-02 -4.35071715e-04 9.99873630e-01 3.48121935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05509989300003 meters 0.016865646129431793 Centerline is valid? [True, True] Translation: X:297.25, Y:3.78, Z:3.48 [[ 9.98546909e-01 -5.14791657e-02 -1.59363315e-02 2.97246068e+02] [ 5.14797650e-02 9.98673968e-01 -3.72888555e-04 3.77605752e+00] [ 1.59343954e-02 -4.48051887e-04 9.99872939e-01 3.48134676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.085099893 meters 0.01762513036029363 Centerline is valid? [True, True] Translation: X:297.28, Y:3.77, Z:3.48 [[ 9.98501185e-01 -5.21283802e-02 -1.66738011e-02 2.97276877e+02] [ 5.21291357e-02 9.98640276e-01 -3.89608945e-04 3.77296743e+00] [ 1.66714391e-02 -4.80165849e-04 9.99860907e-01 3.48125129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11509989300004 meters 0.017143502286701497 Centerline is valid? [True, True] Translation: X:297.31, Y:3.77, Z:3.48 [[ 9.98437863e-01 -5.34187644e-02 -1.63789582e-02 2.97307812e+02] [ 5.34196727e-02 9.98572077e-01 -3.82361324e-04 3.77263530e+00] [ 1.63759955e-02 -4.93194561e-04 9.99865783e-01 3.48219069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.145099893 meters 0.017234849772178044 Centerline is valid? [True, True] Translation: X:297.34, Y:3.77, Z:3.48 [[ 9.98263270e-01 -5.64490488e-02 -1.68507930e-02 2.97339300e+02] [ 5.64504519e-02 9.98405325e-01 -3.92754322e-04 3.77063710e+00] [ 1.68460921e-02 -5.59162667e-04 9.99857938e-01 3.48228442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17509989300004 meters 0.01781896039412214 Centerline is valid? [True, True] Translation: X:297.37, Y:3.77, Z:3.48 [[ 9.98177192e-01 -5.78532177e-02 -1.71842539e-02 2.97370094e+02] [ 5.78548941e-02 9.98324923e-01 -3.99974868e-04 3.76951966e+00] [ 1.71786088e-02 -5.94947402e-04 9.99852260e-01 3.48287734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.205099893 meters 0.01781896039412214 Centerline is valid? [True, True] Translation: X:297.40, Y:3.77, Z:3.48 [[ 9.98179305e-01 -5.78167507e-02 -1.71842633e-02 2.97400945e+02] [ 5.78184287e-02 9.98327035e-01 -3.99572976e-04 3.77020921e+00] [ 1.71786166e-02 -5.94721627e-04 9.99852260e-01 3.48325892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.235099893 meters 0.019295690378631315 Centerline is valid? [True, True] Translation: X:297.43, Y:3.77, Z:3.48 [[ 9.98074556e-01 -5.97276027e-02 -1.67270458e-02 2.97431571e+02] [ 5.97294692e-02 9.98214526e-01 -3.88422647e-04 3.76796510e+00] [ 1.67203797e-02 -6.11422809e-04 9.99860018e-01 3.48383765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.265099893 meters 0.019481311067156334 Centerline is valid? [True, True] Translation: X:297.46, Y:3.77, Z:3.48 [[ 9.97944015e-01 -6.18095343e-02 -1.69506732e-02 2.97462557e+02] [ 6.18117561e-02 9.98087748e-01 -3.93305327e-04 3.76785433e+00] [ 1.69425693e-02 -6.55254183e-04 9.99856250e-01 3.48426133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.295099893 meters 0.019481311067156334 Centerline is valid? [True, True] Translation: X:297.49, Y:3.77, Z:3.48 [[ 9.97948501e-01 -6.17370566e-02 -1.69506861e-02 2.97494256e+02] [ 6.17392774e-02 9.98092234e-01 -3.92748546e-04 3.76853224e+00] [ 1.69425953e-02 -6.54580291e-04 9.99856250e-01 3.48465340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.325099893 meters 0.019802462895608237 Centerline is valid? [True, True] Translation: X:297.53, Y:3.77, Z:3.49 [[ 9.97802831e-01 -6.39923493e-02 -1.71606791e-02 2.97525483e+02] [ 6.39949771e-02 9.97950142e-01 -3.96529291e-04 3.76817138e+00] [ 1.71508770e-02 -7.02539220e-04 9.99852666e-01 3.48511133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.355099893 meters 0.021706423835480028 Centerline is valid? [True, True] Translation: X:297.56, Y:3.77, Z:3.49 [[ 9.97670985e-01 -6.59365666e-02 -1.74635118e-02 2.97555775e+02] [ 6.59395949e-02 9.97823535e-01 -4.02974341e-04 3.76540487e+00] [ 1.74520738e-02 -7.49501084e-04 9.99847420e-01 3.48505290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.385099893 meters 0.022965247591810345 Centerline is valid? [True, True] Translation: X:297.59, Y:3.76, Z:3.49 [[ 9.97536081e-01 -6.78954114e-02 -1.76629867e-02 2.97585691e+02] [ 6.78988277e-02 9.97692129e-01 -4.06899245e-04 3.76413593e+00] [ 1.76498494e-02 -7.93399412e-04 9.99843914e-01 3.48530139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.415099893 meters 0.022965247591810345 Centerline is valid? [True, True] Translation: X:297.62, Y:3.76, Z:3.49 [[ 9.97538483e-01 -6.78600905e-02 -1.76630152e-02 2.97616554e+02] [ 6.78635232e-02 9.97694531e-01 -4.05660398e-04 3.76481473e+00] [ 1.76498218e-02 -7.94012581e-04 9.99843914e-01 3.48568298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.445099893 meters 0.023490071866412943 Centerline is valid? [True, True] Translation: X:297.65, Y:3.76, Z:3.49 [[ 9.97302397e-01 -7.10300068e-02 -1.85112910e-02 2.97647934e+02] [ 7.10343345e-02 9.97473781e-01 -4.24463219e-04 3.76497655e+00] [ 1.84946770e-02 -8.91619050e-04 9.99828561e-01 3.48583065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.475099893 meters 0.025940149916077848 Centerline is valid? [True, True] Translation: X:297.68, Y:3.76, Z:3.49 [[ 9.97189348e-01 -7.25263070e-02 -1.87973072e-02 2.97678571e+02] [ 7.25310453e-02 9.97366062e-01 -4.30457086e-04 3.76264050e+00] [ 1.87790158e-02 -9.34141122e-04 9.99823222e-01 3.48589138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.505099893 meters 0.023845969270860277 Centerline is valid? [True, True] Translation: X:297.71, Y:3.77, Z:3.49 [[ 9.97103248e-01 -7.36758613e-02 -1.88939126e-02 2.97709272e+02] [ 7.36808646e-02 9.97281777e-01 -4.32121045e-04 3.76662488e+00] [ 1.88743917e-02 -9.61250522e-04 9.99821401e-01 3.48675277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.535099893 meters 0.024364479315638104 Centerline is valid? [True, True] Translation: X:297.74, Y:3.77, Z:3.49 [[ 9.96926129e-01 -7.59050209e-02 -1.94093129e-02 2.97740296e+02] [ 7.59107371e-02 9.97114519e-01 -4.43144255e-04 3.76734975e+00] [ 1.93869446e-02 -1.03159316e-03 9.99811523e-01 3.48733090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.565099893 meters 0.026206812931886966 Centerline is valid? [True, True] Translation: X:297.77, Y:3.77, Z:3.49 [[ 9.96841556e-01 -7.70044438e-02 -1.94223642e-02 2.97770806e+02] [ 7.70103825e-02 9.97030192e-01 -4.43089599e-04 3.76588981e+00] [ 1.93988034e-02 -1.05403357e-03 9.99811270e-01 3.48786447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.595099893 meters 0.025920577146033193 Centerline is valid? [True, True] Translation: X:297.80, Y:3.77, Z:3.49 [[ 9.96798672e-01 -7.75936334e-02 -1.92778361e-02 2.97802449e+02] [ 7.75996030e-02 9.96984508e-01 -4.39322148e-04 3.76745232e+00] [ 1.92537926e-02 -1.05803670e-03 9.99814069e-01 3.48842427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.625099893 meters 0.026243470836525933 Centerline is valid? [True, True] Translation: X:297.83, Y:3.77, Z:3.49 [[ 9.96770434e-01 -7.79106424e-02 -1.94585059e-02 2.97834149e+02] [ 7.79168008e-02 9.96959767e-01 -4.42607313e-04 3.76843125e+00] [ 1.94338313e-02 -1.07496664e-03 9.99810567e-01 3.48900020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.655099893 meters 0.02487177153710999 Centerline is valid? [True, True] Translation: X:297.87, Y:3.77, Z:3.49 [[ 9.96756268e-01 -7.78858449e-02 -2.02666443e-02 2.97866321e+02] [ 7.78925464e-02 9.96961654e-01 -4.59713587e-04 3.77365720e+00] [ 2.02408724e-02 -1.12039814e-03 9.99794505e-01 3.48985669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68509989300003 meters 0.02518877092736068 Centerline is valid? [True, True] Translation: X:297.90, Y:3.78, Z:3.49 [[ 9.96797116e-01 -7.74058707e-02 -2.00957651e-02 2.97897802e+02] [ 7.74123861e-02 9.96999055e-01 -4.54657261e-04 3.77573146e+00] [ 2.00706520e-02 -1.10246008e-03 9.99797956e-01 3.49054711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.715099893 meters 0.028388512306432225 Centerline is valid? [True, True] Translation: X:297.93, Y:3.77, Z:3.49 [[ 9.96854001e-01 -7.66415482e-02 -2.02033068e-02 2.97929274e+02] [ 7.66479948e-02 9.97058111e-01 -4.56211864e-04 3.77403873e+00] [ 2.01788357e-02 -1.09376633e-03 9.99795788e-01 3.49089295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74509989300003 meters 0.02778860316458837 Centerline is valid? [True, True] Translation: X:297.96, Y:3.78, Z:3.49 [[ 9.96949636e-01 -7.54223149e-02 -2.00723349e-02 2.97960301e+02] [ 7.54284478e-02 9.97151114e-01 -4.52452500e-04 3.77746048e+00] [ 2.00492762e-02 -1.06295271e-03 9.99798428e-01 3.49168621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.775099893 meters 0.025728159201992753 Centerline is valid? [True, True] Translation: X:297.99, Y:3.78, Z:3.49 [[ 9.97133170e-01 -7.28972693e-02 -2.02836989e-02 2.97990853e+02] [ 7.29030182e-02 9.97338930e-01 -4.56861769e-04 3.78493752e+00] [ 2.02630265e-02 -1.02319084e-03 9.99794160e-01 3.49302820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80509989300003 meters 0.02453742368437082 Centerline is valid? [True, True] Translation: X:298.02, Y:3.79, Z:3.49 [[ 9.97244336e-01 -7.14031639e-02 -2.01326140e-02 2.98022186e+02] [ 7.14085336e-02 9.97447049e-01 -4.52968842e-04 3.78920340e+00] [ 2.01135598e-02 -9.85919829e-04 9.99797216e-01 3.49363573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.835099893 meters 0.021631675910612786 Centerline is valid? [True, True] Translation: X:298.05, Y:3.80, Z:3.49 [[ 9.97436559e-01 -6.84771528e-02 -2.07651466e-02 2.98053579e+02] [ 6.84822516e-02 9.97652226e-01 -4.66288433e-04 3.79912784e+00] [ 2.07483249e-02 -9.56950866e-04 9.99784272e-01 3.49494058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86509989300004 meters 0.021118136635819344 Centerline is valid? [True, True] Translation: X:298.08, Y:3.80, Z:3.50 [[ 9.97547175e-01 -6.66549626e-02 -2.13717169e-02 2.98084887e+02] [ 6.66599684e-02 9.97775636e-01 -4.78883511e-04 3.80340956e+00] [ 2.13560984e-02 -9.46929083e-04 9.99771484e-01 3.49528550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.895099893 meters 0.020676619022216795 Centerline is valid? [True, True] Translation: X:298.12, Y:3.81, Z:3.50 [[ 9.97669844e-01 -6.46437652e-02 -2.18189366e-02 2.98116122e+02] [ 6.46485202e-02 9.97907977e-01 -4.88101371e-04 3.80748671e+00] [ 2.18048436e-02 -9.23597946e-04 9.99761820e-01 3.49571630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92509989300004 meters 0.019098893907343217 Centerline is valid? [True, True] Translation: X:298.15, Y:3.82, Z:3.50 [[ 9.97935951e-01 -6.02218339e-02 -2.22972893e-02 2.98146595e+02] [ 6.02257120e-02 9.98184660e-01 -4.98162426e-04 3.81633522e+00] [ 2.22868124e-02 -8.45735926e-04 9.99751260e-01 3.49636496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.955099893 meters 0.018959592768542796 Centerline is valid? [True, True] Translation: X:298.18, Y:3.82, Z:3.50 [[ 9.98077834e-01 -5.77830398e-02 -2.23999644e-02 2.98176541e+02] [ 5.77863635e-02 9.98328847e-01 -4.99420920e-04 3.81994289e+00] [ 2.23913887e-02 -7.95951534e-04 9.99748965e-01 3.49682707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.985099893 meters 0.018114780992134247 Centerline is valid? [True, True] Translation: X:298.21, Y:3.82, Z:3.50 [[ 9.98229941e-01 -5.50888973e-02 -2.24097744e-02 2.98207028e+02] [ 5.50915682e-02 9.98481182e-01 -4.98641124e-04 3.82462527e+00] [ 2.24032076e-02 -7.36831116e-04 9.99748745e-01 3.49712355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.015099893 meters 0.01609856709894567 Centerline is valid? [True, True] Translation: X:298.24, Y:3.83, Z:3.50 [[ 9.98473726e-01 -5.03180639e-02 -2.27664350e-02 2.98237807e+02] [ 5.03195856e-02 9.98733039e-01 -5.06388663e-04 3.83409145e+00] [ 2.27630713e-02 -6.39981801e-04 9.99740683e-01 3.49779757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.045099893 meters 0.01557783300357511 Centerline is valid? [True, True] Translation: X:298.27, Y:3.84, Z:3.50 [[ 9.98578785e-01 -4.81837056e-02 -2.27758575e-02 2.98268210e+02] [ 4.81846790e-02 9.98838315e-01 -5.06374135e-04 3.83846700e+00] [ 2.27737981e-02 -5.91792913e-04 9.99740468e-01 3.49822807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.075099893 meters 0.015128915651026474 Centerline is valid? [True, True] Translation: X:298.30, Y:3.84, Z:3.50 [[ 9.98660080e-01 -4.64866270e-02 -2.27384585e-02 2.98299086e+02] [ 4.64871618e-02 9.98918760e-01 -5.05355137e-04 3.84278573e+00] [ 2.27373651e-02 -5.52368400e-04 9.99741320e-01 3.49858352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.105099893 meters 0.01462278779005181 Centerline is valid? [True, True] Translation: X:298.33, Y:3.85, Z:3.50 [[ 9.98754909e-01 -4.40850203e-02 -2.33482965e-02 2.98329453e+02] [ 4.40849338e-02 9.99027652e-01 -5.18679204e-04 3.84930336e+00] [ 2.33484598e-02 -5.11274702e-04 9.99727257e-01 3.49888765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.135099893 meters 0.014336857403567715 Centerline is valid? [True, True] Translation: X:298.36, Y:3.85, Z:3.50 [[ 9.98778081e-01 -4.35529949e-02 -2.33555663e-02 2.98359395e+02] [ 4.35527536e-02 9.99050994e-01 -5.19242219e-04 3.85251350e+00] [ 2.33560163e-02 -4.98591479e-04 9.99727087e-01 3.49930228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.165099893 meters 0.014418495913950466 Centerline is valid? [True, True] Translation: X:298.39, Y:3.85, Z:3.50 [[ 9.98788629e-01 -4.33962770e-02 -2.31956400e-02 2.98388892e+02] [ 4.33959874e-02 9.99057817e-01 -5.16090236e-04 3.85454705e+00] [ 2.31961819e-02 -4.91132643e-04 9.99730812e-01 3.49992161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.195099893 meters 0.01455172950064977 Centerline is valid? [True, True] Translation: X:298.42, Y:3.86, Z:3.50 [[ 9.98793035e-01 -4.35000450e-02 -2.28083316e-02 2.98418253e+02] [ 4.34997846e-02 9.99053307e-01 -5.07798052e-04 3.85644585e+00] [ 2.28088283e-02 -4.84972353e-04 9.99739727e-01 3.50035768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.225099893 meters 0.015000742814160405 Centerline is valid? [True, True] Translation: X:298.45, Y:3.86, Z:3.50 [[ 9.98727712e-01 -4.50118947e-02 -2.27351288e-02 2.98448299e+02] [ 4.50120173e-02 9.98986317e-01 -5.06611359e-04 3.85976140e+00] [ 2.27348861e-02 -5.17387206e-04 9.99741395e-01 3.50118244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.255099893 meters 0.015126663293126194 Centerline is valid? [True, True] Translation: X:298.48, Y:3.86, Z:3.50 [[ 9.98672989e-01 -4.60160937e-02 -2.31252996e-02 2.98478549e+02] [ 4.60164897e-02 9.98940547e-01 -5.15305613e-04 3.86174267e+00] [ 2.31245118e-02 -5.49523314e-04 9.99732442e-01 3.50185852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.285099893 meters 0.01495389430820599 Centerline is valid? [True, True] Translation: X:298.51, Y:3.86, Z:3.50 [[ 9.98611589e-01 -4.73121191e-02 -2.31615569e-02 2.98509385e+02] [ 4.73128692e-02 9.98879986e-01 -5.15914939e-04 3.86419562e+00] [ 2.31600247e-02 -5.80641075e-04 9.99731602e-01 3.50271605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.315099893 meters 0.017966168091011776 Centerline is valid? [True, True] Translation: X:298.54, Y:3.86, Z:3.50 [[ 9.98458834e-01 -5.02896981e-02 -2.34713275e-02 2.98539846e+02] [ 5.02913005e-02 9.98734455e-01 -5.22381987e-04 3.86143126e+00] [ 2.34678939e-02 -6.58826673e-04 9.99724374e-01 3.50116473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.345099893 meters 0.01639655128172357 Centerline is valid? [True, True] Translation: X:298.57, Y:3.87, Z:3.50 [[ 9.98369792e-01 -5.19176485e-02 -2.37131914e-02 2.98570759e+02] [ 5.19197581e-02 9.98651121e-01 -5.27124621e-04 3.86590672e+00] [ 2.37085722e-02 -7.04917863e-04 9.99718664e-01 3.50285054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.375099893 meters 0.017453103681190484 Centerline is valid? [True, True] Translation: X:298.60, Y:3.87, Z:3.50 [[ 9.98216011e-01 -5.46719952e-02 -2.39951627e-02 2.98601354e+02] [ 5.46749659e-02 9.98504063e-01 -5.32728057e-04 3.86711986e+00] [ 2.39883928e-02 -7.80157030e-04 9.99711933e-01 3.50279078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.405099893 meters 0.017453103681190484 Centerline is valid? [True, True] Translation: X:298.63, Y:3.87, Z:3.50 [[ 9.98217979e-01 -5.46360578e-02 -2.39951770e-02 2.98632208e+02] [ 5.46390336e-02 9.98506030e-01 -5.32086395e-04 3.86777588e+00] [ 2.39884000e-02 -7.79935076e-04 9.99711933e-01 3.50317238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43509989300003 meters 0.019789723026727324 Centerline is valid? [True, True] Translation: X:298.66, Y:3.87, Z:3.50 [[ 9.98100967e-01 -5.68453647e-02 -2.37289908e-02 2.98662123e+02] [ 5.68489087e-02 9.98382655e-01 -5.25743550e-04 3.86671137e+00] [ 2.37204989e-02 -8.24222086e-04 9.99718290e-01 3.50257832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.465099893 meters 0.019462745928590586 Centerline is valid? [True, True] Translation: X:298.69, Y:3.87, Z:3.50 [[ 9.98061776e-01 -5.77043178e-02 -2.33002701e-02 2.98692892e+02] [ 5.77079730e-02 9.98333373e-01 -5.16053032e-04 3.86879941e+00] [ 2.32912157e-02 -8.29558552e-04 9.99728379e-01 3.50326528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49509989300003 meters 0.019080611763971123 Centerline is valid? [True, True] Translation: X:298.72, Y:3.87, Z:3.50 [[ 9.98030708e-01 -5.86519717e-02 -2.22407742e-02 2.98724559e+02] [ 5.86555657e-02 9.98278159e-01 -4.91285579e-04 3.87089456e+00] [ 2.22312940e-02 -8.14227096e-04 9.99752523e-01 3.50383337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.525099893 meters 0.01925124389121422 Centerline is valid? [True, True] Translation: X:298.76, Y:3.87, Z:3.50 [[ 9.97982812e-01 -5.95072426e-02 -2.21177456e-02 2.98756742e+02] [ 5.95110523e-02 9.98227528e-01 -4.86504103e-04 3.87214565e+00] [ 2.21074930e-02 -8.30727581e-04 9.99755254e-01 3.50420423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55509989300003 meters 0.019191564425220613 Centerline is valid? [True, True] Translation: X:298.79, Y:3.87, Z:3.51 [[ 9.97891968e-01 -6.15293104e-02 -2.06340687e-02 2.98789204e+02] [ 6.15330869e-02 9.98104942e-01 -4.52436015e-04 3.87443392e+00] [ 2.06228040e-02 -8.18195677e-04 9.99786993e-01 3.50503236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.585099893 meters 0.019728470428344053 Centerline is valid? [True, True] Translation: X:298.82, Y:3.88, Z:3.51 [[ 9.97828293e-01 -6.27934667e-02 -1.98916830e-02 2.98821316e+02] [ 6.27972552e-02 9.98026210e-01 -4.34738712e-04 3.87502991e+00] [ 1.98797198e-02 -8.15348507e-04 9.99802046e-01 3.50553839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61509989300004 meters 0.02123335294044752 Centerline is valid? [True, True] Translation: X:298.85, Y:3.87, Z:3.51 [[ 9.97636478e-01 -6.58604598e-02 -1.95923064e-02 2.98851066e+02] [ 6.58647426e-02 9.97828469e-01 -4.27308067e-04 3.87463215e+00] [ 1.95779038e-02 -8.64144104e-04 9.99807961e-01 3.50561715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.645099893 meters 0.021805107092191085 Centerline is valid? [True, True] Translation: X:298.88, Y:3.87, Z:3.51 [[ 9.97529936e-01 -6.74452754e-02 -1.96255315e-02 2.98882652e+02] [ 6.74498865e-02 9.97722572e-01 -4.27638700e-04 3.87487395e+00] [ 1.96096780e-02 -8.97157467e-04 9.99807309e-01 3.50576855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67509989300004 meters 0.0216419834898627 Centerline is valid? [True, True] Translation: X:298.91, Y:3.88, Z:3.51 [[ 9.97420574e-01 -6.90681303e-02 -1.95394745e-02 2.98914541e+02] [ 6.90730351e-02 9.97611515e-01 -4.24569228e-04 3.87631746e+00] [ 1.95221290e-02 -9.26176727e-04 9.99808996e-01 3.50612565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.705099893 meters 0.023059225944490738 Centerline is valid? [True, True] Translation: X:298.95, Y:3.88, Z:3.51 [[ 9.97319602e-01 -7.05483641e-02 -1.94046387e-02 2.98945915e+02] [ 7.05535058e-02 9.97507908e-01 -4.20353226e-04 3.87533516e+00] [ 1.93859358e-02 -9.49838776e-04 9.99811624e-01 3.50602533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.735099893 meters 0.02449904405646979 Centerline is valid? [True, True] Translation: X:298.98, Y:3.87, Z:3.51 [[ 9.97127489e-01 -7.31300522e-02 -1.97171551e-02 2.98976953e+02] [ 7.31358803e-02 9.97321895e-01 -4.26304055e-04 3.87491769e+00] [ 1.96955261e-02 -1.01695200e-03 9.99805507e-01 3.50591187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.765099893 meters 0.026013425030934328 Centerline is valid? [True, True] Translation: X:299.01, Y:3.87, Z:3.51 [[ 9.97056743e-01 -7.40749582e-02 -1.97674509e-02 2.99008018e+02] [ 7.40810134e-02 9.97252135e-01 -4.26773643e-04 3.87392842e+00] [ 1.97447459e-02 -1.03887526e-03 9.99804514e-01 3.50567089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.795099893 meters 0.025329173148615533 Centerline is valid? [True, True] Translation: X:299.04, Y:3.88, Z:3.51 [[ 9.97004192e-01 -7.47246723e-02 -1.99715983e-02 2.99040335e+02] [ 7.47310076e-02 9.97203636e-01 -4.29967985e-04 3.87608205e+00] [ 1.99478796e-02 -1.06381778e-03 9.99800455e-01 3.50617615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.825099893 meters 0.025076391420174624 Centerline is valid? [True, True] Translation: X:299.07, Y:3.88, Z:3.51 [[ 9.96975540e-01 -7.49448505e-02 -2.05679725e-02 2.99072096e+02] [ 7.49516475e-02 9.97187072e-01 -4.41304259e-04 3.87835381e+00] [ 2.05431897e-02 -1.10163387e-03 9.99788359e-01 3.50609705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.855099893 meters 0.023701594675455337 Centerline is valid? [True, True] Translation: X:299.10, Y:3.88, Z:3.51 [[ 9.96989205e-01 -7.45784778e-02 -2.12267530e-02 2.99103744e+02] [ 7.45856679e-02 9.97214507e-01 -4.53869640e-04 3.88183902e+00] [ 2.12014749e-02 -1.13070842e-03 9.99774584e-01 3.50636845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.885099893 meters 0.023863931919257377 Centerline is valid? [True, True] Translation: X:299.13, Y:3.88, Z:3.51 [[ 9.97221185e-01 -7.13897780e-02 -2.12933757e-02 2.99133084e+02] [ 7.13963042e-02 9.97447924e-01 -4.54546099e-04 3.88414044e+00] [ 2.12714833e-02 -1.06698533e-03 9.99773167e-01 3.50675153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.915099893 meters 0.022074602544251462 Centerline is valid? [True, True] Translation: X:299.16, Y:3.89, Z:3.51 [[ 9.97385950e-01 -6.91580692e-02 -2.09386631e-02 2.99164239e+02] [ 6.91638910e-02 9.97605211e-01 -4.46880359e-04 3.88862213e+00] [ 2.09194248e-02 -1.00248722e-03 9.99780662e-01 3.50803717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.945099893 meters 0.021794920637730097 Centerline is valid? [True, True] Translation: X:299.19, Y:3.89, Z:3.51 [[ 9.97609617e-01 -6.62219599e-02 -1.97409152e-02 2.99194527e+02] [ 6.62265718e-02 9.97804522e-01 -4.20755961e-04 3.89094527e+00] [ 1.97254377e-02 -8.87622943e-04 9.99805041e-01 3.50899998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.975099893 meters 0.020417165585583933 Centerline is valid? [True, True] Translation: X:299.23, Y:3.90, Z:3.51 [[ 9.97841980e-01 -6.28192141e-02 -1.91083360e-02 2.99225772e+02] [ 6.28229210e-02 9.98024606e-01 -4.06809662e-04 3.89507698e+00] [ 1.90961450e-02 -7.94509727e-04 9.99817336e-01 3.51055994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.005099893 meters 0.01899591784273396 Centerline is valid? [True, True] Translation: X:299.26, Y:3.90, Z:3.51 [[ 9.98096453e-01 -5.89516292e-02 -1.81156483e-02 2.99257531e+02] [ 5.89543381e-02 9.98260606e-01 -3.84937214e-04 3.89945302e+00] [ 1.81068307e-02 -6.83791587e-04 9.99835824e-01 3.51210562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.035099893 meters 0.01602634266754369 Centerline is valid? [True, True] Translation: X:299.29, Y:3.91, Z:3.51 [[ 9.98558268e-01 -5.09173584e-02 -1.69943567e-02 2.99287880e+02] [ 5.09185905e-02 9.98702742e-01 -3.60463828e-04 3.90850547e+00] [ 1.69906645e-02 -5.05384555e-04 9.99855521e-01 3.51380249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.065099893 meters 0.015683247631501782 Centerline is valid? [True, True] Translation: X:299.32, Y:3.91, Z:3.51 [[ 9.98740476e-01 -4.70958007e-02 -1.73045615e-02 2.99318516e+02] [ 4.70965089e-02 9.98890276e-01 -3.66819229e-04 3.91124090e+00] [ 1.73026338e-02 -4.48627223e-04 9.99850198e-01 3.51401739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.095099893 meters 0.014118140339974432 Centerline is valid? [True, True] Translation: X:299.35, Y:3.92, Z:3.51 [[ 9.98921193e-01 -4.31804137e-02 -1.70851513e-02 2.99350003e+02] [ 4.31805422e-02 9.99067220e-01 -3.61548563e-04 3.91606250e+00] [ 1.70848264e-02 -3.76587574e-04 9.99853973e-01 3.51440771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.125099893 meters 0.013607483127723006 Centerline is valid? [True, True] Translation: X:299.38, Y:3.92, Z:3.51 [[ 9.99061686e-01 -3.97281803e-02 -1.72458642e-02 2.99381071e+02] [ 3.97278096e-02 9.99210473e-01 -3.64221769e-04 3.91882901e+00] [ 1.72467179e-02 -3.21260394e-04 9.99851213e-01 3.51428412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.155099893 meters 0.013089826967766475 Centerline is valid? [True, True] Translation: X:299.41, Y:3.92, Z:3.51 [[ 9.99172571e-01 -3.66628667e-02 -1.76070318e-02 2.99412063e+02] [ 3.66620201e-02 9.99327653e-01 -3.70969692e-04 3.92181877e+00] [ 1.76087946e-02 -2.74846615e-04 9.99844915e-01 3.51426912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18509989300003 meters 0.012348261730597897 Centerline is valid? [True, True] Translation: X:299.44, Y:3.93, Z:3.51 [[ 9.99357458e-01 -3.11580211e-02 -1.77157667e-02 2.99441994e+02] [ 3.11563087e-02 9.99514455e-01 -3.72715862e-04 3.92587279e+00] [ 1.77187779e-02 -1.79481519e-04 9.99842994e-01 3.51430894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.215099893 meters 0.012115396227172769 Centerline is valid? [True, True] Translation: X:299.47, Y:3.93, Z:3.51 [[ 9.99440042e-01 -2.87688900e-02 -1.70866391e-02 2.99473063e+02] [ 2.87669545e-02 9.99586081e-01 -3.59098159e-04 3.92817630e+00] [ 1.70898975e-02 -1.32633490e-04 9.99853948e-01 3.51472066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24509989300003 meters 0.011978191148877342 Centerline is valid? [True, True] Translation: X:299.50, Y:3.93, Z:3.52 [[ 9.99490355e-01 -2.67754561e-02 -1.73811675e-02 2.99503324e+02] [ 2.67731651e-02 9.99641468e-01 -3.64534152e-04 3.93014890e+00] [ 1.73846964e-02 -1.01000498e-04 9.99848870e-01 3.51522784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.275099893 meters 0.011830767821047077 Centerline is valid? [True, True] Translation: X:299.53, Y:3.93, Z:3.52 [[ 9.99526112e-01 -2.50407855e-02 -1.79027840e-02 2.99534082e+02] [ 2.50380906e-02 9.99686428e-01 -3.74697544e-04 3.93223179e+00] [ 1.79065529e-02 -7.37315481e-05 9.99839662e-01 3.51509380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30509989300003 meters 0.011884560764080163 Centerline is valid? [True, True] Translation: X:299.56, Y:3.93, Z:3.51 [[ 9.99553141e-01 -2.28107751e-02 -1.93180315e-02 2.99563567e+02] [ 2.28072158e-02 9.99739800e-01 -4.04567128e-04 3.93397363e+00] [ 1.93222334e-02 -3.62041702e-05 9.99813308e-01 3.51411844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.335099893 meters 0.011884560764080163 Centerline is valid? [True, True] Translation: X:299.59, Y:3.93, Z:3.51 [[ 9.99547380e-01 -2.30618766e-02 -1.93179853e-02 2.99591799e+02] [ 2.30583220e-02 9.99734039e-01 -4.06756775e-04 3.93459577e+00] [ 1.93222281e-02 -3.88676564e-05 9.99813308e-01 3.51446781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36509989300004 meters 0.011973357156652993 Centerline is valid? [True, True] Translation: X:299.62, Y:3.94, Z:3.51 [[ 9.99538246e-01 -2.30945453e-02 -1.97468061e-02 2.99620743e+02] [ 2.30907381e-02 9.99733285e-01 -4.20819297e-04 3.93516726e+00] [ 1.97512580e-02 -3.53433455e-05 9.99804924e-01 3.51450454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.395099893 meters 0.012016267675203255 Centerline is valid? [True, True] Translation: X:299.65, Y:3.94, Z:3.51 [[ 9.99539681e-01 -2.32249381e-02 -1.95199364e-02 2.99648055e+02] [ 2.32211702e-02 9.99730264e-01 -4.19694512e-04 3.93551952e+00] [ 1.95244185e-02 -3.37744455e-05 9.99809380e-01 3.51463113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42509989300004 meters 0.012056233459757683 Centerline is valid? [True, True] Translation: X:299.68, Y:3.93, Z:3.52 [[ 9.99511915e-01 -2.50843127e-02 -1.86201075e-02 2.99675572e+02] [ 2.50811771e-02 9.99685337e-01 -4.01939807e-04 3.93401516e+00] [ 1.86243308e-02 -6.52705883e-05 9.99826550e-01 3.51544959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.455099893 meters 0.012137180070461055 Centerline is valid? [True, True] Translation: X:299.71, Y:3.93, Z:3.52 [[ 9.99476089e-01 -2.64479302e-02 -1.86561981e-02 2.99705450e+02] [ 2.64449958e-02 9.99650188e-01 -4.04016378e-04 3.93308281e+00] [ 1.86603574e-02 -8.95583715e-05 9.99825876e-01 3.51594410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.485099893 meters 0.012301950916453726 Centerline is valid? [True, True] Translation: X:299.74, Y:3.93, Z:3.52 [[ 9.99428100e-01 -2.83306226e-02 -1.84620801e-02 2.99735100e+02] [ 2.83280583e-02 9.99598600e-01 -4.00455167e-04 3.93204717e+00] [ 1.84660145e-02 -1.22768732e-04 9.99829481e-01 3.51652530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.515099893 meters 0.01272568644936281 Centerline is valid? [True, True] Translation: X:299.76, Y:3.93, Z:3.52 [[ 9.99307149e-01 -3.26891200e-02 -1.77944770e-02 2.99764648e+02] [ 3.26874176e-02 9.99465549e-01 -3.86589219e-04 3.92871216e+00] [ 1.77976040e-02 -1.95334129e-04 9.99841591e-01 3.51713413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.545099893 meters 0.013267631182689818 Centerline is valid? [True, True] Translation: X:299.80, Y:3.93, Z:3.52 [[ 9.99223891e-01 -3.50902164e-02 -1.78967250e-02 2.99795369e+02] [ 3.50888733e-02 9.99384120e-01 -3.89154633e-04 3.92625096e+00] [ 1.78993583e-02 -2.39123308e-04 9.99839765e-01 3.51747847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.575099893 meters 0.01402568269569699 Centerline is valid? [True, True] Translation: X:299.83, Y:3.92, Z:3.52 [[ 9.99132180e-01 -3.77797293e-02 -1.75379311e-02 2.99825260e+02] [ 3.77788653e-02 9.99286051e-01 -3.80690611e-04 3.92350264e+00] [ 1.75397923e-02 -2.82202897e-04 9.99846126e-01 3.51773836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.605099893 meters 0.01442325549905445 Centerline is valid? [True, True] Translation: X:299.86, Y:3.92, Z:3.52 [[ 9.99033271e-01 -4.07246322e-02 -1.65538048e-02 2.99856445e+02] [ 4.07242856e-02 9.99170358e-01 -3.58169360e-04 3.92174152e+00] [ 1.65546574e-02 -3.16318769e-04 9.99862912e-01 3.51872580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.635099893 meters 0.01608996242437068 Centerline is valid? [True, True] Translation: X:299.89, Y:3.92, Z:3.52 [[ 9.98908518e-01 -4.37085497e-02 -1.64722351e-02 2.99887170e+02] [ 4.37086216e-02 9.99044258e-01 -3.55826177e-04 3.91713169e+00] [ 1.64720445e-02 -3.64540890e-04 9.99864260e-01 3.51907225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.665099893 meters 0.017159760758613758 Centerline is valid? [True, True] Translation: X:299.92, Y:3.91, Z:3.52 [[ 9.98612509e-01 -4.99561883e-02 -1.66564391e-02 2.99918801e+02] [ 4.99571398e-02 9.98751298e-01 -3.59214393e-04 3.91269789e+00] [ 1.66535851e-02 -4.73392070e-04 9.99861207e-01 3.51912964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.695099893 meters 0.018410497447651337 Centerline is valid? [True, True] Translation: X:299.95, Y:3.91, Z:3.52 [[ 9.98432673e-01 -5.31547860e-02 -1.75147389e-02 2.99951252e+02] [ 5.31563440e-02 9.98586131e-01 -3.76909284e-04 3.90963642e+00] [ 1.75100098e-02 -5.54700940e-04 9.99846534e-01 3.51880757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.725099893 meters 0.01967528180159129 Centerline is valid? [True, True] Translation: X:299.98, Y:3.91, Z:3.52 [[ 9.98082370e-01 -5.92434233e-02 -1.79387896e-02 2.99981887e+02] [ 5.92460572e-02 9.98243335e-01 -3.85049132e-04 3.90563303e+00] [ 1.79300888e-02 -6.78491807e-04 9.99839013e-01 3.51842144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.755099893 meters 0.021023482538233947 Centerline is valid? [True, True] Translation: X:300.01, Y:3.90, Z:3.52 [[ 9.97913017e-01 -6.20889420e-02 -1.77362532e-02 3.00013588e+02] [ 6.20919743e-02 9.98070359e-01 -3.80198045e-04 3.90317302e+00] [ 1.77256347e-02 -7.21874403e-04 9.99842628e-01 3.51859639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.785099893 meters 0.02125050083884329 Centerline is valid? [True, True] Translation: X:300.05, Y:3.90, Z:3.52 [[ 9.97767787e-01 -6.44459703e-02 -1.74974589e-02 3.00045279e+02] [ 6.44492994e-02 9.97920913e-01 -3.74152675e-04 3.90242969e+00] [ 1.74851928e-02 -7.54381482e-04 9.99846838e-01 3.51923737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.815099893 meters 0.025798609860159593 Centerline is valid? [True, True] Translation: X:300.08, Y:3.90, Z:3.52 [[ 9.97623545e-01 -6.65827314e-02 -1.77200870e-02 3.00076864e+02] [ 6.65865039e-02 9.97780585e-01 -3.77679561e-04 3.89573210e+00] [ 1.77059057e-02 -8.03136620e-04 9.99842916e-01 3.51911664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.845099893 meters 0.023243329147181767 Centerline is valid? [True, True] Translation: X:300.11, Y:3.90, Z:3.52 [[ 9.97338984e-01 -7.04281246e-02 -1.88369346e-02 3.00108096e+02] [ 7.04331020e-02 9.97516425e-01 -3.99887308e-04 3.89940477e+00] [ 1.88183150e-02 -9.27920536e-04 9.99822489e-01 3.51966206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.875099893 meters 0.022034794347564744 Centerline is valid? [True, True] Translation: X:300.14, Y:3.90, Z:3.52 [[ 9.97242381e-01 -7.18006666e-02 -1.87695974e-02 3.00140241e+02] [ 7.18058682e-02 9.97418548e-01 -3.97536824e-04 3.90155015e+00] [ 1.87496880e-02 -9.51326671e-04 9.99823757e-01 3.52007214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.905099893 meters 0.023579918400827023 Centerline is valid? [True, True] Translation: X:300.17, Y:3.90, Z:3.52 [[ 9.97120615e-01 -7.33438338e-02 -1.92655647e-02 3.00171818e+02] [ 7.33496269e-02 9.97306205e-01 -4.06713014e-04 3.90022086e+00] [ 1.92434971e-02 -1.00758005e-03 9.99814319e-01 3.52022207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93509989300003 meters 0.0267075204283675 Centerline is valid? [True, True] Translation: X:300.20, Y:3.90, Z:3.52 [[ 9.97041727e-01 -7.45131264e-02 -1.88570443e-02 3.00202515e+02] [ 7.45189130e-02 9.97219522e-01 -3.96592465e-04 3.89672678e+00] [ 1.88341640e-02 -1.00978721e-03 9.99822111e-01 3.52030817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.965099893 meters 0.027314581255374785 Centerline is valid? [True, True] Translation: X:300.23, Y:3.90, Z:3.52 [[ 9.96848189e-01 -7.71810213e-02 -1.83514913e-02 3.00233804e+02] [ 7.71869842e-02 9.97016560e-01 -3.84219692e-04 3.89701378e+00] [ 1.83263952e-02 -1.03348756e-03 9.99831523e-01 3.52111585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99509989300003 meters 0.025544261256314447 Centerline is valid? [True, True] Translation: X:300.27, Y:3.90, Z:3.52 [[ 9.96762618e-01 -7.83164404e-02 -1.81884363e-02 3.00265585e+02] [ 7.83225018e-02 9.96928002e-01 -3.79944114e-04 3.90016045e+00] [ 1.81623173e-02 -1.04584974e-03 9.99834505e-01 3.52176942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.025099893 meters 0.0272746972020861 Centerline is valid? [True, True] Translation: X:300.30, Y:3.90, Z:3.52 [[ 9.96685647e-01 -7.93862870e-02 -1.77634013e-02 3.00297115e+02] [ 7.93922586e-02 9.96843384e-01 -3.69884852e-04 3.89872810e+00] [ 1.77366929e-02 -1.04161763e-03 9.99842150e-01 3.52184492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05509989300003 meters 0.02773094656508792 Centerline is valid? [True, True] Translation: X:300.33, Y:3.90, Z:3.52 [[ 9.96577862e-01 -8.06462470e-02 -1.81314019e-02 3.00329609e+02] [ 8.06526964e-02 9.96742194e-01 -3.76441747e-04 3.89916910e+00] [ 1.81026920e-02 -1.08719295e-03 9.99835542e-01 3.52184025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.085099893 meters 0.02673235770564797 Centerline is valid? [True, True] Translation: X:300.36, Y:3.90, Z:3.52 [[ 9.96484379e-01 -8.17829214e-02 -1.81779052e-02 3.00361699e+02] [ 8.17896164e-02 9.96649546e-01 -3.76083377e-04 3.90170768e+00] [ 1.81477581e-02 -1.11200268e-03 9.99834697e-01 3.52222095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11509989300004 meters 0.027709676741345564 Centerline is valid? [True, True] Translation: X:300.39, Y:3.90, Z:3.52 [[ 9.96301291e-01 -8.37225302e-02 -1.93461963e-02 3.00393137e+02] [ 8.37305016e-02 9.96488356e-01 -3.99028458e-04 3.90228302e+00] [ 1.93116671e-02 -1.22231415e-03 9.99812765e-01 3.52208779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.145099893 meters 0.02964905034889495 Centerline is valid? [True, True] Translation: X:300.42, Y:3.90, Z:3.52 [[ 9.96248475e-01 -8.42945234e-02 -1.95808278e-02 3.00424170e+02] [ 8.43028161e-02 9.96440100e-01 -4.03014526e-04 3.90058511e+00] [ 1.95450939e-02 -1.24921632e-03 9.99808196e-01 3.52156784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17509989300004 meters 0.029808523902684896 Centerline is valid? [True, True] Translation: X:300.46, Y:3.90, Z:3.52 [[ 9.96133465e-01 -8.56870204e-02 -1.93869883e-02 3.00456060e+02] [ 8.56954351e-02 9.96321301e-01 -3.97846225e-04 3.90179766e+00] [ 1.93497596e-02 -1.26506846e-03 9.99811976e-01 3.52145931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.205099893 meters 0.029529712659131888 Centerline is valid? [True, True] Translation: X:300.49, Y:3.90, Z:3.52 [[ 9.96066430e-01 -8.65226330e-02 -1.91180581e-02 3.00487659e+02] [ 8.65309928e-02 9.96249082e-01 -3.91074009e-04 3.90343037e+00] [ 1.90801846e-02 -1.26476885e-03 9.99817157e-01 3.52227660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.235099893 meters 0.029799223965582062 Centerline is valid? [True, True] Translation: X:300.52, Y:3.90, Z:3.52 [[ 9.96038389e-01 -8.68877938e-02 -1.89219250e-02 3.00519963e+02] [ 8.68960702e-02 9.96217308e-01 -3.85913153e-04 3.90442779e+00] [ 1.88838803e-02 -1.25985661e-03 9.99820890e-01 3.52273706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.265099893 meters 0.030286214673769834 Centerline is valid? [True, True] Translation: X:300.55, Y:3.91, Z:3.52 [[ 9.96043969e-01 -8.68159461e-02 -1.89579130e-02 3.00552518e+02] [ 8.68242795e-02 9.96223568e-01 -3.84616960e-04 3.90523258e+00] [ 1.89197106e-02 -1.26291173e-03 9.99820209e-01 3.52316618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.295099893 meters 0.029011345617677268 Centerline is valid? [True, True] Translation: X:300.58, Y:3.91, Z:3.52 [[ 9.96103668e-01 -8.62702877e-02 -1.83008240e-02 3.00584969e+02] [ 8.62780069e-02 9.96271032e-01 -3.68808674e-04 3.90976886e+00] [ 1.82643980e-02 -1.21158694e-03 9.99832458e-01 3.52414692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.325099893 meters 0.029374675582063418 Centerline is valid? [True, True] Translation: X:300.62, Y:3.91, Z:3.52 [[ 9.96241317e-01 -8.47651910e-02 -1.78353650e-02 3.00616901e+02] [ 8.47723032e-02 9.96400285e-01 -3.58242741e-04 3.91293201e+00] [ 1.78015293e-02 -1.15504875e-03 9.99840873e-01 3.52432772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.355099893 meters 0.029374675582063418 Centerline is valid? [True, True] Translation: X:300.65, Y:3.91, Z:3.52 [[ 9.96250626e-01 -8.46557106e-02 -1.78353906e-02 3.00649499e+02] [ 8.46628282e-02 9.96409594e-01 -3.56964686e-04 3.91349762e+00] [ 1.78015734e-02 -1.15436832e-03 9.99840873e-01 3.52473074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.385099893 meters 0.029136678945199376 Centerline is valid? [True, True] Translation: X:300.68, Y:3.92, Z:3.53 [[ 9.96349925e-01 -8.35213860e-02 -1.76353424e-02 3.00681744e+02] [ 8.35281983e-02 9.96505352e-01 -3.51233413e-04 3.91583842e+00] [ 1.76030486e-02 -1.12309699e-03 9.99844424e-01 3.52545774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.415099893 meters 0.030239600306981546 Centerline is valid? [True, True] Translation: X:300.71, Y:3.92, Z:3.53 [[ 9.96544957e-01 -8.12684037e-02 -1.71346169e-02 3.00712757e+02] [ 8.12745206e-02 9.96691696e-01 -3.40214237e-04 3.91770186e+00] [ 1.71055791e-02 -1.05356899e-03 9.99853134e-01 3.52522269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.445099893 meters 0.02898531907529531 Centerline is valid? [True, True] Translation: X:300.74, Y:3.92, Z:3.53 [[ 9.96651161e-01 -8.00418285e-02 -1.67263017e-02 3.00744918e+02] [ 8.00474977e-02 9.96790995e-01 -3.31359352e-04 3.92121909e+00] [ 1.66991495e-02 -1.00864891e-03 9.99860051e-01 3.52537385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.475099893 meters 0.02995231311751542 Centerline is valid? [True, True] Translation: X:300.78, Y:3.92, Z:3.53 [[ 9.96753507e-01 -7.87463750e-02 -1.67765876e-02 3.00776141e+02] [ 7.87519208e-02 9.96894190e-01 -3.30844708e-04 3.92184324e+00] [ 1.67505356e-02 -9.91417877e-04 9.99859208e-01 3.52579119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.505099893 meters 0.030094011212007377 Centerline is valid? [True, True] Translation: X:300.81, Y:3.92, Z:3.53 [[ 9.96853140e-01 -7.76552498e-02 -1.59210118e-02 3.00808382e+02] [ 7.76601359e-02 9.96979842e-01 -3.12060299e-04 3.92385643e+00] [ 1.58971609e-02 -9.25349649e-04 9.99873204e-01 3.52639854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.535099893 meters 0.02774592377640068 Centerline is valid? [True, True] Translation: X:300.84, Y:3.93, Z:3.53 [[ 9.96939053e-01 -7.66626676e-02 -1.53414676e-02 3.00840267e+02] [ 7.66671033e-02 9.97056701e-01 -2.99656518e-04 3.92921908e+00] [ 1.53192856e-02 -8.77446597e-04 9.99882268e-01 3.52735732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.565099893 meters 0.02956586838936085 Centerline is valid? [True, True] Translation: X:300.87, Y:3.93, Z:3.53 [[ 9.97103552e-01 -7.45967740e-02 -1.48265705e-02 3.00870294e+02] [ 7.46007025e-02 9.97213443e-01 -2.88700461e-04 3.93015291e+00] [ 1.48067915e-02 -8.18208318e-04 9.99890039e-01 3.52790175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.595099893 meters 0.029130241596561322 Centerline is valid? [True, True] Translation: X:300.90, Y:3.93, Z:3.53 [[ 9.97162404e-01 -7.37706095e-02 -1.50012439e-02 3.00902431e+02] [ 7.37745440e-02 9.97274903e-01 -2.91695311e-04 3.93254500e+00] [ 1.49818825e-02 -8.15842327e-04 9.99887432e-01 3.52809791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.625099893 meters 0.02967867013280516 Centerline is valid? [True, True] Translation: X:300.93, Y:3.93, Z:3.53 [[ 9.97250856e-01 -7.25613638e-02 -1.50192470e-02 3.00933228e+02] [ 7.25651858e-02 9.97363629e-01 -2.91054304e-04 3.93331616e+00] [ 1.50007700e-02 -7.99620296e-04 9.99887162e-01 3.52788226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.655099893 meters 0.023837031447203096 Centerline is valid? [True, True] Translation: X:300.97, Y:3.94, Z:3.53 [[ 9.97351628e-01 -7.09615091e-02 -1.59434693e-02 3.00965118e+02] [ 7.09656272e-02 9.97478714e-01 -3.08026515e-04 3.94340991e+00] [ 1.59251293e-02 -8.24227554e-04 9.99872847e-01 3.52777816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68509989300003 meters 0.024437307809170118 Centerline is valid? [True, True] Translation: X:301.00, Y:3.94, Z:3.53 [[ 9.97410709e-01 -7.01546796e-02 -1.58176708e-02 3.00996835e+02] [ 7.01586499e-02 9.97535799e-01 -3.04446003e-04 3.94397215e+00] [ 1.58000512e-02 -8.06088726e-04 9.99874846e-01 3.52818608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.715099893 meters 0.023304200824675752 Centerline is valid? [True, True] Translation: X:301.03, Y:3.95, Z:3.53 [[ 9.97528650e-01 -6.83403585e-02 -1.63152541e-02 3.01029503e+02] [ 6.83443614e-02 9.97661742e-01 -3.12741846e-04 3.94807956e+00] [ 1.62984777e-02 -8.03086673e-04 9.99866848e-01 3.52892472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74509989300003 meters 0.02610266026446244 Centerline is valid? [True, True] Translation: X:301.06, Y:3.95, Z:3.53 [[ 9.97609561e-01 -6.71272647e-02 -1.64040618e-02 3.01060376e+02] [ 6.71311697e-02 9.97744109e-01 -3.13105187e-04 3.94524465e+00] [ 1.63880739e-02 -7.88867129e-04 9.99865395e-01 3.52861138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.775099893 meters 0.02358969302832349 Centerline is valid? [True, True] Translation: X:301.09, Y:3.95, Z:3.53 [[ 9.97701479e-01 -6.56922684e-02 -1.66218345e-02 3.01092994e+02] [ 6.56960967e-02 9.97839628e-01 -3.16203520e-04 3.95002256e+00] [ 1.66066973e-02 -7.76512925e-04 9.99861798e-01 3.52945967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80509989300003 meters 0.023112423418156013 Centerline is valid? [True, True] Translation: X:301.12, Y:3.95, Z:3.53 [[ 9.97794871e-01 -6.42916731e-02 -1.64916813e-02 3.01124813e+02] [ 6.42952736e-02 9.97930869e-01 -3.12340226e-04 3.95224804e+00] [ 1.64776388e-02 -7.48685688e-04 9.99863954e-01 3.53045610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.835099893 meters 0.023129332227936512 Centerline is valid? [True, True] Translation: X:301.16, Y:3.95, Z:3.53 [[ 9.97878681e-01 -6.31083759e-02 -1.59834571e-02 3.01157469e+02] [ 6.31116251e-02 9.98006429e-01 -3.01539433e-04 3.95350966e+00] [ 1.59706226e-02 -7.07842184e-04 9.99872211e-01 3.53120011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86509989300004 meters 0.02275517307621785 Centerline is valid? [True, True] Translation: X:301.19, Y:3.95, Z:3.53 [[ 9.97942384e-01 -6.19737887e-02 -1.64392426e-02 3.01190022e+02] [ 6.19770954e-02 9.98077524e-01 -3.08724662e-04 3.95479920e+00] [ 1.64267714e-02 -7.10767085e-04 9.99864819e-01 3.53185449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.895099893 meters 0.0221752839616455 Centerline is valid? [True, True] Translation: X:301.22, Y:3.96, Z:3.53 [[ 9.98055856e-01 -6.02455167e-02 -1.59682636e-02 3.01222300e+02] [ 6.02484335e-02 9.98183368e-01 -2.98775682e-04 3.95648361e+00] [ 1.59572550e-02 -6.63868048e-04 9.99872455e-01 3.53253026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92509989300004 meters 0.021399899511106366 Centerline is valid? [True, True] Translation: X:301.25, Y:3.96, Z:3.53 [[ 9.98100014e-01 -5.94391622e-02 -1.62280309e-02 3.01254734e+02] [ 5.94420871e-02 9.98231710e-01 -3.02474189e-04 3.95837732e+00] [ 1.62173139e-02 -6.62728536e-04 9.99868271e-01 3.53309216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.955099893 meters 0.020831325350458448 Centerline is valid? [True, True] Translation: X:301.29, Y:3.96, Z:3.53 [[ 9.98138102e-01 -5.86409201e-02 -1.67801206e-02 3.01287042e+02] [ 5.86439554e-02 9.98278914e-01 -3.11537627e-04 3.96002862e+00] [ 1.67695094e-02 -6.73095069e-04 9.99859155e-01 3.53327208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.985099893 meters 0.02085353208078325 Centerline is valid? [True, True] Translation: X:301.32, Y:3.96, Z:3.53 [[ 9.98210153e-01 -5.69106348e-02 -1.83758189e-02 3.01317817e+02] [ 5.69140061e-02 9.98379026e-01 -3.39871502e-04 3.96135634e+00] [ 1.83653745e-02 -7.06578284e-04 9.99831093e-01 3.53252183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.015099893 meters 0.020282395255450763 Centerline is valid? [True, True] Translation: X:301.35, Y:3.96, Z:3.53 [[ 9.98259904e-01 -5.58850465e-02 -1.88155445e-02 3.01349898e+02] [ 5.58884206e-02 9.98436961e-01 -3.46870038e-04 3.96338409e+00] [ 1.88055199e-02 -7.05304611e-04 9.99822912e-01 3.53275069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.045099893 meters 0.020590549594483948 Centerline is valid? [True, True] Translation: X:301.38, Y:3.96, Z:3.53 [[ 9.98312530e-01 -5.49289590e-02 -1.88388423e-02 3.01381030e+02] [ 5.49321945e-02 9.98490027e-01 -3.46077079e-04 3.96378791e+00] [ 1.88294058e-02 -6.89365863e-04 9.99822473e-01 3.53278104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.075099893 meters 0.018376544524366125 Centerline is valid? [True, True] Translation: X:301.41, Y:3.97, Z:3.53 [[ 9.98437927e-01 -5.27457551e-02 -1.84280254e-02 3.01413625e+02] [ 5.27485015e-02 9.98607772e-01 -3.37340380e-04 3.96829397e+00] [ 1.84201626e-02 -6.35237294e-04 9.99830133e-01 3.53363078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.105099893 meters 0.01790243848958408 Centerline is valid? [True, True] Translation: X:301.45, Y:3.97, Z:3.53 [[ 9.98489621e-01 -5.19925293e-02 -1.77553810e-02 3.01446062e+02] [ 5.19949860e-02 9.98647293e-01 -3.23552386e-04 3.96984162e+00] [ 1.77481854e-02 -6.00127086e-04 9.99842308e-01 3.53454386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.135099893 meters 0.01877998990596751 Centerline is valid? [True, True] Translation: X:301.48, Y:3.97, Z:3.53 [[ 9.98531712e-01 -5.13874544e-02 -1.71391149e-02 3.01477771e+02] [ 5.13896754e-02 9.98678629e-01 -3.11103493e-04 3.96921415e+00] [ 1.71324545e-02 -5.70126844e-04 9.99853066e-01 3.53486889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.165099893 meters 0.017883614780198582 Centerline is valid? [True, True] Translation: X:301.51, Y:3.97, Z:3.54 [[ 9.98556754e-01 -5.10140252e-02 -1.67922172e-02 3.01509704e+02] [ 5.10161245e-02 9.98697784e-01 -3.03606245e-04 3.97167527e+00] [ 1.67858383e-02 -5.53505778e-04 9.99858955e-01 3.53571891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.195099893 meters 0.018513529722521196 Centerline is valid? [True, True] Translation: X:301.54, Y:3.97, Z:3.54 [[ 9.98563097e-01 -5.08959857e-02 -1.67731827e-02 3.01542157e+02] [ 5.08980855e-02 9.98703807e-01 -3.01960934e-04 3.97113123e+00] [ 1.67668100e-02 -5.52195842e-04 9.99859275e-01 3.53618586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.225099893 meters 0.018513529722521196 Centerline is valid? [True, True] Translation: X:301.57, Y:3.97, Z:3.54 [[ 9.98566725e-01 -5.08247588e-02 -1.67732085e-02 3.01573861e+02] [ 5.08268726e-02 9.98707434e-01 -3.00522456e-04 3.97164127e+00] [ 1.67668020e-02 -5.52438007e-04 9.99859275e-01 3.53657765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.255099893 meters 0.01865379559243279 Centerline is valid? [True, True] Translation: X:301.61, Y:3.97, Z:3.54 [[ 9.98533984e-01 -5.14288689e-02 -1.68806053e-02 3.01606148e+02] [ 5.14311166e-02 9.98676499e-01 -3.01235890e-04 3.97240632e+00] [ 1.68737560e-02 -5.67394105e-04 9.99857467e-01 3.53710692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.285099893 meters 0.018507848538306233 Centerline is valid? [True, True] Translation: X:301.64, Y:3.97, Z:3.54 [[ 9.98459308e-01 -5.29516759e-02 -1.65870687e-02 3.01638283e+02] [ 5.29540754e-02 9.98596905e-01 -2.94820959e-04 3.97308309e+00] [ 1.65794068e-02 -5.83986158e-04 9.99862382e-01 3.53755079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.315099893 meters 0.01954442688870241 Centerline is valid? [True, True] Translation: X:301.67, Y:3.97, Z:3.54 [[ 9.98408240e-01 -5.40049457e-02 -1.62619813e-02 3.01668996e+02] [ 5.40074082e-02 9.98540493e-01 -2.88018075e-04 3.97132633e+00] [ 1.62538013e-02 -5.90707844e-04 9.99867724e-01 3.53791664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.345099893 meters 0.021257167910786853 Centerline is valid? [True, True] Translation: X:301.70, Y:3.97, Z:3.54 [[ 9.98330738e-01 -5.54598154e-02 -1.61228419e-02 3.01700406e+02] [ 5.54624358e-02 9.98460734e-01 -2.84907607e-04 3.96878863e+00] [ 1.61138254e-02 -6.09780060e-04 9.99869978e-01 3.53821383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.375099893 meters 0.020588080637428077 Centerline is valid? [True, True] Translation: X:301.73, Y:3.97, Z:3.54 [[ 9.98245603e-01 -5.70326786e-02 -1.59056518e-02 3.01732660e+02] [ 5.70354426e-02 9.98372115e-01 -2.80163405e-04 3.97008978e+00] [ 1.58957377e-02 -6.27514004e-04 9.99873458e-01 3.53873425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.405099893 meters 0.02185762973948442 Centerline is valid? [True, True] Translation: X:301.76, Y:3.97, Z:3.54 [[ 9.98012273e-01 -6.07994590e-02 -1.65809682e-02 3.01763598e+02] [ 6.08029981e-02 9.98149744e-01 -2.91057711e-04 3.96826032e+00] [ 1.65679853e-02 -7.17693407e-04 9.99862484e-01 3.53913205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43509989300003 meters 0.023054915883994186 Centerline is valid? [True, True] Translation: X:301.79, Y:3.97, Z:3.54 [[ 9.97888657e-01 -6.25814766e-02 -1.73720234e-02 3.01794761e+02] [ 6.25856397e-02 9.98039551e-01 -3.04443866e-04 3.96685111e+00] [ 1.73570190e-02 -7.83438120e-04 9.99849049e-01 3.53902699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.465099893 meters 0.024946725279493723 Centerline is valid? [True, True] Translation: X:301.83, Y:3.96, Z:3.54 [[ 9.97656018e-01 -6.59886158e-02 -1.81100293e-02 3.01825024e+02] [ 6.59937210e-02 9.97819988e-01 -3.16229862e-04 3.96419707e+00] [ 1.80914167e-02 -8.79659594e-04 9.99835950e-01 3.53835718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49509989300003 meters 0.022723119838840573 Centerline is valid? [True, True] Translation: X:301.86, Y:3.97, Z:3.54 [[ 9.97549045e-01 -6.74862541e-02 -1.84799543e-02 3.01857434e+02] [ 6.74918533e-02 9.97719774e-01 -3.21231625e-04 3.96786669e+00] [ 1.84594946e-02 -9.26802065e-04 9.99829179e-01 3.53916894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.525099893 meters 0.025055403454663033 Centerline is valid? [True, True] Translation: X:301.89, Y:3.96, Z:3.54 [[ 9.97495784e-01 -6.81619755e-02 -1.88707857e-02 3.01888416e+02] [ 6.81679591e-02 9.97673806e-01 -3.26733174e-04 3.96476692e+00] [ 1.88491594e-02 -9.60467986e-04 9.99821877e-01 3.53916894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55509989300003 meters 0.024528891055925074 Centerline is valid? [True, True] Translation: X:301.92, Y:3.97, Z:3.54 [[ 9.97479243e-01 -6.84786703e-02 -1.85965222e-02 3.01920326e+02] [ 6.84845569e-02 9.97652125e-01 -3.20862882e-04 3.96633894e+00] [ 1.85748321e-02 -9.53520517e-04 9.99827018e-01 3.53996387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.585099893 meters 0.022954868955998055 Centerline is valid? [True, True] Translation: X:301.95, Y:3.97, Z:3.54 [[ 9.97512184e-01 -6.79767669e-02 -1.86708602e-02 3.01952756e+02] [ 6.79826384e-02 9.97686453e-01 -3.20782714e-04 3.96980991e+00] [ 1.86494700e-02 -9.49309670e-04 9.99825633e-01 3.54095151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61509989300004 meters 0.023597273429798664 Centerline is valid? [True, True] Translation: X:301.98, Y:3.97, Z:3.54 [[ 9.97732496e-01 -6.47169051e-02 -1.84821387e-02 3.01983567e+02] [ 6.47221213e-02 9.97903275e-01 -3.16411231e-04 3.97123863e+00] [ 1.84638639e-02 -8.80509455e-04 9.99829141e-01 3.54264982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.645099893 meters 0.023211440036478608 Centerline is valid? [True, True] Translation: X:302.01, Y:3.97, Z:3.54 [[ 9.97919623e-01 -6.16276886e-02 -1.89328698e-02 3.02014243e+02] [ 6.16326209e-02 9.98098851e-01 -3.23426693e-04 3.97349695e+00] [ 1.89168077e-02 -8.44128545e-04 9.99820705e-01 3.54342370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67509989300004 meters 0.02053359843698547 Centerline is valid? [True, True] Translation: X:302.05, Y:3.98, Z:3.54 [[ 9.98136286e-01 -5.78315650e-02 -1.94798468e-02 3.02045828e+02] [ 5.78360811e-02 9.98326038e-01 -3.31926558e-04 3.97954976e+00] [ 1.94664342e-02 -7.95330061e-04 9.99810195e-01 3.54426955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.705099893 meters 0.018887274854694436 Centerline is valid? [True, True] Translation: X:302.08, Y:3.98, Z:3.55 [[ 9.98370992e-01 -5.35211944e-02 -1.97697730e-02 3.02077836e+02] [ 5.35250269e-02 9.98566452e-01 -3.35613899e-04 3.98415411e+00] [ 1.97593945e-02 -7.23110449e-04 9.99804503e-01 3.54503765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.735099893 meters 0.017931820490923144 Centerline is valid? [True, True] Translation: X:302.11, Y:3.99, Z:3.55 [[ 9.98595536e-01 -4.90690442e-02 -1.99795851e-02 3.02108852e+02] [ 4.90720930e-02 9.98795182e-01 -3.37938627e-04 3.98803346e+00] [ 1.99720956e-02 -6.42976052e-04 9.99800331e-01 3.54551272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.765099893 meters 0.015457491285620916 Centerline is valid? [True, True] Translation: X:302.14, Y:4.00, Z:3.55 [[ 9.98987196e-01 -4.00996850e-02 -2.04107127e-02 3.02139817e+02] [ 4.01010080e-02 9.99195572e-01 -3.44628774e-04 3.99642738e+00] [ 2.04081132e-02 -4.74210419e-04 9.99791620e-01 3.54715587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.795099893 meters 0.015219676987005838 Centerline is valid? [True, True] Translation: X:302.17, Y:4.00, Z:3.55 [[ 9.99158283e-01 -3.59066552e-02 -1.98352701e-02 3.02170293e+02] [ 3.59070856e-02 9.99355077e-01 -3.34564654e-04 3.99864931e+00] [ 1.98344909e-02 -3.77943695e-04 9.99803206e-01 3.54730340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.825099893 meters 0.014127417283729569 Centerline is valid? [True, True] Translation: X:302.20, Y:4.00, Z:3.55 [[ 9.99284211e-01 -3.21178819e-02 -1.99876918e-02 3.02201717e+02] [ 3.21175712e-02 9.99484041e-01 -3.36634315e-04 4.00323011e+00] [ 1.99881910e-02 -3.05562759e-04 9.99800169e-01 3.54858266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.855099893 meters 0.013536683148804183 Centerline is valid? [True, True] Translation: X:302.23, Y:4.01, Z:3.55 [[ 9.99444645e-01 -2.65285881e-02 -2.01651922e-02 3.02231680e+02] [ 2.65271435e-02 9.99648036e-01 -3.39172206e-04 4.00735074e+00] [ 2.01670925e-02 -1.95941100e-04 9.99796604e-01 3.54909802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.885099893 meters 0.013404494778821188 Centerline is valid? [True, True] Translation: X:302.26, Y:4.01, Z:3.55 [[ 9.99472291e-01 -2.50341555e-02 -2.06985676e-02 3.02261730e+02] [ 2.50323069e-02 9.99686582e-01 -3.48439814e-04 4.00914830e+00] [ 2.07008032e-02 -1.69876959e-04 9.99785701e-01 3.54943030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.915099893 meters 0.01328326628662637 Centerline is valid? [True, True] Translation: X:302.29, Y:4.01, Z:3.55 [[ 9.99483467e-01 -2.43318061e-02 -2.09943406e-02 3.02290312e+02] [ 2.43296946e-02 9.99703926e-01 -3.56030983e-04 4.01032590e+00] [ 2.09967876e-02 -1.54938813e-04 9.99779531e-01 3.55008540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.945099893 meters 0.013362621400651536 Centerline is valid? [True, True] Translation: X:302.32, Y:4.01, Z:3.55 [[ 9.99482879e-01 -2.41283445e-02 -2.12555195e-02 3.02317889e+02] [ 2.41260419e-02 9.99708858e-01 -3.64793728e-04 4.01101636e+00] [ 2.12581330e-02 -1.48206470e-04 9.99774009e-01 3.55042170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.975099893 meters 0.013481021244422995 Centerline is valid? [True, True] Translation: X:302.35, Y:4.01, Z:3.55 [[ 9.99412364e-01 -2.59035685e-02 -2.24484367e-02 3.02345622e+02] [ 2.59013887e-02 9.99664427e-01 -3.87903377e-04 4.01018478e+00] [ 2.24509517e-02 -1.93770252e-04 9.99747927e-01 3.55044525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.005099893 meters 0.013735247955172022 Centerline is valid? [True, True] Translation: X:302.37, Y:4.01, Z:3.55 [[ 9.99343082e-01 -2.80241112e-02 -2.29794076e-02 3.02374352e+02] [ 2.80223017e-02 9.99607218e-01 -4.00814422e-04 4.00929188e+00] [ 2.29816142e-02 -2.43384774e-04 9.99735858e-01 3.55046730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.035099893 meters 0.013903016388401114 Centerline is valid? [True, True] Translation: X:302.40, Y:4.01, Z:3.55 [[ 9.99241299e-01 -3.05125788e-02 -2.42034776e-02 3.02402787e+02] [ 3.05111509e-02 9.99534335e-01 -4.28371015e-04 4.00822004e+00] [ 2.42052775e-02 -3.10429947e-04 9.99706961e-01 3.55067119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.065099893 meters 0.014201544189813163 Centerline is valid? [True, True] Translation: X:302.43, Y:4.01, Z:3.55 [[ 9.99128556e-01 -3.37219795e-02 -2.45958682e-02 3.02431360e+02] [ 3.37213222e-02 9.99431177e-01 -4.41606060e-04 4.00689081e+00] [ 2.45967693e-02 -3.88183970e-04 9.99697378e-01 3.55126751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.095099893 meters 0.015885276520706596 Centerline is valid? [True, True] Translation: X:302.46, Y:4.00, Z:3.55 [[ 9.98860926e-01 -4.03344098e-02 -2.54948129e-02 3.02460278e+02] [ 4.03357440e-02 9.99186076e-01 -4.62134178e-04 4.00089415e+00] [ 2.54927019e-02 -5.66744472e-04 9.99674848e-01 3.55065372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.125099893 meters 0.01608474453327346 Centerline is valid? [True, True] Translation: X:302.49, Y:4.00, Z:3.55 [[ 9.98725957e-01 -4.36021333e-02 -2.54031050e-02 3.02490592e+02] [ 4.36044874e-02 9.99048765e-01 -4.61521819e-04 4.00000739e+00] [ 2.53990640e-02 -6.46755551e-04 9.99677183e-01 3.55207482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.155099893 meters 0.01769696896071256 Centerline is valid? [True, True] Translation: X:302.52, Y:4.00, Z:3.55 [[ 9.98586560e-01 -4.68475227e-02 -2.51036042e-02 3.02521298e+02] [ 4.68508605e-02 9.98901792e-01 -4.55500719e-04 3.99668399e+00] [ 2.50973743e-02 -7.21268560e-04 9.99684751e-01 3.55256921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18509989300003 meters 0.018969223956303568 Centerline is valid? [True, True] Translation: X:302.55, Y:3.99, Z:3.55 [[ 9.98319685e-01 -5.21304615e-02 -2.53025906e-02 3.02552452e+02] [ 5.21355671e-02 9.98639911e-01 -4.58314910e-04 3.99359553e+00] [ 2.52920690e-02 -8.61620112e-04 9.99679733e-01 3.55422238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.215099893 meters 0.020657640820905893 Centerline is valid? [True, True] Translation: X:302.58, Y:3.99, Z:3.55 [[ 9.98194715e-01 -5.45970560e-02 -2.50294495e-02 3.02584022e+02] [ 5.46028483e-02 9.98508049e-01 -4.52478745e-04 3.99070013e+00] [ 2.50168108e-02 -9.15017339e-04 9.99686612e-01 3.55452090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24509989300003 meters 0.021832839854354844 Centerline is valid? [True, True] Translation: X:302.62, Y:3.99, Z:3.56 [[ 9.98078646e-01 -5.66627781e-02 -2.50668112e-02 3.02616217e+02] [ 5.66692766e-02 9.98392903e-01 -4.51618344e-04 3.98851876e+00] [ 2.50521163e-02 -9.69767432e-04 9.99685676e-01 3.55504540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.275099893 meters 0.020348346592988616 Centerline is valid? [True, True] Translation: X:302.65, Y:3.99, Z:3.56 [[ 9.97966235e-01 -5.85592247e-02 -2.51835368e-02 3.02648193e+02] [ 5.85664316e-02 9.98283411e-01 -4.51932116e-04 3.99047941e+00] [ 2.51667719e-02 -1.02389690e-03 9.99682742e-01 3.55681234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30509989300003 meters 0.021946029498116332 Centerline is valid? [True, True] Translation: X:302.68, Y:3.99, Z:3.56 [[ 9.97875149e-01 -6.02014040e-02 -2.49194417e-02 3.02679223e+02] [ 6.02090106e-02 9.98185692e-01 -4.45626373e-04 3.98718834e+00] [ 2.49010575e-02 -1.05569545e-03 9.99689363e-01 3.55698405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.335099893 meters 0.024485339262146927 Centerline is valid? [True, True] Translation: X:302.71, Y:3.98, Z:3.56 [[ 9.97715373e-01 -6.28568414e-02 -2.47598924e-02 3.02710766e+02] [ 6.28651991e-02 9.98021930e-01 -4.41462435e-04 3.98181182e+00] [ 2.47386645e-02 -1.11608171e-03 9.99693329e-01 3.55741559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36509989300004 meters 0.023885414185534505 Centerline is valid? [True, True] Translation: X:302.74, Y:3.98, Z:3.56 [[ 9.97670351e-01 -6.34412085e-02 -2.50815242e-02 3.02743305e+02] [ 6.34500079e-02 9.97984919e-01 -4.45652677e-04 3.98238122e+00] [ 2.50592556e-02 -1.14680844e-03 9.99685310e-01 3.55836148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.395099893 meters 0.02403481600763221 Centerline is valid? [True, True] Translation: X:302.78, Y:3.98, Z:3.56 [[ 9.97670421e-01 -6.34974916e-02 -2.49359012e-02 3.02775725e+02] [ 6.35062499e-02 9.97981343e-01 -4.41324756e-04 3.98224164e+00] [ 2.49135872e-02 -1.14328892e-03 9.99688955e-01 3.55896181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42509989300004 meters 0.023916470998325837 Centerline is valid? [True, True] Translation: X:302.81, Y:3.98, Z:3.56 [[ 9.97748428e-01 -6.22944574e-02 -2.48490526e-02 3.02807849e+02] [ 6.23028254e-02 9.98057196e-01 -4.38057858e-04 3.98203817e+00] [ 2.48280643e-02 -1.11109464e-03 9.99691119e-01 3.55984146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.455099893 meters 0.02241532592735198 Centerline is valid? [True, True] Translation: X:302.84, Y:3.98, Z:3.56 [[ 9.97820709e-01 -6.10118150e-02 -2.51274997e-02 3.02840256e+02] [ 6.10200105e-02 9.98136445e-01 -4.41192112e-04 3.98459602e+00] [ 2.51075911e-02 -1.09304967e-03 9.99684157e-01 3.56087227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.485099893 meters 0.02101032742392747 Centerline is valid? [True, True] Translation: X:302.87, Y:3.99, Z:3.56 [[ 9.97924426e-01 -5.92728936e-02 -2.51707046e-02 3.02872295e+02] [ 5.92806104e-02 9.98241261e-01 -4.40152622e-04 3.98718663e+00] [ 2.51525251e-02 -1.05289568e-03 9.99683071e-01 3.56178636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.515099893 meters 0.021348340313920917 Centerline is valid? [True, True] Translation: X:302.90, Y:3.99, Z:3.56 [[ 9.98153813e-01 -5.49398359e-02 -2.58955487e-02 3.02903285e+02] [ 5.49465838e-02 9.98489193e-01 -4.51440274e-04 3.98770454e+00] [ 2.58812276e-02 -9.72265106e-04 9.99664552e-01 3.56088342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.545099893 meters 0.020791707977998272 Centerline is valid? [True, True] Translation: X:302.93, Y:3.99, Z:3.56 [[ 9.98275395e-01 -5.21957038e-02 -2.68671486e-02 3.02933979e+02] [ 5.22020010e-02 9.98636437e-01 -4.67429763e-04 3.98944917e+00] [ 2.68549114e-02 -9.35895285e-04 9.99638904e-01 3.56079701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.575099893 meters 0.017768601806456636 Centerline is valid? [True, True] Translation: X:302.97, Y:4.00, Z:3.56 [[ 9.98411305e-01 -4.92548897e-02 -2.73646246e-02 3.02965147e+02] [ 4.92603458e-02 9.98785859e-01 -4.75109572e-04 3.99534244e+00] [ 2.73548016e-02 -8.73636103e-04 9.99625406e-01 3.56238252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.605099893 meters 0.01702205838920471 Centerline is valid? [True, True] Translation: X:303.00, Y:4.00, Z:3.56 [[ 9.98530113e-01 -4.63831729e-02 -2.80395059e-02 3.02996343e+02] [ 4.63877993e-02 9.98923388e-01 -4.85805209e-04 3.99795036e+00] [ 2.80318514e-02 -8.15599841e-04 9.99606698e-01 3.56282207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.635099893 meters 0.01704246301589368 Centerline is valid? [True, True] Translation: X:303.03, Y:4.00, Z:3.56 [[ 9.98782139e-01 -4.02875766e-02 -2.84806954e-02 3.03025618e+02] [ 4.02898780e-02 9.99187911e-01 -4.93283021e-04 4.00046308e+00] [ 2.84774398e-02 -6.54801473e-04 9.99594221e-01 3.56176850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.665099893 meters 0.016378966189125363 Centerline is valid? [True, True] Translation: X:303.05, Y:4.00, Z:3.56 [[ 9.98898500e-01 -3.74338892e-02 -2.82929606e-02 3.03053888e+02] [ 3.74349881e-02 9.99298945e-01 -4.91023601e-04 4.00299433e+00] [ 2.82915066e-02 -5.68663905e-04 9.99599553e-01 3.56219205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.695099893 meters 0.01445766014886594 Centerline is valid? [True, True] Translation: X:303.08, Y:4.01, Z:3.56 [[ 9.99071644e-01 -3.25045814e-02 -2.82719277e-02 3.03082869e+02] [ 3.25035899e-02 9.99471496e-01 -4.94752799e-04 4.00858010e+00] [ 2.82730676e-02 -4.24645652e-04 9.99600147e-01 3.56343142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.725099893 meters 0.013574586361405063 Centerline is valid? [True, True] Translation: X:303.11, Y:4.01, Z:3.56 [[ 9.99147964e-01 -3.03925947e-02 -2.79219645e-02 3.03111702e+02] [ 3.03906223e-02 9.99537976e-01 -4.95100975e-04 4.01130051e+00] [ 2.79241113e-02 -3.53886744e-04 9.99609983e-01 3.56462614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.755099893 meters 0.013426934597970716 Centerline is valid? [True, True] Translation: X:303.14, Y:4.01, Z:3.56 [[ 9.99192878e-01 -2.87502052e-02 -2.80538330e-02 3.03139522e+02] [ 2.87474441e-02 9.99586581e-01 -5.01817913e-04 4.01256701e+00] [ 2.80566624e-02 -3.05063111e-04 9.99606288e-01 3.56463269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.785099893 meters 0.01296955153569336 Centerline is valid? [True, True] Translation: X:303.17, Y:4.01, Z:3.57 [[ 9.99229600e-01 -2.78498407e-02 -2.76512581e-02 3.03167743e+02] [ 2.78466794e-02 9.99612081e-01 -4.99466179e-04 4.01461851e+00] [ 2.76544418e-02 -2.70914331e-04 9.99617506e-01 3.56627017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.815099893 meters 0.012803028336225679 Centerline is valid? [True, True] Translation: X:303.20, Y:4.02, Z:3.57 [[ 9.99264073e-01 -2.68607526e-02 -2.73827063e-02 3.03195936e+02] [ 2.68570964e-02 9.99639157e-01 -5.01358379e-04 4.01537343e+00] [ 2.73862924e-02 -2.34430569e-04 9.99624898e-01 3.56715747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.845099893 meters 0.01273243135106351 Centerline is valid? [True, True] Translation: X:303.22, Y:4.02, Z:3.57 [[ 9.99261668e-01 -2.72735021e-02 -2.70605772e-02 3.03223556e+02] [ 2.72698889e-02 9.99627981e-01 -5.02620058e-04 4.01557137e+00] [ 2.70642184e-02 -2.35689975e-04 9.99633669e-01 3.56787390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.875099893 meters 0.012707476439293633 Centerline is valid? [True, True] Translation: X:303.25, Y:4.02, Z:3.57 [[ 9.99251435e-01 -2.82463602e-02 -2.64331668e-02 3.03251488e+02] [ 2.82430576e-02 9.99600961e-01 -4.98351604e-04 4.01537634e+00] [ 2.64366955e-02 -2.48574896e-04 9.99650459e-01 3.56833696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.905099893 meters 0.012612449298276002 Centerline is valid? [True, True] Translation: X:303.28, Y:4.01, Z:3.57 [[ 9.99210493e-01 -2.97115548e-02 -2.63744815e-02 3.03279833e+02] [ 2.97085914e-02 9.99558475e-01 -5.04281713e-04 4.01492494e+00] [ 2.63778195e-02 -2.79665114e-04 9.99652006e-01 3.56976900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93509989300003 meters 0.013159059772921335 Centerline is valid? [True, True] Translation: X:303.31, Y:4.01, Z:3.57 [[ 9.99096261e-01 -3.38261569e-02 -2.57381535e-02 3.03308729e+02] [ 3.38245338e-02 9.99427662e-01 -4.98545365e-04 4.01136858e+00] [ 2.57402865e-02 -3.72486235e-04 9.99668595e-01 3.56995605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.965099893 meters 0.013369267273527493 Centerline is valid? [True, True] Translation: X:303.34, Y:4.01, Z:3.57 [[ 9.98996742e-01 -3.64965102e-02 -2.59521685e-02 3.03337522e+02] [ 3.64955891e-02 9.99333684e-01 -5.09300613e-04 4.00978311e+00] [ 2.59534639e-02 -4.38350025e-04 9.99663056e-01 3.57032631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99509989300003 meters 0.0143786576272326 Centerline is valid? [True, True] Translation: X:303.37, Y:4.01, Z:3.57 [[ 9.98889950e-01 -3.92975455e-02 -2.59725164e-02 3.03366354e+02] [ 3.92974680e-02 9.99227424e-01 -5.13593665e-04 4.00679931e+00] [ 2.59726336e-02 -5.07630583e-04 9.99662525e-01 3.56947677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.025099893 meters 0.0154556212957258 Centerline is valid? [True, True] Translation: X:303.40, Y:4.00, Z:3.57 [[ 9.98666123e-01 -4.43618011e-02 -2.64198079e-02 3.03396265e+02] [ 4.43634670e-02 9.99015320e-01 -5.23369516e-04 4.00277780e+00] [ 2.64170105e-02 -6.49402872e-04 9.99650799e-01 3.56956031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05509989300003 meters 0.016480035759020628 Centerline is valid? [True, True] Translation: X:303.43, Y:4.00, Z:3.57 [[ 9.98557595e-01 -4.67004726e-02 -2.64914215e-02 3.03426474e+02] [ 4.67029818e-02 9.98908683e-01 -5.24334137e-04 4.00068856e+00] [ 2.64869976e-02 -7.13650543e-04 9.99648903e-01 3.56943178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.085099893 meters 0.01691359808960107 Centerline is valid? [True, True] Translation: X:303.46, Y:4.00, Z:3.57 [[ 9.98490418e-01 -4.83949306e-02 -2.59772305e-02 3.03457730e+02] [ 4.83979436e-02 9.98828001e-01 -5.13101373e-04 3.99956594e+00] [ 2.59716167e-02 -7.44917731e-04 9.99662403e-01 3.57010162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11509989300004 meters 0.01809841190133665 Centerline is valid? [True, True] Translation: X:303.49, Y:4.00, Z:3.57 [[ 9.98430376e-01 -4.98617249e-02 -2.55067004e-02 3.03487872e+02] [ 4.98651244e-02 9.98755834e-01 -5.03153108e-04 3.99730140e+00] [ 2.55000539e-02 -7.69531438e-04 9.99674525e-01 3.57031550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.145099893 meters 0.01809841190133665 Centerline is valid? [True, True] Translation: X:303.52, Y:4.00, Z:3.57 [[ 9.98432085e-01 -4.98274876e-02 -2.55067135e-02 3.03518727e+02] [ 4.98308928e-02 9.98757543e-01 -5.02487538e-04 3.99787900e+00] [ 2.55000602e-02 -7.69322626e-04 9.99674525e-01 3.57069708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17509989300004 meters 0.017594234421148977 Centerline is valid? [True, True] Translation: X:303.55, Y:4.00, Z:3.57 [[ 9.98401275e-01 -5.09736139e-02 -2.44250888e-02 3.03549876e+02] [ 5.09770990e-02 9.98699707e-01 -4.80348924e-04 3.99788099e+00] [ 2.44178141e-02 -7.65539190e-04 9.99701548e-01 3.57242133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.205099893 meters 0.017688489306484288 Centerline is valid? [True, True] Translation: X:303.58, Y:4.00, Z:3.57 [[ 9.98411016e-01 -5.09189274e-02 -2.41392889e-02 3.03582233e+02] [ 5.09223459e-02 9.98702504e-01 -4.73469663e-04 3.99793467e+00] [ 2.41320769e-02 -7.56511892e-04 9.99708493e-01 3.57272591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.235099893 meters 0.017915392116490382 Centerline is valid? [True, True] Translation: X:303.61, Y:4.00, Z:3.57 [[ 9.98437989e-01 -5.04308234e-02 -2.40481729e-02 3.03613049e+02] [ 5.04341102e-02 9.98727280e-01 -4.70202763e-04 3.99754915e+00] [ 2.40412790e-02 -7.43379900e-04 9.99710690e-01 3.57278196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.265099893 meters 0.0166161381455317 Centerline is valid? [True, True] Translation: X:303.64, Y:4.00, Z:3.57 [[ 9.98513649e-01 -4.94248766e-02 -2.29711768e-02 3.03644726e+02] [ 4.94276323e-02 9.98777607e-01 -4.48146647e-04 3.99999142e+00] [ 2.29652466e-02 -6.87930339e-04 9.99736027e-01 3.57383510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.295099893 meters 0.017456722543916222 Centerline is valid? [True, True] Translation: X:303.68, Y:4.00, Z:3.57 [[ 9.98552864e-01 -4.87994077e-02 -2.26008082e-02 3.03675706e+02] [ 4.88019373e-02 9.98808379e-01 -4.39941596e-04 3.99890797e+00] [ 2.25953455e-02 -6.63658283e-04 9.99744472e-01 3.57380291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.325099893 meters 0.016513157737587374 Centerline is valid? [True, True] Translation: X:303.71, Y:4.00, Z:3.57 [[ 9.98594611e-01 -4.81357792e-02 -2.21754154e-02 3.03706898e+02] [ 4.81380730e-02 9.98840598e-01 -4.30668557e-04 4.00060776e+00] [ 2.21704357e-02 -6.37418463e-04 9.99754002e-01 3.57449991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.355099893 meters 0.016661615622154402 Centerline is valid? [True, True] Translation: X:303.74, Y:4.00, Z:3.57 [[ 9.98612424e-01 -4.77942835e-02 -2.21118457e-02 3.03739367e+02] [ 4.77965052e-02 9.98857002e-01 -4.28314548e-04 4.00025286e+00] [ 2.21070429e-02 -6.29148718e-04 9.99755412e-01 3.57453082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.385099893 meters 0.01587417923183863 Centerline is valid? [True, True] Translation: X:303.77, Y:4.00, Z:3.57 [[ 9.98626559e-01 -4.76514840e-02 -2.17791809e-02 3.03771232e+02] [ 4.76536387e-02 9.98863832e-01 -4.20337483e-04 4.00128324e+00] [ 2.17744657e-02 -6.18097042e-04 9.99762717e-01 3.57498900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.415099893 meters 0.01747785822419167 Centerline is valid? [True, True] Translation: X:303.80, Y:4.00, Z:3.57 [[ 9.98595660e-01 -4.81458829e-02 -2.21061608e-02 3.03802477e+02] [ 4.81482555e-02 9.98840110e-01 -4.25220801e-04 3.99804884e+00] [ 2.21009927e-02 -6.39749431e-04 9.99755539e-01 3.57366828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.445099893 meters 0.016413500609888484 Centerline is valid? [True, True] Translation: X:303.83, Y:4.00, Z:3.57 [[ 9.98576986e-01 -4.84303313e-02 -2.23272503e-02 3.03834618e+02] [ 4.84328535e-02 9.98826349e-01 -4.28091218e-04 4.00000961e+00] [ 2.23217785e-02 -6.53890403e-04 9.99750624e-01 3.57427686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.475099893 meters 0.015746542713465858 Centerline is valid? [True, True] Translation: X:303.87, Y:4.00, Z:3.57 [[ 9.98559997e-01 -4.86521710e-02 -2.26030878e-02 3.03866498e+02] [ 4.86548499e-02 9.98815558e-01 -4.31737772e-04 4.00128493e+00] [ 2.25973208e-02 -6.68633777e-04 9.99744424e-01 3.57453700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.505099893 meters 0.01806926295407291 Centerline is valid? [True, True] Translation: X:303.90, Y:4.00, Z:3.57 [[ 9.98522752e-01 -4.90263269e-02 -2.34250702e-02 3.03897814e+02] [ 4.90293432e-02 9.98797239e-01 -4.45899626e-04 3.99772813e+00] [ 2.34187563e-02 -7.03274886e-04 9.99725496e-01 3.57302981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.535099893 meters 0.0181478169455776 Centerline is valid? [True, True] Translation: X:303.93, Y:4.00, Z:3.57 [[ 9.98479714e-01 -5.01336647e-02 -2.29101681e-02 3.03930128e+02] [ 5.01368727e-02 9.98742262e-01 -4.34709306e-04 3.99809053e+00] [ 2.29031467e-02 -7.14595758e-04 9.99737433e-01 3.57333286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.565099893 meters 0.01677707908783151 Centerline is valid? [True, True] Translation: X:303.96, Y:4.00, Z:3.57 [[ 9.98468950e-01 -5.05053707e-02 -2.25602367e-02 3.03962280e+02] [ 5.05086118e-02 9.98723534e-01 -4.26490234e-04 4.00078858e+00] [ 2.25529794e-02 -7.13648981e-04 9.99745395e-01 3.57427996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.595099893 meters 0.01812616715425234 Centerline is valid? [True, True] Translation: X:303.99, Y:4.00, Z:3.57 [[ 9.98460197e-01 -5.08254687e-02 -2.22262604e-02 3.03993614e+02] [ 5.08287251e-02 9.98707297e-01 -4.18766704e-04 3.99959521e+00] [ 2.22188125e-02 -7.11610595e-04 9.99752878e-01 3.57385136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.625099893 meters 0.017539729597891428 Centerline is valid? [True, True] Translation: X:304.03, Y:4.00, Z:3.57 [[ 9.98534076e-01 -4.98612961e-02 -2.10606338e-02 3.04025554e+02] [ 4.98640316e-02 9.98755937e-01 -3.95563496e-04 4.00155698e+00] [ 2.10541564e-02 -6.55184479e-04 9.99778122e-01 3.57454384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.655099893 meters 0.016692194759390284 Centerline is valid? [True, True] Translation: X:304.06, Y:4.00, Z:3.58 [[ 9.98604251e-01 -4.88742357e-02 -2.00214687e-02 3.04057350e+02] [ 4.88765371e-02 9.98804758e-01 -3.74672338e-04 4.00422765e+00] [ 2.00158500e-02 -6.04430668e-04 9.99799480e-01 3.57580137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68509989300003 meters 0.016039808032825054 Centerline is valid? [True, True] Translation: X:304.09, Y:4.01, Z:3.58 [[ 9.98671408e-01 -4.78185530e-02 -1.92043134e-02 3.04089367e+02] [ 4.78205010e-02 9.98855881e-01 -3.58037547e-04 4.00687642e+00] [ 1.91994622e-02 -5.60798025e-04 9.99815516e-01 3.57733260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.715099893 meters 0.01528340513156791 Centerline is valid? [True, True] Translation: X:304.12, Y:4.01, Z:3.58 [[ 9.98797042e-01 -4.59424698e-02 -1.71393619e-02 3.04121417e+02] [ 4.59437649e-02 9.98943977e-01 -3.18391120e-04 4.01003485e+00] [ 1.71358900e-02 -4.69438705e-04 9.99853060e-01 3.57873253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74509989300003 meters 0.01566711860919685 Centerline is valid? [True, True] Translation: X:304.15, Y:4.01, Z:3.58 [[ 9.98829590e-01 -4.54420572e-02 -1.65670993e-02 3.04152152e+02] [ 4.54432167e-02 9.98966876e-01 -3.06657754e-04 4.01018052e+00] [ 1.65639186e-02 -4.46563445e-04 9.99862709e-01 3.57908084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.775099893 meters 0.01595665352505047 Centerline is valid? [True, True] Translation: X:304.18, Y:4.01, Z:3.58 [[ 9.98852488e-01 -4.52054562e-02 -1.58168714e-02 3.04183358e+02] [ 4.52065001e-02 9.98977621e-01 -2.91712245e-04 4.01048507e+00] [ 1.58138876e-02 -4.23647897e-04 9.99874863e-01 3.57965830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80509989300003 meters 0.015422163631805296 Centerline is valid? [True, True] Translation: X:304.22, Y:4.01, Z:3.58 [[ 9.98846153e-01 -4.55029086e-02 -1.53573483e-02 3.04215912e+02] [ 4.55039534e-02 9.98964119e-01 -2.81572634e-04 4.01195372e+00] [ 1.53542523e-02 -4.17572320e-04 9.99882029e-01 3.57998957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.835099893 meters 0.01624123026346014 Centerline is valid? [True, True] Translation: X:304.25, Y:4.01, Z:3.58 [[ 9.98762380e-01 -4.72922399e-02 -1.53997375e-02 3.04246569e+02] [ 4.72935185e-02 9.98880996e-01 -2.81340991e-04 4.01106599e+00] [ 1.53958103e-02 -4.47314970e-04 9.99881377e-01 3.57956654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86509989300004 meters 0.017670110519168718 Centerline is valid? [True, True] Translation: X:304.28, Y:4.01, Z:3.58 [[ 9.98703744e-01 -4.81806644e-02 -1.64150679e-02 3.04277598e+02] [ 4.81822485e-02 9.98838516e-01 -2.99197193e-04 4.00889980e+00] [ 1.64104176e-02 -4.92105523e-04 9.99865219e-01 3.57894979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.895099893 meters 0.01665257077651604 Centerline is valid? [True, True] Translation: X:304.31, Y:4.01, Z:3.58 [[ 9.98622266e-01 -4.98000566e-02 -1.65385553e-02 3.04309316e+02] [ 4.98019013e-02 9.98759070e-01 -3.00554153e-04 4.01072645e+00] [ 1.65329998e-02 -5.23511430e-04 9.99863184e-01 3.57904339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92509989300004 meters 0.018563709442129452 Centerline is valid? [True, True] Translation: X:304.34, Y:4.01, Z:3.58 [[ 9.98529330e-01 -5.17736537e-02 -1.60830767e-02 3.04340945e+02] [ 5.17756676e-02 9.98658698e-01 -2.91418891e-04 4.00774612e+00] [ 1.60765922e-02 -5.41721722e-04 9.99870616e-01 3.57892021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.955099893 meters 0.020003077268337086 Centerline is valid? [True, True] Translation: X:304.37, Y:4.01, Z:3.58 [[ 9.98349532e-01 -5.51854326e-02 -1.58990359e-02 3.04371726e+02] [ 5.51878441e-02 9.98475948e-01 -2.87360234e-04 4.00511585e+00] [ 1.58906631e-02 -5.90547560e-04 9.99873561e-01 3.57832246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.985099893 meters 0.020264847936269058 Centerline is valid? [True, True] Translation: X:304.40, Y:4.01, Z:3.58 [[ 9.98250531e-01 -5.69602978e-02 -1.58556599e-02 3.04403511e+02] [ 5.69629287e-02 9.98376253e-01 -2.86008781e-04 4.00512101e+00] [ 1.58462055e-02 -6.17676407e-04 9.99874250e-01 3.57850464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.015099893 meters 0.02085503185444249 Centerline is valid? [True, True] Translation: X:304.44, Y:4.00, Z:3.58 [[ 9.98171232e-01 -5.83795417e-02 -1.56850258e-02 3.04435462e+02] [ 5.83823142e-02 9.98294258e-01 -2.81464406e-04 4.00442872e+00] [ 1.56747029e-02 -6.34778428e-04 9.99876943e-01 3.57850466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.045099893 meters 0.020978664708148628 Centerline is valid? [True, True] Translation: X:304.47, Y:4.00, Z:3.58 [[ 9.98053538e-01 -6.03147907e-02 -1.58512073e-02 3.04467564e+02] [ 6.03178838e-02 9.98179179e-01 -2.83314121e-04 4.00481513e+00] [ 1.58394331e-02 -6.73348619e-04 9.99874322e-01 3.57823349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.075099893 meters 0.0224343849017482 Centerline is valid? [True, True] Translation: X:304.50, Y:4.00, Z:3.58 [[ 9.98015534e-01 -6.08976352e-02 -1.60147569e-02 3.04498896e+02] [ 6.09008848e-02 9.98143778e-01 -2.85147173e-04 4.00359360e+00] [ 1.60023947e-02 -6.90731557e-04 9.99871715e-01 3.57818933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.105099893 meters 0.021690326682056994 Centerline is valid? [True, True] Translation: X:304.53, Y:4.01, Z:3.58 [[ 9.98025687e-01 -6.08495814e-02 -1.55581396e-02 3.04531801e+02] [ 6.08526578e-02 9.98146722e-01 -2.76033566e-04 4.00516329e+00] [ 1.55461025e-02 -6.71265554e-04 9.99878927e-01 3.57845577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.135099893 meters 0.02194657390879086 Centerline is valid? [True, True] Translation: X:304.56, Y:4.01, Z:3.58 [[ 9.98028641e-01 -6.09345799e-02 -1.50269255e-02 3.04563781e+02] [ 6.09374813e-02 9.98141550e-01 -2.65143024e-04 4.00570895e+00] [ 1.50151551e-02 -6.51082662e-04 9.99887054e-01 3.57904509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.165099893 meters 0.019699839554092487 Centerline is valid? [True, True] Translation: X:304.60, Y:4.01, Z:3.58 [[ 9.98092551e-01 -6.00281708e-02 -1.44179711e-02 3.04596324e+02] [ 6.00307617e-02 9.98196495e-01 -2.53407786e-04 4.00965663e+00] [ 1.44071798e-02 -6.12597364e-04 9.99896024e-01 3.57968723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.195099893 meters 0.019324776278109374 Centerline is valid? [True, True] Translation: X:304.63, Y:4.01, Z:3.58 [[ 9.98272441e-01 -5.70406576e-02 -1.40888981e-02 3.04626390e+02] [ 5.70428474e-02 9.98371701e-01 -2.46703410e-04 4.01226200e+00] [ 1.40800293e-02 -5.57393648e-04 9.99900716e-01 3.58045619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.225099893 meters 0.019208646094675562 Centerline is valid? [True, True] Translation: X:304.66, Y:4.01, Z:3.58 [[ 9.98401419e-01 -5.46881072e-02 -1.42764857e-02 3.04656958e+02] [ 5.46901194e-02 9.98503344e-01 -2.49722627e-04 4.01397317e+00] [ 1.42687756e-02 -5.31459283e-04 9.99898055e-01 3.58062542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.255099893 meters 0.018703847466177082 Centerline is valid? [True, True] Translation: X:304.69, Y:4.02, Z:3.58 [[ 9.98536753e-01 -5.21480533e-02 -1.43155198e-02 3.04687454e+02] [ 5.21498194e-02 9.98639241e-01 -2.50148931e-04 4.01606680e+00] [ 1.43090846e-02 -4.96768869e-04 9.99897496e-01 3.58096603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.285099893 meters 0.0160870330924353 Centerline is valid? [True, True] Translation: X:304.72, Y:4.02, Z:3.58 [[ 9.98785969e-01 -4.72244613e-02 -1.40156249e-02 3.04719212e+02] [ 4.72256741e-02 9.98884215e-01 -2.44604491e-04 4.02236900e+00] [ 1.40115378e-02 -4.17589801e-04 9.99901746e-01 3.58176750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.315099893 meters 0.016761931820314026 Centerline is valid? [True, True] Translation: X:304.75, Y:4.02, Z:3.58 [[ 9.98917454e-01 -4.44679156e-02 -1.36573868e-02 3.04750371e+02] [ 4.44688197e-02 9.99010744e-01 -2.37622510e-04 4.02226548e+00] [ 1.36544427e-02 -3.69962599e-04 9.99906705e-01 3.58220347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.345099893 meters 0.015036177289024413 Centerline is valid? [True, True] Translation: X:304.78, Y:4.03, Z:3.58 [[ 9.99007228e-01 -4.23290538e-02 -1.38855707e-02 3.04782377e+02] [ 4.23297930e-02 9.99103664e-01 -2.40799322e-04 4.02616491e+00] [ 1.38833174e-02 -3.47213072e-04 9.99903562e-01 3.58266659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.375099893 meters 0.014328511770844134 Centerline is valid? [True, True] Translation: X:304.81, Y:4.03, Z:3.58 [[ 9.99088525e-01 -4.03832099e-02 -1.38316954e-02 3.04814902e+02] [ 4.03837707e-02 9.99184214e-01 -2.38865699e-04 4.02814478e+00] [ 1.38300578e-02 -3.19928036e-04 9.99904309e-01 3.58284253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.405099893 meters 0.013868463081266883 Centerline is valid? [True, True] Translation: X:304.85, Y:4.03, Z:3.58 [[ 9.99187582e-01 -3.77978598e-02 -1.39820450e-02 3.04846996e+02] [ 3.77981943e-02 9.99285364e-01 -2.40429408e-04 4.02984000e+00] [ 1.39811407e-02 -2.88261976e-04 9.99902218e-01 3.58287664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43509989300003 meters 0.013879376562851608 Centerline is valid? [True, True] Translation: X:304.88, Y:4.03, Z:3.58 [[ 9.99221500e-01 -3.68762367e-02 -1.40191376e-02 3.04879418e+02] [ 3.68764966e-02 9.99319802e-01 -2.40047350e-04 4.03079005e+00] [ 1.40184539e-02 -2.77116209e-04 9.99901698e-01 3.58309332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.465099893 meters 0.013656017264266395 Centerline is valid? [True, True] Translation: X:304.91, Y:4.03, Z:3.58 [[ 9.99249529e-01 -3.60067690e-02 -1.42790383e-02 3.04911578e+02] [ 3.60069648e-02 9.99351509e-01 -2.43452721e-04 4.03168910e+00] [ 1.42785445e-02 -2.70874815e-04 9.99898020e-01 3.58323880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49509989300003 meters 0.013329539057887113 Centerline is valid? [True, True] Translation: X:304.94, Y:4.03, Z:3.58 [[ 9.99275699e-01 -3.52558003e-02 -1.43215232e-02 3.04943743e+02] [ 3.52559351e-02 9.99378287e-01 -2.43141244e-04 4.03300134e+00] [ 1.43211914e-02 -2.61953553e-04 9.99897412e-01 3.58343518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.525099893 meters 0.013219678414319067 Centerline is valid? [True, True] Translation: X:304.98, Y:4.03, Z:3.58 [[ 9.99293271e-01 -3.48029013e-02 -1.42027128e-02 3.04975467e+02] [ 3.48030028e-02 9.99394163e-01 -2.40092968e-04 4.03359477e+00] [ 1.42024642e-02 -2.54373767e-04 9.99899108e-01 3.58358967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55509989300003 meters 0.013362041032048138 Centerline is valid? [True, True] Translation: X:305.01, Y:4.03, Z:3.58 [[ 9.99284227e-01 -3.48023144e-02 -1.48267471e-02 3.05007069e+02] [ 3.48024409e-02 9.99394180e-01 -2.49563584e-04 4.03380559e+00] [ 1.48264502e-02 -2.66622038e-04 9.99890047e-01 3.58372991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.585099893 meters 0.013591134659491244 Centerline is valid? [True, True] Translation: X:305.04, Y:4.03, Z:3.58 [[ 9.99277635e-01 -3.50509573e-02 -1.46846261e-02 3.05037846e+02] [ 3.50511198e-02 9.99385490e-01 -2.46378977e-04 4.03370761e+00] [ 1.46842381e-02 -2.68511589e-04 9.99892145e-01 3.58358691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61509989300004 meters 0.014277835872030107 Centerline is valid? [True, True] Translation: X:305.07, Y:4.03, Z:3.58 [[ 9.99199736e-01 -3.71114053e-02 -1.49208169e-02 3.05069172e+02] [ 3.71118149e-02 9.99311088e-01 -2.49528131e-04 4.03256948e+00] [ 1.49197981e-02 -3.04410152e-04 9.99888647e-01 3.58400151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.645099893 meters 0.01428168016278741 Centerline is valid? [True, True] Translation: X:305.10, Y:4.03, Z:3.58 [[ 9.99157383e-01 -3.84538344e-02 -1.43466906e-02 3.05101762e+02] [ 3.84543625e-02 9.99260329e-01 -2.39150198e-04 4.03269478e+00] [ 1.43452750e-02 -3.12744155e-04 9.99897052e-01 3.58453385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67509989300004 meters 0.014744862874047004 Centerline is valid? [True, True] Translation: X:305.13, Y:4.03, Z:3.59 [[ 9.99084736e-01 -4.04455766e-02 -1.39228157e-02 3.05134148e+02] [ 4.04462808e-02 9.99181688e-01 -2.31107411e-04 4.03183999e+00] [ 1.39207698e-02 -3.32230228e-04 9.99903046e-01 3.58503167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.705099893 meters 0.016141459813164564 Centerline is valid? [True, True] Translation: X:305.17, Y:4.03, Z:3.59 [[ 9.98993806e-01 -4.26026822e-02 -1.40138441e-02 3.05165567e+02] [ 4.26036228e-02 9.99092027e-01 -2.31541954e-04 4.02914373e+00] [ 1.40109843e-02 -3.65731553e-04 9.99901774e-01 3.58519246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.735099893 meters 0.01819439401199773 Centerline is valid? [True, True] Translation: X:305.20, Y:4.02, Z:3.58 [[ 9.98778871e-01 -4.73062740e-02 -1.42437369e-02 3.05195607e+02] [ 4.73077428e-02 9.98880335e-01 -2.33989049e-04 4.02493012e+00] [ 1.42388579e-02 -4.40135724e-04 9.99898525e-01 3.58484830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.765099893 meters 0.018156450292104175 Centerline is valid? [True, True] Translation: X:305.23, Y:4.02, Z:3.58 [[ 9.98664756e-01 -4.96040434e-02 -1.44271830e-02 3.05228043e+02] [ 4.96057919e-02 9.98768847e-01 -2.36856444e-04 4.02473983e+00] [ 1.44211699e-02 -4.79131653e-04 9.99895895e-01 3.58480743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.795099893 meters 0.019352745930908608 Centerline is valid? [True, True] Translation: X:305.26, Y:4.02, Z:3.58 [[ 9.98549586e-01 -5.18151464e-02 -1.46258482e-02 3.05258852e+02] [ 5.18171973e-02 9.98656558e-01 -2.38951616e-04 4.02286761e+00] [ 1.46185806e-02 -5.19265427e-04 9.99893008e-01 3.58489134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.825099893 meters 0.02161644829367992 Centerline is valid? [True, True] Translation: X:305.29, Y:4.02, Z:3.59 [[ 9.98295368e-01 -5.65234264e-02 -1.45417026e-02 3.05289060e+02] [ 5.65259767e-02 9.98401101e-01 -2.35910654e-04 4.01898104e+00] [ 1.45317863e-02 -5.86475427e-04 9.99894236e-01 3.58532948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.855099893 meters 0.02280964754327488 Centerline is valid? [True, True] Translation: X:305.32, Y:4.02, Z:3.59 [[ 9.98172622e-01 -5.86484099e-02 -1.45526901e-02 3.05320927e+02] [ 5.86512056e-02 9.98278509e-01 -2.34975185e-04 4.01696997e+00] [ 1.45414187e-02 -6.18987021e-04 9.99894076e-01 3.58540409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.885099893 meters 0.020621613719264756 Centerline is valid? [True, True] Translation: X:305.35, Y:4.02, Z:3.59 [[ 9.98045045e-01 -6.07316341e-02 -1.47565646e-02 3.05352713e+02] [ 6.07347582e-02 9.98153913e-01 -2.36754922e-04 4.01966019e+00] [ 1.47437012e-02 -6.59944308e-04 9.99891088e-01 3.58589975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.915099893 meters 0.0217481630147058 Centerline is valid? [True, True] Translation: X:305.38, Y:4.02, Z:3.59 [[ 9.97832040e-01 -6.43551027e-02 -1.37710386e-02 3.05383917e+02] [ 6.43581767e-02 9.97926839e-01 -2.20281493e-04 4.01779745e+00] [ 1.37566652e-02 -6.66475003e-04 9.99905150e-01 3.58668018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.945099893 meters 0.02231209403719896 Centerline is valid? [True, True] Translation: X:305.42, Y:4.02, Z:3.59 [[ 9.97782558e-01 -6.52776625e-02 -1.29920566e-02 3.05416291e+02] [ 6.52804799e-02 9.97866933e-01 -2.07561028e-04 4.01747702e+00] [ 1.29778928e-02 -6.41026915e-04 9.99915578e-01 3.58780140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.975099893 meters 0.027143684708323186 Centerline is valid? [True, True] Translation: X:305.45, Y:4.01, Z:3.59 [[ 9.97748394e-01 -6.59230973e-02 -1.23404566e-02 3.05447427e+02] [ 6.59256989e-02 9.97824515e-01 -1.96291243e-04 4.01195844e+00] [ 1.23265503e-02 -6.17703955e-04 9.99923834e-01 3.58896045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.005099893 meters 0.026866337929949365 Centerline is valid? [True, True] Translation: X:305.48, Y:4.01, Z:3.59 [[ 9.97760777e-01 -6.58452773e-02 -1.17401598e-02 3.05480803e+02] [ 6.58476334e-02 9.97829672e-01 -1.86165287e-04 4.01337935e+00] [ 1.17269379e-02 -5.87313318e-04 9.99931065e-01 3.58972798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.035099893 meters 0.026866337929949365 Centerline is valid? [True, True] Translation: X:305.51, Y:4.01, Z:3.59 [[ 9.97767596e-01 -6.57418648e-02 -1.17401790e-02 3.05513375e+02] [ 6.57442280e-02 9.97836491e-01 -1.84948569e-04 4.01379808e+00] [ 1.17269379e-02 -5.87313315e-04 9.99931065e-01 3.59013046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.065099893 meters 0.02160964489233966 Centerline is valid? [True, True] Translation: X:305.55, Y:4.02, Z:3.59 [[ 9.97780077e-01 -6.55441246e-02 -1.17849732e-02 3.05545445e+02] [ 6.55465068e-02 9.97849498e-01 -1.84410891e-04 4.02217908e+00] [ 1.17717166e-02 -5.88462311e-04 9.99930538e-01 3.59094871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.095099893 meters 0.024747551383316163 Centerline is valid? [True, True] Translation: X:305.58, Y:4.02, Z:3.59 [[ 9.97677106e-01 -6.72847486e-02 -1.06374400e-02 3.05576946e+02] [ 6.72867959e-02 9.97733662e-01 -1.65716987e-04 4.01910178e+00] [ 1.06244822e-02 -5.50427212e-04 9.99943407e-01 3.59267306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.125099893 meters 0.024106970383361653 Centerline is valid? [True, True] Translation: X:305.61, Y:4.02, Z:3.59 [[ 9.97517838e-01 -6.93994340e-02 -1.19114276e-02 3.05608877e+02] [ 6.94021602e-02 9.97588746e-01 -1.84826453e-04 4.02083217e+00] [ 1.18955330e-02 -6.42311126e-04 9.99929039e-01 3.59265970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.155099893 meters 0.027698425048428066 Centerline is valid? [True, True] Translation: X:305.64, Y:4.02, Z:3.59 [[ 9.97089974e-01 -7.40716173e-02 -1.80271592e-02 3.05639034e+02] [ 7.40786501e-02 9.97252363e-01 -2.78251324e-04 4.01628638e+00] [ 1.79982377e-02 -1.05798602e-03 9.99837459e-01 3.58790309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18509989300003 meters 0.027258736746558817 Centerline is valid? [True, True] Translation: X:305.67, Y:4.02, Z:3.59 [[ 9.96983802e-01 -7.46174950e-02 -2.13431032e-02 3.05670924e+02] [ 7.46274980e-02 9.97211426e-01 -3.28535027e-04 4.01760171e+00] [ 2.13081008e-02 -1.26523829e-03 9.99772156e-01 3.58518260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.215099893 meters 0.027421613850726466 Centerline is valid? [True, True] Translation: X:305.70, Y:4.02, Z:3.58 [[ 9.96937521e-01 -7.45652868e-02 -2.35710904e-02 3.05703461e+02] [ 7.45775159e-02 9.97215154e-01 -3.61038028e-04 4.01880844e+00] [ 2.35323694e-02 -1.39794101e-03 9.99722098e-01 3.58338988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24509989300003 meters 0.02736073854049038 Centerline is valid? [True, True] Translation: X:305.74, Y:4.02, Z:3.58 [[ 9.96948213e-01 -7.38998185e-02 -2.51610138e-02 3.05735561e+02] [ 7.39135899e-02 9.97264576e-01 -3.83522187e-04 4.02088108e+00] [ 2.51205300e-02 -1.47738910e-03 9.99683338e-01 3.58263713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.275099893 meters 0.025855179723875507 Centerline is valid? [True, True] Translation: X:305.77, Y:4.03, Z:3.58 [[ 9.97149807e-01 -7.08678347e-02 -2.58846108e-02 3.05766848e+02] [ 7.08814277e-02 9.97484671e-01 -3.93160669e-04 4.02706808e+00] [ 2.58473649e-02 -1.44269808e-03 9.99664860e-01 3.58341220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30509989300003 meters 0.024309628121137943 Centerline is valid? [True, True] Translation: X:305.80, Y:4.03, Z:3.58 [[ 9.97347991e-01 -6.79872364e-02 -2.59753642e-02 3.05797989e+02] [ 6.79999751e-02 9.97685245e-01 -3.93605705e-04 4.03172646e+00] [ 2.59419977e-02 -1.37376226e-03 9.99662506e-01 3.58490259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.335099893 meters 0.02385338426833033 Centerline is valid? [True, True] Translation: X:305.83, Y:4.04, Z:3.59 [[ 9.97587129e-01 -6.44869798e-02 -2.57167118e-02 3.05828031e+02] [ 6.44983172e-02 9.97917740e-01 -3.89242085e-04 4.03507099e+00] [ 2.56882640e-02 -1.27038174e-03 9.99669195e-01 3.58616794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36509989300004 meters 0.02122250562755776 Centerline is valid? [True, True] Translation: X:305.86, Y:4.04, Z:3.59 [[ 9.97840622e-01 -6.07618254e-02 -2.49417968e-02 3.05858475e+02] [ 6.07713283e-02 9.98151643e-01 -3.77513154e-04 4.04134682e+00] [ 2.49186339e-02 -1.13904816e-03 9.99688834e-01 3.58829241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.395099893 meters 0.021764337498539957 Centerline is valid? [True, True] Translation: X:305.89, Y:4.04, Z:3.59 [[ 9.98116935e-01 -5.65690428e-02 -2.37176480e-02 3.05887974e+02] [ 5.65764729e-02 9.98398204e-01 -3.58170791e-04 4.04289175e+00] [ 2.36999185e-02 -9.84364538e-04 9.99718633e-01 3.58909915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42509989300004 meters 0.01761149064341946 Centerline is valid? [True, True] Translation: X:305.92, Y:4.05, Z:3.59 [[ 9.98613850e-01 -4.85638093e-02 -2.02961763e-02 3.05918557e+02] [ 4.85676132e-02 9.98819850e-01 -3.05747485e-04 4.05294414e+00] [ 2.02870720e-02 -6.80413167e-04 9.99793965e-01 3.59335515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.455099893 meters 0.016816866991684436 Centerline is valid? [True, True] Translation: X:305.95, Y:4.06, Z:3.60 [[ 9.98807401e-01 -4.53053323e-02 -1.81989600e-02 3.05950268e+02] [ 4.53078557e-02 9.98973034e-01 -2.73848400e-04 4.05599264e+00] [ 1.81926771e-02 -5.51034043e-04 9.99834348e-01 3.59558931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.485099893 meters 0.015243380072344296 Centerline is valid? [True, True] Translation: X:305.98, Y:4.06, Z:3.60 [[ 9.99096540e-01 -3.95129040e-02 -1.56471768e-02 3.05980501e+02] [ 3.95140680e-02 9.99218987e-01 -2.34881932e-04 4.06036354e+00] [ 1.56442370e-02 -3.83613884e-04 9.99877548e-01 3.59835283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.515099893 meters 0.014022135102357875 Centerline is valid? [True, True] Translation: X:306.01, Y:4.06, Z:3.60 [[ 9.99220177e-01 -3.63371765e-02 -1.54482453e-02 3.06013018e+02] [ 3.63379366e-02 9.99339532e-01 -2.31579718e-04 4.06326274e+00] [ 1.54464572e-02 -3.29958230e-04 9.99880642e-01 3.59886513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.545099893 meters 0.013392114847057232 Centerline is valid? [True, True] Translation: X:306.04, Y:4.06, Z:3.60 [[ 9.99326731e-01 -3.30819593e-02 -1.58640730e-02 3.06044827e+02] [ 3.30823755e-02 9.99452600e-01 -2.36260588e-04 4.06458495e+00] [ 1.58632049e-02 -2.88719698e-04 9.99874130e-01 3.59860528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.575099893 meters 0.01284999899167689 Centerline is valid? [True, True] Translation: X:306.08, Y:4.07, Z:3.60 [[ 9.99403726e-01 -3.02060235e-02 -1.67268871e-02 3.06075863e+02] [ 3.02061019e-02 9.99543661e-01 -2.48017753e-04 4.06603880e+00] [ 1.67267456e-02 -2.57384189e-04 9.99860065e-01 3.59803571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.605099893 meters 0.01196189726673702 Centerline is valid? [True, True] Translation: X:306.11, Y:4.07, Z:3.60 [[ 9.99524622e-01 -2.50965408e-02 -1.79079233e-02 3.06107283e+02] [ 2.50958228e-02 9.99685015e-01 -2.64856088e-04 4.06894631e+00] [ 1.79089296e-02 -1.84683889e-04 9.99839605e-01 3.59766782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.635099893 meters 0.011795579176141767 Centerline is valid? [True, True] Translation: X:306.14, Y:4.07, Z:3.60 [[ 9.99557756e-01 -2.31844794e-02 -1.86218156e-02 3.06137474e+02] [ 2.31833799e-02 9.99731192e-01 -2.74949224e-04 4.06986774e+00] [ 1.86231844e-02 -1.56888995e-04 9.99826561e-01 3.59797075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.665099893 meters 0.011595223532386645 Centerline is valid? [True, True] Translation: X:306.17, Y:4.07, Z:3.60 [[ 9.99585041e-01 -2.18491082e-02 -1.87713015e-02 3.06166821e+02] [ 2.18477512e-02 9.99761271e-01 -2.77384603e-04 4.07017992e+00] [ 1.87728808e-02 -1.32841225e-04 9.99823765e-01 3.59784353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.695099893 meters 0.011470543065922205 Centerline is valid? [True, True] Translation: X:306.20, Y:4.07, Z:3.60 [[ 9.99602793e-01 -2.04185351e-02 -1.94252538e-02 3.06195756e+02] [ 2.04167938e-02 9.99791514e-01 -2.87973798e-04 4.07020007e+00] [ 1.94270839e-02 -1.08741990e-04 9.99811270e-01 3.59777029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.725099893 meters 0.01132938951027268 Centerline is valid? [True, True] Translation: X:306.22, Y:4.07, Z:3.60 [[ 9.99655076e-01 -1.70367140e-02 -1.99869799e-02 3.06223192e+02] [ 1.70341644e-02 9.99854864e-01 -2.97815003e-04 4.07025660e+00] [ 1.99891529e-02 -4.27492217e-05 9.99800196e-01 3.59743695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.755099893 meters 0.011286632218622928 Centerline is valid? [True, True] Translation: X:306.25, Y:4.07, Z:3.60 [[ 9.99676816e-01 -1.55671755e-02 -2.00979079e-02 3.06250879e+02] [ 1.55642356e-02 9.99878824e-01 -3.02700993e-04 4.07079385e+00] [ 2.01001847e-02 -1.02054088e-05 9.99797971e-01 3.59774689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.785099893 meters 0.011255134481363527 Centerline is valid? [True, True] Translation: X:306.28, Y:4.07, Z:3.60 [[ 9.99743388e-01 -1.23771444e-02 -1.89727550e-02 3.06278387e+02] [ 1.23738540e-02 9.99923399e-01 -2.90813750e-04 4.07181907e+00] [ 1.89749011e-02 5.59730223e-05 9.99819959e-01 3.59911303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.815099893 meters 0.011285555364311152 Centerline is valid? [True, True] Translation: X:306.31, Y:4.07, Z:3.60 [[ 9.99771607e-01 -1.08767383e-02 -1.83964965e-02 3.06306606e+02] [ 1.08732996e-02 9.99940843e-01 -2.86939969e-04 4.07265779e+00] [ 1.83985292e-02 8.68438166e-05 9.99830729e-01 3.60002512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.845099893 meters 0.011275524901381286 Centerline is valid? [True, True] Translation: X:306.33, Y:4.07, Z:3.60 [[ 9.99829982e-01 -8.72783397e-03 -1.62429159e-02 3.06334516e+02] [ 8.72480318e-03 9.99961905e-01 -2.57446638e-04 4.07146229e+00] [ 1.62445441e-02 1.15686623e-04 9.99868042e-01 3.60166050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.875099893 meters 0.010692360811833272 Centerline is valid? [True, True] Translation: X:306.36, Y:4.06, Z:3.60 [[ 9.99782688e-01 -1.29218923e-02 -1.63585229e-02 3.06362069e+02] [ 1.29193158e-02 9.99916508e-01 -2.63173054e-04 4.06047801e+00] [ 1.63605578e-02 5.17749398e-05 9.99866156e-01 3.60053164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.905099893 meters 0.017652866973675494 Centerline is valid? [True, True] Translation: X:306.39, Y:4.01, Z:3.59 [[ 9.98246802e-01 -5.48773032e-02 -2.21766598e-02 3.06393005e+02] [ 5.48828618e-02 9.98492736e-01 -3.58363481e-04 4.01112860e+00] [ 2.21628997e-02 -8.59383358e-04 9.99754003e-01 3.59251197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93509989300003 meters 0.017652866973675494 Centerline is valid? [True, True] Translation: X:306.42, Y:4.01, Z:3.59 [[ 9.98250830e-01 -5.48039790e-02 -2.21766691e-02 3.06424716e+02] [ 5.48095323e-02 9.98496764e-01 -3.57788477e-04 4.01158558e+00] [ 2.21629405e-02 -8.58330216e-04 9.99754003e-01 3.59290421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.965099893 meters 0.01816463342905622 Centerline is valid? [True, True] Translation: X:306.46, Y:4.01, Z:3.59 [[ 9.98167733e-01 -5.61698543e-02 -2.24972278e-02 3.06456410e+02] [ 5.61759447e-02 9.98420819e-01 -3.61668332e-04 4.01004202e+00] [ 2.24820154e-02 -9.02797365e-04 9.99746840e-01 3.59286339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99509989300003 meters 0.01816463342905622 Centerline is valid? [True, True] Translation: X:306.49, Y:4.01, Z:3.59 [[ 9.98171852e-01 -5.60965992e-02 -2.24972469e-02 3.06488123e+02] [ 5.61026980e-02 9.98424938e-01 -3.60472917e-04 4.01049499e+00] [ 2.24820337e-02 -9.02342331e-04 9.99746840e-01 3.59325549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.025099893 meters 0.01816463342905622 Centerline is valid? [True, True] Translation: X:306.52, Y:4.01, Z:3.59 [[ 9.98175966e-01 -5.60233382e-02 -2.24972733e-02 3.06519835e+02] [ 5.60294555e-02 9.98429052e-01 -3.58822148e-04 4.01094542e+00] [ 2.24820337e-02 -9.02342329e-04 9.99746840e-01 3.59364747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05509989300003 meters 0.01908535352289021 Centerline is valid? [True, True] Translation: X:306.55, Y:4.01, Z:3.59 [[ 9.98115011e-01 -5.69294789e-02 -2.29228856e-02 3.06551427e+02] [ 5.69361030e-02 9.98377758e-01 -3.64108396e-04 4.00937003e+00] [ 2.29064277e-02 -9.41717723e-04 9.99737170e-01 3.59343558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.085099893 meters 0.01908535352289021 Centerline is valid? [True, True] Translation: X:306.58, Y:4.01, Z:3.59 [[ 9.98119142e-01 -5.68570054e-02 -2.29229085e-02 3.06583140e+02] [ 5.68636435e-02 9.98381888e-01 -3.62665856e-04 4.00981525e+00] [ 2.29064367e-02 -9.41496364e-04 9.99737170e-01 3.59382763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11509989300004 meters 0.01908535352289021 Centerline is valid? [True, True] Translation: X:306.61, Y:4.01, Z:3.59 [[ 9.98123267e-01 -5.67845289e-02 -2.29229347e-02 3.06614854e+02] [ 5.67911861e-02 9.98386013e-01 -3.61001793e-04 4.01025806e+00] [ 2.29064367e-02 -9.41496363e-04 9.99737170e-01 3.59421962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.145099893 meters 0.01843026694869457 Centerline is valid? [True, True] Translation: X:306.65, Y:4.01, Z:3.59 [[ 9.98100157e-01 -5.70528565e-02 -2.32604313e-02 3.06647463e+02] [ 5.70598238e-02 9.98370694e-01 -3.64602313e-04 4.01111722e+00] [ 2.32433345e-02 -9.63326484e-04 9.99729373e-01 3.59477427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17509989300004 meters 0.01843026694869457 Centerline is valid? [True, True] Translation: X:306.68, Y:4.01, Z:3.60 [[ 9.98104361e-01 -5.69792583e-02 -2.32604581e-02 3.06679177e+02] [ 5.69862456e-02 9.98374898e-01 -3.62887496e-04 4.01155696e+00] [ 2.32433345e-02 -9.63326585e-04 9.99729373e-01 3.59516627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.205099893 meters 0.01843026694869457 Centerline is valid? [True, True] Translation: X:306.71, Y:4.01, Z:3.60 [[ 9.98108559e-01 -5.69056599e-02 -2.32604847e-02 3.06710892e+02] [ 5.69126672e-02 9.98379095e-01 -3.61172779e-04 4.01199437e+00] [ 2.32433345e-02 -9.63326583e-04 9.99729373e-01 3.59555827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.235099893 meters 0.01843026694869457 Centerline is valid? [True, True] Translation: X:306.74, Y:4.01, Z:3.60 [[ 9.98112752e-01 -5.68320612e-02 -2.32605112e-02 3.06742606e+02] [ 5.68390884e-02 9.98383288e-01 -3.59458059e-04 4.01242943e+00] [ 2.32433344e-02 -9.63326582e-04 9.99729373e-01 3.59595027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.265099893 meters 0.018528321446557538 Centerline is valid? [True, True] Translation: X:306.78, Y:4.01, Z:3.60 [[ 9.98093999e-01 -5.70364708e-02 -2.35628932e-02 3.06775011e+02] [ 5.70437800e-02 9.98371612e-01 -3.62381308e-04 4.01151444e+00] [ 2.35451926e-02 -9.82425887e-04 9.99722291e-01 3.59571443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.295099893 meters 0.01858769828499855 Centerline is valid? [True, True] Translation: X:306.81, Y:4.01, Z:3.60 [[ 9.98112592e-01 -5.68617632e-02 -2.31946742e-02 3.06807392e+02] [ 5.68688378e-02 9.98381595e-01 -3.55024187e-04 4.01134540e+00] [ 2.31773231e-02 -9.64700055e-04 9.99730904e-01 3.59580267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.325099893 meters 0.01858769828499855 Centerline is valid? [True, True] Translation: X:306.84, Y:4.01, Z:3.60 [[ 9.98116767e-01 -5.67884341e-02 -2.31947002e-02 3.06839107e+02] [ 5.67955285e-02 9.98385769e-01 -3.53319806e-04 4.01177329e+00] [ 2.31773231e-02 -9.64700836e-04 9.99730904e-01 3.59619468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.355099893 meters 0.019883621213046487 Centerline is valid? [True, True] Translation: X:306.87, Y:4.01, Z:3.60 [[ 9.98118094e-01 -5.70664756e-02 -2.24429931e-02 3.06869883e+02] [ 5.70732196e-02 9.98369937e-01 -3.40438597e-04 4.01041909e+00] [ 2.24258372e-02 -9.41095949e-04 9.99748066e-01 3.59640069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.385099893 meters 0.01883108911875592 Centerline is valid? [True, True] Translation: X:306.90, Y:4.01, Z:3.60 [[ 9.98120162e-01 -5.73680948e-02 -2.15648886e-02 3.06902018e+02] [ 5.73744201e-02 9.98352678e-01 -3.25790487e-04 4.01279928e+00] [ 2.15480542e-02 -9.12094922e-04 9.99767398e-01 3.59787426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.415099893 meters 0.019611767766234637 Centerline is valid? [True, True] Translation: X:306.93, Y:4.01, Z:3.60 [[ 9.98131944e-01 -5.79046647e-02 -1.94851737e-02 3.06934433e+02] [ 5.79099565e-02 9.98321767e-01 -2.93028648e-04 4.01363168e+00] [ 1.94694408e-02 -8.35904308e-04 9.99810103e-01 3.59948451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.445099893 meters 0.020686922658990425 Centerline is valid? [True, True] Translation: X:306.97, Y:4.01, Z:3.60 [[ 9.98154369e-01 -5.79437209e-02 -1.81763877e-02 3.06965323e+02] [ 5.79483530e-02 9.98319545e-01 -2.72188236e-04 4.01322559e+00] [ 1.81616147e-02 -7.81605853e-04 9.99834759e-01 3.60020957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.475099893 meters 0.019169617164197256 Centerline is valid? [True, True] Translation: X:307.00, Y:4.02, Z:3.60 [[ 9.98164773e-01 -5.79307394e-02 -1.76384521e-02 3.06997794e+02] [ 5.79351176e-02 9.98320316e-01 -2.63090858e-04 4.01658706e+00] [ 1.76240661e-02 -7.59277770e-04 9.99844396e-01 3.60150051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.505099893 meters 0.019620007283789223 Centerline is valid? [True, True] Translation: X:307.03, Y:4.02, Z:3.60 [[ 9.98186889e-01 -5.77445644e-02 -1.69852762e-02 3.07030142e+02] [ 5.77486180e-02 9.98331124e-01 -2.52132699e-04 4.01714907e+00] [ 1.69714892e-02 -7.29200671e-04 9.99855708e-01 3.60179362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.535099893 meters 0.02092309812025476 Centerline is valid? [True, True] Translation: X:307.06, Y:4.02, Z:3.60 [[ 9.98166990e-01 -5.81459564e-02 -1.67841761e-02 3.07061673e+02] [ 5.81499902e-02 9.98307827e-01 -2.48012768e-04 4.01709992e+00] [ 1.67701953e-02 -7.28441516e-04 9.99859105e-01 3.60163232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.565099893 meters 0.020164913240999695 Centerline is valid? [True, True] Translation: X:307.09, Y:4.02, Z:3.60 [[ 9.98113151e-01 -5.88438155e-02 -1.75369209e-02 3.07094207e+02] [ 5.88483458e-02 9.98266901e-01 -2.58053537e-04 4.01951030e+00] [ 1.75217125e-02 -7.74452154e-04 9.99846183e-01 3.60138565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.595099893 meters 0.021872651351733115 Centerline is valid? [True, True] Translation: X:307.13, Y:4.02, Z:3.60 [[ 9.98038711e-01 -5.98133363e-02 -1.84687766e-02 3.07125828e+02] [ 5.98185556e-02 9.98209230e-01 -2.70199732e-04 4.01801947e+00] [ 1.84518648e-02 -8.35105750e-04 9.99829401e-01 3.60074350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.625099893 meters 0.022426340310302325 Centerline is valid? [True, True] Translation: X:307.16, Y:4.02, Z:3.60 [[ 9.97966107e-01 -6.07926850e-02 -1.91806948e-02 3.07158208e+02] [ 6.07985292e-02 9.98150019e-01 -2.78835096e-04 4.01819038e+00] [ 1.91621620e-02 -8.87890054e-04 9.99815995e-01 3.60025624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.655099893 meters 0.021009875853442897 Centerline is valid? [True, True] Translation: X:307.19, Y:4.02, Z:3.60 [[ 9.97889407e-01 -6.18290782e-02 -1.98468193e-02 3.07190321e+02] [ 6.18355690e-02 9.98086309e-01 -2.87056692e-04 4.02226679e+00] [ 1.98265870e-02 -9.40788530e-04 9.99802991e-01 3.59996016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68509989300003 meters 0.021168120340475816 Centerline is valid? [True, True] Translation: X:307.22, Y:4.02, Z:3.60 [[ 9.97912979e-01 -6.13822265e-02 -2.00476802e-02 3.07222420e+02] [ 6.13887891e-02 9.98113888e-01 -2.88482904e-04 4.02387007e+00] [ 2.00275758e-02 -9.42821977e-04 9.99798983e-01 3.60051008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.715099893 meters 0.02336476289174903 Centerline is valid? [True, True] Translation: X:307.25, Y:4.02, Z:3.60 [[ 9.97975464e-01 -6.02525042e-02 -2.03619560e-02 3.07253582e+02] [ 6.02590671e-02 9.98182729e-01 -2.91653681e-04 4.02300327e+00] [ 2.03425257e-02 -9.35929256e-04 9.99792631e-01 3.60049855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74509989300003 meters 0.019260107231329194 Centerline is valid? [True, True] Translation: X:307.28, Y:4.03, Z:3.60 [[ 9.98272838e-01 -5.58152508e-02 -1.83302501e-02 3.07284302e+02] [ 5.58198353e-02 9.98440823e-01 -2.61839027e-04 4.03377457e+00] [ 1.83162846e-02 -7.61804753e-04 9.99831953e-01 3.60306484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.775099893 meters 0.01884423105948025 Centerline is valid? [True, True] Translation: X:307.31, Y:4.04, Z:3.60 [[ 9.98457846e-01 -5.25083416e-02 -1.80222993e-02 3.07314309e+02] [ 5.25122413e-02 9.98620247e-01 -2.57114599e-04 4.03714166e+00] [ 1.80109336e-02 -6.89673238e-04 9.99837552e-01 3.60393023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80509989300003 meters 0.017250026699618202 Centerline is valid? [True, True] Translation: X:307.35, Y:4.04, Z:3.60 [[ 9.98658099e-01 -4.88101403e-02 -1.73081206e-02 3.07346007e+02] [ 4.88131914e-02 9.98807895e-01 -2.46389518e-04 4.04267868e+00] [ 1.72995138e-02 -5.98805717e-04 9.99850173e-01 3.60498183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.835099893 meters 0.015102754030719043 Centerline is valid? [True, True] Translation: X:307.38, Y:4.05, Z:3.61 [[ 9.99058450e-01 -4.05649059e-02 -1.53851152e-02 3.07376970e+02] [ 4.05663507e-02 9.99176823e-01 -2.18285641e-04 4.05184539e+00] [ 1.53813052e-02 -4.06037863e-04 9.99881618e-01 3.60646796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86509989300004 meters 0.015102754030719043 Centerline is valid? [True, True] Translation: X:307.41, Y:4.05, Z:3.61 [[ 9.99061373e-01 -4.04928427e-02 -1.53851195e-02 3.07408669e+02] [ 4.04942836e-02 9.99179746e-01 -2.17980721e-04 4.05223815e+00] [ 1.53813264e-02 -4.05233273e-04 9.99881618e-01 3.60685998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.895099893 meters 0.014352227783066536 Centerline is valid? [True, True] Translation: X:307.44, Y:4.06, Z:3.61 [[ 9.99239523e-01 -3.62822553e-02 -1.42819472e-02 3.07438681e+02] [ 3.62830794e-02 9.99341532e-01 -2.01488355e-04 4.05638498e+00] [ 1.42798535e-02 -3.16857899e-04 9.99897987e-01 3.60782828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92509989300004 meters 0.012495002047871765 Centerline is valid? [True, True] Translation: X:307.47, Y:4.07, Z:3.61 [[ 9.99525565e-01 -2.81302036e-02 -1.25434259e-02 3.07470077e+02] [ 2.81302000e-02 9.99604252e-01 -1.76757258e-04 4.06540439e+00] [ 1.25434341e-02 -1.76175680e-04 9.99921313e-01 3.60974167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.955099893 meters 0.012495002047871765 Centerline is valid? [True, True] Translation: X:307.50, Y:4.07, Z:3.61 [[ 9.99526559e-01 -2.80948557e-02 -1.25434361e-02 3.07500922e+02] [ 2.80948585e-02 9.99605246e-01 -1.76027774e-04 4.06580804e+00] [ 1.25434300e-02 -1.76461627e-04 9.99921313e-01 3.61012293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.985099893 meters 0.01203259778254893 Centerline is valid? [True, True] Translation: X:307.53, Y:4.07, Z:3.61 [[ 9.99627264e-01 -2.44856237e-02 -1.20742468e-02 3.07531369e+02] [ 2.44853678e-02 9.99700174e-01 -1.69042156e-04 4.06988144e+00] [ 1.20747658e-02 -1.26663227e-04 9.99927089e-01 3.61109631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.015099893 meters 0.011605539300148529 Centerline is valid? [True, True] Translation: X:307.56, Y:4.07, Z:3.61 [[ 9.99708204e-01 -2.12887373e-02 -1.14147241e-02 3.07562382e+02] [ 2.12883089e-02 9.99773366e-01 -1.59050817e-04 4.07370013e+00] [ 1.14155232e-02 -8.39957670e-05 9.99934837e-01 3.61192201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.045099893 meters 0.011233603125793893 Centerline is valid? [True, True] Translation: X:307.59, Y:4.08, Z:3.61 [[ 9.99797841e-01 -1.64777044e-02 -1.15222884e-02 3.07593912e+02] [ 1.64769530e-02 9.99864233e-01 -1.60144631e-04 4.07858941e+00] [ 1.15233629e-02 -2.97399488e-05 9.99933603e-01 3.61209864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.075099893 meters 0.011215221979264717 Centerline is valid? [True, True] Translation: X:307.62, Y:4.08, Z:3.61 [[ 9.99821482e-01 -1.46987617e-02 -1.18722542e-02 3.07624090e+02] [ 1.46978439e-02 9.99891967e-01 -1.64557479e-04 4.08047348e+00] [ 1.18733904e-02 -9.96843737e-06 9.99929509e-01 3.61232719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.105099893 meters 0.011228688780980794 Centerline is valid? [True, True] Translation: X:307.65, Y:4.08, Z:3.61 [[ 9.99836075e-01 -1.37675093e-02 -1.17592437e-02 3.07652991e+02] [ 1.37665450e-02 9.99905223e-01 -1.62948050e-04 4.08164973e+00] [ 1.17603726e-02 1.03718122e-06 9.99930844e-01 3.61259781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.135099893 meters 0.011216215235681861 Centerline is valid? [True, True] Translation: X:307.68, Y:4.08, Z:3.61 [[ 9.99842905e-01 -1.31485634e-02 -1.18861763e-02 3.07681192e+02] [ 1.31475242e-02 9.99913554e-01 -1.65569450e-04 4.08237822e+00] [ 1.18873258e-02 9.26964949e-06 9.99929343e-01 3.61278048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.165099893 meters 0.011311610297568251 Centerline is valid? [True, True] Translation: X:307.71, Y:4.08, Z:3.61 [[ 9.99820919e-01 -1.40694997e-02 -1.26562143e-02 3.07709772e+02] [ 1.40683862e-02 9.99901020e-01 -1.77015814e-04 4.08169404e+00] [ 1.26574521e-02 -1.06839638e-06 9.99919891e-01 3.61254222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.195099893 meters 0.011259851885581092 Centerline is valid? [True, True] Translation: X:307.74, Y:4.08, Z:3.61 [[ 9.99806366e-01 -1.51483033e-02 -1.25602133e-02 3.07738452e+02] [ 1.51472830e-02 9.99885258e-01 -1.76364305e-04 4.08105723e+00] [ 1.25614438e-02 -1.39229504e-05 9.99921102e-01 3.61273172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.225099893 meters 0.011320794137810581 Centerline is valid? [True, True] Translation: X:307.77, Y:4.08, Z:3.61 [[ 9.99779449e-01 -1.65911889e-02 -1.28757966e-02 3.07766894e+02] [ 1.65901951e-02 9.99862356e-01 -1.83994391e-04 4.08010100e+00] [ 1.28770770e-02 -2.96581667e-05 9.99917087e-01 3.61332141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.255099893 meters 0.01142075807354132 Centerline is valid? [True, True] Translation: X:307.80, Y:4.08, Z:3.61 [[ 9.99756139e-01 -1.79055145e-02 -1.29250173e-02 3.07795943e+02] [ 1.79046141e-02 9.99839682e-01 -1.85386829e-04 4.07877663e+00] [ 1.29262647e-02 -4.60758267e-05 9.99916451e-01 3.61372140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.285099893 meters 0.011547819998253996 Centerline is valid? [True, True] Translation: X:307.83, Y:4.08, Z:3.61 [[ 9.99688719e-01 -2.18584863e-02 -1.20279588e-02 3.07826002e+02] [ 2.18579855e-02 9.99761071e-01 -1.73112842e-04 4.07518630e+00] [ 1.20288689e-02 -8.98479922e-05 9.99927647e-01 3.61471959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.315099893 meters 0.011852165201378105 Centerline is valid? [True, True] Translation: X:307.86, Y:4.07, Z:3.62 [[ 9.99644291e-01 -2.39835415e-02 -1.16653635e-02 3.07857522e+02] [ 2.39832097e-02 9.99712347e-01 -1.68355967e-04 4.07315163e+00] [ 1.16660457e-02 -1.11476777e-04 9.99931943e-01 3.61540773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.345099893 meters 0.012359723116400418 Centerline is valid? [True, True] Translation: X:307.89, Y:4.07, Z:3.62 [[ 9.99594001e-01 -2.63812191e-02 -1.07639924e-02 3.07889095e+02] [ 2.63810791e-02 9.99651947e-01 -1.55020700e-04 4.07047020e+00] [ 1.07643356e-02 -1.29007972e-04 9.99942055e-01 3.61629978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.375099893 meters 0.013017495746692438 Centerline is valid? [True, True] Translation: X:307.92, Y:4.07, Z:3.62 [[ 9.99459142e-01 -3.14038619e-02 -9.75807150e-03 3.07921409e+02] [ 3.14039902e-02 9.99506763e-01 -1.40115774e-04 4.06648971e+00] [ 9.75765864e-03 -1.66402390e-04 9.99952379e-01 3.61737482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.405099893 meters 0.0140515006785073 Centerline is valid? [True, True] Translation: X:307.95, Y:4.06, Z:3.62 [[ 9.99380468e-01 -3.40281579e-02 -8.98689167e-03 3.07952383e+02] [ 3.40283785e-02 9.99420859e-01 -1.28394946e-04 4.06312094e+00] [ 8.98605604e-03 -1.77493951e-04 9.99959609e-01 3.61807068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43509989300003 meters 0.014848389948591858 Centerline is valid? [True, True] Translation: X:307.98, Y:4.06, Z:3.62 [[ 9.99285509e-01 -3.67741660e-02 -8.72532556e-03 3.07984856e+02] [ 3.67744820e-02 9.99323582e-01 -1.24262349e-04 4.06053750e+00] [ 8.72399324e-03 -1.96695764e-04 9.99961926e-01 3.61857720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.465099893 meters 0.014582648830143062 Centerline is valid? [True, True] Translation: X:308.02, Y:4.06, Z:3.62 [[ 9.99188743e-01 -3.93356539e-02 -8.63488885e-03 3.08017458e+02] [ 3.93360641e-02 9.99226030e-01 -1.22382666e-04 4.05994855e+00] [ 8.63301971e-03 -2.17379159e-04 9.99962711e-01 3.61862404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49509989300003 meters 0.016213992296151683 Centerline is valid? [True, True] Translation: X:308.05, Y:4.05, Z:3.62 [[ 9.99002075e-01 -4.37626945e-02 -8.92639991e-03 3.08048354e+02] [ 4.37633140e-02 9.99041919e-01 -1.26006527e-04 4.05447538e+00] [ 8.92336208e-03 -2.64768060e-04 9.99960151e-01 3.61853187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.525099893 meters 0.01674680581483968 Centerline is valid? [True, True] Translation: X:308.08, Y:4.05, Z:3.62 [[ 9.98919941e-01 -4.54755688e-02 -9.53541573e-03 3.08080242e+02] [ 4.54763678e-02 9.98965406e-01 -1.33122852e-04 4.05259890e+00] [ 9.53160428e-03 -3.00657002e-04 9.99954528e-01 3.61871439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55509989300003 meters 0.017222281440648007 Centerline is valid? [True, True] Translation: X:308.11, Y:4.05, Z:3.62 [[ 9.98848225e-01 -4.69916954e-02 -9.69561103e-03 3.08112137e+02] [ 4.69925998e-02 9.98895228e-01 -1.34637612e-04 4.05066070e+00] [ 9.69122644e-03 -3.21139429e-04 9.99952987e-01 3.61863668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.585099893 meters 0.017316841547314225 Centerline is valid? [True, True] Translation: X:308.14, Y:4.05, Z:3.62 [[ 9.98784603e-01 -4.83369494e-02 -9.63619019e-03 3.08144368e+02] [ 4.83379120e-02 9.98831031e-01 -1.33116017e-04 4.04959568e+00] [ 9.63136021e-03 -3.32839086e-04 9.99953562e-01 3.61845961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61509989300004 meters 0.019029220582150903 Centerline is valid? [True, True] Translation: X:308.18, Y:4.04, Z:3.62 [[ 9.98705954e-01 -4.98657219e-02 -9.99132478e-03 3.08175227e+02] [ 4.98668418e-02 9.98755866e-01 -1.37163796e-04 4.04489790e+00] [ 9.98573400e-03 -3.61249512e-04 9.99950076e-01 3.61833653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.645099893 meters 0.018826772120418583 Centerline is valid? [True, True] Translation: X:308.21, Y:4.04, Z:3.62 [[ 9.98694725e-01 -5.00428125e-02 -1.02255693e-02 3.08207727e+02] [ 5.00439980e-02 9.98747004e-01 -1.40069582e-04 4.04465260e+00] [ 1.02197661e-02 -3.71841614e-04 9.99947708e-01 3.61830059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67509989300004 meters 0.019044567436266892 Centerline is valid? [True, True] Translation: X:308.24, Y:4.04, Z:3.62 [[ 9.98699448e-01 -4.97398347e-02 -1.11965092e-02 3.08240020e+02] [ 4.97412470e-02 9.98762126e-01 -1.52473957e-04 4.04306649e+00] [ 1.11902334e-02 -4.04652675e-04 9.99937306e-01 3.61761470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.705099893 meters 0.019044567436266892 Centerline is valid? [True, True] Translation: X:308.27, Y:4.04, Z:3.62 [[ 9.98704810e-01 -4.96320525e-02 -1.11965195e-02 3.08272574e+02] [ 4.96334666e-02 9.98767488e-01 -1.51713023e-04 4.04341963e+00] [ 1.11902495e-02 -4.04205553e-04 9.99937306e-01 3.61801707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.735099893 meters 0.01989651808619377 Centerline is valid? [True, True] Translation: X:308.30, Y:4.04, Z:3.62 [[ 9.98707146e-01 -4.93105063e-02 -1.23495051e-02 3.08303835e+02] [ 4.93122203e-02 9.98783399e-01 -1.65864712e-04 4.04159023e+00] [ 1.23426596e-02 -4.43331243e-04 9.99923728e-01 3.61710148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.765099893 meters 0.017326706564740772 Centerline is valid? [True, True] Translation: X:308.34, Y:4.05, Z:3.62 [[ 9.98720804e-01 -4.90056799e-02 -1.24578793e-02 3.08335501e+02] [ 4.90074088e-02 9.98798401e-01 -1.66646654e-04 4.04596198e+00] [ 1.24510766e-02 -4.44094905e-04 9.99922384e-01 3.61706200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.795099893 meters 0.020582892112147012 Centerline is valid? [True, True] Translation: X:308.37, Y:4.04, Z:3.62 [[ 9.98730157e-01 -4.88328090e-02 -1.23866903e-02 3.08367405e+02] [ 4.88345162e-02 9.98806870e-01 -1.64778561e-04 4.04121578e+00] [ 1.23799579e-02 -4.40328708e-04 9.99923268e-01 3.61740633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.825099893 meters 0.018150848060261085 Centerline is valid? [True, True] Translation: X:308.40, Y:4.05, Z:3.62 [[ 9.98723589e-01 -4.89889367e-02 -1.22994943e-02 3.08399527e+02] [ 4.89906457e-02 9.98799224e-01 -1.62486933e-04 4.04548574e+00] [ 1.22926854e-02 -4.40280635e-04 9.99924345e-01 3.61786287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.855099893 meters 0.019189843498837515 Centerline is valid? [True, True] Translation: X:308.43, Y:4.04, Z:3.62 [[ 9.98703911e-01 -4.95166547e-02 -1.17728103e-02 3.08430491e+02] [ 4.95182669e-02 9.98773206e-01 -1.54699392e-04 4.04441522e+00] [ 1.17660277e-02 -4.28470276e-04 9.99930686e-01 3.61837940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.885099893 meters 0.01892284071895341 Centerline is valid? [True, True] Translation: X:308.46, Y:4.05, Z:3.62 [[ 9.98696702e-01 -4.96419526e-02 -1.18564297e-02 3.08462855e+02] [ 4.96436041e-02 9.98766984e-01 -1.55159162e-04 4.04532229e+00] [ 1.18495130e-02 -4.33638959e-04 9.99929698e-01 3.61877944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.915099893 meters 0.018513505915608058 Centerline is valid? [True, True] Translation: X:308.50, Y:4.05, Z:3.62 [[ 9.98671035e-01 -5.01747166e-02 -1.17754845e-02 3.08495441e+02] [ 5.01763925e-02 9.98740360e-01 -1.53258688e-04 4.04658685e+00] [ 1.17683413e-02 -4.37796318e-04 9.99930655e-01 3.61910949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.945099893 meters 0.01885578048924524 Centerline is valid? [True, True] Translation: X:308.53, Y:4.05, Z:3.62 [[ 9.98644828e-01 -5.06779565e-02 -1.18428141e-02 3.08527642e+02] [ 5.06796973e-02 9.98714947e-01 -1.53263718e-04 4.04649314e+00] [ 1.18353626e-02 -4.47134215e-04 9.99929860e-01 3.61930938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.975099893 meters 0.021602877624440894 Centerline is valid? [True, True] Translation: X:308.56, Y:4.04, Z:3.62 [[ 9.98535526e-01 -5.27064517e-02 -1.21997329e-02 3.08558798e+02] [ 5.27084613e-02 9.98609931e-01 -1.56972272e-04 4.04263244e+00] [ 1.21910479e-02 -4.86286759e-04 9.99925568e-01 3.61930598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.005099893 meters 0.020439330649953236 Centerline is valid? [True, True] Translation: X:308.59, Y:4.04, Z:3.62 [[ 9.98452386e-01 -5.41217592e-02 -1.27933198e-02 3.08591183e+02] [ 5.41241029e-02 9.98534203e-01 -1.63214481e-04 4.04460188e+00] [ 1.27834008e-02 -5.29465068e-04 9.99918149e-01 3.61964616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.035099893 meters 0.021608239723321522 Centerline is valid? [True, True] Translation: X:308.62, Y:4.04, Z:3.62 [[ 9.98365129e-01 -5.56323382e-02 -1.31191420e-02 3.08622314e+02] [ 5.56349455e-02 9.98451163e-01 -1.66416839e-04 4.04311148e+00] [ 1.31080807e-02 -5.63737980e-04 9.99913927e-01 3.61981562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.065099893 meters 0.023065915953280683 Centerline is valid? [True, True] Translation: X:308.65, Y:4.04, Z:3.62 [[ 9.98214515e-01 -5.81542657e-02 -1.36331977e-02 3.08653584e+02] [ 5.81573263e-02 9.98307415e-01 -1.72180764e-04 4.04116305e+00] [ 1.36201355e-02 -6.20996992e-04 9.99907049e-01 3.62005911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.095099893 meters 0.022729634885881343 Centerline is valid? [True, True] Translation: X:308.69, Y:4.04, Z:3.62 [[ 9.98161283e-01 -5.90322664e-02 -1.37566074e-02 3.08685944e+02] [ 5.90354764e-02 9.98255870e-01 -1.72983504e-04 4.04219914e+00] [ 1.37428257e-02 -6.39462435e-04 9.99905358e-01 3.62067094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.125099893 meters 0.02491838013120036 Centerline is valid? [True, True] Translation: X:308.72, Y:4.04, Z:3.62 [[ 9.98143931e-01 -5.93930563e-02 -1.34594688e-02 3.08717414e+02] [ 5.93961742e-02 9.98234475e-01 -1.68322752e-04 4.04034597e+00] [ 1.34457029e-02 -6.31430618e-04 9.99909403e-01 3.62200592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.155099893 meters 0.024823500659057106 Centerline is valid? [True, True] Translation: X:308.75, Y:4.04, Z:3.62 [[ 9.98187565e-01 -5.88305542e-02 -1.26708518e-02 3.08749889e+02] [ 5.88332802e-02 9.98267810e-01 -1.57818464e-04 4.04120722e+00] [ 1.26581880e-02 -5.87935345e-04 9.99919709e-01 3.62285040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18509989300003 meters 0.022008651801234153 Centerline is valid? [True, True] Translation: X:308.78, Y:4.05, Z:3.62 [[ 9.98253215e-01 -5.78781801e-02 -1.18589987e-02 3.08781894e+02] [ 5.78805100e-02 9.98323507e-01 -1.46941709e-04 4.04621505e+00] [ 1.18476219e-02 -5.39719858e-04 9.99929669e-01 3.62383149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.215099893 meters 0.022975133620792672 Centerline is valid? [True, True] Translation: X:308.81, Y:4.05, Z:3.62 [[ 9.98341795e-01 -5.64329368e-02 -1.13571404e-02 3.08812878e+02] [ 5.64349894e-02 9.98406266e-01 -1.39923200e-04 4.04624009e+00] [ 1.13469364e-02 -5.01248918e-04 9.99935496e-01 3.62451940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24509989300003 meters 0.021595423761247352 Centerline is valid? [True, True] Translation: X:308.84, Y:4.05, Z:3.63 [[ 9.98458532e-01 -5.43258703e-02 -1.13692503e-02 3.08844157e+02] [ 5.43277980e-02 9.98523145e-01 -1.39442398e-04 4.04979293e+00] [ 1.13600349e-02 -4.78438883e-04 9.99935358e-01 3.62531598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.275099893 meters 0.01938385917571476 Centerline is valid? [True, True] Translation: X:308.87, Y:4.06, Z:3.63 [[ 9.98740397e-01 -4.89144654e-02 -1.11800950e-02 3.08874698e+02] [ 4.89159955e-02 9.98802887e-01 -1.36716695e-04 4.05644260e+00] [ 1.11733986e-02 -4.10340991e-04 9.99937491e-01 3.62577348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30509989300003 meters 0.01857470579927626 Centerline is valid? [True, True] Translation: X:308.91, Y:4.06, Z:3.63 [[ 9.98902536e-01 -4.55556646e-02 -1.08813656e-02 3.08906608e+02] [ 4.55569171e-02 9.98961736e-01 -1.32861031e-04 4.05958561e+00] [ 1.08761205e-02 -3.63006252e-04 9.99940787e-01 3.62623833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.335099893 meters 0.016917582161543546 Centerline is valid? [True, True] Translation: X:308.94, Y:4.06, Z:3.63 [[ 9.99055073e-01 -4.20627188e-02 -1.09402174e-02 3.08938315e+02] [ 4.20637821e-02 9.99114919e-01 -1.32994701e-04 4.06446126e+00] [ 1.09361285e-02 -3.27317889e-04 9.99940145e-01 3.62689745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36509989300004 meters 0.01518335884209375 Centerline is valid? [True, True] Translation: X:308.97, Y:4.07, Z:3.63 [[ 9.99317127e-01 -3.55017389e-02 -1.02424001e-02 3.08969091e+02] [ 3.55023325e-02 9.99369586e-01 -1.23922878e-04 4.07154971e+00] [ 1.02403426e-02 -2.39790838e-04 9.99947538e-01 3.62763842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.395099893 meters 0.014523462494049807 Centerline is valid? [True, True] Translation: X:309.00, Y:4.07, Z:3.63 [[ 9.99417708e-01 -3.26139854e-02 -1.00286476e-02 3.09001585e+02] [ 3.26144096e-02 9.99468001e-01 -1.21288062e-04 4.07484567e+00] [ 1.00272681e-02 -2.05860983e-04 9.99949704e-01 3.62834108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42509989300004 meters 0.014157119947471536 Centerline is valid? [True, True] Translation: X:309.03, Y:4.08, Z:3.63 [[ 9.99488931e-01 -3.02797536e-02 -1.02475706e-02 3.09033275e+02] [ 3.02800817e-02 9.99541446e-01 -1.23171439e-04 4.07758406e+00] [ 1.02466011e-02 -1.87188785e-04 9.99947485e-01 3.62862657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.455099893 meters 0.013496431824168969 Centerline is valid? [True, True] Translation: X:309.07, Y:4.08, Z:3.63 [[ 9.99571382e-01 -2.68672166e-02 -1.16277543e-02 3.09065296e+02] [ 2.68674193e-02 9.99638996e-01 -1.38804830e-04 4.08212961e+00] [ 1.16272860e-02 -1.73662414e-04 9.99932386e-01 3.62815599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.485099893 meters 0.013492867447683866 Centerline is valid? [True, True] Translation: X:309.10, Y:4.08, Z:3.63 [[ 9.99589225e-01 -2.58477188e-02 -1.23804701e-02 3.09096519e+02] [ 2.58478822e-02 9.99665877e-01 -1.46842270e-04 4.08324074e+00] [ 1.23801291e-02 -1.73226981e-04 9.99923348e-01 3.62792736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.515099893 meters 0.013133604596979931 Centerline is valid? [True, True] Translation: X:309.13, Y:4.09, Z:3.63 [[ 9.99597370e-01 -2.53255500e-02 -1.27950829e-02 3.09127783e+02] [ 2.53256907e-02 9.99679242e-01 -1.51059819e-04 4.08558145e+00] [ 1.27948044e-02 -1.73045314e-04 9.99918128e-01 3.62778673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.545099893 meters 0.013236956405818425 Centerline is valid? [True, True] Translation: X:309.16, Y:4.09, Z:3.63 [[ 9.99583264e-01 -2.53263340e-02 -1.38518890e-02 3.09159992e+02] [ 2.53265072e-02 9.99679219e-01 -1.62944840e-04 4.08691934e+00] [ 1.38515723e-02 -1.87943031e-04 9.99904045e-01 3.62733673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.575099893 meters 0.013196952070006129 Centerline is valid? [True, True] Translation: X:309.19, Y:4.09, Z:3.63 [[ 9.99577684e-01 -2.53462315e-02 -1.42134478e-02 3.09191813e+02] [ 2.53464298e-02 9.99678714e-01 -1.66216782e-04 4.08751267e+00] [ 1.42130942e-02 -1.94113572e-04 9.99898970e-01 3.62747085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.605099893 meters 0.013540246094069857 Centerline is valid? [True, True] Translation: X:309.22, Y:4.09, Z:3.63 [[ 9.99562275e-01 -2.59694215e-02 -1.41720396e-02 3.09222040e+02] [ 2.59696880e-02 9.99662717e-01 -1.65254941e-04 4.08705957e+00] [ 1.41715512e-02 -2.02860842e-04 9.99899558e-01 3.62732821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.635099893 meters 0.013405386190394473 Centerline is valid? [True, True] Translation: X:309.25, Y:4.09, Z:3.63 [[ 9.99542896e-01 -2.67326737e-02 -1.41195881e-02 3.09253493e+02] [ 2.67330184e-02 9.99642595e-01 -1.64358881e-04 4.08776468e+00] [ 1.41189354e-02 -2.13175456e-04 9.99900300e-01 3.62807101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.665099893 meters 0.014225032260942513 Centerline is valid? [True, True] Translation: X:309.28, Y:4.09, Z:3.63 [[ 9.99479948e-01 -2.92441208e-02 -1.35873112e-02 3.09284489e+02] [ 2.92446788e-02 9.99572270e-01 -1.57663357e-04 4.08569246e+00] [ 1.35861102e-02 -2.39775187e-04 9.99907676e-01 3.62904125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.695099893 meters 0.014776684073477438 Centerline is valid? [True, True] Translation: X:309.32, Y:4.08, Z:3.63 [[ 9.99433545e-01 -3.10684325e-02 -1.29360880e-02 3.09316019e+02] [ 3.10690996e-02 9.99517228e-01 -1.49446216e-04 4.08475204e+00] [ 1.29344858e-02 -2.52551043e-04 9.99916314e-01 3.62971568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.725099893 meters 0.015449009900911708 Centerline is valid? [True, True] Translation: X:309.35, Y:4.08, Z:3.63 [[ 9.99371739e-01 -3.32804962e-02 -1.21875065e-02 3.09348564e+02] [ 3.32812575e-02 9.99446016e-01 -1.40401315e-04 4.08334122e+00] [ 1.21854274e-02 -2.65302436e-04 9.99925720e-01 3.63030016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.755099893 meters 0.017109400461817508 Centerline is valid? [True, True] Translation: X:309.38, Y:4.08, Z:3.63 [[ 9.99287446e-01 -3.58667223e-02 -1.17549295e-02 3.09379510e+02] [ 3.58676187e-02 9.99356541e-01 -1.34613941e-04 4.07995810e+00] [ 1.17521938e-02 -2.87103308e-04 9.99930899e-01 3.63106759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.785099893 meters 0.01682397029922768 Centerline is valid? [True, True] Translation: X:309.41, Y:4.08, Z:3.63 [[ 9.99057644e-01 -4.19893414e-02 -1.09872331e-02 3.09411096e+02] [ 4.19905005e-02 9.99118002e-01 -1.25270328e-04 4.07957867e+00] [ 1.09828024e-02 -3.36207137e-04 9.99939631e-01 3.63044034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.815099893 meters 0.017755083145786724 Centerline is valid? [True, True] Translation: X:309.44, Y:4.08, Z:3.63 [[ 9.98923013e-01 -4.50271855e-02 -1.11967657e-02 3.09443407e+02] [ 4.50285840e-02 9.98985691e-01 -1.27285434e-04 4.07769478e+00] [ 1.11911400e-02 -3.77026157e-04 9.99937306e-01 3.63033754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.845099893 meters 0.017755083145786724 Centerline is valid? [True, True] Translation: X:309.48, Y:4.08, Z:3.63 [[ 9.98927963e-01 -4.49172308e-02 -1.11967745e-02 3.09475962e+02] [ 4.49186311e-02 9.98990641e-01 -1.26510525e-04 4.07797814e+00] [ 1.11911554e-02 -3.76568880e-04 9.99937306e-01 3.63073988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.875099893 meters 0.018373508492322815 Centerline is valid? [True, True] Translation: X:309.51, Y:4.08, Z:3.63 [[ 9.98780957e-01 -4.79899811e-02 -1.15569208e-02 3.09507568e+02] [ 4.79916941e-02 9.98847726e-01 -1.29219429e-04 4.07669994e+00] [ 1.15498053e-02 -4.25574303e-04 9.99933208e-01 3.63076321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.905099893 meters 0.019987055598593827 Centerline is valid? [True, True] Translation: X:309.54, Y:4.07, Z:3.63 [[ 9.98485625e-01 -5.38580237e-02 -1.12147118e-02 3.09538096e+02] [ 5.38600134e-02 9.98548488e-01 -1.24750449e-04 4.07377203e+00] [ 1.12051524e-02 -4.79463000e-04 9.99937105e-01 3.63069486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93509989300003 meters 0.023010791497351597 Centerline is valid? [True, True] Translation: X:309.57, Y:4.07, Z:3.63 [[ 9.98357156e-01 -5.61914808e-02 -1.12029331e-02 3.09569455e+02] [ 5.61936138e-02 9.98419883e-01 -1.24539428e-04 4.06945434e+00] [ 1.11922292e-02 -5.05198468e-04 9.99937237e-01 3.63136292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.965099893 meters 0.022167296008928042 Centerline is valid? [True, True] Translation: X:309.60, Y:4.07, Z:3.63 [[ 9.98250535e-01 -5.80163833e-02 -1.14003598e-02 3.09601023e+02] [ 5.80187277e-02 9.98315487e-01 -1.25263788e-04 4.07118309e+00] [ 1.13884231e-02 -5.36389729e-04 9.99935006e-01 3.63176289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99509989300003 meters 0.023774030661858434 Centerline is valid? [True, True] Translation: X:309.63, Y:4.07, Z:3.63 [[ 9.98181382e-01 -5.92411144e-02 -1.11543126e-02 3.09632255e+02] [ 5.92434416e-02 9.98243557e-01 -1.21961272e-04 4.06928090e+00] [ 1.11419458e-02 -5.39080393e-04 9.99937781e-01 3.63219144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.025099893 meters 0.02529913419721219 Centerline is valid? [True, True] Translation: X:309.66, Y:4.07, Z:3.63 [[ 9.98139555e-01 -5.99581908e-02 -1.10654086e-02 3.09663561e+02] [ 5.99605316e-02 9.98200741e-01 -1.20390471e-04 4.06743958e+00] [ 1.10527175e-02 -5.43321291e-04 9.99938769e-01 3.63287436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05509989300003 meters 0.024188245101005406 Centerline is valid? [True, True] Translation: X:309.70, Y:4.07, Z:3.63 [[ 9.98120879e-01 -6.03197129e-02 -1.07815984e-02 3.09695973e+02] [ 6.03219619e-02 9.98178966e-01 -1.16771371e-04 4.06985957e+00] [ 1.07690084e-02 -5.33815226e-04 9.99941870e-01 3.63353358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.085099893 meters 0.025619760224938885 Centerline is valid? [True, True] Translation: X:309.73, Y:4.07, Z:3.63 [[ 9.98161445e-01 -5.96411881e-02 -1.08008369e-02 3.09726954e+02] [ 5.96434142e-02 9.98219740e-01 -1.16171274e-04 4.06827027e+00] [ 1.07885372e-02 -5.28241101e-04 9.99941663e-01 3.63374500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11509989300004 meters 0.024274553432431734 Centerline is valid? [True, True] Translation: X:309.76, Y:4.07, Z:3.63 [[ 9.98217830e-01 -5.85882863e-02 -1.13391535e-02 3.09759299e+02] [ 5.85906792e-02 9.98282083e-01 -1.21338683e-04 4.07093027e+00] [ 1.13267828e-02 -5.43246269e-04 9.99935702e-01 3.63364738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.145099893 meters 0.023076873129994402 Centerline is valid? [True, True] Translation: X:309.79, Y:4.07, Z:3.63 [[ 9.98316394e-01 -5.67487197e-02 -1.19983795e-02 3.09792059e+02] [ 5.67512771e-02 9.98388339e-01 -1.27493255e-04 4.07314257e+00] [ 1.19862773e-02 -5.53644755e-04 9.99928009e-01 3.63299231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17509989300004 meters 0.02264880118065595 Centerline is valid? [True, True] Translation: X:309.82, Y:4.07, Z:3.63 [[ 9.98428805e-01 -5.45227900e-02 -1.29300869e-02 3.09823274e+02] [ 5.45255894e-02 9.98512364e-01 -1.36188324e-04 4.07452584e+00] [ 1.29182770e-02 -5.69046261e-04 9.99916394e-01 3.63259702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.205099893 meters 0.021785849864578908 Centerline is valid? [True, True] Translation: X:309.85, Y:4.08, Z:3.63 [[ 9.98678262e-01 -4.92845736e-02 -1.45862678e-02 3.09853233e+02] [ 4.92875856e-02 9.98784617e-01 -1.53133984e-04 4.07792913e+00] [ 1.45760870e-02 -5.65990339e-04 9.99893603e-01 3.63112593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.235099893 meters 0.020111697129489313 Centerline is valid? [True, True] Translation: X:309.88, Y:4.08, Z:3.63 [[ 9.98798976e-01 -4.65958154e-02 -1.51471306e-02 3.09884675e+02] [ 4.65987562e-02 9.98913675e-01 -1.58923665e-04 4.08196746e+00] [ 1.51380810e-02 -5.47104651e-04 9.99885263e-01 3.63124272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.265099893 meters 0.018362648299590584 Centerline is valid? [True, True] Translation: X:309.92, Y:4.09, Z:3.63 [[ 9.99027773e-01 -4.12439816e-02 -1.55705711e-02 3.09915087e+02] [ 4.12464468e-02 9.99148990e-01 -1.62916166e-04 4.08749031e+00] [ 1.55640396e-02 -4.79472955e-04 9.99878758e-01 3.63098857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.295099893 meters 0.017923430021884873 Centerline is valid? [True, True] Translation: X:309.95, Y:4.09, Z:3.63 [[ 9.99123566e-01 -3.86094058e-02 -1.61682854e-02 3.09946500e+02] [ 3.86117225e-02 9.99254275e-01 -1.68972984e-04 4.08947493e+00] [ 1.61627522e-02 -4.55460457e-04 9.99869270e-01 3.63084621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.325099893 meters 0.017018459034138213 Centerline is valid? [True, True] Translation: X:309.98, Y:4.09, Z:3.63 [[ 9.99201669e-01 -3.63531683e-02 -1.65672127e-02 3.09977603e+02] [ 3.63553041e-02 9.99338913e-01 -1.72339132e-04 4.09239688e+00] [ 1.65625254e-02 -4.30104508e-04 9.99862739e-01 3.63063555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.355099893 meters 0.016344133389389833 Centerline is valid? [True, True] Translation: X:310.01, Y:4.09, Z:3.63 [[ 9.99289193e-01 -3.36357186e-02 -1.70219520e-02 3.10009157e+02] [ 3.36375895e-02 9.99434081e-01 -1.76465861e-04 4.09497869e+00] [ 1.70182545e-02 -3.96237004e-04 9.99855101e-01 3.63059445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.385099893 meters 0.015118568308371457 Centerline is valid? [True, True] Translation: X:310.04, Y:4.10, Z:3.63 [[ 9.99440976e-01 -2.80072156e-02 -1.82573474e-02 3.10039171e+02] [ 2.80084376e-02 9.99607669e-01 -1.88813662e-04 4.10041211e+00] [ 1.82554726e-02 -3.22651665e-04 9.99833303e-01 3.62947011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.415099893 meters 0.013973238736826519 Centerline is valid? [True, True] Translation: X:310.07, Y:4.11, Z:3.63 [[ 9.99518236e-01 -2.47883183e-02 -1.86771033e-02 3.10069800e+02] [ 2.47890354e-02 9.99692686e-01 -1.93154690e-04 4.10532197e+00] [ 1.86761516e-02 -2.69925741e-04 9.99825549e-01 3.63047108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.445099893 meters 0.013440478880399906 Centerline is valid? [True, True] Translation: X:310.10, Y:4.11, Z:3.63 [[ 9.99596882e-01 -2.15593790e-02 -1.84734314e-02 3.10099761e+02] [ 2.15595252e-02 9.99767548e-01 -1.91267700e-04 4.10928581e+00] [ 1.84732609e-02 -2.07087814e-04 9.99829333e-01 3.63122872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.475099893 meters 0.013175801919227811 Centerline is valid? [True, True] Translation: X:310.13, Y:4.11, Z:3.63 [[ 9.99657268e-01 -1.83535268e-02 -1.86680050e-02 3.10128726e+02] [ 1.83530791e-02 9.99831549e-01 -1.95318776e-04 4.11275336e+00] [ 1.86684451e-02 -1.47363538e-04 9.99825719e-01 3.63164270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.505099893 meters 0.012857811564873119 Centerline is valid? [True, True] Translation: X:310.16, Y:4.12, Z:3.63 [[ 9.99741975e-01 -1.26698081e-02 -1.88536423e-02 3.10156944e+02] [ 1.26682502e-02 9.99919734e-01 -2.02064038e-04 4.11867078e+00] [ 1.88546891e-02 -3.68307578e-05 9.99822234e-01 3.63227818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.535099893 meters 0.012859114535449993 Centerline is valid? [True, True] Translation: X:310.18, Y:4.12, Z:3.63 [[ 9.99775504e-01 -9.93495376e-03 -1.87146444e-02 3.10183467e+02] [ 9.93286599e-03 9.99950647e-01 -2.04510257e-04 4.12154937e+00] [ 1.87157526e-02 1.85742901e-05 9.99824845e-01 3.63241533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.565099893 meters 0.01306180767517455 Centerline is valid? [True, True] Translation: X:310.21, Y:4.12, Z:3.63 [[ 9.99804798e-01 -7.90540133e-03 -1.81071732e-02 3.10211053e+02] [ 7.90305717e-03 9.99968750e-01 -2.01014680e-04 4.12412954e+00] [ 1.81081965e-02 5.78734166e-05 9.99836031e-01 3.63290608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.595099893 meters 0.013075994710124682 Centerline is valid? [True, True] Translation: X:310.24, Y:4.13, Z:3.63 [[ 9.99829230e-01 -5.43132015e-03 -1.76638640e-02 3.10239925e+02] [ 5.42861933e-03 9.99985245e-01 -2.00846744e-04 4.12747154e+00] [ 1.76646942e-02 1.04922052e-04 9.99843962e-01 3.63388141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.625099893 meters 0.013142403308623395 Centerline is valid? [True, True] Translation: X:310.27, Y:4.13, Z:3.63 [[ 9.99841280e-01 -5.22649751e-03 -1.70323043e-02 3.10267296e+02] [ 5.22388291e-03 9.99986336e-01 -1.97996006e-04 4.12830857e+00] [ 1.70331063e-02 1.08989817e-04 9.99854920e-01 3.63455003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.655099893 meters 0.01310625188582867 Centerline is valid? [True, True] Translation: X:310.30, Y:4.13, Z:3.64 [[ 9.99842861e-01 -5.85791505e-03 -1.67313391e-02 3.10295647e+02] [ 5.85540057e-03 9.99982837e-01 -1.99269925e-04 4.12860974e+00] [ 1.67322193e-02 1.01269919e-04 9.99860001e-01 3.63523776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68509989300003 meters 0.012987724239118714 Centerline is valid? [True, True] Translation: X:310.32, Y:4.13, Z:3.64 [[ 9.99839390e-01 -7.38980907e-03 -1.63274062e-02 3.10323849e+02] [ 7.38755635e-03 9.99972692e-01 -1.98281981e-04 4.12846045e+00] [ 1.63284256e-02 7.76305016e-05 9.99866679e-01 3.63592807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.715099893 meters 0.01287065333172634 Centerline is valid? [True, True] Translation: X:310.35, Y:4.13, Z:3.64 [[ 9.99802537e-01 -1.23864756e-02 -1.55390569e-02 3.10352308e+02] [ 1.23850187e-02 9.99923285e-01 -1.89984700e-04 4.12507207e+00] [ 1.55402180e-02 -2.50432525e-06 9.99879244e-01 3.63703759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74509989300003 meters 0.012923787776828113 Centerline is valid? [True, True] Translation: X:310.38, Y:4.12, Z:3.64 [[ 9.99756224e-01 -1.59197941e-02 -1.52987780e-02 3.10381587e+02] [ 1.59187789e-02 9.99873271e-01 -1.88139889e-04 4.12282385e+00] [ 1.52998343e-02 -5.54438386e-05 9.99882949e-01 3.63749875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.775099893 meters 0.013223094859193724 Centerline is valid? [True, True] Translation: X:310.41, Y:4.12, Z:3.64 [[ 9.99685710e-01 -2.00603424e-02 -1.50354010e-02 3.10409776e+02] [ 2.00598147e-02 9.99798764e-01 -1.85921015e-04 4.11974965e+00] [ 1.50361049e-02 -1.15744775e-04 9.99886945e-01 3.63795474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80509989300003 meters 0.014611805271500454 Centerline is valid? [True, True] Translation: X:310.44, Y:4.11, Z:3.64 [[ 9.99456687e-01 -2.92651659e-02 -1.51618351e-02 3.10439652e+02] [ 2.92656762e-02 9.99571651e-01 -1.88261032e-04 4.11306195e+00] [ 1.51608500e-02 -2.55562609e-04 9.99885035e-01 3.63790842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.835099893 meters 0.015808530167339227 Centerline is valid? [True, True] Translation: X:310.47, Y:4.11, Z:3.64 [[ 9.99297719e-01 -3.41606203e-02 -1.53987420e-02 3.10470664e+02] [ 3.41617216e-02 9.99416300e-01 -1.91591594e-04 4.10970086e+00] [ 1.53962986e-02 -3.34590493e-04 9.99881414e-01 3.63808194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86509989300004 meters 0.016593556295630668 Centerline is valid? [True, True] Translation: X:310.50, Y:4.11, Z:3.64 [[ 9.99127991e-01 -3.86495849e-02 -1.57945291e-02 3.10501794e+02] [ 3.86513095e-02 9.99252740e-01 -1.96171654e-04 4.10736465e+00] [ 1.57903084e-02 -4.14478639e-04 9.99875239e-01 3.63791642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.895099893 meters 0.019532135275216786 Centerline is valid? [True, True] Translation: X:310.53, Y:4.10, Z:3.64 [[ 9.98916320e-01 -4.34068792e-02 -1.67937005e-02 3.10532343e+02] [ 4.34095096e-02 9.99057341e-01 -2.08035080e-04 4.10200423e+00] [ 1.67868999e-02 -5.21196666e-04 9.99858954e-01 3.63740224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92509989300004 meters 0.02145790610419702 Centerline is valid? [True, True] Translation: X:310.56, Y:4.10, Z:3.64 [[ 9.98465935e-01 -5.23167520e-02 -1.81310097e-02 3.10562608e+02] [ 5.23212892e-02 9.98630278e-01 -2.24348128e-04 4.09780949e+00] [ 1.81179124e-02 -7.24633838e-04 9.99835595e-01 3.63635095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.955099893 meters 0.02161760534782618 Centerline is valid? [True, True] Translation: X:310.59, Y:4.10, Z:3.64 [[ 9.98240550e-01 -5.62142096e-02 -1.88617620e-02 3.10593556e+02] [ 5.62198172e-02 9.98418388e-01 -2.33235554e-04 4.09734372e+00] [ 1.88450412e-02 -8.27579626e-04 9.99822074e-01 3.63648850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.985099893 meters 0.024956415661585008 Centerline is valid? [True, True] Translation: X:310.62, Y:4.09, Z:3.64 [[ 9.98034475e-01 -5.96305514e-02 -1.92713400e-02 3.10623692e+02] [ 5.96370559e-02 9.98220099e-01 -2.37509198e-04 4.09229253e+00] [ 1.92512017e-02 -9.12243612e-04 9.99814262e-01 3.63582963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.015099893 meters 0.02629587603353042 Centerline is valid? [True, True] Translation: X:310.65, Y:4.09, Z:3.64 [[ 9.97666623e-01 -6.51486591e-02 -2.04196332e-02 3.10654701e+02] [ 6.51571369e-02 9.97874985e-01 -2.50565192e-04 4.09031646e+00] [ 2.03925651e-02 -1.08050431e-03 9.99791466e-01 3.63586072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.045099893 meters 0.029852856310307655 Centerline is valid? [True, True] Translation: X:310.69, Y:4.09, Z:3.64 [[ 9.97536542e-01 -6.72318465e-02 -2.00181283e-02 3.10685682e+02] [ 6.72404210e-02 9.97736772e-01 -2.45195267e-04 4.08620419e+00] [ 1.99893077e-02 -1.10143614e-03 9.99799587e-01 3.63605142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.075099893 meters 0.030826353175574566 Centerline is valid? [True, True] Translation: X:310.72, Y:4.09, Z:3.64 [[ 9.97459200e-01 -6.85148792e-02 -1.95155145e-02 3.10717954e+02] [ 6.85232951e-02 9.97649488e-01 -2.37916931e-04 4.08576930e+00] [ 1.94859439e-02 -1.09995493e-03 9.99809526e-01 3.63706476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.105099893 meters 0.029507935115867807 Centerline is valid? [True, True] Translation: X:310.75, Y:4.09, Z:3.64 [[ 9.97438627e-01 -6.90201303e-02 -1.87725028e-02 3.10750364e+02] [ 6.90280301e-02 9.97614695e-01 -2.27599171e-04 4.09004426e+00] [ 1.87434336e-02 -1.06881268e-03 9.99823755e-01 3.63888084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.135099893 meters 0.029704569205252006 Centerline is valid? [True, True] Translation: X:310.78, Y:4.09, Z:3.64 [[ 9.97474416e-01 -6.85445277e-02 -1.86128118e-02 3.10782508e+02] [ 6.85522350e-02 9.97647503e-01 -2.24375647e-04 4.09143444e+00] [ 1.85844049e-02 -1.05214088e-03 9.99826741e-01 3.63966587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.165099893 meters 0.030047272678642618 Centerline is valid? [True, True] Translation: X:310.81, Y:4.09, Z:3.64 [[ 9.97560687e-01 -6.73842684e-02 -1.82218595e-02 3.10813629e+02] [ 6.73914923e-02 9.97726585e-01 -2.18020458e-04 4.09263359e+00] [ 1.81951248e-02 -1.01050966e-03 9.99833944e-01 3.64031057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.195099893 meters 0.025041936312173958 Centerline is valid? [True, True] Translation: X:310.84, Y:4.10, Z:3.64 [[ 9.97692539e-01 -6.53690097e-02 -1.83436781e-02 3.10844906e+02] [ 6.53760261e-02 9.97860676e-01 -2.17552662e-04 4.10208962e+00] [ 1.83186562e-02 -9.82186108e-04 9.99831717e-01 3.64148491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.225099893 meters 0.02509841725047165 Centerline is valid? [True, True] Translation: X:310.88, Y:4.10, Z:3.64 [[ 9.97758157e-01 -6.42908622e-02 -1.85834507e-02 3.10877299e+02] [ 6.42978936e-02 9.97930725e-01 -2.19493127e-04 4.10340100e+00] [ 1.85591078e-02 -9.75875677e-04 9.99827289e-01 3.64182459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.255099893 meters 0.028574579851133732 Centerline is valid? [True, True] Translation: X:310.91, Y:4.10, Z:3.64 [[ 9.97812222e-01 -6.33253385e-02 -1.89913700e-02 3.10909033e+02] [ 6.33325339e-02 9.97992455e-01 -2.22927985e-04 4.10011761e+00] [ 1.89673609e-02 -9.80331313e-04 9.99819623e-01 3.64123382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.285099893 meters 0.025519803885014333 Centerline is valid? [True, True] Translation: X:310.94, Y:4.11, Z:3.64 [[ 9.97890763e-01 -6.18508076e-02 -1.97104584e-02 3.10940964e+02] [ 6.18582997e-02 9.98084915e-01 -2.29933195e-04 4.10671703e+00] [ 1.96869328e-02 -9.89807233e-04 9.99805704e-01 3.64121678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.315099893 meters 0.02416415457547945 Centerline is valid? [True, True] Translation: X:310.97, Y:4.11, Z:3.64 [[ 9.97907950e-01 -6.11867680e-02 -2.08782926e-02 3.10972692e+02] [ 6.11950617e-02 9.98125797e-01 -2.42020980e-04 4.11021538e+00] [ 2.08539709e-02 -1.03613374e-03 9.99781995e-01 3.64127841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.345099893 meters 0.022827244519895006 Centerline is valid? [True, True] Translation: X:311.00, Y:4.11, Z:3.64 [[ 9.97926733e-01 -6.04018992e-02 -2.22226513e-02 3.11004737e+02] [ 6.04111387e-02 9.98173546e-01 -2.55944016e-04 4.11352554e+00] [ 2.21975221e-02 -1.08708229e-03 9.99753014e-01 3.64101524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.375099893 meters 0.022986007889572013 Centerline is valid? [True, True] Translation: X:311.04, Y:4.12, Z:3.64 [[ 9.97937225e-01 -5.96369296e-02 -2.37640953e-02 3.11037211e+02] [ 5.96473220e-02 9.98219476e-01 -2.71910242e-04 4.11505253e+00] [ 2.37379987e-02 -1.14611529e-03 9.99717557e-01 3.64046226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.405099893 meters 0.02154203317503152 Centerline is valid? [True, True] Translation: X:311.07, Y:4.12, Z:3.64 [[ 9.98029385e-01 -5.73550733e-02 -2.54507667e-02 3.11069193e+02] [ 5.73663023e-02 9.98353156e-01 -2.89303762e-04 4.12023359e+00] [ 2.54254463e-02 -1.17128272e-03 9.99676035e-01 3.63963495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43509989300003 meters 0.021803483422859704 Centerline is valid? [True, True] Translation: X:311.10, Y:4.12, Z:3.64 [[ 9.98111203e-01 -5.55415361e-02 -2.62519257e-02 3.11099989e+02] [ 5.55529018e-02 9.98455701e-01 -2.96731228e-04 4.12188029e+00] [ 2.62278658e-02 -1.16219989e-03 9.99655315e-01 3.63918075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.465099893 meters 0.02181537388815484 Centerline is valid? [True, True] Translation: X:311.13, Y:4.12, Z:3.64 [[ 9.98199838e-01 -5.34229625e-02 -2.72593154e-02 3.11130974e+02] [ 5.34344701e-02 9.98571311e-01 -3.06622389e-04 4.12419073e+00] [ 2.72367510e-02 -1.15051666e-03 9.99628349e-01 3.63898329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49509989300003 meters 0.019429296183646142 Centerline is valid? [True, True] Translation: X:311.16, Y:4.13, Z:3.64 [[ 9.98484363e-01 -4.73970953e-02 -2.79730688e-02 3.11161414e+02] [ 4.74068792e-02 9.98875613e-01 -3.13695228e-04 4.13333175e+00] [ 2.79564845e-02 -1.01289611e-03 9.99608628e-01 3.63987689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.525099893 meters 0.01796683672661699 Centerline is valid? [True, True] Translation: X:311.19, Y:4.14, Z:3.64 [[ 9.98654785e-01 -4.37142081e-02 -2.78870566e-02 3.11191815e+02] [ 4.37225038e-02 9.99043665e-01 -3.12512144e-04 4.13886868e+00] [ 2.78740484e-02 -9.07200189e-04 9.99611032e-01 3.64110422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55509989300003 meters 0.017313892427861716 Centerline is valid? [True, True] Translation: X:311.22, Y:4.14, Z:3.64 [[ 9.98842439e-01 -3.94755286e-02 -2.74857085e-02 3.11221176e+02] [ 3.94819764e-02 9.99220235e-01 -3.08283108e-04 4.14301751e+00] [ 2.74764458e-02 -7.77263844e-04 9.99622149e-01 3.64183699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.585099893 meters 0.014153358306703046 Centerline is valid? [True, True] Translation: X:311.25, Y:4.16, Z:3.65 [[ 9.99188871e-01 -3.02621594e-02 -2.65669329e-02 3.11250952e+02] [ 3.02649091e-02 9.99541868e-01 -2.98679327e-04 4.15503284e+00] [ 2.65638004e-02 -5.05608751e-04 9.99646992e-01 3.64535206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61509989300004 meters 0.013493693116633848 Centerline is valid? [True, True] Translation: X:311.28, Y:4.16, Z:3.65 [[ 9.99335982e-01 -2.56570558e-02 -2.58710557e-02 3.11279955e+02] [ 2.56580280e-02 9.99670735e-01 -2.94433403e-04 4.15999076e+00] [ 2.58700916e-02 -3.69562377e-04 9.99665245e-01 3.64664395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.645099893 meters 0.012831106250219304 Centerline is valid? [True, True] Translation: X:311.31, Y:4.16, Z:3.65 [[ 9.99456993e-01 -2.12898747e-02 -2.51487609e-02 3.11308712e+02] [ 2.12892582e-02 9.99773315e-01 -2.92286402e-04 4.16485385e+00] [ 2.51492828e-02 -2.43270775e-04 9.99683677e-01 3.64811314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67509989300004 meters 0.012502678929033575 Centerline is valid? [True, True] Translation: X:311.34, Y:4.17, Z:3.65 [[ 9.99550941e-01 -1.73876406e-02 -2.44046195e-02 3.11336844e+02] [ 1.73857480e-02 9.99848814e-01 -2.89739954e-04 4.16814496e+00] [ 2.44059677e-02 -1.34682721e-04 9.99702121e-01 3.64853911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.705099893 meters 0.012297969895775196 Centerline is valid? [True, True] Translation: X:311.37, Y:4.17, Z:3.65 [[ 9.99607140e-01 -1.53281928e-02 -2.34651130e-02 3.11365884e+02] [ 1.53257399e-02 9.99882514e-01 -2.84376866e-04 4.16933874e+00] [ 2.34667151e-02 -7.53550722e-05 9.99724616e-01 3.64956134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.735099893 meters 0.012297969895775196 Centerline is valid? [True, True] Translation: X:311.39, Y:4.17, Z:3.65 [[ 9.99602707e-01 -1.56147610e-02 -2.34650356e-02 3.11393258e+02] [ 1.56122395e-02 9.99878079e-01 -2.90660805e-04 4.16973358e+00] [ 2.34667133e-02 -7.57964286e-05 9.99724616e-01 3.64990106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.765099893 meters 0.01222957440277088 Centerline is valid? [True, True] Translation: X:311.42, Y:4.17, Z:3.65 [[ 9.99665019e-01 -1.25701876e-02 -2.26238752e-02 3.11421644e+02] [ 1.25669277e-02 9.99920992e-01 -2.86264757e-04 4.17118424e+00] [ 2.26256861e-02 1.85626101e-06 9.99744006e-01 3.65156101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.795099893 meters 0.012313443854672932 Centerline is valid? [True, True] Translation: X:311.45, Y:4.17, Z:3.65 [[ 9.99665223e-01 -1.16659734e-02 -2.30943056e-02 3.11448486e+02] [ 1.16622117e-02 9.99931950e-01 -2.97565616e-04 4.17186114e+00] [ 2.30962054e-02 2.81353166e-05 9.99733247e-01 3.65155118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.825099893 meters 0.012271914058055656 Centerline is valid? [True, True] Translation: X:311.48, Y:4.17, Z:3.65 [[ 9.99666389e-01 -1.01206642e-02 -2.37630708e-02 3.11476803e+02] [ 1.01161172e-02 9.99948782e-01 -3.11552144e-04 4.17292585e+00] [ 2.37650068e-02 7.10581972e-05 9.99717570e-01 3.65213759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.855099893 meters 0.012262056594423025 Centerline is valid? [True, True] Translation: X:311.51, Y:4.17, Z:3.65 [[ 9.99672020e-01 -1.00425708e-02 -2.35584001e-02 3.11505145e+02] [ 1.00379327e-02 9.99949569e-01 -3.15124908e-04 4.17314612e+00] [ 2.35603767e-02 7.85439177e-05 9.99722413e-01 3.65281341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.885099893 meters 0.012231375548172352 Centerline is valid? [True, True] Translation: X:311.53, Y:4.17, Z:3.65 [[ 9.99662384e-01 -1.03287756e-02 -2.38418734e-02 3.11532803e+02] [ 1.03239423e-02 9.99946654e-01 -3.25802530e-04 4.17293180e+00] [ 2.38439667e-02 7.95504073e-05 9.99715689e-01 3.65314598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.915099893 meters 0.012296606802613777 Centerline is valid? [True, True] Translation: X:311.56, Y:4.17, Z:3.65 [[ 9.99647889e-01 -1.06890758e-02 -2.42866517e-02 3.11560891e+02] [ 1.06840533e-02 9.99942867e-01 -3.36555829e-04 4.17206575e+00] [ 2.42888616e-02 7.69574438e-05 9.99704979e-01 3.65242635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.945099893 meters 0.01212808556861694 Centerline is valid? [True, True] Translation: X:311.59, Y:4.17, Z:3.65 [[ 9.99633322e-01 -1.17606212e-02 -2.43907721e-02 3.11588606e+02] [ 1.17557615e-02 9.99930840e-01 -3.42625731e-04 4.16804708e+00] [ 2.43931147e-02 5.57679980e-05 9.99702442e-01 3.65260179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.975099893 meters 0.01218240006724966 Centerline is valid? [True, True] Translation: X:311.62, Y:4.17, Z:3.65 [[ 9.99617967e-01 -1.24954012e-02 -2.46532971e-02 3.11615958e+02] [ 1.24905310e-02 9.99921928e-01 -3.51533221e-04 4.16657561e+00] [ 2.46557650e-02 4.34661508e-05 9.99695999e-01 3.65179912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.005099893 meters 0.012237318456659698 Centerline is valid? [True, True] Translation: X:311.64, Y:4.17, Z:3.65 [[ 9.99605587e-01 -1.35519240e-02 -2.45970549e-02 3.11643908e+02] [ 1.35472737e-02 9.99908168e-01 -3.55696074e-04 4.16510157e+00] [ 2.45996164e-02 2.23327495e-05 9.99697383e-01 3.65183368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.035099893 meters 0.012166564130390143 Centerline is valid? [True, True] Translation: X:311.67, Y:4.16, Z:3.65 [[ 9.99593610e-01 -1.43233012e-02 -2.46466511e-02 3.11672082e+02] [ 1.43186949e-02 9.99897416e-01 -3.63374027e-04 4.16382427e+00] [ 2.46493275e-02 1.03184779e-05 9.99696159e-01 3.65293429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.065099893 meters 0.012239998211949672 Centerline is valid? [True, True] Translation: X:311.70, Y:4.16, Z:3.65 [[ 9.99605481e-01 -1.49926861e-02 -2.37508377e-02 3.11699439e+02] [ 1.49884924e-02 9.99887603e-01 -3.54587020e-04 4.16206267e+00] [ 2.37534844e-02 -1.54212281e-06 9.99717846e-01 3.65301281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.095099893 meters 0.012106288623884584 Centerline is valid? [True, True] Translation: X:311.73, Y:4.16, Z:3.65 [[ 9.99620192e-01 -1.49970873e-02 -2.31205198e-02 3.11726959e+02] [ 1.49930186e-02 9.99887537e-01 -3.49323581e-04 4.16175575e+00] [ 2.31231585e-02 2.54452143e-06 9.99732624e-01 3.65495633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.125099893 meters 0.012106869833476601 Centerline is valid? [True, True] Translation: X:311.75, Y:4.16, Z:3.66 [[ 9.99637083e-01 -1.50327975e-02 -2.23543654e-02 3.11754732e+02] [ 1.50288620e-02 9.99887001e-01 -3.44052909e-04 4.16116190e+00] [ 2.23570115e-02 7.96737331e-06 9.99750051e-01 3.65563593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.155099893 meters 0.012025649672073166 Centerline is valid? [True, True] Translation: X:311.78, Y:4.16, Z:3.66 [[ 9.99658371e-01 -1.46961522e-02 -2.16139715e-02 3.11782160e+02] [ 1.46923020e-02 9.99892006e-01 -3.36928523e-04 4.16016942e+00] [ 2.16165888e-02 1.92544213e-05 9.99766334e-01 3.65585490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18509989300003 meters 0.01200635319931678 Centerline is valid? [True, True] Translation: X:311.81, Y:4.16, Z:3.66 [[ 9.99696465e-01 -1.43635962e-02 -2.00166203e-02 3.11810553e+02] [ 1.43601689e-02 9.99896838e-01 -3.14955368e-04 4.15704071e+00] [ 2.00190792e-02 2.74177209e-05 9.99799598e-01 3.65646026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.215099893 meters 0.012084524183531368 Centerline is valid? [True, True] Translation: X:311.84, Y:4.16, Z:3.66 [[ 9.99702440e-01 -1.43630698e-02 -1.97163076e-02 3.11837385e+02] [ 1.43596667e-02 9.99896845e-01 -3.14170410e-04 4.15624219e+00] [ 1.97187862e-02 3.09573190e-05 9.99805565e-01 3.65673722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24509989300003 meters 0.011990245935903804 Centerline is valid? [True, True] Translation: X:311.86, Y:4.16, Z:3.66 [[ 9.99714131e-01 -1.43245887e-02 -1.91431932e-02 3.11864789e+02] [ 1.43213077e-02 9.99897397e-01 -3.08480879e-04 4.15510097e+00] [ 1.91456479e-02 3.42371351e-05 9.99816705e-01 3.65755278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.275099893 meters 0.011926475189048684 Centerline is valid? [True, True] Translation: X:311.89, Y:4.15, Z:3.66 [[ 9.99724702e-01 -1.41455246e-02 -1.87196169e-02 3.11891495e+02] [ 1.41422754e-02 9.99899946e-01 -3.05949586e-04 4.15245397e+00] [ 1.87220718e-02 4.11273801e-05 9.99824726e-01 3.65795335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30509989300003 meters 0.011975153457556276 Centerline is valid? [True, True] Translation: X:311.92, Y:4.15, Z:3.66 [[ 9.99731364e-01 -1.37592042e-02 -1.86516530e-02 3.11918816e+02] [ 1.37558680e-02 9.99905336e-01 -3.07162524e-04 4.15123461e+00] [ 1.86541137e-02 5.05103324e-05 9.99825996e-01 3.65812066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.335099893 meters 0.012035963645773603 Centerline is valid? [True, True] Translation: X:311.95, Y:4.15, Z:3.66 [[ 9.99728292e-01 -1.34815046e-02 -1.90155565e-02 3.11946556e+02] [ 1.34779457e-02 9.99909119e-01 -3.15303088e-04 4.15014071e+00] [ 1.90180791e-02 5.89267784e-05 9.99819138e-01 3.65815686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36509989300004 meters 0.0120472866321058 Centerline is valid? [True, True] Translation: X:311.97, Y:4.15, Z:3.66 [[ 9.99740883e-01 -1.29240289e-02 -1.87386101e-02 3.11973253e+02] [ 1.29204405e-02 9.99916479e-01 -3.12556013e-04 4.14697961e+00] [ 1.87410845e-02 7.03639273e-05 9.99824368e-01 3.65786562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.395099893 meters 0.012011966165532545 Centerline is valid? [True, True] Translation: X:312.00, Y:4.14, Z:3.66 [[ 9.99741774e-01 -1.30559766e-02 -1.85991081e-02 3.12001614e+02] [ 1.30524028e-02 9.99914765e-01 -3.13532877e-04 4.14495460e+00] [ 1.86016163e-02 7.06888637e-05 9.99826972e-01 3.65859558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42509989300004 meters 0.012062330539510306 Centerline is valid? [True, True] Translation: X:312.03, Y:4.14, Z:3.66 [[ 9.99734002e-01 -1.33060291e-02 -1.88381122e-02 3.12029601e+02] [ 1.33023033e-02 9.99911468e-01 -3.23077585e-04 4.14326282e+00] [ 1.88407433e-02 7.24013659e-05 9.99822495e-01 3.65876504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.455099893 meters 0.011999686339343535 Centerline is valid? [True, True] Translation: X:312.06, Y:4.14, Z:3.66 [[ 9.99730048e-01 -1.35895289e-02 -1.88455603e-02 3.12057329e+02] [ 1.35857475e-02 9.99907655e-01 -3.28672764e-04 4.14166832e+00] [ 1.88482866e-02 7.25530140e-05 9.99822353e-01 3.65886897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.485099893 meters 0.01199427656171873 Centerline is valid? [True, True] Translation: X:312.09, Y:4.14, Z:3.66 [[ 9.99694198e-01 -1.39886954e-02 -2.03918287e-02 3.12085290e+02] [ 1.39842570e-02 9.99902151e-01 -3.60246936e-04 4.13765359e+00] [ 2.03948728e-02 7.49721982e-05 9.99792000e-01 3.65843951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.515099893 meters 0.011979511219694008 Centerline is valid? [True, True] Translation: X:312.11, Y:4.14, Z:3.66 [[ 9.99672475e-01 -1.48215363e-02 -2.08629786e-02 3.12112775e+02] [ 1.48169970e-02 9.99890153e-01 -3.72148089e-04 4.13570317e+00] [ 2.08662027e-02 6.28995102e-05 9.99782275e-01 3.65821324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.545099893 meters 0.012051930953076577 Centerline is valid? [True, True] Translation: X:312.14, Y:4.13, Z:3.66 [[ 9.99647321e-01 -1.55704826e-02 -2.15126430e-02 3.12140425e+02] [ 1.55657334e-02 9.99878771e-01 -3.88208641e-04 4.13367906e+00] [ 2.15160796e-02 5.32116631e-05 9.99768501e-01 3.65768243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.575099893 meters 0.011975325696847785 Centerline is valid? [True, True] Translation: X:312.17, Y:4.13, Z:3.66 [[ 9.99623535e-01 -1.66732247e-02 -2.17897417e-02 3.12168317e+02] [ 1.66685315e-02 9.99860992e-01 -3.97004681e-04 4.13131365e+00] [ 2.17933320e-02 3.36522270e-05 9.99762497e-01 3.65796951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.605099893 meters 0.011959974098877885 Centerline is valid? [True, True] Translation: X:312.20, Y:4.13, Z:3.66 [[ 9.99562827e-01 -1.93148798e-02 -2.23850558e-02 3.12196328e+02] [ 1.93104882e-02 9.99813450e-01 -4.12351006e-04 4.12570493e+00] [ 2.23888444e-02 -2.00956176e-05 9.99749338e-01 3.65820227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.635099893 meters 0.011994355157112816 Centerline is valid? [True, True] Translation: X:312.22, Y:4.12, Z:3.66 [[ 9.99526331e-01 -2.12990471e-02 -2.22140652e-02 3.12224429e+02] [ 2.12951263e-02 9.99773148e-01 -4.13067832e-04 4.12289887e+00] [ 2.22178238e-02 -6.01791502e-05 9.99753152e-01 3.65894914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.665099893 meters 0.011967740979379308 Centerline is valid? [True, True] Translation: X:312.25, Y:4.12, Z:3.66 [[ 9.99456971e-01 -2.51044854e-02 -2.13430904e-02 3.12251949e+02] [ 2.51016054e-02 9.99684824e-01 -4.02873661e-04 4.11709336e+00] [ 2.13464775e-02 -1.33090943e-04 9.99772129e-01 3.66101388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.695099893 meters 0.01215660521475441 Centerline is valid? [True, True] Translation: X:312.28, Y:4.11, Z:3.66 [[ 9.99417445e-01 -2.70347841e-02 -2.08300353e-02 3.12279362e+02] [ 2.70323700e-02 9.99634480e-01 -3.97512509e-04 4.11413327e+00] [ 2.08331682e-02 -1.65804285e-04 9.99782952e-01 3.66131097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.725099893 meters 0.01262099276207191 Centerline is valid? [True, True] Translation: X:312.31, Y:4.11, Z:3.66 [[ 9.99337709e-01 -3.07566391e-02 -1.94466824e-02 3.12307018e+02] [ 3.07551995e-02 9.99526877e-01 -3.73168764e-04 4.10735887e+00] [ 1.94489591e-02 -2.25164979e-04 9.99810826e-01 3.66262433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.755099893 meters 0.012846110704403833 Centerline is valid? [True, True] Translation: X:312.34, Y:4.10, Z:3.66 [[ 9.99304869e-01 -3.24894003e-02 -1.82815954e-02 3.12336360e+02] [ 3.24883839e-02 9.99472051e-01 -3.52665963e-04 4.10453416e+00] [ 1.82834016e-02 -2.41518675e-04 9.99832815e-01 3.66344807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.785099893 meters 0.013184078264035132 Centerline is valid? [True, True] Translation: X:312.37, Y:4.10, Z:3.66 [[ 9.99259981e-01 -3.43820187e-02 -1.72443319e-02 3.12366453e+02] [ 3.43813875e-02 9.99408730e-01 -3.33154749e-04 4.10132580e+00] [ 1.72455903e-02 -2.59975847e-04 9.99851250e-01 3.66464936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.815099893 meters 0.013829503513993353 Centerline is valid? [True, True] Translation: X:312.40, Y:4.09, Z:3.67 [[ 9.99123094e-01 -3.86137449e-02 -1.61870884e-02 3.12397907e+02] [ 3.86137427e-02 9.99254162e-01 -3.12796504e-04 4.09483470e+00] [ 1.61870937e-02 -3.12521857e-04 9.99868932e-01 3.66547984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.845099893 meters 0.014648247010527691 Centerline is valid? [True, True] Translation: X:312.43, Y:4.09, Z:3.67 [[ 9.99033393e-01 -4.10334904e-02 -1.57649343e-02 3.12429278e+02] [ 4.10337990e-02 9.99157713e-01 -3.04023397e-04 4.09042498e+00] [ 1.57641309e-02 -3.43165621e-04 9.99875679e-01 3.66566214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.875099893 meters 0.01738458385431622 Centerline is valid? [True, True] Translation: X:312.46, Y:4.08, Z:3.67 [[ 9.98898989e-01 -4.41363815e-02 -1.58993319e-02 3.12460246e+02] [ 4.41371009e-02 9.99025437e-01 -3.05819734e-04 4.08318562e+00] [ 1.58973347e-02 -3.96267391e-04 9.99873551e-01 3.66536297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.905099893 meters 0.016743911019040415 Centerline is valid? [True, True] Translation: X:312.49, Y:4.08, Z:3.67 [[ 9.98736644e-01 -4.76108752e-02 -1.60723354e-02 3.12492131e+02] [ 4.76120701e-02 9.98865855e-01 -3.08509291e-04 4.08199102e+00] [ 1.60687954e-02 -4.57117625e-04 9.99870784e-01 3.66579923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93509989300003 meters 0.017090044261972408 Centerline is valid? [True, True] Translation: X:312.52, Y:4.08, Z:3.67 [[ 9.98535589e-01 -5.14376949e-02 -1.67583326e-02 3.12523799e+02] [ 5.14395464e-02 9.98676059e-01 -3.20836199e-04 4.07918559e+00] [ 1.67526487e-02 -5.41674667e-04 9.99859518e-01 3.66572007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.965099893 meters 0.02005251950539347 Centerline is valid? [True, True] Translation: X:312.55, Y:4.07, Z:3.66 [[ 9.98081239e-01 -5.93192869e-02 -1.77500199e-02 3.12553335e+02] [ 5.93226151e-02 9.98238805e-01 -3.39429186e-04 4.07037366e+00] [ 1.77388934e-02 -7.14199699e-04 9.99842398e-01 3.66473114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99509989300003 meters 0.024300779631951135 Centerline is valid? [True, True] Translation: X:312.58, Y:4.06, Z:3.66 [[ 9.97843639e-01 -6.29511285e-02 -1.85803105e-02 3.12583802e+02] [ 6.29554024e-02 9.98016278e-01 -3.55384877e-04 4.06327887e+00] [ 1.85658242e-02 -8.15112384e-04 9.99827308e-01 3.66434851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.025099893 meters 0.020711681960968276 Centerline is valid? [True, True] Translation: X:312.62, Y:4.07, Z:3.67 [[ 9.97639361e-01 -6.59079986e-02 -1.92832038e-02 3.12615020e+02] [ 6.59131625e-02 9.97825295e-01 -3.68345977e-04 4.06761603e+00] [ 1.92655455e-02 -9.03540502e-04 9.99813994e-01 3.66536981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05509989300003 meters 0.022919343796065392 Centerline is valid? [True, True] Translation: X:312.65, Y:4.06, Z:3.67 [[ 9.97346863e-01 -6.99475836e-02 -2.01636069e-02 3.12645110e+02] [ 6.99540735e-02 9.97550139e-01 -3.84159456e-04 4.06342273e+00] [ 2.01410799e-02 -1.02738621e-03 9.99796620e-01 3.66520649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.085099893 meters 0.025576794346279103 Centerline is valid? [True, True] Translation: X:312.68, Y:4.06, Z:3.67 [[ 9.97286473e-01 -7.06755516e-02 -2.06072074e-02 3.12676375e+02] [ 7.06825121e-02 9.97498787e-01 -3.91307444e-04 4.05982934e+00] [ 2.05833202e-02 -1.06632356e-03 9.99787572e-01 3.66535256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11509989300004 meters 0.025782608516005303 Centerline is valid? [True, True] Translation: X:312.71, Y:4.06, Z:3.67 [[ 9.97259701e-01 -7.10920300e-02 -2.04697945e-02 3.12708340e+02] [ 7.10990108e-02 9.97469188e-01 -3.87457877e-04 4.06018144e+00] [ 2.04455344e-02 -1.06898601e-03 9.99790397e-01 3.66618715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.145099893 meters 0.022313225101702392 Centerline is valid? [True, True] Translation: X:312.74, Y:4.07, Z:3.67 [[ 9.97341598e-01 -7.02479056e-02 -1.93640919e-02 3.12740115e+02] [ 7.02540196e-02 9.97529067e-01 -3.65186845e-04 4.06581382e+00] [ 1.93418981e-02 -9.96189258e-04 9.99812432e-01 3.66809511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17509989300004 meters 0.022800808293169845 Centerline is valid? [True, True] Translation: X:312.77, Y:4.07, Z:3.67 [[ 9.97417641e-01 -6.92383502e-02 -1.90813909e-02 3.12771418e+02] [ 6.92441270e-02 9.97599680e-01 -3.58584260e-04 4.06533818e+00] [ 1.90604173e-02 -9.63615989e-04 9.99817869e-01 3.66815687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.205099893 meters 0.02245690943300629 Centerline is valid? [True, True] Translation: X:312.80, Y:4.07, Z:3.67 [[ 9.97459996e-01 -6.84769048e-02 -1.96078926e-02 3.12803911e+02] [ 6.84828821e-02 9.97652224e-01 -3.67249096e-04 4.06701903e+00] [ 1.95870057e-02 -9.76488714e-04 9.99807679e-01 3.66800679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.235099893 meters 0.021317612663729172 Centerline is valid? [True, True] Translation: X:312.84, Y:4.07, Z:3.67 [[ 9.97534171e-01 -6.72400088e-02 -2.01086588e-02 3.12836562e+02] [ 6.72460778e-02 9.97736350e-01 -3.74986946e-04 4.06952938e+00] [ 2.00883540e-02 -9.78166143e-04 9.99797730e-01 3.66815135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.265099893 meters 0.021306598842773902 Centerline is valid? [True, True] Translation: X:312.87, Y:4.07, Z:3.67 [[ 9.97640023e-01 -6.54769453e-02 -2.06676866e-02 3.12868091e+02] [ 6.54830159e-02 9.97853610e-01 -3.83630058e-04 4.07123198e+00] [ 2.06484446e-02 -9.70657747e-04 9.99786327e-01 3.66780296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.295099893 meters 0.021127385731798468 Centerline is valid? [True, True] Translation: X:312.90, Y:4.07, Z:3.67 [[ 9.97678443e-01 -6.48227092e-02 -2.08744141e-02 3.12900370e+02] [ 6.48287911e-02 9.97896327e-01 -3.85931037e-04 4.07260472e+00] [ 2.08555183e-02 -9.68227957e-04 9.99782031e-01 3.66796324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.325099893 meters 0.020700618990043926 Centerline is valid? [True, True] Translation: X:312.93, Y:4.07, Z:3.67 [[ 9.97716050e-01 -6.41999994e-02 -2.10010423e-02 3.12932662e+02] [ 6.42060500e-02 9.97936588e-01 -3.86731793e-04 4.07406996e+00] [ 2.09825367e-02 -9.62545455e-04 9.99779379e-01 3.66810411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.355099893 meters 0.02255243701219453 Centerline is valid? [True, True] Translation: X:312.96, Y:4.07, Z:3.67 [[ 9.97785619e-01 -6.29539535e-02 -2.14629520e-02 3.12963938e+02] [ 6.29600162e-02 9.98015972e-01 -3.93815043e-04 4.07272034e+00] [ 2.14451611e-02 -9.58364817e-04 9.99769567e-01 3.66773356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.385099893 meters 0.020825274455283024 Centerline is valid? [True, True] Translation: X:313.00, Y:4.08, Z:3.67 [[ 9.97860709e-01 -6.17929451e-02 -2.13456490e-02 3.12996417e+02] [ 6.17987047e-02 9.98088557e-01 -3.90344219e-04 4.07641966e+00] [ 2.13289685e-02 -9.29624300e-04 9.99772079e-01 3.66897718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.415099893 meters 0.01981152024915689 Centerline is valid? [True, True] Translation: X:313.03, Y:4.08, Z:3.67 [[ 9.97974009e-01 -6.02210433e-02 -2.05256504e-02 3.13027376e+02] [ 6.02260604e-02 9.98184693e-01 -3.74197216e-04 4.07937410e+00] [ 2.05109246e-02 -8.62739964e-04 9.99789257e-01 3.66991467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.445099893 meters 0.018933114633888443 Centerline is valid? [True, True] Translation: X:313.06, Y:4.08, Z:3.67 [[ 9.98109369e-01 -5.80682535e-02 -2.01436225e-02 3.13058323e+02] [ 5.80726624e-02 9.98312292e-01 -3.66508640e-04 4.08231551e+00] [ 2.01309085e-02 -8.03978083e-04 9.99797029e-01 3.67057777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.475099893 meters 0.01769599868674878 Centerline is valid? [True, True] Translation: X:313.09, Y:4.09, Z:3.67 [[ 9.98414625e-01 -5.27052542e-02 -1.97583544e-02 3.13088097e+02] [ 5.27084559e-02 9.98609879e-01 -3.59055379e-04 4.08740191e+00] [ 1.97498120e-02 -6.82946208e-04 9.99804720e-01 3.67105101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.505099893 meters 0.015933620515487436 Centerline is valid? [True, True] Translation: X:313.12, Y:4.09, Z:3.67 [[ 9.98590196e-01 -4.93481067e-02 -1.95546375e-02 3.13119860e+02] [ 4.93506073e-02 9.98781453e-01 -3.54957778e-04 4.09190619e+00] [ 1.95483257e-02 -6.10575876e-04 9.99808727e-01 3.67172106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.535099893 meters 0.01569819760882621 Centerline is valid? [True, True] Translation: X:313.15, Y:4.09, Z:3.67 [[ 9.98762807e-01 -4.56975038e-02 -1.96110333e-02 3.13150782e+02] [ 4.56993342e-02 9.98955177e-01 -3.55035253e-04 4.09376876e+00] [ 1.96067674e-02 -5.41615159e-04 9.99807622e-01 3.67170190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.565099893 meters 0.013181186042543152 Centerline is valid? [True, True] Translation: X:313.18, Y:4.10, Z:3.67 [[ 9.99097431e-01 -3.74575964e-02 -2.00312823e-02 3.13181175e+02] [ 3.74578599e-02 9.99298142e-01 -3.62183132e-04 4.10156701e+00] [ 2.00307897e-02 -3.88472729e-04 9.99799288e-01 3.67193268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.595099893 meters 0.012414270704612191 Centerline is valid? [True, True] Translation: X:313.21, Y:4.11, Z:3.67 [[ 9.99230728e-01 -3.31695509e-02 -2.09220523e-02 3.13211956e+02] [ 3.31688986e-02 9.99449689e-01 -3.78289034e-04 4.10535386e+00] [ 2.09230863e-02 -3.15963405e-04 9.99781038e-01 3.67211353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.625099893 meters 0.011827318947705386 Centerline is valid? [True, True] Translation: X:313.24, Y:4.11, Z:3.67 [[ 9.99355081e-01 -2.90073093e-02 -2.11659634e-02 3.13240650e+02] [ 2.90056984e-02 9.99579173e-01 -3.83170005e-04 4.10893058e+00] [ 2.11681709e-02 -2.31010660e-04 9.99775902e-01 3.67227320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.655099893 meters 0.011827318947705386 Centerline is valid? [True, True] Translation: X:313.27, Y:4.11, Z:3.67 [[ 9.99346792e-01 -2.92915301e-02 -2.11659057e-02 3.13268050e+02] [ 2.92899159e-02 9.99570884e-01 -3.86334338e-04 4.10949082e+00] [ 2.11681394e-02 -2.33865616e-04 9.99775902e-01 3.67261229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68509989300003 meters 0.011298893008050212 Centerline is valid? [True, True] Translation: X:313.30, Y:4.11, Z:3.67 [[ 9.99454094e-01 -2.54369590e-02 -2.10825598e-02 3.13297173e+02] [ 2.54343832e-02 9.99676418e-01 -3.90350483e-04 4.11309645e+00] [ 2.10856672e-02 -1.46084518e-04 9.99777662e-01 3.67314339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.715099893 meters 0.011087779416817158 Centerline is valid? [True, True] Translation: X:313.33, Y:4.12, Z:3.67 [[ 9.99612969e-01 -1.88166570e-02 -2.04901200e-02 3.13326348e+02] [ 1.88127364e-02 9.99822951e-01 -3.84100465e-04 4.11836575e+00] [ 2.04937198e-02 -1.52342019e-06 9.99789982e-01 3.67424944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74509989300003 meters 0.01115444397495698 Centerline is valid? [True, True] Translation: X:313.35, Y:4.12, Z:3.67 [[ 9.99665655e-01 -1.63792403e-02 -2.00074723e-02 3.13353683e+02] [ 1.63749378e-02 9.99865850e-01 -3.78859120e-04 4.12011774e+00] [ 2.00109937e-02 5.11113350e-05 9.99799759e-01 3.67469460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.775099893 meters 0.011225557054427817 Centerline is valid? [True, True] Translation: X:313.38, Y:4.12, Z:3.68 [[ 9.99694926e-01 -1.50970601e-02 -1.95482383e-02 3.13381269e+02] [ 1.50926376e-02 9.99886030e-01 -3.73756088e-04 4.12094867e+00] [ 1.95516530e-02 7.86075873e-05 9.99808845e-01 3.67518084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80509989300003 meters 0.0113414995971484 Centerline is valid? [True, True] Translation: X:313.41, Y:4.12, Z:3.68 [[ 9.99719706e-01 -1.46671944e-02 -1.85844920e-02 3.13408988e+02] [ 1.46630263e-02 9.99892427e-01 -3.60531475e-04 4.12114522e+00] [ 1.85877808e-02 8.79255260e-05 9.99827228e-01 3.67583954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.835099893 meters 0.011305485152478837 Centerline is valid? [True, True] Translation: X:313.44, Y:4.12, Z:3.68 [[ 9.99722896e-01 -1.58038552e-02 -1.74461963e-02 3.13437219e+02] [ 1.58002839e-02 9.99875109e-01 -3.42529532e-04 4.11935679e+00] [ 1.74494307e-02 6.67797618e-05 9.99847745e-01 3.67579011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86509989300004 meters 0.01128430461309942 Centerline is valid? [True, True] Translation: X:313.47, Y:4.12, Z:3.68 [[ 9.99691398e-01 -1.78198344e-02 -1.73078719e-02 3.13465331e+02] [ 1.78165672e-02 9.99841214e-01 -3.42960367e-04 4.11759511e+00] [ 1.73112352e-02 3.44876652e-05 9.99850149e-01 3.67575205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.895099893 meters 0.011235466935932062 Centerline is valid? [True, True] Translation: X:313.49, Y:4.12, Z:3.68 [[ 9.99650733e-01 -2.02133631e-02 -1.70244354e-02 3.13491988e+02] [ 2.02104732e-02 9.99795689e-01 -3.41797212e-04 4.11517480e+00] [ 1.70278660e-02 -2.39406134e-06 9.99855015e-01 3.67510119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92509989300004 meters 0.011634136886012773 Centerline is valid? [True, True] Translation: X:313.52, Y:4.11, Z:3.67 [[ 9.99538475e-01 -2.58116737e-02 -1.60185683e-02 3.13521344e+02] [ 2.58097927e-02 9.99666819e-01 -3.24179834e-04 4.10918619e+00] [ 1.60215988e-02 -8.94057104e-05 9.99871642e-01 3.67419285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.955099893 meters 0.011991912206452711 Centerline is valid? [True, True] Translation: X:313.55, Y:4.11, Z:3.67 [[ 9.99457080e-01 -2.91097200e-02 -1.54327254e-02 3.13551050e+02] [ 2.91083524e-02 9.99576213e-01 -3.13278119e-04 4.10617810e+00] [ 1.54353046e-02 -1.36113175e-04 9.99880859e-01 3.67415564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.985099893 meters 0.012639358418885197 Centerline is valid? [True, True] Translation: X:313.58, Y:4.10, Z:3.67 [[ 9.99339400e-01 -3.30178996e-02 -1.51849338e-02 3.13581111e+02] [ 3.30170197e-02 9.99454742e-01 -3.08700597e-04 4.10277242e+00] [ 1.51868467e-02 -1.92864590e-04 9.99884655e-01 3.67378392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.015099893 meters 0.01361796624030254 Centerline is valid? [True, True] Translation: X:313.61, Y:4.10, Z:3.67 [[ 9.99212164e-01 -3.68546545e-02 -1.47236746e-02 3.13611388e+02] [ 3.68542430e-02 9.99320607e-01 -2.99368309e-04 4.09862646e+00] [ 1.47247046e-02 -2.43497428e-04 9.99891556e-01 3.67367916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.045099893 meters 0.014756709974437314 Centerline is valid? [True, True] Translation: X:313.64, Y:4.09, Z:3.67 [[ 9.98888102e-01 -4.50650251e-02 -1.38456687e-02 3.13642902e+02] [ 4.50654529e-02 9.98983997e-01 -2.81257898e-04 4.09263520e+00] [ 1.38442764e-02 -3.43016164e-04 9.99904105e-01 3.67367883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.075099893 meters 0.01592154732806765 Centerline is valid? [True, True] Translation: X:313.67, Y:4.09, Z:3.67 [[ 9.98733633e-01 -4.85277775e-02 -1.32734539e-02 3.13673580e+02] [ 4.85284835e-02 9.98821763e-01 -2.69081220e-04 4.08916335e+00] [ 1.32708725e-02 -3.75400121e-04 9.99911868e-01 3.67389626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.105099893 meters 0.01670126192109209 Centerline is valid? [True, True] Translation: X:313.71, Y:4.09, Z:3.67 [[ 9.98594840e-01 -5.15730180e-02 -1.21888726e-02 3.13705948e+02] [ 5.15738575e-02 9.98669153e-01 -2.45651812e-04 4.08678400e+00] [ 1.21853201e-02 -3.83320545e-04 9.99925683e-01 3.67437792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.135099893 meters 0.018735432357503346 Centerline is valid? [True, True] Translation: X:313.74, Y:4.08, Z:3.67 [[ 9.98474659e-01 -5.39929379e-02 -1.15376635e-02 3.13737009e+02] [ 5.39938608e-02 9.98541241e-01 -2.31712005e-04 4.08259156e+00] [ 1.15333436e-02 -3.91604430e-04 9.99933412e-01 3.67485180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.165099893 meters 0.01916520276529764 Centerline is valid? [True, True] Translation: X:313.77, Y:4.08, Z:3.68 [[ 9.98330348e-01 -5.68885441e-02 -1.00104567e-02 3.13769363e+02] [ 5.68893884e-02 9.98380467e-01 -2.00623335e-04 4.08034319e+00] [ 1.00056576e-02 -3.69200394e-04 9.99949874e-01 3.67542063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.195099893 meters 0.018476114036811674 Centerline is valid? [True, True] Translation: X:313.80, Y:4.08, Z:3.68 [[ 9.98314046e-01 -5.73418705e-02 -8.99867382e-03 3.13801230e+02] [ 5.73425761e-02 9.98354545e-01 -1.79790792e-04 4.08135247e+00] [ 8.99417645e-03 -3.36519466e-04 9.99959495e-01 3.67554878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.225099893 meters 0.01992939287796923 Centerline is valid? [True, True] Translation: X:313.83, Y:4.08, Z:3.68 [[ 9.98367542e-01 -5.65048080e-02 -8.33418040e-03 3.13832147e+02] [ 5.65053893e-02 9.98402280e-01 -1.65889621e-04 4.07839258e+00] [ 8.33023828e-03 -3.05307295e-04 9.99965256e-01 3.67514234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.255099893 meters 0.019861807222126052 Centerline is valid? [True, True] Translation: X:313.86, Y:4.08, Z:3.68 [[ 9.98426459e-01 -5.54717132e-02 -8.21549872e-03 3.13864677e+02] [ 5.54722463e-02 9.98460216e-01 -1.63150032e-04 4.07843642e+00] [ 8.21189884e-03 -2.92838860e-04 9.99966239e-01 3.67506094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.285099893 meters 0.018582635116770985 Centerline is valid? [True, True] Translation: X:313.90, Y:4.08, Z:3.67 [[ 9.98502157e-01 -5.40265773e-02 -8.63548308e-03 3.13896429e+02] [ 5.40271178e-02 9.98539454e-01 -1.70837793e-04 4.08048071e+00] [ 8.63210034e-03 -2.95968358e-04 9.99962699e-01 3.67441228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.315099893 meters 0.018610154524063394 Centerline is valid? [True, True] Translation: X:313.93, Y:4.08, Z:3.67 [[ 9.98593448e-01 -5.22889048e-02 -8.77473692e-03 3.13927573e+02] [ 5.22893996e-02 9.98631959e-01 -1.73182123e-04 4.08084042e+00] [ 8.77178822e-03 -2.85887191e-04 9.99961486e-01 3.67414903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.345099893 meters 0.018007777331741272 Centerline is valid? [True, True] Translation: X:313.96, Y:4.08, Z:3.67 [[ 9.98752320e-01 -4.90277530e-02 -9.49119559e-03 3.13958243e+02] [ 4.90282014e-02 9.98797377e-01 -1.85570073e-04 4.08208581e+00] [ 9.48887935e-03 -2.79997708e-04 9.99954940e-01 3.67283579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.375099893 meters 0.017135509804134804 Centerline is valid? [True, True] Translation: X:313.99, Y:4.08, Z:3.67 [[ 9.98826528e-01 -4.74458557e-02 -9.71894381e-03 3.13990479e+02] [ 4.74462535e-02 9.98873774e-01 -1.89762084e-04 4.08372549e+00] [ 9.71700152e-03 -2.71588069e-04 9.99952752e-01 3.67267984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.405099893 meters 0.016183126383672388 Centerline is valid? [True, True] Translation: X:314.02, Y:4.09, Z:3.67 [[ 9.98910441e-01 -4.56296567e-02 -9.79108492e-03 3.14023064e+02] [ 4.56299797e-02 9.98958392e-01 -1.90516946e-04 4.08588655e+00] [ 9.78957967e-03 -2.56457640e-04 9.99952048e-01 3.67246264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43509989300003 meters 0.015551578068329148 Centerline is valid? [True, True] Translation: X:314.05, Y:4.09, Z:3.67 [[ 9.99062513e-01 -4.22272258e-02 -9.53709146e-03 3.14054209e+02] [ 4.22273863e-02 9.99108009e-01 -1.84635755e-04 4.08723744e+00] [ 9.53638112e-03 -2.18263783e-04 9.99954504e-01 3.67178168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.465099893 meters 0.01562060287828021 Centerline is valid? [True, True] Translation: X:314.08, Y:4.09, Z:3.67 [[ 9.99136967e-01 -4.01581560e-02 -1.06134023e-02 3.14084985e+02] [ 4.01582448e-02 9.99193311e-01 -2.04830189e-04 4.08766818e+00] [ 1.06130662e-02 -2.21562194e-04 9.99943655e-01 3.67165612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49509989300003 meters 0.014032714658953671 Centerline is valid? [True, True] Translation: X:314.12, Y:4.09, Z:3.67 [[ 9.99309556e-01 -3.54479666e-02 -1.11289059e-02 3.14116407e+02] [ 3.54477794e-02 9.99371507e-01 -2.14131524e-04 4.09259349e+00] [ 1.11295020e-02 -1.80511323e-04 9.99938049e-01 3.67124770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.525099893 meters 0.01389432757616413 Centerline is valid? [True, True] Translation: X:314.15, Y:4.09, Z:3.67 [[ 9.99391870e-01 -3.28496543e-02 -1.16957198e-02 3.14146738e+02] [ 3.28492750e-02 9.99460292e-01 -2.24579600e-04 4.09422430e+00] [ 1.16967849e-02 -1.59752891e-04 9.99931578e-01 3.67140684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55509989300003 meters 0.013257861914576115 Centerline is valid? [True, True] Translation: X:314.18, Y:4.10, Z:3.67 [[ 9.99479974e-01 -3.00727468e-02 -1.16366158e-02 3.14178414e+02] [ 3.00721855e-02 9.99547705e-01 -2.23251586e-04 4.09720514e+00] [ 1.16380664e-02 -1.26802980e-04 9.99932267e-01 3.67165064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.585099893 meters 0.01291143134639953 Centerline is valid? [True, True] Translation: X:314.21, Y:4.10, Z:3.67 [[ 9.99561608e-01 -2.72346065e-02 -1.16133090e-02 3.14210088e+02] [ 2.72338607e-02 9.99629065e-01 -2.22391887e-04 4.09966770e+00] [ 1.16150579e-02 -9.39808459e-05 9.99932539e-01 3.67212438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61509989300004 meters 0.012595285015757329 Centerline is valid? [True, True] Translation: X:314.24, Y:4.10, Z:3.67 [[ 9.99689260e-01 -2.19864056e-02 -1.17465841e-02 3.14239882e+02] [ 2.19852856e-02 9.99758269e-01 -2.24484718e-04 4.10340683e+00] [ 1.17486802e-02 -3.38370460e-05 9.99930981e-01 3.67285932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.645099893 meters 0.012539913503659766 Centerline is valid? [True, True] Translation: X:314.27, Y:4.11, Z:3.67 [[ 9.99733972e-01 -1.96704646e-02 -1.20440055e-02 3.14269854e+02] [ 1.96691164e-02 9.99806518e-01 -2.30393838e-04 4.10536701e+00] [ 1.20462072e-02 -6.56239991e-06 9.99927442e-01 3.67364188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67509989300004 meters 0.012635501119822387 Centerline is valid? [True, True] Translation: X:314.30, Y:4.11, Z:3.67 [[ 9.99783538e-01 -1.76096567e-02 -1.10805061e-02 3.14299864e+02] [ 1.76083895e-02 9.99844938e-01 -2.11916771e-04 4.10733264e+00] [ 1.10825197e-02 1.67610326e-05 9.99938587e-01 3.67452260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.705099893 meters 0.012803288787413374 Centerline is valid? [True, True] Translation: X:314.33, Y:4.11, Z:3.68 [[ 9.99832796e-01 -1.51652567e-02 -1.02173551e-02 3.14328438e+02] [ 1.51640486e-02 9.99885000e-01 -1.95702914e-04 4.10947799e+00] [ 1.02191480e-02 4.07337228e-05 9.99947782e-01 3.67535777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.735099893 meters 0.012798978532662727 Centerline is valid? [True, True] Translation: X:314.36, Y:4.11, Z:3.68 [[ 9.99838146e-01 -1.48176763e-02 -1.02037916e-02 3.14357448e+02] [ 1.48164482e-02 9.99890211e-01 -1.95950681e-04 4.11043680e+00] [ 1.02055749e-02 4.47350160e-05 9.99947921e-01 3.67648321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.765099893 meters 0.012791687260328954 Centerline is valid? [True, True] Translation: X:314.39, Y:4.11, Z:3.68 [[ 9.99838853e-01 -1.53098293e-02 -9.37423777e-03 3.14387407e+02] [ 1.53088080e-02 9.99882797e-01 -1.80703968e-04 4.11016359e+00] [ 9.37590563e-03 3.71664423e-05 9.99956045e-01 3.67719988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.795099893 meters 0.012797480649764742 Centerline is valid? [True, True] Translation: X:314.42, Y:4.11, Z:3.68 [[ 9.99826135e-01 -1.63283277e-02 -9.00470538e-03 3.14417028e+02] [ 1.63274239e-02 9.99866684e-01 -1.73879741e-04 4.10946928e+00] [ 9.00634407e-03 2.68258674e-05 9.99959442e-01 3.67769294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.825099893 meters 0.012807222689349867 Centerline is valid? [True, True] Translation: X:314.45, Y:4.11, Z:3.68 [[ 9.99764765e-01 -1.98304001e-02 -8.78462347e-03 3.14446993e+02] [ 1.98296725e-02 9.99803358e-01 -1.69923977e-04 4.10569528e+00] [ 8.78626570e-03 -4.31220202e-06 9.99961400e-01 3.67818349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.855099893 meters 0.012890436159789988 Centerline is valid? [True, True] Translation: X:314.48, Y:4.10, Z:3.68 [[ 9.99712153e-01 -2.23852265e-02 -8.63205197e-03 3.14477897e+02] [ 2.23846155e-02 9.99749419e-01 -1.67403010e-04 4.10404630e+00] [ 8.63363630e-03 -2.58703408e-05 9.99962729e-01 3.67827435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.885099893 meters 0.013120601460916499 Centerline is valid? [True, True] Translation: X:314.51, Y:4.10, Z:3.68 [[ 9.99649764e-01 -2.49794908e-02 -8.73920066e-03 3.14509369e+02] [ 2.49789620e-02 9.99687963e-01 -1.69676131e-04 4.10211849e+00] [ 8.74071213e-03 -4.86794564e-05 9.99961798e-01 3.67916861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.915099893 meters 0.013346747779994832 Centerline is valid? [True, True] Translation: X:314.54, Y:4.10, Z:3.68 [[ 9.99579319e-01 -2.76723983e-02 -8.68461553e-03 3.14541988e+02] [ 2.76719811e-02 9.99617043e-01 -1.68223261e-04 4.10082544e+00] [ 8.68594483e-03 -7.21680234e-05 9.99962274e-01 3.67950565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.945099893 meters 0.014112387451848655 Centerline is valid? [True, True] Translation: X:314.57, Y:4.10, Z:3.68 [[ 9.99379492e-01 -3.38605426e-02 -9.70028222e-03 3.14574082e+02] [ 3.38603214e-02 9.99426557e-01 -1.87082923e-04 4.09662547e+00] [ 9.70105439e-03 -1.41487837e-04 9.99952934e-01 3.67950679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.975099893 meters 0.014844045212137967 Centerline is valid? [True, True] Translation: X:314.60, Y:4.09, Z:3.68 [[ 9.99262458e-01 -3.70156375e-02 -1.02167857e-02 3.14604912e+02] [ 3.70155639e-02 9.99314670e-01 -1.96367198e-04 4.09414095e+00] [ 1.02170525e-02 -1.81957716e-04 9.99947788e-01 3.67966825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.005099893 meters 0.015556787253434193 Centerline is valid? [True, True] Translation: X:314.64, Y:4.09, Z:3.68 [[ 9.99123809e-01 -4.04148931e-02 -1.08743578e-02 3.14637234e+02] [ 4.04150278e-02 9.99182957e-01 -2.07451315e-04 4.09199891e+00] [ 1.08738571e-02 -2.32217923e-04 9.99940851e-01 3.68000038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.035099893 meters 0.018089782327734432 Centerline is valid? [True, True] Translation: X:314.67, Y:4.09, Z:3.68 [[ 9.98835904e-01 -4.68498040e-02 -1.14861701e-02 3.14667072e+02] [ 4.68503902e-02 9.98901894e-01 -2.18181886e-04 4.08603187e+00] [ 1.14837788e-02 -3.20203648e-04 9.99934008e-01 3.68016740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.065099893 meters 0.01861891211209976 Centerline is valid? [True, True] Translation: X:314.70, Y:4.09, Z:3.68 [[ 9.98697869e-01 -4.96625090e-02 -1.16705115e-02 3.14699349e+02] [ 4.96633055e-02 9.98765992e-01 -2.21732463e-04 4.08505405e+00] [ 1.16671218e-02 -3.58152438e-04 9.99931873e-01 3.68045426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.095099893 meters 0.02003954947722352 Centerline is valid? [True, True] Translation: X:314.73, Y:4.08, Z:3.68 [[ 9.98578359e-01 -5.18168635e-02 -1.25009449e-02 3.14730763e+02] [ 5.18179577e-02 9.98656519e-01 -2.36567165e-04 4.08279507e+00] [ 1.24964083e-02 -4.11542585e-04 9.99921832e-01 3.68070551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.125099893 meters 0.0190489926270786 Centerline is valid? [True, True] Translation: X:314.76, Y:4.08, Z:3.68 [[ 9.98360036e-01 -5.57420930e-02 -1.30405955e-02 3.14761636e+02] [ 5.57436271e-02 9.98445085e-01 -2.46087746e-04 4.08486505e+00] [ 1.30340359e-02 -4.81245920e-04 9.99914938e-01 3.68088329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.155099893 meters 0.019841130671732123 Centerline is valid? [True, True] Translation: X:314.79, Y:4.08, Z:3.68 [[ 9.98309148e-01 -5.65612415e-02 -1.34041756e-02 3.14792748e+02] [ 5.65629401e-02 9.98399003e-01 -2.52658739e-04 4.08428100e+00] [ 1.33970063e-02 -5.05948052e-04 9.99910128e-01 3.68106476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18509989300003 meters 0.020080006847362584 Centerline is valid? [True, True] Translation: X:314.82, Y:4.09, Z:3.68 [[ 9.98265098e-01 -5.71885775e-02 -1.40093120e-02 3.14824959e+02] [ 5.71905062e-02 9.98363249e-01 -2.63236542e-04 4.08507365e+00] [ 1.40014364e-02 -5.38419795e-04 9.99901830e-01 3.68100454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.215099893 meters 0.021150981066382243 Centerline is valid? [True, True] Translation: X:314.86, Y:4.08, Z:3.68 [[ 9.98248275e-01 -5.73377770e-02 -1.45862951e-02 3.14856283e+02] [ 5.73398991e-02 9.98354677e-01 -2.73022966e-04 4.08456764e+00] [ 1.45779505e-02 -5.63831985e-04 9.99893577e-01 3.68079141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24509989300003 meters 0.020748806372501986 Centerline is valid? [True, True] Translation: X:314.89, Y:4.09, Z:3.68 [[ 9.98268087e-01 -5.68352842e-02 -1.51847430e-02 3.14888226e+02] [ 5.68375397e-02 9.98383400e-01 -2.83326814e-04 4.08791630e+00] [ 1.51762983e-02 -5.80227316e-04 9.99884665e-01 3.68107783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.275099893 meters 0.019666813540043127 Centerline is valid? [True, True] Translation: X:314.92, Y:4.09, Z:3.68 [[ 9.98260571e-01 -5.69196873e-02 -1.53616611e-02 3.14920704e+02] [ 5.69220227e-02 9.98378586e-01 -2.85514185e-04 4.09163043e+00] [ 1.53530049e-02 -5.89399271e-04 9.99881962e-01 3.68191172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30509989300003 meters 0.0208278074232124 Centerline is valid? [True, True] Translation: X:314.95, Y:4.09, Z:3.68 [[ 9.98266452e-01 -5.67648914e-02 -1.55511684e-02 3.14952035e+02] [ 5.67672831e-02 9.98387396e-01 -2.87942948e-04 4.09123088e+00] [ 1.55424355e-02 -5.95353792e-04 9.99879032e-01 3.68253638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.335099893 meters 0.020282468126509613 Centerline is valid? [True, True] Translation: X:314.98, Y:4.09, Z:3.68 [[ 9.98313772e-01 -5.58839945e-02 -1.57032279e-02 3.14984471e+02] [ 5.58863389e-02 9.98437095e-01 -2.89835731e-04 4.09450054e+00] [ 1.56948824e-02 -5.88248914e-04 9.99876655e-01 3.68322981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36509989300004 meters 0.02008201413859425 Centerline is valid? [True, True] Translation: X:315.02, Y:4.10, Z:3.68 [[ 9.98328887e-01 -5.55682954e-02 -1.58618625e-02 3.15016975e+02] [ 5.55706659e-02 9.98454714e-01 -2.91614223e-04 4.09659784e+00] [ 1.58535559e-02 -5.90327360e-04 9.99874150e-01 3.68357977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.395099893 meters 0.020766400660898233 Centerline is valid? [True, True] Translation: X:315.05, Y:4.10, Z:3.68 [[ 9.98328421e-01 -5.55138135e-02 -1.60804350e-02 3.15047779e+02] [ 5.55162605e-02 9.98457740e-01 -2.94528519e-04 4.09691681e+00] [ 1.60719852e-02 -5.98689429e-04 9.99870658e-01 3.68414653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42509989300004 meters 0.02036683428832508 Centerline is valid? [True, True] Translation: X:315.08, Y:4.10, Z:3.68 [[ 9.98302184e-01 -5.56411743e-02 -1.72281600e-02 3.15080038e+02] [ 5.56440203e-02 9.98450622e-01 -3.14488868e-04 4.10045880e+00] [ 1.72189656e-02 -6.44689164e-04 9.99851535e-01 3.68416260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.455099893 meters 0.020155661523895616 Centerline is valid? [True, True] Translation: X:315.11, Y:4.10, Z:3.68 [[ 9.98291402e-01 -5.56851639e-02 -1.77042402e-02 3.15112619e+02] [ 5.56881993e-02 9.98448156e-01 -3.21880901e-04 4.10264544e+00] [ 1.76946900e-02 -6.64586322e-04 9.99843216e-01 3.68433154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.485099893 meters 0.021867820677761204 Centerline is valid? [True, True] Translation: X:315.14, Y:4.10, Z:3.68 [[ 9.98270289e-01 -5.58492477e-02 -1.83655244e-02 3.15144303e+02] [ 5.58525649e-02 9.98438972e-01 -3.32654123e-04 4.10171375e+00] [ 1.83554338e-02 -6.93682919e-04 9.99831284e-01 3.68433172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.515099893 meters 0.019519963548875495 Centerline is valid? [True, True] Translation: X:315.18, Y:4.11, Z:3.68 [[ 9.98305572e-01 -5.48722744e-02 -1.93654087e-02 3.15175325e+02] [ 5.48757977e-02 9.98493127e-01 -3.49809574e-04 4.10816780e+00] [ 1.93554223e-02 -7.13475402e-04 9.99812412e-01 3.68496655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.545099893 meters 0.019519963548875495 Centerline is valid? [True, True] Translation: X:315.21, Y:4.11, Z:3.69 [[ 9.98309566e-01 -5.47995548e-02 -1.93654259e-02 3.15207029e+02] [ 5.48030831e-02 9.98497121e-01 -3.48851073e-04 4.10868291e+00] [ 1.93554389e-02 -7.13023682e-04 9.99812412e-01 3.68535857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.575099893 meters 0.0187324295170793 Centerline is valid? [True, True] Translation: X:315.24, Y:4.11, Z:3.69 [[ 9.98366552e-01 -5.35773843e-02 -1.98416695e-02 3.15237999e+02] [ 5.35808711e-02 9.98563450e-01 -3.56232700e-04 4.11209266e+00] [ 1.98322520e-02 -7.07483123e-04 9.99803071e-01 3.68582273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.605099893 meters 0.019213878407849033 Centerline is valid? [True, True] Translation: X:315.27, Y:4.11, Z:3.69 [[ 9.98441718e-01 -5.18609956e-02 -2.06051818e-02 3.15268776e+02] [ 5.18644068e-02 9.98654068e-01 -3.69169505e-04 4.11354337e+00] [ 2.05965941e-02 -7.00081298e-04 9.99787623e-01 3.68597113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.635099893 meters 0.01743117527613595 Centerline is valid? [True, True] Translation: X:315.30, Y:4.12, Z:3.69 [[ 9.98654168e-01 -4.74808993e-02 -2.08666494e-02 3.15299281e+02] [ 4.74834518e-02 9.98871955e-01 -3.73398670e-04 4.12091005e+00] [ 2.08608402e-02 -6.17924404e-04 9.99782198e-01 3.68774553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.665099893 meters 0.0168023642681616 Centerline is valid? [True, True] Translation: X:315.33, Y:4.12, Z:3.69 [[ 9.98795580e-01 -4.47368323e-02 -2.01495470e-02 3.15329726e+02] [ 4.47386544e-02 9.98998660e-01 -3.60566468e-04 4.12457942e+00] [ 2.01455011e-02 -5.41331427e-04 9.99796912e-01 3.68918595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.695099893 meters 0.016092113566626105 Centerline is valid? [True, True] Translation: X:315.36, Y:4.13, Z:3.69 [[ 9.98912117e-01 -4.22346203e-02 -1.97691546e-02 3.15360713e+02] [ 4.22358871e-02 9.99107604e-01 -3.53623794e-04 4.12862659e+00] [ 1.97664479e-02 -4.81728691e-04 9.99804509e-01 3.69039474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.725099893 meters 0.01584423476615739 Centerline is valid? [True, True] Translation: X:315.39, Y:4.13, Z:3.69 [[ 9.99028012e-01 -3.96114416e-02 -1.93381590e-02 3.15389844e+02] [ 3.96121645e-02 9.99215070e-01 -3.45819519e-04 4.13095373e+00] [ 1.93366783e-02 -4.20542949e-04 9.99812941e-01 3.69081684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.755099893 meters 0.0156364446790758 Centerline is valid? [True, True] Translation: X:315.42, Y:4.13, Z:3.69 [[ 9.99179394e-01 -3.56099344e-02 -1.92994880e-02 3.15419787e+02] [ 3.56099038e-02 9.99365707e-01 -3.45352465e-04 4.13420743e+00] [ 1.92995444e-02 -3.42183845e-04 9.99813688e-01 3.69069114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.785099893 meters 0.015000699907267065 Centerline is valid? [True, True] Translation: X:315.45, Y:4.14, Z:3.69 [[ 9.99214266e-01 -3.43041968e-02 -1.98512464e-02 3.15449046e+02] [ 3.43039016e-02 9.99411385e-01 -3.55491406e-04 4.13770655e+00] [ 1.98517565e-02 -3.25763119e-04 9.99802881e-01 3.69151814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.815099893 meters 0.014846025102560754 Centerline is valid? [True, True] Translation: X:315.48, Y:4.14, Z:3.69 [[ 9.99246509e-01 -3.31731252e-02 -2.01484101e-02 3.15478951e+02] [ 3.31725768e-02 9.99449573e-01 -3.61533476e-04 4.13931955e+00] [ 2.01493131e-02 -3.07113617e-04 9.99796935e-01 3.69150769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.845099893 meters 0.014587944022352561 Centerline is valid? [True, True] Translation: X:315.51, Y:4.14, Z:3.69 [[ 9.99241815e-01 -3.28432200e-02 -2.09073809e-02 3.15507294e+02] [ 3.28425028e-02 9.99460468e-01 -3.77758903e-04 4.14096894e+00] [ 2.09085075e-02 -3.09178222e-04 9.99781345e-01 3.69182268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.875099893 meters 0.014883977087065873 Centerline is valid? [True, True] Translation: X:315.54, Y:4.14, Z:3.69 [[ 9.99236944e-01 -3.25825002e-02 -2.15385976e-02 3.15535495e+02] [ 3.25815837e-02 9.99469002e-01 -3.93566361e-04 4.14140661e+00] [ 2.15399841e-02 -3.08495574e-04 9.99767940e-01 3.69122085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.905099893 meters 0.014961714663472826 Centerline is valid? [True, True] Translation: X:315.56, Y:4.14, Z:3.69 [[ 9.99235438e-01 -3.28396101e-02 -2.12155564e-02 3.15564064e+02] [ 3.28386994e-02 9.99460588e-01 -3.91403669e-04 4.14209997e+00] [ 2.12169660e-02 -3.05586863e-04 9.99774848e-01 3.69195635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93509989300003 meters 0.015151912343690154 Centerline is valid? [True, True] Translation: X:315.59, Y:4.14, Z:3.69 [[ 9.99192168e-01 -3.42684695e-02 -2.09924782e-02 3.15592545e+02] [ 3.42677859e-02 9.99412610e-01 -3.92390587e-04 4.14230328e+00] [ 2.09935941e-02 -3.27292150e-04 9.99779557e-01 3.69295833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.965099893 meters 0.015109205758518783 Centerline is valid? [True, True] Translation: X:315.62, Y:4.14, Z:3.69 [[ 9.99137006e-01 -3.53920889e-02 -2.17403555e-02 3.15621221e+02] [ 3.53915022e-02 9.99373440e-01 -4.11861993e-04 4.14281696e+00] [ 2.17413106e-02 -3.57917283e-04 9.99763566e-01 3.69342032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99509989300003 meters 0.015423658402557957 Centerline is valid? [True, True] Translation: X:315.65, Y:4.14, Z:3.69 [[ 9.99101611e-01 -3.63356549e-02 -2.18103522e-02 3.15649784e+02] [ 3.63352106e-02 9.99339571e-01 -4.16788620e-04 4.14254649e+00] [ 2.18110923e-02 -3.76069559e-04 9.99762039e-01 3.69367465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.025099893 meters 0.015566953501296084 Centerline is valid? [True, True] Translation: X:315.68, Y:4.14, Z:3.69 [[ 9.99009569e-01 -3.84346292e-02 -2.24200902e-02 3.15678453e+02] [ 3.84346164e-02 9.99261024e-01 -4.31638410e-04 4.14233505e+00] [ 2.24201122e-02 -4.30496664e-04 9.99748545e-01 3.69454671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05509989300003 meters 0.01618945579897945 Centerline is valid? [True, True] Translation: X:315.71, Y:4.14, Z:3.69 [[ 9.98986516e-01 -3.90831723e-02 -2.23259203e-02 3.15707481e+02] [ 3.90832406e-02 9.99235864e-01 -4.33445234e-04 4.14091159e+00] [ 2.23258007e-02 -4.39563372e-04 9.99750652e-01 3.69420489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.085099893 meters 0.01626048858903016 Centerline is valid? [True, True] Translation: X:315.74, Y:4.14, Z:3.69 [[ 9.98977232e-01 -3.92795983e-02 -2.23964824e-02 3.15737351e+02] [ 3.92796938e-02 9.99228160e-01 -4.35824190e-04 4.14112376e+00] [ 2.23963149e-02 -4.44348528e-04 9.99749072e-01 3.69444883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11509989300004 meters 0.015940479141220237 Centerline is valid? [True, True] Translation: X:315.77, Y:4.14, Z:3.70 [[ 9.98965064e-01 -3.96042911e-02 -2.23673902e-02 3.15767192e+02] [ 3.96044502e-02 9.99215341e-01 -4.36043022e-04 4.14213761e+00] [ 2.23671086e-02 -4.50256447e-04 9.99749724e-01 3.69547493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.145099893 meters 0.016413818893483395 Centerline is valid? [True, True] Translation: X:315.80, Y:4.14, Z:3.70 [[ 9.98964865e-01 -3.97069643e-02 -2.21936029e-02 3.15795866e+02] [ 3.97071249e-02 9.99211267e-01 -4.33613914e-04 4.14148207e+00] [ 2.21933156e-02 -4.48079098e-04 9.99753598e-01 3.69534221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17509989300004 meters 0.015934414289529797 Centerline is valid? [True, True] Translation: X:315.83, Y:4.14, Z:3.70 [[ 9.98965523e-01 -3.99764493e-02 -2.16741137e-02 3.15825193e+02] [ 3.99766447e-02 9.99200524e-01 -4.24438144e-04 4.14321551e+00] [ 2.16737533e-02 -4.42459267e-04 9.99764999e-01 3.69652068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.205099893 meters 0.016033293345149288 Centerline is valid? [True, True] Translation: X:315.85, Y:4.14, Z:3.70 [[ 9.98927766e-01 -4.09049062e-02 -2.16819425e-02 3.15854715e+02] [ 4.09053035e-02 9.99162937e-01 -4.25369256e-04 4.14365691e+00] [ 2.16811931e-02 -4.61993278e-04 9.99764829e-01 3.69657188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.235099893 meters 0.01623873480954439 Centerline is valid? [True, True] Translation: X:315.88, Y:4.14, Z:3.70 [[ 9.98897844e-01 -4.13921969e-02 -2.21310689e-02 3.15884086e+02] [ 4.13927126e-02 9.99142860e-01 -4.34983203e-04 4.14376437e+00] [ 2.21301043e-02 -4.81561188e-04 9.99754983e-01 3.69661871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.265099893 meters 0.01644508548566857 Centerline is valid? [True, True] Translation: X:315.91, Y:4.14, Z:3.70 [[ 9.98861886e-01 -4.22634123e-02 -2.21073920e-02 3.15913761e+02] [ 4.22641227e-02 9.99106378e-01 -4.35306930e-04 4.14380323e+00] [ 2.21060339e-02 -4.99538026e-04 9.99755507e-01 3.69690157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.295099893 meters 0.01725224997657253 Centerline is valid? [True, True] Translation: X:315.94, Y:4.14, Z:3.70 [[ 9.98839817e-01 -4.29827600e-02 -2.17141181e-02 3.15943713e+02] [ 4.29836060e-02 9.99075686e-01 -4.27985331e-04 4.14220061e+00] [ 2.17124434e-02 -5.05862308e-04 9.99764129e-01 3.69683222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.325099893 meters 0.01777074935792712 Centerline is valid? [True, True] Translation: X:315.97, Y:4.14, Z:3.70 [[ 9.98813488e-01 -4.34916754e-02 -2.19109729e-02 3.15972806e+02] [ 4.34926559e-02 9.99053653e-01 -4.32014864e-04 4.14163676e+00] [ 2.19090265e-02 -5.21464130e-04 9.99759832e-01 3.69641039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.355099893 meters 0.017569380294877274 Centerline is valid? [True, True] Translation: X:316.00, Y:4.14, Z:3.70 [[ 9.98777486e-01 -4.42863909e-02 -2.19601571e-02 3.16003388e+02] [ 4.42875631e-02 9.99018731e-01 -4.33197081e-04 4.14238392e+00] [ 2.19577930e-02 -5.39894353e-04 9.99758753e-01 3.69752209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.385099893 meters 0.01748791470183591 Centerline is valid? [True, True] Translation: X:316.03, Y:4.14, Z:3.70 [[ 9.98774668e-01 -4.44186269e-02 -2.18208020e-02 3.16033808e+02] [ 4.44198158e-02 9.99012860e-01 -4.30448092e-04 4.14317142e+00] [ 2.18183818e-02 -5.39355356e-04 9.99761805e-01 3.69859608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.415099893 meters 0.01785241816471531 Centerline is valid? [True, True] Translation: X:316.06, Y:4.14, Z:3.70 [[ 9.98759972e-01 -4.49303372e-02 -2.14425519e-02 3.16063494e+02] [ 4.49315996e-02 9.98989976e-01 -4.23143522e-04 4.14339516e+00] [ 2.14399064e-02 -5.40829346e-04 9.99769993e-01 3.69933844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.445099893 meters 0.018253409579109942 Centerline is valid? [True, True] Translation: X:316.09, Y:4.14, Z:3.70 [[ 9.98709306e-01 -4.59069104e-02 -2.17319709e-02 3.16094351e+02] [ 4.59084335e-02 9.98945560e-01 -4.29071500e-04 4.14324001e+00] [ 2.17287532e-02 -5.69163041e-04 9.99763741e-01 3.69971072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.475099893 meters 0.018604366967384295 Centerline is valid? [True, True] Translation: X:316.13, Y:4.14, Z:3.70 [[ 9.98668756e-01 -4.65792741e-02 -2.21604611e-02 3.16125052e+02] [ 4.65810233e-02 9.98914419e-01 -4.37531520e-04 4.14303629e+00] [ 2.21567840e-02 -5.95307894e-04 9.99754331e-01 3.69969152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.505099893 meters 0.019360674565922702 Centerline is valid? [True, True] Translation: X:316.15, Y:4.14, Z:3.70 [[ 9.98595330e-01 -4.77781050e-02 -2.29045710e-02 3.16154082e+02] [ 4.77802806e-02 9.98857768e-01 -4.52581121e-04 4.14233092e+00] [ 2.29000321e-02 -6.42441434e-04 9.99737553e-01 3.69944470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.535099893 meters 0.017834087675087745 Centerline is valid? [True, True] Translation: X:316.18, Y:4.15, Z:3.70 [[ 9.98468398e-01 -4.98023293e-02 -2.40953516e-02 3.16184538e+02] [ 4.98053154e-02 9.98758831e-01 -4.76551991e-04 4.14540992e+00] [ 2.40891786e-02 -7.24254481e-04 9.99709551e-01 3.70072374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.565099893 meters 0.020948296655934586 Centerline is valid? [True, True] Translation: X:316.21, Y:4.14, Z:3.70 [[ 9.98387392e-01 -5.09604918e-02 -2.50128664e-02 3.16214606e+02] [ 5.09641015e-02 9.98700364e-01 -4.93556606e-04 4.14048537e+00] [ 2.50055107e-02 -7.81997570e-04 9.99687007e-01 3.69914971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.595099893 meters 0.019089939601628025 Centerline is valid? [True, True] Translation: X:316.24, Y:4.14, Z:3.70 [[ 9.98343285e-01 -5.16819285e-02 -2.52915542e-02 3.16244829e+02] [ 5.16858790e-02 9.98663268e-01 -4.97927486e-04 4.14418063e+00] [ 2.52834800e-02 -8.10113649e-04 9.99679993e-01 3.70099681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.625099893 meters 0.02202751240780789 Centerline is valid? [True, True] Translation: X:316.27, Y:4.14, Z:3.70 [[ 9.98308031e-01 -5.22225231e-02 -2.55711386e-02 3.16274135e+02] [ 5.22267326e-02 9.98635126e-01 -5.03665006e-04 4.13991595e+00] [ 2.55625399e-02 -8.32684197e-04 9.99672878e-01 3.69967068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.655099893 meters 0.01875330659203683 Centerline is valid? [True, True] Translation: X:316.30, Y:4.15, Z:3.70 [[ 9.98271155e-01 -5.30400731e-02 -2.53269022e-02 3.16304923e+02] [ 5.30444599e-02 9.98592027e-01 -4.99070552e-04 4.14632564e+00] [ 2.53177133e-02 -8.45244111e-04 9.99679098e-01 3.70353848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68509989300003 meters 0.01914048760521432 Centerline is valid? [True, True] Translation: X:316.33, Y:4.15, Z:3.70 [[ 9.98280653e-01 -5.32200138e-02 -2.45635541e-02 3.16333951e+02] [ 5.32241889e-02 9.98582471e-01 -4.84248401e-04 4.14652256e+00] [ 2.45545062e-02 -8.23959433e-04 9.99698153e-01 3.70426669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.715099893 meters 0.018956791286276295 Centerline is valid? [True, True] Translation: X:316.36, Y:4.15, Z:3.71 [[ 9.98271699e-01 -5.33466943e-02 -2.46525070e-02 3.16364133e+02] [ 5.33509327e-02 9.98575706e-01 -4.86225486e-04 4.14757958e+00] [ 2.46433331e-02 -8.29849100e-04 9.99695963e-01 3.70523623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74509989300003 meters 0.019463023648809377 Centerline is valid? [True, True] Translation: X:316.39, Y:4.15, Z:3.71 [[ 9.98254219e-01 -5.38534310e-02 -2.42553682e-02 3.16393900e+02] [ 5.38576781e-02 9.98548507e-01 -4.78606548e-04 4.14734933e+00] [ 2.42459363e-02 -8.28566807e-04 9.99705681e-01 3.70649480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.775099893 meters 0.0198083923270993 Centerline is valid? [True, True] Translation: X:316.42, Y:4.15, Z:3.71 [[ 9.98261991e-01 -5.38137373e-02 -2.40224882e-02 3.16423539e+02] [ 5.38178814e-02 9.98550655e-01 -4.74438638e-04 4.14737219e+00] [ 2.40132027e-02 -8.19225364e-04 9.99711306e-01 3.70706007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80509989300003 meters 0.01985658053670177 Centerline is valid? [True, True] Translation: X:316.45, Y:4.15, Z:3.71 [[ 9.98239345e-01 -5.40257295e-02 -2.44832893e-02 3.16454059e+02] [ 5.40300925e-02 9.98539191e-01 -4.83763108e-04 4.14845564e+00] [ 2.44736596e-02 -8.39923021e-04 9.99700122e-01 3.70755562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.835099893 meters 0.02035499608877584 Centerline is valid? [True, True] Translation: X:316.48, Y:4.15, Z:3.71 [[ 9.98216106e-01 -5.42440373e-02 -2.49437423e-02 3.16483444e+02] [ 5.42486333e-02 9.98527337e-01 -4.92895579e-04 4.14946399e+00] [ 2.49337453e-02 -8.61147625e-04 9.99688735e-01 3.70782179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86509989300004 meters 0.01922087057542575 Centerline is valid? [True, True] Translation: X:316.51, Y:4.15, Z:3.71 [[ 9.98181438e-01 -5.45978288e-02 -2.55517905e-02 3.16513843e+02] [ 5.46027666e-02 9.98508028e-01 -5.04945436e-04 4.15263063e+00] [ 2.55412369e-02 -8.91171295e-04 9.99673372e-01 3.70907669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.895099893 meters 0.019033801552819772 Centerline is valid? [True, True] Translation: X:316.54, Y:4.15, Z:3.71 [[ 9.98141900e-01 -5.51824262e-02 -2.58388765e-02 3.16543945e+02] [ 5.51876714e-02 9.98475869e-01 -5.10618727e-04 4.15424988e+00] [ 2.58276719e-02 -9.16317480e-04 9.99665990e-01 3.71004293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92509989300004 meters 0.02203472480999066 Centerline is valid? [True, True] Translation: X:316.57, Y:4.15, Z:3.71 [[ 9.98098601e-01 -5.60135989e-02 -2.57227227e-02 3.16573311e+02] [ 5.60190663e-02 9.98429570e-01 -5.08565755e-04 4.15039749e+00] [ 2.57108136e-02 -9.33364143e-04 9.99668987e-01 3.70907415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.955099893 meters 0.02104582371892948 Centerline is valid? [True, True] Translation: X:316.60, Y:4.15, Z:3.71 [[ 9.97934186e-01 -5.89206201e-02 -2.56070663e-02 3.16603921e+02] [ 5.89269881e-02 9.98262167e-01 -5.06502406e-04 4.15329117e+00] [ 2.55924090e-02 -1.00349123e-03 9.99671957e-01 3.71083549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.985099893 meters 0.022887300611954455 Centerline is valid? [True, True] Translation: X:316.63, Y:4.15, Z:3.71 [[ 9.97807616e-01 -6.09785556e-02 -2.57211588e-02 3.16634398e+02] [ 6.09856690e-02 9.98138512e-01 -5.08522460e-04 4.15120388e+00] [ 2.57042881e-02 -1.06121449e-03 9.99669027e-01 3.71100183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.015099893 meters 0.021183314059164987 Centerline is valid? [True, True] Translation: X:316.67, Y:4.15, Z:3.71 [[ 9.97657767e-01 -6.33283879e-02 -2.58552880e-02 3.16665759e+02] [ 6.33363817e-02 9.97992105e-01 -5.10459204e-04 4.15487404e+00] [ 2.58356998e-02 -1.12831680e-03 9.99665566e-01 3.71256561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.045099893 meters 0.023302941310056485 Centerline is valid? [True, True] Translation: X:316.70, Y:4.15, Z:3.71 [[ 9.97307056e-01 -6.83257798e-02 -2.66500437e-02 3.16695933e+02] [ 6.83360706e-02 9.97662220e-01 -5.25470369e-04 4.15372564e+00] [ 2.66236450e-02 -1.29710396e-03 9.99644686e-01 3.71259364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.075099893 meters 0.0260209442067354 Centerline is valid? [True, True] Translation: X:316.73, Y:4.15, Z:3.71 [[ 9.97140396e-01 -7.05651290e-02 -2.70479977e-02 3.16726070e+02] [ 7.05765562e-02 9.97506223e-01 -5.33130597e-04 4.15099533e+00] [ 2.70181665e-02 -1.37734848e-03 9.99633994e-01 3.71187828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.105099893 meters 0.02464649756632821 Centerline is valid? [True, True] Translation: X:316.76, Y:4.15, Z:3.71 [[ 9.96961634e-01 -7.27481904e-02 -2.78424171e-02 3.16757379e+02] [ 7.27611637e-02 9.97349243e-01 -5.48224388e-04 4.15442970e+00] [ 2.78084959e-02 -1.47928799e-03 9.99612174e-01 3.71319755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.135099893 meters 0.025933431307758662 Centerline is valid? [True, True] Translation: X:316.79, Y:4.15, Z:3.71 [[ 9.96822949e-01 -7.44153112e-02 -2.83966453e-02 3.16787413e+02] [ 7.44295351e-02 9.97226120e-01 -5.57224176e-04 4.15422603e+00] [ 2.83593424e-02 -1.55809526e-03 9.99596579e-01 3.71355452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.165099893 meters 0.02581525127848656 Centerline is valid? [True, True] Translation: X:316.82, Y:4.16, Z:3.72 [[ 9.96654137e-01 -7.65669603e-02 -2.86012529e-02 3.16818362e+02] [ 7.65823138e-02 9.97063105e-01 -5.59813820e-04 4.15724815e+00] [ 2.85601172e-02 -1.63240936e-03 9.99590744e-01 3.71516554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.195099893 meters 0.02812202915690262 Centerline is valid? [True, True] Translation: X:316.85, Y:4.16, Z:3.71 [[ 9.96630129e-01 -7.69637182e-02 -2.83720223e-02 3.16849229e+02] [ 7.69790177e-02 9.97032559e-01 -5.54228749e-04 4.15561693e+00] [ 2.83304855e-02 -1.63168934e-03 9.99597279e-01 3.71490332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.225099893 meters 0.02504802986547317 Centerline is valid? [True, True] Translation: X:316.88, Y:4.16, Z:3.72 [[ 9.96619414e-01 -7.71282176e-02 -2.83016136e-02 3.16881073e+02] [ 7.71435598e-02 9.97019843e-01 -5.50993429e-04 4.16172232e+00] [ 2.82597675e-02 -1.63415648e-03 9.99599277e-01 3.71739035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.255099893 meters 0.029025028244894474 Centerline is valid? [True, True] Translation: X:316.91, Y:4.16, Z:3.72 [[ 9.96689872e-01 -7.67515291e-02 -2.68048932e-02 3.16911984e+02] [ 7.67651995e-02 9.97049063e-01 -5.20180090e-04 4.15951838e+00] [ 2.67657183e-02 -1.53922475e-03 9.99640549e-01 3.71843320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.285099893 meters 0.026310778719448365 Centerline is valid? [True, True] Translation: X:316.94, Y:4.17, Z:3.72 [[ 9.96736080e-01 -7.61943030e-02 -2.66761266e-02 3.16943954e+02] [ 7.62076893e-02 9.97091832e-01 -5.15955037e-04 4.16539103e+00] [ 2.66378608e-02 -1.51865497e-03 9.99643996e-01 3.72016467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.315099893 meters 0.026031997370715633 Centerline is valid? [True, True] Translation: X:316.98, Y:4.17, Z:3.72 [[ 9.96859847e-01 -7.43612645e-02 -2.72185289e-02 3.16975142e+02] [ 7.43745597e-02 9.97230239e-01 -5.24987946e-04 4.16907617e+00] [ 2.71821789e-02 -1.50102670e-03 9.99629369e-01 3.72056940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.345099893 meters 0.02625548435855689 Centerline is valid? [True, True] Translation: X:317.01, Y:4.17, Z:3.72 [[ 9.96951539e-01 -7.31270121e-02 -2.72042050e-02 3.17006351e+02] [ 7.31398691e-02 9.97321556e-01 -5.23463596e-04 4.17074754e+00] [ 2.71696194e-02 -1.46784416e-03 9.99629760e-01 3.72068688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.375099893 meters 0.02616833677741312 Centerline is valid? [True, True] Translation: X:317.04, Y:4.17, Z:3.72 [[ 9.97052015e-01 -7.16567673e-02 -2.74333315e-02 3.17038091e+02] [ 7.16693275e-02 9.97428308e-01 -5.26395438e-04 4.17309212e+00] [ 2.74005012e-02 -1.44128479e-03 9.99623497e-01 3.72087560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.405099893 meters 0.02395143998015928 Centerline is valid? [True, True] Translation: X:317.07, Y:4.18, Z:3.72 [[ 9.97305576e-01 -6.79367567e-02 -2.76800609e-02 3.17068297e+02] [ 6.79481333e-02 9.97688714e-01 -5.30463127e-04 4.18064442e+00] [ 2.76521223e-02 -1.35177463e-03 9.99616693e-01 3.72205757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43509989300003 meters 0.023008293157277718 Centerline is valid? [True, True] Translation: X:317.10, Y:4.18, Z:3.72 [[ 9.97453876e-01 -6.55835997e-02 -2.80099552e-02 3.17099830e+02] [ 6.55943394e-02 9.97846228e-01 -5.36218882e-04 4.18464391e+00] [ 2.79847954e-02 -1.30244091e-03 9.99607500e-01 3.72285272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.465099893 meters 0.023008293157277718 Centerline is valid? [True, True] Translation: X:317.13, Y:4.19, Z:3.72 [[ 9.97456229e-01 -6.55477853e-02 -2.80099745e-02 3.17130705e+02] [ 6.55585393e-02 9.97848581e-01 -5.35209976e-04 4.18520512e+00] [ 2.79847952e-02 -1.30244449e-03 9.99607500e-01 3.72323449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49509989300003 meters 0.021544537177378288 Centerline is valid? [True, True] Translation: X:317.16, Y:4.19, Z:3.72 [[ 9.97626479e-01 -6.28767491e-02 -2.80699687e-02 3.17162079e+02] [ 6.28865226e-02 9.98020540e-01 -5.35337920e-04 4.19013373e+00] [ 2.80480656e-02 -1.23115543e-03 9.99605817e-01 3.72426657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.525099893 meters 0.02182704814294844 Centerline is valid? [True, True] Translation: X:317.19, Y:4.19, Z:3.72 [[ 9.97787906e-01 -6.01022489e-02 -2.84080084e-02 3.17192073e+02] [ 6.01111584e-02 9.98191543e-01 -5.41035479e-04 4.19257169e+00] [ 2.83891512e-02 -1.16779964e-03 9.99596265e-01 3.72438544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55509989300003 meters 0.020053471778769958 Centerline is valid? [True, True] Translation: X:317.22, Y:4.20, Z:3.72 [[ 9.98125139e-01 -5.39358147e-02 -2.89332821e-02 3.17222505e+02] [ 5.39424846e-02 9.98543893e-01 -5.50519547e-04 4.20033002e+00] [ 2.89208448e-02 -1.01124573e-03 9.99581193e-01 3.72464232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.585099893 meters 0.018781896796175247 Centerline is valid? [True, True] Translation: X:317.25, Y:4.21, Z:3.73 [[ 9.98289422e-01 -5.05546734e-02 -2.93675924e-02 3.17253224e+02] [ 5.05600992e-02 9.98720864e-01 -5.58264157e-04 4.20518361e+00] [ 2.93582501e-02 -9.27519183e-04 9.99568523e-01 3.72513117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61509989300004 meters 0.0191859636609906 Centerline is valid? [True, True] Translation: X:317.28, Y:4.21, Z:3.72 [[ 9.98438944e-01 -4.71915207e-02 -2.98770087e-02 3.17282710e+02] [ 4.71956506e-02 9.98885503e-01 -5.67338484e-04 4.20712077e+00] [ 2.98704845e-02 -8.43612029e-04 9.99553422e-01 3.72425008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.645099893 meters 0.015555145047963412 Centerline is valid? [True, True] Translation: X:317.31, Y:4.22, Z:3.73 [[ 9.98717856e-01 -4.09279160e-02 -2.97917588e-02 3.17312678e+02] [ 4.09292359e-02 9.99161888e-01 -5.65762790e-04 4.21915423e+00] [ 2.97899454e-02 -6.54316523e-04 9.99555967e-01 3.72772591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67509989300004 meters 0.015213607770133938 Centerline is valid? [True, True] Translation: X:317.34, Y:4.22, Z:3.73 [[ 9.98825257e-01 -3.81049333e-02 -2.99352534e-02 3.17340116e+02] [ 3.81049448e-02 9.99273580e-01 -5.70291561e-04 4.22267757e+00] [ 2.99352388e-02 -5.71059562e-04 9.99551677e-01 3.72789214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.705099893 meters 0.014816183328113706 Centerline is valid? [True, True] Translation: X:317.37, Y:4.23, Z:3.73 [[ 9.98899942e-01 -3.59141492e-02 -3.01509384e-02 3.17368496e+02] [ 3.59129953e-02 9.99354752e-01 -5.79974873e-04 4.22659683e+00] [ 3.01523129e-02 -5.03473643e-04 9.99545189e-01 3.72868652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.735099893 meters 0.014625389402808463 Centerline is valid? [True, True] Translation: X:317.40, Y:4.23, Z:3.73 [[ 9.98992889e-01 -3.37525685e-02 -2.95630066e-02 3.17396011e+02] [ 3.37503780e-02 9.99430129e-01 -5.73226374e-04 4.22936339e+00] [ 2.95655074e-02 -4.25113575e-04 9.99562754e-01 3.72895883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.765099893 meters 0.014014716426334587 Centerline is valid? [True, True] Translation: X:317.42, Y:4.23, Z:3.73 [[ 9.99093803e-01 -3.12183098e-02 -2.89307757e-02 3.17424215e+02] [ 3.12149964e-02 9.99512533e-01 -5.66262241e-04 4.23499071e+00] [ 2.89343506e-02 -3.37324964e-04 9.99581257e-01 3.73209838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.795099893 meters 0.014283034355560406 Centerline is valid? [True, True] Translation: X:317.45, Y:4.24, Z:3.73 [[ 9.99112434e-01 -3.07929218e-02 -2.87426648e-02 3.17452204e+02] [ 3.07893430e-02 9.99525735e-01 -5.67184160e-04 4.23605229e+00] [ 2.87464984e-02 -3.18287019e-04 9.99586683e-01 3.73170938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.825099893 meters 0.014398486620040325 Centerline is valid? [True, True] Translation: X:317.48, Y:4.24, Z:3.73 [[ 9.99086768e-01 -3.14080182e-02 -2.89683692e-02 3.17480312e+02] [ 3.14044745e-02 9.99506591e-01 -5.77397586e-04 4.23736021e+00] [ 2.89722108e-02 -3.32866123e-04 9.99580162e-01 3.73272320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.855099893 meters 0.014530173581007956 Centerline is valid? [True, True] Translation: X:317.51, Y:4.24, Z:3.74 [[ 9.98971206e-01 -3.40182987e-02 -2.99880743e-02 3.17509192e+02] [ 3.40154360e-02 9.99421124e-01 -6.05749790e-04 4.23916154e+00] [ 2.99913215e-02 -4.14930824e-04 9.99550073e-01 3.73580562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.885099893 meters 0.015177647207653229 Centerline is valid? [True, True] Translation: X:317.54, Y:4.24, Z:3.74 [[ 9.98897961e-01 -3.63180982e-02 -2.97297775e-02 3.17537447e+02] [ 3.63161642e-02 9.99340167e-01 -6.05182517e-04 4.23808705e+00] [ 2.97321399e-02 -4.75155899e-04 9.99557789e-01 3.73560424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.915099893 meters 0.015474107394563825 Centerline is valid? [True, True] Translation: X:317.57, Y:4.24, Z:3.74 [[ 9.98781725e-01 -3.92153207e-02 -2.99537162e-02 3.17566118e+02] [ 3.92144956e-02 9.99230626e-01 -6.15213918e-04 4.23775159e+00] [ 2.99547964e-02 -5.60155454e-04 9.99551097e-01 3.73698889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.945099893 meters 0.01699591168059857 Centerline is valid? [True, True] Translation: X:317.60, Y:4.23, Z:3.74 [[ 9.98526461e-01 -4.49450085e-02 -3.04113832e-02 3.17595106e+02] [ 4.49466894e-02 9.98989189e-01 -6.28673151e-04 4.23370914e+00] [ 3.04088987e-02 -7.39144219e-04 9.99537269e-01 3.73720559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.975099893 meters 0.01716671154600241 Centerline is valid? [True, True] Translation: X:317.62, Y:4.23, Z:3.74 [[ 9.98352634e-01 -4.81224055e-02 -3.12450438e-02 3.17624385e+02] [ 4.81256675e-02 9.98841079e-01 -6.48055905e-04 4.23320195e+00] [ 3.12400192e-02 -8.56700269e-04 9.99511544e-01 3.73851386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.005099893 meters 0.018747317244701505 Centerline is valid? [True, True] Translation: X:317.65, Y:4.23, Z:3.74 [[ 9.98182596e-01 -5.12321277e-02 -3.17296933e-02 3.17653652e+02] [ 5.12370349e-02 9.98686303e-01 -6.58931113e-04 4.23001121e+00] [ 3.17217685e-02 -9.68001833e-04 9.99496269e-01 3.73807291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.035099893 meters 0.02002448112066506 Centerline is valid? [True, True] Translation: X:317.68, Y:4.23, Z:3.74 [[ 9.98031439e-01 -5.39903559e-02 -3.19106232e-02 3.17683230e+02] [ 5.39967234e-02 9.98540893e-01 -6.62807186e-04 4.22779878e+00] [ 3.18998473e-02 -1.06156668e-03 9.99490507e-01 3.73815579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.065099893 meters 0.0193406917095316 Centerline is valid? [True, True] Translation: X:317.71, Y:4.23, Z:3.74 [[ 9.97722017e-01 -5.86772864e-02 -3.32829139e-02 3.17713911e+02] [ 5.86868126e-02 9.98276204e-01 -6.91457163e-04 4.22798902e+00] [ 3.32661138e-02 -1.26338609e-03 9.99445731e-01 3.74031301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.095099893 meters 0.020039604600582628 Centerline is valid? [True, True] Translation: X:317.74, Y:4.23, Z:3.74 [[ 9.97611821e-01 -6.05487442e-02 -3.32340692e-02 3.17744931e+02] [ 6.05592915e-02 9.98164363e-01 -6.90063882e-04 4.22674210e+00] [ 3.32148460e-02 -1.32421580e-03 9.99447358e-01 3.74052462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.125099893 meters 0.021231287111516138 Centerline is valid? [True, True] Translation: X:317.78, Y:4.23, Z:3.74 [[ 9.97522769e-01 -6.18370702e-02 -3.35335922e-02 3.17775071e+02] [ 6.18485556e-02 9.98085303e-01 -6.95675614e-04 4.22503462e+00] [ 3.35124041e-02 -1.38005198e-03 9.99437349e-01 3.74040595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.155099893 meters 0.02201948300153621 Centerline is valid? [True, True] Translation: X:317.81, Y:4.22, Z:3.74 [[ 9.97467568e-01 -6.31089946e-02 -3.27979485e-02 3.17806351e+02] [ 6.31206980e-02 9.98005669e-01 -6.79473556e-04 4.22363218e+00] [ 3.27754194e-02 -1.39247656e-03 9.99461772e-01 3.74082700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18509989300003 meters 0.02055167351300427 Centerline is valid? [True, True] Translation: X:317.84, Y:4.23, Z:3.74 [[ 9.97513715e-01 -6.26514599e-02 -3.22673684e-02 3.17837795e+02] [ 6.26625855e-02 9.98034546e-01 -6.67327910e-04 4.22606894e+00] [ 3.22457575e-02 -1.35628799e-03 9.99479050e-01 3.74245436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.215099893 meters 0.02019442376005413 Centerline is valid? [True, True] Translation: X:317.87, Y:4.23, Z:3.74 [[ 9.97594831e-01 -6.18127875e-02 -3.13645054e-02 3.17869429e+02] [ 6.18229201e-02 9.98086924e-01 -6.47528663e-04 4.22703201e+00] [ 3.13445282e-02 -1.29307406e-03 9.99507803e-01 3.74344570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24509989300003 meters 0.02199830412545297 Centerline is valid? [True, True] Translation: X:317.90, Y:4.22, Z:3.74 [[ 9.97680131e-01 -6.07714091e-02 -3.06788458e-02 3.17900362e+02] [ 6.07806452e-02 9.98150947e-01 -6.32275494e-04 4.22492946e+00] [ 3.06605433e-02 -1.23387134e-03 9.99529093e-01 3.74325390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.275099893 meters 0.01902193810914261 Centerline is valid? [True, True] Translation: X:317.93, Y:4.23, Z:3.75 [[ 9.97845080e-01 -5.85689570e-02 -2.95782632e-02 3.17931913e+02] [ 5.85766161e-02 9.98282731e-01 -6.08221977e-04 4.23029650e+00] [ 2.95630923e-02 -1.12568326e-03 9.99562282e-01 3.74636641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30509989300003 meters 0.019750722813265505 Centerline is valid? [True, True] Translation: X:317.96, Y:4.23, Z:3.75 [[ 9.97921106e-01 -5.75400142e-02 -2.90278135e-02 3.17963186e+02] [ 5.75470359e-02 9.98342619e-01 -5.94148156e-04 4.22981564e+00] [ 2.90138907e-02 -1.07755164e-03 9.99578428e-01 3.74614583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.335099893 meters 0.018728989083149516 Centerline is valid? [True, True] Translation: X:317.99, Y:4.23, Z:3.75 [[ 9.97978351e-01 -5.66819567e-02 -2.87466071e-02 3.17994714e+02] [ 5.66885485e-02 9.98391739e-01 -5.86266267e-04 4.23207723e+00] [ 2.87336058e-02 -1.04452239e-03 9.99586559e-01 3.74730976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36509989300004 meters 0.018701713449399467 Centerline is valid? [True, True] Translation: X:318.02, Y:4.23, Z:3.75 [[ 9.98043834e-01 -5.54045281e-02 -2.89628077e-02 3.18024937e+02] [ 5.54107040e-02 9.98463472e-01 -5.89930009e-04 4.23310639e+00] [ 2.89509904e-02 -1.01607356e-03 9.99580316e-01 3.74720844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.395099893 meters 0.019637470212197024 Centerline is valid? [True, True] Translation: X:318.06, Y:4.23, Z:3.75 [[ 9.98062394e-01 -5.48597435e-02 -2.93575717e-02 3.18055083e+02] [ 5.48658692e-02 9.98493555e-01 -5.97446159e-04 4.23253224e+00] [ 2.93461219e-02 -1.01444015e-03 9.99568795e-01 3.74653922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42509989300004 meters 0.019780369401287513 Centerline is valid? [True, True] Translation: X:318.09, Y:4.23, Z:3.75 [[ 9.98051457e-01 -5.48092309e-02 -2.98200750e-02 3.18085912e+02] [ 5.48155654e-02 9.98496313e-01 -6.05633762e-04 4.23353032e+00] [ 2.98084293e-02 -1.03015061e-03 9.99555099e-01 3.74673879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.455099893 meters 0.02002047629557287 Centerline is valid? [True, True] Translation: X:318.12, Y:4.23, Z:3.75 [[ 9.98044305e-01 -5.48176773e-02 -3.00430904e-02 3.18117066e+02] [ 5.48241506e-02 9.98495840e-01 -6.08840784e-04 4.23413265e+00] [ 3.00312760e-02 -1.03943683e-03 9.99548419e-01 3.74653961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.485099893 meters 0.018418130565830908 Centerline is valid? [True, True] Translation: X:318.15, Y:4.24, Z:3.75 [[ 9.98008197e-01 -5.54584597e-02 -3.00665711e-02 3.18148225e+02] [ 5.54652654e-02 9.98460432e-01 -6.08255732e-04 4.23817150e+00] [ 3.00540145e-02 -1.06060614e-03 9.99547713e-01 3.74777040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.515099893 meters 0.018398017933921443 Centerline is valid? [True, True] Translation: X:318.18, Y:4.24, Z:3.75 [[ 9.97977670e-01 -5.59156824e-02 -3.02325269e-02 3.18179362e+02] [ 5.59228060e-02 9.98434909e-01 -6.10522197e-04 4.23914846e+00] [ 3.02193480e-02 -1.08140022e-03 9.99542706e-01 3.74778446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.545099893 meters 0.018314500590286054 Centerline is valid? [True, True] Translation: X:318.21, Y:4.24, Z:3.75 [[ 9.97956927e-01 -5.62434400e-02 -3.03091913e-02 3.18210497e+02] [ 5.62507839e-02 9.98416484e-01 -6.10974676e-04 4.24033164e+00] [ 3.02955596e-02 -1.09518936e-03 9.99540384e-01 3.74769108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.575099893 meters 0.020082005141261038 Centerline is valid? [True, True] Translation: X:318.24, Y:4.24, Z:3.75 [[ 9.97926258e-01 -5.65718619e-02 -3.07051758e-02 3.18241646e+02] [ 5.65795988e-02 9.98397900e-01 -6.17513650e-04 4.23887697e+00] [ 3.06909169e-02 -1.12105344e-03 9.99528294e-01 3.74654348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.605099893 meters 0.019462729143192227 Centerline is valid? [True, True] Translation: X:318.27, Y:4.24, Z:3.75 [[ 9.97966310e-01 -5.63058699e-02 -2.98813062e-02 3.18272840e+02] [ 5.63131155e-02 9.98412977e-01 -5.99678715e-04 4.24217445e+00] [ 2.98676493e-02 -1.08425029e-03 9.99553274e-01 3.74695963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.635099893 meters 0.01881076171240403 Centerline is valid? [True, True] Translation: X:318.30, Y:4.24, Z:3.75 [[ 9.98009485e-01 -5.57423931e-02 -2.94932944e-02 3.18304454e+02] [ 5.57492364e-02 9.98444627e-01 -5.90853238e-04 4.24495789e+00] [ 2.94803569e-02 -1.05455150e-03 9.99564804e-01 3.74767177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.665099893 meters 0.01798668463469999 Centerline is valid? [True, True] Translation: X:318.34, Y:4.25, Z:3.75 [[ 9.98079236e-01 -5.49141424e-02 -2.86753392e-02 3.18335324e+02] [ 5.49202988e-02 9.98490577e-01 -5.73451326e-04 4.24822510e+00] [ 2.86635465e-02 -1.00250833e-03 9.99588613e-01 3.74878365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.695099893 meters 0.01811418641661664 Centerline is valid? [True, True] Translation: X:318.37, Y:4.25, Z:3.75 [[ 9.98170067e-01 -5.36332083e-02 -2.79284186e-02 3.18365470e+02] [ 5.36385669e-02 9.98560260e-01 -5.57802254e-04 4.24996996e+00] [ 2.79181257e-02 -9.41258836e-04 9.99609770e-01 3.74897897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.725099893 meters 0.016934714081609605 Centerline is valid? [True, True] Translation: X:318.40, Y:4.25, Z:3.75 [[ 9.98405622e-01 -5.03863006e-02 -2.54447562e-02 3.18397162e+02] [ 5.03897173e-02 9.98729502e-01 -5.07293190e-04 4.25472316e+00] [ 2.54379893e-02 -7.75669699e-04 9.99676101e-01 3.75071622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.755099893 meters 0.016749394787621684 Centerline is valid? [True, True] Translation: X:318.43, Y:4.26, Z:3.75 [[ 9.98532078e-01 -4.82247952e-02 -2.46588450e-02 3.18427838e+02] [ 4.82273719e-02 9.98836263e-01 -4.90546528e-04 4.25689012e+00] [ 2.46538051e-02 -6.99404848e-04 9.99695804e-01 3.75122543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.785099893 meters 0.01554278254439058 Centerline is valid? [True, True] Translation: X:318.46, Y:4.26, Z:3.75 [[ 9.98669934e-01 -4.58953334e-02 -2.34942788e-02 3.18459108e+02] [ 4.58970474e-02 9.98946066e-01 -4.66562394e-04 4.26091187e+00] [ 2.34909304e-02 -6.12376192e-04 9.99723862e-01 3.75270512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.815099893 meters 0.014477162623782744 Centerline is valid? [True, True] Translation: X:318.49, Y:4.27, Z:3.75 [[ 9.98894982e-01 -4.16500968e-02 -2.17734734e-02 3.18490412e+02] [ 4.16505769e-02 9.99132145e-01 -4.31639506e-04 4.26625827e+00] [ 2.17725550e-02 -4.75715189e-04 9.99762837e-01 3.75435183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.845099893 meters 0.013903306085511772 Centerline is valid? [True, True] Translation: X:318.52, Y:4.27, Z:3.76 [[ 9.98994244e-01 -3.97653219e-02 -2.07176114e-02 3.18521932e+02] [ 3.97653662e-02 9.99208961e-01 -4.09987974e-04 4.26894524e+00] [ 2.07175263e-02 -4.14267779e-04 9.99785283e-01 3.75528418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.875099893 meters 0.01395649719506856 Centerline is valid? [True, True] Translation: X:318.55, Y:4.27, Z:3.76 [[ 9.99066651e-01 -3.83637408e-02 -1.98506887e-02 3.18553166e+02] [ 3.83635213e-02 9.99263772e-01 -3.92010489e-04 4.27011847e+00] [ 1.98511130e-02 -3.69897711e-04 9.99802879e-01 3.75551426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.905099893 meters 0.013255936890290587 Centerline is valid? [True, True] Translation: X:318.59, Y:4.27, Z:3.76 [[ 9.99100576e-01 -3.76138870e-02 -1.95763598e-02 3.18585392e+02] [ 3.76135525e-02 9.99292286e-01 -3.85421182e-04 4.27290053e+00] [ 1.95770025e-02 -3.51261911e-04 9.99808290e-01 3.75634821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93509989300003 meters 0.013169872419775125 Centerline is valid? [True, True] Translation: X:318.62, Y:4.27, Z:3.75 [[ 9.99108713e-01 -3.68114658e-02 -2.06565918e-02 3.18617796e+02] [ 3.68109539e-02 9.99322165e-01 -4.05146323e-04 4.27386069e+00] [ 2.06575041e-02 -3.55603629e-04 9.99786548e-01 3.75454853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.965099893 meters 0.013395690133797163 Centerline is valid? [True, True] Translation: X:318.65, Y:4.27, Z:3.75 [[ 9.99090162e-01 -3.69268659e-02 -2.13367138e-02 3.18648741e+02] [ 3.69263725e-02 9.99317902e-01 -4.17245260e-04 4.27397779e+00] [ 2.13375676e-02 -3.71021808e-04 9.99772259e-01 3.75374765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99509989300003 meters 0.013101381075745473 Centerline is valid? [True, True] Translation: X:318.68, Y:4.28, Z:3.75 [[ 9.99078407e-01 -3.72331355e-02 -2.13548782e-02 3.18680124e+02] [ 3.72327276e-02 9.99306535e-01 -4.16832898e-04 4.27503663e+00] [ 2.13555894e-02 -3.78651617e-04 9.99771872e-01 3.75383673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.025099893 meters 0.013567877462756419 Centerline is valid? [True, True] Translation: X:318.71, Y:4.27, Z:3.75 [[ 9.99007615e-01 -3.85960130e-02 -2.22291068e-02 3.18710789e+02] [ 3.85959268e-02 9.99254806e-01 -4.33070591e-04 4.27473575e+00] [ 2.22292566e-02 -4.25312159e-04 9.99752809e-01 3.75272152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05509989300003 meters 0.014035492798983347 Centerline is valid? [True, True] Translation: X:318.74, Y:4.27, Z:3.75 [[ 9.98979815e-01 -3.91645255e-02 -2.24826254e-02 3.18741475e+02] [ 3.91645955e-02 9.99232677e-01 -4.37375076e-04 4.27453481e+00] [ 2.24825035e-02 -4.43594057e-04 9.99747138e-01 3.75259280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.085099893 meters 0.014145152419848105 Centerline is valid? [True, True] Translation: X:318.77, Y:4.27, Z:3.75 [[ 9.98967003e-01 -3.98610723e-02 -2.18179244e-02 3.18772575e+02] [ 3.98613161e-02 9.99205132e-01 -4.23895662e-04 4.27481902e+00] [ 2.18174789e-02 -4.46233402e-04 9.99761871e-01 3.75307383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11509989300004 meters 0.014627917996437784 Centerline is valid? [True, True] Translation: X:318.80, Y:4.27, Z:3.75 [[ 9.98928249e-01 -4.11969325e-02 -2.10989456e-02 3.18803648e+02] [ 4.11974770e-02 9.99150940e-01 -4.09040262e-04 4.27406009e+00] [ 2.10978826e-02 -4.60621454e-04 9.99777309e-01 3.75300628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.145099893 meters 0.014858759243540867 Centerline is valid? [True, True] Translation: X:318.84, Y:4.27, Z:3.75 [[ 9.98903375e-01 -4.18242563e-02 -2.10423273e-02 3.18835625e+02] [ 4.18249635e-02 9.99124871e-01 -4.06679931e-04 4.27376277e+00] [ 2.10409216e-02 -4.73860615e-04 9.99778503e-01 3.75335640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17509989300004 meters 0.014831577539999126 Centerline is valid? [True, True] Translation: X:318.87, Y:4.27, Z:3.75 [[ 9.98893796e-01 -4.28121439e-02 -1.94500378e-02 3.18868239e+02] [ 4.28129605e-02 9.99083035e-01 -3.74600228e-04 4.27382025e+00] [ 1.94482403e-02 -4.58527858e-04 9.99810760e-01 3.75442478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.205099893 meters 0.01603069558237066 Centerline is valid? [True, True] Translation: X:318.90, Y:4.27, Z:3.76 [[ 9.98872687e-01 -4.37622334e-02 -1.83908182e-02 3.18899252e+02] [ 4.37631523e-02 9.99041872e-01 -3.52679802e-04 4.27157930e+00] [ 1.83886315e-02 -4.52557958e-04 9.99830812e-01 3.75507028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.235099893 meters 0.01627804630242266 Centerline is valid? [True, True] Translation: X:318.93, Y:4.27, Z:3.76 [[ 9.98850527e-01 -4.50948021e-02 -1.62506768e-02 3.18931868e+02] [ 4.50957203e-02 9.98982622e-01 -3.10121043e-04 4.27110693e+00] [ 1.62481286e-02 -4.23071409e-04 9.99867901e-01 3.75644712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.265099893 meters 0.017105560559965628 Centerline is valid? [True, True] Translation: X:318.96, Y:4.27, Z:3.76 [[ 9.98741969e-01 -4.80396036e-02 -1.43762277e-02 3.18963964e+02] [ 4.80406398e-02 9.98845344e-01 -2.73451871e-04 4.26904423e+00] [ 1.43727646e-02 -4.17535315e-04 9.99896619e-01 3.75775840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.295099893 meters 0.016776487802852843 Centerline is valid? [True, True] Translation: X:319.00, Y:4.27, Z:3.76 [[ 9.98677546e-01 -4.96797781e-02 -1.32317089e-02 3.18995739e+02] [ 4.96808116e-02 9.98765115e-01 -2.50780669e-04 4.26942419e+00] [ 1.32278280e-02 -4.06913012e-04 9.99912426e-01 3.75835507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.325099893 meters 0.019133775356600397 Centerline is valid? [True, True] Translation: X:319.03, Y:4.27, Z:3.76 [[ 9.98573239e-01 -5.16555662e-02 -1.35347491e-02 3.19026541e+02] [ 5.16568506e-02 9.98664861e-01 -2.54916395e-04 4.26559653e+00] [ 1.35298462e-02 -4.44609823e-04 9.99908369e-01 3.75830569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.355099893 meters 0.019133775356600397 Centerline is valid? [True, True] Translation: X:319.06, Y:4.27, Z:3.76 [[ 9.98578573e-01 -5.15523386e-02 -1.35347597e-02 3.19059093e+02] [ 5.15536212e-02 9.98670196e-01 -2.54354126e-04 4.26611592e+00] [ 1.35298736e-02 -4.43773292e-04 9.99908369e-01 3.75870816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.385099893 meters 0.021666039065563625 Centerline is valid? [True, True] Translation: X:319.09, Y:4.26, Z:3.76 [[ 9.98305869e-01 -5.67252601e-02 -1.29474997e-02 3.19088917e+02] [ 5.67268839e-02 9.98389704e-01 -2.42094870e-04 4.26124578e+00] [ 1.29403833e-02 -4.92786586e-04 9.99916148e-01 3.75822478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.415099893 meters 0.020021855642492096 Centerline is valid? [True, True] Translation: X:319.12, Y:4.26, Z:3.76 [[ 9.98135374e-01 -5.95491926e-02 -1.34040324e-02 3.19121198e+02] [ 5.95511882e-02 9.98225222e-01 -2.50556621e-04 4.26320001e+00] [ 1.33951636e-02 -5.48136628e-04 9.99910131e-01 3.75815322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.445099893 meters 0.021383973158680018 Centerline is valid? [True, True] Translation: X:319.15, Y:4.26, Z:3.76 [[ 9.97935239e-01 -6.28744600e-02 -1.31172009e-02 3.19152659e+02] [ 6.28766695e-02 9.98021275e-01 -2.44300566e-04 4.26073393e+00] [ 1.31066058e-02 -5.80969763e-04 9.99913936e-01 3.75803617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.475099893 meters 0.022383296837390505 Centerline is valid? [True, True] Translation: X:319.18, Y:4.26, Z:3.76 [[ 9.97712740e-01 -6.61555920e-02 -1.38826103e-02 3.19184190e+02] [ 6.61583911e-02 9.97809100e-01 -2.58032877e-04 4.25874117e+00] [ 1.38692652e-02 -6.61008472e-04 9.99903599e-01 3.75787141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.505099893 meters 0.02693149460983031 Centerline is valid? [True, True] Translation: X:319.21, Y:4.25, Z:3.76 [[ 9.97286880e-01 -7.21471395e-02 -1.46174457e-02 3.19213657e+02] [ 7.21508907e-02 9.97393691e-01 -2.71256352e-04 4.25137590e+00] [ 1.45989185e-02 -7.84141325e-04 9.99893123e-01 3.75751191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.535099893 meters 0.02680406917141237 Centerline is valid? [True, True] Translation: X:319.24, Y:4.25, Z:3.76 [[ 9.97103890e-01 -7.47126053e-02 -1.42077479e-02 3.19244661e+02] [ 7.47164067e-02 9.97204788e-01 -2.63799726e-04 4.25130999e+00] [ 1.41877434e-02 -7.98516136e-04 9.99899030e-01 3.75766898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.565099893 meters 0.026998148262541946 Centerline is valid? [True, True] Translation: X:319.28, Y:4.25, Z:3.76 [[ 9.96928633e-01 -7.70953291e-02 -1.37699288e-02 3.19275870e+02] [ 7.70991299e-02 9.97023399e-01 -2.55407229e-04 4.25108378e+00] [ 1.37486319e-02 -8.07026750e-04 9.99905157e-01 3.75818296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.595099893 meters 0.028037361682009466 Centerline is valid? [True, True] Translation: X:319.31, Y:4.25, Z:3.76 [[ 9.96828210e-01 -7.83251418e-02 -1.40958384e-02 3.19307843e+02] [ 7.83292553e-02 9.96927510e-01 -2.60873239e-04 4.24955245e+00] [ 1.40729620e-02 -8.44070723e-04 9.99900615e-01 3.75811831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.625099893 meters 0.02941379466979779 Centerline is valid? [True, True] Translation: X:319.34, Y:4.25, Z:3.76 [[ 9.96713015e-01 -7.96075932e-02 -1.50265561e-02 3.19339409e+02] [ 7.96124322e-02 9.96825854e-01 -2.76832765e-04 4.24747913e+00] [ 1.50008977e-02 -9.20377862e-04 9.99887057e-01 3.75743724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.655099893 meters 0.029623442987917446 Centerline is valid? [True, True] Translation: X:319.37, Y:4.25, Z:3.76 [[ 9.96716341e-01 -7.95791806e-02 -1.49562349e-02 3.19372319e+02] [ 7.95839974e-02 9.96828126e-01 -2.73780052e-04 4.24746623e+00] [ 1.49305828e-02 -9.17395908e-04 9.99888112e-01 3.75744964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68509989300003 meters 0.030170788429705928 Centerline is valid? [True, True] Translation: X:319.41, Y:4.25, Z:3.76 [[ 9.96804497e-01 -7.84629582e-02 -1.49785965e-02 3.19405040e+02] [ 7.84676870e-02 9.96916620e-01 -2.72640151e-04 4.24738336e+00] [ 1.49538040e-02 -9.03566895e-04 9.99887777e-01 3.75781341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.715099893 meters 0.029499626743006234 Centerline is valid? [True, True] Translation: X:319.44, Y:4.25, Z:3.76 [[ 9.96887433e-01 -7.74482342e-02 -1.47383049e-02 3.19437764e+02] [ 7.74527208e-02 9.96995990e-01 -2.66989570e-04 4.24907224e+00] [ 1.47147088e-02 -8.75363268e-04 9.99891350e-01 3.75858781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74509989300003 meters 0.028163399023441456 Centerline is valid? [True, True] Translation: X:319.47, Y:4.25, Z:3.76 [[ 9.96980249e-01 -7.61992731e-02 -1.49684003e-02 3.19470470e+02] [ 7.62037806e-02 9.97092228e-01 -2.69822230e-04 4.25209190e+00] [ 1.49454359e-02 -8.71641262e-04 9.99887931e-01 3.75925411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.775099893 meters 0.027830221658480463 Centerline is valid? [True, True] Translation: X:319.50, Y:4.25, Z:3.76 [[ 9.97094636e-01 -7.46956541e-02 -1.49280279e-02 3.19503159e+02] [ 7.46999890e-02 9.97206017e-01 -2.67778998e-04 4.25347913e+00] [ 1.49063211e-02 -8.48122515e-04 9.99888535e-01 3.75982219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80509989300003 meters 0.02933710129541039 Centerline is valid? [True, True] Translation: X:319.53, Y:4.25, Z:3.76 [[ 9.97326307e-01 -7.14588008e-02 -1.52930231e-02 3.19532592e+02] [ 7.14629869e-02 9.97443215e-01 -2.73268968e-04 4.25253592e+00] [ 1.52734496e-02 -8.20346776e-04 9.99883018e-01 3.75954815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.835099893 meters 0.02601156669321896 Centerline is valid? [True, True] Translation: X:319.56, Y:4.26, Z:3.76 [[ 9.97445071e-01 -6.97716605e-02 -1.53377294e-02 3.19563539e+02] [ 6.97756705e-02 9.97562670e-01 -2.74179001e-04 4.25794413e+00] [ 1.53194762e-02 -7.96721861e-04 9.99882333e-01 3.76014406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86509989300004 meters 0.026462811730852517 Centerline is valid? [True, True] Translation: X:319.59, Y:4.26, Z:3.76 [[ 9.97553543e-01 -6.81355300e-02 -1.56357989e-02 3.19593759e+02] [ 6.81395049e-02 9.97675764e-01 -2.79003974e-04 4.25860483e+00] [ 1.56184677e-02 -7.87094191e-04 9.99877714e-01 3.76038835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.895099893 meters 0.025122580695558967 Centerline is valid? [True, True] Translation: X:319.63, Y:4.26, Z:3.76 [[ 9.97713277e-01 -6.57783287e-02 -1.55379744e-02 3.19625558e+02] [ 6.57819746e-02 9.97833982e-01 -2.76879027e-04 4.26167520e+00] [ 1.55225316e-02 -7.45872760e-04 9.99879240e-01 3.76089562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92509989300004 meters 0.02316116542313858 Centerline is valid? [True, True] Translation: X:319.66, Y:4.27, Z:3.76 [[ 9.98050044e-01 -6.03116083e-02 -1.60816255e-02 3.19656310e+02] [ 6.03148166e-02 9.98179363e-01 -2.85874843e-04 4.26630363e+00] [ 1.60695883e-02 -6.84642893e-04 9.99870641e-01 3.76089349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.955099893 meters 0.01843407350087301 Centerline is valid? [True, True] Translation: X:319.69, Y:4.28, Z:3.76 [[ 9.98429009e-01 -5.37521669e-02 -1.58182674e-02 3.19686856e+02] [ 5.37544504e-02 9.98554145e-01 -2.81086758e-04 4.27538945e+00] [ 1.58105055e-02 -5.69657097e-04 9.99874844e-01 3.76165755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.985099893 meters 0.018105613289249638 Centerline is valid? [True, True] Translation: X:319.72, Y:4.28, Z:3.76 [[ 9.98612770e-01 -5.01959234e-02 -1.59029545e-02 3.19716955e+02] [ 5.01977833e-02 9.98739257e-01 -2.82448607e-04 4.27748357e+00] [ 1.58970827e-02 -5.16236278e-04 9.99873500e-01 3.76193893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.015099893 meters 0.016171864697348107 Centerline is valid? [True, True] Translation: X:319.75, Y:4.28, Z:3.76 [[ 9.98786828e-01 -4.65956219e-02 -1.59286042e-02 3.19747929e+02] [ 4.65970359e-02 9.98913728e-01 -2.82555807e-04 4.28220485e+00] [ 1.59244672e-02 -4.60012722e-04 9.99873092e-01 3.76270988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.045099893 meters 0.01516054194845909 Centerline is valid? [True, True] Translation: X:319.78, Y:4.29, Z:3.76 [[ 9.98945865e-01 -4.29838063e-02 -1.61106145e-02 3.19779240e+02] [ 4.29847926e-02 9.99075686e-01 -2.85208074e-04 4.28555637e+00] [ 1.61079826e-02 -4.07603998e-04 9.99870175e-01 3.76317411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.075099893 meters 0.0147937179277851 Centerline is valid? [True, True] Translation: X:319.81, Y:4.29, Z:3.76 [[ 9.99151781e-01 -3.76263519e-02 -1.67324862e-02 3.19809538e+02] [ 3.76266738e-02 9.99291822e-01 -2.95687079e-04 4.28815076e+00] [ 1.67317622e-02 -3.34151529e-04 9.99859958e-01 3.76291974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.105099893 meters 0.013276717931204602 Centerline is valid? [True, True] Translation: X:319.84, Y:4.29, Z:3.76 [[ 9.99226343e-01 -3.54535713e-02 -1.70223382e-02 3.19841772e+02] [ 3.54535986e-02 9.99371278e-01 -3.00265531e-04 4.29170740e+00] [ 1.70222814e-02 -3.03469917e-04 9.99855064e-01 3.76339588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.135099893 meters 0.012714958600009995 Centerline is valid? [True, True] Translation: X:319.87, Y:4.29, Z:3.76 [[ 9.99297434e-01 -3.32358686e-02 -1.73209771e-02 3.19873353e+02] [ 3.32355818e-02 9.99447499e-01 -3.04493760e-04 4.29320199e+00] [ 1.73215274e-02 -2.71392919e-04 9.99849934e-01 3.76349975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.165099893 meters 0.011470800636859223 Centerline is valid? [True, True] Translation: X:319.90, Y:4.30, Z:3.76 [[ 9.99423895e-01 -2.88228597e-02 -1.79198507e-02 3.19904921e+02] [ 2.88218548e-02 9.99584515e-01 -3.14386979e-04 4.29641041e+00] [ 1.79214668e-02 -2.02277476e-04 9.99839377e-01 3.76318381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.195099893 meters 0.011063666461694655 Centerline is valid? [True, True] Translation: X:319.94, Y:4.30, Z:3.76 [[ 9.99479114e-01 -2.67782490e-02 -1.80118134e-02 3.19936516e+02] [ 2.67769135e-02 9.99641384e-01 -3.15356212e-04 4.29820871e+00] [ 1.80137988e-02 -1.67108822e-04 9.99837724e-01 3.76389179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.225099893 meters 0.010794494814307396 Centerline is valid? [True, True] Translation: X:319.97, Y:4.30, Z:3.76 [[ 9.99536097e-01 -2.45496545e-02 -1.80251398e-02 3.19967206e+02] [ 2.45479627e-02 9.99698604e-01 -3.15140963e-04 4.29964420e+00] [ 1.80274437e-02 -1.27485691e-04 9.99837484e-01 3.76457189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.255099893 meters 0.010681725829992285 Centerline is valid? [True, True] Translation: X:320.00, Y:4.30, Z:3.76 [[ 9.99594453e-01 -2.22945215e-02 -1.77167839e-02 3.19997146e+02] [ 2.22925335e-02 9.99751443e-01 -3.09714312e-04 4.30076300e+00] [ 1.77192852e-02 -8.53632907e-05 9.99842997e-01 3.76465848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.285099893 meters 0.010595882435168262 Centerline is valid? [True, True] Translation: X:320.03, Y:4.30, Z:3.77 [[ 9.99640929e-01 -1.99917034e-02 -1.78422424e-02 3.20026418e+02] [ 1.99893184e-02 9.99800145e-01 -3.12022413e-04 4.30250025e+00] [ 1.78449144e-02 -4.47438896e-05 9.99840766e-01 3.76567132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.315099893 meters 0.010540129539790714 Centerline is valid? [True, True] Translation: X:320.05, Y:4.30, Z:3.77 [[ 9.99717475e-01 -1.56203318e-02 -1.79157688e-02 3.20054647e+02] [ 1.56171920e-02 9.99877995e-01 -3.15160994e-04 4.30440268e+00] [ 1.79185059e-02 3.52779514e-05 9.99839450e-01 3.76599857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.345099893 meters 0.010709816025850045 Centerline is valid? [True, True] Translation: X:320.08, Y:4.31, Z:3.77 [[ 9.99750944e-01 -1.34700852e-02 -1.77934740e-02 3.20082245e+02] [ 1.34665643e-02 9.99909271e-01 -3.17680921e-04 4.30521932e+00] [ 1.77961388e-02 7.79848373e-05 9.99841633e-01 3.76637361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.375099893 meters 0.010898922188100582 Centerline is valid? [True, True] Translation: X:320.11, Y:4.31, Z:3.77 [[ 9.99773654e-01 -1.17108642e-02 -1.77622051e-02 3.20110359e+02] [ 1.17070064e-02 9.99931419e-01 -3.21158494e-04 4.30589643e+00] [ 1.77647480e-02 1.13143552e-04 9.99842188e-01 3.76625102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.405099893 meters 0.011075330484740024 Centerline is valid? [True, True] Translation: X:320.14, Y:4.31, Z:3.77 [[ 9.99781087e-01 -9.87663874e-03 -1.84453201e-02 3.20138654e+02] [ 9.87211695e-03 9.99951213e-01 -3.36187106e-04 4.30531138e+00] [ 1.84477406e-02 1.54019153e-04 9.99829814e-01 3.76629930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43509989300003 meters 0.011151195270747592 Centerline is valid? [True, True] Translation: X:320.17, Y:4.30, Z:3.77 [[ 9.99781734e-01 -1.01665612e-02 -1.82516961e-02 3.20166428e+02] [ 1.01620951e-02 9.99948308e-01 -3.37426477e-04 4.30471002e+00] [ 1.82541830e-02 1.51877358e-04 9.99833367e-01 3.76625892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.465099893 meters 0.011018500073225688 Centerline is valid? [True, True] Translation: X:320.19, Y:4.30, Z:3.77 [[ 9.99778093e-01 -1.10065566e-02 -1.79616536e-02 3.20194851e+02] [ 1.10022766e-02 9.99939416e-01 -3.37089278e-04 4.30313131e+00] [ 1.79642756e-02 1.39395393e-04 9.99838620e-01 3.76659705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49509989300003 meters 0.011059363180630994 Centerline is valid? [True, True] Translation: X:320.22, Y:4.30, Z:3.77 [[ 9.99748385e-01 -1.39509622e-02 -1.75652424e-02 3.20223018e+02] [ 1.39472567e-02 9.99902677e-01 -3.33448274e-04 4.29870886e+00] [ 1.75681848e-02 8.83774287e-05 9.99845664e-01 3.76578518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.525099893 meters 0.010960882248282998 Centerline is valid? [True, True] Translation: X:320.25, Y:4.30, Z:3.77 [[ 9.99724512e-01 -1.59327848e-02 -1.72350161e-02 3.20250696e+02] [ 1.59294690e-02 9.99873064e-01 -3.29662334e-04 4.29571651e+00] [ 1.72380807e-02 5.50268625e-05 9.99851412e-01 3.76593807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55509989300003 meters 0.010884339039961725 Centerline is valid? [True, True] Translation: X:320.28, Y:4.29, Z:3.77 [[ 9.99695462e-01 -1.81859057e-02 -1.66810292e-02 3.20278652e+02] [ 1.81830358e-02 9.99834623e-01 -3.23706978e-04 4.29280060e+00] [ 1.66841574e-02 2.02966466e-05 9.99860810e-01 3.76611730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.585099893 meters 0.011019030174018467 Centerline is valid? [True, True] Translation: X:320.31, Y:4.29, Z:3.77 [[ 9.99630768e-01 -2.24912034e-02 -1.52470863e-02 3.20306689e+02] [ 2.24892527e-02 9.99747040e-01 -2.99405168e-04 4.28662464e+00] [ 1.52499634e-02 -4.36009595e-05 9.99883712e-01 3.76653760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61509989300004 meters 0.01119610309650347 Centerline is valid? [True, True] Translation: X:320.34, Y:4.28, Z:3.77 [[ 9.99580087e-01 -2.49421697e-02 -1.47491676e-02 3.20337335e+02] [ 2.49405954e-02 9.99688893e-01 -2.90697366e-04 4.28370509e+00] [ 1.47518296e-02 -7.72777224e-05 9.99891183e-01 3.76710794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.645099893 meters 0.011491531085770095 Centerline is valid? [True, True] Translation: X:320.37, Y:4.28, Z:3.77 [[ 9.99531491e-01 -2.72081533e-02 -1.40183415e-02 3.20367908e+02] [ 2.72069539e-02 9.99629784e-01 -2.76293217e-04 4.28059513e+00] [ 1.40206691e-02 -1.05232601e-04 9.99901700e-01 3.76732798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67509989300004 meters 0.011928331591138857 Centerline is valid? [True, True] Translation: X:320.40, Y:4.28, Z:3.77 [[ 9.99467115e-01 -2.97278740e-02 -1.34810487e-02 3.20399407e+02] [ 2.97269947e-02 9.99558020e-01 -2.65644941e-04 4.27690655e+00] [ 1.34829874e-02 -1.35247679e-04 9.99909091e-01 3.76739698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.705099893 meters 0.01336059593122131 Centerline is valid? [True, True] Translation: X:320.43, Y:4.27, Z:3.77 [[ 9.99286397e-01 -3.54731402e-02 -1.29750771e-02 3.20430758e+02] [ 3.54728184e-02 9.99370609e-01 -2.55019531e-04 4.26844496e+00] [ 1.29759570e-02 -2.05425003e-04 9.99915788e-01 3.76666350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.735099893 meters 0.01429111297947082 Centerline is valid? [True, True] Translation: X:320.46, Y:4.26, Z:3.77 [[ 9.99171360e-01 -3.85547014e-02 -1.30433628e-02 3.20462508e+02] [ 3.85546475e-02 9.99256460e-01 -2.55680856e-04 4.26424803e+00] [ 1.30435222e-02 -2.47413265e-04 9.99914899e-01 3.76625983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.765099893 meters 0.014267367204350548 Centerline is valid? [True, True] Translation: X:320.49, Y:4.26, Z:3.77 [[ 9.99034415e-01 -4.19551425e-02 -1.30385580e-02 3.20494800e+02] [ 4.19553870e-02 9.99119453e-01 -2.54898981e-04 4.26216163e+00] [ 1.30377713e-02 -2.92384893e-04 9.99914962e-01 3.76583434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.795099893 meters 0.01524803198487851 Centerline is valid? [True, True] Translation: X:320.53, Y:4.26, Z:3.77 [[ 9.98896958e-01 -4.49998898e-02 -1.34118059e-02 3.20527368e+02] [ 4.50004361e-02 9.98986933e-01 -2.61201621e-04 4.25822331e+00] [ 1.34099729e-02 -3.42623610e-04 9.99910024e-01 3.76525600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.825099893 meters 0.01679422245322186 Centerline is valid? [True, True] Translation: X:320.56, Y:4.25, Z:3.76 [[ 9.98590070e-01 -5.12455742e-02 -1.38478278e-02 3.20559001e+02] [ 5.12467698e-02 9.98685985e-01 -2.68721853e-04 4.25171644e+00] [ 1.38434024e-02 -4.41313470e-04 9.99904078e-01 3.76404772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.855099893 meters 0.0178599195276518 Centerline is valid? [True, True] Translation: X:320.59, Y:4.25, Z:3.76 [[ 9.98418759e-01 -5.41830232e-02 -1.49726839e-02 3.20591106e+02] [ 5.41847610e-02 9.98530885e-01 -2.89877066e-04 4.24859528e+00] [ 1.49663937e-02 -5.21872596e-04 9.99887861e-01 3.76325641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.885099893 meters 0.02313271152610653 Centerline is valid? [True, True] Translation: X:320.62, Y:4.24, Z:3.76 [[ 9.98244918e-01 -5.69976448e-02 -1.60733170e-02 3.20622639e+02] [ 5.70000306e-02 9.98374128e-01 -3.10025256e-04 4.23949796e+00] [ 1.60648545e-02 -6.06698422e-04 9.99870768e-01 3.76208683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.915099893 meters 0.021143564124092455 Centerline is valid? [True, True] Translation: X:320.65, Y:4.24, Z:3.76 [[ 9.97883841e-01 -6.27495770e-02 -1.70391076e-02 3.20653240e+02] [ 6.27531074e-02 9.98029028e-01 -3.27919901e-04 4.24053456e+00] [ 1.70261008e-02 -7.42030977e-04 9.99854770e-01 3.76173704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.945099893 meters 0.02306262415931767 Centerline is valid? [True, True] Translation: X:320.68, Y:4.24, Z:3.76 [[ 9.97724345e-01 -6.50415476e-02 -1.77687254e-02 3.20684092e+02] [ 6.50457629e-02 9.97882224e-01 -3.41212946e-04 4.23722862e+00] [ 1.77532882e-02 -8.15343837e-04 9.99842066e-01 3.76141481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.975099893 meters 0.024853033972481477 Centerline is valid? [True, True] Translation: X:320.72, Y:4.23, Z:3.76 [[ 9.97584172e-01 -6.72333450e-02 -1.74784576e-02 3.20715179e+02] [ 6.72377905e-02 9.97736923e-01 -3.33850618e-04 4.23434878e+00] [ 1.74613484e-02 -8.42168776e-04 9.99847184e-01 3.76139879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.005099893 meters 0.023672266785017753 Centerline is valid? [True, True] Translation: X:320.75, Y:4.24, Z:3.76 [[ 9.97340768e-01 -7.08628460e-02 -1.70249781e-02 3.20746337e+02] [ 7.08676033e-02 9.97485678e-01 -3.24469416e-04 4.23536522e+00] [ 1.70051646e-02 -8.82912815e-04 9.99855012e-01 3.76218616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.035099893 meters 0.024154379720364546 Centerline is valid? [True, True] Translation: X:320.78, Y:4.24, Z:3.76 [[ 9.97249806e-01 -7.22358585e-02 -1.65772289e-02 3.20778392e+02] [ 7.22405667e-02 9.97387187e-01 -3.15410229e-04 4.23510422e+00] [ 1.65566996e-02 -8.83005620e-04 9.99862539e-01 3.76297925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.065099893 meters 0.02541234037592926 Centerline is valid? [True, True] Translation: X:320.81, Y:4.23, Z:3.76 [[ 9.97165688e-01 -7.34681265e-02 -1.62180547e-02 3.20809441e+02] [ 7.34728130e-02 9.97297173e-01 -3.07484512e-04 4.23405998e+00] [ 1.61968104e-02 -8.84973096e-04 9.99868431e-01 3.76356313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.095099893 meters 0.027539786684030135 Centerline is valid? [True, True] Translation: X:320.84, Y:4.23, Z:3.76 [[ 9.97029140e-01 -7.53267849e-02 -1.60863074e-02 3.20840094e+02] [ 7.53316495e-02 9.97158488e-01 -3.04185820e-04 4.23247902e+00] [ 1.60635113e-02 -9.08525942e-04 9.99870561e-01 3.76430081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.125099893 meters 0.025526020675043615 Centerline is valid? [True, True] Translation: X:320.87, Y:4.24, Z:3.76 [[ 9.96972631e-01 -7.60362140e-02 -1.62501634e-02 3.20872311e+02] [ 7.60412841e-02 9.97104623e-01 -3.06551113e-04 4.23630915e+00] [ 1.62264221e-02 -9.30060223e-04 9.99867910e-01 3.76499470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.155099893 meters 0.028004659654843573 Centerline is valid? [True, True] Translation: X:320.90, Y:4.23, Z:3.77 [[ 9.96938031e-01 -7.64400382e-02 -1.64767304e-02 3.20903090e+02] [ 7.64453231e-02 9.97073727e-01 -3.09758474e-04 4.23362245e+00] [ 1.64521930e-02 -9.50758978e-04 9.99864201e-01 3.76514530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18509989300003 meters 0.028105911956783414 Centerline is valid? [True, True] Translation: X:320.94, Y:4.23, Z:3.77 [[ 9.96892752e-01 -7.69695367e-02 -1.67490800e-02 3.20935407e+02] [ 7.69750852e-02 9.97032967e-01 -3.14108541e-04 4.23422847e+00] [ 1.67235617e-02 -9.76129334e-04 9.99859675e-01 3.76568188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.215099893 meters 0.026244405407585412 Centerline is valid? [True, True] Translation: X:320.97, Y:4.24, Z:3.77 [[ 9.96870247e-01 -7.72683292e-02 -1.67127536e-02 3.20967838e+02] [ 7.72739154e-02 9.97009852e-01 -3.12231926e-04 4.23739220e+00] [ 1.66869057e-02 -9.80205195e-04 9.99860283e-01 3.76622707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24509989300003 meters 0.02565208152796613 Centerline is valid? [True, True] Translation: X:321.00, Y:4.24, Z:3.77 [[ 9.96789546e-01 -7.81780108e-02 -1.72857939e-02 3.20999818e+02] [ 7.81841455e-02 9.96938883e-01 -3.21639704e-04 4.23872235e+00] [ 1.72580252e-02 -1.03086793e-03 9.99850538e-01 3.76709756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.275099893 meters 0.02565208152796613 Centerline is valid? [True, True] Translation: X:321.03, Y:4.24, Z:3.77 [[ 9.96798248e-01 -7.80669757e-02 -1.72858210e-02 3.21032406e+02] [ 7.80731190e-02 9.96947584e-01 -3.20177467e-04 4.23924195e+00] [ 1.72580528e-02 -1.03040562e-03 9.99850538e-01 3.76750038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30509989300003 meters 0.027873924341965776 Centerline is valid? [True, True] Translation: X:321.06, Y:4.24, Z:3.77 [[ 9.96797450e-01 -7.80388123e-02 -1.74581755e-02 3.21064335e+02] [ 7.80451070e-02 9.96949777e-01 -3.21508695e-04 4.23722090e+00] [ 1.74300144e-02 -1.04204613e-03 9.99847543e-01 3.76791965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.335099893 meters 0.029420522752278827 Centerline is valid? [True, True] Translation: X:321.10, Y:4.24, Z:3.77 [[ 9.96788057e-01 -7.80213137e-02 -1.80622058e-02 3.21095440e+02] [ 7.80280755e-02 9.96951107e-01 -3.31147127e-04 4.23633672e+00] [ 1.80329726e-02 -1.07927566e-03 9.99836810e-01 3.76778852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36509989300004 meters 0.025956047682270666 Centerline is valid? [True, True] Translation: X:321.13, Y:4.24, Z:3.77 [[ 9.96922976e-01 -7.58814366e-02 -1.96618136e-02 3.21126758e+02] [ 7.58890542e-02 9.97116203e-01 -3.59485658e-04 4.24271801e+00] [ 1.96323913e-02 -1.13373693e-03 9.99806623e-01 3.76808847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.395099893 meters 0.02412527796072689 Centerline is valid? [True, True] Translation: X:321.16, Y:4.25, Z:3.77 [[ 9.97066407e-01 -7.38367717e-02 -2.01670737e-02 3.21157756e+02] [ 7.38443843e-02 9.97269709e-01 -3.67970123e-04 4.24678452e+00] [ 2.01391815e-02 -1.12233449e-03 9.99796556e-01 3.76869731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42509989300004 meters 0.02485858695467538 Centerline is valid? [True, True] Translation: X:321.19, Y:4.25, Z:3.77 [[ 9.97242851e-01 -7.13138489e-02 -2.05190381e-02 3.21187941e+02] [ 7.13212098e-02 9.97453330e-01 -3.73773708e-04 4.24764786e+00] [ 2.04934381e-02 -1.09069946e-03 9.99789393e-01 3.76900403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.455099893 meters 0.02526885877745944 Centerline is valid? [True, True] Translation: X:321.22, Y:4.25, Z:3.77 [[ 9.97486088e-01 -6.77754187e-02 -2.06880903e-02 3.21217491e+02] [ 6.77821440e-02 9.97700075e-01 -3.76770621e-04 4.24917285e+00] [ 2.06660450e-02 -1.02645966e-03 9.99785908e-01 3.76952911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.485099893 meters 0.021226717862055548 Centerline is valid? [True, True] Translation: X:321.25, Y:4.26, Z:3.77 [[ 9.98049894e-01 -5.87370461e-02 -2.11274533e-02 3.21248102e+02] [ 5.87420356e-02 9.98273121e-01 -3.84898207e-04 4.25995249e+00] [ 2.11135765e-02 -8.56922001e-04 9.99776716e-01 3.77101341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.515099893 meters 0.019888159459848623 Centerline is valid? [True, True] Translation: X:321.28, Y:4.27, Z:3.77 [[ 9.98332080e-01 -5.34797335e-02 -2.17480312e-02 3.21278202e+02] [ 5.34837779e-02 9.98568640e-01 -3.96059216e-04 4.26515173e+00] [ 2.17380830e-02 -7.67768247e-04 9.99763405e-01 3.77183402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.545099893 meters 0.016657800005008525 Centerline is valid? [True, True] Translation: X:321.31, Y:4.27, Z:3.77 [[ 9.98620067e-01 -4.79249720e-02 -2.14745981e-02 3.21309262e+02] [ 4.79276356e-02 9.98850734e-01 -3.90916381e-04 4.27338225e+00] [ 2.14686527e-02 -6.38849767e-04 9.99769318e-01 3.77359334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.575099893 meters 0.013792558148836696 Centerline is valid? [True, True] Translation: X:321.34, Y:4.28, Z:3.77 [[ 9.99102293e-01 -3.67950898e-02 -2.09935611e-02 3.21339799e+02] [ 3.67951841e-02 9.99322755e-01 -3.81914711e-04 4.28365378e+00] [ 2.09933959e-02 -3.90890080e-04 9.99779538e-01 3.77483899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.605099893 meters 0.012907129026635222 Centerline is valid? [True, True] Translation: X:321.37, Y:4.29, Z:3.78 [[ 9.99273018e-01 -3.15691940e-02 -2.13733912e-02 3.21369537e+02] [ 3.15680974e-02 9.99501528e-01 -3.88783088e-04 4.28857910e+00] [ 2.13750108e-02 -2.86216848e-04 9.99771487e-01 3.77548988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.635099893 meters 0.012108305382339464 Centerline is valid? [True, True] Translation: X:321.40, Y:4.29, Z:3.78 [[ 9.99404136e-01 -2.68254243e-02 -2.17202596e-02 3.21399231e+02] [ 2.68231643e-02 9.99640116e-01 -3.95433744e-04 4.29418059e+00] [ 2.17230505e-02 -1.87407972e-04 9.99764009e-01 3.77682412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.665099893 meters 0.011909550450698728 Centerline is valid? [True, True] Translation: X:321.43, Y:4.30, Z:3.78 [[ 9.99508276e-01 -2.24596751e-02 -2.18808031e-02 3.21427149e+02] [ 2.24563067e-02 9.99747745e-01 -3.99670084e-04 4.29824452e+00] [ 2.18842600e-02 -9.18884681e-05 9.99760507e-01 3.77655168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.695099893 meters 0.01197174303215119 Centerline is valid? [True, True] Translation: X:321.46, Y:4.31, Z:3.78 [[ 9.99606207e-01 -1.59185650e-02 -2.31090740e-02 3.21455295e+02] [ 1.59129639e-02 9.99873290e-01 -4.26258343e-04 4.30561666e+00] [ 2.31129313e-02 5.83566252e-05 9.99732859e-01 3.77625674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.725099893 meters 0.011926079541191488 Centerline is valid? [True, True] Translation: X:321.48, Y:4.31, Z:3.78 [[ 9.99629843e-01 -1.35491392e-02 -2.35923350e-02 3.21483886e+02] [ 1.35424927e-02 9.99908199e-01 -4.41481190e-04 4.30859128e+00] [ 2.35961509e-02 1.21818749e-04 9.99721565e-01 3.77751659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.755099893 meters 0.011997097016605176 Centerline is valid? [True, True] Translation: X:321.51, Y:4.31, Z:3.78 [[ 9.99647767e-01 -1.17354839e-02 -2.38038086e-02 3.21512767e+02] [ 1.17280601e-02 9.99931122e-01 -4.51464093e-04 4.31095456e+00] [ 2.38074672e-02 1.72132575e-04 9.99716547e-01 3.77823334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.785099893 meters 0.012489608008504462 Centerline is valid? [True, True] Translation: X:321.54, Y:4.31, Z:3.78 [[ 9.99672668e-01 -9.54065113e-03 -2.37388440e-02 3.21540430e+02] [ 9.53253707e-03 9.99954461e-01 -4.54946206e-04 4.31438389e+00] [ 2.37421035e-02 2.28505877e-04 9.99718090e-01 3.77775236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.815099893 meters 0.012333063984315287 Centerline is valid? [True, True] Translation: X:321.57, Y:4.31, Z:3.78 [[ 9.99669971e-01 -9.42962770e-03 -2.38962797e-02 3.21568445e+02] [ 9.42125453e-03 9.99955512e-01 -4.62957329e-04 4.31477620e+00] [ 2.38995821e-02 2.37671606e-04 9.99714336e-01 3.77829811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.845099893 meters 0.012611419451880929 Centerline is valid? [True, True] Translation: X:321.60, Y:4.32, Z:3.78 [[ 9.99655090e-01 -1.03547040e-02 -2.41346313e-02 3.21595388e+02] [ 1.03462930e-02 9.99946364e-01 -4.73351341e-04 4.31602921e+00] [ 2.41382383e-02 2.23484110e-04 9.99708605e-01 3.77736376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.875099893 meters 0.012004541304111204 Centerline is valid? [True, True] Translation: X:321.62, Y:4.32, Z:3.78 [[ 9.99643923e-01 -1.16815577e-02 -2.39910049e-02 3.21624371e+02] [ 1.16735023e-02 9.99931749e-01 -4.75797411e-04 4.31510922e+00] [ 2.39949255e-02 1.95568941e-04 9.99712061e-01 3.77901579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.905099893 meters 0.011742920091917033 Centerline is valid? [True, True] Translation: X:321.65, Y:4.31, Z:3.78 [[ 9.99606781e-01 -1.56383575e-02 -2.32749985e-02 3.21651886e+02] [ 1.56317558e-02 9.99877708e-01 -4.65563187e-04 4.31345628e+00] [ 2.32794328e-02 1.01551027e-04 9.99728992e-01 3.77916860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93509989300003 meters 0.011455876368013512 Centerline is valid? [True, True] Translation: X:321.68, Y:4.31, Z:3.78 [[ 9.99563907e-01 -1.87388550e-02 -2.28221416e-02 3.21680952e+02] [ 1.87332315e-02 9.99824412e-01 -4.60193351e-04 4.31189335e+00] [ 2.28267578e-02 3.24602022e-05 9.99739435e-01 3.78006857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.965099893 meters 0.011443967622815151 Centerline is valid? [True, True] Translation: X:321.71, Y:4.31, Z:3.78 [[ 9.99505018e-01 -2.20592599e-02 -2.24300707e-02 3.21708685e+02] [ 2.20545295e-02 9.99756664e-01 -4.58274533e-04 4.31006950e+00] [ 2.24347218e-02 -3.66369607e-05 9.99748309e-01 3.78104793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99509989300003 meters 0.011502614525959685 Centerline is valid? [True, True] Translation: X:321.74, Y:4.31, Z:3.78 [[ 9.99428850e-01 -2.56646649e-02 -2.19840474e-02 3.21736872e+02] [ 2.56608957e-02 9.99670602e-01 -4.53581822e-04 4.30806890e+00] [ 2.19884469e-02 -1.10807588e-04 9.99758219e-01 3.78125494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.025099893 meters 0.012216978863794 Centerline is valid? [True, True] Translation: X:321.77, Y:4.30, Z:3.78 [[ 9.99244313e-01 -3.24445651e-02 -2.14045332e-02 3.21765462e+02] [ 3.24424749e-02 9.99473505e-01 -4.44983310e-04 4.30298820e+00] [ 2.14077011e-02 -2.49768988e-04 9.99770798e-01 3.78223438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05509989300003 meters 0.012447575502709644 Centerline is valid? [True, True] Translation: X:321.80, Y:4.30, Z:3.78 [[ 9.99143619e-01 -3.55653651e-02 -2.11455385e-02 3.21795234e+02] [ 3.55639522e-02 9.99367304e-01 -4.42985932e-04 4.30180833e+00] [ 2.11479148e-02 -3.09412355e-04 9.99776310e-01 3.78336532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.085099893 meters 0.01399680457118258 Centerline is valid? [True, True] Translation: X:321.83, Y:4.30, Z:3.78 [[ 9.98938292e-01 -4.09398053e-02 -2.11239680e-02 3.21825051e+02] [ 4.09395865e-02 9.99161525e-01 -4.42989529e-04 4.29654160e+00] [ 2.11243920e-02 -4.22287313e-04 9.99776766e-01 3.78427529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11509989300004 meters 0.014203511406275722 Centerline is valid? [True, True] Translation: X:321.86, Y:4.30, Z:3.79 [[ 9.98828406e-01 -4.34672242e-02 -2.12700460e-02 3.21855990e+02] [ 4.34675850e-02 9.99054738e-01 -4.45587243e-04 4.29543178e+00] [ 2.12693087e-02 -4.79492336e-04 9.99773668e-01 3.78544229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.145099893 meters 0.015605075028834191 Centerline is valid? [True, True] Translation: X:321.89, Y:4.29, Z:3.79 [[ 9.98735575e-01 -4.57100062e-02 -2.09248036e-02 3.21887076e+02] [ 4.57108703e-02 9.98954616e-01 -4.37248139e-04 4.29211000e+00] [ 2.09229158e-02 -5.19795715e-04 9.99780957e-01 3.78562524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17509989300004 meters 0.01562130591385115 Centerline is valid? [True, True] Translation: X:321.92, Y:4.29, Z:3.79 [[ 9.98634777e-01 -4.79223055e-02 -2.07854558e-02 3.21919291e+02] [ 4.79236638e-02 9.98850907e-01 -4.33044254e-04 4.29132258e+00] [ 2.07823239e-02 -5.63662144e-04 9.99783865e-01 3.78684846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.205099893 meters 0.01712890557062552 Centerline is valid? [True, True] Translation: X:321.95, Y:4.29, Z:3.79 [[ 9.98478498e-01 -5.08949485e-02 -2.12224806e-02 3.21950593e+02] [ 5.08970727e-02 9.98703807e-01 -4.40389430e-04 4.28588230e+00] [ 2.12173858e-02 -6.40442764e-04 9.99774681e-01 3.78682565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.235099893 meters 0.018033794230908957 Centerline is valid? [True, True] Translation: X:321.98, Y:4.28, Z:3.79 [[ 9.98411057e-01 -5.17230219e-02 -2.23626894e-02 3.21981868e+02] [ 5.17256402e-02 9.98661226e-01 -4.61723441e-04 4.28346148e+00] [ 2.23566326e-02 -6.95734638e-04 9.99749817e-01 3.78584270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.265099893 meters 0.01827793136578545 Centerline is valid? [True, True] Translation: X:322.01, Y:4.28, Z:3.78 [[ 9.98323383e-01 -5.26005491e-02 -2.41579265e-02 3.22013541e+02] [ 5.26039071e-02 9.98615332e-01 -4.96907511e-04 4.28121139e+00] [ 2.41506134e-02 -7.74726933e-04 9.99708031e-01 3.78473949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.295099893 meters 0.018359806520241155 Centerline is valid? [True, True] Translation: X:322.04, Y:4.28, Z:3.79 [[ 9.98329334e-01 -5.24770282e-02 -2.41806376e-02 3.22044954e+02] [ 5.24803770e-02 9.98621832e-01 -4.96523043e-04 4.28112528e+00] [ 2.41733687e-02 -7.73315459e-04 9.99707482e-01 3.78511627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.325099893 meters 0.017849690126714172 Centerline is valid? [True, True] Translation: X:322.08, Y:4.28, Z:3.79 [[ 9.98341544e-01 -5.22057208e-02 -2.42636223e-02 3.22076528e+02] [ 5.22090335e-02 9.98636055e-01 -4.97366851e-04 4.28240843e+00] [ 2.42564935e-02 -7.70238281e-04 9.99705471e-01 3.78592994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.355099893 meters 0.01842515036912749 Centerline is valid? [True, True] Translation: X:322.11, Y:4.28, Z:3.79 [[ 9.98367742e-01 -5.15390392e-02 -2.46085150e-02 3.22107195e+02] [ 5.15422608e-02 9.98670687e-01 -5.03773688e-04 4.28187380e+00] [ 2.46017666e-02 -7.65427102e-04 9.99697038e-01 3.78565934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.385099893 meters 0.018192523386182224 Centerline is valid? [True, True] Translation: X:322.14, Y:4.28, Z:3.78 [[ 9.98422294e-01 -4.97412336e-02 -2.60525096e-02 3.22137800e+02] [ 4.97442457e-02 9.98761847e-01 -5.32866438e-04 4.28265056e+00] [ 2.60467580e-02 -7.63936707e-04 9.99660434e-01 3.78493160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.415099893 meters 0.017756568191704476 Centerline is valid? [True, True] Translation: X:322.17, Y:4.28, Z:3.79 [[ 9.98441507e-01 -4.91836933e-02 -2.63727445e-02 3.22168247e+02] [ 4.91865914e-02 9.98789462e-01 -5.39199939e-04 4.28435816e+00] [ 2.63673391e-02 -7.58825807e-04 9.99652033e-01 3.78544298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.445099893 meters 0.017427964971164472 Centerline is valid? [True, True] Translation: X:322.20, Y:4.29, Z:3.79 [[ 9.98451527e-01 -4.89546512e-02 -2.64195096e-02 3.22198560e+02] [ 4.89574795e-02 9.98800718e-01 -5.40156068e-04 4.28592506e+00] [ 2.64142683e-02 -7.54112948e-04 9.99650798e-01 3.78620946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.475099893 meters 0.01684698905027903 Centerline is valid? [True, True] Translation: X:322.23, Y:4.29, Z:3.79 [[ 9.98451089e-01 -4.91796936e-02 -2.60150188e-02 3.22229068e+02] [ 4.91825121e-02 9.98789666e-01 -5.31886112e-04 4.28814523e+00] [ 2.60096899e-02 -7.48421706e-04 9.99661411e-01 3.78773686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.505099893 meters 0.016586778029041672 Centerline is valid? [True, True] Translation: X:322.26, Y:4.29, Z:3.79 [[ 9.98446449e-01 -4.96483230e-02 -2.52929403e-02 3.22260787e+02] [ 4.96511492e-02 9.98766487e-01 -5.16651311e-04 4.28936371e+00] [ 2.52873920e-02 -7.39974886e-04 9.99679949e-01 3.78895771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.535099893 meters 0.017889752149032205 Centerline is valid? [True, True] Translation: X:322.29, Y:4.29, Z:3.79 [[ 9.98381870e-01 -5.12964326e-02 -2.45421702e-02 3.22291216e+02] [ 5.12996172e-02 9.98683183e-01 -5.00234340e-04 4.28791657e+00] [ 2.45355129e-02 -7.59579041e-04 9.99698670e-01 3.78950613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.565099893 meters 0.018416001018243738 Centerline is valid? [True, True] Translation: X:322.32, Y:4.29, Z:3.79 [[ 9.98316322e-01 -5.25541848e-02 -2.45474900e-02 3.22322037e+02] [ 5.25577813e-02 9.98617760e-01 -4.99091472e-04 4.28784170e+00] [ 2.45397889e-02 -7.91910450e-04 9.99698540e-01 3.78985254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.595099893 meters 0.01886040992934369 Centerline is valid? [True, True] Translation: X:322.35, Y:4.29, Z:3.79 [[ 9.98248018e-01 -5.39718202e-02 -2.42474347e-02 3.22353134e+02] [ 5.39757715e-02 9.98542124e-01 -4.91971455e-04 4.28784032e+00] [ 2.42386375e-02 -8.17664465e-04 9.99705867e-01 3.79049036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.625099893 meters 0.019916438046578996 Centerline is valid? [True, True] Translation: X:322.38, Y:4.29, Z:3.79 [[ 9.98026352e-01 -5.81389899e-02 -2.37330562e-02 3.22384080e+02] [ 5.81439665e-02 9.98308093e-01 -4.80904200e-04 4.28733576e+00] [ 2.37208613e-02 -8.99978958e-04 9.99718216e-01 3.79197362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.655099893 meters 0.02057313377108762 Centerline is valid? [True, True] Translation: X:322.42, Y:4.29, Z:3.79 [[ 9.97882623e-01 -6.05076060e-02 -2.38558387e-02 3.22415779e+02] [ 6.05133300e-02 9.98167273e-01 -4.82549337e-04 4.28756467e+00] [ 2.38413153e-02 -9.62068640e-04 9.99715293e-01 3.79345503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68509989300003 meters 0.022141914892438216 Centerline is valid? [True, True] Translation: X:322.45, Y:4.29, Z:3.79 [[ 9.97741333e-01 -6.29038496e-02 -2.35656324e-02 3.22447204e+02] [ 6.29101318e-02 9.98019083e-01 -4.75418609e-04 4.28616048e+00] [ 2.35488565e-02 -1.00817224e-03 9.99722179e-01 3.79456644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.715099893 meters 0.024279995148487166 Centerline is valid? [True, True] Translation: X:322.48, Y:4.28, Z:3.80 [[ 9.97400641e-01 -6.80872701e-02 -2.35814473e-02 3.22477568e+02] [ 6.80950228e-02 9.97678727e-01 -4.75017032e-04 4.28441786e+00] [ 2.35590509e-02 -1.13199690e-03 9.99721806e-01 3.79574129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74509989300003 meters 0.02548669698859456 Centerline is valid? [True, True] Translation: X:322.51, Y:4.28, Z:3.80 [[ 9.97252677e-01 -7.01368285e-02 -2.38311286e-02 3.22509385e+02] [ 7.01453459e-02 9.97536666e-01 -4.79375443e-04 4.28342529e+00] [ 2.38060465e-02 -1.19358432e-03 9.99715883e-01 3.79618472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.775099893 meters 0.026722462588631434 Centerline is valid? [True, True] Translation: X:322.54, Y:4.28, Z:3.80 [[ 9.97089164e-01 -7.23890404e-02 -2.39379387e-02 3.22540983e+02] [ 7.23983070e-02 9.97375684e-01 -4.80461622e-04 4.28311080e+00] [ 2.39098981e-02 -1.25400316e-03 9.99713331e-01 3.79649348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80509989300003 meters 0.029216394578067857 Centerline is valid? [True, True] Translation: X:322.57, Y:4.28, Z:3.80 [[ 9.96944869e-01 -7.44236698e-02 -2.37075094e-02 3.22572509e+02] [ 7.44333564e-02 9.97225877e-01 -4.74815673e-04 4.28125646e+00] [ 2.36770794e-02 -1.29126445e-03 9.99718825e-01 3.79715761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.835099893 meters 0.025006837282920764 Centerline is valid? [True, True] Translation: X:322.60, Y:4.29, Z:3.80 [[ 9.96753141e-01 -7.74543716e-02 -2.19999209e-02 3.22603383e+02] [ 7.74634713e-02 9.96995094e-01 -4.39553196e-04 4.28972652e+00] [ 2.19678585e-02 -1.26606421e-03 9.99757876e-01 3.80020242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86509989300004 meters 0.029965082289551522 Centerline is valid? [True, True] Translation: X:322.63, Y:4.28, Z:3.80 [[ 9.96684423e-01 -7.84875939e-02 -2.14443104e-02 3.22634739e+02] [ 7.84965134e-02 9.96914297e-01 -4.26794891e-04 4.28451269e+00] [ 2.14116377e-02 -1.25792378e-03 9.99769953e-01 3.80026534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.895099893 meters 0.032294982038592504 Centerline is valid? [True, True] Translation: X:322.67, Y:4.28, Z:3.80 [[ 9.96647708e-01 -7.92832625e-02 -2.01868711e-02 3.22665755e+02] [ 7.92913648e-02 9.96851403e-01 -3.99980222e-04 4.28308985e+00] [ 2.01550225e-02 -1.20200519e-03 9.99796144e-01 3.80103697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92509989300004 meters 0.0274605399013576 Centerline is valid? [True, True] Translation: X:322.70, Y:4.29, Z:3.80 [[ 9.96549381e-01 -8.08570661e-02 -1.87474227e-02 3.22697502e+02] [ 8.08643511e-02 9.96725047e-01 -3.70394252e-04 4.29237425e+00] [ 1.87159748e-02 -1.14688201e-03 9.99824183e-01 3.80326728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.955099893 meters 0.026974798117461857 Centerline is valid? [True, True] Translation: X:322.73, Y:4.29, Z:3.80 [[ 9.96500428e-01 -8.14630656e-02 -1.87260582e-02 3.22729384e+02] [ 8.14704663e-02 9.96675688e-01 -3.68598970e-04 4.29461944e+00] [ 1.86938341e-02 -1.15831166e-03 9.99824584e-01 3.80374471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.985099893 meters 0.027510862773603123 Centerline is valid? [True, True] Translation: X:322.76, Y:4.30, Z:3.80 [[ 9.96454729e-01 -8.20471302e-02 -1.86075687e-02 3.22761096e+02] [ 8.20545622e-02 9.96627772e-01 -3.65013609e-04 4.29556536e+00] [ 1.85747680e-02 -1.16311636e-03 9.99826798e-01 3.80388378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.015099893 meters 0.033208904701999456 Centerline is valid? [True, True] Translation: X:322.79, Y:4.29, Z:3.80 [[ 9.96319673e-01 -8.31622297e-02 -2.07641949e-02 3.22792064e+02] [ 8.31717484e-02 9.96535145e-01 -4.06247723e-04 4.29059185e+00] [ 2.07260344e-02 -1.32224180e-03 9.99784318e-01 3.80141685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.045099893 meters 0.029022084214432455 Centerline is valid? [True, True] Translation: X:322.82, Y:4.30, Z:3.80 [[ 9.96249350e-01 -8.38815059e-02 -2.12397100e-02 3.22824440e+02] [ 8.38916521e-02 9.96474796e-01 -4.14440096e-04 4.29737913e+00] [ 2.11995995e-02 -1.36894868e-03 9.99774326e-01 3.80150809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.075099893 meters 0.02949598430943198 Centerline is valid? [True, True] Translation: X:322.86, Y:4.30, Z:3.80 [[ 9.96106521e-01 -8.52941798e-02 -2.22868268e-02 3.22856275e+02] [ 8.53057368e-02 9.96354728e-01 -4.33380637e-04 4.29855848e+00] [ 2.22425501e-02 -1.46950091e-03 9.99751524e-01 3.80051712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.105099893 meters 0.02848272287960742 Centerline is valid? [True, True] Translation: X:322.89, Y:4.30, Z:3.80 [[ 9.96072666e-01 -8.56400734e-02 -2.24726711e-02 3.22888316e+02] [ 8.56519438e-02 9.96325025e-01 -4.35560029e-04 4.30141874e+00] [ 2.24273860e-02 -1.49097852e-03 9.99747363e-01 3.80086443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.135099893 meters 0.03187485438335739 Centerline is valid? [True, True] Translation: X:322.92, Y:4.30, Z:3.80 [[ 9.96047159e-01 -8.59419798e-02 -2.24506731e-02 3.22919857e+02] [ 8.59539363e-02 9.96299018e-01 -4.33660889e-04 4.29857182e+00] [ 2.24048533e-02 -1.49777703e-03 9.99747858e-01 3.80081963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.165099893 meters 0.03187485438335739 Centerline is valid? [True, True] Translation: X:322.95, Y:4.30, Z:3.80 [[ 9.96056370e-01 -8.58351548e-02 -2.24507071e-02 3.22952462e+02] [ 8.58471239e-02 9.96308228e-01 -4.31896568e-04 4.29910983e+00] [ 2.24048961e-02 -1.49713531e-03 9.99747858e-01 3.80122271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.195099893 meters 0.031432063059467816 Centerline is valid? [True, True] Translation: X:322.98, Y:4.30, Z:3.80 [[ 9.96129334e-01 -8.50278234e-02 -2.22849490e-02 3.22984313e+02] [ 8.50394602e-02 9.96377493e-01 -4.26683562e-04 4.30278720e+00] [ 2.22405015e-02 -1.47006802e-03 9.99751569e-01 3.80208221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.225099893 meters 0.03130959114823382 Centerline is valid? [True, True] Translation: X:323.02, Y:4.30, Z:3.80 [[ 9.96219693e-01 -8.40916478e-02 -2.17926164e-02 3.23016527e+02] [ 8.41025862e-02 9.96457015e-01 -4.15723594e-04 4.30484367e+00] [ 2.17503644e-02 -1.41866337e-03 9.99762426e-01 3.80294058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.255099893 meters 0.028188882619059972 Centerline is valid? [True, True] Translation: X:323.05, Y:4.31, Z:3.80 [[ 9.96384691e-01 -8.25081653e-02 -2.02472454e-02 3.23048254e+02] [ 8.25173065e-02 9.96589557e-01 -3.84993203e-04 4.31240582e+00] [ 2.02099584e-02 -1.28714682e-03 9.99794929e-01 3.80446165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.285099893 meters 0.028188882619059972 Centerline is valid? [True, True] Translation: X:323.08, Y:4.31, Z:3.80 [[ 9.96393755e-01 -8.23986174e-02 -2.02472747e-02 3.23080854e+02] [ 8.24077673e-02 9.96598622e-01 -3.83447568e-04 4.31293801e+00] [ 2.02100016e-02 -1.28646794e-03 9.99794929e-01 3.80486466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.315099893 meters 0.029147099142612952 Centerline is valid? [True, True] Translation: X:323.11, Y:4.31, Z:3.81 [[ 9.96489190e-01 -8.13932787e-02 -1.96068435e-02 3.23111940e+02] [ 8.14016985e-02 9.96681307e-01 -3.69607974e-04 4.31365382e+00] [ 1.95718580e-02 -1.22772001e-03 9.99807699e-01 3.80569963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.345099893 meters 0.028458032488175425 Centerline is valid? [True, True] Translation: X:323.14, Y:4.32, Z:3.81 [[ 9.96584187e-01 -8.05005627e-02 -1.84287213e-02 3.23144104e+02] [ 8.05078683e-02 9.96753913e-01 -3.46327682e-04 4.31634907e+00] [ 1.83967796e-02 -1.13851238e-03 9.99830117e-01 3.80704240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.375099893 meters 0.027523812323980636 Centerline is valid? [True, True] Translation: X:323.18, Y:4.32, Z:3.81 [[ 9.96683970e-01 -7.94081715e-02 -1.77596688e-02 3.23176829e+02] [ 7.94148074e-02 9.96841601e-01 -3.32402110e-04 4.31944047e+00] [ 1.77299721e-02 -1.07908082e-03 9.99842229e-01 3.80823316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.405099893 meters 0.028364084439539798 Centerline is valid? [True, True] Translation: X:323.21, Y:4.32, Z:3.81 [[ 9.96805908e-01 -7.80471018e-02 -1.69301874e-02 3.23207316e+02] [ 7.80529560e-02 9.96949164e-01 -3.15724440e-04 4.32131662e+00] [ 1.69031776e-02 -1.00673519e-03 9.99856624e-01 3.80912850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43509989300003 meters 0.02729504996570856 Centerline is valid? [True, True] Translation: X:323.24, Y:4.32, Z:3.81 [[ 9.96855247e-01 -7.73696249e-02 -1.71334971e-02 3.23239715e+02] [ 7.73755306e-02 9.97001969e-01 -3.18945947e-04 4.32409308e+00] [ 1.71068071e-02 -1.00777049e-03 9.99853160e-01 3.80961796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.465099893 meters 0.026917045883023905 Centerline is valid? [True, True] Translation: X:323.27, Y:4.33, Z:3.81 [[ 9.96908030e-01 -7.68486207e-02 -1.63911345e-02 3.23272041e+02] [ 7.68539741e-02 9.97042313e-01 -3.03979049e-04 4.32663516e+00] [ 1.63660151e-02 -9.56684674e-04 9.99865610e-01 3.81036143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49509989300003 meters 0.02860837249116936 Centerline is valid? [True, True] Translation: X:323.30, Y:4.33, Z:3.81 [[ 9.96923945e-01 -7.66827007e-02 -1.61991387e-02 3.23303687e+02] [ 7.66879253e-02 9.97055100e-01 -2.99324400e-04 4.32525005e+00] [ 1.61743869e-02 -9.43874678e-04 9.99868741e-01 3.81016291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.525099893 meters 0.028797863904806806 Centerline is valid? [True, True] Translation: X:323.34, Y:4.33, Z:3.81 [[ 9.96927634e-01 -7.65709004e-02 -1.64982048e-02 3.23336973e+02] [ 7.65763230e-02 9.97063676e-01 -3.03728758e-04 4.32593908e+00] [ 1.64730175e-02 -9.60576268e-04 9.99863849e-01 3.81001998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55509989300003 meters 0.029163781858195986 Centerline is valid? [True, True] Translation: X:323.37, Y:4.33, Z:3.81 [[ 9.96927006e-01 -7.63586919e-02 -1.74898439e-02 3.23370089e+02] [ 7.63647874e-02 9.97079895e-01 -3.20046385e-04 4.32633926e+00] [ 1.74632100e-02 -1.01654532e-03 9.99846990e-01 3.80913613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.585099893 meters 0.029893351744667652 Centerline is valid? [True, True] Translation: X:323.40, Y:4.33, Z:3.81 [[ 9.96996458e-01 -7.47438578e-02 -2.02834376e-02 3.23401652e+02] [ 7.47517658e-02 9.97202105e-01 -3.69096845e-04 4.32734724e+00] [ 2.02542744e-02 -1.14823453e-03 9.99794202e-01 3.80667903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61509989300004 meters 0.029466798642134556 Centerline is valid? [True, True] Translation: X:323.43, Y:4.33, Z:3.81 [[ 9.97072294e-01 -7.34096980e-02 -2.13975968e-02 3.23433537e+02] [ 7.34182255e-02 9.97301165e-01 -3.87840776e-04 4.32973056e+00] [ 2.13683195e-02 -1.18426830e-03 9.99770970e-01 3.80632830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.645099893 meters 0.02520306163742683 Centerline is valid? [True, True] Translation: X:323.47, Y:4.34, Z:3.81 [[ 9.97228080e-01 -7.11398785e-02 -2.18007902e-02 3.23465242e+02] [ 7.11482197e-02 9.97465676e-01 -3.93773210e-04 4.33730969e+00] [ 2.17735529e-02 -1.15840571e-03 9.99762257e-01 3.80718587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67509989300004 meters 0.024330619608185482 Centerline is valid? [True, True] Translation: X:323.49, Y:4.34, Z:3.81 [[ 9.97653802e-01 -6.53623952e-02 -2.03629284e-02 3.23494456e+02] [ 6.53684810e-02 9.97861126e-01 -3.67318539e-04 4.34199949e+00] [ 2.03433835e-02 -9.64636963e-04 9.99792587e-01 3.80913860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.705099893 meters 0.023129280261362194 Centerline is valid? [True, True] Translation: X:323.52, Y:4.35, Z:3.81 [[ 9.97909719e-01 -6.16067755e-02 -1.95140408e-02 3.23524804e+02] [ 6.16116436e-02 9.98100136e-01 -3.52213323e-04 4.34583908e+00] [ 1.94986655e-02 -8.50815026e-04 9.99809521e-01 3.81101451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.735099893 meters 0.018692501391403236 Centerline is valid? [True, True] Translation: X:323.56, Y:4.36, Z:3.81 [[ 9.98410634e-01 -5.36236887e-02 -1.73408501e-02 3.23555089e+02] [ 5.36263299e-02 9.98561024e-01 -3.12989870e-04 4.35606623e+00] [ 1.73326808e-02 -6.17433735e-04 9.99849587e-01 3.81424650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.765099893 meters 0.017816904633941682 Centerline is valid? [True, True] Translation: X:323.59, Y:4.36, Z:3.82 [[ 9.98648633e-01 -4.93503802e-02 -1.62925792e-02 3.23585586e+02] [ 4.93521456e-02 9.98781397e-01 -2.93930982e-04 4.35932877e+00] [ 1.62872307e-02 -5.10539970e-04 9.99867224e-01 3.81525830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.795099893 meters 0.016533928911167325 Centerline is valid? [True, True] Translation: X:323.62, Y:4.36, Z:3.82 [[ 9.98855181e-01 -4.51086239e-02 -1.59229113e-02 3.23617179e+02] [ 4.51097814e-02 9.98981995e-01 -2.86640010e-04 4.36337592e+00] [ 1.59196316e-02 -4.31967190e-04 9.99873181e-01 3.81605334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.825099893 meters 0.015325866943772635 Centerline is valid? [True, True] Translation: X:323.65, Y:4.37, Z:3.82 [[ 9.99031749e-01 -4.09421423e-02 -1.61029683e-02 3.23648437e+02] [ 4.09427981e-02 9.99161450e-01 -2.89082646e-04 4.36728132e+00] [ 1.61013008e-02 -3.70497839e-04 9.99870297e-01 3.81676107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.855099893 meters 0.013632463565532856 Centerline is valid? [True, True] Translation: X:323.68, Y:4.37, Z:3.82 [[ 9.99290300e-01 -3.37185197e-02 -1.67915966e-02 3.23679576e+02] [ 3.37182235e-02 9.99431334e-01 -3.00829470e-04 4.37277244e+00] [ 1.67921913e-02 -2.65566835e-04 9.99858966e-01 3.81660206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.885099893 meters 0.013063968202205121 Centerline is valid? [True, True] Translation: X:323.71, Y:4.38, Z:3.82 [[ 9.99380739e-01 -3.06139275e-02 -1.73472326e-02 3.23711312e+02] [ 3.06131578e-02 9.99531259e-01 -3.09978070e-04 4.37502712e+00] [ 1.73485908e-02 -2.21267456e-04 9.99849477e-01 3.81667912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.915099893 meters 0.012632511111321541 Centerline is valid? [True, True] Translation: X:323.74, Y:4.38, Z:3.82 [[ 9.99447223e-01 -2.79728367e-02 -1.79657886e-02 3.23742233e+02] [ 2.79716044e-02 9.99608667e-01 -3.19926823e-04 4.37681348e+00] [ 1.79677072e-02 -1.82781956e-04 9.99838551e-01 3.81658237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.945099893 meters 0.012236890712932762 Centerline is valid? [True, True] Translation: X:323.77, Y:4.38, Z:3.82 [[ 9.99543827e-01 -2.31423739e-02 -1.94053465e-02 3.23772513e+02] [ 2.31400374e-02 9.99732174e-01 -3.44966573e-04 4.37928309e+00] [ 1.94081326e-02 -1.04231235e-04 9.99811639e-01 3.81614552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.975099893 meters 0.012037563913830571 Centerline is valid? [True, True] Translation: X:323.80, Y:4.38, Z:3.82 [[ 9.99592115e-01 -2.04304201e-02 -1.99549829e-02 3.23801795e+02] [ 2.04274080e-02 9.99791276e-01 -3.54787305e-04 4.38133724e+00] [ 1.99580662e-02 -5.29859850e-05 9.99800817e-01 3.81698859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.005099893 meters 0.012074559048809897 Centerline is valid? [True, True] Translation: X:323.83, Y:4.38, Z:3.82 [[ 9.99626412e-01 -1.82704677e-02 -2.03279951e-02 3.23830289e+02] [ 1.82668454e-02 9.99833081e-01 -3.63879288e-04 4.38304914e+00] [ 2.03312502e-02 -7.58499671e-06 9.99793299e-01 3.81739374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.035099893 meters 0.012152076090514847 Centerline is valid? [True, True] Translation: X:323.86, Y:4.39, Z:3.82 [[ 9.99686211e-01 -1.30403225e-02 -2.13875960e-02 3.23859020e+02] [ 1.30349970e-02 9.99914965e-01 -3.88397805e-04 4.38571265e+00] [ 2.13908421e-02 1.09488681e-04 9.99771184e-01 3.81773429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.065099893 meters 0.012655241863608727 Centerline is valid? [True, True] Translation: X:323.89, Y:4.39, Z:3.82 [[ 9.99699280e-01 -1.07912656e-02 -2.20204189e-02 3.23887227e+02] [ 1.07849747e-02 9.99941759e-01 -4.04428751e-04 4.38760742e+00] [ 2.20235007e-02 1.66817470e-04 9.99757439e-01 3.81704345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.095099893 meters 0.012593231892276265 Centerline is valid? [True, True] Translation: X:323.92, Y:4.39, Z:3.82 [[ 9.99724524e-01 -8.50677292e-03 -2.18748810e-02 3.23916182e+02] [ 8.49992852e-03 9.99963793e-01 -4.05849894e-04 4.38742056e+00] [ 2.18775414e-02 2.19803168e-04 9.99760634e-01 3.81843164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.125099893 meters 0.013024073549789756 Centerline is valid? [True, True] Translation: X:323.94, Y:4.39, Z:3.82 [[ 9.99763082e-01 -4.98152840e-03 -2.11887705e-02 3.23943904e+02] [ 4.97423445e-03 9.99987550e-01 -3.96927892e-04 4.38740705e+00] [ 2.11904840e-02 2.91435940e-04 9.99775414e-01 3.81900956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.155099893 meters 0.013205112683899114 Centerline is valid? [True, True] Translation: X:323.97, Y:4.39, Z:3.82 [[ 9.99784176e-01 -3.82106996e-03 -2.04205839e-02 3.23972100e+02] [ 3.81401721e-03 9.99992653e-01 -3.84309680e-04 4.38757495e+00] [ 2.04219023e-02 3.06342278e-04 9.99791404e-01 3.81983419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18509989300003 meters 0.013457547623019261 Centerline is valid? [True, True] Translation: X:324.00, Y:4.39, Z:3.82 [[ 9.99797727e-01 -3.14043346e-03 -1.98656109e-02 3.24000357e+02] [ 3.13356703e-03 9.99995019e-01 -3.76762750e-04 4.38725277e+00] [ 1.98666952e-02 3.14436317e-04 9.99802588e-01 3.82070518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.215099893 meters 0.013713519667679917 Centerline is valid? [True, True] Translation: X:324.03, Y:4.39, Z:3.82 [[ 9.99816890e-01 -2.88236627e-03 -1.89176770e-02 3.24027544e+02] [ 2.87602378e-03 9.99995799e-01 -3.62465816e-04 4.38545996e+00] [ 1.89186423e-02 3.07991756e-04 9.99820979e-01 3.82165300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24509989300003 meters 0.012870319195201648 Centerline is valid? [True, True] Translation: X:324.06, Y:4.38, Z:3.82 [[ 9.99803965e-01 -3.69840813e-03 -1.94513289e-02 3.24055984e+02] [ 3.69181707e-03 9.99993115e-01 -3.74746816e-04 4.38208788e+00] [ 1.94525810e-02 3.02862604e-04 9.99810735e-01 3.82259242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.275099893 meters 0.012504430714121936 Centerline is valid? [True, True] Translation: X:324.09, Y:4.38, Z:3.82 [[ 9.99783466e-01 -5.47175216e-03 -2.00768842e-02 3.24085371e+02] [ 5.46506070e-03 9.99984991e-01 -3.88143292e-04 4.37947105e+00] [ 2.00787067e-02 2.78337855e-04 9.99798364e-01 3.82231448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30509989300003 meters 0.012266640707924936 Centerline is valid? [True, True] Translation: X:324.11, Y:4.38, Z:3.82 [[ 9.99744616e-01 -7.96152837e-03 -2.11498496e-02 3.24114435e+02] [ 7.95463087e-03 9.99968277e-01 -4.10235876e-04 4.37634779e+00] [ 2.11524448e-02 2.41891862e-04 9.99776233e-01 3.82193906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.335099893 meters 0.011629139863469471 Centerline is valid? [True, True] Translation: X:324.14, Y:4.37, Z:3.82 [[ 9.99655399e-01 -1.46406310e-02 -2.17884076e-02 3.24143262e+02] [ 1.46348617e-02 9.99892815e-01 -4.24226795e-04 4.36752602e+00] [ 2.17922831e-02 1.05210275e-04 9.99762514e-01 3.82070540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36509989300004 meters 0.011646169807518956 Centerline is valid? [True, True] Translation: X:324.17, Y:4.36, Z:3.82 [[ 9.99579476e-01 -1.88571970e-02 -2.20290217e-02 3.24171375e+02] [ 1.88522843e-02 9.99822187e-01 -4.30682348e-04 4.36286172e+00] [ 2.20332261e-02 1.52038562e-05 9.99757239e-01 3.81892969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.395099893 meters 0.011491726766642259 Centerline is valid? [True, True] Translation: X:324.20, Y:4.36, Z:3.82 [[ 9.99469651e-01 -2.34777239e-02 -2.25657587e-02 3.24199786e+02] [ 2.34736624e-02 9.99724357e-01 -4.44886839e-04 4.35771280e+00] [ 2.25699836e-02 -8.50501086e-05 9.99745262e-01 3.82037596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42509989300004 meters 0.01231188126010983 Centerline is valid? [True, True] Translation: X:324.23, Y:4.35, Z:3.82 [[ 9.99203470e-01 -3.25120048e-02 -2.31386110e-02 3.24228144e+02] [ 3.25100638e-02 9.99471302e-01 -4.60148822e-04 4.34701323e+00] [ 2.31413381e-02 -2.92455422e-04 9.99732161e-01 3.81969752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.455099893 meters 0.013224443719350816 Centerline is valid? [True, True] Translation: X:324.26, Y:4.34, Z:3.82 [[ 9.99055949e-01 -3.66218547e-02 -2.33677067e-02 3.24256878e+02] [ 3.66209599e-02 9.99329119e-01 -4.66365292e-04 4.34188304e+00] [ 2.33691089e-02 -3.89822831e-04 9.99726829e-01 3.81930712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.485099893 meters 0.013811611105602624 Centerline is valid? [True, True] Translation: X:324.29, Y:4.34, Z:3.82 [[ 9.98922830e-01 -4.01198791e-02 -2.33146824e-02 3.24286471e+02] [ 4.01199114e-02 9.99194763e-01 -4.66558135e-04 4.33801303e+00] [ 2.33146269e-02 -4.69327421e-04 9.99728067e-01 3.81937369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.515099893 meters 0.015462919266352555 Centerline is valid? [True, True] Translation: X:324.32, Y:4.33, Z:3.82 [[ 9.98674203e-01 -4.55499597e-02 -2.39799318e-02 3.24316268e+02] [ 4.55515422e-02 9.98961874e-01 -4.80527040e-04 4.33029200e+00] [ 2.39769256e-02 -6.12432915e-04 9.99712325e-01 3.81867551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.545099893 meters 0.016102695202609225 Centerline is valid? [True, True] Translation: X:324.35, Y:4.33, Z:3.82 [[ 9.98585255e-01 -4.75330504e-02 -2.38348113e-02 3.24347091e+02] [ 4.75351778e-02 9.98869450e-01 -4.77634254e-04 4.32778749e+00] [ 2.38305683e-02 -6.56033471e-04 9.99715796e-01 3.81901153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.575099893 meters 0.01713041431949581 Centerline is valid? [True, True] Translation: X:324.38, Y:4.32, Z:3.82 [[ 9.98399850e-01 -5.13177079e-02 -2.37535602e-02 3.24378334e+02] [ 5.13209053e-02 9.98682101e-01 -4.75387945e-04 4.32326276e+00] [ 2.37466512e-02 -7.44426961e-04 9.99717731e-01 3.81943916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.605099893 meters 0.01713041431949581 Centerline is valid? [True, True] Translation: X:324.41, Y:4.32, Z:3.82 [[ 9.98401664e-01 -5.12824073e-02 -2.37535770e-02 3.24409188e+02] [ 5.12856147e-02 9.98683914e-01 -4.74549319e-04 4.32384995e+00] [ 2.37466513e-02 -7.44425966e-04 9.99717731e-01 3.81982068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.635099893 meters 0.017515333774212844 Centerline is valid? [True, True] Translation: X:324.44, Y:4.32, Z:3.82 [[ 9.98207828e-01 -5.51352487e-02 -2.32645041e-02 3.24440226e+02] [ 5.51393847e-02 9.98478559e-01 -4.64153606e-04 4.32057808e+00] [ 2.32546998e-02 -8.19468680e-04 9.99729237e-01 3.82095684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.665099893 meters 0.0206059024545707 Centerline is valid? [True, True] Translation: X:324.47, Y:4.32, Z:3.82 [[ 9.98090480e-01 -5.73707035e-02 -2.28909760e-02 3.24471268e+02] [ 5.73753127e-02 9.98352576e-01 -4.55913434e-04 4.31513343e+00] [ 2.28794209e-02 -8.58334045e-04 9.99737863e-01 3.82047567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.695099893 meters 0.02036405362361869 Centerline is valid? [True, True] Translation: X:324.50, Y:4.31, Z:3.82 [[ 9.97970685e-01 -5.96219275e-02 -2.23547963e-02 3.24503696e+02] [ 5.96269172e-02 9.98220634e-01 -4.43878370e-04 4.31467496e+00] [ 2.23414839e-02 -8.89969991e-04 9.99750002e-01 3.82144519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.725099893 meters 0.02273090968106709 Centerline is valid? [True, True] Translation: X:324.53, Y:4.31, Z:3.82 [[ 9.97696177e-01 -6.45517076e-02 -2.08666023e-02 3.24534538e+02] [ 6.45571507e-02 9.97913926e-01 -4.13366391e-04 4.30972279e+00] [ 2.08497565e-02 -9.34674320e-04 9.99782183e-01 3.82208137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.755099893 meters 0.02323210804943985 Centerline is valid? [True, True] Translation: X:324.57, Y:4.31, Z:3.82 [[ 9.97542275e-01 -6.68527153e-02 -2.09791113e-02 3.24567019e+02] [ 6.68587422e-02 9.97762365e-01 -4.14769345e-04 4.30873524e+00] [ 2.09598962e-02 -9.88887037e-04 9.99779828e-01 3.82260021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.785099893 meters 0.026156667122403148 Centerline is valid? [True, True] Translation: X:324.60, Y:4.30, Z:3.82 [[ 9.97243252e-01 -7.10538245e-02 -2.13834354e-02 3.24597451e+02] [ 7.10610749e-02 9.97471877e-01 -4.21557803e-04 4.30369037e+00] [ 2.13593288e-02 -1.09913423e-03 9.99771259e-01 3.82185274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.815099893 meters 0.025181652418490092 Centerline is valid? [True, True] Translation: X:324.63, Y:4.30, Z:3.82 [[ 9.97127249e-01 -7.24952492e-02 -2.19474067e-02 3.24629211e+02] [ 7.25032657e-02 9.97368082e-01 -4.31293362e-04 4.30494389e+00] [ 2.19209096e-02 -1.16120429e-03 9.99759034e-01 3.82185629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.845099893 meters 0.025158248332835052 Centerline is valid? [True, True] Translation: X:324.66, Y:4.31, Z:3.82 [[ 9.96994949e-01 -7.40262265e-02 -2.28295682e-02 3.24661101e+02] [ 7.40353425e-02 9.97255518e-01 -4.46803163e-04 4.30526339e+00] [ 2.27999881e-02 -1.24473441e-03 9.99739272e-01 3.82174981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.875099893 meters 0.02774606541473109 Centerline is valid? [True, True] Translation: X:324.69, Y:4.30, Z:3.82 [[ 9.96923403e-01 -7.48138101e-02 -2.33799740e-02 3.24692748e+02] [ 7.48236168e-02 9.97196680e-01 -4.56301300e-04 4.30181336e+00] [ 2.33485701e-02 -1.29447677e-03 9.99726547e-01 3.82074176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.905099893 meters 0.027488377995508278 Centerline is valid? [True, True] Translation: X:324.72, Y:4.30, Z:3.82 [[ 9.96865135e-01 -7.55572457e-02 -2.34735073e-02 3.24724456e+02] [ 7.55673781e-02 9.97140593e-01 -4.56353456e-04 4.30263991e+00] [ 2.34408678e-02 -1.31890855e-03 9.99724355e-01 3.82108662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93509989300003 meters 0.025929341371841722 Centerline is valid? [True, True] Translation: X:324.76, Y:4.31, Z:3.82 [[ 9.96891032e-01 -7.53207213e-02 -2.31313672e-02 3.24756274e+02] [ 7.53305429e-02 9.97158517e-01 -4.47711834e-04 4.30570244e+00] [ 2.30993618e-02 -1.29617854e-03 9.99732334e-01 3.82197888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.965099893 meters 0.02544735240798097 Centerline is valid? [True, True] Translation: X:324.79, Y:4.31, Z:3.82 [[ 9.96952974e-01 -7.45367449e-02 -2.30009176e-02 3.24788538e+02] [ 7.45462859e-02 9.97217456e-01 -4.43536307e-04 4.30725798e+00] [ 2.29699763e-02 -1.27244814e-03 9.99735346e-01 3.82267791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99509989300003 meters 0.02341581554005619 Centerline is valid? [True, True] Translation: X:324.82, Y:4.31, Z:3.82 [[ 9.97189325e-01 -7.14477043e-02 -2.25538610e-02 3.24819395e+02] [ 7.14561138e-02 9.97443650e-01 -4.33856830e-04 4.31243483e+00] [ 2.25272035e-02 -1.17897386e-03 9.99745535e-01 3.82340131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.025099893 meters 0.022994917032438566 Centerline is valid? [True, True] Translation: X:324.85, Y:4.31, Z:3.82 [[ 9.97373254e-01 -6.88316244e-02 -2.25566032e-02 3.24850237e+02] [ 6.88393820e-02 9.97627662e-01 -4.33314653e-04 4.31485429e+00] [ 2.25329170e-02 -1.12060618e-03 9.99745474e-01 3.82353237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05509989300003 meters 0.025415356475214933 Centerline is valid? [True, True] Translation: X:324.88, Y:4.31, Z:3.82 [[ 9.97587338e-01 -6.57425966e-02 -2.23027916e-02 3.24880813e+02] [ 6.57494281e-02 9.97836074e-01 -4.27637660e-04 4.31348072e+00] [ 2.22826440e-02 -1.03978988e-03 9.99751170e-01 3.82290414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.085099893 meters 0.025415356475214933 Centerline is valid? [True, True] Translation: X:324.91, Y:4.31, Z:3.82 [[ 9.97591815e-01 -6.56746231e-02 -2.23028131e-02 3.24912531e+02] [ 6.56814626e-02 9.97840550e-01 -4.26516211e-04 4.31402492e+00] [ 2.22826625e-02 -1.03939230e-03 9.99751170e-01 3.82329633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11509989300004 meters 0.019862397870009228 Centerline is valid? [True, True] Translation: X:324.94, Y:4.33, Z:3.83 [[ 9.98108563e-01 -5.77941515e-02 -2.09555049e-02 3.24943082e+02] [ 5.77984715e-02 9.98328191e-01 -3.99965492e-04 4.32649244e+00] [ 2.09435870e-02 -8.11987170e-04 9.99780329e-01 3.82527168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.145099893 meters 0.016457550619516058 Centerline is valid? [True, True] Translation: X:324.97, Y:4.34, Z:3.83 [[ 9.98635527e-01 -4.81732638e-02 -2.01598955e-02 3.24973114e+02] [ 4.81753026e-02 9.98838822e-01 -3.84792783e-04 4.33693701e+00] [ 2.01550230e-02 -5.86941320e-04 9.99796695e-01 3.82693626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17509989300004 meters 0.01566334147611479 Centerline is valid? [True, True] Translation: X:325.00, Y:4.34, Z:3.83 [[ 9.98873915e-01 -4.31858523e-02 -1.96439153e-02 3.25003877e+02] [ 4.31868291e-02 9.99066943e-01 -3.74690106e-04 4.34132211e+00] [ 1.96417677e-02 -4.74090238e-04 9.99806969e-01 3.82758773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.205099893 meters 0.013794908896684872 Centerline is valid? [True, True] Translation: X:325.03, Y:4.35, Z:3.83 [[ 9.99091489e-01 -3.81932270e-02 -1.89070081e-02 3.25034977e+02] [ 3.81932506e-02 9.99270307e-01 -3.59974499e-04 4.34768665e+00] [ 1.89069604e-02 -3.62472643e-04 9.99821182e-01 3.82866644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.235099893 meters 0.012291115395116103 Centerline is valid? [True, True] Translation: X:325.07, Y:4.36, Z:3.83 [[ 9.99418334e-01 -2.92130427e-02 -1.75952428e-02 3.25065576e+02] [ 2.92116803e-02 9.99573192e-01 -3.34490492e-04 4.35627538e+00] [ 1.75975045e-02 -1.79690679e-04 9.99845136e-01 3.82956163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.265099893 meters 0.011973426499869577 Centerline is valid? [True, True] Translation: X:325.10, Y:4.36, Z:3.83 [[ 9.99536255e-01 -2.53882044e-02 -1.68141207e-02 3.25095844e+02] [ 2.53864228e-02 9.99677662e-01 -3.19428163e-04 4.36004171e+00] [ 1.68168105e-02 -1.07570346e-04 9.99858582e-01 3.83023893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.295099893 meters 0.011754680545175642 Centerline is valid? [True, True] Translation: X:325.13, Y:4.37, Z:3.83 [[ 9.99684001e-01 -1.90337314e-02 -1.64199347e-02 3.25125559e+02] [ 1.90311739e-02 9.99818842e-01 -3.12011506e-04 4.36618139e+00] [ 1.64228988e-02 -5.77721226e-07 9.99865135e-01 3.83103679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.325099893 meters 0.011871391525427736 Centerline is valid? [True, True] Translation: X:325.15, Y:4.37, Z:3.83 [[ 9.99716831e-01 -1.68679303e-02 -1.67848192e-02 3.25154082e+02] [ 1.68649306e-02 9.99857726e-01 -3.20257577e-04 4.36876933e+00] [ 1.67878332e-02 3.70920802e-05 9.99859074e-01 3.83092524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.355099893 meters 0.011871391525427736 Centerline is valid? [True, True] Translation: X:325.18, Y:4.37, Z:3.83 [[ 9.99712049e-01 -1.71491046e-02 -1.67847365e-02 3.25181469e+02] [ 1.71460725e-02 9.99852943e-01 -3.24543395e-04 4.36936239e+00] [ 1.67878338e-02 3.66576334e-05 9.99859074e-01 3.83126497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.385099893 meters 0.012048941222956184 Centerline is valid? [True, True] Translation: X:325.21, Y:4.37, Z:3.83 [[ 9.99727120e-01 -1.56243674e-02 -1.73656380e-02 3.25210249e+02] [ 1.56208080e-02 9.99877930e-01 -3.40600551e-04 4.37137890e+00] [ 1.73688398e-02 6.92423125e-05 9.99849148e-01 3.83066084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.415099893 meters 0.012128705416447333 Centerline is valid? [True, True] Translation: X:325.24, Y:4.37, Z:3.83 [[ 9.99748314e-01 -1.36682881e-02 -1.77900831e-02 3.25238821e+02] [ 1.36641632e-02 9.99906579e-01 -3.53403748e-04 4.37322590e+00] [ 1.77932516e-02 1.10228202e-04 9.99841681e-01 3.83049027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.445099893 meters 0.012233119585367129 Centerline is valid? [True, True] Translation: X:325.27, Y:4.37, Z:3.83 [[ 9.99754744e-01 -1.35249667e-02 -1.75364534e-02 3.25265310e+02] [ 1.35208711e-02 9.99908527e-01 -3.52095619e-04 4.37396799e+00] [ 1.75396114e-02 1.14901140e-04 9.99846163e-01 3.83029997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.475099893 meters 0.012095914495860451 Centerline is valid? [True, True] Translation: X:325.29, Y:4.37, Z:3.83 [[ 9.99757450e-01 -1.45294346e-02 -1.65510155e-02 3.25293612e+02] [ 1.45258797e-02 9.99894438e-01 -3.34990145e-04 4.37299848e+00] [ 1.65541356e-02 9.44908330e-05 9.99862966e-01 3.83141940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.505099893 meters 0.012152736793383861 Centerline is valid? [True, True] Translation: X:325.32, Y:4.37, Z:3.83 [[ 9.99761928e-01 -1.54422008e-02 -1.54151384e-02 3.25321831e+02] [ 1.54391696e-02 9.99880759e-01 -3.15630265e-04 4.37302607e+00] [ 1.54181743e-02 7.75581853e-05 9.99881130e-01 3.83198327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.535099893 meters 0.012045828860822812 Centerline is valid? [True, True] Translation: X:325.35, Y:4.37, Z:3.83 [[ 9.99740765e-01 -1.70566099e-02 -1.50822986e-02 3.25349370e+02] [ 1.70538638e-02 9.99854524e-01 -3.10676651e-04 4.37247369e+00] [ 1.50854036e-02 5.33846462e-05 9.99886207e-01 3.83292045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.565099893 meters 0.011944344554251342 Centerline is valid? [True, True] Translation: X:325.38, Y:4.37, Z:3.83 [[ 9.99711020e-01 -1.91387673e-02 -1.45459467e-02 3.25377177e+02] [ 1.91363800e-02 9.99816837e-01 -3.03297624e-04 4.37149840e+00] [ 1.45490872e-02 2.48532126e-05 9.99894156e-01 3.83322228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.595099893 meters 0.012010943472531073 Centerline is valid? [True, True] Translation: X:325.41, Y:4.37, Z:3.83 [[ 9.99594798e-01 -2.44793239e-02 -1.45259197e-02 3.25406618e+02] [ 2.44774822e-02 9.99700335e-01 -3.04586484e-04 4.36707993e+00] [ 1.45290228e-02 -5.10948764e-05 9.99894447e-01 3.83302970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.625099893 meters 0.0122375890861601 Centerline is valid? [True, True] Translation: X:325.44, Y:4.36, Z:3.83 [[ 9.99510961e-01 -2.76356525e-02 -1.46324970e-02 3.25437129e+02] [ 2.76341154e-02 9.99618058e-01 -3.07261945e-04 4.36458521e+00] [ 1.46353996e-02 -9.72444288e-05 9.99892892e-01 3.83315542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.655099893 meters 0.013623235623708756 Centerline is valid? [True, True] Translation: X:325.47, Y:4.36, Z:3.83 [[ 9.99292755e-01 -3.49404537e-02 -1.38979798e-02 3.25468158e+02] [ 3.49397759e-02 9.99389377e-01 -2.91647689e-04 4.35636249e+00] [ 1.38996837e-02 -1.94150879e-04 9.99903376e-01 3.83324676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68509989300003 meters 0.013737563791687358 Centerline is valid? [True, True] Translation: X:325.50, Y:4.35, Z:3.83 [[ 9.99152463e-01 -3.86624888e-02 -1.41268345e-02 3.25500156e+02] [ 3.86621842e-02 9.99252295e-01 -2.94764319e-04 4.35451126e+00] [ 1.41276681e-02 -2.51659782e-04 9.99900168e-01 3.83376998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.715099893 meters 0.014509319686001134 Centerline is valid? [True, True] Translation: X:325.53, Y:4.35, Z:3.83 [[ 9.99002520e-01 -4.23341926e-02 -1.42049940e-02 3.25532760e+02] [ 4.23342701e-02 9.99103459e-01 -2.95368944e-04 4.35130701e+00] [ 1.42047628e-02 -3.06283732e-04 9.99899060e-01 3.83411322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74509989300003 meters 0.016247577200986966 Centerline is valid? [True, True] Translation: X:325.56, Y:4.35, Z:3.83 [[ 9.98843313e-01 -4.59619797e-02 -1.41256003e-02 3.25563801e+02] [ 4.59624328e-02 9.98943126e-01 -2.92736220e-04 4.34635665e+00] [ 1.41241261e-02 -3.56849340e-04 9.99900186e-01 3.83432280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.775099893 meters 0.016922629389577722 Centerline is valid? [True, True] Translation: X:325.59, Y:4.34, Z:3.83 [[ 9.98492985e-01 -5.28852876e-02 -1.46596622e-02 3.25594551e+02] [ 5.28865315e-02 9.98600482e-01 -3.03072240e-04 4.34158417e+00] [ 1.46551738e-02 -4.72683182e-04 9.99892495e-01 3.83489954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80509989300003 meters 0.01781377794818009 Centerline is valid? [True, True] Translation: X:325.63, Y:4.34, Z:3.83 [[ 9.98339440e-01 -5.56300172e-02 -1.49554245e-02 3.25627124e+02] [ 5.56316257e-02 9.98451314e-01 -3.08768558e-04 4.33855357e+00] [ 1.49494400e-02 -5.23738749e-04 9.99888114e-01 3.83489718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.835099893 meters 0.01874472959971334 Centerline is valid? [True, True] Translation: X:325.66, Y:4.34, Z:3.83 [[ 9.98198118e-01 -5.80666794e-02 -1.51253928e-02 3.25659385e+02] [ 5.80686208e-02 9.98312545e-01 -3.11166102e-04 4.33545827e+00] [ 1.51179378e-02 -5.67705283e-04 9.99885556e-01 3.83451266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86509989300004 meters 0.020025204941978493 Centerline is valid? [True, True] Translation: X:325.69, Y:4.33, Z:3.83 [[ 9.97930969e-01 -6.21278102e-02 -1.65503949e-02 3.25690521e+02] [ 6.21307097e-02 9.98067963e-01 -3.39423995e-04 4.33021602e+00] [ 1.65395066e-02 -6.89566063e-04 9.99862975e-01 3.83429610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.895099893 meters 0.021313500029164132 Centerline is valid? [True, True] Translation: X:325.72, Y:4.33, Z:3.83 [[ 9.97841324e-01 -6.35192903e-02 -1.66730733e-02 3.25722174e+02] [ 6.35224345e-02 9.97980352e-01 -3.41481273e-04 4.32740175e+00] [ 1.66610902e-02 -7.18370081e-04 9.99860936e-01 3.83430268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92509989300004 meters 0.021784228536134004 Centerline is valid? [True, True] Translation: X:325.75, Y:4.33, Z:3.83 [[ 9.97748028e-01 -6.49581249e-02 -1.67127115e-02 3.25754504e+02] [ 6.49615020e-02 9.97887713e-01 -3.41310715e-04 4.32602067e+00] [ 1.66995804e-02 -7.45140751e-04 9.99860275e-01 3.83472361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.955099893 meters 0.023707943021108825 Centerline is valid? [True, True] Translation: X:325.79, Y:4.32, Z:3.84 [[ 9.97588859e-01 -6.72446666e-02 -1.71645883e-02 3.25786094e+02] [ 6.72485865e-02 9.97736190e-01 -3.49371220e-04 4.32172342e+00] [ 1.71492243e-02 -8.05765466e-04 9.99852617e-01 3.83574932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.985099893 meters 0.022146813524686004 Centerline is valid? [True, True] Translation: X:325.82, Y:4.32, Z:3.84 [[ 9.97542937e-01 -6.76230366e-02 -1.83088651e-02 3.25818611e+02] [ 6.76275811e-02 9.97710565e-01 -3.71525440e-04 4.32356490e+00] [ 1.82920719e-02 -8.67571684e-04 9.99832310e-01 3.83551004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.015099893 meters 0.021994486996748813 Centerline is valid? [True, True] Translation: X:325.85, Y:4.32, Z:3.84 [[ 9.97482931e-01 -6.81677788e-02 -1.95181017e-02 3.25850409e+02] [ 6.81730765e-02 9.97673432e-01 -3.94588042e-04 4.32359301e+00] [ 1.94995897e-02 -9.37014208e-04 9.99809426e-01 3.83516323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.045099893 meters 0.02293425047180467 Centerline is valid? [True, True] Translation: X:325.88, Y:4.32, Z:3.84 [[ 9.97444735e-01 -6.84761225e-02 -2.03720803e-02 3.25882049e+02] [ 6.84819863e-02 9.97652269e-01 -4.10478535e-04 4.32252041e+00] [ 2.03523601e-02 -9.85690871e-04 9.99792383e-01 3.83550489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.075099893 meters 0.022680294361271888 Centerline is valid? [True, True] Translation: X:325.91, Y:4.32, Z:3.84 [[ 9.97419029e-01 -6.87998865e-02 -2.05391510e-02 3.25913902e+02] [ 6.88059415e-02 9.97629978e-01 -4.12576859e-04 4.32372956e+00] [ 2.05188580e-02 -1.00170361e-03 9.99788964e-01 3.83599387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.105099893 meters 0.02293709441774939 Centerline is valid? [True, True] Translation: X:325.95, Y:4.32, Z:3.84 [[ 9.97393833e-01 -6.89514207e-02 -2.12424838e-02 3.25945686e+02] [ 6.89579651e-02 9.97619476e-01 -4.25140005e-04 4.32418364e+00] [ 2.12212296e-02 -1.04080644e-03 9.99774263e-01 3.83637638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.135099893 meters 0.023978244453273807 Centerline is valid? [True, True] Translation: X:325.98, Y:4.32, Z:3.84 [[ 9.97358845e-01 -6.91262553e-02 -2.22911512e-02 3.25977297e+02] [ 6.91335384e-02 9.97607316e-01 -4.44660450e-04 4.32346408e+00] [ 2.22685532e-02 -1.09758012e-03 9.99751423e-01 3.83583168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.165099893 meters 0.025372623420416893 Centerline is valid? [True, True] Translation: X:326.01, Y:4.32, Z:3.83 [[ 9.97224614e-01 -7.04420520e-02 -2.41036553e-02 3.26008253e+02] [ 7.04509956e-02 9.97515127e-01 -4.78993930e-04 4.32237527e+00] [ 2.40775020e-02 -1.22046197e-03 9.99709350e-01 3.83473087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.195099893 meters 0.023490687325481516 Centerline is valid? [True, True] Translation: X:326.04, Y:4.33, Z:3.84 [[ 9.97163506e-01 -7.10869078e-02 -2.47304160e-02 3.26040501e+02] [ 7.10965722e-02 9.97469317e-01 -4.89360334e-04 4.32585327e+00] [ 2.47026182e-02 -1.27027554e-03 9.99694037e-01 3.83598858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.225099893 meters 0.023628339587725773 Centerline is valid? [True, True] Translation: X:326.07, Y:4.33, Z:3.84 [[ 9.97107105e-01 -7.18340991e-02 -2.48451952e-02 3.26072512e+02] [ 7.18441297e-02 9.97415751e-01 -4.89827308e-04 4.32690365e+00] [ 2.48161753e-02 -1.29657113e-03 9.99691190e-01 3.83682019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.255099893 meters 0.023699482485031606 Centerline is valid? [True, True] Translation: X:326.10, Y:4.33, Z:3.84 [[ 9.97067390e-01 -7.27729443e-02 -2.36794779e-02 3.26104749e+02] [ 7.27823588e-02 9.97347739e-01 -4.65164424e-04 4.32908749e+00] [ 2.36505251e-02 -1.25964798e-03 9.99719494e-01 3.83901456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.285099893 meters 0.024067741698227615 Centerline is valid? [True, True] Translation: X:326.14, Y:4.33, Z:3.84 [[ 9.97069072e-01 -7.29648366e-02 -2.30086624e-02 3.26137083e+02] [ 7.29738139e-02 9.97333755e-01 -4.50336443e-04 4.33029451e+00] [ 2.29801744e-02 -1.23001331e-03 9.99735164e-01 3.84065234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.315099893 meters 0.024471792562112352 Centerline is valid? [True, True] Translation: X:326.17, Y:4.33, Z:3.84 [[ 9.97153136e-01 -7.19989270e-02 -2.24004028e-02 3.26168717e+02] [ 7.20072284e-02 9.97404015e-01 -4.36833766e-04 4.33288691e+00] [ 2.23737033e-02 -1.17740076e-03 9.99748984e-01 3.84225918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.345099893 meters 0.025591163378382513 Centerline is valid? [True, True] Translation: X:326.20, Y:4.33, Z:3.84 [[ 9.97256227e-01 -7.07255006e-02 -2.18614252e-02 3.26200352e+02] [ 7.07331357e-02 9.97495184e-01 -4.24775891e-04 4.33305358e+00] [ 2.18367088e-02 -1.12271675e-03 9.99760920e-01 3.84269065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.375099893 meters 0.021937283505872648 Centerline is valid? [True, True] Translation: X:326.23, Y:4.34, Z:3.84 [[ 9.97379159e-01 -6.91270939e-02 -2.13602207e-02 3.26232855e+02] [ 6.91340532e-02 9.97607293e-01 -4.13348011e-04 4.33986248e+00] [ 2.13376855e-02 -1.06445394e-03 9.99771759e-01 3.84468574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.405099893 meters 0.023725268514547152 Centerline is valid? [True, True] Translation: X:326.26, Y:4.34, Z:3.84 [[ 9.97526335e-01 -6.72467382e-02 -2.04715990e-02 3.26263428e+02] [ 6.72527606e-02 9.97735892e-01 -3.94916586e-04 4.33909118e+00] [ 2.04518060e-02 -9.82831853e-04 9.99790357e-01 3.84494246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43509989300003 meters 0.021999704912744944 Centerline is valid? [True, True] Translation: X:326.29, Y:4.34, Z:3.85 [[ 9.97683173e-01 -6.52083643e-02 -1.93947390e-02 3.26294403e+02] [ 6.52133942e-02 9.97871271e-01 -3.73677008e-04 4.34365421e+00] [ 1.93778197e-02 -8.91985497e-04 9.99811835e-01 3.84660115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.465099893 meters 0.019283277359508626 Centerline is valid? [True, True] Translation: X:326.32, Y:4.35, Z:3.85 [[ 9.97986244e-01 -6.04112973e-02 -1.93373154e-02 3.26324646e+02] [ 6.04154070e-02 9.98173252e-01 -3.72126684e-04 4.35122158e+00] [ 1.93244716e-02 -7.96894467e-04 9.99812947e-01 3.84790330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49509989300003 meters 0.019903004675891147 Centerline is valid? [True, True] Translation: X:326.36, Y:4.35, Z:3.85 [[ 9.98158886e-01 -5.75550764e-02 -1.91376731e-02 3.26355057e+02] [ 5.75585911e-02 9.98342062e-01 -3.67568016e-04 4.35212013e+00] [ 1.91270994e-02 -7.34646219e-04 9.99816790e-01 3.84793846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.525099893 meters 0.01835739566631601 Centerline is valid? [True, True] Translation: X:326.39, Y:4.36, Z:3.85 [[ 9.98298399e-01 -5.49051890e-02 -1.96399167e-02 3.26386240e+02] [ 5.49084101e-02 9.98491325e-01 -3.75609765e-04 4.35645189e+00] [ 1.96309093e-02 -7.03425972e-04 9.99807048e-01 3.84845980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55509989300003 meters 0.016953284620680766 Centerline is valid? [True, True] Translation: X:326.42, Y:4.36, Z:3.85 [[ 9.98562637e-01 -4.99173681e-02 -1.95170622e-02 3.26417380e+02] [ 4.99196084e-02 9.98753170e-01 -3.72690444e-04 4.36182684e+00] [ 1.95113314e-02 -6.02129349e-04 9.99809455e-01 3.84861721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.585099893 meters 0.0154718711300778 Centerline is valid? [True, True] Translation: X:326.45, Y:4.37, Z:3.85 [[ 9.98679844e-01 -4.74117369e-02 -1.97660586e-02 3.26449128e+02] [ 4.74135568e-02 9.98875274e-01 -3.76816243e-04 4.36605095e+00] [ 1.97616927e-02 -5.60860356e-04 9.99804561e-01 3.84916662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61509989300004 meters 0.01501880536849671 Centerline is valid? [True, True] Translation: X:326.48, Y:4.37, Z:3.85 [[ 9.98887333e-01 -4.28886379e-02 -1.96127827e-02 3.26479187e+02] [ 4.28895741e-02 9.99079749e-01 -3.73087614e-04 4.36946550e+00] [ 1.96107352e-02 -4.68511404e-04 9.99807581e-01 3.84923896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.645099893 meters 0.014398002807250777 Centerline is valid? [True, True] Translation: X:326.51, Y:4.37, Z:3.85 [[ 9.98990637e-01 -4.04284029e-02 -1.95768103e-02 3.26510829e+02] [ 4.04288730e-02 9.99182350e-01 -3.71920407e-04 4.37231062e+00] [ 1.95758395e-02 -4.19923374e-04 9.99808287e-01 3.84962303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67509989300004 meters 0.013816979382937801 Centerline is valid? [True, True] Translation: X:326.54, Y:4.38, Z:3.85 [[ 9.99082581e-01 -3.83185439e-02 -1.91229281e-02 3.26541980e+02] [ 3.83186190e-02 9.99265506e-01 -3.62624963e-04 4.37532028e+00] [ 1.91227777e-02 -3.70471911e-04 9.99817074e-01 3.85040062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.705099893 meters 0.013846296066388914 Centerline is valid? [True, True] Translation: X:326.57, Y:4.38, Z:3.85 [[ 9.99175691e-01 -3.62192232e-02 -1.83332052e-02 3.26571942e+02] [ 3.62189487e-02 9.99343818e-01 -3.47117055e-04 4.37652137e+00] [ 1.83337476e-02 -3.17178493e-04 9.99831872e-01 3.85050589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.735099893 meters 0.013265998677077666 Centerline is valid? [True, True] Translation: X:326.60, Y:4.38, Z:3.85 [[ 9.99321706e-01 -3.25295038e-02 -1.72615102e-02 3.26602611e+02] [ 3.25287165e-02 9.99470748e-01 -3.26449929e-04 4.38019128e+00] [ 1.72629938e-02 -2.35266273e-04 9.99850956e-01 3.85114678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.765099893 meters 0.012621030187453506 Centerline is valid? [True, True] Translation: X:326.63, Y:4.38, Z:3.85 [[ 9.99383311e-01 -3.09131347e-02 -1.66545985e-02 3.26634023e+02] [ 3.09121868e-02 9.99522055e-01 -3.14405794e-04 4.38342679e+00] [ 1.66563578e-02 -2.00618159e-04 9.99861253e-01 3.85223932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.795099893 meters 0.012524800887584054 Centerline is valid? [True, True] Translation: X:326.66, Y:4.38, Z:3.85 [[ 9.99446796e-01 -2.93190553e-02 -1.57001820e-02 3.26664817e+02] [ 2.93180248e-02 9.99570091e-01 -2.95845413e-04 4.38464738e+00] [ 1.57021062e-02 -1.64616574e-04 9.99876701e-01 3.85226563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.825099893 meters 0.012727991552647441 Centerline is valid? [True, True] Translation: X:326.70, Y:4.38, Z:3.85 [[ 9.99455511e-01 -2.94880263e-02 -1.48032742e-02 3.26695115e+02] [ 2.94871370e-02 9.99565121e-01 -2.78379094e-04 4.38444229e+00] [ 1.48050454e-02 -1.58278655e-04 9.99890387e-01 3.85223675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.855099893 meters 0.01276284878599824 Centerline is valid? [True, True] Translation: X:326.73, Y:4.38, Z:3.85 [[ 9.99436577e-01 -3.02707537e-02 -1.44986171e-02 3.26727308e+02] [ 3.02699957e-02 9.99541722e-01 -2.71771818e-04 4.38456825e+00] [ 1.45001994e-02 -1.67254382e-04 9.99894853e-01 3.85244992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.885099893 meters 0.01357261999245013 Centerline is valid? [True, True] Translation: X:326.76, Y:4.38, Z:3.85 [[ 9.99327946e-01 -3.39857832e-02 -1.37340381e-02 3.26759459e+02] [ 3.39854665e-02 9.99422294e-01 -2.56511467e-04 4.38176180e+00] [ 1.37348216e-02 -2.10418614e-04 9.99905651e-01 3.85157849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.915099893 meters 0.014452899846058041 Centerline is valid? [True, True] Translation: X:326.79, Y:4.38, Z:3.85 [[ 9.99124288e-01 -3.96598868e-02 -1.33323083e-02 3.26791913e+02] [ 3.96601055e-02 9.99213198e-01 -2.48089425e-04 4.37867674e+00] [ 1.33316576e-02 -2.80888584e-04 9.99911090e-01 3.85098652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.945099893 meters 0.015576627590104508 Centerline is valid? [True, True] Translation: X:326.82, Y:4.38, Z:3.85 [[ 9.98981113e-01 -4.30280320e-02 -1.36133772e-02 3.26823458e+02] [ 4.30285860e-02 9.99073810e-01 -2.52334133e-04 4.37598681e+00] [ 1.36116261e-02 -3.33687340e-04 9.99907302e-01 3.85041214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.975099893 meters 0.015576627590104508 Centerline is valid? [True, True] Translation: X:326.86, Y:4.38, Z:3.85 [[ 9.98984180e-01 -4.29567545e-02 -1.36133913e-02 3.26855152e+02] [ 4.29573122e-02 9.99076877e-01 -2.51574283e-04 4.37651474e+00] [ 1.36116312e-02 -3.33475969e-04 9.99907302e-01 3.85080396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.005099893 meters 0.017609261962230158 Centerline is valid? [True, True] Translation: X:326.89, Y:4.37, Z:3.85 [[ 9.98696415e-01 -4.90514316e-02 -1.41218978e-02 3.26885973e+02] [ 4.90526538e-02 9.98796160e-01 -2.60024954e-04 4.37147816e+00] [ 1.41176519e-02 -4.33030572e-04 9.99900247e-01 3.84920352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.035099893 meters 0.017609261962230158 Centerline is valid? [True, True] Translation: X:326.92, Y:4.37, Z:3.85 [[ 9.98699898e-01 -4.89804695e-02 -1.41219041e-02 3.26917672e+02] [ 4.89816895e-02 9.98799643e-01 -2.59681277e-04 4.37200285e+00] [ 1.41176721e-02 -4.32371056e-04 9.99900247e-01 3.84959553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.065099893 meters 0.017191435000472623 Centerline is valid? [True, True] Translation: X:326.95, Y:4.37, Z:3.85 [[ 9.98565261e-01 -5.16604868e-02 -1.40930065e-02 3.26949635e+02] [ 5.16619825e-02 9.98664595e-01 -2.58145306e-04 4.37220440e+00] [ 1.40875225e-02 -4.70297720e-04 9.99900655e-01 3.84929727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.095099893 meters 0.019333920839490724 Centerline is valid? [True, True] Translation: X:326.98, Y:4.37, Z:3.85 [[ 9.98424306e-01 -5.43264572e-02 -1.40549188e-02 3.26980659e+02] [ 5.43282227e-02 9.98523099e-01 -2.56445001e-04 4.36831267e+00] [ 1.40480928e-02 -5.07537834e-04 9.99901192e-01 3.84927218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.125099893 meters 0.021592574165358407 Centerline is valid? [True, True] Translation: X:327.01, Y:4.36, Z:3.85 [[ 9.98165301e-01 -5.92115194e-02 -1.26502215e-02 3.27011114e+02] [ 5.92133489e-02 9.98245324e-01 -2.30198143e-04 4.36418789e+00] [ 1.26416549e-02 -5.19286183e-04 9.99919956e-01 3.84936470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.155099893 meters 0.022876351144405373 Centerline is valid? [True, True] Translation: X:327.04, Y:4.36, Z:3.85 [[ 9.98058976e-01 -6.10854434e-02 -1.21181567e-02 3.27041843e+02] [ 6.10872626e-02 9.98132405e-01 -2.20315487e-04 4.36233315e+00] [ 1.21089829e-02 -5.20377169e-04 9.99926548e-01 3.84953797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18509989300003 meters 0.02139080104590238 Centerline is valid? [True, True] Translation: X:327.07, Y:4.36, Z:3.85 [[ 9.97967053e-01 -6.25590419e-02 -1.21707263e-02 3.27074045e+02] [ 6.25609914e-02 9.98041118e-01 -2.20847203e-04 4.36442686e+00] [ 1.21607013e-02 -5.41014471e-04 9.99925910e-01 3.84943461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.215099893 meters 0.02237666634797342 Centerline is valid? [True, True] Translation: X:327.11, Y:4.36, Z:3.85 [[ 9.97906956e-01 -6.34860582e-02 -1.22974428e-02 3.27105538e+02] [ 6.34881299e-02 9.97982569e-01 -2.22241247e-04 4.36302397e+00] [ 1.22867427e-02 -5.58965558e-04 9.99924359e-01 3.84892757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24509989300003 meters 0.022837016541813783 Centerline is valid? [True, True] Translation: X:327.14, Y:4.36, Z:3.85 [[ 9.97839464e-01 -6.45602725e-02 -1.21809504e-02 3.27137460e+02] [ 6.45623929e-02 9.97913648e-01 -2.19484587e-04 4.36259875e+00] [ 1.21697067e-02 -5.67420924e-04 9.99925785e-01 3.84814891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.275099893 meters 0.02199525501443134 Centerline is valid? [True, True] Translation: X:327.17, Y:4.36, Z:3.85 [[ 9.97830009e-01 -6.46900965e-02 -1.22664270e-02 3.27169279e+02] [ 6.46922675e-02 9.97905237e-01 -2.20135598e-04 4.36392136e+00] [ 1.22549724e-02 -5.73885074e-04 9.99924740e-01 3.84799356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30509989300003 meters 0.022807449494479225 Centerline is valid? [True, True] Translation: X:327.20, Y:4.36, Z:3.85 [[ 9.97822525e-01 -6.48119034e-02 -1.22321293e-02 3.27200224e+02] [ 6.48140823e-02 9.97897333e-01 -2.18625309e-04 4.36308968e+00] [ 1.22205787e-02 -5.74664977e-04 9.99925161e-01 3.84765018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.335099893 meters 0.0232538253696793 Centerline is valid? [True, True] Translation: X:327.23, Y:4.36, Z:3.85 [[ 9.97803240e-01 -6.50279217e-02 -1.26515910e-02 3.27232644e+02] [ 6.50302790e-02 9.97883266e-01 -2.25404865e-04 4.36293788e+00] [ 1.26394685e-02 -5.97826785e-04 9.99919940e-01 3.84695793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36509989300004 meters 0.02362468768034142 Centerline is valid? [True, True] Translation: X:327.27, Y:4.36, Z:3.85 [[ 9.97798942e-01 -6.49971493e-02 -1.31393056e-02 3.27266101e+02] [ 6.49997025e-02 9.97885256e-01 -2.33087309e-04 4.36250165e+00] [ 1.31266693e-02 -6.21476683e-04 9.99913648e-01 3.84656685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.395099893 meters 0.025571736003237044 Centerline is valid? [True, True] Translation: X:327.30, Y:4.36, Z:3.85 [[ 9.97707514e-01 -6.61727747e-02 -1.41732170e-02 3.27297672e+02] [ 6.61758856e-02 9.97807942e-01 -2.49898405e-04 4.35905618e+00] [ 1.41586849e-02 -6.88599669e-04 9.99899524e-01 3.84539542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42509989300004 meters 0.025836081230409116 Centerline is valid? [True, True] Translation: X:327.33, Y:4.36, Z:3.84 [[ 9.97660267e-01 -6.66044962e-02 -1.54218122e-02 3.27329850e+02] [ 6.66082452e-02 9.97779168e-01 -2.70983384e-04 4.35862090e+00] [ 1.54056116e-02 -7.56870491e-04 9.99881040e-01 3.84486748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.455099893 meters 0.023633753635730337 Centerline is valid? [True, True] Translation: X:327.36, Y:4.36, Z:3.84 [[ 9.97643221e-01 -6.66046206e-02 -1.64872219e-02 3.27361909e+02] [ 6.66089258e-02 9.97779118e-01 -2.88481845e-04 4.36196991e+00] [ 1.64698199e-02 -8.10394180e-04 9.99864035e-01 3.84440774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.485099893 meters 0.02241684893013462 Centerline is valid? [True, True] Translation: X:327.39, Y:4.36, Z:3.84 [[ 9.97709985e-01 -6.57275273e-02 -1.59586618e-02 3.27393727e+02] [ 6.57314670e-02 9.97837310e-01 -2.78103841e-04 4.36418326e+00] [ 1.59424272e-02 -7.71519271e-04 9.99872614e-01 3.84495474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.515099893 meters 0.023481604442169308 Centerline is valid? [True, True] Translation: X:327.42, Y:4.36, Z:3.85 [[ 9.97822936e-01 -6.39796401e-02 -1.59998055e-02 3.27424928e+02] [ 6.39833936e-02 9.97950925e-01 -2.77712702e-04 4.36350437e+00] [ 1.59847887e-02 -7.46613752e-04 9.99871956e-01 3.84517817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.545099893 meters 0.02326750554735524 Centerline is valid? [True, True] Translation: X:327.46, Y:4.36, Z:3.85 [[ 9.97983564e-01 -6.14440722e-02 -1.59195224e-02 3.27455749e+02] [ 6.14474788e-02 9.98110280e-01 -2.75520827e-04 4.36482562e+00] [ 1.59063681e-02 -7.03249256e-04 9.99873238e-01 3.84573898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.575099893 meters 0.020423510863984178 Centerline is valid? [True, True] Translation: X:327.49, Y:4.37, Z:3.85 [[ 9.98435376e-01 -5.40068517e-02 -1.44934479e-02 3.27486109e+02] [ 5.40088984e-02 9.98540423e-01 -2.50439197e-04 4.37126985e+00] [ 1.44858190e-02 -5.32727801e-04 9.99894933e-01 3.84666225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.605099893 meters 0.018866517473770373 Centerline is valid? [True, True] Translation: X:327.52, Y:4.38, Z:3.85 [[ 9.98686720e-01 -4.92220744e-02 -1.42134493e-02 3.27517117e+02] [ 4.92235592e-02 9.98787756e-01 -2.45562179e-04 4.37512337e+00] [ 1.42083062e-02 -4.54396874e-04 9.99898954e-01 3.84715320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.635099893 meters 0.016758742434456717 Centerline is valid? [True, True] Translation: X:327.55, Y:4.38, Z:3.85 [[ 9.98931025e-01 -4.41512171e-02 -1.36922097e-02 3.27548466e+02] [ 4.41521225e-02 9.99024792e-01 -2.36300624e-04 4.38034439e+00] [ 1.36892899e-02 -3.68492094e-04 9.99906229e-01 3.84768809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.665099893 meters 0.015737955133413528 Centerline is valid? [True, True] Translation: X:327.58, Y:4.38, Z:3.85 [[ 9.99146839e-01 -3.89119316e-02 -1.38367864e-02 3.27578938e+02] [ 3.89123606e-02 9.99242599e-01 -2.38320827e-04 4.38446476e+00] [ 1.38355799e-02 -3.00304522e-04 9.99904239e-01 3.84823816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.695099893 meters 0.013680334225860364 Centerline is valid? [True, True] Translation: X:327.61, Y:4.39, Z:3.85 [[ 9.99491746e-01 -2.88381429e-02 -1.35871428e-02 3.27608097e+02] [ 2.88376284e-02 9.99584082e-01 -2.33824542e-04 4.39325005e+00] [ 1.35882347e-02 -1.58115274e-04 9.99907663e-01 3.84923148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.725099893 meters 0.013257872627610063 Centerline is valid? [True, True] Translation: X:327.64, Y:4.40, Z:3.85 [[ 9.99605185e-01 -2.44735952e-02 -1.38027819e-02 3.27638253e+02] [ 2.44726464e-02 9.99700472e-01 -2.37662011e-04 4.39650671e+00] [ 1.38044640e-02 -1.00222422e-04 9.99904709e-01 3.84885336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.755099893 meters 0.012921724721928811 Centerline is valid? [True, True] Translation: X:327.67, Y:4.40, Z:3.85 [[ 9.99687112e-01 -2.05380977e-02 -1.42780851e-02 3.27668348e+02] [ 2.05366928e-02 9.99789070e-01 -2.45025441e-04 4.39977165e+00] [ 1.42801058e-02 -4.82758722e-05 9.99898033e-01 3.84909998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.785099893 meters 0.012783949069199111 Centerline is valid? [True, True] Translation: X:327.70, Y:4.40, Z:3.85 [[ 9.99782614e-01 -1.56382961e-02 -1.37901905e-02 3.27698266e+02] [ 1.56365187e-02 9.99877714e-01 -2.36704260e-04 4.40361622e+00] [ 1.37922058e-02 2.10222316e-05 9.99904883e-01 3.85009608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.815099893 meters 0.0128719961800997 Centerline is valid? [True, True] Translation: X:327.73, Y:4.41, Z:3.85 [[ 9.99799089e-01 -1.44403731e-02 -1.39017107e-02 3.27725997e+02] [ 1.44384429e-02 9.99895732e-01 -2.39206602e-04 4.40511378e+00] [ 1.39037155e-02 3.84394858e-05 9.99903338e-01 3.85059037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.845099893 meters 0.01286332456253729 Centerline is valid? [True, True] Translation: X:327.75, Y:4.41, Z:3.85 [[ 9.99794184e-01 -1.46976041e-02 -1.39846244e-02 3.27754280e+02] [ 1.46956539e-02 9.99891984e-01 -2.42211622e-04 4.40532127e+00] [ 1.39866737e-02 3.66485720e-05 9.99902181e-01 3.85162233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.875099893 meters 0.012760122132049719 Centerline is valid? [True, True] Translation: X:327.78, Y:4.41, Z:3.85 [[ 9.99775703e-01 -1.57785748e-02 -1.41273125e-02 3.27782184e+02] [ 1.57766385e-02 9.99875510e-01 -2.48505983e-04 4.40510843e+00] [ 1.41294749e-02 2.55687417e-05 9.99900174e-01 3.85209412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.905099893 meters 0.012823360432337264 Centerline is valid? [True, True] Translation: X:327.81, Y:4.40, Z:3.85 [[ 9.99740345e-01 -1.74883488e-02 -1.46082558e-02 3.27810867e+02] [ 1.74864278e-02 9.99847067e-01 -2.59232923e-04 4.40442226e+00] [ 1.46105553e-02 3.71940123e-06 9.99893260e-01 3.85266969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93509989300003 meters 0.012945124415352607 Centerline is valid? [True, True] Translation: X:327.84, Y:4.40, Z:3.85 [[ 9.99641545e-01 -2.22215604e-02 -1.49326122e-02 3.27839803e+02] [ 2.22200316e-02 9.99753069e-01 -2.68301934e-04 4.40122577e+00] [ 1.49348870e-02 -6.35973559e-05 9.99888466e-01 3.85270707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.965099893 meters 0.013171279507789178 Centerline is valid? [True, True] Translation: X:327.87, Y:4.40, Z:3.85 [[ 9.99563155e-01 -2.53130412e-02 -1.52560954e-02 3.27869347e+02] [ 2.53117912e-02 9.99679567e-01 -2.75050862e-04 4.39917192e+00] [ 1.52581692e-02 -1.11228394e-04 9.99883581e-01 3.85293417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99509989300003 meters 0.013453356932266073 Centerline is valid? [True, True] Translation: X:327.90, Y:4.40, Z:3.85 [[ 9.99459503e-01 -2.87234118e-02 -1.59895949e-02 3.27899882e+02] [ 2.87224715e-02 9.99587383e-01 -2.88500786e-04 4.39754532e+00] [ 1.59912840e-02 -1.70915830e-04 9.99872117e-01 3.85337357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.025099893 meters 0.014663372122358157 Centerline is valid? [True, True] Translation: X:327.93, Y:4.39, Z:3.85 [[ 9.99215980e-01 -3.60171493e-02 -1.64374819e-02 3.27930473e+02] [ 3.60171431e-02 9.99351128e-01 -2.96509799e-04 4.39249106e+00] [ 1.64374955e-02 -2.95753808e-04 9.99864852e-01 3.85375180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05509989300003 meters 0.015366934404556543 Centerline is valid? [True, True] Translation: X:327.96, Y:4.39, Z:3.85 [[ 9.99068304e-01 -3.97377593e-02 -1.68355333e-02 3.27961352e+02] [ 3.97382879e-02 9.99210076e-01 -3.03267343e-04 4.39076512e+00] [ 1.68342857e-02 -3.66030481e-04 9.99858226e-01 3.85454937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.085099893 meters 0.01684594565313835 Centerline is valid? [True, True] Translation: X:327.99, Y:4.39, Z:3.85 [[ 9.98920110e-01 -4.34423635e-02 -1.64734332e-02 3.27992771e+02] [ 4.34433854e-02 9.99055847e-01 -2.95988443e-04 4.38732168e+00] [ 1.64707382e-02 -4.19992900e-04 9.99864260e-01 3.85498145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11509989300004 meters 0.01791348886690943 Centerline is valid? [True, True] Translation: X:328.02, Y:4.38, Z:3.86 [[ 9.98745233e-01 -4.71950680e-02 -1.67506462e-02 3.28024477e+02] [ 4.71966669e-02 9.98885571e-01 -3.00068187e-04 4.38467436e+00] [ 1.67461405e-02 -4.90882998e-04 9.99859653e-01 3.85563516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.145099893 meters 0.01878198359145649 Centerline is valid? [True, True] Translation: X:328.06, Y:4.38, Z:3.86 [[ 9.98382435e-01 -5.42092700e-02 -1.71425853e-02 3.28055692e+02] [ 5.42119898e-02 9.98529402e-01 -3.06346970e-04 4.38115457e+00] [ 1.71339823e-02 -6.23482224e-04 9.99853008e-01 3.85651515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17509989300004 meters 0.019340443959216573 Centerline is valid? [True, True] Translation: X:328.09, Y:4.38, Z:3.86 [[ 9.98179293e-01 -5.75708875e-02 -1.79914212e-02 3.28087245e+02] [ 5.75744363e-02 9.98341165e-01 -3.21083575e-04 4.37964729e+00] [ 1.79800614e-02 -7.15346956e-04 9.99838090e-01 3.85667203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.205099893 meters 0.02432803040002609 Centerline is valid? [True, True] Translation: X:328.12, Y:4.37, Z:3.86 [[ 9.98000241e-01 -6.05380604e-02 -1.81841360e-02 3.28117227e+02] [ 6.05421855e-02 9.98165587e-01 -3.24064741e-04 4.37175494e+00] [ 1.81703970e-02 -7.77490645e-04 9.99834602e-01 3.85598861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.235099893 meters 0.021478780393580862 Centerline is valid? [True, True] Translation: X:328.15, Y:4.38, Z:3.86 [[ 9.97805825e-01 -6.34778375e-02 -1.88175506e-02 3.28147795e+02] [ 6.34827790e-02 9.97982878e-01 -3.35235329e-04 4.37580714e+00] [ 1.88008733e-02 -8.60090638e-04 9.99822878e-01 3.85721724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.265099893 meters 0.023897472664704256 Centerline is valid? [True, True] Translation: X:328.18, Y:4.37, Z:3.86 [[ 9.97474777e-01 -6.82831444e-02 -1.95315342e-02 3.28177725e+02] [ 6.82893898e-02 9.97665494e-01 -3.47800636e-04 4.37234152e+00] [ 1.95096866e-02 -9.86874191e-04 9.99809181e-01 3.85830008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.295099893 meters 0.023378413805675066 Centerline is valid? [True, True] Translation: X:328.21, Y:4.37, Z:3.86 [[ 9.97355177e-01 -6.99877107e-02 -1.96053968e-02 3.28209494e+02] [ 6.99943371e-02 9.97547328e-01 -3.48852528e-04 4.37362928e+00] [ 1.95817265e-02 -1.02433687e-03 9.99807735e-01 3.85944752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.325099893 meters 0.026852030357950037 Centerline is valid? [True, True] Translation: X:328.24, Y:4.37, Z:3.86 [[ 9.97235296e-01 -7.14049635e-02 -2.05692891e-02 3.28240161e+02] [ 7.14125946e-02 9.97446795e-01 -3.64236021e-04 4.36938556e+00] [ 2.05427797e-02 -1.10567729e-03 9.99788363e-01 3.85975656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.355099893 meters 0.03368435202428663 Centerline is valid? [True, True] Translation: X:328.27, Y:4.36, Z:3.86 [[ 9.97111245e-01 -7.28516063e-02 -2.14897472e-02 3.28270958e+02] [ 7.28603132e-02 9.97342083e-01 -3.78562722e-04 4.36113161e+00] [ 2.14602081e-02 -1.18828056e-03 9.99768997e-01 3.85924017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.385099893 meters 0.024887345636454634 Centerline is valid? [True, True] Translation: X:328.30, Y:4.37, Z:3.86 [[ 9.97098605e-01 -7.29240412e-02 -2.18278924e-02 3.28303031e+02] [ 7.29330664e-02 9.97336764e-01 -3.83384107e-04 4.37432581e+00] [ 2.17977175e-02 -1.20970337e-03 9.99761670e-01 3.86199660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.415099893 meters 0.025062264941692777 Centerline is valid? [True, True] Translation: X:328.33, Y:4.38, Z:3.86 [[ 9.97096060e-01 -7.28510813e-02 -2.21848224e-02 3.28334764e+02] [ 7.28604226e-02 9.97342072e-01 -3.88015512e-04 4.37645220e+00] [ 2.21541241e-02 -1.22950680e-03 9.99753811e-01 3.86382775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.445099893 meters 0.025363959646858072 Centerline is valid? [True, True] Translation: X:328.37, Y:4.38, Z:3.86 [[ 9.97101002e-01 -7.25451832e-02 -2.29518520e-02 3.28367036e+02] [ 7.25551402e-02 9.97364323e-01 -3.99727254e-04 4.37752722e+00] [ 2.29203566e-02 -1.26670639e-03 9.99736492e-01 3.86442238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.475099893 meters 0.02640062113693054 Centerline is valid? [True, True] Translation: X:328.40, Y:4.38, Z:3.86 [[ 9.97135906e-01 -7.18355130e-02 -2.36568024e-02 3.28398045e+02] [ 7.18459459e-02 9.97415657e-01 -4.09734998e-04 4.37722798e+00] [ 2.36250986e-02 -1.29108386e-03 9.99720055e-01 3.86423162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.505099893 meters 0.0258641866629491 Centerline is valid? [True, True] Translation: X:328.43, Y:4.38, Z:3.86 [[ 9.97152734e-01 -7.09304572e-02 -2.55987355e-02 3.28430078e+02] [ 7.09424419e-02 9.97480313e-01 -4.40830345e-04 4.38004400e+00] [ 2.55655030e-02 -1.37646162e-03 9.99672201e-01 3.86389917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.535099893 meters 0.02332297571712522 Centerline is valid? [True, True] Translation: X:328.46, Y:4.38, Z:3.86 [[ 9.97166107e-01 -7.03847371e-02 -2.65658451e-02 3.28461914e+02] [ 7.03975044e-02 9.97518914e-01 -4.55515945e-04 4.38496426e+00] [ 2.65319943e-02 -1.41594414e-03 9.99646962e-01 3.86479355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.565099893 meters 0.02415346388961564 Centerline is valid? [True, True] Translation: X:328.49, Y:4.39, Z:3.87 [[ 9.97171326e-01 -6.97349633e-02 -2.80425117e-02 3.28493109e+02] [ 6.97489855e-02 9.97564459e-01 -4.79007679e-04 4.38630334e+00] [ 2.80076166e-02 -1.47828402e-03 9.99606617e-01 3.86506416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.595099893 meters 0.024952554542581017 Centerline is valid? [True, True] Translation: X:328.52, Y:4.39, Z:3.87 [[ 9.97215523e-01 -6.89852465e-02 -2.83237837e-02 3.28524444e+02] [ 6.89992941e-02 9.97616592e-01 -4.82260276e-04 4.38669013e+00] [ 2.82895454e-02 -1.47340365e-03 9.99598685e-01 3.86508181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.625099893 meters 0.026088091788766657 Centerline is valid? [True, True] Translation: X:328.56, Y:4.39, Z:3.86 [[ 9.97263683e-01 -6.80467717e-02 -2.88926221e-02 3.28556060e+02] [ 6.80610421e-02 9.97681038e-01 -4.90379188e-04 4.38670631e+00] [ 2.88589899e-02 -1.47742461e-03 9.99582401e-01 3.86466330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.655099893 meters 0.023673196425420318 Centerline is valid? [True, True] Translation: X:328.59, Y:4.39, Z:3.87 [[ 9.97415447e-01 -6.53003543e-02 -2.99714744e-02 3.28587079e+02] [ 6.53145139e-02 9.97864598e-01 -5.07373875e-04 4.39352244e+00] [ 2.99406050e-02 -1.45150974e-03 9.99550626e-01 3.86578988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68509989300003 meters 0.023230484213677707 Centerline is valid? [True, True] Translation: X:328.62, Y:4.40, Z:3.87 [[ 9.97529266e-01 -6.33323445e-02 -3.04035724e-02 3.28617984e+02] [ 6.33460271e-02 9.97991491e-01 -5.13920293e-04 4.39619093e+00] [ 3.03750543e-02 -1.41329499e-03 9.99537572e-01 3.86622583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.715099893 meters 0.020469120240782852 Centerline is valid? [True, True] Translation: X:328.65, Y:4.40, Z:3.87 [[ 9.97867419e-01 -5.84545306e-02 -2.90462131e-02 3.28649152e+02] [ 5.84649698e-02 9.98289340e-01 -4.90468167e-04 4.40348056e+00] [ 2.90251950e-02 -1.20876377e-03 9.99577949e-01 3.86858867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74509989300003 meters 0.020469120240782852 Centerline is valid? [True, True] Translation: X:328.68, Y:4.40, Z:3.87 [[ 9.97869532e-01 -5.84184368e-02 -2.90462270e-02 3.28680023e+02] [ 5.84288848e-02 9.98291453e-01 -4.89643094e-04 4.40397263e+00] [ 2.90252043e-02 -1.20853872e-03 9.99577949e-01 3.86897042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.775099893 meters 0.020551006497841084 Centerline is valid? [True, True] Translation: X:328.71, Y:4.41, Z:3.87 [[ 9.98203714e-01 -5.29702395e-02 -2.79910370e-02 3.28709743e+02] [ 5.29778146e-02 9.98595578e-01 -4.71424474e-04 4.40730055e+00] [ 2.79766973e-02 -1.01232631e-03 9.99608063e-01 3.86948307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80509989300003 meters 0.01960669385261683 Centerline is valid? [True, True] Translation: X:328.74, Y:4.41, Z:3.87 [[ 9.98361955e-01 -4.99838135e-02 -2.78392792e-02 3.28740614e+02] [ 4.99901480e-02 9.98749601e-01 -4.68832696e-04 4.41035829e+00] [ 2.78279031e-02 -9.23624961e-04 9.99612302e-01 3.87020317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.835099893 meters 0.016499627679997027 Centerline is valid? [True, True] Translation: X:328.77, Y:4.42, Z:3.87 [[ 9.98521693e-01 -4.68740423e-02 -2.75182296e-02 3.28770877e+02] [ 4.68790524e-02 9.98900465e-01 -4.63397671e-04 4.41730661e+00] [ 2.75096937e-02 -8.27315902e-04 9.99621194e-01 3.87287205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86509989300004 meters 0.015281838943098279 Centerline is valid? [True, True] Translation: X:328.80, Y:4.42, Z:3.87 [[ 9.98796908e-01 -4.10008225e-02 -2.69010930e-02 3.28801009e+02] [ 4.10034743e-02 9.99158901e-01 -4.53268013e-04 4.42248516e+00] [ 2.68970508e-02 -6.50315584e-04 9.99637997e-01 3.87402805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.895099893 meters 0.015281838943098279 Centerline is valid? [True, True] Translation: X:328.83, Y:4.42, Z:3.87 [[ 9.98795425e-01 -4.10369416e-02 -2.69010803e-02 3.28830167e+02] [ 4.10395864e-02 9.99157418e-01 -4.54016945e-04 4.42300506e+00] [ 2.68970454e-02 -6.50539162e-04 9.99637997e-01 3.87438877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92509989300004 meters 0.0150145074050787 Centerline is valid? [True, True] Translation: X:328.86, Y:4.43, Z:3.87 [[ 9.98908388e-01 -3.81132829e-02 -2.70076052e-02 3.28859292e+02] [ 3.81148755e-02 9.99273260e-01 -4.56007323e-04 4.42526568e+00] [ 2.70053577e-02 -5.73881971e-04 9.99635124e-01 3.87483824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.955099893 meters 0.014086755030066352 Centerline is valid? [True, True] Translation: X:328.89, Y:4.43, Z:3.88 [[ 9.99113010e-01 -3.29940611e-02 -2.61645947e-02 3.28887686e+02] [ 3.29937808e-02 9.99455459e-01 -4.42539019e-04 4.42899674e+00] [ 2.61649482e-02 -4.21122412e-04 9.99657550e-01 3.87576508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.985099893 meters 0.013470882600075774 Centerline is valid? [True, True] Translation: X:328.92, Y:4.43, Z:3.88 [[ 9.99164961e-01 -3.08941304e-02 -2.67382335e-02 3.28915958e+02] [ 3.08929662e-02 9.99522594e-01 -4.56725558e-04 4.43177695e+00] [ 2.67395786e-02 -3.69679167e-04 9.99642365e-01 3.87685641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.015099893 meters 0.013472672038817485 Centerline is valid? [True, True] Translation: X:328.94, Y:4.43, Z:3.88 [[ 9.99216109e-01 -2.90409985e-02 -2.69033029e-02 3.28943879e+02] [ 2.90390301e-02 9.99578171e-01 -4.63937761e-04 4.43275642e+00] [ 2.69054275e-02 -3.17671738e-04 9.99637933e-01 3.87629391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.045099893 meters 0.012888255449779014 Centerline is valid? [True, True] Translation: X:328.97, Y:4.44, Z:3.88 [[ 9.99291582e-01 -2.62427152e-02 -2.69750663e-02 3.28972813e+02] [ 2.62395895e-02 9.99655572e-01 -4.69900784e-04 4.43595717e+00] [ 2.69781068e-02 -2.38246768e-04 9.99635996e-01 3.87790850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.075099893 meters 0.012692211210162556 Centerline is valid? [True, True] Translation: X:329.00, Y:4.44, Z:3.88 [[ 9.99314773e-01 -2.54263140e-02 -2.68976970e-02 3.29000300e+02] [ 2.54227159e-02 9.99676677e-01 -4.75786374e-04 4.43697046e+00] [ 2.69010978e-02 -2.08352155e-04 9.99638078e-01 3.87867626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.105099893 meters 0.012558263901398442 Centerline is valid? [True, True] Translation: X:329.03, Y:4.44, Z:3.88 [[ 9.99341300e-01 -2.48529062e-02 -2.64442792e-02 3.29029309e+02] [ 2.48490420e-02 9.99691102e-01 -4.74784806e-04 4.43752102e+00] [ 2.64479104e-02 -1.82642940e-04 9.99650176e-01 3.87866593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.135099893 meters 0.01264786175240463 Centerline is valid? [True, True] Translation: X:329.06, Y:4.44, Z:3.88 [[ 9.99396756e-01 -2.34113870e-02 -2.56521178e-02 3.29057263e+02] [ 2.34071685e-02 9.99725907e-01 -4.64749453e-04 4.43682177e+00] [ 2.56559671e-02 -1.35974349e-04 9.99670822e-01 3.87749623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.165099893 meters 0.012374287959771964 Centerline is valid? [True, True] Translation: X:329.08, Y:4.44, Z:3.88 [[ 9.99415998e-01 -2.30497965e-02 -2.52263625e-02 3.29084949e+02] [ 2.30454814e-02 9.99734311e-01 -4.61801524e-04 4.43738444e+00] [ 2.52303045e-02 -1.19821837e-04 9.99681658e-01 3.87924362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.195099893 meters 0.012307081908132868 Centerline is valid? [True, True] Translation: X:329.11, Y:4.44, Z:3.88 [[ 9.99425689e-01 -2.23371000e-02 -2.54822815e-02 3.29112822e+02] [ 2.23322772e-02 9.99750491e-01 -4.73866269e-04 4.43694216e+00] [ 2.54865083e-02 -9.54832524e-05 9.99675162e-01 3.87924141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.225099893 meters 0.012307081908132868 Centerline is valid? [True, True] Translation: X:329.14, Y:4.44, Z:3.88 [[ 9.99419184e-01 -2.26264069e-02 -2.54821427e-02 3.29140210e+02] [ 2.26214900e-02 9.99743986e-01 -4.81243435e-04 4.43751141e+00] [ 2.54865078e-02 -9.54801160e-05 9.99675162e-01 3.87958131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.255099893 meters 0.01226223671403971 Centerline is valid? [True, True] Translation: X:329.17, Y:4.44, Z:3.88 [[ 9.99445091e-01 -2.21838103e-02 -2.48472902e-02 3.29168254e+02] [ 2.21788688e-02 9.99753906e-01 -4.74472092e-04 4.43657480e+00] [ 2.48517011e-02 -7.68759887e-05 9.99691146e-01 3.87892947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.285099893 meters 0.012198129708263245 Centerline is valid? [True, True] Translation: X:329.20, Y:4.44, Z:3.88 [[ 9.99433864e-01 -2.24721099e-02 -2.50390803e-02 3.29195981e+02] [ 2.24670488e-02 9.99747467e-01 -4.83466448e-04 4.43594466e+00] [ 2.50436217e-02 -7.93614994e-05 9.99686356e-01 3.87948221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.315099893 meters 0.012104365584568446 Centerline is valid? [True, True] Translation: X:329.22, Y:4.43, Z:3.88 [[ 9.99427191e-01 -2.32536979e-02 -2.45877150e-02 3.29224363e+02] [ 2.32488823e-02 9.99729592e-01 -4.81734100e-04 4.43492587e+00] [ 2.45922684e-02 -9.01787345e-05 9.99697560e-01 3.88004357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.345099893 meters 0.012197416768270889 Centerline is valid? [True, True] Translation: X:329.25, Y:4.43, Z:3.88 [[ 9.99409985e-01 -2.48973397e-02 -2.36602013e-02 3.29251100e+02] [ 2.48932265e-02 9.99690006e-01 -4.68407464e-04 4.43102185e+00] [ 2.36645289e-02 -1.20847652e-04 9.99719949e-01 3.87956460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.375099893 meters 0.012229992493161158 Centerline is valid? [True, True] Translation: X:329.28, Y:4.43, Z:3.88 [[ 9.99402321e-01 -2.59108821e-02 -2.28828864e-02 3.29279522e+02] [ 2.59071988e-02 9.99664248e-01 -4.57454956e-04 4.42936375e+00] [ 2.28870564e-02 -1.35649940e-04 9.99738048e-01 3.87987500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.405099893 meters 0.012247519775796004 Centerline is valid? [True, True] Translation: X:329.31, Y:4.43, Z:3.88 [[ 9.99392336e-01 -2.67054794e-02 -2.24003702e-02 3.29307944e+02] [ 2.67020109e-02 9.99643335e-01 -4.53984839e-04 4.42797781e+00] [ 2.24045047e-02 -1.44425962e-04 9.99748977e-01 3.88046779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43509989300003 meters 0.012193259207789442 Centerline is valid? [True, True] Translation: X:329.34, Y:4.43, Z:3.88 [[ 9.99379817e-01 -2.72598653e-02 -2.22908232e-02 3.29335896e+02] [ 2.72564304e-02 9.99628370e-01 -4.57961007e-04 4.42542216e+00] [ 2.22950232e-02 -1.49891282e-04 9.99751424e-01 3.88071180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.465099893 meters 0.011962662116584276 Centerline is valid? [True, True] Translation: X:329.36, Y:4.43, Z:3.88 [[ 9.99392543e-01 -2.71604465e-02 -2.18370288e-02 3.29363533e+02] [ 2.71569923e-02 9.99631077e-01 -4.54772245e-04 4.42512639e+00] [ 2.18413244e-02 -1.38532032e-04 9.99761440e-01 3.88155746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49509989300003 meters 0.01196123173056535 Centerline is valid? [True, True] Translation: X:329.39, Y:4.42, Z:3.88 [[ 9.99441523e-01 -2.55975354e-02 -2.14804199e-02 3.29391538e+02] [ 2.55937387e-02 9.99672325e-01 -4.51694042e-04 4.42318461e+00] [ 2.14849435e-02 -9.83224725e-05 9.99769167e-01 3.88100727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.525099893 meters 0.011983874567681322 Centerline is valid? [True, True] Translation: X:329.42, Y:4.42, Z:3.88 [[ 9.99465464e-01 -2.46277260e-02 -2.15002740e-02 3.29418120e+02] [ 2.46236498e-02 9.99696689e-01 -4.54345787e-04 4.42271985e+00] [ 2.15049422e-02 -7.53122937e-05 9.99768739e-01 3.88119895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55509989300003 meters 0.011960952521593824 Centerline is valid? [True, True] Translation: X:329.45, Y:4.42, Z:3.88 [[ 9.99497131e-01 -2.34531596e-02 -2.13408899e-02 3.29446180e+02] [ 2.34487899e-02 9.99724936e-01 -4.55004747e-04 4.42268463e+00] [ 2.13456911e-02 -4.56421058e-05 9.99772154e-01 3.88137988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.585099893 meters 0.011954824434376139 Centerline is valid? [True, True] Translation: X:329.47, Y:4.42, Z:3.88 [[ 9.99514619e-01 -2.22003709e-02 -2.18556527e-02 3.29474014e+02] [ 2.21953528e-02 9.99753541e-01 -4.72182034e-04 4.42243640e+00] [ 2.18607488e-02 -1.31410771e-05 9.99761025e-01 3.88102695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61509989300004 meters 0.011911984692660407 Centerline is valid? [True, True] Translation: X:329.50, Y:4.42, Z:3.88 [[ 9.99587064e-01 -1.91314465e-02 -2.14403797e-02 3.29502112e+02] [ 1.91257838e-02 9.99816975e-01 -4.69159540e-04 4.42156178e+00] [ 2.14454313e-02 5.89017404e-05 9.99770019e-01 3.88175437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.645099893 meters 0.012046889455736601 Centerline is valid? [True, True] Translation: X:329.53, Y:4.42, Z:3.88 [[ 9.99616890e-01 -1.80229360e-02 -2.10058726e-02 3.29529538e+02] [ 1.80171326e-02 9.99837570e-01 -4.65512501e-04 4.42135548e+00] [ 2.10108505e-02 8.68685662e-05 9.99779244e-01 3.88219812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67509989300004 meters 0.012025300130306697 Centerline is valid? [True, True] Translation: X:329.56, Y:4.42, Z:3.88 [[ 9.99654869e-01 -1.67796116e-02 -2.02135483e-02 3.29557872e+02] [ 1.67738704e-02 9.99859206e-01 -4.53549564e-04 4.42101209e+00] [ 2.02183127e-02 1.14333590e-04 9.99795582e-01 3.88311160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.705099893 meters 0.012028448407405848 Centerline is valid? [True, True] Translation: X:329.59, Y:4.42, Z:3.88 [[ 9.99687908e-01 -1.56847385e-02 -1.94441774e-02 3.29585597e+02] [ 1.56791129e-02 9.99876978e-01 -4.41739659e-04 4.42018099e+00] [ 1.94487139e-02 1.36734342e-04 9.99810847e-01 3.88374901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.735099893 meters 0.012413738926394838 Centerline is valid? [True, True] Translation: X:329.61, Y:4.42, Z:3.88 [[ 9.99703754e-01 -1.39493172e-02 -1.99454685e-02 3.29613782e+02] [ 1.39429652e-02 9.99902687e-01 -4.57504202e-04 4.41846969e+00] [ 1.99499094e-02 1.79269694e-04 9.99800965e-01 3.88327495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.765099893 meters 0.012254866162087404 Centerline is valid? [True, True] Translation: X:329.64, Y:4.42, Z:3.88 [[ 9.99701834e-01 -1.37363627e-02 -2.01879859e-02 3.29641477e+02] [ 1.37297432e-02 9.99905634e-01 -4.66465600e-04 4.41696012e+00] [ 2.01924884e-02 1.89150653e-04 9.99796093e-01 3.88380023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.795099893 meters 0.012338170258814224 Centerline is valid? [True, True] Translation: X:329.67, Y:4.41, Z:3.88 [[ 9.99698268e-01 -1.35638764e-02 -2.04790987e-02 3.29669669e+02] [ 1.35569056e-02 9.99907986e-01 -4.79186485e-04 4.41371358e+00] [ 2.04837140e-02 2.01408692e-04 9.99790166e-01 3.88343800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.825099893 meters 0.012474832637411733 Centerline is valid? [True, True] Translation: X:329.70, Y:4.41, Z:3.88 [[ 9.99683065e-01 -1.40335821e-02 -2.09004402e-02 3.29696183e+02] [ 1.40263252e-02 9.99901504e-01 -4.93774312e-04 4.41268548e+00] [ 2.09053111e-02 2.00461446e-04 9.99781440e-01 3.88331502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.855099893 meters 0.012163872435497254 Centerline is valid? [True, True] Translation: X:329.72, Y:4.41, Z:3.88 [[ 9.99672543e-01 -1.50732018e-02 -2.06786051e-02 3.29724358e+02] [ 1.50662387e-02 9.99886377e-01 -4.92487666e-04 4.41035778e+00] [ 2.06836789e-02 1.80777598e-04 9.99786053e-01 3.88449522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.885099893 meters 0.012043770028686718 Centerline is valid? [True, True] Translation: X:329.75, Y:4.41, Z:3.89 [[ 9.99658898e-01 -1.63668197e-02 -2.03522511e-02 3.29752104e+02] [ 1.63602234e-02 9.99866042e-01 -4.90576882e-04 4.40856763e+00] [ 2.03575540e-02 1.57442170e-04 9.99792751e-01 3.88512120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.915099893 meters 0.011824347512267987 Centerline is valid? [True, True] Translation: X:329.78, Y:4.40, Z:3.89 [[ 9.99602885e-01 -1.96569592e-02 -2.01910186e-02 3.29780468e+02] [ 1.96510262e-02 9.99806779e-01 -4.92226801e-04 4.40362322e+00] [ 2.01967930e-02 9.52570931e-05 9.99796019e-01 3.88616748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.945099893 meters 0.011743206271396911 Centerline is valid? [True, True] Translation: X:329.81, Y:4.40, Z:3.89 [[ 9.99499757e-01 -2.44596712e-02 -2.00489601e-02 3.29808968e+02] [ 2.44546867e-02 9.99700817e-01 -4.93787656e-04 4.39767405e+00] [ 2.00550397e-02 3.24960386e-06 9.99798877e-01 3.88650939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.975099893 meters 0.011648657680930777 Centerline is valid? [True, True] Translation: X:329.84, Y:4.39, Z:3.89 [[ 9.99432854e-01 -2.74497739e-02 -1.95058986e-02 3.29837286e+02] [ 2.74455257e-02 9.99623183e-01 -4.85508686e-04 4.39499658e+00] [ 1.95118756e-02 -5.01163092e-05 9.99809624e-01 3.88681892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.005099893 meters 0.011813626227308466 Centerline is valid? [True, True] Translation: X:329.86, Y:4.39, Z:3.89 [[ 9.99351833e-01 -3.01536366e-02 -1.96639868e-02 3.29864998e+02] [ 3.01497584e-02 9.99545271e-01 -4.93723979e-04 4.39225771e+00] [ 1.96699326e-02 -9.94604875e-05 9.99806523e-01 3.88701951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.035099893 meters 0.011998512694372491 Centerline is valid? [True, True] Translation: X:329.89, Y:4.39, Z:3.89 [[ 9.99261591e-01 -3.31682035e-02 -1.93943831e-02 3.29894119e+02] [ 3.31649428e-02 9.99449772e-01 -4.89831946e-04 4.38951209e+00] [ 1.93999586e-02 -1.53743356e-04 9.99811791e-01 3.88698994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.065099893 meters 0.012324995357302531 Centerline is valid? [True, True] Translation: X:329.92, Y:4.39, Z:3.89 [[ 9.99154973e-01 -3.61971182e-02 -1.94707228e-02 3.29922794e+02] [ 3.61943105e-02 9.99344648e-01 -4.96694867e-04 4.38656110e+00] [ 1.94759415e-02 -2.08454239e-04 9.99810304e-01 3.88709535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.095099893 meters 0.013228996314500724 Centerline is valid? [True, True] Translation: X:329.95, Y:4.38, Z:3.89 [[ 9.98968878e-01 -4.14269031e-02 -1.85739469e-02 3.29951680e+02] [ 4.14251901e-02 9.99141494e-01 -4.77125475e-04 4.37994843e+00] [ 1.85777669e-02 -2.92795781e-04 9.99827376e-01 3.88737988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.125099893 meters 0.013735561876695548 Centerline is valid? [True, True] Translation: X:329.98, Y:4.38, Z:3.89 [[ 9.98878074e-01 -4.38543098e-02 -1.78715733e-02 3.29982024e+02] [ 4.38531009e-02 9.99037884e-01 -4.59720270e-04 4.37726823e+00] [ 1.78745395e-02 -3.24519410e-04 9.99840185e-01 3.88786675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.155099893 meters 0.015006679533454437 Centerline is valid? [True, True] Translation: X:330.01, Y:4.37, Z:3.89 [[ 9.98676782e-01 -4.86497471e-02 -1.66699453e-02 3.30012991e+02] [ 4.86493641e-02 9.98815827e-01 -4.28733793e-04 4.37156323e+00] [ 1.66710630e-02 -3.82815752e-04 9.99860955e-01 3.88919526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18509989300003 meters 0.01568036432791877 Centerline is valid? [True, True] Translation: X:330.04, Y:4.37, Z:3.89 [[ 9.98565305e-01 -5.09822545e-02 -1.63750446e-02 3.30043878e+02] [ 5.09822030e-02 9.98699473e-01 -4.20863162e-04 4.36918857e+00] [ 1.63752050e-02 -4.14576497e-04 9.99865831e-01 3.88957534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.215099893 meters 0.01638493331154294 Centerline is valid? [True, True] Translation: X:330.08, Y:4.37, Z:3.89 [[ 9.98453314e-01 -5.31705476e-02 -1.62441551e-02 3.30075085e+02] [ 5.31707920e-02 9.98585346e-01 -4.17145147e-04 4.36679844e+00] [ 1.62433551e-02 -4.47214638e-04 9.99867968e-01 3.88966714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24509989300003 meters 0.017226192528275446 Centerline is valid? [True, True] Translation: X:330.11, Y:4.36, Z:3.89 [[ 9.98195583e-01 -5.80195978e-02 -1.54694778e-02 3.30105995e+02] [ 5.80204083e-02 9.98315318e-01 -3.96779429e-04 4.36326669e+00] [ 1.54664376e-02 -5.01481942e-04 9.99880262e-01 3.89081284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.275099893 meters 0.01829915323714772 Centerline is valid? [True, True] Translation: X:330.14, Y:4.36, Z:3.89 [[ 9.98082801e-01 -5.99998969e-02 -1.51899236e-02 3.30137159e+02] [ 6.00009130e-02 9.98198246e-01 -3.89237461e-04 4.36063935e+00] [ 1.51859093e-02 -5.22918069e-04 9.99884551e-01 3.89138844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30509989300003 meters 0.01907708877593751 Centerline is valid? [True, True] Translation: X:330.17, Y:4.36, Z:3.89 [[ 9.97958565e-01 -6.19949361e-02 -1.53404873e-02 3.30169648e+02] [ 6.19962215e-02 9.98076307e-01 -3.92208713e-04 4.35850781e+00] [ 1.53352919e-02 -5.59644206e-04 9.99882251e-01 3.89175837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.335099893 meters 0.020550468511801916 Centerline is valid? [True, True] Translation: X:330.20, Y:4.35, Z:3.89 [[ 9.97679094e-01 -6.60552165e-02 -1.65267809e-02 3.30200446e+02] [ 6.60572815e-02 9.97815743e-01 -4.21512274e-04 4.35491989e+00] [ 1.65185252e-02 -6.71180232e-04 9.99863335e-01 3.89116635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36509989300004 meters 0.020353157194233123 Centerline is valid? [True, True] Translation: X:330.23, Y:4.36, Z:3.89 [[ 9.97568464e-01 -6.75097648e-02 -1.73086889e-02 3.30232327e+02] [ 6.75122587e-02 9.97718347e-01 -4.40865136e-04 4.35555719e+00] [ 1.72989592e-02 -7.28755527e-04 9.99850096e-01 3.89123642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.395099893 meters 0.020538761401285098 Centerline is valid? [True, True] Translation: X:330.26, Y:4.36, Z:3.89 [[ 9.97467186e-01 -6.88298492e-02 -1.79349932e-02 3.30264741e+02] [ 6.88327638e-02 9.97628109e-01 -4.55481586e-04 4.35583353e+00] [ 1.79238041e-02 -7.80187214e-04 9.99839051e-01 3.89159094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42509989300004 meters 0.022869759840126673 Centerline is valid? [True, True] Translation: X:330.30, Y:4.35, Z:3.89 [[ 9.97333859e-01 -7.04363863e-02 -1.90758932e-02 3.30295438e+02] [ 7.04399975e-02 9.97515901e-01 -4.83375639e-04 4.35304315e+00] [ 1.90625540e-02 -8.61618976e-04 9.99817922e-01 3.89073043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.455099893 meters 0.02193298932849832 Centerline is valid? [True, True] Translation: X:330.33, Y:4.36, Z:3.89 [[ 9.97296243e-01 -7.08136983e-02 -1.96373006e-02 3.30327206e+02] [ 7.08176131e-02 9.97489157e-01 -4.96848130e-04 4.35529980e+00] [ 1.96231781e-02 -8.95161981e-04 9.99807046e-01 3.89090567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.485099893 meters 0.021612601650562325 Centerline is valid? [True, True] Translation: X:330.36, Y:4.36, Z:3.89 [[ 9.97279348e-01 -7.09503705e-02 -1.99986582e-02 3.30359407e+02] [ 7.09544874e-02 9.97479426e-01 -5.04530626e-04 4.35706739e+00] [ 1.99840467e-02 -9.15836564e-04 9.99799880e-01 3.89112875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.515099893 meters 0.022394454581721734 Centerline is valid? [True, True] Translation: X:330.39, Y:4.36, Z:3.89 [[ 9.97335697e-01 -7.00639734e-02 -2.03112444e-02 3.30390171e+02] [ 7.00680638e-02 9.97542082e-01 -5.11076736e-04 4.35733281e+00] [ 2.02971291e-02 -9.13454495e-04 9.99793575e-01 3.89072966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.545099893 meters 0.020948171736154663 Centerline is valid? [True, True] Translation: X:330.42, Y:4.36, Z:3.89 [[ 9.97409841e-01 -6.91101114e-02 -1.99349309e-02 3.30421631e+02] [ 6.91138800e-02 9.97608651e-01 -5.00679127e-04 4.36090829e+00] [ 1.99218615e-02 -8.78398134e-04 9.99801154e-01 3.89196186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.575099893 meters 0.020484631489293734 Centerline is valid? [True, True] Translation: X:330.45, Y:4.36, Z:3.89 [[ 9.97607578e-01 -6.66738384e-02 -1.82679792e-02 3.30453064e+02] [ 6.66766063e-02 9.97774534e-01 -4.58190991e-04 4.36487401e+00] [ 1.82578738e-02 -7.60952051e-04 9.99833022e-01 3.89329568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.605099893 meters 0.020484631489293734 Centerline is valid? [True, True] Translation: X:330.48, Y:4.37, Z:3.89 [[ 9.97612361e-01 -6.66022361e-02 -1.82680009e-02 3.30484767e+02] [ 6.66050080e-02 9.97779316e-01 -4.57321645e-04 4.36560990e+00] [ 1.82578921e-02 -7.60510622e-04 9.99833022e-01 3.89368775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.635099893 meters 0.020152319160678167 Centerline is valid? [True, True] Translation: X:330.52, Y:4.37, Z:3.89 [[ 9.97824271e-01 -6.35652680e-02 -1.74980318e-02 3.30515707e+02] [ 6.35673629e-02 9.97977454e-01 -4.37012316e-04 4.36850428e+00] [ 1.74904200e-02 -6.76242240e-04 9.99846802e-01 3.89413757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.665099893 meters 0.019665643474334714 Centerline is valid? [True, True] Translation: X:330.55, Y:4.37, Z:3.89 [[ 9.97929191e-01 -6.21135742e-02 -1.67102977e-02 3.30547098e+02] [ 6.21152910e-02 9.98068894e-01 -4.16763488e-04 4.37105564e+00] [ 1.67039150e-02 -6.22064555e-04 9.99860286e-01 3.89473402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.695099893 meters 0.019421425541430063 Centerline is valid? [True, True] Translation: X:330.58, Y:4.37, Z:3.90 [[ 9.98094242e-01 -5.96872770e-02 -1.56624658e-02 3.30577949e+02] [ 5.96884949e-02 9.98216976e-01 -3.90105615e-04 4.37460940e+00] [ 1.56578236e-02 -5.45506844e-04 9.99877260e-01 3.89562976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.725099893 meters 0.01716472117191673 Centerline is valid? [True, True] Translation: X:330.61, Y:4.38, Z:3.90 [[ 9.98177661e-01 -5.83843341e-02 -1.52521042e-02 3.30609854e+02] [ 5.83853467e-02 9.98294049e-01 -3.79251023e-04 4.38033720e+00] [ 1.52482271e-02 -5.11939491e-04 9.99883608e-01 3.89670158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.755099893 meters 0.018836191367576718 Centerline is valid? [True, True] Translation: X:330.64, Y:4.38, Z:3.90 [[ 9.98272139e-01 -5.66868716e-02 -1.54704414e-02 3.30641222e+02] [ 5.66877266e-02 9.98391884e-01 -3.83599257e-04 4.38000977e+00] [ 1.54673081e-02 -4.94047700e-04 9.99880252e-01 3.89663605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.785099893 meters 0.018836191367576718 Centerline is valid? [True, True] Translation: X:330.67, Y:4.38, Z:3.90 [[ 9.98276027e-01 -5.66183571e-02 -1.54704632e-02 3.30672914e+02] [ 5.66192176e-02 9.98395772e-01 -3.82717183e-04 4.38073184e+00] [ 1.54673139e-02 -4.93868132e-04 9.99880252e-01 3.89702793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.815099893 meters 0.016215511169572885 Centerline is valid? [True, True] Translation: X:330.70, Y:4.39, Z:3.90 [[ 9.98440584e-01 -5.33964645e-02 -1.62855187e-02 3.30704441e+02] [ 5.33970078e-02 9.98573281e-01 -4.01775830e-04 4.38863368e+00] [ 1.62837372e-02 -4.68448673e-04 9.99867301e-01 3.89725613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.845099893 meters 0.015646427288094407 Centerline is valid? [True, True] Translation: X:330.74, Y:4.39, Z:3.90 [[ 9.98518123e-01 -5.19322617e-02 -1.62664807e-02 3.30736418e+02] [ 5.19326250e-02 9.98650511e-01 -4.00360410e-04 4.39181293e+00] [ 1.62653208e-02 -4.44993914e-04 9.99867612e-01 3.89758647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.875099893 meters 0.015058530763084986 Centerline is valid? [True, True] Translation: X:330.77, Y:4.39, Z:3.90 [[ 9.98609394e-01 -5.04305287e-02 -1.53635907e-02 3.30768130e+02] [ 5.04306914e-02 9.98727492e-01 -3.77078004e-04 4.39473225e+00] [ 1.53630566e-02 -3.98242865e-04 9.99881902e-01 3.89851430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.905099893 meters 0.014451163515727273 Centerline is valid? [True, True] Translation: X:330.80, Y:4.40, Z:3.90 [[ 9.98755868e-01 -4.74070858e-02 -1.54687952e-02 3.30799575e+02] [ 4.74069040e-02 9.98875589e-01 -3.78644469e-04 4.39945424e+00] [ 1.54693524e-02 -3.55154306e-04 9.99880279e-01 3.89923762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93509989300003 meters 0.014105983098982896 Centerline is valid? [True, True] Translation: X:330.83, Y:4.40, Z:3.90 [[ 9.98827215e-01 -4.56780035e-02 -1.60535205e-02 3.30830722e+02] [ 4.56775940e-02 9.98956157e-01 -3.92364907e-04 4.40197969e+00] [ 1.60546856e-02 -3.41381447e-04 9.99871057e-01 3.89911007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.965099893 meters 0.013816989687339097 Centerline is valid? [True, True] Translation: X:330.86, Y:4.41, Z:3.90 [[ 9.98944401e-01 -4.30372790e-02 -1.60585276e-02 3.30860926e+02] [ 4.30365396e-02 9.99073422e-01 -3.91774884e-04 4.40564490e+00] [ 1.60605091e-02 -2.99742133e-04 9.99870977e-01 3.89904173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99509989300003 meters 0.015032493950653385 Centerline is valid? [True, True] Translation: X:330.89, Y:4.40, Z:3.90 [[ 9.98979651e-01 -4.21004381e-02 -1.63465714e-02 3.30891609e+02] [ 4.20995628e-02 9.99113341e-01 -3.97811213e-04 4.40498026e+00] [ 1.63488256e-02 -2.90778202e-04 9.99866307e-01 3.89861704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.025099893 meters 0.01307401997867919 Centerline is valid? [True, True] Translation: X:330.92, Y:4.41, Z:3.90 [[ 9.99018581e-01 -4.11575017e-02 -1.63687317e-02 3.30922792e+02] [ 4.11565034e-02 9.99152633e-01 -3.97991545e-04 4.41055671e+00] [ 1.63712417e-02 -2.76078814e-04 9.99865944e-01 3.89976341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05509989300003 meters 0.01297952068697806 Centerline is valid? [True, True] Translation: X:330.95, Y:4.41, Z:3.90 [[ 9.99040768e-01 -4.04521505e-02 -1.67680601e-02 3.30954381e+02] [ 4.04510138e-02 9.99181440e-01 -4.07090191e-04 4.41210990e+00] [ 1.67708021e-02 -2.71585333e-04 9.99859323e-01 3.89950615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.085099893 meters 0.012735342055399989 Centerline is valid? [True, True] Translation: X:330.99, Y:4.41, Z:3.90 [[ 9.99027830e-01 -4.03416148e-02 -1.77749665e-02 3.30985298e+02] [ 4.03403318e-02 9.99185905e-01 -4.30871523e-04 4.41397818e+00] [ 1.77778781e-02 -2.86595405e-04 9.99841920e-01 3.89874611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11509989300004 meters 0.013201985929335053 Centerline is valid? [True, True] Translation: X:331.02, Y:4.41, Z:3.90 [[ 9.98992771e-01 -4.11570610e-02 -1.78756558e-02 3.31015639e+02] [ 4.11559038e-02 9.99152643e-01 -4.32760640e-04 4.41382876e+00] [ 1.78783199e-02 -3.03364021e-04 9.99840124e-01 3.89822317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.145099893 meters 0.014145979587923213 Centerline is valid? [True, True] Translation: X:331.05, Y:4.41, Z:3.90 [[ 9.98851324e-01 -4.44135524e-02 -1.79852601e-02 3.31046159e+02] [ 4.44129175e-02 9.99013165e-01 -4.34917731e-04 4.41273717e+00] [ 1.79868278e-02 -3.64359721e-04 9.99838158e-01 3.89796252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17509989300004 meters 0.01486193765096421 Centerline is valid? [True, True] Translation: X:331.08, Y:4.41, Z:3.90 [[ 9.98758757e-01 -4.66043797e-02 -1.75777676e-02 3.31077309e+02] [ 4.66041258e-02 9.98913347e-01 -4.24296829e-04 4.41199928e+00] [ 1.75784407e-02 -3.95426318e-04 9.99845409e-01 3.89888452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.205099893 meters 0.01551548097650047 Centerline is valid? [True, True] Translation: X:331.11, Y:4.41, Z:3.90 [[ 9.98628637e-01 -4.96420404e-02 -1.66286826e-02 3.31108460e+02] [ 4.96422433e-02 9.98766983e-01 -4.00826384e-04 4.41085609e+00] [ 1.66280770e-02 -4.25208401e-04 9.99861654e-01 3.89994062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.235099893 meters 0.016161315162272205 Centerline is valid? [True, True] Translation: X:331.14, Y:4.41, Z:3.90 [[ 9.98304559e-01 -5.54004196e-02 -1.78549953e-02 3.31139990e+02] [ 5.54015855e-02 9.98464060e-01 -4.29714906e-04 4.40949294e+00] [ 1.78513775e-02 -5.60208701e-04 9.99840495e-01 3.89891438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.265099893 meters 0.019663167089964458 Centerline is valid? [True, True] Translation: X:331.17, Y:4.40, Z:3.90 [[ 9.98111733e-01 -5.84474016e-02 -1.88909828e-02 3.31170056e+02] [ 5.84492608e-02 9.98290277e-01 -4.54169197e-04 4.40435056e+00] [ 1.88852295e-02 -6.50852378e-04 9.99821446e-01 3.89764381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.295099893 meters 0.018399216463217283 Centerline is valid? [True, True] Translation: X:331.20, Y:4.41, Z:3.90 [[ 9.97789058e-01 -6.37480624e-02 -1.87930723e-02 3.31200859e+02] [ 6.37508431e-02 9.97965744e-01 -4.51696841e-04 4.40681830e+00] [ 1.87836372e-02 -7.47376037e-04 9.99823293e-01 3.89852152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.325099893 meters 0.01955230048818543 Centerline is valid? [True, True] Translation: X:331.23, Y:4.41, Z:3.90 [[ 9.97633680e-01 -6.62172909e-02 -1.85016313e-02 3.31233059e+02] [ 6.62204223e-02 9.97804920e-01 -4.44016898e-04 4.40613289e+00] [ 1.84904203e-02 -7.82219626e-04 9.99828732e-01 3.89908555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.355099893 meters 0.02092224685660399 Centerline is valid? [True, True] Translation: X:331.26, Y:4.41, Z:3.90 [[ 9.97538531e-01 -6.78569565e-02 -1.76723442e-02 3.31264405e+02] [ 6.78600952e-02 9.97694757e-01 -4.22694246e-04 4.40550034e+00] [ 1.76602880e-02 -7.77593166e-04 9.99843743e-01 3.89985114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.385099893 meters 0.020558396210944466 Centerline is valid? [True, True] Translation: X:331.30, Y:4.41, Z:3.90 [[ 9.97483539e-01 -6.87449332e-02 -1.73413895e-02 3.31296353e+02] [ 6.87481176e-02 9.97633964e-01 -4.13148284e-04 4.40836171e+00] [ 1.73287609e-02 -7.80079270e-04 9.99849541e-01 3.90046288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.415099893 meters 0.0214065762910212 Centerline is valid? [True, True] Translation: X:331.33, Y:4.41, Z:3.90 [[ 9.97508967e-01 -6.81941763e-02 -1.80392853e-02 3.31327481e+02] [ 6.81975551e-02 9.97671745e-01 -4.28519946e-04 4.40885750e+00] [ 1.80265078e-02 -8.02782661e-04 9.99837187e-01 3.90067556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.445099893 meters 0.020247278866924 Centerline is valid? [True, True] Translation: X:331.36, Y:4.41, Z:3.90 [[ 9.97667884e-01 -6.57939901e-02 -1.81643374e-02 3.31358951e+02] [ 6.57970349e-02 9.97832934e-01 -4.30598165e-04 4.41344261e+00] [ 1.81533048e-02 -7.65565582e-04 9.99834922e-01 3.90079114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.475099893 meters 0.02009454486177104 Centerline is valid? [True, True] Translation: X:331.39, Y:4.42, Z:3.90 [[ 9.97799000e-01 -6.39674565e-02 -1.74734163e-02 3.31391501e+02] [ 6.39700100e-02 9.97951736e-01 -4.13328589e-04 4.41545392e+00] [ 1.74640657e-02 -7.05355762e-04 9.99847243e-01 3.90142484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.505099893 meters 0.019419091951996068 Centerline is valid? [True, True] Translation: X:331.42, Y:4.42, Z:3.90 [[ 9.97936890e-01 -6.19753234e-02 -1.67637601e-02 3.31423019e+02] [ 6.19774134e-02 9.98077474e-01 -3.95319673e-04 4.41829039e+00] [ 1.67560314e-02 -6.44470406e-04 9.99859400e-01 3.90244392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.535099893 meters 0.016702752649576928 Centerline is valid? [True, True] Translation: X:331.45, Y:4.43, Z:3.90 [[ 9.98210394e-01 -5.77212741e-02 -1.56289514e-02 3.31454869e+02] [ 5.77225798e-02 9.98332594e-01 -3.67922136e-04 4.42611574e+00] [ 1.56241285e-02 -5.34879694e-04 9.99877793e-01 3.90424015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.565099893 meters 0.016925288214599158 Centerline is valid? [True, True] Translation: X:331.49, Y:4.43, Z:3.90 [[ 9.98332434e-01 -5.56009750e-02 -1.55203760e-02 3.31485645e+02] [ 5.56020264e-02 9.98452944e-01 -3.64095941e-04 4.42794437e+00] [ 1.55166092e-02 -4.99475569e-04 9.99879485e-01 3.90487745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.595099893 meters 0.01605504074464879 Centerline is valid? [True, True] Translation: X:331.52, Y:4.43, Z:3.91 [[ 9.98450078e-01 -5.33661348e-02 -1.57955132e-02 3.31518201e+02] [ 5.33669769e-02 9.98574900e-01 -3.68489515e-04 4.43130007e+00] [ 1.57926678e-02 -4.75040401e-04 9.99875175e-01 3.90528241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.625099893 meters 0.01573489231038056 Centerline is valid? [True, True] Translation: X:331.55, Y:4.43, Z:3.90 [[ 9.98595671e-01 -5.04150429e-02 -1.62790847e-02 3.31549128e+02] [ 5.04155678e-02 9.98728255e-01 -3.78401479e-04 4.43413137e+00] [ 1.62774590e-02 -4.42849218e-04 9.99867415e-01 3.90491576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.655099893 meters 0.01573489231038056 Centerline is valid? [True, True] Translation: X:331.58, Y:4.43, Z:3.91 [[ 9.98599265e-01 -5.03437977e-02 -1.62791066e-02 3.31580819e+02] [ 5.03443286e-02 9.98731849e-01 -3.77457034e-04 4.43480818e+00] [ 1.62774648e-02 -4.42632373e-04 9.99867415e-01 3.90530760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68509989300003 meters 0.0153161988304395 Centerline is valid? [True, True] Translation: X:331.61, Y:4.44, Z:3.91 [[ 9.98665716e-01 -4.87150986e-02 -1.71355487e-02 3.31612972e+02] [ 4.87154690e-02 9.98812618e-01 -3.96046434e-04 4.43776393e+00] [ 1.71344957e-02 -4.39248296e-04 9.99853097e-01 3.90500119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.715099893 meters 0.015671492277529137 Centerline is valid? [True, True] Translation: X:331.64, Y:4.44, Z:3.90 [[ 9.98632013e-01 -4.89708891e-02 -1.83290577e-02 3.31644613e+02] [ 4.89713791e-02 9.98800093e-01 -4.22374180e-04 4.43882848e+00] [ 1.83277485e-02 -4.75802853e-04 9.99831919e-01 3.90459815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74509989300003 meters 0.01644379059760847 Centerline is valid? [True, True] Translation: X:331.68, Y:4.44, Z:3.90 [[ 9.98590931e-01 -4.97495153e-02 -1.84699244e-02 3.31675276e+02] [ 4.97501621e-02 9.98761604e-01 -4.24746063e-04 4.43868720e+00] [ 1.84681822e-02 -4.94734165e-04 9.99829326e-01 3.90473212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.775099893 meters 0.015378209853190715 Centerline is valid? [True, True] Translation: X:331.71, Y:4.44, Z:3.91 [[ 9.98538939e-01 -5.04959615e-02 -1.92391808e-02 3.31707713e+02] [ 5.04968201e-02 9.98724124e-01 -4.41486072e-04 4.44212169e+00] [ 1.92369273e-02 -5.30676418e-04 9.99814812e-01 3.90565463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80509989300003 meters 0.016358109964798754 Centerline is valid? [True, True] Translation: X:331.74, Y:4.44, Z:3.91 [[ 9.98451653e-01 -5.18884943e-02 -2.00469879e-02 3.31738170e+02] [ 5.18897285e-02 9.98652715e-01 -4.58952316e-04 4.44232649e+00] [ 2.00437932e-02 -5.81991059e-04 9.99798934e-01 3.90527826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.835099893 meters 0.0160235386108228 Centerline is valid? [True, True] Translation: X:331.77, Y:4.44, Z:3.91 [[ 9.98428874e-01 -5.22506950e-02 -2.02397496e-02 3.31769914e+02] [ 5.22520434e-02 9.98633822e-01 -4.62572130e-04 4.44393913e+00] [ 2.02362682e-02 -5.95722906e-04 9.99795048e-01 3.90602629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86509989300004 meters 0.015766156743803442 Centerline is valid? [True, True] Translation: X:331.80, Y:4.45, Z:3.91 [[ 9.98448484e-01 -5.21785590e-02 -1.94427864e-02 3.31802177e+02] [ 5.21798163e-02 9.98637607e-01 -4.42980730e-04 4.44690096e+00] [ 1.94394118e-02 -5.72227587e-04 9.99810873e-01 3.90776825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.895099893 meters 0.016466677256689325 Centerline is valid? [True, True] Translation: X:331.83, Y:4.45, Z:3.91 [[ 9.98503687e-01 -5.13653804e-02 -1.87612629e-02 3.31833814e+02] [ 5.13664392e-02 9.98679782e-01 -4.25771335e-04 4.44747904e+00] [ 1.87583639e-02 -5.38565023e-04 9.99823901e-01 3.90862243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92509989300004 meters 0.015604880039617389 Centerline is valid? [True, True] Translation: X:331.87, Y:4.45, Z:3.91 [[ 9.98564076e-01 -5.02171643e-02 -1.86553426e-02 3.31866176e+02] [ 5.02180484e-02 9.98738189e-01 -4.21358729e-04 4.45102530e+00] [ 1.86529625e-02 -5.16081210e-04 9.99825885e-01 3.90977999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.955099893 meters 0.015297756435724588 Centerline is valid? [True, True] Translation: X:331.90, Y:4.45, Z:3.91 [[ 9.98643442e-01 -4.86926686e-02 -1.84472342e-02 3.31898675e+02] [ 4.86932976e-02 9.98813691e-01 -4.15334959e-04 4.45372110e+00] [ 1.84455739e-02 -4.83485133e-04 9.99829749e-01 3.91086174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.985099893 meters 0.014058121288807898 Centerline is valid? [True, True] Translation: X:331.93, Y:4.46, Z:3.91 [[ 9.98837112e-01 -4.51153412e-02 -1.70008598e-02 3.31930484e+02] [ 4.51153755e-02 9.98981710e-01 -3.81700704e-04 4.45960601e+00] [ 1.70007686e-02 -3.85743346e-04 9.99855402e-01 3.91313071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.015099893 meters 0.013794824835973331 Centerline is valid? [True, True] Translation: X:331.96, Y:4.46, Z:3.91 [[ 9.99013207e-01 -4.13326011e-02 -1.62550893e-02 3.31961230e+02] [ 4.13321445e-02 9.99145395e-01 -3.64184960e-04 4.46227665e+00] [ 1.62562503e-02 -3.08032115e-04 9.99867811e-01 3.91365712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.045099893 meters 0.013103925159615372 Centerline is valid? [True, True] Translation: X:331.99, Y:4.46, Z:3.91 [[ 9.99084944e-01 -3.96698792e-02 -1.59867378e-02 3.31992904e+02] [ 3.96692339e-02 9.99212802e-01 -3.57599986e-04 4.46489337e+00] [ 1.59883390e-02 -2.76908880e-04 9.99872140e-01 3.91470612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.075099893 meters 0.012802164438024266 Centerline is valid? [True, True] Translation: X:332.02, Y:4.47, Z:3.92 [[ 9.99192580e-01 -3.72289652e-02 -1.51060361e-02 3.32022996e+02] [ 3.72281171e-02 9.99306736e-01 -3.37431781e-04 4.46760225e+00] [ 1.51081259e-02 -2.25209950e-04 9.99885840e-01 3.91673791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.105099893 meters 0.012539174245043073 Centerline is valid? [True, True] Translation: X:332.06, Y:4.47, Z:3.92 [[ 9.99228837e-01 -3.63403706e-02 -1.48697380e-02 3.32055329e+02] [ 3.63394565e-02 9.99339449e-01 -3.31755451e-04 4.46931760e+00] [ 1.48719719e-02 -2.08858583e-04 9.99889384e-01 3.91764047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.135099893 meters 0.012531569385425512 Centerline is valid? [True, True] Translation: X:332.09, Y:4.47, Z:3.92 [[ 9.99222395e-01 -3.61986015e-02 -1.56290433e-02 3.32086499e+02] [ 3.61975917e-02 9.99344592e-01 -3.47580388e-04 4.46949826e+00] [ 1.56313818e-02 -2.18423620e-04 9.99877799e-01 3.91739319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.165099893 meters 0.012568091232737529 Centerline is valid? [True, True] Translation: X:332.12, Y:4.47, Z:3.92 [[ 9.99146787e-01 -3.74373725e-02 -1.74396220e-02 3.32117493e+02] [ 3.74363201e-02 9.99298940e-01 -3.86918575e-04 4.46888812e+00] [ 1.74418810e-02 -2.66286821e-04 9.99847843e-01 3.91663437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.195099893 meters 0.01261073580758586 Centerline is valid? [True, True] Translation: X:332.15, Y:4.47, Z:3.92 [[ 9.99096534e-01 -3.82156319e-02 -1.85925306e-02 3.32148328e+02] [ 3.82145816e-02 9.99269471e-01 -4.11902172e-04 4.46873410e+00] [ 1.85946893e-02 -2.98975745e-04 9.99827059e-01 3.91647217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.225099893 meters 0.01261073580758586 Centerline is valid? [True, True] Translation: X:332.18, Y:4.47, Z:3.92 [[ 9.99097937e-01 -3.81789135e-02 -1.85925407e-02 3.32179168e+02] [ 3.81778653e-02 9.99270875e-01 -4.11445800e-04 4.46938964e+00] [ 1.85946929e-02 -2.98748865e-04 9.99827059e-01 3.91685359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.255099893 meters 0.013306478821356308 Centerline is valid? [True, True] Translation: X:332.21, Y:4.47, Z:3.92 [[ 9.99046028e-01 -3.91296396e-02 -1.93882614e-02 3.32209450e+02] [ 3.91286956e-02 9.99234088e-01 -4.28182972e-04 4.46752277e+00] [ 1.93901663e-02 -3.30862882e-04 9.99811938e-01 3.91585363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.285099893 meters 0.01318227276539019 Centerline is valid? [True, True] Translation: X:332.24, Y:4.47, Z:3.92 [[ 9.98976967e-01 -4.02918349e-02 -2.05326050e-02 3.32241133e+02] [ 4.02910430e-02 9.99187884e-01 -4.52418209e-04 4.46770778e+00] [ 2.05341589e-02 -3.75324699e-04 9.99789081e-01 3.91578243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.315099893 meters 0.013379896079162056 Centerline is valid? [True, True] Translation: X:332.27, Y:4.47, Z:3.92 [[ 9.98857902e-01 -4.25556808e-02 -2.17233737e-02 3.32271958e+02] [ 4.25553436e-02 9.99093997e-01 -4.78010391e-04 4.46613678e+00] [ 2.17240343e-02 -4.46981175e-04 9.99763905e-01 3.91548409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.345099893 meters 0.01452081004546879 Centerline is valid? [True, True] Translation: X:332.30, Y:4.46, Z:3.91 [[ 9.98794956e-01 -4.37775999e-02 -2.21846242e-02 3.32301992e+02] [ 4.37775586e-02 9.99041184e-01 -4.87749369e-04 4.46399383e+00] [ 2.21847057e-02 -4.84027074e-04 9.99753772e-01 3.91475664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.375099893 meters 0.014290082727322117 Centerline is valid? [True, True] Translation: X:332.33, Y:4.46, Z:3.92 [[ 9.98756818e-01 -4.45639501e-02 -2.23354591e-02 3.32332600e+02] [ 4.45641098e-02 9.99006406e-01 -4.90838979e-04 4.46476382e+00] [ 2.23351405e-02 -5.05131075e-04 9.99750412e-01 3.91558564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.405099893 meters 0.014736816875479116 Centerline is valid? [True, True] Translation: X:332.36, Y:4.46, Z:3.92 [[ 9.98692664e-01 -4.62909640e-02 -2.16820266e-02 3.32363302e+02] [ 4.62915211e-02 9.98927859e-01 -4.76479295e-04 4.46381607e+00] [ 2.16808371e-02 -5.27837616e-04 9.99764804e-01 3.91715961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43509989300003 meters 0.014528899627583419 Centerline is valid? [True, True] Translation: X:332.39, Y:4.46, Z:3.92 [[ 9.98663364e-01 -4.72258213e-02 -2.10049271e-02 3.32394149e+02] [ 4.72265540e-02 9.98884097e-01 -4.61440799e-04 4.46445144e+00] [ 2.10032796e-02 -5.31166306e-04 9.99779266e-01 3.91832703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.465099893 meters 0.015574428809646624 Centerline is valid? [True, True] Translation: X:332.42, Y:4.46, Z:3.92 [[ 9.98628548e-01 -4.81180142e-02 -2.06319961e-02 3.32424243e+02] [ 4.81189256e-02 9.98841511e-01 -4.52556943e-04 4.46302597e+00] [ 2.06298703e-02 -5.40853201e-04 9.99787035e-01 3.91900967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49509989300003 meters 0.01589109879371861 Centerline is valid? [True, True] Translation: X:332.46, Y:4.46, Z:3.92 [[ 9.98489531e-01 -5.13963405e-02 -1.94183576e-02 3.32455636e+02] [ 5.13977848e-02 9.98678170e-01 -4.25020305e-04 4.46276669e+00] [ 1.94145343e-02 -5.73682241e-04 9.99811356e-01 3.92100034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.525099893 meters 0.01655231800749179 Centerline is valid? [True, True] Translation: X:332.49, Y:4.46, Z:3.92 [[ 9.98383098e-01 -5.35498954e-02 -1.90682312e-02 3.32486694e+02] [ 5.35516935e-02 9.98564992e-01 -4.16670986e-04 4.46169319e+00] [ 1.90631808e-02 -6.05138801e-04 9.99818098e-01 3.92167466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55509989300003 meters 0.017884490982476613 Centerline is valid? [True, True] Translation: X:332.52, Y:4.46, Z:3.92 [[ 9.98241171e-01 -5.61581314e-02 -1.89954934e-02 3.32518054e+02] [ 5.61604028e-02 9.98421673e-01 -4.14273506e-04 4.45966605e+00] [ 1.89887771e-02 -6.53249691e-04 9.99819484e-01 3.92215622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.585099893 meters 0.020571514002542902 Centerline is valid? [True, True] Translation: X:332.55, Y:4.46, Z:3.92 [[ 9.97910337e-01 -6.20204457e-02 -1.81224557e-02 3.32547788e+02] [ 6.20234957e-02 9.98074612e-01 -3.94249819e-04 4.45521346e+00] [ 1.81120145e-02 -7.30592086e-04 9.99835697e-01 3.92320529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61509989300004 meters 0.020364780572849198 Centerline is valid? [True, True] Translation: X:332.58, Y:4.46, Z:3.92 [[ 9.97691967e-01 -6.53418300e-02 -1.84711523e-02 3.32579014e+02] [ 6.53455845e-02 9.97862613e-01 -4.00863864e-04 4.45557357e+00] [ 1.84578655e-02 -8.07069589e-04 9.99829313e-01 3.92405058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.645099893 meters 0.022378816921177613 Centerline is valid? [True, True] Translation: X:332.61, Y:4.45, Z:3.92 [[ 9.97272880e-01 -7.13018382e-02 -1.90486204e-02 3.32610009e+02] [ 7.13069252e-02 9.97454336e-01 -4.12892661e-04 4.45225529e+00] [ 1.90295690e-02 -9.46531897e-04 9.99818473e-01 3.92422479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67509989300004 meters 0.02426408407827274 Centerline is valid? [True, True] Translation: X:332.64, Y:4.45, Z:3.92 [[ 9.97064701e-01 -7.39971875e-02 -1.96570278e-02 3.32640309e+02] [ 7.40031311e-02 9.97257918e-01 -4.25872952e-04 4.45018568e+00] [ 1.96346400e-02 -1.03005872e-03 9.99806691e-01 3.92431795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.705099893 meters 0.02426408407827274 Centerline is valid? [True, True] Translation: X:332.67, Y:4.45, Z:3.92 [[ 9.97070040e-01 -7.39252001e-02 -1.96570440e-02 3.32672034e+02] [ 7.39311444e-02 9.97263258e-01 -4.25122681e-04 4.45081427e+00] [ 1.96346751e-02 -1.02939067e-03 9.99806691e-01 3.92471030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.735099893 meters 0.025175107087392675 Centerline is valid? [True, True] Translation: X:332.70, Y:4.45, Z:3.93 [[ 9.96919267e-01 -7.57395041e-02 -2.03838699e-02 3.32704401e+02] [ 7.57463052e-02 9.97127025e-01 -4.39337734e-04 4.45044966e+00] [ 2.03585828e-02 -1.10601858e-03 9.99792131e-01 3.92506389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.765099893 meters 0.026335677661626783 Centerline is valid? [True, True] Translation: X:332.74, Y:4.45, Z:3.93 [[ 9.96759474e-01 -7.75760507e-02 -2.12722353e-02 3.32735959e+02] [ 7.75839132e-02 9.96985721e-01 -4.56667712e-04 4.45046816e+00] [ 2.12435414e-02 -1.19519539e-03 9.99773616e-01 3.92536050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.795099893 meters 0.02624423574873084 Centerline is valid? [True, True] Translation: X:332.77, Y:4.45, Z:3.93 [[ 9.96746229e-01 -7.76490760e-02 -2.16234866e-02 3.32768565e+02] [ 7.76572590e-02 9.96980008e-01 -4.62290202e-04 4.45193291e+00] [ 2.15940802e-02 -1.21843468e-03 9.99766078e-01 3.92580676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.825099893 meters 0.024594526916476938 Centerline is valid? [True, True] Translation: X:332.80, Y:4.46, Z:3.93 [[ 9.96795753e-01 -7.70685262e-02 -2.14165444e-02 3.32801058e+02] [ 7.70764527e-02 9.97025081e-01 -4.56321069e-04 4.45581784e+00] [ 2.13879999e-02 -1.19585237e-03 9.99770535e-01 3.92651276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.855099893 meters 0.02677627015085936 Centerline is valid? [True, True] Translation: X:332.83, Y:4.45, Z:3.93 [[ 9.96872091e-01 -7.59896039e-02 -2.17166811e-02 3.32832608e+02] [ 7.59975301e-02 9.97107899e-01 -4.61287054e-04 4.45439842e+00] [ 2.16889273e-02 -1.19056993e-03 9.99764059e-01 3.92620942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.885099893 meters 0.024075551750583214 Centerline is valid? [True, True] Translation: X:332.86, Y:4.46, Z:3.93 [[ 9.97109794e-01 -7.23868586e-02 -2.30694883e-02 3.32863115e+02] [ 7.23948636e-02 9.97375929e-01 -4.89082683e-04 4.46162918e+00] [ 2.30443555e-02 -1.18244333e-03 9.99733744e-01 3.92560829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.915099893 meters 0.022109413627264565 Centerline is valid? [True, True] Translation: X:332.89, Y:4.47, Z:3.93 [[ 9.97258654e-01 -7.00172192e-02 -2.39325428e-02 3.32894648e+02] [ 7.00251756e-02 9.97545096e-01 -5.06477683e-04 4.46695878e+00] [ 2.39092529e-02 -1.17079126e-03 9.99713447e-01 3.92584585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.945099893 meters 0.02012901762648178 Centerline is valid? [True, True] Translation: X:332.93, Y:4.47, Z:3.93 [[ 9.97670997e-01 -6.36204063e-02 -2.45972891e-02 3.32925347e+02] [ 6.36268891e-02 9.97973621e-01 -5.19789133e-04 4.47495817e+00] [ 2.45805149e-02 -1.04647044e-03 9.99697306e-01 3.92600707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.975099893 meters 0.0193205286699886 Centerline is valid? [True, True] Translation: X:332.96, Y:4.48, Z:3.93 [[ 9.97895608e-01 -6.00073733e-02 -2.45656600e-02 3.32957033e+02] [ 6.00127653e-02 9.98197475e-01 -5.18347767e-04 4.47894981e+00] [ 2.45524844e-02 -9.56996226e-04 9.99698084e-01 3.92657183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.005099893 meters 0.016594212881571917 Centerline is valid? [True, True] Translation: X:332.99, Y:4.49, Z:3.93 [[ 9.98324723e-01 -5.26679100e-02 -2.39549149e-02 3.32987205e+02] [ 5.26709455e-02 9.98611795e-01 -5.04659321e-04 4.48778246e+00] [ 2.39482399e-02 -7.57914140e-04 9.99712912e-01 3.92783385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.035099893 meters 0.016209909182827654 Centerline is valid? [True, True] Translation: X:333.02, Y:4.49, Z:3.93 [[ 9.98526291e-01 -4.88822885e-02 -2.35747473e-02 3.33017811e+02] [ 4.88841860e-02 9.98804330e-01 -4.96142628e-04 4.49103632e+00] [ 2.35708123e-02 -6.57020876e-04 9.99721954e-01 3.92816646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.065099893 meters 0.014434877284297416 Centerline is valid? [True, True] Translation: X:333.05, Y:4.50, Z:3.93 [[ 9.98701379e-01 -4.52214643e-02 -2.34643248e-02 3.33049297e+02] [ 4.52223544e-02 9.98976824e-01 -4.92965252e-04 4.49678513e+00] [ 2.34626093e-02 -5.68786938e-04 9.99724553e-01 3.92975593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.095099893 meters 0.013093212993344828 Centerline is valid? [True, True] Translation: X:333.08, Y:4.50, Z:3.93 [[ 9.99024674e-01 -3.78937415e-02 -2.26663705e-02 3.33078787e+02] [ 3.78926921e-02 9.99281701e-01 -4.75948181e-04 4.50408454e+00] [ 2.26681247e-02 -3.83405824e-04 9.99742972e-01 3.93069828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.125099893 meters 0.012674765155685518 Centerline is valid? [True, True] Translation: X:333.11, Y:4.51, Z:3.93 [[ 9.99156709e-01 -3.43727940e-02 -2.24584570e-02 3.33108203e+02] [ 3.43708655e-02 9.99409036e-01 -4.71984233e-04 4.50744708e+00] [ 2.24614083e-02 -3.00330392e-04 9.99747666e-01 3.93064673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.155099893 meters 0.012097257401061634 Centerline is valid? [True, True] Translation: X:333.14, Y:4.51, Z:3.93 [[ 9.99246049e-01 -3.16839291e-02 -2.24379432e-02 3.33137375e+02] [ 3.16813133e-02 9.99497910e-01 -4.72136562e-04 4.51129512e+00] [ 2.24416365e-02 -2.39082914e-04 9.99748126e-01 3.93160597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18509989300003 meters 0.011916369916264317 Centerline is valid? [True, True] Translation: X:333.17, Y:4.51, Z:3.93 [[ 9.99330614e-01 -2.89431324e-02 -2.23745193e-02 3.33165994e+02] [ 2.89398208e-02 9.99581044e-01 -4.71860547e-04 4.51373972e+00] [ 2.23788025e-02 -1.75969889e-04 9.99749548e-01 3.93175507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.215099893 meters 0.011616016575551811 Centerline is valid? [True, True] Translation: X:333.19, Y:4.52, Z:3.93 [[ 9.99425439e-01 -2.55091026e-02 -2.23176664e-02 3.33194941e+02] [ 2.55048795e-02 9.99674585e-01 -4.73893136e-04 4.51720754e+00] [ 2.23224924e-02 -9.55885347e-05 9.99750818e-01 3.93242567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24509989300003 meters 0.01156217078614855 Centerline is valid? [True, True] Translation: X:333.22, Y:4.52, Z:3.93 [[ 9.99421588e-01 -2.48475830e-02 -2.32182549e-02 3.33222386e+02] [ 2.48426865e-02 9.99691248e-01 -4.99353890e-04 4.51828302e+00] [ 2.32234939e-02 -7.77387692e-05 9.99730295e-01 3.93263319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.275099893 meters 0.011736620942024245 Centerline is valid? [True, True] Translation: X:333.25, Y:4.52, Z:3.93 [[ 9.99389467e-01 -2.50376163e-02 -2.43682281e-02 3.33250211e+02] [ 2.50321614e-02 9.99686506e-01 -5.28912849e-04 4.51857556e+00] [ 2.43738316e-02 -8.13994898e-05 9.99702911e-01 3.93120733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30509989300003 meters 0.011825837871514616 Centerline is valid? [True, True] Translation: X:333.28, Y:4.52, Z:3.93 [[ 9.99368831e-01 -2.57286232e-02 -2.44944282e-02 3.33278090e+02] [ 2.57232659e-02 9.99668960e-01 -5.33827013e-04 4.51863594e+00] [ 2.45000542e-02 -9.65866122e-05 9.99699824e-01 3.93106723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.335099893 meters 0.011736991164920024 Centerline is valid? [True, True] Translation: X:333.31, Y:4.52, Z:3.93 [[ 9.99346956e-01 -2.72262718e-02 -2.37569121e-02 3.33305965e+02] [ 2.72215532e-02 9.99629289e-01 -5.22053459e-04 4.51857584e+00] [ 2.37623187e-02 -1.24987513e-04 9.99717628e-01 3.93222216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36509989300004 meters 0.01190612843263314 Centerline is valid? [True, True] Translation: X:333.33, Y:4.52, Z:3.93 [[ 9.99289012e-01 -3.03907407e-02 -2.23130637e-02 3.33334034e+02] [ 3.03872734e-02 9.99538078e-01 -4.94514483e-04 4.51600854e+00] [ 2.23177854e-02 -1.83870276e-04 9.99750910e-01 3.93278607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.395099893 meters 0.012141247907817636 Centerline is valid? [True, True] Translation: X:333.36, Y:4.51, Z:3.93 [[ 9.99228634e-01 -3.24984944e-02 -2.20450642e-02 3.33363096e+02] [ 3.24955464e-02 9.99471759e-01 -4.92035556e-04 4.51495420e+00] [ 2.20494095e-02 -2.24710389e-04 9.99756857e-01 3.93347375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42509989300004 meters 0.012715177327956101 Centerline is valid? [True, True] Translation: X:333.39, Y:4.51, Z:3.93 [[ 9.99135270e-01 -3.59125778e-02 -2.09523168e-02 3.33392029e+02] [ 3.59105951e-02 9.99354896e-01 -4.70985131e-04 4.51148308e+00] [ 2.09557147e-02 -2.81832311e-04 9.99780365e-01 3.93345815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.455099893 meters 0.013098537294419444 Centerline is valid? [True, True] Translation: X:333.42, Y:4.51, Z:3.93 [[ 9.99066865e-01 -3.77647813e-02 -2.09575818e-02 3.33422673e+02] [ 3.77631915e-02 9.99286605e-01 -4.71749786e-04 4.51046092e+00] [ 2.09604463e-02 -3.20115595e-04 9.99780254e-01 3.93370820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.485099893 meters 0.013071157783414099 Centerline is valid? [True, True] Translation: X:333.45, Y:4.51, Z:3.93 [[ 9.99001686e-01 -3.96283229e-02 -2.06210513e-02 3.33452983e+02] [ 3.96271805e-02 9.99214427e-01 -4.64174571e-04 4.51058992e+00] [ 2.06232464e-02 -3.53442944e-04 9.99787256e-01 3.93454780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.515099893 meters 0.013658193248285027 Centerline is valid? [True, True] Translation: X:333.48, Y:4.51, Z:3.94 [[ 9.98899947e-01 -4.28515869e-02 -1.90430654e-02 3.33484563e+02] [ 4.28512026e-02 9.99081374e-01 -4.28413931e-04 4.50881169e+00] [ 1.90439302e-02 -3.88075603e-04 9.99818573e-01 3.93614112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.545099893 meters 0.014010081841301373 Centerline is valid? [True, True] Translation: X:333.52, Y:4.51, Z:3.94 [[ 9.98863248e-01 -4.39801639e-02 -1.83836089e-02 3.33516924e+02] [ 4.39800126e-02 9.99032326e-01 -4.12714393e-04 4.50798740e+00] [ 1.83839708e-02 -3.96266110e-04 9.99830922e-01 3.93709337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.575099893 meters 0.014350307412751045 Centerline is valid? [True, True] Translation: X:333.55, Y:4.51, Z:3.94 [[ 9.98829663e-01 -4.49538320e-02 -1.78453991e-02 3.33548785e+02] [ 4.49538671e-02 9.98988984e-01 -3.99374661e-04 4.50704957e+00] [ 1.78453105e-02 -4.03312441e-04 9.99840678e-01 3.93764626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.605099893 meters 0.014938740189608016 Centerline is valid? [True, True] Translation: X:333.58, Y:4.50, Z:3.94 [[ 9.98771087e-01 -4.63932505e-02 -1.74350963e-02 3.33579668e+02] [ 4.63935230e-02 9.98923165e-01 -3.89058052e-04 4.50460584e+00] [ 1.74343713e-02 -4.20295609e-04 9.99847921e-01 3.93820836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.635099893 meters 0.014278895347785599 Centerline is valid? [True, True] Translation: X:333.61, Y:4.51, Z:3.94 [[ 9.98776480e-01 -4.64425178e-02 -1.69892611e-02 3.33612126e+02] [ 4.64428003e-02 9.98920879e-01 -3.78128893e-04 4.50547715e+00] [ 1.69884889e-02 -4.11362618e-04 9.99855601e-01 3.93877405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.665099893 meters 0.014316967968161603 Centerline is valid? [True, True] Translation: X:333.64, Y:4.50, Z:3.94 [[ 9.98800778e-01 -4.59243789e-02 -1.69693253e-02 3.33643072e+02] [ 4.59246056e-02 9.98944838e-01 -3.76531379e-04 4.50459346e+00] [ 1.69687119e-02 -4.03229738e-04 9.99855940e-01 3.93886354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.695099893 meters 0.014825410732661071 Centerline is valid? [True, True] Translation: X:333.67, Y:4.50, Z:3.94 [[ 9.98836014e-01 -4.50197736e-02 -1.73158082e-02 3.33674679e+02] [ 4.50198903e-02 9.98986017e-01 -3.83264389e-04 4.50384364e+00] [ 1.73155047e-02 -3.96737511e-04 9.99849997e-01 3.93867181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.725099893 meters 0.013918383752907633 Centerline is valid? [True, True] Translation: X:333.71, Y:4.51, Z:3.94 [[ 9.98874006e-01 -4.39304441e-02 -1.79119124e-02 3.33706389e+02] [ 4.39304135e-02 9.99034515e-01 -3.95366405e-04 4.50562060e+00] [ 1.79119873e-02 -3.91956494e-04 9.99839491e-01 3.93891342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.755099893 meters 0.01322683843308055 Centerline is valid? [True, True] Translation: X:333.74, Y:4.51, Z:3.94 [[ 9.98994191e-01 -4.06823724e-02 -1.88560429e-02 3.33737762e+02] [ 4.06817824e-02 9.99172067e-01 -4.15032161e-04 4.50687545e+00] [ 1.88573158e-02 -3.52482714e-04 9.99822123e-01 3.93848211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.785099893 meters 0.01304315892215586 Centerline is valid? [True, True] Translation: X:333.77, Y:4.51, Z:3.94 [[ 9.99079095e-01 -3.82054440e-02 -1.95270678e-02 3.33768615e+02] [ 3.82043522e-02 9.99269855e-01 -4.29089317e-04 4.50767966e+00] [ 1.95292037e-02 -3.17324808e-04 9.99809237e-01 3.93806159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.815099893 meters 0.01228040293636175 Centerline is valid? [True, True] Translation: X:333.80, Y:4.51, Z:3.94 [[ 9.99177436e-01 -3.55334909e-02 -1.95403022e-02 3.33799205e+02] [ 3.55318953e-02 9.99368451e-01 -4.28941275e-04 4.51023325e+00] [ 1.95432033e-02 -2.65715529e-04 9.99808978e-01 3.93840567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.845099893 meters 0.011328208044790976 Centerline is valid? [True, True] Translation: X:333.83, Y:4.51, Z:3.94 [[ 9.99383055e-01 -2.91797659e-02 -1.95461253e-02 3.33829200e+02] [ 2.91769542e-02 9.99574170e-01 -4.29069101e-04 4.51342257e+00] [ 1.95503221e-02 -1.41492013e-04 9.99808864e-01 3.93848207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.875099893 meters 0.011013547891809992 Centerline is valid? [True, True] Translation: X:333.86, Y:4.52, Z:3.94 [[ 9.99475306e-01 -2.59120679e-02 -1.94339044e-02 3.33858664e+02] [ 2.59086658e-02 9.99664223e-01 -4.26859605e-04 4.51600073e+00] [ 1.94384398e-02 -7.68708998e-05 9.99811053e-01 3.93929160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.905099893 meters 0.010903715289049008 Centerline is valid? [True, True] Translation: X:333.89, Y:4.52, Z:3.94 [[ 9.99598695e-01 -2.03463495e-02 -1.97097658e-02 3.33887516e+02] [ 2.03417230e-02 9.99792991e-01 -4.35210122e-04 4.51895367e+00] [ 1.97145406e-02 3.41048754e-05 9.99805649e-01 3.93956482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93509989300003 meters 0.010926426733450739 Centerline is valid? [True, True] Translation: X:333.92, Y:4.52, Z:3.94 [[ 9.99637494e-01 -1.86109046e-02 -1.94554321e-02 3.33915691e+02] [ 1.86059963e-02 9.99826800e-01 -4.33280465e-04 4.52003473e+00] [ 1.94601262e-02 7.11356997e-05 9.99810631e-01 3.93944319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.965099893 meters 0.010933466839796612 Centerline is valid? [True, True] Translation: X:333.94, Y:4.52, Z:3.94 [[ 9.99647229e-01 -1.78734673e-02 -1.96457626e-02 3.33943925e+02] [ 1.78682570e-02 9.99840253e-01 -4.40728922e-04 4.52032622e+00] [ 1.96505016e-02 8.95379107e-05 9.99806906e-01 3.93992574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99509989300003 meters 0.011012550897396774 Centerline is valid? [True, True] Translation: X:333.97, Y:4.52, Z:3.94 [[ 9.99652900e-01 -1.75066692e-02 -1.96874640e-02 3.33970820e+02] [ 1.75012771e-02 9.99846741e-01 -4.46158921e-04 4.52045434e+00] [ 1.96922575e-02 1.01448296e-04 9.99806084e-01 3.93938585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.025099893 meters 0.01071726566990837 Centerline is valid? [True, True] Translation: X:334.00, Y:4.52, Z:3.94 [[ 9.99600051e-01 -1.93713969e-02 -2.06030756e-02 3.33999000e+02] [ 1.93658053e-02 9.99812354e-01 -4.70899608e-04 4.51728504e+00] [ 2.06083315e-02 7.17161221e-05 9.99787623e-01 3.93891633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05509989300003 meters 0.010564141269857151 Centerline is valid? [True, True] Translation: X:334.03, Y:4.51, Z:3.94 [[ 9.99466826e-01 -2.41030144e-02 -2.20251579e-02 3.34027944e+02] [ 2.40976733e-02 9.99709480e-01 -5.07913319e-04 4.51253527e+00] [ 2.20310014e-02 -2.31125489e-05 9.99757288e-01 3.93836241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.085099893 meters 0.010534932215076979 Centerline is valid? [True, True] Translation: X:334.06, Y:4.51, Z:3.94 [[ 9.99382615e-01 -2.72887766e-02 -2.21294435e-02 3.34057045e+02] [ 2.72840900e-02 9.99627588e-01 -5.13737487e-04 4.51027455e+00] [ 2.21352215e-02 -9.03614148e-05 9.99754982e-01 3.93892131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11509989300004 meters 0.010693736046960977 Centerline is valid? [True, True] Translation: X:334.09, Y:4.51, Z:3.94 [[ 9.99283879e-01 -3.10400679e-02 -2.16389101e-02 3.34086021e+02] [ 3.10363472e-02 9.99518128e-01 -5.07841163e-04 4.50773816e+00] [ 2.16442463e-02 -1.64115238e-04 9.99765722e-01 3.93976042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.145099893 meters 0.011084317957182208 Centerline is valid? [True, True] Translation: X:334.11, Y:4.50, Z:3.94 [[ 9.99175390e-01 -3.46261111e-02 -2.12031296e-02 3.34113853e+02] [ 3.46232547e-02 9.99400309e-01 -5.01915113e-04 4.50453254e+00] [ 2.12077937e-02 -2.32620129e-04 9.99775062e-01 3.94044064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17509989300004 meters 0.012132439605129483 Centerline is valid? [True, True] Translation: X:334.14, Y:4.50, Z:3.94 [[ 9.98893739e-01 -4.22703801e-02 -2.06037284e-02 3.34143933e+02] [ 4.22692684e-02 9.99106135e-01 -4.89645888e-04 4.49830049e+00] [ 2.06060090e-02 -3.81800315e-04 9.99787601e-01 3.94244755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.205099893 meters 0.014204692971268086 Centerline is valid? [True, True] Translation: X:334.17, Y:4.49, Z:3.94 [[ 9.98545795e-01 -5.01018191e-02 -1.99023150e-02 3.34173936e+02] [ 5.01023271e-02 9.98743978e-01 -4.73414281e-04 4.49075511e+00] [ 1.99010362e-02 -5.24426456e-04 9.99801817e-01 3.94379034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.235099893 meters 0.015762845607713037 Centerline is valid? [True, True] Translation: X:334.20, Y:4.49, Z:3.94 [[ 9.98358811e-01 -5.38624113e-02 -1.94557313e-02 3.34204436e+02] [ 5.38636159e-02 9.98548195e-01 -4.62488118e-04 4.48698890e+00] [ 1.94523961e-02 -5.86226951e-04 9.99810612e-01 3.94435448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.265099893 meters 0.016683369457077088 Centerline is valid? [True, True] Translation: X:334.24, Y:4.48, Z:3.95 [[ 9.98162536e-01 -5.73974245e-02 -1.94187331e-02 3.34236013e+02] [ 5.73993078e-02 9.98351194e-01 -4.60827373e-04 4.48457386e+00] [ 1.94131657e-02 -6.54641218e-04 9.99811332e-01 3.94528760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.295099893 meters 0.017998874086643614 Centerline is valid? [True, True] Translation: X:334.27, Y:4.48, Z:3.95 [[ 9.97953506e-01 -6.10322925e-02 -1.90751150e-02 3.34266760e+02] [ 6.10347832e-02 9.98135537e-01 -4.52115977e-04 4.48143841e+00] [ 1.90671438e-02 -7.13054785e-04 9.99817951e-01 3.94568842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.325099893 meters 0.018714480193086552 Centerline is valid? [True, True] Translation: X:334.30, Y:4.48, Z:3.95 [[ 9.97755456e-01 -6.42508660e-02 -1.88646720e-02 3.34297487e+02] [ 6.42538867e-02 9.97933484e-01 -4.46573193e-04 4.47965268e+00] [ 1.88543806e-02 -7.66557658e-04 9.99821947e-01 3.94636695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.355099893 meters 0.020378907746142885 Centerline is valid? [True, True] Translation: X:334.33, Y:4.48, Z:3.95 [[ 9.97385759e-01 -6.99062681e-02 -1.82964725e-02 3.34328226e+02] [ 6.99100708e-02 9.97553204e-01 -4.32469541e-04 4.47611240e+00] [ 1.82819371e-02 -8.47768727e-04 9.99832512e-01 3.94719985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.385099893 meters 0.021369646748735576 Centerline is valid? [True, True] Translation: X:334.36, Y:4.47, Z:3.95 [[ 9.97245665e-01 -7.20086164e-02 -1.77719444e-02 3.34360759e+02] [ 7.20125454e-02 9.97403638e-01 -4.19606682e-04 4.47494173e+00] [ 1.77560173e-02 -8.61352006e-04 9.99841978e-01 3.94779510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.415099893 meters 0.022679140335348145 Centerline is valid? [True, True] Translation: X:334.39, Y:4.47, Z:3.95 [[ 9.96998295e-01 -7.54703218e-02 -1.72809433e-02 3.34391400e+02] [ 7.54745719e-02 9.97147644e-01 -4.07046306e-04 4.47284884e+00] [ 1.72623718e-02 -8.98447324e-04 9.99850590e-01 3.94794381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.445099893 meters 0.023871578904033987 Centerline is valid? [True, True] Translation: X:334.42, Y:4.47, Z:3.95 [[ 9.96902142e-01 -7.67567896e-02 -1.71614518e-02 3.34422884e+02] [ 7.67611794e-02 9.97049426e-01 -4.03747468e-04 4.47189239e+00] [ 1.71418060e-02 -9.14836563e-04 9.99852650e-01 3.94812615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.475099893 meters 0.02368802376244185 Centerline is valid? [True, True] Translation: X:334.46, Y:4.47, Z:3.95 [[ 9.96756277e-01 -7.85466882e-02 -1.75311511e-02 3.34455307e+02] [ 7.85515639e-02 9.96909967e-01 -4.11379787e-04 4.47310861e+00] [ 1.75092918e-02 -9.67053948e-04 9.99846233e-01 3.94871342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.505099893 meters 0.02657338746978715 Centerline is valid? [True, True] Translation: X:334.49, Y:4.47, Z:3.95 [[ 9.96685947e-01 -7.93653952e-02 -1.78397875e-02 3.34486866e+02] [ 7.93706019e-02 9.96845090e-01 -4.17101969e-04 4.47018633e+00] [ 1.78166080e-02 -1.00023500e-03 9.99840771e-01 3.94817104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.535099893 meters 0.025712345664600504 Centerline is valid? [True, True] Translation: X:334.52, Y:4.47, Z:3.95 [[ 9.96539884e-01 -8.08139327e-02 -1.94259410e-02 3.34518547e+02] [ 8.08204171e-02 9.96728577e-01 -4.52332191e-04 4.47248481e+00] [ 1.93989452e-02 -1.11924558e-03 9.99811196e-01 3.94685128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.565099893 meters 0.026194851426211033 Centerline is valid? [True, True] Translation: X:334.55, Y:4.47, Z:3.95 [[ 9.96530155e-01 -8.08292592e-02 -1.98564911e-02 3.34550766e+02] [ 8.08360617e-02 9.96727304e-01 -4.61132738e-04 4.47332017e+00] [ 1.98287799e-02 -1.14558786e-03 9.99802734e-01 3.94678925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.595099893 meters 0.026194851426211033 Centerline is valid? [True, True] Translation: X:334.58, Y:4.47, Z:3.95 [[ 9.96535957e-01 -8.07576887e-02 -1.98565242e-02 3.34582497e+02] [ 8.07645054e-02 9.96733105e-01 -4.59706187e-04 4.47399600e+00] [ 1.98287798e-02 -1.14558861e-03 9.99802734e-01 3.94718156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.625099893 meters 0.02469595890336727 Centerline is valid? [True, True] Translation: X:334.61, Y:4.48, Z:3.95 [[ 9.96589520e-01 -8.01708585e-02 -1.95438486e-02 3.34614392e+02] [ 8.01773769e-02 9.96780510e-01 -4.51069073e-04 4.47758959e+00] [ 1.95170900e-02 -1.11744380e-03 9.99808899e-01 3.94726708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.655099893 meters 0.023869660893038568 Centerline is valid? [True, True] Translation: X:334.64, Y:4.48, Z:3.95 [[ 9.96830723e-01 -7.71107752e-02 -1.95560422e-02 3.34644961e+02] [ 7.71167348e-02 9.97021969e-01 -4.50317743e-04 4.48244253e+00] [ 1.95325281e-02 -1.05920756e-03 9.99808661e-01 3.94798757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68509989300003 meters 0.02176161014787621 Centerline is valid? [True, True] Translation: X:334.68, Y:4.49, Z:3.95 [[ 9.97233195e-01 -7.18636279e-02 -1.90150736e-02 3.34675279e+02] [ 7.18683152e-02 9.97414033e-01 -4.37618594e-04 4.49017982e+00] [ 1.89973501e-02 -9.30173513e-04 9.99819101e-01 3.94913716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.715099893 meters 0.020029715424680163 Centerline is valid? [True, True] Translation: X:334.71, Y:4.50, Z:3.95 [[ 9.97472172e-01 -6.84280183e-02 -1.91539017e-02 3.34706557e+02] [ 6.84321479e-02 9.97655676e-01 -4.40517739e-04 4.49564331e+00] [ 1.91391425e-02 -8.71338447e-04 9.99816450e-01 3.94987347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74509989300003 meters 0.01784070012212602 Centerline is valid? [True, True] Translation: X:334.74, Y:4.50, Z:3.95 [[ 9.97698283e-01 -6.49219729e-02 -1.95773955e-02 3.34737993e+02] [ 6.49256327e-02 9.97890004e-01 -4.49269665e-04 4.50211800e+00] [ 1.95652547e-02 -8.22839215e-04 9.99808243e-01 3.95088387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.775099893 meters 0.01552280279544023 Centerline is valid? [True, True] Translation: X:334.77, Y:4.51, Z:3.95 [[ 9.98166733e-01 -5.72277164e-02 -1.97018086e-02 3.34768212e+02] [ 5.72299439e-02 9.98360922e-01 -4.51205470e-04 4.51139385e+00] [ 1.96953373e-02 -6.77155112e-04 9.99805799e-01 3.95133964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80509989300003 meters 0.014478679050350675 Centerline is valid? [True, True] Translation: X:334.80, Y:4.52, Z:3.95 [[ 9.98382336e-01 -5.32524088e-02 -1.99221661e-02 3.34799528e+02] [ 5.32539018e-02 9.98580900e-01 -4.55946302e-04 4.51603418e+00] [ 1.99181748e-02 -6.05724345e-04 9.99801430e-01 3.95163054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.835099893 meters 0.012491677133637103 Centerline is valid? [True, True] Translation: X:334.83, Y:4.52, Z:3.95 [[ 9.98771491e-01 -4.55889317e-02 -1.94205721e-02 3.34829815e+02] [ 4.55889110e-02 9.98960186e-01 -4.44020899e-04 4.52395021e+00] [ 1.94206208e-02 -4.41887319e-04 9.99811304e-01 3.95196091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86509989300004 meters 0.011925096295087725 Centerline is valid? [True, True] Translation: X:334.86, Y:4.53, Z:3.95 [[ 9.98931153e-01 -4.20720482e-02 -1.91440586e-02 3.34860413e+02] [ 4.20713848e-02 9.99114512e-01 -4.37576094e-04 4.52728826e+00] [ 1.91455165e-02 -3.68308665e-04 9.99816640e-01 3.95207183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.895099893 meters 0.010962872310603175 Centerline is valid? [True, True] Translation: X:334.89, Y:4.53, Z:3.95 [[ 9.99078793e-01 -3.85692132e-02 -1.88143718e-02 3.34891359e+02] [ 3.85679600e-02 9.99255887e-01 -4.29583958e-04 4.53142700e+00] [ 1.88169405e-02 -2.96443717e-04 9.99822902e-01 3.95255888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92509989300004 meters 0.010075767236593355 Centerline is valid? [True, True] Translation: X:334.92, Y:4.54, Z:3.95 [[ 9.99294816e-01 -3.24118493e-02 -1.89563483e-02 3.34922137e+02] [ 3.24094779e-02 9.99474581e-01 -4.32377143e-04 4.53699885e+00] [ 1.89604025e-02 -1.82293114e-04 9.99820219e-01 3.95265800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.955099893 meters 0.00986482485796997 Centerline is valid? [True, True] Translation: X:334.95, Y:4.54, Z:3.95 [[ 9.99382968e-01 -2.96285976e-02 -1.88634178e-02 3.34951287e+02] [ 2.96257511e-02 9.99560968e-01 -4.30389779e-04 4.53961018e+00] [ 1.88678880e-02 -1.28718704e-04 9.99821977e-01 3.95248502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.985099893 meters 0.0096218521783927 Centerline is valid? [True, True] Translation: X:334.98, Y:4.54, Z:3.95 [[ 9.99493383e-01 -2.55644958e-02 -1.89587460e-02 3.34981270e+02] [ 2.55608806e-02 9.99673174e-01 -4.33026241e-04 4.54341065e+00] [ 1.89636199e-02 -5.17953805e-05 9.99820173e-01 3.95195062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.015099893 meters 0.009537015399892677 Centerline is valid? [True, True] Translation: X:335.01, Y:4.54, Z:3.95 [[ 9.99530334e-01 -2.43151692e-02 -1.86516216e-02 3.35009994e+02] [ 2.43114144e-02 9.99704342e-01 -4.28058159e-04 4.54492949e+00] [ 1.86565154e-02 -2.55901866e-05 9.99825952e-01 3.95226970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.045099893 meters 0.009684883670012086 Centerline is valid? [True, True] Translation: X:335.04, Y:4.55, Z:3.95 [[ 9.99555633e-01 -2.35305952e-02 -1.82988192e-02 3.35037884e+02] [ 2.35267832e-02 9.99723117e-01 -4.23600638e-04 4.54587178e+00] [ 1.83037201e-02 -7.09994646e-06 9.99832473e-01 3.95170745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.075099893 meters 0.009728125062090084 Centerline is valid? [True, True] Translation: X:335.07, Y:4.55, Z:3.95 [[ 9.99567771e-01 -2.32020013e-02 -1.80537376e-02 3.35066292e+02] [ 2.31981916e-02 9.99730797e-01 -4.20446804e-04 4.54660547e+00] [ 1.80586327e-02 1.45101094e-06 9.99836930e-01 3.95198920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.105099893 meters 0.009765240816022905 Centerline is valid? [True, True] Translation: X:335.09, Y:4.55, Z:3.95 [[ 9.99565063e-01 -2.38446590e-02 -1.73527358e-02 3.35094893e+02] [ 2.38411632e-02 9.99715676e-01 -4.08324139e-04 4.54564607e+00] [ 1.73575384e-02 -5.56286422e-06 9.99849347e-01 3.95173601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.135099893 meters 0.00979506922548177 Centerline is valid? [True, True] Translation: X:335.12, Y:4.54, Z:3.95 [[ 9.99550041e-01 -2.47633786e-02 -1.69260620e-02 3.35123209e+02] [ 2.47601141e-02 9.99693340e-01 -4.02429435e-04 4.54484516e+00] [ 1.69308370e-02 -1.68428698e-05 9.99856663e-01 3.95196818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.165099893 meters 0.009978799094237089 Centerline is valid? [True, True] Translation: X:335.15, Y:4.54, Z:3.95 [[ 9.99497946e-01 -2.75478693e-02 -1.56515627e-02 3.35152600e+02] [ 2.75453731e-02 9.99620484e-01 -3.75084971e-04 4.54183325e+00] [ 1.56559555e-02 -5.62314769e-05 9.99877436e-01 3.95299943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.195099893 meters 0.010106977518965065 Centerline is valid? [True, True] Translation: X:335.18, Y:4.54, Z:3.95 [[ 9.99462149e-01 -2.94202946e-02 -1.44865404e-02 3.35182392e+02] [ 2.94183468e-02 9.99567126e-01 -3.47577123e-04 4.53956657e+00] [ 1.44904954e-02 -7.87798905e-05 9.99895004e-01 3.95352142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.225099893 meters 0.010676594141878618 Centerline is valid? [True, True] Translation: X:335.21, Y:4.53, Z:3.95 [[ 9.99347417e-01 -3.38839502e-02 -1.25147037e-02 3.35213985e+02] [ 3.38828468e-02 9.99425766e-01 -3.00240571e-04 4.53416859e+00] [ 1.25176906e-02 -1.23989149e-04 9.99921643e-01 3.95481631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.255099893 meters 0.011128838808568103 Centerline is valid? [True, True] Translation: X:335.25, Y:4.53, Z:3.96 [[ 9.99276270e-01 -3.61669050e-02 -1.17851767e-02 3.35245884e+02] [ 3.61660897e-02 9.99345753e-01 -2.82363086e-04 4.53145038e+00] [ 1.17876785e-02 -1.44065026e-04 9.99930513e-01 3.95527602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.285099893 meters 0.011893653897585156 Centerline is valid? [True, True] Translation: X:335.28, Y:4.53, Z:3.96 [[ 9.99165242e-01 -3.90834862e-02 -1.18870152e-02 3.35277537e+02] [ 3.90828734e-02 9.99235932e-01 -2.83929964e-04 4.52778619e+00] [ 1.18890297e-02 -1.80885758e-04 9.99929307e-01 3.95523910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.315099893 meters 0.013718420880142032 Centerline is valid? [True, True] Translation: X:335.31, Y:4.52, Z:3.95 [[ 9.98930184e-01 -4.48602934e-02 -1.12268292e-02 3.35309246e+02] [ 4.48601178e-02 9.98993242e-01 -2.67592654e-04 4.51956621e+00] [ 1.12275308e-02 -2.36330503e-04 9.99936941e-01 3.95430612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.345099893 meters 0.01472985571345268 Centerline is valid? [True, True] Translation: X:335.34, Y:4.52, Z:3.95 [[ 9.98800240e-01 -4.77612461e-02 -1.08140942e-02 3.35341771e+02] [ 4.77612586e-02 9.98858747e-01 -2.57248933e-04 4.51597578e+00] [ 1.08140391e-02 -2.59554454e-04 9.99941493e-01 3.95455543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.375099893 meters 0.01726627674358388 Centerline is valid? [True, True] Translation: X:335.37, Y:4.51, Z:3.95 [[ 9.98524703e-01 -5.32832437e-02 -1.04552778e-02 3.35371754e+02] [ 5.32835649e-02 9.98579391e-01 -2.48031078e-04 4.50786686e+00] [ 1.04536409e-02 -3.09429318e-04 9.99945311e-01 3.95474141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.405099893 meters 0.018479263199564153 Centerline is valid? [True, True] Translation: X:335.40, Y:4.50, Z:3.95 [[ 9.98377639e-01 -5.60144084e-02 -1.02213917e-02 3.35403670e+02] [ 5.60148671e-02 9.98429906e-01 -2.41622684e-04 4.50463994e+00] [ 1.02188775e-02 -3.31319211e-04 9.99947731e-01 3.95497169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43509989300003 meters 0.020777555043987515 Centerline is valid? [True, True] Translation: X:335.44, Y:4.50, Z:3.95 [[ 9.98083979e-01 -6.09927882e-02 -1.04043134e-02 3.35435367e+02] [ 6.09935397e-02 9.98138131e-01 -2.45363828e-04 4.49747128e+00] [ 1.03999074e-02 -3.89702197e-04 9.99945844e-01 3.95432991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.465099893 meters 0.017940965230074202 Centerline is valid? [True, True] Translation: X:335.47, Y:4.50, Z:3.95 [[ 9.97957862e-01 -6.29041912e-02 -1.10981160e-02 3.35467608e+02] [ 6.29051682e-02 9.98019475e-01 -2.61368388e-04 4.50005022e+00] [ 1.10925771e-02 -4.37294216e-04 9.99938380e-01 3.95329185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49509989300003 meters 0.02014722337404306 Centerline is valid? [True, True] Translation: X:335.50, Y:4.50, Z:3.95 [[ 9.97843360e-01 -6.45184957e-02 -1.20827657e-02 3.35499122e+02] [ 6.45197837e-02 9.97916388e-01 -2.83578417e-04 4.49576505e+00] [ 1.20758859e-02 -4.96610588e-04 9.99926961e-01 3.95264717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.525099893 meters 0.018957266511711996 Centerline is valid? [True, True] Translation: X:335.53, Y:4.50, Z:3.95 [[ 9.97750195e-01 -6.58626456e-02 -1.25164030e-02 3.35531551e+02] [ 6.58641423e-02 9.97828557e-01 -2.93038886e-04 4.49689593e+00] [ 1.25085247e-02 -5.32002545e-04 9.99921624e-01 3.95224179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55509989300003 meters 0.01981881408574182 Centerline is valid? [True, True] Translation: X:335.56, Y:4.50, Z:3.95 [[ 9.97662824e-01 -6.71888544e-02 -1.24317446e-02 3.35563693e+02] [ 6.71904450e-02 9.97740126e-01 -2.90145592e-04 4.49531926e+00] [ 1.24231450e-02 -5.45826981e-04 9.99922681e-01 3.95211573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.585099893 meters 0.022383843717734428 Centerline is valid? [True, True] Translation: X:335.60, Y:4.49, Z:3.95 [[ 9.97510167e-01 -6.93508822e-02 -1.28032054e-02 3.35595063e+02] [ 6.93527593e-02 9.97592154e-01 -2.97857664e-04 4.49061077e+00] [ 1.27930339e-02 -5.90821573e-04 9.99917991e-01 3.95198171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61509989300004 meters 0.020975843712950727 Centerline is valid? [True, True] Translation: X:335.63, Y:4.49, Z:3.95 [[ 9.97463523e-01 -6.99823282e-02 -1.29998072e-02 3.35627472e+02] [ 6.99843263e-02 9.97548045e-01 -3.01699367e-04 4.49222620e+00] [ 1.29890459e-02 -6.08848636e-04 9.99915453e-01 3.95189701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.645099893 meters 0.022385607875781845 Centerline is valid? [True, True] Translation: X:335.66, Y:4.49, Z:3.95 [[ 9.97410698e-01 -7.06401116e-02 -1.34860691e-02 3.35658357e+02] [ 7.06423355e-02 9.97501661e-01 -3.11984337e-04 4.49035016e+00] [ 1.34744149e-02 -6.41510902e-04 9.99909010e-01 3.95153452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67509989300004 meters 0.021886192683692515 Centerline is valid? [True, True] Translation: X:335.69, Y:4.49, Z:3.95 [[ 9.97309291e-01 -7.19665983e-02 -1.39637866e-02 3.35690060e+02] [ 7.19691232e-02 9.97406808e-01 -3.22249871e-04 4.49157337e+00] [ 1.39507671e-02 -6.83578690e-04 9.99902450e-01 3.95070609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.705099893 meters 0.023178899542563105 Centerline is valid? [True, True] Translation: X:335.72, Y:4.49, Z:3.95 [[ 9.97264523e-01 -7.25566942e-02 -1.41066552e-02 3.35721185e+02] [ 7.25593410e-02 9.97364044e-01 -3.24766581e-04 4.49106881e+00] [ 1.40930347e-02 -6.99691419e-04 9.99900443e-01 3.95096392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.735099893 meters 0.022892824475399882 Centerline is valid? [True, True] Translation: X:335.75, Y:4.49, Z:3.95 [[ 9.97203386e-01 -7.32835049e-02 -1.46606490e-02 3.35753713e+02] [ 7.32864548e-02 9.97310875e-01 -3.36654712e-04 4.49364377e+00] [ 1.46458960e-02 -7.38713774e-04 9.99892470e-01 3.95104994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.765099893 meters 0.022646411469944307 Centerline is valid? [True, True] Translation: X:335.79, Y:4.50, Z:3.95 [[ 9.97169473e-01 -7.35971367e-02 -1.53787018e-02 3.35785764e+02] [ 7.36004377e-02 9.97287748e-01 -3.51982364e-04 4.49538210e+00] [ 1.53628958e-02 -7.80893115e-04 9.99881679e-01 3.95094847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.795099893 meters 0.02220251793220278 Centerline is valid? [True, True] Translation: X:335.82, Y:4.50, Z:3.95 [[ 9.97143436e-01 -7.38859214e-02 -1.56792625e-02 3.35817450e+02] [ 7.38894056e-02 9.97266378e-01 -3.57758779e-04 4.49723977e+00] [ 1.56628347e-02 -8.01794570e-04 9.99877009e-01 3.95076623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.825099893 meters 0.022517850273512493 Centerline is valid? [True, True] Translation: X:335.85, Y:4.50, Z:3.95 [[ 9.97055159e-01 -7.47156592e-02 -1.72794787e-02 3.35849991e+02] [ 7.47200347e-02 9.97204473e-01 -3.93156215e-04 4.49838581e+00] [ 1.72605484e-02 -8.99124816e-04 9.99850621e-01 3.94989801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.855099893 meters 0.02494753057166731 Centerline is valid? [True, True] Translation: X:335.88, Y:4.50, Z:3.95 [[ 9.96996735e-01 -7.54275934e-02 -1.75552829e-02 3.35880973e+02] [ 7.54322410e-02 9.97150850e-01 -3.98221204e-04 4.49656343e+00] [ 1.75353021e-02 -9.27209091e-04 9.99845815e-01 3.94988104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.885099893 meters 0.026827204884664144 Centerline is valid? [True, True] Translation: X:335.91, Y:4.50, Z:3.95 [[ 9.96937716e-01 -7.61800857e-02 -1.76574374e-02 3.35912105e+02] [ 7.61849222e-02 9.97093625e-01 -3.99573806e-04 4.49546401e+00] [ 1.76365578e-02 -9.46880295e-04 9.99844015e-01 3.95001891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.915099893 meters 0.027344100868780558 Centerline is valid? [True, True] Translation: X:335.94, Y:4.50, Z:3.95 [[ 9.96839963e-01 -7.73792344e-02 -1.79594859e-02 3.35943904e+02] [ 7.73844510e-02 9.97001245e-01 -4.05347889e-04 4.49737427e+00] [ 1.79369953e-02 -9.85717981e-04 9.99838633e-01 3.95110148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.945099893 meters 0.02653914172521555 Centerline is valid? [True, True] Translation: X:335.98, Y:4.50, Z:3.95 [[ 9.96808500e-01 -7.78698717e-02 -1.75811643e-02 3.35975607e+02] [ 7.78749682e-02 9.96963055e-01 -3.95590223e-04 4.50010653e+00] [ 1.75585758e-02 -9.74804910e-04 9.99845361e-01 3.95187370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.975099893 meters 0.02612488046188304 Centerline is valid? [True, True] Translation: X:336.01, Y:4.50, Z:3.95 [[ 9.96800538e-01 -7.79106935e-02 -1.78496751e-02 3.36007323e+02] [ 7.79159763e-02 9.96959849e-01 -4.00348793e-04 4.50225224e+00] [ 1.78266009e-02 -9.91706973e-04 9.99840602e-01 3.95258378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.005099893 meters 0.025593611337345393 Centerline is valid? [True, True] Translation: X:336.04, Y:4.51, Z:3.95 [[ 9.96878140e-01 -7.70392126e-02 -1.72896714e-02 3.36039529e+02] [ 7.70440592e-02 9.97027614e-01 -3.86579936e-04 4.50621507e+00] [ 1.72680616e-02 -9.46693380e-04 9.99850448e-01 3.95390744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.035099893 meters 0.026703205902426225 Centerline is valid? [True, True] Translation: X:336.07, Y:4.51, Z:3.95 [[ 9.96981219e-01 -7.57487289e-02 -1.70464006e-02 3.36070704e+02] [ 7.57532711e-02 9.97126520e-01 -3.80017642e-04 4.50702536e+00] [ 1.70262040e-02 -9.12450156e-04 9.99854627e-01 3.95445748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.065099893 meters 0.026471573621445484 Centerline is valid? [True, True] Translation: X:336.10, Y:4.51, Z:3.96 [[ 9.97119195e-01 -7.40014755e-02 -1.66460947e-02 3.36102550e+02] [ 7.40055784e-02 9.97257759e-01 -3.70226172e-04 4.50983024e+00] [ 1.66278444e-02 -8.62744243e-04 9.99861376e-01 3.95527129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.095099893 meters 0.022788009196689003 Centerline is valid? [True, True] Translation: X:336.13, Y:4.52, Z:3.96 [[ 9.97447340e-01 -6.97204396e-02 -1.54228755e-02 3.36133043e+02] [ 6.97234609e-02 9.97566299e-01 -3.42367858e-04 4.51955166e+00] [ 1.54092109e-02 -7.33842349e-04 9.99881002e-01 3.95767562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.125099893 meters 0.022610510343779693 Centerline is valid? [True, True] Translation: X:336.16, Y:4.52, Z:3.96 [[ 9.97643185e-01 -6.70366413e-02 -1.46343565e-02 3.36163519e+02] [ 6.70390770e-02 9.97750298e-01 -3.24613996e-04 4.52226623e+00] [ 1.46231945e-02 -6.57224808e-04 9.99892859e-01 3.95878108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.155099893 meters 0.020389748304669972 Centerline is valid? [True, True] Translation: X:336.19, Y:4.53, Z:3.96 [[ 9.98021088e-01 -6.12407659e-02 -1.42645460e-02 3.36193651e+02] [ 6.12424922e-02 9.98122867e-01 -3.16175831e-04 4.52974455e+00] [ 1.42571324e-02 -5.58046200e-04 9.99898206e-01 3.95980561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18509989300003 meters 0.017208697343055232 Centerline is valid? [True, True] Translation: X:336.22, Y:4.54, Z:3.96 [[ 9.98209441e-01 -5.80428445e-02 -1.44547758e-02 3.36224638e+02] [ 5.80442853e-02 9.98313958e-01 -3.20187695e-04 4.53664405e+00] [ 1.44489890e-02 -5.19402751e-04 9.99895473e-01 3.96003803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.215099893 meters 0.016045265573737023 Centerline is valid? [True, True] Translation: X:336.26, Y:4.54, Z:3.96 [[ 9.98397838e-01 -5.47094187e-02 -1.44442888e-02 3.36256168e+02] [ 5.47105171e-02 9.98502207e-01 -3.19384833e-04 4.54085769e+00] [ 1.44401276e-02 -4.71381383e-04 9.99895625e-01 3.96043896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24509989300003 meters 0.015602724104886419 Centerline is valid? [True, True] Translation: X:336.29, Y:4.55, Z:3.96 [[ 9.98729856e-01 -4.82483557e-02 -1.45179466e-02 3.36285503e+02] [ 4.82487926e-02 9.98835297e-01 -3.20364058e-04 4.54614408e+00] [ 1.45164946e-02 -3.80516244e-04 9.99894558e-01 3.96086159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.275099893 meters 0.013828828603715178 Centerline is valid? [True, True] Translation: X:336.32, Y:4.55, Z:3.96 [[ 9.98869817e-01 -4.50671762e-02 -1.51009368e-02 3.36318095e+02] [ 4.50672858e-02 9.98983898e-01 -3.33215625e-04 4.55185754e+00] [ 1.51006098e-02 -3.47719204e-04 9.99885919e-01 3.96123652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30509989300003 meters 0.012634232249439914 Centerline is valid? [True, True] Translation: X:336.35, Y:4.56, Z:3.96 [[ 9.99048937e-01 -4.02195676e-02 -1.68406331e-02 3.36349761e+02] [ 4.02190406e-02 9.99190819e-01 -3.70110713e-04 4.55786444e+00] [ 1.68418917e-02 -3.07555393e-04 9.99858118e-01 3.96018880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.335099893 meters 0.013262784456141269 Centerline is valid? [True, True] Translation: X:336.38, Y:4.56, Z:3.96 [[ 9.99101241e-01 -3.86038192e-02 -1.75058485e-02 3.36381312e+02] [ 3.86030190e-02 9.99254552e-01 -3.83747194e-04 4.55821189e+00] [ 1.75076129e-02 -2.92376306e-04 9.99846687e-01 3.95942043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36509989300004 meters 0.012252162172831739 Centerline is valid? [True, True] Translation: X:336.41, Y:4.56, Z:3.96 [[ 9.99138255e-01 -3.74556598e-02 -1.78835408e-02 3.36412388e+02] [ 3.74546567e-02 9.99298252e-01 -3.91142007e-04 4.56201873e+00] [ 1.78856415e-02 -2.79016937e-04 9.99840000e-01 3.95997213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.395099893 meters 0.012108817418833438 Centerline is valid? [True, True] Translation: X:336.44, Y:4.56, Z:3.96 [[ 9.99141787e-01 -3.71297146e-02 -1.83595658e-02 3.36443575e+02] [ 3.71286148e-02 9.99310415e-01 -4.00879626e-04 4.56488080e+00] [ 1.83617899e-02 -2.81129660e-04 9.99831369e-01 3.95985855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42509989300004 meters 0.012291464008146994 Centerline is valid? [True, True] Translation: X:336.47, Y:4.57, Z:3.96 [[ 9.99115368e-01 -3.77894009e-02 -1.84510957e-02 3.36474054e+02] [ 3.77884129e-02 9.99285682e-01 -4.02318020e-04 4.56616039e+00] [ 1.84531191e-02 -2.95275505e-04 9.99829683e-01 3.96012075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.455099893 meters 0.012373832386898126 Centerline is valid? [True, True] Translation: X:336.51, Y:4.57, Z:3.96 [[ 9.99098225e-01 -3.81956633e-02 -1.85426099e-02 3.36505330e+02] [ 3.81947437e-02 9.99270233e-01 -4.03866667e-04 4.56736830e+00] [ 1.85445040e-02 -3.04727760e-04 9.99827989e-01 3.96068754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.485099893 meters 0.012373832386898126 Centerline is valid? [True, True] Translation: X:336.54, Y:4.57, Z:3.96 [[ 9.99099603e-01 -3.81595964e-02 -1.85426244e-02 3.36536171e+02] [ 3.81586830e-02 9.99271611e-01 -4.03197641e-04 4.56801108e+00] [ 1.85445040e-02 -3.04727524e-04 9.99827989e-01 3.96106890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.515099893 meters 0.012316820922086092 Centerline is valid? [True, True] Translation: X:336.57, Y:4.57, Z:3.96 [[ 9.99069692e-01 -3.88218404e-02 -1.87780544e-02 3.36567215e+02] [ 3.88210334e-02 9.99246096e-01 -4.07630585e-04 4.56914373e+00] [ 1.87797225e-02 -3.21732114e-04 9.99823594e-01 3.96159052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.545099893 meters 0.01252664204780209 Centerline is valid? [True, True] Translation: X:336.60, Y:4.57, Z:3.96 [[ 9.99050849e-01 -3.92822475e-02 -1.88230179e-02 3.36598641e+02] [ 3.92815314e-02 9.99228100e-01 -4.07919816e-04 4.56982515e+00] [ 1.88245124e-02 -3.31864331e-04 9.99822748e-01 3.96182986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.575099893 meters 0.012927367071662872 Centerline is valid? [True, True] Translation: X:336.63, Y:4.57, Z:3.96 [[ 9.99006345e-01 -4.03202808e-02 -1.89894084e-02 3.36628505e+02] [ 4.03197593e-02 9.99186744e-01 -4.10476789e-04 4.57020432e+00] [ 1.89905157e-02 -3.55579461e-04 9.99819601e-01 3.96225812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.605099893 meters 0.013620093641193504 Centerline is valid? [True, True] Translation: X:336.66, Y:4.57, Z:3.96 [[ 9.98993462e-01 -4.04884177e-02 -1.93067637e-02 3.36659171e+02] [ 4.04879342e-02 9.99179941e-01 -4.16081980e-04 4.56974304e+00] [ 1.93077775e-02 -3.66027799e-04 9.99813520e-01 3.96197337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.635099893 meters 0.013312252232995954 Centerline is valid? [True, True] Translation: X:336.69, Y:4.57, Z:3.96 [[ 9.98941381e-01 -4.13867419e-02 -2.00812291e-02 3.36690120e+02] [ 4.13864104e-02 9.99143122e-01 -4.32269219e-04 4.57281644e+00] [ 2.00819122e-02 -3.99278381e-04 9.99798258e-01 3.96233884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.665099893 meters 0.013852008252565204 Centerline is valid? [True, True] Translation: X:336.72, Y:4.57, Z:3.96 [[ 9.98939306e-01 -4.14424052e-02 -2.00696450e-02 3.36720575e+02] [ 4.14421033e-02 9.99140814e-01 -4.31130059e-04 4.57323543e+00] [ 2.00702685e-02 -4.01055541e-04 9.99798491e-01 3.96251172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.695099893 meters 0.013669531028811405 Centerline is valid? [True, True] Translation: X:336.75, Y:4.57, Z:3.96 [[ 9.98917487e-01 -4.19498428e-02 -2.01013493e-02 3.36751473e+02] [ 4.19496626e-02 9.99119633e-01 -4.30815606e-04 4.57478973e+00] [ 2.01017253e-02 -4.12895575e-04 9.99797855e-01 3.96306080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.725099893 meters 0.013088087781467458 Centerline is valid? [True, True] Translation: X:336.78, Y:4.58, Z:3.96 [[ 9.98919597e-01 -4.19506439e-02 -1.99945692e-02 3.36782542e+02] [ 4.19504800e-02 9.99119600e-01 -4.27814339e-04 4.57798475e+00] [ 1.99949131e-02 -4.11429651e-04 9.99799997e-01 3.96448541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.755099893 meters 0.013149137723496664 Centerline is valid? [True, True] Translation: X:336.81, Y:4.58, Z:3.96 [[ 9.98932305e-01 -4.18701656e-02 -1.95227809e-02 3.36813686e+02] [ 4.18700077e-02 9.99122980e-01 -4.17017426e-04 4.57945004e+00] [ 1.95231197e-02 -4.00846810e-04 9.99809325e-01 3.96491345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.785099893 meters 0.013331934566993381 Centerline is valid? [True, True] Translation: X:336.84, Y:4.58, Z:3.97 [[ 9.98967769e-01 -4.10599105e-02 -1.94288415e-02 3.36843578e+02] [ 4.10596121e-02 9.99156613e-01 -4.14434697e-04 4.58172023e+00] [ 1.94294721e-02 -3.83733792e-04 9.99811156e-01 3.96564893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.815099893 meters 0.013993262077951703 Centerline is valid? [True, True] Translation: X:336.87, Y:4.58, Z:3.97 [[ 9.98989316e-01 -4.02854888e-02 -1.99355219e-02 3.36874302e+02] [ 4.02850278e-02 9.99188138e-01 -4.24879273e-04 4.58230809e+00] [ 1.99364535e-02 -3.78653198e-04 9.99801177e-01 3.96516702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.845099893 meters 0.012683730391932881 Centerline is valid? [True, True] Translation: X:336.91, Y:4.59, Z:3.97 [[ 9.99015778e-01 -3.94346034e-02 -2.03073005e-02 3.36905095e+02] [ 3.94339598e-02 9.99222085e-01 -4.32288220e-04 4.58714338e+00] [ 2.03085503e-02 -3.68934521e-04 9.99793692e-01 3.96651349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.875099893 meters 0.01261701841788067 Centerline is valid? [True, True] Translation: X:336.94, Y:4.59, Z:3.97 [[ 9.99144141e-01 -3.62767097e-02 -1.98742423e-02 3.36935431e+02] [ 3.62754802e-02 9.99341739e-01 -4.22488347e-04 4.59054099e+00] [ 1.98764863e-02 -2.98820926e-04 9.99802398e-01 3.96684290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.905099893 meters 0.012176133164449961 Centerline is valid? [True, True] Translation: X:336.97, Y:4.59, Z:3.97 [[ 9.99214947e-01 -3.43492602e-02 -1.97387279e-02 3.36967089e+02] [ 3.43476810e-02 9.99409856e-01 -4.19119958e-04 4.59396525e+00] [ 1.97414757e-02 -2.59188604e-04 9.99805084e-01 3.96781925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93509989300003 meters 0.011856264292463213 Centerline is valid? [True, True] Translation: X:337.00, Y:4.60, Z:3.97 [[ 9.99292189e-01 -3.21198594e-02 -1.95815271e-02 3.36997396e+02] [ 3.21178885e-02 9.99484001e-01 -4.15214639e-04 4.59663924e+00] [ 1.95847597e-02 -2.13996557e-04 9.99808177e-01 3.96862140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.965099893 meters 0.011491140633776906 Centerline is valid? [True, True] Translation: X:337.03, Y:4.60, Z:3.97 [[ 9.99441120e-01 -2.73323987e-02 -1.92454491e-02 3.37026946e+02] [ 2.73296125e-02 9.99626393e-01 -4.07815935e-04 4.60160182e+00] [ 1.92494054e-02 -1.18382652e-04 9.99814706e-01 3.96972981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99509989300003 meters 0.01130803640996447 Centerline is valid? [True, True] Translation: X:337.06, Y:4.60, Z:3.97 [[ 9.99500864e-01 -2.49971034e-02 -1.93175477e-02 3.37056857e+02] [ 2.49938573e-02 9.99687521e-01 -4.09491505e-04 4.60455219e+00] [ 1.93217475e-02 -7.35329172e-05 9.99813315e-01 3.97090564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.025099893 meters 0.011299742772022968 Centerline is valid? [True, True] Translation: X:337.09, Y:4.61, Z:3.97 [[ 9.99541822e-01 -2.31735529e-02 -1.94713426e-02 3.37085882e+02] [ 2.31698657e-02 9.99731457e-01 -4.14971557e-04 4.60717706e+00] [ 1.94757301e-02 -3.63669672e-05 9.99810329e-01 3.97141935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05509989300003 meters 0.01140782120718695 Centerline is valid? [True, True] Translation: X:337.11, Y:4.61, Z:3.97 [[ 9.99606435e-01 -2.02166728e-02 -1.94489605e-02 3.37113813e+02] [ 2.02123623e-02 9.99795622e-01 -4.18201027e-04 4.61090286e+00] [ 1.94534402e-02 2.49270025e-05 9.99810764e-01 3.97247953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.085099893 meters 0.01135181578863176 Centerline is valid? [True, True] Translation: X:337.14, Y:4.61, Z:3.97 [[ 9.99620589e-01 -1.95370740e-02 -1.94159684e-02 3.37141770e+02] [ 1.95325889e-02 9.99809132e-01 -4.20635366e-04 4.61215881e+00] [ 1.94204805e-02 4.12316443e-05 9.99811404e-01 3.97353615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11509989300004 meters 0.011417068576085517 Centerline is valid? [True, True] Translation: X:337.17, Y:4.61, Z:3.97 [[ 9.99623129e-01 -1.93045012e-02 -1.95175693e-02 3.37169652e+02] [ 1.92998129e-02 9.99813649e-01 -4.28562185e-04 4.61257100e+00] [ 1.95222053e-02 5.17152386e-05 9.99809422e-01 3.97373011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.145099893 meters 0.01142193450530183 Centerline is valid? [True, True] Translation: X:337.20, Y:4.61, Z:3.97 [[ 9.99604807e-01 -2.01683626e-02 -1.95823133e-02 3.37196556e+02] [ 2.01637192e-02 9.99796597e-01 -4.34557234e-04 4.61253491e+00] [ 1.95870945e-02 3.95332330e-05 9.99808154e-01 3.97385052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17509989300004 meters 0.011347552738588704 Centerline is valid? [True, True] Translation: X:337.22, Y:4.61, Z:3.97 [[ 9.99565658e-01 -2.16323000e-02 -2.00134929e-02 3.37224784e+02] [ 2.16276667e-02 9.99765994e-01 -4.47953416e-04 4.61219955e+00] [ 2.00184999e-02 1.49136978e-05 9.99799610e-01 3.97450644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.205099893 meters 0.011408739326879087 Centerline is valid? [True, True] Translation: X:337.25, Y:4.61, Z:3.97 [[ 9.99490669e-01 -2.47898877e-02 -2.00963741e-02 3.37252256e+02] [ 2.47857623e-02 9.99692683e-01 -4.54371143e-04 4.61025670e+00] [ 2.01014619e-02 -4.39642331e-05 9.99797944e-01 3.97472180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.235099893 meters 0.011516141487978361 Centerline is valid? [True, True] Translation: X:337.28, Y:4.61, Z:3.97 [[ 9.99419681e-01 -2.71592020e-02 -2.05591766e-02 3.37281305e+02] [ 2.71553108e-02 9.99631117e-01 -4.68470583e-04 4.60898203e+00] [ 2.05643160e-02 -9.00921091e-05 9.99788528e-01 3.97476290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.265099893 meters 0.011802678653225417 Centerline is valid? [True, True] Translation: X:337.31, Y:4.61, Z:3.97 [[ 9.99339835e-01 -2.97520987e-02 -2.08496052e-02 3.37308987e+02] [ 2.97485719e-02 9.99557298e-01 -4.79362146e-04 4.60720911e+00] [ 2.08546371e-02 -1.41200292e-04 9.99782508e-01 3.97489318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.295099893 meters 0.01244600537526466 Centerline is valid? [True, True] Translation: X:337.34, Y:4.60, Z:3.98 [[ 9.99144625e-01 -3.61670594e-02 -2.00489859e-02 3.37337935e+02] [ 3.61650188e-02 9.99345724e-01 -4.64464629e-04 4.60223643e+00] [ 2.00526667e-02 -2.61004617e-04 9.99798891e-01 3.97589916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.325099893 meters 0.012989379028449568 Centerline is valid? [True, True] Translation: X:337.37, Y:4.60, Z:3.98 [[ 9.99031169e-01 -3.94017796e-02 -1.96015892e-02 3.37368198e+02] [ 3.94003923e-02 9.99223399e-01 -4.57112963e-04 4.59961766e+00] [ 1.96043776e-02 -3.15640204e-04 9.99807766e-01 3.97648521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.355099893 meters 0.013727794730015085 Centerline is valid? [True, True] Translation: X:337.40, Y:4.60, Z:3.98 [[ 9.98902513e-01 -4.28287309e-02 -1.89596663e-02 3.37399654e+02] [ 4.28280543e-02 9.99082360e-01 -4.41908940e-04 4.59678957e+00] [ 1.89611945e-02 -3.70581666e-04 9.99820152e-01 3.97748972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.385099893 meters 0.01620654826781472 Centerline is valid? [True, True] Translation: X:337.43, Y:4.59, Z:3.98 [[ 9.98613903e-01 -4.97043174e-02 -1.73134069e-02 3.37429663e+02] [ 4.97047979e-02 9.98763871e-01 -4.02825472e-04 4.58928122e+00] [ 1.73120274e-02 -4.58292273e-04 9.99850031e-01 3.97899139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.415099893 meters 0.016049635549059704 Centerline is valid? [True, True] Translation: X:337.46, Y:4.59, Z:3.98 [[ 9.98453134e-01 -5.30847999e-02 -1.65330708e-02 3.37461740e+02] [ 5.30857183e-02 9.98589885e-01 -3.83622616e-04 4.58857248e+00] [ 1.65301218e-02 -4.94640736e-04 9.99863246e-01 3.97993190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.445099893 meters 0.017797866665683077 Centerline is valid? [True, True] Translation: X:337.49, Y:4.58, Z:3.98 [[ 9.98071168e-01 -6.01359937e-02 -1.54145014e-02 3.37492830e+02] [ 6.01376453e-02 9.98190030e-01 -3.56775504e-04 4.58333449e+00] [ 1.54080567e-02 -5.70904476e-04 9.99881126e-01 3.98134842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.475099893 meters 0.019670906832494884 Centerline is valid? [True, True] Translation: X:337.52, Y:4.58, Z:3.98 [[ 9.97864741e-01 -6.35681944e-02 -1.50014478e-02 3.37522921e+02] [ 6.35701526e-02 9.97977312e-01 -3.46763920e-04 4.57980138e+00] [ 1.49931478e-02 -6.07620839e-04 9.99887412e-01 3.98193104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.505099893 meters 0.021217881992248354 Centerline is valid? [True, True] Translation: X:337.55, Y:4.58, Z:3.98 [[ 9.97656519e-01 -6.68708507e-02 -1.44830996e-02 3.37554463e+02] [ 6.68730398e-02 9.97761437e-01 -3.33630125e-04 4.57675071e+00] [ 1.44729884e-02 -6.35680629e-04 9.99895059e-01 3.98238525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.535099893 meters 0.02243406467276136 Centerline is valid? [True, True] Translation: X:337.59, Y:4.57, Z:3.98 [[ 9.97297601e-01 -7.21153763e-02 -1.40309823e-02 3.37585204e+02] [ 7.21179547e-02 9.97396058e-01 -3.22776399e-04 4.57370250e+00] [ 1.40177236e-02 -6.89981619e-04 9.99901509e-01 3.98286573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.565099893 meters 0.023703146537108238 Centerline is valid? [True, True] Translation: X:337.62, Y:4.57, Z:3.98 [[ 9.97159249e-01 -7.39337114e-02 -1.43957867e-02 3.37616572e+02] [ 7.39366171e-02 9.97262888e-01 -3.30991271e-04 4.57220405e+00] [ 1.43808552e-02 -7.34324762e-04 9.99896321e-01 3.98316186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.595099893 meters 0.02597197179505176 Centerline is valid? [True, True] Translation: X:337.65, Y:4.57, Z:3.98 [[ 9.97007198e-01 -7.59603026e-02 -1.43763727e-02 3.37647472e+02] [ 7.59634214e-02 9.97110550e-01 -3.29799311e-04 4.56916746e+00] [ 1.43598846e-02 -7.63266174e-04 9.99896600e-01 3.98352051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.625099893 meters 0.023423716774824792 Centerline is valid? [True, True] Translation: X:337.68, Y:4.57, Z:3.98 [[ 9.96985050e-01 -7.62050527e-02 -1.46150353e-02 3.37679188e+02] [ 7.62083112e-02 9.97091862e-01 -3.34654461e-04 4.57321571e+00] [ 1.45980351e-02 -7.80141664e-04 9.99893139e-01 3.98374518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.655099893 meters 0.026435953848798953 Centerline is valid? [True, True] Translation: X:337.71, Y:4.57, Z:3.98 [[ 9.96999074e-01 -7.59432182e-02 -1.50157840e-02 3.37710106e+02] [ 7.59466444e-02 9.97111824e-01 -3.42749081e-04 4.56953607e+00] [ 1.49984452e-02 -7.98677889e-04 9.99887198e-01 3.98341443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68509989300003 meters 0.02291523229197536 Centerline is valid? [True, True] Translation: X:337.74, Y:4.58, Z:3.98 [[ 9.97033447e-01 -7.54506018e-02 -1.52155408e-02 3.37742724e+02] [ 7.54540782e-02 9.97149218e-01 -3.46284550e-04 4.57504144e+00] [ 1.51982920e-02 -8.02817327e-04 9.99884177e-01 3.98357153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.715099893 meters 0.023592499028784058 Centerline is valid? [True, True] Translation: X:337.77, Y:4.58, Z:3.98 [[ 9.97114581e-01 -7.41361517e-02 -1.63200548e-02 3.37774113e+02] [ 7.41400047e-02 9.97247774e-01 -3.69639989e-04 4.57524007e+00] [ 1.63025421e-02 -8.41395521e-04 9.99866751e-01 3.98292630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74509989300003 meters 0.0233638152869017 Centerline is valid? [True, True] Translation: X:337.81, Y:4.58, Z:3.98 [[ 9.97161720e-01 -7.34125064e-02 -1.67064981e-02 3.37806416e+02] [ 7.34164598e-02 9.97301299e-01 -3.77376695e-04 4.57703765e+00] [ 1.66891165e-02 -8.50226355e-04 9.99860366e-01 3.98294878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.775099893 meters 0.02355884700563154 Centerline is valid? [True, True] Translation: X:337.84, Y:4.58, Z:3.98 [[ 9.97239034e-01 -7.21259506e-02 -1.76679329e-02 3.37837566e+02] [ 7.21301928e-02 9.97395146e-01 -3.97853973e-04 4.57959369e+00] [ 1.76506061e-02 -8.77635895e-04 9.99843831e-01 3.98225066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80509989300003 meters 0.024389796666934648 Centerline is valid? [True, True] Translation: X:337.87, Y:4.58, Z:3.98 [[ 9.97257653e-01 -7.17004358e-02 -1.83363388e-02 3.37868781e+02] [ 7.17049520e-02 9.97425802e-01 -4.11889976e-04 4.58034176e+00] [ 1.83186701e-02 -9.04045863e-04 9.99831790e-01 3.98216473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.835099893 meters 0.022435397962246816 Centerline is valid? [True, True] Translation: X:337.90, Y:4.58, Z:3.98 [[ 9.97289178e-01 -7.12877186e-02 -1.82306366e-02 3.37900763e+02] [ 7.12921339e-02 9.97455395e-01 -4.08430206e-04 4.58499185e+00] [ 1.82133628e-02 -8.92377958e-04 9.99833725e-01 3.98286329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86509989300004 meters 0.022286955491452955 Centerline is valid? [True, True] Translation: X:337.93, Y:4.59, Z:3.98 [[ 9.97332020e-01 -7.07594733e-02 -1.79426638e-02 3.37932654e+02] [ 7.07636880e-02 9.97493028e-01 -4.00686959e-04 4.58865097e+00] [ 1.79260344e-02 -8.70071130e-04 9.99838937e-01 3.98347045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.895099893 meters 0.022735638528773264 Centerline is valid? [True, True] Translation: X:337.96, Y:4.59, Z:3.98 [[ 9.97388069e-01 -7.00760846e-02 -1.75037895e-02 3.37964338e+02] [ 7.00800124e-02 9.97541297e-01 -3.89636736e-04 4.59006955e+00] [ 1.74880571e-02 -8.38046752e-04 9.99846721e-01 3.98416345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92509989300004 meters 0.02211771295640549 Centerline is valid? [True, True] Translation: X:338.00, Y:4.59, Z:3.99 [[ 9.97559210e-01 -6.79974290e-02 -1.58736150e-02 3.37995491e+02] [ 6.80004113e-02 9.97685231e-01 -3.52412088e-04 4.59475747e+00] [ 1.58608344e-02 -7.27860426e-04 9.99873944e-01 3.98586991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.955099893 meters 0.02133167756274199 Centerline is valid? [True, True] Translation: X:338.03, Y:4.60, Z:3.99 [[ 9.97677822e-01 -6.64838724e-02 -1.47938328e-02 3.38027695e+02] [ 6.64863053e-02 9.97787284e-01 -3.27848660e-04 4.59830434e+00] [ 1.47828949e-02 -6.56499949e-04 9.99890512e-01 3.98714655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.985099893 meters 0.020802306274770112 Centerline is valid? [True, True] Translation: X:338.06, Y:4.60, Z:3.99 [[ 9.97946739e-01 -6.27235692e-02 -1.29638126e-02 3.38058212e+02] [ 6.27251310e-02 9.98030799e-01 -2.86489941e-04 4.60297589e+00] [ 1.29562539e-02 -5.27255141e-04 9.99915925e-01 3.98891424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.015099893 meters 0.018849841920398184 Centerline is valid? [True, True] Translation: X:338.09, Y:4.61, Z:3.99 [[ 9.98063426e-01 -6.07733858e-02 -1.32662401e-02 3.38090748e+02] [ 6.07748562e-02 9.98151457e-01 -2.92645488e-04 4.60810549e+00] [ 1.32595019e-02 -5.14175075e-04 9.99911957e-01 3.98895839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.045099893 meters 0.019480358255220313 Centerline is valid? [True, True] Translation: X:338.12, Y:4.61, Z:3.99 [[ 9.98200576e-01 -5.84489594e-02 -1.33913502e-02 3.38121709e+02] [ 5.84502646e-02 9.98290278e-01 -2.94231963e-04 4.60890853e+00] [ 1.33856523e-02 -4.89025447e-04 9.99910289e-01 3.98915457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.075099893 meters 0.01679544624055909 Centerline is valid? [True, True] Translation: X:338.15, Y:4.62, Z:3.99 [[ 9.98427441e-01 -5.41016366e-02 -1.46852653e-02 3.38152916e+02] [ 5.41027450e-02 9.98535322e-01 -3.22085210e-04 4.61629912e+00] [ 1.46811814e-02 -4.72934449e-04 9.99892114e-01 3.98874831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.105099893 meters 0.015578565293232786 Centerline is valid? [True, True] Translation: X:338.19, Y:4.62, Z:3.99 [[ 9.98544973e-01 -5.16338219e-02 -1.55526664e-02 3.38185511e+02] [ 5.16347780e-02 9.98665977e-01 -3.40338154e-04 4.62000179e+00] [ 1.55494917e-02 -4.63215525e-04 9.99878992e-01 3.98872749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.135099893 meters 0.015258973295377544 Centerline is valid? [True, True] Translation: X:338.22, Y:4.62, Z:3.99 [[ 9.98658810e-01 -4.91725961e-02 -1.62061039e-02 3.38216697e+02] [ 4.91733331e-02 9.98790197e-01 -3.53240417e-04 4.62242597e+00] [ 1.62038675e-02 -4.44141492e-04 9.99868610e-01 3.98872589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.165099893 meters 0.014763564602889783 Centerline is valid? [True, True] Translation: X:338.25, Y:4.62, Z:3.99 [[ 9.98783944e-01 -4.63067407e-02 -1.69209456e-02 3.38247581e+02] [ 4.63071560e-02 9.98927181e-01 -3.67472836e-04 4.62488612e+00] [ 1.69198089e-02 -4.16534898e-04 9.99856763e-01 3.98886690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.195099893 meters 0.012892499195742998 Centerline is valid? [True, True] Translation: X:338.28, Y:4.63, Z:3.99 [[ 9.99045757e-01 -4.02441401e-02 -1.69701202e-02 3.38278846e+02] [ 4.02437160e-02 9.99189826e-01 -3.66626627e-04 4.63168094e+00] [ 1.69711260e-02 -3.16663920e-04 9.99855930e-01 3.98941239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.225099893 meters 0.012129710051141624 Centerline is valid? [True, True] Translation: X:338.31, Y:4.64, Z:3.99 [[ 9.99276387e-01 -3.43937819e-02 -1.62410316e-02 3.38309589e+02] [ 3.43926303e-02 9.99408337e-01 -3.50289061e-04 4.63610448e+00] [ 1.62434701e-02 -2.08536209e-04 9.99868044e-01 3.98982625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.255099893 meters 0.011991358101015162 Centerline is valid? [True, True] Translation: X:338.34, Y:4.64, Z:3.99 [[ 9.99375594e-01 -3.17331599e-02 -1.55379593e-02 3.38341271e+02] [ 3.17317947e-02 9.99496364e-01 -3.34456803e-04 4.63781032e+00] [ 1.55407472e-02 -1.58799369e-04 9.99879223e-01 3.99040382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.285099893 meters 0.01175871604060799 Centerline is valid? [True, True] Translation: X:338.37, Y:4.64, Z:3.99 [[ 9.99466319e-01 -2.95187617e-02 -1.39899948e-02 3.38373088e+02] [ 2.95174506e-02 9.99564220e-01 -3.00243898e-04 4.63966777e+00] [ 1.39927610e-02 -1.12865316e-04 9.99902090e-01 3.99150550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.315099893 meters 0.011532794716790744 Centerline is valid? [True, True] Translation: X:338.40, Y:4.64, Z:3.99 [[ 9.99516366e-01 -2.80866699e-02 -1.33481759e-02 3.38404219e+02] [ 2.80853573e-02 9.99605488e-01 -2.85814684e-04 4.64185283e+00] [ 1.33509375e-02 -8.92118359e-05 9.99910868e-01 3.99283951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.345099893 meters 0.011481106712759231 Centerline is valid? [True, True] Translation: X:338.44, Y:4.64, Z:3.99 [[ 9.99556746e-01 -2.70555963e-02 -1.24220027e-02 3.38435273e+02] [ 2.70543851e-02 9.99633928e-01 -2.65564811e-04 4.64287741e+00] [ 1.24246404e-02 -7.06225466e-05 9.99922809e-01 3.99398873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.375099893 meters 0.011669958789331818 Centerline is valid? [True, True] Translation: X:338.47, Y:4.64, Z:3.99 [[ 9.99493775e-01 -2.89332950e-02 -1.32309423e-02 3.38467942e+02] [ 2.89320957e-02 9.99581339e-01 -2.82087773e-04 4.64213019e+00] [ 1.32335648e-02 -1.00853916e-04 9.99912427e-01 3.99346415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.405099893 meters 0.011669958789331818 Centerline is valid? [True, True] Translation: X:338.50, Y:4.64, Z:3.99 [[ 9.99494802e-01 -2.88977987e-02 -1.32309617e-02 3.38498781e+02] [ 2.88966082e-02 9.99582366e-01 -2.81176101e-04 4.64275670e+00] [ 1.32335614e-02 -1.01295865e-04 9.99912427e-01 3.99384533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43509989300003 meters 0.011669958789331818 Centerline is valid? [True, True] Translation: X:338.53, Y:4.64, Z:3.99 [[ 9.99495827e-01 -2.88623077e-02 -1.32309716e-02 3.38529620e+02] [ 2.88611204e-02 9.99583392e-01 -2.80706325e-04 4.64338234e+00] [ 1.32335613e-02 -1.01295865e-04 9.99912427e-01 3.99422665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.465099893 meters 0.012089918473793945 Centerline is valid? [True, True] Translation: X:338.56, Y:4.64, Z:3.99 [[ 9.99365346e-01 -3.30193533e-02 -1.33651872e-02 3.38561584e+02] [ 3.30185204e-02 9.99454700e-01 -2.83037532e-04 4.64127789e+00] [ 1.33672449e-02 -1.58440806e-04 9.99910642e-01 3.99408085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49509989300003 meters 0.012655927873536825 Centerline is valid? [True, True] Translation: X:338.59, Y:4.64, Z:3.99 [[ 9.99248065e-01 -3.62605598e-02 -1.37286880e-02 3.38594095e+02] [ 3.62600007e-02 9.99342348e-01 -2.89715800e-04 4.63951438e+00] [ 1.37301646e-02 -2.08304286e-04 9.99905715e-01 3.99418100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.525099893 meters 0.01335984351717286 Centerline is valid? [True, True] Translation: X:338.63, Y:4.64, Z:3.99 [[ 9.99119461e-01 -3.97248421e-02 -1.34995819e-02 3.38626744e+02] [ 3.97246306e-02 9.99210625e-01 -2.83920925e-04 4.63688727e+00] [ 1.35002044e-02 -2.52594982e-04 9.99908836e-01 3.99421055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55509989300003 meters 0.014347258795468155 Centerline is valid? [True, True] Translation: X:338.66, Y:4.63, Z:3.99 [[ 9.98950958e-01 -4.37223678e-02 -1.36139020e-02 3.38658780e+02] [ 4.37225371e-02 9.99043672e-01 -2.85336364e-04 4.63390350e+00] [ 1.36133582e-02 -3.10197302e-04 9.99907286e-01 3.99429977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.585099893 meters 0.01704572602901158 Centerline is valid? [True, True] Translation: X:338.69, Y:4.63, Z:3.99 [[ 9.98543708e-01 -5.21763600e-02 -1.37145891e-02 3.38688657e+02] [ 5.21773415e-02 9.98637794e-01 -2.86477055e-04 4.62610984e+00] [ 1.37108543e-02 -4.29530937e-04 9.99905910e-01 3.99315810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61509989300004 meters 0.018767443171740474 Centerline is valid? [True, True] Translation: X:338.72, Y:4.62, Z:3.99 [[ 9.98108593e-01 -5.97734432e-02 -1.43656483e-02 3.38719626e+02] [ 5.97753160e-02 9.98211812e-01 -2.99362531e-04 4.62128805e+00] [ 1.43578538e-02 -5.59914853e-04 9.99896764e-01 3.99213791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.645099893 meters 0.019835968690100843 Centerline is valid? [True, True] Translation: X:338.75, Y:4.62, Z:3.99 [[ 9.97953757e-01 -6.23248786e-02 -1.42796730e-02 3.38751978e+02] [ 6.23269930e-02 9.98055739e-01 -2.97338607e-04 4.61920357e+00] [ 1.42704412e-02 -5.93278898e-04 9.99897996e-01 3.99187234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67509989300004 meters 0.02284058369797948 Centerline is valid? [True, True] Translation: X:338.78, Y:4.61, Z:3.99 [[ 9.97807615e-01 -6.45814089e-02 -1.44638901e-02 3.38783244e+02] [ 6.45838297e-02 9.97912240e-01 -3.00150176e-04 4.61497680e+00] [ 1.44530770e-02 -6.34641280e-04 9.99895347e-01 3.99165301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.705099893 meters 0.02277992094822873 Centerline is valid? [True, True] Translation: X:338.82, Y:4.62, Z:3.99 [[ 9.97722053e-01 -6.59354668e-02 -1.42554663e-02 3.38815439e+02] [ 6.59379676e-02 9.97823681e-01 -2.95030185e-04 4.61522890e+00] [ 1.42438948e-02 -6.45618351e-04 9.99898342e-01 3.99192517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.735099893 meters 0.020797782763944766 Centerline is valid? [True, True] Translation: X:338.85, Y:4.62, Z:3.99 [[ 9.97651462e-01 -6.71837911e-02 -1.33378709e-02 3.38847115e+02] [ 6.71861031e-02 9.97740423e-01 -2.75167493e-04 4.61842898e+00] [ 1.33262198e-02 -6.21598319e-04 9.99911009e-01 3.99269332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.765099893 meters 0.02028637499483577 Centerline is valid? [True, True] Translation: X:338.88, Y:4.62, Z:3.99 [[ 9.97720719e-01 -6.61824352e-02 -1.31625396e-02 3.38879029e+02] [ 6.61846096e-02 9.97807358e-01 -2.70814983e-04 4.61998106e+00] [ 1.31516021e-02 -6.00959825e-04 9.99913333e-01 3.99330205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.795099893 meters 0.022453187676423913 Centerline is valid? [True, True] Translation: X:338.91, Y:4.62, Z:3.99 [[ 9.97774856e-01 -6.53589405e-02 -1.31736405e-02 3.38910167e+02] [ 6.53610595e-02 9.97861643e-01 -2.70083618e-04 4.61786540e+00] [ 1.31631229e-02 -5.91560457e-04 9.99913187e-01 3.99352896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.825099893 meters 0.02117417433526901 Centerline is valid? [True, True] Translation: X:338.94, Y:4.62, Z:3.99 [[ 9.97850374e-01 -6.42159738e-02 -1.30743632e-02 3.38941989e+02] [ 6.42179726e-02 9.97935860e-01 -2.67321184e-04 4.62069048e+00] [ 1.30645422e-02 -5.72862557e-04 9.99914491e-01 3.99387698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.855099893 meters 0.020829623357027108 Centerline is valid? [True, True] Translation: X:338.97, Y:4.62, Z:3.99 [[ 9.98031545e-01 -6.14289105e-02 -1.26303150e-02 3.38972642e+02] [ 6.14305639e-02 9.98111326e-01 -2.57372653e-04 4.62316416e+00] [ 1.26222706e-02 -5.19021345e-04 9.99920201e-01 3.99410074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.885099893 meters 0.018771778871492135 Centerline is valid? [True, True] Translation: X:339.00, Y:4.63, Z:3.99 [[ 9.98222552e-01 -5.82005246e-02 -1.28232820e-02 3.39004235e+02] [ 5.82019690e-02 9.98304795e-01 -2.60829995e-04 4.62835624e+00] [ 1.28167243e-02 -4.85973877e-04 9.99917744e-01 3.99358080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.915099893 meters 0.017796341337444246 Centerline is valid? [True, True] Translation: X:339.04, Y:4.63, Z:3.99 [[ 9.98321157e-01 -5.62952204e-02 -1.36277731e-02 3.39036717e+02] [ 5.62966855e-02 9.98414046e-01 -2.76386746e-04 4.63119379e+00] [ 1.36217194e-02 -4.91275722e-04 9.99907099e-01 3.99327107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.945099893 meters 0.017192470180850336 Centerline is valid? [True, True] Translation: X:339.07, Y:4.63, Z:3.99 [[ 9.98434037e-01 -5.40386390e-02 -1.44671798e-02 3.39068696e+02] [ 5.40400697e-02 9.98538725e-01 -2.92299231e-04 4.63346329e+00] [ 1.44618347e-02 -4.89965903e-04 9.99895302e-01 3.99277566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.975099893 meters 0.016252642486209633 Centerline is valid? [True, True] Translation: X:339.10, Y:4.64, Z:3.99 [[ 9.98673280e-01 -4.90043428e-02 -1.58194138e-02 3.39099445e+02] [ 4.90054400e-02 9.98798461e-01 -3.18510961e-04 4.63720752e+00] [ 1.58160146e-02 -4.57148948e-04 9.99874815e-01 3.99094757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.005099893 meters 0.016001778599722374 Centerline is valid? [True, True] Translation: X:339.13, Y:4.64, Z:3.99 [[ 9.98792827e-01 -4.61889914e-02 -1.67172066e-02 3.39130254e+02] [ 4.61898344e-02 9.98932624e-01 -3.35883130e-04 4.63952566e+00] [ 1.67148771e-02 -4.36687342e-04 9.99860201e-01 3.99052718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.035099893 meters 0.015084268496951284 Centerline is valid? [True, True] Translation: X:339.16, Y:4.64, Z:3.99 [[ 9.98907807e-01 -4.33832513e-02 -1.73518370e-02 3.39162066e+02] [ 4.33837544e-02 9.99058421e-01 -3.47603022e-04 4.64328039e+00] [ 1.73505790e-02 -4.05564463e-04 9.99849385e-01 3.99038426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.065099893 meters 0.014233874710487407 Centerline is valid? [True, True] Translation: X:339.19, Y:4.65, Z:3.99 [[ 9.99030253e-01 -4.03635652e-02 -1.75879662e-02 3.39193718e+02] [ 4.03636347e-02 9.99184995e-01 -3.51180068e-04 4.64684208e+00] [ 1.75878067e-02 -3.59074728e-04 9.99845258e-01 3.99041137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.095099893 meters 0.012652691162823096 Centerline is valid? [True, True] Translation: X:339.23, Y:4.65, Z:3.99 [[ 9.99247965e-01 -3.46487952e-02 -1.74058778e-02 3.39225127e+02] [ 3.46480107e-02 9.99399517e-01 -3.46720783e-04 4.65368845e+00] [ 1.74074394e-02 -2.56619005e-04 9.99848446e-01 3.99074391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.125099893 meters 0.0124805562195278 Centerline is valid? [True, True] Translation: X:339.26, Y:4.66, Z:3.99 [[ 9.99344955e-01 -3.20222702e-02 -1.68592953e-02 3.39255754e+02] [ 3.20211691e-02 9.99487135e-01 -3.35326185e-04 4.65642210e+00] [ 1.68613867e-02 -2.04747815e-04 9.99857816e-01 3.99101183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.155099893 meters 0.012054246419327995 Centerline is valid? [True, True] Translation: X:339.29, Y:4.66, Z:3.99 [[ 9.99427905e-01 -2.93279399e-02 -1.68444285e-02 3.39285915e+02] [ 2.93264630e-02 9.99569831e-01 -3.34736627e-04 4.65951303e+00] [ 1.68469997e-02 -1.59442385e-04 9.99858067e-01 3.99109315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18509989300003 meters 0.011476904778698912 Centerline is valid? [True, True] Translation: X:339.32, Y:4.67, Z:3.99 [[ 9.99555756e-01 -2.46300539e-02 -1.67824755e-02 3.39316813e+02] [ 2.46279305e-02 9.99696631e-01 -3.33215836e-04 4.66529572e+00] [ 1.67855913e-02 -8.02498332e-05 9.99859109e-01 3.99082129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.215099893 meters 0.011415401494872374 Centerline is valid? [True, True] Translation: X:339.35, Y:4.67, Z:3.99 [[ 9.99619359e-01 -2.23381547e-02 -1.61908648e-02 3.39345971e+02] [ 2.23358790e-02 9.99750471e-01 -3.21392465e-04 4.66808357e+00] [ 1.61940040e-02 -4.03670674e-05 9.99868868e-01 3.99132648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24509989300003 meters 0.011333302188648415 Centerline is valid? [True, True] Translation: X:339.38, Y:4.67, Z:3.99 [[ 9.99676254e-01 -2.03572685e-02 -1.52633138e-02 3.39375564e+02] [ 2.03550081e-02 9.99792769e-01 -3.03444925e-04 4.67076571e+00] [ 1.52663281e-02 -7.33819123e-06 9.99883463e-01 3.99172157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.275099893 meters 0.011449819353125824 Centerline is valid? [True, True] Translation: X:339.40, Y:4.68, Z:3.99 [[ 9.99744400e-01 -1.75435093e-02 -1.42604287e-02 3.39404359e+02] [ 1.75412457e-02 9.99846100e-01 -2.83808499e-04 4.67504690e+00] [ 1.42632130e-02 3.35902739e-05 9.99898275e-01 3.99262355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30509989300003 meters 0.011458855547049576 Centerline is valid? [True, True] Translation: X:339.43, Y:4.68, Z:3.99 [[ 9.99760053e-01 -1.71233182e-02 -1.36612145e-02 3.39433682e+02] [ 1.71211925e-02 9.99853384e-01 -2.72544006e-04 4.67732799e+00] [ 1.36638784e-02 3.85823258e-05 9.99906644e-01 3.99312041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.335099893 meters 0.01142765609263368 Centerline is valid? [True, True] Translation: X:339.46, Y:4.68, Z:3.99 [[ 9.99742993e-01 -1.80417435e-02 -1.37274877e-02 3.39462128e+02] [ 1.80396767e-02 9.99837234e-01 -2.74379442e-04 4.67810021e+00] [ 1.37302036e-02 2.66694832e-05 9.99905736e-01 3.99312354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36509989300004 meters 0.011389460244059563 Centerline is valid? [True, True] Translation: X:339.49, Y:4.68, Z:3.99 [[ 9.99673527e-01 -2.17647719e-02 -1.33840707e-02 3.39492082e+02] [ 2.17631319e-02 9.99763119e-01 -2.68189778e-04 4.67746756e+00] [ 1.33867373e-02 -2.31770735e-05 9.99910393e-01 3.99321682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.395099893 meters 0.011389460244059563 Centerline is valid? [True, True] Translation: X:339.52, Y:4.68, Z:3.99 [[ 9.99673527e-01 -2.17647773e-02 -1.33840619e-02 3.39522073e+02] [ 2.17631314e-02 9.99763119e-01 -2.68625134e-04 4.67806972e+00] [ 1.33867381e-02 -2.27416634e-05 9.99910393e-01 3.99358793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42509989300004 meters 0.011688734772810617 Centerline is valid? [True, True] Translation: X:339.55, Y:4.68, Z:3.99 [[ 9.99545186e-01 -2.74211031e-02 -1.25500951e-02 3.39552546e+02] [ 2.74201017e-02 9.99623967e-01 -2.51886983e-04 4.67624933e+00] [ 1.25522828e-02 -9.23524630e-05 9.99921213e-01 3.99462236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.455099893 meters 0.012153464650022006 Centerline is valid? [True, True] Translation: X:339.58, Y:4.67, Z:4.00 [[ 9.99455514e-01 -3.06488552e-02 -1.22198109e-02 3.39583528e+02] [ 3.06481469e-02 9.99530205e-01 -2.45265778e-04 4.67448925e+00] [ 1.22215872e-02 -1.29382324e-04 9.99925305e-01 3.99521972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.485099893 meters 0.01259261461417912 Centerline is valid? [True, True] Translation: X:339.62, Y:4.67, Z:4.00 [[ 9.99353536e-01 -3.39488347e-02 -1.18316305e-02 3.39616008e+02] [ 3.39484091e-02 9.99423559e-01 -2.36864965e-04 4.67326288e+00] [ 1.18328516e-02 -1.64953193e-04 9.99929976e-01 3.99575902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.515099893 meters 0.014193455897104827 Centerline is valid? [True, True] Translation: X:339.65, Y:4.67, Z:4.00 [[ 9.99131435e-01 -4.01276058e-02 -1.12317201e-02 3.39647527e+02] [ 4.01276213e-02 9.99194538e-01 -2.24064252e-04 4.66906748e+00] [ 1.12316646e-02 -2.26832575e-04 9.99936897e-01 3.99622789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.545099893 meters 0.014840146638297823 Centerline is valid? [True, True] Translation: X:339.68, Y:4.67, Z:4.00 [[ 9.99031922e-01 -4.26103506e-02 -1.09351248e-02 3.39679256e+02] [ 4.26105202e-02 9.99091736e-01 -2.17572257e-04 4.66775264e+00] [ 1.09344637e-02 -2.48589729e-04 9.99940186e-01 3.99653792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.575099893 meters 0.015413521923329416 Centerline is valid? [True, True] Translation: X:339.71, Y:4.67, Z:4.00 [[ 9.98951317e-01 -4.45307139e-02 -1.06434240e-02 3.39711216e+02] [ 4.45309891e-02 9.99007981e-01 -2.11247706e-04 4.66711255e+00] [ 1.06422726e-02 -2.62936026e-04 9.99943335e-01 3.99684565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.605099893 meters 0.016003851034127173 Centerline is valid? [True, True] Translation: X:339.74, Y:4.67, Z:4.00 [[ 9.98811358e-01 -4.77354802e-02 -9.85875950e-03 3.39743088e+02] [ 4.77358790e-02 9.98859974e-01 -1.94993784e-04 4.66602069e+00] [ 9.85682838e-03 -2.75854544e-04 9.99951382e-01 3.99718608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.635099893 meters 0.01659591579874605 Centerline is valid? [True, True] Translation: X:339.78, Y:4.67, Z:4.00 [[ 9.98766284e-01 -4.87991606e-02 -9.19524378e-03 3.39775262e+02] [ 4.87995562e-02 9.98808575e-01 -1.81471768e-04 4.66527891e+00] [ 9.19314401e-03 -2.67475932e-04 9.99957706e-01 3.99761851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.665099893 meters 0.017178290221564762 Centerline is valid? [True, True] Translation: X:339.81, Y:4.66, Z:4.00 [[ 9.98709777e-01 -4.96913974e-02 -1.04664738e-02 3.39806415e+02] [ 4.96919685e-02 9.98764570e-01 -2.05649476e-04 4.66438760e+00] [ 1.04637622e-02 -3.14715546e-04 9.99945204e-01 3.99623754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.695099893 meters 0.017475655697760578 Centerline is valid? [True, True] Translation: X:339.84, Y:4.66, Z:4.00 [[ 9.98712292e-01 -4.95382252e-02 -1.09417854e-02 3.39839117e+02] [ 4.95388461e-02 9.98772175e-01 -2.14447415e-04 4.66440730e+00] [ 1.09389742e-02 -3.27872154e-04 9.99940114e-01 3.99559868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.725099893 meters 0.01688322581233511 Centerline is valid? [True, True] Translation: X:339.87, Y:4.67, Z:4.00 [[ 9.98748464e-01 -4.87721379e-02 -1.10807756e-02 3.39871703e+02] [ 4.87727412e-02 9.98809878e-01 -2.15930687e-04 4.66656142e+00] [ 1.10781196e-02 -3.24779361e-04 9.99938583e-01 3.99501297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.755099893 meters 0.017115482386234688 Centerline is valid? [True, True] Translation: X:339.90, Y:4.67, Z:4.00 [[ 9.98773210e-01 -4.81809556e-02 -1.14311522e-02 3.39903095e+02] [ 4.81815689e-02 9.98838569e-01 -2.21894133e-04 4.66692915e+00] [ 1.14285668e-02 -3.29148932e-04 9.99934638e-01 3.99533590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.785099893 meters 0.0161802881251592 Centerline is valid? [True, True] Translation: X:339.94, Y:4.67, Z:4.00 [[ 9.98821998e-01 -4.71355958e-02 -1.15261556e-02 3.39935012e+02] [ 4.71361568e-02 9.98888449e-01 -2.23134107e-04 4.66925405e+00] [ 1.15238613e-02 -3.20427424e-04 9.99933547e-01 3.99531680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.815099893 meters 0.016140997342421505 Centerline is valid? [True, True] Translation: X:339.97, Y:4.67, Z:4.00 [[ 9.98871719e-01 -4.59650847e-02 -1.19373167e-02 3.39965903e+02] [ 4.59656137e-02 9.98942996e-01 -2.30187798e-04 4.67001437e+00] [ 1.19352795e-02 -3.18778004e-04 9.99928721e-01 3.99514761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.845099893 meters 0.016141585006692924 Centerline is valid? [True, True] Translation: X:340.00, Y:4.67, Z:4.00 [[ 9.98937833e-01 -4.43549122e-02 -1.24838899e-02 3.39997447e+02] [ 4.43553739e-02 9.99015787e-01 -2.40022117e-04 4.67080163e+00] [ 1.24822493e-02 -3.13960431e-04 9.99922044e-01 3.99516724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.875099893 meters 0.015035374479737925 Centerline is valid? [True, True] Translation: X:340.03, Y:4.68, Z:3.99 [[ 9.99078625e-01 -4.04554301e-02 -1.43268908e-02 3.40028899e+02] [ 4.04556494e-02 9.99181297e-01 -2.74627156e-04 4.67506109e+00] [ 1.43262715e-02 -3.05229552e-04 9.99897327e-01 3.99388704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.905099893 meters 0.014317556994292359 Centerline is valid? [True, True] Translation: X:340.06, Y:4.68, Z:3.99 [[ 9.99156590e-01 -3.82886014e-02 -1.48354541e-02 3.40061426e+02] [ 3.82886072e-02 9.99266682e-01 -2.83745232e-04 4.67832172e+00] [ 1.48354392e-02 -2.84522957e-04 9.99889908e-01 3.99408039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93509989300003 meters 0.013634606660345694 Centerline is valid? [True, True] Translation: X:340.09, Y:4.68, Z:3.99 [[ 9.99314739e-01 -3.39547773e-02 -1.47351704e-02 3.40092703e+02] [ 3.39543261e-02 9.99423346e-01 -2.80866268e-04 4.68310824e+00] [ 1.47362101e-02 -2.19648980e-04 9.99891392e-01 3.99435915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.965099893 meters 0.013344369861167264 Centerline is valid? [True, True] Translation: X:340.12, Y:4.69, Z:3.99 [[ 9.99379749e-01 -3.20890909e-02 -1.45054604e-02 3.40123946e+02] [ 3.20884674e-02 9.99484994e-01 -2.75788754e-04 4.68516045e+00] [ 1.45068398e-02 -1.89840296e-04 9.99894752e-01 3.99468949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99509989300003 meters 0.013052580411609482 Centerline is valid? [True, True] Translation: X:340.16, Y:4.69, Z:4.00 [[ 9.99432541e-01 -3.04271433e-02 -1.44493938e-02 3.40156255e+02] [ 3.04263750e-02 9.99536973e-01 -2.73048041e-04 4.68747535e+00] [ 1.44510114e-02 -1.66749577e-04 9.99895565e-01 3.99502871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.025099893 meters 0.012878139818991378 Centerline is valid? [True, True] Translation: X:340.19, Y:4.69, Z:3.99 [[ 9.99473279e-01 -2.86680532e-02 -1.52087778e-02 3.40187862e+02] [ 2.86670140e-02 9.99588976e-01 -2.86374426e-04 4.69002073e+00] [ 1.52107364e-02 -1.49766658e-04 9.99884299e-01 3.99473848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05509989300003 meters 0.012778184520481815 Centerline is valid? [True, True] Translation: X:340.22, Y:4.69, Z:4.00 [[ 9.99471428e-01 -2.86775320e-02 -1.53121798e-02 3.40219560e+02] [ 2.86764881e-02 9.99588704e-01 -2.87777988e-04 4.69133220e+00] [ 1.53141347e-02 -1.51473665e-04 9.99882720e-01 3.99505098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.085099893 meters 0.013123323197713881 Centerline is valid? [True, True] Translation: X:340.25, Y:4.69, Z:4.00 [[ 9.99404184e-01 -3.08694882e-02 -1.54386571e-02 3.40250628e+02] [ 3.08686980e-02 9.99523406e-01 -2.89540055e-04 4.69131732e+00] [ 1.54402371e-02 -1.87203701e-04 9.99880775e-01 3.99538993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11509989300004 meters 0.01336103563355894 Centerline is valid? [True, True] Translation: X:340.28, Y:4.69, Z:4.00 [[ 9.99349617e-01 -3.25441502e-02 -1.55313073e-02 3.40282942e+02] [ 3.25435665e-02 9.99470276e-01 -2.90378869e-04 4.69128639e+00] [ 1.55325301e-02 -2.15254121e-04 9.99879340e-01 3.99589729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.145099893 meters 0.01404178795823146 Centerline is valid? [True, True] Translation: X:340.31, Y:4.69, Z:4.00 [[ 9.99276537e-01 -3.47263213e-02 -1.55075858e-02 3.40314381e+02] [ 3.47260186e-02 9.99396828e-01 -2.88876077e-04 4.68992706e+00] [ 1.55082636e-02 -2.49849626e-04 9.99879708e-01 3.99598532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17509989300004 meters 0.014465204331350671 Centerline is valid? [True, True] Translation: X:340.35, Y:4.69, Z:4.00 [[ 9.99190895e-01 -3.69962337e-02 -1.57744925e-02 3.40346978e+02] [ 3.69962177e-02 9.99315363e-01 -2.92930136e-04 4.68936232e+00] [ 1.57745301e-02 -2.90903435e-04 9.99875532e-01 3.99629447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.205099893 meters 0.015959546650693702 Centerline is valid? [True, True] Translation: X:340.38, Y:4.69, Z:4.00 [[ 9.98975744e-01 -4.20727449e-02 -1.66537210e-02 3.40377929e+02] [ 4.20734500e-02 9.99114473e-01 -3.08181172e-04 4.68656272e+00] [ 1.66519397e-02 -3.92813981e-04 9.99861270e-01 3.99604804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.235099893 meters 0.015959546650693702 Centerline is valid? [True, True] Translation: X:340.41, Y:4.69, Z:4.00 [[ 9.98978695e-01 -4.20026215e-02 -1.66537346e-02 3.40409624e+02] [ 4.20033290e-02 9.99117423e-01 -3.07446614e-04 4.68708897e+00] [ 1.66519499e-02 -3.92379675e-04 9.99861270e-01 3.99643993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.265099893 meters 0.01649984757525012 Centerline is valid? [True, True] Translation: X:340.44, Y:4.69, Z:4.00 [[ 9.98770572e-01 -4.66361000e-02 -1.68053149e-02 3.40440675e+02] [ 4.66374944e-02 9.98911832e-01 -3.09134215e-04 4.68712429e+00] [ 1.68014447e-02 -4.75003623e-04 9.99858733e-01 3.99686286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.295099893 meters 0.01649984757525012 Centerline is valid? [True, True] Translation: X:340.47, Y:4.69, Z:4.00 [[ 9.98773951e-01 -4.65636805e-02 -1.68053328e-02 3.40472375e+02] [ 4.65650811e-02 9.98915211e-01 -3.08159021e-04 4.68764936e+00] [ 1.68014516e-02 -4.74760482e-04 9.99858733e-01 3.99725474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.325099893 meters 0.017882436759511504 Centerline is valid? [True, True] Translation: X:340.50, Y:4.69, Z:4.00 [[ 9.98668436e-01 -4.88279918e-02 -1.66487741e-02 3.40503078e+02] [ 4.88296981e-02 9.98807072e-01 -3.04245011e-04 4.68643442e+00] [ 1.66437690e-02 -5.09114723e-04 9.99861353e-01 3.99812889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.355099893 meters 0.017718657363978957 Centerline is valid? [True, True] Translation: X:340.54, Y:4.69, Z:4.00 [[ 9.98594063e-01 -5.05456953e-02 -1.59696443e-02 3.40535518e+02] [ 5.05474956e-02 9.98721616e-01 -2.91144274e-04 4.68785260e+00] [ 1.59639450e-02 -5.16490582e-04 9.99872435e-01 3.99941887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.385099893 meters 0.02004701194099476 Centerline is valid? [True, True] Translation: X:340.57, Y:4.69, Z:4.00 [[ 9.98464550e-01 -5.31351093e-02 -1.56589340e-02 3.40567012e+02] [ 5.31371748e-02 9.98587182e-01 -2.84422712e-04 4.68541819e+00] [ 1.56519236e-02 -5.48085516e-04 9.99877351e-01 4.00015607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.415099893 meters 0.020387624935770933 Centerline is valid? [True, True] Translation: X:340.60, Y:4.69, Z:4.00 [[ 9.98444699e-01 -5.36157757e-02 -1.52817553e-02 3.40599469e+02] [ 5.36178121e-02 9.98561492e-01 -2.76717632e-04 4.68581361e+00] [ 1.52746088e-02 -5.43087030e-04 9.99883189e-01 4.00072509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.445099893 meters 0.020517659419907814 Centerline is valid? [True, True] Translation: X:340.63, Y:4.69, Z:4.00 [[ 9.98450289e-01 -5.36148764e-02 -1.49152819e-02 3.40631150e+02] [ 5.36168313e-02 9.98561547e-01 -2.69065104e-04 4.68691669e+00] [ 1.49082528e-02 -5.31062020e-04 9.99888725e-01 4.00157665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.475099893 meters 0.017995251831592004 Centerline is valid? [True, True] Translation: X:340.66, Y:4.69, Z:4.00 [[ 9.98542753e-01 -5.17213233e-02 -1.54037146e-02 3.40663741e+02] [ 5.17232027e-02 9.98661421e-01 -2.76614798e-04 4.69318873e+00] [ 1.53974024e-02 -5.20517750e-04 9.99881317e-01 4.00254750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.505099893 meters 0.017871767670507292 Centerline is valid? [True, True] Translation: X:340.69, Y:4.70, Z:4.00 [[ 9.98618303e-01 -5.02162058e-02 -1.54860573e-02 3.40694830e+02] [ 5.02179511e-02 9.98738244e-01 -2.76388920e-04 4.69508577e+00] [ 1.54803968e-02 -5.01671032e-04 9.99880046e-01 4.00328180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.535099893 meters 0.01697284953756471 Centerline is valid? [True, True] Translation: X:340.73, Y:4.70, Z:4.00 [[ 9.98803059e-01 -4.62119444e-02 -1.60282598e-02 3.40725522e+02] [ 4.62133121e-02 9.98931553e-01 -2.85240640e-04 4.69898629e+00] [ 1.60243160e-02 -4.55819751e-04 9.99871499e-01 4.00393877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.565099893 meters 0.016242503797636518 Centerline is valid? [True, True] Translation: X:340.76, Y:4.70, Z:4.00 [[ 9.98896513e-01 -4.40364080e-02 -1.63264196e-02 3.40757446e+02] [ 4.40375487e-02 9.99029835e-01 -2.89810378e-04 4.70166342e+00] [ 1.63233425e-02 -4.29484922e-04 9.99866673e-01 4.00449912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.595099893 meters 0.01587569038632056 Centerline is valid? [True, True] Translation: X:340.79, Y:4.70, Z:4.00 [[ 9.98996420e-01 -4.15282791e-02 -1.67795826e-02 3.40789038e+02] [ 4.15291511e-02 9.99137249e-01 -2.96627526e-04 4.70383868e+00] [ 1.67774244e-02 -4.00511983e-04 9.99859169e-01 4.00473203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.625099893 meters 0.014749848199607965 Centerline is valid? [True, True] Translation: X:340.82, Y:4.71, Z:4.00 [[ 9.99127011e-01 -3.76047952e-02 -1.81960074e-02 3.40820185e+02] [ 3.76051915e-02 9.99292623e-01 -3.20502004e-04 4.70834937e+00] [ 1.81951884e-02 -3.64042134e-04 9.99834388e-01 4.00455534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.655099893 meters 0.014528028383002335 Centerline is valid? [True, True] Translation: X:340.85, Y:4.71, Z:4.00 [[ 9.99182551e-01 -3.57437221e-02 -1.88842865e-02 3.40851408e+02] [ 3.57438319e-02 9.99360930e-01 -3.31817557e-04 4.71000648e+00] [ 1.88840785e-02 -3.43450450e-04 9.99821621e-01 4.00456719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68509989300003 meters 0.014212996396072155 Centerline is valid? [True, True] Translation: X:340.88, Y:4.71, Z:4.00 [[ 9.99213379e-01 -3.36082595e-02 -2.10501241e-02 3.40883019e+02] [ 3.36079475e-02 9.99435025e-01 -3.68681910e-04 4.71283983e+00] [ 2.10506220e-02 -3.39059568e-04 9.99778354e-01 4.00365560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.715099893 meters 0.014207717029868143 Centerline is valid? [True, True] Translation: X:340.91, Y:4.71, Z:4.00 [[ 9.99217555e-01 -3.28947332e-02 -2.19593784e-02 3.40913191e+02] [ 3.28942365e-02 9.99458764e-01 -3.83926816e-04 4.71392945e+00] [ 2.19601223e-02 -3.38710571e-04 9.99758790e-01 4.00351015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74509989300003 meters 0.014227834370028399 Centerline is valid? [True, True] Translation: X:340.94, Y:4.71, Z:4.00 [[ 9.99214321e-01 -3.25177632e-02 -2.26568993e-02 3.40943939e+02] [ 3.25171377e-02 9.99471100e-01 -3.96121925e-04 4.71470391e+00] [ 2.26577971e-02 -3.40926815e-04 9.99743221e-01 4.00331261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.775099893 meters 0.01427713571726897 Centerline is valid? [True, True] Translation: X:340.97, Y:4.72, Z:4.00 [[ 9.99204131e-01 -3.23416812e-02 -2.33478287e-02 3.40973674e+02] [ 3.23409601e-02 9.99476811e-01 -4.08579415e-04 4.71530091e+00] [ 2.33488275e-02 -3.46836958e-04 9.99727319e-01 4.00314853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80509989300003 meters 0.014406374973296445 Centerline is valid? [True, True] Translation: X:341.00, Y:4.72, Z:4.00 [[ 9.99192308e-01 -3.25247940e-02 -2.35980858e-02 3.41003158e+02] [ 3.25240892e-02 9.99470866e-01 -4.13773624e-04 4.71598015e+00] [ 2.35990571e-02 -3.54066824e-04 9.99721441e-01 4.00326861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.835099893 meters 0.013872933050743093 Centerline is valid? [True, True] Translation: X:341.03, Y:4.72, Z:4.01 [[ 9.99128959e-01 -3.41216100e-02 -2.40216539e-02 3.41032795e+02] [ 3.41213204e-02 9.99417609e-01 -4.22058987e-04 4.71831453e+00] [ 2.40220653e-02 -3.97959194e-04 9.99711349e-01 4.00536977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86509989300004 meters 0.01425881252063576 Centerline is valid? [True, True] Translation: X:341.06, Y:4.72, Z:4.01 [[ 9.99068811e-01 -3.56820785e-02 -2.42549038e-02 3.41062695e+02] [ 3.56822266e-02 9.99363095e-01 -4.26830228e-04 4.71799723e+00] [ 2.42546859e-02 -4.39036206e-04 9.99705715e-01 4.00563785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.895099893 meters 0.01496377530641936 Centerline is valid? [True, True] Translation: X:341.09, Y:4.72, Z:4.01 [[ 9.98989993e-01 -3.76230300e-02 -2.45662479e-02 3.41091821e+02] [ 3.76237575e-02 9.99291882e-01 -4.32755520e-04 4.71706057e+00] [ 2.45651337e-02 -4.91956120e-04 9.99698111e-01 4.00534672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92509989300004 meters 0.014997048412613534 Centerline is valid? [True, True] Translation: X:341.12, Y:4.72, Z:4.01 [[ 9.98889208e-01 -4.01475520e-02 -2.46682744e-02 3.41122536e+02] [ 4.01490494e-02 9.99193607e-01 -4.34775570e-04 4.71753923e+00] [ 2.46658373e-02 -5.56115143e-04 9.99695597e-01 4.00594386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.955099893 meters 0.018005245614521832 Centerline is valid? [True, True] Translation: X:341.15, Y:4.71, Z:4.00 [[ 9.98757946e-01 -4.30291257e-02 -2.51208862e-02 3.41152614e+02] [ 4.30316183e-02 9.99073613e-01 -4.41599650e-04 4.71252551e+00] [ 2.51166162e-02 -6.39941225e-04 9.99684323e-01 4.00374408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.985099893 meters 0.018717791437612784 Centerline is valid? [True, True] Translation: X:341.18, Y:4.71, Z:4.01 [[ 9.98436534e-01 -5.00189028e-02 -2.49518969e-02 3.41183507e+02] [ 5.00235750e-02 9.98747942e-01 -4.37298797e-04 4.71170819e+00] [ 2.49425289e-02 -8.11567992e-04 9.99688557e-01 4.00516944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.015099893 meters 0.01887766610530899 Centerline is valid? [True, True] Translation: X:341.21, Y:4.71, Z:4.01 [[ 9.98264297e-01 -5.35172674e-02 -2.45824356e-02 3.41214718e+02] [ 5.35228773e-02 9.98566531e-01 -4.30169267e-04 4.71223185e+00] [ 2.45702189e-02 -8.86300063e-04 9.99697714e-01 4.00617777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.045099893 meters 0.021346721074339138 Centerline is valid? [True, True] Translation: X:341.25, Y:4.71, Z:4.01 [[ 9.97949280e-01 -5.96066123e-02 -2.33299393e-02 3.41245102e+02] [ 5.96133397e-02 9.98221460e-01 -4.07634996e-04 4.70980216e+00] [ 2.33127438e-02 -9.83976545e-04 9.99727737e-01 4.00773765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.075099893 meters 0.024356131801825408 Centerline is valid? [True, True] Translation: X:341.28, Y:4.71, Z:4.01 [[ 9.97849395e-01 -6.15485851e-02 -2.25467815e-02 3.41276419e+02] [ 6.15553799e-02 9.98103592e-01 -3.93195070e-04 4.70635357e+00] [ 2.25282242e-02 -9.95526237e-04 9.99745712e-01 4.00779556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.105099893 meters 0.023115813237638987 Centerline is valid? [True, True] Translation: X:341.31, Y:4.71, Z:4.01 [[ 9.97749737e-01 -6.33789541e-02 -2.18762326e-02 3.41308093e+02] [ 6.33858148e-02 9.97989025e-01 -3.80346580e-04 4.70893729e+00] [ 2.18563460e-02 -1.00715213e-03 9.99760614e-01 4.00933082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.135099893 meters 0.024298181298923555 Centerline is valid? [True, True] Translation: X:341.34, Y:4.71, Z:4.01 [[ 9.97713640e-01 -6.41270284e-02 -2.13357983e-02 3.41339714e+02] [ 6.41337488e-02 9.97941244e-01 -3.69824743e-04 4.70732330e+00] [ 2.13155888e-02 -9.99365535e-04 9.99772298e-01 4.00918590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.165099893 meters 0.024298181298923555 Centerline is valid? [True, True] Translation: X:341.37, Y:4.71, Z:4.01 [[ 9.97720455e-01 -6.40209091e-02 -2.13358261e-02 3.41372286e+02] [ 6.40276397e-02 9.97948058e-01 -3.68213437e-04 4.70779621e+00] [ 2.13156196e-02 -9.98708508e-04 9.99772298e-01 4.00958854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.195099893 meters 0.022882858524782227 Centerline is valid? [True, True] Translation: X:341.40, Y:4.71, Z:4.01 [[ 9.97829968e-01 -6.26290409e-02 -2.03213833e-02 3.41404059e+02] [ 6.26348954e-02 9.98036446e-01 -3.48883035e-04 4.70919046e+00] [ 2.03033314e-02 -9.24701770e-04 9.99793438e-01 4.01070877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.225099893 meters 0.022705883638293577 Centerline is valid? [True, True] Translation: X:341.44, Y:4.71, Z:4.01 [[ 9.97870774e-01 -6.19494037e-02 -2.04007498e-02 3.41436488e+02] [ 6.19551921e-02 9.98078871e-01 -3.48781201e-04 4.70984376e+00] [ 2.03831641e-02 -9.15893807e-04 9.99791822e-01 4.01114595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.255099893 meters 0.02116365733623388 Centerline is valid? [True, True] Translation: X:341.47, Y:4.71, Z:4.01 [[ 9.97887608e-01 -6.15251047e-02 -2.08562364e-02 3.41468933e+02] [ 6.15310940e-02 9.98105104e-01 -3.55040812e-04 4.71292914e+00] [ 2.08385599e-02 -9.29016215e-04 9.99782422e-01 4.01173163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.285099893 meters 0.022263071280256567 Centerline is valid? [True, True] Translation: X:341.50, Y:4.71, Z:4.01 [[ 9.97906519e-01 -6.10892251e-02 -2.12293706e-02 3.41499995e+02] [ 6.10953621e-02 9.98131869e-01 -3.59982606e-04 4.71148376e+00] [ 2.12117024e-02 -9.37787096e-04 9.99774567e-01 4.01150233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.315099893 meters 0.023183104074506723 Centerline is valid? [True, True] Translation: X:341.53, Y:4.71, Z:4.01 [[ 9.97895991e-01 -6.10077050e-02 -2.19465310e-02 3.41531197e+02] [ 6.10142708e-02 9.98136825e-01 -3.70931084e-04 4.71020568e+00] [ 2.19282704e-02 -9.68900942e-04 9.99759077e-01 4.01105636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.345099893 meters 0.020970027039730887 Centerline is valid? [True, True] Translation: X:341.56, Y:4.71, Z:4.01 [[ 9.97965180e-01 -5.92991355e-02 -2.34331449e-02 3.41563263e+02] [ 5.93061868e-02 9.98239761e-01 -3.94547282e-04 4.71317878e+00] [ 2.34152933e-02 -9.95986023e-04 9.99725328e-01 4.01037151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.375099893 meters 0.022280493703941133 Centerline is valid? [True, True] Translation: X:341.59, Y:4.71, Z:4.01 [[ 9.98010839e-01 -5.82906461e-02 -2.40117778e-02 3.41594481e+02] [ 5.82977960e-02 9.98299156e-01 -4.02738990e-04 4.71147967e+00] [ 2.39944134e-02 -9.97895846e-04 9.99711595e-01 4.00970777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.405099893 meters 0.020940050208736884 Centerline is valid? [True, True] Translation: X:341.63, Y:4.71, Z:4.01 [[ 9.98127668e-01 -5.60788334e-02 -2.44197026e-02 3.41626669e+02] [ 5.60856049e-02 9.98425880e-01 -4.08052212e-04 4.71456316e+00] [ 2.44041462e-02 -9.62305591e-04 9.99701711e-01 4.01028187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43509989300003 meters 0.02023861511106679 Centerline is valid? [True, True] Translation: X:341.66, Y:4.72, Z:4.01 [[ 9.98195612e-01 -5.50383657e-02 -2.40062127e-02 3.41658781e+02] [ 5.50446499e-02 9.98483814e-01 -3.99453808e-04 4.71679883e+00] [ 2.39918001e-02 -9.22680534e-04 9.99711730e-01 4.01151709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.465099893 meters 0.019729451373922388 Centerline is valid? [True, True] Translation: X:341.69, Y:4.72, Z:4.01 [[ 9.98253197e-01 -5.41584777e-02 -2.36096354e-02 3.41690811e+02] [ 5.41643497e-02 9.98531958e-01 -3.91173408e-04 4.71868157e+00] [ 2.35961608e-02 -8.88310445e-04 9.99721177e-01 4.01255786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49509989300003 meters 0.0206545481471659 Centerline is valid? [True, True] Translation: X:341.72, Y:4.72, Z:4.01 [[ 9.98275086e-01 -5.38165392e-02 -2.34655846e-02 3.41721947e+02] [ 5.38222803e-02 9.98550455e-01 -3.87304245e-04 4.71793006e+00] [ 2.34524136e-02 -8.76335093e-04 9.99724570e-01 4.01270195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.525099893 meters 0.020325005923497785 Centerline is valid? [True, True] Translation: X:341.75, Y:4.72, Z:4.01 [[ 9.98266964e-01 -5.38651103e-02 -2.36984990e-02 3.41753783e+02] [ 5.38710146e-02 9.98547827e-01 -3.89673983e-04 4.71816279e+00] [ 2.36850745e-02 -8.87663524e-04 9.99719075e-01 4.01266475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55509989300003 meters 0.021228468278176493 Centerline is valid? [True, True] Translation: X:341.78, Y:4.72, Z:4.01 [[ 9.98238168e-01 -5.43021908e-02 -2.39130203e-02 3.41784777e+02] [ 5.43083790e-02 9.98524134e-01 -3.91055550e-04 4.71684171e+00] [ 2.38989631e-02 -9.08310793e-04 9.99713966e-01 4.01235594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.585099893 meters 0.021622158007558685 Centerline is valid? [True, True] Translation: X:341.82, Y:4.72, Z:4.01 [[ 9.98196795e-01 -5.50307206e-02 -2.39745527e-02 3.41816858e+02] [ 5.50372023e-02 9.98484228e-01 -3.89899136e-04 4.71667649e+00] [ 2.39596692e-02 -9.30296240e-04 9.99712493e-01 4.01262567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61509989300004 meters 0.02166169381261019 Centerline is valid? [True, True] Translation: X:341.85, Y:4.72, Z:4.01 [[ 9.98021881e-01 -5.79088050e-02 -2.44723235e-02 3.41847573e+02] [ 5.79164588e-02 9.98321354e-01 -3.96506970e-04 4.71667560e+00] [ 2.44542044e-02 -1.02162768e-03 9.99700429e-01 4.01297487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.645099893 meters 0.022694265215811013 Centerline is valid? [True, True] Translation: X:341.88, Y:4.72, Z:4.01 [[ 9.97927414e-01 -5.94243284e-02 -2.46906174e-02 3.41878604e+02] [ 5.94326139e-02 9.98232240e-01 -3.98763259e-04 4.71553686e+00] [ 2.46706666e-02 -1.06949114e-03 9.99695061e-01 4.01326573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67509989300004 meters 0.022938389634151193 Centerline is valid? [True, True] Translation: X:341.91, Y:4.72, Z:4.01 [[ 9.97845958e-01 -6.07821986e-02 -2.46773026e-02 3.41910199e+02] [ 6.07909219e-02 9.98150443e-01 -3.97237560e-04 4.71560641e+00] [ 2.46558054e-02 -1.10377408e-03 9.99695390e-01 4.01414468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.705099893 meters 0.02364387379161281 Centerline is valid? [True, True] Translation: X:341.94, Y:4.72, Z:4.01 [[ 9.97794490e-01 -6.16510265e-02 -2.46029862e-02 3.41942419e+02] [ 6.16599981e-02 9.98097134e-01 -3.94523673e-04 4.71503720e+00] [ 2.45804928e-02 -1.12336654e-03 9.99697223e-01 4.01471445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.735099893 meters 0.02495003230396145 Centerline is valid? [True, True] Translation: X:341.97, Y:4.71, Z:4.02 [[ 9.97806323e-01 -6.17525470e-02 -2.38571891e-02 3.41973859e+02] [ 6.17610461e-02 9.98090892e-01 -3.81117966e-04 4.71279049e+00] [ 2.38351781e-02 -1.09316304e-03 9.99715304e-01 4.01530211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.765099893 meters 0.02446450271407777 Centerline is valid? [True, True] Translation: X:342.01, Y:4.71, Z:4.02 [[ 9.97858629e-01 -6.11731047e-02 -2.31518356e-02 3.42005660e+02] [ 6.11809847e-02 9.98126621e-01 -3.68473705e-04 4.71358209e+00] [ 2.31310041e-02 -1.04876743e-03 9.99731892e-01 4.01644954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.795099893 meters 0.02352937997951806 Centerline is valid? [True, True] Translation: X:342.04, Y:4.71, Z:4.02 [[ 9.97928621e-01 -6.02734466e-02 -2.24850710e-02 3.42038217e+02] [ 6.02806856e-02 9.98181402e-01 -3.56321991e-04 4.71496184e+00] [ 2.24656564e-02 -9.99831582e-04 9.99747115e-01 4.01768120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.825099893 meters 0.022702395200720645 Centerline is valid? [True, True] Translation: X:342.07, Y:4.72, Z:4.02 [[ 9.98018763e-01 -5.92623877e-02 -2.11309534e-02 3.42070835e+02] [ 5.92685879e-02 9.98242016e-01 -3.33279511e-04 4.71606094e+00] [ 2.11135565e-02 -9.19782565e-04 9.99776661e-01 4.01938724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.855099893 meters 0.02208236914089793 Centerline is valid? [True, True] Translation: X:342.10, Y:4.72, Z:4.02 [[ 9.98028887e-01 -5.92333005e-02 -2.07305836e-02 3.42102970e+02] [ 5.92392962e-02 9.98243758e-01 -3.25300933e-04 4.71709587e+00] [ 2.07134443e-02 -9.03405454e-04 9.99785045e-01 4.02053987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.885099893 meters 0.020771504931714965 Centerline is valid? [True, True] Translation: X:342.14, Y:4.72, Z:4.02 [[ 9.98034465e-01 -5.94578976e-02 -1.97981237e-02 3.42135364e+02] [ 5.94634374e-02 9.98230436e-01 -3.09281805e-04 4.71888637e+00] [ 1.97814789e-02 -8.68590587e-04 9.99803950e-01 4.02175413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.915099893 meters 0.022133785472476925 Centerline is valid? [True, True] Translation: X:342.17, Y:4.72, Z:4.02 [[ 9.98009459e-01 -6.04117455e-02 -1.80980712e-02 3.42166568e+02] [ 6.04165515e-02 9.98173212e-01 -2.81583602e-04 4.71533598e+00] [ 1.80820208e-02 -8.12399953e-04 9.99836177e-01 4.02225907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.945099893 meters 0.022256093110059185 Centerline is valid? [True, True] Translation: X:342.20, Y:4.71, Z:4.02 [[ 9.97971280e-01 -6.11575770e-02 -1.76939155e-02 3.42198427e+02] [ 6.11623061e-02 9.98127796e-01 -2.74252202e-04 4.71441215e+00] [ 1.76775615e-02 -8.08504854e-04 9.99843413e-01 4.02278473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.975099893 meters 0.022158761041045475 Centerline is valid? [True, True] Translation: X:342.23, Y:4.71, Z:4.02 [[ 9.97954875e-01 -6.15702787e-02 -1.71804543e-02 3.42230897e+02] [ 6.15748191e-02 9.98102435e-01 -2.65077759e-04 4.71371889e+00] [ 1.71641742e-02 -7.93347726e-04 9.99852370e-01 4.02336484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.005099893 meters 0.022987082400144042 Centerline is valid? [True, True] Translation: X:342.26, Y:4.71, Z:4.02 [[ 9.97935855e-01 -6.19434165e-02 -1.69423373e-02 3.42261700e+02] [ 6.19479103e-02 9.98079350e-01 -2.59942838e-04 4.71135517e+00] [ 1.69258987e-02 -7.90136110e-04 9.99856435e-01 4.02333849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.035099893 meters 0.02279986148148635 Centerline is valid? [True, True] Translation: X:342.29, Y:4.71, Z:4.02 [[ 9.97925988e-01 -6.20223631e-02 -1.72321903e-02 3.42294359e+02] [ 6.20270570e-02 9.98074434e-01 -2.62457591e-04 4.71132470e+00] [ 1.72152868e-02 -8.06948801e-04 9.99851480e-01 4.02354285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.065099893 meters 0.02330131953972022 Centerline is valid? [True, True] Translation: X:342.33, Y:4.71, Z:4.02 [[ 9.97922211e-01 -6.21761885e-02 -1.68932828e-02 3.42326998e+02] [ 6.21807418e-02 9.98064873e-01 -2.56097603e-04 4.71007811e+00] [ 1.68765154e-02 -7.94871371e-04 9.99857266e-01 4.02401906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.095099893 meters 0.023990242869076302 Centerline is valid? [True, True] Translation: X:342.36, Y:4.71, Z:4.02 [[ 9.97884830e-01 -6.29195308e-02 -1.63401017e-02 3.42359242e+02] [ 6.29239087e-02 9.98018297e-01 -2.46573534e-04 4.70722305e+00] [ 1.63232347e-02 -7.82131077e-04 9.99866461e-01 4.02455725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.125099893 meters 0.022540918778150235 Centerline is valid? [True, True] Translation: X:342.39, Y:4.71, Z:4.02 [[ 9.97862063e-01 -6.32477785e-02 -1.64627263e-02 3.42391684e+02] [ 6.32522865e-02 9.97997539e-01 -2.47240026e-04 4.70831907e+00] [ 1.64453977e-02 -7.94593635e-04 9.99864450e-01 4.02493176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.155099893 meters 0.02379530348269903 Centerline is valid? [True, True] Translation: X:342.42, Y:4.71, Z:4.02 [[ 9.97843713e-01 -6.33508577e-02 -1.71637034e-02 3.42422754e+02] [ 6.33557937e-02 9.97990971e-01 -2.56563693e-04 4.70575484e+00] [ 1.71454746e-02 -8.31409586e-04 9.99852660e-01 4.02450483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18509989300003 meters 0.021449443949279567 Centerline is valid? [True, True] Translation: X:342.45, Y:4.71, Z:4.02 [[ 9.97868780e-01 -6.25513826e-02 -1.85801497e-02 3.42454493e+02] [ 6.25570509e-02 9.98041351e-01 -2.76547147e-04 4.70767950e+00] [ 1.85610561e-02 -8.86361607e-04 9.99827336e-01 4.02381219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.215099893 meters 0.021449443949279567 Centerline is valid? [True, True] Translation: X:342.49, Y:4.71, Z:4.02 [[ 9.97875728e-01 -6.24404434e-02 -1.85801735e-02 3.42487067e+02] [ 6.24461224e-02 9.98048299e-01 -2.74943419e-04 4.70807873e+00] [ 1.85610781e-02 -8.85900422e-04 9.99827336e-01 4.02421477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24509989300003 meters 0.025400434942277596 Centerline is valid? [True, True] Translation: X:342.52, Y:4.70, Z:4.02 [[ 9.97920784e-01 -6.15077287e-02 -1.92589607e-02 3.42518353e+02] [ 6.15137036e-02 9.98106199e-01 -2.82568888e-04 4.70229823e+00] [ 1.92398683e-02 -9.02708635e-04 9.99814489e-01 4.02312796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.275099893 meters 0.024138967444775724 Centerline is valid? [True, True] Translation: X:342.55, Y:4.70, Z:4.02 [[ 9.97986917e-01 -6.04194386e-02 -1.92770782e-02 3.42550136e+02] [ 6.04252658e-02 9.98172685e-01 -2.80568340e-04 4.70421060e+00] [ 1.92588047e-02 -8.84819041e-04 9.99814140e-01 4.02355847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30509989300003 meters 0.021326417615472194 Centerline is valid? [True, True] Translation: X:342.58, Y:4.71, Z:4.02 [[ 9.98068418e-01 -5.89247953e-02 -1.96799921e-02 3.42582308e+02] [ 5.89306065e-02 9.98262041e-01 -2.85021588e-04 4.70869987e+00] [ 1.96625839e-02 -8.75282826e-04 9.99806290e-01 4.02423759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.335099893 meters 0.02084390959717932 Centerline is valid? [True, True] Translation: X:342.61, Y:4.71, Z:4.02 [[ 9.98244197e-01 -5.58747603e-02 -1.96604960e-02 3.42613291e+02] [ 5.58799922e-02 9.98437452e-01 -2.83579768e-04 4.70938538e+00] [ 1.96456204e-02 -8.15546504e-04 9.99806674e-01 4.02406646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36509989300004 meters 0.022578630842472816 Centerline is valid? [True, True] Translation: X:342.64, Y:4.71, Z:4.02 [[ 9.98349618e-01 -5.38685823e-02 -1.99051869e-02 3.42644637e+02] [ 5.38735643e-02 9.98547724e-01 -2.86255199e-04 4.70722700e+00] [ 1.98916993e-02 -7.86580599e-04 9.99801831e-01 4.02365173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.395099893 meters 0.020364856298775547 Centerline is valid? [True, True] Translation: X:342.68, Y:4.71, Z:4.02 [[ 9.98450472e-01 -5.22023649e-02 -1.92761171e-02 3.42676584e+02] [ 5.22067484e-02 9.98636260e-01 -2.76084442e-04 4.71106584e+00] [ 1.92642418e-02 -7.30686756e-04 9.99814160e-01 4.02491996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42509989300004 meters 0.01827213272772593 Centerline is valid? [True, True] Translation: X:342.71, Y:4.71, Z:4.03 [[ 9.98599072e-01 -4.96444857e-02 -1.83117035e-02 3.42707633e+02] [ 4.96480310e-02 9.98766742e-01 -2.61230369e-04 4.71495906e+00] [ 1.83020891e-02 -6.48275617e-04 9.99832293e-01 4.02566504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.455099893 meters 0.019001806754517715 Centerline is valid? [True, True] Translation: X:342.74, Y:4.71, Z:4.03 [[ 9.98621055e-01 -4.91542639e-02 -1.84349490e-02 3.42739070e+02] [ 4.91577880e-02 9.98790991e-01 -2.62211597e-04 4.71426479e+00] [ 1.84255498e-02 -6.44371294e-04 9.99830028e-01 4.02561103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.485099893 meters 0.018537316692316515 Centerline is valid? [True, True] Translation: X:342.77, Y:4.72, Z:4.03 [[ 9.98616938e-01 -4.91475992e-02 -1.86741945e-02 3.42770871e+02] [ 4.91512352e-02 9.98791313e-01 -2.64489943e-04 4.71529639e+00] [ 1.86646222e-02 -6.53735588e-04 9.99825587e-01 4.02558175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.515099893 meters 0.01926778793676909 Centerline is valid? [True, True] Translation: X:342.80, Y:4.71, Z:4.02 [[ 9.98562398e-01 -4.97412339e-02 -1.99736398e-02 3.42802469e+02] [ 4.97455393e-02 9.98761885e-01 -2.81542717e-04 4.71389102e+00] [ 1.99629145e-02 -7.12461517e-04 9.99800467e-01 4.02368872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.545099893 meters 0.019642847710141104 Centerline is valid? [True, True] Translation: X:342.83, Y:4.71, Z:4.02 [[ 9.98531855e-01 -5.02473160e-02 -2.02322023e-02 3.42834334e+02] [ 5.02518621e-02 9.98736537e-01 -2.83966621e-04 4.71312809e+00] [ 2.02209082e-02 -7.33156124e-04 9.99795268e-01 4.02310309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.575099893 meters 0.019937442013485924 Centerline is valid? [True, True] Translation: X:342.87, Y:4.71, Z:4.02 [[ 9.98509037e-01 -5.07396674e-02 -2.01293026e-02 3.42866164e+02] [ 5.07442956e-02 9.98711639e-01 -2.81112604e-04 4.71279704e+00] [ 2.01176324e-02 -7.40753807e-04 9.99797346e-01 4.02346384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.605099893 meters 0.018344979228940694 Centerline is valid? [True, True] Translation: X:342.90, Y:4.72, Z:4.03 [[ 9.98514018e-01 -5.07879990e-02 -1.97569145e-02 3.42898232e+02] [ 5.07924944e-02 9.98709190e-01 -2.74521225e-04 4.71622856e+00] [ 1.97453545e-02 -7.29389679e-04 9.99804775e-01 4.02507246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.635099893 meters 0.02004286047828193 Centerline is valid? [True, True] Translation: X:342.93, Y:4.71, Z:4.03 [[ 9.98539931e-01 -5.04386841e-02 -1.93376761e-02 3.42929711e+02] [ 5.04429497e-02 9.98726908e-01 -2.67434633e-04 4.71490289e+00] [ 1.93265465e-02 -7.08405260e-04 9.99812974e-01 4.02580762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.665099893 meters 0.019161470082702893 Centerline is valid? [True, True] Translation: X:342.96, Y:4.72, Z:4.03 [[ 9.98605899e-01 -4.91834946e-02 -1.91635759e-02 3.42962179e+02] [ 4.91874748e-02 9.98789529e-01 -2.63881302e-04 4.71807135e+00] [ 1.91533575e-02 -6.79094481e-04 9.99816327e-01 4.02794466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.695099893 meters 0.017981674160214837 Centerline is valid? [True, True] Translation: X:342.99, Y:4.72, Z:4.03 [[ 9.98650379e-01 -4.84415883e-02 -1.87305406e-02 3.42994677e+02] [ 4.84452849e-02 9.98825805e-01 -2.56604191e-04 4.72066449e+00] [ 1.87209776e-02 -6.51148504e-04 9.99824535e-01 4.02887340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.725099893 meters 0.018909828538079453 Centerline is valid? [True, True] Translation: X:343.03, Y:4.72, Z:4.03 [[ 9.98702425e-01 -4.76264319e-02 -1.80329896e-02 3.43025503e+02] [ 4.76297465e-02 9.98865029e-01 -2.45881624e-04 4.71969331e+00] [ 1.80242331e-02 -6.13344148e-04 9.99837362e-01 4.02963236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.755099893 meters 0.01826883113848399 Centerline is valid? [True, True] Translation: X:343.06, Y:4.72, Z:4.03 [[ 9.98715196e-01 -4.72662218e-02 -1.82718770e-02 3.43058132e+02] [ 4.72695846e-02 9.98882138e-01 -2.48042249e-04 4.72120687e+00] [ 1.82631756e-02 -6.15980472e-04 9.99833025e-01 4.02985653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.785099893 meters 0.016861047279565913 Centerline is valid? [True, True] Translation: X:343.09, Y:4.72, Z:4.03 [[ 9.98704501e-01 -4.71404579e-02 -1.91597710e-02 3.43089954e+02] [ 4.71441599e-02 9.98888062e-01 -2.58667350e-04 4.72416729e+00] [ 1.91506602e-02 -6.44939059e-04 9.99816401e-01 4.03046042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.815099893 meters 0.01775378952353389 Centerline is valid? [True, True] Translation: X:343.12, Y:4.72, Z:4.03 [[ 9.98683643e-01 -4.71115418e-02 -2.02850715e-02 3.43120664e+02] [ 4.71157259e-02 9.98889401e-01 -2.71874032e-04 4.72429459e+00] [ 2.02753513e-02 -6.84229719e-04 9.99794200e-01 4.02997888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.845099893 meters 0.017524167960102685 Centerline is valid? [True, True] Translation: X:343.15, Y:4.73, Z:4.03 [[ 9.98659558e-01 -4.72906107e-02 -2.10400691e-02 3.43152948e+02] [ 4.72951998e-02 9.98880917e-01 -2.79713826e-04 4.72548324e+00] [ 2.10297514e-02 -7.15755388e-04 9.99778594e-01 4.03012017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.875099893 meters 0.018111324015873412 Centerline is valid? [True, True] Translation: X:343.18, Y:4.73, Z:4.03 [[ 9.98612549e-01 -4.79686616e-02 -2.17252090e-02 3.43184091e+02] [ 4.79737462e-02 9.98848556e-01 -2.87381709e-04 4.72551071e+00] [ 2.17139790e-02 -7.55256683e-04 9.99763938e-01 4.03006290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.905099893 meters 0.018992224300592844 Centerline is valid? [True, True] Translation: X:343.22, Y:4.73, Z:4.03 [[ 9.98555788e-01 -4.88750840e-02 -2.23061597e-02 3.43215603e+02] [ 4.88806975e-02 9.98804581e-01 -2.93840445e-04 4.72521124e+00] [ 2.22938559e-02 -7.96924564e-04 9.99751143e-01 4.03024704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93509989300003 meters 0.019711252022125293 Centerline is valid? [True, True] Translation: X:343.25, Y:4.72, Z:4.03 [[ 9.98415289e-01 -5.12061272e-02 -2.33418719e-02 3.43247371e+02] [ 5.12129404e-02 9.98687709e-01 -3.06197555e-04 4.72497150e+00] [ 2.33269197e-02 -8.89693572e-04 9.99727495e-01 4.03088510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.965099893 meters 0.01980450801415556 Centerline is valid? [True, True] Translation: X:343.28, Y:4.73, Z:4.03 [[ 9.98337390e-01 -5.23706391e-02 -2.40784332e-02 3.43279336e+02] [ 5.23782642e-02 9.98627267e-01 -3.14331706e-04 4.72564573e+00] [ 2.40618417e-02 -9.47377442e-04 9.99710023e-01 4.03082105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99509989300003 meters 0.02024258527566076 Centerline is valid? [True, True] Translation: X:343.31, Y:4.73, Z:4.03 [[ 9.98244340e-01 -5.36366337e-02 -2.51266755e-02 3.43311343e+02] [ 5.36453844e-02 9.98559996e-01 -3.26166149e-04 4.72595340e+00] [ 2.51079874e-02 -1.02233665e-03 9.99684222e-01 4.03075346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.025099893 meters 0.02011883662077488 Centerline is valid? [True, True] Translation: X:343.34, Y:4.73, Z:4.03 [[ 9.98174741e-01 -5.47963544e-02 -2.53879027e-02 3.43343774e+02] [ 5.48057095e-02 9.98496984e-01 -3.27704817e-04 4.72729991e+00] [ 2.53677013e-02 -1.06429535e-03 9.99677622e-01 4.03103308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05509989300003 meters 0.021763225305986712 Centerline is valid? [True, True] Translation: X:343.38, Y:4.73, Z:4.03 [[ 9.98090854e-01 -5.62949322e-02 -2.54072293e-02 3.43375251e+02] [ 5.63048271e-02 9.98413572e-01 -3.26340700e-04 4.72759825e+00] [ 2.53852939e-02 -1.10483198e-03 9.99677131e-01 4.03202498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.085099893 meters 0.02284303352672805 Centerline is valid? [True, True] Translation: X:343.41, Y:4.73, Z:4.03 [[ 9.98088858e-01 -5.63698257e-02 -2.53194327e-02 3.43406547e+02] [ 5.63797107e-02 9.98409347e-01 -3.23853297e-04 4.72756863e+00] [ 2.52974138e-02 -1.10426792e-03 9.99679359e-01 4.03250278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11509989300004 meters 0.0218972805105328 Centerline is valid? [True, True] Translation: X:343.44, Y:4.73, Z:4.03 [[ 9.98134297e-01 -5.56735289e-02 -2.50675800e-02 3.43438718e+02] [ 5.56830379e-02 9.98448445e-01 -3.19076240e-04 4.73045009e+00] [ 2.50464504e-02 -1.07735807e-03 9.99685708e-01 4.03372568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.145099893 meters 0.02202742440797102 Centerline is valid? [True, True] Translation: X:343.47, Y:4.73, Z:4.03 [[ 9.98168822e-01 -5.50258107e-02 -2.51229389e-02 3.43470377e+02] [ 5.50352019e-02 9.98484364e-01 -3.17996485e-04 4.73199024e+00] [ 2.51023597e-02 -1.06523184e-03 9.99684319e-01 4.03448591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17509989300004 meters 0.021645145645620176 Centerline is valid? [True, True] Translation: X:343.50, Y:4.74, Z:4.03 [[ 9.98272852e-01 -5.28604264e-02 -2.56337315e-02 3.43501559e+02] [ 5.28695258e-02 9.98601376e-01 -3.23102749e-04 4.73539362e+00] [ 2.56149589e-02 -1.03269852e-03 9.99671350e-01 4.03452121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.205099893 meters 0.021475810258657795 Centerline is valid? [True, True] Translation: X:343.53, Y:4.74, Z:4.03 [[ 9.98316031e-01 -5.18031199e-02 -2.61062894e-02 3.43532995e+02] [ 5.18122212e-02 9.98656791e-01 -3.28137640e-04 4.73727710e+00] [ 2.60882218e-02 -1.02503978e-03 9.99659119e-01 4.03465766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.235099893 meters 0.019614627464402987 Centerline is valid? [True, True] Translation: X:343.56, Y:4.74, Z:4.04 [[ 9.98374650e-01 -5.07464198e-02 -2.59395389e-02 3.43564016e+02] [ 5.07550727e-02 9.98711078e-01 -3.25127232e-04 4.74168458e+00] [ 2.59226039e-02 -9.91964398e-04 9.99663461e-01 4.03592985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.265099893 meters 0.02153186707761776 Centerline is valid? [True, True] Translation: X:343.59, Y:4.74, Z:4.04 [[ 9.98435460e-01 -4.97570781e-02 -2.55120724e-02 3.43594513e+02] [ 4.97651426e-02 9.98760897e-01 -3.19099593e-04 4.74206431e+00] [ 2.54963378e-02 -9.51011573e-04 9.99674463e-01 4.03616167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.295099893 meters 0.019608825479517738 Centerline is valid? [True, True] Translation: X:343.63, Y:4.75, Z:4.04 [[ 9.98448825e-01 -4.95537204e-02 -2.53844882e-02 3.43626823e+02] [ 4.95616679e-02 9.98771015e-01 -3.16354832e-04 4.74693169e+00] [ 2.53689676e-02 -9.42233464e-04 9.99677712e-01 4.03819907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.325099893 meters 0.019550307411817083 Centerline is valid? [True, True] Translation: X:343.66, Y:4.75, Z:4.04 [[ 9.98482931e-01 -4.89269743e-02 -2.52584313e-02 3.43658343e+02] [ 4.89346766e-02 9.98801932e-01 -3.13446686e-04 4.74842439e+00] [ 2.52435060e-02 -9.23042000e-04 9.99680906e-01 4.03896448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.355099893 meters 0.01883990466669079 Centerline is valid? [True, True] Translation: X:343.69, Y:4.75, Z:4.04 [[ 9.98515081e-01 -4.81857559e-02 -2.54119130e-02 3.43690017e+02] [ 4.81933356e-02 9.98837977e-01 -3.14440788e-04 4.75041842e+00] [ 2.53975354e-02 -9.10710984e-04 9.99677016e-01 4.03917863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.385099893 meters 0.020077561545441384 Centerline is valid? [True, True] Translation: X:343.72, Y:4.75, Z:4.04 [[ 9.98603659e-01 -4.63497630e-02 -2.53462526e-02 3.43720895e+02] [ 4.63567359e-02 9.98924900e-01 -3.12723184e-04 4.74886326e+00] [ 2.53334975e-02 -8.62683023e-04 9.99678683e-01 4.03824535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.415099893 meters 0.018251684802303485 Centerline is valid? [True, True] Translation: X:343.75, Y:4.75, Z:4.04 [[ 9.98646369e-01 -4.53331556e-02 -2.55016532e-02 3.43752467e+02] [ 4.53399064e-02 9.98971568e-01 -3.13728977e-04 4.75239322e+00] [ 2.54896488e-02 -8.42938264e-04 9.99674731e-01 4.03959157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.445099893 meters 0.018165020477513266 Centerline is valid? [True, True] Translation: X:343.78, Y:4.75, Z:4.04 [[ 9.98709720e-01 -4.36777075e-02 -2.59066154e-02 3.43783262e+02] [ 4.36841423e-02 9.99045342e-01 -3.17784581e-04 4.75337023e+00] [ 2.58957636e-02 -8.14333725e-04 9.99664317e-01 4.03955221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.475099893 meters 0.017684457875413385 Centerline is valid? [True, True] Translation: X:343.81, Y:4.75, Z:4.04 [[ 9.98727353e-01 -4.30808435e-02 -2.62243312e-02 3.43813382e+02] [ 4.30872433e-02 9.99071262e-01 -3.21239818e-04 4.75468836e+00] [ 2.62138150e-02 -8.09103146e-04 9.99656031e-01 4.04014545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.505099893 meters 0.0165362312300947 Centerline is valid? [True, True] Translation: X:343.84, Y:4.76, Z:4.04 [[ 9.98730989e-01 -4.27546723e-02 -2.66167015e-02 3.43844206e+02] [ 4.27611633e-02 9.99085270e-01 -3.25523792e-04 4.75713311e+00] [ 2.66062720e-02 -8.13050419e-04 9.99645660e-01 4.04137596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.535099893 meters 0.017347106521570115 Centerline is valid? [True, True] Translation: X:343.87, Y:4.76, Z:4.04 [[ 9.98705553e-01 -4.30310066e-02 -2.71210345e-02 3.43874714e+02] [ 4.30378677e-02 9.99073387e-01 -3.30961904e-04 4.75640616e+00] [ 2.71101454e-02 -8.36698004e-04 9.99632102e-01 4.04080532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.565099893 meters 0.017567142427658788 Centerline is valid? [True, True] Translation: X:343.91, Y:4.76, Z:4.04 [[ 9.98685036e-01 -4.35567545e-02 -2.70371597e-02 3.43905573e+02] [ 4.35637717e-02 9.99050594e-01 -3.29714418e-04 4.75641597e+00] [ 2.70258517e-02 -8.48559798e-04 9.99634375e-01 4.04092793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.595099893 meters 0.018363265266080394 Centerline is valid? [True, True] Translation: X:343.94, Y:4.76, Z:4.04 [[ 9.98616583e-01 -4.54086813e-02 -2.65136027e-02 3.43937080e+02] [ 4.54160944e-02 9.98968105e-01 -3.22826763e-04 4.75600317e+00] [ 2.65009026e-02 -8.81764124e-04 9.99648401e-01 4.04213323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.625099893 meters 0.018566493565705437 Centerline is valid? [True, True] Translation: X:343.97, Y:4.76, Z:4.04 [[ 9.98583252e-01 -4.61925553e-02 -2.64147131e-02 3.43968016e+02] [ 4.62002118e-02 9.98932149e-01 -3.20685022e-04 4.75632687e+00] [ 2.64013193e-02 -9.00134647e-04 9.99651019e-01 4.04313027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.655099893 meters 0.018817598563209307 Centerline is valid? [True, True] Translation: X:344.00, Y:4.76, Z:4.04 [[ 9.98557482e-01 -4.69336729e-02 -2.60803526e-02 3.43999515e+02] [ 4.69414130e-02 9.98897594e-01 -3.15704403e-04 4.75644398e+00] [ 2.60664186e-02 -9.08999608e-04 9.99659800e-01 4.04349746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68509989300003 meters 0.01840444006160909 Centerline is valid? [True, True] Translation: X:344.03, Y:4.76, Z:4.04 [[ 9.98536651e-01 -4.75623325e-02 -2.57367635e-02 3.44031246e+02] [ 4.75701297e-02 9.98867853e-01 -3.09555602e-04 4.75609464e+00] [ 2.57223489e-02 -9.15198564e-04 9.99668707e-01 4.04419703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.715099893 meters 0.01868507365078462 Centerline is valid? [True, True] Translation: X:344.06, Y:4.76, Z:4.04 [[ 9.98564124e-01 -4.73909867e-02 -2.49756797e-02 3.44063035e+02] [ 4.73983332e-02 9.98876023e-01 -2.98098995e-04 4.75530854e+00] [ 2.49617348e-02 -8.86134627e-04 9.99688015e-01 4.04454154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74509989300003 meters 0.020098605993076033 Centerline is valid? [True, True] Translation: X:344.09, Y:4.75, Z:4.05 [[ 9.98603556e-01 -4.73044656e-02 -2.35207354e-02 3.44094084e+02] [ 4.73109904e-02 9.98880169e-01 -2.79299742e-04 4.75267774e+00] [ 2.35076083e-02 -8.33879571e-04 9.99723310e-01 4.04596918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.775099893 meters 0.01845331228200289 Centerline is valid? [True, True] Translation: X:344.13, Y:4.76, Z:4.05 [[ 9.98650164e-01 -4.67143335e-02 -2.27072945e-02 3.44126225e+02] [ 4.67202936e-02 9.98907975e-01 -2.68256838e-04 4.75552513e+00] [ 2.26950290e-02 -7.92996733e-04 9.99742120e-01 4.04735696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80509989300003 meters 0.017933064415037628 Centerline is valid? [True, True] Translation: X:344.16, Y:4.76, Z:4.05 [[ 9.98683323e-01 -4.61337191e-02 -2.24343581e-02 3.44158792e+02] [ 4.61394266e-02 9.98934975e-01 -2.63419709e-04 4.75640039e+00] [ 2.24226175e-02 -7.72035550e-04 9.99748283e-01 4.04800010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.835099893 meters 0.019123350191946258 Centerline is valid? [True, True] Translation: X:344.19, Y:4.75, Z:4.05 [[ 9.98718398e-01 -4.55028114e-02 -2.21597632e-02 3.44189971e+02] [ 4.55082563e-02 9.98963929e-01 -2.58775528e-04 4.75463681e+00] [ 2.21485791e-02 -7.50008301e-04 9.99754409e-01 4.04760761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86509989300004 meters 0.018910415744712236 Centerline is valid? [True, True] Translation: X:344.22, Y:4.75, Z:4.05 [[ 9.98790561e-01 -4.45340846e-02 -2.08358104e-02 3.44222494e+02] [ 4.45387130e-02 9.99007630e-01 -2.42094049e-04 4.75474267e+00] [ 2.08259150e-02 -6.86198930e-04 9.99782882e-01 4.04873132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.895099893 meters 0.018338382178621354 Centerline is valid? [True, True] Translation: X:344.25, Y:4.76, Z:4.05 [[ 9.98823548e-01 -4.40558152e-02 -2.02633912e-02 3.44254707e+02] [ 4.40601226e-02 9.99028854e-01 -2.34046932e-04 4.75562616e+00] [ 2.02540236e-02 -6.59035913e-04 9.99794649e-01 4.04965208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.925099893 meters 0.01777675601409798 Centerline is valid? [True, True] Translation: X:344.29, Y:4.76, Z:4.05 [[ 9.98859972e-01 -4.33095477e-02 -2.00758372e-02 3.44287087e+02] [ 4.33136535e-02 9.99061497e-01 -2.30466321e-04 4.75570347e+00] [ 2.00669773e-02 -6.39354272e-04 9.99798434e-01 4.04969214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.955099893 meters 0.01708025178930965 Centerline is valid? [True, True] Translation: X:344.32, Y:4.76, Z:4.05 [[ 9.98876046e-01 -4.27353251e-02 -2.05021387e-02 3.44318836e+02] [ 4.27395170e-02 9.99086222e-01 -2.33869757e-04 4.75650891e+00] [ 2.04933988e-02 -6.42644606e-04 9.99789782e-01 4.04971972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.985099893 meters 0.01694947434885344 Centerline is valid? [True, True] Translation: X:344.35, Y:4.76, Z:4.05 [[ 9.98891424e-01 -4.20647665e-02 -2.11300454e-02 3.44350616e+02] [ 4.20691022e-02 9.99114675e-01 -2.39475405e-04 4.75639176e+00] [ 2.11214119e-02 -6.49712112e-04 9.99776707e-01 4.04950195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.015099893 meters 0.01767616648226206 Centerline is valid? [True, True] Translation: X:344.38, Y:4.76, Z:4.05 [[ 9.98915411e-01 -4.14114285e-02 -2.12860437e-02 3.44381797e+02] [ 4.14157096e-02 9.99141973e-01 -2.39865646e-04 4.75512436e+00] [ 2.12777129e-02 -6.41971116e-04 9.99773398e-01 4.04911763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.045099893 meters 0.016495120204991654 Centerline is valid? [True, True] Translation: X:344.41, Y:4.76, Z:4.05 [[ 9.98947996e-01 -4.03892799e-02 -2.17165070e-02 3.44414161e+02] [ 4.03935241e-02 9.99183819e-01 -2.43363894e-04 4.75744374e+00] [ 2.17086116e-02 -6.34098372e-04 9.99764139e-01 4.04979573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.075099893 meters 0.016169216712117445 Centerline is valid? [True, True] Translation: X:344.44, Y:4.76, Z:4.05 [[ 9.99042089e-01 -3.76212479e-02 -2.23505292e-02 3.44444593e+02] [ 3.76250760e-02 9.99291895e-01 -2.49371498e-04 4.75837531e+00] [ 2.23440843e-02 -5.91807736e-04 9.99750165e-01 4.05016170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.105099893 meters 0.016169216712117445 Centerline is valid? [True, True] Translation: X:344.48, Y:4.76, Z:4.05 [[ 9.99043414e-01 -3.75860417e-02 -2.23505355e-02 3.44475449e+02] [ 3.75898738e-02 9.99293220e-01 -2.48798912e-04 4.75868989e+00] [ 2.23440900e-02 -5.91592895e-04 9.99750165e-01 4.05054323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.135099893 meters 0.015840868155060937 Centerline is valid? [True, True] Translation: X:344.51, Y:4.76, Z:4.05 [[ 9.99117555e-01 -3.56704036e-02 -2.21750731e-02 3.44505977e+02] [ 3.56737138e-02 9.99363460e-01 -2.46413440e-04 4.75964518e+00] [ 2.21697474e-02 -5.44871217e-04 9.99754072e-01 4.05100370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.165099893 meters 0.014712664551399104 Centerline is valid? [True, True] Translation: X:344.54, Y:4.76, Z:4.05 [[ 9.99251163e-01 -3.17288157e-02 -2.21448733e-02 3.44536195e+02] [ 3.17311495e-02 9.99496410e-01 -2.46077855e-04 4.76173519e+00] [ 2.21415292e-02 -4.56788702e-04 9.99754742e-01 4.05158794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.195099893 meters 0.01423248843259779 Centerline is valid? [True, True] Translation: X:344.57, Y:4.76, Z:4.05 [[ 9.99327857e-01 -2.95399373e-02 -2.17077575e-02 3.44566188e+02] [ 2.95416565e-02 9.99563521e-01 -2.41547967e-04 4.76282617e+00] [ 2.17054178e-02 -3.99897503e-04 9.99764330e-01 4.05245327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.225099893 meters 0.013309278268735581 Centerline is valid? [True, True] Translation: X:344.60, Y:4.76, Z:4.05 [[ 9.99388082e-01 -2.75843420e-02 -2.15073351e-02 3.44595411e+02] [ 2.75855605e-02 9.99619417e-01 -2.40077405e-04 4.76483262e+00] [ 2.15057721e-02 -3.53361395e-04 9.99768662e-01 4.05384383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.255099893 meters 0.013537906398344233 Centerline is valid? [True, True] Translation: X:344.62, Y:4.76, Z:4.05 [[ 9.99430741e-01 -2.60944157e-02 -2.13839911e-02 3.44623621e+02] [ 2.60952214e-02 9.99659433e-01 -2.41409635e-04 4.76461604e+00] [ 2.13830079e-02 -3.16747773e-04 9.99771307e-01 4.05372430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.285099893 meters 0.01309750354862866 Centerline is valid? [True, True] Translation: X:344.65, Y:4.77, Z:4.05 [[ 9.99449122e-01 -2.50336874e-02 -2.17891338e-02 3.44652220e+02] [ 2.50341522e-02 9.99686565e-01 -2.51479822e-04 4.76616806e+00] [ 2.17885998e-02 -2.94131204e-04 9.99762557e-01 4.05495701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.315099893 meters 0.012848330845774896 Centerline is valid? [True, True] Translation: X:344.68, Y:4.77, Z:4.06 [[ 9.99476711e-01 -2.37235371e-02 -2.19885742e-02 3.44680716e+02] [ 2.37235734e-02 9.99718523e-01 -2.59240735e-04 4.76630251e+00] [ 2.19885350e-02 -2.62542478e-04 9.99758188e-01 4.05603776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.345099893 meters 0.012635253159287244 Centerline is valid? [True, True] Translation: X:344.71, Y:4.77, Z:4.06 [[ 9.99487516e-01 -2.37370419e-02 -2.14769293e-02 3.44708865e+02] [ 2.37369590e-02 9.99718205e-01 -2.58822528e-04 4.76606166e+00] [ 2.14770209e-02 -2.51107105e-04 9.99769311e-01 4.05733044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.375099893 meters 0.012928382771168524 Centerline is valid? [True, True] Translation: X:344.74, Y:4.76, Z:4.06 [[ 9.99487703e-01 -2.42303166e-02 -2.09099052e-02 3.44736193e+02] [ 2.42302570e-02 9.99706371e-01 -2.56240683e-04 4.76411649e+00] [ 2.09099743e-02 -2.50542966e-04 9.99781331e-01 4.05774505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.405099893 meters 0.013351767718598674 Centerline is valid? [True, True] Translation: X:344.77, Y:4.76, Z:4.06 [[ 9.99445952e-01 -2.59345201e-02 -2.08611838e-02 3.44765182e+02] [ 2.59347656e-02 9.99663604e-01 -2.58820491e-04 4.76007273e+00] [ 2.08608786e-02 -2.82352821e-04 9.99782348e-01 4.05807455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43509989300003 meters 0.013468839157496018 Centerline is valid? [True, True] Translation: X:344.79, Y:4.76, Z:4.06 [[ 9.99390633e-01 -2.74998003e-02 -2.14970543e-02 3.44793707e+02] [ 2.75003074e-02 9.99621758e-01 -2.72085627e-04 4.75847641e+00] [ 2.14964055e-02 -3.19255773e-04 9.99768875e-01 4.05873056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.465099893 meters 0.013484200854647478 Centerline is valid? [True, True] Translation: X:344.82, Y:4.76, Z:4.06 [[ 9.99332883e-01 -2.89772185e-02 -2.22286021e-02 3.44822909e+02] [ 2.89780002e-02 9.99580008e-01 -2.87010924e-04 4.75707896e+00] [ 2.22275830e-02 -3.57320980e-04 9.99752873e-01 4.05901075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49509989300003 meters 0.014205103678534984 Centerline is valid? [True, True] Translation: X:344.85, Y:4.75, Z:4.06 [[ 9.99178225e-01 -3.31427674e-02 -2.33330781e-02 3.44851478e+02] [ 3.31446228e-02 9.99450519e-01 -3.07318649e-04 4.75326825e+00] [ 2.33304424e-02 -4.66299969e-04 9.99727699e-01 4.05893035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.525099893 meters 0.016163754724229387 Centerline is valid? [True, True] Translation: X:344.88, Y:4.75, Z:4.06 [[ 9.99065571e-01 -3.56100175e-02 -2.44930850e-02 3.44880342e+02] [ 3.56127068e-02 9.99365613e-01 -3.26525828e-04 4.74872289e+00] [ 2.44891745e-02 -5.46044342e-04 9.99699946e-01 4.05746980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55509989300003 meters 0.015442210897803304 Centerline is valid? [True, True] Translation: X:344.91, Y:4.75, Z:4.06 [[ 9.98961935e-01 -3.80702566e-02 -2.50141365e-02 3.44910108e+02] [ 3.80738041e-02 9.99274874e-01 -3.34602669e-04 4.74925982e+00] [ 2.50087365e-02 -6.18128002e-04 9.99687042e-01 4.05852407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.585099893 meters 0.017815481104120276 Centerline is valid? [True, True] Translation: X:344.94, Y:4.74, Z:4.06 [[ 9.98695737e-01 -4.33076719e-02 -2.70420073e-02 3.44939418e+02] [ 4.33137194e-02 9.99061455e-01 -3.62352132e-04 4.74253262e+00] [ 2.70323198e-02 -8.09410387e-04 9.99634232e-01 4.05651545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61509989300004 meters 0.0183663564143088 Centerline is valid? [True, True] Translation: X:344.97, Y:4.74, Z:4.06 [[ 9.98544263e-01 -4.61618767e-02 -2.79004811e-02 3.44969326e+02] [ 4.61694086e-02 9.98933554e-01 -3.74527689e-04 4.74082287e+00] [ 2.78880156e-02 -9.14166235e-04 9.99610636e-01 4.05681167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.645099893 meters 0.019582385653032105 Centerline is valid? [True, True] Translation: X:345.00, Y:4.74, Z:4.06 [[ 9.98409211e-01 -4.89727932e-02 -2.79412397e-02 3.44999353e+02] [ 4.89814189e-02 9.98799619e-01 -3.76054339e-04 4.73819571e+00] [ 2.79261160e-02 -9.93145448e-04 9.99609497e-01 4.05706969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.675099893 meters 0.021430338626435765 Centerline is valid? [True, True] Translation: X:345.03, Y:4.73, Z:4.06 [[ 9.98168442e-01 -5.38996725e-02 -2.74697542e-02 3.45029749e+02] [ 5.39098526e-02 9.98545738e-01 -3.70396668e-04 4.73452068e+00] [ 2.74497702e-02 -1.11117213e-03 9.99622566e-01 4.05812340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.705099893 meters 0.021636329091970878 Centerline is valid? [True, True] Translation: X:345.06, Y:4.73, Z:4.06 [[ 9.98048982e-01 -5.61866426e-02 -2.72266682e-02 3.45060951e+02] [ 5.61975009e-02 9.98419604e-01 -3.66807673e-04 4.73420524e+00] [ 2.72042490e-02 -1.16397869e-03 9.99629218e-01 4.05970506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.735099893 meters 0.022884315018265464 Centerline is valid? [True, True] Translation: X:345.09, Y:4.73, Z:4.06 [[ 9.97972792e-01 -5.78105311e-02 -2.66129554e-02 3.45090793e+02] [ 5.78214926e-02 9.98326874e-01 -3.58112671e-04 4.73248767e+00] [ 2.65891313e-02 -1.18141410e-03 9.99645748e-01 4.06065941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.765099893 meters 0.022512426620048483 Centerline is valid? [True, True] Translation: X:345.12, Y:4.73, Z:4.06 [[ 9.97829869e-01 -6.02982332e-02 -2.64513859e-02 3.45121734e+02] [ 6.03099406e-02 9.98179635e-01 -3.55685953e-04 4.73301636e+00] [ 2.64246820e-02 -1.24036744e-03 9.99650038e-01 4.06186177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.795099893 meters 0.023468144924130616 Centerline is valid? [True, True] Translation: X:345.15, Y:4.73, Z:4.06 [[ 9.97773674e-01 -6.12463999e-02 -2.63926910e-02 3.45152763e+02] [ 6.12584118e-02 9.98121877e-01 -3.53923692e-04 4.73192880e+00] [ 2.63647988e-02 -1.26363859e-03 9.99651590e-01 4.06210013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.825099893 meters 0.023799551645899107 Centerline is valid? [True, True] Translation: X:345.18, Y:4.73, Z:4.06 [[ 9.97696427e-01 -6.28069827e-02 -2.56343912e-02 3.45184519e+02] [ 6.28188624e-02 9.98024886e-01 -3.42397247e-04 4.73133439e+00] [ 2.56052653e-02 -1.26871479e-03 9.99671326e-01 4.06318444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.855099893 meters 0.024716283565236405 Centerline is valid? [True, True] Translation: X:345.22, Y:4.73, Z:4.06 [[ 9.97651040e-01 -6.37134944e-02 -2.51593405e-02 3.45215838e+02] [ 6.37252587e-02 9.97967424e-01 -3.34716913e-04 4.72997994e+00] [ 2.51295283e-02 -1.26935481e-03 9.99683398e-01 4.06388217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.885099893 meters 0.024716283565236405 Centerline is valid? [True, True] Translation: X:345.25, Y:4.73, Z:4.06 [[ 9.97655557e-01 -6.36427188e-02 -2.51593613e-02 3.45247569e+02] [ 6.36545001e-02 9.97971940e-01 -3.33150486e-04 4.73034120e+00] [ 2.51295392e-02 -1.26913713e-03 9.99683398e-01 4.06427441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.915099893 meters 0.0236779537504111 Centerline is valid? [True, True] Translation: X:345.28, Y:4.73, Z:4.07 [[ 9.97525809e-01 -6.59677420e-02 -2.43005639e-02 3.45279849e+02] [ 6.59794613e-02 9.97820930e-01 -3.20081097e-04 4.73148964e+00] [ 2.42687263e-02 -1.28404896e-03 9.99704646e-01 4.06594140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.945099893 meters 0.02754664168357372 Centerline is valid? [True, True] Translation: X:345.31, Y:4.73, Z:4.07 [[ 9.97428622e-01 -6.75239523e-02 -2.40137372e-02 3.45310647e+02] [ 6.75358772e-02 9.97716797e-01 -3.15007757e-04 4.72583876e+00] [ 2.39801796e-02 -1.30759106e-03 9.99711579e-01 4.06536116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.975099893 meters 0.025905463545456035 Centerline is valid? [True, True] Translation: X:345.34, Y:4.73, Z:4.07 [[ 9.97168090e-01 -7.12243663e-02 -2.41431259e-02 3.45342132e+02] [ 7.12375220e-02 9.97459330e-01 -3.15823563e-04 4.72738731e+00] [ 2.41042805e-02 -1.40496728e-03 9.99708462e-01 4.06657901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.005099893 meters 0.027640860529582357 Centerline is valid? [True, True] Translation: X:345.37, Y:4.72, Z:4.07 [[ 9.97050626e-01 -7.24768950e-02 -2.52418015e-02 3.45373258e+02] [ 7.24917054e-02 9.97368961e-01 -3.29025444e-04 4.72485831e+00] [ 2.51992360e-02 -1.50176621e-03 9.99681321e-01 4.06533069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.035099893 meters 0.027195120136930043 Centerline is valid? [True, True] Translation: X:345.41, Y:4.73, Z:4.06 [[ 9.96904544e-01 -7.39708343e-02 -2.66391702e-02 3.45405720e+02] [ 7.39879087e-02 9.97259079e-01 -3.45491644e-04 4.72562594e+00] [ 2.65917106e-02 -1.62655430e-03 9.99645055e-01 4.06464908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.065099893 meters 0.029012438862568986 Centerline is valid? [True, True] Translation: X:345.44, Y:4.72, Z:4.06 [[ 9.96666348e-01 -7.64757467e-02 -2.84191860e-02 3.45435504e+02] [ 7.64962221e-02 9.97069803e-01 -3.67617427e-04 4.72292790e+00] [ 2.83640260e-02 -1.80756845e-03 9.99596026e-01 4.06344998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.095099893 meters 0.029426794015703438 Centerline is valid? [True, True] Translation: X:345.47, Y:4.72, Z:4.06 [[ 9.96593047e-01 -7.73365368e-02 -2.86593446e-02 3.45467730e+02] [ 7.73577479e-02 9.97003331e-01 -3.69551064e-04 4.72263791e+00] [ 2.86020418e-02 -1.84873033e-03 9.99589168e-01 4.06369132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.125099893 meters 0.03233311363178184 Centerline is valid? [True, True] Translation: X:345.50, Y:4.72, Z:4.06 [[ 9.96530842e-01 -7.79247676e-02 -2.92234640e-02 3.45498880e+02] [ 7.79471272e-02 9.96957424e-01 -3.75014151e-04 4.71920345e+00] [ 2.91637723e-02 -1.90417190e-03 9.99572833e-01 4.06328665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.155099893 meters 0.030119629496652436 Centerline is valid? [True, True] Translation: X:345.53, Y:4.72, Z:4.06 [[ 9.96571154e-01 -7.75122425e-02 -2.89445480e-02 3.45531321e+02] [ 7.75340571e-02 9.96989636e-01 -3.69590575e-04 4.72256297e+00] [ 2.88860622e-02 -1.87586493e-03 9.99580950e-01 4.06465715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18509989300003 meters 0.028339082326914976 Centerline is valid? [True, True] Translation: X:345.56, Y:4.73, Z:4.07 [[ 9.96646201e-01 -7.67747382e-02 -2.83194279e-02 3.45563366e+02] [ 7.67953810e-02 9.97046809e-01 -3.59579422e-04 4.72551315e+00] [ 2.82634019e-02 -1.81642779e-03 9.99598860e-01 4.06620400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.215099893 meters 0.02904819074552608 Centerline is valid? [True, True] Translation: X:345.59, Y:4.73, Z:4.07 [[ 9.96735454e-01 -7.58689773e-02 -2.76103898e-02 3.45594480e+02] [ 7.58882997e-02 9.97116264e-01 -3.48869682e-04 4.72542244e+00] [ 2.75572371e-02 -1.74757475e-03 9.99618700e-01 4.06721638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24509989300003 meters 0.027628909120980826 Centerline is valid? [True, True] Translation: X:345.63, Y:4.73, Z:4.07 [[ 9.96994205e-01 -7.25804138e-02 -2.71042095e-02 3.45625550e+02] [ 7.25978480e-02 9.97361236e-01 -3.41549678e-04 4.72914404e+00] [ 2.70574777e-02 -1.62718423e-03 9.99632555e-01 4.06836272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.275099893 meters 0.026281623330666963 Centerline is valid? [True, True] Translation: X:345.66, Y:4.73, Z:4.07 [[ 9.97103156e-01 -7.10404196e-02 -2.71763553e-02 3.45657198e+02] [ 7.10574048e-02 9.97472169e-01 -3.41428921e-04 4.73210059e+00] [ 2.71319133e-02 -1.59064143e-03 9.99630596e-01 4.06937902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30509989300003 meters 0.027874156656857333 Centerline is valid? [True, True] Translation: X:345.69, Y:4.73, Z:4.07 [[ 9.97227293e-01 -6.92897348e-02 -2.71414673e-02 3.45687485e+02] [ 6.93060556e-02 9.97595386e-01 -3.40052147e-04 4.73062650e+00] [ 2.70997647e-02 -1.54195876e-03 9.99631545e-01 4.06935049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.335099893 meters 0.024139541213351285 Centerline is valid? [True, True] Translation: X:345.72, Y:4.74, Z:4.07 [[ 9.97411985e-01 -6.66018344e-02 -2.70837179e-02 3.45719212e+02] [ 6.66171257e-02 9.97778555e-01 -3.38301194e-04 4.73616743e+00] [ 2.70460844e-02 -1.46681378e-03 9.99633112e-01 4.07055931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36509989300004 meters 0.02801778181621471 Centerline is valid? [True, True] Translation: X:345.75, Y:4.73, Z:4.07 [[ 9.97490915e-01 -6.55091950e-02 -2.68406217e-02 3.45750135e+02] [ 6.55238576e-02 9.97850947e-01 -3.33808768e-04 4.73089396e+00] [ 2.68048073e-02 -1.42572986e-03 9.99639670e-01 4.06926297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.395099893 meters 0.025469740901668755 Centerline is valid? [True, True] Translation: X:345.78, Y:4.73, Z:4.07 [[ 9.97598930e-01 -6.36893250e-02 -2.72037611e-02 3.45781968e+02] [ 6.37037509e-02 9.97968796e-01 -3.36910740e-04 4.73408320e+00] [ 2.71699624e-02 -1.39687983e-03 9.99629852e-01 4.07001879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.425099893 meters 0.02457486596990479 Centerline is valid? [True, True] Translation: X:345.81, Y:4.74, Z:4.07 [[ 9.97644695e-01 -6.27825122e-02 -2.76300291e-02 3.45814022e+02] [ 6.27970943e-02 9.98026257e-01 -3.40484341e-04 4.73577045e+00] [ 2.75968710e-02 -1.39540315e-03 9.99618160e-01 4.07095939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.455099893 meters 0.02432409778800266 Centerline is valid? [True, True] Translation: X:345.85, Y:4.74, Z:4.07 [[ 9.97691765e-01 -6.20621162e-02 -2.75578465e-02 3.45845899e+02] [ 6.20763944e-02 9.98071344e-01 -3.37914553e-04 4.73651149e+00] [ 2.75256685e-02 -1.37355718e-03 9.99620153e-01 4.07148027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.485099893 meters 0.024656529260005375 Centerline is valid? [True, True] Translation: X:345.88, Y:4.74, Z:4.07 [[ 9.97717517e-01 -6.14793321e-02 -2.79293381e-02 3.45876961e+02] [ 6.14938119e-02 9.98107406e-01 -3.40983536e-04 4.73630680e+00] [ 2.78974427e-02 -1.37727622e-03 9.99609842e-01 4.07178686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.515099893 meters 0.024837757574881776 Centerline is valid? [True, True] Translation: X:345.91, Y:4.74, Z:4.07 [[ 9.97703573e-01 -6.13062150e-02 -2.87945972e-02 3.45908100e+02] [ 6.13215705e-02 9.98118000e-01 -3.50300386e-04 4.73596401e+00] [ 2.87618814e-02 -1.41623397e-03 9.99585288e-01 4.07212369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.545099893 meters 0.02312174177873055 Centerline is valid? [True, True] Translation: X:345.94, Y:4.74, Z:4.07 [[ 9.97683184e-01 -6.16735118e-02 -2.87165692e-02 3.45939225e+02] [ 6.16889651e-02 9.98095361e-01 -3.48331658e-04 4.73860964e+00] [ 2.86833573e-02 -1.42397080e-03 9.99587534e-01 4.07360149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.575099893 meters 0.022118848667377854 Centerline is valid? [True, True] Translation: X:345.97, Y:4.74, Z:4.07 [[ 9.97662658e-01 -6.19017580e-02 -2.89377515e-02 3.45970604e+02] [ 6.19175767e-02 9.98081205e-01 -3.49959258e-04 4.74018939e+00] [ 2.89038890e-02 -1.44261417e-03 9.99581154e-01 4.07427045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.605099893 meters 0.02420451570943936 Centerline is valid? [True, True] Translation: X:346.00, Y:4.74, Z:4.07 [[ 9.97642010e-01 -6.21842897e-02 -2.90436710e-02 3.46001172e+02] [ 6.22003856e-02 9.98063620e-01 -3.49805154e-04 4.73758679e+00] [ 2.90091838e-02 -1.45754722e-03 9.99578082e-01 4.07389506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.635099893 meters 0.022475900936460683 Centerline is valid? [True, True] Translation: X:346.03, Y:4.74, Z:4.08 [[ 9.97641293e-01 -6.22148857e-02 -2.90027205e-02 3.46033112e+02] [ 6.22310052e-02 9.98061712e-01 -3.47372689e-04 4.74032000e+00] [ 2.89681167e-02 -1.45831512e-03 9.99579272e-01 4.07533355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.665099893 meters 0.02545765235439785 Centerline is valid? [True, True] Translation: X:346.06, Y:4.74, Z:4.07 [[ 9.97659556e-01 -6.21118115e-02 -2.85925240e-02 3.46063322e+02] [ 6.21274696e-02 9.98068165e-01 -3.41278442e-04 4.73672603e+00] [ 2.85584854e-02 -1.43590147e-03 9.99591092e-01 4.07470449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.695099893 meters 0.023854827164822387 Centerline is valid? [True, True] Translation: X:346.09, Y:4.74, Z:4.08 [[ 9.97742666e-01 -6.12907405e-02 -2.74411550e-02 3.46094268e+02] [ 6.13048728e-02 9.98119034e-01 -3.26787384e-04 4.74003284e+00] [ 2.74095681e-02 -1.35622680e-03 9.99623367e-01 4.07688400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.725099893 meters 0.02315214965313834 Centerline is valid? [True, True] Translation: X:346.13, Y:4.74, Z:4.08 [[ 9.97798230e-01 -6.06474708e-02 -2.68435712e-02 3.46126545e+02] [ 6.06608010e-02 9.98158387e-01 -3.18205322e-04 4.74186443e+00] [ 2.68134341e-02 -1.31084783e-03 9.99639596e-01 4.07839525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.755099893 meters 0.022224623494657484 Centerline is valid? [True, True] Translation: X:346.16, Y:4.74, Z:4.08 [[ 9.97919964e-01 -5.91715829e-02 -2.55826028e-02 3.46157554e+02] [ 5.91832394e-02 9.98247090e-01 -3.01936662e-04 4.74367437e+00] [ 2.55556249e-02 -1.21275269e-03 9.99672666e-01 4.08011300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.785099893 meters 0.022224623494657484 Centerline is valid? [True, True] Translation: X:346.19, Y:4.74, Z:4.08 [[ 9.97924217e-01 -5.90998104e-02 -2.55826193e-02 3.46189281e+02] [ 5.91114791e-02 9.98251342e-01 -3.00539835e-04 4.74398990e+00] [ 2.55556459e-02 -1.21231048e-03 9.99672666e-01 4.08050525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.815099893 meters 0.022128625227277023 Centerline is valid? [True, True] Translation: X:346.22, Y:4.74, Z:4.08 [[ 9.97993272e-01 -5.79755586e-02 -2.54610220e-02 3.46220401e+02] [ 5.79867860e-02 9.98317306e-01 -2.97759045e-04 4.74491787e+00] [ 2.54354417e-02 -1.17924131e-03 9.99675771e-01 4.08105834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.845099893 meters 0.020984391934392214 Centerline is valid? [True, True] Translation: X:346.25, Y:4.75, Z:4.08 [[ 9.98005593e-01 -5.77894050e-02 -2.54012004e-02 3.46252576e+02] [ 5.78005548e-02 9.98328107e-01 -2.95668253e-04 4.74729667e+00] [ 2.53758188e-02 -1.17312490e-03 9.99677294e-01 4.08216804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.875099893 meters 0.023863312758469066 Centerline is valid? [True, True] Translation: X:346.28, Y:4.74, Z:4.08 [[ 9.98014572e-01 -5.76835004e-02 -2.52888936e-02 3.46284052e+02] [ 5.76945583e-02 9.98334239e-01 -2.92760818e-04 4.74325928e+00] [ 2.52636558e-02 -1.16685198e-03 9.99680142e-01 4.08171762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.905099893 meters 0.023201000335347517 Centerline is valid? [True, True] Translation: X:346.32, Y:4.74, Z:4.08 [[ 9.98024651e-01 -5.77417018e-02 -2.47526267e-02 3.46316603e+02] [ 5.77523511e-02 9.98330899e-01 -2.85023073e-04 4.74401009e+00] [ 2.47277698e-02 -1.14506234e-03 9.99693566e-01 4.08284436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93509989300003 meters 0.024418238595923836 Centerline is valid? [True, True] Translation: X:346.35, Y:4.74, Z:4.08 [[ 9.98011885e-01 -5.76794555e-02 -2.54039114e-02 3.46348021e+02] [ 5.76906928e-02 9.98334463e-01 -2.90945409e-04 4.74234501e+00] [ 2.53783818e-02 -1.17520227e-03 9.99677226e-01 4.08223727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.965099893 meters 0.02443432979109717 Centerline is valid? [True, True] Translation: X:346.38, Y:4.74, Z:4.08 [[ 9.98004596e-01 -5.75194325e-02 -2.60449665e-02 3.46380330e+02] [ 5.75312320e-02 9.98343663e-01 -2.96680098e-04 4.74271202e+00] [ 2.60188922e-02 -1.20231091e-03 9.99660728e-01 4.08198392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99509989300003 meters 0.02319712177099768 Centerline is valid? [True, True] Translation: X:346.41, Y:4.75, Z:4.08 [[ 9.97996300e-01 -5.73455417e-02 -2.67371387e-02 3.46411432e+02] [ 5.73579516e-02 9.98353631e-01 -3.03186913e-04 4.74544598e+00] [ 2.67105059e-02 -1.23100809e-03 9.99642453e-01 4.08205488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.025099893 meters 0.02319712177099768 Centerline is valid? [True, True] Translation: X:346.44, Y:4.75, Z:4.08 [[ 9.97998311e-01 -5.73105253e-02 -2.67371493e-02 3.46442310e+02] [ 5.73229477e-02 9.98355642e-01 -3.02249711e-04 4.74576512e+00] [ 2.67105059e-02 -1.23100751e-03 9.99642453e-01 4.08243663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05509989300003 meters 0.02319712177099768 Centerline is valid? [True, True] Translation: X:346.47, Y:4.75, Z:4.08 [[ 9.98000321e-01 -5.72755088e-02 -2.67371598e-02 3.46473188e+02] [ 5.72879438e-02 9.98357652e-01 -3.01311929e-04 4.74608319e+00] [ 2.67105059e-02 -1.23100751e-03 9.99642453e-01 4.08281838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.085099893 meters 0.021751775727970546 Centerline is valid? [True, True] Translation: X:346.50, Y:4.75, Z:4.08 [[ 9.97992586e-01 -5.69755253e-02 -2.76511735e-02 3.46504923e+02] [ 5.69887535e-02 9.98374772e-01 -3.10064537e-04 4.74912552e+00] [ 2.76239002e-02 -1.26636380e-03 9.99617585e-01 4.08321324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11509989300004 meters 0.02137113101935302 Centerline is valid? [True, True] Translation: X:346.54, Y:4.75, Z:4.08 [[ 9.97995370e-01 -5.66954441e-02 -2.81223733e-02 3.46536611e+02] [ 5.67090576e-02 9.98390697e-01 -3.13877632e-04 4.75000724e+00] [ 2.80949113e-02 -1.28154486e-03 9.99604439e-01 4.08311580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.145099893 meters 0.021914955389838606 Centerline is valid? [True, True] Translation: X:346.57, Y:4.75, Z:4.08 [[ 9.97995847e-01 -5.64303297e-02 -2.86340337e-02 3.46567361e+02] [ 5.64443558e-02 9.98405696e-01 -3.18845809e-04 4.74989681e+00] [ 2.86063749e-02 -1.29802280e-03 9.99589911e-01 4.08286362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.175099893 meters 0.02229403937936639 Centerline is valid? [True, True] Translation: X:346.60, Y:4.75, Z:4.08 [[ 9.98065262e-01 -5.49989239e-02 -2.89974380e-02 3.46597488e+02] [ 5.50127208e-02 9.98485602e-01 -3.22375444e-04 4.75064576e+00] [ 2.89712546e-02 -1.27347623e-03 9.99579434e-01 4.08229712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.205099893 meters 0.02157239273043622 Centerline is valid? [True, True] Translation: X:346.63, Y:4.75, Z:4.08 [[ 9.98121555e-01 -5.39075180e-02 -2.91091235e-02 3.46628376e+02] [ 5.39209610e-02 9.98545154e-01 -3.23521147e-04 4.75279800e+00] [ 2.90842144e-02 -1.24667848e-03 9.99576187e-01 4.08279110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.235099893 meters 0.021397653679053476 Centerline is valid? [True, True] Translation: X:346.66, Y:4.75, Z:4.08 [[ 9.98275466e-01 -5.13005293e-02 -2.85368223e-02 3.46658157e+02] [ 5.13123828e-02 9.98682602e-01 -3.17249758e-04 4.75498101e+00] [ 2.85155030e-02 -1.14758970e-03 9.99592692e-01 4.08349599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.265099893 meters 0.020026379174299842 Centerline is valid? [True, True] Translation: X:346.69, Y:4.76, Z:4.08 [[ 9.98367061e-01 -4.96908272e-02 -2.81785949e-02 3.46689091e+02] [ 4.97017524e-02 9.98764055e-01 -3.12990139e-04 4.75824400e+00] [ 2.81593204e-02 -1.08804650e-03 9.99602856e-01 4.08480897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.295099893 meters 0.020595084193743427 Centerline is valid? [True, True] Translation: X:346.72, Y:4.76, Z:4.08 [[ 9.98487555e-01 -4.75990737e-02 -2.75123716e-02 3.46718707e+02] [ 4.76086937e-02 9.98866016e-01 -3.05641857e-04 4.75836999e+00] [ 2.74957213e-02 -1.00464848e-03 9.99621416e-01 4.08488301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.325099893 meters 0.01817748388590738 Centerline is valid? [True, True] Translation: X:346.75, Y:4.76, Z:4.09 [[ 9.98593621e-01 -4.57833642e-02 -2.67332045e-02 3.46749326e+02] [ 4.57917914e-02 9.98950962e-01 -2.97194649e-04 4.76315717e+00] [ 2.67187669e-02 -9.27384643e-04 9.99642560e-01 4.08673788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.355099893 meters 0.01834976577114031 Centerline is valid? [True, True] Translation: X:346.78, Y:4.76, Z:4.09 [[ 9.98696918e-01 -4.36862466e-02 -2.63813782e-02 3.46778875e+02] [ 4.36937160e-02 9.99044930e-01 -2.93528705e-04 4.76391450e+00] [ 2.63690053e-02 -8.59554232e-04 9.99651908e-01 4.08681113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.385099893 meters 0.016608874667022204 Centerline is valid? [True, True] Translation: X:346.81, Y:4.77, Z:4.09 [[ 9.98790669e-01 -4.18969798e-02 -2.57263004e-02 3.46808989e+02] [ 4.19034842e-02 9.99121622e-01 -2.86451090e-04 4.76750566e+00] [ 2.57157045e-02 -7.91916949e-04 9.99668983e-01 4.08818044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.415099893 meters 0.017440834540053473 Centerline is valid? [True, True] Translation: X:346.84, Y:4.77, Z:4.09 [[ 9.98893074e-01 -3.94865015e-02 -2.55625422e-02 3.46838529e+02] [ 3.94921288e-02 9.99219841e-01 -2.84861186e-04 4.76764984e+00] [ 2.55538476e-02 -7.24973345e-04 9.99673184e-01 4.08795307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.445099893 meters 0.016681625133991625 Centerline is valid? [True, True] Translation: X:346.87, Y:4.77, Z:4.09 [[ 9.98936916e-01 -3.90341369e-02 -2.45229407e-02 3.46869390e+02] [ 3.90391742e-02 9.99237643e-01 -2.73485997e-04 4.76938233e+00] [ 2.45149208e-02 -6.84160095e-04 9.99699230e-01 4.08916046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.475099893 meters 0.016117179226120038 Centerline is valid? [True, True] Translation: X:346.90, Y:4.77, Z:4.09 [[ 9.98944576e-01 -3.90525650e-02 -2.41791458e-02 3.46900069e+02] [ 3.90574674e-02 9.99236930e-01 -2.69651910e-04 4.77044953e+00] [ 2.41712261e-02 -6.75008887e-04 9.99707605e-01 4.09005391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.505099893 meters 0.017099478597749084 Centerline is valid? [True, True] Translation: X:346.93, Y:4.77, Z:4.09 [[ 9.98909615e-01 -4.00576315e-02 -2.39784559e-02 3.46929905e+02] [ 4.00627421e-02 9.99197130e-01 -2.67413765e-04 4.76850215e+00] [ 2.39699162e-02 -6.93520512e-04 9.99712440e-01 4.08993451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.535099893 meters 0.016124716231989175 Centerline is valid? [True, True] Translation: X:346.96, Y:4.77, Z:4.09 [[ 9.98892082e-01 -4.05603879e-02 -2.38634442e-02 3.46961173e+02] [ 4.05656025e-02 9.99176842e-01 -2.65723171e-04 4.76987025e+00] [ 2.38545787e-02 -7.02606222e-04 9.99715192e-01 4.09068359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.565099893 meters 0.01574290888380584 Centerline is valid? [True, True] Translation: X:346.99, Y:4.77, Z:4.09 [[ 9.98862456e-01 -4.11712650e-02 -2.40566157e-02 3.46991996e+02] [ 4.11767679e-02 9.99151842e-01 -2.66776416e-04 4.77031963e+00] [ 2.40471954e-02 -7.24100735e-04 9.99710562e-01 4.09168688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.595099893 meters 0.01615422741262357 Centerline is valid? [True, True] Translation: X:347.02, Y:4.77, Z:4.09 [[ 9.98849607e-01 -4.15842214e-02 -2.38791903e-02 3.47023271e+02] [ 4.15897875e-02 9.99134736e-01 -2.63708494e-04 4.76992718e+00] [ 2.38694946e-02 -7.29725325e-04 9.99714817e-01 4.09201598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.625099893 meters 0.017701372276405496 Centerline is valid? [True, True] Translation: X:347.05, Y:4.77, Z:4.09 [[ 9.98859145e-01 -4.12465358e-02 -2.40651427e-02 3.47053406e+02] [ 4.12521068e-02 9.99148734e-01 -2.65108138e-04 4.76785900e+00] [ 2.40555917e-02 -7.27932149e-04 9.99710357e-01 4.09112986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.655099893 meters 0.01642118230237836 Centerline is valid? [True, True] Translation: X:347.08, Y:4.77, Z:4.09 [[ 9.98870463e-01 -4.07282283e-02 -2.44746921e-02 3.47084845e+02] [ 4.07338512e-02 9.99169996e-01 -2.68967684e-04 4.77048821e+00] [ 2.44653326e-02 -7.28284593e-04 9.99700414e-01 4.09192324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68509989300003 meters 0.017131095114797806 Centerline is valid? [True, True] Translation: X:347.11, Y:4.77, Z:4.09 [[ 9.98898331e-01 -3.99724520e-02 -2.45830831e-02 3.47114145e+02] [ 3.99779018e-02 9.99200528e-01 -2.69933902e-04 4.76972303e+00] [ 2.45742196e-02 -7.13143559e-04 9.99697754e-01 4.09160328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.715099893 meters 0.0156363320034436 Centerline is valid? [True, True] Translation: X:347.15, Y:4.77, Z:4.09 [[ 9.98999259e-01 -3.83313949e-02 -2.30474281e-02 3.47145100e+02] [ 3.83357480e-02 9.99264883e-01 -2.53085640e-04 4.77228277e+00] [ 2.30401867e-02 -6.30708029e-04 9.99734341e-01 4.09348067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74509989300003 meters 0.01492259782097653 Centerline is valid? [True, True] Translation: X:347.18, Y:4.77, Z:4.09 [[ 9.99068274e-01 -3.73122218e-02 -2.16882719e-02 3.47176031e+02] [ 3.73158445e-02 9.99303493e-01 -2.37785632e-04 4.77392221e+00] [ 2.16820381e-02 -5.71752099e-04 9.99764753e-01 4.09477835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.775099893 meters 0.014746863532132469 Centerline is valid? [True, True] Translation: X:347.21, Y:4.77, Z:4.10 [[ 9.99131786e-01 -3.60796093e-02 -2.08311202e-02 3.47206719e+02] [ 3.60826880e-02 9.99348782e-01 -2.28173677e-04 4.77481366e+00] [ 2.08257870e-02 -5.23667236e-04 9.99782983e-01 4.09583015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80509989300003 meters 0.014207911325715333 Centerline is valid? [True, True] Translation: X:347.24, Y:4.78, Z:4.10 [[ 9.99281450e-01 -3.26879256e-02 -1.91855106e-02 3.47236788e+02] [ 3.26899121e-02 9.99465520e-01 -2.10148493e-04 4.77668579e+00] [ 1.91821257e-02 -4.17175166e-04 9.99815919e-01 4.09801372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.835099893 meters 0.013979778637436076 Centerline is valid? [True, True] Translation: X:347.27, Y:4.78, Z:4.10 [[ 9.99357757e-01 -3.08816826e-02 -1.81767669e-02 3.47267163e+02] [ 3.08831688e-02 9.99522981e-01 -1.98997109e-04 4.77772646e+00] [ 1.81742416e-02 -3.62486857e-04 9.99834769e-01 4.09933049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86509989300004 meters 0.013588580518305648 Centerline is valid? [True, True] Translation: X:347.30, Y:4.78, Z:4.10 [[ 9.99422750e-01 -2.91827283e-02 -1.73935278e-02 3.47298716e+02] [ 2.91838386e-02 9.99574043e-01 -1.90038082e-04 4.77877333e+00] [ 1.73916647e-02 -3.17681526e-04 9.99848703e-01 4.10042124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.895099893 meters 0.01329473294719145 Centerline is valid? [True, True] Translation: X:347.33, Y:4.78, Z:4.10 [[ 9.99474617e-01 -2.76266224e-02 -1.69487645e-02 3.47330409e+02] [ 2.76274629e-02 9.99618272e-01 -1.84595083e-04 4.77959329e+00] [ 1.69473944e-02 -2.83753263e-04 9.99856342e-01 4.10123253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.925099893 meters 0.012877774532718236 Centerline is valid? [True, True] Translation: X:347.36, Y:4.78, Z:4.10 [[ 9.99519239e-01 -2.58187064e-02 -1.71663882e-02 3.47362175e+02] [ 2.58193125e-02 9.99666609e-01 -1.86357113e-04 4.77976218e+00] [ 1.71654766e-02 -2.56956822e-04 9.99852629e-01 4.10145479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.955099893 meters 0.012573848301892357 Centerline is valid? [True, True] Translation: X:347.39, Y:4.78, Z:4.10 [[ 9.99508164e-01 -2.56514560e-02 -1.80397627e-02 3.47393030e+02] [ 2.56521063e-02 9.99670911e-01 -1.95383582e-04 4.77928940e+00] [ 1.80388379e-02 -2.67470426e-04 9.99837251e-01 4.10106657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.985099893 meters 0.012674644884665534 Centerline is valid? [True, True] Translation: X:347.42, Y:4.78, Z:4.10 [[ 9.99474057e-01 -2.65736843e-02 -1.85862750e-02 3.47422663e+02] [ 2.65745299e-02 9.99646815e-01 -2.01527455e-04 4.77824541e+00] [ 1.85850659e-02 -2.92500058e-04 9.99827240e-01 4.10088401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.015099893 meters 0.013034506806454177 Centerline is valid? [True, True] Translation: X:347.45, Y:4.78, Z:4.10 [[ 9.99426618e-01 -2.80810734e-02 -1.89179346e-02 3.47452683e+02] [ 2.80822064e-02 9.99605596e-01 -2.05814000e-04 4.77615717e+00] [ 1.89162528e-02 -3.25561355e-04 9.99821019e-01 4.10071928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.045099893 meters 0.013591119517824168 Centerline is valid? [True, True] Translation: X:347.48, Y:4.77, Z:4.10 [[ 9.99370148e-01 -2.98248651e-02 -1.92298112e-02 3.47481767e+02] [ 2.98263557e-02 9.99555073e-01 -2.09344961e-04 4.77352843e+00] [ 1.92274991e-02 -3.64342086e-04 9.99815068e-01 4.10067057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.075099893 meters 0.01381816955024257 Centerline is valid? [True, True] Translation: X:347.51, Y:4.77, Z:4.10 [[ 9.99301828e-01 -3.19346069e-02 -1.93916617e-02 3.47512270e+02] [ 3.19365308e-02 9.99489877e-01 -2.10536222e-04 4.77209187e+00] [ 1.93884930e-02 -4.08913169e-04 9.99811942e-01 4.10135693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.105099893 meters 0.014797203284380351 Centerline is valid? [True, True] Translation: X:347.54, Y:4.77, Z:4.10 [[ 9.99167143e-01 -3.56090406e-02 -1.99252958e-02 3.47542893e+02] [ 3.56118020e-02 9.99365675e-01 -2.16329914e-04 4.76749541e+00] [ 1.99203600e-02 -4.93425949e-04 9.99801448e-01 4.10142556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.135099893 meters 0.015207346287141998 Centerline is valid? [True, True] Translation: X:347.57, Y:4.77, Z:4.10 [[ 9.99094901e-01 -3.74342980e-02 -2.02002943e-02 3.47574102e+02] [ 3.74375147e-02 9.99298947e-01 -2.19032772e-04 4.76596104e+00] [ 2.01943322e-02 -5.37414290e-04 9.99795929e-01 4.10181619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.165099893 meters 0.017288467408410807 Centerline is valid? [True, True] Translation: X:347.60, Y:4.76, Z:4.10 [[ 9.99028513e-01 -3.90595297e-02 -2.04054859e-02 3.47604613e+02] [ 3.90631630e-02 9.99236719e-01 -2.20663089e-04 4.76158298e+00] [ 2.03985298e-02 -5.76654103e-04 9.99791762e-01 4.10114972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.195099893 meters 0.01684196576221781 Centerline is valid? [True, True] Translation: X:347.64, Y:4.76, Z:4.10 [[ 9.98886633e-01 -4.21278503e-02 -2.12306146e-02 3.47635567e+02] [ 4.21324839e-02 9.99112006e-01 -2.29197347e-04 4.76052175e+00] [ 2.12214175e-02 -6.65556360e-04 9.99774579e-01 4.10173380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.225099893 meters 0.01742670233140572 Centerline is valid? [True, True] Translation: X:347.67, Y:4.76, Z:4.10 [[ 9.98826853e-01 -4.35064329e-02 -2.12628330e-02 3.47667046e+02] [ 4.35114040e-02 9.99052904e-01 -2.29006545e-04 4.75888122e+00] [ 2.12526584e-02 -6.96437833e-04 9.99773894e-01 4.10172550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.255099893 meters 0.017270821332653487 Centerline is valid? [True, True] Translation: X:347.70, Y:4.76, Z:4.10 [[ 9.98764876e-01 -4.49416208e-02 -2.11889961e-02 3.47698410e+02] [ 4.49468961e-02 9.98989352e-01 -2.27453362e-04 4.75842512e+00] [ 2.11778036e-02 -7.25207178e-04 9.99775462e-01 4.10255143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.285099893 meters 0.019105277864772407 Centerline is valid? [True, True] Translation: X:347.73, Y:4.75, Z:4.10 [[ 9.98675804e-01 -4.71622763e-02 -2.05513369e-02 3.47729158e+02] [ 4.71677251e-02 9.98886959e-01 -2.19788728e-04 4.75415347e+00] [ 2.05388282e-02 -7.49862125e-04 9.99788775e-01 4.10265243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.315099893 meters 0.01901667587830621 Centerline is valid? [True, True] Translation: X:347.76, Y:4.75, Z:4.10 [[ 9.98651643e-01 -4.77872025e-02 -2.02800129e-02 3.47761392e+02] [ 4.77926602e-02 9.98857255e-01 -2.15745676e-04 4.75378097e+00] [ 2.02671478e-02 -7.53780989e-04 9.99794316e-01 4.10349045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.345099893 meters 0.019979277931039083 Centerline is valid? [True, True] Translation: X:347.79, Y:4.75, Z:4.10 [[ 9.98653365e-01 -4.80487680e-02 -1.95645896e-02 3.47793044e+02] [ 4.80539216e-02 9.98844722e-01 -2.06898822e-04 4.75182022e+00] [ 1.95519283e-02 -7.33535049e-04 9.99808574e-01 4.10403406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.375099893 meters 0.018437180630083445 Centerline is valid? [True, True] Translation: X:347.82, Y:4.75, Z:4.11 [[ 9.98677031e-01 -4.81525908e-02 -1.80420408e-02 3.47824987e+02] [ 4.81570085e-02 9.98839760e-01 -1.89777913e-04 4.75352895e+00] [ 1.80302460e-02 -6.79323871e-04 9.99837211e-01 4.10612514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.405099893 meters 0.0190636965288915 Centerline is valid? [True, True] Translation: X:347.86, Y:4.75, Z:4.11 [[ 9.98693577e-01 -4.79051721e-02 -1.77829708e-02 3.47856297e+02] [ 4.79094456e-02 9.98851666e-01 -1.85875791e-04 4.75277246e+00] [ 1.77714545e-02 -6.66339315e-04 9.99841853e-01 4.10671912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43509989300003 meters 0.019066582654030436 Centerline is valid? [True, True] Translation: X:347.89, Y:4.75, Z:4.11 [[ 9.98716538e-01 -4.74518351e-02 -1.77087837e-02 3.47888947e+02] [ 4.74560203e-02 9.98873311e-01 -1.84054775e-04 4.75272523e+00] [ 1.76975651e-02 -6.56569850e-04 9.99843170e-01 4.10758324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.465099893 meters 0.01947747377490878 Centerline is valid? [True, True] Translation: X:347.92, Y:4.75, Z:4.11 [[ 9.98731296e-01 -4.70659928e-02 -1.79050369e-02 3.47920669e+02] [ 4.70702323e-02 9.98891565e-01 -1.84813778e-04 4.75165284e+00] [ 1.78938887e-02 -6.58214940e-04 9.99839675e-01 4.10770536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49509989300003 meters 0.01948459365645146 Centerline is valid? [True, True] Translation: X:347.95, Y:4.75, Z:4.11 [[ 9.98713902e-01 -4.72288995e-02 -1.84383790e-02 3.47952894e+02] [ 4.72334475e-02 9.98883860e-01 -1.88994326e-04 4.75152003e+00] [ 1.84267252e-02 -6.82156946e-04 9.99829981e-01 4.10800938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.525099893 meters 0.019579636510056814 Centerline is valid? [True, True] Translation: X:347.99, Y:4.75, Z:4.11 [[ 9.98676769e-01 -4.77656384e-02 -1.90566387e-02 3.47985484e+02] [ 4.77706204e-02 9.98858313e-01 -1.93960002e-04 4.75061929e+00] [ 1.90441466e-02 -7.16644106e-04 9.99818387e-01 4.10788818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55509989300003 meters 0.019833635926841238 Centerline is valid? [True, True] Translation: X:348.02, Y:4.75, Z:4.11 [[ 9.98660340e-01 -4.80654176e-02 -1.91635102e-02 3.48017783e+02] [ 4.80705368e-02 9.98843925e-01 -1.93691403e-04 4.74985639e+00] [ 1.91506656e-02 -7.27768300e-04 9.99816344e-01 4.10819555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.585099893 meters 0.018728495940727247 Centerline is valid? [True, True] Translation: X:348.05, Y:4.75, Z:4.11 [[ 9.98643524e-01 -4.81905193e-02 -1.97176343e-02 3.48050431e+02] [ 4.81959913e-02 9.98837878e-01 -1.97865495e-04 4.75135960e+00] [ 1.97042552e-02 -7.52713834e-04 9.99805569e-01 4.10866215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61509989300004 meters 0.01915312698129364 Centerline is valid? [True, True] Translation: X:348.08, Y:4.75, Z:4.11 [[ 9.98588865e-01 -4.86555008e-02 -2.12819555e-02 3.48082330e+02] [ 4.86620154e-02 9.98815280e-01 -2.11961394e-04 4.75097586e+00] [ 2.12670554e-02 -8.23960557e-04 9.99773491e-01 4.10844697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.645099893 meters 0.01902233895394631 Centerline is valid? [True, True] Translation: X:348.11, Y:4.75, Z:4.11 [[ 9.98563615e-01 -4.87961439e-02 -2.21278964e-02 3.48114121e+02] [ 4.88032573e-02 9.98808387e-01 -2.18762424e-04 4.75154914e+00] [ 2.21122032e-02 -8.61465223e-04 9.99755124e-01 4.10841363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.675099893 meters 0.019620688505780214 Centerline is valid? [True, True] Translation: X:348.15, Y:4.75, Z:4.11 [[ 9.98540804e-01 -4.91408294e-02 -2.23929057e-02 3.48145681e+02] [ 4.91482468e-02 9.98791471e-01 -2.19331009e-04 4.75120709e+00] [ 2.23766213e-02 -8.81561095e-04 9.99749223e-01 4.10838010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.705099893 meters 0.01836834858378412 Centerline is valid? [True, True] Translation: X:348.18, Y:4.75, Z:4.11 [[ 9.98507159e-01 -4.95635658e-02 -2.29544531e-02 3.48177719e+02] [ 4.95715227e-02 9.98770552e-01 -2.22599760e-04 4.75355556e+00] [ 2.29372646e-02 -9.15619739e-04 9.99736487e-01 4.10896585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.735099893 meters 0.020479535254184413 Centerline is valid? [True, True] Translation: X:348.21, Y:4.75, Z:4.11 [[ 9.98426402e-01 -5.02424513e-02 -2.49081362e-02 3.48208369e+02] [ 5.02520726e-02 9.98736538e-01 -2.39916337e-04 4.75155056e+00] [ 2.48887196e-02 -1.01214666e-03 9.99689715e-01 4.10723789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.765099893 meters 0.020757900765713173 Centerline is valid? [True, True] Translation: X:348.24, Y:4.75, Z:4.11 [[ 9.98418390e-01 -5.02777734e-02 -2.51568067e-02 3.48240045e+02] [ 5.02876264e-02 9.98734748e-01 -2.41222840e-04 4.75168926e+00] [ 2.51371051e-02 -1.02423477e-03 9.99683488e-01 4.10708277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.795099893 meters 0.021387987420975224 Centerline is valid? [True, True] Translation: X:348.27, Y:4.75, Z:4.11 [[ 9.98431795e-01 -5.04025486e-02 -2.43625413e-02 3.48270428e+02] [ 5.04118412e-02 9.98728488e-01 -2.32979089e-04 4.75185513e+00] [ 2.43433068e-02 -9.95546833e-04 9.99703162e-01 4.10763637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.825099893 meters 0.020269837823308694 Centerline is valid? [True, True] Translation: X:348.30, Y:4.75, Z:4.11 [[ 9.98444158e-01 -5.05969131e-02 -2.34353344e-02 3.48301719e+02] [ 5.06055791e-02 9.98718692e-01 -2.23512827e-04 4.75460075e+00] [ 2.34166155e-02 -9.62793589e-04 9.99725330e-01 4.10938135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.855099893 meters 0.021464937075622043 Centerline is valid? [True, True] Translation: X:348.33, Y:4.76, Z:4.11 [[ 9.98438844e-01 -5.16899839e-02 -2.11664813e-02 3.48332825e+02] [ 5.16973158e-02 9.98662779e-01 -2.01010643e-04 4.75504046e+00] [ 2.11485673e-02 -8.93553436e-04 9.99775945e-01 4.11156582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.885099893 meters 0.022650156464861414 Centerline is valid? [True, True] Translation: X:348.37, Y:4.76, Z:4.11 [[ 9.98374993e-01 -5.35769291e-02 -1.94135414e-02 3.48365036e+02] [ 5.35834738e-02 9.98563357e-01 -1.83269078e-04 4.75527484e+00] [ 1.93954700e-02 -8.57273721e-04 9.99811523e-01 4.11344925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.915099893 meters 0.022650156464861414 Centerline is valid? [True, True] Translation: X:348.40, Y:4.76, Z:4.11 [[ 9.98378746e-01 -5.35069542e-02 -1.94135541e-02 3.48396756e+02] [ 5.35135120e-02 9.98567109e-01 -1.81910713e-04 4.75551139e+00] [ 1.93954701e-02 -8.57271672e-04 9.99811523e-01 4.11384128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.945099893 meters 0.023511913229399772 Centerline is valid? [True, True] Translation: X:348.43, Y:4.76, Z:4.11 [[ 9.98320995e-01 -5.46143468e-02 -1.92993447e-02 3.48428407e+02] [ 5.46210577e-02 9.98507140e-01 -1.79616701e-04 4.75536364e+00] [ 1.92803432e-02 -8.74835499e-04 9.99813734e-01 4.11399518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.975099893 meters 0.022475420887160952 Centerline is valid? [True, True] Translation: X:348.46, Y:4.76, Z:4.11 [[ 9.98236794e-01 -5.61134292e-02 -1.93542401e-02 3.48460518e+02] [ 5.61204817e-02 9.98423988e-01 -1.78981161e-04 4.75779573e+00] [ 1.93337808e-02 -9.07503698e-04 9.99812673e-01 4.11459432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.005099893 meters 0.022639776367826908 Centerline is valid? [True, True] Translation: X:348.49, Y:4.76, Z:4.12 [[ 9.98140871e-01 -5.78781126e-02 -1.91030100e-02 3.48492446e+02] [ 5.78853314e-02 9.98323223e-01 -1.75303039e-04 4.75873351e+00] [ 1.90811247e-02 -9.30806937e-04 9.99817505e-01 4.11526146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.035099893 meters 0.024936287763519555 Centerline is valid? [True, True] Translation: X:348.52, Y:4.76, Z:4.12 [[ 9.98014643e-01 -6.00381736e-02 -1.90313158e-02 3.48523543e+02] [ 6.00457536e-02 9.98195611e-01 -1.73402322e-04 4.75653579e+00] [ 1.90073867e-02 -9.69691643e-04 9.99818873e-01 4.11563759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.065099893 meters 0.02631700154305784 Centerline is valid? [True, True] Translation: X:348.56, Y:4.76, Z:4.12 [[ 9.97894472e-01 -6.21246420e-02 -1.86320008e-02 3.48555421e+02] [ 6.21322880e-02 9.98067909e-01 -1.68786130e-04 4.75519070e+00] [ 1.86064878e-02 -9.89218092e-04 9.99826395e-01 4.11611673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.095099893 meters 0.027334060859613978 Centerline is valid? [True, True] Translation: X:348.59, Y:4.75, Z:4.12 [[ 9.97609133e-01 -6.65125548e-02 -1.87642935e-02 3.48586168e+02] [ 6.65210961e-02 9.97785004e-01 -1.69302338e-04 4.75424629e+00] [ 1.87339915e-02 -1.07932382e-03 9.99823921e-01 4.11642295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.125099893 meters 0.0291141975680467 Centerline is valid? [True, True] Translation: X:348.62, Y:4.75, Z:4.12 [[ 9.97482731e-01 -6.83170862e-02 -1.89993943e-02 3.48617600e+02] [ 6.83261768e-02 9.97663021e-01 -1.71017156e-04 4.75243972e+00] [ 1.89666765e-02 -1.12756931e-03 9.99819481e-01 4.11615586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.155099893 meters 0.029531425139056273 Centerline is valid? [True, True] Translation: X:348.65, Y:4.75, Z:4.12 [[ 9.97384861e-01 -6.96321806e-02 -1.93596966e-02 3.48649978e+02] [ 6.96418886e-02 9.97572041e-01 -1.73098094e-04 4.75256059e+00] [ 1.93247453e-02 -1.17560042e-03 9.99812569e-01 4.11627613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18509989300003 meters 0.02821268190319197 Centerline is valid? [True, True] Translation: X:348.68, Y:4.76, Z:4.12 [[ 9.97282762e-01 -7.10001968e-02 -1.96485107e-02 3.48682053e+02] [ 7.10104889e-02 9.97475554e-01 -1.74271293e-04 4.75637066e+00] [ 1.96112823e-02 -1.22145259e-03 9.99806934e-01 4.11640707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.215099893 meters 0.02864096183378715 Centerline is valid? [True, True] Translation: X:348.71, Y:4.76, Z:4.12 [[ 9.97292759e-01 -7.09535208e-02 -1.93067491e-02 3.48714608e+02] [ 7.09634804e-02 9.97478900e-01 -1.69615611e-04 4.75720502e+00] [ 1.92701097e-02 -1.20091769e-03 9.99813593e-01 4.11695456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24509989300003 meters 0.028268857404621425 Centerline is valid? [True, True] Translation: X:348.75, Y:4.76, Z:4.12 [[ 9.97334737e-01 -7.04787630e-02 -1.88723611e-02 3.48747319e+02] [ 7.04882332e-02 9.97512597e-01 -1.63756756e-04 4.75901581e+00] [ 1.88369593e-02 -1.16695909e-03 9.99821888e-01 4.11765973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.275099893 meters 0.02850314887795012 Centerline is valid? [True, True] Translation: X:348.78, Y:4.76, Z:4.12 [[ 9.97435656e-01 -6.91504812e-02 -1.84478410e-02 3.48779481e+02] [ 6.91593369e-02 9.97605614e-01 -1.58267389e-04 4.76069915e+00] [ 1.84146140e-02 -1.11797891e-03 9.99829812e-01 4.11817766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30509989300003 meters 0.0283314543816564 Centerline is valid? [True, True] Translation: X:348.81, Y:4.76, Z:4.12 [[ 9.97502125e-01 -6.82881216e-02 -1.80622192e-02 3.48811277e+02] [ 6.82964929e-02 9.97665057e-01 -1.53690543e-04 4.76209191e+00] [ 1.80305401e-02 -1.08027958e-03 9.99836853e-01 4.11859787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.335099893 meters 0.028324257770900287 Centerline is valid? [True, True] Translation: X:348.84, Y:4.76, Z:4.12 [[ 9.97534193e-01 -6.76616377e-02 -1.86396630e-02 3.48843395e+02] [ 6.76704691e-02 9.97707714e-01 -1.57250743e-04 4.76365035e+00] [ 1.86075754e-02 -1.10449174e-03 9.99826254e-01 4.11893421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36509989300004 meters 0.02917926290469201 Centerline is valid? [True, True] Translation: X:348.87, Y:4.76, Z:4.12 [[ 9.97596165e-01 -6.66157156e-02 -1.90850135e-02 3.48874269e+02] [ 6.66248073e-02 9.97778086e-01 -1.59756549e-04 4.76401293e+00] [ 1.90532505e-02 -1.11216283e-03 9.99817852e-01 4.11853728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.395099893 meters 0.02549519184572619 Centerline is valid? [True, True] Translation: X:348.91, Y:4.77, Z:4.12 [[ 9.97686308e-01 -6.49337844e-02 -2.01403568e-02 3.48907004e+02] [ 6.49435960e-02 9.97888922e-01 -1.67204513e-04 4.77153297e+00] [ 2.01086962e-02 -1.14116954e-03 9.99797148e-01 4.11840098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.425099893 meters 0.02904055630103051 Centerline is valid? [True, True] Translation: X:348.94, Y:4.77, Z:4.12 [[ 9.97740908e-01 -6.40566819e-02 -2.02440417e-02 3.48938075e+02] [ 6.40664598e-02 9.97945620e-01 -1.65844788e-04 4.76847155e+00] [ 2.02130762e-02 -1.13149396e-03 9.99795055e-01 4.11820942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.455099893 meters 0.02490308607527301 Centerline is valid? [True, True] Translation: X:348.97, Y:4.78, Z:4.12 [[ 9.97786675e-01 -6.34663616e-02 -1.98436695e-02 3.48969803e+02] [ 6.34756845e-02 9.97983372e-01 -1.60323577e-04 4.77513811e+00] [ 1.98138274e-02 -1.09962178e-03 9.99803082e-01 4.11949053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.485099893 meters 0.025846105877991108 Centerline is valid? [True, True] Translation: X:349.00, Y:4.78, Z:4.12 [[ 9.97843510e-01 -6.26224444e-02 -1.96662040e-02 3.49001154e+02] [ 6.26314630e-02 9.98036710e-01 -1.57609583e-04 4.77548515e+00] [ 1.96374635e-02 -1.07445343e-03 9.99806589e-01 4.11978228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.515099893 meters 0.025397865792757227 Centerline is valid? [True, True] Translation: X:349.03, Y:4.78, Z:4.12 [[ 9.97876603e-01 -6.19254700e-02 -2.01871412e-02 3.49033355e+02] [ 6.19348557e-02 9.98080181e-01 -1.60542590e-04 4.77706904e+00] [ 2.01583272e-02 -1.09008598e-03 9.99796206e-01 4.11968355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.545099893 meters 0.03019581282639556 Centerline is valid? [True, True] Translation: X:349.06, Y:4.77, Z:4.12 [[ 9.97942408e-01 -6.03477954e-02 -2.16585817e-02 3.49064941e+02] [ 6.03582604e-02 9.98176764e-01 -1.70805002e-04 4.77301206e+00] [ 2.16294006e-02 -1.13682076e-03 9.99765411e-01 4.11774929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.575099893 meters 0.030274817911986458 Centerline is valid? [True, True] Translation: X:349.10, Y:4.77, Z:4.12 [[ 9.97990494e-01 -5.95563433e-02 -2.16336698e-02 3.49097506e+02] [ 5.95666262e-02 9.98224318e-01 -1.69338891e-04 4.77419417e+00] [ 2.16053405e-02 -1.11964612e-03 9.99765950e-01 4.11799319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.605099893 meters 0.023903571894146686 Centerline is valid? [True, True] Translation: X:349.13, Y:4.78, Z:4.12 [[ 9.98047737e-01 -5.87413666e-02 -2.12171154e-02 3.49129887e+02] [ 5.87511041e-02 9.98272648e-01 -1.64636158e-04 4.78381536e+00] [ 2.11901370e-02 -1.08221421e-03 9.99774878e-01 4.12031163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.635099893 meters 0.03036065092713876 Centerline is valid? [True, True] Translation: X:349.16, Y:4.78, Z:4.12 [[ 9.98081642e-01 -5.84509357e-02 -2.04088968e-02 3.49161479e+02] [ 5.84599109e-02 9.98289745e-01 -1.57074884e-04 4.77645156e+00] [ 2.03831735e-02 -1.03632873e-03 9.99791704e-01 4.12009179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.665099893 meters 0.023129663107086453 Centerline is valid? [True, True] Translation: X:349.19, Y:4.79, Z:4.12 [[ 9.98119645e-01 -5.83647058e-02 -1.87279150e-02 3.49193399e+02] [ 5.83722679e-02 9.98294875e-01 -1.43069185e-04 4.78719053e+00] [ 1.87043317e-02 -9.50390705e-04 9.99824607e-01 4.12330336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.695099893 meters 0.024048788555060457 Centerline is valid? [True, True] Translation: X:349.22, Y:4.79, Z:4.12 [[ 9.98147856e-01 -5.79681535e-02 -1.84540415e-02 3.49224901e+02] [ 5.79754598e-02 9.98317999e-01 -1.39269267e-04 4.78632922e+00] [ 1.84310750e-02 -9.30870222e-04 9.99829700e-01 4.12354673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.725099893 meters 0.02546110731573052 Centerline is valid? [True, True] Translation: X:349.26, Y:4.79, Z:4.12 [[ 9.98187724e-01 -5.73276989e-02 -1.82976226e-02 3.49256006e+02] [ 5.73348108e-02 9.98354997e-01 -1.36104000e-04 4.78529033e+00] [ 1.82753255e-02 -9.13233385e-04 9.99832575e-01 4.12285485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.755099893 meters 0.024311862749837404 Centerline is valid? [True, True] Translation: X:349.29, Y:4.79, Z:4.12 [[ 9.98212767e-01 -5.68746808e-02 -1.83451130e-02 3.49288156e+02] [ 5.68817731e-02 9.98380912e-01 -1.35380039e-04 4.78794128e+00] [ 1.83231104e-02 -9.08364475e-04 9.99831705e-01 4.12301599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.785099893 meters 0.023528900945121483 Centerline is valid? [True, True] Translation: X:349.32, Y:4.79, Z:4.12 [[ 9.98242018e-01 -5.62659287e-02 -1.86284336e-02 3.49320393e+02] [ 5.62731608e-02 9.98415401e-01 -1.36144142e-04 4.79023654e+00] [ 1.86065753e-02 -9.12376038e-04 9.99826466e-01 4.12331675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.815099893 meters 0.024345462940010595 Centerline is valid? [True, True] Translation: X:349.35, Y:4.79, Z:4.12 [[ 9.98263254e-01 -5.57119224e-02 -1.91482797e-02 3.49351473e+02] [ 5.57194863e-02 9.98446453e-01 -1.38683998e-04 4.79031189e+00] [ 1.91262583e-02 -9.28489171e-04 9.99816645e-01 4.12340381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.845099893 meters 0.023844516524442413 Centerline is valid? [True, True] Translation: X:349.38, Y:4.79, Z:4.12 [[ 9.98268303e-01 -5.52919964e-02 -2.00795836e-02 3.49383808e+02] [ 5.53002542e-02 9.98469760e-01 -1.44200516e-04 4.79231938e+00] [ 2.00568301e-02 -9.66455272e-04 9.99798374e-01 4.12258762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.875099893 meters 0.023651869461353132 Centerline is valid? [True, True] Translation: X:349.42, Y:4.79, Z:4.12 [[ 9.98236874e-01 -5.55312071e-02 -2.09625477e-02 3.49415622e+02] [ 5.55402917e-02 9.98456436e-01 -1.49025755e-04 4.79302723e+00] [ 2.09384662e-02 -1.01550301e-03 9.99780251e-01 4.12257972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.905099893 meters 0.02276063770784658 Centerline is valid? [True, True] Translation: X:349.45, Y:4.79, Z:4.12 [[ 9.98186794e-01 -5.61489451e-02 -2.16891546e-02 3.49447677e+02] [ 5.61588502e-02 9.98421835e-01 -1.52619798e-04 4.79442153e+00] [ 2.16634950e-02 -1.06569492e-03 9.99764751e-01 4.12276743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93509989300003 meters 0.023543006923086484 Centerline is valid? [True, True] Translation: X:349.48, Y:4.79, Z:4.12 [[ 9.98161003e-01 -5.65137164e-02 -2.19274133e-02 3.49478499e+02] [ 5.65239591e-02 9.98401231e-01 -1.52884944e-04 4.79328865e+00] [ 2.19009965e-02 -1.08682042e-03 9.99759554e-01 4.12226123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.965099893 meters 0.024866378449090933 Centerline is valid? [True, True] Translation: X:349.51, Y:4.79, Z:4.12 [[ 9.98085371e-01 -5.73795252e-02 -2.30907577e-02 3.49509298e+02] [ 5.73911619e-02 9.98351756e-01 -1.58968700e-04 4.79132139e+00] [ 2.30618201e-02 -1.16654108e-03 9.99733360e-01 4.12176686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99509989300003 meters 0.024664196073895844 Centerline is valid? [True, True] Translation: X:349.54, Y:4.79, Z:4.12 [[ 9.98128311e-01 -5.66310701e-02 -2.30823930e-02 3.49541576e+02] [ 5.66425513e-02 9.98394510e-01 -1.56629577e-04 4.79193424e+00] [ 2.30542046e-02 -1.15110922e-03 9.99733554e-01 4.12203051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.025099893 meters 0.02298630708824464 Centerline is valid? [True, True] Translation: X:349.57, Y:4.80, Z:4.12 [[ 9.98261410e-01 -5.47289474e-02 -2.18837659e-02 3.49573337e+02] [ 5.47388398e-02 9.98500695e-01 -1.47167628e-04 4.79528188e+00] [ 2.18590097e-02 -1.05098019e-03 9.99760511e-01 4.12400888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05509989300003 meters 0.021309444015884835 Centerline is valid? [True, True] Translation: X:349.61, Y:4.80, Z:4.13 [[ 9.98371543e-01 -5.31890396e-02 -2.06201004e-02 3.49606022e+02] [ 5.31975226e-02 9.98584000e-01 -1.37301168e-04 4.79815542e+00] [ 2.05982053e-02 -9.59860680e-04 9.99787374e-01 4.12579435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.085099893 meters 0.021440976531191 Centerline is valid? [True, True] Translation: X:349.64, Y:4.80, Z:4.13 [[ 9.98469795e-01 -5.17103864e-02 -1.95985809e-02 3.49637714e+02] [ 5.17177963e-02 9.98661731e-01 -1.28913567e-04 4.79849292e+00] [ 1.95790189e-02 -8.84879113e-04 9.99807921e-01 4.12676277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11509989300004 meters 0.022903759370223823 Centerline is valid? [True, True] Translation: X:349.67, Y:4.80, Z:4.13 [[ 9.98601851e-01 -4.98017751e-02 -1.77235894e-02 3.49668388e+02] [ 4.98075522e-02 9.98758827e-01 -1.15583769e-04 4.79664795e+00] [ 1.77073476e-02 -7.67346438e-04 9.99842918e-01 4.12817004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.145099893 meters 0.020279469667651165 Centerline is valid? [True, True] Translation: X:349.70, Y:4.80, Z:4.13 [[ 9.98642962e-01 -4.91937952e-02 -1.70939952e-02 3.49700790e+02] [ 4.91990933e-02 9.98788985e-01 -1.10716151e-04 4.80013263e+00] [ 1.70787407e-02 -7.30443159e-04 9.99853881e-01 4.12930971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.175099893 meters 0.020958506061021367 Centerline is valid? [True, True] Translation: X:349.73, Y:4.80, Z:4.13 [[ 9.98662136e-01 -4.89421819e-02 -1.66913181e-02 3.49731751e+02] [ 4.89472164e-02 9.98801361e-01 -1.07012837e-04 4.79883200e+00] [ 1.66765487e-02 -7.10123891e-04 9.99860685e-01 4.12944545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.205099893 meters 0.021856963298205856 Centerline is valid? [True, True] Translation: X:349.76, Y:4.80, Z:4.13 [[ 9.98662206e-01 -4.90234083e-02 -1.64470152e-02 3.49763336e+02] [ 4.90283257e-02 9.98797383e-01 -1.04339755e-04 4.79731434e+00] [ 1.64323509e-02 -7.02169450e-04 9.99864733e-01 4.12970153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.235099893 meters 0.021989274098704655 Centerline is valid? [True, True] Translation: X:349.80, Y:4.80, Z:4.13 [[ 9.98593108e-01 -5.00599815e-02 -1.74872029e-02 3.49795228e+02] [ 5.00657313e-02 9.98745919e-01 -1.09108132e-04 4.79568000e+00] [ 1.74707345e-02 -7.66554974e-04 9.99847081e-01 4.12896688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.265099893 meters 0.02464863310838429 Centerline is valid? [True, True] Translation: X:349.82, Y:4.79, Z:4.13 [[ 9.98418684e-01 -5.25262951e-02 -2.00279516e-02 3.49824986e+02] [ 5.25343526e-02 9.98619110e-01 -1.23970452e-04 4.78988281e+00] [ 2.00068069e-02 -9.28381056e-04 9.99799413e-01 4.12629378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.295099893 meters 0.022471475299955718 Centerline is valid? [True, True] Translation: X:349.86, Y:4.79, Z:4.13 [[ 9.98326931e-01 -5.37159214e-02 -2.13995211e-02 3.49857210e+02] [ 5.37254071e-02 9.98555739e-01 -1.31817715e-04 4.79172633e+00] [ 2.13756953e-02 -1.01810081e-03 9.99770995e-01 4.12560169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.325099893 meters 0.024699862180774183 Centerline is valid? [True, True] Translation: X:349.89, Y:4.79, Z:4.12 [[ 9.98118530e-01 -5.63789797e-02 -2.41000144e-02 3.49887573e+02] [ 5.63918148e-02 9.98408705e-01 -1.47255462e-04 4.78701388e+00] [ 2.40699663e-02 -1.21206514e-03 9.99709542e-01 4.12319280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.355099893 meters 0.02261747095072933 Centerline is valid? [True, True] Translation: X:349.92, Y:4.79, Z:4.12 [[ 9.98044133e-01 -5.73120746e-02 -2.49646499e-02 3.49919440e+02] [ 5.73261673e-02 9.98355492e-01 -1.51394610e-04 4.78937546e+00] [ 2.49322720e-02 -1.28002919e-03 9.99688323e-01 4.12370211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.385099893 meters 0.025280001839547664 Centerline is valid? [True, True] Translation: X:349.95, Y:4.79, Z:4.12 [[ 9.97988060e-01 -5.80707721e-02 -2.54483437e-02 3.49950914e+02] [ 5.80857038e-02 9.98311588e-01 -1.52699482e-04 4.78572028e+00] [ 2.54142438e-02 -1.32579269e-03 9.99676127e-01 4.12352196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.415099893 meters 0.025280001839547664 Centerline is valid? [True, True] Translation: X:349.98, Y:4.79, Z:4.12 [[ 9.97992136e-01 -5.80006658e-02 -2.54483531e-02 3.49982650e+02] [ 5.80156152e-02 9.98315664e-01 -1.51110191e-04 4.78584869e+00] [ 2.54142540e-02 -1.32559508e-03 9.99676127e-01 4.12391422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.445099893 meters 0.022369906654426047 Centerline is valid? [True, True] Translation: X:350.01, Y:4.79, Z:4.13 [[ 9.98027163e-01 -5.79043465e-02 -2.42666066e-02 3.50014792e+02] [ 5.79179519e-02 9.98321336e-01 -1.42393668e-04 4.78991894e+00] [ 2.42341163e-02 -1.26335940e-03 9.99705512e-01 4.12649703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.475099893 meters 0.022883485904314337 Centerline is valid? [True, True] Translation: X:350.05, Y:4.79, Z:4.13 [[ 9.98145507e-01 -5.66840736e-02 -2.21915207e-02 3.50046217e+02] [ 5.66951801e-02 9.98391526e-01 -1.28858526e-04 4.78935600e+00] [ 2.21631304e-02 -1.12953270e-03 9.99753730e-01 4.12867764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.505099893 meters 0.023543975129309537 Centerline is valid? [True, True] Translation: X:350.08, Y:4.79, Z:4.13 [[ 9.98233935e-01 -5.53885429e-02 -2.14737357e-02 3.50077050e+02] [ 5.53986676e-02 9.98464307e-01 -1.23551981e-04 4.78865135e+00] [ 2.14476020e-02 -1.06628256e-03 9.99769405e-01 4.12941045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.535099893 meters 0.022647471442573706 Centerline is valid? [True, True] Translation: X:350.11, Y:4.79, Z:4.13 [[ 9.98352083e-01 -5.33277127e-02 -2.11960746e-02 3.50108579e+02] [ 5.33371345e-02 9.98576555e-01 -1.20980056e-04 4.78997111e+00] [ 2.11723548e-02 -1.00975719e-03 9.99775331e-01 4.13020483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.565099893 meters 0.019840470813638215 Centerline is valid? [True, True] Translation: X:350.14, Y:4.79, Z:4.13 [[ 9.98496105e-01 -5.09052584e-02 -2.03514734e-02 3.50139716e+02] [ 5.09134565e-02 9.98703062e-01 -1.15442279e-04 4.79414431e+00] [ 2.03309554e-02 -9.20895190e-04 9.99792881e-01 4.13104037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.595099893 meters 0.018990070621927476 Centerline is valid? [True, True] Translation: X:350.17, Y:4.80, Z:4.13 [[ 9.98725952e-01 -4.63309858e-02 -1.99977891e-02 3.50169659e+02] [ 4.63379949e-02 9.98925812e-01 -1.12989177e-04 4.79559773e+00] [ 1.99815427e-02 -8.13812228e-04 9.99800018e-01 4.13093707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.625099893 meters 0.017808931347145146 Centerline is valid? [True, True] Translation: X:350.20, Y:4.80, Z:4.13 [[ 9.98833652e-01 -4.39555229e-02 -1.99811671e-02 3.50201240e+02] [ 4.39620513e-02 9.99033195e-01 -1.12618434e-04 4.79750267e+00] [ 1.99667994e-02 -7.65926010e-04 9.99800350e-01 4.13120754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.655099893 meters 0.018893272854446058 Centerline is valid? [True, True] Translation: X:350.23, Y:4.80, Z:4.13 [[ 9.98933527e-01 -4.18100166e-02 -1.95890629e-02 3.50231979e+02] [ 4.18158930e-02 9.99125327e-01 -1.09707509e-04 4.79592057e+00] [ 1.95765157e-02 -7.09543648e-04 9.99808110e-01 4.13102945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68509989300003 meters 0.016154307800695517 Centerline is valid? [True, True] Translation: X:350.26, Y:4.80, Z:4.13 [[ 9.99019151e-01 -3.96462381e-02 -1.97208414e-02 3.50263209e+02] [ 3.96517869e-02 9.99213553e-01 -1.09730003e-04 4.79980818e+00] [ 1.97096824e-02 -6.72344225e-04 9.99805519e-01 4.13189492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.715099893 meters 0.018038299670336634 Centerline is valid? [True, True] Translation: X:350.29, Y:4.80, Z:4.13 [[ 9.99052187e-01 -3.85414224e-02 -2.02308233e-02 3.50294402e+02] [ 3.85470536e-02 9.99256780e-01 -1.11681124e-04 4.79680531e+00] [ 2.02200917e-02 -6.68263359e-04 9.99795330e-01 4.13108063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74509989300003 meters 0.015641611581992242 Centerline is valid? [True, True] Translation: X:350.33, Y:4.80, Z:4.13 [[ 9.99081742e-01 -3.75229168e-02 -2.06809768e-02 3.50325854e+02] [ 3.75286039e-02 9.99295547e-01 -1.13180915e-04 4.79988707e+00] [ 2.06706549e-02 -6.63051202e-04 9.99786119e-01 4.13149255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.775099893 meters 0.016173739070417834 Centerline is valid? [True, True] Translation: X:350.36, Y:4.80, Z:4.13 [[ 9.99121094e-01 -3.62004831e-02 -2.11320605e-02 3.50356036e+02] [ 3.62061386e-02 9.99344336e-01 -1.15035837e-04 4.79809254e+00] [ 2.11223693e-02 -6.50175580e-04 9.99776686e-01 4.13091404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80509989300003 meters 0.015607477736962303 Centerline is valid? [True, True] Translation: X:350.39, Y:4.80, Z:4.13 [[ 9.99147492e-01 -3.56703607e-02 -2.07825503e-02 3.50387111e+02] [ 3.56757268e-02 9.99363412e-01 -1.12616361e-04 4.79867405e+00] [ 2.07733375e-02 -6.28912233e-04 9.99784013e-01 4.13144901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.835099893 meters 0.015607477736962303 Centerline is valid? [True, True] Translation: X:350.42, Y:4.80, Z:4.13 [[ 9.99148758e-01 -3.56348959e-02 -2.07825543e-02 3.50417970e+02] [ 3.56402697e-02 9.99364678e-01 -1.11878799e-04 4.79881128e+00] [ 2.07733375e-02 -6.28912277e-04 9.99784013e-01 4.13183050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86509989300004 meters 0.015099949441192693 Centerline is valid? [True, True] Translation: X:350.45, Y:4.80, Z:4.13 [[ 9.99163095e-01 -3.51695948e-02 -2.08856336e-02 3.50449270e+02] [ 3.51749360e-02 9.99381164e-01 -1.11687276e-04 4.79948007e+00] [ 2.08766368e-02 -6.23057021e-04 9.99781865e-01 4.13231591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.895099893 meters 0.014671519331577742 Centerline is valid? [True, True] Translation: X:350.48, Y:4.80, Z:4.13 [[ 9.99196533e-01 -3.43028244e-02 -2.07268962e-02 3.50480437e+02] [ 3.43079138e-02 9.99411304e-01 -1.10097168e-04 4.79997143e+00] [ 2.07184710e-02 -6.01087858e-04 9.99785169e-01 4.13240931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.925099893 meters 0.01448088058145004 Centerline is valid? [True, True] Translation: X:350.51, Y:4.80, Z:4.13 [[ 9.99265686e-01 -3.23462219e-02 -2.05380384e-02 3.50510214e+02] [ 3.23508175e-02 9.99476569e-01 -1.08534962e-04 4.80038657e+00] [ 2.05307989e-02 -5.55967070e-04 9.99789066e-01 4.13252685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.955099893 meters 0.013986985877548031 Centerline is valid? [True, True] Translation: X:350.54, Y:4.80, Z:4.13 [[ 9.99360876e-01 -2.98848614e-02 -1.96146572e-02 3.50540258e+02] [ 2.98885825e-02 9.99553231e-01 -1.03485584e-04 4.80107670e+00] [ 1.96089867e-02 -4.82834858e-04 9.99807609e-01 4.13334216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.985099893 meters 0.013817850824537114 Centerline is valid? [True, True] Translation: X:350.57, Y:4.80, Z:4.13 [[ 9.99408666e-01 -2.88731064e-02 -1.86725176e-02 3.50570390e+02] [ 2.88763000e-02 9.99582988e-01 -9.86247696e-05 4.80134970e+00] [ 1.86675785e-02 -4.40626769e-04 9.99825648e-01 4.13392145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.015099893 meters 0.012257760653654729 Centerline is valid? [True, True] Translation: X:350.60, Y:4.80, Z:4.14 [[ 9.99495641e-01 -2.73248400e-02 -1.61807575e-02 3.50601232e+02] [ 2.73270321e-02 9.99626543e-01 -8.56503836e-05 4.80426291e+00] [ 1.61770551e-02 -3.56564895e-04 9.99869079e-01 4.13649468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.045099893 meters 0.012257760653654729 Centerline is valid? [True, True] Translation: X:350.63, Y:4.80, Z:4.14 [[ 9.99496642e-01 -2.72881945e-02 -1.61807582e-02 3.50632084e+02] [ 2.72903841e-02 9.99627544e-01 -8.55105007e-05 4.80439886e+00] [ 1.61770650e-02 -3.56111648e-04 9.99869079e-01 4.13687623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.075099893 meters 0.01253085791774334 Centerline is valid? [True, True] Translation: X:350.66, Y:4.80, Z:4.14 [[ 9.99513034e-01 -2.69171196e-02 -1.57849381e-02 3.50662825e+02] [ 2.69191650e-02 9.99637610e-01 -8.29141980e-05 4.80389277e+00] [ 1.57814496e-02 -3.42043530e-04 9.99875407e-01 4.13730774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.105099893 meters 0.012454547553590219 Centerline is valid? [True, True] Translation: X:350.69, Y:4.80, Z:4.14 [[ 9.99485403e-01 -2.75755648e-02 -1.63864901e-02 3.50693817e+02] [ 2.75778639e-02 9.99619655e-01 -8.56943324e-05 4.80406780e+00] [ 1.63826207e-02 -3.66254160e-04 9.99865729e-01 4.13718261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.135099893 meters 0.012673926382898373 Centerline is valid? [True, True] Translation: X:350.72, Y:4.80, Z:4.14 [[ 9.99421591e-01 -2.92993500e-02 -1.72635944e-02 3.50724882e+02] [ 2.93021700e-02 9.99570595e-01 -8.96282688e-05 4.80217999e+00] [ 1.72588074e-02 -4.16284352e-04 9.99850969e-01 4.13610604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.165099893 meters 0.01325135179129373 Centerline is valid? [True, True] Translation: X:350.76, Y:4.80, Z:4.14 [[ 9.99369524e-01 -3.07621774e-02 -1.77269151e-02 3.50755573e+02] [ 3.07653939e-02 9.99526629e-01 -9.12973717e-05 4.79993973e+00] [ 1.77213322e-02 -4.54135714e-04 9.99842862e-01 4.13535630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.195099893 meters 0.014143237886485097 Centerline is valid? [True, True] Translation: X:350.79, Y:4.80, Z:4.13 [[ 9.99308925e-01 -3.21939065e-02 -1.85802112e-02 3.50785724e+02] [ 3.21977051e-02 9.99481515e-01 -9.47455574e-05 4.79703534e+00] [ 1.85736278e-02 -5.03560079e-04 9.99827368e-01 4.13486003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.225099893 meters 0.014171057597889971 Centerline is valid? [True, True] Translation: X:350.82, Y:4.80, Z:4.13 [[ 9.99251911e-01 -3.38125500e-02 -1.87704514e-02 3.50816663e+02] [ 3.38167287e-02 9.99428046e-01 -9.48320145e-05 4.79558271e+00] [ 1.87629221e-02 -5.39994190e-04 9.99823815e-01 4.13459735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.255099893 meters 0.016417959863260747 Centerline is valid? [True, True] Translation: X:350.85, Y:4.79, Z:4.13 [[ 9.99116821e-01 -3.70088490e-02 -1.98978367e-02 3.50847189e+02] [ 3.70141962e-02 9.99314735e-01 -9.96153177e-05 4.79021405e+00] [ 1.98878880e-02 -6.36975091e-04 9.99802013e-01 4.13344944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.285099893 meters 0.01633166927211175 Centerline is valid? [True, True] Translation: X:350.88, Y:4.79, Z:4.13 [[ 9.99067727e-01 -3.81662593e-02 -2.01745566e-02 3.50878016e+02] [ 3.81720049e-02 9.99271178e-01 -1.00357483e-04 4.79010023e+00] [ 2.01636832e-02 -6.69839352e-04 9.99796468e-01 4.13359698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.315099893 meters 0.018783597359012732 Centerline is valid? [True, True] Translation: X:350.91, Y:4.79, Z:4.13 [[ 9.99033229e-01 -3.88457037e-02 -2.05820107e-02 3.50908288e+02] [ 3.88518355e-02 9.99244977e-01 -1.02014113e-04 4.78614781e+00] [ 2.05704336e-02 -6.97733405e-04 9.99788163e-01 4.13293650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.345099893 meters 0.016386722135042168 Centerline is valid? [True, True] Translation: X:350.94, Y:4.79, Z:4.13 [[ 9.98987472e-01 -4.01492270e-02 -2.02994951e-02 3.50939167e+02] [ 4.01554676e-02 9.99193439e-01 -1.00254854e-04 4.78881343e+00] [ 2.02871475e-02 -7.14982376e-04 9.99793939e-01 4.13425957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.375099893 meters 0.01648463172050516 Centerline is valid? [True, True] Translation: X:350.97, Y:4.79, Z:4.13 [[ 9.98992996e-01 -4.01858104e-02 -1.99523138e-02 3.50970512e+02] [ 4.01918564e-02 9.99191976e-01 -9.80468899e-05 4.78807573e+00] [ 1.99401319e-02 -7.03972373e-04 9.99800928e-01 4.13485397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.405099893 meters 0.017085402830709053 Centerline is valid? [True, True] Translation: X:351.00, Y:4.79, Z:4.14 [[ 9.99011108e-01 -3.99236758e-02 -1.95680117e-02 3.51001928e+02] [ 3.99294667e-02 9.99202496e-01 -9.48394220e-05 4.78650580e+00] [ 1.95561925e-02 -6.86594636e-04 9.99808524e-01 4.13511263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43509989300003 meters 0.01700955034095533 Centerline is valid? [True, True] Translation: X:351.03, Y:4.79, Z:4.14 [[ 9.99041728e-01 -3.94121993e-02 -1.90342737e-02 3.51033105e+02] [ 3.94176182e-02 9.99222820e-01 -9.05440641e-05 4.78606709e+00] [ 1.90230492e-02 -6.59828437e-04 9.99818828e-01 4.13599141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.465099893 meters 0.017911337838490866 Centerline is valid? [True, True] Translation: X:351.06, Y:4.78, Z:4.14 [[ 9.99072435e-01 -3.86568924e-02 -1.89714268e-02 3.51064079e+02] [ 3.86621545e-02 9.99252335e-01 -8.94570805e-05 4.78477343e+00] [ 1.89607007e-02 -6.44102133e-04 9.99820022e-01 4.13641614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49509989300003 meters 0.014889647041292082 Centerline is valid? [True, True] Translation: X:351.10, Y:4.79, Z:4.14 [[ 9.99187687e-01 -3.59386731e-02 -1.82312295e-02 3.51095862e+02] [ 3.59430979e-02 9.99353834e-01 -8.50148518e-05 4.78966672e+00] [ 1.82225044e-02 -5.70341073e-04 9.99833794e-01 4.13793982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.525099893 meters 0.014803964500745467 Centerline is valid? [True, True] Translation: X:351.13, Y:4.79, Z:4.14 [[ 9.99259534e-01 -3.39931454e-02 -1.80235899e-02 3.51126555e+02] [ 3.39971677e-02 9.99421926e-01 -8.32745133e-05 4.79009715e+00] [ 1.80160017e-02 -5.29538158e-04 9.99837558e-01 4.13833600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55509989300003 meters 0.014238032573650724 Centerline is valid? [True, True] Translation: X:351.16, Y:4.79, Z:4.14 [[ 9.99333815e-01 -3.18149862e-02 -1.78810492e-02 3.51157487e+02] [ 3.18186024e-02 9.99493657e-01 -8.22964287e-05 4.79129701e+00] [ 1.78746135e-02 -4.86708391e-04 9.99840118e-01 4.13866245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.585099893 meters 0.012965992905237136 Centerline is valid? [True, True] Translation: X:351.19, Y:4.79, Z:4.14 [[ 9.99393725e-01 -2.96827766e-02 -1.81965546e-02 3.51188733e+02] [ 2.96861764e-02 9.99559265e-01 -8.33121463e-05 4.79385620e+00] [ 1.81910077e-02 -4.56924494e-04 9.99834426e-01 4.13930891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61509989300004 meters 0.012168508716447646 Centerline is valid? [True, True] Translation: X:351.22, Y:4.80, Z:4.14 [[ 9.99510446e-01 -2.46227386e-02 -1.93025714e-02 3.51218119e+02] [ 2.46256279e-02 9.99696739e-01 -8.80238347e-05 4.79601267e+00] [ 1.92988851e-02 -3.87357200e-04 9.99813684e-01 4.13920544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.645099893 meters 0.011074435932218915 Centerline is valid? [True, True] Translation: X:351.25, Y:4.80, Z:4.14 [[ 9.99557016e-01 -2.25011949e-02 -1.94799421e-02 3.51246836e+02] [ 2.25036949e-02 9.99746756e-01 -9.08843190e-05 4.79865354e+00] [ 1.94770539e-02 -3.47526616e-04 9.99810244e-01 4.13978688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.675099893 meters 0.010337206696933415 Centerline is valid? [True, True] Translation: X:351.27, Y:4.80, Z:4.14 [[ 9.99635453e-01 -1.76118675e-02 -2.04642100e-02 3.51274304e+02] [ 1.76135191e-02 9.99844865e-01 -9.95464307e-05 4.80100823e+00] [ 2.04627885e-02 -2.60936613e-04 9.99790581e-01 4.13985106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.705099893 meters 0.009998019025429468 Centerline is valid? [True, True] Translation: X:351.30, Y:4.80, Z:4.14 [[ 9.99658653e-01 -1.54630988e-02 -2.10587447e-02 3.51303327e+02] [ 1.54643007e-02 9.99880415e-01 -1.05783378e-04 4.80272135e+00] [ 2.10578621e-02 -2.19911491e-04 9.99778234e-01 4.13978071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.735099893 meters 0.00977029605645489 Centerline is valid? [True, True] Translation: X:351.33, Y:4.80, Z:4.14 [[ 9.99659489e-01 -1.30847185e-02 -2.25764705e-02 3.51330707e+02] [ 1.30853523e-02 9.99914376e-01 -1.19664595e-04 4.80422259e+00] [ 2.25761032e-02 -1.75797222e-04 9.99745112e-01 4.13900934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.765099893 meters 0.009679695445438459 Centerline is valid? [True, True] Translation: X:351.36, Y:4.81, Z:4.14 [[ 9.99669371e-01 -1.05891881e-02 -2.34311269e-02 3.51358028e+02] [ 1.05890492e-02 9.99943926e-01 -1.30009285e-04 4.80595304e+00] [ 2.34311897e-02 -1.18147054e-04 9.99725445e-01 4.13779688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.795099893 meters 0.009457191464689298 Centerline is valid? [True, True] Translation: X:351.39, Y:4.81, Z:4.14 [[ 9.99676453e-01 -7.84659522e-03 -2.41954794e-02 3.51386276e+02] [ 7.84550265e-03 9.99969214e-01 -1.40083450e-04 4.80832978e+00] [ 2.41958337e-02 -4.97875716e-05 9.99707237e-01 4.13840195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.825099893 meters 0.009363586654999744 Centerline is valid? [True, True] Translation: X:351.41, Y:4.81, Z:4.14 [[ 9.99697224e-01 -4.84294160e-03 -2.41248252e-02 3.51413909e+02] [ 4.84081449e-03 9.99988272e-01 -1.46570806e-04 4.81055545e+00] [ 2.41252521e-02 2.97426245e-05 9.99708943e-01 4.13906927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.855099893 meters 0.009973272070242244 Centerline is valid? [True, True] Translation: X:351.44, Y:4.81, Z:4.14 [[ 9.99735063e-01 1.32508331e-03 -2.29792952e-02 3.51441535e+02] [-1.32874237e-03 9.99999107e-01 -1.43964616e-04 4.81496067e+00] [ 2.29790839e-02 1.74460037e-04 9.99735931e-01 4.14004032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.885099893 meters 0.010227446090567943 Centerline is valid? [True, True] Translation: X:351.47, Y:4.82, Z:4.14 [[ 9.99741020e-01 4.11449881e-03 -2.23822313e-02 3.51470449e+02] [-4.11874919e-03 9.99991508e-01 -1.43803654e-04 4.81658524e+00] [ 2.23814495e-02 2.35953209e-04 9.99749476e-01 4.14151892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.915099893 meters 0.011070678388170451 Centerline is valid? [True, True] Translation: X:351.50, Y:4.82, Z:4.14 [[ 9.99739262e-01 7.79546038e-03 -2.14625092e-02 3.51498652e+02] [-7.80029738e-03 9.99969567e-01 -1.41661118e-04 4.81950163e+00] [ 2.14607517e-02 3.09038136e-04 9.99769644e-01 4.14191715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.945099893 meters 0.011301122862079566 Centerline is valid? [True, True] Translation: X:351.53, Y:4.82, Z:4.14 [[ 9.99738687e-01 8.36565985e-03 -2.12737815e-02 3.51527218e+02] [-8.37061049e-03 9.99964956e-01 -1.43672451e-04 4.82026193e+00] [ 2.12718341e-02 3.21709446e-04 9.99773677e-01 4.14232647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.975099893 meters 0.01114391824063278 Centerline is valid? [True, True] Translation: X:351.55, Y:4.82, Z:4.14 [[ 9.99745957e-01 8.30779177e-03 -2.09523748e-02 3.51554989e+02] [-8.31266249e-03 9.99965439e-01 -1.45380686e-04 4.81998599e+00] [ 2.09504429e-02 3.19513773e-04 9.99780464e-01 4.14316041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.005099893 meters 0.010619060835919621 Centerline is valid? [True, True] Translation: X:351.58, Y:4.82, Z:4.14 [[ 9.99761156e-01 7.69803405e-03 -2.04541446e-02 3.51583883e+02] [-7.70258628e-03 9.99970324e-01 -1.43782565e-04 4.81884605e+00] [ 2.04524307e-02 3.01298036e-04 9.99790782e-01 4.14422882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.035099893 meters 0.010673149022459763 Centerline is valid? [True, True] Translation: X:351.61, Y:4.82, Z:4.14 [[ 9.99774579e-01 6.51150223e-03 -2.02087229e-02 3.51611276e+02] [-6.51573560e-03 9.99978762e-01 -1.43644665e-04 4.81811340e+00] [ 2.02073584e-02 2.75286979e-04 9.99795773e-01 4.14445062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.065099893 meters 0.010024171416459624 Centerline is valid? [True, True] Translation: X:351.64, Y:4.81, Z:4.15 [[ 9.99800222e-01 2.31638463e-03 -1.98532120e-02 3.51639273e+02] [-2.31968440e-03 9.99997299e-01 -1.43181273e-04 4.81436623e+00] [ 1.98528267e-02 1.89205854e-04 9.99802895e-01 4.14512324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.095099893 meters 0.009716661958334788 Centerline is valid? [True, True] Translation: X:351.67, Y:4.81, Z:4.15 [[ 9.99810352e-01 -4.71071670e-04 -1.94688831e-02 3.51668014e+02] [ 4.68386261e-04 9.99999880e-01 -1.42493078e-04 4.81184060e+00] [ 1.94689478e-02 1.33347097e-04 9.99810453e-01 4.14586323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.125099893 meters 0.009410432034999234 Centerline is valid? [True, True] Translation: X:351.70, Y:4.81, Z:4.15 [[ 9.99807159e-01 -3.62963206e-03 -1.92994959e-02 3.51697170e+02] [ 3.62755508e-03 9.99993410e-01 -1.42625734e-04 4.80919213e+00] [ 1.92998864e-02 7.25882461e-05 9.99813737e-01 4.14618976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.155099893 meters 0.009442288067186038 Centerline is valid? [True, True] Translation: X:351.72, Y:4.80, Z:4.15 [[ 9.99750045e-01 -1.06212790e-02 -1.96732055e-02 3.51724201e+02] [ 1.06204387e-02 9.99943591e-01 -1.47197308e-04 4.80284079e+00] [ 1.96736591e-02 -6.17775573e-05 9.99806453e-01 4.14590160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18509989300003 meters 0.009643315531882031 Centerline is valid? [True, True] Translation: X:351.75, Y:4.80, Z:4.15 [[ 9.99718701e-01 -1.40816708e-02 -1.90846952e-02 3.51753216e+02] [ 1.40814726e-02 9.99900841e-01 -1.44770472e-04 4.80007944e+00] [ 1.90848413e-02 -1.24010865e-04 9.99817860e-01 4.14703444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.215099893 meters 0.01008740311232573 Centerline is valid? [True, True] Translation: X:351.78, Y:4.80, Z:4.15 [[ 9.99672570e-01 -1.73747096e-02 -1.87848958e-02 3.51780899e+02] [ 1.73750716e-02 9.99849032e-01 -1.43952206e-04 4.79668847e+00] [ 1.87845610e-02 -1.82483838e-04 9.99823538e-01 4.14751828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24509989300003 meters 0.010663411494550162 Centerline is valid? [True, True] Translation: X:351.81, Y:4.79, Z:4.15 [[ 9.99614274e-01 -2.08821985e-02 -1.83094961e-02 3.51809438e+02] [ 2.08830837e-02 9.99781914e-01 -1.42866789e-04 4.79373285e+00] [ 1.83084864e-02 -2.39547058e-04 9.99832357e-01 4.14851045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.275099893 meters 0.011778961392536974 Centerline is valid? [True, True] Translation: X:351.84, Y:4.79, Z:4.15 [[ 9.99505839e-01 -2.61742862e-02 -1.74064326e-02 3.51837867e+02] [ 2.61758297e-02 9.99657345e-01 -1.39191393e-04 4.78866853e+00] [ 1.74041114e-02 -3.16505205e-04 9.99848487e-01 4.14936599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30509989300003 meters 0.012213820739550539 Centerline is valid? [True, True] Translation: X:351.87, Y:4.79, Z:4.15 [[ 9.99441267e-01 -2.83463451e-02 -1.77098273e-02 3.51867645e+02] [ 2.83482603e-02 9.99598097e-01 -1.42937540e-04 4.78644497e+00] [ 1.77067614e-02 -3.59185117e-04 9.99843158e-01 4.14954166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.335099893 meters 0.013717774338120705 Centerline is valid? [True, True] Translation: X:351.90, Y:4.78, Z:4.15 [[ 9.99335733e-01 -3.20096006e-02 -1.74206334e-02 3.51896845e+02] [ 3.20119992e-02 9.99487475e-01 -1.41221183e-04 4.78135996e+00] [ 1.74162253e-02 -4.16541927e-04 9.99848239e-01 4.14898623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36509989300004 meters 0.013717774338120705 Centerline is valid? [True, True] Translation: X:351.93, Y:4.78, Z:4.15 [[ 9.99336863e-01 -3.19743006e-02 -1.74206312e-02 3.51927697e+02] [ 3.19766893e-02 9.99488605e-01 -1.41484165e-04 4.78158191e+00] [ 1.74162462e-02 -4.15663770e-04 9.99848239e-01 4.14936790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.395099893 meters 0.01547421776444232 Centerline is valid? [True, True] Translation: X:351.96, Y:4.78, Z:4.15 [[ 9.99255784e-01 -3.47486634e-02 -1.67453854e-02 3.51958132e+02] [ 3.47512680e-02 9.99395983e-01 -1.35503306e-04 4.77691263e+00] [ 1.67399795e-02 -4.46520914e-04 9.99859777e-01 4.14958732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.425099893 meters 0.015299185007473888 Centerline is valid? [True, True] Translation: X:351.99, Y:4.78, Z:4.15 [[ 9.99227459e-01 -3.57165379e-02 -1.63955681e-02 3.51989901e+02] [ 3.57191707e-02 9.99361858e-01 -1.32319344e-04 4.77660467e+00] [ 1.63898314e-02 -4.53418973e-04 9.99865575e-01 4.14998481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.455099893 meters 0.014920407339112879 Centerline is valid? [True, True] Translation: X:352.02, Y:4.78, Z:4.15 [[ 9.99186944e-01 -3.68725103e-02 -1.63055052e-02 3.52020901e+02] [ 3.68752774e-02 9.99319867e-01 -1.31020814e-04 4.77655698e+00] [ 1.62992463e-02 -4.70355740e-04 9.99867048e-01 4.15049926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.485099893 meters 0.015833568120038374 Centerline is valid? [True, True] Translation: X:352.05, Y:4.78, Z:4.15 [[ 9.99176170e-01 -3.68974596e-02 -1.68984924e-02 3.52052460e+02] [ 3.69004472e-02 9.99318937e-01 -1.35081375e-04 4.77527427e+00] [ 1.68919676e-02 -4.88591835e-04 9.99857201e-01 4.15057201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.515099893 meters 0.014843296483920061 Centerline is valid? [True, True] Translation: X:352.08, Y:4.78, Z:4.15 [[ 9.99193310e-01 -3.64787194e-02 -1.67938359e-02 3.52083489e+02] [ 3.64816248e-02 9.99334315e-01 -1.33424590e-04 4.77732246e+00] [ 1.67875236e-02 -4.79349460e-04 9.99858965e-01 4.15100044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.545099893 meters 0.01457808388309453 Centerline is valid? [True, True] Translation: X:352.12, Y:4.78, Z:4.15 [[ 9.99233777e-01 -3.53697790e-02 -1.67582341e-02 3.52115278e+02] [ 3.53725276e-02 9.99374188e-01 -1.32459803e-04 4.77834289e+00] [ 1.67524317e-02 -4.60422790e-04 9.99859562e-01 4.15144100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.575099893 meters 0.013949318302080817 Centerline is valid? [True, True] Translation: X:352.15, Y:4.78, Z:4.15 [[ 9.99276522e-01 -3.39823892e-02 -1.70771622e-02 3.52147145e+02] [ 3.39850570e-02 9.99422332e-01 -1.34042443e-04 4.78004884e+00] [ 1.70718523e-02 -4.46422863e-04 9.99854166e-01 4.15179548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.605099893 meters 0.013926517084480361 Centerline is valid? [True, True] Translation: X:352.18, Y:4.78, Z:4.15 [[ 9.99426148e-01 -2.94173497e-02 -1.67926884e-02 3.52177300e+02] [ 2.94192978e-02 9.99567150e-01 -1.31064330e-04 4.78132862e+00] [ 1.67892753e-02 -3.63039983e-04 9.99858984e-01 4.15200017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.635099893 meters 0.012595008580993277 Centerline is valid? [True, True] Translation: X:352.21, Y:4.78, Z:4.15 [[ 9.99511077e-01 -2.65410929e-02 -1.65280745e-02 3.52208153e+02] [ 2.65425919e-02 9.99647675e-01 -1.28702422e-04 4.78474218e+00] [ 1.65256671e-02 -3.10058440e-04 9.99863394e-01 4.15264388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.665099893 meters 0.012005018707312775 Centerline is valid? [True, True] Translation: X:352.24, Y:4.79, Z:4.15 [[ 9.99595201e-01 -2.33904220e-02 -1.61963964e-02 3.52238964e+02] [ 2.33914515e-02 9.99726375e-01 -1.25904277e-04 4.78708125e+00] [ 1.61949096e-02 -2.53003909e-04 9.99868822e-01 4.15372480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.695099893 meters 0.011078897785440151 Centerline is valid? [True, True] Translation: X:352.27, Y:4.79, Z:4.16 [[ 9.99737627e-01 -1.70308930e-02 -1.53175261e-02 3.52267531e+02] [ 1.70310649e-02 9.99854954e-01 -1.19236299e-04 4.79202905e+00] [ 1.53173351e-02 -1.41668767e-04 9.99882673e-01 4.15529113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.725099893 meters 0.011078897785440151 Centerline is valid? [True, True] Translation: X:352.30, Y:4.79, Z:4.16 [[ 9.99733427e-01 -1.72756525e-02 -1.53175150e-02 3.52295773e+02] [ 1.72758314e-02 9.99850754e-01 -1.20645972e-04 4.79228908e+00] [ 1.53173132e-02 -1.44008997e-04 9.99882673e-01 4.15564062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.755099893 meters 0.010753073636701985 Centerline is valid? [True, True] Translation: X:352.32, Y:4.79, Z:4.16 [[ 9.99779371e-01 -1.43151167e-02 -1.53716417e-02 3.52324919e+02] [ 1.43148890e-02 9.99897529e-01 -1.24845446e-04 4.79490820e+00] [ 1.53718537e-02 -9.52254426e-05 9.99881842e-01 4.15625599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.785099893 meters 0.010530559859861306 Centerline is valid? [True, True] Translation: X:352.35, Y:4.80, Z:4.16 [[ 9.99826213e-01 -9.60146754e-03 -1.59798194e-02 3.52353454e+02] [ 9.60055492e-03 9.99953905e-01 -1.33823745e-04 4.79888473e+00] [ 1.59803677e-02 -1.96146454e-05 9.99872306e-01 4.15673209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.815099893 meters 0.010672983997142855 Centerline is valid? [True, True] Translation: X:352.38, Y:4.80, Z:4.16 [[ 9.99828268e-01 -8.23045636e-03 -1.66040439e-02 3.52381822e+02] [ 8.22920857e-03 9.99966129e-01 -1.43473311e-04 4.79993528e+00] [ 1.66046623e-02 6.81053164e-06 9.99862133e-01 4.15693266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.845099893 meters 0.010716702610991346 Centerline is valid? [True, True] Translation: X:352.41, Y:4.80, Z:4.16 [[ 9.99825310e-01 -7.31455144e-03 -1.72002053e-02 3.52409545e+02] [ 7.31300517e-03 9.99973248e-01 -1.52794359e-04 4.80027057e+00] [ 1.72008628e-02 2.69824770e-05 9.99852054e-01 4.15664374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.875099893 meters 0.010828522585971865 Centerline is valid? [True, True] Translation: X:352.44, Y:4.80, Z:4.16 [[ 9.99821865e-01 -7.08707899e-03 -1.74931659e-02 3.52436728e+02] [ 7.08541377e-03 9.99974886e-01 -1.57169196e-04 4.80033269e+00] [ 1.74938405e-02 3.31948802e-05 9.99846971e-01 4.15662600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.905099893 meters 0.010980887100147071 Centerline is valid? [True, True] Translation: X:352.46, Y:4.80, Z:4.16 [[ 9.99813353e-01 -7.64781685e-03 -1.77417805e-02 3.52464928e+02] [ 7.64613778e-03 9.99970755e-01 -1.62471792e-04 4.79966639e+00] [ 1.77425042e-02 2.67853691e-05 9.99842589e-01 4.15703380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93509989300003 meters 0.01091714930838389 Centerline is valid? [True, True] Translation: X:352.49, Y:4.80, Z:4.16 [[ 9.99805729e-01 -8.49809892e-03 -1.77844339e-02 3.52491970e+02] [ 8.49647288e-03 9.99963890e-01 -1.66987922e-04 4.79882783e+00] [ 1.77852108e-02 1.58505208e-05 9.99841831e-01 4.15759334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.965099893 meters 0.011027450994130383 Centerline is valid? [True, True] Translation: X:352.52, Y:4.80, Z:4.16 [[ 9.99773513e-01 -1.13238973e-02 -1.80192097e-02 3.52520019e+02] [ 1.13226485e-02 9.99935882e-01 -1.71327853e-04 4.79606634e+00] [ 1.80199945e-02 -3.27361285e-05 9.99837626e-01 4.15872713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99509989300003 meters 0.011107573325774299 Centerline is valid? [True, True] Translation: X:352.55, Y:4.79, Z:4.16 [[ 9.99753449e-01 -1.28478589e-02 -1.81100200e-02 3.52547367e+02] [ 1.28468135e-02 9.99917461e-01 -1.74065396e-04 4.79454365e+00] [ 1.81107616e-02 -5.86335693e-05 9.99835985e-01 4.15898882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.025099893 meters 0.011261715583432547 Centerline is valid? [True, True] Translation: X:352.58, Y:4.79, Z:4.16 [[ 9.99716661e-01 -1.50543161e-02 -1.84381515e-02 3.52575397e+02] [ 1.50535767e-02 9.99886672e-01 -1.78898779e-04 4.79292124e+00] [ 1.84387551e-02 -9.87120370e-05 9.99829987e-01 4.15927982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05509989300003 meters 0.011430762238813279 Centerline is valid? [True, True] Translation: X:352.60, Y:4.79, Z:4.16 [[ 9.99677788e-01 -1.74951246e-02 -1.83913190e-02 3.52604014e+02] [ 1.74947537e-02 9.99846939e-01 -1.81069812e-04 4.79124492e+00] [ 1.83916719e-02 -1.40740127e-04 9.99830849e-01 4.15971759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.085099893 meters 0.012235607698457097 Centerline is valid? [True, True] Translation: X:352.63, Y:4.79, Z:4.16 [[ 9.99567202e-01 -2.27498025e-02 -1.86508799e-02 3.52632942e+02] [ 2.27502681e-02 9.99741162e-01 -1.87241058e-04 4.78641204e+00] [ 1.86503120e-02 -2.37152498e-04 9.99826040e-01 4.15944179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11509989300004 meters 0.012809146378181396 Centerline is valid? [True, True] Translation: X:352.66, Y:4.78, Z:4.16 [[ 9.99485447e-01 -2.58139309e-02 -1.90389853e-02 3.52660234e+02] [ 2.58149349e-02 9.99666720e-01 -1.93072443e-04 4.78381029e+00] [ 1.90376240e-02 -2.98517070e-04 9.99818723e-01 4.15919484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.145099893 meters 0.013559342190134088 Centerline is valid? [True, True] Translation: X:352.69, Y:4.78, Z:4.16 [[ 9.99401465e-01 -2.90143384e-02 -1.88382469e-02 3.52689085e+02] [ 2.90158238e-02 9.99578933e-01 -1.94530517e-04 4.78148845e+00] [ 1.88359589e-02 -3.52193169e-04 9.99822526e-01 4.15934789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.175099893 meters 0.0143638782126636 Centerline is valid? [True, True] Translation: X:352.72, Y:4.78, Z:4.16 [[ 9.99255226e-01 -3.40733546e-02 -1.81107674e-02 3.52718981e+02] [ 3.40755007e-02 9.99419243e-01 -1.90166162e-04 4.77810784e+00] [ 1.81067290e-02 -4.27108936e-04 9.99835969e-01 4.16048626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.205099893 meters 0.01550345392191871 Centerline is valid? [True, True] Translation: X:352.75, Y:4.78, Z:4.16 [[ 9.99174118e-01 -3.65269184e-02 -1.78007170e-02 3.52749271e+02] [ 3.65293771e-02 9.99332562e-01 -1.87113127e-04 4.77537164e+00] [ 1.77956708e-02 -4.63290510e-04 9.99841537e-01 4.16092320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.235099893 meters 0.017092030933056678 Centerline is valid? [True, True] Translation: X:352.78, Y:4.77, Z:4.16 [[ 9.99093469e-01 -3.89938391e-02 -1.70798199e-02 3.52779710e+02] [ 3.89964754e-02 9.99239332e-01 -1.78796600e-04 4.77198929e+00] [ 1.70737998e-02 -4.87418261e-04 9.99854113e-01 4.16135802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.265099893 meters 0.016595268075397154 Centerline is valid? [True, True] Translation: X:352.81, Y:4.77, Z:4.16 [[ 9.98995332e-01 -4.16453513e-02 -1.65526642e-02 3.52811221e+02] [ 4.16482029e-02 9.99132322e-01 -1.72555848e-04 4.77209540e+00] [ 1.65454879e-02 -5.17006229e-04 9.99862980e-01 4.16215954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.295099893 meters 0.01838286490215346 Centerline is valid? [True, True] Translation: X:352.84, Y:4.77, Z:4.16 [[ 9.98888475e-01 -4.43852577e-02 -1.58670547e-02 3.52841899e+02] [ 4.43882321e-02 9.99014343e-01 -1.64845086e-04 4.76857361e+00] [ 1.58587320e-02 -5.39648652e-04 9.99874097e-01 4.16295259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.325099893 meters 0.02023383622030497 Centerline is valid? [True, True] Translation: X:352.87, Y:4.76, Z:4.16 [[ 9.98607034e-01 -5.06670734e-02 -1.47254933e-02 3.52872864e+02] [ 5.06703239e-02 9.98715422e-01 -1.52508778e-04 4.76451096e+00] [ 1.47143044e-02 -5.93849177e-04 9.99891562e-01 4.16367383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.355099893 meters 0.01989461095710856 Centerline is valid? [True, True] Translation: X:352.90, Y:4.76, Z:4.16 [[ 9.98438064e-01 -5.38760085e-02 -1.47921477e-02 3.52903596e+02] [ 5.38796429e-02 9.98547425e-01 -1.52999854e-04 4.76477916e+00] [ 1.47789040e-02 -6.44234757e-04 9.99890578e-01 4.16400133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.385099893 meters 0.023968871836039893 Centerline is valid? [True, True] Translation: X:352.93, Y:4.76, Z:4.16 [[ 9.98267190e-01 -5.69264851e-02 -1.48993892e-02 3.52933388e+02] [ 5.69305182e-02 9.98378131e-01 -1.53653423e-04 4.75848443e+00] [ 1.48839713e-02 -6.94842777e-04 9.99888986e-01 4.16373480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.415099893 meters 0.021977928257443463 Centerline is valid? [True, True] Translation: X:352.96, Y:4.76, Z:4.16 [[ 9.98101446e-01 -5.95459200e-02 -1.57412752e-02 3.52964654e+02] [ 5.95507671e-02 9.98225265e-01 -1.61042942e-04 4.76105170e+00] [ 1.57229281e-02 -7.76667822e-04 9.99876085e-01 4.16380791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.445099893 meters 0.02383746842547142 Centerline is valid? [True, True] Translation: X:353.00, Y:4.76, Z:4.16 [[ 9.97818863e-01 -6.39204633e-02 -1.64830816e-02 3.52995703e+02] [ 6.39263823e-02 9.97954603e-01 -1.68082778e-04 4.75783005e+00] [ 1.64601110e-02 -8.85987606e-04 9.99864131e-01 4.16310103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.475099893 meters 0.02532271448996474 Centerline is valid? [True, True] Translation: X:353.03, Y:4.76, Z:4.16 [[ 9.97700930e-01 -6.56593595e-02 -1.67839797e-02 3.53026409e+02] [ 6.56657484e-02 9.97841661e-01 -1.70763410e-04 4.75582307e+00] [ 1.67589664e-02 -9.31761774e-04 9.99859125e-01 4.16321141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.505099893 meters 0.025727383538468457 Centerline is valid? [True, True] Translation: X:353.06, Y:4.76, Z:4.16 [[ 9.97630940e-01 -6.65898684e-02 -1.72712882e-02 3.53058222e+02] [ 6.65967895e-02 9.97779954e-01 -1.74749832e-04 4.75545229e+00] [ 1.72445818e-02 -9.75876508e-04 9.99850825e-01 4.16342243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.535099893 meters 0.024962256803679802 Centerline is valid? [True, True] Translation: X:353.09, Y:4.76, Z:4.16 [[ 9.97536401e-01 -6.78250887e-02 -1.79132855e-02 3.53090733e+02] [ 6.78327635e-02 9.97696689e-01 -1.79514515e-04 4.75736176e+00] [ 1.78842012e-02 -1.03603539e-03 9.99839528e-01 4.16339266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.565099893 meters 0.02580615483249394 Centerline is valid? [True, True] Translation: X:353.12, Y:4.76, Z:4.16 [[ 9.97513401e-01 -6.80026364e-02 -1.85109552e-02 3.53122255e+02] [ 6.80108861e-02 9.97684562e-01 -1.84221232e-04 4.75679295e+00] [ 1.84806218e-02 -1.07518332e-03 9.99828641e-01 4.16318361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.595099893 meters 0.026339424656680016 Centerline is valid? [True, True] Translation: X:353.15, Y:4.76, Z:4.16 [[ 9.97505298e-01 -6.79016140e-02 -1.93015736e-02 3.53153977e+02] [ 6.79105883e-02 9.97691393e-01 -1.90874990e-04 4.75671343e+00] [ 1.92699746e-02 -1.12038241e-03 9.99813689e-01 4.16251989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.625099893 meters 0.02724181026370018 Centerline is valid? [True, True] Translation: X:353.19, Y:4.76, Z:4.16 [[ 9.97518039e-01 -6.75101125e-02 -2.00036678e-02 3.53185394e+02] [ 6.75197099e-02 9.97717921e-01 -1.95985724e-04 4.75644217e+00] [ 1.99712489e-02 -1.15514255e-03 9.99799887e-01 4.16216833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.655099893 meters 0.02658572963148025 Centerline is valid? [True, True] Translation: X:353.22, Y:4.76, Z:4.16 [[ 9.97550344e-01 -6.69338302e-02 -2.03266869e-02 3.53217336e+02] [ 6.69436628e-02 9.97756737e-01 -1.97094763e-04 4.75868188e+00] [ 2.02942811e-02 -1.16413093e-03 9.99793372e-01 4.16238345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68509989300003 meters 0.026550450019913463 Centerline is valid? [True, True] Translation: X:353.25, Y:4.76, Z:4.16 [[ 9.97671400e-01 -6.48625125e-02 -2.10863211e-02 3.53248166e+02] [ 6.48726588e-02 9.97893530e-01 -2.03220814e-04 4.76151649e+00] [ 2.10550848e-02 -1.16517812e-03 9.99777638e-01 4.16258494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.715099893 meters 0.025474760999739762 Centerline is valid? [True, True] Translation: X:353.28, Y:4.76, Z:4.16 [[ 9.97769174e-01 -6.33908143e-02 -2.09351209e-02 3.53279570e+02] [ 6.34005084e-02 9.97988144e-01 -2.01013190e-04 4.76465454e+00] [ 2.09057448e-02 -1.12673254e-03 9.99780816e-01 4.16339300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74509989300003 meters 0.024078337309022573 Centerline is valid? [True, True] Translation: X:353.31, Y:4.77, Z:4.16 [[ 9.98028523e-01 -5.95520208e-02 -1.98147499e-02 3.53310359e+02] [ 5.95599611e-02 9.98224712e-01 -1.89700179e-04 4.77017004e+00] [ 1.97908701e-02 -9.90839546e-04 9.99803651e-01 4.16497836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.775099893 meters 0.02163320620934737 Centerline is valid? [True, True] Translation: X:353.34, Y:4.78, Z:4.17 [[ 9.98182289e-01 -5.71253548e-02 -1.92044837e-02 3.53342031e+02] [ 5.71323767e-02 9.98366595e-01 -1.83265316e-04 4.77586426e+00] [ 1.91835841e-02 -9.14265605e-04 9.99815560e-01 4.16682215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80509989300003 meters 0.02303141967682905 Centerline is valid? [True, True] Translation: X:353.37, Y:4.78, Z:4.17 [[ 9.98327163e-01 -5.47719936e-02 -1.85176580e-02 3.53372516e+02] [ 5.47781323e-02 9.98498535e-01 -1.75938480e-04 4.77605195e+00] [ 1.84994909e-02 -8.38718553e-04 9.99828518e-01 4.16738672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.835099893 meters 0.02123267483713633 Centerline is valid? [True, True] Translation: X:353.40, Y:4.78, Z:4.17 [[ 9.98494294e-01 -5.19147741e-02 -1.77200662e-02 3.53404285e+02] [ 5.19199551e-02 9.98651235e-01 -1.67853325e-04 4.78067387e+00] [ 1.77048801e-02 -7.52424453e-04 9.99842973e-01 4.16865632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86509989300004 meters 0.018388201768925812 Centerline is valid? [True, True] Translation: X:353.43, Y:4.79, Z:4.17 [[ 9.98806440e-01 -4.56462112e-02 -1.73815718e-02 3.53434993e+02] [ 4.56502615e-02 9.98957470e-01 -1.63877564e-04 4.78862140e+00] [ 1.73709314e-02 -6.29791332e-04 9.99848916e-01 4.16975494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.895099893 meters 0.0178718961107756 Centerline is valid? [True, True] Translation: X:353.47, Y:4.79, Z:4.17 [[ 9.98959619e-01 -4.23234013e-02 -1.69826120e-02 3.53465099e+02] [ 4.23268005e-02 9.99103807e-01 -1.59391088e-04 4.79149702e+00] [ 1.69741383e-02 -5.59594371e-04 9.99855772e-01 4.17004131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.925099893 meters 0.017794097247881946 Centerline is valid? [True, True] Translation: X:353.50, Y:4.79, Z:4.17 [[ 9.99093676e-01 -3.89384327e-02 -1.71937325e-02 3.53495704e+02] [ 3.89414438e-02 9.99241482e-01 -1.59759489e-04 4.79349935e+00] [ 1.71869115e-02 -5.09934072e-04 9.99852164e-01 4.17017160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.955099893 meters 0.016956008586898403 Centerline is valid? [True, True] Translation: X:353.53, Y:4.80, Z:4.17 [[ 9.99220477e-01 -3.55094253e-02 -1.72487469e-02 3.53526211e+02] [ 3.55119644e-02 9.99369239e-01 -1.59160366e-04 4.79644036e+00] [ 1.72435187e-02 -4.53500587e-04 9.99851217e-01 4.17035495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.985099893 meters 0.015978202769302483 Centerline is valid? [True, True] Translation: X:353.56, Y:4.80, Z:4.17 [[ 9.99327878e-01 -3.21006007e-02 -1.77015417e-02 3.53557034e+02] [ 3.21027460e-02 9.99484561e-01 -1.63026727e-04 4.80000397e+00] [ 1.76976509e-02 -4.05350945e-04 9.99843302e-01 4.17052382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.015099893 meters 0.013610133188696008 Centerline is valid? [True, True] Translation: X:353.59, Y:4.81, Z:4.17 [[ 9.99512252e-01 -2.49506499e-02 -1.87809181e-02 3.53587670e+02] [ 2.49518072e-02 9.99688640e-01 -1.72741448e-04 4.80825606e+00] [ 1.87793805e-02 -2.95960654e-04 9.99823608e-01 4.17043796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.045099893 meters 0.013062205997260738 Centerline is valid? [True, True] Translation: X:353.62, Y:4.81, Z:4.17 [[ 9.99579272e-01 -2.12908358e-02 -1.96971936e-02 3.53616909e+02] [ 2.12913646e-02 9.99773296e-01 -1.82883992e-04 4.81126890e+00] [ 1.96966219e-02 -2.36573084e-04 9.99805975e-01 4.17014180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.075099893 meters 0.012487108501791258 Centerline is valid? [True, True] Translation: X:353.65, Y:4.82, Z:4.17 [[ 9.99682240e-01 -1.34596986e-02 -2.13132902e-02 3.53645465e+02] [ 1.34584232e-02 9.99909411e-01 -2.03282470e-04 4.81697597e+00] [ 2.13140956e-02 -8.36254052e-05 9.99772825e-01 4.16950888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.105099893 meters 0.012424186731451852 Centerline is valid? [True, True] Translation: X:353.67, Y:4.82, Z:4.17 [[ 9.99718155e-01 -9.76517021e-03 -2.16391111e-02 3.53673600e+02] [ 9.76286292e-03 9.99952320e-01 -2.12267771e-04 4.81999965e+00] [ 2.16401521e-02 9.48269838e-07 9.99765824e-01 4.17023051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.135099893 meters 0.012542122092910508 Centerline is valid? [True, True] Translation: X:353.70, Y:4.82, Z:4.17 [[ 9.99758256e-01 -6.11144517e-03 -2.11206232e-02 3.53701157e+02] [ 6.10830320e-03 9.99981321e-01 -2.13272997e-04 4.82284011e+00] [ 2.11215321e-02 8.42102688e-05 9.99776912e-01 4.17075246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.165099893 meters 0.012813061492222813 Centerline is valid? [True, True] Translation: X:353.73, Y:4.83, Z:4.17 [[ 9.99773952e-01 -2.46879550e-03 -2.11175134e-02 3.53728816e+02] [ 2.46474835e-03 9.99996939e-01 -2.17674672e-04 4.82569026e+00] [ 2.11179861e-02 1.65576111e-04 9.99776977e-01 4.17103818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.195099893 meters 0.013425385005954813 Centerline is valid? [True, True] Translation: X:353.76, Y:4.83, Z:4.17 [[ 9.99773503e-01 3.91340007e-03 -2.09195651e-02 3.53756958e+02] [-3.91881657e-03 9.99992298e-01 -2.17931932e-04 4.82916723e+00] [ 2.09185511e-02 2.99862510e-04 9.99781138e-01 4.17195451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.225099893 meters 0.014001798946767167 Centerline is valid? [True, True] Translation: X:353.79, Y:4.83, Z:4.17 [[ 9.99764658e-01 6.48455841e-03 -2.07021426e-02 3.53785123e+02] [-6.49046460e-03 9.99978913e-01 -2.18115306e-04 4.83149905e+00] [ 2.07002917e-02 3.52430498e-04 9.99785664e-01 4.17202732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.255099893 meters 0.014283599693166052 Centerline is valid? [True, True] Translation: X:353.81, Y:4.83, Z:4.17 [[ 9.99761490e-01 8.27311052e-03 -2.02118619e-02 3.53813768e+02] [-8.27916755e-03 9.99965704e-01 -2.16016727e-04 4.83248618e+00] [ 2.02093816e-02 3.83302596e-04 9.99795696e-01 4.17290541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.285099893 meters 0.015144402236078429 Centerline is valid? [True, True] Translation: X:353.84, Y:4.83, Z:4.17 [[ 9.99745735e-01 9.47530872e-03 -2.04617858e-02 3.53841868e+02] [-9.48184736e-03 9.99955022e-01 -2.22557374e-04 4.83441079e+00] [ 2.04587566e-02 4.16516315e-04 9.99790611e-01 4.17314101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.315099893 meters 0.014858670806280568 Centerline is valid? [True, True] Translation: X:353.87, Y:4.83, Z:4.17 [[ 9.99733971e-01 9.60264882e-03 -2.09708682e-02 3.53870395e+02] [-9.60958137e-03 9.99953800e-01 -2.29831027e-04 4.83254122e+00] [ 2.09676924e-02 4.31291149e-04 9.99780061e-01 4.17415674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.345099893 meters 0.01480239533541912 Centerline is valid? [True, True] Translation: X:353.90, Y:4.83, Z:4.17 [[ 9.99741804e-01 8.26953001e-03 -2.11645780e-02 3.53897911e+02] [-8.27632772e-03 9.99965723e-01 -2.33609483e-04 4.83136849e+00] [ 2.11619207e-02 4.08714150e-04 9.99775978e-01 4.17448255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.375099893 meters 0.014399499959785232 Centerline is valid? [True, True] Translation: X:353.93, Y:4.83, Z:4.18 [[ 9.99754735e-01 5.79860023e-03 -2.13739771e-02 3.53926879e+02] [-5.80500563e-03 9.99983123e-01 -2.37648382e-04 4.82921163e+00] [ 2.13722383e-02 3.61666153e-04 9.99771522e-01 4.17535189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.405099893 meters 0.013125463936791579 Centerline is valid? [True, True] Translation: X:353.96, Y:4.82, Z:4.18 [[ 9.99763319e-01 -1.09818479e-03 -2.17278753e-02 3.53956323e+02] [ 1.09316347e-03 9.99999373e-01 -2.42976786e-04 4.82178309e+00] [ 2.17281286e-02 2.19167158e-04 9.99763892e-01 4.17756023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43509989300003 meters 0.012794767389343821 Centerline is valid? [True, True] Translation: X:353.99, Y:4.82, Z:4.18 [[ 9.99746166e-01 -5.81019263e-03 -2.17679922e-02 3.53985350e+02] [ 5.80623982e-03 9.99983114e-01 -2.44787022e-04 4.81816500e+00] [ 2.17690468e-02 1.18334704e-04 9.99763019e-01 4.17830095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.465099893 meters 0.012698280979472037 Centerline is valid? [True, True] Translation: X:354.01, Y:4.81, Z:4.18 [[ 9.99692868e-01 -1.09352713e-02 -2.22393653e-02 3.54014435e+02] [ 1.09323769e-02 9.99940208e-01 -2.51725422e-04 4.81408693e+00] [ 2.22407882e-02 8.51898670e-06 9.99752643e-01 4.17911546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49509989300003 meters 0.012874833320787555 Centerline is valid? [True, True] Translation: X:354.04, Y:4.81, Z:4.18 [[ 9.99605128e-01 -1.64029827e-02 -2.28151417e-02 3.54042739e+02] [ 1.64013177e-02 9.99865456e-01 -2.60111650e-04 4.80926247e+00] [ 2.28163387e-02 -1.14189449e-04 9.99739667e-01 4.17890773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.525099893 meters 0.014119714829474593 Centerline is valid? [True, True] Translation: X:354.07, Y:4.80, Z:4.18 [[ 9.99342107e-01 -2.75353946e-02 -2.36041539e-02 3.54072123e+02] [ 2.75366746e-02 9.99620757e-01 -2.70866913e-04 4.79885568e+00] [ 2.36026606e-02 -3.79291194e-04 9.99721346e-01 4.17947132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55509989300003 meters 0.015292347827571261 Centerline is valid? [True, True] Translation: X:354.10, Y:4.79, Z:4.18 [[ 9.99170653e-01 -3.30191628e-02 -2.38273034e-02 3.54100454e+02] [ 3.30219900e-02 9.99454588e-01 -2.74913878e-04 4.79345632e+00] [ 2.38233851e-02 -5.12139094e-04 9.99716052e-01 4.17948977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.585099893 meters 0.01623697929966582 Centerline is valid? [True, True] Translation: X:354.13, Y:4.79, Z:4.18 [[ 9.98978904e-01 -3.84448877e-02 -2.37305907e-02 3.54130221e+02] [ 3.84491909e-02 9.99260519e-01 -2.75085337e-04 4.78951740e+00] [ 2.37236179e-02 -6.37617561e-04 9.99718352e-01 4.18021342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61509989300004 meters 0.02025587672260352 Centerline is valid? [True, True] Translation: X:354.16, Y:4.78, Z:4.18 [[ 9.98548847e-01 -4.84369073e-02 -2.35386186e-02 3.54159680e+02] [ 4.84439024e-02 9.98825868e-01 -2.73299863e-04 4.77782582e+00] [ 2.35242190e-02 -8.67399279e-04 9.99722891e-01 4.18011627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.645099893 meters 0.02025587672260352 Centerline is valid? [True, True] Translation: X:354.19, Y:4.78, Z:4.18 [[ 9.98548847e-01 -4.84369073e-02 -2.35386186e-02 3.54189698e+02] [ 4.84439024e-02 9.98825868e-01 -2.73296590e-04 4.77817435e+00] [ 2.35242188e-02 -8.67402550e-04 9.99722891e-01 4.18048752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.675099893 meters 0.021483586449745917 Centerline is valid? [True, True] Translation: X:354.22, Y:4.77, Z:4.18 [[ 9.98303637e-01 -5.32949018e-02 -2.34414706e-02 3.54220421e+02] [ 5.33031760e-02 9.98578338e-01 -2.72168647e-04 4.77451520e+00] [ 2.34226500e-02 -9.77797884e-04 9.99725174e-01 4.18109013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.705099893 meters 0.02162644648265561 Centerline is valid? [True, True] Translation: X:354.25, Y:4.77, Z:4.18 [[ 9.98065046e-01 -5.76073908e-02 -2.33998472e-02 3.54251430e+02] [ 5.76168228e-02 9.98338734e-01 -2.71483918e-04 4.77252561e+00] [ 2.33766133e-02 -1.07726624e-03 9.99726149e-01 4.18186338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.735099893 meters 0.02310173118776223 Centerline is valid? [True, True] Translation: X:354.28, Y:4.77, Z:4.18 [[ 9.97796464e-01 -6.19546258e-02 -2.37453271e-02 3.54282744e+02] [ 6.19655765e-02 9.98078249e-01 -2.75055637e-04 4.76911919e+00] [ 2.37167354e-02 -1.19694334e-03 9.99718002e-01 4.18224373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.765099893 meters 0.026991729928105668 Centerline is valid? [True, True] Translation: X:354.31, Y:4.76, Z:4.18 [[ 9.97320677e-01 -6.88963107e-02 -2.45919639e-02 3.54313154e+02] [ 6.89101766e-02 9.97622828e-01 -2.84169948e-04 4.76127382e+00] [ 2.45530828e-02 -1.41122801e-03 9.99697532e-01 4.18108806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.795099893 meters 0.030116347962589395 Centerline is valid? [True, True] Translation: X:354.34, Y:4.76, Z:4.18 [[ 9.97114091e-01 -7.16093719e-02 -2.52108437e-02 3.54343550e+02] [ 7.16248265e-02 9.97431602e-01 -2.90616436e-04 4.75671495e+00] [ 2.51669030e-02 -1.51594456e-03 9.99682114e-01 4.18047076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.825099893 meters 0.029043415448049805 Centerline is valid? [True, True] Translation: X:354.37, Y:4.76, Z:4.18 [[ 9.96961011e-01 -7.34791125e-02 -2.58759111e-02 3.54374651e+02] [ 7.34960393e-02 9.97295465e-01 -2.97574535e-04 4.75817670e+00] [ 2.58277943e-02 -1.60510677e-03 9.99665118e-01 4.18082631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.855099893 meters 0.03127308116033883 Centerline is valid? [True, True] Translation: X:354.40, Y:4.76, Z:4.18 [[ 9.96827816e-01 -7.51201483e-02 -2.62920039e-02 3.54404580e+02] [ 7.51382367e-02 9.97173082e-01 -3.00676436e-04 4.75553694e+00] [ 2.62402654e-02 -1.67581218e-03 9.99654260e-01 4.18067612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.885099893 meters 0.031836947367385134 Centerline is valid? [True, True] Translation: X:354.44, Y:4.76, Z:4.18 [[ 9.96846996e-01 -7.48547561e-02 -2.63216925e-02 3.54436391e+02] [ 7.48728478e-02 9.97193044e-01 -2.98941014e-04 4.75535194e+00] [ 2.62701858e-02 -1.67278163e-03 9.99653480e-01 4.18089531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.915099893 meters 0.03230672257481794 Centerline is valid? [True, True] Translation: X:354.47, Y:4.76, Z:4.18 [[ 9.96885809e-01 -7.43019467e-02 -2.64178832e-02 3.54468370e+02] [ 7.43200264e-02 9.97234398e-01 -2.98185520e-04 4.75568645e+00] [ 2.63669776e-02 -1.66612086e-03 9.99650942e-01 4.18146262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.945099893 meters 0.031711006210997865 Centerline is valid? [True, True] Translation: X:354.50, Y:4.76, Z:4.18 [[ 9.97040667e-01 -7.19428567e-02 -2.70949122e-02 3.54499277e+02] [ 7.19610386e-02 9.97407397e-01 -3.04690084e-04 4.75871973e+00] [ 2.70465861e-02 -1.64598962e-03 9.99632819e-01 4.18152993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.975099893 meters 0.029604281513450275 Centerline is valid? [True, True] Translation: X:354.53, Y:4.76, Z:4.18 [[ 9.97145923e-01 -7.02593040e-02 -2.76340199e-02 3.54530736e+02] [ 7.02775939e-02 9.97527425e-01 -3.09995782e-04 4.76315158e+00] [ 2.75874728e-02 -1.63294140e-03 9.99618059e-01 4.18245395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.005099893 meters 0.029189826054645252 Centerline is valid? [True, True] Translation: X:354.56, Y:4.77, Z:4.18 [[ 9.97253627e-01 -6.84306117e-02 -2.83276224e-02 3.54561809e+02] [ 6.84491252e-02 9.97654558e-01 -3.16769864e-04 4.76546356e+00] [ 2.82828583e-02 -1.62310107e-03 9.99598642e-01 4.18241193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.035099893 meters 0.029294311251400824 Centerline is valid? [True, True] Translation: X:354.59, Y:4.77, Z:4.18 [[ 9.97377239e-01 -6.64887615e-02 -2.85987450e-02 3.54591846e+02] [ 6.65068481e-02 9.97785918e-01 -3.19364440e-04 4.76721851e+00] [ 2.85566592e-02 -1.58348557e-03 9.99590921e-01 4.18214515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.065099893 meters 0.02562491034103837 Centerline is valid? [True, True] Translation: X:354.62, Y:4.77, Z:4.18 [[ 9.97487693e-01 -6.45471107e-02 -2.91885739e-02 3.54622054e+02] [ 6.45651228e-02 9.97913442e-01 -3.25951106e-04 4.77442975e+00] [ 2.91487094e-02 -1.55943164e-03 9.99573870e-01 4.18360066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.095099893 meters 0.026616234790432368 Centerline is valid? [True, True] Translation: X:354.65, Y:4.78, Z:4.18 [[ 9.97778555e-01 -5.99265612e-02 -2.90991954e-02 3.54651916e+02] [ 5.99425008e-02 9.98201779e-01 -3.25032551e-04 4.77663113e+00] [ 2.90663467e-02 -1.41996803e-03 9.99576476e-01 4.18286570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.125099893 meters 0.023598552466438417 Centerline is valid? [True, True] Translation: X:354.68, Y:4.78, Z:4.18 [[ 9.97940687e-01 -5.71490579e-02 -2.91268058e-02 3.54682253e+02] [ 5.71638457e-02 9.98364757e-01 -3.25399770e-04 4.78293302e+00] [ 2.90977727e-02 -1.34027056e-03 9.99575672e-01 4.18484274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.155099893 meters 0.0224304504357835 Centerline is valid? [True, True] Translation: X:354.71, Y:4.79, Z:4.19 [[ 9.98127706e-01 -5.41001879e-02 -2.85350989e-02 3.54712121e+02] [ 5.41131291e-02 9.98534760e-01 -3.19073393e-04 4.78697290e+00] [ 2.85105500e-02 -1.22564749e-03 9.99592740e-01 4.18583300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18509989300003 meters 0.021043322665163067 Centerline is valid? [True, True] Translation: X:354.74, Y:4.79, Z:4.19 [[ 9.98449055e-01 -4.82044122e-02 -2.78535424e-02 3.54741200e+02] [ 4.82144361e-02 9.98836959e-01 -3.12002129e-04 4.79361753e+00] [ 2.78361874e-02 -1.03142461e-03 9.99611966e-01 4.18679771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.215099893 meters 0.017788358928410145 Centerline is valid? [True, True] Translation: X:354.77, Y:4.80, Z:4.19 [[ 9.98612655e-01 -4.52143367e-02 -2.69894306e-02 3.54771416e+02] [ 4.52226277e-02 9.98976888e-01 -3.03417731e-04 4.80128089e+00] [ 2.69755362e-02 -9.17536186e-04 9.99635673e-01 4.18924403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24509989300003 meters 0.0190161319440345 Centerline is valid? [True, True] Translation: X:354.80, Y:4.80, Z:4.19 [[ 9.98745685e-01 -4.22388751e-02 -2.68874514e-02 3.54800786e+02] [ 4.22460006e-02 9.99107193e-01 -3.03235883e-04 4.80160378e+00] [ 2.68762544e-02 -8.33031757e-04 9.99638421e-01 4.18874597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.275099893 meters 0.016439933763091767 Centerline is valid? [True, True] Translation: X:354.83, Y:4.81, Z:4.19 [[ 9.98993833e-01 -3.65367860e-02 -2.60073921e-02 3.54830364e+02] [ 3.65415033e-02 9.99332093e-01 -2.94006627e-04 4.81010734e+00] [ 2.60007636e-02 -6.56638396e-04 9.99661707e-01 4.19029480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30509989300003 meters 0.015565901162282743 Centerline is valid? [True, True] Translation: X:354.86, Y:4.81, Z:4.19 [[ 9.99074213e-01 -3.43401405e-02 -2.59127594e-02 3.54859306e+02] [ 3.43439863e-02 9.99410027e-01 -2.96749369e-04 4.81379037e+00] [ 2.59076620e-02 -5.93472813e-04 9.99664164e-01 4.19109544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.335099893 meters 0.014913519742682818 Centerline is valid? [True, True] Translation: X:354.89, Y:4.82, Z:4.19 [[ 9.99141603e-01 -3.22277464e-02 -2.60274777e-02 3.54888381e+02] [ 3.22307401e-02 9.99480408e-01 -3.04592452e-04 4.81687864e+00] [ 2.60237704e-02 -5.34553879e-04 9.99661181e-01 4.19138925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36509989300004 meters 0.014412448103652968 Centerline is valid? [True, True] Translation: X:354.92, Y:4.82, Z:4.19 [[ 9.99207187e-01 -2.99625925e-02 -2.62152865e-02 3.54917532e+02] [ 2.99646837e-02 9.99550909e-01 -3.13147871e-04 4.81961777e+00] [ 2.62128961e-02 -4.72633163e-04 9.99656271e-01 4.19120930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.395099893 meters 0.01413034433596101 Centerline is valid? [True, True] Translation: X:354.95, Y:4.82, Z:4.19 [[ 9.99262876e-01 -2.80315550e-02 -2.62285445e-02 3.54946567e+02] [ 2.80328169e-02 9.99606952e-01 -3.19653235e-04 4.82237143e+00] [ 2.62271958e-02 -4.15842373e-04 9.99655921e-01 4.19122667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.425099893 meters 0.013509753224754388 Centerline is valid? [True, True] Translation: X:354.98, Y:4.83, Z:4.19 [[ 9.99366292e-01 -2.40516601e-02 -2.62398945e-02 3.54975197e+02] [ 2.40513796e-02 9.99710670e-01 -3.26339390e-04 4.82767215e+00] [ 2.62401515e-02 -3.04973078e-04 9.99655621e-01 4.19186040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.455099893 meters 0.013387532249166244 Centerline is valid? [True, True] Translation: X:355.00, Y:4.83, Z:4.19 [[ 9.99409076e-01 -2.23644068e-02 -2.61023401e-02 3.55003465e+02] [ 2.23633853e-02 9.99749853e-01 -3.31089204e-04 4.83004116e+00] [ 2.61032153e-02 -2.52843132e-04 9.99659221e-01 4.19232666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.485099893 meters 0.012945622355983578 Centerline is valid? [True, True] Translation: X:355.03, Y:4.83, Z:4.19 [[ 9.99498453e-01 -1.95637241e-02 -2.49018767e-02 3.55031798e+02] [ 1.95617736e-02 9.99808598e-01 -3.21951754e-04 4.83404844e+00] [ 2.49034090e-02 -1.65334593e-04 9.99689848e-01 4.19392485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.515099893 meters 0.012873614330351078 Centerline is valid? [True, True] Translation: X:355.06, Y:4.84, Z:4.19 [[ 9.99534843e-01 -1.83843565e-02 -2.43333676e-02 3.55059209e+02] [ 1.83820441e-02 9.99830985e-01 -3.18729625e-04 4.83543551e+00] [ 2.43351146e-02 -1.28715671e-04 9.99703849e-01 4.19454959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.545099893 meters 0.012843246018039926 Centerline is valid? [True, True] Translation: X:355.09, Y:4.84, Z:4.19 [[ 9.99566002e-01 -1.75963138e-02 -2.36257635e-02 3.55087075e+02] [ 1.75938519e-02 9.99845168e-01 -3.12077062e-04 4.83638459e+00] [ 2.36275969e-02 -1.03726564e-04 9.99720824e-01 4.19493121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.575099893 meters 0.012759932373711194 Centerline is valid? [True, True] Translation: X:355.12, Y:4.84, Z:4.20 [[ 9.99601838e-01 -1.69297598e-02 -2.25731663e-02 3.55115617e+02] [ 1.69272488e-02 9.99856678e-01 -3.02325866e-04 4.83764225e+00] [ 2.25750494e-02 -7.98961110e-05 9.99745148e-01 4.19596084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.605099893 meters 0.012660168171976462 Centerline is valid? [True, True] Translation: X:355.14, Y:4.84, Z:4.20 [[ 9.99632852e-01 -1.58672288e-02 -2.19634179e-02 3.55143998e+02] [ 1.58644727e-02 9.99874106e-01 -2.99732722e-04 4.83895021e+00] [ 2.19654087e-02 -4.88153658e-05 9.99758730e-01 4.19651866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.635099893 meters 0.012680074749866987 Centerline is valid? [True, True] Translation: X:355.17, Y:4.84, Z:4.20 [[ 9.99653262e-01 -1.54655310e-02 -2.13113565e-02 3.55171482e+02] [ 1.54627589e-02 9.99880401e-01 -2.94865388e-04 4.83918112e+00] [ 2.13133679e-02 -3.47692197e-05 9.99772844e-01 4.19632143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.665099893 meters 0.012486481156956622 Centerline is valid? [True, True] Translation: X:355.20, Y:4.84, Z:4.20 [[ 9.99683264e-01 -1.51450686e-02 -2.00997024e-02 3.55199564e+02] [ 1.51424727e-02 9.99885307e-01 -2.81348138e-04 4.83927166e+00] [ 2.01016581e-02 -2.31001703e-05 9.99797941e-01 4.19798175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.695099893 meters 0.012460130406231317 Centerline is valid? [True, True] Translation: X:355.23, Y:4.84, Z:4.20 [[ 9.99693336e-01 -1.55094506e-02 -1.93052277e-02 3.55226976e+02] [ 1.55070194e-02 9.99879721e-01 -2.75635307e-04 4.83898887e+00] [ 1.93071807e-02 -2.38157611e-05 9.99813599e-01 4.19874487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.725099893 meters 0.012357607322497502 Centerline is valid? [True, True] Translation: X:355.25, Y:4.84, Z:4.20 [[ 9.99689444e-01 -1.64879250e-02 -1.86859154e-02 3.55253998e+02] [ 1.64857300e-02 9.99864064e-01 -2.71513291e-04 4.83641521e+00] [ 1.86878520e-02 -3.66219846e-05 9.99825366e-01 4.19856153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.755099893 meters 0.01236306509096411 Centerline is valid? [True, True] Translation: X:355.28, Y:4.84, Z:4.20 [[ 9.99667293e-01 -1.79012210e-02 -1.85701336e-02 3.55282029e+02] [ 1.78992192e-02 9.99839759e-01 -2.74011850e-04 4.83512176e+00] [ 1.85720630e-02 -5.84702072e-05 9.99827523e-01 4.19879926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.785099893 meters 0.01240402797215442 Centerline is valid? [True, True] Translation: X:355.31, Y:4.83, Z:4.20 [[ 9.99631737e-01 -1.95153816e-02 -1.88557659e-02 3.55310386e+02] [ 1.95135028e-02 9.99809553e-01 -2.83640456e-04 4.83365056e+00] [ 1.88577102e-02 -8.44060388e-05 9.99822174e-01 4.19882665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.815099893 meters 0.012483825423137107 Centerline is valid? [True, True] Translation: X:355.34, Y:4.83, Z:4.20 [[ 9.99532342e-01 -2.37470051e-02 -1.92659457e-02 3.55339291e+02] [ 2.37457270e-02 9.99717987e-01 -2.95133564e-04 4.82889053e+00] [ 1.92675210e-02 -1.62488344e-04 9.99814351e-01 4.19839955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.845099893 meters 0.012706392037122415 Centerline is valid? [True, True] Translation: X:355.37, Y:4.83, Z:4.20 [[ 9.99449182e-01 -2.68389462e-02 -1.95193178e-02 3.55367749e+02] [ 2.68381268e-02 9.99639746e-01 -3.03982429e-04 4.82657332e+00] [ 1.95204445e-02 -2.20046937e-04 9.99809434e-01 4.19819826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.875099893 meters 0.01312060414303797 Centerline is valid? [True, True] Translation: X:355.40, Y:4.82, Z:4.20 [[ 9.99352448e-01 -2.99430456e-02 -1.99524221e-02 3.55396530e+02] [ 2.99427352e-02 9.99551566e-01 -3.14371963e-04 4.82330831e+00] [ 1.99528880e-02 -2.83261700e-04 9.99800881e-01 4.19800140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.905099893 meters 0.01386078224145954 Centerline is valid? [True, True] Translation: X:355.43, Y:4.82, Z:4.20 [[ 9.99254887e-01 -3.31353309e-02 -1.97919587e-02 3.55425403e+02] [ 3.31356280e-02 9.99450815e-01 -3.13023415e-04 4.81982292e+00] [ 1.97914613e-02 -3.43028801e-04 9.99804071e-01 4.19790968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93509989300003 meters 0.015004804142476222 Centerline is valid? [True, True] Translation: X:355.46, Y:4.81, Z:4.20 [[ 9.99080239e-01 -3.85224227e-02 -1.88334796e-02 3.55455351e+02] [ 3.85236311e-02 9.99257645e-01 -2.98766163e-04 4.81424892e+00] [ 1.88310077e-02 -4.27042652e-04 9.99822590e-01 4.19870103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.965099893 meters 0.015142326037825619 Centerline is valid? [True, True] Translation: X:355.49, Y:4.81, Z:4.20 [[ 9.99021991e-01 -4.03604236e-02 -1.80581654e-02 3.55486468e+02] [ 4.03618353e-02 9.99185088e-01 -2.86423686e-04 4.81260280e+00] [ 1.80550098e-02 -4.42717137e-04 9.99836897e-01 4.19964777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99509989300003 meters 0.016160855680972894 Centerline is valid? [True, True] Translation: X:355.52, Y:4.81, Z:4.20 [[ 9.98956147e-01 -4.21357844e-02 -1.76406474e-02 3.55517180e+02] [ 4.21374192e-02 9.99111786e-01 -2.79175716e-04 4.80979539e+00] [ 1.76367420e-02 -4.64447058e-04 9.99844353e-01 4.20005410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.025099893 meters 0.01604197344721083 Centerline is valid? [True, True] Translation: X:355.55, Y:4.81, Z:4.20 [[ 9.98885067e-01 -4.38316132e-02 -1.75331927e-02 3.55548997e+02] [ 4.38335035e-02 9.99038812e-01 -2.76657812e-04 4.80916947e+00] [ 1.75284663e-02 -4.92191904e-04 9.99846243e-01 4.20036971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05509989300003 meters 0.017349560819075866 Centerline is valid? [True, True] Translation: X:355.58, Y:4.81, Z:4.20 [[ 9.98738916e-01 -4.70597215e-02 -1.74917370e-02 3.55580249e+02] [ 4.70621178e-02 9.98891927e-01 -2.74833656e-04 4.80509170e+00] [ 1.74852885e-02 -5.48711123e-04 9.99846970e-01 4.20003350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.085099893 meters 0.017287602222190612 Centerline is valid? [True, True] Translation: X:355.61, Y:4.80, Z:4.20 [[ 9.98652512e-01 -4.88382314e-02 -1.75495985e-02 3.55612230e+02] [ 4.88409363e-02 9.98806532e-01 -2.74695459e-04 4.80452212e+00] [ 1.75420692e-02 -5.82813511e-04 9.99845956e-01 4.20046636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11509989300004 meters 0.01881104624233794 Centerline is valid? [True, True] Translation: X:355.64, Y:4.80, Z:4.20 [[ 9.98562667e-01 -5.07369598e-02 -1.72731014e-02 3.55643701e+02] [ 5.07398837e-02 9.98711866e-01 -2.69215133e-04 4.80142509e+00] [ 1.72645105e-02 -6.07606974e-04 9.99850773e-01 4.20064748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.145099893 meters 0.019151846393130625 Centerline is valid? [True, True] Translation: X:355.68, Y:4.80, Z:4.20 [[ 9.98328407e-01 -5.53211723e-02 -1.67319893e-02 3.55675212e+02] [ 5.53245721e-02 9.98468389e-01 -2.59972452e-04 4.79874612e+00] [ 1.67207443e-02 -6.66152262e-04 9.99859977e-01 4.20109664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.175099893 meters 0.020783785072280105 Centerline is valid? [True, True] Translation: X:355.71, Y:4.80, Z:4.20 [[ 9.98187696e-01 -5.78451869e-02 -1.65908807e-02 3.55706711e+02] [ 5.78488888e-02 9.98325318e-01 -2.57102646e-04 4.79527942e+00] [ 1.65779684e-02 -7.03127314e-04 9.99862329e-01 4.20118556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.205099893 meters 0.020634236988934844 Centerline is valid? [True, True] Translation: X:355.74, Y:4.79, Z:4.20 [[ 9.98015896e-01 -6.08170874e-02 -1.62958190e-02 3.55737499e+02] [ 6.08210660e-02 9.98148654e-01 -2.51795333e-04 4.79486905e+00] [ 1.62809633e-02 -7.39833342e-04 9.99867183e-01 4.20176641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.235099893 meters 0.0227807882785754 Centerline is valid? [True, True] Translation: X:355.77, Y:4.79, Z:4.20 [[ 9.97853655e-01 -6.34198072e-02 -1.63098727e-02 3.55767375e+02] [ 6.34241432e-02 9.97986631e-01 -2.51785087e-04 4.79113950e+00] [ 1.62930030e-02 -7.83195029e-04 9.99866953e-01 4.20187769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.265099893 meters 0.02406724185917333 Centerline is valid? [True, True] Translation: X:355.80, Y:4.79, Z:4.20 [[ 9.97479453e-01 -6.88163987e-02 -1.72928899e-02 3.55797985e+02] [ 6.88220822e-02 9.97628914e-01 -2.66944504e-04 4.78872957e+00] [ 1.72702571e-02 -9.23861031e-04 9.99850431e-01 4.20194241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.295099893 meters 0.02586223937472362 Centerline is valid? [True, True] Translation: X:355.83, Y:4.79, Z:4.20 [[ 9.97308028e-01 -7.10642071e-02 -1.80713820e-02 3.55828354e+02] [ 7.10707880e-02 9.97471235e-01 -2.78615478e-04 4.78629009e+00] [ 1.80454833e-02 -1.00648190e-03 9.99836660e-01 4.20127514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.325099893 meters 0.02610140687175958 Centerline is valid? [True, True] Translation: X:355.86, Y:4.79, Z:4.20 [[ 9.97171095e-01 -7.27624754e-02 -1.88528387e-02 3.55860027e+02] [ 7.27699673e-02 9.97348709e-01 -2.89238318e-04 4.78604342e+00] [ 1.88239000e-02 -1.08350037e-03 9.99822228e-01 4.20095910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.355099893 meters 0.028841172042477412 Centerline is valid? [True, True] Translation: X:355.89, Y:4.78, Z:4.20 [[ 9.97011065e-01 -7.44051192e-02 -2.08041987e-02 3.55891113e+02] [ 7.44146490e-02 9.97227336e-01 -3.16782642e-04 4.78296628e+00] [ 2.07700859e-02 -1.23230135e-03 9.99783519e-01 4.19969155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.385099893 meters 0.031010190590054484 Centerline is valid? [True, True] Translation: X:355.92, Y:4.78, Z:4.20 [[ 9.97001215e-01 -7.44350567e-02 -2.11659971e-02 3.55922421e+02] [ 7.44449641e-02 9.97225072e-01 -3.20569576e-04 4.78083575e+00] [ 2.11311246e-02 -1.25609363e-03 9.99775924e-01 4.19954489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.415099893 meters 0.02624624040711373 Centerline is valid? [True, True] Translation: X:355.95, Y:4.79, Z:4.20 [[ 9.97043414e-01 -7.39868424e-02 -2.07455704e-02 3.55954322e+02] [ 7.39962892e-02 9.97258468e-01 -3.12946996e-04 4.78843718e+00] [ 2.07118498e-02 -1.22307349e-03 9.99784739e-01 4.20108061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.445099893 meters 0.026443017606809224 Centerline is valid? [True, True] Translation: X:355.99, Y:4.79, Z:4.20 [[ 9.97112621e-01 -7.31347236e-02 -2.04385344e-02 3.55986535e+02] [ 7.31437446e-02 9.97321362e-01 -3.06836052e-04 4.78949209e+00] [ 2.04062273e-02 -1.18900084e-03 9.99791064e-01 4.20167705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.475099893 meters 0.025136570786032767 Centerline is valid? [True, True] Translation: X:356.02, Y:4.79, Z:4.20 [[ 9.97271291e-01 -7.10510244e-02 -2.00430610e-02 3.56017725e+02] [ 7.10593034e-02 9.97472048e-01 -2.99734571e-04 4.79403959e+00] [ 2.00136896e-02 -1.12532927e-03 9.99799073e-01 4.20317716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.505099893 meters 0.024069350462643493 Centerline is valid? [True, True] Translation: X:356.05, Y:4.80, Z:4.20 [[ 9.97356897e-01 -6.98678508e-02 -1.99424926e-02 3.56049626e+02] [ 6.98758312e-02 9.97555653e-01 -2.97217736e-04 4.79722960e+00] [ 1.99145122e-02 -1.09706609e-03 9.99801085e-01 4.20422997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.535099893 meters 0.024069350462643493 Centerline is valid? [True, True] Translation: X:356.08, Y:4.80, Z:4.20 [[ 9.97362063e-01 -6.97940649e-02 -1.99425145e-02 3.56081361e+02] [ 6.98020600e-02 9.97560818e-01 -2.95742760e-04 4.79764424e+00] [ 1.99145122e-02 -1.09706598e-03 9.99801085e-01 4.20462222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.565099893 meters 0.027533046396111045 Centerline is valid? [True, True] Translation: X:356.11, Y:4.79, Z:4.20 [[ 9.97465781e-01 -6.83914840e-02 -1.96117524e-02 3.56112659e+02] [ 6.83989712e-02 9.97658006e-01 -2.89538549e-04 4.79475246e+00] [ 1.95856238e-02 -1.05261889e-03 9.99807629e-01 4.20454483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.595099893 meters 0.027180633660679913 Centerline is valid? [True, True] Translation: X:356.14, Y:4.80, Z:4.21 [[ 9.97666334e-01 -6.54356341e-02 -1.94952010e-02 3.56143383e+02] [ 6.54424877e-02 9.97856302e-01 -2.86894461e-04 4.79882179e+00] [ 1.94721823e-02 -9.89589503e-04 9.99809909e-01 4.20539811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.625099893 meters 0.025354116539043348 Centerline is valid? [True, True] Translation: X:356.17, Y:4.80, Z:4.21 [[ 9.97780974e-01 -6.37189613e-02 -1.93137587e-02 3.56174605e+02] [ 6.37253799e-02 9.97967432e-01 -2.83558580e-04 4.80339719e+00] [ 1.92925702e-02 -9.47847252e-04 9.99813432e-01 4.20635551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.655099893 meters 0.02270237589434538 Centerline is valid? [True, True] Translation: X:356.21, Y:4.81, Z:4.21 [[ 9.97895267e-01 -6.18089945e-02 -1.96133468e-02 3.56206427e+02] [ 6.18152621e-02 9.98087567e-01 -2.87125036e-04 4.80938515e+00] [ 1.95935845e-02 -9.25883457e-04 9.99807599e-01 4.20742175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68509989300003 meters 0.023247715321250095 Centerline is valid? [True, True] Translation: X:356.24, Y:4.81, Z:4.21 [[ 9.98123022e-01 -5.83559020e-02 -1.85747396e-02 3.56236222e+02] [ 5.83609381e-02 9.98295511e-01 -2.71287158e-04 4.81284970e+00] [ 1.85589104e-02 -8.13261270e-04 9.99827438e-01 4.20845402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.715099893 meters 0.02266413580769766 Centerline is valid? [True, True] Translation: X:356.27, Y:4.82, Z:4.21 [[ 9.98242590e-01 -5.64615026e-02 -1.79952800e-02 3.56267233e+02] [ 5.64659255e-02 9.98404492e-01 -2.62627422e-04 4.81612336e+00] [ 1.79813968e-02 -7.53954263e-04 9.99838037e-01 4.20933539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74509989300003 meters 0.02036195057825518 Centerline is valid? [True, True] Translation: X:356.30, Y:4.82, Z:4.21 [[ 9.98337985e-01 -5.48766726e-02 -1.76016350e-02 3.56299252e+02] [ 5.48806723e-02 9.98492887e-01 -2.56082661e-04 4.82182166e+00] [ 1.75891603e-02 -7.10332515e-04 9.99845046e-01 4.21031161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.775099893 meters 0.02093639078512596 Centerline is valid? [True, True] Translation: X:356.33, Y:4.82, Z:4.21 [[ 9.98435013e-01 -5.32015157e-02 -1.72372508e-02 3.56330112e+02] [ 5.32051217e-02 9.98583573e-01 -2.49647018e-04 4.82271738e+00] [ 1.72261171e-02 -6.67853703e-04 9.99851396e-01 4.21062027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80509989300003 meters 0.020096418043274444 Centerline is valid? [True, True] Translation: X:356.36, Y:4.83, Z:4.21 [[ 9.98546792e-01 -5.08757463e-02 -1.77753322e-02 3.56362663e+02] [ 5.08792337e-02 9.98704780e-01 -2.56282290e-04 4.82733718e+00] [ 1.77653478e-02 -6.48485422e-04 9.99841973e-01 4.21037591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.835099893 meters 0.020134835221096242 Centerline is valid? [True, True] Translation: X:356.39, Y:4.83, Z:4.21 [[ 9.98580261e-01 -5.01173212e-02 -1.80476163e-02 3.56394469e+02] [ 5.01208195e-02 9.98743128e-01 -2.58711148e-04 4.82910167e+00] [ 1.80378987e-02 -6.46217473e-04 9.99837095e-01 4.21040213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86509989300004 meters 0.018415714063158596 Centerline is valid? [True, True] Translation: X:356.43, Y:4.83, Z:4.21 [[ 9.98604320e-01 -4.95167919e-02 -1.83711716e-02 3.56427009e+02] [ 4.95203396e-02 9.98773081e-01 -2.62028755e-04 4.83362520e+00] [ 1.83616065e-02 -6.48083611e-04 9.99831201e-01 4.21053018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.895099893 meters 0.01940136052481284 Centerline is valid? [True, True] Translation: X:356.46, Y:4.83, Z:4.21 [[ 9.98607994e-01 -4.90921207e-02 -1.92882886e-02 3.56458280e+02] [ 4.90959780e-02 9.98794028e-01 -2.73786975e-04 4.83345858e+00] [ 1.92784683e-02 -6.73571530e-04 9.99813926e-01 4.20993201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.925099893 meters 0.0185583431759616 Centerline is valid? [True, True] Translation: X:356.49, Y:4.84, Z:4.21 [[ 9.98609495e-01 -4.88385365e-02 -1.98462505e-02 3.56490209e+02] [ 4.88425947e-02 9.98806449e-01 -2.80473748e-04 4.83616542e+00] [ 1.98362609e-02 -6.89258621e-04 9.99803004e-01 4.21011177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.955099893 meters 0.01888435143481208 Centerline is valid? [True, True] Translation: X:356.52, Y:4.84, Z:4.21 [[ 9.98641808e-01 -4.78977945e-02 -2.05022095e-02 3.56521699e+02] [ 4.79019555e-02 9.98852001e-01 -2.88378510e-04 4.83823322e+00] [ 2.04924857e-02 -6.94109091e-04 9.99789766e-01 4.20987002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.985099893 meters 0.018533889151930143 Centerline is valid? [True, True] Translation: X:356.55, Y:4.84, Z:4.21 [[ 9.98703508e-01 -4.66424291e-02 -2.03908545e-02 3.56553481e+02] [ 4.66463059e-02 9.98911428e-01 -2.85719328e-04 4.84046006e+00] [ 2.03819842e-02 -6.65809142e-04 9.99792044e-01 4.21063549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.015099893 meters 0.017626050938050208 Centerline is valid? [True, True] Translation: X:356.59, Y:4.84, Z:4.21 [[ 9.98779522e-01 -4.50582321e-02 -2.02292460e-02 3.56585305e+02] [ 4.50617449e-02 9.98984164e-01 -2.82374514e-04 4.84386613e+00] [ 2.02214197e-02 -6.29535241e-04 9.99795328e-01 4.21143333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.045099893 meters 0.016592196343276546 Centerline is valid? [True, True] Translation: X:356.62, Y:4.85, Z:4.21 [[ 9.98989241e-01 -4.05179284e-02 -1.94626191e-02 3.56616476e+02] [ 4.05203364e-02 9.99178677e-01 -2.70771618e-04 4.84979039e+00] [ 1.94576052e-02 -5.18133942e-04 9.99810549e-01 4.21258601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.075099893 meters 0.01618991741102805 Centerline is valid? [True, True] Translation: X:356.65, Y:4.85, Z:4.21 [[ 9.99120377e-01 -3.75414222e-02 -1.86846065e-02 3.56648147e+02] [ 3.75431357e-02 9.99294974e-01 -2.59174976e-04 4.85306198e+00] [ 1.86811631e-02 -4.42531717e-04 9.99825394e-01 4.21349302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.105099893 meters 0.015369614899780662 Centerline is valid? [True, True] Translation: X:356.68, Y:4.86, Z:4.21 [[ 9.99238018e-01 -3.46690246e-02 -1.79288100e-02 3.56679770e+02] [ 3.46701552e-02 9.99398779e-01 -2.47849308e-04 4.85698614e+00] [ 1.79266236e-02 -3.73934176e-04 9.99839235e-01 4.21468895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.135099893 meters 0.014930057205491513 Centerline is valid? [True, True] Translation: X:356.71, Y:4.86, Z:4.22 [[ 9.99347672e-01 -3.16290690e-02 -1.74307630e-02 3.56711167e+02] [ 3.16296862e-02 9.99499627e-01 -2.40345328e-04 4.85994794e+00] [ 1.74296431e-02 -3.11141022e-04 9.99848044e-01 4.21525875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.165099893 meters 0.014530103028130147 Centerline is valid? [True, True] Translation: X:356.74, Y:4.86, Z:4.22 [[ 9.99440063e-01 -2.88637145e-02 -1.69247482e-02 3.56741526e+02] [ 2.88639087e-02 9.99583323e-01 -2.32852082e-04 4.86227577e+00] [ 1.69244170e-02 -2.55792688e-04 9.99856739e-01 4.21583561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.195099893 meters 0.014038292767252589 Centerline is valid? [True, True] Translation: X:356.77, Y:4.87, Z:4.22 [[ 9.99571482e-01 -2.43941369e-02 -1.61795709e-02 3.56772076e+02] [ 2.43937334e-02 9.99702404e-01 -2.22319991e-04 4.86598604e+00] [ 1.61801792e-02 -1.72455415e-04 9.99869077e-01 4.21654864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.225099893 meters 0.013873646004028878 Centerline is valid? [True, True] Translation: X:356.80, Y:4.87, Z:4.22 [[ 9.99614644e-01 -2.28375188e-02 -1.57800732e-02 3.56802341e+02] [ 2.28369445e-02 9.99739180e-01 -2.16616417e-04 4.86818874e+00] [ 1.57809044e-02 -1.43835713e-04 9.99875463e-01 4.21711605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.255099893 meters 0.013808330591905001 Centerline is valid? [True, True] Translation: X:356.83, Y:4.87, Z:4.22 [[ 9.99629741e-01 -2.17865333e-02 -1.63011817e-02 3.56832840e+02] [ 2.17857806e-02 9.99762637e-01 -2.23769785e-04 4.87034613e+00] [ 1.63021876e-02 -1.31447037e-04 9.99867102e-01 4.21757670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.285099893 meters 0.013653530431538252 Centerline is valid? [True, True] Translation: X:356.86, Y:4.87, Z:4.22 [[ 9.99652188e-01 -2.06951987e-02 -1.63466189e-02 3.56862210e+02] [ 2.06942936e-02 9.99785825e-01 -2.24538778e-04 4.87224952e+00] [ 1.63477647e-02 -1.13821049e-04 9.99866360e-01 4.21816707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.315099893 meters 0.013581573626901608 Centerline is valid? [True, True] Translation: X:356.89, Y:4.87, Z:4.22 [[ 9.99676297e-01 -1.90756658e-02 -1.68351176e-02 3.56891187e+02] [ 1.90744642e-02 9.99818039e-01 -2.31956461e-04 4.87359754e+00] [ 1.68364789e-02 -8.92394717e-05 9.99858252e-01 4.21768853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.345099893 meters 0.013586916667618071 Centerline is valid? [True, True] Translation: X:356.92, Y:4.87, Z:4.22 [[ 9.99678216e-01 -1.85247444e-02 -1.73290984e-02 3.56919882e+02] [ 1.85233548e-02 9.99828399e-01 -2.40706236e-04 4.87423953e+00] [ 1.73305837e-02 -8.03642579e-05 9.99849811e-01 4.21737270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.375099893 meters 0.013524544885269739 Centerline is valid? [True, True] Translation: X:356.95, Y:4.87, Z:4.22 [[ 9.99667860e-01 -1.84174928e-02 -1.80268077e-02 3.56948210e+02] [ 1.84158874e-02 9.99830381e-01 -2.55067981e-04 4.87465690e+00] [ 1.80284477e-02 -7.69963983e-05 9.99837471e-01 4.21736234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.405099893 meters 0.013522058881669342 Centerline is valid? [True, True] Translation: X:356.98, Y:4.88, Z:4.22 [[ 9.99670126e-01 -1.81556054e-02 -1.81662391e-02 3.56976188e+02] [ 1.81538439e-02 9.99835171e-01 -2.61880930e-04 4.87507734e+00] [ 1.81679994e-02 -6.79925256e-05 9.99834946e-01 4.21788982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43509989300003 meters 0.013545816677720411 Centerline is valid? [True, True] Translation: X:357.00, Y:4.87, Z:4.22 [[ 9.99671036e-01 -1.84731672e-02 -1.77921768e-02 3.57003739e+02] [ 1.84714560e-02 9.99829354e-01 -2.60525750e-04 4.87496880e+00] [ 1.77939533e-02 -6.82073637e-05 9.99841673e-01 4.21792911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.465099893 meters 0.013562619470076096 Centerline is valid? [True, True] Translation: X:357.03, Y:4.87, Z:4.22 [[ 9.99668366e-01 -1.87932727e-02 -1.76059881e-02 3.57031471e+02] [ 1.87916006e-02 9.99823388e-01 -2.60416566e-04 4.87455551e+00] [ 1.76077728e-02 -7.05144943e-05 9.99844969e-01 4.21858036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49509989300003 meters 0.013651752938250347 Centerline is valid? [True, True] Translation: X:357.06, Y:4.87, Z:4.22 [[ 9.99648460e-01 -1.95546785e-02 -1.79045020e-02 3.57059261e+02] [ 1.95529977e-02 9.99808786e-01 -2.68944232e-04 4.87340445e+00] [ 1.79063375e-02 -8.12369980e-05 9.99839665e-01 4.21879530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.525099893 meters 0.013711774325600723 Centerline is valid? [True, True] Translation: X:357.09, Y:4.87, Z:4.22 [[ 9.99606285e-01 -2.20030463e-02 -1.74109271e-02 3.57087871e+02] [ 2.20017874e-02 9.99757897e-01 -2.63876151e-04 4.87073439e+00] [ 1.74125179e-02 -1.19299258e-04 9.99848383e-01 4.22023017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55509989300003 meters 0.013991404620014697 Centerline is valid? [True, True] Translation: X:357.12, Y:4.87, Z:4.22 [[ 9.99575413e-01 -2.36922793e-02 -1.69608106e-02 3.57116996e+02] [ 2.36912705e-02 9.99719289e-01 -2.60428598e-04 4.86866819e+00] [ 1.69622196e-02 -1.41505128e-04 9.99856121e-01 4.22065534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.585099893 meters 0.014067737005010404 Centerline is valid? [True, True] Translation: X:357.15, Y:4.87, Z:4.22 [[ 9.99527208e-01 -2.57254217e-02 -1.68393537e-02 3.57146332e+02] [ 2.57246983e-02 9.99669031e-01 -2.59598697e-04 4.86751398e+00] [ 1.68404587e-02 -1.73711335e-04 9.99858174e-01 4.22127093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61509989300004 meters 0.014723236524574516 Centerline is valid? [True, True] Translation: X:357.18, Y:4.86, Z:4.22 [[ 9.99405671e-01 -2.97979808e-02 -1.73316252e-02 3.57176266e+02] [ 2.97978265e-02 9.99555910e-01 -2.67201622e-04 4.86336954e+00] [ 1.73318904e-02 -2.49401943e-04 9.99849760e-01 4.22176101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.645099893 meters 0.015253010332496625 Centerline is valid? [True, True] Translation: X:357.21, Y:4.86, Z:4.22 [[ 9.99321537e-01 -3.23171752e-02 -1.76653974e-02 3.57206755e+02] [ 3.23174298e-02 9.99477619e-01 -2.71138972e-04 4.86085541e+00] [ 1.76649317e-02 -2.99945225e-04 9.99843918e-01 4.22192417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.675099893 meters 0.015889197582397173 Centerline is valid? [True, True] Translation: X:357.24, Y:4.86, Z:4.22 [[ 9.99216764e-01 -3.52478787e-02 -1.79845756e-02 3.57238012e+02] [ 3.52486245e-02 9.99378536e-01 -2.75621675e-04 4.85789256e+00] [ 1.79831139e-02 -3.58525753e-04 9.99838226e-01 4.22171571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.705099893 meters 0.016148226732988172 Centerline is valid? [True, True] Translation: X:357.27, Y:4.86, Z:4.22 [[ 9.99074015e-01 -3.88101208e-02 -1.85711283e-02 3.57269102e+02] [ 3.88115435e-02 9.99246508e-01 -2.83942036e-04 4.85583585e+00] [ 1.85681549e-02 -4.37095042e-04 9.99827501e-01 4.22221578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.735099893 meters 0.0195706978821869 Centerline is valid? [True, True] Translation: X:357.30, Y:4.85, Z:4.22 [[ 9.98712942e-01 -4.68013555e-02 -1.95472050e-02 3.57299607e+02] [ 4.68044721e-02 9.98904026e-01 -2.98273232e-04 4.84625369e+00] [ 1.95397413e-02 -6.17007274e-04 9.99808891e-01 4.22150784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.765099893 meters 0.021497273506156732 Centerline is valid? [True, True] Translation: X:357.33, Y:4.84, Z:4.22 [[ 9.98505028e-01 -5.08272737e-02 -2.01071466e-02 3.57329349e+02] [ 5.08313910e-02 9.98707202e-01 -3.06597233e-04 4.84172990e+00] [ 2.00967356e-02 -7.15935350e-04 9.99797784e-01 4.22116806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.795099893 meters 0.023550943697280526 Centerline is valid? [True, True] Translation: X:357.36, Y:4.84, Z:4.22 [[ 9.98272383e-01 -5.48615760e-02 -2.10346392e-02 3.57359648e+02] [ 5.48669792e-02 9.98493621e-01 -3.20592978e-04 4.83722630e+00] [ 2.10205413e-02 -8.34067994e-04 9.99778696e-01 4.22070722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.825099893 meters 0.022972539568476814 Centerline is valid? [True, True] Translation: X:357.39, Y:4.84, Z:4.22 [[ 9.97854186e-01 -6.13910727e-02 -2.27631405e-02 3.57390127e+02] [ 6.13991017e-02 9.98113235e-01 -3.46680387e-04 4.83569403e+00] [ 2.27414748e-02 -1.05169990e-03 9.99740826e-01 4.22091148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.855099893 meters 0.024815484774092088 Centerline is valid? [True, True] Translation: X:357.42, Y:4.83, Z:4.22 [[ 9.97687832e-01 -6.39605387e-02 -2.29791050e-02 3.57420789e+02] [ 6.39694058e-02 9.97951799e-01 -3.49744336e-04 4.83244284e+00] [ 2.29544090e-02 -1.12102402e-03 9.99735884e-01 4.22067268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.885099893 meters 0.024782813442748176 Centerline is valid? [True, True] Translation: X:357.45, Y:4.83, Z:4.22 [[ 9.97470079e-01 -6.71120067e-02 -2.34397121e-02 3.57452228e+02] [ 6.71221153e-02 9.97744704e-01 -3.56132342e-04 4.83150669e+00] [ 2.34107493e-02 -1.21809170e-03 9.99725189e-01 4.22089627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.915099893 meters 0.025716424270832833 Centerline is valid? [True, True] Translation: X:357.48, Y:4.83, Z:4.22 [[ 9.97440560e-01 -6.74047861e-02 -2.38521167e-02 3.57483766e+02] [ 6.74153627e-02 9.97724931e-01 -3.61327407e-04 4.83009382e+00] [ 2.38222066e-02 -1.24759648e-03 9.99715432e-01 4.22124750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.945099893 meters 0.0257305244394832 Centerline is valid? [True, True] Translation: X:357.52, Y:4.83, Z:4.22 [[ 9.97439332e-01 -6.74774552e-02 -2.36975103e-02 3.57516305e+02] [ 6.74879503e-02 9.97720025e-01 -3.57515770e-04 4.83043236e+00] [ 2.36676049e-02 -1.24269611e-03 9.99719111e-01 4.22200307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.975099893 meters 0.024438446728543513 Centerline is valid? [True, True] Translation: X:357.55, Y:4.83, Z:4.22 [[ 9.97508173e-01 -6.67265343e-02 -2.29131736e-02 3.57548283e+02] [ 6.67361852e-02 9.97770596e-01 -3.44065416e-04 4.83279557e+00] [ 2.28850491e-02 -1.18592973e-03 9.99737400e-01 4.22320891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.005099893 meters 0.024919210401873563 Centerline is valid? [True, True] Translation: X:357.58, Y:4.83, Z:4.22 [[ 9.97582158e-01 -6.58535545e-02 -2.22069450e-02 3.57579117e+02] [ 6.58624348e-02 9.97828657e-01 -3.32060513e-04 4.83252876e+00] [ 2.21805934e-02 -1.13134582e-03 9.99753340e-01 4.22414023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.035099893 meters 0.025532554256625057 Centerline is valid? [True, True] Translation: X:357.61, Y:4.83, Z:4.23 [[ 9.97763850e-01 -6.34877164e-02 -2.08952158e-02 3.57610109e+02] [ 6.34950801e-02 9.97982103e-01 -3.11513627e-04 4.83276366e+00] [ 2.08728286e-02 -1.01592636e-03 9.99781623e-01 4.22564908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.065099893 meters 0.02426930647939643 Centerline is valid? [True, True] Translation: X:357.64, Y:4.84, Z:4.23 [[ 9.97873994e-01 -6.19100411e-02 -2.03627002e-02 3.57642599e+02] [ 6.19167294e-02 9.98081273e-01 -3.02443722e-04 4.83555349e+00] [ 2.03423541e-02 -9.58991077e-04 9.99792613e-01 4.22688813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.095099893 meters 0.022499802038061626 Centerline is valid? [True, True] Translation: X:357.67, Y:4.84, Z:4.23 [[ 9.98121829e-01 -5.75502782e-02 -2.09947371e-02 3.57673736e+02] [ 5.75564531e-02 9.98342205e-01 -3.10523822e-04 4.83980796e+00] [ 2.09778028e-02 -8.98441993e-04 9.99779538e-01 4.22685832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.125099893 meters 0.02077610995423629 Centerline is valid? [True, True] Translation: X:357.71, Y:4.84, Z:4.23 [[ 9.98247198e-01 -5.50354558e-02 -2.17630525e-02 3.57705203e+02] [ 5.50415080e-02 9.98484015e-01 -3.21267209e-04 4.84370141e+00] [ 2.17477411e-02 -8.77167137e-04 9.99763105e-01 4.22707681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.155099893 meters 0.021414371628517417 Centerline is valid? [True, True] Translation: X:357.74, Y:4.84, Z:4.23 [[ 9.98415066e-01 -5.17288507e-02 -2.21693880e-02 3.57735944e+02] [ 5.17343350e-02 9.98660829e-01 -3.26461957e-04 4.84373640e+00] [ 2.21565869e-02 -8.20974009e-04 9.99754176e-01 4.22627975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18509989300003 meters 0.017091357607876938 Centerline is valid? [True, True] Translation: X:357.77, Y:4.85, Z:4.23 [[ 9.98730919e-01 -4.47317952e-02 -2.31434358e-02 3.57767023e+02] [ 4.47359106e-02 9.98998790e-01 -3.40150303e-04 4.85354431e+00] [ 2.31354799e-02 -6.95624049e-04 9.99732097e-01 4.22754447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.215099893 meters 0.016304045967475228 Centerline is valid? [True, True] Translation: X:357.80, Y:4.86, Z:4.23 [[ 9.98882259e-01 -4.10750522e-02 -2.33895679e-02 3.57798025e+02] [ 4.10782685e-02 9.99155873e-01 -3.43144002e-04 4.85687542e+00] [ 2.33839188e-02 -6.18042496e-04 9.99726368e-01 4.22797090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24509989300003 meters 0.01526935775199676 Centerline is valid? [True, True] Translation: X:357.83, Y:4.86, Z:4.23 [[ 9.99020576e-01 -3.73497370e-02 -2.37252084e-02 3.57828512e+02] [ 3.73520071e-02 9.99302110e-01 -3.47615327e-04 4.86036796e+00] [ 2.37216342e-02 -5.38909290e-04 9.99718457e-01 4.22835284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.275099893 meters 0.014463049935581966 Centerline is valid? [True, True] Translation: X:357.86, Y:4.86, Z:4.23 [[ 9.99144189e-01 -3.37500301e-02 -2.39128831e-02 3.57858509e+02] [ 3.37512882e-02 9.99430201e-01 -3.51106198e-04 4.86383473e+00] [ 2.39111074e-02 -4.56284891e-04 9.99713984e-01 4.22888197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30509989300003 meters 0.013912386221735143 Centerline is valid? [True, True] Translation: X:357.89, Y:4.87, Z:4.23 [[ 9.99248369e-01 -3.01811727e-02 -2.43268053e-02 3.57887419e+02] [ 3.01813250e-02 9.99544375e-01 -3.60984328e-04 4.86684125e+00] [ 2.43266163e-02 -3.73502215e-04 9.99703994e-01 4.22886282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.335099893 meters 0.012996364702694814 Centerline is valid? [True, True] Translation: X:357.92, Y:4.87, Z:4.23 [[ 9.99375440e-01 -2.39345750e-02 -2.59974400e-02 3.57915705e+02] [ 2.39324605e-02 9.99713501e-01 -3.92520795e-04 4.87309717e+00] [ 2.59993866e-02 -2.29907064e-04 9.99661932e-01 4.22868556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36509989300004 meters 0.012870658663466454 Centerline is valid? [True, True] Translation: X:357.94, Y:4.88, Z:4.23 [[ 9.99409780e-01 -2.13658930e-02 -2.68996221e-02 3.57943373e+02] [ 2.13625772e-02 9.99771710e-01 -4.10666166e-04 4.87576377e+00] [ 2.69022554e-02 -1.64221471e-04 9.99638055e-01 4.22812689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.395099893 meters 0.012705320051502227 Centerline is valid? [True, True] Translation: X:357.97, Y:4.88, Z:4.23 [[ 9.99426840e-01 -1.92678413e-02 -2.78342001e-02 3.57971408e+02] [ 1.92633216e-02 9.99814352e-01 -4.30538431e-04 4.87835356e+00] [ 2.78373283e-02 -1.05887485e-04 9.99612461e-01 4.22855041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.425099893 meters 0.012625295785325952 Centerline is valid? [True, True] Translation: X:358.00, Y:4.88, Z:4.23 [[ 9.99459174e-01 -1.66034150e-02 -2.83846091e-02 3.57999499e+02] [ 1.65974067e-02 9.99862154e-01 -4.47279116e-04 4.88129967e+00] [ 2.83881227e-02 -2.40736855e-05 9.99596976e-01 4.22878881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.455099893 meters 0.012537899295643504 Centerline is valid? [True, True] Translation: X:358.03, Y:4.88, Z:4.23 [[ 9.99483333e-01 -1.60808010e-02 -2.78293888e-02 3.58027370e+02] [ 1.60746018e-02 9.99870696e-01 -4.46474607e-04 4.88249402e+00] [ 2.78329700e-02 -1.10241391e-06 9.99612588e-01 4.22987354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.485099893 meters 0.012537899295643504 Centerline is valid? [True, True] Translation: X:358.05, Y:4.88, Z:4.23 [[ 9.99478644e-01 -1.63698501e-02 -2.78292581e-02 3.58054757e+02] [ 1.63635389e-02 9.99866005e-01 -4.54519699e-04 4.88299308e+00] [ 2.78329695e-02 -1.10241380e-06 9.99612588e-01 4.23021344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.515099893 meters 0.012498696693917937 Centerline is valid? [True, True] Translation: X:358.08, Y:4.88, Z:4.23 [[ 9.99495844e-01 -1.61720680e-02 -2.73225574e-02 3.58082108e+02] [ 1.61657781e-02 9.99869224e-01 -4.51091772e-04 4.88385876e+00] [ 2.73262794e-02 9.17395030e-06 9.99626567e-01 4.23089964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.545099893 meters 0.01233842055512196 Centerline is valid? [True, True] Translation: X:358.11, Y:4.88, Z:4.23 [[ 9.99512728e-01 -1.69874987e-02 -2.61864825e-02 3.58110875e+02] [ 1.69818807e-02 9.99855702e-01 -4.36924138e-04 4.88432523e+00] [ 2.61901261e-02 -7.98448538e-06 9.99656980e-01 4.23270651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.575099893 meters 0.012288915841641398 Centerline is valid? [True, True] Translation: X:358.14, Y:4.88, Z:4.23 [[ 9.99496658e-01 -1.96101957e-02 -2.49373425e-02 3.58138834e+02] [ 1.96058139e-02 9.99807699e-01 -4.20221675e-04 4.88381219e+00] [ 2.49407876e-02 -6.89067349e-05 9.99688928e-01 4.23397019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.605099893 meters 0.0122961567540183 Centerline is valid? [True, True] Translation: X:358.17, Y:4.88, Z:4.24 [[ 9.99466068e-01 -2.21270287e-02 -2.40410675e-02 3.58166463e+02] [ 2.21235785e-02 9.99755160e-01 -4.09512284e-04 4.88313773e+00] [ 2.40442426e-02 -1.22580812e-04 9.99710888e-01 4.23534724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.635099893 meters 0.012297125558434608 Centerline is valid? [True, True] Translation: X:358.20, Y:4.88, Z:4.24 [[ 9.99386313e-01 -2.55001944e-02 -2.40153684e-02 3.58195344e+02] [ 2.54975701e-02 9.99674798e-01 -4.15531360e-04 4.88214249e+00] [ 2.40181547e-02 -1.97057186e-04 9.99711503e-01 4.23657412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.665099893 meters 0.012712278229103978 Centerline is valid? [True, True] Translation: X:358.22, Y:4.88, Z:4.24 [[ 9.99294737e-01 -2.92967797e-02 -2.34888695e-02 3.58223036e+02] [ 2.92952224e-02 9.99570719e-01 -4.10476807e-04 4.87990680e+00] [ 2.34908118e-02 -2.77924343e-04 9.99724014e-01 4.23650117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.695099893 meters 0.014398007388946907 Centerline is valid? [True, True] Translation: X:358.25, Y:4.87, Z:4.24 [[ 9.98954471e-01 -3.88743781e-02 -2.40571755e-02 3.58253667e+02] [ 3.88754924e-02 9.99243973e-01 -4.21543194e-04 4.87279297e+00] [ 2.40553748e-02 -5.14132083e-04 9.99710495e-01 4.23631174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.725099893 meters 0.016110634187722038 Centerline is valid? [True, True] Translation: X:358.28, Y:4.87, Z:4.24 [[ 9.98740268e-01 -4.40244010e-02 -2.40775723e-02 3.58282657e+02] [ 4.40270122e-02 9.99030252e-01 -4.21906438e-04 4.86835983e+00] [ 2.40727973e-02 -6.38688619e-04 9.99710004e-01 4.23596447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.755099893 meters 0.016928993455543905 Centerline is valid? [True, True] Translation: X:358.31, Y:4.87, Z:4.24 [[ 9.98483572e-01 -4.94411407e-02 -2.42101289e-02 3.58314208e+02] [ 4.94453812e-02 9.98776739e-01 -4.23808302e-04 4.86581828e+00] [ 2.42014672e-02 -7.73913425e-04 9.99706802e-01 4.23674542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.785099893 meters 0.02001294450883449 Centerline is valid? [True, True] Translation: X:358.35, Y:4.86, Z:4.24 [[ 9.97890465e-01 -6.01541682e-02 -2.44150891e-02 3.58345758e+02] [ 6.01617005e-02 9.98188553e-01 -4.26575570e-04 4.85902522e+00] [ 2.43965227e-02 -1.04317758e-03 9.99701816e-01 4.23713709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.815099893 meters 0.02298334841321699 Centerline is valid? [True, True] Translation: X:358.38, Y:4.85, Z:4.24 [[ 9.97581579e-01 -6.49760702e-02 -2.46800151e-02 3.58375969e+02] [ 6.49852668e-02 9.97886131e-01 -4.30073722e-04 4.85425907e+00] [ 2.46557893e-02 -1.17480374e-03 9.99695310e-01 4.23731414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.845099893 meters 0.02513690596266061 Centerline is valid? [True, True] Translation: X:358.41, Y:4.85, Z:4.24 [[ 9.97297145e-01 -6.91509766e-02 -2.48303773e-02 3.58406963e+02] [ 6.91616000e-02 9.97605376e-01 -4.31720531e-04 4.85081126e+00] [ 2.48007718e-02 -1.28675497e-03 9.99691585e-01 4.23714503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.875099893 meters 0.026690146909878327 Centerline is valid? [True, True] Translation: X:358.44, Y:4.85, Z:4.24 [[ 9.97041190e-01 -7.25970351e-02 -2.52692527e-02 3.58438078e+02] [ 7.26091587e-02 9.97360375e-01 -4.38639845e-04 4.84857500e+00] [ 2.52343953e-02 -1.39743719e-03 9.99680585e-01 4.23729909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.905099893 meters 0.02814607778008824 Centerline is valid? [True, True] Translation: X:358.47, Y:4.85, Z:4.24 [[ 9.96651683e-01 -7.77072070e-02 -2.54364475e-02 3.58469001e+02] [ 7.77211623e-02 9.96975038e-01 -4.41038154e-04 4.84636061e+00] [ 2.53937750e-02 -1.53738884e-03 9.99676344e-01 4.23739729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93509989300003 meters 0.03228984701589564 Centerline is valid? [True, True] Translation: X:358.50, Y:4.84, Z:4.24 [[ 9.96525201e-01 -7.94061334e-02 -2.51433949e-02 3.58500476e+02] [ 7.94203253e-02 9.96841122e-01 -4.35241881e-04 4.84138519e+00] [ 2.50985309e-02 -1.56316710e-03 9.99683760e-01 4.23695570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.965099893 meters 0.028634984289304284 Centerline is valid? [True, True] Translation: X:358.53, Y:4.85, Z:4.24 [[ 9.96460533e-01 -8.02503700e-02 -2.50256861e-02 3.58532226e+02] [ 8.02647338e-02 9.96773488e-01 -4.31630137e-04 4.84698875e+00] [ 2.49795789e-02 -1.57857763e-03 9.99686715e-01 4.23905399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99509989300003 meters 0.03002354912085055 Centerline is valid? [True, True] Translation: X:358.56, Y:4.85, Z:4.24 [[ 9.96424513e-01 -8.08315385e-02 -2.45856178e-02 3.58563165e+02] [ 8.08456151e-02 9.96726546e-01 -4.22505280e-04 4.84607623e+00] [ 2.45392896e-02 -1.56664477e-03 9.99697639e-01 4.23946159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.025099893 meters 0.0331039127167506 Centerline is valid? [True, True] Translation: X:358.59, Y:4.84, Z:4.24 [[ 9.96404014e-01 -8.12291354e-02 -2.41012155e-02 3.58594526e+02] [ 8.12428089e-02 9.96694254e-01 -4.12906465e-04 4.84274887e+00] [ 2.40550830e-02 -1.54662879e-03 9.99709438e-01 4.23975912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05509989300003 meters 0.03186963272519442 Centerline is valid? [True, True] Translation: X:358.63, Y:4.84, Z:4.24 [[ 9.96412059e-01 -8.11066003e-02 -2.41811620e-02 3.58627434e+02] [ 8.11203748e-02 9.96704226e-01 -4.12374447e-04 4.84472569e+00] [ 2.41349126e-02 -1.55069005e-03 9.99707508e-01 4.24031627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.085099893 meters 0.029494666635631685 Centerline is valid? [True, True] Translation: X:358.66, Y:4.85, Z:4.24 [[ 9.96406524e-01 -8.11810436e-02 -2.41594133e-02 3.58659140e+02] [ 8.11948668e-02 9.96698162e-01 -4.09856031e-04 4.84838860e+00] [ 2.41129154e-02 -1.55323712e-03 9.99708035e-01 4.24104476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11509989300004 meters 0.0311246072909959 Centerline is valid? [True, True] Translation: X:358.69, Y:4.85, Z:4.24 [[ 9.96394588e-01 -8.13143247e-02 -2.42034268e-02 3.58690619e+02] [ 8.13282744e-02 9.96687285e-01 -4.09078992e-04 4.84681432e+00] [ 2.41565117e-02 -1.56081884e-03 9.99706970e-01 4.24100366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.145099893 meters 0.0281609187911801 Centerline is valid? [True, True] Translation: X:358.72, Y:4.85, Z:4.24 [[ 9.96373246e-01 -8.16898819e-02 -2.38142216e-02 3.58722700e+02] [ 8.17035285e-02 9.96656597e-01 -4.01011930e-04 4.85154401e+00] [ 2.37673597e-02 -1.54614838e-03 9.99716321e-01 4.24202507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.175099893 meters 0.033474698096867414 Centerline is valid? [True, True] Translation: X:358.75, Y:4.85, Z:4.24 [[ 9.96333109e-01 -8.21317630e-02 -2.39731132e-02 3.58753782e+02] [ 8.21457567e-02 9.96620245e-01 -4.02144058e-04 4.84516247e+00] [ 2.39251187e-02 -1.56862008e-03 9.99712523e-01 4.24116615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.205099893 meters 0.029244891759829725 Centerline is valid? [True, True] Translation: X:358.79, Y:4.85, Z:4.24 [[ 9.96327332e-01 -8.22052986e-02 -2.39611398e-02 3.58785609e+02] [ 8.22193357e-02 9.96614178e-01 -4.00428175e-04 4.85103099e+00] [ 2.39129290e-02 -1.57111146e-03 9.99712810e-01 4.24203500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.235099893 meters 0.030756302292927102 Centerline is valid? [True, True] Translation: X:358.82, Y:4.85, Z:4.24 [[ 9.96226833e-01 -8.27989297e-02 -2.60083554e-02 3.58816580e+02] [ 8.28157153e-02 9.96564785e-01 -4.32929783e-04 4.84960990e+00] [ 2.59548572e-02 -1.72260429e-03 9.99661632e-01 4.23994151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.265099893 meters 0.030735021219589462 Centerline is valid? [True, True] Translation: X:358.85, Y:4.85, Z:4.24 [[ 9.96196164e-01 -8.30041584e-02 -2.65237979e-02 3.58849198e+02] [ 8.30217336e-02 9.96547640e-01 -4.39814387e-04 4.85023779e+00] [ 2.64687346e-02 -1.76391028e-03 9.99648085e-01 4.23958300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.295099893 meters 0.02852065927372468 Centerline is valid? [True, True] Translation: X:358.88, Y:4.85, Z:4.24 [[ 9.96185728e-01 -8.31675558e-02 -2.64036544e-02 3.58880949e+02] [ 8.31850796e-02 9.96534020e-01 -4.35910118e-04 4.85383881e+00] [ 2.63483934e-02 -1.76214266e-03 9.99651268e-01 4.24013321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.325099893 meters 0.03193729089365915 Centerline is valid? [True, True] Translation: X:358.91, Y:4.85, Z:4.24 [[ 9.96198363e-01 -8.31134710e-02 -2.60954317e-02 3.58912753e+02] [ 8.31306254e-02 9.96538567e-01 -4.28667902e-04 4.85102481e+00] [ 2.60407322e-02 -1.74229130e-03 9.99659364e-01 4.23995435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.355099893 meters 0.03293194922549696 Centerline is valid? [True, True] Translation: X:358.94, Y:4.85, Z:4.24 [[ 9.96181423e-01 -8.34037618e-02 -2.58144336e-02 3.58944261e+02] [ 8.34206928e-02 9.96514330e-01 -4.22221070e-04 4.85072648e+00] [ 2.57596678e-02 -1.73284915e-03 9.99666663e-01 4.24052271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.385099893 meters 0.028379666097540786 Centerline is valid? [True, True] Translation: X:358.98, Y:4.86, Z:4.24 [[ 9.96281582e-01 -8.26083509e-02 -2.44718323e-02 3.58976079e+02] [ 8.26233636e-02 9.96580765e-01 -3.98750252e-04 4.85772760e+00] [ 2.44210975e-02 -1.62467757e-03 9.99700440e-01 4.24305344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.415099893 meters 0.029140418914916606 Centerline is valid? [True, True] Translation: X:359.01, Y:4.86, Z:4.24 [[ 9.96360955e-01 -8.18104617e-02 -2.39143402e-02 3.59007112e+02] [ 8.18246053e-02 9.96646669e-01 -3.88145024e-04 4.85753770e+00] [ 2.38659019e-02 -1.57004890e-03 9.99713936e-01 4.24375238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.445099893 meters 0.028247542354922203 Centerline is valid? [True, True] Translation: X:359.04, Y:4.86, Z:4.24 [[ 9.96467067e-01 -8.04432916e-02 -2.41300912e-02 3.59038901e+02] [ 8.04573297e-02 9.96757978e-01 -3.90104736e-04 4.85980243e+00] [ 2.40832423e-02 -1.55271618e-03 9.99708751e-01 4.24462764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.475099893 meters 0.031411278515188025 Centerline is valid? [True, True] Translation: X:359.07, Y:4.86, Z:4.24 [[ 9.96586292e-01 -7.91527279e-02 -2.34650491e-02 3.59069580e+02] [ 7.91656715e-02 9.96861401e-01 -3.78274630e-04 4.85694759e+00] [ 2.34213432e-02 -1.48064306e-03 9.99724586e-01 4.24469401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.505099893 meters 0.02957495132725975 Centerline is valid? [True, True] Translation: X:359.10, Y:4.86, Z:4.25 [[ 9.96726228e-01 -7.75713049e-02 -2.27929627e-02 3.59101481e+02] [ 7.75831230e-02 9.96985820e-01 -3.66668513e-04 4.86042021e+00] [ 2.27527035e-02 -1.40288110e-03 9.99740139e-01 4.24589114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.535099893 meters 0.02506496942509517 Centerline is valid? [True, True] Translation: X:359.13, Y:4.87, Z:4.25 [[ 9.97056980e-01 -7.37084957e-02 -2.10816581e-02 3.59132374e+02] [ 7.37177606e-02 9.97279087e-01 -3.38376522e-04 4.86779991e+00] [ 2.10492380e-02 -1.21671195e-03 9.99777700e-01 4.24891357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.565099893 meters 0.025768507143525375 Centerline is valid? [True, True] Translation: X:359.16, Y:4.87, Z:4.25 [[ 9.97246821e-01 -7.14862681e-02 -1.97101678e-02 3.59162939e+02] [ 7.14939534e-02 9.97440983e-01 -3.15358122e-04 4.86747026e+00] [ 1.96822729e-02 -1.09466793e-03 9.99805686e-01 4.24996103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.595099893 meters 0.023156454417224928 Centerline is valid? [True, True] Translation: X:359.19, Y:4.87, Z:4.25 [[ 9.97620399e-01 -6.64325729e-02 -1.84459675e-02 3.59193192e+02] [ 6.64384659e-02 9.97790481e-01 -2.93833270e-04 4.87134263e+00] [ 1.84247309e-02 -9.32387717e-04 9.99829815e-01 4.25146369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.625099893 meters 0.02337291343105862 Centerline is valid? [True, True] Translation: X:359.22, Y:4.87, Z:4.25 [[ 9.97755615e-01 -6.43504305e-02 -1.85136524e-02 3.59223532e+02] [ 6.43560228e-02 9.97926959e-01 -2.94180128e-04 4.87137710e+00] [ 1.84942035e-02 -8.97945164e-04 9.99828564e-01 4.25175971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.655099893 meters 0.021994634731559035 Centerline is valid? [True, True] Translation: X:359.25, Y:4.87, Z:4.25 [[ 9.97888301e-01 -6.23320543e-02 -1.82661750e-02 3.59254673e+02] [ 6.23371882e-02 9.98055104e-01 -2.88733451e-04 4.87355141e+00] [ 1.82486466e-02 -8.50538259e-04 9.99833118e-01 4.25222576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68509989300003 meters 0.021881054399256968 Centerline is valid? [True, True] Translation: X:359.29, Y:4.87, Z:4.25 [[ 9.97987421e-01 -6.05493825e-02 -1.88382510e-02 3.59285852e+02] [ 6.05545415e-02 9.98164846e-01 -2.96968304e-04 4.87391592e+00] [ 1.88216612e-02 -8.44371022e-04 9.99822500e-01 4.25178428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.715099893 meters 0.018983133584154502 Centerline is valid? [True, True] Translation: X:359.32, Y:4.88, Z:4.25 [[ 9.98183874e-01 -5.67138515e-02 -2.03099297e-02 3.59317686e+02] [ 5.67190826e-02 9.98390126e-01 -3.18845192e-04 4.87804092e+00] [ 2.02953162e-02 -8.33694453e-04 9.99793681e-01 4.25099467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74509989300003 meters 0.01963173252889992 Centerline is valid? [True, True] Translation: X:359.35, Y:4.88, Z:4.25 [[ 9.98275272e-01 -5.46186146e-02 -2.15241474e-02 3.59349053e+02] [ 5.46240363e-02 9.98506936e-01 -3.36405145e-04 4.87719982e+00] [ 2.15103845e-02 -8.39910874e-04 9.99768272e-01 4.25000691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.775099893 meters 0.019422706910284967 Centerline is valid? [True, True] Translation: X:359.38, Y:4.88, Z:4.25 [[ 9.98394772e-01 -5.20447886e-02 -2.23432300e-02 3.59379979e+02] [ 5.20500110e-02 9.98644419e-01 -3.48152440e-04 4.87758287e+00] [ 2.23310615e-02 -8.15371793e-04 9.99750298e-01 4.24924803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80509989300003 meters 0.016685700846677153 Centerline is valid? [True, True] Translation: X:359.41, Y:4.88, Z:4.25 [[ 9.98671919e-01 -4.61757554e-02 -2.28516522e-02 3.59411170e+02] [ 4.61796978e-02 9.98933085e-01 -3.55439277e-04 4.88260133e+00] [ 2.28436841e-02 -7.00315170e-04 9.99738804e-01 4.25009466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.835099893 meters 0.01533183796868944 Centerline is valid? [True, True] Translation: X:359.44, Y:4.89, Z:4.25 [[ 9.98851150e-01 -4.24367381e-02 -2.22598981e-02 3.59442655e+02] [ 4.24395639e-02 9.99098976e-01 -3.45662115e-04 4.88578642e+00] [ 2.22545101e-02 -5.99435365e-04 9.99752158e-01 4.25122787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86509989300004 meters 0.013930652171065937 Centerline is valid? [True, True] Translation: X:359.47, Y:4.89, Z:4.25 [[ 9.99000206e-01 -3.89773007e-02 -2.18942650e-02 3.59473453e+02] [ 3.89792175e-02 9.99239964e-01 -3.39368879e-04 4.88966950e+00] [ 2.18908522e-02 -5.14391737e-04 9.99760234e-01 4.25271319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.895099893 meters 0.01385779035658785 Centerline is valid? [True, True] Translation: X:359.50, Y:4.89, Z:4.25 [[ 9.99146992e-01 -3.51787391e-02 -2.16274182e-02 3.59503407e+02] [ 3.51797248e-02 9.99380946e-01 -3.35008101e-04 4.89054372e+00] [ 2.16258148e-02 -4.26124282e-04 9.99766044e-01 4.25293357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.925099893 meters 0.012759953579280049 Centerline is valid? [True, True] Translation: X:359.53, Y:4.89, Z:4.25 [[ 9.99366373e-01 -2.87067837e-02 -2.10421782e-02 3.59532493e+02] [ 2.87062759e-02 9.99587837e-01 -3.26244916e-04 4.89393323e+00] [ 2.10428709e-02 -2.78004377e-04 9.99778536e-01 4.25333986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.955099893 meters 0.012028861386258805 Centerline is valid? [True, True] Translation: X:359.56, Y:4.90, Z:4.25 [[ 9.99430850e-01 -2.65056605e-02 -2.08668696e-02 3.59561971e+02] [ 2.65046664e-02 9.99648637e-01 -3.24249050e-04 4.89613616e+00] [ 2.08681322e-02 -2.29004915e-04 9.99782211e-01 4.25452929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.985099893 meters 0.01170038230421373 Centerline is valid? [True, True] Translation: X:359.59, Y:4.90, Z:4.26 [[ 9.99483328e-01 -2.49959540e-02 -2.02059042e-02 3.59590600e+02] [ 2.49946657e-02 9.99687534e-01 -3.16337844e-04 4.89749472e+00] [ 2.02074977e-02 -1.88865419e-04 9.99795790e-01 4.25532979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.015099893 meters 0.01162640891016445 Centerline is valid? [True, True] Translation: X:359.62, Y:4.90, Z:4.26 [[ 9.99524218e-01 -2.34656977e-02 -2.00174698e-02 3.59618526e+02] [ 2.34640523e-02 9.99724631e-01 -3.17094807e-04 4.89753207e+00] [ 2.00193984e-02 -1.52747019e-04 9.99799580e-01 4.25535873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.045099893 meters 0.01131487107301959 Centerline is valid? [True, True] Translation: X:359.65, Y:4.90, Z:4.26 [[ 9.99570566e-01 -2.25543400e-02 -1.87079200e-02 3.59647664e+02] [ 2.25526942e-02 9.99745611e-01 -2.98968093e-04 4.89749046e+00] [ 1.87099040e-02 -1.23074294e-04 9.99824947e-01 4.25647560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.075099893 meters 0.011342204615905557 Centerline is valid? [True, True] Translation: X:359.68, Y:4.90, Z:4.26 [[ 9.99560329e-01 -2.32149455e-02 -1.84449431e-02 3.59676723e+02] [ 2.32133729e-02 9.99730489e-01 -2.99381405e-04 4.89663905e+00] [ 1.84469221e-02 -1.28919568e-04 9.99829833e-01 4.25678975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.105099893 meters 0.011709444015203681 Centerline is valid? [True, True] Translation: X:359.71, Y:4.89, Z:4.26 [[ 9.99517136e-01 -2.53966200e-02 -1.79026969e-02 3.59705413e+02] [ 2.53954290e-02 9.99677441e-01 -2.93900715e-04 4.89272255e+00] [ 1.79043863e-02 -1.60887868e-04 9.99839691e-01 4.25642054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.135099893 meters 0.011939496482028134 Centerline is valid? [True, True] Translation: X:359.73, Y:4.89, Z:4.26 [[ 9.99476259e-01 -2.74101515e-02 -1.72014881e-02 3.59734975e+02] [ 2.74093363e-02 9.99624253e-01 -2.83194684e-04 4.89070488e+00] [ 1.72027871e-02 -1.88435008e-04 9.99852003e-01 4.25707280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.165099893 meters 0.012405408781151544 Centerline is valid? [True, True] Translation: X:359.77, Y:4.89, Z:4.26 [[ 9.99405427e-01 -3.00857489e-02 -1.68416420e-02 3.59765308e+02] [ 3.00853401e-02 9.99547295e-01 -2.77695819e-04 4.88814262e+00] [ 1.68423724e-02 -2.29155819e-04 9.99858131e-01 4.25754542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.195099893 meters 0.012931323792846316 Centerline is valid? [True, True] Translation: X:359.80, Y:4.89, Z:4.26 [[ 9.99314272e-01 -3.32821424e-02 -1.62260781e-02 3.59796142e+02] [ 3.32821852e-02 9.99445959e-01 -2.67477284e-04 4.88560233e+00] [ 1.62259904e-02 -2.72745469e-04 9.99868313e-01 4.25783146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.225099893 meters 0.01464327530261336 Centerline is valid? [True, True] Translation: X:359.83, Y:4.88, Z:4.26 [[ 9.99043406e-01 -4.07067616e-02 -1.59759746e-02 3.59827013e+02] [ 4.07077561e-02 9.99171061e-01 -2.63073267e-04 4.87868247e+00] [ 1.59734404e-02 -3.87524465e-04 9.99872341e-01 4.25767078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.255099893 meters 0.017515876192699807 Centerline is valid? [True, True] Translation: X:359.86, Y:4.87, Z:4.26 [[ 9.98864566e-01 -4.48990661e-02 -1.59264854e-02 3.59857048e+02] [ 4.49005954e-02 9.98991425e-01 -2.61721172e-04 4.87257070e+00] [ 1.59221734e-02 -4.53684674e-04 9.99873131e-01 4.25737947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.285099893 meters 0.018139229084297385 Centerline is valid? [True, True] Translation: X:359.89, Y:4.87, Z:4.26 [[ 9.98666768e-01 -4.90664008e-02 -1.60366462e-02 3.59887977e+02] [ 4.90685068e-02 9.98795381e-01 -2.62360488e-04 4.87004459e+00] [ 1.60302013e-02 -5.24883583e-04 9.99871370e-01 4.25706960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.315099893 meters 0.017963205325768276 Centerline is valid? [True, True] Translation: X:359.92, Y:4.87, Z:4.26 [[ 9.98454345e-01 -5.32237857e-02 -1.60046725e-02 3.59919188e+02] [ 5.32264222e-02 9.98582435e-01 -2.61489835e-04 4.86882568e+00] [ 1.59959023e-02 -5.90785792e-04 9.99871883e-01 4.25697086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.345099893 meters 0.017963205325768276 Centerline is valid? [True, True] Translation: X:359.95, Y:4.87, Z:4.26 [[ 9.98458226e-01 -5.31509272e-02 -1.60046841e-02 3.59950896e+02] [ 5.31535657e-02 9.98586316e-01 -2.60775026e-04 4.86928629e+00] [ 1.59959190e-02 -5.90333060e-04 9.99871883e-01 4.25736289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.375099893 meters 0.01969054395593094 Centerline is valid? [True, True] Translation: X:359.98, Y:4.86, Z:4.26 [[ 9.98033701e-01 -6.05436263e-02 -1.62234987e-02 3.59981166e+02] [ 6.05473272e-02 9.98165293e-01 -2.63411851e-04 4.86320448e+00] [ 1.62096813e-02 -7.19395583e-04 9.99868356e-01 4.25631975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.405099893 meters 0.023843267090066032 Centerline is valid? [True, True] Translation: X:360.01, Y:4.86, Z:4.26 [[ 9.97836323e-01 -6.37254521e-02 -1.61783301e-02 3.60011489e+02] [ 6.37295514e-02 9.97967171e-01 -2.62564789e-04 4.85643027e+00] [ 1.61621744e-02 -7.69041035e-04 9.99869088e-01 4.25616706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43509989300003 meters 0.02538826412610208 Centerline is valid? [True, True] Translation: X:360.04, Y:4.85, Z:4.26 [[ 9.97657784e-01 -6.65023518e-02 -1.60119774e-02 3.60042188e+02] [ 6.65067303e-02 9.97785943e-01 -2.59467525e-04 4.85386577e+00] [ 1.59937812e-02 -8.06044466e-04 9.99871766e-01 4.25634446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.465099893 meters 0.024252387483504306 Centerline is valid? [True, True] Translation: X:360.07, Y:4.85, Z:4.26 [[ 9.97357216e-01 -7.08630057e-02 -1.60317756e-02 3.60072866e+02] [ 7.08679671e-02 9.97485671e-01 -2.59135240e-04 4.85474186e+00] [ 1.60098295e-02 -8.77688944e-04 9.99871449e-01 4.25686005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49509989300003 meters 0.02974325449218351 Centerline is valid? [True, True] Translation: X:360.10, Y:4.85, Z:4.26 [[ 9.97232855e-01 -7.24777246e-02 -1.65412559e-02 3.60104101e+02] [ 7.24832353e-02 9.97369595e-01 -2.66916717e-04 4.84730383e+00] [ 1.65170912e-02 -9.32785624e-04 9.99863148e-01 4.25670729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.525099893 meters 0.025869553384404196 Centerline is valid? [True, True] Translation: X:360.14, Y:4.85, Z:4.26 [[ 9.97128998e-01 -7.37734000e-02 -1.70659464e-02 3.60136268e+02] [ 7.37794729e-02 9.97274543e-01 -2.74345266e-04 4.85261846e+00] [ 1.70396733e-02 -9.85558912e-04 9.99854328e-01 4.25726925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55509989300003 meters 0.027833786798579233 Centerline is valid? [True, True] Translation: X:360.17, Y:4.85, Z:4.26 [[ 9.96989438e-01 -7.53605523e-02 -1.82441122e-02 3.60167163e+02] [ 7.53677886e-02 9.97155761e-01 -2.91580088e-04 4.84969569e+00] [ 1.82141953e-02 -1.08431613e-03 9.99833520e-01 4.25664575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.585099893 meters 0.02849174128606855 Centerline is valid? [True, True] Translation: X:360.20, Y:4.85, Z:4.26 [[ 9.96938203e-01 -7.59220332e-02 -1.87100139e-02 3.60199608e+02] [ 7.59297809e-02 9.97113123e-01 -2.96972527e-04 4.84915644e+00] [ 1.86785472e-02 -1.12458400e-03 9.99824908e-01 4.25694135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61509989300004 meters 0.026318263677463708 Centerline is valid? [True, True] Translation: X:360.23, Y:4.85, Z:4.26 [[ 9.96924815e-01 -7.61714874e-02 -1.84069820e-02 3.60231630e+02] [ 7.61790525e-02 9.97094112e-01 -2.90851810e-04 4.85248917e+00] [ 1.83756480e-02 -1.11226906e-03 9.99830535e-01 4.25757144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.645099893 meters 0.029215040754007715 Centerline is valid? [True, True] Translation: X:360.26, Y:4.85, Z:4.26 [[ 9.96932181e-01 -7.60429260e-02 -1.85391702e-02 3.60262973e+02] [ 7.60506012e-02 9.97103917e-01 -2.91689810e-04 4.84922894e+00] [ 1.85076602e-02 -1.11912008e-03 9.99828092e-01 4.25796738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.675099893 meters 0.02670334922568795 Centerline is valid? [True, True] Translation: X:360.30, Y:4.85, Z:4.26 [[ 9.96995481e-01 -7.52967965e-02 -1.81769768e-02 3.60295621e+02] [ 7.53040726e-02 9.97160577e-01 -2.84801514e-04 4.85433930e+00] [ 1.81468093e-02 -1.08485456e-03 9.99834745e-01 4.25976619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.705099893 meters 0.0261963614084409 Centerline is valid? [True, True] Translation: X:360.33, Y:4.86, Z:4.26 [[ 9.97064543e-01 -7.44429380e-02 -1.79037745e-02 3.60328176e+02] [ 7.44498868e-02 9.97224717e-01 -2.79011663e-04 4.85640871e+00] [ 1.78748569e-02 -1.05474135e-03 9.99839676e-01 4.26059312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.735099893 meters 0.025960649524088195 Centerline is valid? [True, True] Translation: X:360.36, Y:4.86, Z:4.26 [[ 9.97210162e-01 -7.23590544e-02 -1.83319651e-02 3.60359503e+02] [ 7.23660096e-02 9.97378103e-01 -2.84544904e-04 4.85867491e+00] [ 1.83044900e-02 -1.04286009e-03 9.99831915e-01 4.26135665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.765099893 meters 0.02611847678894932 Centerline is valid? [True, True] Translation: X:360.39, Y:4.86, Z:4.26 [[ 9.97280676e-01 -7.12543767e-02 -1.88166870e-02 3.60391511e+02] [ 7.12615260e-02 9.97457623e-01 -2.91145528e-04 4.85969678e+00] [ 1.87895933e-02 -1.05055202e-03 9.99822908e-01 4.26153752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.795099893 meters 0.025444136987188216 Centerline is valid? [True, True] Translation: X:360.42, Y:4.86, Z:4.26 [[ 9.97339625e-01 -7.02601192e-02 -1.94213394e-02 3.60424134e+02] [ 7.02675777e-02 9.97528134e-01 -2.98951695e-04 4.86206743e+00] [ 1.93943369e-02 -1.06653411e-03 9.99811343e-01 4.26220084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.825099893 meters 0.027033488918674718 Centerline is valid? [True, True] Translation: X:360.46, Y:4.86, Z:4.26 [[ 9.97402160e-01 -6.92256836e-02 -1.99182492e-02 3.60455811e+02] [ 6.92333565e-02 9.97600446e-01 -3.04921200e-04 4.86129890e+00] [ 1.98915626e-02 -1.07487818e-03 9.99801565e-01 4.26193880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.855099893 meters 0.02394801342979858 Centerline is valid? [True, True] Translation: X:360.49, Y:4.87, Z:4.26 [[ 9.97505430e-01 -6.75092987e-02 -2.06255201e-02 3.60488387e+02] [ 6.75171948e-02 9.97718061e-01 -3.14087852e-04 4.86733322e+00] [ 2.05996578e-02 -1.07927292e-03 9.99787222e-01 4.26308198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.885099893 meters 0.024330756752607985 Centerline is valid? [True, True] Translation: X:360.52, Y:4.87, Z:4.26 [[ 9.97537690e-01 -6.68810391e-02 -2.11064833e-02 3.60519548e+02] [ 6.68892017e-02 9.97760358e-01 -3.19796397e-04 4.86825803e+00] [ 2.10806007e-02 -1.09278686e-03 9.99777182e-01 4.26388374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.915099893 meters 0.024763206347672047 Centerline is valid? [True, True] Translation: X:360.55, Y:4.87, Z:4.26 [[ 9.97698523e-01 -6.42230167e-02 -2.17499806e-02 3.60550487e+02] [ 6.42310771e-02 9.97934998e-01 -3.28524120e-04 4.86999349e+00] [ 2.17261656e-02 -1.06925665e-03 9.99763387e-01 4.26420064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.945099893 meters 0.023324728541079268 Centerline is valid? [True, True] Translation: X:360.58, Y:4.87, Z:4.27 [[ 9.97814176e-01 -6.23859415e-02 -2.17914063e-02 3.60581621e+02] [ 6.23936125e-02 9.98051566e-01 -3.28371899e-04 4.87361953e+00] [ 2.17694330e-02 -1.03199042e-03 9.99762485e-01 4.26504642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.975099893 meters 0.022736600039526822 Centerline is valid? [True, True] Translation: X:360.61, Y:4.88, Z:4.27 [[ 9.97950878e-01 -6.01557078e-02 -2.18022068e-02 3.60613261e+02] [ 6.01628758e-02 9.98188520e-01 -3.27593183e-04 4.87603788e+00] [ 2.17824191e-02 -9.84761554e-04 9.99762250e-01 4.26567355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.005099893 meters 0.02244710711688843 Centerline is valid? [True, True] Translation: X:360.64, Y:4.88, Z:4.27 [[ 9.98106272e-01 -5.76345122e-02 -2.14972647e-02 3.60643918e+02] [ 5.76409181e-02 9.98337328e-01 -3.22042699e-04 4.87820370e+00] [ 2.14800826e-02 -9.17689237e-04 9.99768855e-01 4.26654766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.035099893 meters 0.02006895113168049 Centerline is valid? [True, True] Translation: X:360.67, Y:4.88, Z:4.27 [[ 9.98452963e-01 -5.13542945e-02 -2.13170567e-02 3.60674571e+02] [ 5.13591745e-02 9.98680196e-01 -3.18853145e-04 4.88472103e+00] [ 2.13052968e-02 -7.76466567e-04 9.99772715e-01 4.26764281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.065099893 meters 0.01924194382655733 Centerline is valid? [True, True] Translation: X:360.70, Y:4.89, Z:4.27 [[ 9.98604279e-01 -4.81655008e-02 -2.16697723e-02 3.60704788e+02] [ 4.81697989e-02 9.98839109e-01 -3.23885298e-04 4.88735619e+00] [ 2.16602161e-02 -7.20395330e-04 9.99765130e-01 4.26814832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.095099893 meters 0.018212643519467914 Centerline is valid? [True, True] Translation: X:360.74, Y:4.89, Z:4.27 [[ 9.98748108e-01 -4.49179659e-02 -2.20134777e-02 3.60736267e+02] [ 4.49216256e-02 9.98990460e-01 -3.28472933e-04 4.89037176e+00] [ 2.20060086e-02 -6.60819485e-04 9.99757620e-01 4.26850463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.125099893 meters 0.014470872131630272 Centerline is valid? [True, True] Translation: X:360.77, Y:4.90, Z:4.27 [[ 9.99003003e-01 -3.84369166e-02 -2.27069042e-02 3.60766417e+02] [ 3.84391475e-02 9.99260886e-01 -3.38382100e-04 4.89861021e+00] [ 2.27031276e-02 -5.34789305e-04 9.99742108e-01 4.26953571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.155099893 meters 0.013862839766133355 Centerline is valid? [True, True] Translation: X:360.80, Y:4.90, Z:4.27 [[ 9.99100715e-01 -3.56815687e-02 -2.29038433e-02 3.60796712e+02] [ 3.56831147e-02 9.99363097e-01 -3.41316920e-04 4.90081589e+00] [ 2.29014345e-02 -4.76270490e-04 9.99737614e-01 4.26954823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18509989300003 meters 0.013222299775924368 Centerline is valid? [True, True] Translation: X:360.83, Y:4.90, Z:4.27 [[ 9.99179320e-01 -3.28225026e-02 -2.37354022e-02 3.60826357e+02] [ 3.28233471e-02 9.99461106e-01 -3.54117206e-04 4.90325462e+00] [ 2.37342343e-02 -4.25248754e-04 9.99718213e-01 4.27007591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.215099893 meters 0.01283362945461719 Centerline is valid? [True, True] Translation: X:360.85, Y:4.91, Z:4.27 [[ 9.99268071e-01 -2.97146714e-02 -2.40906693e-02 3.60854977e+02] [ 2.97146126e-02 9.99558358e-01 -3.60494435e-04 4.90561394e+00] [ 2.40907419e-02 -3.55614328e-04 9.99709713e-01 4.27027760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24509989300003 meters 0.012335876769628147 Centerline is valid? [True, True] Translation: X:360.88, Y:4.91, Z:4.27 [[ 9.99333122e-01 -2.70653262e-02 -2.45108022e-02 3.60883664e+02] [ 2.70643783e-02 9.99633624e-01 -3.70464712e-04 4.90824162e+00] [ 2.45118488e-02 -2.93151968e-04 9.99699497e-01 4.27061970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.275099893 meters 0.011784944882599093 Centerline is valid? [True, True] Translation: X:360.91, Y:4.91, Z:4.27 [[ 9.99428623e-01 -2.18495873e-02 -2.57880434e-02 3.60911477e+02] [ 2.18466886e-02 9.99761255e-01 -3.94170729e-04 4.91197400e+00] [ 2.57904991e-02 -1.69437845e-04 9.99667355e-01 4.27061865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30509989300003 meters 0.011765075454905334 Centerline is valid? [True, True] Translation: X:360.94, Y:4.91, Z:4.27 [[ 9.99454611e-01 -1.96885535e-02 -2.65111428e-02 3.60938560e+02] [ 1.96846548e-02 9.99806155e-01 -4.08053163e-04 4.91383645e+00] [ 2.65140377e-02 -1.14032078e-04 9.99648435e-01 4.27078770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.335099893 meters 0.011701294485246089 Centerline is valid? [True, True] Translation: X:360.97, Y:4.92, Z:4.27 [[ 9.99481565e-01 -1.66021991e-02 -2.75856398e-02 3.60966326e+02] [ 1.65966430e-02 9.99862174e-01 -4.30375025e-04 4.91666030e+00] [ 2.75889830e-02 -2.76771130e-05 9.99619351e-01 4.27123658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36509989300004 meters 0.011759785363803137 Centerline is valid? [True, True] Translation: X:360.99, Y:4.92, Z:4.27 [[ 9.99492154e-01 -1.54952332e-02 -2.78447832e-02 3.60994342e+02] [ 1.54890092e-02 9.99879942e-01 -4.39208303e-04 4.91789300e+00] [ 2.78482459e-02 7.69714741e-06 9.99612162e-01 4.27167576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.395099893 meters 0.011767394011592516 Centerline is valid? [True, True] Translation: X:361.02, Y:4.92, Z:4.27 [[ 9.99496829e-01 -1.50407612e-02 -2.79260487e-02 3.61021779e+02] [ 1.50341732e-02 9.99886881e-01 -4.45870557e-04 4.91901232e+00] [ 2.79295960e-02 2.58011565e-05 9.99609892e-01 4.27303842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.425099893 meters 0.01164058026338882 Centerline is valid? [True, True] Translation: X:361.05, Y:4.92, Z:4.27 [[ 9.99511308e-01 -1.46096181e-02 -2.76352149e-02 3.61050025e+02] [ 1.46027902e-02 9.99893273e-01 -4.48881014e-04 4.91939867e+00] [ 2.76388235e-02 4.51104042e-05 9.99617974e-01 4.27482737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.455099893 meters 0.011434553777032935 Centerline is valid? [True, True] Translation: X:361.08, Y:4.92, Z:4.28 [[ 9.99506640e-01 -1.50938766e-02 -2.75436263e-02 3.61077667e+02] [ 1.50870604e-02 9.99886080e-01 -4.55280422e-04 4.91918452e+00] [ 2.75473605e-02 3.95034510e-05 9.99620499e-01 4.27714588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.485099893 meters 0.011403829764055818 Centerline is valid? [True, True] Translation: X:361.10, Y:4.92, Z:4.28 [[ 9.99497997e-01 -1.59111603e-02 -2.73968745e-02 3.61104450e+02] [ 1.59045724e-02 9.99873409e-01 -4.58365754e-04 4.91889192e+00] [ 2.74006994e-02 2.24000784e-05 9.99624530e-01 4.27739046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.515099893 meters 0.011553235423247708 Centerline is valid? [True, True] Translation: X:361.13, Y:4.92, Z:4.28 [[ 9.99477987e-01 -1.68970394e-02 -2.75362136e-02 3.61131382e+02] [ 1.68906318e-02 9.99857235e-01 -4.65292110e-04 4.91859355e+00] [ 2.75401444e-02 -5.48238930e-08 9.99620698e-01 4.27686101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.545099893 meters 0.011304655087325302 Centerline is valid? [True, True] Translation: X:361.16, Y:4.92, Z:4.28 [[ 9.99427033e-01 -1.98790469e-02 -2.73939464e-02 3.61159140e+02] [ 1.98736388e-02 9.99802389e-01 -4.69692380e-04 4.91642037e+00] [ 2.73978701e-02 -7.49941327e-05 9.99624605e-01 4.27872163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.575099893 meters 0.01137159063960045 Centerline is valid? [True, True] Translation: X:361.19, Y:4.91, Z:4.28 [[ 9.99393054e-01 -2.18726698e-02 -2.71129132e-02 3.61185845e+02] [ 2.18679591e-02 9.99760757e-01 -4.70272666e-04 4.91484699e+00] [ 2.71167127e-02 -1.22916841e-04 9.99632267e-01 4.27850087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.605099893 meters 0.011380568913554164 Centerline is valid? [True, True] Translation: X:361.21, Y:4.91, Z:4.28 [[ 9.99364423e-01 -2.40192260e-02 -2.63405962e-02 3.61213992e+02] [ 2.40153801e-02 9.99711482e-01 -4.62388319e-04 4.91308756e+00] [ 2.63441027e-02 -1.70484995e-04 9.99652919e-01 4.27911603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.635099893 meters 0.011632531437758465 Centerline is valid? [True, True] Translation: X:361.24, Y:4.91, Z:4.28 [[ 9.99274232e-01 -2.84123340e-02 -2.53722119e-02 3.61242593e+02] [ 2.84100116e-02 9.99596252e-01 -4.52073209e-04 4.90845371e+00] [ 2.53748124e-02 -2.69079726e-04 9.99677971e-01 4.28023237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.665099893 meters 0.011850303605347856 Centerline is valid? [True, True] Translation: X:361.27, Y:4.91, Z:4.28 [[ 9.99220634e-01 -3.04777273e-02 -2.50844921e-02 3.61270951e+02] [ 3.04760020e-02 9.99535397e-01 -4.51164774e-04 4.90604274e+00] [ 2.50865883e-02 -3.13661880e-04 9.99685233e-01 4.28036258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.695099893 meters 0.012420459580460253 Centerline is valid? [True, True] Translation: X:361.30, Y:4.90, Z:4.28 [[ 9.99157886e-01 -3.25133435e-02 -2.50280047e-02 3.61298670e+02] [ 3.25122082e-02 9.99471236e-01 -4.52386324e-04 4.90332579e+00] [ 2.50294794e-02 -3.61710336e-04 9.99686648e-01 4.27986560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.725099893 meters 0.01277562976382672 Centerline is valid? [True, True] Translation: X:361.33, Y:4.90, Z:4.28 [[ 9.99085211e-01 -3.45579926e-02 -2.51890286e-02 3.61327604e+02] [ 3.45573845e-02 9.99402610e-01 -4.59572608e-04 4.90115817e+00] [ 2.51898628e-02 -4.11314749e-04 9.99682600e-01 4.27998653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.755099893 meters 0.013442080633969549 Centerline is valid? [True, True] Translation: X:361.36, Y:4.90, Z:4.28 [[ 9.98983055e-01 -3.77593162e-02 -2.46391984e-02 3.61356094e+02] [ 3.77595593e-02 9.99286750e-01 -4.55553356e-04 4.89675731e+00] [ 2.46388259e-02 -4.75275189e-04 9.99696305e-01 4.28017612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.785099893 meters 0.013911706231089838 Centerline is valid? [True, True] Translation: X:361.39, Y:4.89, Z:4.28 [[ 9.98951465e-01 -3.88270096e-02 -2.42576613e-02 3.61385059e+02] [ 3.88274668e-02 9.99245827e-01 -4.52332134e-04 4.89463080e+00] [ 2.42569296e-02 -4.90005691e-04 9.99705637e-01 4.28041397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.815099893 meters 0.014204457048294386 Centerline is valid? [True, True] Translation: X:361.41, Y:4.89, Z:4.28 [[ 9.98942804e-01 -3.93154099e-02 -2.38237829e-02 3.61414741e+02] [ 3.93159599e-02 9.99226729e-01 -4.45488288e-04 4.89275684e+00] [ 2.38228752e-02 -4.91637572e-04 9.99716074e-01 4.28057616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.845099893 meters 0.014506635083874517 Centerline is valid? [True, True] Translation: X:361.44, Y:4.89, Z:4.28 [[ 9.98917254e-01 -3.99595084e-02 -2.38234819e-02 3.61444905e+02] [ 3.99602219e-02 9.99201172e-01 -4.46307215e-04 4.89120796e+00] [ 2.38222853e-02 -5.06167646e-04 9.99716081e-01 4.28088607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.875099893 meters 0.014849068629676497 Centerline is valid? [True, True] Translation: X:361.47, Y:4.89, Z:4.28 [[ 9.98920325e-01 -4.00550421e-02 -2.35324851e-02 3.61473667e+02] [ 4.00557381e-02 9.99197349e-01 -4.41984892e-04 4.88828895e+00] [ 2.35313005e-02 -5.01103368e-04 9.99722975e-01 4.28107776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.905099893 meters 0.013638330378542689 Centerline is valid? [True, True] Translation: X:361.50, Y:4.89, Z:4.28 [[ 9.98931251e-01 -3.98098021e-02 -2.34847907e-02 3.61503277e+02] [ 3.98103997e-02 9.99207154e-01 -4.42273073e-04 4.89016714e+00] [ 2.34837777e-02 -4.93138510e-04 9.99724096e-01 4.28274827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93509989300003 meters 0.014485403172068196 Centerline is valid? [True, True] Translation: X:361.53, Y:4.89, Z:4.28 [[ 9.99000056e-01 -3.81565148e-02 -2.33016716e-02 3.61532513e+02] [ 3.81566341e-02 9.99271674e-01 -4.39659573e-04 4.88705795e+00] [ 2.33014762e-02 -4.49893417e-04 9.99728383e-01 4.28214359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.965099893 meters 0.012884825683964813 Centerline is valid? [True, True] Translation: X:361.56, Y:4.89, Z:4.28 [[ 9.99048325e-01 -3.68565157e-02 -2.33247074e-02 3.61562123e+02] [ 3.68562613e-02 9.99320480e-01 -4.40940424e-04 4.89022932e+00] [ 2.33251094e-02 -4.19140720e-04 9.99727845e-01 4.28435913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99509989300003 meters 0.013019589303225776 Centerline is valid? [True, True] Translation: X:361.59, Y:4.89, Z:4.28 [[ 9.99110196e-01 -3.51548802e-02 -2.33012824e-02 3.61590554e+02] [ 3.51541376e-02 9.99381805e-01 -4.41617713e-04 4.88965803e+00] [ 2.33024027e-02 -3.77911729e-04 9.99728391e-01 4.28415128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.025099893 meters 0.013571867259967342 Centerline is valid? [True, True] Translation: X:361.62, Y:4.89, Z:4.28 [[ 9.99185693e-01 -3.29743585e-02 -2.32517409e-02 3.61618417e+02] [ 3.29729891e-02 9.99456145e-01 -4.42391696e-04 4.88815076e+00] [ 2.32536829e-02 -3.24647944e-04 9.99729544e-01 4.28275385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05509989300003 meters 0.011996165293520674 Centerline is valid? [True, True] Translation: X:361.65, Y:4.89, Z:4.28 [[ 9.99315224e-01 -2.86778088e-02 -2.33809079e-02 3.61646734e+02] [ 2.86751578e-02 9.99588682e-01 -4.48715895e-04 4.89118460e+00] [ 2.33841591e-02 -2.22042600e-04 9.99726529e-01 4.28485474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.085099893 meters 0.011928437982642558 Centerline is valid? [True, True] Translation: X:361.67, Y:4.89, Z:4.28 [[ 9.99377651e-01 -2.63240907e-02 -2.34808927e-02 3.61674992e+02] [ 2.63206709e-02 9.99653448e-01 -4.54742467e-04 4.89134396e+00] [ 2.34847260e-02 -1.63573392e-04 9.99724182e-01 4.28460399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11509989300004 meters 0.011646210486877579 Centerline is valid? [True, True] Translation: X:361.70, Y:4.89, Z:4.28 [[ 9.99428289e-01 -2.42258915e-02 -2.35839113e-02 3.61703319e+02] [ 2.42217658e-02 9.99706504e-01 -4.60624935e-04 4.89207152e+00] [ 2.35881486e-02 -1.10882385e-04 9.99721755e-01 4.28472956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.145099893 meters 0.01146734391982865 Centerline is valid? [True, True] Translation: X:361.73, Y:4.89, Z:4.29 [[ 9.99539864e-01 -2.03164484e-02 -2.25233483e-02 3.61732376e+02] [ 2.03115684e-02 9.99793600e-01 -4.45438127e-04 4.89220836e+00] [ 2.25277492e-02 -1.22513651e-05 9.99746218e-01 4.28572283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.175099893 meters 0.011528709564213155 Centerline is valid? [True, True] Translation: X:361.76, Y:4.89, Z:4.29 [[ 9.99568128e-01 -1.89873254e-02 -2.24285306e-02 3.61759919e+02] [ 1.89820156e-02 9.99819724e-01 -4.49636705e-04 4.89186909e+00] [ 2.24330247e-02 2.37038020e-05 9.99748348e-01 4.28640515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.205099893 meters 0.011482553790785303 Centerline is valid? [True, True] Translation: X:361.79, Y:4.89, Z:4.29 [[ 9.99596702e-01 -1.79883741e-02 -2.19738791e-02 3.61786836e+02] [ 1.79829321e-02 9.99838195e-01 -4.45252703e-04 4.89151449e+00] [ 2.19783330e-02 4.99183581e-05 9.99758446e-01 4.28652841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.235099893 meters 0.011431136043553435 Centerline is valid? [True, True] Translation: X:361.81, Y:4.89, Z:4.29 [[ 9.99620685e-01 -1.74883327e-02 -2.12754412e-02 3.61814704e+02] [ 1.74830308e-02 9.99847065e-01 -4.35191615e-04 4.89070180e+00] [ 2.12797983e-02 6.30673454e-05 9.99773557e-01 4.28761950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.265099893 meters 0.01148298524441636 Centerline is valid? [True, True] Translation: X:361.84, Y:4.89, Z:4.29 [[ 9.99614613e-01 -1.79590380e-02 -2.11683492e-02 3.61841496e+02] [ 1.79537960e-02 9.99838722e-01 -4.37674112e-04 4.88792753e+00] [ 2.11727955e-02 5.74532146e-05 9.99775830e-01 4.28842697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.295099893 meters 0.01148298524441636 Centerline is valid? [True, True] Translation: X:361.87, Y:4.89, Z:4.29 [[ 9.99609479e-01 -1.82426446e-02 -2.11682649e-02 3.61868896e+02] [ 1.82373803e-02 9.99833588e-01 -4.41723905e-04 4.88855779e+00] [ 2.11728004e-02 5.54977054e-05 9.99775830e-01 4.28876632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.325099893 meters 0.011434265636202269 Centerline is valid? [True, True] Translation: X:361.90, Y:4.89, Z:4.29 [[ 9.99599288e-01 -1.91910482e-02 -2.08078430e-02 3.61896074e+02] [ 1.91860738e-02 9.99815834e-01 -4.38689931e-04 4.88692024e+00] [ 2.08124298e-02 3.92933318e-05 9.99783397e-01 4.28917986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.355099893 meters 0.011426668301563284 Centerline is valid? [True, True] Translation: X:361.92, Y:4.88, Z:4.29 [[ 9.99579529e-01 -2.08198051e-02 -2.01816788e-02 3.61924535e+02] [ 2.08153860e-02 9.99783244e-01 -4.29028481e-04 4.88495292e+00] [ 2.01862366e-02 8.75865247e-06 9.99796237e-01 4.29027946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.385099893 meters 0.011361520541747685 Centerline is valid? [True, True] Translation: X:361.95, Y:4.88, Z:4.29 [[ 9.99548328e-01 -2.29928105e-02 -1.93512313e-02 3.61952655e+02] [ 2.29890553e-02 9.99735630e-01 -4.16515305e-04 4.88271973e+00] [ 1.93556923e-02 -2.85393490e-05 9.99812661e-01 4.29127605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.415099893 meters 0.011618451164179517 Centerline is valid? [True, True] Translation: X:361.98, Y:4.88, Z:4.29 [[ 9.99414148e-01 -2.83143792e-02 -1.92264372e-02 3.61981210e+02] [ 2.83115556e-02 9.99599060e-01 -4.19086258e-04 4.87629391e+00] [ 1.92305947e-02 -1.25489612e-04 9.99815067e-01 4.29180601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.445099893 meters 0.011898411588321552 Centerline is valid? [True, True] Translation: X:362.01, Y:4.87, Z:4.29 [[ 9.99318940e-01 -3.16508592e-02 -1.89705019e-02 3.62009726e+02] [ 3.16486218e-02 9.99498969e-01 -4.18226563e-04 4.87292446e+00] [ 1.89742343e-02 -1.82448514e-04 9.99819956e-01 4.29215194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.475099893 meters 0.012692363117602697 Centerline is valid? [True, True] Translation: X:362.04, Y:4.87, Z:4.29 [[ 9.99220521e-01 -3.44838942e-02 -1.92148630e-02 3.62038546e+02] [ 3.44820553e-02 9.99405226e-01 -4.27106896e-04 4.86872824e+00] [ 1.92181628e-02 -2.35793992e-04 9.99815286e-01 4.29186705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.505099893 meters 0.013696319253561243 Centerline is valid? [True, True] Translation: X:362.07, Y:4.86, Z:4.29 [[ 9.98997375e-01 -4.09217177e-02 -1.81565025e-02 3.62068627e+02] [ 4.09211235e-02 9.99162298e-01 -4.04406050e-04 4.86286363e+00] [ 1.81578418e-02 -3.38983899e-04 9.99835075e-01 4.29327441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.535099893 meters 0.014438517285609133 Centerline is valid? [True, True] Translation: X:362.10, Y:4.86, Z:4.29 [[ 9.98875698e-01 -4.36963832e-02 -1.83838740e-02 3.62099202e+02] [ 4.36962355e-02 9.99044779e-01 -4.09910821e-04 4.86021527e+00] [ 1.83842249e-02 -3.93856129e-04 9.99830918e-01 4.29373060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.565099893 meters 0.015509767282220435 Centerline is valid? [True, True] Translation: X:362.13, Y:4.86, Z:4.29 [[ 9.98605287e-01 -4.95025096e-02 -1.83570853e-02 3.62130340e+02] [ 4.95033463e-02 9.98773874e-01 -4.09107961e-04 4.85539607e+00] [ 1.83548290e-02 -5.00199775e-04 9.99831411e-01 4.29384150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.595099893 meters 0.017888327977344347 Centerline is valid? [True, True] Translation: X:362.16, Y:4.85, Z:4.29 [[ 9.98446680e-01 -5.26615165e-02 -1.81931692e-02 3.62160252e+02] [ 5.26628697e-02 9.98612266e-01 -4.05034807e-04 4.85073189e+00] [ 1.81892517e-02 -5.53698843e-04 9.99834409e-01 4.29360185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.625099893 meters 0.01775369655496809 Centerline is valid? [True, True] Translation: X:362.19, Y:4.85, Z:4.29 [[ 9.98288959e-01 -5.57124295e-02 -1.77560881e-02 3.62191508e+02] [ 5.57142038e-02 9.98446679e-01 -3.95112125e-04 4.85002603e+00] [ 1.77505198e-02 -5.94830236e-04 9.99842270e-01 4.29438432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.655099893 meters 0.017405309191145538 Centerline is valid? [True, True] Translation: X:362.22, Y:4.85, Z:4.30 [[ 9.98116350e-01 -5.88415234e-02 -1.73616745e-02 3.62222566e+02] [ 5.88437015e-02 9.98267134e-01 -3.85813193e-04 4.84956622e+00] [ 1.73542909e-02 -6.36538735e-04 9.99849200e-01 4.29500016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68509989300003 meters 0.020402166029004413 Centerline is valid? [True, True] Translation: X:362.25, Y:4.84, Z:4.29 [[ 9.97938164e-01 -6.17892344e-02 -1.73640638e-02 3.62252715e+02] [ 6.17918705e-02 9.98088982e-01 -3.85180432e-04 4.84400727e+00] [ 1.73546808e-02 -6.88571731e-04 9.99849159e-01 4.29466865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.715099893 meters 0.020782804993276522 Centerline is valid? [True, True] Translation: X:362.28, Y:4.84, Z:4.29 [[ 9.97553419e-01 -6.77650357e-02 -1.71777534e-02 3.62283022e+02] [ 6.77685190e-02 9.97700999e-01 -3.79909037e-04 4.84178625e+00] [ 1.71640062e-02 -7.85131347e-04 9.99852379e-01 4.29471552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74509989300003 meters 0.021016185842225702 Centerline is valid? [True, True] Translation: X:362.31, Y:4.84, Z:4.30 [[ 9.97355721e-01 -7.05706209e-02 -1.73595342e-02 3.62314600e+02] [ 7.05746063e-02 9.97506430e-01 -3.83694862e-04 4.84160227e+00] [ 1.73433246e-02 -8.42462026e-04 9.99849238e-01 4.29522488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.775099893 meters 0.022716310553221486 Centerline is valid? [True, True] Translation: X:362.34, Y:4.84, Z:4.30 [[ 9.97173473e-01 -7.30798866e-02 -1.74469014e-02 3.62344776e+02] [ 7.30843114e-02 9.97325692e-01 -3.84698131e-04 4.83944951e+00] [ 1.74283567e-02 -8.91484006e-04 9.99847717e-01 4.29527084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80509989300003 meters 0.024762753847262245 Centerline is valid? [True, True] Translation: X:362.38, Y:4.84, Z:4.30 [[ 9.96853929e-01 -7.72265067e-02 -1.78412882e-02 3.62375876e+02] [ 7.72318183e-02 9.97013085e-01 -3.92133763e-04 4.83775742e+00] [ 1.78182809e-02 -9.87015043e-04 9.99840755e-01 4.29583133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.835099893 meters 0.02448308397422111 Centerline is valid? [True, True] Translation: X:362.41, Y:4.84, Z:4.30 [[ 9.96686327e-01 -7.94508662e-02 -1.74334763e-02 3.62406754e+02] [ 7.94562823e-02 9.96838278e-01 -3.82859713e-04 4.83927498e+00] [ 1.74087750e-02 -1.00360817e-03 9.99847952e-01 4.29663213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86509989300004 meters 0.026667596773347443 Centerline is valid? [True, True] Translation: X:362.44, Y:4.84, Z:4.30 [[ 9.96669723e-01 -7.96878561e-02 -1.73005639e-02 3.62438050e+02] [ 7.96932340e-02 9.96819364e-01 -3.79442060e-04 4.83748675e+00] [ 1.72757741e-02 -1.00055948e-03 9.99850262e-01 4.29703375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.895099893 meters 0.025614287642147095 Centerline is valid? [True, True] Translation: X:362.47, Y:4.84, Z:4.30 [[ 9.96671950e-01 -7.97338202e-02 -1.69570426e-02 3.62470078e+02] [ 7.97390102e-02 9.96815706e-01 -3.70903533e-04 4.84057234e+00] [ 1.69326199e-02 -9.82468645e-04 9.99856150e-01 4.29787019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.925099893 meters 0.027077228363479273 Centerline is valid? [True, True] Translation: X:362.50, Y:4.84, Z:4.30 [[ 9.96713661e-01 -7.92707691e-02 -1.66740085e-02 3.62501561e+02] [ 7.92757414e-02 9.96852659e-01 -3.63588929e-04 4.84048948e+00] [ 1.66503517e-02 -9.59450331e-04 9.99860913e-01 4.29815374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.955099893 meters 0.023990321392505384 Centerline is valid? [True, True] Translation: X:362.53, Y:4.85, Z:4.30 [[ 9.96767758e-01 -7.84856547e-02 -1.71475727e-02 3.62534090e+02] [ 7.84908183e-02 9.96914767e-01 -3.72718515e-04 4.84671617e+00] [ 1.71239215e-02 -9.74413213e-04 9.99852900e-01 4.29877968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.985099893 meters 0.02517299534926154 Centerline is valid? [True, True] Translation: X:362.57, Y:4.85, Z:4.30 [[ 9.96832166e-01 -7.76424109e-02 -1.72420748e-02 3.62565830e+02] [ 7.76475346e-02 9.96980803e-01 -3.73104642e-04 4.84713664e+00] [ 1.72189864e-02 -9.66881894e-04 9.99851275e-01 4.29842527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.015099893 meters 0.023753961875579866 Centerline is valid? [True, True] Translation: X:362.60, Y:4.85, Z:4.30 [[ 9.96945120e-01 -7.58338073e-02 -1.86992557e-02 3.62597191e+02] [ 7.58395395e-02 9.97119953e-01 -4.03414651e-04 4.85319751e+00] [ 1.86759934e-02 -1.01596067e-03 9.99825072e-01 4.29823940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.045099893 meters 0.02379296335807143 Centerline is valid? [True, True] Translation: X:362.63, Y:4.86, Z:4.30 [[ 9.97011578e-01 -7.48041078e-02 -1.92939976e-02 3.62629257e+02] [ 7.48100373e-02 9.97197717e-01 -4.15267019e-04 4.85538390e+00] [ 1.92709940e-02 -1.02935865e-03 9.99813767e-01 4.29795410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.075099893 meters 0.023986381072488554 Centerline is valid? [True, True] Translation: X:362.66, Y:4.86, Z:4.30 [[ 9.97070439e-01 -7.39982759e-02 -1.93596239e-02 3.62660337e+02] [ 7.40041193e-02 9.97257849e-01 -4.15388049e-04 4.85731408e+00] [ 1.93372748e-02 -1.01852077e-03 9.99812499e-01 4.29815023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.105099893 meters 0.025261917354734608 Centerline is valid? [True, True] Translation: X:362.69, Y:4.86, Z:4.30 [[ 9.97158134e-01 -7.28677711e-02 -1.91296351e-02 3.62692035e+02] [ 7.28732910e-02 9.97341123e-01 -4.09298171e-04 4.85757301e+00] [ 1.91085964e-02 -9.85904466e-04 9.99816928e-01 4.29839493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.135099893 meters 0.023442202251637595 Centerline is valid? [True, True] Translation: X:362.72, Y:4.86, Z:4.30 [[ 9.97242365e-01 -7.17883393e-02 -1.88175168e-02 3.62723809e+02] [ 7.17935140e-02 9.97419436e-01 -4.01278265e-04 4.86267119e+00] [ 1.87977641e-02 -9.50803974e-04 9.99822854e-01 4.29944881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.165099893 meters 0.022647885219274036 Centerline is valid? [True, True] Translation: X:362.76, Y:4.87, Z:4.30 [[ 9.97463519e-01 -6.89028551e-02 -1.78584775e-02 3.62755334e+02] [ 6.89070747e-02 9.97623010e-01 -3.79682694e-04 4.86881784e+00] [ 1.78421893e-02 -8.51855809e-04 9.99840453e-01 4.30047917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.195099893 meters 0.02025597619015951 Centerline is valid? [True, True] Translation: X:362.79, Y:4.88, Z:4.30 [[ 9.97589536e-01 -6.71568589e-02 -1.74663626e-02 3.62787773e+02] [ 6.71606478e-02 9.97742106e-01 -3.70220538e-04 4.87502727e+00] [ 1.74517883e-02 -8.03724092e-04 9.99847383e-01 4.30140011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.225099893 meters 0.02015231010956466 Centerline is valid? [True, True] Translation: X:362.82, Y:4.88, Z:4.30 [[ 9.97713580e-01 -6.54037448e-02 -1.70282990e-02 3.62819627e+02] [ 6.54071159e-02 9.97858597e-01 -3.59476620e-04 4.87785047e+00] [ 1.70153457e-02 -7.55117223e-04 9.99854943e-01 4.30192013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.255099893 meters 0.019294922178100058 Centerline is valid? [True, True] Translation: X:362.85, Y:4.88, Z:4.30 [[ 9.97990561e-01 -6.11710551e-02 -1.65209835e-02 3.62849019e+02] [ 6.11736686e-02 9.98127077e-01 -3.47594140e-04 4.88361478e+00] [ 1.65113037e-02 -6.63753502e-04 9.99863459e-01 4.30254784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.285099893 meters 0.018035723730346242 Centerline is valid? [True, True] Translation: X:362.88, Y:4.89, Z:4.30 [[ 9.98134719e-01 -5.89093315e-02 -1.60241606e-02 3.62880856e+02] [ 5.89115158e-02 9.98263152e-01 -3.36098550e-04 4.88767088e+00] [ 1.60161284e-02 -6.08535958e-04 9.99871548e-01 4.30320076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.315099893 meters 0.017606576737701406 Centerline is valid? [True, True] Translation: X:362.91, Y:4.89, Z:4.30 [[ 9.98271712e-01 -5.66163946e-02 -1.57534948e-02 3.62912715e+02] [ 5.66182341e-02 9.98395847e-01 -3.29563432e-04 4.89077222e+00] [ 1.57468824e-02 -5.62941202e-04 9.99875852e-01 4.30363131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.345099893 meters 0.01586469348662563 Centerline is valid? [True, True] Translation: X:362.94, Y:4.90, Z:4.30 [[ 9.98527238e-01 -5.17558320e-02 -1.62692689e-02 3.62943882e+02] [ 5.17571632e-02 9.98659642e-01 -3.39506195e-04 4.89790890e+00] [ 1.62650337e-02 -5.03045020e-04 9.99867589e-01 4.30421053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.375099893 meters 0.015559129013352041 Centerline is valid? [True, True] Translation: X:362.98, Y:4.90, Z:4.30 [[ 9.98658522e-01 -4.91558613e-02 -1.62744445e-02 3.62975617e+02] [ 4.91568604e-02 9.98791013e-01 -3.38869609e-04 4.90090452e+00] [ 1.62714264e-02 -4.61585576e-04 9.99867505e-01 4.30434833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.405099893 meters 0.014887624489724036 Centerline is valid? [True, True] Translation: X:363.01, Y:4.90, Z:4.30 [[ 9.98773140e-01 -4.65659340e-02 -1.68471902e-02 3.63006985e+02] [ 4.65666551e-02 9.98915124e-01 -3.49696258e-04 4.90467464e+00] [ 1.68451970e-02 -4.35250065e-04 9.99858015e-01 4.30458174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43509989300003 meters 0.014395526905725172 Centerline is valid? [True, True] Translation: X:363.04, Y:4.91, Z:4.30 [[ 9.98883083e-01 -4.40021499e-02 -1.72162127e-02 3.63037922e+02] [ 4.40025333e-02 9.99031356e-01 -3.56721759e-04 4.90803012e+00] [ 1.72152329e-02 -4.01233642e-04 9.99851726e-01 4.30492642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.465099893 meters 0.013586733110352182 Centerline is valid? [True, True] Translation: X:363.07, Y:4.91, Z:4.30 [[ 9.99039347e-01 -4.01106677e-02 -1.76498389e-02 3.63069369e+02] [ 4.01104750e-02 9.99195184e-01 -3.65057034e-04 4.91248185e+00] [ 1.76502767e-02 -3.43237080e-04 9.99844163e-01 4.30496545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49509989300003 meters 0.013153185603547354 Centerline is valid? [True, True] Translation: X:363.10, Y:4.91, Z:4.31 [[ 9.99091809e-01 -3.86428611e-02 -1.79523293e-02 3.63100411e+02] [ 3.86424367e-02 9.99253033e-01 -3.70657935e-04 4.91467674e+00] [ 1.79532428e-02 -3.23400440e-04 9.99838775e-01 4.30513338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.525099893 meters 0.012743855372094364 Centerline is valid? [True, True] Translation: X:363.13, Y:4.92, Z:4.31 [[ 9.99168716e-01 -3.65200895e-02 -1.81151764e-02 3.63131534e+02] [ 3.65193205e-02 9.99332877e-01 -3.73362554e-04 4.91769067e+00] [ 1.81167266e-02 -2.88501749e-04 9.99835837e-01 4.30508018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55509989300003 meters 0.01250224010293738 Centerline is valid? [True, True] Translation: X:363.16, Y:4.92, Z:4.31 [[ 9.99192212e-01 -3.59132266e-02 -1.80323026e-02 3.63162588e+02] [ 3.59123777e-02 9.99354874e-01 -3.71001184e-04 4.91956994e+00] [ 1.80339934e-02 -2.76881370e-04 9.99837336e-01 4.30536187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.585099893 meters 0.012434000492818795 Centerline is valid? [True, True] Translation: X:363.19, Y:4.92, Z:4.31 [[ 9.99203438e-01 -3.57388273e-02 -1.77545864e-02 3.63193869e+02] [ 3.57379882e-02 9.99361128e-01 -3.64644090e-04 4.92097387e+00] [ 1.77562754e-02 -2.70159570e-04 9.99842308e-01 4.30584809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61509989300004 meters 0.012520037255621027 Centerline is valid? [True, True] Translation: X:363.22, Y:4.92, Z:4.31 [[ 9.99197888e-01 -3.57622735e-02 -1.80177859e-02 3.63224709e+02] [ 3.57614252e-02 9.99360287e-01 -3.69381085e-04 4.92204540e+00] [ 1.80194696e-02 -2.75256900e-04 9.99837598e-01 4.30588199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.645099893 meters 0.012658168562031636 Centerline is valid? [True, True] Translation: X:363.26, Y:4.92, Z:4.31 [[ 9.99179016e-01 -3.62544030e-02 -1.80807311e-02 3.63255695e+02] [ 3.62536412e-02 9.99342552e-01 -3.70008901e-04 4.92232737e+00] [ 1.80822584e-02 -2.85787208e-04 9.99836462e-01 4.30586743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.675099893 meters 0.013102245083074457 Centerline is valid? [True, True] Translation: X:363.29, Y:4.92, Z:4.31 [[ 9.99098749e-01 -3.83070841e-02 -1.82827116e-02 3.63286735e+02] [ 3.83066610e-02 9.99265961e-01 -3.73474314e-04 4.92184960e+00] [ 1.82835981e-02 -3.27211914e-04 9.99832788e-01 4.30649731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.705099893 meters 0.013564672434002101 Centerline is valid? [True, True] Translation: X:363.32, Y:4.92, Z:4.31 [[ 9.99036086e-01 -3.98658245e-02 -1.83743235e-02 3.63318487e+02] [ 3.98656729e-02 9.99204978e-01 -3.74681850e-04 4.92131340e+00] [ 1.83746525e-02 -3.58184080e-04 9.99831108e-01 4.30656170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.735099893 meters 0.01379598530463949 Centerline is valid? [True, True] Translation: X:363.35, Y:4.92, Z:4.31 [[ 9.98970537e-01 -4.13776186e-02 -1.85945760e-02 3.63350022e+02] [ 4.13777375e-02 9.99143503e-01 -3.78500286e-04 4.92127730e+00] [ 1.85943112e-02 -3.91290851e-04 9.99827034e-01 4.30697359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.765099893 meters 0.014151942947805227 Centerline is valid? [True, True] Translation: X:363.38, Y:4.92, Z:4.31 [[ 9.98911729e-01 -4.30058161e-02 -1.80515481e-02 3.63380933e+02] [ 4.30062036e-02 9.99074738e-01 -3.66911965e-04 4.92106942e+00] [ 1.80506250e-02 -4.09815886e-04 9.99836990e-01 4.30752592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.795099893 meters 0.015392705252496499 Centerline is valid? [True, True] Translation: X:363.41, Y:4.92, Z:4.31 [[ 9.98774735e-01 -4.62874797e-02 -1.75070952e-02 3.63411489e+02] [ 4.62883533e-02 9.98928056e-01 -3.55537293e-04 4.91951780e+00] [ 1.75047856e-02 -4.55272943e-04 9.99846676e-01 4.30890767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.825099893 meters 0.015497562283209003 Centerline is valid? [True, True] Translation: X:363.44, Y:4.92, Z:4.31 [[ 9.98716277e-01 -4.77961143e-02 -1.67728586e-02 3.63443140e+02] [ 4.77971362e-02 9.98857006e-01 -3.40175546e-04 4.91998574e+00] [ 1.67699464e-02 -4.61955752e-04 9.99859268e-01 4.30972638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.855099893 meters 0.016560672843451047 Centerline is valid? [True, True] Translation: X:363.47, Y:4.92, Z:4.31 [[ 9.98646747e-01 -4.93007075e-02 -1.65564183e-02 3.63473794e+02] [ 4.93019232e-02 9.98783865e-01 -3.34974040e-04 4.91870850e+00] [ 1.65527979e-02 -4.81742527e-04 9.99862877e-01 4.31024030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.885099893 meters 0.01761900477362099 Centerline is valid? [True, True] Translation: X:363.51, Y:4.92, Z:4.31 [[ 9.98532589e-01 -5.15927296e-02 -1.64578119e-02 3.63506217e+02] [ 5.15942538e-02 9.98668074e-01 -3.32249819e-04 4.91749208e+00] [ 1.64530329e-02 -5.17366250e-04 9.99864506e-01 4.31037163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.915099893 meters 0.017109501069462737 Centerline is valid? [True, True] Translation: X:363.54, Y:4.92, Z:4.31 [[ 9.98494457e-01 -5.23542651e-02 -1.63661577e-02 3.63538721e+02] [ 5.23558933e-02 9.98628435e-01 -3.29249466e-04 4.91903471e+00] [ 1.63609481e-02 -5.28111039e-04 9.99866011e-01 4.31093377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.945099893 meters 0.016995130920915487 Centerline is valid? [True, True] Translation: X:363.57, Y:4.92, Z:4.31 [[ 9.98474945e-01 -5.26652034e-02 -1.65577972e-02 3.63570644e+02] [ 5.26669326e-02 9.98612079e-01 -3.31905490e-04 4.92014132e+00] [ 1.65522961e-02 -5.40649073e-04 9.99862855e-01 4.31126443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.975099893 meters 0.01706679568640067 Centerline is valid? [True, True] Translation: X:363.60, Y:4.92, Z:4.31 [[ 9.98528688e-01 -5.16676766e-02 -1.64593464e-02 3.63602202e+02] [ 5.16692682e-02 9.98664197e-01 -3.28825487e-04 4.92133615e+00] [ 1.64543496e-02 -5.22100699e-04 9.99864482e-01 4.31156913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.005099893 meters 0.016486687605166403 Centerline is valid? [True, True] Translation: X:363.63, Y:4.92, Z:4.31 [[ 9.98572820e-01 -5.07893150e-02 -1.65157275e-02 3.63634102e+02] [ 5.07908134e-02 9.98709260e-01 -3.28986548e-04 4.92359287e+00] [ 1.65111190e-02 -5.10330207e-04 9.99863552e-01 4.31233620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.035099893 meters 0.015410888859648567 Centerline is valid? [True, True] Translation: X:363.67, Y:4.93, Z:4.31 [[ 9.98695253e-01 -4.84524106e-02 -1.61293288e-02 3.63666654e+02] [ 4.84535546e-02 9.98825385e-01 -3.20079582e-04 4.92700612e+00] [ 1.61258917e-02 -4.61861356e-04 9.99869863e-01 4.31305034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.065099893 meters 0.015852699714522047 Centerline is valid? [True, True] Translation: X:363.70, Y:4.93, Z:4.31 [[ 9.98753952e-01 -4.72004820e-02 -1.62067015e-02 3.63698372e+02] [ 4.72014951e-02 9.98885337e-01 -3.20210047e-04 4.92724104e+00] [ 1.62037506e-02 -4.45169493e-04 9.99868612e-01 4.31326078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.095099893 meters 0.015868409628096665 Centerline is valid? [True, True] Translation: X:363.73, Y:4.93, Z:4.31 [[ 9.98820759e-01 -4.56928515e-02 -1.64089981e-02 3.63729375e+02] [ 4.56937051e-02 9.98955445e-01 -3.23092344e-04 4.92814446e+00] [ 1.64066210e-02 -4.27076580e-04 9.99865311e-01 4.31335485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.125099893 meters 0.01459498966219381 Centerline is valid? [True, True] Translation: X:363.76, Y:4.93, Z:4.31 [[ 9.98871846e-01 -4.44183146e-02 -1.67942855e-02 3.63761716e+02] [ 4.44190453e-02 9.99012933e-01 -3.29693741e-04 4.93115403e+00] [ 1.67923528e-02 -4.16664332e-04 9.99858912e-01 4.31343416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.155099893 meters 0.01459498966219381 Centerline is valid? [True, True] Translation: X:363.79, Y:4.93, Z:4.31 [[ 9.98875032e-01 -4.43466180e-02 -1.67943091e-02 3.63793409e+02] [ 4.43473589e-02 9.99016118e-01 -3.28487712e-04 4.93171683e+00] [ 1.67923528e-02 -4.16665078e-04 9.99858912e-01 4.31382592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18509989300003 meters 0.014586509043619002 Centerline is valid? [True, True] Translation: X:363.82, Y:4.93, Z:4.31 [[ 9.98933428e-01 -4.23859091e-02 -1.83150351e-02 3.63824223e+02] [ 4.23864844e-02 9.99101225e-01 -3.56945851e-04 4.93253305e+00] [ 1.83137035e-02 -4.19744808e-04 9.99832202e-01 4.31266483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.215099893 meters 0.01362749275515906 Centerline is valid? [True, True] Translation: X:363.86, Y:4.94, Z:4.31 [[ 9.98961410e-01 -4.14554951e-02 -1.89087977e-02 3.63855636e+02] [ 4.14559592e-02 9.99140265e-01 -3.67598436e-04 4.93535346e+00] [ 1.89077801e-02 -4.16665694e-04 9.99821145e-01 4.31264848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24509989300003 meters 0.014060543130835866 Centerline is valid? [True, True] Translation: X:363.89, Y:4.94, Z:4.31 [[ 9.98979801e-01 -4.05646628e-02 -1.98460554e-02 3.63886377e+02] [ 4.05650104e-02 9.99176827e-01 -3.85216493e-04 4.93534913e+00] [ 1.98453448e-02 -4.20231948e-04 9.99802973e-01 4.31205471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.275099893 meters 0.01322687515873594 Centerline is valid? [True, True] Translation: X:363.92, Y:4.94, Z:4.31 [[ 9.99006079e-01 -3.95060574e-02 -2.06428120e-02 3.63917246e+02] [ 3.95062186e-02 9.99219244e-01 -4.00154121e-04 4.93804880e+00] [ 2.06425035e-02 -4.15763044e-04 9.99786834e-01 4.31223204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30509989300003 meters 0.01327206438267958 Centerline is valid? [True, True] Translation: X:363.95, Y:4.94, Z:4.31 [[ 9.99003368e-01 -3.93012089e-02 -2.11585751e-02 3.63948118e+02] [ 3.93013420e-02 9.99227320e-01 -4.09697179e-04 4.93861021e+00] [ 2.11583279e-02 -4.22271535e-04 9.99776048e-01 4.31229270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.335099893 meters 0.013198651518249371 Centerline is valid? [True, True] Translation: X:363.98, Y:4.94, Z:4.31 [[ 9.99000175e-01 -3.91206098e-02 -2.16386030e-02 3.63978337e+02] [ 3.91207067e-02 9.99234404e-01 -4.18992043e-04 4.93945145e+00] [ 2.16384278e-02 -4.27944318e-04 9.99765770e-01 4.31254398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36509989300004 meters 0.013431006215132995 Centerline is valid? [True, True] Translation: X:364.01, Y:4.94, Z:4.31 [[ 9.99012025e-01 -3.89490844e-02 -2.13996056e-02 3.64007463e+02] [ 3.89491407e-02 9.99241108e-01 -4.14323253e-04 4.93958993e+00] [ 2.13995031e-02 -4.19582336e-04 9.99770916e-01 4.31307464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.395099893 meters 0.013171311563083677 Centerline is valid? [True, True] Translation: X:364.04, Y:4.94, Z:4.31 [[ 9.99042945e-01 -3.87065782e-02 -2.03714193e-02 3.64038244e+02] [ 3.87065798e-02 9.99250542e-01 -3.94362824e-04 4.94064512e+00] [ 2.03714162e-02 -3.94522570e-04 9.99792403e-01 4.31497583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.425099893 meters 0.012940540129358124 Centerline is valid? [True, True] Translation: X:364.07, Y:4.94, Z:4.32 [[ 9.99069682e-01 -3.84495335e-02 -1.95295679e-02 3.64069482e+02] [ 3.84494908e-02 9.99260474e-01 -3.77809908e-04 4.94206912e+00] [ 1.95296519e-02 -3.73443519e-04 9.99809208e-01 4.31654083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.455099893 meters 0.013059221296916392 Centerline is valid? [True, True] Translation: X:364.10, Y:4.94, Z:4.32 [[ 9.99073783e-01 -3.86845214e-02 -1.88436460e-02 3.64101249e+02] [ 3.86845358e-02 9.99251407e-01 -3.63883548e-04 4.94280725e+00] [ 1.88436164e-02 -3.65411185e-04 9.99822377e-01 4.31769279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.485099893 meters 0.01320268930867594 Centerline is valid? [True, True] Translation: X:364.13, Y:4.94, Z:4.32 [[ 9.99031247e-01 -4.00926100e-02 -1.81425056e-02 3.64132993e+02] [ 4.00928668e-02 9.99195897e-01 -3.49712430e-04 4.94300586e+00] [ 1.81419380e-02 -3.78011416e-04 9.99835350e-01 4.31905949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.515099893 meters 0.01321890933591237 Centerline is valid? [True, True] Translation: X:364.16, Y:4.94, Z:4.32 [[ 9.98974195e-01 -4.15093031e-02 -1.80979380e-02 3.64164103e+02] [ 4.15098028e-02 9.99138036e-01 -3.48201343e-04 4.94333571e+00] [ 1.80967918e-02 -4.03397680e-04 9.99836158e-01 4.32001690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.545099893 meters 0.013939545710032678 Centerline is valid? [True, True] Translation: X:364.19, Y:4.94, Z:4.32 [[ 9.98896886e-01 -4.36123269e-02 -1.74062182e-02 3.64194882e+02] [ 4.36131190e-02 9.99048439e-01 -3.34273775e-04 4.94194119e+00] [ 1.74042335e-02 -4.25234430e-04 9.99848444e-01 4.32045245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.575099893 meters 0.017573551663126637 Centerline is valid? [True, True] Translation: X:364.23, Y:4.93, Z:4.32 [[ 9.98638938e-01 -4.92265840e-02 -1.72341034e-02 3.64225131e+02] [ 4.92282033e-02 9.98787502e-01 -3.30520693e-04 4.93483453e+00] [ 1.72294775e-02 -5.18333112e-04 9.99851427e-01 4.32057277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.605099893 meters 0.018516386229226668 Centerline is valid? [True, True] Translation: X:364.26, Y:4.93, Z:4.32 [[ 9.98458853e-01 -5.26183233e-02 -1.76417489e-02 3.64256603e+02] [ 5.26205521e-02 9.98614522e-01 -3.38156845e-04 4.93312669e+00] [ 1.76350999e-02 -5.90682872e-04 9.99844315e-01 4.32050465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.635099893 meters 0.018406104838065228 Centerline is valid? [True, True] Translation: X:364.29, Y:4.93, Z:4.32 [[ 9.98010103e-01 -6.02742595e-02 -1.85161571e-02 3.64287262e+02] [ 6.02780385e-02 9.98181563e-01 -3.54450683e-04 4.93230437e+00] [ 1.85038509e-02 -7.62372268e-04 9.99828498e-01 4.32075778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.665099893 meters 0.02018649856346991 Centerline is valid? [True, True] Translation: X:364.32, Y:4.93, Z:4.32 [[ 9.97764465e-01 -6.41106667e-02 -1.88651697e-02 3.64317081e+02] [ 6.41152747e-02 9.97942434e-01 -3.61091021e-04 4.92960414e+00] [ 1.88495031e-02 -8.49261746e-04 9.99821972e-01 4.32094625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.695099893 meters 0.02161816302815898 Centerline is valid? [True, True] Translation: X:364.35, Y:4.93, Z:4.32 [[ 9.97539920e-01 -6.72986162e-02 -1.96215027e-02 3.64348485e+02] [ 6.73042215e-02 9.97732430e-01 -3.75304909e-04 4.92757731e+00] [ 1.96022671e-02 -9.46228337e-04 9.99807409e-01 4.32075918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.725099893 meters 0.023184543344098293 Centerline is valid? [True, True] Translation: X:364.38, Y:4.93, Z:4.32 [[ 9.97372432e-01 -6.97170603e-02 -1.96917147e-02 3.64378717e+02] [ 6.97231922e-02 9.97566306e-01 -3.75818496e-04 4.92560186e+00] [ 1.96699921e-02 -9.98138202e-04 9.99806029e-01 4.32084065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.755099893 meters 0.02212966046887012 Centerline is valid? [True, True] Translation: X:364.41, Y:4.93, Z:4.32 [[ 9.97126489e-01 -7.30688451e-02 -1.99927358e-02 3.64409509e+02] [ 7.30758535e-02 9.97326313e-01 -3.80770536e-04 4.92754156e+00] [ 1.99671040e-02 -1.08130985e-03 9.99800053e-01 4.32219704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.785099893 meters 0.02212966046887012 Centerline is valid? [True, True] Translation: X:364.44, Y:4.93, Z:4.32 [[ 9.97131935e-01 -7.29944865e-02 -1.99927510e-02 3.64441239e+02] [ 7.30014960e-02 9.97331759e-01 -3.79971824e-04 4.92809013e+00] [ 1.99671414e-02 -1.08061869e-03 9.99800053e-01 4.32258944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.815099893 meters 0.023305776419464252 Centerline is valid? [True, True] Translation: X:364.47, Y:4.93, Z:4.32 [[ 9.97101537e-01 -7.32945228e-02 -2.04067976e-02 3.64472237e+02] [ 7.33019167e-02 9.97309721e-01 -3.86452625e-04 4.92695860e+00] [ 2.03802225e-02 -1.11052487e-03 9.99791685e-01 4.32238178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.845099893 meters 0.02265883041917463 Centerline is valid? [True, True] Translation: X:364.50, Y:4.93, Z:4.32 [[ 9.97157693e-01 -7.25352310e-02 -2.03758477e-02 3.64504423e+02] [ 7.25424705e-02 9.97365250e-01 -3.84588465e-04 4.92868161e+00] [ 2.03500587e-02 -1.09461899e-03 9.99792317e-01 4.32256103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.875099893 meters 0.02178208011692413 Centerline is valid? [True, True] Translation: X:364.54, Y:4.93, Z:4.32 [[ 9.97227330e-01 -7.14677327e-02 -2.07368201e-02 3.64537116e+02] [ 7.14750390e-02 9.97442313e-01 -3.89564646e-04 4.93121771e+00] [ 2.07116231e-02 -1.09368051e-03 9.99784893e-01 4.32325083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.905099893 meters 0.022031422565602657 Centerline is valid? [True, True] Translation: X:364.57, Y:4.93, Z:4.32 [[ 9.97457571e-01 -6.83222767e-02 -2.02598308e-02 3.64567397e+02] [ 6.83286327e-02 9.97662796e-01 -3.79151252e-04 4.93329779e+00] [ 2.02383840e-02 -1.00613925e-03 9.99794677e-01 4.32347459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93509989300003 meters 0.020210172462916773 Centerline is valid? [True, True] Translation: X:364.60, Y:4.94, Z:4.32 [[ 9.97600823e-01 -6.61771747e-02 -2.03268121e-02 3.64599075e+02] [ 6.61831422e-02 9.97807420e-01 -3.79736383e-04 4.93754801e+00] [ 2.03073738e-02 -9.66466967e-04 9.99793317e-01 4.32430142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.965099893 meters 0.021034036484636854 Centerline is valid? [True, True] Translation: X:364.63, Y:4.94, Z:4.32 [[ 9.97744237e-01 -6.40866995e-02 -1.99832953e-02 3.64629555e+02] [ 6.40920648e-02 9.97943921e-01 -3.72503591e-04 4.93839352e+00] [ 1.99660806e-02 -9.09107348e-04 9.99800245e-01 4.32467378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99509989300003 meters 0.018888723996335465 Centerline is valid? [True, True] Translation: X:364.66, Y:4.94, Z:4.33 [[ 9.97888189e-01 -6.16886056e-02 -2.03390739e-02 3.64661270e+02] [ 6.16936826e-02 9.98095059e-01 -3.78346309e-04 4.94343530e+00] [ 2.03236688e-02 -8.77245055e-04 9.99793068e-01 4.32560207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.025099893 meters 0.01733759964916928 Centerline is valid? [True, True] Translation: X:364.69, Y:4.95, Z:4.33 [[ 9.98191418e-01 -5.67002596e-02 -1.99743272e-02 3.64692266e+02] [ 5.67041785e-02 9.98390955e-01 -3.70570682e-04 4.94890741e+00] [ 1.99631990e-02 -7.62727340e-04 9.99800425e-01 4.32587695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05509989300003 meters 0.016933487010292035 Centerline is valid? [True, True] Translation: X:364.72, Y:4.95, Z:4.33 [[ 9.98348675e-01 -5.39696667e-02 -1.96773686e-02 3.64722609e+02] [ 5.39729473e-02 9.98542332e-01 -3.64704559e-04 4.95125332e+00] [ 1.96683685e-02 -6.97943262e-04 9.99806315e-01 4.32641517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.085099893 meters 0.01615184121018254 Centerline is valid? [True, True] Translation: X:364.76, Y:4.95, Z:4.33 [[ 9.98473070e-01 -5.16686408e-02 -1.95417429e-02 3.64755034e+02] [ 5.16714507e-02 9.98664073e-01 -3.61444363e-04 4.95446962e+00] [ 1.95343119e-02 -6.48857742e-04 9.99808977e-01 4.32705315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11509989300004 meters 0.015024188020748055 Centerline is valid? [True, True] Translation: X:364.79, Y:4.96, Z:4.33 [[ 9.98725421e-01 -4.67560011e-02 -1.90108044e-02 3.64785205e+02] [ 4.67577899e-02 9.98906195e-01 -3.50626717e-04 4.95937211e+00] [ 1.90064042e-02 -5.38723385e-04 9.99819217e-01 4.32724336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.145099893 meters 0.014297904288600914 Centerline is valid? [True, True] Translation: X:364.82, Y:4.96, Z:4.33 [[ 9.98825673e-01 -4.45304337e-02 -1.90870388e-02 3.64816743e+02] [ 4.45318399e-02 9.99007904e-01 -3.51562252e-04 4.96230555e+00] [ 1.90837578e-02 -4.98831552e-04 9.99817764e-01 4.32776573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.175099893 meters 0.014482280783744184 Centerline is valid? [True, True] Translation: X:364.85, Y:4.96, Z:4.33 [[ 9.98921202e-01 -4.22033305e-02 -1.93729698e-02 3.64848101e+02] [ 4.22043686e-02 9.99108935e-01 -3.55443360e-04 4.96359000e+00] [ 1.93707081e-02 -4.62564048e-04 9.99812263e-01 4.32758650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.205099893 meters 0.013692749079282963 Centerline is valid? [True, True] Translation: X:364.88, Y:4.97, Z:4.33 [[ 9.99018062e-01 -3.98294514e-02 -1.94043121e-02 3.64879812e+02] [ 3.98300844e-02 9.99206405e-01 -3.54003639e-04 4.96641432e+00] [ 1.94030127e-02 -4.19219358e-04 9.99811656e-01 4.32763052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.235099893 meters 0.011953184389746345 Centerline is valid? [True, True] Translation: X:364.91, Y:4.97, Z:4.33 [[ 9.99183283e-01 -3.50872534e-02 -2.00412432e-02 3.64911048e+02] [ 3.50869941e-02 9.99384195e-01 -3.64674028e-04 4.97183604e+00] [ 2.00416971e-02 -3.38810789e-04 9.99799088e-01 4.32796171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.265099893 meters 0.011434382398310305 Centerline is valid? [True, True] Translation: X:364.94, Y:4.97, Z:4.33 [[ 9.99263490e-01 -3.25757300e-02 -2.02805310e-02 3.64941426e+02] [ 3.25749566e-02 9.99469227e-01 -3.68574464e-04 4.97467776e+00] [ 2.02817732e-02 -2.92334413e-04 9.99794261e-01 4.32820372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.295099893 meters 0.01102175100095105 Centerline is valid? [True, True] Translation: X:364.97, Y:4.98, Z:4.33 [[ 9.99345146e-01 -2.97210483e-02 -2.06382790e-02 3.64971520e+02] [ 2.97196356e-02 9.99558204e-01 -3.75224216e-04 4.97723403e+00] [ 2.06403131e-02 -2.38383632e-04 9.99786938e-01 4.32847998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.325099893 meters 0.01044659218918925 Centerline is valid? [True, True] Translation: X:365.00, Y:4.98, Z:4.33 [[ 9.99497705e-01 -2.43199465e-02 -2.03193958e-02 3.65000959e+02] [ 2.43174509e-02 9.99704219e-01 -3.69927920e-04 4.98196300e+00] [ 2.03223823e-02 -1.24373802e-04 9.99793471e-01 4.32904278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.355099893 meters 0.010198652914073018 Centerline is valid? [True, True] Translation: X:365.03, Y:4.98, Z:4.33 [[ 9.99560113e-01 -2.21930138e-02 -1.96735872e-02 3.65029245e+02] [ 2.21902175e-02 9.99753702e-01 -3.60450478e-04 4.98419437e+00] [ 1.96767411e-02 -7.62692579e-05 9.99806391e-01 4.32999598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.385099893 meters 0.01016708529154426 Centerline is valid? [True, True] Translation: X:365.06, Y:4.99, Z:4.33 [[ 9.99606648e-01 -2.02909724e-02 -1.93604321e-02 3.65056652e+02] [ 2.02878290e-02 9.99794116e-01 -3.58777774e-04 4.98596453e+00] [ 1.93637260e-02 -3.41444867e-05 9.99812505e-01 4.33033070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.415099893 meters 0.01017851535647399 Centerline is valid? [True, True] Translation: X:365.08, Y:4.99, Z:4.33 [[ 9.99646026e-01 -1.90154196e-02 -1.86074163e-02 3.65083639e+02] [ 1.90122417e-02 9.99819191e-01 -3.47689370e-04 4.98735074e+00] [ 1.86106633e-02 -6.20239793e-06 9.99826807e-01 4.33093759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.445099893 meters 0.010135821226615077 Centerline is valid? [True, True] Translation: X:365.11, Y:4.99, Z:4.33 [[ 9.99681047e-01 -1.80295178e-02 -1.76844661e-02 3.65111903e+02] [ 1.80264266e-02 9.99837455e-01 -3.34201455e-04 4.98788628e+00] [ 1.76876170e-02 1.53071297e-05 9.99843562e-01 4.33148062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.475099893 meters 0.010097931386288627 Centerline is valid? [True, True] Translation: X:365.14, Y:4.99, Z:4.33 [[ 9.99666999e-01 -1.89634348e-02 -1.75008472e-02 3.65139962e+02] [ 1.89604647e-02 9.99820178e-01 -3.35633959e-04 4.98733745e+00] [ 1.75040650e-02 3.69799616e-06 9.99846792e-01 4.33183548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.505099893 meters 0.01010178925251351 Centerline is valid? [True, True] Translation: X:365.17, Y:4.98, Z:4.33 [[ 9.99608416e-01 -2.25434095e-02 -1.65773451e-02 3.65167579e+02] [ 2.25411754e-02 9.99745864e-01 -3.21627117e-04 4.98435463e+00] [ 1.65803828e-02 -5.21716712e-05 9.99862535e-01 4.33196138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.535099893 meters 0.010280475520442214 Centerline is valid? [True, True] Translation: X:365.20, Y:4.98, Z:4.33 [[ 9.99541581e-01 -2.52167813e-02 -1.67553395e-02 3.65197369e+02] [ 2.52148535e-02 9.99682002e-01 -3.26334547e-04 4.98247867e+00] [ 1.67582404e-02 -9.62984821e-05 9.99859566e-01 4.33222119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.565099893 meters 0.010638241494214249 Centerline is valid? [True, True] Translation: X:365.23, Y:4.98, Z:4.33 [[ 9.99452052e-01 -2.85311251e-02 -1.67800557e-02 3.65227471e+02] [ 2.85296488e-02 9.99592893e-01 -3.27404038e-04 4.97989933e+00] [ 1.67825656e-02 -1.51504458e-04 9.99859151e-01 4.33224799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.595099893 meters 0.011707792979868325 Centerline is valid? [True, True] Translation: X:365.26, Y:4.97, Z:4.33 [[ 9.99181691e-01 -3.65889644e-02 -1.72393898e-02 3.65257769e+02] [ 3.65885957e-02 9.99330356e-01 -3.36898364e-04 4.97385732e+00] [ 1.72401723e-02 -2.94142386e-04 9.99851334e-01 4.33169678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.625099893 meters 0.013185412244257882 Centerline is valid? [True, True] Translation: X:365.29, Y:4.97, Z:4.33 [[ 9.99017786e-01 -4.08621103e-02 -1.71391473e-02 3.65288050e+02] [ 4.08623720e-02 9.99164728e-01 -3.35076141e-04 4.96962385e+00] [ 1.71385234e-02 -3.65599191e-04 9.99853058e-01 4.33133055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.655099893 meters 0.013759750791393344 Centerline is valid? [True, True] Translation: X:365.32, Y:4.97, Z:4.33 [[ 9.98827051e-01 -4.51272839e-02 -1.75513656e-02 3.65320050e+02] [ 4.51282268e-02 9.98981144e-01 -3.42538978e-04 4.96759407e+00] [ 1.75489412e-02 -4.49924812e-04 9.99845904e-01 4.33163112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68509989300003 meters 0.016787932468102625 Centerline is valid? [True, True] Translation: X:365.35, Y:4.96, Z:4.33 [[ 9.98631271e-01 -4.93171821e-02 -1.74183697e-02 3.65350469e+02] [ 4.93187642e-02 9.98783032e-01 -3.38981323e-04 4.96168768e+00] [ 1.74138897e-02 -5.20535118e-04 9.99848231e-01 4.33114892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.715099893 meters 0.016451739955903145 Centerline is valid? [True, True] Translation: X:365.38, Y:4.96, Z:4.33 [[ 9.98438162e-01 -5.31804173e-02 -1.71195732e-02 3.65381147e+02] [ 5.31825179e-02 9.98584753e-01 -3.32861602e-04 4.96107266e+00] [ 1.71130465e-02 -5.78120282e-04 9.99853394e-01 4.33179587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74509989300003 meters 0.020535928163187545 Centerline is valid? [True, True] Translation: X:365.41, Y:4.95, Z:4.33 [[ 9.98060203e-01 -6.00488857e-02 -1.64305423e-02 3.65411212e+02] [ 6.00517522e-02 9.98195214e-01 -3.19307148e-04 4.95304833e+00] [ 1.64200627e-02 -6.67995096e-04 9.99864959e-01 4.33202542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.775099893 meters 0.019784956787287 Centerline is valid? [True, True] Translation: X:365.44, Y:4.95, Z:4.33 [[ 9.97903413e-01 -6.27346892e-02 -1.59102721e-02 3.65442835e+02] [ 6.27377180e-02 9.98030001e-01 -3.09170815e-04 4.95372665e+00] [ 1.58983246e-02 -6.89651550e-04 9.99873376e-01 4.33238657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80509989300003 meters 0.021036890236106342 Centerline is valid? [True, True] Translation: X:365.47, Y:4.95, Z:4.33 [[ 9.97771040e-01 -6.48273389e-02 -1.58229996e-02 3.65473614e+02] [ 6.48306146e-02 9.97896236e-01 -3.06370666e-04 4.95177025e+00] [ 1.58095730e-02 -7.20127013e-04 9.99874762e-01 4.33277018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.835099893 meters 0.022492614089090996 Centerline is valid? [True, True] Translation: X:365.50, Y:4.95, Z:4.33 [[ 9.97543520e-01 -6.85599223e-02 -1.43687856e-02 3.65504366e+02] [ 6.85630305e-02 9.97646748e-01 -2.76764003e-04 4.94922687e+00] [ 1.43539471e-02 -7.09083347e-04 9.99896725e-01 4.33362837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86509989300004 meters 0.023881983603176733 Centerline is valid? [True, True] Translation: X:365.54, Y:4.95, Z:4.33 [[ 9.97443470e-01 -7.00996678e-02 -1.38766446e-02 3.65535022e+02] [ 7.01027190e-02 9.97539742e-01 -2.67015286e-04 4.94758083e+00] [ 1.38612222e-02 -7.06457867e-04 9.99903679e-01 4.33406742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.895099893 meters 0.02722313313827917 Centerline is valid? [True, True] Translation: X:365.57, Y:4.94, Z:4.33 [[ 9.97379578e-01 -7.10800456e-02 -1.34760570e-02 3.65566641e+02] [ 7.10830190e-02 9.97470369e-01 -2.58815244e-04 4.94318337e+00] [ 1.34603641e-02 -6.99781775e-04 9.99909160e-01 4.33452975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.925099893 meters 0.024274276278233208 Centerline is valid? [True, True] Translation: X:365.60, Y:4.95, Z:4.33 [[ 9.97311722e-01 -7.21183386e-02 -1.29720532e-02 3.65598591e+02] [ 7.21211901e-02 9.97395845e-01 -2.48458967e-04 4.94714612e+00] [ 1.29561904e-02 -6.87768874e-04 9.99915829e-01 4.33480633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.955099893 meters 0.025371250744928117 Centerline is valid? [True, True] Translation: X:365.63, Y:4.94, Z:4.33 [[ 9.97220494e-01 -7.33149717e-02 -1.32741079e-02 3.65631038e+02] [ 7.33180762e-02 9.97308576e-01 -2.53268423e-04 4.94498759e+00] [ 1.32569500e-02 -7.20667590e-04 9.99911863e-01 4.33431470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.985099893 meters 0.02625989807400432 Centerline is valid? [True, True] Translation: X:365.66, Y:4.94, Z:4.33 [[ 9.97201147e-01 -7.35272898e-02 -1.35502779e-02 3.65662564e+02] [ 7.35305588e-02 9.97292931e-01 -2.57473696e-04 4.94384598e+00] [ 1.35325277e-02 -7.39606444e-04 9.99908158e-01 4.33424920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.015099893 meters 0.024672929520862155 Centerline is valid? [True, True] Translation: X:365.70, Y:4.95, Z:4.33 [[ 9.97206816e-01 -7.34019779e-02 -1.38099693e-02 3.65695479e+02] [ 7.34053872e-02 9.97302151e-01 -2.60538595e-04 4.94616370e+00] [ 1.37918361e-02 -7.53915280e-04 9.99904604e-01 4.33417805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.045099893 meters 0.024161203012896006 Centerline is valid? [True, True] Translation: X:365.73, Y:4.95, Z:4.33 [[ 9.97236641e-01 -7.27023082e-02 -1.52792557e-02 3.65727978e+02] [ 7.27064257e-02 9.97353344e-01 -2.86559333e-04 4.94750103e+00] [ 1.52596503e-02 -8.25132606e-04 9.99883224e-01 4.33347975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.075099893 meters 0.02339698748961482 Centerline is valid? [True, True] Translation: X:365.76, Y:4.95, Z:4.33 [[ 9.97328002e-01 -7.14007728e-02 -1.54527135e-02 3.65760351e+02] [ 7.14048460e-02 9.97447374e-01 -2.88682218e-04 4.94925982e+00] [ 1.54338807e-02 -8.15487770e-04 9.99880558e-01 4.33360003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.105099893 meters 0.02339698748961482 Centerline is valid? [True, True] Translation: X:365.79, Y:4.95, Z:4.33 [[ 9.97335809e-01 -7.12916328e-02 -1.54527365e-02 3.65792925e+02] [ 7.12957121e-02 9.97455181e-01 -2.87445325e-04 4.94977959e+00] [ 1.54339046e-02 -8.15034339e-04 9.99880558e-01 4.33400268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.135099893 meters 0.022227519560136157 Centerline is valid? [True, True] Translation: X:365.82, Y:4.95, Z:4.33 [[ 9.97414593e-01 -7.00210006e-02 -1.61613197e-02 3.65824691e+02] [ 7.00253237e-02 9.97545169e-01 -2.98931778e-04 4.95232629e+00] [ 1.61425779e-02 -8.33542728e-04 9.99869353e-01 4.33418901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.165099893 meters 0.02136233951696978 Centerline is valid? [True, True] Translation: X:365.86, Y:4.95, Z:4.33 [[ 9.97634498e-01 -6.63789296e-02 -1.78674673e-02 3.65855163e+02] [ 6.63836491e-02 9.97794118e-01 -3.29486097e-04 4.95483772e+00] [ 1.78499247e-02 -8.57400984e-04 9.99840310e-01 4.33316577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.195099893 meters 0.019891834682856015 Centerline is valid? [True, True] Translation: X:365.89, Y:4.96, Z:4.33 [[ 9.97749634e-01 -6.43734652e-02 -1.87543438e-02 3.65887914e+02] [ 6.43783225e-02 9.97925504e-01 -3.45256585e-04 4.95788705e+00] [ 1.87376633e-02 -8.62893560e-04 9.99824062e-01 4.33332578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.225099893 meters 0.019104623665667286 Centerline is valid? [True, True] Translation: X:365.92, Y:4.96, Z:4.33 [[ 9.97873359e-01 -6.23980905e-02 -1.88477627e-02 3.65919785e+02] [ 6.24026750e-02 9.98050994e-01 -3.45366875e-04 4.96038368e+00] [ 1.88325786e-02 -8.31518408e-04 9.99822305e-01 4.33364862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.255099893 meters 0.01827569352493475 Centerline is valid? [True, True] Translation: X:365.95, Y:4.96, Z:4.33 [[ 9.98171454e-01 -5.72778038e-02 -1.93132450e-02 3.65949965e+02] [ 5.72816785e-02 9.98357994e-01 -3.52970138e-04 4.96424787e+00] [ 1.93017499e-02 -7.53970372e-04 9.99813420e-01 4.33380927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.285099893 meters 0.017077027104310253 Centerline is valid? [True, True] Translation: X:365.98, Y:4.97, Z:4.33 [[ 9.98339346e-01 -5.42740504e-02 -1.93100443e-02 3.65981633e+02] [ 5.42773700e-02 9.98525835e-01 -3.52531834e-04 4.96788994e+00] [ 1.93007114e-02 -6.96152017e-04 9.99813482e-01 4.33454966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.315099893 meters 0.016324559924957363 Centerline is valid? [True, True] Translation: X:366.01, Y:4.97, Z:4.34 [[ 9.98512067e-01 -5.09658165e-02 -1.93942898e-02 3.66011758e+02] [ 5.09685575e-02 9.98700196e-01 -3.53262689e-04 4.97086945e+00] [ 1.93870853e-02 -6.35761914e-04 9.99811851e-01 4.33513077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.345099893 meters 0.015495298073371423 Centerline is valid? [True, True] Translation: X:366.04, Y:4.97, Z:4.34 [[ 9.98694636e-01 -4.73178988e-02 -1.92364283e-02 3.66042494e+02] [ 4.73199282e-02 9.98879723e-01 -3.49917104e-04 4.97400248e+00] [ 1.92314355e-02 -5.60806070e-04 9.99814902e-01 4.33580939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.375099893 meters 0.013320231047421688 Centerline is valid? [True, True] Translation: X:366.07, Y:4.98, Z:4.34 [[ 9.99050342e-01 -3.94518818e-02 -1.84922676e-02 3.66073245e+02] [ 3.94524201e-02 9.99221394e-01 -3.35845618e-04 4.98090247e+00] [ 1.84911192e-02 -3.94038031e-04 9.99828947e-01 4.33686957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.405099893 meters 0.012225940835355874 Centerline is valid? [True, True] Translation: X:366.10, Y:4.98, Z:4.34 [[ 9.99202058e-01 -3.55379564e-02 -1.82291019e-02 3.66104796e+02] [ 3.55378361e-02 9.99368277e-01 -3.30638818e-04 4.98499722e+00] [ 1.82293364e-02 -3.17447847e-04 9.99833781e-01 4.33794376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43509989300003 meters 0.010942992451627345 Centerline is valid? [True, True] Translation: X:366.14, Y:4.99, Z:4.34 [[ 9.99438004e-01 -2.89776231e-02 -1.68515314e-02 3.66135173e+02] [ 2.89765947e-02 9.99580044e-01 -3.05240931e-04 4.99123390e+00] [ 1.68532996e-02 -1.83230608e-04 9.99857956e-01 4.33991935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.465099893 meters 0.010865767874770595 Centerline is valid? [True, True] Translation: X:366.17, Y:4.99, Z:4.34 [[ 9.99509098e-01 -2.67061624e-02 -1.63812284e-02 3.66165311e+02] [ 2.67048868e-02 9.99643317e-01 -2.96649300e-04 4.99284744e+00] [ 1.63833079e-02 -1.40955176e-04 9.99865775e-01 4.34036891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49509989300003 meters 0.010645281946639818 Centerline is valid? [True, True] Translation: X:366.20, Y:4.99, Z:4.34 [[ 9.99561237e-01 -2.49680983e-02 -1.59350985e-02 3.66195635e+02] [ 2.49666738e-02 9.99688242e-01 -2.88352421e-04 4.99452939e+00] [ 1.59373303e-02 -1.09620504e-04 9.99872987e-01 4.34080386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.525099893 meters 0.010475891112072375 Centerline is valid? [True, True] Translation: X:366.22, Y:5.00, Z:4.34 [[ 9.99583567e-01 -2.40260962e-02 -1.59824686e-02 3.66224951e+02] [ 2.40245408e-02 9.99711327e-01 -2.89340543e-04 4.99577177e+00] [ 1.59848066e-02 -9.47514175e-05 9.99872230e-01 4.34139521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55509989300003 meters 0.010457095758624857 Centerline is valid? [True, True] Translation: X:366.26, Y:5.00, Z:4.34 [[ 9.99591643e-01 -2.38284476e-02 -1.57718744e-02 3.66255031e+02] [ 2.38268994e-02 9.99716058e-01 -2.86092691e-04 4.99635278e+00] [ 1.57742132e-02 -8.98190004e-05 9.99875575e-01 4.34153639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.585099893 meters 0.01053247561808243 Centerline is valid? [True, True] Translation: X:366.28, Y:5.00, Z:4.34 [[ 9.99567129e-01 -2.43452217e-02 -1.65186424e-02 3.66284513e+02] [ 2.43435837e-02 9.99703606e-01 -3.00255910e-04 4.99613683e+00] [ 1.65210561e-02 -1.01997016e-04 9.99863513e-01 4.34155716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61509989300004 meters 0.010615621414122953 Centerline is valid? [True, True] Translation: X:366.31, Y:5.00, Z:4.34 [[ 9.99537343e-01 -2.50907632e-02 -1.71916593e-02 3.66313216e+02] [ 2.50890869e-02 9.99685170e-01 -3.13209233e-04 4.99595125e+00] [ 1.71941056e-02 -1.18258710e-04 9.99852163e-01 4.34173417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.645099893 meters 0.010636699557746654 Centerline is valid? [True, True] Translation: X:366.34, Y:5.00, Z:4.34 [[ 9.99523856e-01 -2.54488537e-02 -1.74475816e-02 3.66342627e+02] [ 2.54471668e-02 9.99676118e-01 -3.18724524e-04 4.99589140e+00] [ 1.74500419e-02 -1.25418756e-04 9.99847729e-01 4.34183471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.675099893 meters 0.010898082571584066 Centerline is valid? [True, True] Translation: X:366.37, Y:4.99, Z:4.34 [[ 9.99482858e-01 -2.64083247e-02 -1.83471503e-02 3.66371162e+02] [ 2.64066066e-02 9.99651228e-01 -3.35942351e-04 4.99437859e+00] [ 1.83496230e-02 -1.48717357e-04 9.99831620e-01 4.34136146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.705099893 meters 0.010827970740868387 Centerline is valid? [True, True] Translation: X:366.40, Y:4.99, Z:4.34 [[ 9.99468248e-01 -2.67037795e-02 -1.87117703e-02 3.66400668e+02] [ 2.67020274e-02 9.99643378e-01 -3.43516551e-04 4.99445040e+00] [ 1.87142705e-02 -1.56308319e-04 9.99824860e-01 4.34187865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.735099893 meters 0.010908182417365443 Centerline is valid? [True, True] Translation: X:366.43, Y:4.99, Z:4.34 [[ 9.99439273e-01 -2.75345563e-02 -1.90522596e-02 3.66429203e+02] [ 2.75328507e-02 9.99620837e-01 -3.51871739e-04 4.99417580e+00] [ 1.90547243e-02 -1.72888584e-04 9.99818427e-01 4.34234740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.765099893 meters 0.010963033831031123 Centerline is valid? [True, True] Translation: X:366.46, Y:4.99, Z:4.34 [[ 9.99412801e-01 -2.85002652e-02 -1.90207021e-02 3.66458173e+02] [ 2.84986500e-02 9.99593768e-01 -3.56026959e-04 4.99408953e+00] [ 1.90231222e-02 -1.86246431e-04 9.99819027e-01 4.34305439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.795099893 meters 0.011364348476597059 Centerline is valid? [True, True] Translation: X:366.49, Y:4.99, Z:4.34 [[ 9.99386894e-01 -2.98266473e-02 -1.83359731e-02 3.66487166e+02] [ 2.98253084e-02 9.99555066e-01 -3.46535874e-04 4.99149787e+00] [ 1.83381508e-02 -2.00552642e-04 9.99831822e-01 4.34387867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.825099893 meters 0.011537114207547215 Centerline is valid? [True, True] Translation: X:366.52, Y:4.99, Z:4.34 [[ 9.99365347e-01 -3.07026729e-02 -1.80623761e-02 3.66516767e+02] [ 3.07015014e-02 9.99528539e-01 -3.42211904e-04 4.99035393e+00] [ 1.80643672e-02 -2.12547347e-04 9.99836803e-01 4.34461847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.855099893 meters 0.011902464003552982 Centerline is valid? [True, True] Translation: X:366.55, Y:4.99, Z:4.35 [[ 9.99336255e-01 -3.18212345e-02 -1.77329852e-02 3.66547638e+02] [ 3.18202740e-02 9.99493550e-01 -3.36386549e-04 4.98899532e+00] [ 1.77347086e-02 -2.28105176e-04 9.99842702e-01 4.34538483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.885099893 meters 0.012503153024103665 Centerline is valid? [True, True] Translation: X:366.58, Y:4.98, Z:4.35 [[ 9.99268702e-01 -3.42598274e-02 -1.69801267e-02 3.66578304e+02] [ 3.42592987e-02 9.99412926e-01 -3.22105171e-04 4.98469364e+00] [ 1.69811934e-02 -2.59857618e-04 9.99855775e-01 4.34633787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.915099893 meters 0.01209058054226587 Centerline is valid? [True, True] Translation: X:366.61, Y:4.98, Z:4.35 [[ 9.99223096e-01 -3.59370287e-02 -1.61781834e-02 3.66609684e+02] [ 3.59367707e-02 9.99354019e-01 -3.06755580e-04 4.98466368e+00] [ 1.61787564e-02 -2.74874405e-04 9.99869078e-01 4.34788385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.945099893 meters 0.012580921345796772 Centerline is valid? [True, True] Translation: X:366.64, Y:4.98, Z:4.35 [[ 9.99162845e-01 -3.79169392e-02 -1.53594993e-02 3.66640983e+02] [ 3.79169486e-02 9.99280852e-01 -2.90703434e-04 4.98266409e+00] [ 1.53594761e-02 -2.91925276e-04 9.99881994e-01 4.34866537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.975099893 meters 0.013511632987153962 Centerline is valid? [True, True] Translation: X:366.67, Y:4.98, Z:4.35 [[ 9.99012501e-01 -4.20582020e-02 -1.43224081e-02 3.66672876e+02] [ 4.20586429e-02 9.99115107e-01 -2.70555949e-04 4.97807873e+00] [ 1.43211134e-02 -3.32092274e-04 9.99897392e-01 4.34975394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.005099893 meters 0.014272456709948273 Centerline is valid? [True, True] Translation: X:366.70, Y:4.98, Z:4.35 [[ 9.98906893e-01 -4.45014839e-02 -1.43051164e-02 3.66704959e+02] [ 4.45021856e-02 9.99009251e-01 -2.69418272e-04 4.97550830e+00] [ 1.43029331e-02 -3.67485177e-04 9.99897640e-01 4.35003589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.035099893 meters 0.014363245418984556 Centerline is valid? [True, True] Translation: X:366.74, Y:4.97, Z:4.35 [[ 9.98769705e-01 -4.72946617e-02 -1.49094577e-02 3.66736856e+02] [ 4.72957516e-02 9.98880891e-01 -2.79680714e-04 4.97430096e+00] [ 1.49059998e-02 -4.25817384e-04 9.99888809e-01 4.35011541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.065099893 meters 0.016074197619038225 Centerline is valid? [True, True] Translation: X:366.77, Y:4.97, Z:4.35 [[ 9.98443177e-01 -5.33606019e-02 -1.62440176e-02 3.66768027e+02] [ 5.33627148e-02 9.98575149e-01 -3.03646128e-04 4.96898817e+00] [ 1.62370751e-02 -5.63651476e-04 9.99868011e-01 4.34934028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.095099893 meters 0.018579068309991897 Centerline is valid? [True, True] Translation: X:366.80, Y:4.96, Z:4.35 [[ 9.98265678e-01 -5.63265950e-02 -1.71158253e-02 3.66799514e+02] [ 5.63293847e-02 9.98412189e-01 -3.19448823e-04 4.96422710e+00] [ 1.71066421e-02 -6.45229112e-04 9.99853463e-01 4.34890263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.125099893 meters 0.018253982239000953 Centerline is valid? [True, True] Translation: X:366.83, Y:4.96, Z:4.35 [[ 9.98078632e-01 -5.94572792e-02 -1.74320482e-02 3.66831049e+02] [ 5.94606645e-02 9.98230597e-01 -3.24492724e-04 4.96385065e+00] [ 1.74204973e-02 -7.12651915e-04 9.99847998e-01 4.34937442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.155099893 meters 0.01981855430015016 Centerline is valid? [True, True] Translation: X:366.86, Y:4.96, Z:4.35 [[ 9.97761431e-01 -6.44151678e-02 -1.79669791e-02 3.66862019e+02] [ 6.44195764e-02 9.97922846e-01 -3.33880456e-04 4.95944226e+00] [ 1.79511659e-02 -8.24292141e-04 9.99838525e-01 4.34950739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18509989300003 meters 0.024169749456375605 Centerline is valid? [True, True] Translation: X:366.89, Y:4.95, Z:4.35 [[ 9.97625135e-01 -6.63374979e-02 -1.85317465e-02 3.66893463e+02] [ 6.63425296e-02 9.97796848e-01 -3.43801828e-04 4.95313675e+00] [ 1.85137252e-02 -8.86457596e-04 9.99828213e-01 4.34884470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.215099893 meters 0.021730132627846267 Centerline is valid? [True, True] Translation: X:366.93, Y:4.96, Z:4.35 [[ 9.97525736e-01 -6.76172101e-02 -1.92436902e-02 3.66925251e+02] [ 6.76228968e-02 9.97710889e-01 -3.55800841e-04 4.95640185e+00] [ 1.92236975e-02 -9.46393578e-04 9.99814760e-01 4.34969464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24509989300003 meters 0.02190652687483197 Centerline is valid? [True, True] Translation: X:366.96, Y:4.96, Z:4.35 [[ 9.97479672e-01 -6.83725021e-02 -1.89606207e-02 3.66957045e+02] [ 6.83781848e-02 9.97659412e-01 -3.49194842e-04 4.95626113e+00] [ 1.89401170e-02 -9.48178069e-04 9.99820170e-01 4.35002889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.275099893 meters 0.022252085965955522 Centerline is valid? [True, True] Translation: X:366.99, Y:4.96, Z:4.35 [[ 9.97469112e-01 -6.84877835e-02 -1.90995994e-02 3.66989059e+02] [ 6.84935976e-02 9.97651494e-01 -3.50351874e-04 4.95635977e+00] [ 1.90787387e-02 -9.58735105e-04 9.99817525e-01 4.35083577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30509989300003 meters 0.022380620640023823 Centerline is valid? [True, True] Translation: X:367.02, Y:4.96, Z:4.35 [[ 9.97557050e-01 -6.75066087e-02 -1.79663628e-02 3.67020062e+02] [ 6.75116235e-02 9.97718434e-01 -3.27943390e-04 4.95692920e+00] [ 1.79475097e-02 -8.85796082e-04 9.99838538e-01 4.35235456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.335099893 meters 0.022765028124738636 Centerline is valid? [True, True] Translation: X:367.05, Y:4.96, Z:4.35 [[ 9.97616035e-01 -6.67501981e-02 -1.75116696e-02 3.67050993e+02] [ 6.67548799e-02 9.97769355e-01 -3.17704693e-04 4.95703176e+00] [ 1.74938141e-02 -8.52042102e-04 9.99846608e-01 4.35317667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36509989300004 meters 0.020926255270195447 Centerline is valid? [True, True] Translation: X:367.08, Y:4.96, Z:4.35 [[ 9.97729895e-01 -6.51666820e-02 -1.69811632e-02 3.67082796e+02] [ 6.51708722e-02 9.97874072e-01 -3.07096975e-04 4.96032421e+00] [ 1.69650749e-02 -8.00277382e-04 9.99855762e-01 4.35446649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.395099893 meters 0.02289001223557603 Centerline is valid? [True, True] Translation: X:367.11, Y:4.96, Z:4.35 [[ 9.97782851e-01 -6.44182796e-02 -1.67232845e-02 3.67114000e+02] [ 6.44222624e-02 9.97922683e-01 -3.01006513e-04 4.95794313e+00] [ 1.67079352e-02 -7.77012683e-04 9.99860111e-01 4.35464439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.425099893 meters 0.022954461275617385 Centerline is valid? [True, True] Translation: X:367.15, Y:4.96, Z:4.36 [[ 9.97806957e-01 -6.40696452e-02 -1.66240099e-02 3.67146130e+02] [ 6.40735627e-02 9.97945134e-01 -2.97404204e-04 4.95825922e+00] [ 1.66089043e-02 -7.68407553e-04 9.99861767e-01 4.35517465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.455099893 meters 0.020706694365773954 Centerline is valid? [True, True] Translation: X:367.18, Y:4.96, Z:4.36 [[ 9.97819841e-01 -6.37696505e-02 -1.69998898e-02 3.67178273e+02] [ 6.37737246e-02 9.97964338e-01 -3.02902662e-04 4.96159521e+00] [ 1.69845997e-02 -7.81904002e-04 9.99855446e-01 4.35569500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.485099893 meters 0.02016575015016838 Centerline is valid? [True, True] Translation: X:367.21, Y:4.96, Z:4.36 [[ 9.97803661e-01 -6.39066796e-02 -1.74296054e-02 3.67210757e+02] [ 6.39110057e-02 9.97955554e-01 -3.09265359e-04 4.96224463e+00] [ 1.74137356e-02 -8.05357499e-04 9.99848045e-01 4.35593502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.515099893 meters 0.020578535184271805 Centerline is valid? [True, True] Translation: X:367.24, Y:4.96, Z:4.36 [[ 9.97779405e-01 -6.41160853e-02 -1.80384597e-02 3.67242749e+02] [ 6.41207776e-02 9.97942095e-01 -3.18714829e-04 4.96192568e+00] [ 1.80217731e-02 -8.38632973e-04 9.99837243e-01 4.35614899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.545099893 meters 0.020494296437056317 Centerline is valid? [True, True] Translation: X:367.28, Y:4.96, Z:4.36 [[ 9.97762373e-01 -6.42422052e-02 -1.85252854e-02 3.67275372e+02] [ 6.42472014e-02 9.97933961e-01 -3.25939774e-04 4.96229815e+00] [ 1.85079505e-02 -8.64987301e-04 9.99828339e-01 4.35629098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.575099893 meters 0.02155637116027199 Centerline is valid? [True, True] Translation: X:367.31, Y:4.96, Z:4.36 [[ 9.97781065e-01 -6.35277883e-02 -1.99290580e-02 3.67306817e+02] [ 6.35334562e-02 9.97979648e-01 -3.49253274e-04 4.96106435e+00] [ 1.99109816e-02 -9.17683630e-04 9.99801336e-01 4.35540971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.605099893 meters 0.020373353683096583 Centerline is valid? [True, True] Translation: X:367.34, Y:4.96, Z:4.36 [[ 9.97830203e-01 -6.26231776e-02 -2.03278829e-02 3.67339189e+02] [ 6.26289131e-02 9.98036820e-01 -3.54976865e-04 4.96325241e+00] [ 2.03102054e-02 -9.18906577e-04 9.99793304e-01 4.35559596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.635099893 meters 0.020623469997512633 Centerline is valid? [True, True] Translation: X:367.37, Y:4.96, Z:4.36 [[ 9.97915903e-01 -6.11167412e-02 -2.07025460e-02 3.67370488e+02] [ 6.11223949e-02 9.98130214e-01 -3.60153219e-04 4.96385261e+00] [ 2.06858480e-02 -9.05986565e-04 9.99785614e-01 4.35581397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.665099893 meters 0.018346435656041864 Centerline is valid? [True, True] Translation: X:367.40, Y:4.97, Z:4.36 [[ 9.98194554e-01 -5.63791191e-02 -2.07129762e-02 3.67400751e+02] [ 5.63837740e-02 9.98409105e-01 -3.59664942e-04 4.96903315e+00] [ 2.07003017e-02 -8.08860184e-04 9.99785399e-01 4.35651242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.695099893 meters 0.018393052016409464 Centerline is valid? [True, True] Translation: X:367.43, Y:4.97, Z:4.36 [[ 9.98358473e-01 -5.34353655e-02 -2.06160367e-02 3.67431228e+02] [ 5.34393532e-02 9.98571033e-01 -3.57832391e-04 4.97036299e+00] [ 2.06056980e-02 -7.44462669e-04 9.99787403e-01 4.35658827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.725099893 meters 0.017048787257025584 Centerline is valid? [True, True] Translation: X:367.46, Y:4.97, Z:4.36 [[ 9.98530350e-01 -5.02304103e-02 -2.03481230e-02 3.67462012e+02] [ 5.02336376e-02 9.98737432e-01 -3.52820913e-04 4.97373171e+00] [ 2.03401544e-02 -6.69857847e-04 9.99792893e-01 4.35749182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.755099893 meters 0.015462291214522998 Centerline is valid? [True, True] Translation: X:367.49, Y:4.98, Z:4.36 [[ 9.98707992e-01 -4.68202523e-02 -1.97537410e-02 3.67493040e+02] [ 4.68226340e-02 9.98903160e-01 -3.42172067e-04 4.97739729e+00] [ 1.97480949e-02 -5.83192208e-04 9.99804817e-01 4.35837365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.785099893 meters 0.013095003113646636 Centerline is valid? [True, True] Translation: X:367.52, Y:4.98, Z:4.36 [[ 9.99041251e-01 -3.96480313e-02 -1.85637224e-02 3.67523282e+02] [ 3.96489008e-02 9.99213622e-01 -3.21352109e-04 4.98305295e+00] [ 1.85618653e-02 -4.14987176e-04 9.99827628e-01 4.35964385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.815099893 meters 0.012018907140636406 Centerline is valid? [True, True] Translation: X:367.55, Y:4.99, Z:4.36 [[ 9.99171891e-01 -3.64138370e-02 -1.81539182e-02 3.67554046e+02] [ 3.64141349e-02 9.99336736e-01 -3.14258087e-04 4.98639536e+00] [ 1.81533207e-02 -3.47061379e-04 9.99835155e-01 4.36046536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.845099893 meters 0.011427284357063432 Centerline is valid? [True, True] Translation: X:367.58, Y:4.99, Z:4.36 [[ 9.99270165e-01 -3.36676752e-02 -1.80450991e-02 3.67584430e+02] [ 3.36675219e-02 9.99433039e-01 -3.12374347e-04 4.98890826e+00] [ 1.80453852e-02 -2.95387406e-04 9.99837125e-01 4.36100720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.875099893 meters 0.010991867006293258 Centerline is valid? [True, True] Translation: X:367.61, Y:4.99, Z:4.36 [[ 9.99356097e-01 -3.10917628e-02 -1.79079486e-02 3.67614820e+02] [ 3.10911983e-02 9.99516504e-01 -3.10000167e-04 4.99106193e+00] [ 1.79089286e-02 -2.46979025e-04 9.99839592e-01 4.36134428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.905099893 meters 0.010578298985404534 Centerline is valid? [True, True] Translation: X:367.64, Y:4.99, Z:4.36 [[ 9.99446665e-01 -2.78938622e-02 -1.81189729e-02 3.67644316e+02] [ 2.78927571e-02 9.99610872e-01 -3.13755674e-04 4.99282123e+00] [ 1.81206742e-02 -1.91806049e-04 9.99835789e-01 4.36149750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93509989300003 meters 0.010508730843323695 Centerline is valid? [True, True] Translation: X:367.67, Y:4.99, Z:4.36 [[ 9.99453530e-01 -2.77114434e-02 -1.80199369e-02 3.67673096e+02] [ 2.77102916e-02 9.99615947e-01 -3.13655208e-04 4.99304362e+00] [ 1.80217082e-02 -1.85853902e-04 9.99837579e-01 4.36167472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.965099893 meters 0.010508730843323695 Centerline is valid? [True, True] Translation: X:367.70, Y:4.99, Z:4.36 [[ 9.99446671e-01 -2.79577638e-02 -1.80198587e-02 3.67701345e+02] [ 2.79565719e-02 9.99609088e-01 -3.18098332e-04 4.99357814e+00] [ 1.80217078e-02 -1.85851156e-04 9.99837579e-01 4.36202492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99509989300003 meters 0.010430328562568394 Centerline is valid? [True, True] Translation: X:367.73, Y:4.99, Z:4.36 [[ 9.99431869e-01 -2.84407655e-02 -1.80848462e-02 3.67730707e+02] [ 2.84395850e-02 9.99595461e-01 -3.22509115e-04 4.99360634e+00] [ 1.80867025e-02 -1.91999632e-04 9.99836404e-01 4.36262041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.025099893 meters 0.01076180402619641 Centerline is valid? [True, True] Translation: X:367.76, Y:4.99, Z:4.36 [[ 9.99355990e-01 -3.09099888e-02 -1.82257560e-02 3.67759858e+02] [ 3.09091655e-02 9.99522144e-01 -3.26932852e-04 4.99108689e+00] [ 1.82271522e-02 -2.36620603e-04 9.99833844e-01 4.36243577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05509989300003 meters 0.01119651876160425 Centerline is valid? [True, True] Translation: X:367.79, Y:4.99, Z:4.36 [[ 9.99302128e-01 -3.25716062e-02 -1.82851690e-02 3.67788755e+02] [ 3.25709932e-02 9.99469370e-01 -3.31410999e-04 4.98938545e+00] [ 1.82862609e-02 -2.64386399e-04 9.99832757e-01 4.36254116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.085099893 meters 0.011118728413525389 Centerline is valid? [True, True] Translation: X:367.82, Y:4.99, Z:4.36 [[ 9.99225692e-01 -3.46966433e-02 -1.85515443e-02 3.67818359e+02] [ 3.46963618e-02 9.99397843e-01 -3.37129678e-04 4.98915201e+00] [ 1.85520707e-02 -3.06802459e-04 9.99827848e-01 4.36300879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11509989300004 meters 0.011977177362309998 Centerline is valid? [True, True] Translation: X:367.85, Y:4.99, Z:4.36 [[ 9.99110027e-01 -3.79970162e-02 -1.83134021e-02 3.67847361e+02] [ 3.79972910e-02 9.99277787e-01 -3.33075934e-04 4.98584646e+00] [ 1.83128319e-02 -3.63080166e-04 9.99832240e-01 4.36252503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.145099893 meters 0.012167126260593325 Centerline is valid? [True, True] Translation: X:367.88, Y:4.99, Z:4.36 [[ 9.99065707e-01 -3.91999114e-02 -1.81956039e-02 3.67877444e+02] [ 3.92003886e-02 9.99231315e-01 -3.30579633e-04 4.98510910e+00] [ 1.81945759e-02 -3.83003968e-04 9.99834392e-01 4.36299312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.175099893 meters 0.012781928073321977 Centerline is valid? [True, True] Translation: X:367.91, Y:4.98, Z:4.36 [[ 9.99042392e-01 -4.00635175e-02 -1.75844860e-02 3.67907650e+02] [ 4.00640985e-02 9.99197061e-01 -3.19382593e-04 4.98379395e+00] [ 1.75831623e-02 -3.85429829e-04 9.99845330e-01 4.36313396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.205099893 meters 0.012744665578567106 Centerline is valid? [True, True] Translation: X:367.94, Y:4.98, Z:4.36 [[ 9.98979592e-01 -4.15651104e-02 -1.76668241e-02 3.67938648e+02] [ 4.15659389e-02 9.99135712e-01 -3.20461190e-04 4.98310097e+00] [ 1.76648748e-02 -4.14203940e-04 9.99843878e-01 4.36365909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.235099893 meters 0.014442160752596108 Centerline is valid? [True, True] Translation: X:367.97, Y:4.98, Z:4.36 [[ 9.98942065e-01 -4.24249378e-02 -1.77447248e-02 3.67969387e+02] [ 4.24259225e-02 9.99099564e-01 -3.21122374e-04 4.97993284e+00] [ 1.77423704e-02 -4.32053671e-04 9.99842498e-01 4.36310835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.265099893 meters 0.013535072859037586 Centerline is valid? [True, True] Translation: X:368.00, Y:4.98, Z:4.36 [[ 9.98853840e-01 -4.48044057e-02 -1.68396006e-02 3.68000640e+02] [ 4.48056441e-02 9.98995677e-01 -3.03924618e-04 4.98055188e+00] [ 1.68363054e-02 -4.50932881e-04 9.99858158e-01 4.36414111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.295099893 meters 0.013535072859037586 Centerline is valid? [True, True] Translation: X:368.03, Y:4.98, Z:4.36 [[ 9.98855469e-01 -4.47680674e-02 -1.68396117e-02 3.68031489e+02] [ 4.47693109e-02 9.98997306e-01 -3.03311887e-04 4.98107973e+00] [ 1.68363054e-02 -4.50933073e-04 9.99858158e-01 4.36452256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.325099893 meters 0.014077857021216644 Centerline is valid? [True, True] Translation: X:368.06, Y:4.98, Z:4.37 [[ 9.98799448e-01 -4.61803615e-02 -1.63412534e-02 3.68062533e+02] [ 4.61817309e-02 9.98933011e-01 -2.93754465e-04 4.98020757e+00] [ 1.63373832e-02 -4.61265570e-04 9.99866430e-01 4.36503700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.355099893 meters 0.016509146757081677 Centerline is valid? [True, True] Translation: X:368.09, Y:4.98, Z:4.36 [[ 9.98638891e-01 -4.95565429e-02 -1.62639026e-02 3.68093192e+02] [ 4.95583618e-02 9.98771187e-01 -2.91423120e-04 4.97530234e+00] [ 1.62583592e-02 -5.14985909e-04 9.99867692e-01 4.36488243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.385099893 meters 0.01674439279415453 Centerline is valid? [True, True] Translation: X:368.12, Y:4.97, Z:4.37 [[ 9.98562871e-01 -5.11305729e-02 -1.60579488e-02 3.68124402e+02] [ 5.11325762e-02 9.98691833e-01 -2.86056952e-04 4.97456878e+00] [ 1.60515686e-02 -5.35438441e-04 9.99871022e-01 4.36524178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.415099893 meters 0.016986981056083168 Centerline is valid? [True, True] Translation: X:368.16, Y:4.97, Z:4.37 [[ 9.98495503e-01 -5.26174007e-02 -1.54317514e-02 3.68156845e+02] [ 5.26194380e-02 9.98614600e-01 -2.74262742e-04 4.97402663e+00] [ 1.54248032e-02 -5.38159971e-04 9.99880886e-01 4.36573319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.445099893 meters 0.016999347005704716 Centerline is valid? [True, True] Translation: X:368.19, Y:4.97, Z:4.37 [[ 9.98366685e-01 -5.51526224e-02 -1.49047195e-02 3.68188813e+02] [ 5.51548204e-02 9.98477780e-01 -2.63855624e-04 4.97326655e+00] [ 1.48965836e-02 -5.58642465e-04 9.99888884e-01 4.36603056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.475099893 meters 0.018848477807217254 Centerline is valid? [True, True] Translation: X:368.22, Y:4.97, Z:4.37 [[ 9.98322010e-01 -5.58929767e-02 -1.51373785e-02 3.68220474e+02] [ 5.58953451e-02 9.98436597e-01 -2.66905002e-04 4.97043137e+00] [ 1.51286308e-02 -5.79651860e-04 9.99885388e-01 4.36587870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.505099893 meters 0.01974791493699963 Centerline is valid? [True, True] Translation: X:368.25, Y:4.97, Z:4.37 [[ 9.98270429e-01 -5.66037883e-02 -1.58796226e-02 3.68251709e+02] [ 5.66064987e-02 9.98396528e-01 -2.79100152e-04 4.96872186e+00] [ 1.58699582e-02 -6.20272407e-04 9.99873872e-01 4.36543800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.535099893 meters 0.01863628089123436 Centerline is valid? [True, True] Translation: X:368.28, Y:4.97, Z:4.37 [[ 9.98287250e-01 -5.62199771e-02 -1.61827217e-02 3.68283721e+02] [ 5.62227568e-02 9.98418210e-01 -2.83490508e-04 4.97057139e+00] [ 1.61730619e-02 -6.26832268e-04 9.99869011e-01 4.36560762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.565099893 meters 0.016893303506503702 Centerline is valid? [True, True] Translation: X:368.32, Y:4.97, Z:4.37 [[ 9.98330197e-01 -5.54984495e-02 -1.60230809e-02 3.68316108e+02] [ 5.55011001e-02 9.98458587e-01 -2.79551466e-04 4.97330982e+00] [ 1.60138974e-02 -6.10213946e-04 9.99871583e-01 4.36606694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.595099893 meters 0.018343111046265837 Centerline is valid? [True, True] Translation: X:368.35, Y:4.97, Z:4.37 [[ 9.98392858e-01 -5.43461804e-02 -1.60684217e-02 3.68347130e+02] [ 5.43487193e-02 9.98521977e-01 -2.78953416e-04 4.97160766e+00] [ 1.60598323e-02 -5.94793042e-04 9.99870856e-01 4.36643224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.625099893 meters 0.01676940919346623 Centerline is valid? [True, True] Translation: X:368.38, Y:4.97, Z:4.37 [[ 9.98548946e-01 -5.14528248e-02 -1.58936991e-02 3.68378341e+02] [ 5.14549697e-02 9.98675278e-01 -2.74218798e-04 4.97493224e+00] [ 1.58867537e-02 -5.43988917e-04 9.99873650e-01 4.36728710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.655099893 meters 0.015497059340474706 Centerline is valid? [True, True] Translation: X:368.41, Y:4.98, Z:4.37 [[ 9.98642023e-01 -4.96959941e-02 -1.56338876e-02 3.68410780e+02] [ 4.96978649e-02 9.98764261e-01 -2.69059643e-04 4.97772456e+00] [ 1.56279394e-02 -5.08276567e-04 9.99877747e-01 4.36779668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68509989300003 meters 0.015123683983063626 Centerline is valid? [True, True] Translation: X:368.44, Y:4.98, Z:4.37 [[ 9.98737656e-01 -4.75495378e-02 -1.61906292e-02 3.68440713e+02] [ 4.75512826e-02 9.98868759e-01 -2.77401625e-04 4.97944290e+00] [ 1.61855040e-02 -4.92833736e-04 9.99868885e-01 4.36777533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.715099893 meters 0.01400613284878336 Centerline is valid? [True, True] Translation: X:368.47, Y:4.98, Z:4.37 [[ 9.98838551e-01 -4.52019412e-02 -1.66833302e-02 3.68471895e+02] [ 4.52034862e-02 9.98977759e-01 -2.84669617e-04 4.98260524e+00] [ 1.66791434e-02 -4.69805698e-04 9.99860783e-01 4.36785503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74509989300003 meters 0.012818077079384352 Centerline is valid? [True, True] Translation: X:368.50, Y:4.99, Z:4.37 [[ 9.99065755e-01 -3.97586441e-02 -1.69371645e-02 3.68502163e+02] [ 3.97594638e-02 9.99209238e-01 -2.88461065e-04 4.98717755e+00] [ 1.69352400e-02 -3.85221007e-04 9.99856514e-01 4.36791965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.775099893 meters 0.011820199497026338 Centerline is valid? [True, True] Translation: X:368.53, Y:4.99, Z:4.37 [[ 9.99174202e-01 -3.69843241e-02 -1.68248144e-02 3.68532380e+02] [ 3.69847436e-02 9.99315789e-01 -2.86323000e-04 4.99073712e+00] [ 1.68238922e-02 -3.36174893e-04 9.99858412e-01 4.36827809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80509989300003 meters 0.01105345258431643 Centerline is valid? [True, True] Translation: X:368.56, Y:4.99, Z:4.37 [[ 9.99282361e-01 -3.39990262e-02 -1.66981869e-02 3.68563252e+02] [ 3.39990241e-02 9.99421826e-01 -2.84089615e-04 4.99396117e+00] [ 1.66981912e-02 -2.83836318e-04 9.99860535e-01 4.36866648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.835099893 meters 0.009968959030829321 Centerline is valid? [True, True] Translation: X:368.59, Y:5.00, Z:4.37 [[ 9.99451502e-01 -2.84073581e-02 -1.70210904e-02 3.68593297e+02] [ 2.84065490e-02 9.99596411e-01 -2.89355122e-04 4.99913280e+00] [ 1.70224407e-02 -1.94314027e-04 9.99855089e-01 4.36882012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86509989300004 meters 0.009837790462686498 Centerline is valid? [True, True] Translation: X:368.62, Y:5.00, Z:4.37 [[ 9.99518118e-01 -2.59179049e-02 -1.70819661e-02 3.68621635e+02] [ 2.59167221e-02 9.99664063e-01 -2.90645731e-04 5.00082590e+00] [ 1.70837606e-02 -1.52202895e-04 9.99854050e-01 4.36877662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.895099893 meters 0.009515054426918692 Centerline is valid? [True, True] Translation: X:368.65, Y:5.00, Z:4.37 [[ 9.99581630e-01 -2.37117782e-02 -1.65625122e-02 3.68650237e+02] [ 2.37103357e-02 9.99718830e-01 -2.83482607e-04 5.00325457e+00] [ 1.65645772e-02 -1.09338717e-04 9.99862792e-01 4.36932435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.925099893 meters 0.009121344513327363 Centerline is valid? [True, True] Translation: X:368.68, Y:5.01, Z:4.37 [[ 9.99683438e-01 -1.96631830e-02 -1.56965971e-02 3.68678704e+02] [ 1.96613302e-02 9.99806660e-01 -2.72367788e-04 5.00704311e+00] [ 1.56989179e-02 -3.63344108e-05 9.99876764e-01 4.37051082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.955099893 meters 0.009028240293454295 Centerline is valid? [True, True] Translation: X:368.71, Y:5.01, Z:4.37 [[ 9.99709480e-01 -1.83489105e-02 -1.56292143e-02 3.68706204e+02] [ 1.83468492e-02 9.99831645e-01 -2.75267999e-04 5.00848616e+00] [ 1.56316339e-02 -1.15588088e-05 9.99877818e-01 4.37090249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.985099893 meters 0.009111677354667544 Centerline is valid? [True, True] Translation: X:368.73, Y:5.01, Z:4.37 [[ 9.99730225e-01 -1.72486045e-02 -1.55551640e-02 3.68733897e+02] [ 1.72463693e-02 9.99851232e-01 -2.77835095e-04 5.00937986e+00] [ 1.55576421e-02 9.49004028e-06 9.99878973e-01 4.37139571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.015099893 meters 0.009070773638404313 Centerline is valid? [True, True] Translation: X:368.76, Y:5.01, Z:4.37 [[ 9.99752020e-01 -1.66350858e-02 -1.48044891e-02 3.68760658e+02] [ 1.66329737e-02 9.99861627e-01 -2.65791036e-04 5.00885393e+00] [ 1.48068620e-02 1.94824478e-05 9.99890372e-01 4.37135344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.045099893 meters 0.009045409523197177 Centerline is valid? [True, True] Translation: X:368.79, Y:5.01, Z:4.37 [[ 9.99732968e-01 -1.75200535e-02 -1.50678919e-02 3.68788630e+02] [ 1.75179306e-02 9.99846512e-01 -2.72878443e-04 5.00803752e+00] [ 1.50703600e-02 8.84729121e-06 9.99886436e-01 4.37168714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.075099893 meters 0.009028772243716876 Centerline is valid? [True, True] Translation: X:368.82, Y:5.01, Z:4.37 [[ 9.99718068e-01 -1.84448892e-02 -1.49523006e-02 3.68816732e+02] [ 1.84428452e-02 9.99829879e-01 -2.74588373e-04 5.00687384e+00] [ 1.49548216e-02 -1.25200801e-06 9.99888170e-01 4.37153185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.105099893 meters 0.009059099511644525 Centerline is valid? [True, True] Translation: X:368.84, Y:5.01, Z:4.37 [[ 9.99686054e-01 -2.00686704e-02 -1.50013983e-02 3.68844261e+02] [ 2.00667678e-02 9.99798604e-01 -2.77354593e-04 5.00539058e+00] [ 1.50039432e-02 -2.37620580e-05 9.99887434e-01 4.37173084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.135099893 meters 0.00901703262126623 Centerline is valid? [True, True] Translation: X:368.87, Y:5.00, Z:4.37 [[ 9.99641049e-01 -2.18407125e-02 -1.55163558e-02 3.68872667e+02] [ 2.18388216e-02 9.99761462e-01 -2.91309689e-04 5.00437848e+00] [ 1.55190170e-02 -4.76538038e-05 9.99879572e-01 4.37198237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.165099893 meters 0.009313967306296014 Centerline is valid? [True, True] Translation: X:368.90, Y:5.00, Z:4.37 [[ 9.99526441e-01 -2.61195139e-02 -1.62685439e-02 3.68900944e+02] [ 2.61179423e-02 9.99658821e-01 -3.09096304e-04 5.00075948e+00] [ 1.62710669e-02 -1.15950962e-04 9.99867611e-01 4.37178594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.195099893 meters 0.009725454346633931 Centerline is valid? [True, True] Translation: X:368.93, Y:5.00, Z:4.37 [[ 9.99457716e-01 -2.86707782e-02 -1.61944620e-02 3.68930083e+02] [ 2.86695343e-02 9.99588897e-01 -3.09008776e-04 4.99857684e+00] [ 1.61966639e-02 -1.55446477e-04 9.99868813e-01 4.37181885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.225099893 meters 0.010779741665452012 Centerline is valid? [True, True] Translation: X:368.96, Y:4.99, Z:4.37 [[ 9.99274770e-01 -3.46472784e-02 -1.57955513e-02 3.68959632e+02] [ 3.46468292e-02 9.99399573e-01 -3.02167189e-04 4.99311434e+00] [ 1.57965364e-02 -2.45317718e-04 9.99875197e-01 4.37192508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.255099893 meters 0.011475606654307042 Centerline is valid? [True, True] Translation: X:368.99, Y:4.99, Z:4.37 [[ 9.99151617e-01 -3.81959721e-02 -1.53985242e-02 3.68989981e+02] [ 3.81959598e-02 9.99270225e-01 -2.95003825e-04 4.99043382e+00] [ 1.53985547e-02 -2.93407864e-04 9.99881392e-01 4.37259672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.285099893 meters 0.013038707756027683 Centerline is valid? [True, True] Translation: X:369.02, Y:4.99, Z:4.37 [[ 9.99015537e-01 -4.17421384e-02 -1.50183737e-02 3.69019996e+02] [ 4.17425307e-02 9.99128359e-01 -2.87482954e-04 4.98685983e+00] [ 1.50172832e-02 -3.39704986e-04 9.99887177e-01 4.37288085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.315099893 meters 0.015420893642555536 Centerline is valid? [True, True] Translation: X:369.05, Y:4.98, Z:4.37 [[ 9.98688541e-01 -4.89119632e-02 -1.51266964e-02 3.69051599e+02] [ 4.89132011e-02 9.98802991e-01 -2.88342706e-04 4.98145766e+00] [ 1.51226930e-02 -4.51930585e-04 9.99885543e-01 4.37270539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.345099893 meters 0.016638193635861935 Centerline is valid? [True, True] Translation: X:369.08, Y:4.98, Z:4.37 [[ 9.98500260e-01 -5.26349620e-02 -1.50596158e-02 3.69082545e+02] [ 5.26366192e-02 9.98613691e-01 -2.86581554e-04 4.97923665e+00] [ 1.50538227e-02 -5.06535505e-04 9.99886556e-01 4.37273102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.375099893 meters 0.020117031884707863 Centerline is valid? [True, True] Translation: X:369.11, Y:4.97, Z:4.37 [[ 9.98062808e-01 -6.05119242e-02 -1.44546682e-02 3.69111908e+02] [ 6.05142787e-02 9.98167294e-01 -2.74835840e-04 4.97266280e+00] [ 1.44448079e-02 -6.00410387e-04 9.99895488e-01 4.37264146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.405099893 meters 0.02103537915667859 Centerline is valid? [True, True] Translation: X:369.14, Y:4.97, Z:4.37 [[ 9.97815303e-01 -6.45130190e-02 -1.42369534e-02 3.69142833e+02] [ 6.45157119e-02 9.97916655e-01 -2.70529002e-04 4.97108649e+00] [ 1.42247456e-02 -6.48569206e-04 9.99898613e-01 4.37268363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43509989300003 meters 0.023208968369947017 Centerline is valid? [True, True] Translation: X:369.17, Y:4.97, Z:4.37 [[ 9.97571956e-01 -6.82216054e-02 -1.40002143e-02 3.69172768e+02] [ 6.82245785e-02 9.97669954e-01 -2.65693476e-04 4.96769127e+00] [ 1.39857192e-02 -6.90110358e-04 9.99901957e-01 4.37242187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.465099893 meters 0.02499380479239675 Centerline is valid? [True, True] Translation: X:369.20, Y:4.97, Z:4.37 [[ 9.97332663e-01 -7.16232155e-02 -1.40596765e-02 3.69203979e+02] [ 7.16265646e-02 9.97431484e-01 -2.65843274e-04 4.96513593e+00] [ 1.40426046e-02 -7.41912149e-04 9.99901123e-01 4.37273289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49509989300003 meters 0.027062173941576156 Centerline is valid? [True, True] Translation: X:369.23, Y:4.96, Z:4.37 [[ 9.96900690e-01 -7.73426365e-02 -1.43920147e-02 3.69234720e+02] [ 7.73467471e-02 9.97004216e-01 -2.71616371e-04 4.96309215e+00] [ 1.43699069e-02 -8.42400977e-04 9.99896393e-01 4.37324970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.525099893 meters 0.028314820544191915 Centerline is valid? [True, True] Translation: X:369.27, Y:4.96, Z:4.37 [[ 9.96767736e-01 -7.90325287e-02 -1.44201440e-02 3.69266621e+02] [ 7.90368345e-02 9.96871659e-01 -2.71943913e-04 4.96249691e+00] [ 1.43965253e-02 -8.68657616e-04 9.99895987e-01 4.37355850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55509989300003 meters 0.03045638435855014 Centerline is valid? [True, True] Translation: X:369.30, Y:4.96, Z:4.37 [[ 9.96665050e-01 -8.03223036e-02 -1.43911918e-02 3.69297264e+02] [ 8.03267442e-02 9.96768549e-01 -2.70135379e-04 4.96100281e+00] [ 1.43663853e-02 -8.86763091e-04 9.99896405e-01 4.37429674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.585099893 meters 0.030813228027688072 Centerline is valid? [True, True] Translation: X:369.33, Y:4.96, Z:4.37 [[ 9.96633690e-01 -8.07534282e-02 -1.41481953e-02 3.69329626e+02] [ 8.07577712e-02 9.96733722e-01 -2.65020623e-04 4.96175092e+00] [ 1.41233847e-02 -8.78448237e-04 9.99899874e-01 4.37482546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61509989300004 meters 0.025387969787612458 Centerline is valid? [True, True] Translation: X:369.36, Y:4.97, Z:4.38 [[ 9.96678316e-01 -8.01893191e-02 -1.42129063e-02 3.69361213e+02] [ 8.01936590e-02 9.96779267e-01 -2.65231210e-04 4.97078931e+00] [ 1.41883991e-02 -8.75434767e-04 9.99898956e-01 4.37542826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.645099893 meters 0.030922021210782084 Centerline is valid? [True, True] Translation: X:369.39, Y:4.97, Z:4.37 [[ 9.96746041e-01 -7.92362793e-02 -1.47967014e-02 3.69392953e+02] [ 7.92408951e-02 9.96855458e-01 -2.74995956e-04 4.96507771e+00] [ 1.47719623e-02 -8.98402737e-04 9.99890485e-01 4.37497940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.675099893 meters 0.024804531865057503 Centerline is valid? [True, True] Translation: X:369.42, Y:4.98, Z:4.37 [[ 9.96928741e-01 -7.65678641e-02 -1.64452644e-02 3.69424329e+02] [ 7.65732244e-02 9.97063914e-01 -3.04404051e-04 4.97712003e+00] [ 1.64202872e-02 -9.55797772e-04 9.99864721e-01 4.37415749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.705099893 meters 0.03033129856135007 Centerline is valid? [True, True] Translation: X:369.46, Y:4.97, Z:4.37 [[ 9.97027750e-01 -7.50377579e-02 -1.74642709e-02 3.69455319e+02] [ 7.50435868e-02 9.97180202e-01 -3.22266938e-04 4.97296193e+00] [ 1.74392073e-02 -9.89272446e-04 9.99847436e-01 4.37330896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.735099893 meters 0.022347890503745502 Centerline is valid? [True, True] Translation: X:369.49, Y:4.99, Z:4.37 [[ 9.97158688e-01 -7.30709027e-02 -1.83083268e-02 3.69486841e+02] [ 7.30769973e-02 9.97326245e-01 -3.36805186e-04 4.98608383e+00] [ 1.82839855e-02 -1.00206933e-03 9.99832332e-01 4.37407020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.765099893 meters 0.021872173167830914 Centerline is valid? [True, True] Translation: X:369.52, Y:4.99, Z:4.37 [[ 9.97269862e-01 -7.14044342e-02 -1.88210005e-02 3.69518673e+02] [ 7.14105990e-02 9.97446945e-01 -3.45172173e-04 4.98975939e+00] [ 1.87975963e-02 -9.99789116e-04 9.99822810e-01 4.37404631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.795099893 meters 0.02151290920239901 Centerline is valid? [True, True] Translation: X:369.55, Y:5.00, Z:4.37 [[ 9.97491920e-01 -6.81272748e-02 -1.91974986e-02 3.69547832e+02] [ 6.81330945e-02 9.97676179e-01 -3.51502751e-04 4.99529997e+00] [ 1.91768340e-02 -9.57363831e-04 9.99815649e-01 4.37416705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.825099893 meters 0.0208059456729351 Centerline is valid? [True, True] Translation: X:369.58, Y:5.00, Z:4.37 [[ 9.97596809e-01 -6.66252351e-02 -1.90180278e-02 3.69580526e+02] [ 6.66306814e-02 9.97777646e-01 -3.47832368e-04 4.99921041e+00] [ 1.89989375e-02 -9.20187693e-04 9.99819080e-01 4.37475565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.855099893 meters 0.020421135104407764 Centerline is valid? [True, True] Translation: X:369.61, Y:5.00, Z:4.38 [[ 9.97714719e-01 -6.49057929e-02 -1.87770666e-02 3.69612132e+02] [ 6.49108236e-02 9.97891010e-01 -3.42076511e-04 5.00267690e+00] [ 1.87596687e-02 -8.77540089e-04 9.99823637e-01 4.37551684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.885099893 meters 0.020781778027229556 Centerline is valid? [True, True] Translation: X:369.64, Y:5.01, Z:4.38 [[ 9.97968971e-01 -6.08848034e-02 -1.87343082e-02 3.69641537e+02] [ 6.08891103e-02 9.98144479e-01 -3.40961891e-04 5.00815047e+00] [ 1.87203057e-02 -8.00445971e-04 9.99824439e-01 4.37540998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.915099893 meters 0.020781778027229556 Centerline is valid? [True, True] Translation: X:369.67, Y:5.01, Z:4.38 [[ 9.97973253e-01 -6.08145678e-02 -1.87343123e-02 3.69673248e+02] [ 6.08188665e-02 9.98148761e-01 -3.40735815e-04 5.00866777e+00] [ 1.87203523e-02 -7.99354410e-04 9.99824439e-01 4.37580225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.945099893 meters 0.017339509827930068 Centerline is valid? [True, True] Translation: X:369.70, Y:5.02, Z:4.38 [[ 9.98125265e-01 -5.81981902e-02 -1.89453671e-02 3.69704499e+02] [ 5.82021371e-02 9.98304760e-01 -3.43451152e-04 5.01659559e+00] [ 1.89332384e-02 -7.59853581e-04 9.99820461e-01 4.37666152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.975099893 meters 0.015877254666084927 Centerline is valid? [True, True] Translation: X:369.73, Y:5.02, Z:4.38 [[ 9.98499100e-01 -5.16603195e-02 -1.81867741e-02 3.69733987e+02] [ 5.16628811e-02 9.98664527e-01 -3.29265005e-04 5.02474351e+00] [ 1.81794961e-02 -6.10810337e-04 9.99834553e-01 4.37752990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.005099893 meters 0.015877254666084927 Centerline is valid? [True, True] Translation: X:369.77, Y:5.03, Z:4.38 [[ 9.98502820e-01 -5.15883631e-02 -1.81867815e-02 3.69765689e+02] [ 5.15909203e-02 9.98668248e-01 -3.28854452e-04 5.02526014e+00] [ 1.81795263e-02 -6.09910698e-04 9.99834553e-01 4.37792200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.035099893 meters 0.01286251817456585 Centerline is valid? [True, True] Translation: X:369.80, Y:5.04, Z:4.38 [[ 9.98896395e-01 -4.36926816e-02 -1.72319990e-02 3.69796396e+02] [ 4.36938191e-02 9.99044921e-01 -3.10656697e-04 5.03557717e+00] [ 1.72291145e-02 -4.42617993e-04 9.99851470e-01 4.37889197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.065099893 meters 0.012014884091340954 Centerline is valid? [True, True] Translation: X:369.83, Y:5.04, Z:4.38 [[ 9.99067420e-01 -3.96996289e-02 -1.69773173e-02 3.69826599e+02] [ 3.97001619e-02 9.99211591e-01 -3.05759499e-04 5.03994326e+00] [ 1.69760708e-02 -3.68527894e-04 9.99855828e-01 4.37935591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.095099893 meters 0.011179239580007737 Centerline is valid? [True, True] Translation: X:369.86, Y:5.04, Z:4.38 [[ 9.99201882e-01 -3.62483842e-02 -1.67825423e-02 3.69858206e+02] [ 3.62484248e-02 9.99342764e-01 -3.01871785e-04 5.04421211e+00] [ 1.67824546e-02 -3.06709867e-04 9.99859118e-01 4.37989458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.125099893 meters 0.010430049889023348 Centerline is valid? [True, True] Translation: X:369.89, Y:5.05, Z:4.38 [[ 9.99312967e-01 -3.30240522e-02 -1.68227845e-02 3.69889030e+02] [ 3.30236451e-02 9.99454525e-01 -3.02070588e-04 5.04874358e+00] [ 1.68235836e-02 -2.53686608e-04 9.99858441e-01 4.38046386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.155099893 meters 0.009577478929291583 Centerline is valid? [True, True] Translation: X:369.92, Y:5.05, Z:4.38 [[ 9.99453135e-01 -2.82383850e-02 -1.72053682e-02 3.69919378e+02] [ 2.82372555e-02 9.99601202e-01 -3.08626908e-04 5.05471022e+00] [ 1.72072218e-02 -1.77374247e-04 9.99851929e-01 4.38042735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18509989300003 meters 0.009659977545630846 Centerline is valid? [True, True] Translation: X:369.95, Y:5.06, Z:4.38 [[ 9.99466655e-01 -2.73105642e-02 -1.79036175e-02 3.69948726e+02] [ 2.73091947e-02 9.99626983e-01 -3.21020496e-04 5.05633553e+00] [ 1.79057064e-02 -1.68084094e-04 9.99839666e-01 4.38025379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.215099893 meters 0.00937322346556964 Centerline is valid? [True, True] Translation: X:369.98, Y:5.06, Z:4.38 [[ 9.99467088e-01 -2.73033981e-02 -1.78903256e-02 3.69978614e+02] [ 2.73020220e-02 9.99627179e-01 -3.21199142e-04 5.05829676e+00] [ 1.78924256e-02 -1.67414094e-04 9.99839904e-01 4.38080120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24509989300003 meters 0.009495470387142593 Centerline is valid? [True, True] Translation: X:370.01, Y:5.06, Z:4.38 [[ 9.99452797e-01 -2.76315993e-02 -1.81824384e-02 3.70008726e+02] [ 2.76302202e-02 9.99618159e-01 -3.27104443e-04 5.05917245e+00] [ 1.81845340e-02 -1.75459327e-04 9.99834632e-01 4.38126772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.275099893 meters 0.010005126814561713 Centerline is valid? [True, True] Translation: X:370.04, Y:5.06, Z:4.38 [[ 9.99371646e-01 -3.01849965e-02 -1.85790069e-02 3.70037178e+02] [ 3.01839815e-02 9.99544304e-01 -3.35109138e-04 5.05902200e+00] [ 1.85806558e-02 -2.25889831e-04 9.99827339e-01 4.38139650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30509989300003 meters 0.010202313248578038 Centerline is valid? [True, True] Translation: X:370.07, Y:5.06, Z:4.38 [[ 9.99326578e-01 -3.17140548e-02 -1.84555837e-02 3.70066917e+02] [ 3.17132947e-02 9.99496951e-01 -3.33926777e-04 5.05923204e+00] [ 1.84568898e-02 -2.51585461e-04 9.99829625e-01 4.38185966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.335099893 meters 0.01095943214474477 Centerline is valid? [True, True] Translation: X:370.10, Y:5.06, Z:4.38 [[ 9.99191306e-01 -3.55940041e-02 -1.87029674e-02 3.70097807e+02] [ 3.55938945e-02 9.99366279e-01 -3.38851407e-04 5.05831561e+00] [ 1.87031760e-02 -3.27134069e-04 9.99825027e-01 4.38239537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36509989300004 meters 0.01157539620435748 Centerline is valid? [True, True] Translation: X:370.13, Y:5.06, Z:4.38 [[ 9.99131651e-01 -3.73434968e-02 -1.84771865e-02 3.70128365e+02] [ 3.73436908e-02 9.99302425e-01 -3.34651037e-04 5.05754541e+00] [ 1.84767943e-02 -3.55645898e-04 9.99829226e-01 4.38269226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.395099893 meters 0.011744491124492867 Centerline is valid? [True, True] Translation: X:370.16, Y:5.06, Z:4.38 [[ 9.99053894e-01 -3.93781517e-02 -1.84574549e-02 3.70159152e+02] [ 3.93786985e-02 9.99224302e-01 -3.33961106e-04 5.05769825e+00] [ 1.84562883e-02 -3.93185410e-04 9.99829591e-01 4.38307919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.425099893 meters 0.01257776795343818 Centerline is valid? [True, True] Translation: X:370.19, Y:5.06, Z:4.38 [[ 9.98969954e-01 -4.13784736e-02 -1.86239654e-02 3.70189357e+02] [ 4.13793840e-02 9.99143450e-01 -3.36634030e-04 5.05675590e+00] [ 1.86219424e-02 -4.34360935e-04 9.99826502e-01 4.38361448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.455099893 meters 0.013899686153716714 Centerline is valid? [True, True] Translation: X:370.22, Y:5.06, Z:4.38 [[ 9.98783520e-01 -4.54780950e-02 -1.90583931e-02 3.70220975e+02] [ 4.54798031e-02 9.98965199e-01 -3.44018049e-04 5.05533542e+00] [ 1.90543168e-02 -5.23172409e-04 9.99818313e-01 4.38357729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.485099893 meters 0.01425317063743722 Centerline is valid? [True, True] Translation: X:370.25, Y:5.06, Z:4.38 [[ 9.98663231e-01 -4.79689741e-02 -1.92542938e-02 3.70252427e+02] [ 4.79711933e-02 9.98848659e-01 -3.46856094e-04 5.05550040e+00] [ 1.92487639e-02 -5.77259023e-04 9.99814559e-01 4.38397807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.515099893 meters 0.016077751874400564 Centerline is valid? [True, True] Translation: X:370.28, Y:5.05, Z:4.38 [[ 9.98545752e-01 -5.01880486e-02 -1.96860456e-02 3.70283539e+02] [ 5.01908162e-02 9.98739584e-01 -3.53776567e-04 5.05329987e+00] [ 1.96789883e-02 -6.34796608e-04 9.99806148e-01 4.38376165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.545099893 meters 0.01767344261939558 Centerline is valid? [True, True] Translation: X:370.31, Y:5.05, Z:4.38 [[ 9.98307154e-01 -5.48202709e-02 -1.94310146e-02 3.70314824e+02] [ 5.48238611e-02 9.98495980e-01 -3.48279448e-04 5.05164038e+00] [ 1.94208828e-02 -7.17593383e-04 9.99811139e-01 4.38380813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.575099893 meters 0.017743008393960157 Centerline is valid? [True, True] Translation: X:370.35, Y:5.05, Z:4.38 [[ 9.98201335e-01 -5.67430353e-02 -1.93474064e-02 3.70347332e+02] [ 5.67469734e-02 9.98388532e-01 -3.45839905e-04 5.05214812e+00] [ 1.93358526e-02 -7.52688899e-04 9.99812762e-01 4.38436717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.605099893 meters 0.018117668971249033 Centerline is valid? [True, True] Translation: X:370.38, Y:5.05, Z:4.38 [[ 9.98111282e-01 -5.83289949e-02 -1.92768440e-02 3.70379898e+02] [ 5.83332264e-02 9.98297109e-01 -3.43187985e-04 5.05229165e+00] [ 1.92640355e-02 -7.81940705e-04 9.99814125e-01 4.38480754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.635099893 meters 0.019406276815389215 Centerline is valid? [True, True] Translation: X:370.41, Y:5.05, Z:4.39 [[ 9.98018729e-01 -5.98702851e-02 -1.93433764e-02 3.70410902e+02] [ 5.98748595e-02 9.98205832e-01 -3.43095011e-04 5.05171928e+00] [ 1.93292124e-02 -8.15766698e-04 9.99812841e-01 4.38525183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.665099893 meters 0.020360420848412553 Centerline is valid? [True, True] Translation: X:370.44, Y:5.05, Z:4.39 [[ 9.97886936e-01 -6.20990830e-02 -1.91145829e-02 3.70442938e+02] [ 6.21039797e-02 9.98069628e-01 -3.37891762e-04 5.05221305e+00] [ 1.90986674e-02 -8.49913893e-04 9.99817243e-01 4.38594164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.695099893 meters 0.021636241464845277 Centerline is valid? [True, True] Translation: X:370.47, Y:5.05, Z:4.39 [[ 9.97832336e-01 -6.30435132e-02 -1.88718022e-02 3.70474209e+02] [ 6.30484778e-02 9.98010410e-01 -3.32376927e-04 5.05153194e+00] [ 1.88552093e-02 -8.58181958e-04 9.99821856e-01 4.38610200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.725099893 meters 0.02095459106157845 Centerline is valid? [True, True] Translation: X:370.51, Y:5.05, Z:4.39 [[ 9.97779246e-01 -6.38425882e-02 -1.89920931e-02 3.70506625e+02] [ 6.38477825e-02 9.97959593e-01 -3.33353357e-04 5.05332962e+00] [ 1.89746236e-02 -8.79989965e-04 9.99819578e-01 4.38655710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.755099893 meters 0.021812549998273884 Centerline is valid? [True, True] Translation: X:370.54, Y:5.05, Z:4.39 [[ 9.97665029e-01 -6.55663527e-02 -1.91191843e-02 3.70538927e+02] [ 6.55719589e-02 9.97847787e-01 -3.34203898e-04 5.05366176e+00] [ 1.90999483e-02 -9.20258827e-04 9.99817156e-01 4.38615341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.785099893 meters 0.021633363026915098 Centerline is valid? [True, True] Translation: X:370.57, Y:5.06, Z:4.39 [[ 9.97622682e-01 -6.62163392e-02 -1.90887663e-02 3.70570931e+02] [ 6.62220724e-02 9.97804854e-01 -3.32300113e-04 5.05515238e+00] [ 1.90688674e-02 -9.32587539e-04 9.99817738e-01 4.38654236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.815099893 meters 0.02316709033690959 Centerline is valid? [True, True] Translation: X:370.60, Y:5.05, Z:4.39 [[ 9.97582603e-01 -6.67057020e-02 -1.94756329e-02 3.70602060e+02] [ 6.67117883e-02 9.97772230e-01 -3.37740733e-04 5.05470106e+00] [ 1.94547749e-02 -9.62330018e-04 9.99810275e-01 4.38675385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.845099893 meters 0.022880335877371972 Centerline is valid? [True, True] Translation: X:370.63, Y:5.06, Z:4.39 [[ 9.97515593e-01 -6.75060919e-02 -2.01387652e-02 3.70634042e+02] [ 6.75127875e-02 9.97718348e-01 -3.47994965e-04 5.05737243e+00] [ 2.01163073e-02 -1.01249377e-03 9.99797134e-01 4.38668348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.875099893 meters 0.021937599318668736 Centerline is valid? [True, True] Translation: X:370.67, Y:5.06, Z:4.39 [[ 9.97480461e-01 -6.79063267e-02 -2.05295047e-02 3.70666466e+02] [ 6.79134002e-02 9.97691157e-01 -3.53247384e-04 5.05993526e+00] [ 2.05060930e-02 -1.04187110e-03 9.99789185e-01 4.38698430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.905099893 meters 0.022711159516055127 Centerline is valid? [True, True] Translation: X:370.70, Y:5.06, Z:4.39 [[ 9.97452114e-01 -6.82325804e-02 -2.08229316e-02 3.70697218e+02] [ 6.82399570e-02 9.97668873e-01 -3.56923270e-04 5.06021472e+00] [ 2.07987445e-02 -1.06494209e-03 9.99783116e-01 4.38673603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93509989300003 meters 0.023524759939466438 Centerline is valid? [True, True] Translation: X:370.73, Y:5.06, Z:4.39 [[ 9.97390926e-01 -6.87983432e-02 -2.18661586e-02 3.70729707e+02] [ 6.88066436e-02 9.97629945e-01 -3.73420286e-04 5.06105794e+00] [ 2.18400253e-02 -1.13209098e-03 9.99760837e-01 4.38624611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.965099893 meters 0.023260618399336606 Centerline is valid? [True, True] Translation: X:370.76, Y:5.06, Z:4.39 [[ 9.97365536e-01 -6.90662479e-02 -2.21774716e-02 3.70761617e+02] [ 6.90748881e-02 9.97611406e-01 -3.77131958e-04 5.06264128e+00] [ 2.21505457e-02 -1.15576795e-03 9.99753978e-01 4.38625710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99509989300003 meters 0.021645271547441232 Centerline is valid? [True, True] Translation: X:370.79, Y:5.07, Z:4.39 [[ 9.97362457e-01 -6.89430329e-02 -2.26933533e-02 3.70793549e+02] [ 6.89520861e-02 9.97619899e-01 -3.84231110e-04 5.06608975e+00] [ 2.26658309e-02 -1.18153637e-03 9.99742399e-01 4.38674056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.025099893 meters 0.022146472257275757 Centerline is valid? [True, True] Translation: X:370.83, Y:5.07, Z:4.39 [[ 9.97381360e-01 -6.84342397e-02 -2.33918272e-02 3.70825179e+02] [ 6.84437557e-02 9.97654899e-01 -3.94510333e-04 5.06683623e+00] [ 2.33639690e-02 -1.20754725e-03 9.99726296e-01 4.38679702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05509989300003 meters 0.02211948731103556 Centerline is valid? [True, True] Translation: X:370.86, Y:5.07, Z:4.39 [[ 9.97527653e-01 -6.61083295e-02 -2.38384265e-02 3.70855447e+02] [ 6.61175949e-02 9.97811758e-01 -4.00161056e-04 5.06980345e+00] [ 2.38127162e-02 -1.17696771e-03 9.99715744e-01 4.38680871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.085099893 meters 0.020285602960726918 Centerline is valid? [True, True] Translation: X:370.89, Y:5.07, Z:4.39 [[ 9.97644810e-01 -6.42519512e-02 -2.40108078e-02 3.70886787e+02] [ 6.42608560e-02 9.97933055e-01 -4.01336612e-04 5.07406737e+00] [ 2.39869655e-02 -1.14256368e-03 9.99711618e-01 4.38788117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11509989300004 meters 0.01921793491806132 Centerline is valid? [True, True] Translation: X:370.92, Y:5.08, Z:4.39 [[ 9.97791058e-01 -6.21140100e-02 -2.35553335e-02 3.70918053e+02] [ 6.21220058e-02 9.98068486e-01 -3.92862491e-04 5.07729982e+00] [ 2.35342383e-02 -1.07130988e-03 9.99722457e-01 4.38876535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.145099893 meters 0.01881234452721743 Centerline is valid? [True, True] Translation: X:370.95, Y:5.08, Z:4.39 [[ 9.97976704e-01 -5.92923811e-02 -2.29545792e-02 3.70948240e+02] [ 5.92992438e-02 9.98240178e-01 -3.82200984e-04 5.07949198e+00] [ 2.29368448e-02 -9.79761509e-04 9.99736436e-01 4.38966825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.175099893 meters 0.01852916723815035 Centerline is valid? [True, True] Translation: X:370.98, Y:5.08, Z:4.39 [[ 9.98337344e-01 -5.34885185e-02 -2.14831655e-02 3.70978234e+02] [ 5.34931912e-02 9.98568150e-01 -3.57516721e-04 5.08339128e+00] [ 2.14715279e-02 -7.92280786e-04 9.99769146e-01 4.39103493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.205099893 meters 0.01726869680124413 Centerline is valid? [True, True] Translation: X:371.01, Y:5.09, Z:4.39 [[ 9.98526838e-01 -5.01151077e-02 -2.07997386e-02 3.71009892e+02] [ 5.01187651e-02 9.98743205e-01 -3.45737951e-04 5.08691604e+00] [ 2.07909243e-02 -6.97228592e-04 9.99783602e-01 4.39177474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.235099893 meters 0.014438634269204187 Centerline is valid? [True, True] Translation: X:371.04, Y:5.09, Z:4.39 [[ 9.98705093e-01 -4.66357997e-02 -2.03282705e-02 3.71041500e+02] [ 4.66385951e-02 9.98911772e-01 -3.36811912e-04 5.09279167e+00] [ 2.03218562e-02 -6.11706206e-04 9.99793303e-01 4.39289697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.265099893 meters 0.012950851756702533 Centerline is valid? [True, True] Translation: X:371.07, Y:5.10, Z:4.39 [[ 9.98983871e-01 -4.05119477e-02 -1.97486256e-02 3.71071704e+02] [ 4.05134035e-02 9.99178942e-01 -3.26523912e-04 5.09837899e+00] [ 1.97456389e-02 -4.73891915e-04 9.99804924e-01 4.39335987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.295099893 meters 0.012323102332517212 Centerline is valid? [True, True] Translation: X:371.10, Y:5.10, Z:4.39 [[ 9.99110336e-01 -3.73031816e-02 -1.96725449e-02 3.71102469e+02] [ 3.73040097e-02 9.99303910e-01 -3.25003958e-04 5.10124175e+00] [ 1.96709747e-02 -4.09149992e-04 9.99806424e-01 4.39376103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.325099893 meters 0.011471388677231544 Centerline is valid? [True, True] Translation: X:371.13, Y:5.10, Z:4.39 [[ 9.99211863e-01 -3.44519247e-02 -1.97159048e-02 3.71134059e+02] [ 3.44522155e-02 9.99406293e-01 -3.25011231e-04 5.10450950e+00] [ 1.97153966e-02 -3.54501523e-04 9.99805570e-01 4.39418868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.355099893 meters 0.010814529728721883 Centerline is valid? [True, True] Translation: X:371.16, Y:5.11, Z:4.39 [[ 9.99297013e-01 -3.18646384e-02 -1.97515746e-02 3.71164120e+02] [ 3.18644338e-02 9.99492147e-01 -3.25153102e-04 5.10723399e+00] [ 1.97519046e-02 -3.04448219e-04 9.99804866e-01 4.39476253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.385099893 meters 0.01011673020144627 Centerline is valid? [True, True] Translation: X:371.19, Y:5.11, Z:4.39 [[ 9.99427011e-01 -2.70341751e-02 -2.03667375e-02 3.71194252e+02] [ 2.70329548e-02 9.99634487e-01 -3.35279997e-04 5.11082210e+00] [ 2.03683572e-02 -2.15485208e-04 9.99792520e-01 4.39472713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.415099893 meters 0.009952111359417226 Centerline is valid? [True, True] Translation: X:371.22, Y:5.11, Z:4.39 [[ 9.99472300e-01 -2.50449633e-02 -2.06850590e-02 3.71224219e+02] [ 2.50432725e-02 9.99686310e-01 -3.40819008e-04 5.11265403e+00] [ 2.06871061e-02 -1.77382410e-04 9.99785983e-01 4.39465761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.445099893 meters 0.00981370632287869 Centerline is valid? [True, True] Translation: X:371.25, Y:5.11, Z:4.39 [[ 9.99496955e-01 -2.36377123e-02 -2.11446156e-02 3.71252527e+02] [ 2.36355740e-02 9.99720579e-01 -3.51069375e-04 5.11446304e+00] [ 2.11470058e-02 -1.48872355e-04 9.99776366e-01 4.39453057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.475099893 meters 0.009742935448478606 Centerline is valid? [True, True] Translation: X:371.28, Y:5.12, Z:4.39 [[ 9.99541745e-01 -2.10953551e-02 -2.17091293e-02 3.71280097e+02] [ 2.10924134e-02 9.99777464e-01 -3.64495841e-04 5.11639467e+00] [ 2.17119874e-02 -9.35691199e-05 9.99764263e-01 4.39433386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.505099893 meters 0.009713512592014984 Centerline is valid? [True, True] Translation: X:371.31, Y:5.12, Z:4.40 [[ 9.99546306e-01 -2.04740023e-02 -2.20906836e-02 3.71307694e+02] [ 2.04707170e-02 9.99790383e-01 -3.74865095e-04 5.11765516e+00] [ 2.20937280e-02 -7.75171115e-05 9.99755901e-01 4.39512132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.535099893 meters 0.009811499088823325 Centerline is valid? [True, True] Translation: X:371.33, Y:5.12, Z:4.40 [[ 9.99550022e-01 -2.04088547e-02 -2.19825501e-02 3.71334536e+02] [ 2.04054646e-02 9.99791715e-01 -3.78542284e-04 5.11835417e+00] [ 2.19856971e-02 -7.01921989e-05 9.99758283e-01 4.39507634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.565099893 meters 0.009813903597339276 Centerline is valid? [True, True] Translation: X:371.36, Y:5.12, Z:4.40 [[ 9.99546561e-01 -2.12789924e-02 -2.13044095e-02 3.71362089e+02] [ 2.12759003e-02 9.99773573e-01 -3.71818939e-04 5.11746995e+00] [ 2.13074975e-02 -8.16201501e-05 9.99772966e-01 4.39585654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.595099893 meters 0.00999917271064574 Centerline is valid? [True, True] Translation: X:371.39, Y:5.12, Z:4.40 [[ 9.99530375e-01 -2.25119243e-02 -2.07904650e-02 3.71389056e+02] [ 2.25091527e-02 9.99746569e-01 -3.67340840e-04 5.11638766e+00] [ 2.07934656e-02 -1.00807425e-04 9.99783787e-01 4.39613130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.625099893 meters 0.010078974569298063 Centerline is valid? [True, True] Translation: X:371.42, Y:5.12, Z:4.40 [[ 9.99499063e-01 -2.44250835e-02 -2.01255599e-02 3.71416586e+02] [ 2.44227992e-02 9.99701654e-01 -3.59320339e-04 5.11577388e+00] [ 2.01283319e-02 -1.32382164e-04 9.99797396e-01 4.39779087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.655099893 meters 0.010204241233617283 Centerline is valid? [True, True] Translation: X:371.45, Y:5.11, Z:4.40 [[ 9.99456272e-01 -2.65271701e-02 -1.95823916e-02 3.71445267e+02] [ 2.65253067e-02 9.99648079e-01 -3.54935151e-04 5.11433360e+00] [ 1.95849156e-02 -1.64686780e-04 9.99808184e-01 4.39870005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68509989300003 meters 0.011001794708348089 Centerline is valid? [True, True] Translation: X:371.48, Y:5.11, Z:4.40 [[ 9.99305784e-01 -3.20091508e-02 -1.90621306e-02 3.71475135e+02] [ 3.20083192e-02 9.99487542e-01 -3.48803512e-04 5.10995171e+00] [ 1.90635269e-02 -2.61585393e-04 9.99818240e-01 4.39947185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.715099893 meters 0.011729386135792877 Centerline is valid? [True, True] Translation: X:371.51, Y:5.11, Z:4.40 [[ 9.99212330e-01 -3.49815737e-02 -1.87352106e-02 3.71505416e+02] [ 3.49812844e-02 9.99387909e-01 -3.43261509e-04 5.10740978e+00] [ 1.87357508e-02 -3.12390601e-04 9.99824422e-01 4.39966702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74509989300003 meters 0.012655275930551489 Centerline is valid? [True, True] Translation: X:371.54, Y:5.10, Z:4.40 [[ 9.99101600e-01 -3.82518202e-02 -1.82425636e-02 3.71535480e+02] [ 3.82520957e-02 9.99268065e-01 -3.33963142e-04 5.10435252e+00] [ 1.82419859e-02 -3.64153178e-04 9.99833535e-01 4.40005845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.775099893 meters 0.012655275930551489 Centerline is valid? [True, True] Translation: X:371.57, Y:5.10, Z:4.40 [[ 9.99102964e-01 -3.82161639e-02 -1.82425779e-02 3.71566326e+02] [ 3.82164477e-02 9.99269429e-01 -3.33181096e-04 5.10488731e+00] [ 1.82419833e-02 -3.64284302e-04 9.99833535e-01 4.40043979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80509989300003 meters 0.01470748416471623 Centerline is valid? [True, True] Translation: X:371.60, Y:5.10, Z:4.40 [[ 9.98805013e-01 -4.52798436e-02 -1.83924450e-02 3.71597645e+02] [ 4.52813388e-02 9.98974218e-01 -3.35365768e-04 5.09813619e+00] [ 1.83887636e-02 -4.97869522e-04 9.99830788e-01 4.40023319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.835099893 meters 0.015438970127855955 Centerline is valid? [True, True] Translation: X:371.63, Y:5.10, Z:4.40 [[ 9.98651843e-01 -4.85116723e-02 -1.84692747e-02 3.71629871e+02] [ 4.85137444e-02 9.98822459e-01 -3.36104012e-04 5.09536633e+00] [ 1.84638313e-02 -5.60362780e-04 9.99829372e-01 4.39990968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86509989300004 meters 0.017473546954881874 Centerline is valid? [True, True] Translation: X:371.66, Y:5.09, Z:4.40 [[ 9.98499407e-01 -5.16328250e-02 -1.82478805e-02 3.71660797e+02] [ 5.16353882e-02 9.98665949e-01 -3.30980759e-04 5.09093373e+00] [ 1.82406264e-02 -6.11752300e-04 9.99833439e-01 4.39945418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.895099893 meters 0.016777611838639697 Centerline is valid? [True, True] Translation: X:371.69, Y:5.09, Z:4.40 [[ 9.98362930e-01 -5.42433249e-02 -1.81417053e-02 3.71692979e+02] [ 5.42463044e-02 9.98527531e-01 -3.28188797e-04 5.09067989e+00] [ 1.81327943e-02 -6.56468940e-04 9.99835372e-01 4.39985382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.925099893 meters 0.017666894660166216 Centerline is valid? [True, True] Translation: X:371.72, Y:5.09, Z:4.40 [[ 9.98129567e-01 -5.85464218e-02 -1.75978338e-02 3.71723951e+02] [ 5.85499100e-02 9.98284432e-01 -3.17373466e-04 5.08714061e+00] [ 1.75862246e-02 -7.13571744e-04 9.99845096e-01 4.40006588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.955099893 meters 0.020259325014884436 Centerline is valid? [True, True] Translation: X:371.75, Y:5.08, Z:4.40 [[ 9.98068063e-01 -5.96817544e-02 -1.72693152e-02 3.71754971e+02] [ 5.96852918e-02 9.98217195e-01 -3.10951855e-04 5.08285630e+00] [ 1.72570856e-02 -7.20373002e-04 9.99850826e-01 4.40015682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.985099893 meters 0.01836336288232196 Centerline is valid? [True, True] Translation: X:371.79, Y:5.09, Z:4.40 [[ 9.98046134e-01 -6.01964862e-02 -1.67420755e-02 3.71787277e+02] [ 6.01998997e-02 9.98186296e-01 -3.00467693e-04 5.08513587e+00] [ 1.67297975e-02 -7.07990648e-04 9.99859796e-01 4.40105662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.015099893 meters 0.01869382521740484 Centerline is valid? [True, True] Translation: X:371.82, Y:5.08, Z:4.40 [[ 9.98037851e-01 -6.03368728e-02 -1.67304764e-02 3.71819091e+02] [ 6.03403220e-02 9.98177818e-01 -2.99015288e-04 5.08437429e+00] [ 1.67180321e-02 -7.11093760e-04 9.99859991e-01 4.40139582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.045099893 meters 0.020130350444234453 Centerline is valid? [True, True] Translation: X:371.85, Y:5.08, Z:4.40 [[ 9.98149896e-01 -5.88269196e-02 -1.53681155e-02 3.71850086e+02] [ 5.88296666e-02 9.98267998e-01 -2.73657893e-04 5.08083061e+00] [ 1.53575964e-02 -6.30949518e-04 9.99881866e-01 4.40133200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.075099893 meters 0.01839685079399181 Centerline is valid? [True, True] Translation: X:371.88, Y:5.08, Z:4.40 [[ 9.98239853e-01 -5.74315778e-02 -1.47921902e-02 3.71882547e+02] [ 5.74339822e-02 9.98349272e-01 -2.62566407e-04 5.08334528e+00] [ 1.47828519e-02 -5.87470135e-04 9.99890555e-01 4.40198316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.105099893 meters 0.018969984240857003 Centerline is valid? [True, True] Translation: X:371.91, Y:5.08, Z:4.40 [[ 9.98346262e-01 -5.57137346e-02 -1.41676312e-02 3.71913419e+02] [ 5.57157812e-02 9.98446638e-01 -2.50511548e-04 5.08263950e+00] [ 1.41595806e-02 -5.39263370e-04 9.99899603e-01 4.40252895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.135099893 meters 0.01657565184725448 Centerline is valid? [True, True] Translation: X:371.94, Y:5.09, Z:4.40 [[ 9.98619289e-01 -5.09315560e-02 -1.28643409e-02 3.71944083e+02] [ 5.09328550e-02 9.98702054e-01 -2.26843405e-04 5.08597951e+00] [ 1.28591972e-02 -4.28687409e-04 9.99917225e-01 4.40330996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.165099893 meters 0.017237744972243136 Centerline is valid? [True, True] Translation: X:371.97, Y:5.09, Z:4.40 [[ 9.98749323e-01 -4.84748179e-02 -1.22467186e-02 3.71974918e+02] [ 4.84758131e-02 9.98824333e-01 -2.15744216e-04 5.08502667e+00] [ 1.22427787e-02 -3.78195254e-04 9.99924983e-01 4.40366995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.195099893 meters 0.015332491085743714 Centerline is valid? [True, True] Translation: X:372.01, Y:5.09, Z:4.40 [[ 9.98867524e-01 -4.60505182e-02 -1.19590696e-02 3.72006958e+02] [ 4.60513011e-02 9.98939054e-01 -2.10047663e-04 5.08811056e+00] [ 1.19560545e-02 -3.40920928e-04 9.99928466e-01 4.40385476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.225099893 meters 0.014928442406230416 Centerline is valid? [True, True] Translation: X:372.04, Y:5.09, Z:4.40 [[ 9.98964339e-01 -4.38975523e-02 -1.19689196e-02 3.72039161e+02] [ 4.38981925e-02 9.99035988e-01 -2.09344482e-04 5.08881317e+00] [ 1.19665711e-02 -3.16286264e-04 9.99928348e-01 4.40396310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.255099893 meters 0.014946300964202292 Centerline is valid? [True, True] Translation: X:372.07, Y:5.09, Z:4.40 [[ 9.99084699e-01 -4.06448631e-02 -1.33326527e-02 3.72070055e+02] [ 4.06453821e-02 9.99173608e-01 -2.32145930e-04 5.08807552e+00] [ 1.33310703e-02 -3.09977318e-04 9.99911089e-01 4.40306877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.285099893 meters 0.014091944783669 Centerline is valid? [True, True] Translation: X:372.10, Y:5.09, Z:4.40 [[ 9.99126885e-01 -3.95520075e-02 -1.34575674e-02 3.72102221e+02] [ 3.95524474e-02 9.99217468e-01 -2.33568449e-04 5.08938398e+00] [ 1.34562745e-02 -2.98915209e-04 9.99909416e-01 4.40276715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.315099893 meters 0.014794088527695743 Centerline is valid? [True, True] Translation: X:372.13, Y:5.09, Z:4.40 [[ 9.99130303e-01 -3.91591204e-02 -1.43248209e-02 3.72133219e+02] [ 3.91595935e-02 9.99232938e-01 -2.47572751e-04 5.08796556e+00] [ 1.43235276e-02 -3.13596726e-04 9.99897364e-01 4.40232287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.345099893 meters 0.014548645986503773 Centerline is valid? [True, True] Translation: X:372.17, Y:5.09, Z:4.40 [[ 9.99127347e-01 -3.88834994e-02 -1.52518277e-02 3.72165262e+02] [ 3.88840175e-02 9.99243696e-01 -2.62690275e-04 5.08712878e+00] [ 1.52505070e-02 -3.30591297e-04 9.99883650e-01 4.40189429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.375099893 meters 0.01337759257821468 Centerline is valid? [True, True] Translation: X:372.20, Y:5.09, Z:4.40 [[ 9.99120433e-01 -3.90119041e-02 -1.53763229e-02 3.72197063e+02] [ 3.90124626e-02 9.99238689e-01 -2.63743838e-04 5.08903510e+00] [ 1.53749059e-02 -3.36356364e-04 9.99881743e-01 4.40234720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.405099893 meters 0.01368301657006626 Centerline is valid? [True, True] Translation: X:372.23, Y:5.09, Z:4.40 [[ 9.99101790e-01 -3.93455633e-02 -1.57333737e-02 3.72228036e+02] [ 3.93462070e-02 9.99225602e-01 -2.68744658e-04 5.08775459e+00] [ 1.57317637e-02 -3.50545311e-04 9.99876187e-01 4.40212613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43509989300003 meters 0.015461605321930935 Centerline is valid? [True, True] Translation: X:372.26, Y:5.08, Z:4.40 [[ 9.99051694e-01 -4.05160642e-02 -1.59424322e-02 3.72259465e+02] [ 4.05168911e-02 9.99178817e-01 -2.71246667e-04 5.08334908e+00] [ 1.59403304e-02 -3.74948347e-04 9.99872875e-01 4.40218961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.465099893 meters 0.014549987377467611 Centerline is valid? [True, True] Translation: X:372.29, Y:5.08, Z:4.40 [[ 9.99036130e-01 -4.12872966e-02 -1.49053723e-02 3.72291608e+02] [ 4.12881261e-02 9.99147250e-01 -2.52201395e-04 5.08475300e+00] [ 1.49030744e-02 -3.63456585e-04 9.99888877e-01 4.40336215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49509989300003 meters 0.014662247811759727 Centerline is valid? [True, True] Translation: X:372.32, Y:5.08, Z:4.41 [[ 9.98988653e-01 -4.33100162e-02 -1.20795002e-02 3.72323491e+02] [ 4.33107172e-02 9.99061630e-01 -2.03683818e-04 5.08378561e+00] [ 1.20769867e-02 -3.19693992e-04 9.99927019e-01 4.40634991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.525099893 meters 0.015388754905688782 Centerline is valid? [True, True] Translation: X:372.35, Y:5.08, Z:4.41 [[ 9.98959787e-01 -4.41467872e-02 -1.14195079e-02 3.72354805e+02] [ 4.41474775e-02 9.99025006e-01 -1.91747275e-04 5.08214565e+00] [ 1.14168389e-02 -3.12594650e-04 9.99934777e-01 4.40756681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55509989300003 meters 0.015716954943229274 Centerline is valid? [True, True] Translation: X:372.39, Y:5.08, Z:4.41 [[ 9.98901105e-01 -4.52056467e-02 -1.23706187e-02 3.72387198e+02] [ 4.52065470e-02 9.98977640e-01 -2.06982828e-04 5.08134488e+00] [ 1.23673282e-02 -3.52477579e-04 9.99923460e-01 4.40722819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.585099893 meters 0.01651488199025944 Centerline is valid? [True, True] Translation: X:372.42, Y:5.08, Z:4.41 [[ 9.98762652e-01 -4.75619207e-02 -1.45268497e-02 3.72419313e+02] [ 4.75634288e-02 9.98868190e-01 -2.41854661e-04 5.07954174e+00] [ 1.45219112e-02 -4.49391380e-04 9.99894451e-01 4.40563779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61509989300004 meters 0.017193268704739452 Centerline is valid? [True, True] Translation: X:372.45, Y:5.08, Z:4.41 [[ 9.98685516e-01 -4.92409213e-02 -1.42327793e-02 3.72451896e+02] [ 4.92425536e-02 9.98786822e-01 -2.35951998e-04 5.07887992e+00] [ 1.42271309e-02 -4.65216555e-04 9.99898681e-01 4.40667164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.645099893 meters 0.016990716508720145 Centerline is valid? [True, True] Translation: X:372.48, Y:5.08, Z:4.41 [[ 9.98591493e-01 -5.13743975e-02 -1.32552396e-02 3.72483894e+02] [ 5.13760127e-02 9.98679357e-01 -2.18853248e-04 5.07935075e+00] [ 1.32489776e-02 -4.62456367e-04 9.99912122e-01 4.40792411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.675099893 meters 0.020877791414007727 Centerline is valid? [True, True] Translation: X:372.52, Y:5.07, Z:4.41 [[ 9.98464216e-01 -5.40428072e-02 -1.21895309e-02 3.72515014e+02] [ 5.40443818e-02 9.98538514e-01 -2.00429915e-04 5.07342028e+00] [ 1.21825479e-02 -4.58653563e-04 9.99925685e-01 4.40909733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.705099893 meters 0.01946677674650014 Centerline is valid? [True, True] Translation: X:372.55, Y:5.08, Z:4.41 [[ 9.98295122e-01 -5.71402511e-02 -1.19097160e-02 3.72546118e+02] [ 5.71419819e-02 9.98366043e-01 -1.95182605e-04 5.07508958e+00] [ 1.19014089e-02 -4.85694937e-04 9.99929058e-01 4.40957594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.735099893 meters 0.024171230451422613 Centerline is valid? [True, True] Translation: X:372.58, Y:5.07, Z:4.41 [[ 9.97876646e-01 -6.37787445e-02 -1.32087694e-02 3.72576172e+02] [ 6.37814602e-02 9.97963866e-01 -2.15986202e-04 5.06718619e+00] [ 1.31956499e-02 -6.26947012e-04 9.99912737e-01 4.40888458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.765099893 meters 0.025563092040957032 Centerline is valid? [True, True] Translation: X:372.61, Y:5.07, Z:4.41 [[ 9.97659134e-01 -6.69305745e-02 -1.40196531e-02 3.72607382e+02] [ 6.69339420e-02 9.97757383e-01 -2.29411411e-04 5.06533408e+00] [ 1.40035670e-02 -7.09516259e-04 9.99901694e-01 4.40858374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.795099893 meters 0.027534247182016965 Centerline is valid? [True, True] Translation: X:372.64, Y:5.06, Z:4.41 [[ 9.97419162e-01 -7.01698924e-02 -1.52053144e-02 3.72637388e+02] [ 7.01742325e-02 9.97534719e-01 -2.48578071e-04 5.06305995e+00] [ 1.51852717e-02 -8.19084739e-04 9.99884362e-01 4.40779826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.825099893 meters 0.030582458805228252 Centerline is valid? [True, True] Translation: X:372.67, Y:5.06, Z:4.41 [[ 9.96983582e-01 -7.59113656e-02 -1.61617102e-02 3.72667915e+02] [ 7.59170207e-02 9.97114104e-01 -2.64202532e-04 5.05940910e+00] [ 1.61351251e-02 -9.63543298e-04 9.99869356e-01 4.40686787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.855099893 meters 0.031515136433770394 Centerline is valid? [True, True] Translation: X:372.70, Y:5.06, Z:4.41 [[ 9.96803409e-01 -7.81946780e-02 -1.63876758e-02 3.72698862e+02] [ 7.82008015e-02 9.96937592e-01 -2.67791057e-04 5.05878221e+00] [ 1.63584299e-02 -1.01459435e-03 9.99865677e-01 4.40706284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.885099893 meters 0.028655103763348847 Centerline is valid? [True, True] Translation: X:372.73, Y:5.06, Z:4.41 [[ 9.96658270e-01 -7.99510993e-02 -1.67365947e-02 3.72730797e+02] [ 7.99577420e-02 9.96798217e-01 -2.72958528e-04 5.06335188e+00] [ 1.67048311e-02 -1.06617395e-03 9.99859896e-01 4.40764875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.915099893 meters 0.029179514692533375 Centerline is valid? [True, True] Translation: X:372.76, Y:5.06, Z:4.41 [[ 9.96557769e-01 -8.10890237e-02 -1.72390147e-02 3.72762409e+02] [ 8.10962612e-02 9.96706235e-01 -2.79968918e-04 5.06330459e+00] [ 1.72049358e-02 -1.11901444e-03 9.99851358e-01 4.40772391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.945099893 meters 0.027888076504537732 Centerline is valid? [True, True] Translation: X:372.79, Y:5.07, Z:4.41 [[ 9.96498637e-01 -8.17845265e-02 -1.73711994e-02 3.72794297e+02] [ 8.17919988e-02 9.96649382e-01 -2.81066114e-04 5.06560660e+00] [ 1.73359820e-02 -1.14074312e-03 9.99849070e-01 4.40773453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.975099893 meters 0.03036929273863228 Centerline is valid? [True, True] Translation: X:372.83, Y:5.06, Z:4.41 [[ 9.96460306e-01 -8.22534787e-02 -1.73557913e-02 3.72825623e+02] [ 8.22610292e-02 9.96610779e-01 -2.79626655e-04 5.06388735e+00] [ 1.73199690e-02 -1.14906839e-03 9.99849338e-01 4.40838557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.005099893 meters 0.03007745271641371 Centerline is valid? [True, True] Translation: X:372.86, Y:5.07, Z:4.41 [[ 9.96509183e-01 -8.16945405e-02 -1.71886625e-02 3.72858289e+02] [ 8.17018841e-02 9.96656774e-01 -2.75732371e-04 5.06577365e+00] [ 1.71537228e-02 -1.12957627e-03 9.99852226e-01 4.40916107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.035099893 meters 0.02839001652329918 Centerline is valid? [True, True] Translation: X:372.89, Y:5.07, Z:4.41 [[ 9.96595212e-01 -8.06864719e-02 -1.69610087e-02 3.72890999e+02] [ 8.06935064e-02 9.96738925e-01 -2.70332416e-04 5.06983538e+00] [ 1.69275097e-02 -1.09923127e-03 9.99856115e-01 4.41020467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.065099893 meters 0.028336903901561798 Centerline is valid? [True, True] Translation: X:372.92, Y:5.07, Z:4.41 [[ 9.96830965e-01 -7.77257871e-02 -1.69330968e-02 3.72920713e+02] [ 7.77323920e-02 9.96974224e-01 -2.68758762e-04 5.07317344e+00] [ 1.69027505e-02 -1.04834306e-03 9.99856589e-01 4.41079438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.095099893 meters 0.028463424099096968 Centerline is valid? [True, True] Translation: X:372.95, Y:5.08, Z:4.41 [[ 9.96984124e-01 -7.56898747e-02 -1.71376776e-02 3.72951283e+02] [ 7.56963435e-02 9.97130879e-01 -2.71833762e-04 5.07503773e+00] [ 1.71090826e-02 -1.02624559e-03 9.99853102e-01 4.41105087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.125099893 meters 0.02771900327265942 Centerline is valid? [True, True] Translation: X:372.98, Y:5.08, Z:4.41 [[ 9.97143445e-01 -7.34689712e-02 -1.75288173e-02 3.72982930e+02] [ 7.34754095e-02 9.97296991e-01 -2.77305877e-04 5.07837788e+00] [ 1.75018101e-02 -1.01142329e-03 9.99846320e-01 4.41109380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.155099893 meters 0.02697796454143577 Centerline is valid? [True, True] Translation: X:373.01, Y:5.08, Z:4.41 [[ 9.97493094e-01 -6.85557018e-02 -1.75397477e-02 3.73012589e+02] [ 6.85614009e-02 9.97646860e-01 -2.76896460e-04 5.08406205e+00] [ 1.75174570e-02 -9.26347367e-04 9.99846128e-01 4.41131736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18509989300003 meters 0.023098025502253757 Centerline is valid? [True, True] Translation: X:373.04, Y:5.09, Z:4.41 [[ 9.97688153e-01 -6.58145440e-02 -1.69350266e-02 3.73044134e+02] [ 6.58194640e-02 9.97831512e-01 -2.67282496e-04 5.09177302e+00] [ 1.69158943e-02 -8.47989794e-04 9.99856556e-01 4.41232108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.215099893 meters 0.022062058716715058 Centerline is valid? [True, True] Translation: X:373.08, Y:5.10, Z:4.41 [[ 9.97870253e-01 -6.30403314e-02 -1.67592914e-02 3.73075765e+02] [ 6.30447747e-02 9.98010665e-01 -2.63598637e-04 5.09556497e+00] [ 1.67425689e-02 -7.93548510e-04 9.99859518e-01 4.41313392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24509989300003 meters 0.020367365803619877 Centerline is valid? [True, True] Translation: X:373.11, Y:5.10, Z:4.41 [[ 9.98213392e-01 -5.75702672e-02 -1.59902622e-02 3.73106405e+02] [ 5.75736226e-02 9.98341232e-01 -2.50803785e-04 5.10263815e+00] [ 1.59781769e-02 -6.70261625e-04 9.99872116e-01 4.41468683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.275099893 meters 0.018770451877966797 Centerline is valid? [True, True] Translation: X:373.14, Y:5.11, Z:4.42 [[ 9.98369811e-01 -5.47371994e-02 -1.61728299e-02 3.73137449e+02] [ 5.47402660e-02 9.98500595e-01 -2.53339915e-04 5.10756283e+00] [ 1.61624474e-02 -6.32378086e-04 9.99869179e-01 4.41530250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30509989300003 meters 0.01882932245618849 Centerline is valid? [True, True] Translation: X:373.17, Y:5.11, Z:4.42 [[ 9.98513300e-01 -5.19139017e-02 -1.66173819e-02 3.73168341e+02] [ 5.19167591e-02 9.98651382e-01 -2.59679067e-04 5.10983918e+00] [ 1.66084523e-02 -6.03427608e-04 9.99861888e-01 4.41565420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.335099893 meters 0.016535394155113695 Centerline is valid? [True, True] Translation: X:373.20, Y:5.12, Z:4.42 [[ 9.98780655e-01 -4.60367205e-02 -1.78276086e-02 3.73199160e+02] [ 4.60390846e-02 9.98939600e-01 -2.78006881e-04 5.11771576e+00] [ 1.78215027e-02 -5.43098882e-04 9.99841037e-01 4.41547685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36509989300004 meters 0.015848583565963335 Centerline is valid? [True, True] Translation: X:373.23, Y:5.12, Z:4.42 [[ 9.98919051e-01 -4.27701444e-02 -1.82056334e-02 3.73230481e+02] [ 4.27720757e-02 9.99084816e-01 -2.83459710e-04 5.12104080e+00] [ 1.82010955e-02 -4.95539428e-04 9.99834224e-01 4.41594634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.395099893 meters 0.014123295260033334 Centerline is valid? [True, True] Translation: X:373.26, Y:5.13, Z:4.42 [[ 9.99169434e-01 -3.62660985e-02 -1.85798962e-02 3.73261523e+02] [ 3.62669988e-02 9.99342094e-01 -2.88598228e-04 5.12806158e+00] [ 1.85781388e-02 -3.85478546e-04 9.99827337e-01 4.41602563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.425099893 meters 0.013329857642961533 Centerline is valid? [True, True] Translation: X:373.29, Y:5.13, Z:4.42 [[ 9.99382514e-01 -2.95917908e-02 -1.89450733e-02 3.73291474e+02] [ 2.95915367e-02 9.99562031e-01 -2.93804951e-04 5.13357132e+00] [ 1.89454702e-02 -2.66990303e-04 9.99820483e-01 4.41640757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.455099893 meters 0.012406747726277745 Centerline is valid? [True, True] Translation: X:373.32, Y:5.14, Z:4.42 [[ 9.99579418e-01 -2.14542947e-02 -1.95115448e-02 3.73320497e+02] [ 2.14524701e-02 9.99769823e-01 -3.02842152e-04 5.14112133e+00] [ 1.95135509e-02 -1.15856048e-04 9.99809586e-01 4.41690354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.485099893 meters 0.012277547950476102 Centerline is valid? [True, True] Translation: X:373.35, Y:5.14, Z:4.42 [[ 9.99595536e-01 -1.95816123e-02 -2.06233926e-02 3.73348524e+02] [ 1.95791178e-02 9.99808259e-01 -3.22882100e-04 5.14408563e+00] [ 2.06257608e-02 -8.10363285e-05 9.99787263e-01 4.41777022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.515099893 meters 0.012257435241442752 Centerline is valid? [True, True] Translation: X:373.38, Y:5.14, Z:4.42 [[ 9.99587826e-01 -1.98435476e-02 -2.07463556e-02 3.73376405e+02] [ 1.98409566e-02 9.99803094e-01 -3.30739045e-04 5.14479326e+00] [ 2.07488335e-02 -8.10248174e-05 9.99784716e-01 4.41887814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.545099893 meters 0.012257435241442752 Centerline is valid? [True, True] Translation: X:373.40, Y:5.15, Z:4.42 [[ 9.99582020e-01 -2.01340001e-02 -2.07462581e-02 3.73403791e+02] [ 2.01313466e-02 9.99797287e-01 -3.36766058e-04 5.14528944e+00] [ 2.07488330e-02 -8.10248153e-05 9.99784717e-01 4.41921801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.575099893 meters 0.01244772231558566 Centerline is valid? [True, True] Translation: X:373.43, Y:5.15, Z:4.42 [[ 9.99565274e-01 -2.08079780e-02 -2.08875762e-02 3.73431175e+02] [ 2.08053437e-02 9.99783486e-01 -3.43443707e-04 5.14507594e+00] [ 2.08902001e-02 -9.12787981e-05 9.99781772e-01 4.41891077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.605099893 meters 0.012425047953544481 Centerline is valid? [True, True] Translation: X:373.46, Y:5.14, Z:4.42 [[ 9.99538922e-01 -2.17492138e-02 -2.11876071e-02 3.73459489e+02] [ 2.17466745e-02 9.99763452e-01 -3.50276266e-04 5.14495225e+00] [ 2.11902134e-02 -1.10645232e-04 9.99775456e-01 4.41953585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.635099893 meters 0.012425047953544481 Centerline is valid? [True, True] Translation: X:373.49, Y:5.15, Z:4.42 [[ 9.99532787e-01 -2.20294467e-02 -2.11875478e-02 3.73486878e+02] [ 2.20268950e-02 9.99757316e-01 -3.53830707e-04 5.14547407e+00] [ 2.11902006e-02 -1.13030497e-04 9.99775456e-01 4.41987497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.665099893 meters 0.012621152723644799 Centerline is valid? [True, True] Translation: X:373.52, Y:5.14, Z:4.42 [[ 9.99463459e-01 -2.50020183e-02 -2.11587776e-02 3.73515680e+02] [ 2.50000192e-02 9.99687386e-01 -3.59028975e-04 5.14435351e+00] [ 2.11611395e-02 -1.70133504e-04 9.99776064e-01 4.42121688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.695099893 meters 0.012787479971689983 Centerline is valid? [True, True] Translation: X:373.54, Y:5.14, Z:4.42 [[ 9.99405372e-01 -2.69813434e-02 -2.14687984e-02 3.73543102e+02] [ 2.69796566e-02 9.99635915e-01 -3.68263113e-04 5.14343024e+00] [ 2.14709181e-02 -2.11176673e-04 9.99769451e-01 4.42199030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.725099893 meters 0.012787479971689983 Centerline is valid? [True, True] Translation: X:373.57, Y:5.14, Z:4.42 [[ 9.99398631e-01 -2.72299289e-02 -2.14687401e-02 3.73571338e+02] [ 2.72282271e-02 9.99629174e-01 -3.71629947e-04 5.14395023e+00] [ 2.14708984e-02 -2.13149272e-04 9.99769451e-01 4.42233989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.755099893 meters 0.012940972654061866 Centerline is valid? [True, True] Translation: X:373.60, Y:5.14, Z:4.42 [[ 9.99328750e-01 -2.96146197e-02 -2.15643905e-02 3.73600286e+02] [ 2.96133403e-02 9.99561357e-01 -3.78730727e-04 5.14330513e+00] [ 2.15661474e-02 -2.60117130e-04 9.99767390e-01 4.42298066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.785099893 meters 0.013889955943078926 Centerline is valid? [True, True] Translation: X:373.63, Y:5.14, Z:4.42 [[ 9.99170850e-01 -3.47851586e-02 -2.11566978e-02 3.73629048e+02] [ 3.47850098e-02 9.99394748e-01 -3.75154260e-04 5.13905184e+00] [ 2.11569424e-02 -3.61092737e-04 9.99776102e-01 4.42320042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.815099893 meters 0.014378289410530425 Centerline is valid? [True, True] Translation: X:373.66, Y:5.14, Z:4.42 [[ 9.99054650e-01 -3.77015729e-02 -2.16424955e-02 3.73659855e+02] [ 3.77020862e-02 9.99288950e-01 -3.84456529e-04 5.13768584e+00] [ 2.16416013e-02 -4.31874150e-04 9.99765700e-01 4.42383872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.845099893 meters 0.015286621041362936 Centerline is valid? [True, True] Translation: X:373.69, Y:5.14, Z:4.42 [[ 9.98942255e-01 -4.05519643e-02 -2.16774079e-02 3.73690419e+02] [ 4.05531601e-02 9.99177308e-01 -3.84611661e-04 5.13519793e+00] [ 2.16751708e-02 -4.94882552e-04 9.99764943e-01 4.42400178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.875099893 meters 0.016227519286626538 Centerline is valid? [True, True] Translation: X:373.72, Y:5.13, Z:4.42 [[ 9.98819610e-01 -4.35129840e-02 -2.15872033e-02 3.73721478e+02] [ 4.35148811e-02 9.99052706e-01 -3.82070205e-04 5.13272769e+00] [ 2.15833789e-02 -5.57745373e-04 9.99766896e-01 4.42426372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.905099893 meters 0.017137457835351817 Centerline is valid? [True, True] Translation: X:373.75, Y:5.13, Z:4.42 [[ 9.98672618e-01 -4.66486368e-02 -2.18382051e-02 3.73752999e+02] [ 4.66513443e-02 9.98911159e-01 -3.85734784e-04 5.13050163e+00] [ 2.18324207e-02 -6.33558855e-04 9.99761444e-01 4.42446700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93509989300003 meters 0.01851785162976533 Centerline is valid? [True, True] Translation: X:373.78, Y:5.13, Z:4.43 [[ 9.98322153e-01 -5.32908348e-02 -2.26487423e-02 3.73784466e+02] [ 5.32954725e-02 9.98578707e-01 -3.99228004e-04 5.12693755e+00] [ 2.26378270e-02 -8.08517265e-04 9.99743405e-01 4.42526744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.965099893 meters 0.019199194971784714 Centerline is valid? [True, True] Translation: X:373.82, Y:5.13, Z:4.43 [[ 9.98139199e-01 -5.63568505e-02 -2.32818639e-02 3.73815692e+02] [ 5.63626038e-02 9.98410281e-01 -4.09533696e-04 5.12566241e+00] [ 2.32679323e-02 -9.03454836e-04 9.99728857e-01 4.42567940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99509989300003 meters 0.022417574704456943 Centerline is valid? [True, True] Translation: X:373.85, Y:5.12, Z:4.43 [[ 9.97739527e-01 -6.28742386e-02 -2.37205996e-02 3.73845606e+02] [ 6.28820555e-02 9.98020878e-01 -4.16959476e-04 5.11975096e+00] [ 2.36998696e-02 -1.07558311e-03 9.99718540e-01 4.42546112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.025099893 meters 0.026828566180012257 Centerline is valid? [True, True] Translation: X:373.88, Y:5.11, Z:4.42 [[ 9.97547930e-01 -6.58002614e-02 -2.38422404e-02 3.73875858e+02] [ 6.58089880e-02 9.97832151e-01 -4.19280473e-04 5.11297930e+00] [ 2.38181428e-02 -1.15078134e-03 9.99715645e-01 4.42425130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05509989300003 meters 0.0256172464130876 Centerline is valid? [True, True] Translation: X:373.91, Y:5.11, Z:4.43 [[ 9.97341790e-01 -6.87822241e-02 -2.40491051e-02 3.73906669e+02] [ 6.87919798e-02 9.97630936e-01 -4.22403019e-04 5.11481796e+00] [ 2.40211851e-02 -1.23310537e-03 9.99710689e-01 4.42548967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.085099893 meters 0.025714520730537198 Centerline is valid? [True, True] Translation: X:373.94, Y:5.11, Z:4.43 [[ 9.97172668e-01 -7.11893041e-02 -2.40572937e-02 3.73937746e+02] [ 7.11997923e-02 9.97461985e-01 -4.21403175e-04 5.11470264e+00] [ 2.40262354e-02 -1.29266259e-03 9.99710493e-01 4.42605434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11509989300004 meters 0.028259941216380098 Centerline is valid? [True, True] Translation: X:373.97, Y:5.11, Z:4.43 [[ 9.96847327e-01 -7.56486710e-02 -2.39308528e-02 3.73967280e+02] [ 7.56603405e-02 9.97133561e-01 -4.18724898e-04 5.11214287e+00] [ 2.38939325e-02 -1.39321168e-03 9.99713528e-01 4.42623762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.145099893 meters 0.029256652013176735 Centerline is valid? [True, True] Translation: X:374.00, Y:5.11, Z:4.43 [[ 9.96703354e-01 -7.73292524e-02 -2.45481300e-02 3.73999628e+02] [ 7.73420565e-02 9.97004525e-01 -4.28847274e-04 5.11157555e+00] [ 2.45077591e-02 -1.47116934e-03 9.99698557e-01 4.42614465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.175099893 meters 0.030141260707474294 Centerline is valid? [True, True] Translation: X:374.03, Y:5.11, Z:4.43 [[ 9.96558169e-01 -7.88518685e-02 -2.55773233e-02 3.74031471e+02] [ 7.88663101e-02 9.96885102e-01 -4.45216121e-04 5.11150405e+00] [ 2.55327587e-02 -1.57350535e-03 9.99672748e-01 4.42591690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.205099893 meters 0.030449850679034204 Centerline is valid? [True, True] Translation: X:374.06, Y:5.11, Z:4.43 [[ 9.96469854e-01 -7.98357745e-02 -2.59630410e-02 3.74063515e+02] [ 7.98510301e-02 9.96806707e-01 -4.50298619e-04 5.11208432e+00] [ 2.59160833e-02 -1.62446657e-03 9.99662802e-01 4.42585619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.235099893 meters 0.029404060440292486 Centerline is valid? [True, True] Translation: X:374.09, Y:5.11, Z:4.43 [[ 9.96302678e-01 -8.15916456e-02 -2.69031255e-02 3.74094610e+02] [ 8.16087027e-02 9.96664338e-01 -4.65168398e-04 5.11462798e+00] [ 2.68513396e-02 -1.73208065e-03 9.99637937e-01 4.42599077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.265099893 meters 0.0312321018859489 Centerline is valid? [True, True] Translation: X:374.13, Y:5.11, Z:4.43 [[ 9.96251397e-01 -8.20869195e-02 -2.72926935e-02 3.74125842e+02] [ 8.21047154e-02 9.96623597e-01 -4.69856401e-04 5.11306531e+00] [ 2.72391115e-02 -1.77276374e-03 9.99627375e-01 4.42577044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.295099893 meters 0.03224523142482946 Centerline is valid? [True, True] Translation: X:374.16, Y:5.11, Z:4.43 [[ 9.96222983e-01 -8.23566543e-02 -2.75163484e-02 3.74157904e+02] [ 8.23749115e-02 9.96601300e-01 -4.71306440e-04 5.11344540e+00] [ 2.74616438e-02 -1.79713046e-03 9.99621242e-01 4.42600726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.325099893 meters 0.03408034215388533 Centerline is valid? [True, True] Translation: X:374.19, Y:5.11, Z:4.43 [[ 9.96261405e-01 -8.18235065e-02 -2.77151128e-02 3.74189191e+02] [ 8.18418700e-02 9.96645215e-01 -4.73022637e-04 5.11270849e+00] [ 2.76608389e-02 -1.79700246e-03 9.99615751e-01 4.42590200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.355099893 meters 0.033422396669519995 Centerline is valid? [True, True] Translation: X:374.22, Y:5.12, Z:4.43 [[ 9.96345860e-01 -8.07954029e-02 -2.76953070e-02 3.74221660e+02] [ 8.08133920e-02 9.96729138e-01 -4.70970797e-04 5.11550275e+00] [ 2.76427717e-02 -1.76890190e-03 9.99616300e-01 4.42679728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.385099893 meters 0.03218128364928022 Centerline is valid? [True, True] Translation: X:374.25, Y:5.12, Z:4.43 [[ 9.96438514e-01 -7.95074502e-02 -2.80865380e-02 3.74254034e+02] [ 7.95254970e-02 9.96832719e-01 -4.75659937e-04 5.11938613e+00] [ 2.80353985e-02 -1.75963001e-03 9.99605382e-01 4.42755597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.415099893 meters 0.03201406764929048 Centerline is valid? [True, True] Translation: X:374.28, Y:5.12, Z:4.43 [[ 9.96596790e-01 -7.74918916e-02 -2.81041900e-02 3.74284818e+02] [ 7.75092023e-02 9.96991524e-01 -4.74552824e-04 5.12149486e+00] [ 2.80564132e-02 -1.70539553e-03 9.99604887e-01 4.42746111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.445099893 meters 0.029544203918193342 Centerline is valid? [True, True] Translation: X:374.31, Y:5.13, Z:4.43 [[ 9.96922415e-01 -7.31849544e-02 -2.81009046e-02 3.74314916e+02] [ 7.32005699e-02 9.97317127e-01 -4.73990488e-04 5.12867123e+00] [ 2.80602024e-02 -1.58447049e-03 9.99604979e-01 4.42860569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.475099893 meters 0.02912213959344998 Centerline is valid? [True, True] Translation: X:374.35, Y:5.13, Z:4.43 [[ 9.97119817e-01 -7.05305501e-02 -2.78839059e-02 3.74345857e+02] [ 7.05449070e-02 9.97508494e-01 -4.69735099e-04 5.13176854e+00] [ 2.78475636e-02 -1.49868537e-03 9.99611058e-01 4.42916386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.505099893 meters 0.026802645282924017 Centerline is valid? [True, True] Translation: X:374.38, Y:5.14, Z:4.43 [[ 9.97528131e-01 -6.46179088e-02 -2.76071277e-02 3.74376536e+02] [ 6.46297345e-02 9.97909205e-01 -4.64653192e-04 5.13958318e+00] [ 2.75794318e-02 -1.32073670e-03 9.99618743e-01 4.43008501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.535099893 meters 0.021251698425384553 Centerline is valid? [True, True] Translation: X:374.41, Y:5.15, Z:4.43 [[ 9.97731695e-01 -6.16411062e-02 -2.70525171e-02 3.74408047e+02] [ 6.16513911e-02 9.98097640e-01 -4.54515257e-04 5.15017467e+00] [ 2.70290703e-02 -1.21434103e-03 9.99633910e-01 4.43326408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.565099893 meters 0.023499566585112118 Centerline is valid? [True, True] Translation: X:374.44, Y:5.15, Z:4.43 [[ 9.97944244e-01 -5.83404848e-02 -2.65268470e-02 3.74438713e+02] [ 5.83492409e-02 9.98296133e-01 -4.44505770e-04 5.14966917e+00] [ 2.65075814e-02 -1.10422941e-03 9.99648002e-01 4.43306586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.595099893 meters 0.02301440769910841 Centerline is valid? [True, True] Translation: X:374.47, Y:5.15, Z:4.43 [[ 9.98142147e-01 -5.50960936e-02 -2.60129767e-02 3.74469520e+02] [ 5.51034369e-02 9.98480557e-01 -4.34990602e-04 5.15339906e+00] [ 2.59974177e-02 -9.99221967e-04 9.99661511e-01 4.43378052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.625099893 meters 0.018540570780656875 Centerline is valid? [True, True] Translation: X:374.50, Y:5.17, Z:4.44 [[ 9.98452284e-01 -4.93040757e-02 -2.57321722e-02 3.74499780e+02] [ 4.93093505e-02 9.98783462e-01 -4.29878778e-04 5.16504963e+00] [ 2.57220628e-02 -8.39623252e-04 9.99668780e-01 4.43603441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.655099893 meters 0.01882074618912857 Centerline is valid? [True, True] Translation: X:374.53, Y:5.17, Z:4.44 [[ 9.98586424e-01 -4.66674460e-02 -2.54421590e-02 3.74530312e+02] [ 4.66717535e-02 9.98910190e-01 -4.24805369e-04 5.16673590e+00] [ 2.54342565e-02 -7.63225300e-04 9.99676206e-01 4.43565061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68509989300003 meters 0.01648862050013623 Centerline is valid? [True, True] Translation: X:374.56, Y:5.17, Z:4.44 [[ 9.98703648e-01 -4.41274961e-02 -2.53729732e-02 3.74561506e+02] [ 4.41309784e-02 9.99025664e-01 -4.22968359e-04 5.17290843e+00] [ 2.53669160e-02 -6.97314090e-04 9.99677965e-01 4.43757352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.715099893 meters 0.01630475954454013 Centerline is valid? [True, True] Translation: X:374.59, Y:5.18, Z:4.44 [[ 9.98852381e-01 -4.07715982e-02 -2.51315971e-02 3.74592219e+02] [ 4.07739755e-02 9.99168308e-01 -4.18049337e-04 5.17626627e+00] [ 2.51277399e-02 -6.07145548e-04 9.99684064e-01 4.43766992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74509989300003 meters 0.016105330571992545 Centerline is valid? [True, True] Translation: X:374.62, Y:5.18, Z:4.44 [[ 9.98895880e-01 -3.93866073e-02 -2.56069555e-02 3.74621852e+02] [ 3.93886264e-02 9.99223876e-01 -4.25734887e-04 5.17796166e+00] [ 2.56038496e-02 -5.83357980e-04 9.99671997e-01 4.43762820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.775099893 meters 0.015161831578795231 Centerline is valid? [True, True] Translation: X:374.65, Y:5.18, Z:4.44 [[ 9.98937231e-01 -3.78753124e-02 -2.62653742e-02 3.74652824e+02] [ 3.78769154e-02 9.99282317e-01 -4.36654610e-04 5.18107603e+00] [ 2.62630624e-02 -5.58660812e-04 9.99654910e-01 4.43828017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80509989300003 meters 0.015057240582066492 Centerline is valid? [True, True] Translation: X:374.68, Y:5.18, Z:4.44 [[ 9.98980955e-01 -3.66578545e-02 -2.63297155e-02 3.74682055e+02] [ 3.66590421e-02 9.99327736e-01 -4.37750318e-04 5.18268785e+00] [ 2.63280619e-02 -5.27917918e-04 9.99653217e-01 4.43811299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.835099893 meters 0.014528695717933634 Centerline is valid? [True, True] Translation: X:374.71, Y:5.19, Z:4.44 [[ 9.99059378e-01 -3.41398239e-02 -2.67363545e-02 3.74711554e+02] [ 3.41401280e-02 9.99416957e-01 -4.45231686e-04 5.18616822e+00] [ 2.67359662e-02 -4.67969674e-04 9.99642421e-01 4.43865161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86509989300004 meters 0.014263336488628564 Centerline is valid? [True, True] Translation: X:374.74, Y:5.19, Z:4.44 [[ 9.99109339e-01 -3.29056493e-02 -2.64149169e-02 3.74740178e+02] [ 3.29054845e-02 9.99458371e-01 -4.41033330e-04 5.18797651e+00] [ 2.64151223e-02 -4.28555117e-04 9.99650968e-01 4.43925117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.895099893 meters 0.013563113702140018 Centerline is valid? [True, True] Translation: X:374.77, Y:5.19, Z:4.44 [[ 9.99136218e-01 -3.20736470e-02 -2.64215513e-02 3.74768950e+02] [ 3.20730811e-02 9.99485427e-01 -4.45309457e-04 5.19072168e+00] [ 2.64222382e-02 -4.02495751e-04 9.99650791e-01 4.44106719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.925099893 meters 0.01333235828154479 Centerline is valid? [True, True] Translation: X:374.80, Y:5.19, Z:4.44 [[ 9.99221825e-01 -3.04536416e-02 -2.50663162e-02 3.74798194e+02] [ 3.04524752e-02 9.99536124e-01 -4.28343429e-04 5.19227913e+00] [ 2.50677331e-02 -3.35321270e-04 9.99685699e-01 4.44210629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.955099893 meters 0.013341678644218544 Centerline is valid? [True, True] Translation: X:374.83, Y:5.19, Z:4.44 [[ 9.99240491e-01 -2.98769512e-02 -2.50161670e-02 3.74825740e+02] [ 2.98755096e-02 9.99553534e-01 -4.31451909e-04 5.19270153e+00] [ 2.50178886e-02 -3.16246519e-04 9.99686954e-01 4.44224494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.985099893 meters 0.013215119456833613 Centerline is valid? [True, True] Translation: X:374.85, Y:5.19, Z:4.44 [[ 9.99250853e-01 -3.00222710e-02 -2.44212337e-02 3.74854908e+02] [ 3.00208415e-02 9.99549183e-01 -4.25242360e-04 5.19349651e+00] [ 2.44229909e-02 -3.08222196e-04 9.99701667e-01 4.44333318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.015099893 meters 0.013431228193322112 Centerline is valid? [True, True] Translation: X:374.88, Y:5.19, Z:4.44 [[ 9.99212828e-01 -3.13890572e-02 -2.42580118e-02 3.74884009e+02] [ 3.13879045e-02 9.99507187e-01 -4.28367748e-04 5.19319895e+00] [ 2.42595031e-02 -3.33377607e-04 9.99705639e-01 4.44339831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.045099893 meters 0.013941731303029375 Centerline is valid? [True, True] Translation: X:374.91, Y:5.19, Z:4.44 [[ 9.99180606e-01 -3.25355513e-02 -2.40739399e-02 3.74912548e+02] [ 3.25346614e-02 9.99470516e-01 -4.28744583e-04 5.19166521e+00] [ 2.40751425e-02 -3.54844211e-04 9.99710089e-01 4.44259057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.075099893 meters 0.013647598887620198 Centerline is valid? [True, True] Translation: X:374.94, Y:5.19, Z:4.44 [[ 9.99124565e-01 -3.42547453e-02 -2.40148975e-02 3.74942353e+02] [ 3.42543307e-02 9.99413056e-01 -4.28752932e-04 5.19210296e+00] [ 2.40154890e-02 -3.94236654e-04 9.99711509e-01 4.44375723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.105099893 meters 0.01465853878613969 Centerline is valid? [True, True] Translation: X:374.97, Y:5.19, Z:4.44 [[ 9.98964374e-01 -3.85117304e-02 -2.42286095e-02 3.74971934e+02] [ 3.85125448e-02 9.99258023e-01 -4.33183203e-04 5.18827096e+00] [ 2.42273151e-02 -5.00370822e-04 9.99706350e-01 4.44302231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.135099893 meters 0.015160987424631225 Centerline is valid? [True, True] Translation: X:375.00, Y:5.19, Z:4.44 [[ 9.98867468e-01 -4.10650945e-02 -2.40299854e-02 3.75002768e+02] [ 4.10666347e-02 9.99156318e-01 -4.29600141e-04 5.18644941e+00] [ 2.40273533e-02 -5.57717025e-04 9.99711146e-01 4.44334062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.165099893 meters 0.01693141535713418 Centerline is valid? [True, True] Translation: X:375.03, Y:5.18, Z:4.44 [[ 9.98648970e-01 -4.64612963e-02 -2.32719329e-02 3.75033515e+02] [ 4.64642137e-02 9.98919869e-01 -4.15643911e-04 5.18132832e+00] [ 2.32661075e-02 -6.66229699e-04 9.99729085e-01 4.44425014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.195099893 meters 0.01693141535713418 Centerline is valid? [True, True] Translation: X:375.07, Y:5.18, Z:4.44 [[ 9.98652251e-01 -4.63907161e-02 -2.32719505e-02 3.75065218e+02] [ 4.63936374e-02 9.98923149e-01 -4.14655590e-04 5.18183523e+00] [ 2.32661262e-02 -6.65573695e-04 9.99729085e-01 4.44464218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.225099893 meters 0.01817354697598811 Centerline is valid? [True, True] Translation: X:375.10, Y:5.18, Z:4.45 [[ 9.98526316e-01 -4.92646384e-02 -2.27638403e-02 3.75096319e+02] [ 4.92682204e-02 9.98785502e-01 -4.03800174e-04 5.17890514e+00] [ 2.27560868e-02 -7.18328801e-04 9.99740789e-01 4.44505892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.255099893 meters 0.02005498350664021 Centerline is valid? [True, True] Translation: X:375.13, Y:5.17, Z:4.44 [[ 9.98308748e-01 -5.35040063e-02 -2.27368479e-02 3.75126461e+02] [ 5.35087032e-02 9.98567302e-01 -4.02196812e-04 5.17376277e+00] [ 2.27257920e-02 -8.15102649e-04 9.99741404e-01 4.44376545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.285099893 meters 0.02122261132688954 Centerline is valid? [True, True] Translation: X:375.16, Y:5.17, Z:4.44 [[ 9.98232933e-01 -5.46441551e-02 -2.33458092e-02 3.75157248e+02] [ 5.46494494e-02 9.98505517e-01 -4.11645820e-04 5.17145768e+00] [ 2.33334133e-02 -8.64917203e-04 9.99727365e-01 4.44348616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.315099893 meters 0.020405698256143856 Centerline is valid? [True, True] Translation: X:375.19, Y:5.17, Z:4.44 [[ 9.98189083e-01 -5.55889371e-02 -2.29874776e-02 3.75188991e+02] [ 5.55943801e-02 9.98453355e-01 -4.02716813e-04 5.17249628e+00] [ 2.29743107e-02 -8.75987041e-04 9.99735672e-01 4.44416718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.345099893 meters 0.019407232469863006 Centerline is valid? [True, True] Translation: X:375.22, Y:5.17, Z:4.45 [[ 9.98204416e-01 -5.55809053e-02 -2.23317553e-02 3.75221362e+02] [ 5.55860849e-02 9.98453823e-01 -3.89219764e-04 5.17343274e+00] [ 2.23188596e-02 -8.52813957e-04 9.99750539e-01 4.44580458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.375099893 meters 0.018408382616401927 Centerline is valid? [True, True] Translation: X:375.25, Y:5.18, Z:4.45 [[ 9.98251177e-01 -5.50653384e-02 -2.15033888e-02 3.75253798e+02] [ 5.50700540e-02 9.98482423e-01 -3.73257271e-04 5.17505063e+00] [ 2.14913093e-02 -8.11588275e-04 9.99768706e-01 4.44672156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.405099893 meters 0.020599361690225634 Centerline is valid? [True, True] Translation: X:375.29, Y:5.17, Z:4.45 [[ 9.98310395e-01 -5.41378394e-02 -2.11056579e-02 3.75285268e+02] [ 5.41422180e-02 9.98533168e-01 -3.64320869e-04 5.17195047e+00] [ 2.10944230e-02 -7.79001818e-04 9.99777184e-01 4.44626222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43509989300003 meters 0.020077797931250804 Centerline is valid? [True, True] Translation: X:375.32, Y:5.17, Z:4.45 [[ 9.98445210e-01 -5.13495336e-02 -2.16884270e-02 3.75316074e+02] [ 5.13535434e-02 9.98680467e-01 -3.72397149e-04 5.17318737e+00] [ 2.16789308e-02 -7.41959428e-04 9.99764709e-01 4.44629497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.465099893 meters 0.017228042929554592 Centerline is valid? [True, True] Translation: X:375.35, Y:5.18, Z:4.45 [[ 9.98560619e-01 -4.88508551e-02 -2.21423610e-02 3.75348345e+02] [ 4.88544462e-02 9.98805837e-01 -3.79053399e-04 5.17813799e+00] [ 2.21344365e-02 -7.03244987e-04 9.99754756e-01 4.44704646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49509989300003 meters 0.016198848447437613 Centerline is valid? [True, True] Translation: X:375.38, Y:5.18, Z:4.45 [[ 9.98669714e-01 -4.65230390e-02 -2.22353246e-02 3.75379305e+02] [ 4.65261117e-02 9.98917002e-01 -3.79396202e-04 5.18100413e+00] [ 2.22288945e-02 -6.55631699e-04 9.99752693e-01 4.44749937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.525099893 meters 0.014931472775963633 Centerline is valid? [True, True] Translation: X:375.41, Y:5.19, Z:4.45 [[ 9.98906483e-01 -4.05350295e-02 -2.32969840e-02 3.75409672e+02] [ 4.05367908e-02 9.99177968e-01 -3.96842989e-04 5.18514954e+00] [ 2.32939192e-02 -5.47975934e-04 9.99728510e-01 4.44761712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55509989300003 meters 0.014393831094828816 Centerline is valid? [True, True] Translation: X:375.44, Y:5.19, Z:4.45 [[ 9.99009205e-01 -3.74694039e-02 -2.40135873e-02 3.75440474e+02] [ 3.74704056e-02 9.99297654e-01 -4.08406581e-04 5.18737735e+00] [ 2.40120243e-02 -4.91796924e-04 9.99711549e-01 4.44792763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.585099893 meters 0.014393831094828816 Centerline is valid? [True, True] Translation: X:375.47, Y:5.19, Z:4.45 [[ 9.99009205e-01 -3.74693985e-02 -2.40135947e-02 3.75470475e+02] [ 3.74704107e-02 9.99297654e-01 -4.07970574e-04 5.18788684e+00] [ 2.40120153e-02 -4.92232898e-04 9.99711549e-01 4.44829857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61509989300004 meters 0.012986651120668772 Centerline is valid? [True, True] Translation: X:375.50, Y:5.19, Z:4.45 [[ 9.99208190e-01 -3.12840523e-02 -2.45825406e-02 3.75500533e+02] [ 3.12832364e-02 9.99510472e-01 -4.17852705e-04 5.19269655e+00] [ 2.45835789e-02 -3.51499584e-04 9.99697716e-01 4.44867843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.645099893 meters 0.012363154601364031 Centerline is valid? [True, True] Translation: X:375.53, Y:5.20, Z:4.45 [[ 9.99282720e-01 -2.84541467e-02 -2.49881328e-02 3.75529034e+02] [ 2.84523337e-02 9.99595059e-01 -4.28167259e-04 5.19554134e+00] [ 2.49901972e-02 -2.83110550e-04 9.99687656e-01 4.44954799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.675099893 meters 0.012119589532770434 Centerline is valid? [True, True] Translation: X:375.56, Y:5.20, Z:4.45 [[ 9.99368727e-01 -2.55553428e-02 -2.46793881e-02 3.75557147e+02] [ 2.55525868e-02 9.99673388e-01 -4.27074311e-04 5.19745888e+00] [ 2.46822416e-02 -2.03817498e-04 9.99695326e-01 4.44961836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.705099893 meters 0.011887264716430599 Centerline is valid? [True, True] Translation: X:375.59, Y:5.20, Z:4.45 [[ 9.99426294e-01 -2.33205099e-02 -2.45608817e-02 3.75586272e+02] [ 2.33170041e-02 9.99728030e-01 -4.29153927e-04 5.19975689e+00] [ 2.45642099e-02 -1.43778461e-04 9.99698244e-01 4.45065537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.735099893 meters 0.01176620627908455 Centerline is valid? [True, True] Translation: X:375.61, Y:5.20, Z:4.45 [[ 9.99475922e-01 -2.12630454e-02 -2.44082934e-02 3.75614386e+02] [ 2.12588693e-02 9.99773912e-01 -4.30594678e-04 5.20166825e+00] [ 2.44119307e-02 -8.85237067e-05 9.99701980e-01 4.45131124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.765099893 meters 0.011743221108981286 Centerline is valid? [True, True] Translation: X:375.64, Y:5.20, Z:4.45 [[ 9.99554880e-01 -1.81424641e-02 -2.36831698e-02 3.75642716e+02] [ 1.81375662e-02 9.99835412e-01 -4.21618039e-04 5.20409086e+00] [ 2.36869210e-02 -8.12469195e-06 9.99719425e-01 4.45248745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.795099893 meters 0.01171552899638416 Centerline is valid? [True, True] Translation: X:375.67, Y:5.21, Z:4.45 [[ 9.99558849e-01 -1.76067552e-02 -2.39188089e-02 3.75670257e+02] [ 1.76014544e-02 9.99844989e-01 -4.32148243e-04 5.20502970e+00] [ 2.39227100e-02 1.09517751e-05 9.99713811e-01 4.45368373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.825099893 meters 0.011767091008895357 Centerline is valid? [True, True] Translation: X:375.70, Y:5.21, Z:4.45 [[ 9.99554573e-01 -1.76574168e-02 -2.40597563e-02 3.75698620e+02] [ 1.76519018e-02 9.99844096e-01 -4.41601529e-04 5.20544715e+00] [ 2.40638028e-02 1.67043726e-05 9.99710425e-01 4.45455450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.855099893 meters 0.01182314796402758 Centerline is valid? [True, True] Translation: X:375.73, Y:5.20, Z:4.46 [[ 9.99506286e-01 -1.97105398e-02 -2.44679207e-02 3.75726536e+02] [ 1.97052771e-02 9.99805728e-01 -4.56198840e-04 5.20419889e+00] [ 2.44721592e-02 -2.61735485e-05 9.99700512e-01 4.45509162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.885099893 meters 0.011859100200676707 Centerline is valid? [True, True] Translation: X:375.75, Y:5.20, Z:4.46 [[ 9.99472516e-01 -2.17326917e-02 -2.41325637e-02 3.75754866e+02] [ 2.17279953e-02 9.99763815e-01 -4.56834414e-04 5.20275513e+00] [ 2.41367922e-02 -6.77587898e-05 9.99708663e-01 4.45567696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.915099893 meters 0.011891984600459758 Centerline is valid? [True, True] Translation: X:375.78, Y:5.20, Z:4.46 [[ 9.99424814e-01 -2.39656704e-02 -2.39934940e-02 3.75782879e+02] [ 2.39615070e-02 9.99712776e-01 -4.61052851e-04 5.20092863e+00] [ 2.39976519e-02 -1.14132612e-04 9.99712008e-01 4.45658119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.945099893 meters 0.01210902892942969 Centerline is valid? [True, True] Translation: X:375.81, Y:5.20, Z:4.46 [[ 9.99365256e-01 -2.65299310e-02 -2.37749280e-02 3.75811967e+02] [ 2.65264172e-02 9.99648005e-01 -4.63213470e-04 5.19886585e+00] [ 2.37788484e-02 -1.67744209e-04 9.99717229e-01 4.45733724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.975099893 meters 0.01287059723804958 Centerline is valid? [True, True] Translation: X:375.84, Y:5.19, Z:4.46 [[ 9.99215190e-01 -3.17697141e-02 -2.36577386e-02 3.75839349e+02] [ 3.17675886e-02 9.99495174e-01 -4.65757548e-04 5.19344730e+00] [ 2.36605925e-02 -2.86157291e-04 9.99720008e-01 4.45779401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.005099893 meters 0.01272303928550364 Centerline is valid? [True, True] Translation: X:375.87, Y:5.19, Z:4.46 [[ 9.99135141e-01 -3.40544795e-02 -2.38592170e-02 3.75868868e+02] [ 3.40529128e-02 9.99419920e-01 -4.72072013e-04 5.19283361e+00] [ 2.38614529e-02 -3.40812099e-04 9.99715217e-01 4.45947152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.035099893 meters 0.01400916047807 Centerline is valid? [True, True] Translation: X:375.90, Y:5.19, Z:4.46 [[ 9.98981661e-01 -3.81352268e-02 -2.41111214e-02 3.75897280e+02] [ 3.81347884e-02 9.99272490e-01 -4.78152692e-04 5.18761826e+00] [ 2.41118147e-02 -4.41806741e-04 9.99709170e-01 4.45909095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.065099893 meters 0.014003666537623 Centerline is valid? [True, True] Translation: X:375.93, Y:5.19, Z:4.46 [[ 9.98908516e-01 -3.98744635e-02 -2.43270245e-02 3.75928048e+02] [ 3.98745162e-02 9.99204578e-01 -4.83112984e-04 5.18708347e+00] [ 2.43269381e-02 -4.87442658e-04 9.99703937e-01 4.45997643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.095099893 meters 0.014634470659472348 Centerline is valid? [True, True] Translation: X:375.96, Y:5.18, Z:4.46 [[ 9.98817890e-01 -4.20794437e-02 -2.43340094e-02 3.75958955e+02] [ 4.20801556e-02 9.99114121e-01 -4.83038360e-04 5.18355102e+00] [ 2.43327784e-02 -5.41511548e-04 9.99703767e-01 4.45977379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.125099893 meters 0.014701861451162835 Centerline is valid? [True, True] Translation: X:375.99, Y:5.18, Z:4.46 [[ 9.98778291e-01 -4.27072563e-02 -2.48599298e-02 3.75990740e+02] [ 4.27082104e-02 9.99087467e-01 -4.92806850e-04 5.18246574e+00] [ 2.48582907e-02 -5.69518329e-04 9.99690823e-01 4.46025608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.155099893 meters 0.014688681264593455 Centerline is valid? [True, True] Translation: X:376.02, Y:5.18, Z:4.46 [[ 9.98779342e-01 -4.28142894e-02 -2.46325333e-02 3.76021618e+02] [ 4.28152802e-02 9.99082887e-01 -4.87423005e-04 5.18209878e+00] [ 2.46308112e-02 -5.67820788e-04 9.99696454e-01 4.46077647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18509989300003 meters 0.014875987083492862 Centerline is valid? [True, True] Translation: X:376.05, Y:5.18, Z:4.46 [[ 9.98801975e-01 -4.23153636e-02 -2.45769175e-02 3.76051827e+02] [ 4.23162279e-02 9.99104149e-01 -4.85144668e-04 5.18137791e+00] [ 2.45754293e-02 -5.55438989e-04 9.99697824e-01 4.46114632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.215099893 meters 0.013644060185100051 Centerline is valid? [True, True] Translation: X:376.08, Y:5.18, Z:4.46 [[ 9.98913960e-01 -4.01209723e-02 -2.36898328e-02 3.76081896e+02] [ 4.01211754e-02 9.99194712e-01 -4.66915024e-04 5.18335533e+00] [ 2.36894887e-02 -4.84056002e-04 9.99719247e-01 4.46302220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24509989300003 meters 0.013147450846510316 Centerline is valid? [True, True] Translation: X:376.11, Y:5.18, Z:4.46 [[ 9.99064496e-01 -3.66112312e-02 -2.30163035e-02 3.76111540e+02] [ 3.66104874e-02 9.99329508e-01 -4.53833582e-04 5.18336425e+00] [ 2.30174867e-02 -3.89229071e-04 9.99734987e-01 4.46357150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.275099893 meters 0.01269680827081494 Centerline is valid? [True, True] Translation: X:376.14, Y:5.18, Z:4.46 [[ 9.99130696e-01 -3.47273859e-02 -2.30621180e-02 3.76142389e+02] [ 3.47261323e-02 9.99396762e-01 -4.54961924e-04 5.18417845e+00] [ 2.30640057e-02 -3.46291734e-04 9.99733930e-01 4.46434161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30509989300003 meters 0.012569657097274957 Centerline is valid? [True, True] Translation: X:376.17, Y:5.18, Z:4.46 [[ 9.99201281e-01 -3.26797755e-02 -2.29963406e-02 3.76172037e+02] [ 3.26779890e-02 9.99465829e-01 -4.53567051e-04 5.18414216e+00] [ 2.29988791e-02 -2.98269388e-04 9.99735446e-01 4.46397310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.335099893 meters 0.012401582100164496 Centerline is valid? [True, True] Translation: X:376.20, Y:5.18, Z:4.46 [[ 9.99253949e-01 -3.08050955e-02 -2.32935877e-02 3.76200687e+02] [ 3.08027424e-02 9.99525377e-01 -4.59897868e-04 5.18460815e+00] [ 2.32966992e-02 -2.57951622e-04 9.99728562e-01 4.46379164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36509989300004 meters 0.01227861322155513 Centerline is valid? [True, True] Translation: X:376.23, Y:5.18, Z:4.46 [[ 9.99297697e-01 -2.91670274e-02 -2.35243858e-02 3.76229791e+02] [ 2.91641443e-02 9.99574527e-01 -4.65707543e-04 5.18492428e+00] [ 2.35279601e-02 -2.20688105e-04 9.99723155e-01 4.46374444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.395099893 meters 0.012134301114725323 Centerline is valid? [True, True] Translation: X:376.26, Y:5.19, Z:4.46 [[ 9.99326503e-01 -2.81960018e-02 -2.34845989e-02 3.76258486e+02] [ 2.81927811e-02 9.99602395e-01 -4.68289861e-04 5.18522589e+00] [ 2.34884652e-02 -1.94121687e-04 9.99724089e-01 4.46407230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.425099893 meters 0.01189496052577887 Centerline is valid? [True, True] Translation: X:376.29, Y:5.18, Z:4.47 [[ 9.99378941e-01 -2.67055645e-02 -2.29901201e-02 3.76287514e+02] [ 2.67019554e-02 9.99643332e-01 -4.64008658e-04 5.18448029e+00] [ 2.29943119e-02 -1.50160680e-04 9.99735585e-01 4.46527894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.455099893 meters 0.011777375416356763 Centerline is valid? [True, True] Translation: X:376.32, Y:5.18, Z:4.47 [[ 9.99384269e-01 -2.67470469e-02 -2.27085464e-02 3.76315452e+02] [ 2.67434003e-02 9.99642223e-01 -4.64315889e-04 5.18431650e+00] [ 2.27128409e-02 -1.43273751e-04 9.99742020e-01 4.46613895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.485099893 meters 0.011824987327551733 Centerline is valid? [True, True] Translation: X:376.34, Y:5.18, Z:4.47 [[ 9.99392821e-01 -2.67340615e-02 -2.23445780e-02 3.76343438e+02] [ 2.67304293e-02 9.99642572e-01 -4.61269609e-04 5.18235599e+00] [ 2.23489231e-02 -1.36290627e-04 9.99750222e-01 4.46697583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.515099893 meters 0.01185671045165407 Centerline is valid? [True, True] Translation: X:376.37, Y:5.18, Z:4.47 [[ 9.99393294e-01 -2.68068440e-02 -2.22359312e-02 3.76371530e+02] [ 2.68032212e-02 9.99640623e-01 -4.60997761e-04 5.18124317e+00] [ 2.22402980e-02 -1.35276511e-04 9.99752645e-01 4.46688111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.545099893 meters 0.011864685784335152 Centerline is valid? [True, True] Translation: X:376.40, Y:5.18, Z:4.47 [[ 9.99385031e-01 -2.72287327e-02 -2.20942484e-02 3.76399444e+02] [ 2.72251747e-02 9.99629220e-01 -4.61873605e-04 5.18031362e+00] [ 2.20986325e-02 -1.39930207e-04 9.99755786e-01 4.46747427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.575099893 meters 0.011849905357362628 Centerline is valid? [True, True] Translation: X:376.43, Y:5.18, Z:4.47 [[ 9.99372030e-01 -2.82521133e-02 -2.13860686e-02 3.76427266e+02] [ 2.82488869e-02 9.99600818e-01 -4.53011247e-04 5.17756791e+00] [ 2.13903302e-02 -1.51405863e-04 9.99771189e-01 4.46835198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.605099893 meters 0.011890283635666172 Centerline is valid? [True, True] Translation: X:376.46, Y:5.18, Z:4.47 [[ 9.99354672e-01 -2.94214865e-02 -2.06061967e-02 3.76456241e+02] [ 2.94186265e-02 9.99567081e-01 -4.41980898e-04 5.17588051e+00] [ 2.06102796e-02 -1.64510331e-04 9.99787572e-01 4.46880472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.635099893 meters 0.012029234964632192 Centerline is valid? [True, True] Translation: X:376.49, Y:5.17, Z:4.47 [[ 9.99332753e-01 -3.07509750e-02 -1.97085507e-02 3.76485213e+02] [ 3.07485220e-02 9.99527061e-01 -4.27553934e-04 5.17387240e+00] [ 1.97123775e-02 -1.78740157e-04 9.99805676e-01 4.46983941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.665099893 meters 0.012321118819195146 Centerline is valid? [True, True] Translation: X:376.52, Y:5.17, Z:4.47 [[ 9.99303483e-01 -3.24017639e-02 -1.85114952e-02 3.76515112e+02] [ 3.23998267e-02 9.99474906e-01 -4.04629492e-04 5.17127158e+00] [ 1.85148857e-02 -1.95421576e-04 9.99828566e-01 4.47047882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.695099893 meters 0.013015485599052934 Centerline is valid? [True, True] Translation: X:376.55, Y:5.17, Z:4.47 [[ 9.99197680e-01 -3.64345067e-02 -1.66289713e-02 3.76545791e+02] [ 3.64334984e-02 9.99336014e-01 -3.63679331e-04 5.16537661e+00] [ 1.66311804e-02 -2.42464056e-04 9.99861663e-01 4.47222480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.725099893 meters 0.013302567410695654 Centerline is valid? [True, True] Translation: X:376.58, Y:5.16, Z:4.47 [[ 9.99125371e-01 -3.85243734e-02 -1.62593030e-02 3.76577285e+02] [ 3.85236883e-02 9.99257624e-01 -3.55454162e-04 5.16302612e+00] [ 1.62609261e-02 -2.71225049e-04 9.99867746e-01 4.47255418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.755099893 meters 0.013998729094666124 Centerline is valid? [True, True] Translation: X:376.61, Y:5.16, Z:4.47 [[ 9.99028672e-01 -4.10325366e-02 -1.60637435e-02 3.76608405e+02] [ 4.10322023e-02 9.99157763e-01 -3.50539222e-04 5.15962027e+00] [ 1.60645975e-02 -3.08932039e-04 9.99870908e-01 4.47237310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.785099893 meters 0.014564869541001028 Centerline is valid? [True, True] Translation: X:376.64, Y:5.16, Z:4.47 [[ 9.98909977e-01 -4.39055663e-02 -1.58480091e-02 3.76640393e+02] [ 4.39056166e-02 9.99035624e-01 -3.44922966e-04 5.15673002e+00] [ 1.58478697e-02 -3.51269619e-04 9.99874353e-01 4.47269295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.815099893 meters 0.01672826596315517 Centerline is valid? [True, True] Translation: X:376.67, Y:5.15, Z:4.47 [[ 9.98637837e-01 -4.99023897e-02 -1.52388312e-02 3.76671139e+02] [ 4.99031476e-02 9.98754007e-01 -3.30756711e-04 5.14812538e+00] [ 1.52363493e-02 -4.30159478e-04 9.99883828e-01 4.47242370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.845099893 meters 0.01688278999598837 Centerline is valid? [True, True] Translation: X:376.70, Y:5.15, Z:4.47 [[ 9.98460463e-01 -5.33623323e-02 -1.51381780e-02 3.76703649e+02] [ 5.33634838e-02 9.98575100e-01 -3.28150465e-04 5.14569026e+00] [ 1.51341185e-02 -4.80180652e-04 9.99885357e-01 4.47266337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.875099893 meters 0.018828571448572074 Centerline is valid? [True, True] Translation: X:376.74, Y:5.14, Z:4.47 [[ 9.98278929e-01 -5.68016843e-02 -1.45859169e-02 3.76735095e+02] [ 5.68031343e-02 9.98385349e-01 -3.15188496e-04 5.14023586e+00] [ 1.45802690e-02 -5.13879763e-04 9.99893570e-01 4.47256801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.905099893 meters 0.019885334860925526 Centerline is valid? [True, True] Translation: X:376.77, Y:5.13, Z:4.47 [[ 9.97828702e-01 -6.42439570e-02 -1.45118937e-02 3.76765695e+02] [ 6.42461876e-02 9.97934031e-01 -3.12914612e-04 5.13438986e+00] [ 1.45020154e-02 -6.20098664e-04 9.99894648e-01 4.47324008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93509989300003 meters 0.021974356248815732 Centerline is valid? [True, True] Translation: X:376.80, Y:5.13, Z:4.47 [[ 9.97599491e-01 -6.77543613e-02 -1.43039498e-02 3.76795500e+02] [ 6.77568916e-02 9.97701813e-01 -3.08211251e-04 5.12994581e+00] [ 1.42919593e-02 -6.61719788e-04 9.99897646e-01 4.47329593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.965099893 meters 0.02402512451210452 Centerline is valid? [True, True] Translation: X:376.83, Y:5.13, Z:4.47 [[ 9.97348977e-01 -7.12868663e-02 -1.46014174e-02 3.76825851e+02] [ 7.12898968e-02 9.97455589e-01 -3.13499240e-04 5.12591111e+00] [ 1.45866137e-02 -7.28265391e-04 9.99893344e-01 4.47362288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99509989300003 meters 0.025120771945923433 Centerline is valid? [True, True] Translation: X:376.86, Y:5.12, Z:4.47 [[ 9.96931569e-01 -7.70125707e-02 -1.40182354e-02 3.76856801e+02] [ 7.70159312e-02 9.97029817e-01 -3.00758893e-04 5.12189468e+00] [ 1.39997609e-02 -7.79791418e-04 9.99901694e-01 4.47423927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.025099893 meters 0.02575301269967824 Centerline is valid? [True, True] Translation: X:376.89, Y:5.12, Z:4.47 [[ 9.96736453e-01 -7.94764135e-02 -1.41401149e-02 3.76887714e+02] [ 7.94800809e-02 9.96836408e-01 -3.03297499e-04 5.12037921e+00] [ 1.41194864e-02 -8.21549804e-04 9.99899978e-01 4.47493291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05509989300003 meters 0.0270179318443408 Centerline is valid? [True, True] Translation: X:376.92, Y:5.12, Z:4.48 [[ 9.96592083e-01 -8.13041611e-02 -1.39231171e-02 3.76919900e+02] [ 8.13078992e-02 9.96688987e-01 -2.98305539e-04 5.11805112e+00] [ 1.39012710e-02 -8.34770467e-04 9.99903024e-01 4.47536916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.085099893 meters 0.028949080547495704 Centerline is valid? [True, True] Translation: X:376.95, Y:5.11, Z:4.48 [[ 9.96457333e-01 -8.28802925e-02 -1.42702406e-02 3.76950514e+02] [ 8.28843946e-02 9.96559122e-01 -3.04746092e-04 5.11494452e+00] [ 1.42463959e-02 -8.79113771e-04 9.99898128e-01 4.47551852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11509989300004 meters 0.029956677660904856 Centerline is valid? [True, True] Translation: X:376.98, Y:5.11, Z:4.48 [[ 9.96299297e-01 -8.48703900e-02 -1.35914785e-02 3.76982005e+02] [ 8.48743019e-02 9.96391624e-01 -2.89777542e-04 5.11291039e+00] [ 1.35670288e-02 -8.64862085e-04 9.99907590e-01 4.47632945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.145099893 meters 0.030947592338648786 Centerline is valid? [True, True] Translation: X:377.01, Y:5.11, Z:4.48 [[ 9.96266514e-01 -8.52493379e-02 -1.36229243e-02 3.77013752e+02] [ 8.52533111e-02 9.96359267e-01 -2.89858587e-04 5.11185293e+00] [ 1.35980372e-02 -8.72623003e-04 9.99907162e-01 4.47701994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.175099893 meters 0.03164724029889867 Centerline is valid? [True, True] Translation: X:377.04, Y:5.11, Z:4.48 [[ 9.96259356e-01 -8.54091772e-02 -1.31364873e-02 3.77044486e+02] [ 8.54129042e-02 9.96345602e-01 -2.78089520e-04 5.11153120e+00] [ 1.31122328e-02 -8.44976246e-04 9.99913674e-01 4.47772328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.205099893 meters 0.03229033013563803 Centerline is valid? [True, True] Translation: X:377.08, Y:5.11, Z:4.48 [[ 9.96325275e-01 -8.46992650e-02 -1.27271673e-02 3.77075689e+02] [ 8.47027143e-02 9.96406231e-01 -2.68739963e-04 5.11148551e+00] [ 1.27041909e-02 -8.10273197e-04 9.99918970e-01 4.47840685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.235099893 meters 0.02916040023567675 Centerline is valid? [True, True] Translation: X:377.11, Y:5.12, Z:4.48 [[ 9.96369495e-01 -8.41560418e-02 -1.28681870e-02 3.77107991e+02] [ 8.41595436e-02 9.96452256e-01 -2.70105043e-04 5.11653168e+00] [ 1.28452649e-02 -8.13856316e-04 9.99917165e-01 4.47905763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.265099893 meters 0.033314827686958426 Centerline is valid? [True, True] Translation: X:377.14, Y:5.11, Z:4.48 [[ 9.96422084e-01 -8.35070400e-02 -1.30232149e-02 3.77139520e+02] [ 8.35105837e-02 9.96506853e-01 -2.72416438e-04 5.11178247e+00] [ 1.30004716e-02 -8.16134523e-04 9.99915157e-01 4.47942310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.295099893 meters 0.033033260721861746 Centerline is valid? [True, True] Translation: X:377.17, Y:5.11, Z:4.48 [[ 9.96477995e-01 -8.27756771e-02 -1.34086724e-02 3.77171397e+02] [ 8.27793779e-02 9.96567858e-01 -2.79720572e-04 5.11331413e+00] [ 1.33858060e-02 -8.31226161e-04 9.99910061e-01 4.47947396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.325099893 meters 0.026407385408599604 Centerline is valid? [True, True] Translation: X:377.20, Y:5.12, Z:4.48 [[ 9.96593936e-01 -8.12132150e-02 -1.43157410e-02 3.77202727e+02] [ 8.12172870e-02 9.96696375e-01 -2.97661130e-04 5.12426236e+00] [ 1.42926212e-02 -8.66038368e-04 9.99897480e-01 4.47919216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.355099893 meters 0.027280965059837264 Centerline is valid? [True, True] Translation: X:377.23, Y:5.12, Z:4.48 [[ 9.96668501e-01 -8.02207339e-02 -1.47150380e-02 3.77233999e+02] [ 8.02249374e-02 9.96776738e-01 -3.05362673e-04 5.12445636e+00] [ 1.46921040e-02 -8.76167646e-04 9.99891681e-01 4.47938983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.385099893 meters 0.027915561014227284 Centerline is valid? [True, True] Translation: X:377.26, Y:5.13, Z:4.48 [[ 9.96754901e-01 -7.91912271e-02 -1.44366246e-02 3.77264916e+02] [ 7.91951766e-02 9.96859085e-01 -2.98804710e-04 5.12509016e+00] [ 1.44149431e-02 -8.45475973e-04 9.99895742e-01 4.47987145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.415099893 meters 0.029768429113911126 Centerline is valid? [True, True] Translation: X:377.30, Y:5.12, Z:4.48 [[ 9.96838554e-01 -7.81879703e-02 -1.41257968e-02 3.77296556e+02] [ 7.81916621e-02 9.96938302e-01 -2.91590954e-04 5.12427538e+00] [ 1.41053468e-02 -8.13850425e-04 9.99900183e-01 4.48033311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.445099893 meters 0.02578483337889218 Centerline is valid? [True, True] Translation: X:377.33, Y:5.13, Z:4.48 [[ 9.97016348e-01 -7.58112337e-02 -1.45278892e-02 3.77327947e+02] [ 7.58149014e-02 9.97121864e-01 -2.98908362e-04 5.13254847e+00] [ 1.45087366e-02 -8.03413965e-04 9.99894420e-01 4.48048099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.475099893 meters 0.025749774633744928 Centerline is valid? [True, True] Translation: X:377.36, Y:5.13, Z:4.48 [[ 9.97094298e-01 -7.48141777e-02 -1.43456947e-02 3.77359947e+02] [ 7.48176596e-02 9.97197188e-01 -2.94571729e-04 5.13426379e+00] [ 1.43275246e-02 -7.79595512e-04 9.99897052e-01 4.48118099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.505099893 meters 0.023824966787654143 Centerline is valid? [True, True] Translation: X:377.39, Y:5.14, Z:4.48 [[ 9.97260934e-01 -7.25456207e-02 -1.44139694e-02 3.77391183e+02] [ 7.25489135e-02 9.97364812e-01 -2.95001911e-04 5.13969156e+00] [ 1.43973870e-02 -7.51523941e-04 9.99896070e-01 4.48197246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.535099893 meters 0.023824966787654143 Centerline is valid? [True, True] Translation: X:377.42, Y:5.14, Z:4.48 [[ 9.97268932e-01 -7.24355885e-02 -1.44139833e-02 3.77423753e+02] [ 7.24388796e-02 9.97372810e-01 -2.94320971e-04 5.14027149e+00] [ 1.43974344e-02 -7.50615644e-04 9.99896070e-01 4.48237520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.565099893 meters 0.025877879608566832 Centerline is valid? [True, True] Translation: X:377.46, Y:5.14, Z:4.48 [[ 9.97331813e-01 -7.14607767e-02 -1.49201810e-02 3.77455141e+02] [ 7.14642175e-02 9.97443118e-01 -3.03104789e-04 5.13927088e+00] [ 1.49036920e-02 -7.63963011e-04 9.99888642e-01 4.48231007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.595099893 meters 0.025039350042807773 Centerline is valid? [True, True] Translation: X:377.49, Y:5.14, Z:4.48 [[ 9.97409133e-01 -7.03271141e-02 -1.51366656e-02 3.77487545e+02] [ 7.03305385e-02 9.97523695e-01 -3.06620401e-04 5.14231850e+00] [ 1.51207463e-02 -7.58743856e-04 9.99885387e-01 4.48265863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.625099893 meters 0.025011292420589575 Centerline is valid? [True, True] Translation: X:377.52, Y:5.14, Z:4.48 [[ 9.97513228e-01 -6.88728413e-02 -1.49630094e-02 3.77519326e+02] [ 6.88760401e-02 9.97625180e-01 -3.02052041e-04 5.14394843e+00] [ 1.49482782e-02 -7.29291930e-04 9.99888002e-01 4.48297462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.655099893 meters 0.021636747398466556 Centerline is valid? [True, True] Translation: X:377.55, Y:5.15, Z:4.48 [[ 9.97674612e-01 -6.65978110e-02 -1.44948522e-02 3.77550739e+02] [ 6.66005865e-02 9.97779673e-01 -2.91679577e-04 5.15138476e+00] [ 1.44820941e-02 -6.74364350e-04 9.99894902e-01 4.48389958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68509989300003 meters 0.023015696783898396 Centerline is valid? [True, True] Translation: X:377.58, Y:5.15, Z:4.48 [[ 9.97741402e-01 -6.55758423e-02 -1.45569156e-02 3.77582145e+02] [ 6.55785415e-02 9.97847368e-01 -2.92350334e-04 5.15079103e+00] [ 1.45447510e-02 -6.62931260e-04 9.99894000e-01 4.48448916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.715099893 meters 0.022687500615175403 Centerline is valid? [True, True] Translation: X:377.61, Y:5.15, Z:4.49 [[ 9.97824592e-01 -6.43691808e-02 -1.42369872e-02 3.77614258e+02] [ 6.43716514e-02 9.97925954e-01 -2.85130064e-04 5.15258897e+00] [ 1.42258126e-02 -6.31948589e-04 9.99898608e-01 4.48501600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74509989300003 meters 0.020625055981145134 Centerline is valid? [True, True] Translation: X:377.65, Y:5.16, Z:4.49 [[ 9.97963556e-01 -6.23731767e-02 -1.33539199e-02 3.77646462e+02] [ 6.23751838e-02 9.98052737e-01 -2.66547988e-04 5.15789800e+00] [ 1.33445417e-02 -5.66948030e-04 9.99910797e-01 4.48623637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.775099893 meters 0.01969605406783681 Centerline is valid? [True, True] Translation: X:377.68, Y:5.16, Z:4.49 [[ 9.98009637e-01 -6.16003337e-02 -1.34967801e-02 3.77678244e+02] [ 6.16023267e-02 9.98100737e-01 -2.68414769e-04 5.16071913e+00] [ 1.34876806e-02 -5.63552532e-04 9.99908878e-01 4.48663358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80509989300003 meters 0.023216464121636384 Centerline is valid? [True, True] Translation: X:377.71, Y:5.16, Z:4.49 [[ 9.98066379e-01 -6.06733997e-02 -1.34997129e-02 3.77709378e+02] [ 6.06753221e-02 9.98157519e-01 -2.67495994e-04 5.15785429e+00] [ 1.34910698e-02 -5.52120668e-04 9.99908839e-01 4.48652135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.835099893 meters 0.023216464121636384 Centerline is valid? [True, True] Translation: X:377.74, Y:5.16, Z:4.49 [[ 9.98070539e-01 -6.06049287e-02 -1.34997278e-02 3.77741085e+02] [ 6.06068551e-02 9.98161679e-01 -2.66737605e-04 5.15841818e+00] [ 1.34910766e-02 -5.51953104e-04 9.99908839e-01 4.48691336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86509989300004 meters 0.019271540417705065 Centerline is valid? [True, True] Translation: X:377.77, Y:5.17, Z:4.49 [[ 9.98055947e-01 -6.06284559e-02 -1.44400941e-02 3.77772726e+02] [ 6.06306779e-02 9.98160228e-01 -2.84256403e-04 5.16634792e+00] [ 1.44307616e-02 -5.91808899e-04 9.99895696e-01 4.48659960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.895099893 meters 0.020040964547608276 Centerline is valid? [True, True] Translation: X:377.80, Y:5.17, Z:4.49 [[ 9.98013066e-01 -6.12016213e-02 -1.49760350e-02 3.77803866e+02] [ 6.12040921e-02 9.98125229e-01 -2.93710593e-04 5.16614780e+00] [ 1.49659339e-02 -6.23467618e-04 9.99887810e-01 4.48623933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.925099893 meters 0.02064672019642639 Centerline is valid? [True, True] Translation: X:377.84, Y:5.17, Z:4.49 [[ 9.97942804e-01 -6.21250393e-02 -1.58316062e-02 3.77835696e+02] [ 6.21279320e-02 9.98068146e-01 -3.09515004e-04 5.16634762e+00] [ 1.58202505e-02 -6.74706684e-04 9.99874624e-01 4.48607537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.955099893 meters 0.020552353361301512 Centerline is valid? [True, True] Translation: X:377.87, Y:5.17, Z:4.49 [[ 9.97868976e-01 -6.32096470e-02 -1.61879020e-02 3.77867717e+02] [ 6.32128333e-02 9.98000019e-01 -3.15279402e-04 5.16768285e+00] [ 1.61754552e-02 -7.08675615e-04 9.99868918e-01 4.48611759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.985099893 meters 0.022790414180902125 Centerline is valid? [True, True] Translation: X:377.90, Y:5.17, Z:4.49 [[ 9.97659627e-01 -6.63343124e-02 -1.65839763e-02 3.77897526e+02] [ 6.63381027e-02 9.97797150e-01 -3.22062410e-04 5.16598695e+00] [ 1.65688081e-02 -7.78840860e-04 9.99862425e-01 4.48626560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.015099893 meters 0.023723254965957185 Centerline is valid? [True, True] Translation: X:377.93, Y:5.17, Z:4.49 [[ 9.97537725e-01 -6.81723461e-02 -1.64626477e-02 3.77930062e+02] [ 6.81763356e-02 9.97673236e-01 -3.19412415e-04 5.16571094e+00] [ 1.64461181e-02 -8.03737059e-04 9.99864430e-01 4.48704201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.045099893 meters 0.02564970685102665 Centerline is valid? [True, True] Translation: X:377.96, Y:5.16, Z:4.49 [[ 9.97399745e-01 -7.02595263e-02 -1.60420469e-02 3.77961198e+02] [ 7.02636008e-02 9.97528411e-01 -3.10191860e-04 5.16427002e+00] [ 1.60241915e-02 -8.17786696e-04 9.99871270e-01 4.48777444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.075099893 meters 0.023771507464264395 Centerline is valid? [True, True] Translation: X:377.99, Y:5.17, Z:4.49 [[ 9.97261369e-01 -7.22771888e-02 -1.56770427e-02 3.77993545e+02] [ 7.22813425e-02 9.97384237e-01 -3.02244027e-04 5.16798113e+00] [ 1.56578806e-02 -8.31741396e-04 9.99877062e-01 4.48903862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.105099893 meters 0.029935063916258383 Centerline is valid? [True, True] Translation: X:378.02, Y:5.16, Z:4.49 [[ 9.96998756e-01 -7.58801049e-02 -1.53522328e-02 3.78023922e+02] [ 7.58845276e-02 9.97116569e-01 -2.95088649e-04 5.16086704e+00] [ 1.53303571e-02 -8.70793921e-04 9.99882104e-01 4.48990112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.135099893 meters 0.028855819226592343 Centerline is valid? [True, True] Translation: X:378.06, Y:5.16, Z:4.49 [[ 9.96866287e-01 -7.76806852e-02 -1.49438161e-02 3.78056260e+02] [ 7.76850800e-02 9.96977906e-01 -2.87055802e-04 5.16332984e+00] [ 1.49209532e-02 -8.74755297e-04 9.99888294e-01 4.49080411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.165099893 meters 0.02989678040239748 Centerline is valid? [True, True] Translation: X:378.09, Y:5.16, Z:4.49 [[ 9.96761254e-01 -7.90508150e-02 -1.47638501e-02 3.78088407e+02] [ 7.90552695e-02 9.96870194e-01 -2.82565573e-04 5.16293560e+00] [ 1.47399791e-02 -8.85509731e-04 9.99890968e-01 4.49140563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.195099893 meters 0.028973705966090793 Centerline is valid? [True, True] Translation: X:378.12, Y:5.17, Z:4.49 [[ 9.96655626e-01 -8.04671521e-02 -1.42337835e-02 3.78120507e+02] [ 8.04714501e-02 9.96756877e-01 -2.71447089e-04 5.16520053e+00] [ 1.42094642e-02 -8.74873933e-04 9.99898658e-01 4.49239853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.225099893 meters 0.02665744196161127 Centerline is valid? [True, True] Translation: X:378.15, Y:5.17, Z:4.49 [[ 9.96427539e-01 -8.32907382e-02 -1.39575461e-02 3.78151489e+02] [ 8.32951594e-02 9.96524885e-01 -2.65278584e-04 5.16965861e+00] [ 1.39311372e-02 -8.98265137e-04 9.99902554e-01 4.49325769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.255099893 meters 0.03152207191221415 Centerline is valid? [True, True] Translation: X:378.18, Y:5.16, Z:4.49 [[ 9.96349604e-01 -8.42889343e-02 -1.35219097e-02 3.78182939e+02] [ 8.42931792e-02 9.96440964e-01 -2.56710867e-04 5.16392805e+00] [ 1.34954227e-02 -8.84030989e-04 9.99908542e-01 4.49364475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.285099893 meters 0.03124326479201875 Centerline is valid? [True, True] Translation: X:378.21, Y:5.17, Z:4.49 [[ 9.96235362e-01 -8.55673451e-02 -1.39043909e-02 3.78214608e+02] [ 8.55719685e-02 9.96331957e-01 -2.63180273e-04 5.16511205e+00] [ 1.38759087e-02 -9.27636608e-04 9.99903295e-01 4.49385373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.315099893 meters 0.03462860893880454 Centerline is valid? [True, True] Translation: X:378.24, Y:5.16, Z:4.49 [[ 9.96003244e-01 -8.80009075e-02 -1.52766949e-02 3.78244600e+02] [ 8.80067847e-02 9.96119833e-01 -2.88422959e-04 5.16187841e+00] [ 1.52428002e-02 -1.05718259e-03 9.99883263e-01 4.49294874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.345099893 meters 0.0342718810707246 Centerline is valid? [True, True] Translation: X:378.28, Y:5.16, Z:4.49 [[ 9.95905159e-01 -8.89377977e-02 -1.62167574e-02 3.78276663e+02] [ 8.89445488e-02 9.96036532e-01 -3.05898605e-04 5.16323384e+00] [ 1.61796888e-02 -1.13774617e-03 9.99868453e-01 4.49292713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.375099893 meters 0.035270895680085436 Centerline is valid? [True, True] Translation: X:378.31, Y:5.16, Z:4.49 [[ 9.95831990e-01 -8.96558753e-02 -1.67472891e-02 3.78309286e+02] [ 8.96631967e-02 9.95972094e-01 -3.14693944e-04 5.16276653e+00] [ 1.67080468e-02 -1.18823318e-03 9.99859705e-01 4.49269708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.405099893 meters 0.03257553773737628 Centerline is valid? [True, True] Translation: X:378.34, Y:5.17, Z:4.49 [[ 9.95757889e-01 -9.03822871e-02 -1.72414537e-02 3.78341288e+02] [ 9.03901769e-02 9.95906377e-01 -3.22729450e-04 5.16718489e+00] [ 1.72000427e-02 -1.23709766e-03 9.99851303e-01 4.49320877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43509989300003 meters 0.0363347179036666 Centerline is valid? [True, True] Translation: X:378.37, Y:5.16, Z:4.49 [[ 9.95686359e-01 -9.10142975e-02 -1.80297612e-02 3.78372038e+02] [ 9.10230491e-02 9.95848729e-01 -3.36341619e-04 5.16417927e+00] [ 1.79855266e-02 -1.30623307e-03 9.99837394e-01 4.49332067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.465099893 meters 0.030137895772245973 Centerline is valid? [True, True] Translation: X:378.40, Y:5.17, Z:4.49 [[ 9.95698419e-01 -9.08262620e-02 -1.83098185e-02 3.78404058e+02] [ 9.08352725e-02 9.95865873e-01 -3.40668707e-04 5.17371609e+00] [ 1.82650651e-02 -1.32397406e-03 9.99832303e-01 4.49436895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49509989300003 meters 0.030813480599462106 Centerline is valid? [True, True] Translation: X:378.44, Y:5.17, Z:4.49 [[ 9.95766278e-01 -9.01244431e-02 -1.80860445e-02 3.78436745e+02] [ 9.01331454e-02 9.95929668e-01 -3.35067790e-04 5.17424483e+00] [ 1.80426260e-02 -1.29650287e-03 9.99836378e-01 4.49466000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.525099893 meters 0.030173078345420826 Centerline is valid? [True, True] Translation: X:378.47, Y:5.18, Z:4.50 [[ 9.95812492e-01 -8.96246806e-02 -1.80249082e-02 3.78468534e+02] [ 8.96332707e-02 9.95974782e-01 -3.32378503e-04 5.17659534e+00] [ 1.79821433e-02 -1.28464481e-03 9.99837483e-01 4.49508759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55509989300003 meters 0.03427731028258532 Centerline is valid? [True, True] Translation: X:378.50, Y:5.17, Z:4.49 [[ 9.95986353e-01 -8.77295112e-02 -1.77402753e-02 3.78499153e+02] [ 8.77375506e-02 9.96143572e-01 -3.26126716e-04 5.17391689e+00] [ 1.77004722e-02 -1.23167055e-03 9.99842576e-01 4.49475517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.585099893 meters 0.03184071265535759 Centerline is valid? [True, True] Translation: X:378.53, Y:5.18, Z:4.50 [[ 9.96178138e-01 -8.56204235e-02 -1.72702332e-02 3.78530855e+02] [ 8.56277353e-02 9.96327150e-01 -3.16998290e-04 5.17980896e+00] [ 1.72339437e-02 -1.16302419e-03 9.99850808e-01 4.49540319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61509989300004 meters 0.0283239345418129 Centerline is valid? [True, True] Translation: X:378.56, Y:5.19, Z:4.50 [[ 9.96277080e-01 -8.45225769e-02 -1.69680208e-02 3.78563264e+02] [ 8.45294933e-02 9.96420929e-01 -3.10456415e-04 5.18619339e+00] [ 1.69335316e-02 -1.12499759e-03 9.99855985e-01 4.49606407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.645099893 meters 0.028344395305269155 Centerline is valid? [True, True] Translation: X:378.60, Y:5.19, Z:4.50 [[ 9.96347719e-01 -8.37508647e-02 -1.66437784e-02 3.78595687e+02] [ 8.37574322e-02 9.96486127e-01 -3.03308454e-04 5.18777645e+00] [ 1.66106966e-02 -1.09183946e-03 9.99861437e-01 4.49647509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.675099893 meters 0.028163922316780905 Centerline is valid? [True, True] Translation: X:378.63, Y:5.19, Z:4.50 [[ 9.96405902e-01 -8.29780680e-02 -1.70269980e-02 3.78628098e+02] [ 8.29848509e-02 9.96550761e-01 -3.09014149e-04 5.18942342e+00] [ 1.69939092e-02 -1.10507937e-03 9.99854982e-01 4.49670192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.705099893 meters 0.030389078425625153 Centerline is valid? [True, True] Translation: X:378.66, Y:5.19, Z:4.50 [[ 9.96448146e-01 -8.24769485e-02 -1.69895367e-02 3.78658899e+02] [ 8.24836487e-02 9.96592371e-01 -3.07170496e-04 5.18774846e+00] [ 1.69569772e-02 -1.09527951e-03 9.99855620e-01 4.49656057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.735099893 meters 0.029476856948770776 Centerline is valid? [True, True] Translation: X:378.69, Y:5.19, Z:4.50 [[ 9.96443918e-01 -8.25768789e-02 -1.67504188e-02 3.78690930e+02] [ 8.25834224e-02 9.96584109e-01 -3.01859054e-04 5.19065758e+00] [ 1.67181277e-02 -1.08252129e-03 9.99859656e-01 4.49679865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.765099893 meters 0.029129162098298342 Centerline is valid? [True, True] Translation: X:378.72, Y:5.19, Z:4.50 [[ 9.96409760e-01 -8.29445737e-02 -1.69642841e-02 3.78723421e+02] [ 8.29513596e-02 9.96553551e-01 -3.04467324e-04 5.19217303e+00] [ 1.69310715e-02 -1.10383622e-03 9.99856050e-01 4.49694557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.795099893 meters 0.02912404983630327 Centerline is valid? [True, True] Translation: X:378.76, Y:5.19, Z:4.50 [[ 9.96390995e-01 -8.31839290e-02 -1.68943422e-02 3.78755158e+02] [ 8.31907141e-02 9.96533599e-01 -3.01980977e-04 5.19300324e+00] [ 1.68608996e-02 -1.10456126e-03 9.99857235e-01 4.49683637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.825099893 meters 0.032210697781222236 Centerline is valid? [True, True] Translation: X:378.79, Y:5.19, Z:4.50 [[ 9.96360340e-01 -8.35178623e-02 -1.70540089e-02 3.78786629e+02] [ 8.35248514e-02 9.96505648e-01 -3.03278895e-04 5.18964209e+00] [ 1.70197454e-02 -1.12225849e-03 9.99854524e-01 4.49673391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.855099893 meters 0.028758931304484665 Centerline is valid? [True, True] Translation: X:378.82, Y:5.20, Z:4.50 [[ 9.96358337e-01 -8.34051172e-02 -1.77102096e-02 3.78819440e+02] [ 8.34126786e-02 9.96515041e-01 -3.12594681e-04 5.19542195e+00] [ 1.76745622e-02 -1.16579970e-03 9.99843113e-01 4.49674139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.885099893 meters 0.029219128820533968 Centerline is valid? [True, True] Translation: X:378.85, Y:5.20, Z:4.50 [[ 9.96375942e-01 -8.31052223e-02 -1.81246775e-02 3.78851594e+02] [ 8.31131255e-02 9.96540068e-01 -3.18083197e-04 5.19577166e+00] [ 1.80884018e-02 -1.18946815e-03 9.99835684e-01 4.49689074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.915099893 meters 0.028488389835093938 Centerline is valid? [True, True] Translation: X:378.88, Y:5.20, Z:4.50 [[ 9.96423802e-01 -8.24282889e-02 -1.85791433e-02 3.78883573e+02] [ 8.24365021e-02 9.96596266e-01 -3.24672725e-04 5.19798186e+00] [ 1.85426671e-02 -1.20808796e-03 9.99827340e-01 4.49684227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.945099893 meters 0.029184829429637467 Centerline is valid? [True, True] Translation: X:378.91, Y:5.20, Z:4.50 [[ 9.96544084e-01 -8.09022172e-02 -1.88339876e-02 3.78914369e+02] [ 8.09104077e-02 9.96721324e-01 -3.27966326e-04 5.19829594e+00] [ 1.87987702e-02 -1.19703271e-03 9.99822571e-01 4.49676495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.975099893 meters 0.028799858944207883 Centerline is valid? [True, True] Translation: X:378.95, Y:5.20, Z:4.50 [[ 9.96666885e-01 -7.92312593e-02 -1.94300698e-02 3.78945919e+02] [ 7.92396743e-02 9.96855536e-01 -3.37622362e-04 5.20036321e+00] [ 1.93957229e-02 -1.20313538e-03 9.99811161e-01 4.49707560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.005099893 meters 0.02602428970826945 Centerline is valid? [True, True] Translation: X:378.98, Y:5.21, Z:4.50 [[ 9.97043735e-01 -7.43459015e-02 -1.94030390e-02 3.78976049e+02] [ 7.43533805e-02 9.97231900e-01 -3.36668062e-04 5.20710631e+00] [ 1.93743593e-02 -1.10700876e-03 9.99811687e-01 4.49778409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.035099893 meters 0.025338670283917352 Centerline is valid? [True, True] Translation: X:379.01, Y:5.21, Z:4.50 [[ 9.97267941e-01 -7.13012153e-02 -1.93077768e-02 3.79006660e+02] [ 7.13080557e-02 9.97454284e-01 -3.34827345e-04 5.20988068e+00] [ 1.92824983e-02 -1.04288745e-03 9.99813531e-01 4.49861306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.065099893 meters 0.024402616812142407 Centerline is valid? [True, True] Translation: X:379.04, Y:5.21, Z:4.50 [[ 9.97491748e-01 -6.81182352e-02 -1.92384633e-02 3.79037128e+02] [ 6.81244404e-02 9.97676776e-01 -3.33403489e-04 5.21308312e+00] [ 1.92164789e-02 -9.78042316e-04 9.99814868e-01 4.49947553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.095099893 meters 0.02356617873885742 Centerline is valid? [True, True] Translation: X:379.07, Y:5.22, Z:4.50 [[ 9.97953527e-01 -6.13156049e-02 -1.81426022e-02 3.79066939e+02] [ 6.13200010e-02 9.98118109e-01 -3.14415290e-04 5.21716864e+00] [ 1.81277384e-02 -7.98732540e-04 9.99835360e-01 4.50066122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.125099893 meters 0.020876173877218806 Centerline is valid? [True, True] Translation: X:379.10, Y:5.22, Z:4.50 [[ 9.98179385e-01 -5.76977099e-02 -1.75752632e-02 3.79098163e+02] [ 5.77012785e-02 9.98333847e-01 -3.04402077e-04 5.22275066e+00] [ 1.75635434e-02 -7.10267278e-04 9.99845497e-01 4.50182462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.155099893 meters 0.01905158810258878 Centerline is valid? [True, True] Translation: X:379.13, Y:5.23, Z:4.50 [[ 9.98400594e-01 -5.39565040e-02 -1.68804522e-02 3.79129926e+02] [ 5.39592734e-02 9.98543095e-01 -2.91693992e-04 5.22740704e+00] [ 1.68715978e-02 -6.19629480e-04 9.99857472e-01 4.50281179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18509989300003 meters 0.019769812368837347 Centerline is valid? [True, True] Translation: X:379.16, Y:5.23, Z:4.50 [[ 9.98596317e-01 -5.02802126e-02 -1.66521816e-02 3.79160368e+02] [ 5.02824093e-02 9.98734998e-01 -2.87005512e-04 5.22762756e+00] [ 1.66455472e-02 -5.50709162e-04 9.99861302e-01 4.50295736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.215099893 meters 0.016908364563005276 Centerline is valid? [True, True] Translation: X:379.19, Y:5.23, Z:4.50 [[ 9.98766731e-01 -4.69340010e-02 -1.61931067e-02 3.79192196e+02] [ 4.69356458e-02 9.98897876e-01 -2.78664206e-04 5.23378399e+00] [ 1.61883387e-02 -4.81713381e-04 9.99868844e-01 4.50392684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24509989300003 meters 0.017313597924706478 Centerline is valid? [True, True] Translation: X:379.22, Y:5.23, Z:4.50 [[ 9.99040775e-01 -4.08150716e-02 -1.58638047e-02 3.79222994e+02] [ 4.08158916e-02 9.99166647e-01 -2.72207845e-04 5.23412459e+00] [ 1.58616948e-02 -3.75548598e-04 9.99874125e-01 4.50363670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.275099893 meters 0.015100200025646826 Centerline is valid? [True, True] Translation: X:379.26, Y:5.24, Z:4.50 [[ 9.99154839e-01 -3.80944689e-02 -1.54408087e-02 3.79255363e+02] [ 3.80949311e-02 9.99274090e-01 -2.64298716e-04 5.23911348e+00] [ 1.54396684e-02 -3.24141204e-04 9.99880749e-01 4.50428060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30509989300003 meters 0.014934410396251511 Centerline is valid? [True, True] Translation: X:379.29, Y:5.24, Z:4.50 [[ 9.99238090e-01 -3.56405588e-02 -1.59056650e-02 3.79286557e+02] [ 3.56407561e-02 9.99364630e-01 -2.71146493e-04 5.23995337e+00] [ 1.59052228e-02 -2.95950024e-04 9.99873460e-01 4.50422533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.335099893 meters 0.013972108164422726 Centerline is valid? [True, True] Translation: X:379.32, Y:5.24, Z:4.50 [[ 9.99368489e-01 -3.16439130e-02 -1.61643535e-02 3.79318314e+02] [ 3.16436081e-02 9.99499178e-01 -2.74695247e-04 5.24207032e+00] [ 1.61649505e-02 -2.36976695e-04 9.99869311e-01 4.50371393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36509989300004 meters 0.01351086464215471 Centerline is valid? [True, True] Translation: X:379.35, Y:5.24, Z:4.50 [[ 9.99434325e-01 -2.95318544e-02 -1.60903831e-02 3.79349671e+02] [ 2.95312905e-02 9.99563819e-01 -2.72699373e-04 5.24373993e+00] [ 1.60914181e-02 -2.02624664e-04 9.99870504e-01 4.50388241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.395099893 meters 0.01351086464215471 Centerline is valid? [True, True] Translation: X:379.38, Y:5.24, Z:4.50 [[ 9.99435402e-01 -2.94953590e-02 -1.60903930e-02 3.79380514e+02] [ 2.94947997e-02 9.99564897e-01 -2.72112279e-04 5.24423416e+00] [ 1.60914181e-02 -2.02624275e-04 9.99870504e-01 4.50426375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.425099893 meters 0.01336703348560139 Centerline is valid? [True, True] Translation: X:379.41, Y:5.24, Z:4.50 [[ 9.99502303e-01 -2.72079576e-02 -1.59647669e-02 3.79410893e+02] [ 2.72071235e-02 9.99629781e-01 -2.69474475e-04 5.24498700e+00] [ 1.59661883e-02 -1.65015028e-04 9.99872519e-01 4.50407961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.455099893 meters 0.013130137732800029 Centerline is valid? [True, True] Translation: X:379.44, Y:5.25, Z:4.50 [[ 9.99546641e-01 -2.55199469e-02 -1.59764110e-02 3.79441945e+02] [ 2.55189017e-02 9.99674304e-01 -2.69314364e-04 5.24654601e+00] [ 1.59780804e-02 -1.38508193e-04 9.99872333e-01 4.50435491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.485099893 meters 0.01291701050077382 Centerline is valid? [True, True] Translation: X:379.47, Y:5.25, Z:4.50 [[ 9.99635468e-01 -2.18126255e-02 -1.59104128e-02 3.79472399e+02] [ 2.18111266e-02 9.99762073e-01 -2.67750451e-04 5.24721447e+00] [ 1.59124676e-02 -7.93711793e-05 9.99873386e-01 4.50404605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.515099893 meters 0.012844125587383692 Centerline is valid? [True, True] Translation: X:379.50, Y:5.25, Z:4.50 [[ 9.99657598e-01 -2.07210941e-02 -1.59788468e-02 3.79502476e+02] [ 2.07194407e-02 9.99785293e-01 -2.69034301e-04 5.24732233e+00] [ 1.59809908e-02 -6.21305858e-05 9.99872294e-01 4.50419617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.545099893 meters 0.01285166049380775 Centerline is valid? [True, True] Translation: X:379.53, Y:5.25, Z:4.50 [[ 9.99675401e-01 -1.98185452e-02 -1.60099196e-02 3.79530922e+02] [ 1.98167591e-02 9.99803592e-01 -2.70208862e-04 5.24678390e+00] [ 1.60121303e-02 -4.71435684e-05 9.99871797e-01 4.50378735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.575099893 meters 0.012896951674525436 Centerline is valid? [True, True] Translation: X:379.56, Y:5.25, Z:4.50 [[ 9.99672726e-01 -2.01933581e-02 -1.57056917e-02 3.79559571e+02] [ 2.01916616e-02 9.99796092e-01 -2.66595848e-04 5.24536524e+00] [ 1.57078726e-02 -5.06154137e-05 9.99876622e-01 4.50403860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.605099893 meters 0.0129311309820023 Centerline is valid? [True, True] Translation: X:379.59, Y:5.24, Z:4.50 [[ 9.99664502e-01 -2.09781939e-02 -1.51920723e-02 3.79589162e+02] [ 2.09766487e-02 9.99779932e-01 -2.61065828e-04 5.24432171e+00] [ 1.51942057e-02 -5.77005239e-05 9.99884560e-01 4.50433937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.635099893 meters 0.013010315771842106 Centerline is valid? [True, True] Translation: X:379.62, Y:5.24, Z:4.50 [[ 9.99643409e-01 -2.24298007e-02 -1.44899832e-02 3.79618037e+02] [ 2.24285395e-02 9.99748418e-01 -2.49552769e-04 5.24285719e+00] [ 1.44919352e-02 -7.55253799e-05 9.99894984e-01 4.50484905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.665099893 meters 0.013127997751030168 Centerline is valid? [True, True] Translation: X:379.65, Y:5.24, Z:4.51 [[ 9.99611741e-01 -2.43075030e-02 -1.36203149e-02 3.79648956e+02] [ 2.43065543e-02 9.99704524e-01 -2.35213378e-04 5.24091029e+00] [ 1.36220079e-02 -9.59408700e-05 9.99907212e-01 4.50525491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.695099893 meters 0.013762775317038782 Centerline is valid? [True, True] Translation: X:379.68, Y:5.24, Z:4.51 [[ 9.99468877e-01 -2.97233339e-02 -1.33599264e-02 3.79679461e+02] [ 2.97229054e-02 9.99558150e-01 -2.30666224e-04 5.23528174e+00] [ 1.33608795e-02 -1.66552118e-04 9.99910726e-01 4.50567977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.725099893 meters 0.014295211619238942 Centerline is valid? [True, True] Translation: X:379.71, Y:5.23, Z:4.51 [[ 9.99364512e-01 -3.30638957e-02 -1.33173510e-02 3.79711391e+02] [ 3.30637757e-02 9.99453218e-01 -2.29238829e-04 5.23214858e+00] [ 1.33176488e-02 -2.11228756e-04 9.99911294e-01 4.50561251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.755099893 meters 0.015095523182924958 Centerline is valid? [True, True] Translation: X:379.74, Y:5.23, Z:4.51 [[ 9.99225787e-01 -3.70022209e-02 -1.33664865e-02 3.79743446e+02] [ 3.70024651e-02 9.99315148e-01 -2.29123208e-04 5.22863117e+00] [ 1.33658105e-02 -2.65647132e-04 9.99910638e-01 4.50563696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.785099893 meters 0.01716623853972917 Centerline is valid? [True, True] Translation: X:379.77, Y:5.22, Z:4.51 [[ 9.98892623e-01 -4.52485575e-02 -1.28877767e-02 3.79774863e+02] [ 4.52494815e-02 9.98975693e-01 -2.20043817e-04 5.22040686e+00] [ 1.28845323e-02 -3.63365067e-04 9.99916925e-01 4.50568568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.815099893 meters 0.017801002037951572 Centerline is valid? [True, True] Translation: X:379.81, Y:5.22, Z:4.51 [[ 9.98692048e-01 -4.94880874e-02 -1.28499756e-02 3.79806074e+02] [ 4.94893627e-02 9.98774627e-01 -2.18908364e-04 5.21760832e+00] [ 1.28450629e-02 -4.17315060e-04 9.99917412e-01 4.50612088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.845099893 meters 0.01958983204901987 Centerline is valid? [True, True] Translation: X:379.84, Y:5.21, Z:4.51 [[ 9.98481594e-01 -5.36955494e-02 -1.23001800e-02 3.79836309e+02] [ 5.36970420e-02 9.98557251e-01 -2.09113155e-04 5.21294614e+00] [ 1.22936624e-02 -4.51687644e-04 9.99924328e-01 4.50630075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.875099893 meters 0.0234950441046719 Centerline is valid? [True, True] Translation: X:379.87, Y:5.21, Z:4.51 [[ 9.98260427e-01 -5.75633888e-02 -1.27505047e-02 3.79866774e+02] [ 5.75653109e-02 9.98341719e-01 -2.16519788e-04 5.20547487e+00] [ 1.27418244e-02 -5.17843629e-04 9.99918686e-01 4.50673951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.905099893 meters 0.024124401540713648 Centerline is valid? [True, True] Translation: X:379.90, Y:5.20, Z:4.51 [[ 9.97862546e-01 -6.40709874e-02 -1.28548949e-02 3.79897023e+02] [ 6.40734872e-02 9.97945159e-01 -2.17719141e-04 5.20178903e+00] [ 1.28424296e-02 -6.06404167e-04 9.99917349e-01 4.50615543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93509989300003 meters 0.025274260925133074 Centerline is valid? [True, True] Translation: X:379.93, Y:5.20, Z:4.51 [[ 9.97723597e-01 -6.61013638e-02 -1.33503972e-02 3.79929286e+02] [ 6.61042427e-02 9.97812697e-01 -2.26003181e-04 5.19918656e+00] [ 1.33361350e-02 -6.57029190e-04 9.99910854e-01 4.50613882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.965099893 meters 0.028297445627975724 Centerline is valid? [True, True] Translation: X:379.96, Y:5.19, Z:4.51 [[ 9.97624381e-01 -6.77278702e-02 -1.25908853e-02 3.79960281e+02] [ 6.77305707e-02 9.97703626e-01 -2.12296426e-04 5.19441774e+00] [ 1.25763503e-02 -6.40995757e-04 9.99920709e-01 4.50674684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99509989300003 meters 0.025208822092251098 Centerline is valid? [True, True] Translation: X:379.99, Y:5.20, Z:4.51 [[ 9.97519874e-01 -6.92408209e-02 -1.26415717e-02 3.79992729e+02] [ 6.92436819e-02 9.97599753e-01 -2.11763720e-04 5.19761790e+00] [ 1.26258915e-02 -6.64110453e-04 9.99920070e-01 4.50713028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.025099893 meters 0.026423289871935946 Centerline is valid? [True, True] Translation: X:380.03, Y:5.20, Z:4.51 [[ 9.97522921e-01 -6.91499498e-02 -1.28959679e-02 3.80025236e+02] [ 6.91529319e-02 9.97606047e-01 -2.15064857e-04 5.19579619e+00] [ 1.28799673e-02 -6.77261865e-04 9.99916820e-01 4.50735850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05509989300003 meters 0.026293402041034954 Centerline is valid? [True, True] Translation: X:380.06, Y:5.20, Z:4.51 [[ 9.97560180e-01 -6.84865276e-02 -1.35382340e-02 3.80057775e+02] [ 6.84897701e-02 9.97651793e-01 -2.24524159e-04 5.19609194e+00] [ 1.35218203e-02 -7.03254174e-04 9.99908329e-01 4.50724529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.085099893 meters 0.024172073344711463 Centerline is valid? [True, True] Translation: X:380.09, Y:5.20, Z:4.51 [[ 9.97636374e-01 -6.73134871e-02 -1.38043123e-02 3.80090289e+02] [ 6.73167602e-02 9.97731628e-01 -2.27938801e-04 5.19920310e+00] [ 1.37883423e-02 -7.01861539e-04 9.99904690e-01 4.50725230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11509989300004 meters 0.022801598295406334 Centerline is valid? [True, True] Translation: X:380.12, Y:5.20, Z:4.51 [[ 9.97851507e-01 -6.39726329e-02 -1.41376488e-02 3.80121514e+02] [ 6.39757453e-02 9.97951427e-01 -2.32459149e-04 5.20210128e+00] [ 1.41235578e-02 -6.72506906e-04 9.99900031e-01 4.50753257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.145099893 meters 0.02300265781126039 Centerline is valid? [True, True] Translation: X:380.15, Y:5.20, Z:4.51 [[ 9.98001262e-01 -6.14740297e-02 -1.46432674e-02 3.80151748e+02] [ 6.14771108e-02 9.98108465e-01 -2.40062769e-04 5.20261886e+00] [ 1.46303268e-02 -6.60642828e-04 9.99892753e-01 4.50771222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.175099893 meters 0.022633609126139292 Centerline is valid? [True, True] Translation: X:380.18, Y:5.20, Z:4.51 [[ 9.98154201e-01 -5.88277946e-02 -1.50825230e-02 3.80182323e+02] [ 5.88307869e-02 9.98267939e-01 -2.45597020e-04 5.20404434e+00] [ 1.50708470e-02 -6.42172997e-04 9.99886222e-01 4.50811142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.205099893 meters 0.020059984932493332 Centerline is valid? [True, True] Translation: X:380.21, Y:5.21, Z:4.51 [[ 9.98444905e-01 -5.34642239e-02 -1.57907656e-02 3.80213041e+02] [ 5.34668567e-02 9.98569592e-01 -2.55694133e-04 5.21001079e+00] [ 1.57818488e-02 -5.88986095e-04 9.99875285e-01 4.50840502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.235099893 meters 0.01799890614659813 Centerline is valid? [True, True] Translation: X:380.24, Y:5.22, Z:4.51 [[ 9.98585972e-01 -5.05503609e-02 -1.64534797e-02 3.80244854e+02] [ 5.05528324e-02 9.98721353e-01 -2.65935321e-04 5.21510918e+00] [ 1.64458846e-02 -5.66210720e-04 9.99864597e-01 4.50890436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.265099893 meters 0.018545637344438988 Centerline is valid? [True, True] Translation: X:380.28, Y:5.22, Z:4.51 [[ 9.98734848e-01 -4.72263220e-02 -1.72736035e-02 3.80275357e+02] [ 4.72285652e-02 9.98884070e-01 -2.78275464e-04 5.21540638e+00] [ 1.72674693e-02 -5.37884106e-04 9.99850761e-01 4.50863089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.295099893 meters 0.017497344812014808 Centerline is valid? [True, True] Translation: X:380.31, Y:5.22, Z:4.51 [[ 9.98845238e-01 -4.44867069e-02 -1.81417473e-02 3.80306519e+02] [ 4.44887379e-02 9.99009843e-01 -2.91817761e-04 5.21840435e+00] [ 1.81367661e-02 -5.15622659e-04 9.99835382e-01 4.50882078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.325099893 meters 0.016470756435794397 Centerline is valid? [True, True] Translation: X:380.34, Y:5.22, Z:4.51 [[ 9.98946433e-01 -4.21428964e-02 -1.81658909e-02 3.80337457e+02] [ 4.21445574e-02 9.99111481e-01 -2.91556319e-04 5.22154930e+00] [ 1.81620371e-02 -4.74344284e-04 9.99834944e-01 4.50939943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.355099893 meters 0.01534123799499785 Centerline is valid? [True, True] Translation: X:380.37, Y:5.23, Z:4.51 [[ 9.99122956e-01 -3.77113000e-02 -1.81982526e-02 3.80369015e+02] [ 3.77122441e-02 9.99288598e-01 -2.91418672e-04 5.22505234e+00] [ 1.81962961e-02 -3.95133857e-04 9.99834356e-01 4.51059979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.385099893 meters 0.01518451452327563 Centerline is valid? [True, True] Translation: X:380.40, Y:5.23, Z:4.51 [[ 9.99171927e-01 -3.64514089e-02 -1.80763679e-02 3.80399921e+02] [ 3.64521460e-02 9.99335358e-01 -2.88815879e-04 5.22617452e+00] [ 1.80748814e-02 -3.70345685e-04 9.99836567e-01 4.51124596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.415099893 meters 0.014691090477561864 Centerline is valid? [True, True] Translation: X:380.43, Y:5.23, Z:4.51 [[ 9.99203816e-01 -3.55877163e-02 -1.80346511e-02 3.80430791e+02] [ 3.55883212e-02 9.99366494e-01 -2.87500707e-04 5.22816725e+00] [ 1.80334575e-02 -3.54551153e-04 9.99837321e-01 4.51233887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.445099893 meters 0.014692450242574937 Centerline is valid? [True, True] Translation: X:380.46, Y:5.23, Z:4.51 [[ 9.99213620e-01 -3.53755010e-02 -1.79085144e-02 3.80461762e+02] [ 3.53760749e-02 9.99374030e-01 -2.84838931e-04 5.22905946e+00] [ 1.79073805e-02 -3.48918006e-04 9.99839589e-01 4.51315514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.475099893 meters 0.014831122738595284 Centerline is valid? [True, True] Translation: X:380.49, Y:5.23, Z:4.51 [[ 9.99198497e-01 -3.58671036e-02 -1.77739846e-02 3.80493315e+02] [ 3.58677582e-02 9.99356505e-01 -2.82054817e-04 5.22936943e+00] [ 1.77726636e-02 -3.55684233e-04 9.99841990e-01 4.51418614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.505099893 meters 0.015754219881199686 Centerline is valid? [True, True] Translation: X:380.52, Y:5.23, Z:4.51 [[ 9.99118584e-01 -3.78618324e-02 -1.81256002e-02 3.80523756e+02] [ 3.78628550e-02 9.99282904e-01 -2.86869339e-04 5.22714869e+00] [ 1.81234638e-02 -3.99670484e-04 9.99835677e-01 4.51493040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.535099893 meters 0.016707163814699957 Centerline is valid? [True, True] Translation: X:380.55, Y:5.23, Z:4.52 [[ 9.99047021e-01 -3.97451452e-02 -1.80380803e-02 3.80554299e+02] [ 3.97464784e-02 9.99209756e-01 -2.84728771e-04 5.22516292e+00] [ 1.80351424e-02 -4.32492739e-04 9.99837260e-01 4.51519136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.565099893 meters 0.016047419635630833 Centerline is valid? [True, True] Translation: X:380.59, Y:5.23, Z:4.52 [[ 9.98946945e-01 -4.21915226e-02 -1.80243308e-02 3.80585351e+02] [ 4.21932593e-02 9.99109428e-01 -2.84089758e-04 5.22624238e+00] [ 1.80202650e-02 -4.76714669e-04 9.99837508e-01 4.51648841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.595099893 meters 0.01796767667570526 Centerline is valid? [True, True] Translation: X:380.62, Y:5.22, Z:4.52 [[ 9.98840786e-01 -4.47535944e-02 -1.77257124e-02 3.80616209e+02] [ 4.47556883e-02 9.98997923e-01 -2.78744659e-04 5.22233286e+00] [ 1.77204247e-02 -5.14904927e-04 9.99842848e-01 4.51686069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.625099893 meters 0.01905644674440494 Centerline is valid? [True, True] Translation: X:380.65, Y:5.22, Z:4.52 [[ 9.98563134e-01 -5.07089190e-02 -1.73283708e-02 3.80647521e+02] [ 5.07118263e-02 9.98713291e-01 -2.71878427e-04 5.21951671e+00] [ 1.73198609e-02 -6.07265554e-04 9.99849816e-01 4.51834523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.655099893 meters 0.020280690122844586 Centerline is valid? [True, True] Translation: X:380.68, Y:5.22, Z:4.52 [[ 9.98391621e-01 -5.39125276e-02 -1.75388111e-02 3.80678657e+02] [ 5.39160089e-02 9.98545436e-01 -2.74640750e-04 5.21677947e+00] [ 1.75281063e-02 -6.71423668e-04 9.99846146e-01 4.51861511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68509989300003 meters 0.022834888161945593 Centerline is valid? [True, True] Translation: X:380.71, Y:5.21, Z:4.52 [[ 9.97932472e-01 -6.12614336e-02 -1.94375425e-02 3.80708988e+02] [ 6.12671057e-02 9.98121360e-01 -3.04108246e-04 5.21146125e+00] [ 1.94196564e-02 -8.87402476e-04 9.99811027e-01 4.51774525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.715099893 meters 0.023148817481679747 Centerline is valid? [True, True] Translation: X:380.74, Y:5.21, Z:4.52 [[ 9.97674920e-01 -6.51669645e-02 -1.99504551e-02 3.80739661e+02] [ 6.51737224e-02 9.97873884e-01 -3.11957884e-04 5.21057103e+00] [ 1.99283675e-02 -9.89012868e-04 9.99800921e-01 4.51786525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74509989300003 meters 0.0275484425122626 Centerline is valid? [True, True] Translation: X:380.77, Y:5.20, Z:4.52 [[ 9.97144700e-01 -7.25918159e-02 -2.08056764e-02 3.80769466e+02] [ 7.26007802e-02 9.97361028e-01 -3.25149129e-04 5.20314472e+00] [ 2.07743740e-02 -1.18628761e-03 9.99783486e-01 4.51786747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.775099893 meters 0.028047078708227948 Centerline is valid? [True, True] Translation: X:380.80, Y:5.20, Z:4.52 [[ 9.96901006e-01 -7.58364739e-02 -2.09096362e-02 3.80800381e+02] [ 7.58462447e-02 9.97119472e-01 -3.26505927e-04 5.20254960e+00] [ 2.08741665e-02 -1.26042330e-03 9.99781316e-01 4.51840437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80509989300003 meters 0.028047078708227948 Centerline is valid? [True, True] Translation: X:380.83, Y:5.20, Z:4.52 [[ 9.96906487e-01 -7.57643936e-02 -2.09096536e-02 3.80832123e+02] [ 7.57741720e-02 9.97124952e-01 -3.25387625e-04 5.20298545e+00] [ 2.08741902e-02 -1.26003066e-03 9.99781316e-01 4.51879683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.835099893 meters 0.03022777218759744 Centerline is valid? [True, True] Translation: X:380.86, Y:5.20, Z:4.52 [[ 9.96507943e-01 -8.07569992e-02 -2.12185237e-02 3.80862339e+02] [ 8.07682153e-02 9.96732856e-01 -3.29257708e-04 5.20029216e+00] [ 2.11757896e-02 -1.38567437e-03 9.99774808e-01 4.52026574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86509989300004 meters 0.030009326193958106 Centerline is valid? [True, True] Translation: X:380.89, Y:5.20, Z:4.52 [[ 9.96358562e-01 -8.25818009e-02 -2.12099417e-02 3.80893891e+02] [ 8.25934271e-02 9.96583272e-01 -3.28761048e-04 5.20138631e+00] [ 2.11646228e-02 -1.42423789e-03 9.99774990e-01 4.52090738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.895099893 meters 0.031875445566109974 Centerline is valid? [True, True] Translation: X:380.93, Y:5.20, Z:4.52 [[ 9.96295936e-01 -8.32760224e-02 -2.14362440e-02 3.80925209e+02] [ 8.32880785e-02 9.96525457e-01 -3.31317631e-04 5.19942404e+00] [ 2.13893536e-02 -1.45529316e-03 9.99770162e-01 4.52084713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.925099893 meters 0.029610134305799136 Centerline is valid? [True, True] Translation: X:380.96, Y:5.20, Z:4.52 [[ 9.96296055e-01 -8.32828862e-02 -2.14040016e-02 3.80957667e+02] [ 8.32949362e-02 9.96524884e-01 -3.29480005e-04 5.20357214e+00] [ 2.13570603e-02 -1.45458532e-03 9.99770854e-01 4.52194179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.955099893 meters 0.028995430794091576 Centerline is valid? [True, True] Translation: X:380.99, Y:5.21, Z:4.52 [[ 9.96346022e-01 -8.27032459e-02 -2.13255342e-02 3.80989686e+02] [ 8.27151089e-02 9.96573180e-01 -3.26702538e-04 5.20561053e+00] [ 2.12794748e-02 -1.43843511e-03 9.99772532e-01 4.52282045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.985099893 meters 0.031991908636348945 Centerline is valid? [True, True] Translation: X:381.02, Y:5.20, Z:4.52 [[ 9.96571131e-01 -8.01075675e-02 -2.07064917e-02 3.81019379e+02] [ 8.01182120e-02 9.96785319e-01 -3.16330870e-04 5.20406212e+00] [ 2.06652674e-02 -1.34372088e-03 9.99785548e-01 4.52345051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.015099893 meters 0.02827624615110498 Centerline is valid? [True, True] Translation: X:381.05, Y:5.21, Z:4.52 [[ 9.96712738e-01 -7.83917809e-02 -2.04559441e-02 3.81051024e+02] [ 7.84018185e-02 9.96921791e-01 -3.12058986e-04 5.21087604e+00] [ 2.04174392e-02 -1.29275005e-03 9.99790707e-01 4.52482313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.045099893 meters 0.02823914790001576 Centerline is valid? [True, True] Translation: X:381.08, Y:5.21, Z:4.53 [[ 9.96866420e-01 -7.64965531e-02 -2.01399837e-02 3.81082418e+02] [ 7.65059167e-02 9.97069080e-01 -3.06287466e-04 5.21254425e+00] [ 2.01043849e-02 -1.23550022e-03 9.99797123e-01 4.52523783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.075099893 meters 0.028005854610899505 Centerline is valid? [True, True] Translation: X:381.11, Y:5.21, Z:4.53 [[ 9.96981324e-01 -7.48828651e-02 -2.05133034e-02 3.81114067e+02] [ 7.48922573e-02 9.97191583e-01 -3.11064528e-04 5.21469206e+00] [ 2.04789869e-02 -1.22616207e-03 9.99789532e-01 4.52565848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.105099893 meters 0.027228871214921267 Centerline is valid? [True, True] Translation: X:381.15, Y:5.22, Z:4.53 [[ 9.97184714e-01 -7.20821233e-02 -2.06594677e-02 3.81145692e+02] [ 7.20910768e-02 9.97398004e-01 -3.12020584e-04 5.21884618e+00] [ 2.06282030e-02 -1.17822112e-03 9.99786522e-01 4.52642643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.135099893 meters 0.02560271705704343 Centerline is valid? [True, True] Translation: X:381.18, Y:5.22, Z:4.53 [[ 9.97250109e-01 -7.09626611e-02 -2.13663478e-02 3.81178155e+02] [ 7.09720151e-02 9.97478255e-01 -3.21137983e-04 5.22309013e+00] [ 2.13352561e-02 -1.19615787e-03 9.99771662e-01 4.52672386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.165099893 meters 0.024863470865170986 Centerline is valid? [True, True] Translation: X:381.21, Y:5.23, Z:4.53 [[ 9.97335710e-01 -6.95826128e-02 -2.19029818e-02 3.81210850e+02] [ 6.95921503e-02 9.97575474e-01 -3.27407580e-04 5.22570585e+00] [ 2.18726593e-02 -1.19774033e-03 9.99760047e-01 4.52684850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.195099893 meters 0.024896204666774398 Centerline is valid? [True, True] Translation: X:381.24, Y:5.23, Z:4.53 [[ 9.97485888e-01 -6.70315822e-02 -2.29928179e-02 3.81241017e+02] [ 6.70414488e-02 9.97750133e-01 -3.42317237e-04 5.22872606e+00] [ 2.29640332e-02 -1.20001521e-03 9.99735572e-01 4.52657563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.225099893 meters 0.025168287291514588 Centerline is valid? [True, True] Translation: X:381.27, Y:5.23, Z:4.53 [[ 9.97596113e-01 -6.52577525e-02 -2.33114070e-02 3.81271474e+02] [ 6.52674216e-02 9.97867749e-01 -3.46635168e-04 5.23034305e+00] [ 2.32843219e-02 -1.17567353e-03 9.99728192e-01 4.52667725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.255099893 meters 0.024924237744770962 Centerline is valid? [True, True] Translation: X:381.30, Y:5.23, Z:4.53 [[ 9.97735926e-01 -6.30865388e-02 -2.33047394e-02 3.81301973e+02] [ 6.30956211e-02 9.98007426e-01 -3.46119822e-04 5.23272391e+00] [ 2.32801385e-02 -1.12509083e-03 9.99728348e-01 4.52716903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.285099893 meters 0.024434228553675722 Centerline is valid? [True, True] Translation: X:381.33, Y:5.24, Z:4.53 [[ 9.97891775e-01 -6.04602523e-02 -2.35916031e-02 3.81332634e+02] [ 6.04688420e-02 9.98170024e-01 -3.49763086e-04 5.23545847e+00] [ 2.35695778e-02 -1.07753122e-03 9.99721618e-01 4.52756869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.315099893 meters 0.021298110434030185 Centerline is valid? [True, True] Translation: X:381.36, Y:5.24, Z:4.53 [[ 9.98262514e-01 -5.42531212e-02 -2.29902381e-02 3.81363186e+02] [ 5.42596452e-02 9.98526802e-01 -3.40396082e-04 5.24412207e+00] [ 2.29748365e-02 -9.07637515e-04 9.99735632e-01 4.52946478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.345099893 meters 0.021298110434030185 Centerline is valid? [True, True] Translation: X:381.39, Y:5.24, Z:4.53 [[ 9.98266343e-01 -5.41826295e-02 -2.29902497e-02 3.81394898e+02] [ 5.41891528e-02 9.98530631e-01 -3.39611513e-04 5.24453187e+00] [ 2.29748696e-02 -9.06799412e-04 9.99735632e-01 4.52985698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.375099893 meters 0.018723993637638752 Centerline is valid? [True, True] Translation: X:381.43, Y:5.25, Z:4.53 [[ 9.98452375e-01 -5.07203883e-02 -2.28100132e-02 3.81426706e+02] [ 5.07259403e-02 9.98712554e-01 -3.35508728e-04 5.25112769e+00] [ 2.27976636e-02 -8.22069880e-04 9.99739762e-01 4.53148257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.405099893 meters 0.018839617139394627 Centerline is valid? [True, True] Translation: X:381.46, Y:5.25, Z:4.53 [[ 9.98648824e-01 -4.67289972e-02 -2.27360394e-02 3.81457354e+02] [ 4.67335040e-02 9.98907337e-01 -3.33366007e-04 5.25304267e+00] [ 2.27267744e-02 -7.29619216e-04 9.99741447e-01 4.53145412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43509989300003 meters 0.016853074399139332 Centerline is valid? [True, True] Translation: X:381.49, Y:5.26, Z:4.53 [[ 9.98827023e-01 -4.29312201e-02 -2.23939567e-02 3.81488355e+02] [ 4.29346485e-02 9.99077829e-01 -3.27902320e-04 5.25862316e+00] [ 2.23873829e-02 -6.33958959e-04 9.99749170e-01 4.53286055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.465099893 meters 0.015736811106596894 Centerline is valid? [True, True] Translation: X:381.52, Y:5.26, Z:4.53 [[ 9.98995172e-01 -3.89431369e-02 -2.21828495e-02 3.81519769e+02] [ 3.89455265e-02 9.99241283e-01 -3.24445407e-04 5.26257888e+00] [ 2.21786539e-02 -5.39803355e-04 9.99753878e-01 4.53371344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49509989300003 meters 0.015255124644052532 Centerline is valid? [True, True] Translation: X:381.55, Y:5.27, Z:4.53 [[ 9.99133718e-01 -3.51850387e-02 -2.22222187e-02 3.81548978e+02] [ 3.51865138e-02 9.99380710e-01 -3.24744687e-04 5.26533822e+00] [ 2.22198828e-02 -4.57459037e-04 9.99753003e-01 4.53351433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.525099893 meters 0.014277085034728389 Centerline is valid? [True, True] Translation: X:381.58, Y:5.27, Z:4.53 [[ 9.99344310e-01 -2.86571068e-02 -2.21296173e-02 3.81578148e+02] [ 2.86569608e-02 9.99589253e-01 -3.23786436e-04 5.27049976e+00] [ 2.21298064e-02 -3.10593441e-04 9.99755058e-01 4.53376722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55509989300003 meters 0.01372676546823972 Centerline is valid? [True, True] Translation: X:381.61, Y:5.27, Z:4.54 [[ 9.99421189e-01 -2.63619355e-02 -2.15019879e-02 3.81606394e+02] [ 2.63612123e-02 9.99652433e-01 -3.17122477e-04 5.27368403e+00] [ 2.15028744e-02 -2.49879545e-04 9.99768755e-01 4.53510682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.585099893 meters 0.013398145829501407 Centerline is valid? [True, True] Translation: X:381.63, Y:5.28, Z:4.54 [[ 9.99547134e-01 -2.24494730e-02 -2.00386589e-02 3.81633861e+02] [ 2.24479867e-02 9.99747967e-01 -2.99133029e-04 5.27602796e+00] [ 2.00403238e-02 -1.50829987e-04 9.99799161e-01 4.53621979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61509989300004 meters 0.013306951542211306 Centerline is valid? [True, True] Translation: X:381.66, Y:5.28, Z:4.54 [[ 9.99581035e-01 -2.16932377e-02 -1.91613728e-02 3.81662660e+02] [ 2.16916872e-02 9.99764666e-01 -2.88776385e-04 5.27663734e+00] [ 1.91631280e-02 -1.26987107e-04 9.99816362e-01 4.53686208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.645099893 meters 0.01333605155101126 Centerline is valid? [True, True] Translation: X:381.69, Y:5.28, Z:4.54 [[ 9.99591565e-01 -2.15578138e-02 -1.87607221e-02 3.81690437e+02] [ 2.15562133e-02 9.99767596e-01 -2.87552000e-04 5.27666463e+00] [ 1.87625610e-02 -1.16975574e-04 9.99823961e-01 4.53716188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.675099893 meters 0.013349496803783042 Centerline is valid? [True, True] Translation: X:381.72, Y:5.28, Z:4.54 [[ 9.99593768e-01 -2.15957791e-02 -1.85989787e-02 3.81717832e+02] [ 2.15941327e-02 9.99766778e-01 -2.89372459e-04 5.27636939e+00] [ 1.86008902e-02 -1.12373908e-04 9.99826982e-01 4.53718128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.705099893 meters 0.013398254005208624 Centerline is valid? [True, True] Translation: X:381.75, Y:5.28, Z:4.54 [[ 9.99574728e-01 -2.22905906e-02 -1.88013863e-02 3.81745595e+02] [ 2.22889895e-02 9.99751526e-01 -2.94731939e-04 5.27554367e+00] [ 1.88032844e-02 -1.24457303e-04 9.99823195e-01 4.53676766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.735099893 meters 0.013455599387806735 Centerline is valid? [True, True] Translation: X:381.77, Y:5.27, Z:4.54 [[ 9.99524168e-01 -2.43416152e-02 -1.89452956e-02 3.81774347e+02] [ 2.43403056e-02 9.99703686e-01 -2.99747060e-04 5.27377251e+00] [ 1.89469781e-02 -1.61529852e-04 9.99820477e-01 4.53647710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.765099893 meters 0.013624743396912834 Centerline is valid? [True, True] Translation: X:381.80, Y:5.27, Z:4.54 [[ 9.99487317e-01 -2.56662422e-02 -1.91402071e-02 3.81802868e+02] [ 2.56650804e-02 9.99670551e-01 -3.06380444e-04 5.27249673e+00] [ 1.91417650e-02 -1.85011585e-04 9.99816763e-01 4.53627591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.795099893 meters 0.013736867446825061 Centerline is valid? [True, True] Translation: X:381.83, Y:5.27, Z:4.54 [[ 9.99453363e-01 -2.71566592e-02 -1.88544504e-02 3.81831178e+02] [ 2.71557540e-02 9.99631168e-01 -3.04084982e-04 5.27111396e+00] [ 1.88557542e-02 -2.08088059e-04 9.99822193e-01 4.53659356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.825099893 meters 0.013900473995002233 Centerline is valid? [True, True] Translation: X:381.86, Y:5.27, Z:4.54 [[ 9.99425057e-01 -2.82991195e-02 -1.86739067e-02 3.81861242e+02] [ 2.82983696e-02 9.99599475e-01 -3.04452384e-04 5.26974317e+00] [ 1.86750431e-02 -2.24163773e-04 9.99825581e-01 4.53717580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.855099893 meters 0.014120301249395877 Centerline is valid? [True, True] Translation: X:381.89, Y:5.27, Z:4.54 [[ 9.99396613e-01 -2.93642718e-02 -1.85512498e-02 3.81890524e+02] [ 2.93637031e-02 9.99568748e-01 -3.03104611e-04 5.26822489e+00] [ 1.85521499e-02 -2.41811669e-04 9.99827865e-01 4.53767107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.885099893 meters 0.014022984395587298 Centerline is valid? [True, True] Translation: X:381.92, Y:5.27, Z:4.54 [[ 9.99383028e-01 -3.04652374e-02 -1.74766231e-02 3.81921131e+02] [ 3.04648937e-02 9.99535796e-01 -2.85955737e-04 5.26642762e+00] [ 1.74772221e-02 -2.46644155e-04 9.99847231e-01 4.53907801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.915099893 meters 0.014018545045356719 Centerline is valid? [True, True] Translation: X:381.95, Y:5.27, Z:4.54 [[ 9.99384262e-01 -3.04779358e-02 -1.73836895e-02 3.81951178e+02] [ 3.04775977e-02 9.99535410e-01 -2.84435140e-04 5.26560022e+00] [ 1.73842822e-02 -2.45553093e-04 9.99848852e-01 4.53973490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.945099893 meters 0.014027812171543854 Centerline is valid? [True, True] Translation: X:381.98, Y:5.26, Z:4.54 [[ 9.99394246e-01 -3.03088832e-02 -1.71030002e-02 3.81981614e+02] [ 3.03085327e-02 9.99540552e-01 -2.79757930e-04 5.26493824e+00] [ 1.71036214e-02 -2.38778375e-04 9.99853694e-01 4.54035951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.975099893 meters 0.014075517107697779 Centerline is valid? [True, True] Translation: X:382.01, Y:5.26, Z:4.54 [[ 9.99408661e-01 -2.99387092e-02 -1.69116125e-02 3.82011701e+02] [ 2.99383185e-02 9.99551710e-01 -2.76328870e-04 5.26414053e+00] [ 1.69123041e-02 -2.30139774e-04 9.99856950e-01 4.54089793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.005099893 meters 0.013728064351376646 Centerline is valid? [True, True] Translation: X:382.04, Y:5.26, Z:4.54 [[ 9.99450382e-01 -2.86340965e-02 -1.67039759e-02 3.82042351e+02] [ 2.86335368e-02 9.99589939e-01 -2.72720156e-04 5.26317287e+00] [ 1.67049353e-02 -2.05723643e-04 9.99860442e-01 4.54149052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.035099893 meters 0.01341933952729988 Centerline is valid? [True, True] Translation: X:382.07, Y:5.26, Z:4.54 [[ 9.99481895e-01 -2.76818622e-02 -1.64211904e-02 3.82072844e+02] [ 2.76811927e-02 9.99616766e-01 -2.68103214e-04 5.26298195e+00] [ 1.64223189e-02 -1.86593829e-04 9.99865127e-01 4.54188719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.065099893 meters 0.013503633963729597 Centerline is valid? [True, True] Translation: X:382.10, Y:5.26, Z:4.54 [[ 9.99509033e-01 -2.67905963e-02 -1.62467607e-02 3.82102490e+02] [ 2.67898221e-02 9.99641053e-01 -2.65326193e-04 5.26188252e+00] [ 1.62480372e-02 -1.70051901e-04 9.99867977e-01 4.54208805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.095099893 meters 0.01321200468688783 Centerline is valid? [True, True] Translation: X:382.13, Y:5.26, Z:4.54 [[ 9.99568498e-01 -2.44175361e-02 -1.63279568e-02 3.82132611e+02] [ 2.44164339e-02 9.99701839e-01 -2.66878899e-04 5.26086516e+00] [ 1.63296050e-02 -1.31906738e-04 9.99866654e-01 4.54278838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.125099893 meters 0.013090229664556034 Centerline is valid? [True, True] Translation: X:382.16, Y:5.26, Z:4.54 [[ 9.99586941e-01 -2.31799604e-02 -1.69893093e-02 3.82162317e+02] [ 2.31785869e-02 9.99731302e-01 -2.77771479e-04 5.26053838e+00] [ 1.69911830e-02 -1.16131439e-04 9.99855633e-01 4.54322693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.155099893 meters 0.012943720828569889 Centerline is valid? [True, True] Translation: X:382.19, Y:5.26, Z:4.54 [[ 9.99608311e-01 -2.18599713e-02 -1.74747394e-02 3.82190844e+02] [ 2.18582901e-02 9.99761038e-01 -2.87219515e-04 5.26048004e+00] [ 1.74768423e-02 -9.48609100e-05 9.99847264e-01 4.54346510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18509989300003 meters 0.012836542689088017 Centerline is valid? [True, True] Translation: X:382.22, Y:5.26, Z:4.54 [[ 9.99637215e-01 -2.03904602e-02 -1.75973887e-02 3.82219183e+02] [ 2.03884497e-02 9.99792091e-01 -2.93666478e-04 5.26038524e+00] [ 1.75997181e-02 -6.52235355e-05 9.99845111e-01 4.54386000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.215099893 meters 0.012733759231849882 Centerline is valid? [True, True] Translation: X:382.25, Y:5.26, Z:4.54 [[ 9.99643705e-01 -1.91273657e-02 -1.86173644e-02 3.82246634e+02] [ 1.91248017e-02 9.99817054e-01 -3.15769432e-04 5.26055636e+00] [ 1.86199983e-02 -4.03964777e-05 9.99826632e-01 4.54453062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24509989300003 meters 0.012724537088760856 Centerline is valid? [True, True] Translation: X:382.28, Y:5.26, Z:4.54 [[ 9.99665130e-01 -1.61102229e-02 -2.02506596e-02 3.82275754e+02] [ 1.61064496e-02 9.99870222e-01 -3.49428867e-04 5.25956681e+00] [ 2.02536608e-02 2.31456265e-05 9.99794873e-01 4.54429040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.275099893 meters 0.012769849697411469 Centerline is valid? [True, True] Translation: X:382.30, Y:5.26, Z:4.54 [[ 9.99670685e-01 -1.47276706e-02 -2.10147120e-02 3.82303751e+02] [ 1.47232153e-02 9.99891540e-01 -3.66719236e-04 5.25953025e+00] [ 2.10178337e-02 5.71943400e-05 9.99779099e-01 4.54300621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30509989300003 meters 0.012918662318186615 Centerline is valid? [True, True] Translation: X:382.33, Y:5.26, Z:4.54 [[ 9.99672768e-01 -1.35254662e-02 -2.17121898e-02 3.82332121e+02] [ 1.35203524e-02 9.99908523e-01 -3.82308506e-04 5.25948015e+00] [ 2.17153746e-02 8.86269434e-05 9.99764190e-01 4.54303296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.335099893 meters 0.012864112472669397 Centerline is valid? [True, True] Translation: X:382.36, Y:5.26, Z:4.54 [[ 9.99686304e-01 -1.12520819e-02 -2.23759808e-02 3.82361264e+02] [ 1.12459553e-02 9.99936682e-01 -3.99624039e-04 5.25827071e+00] [ 2.23790606e-02 1.47859399e-04 9.99749547e-01 4.54471630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36509989300004 meters 0.013085712654777435 Centerline is valid? [True, True] Translation: X:382.39, Y:5.26, Z:4.54 [[ 9.99695658e-01 -1.01468081e-02 -2.24863023e-02 3.82389123e+02] [ 1.01402493e-02 9.99948504e-01 -4.05687143e-04 5.25821057e+00] [ 2.24892607e-02 1.77546964e-04 9.99747069e-01 4.54479961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.395099893 meters 0.013239732670770228 Centerline is valid? [True, True] Translation: X:382.42, Y:5.26, Z:4.54 [[ 9.99705271e-01 -9.57037984e-03 -2.23109819e-02 3.82415576e+02] [ 9.56371118e-03 9.99954184e-01 -4.05580470e-04 5.25816124e+00] [ 2.23138413e-02 1.92085146e-04 9.99750997e-01 4.54473929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.425099893 meters 0.013154024177871081 Centerline is valid? [True, True] Translation: X:382.44, Y:5.26, Z:4.55 [[ 9.99715644e-01 -9.59882881e-03 -2.18287465e-02 3.82443350e+02] [ 9.59234181e-03 9.99953912e-01 -4.01866836e-04 5.25548664e+00] [ 2.18315979e-02 1.92363765e-04 9.99761644e-01 4.54578889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.455099893 meters 0.013016878647526264 Centerline is valid? [True, True] Translation: X:382.47, Y:5.25, Z:4.55 [[ 9.99707196e-01 -1.03614886e-02 -2.18669142e-02 3.82471144e+02] [ 1.03550248e-02 9.99946302e-01 -4.08810392e-04 5.25399718e+00] [ 2.18699758e-02 1.82258252e-04 9.99760807e-01 4.54650695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.485099893 meters 0.012992175157406671 Centerline is valid? [True, True] Translation: X:382.50, Y:5.25, Z:4.55 [[ 9.99707562e-01 -1.14993302e-02 -2.12733407e-02 3.82499103e+02] [ 1.14933799e-02 9.99933868e-01 -4.01957984e-04 5.25259562e+00] [ 2.12765561e-02 1.57337850e-04 9.99773616e-01 4.54663847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.515099893 meters 0.01278450697323928 Centerline is valid? [True, True] Translation: X:382.53, Y:5.25, Z:4.55 [[ 9.99692387e-01 -1.31307384e-02 -2.10408078e-02 3.82528400e+02] [ 1.31252131e-02 9.99913780e-01 -4.00679902e-04 5.25038189e+00] [ 2.10442549e-02 1.24391561e-04 9.99778537e-01 4.54732617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.545099893 meters 0.012593307083266395 Centerline is valid? [True, True] Translation: X:382.56, Y:5.24, Z:4.55 [[ 9.99646897e-01 -1.73786485e-02 -2.01013464e-02 3.82557108e+02] [ 1.73743976e-02 9.99848979e-01 -3.86108274e-04 5.24449465e+00] [ 2.01050207e-02 3.67231537e-05 9.99797873e-01 4.54738319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.575099893 meters 0.012596391130892337 Centerline is valid? [True, True] Translation: X:382.58, Y:5.24, Z:4.55 [[ 9.99603303e-01 -1.99078395e-02 -1.99227236e-02 3.82583948e+02] [ 1.99041297e-02 9.99801819e-01 -3.84503849e-04 5.24134006e+00] [ 1.99264299e-02 -1.21931572e-05 9.99801449e-01 4.54718116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.605099893 meters 0.012562572094928753 Centerline is valid? [True, True] Translation: X:382.61, Y:5.24, Z:4.55 [[ 9.99549519e-01 -2.29563669e-02 -1.93329671e-02 3.82612285e+02] [ 2.29533760e-02 9.99736466e-01 -3.76621140e-04 5.23816723e+00] [ 1.93365181e-02 -6.73053846e-05 9.99813030e-01 4.54796792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.635099893 meters 0.012763541785963025 Centerline is valid? [True, True] Translation: X:382.64, Y:5.23, Z:4.55 [[ 9.99473178e-01 -2.60526456e-02 -1.93552746e-02 3.82639952e+02] [ 2.60501415e-02 9.99660565e-01 -3.81530510e-04 5.23493182e+00] [ 1.93586446e-02 -1.22878130e-04 9.99812596e-01 4.54818054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.665099893 meters 0.012963421276451916 Centerline is valid? [True, True] Translation: X:382.67, Y:5.23, Z:4.55 [[ 9.99404288e-01 -2.88735021e-02 -1.89047658e-02 3.82668824e+02] [ 2.88715566e-02 9.99583059e-01 -3.75887575e-04 5.23179548e+00] [ 1.89077368e-02 -1.70146362e-04 9.99821218e-01 4.54885808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.695099893 meters 0.0139962492063755 Centerline is valid? [True, True] Translation: X:382.70, Y:5.22, Z:4.55 [[ 9.99261554e-01 -3.37238181e-02 -1.84133078e-02 3.82696701e+02] [ 3.37227301e-02 9.99431159e-01 -3.69672928e-04 5.22371936e+00] [ 1.84153003e-02 -2.51547063e-04 9.99830392e-01 4.54848325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.725099893 meters 0.01401415047181289 Centerline is valid? [True, True] Translation: X:382.73, Y:5.22, Z:4.55 [[ 9.99187733e-01 -3.58674285e-02 -1.83684951e-02 3.82726658e+02] [ 3.58666838e-02 9.99356515e-01 -3.70080786e-04 5.22211628e+00] [ 1.83699491e-02 -2.89036823e-04 9.99831216e-01 4.54934378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.755099893 meters 0.014110965928580963 Centerline is valid? [True, True] Translation: X:382.76, Y:5.22, Z:4.55 [[ 9.99120737e-01 -3.77311025e-02 -1.82788456e-02 3.82756704e+02] [ 3.77306650e-02 9.99287877e-01 -3.68923402e-04 5.22037393e+00] [ 1.82797487e-02 -3.21073978e-04 9.99832860e-01 4.54975640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.785099893 meters 0.014670953479636626 Centerline is valid? [True, True] Translation: X:382.79, Y:5.22, Z:4.55 [[ 9.99062485e-01 -3.91414734e-02 -1.84958151e-02 3.82785914e+02] [ 3.91412566e-02 9.99233617e-01 -3.73864229e-04 5.21740401e+00] [ 1.84962738e-02 -3.50435717e-04 9.99828868e-01 4.54947284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.815099893 meters 0.014675876452683251 Centerline is valid? [True, True] Translation: X:382.82, Y:5.21, Z:4.55 [[ 9.99008245e-01 -4.03987777e-02 -1.87207404e-02 3.82816604e+02] [ 4.03987721e-02 9.99183565e-01 -3.78634885e-04 5.21428694e+00] [ 1.87207525e-02 -3.78035552e-04 9.99824680e-01 4.54962863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.845099893 meters 0.015029398728022489 Centerline is valid? [True, True] Translation: X:382.85, Y:5.21, Z:4.55 [[ 9.99020117e-01 -4.01898189e-02 -1.85360375e-02 3.82845729e+02] [ 4.01897754e-02 9.99191994e-01 -3.75008874e-04 5.21253264e+00] [ 1.85361318e-02 -3.70317773e-04 9.99828123e-01 4.54982013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.875099893 meters 0.014111033365443325 Centerline is valid? [True, True] Translation: X:382.88, Y:5.21, Z:4.55 [[ 9.99060341e-01 -3.94893179e-02 -1.78613857e-02 3.82876035e+02] [ 3.94891618e-02 9.99219933e-01 -3.61571435e-04 5.21375328e+00] [ 1.78617308e-02 -3.44099468e-04 9.99840407e-01 4.55131934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.905099893 meters 0.013938888766825752 Centerline is valid? [True, True] Translation: X:382.91, Y:5.21, Z:4.55 [[ 9.99107890e-01 -3.86685008e-02 -1.69756349e-02 3.82906557e+02] [ 3.86682414e-02 9.99252045e-01 -3.43641013e-04 5.21325336e+00] [ 1.69762260e-02 -3.13083500e-04 9.99855844e-01 4.55253239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93509989300003 meters 0.014330536878648452 Centerline is valid? [True, True] Translation: X:382.94, Y:5.21, Z:4.55 [[ 9.99153236e-01 -3.77509390e-02 -1.63608702e-02 3.82936060e+02] [ 3.77505738e-02 9.99287138e-01 -3.31268621e-04 5.20974802e+00] [ 1.63617128e-02 -2.86644123e-04 9.99866097e-01 4.55348486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.965099893 meters 0.014088237515194836 Centerline is valid? [True, True] Translation: X:382.97, Y:5.21, Z:4.55 [[ 9.99135663e-01 -3.73312813e-02 -1.82839229e-02 3.82966565e+02] [ 3.73307505e-02 9.99302896e-01 -3.70456097e-04 5.20954907e+00] [ 1.82850067e-02 -3.12416666e-04 9.99832766e-01 4.55225000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99509989300003 meters 0.013895302943564617 Centerline is valid? [True, True] Translation: X:383.00, Y:5.21, Z:4.55 [[ 9.99102425e-01 -3.71857448e-02 -2.02870569e-02 3.82996505e+02] [ 3.71850556e-02 9.99308312e-01 -4.11326862e-04 5.20913202e+00] [ 2.02883201e-02 -3.43417674e-04 9.99794112e-01 4.55072077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.025099893 meters 0.014302471123447428 Centerline is valid? [True, True] Translation: X:383.02, Y:5.21, Z:4.55 [[ 9.99086256e-01 -3.70087609e-02 -2.13776716e-02 3.83024699e+02] [ 3.70079315e-02 9.99314877e-01 -4.34550175e-04 5.20783348e+00] [ 2.13791075e-02 -3.56990300e-04 9.99771377e-01 4.54941158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05509989300003 meters 0.013909663720545546 Centerline is valid? [True, True] Translation: X:383.05, Y:5.21, Z:4.55 [[ 9.99090552e-01 -3.72178521e-02 -2.08062626e-02 3.83053115e+02] [ 3.72170463e-02 9.99307115e-01 -4.26073729e-04 5.20794992e+00] [ 2.08077038e-02 -3.48661401e-04 9.99783435e-01 4.54975518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.085099893 meters 0.014122421484127188 Centerline is valid? [True, True] Translation: X:383.08, Y:5.20, Z:4.55 [[ 9.99107670e-01 -3.75091551e-02 -1.94146109e-02 3.83081339e+02] [ 3.75084357e-02 9.99296230e-01 -4.01320508e-04 5.20479864e+00] [ 1.94160007e-02 -3.27249288e-04 9.99811438e-01 4.55093102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11509989300004 meters 0.014439139839104205 Centerline is valid? [True, True] Translation: X:383.11, Y:5.20, Z:4.55 [[ 9.99104721e-01 -3.78248358e-02 -1.89483302e-02 3.83110282e+02] [ 3.78241802e-02 9.99284332e-01 -3.93107219e-04 5.20281411e+00] [ 1.89496387e-02 -3.23949779e-04 9.99820387e-01 4.55133472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.145099893 meters 0.014573569088258234 Centerline is valid? [True, True] Translation: X:383.14, Y:5.20, Z:4.55 [[ 9.99114500e-01 -3.75993177e-02 -1.88813990e-02 3.83139230e+02] [ 3.75986078e-02 9.99292845e-01 -3.92710006e-04 5.20095180e+00] [ 1.88828125e-02 -3.17552053e-04 9.99821653e-01 4.55139489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.175099893 meters 0.014697293454936035 Centerline is valid? [True, True] Translation: X:383.17, Y:5.20, Z:4.55 [[ 9.99084624e-01 -3.78801989e-02 -1.98746989e-02 3.83168280e+02] [ 3.78794451e-02 9.99282230e-01 -4.14523223e-04 5.19771749e+00] [ 1.98761356e-02 -3.38698785e-04 9.99802393e-01 4.55096430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.205099893 meters 0.014453438323894282 Centerline is valid? [True, True] Translation: X:383.20, Y:5.20, Z:4.55 [[ 9.99091202e-01 -3.80419748e-02 -1.92244141e-02 3.83197074e+02] [ 3.80412525e-02 9.99276088e-01 -4.03401374e-04 5.19782746e+00] [ 1.92258435e-02 -3.28286025e-04 9.99815112e-01 4.55135684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.235099893 meters 0.014453438323894282 Centerline is valid? [True, True] Translation: X:383.23, Y:5.20, Z:4.55 [[ 9.99081861e-01 -3.82865667e-02 -1.92243144e-02 3.83225340e+02] [ 3.82857991e-02 9.99266747e-01 -4.08106919e-04 5.19846725e+00] [ 1.92258431e-02 -3.28286019e-04 9.99815113e-01 4.55170708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.265099893 meters 0.014482168868697418 Centerline is valid? [True, True] Translation: X:383.25, Y:5.20, Z:4.55 [[ 9.99071225e-01 -3.87585711e-02 -1.88271436e-02 3.83253915e+02] [ 3.87578330e-02 9.99248551e-01 -4.04223042e-04 5.19810399e+00] [ 1.88286631e-02 -3.25851678e-04 9.99822672e-01 4.55246455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.295099893 meters 0.014056191127060727 Centerline is valid? [True, True] Translation: X:383.28, Y:5.20, Z:4.55 [[ 9.99062596e-01 -3.91358071e-02 -1.85018244e-02 3.83282400e+02] [ 3.91350749e-02 9.99233849e-01 -4.01777511e-04 5.19882561e+00] [ 1.85033731e-02 -3.22669401e-04 9.99828746e-01 4.55403148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.325099893 meters 0.014340108157845097 Centerline is valid? [True, True] Translation: X:383.31, Y:5.20, Z:4.55 [[ 9.99050411e-01 -3.96409006e-02 -1.80797061e-02 3.83311235e+02] [ 3.96402210e-02 9.99213939e-01 -3.96096332e-04 5.19737431e+00] [ 1.80811959e-02 -3.20963341e-04 9.99836470e-01 4.55450678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.355099893 meters 0.014563239353410612 Centerline is valid? [True, True] Translation: X:383.34, Y:5.19, Z:4.55 [[ 9.99030902e-01 -4.02642859e-02 -1.77776425e-02 3.83341055e+02] [ 4.02637087e-02 9.99189012e-01 -3.90535335e-04 5.19384742e+00] [ 1.77789497e-02 -3.25636952e-04 9.99841889e-01 4.55438714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.385099893 meters 0.014743770024255516 Centerline is valid? [True, True] Translation: X:383.37, Y:5.19, Z:4.55 [[ 9.99006830e-01 -4.09104054e-02 -1.76547987e-02 3.83371141e+02] [ 4.09099260e-02 9.99162763e-01 -3.88461439e-04 5.19241033e+00] [ 1.76559096e-02 -3.34180878e-04 9.99844066e-01 4.55422387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.415099893 meters 0.015081669566930982 Centerline is valid? [True, True] Translation: X:383.40, Y:5.19, Z:4.55 [[ 9.98978052e-01 -4.16258154e-02 -1.76108682e-02 3.83399964e+02] [ 4.16254369e-02 9.99133210e-01 -3.88209895e-04 5.19080932e+00] [ 1.76117628e-02 -3.45246919e-04 9.99844841e-01 4.55470584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.445099893 meters 0.016085215225618874 Centerline is valid? [True, True] Translation: X:383.43, Y:5.19, Z:4.56 [[ 9.98885234e-01 -4.40374818e-02 -1.69996799e-02 3.83428450e+02] [ 4.40374633e-02 9.99029810e-01 -3.75609894e-04 5.18741406e+00] [ 1.69997279e-02 -3.73431604e-04 9.99855424e-01 4.55591943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.475099893 meters 0.015987377735317904 Centerline is valid? [True, True] Translation: X:383.46, Y:5.19, Z:4.56 [[ 9.98834080e-01 -4.53812811e-02 -1.64626803e-02 3.83458037e+02] [ 4.53814334e-02 9.98969666e-01 -3.64515461e-04 5.18744543e+00] [ 1.64622604e-02 -3.83009564e-04 9.99864414e-01 4.55694782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.505099893 meters 0.016012939071598783 Centerline is valid? [True, True] Translation: X:383.49, Y:5.19, Z:4.56 [[ 9.98769934e-01 -4.68957835e-02 -1.61060241e-02 3.83488495e+02] [ 4.68961192e-02 9.98899708e-01 -3.57045087e-04 5.18681528e+00] [ 1.61050467e-02 -3.98704126e-04 9.99870226e-01 4.55780309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.535099893 meters 0.017181255261198077 Centerline is valid? [True, True] Translation: X:383.52, Y:5.18, Z:4.56 [[ 9.98711366e-01 -4.82512908e-02 -1.57296135e-02 3.83518660e+02] [ 4.82517799e-02 9.98835144e-01 -3.48640709e-04 5.18362557e+00] [ 1.57281131e-02 -4.10790408e-04 9.99876221e-01 4.55798213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.565099893 meters 0.01678411636266451 Centerline is valid? [True, True] Translation: X:383.55, Y:5.18, Z:4.56 [[ 9.98639115e-01 -4.98100324e-02 -1.54556920e-02 3.83549008e+02] [ 4.98106945e-02 9.98758618e-01 -3.42353060e-04 5.18340046e+00] [ 1.54535582e-02 -4.27971598e-04 9.99880495e-01 4.55858540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.595099893 meters 0.01734770838445847 Centerline is valid? [True, True] Translation: X:383.58, Y:5.18, Z:4.56 [[ 9.98584532e-01 -5.08889652e-02 -1.54675417e-02 3.83578915e+02] [ 5.08897575e-02 9.98704218e-01 -3.42615536e-04 5.18160982e+00] [ 1.54649344e-02 -4.45008870e-04 9.99880312e-01 4.55858006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.625099893 meters 0.01862467722520239 Centerline is valid? [True, True] Translation: X:383.61, Y:5.18, Z:4.56 [[ 9.98575192e-01 -5.10823695e-02 -1.54330012e-02 3.83608944e+02] [ 5.10831806e-02 9.98694344e-01 -3.41904628e-04 5.17850014e+00] [ 1.54303163e-02 -4.46949306e-04 9.99880846e-01 4.55860452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.655099893 meters 0.017445759616722612 Centerline is valid? [True, True] Translation: X:383.64, Y:5.18, Z:4.56 [[ 9.98597270e-01 -5.06641735e-02 -1.53829173e-02 3.83639544e+02] [ 5.06649264e-02 9.98715650e-01 -3.41012533e-04 5.18058755e+00] [ 1.53804374e-02 -4.38840191e-04 9.99881618e-01 4.55896890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68509989300003 meters 0.016339708176241877 Centerline is valid? [True, True] Translation: X:383.67, Y:5.18, Z:4.56 [[ 9.98659876e-01 -4.95563582e-02 -1.49204118e-02 3.83670445e+02] [ 4.95569437e-02 9.98771245e-01 -3.30712852e-04 5.18265088e+00] [ 1.49184672e-02 -4.09140351e-04 9.99888630e-01 4.55936841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.715099893 meters 0.016458367988304752 Centerline is valid? [True, True] Translation: X:383.70, Y:5.18, Z:4.56 [[ 9.98794848e-01 -4.66364223e-02 -1.52936314e-02 3.83699686e+02] [ 4.66366980e-02 9.98911860e-01 -3.38806949e-04 5.18196210e+00] [ 1.52927906e-02 -3.74845835e-04 9.99882988e-01 4.55878847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74509989300003 meters 0.016230948366651794 Centerline is valid? [True, True] Translation: X:383.73, Y:5.18, Z:4.56 [[ 9.98877085e-01 -4.49680120e-02 -1.49146660e-02 3.83729731e+02] [ 4.49680851e-02 9.98988369e-01 -3.30630331e-04 5.18291004e+00] [ 1.49144457e-02 -3.40424911e-04 9.99888716e-01 4.55866444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.775099893 meters 0.015087284224056238 Centerline is valid? [True, True] Translation: X:383.76, Y:5.19, Z:4.56 [[ 9.98960959e-01 -4.31211873e-02 -1.47500740e-02 3.83759952e+02] [ 4.31210576e-02 9.99069801e-01 -3.26981633e-04 5.18553613e+00] [ 1.47504534e-02 -3.09396905e-04 9.99891158e-01 4.55879784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80509989300003 meters 0.014521452226795071 Centerline is valid? [True, True] Translation: X:383.79, Y:5.19, Z:4.56 [[ 9.99037098e-01 -4.12317548e-02 -1.49939470e-02 3.83790637e+02] [ 4.12314080e-02 9.99149569e-01 -3.32387843e-04 5.18714478e+00] [ 1.49949006e-02 -2.86153762e-04 9.99887529e-01 4.55861552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.835099893 meters 0.014110480047226991 Centerline is valid? [True, True] Translation: X:383.82, Y:5.19, Z:4.56 [[ 9.99141047e-01 -3.83675970e-02 -1.56555641e-02 3.83820930e+02] [ 3.83668674e-02 9.99263660e-01 -3.47054659e-04 5.18889996e+00] [ 1.56573519e-02 -2.53898396e-04 9.99877384e-01 4.55845488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86509989300004 meters 0.013722249322865242 Centerline is valid? [True, True] Translation: X:383.85, Y:5.19, Z:4.56 [[ 9.99223264e-01 -3.62412191e-02 -1.54739668e-02 3.83850201e+02] [ 3.62402497e-02 9.99343047e-01 -3.43142148e-04 5.19078509e+00] [ 1.54762371e-02 -2.17904805e-04 9.99880212e-01 4.55900389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.895099893 meters 0.013797632275287972 Centerline is valid? [True, True] Translation: X:383.88, Y:5.19, Z:4.56 [[ 9.99236306e-01 -3.59917600e-02 -1.52117704e-02 3.83878388e+02] [ 3.59907852e-02 9.99352065e-01 -3.37924015e-04 5.19120997e+00] [ 1.52140766e-02 -2.09817615e-04 9.99884237e-01 4.55961927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.925099893 meters 0.013892778909156418 Centerline is valid? [True, True] Translation: X:383.91, Y:5.19, Z:4.56 [[ 9.99167065e-01 -3.67417454e-02 -1.77544207e-02 3.83908181e+02] [ 3.67405186e-02 9.99324761e-01 -3.95382023e-04 5.19191736e+00] [ 1.77569592e-02 -2.57253927e-04 9.99842300e-01 4.55884946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.955099893 meters 0.01479157985722568 Centerline is valid? [True, True] Translation: X:383.94, Y:5.19, Z:4.56 [[ 9.99093775e-01 -3.89014343e-02 -1.72715835e-02 3.83936438e+02] [ 3.89005809e-02 9.99243012e-01 -3.85496896e-04 5.19094688e+00] [ 1.72735055e-02 -2.86727084e-04 9.99850761e-01 4.55951469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.985099893 meters 0.01479157985722568 Centerline is valid? [True, True] Translation: X:383.96, Y:5.19, Z:4.56 [[ 9.99084341e-01 -3.91429839e-02 -1.72715322e-02 3.83964708e+02] [ 3.91421271e-02 9.99233578e-01 -3.87782481e-04 5.19162493e+00] [ 1.72734739e-02 -2.88617106e-04 9.99850761e-01 4.55986458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.015099893 meters 0.015328790747150593 Centerline is valid? [True, True] Translation: X:383.99, Y:5.19, Z:4.56 [[ 9.99017195e-01 -4.10134032e-02 -1.68090735e-02 3.83993054e+02] [ 4.10128035e-02 9.99158549e-01 -3.80537845e-04 5.19142637e+00] [ 1.68105366e-02 -3.09223377e-04 9.99858645e-01 4.56055149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.045099893 meters 0.015328790747150593 Centerline is valid? [True, True] Translation: X:384.02, Y:5.19, Z:4.56 [[ 9.99015792e-01 -4.10475646e-02 -1.68090556e-02 3.84022208e+02] [ 4.10469565e-02 9.99157146e-01 -3.81324453e-04 5.19211848e+00] [ 1.68105405e-02 -3.09011426e-04 9.99858645e-01 4.56091223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.075099893 meters 0.015328790747150593 Centerline is valid? [True, True] Translation: X:384.05, Y:5.19, Z:4.56 [[ 9.99014388e-01 -4.10817233e-02 -1.68090426e-02 3.84051361e+02] [ 4.10811104e-02 9.99155742e-01 -3.81899114e-04 5.19281148e+00] [ 1.68105405e-02 -3.09011426e-04 9.99858645e-01 4.56127294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.105099893 meters 0.015745391432259552 Centerline is valid? [True, True] Translation: X:384.08, Y:5.19, Z:4.56 [[ 9.98947333e-01 -4.28184280e-02 -1.64562597e-02 3.84081221e+02] [ 4.28180669e-02 9.99082816e-01 -3.74437950e-04 5.19276550e+00] [ 1.64571991e-02 -3.30581436e-04 9.99864516e-01 4.56225123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.135099893 meters 0.015989970108368997 Centerline is valid? [True, True] Translation: X:384.11, Y:5.19, Z:4.56 [[ 9.98860564e-01 -4.49423281e-02 -1.60549544e-02 3.84110713e+02] [ 4.49422499e-02 9.98989520e-01 -3.65848044e-04 5.19323548e+00] [ 1.60551733e-02 -3.56114589e-04 9.99871044e-01 4.56342724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.165099893 meters 0.015867320311294522 Centerline is valid? [True, True] Translation: X:384.14, Y:5.19, Z:4.56 [[ 9.98770836e-01 -4.70002760e-02 -1.57413598e-02 3.84141125e+02] [ 4.70004496e-02 9.98894804e-01 -3.59124415e-04 5.19382761e+00] [ 1.57408415e-02 -3.81167997e-04 9.99876033e-01 4.56418381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.195099893 meters 0.016626114199850203 Centerline is valid? [True, True] Translation: X:384.17, Y:5.19, Z:4.56 [[ 9.98651782e-01 -4.94601936e-02 -1.57577641e-02 3.84171577e+02] [ 4.94606736e-02 9.98776007e-01 -3.59498662e-04 5.19265634e+00] [ 1.57562575e-02 -4.20375645e-04 9.99875774e-01 4.56440564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.225099893 meters 0.018264368513194244 Centerline is valid? [True, True] Translation: X:384.20, Y:5.19, Z:4.56 [[ 9.98404784e-01 -5.43406495e-02 -1.53290650e-02 3.84201872e+02] [ 5.43416774e-02 9.98522338e-01 -3.49770840e-04 5.19038599e+00] [ 1.53254206e-02 -4.83794225e-04 9.99882442e-01 4.56475689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.255099893 meters 0.019053050469917586 Centerline is valid? [True, True] Translation: X:384.23, Y:5.19, Z:4.57 [[ 9.98249633e-01 -5.70075905e-02 -1.57417876e-02 3.84232269e+02] [ 5.70090021e-02 9.98373600e-01 -3.59413005e-04 5.19000153e+00] [ 1.57366745e-02 -5.38639705e-04 9.99876026e-01 4.56514422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.285099893 meters 0.018474022486550782 Centerline is valid? [True, True] Translation: X:384.26, Y:5.19, Z:4.57 [[ 9.98094751e-01 -5.96415633e-02 -1.58035657e-02 3.84262466e+02] [ 5.96433158e-02 9.98219688e-01 -3.60823507e-04 5.19199216e+00] [ 1.57969505e-02 -5.82441010e-04 9.99875051e-01 4.56572842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.315099893 meters 0.01967420055118965 Centerline is valid? [True, True] Translation: X:384.29, Y:5.19, Z:4.57 [[ 9.97965762e-01 -6.16603208e-02 -1.61969902e-02 3.84292982e+02] [ 6.16624282e-02 9.98096993e-01 -3.69736098e-04 5.19076976e+00] [ 1.61889653e-02 -6.29761778e-04 9.99868752e-01 4.56569948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.345099893 meters 0.020658632439830453 Centerline is valid? [True, True] Translation: X:384.32, Y:5.19, Z:4.57 [[ 9.97833986e-01 -6.35411676e-02 -1.70251574e-02 3.84323093e+02] [ 6.35437768e-02 9.97978977e-01 -3.88212544e-04 5.19010416e+00] [ 1.70154166e-02 -6.94471131e-04 9.99854986e-01 4.56556082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.375099893 meters 0.021493047123190057 Centerline is valid? [True, True] Translation: X:384.35, Y:5.19, Z:4.57 [[ 9.97713027e-01 -6.53638497e-02 -1.72128550e-02 3.84353856e+02] [ 6.53667962e-02 9.97861227e-01 -3.91979635e-04 5.18990988e+00] [ 1.72016619e-02 -7.34065996e-04 9.99851771e-01 4.56566323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.405099893 meters 0.022125041041739235 Centerline is valid? [True, True] Translation: X:384.38, Y:5.19, Z:4.57 [[ 9.97498986e-01 -6.84144088e-02 -1.77550714e-02 3.84384575e+02] [ 6.84180279e-02 9.97656659e-01 -4.04229818e-04 5.19069543e+00] [ 1.77411204e-02 -8.11548140e-04 9.99842285e-01 4.56550165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43509989300003 meters 0.023405464162598918 Centerline is valid? [True, True] Translation: X:384.41, Y:5.19, Z:4.57 [[ 9.97421215e-01 -6.95022559e-02 -1.78985109e-02 3.84414547e+02] [ 6.95061214e-02 9.97581442e-01 -4.06773945e-04 5.19027287e+00] [ 1.78834940e-02 -8.38331109e-04 9.99839726e-01 4.56558842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.465099893 meters 0.02356029308857098 Centerline is valid? [True, True] Translation: X:384.45, Y:5.19, Z:4.57 [[ 9.97344125e-01 -7.06009011e-02 -1.78943754e-02 3.84445477e+02] [ 7.06049659e-02 9.97504273e-01 -4.05294101e-04 5.19171169e+00] [ 1.78783300e-02 -8.59214072e-04 9.99839801e-01 4.56599228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49509989300003 meters 0.022865406602883505 Centerline is valid? [True, True] Translation: X:384.48, Y:5.20, Z:4.57 [[ 9.97153274e-01 -7.32339466e-02 -1.79481743e-02 3.84476587e+02] [ 7.32384762e-02 9.97314374e-01 -4.05685414e-04 5.19624066e+00] [ 1.79296822e-02 -9.09966398e-04 9.99838836e-01 4.56657678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.525099893 meters 0.024359377889056538 Centerline is valid? [True, True] Translation: X:384.51, Y:5.20, Z:4.57 [[ 9.97071560e-01 -7.42186804e-02 -1.84361702e-02 3.84506453e+02] [ 7.42236464e-02 9.97241534e-01 -4.15697121e-04 5.19608584e+00] [ 1.84161672e-02 -9.53920004e-04 9.99829953e-01 4.56634900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55509989300003 meters 0.02401365790521073 Centerline is valid? [True, True] Translation: X:384.54, Y:5.20, Z:4.57 [[ 9.96972916e-01 -7.55306494e-02 -1.84424963e-02 3.84538108e+02] [ 7.55358674e-02 9.97142999e-01 -4.14491477e-04 5.19875141e+00] [ 1.84211128e-02 -9.79833176e-04 9.99829837e-01 4.56669616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.585099893 meters 0.023346627157150593 Centerline is valid? [True, True] Translation: X:384.57, Y:5.20, Z:4.57 [[ 9.96890190e-01 -7.65475661e-02 -1.87195097e-02 3.84569317e+02] [ 7.65531339e-02 9.97065415e-01 -4.20022034e-04 5.20161561e+00] [ 1.86967274e-02 -1.01432129e-03 9.99824686e-01 4.56704594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61509989300004 meters 0.024457507646161093 Centerline is valid? [True, True] Translation: X:384.60, Y:5.20, Z:4.57 [[ 9.96794588e-01 -7.77368029e-02 -1.89087064e-02 3.84599917e+02] [ 7.77427105e-02 9.96973366e-01 -4.23560730e-04 5.20198464e+00] [ 1.88844029e-02 -1.04781104e-03 9.99821125e-01 4.56736427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.645099893 meters 0.030849505834409558 Centerline is valid? [True, True] Translation: X:384.63, Y:5.20, Z:4.57 [[ 9.96653947e-01 -7.97008403e-02 -1.81297136e-02 3.84630623e+02] [ 7.97066072e-02 9.96818285e-01 -4.05423847e-04 5.19678079e+00] [ 1.81043427e-02 -1.04099069e-03 9.99835561e-01 4.56766895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.675099893 meters 0.0278620410369512 Centerline is valid? [True, True] Translation: X:384.66, Y:5.20, Z:4.57 [[ 9.96597585e-01 -8.04090956e-02 -1.81005688e-02 3.84661721e+02] [ 8.04149737e-02 9.96761390e-01 -4.04037235e-04 5.20318948e+00] [ 1.80744364e-02 -1.05289423e-03 9.99836090e-01 4.56911267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.705099893 meters 0.02748241234575571 Centerline is valid? [True, True] Translation: X:384.69, Y:5.21, Z:4.57 [[ 9.96535002e-01 -8.12138543e-02 -1.79527051e-02 3.84693668e+02] [ 8.12197820e-02 9.96696136e-01 -3.99895282e-04 5.20634917e+00] [ 1.79258688e-02 -1.05960515e-03 9.99838757e-01 4.57006702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.735099893 meters 0.027718040324640467 Centerline is valid? [True, True] Translation: X:384.73, Y:5.21, Z:4.57 [[ 9.96498573e-01 -8.17038947e-02 -1.77501358e-02 3.84725985e+02] [ 8.17097893e-02 9.96656087e-01 -3.94111438e-04 5.20848313e+00] [ 1.77229813e-02 -1.05762837e-03 9.99842376e-01 4.57063590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.765099893 meters 0.027197727013684374 Centerline is valid? [True, True] Translation: X:384.76, Y:5.21, Z:4.57 [[ 9.96464856e-01 -8.21148424e-02 -1.77466541e-02 3.84758462e+02] [ 8.21208223e-02 9.96622304e-01 -3.92748486e-04 5.21147727e+00] [ 1.77189617e-02 -1.06600976e-03 9.99842439e-01 4.57135405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.795099893 meters 0.02630951940709312 Centerline is valid? [True, True] Translation: X:384.79, Y:5.22, Z:4.57 [[ 9.96461239e-01 -8.21624340e-02 -1.77294301e-02 3.84790342e+02] [ 8.21684329e-02 9.96618380e-01 -3.91070020e-04 5.21685939e+00] [ 1.77016072e-02 -1.06711337e-03 9.99842745e-01 4.57197431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.825099893 meters 0.02897531482119516 Centerline is valid? [True, True] Translation: X:384.82, Y:5.22, Z:4.57 [[ 9.96510612e-01 -8.15451578e-02 -1.78041496e-02 3.84821970e+02] [ 8.15511308e-02 9.96669082e-01 -3.91503366e-04 5.21571073e+00] [ 1.77767706e-02 -1.06181127e-03 9.99841417e-01 4.57227841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.855099893 meters 0.026605039115491034 Centerline is valid? [True, True] Translation: X:384.85, Y:5.22, Z:4.57 [[ 9.96611356e-01 -8.03649366e-02 -1.75294446e-02 3.84853088e+02] [ 8.03705597e-02 9.96764980e-01 -3.84607185e-04 5.22167867e+00] [ 1.75036454e-02 -1.02554738e-03 9.99846274e-01 4.57340246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.885099893 meters 0.025059730858352298 Centerline is valid? [True, True] Translation: X:384.89, Y:5.23, Z:4.57 [[ 9.96706178e-01 -7.91100102e-02 -1.78437738e-02 3.84885679e+02] [ 7.91156535e-02 9.96865367e-01 -3.90540829e-04 5.22693327e+00] [ 1.78187358e-02 -1.02246737e-03 9.99840711e-01 4.57451689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.915099893 meters 0.024856278369102414 Centerline is valid? [True, True] Translation: X:384.92, Y:5.23, Z:4.57 [[ 9.96998734e-01 -7.53650697e-02 -1.77096003e-02 3.84915334e+02] [ 7.53700594e-02 9.97155557e-01 -3.86471002e-04 5.23277441e+00] [ 1.76883528e-02 -9.49462531e-04 9.99843098e-01 4.57498736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.945099893 meters 0.02516622451848471 Centerline is valid? [True, True] Translation: X:384.95, Y:5.24, Z:4.58 [[ 9.97159498e-01 -7.30966496e-02 -1.81608359e-02 3.84946093e+02] [ 7.31015255e-02 9.97324426e-01 -3.96108838e-04 5.23519864e+00] [ 1.81411994e-02 -9.32601117e-04 9.99835000e-01 4.57533504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.975099893 meters 0.023497058061206274 Centerline is valid? [True, True] Translation: X:384.98, Y:5.24, Z:4.58 [[ 9.97501855e-01 -6.84209151e-02 -1.75678124e-02 3.84976893e+02] [ 6.84247638e-02 9.97656206e-01 -3.82619021e-04 5.24268117e+00] [ 1.75528162e-02 -8.20410232e-04 9.99845601e-01 4.57557671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.005099893 meters 0.021769068625476857 Centerline is valid? [True, True] Translation: X:385.01, Y:5.25, Z:4.58 [[ 9.97644869e-01 -6.62180737e-02 -1.78852272e-02 3.85007870e+02] [ 6.62217184e-02 9.97804857e-01 -3.89033723e-04 5.24813007e+00] [ 1.78717277e-02 -7.96272984e-04 9.99839971e-01 4.57602254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.035099893 meters 0.01924550091200529 Centerline is valid? [True, True] Translation: X:385.04, Y:5.26, Z:4.58 [[ 9.97962079e-01 -6.12503605e-02 -1.78908155e-02 3.85038467e+02] [ 6.12532202e-02 9.98122183e-01 -3.88607230e-04 5.25717798e+00] [ 1.78810222e-02 -7.08054783e-04 9.99839871e-01 4.57550735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.065099893 meters 0.01924550091200529 Centerline is valid? [True, True] Translation: X:385.07, Y:5.26, Z:4.58 [[ 9.97966554e-01 -6.11774054e-02 -1.78908292e-02 3.85070171e+02] [ 6.11802647e-02 9.98126658e-01 -3.87977861e-04 5.25780948e+00] [ 1.78810490e-02 -7.07376735e-04 9.99839871e-01 4.57589945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.095099893 meters 0.01784389371389399 Centerline is valid? [True, True] Translation: X:385.10, Y:5.27, Z:4.58 [[ 9.98319549e-01 -5.51866125e-02 -1.76780919e-02 3.85099397e+02] [ 5.51884800e-02 9.98475881e-01 -3.82567217e-04 5.26548874e+00] [ 1.76722610e-02 -5.93702688e-04 9.99843657e-01 4.57558750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.125099893 meters 0.016442557194659015 Centerline is valid? [True, True] Translation: X:385.13, Y:5.27, Z:4.58 [[ 9.98499485e-01 -5.17331766e-02 -1.79570736e-02 3.85131127e+02] [ 5.17345470e-02 9.98660796e-01 -3.88525205e-04 5.27105584e+00] [ 1.79531250e-02 -5.41058849e-04 9.99838683e-01 4.57589767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.155099893 meters 0.016442557194659015 Centerline is valid? [True, True] Translation: X:385.16, Y:5.27, Z:4.58 [[ 9.98503254e-01 -5.16603798e-02 -1.79570970e-02 3.85162821e+02] [ 5.16617580e-02 9.98664565e-01 -3.87440374e-04 5.27168395e+00] [ 1.79531318e-02 -5.40834724e-04 9.99838683e-01 4.57628954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18509989300003 meters 0.015803069226052523 Centerline is valid? [True, True] Translation: X:385.19, Y:5.28, Z:4.58 [[ 9.98682455e-01 -4.82584981e-02 -1.74490983e-02 3.85194426e+02] [ 4.82593005e-02 9.98834771e-01 -3.75327140e-04 5.27599426e+00] [ 1.74468788e-02 -4.67248649e-04 9.99847682e-01 4.57634116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.215099893 meters 0.015171840707021413 Centerline is valid? [True, True] Translation: X:385.22, Y:5.28, Z:4.58 [[ 9.98834605e-01 -4.49796234e-02 -1.75004458e-02 3.85224496e+02] [ 4.49799410e-02 9.98987820e-01 -3.75665458e-04 5.27967664e+00] [ 1.74996295e-02 -4.11941360e-04 9.99846785e-01 4.57644825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24509989300003 meters 0.014659553448342244 Centerline is valid? [True, True] Translation: X:385.25, Y:5.28, Z:4.58 [[ 9.98981091e-01 -4.17990892e-02 -1.70181322e-02 3.85254532e+02] [ 4.17989333e-02 9.99125976e-01 -3.65014568e-04 5.28343866e+00] [ 1.70185152e-02 -3.46697120e-04 9.99855114e-01 4.57673551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.275099893 meters 0.014125825528090288 Centerline is valid? [True, True] Translation: X:385.29, Y:5.29, Z:4.58 [[ 9.99091170e-01 -3.90374755e-02 -1.71145913e-02 3.85285537e+02] [ 3.90369193e-02 9.99237702e-01 -3.66695835e-04 5.28729205e+00] [ 1.71158598e-02 -3.01738351e-04 9.99853467e-01 4.57708702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30509989300003 meters 0.013180201896352198 Centerline is valid? [True, True] Translation: X:385.32, Y:5.29, Z:4.58 [[ 9.99245010e-01 -3.49996243e-02 -1.68652186e-02 3.85315967e+02] [ 3.49985164e-02 9.99387299e-01 -3.60923714e-04 5.29437038e+00] [ 1.68675175e-02 -2.29606409e-04 9.99857707e-01 4.57776586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.335099893 meters 0.01301528319284961 Centerline is valid? [True, True] Translation: X:385.35, Y:5.30, Z:4.58 [[ 9.99280757e-01 -3.39712160e-02 -1.68500583e-02 3.85346500e+02] [ 3.39699639e-02 9.99422789e-01 -3.60599276e-04 5.29680311e+00] [ 1.68525822e-02 -2.12055954e-04 9.99857963e-01 4.57819619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36509989300004 meters 0.013078543159167873 Centerline is valid? [True, True] Translation: X:385.38, Y:5.30, Z:4.58 [[ 9.99300654e-01 -3.33564571e-02 -1.68982110e-02 3.85376546e+02] [ 3.33551114e-02 9.99443498e-01 -3.61548420e-04 5.29815306e+00] [ 1.69008671e-02 -2.02346138e-04 9.99857150e-01 4.57869005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.395099893 meters 0.013094115491461519 Centerline is valid? [True, True] Translation: X:385.41, Y:5.30, Z:4.58 [[ 9.99293968e-01 -3.38273557e-02 -1.63485886e-02 3.85407358e+02] [ 3.38261626e-02 9.99427670e-01 -3.49574356e-04 5.29948905e+00] [ 1.63510569e-02 -2.03682470e-04 9.99866292e-01 4.57921251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.425099893 meters 0.013913440024369441 Centerline is valid? [True, True] Translation: X:385.44, Y:5.30, Z:4.58 [[ 9.99186765e-01 -3.68929005e-02 -1.62703052e-02 3.85437967e+02] [ 3.68921262e-02 9.99319193e-01 -3.47830536e-04 5.29772678e+00] [ 1.62720608e-02 -2.52698485e-04 9.99867569e-01 4.57936285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.455099893 meters 0.014917681068233947 Centerline is valid? [True, True] Translation: X:385.47, Y:5.30, Z:4.58 [[ 9.99099901e-01 -3.92153694e-02 -1.61722607e-02 3.85468234e+02] [ 3.92149132e-02 9.99230740e-01 -3.45448559e-04 5.29572117e+00] [ 1.61733669e-02 -2.89056180e-04 9.99869161e-01 4.57952501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.485099893 meters 0.014127590090945335 Centerline is valid? [True, True] Translation: X:385.50, Y:5.30, Z:4.58 [[ 9.98989010e-01 -4.19468230e-02 -1.61685363e-02 3.85499114e+02] [ 4.19467292e-02 9.99119789e-01 -3.45084274e-04 5.29778005e+00] [ 1.61687797e-02 -3.33481815e-04 9.99869221e-01 4.58068111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.515099893 meters 0.015970655568289967 Centerline is valid? [True, True] Translation: X:385.53, Y:5.29, Z:4.58 [[ 9.98677358e-01 -4.86247818e-02 -1.67082501e-02 3.85529628e+02] [ 4.86256206e-02 9.98817011e-01 -3.56287344e-04 5.29412094e+00] [ 1.67058088e-02 -4.56632926e-04 9.99860344e-01 4.58086692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.545099893 meters 0.016788054762150745 Centerline is valid? [True, True] Translation: X:385.56, Y:5.29, Z:4.58 [[ 9.98491504e-01 -5.21765107e-02 -1.70975999e-02 3.85561409e+02] [ 5.21779176e-02 9.98637738e-01 -3.64097435e-04 5.29284184e+00] [ 1.70933058e-02 -5.28568963e-04 9.99853759e-01 4.58129656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.575099893 meters 0.017414847212750665 Centerline is valid? [True, True] Translation: X:385.59, Y:5.29, Z:4.58 [[ 9.98309956e-01 -5.56293678e-02 -1.68108756e-02 3.85592971e+02] [ 5.56312320e-02 9.98451320e-01 -3.57084198e-04 5.29184205e+00] [ 1.68047053e-02 -5.78729014e-04 9.99858623e-01 4.58194763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.605099893 meters 0.01911814607504078 Centerline is valid? [True, True] Translation: X:385.62, Y:5.29, Z:4.58 [[ 9.98111443e-01 -5.91699116e-02 -1.65066469e-02 3.85623365e+02] [ 5.91722066e-02 9.98247729e-01 -3.49755317e-04 5.28914488e+00] [ 1.64984178e-02 -6.27639937e-04 9.99863695e-01 4.58235826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.635099893 meters 0.022155494175967624 Centerline is valid? [True, True] Translation: X:385.65, Y:5.28, Z:4.58 [[ 9.97909396e-01 -6.24381230e-02 -1.66828552e-02 3.85653291e+02] [ 6.24409339e-02 9.98048599e-01 -3.52844876e-04 5.28463790e+00] [ 1.66723312e-02 -6.89585839e-04 9.99860769e-01 4.58247829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.665099893 meters 0.0209537221791758 Centerline is valid? [True, True] Translation: X:385.68, Y:5.29, Z:4.58 [[ 9.97717570e-01 -6.53870073e-02 -1.68579087e-02 3.85684614e+02] [ 6.53903004e-02 9.97859700e-01 -3.56383706e-04 5.28641227e+00] [ 1.68451306e-02 -7.46773430e-04 9.99857832e-01 4.58315698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.695099893 meters 0.023023779568076438 Centerline is valid? [True, True] Translation: X:385.71, Y:5.28, Z:4.58 [[ 9.97435755e-01 -6.95148295e-02 -1.70177324e-02 3.85714684e+02] [ 6.95187923e-02 9.97580577e-01 -3.59308285e-04 5.28376517e+00] [ 1.70015365e-02 -8.24665272e-04 9.99855123e-01 4.58292827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.725099893 meters 0.023347695050422574 Centerline is valid? [True, True] Translation: X:385.75, Y:5.28, Z:4.58 [[ 9.97342682e-01 -7.08174661e-02 -1.71015094e-02 3.85747160e+02] [ 7.08216649e-02 9.97488928e-01 -3.60733275e-04 5.28410768e+00] [ 1.70841124e-02 -8.51382673e-04 9.99853693e-01 4.58296150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.755099893 meters 0.02430567433531594 Centerline is valid? [True, True] Translation: X:385.78, Y:5.28, Z:4.58 [[ 9.97282917e-01 -7.16159653e-02 -1.72608655e-02 3.85777870e+02] [ 7.16203808e-02 9.97431897e-01 -3.63012104e-04 5.28337309e+00] [ 1.72425353e-02 -8.74203993e-04 9.99850954e-01 4.58285388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.785099893 meters 0.025566611302728543 Centerline is valid? [True, True] Translation: X:385.81, Y:5.28, Z:4.58 [[ 9.97238538e-01 -7.22819516e-02 -1.70474879e-02 3.85808980e+02] [ 7.22863674e-02 9.97383854e-01 -3.57832388e-04 5.28327682e+00] [ 1.70287540e-02 -8.75456726e-04 9.99854617e-01 4.58293861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.815099893 meters 0.023463303685900497 Centerline is valid? [True, True] Translation: X:385.84, Y:5.29, Z:4.58 [[ 9.97259144e-01 -7.20646121e-02 -1.67598434e-02 3.85841174e+02] [ 7.20688658e-02 9.97399597e-01 -3.50822991e-04 5.28761230e+00] [ 1.67415430e-02 -8.58001471e-04 9.99859482e-01 4.58387291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.845099893 meters 0.022438864938664177 Centerline is valid? [True, True] Translation: X:385.87, Y:5.29, Z:4.58 [[ 9.97276931e-01 -7.18778479e-02 -1.65014753e-02 3.85873064e+02] [ 7.18819656e-02 9.97413086e-01 -3.44217793e-04 5.29066103e+00] [ 1.64835291e-02 -8.42878018e-04 9.99863782e-01 4.58432770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.875099893 meters 0.024108919240355704 Centerline is valid? [True, True] Translation: X:385.90, Y:5.29, Z:4.58 [[ 9.97289696e-01 -7.16527149e-02 -1.67077942e-02 3.85904656e+02] [ 7.16569292e-02 9.97429278e-01 -3.47052988e-04 5.28978738e+00] [ 1.66897104e-02 -8.51116860e-04 9.99860355e-01 4.58421207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.905099893 meters 0.022600555025868482 Centerline is valid? [True, True] Translation: X:385.94, Y:5.29, Z:4.58 [[ 9.97277499e-01 -7.17995789e-02 -1.68050963e-02 3.85936384e+02] [ 7.18038946e-02 9.97418709e-01 -3.47204061e-04 5.29351352e+00] [ 1.67866466e-02 -8.60412567e-04 9.99858724e-01 4.58463113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93509989300003 meters 0.02574040315450169 Centerline is valid? [True, True] Translation: X:385.97, Y:5.29, Z:4.58 [[ 9.97220933e-01 -7.24636400e-02 -1.73041107e-02 3.85967392e+02] [ 7.24683409e-02 9.97370650e-01 -3.56054934e-04 5.29071654e+00] [ 1.72844132e-02 -8.98934761e-04 9.99850209e-01 4.58431206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.965099893 meters 0.024499650524910287 Centerline is valid? [True, True] Translation: X:386.00, Y:5.30, Z:4.58 [[ 9.96996301e-01 -7.53397506e-02 -1.79526497e-02 3.85998311e+02] [ 7.53453013e-02 9.97157435e-01 -3.67957001e-04 5.29510354e+00] [ 1.79293399e-02 -9.85796029e-04 9.99838770e-01 4.58414451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99509989300003 meters 0.02734278930098035 Centerline is valid? [True, True] Translation: X:386.03, Y:5.29, Z:4.58 [[ 9.96860320e-01 -7.70770907e-02 -1.81279776e-02 3.86029773e+02] [ 7.70830465e-02 9.97024607e-01 -3.71005585e-04 5.29251798e+00] [ 1.81026358e-02 -1.02751900e-03 9.99835606e-01 4.58376867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.025099893 meters 0.0248870556289179 Centerline is valid? [True, True] Translation: X:386.06, Y:5.30, Z:4.58 [[ 9.96693575e-01 -7.90547394e-02 -1.87687224e-02 3.86061508e+02] [ 7.90615000e-02 9.96869667e-01 -3.82689643e-04 5.29721936e+00] [ 1.87402235e-02 -1.10245904e-03 9.99823779e-01 4.58410202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05509989300003 meters 0.027451533363773133 Centerline is valid? [True, True] Translation: X:386.09, Y:5.29, Z:4.58 [[ 9.96521274e-01 -8.11081210e-02 -1.91526512e-02 3.86091387e+02] [ 8.11155783e-02 9.96704626e-01 -3.88461266e-04 5.29498894e+00] [ 1.91210434e-02 -1.16646846e-03 9.99816496e-01 4.58369599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.085099893 meters 0.026786813572481447 Centerline is valid? [True, True] Translation: X:386.12, Y:5.30, Z:4.58 [[ 9.96158167e-01 -8.53983190e-02 -1.93915933e-02 3.86122233e+02] [ 8.54067962e-02 9.96346087e-01 -3.92102241e-04 5.29861386e+00] [ 1.93542230e-02 -1.26557801e-03 9.99811888e-01 4.58444447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11509989300004 meters 0.027531181545869934 Centerline is valid? [True, True] Translation: X:386.15, Y:5.30, Z:4.58 [[ 9.96034737e-01 -8.68342881e-02 -1.93548029e-02 3.86154495e+02] [ 8.68430149e-02 9.96221932e-01 -3.90741693e-04 5.29952654e+00] [ 1.93156089e-02 -1.29163713e-03 9.99812602e-01 4.58484855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.145099893 meters 0.028394069642452623 Centerline is valid? [True, True] Translation: X:386.19, Y:5.30, Z:4.59 [[ 9.95894787e-01 -8.83885456e-02 -1.95201779e-02 3.86186735e+02] [ 8.83977480e-02 9.96085179e-01 -3.92613776e-04 5.30068126e+00] [ 1.94784625e-02 -1.33453775e-03 9.99809386e-01 4.58522532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.175099893 meters 0.030426561989916397 Centerline is valid? [True, True] Translation: X:386.22, Y:5.30, Z:4.59 [[ 9.95835890e-01 -8.90375413e-02 -1.95754032e-02 3.86217519e+02] [ 8.90469569e-02 9.96027352e-01 -3.91865710e-04 5.30008940e+00] [ 1.95325278e-02 -1.35289615e-03 9.99808307e-01 4.58548236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.205099893 meters 0.029569464753685604 Centerline is valid? [True, True] Translation: X:386.25, Y:5.31, Z:4.59 [[ 9.95813836e-01 -8.93770094e-02 -1.91456101e-02 3.86249902e+02] [ 8.93861179e-02 9.95996976e-01 -3.81193654e-04 5.30539752e+00] [ 1.91030397e-02 -1.33175385e-03 9.99816633e-01 4.58708166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.235099893 meters 0.02985815617534216 Centerline is valid? [True, True] Translation: X:386.28, Y:5.31, Z:4.59 [[ 9.95893745e-01 -8.85730510e-02 -1.87206397e-02 3.86281730e+02] [ 8.85816436e-02 9.96068850e-01 -3.71368326e-04 5.30732833e+00] [ 1.86799393e-02 -1.28846164e-03 9.99824684e-01 4.58818136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.265099893 meters 0.03015308536120809 Centerline is valid? [True, True] Translation: X:386.31, Y:5.31, Z:4.59 [[ 9.96026337e-01 -8.72296468e-02 -1.79589981e-02 3.86312866e+02] [ 8.72373671e-02 9.96187490e-01 -3.54570494e-04 5.30942029e+00] [ 1.79214583e-02 -1.21353416e-03 9.99838661e-01 4.58925404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.295099893 meters 0.02921696717184922 Centerline is valid? [True, True] Translation: X:386.34, Y:5.31, Z:4.59 [[ 9.96180249e-01 -8.55638960e-02 -1.74278928e-02 3.86344142e+02] [ 8.55709461e-02 9.96332021e-01 -3.42151286e-04 5.31347366e+00] [ 1.73932434e-02 -1.15047692e-03 9.99848064e-01 4.59046639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.325099893 meters 0.029250180929457366 Centerline is valid? [True, True] Translation: X:386.37, Y:5.32, Z:4.59 [[ 9.96390183e-01 -8.31885611e-02 -1.69193893e-02 3.86374584e+02] [ 8.31948735e-02 9.96533242e-01 -3.31644115e-04 5.31612674e+00] [ 1.68883229e-02 -1.07715951e-03 9.99856802e-01 4.59141107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.355099893 meters 0.028266516996728296 Centerline is valid? [True, True] Translation: X:386.40, Y:5.32, Z:4.59 [[ 9.96910305e-01 -7.70316815e-02 -1.53611163e-02 3.86403839e+02] [ 7.70361582e-02 9.97028254e-01 -3.00951420e-04 5.32276328e+00] [ 1.53386498e-02 -8.83339817e-04 9.99881966e-01 4.59328126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.385099893 meters 0.02652302397439237 Centerline is valid? [True, True] Translation: X:386.44, Y:5.33, Z:4.59 [[ 9.97221977e-01 -7.29939714e-02 -1.48394586e-02 3.86435039e+02] [ 7.29977006e-02 9.97332067e-01 -2.90915643e-04 5.32836504e+00] [ 1.48211030e-02 -7.93138885e-04 9.99889847e-01 4.59424369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.415099893 meters 0.0252660335200465 Centerline is valid? [True, True] Translation: X:386.47, Y:5.33, Z:4.59 [[ 9.97520984e-01 -6.88206002e-02 -1.46836878e-02 3.86465333e+02] [ 6.88238036e-02 9.97628789e-01 -2.87645629e-04 5.33334868e+00] [ 1.46686657e-02 -7.23654697e-04 9.99892147e-01 4.59451182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.445099893 meters 0.02217173772092147 Centerline is valid? [True, True] Translation: X:386.49, Y:5.34, Z:4.59 [[ 9.98094954e-01 -5.98008093e-02 -1.51764727e-02 3.86494892e+02] [ 5.98031902e-02 9.98210143e-01 -2.97303834e-04 5.34322690e+00] [ 1.51670880e-02 -6.10864024e-04 9.99884787e-01 4.59410712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.475099893 meters 0.018707802818003133 Centerline is valid? [True, True] Translation: X:386.53, Y:5.35, Z:4.59 [[ 9.98342806e-01 -5.54096584e-02 -1.55373976e-02 3.86525365e+02] [ 5.54116225e-02 9.98463549e-01 -3.04395929e-04 5.35133398e+00] [ 1.55303916e-02 -5.57060924e-04 9.99879241e-01 4.59424735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.505099893 meters 0.01933203770503891 Centerline is valid? [True, True] Translation: X:386.56, Y:5.35, Z:4.59 [[ 9.98558342e-01 -5.12650264e-02 -1.59102094e-02 3.86555573e+02] [ 5.12665613e-02 9.98684957e-01 -3.11635421e-04 5.35293484e+00] [ 1.59052628e-02 -5.04475578e-04 9.99873376e-01 4.59405674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.535099893 meters 0.0166928068876856 Centerline is valid? [True, True] Translation: X:386.59, Y:5.36, Z:4.59 [[ 9.98745083e-01 -4.73817021e-02 -1.62244518e-02 3.86587402e+02] [ 4.73827933e-02 9.98876754e-01 -3.17354953e-04 5.36009106e+00] [ 1.62212646e-02 -4.51803149e-04 9.99868325e-01 4.59459577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.565099893 meters 0.015372500134628387 Centerline is valid? [True, True] Translation: X:386.62, Y:5.36, Z:4.60 [[ 9.98912457e-01 -4.37615422e-02 -1.60882382e-02 3.86618728e+02] [ 4.37621586e-02 9.99041929e-01 -3.13898544e-04 5.36499089e+00] [ 1.60865612e-02 -3.90498867e-04 9.99870527e-01 4.59521437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.595099893 meters 0.014358216040534767 Centerline is valid? [True, True] Translation: X:386.65, Y:5.37, Z:4.60 [[ 9.99189113e-01 -3.68533557e-02 -1.62156133e-02 3.86649212e+02] [ 3.68530820e-02 9.99320645e-01 -3.15793569e-04 5.37123360e+00] [ 1.62162352e-02 -2.82057829e-04 9.99868468e-01 4.59583303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.625099893 meters 0.013242637968038783 Centerline is valid? [True, True] Translation: X:386.68, Y:5.38, Z:4.60 [[ 9.99309106e-01 -3.35603004e-02 -1.59692285e-02 3.86680288e+02] [ 3.35596237e-02 9.99436669e-01 -3.10426970e-04 5.37621110e+00] [ 1.59706506e-02 -2.25708801e-04 9.99872436e-01 4.59655688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.655099893 meters 0.013013233904998936 Centerline is valid? [True, True] Translation: X:386.71, Y:5.38, Z:4.60 [[ 9.99397189e-01 -3.07698653e-02 -1.60771439e-02 3.86710608e+02] [ 3.07688268e-02 9.99526479e-01 -3.12005347e-04 5.37896918e+00] [ 1.60791314e-02 -1.82857590e-04 9.99870706e-01 4.59674538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68509989300003 meters 0.012749590364124095 Centerline is valid? [True, True] Translation: X:386.74, Y:5.38, Z:4.60 [[ 9.99471782e-01 -2.79796712e-02 -1.65316071e-02 3.86740922e+02] [ 2.79781996e-02 9.99608482e-01 -3.20330052e-04 5.38171746e+00] [ 1.65340974e-02 -1.42363756e-04 9.99863292e-01 4.59673021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.715099893 meters 0.01229623684393933 Centerline is valid? [True, True] Translation: X:386.77, Y:5.39, Z:4.60 [[ 9.99578476e-01 -2.36905030e-02 -1.67818269e-02 3.86772616e+02] [ 2.36883982e-02 9.99719338e-01 -3.24218688e-04 5.38627157e+00] [ 1.67847978e-02 -7.34525756e-05 9.99859123e-01 4.59732478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74509989300003 meters 0.012272313031057958 Centerline is valid? [True, True] Translation: X:386.80, Y:5.39, Z:4.60 [[ 9.99613287e-01 -2.19979007e-02 -1.70108339e-02 3.86802255e+02] [ 2.19954978e-02 9.99758016e-01 -3.28359378e-04 5.38803328e+00] [ 1.70139408e-02 -4.59293638e-05 9.99855251e-01 4.59731046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.775099893 meters 0.012273519939106354 Centerline is valid? [True, True] Translation: X:386.83, Y:5.39, Z:4.60 [[ 9.99635666e-01 -2.08222201e-02 -1.71746821e-02 3.86832051e+02] [ 2.08195865e-02 9.99783194e-01 -3.32145795e-04 5.38926968e+00] [ 1.71778745e-02 -2.55449954e-05 9.99852449e-01 4.59754118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80509989300003 meters 0.012219003232252924 Centerline is valid? [True, True] Translation: X:386.86, Y:5.39, Z:4.60 [[ 9.99634561e-01 -2.05131426e-02 -1.76055762e-02 3.86860375e+02] [ 2.05102961e-02 9.99789583e-01 -3.42246633e-04 5.39002119e+00] [ 1.76088923e-02 -1.89740187e-05 9.99844951e-01 4.59769423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.835099893 meters 0.012230291537661638 Centerline is valid? [True, True] Translation: X:386.89, Y:5.39, Z:4.60 [[ 9.99626001e-01 -2.04902984e-02 -1.81109074e-02 3.86888984e+02] [ 2.04871989e-02 9.99790052e-01 -3.56679506e-04 5.39049598e+00] [ 1.81144135e-02 -1.44956541e-05 9.99835920e-01 4.59759179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86509989300004 meters 0.012174639351070124 Centerline is valid? [True, True] Translation: X:386.92, Y:5.39, Z:4.60 [[ 9.99596379e-01 -2.21492076e-02 -1.77902115e-02 3.86918231e+02] [ 2.21464013e-02 9.99754675e-01 -3.54757859e-04 5.38934046e+00] [ 1.77937047e-02 -3.93744927e-05 9.99841679e-01 4.59848346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.895099893 meters 0.012219820259784756 Centerline is valid? [True, True] Translation: X:386.95, Y:5.39, Z:4.60 [[ 9.99568601e-01 -2.37552015e-02 -1.72714562e-02 3.86946776e+02] [ 2.37527390e-02 9.99717803e-01 -3.47730900e-04 5.38821509e+00] [ 1.72748426e-02 -6.26635004e-05 9.99850777e-01 4.59894339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.925099893 meters 0.012301638615036681 Centerline is valid? [True, True] Translation: X:386.98, Y:5.39, Z:4.60 [[ 9.99520374e-01 -2.59675897e-02 -1.68732691e-02 3.86976480e+02] [ 2.59655408e-02 9.99662781e-01 -3.40529166e-04 5.38713995e+00] [ 1.68764218e-02 -9.77577179e-05 9.99857578e-01 4.59980579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.955099893 meters 0.012721399322957617 Centerline is valid? [True, True] Translation: X:387.01, Y:5.38, Z:4.60 [[ 9.99403066e-01 -3.09541044e-02 -1.53413048e-02 3.87007284e+02] [ 3.09529918e-02 9.99520793e-01 -3.10017347e-04 5.38206093e+00] [ 1.53435494e-02 -1.65026994e-04 9.99882267e-01 4.60032791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.985099893 meters 0.013130433503281 Centerline is valid? [True, True] Translation: X:387.04, Y:5.38, Z:4.60 [[ 9.99321667e-01 -3.36360395e-02 -1.49940648e-02 3.87038705e+02] [ 3.36352830e-02 9.99434128e-01 -3.02704253e-04 5.37896678e+00] [ 1.49957619e-02 -2.01830695e-04 9.99887537e-01 4.60085607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.015099893 meters 0.01365086166836106 Centerline is valid? [True, True] Translation: X:387.07, Y:5.38, Z:4.60 [[ 9.99228331e-01 -3.64099059e-02 -1.47329799e-02 3.87069905e+02] [ 3.64095007e-02 9.99336911e-01 -2.95813366e-04 5.37572613e+00] [ 1.47339812e-02 -2.40835347e-04 9.99891420e-01 4.60097090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.045099893 meters 0.01365086166836106 Centerline is valid? [True, True] Translation: X:387.10, Y:5.38, Z:4.60 [[ 9.99230909e-01 -3.63390840e-02 -1.47330096e-02 3.87101593e+02] [ 3.63386930e-02 9.99339488e-01 -2.94326122e-04 5.37630090e+00] [ 1.47339738e-02 -2.41278555e-04 9.99891420e-01 4.60136246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.075099893 meters 0.013768913419090922 Centerline is valid? [True, True] Translation: X:387.13, Y:5.37, Z:4.60 [[ 9.99137933e-01 -3.89040993e-02 -1.44865964e-02 3.87133692e+02] [ 3.89040056e-02 9.99242911e-01 -2.88386443e-04 5.37443984e+00] [ 1.44868482e-02 -2.75448792e-04 9.99895022e-01 4.60154858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.105099893 meters 0.014736391041809547 Centerline is valid? [True, True] Translation: X:387.17, Y:5.37, Z:4.60 [[ 9.98957333e-01 -4.33671055e-02 -1.42667619e-02 3.87165929e+02] [ 4.33674840e-02 9.99059148e-01 -2.82981535e-04 5.36894175e+00] [ 1.42656111e-02 -3.36027090e-04 9.99898185e-01 4.60165689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.135099893 meters 0.016205842628206506 Centerline is valid? [True, True] Translation: X:387.20, Y:5.36, Z:4.60 [[ 9.98899478e-01 -4.46967327e-02 -1.42138723e-02 3.87196739e+02] [ 4.46972590e-02 9.99000539e-01 -2.80801494e-04 5.36484311e+00] [ 1.42122170e-02 -3.54828665e-04 9.99898938e-01 4.60160156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.165099893 meters 0.015315623437943396 Centerline is valid? [True, True] Translation: X:387.23, Y:5.37, Z:4.60 [[ 9.98860089e-01 -4.55608855e-02 -1.42382697e-02 3.87229017e+02] [ 4.55615257e-02 9.98961495e-01 -2.79581349e-04 5.36515071e+00] [ 1.42362212e-02 -3.69454640e-04 9.99898592e-01 4.60201864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.195099893 meters 0.015914923656225228 Centerline is valid? [True, True] Translation: X:387.26, Y:5.36, Z:4.60 [[ 9.98836416e-01 -4.59442910e-02 -1.46607268e-02 3.87260550e+02] [ 4.59450264e-02 9.98943928e-01 -2.86826291e-04 5.36296951e+00] [ 1.46584221e-02 -3.87094937e-04 9.99892485e-01 4.60211887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.225099893 meters 0.01575628031951351 Centerline is valid? [True, True] Translation: X:387.29, Y:5.36, Z:4.60 [[ 9.98846050e-01 -4.55117566e-02 -1.53377779e-02 3.87293269e+02] [ 4.55125245e-02 9.98963723e-01 -2.99159378e-04 5.36086626e+00] [ 1.53354990e-02 -3.99246829e-04 9.99882325e-01 4.60174114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.255099893 meters 0.015838343496554212 Centerline is valid? [True, True] Translation: X:387.32, Y:5.36, Z:4.60 [[ 9.98862978e-01 -4.49603917e-02 -1.58528904e-02 3.87324989e+02] [ 4.49611611e-02 9.98988688e-01 -3.08049941e-04 5.35998944e+00] [ 1.58507083e-02 -4.05064679e-04 9.99874288e-01 4.60180686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.285099893 meters 0.01496989673622271 Centerline is valid? [True, True] Translation: X:387.36, Y:5.36, Z:4.60 [[ 9.98916858e-01 -4.36875817e-02 -1.60158038e-02 3.87356873e+02] [ 4.36882218e-02 9.99045166e-01 -3.10070564e-04 5.36096091e+00] [ 1.60140576e-02 -3.89967279e-04 9.99871691e-01 4.60201984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.315099893 meters 0.015089430641146229 Centerline is valid? [True, True] Translation: X:387.39, Y:5.36, Z:4.60 [[ 9.99027576e-01 -4.06795925e-02 -1.70021387e-02 3.87387518e+02] [ 4.06798961e-02 9.99172177e-01 -3.28136038e-04 5.35937654e+00] [ 1.70014124e-02 -3.63828284e-04 9.99855399e-01 4.60165099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.345099893 meters 0.014609097657783702 Centerline is valid? [True, True] Translation: X:387.42, Y:5.36, Z:4.60 [[ 9.99085095e-01 -3.91066519e-02 -1.73102146e-02 3.87418512e+02] [ 3.91067374e-02 9.99234983e-01 -3.33687694e-04 5.36047528e+00] [ 1.73100214e-02 -3.43563616e-04 9.99850111e-01 4.60191555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.375099893 meters 0.014261594767311762 Centerline is valid? [True, True] Translation: X:387.45, Y:5.36, Z:4.60 [[ 9.99141004e-01 -3.75492673e-02 -1.75301505e-02 3.87449981e+02] [ 3.75491260e-02 9.99294726e-01 -3.37322579e-04 5.36134456e+00] [ 1.75304531e-02 -3.21209008e-04 9.99846278e-01 4.60242256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.405099893 meters 0.013511677072404065 Centerline is valid? [True, True] Translation: X:387.48, Y:5.36, Z:4.60 [[ 9.99233056e-01 -3.47365841e-02 -1.80740252e-02 3.87481593e+02] [ 3.47359853e-02 9.99396463e-01 -3.47159702e-04 5.36264359e+00] [ 1.80751760e-02 -2.80925624e-04 9.99836591e-01 4.60274083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43509989300003 meters 0.012806305195240349 Centerline is valid? [True, True] Translation: X:387.51, Y:5.36, Z:4.60 [[ 9.99267715e-01 -3.36055854e-02 -1.82947682e-02 3.87513218e+02] [ 3.36047940e-02 9.99435138e-01 -3.50765366e-04 5.36416139e+00] [ 1.82962218e-02 -2.64283411e-04 9.99832575e-01 4.60335715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.465099893 meters 0.012203256955903958 Centerline is valid? [True, True] Translation: X:387.54, Y:5.37, Z:4.60 [[ 9.99305129e-01 -3.25790878e-02 -1.81069687e-02 3.87543232e+02] [ 3.25781518e-02 9.99469131e-01 -3.46736061e-04 5.36553730e+00] [ 1.81086527e-02 -2.43396452e-04 9.99835995e-01 4.60406375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49509989300003 meters 0.012199198186084751 Centerline is valid? [True, True] Translation: X:387.57, Y:5.37, Z:4.60 [[ 9.99325934e-01 -3.17312760e-02 -1.84608866e-02 3.87573389e+02] [ 3.17301605e-02 9.99496409e-01 -3.53402529e-04 5.36527864e+00] [ 1.84628038e-02 -2.32602583e-04 9.99829521e-01 4.60410235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.525099893 meters 0.01210996234282684 Centerline is valid? [True, True] Translation: X:387.60, Y:5.37, Z:4.60 [[ 9.99331559e-01 -3.12846458e-02 -1.89131014e-02 3.87603805e+02] [ 3.12833994e-02 9.99510489e-01 -3.61829227e-04 5.36542525e+00] [ 1.89151629e-02 -2.30078738e-04 9.99821066e-01 4.60436883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55509989300003 meters 0.012292111856028446 Centerline is valid? [True, True] Translation: X:387.63, Y:5.36, Z:4.60 [[ 9.99340960e-01 -3.10709535e-02 -1.87681083e-02 3.87632999e+02] [ 3.10696890e-02 9.99517156e-01 -3.59026867e-04 5.36428148e+00] [ 1.87702015e-02 -2.24329033e-04 9.99823799e-01 4.60449057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.585099893 meters 0.012144196666405567 Centerline is valid? [True, True] Translation: X:387.66, Y:5.36, Z:4.61 [[ 9.99323370e-01 -3.18811492e-02 -1.83410669e-02 3.87662950e+02] [ 3.18800751e-02 9.99491640e-01 -3.51014958e-04 5.36278758e+00] [ 1.83429338e-02 -2.33937140e-04 9.99831727e-01 4.60573110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61509989300004 meters 0.012575823697234126 Centerline is valid? [True, True] Translation: X:387.69, Y:5.36, Z:4.61 [[ 9.99314358e-01 -3.25252394e-02 -1.76896133e-02 3.87692037e+02] [ 3.25243320e-02 9.99470886e-01 -3.39061337e-04 5.36057808e+00] [ 1.76912816e-02 -2.36513995e-04 9.99843469e-01 4.60594194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.645099893 meters 0.011980045663283432 Centerline is valid? [True, True] Translation: X:387.72, Y:5.36, Z:4.61 [[ 9.99271734e-01 -3.36793968e-02 -1.79359662e-02 3.87722303e+02] [ 3.36786459e-02 9.99432654e-01 -3.44002691e-04 5.36121982e+00] [ 1.79373761e-02 -2.60306888e-04 9.99839078e-01 4.60688893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.675099893 meters 0.012788387007626622 Centerline is valid? [True, True] Translation: X:387.75, Y:5.36, Z:4.61 [[ 9.99227974e-01 -3.48880472e-02 -1.80632221e-02 3.87752254e+02] [ 3.48874924e-02 9.99391186e-01 -3.45923216e-04 5.35819906e+00] [ 1.80642935e-02 -2.84524369e-04 9.99836787e-01 4.60632098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.705099893 meters 0.012961116554439787 Centerline is valid? [True, True] Translation: X:387.78, Y:5.36, Z:4.61 [[ 9.99076186e-01 -3.84675018e-02 -1.91579090e-02 3.87782801e+02] [ 3.84675585e-02 9.99259783e-01 -3.65690578e-04 5.35567873e+00] [ 1.91577952e-02 -3.71605237e-04 9.99816404e-01 4.60588676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.735099893 meters 0.01422981469767142 Centerline is valid? [True, True] Translation: X:387.81, Y:5.35, Z:4.61 [[ 9.98989919e-01 -4.03564429e-02 -1.97610450e-02 3.87813428e+02] [ 4.03568752e-02 9.99185258e-01 -3.77070519e-04 5.35256614e+00] [ 1.97601621e-02 -4.20804381e-04 9.99804660e-01 4.60513120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.765099893 meters 0.013941097024594895 Centerline is valid? [True, True] Translation: X:387.84, Y:5.35, Z:4.61 [[ 9.98903594e-01 -4.24245004e-02 -1.97932287e-02 3.87844080e+02] [ 4.24253443e-02 9.99099568e-01 -3.77462241e-04 5.35251229e+00] [ 1.97914199e-02 -4.62686153e-04 9.99804024e-01 4.60580936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.795099893 meters 0.014163906573564143 Centerline is valid? [True, True] Translation: X:387.88, Y:5.35, Z:4.61 [[ 9.98819952e-01 -4.45352056e-02 -1.93731666e-02 3.87875225e+02] [ 4.45364156e-02 9.99007693e-01 -3.69195753e-04 5.35138921e+00] [ 1.93703847e-02 -4.94051316e-04 9.99812254e-01 4.60602256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.825099893 meters 0.0167454424480234 Centerline is valid? [True, True] Translation: X:387.91, Y:5.35, Z:4.61 [[ 9.98678854e-01 -4.79792102e-02 -1.83995088e-02 3.87905382e+02] [ 4.79808955e-02 9.98848192e-01 -3.50102944e-04 5.34538148e+00] [ 1.83951138e-02 -5.33184502e-04 9.99830653e-01 4.60628291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.855099893 meters 0.016001871865470755 Centerline is valid? [True, True] Translation: X:387.94, Y:5.35, Z:4.61 [[ 9.98612570e-01 -4.95599087e-02 -1.77974681e-02 3.87937190e+02] [ 4.95617470e-02 9.98771004e-01 -3.38038431e-04 5.34625079e+00] [ 1.77923482e-02 -5.44504182e-04 9.99841555e-01 4.60749247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.885099893 meters 0.01664097491998759 Centerline is valid? [True, True] Translation: X:387.97, Y:5.35, Z:4.61 [[ 9.98555548e-01 -5.08726543e-02 -1.72855347e-02 3.87969676e+02] [ 5.08746059e-02 9.98704995e-01 -3.27094097e-04 5.34502453e+00] [ 1.72797899e-02 -5.52773138e-04 9.99850540e-01 4.60830403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.915099893 meters 0.017436838008330287 Centerline is valid? [True, True] Translation: X:388.00, Y:5.34, Z:4.61 [[ 9.98475205e-01 -5.30112707e-02 -1.53971019e-02 3.88002194e+02] [ 5.30130885e-02 9.98593775e-01 -2.90350110e-04 5.34289107e+00] [ 1.53908420e-02 -5.26340541e-04 9.99881415e-01 4.60967399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.945099893 meters 0.016984614559154138 Centerline is valid? [True, True] Translation: X:388.03, Y:5.34, Z:4.61 [[ 9.98435923e-01 -5.39390293e-02 -1.47067623e-02 3.88034745e+02] [ 5.39408032e-02 9.98544097e-01 -2.76312284e-04 5.34394391e+00] [ 1.47002547e-02 -5.17414460e-04 9.99891812e-01 4.61073411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.975099893 meters 0.017605222521338768 Centerline is valid? [True, True] Translation: X:388.07, Y:5.34, Z:4.61 [[ 9.98421347e-01 -5.43472210e-02 -1.41842452e-02 3.88066175e+02] [ 5.43489260e-02 9.98521970e-01 -2.65522520e-04 5.34324803e+00] [ 1.41777109e-02 -5.05795139e-04 9.99899363e-01 4.61132365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.005099893 meters 0.017802761900346256 Centerline is valid? [True, True] Translation: X:388.10, Y:5.34, Z:4.61 [[ 9.98400081e-01 -5.48327130e-02 -1.38076996e-02 3.88098377e+02] [ 5.48343855e-02 9.98495430e-01 -2.57712271e-04 5.34357811e+00] [ 1.38010560e-02 -4.99836769e-04 9.99904636e-01 4.61213252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.035099893 meters 0.018088764520739757 Centerline is valid? [True, True] Translation: X:388.13, Y:5.34, Z:4.61 [[ 9.98390085e-01 -5.51625205e-02 -1.32035990e-02 3.88130197e+02] [ 5.51640908e-02 9.98477272e-01 -2.45519467e-04 5.34357146e+00] [ 1.31970369e-02 -4.83240330e-04 9.99912799e-01 4.61263610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.065099893 meters 0.01911889901021228 Centerline is valid? [True, True] Translation: X:388.16, Y:5.34, Z:4.61 [[ 9.98370864e-01 -5.53204923e-02 -1.39736063e-02 3.88161412e+02] [ 5.53222810e-02 9.98468516e-01 -2.58806506e-04 5.34242509e+00] [ 1.39665232e-02 -5.14666897e-04 9.99902331e-01 4.61259074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.095099893 meters 0.018843542742726736 Centerline is valid? [True, True] Translation: X:388.19, Y:5.34, Z:4.61 [[ 9.98353390e-01 -5.55519586e-02 -1.42999229e-02 3.88193663e+02] [ 5.55538672e-02 9.98455657e-01 -2.64031775e-04 5.34297706e+00] [ 1.42925064e-02 -5.30818999e-04 9.99897716e-01 4.61236573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.125099893 meters 0.01858298957692914 Centerline is valid? [True, True] Translation: X:388.23, Y:5.34, Z:4.61 [[ 9.98322222e-01 -5.59688430e-02 -1.48401337e-02 3.88226305e+02] [ 5.59709607e-02 9.98432360e-01 -2.72914798e-04 5.34376157e+00] [ 1.48321444e-02 -5.58159633e-04 9.99889842e-01 4.61228835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.155099893 meters 0.019346451838932223 Centerline is valid? [True, True] Translation: X:388.26, Y:5.34, Z:4.61 [[ 9.98272161e-01 -5.65985182e-02 -1.57892428e-02 3.88257821e+02] [ 5.66010153e-02 9.98396836e-01 -2.89035144e-04 5.34316197e+00] [ 1.57802890e-02 -6.05151435e-04 9.99875300e-01 4.61221831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18509989300003 meters 0.020307106298289846 Centerline is valid? [True, True] Translation: X:388.29, Y:5.34, Z:4.61 [[ 9.98180771e-01 -5.80207665e-02 -1.63932507e-02 3.88288613e+02] [ 5.80236817e-02 9.98315162e-01 -2.98140968e-04 5.34232796e+00] [ 1.63829291e-02 -6.53598182e-04 9.99865577e-01 4.61214072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.215099893 meters 0.021274449734468907 Centerline is valid? [True, True] Translation: X:388.32, Y:5.34, Z:4.61 [[ 9.98108377e-01 -5.90011217e-02 -1.72781576e-02 3.88319883e+02] [ 5.90045392e-02 9.98257666e-01 -3.12368746e-04 5.34158595e+00] [ 1.72664834e-02 -7.07711867e-04 9.99850673e-01 4.61216745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24509989300003 meters 0.019671460499069187 Centerline is valid? [True, True] Translation: X:388.35, Y:5.34, Z:4.61 [[ 9.98042863e-01 -5.99641888e-02 -1.77409130e-02 3.88352215e+02] [ 5.99679624e-02 9.98200251e-01 -3.19677980e-04 5.34474525e+00] [ 1.77281530e-02 -7.44834076e-04 9.99842567e-01 4.61264669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.275099893 meters 0.02268045334701654 Centerline is valid? [True, True] Translation: X:388.38, Y:5.34, Z:4.61 [[ 9.97985371e-01 -6.07982259e-02 -1.81321809e-02 3.88383483e+02] [ 6.08023275e-02 9.98149774e-01 -3.25501556e-04 5.34095831e+00] [ 1.81184222e-02 -7.77633010e-04 9.99835546e-01 4.61200873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30509989300003 meters 0.02003962011430846 Centerline is valid? [True, True] Translation: X:388.42, Y:5.35, Z:4.61 [[ 9.97842371e-01 -6.25846913e-02 -1.98433544e-02 3.88415337e+02] [ 6.25899818e-02 9.98039262e-01 -3.54942715e-04 5.34590877e+00] [ 1.98266608e-02 -8.87818311e-04 9.99803038e-01 4.61160321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.335099893 meters 0.023072160664341694 Centerline is valid? [True, True] Translation: X:388.45, Y:5.34, Z:4.61 [[ 9.97818350e-01 -6.29833679e-02 -1.97897827e-02 3.88446472e+02] [ 6.29887424e-02 9.98014175e-01 -3.52251874e-04 5.34298250e+00] [ 1.97726697e-02 -8.95050140e-04 9.99804101e-01 4.61086590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36509989300004 meters 0.019602364033692744 Centerline is valid? [True, True] Translation: X:388.48, Y:5.35, Z:4.61 [[ 9.97808495e-01 -6.29832697e-02 -2.02808826e-02 3.88478902e+02] [ 6.29889550e-02 9.98014160e-01 -3.58987775e-04 5.34913120e+00] [ 2.02632183e-02 -9.19270552e-04 9.99794257e-01 4.61210081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.395099893 meters 0.020128008727721865 Centerline is valid? [True, True] Translation: X:388.51, Y:5.35, Z:4.61 [[ 9.97827411e-01 -6.29108041e-02 -1.95624111e-02 3.88509810e+02] [ 6.29161137e-02 9.98018759e-01 -3.44530063e-04 5.35102950e+00] [ 1.95453279e-02 -8.87009341e-04 9.99808578e-01 4.61275770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.425099893 meters 0.0226053863474022 Centerline is valid? [True, True] Translation: X:388.54, Y:5.35, Z:4.61 [[ 9.97843428e-01 -6.26560176e-02 -1.95631377e-02 3.88540827e+02] [ 6.26613242e-02 9.98034790e-01 -3.42218984e-04 5.34926981e+00] [ 1.95461341e-02 -8.84371149e-04 9.99808565e-01 4.61326707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.455099893 meters 0.021124794561867576 Centerline is valid? [True, True] Translation: X:388.57, Y:5.35, Z:4.61 [[ 9.97863462e-01 -6.25428756e-02 -1.88918195e-02 3.88572655e+02] [ 6.25478393e-02 9.98041913e-01 -3.28595377e-04 5.35326412e+00] [ 1.88753790e-02 -8.53749170e-04 9.99821480e-01 4.61452047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.485099893 meters 0.02123013808549672 Centerline is valid? [True, True] Translation: X:388.60, Y:5.36, Z:4.62 [[ 9.97880732e-01 -6.24971083e-02 -1.81150799e-02 3.88604730e+02] [ 6.25016874e-02 9.98044809e-01 -3.13819458e-04 5.35507547e+00] [ 1.80992742e-02 -8.19068670e-04 9.99835859e-01 4.61554661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.515099893 meters 0.02238849905091963 Centerline is valid? [True, True] Translation: X:388.64, Y:5.36, Z:4.62 [[ 9.97877998e-01 -6.26230123e-02 -1.78286002e-02 3.88636033e+02] [ 6.26274943e-02 9.98036924e-01 -3.07367009e-04 5.35645834e+00] [ 1.78128495e-02 -8.09845780e-04 9.99841011e-01 4.61678293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.545099893 meters 0.022545257154102036 Centerline is valid? [True, True] Translation: X:388.67, Y:5.36, Z:4.62 [[ 9.97843307e-01 -6.32876269e-02 -1.74186704e-02 3.88668397e+02] [ 6.32920361e-02 9.97995005e-01 -2.98579800e-04 5.35814625e+00] [ 1.74026424e-02 -8.04527259e-04 9.99848239e-01 4.61791981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.575099893 meters 0.023545455027543242 Centerline is valid? [True, True] Translation: X:388.70, Y:5.36, Z:4.62 [[ 9.97824180e-01 -6.37457446e-02 -1.68340954e-02 3.88700038e+02] [ 6.37499460e-02 9.97965862e-01 -2.87478803e-04 5.35859816e+00] [ 1.68181780e-02 -7.86319370e-04 9.99858255e-01 4.61837646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.605099893 meters 0.02346880312151181 Centerline is valid? [True, True] Translation: X:388.73, Y:5.36, Z:4.62 [[ 9.97798951e-01 -6.41463394e-02 -1.68077540e-02 3.88731796e+02] [ 6.41506005e-02 9.97940188e-01 -2.86066948e-04 5.36043262e+00] [ 1.67914833e-02 -7.92790212e-04 9.99858699e-01 4.61908829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.635099893 meters 0.02484280039005006 Centerline is valid? [True, True] Translation: X:388.76, Y:5.36, Z:4.62 [[ 9.97716892e-01 -6.53478700e-02 -1.70487301e-02 3.88762447e+02] [ 6.53524469e-02 9.97862202e-01 -2.89125202e-04 5.36148978e+00] [ 1.70311771e-02 -8.25711129e-04 9.99854618e-01 4.61925564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.665099893 meters 0.024975332259669667 Centerline is valid? [True, True] Translation: X:388.79, Y:5.36, Z:4.62 [[ 9.97681811e-01 -6.58672380e-02 -1.71029488e-02 3.88794345e+02] [ 6.58719333e-02 9.97828044e-01 -2.89281928e-04 5.36299604e+00] [ 1.70848561e-02 -8.37992981e-04 9.99853692e-01 4.61956316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.695099893 meters 0.022439971888086063 Centerline is valid? [True, True] Translation: X:388.83, Y:5.37, Z:4.62 [[ 9.97648664e-01 -6.61950996e-02 -1.77581367e-02 3.88826024e+02] [ 6.62002361e-02 9.97806314e-01 -2.99082254e-04 5.36809405e+00] [ 1.77389787e-02 -8.77213830e-04 9.99842267e-01 4.62007691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.725099893 meters 0.025960995173257877 Centerline is valid? [True, True] Translation: X:388.86, Y:5.37, Z:4.62 [[ 9.97641224e-01 -6.60871122e-02 -1.85602253e-02 3.88857558e+02] [ 6.60927282e-02 9.97813437e-01 -3.11322499e-04 5.36648032e+00] [ 1.85402166e-02 -9.16107770e-04 9.99827696e-01 4.61930464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.755099893 meters 0.025587278955171756 Centerline is valid? [True, True] Translation: X:388.89, Y:5.37, Z:4.62 [[ 9.97662117e-01 -6.56520586e-02 -1.89765217e-02 3.88889868e+02] [ 6.56578726e-02 9.97842143e-01 -3.17168821e-04 5.36913315e+00] [ 1.89563959e-02 -9.29530726e-04 9.99819879e-01 4.61931373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.785099893 meters 0.021838726018769787 Centerline is valid? [True, True] Translation: X:388.92, Y:5.38, Z:4.62 [[ 9.97706864e-01 -6.48991856e-02 -1.92121970e-02 3.88922262e+02] [ 6.49050318e-02 9.97891394e-01 -3.19750045e-04 5.37637719e+00] [ 1.91924376e-02 -9.27951442e-04 9.99815378e-01 4.62022466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.815099893 meters 0.02263003666254166 Centerline is valid? [True, True] Translation: X:388.95, Y:5.38, Z:4.62 [[ 9.97753181e-01 -6.40374506e-02 -1.96925019e-02 3.88953647e+02] [ 6.40434512e-02 9.97947058e-01 -3.26430306e-04 5.37786541e+00] [ 1.96729781e-02 -9.35478908e-04 9.99806031e-01 4.62031707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.845099893 meters 0.021557322231412764 Centerline is valid? [True, True] Translation: X:388.98, Y:5.38, Z:4.62 [[ 9.97929808e-01 -6.12663818e-02 -1.95583631e-02 3.88984769e+02] [ 6.12717878e-02 9.98121067e-01 -3.23287084e-04 5.38374369e+00] [ 1.95414208e-02 -8.75758053e-04 9.99808665e-01 4.62111299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.875099893 meters 0.02115185462851769 Centerline is valid? [True, True] Translation: X:389.02, Y:5.39, Z:4.62 [[ 9.98037121e-01 -5.95572086e-02 -1.93608929e-02 3.89017375e+02] [ 5.95622054e-02 9.98224545e-01 -3.18965925e-04 5.38678969e+00] [ 1.93455153e-02 -8.34837648e-04 9.99812509e-01 4.62174670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.905099893 meters 0.019171388231615957 Centerline is valid? [True, True] Translation: X:389.05, Y:5.39, Z:4.62 [[ 9.98165215e-01 -5.75073920e-02 -1.89500472e-02 3.89049021e+02] [ 5.75118373e-02 9.98344776e-01 -3.10766877e-04 5.39205915e+00] [ 1.89365520e-02 -7.79655344e-04 9.99820383e-01 4.62224686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93509989300003 meters 0.01880534254768754 Centerline is valid? [True, True] Translation: X:389.08, Y:5.39, Z:4.62 [[ 9.98287510e-01 -5.52853535e-02 -1.91200927e-02 3.89080025e+02] [ 5.52894897e-02 9.98470317e-01 -3.12630595e-04 5.39495268e+00] [ 1.91081289e-02 -7.45044951e-04 9.99817145e-01 4.62250579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.965099893 meters 0.01880534254768754 Centerline is valid? [True, True] Translation: X:389.11, Y:5.40, Z:4.62 [[ 9.98291489e-01 -5.52134359e-02 -1.91201080e-02 3.89111736e+02] [ 5.52175767e-02 9.98474297e-01 -3.11696766e-04 5.39541254e+00] [ 1.91081462e-02 -7.44601799e-04 9.99817145e-01 4.62289785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99509989300003 meters 0.019628216302349902 Centerline is valid? [True, True] Translation: X:389.14, Y:5.40, Z:4.62 [[ 9.98413125e-01 -5.30390692e-02 -1.89232555e-02 3.89142081e+02] [ 5.30427540e-02 9.98592195e-01 -3.07489124e-04 5.39665468e+00] [ 1.89129242e-02 -6.96740413e-04 9.99820892e-01 4.62288834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.025099893 meters 0.01817826259449916 Centerline is valid? [True, True] Translation: X:389.17, Y:5.40, Z:4.62 [[ 9.98627451e-01 -4.92797745e-02 -1.77402640e-02 3.89173341e+02] [ 4.92824273e-02 9.98784841e-01 -2.87871593e-04 5.40334305e+00] [ 1.77328930e-02 -5.86806796e-04 9.99842588e-01 4.62355281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05509989300003 meters 0.01563056463076542 Centerline is valid? [True, True] Translation: X:389.21, Y:5.41, Z:4.62 [[ 9.98735060e-01 -4.72879230e-02 -1.70918669e-02 3.89205945e+02] [ 4.72901085e-02 9.98881159e-01 -2.76498213e-04 5.40954156e+00] [ 1.70858188e-02 -5.32127782e-04 9.99853885e-01 4.62471520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.085099893 meters 0.016527478476855706 Centerline is valid? [True, True] Translation: X:389.24, Y:5.41, Z:4.63 [[ 9.98811611e-01 -4.58992323e-02 -1.63897956e-02 3.89237465e+02] [ 4.59010767e-02 9.98945955e-01 -2.63829908e-04 5.41018056e+00] [ 1.63846296e-02 -4.88792888e-04 9.99865643e-01 4.62501023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11509989300004 meters 0.015527442803400637 Centerline is valid? [True, True] Translation: X:389.27, Y:5.41, Z:4.63 [[ 9.98896037e-01 -4.43436772e-02 -1.55030897e-02 3.89270086e+02] [ 4.43451548e-02 9.99016239e-01 -2.48607942e-04 5.41367736e+00] [ 1.54988625e-02 -4.39153423e-04 9.99879789e-01 4.62576908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.145099893 meters 0.015016697418553961 Centerline is valid? [True, True] Translation: X:389.30, Y:5.42, Z:4.63 [[ 9.99027210e-01 -4.14453840e-02 -1.50636908e-02 3.89302290e+02] [ 4.14464704e-02 9.99140697e-01 -2.40193971e-04 5.41796368e+00] [ 1.50607015e-02 -3.84376502e-04 9.99886507e-01 4.62569464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.175099893 meters 0.014377748819421969 Centerline is valid? [True, True] Translation: X:389.33, Y:5.42, Z:4.63 [[ 9.99097867e-01 -3.96799411e-02 -1.51312271e-02 3.89334314e+02] [ 3.96808512e-02 9.99212376e-01 -2.40193996e-04 5.42072742e+00] [ 1.51288403e-02 -3.60442663e-04 9.99885488e-01 4.62570644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.205099893 meters 0.014805700454644119 Centerline is valid? [True, True] Translation: X:389.37, Y:5.42, Z:4.63 [[ 9.99162900e-01 -3.79232916e-02 -1.53402777e-02 3.89365952e+02] [ 3.79240373e-02 9.99280596e-01 -2.42388332e-04 5.42174955e+00] [ 1.53384340e-02 -3.39579836e-04 9.99882302e-01 4.62526287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.235099893 meters 0.013694307439382701 Centerline is valid? [True, True] Translation: X:389.40, Y:5.43, Z:4.62 [[ 9.99298282e-01 -3.40311419e-02 -1.56468604e-02 3.89397265e+02] [ 3.40314568e-02 9.99420732e-01 -2.46207012e-04 5.42682845e+00] [ 1.56461754e-02 -2.86451210e-04 9.99877550e-01 4.62466556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.265099893 meters 0.013656846736103914 Centerline is valid? [True, True] Translation: X:389.43, Y:5.43, Z:4.62 [[ 9.99371337e-01 -3.17679850e-02 -1.57393150e-02 3.89427488e+02] [ 3.17680311e-02 9.99495238e-01 -2.47158107e-04 5.42840476e+00] [ 1.57392221e-02 -2.53004319e-04 9.99876099e-01 4.62444033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.295099893 meters 0.012934452233352324 Centerline is valid? [True, True] Translation: X:389.46, Y:5.43, Z:4.62 [[ 9.99452664e-01 -2.92242486e-02 -1.55021237e-02 3.89458363e+02] [ 2.92239924e-02 9.99572858e-01 -2.43109461e-04 5.43178059e+00] [ 1.55026068e-02 -2.10057547e-04 9.99879805e-01 4.62460265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.325099893 meters 0.012407876176322245 Centerline is valid? [True, True] Translation: X:389.49, Y:5.43, Z:4.62 [[ 9.99532424e-01 -2.65370887e-02 -1.51893269e-02 3.89489745e+02] [ 2.65365404e-02 9.99647816e-01 -2.37679266e-04 5.43480702e+00] [ 1.51902848e-02 -1.65504053e-04 9.99884607e-01 4.62489874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.355099893 meters 0.011891789435256346 Centerline is valid? [True, True] Translation: X:389.52, Y:5.44, Z:4.63 [[ 9.99674919e-01 -2.11954191e-02 -1.41707987e-02 3.89519949e+02] [ 2.11944110e-02 9.99775349e-01 -2.21332663e-04 5.43942831e+00] [ 1.41723064e-02 -7.90810185e-05 9.99899565e-01 4.62554180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.385099893 meters 0.01176572048896573 Centerline is valid? [True, True] Translation: X:389.55, Y:5.44, Z:4.63 [[ 9.99732799e-01 -1.86951400e-02 -1.35949359e-02 3.89549107e+02] [ 1.86939807e-02 9.99825230e-01 -2.12360030e-04 5.44123083e+00] [ 1.35965300e-02 -4.18401813e-05 9.99907562e-01 4.62585006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.415099893 meters 0.011730511822078434 Centerline is valid? [True, True] Translation: X:389.58, Y:5.44, Z:4.63 [[ 9.99778911e-01 -1.67699415e-02 -1.26845924e-02 3.89578505e+02] [ 1.67687745e-02 9.99859375e-01 -1.98354943e-04 5.44282942e+00] [ 1.26861350e-02 -1.43939804e-05 9.99919528e-01 4.62635061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.445099893 meters 0.011733508233942832 Centerline is valid? [True, True] Translation: X:389.61, Y:5.44, Z:4.63 [[ 9.99810620e-01 -1.51419389e-02 -1.22248038e-02 3.89608271e+02] [ 1.51407282e-02 9.99885354e-01 -1.91583235e-04 5.44380561e+00] [ 1.22263032e-02 6.45452157e-06 9.99925256e-01 4.62661848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.475099893 meters 0.011795974995509842 Centerline is valid? [True, True] Translation: X:389.64, Y:5.44, Z:4.63 [[ 9.99838290e-01 -1.39887242e-02 -1.13008893e-02 3.89637081e+02] [ 1.39876143e-02 9.99902153e-01 -1.77249717e-04 5.44328075e+00] [ 1.13022630e-02 1.91485738e-05 9.99936127e-01 4.62636835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.505099893 meters 0.01174726495959825 Centerline is valid? [True, True] Translation: X:389.67, Y:5.44, Z:4.63 [[ 9.99832404e-01 -1.44121315e-02 -1.12895999e-02 3.89666430e+02] [ 1.44110441e-02 9.99896140e-01 -1.77666494e-04 5.44212745e+00] [ 1.12909879e-02 1.49417953e-05 9.99936255e-01 4.62604900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.535099893 meters 0.011850828209085965 Centerline is valid? [True, True] Translation: X:389.70, Y:5.44, Z:4.63 [[ 9.99814577e-01 -1.53125938e-02 -1.16763085e-02 3.89696165e+02] [ 1.53114869e-02 9.99882755e-01 -1.84188142e-04 5.44068290e+00] [ 1.16777599e-02 5.37234380e-06 9.99931813e-01 4.62585520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.565099893 meters 0.011987059572617961 Centerline is valid? [True, True] Translation: X:389.73, Y:5.44, Z:4.62 [[ 9.99747385e-01 -1.88214332e-02 -1.22849263e-02 3.89726192e+02] [ 1.88204671e-02 9.99822860e-01 -1.94252902e-04 5.43600027e+00] [ 1.22864063e-02 -3.70042212e-05 9.99924519e-01 4.62462894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.595099893 meters 0.012076961978964957 Centerline is valid? [True, True] Translation: X:389.76, Y:5.43, Z:4.62 [[ 9.99698333e-01 -2.11899090e-02 -1.24189281e-02 3.89757028e+02] [ 2.11891018e-02 9.99775466e-01 -1.96593711e-04 5.43327403e+00] [ 1.24203055e-02 -6.66115260e-05 9.99922863e-01 4.62435903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.625099893 meters 0.012439314894813066 Centerline is valid? [True, True] Translation: X:389.79, Y:5.43, Z:4.62 [[ 9.99630333e-01 -2.41371989e-02 -1.25137047e-02 3.89787171e+02] [ 2.41366102e-02 9.99708650e-01 -1.98094041e-04 5.43005497e+00] [ 1.25148403e-02 -1.04017601e-04 9.99921681e-01 4.62418152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.655099893 meters 0.012778595732153142 Centerline is valid? [True, True] Translation: X:389.82, Y:5.43, Z:4.62 [[ 9.99547719e-01 -2.72571260e-02 -1.27045817e-02 3.89818972e+02] [ 2.72567713e-02 9.99628445e-01 -2.01103406e-04 5.42684468e+00] [ 1.27053428e-02 -1.45273427e-04 9.99919273e-01 4.62418334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68509989300003 meters 0.014319582045754453 Centerline is valid? [True, True] Translation: X:389.85, Y:5.42, Z:4.62 [[ 9.99342907e-01 -3.39162323e-02 -1.27844766e-02 3.89850574e+02] [ 3.39164238e-02 9.99424652e-01 -2.01897703e-04 5.41903337e+00] [ 1.27839687e-02 -2.31838689e-04 9.99918255e-01 4.62371533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.715099893 meters 0.01533823682260551 Centerline is valid? [True, True] Translation: X:389.88, Y:5.42, Z:4.62 [[ 9.99227048e-01 -3.71042364e-02 -1.29838910e-02 3.89881601e+02] [ 3.71047125e-02 9.99311362e-01 -2.04307995e-04 5.41546449e+00] [ 1.29825305e-02 -2.77613467e-04 9.99915685e-01 4.62371967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74509989300003 meters 0.01602087957371716 Centerline is valid? [True, True] Translation: X:389.91, Y:5.41, Z:4.62 [[ 9.99113570e-01 -4.00471609e-02 -1.29730341e-02 3.89913995e+02] [ 4.00479009e-02 9.99197740e-01 -2.02835787e-04 5.41268906e+00] [ 1.29707494e-02 -3.16886797e-04 9.99915826e-01 4.62381347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.775099893 meters 0.017057584543277052 Centerline is valid? [True, True] Translation: X:389.95, Y:5.41, Z:4.62 [[ 9.99002349e-01 -4.28677935e-02 -1.25163169e-02 3.89946507e+02] [ 4.28687142e-02 9.99080695e-01 -1.94841051e-04 5.40975055e+00] [ 1.25131630e-02 -3.41911743e-04 9.99921649e-01 4.62388574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80509989300003 meters 0.017543786827889988 Centerline is valid? [True, True] Translation: X:389.98, Y:5.41, Z:4.62 [[ 9.98883346e-01 -4.56951533e-02 -1.20006182e-02 3.89978247e+02] [ 4.56962133e-02 9.98955365e-01 -1.85997043e-04 5.40772212e+00] [ 1.19965811e-02 -3.62593460e-04 9.99927973e-01 4.62410545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.835099893 meters 0.018587772287177895 Centerline is valid? [True, True] Translation: X:390.01, Y:5.40, Z:4.62 [[ 9.98654790e-01 -5.07439351e-02 -1.06613124e-02 3.90009033e+02] [ 5.07450650e-02 9.98711626e-01 -1.64680537e-04 5.40304383e+00] [ 1.06559331e-02 -3.76549981e-04 9.99943153e-01 4.62470257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86509989300004 meters 0.02035611781104836 Centerline is valid? [True, True] Translation: X:390.04, Y:5.40, Z:4.63 [[ 9.98542341e-01 -5.30889143e-02 -9.73446759e-03 3.90040171e+02] [ 5.30899681e-02 9.98589722e-01 -1.50301972e-04 5.39912249e+00] [ 9.72871865e-03 -3.66719691e-04 9.99952608e-01 4.62535310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.895099893 meters 0.021293473138125494 Centerline is valid? [True, True] Translation: X:390.07, Y:5.40, Z:4.63 [[ 9.98435465e-01 -5.52830893e-02 -8.39065656e-03 3.90072563e+02] [ 5.52839521e-02 9.98470665e-01 -1.29258680e-04 5.39662727e+00] [ 8.38497025e-03 -3.34812205e-04 9.99964789e-01 4.62643553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.925099893 meters 0.02419141106767063 Centerline is valid? [True, True] Translation: X:390.10, Y:5.39, Z:4.63 [[ 9.98334068e-01 -5.71736506e-02 -7.76283399e-03 3.90104144e+02] [ 5.71744505e-02 9.98364196e-01 -1.19017850e-04 5.39158561e+00] [ 7.75694020e-03 -3.25016194e-04 9.99969862e-01 4.62769389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.955099893 meters 0.023069130934439974 Centerline is valid? [True, True] Translation: X:390.14, Y:5.39, Z:4.63 [[ 9.98108742e-01 -6.10178175e-02 -7.46764850e-03 3.90135623e+02] [ 6.10186685e-02 9.98136618e-01 -1.14036948e-04 5.39162549e+00] [ 7.46069171e-03 -3.41844693e-04 9.99972110e-01 4.62786888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.985099893 meters 0.024228824981690874 Centerline is valid? [True, True] Translation: X:390.17, Y:5.39, Z:4.63 [[ 9.98015703e-01 -6.25181048e-02 -7.49293697e-03 3.90166812e+02] [ 6.25190025e-02 9.98043767e-01 -1.14592625e-04 5.38933723e+00] [ 7.48544315e-03 -3.54085706e-04 9.99971921e-01 4.62815223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.015099893 meters 0.0248683828929443 Centerline is valid? [True, True] Translation: X:390.20, Y:5.39, Z:4.63 [[ 9.97929324e-01 -6.38611032e-02 -7.66964706e-03 3.90198977e+02] [ 6.38620930e-02 9.97958726e-01 -1.16037032e-04 5.38784086e+00] [ 7.66140147e-03 -3.74002957e-04 9.99970581e-01 4.62824811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.045099893 meters 0.024975154051121613 Centerline is valid? [True, True] Translation: X:390.23, Y:5.39, Z:4.63 [[ 9.97853724e-01 -6.50047573e-02 -7.89471042e-03 3.90230925e+02] [ 6.50058463e-02 9.97884876e-01 -1.18858185e-04 5.38703750e+00] [ 7.88573848e-03 -3.94599249e-04 9.99968829e-01 4.62781388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.075099893 meters 0.02744137468795413 Centerline is valid? [True, True] Translation: X:390.26, Y:5.38, Z:4.63 [[ 9.97758254e-01 -6.63244994e-02 -8.91779146e-03 3.90262199e+02] [ 6.63259488e-02 9.97798001e-01 -1.33446861e-04 5.38225970e+00] [ 8.90700528e-03 -4.58333273e-04 9.99960227e-01 4.62718280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.105099893 meters 0.025885183585133986 Centerline is valid? [True, True] Translation: X:390.29, Y:5.38, Z:4.63 [[ 9.97738290e-01 -6.65394182e-02 -9.52943292e-03 3.90294589e+02] [ 6.65410878e-02 9.97783676e-01 -1.42096848e-04 5.38427471e+00] [ 9.51776765e-03 -4.92323367e-04 9.99954584e-01 4.62692471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.135099893 meters 0.027638220951922296 Centerline is valid? [True, True] Translation: X:390.33, Y:5.38, Z:4.63 [[ 9.97770303e-01 -6.59141342e-02 -1.04761070e-02 3.90325489e+02] [ 6.59161267e-02 9.97825155e-01 -1.55344997e-04 5.38177227e+00] [ 1.04635625e-02 -5.35545769e-04 9.99945112e-01 4.62679441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.165099893 meters 0.0253994418741707 Centerline is valid? [True, True] Translation: X:390.36, Y:5.39, Z:4.63 [[ 9.97891869e-01 -6.38037847e-02 -1.18699528e-02 3.90357330e+02] [ 6.38062023e-02 9.97962293e-01 -1.75297033e-04 5.38570469e+00] [ 1.18569499e-02 -5.82449127e-04 9.99929534e-01 4.62602427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.195099893 meters 0.02256800582819998 Centerline is valid? [True, True] Translation: X:390.39, Y:5.39, Z:4.63 [[ 9.98011758e-01 -6.17930021e-02 -1.24159272e-02 3.90389041e+02] [ 6.17955006e-02 9.98088815e-01 -1.82672966e-04 5.39073300e+00] [ 1.24034860e-02 -5.84938669e-04 9.99922903e-01 4.62607393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.225099893 meters 0.022489968322114466 Centerline is valid? [True, True] Translation: X:390.42, Y:5.39, Z:4.63 [[ 9.98169433e-01 -5.90790891e-02 -1.29400534e-02 3.90419404e+02] [ 5.90815854e-02 9.98253139e-01 -1.89614248e-04 5.39193610e+00] [ 1.29286512e-02 -5.75251725e-04 9.99916256e-01 4.62625095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.255099893 meters 0.02376044673483162 Centerline is valid? [True, True] Translation: X:390.45, Y:5.39, Z:4.63 [[ 9.98324692e-01 -5.63503151e-02 -1.31320768e-02 3.90449573e+02] [ 5.63526685e-02 9.98410908e-01 -1.91048730e-04 5.39169813e+00] [ 1.31219743e-02 -5.49298904e-04 9.99913752e-01 4.62657262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.285099893 meters 0.021409988837480614 Centerline is valid? [True, True] Translation: X:390.48, Y:5.40, Z:4.63 [[ 9.98681122e-01 -4.94030851e-02 -1.39768316e-02 3.90479129e+02] [ 4.94050744e-02 9.98778803e-01 -2.03125615e-04 5.39796588e+00] [ 1.39697982e-02 -4.87668688e-04 9.99902299e-01 4.62701057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.315099893 meters 0.017454579678984686 Centerline is valid? [True, True] Translation: X:390.51, Y:5.41, Z:4.63 [[ 9.98859606e-01 -4.56756777e-02 -1.39003905e-02 3.90510425e+02] [ 4.56772830e-02 9.98956228e-01 -2.02139152e-04 5.40611917e+00] [ 1.38951145e-02 -4.33023438e-04 9.99903364e-01 4.62790929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.345099893 meters 0.016216036345117556 Centerline is valid? [True, True] Translation: X:390.54, Y:5.41, Z:4.63 [[ 9.99021196e-01 -4.19485829e-02 -1.40344989e-02 3.90541890e+02] [ 4.19498591e-02 9.99119696e-01 -2.03572752e-04 5.41031712e+00] [ 1.40306839e-02 -3.85371760e-04 9.99901491e-01 4.62907114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.375099893 meters 0.015591665479231286 Centerline is valid? [True, True] Translation: X:390.57, Y:5.41, Z:4.63 [[ 9.99166245e-01 -3.83416522e-02 -1.40261084e-02 3.90571996e+02] [ 3.83425785e-02 9.99264632e-01 -2.02964839e-04 5.41350269e+00] [ 1.40235761e-02 -3.35001546e-04 9.99901609e-01 4.63000535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.405099893 meters 0.0159016074343796 Centerline is valid? [True, True] Translation: X:390.60, Y:5.41, Z:4.63 [[ 9.99303423e-01 -3.48305924e-02 -1.33977347e-02 3.90602568e+02] [ 3.48311260e-02 9.99393193e-01 -1.93576565e-04 5.41452553e+00] [ 1.33963472e-02 -2.73216462e-04 9.99910228e-01 4.63116829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43509989300003 meters 0.0139302231514029 Centerline is valid? [True, True] Translation: X:390.63, Y:5.42, Z:4.63 [[ 9.99501753e-01 -2.89715277e-02 -1.25257951e-02 3.90633858e+02] [ 2.89715455e-02 9.99580220e-01 -1.80068813e-04 5.42152558e+00] [ 1.25257538e-02 -1.82912547e-04 9.99921533e-01 4.63299215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.465099893 meters 0.013507062788397762 Centerline is valid? [True, True] Translation: X:390.67, Y:5.42, Z:4.63 [[ 9.99560256e-01 -2.66920770e-02 -1.29161523e-02 3.90665643e+02] [ 2.66919120e-02 9.99643690e-01 -1.85190876e-04 5.42384154e+00] [ 1.29164933e-02 -1.59647363e-04 9.99916566e-01 4.63357622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49509989300003 meters 0.013240105733904979 Centerline is valid? [True, True] Translation: X:390.70, Y:5.43, Z:4.63 [[ 9.99599519e-01 -2.48073325e-02 -1.36161175e-02 3.90696368e+02] [ 2.48069843e-02 9.99692240e-01 -1.94496549e-04 5.42528481e+00] [ 1.36167520e-02 -1.43356156e-04 9.99907277e-01 4.63380989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.525099893 meters 0.01303138948056435 Centerline is valid? [True, True] Translation: X:390.73, Y:5.43, Z:4.63 [[ 9.99625703e-01 -2.33749961e-02 -1.42148776e-02 3.90726540e+02] [ 2.33744751e-02 9.99726759e-01 -2.02817532e-04 5.42701413e+00] [ 1.42157344e-02 -1.29523685e-04 9.99898943e-01 4.63404200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55509989300003 meters 0.01304418479002799 Centerline is valid? [True, True] Translation: X:390.76, Y:5.43, Z:4.63 [[ 9.99629757e-01 -2.20682402e-02 -1.59166995e-02 3.90755854e+02] [ 2.20674203e-02 9.99756459e-01 -2.27163322e-04 5.42771932e+00] [ 1.59178362e-02 -1.24161279e-04 9.99873296e-01 4.63370988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.585099893 meters 0.01295040481847218 Centerline is valid? [True, True] Translation: X:390.78, Y:5.43, Z:4.63 [[ 9.99606010e-01 -2.23694500e-02 -1.69538498e-02 3.90784621e+02] [ 2.23685396e-02 9.99749763e-01 -2.43353673e-04 5.42805309e+00] [ 1.69550510e-02 -1.35975066e-04 9.99856244e-01 4.63390103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61509989300004 meters 0.012950541544892186 Centerline is valid? [True, True] Translation: X:390.81, Y:5.43, Z:4.63 [[ 9.99574397e-01 -2.30076857e-02 -1.79351915e-02 3.90813124e+02] [ 2.30066855e-02 9.99735277e-01 -2.62123954e-04 5.42787261e+00] [ 1.79364745e-02 -1.50616918e-04 9.99839117e-01 4.63424521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.645099893 meters 0.013075827504849539 Centerline is valid? [True, True] Translation: X:390.84, Y:5.43, Z:4.63 [[ 9.99522207e-01 -2.44057438e-02 -1.89662231e-02 3.90840941e+02] [ 2.44048032e-02 9.99702119e-01 -2.81083948e-04 5.42611723e+00] [ 1.89674335e-02 -1.81917294e-04 9.99820086e-01 4.63399248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.675099893 meters 0.01313416666630265 Centerline is valid? [True, True] Translation: X:390.87, Y:5.43, Z:4.63 [[ 9.99487828e-01 -2.53611204e-02 -1.95165300e-02 3.90869100e+02] [ 2.53602720e-02 9.99678334e-01 -2.91006373e-04 5.42504190e+00] [ 1.95176324e-02 -2.04087180e-04 9.99809492e-01 4.63422595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.705099893 meters 0.013211564435017106 Centerline is valid? [True, True] Translation: X:390.90, Y:5.42, Z:4.63 [[ 9.99455854e-01 -2.65289037e-02 -1.96013316e-02 3.90897825e+02] [ 2.65282157e-02 9.99648021e-01 -2.95162893e-04 5.42445363e+00] [ 1.96022627e-02 -2.24986071e-04 9.99807832e-01 4.63459253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.735099893 meters 0.013207419611957144 Centerline is valid? [True, True] Translation: X:390.93, Y:5.42, Z:4.64 [[ 9.99422862e-01 -2.77702981e-02 -1.95640765e-02 3.90926178e+02] [ 2.77697549e-02 9.99614301e-01 -2.99483827e-04 5.42407785e+00] [ 1.95648474e-02 -2.43978625e-04 9.99808560e-01 4.63531881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.765099893 meters 0.013655734990959427 Centerline is valid? [True, True] Translation: X:390.96, Y:5.42, Z:4.64 [[ 9.99401107e-01 -2.87001955e-02 -1.93320222e-02 3.90955104e+02] [ 2.86997702e-02 9.99588032e-01 -2.99492987e-04 5.42265010e+00] [ 1.93326535e-02 -2.55510972e-04 9.99813074e-01 4.63552338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.795099893 meters 0.014157365672291557 Centerline is valid? [True, True] Translation: X:390.98, Y:5.42, Z:4.64 [[ 9.99353188e-01 -3.07578304e-02 -1.86322548e-02 3.90984194e+02] [ 3.07577715e-02 9.99526826e-01 -2.89794766e-04 5.42003098e+00] [ 1.86323519e-02 -2.83479311e-04 9.99826362e-01 4.63622761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.825099893 meters 0.014071291673938039 Centerline is valid? [True, True] Translation: X:391.01, Y:5.42, Z:4.64 [[ 9.99308138e-01 -3.19470755e-02 -1.90428465e-02 3.91013726e+02] [ 3.19472130e-02 9.99489513e-01 -2.97070065e-04 5.41959453e+00] [ 1.90426159e-02 -3.11501338e-04 9.99818624e-01 4.63708769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.855099893 meters 0.014071291673938039 Centerline is valid? [True, True] Translation: X:391.04, Y:5.42, Z:4.64 [[ 9.99307014e-01 -3.19822237e-02 -1.90428360e-02 3.91042880e+02] [ 3.19823548e-02 9.99488389e-01 -2.97739368e-04 5.42007949e+00] [ 1.90426158e-02 -3.11501698e-04 9.99818624e-01 4.63744839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.885099893 meters 0.014270664032184683 Centerline is valid? [True, True] Translation: X:391.07, Y:5.42, Z:4.64 [[ 9.99274821e-01 -3.30676002e-02 -1.88776626e-02 3.91072936e+02] [ 3.30679101e-02 9.99453063e-01 -2.95817727e-04 5.41912565e+00] [ 1.88771197e-02 -3.28641645e-04 9.99821757e-01 4.63789166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.915099893 meters 0.014422564602794062 Centerline is valid? [True, True] Translation: X:391.10, Y:5.42, Z:4.64 [[ 9.99233015e-01 -3.40902456e-02 -1.92674995e-02 3.91103174e+02] [ 3.40907499e-02 9.99418696e-01 -3.02371690e-04 5.41807773e+00] [ 1.92666071e-02 -3.54703731e-04 9.99814319e-01 4.63842705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.945099893 meters 0.015666394621721282 Centerline is valid? [True, True] Translation: X:391.13, Y:5.41, Z:4.64 [[ 9.99185424e-01 -3.53452837e-02 -1.94730268e-02 3.91133004e+02] [ 3.53460347e-02 9.99375087e-01 -3.05722040e-04 5.41486219e+00] [ 1.94716636e-02 -3.82821273e-04 9.99810336e-01 4.63789265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.975099893 meters 0.015729889218008143 Centerline is valid? [True, True] Translation: X:391.16, Y:5.41, Z:4.64 [[ 9.99091277e-01 -3.76722294e-02 -1.99354628e-02 3.91163530e+02] [ 3.76734750e-02 9.99290054e-01 -3.13204627e-04 5.41258458e+00] [ 1.99331088e-02 -4.38118148e-04 9.99801220e-01 4.63885331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.005099893 meters 0.014988524506225261 Centerline is valid? [True, True] Translation: X:391.19, Y:5.41, Z:4.64 [[ 9.99025726e-01 -3.91839629e-02 -2.03030810e-02 3.91194121e+02] [ 3.91855668e-02 9.99231900e-01 -3.18980251e-04 5.41293971e+00] [ 2.02999852e-02 -4.76918262e-04 9.99793820e-01 4.63964235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.035099893 meters 0.016251368413907258 Centerline is valid? [True, True] Translation: X:391.22, Y:5.41, Z:4.64 [[ 9.98957583e-01 -4.08207681e-02 -2.04306717e-02 3.91223584e+02] [ 4.08227314e-02 9.99166353e-01 -3.21130624e-04 5.40926956e+00] [ 2.04267485e-02 -5.13239952e-04 9.99791220e-01 4.63929404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.065099893 meters 0.016400608676904387 Centerline is valid? [True, True] Translation: X:391.25, Y:5.41, Z:4.64 [[ 9.98783126e-01 -4.46960763e-02 -2.08453317e-02 3.91254125e+02] [ 4.46989585e-02 9.99000448e-01 -3.27876283e-04 5.40573135e+00] [ 2.08391505e-02 -6.04287320e-04 9.99782659e-01 4.63973715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.095099893 meters 0.016904124134272416 Centerline is valid? [True, True] Translation: X:391.29, Y:5.40, Z:4.64 [[ 9.98710309e-01 -4.62822992e-02 -2.08726362e-02 3.91285800e+02] [ 4.62855415e-02 9.98928196e-01 -3.27997587e-04 5.40337193e+00] [ 2.08654453e-02 -6.38526696e-04 9.99782089e-01 4.63996077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.125099893 meters 0.017176955470865965 Centerline is valid? [True, True] Translation: X:391.32, Y:5.40, Z:4.64 [[ 9.98646485e-01 -4.76617749e-02 -2.08219456e-02 3.91317288e+02] [ 4.76653167e-02 9.98863309e-01 -3.26446983e-04 5.40145550e+00] [ 2.08138366e-02 -6.66479501e-04 9.99783146e-01 4.64027926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.155099893 meters 0.01833611113387233 Centerline is valid? [True, True] Translation: X:391.35, Y:5.40, Z:4.64 [[ 9.98585204e-01 -4.89845649e-02 -2.06906273e-02 3.91347547e+02] [ 4.89883640e-02 9.98799297e-01 -3.23507894e-04 5.39814705e+00] [ 2.06816309e-02 -6.90549785e-04 9.99785874e-01 4.64006766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18509989300003 meters 0.018942322579263125 Centerline is valid? [True, True] Translation: X:391.38, Y:5.39, Z:4.64 [[ 9.98505682e-01 -5.03394774e-02 -2.12682731e-02 3.91378446e+02] [ 5.03438217e-02 9.98731891e-01 -3.31451695e-04 5.39413190e+00] [ 2.12579878e-02 -7.39769751e-04 9.99773750e-01 4.63982573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.215099893 meters 0.019296885245121773 Centerline is valid? [True, True] Translation: X:391.41, Y:5.39, Z:4.64 [[ 9.98475136e-01 -5.09018968e-02 -2.13634935e-02 3.91409243e+02] [ 5.09064214e-02 9.98703372e-01 -3.32341778e-04 5.39293941e+00] [ 2.13527098e-02 -7.55704000e-04 9.99771719e-01 4.64014636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24509989300003 meters 0.01965226720761878 Centerline is valid? [True, True] Translation: X:391.44, Y:5.39, Z:4.64 [[ 9.98462831e-01 -5.11846343e-02 -2.12628288e-02 3.91439742e+02] [ 5.11891803e-02 9.98688920e-01 -3.30775784e-04 5.39196250e+00] [ 2.12518821e-02 -7.58159450e-04 9.99773866e-01 4.64056243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.275099893 meters 0.02009311630752392 Centerline is valid? [True, True] Translation: X:391.47, Y:5.39, Z:4.64 [[ 9.98434493e-01 -5.15752683e-02 -2.16461153e-02 3.91470475e+02] [ 5.15800715e-02 9.98668805e-01 -3.36738392e-04 5.39075921e+00] [ 2.16346675e-02 -7.80296949e-04 9.99765639e-01 4.64096844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30509989300003 meters 0.021281879887460334 Centerline is valid? [True, True] Translation: X:391.50, Y:5.39, Z:4.64 [[ 9.98341258e-01 -5.31150996e-02 -2.22153004e-02 3.91499858e+02] [ 5.31205356e-02 9.98588048e-01 -3.45763552e-04 5.38805556e+00] [ 2.22022987e-02 -8.34898636e-04 9.99753150e-01 4.64131142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.335099893 meters 0.02182569580102607 Centerline is valid? [True, True] Translation: X:391.53, Y:5.39, Z:4.64 [[ 9.98305893e-01 -5.39508929e-02 -2.17863610e-02 3.91530753e+02] [ 5.39563151e-02 9.98543239e-01 -3.39297437e-04 5.38707286e+00] [ 2.17729289e-02 -8.36789128e-04 9.99762591e-01 4.64214623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36509989300004 meters 0.022681228022401377 Centerline is valid? [True, True] Translation: X:391.56, Y:5.39, Z:4.64 [[ 9.98246810e-01 -5.51750795e-02 -2.14246925e-02 3.91561241e+02] [ 5.51806045e-02 9.98476334e-01 -3.33664868e-04 5.38566957e+00] [ 2.14104584e-02 -8.49147595e-04 9.99770409e-01 4.64319461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.395099893 meters 0.022590054122523698 Centerline is valid? [True, True] Translation: X:391.59, Y:5.39, Z:4.64 [[ 9.98189813e-01 -5.63613587e-02 -2.09879729e-02 3.91592949e+02] [ 5.63669287e-02 9.98410067e-01 -3.26565783e-04 5.38548028e+00] [ 2.09730091e-02 -8.57052932e-04 9.99779675e-01 4.64418165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.425099893 meters 0.0220762924830402 Centerline is valid? [True, True] Translation: X:391.62, Y:5.39, Z:4.64 [[ 9.98118084e-01 -5.76962866e-02 -2.07708584e-02 3.91624089e+02] [ 5.77020453e-02 9.98333797e-01 -3.22468776e-04 5.38606313e+00] [ 2.07548552e-02 -8.76659098e-04 9.99784210e-01 4.64479374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.455099893 meters 0.02357809475208132 Centerline is valid? [True, True] Translation: X:391.65, Y:5.38, Z:4.65 [[ 9.97944070e-01 -6.05438969e-02 -2.10254578e-02 3.91653872e+02] [ 6.05504498e-02 9.98165085e-01 -3.25404072e-04 5.38360620e+00] [ 2.10065791e-02 -9.48365861e-04 9.99778888e-01 4.64505937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.485099893 meters 0.023517725681113485 Centerline is valid? [True, True] Translation: X:391.69, Y:5.38, Z:4.65 [[ 9.97859860e-01 -6.18599415e-02 -2.11907358e-02 3.91685212e+02] [ 6.18669180e-02 9.98084354e-01 -3.26821081e-04 5.38374570e+00] [ 2.11703590e-02 -9.84883877e-04 9.99775398e-01 4.64538455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.515099893 meters 0.025685485925013116 Centerline is valid? [True, True] Translation: X:391.72, Y:5.38, Z:4.65 [[ 9.97758397e-01 -6.35453257e-02 -2.09802779e-02 3.91715495e+02] [ 6.35525482e-02 9.97978441e-01 -3.22990915e-04 5.38089781e+00] [ 2.09583896e-02 -1.01108323e-03 9.99779838e-01 4.64512073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.545099893 meters 0.03111869694196186 Centerline is valid? [True, True] Translation: X:391.75, Y:5.37, Z:4.64 [[ 9.97620595e-01 -6.59079658e-02 -2.02308839e-02 3.91745500e+02] [ 6.59151701e-02 9.97825182e-01 -3.11244545e-04 5.37336418e+00] [ 2.02073989e-02 -1.02301819e-03 9.99795286e-01 4.64474842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.575099893 meters 0.024557611828004415 Centerline is valid? [True, True] Translation: X:391.78, Y:5.38, Z:4.65 [[ 9.97563959e-01 -6.69549315e-02 -1.95751323e-02 3.91777837e+02] [ 6.69618873e-02 9.97755489e-01 -3.00634392e-04 5.38279511e+00] [ 1.95513247e-02 -1.01088577e-03 9.99808344e-01 4.64696575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.605099893 meters 0.02517616126511475 Centerline is valid? [True, True] Translation: X:391.81, Y:5.38, Z:4.65 [[ 9.97501830e-01 -6.79832253e-02 -1.91932493e-02 3.91809654e+02] [ 6.79901284e-02 9.97685951e-01 -2.93401307e-04 5.38230837e+00] [ 1.91687815e-02 -1.01228314e-03 9.99815750e-01 4.64763549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.635099893 meters 0.024247321719027052 Centerline is valid? [True, True] Translation: X:391.84, Y:5.38, Z:4.65 [[ 9.97477148e-01 -6.85549268e-02 -1.84271747e-02 3.91841891e+02] [ 6.85614108e-02 9.97646859e-01 -2.80392217e-04 5.38411576e+00] [ 1.84030352e-02 -9.83708266e-04 9.99830166e-01 4.64863548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.665099893 meters 0.023991203255902243 Centerline is valid? [True, True] Translation: X:391.87, Y:5.39, Z:4.65 [[ 9.97434564e-01 -6.91883534e-02 -1.83646981e-02 3.91874149e+02] [ 6.91949253e-02 9.97603120e-01 -2.78094844e-04 5.38529210e+00] [ 1.83399211e-02 -9.93362505e-04 9.99831316e-01 4.64924744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.695099893 meters 0.02572318580156379 Centerline is valid? [True, True] Translation: X:391.91, Y:5.38, Z:4.65 [[ 9.97344721e-01 -7.06415846e-02 -1.76995467e-02 3.91905611e+02] [ 7.06479377e-02 9.97501277e-01 -2.66849114e-04 5.38439208e+00] [ 1.76741711e-02 -9.84295915e-04 9.99843315e-01 4.64976328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.725099893 meters 0.025250960445353625 Centerline is valid? [True, True] Translation: X:391.94, Y:5.39, Z:4.65 [[ 9.97307337e-01 -7.12556582e-02 -1.73409075e-02 3.91937763e+02] [ 7.12618668e-02 9.97457607e-01 -2.60410090e-04 5.38605898e+00] [ 1.73153758e-02 -9.76036548e-04 9.99849601e-01 4.65041067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.755099893 meters 0.026963541516227024 Centerline is valid? [True, True] Translation: X:391.97, Y:5.38, Z:4.65 [[ 9.97275008e-01 -7.17537555e-02 -1.71451647e-02 3.91968738e+02] [ 7.17599179e-02 9.97421901e-01 -2.56310200e-04 5.38453347e+00] [ 1.71193540e-02 -9.74723857e-04 9.99852978e-01 4.65018026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.785099893 meters 0.026524908164050294 Centerline is valid? [True, True] Translation: X:392.00, Y:5.39, Z:4.65 [[ 9.97180466e-01 -7.31213904e-02 -1.68635637e-02 3.92000754e+02] [ 7.31275636e-02 9.97322564e-01 -2.51105901e-04 5.38663897e+00] [ 1.68367738e-02 -9.82793426e-04 9.99857768e-01 4.65009571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.815099893 meters 0.02874560721223257 Centerline is valid? [True, True] Translation: X:392.03, Y:5.38, Z:4.65 [[ 9.97143003e-01 -7.36710068e-02 -1.66857632e-02 3.92032055e+02] [ 7.36771460e-02 9.97282115e-01 -2.47330855e-04 5.38477512e+00] [ 1.66586343e-02 -9.82735179e-04 9.99860752e-01 4.65018140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.845099893 meters 0.029182229743895914 Centerline is valid? [True, True] Translation: X:392.06, Y:5.39, Z:4.65 [[ 9.97089682e-01 -7.43362546e-02 -1.69200417e-02 3.92064567e+02] [ 7.43426799e-02 9.97232723e-01 -2.49797428e-04 5.38563037e+00] [ 1.68917883e-02 -1.00881081e-03 9.99856815e-01 4.65046506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.875099893 meters 0.030618654868400808 Centerline is valid? [True, True] Translation: X:392.10, Y:5.39, Z:4.65 [[ 9.97005876e-01 -7.55741606e-02 -1.63654982e-02 3.92095972e+02] [ 7.55803550e-02 9.97139685e-01 -2.40547350e-04 5.38651358e+00] [ 1.63368669e-02 -9.97083040e-04 9.99866047e-01 4.65096136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.905099893 meters 0.03036955061716387 Centerline is valid? [True, True] Translation: X:392.13, Y:5.39, Z:4.65 [[ 9.96956171e-01 -7.62179032e-02 -1.64080789e-02 3.92127677e+02] [ 7.62242310e-02 9.97090672e-01 -2.40301156e-04 5.38876736e+00] [ 1.63786577e-02 -1.01112348e-03 9.99865350e-01 4.65124540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93509989300003 meters 0.028367685808704822 Centerline is valid? [True, True] Translation: X:392.16, Y:5.39, Z:4.65 [[ 9.96910342e-01 -7.66975770e-02 -1.69485073e-02 3.92159586e+02] [ 7.67044148e-02 9.97053846e-01 -2.47203000e-04 5.39323663e+00] [ 1.69175343e-02 -1.05358611e-03 9.99856333e-01 4.65170935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.965099893 meters 0.03147197557122997 Centerline is valid? [True, True] Translation: X:392.19, Y:5.39, Z:4.65 [[ 9.96848801e-01 -7.73702920e-02 -1.75016118e-02 3.92190989e+02] [ 7.73777079e-02 9.97001818e-01 -2.54063367e-04 5.39092764e+00] [ 1.74687957e-02 -1.10097184e-03 9.99846803e-01 4.65099376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99509989300003 meters 0.03159293914396525 Centerline is valid? [True, True] Translation: X:392.22, Y:5.39, Z:4.65 [[ 9.96788875e-01 -7.79530409e-02 -1.83101497e-02 3.92223102e+02] [ 7.79612764e-02 9.96956353e-01 -2.64679789e-04 5.39245835e+00] [ 1.82750526e-02 -1.16365277e-03 9.99832320e-01 4.65065964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.025099893 meters 0.029104015415024064 Centerline is valid? [True, True] Translation: X:392.25, Y:5.40, Z:4.65 [[ 9.96641796e-01 -7.95203035e-02 -1.95359096e-02 3.92254538e+02] [ 7.95300045e-02 9.96832433e-01 -2.81074148e-04 5.39890309e+00] [ 1.94963794e-02 -1.27356073e-03 9.99809116e-01 4.65023262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05509989300003 meters 0.028872070119800954 Centerline is valid? [True, True] Translation: X:392.29, Y:5.40, Z:4.65 [[ 9.96598114e-01 -8.00729914e-02 -1.95067947e-02 3.92286772e+02] [ 8.00827924e-02 9.96788176e-01 -2.79452322e-04 5.40116019e+00] [ 1.94665189e-02 -1.28365693e-03 9.99809685e-01 4.65094300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.085099893 meters 0.03046416499570461 Centerline is valid? [True, True] Translation: X:392.32, Y:5.40, Z:4.65 [[ 9.96614494e-01 -7.99739827e-02 -1.90712233e-02 3.92319196e+02] [ 7.99833727e-02 9.96796161e-01 -2.71110109e-04 5.40079993e+00] [ 1.90318039e-02 -1.25518850e-03 9.99818091e-01 4.65159715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11509989300004 meters 0.030729764516400748 Centerline is valid? [True, True] Translation: X:392.35, Y:5.40, Z:4.65 [[ 9.96634156e-01 -7.98292586e-02 -1.86453574e-02 3.92351504e+02] [ 7.98382577e-02 9.96807797e-01 -2.62416781e-04 5.40269261e+00] [ 1.86067862e-02 -1.22707933e-03 9.99826126e-01 4.65271975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.145099893 meters 0.029469558599401077 Centerline is valid? [True, True] Translation: X:392.38, Y:5.41, Z:4.65 [[ 9.96679379e-01 -7.93413689e-02 -1.83074242e-02 3.92383932e+02] [ 7.93499866e-02 9.96846786e-01 -2.56353333e-04 5.40675261e+00] [ 1.82700364e-02 -1.19719179e-03 9.99832372e-01 4.65382195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.175099893 meters 0.03198668948330372 Centerline is valid? [True, True] Translation: X:392.42, Y:5.41, Z:4.65 [[ 9.96796371e-01 -7.81307166e-02 -1.71051526e-02 3.92415005e+02] [ 7.81380805e-02 9.96942518e-01 -2.38421400e-04 5.40763765e+00] [ 1.70714820e-02 -1.09890621e-03 9.99853668e-01 4.65460064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.205099893 meters 0.029435970879891655 Centerline is valid? [True, True] Translation: X:392.45, Y:5.41, Z:4.66 [[ 9.96846000e-01 -7.75198994e-02 -1.69916817e-02 3.92447418e+02] [ 7.75270945e-02 9.96990218e-01 -2.35842194e-04 5.41311019e+00] [ 1.69588229e-02 -1.08221736e-03 9.99855603e-01 4.65524727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.235099893 meters 0.028915596338717587 Centerline is valid? [True, True] Translation: X:392.48, Y:5.42, Z:4.66 [[ 9.96864664e-01 -7.72216006e-02 -1.72530292e-02 3.92479179e+02] [ 7.72289961e-02 9.97013353e-01 -2.38204944e-04 5.41601581e+00] [ 1.72198951e-02 -1.09497604e-03 9.99851127e-01 4.65555154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.265099893 meters 0.02974868228369198 Centerline is valid? [True, True] Translation: X:392.51, Y:5.42, Z:4.66 [[ 9.96871584e-01 -7.70484873e-02 -1.76231666e-02 3.92510320e+02] [ 7.70561978e-02 9.97026722e-01 -2.42113076e-04 5.41713874e+00] [ 1.75894225e-02 -1.11661857e-03 9.99844671e-01 4.65552066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.295099893 meters 0.02707907975267329 Centerline is valid? [True, True] Translation: X:392.54, Y:5.42, Z:4.66 [[ 9.96873765e-01 -7.69617124e-02 -1.78771259e-02 3.92542821e+02] [ 7.69696560e-02 9.97033406e-01 -2.44308372e-04 5.42436047e+00] [ 1.78428941e-02 -1.13245162e-03 9.99840162e-01 4.65546291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.325099893 meters 0.029416904837475093 Centerline is valid? [True, True] Translation: X:392.57, Y:5.42, Z:4.66 [[ 9.96850182e-01 -7.71254619e-02 -1.84763885e-02 3.92574314e+02] [ 7.71340076e-02 9.97020703e-01 -2.50733138e-04 5.42326363e+00] [ 1.84406797e-02 -1.17521452e-03 9.99829266e-01 4.65555303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.355099893 meters 0.02803602386679878 Centerline is valid? [True, True] Translation: X:392.61, Y:5.43, Z:4.66 [[ 9.96842462e-01 -7.73204110e-02 -1.80737589e-02 3.92606872e+02] [ 7.73286398e-02 9.97005628e-01 -2.44181139e-04 5.42763078e+00] [ 1.80385195e-02 -1.15420907e-03 9.99836626e-01 4.65647917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.385099893 meters 0.02806987532546409 Centerline is valid? [True, True] Translation: X:392.64, Y:5.43, Z:4.66 [[ 9.96777236e-01 -7.82464875e-02 -1.76813323e-02 3.92638684e+02] [ 7.82545305e-02 9.96933384e-01 -2.37597163e-04 5.43156786e+00] [ 1.76457016e-02 -1.14681291e-03 9.99843645e-01 4.65701640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.415099893 meters 0.0294700586331612 Centerline is valid? [True, True] Translation: X:392.67, Y:5.43, Z:4.66 [[ 9.96763698e-01 -7.84858373e-02 -1.73811589e-02 3.92669890e+02] [ 7.84936659e-02 9.96914585e-01 -2.32389807e-04 5.43157003e+00] [ 1.73457701e-02 -1.13267315e-03 9.99848909e-01 4.65751397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.445099893 meters 0.029477040451473913 Centerline is valid? [True, True] Translation: X:392.70, Y:5.43, Z:4.66 [[ 9.96758714e-01 -7.85818302e-02 -1.72326017e-02 3.92702524e+02] [ 7.85895576e-02 9.96907031e-01 -2.29374337e-04 5.43339016e+00] [ 1.71973265e-02 -1.12567168e-03 9.99851481e-01 4.65778897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.475099893 meters 0.02924627716376059 Centerline is valid? [True, True] Translation: X:392.74, Y:5.44, Z:4.66 [[ 9.96768971e-01 -7.84922404e-02 -1.70465951e-02 3.92736031e+02] [ 7.84998127e-02 9.96914103e-01 -2.25490900e-04 5.43576971e+00] [ 1.70116904e-02 -1.11339219e-03 9.99854671e-01 4.65813106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.505099893 meters 0.029142018136034075 Centerline is valid? [True, True] Translation: X:392.77, Y:5.44, Z:4.66 [[ 9.96772554e-01 -7.85279265e-02 -1.66685400e-02 3.92768347e+02] [ 7.85351989e-02 9.96911317e-01 -2.18843428e-04 5.43809842e+00] [ 1.66342415e-02 -1.09092998e-03 9.99861046e-01 4.65841552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.535099893 meters 0.029795074865188304 Centerline is valid? [True, True] Translation: X:392.80, Y:5.44, Z:4.66 [[ 9.96786901e-01 -7.83159453e-02 -1.68073529e-02 3.92800035e+02] [ 7.83233301e-02 9.96927985e-01 -2.19428633e-04 5.43932805e+00] [ 1.67729053e-02 -1.09768427e-03 9.99858722e-01 4.65870411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.565099893 meters 0.030686183481441635 Centerline is valid? [True, True] Translation: X:392.83, Y:5.44, Z:4.66 [[ 9.96860728e-01 -7.74445090e-02 -1.64631943e-02 3.92830779e+02] [ 7.74514943e-02 9.96996098e-01 -2.13832837e-04 5.44205797e+00] [ 1.64303006e-02 -1.06193744e-03 9.99864450e-01 4.65897747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.595099893 meters 0.03090101313692164 Centerline is valid? [True, True] Translation: X:392.86, Y:5.44, Z:4.66 [[ 9.96902461e-01 -7.69431295e-02 -1.62861223e-02 3.92862705e+02] [ 7.69499139e-02 9.97034937e-01 -2.10592231e-04 5.44392818e+00] [ 1.62540365e-02 -1.04327579e-03 9.99867350e-01 4.65948267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.625099893 meters 0.030656933727195284 Centerline is valid? [True, True] Translation: X:392.89, Y:5.45, Z:4.66 [[ 9.96937785e-01 -7.64826537e-02 -1.62928653e-02 3.92894663e+02] [ 7.64894013e-02 9.97070372e-01 -2.09517899e-04 5.44612247e+00] [ 1.62611578e-02 -1.03735521e-03 9.99867241e-01 4.66010738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.655099893 meters 0.03143718056829686 Centerline is valid? [True, True] Translation: X:392.93, Y:5.45, Z:4.66 [[ 9.96995391e-01 -7.57299096e-02 -1.62840866e-02 3.92925775e+02] [ 7.57365677e-02 9.97127840e-01 -2.08315754e-04 5.44829125e+00] [ 1.62530918e-02 -1.02561098e-03 9.99867384e-01 4.66028358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68509989300003 meters 0.03214431706039841 Centerline is valid? [True, True] Translation: X:392.96, Y:5.45, Z:4.66 [[ 9.97025625e-01 -7.53338578e-02 -1.62700325e-02 3.92956611e+02] [ 7.53404659e-02 9.97157847e-01 -2.07274567e-04 5.44912583e+00] [ 1.62394054e-02 -1.01913378e-03 9.99867613e-01 4.66054711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.715099893 meters 0.029822955694499425 Centerline is valid? [True, True] Translation: X:392.99, Y:5.45, Z:4.66 [[ 9.97060979e-01 -7.48015755e-02 -1.65568442e-02 3.92988621e+02] [ 7.48083615e-02 9.97197907e-01 -2.09968143e-04 5.45406874e+00] [ 1.65261563e-02 -1.02923934e-03 9.99862904e-01 4.66087554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74509989300003 meters 0.029539495724651508 Centerline is valid? [True, True] Translation: X:393.02, Y:5.46, Z:4.66 [[ 9.97086954e-01 -7.43617921e-02 -1.69684782e-02 3.93021099e+02] [ 7.43688772e-02 9.97230778e-01 -2.13952410e-04 5.45620937e+00] [ 1.69373986e-02 -1.04859751e-03 9.99856002e-01 4.66138490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.775099893 meters 0.029539495724651508 Centerline is valid? [True, True] Translation: X:393.05, Y:5.46, Z:4.66 [[ 9.97094962e-01 -7.42543351e-02 -1.69684955e-02 3.93053696e+02] [ 7.42614282e-02 9.97238785e-01 -2.12570974e-04 5.45652894e+00] [ 1.69374261e-02 -1.04815126e-03 9.99856002e-01 4.66178777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80509989300003 meters 0.03054049012464957 Centerline is valid? [True, True] Translation: X:393.08, Y:5.46, Z:4.66 [[ 9.97146948e-01 -7.35404551e-02 -1.70224841e-02 3.93084967e+02] [ 7.35475167e-02 9.97291692e-01 -2.11661853e-04 5.45712472e+00] [ 1.69919477e-02 -1.04090347e-03 9.99855085e-01 4.66193400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.835099893 meters 0.02618544492797617 Centerline is valid? [True, True] Translation: X:393.12, Y:5.47, Z:4.66 [[ 9.97206604e-01 -7.26841420e-02 -1.72047733e-02 3.93116816e+02] [ 7.26912464e-02 9.97354469e-01 -2.12903096e-04 5.46523567e+00] [ 1.71747322e-02 -1.03832804e-03 9.99851964e-01 4.66273295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86509989300004 meters 0.033053004226222024 Centerline is valid? [True, True] Translation: X:393.15, Y:5.46, Z:4.66 [[ 9.97392988e-01 -6.99959403e-02 -1.75441021e-02 3.93147544e+02] [ 7.00029330e-02 9.97546762e-01 -2.15977650e-04 5.45931516e+00] [ 1.75161798e-02 -1.01272401e-03 9.99846067e-01 4.66221138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.895099893 meters 0.026865005387321887 Centerline is valid? [True, True] Translation: X:393.18, Y:5.47, Z:4.66 [[ 9.97507044e-01 -6.83636926e-02 -1.74957751e-02 3.93178886e+02] [ 6.83704077e-02 9.97659983e-01 -2.14743103e-04 5.46951503e+00] [ 1.74695153e-02 -9.81985517e-04 9.99846914e-01 4.66338086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.925099893 meters 0.024988092111350613 Centerline is valid? [True, True] Translation: X:393.21, Y:5.47, Z:4.66 [[ 9.97642930e-01 -6.64352365e-02 -1.71739076e-02 3.93210409e+02] [ 6.64414324e-02 9.97790305e-01 -2.10177851e-04 5.47387192e+00] [ 1.71499217e-02 -9.31376571e-04 9.99852495e-01 4.66412629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.955099893 meters 0.025324264736802122 Centerline is valid? [True, True] Translation: X:393.24, Y:5.48, Z:4.66 [[ 9.97768996e-01 -6.44269751e-02 -1.74984547e-02 3.93240988e+02] [ 6.44331092e-02 9.97922005e-01 -2.13594718e-04 5.47523701e+00] [ 1.74758543e-02 -9.14361656e-04 9.99846868e-01 4.66430777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.985099893 meters 0.023870737395766707 Centerline is valid? [True, True] Translation: X:393.27, Y:5.48, Z:4.67 [[ 9.98000241e-01 -6.06059330e-02 -1.79566318e-02 3.93271600e+02] [ 6.06117817e-02 9.98161392e-01 -2.18843329e-04 5.48050998e+00] [ 1.79368798e-02 -8.69977750e-04 9.99838743e-01 4.66516724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.015099893 meters 0.024611176883244573 Centerline is valid? [True, True] Translation: X:393.30, Y:5.48, Z:4.67 [[ 9.98110093e-01 -5.87278381e-02 -1.80909951e-02 3.93302447e+02] [ 5.87334752e-02 9.98273675e-01 -2.20020484e-04 5.48134566e+00] [ 1.80726855e-02 -8.42942347e-04 9.99836320e-01 4.66551985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.045099893 meters 0.020924319824914755 Centerline is valid? [True, True] Translation: X:393.33, Y:5.49, Z:4.67 [[ 9.98231773e-01 -5.66379826e-02 -1.80406954e-02 3.93334308e+02] [ 5.66432614e-02 9.98394458e-01 -2.18654293e-04 5.48861169e+00] [ 1.80241145e-02 -8.03616166e-04 9.99837230e-01 4.66691220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.075099893 meters 0.020899902920969042 Centerline is valid? [True, True] Translation: X:393.37, Y:5.49, Z:4.67 [[ 9.98317242e-01 -5.50003663e-02 -1.83751017e-02 3.93365305e+02] [ 5.50055846e-02 9.98486022e-01 -2.21679257e-04 5.49054053e+00] [ 1.83594747e-02 -7.89426988e-04 9.99831139e-01 4.66777072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.105099893 meters 0.021322993362366236 Centerline is valid? [True, True] Translation: X:393.40, Y:5.49, Z:4.67 [[ 9.98488712e-01 -5.16150075e-02 -1.88728225e-02 3.93395504e+02] [ 5.16199242e-02 9.98666777e-01 -2.26866967e-04 5.49261964e+00] [ 1.88593706e-02 -7.47689563e-04 9.99821867e-01 4.66770410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.135099893 meters 0.019864383966448858 Centerline is valid? [True, True] Translation: X:393.43, Y:5.50, Z:4.67 [[ 9.98556801e-01 -5.01571415e-02 -1.91983553e-02 3.93427930e+02] [ 5.01619742e-02 9.98741069e-01 -2.30055938e-04 5.49626266e+00] [ 1.91857248e-02 -7.33303481e-04 9.99815668e-01 4.66821043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.165099893 meters 0.019357448158699112 Centerline is valid? [True, True] Translation: X:393.46, Y:5.50, Z:4.67 [[ 9.98612949e-01 -4.89251851e-02 -1.94551671e-02 3.93459741e+02] [ 4.89299421e-02 9.98802186e-01 -2.31714380e-04 5.49828657e+00] [ 1.94432001e-02 -7.20547217e-04 9.99810703e-01 4.66866647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.195099893 meters 0.020000815309570225 Centerline is valid? [True, True] Translation: X:393.49, Y:5.50, Z:4.67 [[ 9.98695323e-01 -4.73103424e-02 -1.92193227e-02 3.93491240e+02] [ 4.73147102e-02 9.98880006e-01 -2.27651507e-04 5.49878564e+00] [ 1.92085675e-02 -6.82002190e-04 9.99815266e-01 4.66852392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.225099893 meters 0.019525077878890462 Centerline is valid? [True, True] Translation: X:393.52, Y:5.50, Z:4.67 [[ 9.98727991e-01 -4.66888407e-02 -1.90407816e-02 3.93523649e+02] [ 4.66930365e-02 9.98909260e-01 -2.24403342e-04 5.50035860e+00] [ 1.90304902e-02 -6.64954011e-04 9.99818683e-01 4.66882108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.255099893 meters 0.0190935137949572 Centerline is valid? [True, True] Translation: X:393.56, Y:5.50, Z:4.67 [[ 9.98740954e-01 -4.64238911e-02 -1.90086511e-02 3.93556339e+02] [ 4.64280530e-02 9.98921612e-01 -2.22538933e-04 5.50186357e+00] [ 1.89984835e-02 -6.60275912e-04 9.99819295e-01 4.66938789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.285099893 meters 0.018905828759270264 Centerline is valid? [True, True] Translation: X:393.59, Y:5.50, Z:4.67 [[ 9.98740492e-01 -4.63013786e-02 -1.93290261e-02 3.93588532e+02] [ 4.63056911e-02 9.98927291e-01 -2.24633969e-04 5.50301736e+00] [ 1.93186925e-02 -6.70692869e-04 9.99813152e-01 4.66978347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.315099893 meters 0.019958980854959823 Centerline is valid? [True, True] Translation: X:393.62, Y:5.50, Z:4.67 [[ 9.98737095e-01 -4.63928198e-02 -1.92852736e-02 3.93619702e+02] [ 4.63971540e-02 9.98923047e-01 -2.22872647e-04 5.50204639e+00] [ 1.92748439e-02 -6.72190628e-04 9.99813997e-01 4.66966948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.345099893 meters 0.020572666905859054 Centerline is valid? [True, True] Translation: X:393.65, Y:5.50, Z:4.67 [[ 9.98685002e-01 -4.74509342e-02 -1.94081323e-02 3.93652002e+02] [ 4.74555457e-02 9.98873326e-01 -2.23139077e-04 5.50182477e+00] [ 1.93968538e-02 -6.98177860e-04 9.99811620e-01 4.66946858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.375099893 meters 0.020522119892250626 Centerline is valid? [True, True] Translation: X:393.68, Y:5.50, Z:4.67 [[ 9.98646545e-01 -4.81796520e-02 -1.95908174e-02 3.93683786e+02] [ 4.81845177e-02 9.98838426e-01 -2.23864974e-04 5.50222904e+00] [ 1.95788469e-02 -7.20412104e-04 9.99808056e-01 4.66965939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.405099893 meters 0.019852286444533903 Centerline is valid? [True, True] Translation: X:393.72, Y:5.50, Z:4.67 [[ 9.98586493e-01 -4.92765100e-02 -1.99208633e-02 3.93715498e+02] [ 4.92817847e-02 9.98784889e-01 -2.26347160e-04 5.50366714e+00] [ 1.99078108e-02 -7.55708477e-04 9.99801534e-01 4.67041580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43509989300003 meters 0.02083546431364848 Centerline is valid? [True, True] Translation: X:393.75, Y:5.50, Z:4.67 [[ 9.98537542e-01 -5.03549886e-02 -1.96761734e-02 3.93746395e+02] [ 5.03603641e-02 9.98731087e-01 -2.22515700e-04 5.50259445e+00] [ 1.96624108e-02 -7.68708976e-04 9.99806381e-01 4.67047984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.465099893 meters 0.020756401343827495 Centerline is valid? [True, True] Translation: X:393.78, Y:5.50, Z:4.67 [[ 9.98424488e-01 -5.25716218e-02 -1.96154703e-02 3.93778520e+02] [ 5.25774145e-02 9.98616827e-01 -2.20645360e-04 5.50273553e+00] [ 1.95999384e-02 -8.11032979e-04 9.99807574e-01 4.67104843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49509989300003 meters 0.02174100083985722 Centerline is valid? [True, True] Translation: X:393.81, Y:5.50, Z:4.67 [[ 9.98372857e-01 -5.35541275e-02 -1.95855327e-02 3.93810105e+02] [ 5.35601162e-02 9.98564603e-01 -2.19028575e-04 5.50168456e+00] [ 1.95691495e-02 -8.30331222e-04 9.99808161e-01 4.67144686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.525099893 meters 0.023263436711364886 Centerline is valid? [True, True] Translation: X:393.84, Y:5.50, Z:4.67 [[ 9.98322742e-01 -5.46415077e-02 -1.91313550e-02 3.93841513e+02] [ 5.46474404e-02 9.98505689e-01 -2.12939202e-04 5.49986898e+00] [ 1.91144021e-02 -8.32897534e-04 9.99816956e-01 4.67185101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55509989300003 meters 0.022827542230701398 Centerline is valid? [True, True] Translation: X:393.87, Y:5.50, Z:4.67 [[ 9.98282197e-01 -5.54247292e-02 -1.89935149e-02 3.93873450e+02] [ 5.54307395e-02 9.98462513e-01 -2.10280659e-04 5.50088170e+00] [ 1.89759674e-02 -8.42905141e-04 9.99819585e-01 4.67235561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.585099893 meters 0.024117554828165896 Centerline is valid? [True, True] Translation: X:393.90, Y:5.50, Z:4.67 [[ 9.98214495e-01 -5.67249486e-02 -1.87110376e-02 3.93904697e+02] [ 5.67310318e-02 9.98389477e-01 -2.05952816e-04 5.49937684e+00] [ 1.86925857e-02 -8.55911384e-04 9.99824912e-01 4.67276536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61509989300004 meters 0.024614401273341555 Centerline is valid? [True, True] Translation: X:393.94, Y:5.50, Z:4.67 [[ 9.98201433e-01 -5.69355399e-02 -1.87681334e-02 3.93937308e+02] [ 5.69417181e-02 9.98377483e-01 -2.05478741e-04 5.49915460e+00] [ 1.87493808e-02 -8.63580586e-04 9.99823842e-01 4.67321969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.645099893 meters 0.025297962984378787 Centerline is valid? [True, True] Translation: X:393.97, Y:5.50, Z:4.67 [[ 9.98195887e-01 -5.70700869e-02 -1.86541330e-02 3.93968942e+02] [ 5.70762444e-02 9.98369802e-01 -2.02580693e-04 5.49852385e+00] [ 1.86352844e-02 -8.62492639e-04 9.99825976e-01 4.67353471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.675099893 meters 0.024227072229757896 Centerline is valid? [True, True] Translation: X:394.00, Y:5.50, Z:4.67 [[ 9.98207506e-01 -5.70454395e-02 -1.80995280e-02 3.94001228e+02] [ 5.70512668e-02 9.98371231e-01 -1.94642071e-04 5.50062726e+00] [ 1.80811515e-02 -8.38307828e-04 9.99836171e-01 4.67444333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.705099893 meters 0.023710169667808798 Centerline is valid? [True, True] Translation: X:394.03, Y:5.50, Z:4.67 [[ 9.98224544e-01 -5.67839974e-02 -1.79815998e-02 3.94033184e+02] [ 5.67897293e-02 9.98386143e-01 -1.92112470e-04 5.50213190e+00] [ 1.79634889e-02 -8.29398800e-04 9.99838300e-01 4.67497815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.735099893 meters 0.02692710519394723 Centerline is valid? [True, True] Translation: X:394.06, Y:5.50, Z:4.68 [[ 9.98251305e-01 -5.62841199e-02 -1.80673764e-02 3.94064015e+02] [ 5.62898547e-02 9.98414451e-01 -1.91382333e-04 5.49807988e+00] [ 1.80495014e-02 -8.25962326e-04 9.99836753e-01 4.67514690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.765099893 meters 0.026713392017133738 Centerline is valid? [True, True] Translation: X:394.10, Y:5.50, Z:4.68 [[ 9.98277935e-01 -5.58273737e-02 -1.80130017e-02 3.94096598e+02] [ 5.58330364e-02 9.98440102e-01 -1.88769953e-04 5.49905712e+00] [ 1.79954418e-02 -8.17275701e-04 9.99837735e-01 4.67569677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.795099893 meters 0.024486263105987668 Centerline is valid? [True, True] Translation: X:394.13, Y:5.50, Z:4.68 [[ 9.98302165e-01 -5.53634393e-02 -1.81018688e-02 3.94128382e+02] [ 5.53691043e-02 9.98465937e-01 -1.88468445e-04 5.50267086e+00] [ 1.80845336e-02 -8.14135804e-04 9.99836130e-01 4.67615484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.825099893 meters 0.025124708054789897 Centerline is valid? [True, True] Translation: X:394.16, Y:5.50, Z:4.68 [[ 9.98322973e-01 -5.49458560e-02 -1.82262083e-02 3.94159978e+02] [ 5.49515592e-02 9.98489004e-01 -1.88138898e-04 5.50204582e+00] [ 1.82090060e-02 -8.13735180e-04 9.99833871e-01 4.67590920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.855099893 meters 0.022379973931823338 Centerline is valid? [True, True] Translation: X:394.19, Y:5.51, Z:4.68 [[ 9.98352357e-01 -5.44377940e-02 -1.81410624e-02 3.94192401e+02] [ 5.44433967e-02 9.98516841e-01 -1.85249911e-04 5.50634490e+00] [ 1.81242410e-02 -8.02716374e-04 9.99835420e-01 4.67639773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.885099893 meters 0.02175740014193728 Centerline is valid? [True, True] Translation: X:394.22, Y:5.51, Z:4.68 [[ 9.98366928e-01 -5.41563238e-02 -1.81815736e-02 3.94224173e+02] [ 5.41619287e-02 9.98532148e-01 -1.84358720e-04 5.50784446e+00] [ 1.81648699e-02 -8.00691444e-04 9.99834685e-01 4.67679153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.915099893 meters 0.022610804059979547 Centerline is valid? [True, True] Translation: X:394.26, Y:5.51, Z:4.68 [[ 9.98365550e-01 -5.41083434e-02 -1.83988009e-02 3.94256107e+02] [ 5.41141016e-02 9.98534741e-01 -1.85115528e-04 5.50712450e+00] [ 1.83818581e-02 -8.10821613e-04 9.99830711e-01 4.67682636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.945099893 meters 0.022724901286577004 Centerline is valid? [True, True] Translation: X:394.29, Y:5.51, Z:4.68 [[ 9.98361149e-01 -5.41738602e-02 -1.84447400e-02 3.94288734e+02] [ 5.41796868e-02 9.98531185e-01 -1.84030162e-04 5.50785160e+00] [ 1.84276177e-02 -8.15601671e-04 9.99829864e-01 4.67701746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.975099893 meters 0.023128684370214352 Centerline is valid? [True, True] Translation: X:394.32, Y:5.51, Z:4.68 [[ 9.98354656e-01 -5.40305004e-02 -1.92011857e-02 3.94319975e+02] [ 5.40368130e-02 9.98538926e-01 -1.90299362e-04 5.50796502e+00] [ 1.91834133e-02 -8.47584628e-04 9.99815622e-01 4.67712398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.005099893 meters 0.022167396132637022 Centerline is valid? [True, True] Translation: X:394.35, Y:5.51, Z:4.68 [[ 9.98344644e-01 -5.41699874e-02 -1.93283343e-02 3.94352004e+02] [ 5.41764324e-02 9.98531361e-01 -1.90398011e-04 5.51025323e+00] [ 1.93102618e-02 -8.57057360e-04 9.99813172e-01 4.67759524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.035099893 meters 0.02296646254931428 Centerline is valid? [True, True] Translation: X:394.38, Y:5.51, Z:4.68 [[ 9.98319515e-01 -5.45479138e-02 -1.95619568e-02 3.94383048e+02] [ 5.45546132e-02 9.98510770e-01 -1.91411589e-04 5.50974718e+00] [ 1.95432656e-02 -8.76105059e-04 9.99808628e-01 4.67778779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.065099893 meters 0.022937613600867907 Centerline is valid? [True, True] Translation: X:394.41, Y:5.51, Z:4.68 [[ 9.98303247e-01 -5.47245692e-02 -1.98959609e-02 3.94414988e+02] [ 5.47315585e-02 9.98501086e-01 -1.93467185e-04 5.51048555e+00] [ 1.98767260e-02 -8.95798029e-04 9.99802037e-01 4.67811473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.095099893 meters 0.024238217004612435 Centerline is valid? [True, True] Translation: X:394.45, Y:5.51, Z:4.68 [[ 9.98292991e-01 -5.49364829e-02 -1.98264421e-02 3.94446627e+02] [ 5.49434904e-02 9.98489447e-01 -1.91516576e-04 5.50905196e+00] [ 1.98070145e-02 -8.98144276e-04 9.99803418e-01 4.67820513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.125099893 meters 0.021796447143891826 Centerline is valid? [True, True] Translation: X:394.48, Y:5.51, Z:4.68 [[ 9.98279745e-01 -5.55160702e-02 -1.88551353e-02 3.94478880e+02] [ 5.55225316e-02 9.98457418e-01 -1.81033537e-04 5.51360195e+00] [ 1.88360999e-02 -8.66162730e-04 9.99822210e-01 4.68032521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.155099893 meters 0.022047401208336755 Centerline is valid? [True, True] Translation: X:394.51, Y:5.51, Z:4.68 [[ 9.98291410e-01 -5.55648803e-02 -1.80777351e-02 3.94511137e+02] [ 5.55708509e-02 9.98454731e-01 -1.72281497e-04 5.51381602e+00] [ 1.80593729e-02 -8.32607982e-04 9.99836570e-01 4.68119959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18509989300003 meters 0.022899601057054964 Centerline is valid? [True, True] Translation: X:394.54, Y:5.51, Z:4.68 [[ 9.98278877e-01 -5.58247955e-02 -1.79687294e-02 3.94542209e+02] [ 5.58307658e-02 9.98440232e-01 -1.69604757e-04 5.51298308e+00] [ 1.79501705e-02 -8.33895077e-04 9.99838535e-01 4.68189701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.215099893 meters 0.024163659654314745 Centerline is valid? [True, True] Translation: X:394.57, Y:5.51, Z:4.68 [[ 9.98273138e-01 -5.60461879e-02 -1.75944906e-02 3.94573170e+02] [ 5.60519793e-02 9.98427838e-01 -1.64198262e-04 5.51130310e+00] [ 1.75760319e-02 -8.22291310e-04 9.99845191e-01 4.68209960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24509989300003 meters 0.022683448261281953 Centerline is valid? [True, True] Translation: X:394.60, Y:5.51, Z:4.68 [[ 9.98221121e-01 -5.69193192e-02 -1.77421659e-02 3.94604779e+02] [ 5.69253629e-02 9.98378423e-01 -1.64613991e-04 5.51337833e+00] [ 1.77227653e-02 -8.45658069e-04 9.99842582e-01 4.68267361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.275099893 meters 0.02334612916883068 Centerline is valid? [True, True] Translation: X:394.64, Y:5.51, Z:4.68 [[ 9.98200873e-01 -5.71793457e-02 -1.80427413e-02 3.94636714e+02] [ 5.71856582e-02 9.98363547e-01 -1.66302859e-04 5.51232819e+00] [ 1.80227243e-02 -8.65782379e-04 9.99837203e-01 4.68282277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30509989300003 meters 0.025115356600742506 Centerline is valid? [True, True] Translation: X:394.67, Y:5.51, Z:4.68 [[ 9.98152435e-01 -5.78969359e-02 -1.84298902e-02 3.94667992e+02] [ 5.79036748e-02 9.98322161e-01 -1.68211527e-04 5.50961232e+00] [ 1.84087067e-02 -8.99257624e-04 9.99830141e-01 4.68273091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.335099893 meters 0.02334590982285861 Centerline is valid? [True, True] Translation: X:394.70, Y:5.51, Z:4.68 [[ 9.98121920e-01 -5.85432370e-02 -1.80366746e-02 3.94700557e+02] [ 5.85498308e-02 9.98284474e-01 -1.62722756e-04 5.51179408e+00] [ 1.80152585e-02 -8.93627096e-04 9.99837313e-01 4.68350329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36509989300004 meters 0.02472594904070868 Centerline is valid? [True, True] Translation: X:394.73, Y:5.51, Z:4.68 [[ 9.98018371e-01 -6.02863856e-02 -1.80245075e-02 3.94731625e+02] [ 6.02932758e-02 9.98180692e-01 -1.61407176e-04 5.50877554e+00] [ 1.80014460e-02 -9.25669273e-04 9.99837532e-01 4.68424379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.395099893 meters 0.025710945408684068 Centerline is valid? [True, True] Translation: X:394.76, Y:5.51, Z:4.68 [[ 9.97967269e-01 -6.11430170e-02 -1.79683719e-02 3.94762525e+02] [ 6.11500277e-02 9.98128573e-01 -1.59518422e-04 5.50707222e+00] [ 1.79444988e-02 -9.39572273e-04 9.99838543e-01 4.68474152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.425099893 meters 0.026612626708188987 Centerline is valid? [True, True] Translation: X:394.79, Y:5.51, Z:4.68 [[ 9.97887350e-01 -6.24272896e-02 -1.79908411e-02 3.94794976e+02] [ 6.24345616e-02 9.98049047e-01 -1.57731834e-04 5.50584423e+00] [ 1.79655886e-02 -9.65851673e-04 9.99838139e-01 4.68497163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.455099893 meters 0.028534570532397475 Centerline is valid? [True, True] Translation: X:394.83, Y:5.50, Z:4.68 [[ 9.97822578e-01 -6.32331340e-02 -1.87529574e-02 3.94826384e+02] [ 6.32412006e-02 9.97998258e-01 -1.63161427e-04 5.50284016e+00] [ 1.87257360e-02 -1.02315338e-03 9.99824135e-01 4.68454966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.485099893 meters 0.027511943986929323 Centerline is valid? [True, True] Translation: X:394.86, Y:5.50, Z:4.68 [[ 9.97752535e-01 -6.42422630e-02 -1.90475816e-02 3.94858169e+02] [ 6.42507878e-02 9.97933770e-01 -1.64704562e-04 5.50385401e+00] [ 1.90188059e-02 -1.05948773e-03 9.99818565e-01 4.68492822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.515099893 meters 0.02961048781118915 Centerline is valid? [True, True] Translation: X:394.89, Y:5.50, Z:4.68 [[ 9.97588458e-01 -6.64523952e-02 -2.00336844e-02 3.94888383e+02] [ 6.64622970e-02 9.97788922e-01 -1.71880532e-04 5.49988920e+00] [ 2.00008102e-02 -1.16001865e-03 9.99799291e-01 4.68405240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.545099893 meters 0.032149667726616246 Centerline is valid? [True, True] Translation: X:394.92, Y:5.50, Z:4.68 [[ 9.97510653e-01 -6.75755890e-02 -2.01503494e-02 3.94919030e+02] [ 6.75858753e-02 9.97713446e-01 -1.70871849e-04 5.49570213e+00] [ 2.01158213e-02 -1.19143251e-03 9.99796946e-01 4.68356124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.575099893 meters 0.02974888618930097 Centerline is valid? [True, True] Translation: X:394.95, Y:5.50, Z:4.68 [[ 9.97438784e-01 -6.86073398e-02 -2.02214250e-02 3.94950831e+02] [ 6.86179488e-02 9.97642996e-01 -1.69554983e-04 5.49799684e+00] [ 2.01853957e-02 -1.21843199e-03 9.99795512e-01 4.68417998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.605099893 meters 0.030343566864355753 Centerline is valid? [True, True] Translation: X:394.98, Y:5.50, Z:4.68 [[ 9.97322794e-01 -7.02708828e-02 -2.02298658e-02 3.94982539e+02] [ 7.02818633e-02 9.97527158e-01 -1.68549670e-04 5.49555603e+00] [ 2.01916847e-02 -1.25369424e-03 9.99795341e-01 4.68471188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.635099893 meters 0.03017069381845321 Centerline is valid? [True, True] Translation: X:395.01, Y:5.50, Z:4.69 [[ 9.97271664e-01 -7.09329383e-02 -2.04388568e-02 3.95014630e+02] [ 7.09443108e-02 9.97480264e-01 -1.69049894e-04 5.49542113e+00] [ 2.03993475e-02 -1.28143194e-03 9.99791090e-01 4.68551553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.665099893 meters 0.03017069381845321 Centerline is valid? [True, True] Translation: X:395.05, Y:5.50, Z:4.69 [[ 9.97279293e-01 -7.08255894e-02 -2.04388712e-02 3.95047232e+02] [ 7.08369751e-02 9.97487892e-01 -1.67298744e-04 5.49559867e+00] [ 2.03993756e-02 -1.28098424e-03 9.99791090e-01 4.68591845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.695099893 meters 0.032245042214401436 Centerline is valid? [True, True] Translation: X:395.08, Y:5.49, Z:4.69 [[ 9.97248877e-01 -7.13410879e-02 -2.01277438e-02 3.95078355e+02] [ 7.13522687e-02 9.97451165e-01 -1.63027709e-04 5.49263400e+00] [ 2.00880721e-02 -1.27358098e-03 9.99797403e-01 4.68659439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.725099893 meters 0.03127426256985455 Centerline is valid? [True, True] Translation: X:395.11, Y:5.49, Z:4.69 [[ 9.97266268e-01 -7.12843215e-02 -1.94559829e-02 3.95111721e+02] [ 7.12947845e-02 9.97455277e-01 -1.56196425e-04 5.49381485e+00] [ 1.94176072e-02 -1.23134068e-03 9.99810702e-01 4.68772763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.755099893 meters 0.031159619991056896 Centerline is valid? [True, True] Translation: X:395.14, Y:5.49, Z:4.69 [[ 9.97296101e-01 -7.09261376e-02 -1.92345856e-02 3.95144333e+02] [ 7.09363316e-02 9.97480834e-01 -1.52635915e-04 5.49411029e+00] [ 1.91969564e-02 -1.21220774e-03 9.99814987e-01 4.68881398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.785099893 meters 0.030184971429138726 Centerline is valid? [True, True] Translation: X:395.18, Y:5.50, Z:4.69 [[ 9.97338214e-01 -7.04482254e-02 -1.88024993e-02 3.95176243e+02] [ 7.04579064e-02 9.97514743e-01 -1.47895769e-04 5.49522973e+00] [ 1.87661893e-02 -1.17728264e-03 9.99823206e-01 4.68992000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.815099893 meters 0.029069875270806123 Centerline is valid? [True, True] Translation: X:395.21, Y:5.50, Z:4.69 [[ 9.97432916e-01 -6.92355203e-02 -1.82762220e-02 3.95208119e+02] [ 6.92444874e-02 9.97599710e-01 -1.42475249e-04 5.49612180e+00] [ 1.82422181e-02 -1.12341812e-03 9.99832966e-01 4.69093358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.845099893 meters 0.03115401258163264 Centerline is valid? [True, True] Translation: X:395.24, Y:5.49, Z:4.69 [[ 9.97510905e-01 -6.81325484e-02 -1.81645103e-02 3.95239634e+02] [ 6.81412457e-02 9.97675674e-01 -1.40410750e-04 5.49307756e+00] [ 1.81318566e-02 -1.09769111e-03 9.99835002e-01 4.69088136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.875099893 meters 0.03172915140201687 Centerline is valid? [True, True] Translation: X:395.27, Y:5.49, Z:4.69 [[ 9.97577762e-01 -6.70773040e-02 -1.84185822e-02 3.95270545e+02] [ 6.70860852e-02 9.97747181e-01 -1.41389459e-04 5.49217860e+00] [ 1.83865725e-02 -1.09458359e-03 9.99830354e-01 4.69115115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.905099893 meters 0.02843440588671269 Centerline is valid? [True, True] Translation: X:395.30, Y:5.50, Z:4.69 [[ 9.97645447e-01 -6.60548643e-02 -1.84476609e-02 3.95303072e+02] [ 6.60635189e-02 9.97815410e-01 -1.40537711e-04 5.49666396e+00] [ 1.84166435e-02 -1.07851059e-03 9.99829818e-01 4.69198854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.93509989300003 meters 0.029398093916547227 Centerline is valid? [True, True] Translation: X:395.33, Y:5.49, Z:4.69 [[ 9.97749830e-01 -6.43613939e-02 -1.87853188e-02 3.95333737e+02] [ 6.43700903e-02 9.97926085e-01 -1.41983699e-04 5.49493671e+00] [ 1.87554980e-02 -1.06754846e-03 9.99823530e-01 4.69191832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.965099893 meters 0.02594702182813656 Centerline is valid? [True, True] Translation: X:395.37, Y:5.50, Z:4.69 [[ 9.97757390e-01 -6.42061678e-02 -1.89144884e-02 3.95366599e+02] [ 6.42149784e-02 9.97936078e-01 -1.41798415e-04 5.49955481e+00] [ 1.88845547e-02 -1.07311305e-03 9.99821095e-01 4.69262524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99509989300003 meters 0.02624829677512686 Centerline is valid? [True, True] Translation: X:395.40, Y:5.50, Z:4.69 [[ 9.97761462e-01 -6.40715586e-02 -1.91546330e-02 3.95399591e+02] [ 6.40806102e-02 9.97944716e-01 -1.41482818e-04 5.49868557e+00] [ 1.91243298e-02 -1.08627447e-03 9.99816523e-01 4.69289664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.025099893 meters 0.028882813895993547 Centerline is valid? [True, True] Translation: X:395.43, Y:5.49, Z:4.69 [[ 9.97720787e-01 -6.44648596e-02 -1.99377536e-02 3.95430617e+02] [ 6.44747811e-02 9.97919326e-01 -1.45451008e-04 5.49474128e+00] [ 1.99056461e-02 -1.14036280e-03 9.99801213e-01 4.69259957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05509989300003 meters 0.0278700218535349 Centerline is valid? [True, True] Translation: X:395.46, Y:5.50, Z:4.69 [[ 9.97668965e-01 -6.52246791e-02 -2.00593343e-02 3.95463009e+02] [ 6.52348995e-02 9.97869925e-01 -1.45115880e-04 5.49572489e+00] [ 2.00260716e-02 -1.16379105e-03 9.99798781e-01 4.69298287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.085099893 meters 0.028863627143347222 Centerline is valid? [True, True] Translation: X:395.49, Y:5.49, Z:4.69 [[ 9.97596204e-01 -6.61518609e-02 -2.06335956e-02 3.95494745e+02] [ 6.61629004e-02 9.97808824e-01 -1.47922670e-04 5.49377989e+00] [ 2.05981692e-02 -1.21761144e-03 9.99787094e-01 4.69311607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11509989300004 meters 0.026458262761696005 Centerline is valid? [True, True] Translation: X:395.53, Y:5.50, Z:4.69 [[ 9.97448245e-01 -6.80663535e-02 -2.15399433e-02 3.95525661e+02] [ 6.80788476e-02 9.97679932e-01 -1.53564516e-04 5.49563175e+00] [ 2.15004217e-02 -1.31324186e-03 9.99767977e-01 4.69330512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.145099893 meters 0.032369489169831775 Centerline is valid? [True, True] Translation: X:395.56, Y:5.49, Z:4.69 [[ 9.97400236e-01 -6.86995830e-02 -2.17516939e-02 3.95556738e+02] [ 6.87124903e-02 9.97636492e-01 -1.54328383e-04 5.48699262e+00] [ 2.17108859e-02 -1.34068589e-03 9.99763392e-01 4.69192861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.175099893 meters 0.03300388173767539 Centerline is valid? [True, True] Translation: X:395.59, Y:5.49, Z:4.69 [[ 9.97347531e-01 -6.93782698e-02 -2.20126983e-02 3.95588949e+02] [ 6.93916831e-02 9.97589480e-01 -1.54829356e-04 5.48543813e+00] [ 2.19703781e-02 -1.37307951e-03 9.99757679e-01 4.69161779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.205099893 meters 0.028699839411390437 Centerline is valid? [True, True] Translation: X:395.62, Y:5.49, Z:4.69 [[ 9.97294227e-01 -7.00159306e-02 -2.24052170e-02 3.95620768e+02] [ 7.00300227e-02 9.97544872e-01 -1.55994957e-04 5.49039366e+00] [ 2.23611314e-02 -1.41346498e-03 9.99748959e-01 4.69265511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.235099893 meters 0.029039214950399447 Centerline is valid? [True, True] Translation: X:395.65, Y:5.49, Z:4.69 [[ 9.97207904e-01 -7.12607785e-02 -2.23225911e-02 3.95652799e+02] [ 7.12751136e-02 9.97456683e-01 -1.53797228e-04 5.48832841e+00] [ 2.22767774e-02 -1.43767741e-03 9.99750808e-01 4.69292451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.265099893 meters 0.02795978269168406 Centerline is valid? [True, True] Translation: X:395.68, Y:5.49, Z:4.69 [[ 9.97182893e-01 -7.16854935e-02 -2.20786940e-02 3.95684697e+02] [ 7.16996560e-02 9.97426256e-01 -1.50509765e-04 5.48939149e+00] [ 2.20326585e-02 -1.43294900e-03 9.99756225e-01 4.69396814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.295099893 meters 0.03006483456585174 Centerline is valid? [True, True] Translation: X:395.72, Y:5.49, Z:4.69 [[ 9.97132838e-01 -7.23087366e-02 -2.23058311e-02 3.95715866e+02] [ 7.23233799e-02 9.97381224e-01 -1.50593032e-04 5.48601476e+00] [ 2.22583063e-02 -1.46307184e-03 9.99751183e-01 4.69429123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.325099893 meters 0.035438684080041166 Centerline is valid? [True, True] Translation: X:395.75, Y:5.48, Z:4.69 [[ 9.97092355e-01 -7.28455920e-02 -2.23686235e-02 3.95747004e+02] [ 7.28604942e-02 9.97342131e-01 -1.49147211e-04 5.47830426e+00] [ 2.23200353e-02 -1.48107542e-03 9.99749780e-01 4.69398338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.355099893 meters 0.0315991775887215 Centerline is valid? [True, True] Translation: X:395.78, Y:5.48, Z:4.70 [[ 9.96950126e-01 -7.47907107e-02 -2.22889298e-02 3.95777678e+02] [ 7.48060272e-02 9.97198093e-01 -1.46972322e-04 5.48182024e+00] [ 2.22374704e-02 -1.52082221e-03 9.99751560e-01 4.69539120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.385099893 meters 0.03267366941437551 Centerline is valid? [True, True] Translation: X:395.81, Y:5.48, Z:4.70 [[ 9.96869898e-01 -7.56797871e-02 -2.28686761e-02 3.95809553e+02] [ 7.56961662e-02 9.97130918e-01 -1.49817351e-04 5.47940857e+00] [ 2.28144021e-02 -1.58172270e-03 9.99738466e-01 4.69559206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.415099893 meters 0.03294800331062045 Centerline is valid? [True, True] Translation: X:395.84, Y:5.48, Z:4.70 [[ 9.96822069e-01 -7.63356732e-02 -2.27734014e-02 3.95841390e+02] [ 7.63521233e-02 9.97080905e-01 -1.47569846e-04 5.47795918e+00] [ 2.27181885e-02 -1.59169667e-03 9.99740642e-01 4.69598179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.445099893 meters 0.033519789210066486 Centerline is valid? [True, True] Translation: X:395.87, Y:5.48, Z:4.70 [[ 9.96794360e-01 -7.67091043e-02 -2.27313987e-02 3.95873611e+02] [ 7.67256271e-02 9.97052234e-01 -1.45677179e-04 5.47631605e+00] [ 2.26755666e-02 -1.59887063e-03 9.99741598e-01 4.69669426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.475099893 meters 0.03044971002430009 Centerline is valid? [True, True] Translation: X:395.91, Y:5.48, Z:4.70 [[ 9.96885868e-01 -7.55946840e-02 -2.24501472e-02 3.95906234e+02] [ 7.56105592e-02 9.97137414e-01 -1.42082135e-04 5.47897150e+00] [ 2.23966224e-02 -1.55582851e-03 9.99747954e-01 4.69795196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.505099893 meters 0.032605424410066204 Centerline is valid? [True, True] Translation: X:395.94, Y:5.48, Z:4.70 [[ 9.96935240e-01 -7.49371203e-02 -2.24622954e-02 3.95937774e+02] [ 7.49528843e-02 9.97187066e-01 -1.40476083e-04 5.47590293e+00] [ 2.24096374e-02 -1.54356828e-03 9.99747681e-01 4.69819545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.535099893 meters 0.031430092576649096 Centerline is valid? [True, True] Translation: X:395.97, Y:5.48, Z:4.70 [[ 9.97067280e-01 -7.33178743e-02 -2.19392099e-02 3.95969487e+02] [ 7.33325479e-02 9.97307535e-01 -1.36030200e-04 5.47743017e+00] [ 2.18901127e-02 -1.47322690e-03 9.99759297e-01 4.69843845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.565099893 meters 0.03156936681832465 Centerline is valid? [True, True] Translation: X:396.00, Y:5.48, Z:4.70 [[ 9.97179056e-01 -7.17361036e-02 -2.20875804e-02 3.96000253e+02] [ 7.17506126e-02 9.97422594e-01 -1.35932439e-04 5.47743229e+00] [ 2.20404030e-02 -1.44924844e-03 9.99756030e-01 4.69876676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.595099893 meters 0.028839553433173324 Centerline is valid? [True, True] Translation: X:396.03, Y:5.48, Z:4.70 [[ 9.97414751e-01 -6.84323969e-02 -2.19276342e-02 3.96030577e+02] [ 6.84459108e-02 9.97654820e-01 -1.34509754e-04 5.48114823e+00] [ 2.18854148e-02 -1.36669488e-03 9.99759551e-01 4.69926060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.625099893 meters 0.030142753771875204 Centerline is valid? [True, True] Translation: X:396.06, Y:5.48, Z:4.70 [[ 9.97528405e-01 -6.67914247e-02 -2.18171066e-02 3.96060804e+02] [ 6.68044153e-02 9.97766081e-01 -1.33663297e-04 5.47968016e+00] [ 2.17772965e-02 -1.32414611e-03 9.99761970e-01 4.69889601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.655099893 meters 0.026553454382628 Centerline is valid? [True, True] Translation: X:396.09, Y:5.48, Z:4.70 [[ 9.97631365e-01 -6.51809440e-02 -2.19796286e-02 3.96091909e+02] [ 6.51937522e-02 9.97872615e-01 -1.34083541e-04 5.48489923e+00] [ 2.19416092e-02 -1.29916852e-03 9.99758410e-01 4.69978774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68509989300003 meters 0.028070288096452945 Centerline is valid? [True, True] Translation: X:396.12, Y:5.48, Z:4.70 [[ 9.97731120e-01 -6.35865071e-02 -2.21216852e-02 3.96122773e+02] [ 6.35991088e-02 9.97975518e-01 -1.34137313e-04 5.48293514e+00] [ 2.20854296e-02 -1.27308649e-03 9.99755277e-01 4.69979741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.715099893 meters 0.02793817568369982 Centerline is valid? [True, True] Translation: X:396.15, Y:5.48, Z:4.70 [[ 9.97831967e-01 -6.19803226e-02 -2.21315647e-02 3.96154486e+02] [ 6.19925631e-02 9.98076602e-01 -1.33230118e-04 5.48309628e+00] [ 2.20972546e-02 -1.23905115e-03 9.99755058e-01 4.69969264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74509989300003 meters 0.02551469869949312 Centerline is valid? [True, True] Translation: X:396.19, Y:5.49, Z:4.70 [[ 9.98032102e-01 -5.90856451e-02 -2.09954896e-02 3.96185627e+02] [ 5.90960388e-02 9.98252294e-01 -1.25596113e-04 5.48671319e+00] [ 2.09662166e-02 -1.11540132e-03 9.99779563e-01 4.70071121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.775099893 meters 0.025837707295864352 Centerline is valid? [True, True] Translation: X:396.22, Y:5.49, Z:4.70 [[ 9.98117823e-01 -5.76210231e-02 -2.09911694e-02 3.96216931e+02] [ 5.76311187e-02 9.98337938e-01 -1.24180706e-04 5.48640718e+00] [ 2.09634362e-02 -1.08579760e-03 9.99779653e-01 4.70127804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80509989300003 meters 0.02550633657947605 Centerline is valid? [True, True] Translation: X:396.25, Y:5.49, Z:4.70 [[ 9.98223541e-01 -5.60647649e-02 -2.01619632e-02 3.96248132e+02] [ 5.60737989e-02 9.98426620e-01 -1.17430452e-04 5.48670426e+00] [ 2.01368245e-02 -1.01333603e-03 9.99796720e-01 4.70163267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.835099893 meters 0.02332608342223732 Centerline is valid? [True, True] Translation: X:396.28, Y:5.49, Z:4.70 [[ 9.98304043e-01 -5.48440380e-02 -1.95235372e-02 3.96280528e+02] [ 5.48522943e-02 9.98494473e-01 -1.12770057e-04 5.48950385e+00] [ 1.95003287e-02 -9.58332003e-04 9.99809391e-01 4.70262885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86509989300004 meters 0.024244507438583262 Centerline is valid? [True, True] Translation: X:396.31, Y:5.49, Z:4.70 [[ 9.98364211e-01 -5.38384514e-02 -1.92438088e-02 3.96311412e+02] [ 5.38463104e-02 9.98549229e-01 -1.09900029e-04 5.48765773e+00] [ 1.92218073e-02 -9.26487849e-04 9.99814815e-01 4.70302482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.895099893 meters 0.022951199433191183 Centerline is valid? [True, True] Translation: X:396.34, Y:5.49, Z:4.70 [[ 9.98522798e-01 -5.12661524e-02 -1.80001080e-02 3.96342882e+02] [ 5.12726260e-02 9.98684689e-01 -1.01971016e-04 5.48826394e+00] [ 1.79816600e-02 -8.21092423e-04 9.99837980e-01 4.70361026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.925099893 meters 0.022689488742057985 Centerline is valid? [True, True] Translation: X:396.38, Y:5.49, Z:4.70 [[ 9.98584631e-01 -4.99315884e-02 -1.83185892e-02 3.96375330e+02] [ 4.99380850e-02 9.98752310e-01 -1.02901657e-04 5.48833809e+00] [ 1.83008714e-02 -8.12039254e-04 9.99832195e-01 4.70423860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.955099893 meters 0.0214421495205957 Centerline is valid? [True, True] Translation: X:396.41, Y:5.49, Z:4.71 [[ 9.98644291e-01 -4.89252152e-02 -1.77736664e-02 3.96407496e+02] [ 4.89311940e-02 9.98802147e-01 -9.85969658e-05 5.48999864e+00] [ 1.77572001e-02 -7.71223423e-04 9.99842031e-01 4.70511855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.985099893 meters 0.022733021825962815 Centerline is valid? [True, True] Translation: X:396.44, Y:5.49, Z:4.71 [[ 9.98687699e-01 -4.78909240e-02 -1.81476848e-02 3.96438946e+02] [ 4.78970169e-02 9.98852274e-01 -9.90077245e-05 5.48807848e+00] [ 1.81315978e-02 -7.70342171e-04 9.99835312e-01 4.70524527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.015099893 meters 0.02304183373323348 Centerline is valid? [True, True] Translation: X:396.47, Y:5.49, Z:4.71 [[ 9.98742234e-01 -4.67014411e-02 -1.82462388e-02 3.96470167e+02] [ 4.67074372e-02 9.98908607e-01 -9.76235993e-05 5.48675345e+00] [ 1.82308841e-02 -7.54734240e-04 9.99833519e-01 4.70565899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.045099893 meters 0.023256039053564843 Centerline is valid? [True, True] Translation: X:396.50, Y:5.49, Z:4.71 [[ 9.98743819e-01 -4.65605155e-02 -1.85176335e-02 3.96502705e+02] [ 4.65666872e-02 9.98915179e-01 -9.79966816e-05 5.48559772e+00] [ 1.85021079e-02 -7.64431266e-04 9.99828529e-01 4.70569747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.075099893 meters 0.021278319948302097 Centerline is valid? [True, True] Translation: X:396.53, Y:5.49, Z:4.71 [[ 9.98734575e-01 -4.65599405e-02 -1.90110892e-02 3.96534774e+02] [ 4.65664711e-02 9.98915189e-01 -9.92602128e-05 5.48782619e+00] [ 1.89950873e-02 -7.86144730e-04 9.99819268e-01 4.70619267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.105099893 meters 0.020609585015898848 Centerline is valid? [True, True] Translation: X:396.57, Y:5.49, Z:4.71 [[ 9.98723705e-01 -4.67780962e-02 -1.90465379e-02 3.96566928e+02] [ 4.67847169e-02 9.98904991e-01 -9.80759589e-05 5.48833139e+00] [ 1.90302696e-02 -7.93136097e-04 9.99818593e-01 4.70625179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.135099893 meters 0.020596239785755394 Centerline is valid? [True, True] Translation: X:396.60, Y:5.49, Z:4.71 [[ 9.98687302e-01 -4.73239349e-02 -1.95989199e-02 3.96598664e+02] [ 4.73310760e-02 9.98879252e-01 -9.96011683e-05 5.48791694e+00] [ 1.95816680e-02 -8.28167548e-04 9.99807918e-01 4.70683101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.165099893 meters 0.022086232132243776 Centerline is valid? [True, True] Translation: X:396.63, Y:5.49, Z:4.71 [[ 9.98666134e-01 -4.80150502e-02 -1.89870604e-02 3.96630306e+02] [ 4.80218962e-02 9.98846279e-01 -9.54757660e-05 5.48520528e+00] [ 1.89697389e-02 -8.16446231e-04 9.99819725e-01 4.70694372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.195099893 meters 0.020431988049746184 Centerline is valid? [True, True] Translation: X:396.66, Y:5.49, Z:4.71 [[ 9.98636165e-01 -4.87186924e-02 -1.87696491e-02 3.96662737e+02] [ 4.87255279e-02 9.98812202e-01 -9.32442878e-05 5.48801819e+00] [ 1.87518973e-02 -8.21443943e-04 9.99823830e-01 4.70787580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.225099893 meters 0.021455431055533943 Centerline is valid? [True, True] Translation: X:396.69, Y:5.49, Z:4.71 [[ 9.98625011e-01 -4.90409131e-02 -1.85223334e-02 3.96694056e+02] [ 4.90476552e-02 9.98796435e-01 -9.03780336e-05 5.48650718e+00] [ 1.85044728e-02 -8.18223256e-04 9.99828443e-01 4.70831107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.255099893 meters 0.022338589334293838 Centerline is valid? [True, True] Translation: X:396.73, Y:5.49, Z:4.71 [[ 9.98609135e-01 -4.94939474e-02 -1.81698715e-02 3.96725686e+02] [ 4.95005421e-02 9.98774093e-01 -8.68968937e-05 5.48516576e+00] [ 1.81518978e-02 -8.12642458e-04 9.99834910e-01 4.70862494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.285099893 meters 0.023144996689193453 Centerline is valid? [True, True] Translation: X:396.76, Y:5.48, Z:4.71 [[ 9.98566702e-01 -5.06799428e-02 -1.72071169e-02 3.96756541e+02] [ 5.06860481e-02 9.98714633e-01 -8.13970710e-05 5.48353568e+00] [ 1.71891247e-02 -7.90880351e-04 9.99851943e-01 4.70907696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.315099893 meters 0.024393197784298742 Centerline is valid? [True, True] Translation: X:396.79, Y:5.48, Z:4.71 [[ 9.98561730e-01 -5.08895074e-02 -1.68739304e-02 3.96787770e+02] [ 5.08954233e-02 9.98703985e-01 -7.89288162e-05 5.48162513e+00] [ 1.68560782e-02 -7.79990536e-04 9.99857622e-01 4.70945123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.345099893 meters 0.024915419415233037 Centerline is valid? [True, True] Translation: X:396.82, Y:5.48, Z:4.71 [[ 9.98551980e-01 -5.12097801e-02 -1.64773169e-02 3.96820155e+02] [ 5.12154799e-02 9.98687623e-01 -7.61448325e-05 5.48095963e+00] [ 1.64595918e-02 -7.67859119e-04 9.99864237e-01 4.70987576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.375099893 meters 0.024668442934613885 Centerline is valid? [True, True] Translation: X:396.85, Y:5.48, Z:4.71 [[ 9.98542478e-01 -5.15484669e-02 -1.59898693e-02 3.96851810e+02] [ 5.15538942e-02 9.98670211e-01 -7.28641294e-05 5.48158299e+00] [ 1.59723622e-02 -7.51582103e-04 9.99872151e-01 4.71102632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.405099893 meters 0.025002956266274717 Centerline is valid? [True, True] Translation: X:396.88, Y:5.48, Z:4.71 [[ 9.98555160e-01 -5.14413297e-02 -1.55364551e-02 3.96883991e+02] [ 5.14464538e-02 9.98675752e-01 -6.99419363e-05 5.48068168e+00] [ 1.55194789e-02 -7.29454640e-04 9.99879300e-01 4.71144175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43509989300003 meters 0.023946951114383216 Centerline is valid? [True, True] Translation: X:396.92, Y:5.48, Z:4.71 [[ 9.98564385e-01 -5.13716050e-02 -1.51699711e-02 3.96916058e+02] [ 5.13764980e-02 9.98679353e-01 -6.72484749e-05 5.48183630e+00] [ 1.51533915e-02 -7.12228056e-04 9.99884927e-01 4.71172701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.465099893 meters 0.023412183008206612 Centerline is valid? [True, True] Translation: X:396.95, Y:5.48, Z:4.71 [[ 9.98570901e-01 -5.13556026e-02 -1.47904314e-02 3.96948224e+02] [ 5.13602673e-02 9.98680188e-01 -6.45345561e-05 5.48198431e+00] [ 1.47742250e-02 -6.95198181e-04 9.99890614e-01 4.71211931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49509989300003 meters 0.024323028669014084 Centerline is valid? [True, True] Translation: X:396.98, Y:5.48, Z:4.71 [[ 9.98569615e-01 -5.13295647e-02 -1.49666012e-02 3.96979155e+02] [ 5.13343563e-02 9.98681521e-01 -6.40972251e-05 5.48040386e+00] [ 1.49501581e-02 -7.04295295e-04 9.99887992e-01 4.71209929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.525099893 meters 0.024628958606700516 Centerline is valid? [True, True] Translation: X:397.01, Y:5.48, Z:4.71 [[ 9.98562399e-01 -5.15168395e-02 -1.48037178e-02 3.97011405e+02] [ 5.15215718e-02 9.98671880e-01 -6.17797443e-05 5.47949834e+00] [ 1.47872394e-02 -7.01019882e-04 9.99890417e-01 4.71272902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55509989300003 meters 0.023317246350053437 Centerline is valid? [True, True] Translation: X:397.04, Y:5.48, Z:4.71 [[ 9.98515707e-01 -5.24055647e-02 -1.48337387e-02 3.97043748e+02] [ 5.24104297e-02 9.98625627e-01 -6.08538127e-05 5.48108068e+00] [ 1.48165407e-02 -7.16679134e-04 9.99889972e-01 4.71361498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.585099893 meters 0.023317246350053437 Centerline is valid? [True, True] Translation: X:397.08, Y:5.48, Z:4.71 [[ 9.98519500e-01 -5.23332324e-02 -1.48337431e-02 3.97075474e+02] [ 5.23381053e-02 9.98629420e-01 -5.97797587e-05 5.48115089e+00] [ 1.48165407e-02 -7.16678752e-04 9.99889972e-01 4.71400708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61509989300004 meters 0.024040113826885503 Centerline is valid? [True, True] Translation: X:397.11, Y:5.48, Z:4.71 [[ 9.98499709e-01 -5.27230456e-02 -1.47854983e-02 3.97106455e+02] [ 5.27279446e-02 9.98608913e-01 -5.85619478e-05 5.47984473e+00] [ 1.47680179e-02 -7.21134845e-04 9.99890687e-01 4.71428077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.645099893 meters 0.02425586007389282 Centerline is valid? [True, True] Translation: X:397.14, Y:5.48, Z:4.71 [[ 9.98494109e-01 -5.28546616e-02 -1.46935088e-02 3.97138355e+02] [ 5.28595262e-02 9.98601956e-01 -5.73677537e-05 5.47918519e+00] [ 1.46759987e-02 -7.19410547e-04 9.99892043e-01 4.71462998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.675099893 meters 0.0258140915517537 Centerline is valid? [True, True] Translation: X:397.17, Y:5.48, Z:4.72 [[ 9.98485956e-01 -5.29664179e-02 -1.48443304e-02 3.97170023e+02] [ 5.29714105e-02 9.98596028e-01 -5.69308667e-05 5.47683153e+00] [ 1.48265048e-02 -7.29480449e-04 9.99889815e-01 4.71507745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.705099893 meters 0.023111370297894333 Centerline is valid? [True, True] Translation: X:397.20, Y:5.48, Z:4.72 [[ 9.98526990e-01 -5.23102159e-02 -1.44045367e-02 3.97202151e+02] [ 5.23148602e-02 9.98630639e-01 -5.44559503e-05 5.48010277e+00] [ 1.43876603e-02 -6.99195588e-04 9.99896248e-01 4.71604495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.735099893 meters 0.024061115592787567 Centerline is valid? [True, True] Translation: X:397.23, Y:5.48, Z:4.72 [[ 9.98592973e-01 -5.10430440e-02 -1.43764078e-02 3.97233449e+02] [ 5.10475561e-02 9.98696222e-01 -5.31686271e-05 5.47861710e+00] [ 1.43603781e-02 -6.80786668e-04 9.99896653e-01 4.71665972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.765099893 meters 0.02507877622230609 Centerline is valid? [True, True] Translation: X:397.26, Y:5.48, Z:4.72 [[ 9.98670954e-01 -4.96835701e-02 -1.37065364e-02 3.97264483e+02] [ 4.96875672e-02 9.98764809e-01 -4.89759031e-05 5.47710333e+00] [ 1.36920395e-02 -6.32133635e-04 9.99906060e-01 4.71731073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.795099893 meters 0.021489412631058 Centerline is valid? [True, True] Translation: X:397.30, Y:5.48, Z:4.72 [[ 9.98859474e-01 -4.57541906e-02 -1.36493806e-02 3.97295433e+02] [ 4.57577974e-02 9.98952562e-01 -4.80961752e-05 5.48246169e+00] [ 1.36372843e-02 -5.76524270e-04 9.99906842e-01 4.71794849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.825099893 meters 0.02129198873043892 Centerline is valid? [True, True] Translation: X:397.33, Y:5.48, Z:4.72 [[ 9.98963325e-01 -4.32839432e-02 -1.40987621e-02 3.97326085e+02] [ 4.32875499e-02 9.99062653e-01 -4.93876989e-05 5.48293963e+00] [ 1.40876844e-02 -5.60964369e-04 9.99900606e-01 4.71798511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.855099893 meters 0.019997799288136234 Centerline is valid? [True, True] Translation: X:397.36, Y:5.48, Z:4.72 [[ 9.99067386e-01 -4.05612247e-02 -1.48035676e-02 3.97357848e+02] [ 4.05649115e-02 9.99176904e-01 -5.12596252e-05 5.48481193e+00] [ 1.47934620e-02 -5.49293589e-04 9.99890420e-01 4.71788987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.885099893 meters 0.020004103396270418 Centerline is valid? [True, True] Translation: X:397.39, Y:5.48, Z:4.72 [[ 9.99157308e-01 -3.79794245e-02 -1.55639809e-02 3.97388170e+02] [ 3.79831988e-02 9.99278377e-01 -5.31384382e-05 5.48462366e+00] [ 1.55547677e-02 -5.38076120e-04 9.99878873e-01 4.71751567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.915099893 meters 0.01695705479331583 Centerline is valid? [True, True] Translation: X:397.42, Y:5.49, Z:4.72 [[ 9.99305740e-01 -3.31268131e-02 -1.70485547e-02 3.97420065e+02] [ 3.31306448e-02 9.99451028e-01 -5.77111788e-05 5.48929579e+00] [ 1.70411073e-02 -5.07158497e-04 9.99854661e-01 4.71718992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.945099893 meters 0.017167694018429002 Centerline is valid? [True, True] Translation: X:397.45, Y:5.49, Z:4.72 [[ 9.99378695e-01 -3.04735661e-02 -1.77083315e-02 3.97450453e+02] [ 3.04772981e-02 9.99535458e-01 -5.91453360e-05 5.48846494e+00] [ 1.77019076e-02 -4.80593509e-04 9.99843193e-01 4.71668564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.975099893 meters 0.015924621804173394 Centerline is valid? [True, True] Translation: X:397.48, Y:5.49, Z:4.72 [[ 9.99440617e-01 -2.83368353e-02 -1.77616791e-02 3.97480752e+02] [ 2.83402567e-02 9.99598333e-01 -5.91002638e-05 5.49059525e+00] [ 1.77562195e-02 -4.44303340e-04 9.99842247e-01 4.71711128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.005099893 meters 0.015454424000379455 Centerline is valid? [True, True] Translation: X:397.51, Y:5.49, Z:4.72 [[ 9.99491738e-01 -2.65248582e-02 -1.76832788e-02 3.97510383e+02] [ 2.65279626e-02 9.99648070e-01 -5.90311369e-05 5.49119660e+00] [ 1.76786213e-02 -4.10100225e-04 9.99843637e-01 4.71756172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.035099893 meters 0.01482496247348702 Centerline is valid? [True, True] Translation: X:397.54, Y:5.49, Z:4.72 [[ 9.99540743e-01 -2.47005589e-02 -1.75552170e-02 3.97540579e+02] [ 2.47033278e-02 9.99694824e-01 -5.91410596e-05 5.49213212e+00] [ 1.75513204e-02 -3.74558383e-04 9.99845894e-01 4.71827442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.065099893 meters 0.014602083730664996 Centerline is valid? [True, True] Translation: X:397.57, Y:5.49, Z:4.72 [[ 9.99589516e-01 -2.31370824e-02 -1.68960253e-02 3.97570581e+02] [ 2.31394175e-02 9.99732246e-01 -5.73021327e-05 5.49183817e+00] [ 1.68928271e-02 -3.33685572e-04 9.99857250e-01 4.71877832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.095099893 meters 0.014381090971941797 Centerline is valid? [True, True] Translation: X:397.60, Y:5.49, Z:4.72 [[ 9.99654012e-01 -2.10459323e-02 -1.57773824e-02 3.97599431e+02] [ 2.10476986e-02 9.99778471e-01 -5.41116260e-05 5.49135139e+00] [ 1.57750261e-02 -2.77984685e-04 9.99875528e-01 4.71995254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.125099893 meters 0.01434144626681777 Centerline is valid? [True, True] Translation: X:397.63, Y:5.49, Z:4.72 [[ 9.99664318e-01 -2.09996581e-02 -1.51744890e-02 3.97627935e+02] [ 2.10012661e-02 9.99779448e-01 -5.33932866e-05 5.49073246e+00] [ 1.51722635e-02 -2.65308117e-04 9.99884859e-01 4.72055035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.155099893 meters 0.014251466565646274 Centerline is valid? [True, True] Translation: X:397.66, Y:5.49, Z:4.72 [[ 9.99671409e-01 -2.09440755e-02 -1.47790032e-02 3.97657401e+02] [ 2.09455486e-02 9.99780616e-01 -5.51199252e-05 5.48949314e+00] [ 1.47769154e-02 -2.54452518e-04 9.99890783e-01 4.72095205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18509989300003 meters 0.014358205110267568 Centerline is valid? [True, True] Translation: X:397.69, Y:5.49, Z:4.72 [[ 9.99655539e-01 -2.17710664e-02 -1.46568526e-02 3.97687347e+02] [ 2.17725964e-02 9.99762947e-01 -5.51873609e-05 5.48800478e+00] [ 1.46545796e-02 -2.63949385e-04 9.99892581e-01 4.72114488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.215099893 meters 0.014956604250282692 Centerline is valid? [True, True] Translation: X:397.72, Y:5.48, Z:4.72 [[ 9.99579904e-01 -2.51342708e-02 -1.44320478e-02 3.97717394e+02] [ 2.51360972e-02 9.99684037e-01 -5.48557440e-05 5.48372309e+00] [ 1.44288666e-02 -3.07932656e-04 9.99895851e-01 4.72184673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24509989300003 meters 0.015870498056951756 Centerline is valid? [True, True] Translation: X:397.75, Y:5.48, Z:4.72 [[ 9.99513668e-01 -2.76025426e-02 -1.45095244e-02 3.97746635e+02] [ 2.76046415e-02 9.99618918e-01 -5.56377392e-05 5.48023316e+00] [ 1.45055308e-02 -3.44919539e-04 9.99894730e-01 4.72232531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.275099893 meters 0.016481518175267083 Centerline is valid? [True, True] Translation: X:397.78, Y:5.48, Z:4.72 [[ 9.99425479e-01 -3.06216446e-02 -1.45267660e-02 3.97776914e+02] [ 3.06240639e-02 9.99530972e-01 -5.59258263e-05 5.47714189e+00] [ 1.45216651e-02 -3.88974915e-04 9.99894479e-01 4.72268092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30509989300003 meters 0.01751792853151822 Centerline is valid? [True, True] Translation: X:397.81, Y:5.47, Z:4.72 [[ 9.99314358e-01 -3.41649455e-02 -1.42677836e-02 3.97808590e+02] [ 3.41676411e-02 9.99416114e-01 -5.48607265e-05 5.47370221e+00] [ 1.42613271e-02 -4.32673396e-04 9.99898208e-01 4.72316166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.335099893 meters 0.017933909364376537 Centerline is valid? [True, True] Translation: X:397.84, Y:5.47, Z:4.72 [[ 9.99179816e-01 -3.78199550e-02 -1.44688213e-02 3.97839625e+02] [ 3.78231169e-02 9.99284448e-01 -5.51467172e-05 5.47097156e+00] [ 1.44605538e-02 -4.92154434e-04 9.99895320e-01 4.72377436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36509989300004 meters 0.019184347460036208 Centerline is valid? [True, True] Translation: X:397.87, Y:5.47, Z:4.72 [[ 9.99036072e-01 -4.15232785e-02 -1.42388423e-02 3.97870749e+02] [ 4.15267205e-02 9.99137392e-01 -5.39673296e-05 5.46685649e+00] [ 1.42288007e-02 -5.37377117e-04 9.99898621e-01 4.72404890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.395099893 meters 0.02291696625069277 Centerline is valid? [True, True] Translation: X:397.90, Y:5.46, Z:4.72 [[ 9.98713963e-01 -4.85758445e-02 -1.45191985e-02 3.97900563e+02] [ 4.85801755e-02 9.98819285e-01 -5.44549102e-05 5.45722608e+00] [ 1.45047006e-02 -6.50960331e-04 9.99894589e-01 4.72427414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.425099893 meters 0.025192865567838205 Centerline is valid? [True, True] Translation: X:397.93, Y:5.45, Z:4.72 [[ 9.98553541e-01 -5.16707785e-02 -1.48645698e-02 3.97930576e+02] [ 5.16756659e-02 9.98663919e-01 -5.53672231e-05 5.45224074e+00] [ 1.48475704e-02 -7.12849407e-04 9.99889515e-01 4.72419017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.455099893 meters 0.025065885730585633 Centerline is valid? [True, True] Translation: X:397.96, Y:5.45, Z:4.72 [[ 9.98295860e-01 -5.61899977e-02 -1.57499379e-02 3.97961292e+02] [ 5.61960634e-02 9.98419751e-01 -5.75304621e-05 5.44917709e+00] [ 1.57282817e-02 -8.27652084e-04 9.99875960e-01 4.72370381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.485099893 meters 0.024233314391020035 Centerline is valid? [True, True] Translation: X:397.99, Y:5.45, Z:4.72 [[ 9.98214023e-01 -5.74511670e-02 -1.63746057e-02 3.97993197e+02] [ 5.74579011e-02 9.98347928e-01 -5.92966823e-05 5.44901424e+00] [ 1.63509604e-02 -8.81659698e-04 9.99865925e-01 4.72381902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.515099893 meters 0.025299467600157756 Centerline is valid? [True, True] Translation: X:398.02, Y:5.45, Z:4.72 [[ 9.98191821e-01 -5.77574133e-02 -1.66484125e-02 3.98024054e+02] [ 5.77644362e-02 9.98330239e-01 -5.91301565e-05 5.44646627e+00] [ 1.66240288e-02 -9.02662923e-04 9.99861404e-01 4.72392769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.545099893 meters 0.025628582196036226 Centerline is valid? [True, True] Translation: X:398.06, Y:5.45, Z:4.72 [[ 9.98215335e-01 -5.74906782e-02 -1.61544991e-02 3.98056236e+02] [ 5.74972708e-02 9.98345662e-01 -5.64455503e-05 5.44517650e+00] [ 1.61310191e-02 -8.72494792e-04 9.99869506e-01 4.72421571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.575099893 meters 0.025519278930618967 Centerline is valid? [True, True] Translation: X:398.09, Y:5.44, Z:4.73 [[ 9.98286634e-01 -5.62783271e-02 -1.60170545e-02 3.98088801e+02] [ 5.62846717e-02 9.98414760e-01 -5.47546499e-05 5.44480200e+00] [ 1.59947452e-02 -8.46853821e-04 9.99871717e-01 4.72507033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.605099893 meters 0.025722311852408482 Centerline is valid? [True, True] Translation: X:398.12, Y:5.44, Z:4.73 [[ 9.98399457e-01 -5.43991036e-02 -1.54681132e-02 3.98118944e+02] [ 5.44048131e-02 9.98518960e-01 -5.17532103e-05 5.44413781e+00] [ 1.54480197e-02 -7.89869432e-04 9.99880360e-01 4.72594441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.635099893 meters 0.021406290037235303 Centerline is valid? [True, True] Translation: X:398.15, Y:5.45, Z:4.73 [[ 9.98679671e-01 -4.94689303e-02 -1.38470164e-02 3.98149667e+02] [ 4.94730358e-02 9.98775459e-01 -4.61058078e-05 5.45065084e+00] [ 1.38323410e-02 -6.39009007e-04 9.99904124e-01 4.72752947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.665099893 meters 0.021272973238354483 Centerline is valid? [True, True] Translation: X:398.18, Y:5.45, Z:4.73 [[ 9.98822070e-01 -4.65434170e-02 -1.37179417e-02 3.98179884e+02] [ 4.65471743e-02 9.98916092e-01 -4.54271872e-05 5.45103607e+00] [ 1.37051871e-02 -5.93157747e-04 9.99905904e-01 4.72819660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.695099893 meters 0.02052977347341058 Centerline is valid? [True, True] Translation: X:398.21, Y:5.45, Z:4.73 [[ 9.98954446e-01 -4.36325340e-02 -1.36461587e-02 3.98211797e+02] [ 4.36359850e-02 9.99047496e-01 -4.48924136e-05 5.45265020e+00] [ 1.36351194e-02 -5.50618101e-04 9.99906886e-01 4.72848916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.725099893 meters 0.019671134482313526 Centerline is valid? [True, True] Translation: X:398.24, Y:5.45, Z:4.73 [[ 9.99067404e-01 -4.09498827e-02 -1.36904664e-02 3.98242950e+02] [ 4.09531146e-02 9.99161068e-01 -4.43167414e-05 5.45432808e+00] [ 1.36807958e-02 -5.16391826e-04 9.99906280e-01 4.72891347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.755099893 meters 0.01935825674416121 Centerline is valid? [True, True] Translation: X:398.27, Y:5.46, Z:4.73 [[ 9.99226898e-01 -3.65284105e-02 -1.45355570e-02 3.98273112e+02] [ 3.65315939e-02 9.99332497e-01 -4.65368890e-05 5.45509751e+00] [ 1.45275544e-02 -4.84506155e-04 9.99894352e-01 4.72838404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.785099893 meters 0.018388410206489632 Centerline is valid? [True, True] Translation: X:398.30, Y:5.46, Z:4.73 [[ 9.99283968e-01 -3.47534456e-02 -1.49582229e-02 3.98304376e+02] [ 3.47566231e-02 9.99395805e-01 -4.75680241e-05 5.45657100e+00] [ 1.49508383e-02 -4.72363350e-04 9.99888118e-01 4.72809158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.815099893 meters 0.018254736454448237 Centerline is valid? [True, True] Translation: X:398.33, Y:5.46, Z:4.73 [[ 9.99323663e-01 -3.32472805e-02 -1.57109532e-02 3.98334419e+02] [ 3.32506080e-02 9.99447044e-01 -4.94445296e-05 5.45666400e+00] [ 1.57039096e-02 -4.72987657e-04 9.99876574e-01 4.72768182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.845099893 meters 0.01817318358339098 Centerline is valid? [True, True] Translation: X:398.36, Y:5.46, Z:4.73 [[ 9.99346056e-01 -3.21915768e-02 -1.64669970e-02 3.98364532e+02] [ 3.21950941e-02 9.99481602e-01 -5.15258227e-05 5.45672181e+00] [ 1.64601193e-02 -4.78664391e-04 9.99864408e-01 4.72743376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.875099893 meters 0.016304560153699094 Centerline is valid? [True, True] Translation: X:398.39, Y:5.46, Z:4.73 [[ 9.99380482e-01 -3.05000825e-02 -1.75612452e-02 3.98394858e+02] [ 3.05038259e-02 9.99534649e-01 -5.47213784e-05 5.46057145e+00] [ 1.75547420e-02 -4.80997687e-04 9.99845788e-01 4.72738974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.905099893 meters 0.016097358307805516 Centerline is valid? [True, True] Translation: X:398.42, Y:5.46, Z:4.73 [[ 9.99396038e-01 -2.97800401e-02 -1.79083094e-02 3.98424651e+02] [ 2.97838139e-02 9.99556362e-01 -5.60041695e-05 5.46151718e+00] [ 1.79020324e-02 -4.77407409e-04 9.99839632e-01 4.72770147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93509989300003 meters 0.017474020123261394 Centerline is valid? [True, True] Translation: X:398.45, Y:5.46, Z:4.73 [[ 9.99405129e-01 -2.91493316e-02 -1.84310627e-02 3.98453415e+02] [ 2.91532057e-02 9.99574953e-01 -5.85126779e-05 5.45930812e+00] [ 1.84249342e-02 -4.78846690e-04 9.99830132e-01 4.72733887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.965099893 meters 0.01608029160435187 Centerline is valid? [True, True] Translation: X:398.48, Y:5.46, Z:4.73 [[ 9.99406579e-01 -2.88404439e-02 -1.88339570e-02 3.98482617e+02] [ 2.88443877e-02 9.99583912e-01 -6.22738046e-05 5.46233610e+00] [ 1.88279165e-02 -4.81017109e-04 9.99822623e-01 4.72826748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99509989300003 meters 0.01716307934456809 Centerline is valid? [True, True] Translation: X:398.51, Y:5.46, Z:4.73 [[ 9.99424398e-01 -2.82398954e-02 -1.87984074e-02 3.98511717e+02] [ 2.82436535e-02 9.99601066e-01 -6.55995444e-05 5.46036036e+00] [ 1.87927606e-02 -4.65373921e-04 9.99823292e-01 4.72829827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.025099893 meters 0.015323083325373684 Centerline is valid? [True, True] Translation: X:398.54, Y:5.46, Z:4.73 [[ 9.99465621e-01 -2.74448934e-02 -1.77553095e-02 3.98540153e+02] [ 2.74480852e-02 9.99623228e-01 -6.39504080e-05 5.46414494e+00] [ 1.77503749e-02 -4.23433013e-04 9.99842360e-01 4.73042325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05509989300003 meters 0.01534672889932581 Centerline is valid? [True, True] Translation: X:398.57, Y:5.46, Z:4.73 [[ 9.99475309e-01 -2.75406479e-02 -1.70475778e-02 3.98569064e+02] [ 2.75435326e-02 9.99620603e-01 -6.56021848e-05 5.46444768e+00] [ 1.70429168e-02 -4.03982752e-04 9.99854677e-01 4.73143492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.085099893 meters 0.01691156088530194 Centerline is valid? [True, True] Translation: X:398.60, Y:5.46, Z:4.73 [[ 9.99489083e-01 -2.74822555e-02 -1.63186753e-02 3.98597239e+02] [ 2.74848385e-02 9.99622218e-01 -6.60101805e-05 5.46161097e+00] [ 1.63143245e-02 -3.82539701e-04 9.99866839e-01 4.73187516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11509989300004 meters 0.015750819122134562 Centerline is valid? [True, True] Translation: X:398.63, Y:5.46, Z:4.73 [[ 9.99490593e-01 -2.76068419e-02 -1.60129929e-02 3.98627066e+02] [ 2.76093324e-02 9.99618788e-01 -6.55563419e-05 5.46417299e+00] [ 1.60086984e-02 -3.76585097e-04 9.99871782e-01 4.73293892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.145099893 meters 0.016339238376406714 Centerline is valid? [True, True] Translation: X:398.66, Y:5.46, Z:4.73 [[ 9.99457452e-01 -2.88901885e-02 -1.58163849e-02 3.98656164e+02] [ 2.88927710e-02 9.99582515e-01 -6.52464930e-05 5.46233154e+00] [ 1.58116668e-02 -3.91768093e-04 9.99874911e-01 4.73303509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.175099893 meters 0.016450095706042413 Centerline is valid? [True, True] Translation: X:398.69, Y:5.46, Z:4.73 [[ 9.99418937e-01 -3.02693575e-02 -1.56701934e-02 3.98686806e+02] [ 3.02720585e-02 9.99541694e-01 -6.48595245e-05 5.46176946e+00] [ 1.56649749e-02 -4.09547174e-04 9.99877213e-01 4.73335432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.205099893 meters 0.016899635790418602 Centerline is valid? [True, True] Translation: X:398.72, Y:5.46, Z:4.73 [[ 9.99369522e-01 -3.15967649e-02 -1.61926773e-02 3.98716983e+02] [ 3.15998232e-02 9.99500599e-01 -6.70221051e-05 5.46046420e+00] [ 1.61867083e-02 -4.44705890e-04 9.99868888e-01 4.73323996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.235099893 meters 0.018371505002204462 Centerline is valid? [True, True] Translation: X:398.75, Y:5.46, Z:4.73 [[ 9.99262424e-01 -3.46823085e-02 -1.64847057e-02 3.98746292e+02] [ 3.46858963e-02 9.99398261e-01 -6.83030631e-05 5.45722268e+00] [ 1.64771551e-02 -5.03534109e-04 9.99864116e-01 4.73277186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.265099893 meters 0.0189078984809394 Centerline is valid? [True, True] Translation: X:398.78, Y:5.46, Z:4.73 [[ 9.99208297e-01 -3.61741661e-02 -1.65592670e-02 3.98776516e+02] [ 3.61779875e-02 9.99345360e-01 -6.88298467e-05 5.45646314e+00] [ 1.65509165e-02 -5.30305600e-04 9.99862884e-01 4.73295008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.295099893 meters 0.018164380231501253 Centerline is valid? [True, True] Translation: X:398.81, Y:5.46, Z:4.73 [[ 9.99166698e-01 -3.71740029e-02 -1.68523778e-02 3.98807876e+02] [ 3.71781056e-02 9.99308653e-01 -6.98877839e-05 5.45747194e+00] [ 1.68433250e-02 -5.56709934e-04 9.99857986e-01 4.73347621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.325099893 meters 0.020442018648349356 Centerline is valid? [True, True] Translation: X:398.84, Y:5.45, Z:4.73 [[ 9.99127064e-01 -3.79985267e-02 -1.73557195e-02 3.98838560e+02] [ 3.80030118e-02 9.99277622e-01 -7.14314198e-05 5.45362754e+00] [ 1.73458964e-02 -5.88200548e-04 9.99849376e-01 4.73291121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.355099893 meters 0.019391523676387207 Centerline is valid? [True, True] Translation: X:398.87, Y:5.46, Z:4.73 [[ 9.99120518e-01 -3.83047467e-02 -1.70568664e-02 3.98870028e+02] [ 3.83091297e-02 9.99265933e-01 -6.98216501e-05 5.45504183e+00] [ 1.70470201e-02 -5.83673466e-04 9.99854519e-01 4.73354946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.385099893 meters 0.01863137165671601 Centerline is valid? [True, True] Translation: X:398.90, Y:5.46, Z:4.73 [[ 9.99119013e-01 -3.83350102e-02 -1.70770518e-02 3.98901554e+02] [ 3.83394183e-02 9.99264772e-01 -6.93029226e-05 5.45645471e+00] [ 1.70671530e-02 -5.85482366e-04 9.99854174e-01 4.73426688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.415099893 meters 0.017450943863387608 Centerline is valid? [True, True] Translation: X:398.93, Y:5.46, Z:4.73 [[ 9.99196011e-01 -3.68521629e-02 -1.57876426e-02 3.98932090e+02] [ 3.68557519e-02 9.99320594e-01 -6.36628304e-05 5.45864635e+00] [ 1.57792625e-02 -5.18253792e-04 9.99875365e-01 4.73473977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.445099893 meters 0.017612360747025317 Centerline is valid? [True, True] Translation: X:398.96, Y:5.46, Z:4.73 [[ 9.99245159e-01 -3.55642809e-02 -1.56299373e-02 3.98962053e+02] [ 3.55676420e-02 9.99367269e-01 -6.29679708e-05 5.45895701e+00] [ 1.56222872e-02 -4.92999575e-04 9.99877843e-01 4.73491778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.475099893 meters 0.017612360747025317 Centerline is valid? [True, True] Translation: X:398.99, Y:5.46, Z:4.74 [[ 9.99246433e-01 -3.55284602e-02 -1.56299387e-02 3.98992911e+02] [ 3.55318223e-02 9.99368543e-01 -6.26277624e-05 5.45905212e+00] [ 1.56222941e-02 -4.92779635e-04 9.99877843e-01 4.73529933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.505099893 meters 0.017709617922180485 Centerline is valid? [True, True] Translation: X:399.02, Y:5.46, Z:4.74 [[ 9.99296490e-01 -3.40623498e-02 -1.56933801e-02 3.99023635e+02] [ 3.40655665e-02 9.99419598e-01 -6.23777030e-05 5.45946169e+00] [ 1.56863963e-02 -4.72270063e-04 9.99876849e-01 4.73535129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.535099893 meters 0.016982878523979564 Centerline is valid? [True, True] Translation: X:399.05, Y:5.46, Z:4.74 [[ 9.99351798e-01 -3.22452168e-02 -1.60071820e-02 3.99054133e+02] [ 3.22483342e-02 9.99479885e-01 -6.34006203e-05 5.46140773e+00] [ 1.60009008e-02 -4.52845430e-04 9.99871875e-01 4.73518293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.565099893 meters 0.015361006372301296 Centerline is valid? [True, True] Translation: X:399.09, Y:5.47, Z:4.73 [[ 9.99450772e-01 -2.85735494e-02 -1.67841210e-02 3.99085103e+02] [ 2.85764592e-02 9.99591607e-01 -6.64919530e-05 5.46546321e+00] [ 1.67791664e-02 -4.13175316e-04 9.99859135e-01 4.73493543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.595099893 meters 0.015690824542153342 Centerline is valid? [True, True] Translation: X:399.11, Y:5.47, Z:4.73 [[ 9.99491177e-01 -2.69343659e-02 -1.70858484e-02 3.99114193e+02] [ 2.69371398e-02 9.99637127e-01 -6.78121685e-05 5.46507280e+00] [ 1.70814749e-02 -3.92466223e-04 9.99854024e-01 4.73449237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.625099893 meters 0.015851384492815136 Centerline is valid? [True, True] Translation: X:399.14, Y:5.47, Z:4.73 [[ 9.99509812e-01 -2.60953131e-02 -1.72965232e-02 3.99142577e+02] [ 2.60980218e-02 9.99659386e-01 -6.91305426e-05 5.46503770e+00] [ 1.72924358e-02 -3.82308385e-04 9.99850402e-01 4.73444486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.655099893 meters 0.01488178489769079 Centerline is valid? [True, True] Translation: X:399.17, Y:5.47, Z:4.74 [[ 9.99522500e-01 -2.56058811e-02 -1.72948043e-02 3.99171636e+02] [ 2.56084836e-02 9.99672046e-01 -7.10070112e-05 5.46675591e+00] [ 1.72909506e-02 -3.71920608e-04 9.99850431e-01 4.73506957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68509989300003 meters 0.015114821424598761 Centerline is valid? [True, True] Translation: X:399.20, Y:5.47, Z:4.74 [[ 9.99511120e-01 -2.59905583e-02 -1.73784645e-02 3.99200014e+02] [ 2.59931852e-02 9.99662117e-01 -7.47387604e-05 5.46544723e+00] [ 1.73745351e-02 -3.77019425e-04 9.99848980e-01 4.73502951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.715099893 meters 0.015101638433593408 Centerline is valid? [True, True] Translation: X:399.23, Y:5.47, Z:4.74 [[ 9.99479058e-01 -2.70486507e-02 -1.76063322e-02 3.99228919e+02] [ 2.70514761e-02 9.99634039e-01 -7.77042482e-05 5.46506689e+00] [ 1.76019907e-02 -3.98613505e-04 9.99844994e-01 4.73519737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74509989300003 meters 0.01545562410787394 Centerline is valid? [True, True] Translation: X:399.26, Y:5.46, Z:4.74 [[ 9.99433092e-01 -2.86559266e-02 -1.76729228e-02 3.99257458e+02] [ 2.86589458e-02 9.99589245e-01 -8.24528062e-05 5.46415068e+00] [ 1.76680263e-02 -4.24081274e-04 9.99843818e-01 4.73528366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.775099893 meters 0.016454889561660337 Centerline is valid? [True, True] Translation: X:399.29, Y:5.46, Z:4.74 [[ 9.99375366e-01 -3.03269764e-02 -1.81425741e-02 3.99286026e+02] [ 3.03303700e-02 9.99539925e-01 -8.81385664e-05 5.46202150e+00] [ 1.81369002e-02 -4.62187474e-04 9.99835406e-01 4.73518226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80509989300003 meters 0.01699499764078444 Centerline is valid? [True, True] Translation: X:399.32, Y:5.46, Z:4.74 [[ 9.99324876e-01 -3.19795624e-02 -1.80859082e-02 3.99315443e+02] [ 3.19831898e-02 9.99488403e-01 -8.87201127e-05 5.46078192e+00] [ 1.80794927e-02 -4.89784818e-04 9.99836433e-01 4.73544919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.835099893 meters 0.016092873094870817 Centerline is valid? [True, True] Translation: X:399.35, Y:5.46, Z:4.74 [[ 9.99263510e-01 -3.36452315e-02 -1.84508873e-02 3.99345249e+02] [ 3.36492783e-02 9.99433699e-01 -9.11739951e-05 5.46217174e+00] [ 1.84435061e-02 -5.29752193e-04 9.99829764e-01 4.73617312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86509989300004 meters 0.017832296138297624 Centerline is valid? [True, True] Translation: X:399.37, Y:5.46, Z:4.74 [[ 9.99140891e-01 -3.70536939e-02 -1.85608260e-02 3.99374630e+02] [ 3.70583660e-02 9.99313099e-01 -9.22855433e-05 5.45828476e+00] [ 1.85514960e-02 -5.95627621e-04 9.99827729e-01 4.73615284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.895099893 meters 0.018622004957488295 Centerline is valid? [True, True] Translation: X:399.40, Y:5.46, Z:4.74 [[ 9.99071983e-01 -3.87814170e-02 -1.87396427e-02 3.99404990e+02] [ 3.87864789e-02 9.99247517e-01 -9.34012905e-05 5.45686375e+00] [ 1.87291637e-02 -6.33530142e-04 9.99824393e-01 4.73649482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.925099893 meters 0.019564512089499726 Centerline is valid? [True, True] Translation: X:399.44, Y:5.46, Z:4.74 [[ 9.98958714e-01 -4.18881576e-02 -1.80795292e-02 3.99435189e+02] [ 4.18933752e-02 9.99122083e-01 -9.02128531e-05 5.45550395e+00] [ 1.80674358e-02 -6.67293587e-04 9.99836548e-01 4.73744688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.955099893 meters 0.019479975542461846 Centerline is valid? [True, True] Translation: X:399.47, Y:5.46, Z:4.74 [[ 9.98921736e-01 -4.29790569e-02 -1.75546372e-02 3.99466416e+02] [ 4.29841436e-02 9.99075751e-01 -8.76208567e-05 5.45573924e+00] [ 1.75421782e-02 -6.67044670e-04 9.99845902e-01 4.73817826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.985099893 meters 0.019272534957302537 Centerline is valid? [True, True] Translation: X:399.50, Y:5.46, Z:4.74 [[ 9.98885291e-01 -4.38504299e-02 -1.74732900e-02 3.99497210e+02] [ 4.38556120e-02 9.99037876e-01 -8.66795691e-05 5.45628323e+00] [ 1.74602795e-02 -6.79718882e-04 9.99847327e-01 4.73891105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.015099893 meters 0.020168116933594337 Centerline is valid? [True, True] Translation: X:399.53, Y:5.46, Z:4.74 [[ 9.98854528e-01 -4.46369485e-02 -1.72387737e-02 3.99527576e+02] [ 4.46421147e-02 9.99003040e-01 -8.52066711e-05 5.45539835e+00] [ 1.72253907e-02 -6.84466243e-04 9.99851398e-01 4.73945986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.045099893 meters 0.021482784541858493 Centerline is valid? [True, True] Translation: X:399.56, Y:5.45, Z:4.74 [[ 9.98839204e-01 -4.49055655e-02 -1.74280091e-02 3.99558678e+02] [ 4.49108952e-02 9.98990993e-01 -8.56457349e-05 5.45385827e+00] [ 1.74142701e-02 -6.97161173e-04 9.99848117e-01 4.73956799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.075099893 meters 0.021615597711159326 Centerline is valid? [True, True] Translation: X:399.59, Y:5.45, Z:4.74 [[ 9.98827748e-01 -4.49094647e-02 -1.80629467e-02 3.99590317e+02] [ 4.49152066e-02 9.98990799e-01 -8.78805465e-05 5.45403593e+00] [ 1.80486642e-02 -7.23523453e-04 9.99836848e-01 4.73994913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.105099893 meters 0.020923325577590964 Centerline is valid? [True, True] Translation: X:399.62, Y:5.46, Z:4.74 [[ 9.98835113e-01 -4.46962044e-02 -1.81842159e-02 3.99622085e+02] [ 4.47020000e-02 9.99000362e-01 -8.78292342e-05 5.45631516e+00] [ 1.81699639e-02 -7.25143897e-04 9.99834650e-01 4.74006167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.135099893 meters 0.0185676748811072 Centerline is valid? [True, True] Translation: X:399.65, Y:5.46, Z:4.74 [[ 9.98863575e-01 -4.39530896e-02 -1.84305293e-02 3.99653282e+02] [ 4.39589294e-02 9.99033335e-01 -8.83515881e-05 5.46077836e+00] [ 1.84165965e-02 -7.21935152e-04 9.99830139e-01 4.74096178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.165099893 meters 0.0211026364348803 Centerline is valid? [True, True] Translation: X:399.68, Y:5.46, Z:4.74 [[ 9.98899792e-01 -4.30530581e-02 -1.85913987e-02 3.99683514e+02] [ 4.30588553e-02 9.99072533e-01 -8.85482281e-05 5.45784891e+00] [ 1.85779681e-02 -7.12073540e-04 9.99827161e-01 4.74088620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.195099893 meters 0.019863222074162298 Centerline is valid? [True, True] Translation: X:399.71, Y:5.46, Z:4.74 [[ 9.98940995e-01 -4.20668538e-02 -1.86351264e-02 3.99714148e+02] [ 4.20725112e-02 9.99114556e-01 -8.85296256e-05 5.46085171e+00] [ 1.86223502e-02 -6.95590692e-04 9.99826347e-01 4.74135727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.225099893 meters 0.017785699806480815 Centerline is valid? [True, True] Translation: X:399.75, Y:5.47, Z:4.74 [[ 9.99061804e-01 -3.92282773e-02 -1.83481255e-02 3.99745555e+02] [ 3.92332876e-02 9.99230074e-01 -8.69469787e-05 5.46595936e+00] [ 1.83374096e-02 -6.32991878e-04 9.99831655e-01 4.74230581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.255099893 meters 0.019262997346595284 Centerline is valid? [True, True] Translation: X:399.78, Y:5.46, Z:4.74 [[ 9.99109986e-01 -3.78982490e-02 -1.85191483e-02 3.99775264e+02] [ 3.79031314e-02 9.99281414e-01 -8.74112424e-05 5.46474579e+00] [ 1.85091535e-02 -6.14600269e-04 9.99828502e-01 4.74246687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.285099893 meters 0.018348403184012308 Centerline is valid? [True, True] Translation: X:399.81, Y:5.47, Z:4.74 [[ 9.99159092e-01 -3.67724101e-02 -1.81355864e-02 3.99806204e+02] [ 3.67769049e-02 9.99323497e-01 -8.57183222e-05 5.46733584e+00] [ 1.81264697e-02 -5.81324497e-04 9.99835533e-01 4.74300534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.315099893 meters 0.018790759772338243 Centerline is valid? [True, True] Translation: X:399.84, Y:5.47, Z:4.74 [[ 9.99196710e-01 -3.58096156e-02 -1.79890444e-02 3.99836241e+02] [ 3.58138860e-02 9.99358473e-01 -8.48107785e-05 5.46745575e+00] [ 1.79805410e-02 -5.59514933e-04 9.99838180e-01 4.74313998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.345099893 meters 0.017794542000359112 Centerline is valid? [True, True] Translation: X:399.87, Y:5.47, Z:4.74 [[ 9.99223643e-01 -3.46901934e-02 -1.86735769e-02 3.99866871e+02] [ 3.46945999e-02 9.99397957e-01 -8.80380614e-05 5.47124207e+00] [ 1.86653886e-02 -5.59902566e-04 9.99825630e-01 4.74348258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.375099893 meters 0.01817549512043287 Centerline is valid? [True, True] Translation: X:399.90, Y:5.47, Z:4.74 [[ 9.99219449e-01 -3.44629368e-02 -1.93079749e-02 3.99896586e+02] [ 3.44676060e-02 9.99405811e-01 -9.09991788e-05 5.47189472e+00] [ 1.92996384e-02 -5.74571523e-04 9.99813580e-01 4.74324655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.405099893 meters 0.016795316895786262 Centerline is valid? [True, True] Translation: X:399.93, Y:5.48, Z:4.74 [[ 9.99215214e-01 -3.44248022e-02 -1.95930857e-02 3.99926102e+02] [ 3.44295990e-02 9.99407121e-01 -9.25489253e-05 5.47539628e+00] [ 1.95846554e-02 -5.82105790e-04 9.99808033e-01 4.74398946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.43509989300003 meters 0.016984536064677504 Centerline is valid? [True, True] Translation: X:399.96, Y:5.48, Z:4.74 [[ 9.99219624e-01 -3.38676662e-02 -2.03254674e-02 3.99955899e+02] [ 3.38727010e-02 9.99426151e-01 -9.66115945e-05 5.47702096e+00] [ 2.03170757e-02 -5.91942279e-04 9.99793412e-01 4.74376530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.465099893 meters 0.016397983345679566 Centerline is valid? [True, True] Translation: X:399.99, Y:5.48, Z:4.74 [[ 9.99241955e-01 -3.34097116e-02 -1.99826678e-02 3.99985949e+02] [ 3.34144767e-02 9.99441576e-01 -9.54737154e-05 5.47933757e+00] [ 1.99746988e-02 -5.72309046e-04 9.99800322e-01 4.74436520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49509989300003 meters 0.016418806204085794 Centerline is valid? [True, True] Translation: X:400.02, Y:5.48, Z:4.74 [[ 9.99267798e-01 -3.27206044e-02 -1.98300058e-02 4.00015796e+02] [ 3.27251473e-02 9.99464384e-01 -9.54535415e-05 5.48061923e+00] [ 1.98225078e-02 -5.53556210e-04 9.99803362e-01 4.74466372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.525099893 meters 0.016310134461974574 Centerline is valid? [True, True] Translation: X:400.05, Y:5.48, Z:4.75 [[ 9.99309223e-01 -3.16301137e-02 -1.95092872e-02 4.00045719e+02] [ 3.16342897e-02 9.99499506e-01 -9.45982814e-05 5.48236671e+00] [ 1.95025151e-02 -5.22629509e-04 9.99809671e-01 4.74532800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55509989300003 meters 0.015952259721412346 Centerline is valid? [True, True] Translation: X:400.08, Y:5.48, Z:4.75 [[ 9.99355079e-01 -3.02862587e-02 -1.92916674e-02 4.00075204e+02] [ 3.02900787e-02 9.99541146e-01 -9.42225562e-05 5.48428768e+00] [ 1.92856689e-02 -4.90184332e-04 9.99813894e-01 4.74581748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.585099893 meters 0.015632858646402265 Centerline is valid? [True, True] Translation: X:400.10, Y:5.49, Z:4.75 [[ 9.99409346e-01 -2.86900010e-02 -1.89167393e-02 4.00104993e+02] [ 2.86933757e-02 9.99588256e-01 -9.30517598e-05 5.48611001e+00] [ 1.89116201e-02 -4.49788309e-04 9.99821058e-01 4.74635983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61509989300004 meters 0.014964416844312425 Centerline is valid? [True, True] Translation: X:400.13, Y:5.49, Z:4.75 [[ 9.99511969e-01 -2.50994706e-02 -1.85968020e-02 4.00133778e+02] [ 2.51020968e-02 9.99684888e-01 -9.22339598e-05 5.49005776e+00] [ 1.85932570e-02 -3.74629779e-04 9.99827060e-01 4.74663442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.645099893 meters 0.013796841920801736 Centerline is valid? [True, True] Translation: X:400.16, Y:5.49, Z:4.75 [[ 9.99562066e-01 -2.33225761e-02 -1.82135714e-02 4.00162828e+02] [ 2.33247617e-02 9.99727936e-01 -9.24554981e-05 5.49394179e+00] [ 1.82107724e-02 -3.32412203e-04 9.99834115e-01 4.74761546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.675099893 meters 0.013678071079163957 Centerline is valid? [True, True] Translation: X:400.19, Y:5.50, Z:4.75 [[ 9.99616644e-01 -2.14281647e-02 -1.75327890e-02 4.00190844e+02] [ 2.14298373e-02 9.99770350e-01 -9.24903689e-05 5.49535143e+00] [ 1.75307445e-02 -2.83269903e-04 9.99846285e-01 4.74800041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.705099893 meters 0.013449573918288042 Centerline is valid? [True, True] Translation: X:400.22, Y:5.50, Z:4.75 [[ 9.99668296e-01 -1.93581657e-02 -1.69870411e-02 4.00218561e+02] [ 1.93594118e-02 9.99812585e-01 -9.10974715e-05 5.49687179e+00] [ 1.69856210e-02 -2.37791870e-04 9.99855706e-01 4.74831358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.735099893 meters 0.012837312788332082 Centerline is valid? [True, True] Translation: X:400.25, Y:5.50, Z:4.75 [[ 9.99756362e-01 -1.56394306e-02 -1.55764057e-02 4.00247605e+02] [ 1.56399991e-02 9.99877684e-01 -8.53231275e-05 5.50010146e+00] [ 1.55758349e-02 -1.58312633e-04 9.99878677e-01 4.74915050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.765099893 meters 0.012707139246801023 Centerline is valid? [True, True] Translation: X:400.28, Y:5.50, Z:4.75 [[ 9.99782130e-01 -1.39657406e-02 -1.55129478e-02 4.00275618e+02] [ 1.39660517e-02 9.99902466e-01 -8.82829668e-05 5.50132175e+00] [ 1.55126677e-02 -1.28390899e-04 9.99879663e-01 4.74942984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.795099893 meters 0.012479130816181088 Centerline is valid? [True, True] Translation: X:400.30, Y:5.50, Z:4.75 [[ 9.99803259e-01 -1.26112703e-02 -1.53100955e-02 4.00303984e+02] [ 1.26113871e-02 9.99920469e-01 -8.89235328e-05 5.50279789e+00] [ 1.53099993e-02 -1.04175502e-04 9.99882790e-01 4.74995666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.825099893 meters 0.012298619189120884 Centerline is valid? [True, True] Translation: X:400.33, Y:5.50, Z:4.75 [[ 9.99814877e-01 -1.15614662e-02 -1.53799813e-02 4.00331379e+02] [ 1.15613992e-02 9.99933160e-01 -9.32694721e-05 5.50371919e+00] [ 1.53800316e-02 -8.45618976e-05 9.99881717e-01 4.74986100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.855099893 meters 0.01223098509568684 Centerline is valid? [True, True] Translation: X:400.36, Y:5.50, Z:4.75 [[ 9.99818027e-01 -1.04638430e-02 -1.59505577e-02 4.00359116e+02] [ 1.04635575e-02 9.99945250e-01 -1.01353420e-04 5.50417710e+00] [ 1.59507450e-02 -6.55646020e-05 9.99872777e-01 4.74929962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.885099893 meters 0.012280075356855465 Centerline is valid? [True, True] Translation: X:400.39, Y:5.50, Z:4.75 [[ 9.99810880e-01 -1.07676931e-02 -1.61944884e-02 4.00385767e+02] [ 1.07673741e-02 9.99942024e-01 -1.06889149e-04 5.50381325e+00] [ 1.61947004e-02 -6.75031808e-05 9.99868855e-01 4.74918286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.915099893 meters 0.012260924911196111 Centerline is valid? [True, True] Translation: X:400.41, Y:5.50, Z:4.75 [[ 9.99803022e-01 -1.12333624e-02 -1.63624374e-02 4.00413891e+02] [ 1.12330563e-02 9.99936901e-01 -1.10616798e-04 5.50288657e+00] [ 1.63626476e-02 -7.32051717e-05 9.99866120e-01 4.74900286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.945099893 meters 0.012262150326786691 Centerline is valid? [True, True] Translation: X:400.44, Y:5.50, Z:4.75 [[ 9.99787171e-01 -1.22537895e-02 -1.65969018e-02 4.00442261e+02] [ 1.22535377e-02 9.99924916e-01 -1.16866885e-04 5.50222436e+00] [ 1.65970877e-02 -8.65287498e-05 9.99862255e-01 4.74919129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.975099893 meters 0.012514065222699742 Centerline is valid? [True, True] Translation: X:400.47, Y:5.50, Z:4.75 [[ 9.99752165e-01 -1.46083679e-02 -1.67989631e-02 4.00471158e+02] [ 1.46083637e-02 9.99893285e-01 -1.22972051e-04 5.49948066e+00] [ 1.67989668e-02 -1.22463787e-04 9.99858880e-01 4.74891869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.005099893 meters 0.012613950285112415 Centerline is valid? [True, True] Translation: X:400.50, Y:5.50, Z:4.75 [[ 9.99721160e-01 -1.62709677e-02 -1.71130902e-02 4.00499720e+02] [ 1.62711331e-02 9.99867608e-01 -1.29578494e-04 5.49802730e+00] [ 1.71129329e-02 -1.48907006e-04 9.99853552e-01 4.74891501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.035099893 meters 0.012738265316909112 Centerline is valid? [True, True] Translation: X:400.53, Y:5.50, Z:4.75 [[ 9.99693975e-01 -1.79012313e-02 -1.70734157e-02 4.00528866e+02] [ 1.79015614e-02 9.99839745e-01 -1.33507794e-04 5.49668823e+00] [ 1.70730695e-02 -1.72173861e-04 9.99854230e-01 4.74947369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.065099893 meters 0.013085872190594353 Centerline is valid? [True, True] Translation: X:400.56, Y:5.50, Z:4.75 [[ 9.99658743e-01 -1.94861653e-02 -1.73979260e-02 4.00556541e+02] [ 1.94866819e-02 9.99810107e-01 -1.39852078e-04 5.49515040e+00] [ 1.73973474e-02 -1.99223497e-04 9.99848635e-01 4.74968356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.095099893 meters 0.013315373955940523 Centerline is valid? [True, True] Translation: X:400.59, Y:5.49, Z:4.75 [[ 9.99622712e-01 -2.15585755e-02 -1.70194470e-02 4.00585241e+02] [ 2.15593231e-02 9.99767561e-01 -1.39572878e-04 5.49384200e+00] [ 1.70185000e-02 -2.27407537e-04 9.99855149e-01 4.75023802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.125099893 meters 0.014245253513291919 Centerline is valid? [True, True] Translation: X:400.61, Y:5.49, Z:4.75 [[ 9.99551139e-01 -2.47097565e-02 -1.69395335e-02 4.00612663e+02] [ 2.47108897e-02 9.99694629e-01 -1.42442289e-04 5.48935589e+00] [ 1.69378804e-02 -2.76212592e-04 9.99856506e-01 4.75058130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.155099893 meters 0.013860689978565842 Centerline is valid? [True, True] Translation: X:400.64, Y:5.49, Z:4.75 [[ 9.99505217e-01 -2.66120358e-02 -1.67666529e-02 4.00641419e+02] [ 2.66133730e-02 9.99645791e-01 -1.43404354e-04 5.48957515e+00] [ 1.67645303e-02 -3.02883787e-04 9.99859420e-01 4.75164503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18509989300003 meters 0.014431252655751466 Centerline is valid? [True, True] Translation: X:400.67, Y:5.49, Z:4.75 [[ 9.99462654e-01 -2.81731541e-02 -1.67533785e-02 4.00670188e+02] [ 2.81746502e-02 9.99603005e-01 -1.46764942e-04 5.48733134e+00] [ 1.67508623e-02 -3.25334500e-04 9.99859642e-01 4.75192706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.215099893 meters 0.01627034920952916 Centerline is valid? [True, True] Translation: X:400.70, Y:5.48, Z:4.75 [[ 9.99380436e-01 -3.13110439e-02 -1.60736784e-02 4.00699705e+02] [ 3.13128123e-02 9.99509624e-01 -1.41701010e-04 5.48137843e+00] [ 1.60702330e-02 -3.61698857e-04 9.99870800e-01 4.75231502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24509989300003 meters 0.016242697200036002 Centerline is valid? [True, True] Translation: X:400.73, Y:5.48, Z:4.75 [[ 9.99314121e-01 -3.35642606e-02 -1.56437619e-02 4.00730317e+02] [ 3.35662082e-02 9.99436487e-01 -1.38124346e-04 5.48053126e+00] [ 1.56395825e-02 -3.87072162e-04 9.99877619e-01 4.75323484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.275099893 meters 0.01600176351918903 Centerline is valid? [True, True] Translation: X:400.76, Y:5.48, Z:4.75 [[ 9.99252178e-01 -3.55842298e-02 -1.51277089e-02 4.00761971e+02] [ 3.55862839e-02 9.99366599e-01 -1.33468257e-04 5.47975975e+00] [ 1.51228764e-02 -4.04970498e-04 9.99885561e-01 4.75388182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30509989300003 meters 0.017169046048555174 Centerline is valid? [True, True] Translation: X:400.79, Y:5.47, Z:4.75 [[ 9.99106772e-01 -3.96606790e-02 -1.45838465e-02 4.00793535e+02] [ 3.96630292e-02 9.99213104e-01 -1.28159884e-04 5.47446501e+00] [ 1.45774534e-02 -4.50394122e-04 9.99893642e-01 4.75460488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.335099893 meters 0.01992567548126296 Centerline is valid? [True, True] Translation: X:400.82, Y:5.47, Z:4.76 [[ 9.99030703e-01 -4.15386368e-02 -1.45669759e-02 4.00824670e+02] [ 4.15411892e-02 9.99136784e-01 -1.27448157e-04 5.46872146e+00] [ 1.45596955e-02 -4.77804880e-04 9.99893888e-01 4.75519164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36509989300004 meters 0.01796684514384448 Centerline is valid? [True, True] Translation: X:400.86, Y:5.47, Z:4.76 [[ 9.98969619e-01 -4.29842752e-02 -1.45620001e-02 4.00856281e+02] [ 4.29869907e-02 9.99075624e-01 -1.26617985e-04 5.47062644e+00] [ 1.45539819e-02 -4.99489041e-04 9.99893960e-01 4.75595368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.395099893 meters 0.01796684514384448 Centerline is valid? [True, True] Translation: X:400.89, Y:5.47, Z:4.76 [[ 9.98972751e-01 -4.29114171e-02 -1.45620073e-02 4.00887986e+02] [ 4.29141371e-02 9.99078756e-01 -1.25780745e-04 5.47084403e+00] [ 1.45539896e-02 -4.99264440e-04 9.99893960e-01 4.75634560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.425099893 meters 0.01831183940737111 Centerline is valid? [True, True] Translation: X:400.92, Y:5.47, Z:4.76 [[ 9.98925750e-01 -4.37677138e-02 -1.52227646e-02 4.00919829e+02] [ 4.37708031e-02 9.99041591e-01 -1.30337218e-04 5.46913614e+00] [ 1.52138796e-02 -5.36115430e-04 9.99884119e-01 4.75635540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.455099893 meters 0.01833174584603842 Centerline is valid? [True, True] Translation: X:400.95, Y:5.47, Z:4.76 [[ 9.98901840e-01 -4.42466383e-02 -1.54061604e-02 4.00951963e+02] [ 4.42498768e-02 9.99020486e-01 -1.30774112e-04 5.46800749e+00] [ 1.53968562e-02 -5.51090201e-04 9.99881310e-01 4.75630508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.485099893 meters 0.01931145195473352 Centerline is valid? [True, True] Translation: X:400.98, Y:5.47, Z:4.76 [[ 9.98896848e-01 -4.42226709e-02 -1.57937193e-02 4.00982872e+02] [ 4.42260890e-02 9.99021539e-01 -1.32952580e-04 5.46592087e+00] [ 1.57841453e-02 -5.65688523e-04 9.99875263e-01 4.75662945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.515099893 meters 0.018866773632534767 Centerline is valid? [True, True] Translation: X:401.01, Y:5.47, Z:4.76 [[ 9.98945640e-01 -4.32371589e-02 -1.54323390e-02 4.01014554e+02] [ 4.32403167e-02 9.99064692e-01 -1.29144561e-04 5.46566780e+00] [ 1.54234889e-02 -5.38290830e-04 9.99880906e-01 4.75732688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.545099893 meters 0.018829194548849956 Centerline is valid? [True, True] Translation: X:401.05, Y:5.47, Z:4.76 [[ 9.98979832e-01 -4.24156590e-02 -1.54986154e-02 4.01046390e+02] [ 4.24187547e-02 9.99099911e-01 -1.29089738e-04 5.46547470e+00] [ 1.54901407e-02 -5.28473920e-04 9.99879881e-01 4.75828339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.575099893 meters 0.01842112340255763 Centerline is valid? [True, True] Translation: X:401.08, Y:5.47, Z:4.76 [[ 9.99034025e-01 -4.10654618e-02 -1.56410932e-02 4.01077298e+02] [ 4.10684616e-02 9.99156326e-01 -1.29497944e-04 5.46579953e+00] [ 1.56332151e-02 -5.12982782e-04 9.99877662e-01 4.75890061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.605099893 meters 0.018249640837771693 Centerline is valid? [True, True] Translation: X:401.11, Y:5.47, Z:4.76 [[ 9.99078932e-01 -3.97114907e-02 -1.62568595e-02 4.01108115e+02] [ 3.97145619e-02 9.99211057e-01 -1.34003769e-04 5.46607808e+00] [ 1.62493552e-02 -5.11753711e-04 9.99867840e-01 4.75916817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.635099893 meters 0.01780771791373958 Centerline is valid? [True, True] Translation: X:401.14, Y:5.47, Z:4.76 [[ 9.99170536e-01 -3.70596069e-02 -1.68767643e-02 4.01138925e+02] [ 3.70625492e-02 9.99312938e-01 -1.38504143e-04 5.46671780e+00] [ 1.68703018e-02 -4.87106647e-04 9.99857568e-01 4.75887424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.665099893 meters 0.016178492094007617 Centerline is valid? [True, True] Translation: X:401.17, Y:5.47, Z:4.76 [[ 9.99204848e-01 -3.59695133e-02 -1.72007575e-02 4.01170641e+02] [ 3.59724190e-02 9.99352773e-01 -1.40545964e-04 5.46973132e+00] [ 1.71946801e-02 -4.78318648e-04 9.99852046e-01 4.75951952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.695099893 meters 0.017421228125259338 Centerline is valid? [True, True] Translation: X:401.20, Y:5.47, Z:4.76 [[ 9.99232533e-01 -3.47849033e-02 -1.80098714e-02 4.01200886e+02] [ 3.47879068e-02 9.99394707e-01 -1.46586133e-04 5.46766875e+00] [ 1.80040691e-02 -4.80052095e-04 9.99837798e-01 4.75902599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.725099893 meters 0.015776854429626078 Centerline is valid? [True, True] Translation: X:401.23, Y:5.47, Z:4.76 [[ 9.99301826e-01 -3.23785857e-02 -1.86410435e-02 4.01231585e+02] [ 3.23813893e-02 9.99475574e-01 -1.51493086e-04 5.47135380e+00] [ 1.86361728e-02 -4.52235570e-04 9.99826229e-01 4.75922726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.755099893 meters 0.015933705558551167 Centerline is valid? [True, True] Translation: X:401.26, Y:5.47, Z:4.76 [[ 9.99323596e-01 -3.14484602e-02 -1.90616030e-02 4.01260416e+02] [ 3.14512161e-02 9.99505276e-01 -1.55265634e-04 5.47135611e+00] [ 1.90570557e-02 -4.44349984e-04 9.99818299e-01 4.75922049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.785099893 meters 0.015095091045804138 Centerline is valid? [True, True] Translation: X:401.29, Y:5.47, Z:4.76 [[ 9.99354654e-01 -3.03498968e-02 -1.92135176e-02 4.01289040e+02] [ 3.03524482e-02 9.99539246e-01 -1.58879012e-04 5.47338057e+00] [ 1.92094868e-02 -4.24400817e-04 9.99815391e-01 4.75997909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.815099893 meters 0.015114201764478362 Centerline is valid? [True, True] Translation: X:401.32, Y:5.47, Z:4.76 [[ 9.99397637e-01 -2.90910077e-02 -1.89228977e-02 4.01317992e+02] [ 2.90931925e-02 9.99576691e-01 -1.59875921e-04 5.47374632e+00] [ 1.89195384e-02 -3.90747889e-04 9.99820933e-01 4.76042852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.845099893 meters 0.014530825209208316 Centerline is valid? [True, True] Translation: X:401.35, Y:5.48, Z:4.76 [[ 9.99466777e-01 -2.74590408e-02 -1.76681046e-02 4.01346974e+02] [ 2.74606564e-02 9.99622874e-01 -1.51207988e-04 5.47580081e+00] [ 1.76655935e-02 -3.34050389e-04 9.99843895e-01 4.76231669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.875099893 meters 0.014054142838492302 Centerline is valid? [True, True] Translation: X:401.38, Y:5.48, Z:4.76 [[ 9.99487494e-01 -2.72638300e-02 -1.67759346e-02 4.01375389e+02] [ 2.72651911e-02 9.99628225e-01 -1.47618031e-04 5.47720726e+00] [ 1.67737224e-02 -3.09856688e-04 9.99859263e-01 4.76436980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.905099893 meters 0.014298359828707726 Centerline is valid? [True, True] Translation: X:401.40, Y:5.48, Z:4.77 [[ 9.99497719e-01 -2.75473764e-02 -1.56669224e-02 4.01403848e+02] [ 2.75485494e-02 9.99620457e-01 -1.40984265e-04 5.47718320e+00] [ 1.56648599e-02 -2.90687534e-04 9.99877256e-01 4.76558450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93509989300003 meters 0.014841054265578083 Centerline is valid? [True, True] Translation: X:401.43, Y:5.48, Z:4.77 [[ 9.99495096e-01 -2.80587074e-02 -1.49084804e-02 4.01433815e+02] [ 2.80598167e-02 9.99606237e-01 -1.34801048e-04 5.47594685e+00] [ 1.49063924e-02 -2.83596242e-04 9.99888853e-01 4.76662181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.965099893 meters 0.014573017697098067 Centerline is valid? [True, True] Translation: X:401.46, Y:5.48, Z:4.77 [[ 9.99471094e-01 -2.92083822e-02 -1.42969373e-02 4.01464247e+02] [ 2.92095196e-02 9.99573303e-01 -1.29294142e-04 5.47653026e+00] [ 1.42946133e-02 -2.88380914e-04 9.99897785e-01 4.76747308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99509989300003 meters 0.015281292058371762 Centerline is valid? [True, True] Translation: X:401.49, Y:5.47, Z:4.77 [[ 9.99375012e-01 -3.24362669e-02 -1.40525086e-02 4.01494762e+02] [ 3.24376847e-02 9.99473752e-01 -1.27083655e-04 5.47431767e+00] [ 1.40492356e-02 -3.28826614e-04 9.99901251e-01 4.76801715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.025099893 meters 0.015778547527510477 Centerline is valid? [True, True] Translation: X:401.53, Y:5.47, Z:4.77 [[ 9.99302020e-01 -3.44579638e-02 -1.44264462e-02 4.01525680e+02] [ 3.44596691e-02 9.99406081e-01 -1.30428024e-04 5.47312417e+00] [ 1.44223724e-02 -3.66793576e-04 9.99895925e-01 4.76836034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05509989300003 meters 0.01671377924464676 Centerline is valid? [True, True] Translation: X:401.56, Y:5.47, Z:4.77 [[ 9.99224711e-01 -3.64614638e-02 -1.48505679e-02 4.01555721e+02] [ 3.64634961e-02 9.99334977e-01 -1.33987200e-04 5.47093330e+00] [ 1.48455773e-02 -4.07620305e-04 9.99889715e-01 4.76819947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.085099893 meters 0.016542382292229298 Centerline is valid? [True, True] Translation: X:401.59, Y:5.47, Z:4.77 [[ 9.99130802e-01 -3.87127965e-02 -1.54583413e-02 4.01586769e+02] [ 3.87152731e-02 9.99250273e-01 -1.39125373e-04 5.47097227e+00] [ 1.54521377e-02 -4.59469461e-04 9.99880503e-01 4.76824168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11509989300004 meters 0.018778866679631842 Centerline is valid? [True, True] Translation: X:401.62, Y:5.47, Z:4.77 [[ 9.98936399e-01 -4.32795742e-02 -1.59043779e-02 4.01617018e+02] [ 4.32827824e-02 9.99062851e-01 -1.42607595e-04 5.46624357e+00] [ 1.58956451e-02 -5.45929809e-04 9.99873507e-01 4.76801863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.145099893 meters 0.02066753567297624 Centerline is valid? [True, True] Translation: X:401.65, Y:5.46, Z:4.77 [[ 9.98846917e-01 -4.52905720e-02 -1.59248647e-02 4.01646955e+02] [ 4.52940523e-02 9.98973688e-01 -1.42249446e-04 5.46315942e+00] [ 1.59149634e-02 -5.79216236e-04 9.99873181e-01 4.76863836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.175099893 meters 0.019626421114940167 Centerline is valid? [True, True] Translation: X:401.68, Y:5.46, Z:4.77 [[ 9.98766820e-01 -4.71950426e-02 -1.54099970e-02 4.01678185e+02] [ 4.71985458e-02 9.98885518e-01 -1.36478328e-04 5.46490998e+00] [ 1.53992639e-02 -5.91019422e-04 9.99881250e-01 4.76967180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.205099893 meters 0.020725964355128242 Centerline is valid? [True, True] Translation: X:401.71, Y:5.46, Z:4.77 [[ 9.98693143e-01 -4.87248351e-02 -1.54238782e-02 4.01708890e+02] [ 4.87285354e-02 9.98812050e-01 -1.36043588e-04 5.46317736e+00] [ 1.54121841e-02 -6.15717196e-04 9.99881036e-01 4.77013682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.235099893 meters 0.02237456364646229 Centerline is valid? [True, True] Translation: X:401.74, Y:5.46, Z:4.77 [[ 9.98591763e-01 -5.05938788e-02 -1.59609261e-02 4.01739883e+02] [ 5.05980900e-02 9.98719086e-01 -1.40125580e-04 5.46116088e+00] [ 1.59475711e-02 -6.67664126e-04 9.99872606e-01 4.76944104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.265099893 meters 0.021264404104343285 Centerline is valid? [True, True] Translation: X:401.77, Y:5.46, Z:4.77 [[ 9.98562318e-01 -5.09581934e-02 -1.66300648e-02 4.01771626e+02] [ 5.09628322e-02 9.98700540e-01 -1.45003092e-04 5.46340318e+00] [ 1.66158438e-02 -7.02720577e-04 9.99861700e-01 4.76946572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.295099893 meters 0.02138246857396759 Centerline is valid? [True, True] Translation: X:401.80, Y:5.46, Z:4.77 [[ 9.98574971e-01 -5.07702761e-02 -1.64440276e-02 4.01803440e+02] [ 5.07748055e-02 9.98710118e-01 -1.42206054e-04 5.46392859e+00] [ 1.64300366e-02 -6.92938898e-04 9.99864778e-01 4.76978356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.325099893 meters 0.022029208076783158 Centerline is valid? [True, True] Translation: X:401.84, Y:5.46, Z:4.77 [[ 9.98621391e-01 -5.00613164e-02 -1.57855210e-02 4.01835141e+02] [ 5.00654191e-02 9.98745931e-01 -1.35415020e-04 5.46378470e+00] [ 1.57725039e-02 -6.55080388e-04 9.99875392e-01 4.76996789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.355099893 meters 0.019361096486977435 Centerline is valid? [True, True] Translation: X:401.87, Y:5.47, Z:4.77 [[ 9.98726637e-01 -4.80355337e-02 -1.54172598e-02 4.01866234e+02] [ 4.80392213e-02 9.98845441e-01 -1.31282559e-04 5.46952761e+00] [ 1.54057659e-02 -6.09517767e-04 9.99881138e-01 4.77089949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.385099893 meters 0.01891768273290143 Centerline is valid? [True, True] Translation: X:401.90, Y:5.47, Z:4.77 [[ 9.98798378e-01 -4.65191886e-02 -1.54196600e-02 4.01898650e+02] [ 4.65227074e-02 9.98917224e-01 -1.30620396e-04 5.47135578e+00] [ 1.54090403e-02 -5.86900889e-04 9.99881101e-01 4.77131777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.415099893 meters 0.018537599411947055 Centerline is valid? [True, True] Translation: X:401.93, Y:5.47, Z:4.77 [[ 9.98926959e-01 -4.37047383e-02 -1.53240493e-02 4.01929130e+02] [ 4.37079005e-02 9.99044345e-01 -1.28654086e-04 5.47400663e+00] [ 1.53150276e-02 -5.41265986e-04 9.99882572e-01 4.77163042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.445099893 meters 0.018519333765326502 Centerline is valid? [True, True] Translation: X:401.96, Y:5.48, Z:4.77 [[ 9.98979359e-01 -4.23019187e-02 -1.58363148e-02 4.01959957e+02] [ 4.23051401e-02 9.99104728e-01 -1.31681467e-04 5.47541494e+00] [ 1.58277073e-02 -5.38410447e-04 9.99874589e-01 4.77195973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.475099893 meters 0.01828806230058959 Centerline is valid? [True, True] Translation: X:401.99, Y:5.48, Z:4.77 [[ 9.99014873e-01 -4.13578231e-02 -1.60876967e-02 4.01991658e+02] [ 4.13610384e-02 9.99144257e-01 -1.32955990e-04 5.47720707e+00] [ 1.60794285e-02 -5.32578829e-04 9.99870576e-01 4.77246319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.505099893 meters 0.017518915964394963 Centerline is valid? [True, True] Translation: X:402.02, Y:5.48, Z:4.77 [[ 9.99046903e-01 -4.05089521e-02 -1.62575999e-02 4.02023089e+02] [ 4.05121330e-02 9.99179038e-01 -1.33768727e-04 5.47995716e+00] [ 1.62496719e-02 -5.24988818e-04 9.99867828e-01 4.77279286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.535099893 meters 0.018223013378145785 Centerline is valid? [True, True] Translation: X:402.05, Y:5.48, Z:4.77 [[ 9.99055580e-01 -4.00416336e-02 -1.68705727e-02 4.02053847e+02] [ 4.00450044e-02 9.99197868e-01 -1.38099461e-04 5.47976325e+00] [ 1.68625700e-02 -5.37613120e-04 9.99857672e-01 4.77257548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.565099893 meters 0.01735336473522716 Centerline is valid? [True, True] Translation: X:402.08, Y:5.48, Z:4.77 [[ 9.99039832e-01 -3.99877548e-02 -1.78995459e-02 4.02084733e+02] [ 3.99915572e-02 9.99200007e-01 -1.45607018e-04 5.48307272e+00] [ 1.78910489e-02 -5.70363502e-04 9.99839780e-01 4.77258228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.595099893 meters 0.017683367191893982 Centerline is valid? [True, True] Translation: X:402.11, Y:5.48, Z:4.77 [[ 9.99030916e-01 -4.00642553e-02 -1.82231799e-02 4.02114727e+02] [ 4.00682195e-02 9.99196936e-01 -1.47675888e-04 5.48325904e+00] [ 1.82144621e-02 -5.82637596e-04 9.99833933e-01 4.77275197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.625099893 meters 0.01906030462690689 Centerline is valid? [True, True] Translation: X:402.14, Y:5.48, Z:4.77 [[ 9.99031882e-01 -3.99944167e-02 -1.83233614e-02 4.02144632e+02] [ 3.99984189e-02 9.99199732e-01 -1.48156664e-04 5.48188492e+00] [ 1.83146233e-02 -5.84892256e-04 9.99832102e-01 4.77277785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.655099893 meters 0.017767597763524955 Centerline is valid? [True, True] Translation: X:402.18, Y:5.48, Z:4.77 [[ 9.99041787e-01 -3.95383656e-02 -1.87676907e-02 4.02175984e+02] [ 3.95424925e-02 9.99217878e-01 -1.51293847e-04 5.48488905e+00] [ 1.87589940e-02 -5.90972394e-04 9.99823860e-01 4.77338174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68509989300003 meters 0.018246321350274652 Centerline is valid? [True, True] Translation: X:402.21, Y:5.49, Z:4.77 [[ 9.99087810e-01 -3.81071593e-02 -1.92715401e-02 4.02205357e+02] [ 3.81112513e-02 9.99273490e-01 -1.55023879e-04 5.48578911e+00] [ 1.92634467e-02 -5.79580040e-04 9.99814275e-01 4.77396967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.715099893 meters 0.017947689597701533 Centerline is valid? [True, True] Translation: X:402.24, Y:5.49, Z:4.77 [[ 9.99130256e-01 -3.68506579e-02 -1.95130700e-02 4.02236316e+02] [ 3.68546118e-02 9.99320626e-01 -1.57065560e-04 5.48762182e+00] [ 1.95056013e-02 -5.62217665e-04 9.99809590e-01 4.77457380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74509989300003 meters 0.016777161795248265 Centerline is valid? [True, True] Translation: X:402.27, Y:5.49, Z:4.78 [[ 9.99175885e-01 -3.52644509e-02 -2.00989852e-02 4.02266460e+02] [ 3.52683269e-02 9.99377866e-01 -1.61698577e-04 5.49140388e+00] [ 2.00921832e-02 -5.47292262e-04 9.99797982e-01 4.77529719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.775099893 meters 0.015409490661737526 Centerline is valid? [True, True] Translation: X:402.30, Y:5.50, Z:4.78 [[ 9.99282200e-01 -3.18738967e-02 -2.04728728e-02 4.02295966e+02] [ 3.18771966e-02 9.99491779e-01 -1.65221540e-04 5.49629903e+00] [ 2.04677343e-02 -4.87514846e-04 9.99790395e-01 4.77624337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80509989300003 meters 0.015682587557734568 Centerline is valid? [True, True] Translation: X:402.32, Y:5.50, Z:4.78 [[ 9.99326873e-01 -3.02405962e-02 -2.07679496e-02 4.02324299e+02] [ 3.02436200e-02 9.99542543e-01 -1.68539502e-04 5.49697575e+00] [ 2.07635459e-02 -4.59671922e-04 9.99784309e-01 4.77597483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.835099893 meters 0.014704211437398139 Centerline is valid? [True, True] Translation: X:402.35, Y:5.50, Z:4.78 [[ 9.99360559e-01 -2.90449599e-02 -2.08533672e-02 4.02352666e+02] [ 2.90476890e-02 9.99578012e-01 -1.72087254e-04 5.49999760e+00] [ 2.08495656e-02 -4.33764909e-04 9.99782530e-01 4.77685603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86509989300004 meters 0.014571940955797067 Centerline is valid? [True, True] Translation: X:402.38, Y:5.50, Z:4.78 [[ 9.99388943e-01 -2.80212748e-02 -2.08937581e-02 4.02380815e+02] [ 2.80237098e-02 9.99607243e-01 -1.76301991e-04 5.50100704e+00] [ 2.08904921e-02 -4.09326352e-04 9.99781686e-01 4.77690353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.895099893 meters 0.014276976702388151 Centerline is valid? [True, True] Translation: X:402.41, Y:5.50, Z:4.78 [[ 9.99402234e-01 -2.73717645e-02 -2.11178158e-02 4.02409234e+02] [ 2.73740370e-02 9.99625244e-01 -1.81505488e-04 5.50224162e+00] [ 2.11148699e-02 -3.96682882e-04 9.99776978e-01 4.77709662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.925099893 meters 0.014413115784846168 Centerline is valid? [True, True] Translation: X:402.44, Y:5.50, Z:4.78 [[ 9.99391565e-01 -2.75865789e-02 -2.13420082e-02 4.02436763e+02] [ 2.75888649e-02 9.99619337e-01 -1.87369243e-04 5.50269855e+00] [ 2.13390530e-02 -4.01546539e-04 9.99772216e-01 4.77672628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.955099893 meters 0.014825823693001852 Centerline is valid? [True, True] Translation: X:402.46, Y:5.50, Z:4.78 [[ 9.99365278e-01 -2.85628626e-02 -2.12885670e-02 4.02464843e+02] [ 2.85653184e-02 9.99591910e-01 -1.88783981e-04 5.50240221e+00] [ 2.12852715e-02 -4.19450538e-04 9.99773355e-01 4.77686645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.985099893 meters 0.014475191558369436 Centerline is valid? [True, True] Translation: X:402.49, Y:5.50, Z:4.78 [[ 9.99317322e-01 -3.01328631e-02 -2.13752439e-02 4.02493475e+02] [ 3.01356254e-02 9.99545800e-01 -1.92948132e-04 5.50356249e+00] [ 2.13713493e-02 -4.51339932e-04 9.99771505e-01 4.77769843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.015099893 meters 0.01529862012262997 Centerline is valid? [True, True] Translation: X:402.52, Y:5.50, Z:4.78 [[ 9.99248906e-01 -3.18810617e-02 -2.20277681e-02 4.02521217e+02] [ 3.18843289e-02 9.99491545e-01 -2.02964219e-04 5.50208727e+00] [ 2.20230387e-02 -4.99528830e-04 9.99757339e-01 4.77740485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.045099893 meters 0.016150981569428978 Centerline is valid? [True, True] Translation: X:402.55, Y:5.50, Z:4.78 [[ 9.99046524e-01 -3.69742008e-02 -2.32153147e-02 4.02550491e+02] [ 3.69791628e-02 9.99316014e-01 -2.15671081e-04 5.50059400e+00] [ 2.32074101e-02 -6.43017460e-04 9.99730465e-01 4.77745674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.075099893 meters 0.01826587025481156 Centerline is valid? [True, True] Translation: X:402.58, Y:5.50, Z:4.78 [[ 9.98932971e-01 -3.95868184e-02 -2.37866066e-02 4.02578823e+02] [ 3.95927318e-02 9.99215876e-01 -2.22484697e-04 5.49716709e+00] [ 2.37767624e-02 -7.19529437e-04 9.99717034e-01 4.77669938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.105099893 meters 0.01755988140934518 Centerline is valid? [True, True] Translation: X:402.61, Y:5.50, Z:4.78 [[ 9.98804878e-01 -4.24346128e-02 -2.42511657e-02 4.02608515e+02] [ 4.24415656e-02 9.99098925e-01 -2.28165279e-04 5.49872044e+00] [ 2.42389957e-02 -8.01364846e-04 9.99705871e-01 4.77776438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.135099893 meters 0.019383169605469604 Centerline is valid? [True, True] Translation: X:402.64, Y:5.50, Z:4.78 [[ 9.98665602e-01 -4.52243539e-02 -2.49353817e-02 4.02637663e+02] [ 4.52325640e-02 9.98976456e-01 -2.34970339e-04 5.49623947e+00] [ 2.49204857e-02 -8.93234455e-04 9.99689037e-01 4.77775261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.165099893 meters 0.020674073991534446 Centerline is valid? [True, True] Translation: X:402.67, Y:5.50, Z:4.78 [[ 9.98432551e-01 -5.01774580e-02 -2.47924207e-02 4.02667858e+02] [ 5.01870951e-02 9.98739806e-01 -2.33754251e-04 5.49507517e+00] [ 2.47729066e-02 -1.01087172e-03 9.99692593e-01 4.77926527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.195099893 meters 0.02145996972666101 Centerline is valid? [True, True] Translation: X:402.70, Y:5.49, Z:4.78 [[ 9.98312801e-01 -5.26261733e-02 -2.45364341e-02 4.02698028e+02] [ 5.26363397e-02 9.98613720e-01 -2.31776570e-04 5.49482435e+00] [ 2.45146173e-02 -1.06012256e-03 9.99698910e-01 4.78008372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.225099893 meters 0.02063779803002596 Centerline is valid? [True, True] Translation: X:402.73, Y:5.50, Z:4.78 [[ 9.98198043e-01 -5.46559944e-02 -2.47666926e-02 4.02729114e+02] [ 5.46669817e-02 9.98504615e-01 -2.33720431e-04 5.49657508e+00] [ 2.47424311e-02 -1.12062105e-03 9.99693231e-01 4.78157963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.255099893 meters 0.02194643474740332 Centerline is valid? [True, True] Translation: X:402.76, Y:5.50, Z:4.78 [[ 9.97983375e-01 -5.84415897e-02 -2.47742766e-02 4.02760223e+02] [ 5.84537686e-02 9.98290089e-01 -2.32925495e-04 5.49613355e+00] [ 2.47455274e-02 -1.21569406e-03 9.99693043e-01 4.78271195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.285099893 meters 0.02194643474740332 Centerline is valid? [True, True] Translation: X:402.79, Y:5.50, Z:4.78 [[ 9.97987676e-01 -5.83680754e-02 -2.47742891e-02 4.02791951e+02] [ 5.83802646e-02 9.98294391e-01 -2.31599717e-04 5.49637487e+00] [ 2.47455518e-02 -1.21519589e-03 9.99693043e-01 4.78310422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.315099893 meters 0.022081523227446984 Centerline is valid? [True, True] Translation: X:402.82, Y:5.50, Z:4.78 [[ 9.97891902e-01 -6.00121870e-02 -2.47040484e-02 4.02822762e+02] [ 6.00248375e-02 9.98196857e-01 -2.29807008e-04 5.49713417e+00] [ 2.46732947e-02 -1.25353394e-03 9.99694782e-01 4.78396044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.345099893 meters 0.02407612141943068 Centerline is valid? [True, True] Translation: X:402.85, Y:5.50, Z:4.78 [[ 9.97800277e-01 -6.14741438e-02 -2.48099957e-02 4.02853465e+02] [ 6.14873991e-02 9.98107834e-01 -2.28963646e-04 5.49560576e+00] [ 2.47771264e-02 -1.29704212e-03 9.99692158e-01 4.78422996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.375099893 meters 0.02458045547112535 Centerline is valid? [True, True] Translation: X:402.89, Y:5.50, Z:4.78 [[ 9.97732069e-01 -6.26632891e-02 -2.45770550e-02 4.02885245e+02] [ 6.26767112e-02 9.98033857e-01 -2.24575976e-04 5.49618673e+00] [ 2.45428056e-02 -1.31634232e-03 9.99697913e-01 4.78496917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.405099893 meters 0.02589870489630238 Centerline is valid? [True, True] Translation: X:402.92, Y:5.50, Z:4.79 [[ 9.97598717e-01 -6.46558084e-02 -2.48279439e-02 4.02916092e+02] [ 6.46701435e-02 9.97906670e-01 -2.25966419e-04 5.49659864e+00] [ 2.47905809e-02 -1.38020288e-03 9.99691714e-01 4.78578605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43509989300003 meters 0.025512075116685795 Centerline is valid? [True, True] Translation: X:402.95, Y:5.50, Z:4.79 [[ 9.97562372e-01 -6.53398551e-02 -2.44952514e-02 4.02948161e+02] [ 6.53540408e-02 9.97862115e-01 -2.21838148e-04 5.49827973e+00] [ 2.44573783e-02 -1.37956627e-03 9.99699922e-01 4.78697360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.465099893 meters 0.02801973322213904 Centerline is valid? [True, True] Translation: X:402.98, Y:5.50, Z:4.79 [[ 9.97542304e-01 -6.57934735e-02 -2.40950484e-02 4.02979564e+02] [ 6.58073831e-02 9.97832321e-01 -2.16053977e-04 5.49578579e+00] [ 2.40570330e-02 -1.37010910e-03 9.99709649e-01 4.78720202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49509989300003 meters 0.027410242248988765 Centerline is valid? [True, True] Translation: X:403.01, Y:5.50, Z:4.79 [[ 9.97527997e-01 -6.60591012e-02 -2.39601762e-02 4.03011911e+02] [ 6.60729836e-02 9.97814770e-01 -2.12683733e-04 5.49760829e+00] [ 2.39218674e-02 -1.37096235e-03 9.99712891e-01 4.78811392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.525099893 meters 0.02877072379213386 Centerline is valid? [True, True] Translation: X:403.04, Y:5.50, Z:4.79 [[ 9.97540682e-01 -6.58478914e-02 -2.40134016e-02 4.03042686e+02] [ 6.58618104e-02 9.97828731e-01 -2.11659576e-04 5.49790733e+00] [ 2.39751993e-02 -1.37042706e-03 9.99711614e-01 4.78851524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55509989300003 meters 0.028184369216096586 Centerline is valid? [True, True] Translation: X:403.07, Y:5.50, Z:4.79 [[ 9.97549409e-01 -6.55670315e-02 -2.44160037e-02 4.03074798e+02] [ 6.55813744e-02 9.97847202e-01 -2.13695367e-04 5.50000493e+00] [ 2.43774523e-02 -1.38806339e-03 9.99701862e-01 4.78864330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.585099893 meters 0.027467693502498527 Centerline is valid? [True, True] Translation: X:403.11, Y:5.50, Z:4.79 [[ 9.97563065e-01 -6.51016681e-02 -2.50939230e-02 4.03107148e+02] [ 6.51167173e-02 9.97877631e-01 -2.17833723e-04 5.50225322e+00] [ 2.50548457e-02 -1.41673101e-03 9.99685074e-01 4.78868363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61509989300004 meters 0.02867599336991541 Centerline is valid? [True, True] Translation: X:403.14, Y:5.50, Z:4.79 [[ 9.97597580e-01 -6.39629928e-02 -2.66045709e-02 4.03138649e+02] [ 6.39795505e-02 9.97951183e-01 -2.29269669e-04 5.50296796e+00] [ 2.65647278e-02 -1.47342962e-03 9.99646009e-01 4.78689881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.645099893 meters 0.02867599336991541 Centerline is valid? [True, True] Translation: X:403.17, Y:5.50, Z:4.79 [[ 9.97599791e-01 -6.39285068e-02 -2.66045807e-02 4.03169541e+02] [ 6.39450826e-02 9.97953393e-01 -2.28126604e-04 5.50320180e+00] [ 2.65647154e-02 -1.47365306e-03 9.99646009e-01 4.78728068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.675099893 meters 0.02640923960454533 Centerline is valid? [True, True] Translation: X:403.20, Y:5.51, Z:4.79 [[ 9.97686899e-01 -6.19674634e-02 -2.79443061e-02 4.03200557e+02] [ 6.19850128e-02 9.98077052e-01 -2.38613727e-04 5.50880970e+00] [ 2.79053569e-02 -1.49406638e-03 9.99609453e-01 4.78722682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.705099893 meters 0.024056177464000197 Centerline is valid? [True, True] Translation: X:403.23, Y:5.51, Z:4.79 [[ 9.97778470e-01 -6.04234319e-02 -2.80559118e-02 4.03232243e+02] [ 6.04405494e-02 9.98171770e-01 -2.38277116e-04 5.51347157e+00] [ 2.80190167e-02 -1.45796695e-03 9.99606327e-01 4.78850730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.735099893 meters 0.025406279688816365 Centerline is valid? [True, True] Translation: X:403.26, Y:5.51, Z:4.79 [[ 9.97876740e-01 -5.87930421e-02 -2.80248273e-02 4.03263014e+02] [ 5.88095148e-02 9.98269195e-01 -2.36786653e-04 5.51349645e+00] [ 2.79902432e-02 -1.41184260e-03 9.99607199e-01 4.78851217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.765099893 meters 0.02237392073322753 Centerline is valid? [True, True] Translation: X:403.29, Y:5.52, Z:4.79 [[ 9.98018205e-01 -5.64606400e-02 -2.77823285e-02 4.03293859e+02] [ 5.64759470e-02 9.98403933e-01 -2.34023517e-04 5.51982682e+00] [ 2.77511991e-02 -1.33547358e-03 9.99613969e-01 4.79065793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.795099893 meters 0.02177094325209964 Centerline is valid? [True, True] Translation: X:403.32, Y:5.52, Z:4.79 [[ 9.98352208e-01 -5.09833954e-02 -2.63355594e-02 4.03323095e+02] [ 5.09952472e-02 9.98698871e-01 -2.21822820e-04 5.52478942e+00] [ 2.63126028e-02 -1.12153106e-03 9.99653134e-01 4.79232578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.825099893 meters 0.02276048004179781 Centerline is valid? [True, True] Translation: X:403.35, Y:5.53, Z:4.79 [[ 9.98536318e-01 -4.77368176e-02 -2.54247657e-02 4.03352641e+02] [ 4.77468204e-02 9.98859447e-01 -2.13848556e-04 5.52561751e+00] [ 2.54059759e-02 -1.00041617e-03 9.99676716e-01 4.79267672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.855099893 meters 0.01721703924669618 Centerline is valid? [True, True] Translation: X:403.38, Y:5.54, Z:4.80 [[ 9.98892645e-01 -4.05673790e-02 -2.38279361e-02 4.03382681e+02] [ 4.05741374e-02 9.99176511e-01 -1.99966778e-04 5.53795856e+00] [ 2.38164262e-02 -7.67052611e-04 9.99716054e-01 4.79604149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.885099893 meters 0.015997368214754868 Centerline is valid? [True, True] Translation: X:403.41, Y:5.54, Z:4.80 [[ 9.99046100e-01 -3.70640357e-02 -2.30899945e-02 4.03412980e+02] [ 3.70694477e-02 9.99312673e-01 -1.93739759e-04 5.54197820e+00] [ 2.30813049e-02 -6.62378393e-04 9.99733372e-01 4.79692092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.915099893 meters 0.014385798224754333 Centerline is valid? [True, True] Translation: X:403.44, Y:5.55, Z:4.80 [[ 9.99178905e-01 -3.35974192e-02 -2.26435121e-02 4.03443685e+02] [ 3.36017343e-02 9.99435284e-01 -1.89993487e-04 5.54669418e+00] [ 2.26371082e-02 -5.71023791e-04 9.99743585e-01 4.79828744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.945099893 meters 0.013753450044784352 Centerline is valid? [True, True] Translation: X:403.47, Y:5.55, Z:4.80 [[ 9.99296029e-01 -3.01239810e-02 -2.23605217e-02 4.03473311e+02] [ 3.01273157e-02 9.99546052e-01 -1.87800912e-04 5.54945081e+00] [ 2.23560285e-02 -4.85993792e-04 9.99749955e-01 4.79825343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.975099893 meters 0.013195859366253938 Centerline is valid? [True, True] Translation: X:403.50, Y:5.55, Z:4.80 [[ 9.99373954e-01 -2.71830277e-02 -2.26447098e-02 4.03503151e+02] [ 2.71856796e-02 9.99630383e-01 -1.90785624e-04 5.55220491e+00] [ 2.26415261e-02 -4.24945642e-04 9.99743557e-01 4.79829059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.005099893 meters 0.012176172414433984 Centerline is valid? [True, True] Translation: X:403.53, Y:5.56, Z:4.80 [[ 9.99468262e-01 -2.22704345e-02 -2.38164144e-02 4.03531630e+02] [ 2.22718933e-02 9.99751930e-01 -2.04034364e-04 5.55689974e+00] [ 2.38150502e-02 -3.26510768e-04 9.99716328e-01 4.79753017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.035099893 meters 0.01204227420888112 Centerline is valid? [True, True] Translation: X:403.56, Y:5.56, Z:4.80 [[ 9.99490326e-01 -2.03770781e-02 -2.45736323e-02 4.03559463e+02] [ 2.03779526e-02 9.99792325e-01 -2.14858154e-04 5.55861863e+00] [ 2.45729072e-02 -2.86011668e-04 9.99698000e-01 4.79717176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.065099893 meters 0.011892643509404537 Centerline is valid? [True, True] Translation: X:403.59, Y:5.56, Z:4.80 [[ 9.99520085e-01 -1.85564518e-02 -2.48044093e-02 4.03587332e+02] [ 1.85567271e-02 9.99827785e-01 -2.19098852e-04 5.55992975e+00] [ 2.48042033e-02 -2.41294952e-04 9.99692299e-01 4.79661915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.095099893 meters 0.01155854200187696 Centerline is valid? [True, True] Translation: X:403.62, Y:5.56, Z:4.80 [[ 9.99530061e-01 -1.76823689e-02 -2.50397920e-02 4.03615096e+02] [ 1.76822564e-02 9.99843631e-01 -2.25925345e-04 5.56200979e+00] [ 2.50398715e-02 -2.16940849e-04 9.99686430e-01 4.79739996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.125099893 meters 0.011564481469062216 Centerline is valid? [True, True] Translation: X:403.64, Y:5.56, Z:4.80 [[ 9.99537548e-01 -1.69739487e-02 -2.52304427e-02 4.03643207e+02] [ 1.69734260e-02 9.99855913e-01 -2.34890470e-04 5.56277991e+00] [ 2.52307943e-02 -1.93465207e-04 9.99681634e-01 4.79734957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.155099893 meters 0.011313486924256787 Centerline is valid? [True, True] Translation: X:403.67, Y:5.56, Z:4.80 [[ 9.99539658e-01 -1.60635922e-02 -2.57377635e-02 4.03671381e+02] [ 1.60625543e-02 9.99870958e-01 -2.47077731e-04 5.56368495e+00] [ 2.57384112e-02 -1.66450234e-04 9.99668698e-01 4.79744945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18509989300003 meters 0.01135972889863789 Centerline is valid? [True, True] Translation: X:403.70, Y:5.56, Z:4.80 [[ 9.99544401e-01 -1.56997415e-02 -2.57780529e-02 4.03698095e+02] [ 1.56984437e-02 9.99876740e-01 -2.52729844e-04 5.56438294e+00] [ 2.57788433e-02 -1.52060610e-04 9.99667659e-01 4.79743010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.215099893 meters 0.011169893484296166 Centerline is valid? [True, True] Translation: X:403.73, Y:5.57, Z:4.80 [[ 9.99546759e-01 -1.53196511e-02 -2.59149409e-02 4.03725739e+02] [ 1.53180704e-02 9.99882638e-01 -2.59521934e-04 5.56530459e+00] [ 2.59158752e-02 -1.37562580e-04 9.99664118e-01 4.79786114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24509989300003 meters 0.011179037712837419 Centerline is valid? [True, True] Translation: X:403.75, Y:5.57, Z:4.80 [[ 9.99561015e-01 -1.48498208e-02 -2.56370874e-02 4.03753869e+02] [ 1.48479990e-02 9.99889728e-01 -2.61431092e-04 5.56595326e+00] [ 2.56381425e-02 -1.19343120e-04 9.99671282e-01 4.79779559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.275099893 meters 0.010996426670647616 Centerline is valid? [True, True] Translation: X:403.78, Y:5.57, Z:4.80 [[ 9.99572823e-01 -1.42043258e-02 -2.55422811e-02 4.03781688e+02] [ 1.42021839e-02 9.99899109e-01 -2.65268730e-04 5.56656059e+00] [ 2.55434721e-02 -9.76007613e-05 9.99673708e-01 4.79850974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30509989300003 meters 0.010889337495100663 Centerline is valid? [True, True] Translation: X:403.81, Y:5.57, Z:4.80 [[ 9.99576889e-01 -1.42615973e-02 -2.53505208e-02 4.03809266e+02] [ 1.42593244e-02 9.99898294e-01 -2.70436744e-04 5.56703202e+00] [ 2.53517994e-02 -9.11589802e-05 9.99678587e-01 4.79937895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.335099893 meters 0.01095612312533844 Centerline is valid? [True, True] Translation: X:403.84, Y:5.57, Z:4.80 [[ 9.99563682e-01 -1.43007690e-02 -2.58443945e-02 4.03836815e+02] [ 1.42982961e-02 9.99897735e-01 -2.80490168e-04 5.56701070e+00] [ 2.58457627e-02 -8.91630183e-05 9.99665939e-01 4.79935380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36509989300004 meters 0.010864803713616254 Centerline is valid? [True, True] Translation: X:403.86, Y:5.57, Z:4.80 [[ 9.99572006e-01 -1.48151925e-02 -2.52252867e-02 4.03864446e+02] [ 1.48128823e-02 9.99890244e-01 -2.78449309e-04 5.56662116e+00] [ 2.52266433e-02 -9.53290690e-05 9.99681753e-01 4.80082773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.395099893 meters 0.010790235028531303 Centerline is valid? [True, True] Translation: X:403.89, Y:5.57, Z:4.80 [[ 9.99562784e-01 -1.55495578e-02 -2.51486134e-02 4.03892545e+02] [ 1.55473154e-02 9.99879093e-01 -2.84705243e-04 5.56651167e+00] [ 2.51499998e-02 -1.06412659e-04 9.99683683e-01 4.80198896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.425099893 meters 0.010883198435320172 Centerline is valid? [True, True] Translation: X:403.92, Y:5.57, Z:4.80 [[ 9.99550285e-01 -1.66635104e-02 -2.49310010e-02 4.03919114e+02] [ 1.66615048e-02 9.99861146e-01 -2.88187275e-04 5.56589857e+00] [ 2.49323415e-02 -1.27330319e-04 9.99689133e-01 4.80236603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.455099893 meters 0.010866883511441475 Centerline is valid? [True, True] Translation: X:403.95, Y:5.57, Z:4.80 [[ 9.99539077e-01 -1.79734385e-02 -2.44660991e-02 4.03947066e+02] [ 1.79717567e-02 9.99838453e-01 -2.88638597e-04 5.56512221e+00] [ 2.44673345e-02 -1.51193225e-04 9.99700619e-01 4.80293785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.485099893 meters 0.011176520682535345 Centerline is valid? [True, True] Translation: X:403.97, Y:5.56, Z:4.80 [[ 9.99490871e-01 -2.05365505e-02 -2.44181996e-02 4.03974586e+02] [ 2.05355133e-02 9.99789081e-01 -2.93258532e-04 5.56188772e+00] [ 2.44190719e-02 -2.08331039e-04 9.99701788e-01 4.80280933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.515099893 meters 0.011472042677428162 Centerline is valid? [True, True] Translation: X:404.00, Y:5.56, Z:4.80 [[ 9.99470972e-01 -2.20875239e-02 -2.38729297e-02 4.04002501e+02] [ 2.20868986e-02 9.99756013e-01 -2.89899952e-04 5.55976197e+00] [ 2.38735082e-02 -2.37532392e-04 9.99714959e-01 4.80254988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.545099893 meters 0.011291409483055416 Centerline is valid? [True, True] Translation: X:404.03, Y:5.56, Z:4.80 [[ 9.99442594e-01 -2.35531540e-02 -2.36590568e-02 4.04031631e+02] [ 2.35528449e-02 9.99722551e-01 -2.91759594e-04 5.55934365e+00] [ 2.36593644e-02 -2.65641129e-04 9.99720043e-01 4.80377618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.575099893 meters 0.011634353228810757 Centerline is valid? [True, True] Translation: X:404.06, Y:5.56, Z:4.80 [[ 9.99425889e-01 -2.42684218e-02 -2.36418278e-02 4.04058467e+02] [ 2.42681865e-02 9.99705440e-01 -2.96904549e-04 5.55760624e+00] [ 2.36420693e-02 -2.77010194e-04 9.99720449e-01 4.80319310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.605099893 meters 0.011518651446458065 Centerline is valid? [True, True] Translation: X:404.09, Y:5.56, Z:4.80 [[ 9.99413466e-01 -2.45156887e-02 -2.39103725e-02 4.04086596e+02] [ 2.45153814e-02 9.99699406e-01 -3.06026667e-04 5.55625704e+00] [ 2.39106876e-02 -2.80324728e-04 9.99714059e-01 4.80313768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.635099893 meters 0.011164174677128928 Centerline is valid? [True, True] Translation: X:404.11, Y:5.56, Z:4.80 [[ 9.99423257e-01 -2.42686507e-02 -2.37525902e-02 4.04114419e+02] [ 2.42681167e-02 9.99705438e-01 -3.10778473e-04 5.55678922e+00] [ 2.37531357e-02 -2.65831397e-04 9.99717819e-01 4.80411131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.665099893 meters 0.01109883447037829 Centerline is valid? [True, True] Translation: X:404.14, Y:5.56, Z:4.80 [[ 9.99450721e-01 -2.35173568e-02 -2.33493014e-02 4.04143431e+02] [ 2.35164884e-02 9.99723401e-01 -3.11815390e-04 5.55648260e+00] [ 2.33501761e-02 -2.37449458e-04 9.99727319e-01 4.80406878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.695099893 meters 0.010933192223906029 Centerline is valid? [True, True] Translation: X:404.17, Y:5.56, Z:4.80 [[ 9.99480198e-01 -2.24890097e-02 -2.30993308e-02 4.04171932e+02] [ 2.24877505e-02 9.99747069e-01 -3.14302867e-04 5.55648437e+00] [ 2.31005566e-02 -2.05312495e-04 9.99733125e-01 4.80450301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.725099893 meters 0.010718958204954054 Centerline is valid? [True, True] Translation: X:404.20, Y:5.56, Z:4.80 [[ 9.99506375e-01 -2.13338538e-02 -2.30623576e-02 4.04201060e+02] [ 2.13321555e-02 9.99772393e-01 -3.19682176e-04 5.55652800e+00] [ 2.30639285e-02 -1.72445425e-04 9.99733977e-01 4.80498841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.755099893 meters 0.010599094835409013 Centerline is valid? [True, True] Translation: X:404.23, Y:5.56, Z:4.80 [[ 9.99586214e-01 -1.81462766e-02 -2.23184505e-02 4.04228874e+02] [ 1.81438031e-02 9.99835339e-01 -3.13336575e-04 5.55575425e+00] [ 2.23204614e-02 -9.17346499e-05 9.99750863e-01 4.80467583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.785099893 meters 0.010460647973174163 Centerline is valid? [True, True] Translation: X:404.26, Y:5.56, Z:4.81 [[ 9.99613575e-01 -1.69696034e-02 -2.20166374e-02 4.04256760e+02] [ 1.69668251e-02 9.99856004e-01 -3.12993081e-04 5.55570647e+00] [ 2.20187784e-02 -6.06803038e-05 9.99757555e-01 4.80553471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.815099893 meters 0.010537791251523756 Centerline is valid? [True, True] Translation: X:404.28, Y:5.56, Z:4.81 [[ 9.99637988e-01 -1.58532382e-02 -2.17386161e-02 4.04283690e+02] [ 1.58501637e-02 9.99874329e-01 -3.13738728e-04 5.55534029e+00] [ 2.17408580e-02 -3.09354721e-05 9.99763639e-01 4.80523247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.845099893 meters 0.010458652640016905 Centerline is valid? [True, True] Translation: X:404.31, Y:5.56, Z:4.81 [[ 9.99660014e-01 -1.50859342e-02 -2.12666653e-02 4.04311846e+02] [ 1.50827318e-02 9.99886201e-01 -3.10982413e-04 5.55500671e+00] [ 2.12689366e-02 -9.88272502e-06 9.99773791e-01 4.80585016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.875099893 meters 0.010365433137944505 Centerline is valid? [True, True] Translation: X:404.34, Y:5.55, Z:4.81 [[ 9.99666737e-01 -1.44341804e-02 -2.14025331e-02 4.04339419e+02] [ 1.44306555e-02 9.99895822e-01 -3.19140744e-04 5.55296293e+00] [ 2.14049100e-02 1.01818050e-05 9.99770889e-01 4.80632497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.905099893 meters 0.010318996320425433 Centerline is valid? [True, True] Translation: X:404.37, Y:5.55, Z:4.81 [[ 9.99665727e-01 -1.47829081e-02 -2.12108243e-02 4.04366923e+02] [ 1.47793949e-02 9.99890727e-01 -3.22389056e-04 5.55212243e+00] [ 2.12132724e-02 8.79814116e-06 9.99774973e-01 4.80640193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93509989300003 meters 0.010349155556597305 Centerline is valid? [True, True] Translation: X:404.40, Y:5.55, Z:4.81 [[ 9.99646593e-01 -1.54767732e-02 -2.16138652e-02 4.04395178e+02] [ 1.54731506e-02 9.99880228e-01 -3.34844512e-04 5.55107479e+00] [ 2.16164588e-02 2.91583667e-07 9.99766337e-01 4.80674790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.965099893 meters 0.010326029574143872 Centerline is valid? [True, True] Translation: X:404.42, Y:5.55, Z:4.81 [[ 9.99615997e-01 -1.72227994e-02 -2.17079046e-02 4.04421690e+02] [ 1.72194374e-02 9.99851676e-01 -3.41803923e-04 5.54763768e+00] [ 2.17105716e-02 -3.21252339e-05 9.99764297e-01 4.80646201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99509989300003 meters 0.010436928291246867 Centerline is valid? [True, True] Translation: X:404.45, Y:5.55, Z:4.81 [[ 9.99600076e-01 -1.84899222e-02 -2.13965203e-02 4.04448519e+02] [ 1.84868691e-02 9.99829045e-01 -3.40498093e-04 5.54563719e+00] [ 2.13991582e-02 -5.51927512e-05 9.99771010e-01 4.80599047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.025099893 meters 0.010383946195652584 Centerline is valid? [True, True] Translation: X:404.48, Y:5.54, Z:4.81 [[ 9.99563327e-01 -2.03990128e-02 -2.13783709e-02 4.04476233e+02] [ 2.03963129e-02 9.99791914e-01 -3.44351967e-04 5.54375372e+00] [ 2.13809468e-02 -9.18383448e-05 9.99771397e-01 4.80698551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05509989300003 meters 0.010485919037377021 Centerline is valid? [True, True] Translation: X:404.50, Y:5.54, Z:4.81 [[ 9.99521122e-01 -2.26532487e-02 -2.10797717e-02 4.04504307e+02] [ 2.26509975e-02 9.99743374e-01 -3.45584738e-04 5.54193973e+00] [ 2.10821907e-02 -1.32058612e-04 9.99777737e-01 4.80736631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.085099893 meters 0.0109475633662058 Centerline is valid? [True, True] Translation: X:404.53, Y:5.54, Z:4.81 [[ 9.99407744e-01 -2.76105052e-02 -2.05382816e-02 4.04533288e+02] [ 2.76093005e-02 9.99618732e-01 -3.42264877e-04 5.53727217e+00] [ 2.05399011e-02 -2.24985418e-04 9.99789009e-01 4.80848561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11509989300004 meters 0.011401260311618677 Centerline is valid? [True, True] Translation: X:404.56, Y:5.53, Z:4.81 [[ 9.99335313e-01 -3.04020827e-02 -2.01158002e-02 4.04561854e+02] [ 3.04013910e-02 9.99537713e-01 -3.40258679e-04 5.53487566e+00] [ 2.01168455e-02 -2.71515792e-04 9.99797599e-01 4.80908548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.145099893 meters 0.012013381680664634 Centerline is valid? [True, True] Translation: X:404.59, Y:5.53, Z:4.81 [[ 9.99269418e-01 -3.29733378e-02 -1.93232859e-02 4.04590387e+02] [ 3.29731148e-02 9.99456184e-01 -3.30229704e-04 5.53223373e+00] [ 1.93236664e-02 -3.07160481e-04 9.99813233e-01 4.80950477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.175099893 meters 0.012013381680664634 Centerline is valid? [True, True] Translation: X:404.62, Y:5.53, Z:4.81 [[ 9.99269418e-01 -3.29733460e-02 -1.93232746e-02 4.04620385e+02] [ 3.29731102e-02 9.99456184e-01 -3.30893242e-04 5.53274773e+00] [ 1.93236769e-02 -3.06496964e-04 9.99813233e-01 4.80987598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.205099893 meters 0.012955754652082525 Centerline is valid? [True, True] Translation: X:404.65, Y:5.53, Z:4.81 [[ 9.99188208e-01 -3.54148494e-02 -1.92018865e-02 4.04649622e+02] [ 3.54150648e-02 9.99372636e-01 -3.28935959e-04 5.52940655e+00] [ 1.92014892e-02 -3.51367125e-04 9.99815573e-01 4.81021270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.235099893 meters 0.013495957506261013 Centerline is valid? [True, True] Translation: X:404.68, Y:5.53, Z:4.81 [[ 9.99042121e-01 -3.95553711e-02 -1.87139981e-02 4.04679953e+02] [ 3.95562977e-02 9.99217292e-01 -3.20792106e-04 5.52581616e+00] [ 1.87120396e-02 -4.19771655e-04 9.99824826e-01 4.81131803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.265099893 meters 0.013408580475430145 Centerline is valid? [True, True] Translation: X:404.71, Y:5.53, Z:4.81 [[ 9.98973970e-01 -4.13399781e-02 -1.84935948e-02 4.04711307e+02] [ 4.13411927e-02 9.99145037e-01 -3.16788004e-04 5.52532973e+00] [ 1.84908795e-02 -4.48084295e-04 9.99828929e-01 4.81210160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.295099893 meters 0.01496635095470237 Centerline is valid? [True, True] Translation: X:404.74, Y:5.52, Z:4.81 [[ 9.98902369e-01 -4.28328194e-02 -1.89580421e-02 4.04741344e+02] [ 4.28343756e-02 9.99082134e-01 -3.24155987e-04 5.52169710e+00] [ 1.89545257e-02 -4.88255715e-04 9.99820228e-01 4.81181444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.325099893 meters 0.01582078641421601 Centerline is valid? [True, True] Translation: X:404.77, Y:5.52, Z:4.81 [[ 9.98772958e-01 -4.58673700e-02 -1.86751990e-02 4.04772920e+02] [ 4.58694184e-02 9.98947393e-01 -3.18873553e-04 5.51899839e+00] [ 1.86701673e-02 -5.38138235e-04 9.99825552e-01 4.81259981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.355099893 meters 0.01577783818956494 Centerline is valid? [True, True] Translation: X:404.81, Y:5.52, Z:4.81 [[ 9.98712861e-01 -4.71533345e-02 -1.86864797e-02 4.04805038e+02] [ 4.71556270e-02 9.98887504e-01 -3.18171813e-04 5.51882293e+00] [ 1.86806939e-02 -5.63410383e-04 9.99825342e-01 4.81311684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.385099893 meters 0.016365176426129065 Centerline is valid? [True, True] Translation: X:404.84, Y:5.52, Z:4.81 [[ 9.98672272e-01 -4.79585633e-02 -1.88061190e-02 4.04836519e+02] [ 4.79610585e-02 9.98849155e-01 -3.18579950e-04 5.51736655e+00] [ 1.87997547e-02 -5.83804413e-04 9.99823099e-01 4.81347229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.415099893 meters 0.016802585473161727 Centerline is valid? [True, True] Translation: X:404.87, Y:5.52, Z:4.81 [[ 9.98630524e-01 -4.88680339e-02 -1.86813297e-02 4.04868190e+02] [ 4.88706874e-02 9.98805064e-01 -3.14733972e-04 5.51626275e+00] [ 1.86743871e-02 -5.98666470e-04 9.99825439e-01 4.81373289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.445099893 meters 0.016529574574897763 Centerline is valid? [True, True] Translation: X:404.90, Y:5.52, Z:4.81 [[ 9.98578855e-01 -5.01074313e-02 -1.81525655e-02 4.04900782e+02] [ 5.01101604e-02 9.98743650e-01 -3.04761417e-04 5.51603314e+00] [ 1.81450303e-02 -6.05299663e-04 9.99835182e-01 4.81483599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.475099893 meters 0.017749214445656674 Centerline is valid? [True, True] Translation: X:404.93, Y:5.51, Z:4.81 [[ 9.98577328e-01 -5.00651892e-02 -1.83520240e-02 4.04932421e+02] [ 5.00679942e-02 9.98745764e-01 -3.06876320e-04 5.51412918e+00] [ 1.83443701e-02 -6.12409297e-04 9.99831540e-01 4.81469994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.505099893 meters 0.01675956357486989 Centerline is valid? [True, True] Translation: X:404.96, Y:5.52, Z:4.81 [[ 9.98562374e-01 -5.00680019e-02 -1.91410599e-02 4.04964528e+02] [ 5.00710766e-02 9.98745606e-01 -3.18880574e-04 5.51583245e+00] [ 1.91330152e-02 -6.39991335e-04 9.99816742e-01 4.81499537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.535099893 meters 0.016965945332871126 Centerline is valid? [True, True] Translation: X:405.00, Y:5.52, Z:4.81 [[ 9.98560304e-01 -4.99541412e-02 -1.95423212e-02 4.04997145e+02] [ 4.99573525e-02 9.98751299e-01 -3.24134461e-04 5.51575909e+00] [ 1.95341105e-02 -6.52614822e-04 9.99808978e-01 4.81479214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.565099893 meters 0.01666291904895982 Centerline is valid? [True, True] Translation: X:405.03, Y:5.52, Z:4.81 [[ 9.98573903e-01 -4.91617294e-02 -2.08154950e-02 4.05029582e+02] [ 4.91652334e-02 9.98790600e-01 -3.43695549e-04 5.51663824e+00] [ 2.08072174e-02 -6.80193263e-04 9.99783275e-01 4.81394902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.595099893 meters 0.017548805032926423 Centerline is valid? [True, True] Translation: X:405.06, Y:5.52, Z:4.81 [[ 9.98573688e-01 -4.89434607e-02 -2.13337253e-02 4.05059623e+02] [ 4.89471145e-02 9.98801310e-01 -3.51180115e-04 5.51570525e+00] [ 2.13253408e-02 -6.93545074e-04 9.99772349e-01 4.81334366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.625099893 meters 0.016477427231090015 Centerline is valid? [True, True] Translation: X:405.09, Y:5.52, Z:4.81 [[ 9.98581606e-01 -4.85671756e-02 -2.18175625e-02 4.05090491e+02] [ 4.85709197e-02 9.98819672e-01 -3.58580159e-04 5.51777126e+00] [ 2.18092258e-02 -7.01627526e-04 9.99761904e-01 4.81366856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.655099893 meters 0.015868845125833798 Centerline is valid? [True, True] Translation: X:405.12, Y:5.52, Z:4.81 [[ 9.98603305e-01 -4.80621397e-02 -2.19424133e-02 4.05121417e+02] [ 4.80658225e-02 9.98844106e-01 -3.59836669e-04 5.51931018e+00] [ 2.19343447e-02 -6.95346056e-04 9.99759172e-01 4.81420553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68509989300003 meters 0.016483808649182138 Centerline is valid? [True, True] Translation: X:405.15, Y:5.52, Z:4.81 [[ 9.98632348e-01 -4.73562662e-02 -2.21544258e-02 4.05151455e+02] [ 4.73598571e-02 9.98877826e-01 -3.62858672e-04 5.51889754e+00] [ 2.21467483e-02 -6.86868033e-04 9.99754495e-01 4.81422864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.715099893 meters 0.016987272221853388 Centerline is valid? [True, True] Translation: X:405.18, Y:5.52, Z:4.81 [[ 9.98668683e-01 -4.67571617e-02 -2.17859942e-02 4.05181283e+02] [ 4.67604881e-02 9.98906066e-01 -3.56990456e-04 5.51874163e+00] [ 2.17788536e-02 -6.62208532e-04 9.99762593e-01 4.81451196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74509989300003 meters 0.015759589908644348 Centerline is valid? [True, True] Translation: X:405.21, Y:5.52, Z:4.82 [[ 9.98731262e-01 -4.56607238e-02 -2.12359094e-02 4.05211948e+02] [ 4.56636322e-02 9.98956812e-01 -3.48189183e-04 5.52186846e+00] [ 2.12296549e-02 -6.21961334e-04 9.99774432e-01 4.81582276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.775099893 meters 0.015243508879018187 Centerline is valid? [True, True] Translation: X:405.24, Y:5.52, Z:4.82 [[ 9.98765259e-01 -4.51392029e-02 -2.07463312e-02 4.05242387e+02] [ 4.51418662e-02 9.98980528e-01 -3.40161938e-04 5.52384925e+00] [ 2.07405355e-02 -5.96786179e-04 9.99784714e-01 4.81731609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80509989300003 meters 0.016594595459543223 Centerline is valid? [True, True] Translation: X:405.27, Y:5.52, Z:4.82 [[ 9.98840669e-01 -4.43469121e-02 -1.87261463e-02 4.05273125e+02] [ 4.43489447e-02 9.99016054e-01 -3.06924036e-04 5.52303647e+00] [ 1.87213319e-02 -5.23916618e-04 9.99824603e-01 4.81855041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.835099893 meters 0.015554305898936393 Centerline is valid? [True, True] Translation: X:405.30, Y:5.53, Z:4.82 [[ 9.98851980e-01 -4.44546378e-02 -1.78467717e-02 4.05304648e+02] [ 4.44565084e-02 9.99011278e-01 -2.92103226e-04 5.52548725e+00] [ 1.78421116e-02 -5.01637272e-04 9.99840691e-01 4.82014968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86509989300004 meters 0.015349680880193792 Centerline is valid? [True, True] Translation: X:405.34, Y:5.53, Z:4.82 [[ 9.98857119e-01 -4.47623773e-02 -1.67566630e-02 4.05336418e+02] [ 4.47640818e-02 9.98997549e-01 -2.73528964e-04 5.52647285e+00] [ 1.67521091e-02 -4.76880280e-04 9.99859560e-01 4.82115431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.895099893 meters 0.01612058666428568 Centerline is valid? [True, True] Translation: X:405.37, Y:5.53, Z:4.82 [[ 9.98836582e-01 -4.51792553e-02 -1.68616971e-02 4.05367929e+02] [ 4.51810598e-02 9.98978777e-01 -2.74101552e-04 5.52537468e+00] [ 1.68568613e-02 -4.88046689e-04 9.99857794e-01 4.82113271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.925099893 meters 0.01723546469353179 Centerline is valid? [True, True] Translation: X:405.40, Y:5.52, Z:4.82 [[ 9.98736958e-01 -4.70276679e-02 -1.76886166e-02 4.05398967e+02] [ 4.70299608e-02 9.98893438e-01 -2.86563653e-04 5.52348219e+00] [ 1.76825195e-02 -5.45693236e-04 9.99843503e-01 4.82047499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.955099893 meters 0.01629628472708171 Centerline is valid? [True, True] Translation: X:405.43, Y:5.53, Z:4.82 [[ 9.98677529e-01 -4.82522309e-02 -1.77458758e-02 4.05431489e+02] [ 4.82547503e-02 9.98835020e-01 -2.86444600e-04 5.52544334e+00] [ 1.77390238e-02 -5.70257021e-04 9.99842489e-01 4.82095297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.985099893 meters 0.017045301275928817 Centerline is valid? [True, True] Translation: X:405.46, Y:5.52, Z:4.82 [[ 9.98622996e-01 -4.93568891e-02 -1.77766323e-02 4.05462821e+02] [ 4.93596133e-02 9.98781031e-01 -2.85748702e-04 5.52456734e+00] [ 1.77690668e-02 -5.92092471e-04 9.99841942e-01 4.82115398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.015099893 meters 0.01655316603428843 Centerline is valid? [True, True] Translation: X:405.50, Y:5.53, Z:4.82 [[ 9.98553233e-01 -5.06607110e-02 -1.80258852e-02 4.05495022e+02] [ 5.06637440e-02 9.98715726e-01 -2.88659901e-04 5.52591254e+00] [ 1.80173588e-02 -6.25016557e-04 9.99837479e-01 4.82193305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.045099893 meters 0.017347590207244697 Centerline is valid? [True, True] Translation: X:405.53, Y:5.52, Z:4.82 [[ 9.98480094e-01 -5.20978789e-02 -1.79809201e-02 4.05525780e+02] [ 5.21011495e-02 9.98641772e-01 -2.86825805e-04 5.52498612e+00] [ 1.79714409e-02 -6.50436751e-04 9.99838289e-01 4.82218923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.075099893 meters 0.01872570664340829 Centerline is valid? [True, True] Translation: X:405.56, Y:5.52, Z:4.82 [[ 9.98426540e-01 -5.32112070e-02 -1.76921205e-02 4.05556989e+02] [ 5.32145609e-02 9.98583062e-01 -2.81483049e-04 5.52318892e+00] [ 1.76820299e-02 -6.60438277e-04 9.99843443e-01 4.82253976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.105099893 meters 0.01967954209822245 Centerline is valid? [True, True] Translation: X:405.59, Y:5.52, Z:4.82 [[ 9.98340761e-01 -5.46983938e-02 -1.79947540e-02 4.05588656e+02] [ 5.47021224e-02 9.98502677e-01 -2.85314296e-04 5.52242220e+00] [ 1.79834163e-02 -6.99510345e-04 9.99838041e-01 4.82241861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.135099893 meters 0.021126549655950733 Centerline is valid? [True, True] Translation: X:405.62, Y:5.52, Z:4.82 [[ 9.98334545e-01 -5.48509755e-02 -1.78747652e-02 4.05619921e+02] [ 5.48546958e-02 9.98494308e-01 -2.82468142e-04 5.52101756e+00] [ 1.78633450e-02 -6.98517105e-04 9.99840194e-01 4.82219332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.165099893 meters 0.018988627740125382 Centerline is valid? [True, True] Translation: X:405.65, Y:5.53, Z:4.82 [[ 9.98373931e-01 -5.41848241e-02 -1.77058735e-02 4.05651716e+02] [ 5.41883880e-02 9.98530691e-01 -2.78770495e-04 5.52517605e+00] [ 1.76949632e-02 -6.81135547e-04 9.99843200e-01 4.82296255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.195099893 meters 0.018686811416057818 Centerline is valid? [True, True] Translation: X:405.68, Y:5.53, Z:4.82 [[ 9.98417519e-01 -5.34814807e-02 -1.73836089e-02 4.05684137e+02] [ 5.34848309e-02 9.98568625e-01 -2.72466734e-04 5.52726131e+00] [ 1.73732984e-02 -6.57723823e-04 9.99848857e-01 4.82345934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.225099893 meters 0.016790011453465974 Centerline is valid? [True, True] Translation: X:405.72, Y:5.53, Z:4.82 [[ 9.98580773e-01 -5.04625726e-02 -1.70284761e-02 4.05715521e+02] [ 5.04653666e-02 9.98725776e-01 -2.65859026e-04 5.53298905e+00] [ 1.70201940e-02 -5.93866579e-04 9.99854970e-01 4.82450423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.255099893 meters 0.017191100528669304 Centerline is valid? [True, True] Translation: X:405.75, Y:5.53, Z:4.82 [[ 9.98666319e-01 -4.87442455e-02 -1.70170894e-02 4.05746331e+02] [ 4.87467987e-02 9.98811133e-01 -2.64972675e-04 5.53400313e+00] [ 1.70097742e-02 -5.64909346e-04 9.99855164e-01 4.82466956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.285099893 meters 0.017172458117470774 Centerline is valid? [True, True] Translation: X:405.78, Y:5.54, Z:4.82 [[ 9.98758045e-01 -4.68897899e-02 -1.68438493e-02 4.05777067e+02] [ 4.68920418e-02 9.98899929e-01 -2.61449041e-04 5.53567538e+00] [ 1.68375792e-02 -5.28718154e-04 9.99858098e-01 4.82475465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.315099893 meters 0.01505290522403422 Centerline is valid? [True, True] Translation: X:405.81, Y:5.54, Z:4.82 [[ 9.98908308e-01 -4.35057492e-02 -1.70129908e-02 4.05808230e+02] [ 4.35075666e-02 9.99053063e-01 -2.63464040e-04 5.54249077e+00] [ 1.70083428e-02 -4.77017413e-04 9.99855234e-01 4.82484409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.345099893 meters 0.014754989583485287 Centerline is valid? [True, True] Translation: X:405.84, Y:5.55, Z:4.82 [[ 9.98952278e-01 -4.24560014e-02 -1.70831524e-02 4.05840603e+02] [ 4.24576939e-02 9.99098231e-01 -2.63757836e-04 5.54514035e+00] [ 1.70789454e-02 -4.61829763e-04 9.99854038e-01 4.82498465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.375099893 meters 0.015992494933099243 Centerline is valid? [True, True] Translation: X:405.87, Y:5.54, Z:4.82 [[ 9.98978873e-01 -4.18183318e-02 -1.71008476e-02 4.05871764e+02] [ 4.18199542e-02 9.99125128e-01 -2.62878994e-04 5.54466346e+00] [ 1.70968797e-02 -4.52546101e-04 9.99853735e-01 4.82442810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.405099893 meters 0.014647023838790843 Centerline is valid? [True, True] Translation: X:405.90, Y:5.55, Z:4.82 [[ 9.98978993e-01 -4.17551363e-02 -1.72476046e-02 4.05903660e+02] [ 4.17567950e-02 9.99127770e-01 -2.64108889e-04 5.54818355e+00] [ 1.72435886e-02 -4.56365458e-04 9.99851214e-01 4.82459214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43509989300003 meters 0.015140348692314502 Centerline is valid? [True, True] Translation: X:405.94, Y:5.55, Z:4.82 [[ 9.98908203e-01 -4.32586421e-02 -1.76377722e-02 4.05936063e+02] [ 4.32606336e-02 9.99063784e-01 -2.68789290e-04 5.54917894e+00] [ 1.76328869e-02 -4.94525374e-04 9.99844406e-01 4.82373368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.465099893 meters 0.01542468439661276 Centerline is valid? [True, True] Translation: X:405.97, Y:5.55, Z:4.82 [[ 9.98870613e-01 -4.41062585e-02 -1.76673998e-02 4.05968619e+02] [ 4.41084117e-02 9.99026714e-01 -2.67964276e-04 5.54999116e+00] [ 1.76620232e-02 -5.11619302e-04 9.99843883e-01 4.82415981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49509989300003 meters 0.016043942760468412 Centerline is valid? [True, True] Translation: X:406.00, Y:5.55, Z:4.82 [[ 9.98763219e-01 -4.59102725e-02 -1.90860991e-02 4.06000246e+02] [ 4.59131376e-02 9.98945394e-01 -2.88276985e-04 5.55130044e+00] [ 1.90792057e-02 -5.88382247e-04 9.99817802e-01 4.82496758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.525099893 meters 0.01580789593062101 Centerline is valid? [True, True] Translation: X:406.03, Y:5.55, Z:4.82 [[ 9.98682024e-01 -4.67989877e-02 -2.10729668e-02 4.06032709e+02] [ 4.68027022e-02 9.98904103e-01 -3.17159713e-04 5.55339847e+00] [ 2.10647157e-02 -6.69530085e-04 9.99777890e-01 4.82440011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55509989300003 meters 0.01581071403528722 Centerline is valid? [True, True] Translation: X:406.06, Y:5.56, Z:4.82 [[ 9.98618215e-01 -4.71371183e-02 -2.32325808e-02 4.06064220e+02] [ 4.71417574e-02 9.98888149e-01 -3.48269182e-04 5.55537644e+00] [ 2.32231660e-02 -7.47436739e-04 9.99730027e-01 4.82398864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.585099893 meters 0.016659894782030345 Centerline is valid? [True, True] Translation: X:406.09, Y:5.56, Z:4.82 [[ 9.98580794e-01 -4.72521504e-02 -2.45689066e-02 4.06094160e+02] [ 4.72573908e-02 9.98882678e-01 -3.67602434e-04 5.55607172e+00] [ 2.45588253e-02 -7.93981694e-04 9.99698071e-01 4.82280424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61509989300004 meters 0.016075147784553958 Centerline is valid? [True, True] Translation: X:406.12, Y:5.56, Z:4.82 [[ 9.98543591e-01 -4.70698892e-02 -2.63651870e-02 4.06124981e+02] [ 4.70758742e-02 9.98891239e-01 -3.93984202e-04 5.55862047e+00] [ 2.63544990e-02 -8.47753826e-04 9.99652300e-01 4.82228284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.645099893 meters 0.015992861424831934 Centerline is valid? [True, True] Translation: X:406.15, Y:5.56, Z:4.82 [[ 9.98609271e-01 -4.54401945e-02 -2.67341125e-02 4.06154213e+02] [ 4.54457641e-02 9.98966728e-01 -3.99528132e-04 5.56092057e+00] [ 2.67246435e-02 -8.15979675e-04 9.99642500e-01 4.82178834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.675099893 meters 0.015134491733768497 Centerline is valid? [True, True] Translation: X:406.18, Y:5.56, Z:4.82 [[ 9.98679362e-01 -4.41583045e-02 -2.62597685e-02 4.06184344e+02] [ 4.41632230e-02 9.99024252e-01 -3.92910199e-04 5.56348841e+00] [ 2.62514958e-02 -7.67324705e-04 9.99655076e-01 4.82307104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.705099893 meters 0.015448362398444486 Centerline is valid? [True, True] Translation: X:406.21, Y:5.56, Z:4.82 [[ 9.98769714e-01 -4.25891290e-02 -2.54012704e-02 4.06214010e+02] [ 4.25932224e-02 9.99092425e-01 -3.80121565e-04 5.56353461e+00] [ 2.53944059e-02 -7.02268054e-04 9.99677263e-01 4.82375897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.735099893 meters 0.014210346574154613 Centerline is valid? [True, True] Translation: X:406.24, Y:5.57, Z:4.83 [[ 9.98930204e-01 -4.00468307e-02 -2.31235756e-02 4.06243719e+02] [ 4.00495361e-02 9.99197635e-01 -3.46285423e-04 5.56533515e+00] [ 2.31188897e-02 -5.80173508e-04 9.99732554e-01 4.82734607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.765099893 meters 0.01448639629918295 Centerline is valid? [True, True] Translation: X:406.27, Y:5.56, Z:4.83 [[ 9.98987114e-01 -3.94541816e-02 -2.16359526e-02 4.06272796e+02] [ 3.94563983e-02 9.99221240e-01 -3.24589969e-04 5.56417367e+00] [ 2.16319098e-02 -5.29415567e-04 9.99765863e-01 4.82862113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.795099893 meters 0.014474777041672675 Centerline is valid? [True, True] Translation: X:406.30, Y:5.56, Z:4.83 [[ 9.99021512e-01 -3.93599554e-02 -2.01695771e-02 4.06303168e+02] [ 3.93618583e-02 9.99224976e-01 -3.02796664e-04 5.56332478e+00] [ 2.01658632e-02 -4.91411653e-04 9.99796528e-01 4.83079930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.825099893 meters 0.01454914253311212 Centerline is valid? [True, True] Translation: X:406.33, Y:5.56, Z:4.83 [[ 9.99034549e-01 -3.97847783e-02 -1.86317056e-02 4.06334082e+02] [ 3.97864799e-02 9.99208165e-01 -2.79488328e-04 5.56213064e+00] [ 1.86280718e-02 -4.62071486e-04 9.99826376e-01 4.83329407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.855099893 meters 0.015503307154367452 Centerline is valid? [True, True] Translation: X:406.36, Y:5.56, Z:4.84 [[ 9.99047892e-01 -4.10892366e-02 -1.46623246e-02 4.06364443e+02] [ 4.10904362e-02 9.99155407e-01 -2.19561658e-04 5.55704568e+00] [ 1.46589626e-02 -3.83128703e-04 9.99892478e-01 4.83775294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.885099893 meters 0.016167066398378647 Centerline is valid? [True, True] Translation: X:406.40, Y:5.55, Z:4.84 [[ 9.99029959e-01 -4.20211833e-02 -1.31666628e-02 4.06395419e+02] [ 4.20222346e-02 9.99116656e-01 -1.96928952e-04 5.55416292e+00] [ 1.31633073e-02 -3.56554669e-04 9.99913296e-01 4.83975448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.915099893 meters 0.01756770982915979 Centerline is valid? [True, True] Translation: X:406.43, Y:5.55, Z:4.84 [[ 9.98961860e-01 -4.39834012e-02 -1.18601329e-02 4.06426603e+02] [ 4.39843988e-02 9.99032202e-01 -1.76835558e-04 5.54770251e+00] [ 1.18564325e-02 -3.45008836e-04 9.99929651e-01 4.84216557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.945099893 meters 0.016278248183323435 Centerline is valid? [True, True] Translation: X:406.46, Y:5.55, Z:4.84 [[ 9.98932651e-01 -4.47335951e-02 -1.15093530e-02 4.06458697e+02] [ 4.47345907e-02 9.98998892e-01 -1.71049357e-04 5.54754825e+00] [ 1.15054826e-02 -3.43999409e-04 9.99933751e-01 4.84280931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.975099893 meters 0.016055262974332546 Centerline is valid? [True, True] Translation: X:406.49, Y:5.55, Z:4.84 [[ 9.98917355e-01 -4.52137020e-02 -1.09470899e-02 4.06490753e+02] [ 4.52146396e-02 9.98977282e-01 -1.61960530e-04 5.54599801e+00] [ 1.09432170e-02 -3.33183540e-04 9.99940066e-01 4.84321519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.005099893 meters 0.015279215773683427 Centerline is valid? [True, True] Translation: X:406.52, Y:5.54, Z:4.84 [[ 9.98911232e-01 -4.52522452e-02 -1.13395299e-02 4.06522885e+02] [ 4.52532633e-02 9.98975532e-01 -1.66923315e-04 5.54360736e+00] [ 1.13354666e-02 -3.46409157e-04 9.99935692e-01 4.84296031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.035099893 meters 0.015365476181331524 Centerline is valid? [True, True] Translation: X:406.56, Y:5.54, Z:4.84 [[ 9.98940394e-01 -4.45963444e-02 -1.13690715e-02 4.06555485e+02] [ 4.45973348e-02 9.99005030e-01 -1.66519993e-04 5.54186723e+00] [ 1.13651858e-02 -3.40686740e-04 9.99935356e-01 4.84282816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.065099893 meters 0.015446120290802515 Centerline is valid? [True, True] Translation: X:406.59, Y:5.54, Z:4.84 [[ 9.99043163e-01 -4.22890137e-02 -1.11533425e-02 4.06586862e+02] [ 4.22898323e-02 9.99105372e-01 -1.62542378e-04 5.53925080e+00] [ 1.11502381e-02 -3.09286131e-04 9.99937786e-01 4.84304912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.095099893 meters 0.015446120290802515 Centerline is valid? [True, True] Translation: X:406.62, Y:5.54, Z:4.84 [[ 9.99046162e-01 -4.22181202e-02 -1.11533510e-02 4.06618559e+02] [ 4.22189410e-02 9.99108370e-01 -1.61956942e-04 5.53965216e+00] [ 1.11502438e-02 -3.09080205e-04 9.99937786e-01 4.84344096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.125099893 meters 0.014117503235201792 Centerline is valid? [True, True] Translation: X:406.65, Y:5.54, Z:4.84 [[ 9.99258865e-01 -3.67259416e-02 -1.15293110e-02 4.06649107e+02] [ 3.67264635e-02 9.99325342e-01 -1.66523957e-04 5.53853437e+00] [ 1.15276484e-02 -2.57030278e-04 9.99933521e-01 4.84270814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.155099893 meters 0.02057858564581868 Centerline is valid? [True, True] Translation: X:406.68, Y:5.50, Z:4.83 [[ 9.98127241e-01 -5.75680538e-02 -2.06864574e-02 4.06679679e+02] [ 5.75742085e-02 9.98341185e-01 -2.98415233e-04 5.50408069e+00] [ 2.06693216e-02 -8.93150038e-04 9.99785968e-01 4.83496302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18509989300003 meters 0.018531171354118744 Centerline is valid? [True, True] Translation: X:406.71, Y:5.51, Z:4.84 [[ 9.98242349e-01 -5.56447335e-02 -2.03930435e-02 4.06710601e+02] [ 5.56503194e-02 9.98450277e-01 -2.93921722e-04 5.50755534e+00] [ 2.03777952e-02 -8.41474277e-04 9.99791997e-01 4.83602565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.215099893 meters 0.018531171354118744 Centerline is valid? [True, True] Translation: X:406.74, Y:5.51, Z:4.84 [[ 9.98244390e-01 -5.56081058e-02 -2.03930543e-02 4.06741467e+02] [ 5.56136994e-02 9.98452318e-01 -2.93170112e-04 5.50797128e+00] [ 2.03777950e-02 -8.41477775e-04 9.99791997e-01 4.83640729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24509989300003 meters 0.018531171354118744 Centerline is valid? [True, True] Translation: X:406.77, Y:5.51, Z:4.84 [[ 9.98246429e-01 -5.55714781e-02 -2.03930651e-02 4.06772333e+02] [ 5.55770794e-02 9.98454357e-01 -2.92422004e-04 5.50838608e+00] [ 2.03777950e-02 -8.41477775e-04 9.99791997e-01 4.83678893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.275099893 meters 0.018415363472413085 Centerline is valid? [True, True] Translation: X:406.80, Y:5.51, Z:4.84 [[ 9.98379125e-01 -5.30525958e-02 -2.06044740e-02 4.06802514e+02] [ 5.30577908e-02 9.98591400e-01 -2.94845069e-04 5.50940673e+00] [ 2.05910929e-02 -7.98860711e-04 9.99787662e-01 4.83720060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30509989300003 meters 0.018415363472413085 Centerline is valid? [True, True] Translation: X:406.83, Y:5.51, Z:4.84 [[ 9.98379125e-01 -5.30525930e-02 -2.06044773e-02 4.06832532e+02] [ 5.30577927e-02 9.98591400e-01 -2.94620019e-04 5.50983585e+00] [ 2.05910842e-02 -7.99085607e-04 9.99787662e-01 4.83757181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.335099893 meters 0.017973517005977623 Centerline is valid? [True, True] Translation: X:406.86, Y:5.51, Z:4.84 [[ 9.98538924e-01 -5.01304731e-02 -2.01730971e-02 4.06862428e+02] [ 5.01348617e-02 9.98742415e-01 -2.88451784e-04 5.51196919e+00] [ 2.01621879e-02 -7.23345097e-04 9.99796461e-01 4.83796188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36509989300004 meters 0.017973517005977623 Centerline is valid? [True, True] Translation: X:406.89, Y:5.51, Z:4.84 [[ 9.98538924e-01 -5.01304731e-02 -2.01730971e-02 4.06892443e+02] [ 5.01348617e-02 9.98742415e-01 -2.88451784e-04 5.51239836e+00] [ 2.01621879e-02 -7.23345097e-04 9.99796461e-01 4.83833310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.395099893 meters 0.017973517005977623 Centerline is valid? [True, True] Translation: X:406.92, Y:5.51, Z:4.84 [[ 9.98538924e-01 -5.01304731e-02 -2.01730971e-02 4.06922458e+02] [ 5.01348617e-02 9.98742415e-01 -2.88451784e-04 5.51282754e+00] [ 2.01621879e-02 -7.23345097e-04 9.99796461e-01 4.83870432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.425099893 meters 0.017973517005977623 Centerline is valid? [True, True] Translation: X:406.95, Y:5.51, Z:4.84 [[ 9.98538924e-01 -5.01304731e-02 -2.01730971e-02 4.06952473e+02] [ 5.01348617e-02 9.98742415e-01 -2.88451784e-04 5.51325672e+00] [ 2.01621879e-02 -7.23345097e-04 9.99796461e-01 4.83907554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.455099893 meters 0.016776863172738896 Centerline is valid? [True, True] Translation: X:406.98, Y:5.52, Z:4.84 [[ 9.98697430e-01 -4.70318887e-02 -1.97849546e-02 4.06983214e+02] [ 4.70355052e-02 9.98893178e-01 -2.82769325e-04 5.51667908e+00] [ 1.97763554e-02 -6.48194340e-04 9.99804219e-01 4.83961686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.485099893 meters 0.016776863172738896 Centerline is valid? [True, True] Translation: X:407.01, Y:5.52, Z:4.84 [[ 9.98697430e-01 -4.70318860e-02 -1.97849578e-02 4.07013226e+02] [ 4.70355069e-02 9.98893178e-01 -2.82548649e-04 5.51710757e+00] [ 1.97763482e-02 -6.48414909e-04 9.99804219e-01 4.83998799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.515099893 meters 0.016776863172738896 Centerline is valid? [True, True] Translation: X:407.04, Y:5.52, Z:4.84 [[ 9.98697430e-01 -4.70318860e-02 -1.97849578e-02 4.07043237e+02] [ 4.70355069e-02 9.98893178e-01 -2.82548649e-04 5.51753617e+00] [ 1.97763482e-02 -6.48414909e-04 9.99804219e-01 4.84035917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.545099893 meters 0.015286066157921621 Centerline is valid? [True, True] Translation: X:407.07, Y:5.52, Z:4.84 [[ 9.98823818e-01 -4.40595343e-02 -2.02419953e-02 4.07074069e+02] [ 4.40627147e-02 9.99028725e-01 -2.89071052e-04 5.52154529e+00] [ 2.02350711e-02 -6.03186213e-04 9.99795068e-01 4.84081359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.575099893 meters 0.015286066157921621 Centerline is valid? [True, True] Translation: X:407.10, Y:5.52, Z:4.84 [[ 9.98823818e-01 -4.40595342e-02 -2.02419954e-02 4.07104078e+02] [ 4.40627148e-02 9.99028725e-01 -2.89063927e-04 5.52197383e+00] [ 2.02350709e-02 -6.03193336e-04 9.99795068e-01 4.84118474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.605099893 meters 0.015286066157921621 Centerline is valid? [True, True] Translation: X:407.13, Y:5.52, Z:4.84 [[ 9.98823818e-01 -4.40595342e-02 -2.02419954e-02 4.07134087e+02] [ 4.40627148e-02 9.99028725e-01 -2.89063927e-04 5.52240237e+00] [ 2.02350709e-02 -6.03193336e-04 9.99795068e-01 4.84155589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.635099893 meters 0.015286066157921621 Centerline is valid? [True, True] Translation: X:407.16, Y:5.52, Z:4.84 [[ 9.98823818e-01 -4.40595342e-02 -2.02419954e-02 4.07164096e+02] [ 4.40627148e-02 9.99028725e-01 -2.89063927e-04 5.52283091e+00] [ 2.02350709e-02 -6.03193336e-04 9.99795068e-01 4.84192703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.665099893 meters 0.015286066157921621 Centerline is valid? [True, True] Translation: X:407.19, Y:5.52, Z:4.84 [[ 9.98823818e-01 -4.40595342e-02 -2.02419954e-02 4.07194105e+02] [ 4.40627148e-02 9.99028725e-01 -2.89063927e-04 5.52325945e+00] [ 2.02350709e-02 -6.03193336e-04 9.99795068e-01 4.84229818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.695099893 meters 0.015207862222368753 Centerline is valid? [True, True] Translation: X:407.22, Y:5.52, Z:4.84 [[ 9.98946438e-01 -4.13063725e-02 -1.99949546e-02 4.07224159e+02] [ 4.13089249e-02 9.99146381e-01 -2.85536083e-04 5.52454910e+00] [ 1.99896810e-02 -5.40734823e-04 9.99800040e-01 4.84227142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.725099893 meters 0.015207862222368753 Centerline is valid? [True, True] Translation: X:407.25, Y:5.52, Z:4.84 [[ 9.98946438e-01 -4.13063725e-02 -1.99949546e-02 4.07254165e+02] [ 4.13089249e-02 9.99146381e-01 -2.85536083e-04 5.52497760e+00] [ 1.99896810e-02 -5.40734823e-04 9.99800040e-01 4.84264254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.755099893 meters 0.014621215814512532 Centerline is valid? [True, True] Translation: X:407.28, Y:5.53, Z:4.84 [[ 9.99052117e-01 -3.86139315e-02 -2.00955679e-02 4.07283398e+02] [ 3.86159626e-02 9.99254084e-01 -2.87108375e-04 5.52676684e+00] [ 2.00916647e-02 -4.89173468e-04 9.99798022e-01 4.84269099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.785099893 meters 0.013895831004189169 Centerline is valid? [True, True] Translation: X:407.31, Y:5.53, Z:4.84 [[ 9.99122540e-01 -3.65453562e-02 -2.04594018e-02 4.07313305e+02] [ 3.65470177e-02 9.99331892e-01 -2.92810606e-04 5.52866148e+00] [ 2.04564335e-02 -4.55176443e-04 9.99790642e-01 4.84293235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.815099893 meters 0.013348609020068791 Centerline is valid? [True, True] Translation: X:407.34, Y:5.53, Z:4.84 [[ 9.99199224e-01 -3.42318225e-02 -2.07145386e-02 4.07341781e+02] [ 3.42329777e-02 9.99413835e-01 -2.98932147e-04 5.53088173e+00] [ 2.07126294e-02 -4.10427567e-04 9.99785386e-01 4.84320791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.845099893 meters 0.012491846073737706 Centerline is valid? [True, True] Translation: X:407.37, Y:5.53, Z:4.84 [[ 9.99207377e-01 -3.39530024e-02 -2.07800918e-02 4.07370207e+02] [ 3.39539975e-02 9.99423350e-01 -3.05032941e-04 5.53371875e+00] [ 2.07784657e-02 -4.00776018e-04 9.99784024e-01 4.84470926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.875099893 meters 0.012395514241008827 Centerline is valid? [True, True] Translation: X:407.40, Y:5.53, Z:4.85 [[ 9.99219931e-01 -3.39958408e-02 -2.00950696e-02 4.07399202e+02] [ 3.39966794e-02 9.99421901e-01 -2.99983385e-04 5.53496194e+00] [ 2.00936508e-02 -3.83416261e-04 9.99798029e-01 4.84603711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.905099893 meters 0.012859209488924522 Centerline is valid? [True, True] Translation: X:407.43, Y:5.53, Z:4.85 [[ 9.99218339e-01 -3.50049752e-02 -1.83674241e-02 4.07427647e+02] [ 3.50057855e-02 9.99387071e-01 -2.77487012e-04 5.53495980e+00] [ 1.83658796e-02 -3.65695996e-04 9.99831266e-01 4.84815250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93509989300003 meters 0.013233177477826258 Centerline is valid? [True, True] Translation: X:407.46, Y:5.53, Z:4.85 [[ 9.99190932e-01 -3.60525698e-02 -1.78239457e-02 4.07457185e+02] [ 3.60534812e-02 9.99349825e-01 -2.70299691e-04 5.53429897e+00] [ 1.78221020e-02 -3.72534289e-04 9.99841104e-01 4.84879084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.965099893 meters 0.014019994262380799 Centerline is valid? [True, True] Translation: X:407.49, Y:5.53, Z:4.85 [[ 9.99085746e-01 -3.84918279e-02 -1.86024574e-02 4.07487567e+02] [ 3.84932348e-02 9.99258821e-01 -2.82565489e-04 5.53272504e+00] [ 1.85995461e-02 -4.33761607e-04 9.99826919e-01 4.84836170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99509989300003 meters 0.014919805624350647 Centerline is valid? [True, True] Translation: X:407.52, Y:5.53, Z:4.85 [[ 9.99024021e-01 -3.99054680e-02 -1.89356549e-02 4.07516716e+02] [ 3.99071772e-02 9.99203350e-01 -2.87742768e-04 5.53187417e+00] [ 1.89320523e-02 -4.68206597e-04 9.99820663e-01 4.84803296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.025099893 meters 0.015543743435703005 Centerline is valid? [True, True] Translation: X:407.55, Y:5.53, Z:4.85 [[ 9.98898352e-01 -4.25467374e-02 -1.97954121e-02 4.07547196e+02] [ 4.25491192e-02 9.99094331e-01 -3.01035861e-04 5.53261700e+00] [ 1.97902921e-02 -5.41573125e-04 9.99804006e-01 4.84766506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05509989300003 meters 0.015921936180021554 Centerline is valid? [True, True] Translation: X:407.58, Y:5.53, Z:4.85 [[ 9.98842919e-01 -4.36143446e-02 -2.02635735e-02 4.07577577e+02] [ 4.36170599e-02 9.99048276e-01 -3.08155358e-04 5.53325750e+00] [ 2.02577282e-02 -5.76038702e-04 9.99794625e-01 4.84785669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.085099893 meters 0.01649135905989716 Centerline is valid? [True, True] Translation: X:407.61, Y:5.53, Z:4.85 [[ 9.98805342e-01 -4.44127284e-02 -2.03813058e-02 4.07607725e+02] [ 4.44156414e-02 9.99013090e-01 -3.09945754e-04 5.53364861e+00] [ 2.03749568e-02 -5.95673293e-04 9.99792232e-01 4.84794789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.115099893 meters 0.016404509039300613 Centerline is valid? [True, True] Translation: X:407.64, Y:5.53, Z:4.85 [[ 9.98766475e-01 -4.52237802e-02 -2.05021712e-02 4.07638368e+02] [ 4.52268986e-02 9.98976692e-01 -3.11783798e-04 5.53486611e+00] [ 2.04952912e-02 -6.15850414e-04 9.99789760e-01 4.84860077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.145099893 meters 0.016776754428146766 Centerline is valid? [True, True] Translation: X:407.67, Y:5.54, Z:4.85 [[ 9.98751482e-01 -4.57605597e-02 -2.00361656e-02 4.07668440e+02] [ 4.57636458e-02 9.98952249e-01 -3.04697086e-04 5.53520493e+00] [ 2.00291158e-02 -6.12611321e-04 9.99799209e-01 4.84927516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.175099893 meters 0.016958452499599513 Centerline is valid? [True, True] Translation: X:407.70, Y:5.54, Z:4.85 [[ 9.98724642e-01 -4.69442594e-02 -1.85829460e-02 4.07699269e+02] [ 4.69471207e-02 9.98897336e-01 -2.82486502e-04 5.53710308e+00] [ 1.85757163e-02 -5.90289576e-04 9.99827282e-01 4.85104965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.205099893 meters 0.01822264797476015 Centerline is valid? [True, True] Translation: X:407.73, Y:5.54, Z:4.85 [[ 9.98718065e-01 -4.72424436e-02 -1.81762863e-02 4.07730019e+02] [ 4.72452361e-02 9.98883282e-01 -2.75986126e-04 5.53646206e+00] [ 1.81690267e-02 -5.83110606e-04 9.99834760e-01 4.85172814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.235099893 meters 0.01699669021292855 Centerline is valid? [True, True] Translation: X:407.76, Y:5.54, Z:4.85 [[ 9.98716344e-01 -4.75174390e-02 -1.75430211e-02 4.07761268e+02] [ 4.75200895e-02 9.98870247e-01 -2.65974034e-04 5.53949194e+00] [ 1.75358403e-02 -5.68013321e-04 9.99846074e-01 4.85302155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.265099893 meters 0.0184331907376547 Centerline is valid? [True, True] Translation: X:407.79, Y:5.54, Z:4.85 [[ 9.98679838e-01 -4.84824203e-02 -1.69716535e-02 4.07792554e+02] [ 4.84850516e-02 9.98823875e-01 -2.56635817e-04 5.53802536e+00] [ 1.69641350e-02 -5.66574479e-04 9.99855938e-01 4.85211330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.295099893 meters 0.016992171270155933 Centerline is valid? [True, True] Translation: X:407.82, Y:5.54, Z:4.85 [[ 9.98623367e-01 -4.97142212e-02 -1.67292175e-02 4.07824670e+02] [ 4.97169667e-02 9.98763315e-01 -2.51996308e-04 5.54053898e+00] [ 1.67210565e-02 -5.80076548e-04 9.99860025e-01 4.85133820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.325099893 meters 0.018422339983677958 Centerline is valid? [True, True] Translation: X:407.86, Y:5.54, Z:4.85 [[ 9.98532359e-01 -5.16274844e-02 -1.63624861e-02 4.07855969e+02] [ 5.16303854e-02 9.98666232e-01 -2.45366115e-04 5.53937284e+00] [ 1.63533299e-02 -5.99795457e-04 9.99866095e-01 4.85085090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.355099893 meters 0.01887159516308655 Centerline is valid? [True, True] Translation: X:407.89, Y:5.54, Z:4.85 [[ 9.98494425e-01 -5.25183151e-02 -1.58338464e-02 4.07888193e+02] [ 5.25211577e-02 9.98619784e-01 -2.36535426e-04 5.54014876e+00] [ 1.58244147e-02 -5.95432639e-04 9.99874609e-01 4.85170921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.385099893 meters 0.019357863727946668 Centerline is valid? [True, True] Translation: X:407.92, Y:5.54, Z:4.85 [[ 9.98475309e-01 -5.29300379e-02 -1.56674245e-02 4.07920603e+02] [ 5.29328892e-02 9.98598045e-01 -2.32933433e-04 5.54042590e+00] [ 1.56577887e-02 -5.96743764e-04 9.99877231e-01 4.85198806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.415099893 meters 0.02048364799200641 Centerline is valid? [True, True] Translation: X:407.95, Y:5.54, Z:4.85 [[ 9.98444557e-01 -5.33562115e-02 -1.61734542e-02 4.07952171e+02] [ 5.33593238e-02 9.98575348e-01 -2.39343444e-04 5.53934767e+00] [ 1.61631831e-02 -6.24033422e-04 9.99869172e-01 4.85187089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.445099893 meters 0.02048364799200641 Centerline is valid? [True, True] Translation: X:407.98, Y:5.54, Z:4.85 [[ 9.98448292e-01 -5.32862744e-02 -1.61734679e-02 4.07983878e+02] [ 5.32893925e-02 9.98579082e-01 -2.38419545e-04 5.53975480e+00] [ 1.61631912e-02 -6.23824689e-04 9.99869172e-01 4.85226287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.475099893 meters 0.02048364799200641 Centerline is valid? [True, True] Translation: X:408.02, Y:5.54, Z:4.85 [[ 9.98452022e-01 -5.32163345e-02 -1.61734845e-02 4.08015584e+02] [ 5.32194617e-02 9.98582812e-01 -2.37286765e-04 5.54015960e+00] [ 1.61631911e-02 -6.23824688e-04 9.99869172e-01 4.85265480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.505099893 meters 0.019450874843013614 Centerline is valid? [True, True] Translation: X:408.05, Y:5.54, Z:4.85 [[ 9.98424790e-01 -5.36633894e-02 -1.63761968e-02 4.08048197e+02] [ 5.36666746e-02 9.98558877e-01 -2.39095934e-04 5.54241001e+00] [ 1.63654273e-02 -6.40136715e-04 9.99865873e-01 4.85273650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.535099893 meters 0.018860242767662152 Centerline is valid? [True, True] Translation: X:408.08, Y:5.54, Z:4.85 [[ 9.98385171e-01 -5.44468006e-02 -1.62048275e-02 4.08080423e+02] [ 5.44501392e-02 9.98516463e-01 -2.35435580e-04 5.54442895e+00] [ 1.61936057e-02 -6.47299720e-04 9.99868665e-01 4.85297753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.565099893 meters 0.020773534718518897 Centerline is valid? [True, True] Translation: X:408.11, Y:5.54, Z:4.85 [[ 9.98352069e-01 -5.51340941e-02 -1.59178794e-02 4.08111883e+02] [ 5.51374199e-02 9.98478749e-01 -2.30186263e-04 5.54282033e+00] [ 1.59063554e-02 -6.47863870e-04 9.99873276e-01 4.85310621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.595099893 meters 0.019131712800740944 Centerline is valid? [True, True] Translation: X:408.14, Y:5.55, Z:4.85 [[ 9.98338124e-01 -5.53951690e-02 -1.58860081e-02 4.08144030e+02] [ 5.53985293e-02 9.98464296e-01 -2.28795901e-04 5.54635461e+00] [ 1.58742861e-02 -6.51645813e-04 9.99873783e-01 4.85345490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.625099893 meters 0.01928496994817869 Centerline is valid? [True, True] Translation: X:408.18, Y:5.55, Z:4.85 [[ 9.98343180e-01 -5.54499595e-02 -1.53686944e-02 4.08175878e+02] [ 5.54531277e-02 9.98461267e-01 -2.20250245e-04 5.54748312e+00] [ 1.53572590e-02 -6.32356845e-04 9.99881870e-01 4.85375683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.655099893 meters 0.01934534654548204 Centerline is valid? [True, True] Translation: X:408.21, Y:5.55, Z:4.85 [[ 9.98500854e-01 -5.25673626e-02 -1.52550721e-02 4.08206027e+02] [ 5.25701666e-02 9.98617209e-01 -2.17414237e-04 5.55002998e+00] [ 1.52454064e-02 -5.84873382e-04 9.99883611e-01 4.85352172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68509989300003 meters 0.017094807904406303 Centerline is valid? [True, True] Translation: X:408.24, Y:5.56, Z:4.85 [[ 9.98631214e-01 -5.01639796e-02 -1.48078620e-02 4.08237515e+02] [ 5.01663781e-02 9.98740853e-01 -2.09661995e-04 5.55541750e+00] [ 1.47997342e-02 -5.33481792e-04 9.99890336e-01 4.85420614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.715099893 meters 0.016433484888297194 Centerline is valid? [True, True] Translation: X:408.27, Y:5.56, Z:4.85 [[ 9.98784932e-01 -4.70925741e-02 -1.45241015e-02 4.08268746e+02] [ 4.70945648e-02 9.98890414e-01 -2.05115169e-04 5.55866733e+00] [ 1.45176452e-02 -4.79140299e-04 9.99894499e-01 4.85474296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74509989300003 meters 0.015951677314392565 Centerline is valid? [True, True] Translation: X:408.30, Y:5.56, Z:4.86 [[ 9.98956345e-01 -4.32838845e-02 -1.45851429e-02 4.08299568e+02] [ 4.32854943e-02 9.99062723e-01 -2.05438287e-04 5.56163725e+00] [ 1.45803648e-02 -4.26101241e-04 9.99893610e-01 4.85566160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.775099893 meters 0.014779101045129868 Centerline is valid? [True, True] Translation: X:408.33, Y:5.57, Z:4.86 [[ 9.99118069e-01 -3.96918799e-02 -1.36981494e-02 4.08331168e+02] [ 3.96929693e-02 9.99211905e-01 -1.92447444e-04 5.56596511e+00] [ 1.36949925e-02 -3.51442503e-04 9.99906157e-01 4.85659697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80509989300003 meters 0.013299912717645015 Centerline is valid? [True, True] Translation: X:408.36, Y:5.57, Z:4.86 [[ 9.99406918e-01 -3.19823383e-02 -1.27648890e-02 4.08360693e+02] [ 3.19826635e-02 9.99488408e-01 -1.78715756e-04 5.57213714e+00] [ 1.27640743e-02 -2.29645387e-04 9.99918510e-01 4.85774434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.835099893 meters 0.012799326011006073 Centerline is valid? [True, True] Translation: X:408.39, Y:5.57, Z:4.86 [[ 9.99500337e-01 -2.88350053e-02 -1.29467530e-02 4.08391325e+02] [ 2.88350731e-02 9.99584166e-01 -1.81476393e-04 5.57436481e+00] [ 1.29466022e-02 -1.91934853e-04 9.99916171e-01 4.85794366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.865099893 meters 0.012139683975776718 Centerline is valid? [True, True] Translation: X:408.42, Y:5.58, Z:4.86 [[ 9.99575539e-01 -2.61230513e-02 -1.28968048e-02 4.08423147e+02] [ 2.61228959e-02 9.99658723e-01 -1.80535642e-04 5.57674884e+00] [ 1.28971196e-02 -1.56442878e-04 9.99916816e-01 4.85816296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.895099893 meters 0.011833414109197873 Centerline is valid? [True, True] Translation: X:408.45, Y:5.58, Z:4.86 [[ 9.99632971e-01 -2.38912354e-02 -1.27723014e-02 4.08454345e+02] [ 2.38909085e-02 9.99714556e-01 -1.78190280e-04 5.57842039e+00] [ 1.27729128e-02 -1.27017005e-04 9.99918415e-01 4.85832011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.925099893 meters 0.011493593742800397 Centerline is valid? [True, True] Translation: X:408.48, Y:5.58, Z:4.86 [[ 9.99677742e-01 -2.10721035e-02 -1.41555362e-02 4.08484427e+02] [ 2.10714263e-02 9.99777953e-01 -1.97002878e-04 5.57990588e+00] [ 1.41565443e-02 -1.01337946e-04 9.99899786e-01 4.85769072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.955099893 meters 0.011435737432990176 Centerline is valid? [True, True] Translation: X:408.51, Y:5.58, Z:4.86 [[ 9.99680205e-01 -2.04922888e-02 -1.48173353e-02 4.08513835e+02] [ 2.04914818e-02 9.99790006e-01 -2.06301692e-04 5.58086470e+00] [ 1.48184514e-02 -9.73934400e-05 9.99890196e-01 4.85760635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.985099893 meters 0.011435737432990176 Centerline is valid? [True, True] Translation: X:408.54, Y:5.58, Z:4.86 [[ 9.99674987e-01 -2.07453117e-02 -1.48173204e-02 4.08542079e+02] [ 2.07445166e-02 9.99784788e-01 -2.07368777e-04 5.58128624e+00] [ 1.48184334e-02 -1.00076770e-04 9.99890196e-01 4.85795579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.015099893 meters 0.01143281178586847 Centerline is valid? [True, True] Translation: X:408.57, Y:5.58, Z:4.86 [[ 9.99671020e-01 -2.06619299e-02 -1.51966135e-02 4.08570695e+02] [ 2.06610329e-02 9.99786515e-01 -2.16039484e-04 5.58146765e+00] [ 1.51978330e-02 -9.80093186e-05 9.99884501e-01 4.85781323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.045099893 meters 0.0114019235362045 Centerline is valid? [True, True] Translation: X:408.60, Y:5.58, Z:4.86 [[ 9.99644124e-01 -2.11930278e-02 -1.62012780e-02 4.08599088e+02] [ 2.11920508e-02 9.99775396e-01 -2.31999038e-04 5.58187096e+00] [ 1.62025559e-02 -1.11421832e-04 9.99868724e-01 4.85787366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.075099893 meters 0.011385183875456756 Centerline is valid? [True, True] Translation: X:408.63, Y:5.58, Z:4.86 [[ 9.99621361e-01 -2.18902851e-02 -1.66718104e-02 4.08627753e+02] [ 2.18892757e-02 9.99760372e-01 -2.43042211e-04 5.58189819e+00] [ 1.66731356e-02 -1.21983668e-04 9.99860986e-01 4.85830405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.105099893 meters 0.011503375231795418 Centerline is valid? [True, True] Translation: X:408.66, Y:5.58, Z:4.86 [[ 9.99603496e-01 -2.24287882e-02 -1.70235493e-02 4.08655581e+02] [ 2.24277522e-02 9.99748435e-01 -2.51791832e-04 5.58172803e+00] [ 1.70249141e-02 -1.30107950e-04 9.99855057e-01 4.85880938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.135099893 meters 0.01153622666217454 Centerline is valid? [True, True] Translation: X:408.68, Y:5.58, Z:4.86 [[ 9.99584282e-01 -2.32295856e-02 -1.70777622e-02 4.08684244e+02] [ 2.32286207e-02 9.99730147e-01 -2.54889578e-04 5.58193471e+00] [ 1.70790746e-02 -1.41909243e-04 9.99854132e-01 4.85939802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.165099893 meters 0.011793357921241473 Centerline is valid? [True, True] Translation: X:408.71, Y:5.58, Z:4.86 [[ 9.99547317e-01 -2.45907500e-02 -1.73336973e-02 4.08713126e+02] [ 2.45898845e-02 9.99697588e-01 -2.63093375e-04 5.58141690e+00] [ 1.73349250e-02 -1.63259338e-04 9.99849726e-01 4.86029207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.195099893 meters 0.011801507635558546 Centerline is valid? [True, True] Translation: X:408.74, Y:5.58, Z:4.86 [[ 9.99529296e-01 -2.54139934e-02 -1.71847686e-02 4.08742026e+02] [ 2.54131913e-02 9.99676998e-01 -2.65083688e-04 5.58130290e+00] [ 1.71859547e-02 -1.71760901e-04 9.99852296e-01 4.86074726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.225099893 meters 0.01192816739997377 Centerline is valid? [True, True] Translation: X:408.77, Y:5.58, Z:4.86 [[ 9.99509349e-01 -2.63470741e-02 -1.69379237e-02 4.08770505e+02] [ 2.63463582e-02 9.99652839e-01 -2.65443288e-04 5.58114013e+00] [ 1.69390372e-02 -1.80939557e-04 9.99856508e-01 4.86131022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.255099893 meters 0.012174765576500988 Centerline is valid? [True, True] Translation: X:408.80, Y:5.58, Z:4.86 [[ 9.99495524e-01 -2.71337104e-02 -1.65063348e-02 4.08799345e+02] [ 2.71330850e-02 9.99631796e-01 -2.61878494e-04 5.58075806e+00] [ 1.65073629e-02 -1.86121404e-04 9.99863727e-01 4.86171690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.285099893 meters 0.012446904453825746 Centerline is valid? [True, True] Translation: X:408.83, Y:5.58, Z:4.86 [[ 9.99478053e-01 -2.83679818e-02 -1.54557417e-02 4.08828975e+02] [ 2.83675708e-02 9.99597529e-01 -2.45872438e-04 5.57927876e+00] [ 1.54564961e-02 -1.92697742e-04 9.99880523e-01 4.86246041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.315099893 meters 0.012172902953777397 Centerline is valid? [True, True] Translation: X:408.86, Y:5.58, Z:4.86 [[ 9.99470944e-01 -2.87616714e-02 -1.51854733e-02 4.08859359e+02] [ 2.87613168e-02 9.99586279e-01 -2.41783245e-04 5.58032284e+00] [ 1.51861448e-02 -1.95098881e-04 9.99884665e-01 4.86323728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.345099893 meters 0.012381441931686716 Centerline is valid? [True, True] Translation: X:408.89, Y:5.58, Z:4.86 [[ 9.99478424e-01 -2.86994845e-02 -1.48060749e-02 4.08889524e+02] [ 2.86991412e-02 9.99588067e-01 -2.35699108e-04 5.57993316e+00] [ 1.48067403e-02 -1.89345462e-04 9.99890356e-01 4.86351126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.375099893 meters 0.012520449493403344 Centerline is valid? [True, True] Translation: X:408.92, Y:5.58, Z:4.86 [[ 9.99499635e-01 -2.80875944e-02 -1.45453357e-02 4.08920319e+02] [ 2.80872020e-02 9.99605450e-01 -2.31294880e-04 5.57949531e+00] [ 1.45460933e-02 -1.77358634e-04 9.99894184e-01 4.86365099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.405099893 meters 0.012013044911610146 Centerline is valid? [True, True] Translation: X:408.95, Y:5.58, Z:4.86 [[ 9.99517916e-01 -2.77180247e-02 -1.39873860e-02 4.08951265e+02] [ 2.77176286e-02 9.99615768e-01 -2.22216151e-04 5.58103309e+00] [ 1.39881710e-02 -1.65588147e-04 9.99902147e-01 4.86437163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43509989300003 meters 0.011916643233399277 Centerline is valid? [True, True] Translation: X:408.98, Y:5.58, Z:4.86 [[ 9.99560670e-01 -2.60630312e-02 -1.41133368e-02 4.08982212e+02] [ 2.60624630e-02 9.99660291e-01 -2.24217118e-04 5.58072634e+00] [ 1.41143862e-02 -1.43709706e-04 9.99900377e-01 4.86428093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.465099893 meters 0.011649766329294743 Centerline is valid? [True, True] Translation: X:409.01, Y:5.58, Z:4.86 [[ 9.99587950e-01 -2.50495631e-02 -1.40160814e-02 4.09012999e+02] [ 2.50489030e-02 9.99686202e-01 -2.22672031e-04 5.58133361e+00] [ 1.40172610e-02 -1.28507184e-04 9.99901745e-01 4.86481960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49509989300003 meters 0.011773601366312583 Centerline is valid? [True, True] Translation: X:409.04, Y:5.58, Z:4.86 [[ 9.99614979e-01 -2.39161477e-02 -1.40680731e-02 4.09042459e+02] [ 2.39153707e-02 9.99713962e-01 -2.23488272e-04 5.58048636e+00] [ 1.40693941e-02 -1.13040958e-04 9.99901015e-01 4.86485995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.525099893 meters 0.011558737642434232 Centerline is valid? [True, True] Translation: X:409.07, Y:5.58, Z:4.87 [[ 9.99665412e-01 -2.16948788e-02 -1.40852945e-02 4.09071948e+02] [ 2.16938795e-02 9.99764635e-01 -2.23753614e-04 5.57988046e+00] [ 1.40868336e-02 -8.18859326e-05 9.99900772e-01 4.86512185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55509989300003 meters 0.011531492712298268 Centerline is valid? [True, True] Translation: X:409.10, Y:5.58, Z:4.87 [[ 9.99674076e-01 -2.08723731e-02 -1.46998890e-02 4.09101980e+02] [ 2.08711875e-02 9.99782146e-01 -2.34070464e-04 5.57973848e+00] [ 1.47015722e-02 -7.28099662e-05 9.99891923e-01 4.86517900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.585099893 meters 0.011502705402584619 Centerline is valid? [True, True] Translation: X:409.13, Y:5.58, Z:4.86 [[ 9.99689362e-01 -1.98388122e-02 -1.50864716e-02 4.09130316e+02] [ 1.98374367e-02 9.99803190e-01 -2.40832230e-04 5.57951002e+00] [ 1.50882802e-02 -5.85195059e-05 9.99886164e-01 4.86482576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.615099893 meters 0.01150418880828813 Centerline is valid? [True, True] Translation: X:409.16, Y:5.58, Z:4.86 [[ 9.99682904e-01 -1.94759362e-02 -1.59617787e-02 4.09158945e+02] [ 1.94743244e-02 9.99810324e-01 -2.56417136e-04 5.57923930e+00] [ 1.59637451e-02 -5.45090294e-05 9.99872570e-01 4.86460421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.645099893 meters 0.01146884050776224 Centerline is valid? [True, True] Translation: X:409.19, Y:5.58, Z:4.86 [[ 9.99675574e-01 -1.92850179e-02 -1.66383533e-02 4.09186775e+02] [ 1.92831655e-02 9.99814026e-01 -2.71770755e-04 5.57896398e+00] [ 1.66405001e-02 -4.91575342e-05 9.99861536e-01 4.86415002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.675099893 meters 0.011453740986975838 Centerline is valid? [True, True] Translation: X:409.22, Y:5.58, Z:4.86 [[ 9.99650172e-01 -1.95570652e-02 -1.78060097e-02 4.09215069e+02] [ 1.95549101e-02 9.99808741e-01 -2.95148770e-04 5.57749441e+00] [ 1.78083764e-02 -5.31494008e-05 9.99841417e-01 4.86334361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.705099893 meters 0.011485487734786479 Centerline is valid? [True, True] Translation: X:409.24, Y:5.58, Z:4.86 [[ 9.99624741e-01 -2.02860939e-02 -1.84079340e-02 4.09242852e+02] [ 2.02838610e-02 9.99794214e-01 -3.08018842e-04 5.57695225e+00] [ 1.84103944e-02 -6.54807209e-05 9.99830512e-01 4.86351206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.735099893 meters 0.01148443877747184 Centerline is valid? [True, True] Translation: X:409.27, Y:5.58, Z:4.86 [[ 9.99600598e-01 -2.10563604e-02 -1.88487179e-02 4.09270897e+02] [ 2.10540516e-02 9.99778287e-01 -3.20945281e-04 5.57620374e+00] [ 1.88512969e-02 -7.60247858e-05 9.99822296e-01 4.86383960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.765099893 meters 0.011615651600477055 Centerline is valid? [True, True] Translation: X:409.30, Y:5.58, Z:4.86 [[ 9.99570821e-01 -2.20844527e-02 -1.92471077e-02 4.09298431e+02] [ 2.20821533e-02 9.99756104e-01 -3.32012936e-04 5.57524004e+00] [ 1.92497458e-02 -9.31471409e-05 9.99814702e-01 4.86390180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.795099893 meters 0.011731313344898086 Centerline is valid? [True, True] Translation: X:409.33, Y:5.57, Z:4.86 [[ 9.99524403e-01 -2.43731486e-02 -1.88922638e-02 4.09327228e+02] [ 2.43712906e-02 9.99702922e-01 -3.28608026e-04 5.57290554e+00] [ 1.88946605e-02 -1.31977111e-04 9.99821471e-01 4.86472230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.825099893 meters 0.011845899038722029 Centerline is valid? [True, True] Translation: X:409.36, Y:5.57, Z:4.87 [[ 9.99506526e-01 -2.55319647e-02 -1.82981899e-02 4.09355146e+02] [ 2.55303517e-02 9.99673996e-01 -3.21781527e-04 5.57181094e+00] [ 1.83004404e-02 -1.45536489e-04 9.99832522e-01 4.86575872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.855099893 meters 0.011934903121607523 Centerline is valid? [True, True] Translation: X:409.38, Y:5.57, Z:4.87 [[ 9.99481445e-01 -2.67733205e-02 -1.78894159e-02 4.09383166e+02] [ 2.67719305e-02 9.99641517e-01 -3.17225801e-04 5.57087574e+00] [ 1.78914961e-02 -1.61872898e-04 9.99839921e-01 4.86669270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.885099893 meters 0.01207110414558715 Centerline is valid? [True, True] Translation: X:409.41, Y:5.57, Z:4.87 [[ 9.99422035e-01 -2.96235198e-02 -1.66746490e-02 4.09412374e+02] [ 2.96226359e-02 9.99561108e-01 -3.00053795e-04 5.56866998e+00] [ 1.66762193e-02 -1.94066682e-04 9.99860923e-01 4.86801663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.915099893 meters 0.01264652943849669 Centerline is valid? [True, True] Translation: X:409.44, Y:5.57, Z:4.87 [[ 9.99376400e-01 -3.13785685e-02 -1.61924748e-02 4.09440713e+02] [ 3.13779112e-02 9.99507549e-01 -2.94714814e-04 5.56594038e+00] [ 1.61937486e-02 -2.13555007e-04 9.99868850e-01 4.86795746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.945099893 meters 0.012656453807552117 Centerline is valid? [True, True] Translation: X:409.47, Y:5.56, Z:4.87 [[ 9.99311259e-01 -3.34615191e-02 -1.60416208e-02 4.09470541e+02] [ 3.34611264e-02 9.99439977e-01 -2.92957821e-04 5.56495487e+00] [ 1.60424399e-02 -2.44014652e-04 9.99871282e-01 4.86868450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.975099893 meters 0.01357177973936881 Centerline is valid? [True, True] Translation: X:409.50, Y:5.56, Z:4.87 [[ 9.99224807e-01 -3.60383779e-02 -1.58436036e-02 4.09500538e+02] [ 3.60383105e-02 9.99350367e-01 -2.89847534e-04 5.56134654e+00] [ 1.58437567e-02 -2.81353860e-04 9.99874440e-01 4.86872194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.005099893 meters 0.01440349862430915 Centerline is valid? [True, True] Translation: X:409.53, Y:5.56, Z:4.87 [[ 9.98982872e-01 -4.23289366e-02 -1.55397231e-02 4.09531349e+02] [ 4.23296290e-02 9.99103659e-01 -2.84506665e-04 5.55651937e+00] [ 1.55378370e-02 -3.73573427e-04 9.99879211e-01 4.86878183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.035099893 meters 0.015884634000872803 Centerline is valid? [True, True] Translation: X:409.56, Y:5.55, Z:4.87 [[ 9.98823242e-01 -4.59019049e-02 -1.56571219e-02 4.09561784e+02] [ 4.59030473e-02 9.98945858e-01 -2.86596570e-04 5.55250988e+00] [ 1.56537724e-02 -4.32450290e-04 9.99877379e-01 4.86875402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.065099893 meters 0.01765094705809789 Centerline is valid? [True, True] Translation: X:409.59, Y:5.55, Z:4.87 [[ 9.98617962e-01 -5.00503724e-02 -1.60351301e-02 4.09592447e+02] [ 5.00521095e-02 9.98746565e-01 -2.93222157e-04 5.54802173e+00] [ 1.60297069e-02 -5.09775173e-04 9.99871386e-01 4.86864009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.095099893 meters 0.019363991701885533 Centerline is valid? [True, True] Translation: X:409.62, Y:5.54, Z:4.87 [[ 9.98372313e-01 -5.45894047e-02 -1.65142777e-02 4.09624000e+02] [ 5.45918734e-02 9.98508706e-01 -3.01612392e-04 5.54412316e+00] [ 1.65061149e-02 -6.00423897e-04 9.99863585e-01 4.86837811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.125099893 meters 0.02039297841020574 Centerline is valid? [True, True] Translation: X:409.65, Y:5.54, Z:4.87 [[ 9.98085856e-01 -5.94211458e-02 -1.71391851e-02 4.09654779e+02] [ 5.94245252e-02 9.98232752e-01 -3.12488795e-04 5.54159925e+00] [ 1.71274644e-02 -7.06597293e-04 9.99853065e-01 4.86853336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.155099893 meters 0.022398881381463738 Centerline is valid? [True, True] Translation: X:409.69, Y:5.54, Z:4.87 [[ 9.97565724e-01 -6.74660276e-02 -1.76341061e-02 4.09686308e+02] [ 6.74708652e-02 9.97721193e-01 -3.21139398e-04 5.53714242e+00] [ 1.76155874e-02 -8.69430739e-04 9.99844455e-01 4.86870526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18509989300003 meters 0.02545206716966388 Centerline is valid? [True, True] Translation: X:409.72, Y:5.53, Z:4.87 [[ 9.97349496e-01 -7.04357300e-02 -1.82425799e-02 4.09716345e+02] [ 7.04414172e-02 9.97515863e-01 -3.31427326e-04 5.53285558e+00] [ 1.82206072e-02 -9.54484307e-04 9.99833535e-01 4.86858179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.215099893 meters 0.023492715122607644 Centerline is valid? [True, True] Translation: X:409.75, Y:5.54, Z:4.87 [[ 9.97169999e-01 -7.27455309e-02 -1.89757794e-02 4.09747525e+02] [ 7.27521244e-02 9.97349994e-01 -3.43542894e-04 5.53592069e+00] [ 1.89504847e-02 -1.03795759e-03 9.99819885e-01 4.86902115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24509989300003 meters 0.02750915888161412 Centerline is valid? [True, True] Translation: X:409.78, Y:5.53, Z:4.87 [[ 9.97050601e-01 -7.42334125e-02 -1.94807563e-02 4.09778858e+02] [ 7.42406615e-02 9.97240292e-01 -3.51825984e-04 5.53121298e+00] [ 1.94531124e-02 -1.09547593e-03 9.99810170e-01 4.86844802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.275099893 meters 0.025966039833368305 Centerline is valid? [True, True] Translation: X:409.81, Y:5.53, Z:4.87 [[ 9.97012567e-01 -7.45011004e-02 -2.03845071e-02 4.09810456e+02] [ 7.45091170e-02 9.97220265e-01 -3.67001294e-04 5.53498925e+00] [ 2.03551856e-02 -1.15292672e-03 9.99792147e-01 4.86843416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30509989300003 meters 0.025031375956469457 Centerline is valid? [True, True] Translation: X:409.84, Y:5.54, Z:4.87 [[ 9.97081122e-01 -7.35040102e-02 -2.06493597e-02 4.09841495e+02] [ 7.35120436e-02 9.97294260e-01 -3.70790479e-04 5.53783690e+00] [ 2.06207425e-02 -1.14826844e-03 9.99786710e-01 4.86861770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.335099893 meters 0.024453779007653696 Centerline is valid? [True, True] Translation: X:409.87, Y:5.54, Z:4.87 [[ 9.97178327e-01 -7.19450327e-02 -2.14311844e-02 4.09872481e+02] [ 7.19533442e-02 9.97407925e-01 -3.84033304e-04 5.54040806e+00] [ 2.14032624e-02 -1.15909570e-03 9.99770252e-01 4.86866124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.365099893 meters 0.023274594912557418 Centerline is valid? [True, True] Translation: X:409.90, Y:5.55, Z:4.87 [[ 9.97437653e-01 -6.79864796e-02 -2.22702969e-02 4.09903313e+02] [ 6.79944853e-02 9.97685617e-01 -3.98423253e-04 5.54591172e+00] [ 2.22458423e-02 -1.11685502e-03 9.99751907e-01 4.86842658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.395099893 meters 0.022425667201019017 Centerline is valid? [True, True] Translation: X:409.93, Y:5.55, Z:4.87 [[ 9.97581966e-01 -6.57917107e-02 -2.23980215e-02 4.09934611e+02] [ 6.57992698e-02 9.97832800e-01 -4.00121652e-04 5.54955137e+00] [ 2.23758052e-02 -1.07461931e-03 9.99749053e-01 4.86913222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.425099893 meters 0.020263691405236692 Centerline is valid? [True, True] Translation: X:409.97, Y:5.56, Z:4.87 [[ 9.97714960e-01 -6.38925458e-02 -2.19681760e-02 4.09965687e+02] [ 6.38993755e-02 9.97956270e-01 -3.91647249e-04 5.55516900e+00] [ 2.19483023e-02 -1.01300041e-03 9.99758594e-01 4.87056207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.455099893 meters 0.01965397944510854 Centerline is valid? [True, True] Translation: X:410.00, Y:5.56, Z:4.87 [[ 9.97864340e-01 -6.19160343e-02 -2.08125999e-02 4.09997225e+02] [ 6.19217506e-02 9.98080938e-01 -3.70297317e-04 5.55823923e+00] [ 2.07955865e-02 -9.19246130e-04 9.99783326e-01 4.87135908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.485099893 meters 0.020968939593556255 Centerline is valid? [True, True] Translation: X:410.03, Y:5.56, Z:4.87 [[ 9.98089797e-01 -5.86349805e-02 -1.94601164e-02 4.10028120e+02] [ 5.86393685e-02 9.98279172e-01 -3.45544163e-04 5.55997406e+00] [ 1.94468899e-02 -7.96244833e-04 9.99810574e-01 4.87248494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.515099893 meters 0.01908746713457589 Centerline is valid? [True, True] Translation: X:410.06, Y:5.56, Z:4.87 [[ 9.98172216e-01 -5.74034046e-02 -1.88964631e-02 4.10059471e+02] [ 5.74073345e-02 9.98350783e-01 -3.34857811e-04 5.56491702e+00] [ 1.88845207e-02 -7.50549812e-04 9.99821390e-01 4.87380665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.545099893 meters 0.019809506337928523 Centerline is valid? [True, True] Translation: X:410.09, Y:5.57, Z:4.87 [[ 9.98235833e-01 -5.63411307e-02 -1.87323065e-02 4.10090419e+02] [ 5.63448290e-02 9.98411313e-01 -3.30716208e-04 5.56607673e+00] [ 1.87211797e-02 -7.25335836e-04 9.99824480e-01 4.87425508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.575099893 meters 0.019367527616226593 Centerline is valid? [True, True] Translation: X:410.12, Y:5.57, Z:4.87 [[ 9.98297432e-01 -5.54302166e-02 -1.81584228e-02 4.10122158e+02] [ 5.54335728e-02 9.98462326e-01 -3.18845465e-04 5.56868288e+00] [ 1.81481748e-02 -6.88283645e-04 9.99835071e-01 4.87477086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.605099893 meters 0.019671529877334674 Centerline is valid? [True, True] Translation: X:410.15, Y:5.57, Z:4.87 [[ 9.98331089e-01 -5.47066763e-02 -1.84991031e-02 4.10153537e+02] [ 5.47100517e-02 9.98502231e-01 -3.23949867e-04 5.57038979e+00] [ 1.84891180e-02 -6.88677666e-04 9.99828824e-01 4.87492749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.635099893 meters 0.01884584653857332 Centerline is valid? [True, True] Translation: X:410.18, Y:5.57, Z:4.88 [[ 9.98371535e-01 -5.39929968e-02 -1.84128852e-02 4.10184418e+02] [ 5.39962356e-02 9.98541087e-01 -3.21572527e-04 5.57358643e+00] [ 1.84033851e-02 -6.73177632e-04 9.99830417e-01 4.87500679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.665099893 meters 0.018720783195834492 Centerline is valid? [True, True] Translation: X:410.22, Y:5.58, Z:4.87 [[ 9.98422479e-01 -5.24424667e-02 -2.00584550e-02 4.10215630e+02] [ 5.24460159e-02 9.98623700e-01 -3.49426159e-04 5.57695473e+00] [ 2.00491733e-02 -7.03111118e-04 9.99798748e-01 4.87394178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.695099893 meters 0.017302974433467417 Centerline is valid? [True, True] Translation: X:410.25, Y:5.58, Z:4.87 [[ 9.98441254e-01 -5.16014846e-02 -2.12684906e-02 4.10247391e+02] [ 5.16053072e-02 9.98667490e-01 -3.69440114e-04 5.58150294e+00] [ 2.12592138e-02 -7.28702739e-04 9.99773732e-01 4.87433003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.725099893 meters 0.01731771891721533 Centerline is valid? [True, True] Translation: X:410.28, Y:5.58, Z:4.87 [[ 9.98506402e-01 -5.00485134e-02 -2.19114660e-02 4.10277626e+02] [ 5.00522239e-02 9.98746530e-01 -3.79394548e-04 5.58361874e+00] [ 2.19029887e-02 -7.17889717e-04 9.99759843e-01 4.87410308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.755099893 meters 0.01671562635117932 Centerline is valid? [True, True] Translation: X:410.31, Y:5.59, Z:4.87 [[ 9.98651692e-01 -4.64917534e-02 -2.30936146e-02 4.10306865e+02] [ 4.64949424e-02 9.98918446e-01 -3.99118581e-04 5.58961463e+00] [ 2.30871933e-02 -6.75155835e-04 9.99733227e-01 4.87434146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.785099893 meters 0.014978284812741938 Centerline is valid? [True, True] Translation: X:410.34, Y:5.60, Z:4.88 [[ 9.98745125e-01 -4.41486774e-02 -2.36446381e-02 4.10337206e+02] [ 4.41513593e-02 9.99024770e-01 -4.08865276e-04 5.59536243e+00] [ 2.36396300e-02 -6.35590709e-04 9.99720343e-01 4.87519651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.815099893 meters 0.014884837302618775 Centerline is valid? [True, True] Translation: X:410.37, Y:5.60, Z:4.88 [[ 9.98842224e-01 -4.16672700e-02 -2.40426738e-02 4.10366281e+02] [ 4.16693196e-02 9.99131370e-01 -4.15958014e-04 5.59833682e+00] [ 2.40391214e-02 -5.86365429e-04 9.99710847e-01 4.87548020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.845099893 meters 0.013341207932956449 Centerline is valid? [True, True] Translation: X:410.40, Y:5.61, Z:4.88 [[ 9.99055316e-01 -3.63281600e-02 -2.38482810e-02 4.10395578e+02] [ 3.63285870e-02 9.99339813e-01 -4.15483841e-04 5.60611962e+00] [ 2.38476305e-02 -4.51283013e-04 9.99715503e-01 4.87669061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.875099893 meters 0.012922571857604735 Centerline is valid? [True, True] Translation: X:410.42, Y:5.61, Z:4.88 [[ 9.99147292e-01 -3.39723115e-02 -2.34642644e-02 4.10424784e+02] [ 3.39719488e-02 9.99422701e-01 -4.14191033e-04 5.61000994e+00] [ 2.34647895e-02 -3.83288939e-04 9.99724590e-01 4.87750375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.905099893 meters 0.012922571857604735 Centerline is valid? [True, True] Translation: X:410.45, Y:5.61, Z:4.88 [[ 9.99137561e-01 -3.42573597e-02 -2.34641568e-02 4.10452188e+02] [ 3.42569341e-02 9.99412971e-01 -4.20219873e-04 5.61056246e+00] [ 2.34647782e-02 -3.83952611e-04 9.99724590e-01 4.87784349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93509989300003 meters 0.012415900739783162 Centerline is valid? [True, True] Translation: X:410.48, Y:5.61, Z:4.88 [[ 9.99225023e-01 -3.20182930e-02 -2.28950090e-02 4.10480524e+02] [ 3.20171610e-02 9.99487233e-01 -4.16102671e-04 5.61427361e+00] [ 2.28965921e-02 -3.17252990e-04 9.99737788e-01 4.87911807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.965099893 meters 0.01196671086652181 Centerline is valid? [True, True] Translation: X:410.51, Y:5.62, Z:4.88 [[ 9.99297926e-01 -3.01696806e-02 -2.22136289e-02 4.10509392e+02] [ 3.01680356e-02 9.99544757e-01 -4.09238435e-04 5.61797277e+00] [ 2.22158629e-02 -2.61190430e-04 9.99753163e-01 4.88041802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99509989300003 meters 0.01179240616931985 Centerline is valid? [True, True] Translation: X:410.54, Y:5.62, Z:4.88 [[ 9.99333331e-01 -2.90516380e-02 -2.21109939e-02 4.10538039e+02] [ 2.90496099e-02 9.99577886e-01 -4.12981197e-04 5.62061108e+00] [ 2.21136583e-02 -2.29609873e-04 9.99755437e-01 4.88099958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.025099893 meters 0.011723963561523793 Centerline is valid? [True, True] Translation: X:410.57, Y:5.62, Z:4.88 [[ 9.99369832e-01 -2.79827769e-02 -2.18381056e-02 4.10566268e+02] [ 2.79804230e-02 9.99608386e-01 -4.13397270e-04 5.62402584e+00] [ 2.18411215e-02 -1.97902671e-04 9.99761435e-01 4.88164603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05509989300003 meters 0.011815575303186734 Centerline is valid? [True, True] Translation: X:410.59, Y:5.63, Z:4.88 [[ 9.99360610e-01 -2.85215330e-02 -2.15613842e-02 4.10594059e+02] [ 2.85192400e-02 9.99593158e-01 -4.13893450e-04 5.62532311e+00] [ 2.15644170e-02 -2.01285481e-04 9.99767441e-01 4.88225643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.085099893 meters 0.011849242340651421 Centerline is valid? [True, True] Translation: X:410.62, Y:5.63, Z:4.88 [[ 9.99325638e-01 -2.98214618e-02 -2.14231288e-02 4.10623191e+02] [ 2.98193713e-02 9.99555217e-01 -4.17090979e-04 5.62653061e+00] [ 2.14260384e-02 -2.22014525e-04 9.99770411e-01 4.88287702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.115099893 meters 0.01201163619382664 Centerline is valid? [True, True] Translation: X:410.65, Y:5.63, Z:4.88 [[ 9.99281965e-01 -3.14331611e-02 -2.11544646e-02 4.10651312e+02] [ 3.14314008e-02 9.99505825e-01 -4.15785347e-04 5.62668269e+00] [ 2.11570800e-02 -2.49427655e-04 9.99776133e-01 4.88327458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.145099893 meters 0.012590106773842358 Centerline is valid? [True, True] Translation: X:410.68, Y:5.63, Z:4.88 [[ 9.99200259e-01 -3.37156546e-02 -2.14964595e-02 4.10680298e+02] [ 3.37143264e-02 9.99431420e-01 -4.24294384e-04 5.62600500e+00] [ 2.14985424e-02 -3.00783594e-04 9.99768834e-01 4.88335268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.175099893 meters 0.013521590159274191 Centerline is valid? [True, True] Translation: X:410.71, Y:5.62, Z:4.88 [[ 9.98990649e-01 -3.94067180e-02 -2.15590876e-02 4.10710320e+02] [ 3.94066806e-02 9.99223164e-01 -4.26737166e-04 5.62455902e+00] [ 2.15591561e-02 -4.23265641e-04 9.99767485e-01 4.88364873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.205099893 meters 0.014139665619264118 Centerline is valid? [True, True] Translation: X:410.74, Y:5.62, Z:4.88 [[ 9.98848067e-01 -4.28236346e-02 -2.16489298e-02 4.10740464e+02] [ 4.28243856e-02 9.99082523e-01 -4.29126265e-04 5.62394744e+00] [ 2.16474441e-02 -4.98470176e-04 9.99765542e-01 4.88380974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.235099893 meters 0.015429213054820937 Centerline is valid? [True, True] Translation: X:410.77, Y:5.62, Z:4.88 [[ 9.98686833e-01 -4.63158358e-02 -2.18964331e-02 4.10770961e+02] [ 4.63174416e-02 9.98926677e-01 -4.34087234e-04 5.62193869e+00] [ 2.18930363e-02 -5.80669556e-04 9.99760150e-01 4.88351931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.265099893 meters 0.016663840656256097 Centerline is valid? [True, True] Translation: X:410.80, Y:5.62, Z:4.88 [[ 9.98520857e-01 -4.96471353e-02 -2.21643846e-02 4.10802539e+02] [ 4.96496131e-02 9.98766601e-01 -4.38828739e-04 5.62034344e+00] [ 2.21588336e-02 -6.62273471e-04 9.99754244e-01 4.88307114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.295099893 meters 0.01849273449797539 Centerline is valid? [True, True] Translation: X:410.83, Y:5.62, Z:4.88 [[ 9.98177650e-01 -5.61843977e-02 -2.20157386e-02 4.10833754e+02] [ 5.61884432e-02 9.98420087e-01 -4.35278862e-04 5.61844329e+00] [ 2.20054115e-02 -8.02544445e-04 9.99757529e-01 4.88327367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.325099893 meters 0.0189354986056263 Centerline is valid? [True, True] Translation: X:410.87, Y:5.62, Z:4.88 [[ 9.98014045e-01 -5.90614691e-02 -2.19022359e-02 4.10865401e+02] [ 5.90661770e-02 9.98253976e-01 -4.32469566e-04 5.61871564e+00] [ 2.18895364e-02 -8.62070642e-04 9.99760024e-01 4.88374935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.355099893 meters 0.019351928701458306 Centerline is valid? [True, True] Translation: X:410.90, Y:5.62, Z:4.88 [[ 9.97876599e-01 -6.15678331e-02 -2.12530997e-02 4.10897101e+02] [ 6.15728530e-02 9.98102504e-01 -4.18727746e-04 5.61928457e+00] [ 2.12385522e-02 -8.90775366e-04 9.99774040e-01 4.88453860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.385099893 meters 0.022357520237104165 Centerline is valid? [True, True] Translation: X:410.93, Y:5.62, Z:4.89 [[ 9.97632882e-01 -6.58056506e-02 -1.99561554e-02 4.10926871e+02] [ 6.58109348e-02 9.97832033e-01 -3.92535370e-04 5.61737088e+00] [ 1.99387221e-02 -9.21727048e-04 9.99800779e-01 4.88503111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.415099893 meters 0.022830546713678502 Centerline is valid? [True, True] Translation: X:410.96, Y:5.62, Z:4.89 [[ 9.97535260e-01 -6.74291527e-02 -1.94091279e-02 4.10958908e+02] [ 6.74344675e-02 9.97723633e-01 -3.81270215e-04 5.61813690e+00] [ 1.93906543e-02 -9.28513719e-04 9.99811552e-01 4.88566437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.445099893 meters 0.023819970474581485 Centerline is valid? [True, True] Translation: X:410.99, Y:5.62, Z:4.89 [[ 9.97458172e-01 -6.87458375e-02 -1.87404851e-02 4.10991080e+02] [ 6.87510486e-02 9.97633780e-01 -3.66825699e-04 5.61814880e+00] [ 1.87213587e-02 -9.22534711e-04 9.99824314e-01 4.88607157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.475099893 meters 0.023648024029453516 Centerline is valid? [True, True] Translation: X:411.02, Y:5.62, Z:4.89 [[ 9.97383250e-01 -6.99133522e-02 -1.84058501e-02 4.11023326e+02] [ 6.99186010e-02 9.97552635e-01 -3.58976069e-04 5.61987586e+00] [ 1.83859015e-02 -9.28874571e-04 9.99830534e-01 4.88677695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.505099893 meters 0.02621601133433263 Centerline is valid? [True, True] Translation: X:411.05, Y:5.62, Z:4.89 [[ 9.97259472e-01 -7.19722960e-02 -1.71328453e-02 4.11054185e+02] [ 7.19771637e-02 9.97406225e-01 -3.33148074e-04 5.61817343e+00] [ 1.71123840e-02 -9.00938540e-04 9.99853167e-01 4.88729958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.535099893 meters 0.0258843016865277 Centerline is valid? [True, True] Translation: X:411.09, Y:5.62, Z:4.89 [[ 9.97196886e-01 -7.29058662e-02 -1.68257237e-02 4.11086410e+02] [ 7.29107061e-02 9.97338419e-01 -3.26422455e-04 5.61986475e+00] [ 1.68047387e-02 -9.01267937e-04 9.99858384e-01 4.88783341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.565099893 meters 0.02893962222647646 Centerline is valid? [True, True] Translation: X:411.12, Y:5.62, Z:4.89 [[ 9.97140992e-01 -7.37815568e-02 -1.63132994e-02 4.11118023e+02] [ 7.37862404e-02 9.97274030e-01 -3.15418681e-04 5.61683195e+00] [ 1.62921019e-02 -8.89180136e-04 9.99866880e-01 4.88769151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.595099893 meters 0.02639517924646162 Centerline is valid? [True, True] Translation: X:411.15, Y:5.62, Z:4.89 [[ 9.97087939e-01 -7.45284076e-02 -1.61603920e-02 4.11150348e+02] [ 7.45331164e-02 9.97218490e-01 -3.11541706e-04 5.62141726e+00] [ 1.61386604e-02 -8.93849903e-04 9.99869364e-01 4.88783138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.625099893 meters 0.024613281748150084 Centerline is valid? [True, True] Translation: X:411.18, Y:5.63, Z:4.89 [[ 9.97022161e-01 -7.51805054e-02 -1.71669006e-02 4.11182586e+02] [ 7.51859377e-02 9.97169477e-01 -3.29655269e-04 5.62613705e+00] [ 1.71430929e-02 -9.62035910e-04 9.99852584e-01 4.88717447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.655099893 meters 0.0247897385655866 Centerline is valid? [True, True] Translation: X:411.22, Y:5.63, Z:4.89 [[ 9.97059956e-01 -7.46305511e-02 -1.73702375e-02 4.11215115e+02] [ 7.46360520e-02 9.97210785e-01 -3.32276783e-04 5.62751304e+00] [ 1.73465862e-02 -9.65146077e-04 9.99849071e-01 4.88677291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68509989300003 meters 0.025379549885439782 Centerline is valid? [True, True] Translation: X:411.25, Y:5.63, Z:4.89 [[ 9.97134609e-01 -7.34930236e-02 -1.79261326e-02 4.11246598e+02] [ 7.34987212e-02 9.97295253e-01 -3.41675677e-04 5.62840562e+00] [ 1.79027577e-02 -9.76851179e-04 9.99839256e-01 4.88672030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.715099893 meters 0.024505281991604844 Centerline is valid? [True, True] Translation: X:411.28, Y:5.63, Z:4.89 [[ 9.97244173e-01 -7.20438248e-02 -1.77128964e-02 4.11278673e+02] [ 7.20491783e-02 9.97401024e-01 -3.36558563e-04 5.63189616e+00] [ 1.76911080e-02 -9.40568568e-04 9.99843058e-01 4.88702329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74509989300003 meters 0.023789842863764232 Centerline is valid? [True, True] Translation: X:411.31, Y:5.64, Z:4.89 [[ 9.97411018e-01 -6.97607534e-02 -1.74556053e-02 4.11309800e+02] [ 6.97656223e-02 9.97563356e-01 -3.30601689e-04 5.63521804e+00] [ 1.74361352e-02 -8.88055396e-04 9.99847585e-01 4.88789995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.775099893 meters 0.02035062204800671 Centerline is valid? [True, True] Translation: X:411.34, Y:5.65, Z:4.89 [[ 9.97861695e-01 -6.34607519e-02 -1.56451663e-02 4.11339783e+02] [ 6.34638964e-02 9.97984091e-01 -2.95908948e-04 5.64556344e+00] [ 1.56324057e-02 -6.97627011e-04 9.99877563e-01 4.89018212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80509989300003 meters 0.020782196795036092 Centerline is valid? [True, True] Translation: X:411.37, Y:5.65, Z:4.89 [[ 9.98135292e-01 -5.90741147e-02 -1.53684073e-02 4.11369359e+02] [ 5.90766299e-02 9.98253408e-01 -2.90666513e-04 5.64807073e+00] [ 1.53587358e-02 -6.17789202e-04 9.99881857e-01 4.89094688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.835099893 meters 0.018459407195559444 Centerline is valid? [True, True] Translation: X:411.40, Y:5.65, Z:4.89 [[ 9.98409904e-01 -5.44762799e-02 -1.44913001e-02 4.11399718e+02] [ 5.44780324e-02 9.98514932e-01 -2.74077568e-04 5.65494688e+00] [ 1.44847103e-02 -5.15815761e-04 9.99894958e-01 4.89173849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.865099893 meters 0.017413781002161063 Centerline is valid? [True, True] Translation: X:411.43, Y:5.66, Z:4.89 [[ 9.98693371e-01 -4.92690225e-02 -1.35688690e-02 4.11429001e+02] [ 4.92700784e-02 9.98785459e-01 -2.56652823e-04 5.65969506e+00] [ 1.35650341e-02 -4.12221766e-04 9.99907906e-01 4.89246150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.895099893 meters 0.014068371960011301 Centerline is valid? [True, True] Translation: X:411.46, Y:5.67, Z:4.89 [[ 9.99176303e-01 -3.87452449e-02 -1.20632253e-02 4.11459503e+02] [ 3.87453103e-02 9.99249092e-01 -2.28371601e-04 5.67114321e+00] [ 1.20630152e-02 -2.39209915e-04 9.99927211e-01 4.89356602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.925099893 meters 0.013071000619246992 Centerline is valid? [True, True] Translation: X:411.49, Y:5.68, Z:4.89 [[ 9.99367925e-01 -3.35686764e-02 -1.17002059e-02 4.11490873e+02] [ 3.35683841e-02 9.99436398e-01 -2.21427332e-04 5.67635750e+00] [ 1.17010447e-02 -1.71469633e-04 9.99931526e-01 4.89377750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.955099893 meters 0.012291125342356388 Centerline is valid? [True, True] Translation: X:411.52, Y:5.68, Z:4.89 [[ 9.99532934e-01 -2.85553300e-02 -1.08861142e-02 4.11523028e+02] [ 2.85547829e-02 9.99592208e-01 -2.05713379e-04 5.68150261e+00] [ 1.08875491e-02 -1.05233330e-04 9.99940723e-01 4.89372186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.985099893 meters 0.011867269963759083 Centerline is valid? [True, True] Translation: X:411.55, Y:5.69, Z:4.89 [[ 9.99740260e-01 -1.97156355e-02 -1.14326724e-02 4.11554339e+02] [ 1.97144643e-02 9.99805628e-01 -2.15147436e-04 5.68988545e+00] [ 1.14346920e-02 -1.02974579e-05 9.99934622e-01 4.89345417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.015099893 meters 0.011887736502282397 Centerline is valid? [True, True] Translation: X:411.59, Y:5.69, Z:4.89 [[ 9.99799748e-01 -1.64882622e-02 -1.13402734e-02 4.11585301e+02] [ 1.64869093e-02 9.99864059e-01 -2.12780829e-04 5.69374672e+00] [ 1.13422402e-02 2.57721600e-05 9.99935674e-01 4.89359376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.045099893 meters 0.011991384969570095 Centerline is valid? [True, True] Translation: X:411.61, Y:5.70, Z:4.89 [[ 9.99836700e-01 -1.38206412e-02 -1.16431390e-02 4.11614802e+02] [ 1.38190396e-02 9.99904489e-01 -2.17994315e-04 5.69703116e+00] [ 1.16450398e-02 5.70617171e-05 9.99932193e-01 4.89357070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.075099893 meters 0.012231004827166029 Centerline is valid? [True, True] Translation: X:411.64, Y:5.70, Z:4.89 [[ 9.99856836e-01 -1.17533151e-02 -1.21723502e-02 4.11644647e+02] [ 1.17514088e-02 9.99930924e-01 -2.28126297e-04 5.69960813e+00] [ 1.21741906e-02 8.50513750e-05 9.99925888e-01 4.89368554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.105099893 meters 0.012360754788643591 Centerline is valid? [True, True] Translation: X:411.67, Y:5.70, Z:4.89 [[ 9.99871061e-01 -1.10033170e-02 -1.16956377e-02 4.11673124e+02] [ 1.10015028e-02 9.99939458e-01 -2.19448602e-04 5.70142519e+00] [ 1.16973443e-02 9.07507163e-05 9.99931580e-01 4.89390884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.135099893 meters 0.012296237850596508 Centerline is valid? [True, True] Translation: X:411.70, Y:5.70, Z:4.89 [[ 9.99877062e-01 -1.10438034e-02 -1.11308141e-02 4.11701960e+02] [ 1.10421336e-02 9.99939011e-01 -2.11459494e-04 5.70209471e+00] [ 1.11324705e-02 8.85255619e-05 9.99938028e-01 4.89430079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.165099893 meters 0.012320880236193255 Centerline is valid? [True, True] Translation: X:411.73, Y:5.70, Z:4.89 [[ 9.99868665e-01 -1.18625874e-02 -1.10423092e-02 4.11730369e+02] [ 1.18609602e-02 9.99929634e-01 -2.12836544e-04 5.70228167e+00] [ 1.10440570e-02 8.18362010e-05 9.99939009e-01 4.89499876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.195099893 meters 0.012305945206729443 Centerline is valid? [True, True] Translation: X:411.76, Y:5.70, Z:4.90 [[ 9.99846039e-01 -1.32532689e-02 -1.14999562e-02 4.11759269e+02] [ 1.32515885e-02 9.99912169e-01 -2.22309217e-04 5.70221570e+00] [ 1.15018924e-02 6.98823029e-05 9.99933849e-01 4.89538177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.225099893 meters 0.012154868849782827 Centerline is valid? [True, True] Translation: X:411.79, Y:5.70, Z:4.90 [[ 9.99820511e-01 -1.53133195e-02 -1.11556643e-02 4.11788492e+02] [ 1.53118598e-02 9.99882743e-01 -2.16253652e-04 5.70123373e+00] [ 1.11576678e-02 4.54008691e-05 9.99937750e-01 4.89576689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.255099893 meters 0.0120935646237994 Centerline is valid? [True, True] Translation: X:411.82, Y:5.70, Z:4.90 [[ 9.99778933e-01 -1.78799783e-02 -1.10630796e-02 4.11818690e+02] [ 1.78786950e-02 9.99840140e-01 -2.14891780e-04 5.69996440e+00] [ 1.10651534e-02 1.70508478e-05 9.99938779e-01 4.89595165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.285099893 meters 0.012260133920265938 Centerline is valid? [True, True] Translation: X:411.85, Y:5.70, Z:4.90 [[ 9.99641108e-01 -2.41502320e-02 -1.15939883e-02 4.11849559e+02] [ 2.41492441e-02 9.99708339e-01 -2.25218163e-04 5.69625931e+00] [ 1.15960459e-02 -5.48487196e-05 9.99932762e-01 4.89594840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.315099893 meters 0.012577423315961055 Centerline is valid? [True, True] Translation: X:411.88, Y:5.69, Z:4.90 [[ 9.99554492e-01 -2.76158398e-02 -1.13217949e-02 4.11880262e+02] [ 2.76151221e-02 9.99618606e-01 -2.19750215e-04 5.69363560e+00] [ 1.13235454e-02 -9.30004346e-05 9.99935882e-01 4.89610323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.345099893 meters 0.012948483885041663 Centerline is valid? [True, True] Translation: X:411.91, Y:5.69, Z:4.90 [[ 9.99442366e-01 -3.13552538e-02 -1.14806437e-02 4.11912362e+02] [ 3.13547669e-02 9.99508294e-01 -2.22445602e-04 5.69181995e+00] [ 1.14819734e-02 -1.37651348e-04 9.99934070e-01 4.89617898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.375099893 meters 0.013652228750655263 Centerline is valid? [True, True] Translation: X:411.94, Y:5.69, Z:4.90 [[ 9.99316330e-01 -3.51074226e-02 -1.15905951e-02 4.11943198e+02] [ 3.51071888e-02 9.99383528e-01 -2.23701169e-04 5.68887255e+00] [ 1.15913033e-02 -1.83364977e-04 9.99932802e-01 4.89637703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.405099893 meters 0.015245235739107358 Centerline is valid? [True, True] Translation: X:411.97, Y:5.68, Z:4.90 [[ 9.99007891e-01 -4.29547806e-02 -1.17524792e-02 4.11974666e+02] [ 4.29550878e-02 9.99076979e-01 -2.26395589e-04 5.68421803e+00] [ 1.17513562e-02 -2.78657795e-04 9.99930912e-01 4.89689794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43509989300003 meters 0.016746473580184766 Centerline is valid? [True, True] Translation: X:412.01, Y:5.68, Z:4.90 [[ 9.98838618e-01 -4.68424460e-02 -1.12783226e-02 4.12005549e+02] [ 4.68429798e-02 9.98902242e-01 -2.16969686e-04 5.68082752e+00] [ 1.12761052e-02 -3.11592539e-04 9.99936374e-01 4.89739179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.465099893 meters 0.017472211780392852 Centerline is valid? [True, True] Translation: X:412.04, Y:5.68, Z:4.90 [[ 9.98654365e-01 -5.05917090e-02 -1.13990456e-02 4.12038046e+02] [ 5.05925154e-02 9.98719355e-01 -2.17792611e-04 5.67949490e+00] [ 1.13954659e-02 -3.59206846e-04 9.99935005e-01 4.89833508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49509989300003 meters 0.018445187696683754 Centerline is valid? [True, True] Translation: X:412.07, Y:5.68, Z:4.90 [[ 9.98473811e-01 -5.41101918e-02 -1.10515542e-02 4.12069947e+02] [ 5.41111729e-02 9.98534895e-01 -2.10441473e-04 5.67773653e+00] [ 1.10467496e-02 -3.87892261e-04 9.99938908e-01 4.89911682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.525099893 meters 0.01952408088782559 Centerline is valid? [True, True] Translation: X:412.10, Y:5.68, Z:4.90 [[ 9.98299040e-01 -5.72763700e-02 -1.08832177e-02 4.12102133e+02] [ 5.72775234e-02 9.98358274e-01 -2.05937406e-04 5.67567282e+00] [ 1.08771458e-02 -4.17776644e-04 9.99940755e-01 4.89978220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55509989300003 meters 0.022039654346442266 Centerline is valid? [True, True] Translation: X:412.13, Y:5.67, Z:4.90 [[ 9.97982928e-01 -6.26324237e-02 -1.03564232e-02 4.12131797e+02] [ 6.26337634e-02 9.98036559e-01 -1.95247227e-04 5.67081897e+00] [ 1.03483178e-02 -4.53808362e-04 9.99946352e-01 4.90024323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.585099893 meters 0.02360551800693836 Centerline is valid? [True, True] Translation: X:412.16, Y:5.67, Z:4.90 [[ 9.97840094e-01 -6.48455124e-02 -1.04978954e-02 4.12162493e+02] [ 6.48470186e-02 9.97895198e-01 -1.97207891e-04 5.66858668e+00] [ 1.04885875e-02 -4.83975278e-04 9.99944876e-01 4.90051667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.615099893 meters 0.022969851473093154 Centerline is valid? [True, True] Translation: X:412.19, Y:5.67, Z:4.90 [[ 9.97716493e-01 -6.66688417e-02 -1.08196716e-02 4.12194087e+02] [ 6.66705526e-02 9.97775023e-01 -2.02880965e-04 5.66970897e+00] [ 1.08091239e-02 -5.18935798e-04 9.99941445e-01 4.90029612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.645099893 meters 0.026223387435553303 Centerline is valid? [True, True] Translation: X:412.22, Y:5.67, Z:4.90 [[ 9.97516073e-01 -6.95044750e-02 -1.14373443e-02 4.12223858e+02] [ 6.95065799e-02 9.97581470e-01 -2.13832206e-04 5.66556706e+00] [ 1.14245451e-02 -5.81669625e-04 9.99934569e-01 4.90014820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.675099893 meters 0.025298760402624094 Centerline is valid? [True, True] Translation: X:412.26, Y:5.67, Z:4.90 [[ 9.97421345e-01 -7.08530161e-02 -1.14241274e-02 4.12255538e+02] [ 7.08552162e-02 9.97486588e-01 -2.12559172e-04 5.66738796e+00] [ 1.14104744e-02 -5.97447964e-04 9.99934720e-01 4.90081082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.705099893 meters 0.02591321704885871 Centerline is valid? [True, True] Translation: X:412.29, Y:5.67, Z:4.90 [[ 9.97336006e-01 -7.19504018e-02 -1.20012784e-02 4.12287537e+02] [ 7.19529171e-02 9.97408005e-01 -2.22622753e-04 5.66745906e+00] [ 1.19861889e-02 -6.41497301e-04 9.99927957e-01 4.90090753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.735099893 meters 0.026078241289641563 Centerline is valid? [True, True] Translation: X:412.32, Y:5.67, Z:4.90 [[ 9.97253272e-01 -7.29309693e-02 -1.29222813e-02 4.12319480e+02] [ 7.29339804e-02 9.97336742e-01 -2.38713508e-04 5.66787396e+00] [ 1.29052756e-02 -7.04415586e-04 9.99916475e-01 4.90074850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.765099893 meters 0.02880545002367854 Centerline is valid? [True, True] Translation: X:412.35, Y:5.67, Z:4.90 [[ 9.97098081e-01 -7.47678970e-02 -1.43240223e-02 4.12350923e+02] [ 7.47718033e-02 9.97200636e-01 -2.63393985e-04 5.66559239e+00] [ 1.43036176e-02 -8.08403341e-04 9.99897371e-01 4.90028026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.795099893 meters 0.02880545002367854 Centerline is valid? [True, True] Translation: X:412.38, Y:5.67, Z:4.90 [[ 9.97105968e-01 -7.46626461e-02 -1.43240524e-02 4.12383507e+02] [ 7.46665651e-02 9.97208522e-01 -2.61745434e-04 5.66609588e+00] [ 1.43036098e-02 -8.08539861e-04 9.99897371e-01 4.90068284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.825099893 meters 0.030624581135223747 Centerline is valid? [True, True] Translation: X:412.41, Y:5.66, Z:4.90 [[ 9.97034810e-01 -7.54271335e-02 -1.52425559e-02 4.12414958e+02] [ 7.54316838e-02 9.97150934e-01 -2.76989786e-04 5.66476205e+00] [ 1.52200214e-02 -8.73603199e-04 9.99883787e-01 4.90064931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.855099893 meters 0.028449319436513545 Centerline is valid? [True, True] Translation: X:412.45, Y:5.67, Z:4.90 [[ 9.96972542e-01 -7.61566989e-02 -1.56814300e-02 4.12447275e+02] [ 7.61616192e-02 9.97095445e-01 -2.84063808e-04 5.66891503e+00] [ 1.56575158e-02 -9.11119285e-04 9.99876998e-01 4.90066605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.885099893 meters 0.028423353343086946 Centerline is valid? [True, True] Translation: X:412.48, Y:5.67, Z:4.90 [[ 9.96911702e-01 -7.68330565e-02 -1.62400825e-02 4.12479722e+02] [ 7.68384424e-02 9.97043514e-01 -2.92995594e-04 5.66989634e+00] [ 1.62145807e-02 -9.55771908e-04 9.99868078e-01 4.90065043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.915099893 meters 0.026503218644674937 Centerline is valid? [True, True] Translation: X:412.51, Y:5.67, Z:4.90 [[ 9.96867428e-01 -7.69711518e-02 -1.81871458e-02 4.12512075e+02] [ 7.69779555e-02 9.97032742e-01 -3.26708340e-04 5.67398339e+00] [ 1.81583269e-02 -1.07432440e-03 9.99834547e-01 4.89962451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.945099893 meters 0.02753042753683701 Centerline is valid? [True, True] Translation: X:412.54, Y:5.67, Z:4.90 [[ 9.96883394e-01 -7.65534240e-02 -1.90544647e-02 4.12543200e+02] [ 7.65608527e-02 9.97064852e-01 -3.40379461e-04 5.67387453e+00] [ 1.90245942e-02 -1.11950743e-03 9.99818389e-01 4.89974698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.975099893 meters 0.02699665329129966 Centerline is valid? [True, True] Translation: X:412.58, Y:5.68, Z:4.90 [[ 9.96925986e-01 -7.59296705e-02 -1.93200395e-02 4.12575630e+02] [ 7.59372355e-02 9.97112541e-01 -3.42819896e-04 5.67621443e+00] [ 1.92902839e-02 -1.12534433e-03 9.99813292e-01 4.89995791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.005099893 meters 0.029240723594257934 Centerline is valid? [True, True] Translation: X:412.61, Y:5.68, Z:4.90 [[ 9.97113552e-01 -7.34749803e-02 -1.91309349e-02 4.12606301e+02] [ 7.34819692e-02 9.97296488e-01 -3.38331495e-04 5.67613667e+00] [ 1.91040731e-02 -1.06842385e-03 9.99816930e-01 4.89993161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.035099893 meters 0.02393828671754751 Centerline is valid? [True, True] Translation: X:412.64, Y:5.69, Z:4.90 [[ 9.97224366e-01 -7.18991593e-02 -1.93409988e-02 4.12638525e+02] [ 7.19060258e-02 9.97411353e-01 -3.41078279e-04 5.68548497e+00] [ 1.93154551e-02 -1.05060279e-03 9.99812887e-01 4.90189224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.065099893 meters 0.028497379855558395 Centerline is valid? [True, True] Translation: X:412.67, Y:5.68, Z:4.90 [[ 9.97385331e-01 -6.98317248e-02 -1.86019488e-02 4.12669579e+02] [ 6.98377384e-02 9.97558311e-01 -3.26936256e-04 5.68100413e+00] [ 1.85793592e-02 -9.73036609e-04 9.99826915e-01 4.90197133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.095099893 meters 0.024524238293071623 Centerline is valid? [True, True] Translation: X:412.70, Y:5.69, Z:4.90 [[ 9.97557318e-01 -6.74357611e-02 -1.82158079e-02 4.12701464e+02] [ 6.74411428e-02 9.97723203e-01 -3.19390653e-04 5.68857907e+00] [ 1.81958726e-02 -9.09884422e-04 9.99834027e-01 4.90360375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.125099893 meters 0.023369636110187417 Centerline is valid? [True, True] Translation: X:412.73, Y:5.69, Z:4.91 [[ 9.97941415e-01 -6.17430785e-02 -1.73414107e-02 4.12730468e+02] [ 6.17471076e-02 9.98091781e-01 -3.03503195e-04 5.69380486e+00] [ 1.73270587e-02 -7.67903544e-04 9.99849580e-01 4.90548656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.155099893 meters 0.020097574196840922 Centerline is valid? [True, True] Translation: X:412.76, Y:5.70, Z:4.91 [[ 9.98117601e-01 -5.88574956e-02 -1.72351604e-02 4.12761455e+02] [ 5.88610459e-02 9.98266140e-01 -3.01652260e-04 5.70083572e+00] [ 1.72230315e-02 -7.13395135e-04 9.99851418e-01 4.90683187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18509989300003 meters 0.019749722247268127 Centerline is valid? [True, True] Translation: X:412.79, Y:5.70, Z:4.91 [[ 9.98305794e-01 -5.55941135e-02 -1.71707838e-02 4.12792096e+02] [ 5.55971661e-02 9.98453236e-01 -2.99897688e-04 5.70313840e+00] [ 1.71608972e-02 -6.55257321e-04 9.99852526e-01 4.90731576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.215099893 meters 0.01751393297493782 Centerline is valid? [True, True] Translation: X:412.82, Y:5.71, Z:4.91 [[ 9.98629313e-01 -4.95161631e-02 -1.69601027e-02 4.12822554e+02] [ 4.95182745e-02 9.98773174e-01 -2.95690137e-04 5.70924776e+00] [ 1.69539370e-02 -5.44550181e-04 9.99856123e-01 4.90804686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24509989300003 meters 0.01718626951626151 Centerline is valid? [True, True] Translation: X:412.85, Y:5.71, Z:4.91 [[ 9.98763676e-01 -4.67412107e-02 -1.69227249e-02 4.12852702e+02] [ 4.67429200e-02 9.98906909e-01 -2.94732684e-04 5.71061796e+00] [ 1.69180029e-02 -4.96649275e-04 9.99856757e-01 4.90858244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.275099893 meters 0.016152085666331743 Centerline is valid? [True, True] Translation: X:412.89, Y:5.71, Z:4.91 [[ 9.98897848e-01 -4.38631269e-02 -1.67067182e-02 4.12885149e+02] [ 4.38643995e-02 9.99037452e-01 -2.90435484e-04 5.71348363e+00] [ 1.67033766e-02 -4.42714780e-04 9.99860391e-01 4.90931215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30509989300003 meters 0.01533384017612001 Centerline is valid? [True, True] Translation: X:412.92, Y:5.72, Z:4.91 [[ 9.99028500e-01 -4.07684161e-02 -1.67329635e-02 4.12917363e+02] [ 4.07692792e-02 9.99168545e-01 -2.89672897e-04 5.71600804e+00] [ 1.67308603e-02 -3.92799383e-04 9.99859952e-01 4.91003649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.335099893 meters 0.01412789396263572 Centerline is valid? [True, True] Translation: X:412.95, Y:5.72, Z:4.91 [[ 9.99266906e-01 -3.41502756e-02 -1.73034694e-02 4.12948950e+02] [ 3.41502276e-02 9.99416666e-01 -2.98346356e-04 5.72008050e+00] [ 1.73035644e-02 -2.92789779e-04 9.99850239e-01 4.91041979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.365099893 meters 0.013656905611193974 Centerline is valid? [True, True] Translation: X:412.98, Y:5.72, Z:4.91 [[ 9.99371370e-01 -3.04933819e-02 -1.80836372e-02 4.12980064e+02] [ 3.04927473e-02 9.99534940e-01 -3.10885705e-04 5.72221876e+00] [ 1.80847072e-02 -2.40729506e-04 9.99836429e-01 4.91024221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.395099893 meters 0.013380747563663817 Centerline is valid? [True, True] Translation: X:413.01, Y:5.72, Z:4.91 [[ 9.99462514e-01 -2.69604806e-02 -1.86498222e-02 4.13010063e+02] [ 2.69591992e-02 9.99636483e-01 -3.20160410e-04 5.72426289e+00] [ 1.86516743e-02 -1.82795943e-04 9.99826026e-01 4.91008639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.425099893 meters 0.0131460378295555 Centerline is valid? [True, True] Translation: X:413.04, Y:5.73, Z:4.91 [[ 9.99544850e-01 -2.32751890e-02 -1.91926903e-02 4.13040839e+02] [ 2.32731526e-02 9.99729089e-01 -3.29479795e-04 5.72679565e+00] [ 1.91951595e-02 -1.17344578e-04 9.99815749e-01 4.91010674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.455099893 meters 0.012918963839488777 Centerline is valid? [True, True] Translation: X:413.07, Y:5.73, Z:4.91 [[ 9.99599520e-01 -2.01659943e-02 -1.98527762e-02 4.13069128e+02] [ 2.01631654e-02 9.99796644e-01 -3.42671650e-04 5.72914889e+00] [ 1.98556493e-02 -5.77603919e-05 9.99802855e-01 4.91044254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.485099893 meters 0.012981246616387292 Centerline is valid? [True, True] Translation: X:413.10, Y:5.73, Z:4.91 [[ 9.99688104e-01 -1.45239387e-02 -2.03162332e-02 4.13096647e+02] [ 1.45197258e-02 9.99894520e-01 -3.54867303e-04 5.73139617e+00] [ 2.03192444e-02 5.97704848e-05 9.99793541e-01 4.91026202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.515099893 meters 0.013148969146557707 Centerline is valid? [True, True] Translation: X:413.13, Y:5.73, Z:4.91 [[ 9.99712555e-01 -1.23930970e-02 -2.05236202e-02 4.13125523e+02] [ 1.23882736e-02 9.99923197e-01 -3.62144066e-04 5.73221808e+00] [ 2.05265321e-02 1.07787746e-04 9.99789303e-01 4.91051145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.545099893 meters 0.013267277577227753 Centerline is valid? [True, True] Translation: X:413.15, Y:5.73, Z:4.91 [[ 9.99733082e-01 -1.07153238e-02 -2.04681820e-02 4.13154662e+02] [ 1.07100716e-02 9.99942578e-01 -3.66207483e-04 5.73266775e+00] [ 2.04709307e-02 1.46894041e-04 9.99790438e-01 4.91116083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.575099893 meters 0.013474828729535884 Centerline is valid? [True, True] Translation: X:413.18, Y:5.73, Z:4.91 [[ 9.99742998e-01 -9.51243071e-03 -2.05779332e-02 4.13183262e+02] [ 9.50676161e-03 9.99954740e-01 -3.73303886e-04 5.73310633e+00] [ 2.05805529e-02 1.77578441e-04 9.99788182e-01 4.91159899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.605099893 meters 0.013521976699198825 Centerline is valid? [True, True] Translation: X:413.21, Y:5.73, Z:4.91 [[ 9.99748163e-01 -8.73599363e-03 -2.06710437e-02 4.13210920e+02] [ 8.73001978e-03 9.99961821e-01 -3.79218841e-04 5.73208126e+00] [ 2.06735674e-02 1.98664719e-04 9.99786259e-01 4.91219219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.635099893 meters 0.01343036517476785 Centerline is valid? [True, True] Translation: X:413.24, Y:5.73, Z:4.91 [[ 9.99735764e-01 -9.88693694e-03 -2.07521099e-02 4.13238591e+02] [ 9.88107969e-03 9.99951107e-01 -3.84769923e-04 5.73069326e+00] [ 2.07548995e-02 1.79615001e-04 9.99784578e-01 4.91266894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.665099893 meters 0.013293409988209309 Centerline is valid? [True, True] Translation: X:413.27, Y:5.73, Z:4.91 [[ 9.99717796e-01 -1.14485747e-02 -2.08148739e-02 4.13266563e+02] [ 1.14428984e-02 9.99934451e-01 -3.91792556e-04 5.72849070e+00] [ 2.08179950e-02 1.53499503e-04 9.99783270e-01 4.91330744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.695099893 meters 0.013104325743954516 Centerline is valid? [True, True] Translation: X:413.30, Y:5.73, Z:4.91 [[ 9.99704174e-01 -1.31746542e-02 -2.04448947e-02 4.13295143e+02] [ 1.31694273e-02 9.99913203e-01 -3.90280766e-04 5.72592513e+00] [ 2.04482619e-02 1.20917757e-04 9.99790905e-01 4.91401922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.725099893 meters 0.012780749174028166 Centerline is valid? [True, True] Translation: X:413.32, Y:5.72, Z:4.92 [[ 9.99638156e-01 -1.77514243e-02 -2.02099792e-02 4.13324296e+02] [ 1.77471789e-02 9.99842431e-01 -3.89411602e-04 5.71973613e+00] [ 2.02137074e-02 3.06005788e-05 9.99795682e-01 4.91566780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.755099893 meters 0.012824626429489325 Centerline is valid? [True, True] Translation: X:413.35, Y:5.72, Z:4.92 [[ 9.99587410e-01 -2.06859610e-02 -1.99273799e-02 4.13352631e+02] [ 2.06823557e-02 9.99786022e-01 -3.87018226e-04 5.71667816e+00] [ 1.99311218e-02 -2.52866146e-05 9.99801355e-01 4.91643821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.785099893 meters 0.013062188818816094 Centerline is valid? [True, True] Translation: X:413.38, Y:5.71, Z:4.92 [[ 9.99453908e-01 -2.65908661e-02 -1.96166293e-02 4.13380132e+02] [ 2.65884281e-02 9.99646391e-01 -3.85132359e-04 5.70908535e+00] [ 1.96199337e-02 -1.36653295e-04 9.99807501e-01 4.91716909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.815099893 meters 0.013062188818816094 Centerline is valid? [True, True] Translation: X:413.41, Y:5.71, Z:4.92 [[ 9.99452977e-01 -2.66258436e-02 -1.96166026e-02 4.13409278e+02] [ 2.66233857e-02 9.99645460e-01 -3.86487465e-04 5.70968898e+00] [ 1.96199383e-02 -1.35984330e-04 9.99807501e-01 4.91752996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.845099893 meters 0.013710078756539276 Centerline is valid? [True, True] Translation: X:413.44, Y:5.70, Z:4.92 [[ 9.99268670e-01 -3.29180816e-02 -1.94557157e-02 4.13437854e+02] [ 3.29168132e-02 9.99458021e-01 -3.85514619e-04 5.70198029e+00] [ 1.94578615e-02 -2.55187479e-04 9.99810645e-01 4.91817735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.875099893 meters 0.014284210502976437 Centerline is valid? [True, True] Translation: X:413.47, Y:5.70, Z:4.92 [[ 9.99168669e-01 -3.57017164e-02 -1.96814324e-02 4.13468595e+02] [ 3.57008995e-02 9.99362442e-01 -3.92975166e-04 5.69769701e+00] [ 1.96829142e-02 -3.09996364e-04 9.99806225e-01 4.91814682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.905099893 meters 0.015039122506515025 Centerline is valid? [True, True] Translation: X:413.50, Y:5.69, Z:4.92 [[ 9.98976638e-01 -4.04444296e-02 -2.02466255e-02 4.13499726e+02] [ 4.04445460e-02 9.99181703e-01 -4.03894866e-04 5.69050713e+00] [ 2.02463930e-02 -4.15384041e-04 9.99794934e-01 4.91802569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93509989300003 meters 0.015039122506515025 Centerline is valid? [True, True] Translation: X:413.53, Y:5.69, Z:4.92 [[ 9.98978083e-01 -4.04087170e-02 -2.02466355e-02 4.13530571e+02] [ 4.04088362e-02 9.99183148e-01 -4.03392353e-04 5.69109340e+00] [ 2.02463976e-02 -4.15162859e-04 9.99794934e-01 4.91840714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.965099893 meters 0.015355281599999627 Centerline is valid? [True, True] Translation: X:413.56, Y:5.69, Z:4.92 [[ 9.98906658e-01 -4.20489025e-02 -2.04298198e-02 4.13561599e+02] [ 4.20493817e-02 9.99115451e-01 -4.06306892e-04 5.68873858e+00] [ 2.04288334e-02 -4.53198634e-04 9.99791207e-01 4.91864227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99509989300003 meters 0.015519883304880872 Centerline is valid? [True, True] Translation: X:413.59, Y:5.68, Z:4.92 [[ 9.98839837e-01 -4.32418370e-02 -2.11925150e-02 4.13592761e+02] [ 4.32426376e-02 9.99064511e-01 -4.20697869e-04 5.68485999e+00] [ 2.11908814e-02 -4.96210453e-04 9.99775325e-01 4.91841537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.025099893 meters 0.016161890753905766 Centerline is valid? [True, True] Translation: X:413.62, Y:5.68, Z:4.92 [[ 9.98829318e-01 -4.30975644e-02 -2.19679890e-02 4.13623151e+02] [ 4.30984038e-02 9.99070737e-01 -4.35458961e-04 5.68228703e+00] [ 2.19663422e-02 -5.11836082e-04 9.99758580e-01 4.91803569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05509989300003 meters 0.015644763811460474 Centerline is valid? [True, True] Translation: X:413.65, Y:5.68, Z:4.92 [[ 9.98857027e-01 -4.24036982e-02 -2.20582365e-02 4.13653935e+02] [ 4.24043803e-02 9.99100434e-01 -4.37025882e-04 5.68247036e+00] [ 2.20569252e-02 -4.98839476e-04 9.99756592e-01 4.91868901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.085099893 meters 0.01521432426156955 Centerline is valid? [True, True] Translation: X:413.68, Y:5.68, Z:4.92 [[ 9.98944469e-01 -3.99649775e-02 -2.26439572e-02 4.13684392e+02] [ 3.99650702e-02 9.99200977e-01 -4.48630397e-04 5.68118581e+00] [ 2.26437937e-02 -4.56810487e-04 9.99743492e-01 4.91866161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.115099893 meters 0.014912965137550065 Centerline is valid? [True, True] Translation: X:413.71, Y:5.68, Z:4.92 [[ 9.98999328e-01 -3.83092233e-02 -2.30813044e-02 4.13714561e+02] [ 3.83088779e-02 9.99265841e-01 -4.57295278e-04 5.68099170e+00] [ 2.30818776e-02 -4.27381194e-04 9.99733487e-01 4.91851490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.145099893 meters 0.014346797896447362 Centerline is valid? [True, True] Translation: X:413.74, Y:5.68, Z:4.92 [[ 9.99063012e-01 -3.65262948e-02 -2.32148102e-02 4.13744408e+02] [ 3.65254553e-02 9.99332617e-01 -4.60327489e-04 5.68191294e+00] [ 2.32161311e-02 -3.88035346e-04 9.99730394e-01 4.91900975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.175099893 meters 0.014196890444608192 Centerline is valid? [True, True] Translation: X:413.77, Y:5.68, Z:4.92 [[ 9.99128652e-01 -3.43744501e-02 -2.36713880e-02 4.13773183e+02] [ 3.43729460e-02 9.99408965e-01 -4.70540109e-04 5.68169798e+00] [ 2.36735720e-02 -3.43525239e-04 9.99719683e-01 4.91842976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.205099893 meters 0.013444904700752259 Centerline is valid? [True, True] Translation: X:413.80, Y:5.68, Z:4.92 [[ 9.99254646e-01 -3.01702136e-02 -2.40813186e-02 4.13801647e+02] [ 3.01673471e-02 9.99544746e-01 -4.82396645e-04 5.68288248e+00] [ 2.40849095e-02 -2.44432408e-04 9.99709887e-01 4.91876943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.235099893 meters 0.01314610564594151 Centerline is valid? [True, True] Translation: X:413.83, Y:5.68, Z:4.92 [[ 9.99313130e-01 -2.80527804e-02 -2.42138183e-02 4.13830053e+02] [ 2.80491132e-02 9.99606426e-01 -4.91140467e-04 5.68354996e+00] [ 2.42180662e-02 -1.88373014e-04 9.99706682e-01 4.91933521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.265099893 meters 0.013239194891600258 Centerline is valid? [True, True] Translation: X:413.86, Y:5.68, Z:4.92 [[ 9.99379699e-01 -2.59982533e-02 -2.37551537e-02 4.13858312e+02] [ 2.59940465e-02 9.99661980e-01 -4.85917152e-04 5.68317075e+00] [ 2.37597569e-02 -1.31876830e-04 9.99717688e-01 4.91831996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.295099893 meters 0.012934560981080295 Centerline is valid? [True, True] Translation: X:413.89, Y:5.68, Z:4.92 [[ 9.99425154e-01 -2.43436866e-02 -2.35954873e-02 4.13885971e+02] [ 2.43389726e-02 9.99703645e-01 -4.86992082e-04 5.68420943e+00] [ 2.36003498e-02 -8.75777823e-05 9.99721469e-01 4.92049839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.325099893 meters 0.012834458995898301 Centerline is valid? [True, True] Translation: X:413.91, Y:5.68, Z:4.92 [[ 9.99528222e-01 -2.12283042e-02 -2.21966910e-02 4.13914568e+02] [ 2.12232349e-02 9.99774654e-01 -4.63958166e-04 5.68414080e+00] [ 2.22015381e-02 -7.34630557e-06 9.99753515e-01 4.92182880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.355099893 meters 0.012870651908732392 Centerline is valid? [True, True] Translation: X:413.94, Y:5.68, Z:4.92 [[ 9.99558692e-01 -2.02344311e-02 -2.17483002e-02 4.13941176e+02] [ 2.02292231e-02 9.99795263e-01 -4.59465179e-04 5.68436840e+00] [ 2.17531445e-02 1.93111967e-05 9.99763372e-01 4.92178369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.385099893 meters 0.012807388595321092 Centerline is valid? [True, True] Translation: X:413.97, Y:5.68, Z:4.92 [[ 9.99571174e-01 -1.95631307e-02 -2.17888148e-02 4.13969238e+02] [ 1.95576315e-02 9.99808623e-01 -4.65470574e-04 5.68387152e+00] [ 2.17937509e-02 3.91333574e-05 9.99762487e-01 4.92325110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.415099893 meters 0.012901815015361341 Centerline is valid? [True, True] Translation: X:414.00, Y:5.68, Z:4.92 [[ 9.99582779e-01 -1.85553192e-02 -2.21352123e-02 4.13996725e+02] [ 1.85492965e-02 9.99827833e-01 -4.77393082e-04 5.68199128e+00] [ 2.21402595e-02 6.66012871e-05 9.99754872e-01 4.92311770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.445099893 meters 0.012901872848873706 Centerline is valid? [True, True] Translation: X:414.02, Y:5.68, Z:4.92 [[ 9.99585890e-01 -1.85979110e-02 -2.19583031e-02 4.14024217e+02] [ 1.85919095e-02 9.99827042e-01 -4.77447787e-04 5.68099613e+00] [ 2.19633848e-02 6.90032861e-05 9.99758773e-01 4.92357096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.475099893 meters 0.012898010648551434 Centerline is valid? [True, True] Translation: X:414.05, Y:5.68, Z:4.92 [[ 9.99581305e-01 -1.89169236e-02 -2.18944150e-02 4.14051760e+02] [ 1.89108955e-02 9.99821057e-01 -4.82358908e-04 5.67966723e+00] [ 2.18996219e-02 6.81139530e-05 9.99760172e-01 4.92379322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.505099893 meters 0.012912674535994213 Centerline is valid? [True, True] Translation: X:414.08, Y:5.68, Z:4.92 [[ 9.99575851e-01 -1.96189026e-02 -2.15224868e-02 4.14079394e+02] [ 1.96131082e-02 9.99807529e-01 -4.80299016e-04 5.67814071e+00] [ 2.15277673e-02 5.79724351e-05 9.99768249e-01 4.92420063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.535099893 meters 0.012743077395814458 Centerline is valid? [True, True] Translation: X:414.11, Y:5.67, Z:4.92 [[ 9.99543395e-01 -2.15867363e-02 -2.11427277e-02 4.14107083e+02] [ 2.15814577e-02 9.99766979e-01 -4.77829796e-04 5.67433796e+00] [ 2.11481158e-02 2.13207325e-05 9.99776353e-01 4.92420133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.565099893 meters 0.012757435832235512 Centerline is valid? [True, True] Translation: X:414.14, Y:5.67, Z:4.92 [[ 9.99511295e-01 -2.31068051e-02 -2.10534274e-02 4.14135096e+02] [ 2.31017808e-02 9.99733002e-01 -4.81859249e-04 5.67275365e+00] [ 2.10589404e-02 -4.74790406e-06 9.99778236e-01 4.92479426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.595099893 meters 0.012857200194678627 Centerline is valid? [True, True] Translation: X:414.16, Y:5.67, Z:4.92 [[ 9.99473021e-01 -2.45842310e-02 -2.11965950e-02 4.14162523e+02] [ 2.45793700e-02 9.99697762e-01 -4.89870220e-04 5.67097030e+00] [ 2.12022317e-02 -3.13868812e-05 9.99775207e-01 4.92391418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.625099893 meters 0.012796316989582775 Centerline is valid? [True, True] Translation: X:414.19, Y:5.67, Z:4.92 [[ 9.99433973e-01 -2.62879660e-02 -2.09922771e-02 4.14190413e+02] [ 2.62834892e-02 9.99654410e-01 -4.89186234e-04 5.66952381e+00] [ 2.09978821e-02 -6.28409481e-05 9.99779518e-01 4.92482480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.655099893 meters 0.01293459119257426 Centerline is valid? [True, True] Translation: X:414.22, Y:5.67, Z:4.92 [[ 9.99351042e-01 -2.93553848e-02 -2.08747558e-02 4.14218467e+02] [ 2.93515369e-02 9.99569030e-01 -4.90764800e-04 5.66563867e+00] [ 2.08801660e-02 -1.22259851e-04 9.99781978e-01 4.92466184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68509989300003 meters 0.013162567888660213 Centerline is valid? [True, True] Translation: X:414.25, Y:5.66, Z:4.92 [[ 9.99306512e-01 -3.07215432e-02 -2.10399985e-02 4.14245982e+02] [ 3.07178971e-02 9.99527971e-01 -4.96534313e-04 5.66348761e+00] [ 2.10453213e-02 -1.50114537e-04 9.99778511e-01 4.92437527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.715099893 meters 0.013162567888660213 Centerline is valid? [True, True] Translation: X:414.27, Y:5.66, Z:4.92 [[ 9.99297935e-01 -3.09993428e-02 -2.10399152e-02 4.14273385e+02] [ 3.09956844e-02 9.99519393e-01 -5.00042714e-04 5.66420730e+00] [ 2.10453043e-02 -1.52454920e-04 9.99778511e-01 4.92471455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74509989300003 meters 0.013230974471085597 Centerline is valid? [True, True] Translation: X:414.30, Y:5.66, Z:4.92 [[ 9.99256057e-01 -3.25303142e-02 -2.07150033e-02 4.14301624e+02] [ 3.25269789e-02 9.99470734e-01 -4.98014150e-04 5.66246598e+00] [ 2.07202401e-02 -1.76152821e-04 9.99785297e-01 4.92481665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.775099893 meters 0.013297104393937779 Centerline is valid? [True, True] Translation: X:414.33, Y:5.66, Z:4.93 [[ 9.99225109e-01 -3.44158468e-02 -1.90979220e-02 4.14330456e+02] [ 3.44132635e-02 9.99407581e-01 -4.63986797e-04 5.65945105e+00] [ 1.91025765e-02 -1.93594564e-04 9.99817510e-01 4.92650490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80509989300003 meters 0.013308960955023187 Centerline is valid? [True, True] Translation: X:414.36, Y:5.66, Z:4.93 [[ 9.99211874e-01 -3.49749511e-02 -1.87718779e-02 4.14360313e+02] [ 3.49724920e-02 9.99388170e-01 -4.59360752e-04 5.65808945e+00] [ 1.87764588e-02 -1.97500632e-04 9.99823687e-01 4.92736498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.835099893 meters 0.013546127429991279 Centerline is valid? [True, True] Translation: X:414.39, Y:5.66, Z:4.93 [[ 9.99203196e-01 -3.54516662e-02 -1.83344621e-02 4.14388602e+02] [ 3.54493869e-02 9.99371372e-01 -4.49406817e-04 5.65671318e+00] [ 1.83388688e-02 -2.00896713e-04 9.99831809e-01 4.92807231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.865099893 meters 0.013718188433173538 Centerline is valid? [True, True] Translation: X:414.42, Y:5.65, Z:4.93 [[ 9.99179469e-01 -3.63868181e-02 -1.77873238e-02 4.14417684e+02] [ 3.63848062e-02 9.99337758e-01 -4.36823274e-04 5.65328022e+00] [ 1.77914389e-02 -2.10723484e-04 9.99841698e-01 4.92872340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.895099893 meters 0.01368996423138795 Centerline is valid? [True, True] Translation: X:414.45, Y:5.65, Z:4.93 [[ 9.99157211e-01 -3.69467269e-02 -1.78831382e-02 4.14447785e+02] [ 3.69447752e-02 9.99317212e-01 -4.39609002e-04 5.65228901e+00] [ 1.78871699e-02 -2.21450016e-04 9.99839987e-01 4.92895015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.925099893 meters 0.013596084656132695 Centerline is valid? [True, True] Translation: X:414.48, Y:5.65, Z:4.93 [[ 9.99112862e-01 -3.77263220e-02 -1.87139855e-02 4.14477915e+02] [ 3.77243214e-02 9.99288079e-01 -4.60033155e-04 5.65161624e+00] [ 1.87180180e-02 -2.46347362e-04 9.99824772e-01 4.92928400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.955099893 meters 0.01394595775253561 Centerline is valid? [True, True] Translation: X:414.51, Y:5.65, Z:4.93 [[ 9.99063219e-01 -3.88870554e-02 -1.89863703e-02 4.14507542e+02] [ 3.88852035e-02 9.99243575e-01 -4.66849233e-04 5.64918753e+00] [ 1.89901629e-02 -2.71876975e-04 9.99819634e-01 4.92877981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.985099893 meters 0.014493076529428892 Centerline is valid? [True, True] Translation: X:414.54, Y:5.64, Z:4.93 [[ 9.98945971e-01 -4.12453214e-02 -2.01437559e-02 4.14537201e+02] [ 4.12437085e-02 9.99148993e-01 -4.95683660e-04 5.64485178e+00] [ 2.01470580e-02 -3.35642000e-04 9.99796971e-01 4.92843764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.015099893 meters 0.014581711910945254 Centerline is valid? [True, True] Translation: X:414.57, Y:5.64, Z:4.93 [[ 9.98889024e-01 -4.27616440e-02 -1.98029949e-02 4.14566723e+02] [ 4.27603735e-02 9.99085238e-01 -4.87779743e-04 5.64346999e+00] [ 1.98057382e-02 -3.59545629e-04 9.99803782e-01 4.92879002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.045099893 meters 0.015455161930810063 Centerline is valid? [True, True] Translation: X:414.60, Y:5.64, Z:4.93 [[ 9.98842467e-01 -4.40101095e-02 -1.94122668e-02 4.14595816e+02] [ 4.40091230e-02 9.99031015e-01 -4.78221891e-04 5.64059318e+00] [ 1.94145032e-02 -3.76648502e-04 9.99811450e-01 4.92889429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.075099893 meters 0.015362233740035591 Centerline is valid? [True, True] Translation: X:414.63, Y:5.64, Z:4.93 [[ 9.98802266e-01 -4.51268478e-02 -1.89103480e-02 4.14626736e+02] [ 4.51261235e-02 9.98981189e-01 -4.65230669e-04 5.64005074e+00] [ 1.89120763e-02 -3.88677252e-04 9.99821075e-01 4.92992787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.105099893 meters 0.01535470300032195 Centerline is valid? [True, True] Translation: X:414.66, Y:5.64, Z:4.93 [[ 9.98731628e-01 -4.69217586e-02 -1.82615200e-02 4.14656987e+02] [ 4.69213829e-02 9.98898484e-01 -4.49268261e-04 5.63881931e+00] [ 1.82624851e-02 -4.08157350e-04 9.99833144e-01 4.93112436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.135099893 meters 0.015523380031743677 Centerline is valid? [True, True] Translation: X:414.69, Y:5.64, Z:4.93 [[ 9.98704002e-01 -4.75330338e-02 -1.81914182e-02 4.14688150e+02] [ 4.75327662e-02 9.98869579e-01 -4.47334041e-04 5.63843432e+00] [ 1.81921174e-02 -4.17934131e-04 9.99834422e-01 4.93164630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.165099893 meters 0.016560711465592102 Centerline is valid? [True, True] Translation: X:414.72, Y:5.64, Z:4.93 [[ 9.98675812e-01 -4.81278362e-02 -1.81750737e-02 4.14718878e+02] [ 4.81276775e-02 9.98841092e-01 -4.46384489e-04 5.63647503e+00] [ 1.81754940e-02 -4.28930694e-04 9.99834720e-01 4.93151340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.195099893 meters 0.016128347271216214 Centerline is valid? [True, True] Translation: X:414.75, Y:5.64, Z:4.93 [[ 9.98645131e-01 -4.87756953e-02 -1.81337991e-02 4.14750580e+02] [ 4.87756517e-02 9.98809660e-01 -4.44946171e-04 5.63774633e+00] [ 1.81339163e-02 -4.40144542e-04 9.99835470e-01 4.93217434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.225099893 meters 0.016258162763492567 Centerline is valid? [True, True] Translation: X:414.78, Y:5.64, Z:4.93 [[ 9.98614033e-01 -4.94469364e-02 -1.80281452e-02 4.14781587e+02] [ 4.94470141e-02 9.98776651e-01 -4.41716736e-04 5.63767634e+00] [ 1.80279320e-02 -4.50333418e-04 9.99837382e-01 4.93243887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.255099893 meters 0.016073593302145757 Centerline is valid? [True, True] Translation: X:414.81, Y:5.64, Z:4.93 [[ 9.98513087e-01 -5.14167723e-02 -1.81088467e-02 4.14812399e+02] [ 5.14171843e-02 9.98677163e-01 -4.43148537e-04 5.63773091e+00] [ 1.81076770e-02 -4.88616296e-04 9.99835923e-01 4.93255198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.285099893 meters 0.01623846203496209 Centerline is valid? [True, True] Translation: X:414.84, Y:5.64, Z:4.93 [[ 9.98462308e-01 -5.25053638e-02 -1.77821625e-02 4.14843385e+02] [ 5.25059409e-02 9.98620517e-01 -4.34733673e-04 5.63764862e+00] [ 1.77804581e-02 -4.99603985e-04 9.99841790e-01 4.93277819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.315099893 meters 0.017194873928101394 Centerline is valid? [True, True] Translation: X:414.87, Y:5.64, Z:4.93 [[ 9.98413623e-01 -5.34037504e-02 -1.78403122e-02 4.14873904e+02] [ 5.34044846e-02 9.98572867e-01 -4.35600918e-04 5.63620365e+00] [ 1.78381144e-02 -5.17842785e-04 9.99840754e-01 4.93304364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.345099893 meters 0.01785761481887681 Centerline is valid? [True, True] Translation: X:414.90, Y:5.64, Z:4.93 [[ 9.98308118e-01 -5.54047980e-02 -1.76411625e-02 4.14904684e+02] [ 5.54058336e-02 9.98463824e-01 -4.30421732e-04 5.63614223e+00] [ 1.76379100e-02 -5.47729804e-04 9.99844290e-01 4.93377810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.375099893 meters 0.018826755200156003 Centerline is valid? [True, True] Translation: X:414.94, Y:5.64, Z:4.93 [[ 9.98251678e-01 -5.64084130e-02 -1.76543974e-02 4.14935446e+02] [ 5.64096124e-02 9.98407617e-01 -4.30429723e-04 5.63531011e+00] [ 1.76505647e-02 -5.66200520e-04 9.99844056e-01 4.93422656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.405099893 meters 0.018239125828119054 Centerline is valid? [True, True] Translation: X:414.97, Y:5.64, Z:4.93 [[ 9.98192176e-01 -5.74114628e-02 -1.77849380e-02 4.14966824e+02] [ 5.74128464e-02 9.98350428e-01 -4.33196586e-04 5.63737376e+00] [ 1.77804709e-02 -5.88670471e-04 9.99841742e-01 4.93492263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43509989300003 meters 0.018967880287456246 Centerline is valid? [True, True] Translation: X:415.00, Y:5.64, Z:4.94 [[ 9.98131450e-01 -5.84495217e-02 -1.78118310e-02 4.14997567e+02] [ 5.84510843e-02 9.98290180e-01 -4.33309598e-04 5.63716767e+00] [ 1.78067027e-02 -6.08620898e-04 9.99841263e-01 4.93516997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.465099893 meters 0.01978845453856602 Centerline is valid? [True, True] Translation: X:415.03, Y:5.64, Z:4.94 [[ 9.98067088e-01 -5.94383008e-02 -1.81431903e-02 4.15028165e+02] [ 5.94400949e-02 9.98231777e-01 -4.40836185e-04 5.63716052e+00] [ 1.81373117e-02 -6.38448868e-04 9.99835302e-01 4.93561597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49509989300003 meters 0.02108901825491985 Centerline is valid? [True, True] Translation: X:415.06, Y:5.64, Z:4.94 [[ 9.97941920e-01 -6.15031841e-02 -1.81461517e-02 4.15058312e+02] [ 6.15053335e-02 9.98106658e-01 -4.40144666e-04 5.63618775e+00] [ 1.81388651e-02 -6.76846299e-04 9.99835248e-01 4.93603498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.525099893 meters 0.021390841853623922 Centerline is valid? [True, True] Translation: X:415.09, Y:5.64, Z:4.94 [[ 9.97896634e-01 -6.21131250e-02 -1.85544719e-02 4.15089403e+02] [ 6.21154856e-02 9.98068868e-01 -4.49614104e-04 5.63644826e+00] [ 1.85465677e-02 -7.03851634e-04 9.99827750e-01 4.93628269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55509989300003 meters 0.020333481478265487 Centerline is valid? [True, True] Translation: X:415.12, Y:5.64, Z:4.94 [[ 9.97885252e-01 -6.22434160e-02 -1.87291302e-02 4.15121057e+02] [ 6.22458566e-02 9.98060744e-01 -4.53188641e-04 5.63897000e+00] [ 1.87210177e-02 -7.13580492e-04 9.99824492e-01 4.93665917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.585099893 meters 0.021079062830601247 Centerline is valid? [True, True] Translation: X:415.15, Y:5.64, Z:4.94 [[ 9.97861284e-01 -6.25485491e-02 -1.89878113e-02 4.15151729e+02] [ 6.25511234e-02 9.98041656e-01 -4.58886824e-04 5.63874289e+00] [ 1.89793293e-02 -7.29803532e-04 9.99819610e-01 4.93656065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.615099893 meters 0.01993625684236274 Centerline is valid? [True, True] Translation: X:415.18, Y:5.64, Z:4.94 [[ 9.97863981e-01 -6.24884633e-02 -1.90438461e-02 4.15182971e+02] [ 6.24910505e-02 9.98045418e-01 -4.59783067e-04 5.64246868e+00] [ 1.90353545e-02 -7.31268987e-04 9.99818544e-01 4.93744899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.645099893 meters 0.020174424741496125 Centerline is valid? [True, True] Translation: X:415.21, Y:5.64, Z:4.94 [[ 9.97863703e-01 -6.23967357e-02 -1.93565989e-02 4.15213888e+02] [ 6.23994050e-02 9.98051149e-01 -4.66633463e-04 5.64402147e+00] [ 1.93479922e-02 -7.42203659e-04 9.99812535e-01 4.93770239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.675099893 meters 0.02007690528678785 Centerline is valid? [True, True] Translation: X:415.25, Y:5.65, Z:4.94 [[ 9.97895971e-01 -6.17045199e-02 -1.99043411e-02 4.15245209e+02] [ 6.17072194e-02 9.98094179e-01 -4.79115132e-04 5.64714432e+00] [ 1.98959705e-02 -7.50134481e-04 9.99801774e-01 4.93850999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.705099893 meters 0.02011714095905261 Centerline is valid? [True, True] Translation: X:415.28, Y:5.65, Z:4.94 [[ 9.97938455e-01 -6.09581268e-02 -2.00735462e-02 4.15276693e+02] [ 6.09607360e-02 9.98140048e-01 -4.82471009e-04 5.64848968e+00] [ 2.00656209e-02 -7.42221775e-04 9.99798390e-01 4.93878749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.735099893 meters 0.01883527758354223 Centerline is valid? [True, True] Translation: X:415.31, Y:5.65, Z:4.94 [[ 9.97965958e-01 -6.05735221e-02 -1.98694263e-02 4.15307764e+02] [ 6.05760164e-02 9.98163473e-01 -4.76859066e-04 5.65248485e+00] [ 1.98618206e-02 -7.27721579e-04 9.99802470e-01 4.93993872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.765099893 meters 0.018138153090938233 Centerline is valid? [True, True] Translation: X:415.34, Y:5.66, Z:4.94 [[ 9.98031996e-01 -5.95087924e-02 -1.97696569e-02 4.15338897e+02] [ 5.95110673e-02 9.98227533e-01 -4.73745144e-04 5.65524867e+00] [ 1.97628079e-02 -7.03700573e-04 9.99804449e-01 4.94086906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.795099893 meters 0.019911021124216683 Centerline is valid? [True, True] Translation: X:415.37, Y:5.65, Z:4.94 [[ 9.98096953e-01 -5.85626116e-02 -1.93104462e-02 4.15369176e+02] [ 5.85646231e-02 9.98283513e-01 -4.61809243e-04 5.65424945e+00] [ 1.93043448e-02 -6.69978605e-04 9.99813429e-01 4.94100359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.825099893 meters 0.019621334718396763 Centerline is valid? [True, True] Translation: X:415.40, Y:5.66, Z:4.94 [[ 9.98245407e-01 -5.61506912e-02 -1.87937887e-02 4.15399589e+02] [ 5.61521874e-02 9.98422120e-01 -4.48496673e-04 5.65791908e+00] [ 1.87893178e-02 -6.07602602e-04 9.99823281e-01 4.94205901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.855099893 meters 0.019342242589222305 Centerline is valid? [True, True] Translation: X:415.43, Y:5.66, Z:4.94 [[ 9.98327759e-01 -5.48250530e-02 -1.83275587e-02 4.15431349e+02] [ 5.48262621e-02 9.98495814e-01 -4.36856968e-04 5.66067525e+00] [ 1.83239413e-02 -5.68705098e-04 9.99831941e-01 4.94254574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.885099893 meters 0.01645240187389298 Centerline is valid? [True, True] Translation: X:415.46, Y:5.67, Z:4.94 [[ 9.98395393e-01 -5.36323667e-02 -1.81716358e-02 4.15462645e+02] [ 5.36333732e-02 9.98560601e-01 -4.32298668e-04 5.66807967e+00] [ 1.81686647e-02 -5.43001125e-04 9.99834789e-01 4.94420575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.915099893 meters 0.01660704944753906 Centerline is valid? [True, True] Translation: X:415.49, Y:5.67, Z:4.94 [[ 9.98528513e-01 -5.11113304e-02 -1.81229502e-02 4.15492566e+02] [ 5.11119333e-02 9.98692838e-01 -4.30222699e-04 5.67070306e+00] [ 1.81212499e-02 -4.96709391e-04 9.99835673e-01 4.94421711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.945099893 meters 0.016284898758288337 Centerline is valid? [True, True] Translation: X:415.52, Y:5.67, Z:4.94 [[ 9.98588324e-01 -4.98199236e-02 -1.84210215e-02 4.15523580e+02] [ 4.98203495e-02 9.98758100e-01 -4.36074043e-04 5.67315858e+00] [ 1.84198696e-02 -4.82283282e-04 9.99830223e-01 4.94466432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.975099893 meters 0.016139906453921996 Centerline is valid? [True, True] Translation: X:415.55, Y:5.68, Z:4.94 [[ 9.98655269e-01 -4.85371953e-02 -1.82152474e-02 4.15554474e+02] [ 4.85374103e-02 9.98821273e-01 -4.30556325e-04 5.67544904e+00] [ 1.82146746e-02 -4.54143595e-04 9.99833996e-01 4.94498294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.005099893 meters 0.015549407183623182 Centerline is valid? [True, True] Translation: X:415.59, Y:5.68, Z:4.95 [[ 9.98726168e-01 -4.70151382e-02 -1.83198886e-02 4.15586062e+02] [ 4.70151117e-02 9.98894085e-01 -4.32373491e-04 5.67842937e+00] [ 1.83199564e-02 -4.29488889e-04 9.99832083e-01 4.94542506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.035099893 meters 0.01440539623718967 Centerline is valid? [True, True] Translation: X:415.62, Y:5.68, Z:4.95 [[ 9.98851404e-01 -4.39037049e-02 -1.91921241e-02 4.15616922e+02] [ 4.39031156e-02 9.99035691e-01 -4.52242246e-04 5.68364894e+00] [ 1.91934721e-02 -3.90871241e-04 9.99815712e-01 4.94572483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.065099893 meters 0.014982325545628153 Centerline is valid? [True, True] Translation: X:415.65, Y:5.68, Z:4.95 [[ 9.98921062e-01 -4.23231940e-02 -1.91169856e-02 4.15646174e+02] [ 4.23223264e-02 9.99103908e-01 -4.50140371e-04 5.68364953e+00] [ 1.91189064e-02 -3.59420606e-04 9.99817152e-01 4.94535776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.095099893 meters 0.014169303008809343 Centerline is valid? [True, True] Translation: X:415.68, Y:5.69, Z:4.95 [[ 9.98989142e-01 -4.07001360e-02 -1.90838390e-02 4.15676631e+02] [ 4.06989710e-02 9.99171352e-01 -4.49586122e-04 5.68718218e+00] [ 1.90863234e-02 -3.27560954e-04 9.99817786e-01 4.94597763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.125099893 meters 0.013793569683517342 Centerline is valid? [True, True] Translation: X:415.71, Y:5.69, Z:4.95 [[ 9.99047960e-01 -3.92520295e-02 -1.90381911e-02 4.15707001e+02] [ 3.92506072e-02 9.99229297e-01 -4.48510727e-04 5.68959575e+00] [ 1.90411232e-02 -2.99176832e-04 9.99818657e-01 4.94659468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.155099893 meters 0.013598904295039937 Centerline is valid? [True, True] Translation: X:415.74, Y:5.69, Z:4.95 [[ 9.99146907e-01 -3.68710579e-02 -1.86006301e-02 4.15736870e+02] [ 3.68692856e-02 9.99320001e-01 -4.38315940e-04 5.69153393e+00] [ 1.86041428e-02 -2.47849928e-04 9.99826897e-01 4.94666901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18509989300003 meters 0.013484349749889301 Centerline is valid? [True, True] Translation: X:415.77, Y:5.69, Z:4.95 [[ 9.99184252e-01 -3.58507098e-02 -1.85891850e-02 4.15767229e+02] [ 3.58487590e-02 9.99357131e-01 -4.38270969e-04 5.69275671e+00] [ 1.85929469e-02 -2.28485761e-04 9.99827110e-01 4.94681133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.215099893 meters 0.013310001296149095 Centerline is valid? [True, True] Translation: X:415.80, Y:5.69, Z:4.95 [[ 9.99203901e-01 -3.53821263e-02 -1.84300999e-02 4.15796687e+02] [ 3.53801249e-02 9.99373833e-01 -4.34740589e-04 5.69431201e+00] [ 1.84339416e-02 -2.17664742e-04 9.99830057e-01 4.94756371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24509989300003 meters 0.013321444409886798 Centerline is valid? [True, True] Translation: X:415.83, Y:5.70, Z:4.95 [[ 9.99230488e-01 -3.47879137e-02 -1.81171784e-02 4.15826462e+02] [ 3.47858703e-02 9.99394697e-01 -4.28008132e-04 5.69508144e+00] [ 1.81211016e-02 -2.02543045e-04 9.99835779e-01 4.94766204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.275099893 meters 0.013365005480018365 Centerline is valid? [True, True] Translation: X:415.86, Y:5.69, Z:4.95 [[ 9.99243242e-01 -3.43845970e-02 -1.81835873e-02 4.15855764e+02] [ 3.43824618e-02 9.99408656e-01 -4.30128872e-04 5.69482157e+00] [ 1.81876244e-02 -1.95393129e-04 9.99834572e-01 4.94737536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30509989300003 meters 0.01344423321675156 Centerline is valid? [True, True] Translation: X:415.89, Y:5.69, Z:4.95 [[ 9.99242210e-01 -3.43904576e-02 -1.82291654e-02 4.15885487e+02] [ 3.43883049e-02 9.99408454e-01 -4.31634808e-04 5.69493746e+00] [ 1.82332261e-02 -1.95562378e-04 9.99833742e-01 4.94760056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.335099893 meters 0.013481618136519753 Centerline is valid? [True, True] Translation: X:415.91, Y:5.69, Z:4.95 [[ 9.99228170e-01 -3.48769640e-02 -1.80738020e-02 4.15914694e+02] [ 3.48749159e-02 9.99391593e-01 -4.28587414e-04 5.69471765e+00] [ 1.80777536e-02 -2.02065708e-04 9.99836564e-01 4.94771393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.365099893 meters 0.013394835223341183 Centerline is valid? [True, True] Translation: X:415.94, Y:5.70, Z:4.95 [[ 9.99215753e-01 -3.52656683e-02 -1.80058634e-02 4.15944285e+02] [ 3.52636873e-02 9.99377951e-01 -4.27611321e-04 5.69505127e+00] [ 1.80097429e-02 -2.07677169e-04 9.99837790e-01 4.94842633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.395099893 meters 0.01356176070702455 Centerline is valid? [True, True] Translation: X:415.97, Y:5.69, Z:4.95 [[ 9.99209542e-01 -3.56174102e-02 -1.76547620e-02 4.15973517e+02] [ 3.56155512e-02 9.99365477e-01 -4.19802994e-04 5.69435453e+00] [ 1.76585119e-02 -2.09312921e-04 9.99844054e-01 4.94885763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.425099893 meters 0.014010997950207167 Centerline is valid? [True, True] Translation: X:416.00, Y:5.69, Z:4.95 [[ 9.99174896e-01 -3.68776304e-02 -1.70166883e-02 4.16003413e+02] [ 3.68760822e-02 9.99319764e-01 -4.04855622e-04 5.69175717e+00] [ 1.70200430e-02 -2.22987222e-04 9.99855124e-01 4.94941176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.455099893 meters 0.014127738259981395 Centerline is valid? [True, True] Translation: X:416.03, Y:5.69, Z:4.95 [[ 9.99156574e-01 -3.74582729e-02 -1.68231444e-02 4.16034274e+02] [ 3.74568428e-02 9.99298166e-01 -4.00207776e-04 5.69120498e+00] [ 1.68263284e-02 -2.30271643e-04 9.99858401e-01 4.95003929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.485099893 meters 0.014006209698321814 Centerline is valid? [True, True] Translation: X:416.06, Y:5.69, Z:4.95 [[ 9.99149759e-01 -3.79956644e-02 -1.60027834e-02 4.16064729e+02] [ 3.79944425e-02 9.99277878e-01 -3.80490315e-04 5.69057217e+00] [ 1.60056844e-02 -2.27850027e-04 9.99871875e-01 4.95125880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.515099893 meters 0.013931375535984449 Centerline is valid? [True, True] Translation: X:416.10, Y:5.69, Z:4.95 [[ 9.99151380e-01 -3.80890135e-02 -1.56763315e-02 4.16096497e+02] [ 3.80878542e-02 9.99274325e-01 -3.72610256e-04 5.69022069e+00] [ 1.56791479e-02 -2.24783775e-04 9.99877049e-01 4.95210230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.545099893 meters 0.013859472482779075 Centerline is valid? [True, True] Translation: X:416.13, Y:5.69, Z:4.95 [[ 9.99160691e-01 -3.80423853e-02 -1.51884666e-02 4.16127631e+02] [ 3.80412997e-02 9.99276103e-01 -3.60484664e-04 5.69016872e+00] [ 1.51911854e-02 -2.17606903e-04 9.99884584e-01 4.95278997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.575099893 meters 0.013908035260128565 Centerline is valid? [True, True] Translation: X:416.16, Y:5.69, Z:4.95 [[ 9.99164217e-01 -3.81207744e-02 -1.47538108e-02 4.16158722e+02] [ 3.81197663e-02 9.99273116e-01 -3.49646790e-04 5.68967433e+00] [ 1.47564153e-02 -2.13057259e-04 9.99891095e-01 4.95367272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.605099893 meters 0.013908035260128565 Centerline is valid? [True, True] Translation: X:416.19, Y:5.69, Z:4.95 [[ 9.99165591e-01 -3.80847265e-02 -1.47538234e-02 4.16189559e+02] [ 3.80837223e-02 9.99274491e-01 -3.49114748e-04 5.69037598e+00] [ 1.47564153e-02 -2.13057070e-04 9.99891095e-01 4.95405406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.635099893 meters 0.013913670654215624 Centerline is valid? [True, True] Translation: X:416.22, Y:5.69, Z:4.96 [[ 9.99186826e-01 -3.78576019e-02 -1.38740539e-02 4.16220880e+02] [ 3.78566986e-02 9.99283124e-01 -3.27823239e-04 5.68908768e+00] [ 1.38765186e-02 -1.97669217e-04 9.99903697e-01 4.95510026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.665099893 meters 0.013911848932363753 Centerline is valid? [True, True] Translation: X:416.25, Y:5.69, Z:4.96 [[ 9.99192912e-01 -3.77393868e-02 -1.37573294e-02 4.16252201e+02] [ 3.77384941e-02 9.99287597e-01 -3.24575610e-04 5.68896049e+00] [ 1.37597779e-02 -1.94867246e-04 9.99905311e-01 4.95586024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.695099893 meters 0.013874315271541243 Centerline is valid? [True, True] Translation: X:416.28, Y:5.69, Z:4.96 [[ 9.99198107e-01 -3.76866028e-02 -1.35226750e-02 4.16283254e+02] [ 3.76857419e-02 9.99289589e-01 -3.18562634e-04 5.68871090e+00] [ 1.35250739e-02 -1.91304859e-04 9.99908514e-01 4.95624897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.725099893 meters 0.013641169098205109 Centerline is valid? [True, True] Translation: X:416.31, Y:5.69, Z:4.96 [[ 9.99214137e-01 -3.72925856e-02 -1.34302746e-02 4.16314687e+02] [ 3.72917074e-02 9.99304372e-01 -3.15904893e-04 5.68867381e+00] [ 1.34327130e-02 -1.85181234e-04 9.99909760e-01 4.95677543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.755099893 meters 0.013834538194037287 Centerline is valid? [True, True] Translation: X:416.35, Y:5.69, Z:4.96 [[ 9.99241936e-01 -3.67008254e-02 -1.29847226e-02 4.16345096e+02] [ 3.66999607e-02 9.99326283e-01 -3.04946868e-04 5.68604984e+00] [ 1.29871664e-02 -1.71823112e-04 9.99915648e-01 4.95677473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.785099893 meters 0.013714808324626168 Centerline is valid? [True, True] Translation: X:416.38, Y:5.69, Z:4.96 [[ 9.99263440e-01 -3.61108395e-02 -1.29840106e-02 4.16376315e+02] [ 3.61099353e-02 9.99347777e-01 -3.04142543e-04 5.68543931e+00] [ 1.29865250e-02 -1.64933258e-04 9.99915658e-01 4.95694157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.815099893 meters 0.013484122576233458 Centerline is valid? [True, True] Translation: X:416.41, Y:5.69, Z:4.96 [[ 9.99269473e-01 -3.59698725e-02 -1.29107746e-02 4.16407361e+02] [ 3.59689726e-02 9.99352862e-01 -3.01971880e-04 5.68556766e+00] [ 1.29132814e-02 -1.62636017e-04 9.99916607e-01 4.95724596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.845099893 meters 0.013686926098506838 Centerline is valid? [True, True] Translation: X:416.44, Y:5.68, Z:4.96 [[ 9.99278207e-01 -3.58338021e-02 -1.26096325e-02 4.16437476e+02] [ 3.58329385e-02 9.99357751e-01 -2.94482631e-04 5.68430423e+00] [ 1.26120864e-02 -1.57570110e-04 9.99920452e-01 4.95739415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.875099893 meters 0.01357312646307451 Centerline is valid? [True, True] Translation: X:416.47, Y:5.68, Z:4.96 [[ 9.99276852e-01 -3.58878005e-02 -1.25634049e-02 4.16469113e+02] [ 3.58869504e-02 9.99355813e-01 -2.93172629e-04 5.68268923e+00] [ 1.25658331e-02 -1.57901667e-04 9.99921034e-01 4.95730730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.905099893 meters 0.013617163702209086 Centerline is valid? [True, True] Translation: X:416.50, Y:5.68, Z:4.96 [[ 9.99263783e-01 -3.60667115e-02 -1.30799556e-02 4.16500409e+02] [ 3.60658118e-02 9.99349371e-01 -3.04737354e-04 5.68169770e+00] [ 1.30824363e-02 -1.67226218e-04 9.99914407e-01 4.95698089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93509989300003 meters 0.013610792317791059 Centerline is valid? [True, True] Translation: X:416.53, Y:5.68, Z:4.96 [[ 9.99247809e-01 -3.62870125e-02 -1.36773035e-02 4.16532226e+02] [ 3.62860563e-02 9.99341394e-01 -3.18144110e-04 5.68087704e+00] [ 1.36798401e-02 -1.78390602e-04 9.99906411e-01 4.95663607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.965099893 meters 0.013839461205009162 Centerline is valid? [True, True] Translation: X:416.56, Y:5.68, Z:4.96 [[ 9.99237189e-01 -3.64318762e-02 -1.40626308e-02 4.16562202e+02] [ 3.64308866e-02 9.99336122e-01 -3.26619221e-04 5.67925694e+00] [ 1.40651943e-02 -1.85944034e-04 9.99901063e-01 4.95624094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99509989300003 meters 0.013801750075331977 Centerline is valid? [True, True] Translation: X:416.59, Y:5.68, Z:4.96 [[ 9.99217139e-01 -3.67895284e-02 -1.45478344e-02 4.16593923e+02] [ 3.67885117e-02 9.99323017e-01 -3.37582887e-04 5.67852582e+00] [ 1.45504052e-02 -1.97874567e-04 9.99894118e-01 4.95616519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.025099893 meters 0.013489306243093163 Centerline is valid? [True, True] Translation: X:416.62, Y:5.68, Z:4.96 [[ 9.99200929e-01 -3.72935757e-02 -1.43768149e-02 4.16624444e+02] [ 3.72926411e-02 9.99304332e-01 -3.33182531e-04 5.67793020e+00] [ 1.43792390e-02 -2.03233105e-04 9.99896593e-01 4.95656253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05509989300003 meters 0.013886069180308575 Centerline is valid? [True, True] Translation: X:416.65, Y:5.68, Z:4.96 [[ 9.99183198e-01 -3.76406554e-02 -1.47009619e-02 4.16654603e+02] [ 3.76397164e-02 9.99291317e-01 -3.40651869e-04 5.67681622e+00] [ 1.47033659e-02 -2.12966412e-04 9.99891877e-01 4.95688234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.085099893 meters 0.01364940426040549 Centerline is valid? [True, True] Translation: X:416.68, Y:5.68, Z:4.96 [[ 9.99183541e-01 -3.77469856e-02 -1.44019811e-02 4.16684846e+02] [ 3.77460986e-02 9.99287306e-01 -3.33502398e-04 5.67755276e+00] [ 1.44043056e-02 -2.10388490e-04 9.99896230e-01 4.95765517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.115099893 meters 0.013893157352698804 Centerline is valid? [True, True] Translation: X:416.72, Y:5.68, Z:4.96 [[ 9.99189360e-01 -3.79791006e-02 -1.33495582e-02 4.16715103e+02] [ 3.79783595e-02 9.99278514e-01 -3.09113762e-04 5.67570220e+00] [ 1.33516666e-02 -1.98131140e-04 9.99910843e-01 4.95844326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.145099893 meters 0.013933536407166094 Centerline is valid? [True, True] Translation: X:416.75, Y:5.68, Z:4.96 [[ 9.99190755e-01 -3.81516313e-02 -1.27392402e-02 4.16746602e+02] [ 3.81509733e-02 9.99271943e-01 -2.94752983e-04 5.67539882e+00] [ 1.27412107e-02 -1.91499958e-04 9.99918809e-01 4.95928406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.175099893 meters 0.014134255356502215 Centerline is valid? [True, True] Translation: X:416.78, Y:5.67, Z:4.96 [[ 9.99185403e-01 -3.84505834e-02 -1.22508538e-02 4.16776615e+02] [ 3.84500025e-02 9.99260485e-01 -2.83025484e-04 5.67457594e+00] [ 1.22526766e-02 -1.88250429e-04 9.99924915e-01 4.95986121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.205099893 meters 0.014052649908215004 Centerline is valid? [True, True] Translation: X:416.81, Y:5.67, Z:4.96 [[ 9.99172076e-01 -3.89200823e-02 -1.18485772e-02 4.16807984e+02] [ 3.89195744e-02 9.99242309e-01 -2.73536148e-04 5.67446084e+00] [ 1.18502457e-02 -1.87831900e-04 9.99929766e-01 4.96049041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.235099893 meters 0.014241760023925142 Centerline is valid? [True, True] Translation: X:416.84, Y:5.67, Z:4.96 [[ 9.99105626e-01 -4.07174765e-02 -1.14033287e-02 4.16839025e+02] [ 4.07171275e-02 9.99170679e-01 -2.62863226e-04 5.67275151e+00] [ 1.14045748e-02 -2.01682660e-04 9.99934945e-01 4.96068792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.265099893 meters 0.01448413112387014 Centerline is valid? [True, True] Translation: X:416.87, Y:5.67, Z:4.96 [[ 9.99058419e-01 -4.19187004e-02 -1.11847265e-02 4.16870344e+02] [ 4.19184444e-02 9.99121003e-01 -2.57422690e-04 5.67144478e+00] [ 1.11856859e-02 -2.11666028e-04 9.99937416e-01 4.96107927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.295099893 meters 0.014713105058924054 Centerline is valid? [True, True] Translation: X:416.90, Y:5.67, Z:4.96 [[ 9.99007879e-01 -4.31187061e-02 -1.11370751e-02 4.16901905e+02] [ 4.31185313e-02 9.99069931e-01 -2.55921827e-04 5.67032145e+00] [ 1.11377519e-02 -2.24546398e-04 9.99937948e-01 4.96108888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.325099893 meters 0.015594062001402528 Centerline is valid? [True, True] Translation: X:416.93, Y:5.67, Z:4.96 [[ 9.98942454e-01 -4.45218979e-02 -1.14793103e-02 4.16933598e+02] [ 4.45218096e-02 9.99008378e-01 -2.63369255e-04 5.66783293e+00] [ 1.14796528e-02 -2.47988936e-04 9.99934076e-01 4.96129214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.355099893 meters 0.015507155947193674 Centerline is valid? [True, True] Translation: X:416.97, Y:5.67, Z:4.96 [[ 9.98889946e-01 -4.56131743e-02 -1.17606605e-02 4.16966105e+02] [ 4.56131648e-02 9.98959142e-01 -2.69176549e-04 5.66762835e+00] [ 1.17606973e-02 -2.67563195e-04 9.99930805e-01 4.96128452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.385099893 meters 0.0159095670502966 Centerline is valid? [True, True] Translation: X:417.00, Y:5.67, Z:4.96 [[ 9.98802117e-01 -4.73695936e-02 -1.22659473e-02 4.16998178e+02] [ 4.73697270e-02 9.98877385e-01 -2.79815892e-04 5.66619233e+00] [ 1.22654321e-02 -3.01553870e-04 9.99924731e-01 4.96162321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.415099893 meters 0.017111856250500514 Centerline is valid? [True, True] Translation: X:417.03, Y:5.66, Z:4.96 [[ 9.98779360e-01 -4.78965141e-02 -1.20712276e-02 4.17029258e+02] [ 4.78966922e-02 9.98852257e-01 -2.74506724e-04 5.66407304e+00] [ 1.20705208e-02 -3.04000223e-04 9.99927102e-01 4.96206798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.445099893 meters 0.016138635714763757 Centerline is valid? [True, True] Translation: X:417.06, Y:5.67, Z:4.96 [[ 9.98729582e-01 -4.88326971e-02 -1.24333893e-02 4.17061331e+02] [ 4.88329671e-02 9.98806919e-01 -2.82048405e-04 5.66617905e+00] [ 1.24323284e-02 -3.25469203e-04 9.99922663e-01 4.96243613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.475099893 meters 0.018499714099310886 Centerline is valid? [True, True] Translation: X:417.09, Y:5.66, Z:4.96 [[ 9.98698781e-01 -4.92922228e-02 -1.30775022e-02 4.17092557e+02] [ 4.92925740e-02 9.98784338e-01 -2.95670925e-04 5.66232487e+00] [ 1.30761786e-02 -3.49337550e-04 9.99914442e-01 4.96213554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.505099893 meters 0.016539367411928095 Centerline is valid? [True, True] Translation: X:417.12, Y:5.67, Z:4.96 [[ 9.98667131e-01 -4.97437171e-02 -1.37667580e-02 4.17123881e+02] [ 4.97441596e-02 9.98761945e-01 -3.10494999e-04 5.66631873e+00] [ 1.37651591e-02 -3.74734655e-04 9.99905185e-01 4.96209035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.535099893 meters 0.016893719936767058 Centerline is valid? [True, True] Translation: X:417.15, Y:5.67, Z:4.96 [[ 9.98630584e-01 -5.02948906e-02 -1.44006887e-02 4.17154263e+02] [ 5.02954392e-02 9.98734331e-01 -3.24288958e-04 5.66579302e+00] [ 1.43987723e-02 -4.00444093e-04 9.99896252e-01 4.96206952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.565099893 meters 0.017426265570636215 Centerline is valid? [True, True] Translation: X:417.19, Y:5.67, Z:4.96 [[ 9.98534419e-01 -5.20685710e-02 -1.47606646e-02 4.17185705e+02] [ 5.20693457e-02 9.98643416e-01 -3.32082537e-04 5.66546345e+00] [ 1.47579316e-02 -4.36982306e-04 9.99891000e-01 4.96226914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.595099893 meters 0.01869695068333264 Centerline is valid? [True, True] Translation: X:417.22, Y:5.66, Z:4.96 [[ 9.98489473e-01 -5.29225128e-02 -1.47641164e-02 4.17215911e+02] [ 5.29233883e-02 9.98598520e-01 -3.31675507e-04 5.66434175e+00] [ 1.47609779e-02 -4.50192564e-04 9.99890949e-01 4.96260285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.625099893 meters 0.01779991568480419 Centerline is valid? [True, True] Translation: X:417.25, Y:5.67, Z:4.96 [[ 9.98435854e-01 -5.38823204e-02 -1.49177947e-02 4.17247323e+02] [ 5.38833259e-02 9.98547182e-01 -3.34814279e-04 5.66695130e+00] [ 1.49141624e-02 -4.69529813e-04 9.99888667e-01 4.96306823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.655099893 meters 0.01881136475038814 Centerline is valid? [True, True] Translation: X:417.28, Y:5.67, Z:4.96 [[ 9.98383688e-01 -5.48973107e-02 -1.47070533e-02 4.17277690e+02] [ 5.48984051e-02 9.98491891e-01 -3.29603808e-04 5.66652428e+00] [ 1.47029678e-02 -4.78322705e-04 9.99891791e-01 4.96334660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68509989300003 meters 0.020097562717366017 Centerline is valid? [True, True] Translation: X:417.31, Y:5.67, Z:4.96 [[ 9.98270934e-01 -5.67493025e-02 -1.53185895e-02 4.17308338e+02] [ 5.67507118e-02 9.98388321e-01 -3.43027348e-04 5.66626694e+00] [ 1.53133674e-02 -5.26906627e-04 9.99882605e-01 4.96326711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.715099893 meters 0.018380725475971287 Centerline is valid? [True, True] Translation: X:417.34, Y:5.67, Z:4.96 [[ 9.98212781e-01 -5.77276558e-02 -1.54519062e-02 4.17339145e+02] [ 5.77292111e-02 9.98332219e-01 -3.45737789e-04 5.67064288e+00] [ 1.54460944e-02 -5.46906474e-04 9.99880552e-01 4.96382974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74509989300003 meters 0.019773623259791408 Centerline is valid? [True, True] Translation: X:417.37, Y:5.67, Z:4.96 [[ 9.98068792e-01 -6.00768963e-02 -1.57941035e-02 4.17369107e+02] [ 6.00788187e-02 9.98193574e-01 -3.53163299e-04 5.67040730e+00] [ 1.57867896e-02 -5.96409815e-04 9.99875203e-01 4.96420117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.775099893 meters 0.021489851446260182 Centerline is valid? [True, True] Translation: X:417.40, Y:5.67, Z:4.96 [[ 9.98002628e-01 -6.12151932e-02 -1.56030016e-02 4.17399209e+02] [ 6.12172105e-02 9.98124407e-01 -3.48741682e-04 5.66912061e+00] [ 1.55950850e-02 -6.07127118e-04 9.99878205e-01 4.96443825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80509989300003 meters 0.020546249105393707 Centerline is valid? [True, True] Translation: X:417.43, Y:5.67, Z:4.96 [[ 9.97928156e-01 -6.23780823e-02 -1.57597988e-02 4.17430488e+02] [ 6.23802961e-02 9.98052391e-01 -3.51551720e-04 5.67245212e+00] [ 1.57510340e-02 -6.32277554e-04 9.99875745e-01 4.96496357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.835099893 meters 0.02074076372300853 Centerline is valid? [True, True] Translation: X:417.46, Y:5.67, Z:4.97 [[ 9.97879722e-01 -6.32026303e-02 -1.55398605e-02 4.17462158e+02] [ 6.32048920e-02 9.98000512e-01 -3.46033798e-04 5.67384259e+00] [ 1.55306589e-02 -6.36895092e-04 9.99879189e-01 4.96536442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.865099893 meters 0.02228682078293492 Centerline is valid? [True, True] Translation: X:417.49, Y:5.67, Z:4.97 [[ 9.97844947e-01 -6.38779252e-02 -1.50024175e-02 4.17492831e+02] [ 6.38801205e-02 9.97957524e-01 -3.33321856e-04 5.67315002e+00] [ 1.49930674e-02 -6.25752711e-04 9.99887402e-01 4.96569917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.895099893 meters 0.021861193070458817 Centerline is valid? [True, True] Translation: X:417.53, Y:5.68, Z:4.97 [[ 9.97819322e-01 -6.44426970e-02 -1.42737626e-02 4.17525309e+02] [ 6.44447498e-02 9.97921226e-01 -3.16571976e-04 5.67710790e+00] [ 1.42644915e-02 -6.03987427e-04 9.99898075e-01 4.96670773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.925099893 meters 0.021210085066548607 Centerline is valid? [True, True] Translation: X:417.56, Y:5.68, Z:4.97 [[ 9.97859016e-01 -6.38716777e-02 -1.40638593e-02 4.17557039e+02] [ 6.38736280e-02 9.97957946e-01 -3.10922290e-04 5.68080629e+00] [ 1.40549993e-02 -5.88053105e-04 9.99901051e-01 4.96736977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.955099893 meters 0.021783647006083876 Centerline is valid? [True, True] Translation: X:417.59, Y:5.68, Z:4.97 [[ 9.97922697e-01 -6.29186034e-02 -1.38398330e-02 4.17588072e+02] [ 6.29204137e-02 9.98018501e-01 -3.05011045e-04 5.68287588e+00] [ 1.38316003e-02 -5.66430576e-04 9.99904178e-01 4.96774429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.985099893 meters 0.020381510823497234 Centerline is valid? [True, True] Translation: X:417.62, Y:5.69, Z:4.97 [[ 9.98022010e-01 -6.13285128e-02 -1.38159999e-02 4.17619775e+02] [ 6.13301754e-02 9.98117487e-01 -3.03717306e-04 5.68777777e+00] [ 1.38086176e-02 -5.44221141e-04 9.99904508e-01 4.96810238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.015099893 meters 0.020425401541706457 Centerline is valid? [True, True] Translation: X:417.65, Y:5.69, Z:4.97 [[ 9.98293334e-01 -5.66249171e-02 -1.42841947e-02 4.17649555e+02] [ 5.66262265e-02 9.98395399e-01 -3.13085952e-04 5.69222209e+00] [ 1.42790028e-02 -4.96308427e-04 9.99897927e-01 4.96805979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.045099893 meters 0.017702365266369806 Centerline is valid? [True, True] Translation: X:417.68, Y:5.70, Z:4.97 [[ 9.98441412e-01 -5.39498989e-02 -1.42882862e-02 4.17681061e+02] [ 5.39509370e-02 9.98543539e-01 -3.13070038e-04 5.69978481e+00] [ 1.42843659e-02 -4.58284335e-04 9.99897868e-01 4.96826262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.075099893 meters 0.017720464797869786 Centerline is valid? [True, True] Translation: X:417.71, Y:5.70, Z:4.97 [[ 9.98582020e-01 -5.11776113e-02 -1.46561031e-02 4.17711962e+02] [ 5.11784166e-02 9.98689475e-01 -3.20350640e-04 5.70281011e+00] [ 1.46532907e-02 -4.30179761e-04 9.99892542e-01 4.96843194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.105099893 meters 0.017362883748265272 Centerline is valid? [True, True] Translation: X:417.74, Y:5.71, Z:4.97 [[ 9.98811021e-01 -4.62402330e-02 -1.54397471e-02 4.17742322e+02] [ 4.62405454e-02 9.98930277e-01 -3.36951846e-04 5.70899645e+00] [ 1.54388116e-02 -3.77391110e-04 9.99880743e-01 4.96792453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.135099893 meters 0.015975147952544632 Centerline is valid? [True, True] Translation: X:417.77, Y:5.71, Z:4.97 [[ 9.98900220e-01 -4.41207139e-02 -1.58654533e-02 4.17773467e+02] [ 4.41207820e-02 9.99026144e-01 -3.45893139e-04 5.71489521e+00] [ 1.58652637e-02 -3.54483475e-04 9.99874076e-01 4.96829443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.165099893 meters 0.015487706144607968 Centerline is valid? [True, True] Translation: X:417.80, Y:5.72, Z:4.97 [[ 9.98982452e-01 -4.22130254e-02 -1.58783170e-02 4.17804641e+02] [ 4.22128616e-02 9.99108580e-01 -3.45616056e-04 5.71860874e+00] [ 1.58787523e-02 -3.25004825e-04 9.99873872e-01 4.96861084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.195099893 meters 0.014739137564625143 Centerline is valid? [True, True] Translation: X:417.84, Y:5.72, Z:4.97 [[ 9.99043876e-01 -4.06656289e-02 -1.60511901e-02 4.17835553e+02] [ 4.06652711e-02 9.99172765e-01 -3.48807665e-04 5.72267195e+00] [ 1.60520965e-02 -3.04251834e-04 9.99871111e-01 4.96914749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.225099893 meters 0.014366824484425184 Centerline is valid? [True, True] Translation: X:417.87, Y:5.73, Z:4.97 [[ 9.99110278e-01 -3.89379868e-02 -1.62013894e-02 4.17865625e+02] [ 3.89374026e-02 9.99241590e-01 -3.51622710e-04 5.72712351e+00] [ 1.62027936e-02 -2.79530159e-04 9.99868687e-01 4.96931370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.255099893 meters 0.014365699647695239 Centerline is valid? [True, True] Translation: X:417.90, Y:5.73, Z:4.97 [[ 9.99120485e-01 -3.84336319e-02 -1.67664039e-02 4.17895621e+02] [ 3.84329365e-02 9.99261116e-01 -3.63806369e-04 5.72884987e+00] [ 1.67679978e-02 -2.80895740e-04 9.99859368e-01 4.96976295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.285099893 meters 0.014408523137557508 Centerline is valid? [True, True] Translation: X:417.93, Y:5.73, Z:4.97 [[ 9.99107040e-01 -3.85360353e-02 -1.73232996e-02 4.17926181e+02] [ 3.85353124e-02 9.99257168e-01 -3.75661084e-04 5.73066862e+00] [ 1.73249078e-02 -2.92233127e-04 9.99849870e-01 4.96990178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.315099893 meters 0.014630188130240604 Centerline is valid? [True, True] Translation: X:417.96, Y:5.73, Z:4.97 [[ 9.99092432e-01 -3.86826954e-02 -1.78314664e-02 4.17956787e+02] [ 3.86819584e-02 9.99251498e-01 -3.86364078e-04 5.73203880e+00] [ 1.78330651e-02 -3.03742615e-04 9.99840932e-01 4.97012456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.345099893 meters 0.014866726495320942 Centerline is valid? [True, True] Translation: X:417.99, Y:5.73, Z:4.97 [[ 9.99044966e-01 -3.97414108e-02 -1.81597620e-02 4.17987614e+02] [ 3.97408345e-02 9.99209944e-01 -3.92748208e-04 5.73439379e+00] [ 1.81610232e-02 -3.29310978e-04 9.99835021e-01 4.97097536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.375099893 meters 0.015051506199398641 Centerline is valid? [True, True] Translation: X:418.02, Y:5.74, Z:4.97 [[ 9.99019149e-01 -4.04288456e-02 -1.80623365e-02 4.18018023e+02] [ 4.04283877e-02 9.99182362e-01 -3.90641148e-04 5.73513109e+00] [ 1.80633612e-02 -3.39973155e-04 9.99836786e-01 4.97167173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.405099893 meters 0.014766353571919905 Centerline is valid? [True, True] Translation: X:418.05, Y:5.74, Z:4.97 [[ 9.98995657e-01 -4.10195727e-02 -1.80297452e-02 4.18048807e+02] [ 4.10192127e-02 9.99158282e-01 -3.89936284e-04 5.73698482e+00] [ 1.80305643e-02 -3.50021300e-04 9.99837375e-01 4.97272930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43509989300003 meters 0.015646895136809613 Centerline is valid? [True, True] Translation: X:418.08, Y:5.74, Z:4.97 [[ 9.98963370e-01 -4.19520449e-02 -1.76694785e-02 4.18078894e+02] [ 4.19518501e-02 9.99119561e-01 -3.81847351e-04 5.73691881e+00] [ 1.76699409e-02 -3.59815799e-04 9.99843810e-01 4.97356228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.465099893 meters 0.015398838750380204 Centerline is valid? [True, True] Translation: X:418.11, Y:5.74, Z:4.97 [[ 9.98941355e-01 -4.24728400e-02 -1.76699278e-02 4.18110299e+02] [ 4.24727422e-02 9.99097553e-01 -3.80978290e-04 5.73892276e+00] [ 1.76701628e-02 -3.69915317e-04 9.99843802e-01 4.97466894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49509989300003 meters 0.014859576203188615 Centerline is valid? [True, True] Translation: X:418.14, Y:5.74, Z:4.98 [[ 9.98924076e-01 -4.26753554e-02 -1.81522572e-02 4.18141428e+02] [ 4.26752976e-02 9.99088918e-01 -3.90722625e-04 5.74163696e+00] [ 1.81523932e-02 -3.84350740e-04 9.99835158e-01 4.97580991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.525099893 meters 0.014859576203188615 Centerline is valid? [True, True] Translation: X:418.17, Y:5.74, Z:4.98 [[ 9.98925619e-01 -4.26392108e-02 -1.81522713e-02 4.18172271e+02] [ 4.26391589e-02 9.99090461e-01 -3.90065776e-04 5.74227181e+00] [ 1.81523932e-02 -3.84350885e-04 9.99835158e-01 4.97619130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55509989300003 meters 0.0159497102899152 Centerline is valid? [True, True] Translation: X:418.20, Y:5.74, Z:4.98 [[ 9.98907126e-01 -4.32124607e-02 -1.78111641e-02 4.18202166e+02] [ 4.32125114e-02 9.99065830e-01 -3.82198975e-04 5.74195629e+00] [ 1.78110412e-02 -3.87883853e-04 9.99841296e-01 4.97651806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.585099893 meters 0.015352897421053783 Centerline is valid? [True, True] Translation: X:418.23, Y:5.74, Z:4.98 [[ 9.98921363e-01 -4.29507183e-02 -1.76450032e-02 4.18233682e+02] [ 4.29507344e-02 9.99077120e-01 -3.78227661e-04 5.74427733e+00] [ 1.76449642e-02 -3.80046157e-04 9.99844243e-01 4.97727897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.615099893 meters 0.015443843342634472 Centerline is valid? [True, True] Translation: X:418.26, Y:5.75, Z:4.98 [[ 9.98949907e-01 -4.22492936e-02 -1.77223303e-02 4.18263820e+02] [ 4.22492089e-02 9.99107032e-01 -3.79354771e-04 5.74501619e+00] [ 1.77225323e-02 -3.69798021e-04 9.99842875e-01 4.97753831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.645099893 meters 0.014525290836000099 Centerline is valid? [True, True] Translation: X:418.29, Y:5.75, Z:4.98 [[ 9.98993618e-01 -4.11763081e-02 -1.77837649e-02 4.18294420e+02] [ 4.11760567e-02 9.99151834e-01 -3.80452966e-04 5.74812199e+00] [ 1.77843470e-02 -3.52195228e-04 9.99841784e-01 4.97822925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.675099893 meters 0.014147535011791992 Centerline is valid? [True, True] Translation: X:418.32, Y:5.75, Z:4.98 [[ 9.99071222e-01 -3.93034253e-02 -1.76616547e-02 4.18324473e+02] [ 3.93028848e-02 9.99227272e-01 -3.77840628e-04 5.75019799e+00] [ 1.76628575e-02 -3.16664281e-04 9.99843949e-01 4.97861090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.705099893 meters 0.013583797880633375 Centerline is valid? [True, True] Translation: X:418.35, Y:5.75, Z:4.98 [[ 9.99223004e-01 -3.52294480e-02 -1.76712965e-02 4.18354360e+02] [ 3.52282716e-02 9.99379220e-01 -3.77952250e-04 5.75376258e+00] [ 1.76736415e-02 -2.44870650e-04 9.99843779e-01 4.97961096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.735099893 meters 0.013240382080642073 Centerline is valid? [True, True] Translation: X:418.38, Y:5.76, Z:4.98 [[ 9.99311678e-01 -3.27365325e-02 -1.74496391e-02 4.18383979e+02] [ 3.27350077e-02 9.99463996e-01 -3.73082706e-04 5.75617175e+00] [ 1.74524995e-02 -1.98388165e-04 9.99847674e-01 4.97994862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.765099893 meters 0.012825435517760195 Centerline is valid? [True, True] Translation: X:418.41, Y:5.76, Z:4.98 [[ 9.99381246e-01 -3.06408729e-02 -1.72702434e-02 4.18414849e+02] [ 3.06390627e-02 9.99530445e-01 -3.69460950e-04 5.75891842e+00] [ 1.72734547e-02 -1.59911726e-04 9.99850790e-01 4.98076154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.795099893 meters 0.012741104092587482 Centerline is valid? [True, True] Translation: X:418.44, Y:5.76, Z:4.98 [[ 9.99429324e-01 -2.89008913e-02 -1.74861144e-02 4.18443928e+02] [ 2.88987699e-02 9.99582273e-01 -3.74046384e-04 5.76005191e+00] [ 1.74896203e-02 -1.31494271e-04 9.99847036e-01 4.98064259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.825099893 meters 0.012454162682977029 Centerline is valid? [True, True] Translation: X:418.47, Y:5.76, Z:4.98 [[ 9.99482537e-01 -2.65680425e-02 -1.81327560e-02 4.18473855e+02] [ 2.65653750e-02 9.99647003e-01 -3.88006239e-04 5.76242509e+00] [ 1.81366638e-02 -9.38980034e-05 9.99835513e-01 4.98095549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.855099893 meters 0.012368027092714595 Centerline is valid? [True, True] Translation: X:418.50, Y:5.76, Z:4.98 [[ 9.99482753e-01 -2.60899474e-02 -1.88027039e-02 4.18502777e+02] [ 2.60869551e-02 9.99659596e-01 -4.04440231e-04 5.76318844e+00] [ 1.88068552e-02 -8.62742578e-05 9.99823132e-01 4.98090572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.885099893 meters 0.012421427566912575 Centerline is valid? [True, True] Translation: X:418.53, Y:5.76, Z:4.98 [[ 9.99482580e-01 -2.57293453e-02 -1.93021318e-02 4.18530885e+02] [ 2.57260505e-02 9.99668943e-01 -4.19024400e-04 5.76362855e+00] [ 1.93065229e-02 -7.77600281e-05 9.99813609e-01 4.98044544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.915099893 meters 0.012438074800648695 Centerline is valid? [True, True] Translation: X:418.56, Y:5.76, Z:4.98 [[ 9.99465974e-01 -2.61352084e-02 -1.96142369e-02 4.18559101e+02] [ 2.61318219e-02 9.99658414e-01 -4.28981991e-04 5.76364568e+00] [ 1.96187485e-02 -8.38028416e-05 9.99807530e-01 4.98026314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.945099893 meters 0.012545231773087426 Centerline is valid? [True, True] Translation: X:418.59, Y:5.76, Z:4.98 [[ 9.99405502e-01 -2.78390105e-02 -2.03379506e-02 4.18587972e+02] [ 2.78356070e-02 9.99612413e-01 -4.50469259e-04 5.76324977e+00] [ 2.03426085e-02 -1.15917746e-04 9.99793061e-01 4.98063918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.975099893 meters 0.012674738637879657 Centerline is valid? [True, True] Translation: X:418.62, Y:5.76, Z:4.98 [[ 9.99352690e-01 -2.92904595e-02 -2.08870661e-02 4.18615859e+02] [ 2.92871034e-02 9.99570932e-01 -4.66624011e-04 5.76285450e+00] [ 2.08917718e-02 -1.45399702e-04 9.99781733e-01 4.98075147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.005099893 meters 0.012756834632270257 Centerline is valid? [True, True] Translation: X:418.64, Y:5.76, Z:4.98 [[ 9.99296509e-01 -3.10458831e-02 -2.10390201e-02 4.18644393e+02] [ 3.10427980e-02 9.99517944e-01 -4.73290914e-04 5.76223177e+00] [ 2.10435718e-02 -1.80152093e-04 9.99778543e-01 4.98085679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.035099893 meters 0.01320235385493746 Centerline is valid? [True, True] Translation: X:418.67, Y:5.76, Z:4.98 [[ 9.99141255e-01 -3.56258156e-02 -2.11554637e-02 4.18672996e+02] [ 3.56236101e-02 9.99365162e-01 -4.81223996e-04 5.75987921e+00] [ 2.11591774e-02 -2.72823242e-04 9.99776082e-01 4.98158301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.065099893 meters 0.013953253323909573 Centerline is valid? [True, True] Translation: X:418.70, Y:5.76, Z:4.98 [[ 9.99042489e-01 -3.84392001e-02 -2.08933788e-02 4.18701763e+02] [ 3.84375896e-02 9.99260888e-01 -4.78816719e-04 5.75735546e+00] [ 2.08963415e-02 -3.24732871e-04 9.99781595e-01 4.98188156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.095099893 meters 0.014118566437416687 Centerline is valid? [True, True] Translation: X:418.73, Y:5.76, Z:4.98 [[ 9.98921570e-01 -4.18132279e-02 -2.01829333e-02 4.18731456e+02] [ 4.18123946e-02 9.99125372e-01 -4.63459963e-04 5.75591280e+00] [ 2.01846595e-02 -3.80936616e-04 9.99796196e-01 4.98313813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.125099893 meters 0.014718628361916414 Centerline is valid? [True, True] Translation: X:418.76, Y:5.75, Z:4.98 [[ 9.98789907e-01 -4.50655083e-02 -1.96931798e-02 4.18761718e+02] [ 4.50653382e-02 9.98983939e-01 -4.52647310e-04 5.75410575e+00] [ 1.96935691e-02 -4.35380242e-04 9.99805968e-01 4.98379443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.155099893 meters 0.016029359170987138 Centerline is valid? [True, True] Translation: X:418.79, Y:5.75, Z:4.98 [[ 9.98479263e-01 -5.15359425e-02 -1.95757206e-02 4.18792968e+02] [ 5.15370192e-02 9.98670984e-01 -4.49815717e-04 5.74977736e+00] [ 1.95728858e-02 -5.59742621e-04 9.99808276e-01 4.98447031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18509989300003 meters 0.017840302421776002 Centerline is valid? [True, True] Translation: X:418.82, Y:5.75, Z:4.98 [[ 9.98316724e-01 -5.45832289e-02 -1.96058808e-02 4.18823203e+02] [ 5.45849029e-02 9.98509031e-01 -4.50151178e-04 5.74622995e+00] [ 1.96012197e-02 -6.20791647e-04 9.99807685e-01 4.98484919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.215099893 meters 0.018059197304382536 Centerline is valid? [True, True] Translation: X:418.85, Y:5.75, Z:4.99 [[ 9.98175930e-01 -5.74919444e-02 -1.84252496e-02 4.18854059e+02] [ 5.74939235e-02 9.98345767e-01 -4.22723498e-04 5.74537520e+00] [ 1.84190731e-02 -6.37387470e-04 9.99830151e-01 4.98572866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24509989300003 meters 0.021214863076339872 Centerline is valid? [True, True] Translation: X:418.89, Y:5.74, Z:4.99 [[ 9.98032659e-01 -5.99701309e-02 -1.82864829e-02 4.18885302e+02] [ 5.99725106e-02 9.98199941e-01 -4.18719104e-04 5.73997558e+00] [ 1.82786768e-02 -6.78790950e-04 9.99832701e-01 4.98569146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.275099893 meters 0.02092620156954276 Centerline is valid? [True, True] Translation: X:418.92, Y:5.74, Z:4.99 [[ 9.97703332e-01 -6.53610533e-02 -1.77762310e-02 4.18916458e+02] [ 6.53641792e-02 9.97861393e-01 -4.05723472e-04 5.73902900e+00] [ 1.77647332e-02 -7.57137092e-04 9.99841908e-01 4.98685698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30509989300003 meters 0.022088862254644633 Centerline is valid? [True, True] Translation: X:418.95, Y:5.74, Z:4.99 [[ 9.97547876e-01 -6.77194656e-02 -1.76722906e-02 4.18948238e+02] [ 6.77229334e-02 9.97704085e-01 -4.02842765e-04 5.73701853e+00] [ 1.76589968e-02 -7.94964414e-04 9.99843752e-01 4.98734300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.335099893 meters 0.02565888742017946 Centerline is valid? [True, True] Translation: X:418.98, Y:5.73, Z:4.99 [[ 9.97407467e-01 -6.98111489e-02 -1.74570360e-02 4.18979208e+02] [ 6.98148670e-02 9.97559886e-01 -3.97092896e-04 5.73201002e+00] [ 1.74421603e-02 -8.22697225e-04 9.99847535e-01 4.98763328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.365099893 meters 0.023101608632251008 Centerline is valid? [True, True] Translation: X:419.01, Y:5.74, Z:4.99 [[ 9.97186336e-01 -7.29734039e-02 -1.71550168e-02 4.19010367e+02] [ 7.29774716e-02 9.97333513e-01 -3.89611666e-04 5.73573492e+00] [ 1.71377044e-02 -8.63414319e-04 9.99852766e-01 4.98896215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.395099893 meters 0.027277093883713372 Centerline is valid? [True, True] Translation: X:419.04, Y:5.73, Z:4.99 [[ 9.97095375e-01 -7.41408742e-02 -1.74339814e-02 4.19041856e+02] [ 7.41452662e-02 9.97247373e-01 -3.95211543e-04 5.73045929e+00] [ 1.74152935e-02 -8.98583588e-04 9.99847938e-01 4.98881573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.425099893 meters 0.02482230954509208 Centerline is valid? [True, True] Translation: X:419.07, Y:5.73, Z:4.99 [[ 9.97015623e-01 -7.51341096e-02 -1.77401742e-02 4.19073654e+02] [ 7.51388331e-02 9.97173001e-01 -4.01076954e-04 5.73456377e+00] [ 1.77201573e-02 -9.33095998e-04 9.99842550e-01 4.98953556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.455099893 meters 0.024687902191886213 Centerline is valid? [True, True] Translation: X:419.11, Y:5.74, Z:4.99 [[ 9.96935448e-01 -7.60477654e-02 -1.83425461e-02 4.19106188e+02] [ 7.60529942e-02 9.97103691e-01 -4.13337959e-04 5.73546828e+00] [ 1.83208538e-02 -9.82934285e-04 9.99831676e-01 4.98960236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.485099893 meters 0.024178141730483785 Centerline is valid? [True, True] Translation: X:419.14, Y:5.74, Z:4.99 [[ 9.96878801e-01 -7.66542635e-02 -1.88886143e-02 4.19138098e+02] [ 7.66599435e-02 9.97057207e-01 -4.24236202e-04 5.73705100e+00] [ 1.88655485e-02 -1.02508803e-03 9.99821504e-01 4.98996360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.515099893 meters 0.025996113443717668 Centerline is valid? [True, True] Translation: X:419.17, Y:5.74, Z:4.99 [[ 9.96858326e-01 -7.65362786e-02 -2.03881157e-02 4.19169717e+02] [ 7.65429011e-02 9.97066184e-01 -4.56492155e-04 5.73630103e+00] [ 2.03632389e-02 -1.10550752e-03 9.99792037e-01 4.98909316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.545099893 meters 0.02628763870911013 Centerline is valid? [True, True] Translation: X:419.20, Y:5.74, Z:4.99 [[ 9.96907042e-01 -7.57730155e-02 -2.08518315e-02 4.19200636e+02] [ 7.57798002e-02 9.97124468e-01 -4.65728566e-04 5.73741097e+00] [ 2.08271610e-02 -1.11585954e-03 9.99782468e-01 4.98900027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.575099893 meters 0.02504101572985852 Centerline is valid? [True, True] Translation: X:419.23, Y:5.74, Z:4.99 [[ 9.96990180e-01 -7.45967157e-02 -2.11166077e-02 4.19232527e+02] [ 7.46034382e-02 9.97213170e-01 -4.70344805e-04 5.74118990e+00] [ 2.10928455e-02 -1.10644238e-03 9.99776909e-01 4.98979606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.605099893 meters 0.025790599911568044 Centerline is valid? [True, True] Translation: X:419.26, Y:5.74, Z:4.99 [[ 9.97141958e-01 -7.25298617e-02 -2.11503066e-02 4.19262672e+02] [ 7.25361641e-02 9.97365672e-01 -4.70046952e-04 5.74229963e+00] [ 2.11286822e-02 -1.06545857e-03 9.99776197e-01 4.99026576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.635099893 meters 0.021018562111015885 Centerline is valid? [True, True] Translation: X:419.29, Y:5.75, Z:4.99 [[ 9.97442483e-01 -6.83465919e-02 -2.09102096e-02 4.19293606e+02] [ 6.83518425e-02 9.97661170e-01 -4.64333078e-04 5.75338925e+00] [ 2.08930398e-02 -9.66105818e-04 9.99781250e-01 4.99236941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.665099893 meters 0.020459510750635228 Centerline is valid? [True, True] Translation: X:419.33, Y:5.76, Z:4.99 [[ 9.97606175e-01 -6.60451474e-02 -2.04928944e-02 4.19325120e+02] [ 6.60497166e-02 9.97816230e-01 -4.54542765e-04 5.75639303e+00] [ 2.04781630e-02 -9.00095198e-04 9.99789895e-01 4.99301153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.695099893 meters 0.0199360205579156 Centerline is valid? [True, True] Translation: X:419.36, Y:5.76, Z:4.99 [[ 9.97763687e-01 -6.37227117e-02 -2.01752792e-02 4.19356260e+02] [ 6.37266812e-02 9.97967289e-01 -4.46761379e-04 5.75912356e+00] [ 2.01627376e-02 -8.39941306e-04 9.99796359e-01 4.99360625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.725099893 meters 0.019317741509132513 Centerline is valid? [True, True] Translation: X:419.39, Y:5.76, Z:4.99 [[ 9.97895826e-01 -6.18467486e-02 -1.94653483e-02 4.19388049e+02] [ 6.18501033e-02 9.98085357e-01 -4.30211462e-04 5.76223718e+00] [ 1.94546863e-02 -7.74627583e-04 9.99810440e-01 4.99472657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.755099893 meters 0.01854023873613469 Centerline is valid? [True, True] Translation: X:419.42, Y:5.77, Z:5.00 [[ 9.98082053e-01 -5.87558903e-02 -1.94925795e-02 4.19419500e+02] [ 5.87586841e-02 9.98272123e-01 -4.29870534e-04 5.76670125e+00] [ 1.94841561e-02 -7.16312255e-04 9.99809909e-01 4.99551113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.785099893 meters 0.019375898625817792 Centerline is valid? [True, True] Translation: X:419.45, Y:5.77, Z:5.00 [[ 9.98130522e-01 -5.77289114e-02 -2.00706993e-02 4.19450305e+02] [ 5.77316839e-02 9.98332038e-01 -4.41734091e-04 5.76737377e+00] [ 2.00627230e-02 -7.17806993e-04 9.99798466e-01 4.99505883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.815099893 meters 0.01883458901580316 Centerline is valid? [True, True] Translation: X:419.48, Y:5.77, Z:5.00 [[ 9.98198087e-01 -5.64179959e-02 -2.04349887e-02 4.19481230e+02] [ 5.64206155e-02 9.98406988e-01 -4.48781042e-04 5.76994655e+00] [ 2.04277548e-02 -7.04982263e-04 9.99791083e-01 4.99521911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.845099893 meters 0.0177424671547445 Centerline is valid? [True, True] Translation: X:419.51, Y:5.78, Z:5.00 [[ 9.98359546e-01 -5.39405573e-02 -1.91998465e-02 4.19512207e+02] [ 5.39424247e-02 9.98543959e-01 -4.20997167e-04 5.77528227e+00] [ 1.91945995e-02 -6.15379731e-04 9.99815577e-01 4.99695004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.875099893 meters 0.017621886769556776 Centerline is valid? [True, True] Translation: X:419.54, Y:5.78, Z:5.00 [[ 9.98415018e-01 -5.30723114e-02 -1.87291414e-02 4.19543177e+02] [ 5.30739480e-02 9.98590501e-01 -4.10014273e-04 5.77754125e+00] [ 1.87245031e-02 -5.84665070e-04 9.99824510e-01 4.99770845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.905099893 meters 0.01749599048096207 Centerline is valid? [True, True] Translation: X:419.58, Y:5.78, Z:5.00 [[ 9.98477675e-01 -5.18463598e-02 -1.88225303e-02 4.19575599e+02] [ 5.18478122e-02 9.98654913e-01 -4.11156318e-04 5.77981714e+00] [ 1.88185294e-02 -5.65376614e-04 9.99822756e-01 4.99838707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93509989300003 meters 0.016896426961533803 Centerline is valid? [True, True] Translation: X:419.61, Y:5.78, Z:5.00 [[ 9.98524627e-01 -5.07633128e-02 -1.92783779e-02 4.19606837e+02] [ 5.07646569e-02 9.98710555e-01 -4.19965418e-04 5.78249623e+00] [ 1.92748384e-02 -5.59314430e-04 9.99814067e-01 4.99876722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.965099893 meters 0.01667213362836978 Centerline is valid? [True, True] Translation: X:419.64, Y:5.78, Z:5.00 [[ 9.98555957e-01 -4.97930948e-02 -2.01655462e-02 4.19638060e+02] [ 4.97943829e-02 9.98759394e-01 -4.38550818e-04 5.78494595e+00] [ 2.01623655e-02 -5.66213396e-04 9.99796559e-01 4.99897965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99509989300003 meters 0.017119567636646228 Centerline is valid? [True, True] Translation: X:419.67, Y:5.79, Z:5.00 [[ 9.98601305e-01 -4.86790814e-02 -2.06344409e-02 4.19668343e+02] [ 4.86802048e-02 9.98814315e-01 -4.48148995e-04 5.78607613e+00] [ 2.06317904e-02 -5.56966637e-04 9.99786987e-01 4.99861686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.025099893 meters 0.016104387279649413 Centerline is valid? [True, True] Translation: X:419.70, Y:5.79, Z:5.00 [[ 9.98712203e-01 -4.59865652e-02 -2.14282978e-02 4.19699217e+02] [ 4.59871691e-02 9.98941922e-01 -4.64844166e-04 5.79108579e+00] [ 2.14270016e-02 -5.21181214e-04 9.99770280e-01 4.99887457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05509989300003 meters 0.015816815703608232 Centerline is valid? [True, True] Translation: X:419.73, Y:5.79, Z:5.00 [[ 9.98771559e-01 -4.46422368e-02 -2.15045060e-02 4.19729767e+02] [ 4.46425430e-02 9.99002916e-01 -4.66061561e-04 5.79339386e+00] [ 2.15038702e-02 -4.94526801e-04 9.99768643e-01 4.99936709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.085099893 meters 0.01544992561459658 Centerline is valid? [True, True] Translation: X:419.76, Y:5.80, Z:5.00 [[ 9.98848025e-01 -4.29995682e-02 -2.12993015e-02 4.19760607e+02] [ 4.29994954e-02 9.99074987e-01 -4.61614218e-04 5.79547502e+00] [ 2.12994486e-02 -4.54776767e-04 9.99773038e-01 5.00013330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.115099893 meters 0.014647540979377982 Centerline is valid? [True, True] Translation: X:419.79, Y:5.80, Z:5.00 [[ 9.98906720e-01 -4.15056723e-02 -2.15091571e-02 4.19791379e+02] [ 4.15052519e-02 9.99138177e-01 -4.66162364e-04 5.79895363e+00] [ 2.15099684e-02 -4.27090266e-04 9.99768543e-01 5.00143121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.145099893 meters 0.014043135795163834 Centerline is valid? [True, True] Translation: X:419.82, Y:5.80, Z:5.00 [[ 9.99036071e-01 -3.82370377e-02 -2.15605749e-02 4.19822049e+02] [ 3.82358543e-02 9.99268633e-01 -4.67276729e-04 5.80289623e+00] [ 2.15626735e-02 -3.57560695e-04 9.99767435e-01 5.00202574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.175099893 meters 0.013733655392173328 Centerline is valid? [True, True] Translation: X:419.85, Y:5.80, Z:5.00 [[ 9.99095082e-01 -3.67163220e-02 -2.14692366e-02 4.19852171e+02] [ 3.67147941e-02 9.99325676e-01 -4.65461166e-04 5.80498620e+00] [ 2.14718494e-02 -3.23198639e-04 9.99769401e-01 5.00243352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.205099893 meters 0.013659463402139688 Centerline is valid? [True, True] Translation: X:419.88, Y:5.81, Z:5.00 [[ 9.99139288e-01 -3.54507626e-02 -2.15389455e-02 4.19881652e+02] [ 3.54489189e-02 9.99371380e-01 -4.67524549e-04 5.80679004e+00] [ 2.15419797e-02 -2.96410186e-04 9.99767901e-01 5.00308852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.235099893 meters 0.013426533816965092 Centerline is valid? [True, True] Translation: X:419.91, Y:5.81, Z:5.00 [[ 9.99173056e-01 -3.45007604e-02 -2.15151486e-02 4.19911553e+02] [ 3.44986839e-02 9.99404634e-01 -4.67779962e-04 5.80869365e+00] [ 2.15184780e-02 -2.74851176e-04 9.99768413e-01 5.00389898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.265099893 meters 0.013273054320019063 Centerline is valid? [True, True] Translation: X:419.94, Y:5.81, Z:5.00 [[ 9.99199556e-01 -3.40741669e-02 -2.09570673e-02 4.19941285e+02] [ 3.40720873e-02 9.99419274e-01 -4.56395042e-04 5.81007121e+00] [ 2.09604483e-02 -2.58021302e-04 9.99780272e-01 5.00444590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.295099893 meters 0.013478631005350615 Centerline is valid? [True, True] Translation: X:419.97, Y:5.81, Z:5.00 [[ 9.99186781e-01 -3.41459554e-02 -2.14436741e-02 4.19970319e+02] [ 3.41437740e-02 9.99416822e-01 -4.67951646e-04 5.81016881e+00] [ 2.14471473e-02 -2.64596863e-04 9.99769948e-01 5.00442410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.325099893 meters 0.013742779445951099 Centerline is valid? [True, True] Translation: X:420.00, Y:5.81, Z:5.00 [[ 9.99128512e-01 -3.55077687e-02 -2.19411491e-02 4.19998872e+02] [ 3.55057869e-02 9.99369355e-01 -4.80007822e-04 5.80834810e+00] [ 2.19443560e-02 -2.99448261e-04 9.99759149e-01 5.00360573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.355099893 meters 0.014000488375316957 Centerline is valid? [True, True] Translation: X:420.03, Y:5.81, Z:5.00 [[ 9.99080093e-01 -3.69010953e-02 -2.18466503e-02 4.20028790e+02] [ 3.68994419e-02 9.99318869e-01 -4.78927751e-04 5.80759262e+00] [ 2.18494428e-02 -3.27642021e-04 9.99761219e-01 5.00361811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.385099893 meters 0.013991118774602445 Centerline is valid? [True, True] Translation: X:420.06, Y:5.81, Z:5.00 [[ 9.99020270e-01 -3.83875192e-02 -2.20203929e-02 4.20058378e+02] [ 3.83861831e-02 9.99262862e-01 -4.83519325e-04 5.80733645e+00] [ 2.20227220e-02 -3.62233229e-04 9.99757405e-01 5.00425384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.415099893 meters 0.013991118774602445 Centerline is valid? [True, True] Translation: X:420.09, Y:5.81, Z:5.00 [[ 9.99018894e-01 -3.84233365e-02 -2.20203756e-02 4.20087529e+02] [ 3.84219917e-02 9.99261485e-01 -4.84308760e-04 5.80800570e+00] [ 2.20227220e-02 -3.62233086e-04 9.99757405e-01 5.00461455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.445099893 meters 0.014467597463365355 Centerline is valid? [True, True] Translation: X:420.12, Y:5.81, Z:5.00 [[ 9.98962147e-01 -3.99172093e-02 -2.19372926e-02 4.20117014e+02] [ 3.99162212e-02 9.99202913e-01 -4.83093483e-04 5.80655577e+00] [ 2.19390904e-02 -3.93061720e-04 9.99759232e-01 5.00447580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.475099893 meters 0.014722815255533898 Centerline is valid? [True, True] Translation: X:420.15, Y:5.81, Z:5.00 [[ 9.98896037e-01 -4.16579848e-02 -2.17099174e-02 4.20146926e+02] [ 4.16574160e-02 9.99131838e-01 -4.78634674e-04 5.80566030e+00] [ 2.17110087e-02 -4.26272784e-04 9.99764197e-01 5.00472711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.505099893 meters 0.014812905490519026 Centerline is valid? [True, True] Translation: X:420.18, Y:5.80, Z:5.01 [[ 9.98783836e-01 -4.44838157e-02 -2.12611919e-02 4.20177711e+02] [ 4.44839009e-02 9.99009991e-01 -4.69169953e-04 5.80433006e+00] [ 2.12610136e-02 -4.77181388e-04 9.99773845e-01 5.00551951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.535099893 meters 0.016139299073434345 Centerline is valid? [True, True] Translation: X:420.21, Y:5.80, Z:5.00 [[ 9.98717498e-01 -4.59204387e-02 -2.13230478e-02 4.20208271e+02] [ 4.59208551e-02 9.98944970e-01 -4.70372797e-04 5.80128083e+00] [ 2.13221511e-02 -5.09403046e-04 9.99772527e-01 5.00493667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.565099893 meters 0.0166669376419228 Centerline is valid? [True, True] Translation: X:420.24, Y:5.80, Z:5.01 [[ 9.98668480e-01 -4.71638126e-02 -2.09007390e-02 4.20239178e+02] [ 4.71644924e-02 9.98887030e-01 -4.60690202e-04 5.79988274e+00] [ 2.08992050e-02 -5.25695961e-04 9.99781450e-01 5.00517787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.595099893 meters 0.01613513795199078 Centerline is valid? [True, True] Translation: X:420.27, Y:5.80, Z:5.01 [[ 9.98587921e-01 -4.90077872e-02 -2.05036898e-02 4.20270211e+02] [ 4.90088400e-02 9.98798243e-01 -4.51435594e-04 5.79986428e+00] [ 2.05011732e-02 -5.54063920e-04 9.99789675e-01 5.00608013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.625099893 meters 0.017786597323370575 Centerline is valid? [True, True] Translation: X:420.30, Y:5.80, Z:5.01 [[ 9.98588582e-01 -4.90467521e-02 -2.03779413e-02 4.20300962e+02] [ 4.90478121e-02 9.98796331e-01 -4.48080822e-04 5.79646067e+00] [ 2.03753899e-02 -5.52045044e-04 9.99792248e-01 5.00543991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.655099893 meters 0.01605499052625759 Centerline is valid? [True, True] Translation: X:420.33, Y:5.80, Z:5.01 [[ 9.98601605e-01 -4.88678833e-02 -2.01683897e-02 4.20332500e+02] [ 4.88688952e-02 9.98805104e-01 -4.42971959e-04 5.79975590e+00] [ 2.01659377e-02 -5.43254416e-04 9.99796499e-01 5.00691577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68509989300003 meters 0.01583895752514435 Centerline is valid? [True, True] Translation: X:420.36, Y:5.80, Z:5.01 [[ 9.98636735e-01 -4.81879607e-02 -2.00646833e-02 4.20363859e+02] [ 4.81888396e-02 9.98838146e-01 -4.39970123e-04 5.80014371e+00] [ 2.00625723e-02 -5.27523476e-04 9.99798587e-01 5.00729313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.715099893 meters 0.015511470213463632 Centerline is valid? [True, True] Translation: X:420.39, Y:5.80, Z:5.01 [[ 9.98701107e-01 -4.68989839e-02 -1.99144015e-02 4.20394767e+02] [ 4.68996080e-02 9.98899513e-01 -4.35955942e-04 5.80084784e+00] [ 1.99129318e-02 -4.98587939e-04 9.99801594e-01 5.00759109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74509989300003 meters 0.015362113063358124 Centerline is valid? [True, True] Translation: X:420.43, Y:5.80, Z:5.01 [[ 9.98844527e-01 -4.36972350e-02 -2.00040488e-02 4.20425010e+02] [ 4.36972347e-02 9.99044724e-01 -4.37330038e-04 5.80034316e+00] [ 2.00040495e-02 -4.37296901e-04 9.99799803e-01 5.00704871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.775099893 meters 0.014876314043095555 Centerline is valid? [True, True] Translation: X:420.46, Y:5.80, Z:5.01 [[ 9.98936872e-01 -4.15674597e-02 -1.99317076e-02 4.20455850e+02] [ 4.15670400e-02 9.99135622e-01 -4.35526780e-04 5.80164995e+00] [ 1.99325828e-02 -3.93438329e-04 9.99801249e-01 5.00760753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80509989300003 meters 0.013681093478538226 Centerline is valid? [True, True] Translation: X:420.49, Y:5.80, Z:5.01 [[ 9.99117962e-01 -3.69093725e-02 -2.00248982e-02 4.20486251e+02] [ 3.69080136e-02 9.99318571e-01 -4.37563083e-04 5.80439896e+00] [ 2.00274028e-02 -3.01902078e-04 9.99799386e-01 5.00830348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.835099893 meters 0.013474538014307988 Centerline is valid? [True, True] Translation: X:420.52, Y:5.81, Z:5.01 [[ 9.99192114e-01 -3.47902537e-02 -2.01185915e-02 4.20515947e+02] [ 3.47884497e-02 9.99394602e-01 -4.39749515e-04 5.80537990e+00] [ 2.01217108e-02 -2.60500361e-04 9.99797504e-01 5.00858007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.865099893 meters 0.012989941879767349 Centerline is valid? [True, True] Translation: X:420.55, Y:5.81, Z:5.01 [[ 9.99305348e-01 -3.11596860e-02 -2.04424689e-02 4.20545150e+02] [ 3.11570204e-02 9.99514401e-01 -4.48955166e-04 5.80710585e+00] [ 2.04465314e-02 -1.88283121e-04 9.99790930e-01 5.00885613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.895099893 meters 0.012989941879767349 Centerline is valid? [True, True] Translation: X:420.57, Y:5.81, Z:5.01 [[ 9.99297439e-01 -3.14123780e-02 -2.04423592e-02 4.20573396e+02] [ 3.14096640e-02 9.99506492e-01 -4.53905065e-04 5.80775950e+00] [ 2.04465290e-02 -1.88501466e-04 9.99790930e-01 5.00920628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.925099893 meters 0.012885375636142095 Centerline is valid? [True, True] Translation: X:420.60, Y:5.81, Z:5.01 [[ 9.99332730e-01 -3.01954714e-02 -2.05506266e-02 4.20602602e+02] [ 3.01923641e-02 9.99544000e-01 -4.61524748e-04 5.80854944e+00] [ 2.05551915e-02 -1.59255216e-04 9.99788707e-01 5.00942856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.955099893 meters 0.012773813643695568 Centerline is valid? [True, True] Translation: X:420.63, Y:5.81, Z:5.01 [[ 9.99360641e-01 -2.92557789e-02 -2.05525920e-02 4.20631154e+02] [ 2.92523656e-02 9.99571949e-01 -4.66761759e-04 5.80899108e+00] [ 2.05574500e-02 -1.34748605e-04 9.99788664e-01 5.00958920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.985099893 meters 0.012788032305487381 Centerline is valid? [True, True] Translation: X:420.66, Y:5.81, Z:5.01 [[ 9.99391278e-01 -2.83151634e-02 -2.03795473e-02 4.20658826e+02] [ 2.83115342e-02 9.99599039e-01 -4.66636383e-04 5.80891458e+00] [ 2.03845888e-02 -1.10623919e-04 9.99792207e-01 5.00978832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.015099893 meters 0.012592037164864114 Centerline is valid? [True, True] Translation: X:420.69, Y:5.81, Z:5.01 [[ 9.99461361e-01 -2.62395593e-02 -1.97097286e-02 4.20687107e+02] [ 2.62357273e-02 9.99655681e-01 -4.53015605e-04 5.80792983e+00] [ 1.97148291e-02 -6.43274713e-05 9.99805642e-01 5.01016668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.045099893 meters 0.012642876173148111 Centerline is valid? [True, True] Translation: X:420.71, Y:5.81, Z:5.01 [[ 9.99498578e-01 -2.48795346e-02 -1.95857365e-02 4.20714535e+02] [ 2.48754509e-02 9.99690456e-01 -4.52137565e-04 5.80801146e+00] [ 1.95909229e-02 -3.52931742e-05 9.99808079e-01 5.01027463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.075099893 meters 0.012621307618550829 Centerline is valid? [True, True] Translation: X:420.74, Y:5.81, Z:5.01 [[ 9.99521717e-01 -2.36640752e-02 -1.99085303e-02 4.20742660e+02] [ 2.36595413e-02 9.99719967e-01 -4.63275484e-04 5.80831268e+00] [ 1.99139182e-02 -7.97278637e-06 9.99801698e-01 5.01098871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.105099893 meters 0.012759826997733642 Centerline is valid? [True, True] Translation: X:420.77, Y:5.81, Z:5.01 [[ 9.99608171e-01 -1.95952363e-02 -1.99882763e-02 4.20771071e+02] [ 1.95897443e-02 9.99807992e-01 -4.70544995e-04 5.80881800e+00] [ 1.99936589e-02 7.87953998e-05 9.99800104e-01 5.01153819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.135099893 meters 0.01290432400625667 Centerline is valid? [True, True] Translation: X:420.80, Y:5.81, Z:5.01 [[ 9.99659227e-01 -1.74393458e-02 -1.94242126e-02 4.20799773e+02] [ 1.74336602e-02 9.99847915e-01 -4.62014088e-04 5.80933319e+00] [ 1.94293157e-02 1.23221525e-04 9.99811225e-01 5.01261159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.165099893 meters 0.013050092636407716 Centerline is valid? [True, True] Translation: X:420.83, Y:5.81, Z:5.01 [[ 9.99696705e-01 -1.55455207e-02 -1.91006364e-02 4.20828191e+02] [ 1.55395865e-02 9.99879148e-01 -4.59072822e-04 5.80977902e+00] [ 1.91054646e-02 1.62117595e-04 9.99817461e-01 5.01343701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.195099893 meters 0.01323226443650307 Centerline is valid? [True, True] Translation: X:420.86, Y:5.81, Z:5.01 [[ 9.99738813e-01 -1.38179295e-02 -1.82036121e-02 4.20857153e+02] [ 1.38121725e-02 9.99904510e-01 -4.41946922e-04 5.80954114e+00] [ 1.82079806e-02 1.90400061e-04 9.99834203e-01 5.01404333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.225099893 meters 0.013527753932377528 Centerline is valid? [True, True] Translation: X:420.89, Y:5.81, Z:5.01 [[ 9.99762420e-01 -1.22879342e-02 -1.80030370e-02 4.20886258e+02] [ 1.22819747e-02 9.99924476e-01 -4.41561824e-04 5.80895758e+00] [ 1.80071032e-02 2.20344073e-04 9.99837835e-01 5.01434610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.255099893 meters 0.013610435023414627 Centerline is valid? [True, True] Translation: X:420.92, Y:5.81, Z:5.02 [[ 9.99804070e-01 -1.02786005e-02 -1.69166247e-02 4.20915097e+02] [ 1.02729826e-02 9.99947144e-01 -4.18965917e-04 5.80558341e+00] [ 1.69200369e-02 2.45099639e-04 9.99856816e-01 5.01575399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.285099893 meters 0.014141915207926806 Centerline is valid? [True, True] Translation: X:420.94, Y:5.81, Z:5.02 [[ 9.99818254e-01 -9.74194646e-03 -1.63875805e-02 4.20942491e+02] [ 9.73654675e-03 9.99952515e-01 -4.09254778e-04 5.80534932e+00] [ 1.63907893e-02 2.49621954e-04 9.99865631e-01 5.01599331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.315099893 meters 0.013951106427099366 Centerline is valid? [True, True] Translation: X:420.97, Y:5.80, Z:5.02 [[ 9.99819428e-01 -1.00590185e-02 -1.61222434e-02 4.20970221e+02] [ 1.00537989e-02 9.99949377e-01 -4.04770780e-04 5.80333898e+00] [ 1.61254989e-02 2.42607896e-04 9.99869946e-01 5.01678862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.345099893 meters 0.013916572410770973 Centerline is valid? [True, True] Translation: X:421.00, Y:5.80, Z:5.02 [[ 9.99819548e-01 -1.07140177e-02 -1.56869537e-02 4.20998284e+02] [ 1.07090894e-02 9.99942577e-01 -3.98134917e-04 5.80119511e+00] [ 1.56903186e-02 2.30070083e-04 9.99876873e-01 5.01711012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.375099893 meters 0.013487513883241915 Centerline is valid? [True, True] Translation: X:421.03, Y:5.80, Z:5.02 [[ 9.99805369e-01 -1.18276039e-02 -1.57902661e-02 4.21027535e+02] [ 1.18226811e-02 9.99930028e-01 -4.05074882e-04 5.79780224e+00] [ 1.57939523e-02 2.18312761e-04 9.99875244e-01 5.01738359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.405099893 meters 0.012955983696163919 Centerline is valid? [True, True] Translation: X:421.06, Y:5.79, Z:5.02 [[ 9.99760005e-01 -1.54795272e-02 -1.55021574e-02 4.21056735e+02] [ 1.54751708e-02 9.99880172e-01 -4.00939619e-04 5.79027098e+00] [ 1.55065062e-02 1.60944861e-04 9.99879754e-01 5.01743398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43509989300003 meters 0.012579932072894399 Centerline is valid? [True, True] Translation: X:421.09, Y:5.79, Z:5.02 [[ 9.99704667e-01 -1.84047737e-02 -1.58695935e-02 4.21085347e+02] [ 1.84005487e-02 9.99830611e-01 -4.12218127e-04 5.78608264e+00] [ 1.58744921e-02 1.20087159e-04 9.99873985e-01 5.01747265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.465099893 meters 0.012339454169541809 Centerline is valid? [True, True] Translation: X:421.11, Y:5.78, Z:5.02 [[ 9.99625474e-01 -2.18735256e-02 -1.64456871e-02 4.21113001e+02] [ 2.18693989e-02 9.99760743e-01 -4.30754647e-04 5.78184387e+00] [ 1.64511745e-02 7.09360278e-05 9.99864668e-01 5.01732742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49509989300003 meters 0.012215565989231535 Centerline is valid? [True, True] Translation: X:421.14, Y:5.77, Z:5.02 [[ 9.99405714e-01 -3.02438059e-02 -1.65387545e-02 4.21140916e+02] [ 3.02407535e-02 9.99542549e-01 -4.34677817e-04 5.77121520e+00] [ 1.65443352e-02 -6.57249041e-05 9.99863131e-01 5.01742833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.525099893 meters 0.012545859055768244 Centerline is valid? [True, True] Translation: X:421.17, Y:5.77, Z:5.02 [[ 9.99247214e-01 -3.50843059e-02 -1.65558801e-02 4.21169935e+02] [ 3.50818756e-02 9.99384346e-01 -4.37282282e-04 5.76626919e+00] [ 1.65610292e-02 -1.43858226e-04 9.99862846e-01 5.01801018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55509989300003 meters 0.013460668865295235 Centerline is valid? [True, True] Translation: X:421.20, Y:5.76, Z:5.02 [[ 9.99056191e-01 -4.01195295e-02 -1.66478157e-02 4.21198208e+02] [ 4.01177157e-02 9.99194862e-01 -4.43034340e-04 5.76082753e+00] [ 1.66521862e-02 -2.25256136e-04 9.99861317e-01 5.01829000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.585099893 meters 0.014286113360511509 Centerline is valid? [True, True] Translation: X:421.23, Y:5.76, Z:5.02 [[ 9.98821303e-01 -4.53302033e-02 -1.73544859e-02 4.21227810e+02] [ 4.53289998e-02 9.98972005e-01 -4.62905554e-04 5.75665310e+00] [ 1.73576292e-02 -3.24301557e-04 9.99849292e-01 5.01925084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.615099893 meters 0.017438091481971337 Centerline is valid? [True, True] Translation: X:421.26, Y:5.75, Z:5.02 [[ 9.98325089e-01 -5.51580746e-02 -1.74528727e-02 4.21257126e+02] [ 5.51583468e-02 9.98477511e-01 -4.66142740e-04 5.74587089e+00] [ 1.74520124e-02 -4.97309614e-04 9.99847578e-01 5.01980408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.645099893 meters 0.017428852987398016 Centerline is valid? [True, True] Translation: X:421.29, Y:5.74, Z:5.02 [[ 9.98066017e-01 -5.95369758e-02 -1.78766361e-02 4.21287036e+02] [ 5.95379533e-02 9.98225928e-01 -4.77999535e-04 5.74436074e+00] [ 1.78733803e-02 -5.87263234e-04 9.99840086e-01 5.02045813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.675099893 meters 0.019891706895812187 Centerline is valid? [True, True] Translation: X:421.32, Y:5.74, Z:5.02 [[ 9.97801782e-01 -6.36023218e-02 -1.86104522e-02 4.21317302e+02] [ 6.36040830e-02 9.97975086e-01 -4.97853266e-04 5.73901906e+00] [ 1.86044322e-02 -6.86941870e-04 9.99826687e-01 5.02081020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.705099893 meters 0.01985797496939117 Centerline is valid? [True, True] Translation: X:421.35, Y:5.74, Z:5.02 [[ 9.97556897e-01 -6.72381707e-02 -1.89542921e-02 4.21347913e+02] [ 6.72406527e-02 9.97736657e-01 -5.07051420e-04 5.73797795e+00] [ 1.89454852e-02 -7.68686328e-04 9.99820223e-01 5.02189623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.735099893 meters 0.02393805146225652 Centerline is valid? [True, True] Translation: X:421.38, Y:5.73, Z:5.02 [[ 9.97140949e-01 -7.31376294e-02 -1.89951196e-02 4.21377455e+02] [ 7.31411873e-02 9.97321467e-01 -5.08283753e-04 5.73027637e+00] [ 1.89814153e-02 -8.82495060e-04 9.99819447e-01 5.02300257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.765099893 meters 0.022429621903402638 Centerline is valid? [True, True] Translation: X:421.41, Y:5.73, Z:5.02 [[ 9.96992197e-01 -7.51573612e-02 -1.89190282e-02 4.21408091e+02] [ 7.51612485e-02 9.97171264e-01 -5.06507725e-04 5.73261785e+00] [ 1.89035791e-02 -9.16993531e-04 9.99820891e-01 5.02458043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.795099893 meters 0.023174580057279147 Centerline is valid? [True, True] Translation: X:421.44, Y:5.73, Z:5.03 [[ 9.96885116e-01 -7.65256681e-02 -1.90758136e-02 4.21438858e+02] [ 7.65298700e-02 9.97067158e-01 -5.10705244e-04 5.73186349e+00] [ 1.90589493e-02 -9.50755075e-04 9.99817910e-01 5.02530084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.825099893 meters 0.026704446837574437 Centerline is valid? [True, True] Translation: X:421.47, Y:5.73, Z:5.03 [[ 9.96807660e-01 -7.74505343e-02 -1.93882262e-02 4.21468778e+02] [ 7.74550495e-02 9.96995710e-01 -5.19069279e-04 5.72741802e+00] [ 1.93701805e-02 -9.84303785e-04 9.99811896e-01 5.02530302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.855099893 meters 0.024673960672062522 Centerline is valid? [True, True] Translation: X:421.50, Y:5.73, Z:5.03 [[ 9.96760390e-01 -7.79527711e-02 -1.98012874e-02 4.21499091e+02] [ 7.79575796e-02 9.96956536e-01 -5.30127917e-04 5.73050263e+00] [ 1.97823478e-02 -1.01524993e-03 9.99803795e-01 5.02591741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.885099893 meters 0.02263921782801248 Centerline is valid? [True, True] Translation: X:421.53, Y:5.73, Z:5.03 [[ 9.96742771e-01 -7.80522137e-02 -2.02903832e-02 4.21529883e+02] [ 7.80572834e-02 9.96948728e-01 -5.43222183e-04 5.73401035e+00] [ 2.02708714e-02 -1.04235941e-03 9.99793981e-01 5.02641389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.915099893 meters 0.022857745656270138 Centerline is valid? [True, True] Translation: X:421.56, Y:5.73, Z:5.03 [[ 9.96722511e-01 -7.81739580e-02 -2.08103143e-02 4.21560697e+02] [ 7.81793174e-02 9.96939158e-01 -5.57141985e-04 5.73460870e+00] [ 2.07901712e-02 -1.07162021e-03 9.99783287e-01 5.02644795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.945099893 meters 0.0258361688290467 Centerline is valid? [True, True] Translation: X:421.59, Y:5.73, Z:5.03 [[ 9.96701642e-01 -7.82997105e-02 -2.13305643e-02 4.21590719e+02] [ 7.83053696e-02 9.96929257e-01 -5.71094344e-04 5.73172693e+00] [ 2.13097801e-02 -1.10108705e-03 9.99772315e-01 5.02591441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.975099893 meters 0.025681007621875803 Centerline is valid? [True, True] Translation: X:421.62, Y:5.73, Z:5.03 [[ 9.96672393e-01 -7.84374621e-02 -2.21744341e-02 4.21620558e+02] [ 7.84436037e-02 9.96918376e-01 -5.94067626e-04 5.73341416e+00] [ 2.21526980e-02 -1.14735172e-03 9.99753941e-01 5.02619094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.005099893 meters 0.0230842790678433 Centerline is valid? [True, True] Translation: X:421.65, Y:5.74, Z:5.03 [[ 9.96636377e-01 -7.86891314e-02 -2.28899971e-02 4.21650139e+02] [ 7.86957231e-02 9.96898493e-01 -6.14072972e-04 5.73970871e+00] [ 2.28673245e-02 -1.18933741e-03 9.99737801e-01 5.02714939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.035099893 meters 0.02398872355046087 Centerline is valid? [True, True] Translation: X:421.68, Y:5.74, Z:5.03 [[ 9.96625304e-01 -7.87969800e-02 -2.30008358e-02 4.21678399e+02] [ 7.88036406e-02 9.96889966e-01 -6.18081645e-04 5.74009872e+00] [ 2.29780053e-02 -1.19655379e-03 9.99735255e-01 5.02723977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.065099893 meters 0.023178694254733893 Centerline is valid? [True, True] Translation: X:421.71, Y:5.74, Z:5.03 [[ 9.96641099e-01 -7.85447543e-02 -2.31784615e-02 4.21708460e+02] [ 7.85514253e-02 9.96909868e-01 -6.23929217e-04 5.74294137e+00] [ 2.31558434e-02 -1.19886769e-03 9.99731149e-01 5.02776304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.095099893 meters 0.02324885785885068 Centerline is valid? [True, True] Translation: X:421.74, Y:5.75, Z:5.03 [[ 9.96656739e-01 -7.82421107e-02 -2.35269369e-02 4.21737702e+02] [ 7.82488796e-02 9.96933654e-01 -6.34174219e-04 5.74503609e+00] [ 2.35044143e-02 -1.20890244e-03 9.99723002e-01 5.02824262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.125099893 meters 0.02316152689512089 Centerline is valid? [True, True] Translation: X:421.77, Y:5.75, Z:5.03 [[ 9.96692181e-01 -7.76392121e-02 -2.40176919e-02 4.21767496e+02] [ 7.76460708e-02 9.96980776e-01 -6.48284462e-04 5.74784089e+00] [ 2.39955094e-02 -1.21873935e-03 9.99711323e-01 5.02857862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.155099893 meters 0.022321231409220217 Centerline is valid? [True, True] Translation: X:421.80, Y:5.75, Z:5.03 [[ 9.96737960e-01 -7.69444093e-02 -2.43515407e-02 4.21797460e+02] [ 7.69512316e-02 9.97034641e-01 -6.58189913e-04 5.75192728e+00] [ 2.43299737e-02 -1.21783818e-03 9.99703241e-01 5.02923157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18509989300003 meters 0.02125856724449099 Centerline is valid? [True, True] Translation: X:421.83, Y:5.76, Z:5.03 [[ 9.96883917e-01 -7.49156709e-02 -2.47001700e-02 4.21827386e+02] [ 7.49220518e-02 9.97189169e-01 -6.68300220e-04 5.75830193e+00] [ 2.46808082e-02 -1.18436968e-03 9.99694681e-01 5.03028062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.215099893 meters 0.021424313137849506 Centerline is valid? [True, True] Translation: X:421.86, Y:5.76, Z:5.03 [[ 9.96993331e-01 -7.34835684e-02 -2.45858148e-02 4.21856976e+02] [ 7.34894448e-02 9.97295773e-01 -6.65656736e-04 5.76079472e+00] [ 2.45682440e-02 -1.14314255e-03 9.99697502e-01 5.03097615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24509989300003 meters 0.0208225794270908 Centerline is valid? [True, True] Translation: X:421.89, Y:5.76, Z:5.03 [[ 9.97102814e-01 -7.20552885e-02 -2.43724000e-02 4.21887030e+02] [ 7.20606267e-02 9.97400035e-01 -6.60321714e-04 5.76468760e+00] [ 2.43566123e-02 -1.09788178e-03 9.99702731e-01 5.03181598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.275099893 meters 0.02006941442386533 Centerline is valid? [True, True] Translation: X:421.92, Y:5.77, Z:5.03 [[ 9.97316804e-01 -6.91733021e-02 -2.39634596e-02 4.21917188e+02] [ 6.91776103e-02 9.97604148e-01 -6.50154940e-04 5.77096952e+00] [ 2.39510200e-02 -1.00932442e-03 9.99712624e-01 5.03280155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30509989300003 meters 0.021205159856997814 Centerline is valid? [True, True] Translation: X:421.95, Y:5.77, Z:5.03 [[ 9.97436973e-01 -6.74346103e-02 -2.39177349e-02 4.21946334e+02] [ 6.74383754e-02 9.97723230e-01 -6.50066036e-04 5.77236919e+00] [ 2.39071167e-02 -9.64573287e-04 9.99713719e-01 5.03284908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.335099893 meters 0.021205159856997814 Centerline is valid? [True, True] Translation: X:421.98, Y:5.77, Z:5.03 [[ 9.97434595e-01 -6.74697910e-02 -2.39177117e-02 4.21975504e+02] [ 6.74735458e-02 9.97720851e-01 -6.50919040e-04 5.77319273e+00] [ 2.39071171e-02 -9.64563647e-04 9.99713719e-01 5.03321004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.365099893 meters 0.018651705249248758 Centerline is valid? [True, True] Translation: X:422.01, Y:5.78, Z:5.03 [[ 9.97553409e-01 -6.54810566e-02 -2.44831918e-02 4.22005408e+02] [ 6.54843823e-02 9.97853372e-01 -6.66755015e-04 5.78041797e+00] [ 2.44742953e-02 -9.38142955e-04 9.99700019e-01 5.03492889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.395099893 meters 0.01813208372630888 Centerline is valid? [True, True] Translation: X:422.04, Y:5.78, Z:5.04 [[ 9.97695560e-01 -6.32299088e-02 -2.46078866e-02 4.22035239e+02] [ 6.32325735e-02 9.97998593e-01 -6.70602062e-04 5.78459225e+00] [ 2.46010383e-02 -8.86963300e-04 9.99696955e-01 5.03530226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.425099893 meters 0.019532073575356655 Centerline is valid? [True, True] Translation: X:422.06, Y:5.79, Z:5.03 [[ 9.97818106e-01 -6.10812028e-02 -2.50622199e-02 4.22064428e+02] [ 6.10832668e-02 9.98132439e-01 -6.83910288e-04 5.78561719e+00] [ 2.50571888e-02 -8.48464200e-04 9.99685659e-01 5.03458176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.455099893 meters 0.017277080439002414 Centerline is valid? [True, True] Translation: X:422.09, Y:5.79, Z:5.04 [[ 9.98093732e-01 -5.62724997e-02 -2.53437837e-02 4.22094515e+02] [ 5.62730442e-02 9.98415177e-01 -6.92281256e-04 5.79416230e+00] [ 2.53425747e-02 -7.35210277e-04 9.99678555e-01 5.03571598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.485099893 meters 0.016383155801136074 Centerline is valid? [True, True] Translation: X:422.12, Y:5.80, Z:5.04 [[ 9.98210398e-01 -5.41470089e-02 -2.53791621e-02 4.22124348e+02] [ 5.41468510e-02 9.98532742e-01 -6.93938520e-04 5.79842727e+00] [ 2.53794990e-02 -6.81505059e-04 9.99677656e-01 5.03660452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.515099893 meters 0.015992745790561303 Centerline is valid? [True, True] Translation: X:422.15, Y:5.80, Z:5.04 [[ 9.98318369e-01 -5.21532582e-02 -2.53075415e-02 4.22153527e+02] [ 5.21523734e-02 9.98638897e-01 -6.95441685e-04 5.80179343e+00] [ 2.53093648e-02 -6.25576143e-04 9.99679471e-01 5.03735178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.545099893 meters 0.015642317887322215 Centerline is valid? [True, True] Translation: X:422.18, Y:5.80, Z:5.04 [[ 9.98437007e-01 -4.99897282e-02 -2.49914086e-02 4.22181804e+02] [ 4.99880382e-02 9.98749576e-01 -6.92742042e-04 5.80475412e+00] [ 2.49947888e-02 -5.57612198e-04 9.99687426e-01 5.03763439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.575099893 meters 0.014577796862208196 Centerline is valid? [True, True] Translation: X:422.21, Y:5.81, Z:5.04 [[ 9.98601569e-01 -4.62076710e-02 -2.56857363e-02 4.22210715e+02] [ 4.62044684e-02 9.98931745e-01 -7.18481865e-04 5.81124964e+00] [ 2.56914968e-02 -4.69318675e-04 9.99669809e-01 5.03829713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.605099893 meters 0.01440062450845313 Centerline is valid? [True, True] Translation: X:422.24, Y:5.81, Z:5.04 [[ 9.98688480e-01 -4.41085307e-02 -2.59953421e-02 4.22238188e+02] [ 4.41044270e-02 9.99026659e-01 -7.31474917e-04 5.81430488e+00] [ 2.60023041e-02 -4.15994096e-04 9.99661796e-01 5.03822254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.635099893 meters 0.013894823442497255 Centerline is valid? [True, True] Translation: X:422.27, Y:5.82, Z:5.04 [[ 9.98744950e-01 -4.25999868e-02 -2.63394347e-02 4.22266942e+02] [ 4.25951279e-02 9.99092137e-01 -7.45762728e-04 5.81810196e+00] [ 2.63472915e-02 -3.77104831e-04 9.99652779e-01 5.03888043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.665099893 meters 0.01378900413824428 Centerline is valid? [True, True] Translation: X:422.29, Y:5.82, Z:5.04 [[ 9.98818452e-01 -4.10390116e-02 -2.60288031e-02 4.22294657e+02] [ 4.10336256e-02 9.99157491e-01 -7.41234745e-04 5.82074394e+00] [ 2.60372931e-02 -3.27697220e-04 9.99660919e-01 5.03878421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.695099893 meters 0.013427319972721802 Centerline is valid? [True, True] Translation: X:422.32, Y:5.82, Z:5.04 [[ 9.98906687e-01 -3.91444298e-02 -2.55566893e-02 4.22323518e+02] [ 3.91385072e-02 9.99233527e-01 -7.32101299e-04 5.82486231e+00] [ 2.55657585e-02 -2.68949786e-04 9.99673106e-01 5.03963598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.725099893 meters 0.013161242668151465 Centerline is valid? [True, True] Translation: X:422.35, Y:5.83, Z:5.04 [[ 9.98907387e-01 -3.90545528e-02 -2.56665832e-02 4.22351784e+02] [ 3.90483723e-02 9.99237046e-01 -7.42149918e-04 5.82733643e+00] [ 2.56759851e-02 -2.60899262e-04 9.99670284e-01 5.04097077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.755099893 meters 0.013570077963707263 Centerline is valid? [True, True] Translation: X:422.38, Y:5.83, Z:5.04 [[ 9.98912541e-01 -3.89975578e-02 -2.55524092e-02 4.22378907e+02] [ 3.89912552e-02 9.99239274e-01 -7.45041021e-04 5.82756033e+00] [ 2.55620256e-02 -2.52089687e-04 9.99673206e-01 5.03928997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.785099893 meters 0.013332788681117175 Centerline is valid? [True, True] Translation: X:422.41, Y:5.83, Z:5.04 [[ 9.98905522e-01 -3.94244635e-02 -2.51688175e-02 4.22407255e+02] [ 3.94183338e-02 9.99222522e-01 -7.39822852e-04 5.82912943e+00] [ 2.51784164e-02 -2.53099718e-04 9.99682941e-01 5.04026878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.815099893 meters 0.013422655161040473 Centerline is valid? [True, True] Translation: X:422.44, Y:5.83, Z:5.04 [[ 9.98874957e-01 -4.01893248e-02 -2.51721827e-02 4.22435253e+02] [ 4.01833226e-02 9.99192047e-01 -7.44437504e-04 5.83003499e+00] [ 2.51817632e-02 -2.67901959e-04 9.99682853e-01 5.04043569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.845099893 meters 0.013355455191130034 Centerline is valid? [True, True] Translation: X:422.46, Y:5.83, Z:5.04 [[ 9.98778660e-01 -4.27352744e-02 -2.47968483e-02 4.22463788e+02] [ 4.27301306e-02 9.99086379e-01 -7.37509839e-04 5.83130537e+00] [ 2.48057111e-02 -3.22963479e-04 9.99692239e-01 5.04264512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.875099893 meters 0.013503256389411153 Centerline is valid? [True, True] Translation: X:422.49, Y:5.83, Z:5.04 [[ 9.98710285e-01 -4.45406730e-02 -2.43699753e-02 4.22492254e+02] [ 4.45360938e-02 9.99007509e-01 -7.30893046e-04 5.83110832e+00] [ 2.43783428e-02 -3.55393105e-04 9.99702741e-01 5.04310054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.905099893 meters 0.013899210296926978 Centerline is valid? [True, True] Translation: X:422.52, Y:5.83, Z:5.04 [[ 9.98620123e-01 -4.66178441e-02 -2.41790386e-02 4.22520495e+02] [ 4.66138321e-02 9.98912718e-01 -7.29830648e-04 5.83039751e+00] [ 2.41867723e-02 -3.98254076e-04 9.99707378e-01 5.04341314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93509989300003 meters 0.01425784146462822 Centerline is valid? [True, True] Translation: X:422.55, Y:5.83, Z:5.04 [[ 9.98503223e-01 -4.90457253e-02 -2.42039482e-02 4.22549640e+02] [ 4.90423626e-02 9.98796430e-01 -7.32869478e-04 5.82954991e+00] [ 2.42107611e-02 -4.55246267e-04 9.99706773e-01 5.04399261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.965099893 meters 0.015813782636452466 Centerline is valid? [True, True] Translation: X:422.58, Y:5.83, Z:5.04 [[ 9.98274365e-01 -5.37708366e-02 -2.36006243e-02 4.22577811e+02] [ 5.37689250e-02 9.98553148e-01 -7.16025990e-04 5.82554932e+00] [ 2.36049790e-02 -5.54189809e-04 9.99721210e-01 5.04388783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99509989300003 meters 0.016184552244918146 Centerline is valid? [True, True] Translation: X:422.61, Y:5.82, Z:5.04 [[ 9.98166138e-01 -5.57936721e-02 -2.34824811e-02 4.22608086e+02] [ 5.57923189e-02 9.98442141e-01 -7.13293097e-04 5.82485183e+00] [ 2.34856960e-02 -5.98157061e-04 9.99723994e-01 5.04472039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.025099893 meters 0.016918305214163452 Centerline is valid? [True, True] Translation: X:422.64, Y:5.82, Z:5.05 [[ 9.98064118e-01 -5.78169464e-02 -2.29176184e-02 4.22637192e+02] [ 5.78161820e-02 9.98327003e-01 -6.96503293e-04 5.82337249e+00] [ 2.29195470e-02 -6.29854252e-04 9.99737114e-01 5.04510935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05509989300003 meters 0.01746016236470713 Centerline is valid? [True, True] Translation: X:422.67, Y:5.82, Z:5.05 [[ 9.97988989e-01 -5.92828840e-02 -2.24392105e-02 4.22667987e+02] [ 5.92825117e-02 9.98241012e-01 -6.82385721e-04 5.82258782e+00] [ 2.24401940e-02 -6.49239322e-04 9.99747976e-01 5.04562172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.085099893 meters 0.01908456854080934 Centerline is valid? [True, True] Translation: X:422.70, Y:5.82, Z:5.05 [[ 9.97857732e-01 -6.17980588e-02 -2.14696448e-02 4.22697918e+02] [ 6.17982959e-02 9.98088445e-01 -6.53057942e-04 5.81950858e+00] [ 2.14689621e-02 -6.75128546e-04 9.99769287e-01 5.04625410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.115099893 meters 0.01909751332605688 Centerline is valid? [True, True] Translation: X:422.73, Y:5.82, Z:5.05 [[ 9.97825477e-01 -6.22958926e-02 -2.15299556e-02 4.22728985e+02] [ 6.22962490e-02 9.98057488e-01 -6.54793078e-04 5.81993370e+00] [ 2.15289244e-02 -6.87866263e-04 9.99767989e-01 5.04674445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.145099893 meters 0.019682228859342447 Centerline is valid? [True, True] Translation: X:422.76, Y:5.82, Z:5.05 [[ 9.97798458e-01 -6.27353445e-02 -2.15061449e-02 4.22759368e+02] [ 6.27358145e-02 9.98029955e-01 -6.53492357e-04 5.81953833e+00] [ 2.15047738e-02 -6.97151849e-04 9.99768503e-01 5.04682091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.175099893 meters 0.01779588415860175 Centerline is valid? [True, True] Translation: X:422.79, Y:5.82, Z:5.05 [[ 9.97803759e-01 -6.25890735e-02 -2.16856316e-02 4.22791016e+02] [ 6.25895286e-02 9.98039136e-01 -6.58405587e-04 5.82340168e+00] [ 2.16843180e-02 -7.00333888e-04 9.99764622e-01 5.04820891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.205099893 meters 0.01978755665165282 Centerline is valid? [True, True] Translation: X:422.82, Y:5.82, Z:5.05 [[ 9.97853387e-01 -6.19096767e-02 -2.13497258e-02 4.22821738e+02] [ 6.19099749e-02 9.98081528e-01 -6.47619469e-04 5.82123913e+00] [ 2.13488609e-02 -6.75531711e-04 9.99771859e-01 5.04749974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.235099893 meters 0.017099928716231488 Centerline is valid? [True, True] Translation: X:422.85, Y:5.83, Z:5.05 [[ 9.97910333e-01 -6.08703750e-02 -2.16740429e-02 4.22853330e+02] [ 6.08704496e-02 9.98145459e-01 -6.56905944e-04 5.82671591e+00] [ 2.16738336e-02 -6.63775502e-04 9.99764875e-01 5.04900060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.265099893 meters 0.015794749766403993 Centerline is valid? [True, True] Translation: X:422.88, Y:5.83, Z:5.05 [[ 9.98141086e-01 -5.71321597e-02 -2.12199911e-02 4.22883457e+02] [ 5.71313960e-02 9.98366461e-01 -6.42713960e-04 5.83030907e+00] [ 2.12220470e-02 -5.70808504e-04 9.99774624e-01 5.04945880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.295099893 meters 0.014820599786023252 Centerline is valid? [True, True] Translation: X:422.91, Y:5.83, Z:5.05 [[ 9.98282956e-01 -5.47254290e-02 -2.08869951e-02 4.22914669e+02] [ 5.47241690e-02 9.98501310e-01 -6.32320624e-04 5.83342686e+00] [ 2.08902960e-02 -5.11788550e-04 9.99781643e-01 5.05021079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.325099893 meters 0.01464516353972019 Centerline is valid? [True, True] Translation: X:422.94, Y:5.83, Z:5.05 [[ 9.98424500e-01 -5.22169711e-02 -2.05403460e-02 4.22944886e+02] [ 5.22152436e-02 9.98635661e-01 -6.20777618e-04 5.83493906e+00] [ 2.05447371e-02 -4.52719587e-04 9.99788832e-01 5.05042716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.355099893 meters 0.013610091901162616 Centerline is valid? [True, True] Translation: X:422.98, Y:5.84, Z:5.05 [[ 9.98653736e-01 -4.78330509e-02 -2.00677796e-02 4.22975168e+02] [ 4.78305351e-02 9.98855281e-01 -6.05594488e-04 5.83828742e+00] [ 2.00737751e-02 -3.55073440e-04 9.99798438e-01 5.05068812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.385099893 meters 0.013074782908296813 Centerline is valid? [True, True] Translation: X:423.01, Y:5.84, Z:5.05 [[ 9.98736998e-01 -4.59095916e-02 -2.04136881e-02 4.23005225e+02] [ 4.59065867e-02 9.98945547e-01 -6.16033125e-04 5.84072968e+00] [ 2.04204446e-02 -3.21867668e-04 9.99791429e-01 5.05090394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.415099893 meters 0.012858470376285094 Centerline is valid? [True, True] Translation: X:423.03, Y:5.84, Z:5.05 [[ 9.98800678e-01 -4.44726718e-02 -2.04789512e-02 4.23034424e+02] [ 4.44693428e-02 9.99010558e-01 -6.18144231e-04 5.84233841e+00] [ 2.04861790e-02 -2.93282623e-04 9.99790093e-01 5.05068020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.445099893 meters 0.012714741893790849 Centerline is valid? [True, True] Translation: X:423.07, Y:5.84, Z:5.05 [[ 9.98839439e-01 -4.33488601e-02 -2.09917044e-02 4.23065354e+02] [ 4.33451096e-02 9.99059958e-01 -6.33842362e-04 5.84385389e+00] [ 2.09994477e-02 -2.76780979e-04 9.99779449e-01 5.05036200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.475099893 meters 0.012808293192892893 Centerline is valid? [True, True] Translation: X:423.09, Y:5.84, Z:5.05 [[ 9.98835241e-01 -4.30166759e-02 -2.18569587e-02 4.23094983e+02] [ 4.30125268e-02 9.99074315e-01 -6.60131069e-04 5.84387843e+00] [ 2.18651226e-02 -2.80760843e-04 9.99760890e-01 5.04938677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.505099893 meters 0.012950606429604373 Centerline is valid? [True, True] Translation: X:423.12, Y:5.84, Z:5.05 [[ 9.98798652e-01 -4.38855878e-02 -2.18015584e-02 4.23123849e+02] [ 4.38816130e-02 9.99036519e-01 -6.60912070e-04 5.84374393e+00] [ 2.18095575e-02 -2.96569465e-04 9.99762099e-01 5.04942710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.535099893 meters 0.013115459648054007 Centerline is valid? [True, True] Translation: X:423.15, Y:5.84, Z:5.05 [[ 9.98770181e-01 -4.47867858e-02 -2.12666271e-02 4.23153386e+02] [ 4.47831406e-02 9.98996522e-01 -6.47861785e-04 5.84338054e+00] [ 2.12743022e-02 -3.05321320e-04 9.99773630e-01 5.05005104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.565099893 meters 0.012634982115252245 Centerline is valid? [True, True] Translation: X:423.18, Y:5.84, Z:5.05 [[ 9.98712791e-01 -4.61984493e-02 -2.09395460e-02 4.23182754e+02] [ 4.61952103e-02 9.98932227e-01 -6.38618552e-04 5.84461653e+00] [ 2.09466905e-02 -3.29510213e-04 9.99780540e-01 5.05171703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.595099893 meters 0.013236302658352005 Centerline is valid? [True, True] Translation: X:423.21, Y:5.84, Z:5.05 [[ 9.98638435e-01 -4.79322491e-02 -2.05857877e-02 4.23212666e+02] [ 4.79294748e-02 9.98850525e-01 -6.28413669e-04 5.84347554e+00] [ 2.05922462e-02 -3.59107951e-04 9.99787893e-01 5.05204335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.625099893 meters 0.013393310088339997 Centerline is valid? [True, True] Translation: X:423.24, Y:5.84, Z:5.05 [[ 9.98479538e-01 -5.17755704e-02 -1.89182890e-02 4.23243095e+02] [ 5.17739129e-02 9.98658665e-01 -5.77713384e-04 5.84203711e+00] [ 1.89228247e-02 -4.02638853e-04 9.99820866e-01 5.05374948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.655099893 meters 0.014697779010047686 Centerline is valid? [True, True] Translation: X:423.27, Y:5.84, Z:5.05 [[ 9.98361634e-01 -5.40778485e-02 -1.86984861e-02 4.23273687e+02] [ 5.40766349e-02 9.98536625e-01 -5.70885821e-04 5.83958778e+00] [ 1.87019955e-02 -4.41200704e-04 9.99825005e-01 5.05379678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68509989300003 meters 0.014483705945336916 Centerline is valid? [True, True] Translation: X:423.30, Y:5.84, Z:5.05 [[ 9.98244354e-01 -5.62982159e-02 -1.84043592e-02 4.23304810e+02] [ 5.62974254e-02 9.98413884e-01 -5.61462420e-04 5.84023615e+00] [ 1.84067771e-02 -4.75641350e-04 9.99830468e-01 5.05454564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.715099893 meters 0.015088851847812113 Centerline is valid? [True, True] Translation: X:423.34, Y:5.84, Z:5.05 [[ 9.98111591e-01 -5.85126612e-02 -1.86954845e-02 4.23335886e+02] [ 5.85122466e-02 9.98286528e-01 -5.69651134e-04 5.83898444e+00] [ 1.86967821e-02 -5.25339397e-04 9.99825062e-01 5.05466025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74509989300003 meters 0.016357777282251414 Centerline is valid? [True, True] Translation: X:423.37, Y:5.84, Z:5.05 [[ 9.97979881e-01 -6.07276149e-02 -1.86631568e-02 4.23366543e+02] [ 6.07275991e-02 9.98154215e-01 -5.68100644e-04 5.83641540e+00] [ 1.86632080e-02 -5.66415690e-04 9.99825667e-01 5.05458499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.775099893 meters 0.019484983667614263 Centerline is valid? [True, True] Translation: X:423.40, Y:5.83, Z:5.05 [[ 9.97716935e-01 -6.50348944e-02 -1.82038669e-02 4.23397183e+02] [ 6.50356012e-02 9.97882791e-01 -5.53797414e-04 5.83003937e+00] [ 1.82013417e-02 -6.31366369e-04 9.99834143e-01 5.05456647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80509989300003 meters 0.01734960773104561 Centerline is valid? [True, True] Translation: X:423.43, Y:5.83, Z:5.06 [[ 9.97624763e-01 -6.66839045e-02 -1.72652601e-02 4.23428758e+02] [ 6.66847935e-02 9.97773954e-01 -5.24854947e-04 5.83345515e+00] [ 1.72618262e-02 -6.27722010e-04 9.99850807e-01 5.05623564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.835099893 meters 0.01843212368478024 Centerline is valid? [True, True] Translation: X:423.46, Y:5.83, Z:5.06 [[ 9.97567251e-01 -6.76692273e-02 -1.67468051e-02 4.23459788e+02] [ 6.76702177e-02 9.97707614e-01 -5.08175803e-04 5.83214519e+00] [ 1.67428029e-02 -6.26320410e-04 9.99859633e-01 5.05703197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.865099893 meters 0.020809667262610094 Centerline is valid? [True, True] Translation: X:423.49, Y:5.83, Z:5.06 [[ 9.97565551e-01 -6.77880626e-02 -1.63630545e-02 4.23491340e+02] [ 6.77890530e-02 9.97699554e-01 -4.94763312e-04 5.82907234e+00] [ 1.63589513e-02 -6.15677135e-04 9.99865994e-01 5.05755059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.895099893 meters 0.018152458538599904 Centerline is valid? [True, True] Translation: X:423.52, Y:5.83, Z:5.06 [[ 9.97610143e-01 -6.71054645e-02 -1.64577750e-02 4.23523580e+02] [ 6.71064014e-02 9.97745702e-01 -4.95933731e-04 5.83402937e+00] [ 1.64539542e-02 -6.09673538e-04 9.99864439e-01 5.05836190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.925099893 meters 0.018491606343640398 Centerline is valid? [True, True] Translation: X:423.55, Y:5.83, Z:5.06 [[ 9.97686591e-01 -6.58764111e-02 -1.67858743e-02 4.23554788e+02] [ 6.58772366e-02 9.97827608e-01 -5.04363150e-04 5.83461536e+00] [ 1.67826344e-02 -6.02610659e-04 9.99858980e-01 5.05821781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.955099893 meters 0.01716942887635568 Centerline is valid? [True, True] Translation: X:423.59, Y:5.84, Z:5.06 [[ 9.97807329e-01 -6.40494989e-02 -1.66792140e-02 4.23586221e+02] [ 6.40500867e-02 9.97946560e-01 -4.99495088e-04 5.83754311e+00] [ 1.66769566e-02 -5.69905240e-04 9.99860767e-01 5.05855612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.985099893 meters 0.017136382390682565 Centerline is valid? [True, True] Translation: X:423.62, Y:5.84, Z:5.06 [[ 9.97921011e-01 -6.21856765e-02 -1.69292056e-02 4.23616879e+02] [ 6.21860232e-02 9.98064448e-01 -5.06446010e-04 5.83889314e+00] [ 1.69279319e-02 -5.47366858e-04 9.99856562e-01 5.05824039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.015099893 meters 0.01559614694679985 Centerline is valid? [True, True] Translation: X:423.65, Y:5.84, Z:5.06 [[ 9.98167497e-01 -5.80245029e-02 -1.71698891e-02 4.23648313e+02] [ 5.80242513e-02 9.98315042e-01 -5.13247489e-04 5.84275965e+00] [ 1.71707395e-02 -4.83962999e-04 9.99852455e-01 5.05821094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.045099893 meters 0.015205293710164344 Centerline is valid? [True, True] Translation: X:423.68, Y:5.84, Z:5.06 [[ 9.98272899e-01 -5.62498737e-02 -1.69461132e-02 4.23679609e+02] [ 5.62493833e-02 9.98416622e-01 -5.05953570e-04 5.84470521e+00] [ 1.69477409e-02 -4.48128677e-04 9.99856276e-01 5.05843182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.075099893 meters 0.014166030245104119 Centerline is valid? [True, True] Translation: X:423.71, Y:5.85, Z:5.06 [[ 9.98354778e-01 -5.47359301e-02 -1.70796608e-02 4.23711234e+02] [ 5.47352211e-02 9.98500774e-01 -5.09322789e-04 5.84780033e+00] [ 1.70819327e-02 -4.26374168e-04 9.99854002e-01 5.05912992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.105099893 meters 0.015107915856500478 Centerline is valid? [True, True] Translation: X:423.74, Y:5.85, Z:5.06 [[ 9.98412395e-01 -5.36609321e-02 -1.71229291e-02 4.23742050e+02] [ 5.36600723e-02 9.98559130e-01 -5.09987466e-04 5.84750574e+00] [ 1.71256236e-02 -4.09639807e-04 9.99853262e-01 5.05908784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.135099893 meters 0.014454486578833354 Centerline is valid? [True, True] Translation: X:423.77, Y:5.85, Z:5.06 [[ 9.98459619e-01 -5.27406569e-02 -1.72282180e-02 4.23773806e+02] [ 5.27396617e-02 9.98608164e-01 -5.12415330e-04 5.85067757e+00] [ 1.72312643e-02 -3.96984375e-04 9.99851452e-01 5.05951497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.165099893 meters 0.014418735348277293 Centerline is valid? [True, True] Translation: X:423.81, Y:5.85, Z:5.06 [[ 9.98456822e-01 -5.27545265e-02 -1.73474529e-02 4.23805513e+02] [ 5.27535341e-02 9.98607430e-01 -5.15126841e-04 5.85184874e+00] [ 1.73504706e-02 -4.00807540e-04 9.99849389e-01 5.06029287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.195099893 meters 0.014703146628978592 Centerline is valid? [True, True] Translation: X:423.84, Y:5.85, Z:5.06 [[ 9.98412721e-01 -5.33974841e-02 -1.79093987e-02 4.23837007e+02] [ 5.33965414e-02 9.98573246e-01 -5.31166640e-04 5.85258930e+00] [ 1.79122094e-02 -4.25976418e-04 9.99839473e-01 5.06055754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.225099893 meters 0.014703146628978592 Centerline is valid? [True, True] Translation: X:423.87, Y:5.85, Z:5.06 [[ 9.98414601e-01 -5.33623152e-02 -1.79094174e-02 4.23867844e+02] [ 5.33613780e-02 9.98575126e-01 -5.30535929e-04 5.85347348e+00] [ 1.79122094e-02 -4.25976375e-04 9.99839473e-01 5.06093895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.255099893 meters 0.0148512060910081 Centerline is valid? [True, True] Translation: X:423.90, Y:5.85, Z:5.06 [[ 9.98362313e-01 -5.41356339e-02 -1.84938945e-02 4.23898961e+02] [ 5.41347795e-02 9.98533488e-01 -5.47183170e-04 5.85442333e+00] [ 1.84963950e-02 -4.54875844e-04 9.99828824e-01 5.06148696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.285099893 meters 0.015095867988850606 Centerline is valid? [True, True] Translation: X:423.93, Y:5.86, Z:5.06 [[ 9.98151308e-01 -5.76116227e-02 -1.93615026e-02 4.23929839e+02] [ 5.76113510e-02 9.98338923e-01 -5.72268703e-04 5.85528848e+00] [ 1.93623109e-02 -5.44231567e-04 9.99812385e-01 5.06247605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.315099893 meters 0.015604923187565033 Centerline is valid? [True, True] Translation: X:423.96, Y:5.86, Z:5.06 [[ 9.98035519e-01 -5.95663677e-02 -1.94151924e-02 4.23960732e+02] [ 5.95664708e-02 9.98224177e-01 -5.73502893e-04 5.85545050e+00] [ 1.94148760e-02 -5.84118237e-04 9.99811343e-01 5.06293951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.345099893 meters 0.015949019325641706 Centerline is valid? [True, True] Translation: X:423.99, Y:5.86, Z:5.06 [[ 9.97916049e-01 -6.15723656e-02 -1.92977259e-02 4.23991934e+02] [ 6.15728514e-02 9.98102429e-01 -5.69556128e-04 5.85573278e+00] [ 1.92961760e-02 -6.19846808e-04 9.99813619e-01 5.06409386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.375099893 meters 0.017198705846375745 Centerline is valid? [True, True] Translation: X:424.02, Y:5.85, Z:5.07 [[ 9.97721809e-01 -6.47595121e-02 -1.89049342e-02 4.24022764e+02] [ 6.47605601e-02 9.97900676e-01 -5.57401562e-04 5.85458938e+00] [ 1.89013437e-02 -6.68162436e-04 9.99821130e-01 5.06551535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.405099893 meters 0.019762908502401796 Centerline is valid? [True, True] Translation: X:424.05, Y:5.85, Z:5.07 [[ 9.97666344e-01 -6.57291499e-02 -1.84809473e-02 4.24054314e+02] [ 6.57303339e-02 9.97837275e-01 -5.44019062e-04 5.85161388e+00] [ 1.84767360e-02 -6.72009330e-04 9.99829065e-01 5.06549348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43509989300003 meters 0.018075990484039694 Centerline is valid? [True, True] Translation: X:424.09, Y:5.86, Z:5.07 [[ 9.97634133e-01 -6.62401573e-02 -1.83950815e-02 4.24086665e+02] [ 6.62414495e-02 9.97803477e-01 -5.39724217e-04 5.85502374e+00] [ 1.83904277e-02 -6.80069563e-04 9.99830650e-01 5.06658663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.465099893 meters 0.018830881541137552 Centerline is valid? [True, True] Translation: X:424.12, Y:5.85, Z:5.07 [[ 9.97621682e-01 -6.64213856e-02 -1.84168368e-02 4.24118274e+02] [ 6.64227342e-02 9.97791426e-01 -5.39141742e-04 5.85497886e+00] [ 1.84119724e-02 -6.85437166e-04 9.99830250e-01 5.06709283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49509989300003 meters 0.018089280701782354 Centerline is valid? [True, True] Translation: X:424.15, Y:5.86, Z:5.07 [[ 9.97630722e-01 -6.63831431e-02 -1.80615758e-02 4.24150649e+02] [ 6.63844531e-02 9.97793980e-01 -5.27675060e-04 5.85719680e+00] [ 1.80567603e-02 -6.72582980e-04 9.99836737e-01 5.06791216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.525099893 meters 0.018602203521447966 Centerline is valid? [True, True] Translation: X:424.18, Y:5.86, Z:5.07 [[ 9.97654627e-01 -6.59385393e-02 -1.83672307e-02 4.24181498e+02] [ 6.59398415e-02 9.97823457e-01 -5.35367857e-04 5.85727990e+00] [ 1.83625550e-02 -6.77020061e-04 9.99831165e-01 5.06777737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55509989300003 meters 0.01711465625422701 Centerline is valid? [True, True] Translation: X:424.21, Y:5.86, Z:5.07 [[ 9.97764989e-01 -6.43403162e-02 -1.80374564e-02 4.24212562e+02] [ 6.43413268e-02 9.97927812e-01 -5.24893376e-04 5.86068092e+00] [ 1.80338512e-02 -6.36833642e-04 9.99837174e-01 5.06810953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.585099893 meters 0.016335193705769222 Centerline is valid? [True, True] Translation: X:424.24, Y:5.86, Z:5.07 [[ 9.97867778e-01 -6.27551784e-02 -1.79356117e-02 4.24244269e+02] [ 6.27559372e-02 9.98028768e-01 -5.21073662e-04 5.86329901e+00] [ 1.79329565e-02 -6.05603502e-04 9.99839008e-01 5.06869396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.615099893 meters 0.01660932292593263 Centerline is valid? [True, True] Translation: X:424.28, Y:5.86, Z:5.07 [[ 9.97984559e-01 -6.08386493e-02 -1.80410467e-02 4.24275140e+02] [ 6.08391244e-02 9.98147448e-01 -5.23017038e-04 5.86424165e+00] [ 1.80394443e-02 -5.75638557e-04 9.99837110e-01 5.06869010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.645099893 meters 0.014946647387858895 Centerline is valid? [True, True] Translation: X:424.31, Y:5.87, Z:5.07 [[ 9.98256774e-01 -5.62560007e-02 -1.78514909e-02 4.24306467e+02] [ 5.62557451e-02 9.98416258e-01 -5.16878877e-04 5.86911941e+00] [ 1.78522963e-02 -4.88271082e-04 9.99840516e-01 5.06904436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.675099893 meters 0.01440075190279344 Centerline is valid? [True, True] Translation: X:424.34, Y:5.87, Z:5.07 [[ 9.98403894e-01 -5.36993191e-02 -1.74941957e-02 4.24338119e+02] [ 5.36986939e-02 9.98557056e-01 -5.05820169e-04 5.87142934e+00] [ 1.74961148e-02 -4.34402636e-04 9.99846837e-01 5.06943589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.705099893 meters 0.013700541508886123 Centerline is valid? [True, True] Translation: X:424.37, Y:5.87, Z:5.07 [[ 9.98517553e-01 -5.15205787e-02 -1.75592247e-02 4.24369113e+02] [ 5.15196271e-02 9.98671854e-01 -5.06849097e-04 5.87414721e+00] [ 1.75620166e-02 -3.98546987e-04 9.99845696e-01 5.06977775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.735099893 meters 0.01340390811893447 Centerline is valid? [True, True] Translation: X:424.40, Y:5.88, Z:5.07 [[ 9.98614344e-01 -4.96170203e-02 -1.75368950e-02 4.24399720e+02] [ 4.96157871e-02 9.98768250e-01 -5.05670644e-04 5.87565452e+00] [ 1.75403838e-02 -3.65136888e-04 9.99846089e-01 5.06979240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.765099893 meters 0.01315472838280513 Centerline is valid? [True, True] Translation: X:424.43, Y:5.88, Z:5.07 [[ 9.98699537e-01 -4.78832981e-02 -1.75049772e-02 4.24429971e+02] [ 4.78818085e-02 9.98852881e-01 -5.04440910e-04 5.87716247e+00] [ 1.75090512e-02 -3.34385063e-04 9.99846649e-01 5.06938674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.795099893 meters 0.013296887596133641 Centerline is valid? [True, True] Translation: X:424.46, Y:5.88, Z:5.07 [[ 9.98697814e-01 -4.77037865e-02 -1.80838136e-02 4.24460105e+02] [ 4.77021770e-02 9.98861468e-01 -5.20588708e-04 5.87787755e+00] [ 1.80880586e-02 -3.42726471e-04 9.99836339e-01 5.06926282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.825099893 meters 0.013230210474856938 Centerline is valid? [True, True] Translation: X:424.49, Y:5.88, Z:5.07 [[ 9.98677093e-01 -4.79676678e-02 -1.85247655e-02 4.24490314e+02] [ 4.79660369e-02 9.98848825e-01 -5.32601149e-04 5.87890934e+00] [ 1.85289879e-02 -3.56663019e-04 9.99828260e-01 5.06905414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.855099893 meters 0.013094318502483895 Centerline is valid? [True, True] Translation: X:424.52, Y:5.88, Z:5.07 [[ 9.98637028e-01 -4.85855812e-02 -1.90663783e-02 4.24522055e+02] [ 4.85839707e-02 9.98818951e-01 -5.47933555e-04 5.88011819e+00] [ 1.90704817e-02 -3.79133628e-04 9.99818070e-01 5.06929519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.885099893 meters 0.013976403512156897 Centerline is valid? [True, True] Translation: X:424.55, Y:5.88, Z:5.07 [[ 9.98520614e-01 -5.07732240e-02 -1.94592907e-02 4.24552529e+02] [ 5.07719729e-02 9.98710115e-01 -5.58648981e-04 5.87917120e+00] [ 1.94625549e-02 -4.30164057e-04 9.99810494e-01 5.06923827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.915099893 meters 0.01436724677141041 Centerline is valid? [True, True] Translation: X:424.58, Y:5.88, Z:5.07 [[ 9.98464956e-01 -5.18004504e-02 -1.96072627e-02 4.24582927e+02] [ 5.17993825e-02 9.98657352e-01 -5.62676217e-04 5.87922779e+00] [ 1.96100840e-02 -4.53831617e-04 9.99807601e-01 5.06948274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.945099893 meters 0.015022810662858299 Centerline is valid? [True, True] Translation: X:424.61, Y:5.88, Z:5.07 [[ 9.98373891e-01 -5.34618181e-02 -1.97840241e-02 4.24612927e+02] [ 5.34610560e-02 9.98569774e-01 -5.67787036e-04 5.87890332e+00] [ 1.97860834e-02 -4.90811067e-04 9.99804116e-01 5.06980425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.975099893 meters 0.015871608800317343 Centerline is valid? [True, True] Translation: X:424.64, Y:5.88, Z:5.07 [[ 9.98288374e-01 -5.50627141e-02 -1.97083797e-02 4.24643509e+02] [ 5.50622683e-02 9.98482762e-01 -5.65679521e-04 5.87859915e+00] [ 1.97096253e-02 -5.20476803e-04 9.99805611e-01 5.07027827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.005099893 meters 0.016183605318226144 Centerline is valid? [True, True] Translation: X:424.67, Y:5.88, Z:5.07 [[ 9.98229384e-01 -5.62073375e-02 -1.94636100e-02 4.24673622e+02] [ 5.62071200e-02 9.98418974e-01 -5.58654021e-04 5.87913945e+00] [ 1.94642380e-02 -5.36328605e-04 9.99810410e-01 5.07077193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.035099893 meters 0.01683683523107861 Centerline is valid? [True, True] Translation: X:424.70, Y:5.88, Z:5.07 [[ 9.98168453e-01 -5.74308195e-02 -1.90115956e-02 4.24704637e+02] [ 5.74308380e-02 9.98349338e-01 -5.45450900e-04 5.87913375e+00] [ 1.90115395e-02 -5.47399983e-04 9.99819114e-01 5.07144878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.065099893 meters 0.017962922932788627 Centerline is valid? [True, True] Translation: X:424.74, Y:5.88, Z:5.07 [[ 9.98103151e-01 -5.87802436e-02 -1.83025374e-02 4.24735151e+02] [ 5.87804967e-02 9.98270794e-01 -5.24596095e-04 5.87855940e+00] [ 1.83017244e-02 -5.52231223e-04 9.99832357e-01 5.07237754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.095099893 meters 0.018343673759639176 Centerline is valid? [True, True] Translation: X:424.77, Y:5.88, Z:5.07 [[ 9.98083143e-01 -5.92164684e-02 -1.79847129e-02 4.24766233e+02] [ 5.92167907e-02 9.98245013e-01 -5.15089028e-04 5.87876577e+00] [ 1.79836517e-02 -5.50895302e-04 9.99838129e-01 5.07312051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.125099893 meters 0.018637197380879687 Centerline is valid? [True, True] Translation: X:424.80, Y:5.88, Z:5.07 [[ 9.98101782e-01 -5.91496320e-02 -1.71509212e-02 4.24797684e+02] [ 5.91499248e-02 9.98248990e-01 -4.90650818e-04 5.87937207e+00] [ 1.71499116e-02 -5.24756243e-04 9.99852792e-01 5.07369950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.155099893 meters 0.01867656250175486 Centerline is valid? [True, True] Translation: X:424.83, Y:5.88, Z:5.07 [[ 9.98120716e-01 -5.88763666e-02 -1.69885461e-02 4.24828732e+02] [ 5.88766239e-02 9.98265149e-01 -4.85441363e-04 5.88026830e+00] [ 1.69876545e-02 -5.15699156e-04 9.99855566e-01 5.07375977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18509989300003 meters 0.018254986719250015 Centerline is valid? [True, True] Translation: X:424.86, Y:5.88, Z:5.07 [[ 9.98155442e-01 -5.84767346e-02 -1.63151823e-02 4.24860529e+02] [ 5.84769282e-02 9.98288652e-01 -4.65605763e-04 5.88188007e+00] [ 1.63144884e-02 -4.89314817e-04 9.99866790e-01 5.07425183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.215099893 meters 0.01875421823447921 Centerline is valid? [True, True] Translation: X:424.89, Y:5.88, Z:5.07 [[ 9.98176129e-01 -5.80599861e-02 -1.65364144e-02 4.24891258e+02] [ 5.80601417e-02 9.98312976e-01 -4.71079520e-04 5.88231549e+00] [ 1.65358679e-02 -4.89886230e-04 9.99863153e-01 5.07459639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24509989300003 meters 0.01844459212474434 Centerline is valid? [True, True] Translation: X:424.92, Y:5.88, Z:5.07 [[ 9.98214275e-01 -5.72539529e-02 -1.70366229e-02 4.24923050e+02] [ 5.72540147e-02 9.98359526e-01 -4.84518651e-04 5.88415870e+00] [ 1.70364154e-02 -4.91761626e-04 9.99854749e-01 5.07466447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.275099893 meters 0.017604268992359316 Centerline is valid? [True, True] Translation: X:424.95, Y:5.89, Z:5.07 [[ 9.98341128e-01 -5.47903239e-02 -1.76921707e-02 4.24954826e+02] [ 5.47900170e-02 9.98497772e-01 -5.02428881e-04 5.88725484e+00] [ 1.76931213e-02 -4.67758918e-04 9.99843355e-01 5.07399176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30509989300003 meters 0.01687743180720542 Centerline is valid? [True, True] Translation: X:424.99, Y:5.89, Z:5.07 [[ 9.98414508e-01 -5.32981026e-02 -1.81047482e-02 4.24986126e+02] [ 5.32975507e-02 9.98578544e-01 -5.13333929e-04 5.88956505e+00] [ 1.81063728e-02 -4.52418691e-04 9.99835964e-01 5.07409520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.335099893 meters 0.016796442170628666 Centerline is valid? [True, True] Translation: X:425.02, Y:5.89, Z:5.07 [[ 9.98483564e-01 -5.18826919e-02 -1.84053798e-02 4.25016710e+02] [ 5.18818906e-02 9.98653092e-01 -5.21347433e-04 5.89087966e+00] [ 1.84076384e-02 -4.34349061e-04 9.99830471e-01 5.07409089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.365099893 meters 0.0162578587178621 Centerline is valid? [True, True] Translation: X:425.05, Y:5.89, Z:5.07 [[ 9.98553287e-01 -5.04412918e-02 -1.86281541e-02 4.25046835e+02] [ 5.04402242e-02 9.98726942e-01 -5.27453990e-04 5.89295754e+00] [ 1.86310449e-02 -4.12917355e-04 9.99826342e-01 5.07437502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.395099893 meters 0.015280755776708926 Centerline is valid? [True, True] Translation: X:425.08, Y:5.90, Z:5.07 [[ 9.98690128e-01 -4.73578232e-02 -1.93717297e-02 4.25076352e+02] [ 4.73560866e-02 9.98877921e-01 -5.48619889e-04 5.89625474e+00] [ 1.93759745e-02 -3.69468041e-04 9.99812200e-01 5.07407486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.425099893 meters 0.0145539690791159 Centerline is valid? [True, True] Translation: X:425.11, Y:5.90, Z:5.07 [[ 9.98768324e-01 -4.56311737e-02 -1.94841103e-02 4.25105558e+02] [ 4.56290803e-02 9.98958298e-01 -5.52225588e-04 5.89857562e+00] [ 1.94890124e-02 -3.37496608e-04 9.99810014e-01 5.07427740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.455099893 meters 0.014039015550559428 Centerline is valid? [True, True] Translation: X:425.14, Y:5.90, Z:5.07 [[ 9.98816159e-01 -4.44892558e-02 -1.96719559e-02 4.25135583e+02] [ 4.44868881e-02 9.99009812e-01 -5.58175069e-04 5.90066198e+00] [ 1.96773098e-02 -3.17629822e-04 9.99806333e-01 5.07443652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.485099893 meters 0.013742011800221143 Centerline is valid? [True, True] Translation: X:425.17, Y:5.90, Z:5.07 [[ 9.98864375e-01 -4.33215977e-02 -1.98292568e-02 4.25165336e+02] [ 4.33189494e-02 9.99061135e-01 -5.63267127e-04 5.90216499e+00] [ 1.98350414e-02 -2.96355106e-04 9.99803222e-01 5.07431861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.515099893 meters 0.01364669450375801 Centerline is valid? [True, True] Translation: X:425.19, Y:5.90, Z:5.07 [[ 9.98880039e-01 -4.27173569e-02 -2.03444214e-02 4.25194406e+02] [ 4.27144283e-02 9.99087155e-01 -5.78673021e-04 5.90340693e+00] [ 2.03505695e-02 -2.90975398e-04 9.99792863e-01 5.07422301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.545099893 meters 0.013840619864281546 Centerline is valid? [True, True] Translation: X:425.22, Y:5.90, Z:5.07 [[ 9.98865464e-01 -4.30703342e-02 -2.03157828e-02 4.25223980e+02] [ 4.30674701e-02 9.99071998e-01 -5.78682376e-04 5.90377205e+00] [ 2.03218537e-02 -2.96923526e-04 9.99793446e-01 5.07430552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.575099893 meters 0.014437460551920465 Centerline is valid? [True, True] Translation: X:425.25, Y:5.90, Z:5.07 [[ 9.98819078e-01 -4.41520033e-02 -2.02743754e-02 4.25253269e+02] [ 4.41493609e-02 9.99024774e-01 -5.78127888e-04 5.90363897e+00] [ 2.02801288e-02 -3.17655551e-04 9.99794287e-01 5.07475654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.605099893 meters 0.015131476546134698 Centerline is valid? [True, True] Translation: X:425.28, Y:5.90, Z:5.08 [[ 9.98748510e-01 -4.57339938e-02 -2.02439031e-02 4.25282946e+02] [ 4.57316716e-02 9.98953593e-01 -5.77880187e-04 5.90289556e+00] [ 2.02491485e-02 -3.48630551e-04 9.99794904e-01 5.07505909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.635099893 meters 0.01794677109597791 Centerline is valid? [True, True] Translation: X:425.31, Y:5.90, Z:5.08 [[ 9.98508371e-01 -5.07802732e-02 -2.00598380e-02 4.25311756e+02] [ 5.07789960e-02 9.98709750e-01 -5.73354167e-04 5.89807376e+00] [ 2.00630709e-02 -4.46119498e-04 9.99798617e-01 5.07583499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.665099893 meters 0.01983064954646412 Centerline is valid? [True, True] Translation: X:425.34, Y:5.90, Z:5.08 [[ 9.98360487e-01 -5.37503630e-02 -1.96783359e-02 4.25340845e+02] [ 5.37496929e-02 9.98554282e-01 -5.63336721e-04 5.89557898e+00] [ 1.96801661e-02 -4.95291389e-04 9.99806204e-01 5.07660336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.695099893 meters 0.02198095133568377 Centerline is valid? [True, True] Translation: X:425.37, Y:5.89, Z:5.08 [[ 9.98200580e-01 -5.70283523e-02 -1.85302436e-02 4.25370393e+02] [ 5.70283090e-02 9.98372420e-01 -5.31183541e-04 5.89276468e+00] [ 1.85303767e-02 -5.26520741e-04 9.99828159e-01 5.07798322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.725099893 meters 0.01655787386555582 Centerline is valid? [True, True] Translation: X:425.40, Y:5.90, Z:5.08 [[ 9.98003391e-01 -6.05700527e-02 -1.79025488e-02 4.25400994e+02] [ 6.05705768e-02 9.98163785e-01 -5.13450199e-04 5.90077246e+00] [ 1.79007756e-02 -5.71942669e-04 9.99839605e-01 5.08105470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.755099893 meters 0.029121563814711402 Centerline is valid? [True, True] Translation: X:425.43, Y:5.88, Z:5.08 [[ 9.97599734e-01 -6.69339184e-02 -1.77375471e-02 4.25431206e+02] [ 6.69354446e-02 9.97757179e-01 -5.08291546e-04 5.88241658e+00] [ 1.77317869e-02 -6.80199093e-04 9.99842548e-01 5.07934641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.785099893 meters 0.0318234636328193 Centerline is valid? [True, True] Translation: X:425.46, Y:5.88, Z:5.08 [[ 9.97385200e-01 -6.99967264e-02 -1.79783424e-02 4.25460718e+02] [ 6.99987982e-02 9.97546943e-01 -5.14792218e-04 5.87928533e+00] [ 1.79702742e-02 -7.45016220e-04 9.99838244e-01 5.07873452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.815099893 meters 0.03374569854442974 Centerline is valid? [True, True] Translation: X:425.49, Y:5.88, Z:5.08 [[ 9.97190851e-01 -7.25917174e-02 -1.84620793e-02 4.25490899e+02] [ 7.25943405e-02 9.97361410e-01 -5.28943682e-04 5.87714573e+00] [ 1.84517623e-02 -8.12784668e-04 9.99829421e-01 5.07824353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.845099893 meters 0.036164018027084986 Centerline is valid? [True, True] Translation: X:425.52, Y:5.87, Z:5.08 [[ 9.96998361e-01 -7.51445379e-02 -1.86431310e-02 4.25520349e+02] [ 7.51476520e-02 9.97172274e-01 -5.34452431e-04 5.87445039e+00] [ 1.86305745e-02 -8.68139324e-04 9.99826059e-01 5.07791733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.875099893 meters 0.023814576889017055 Centerline is valid? [True, True] Translation: X:425.55, Y:5.89, Z:5.08 [[ 9.96686910e-01 -7.92951985e-02 -1.80962520e-02 4.25551148e+02] [ 7.92988153e-02 9.96850756e-01 -5.18746219e-04 5.89147768e+00] [ 1.80803966e-02 -9.17983781e-04 9.99836115e-01 5.08085804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.905099893 meters 0.04185471841916124 Centerline is valid? [True, True] Translation: X:425.58, Y:5.87, Z:5.08 [[ 9.96572904e-01 -8.07183078e-02 -1.80832081e-02 4.25582419e+02] [ 8.07221658e-02 9.96736507e-01 -5.17665344e-04 5.86943318e+00] [ 1.80659787e-02 -9.43824468e-04 9.99836351e-01 5.07908385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93509989300003 meters 0.02279992718930317 Centerline is valid? [True, True] Translation: X:425.61, Y:5.90, Z:5.08 [[ 9.96454164e-01 -8.23567712e-02 -1.72180715e-02 4.25613272e+02] [ 8.23605266e-02 9.96602479e-01 -4.92082046e-04 5.89711132e+00] [ 1.72000990e-02 -9.27752229e-04 9.99851637e-01 5.08313344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.965099893 meters 0.02330602675515985 Centerline is valid? [True, True] Translation: X:425.65, Y:5.90, Z:5.08 [[ 9.96438268e-01 -8.26349933e-02 -1.67998844e-02 4.25645009e+02] [ 8.26386247e-02 9.96579464e-01 -4.79130112e-04 5.89866512e+00] [ 1.67820127e-02 -9.10895759e-04 9.99858757e-01 5.08376713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99509989300003 meters 0.023009365919556875 Centerline is valid? [True, True] Translation: X:425.68, Y:5.90, Z:5.08 [[ 9.96434913e-01 -8.26055988e-02 -1.71400168e-02 4.25677398e+02] [ 8.26093965e-02 9.96581883e-01 -4.87544311e-04 5.90147933e+00] [ 1.71217041e-02 -9.30120268e-04 9.99852980e-01 5.08415030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.025099893 meters 0.026000520967640706 Centerline is valid? [True, True] Translation: X:425.71, Y:5.90, Z:5.08 [[ 9.96466621e-01 -8.22470454e-02 -1.70204875e-02 4.25708319e+02] [ 8.22507579e-02 9.96611549e-01 -4.82976010e-04 5.89960487e+00] [ 1.70025378e-02 -9.18678524e-04 9.99855024e-01 5.08437925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05509989300003 meters 0.02276811462537744 Centerline is valid? [True, True] Translation: X:425.74, Y:5.91, Z:5.09 [[ 9.96546957e-01 -8.14430658e-02 -1.61613695e-02 4.25740512e+02] [ 8.14463224e-02 9.96677624e-01 -4.57667506e-04 5.90803873e+00] [ 1.61449492e-02 -8.60196951e-04 9.99869292e-01 5.08584509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.085099893 meters 0.028771543092922194 Centerline is valid? [True, True] Translation: X:425.77, Y:5.90, Z:5.09 [[ 9.96617780e-01 -8.06014579e-02 -1.60126897e-02 4.25772339e+02] [ 8.06045653e-02 9.96746056e-01 -4.52283426e-04 5.90244019e+00] [ 1.59970400e-02 -8.39942188e-04 9.99871686e-01 5.08561195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.115099893 meters 0.028771543092922194 Centerline is valid? [True, True] Translation: X:425.80, Y:5.90, Z:5.09 [[ 9.96623245e-01 -8.05338507e-02 -1.60127222e-02 4.25804055e+02] [ 8.05369679e-02 9.96751520e-01 -4.51130784e-04 5.90326934e+00] [ 1.59970365e-02 -8.40008666e-04 9.99871686e-01 5.08600411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.145099893 meters 0.023024212742729987 Centerline is valid? [True, True] Translation: X:425.84, Y:5.91, Z:5.09 [[ 9.96705317e-01 -7.94935508e-02 -1.61023987e-02 4.25836235e+02] [ 7.94965857e-02 9.96835036e-01 -4.52540510e-04 5.91351833e+00] [ 1.60874092e-02 -8.29036182e-04 9.99870246e-01 5.08721308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.175099893 meters 0.024685503065913345 Centerline is valid? [True, True] Translation: X:425.87, Y:5.91, Z:5.09 [[ 9.96779324e-01 -7.85689583e-02 -1.60592239e-02 4.25867690e+02] [ 7.85718749e-02 9.96908350e-01 -4.50226868e-04 5.91385182e+00] [ 1.60449482e-02 -8.13026496e-04 9.99870941e-01 5.08757806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.205099893 meters 0.02170011237080217 Centerline is valid? [True, True] Translation: X:425.90, Y:5.92, Z:5.09 [[ 9.96857906e-01 -7.74160633e-02 -1.67650799e-02 4.25900161e+02] [ 7.74190979e-02 9.96998527e-01 -4.68910530e-04 5.92087028e+00] [ 1.67510612e-02 -8.30500192e-04 9.99859346e-01 5.08856086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.235099893 meters 0.020537070062872934 Centerline is valid? [True, True] Translation: X:425.93, Y:5.93, Z:5.09 [[ 9.96990686e-01 -7.53716553e-02 -1.81296979e-02 4.25931589e+02] [ 7.53748931e-02 9.97155138e-01 -5.05635617e-04 5.92724495e+00] [ 1.81162320e-02 -8.62410041e-04 9.99835516e-01 5.08879923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.265099893 meters 0.021277377841933644 Centerline is valid? [True, True] Translation: X:425.96, Y:5.93, Z:5.09 [[ 9.97066789e-01 -7.43563106e-02 -1.81371612e-02 4.25962665e+02] [ 7.43593975e-02 9.97231380e-01 -5.05065662e-04 5.92883068e+00] [ 1.81245011e-02 -8.45084183e-04 9.99835381e-01 5.08899537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.295099893 meters 0.02067965275422222 Centerline is valid? [True, True] Translation: X:425.99, Y:5.93, Z:5.09 [[ 9.97194889e-01 -7.25212584e-02 -1.85208199e-02 4.25994564e+02] [ 7.25241826e-02 9.97366521e-01 -5.14606412e-04 5.93398059e+00] [ 1.85093656e-02 -8.30044442e-04 9.99828342e-01 5.08969447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.325099893 meters 0.02049207156167782 Centerline is valid? [True, True] Translation: X:426.03, Y:5.94, Z:5.09 [[ 9.97258808e-01 -7.16947736e-02 -1.82955868e-02 4.26027099e+02] [ 7.16975124e-02 9.97426293e-01 -5.07032223e-04 5.93687138e+00] [ 1.82848508e-02 -8.06105707e-04 9.99832493e-01 5.09035634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.355099893 meters 0.019757865456361972 Centerline is valid? [True, True] Translation: X:426.06, Y:5.94, Z:5.09 [[ 9.97326504e-01 -7.07107256e-02 -1.84346933e-02 4.26059545e+02] [ 7.07133633e-02 9.97496547e-01 -5.09542468e-04 5.94069337e+00] [ 1.84245730e-02 -7.95398957e-04 9.99829937e-01 5.09137870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.385099893 meters 0.020330487405482555 Centerline is valid? [True, True] Translation: X:426.09, Y:5.94, Z:5.09 [[ 9.97410581e-01 -6.95178976e-02 -1.84226758e-02 4.26091114e+02] [ 6.95203534e-02 9.97580404e-01 -5.07871513e-04 5.94250962e+00] [ 1.84134066e-02 -7.74194513e-04 9.99830159e-01 5.09169192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.415099893 meters 0.019238556553269903 Centerline is valid? [True, True] Translation: X:426.12, Y:5.95, Z:5.09 [[ 9.97492533e-01 -6.84081345e-02 -1.81376486e-02 4.26123723e+02] [ 6.84103571e-02 9.97657143e-01 -4.98611218e-04 5.94710539e+00] [ 1.81292637e-02 -7.43442051e-04 9.99835375e-01 5.09267257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.445099893 meters 0.018209760771888513 Centerline is valid? [True, True] Translation: X:426.16, Y:5.95, Z:5.09 [[ 9.97737259e-01 -6.51129195e-02 -1.67531722e-02 4.26155379e+02] [ 6.51143730e-02 9.97877702e-01 -4.59277690e-04 5.95292654e+00] [ 1.67475219e-02 -6.32633843e-04 9.99859550e-01 5.09372617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.475099893 meters 0.017371568474949254 Centerline is valid? [True, True] Translation: X:426.19, Y:5.96, Z:5.09 [[ 9.97867773e-01 -6.32686915e-02 -1.60305741e-02 4.26187674e+02] [ 6.32697992e-02 9.97996363e-01 -4.38556488e-04 5.95662826e+00] [ 1.60262015e-02 -5.76629817e-04 9.99871406e-01 5.09437225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.505099893 meters 0.018007174108463544 Centerline is valid? [True, True] Translation: X:426.22, Y:5.96, Z:5.10 [[ 9.98006536e-01 -6.11762285e-02 -1.55055903e-02 4.26219200e+02] [ 6.11770296e-02 9.98126842e-01 -4.23096145e-04 5.95799793e+00] [ 1.55024293e-02 -5.26333239e-04 9.99879692e-01 5.09507476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.535099893 meters 0.01698905693288494 Centerline is valid? [True, True] Translation: X:426.25, Y:5.96, Z:5.10 [[ 9.98122970e-01 -5.94218209e-02 -1.48183683e-02 4.26251129e+02] [ 5.94223747e-02 9.98232848e-01 -4.03315941e-04 5.96197157e+00] [ 1.48161478e-02 -4.77983728e-04 9.99890121e-01 5.09609498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.565099893 meters 0.01643157111018834 Centerline is valid? [True, True] Translation: X:426.28, Y:5.97, Z:5.10 [[ 9.98217261e-01 -5.79933828e-02 -1.41091294e-02 4.26283197e+02] [ 5.79937558e-02 9.98316872e-01 -3.83046954e-04 5.96535443e+00] [ 1.41075961e-02 -4.35877322e-04 9.99900388e-01 5.09728769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.595099893 meters 0.016143838256916867 Centerline is valid? [True, True] Translation: X:426.31, Y:5.97, Z:5.10 [[ 9.98369214e-01 -5.52435253e-02 -1.43897837e-02 4.26313904e+02] [ 5.52436425e-02 9.98472828e-01 -3.89656247e-04 5.96987000e+00] [ 1.43893340e-02 -4.05923266e-04 9.99896386e-01 5.09746084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.625099893 meters 0.01554179184134164 Centerline is valid? [True, True] Translation: X:426.35, Y:5.97, Z:5.10 [[ 9.98434229e-01 -5.40259902e-02 -1.45011434e-02 4.26345869e+02] [ 5.40259927e-02 9.98539453e-01 -3.91857491e-04 5.97285913e+00] [ 1.45011343e-02 -3.92194737e-04 9.99894776e-01 5.09766171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.655099893 meters 0.015831320518339118 Centerline is valid? [True, True] Translation: X:426.38, Y:5.97, Z:5.10 [[ 9.98499338e-01 -5.27871986e-02 -1.45802405e-02 4.26377143e+02] [ 5.27870859e-02 9.98605713e-01 -3.92842908e-04 5.97425856e+00] [ 1.45806485e-02 -3.77395023e-04 9.99893625e-01 5.09798645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68509989300003 meters 0.014193389145243101 Centerline is valid? [True, True] Translation: X:426.41, Y:5.98, Z:5.10 [[ 9.98575001e-01 -5.14295766e-02 -1.42465838e-02 4.26408940e+02] [ 5.14293540e-02 9.98676562e-01 -3.82230564e-04 5.97824369e+00] [ 1.42473873e-02 -3.51006714e-04 9.99898439e-01 5.09839929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.715099893 meters 0.014131231180493978 Centerline is valid? [True, True] Translation: X:426.44, Y:5.98, Z:5.10 [[ 9.98717578e-01 -4.88664509e-02 -1.32389269e-02 4.26439762e+02] [ 4.88660452e-02 9.98805278e-01 -3.54315989e-04 5.97935451e+00] [ 1.32404242e-02 -2.93072392e-04 9.99912299e-01 5.09874156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74509989300003 meters 0.013909383822588946 Centerline is valid? [True, True] Translation: X:426.47, Y:5.98, Z:5.10 [[ 9.98776931e-01 -4.77783863e-02 -1.27227013e-02 4.26471858e+02] [ 4.77779318e-02 9.98857925e-01 -3.39833945e-04 5.98057233e+00] [ 1.27244077e-02 -2.68446051e-04 9.99919005e-01 5.09946120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.775099893 meters 0.013012877746677247 Centerline is valid? [True, True] Translation: X:426.50, Y:5.98, Z:5.10 [[ 9.98823498e-01 -4.68549515e-02 -1.24993077e-02 4.26504378e+02] [ 4.68544514e-02 9.98901672e-01 -3.33003039e-04 5.98314765e+00] [ 1.25011822e-02 -2.53036945e-04 9.99921825e-01 5.09993489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80509989300003 meters 0.012756796148216457 Centerline is valid? [True, True] Translation: X:426.54, Y:5.98, Z:5.10 [[ 9.98925262e-01 -4.44131481e-02 -1.32587246e-02 4.26535669e+02] [ 4.44123837e-02 9.99013221e-01 -3.52230330e-04 5.98425742e+00] [ 1.32612848e-02 -2.36999790e-04 9.99912037e-01 5.09886289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.835099893 meters 0.013210504356901303 Centerline is valid? [True, True] Translation: X:426.57, Y:5.98, Z:5.10 [[ 9.98953938e-01 -4.35595405e-02 -1.39138584e-02 4.26567337e+02] [ 4.35586269e-02 9.99050805e-01 -3.68846719e-04 5.98380403e+00] [ 1.39167182e-02 -2.37607684e-04 9.99903130e-01 5.09814385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.865099893 meters 0.012722597022243855 Centerline is valid? [True, True] Translation: X:426.60, Y:5.99, Z:5.10 [[ 9.98978600e-01 -4.28728154e-02 -1.42715991e-02 4.26599434e+02] [ 4.28717957e-02 9.99080511e-01 -3.77518229e-04 5.98512602e+00] [ 1.42746617e-02 -2.34716448e-04 9.99898084e-01 5.09797269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.895099893 meters 0.011909604177783643 Centerline is valid? [True, True] Translation: X:426.63, Y:5.99, Z:5.10 [[ 9.98994150e-01 -4.22736300e-02 -1.49542022e-02 4.26631560e+02] [ 4.22724599e-02 9.99106042e-01 -3.94473010e-04 5.98623064e+00] [ 1.49575096e-02 -2.38074683e-04 9.99888102e-01 5.09781863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.925099893 meters 0.011931609319957376 Centerline is valid? [True, True] Translation: X:426.66, Y:5.99, Z:5.10 [[ 9.98995876e-01 -4.22365281e-02 -1.49437480e-02 4.26664217e+02] [ 4.22353719e-02 9.99107611e-01 -3.93094333e-04 5.98609866e+00] [ 1.49470153e-02 -2.38455136e-04 9.99888259e-01 5.09840194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.955099893 meters 0.012349891188546357 Centerline is valid? [True, True] Translation: X:426.70, Y:5.98, Z:5.10 [[ 9.98971282e-01 -4.25894714e-02 -1.55729002e-02 4.26695226e+02] [ 4.25882763e-02 9.99092624e-01 -4.08515901e-04 5.98474684e+00] [ 1.55761682e-02 -2.55127324e-04 9.99878652e-01 5.09867569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.985099893 meters 0.012351804885911682 Centerline is valid? [True, True] Translation: X:426.73, Y:5.98, Z:5.10 [[ 9.98950173e-01 -4.31849062e-02 -1.52845192e-02 4.26727200e+02] [ 4.31838380e-02 9.99067063e-01 -4.00073016e-04 5.98465356e+00] [ 1.52875368e-02 -2.60391193e-04 9.99883105e-01 5.09923685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.015099893 meters 0.01231976465646036 Centerline is valid? [True, True] Translation: X:426.76, Y:5.98, Z:5.10 [[ 9.98910801e-01 -4.40686749e-02 -1.53350314e-02 4.26759334e+02] [ 4.40677208e-02 9.99028466e-01 -4.00283464e-04 5.98458445e+00] [ 1.53377729e-02 -2.75932407e-04 9.99882331e-01 5.09961834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.045099893 meters 0.012794524845709261 Centerline is valid? [True, True] Translation: X:426.79, Y:5.98, Z:5.10 [[ 9.98804009e-01 -4.66229328e-02 -1.47259783e-02 4.26791816e+02] [ 4.66223458e-02 9.98912514e-01 -3.83342707e-04 5.98173090e+00] [ 1.47278366e-02 -3.03675420e-04 9.99891493e-01 5.10013429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.075099893 meters 0.013517967496006674 Centerline is valid? [True, True] Translation: X:426.82, Y:5.98, Z:5.10 [[ 9.98739680e-01 -4.80693894e-02 -1.44355927e-02 4.26823475e+02] [ 4.80689909e-02 9.98843948e-01 -3.74781415e-04 5.97986291e+00] [ 1.44369199e-02 -3.19595304e-04 9.99895731e-01 5.10101764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.105099893 meters 0.013872364447685455 Centerline is valid? [True, True] Translation: X:426.86, Y:5.98, Z:5.10 [[ 9.98693295e-01 -4.91570482e-02 -1.39745347e-02 4.26856104e+02] [ 4.91567919e-02 9.98791009e-01 -3.62040557e-04 5.97861006e+00] [ 1.39754365e-02 -3.25375818e-04 9.99902286e-01 5.10175215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.135099893 meters 0.014318335681307219 Centerline is valid? [True, True] Translation: X:426.89, Y:5.98, Z:5.10 [[ 9.98627059e-01 -5.04931049e-02 -1.39443155e-02 4.26888355e+02] [ 5.04929937e-02 9.98724350e-01 -3.60260157e-04 5.97771861e+00] [ 1.39447181e-02 -3.44324692e-04 9.99902708e-01 5.10220864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.165099893 meters 0.014503691957223739 Centerline is valid? [True, True] Translation: X:426.92, Y:5.98, Z:5.10 [[ 9.98570649e-01 -5.15749575e-02 -1.40243357e-02 4.26920785e+02] [ 5.15749658e-02 9.98669060e-01 -3.61318404e-04 5.97732452e+00] [ 1.40243052e-02 -3.62502682e-04 9.99901589e-01 5.10263360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.195099893 meters 0.015566389884268872 Centerline is valid? [True, True] Translation: X:426.95, Y:5.97, Z:5.10 [[ 9.98467178e-01 -5.34207849e-02 -1.44746254e-02 4.26951525e+02] [ 5.34210020e-02 9.98572010e-01 -3.71927127e-04 5.97467401e+00] [ 1.44738245e-02 -4.01891965e-04 9.99895168e-01 5.10235544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.225099893 meters 0.014742460224849516 Centerline is valid? [True, True] Translation: X:426.98, Y:5.98, Z:5.10 [[ 9.98422542e-01 -5.42528078e-02 -1.44589439e-02 4.26983619e+02] [ 5.42531201e-02 9.98527146e-01 -3.70928338e-04 5.97596576e+00] [ 1.44577719e-02 -4.14099608e-04 9.99895395e-01 5.10243005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.255099893 meters 0.016795140752643555 Centerline is valid? [True, True] Translation: X:427.01, Y:5.97, Z:5.10 [[ 9.98352372e-01 -5.54428633e-02 -1.47861348e-02 4.27014854e+02] [ 5.54433360e-02 9.98461764e-01 -3.78263393e-04 5.97202897e+00] [ 1.47843623e-02 -4.42152485e-04 9.99890608e-01 5.10226691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.285099893 meters 0.015121598064554773 Centerline is valid? [True, True] Translation: X:427.05, Y:5.97, Z:5.10 [[ 9.98327285e-01 -5.58521972e-02 -1.49387002e-02 4.27047402e+02] [ 5.58527385e-02 9.98438945e-01 -3.81296178e-04 5.97475274e+00] [ 1.49366763e-02 -4.53708935e-04 9.99888339e-01 5.10290409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.315099893 meters 0.015861568868882233 Centerline is valid? [True, True] Translation: X:427.08, Y:5.97, Z:5.10 [[ 9.98287034e-01 -5.65787236e-02 -1.48945168e-02 4.27078738e+02] [ 5.65793580e-02 9.98398033e-01 -3.79127430e-04 5.97368180e+00] [ 1.48921068e-02 -4.64244198e-04 9.99888999e-01 5.10313796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.345099893 meters 0.01590252863133288 Centerline is valid? [True, True] Translation: X:427.11, Y:5.97, Z:5.10 [[ 9.98230937e-01 -5.76085150e-02 -1.47056424e-02 4.27110420e+02] [ 5.76092567e-02 9.98339138e-01 -3.73525701e-04 5.97380196e+00] [ 1.47027366e-02 -4.74316215e-04 9.99891796e-01 5.10369030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.375099893 meters 0.01619440279766493 Centerline is valid? [True, True] Translation: X:427.14, Y:5.97, Z:5.10 [[ 9.98184210e-01 -5.84016087e-02 -1.47490581e-02 4.27142887e+02] [ 5.84024538e-02 9.98293050e-01 -3.73776601e-04 5.97351347e+00] [ 1.47457113e-02 -4.88283282e-04 9.99891157e-01 5.10412529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.405099893 meters 0.017736204748388953 Centerline is valid? [True, True] Translation: X:427.17, Y:5.97, Z:5.10 [[ 9.98060263e-01 -6.06076889e-02 -1.42274290e-02 4.27174054e+02] [ 6.06087128e-02 9.98161537e-01 -3.59587840e-04 5.97092744e+00] [ 1.42230662e-02 -5.03415823e-04 9.99898720e-01 5.10466348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43509989300003 meters 0.017751232133144685 Centerline is valid? [True, True] Translation: X:427.21, Y:5.97, Z:5.11 [[ 9.98000668e-01 -6.15995310e-02 -1.41479630e-02 4.27206494e+02] [ 6.16006543e-02 9.98100813e-01 -3.56783607e-04 5.97126144e+00] [ 1.41430711e-02 -5.15453500e-04 9.99899849e-01 5.10506800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.465099893 meters 0.01827099707951049 Centerline is valid? [True, True] Translation: X:427.24, Y:5.97, Z:5.11 [[ 9.97934317e-01 -6.26591480e-02 -1.41749814e-02 4.27238315e+02] [ 6.26603970e-02 9.98034843e-01 -3.56439534e-04 5.97083088e+00] [ 1.41694595e-02 -5.32506717e-04 9.99899466e-01 5.10561584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49509989300003 meters 0.017684150610480353 Centerline is valid? [True, True] Translation: X:427.27, Y:5.97, Z:5.11 [[ 9.97874117e-01 -6.35149411e-02 -1.45979145e-02 4.27270601e+02] [ 6.35163729e-02 9.97980729e-01 -3.65995734e-04 5.97213439e+00] [ 1.45916835e-02 -5.61988908e-04 9.99893378e-01 5.10570921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.525099893 meters 0.020642561733549503 Centerline is valid? [True, True] Translation: X:427.30, Y:5.97, Z:5.11 [[ 9.97658503e-01 -6.67363569e-02 -1.49589626e-02 4.27300603e+02] [ 6.67382357e-02 9.97770449e-01 -3.74120772e-04 5.96858389e+00] [ 1.49505783e-02 -6.25090002e-04 9.99888038e-01 5.10609853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55509989300003 meters 0.020167609261873543 Centerline is valid? [True, True] Translation: X:427.33, Y:5.97, Z:5.11 [[ 9.97554166e-01 -6.79423666e-02 -1.64171080e-02 4.27332449e+02] [ 6.79447975e-02 9.97688998e-01 -4.10296558e-04 5.97006768e+00] [ 1.64070446e-02 -7.06164040e-04 9.99865146e-01 5.10562222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.585099893 meters 0.021275347089366303 Centerline is valid? [True, True] Translation: X:427.36, Y:5.97, Z:5.10 [[ 9.97208889e-01 -7.21665060e-02 -1.91422984e-02 4.27363155e+02] [ 7.21706099e-02 9.97392187e-01 -4.77243552e-04 5.96945832e+00] [ 1.91268199e-02 -9.05599839e-04 9.99816656e-01 5.10390996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.615099893 meters 0.02406316351729959 Centerline is valid? [True, True] Translation: X:427.39, Y:5.97, Z:5.10 [[ 9.97044540e-01 -7.44283991e-02 -1.90420043e-02 4.27393804e+02] [ 7.44328804e-02 9.97225913e-01 -4.74278844e-04 5.96652986e+00] [ 1.90244799e-02 -9.44474095e-04 9.99818572e-01 5.10409348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.645099893 meters 0.022517256751281623 Centerline is valid? [True, True] Translation: X:427.43, Y:5.97, Z:5.11 [[ 9.96866209e-01 -7.68757497e-02 -1.86515492e-02 4.27425114e+02] [ 7.68804886e-02 9.97040207e-01 -4.63885537e-04 5.96972914e+00] [ 1.86320060e-02 -9.71508398e-04 9.99825937e-01 5.10527054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.675099893 meters 0.0232088978325298 Centerline is valid? [True, True] Translation: X:427.46, Y:5.97, Z:5.11 [[ 9.96648881e-01 -7.97018660e-02 -1.84016663e-02 4.27456267e+02] [ 7.97069725e-02 9.96818233e-01 -4.56933983e-04 5.96991237e+00] [ 1.83795349e-02 -1.01133836e-03 9.99830571e-01 5.10624163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.705099893 meters 0.02501809166763546 Centerline is valid? [True, True] Translation: X:427.49, Y:5.97, Z:5.11 [[ 9.96185655e-01 -8.52179997e-02 -1.87625766e-02 4.27486328e+02] [ 8.52242926e-02 9.96361683e-01 -4.65388098e-04 5.96922779e+00] [ 1.87339718e-02 -1.13541437e-03 9.99823859e-01 5.10695960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.735099893 meters 0.03045022426471472 Centerline is valid? [True, True] Translation: X:427.52, Y:5.96, Z:5.11 [[ 9.95981005e-01 -8.75047173e-02 -1.90987299e-02 4.27516623e+02] [ 8.75116529e-02 9.96163383e-01 -4.73921241e-04 5.96345426e+00] [ 1.90669258e-02 -1.19934487e-03 9.99817490e-01 5.10628583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.765099893 meters 0.026494880106907388 Centerline is valid? [True, True] Translation: X:427.55, Y:5.97, Z:5.11 [[ 9.95802347e-01 -8.95059126e-02 -1.91409712e-02 4.27547250e+02] [ 8.95132493e-02 9.95985518e-01 -4.74843856e-04 5.97023954e+00] [ 1.91066314e-02 -1.24051990e-03 9.99816682e-01 5.10730417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.795099893 meters 0.02898408200640806 Centerline is valid? [True, True] Translation: X:427.58, Y:5.97, Z:5.11 [[ 9.95564569e-01 -9.23531908e-02 -1.79465048e-02 4.27577601e+02] [ 9.23601062e-02 9.95725571e-01 -4.44894529e-04 5.96994025e+00] [ 1.79108812e-02 -1.21461986e-03 9.99838850e-01 5.10815462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.825099893 meters 0.029487804323465944 Centerline is valid? [True, True] Translation: X:427.61, Y:5.97, Z:5.11 [[ 9.95532695e-01 -9.28333185e-02 -1.72228848e-02 4.27609340e+02] [ 9.28397687e-02 9.95680971e-01 -4.26382276e-04 5.97130392e+00] [ 1.71880811e-02 -1.17449114e-03 9.99851584e-01 5.10911655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.855099893 meters 0.02964154429056131 Centerline is valid? [True, True] Translation: X:427.64, Y:5.97, Z:5.11 [[ 9.95540069e-01 -9.29954546e-02 -1.58687014e-02 4.27641340e+02] [ 9.30009679e-02 9.95665941e-01 -3.91767307e-04 5.97437925e+00] [ 1.58363581e-02 -1.08578454e-03 9.99874007e-01 5.11052901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.885099893 meters 0.02964154429056131 Centerline is valid? [True, True] Translation: X:427.67, Y:5.98, Z:5.11 [[ 9.95550287e-01 -9.28860054e-02 -1.58687332e-02 4.27673938e+02] [ 9.28915253e-02 9.95676158e-01 -3.90477748e-04 5.97509457e+00] [ 1.58363892e-02 -1.08533059e-03 9.99874007e-01 5.11093203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.915099893 meters 0.02991097140237497 Centerline is valid? [True, True] Translation: X:427.71, Y:5.98, Z:5.11 [[ 9.95565118e-01 -9.26883014e-02 -1.60926963e-02 4.27706315e+02] [ 9.26939791e-02 9.95694567e-01 -3.94338010e-04 5.97703147e+00] [ 1.60599608e-02 -1.09910689e-03 9.99870426e-01 5.11144779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.945099893 meters 0.029163820898575582 Centerline is valid? [True, True] Translation: X:427.74, Y:5.98, Z:5.11 [[ 9.95640705e-01 -9.18913404e-02 -1.59865100e-02 4.27738632e+02] [ 9.18968596e-02 9.95768454e-01 -3.90575927e-04 5.98233431e+00] [ 1.59547529e-02 -1.08023677e-03 9.99872131e-01 5.11163424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.975099893 meters 0.029768650427588285 Centerline is valid? [True, True] Translation: X:427.77, Y:5.98, Z:5.11 [[ 9.95693498e-01 -9.13468006e-02 -1.58183273e-02 4.27770128e+02] [ 9.13521580e-02 9.95818575e-01 -3.85067882e-04 5.98418860e+00] [ 1.57873589e-02 -1.06162875e-03 9.99874808e-01 5.11209113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.005099893 meters 0.03016098938360178 Centerline is valid? [True, True] Translation: X:427.80, Y:5.99, Z:5.11 [[ 9.95772051e-01 -9.04977672e-02 -1.57536172e-02 4.27801968e+02] [ 9.05030070e-02 9.95896109e-01 -3.81456087e-04 5.98622004e+00] [ 1.57234870e-02 -1.04590641e-03 9.99875831e-01 5.11243038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.035099893 meters 0.03016098938360178 Centerline is valid? [True, True] Translation: X:427.83, Y:5.99, Z:5.11 [[ 9.95781852e-01 -9.03898492e-02 -1.57536475e-02 4.27834563e+02] [ 9.03950954e-02 9.95905910e-01 -3.80198165e-04 5.98691795e+00] [ 1.57235167e-02 -1.04545804e-03 9.99875831e-01 5.11283335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.065099893 meters 0.029668296351926422 Centerline is valid? [True, True] Translation: X:427.87, Y:5.99, Z:5.11 [[ 9.95867518e-01 -8.94369383e-02 -1.57772398e-02 4.27867172e+02] [ 8.94421072e-02 9.95991951e-01 -3.79117433e-04 5.99193094e+00] [ 1.57479109e-02 -1.03359884e-03 9.99875460e-01 5.11330170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.095099893 meters 0.029568598639750445 Centerline is valid? [True, True] Translation: X:427.90, Y:5.99, Z:5.11 [[ 9.95909314e-01 -8.88986132e-02 -1.61763731e-02 4.27899831e+02] [ 8.89040002e-02 9.96040124e-01 -3.87223497e-04 5.99458019e+00] [ 1.61467403e-02 -1.05250479e-03 9.99869079e-01 5.11328981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.125099893 meters 0.026815451627868418 Centerline is valid? [True, True] Translation: X:427.93, Y:6.00, Z:5.11 [[ 9.95962861e-01 -8.82171046e-02 -1.66048673e-02 4.27931634e+02] [ 8.82227107e-02 9.96100696e-01 -3.96025584e-04 6.00062696e+00] [ 1.65750561e-02 -1.07049963e-03 9.99862051e-01 5.11303523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.155099893 meters 0.027889750703477736 Centerline is valid? [True, True] Translation: X:427.96, Y:6.00, Z:5.11 [[ 9.95960365e-01 -8.78969701e-02 -1.83595558e-02 4.27963172e+02] [ 8.79038086e-02 9.96128872e-01 -4.35762631e-04 6.00402964e+00] [ 1.83267858e-02 -1.17987257e-03 9.99831354e-01 5.11198226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18509989300003 meters 0.029555749370653844 Centerline is valid? [True, True] Translation: X:427.99, Y:6.00, Z:5.11 [[ 9.96003870e-01 -8.73020843e-02 -1.88318300e-02 4.27994704e+02] [ 8.73092348e-02 9.96181159e-01 -4.43706682e-04 6.00477824e+00] [ 1.87986507e-02 -1.20225909e-03 9.99822567e-01 5.11122032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.215099893 meters 0.028739688128843074 Centerline is valid? [True, True] Translation: X:428.03, Y:6.01, Z:5.11 [[ 9.96039300e-01 -8.67780344e-02 -1.93722747e-02 4.28026393e+02] [ 8.67855481e-02 9.96226913e-01 -4.54091582e-04 6.00893113e+00] [ 1.93385866e-02 -1.22894042e-03 9.99812237e-01 5.11114604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24509989300003 meters 0.027991945016061833 Centerline is valid? [True, True] Translation: X:428.06, Y:6.01, Z:5.11 [[ 9.96116945e-01 -8.59239933e-02 -1.91859138e-02 4.28058770e+02] [ 8.59312315e-02 9.96300970e-01 -4.48348151e-04 6.01280131e+00] [ 1.91534684e-02 -1.20206201e-03 9.99815833e-01 5.11142706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.275099893 meters 0.026889013090727873 Centerline is valid? [True, True] Translation: X:428.09, Y:6.02, Z:5.11 [[ 9.96194909e-01 -8.51128571e-02 -1.87484715e-02 4.28091322e+02] [ 8.51196531e-02 9.96370641e-01 -4.36668185e-04 6.01745619e+00] [ 1.87175927e-02 -1.16085677e-03 9.99824137e-01 5.11228369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30509989300003 meters 0.028915556386276207 Centerline is valid? [True, True] Translation: X:428.12, Y:6.02, Z:5.11 [[ 9.96422372e-01 -8.28263614e-02 -1.68003402e-02 4.28121909e+02] [ 8.28315139e-02 9.96563489e-01 -3.90122717e-04 6.02045975e+00] [ 1.67749181e-02 -1.00287061e-03 9.99858788e-01 5.11368436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.335099893 meters 0.02857579344448336 Centerline is valid? [True, True] Translation: X:428.15, Y:6.02, Z:5.12 [[ 9.96544811e-01 -8.15936638e-02 -1.55214198e-02 4.28153982e+02] [ 8.15979224e-02 9.96665265e-01 -3.59787119e-04 6.02397860e+00] [ 1.54990164e-02 -9.07971624e-04 9.99879471e-01 5.11513391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.365099893 meters 0.027501148165982325 Centerline is valid? [True, True] Translation: X:428.19, Y:6.03, Z:5.12 [[ 9.96630601e-01 -8.07350445e-02 -1.44671248e-02 4.28186005e+02] [ 8.07386678e-02 9.96735249e-01 -3.34387713e-04 6.02851440e+00] [ 1.44468901e-02 -8.34795357e-04 9.99895290e-01 5.11654525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.395099893 meters 0.0256774479396192 Centerline is valid? [True, True] Translation: X:428.22, Y:6.04, Z:5.12 [[ 9.96751347e-01 -7.93633490e-02 -1.37190069e-02 4.28217802e+02] [ 7.93664904e-02 9.96845455e-01 -3.16165912e-04 6.03595355e+00] [ 1.37008216e-02 -7.73690630e-04 9.99905840e-01 5.11730686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.425099893 meters 0.02421385517277625 Centerline is valid? [True, True] Translation: X:428.25, Y:6.04, Z:5.12 [[ 9.96780328e-01 -7.89702484e-02 -1.38808070e-02 4.28249723e+02] [ 7.89734405e-02 9.96876669e-01 -3.18880963e-04 6.04032376e+00] [ 1.38626348e-02 -7.78360817e-04 9.99903606e-01 5.11691196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.455099893 meters 0.024932081471500174 Centerline is valid? [True, True] Translation: X:428.28, Y:6.04, Z:5.12 [[ 9.96799788e-01 -7.86980097e-02 -1.40287452e-02 4.28280994e+02] [ 7.87012574e-02 9.96898194e-01 -3.21271573e-04 6.04309007e+00] [ 1.40105142e-02 -7.83836453e-04 9.99901541e-01 5.11606516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.485099893 meters 0.025671717647500123 Centerline is valid? [True, True] Translation: X:428.31, Y:6.04, Z:5.12 [[ 9.96788126e-01 -7.89483102e-02 -1.34385952e-02 4.28313470e+02] [ 7.89513228e-02 9.96878425e-01 -3.07031739e-04 6.04406873e+00] [ 1.34208853e-02 -7.54949279e-04 9.99909651e-01 5.11609564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.515099893 meters 0.027611861227838062 Centerline is valid? [True, True] Translation: X:428.34, Y:6.04, Z:5.12 [[ 9.96675100e-01 -8.02118105e-02 -1.43111949e-02 4.28344545e+02] [ 8.02153738e-02 9.96777502e-01 -3.25783922e-04 6.04469803e+00] [ 1.42912088e-02 -8.23277127e-04 9.99897537e-01 5.11516844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.545099893 meters 0.025479096900885095 Centerline is valid? [True, True] Translation: X:428.38, Y:6.05, Z:5.11 [[ 9.96529982e-01 -8.16017615e-02 -1.64056985e-02 4.28376494e+02] [ 8.16066651e-02 9.96664544e-01 -3.71455652e-04 6.05037854e+00] [ 1.63812895e-02 -9.68647653e-04 9.99865348e-01 5.11353738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.575099893 meters 0.02646147546661041 Centerline is valid? [True, True] Translation: X:428.41, Y:6.05, Z:5.11 [[ 9.96458370e-01 -8.22730932e-02 -1.73739501e-02 4.28407839e+02] [ 8.22787159e-02 9.96609281e-01 -3.92145637e-04 6.05102490e+00] [ 1.73473030e-02 -1.03874950e-03 9.99848985e-01 5.11279767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.605099893 meters 0.029254122700553737 Centerline is valid? [True, True] Translation: X:428.44, Y:6.05, Z:5.11 [[ 9.96410895e-01 -8.26691705e-02 -1.81971729e-02 4.28439515e+02] [ 8.26754232e-02 9.96576443e-01 -4.09703669e-04 6.04922054e+00] [ 1.81687437e-02 -1.09622577e-03 9.99834334e-01 5.11179303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.635099893 meters 0.030554578582000506 Centerline is valid? [True, True] Translation: X:428.47, Y:6.05, Z:5.11 [[ 9.96383647e-01 -8.28786365e-02 -1.87285780e-02 4.28471137e+02] [ 8.28853159e-02 9.96559004e-01 -4.20645453e-04 6.04966970e+00] [ 1.86989956e-02 -1.13319986e-03 9.99824516e-01 5.11158355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.665099893 meters 0.030554578582000506 Centerline is valid? [True, True] Translation: X:428.50, Y:6.05, Z:5.11 [[ 9.96392300e-01 -8.27745394e-02 -1.87286075e-02 4.28503726e+02] [ 8.27812250e-02 9.96567656e-01 -4.19332175e-04 6.05030660e+00] [ 1.86990345e-02 -1.13255772e-03 9.99824516e-01 5.11198645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.695099893 meters 0.0284338866132578 Centerline is valid? [True, True] Translation: X:428.54, Y:6.06, Z:5.11 [[ 9.96410444e-01 -8.25924297e-02 -1.85665680e-02 4.28536308e+02] [ 8.25990026e-02 9.96582778e-01 -4.13872670e-04 6.05548657e+00] [ 1.85373047e-02 -1.12119295e-03 9.99827541e-01 5.11250298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.725099893 meters 0.027523582463918065 Centerline is valid? [True, True] Translation: X:428.57, Y:6.06, Z:5.11 [[ 9.96553823e-01 -8.11587006e-02 -1.71389250e-02 4.28567585e+02] [ 8.11641102e-02 9.96700678e-01 -3.80864732e-04 6.06021487e+00] [ 1.71132887e-02 -1.01151339e-03 9.99853045e-01 5.11359869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.755099893 meters 0.027634329020743142 Centerline is valid? [True, True] Translation: X:428.60, Y:6.06, Z:5.11 [[ 9.96661786e-01 -7.99832119e-02 -1.63697873e-02 4.28600267e+02] [ 7.99880014e-02 9.96795760e-01 -3.62994520e-04 6.06218373e+00] [ 1.63463680e-02 -9.47603803e-04 9.99865940e-01 5.11425504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.785099893 meters 0.02509747210681495 Centerline is valid? [True, True] Translation: X:428.63, Y:6.07, Z:5.12 [[ 9.96784492e-01 -7.85328411e-02 -1.59144197e-02 4.28632571e+02] [ 7.85372046e-02 9.96911121e-01 -3.51574278e-04 6.06763804e+00] [ 1.58928721e-02 -8.99430245e-04 9.99873296e-01 5.11527518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.815099893 meters 0.027195604974830295 Centerline is valid? [True, True] Translation: X:428.66, Y:6.07, Z:5.12 [[ 9.97003102e-01 -7.60415252e-02 -1.42302906e-02 4.28663170e+02] [ 7.60447732e-02 9.97104355e-01 -3.13498584e-04 6.06849923e+00] [ 1.42129236e-02 -7.69580161e-04 9.99898695e-01 5.11632101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.845099893 meters 0.02708315931747141 Centerline is valid? [True, True] Translation: X:428.70, Y:6.07, Z:5.12 [[ 9.97090449e-01 -7.49017126e-02 -1.41551880e-02 4.28695200e+02] [ 7.49048199e-02 9.97190639e-01 -3.11275601e-04 6.07056003e+00] [ 1.41387360e-02 -7.49921875e-04 9.99899762e-01 5.11680726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.875099893 meters 0.027486049462749185 Centerline is valid? [True, True] Translation: X:428.73, Y:6.07, Z:5.12 [[ 9.97128443e-01 -7.44236061e-02 -1.39998059e-02 4.28726958e+02] [ 7.44266120e-02 9.97226446e-01 -3.06898159e-04 6.07190596e+00] [ 1.39838171e-02 -7.35941237e-04 9.99901951e-01 5.11759742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.905099893 meters 0.022346424693326407 Centerline is valid? [True, True] Translation: X:428.76, Y:6.08, Z:5.12 [[ 9.97154602e-01 -7.39772306e-02 -1.44937452e-02 4.28758843e+02] [ 7.39804204e-02 9.97259644e-01 -3.16686179e-04 6.08127190e+00] [ 1.44774548e-02 -7.56468284e-04 9.99894910e-01 5.11802332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93509989300003 meters 0.026802148641467606 Centerline is valid? [True, True] Translation: X:428.79, Y:6.08, Z:5.12 [[ 9.97167896e-01 -7.37313850e-02 -1.48279946e-02 4.28790797e+02] [ 7.37347205e-02 9.97277838e-01 -3.22375826e-04 6.07637775e+00] [ 1.48113996e-02 -7.71875214e-04 9.99890007e-01 5.11770196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.965099893 meters 0.025754128282933324 Centerline is valid? [True, True] Translation: X:428.82, Y:6.08, Z:5.12 [[ 9.97117487e-01 -7.43802788e-02 -1.49763686e-02 4.28822846e+02] [ 7.43838085e-02 9.97229635e-01 -3.21984297e-04 6.07880912e+00] [ 1.49588279e-02 -7.92943161e-04 9.99887796e-01 5.11812802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99509989300003 meters 0.024548848189280353 Centerline is valid? [True, True] Translation: X:428.86, Y:6.08, Z:5.12 [[ 9.97092594e-01 -7.46926383e-02 -1.50787630e-02 4.28855261e+02] [ 7.46962682e-02 9.97206279e-01 -3.23112208e-04 6.08138174e+00] [ 1.50607712e-02 -8.04154532e-04 9.99886257e-01 5.11806917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.025099893 meters 0.023627337111082596 Centerline is valid? [True, True] Translation: X:428.89, Y:6.08, Z:5.12 [[ 9.97064805e-01 -7.49762483e-02 -1.55027873e-02 4.28887254e+02] [ 7.49801371e-02 9.97184973e-01 -3.31054791e-04 6.08355974e+00] [ 1.54839678e-02 -8.32318039e-04 9.99879770e-01 5.11819673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05509989300003 meters 0.024275410883445793 Centerline is valid? [True, True] Translation: X:428.92, Y:6.08, Z:5.12 [[ 9.97031375e-01 -7.53866117e-02 -1.56619307e-02 4.28919631e+02] [ 7.53906493e-02 9.97154020e-01 -3.33303667e-04 6.08455953e+00] [ 1.56424838e-02 -8.48448912e-04 9.99877289e-01 5.11836949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.085099893 meters 0.025268388035266005 Centerline is valid? [True, True] Translation: X:428.95, Y:6.08, Z:5.12 [[ 9.97055505e-01 -7.50441912e-02 -1.57698772e-02 4.28950841e+02] [ 7.50482638e-02 9.97179847e-01 -3.34215148e-04 6.08464949e+00] [ 1.57504846e-02 -8.50270851e-04 9.99875592e-01 5.11856138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.115099893 meters 0.023425235057989203 Centerline is valid? [True, True] Translation: X:428.98, Y:6.09, Z:5.12 [[ 9.97104338e-01 -7.43900111e-02 -1.57818305e-02 4.28983178e+02] [ 7.43940398e-02 9.97228869e-01 -3.32461949e-04 6.08858704e+00] [ 1.57628289e-02 -8.42574878e-04 9.99875404e-01 5.11900599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.145099893 meters 0.025191231141814752 Centerline is valid? [True, True] Translation: X:429.01, Y:6.09, Z:5.12 [[ 9.97250048e-01 -7.24219812e-02 -1.57288857e-02 4.29013299e+02] [ 7.24257539e-02 9.97373752e-01 -3.30384752e-04 6.08847444e+00] [ 1.57115049e-02 -8.09700195e-04 9.99876239e-01 5.11900335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.175099893 meters 0.023184423642419218 Centerline is valid? [True, True] Translation: X:429.05, Y:6.09, Z:5.12 [[ 9.97327745e-01 -7.12760153e-02 -1.60343135e-02 4.29045987e+02] [ 7.12797971e-02 9.97456304e-01 -3.36242088e-04 6.09284463e+00] [ 1.60174931e-02 -8.07579052e-04 9.99871386e-01 5.11929275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.205099893 meters 0.02344497505581376 Centerline is valid? [True, True] Translation: X:429.08, Y:6.09, Z:5.12 [[ 9.97408681e-01 -7.00590937e-02 -1.63599183e-02 4.29077297e+02] [ 7.00628895e-02 9.97542518e-01 -3.41719105e-04 6.09390340e+00] [ 1.63436546e-02 -8.05389546e-04 9.99866109e-01 5.11932949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.235099893 meters 0.022299890704430208 Centerline is valid? [True, True] Translation: X:429.11, Y:6.10, Z:5.12 [[ 9.97534571e-01 -6.82501412e-02 -1.63308816e-02 4.29108535e+02] [ 6.82536949e-02 9.97667939e-01 -3.40306425e-04 6.09807768e+00] [ 1.63160229e-02 -7.75175583e-04 9.99866584e-01 5.11904774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.265099893 meters 0.02340337112209976 Centerline is valid? [True, True] Translation: X:429.14, Y:6.10, Z:5.12 [[ 9.97585825e-01 -6.74392426e-02 -1.65671497e-02 4.29139965e+02] [ 6.74428057e-02 9.97723083e-01 -3.44179756e-04 6.09814647e+00] [ 1.65526389e-02 -7.73986214e-04 9.99862696e-01 5.11905447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.295099893 meters 0.02146037226964192 Centerline is valid? [True, True] Translation: X:429.17, Y:6.10, Z:5.12 [[ 9.97615924e-01 -6.70162323e-02 -1.64709391e-02 4.29172271e+02] [ 6.70197303e-02 9.97751592e-01 -3.40134154e-04 6.10212723e+00] [ 1.64567002e-02 -7.64554645e-04 9.99864287e-01 5.11967543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.325099893 meters 0.021063528334236904 Centerline is valid? [True, True] Translation: X:429.20, Y:6.10, Z:5.12 [[ 9.97640277e-01 -6.66984364e-02 -1.62848445e-02 4.29203971e+02] [ 6.67018326e-02 9.97772897e-01 -3.35122934e-04 6.10383794e+00] [ 1.62709286e-02 -7.51896832e-04 9.99867337e-01 5.11986572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.355099893 meters 0.02461173809515443 Centerline is valid? [True, True] Translation: X:429.24, Y:6.10, Z:5.12 [[ 9.97650851e-01 -6.66316352e-02 -1.59061428e-02 4.29236095e+02] [ 6.66348857e-02 9.97777373e-01 -3.26130627e-04 6.10080263e+00] [ 1.58925199e-02 -7.34539507e-04 9.99873436e-01 5.11976397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.385099893 meters 0.021037375050047016 Centerline is valid? [True, True] Translation: X:429.27, Y:6.11, Z:5.12 [[ 9.97572521e-01 -6.75788092e-02 -1.67979317e-02 4.29268490e+02] [ 6.75825939e-02 9.97713624e-01 -3.42905418e-04 6.10708860e+00] [ 1.67826985e-02 -7.93174776e-04 9.99858846e-01 5.11967127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.415099893 meters 0.025066871422884683 Centerline is valid? [True, True] Translation: X:429.30, Y:6.10, Z:5.12 [[ 9.97427799e-01 -6.93353503e-02 -1.81767975e-02 4.29299637e+02] [ 6.93400965e-02 9.97593010e-01 -3.69755826e-04 6.10277907e+00] [ 1.81586833e-02 -8.91576155e-04 9.99834720e-01 5.11837830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.445099893 meters 0.025066871422884683 Centerline is valid? [True, True] Translation: X:429.33, Y:6.10, Z:5.12 [[ 9.97435046e-01 -6.92310061e-02 -1.81768235e-02 4.29332210e+02] [ 6.92357584e-02 9.97600258e-01 -3.68472936e-04 6.10334788e+00] [ 1.81587136e-02 -8.90958343e-04 9.99834720e-01 5.11878096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.475099893 meters 0.022440505821535645 Centerline is valid? [True, True] Translation: X:429.36, Y:6.11, Z:5.12 [[ 9.97359296e-01 -7.01833229e-02 -1.86744843e-02 4.29364426e+02] [ 7.01885390e-02 9.97533672e-01 -3.76772904e-04 6.10806329e+00] [ 1.86548701e-02 -9.34956813e-04 9.99825546e-01 5.11912431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.505099893 meters 0.02251294931828449 Centerline is valid? [True, True] Translation: X:429.40, Y:6.11, Z:5.12 [[ 9.97285488e-01 -7.12315671e-02 -1.86472561e-02 4.29396599e+02] [ 7.12369760e-02 9.97459349e-01 -3.74865529e-04 6.10898247e+00] [ 1.86265822e-02 -9.54526184e-04 9.99826055e-01 5.11919551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.535099893 meters 0.022819913991367607 Centerline is valid? [True, True] Translation: X:429.43, Y:6.11, Z:5.12 [[ 9.97220947e-01 -7.19559287e-02 -1.93061371e-02 4.29428357e+02] [ 7.19618875e-02 9.97407308e-01 -3.86793015e-04 6.10942133e+00] [ 1.92839143e-02 -1.00358797e-03 9.99813544e-01 5.11941574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.565099893 meters 0.0257987760161031 Centerline is valid? [True, True] Translation: X:429.46, Y:6.11, Z:5.12 [[ 9.97165128e-01 -7.28281731e-02 -1.89146802e-02 4.29459730e+02] [ 7.28340684e-02 9.97344001e-01 -3.77927476e-04 6.10685056e+00] [ 1.88919666e-02 -1.00077701e-03 9.99821030e-01 5.11928052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.595099893 meters 0.02542134423561953 Centerline is valid? [True, True] Translation: X:429.49, Y:6.11, Z:5.12 [[ 9.97166775e-01 -7.29453359e-02 -1.83684510e-02 4.29492344e+02] [ 7.29509352e-02 9.97335464e-01 -3.65932016e-04 6.10877381e+00] [ 1.83462007e-02 -9.75100431e-04 9.99831219e-01 5.11989058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.625099893 meters 0.025793434877407952 Centerline is valid? [True, True] Translation: X:429.52, Y:6.11, Z:5.12 [[ 9.97204298e-01 -7.24462294e-02 -1.83065905e-02 4.29523882e+02] [ 7.24517289e-02 9.97371854e-01 -3.63509135e-04 6.10975817e+00] [ 1.82848130e-02 -9.63851262e-04 9.99832354e-01 5.12017583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.655099893 meters 0.024715754770371048 Centerline is valid? [True, True] Translation: X:429.56, Y:6.11, Z:5.12 [[ 9.97260466e-01 -7.16765547e-02 -1.82765860e-02 4.29555924e+02] [ 7.16819269e-02 9.97427476e-01 -3.61838425e-04 6.11273346e+00] [ 1.82555043e-02 -9.49253742e-04 9.99832904e-01 5.12087948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68509989300003 meters 0.02393448758532012 Centerline is valid? [True, True] Translation: X:429.59, Y:6.12, Z:5.12 [[ 9.97425807e-01 -6.91740789e-02 -1.88866758e-02 4.29587321e+02] [ 6.91793900e-02 9.97604167e-01 -3.72774403e-04 6.11648746e+00] [ 1.88672128e-02 -9.34753904e-04 9.99821561e-01 5.12106838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.715099893 meters 0.024527028497215463 Centerline is valid? [True, True] Translation: X:429.62, Y:6.12, Z:5.12 [[ 9.97524671e-01 -6.77969918e-02 -1.86574198e-02 4.29618127e+02] [ 6.78019487e-02 9.97698732e-01 -3.67481694e-04 6.11710550e+00] [ 1.86393982e-02 -8.98437361e-04 9.99825868e-01 5.12122362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74509989300003 meters 0.02372883706018051 Centerline is valid? [True, True] Translation: X:429.65, Y:6.12, Z:5.12 [[ 9.97632419e-01 -6.63038834e-02 -1.82579455e-02 4.29650055e+02] [ 6.63083999e-02 9.97799112e-01 -3.58561734e-04 6.11969621e+00] [ 1.82415358e-02 -8.52942344e-04 9.99833246e-01 5.12161844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.775099893 meters 0.02014433964537662 Centerline is valid? [True, True] Translation: X:429.68, Y:6.13, Z:5.12 [[ 9.97707202e-01 -6.52696120e-02 -1.78946091e-02 4.29682047e+02] [ 6.52738069e-02 9.97867330e-01 -3.50170627e-04 6.12612926e+00] [ 1.78793013e-02 -8.18681506e-04 9.99839817e-01 5.12325182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80509989300003 meters 0.02128698543990395 Centerline is valid? [True, True] Translation: X:429.71, Y:6.13, Z:5.12 [[ 9.97798765e-01 -6.39341085e-02 -1.76083734e-02 4.29713311e+02] [ 6.39379836e-02 9.97953815e-01 -3.43383402e-04 6.12649098e+00] [ 1.75942973e-02 -7.83216354e-04 9.99844902e-01 5.12339911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.835099893 meters 0.021102696840763914 Centerline is valid? [True, True] Translation: X:429.75, Y:6.13, Z:5.12 [[ 9.97835925e-01 -6.32767615e-02 -1.78750576e-02 4.29745810e+02] [ 6.32806690e-02 9.97995709e-01 -3.47497591e-04 6.12801460e+00] [ 1.78612193e-02 -7.84400023e-04 9.99840168e-01 5.12334676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.865099893 meters 0.0204976489688276 Centerline is valid? [True, True] Translation: X:429.78, Y:6.13, Z:5.12 [[ 9.97867132e-01 -6.27333427e-02 -1.80475598e-02 4.29778476e+02] [ 6.27372628e-02 9.98030016e-01 -3.49439458e-04 6.13030160e+00] [ 1.80339279e-02 -7.83560351e-04 9.99837068e-01 5.12337919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.895099893 meters 0.020727724035619927 Centerline is valid? [True, True] Translation: X:429.81, Y:6.13, Z:5.12 [[ 9.97920051e-01 -6.19687781e-02 -1.77606920e-02 4.29809819e+02] [ 6.19724784e-02 9.98077800e-01 -3.42494192e-04 6.13116874e+00] [ 1.77477764e-02 -7.58892280e-04 9.99842208e-01 5.12351133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.925099893 meters 0.020727724035619927 Centerline is valid? [True, True] Translation: X:429.84, Y:6.13, Z:5.12 [[ 9.97926730e-01 -6.18611300e-02 -1.77607160e-02 4.29842386e+02] [ 6.18648355e-02 9.98084478e-01 -3.41245582e-04 6.13170792e+00] [ 1.77478048e-02 -7.58225687e-04 9.99842208e-01 5.12391390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.955099893 meters 0.021372284926199584 Centerline is valid? [True, True] Translation: X:429.87, Y:6.13, Z:5.12 [[ 9.97990383e-01 -6.09179552e-02 -1.74412824e-02 4.29873501e+02] [ 6.09214122e-02 9.98142510e-01 -3.33526780e-04 6.13196265e+00] [ 1.74292032e-02 -7.29691038e-04 9.99847834e-01 5.12437346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.985099893 meters 0.01907343254144977 Centerline is valid? [True, True] Translation: X:429.91, Y:6.14, Z:5.13 [[ 9.98124331e-01 -5.88202933e-02 -1.69703816e-02 4.29905228e+02] [ 5.88232787e-02 9.98268359e-01 -3.23627512e-04 6.13716443e+00] [ 1.69600309e-02 -6.75232995e-04 9.99855940e-01 5.12543619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.015099893 meters 0.019344283197873607 Centerline is valid? [True, True] Translation: X:429.94, Y:6.14, Z:5.13 [[ 9.98179182e-01 -5.78461295e-02 -1.70922808e-02 4.29936870e+02] [ 5.78490327e-02 9.98325290e-01 -3.24931664e-04 6.13775465e+00] [ 1.70824522e-02 -6.64431890e-04 9.99853863e-01 5.12563850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.045099893 meters 0.01911907872705828 Centerline is valid? [True, True] Translation: X:429.97, Y:6.14, Z:5.13 [[ 9.98223296e-01 -5.69239333e-02 -1.76044644e-02 4.29969265e+02] [ 5.69268928e-02 9.98378294e-01 -3.33376345e-04 6.13886955e+00] [ 1.75948923e-02 -6.69383426e-04 9.99844974e-01 5.12539262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.075099893 meters 0.01907589360835811 Centerline is valid? [True, True] Translation: X:430.00, Y:6.14, Z:5.12 [[ 9.98283948e-01 -5.53093333e-02 -1.92363440e-02 4.30000122e+02] [ 5.53125934e-02 9.98469021e-01 -3.62946152e-04 6.13946003e+00] [ 1.92269679e-02 -7.01688759e-04 9.99814899e-01 5.12413623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.105099893 meters 0.019191734932990746 Centerline is valid? [True, True] Translation: X:430.03, Y:6.14, Z:5.12 [[ 9.98297871e-01 -5.47238276e-02 -2.01659043e-02 4.30032067e+02] [ 5.47273163e-02 9.98501265e-01 -3.79245241e-04 6.13977876e+00] [ 2.01564347e-02 -7.25026106e-04 9.99796576e-01 5.12381232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.135099893 meters 0.018303946166340426 Centerline is valid? [True, True] Translation: X:430.06, Y:6.14, Z:5.12 [[ 9.98313936e-01 -5.44776487e-02 -2.00367396e-02 4.30064568e+02] [ 5.44810716e-02 9.98514733e-01 -3.75402534e-04 6.14167622e+00] [ 2.00274308e-02 -7.16853465e-04 9.99799174e-01 5.12404216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.165099893 meters 0.018908489760225942 Centerline is valid? [True, True] Translation: X:430.10, Y:6.14, Z:5.12 [[ 9.98259097e-01 -5.55982108e-02 -1.96879155e-02 4.30097035e+02] [ 5.56017605e-02 9.98452958e-01 -3.67474928e-04 6.14103958e+00] [ 1.96778884e-02 -7.27847572e-04 9.99806107e-01 5.12497640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.195099893 meters 0.019199402066284784 Centerline is valid? [True, True] Translation: X:430.13, Y:6.14, Z:5.13 [[ 9.98237080e-01 -5.60083731e-02 -1.96416223e-02 4.30129310e+02] [ 5.60120128e-02 9.98430028e-01 -3.65215514e-04 6.14056902e+00] [ 1.96312407e-02 -7.35595133e-04 9.99807018e-01 5.12545485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.225099893 meters 0.018691525889866355 Centerline is valid? [True, True] Translation: X:430.16, Y:6.14, Z:5.13 [[ 9.98214948e-01 -5.65577292e-02 -1.91869881e-02 4.30161132e+02] [ 5.65613296e-02 9.98399063e-01 -3.55410124e-04 6.14177533e+00] [ 1.91763721e-02 -7.30465857e-04 9.99815850e-01 5.12619049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.255099893 meters 0.019378828038892782 Centerline is valid? [True, True] Translation: X:430.19, Y:6.14, Z:5.13 [[ 9.98155043e-01 -5.75965927e-02 -1.92130886e-02 4.30193236e+02] [ 5.76004216e-02 9.98339655e-01 -3.54504588e-04 6.14094705e+00] [ 1.92016065e-02 -7.52831463e-04 9.99815349e-01 5.12703760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.285099893 meters 0.018831322850022928 Centerline is valid? [True, True] Translation: X:430.23, Y:6.14, Z:5.13 [[ 9.98154590e-01 -5.78312921e-02 -1.85190825e-02 4.30225100e+02] [ 5.78349139e-02 9.98326102e-01 -3.40392796e-04 6.14212768e+00] [ 1.85077688e-02 -7.31284907e-04 9.99828449e-01 5.12759993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.315099893 meters 0.01938358791176675 Centerline is valid? [True, True] Translation: X:430.26, Y:6.14, Z:5.13 [[ 9.98047078e-01 -5.95046716e-02 -1.90059001e-02 4.30257536e+02] [ 5.95088159e-02 9.98227719e-01 -3.47930683e-04 6.14092030e+00] [ 1.89929198e-02 -7.83767409e-04 9.99819311e-01 5.12811567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.345099893 meters 0.02051734417674657 Centerline is valid? [True, True] Translation: X:430.29, Y:6.14, Z:5.13 [[ 9.97988245e-01 -6.05295458e-02 -1.88583630e-02 4.30289135e+02] [ 6.05338322e-02 9.98166087e-01 -3.43982800e-04 6.13925530e+00] [ 1.88445996e-02 -7.98278194e-04 9.99822106e-01 5.12835532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.375099893 meters 0.020517133013995846 Centerline is valid? [True, True] Translation: X:430.32, Y:6.14, Z:5.13 [[ 9.97905760e-01 -6.18346964e-02 -1.89885155e-02 4.30320882e+02] [ 6.18392976e-02 9.98086059e-01 -3.45320251e-04 6.13921121e+00] [ 1.89735254e-02 -8.29639395e-04 9.99819642e-01 5.12873745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.405099893 meters 0.02115567446678128 Centerline is valid? [True, True] Translation: X:430.35, Y:6.14, Z:5.13 [[ 9.97797980e-01 -6.32043110e-02 -2.01098761e-02 4.30352722e+02] [ 6.32097724e-02 9.98000196e-01 -3.64577899e-04 6.13717422e+00] [ 2.00927032e-02 -9.07365600e-04 9.99797710e-01 5.12797717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43509989300003 meters 0.02319515019782975 Centerline is valid? [True, True] Translation: X:430.38, Y:6.13, Z:5.13 [[ 9.97784035e-01 -6.33349187e-02 -2.03889107e-02 4.30384364e+02] [ 6.33405827e-02 9.97991901e-01 -3.68520318e-04 6.13409192e+00] [ 2.03713079e-02 -9.23741791e-04 9.99792057e-01 5.12753802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.465099893 meters 0.022167782110625898 Centerline is valid? [True, True] Translation: X:430.42, Y:6.14, Z:5.13 [[ 9.97791217e-01 -6.32272382e-02 -2.03716517e-02 4.30417413e+02] [ 6.32329013e-02 9.97998730e-01 -3.66681269e-04 6.13534539e+00] [ 2.03540668e-02 -9.22287291e-04 9.99792409e-01 5.12851894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49509989300003 meters 0.021618804148552585 Centerline is valid? [True, True] Translation: X:430.45, Y:6.14, Z:5.13 [[ 9.97815385e-01 -6.29294087e-02 -2.01084017e-02 4.30449376e+02] [ 6.29349034e-02 9.98017569e-01 -3.60078245e-04 6.13659677e+00] [ 2.00911977e-02 -9.06228709e-04 9.99797741e-01 5.12947350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.525099893 meters 0.021753127326986997 Centerline is valid? [True, True] Translation: X:430.48, Y:6.14, Z:5.13 [[ 9.97874587e-01 -6.21512632e-02 -1.95839037e-02 4.30481202e+02] [ 6.21563524e-02 9.98066363e-01 -3.49307948e-04 6.13688332e+00] [ 1.95677455e-02 -8.68698493e-04 9.99808156e-01 5.13028434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55509989300003 meters 0.020574390327287227 Centerline is valid? [True, True] Translation: X:430.51, Y:6.14, Z:5.13 [[ 9.97931127e-01 -6.14524005e-02 -1.88962303e-02 4.30513302e+02] [ 6.14570383e-02 9.98109673e-01 -3.35718872e-04 6.13896688e+00] [ 1.88811409e-02 -8.26282035e-04 9.99821394e-01 5.13178042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.585099893 meters 0.020820464792929896 Centerline is valid? [True, True] Translation: X:430.54, Y:6.14, Z:5.13 [[ 9.97983604e-01 -6.09441200e-02 -1.77352938e-02 4.30544333e+02] [ 6.09481453e-02 9.98140884e-01 -3.13960272e-04 6.13848915e+00] [ 1.77214559e-02 -7.67606061e-04 9.99842668e-01 5.13284264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.615099893 meters 0.021012806299447365 Centerline is valid? [True, True] Translation: X:430.58, Y:6.14, Z:5.13 [[ 9.98038655e-01 -6.05338941e-02 -1.59527611e-02 4.30577022e+02] [ 6.05371131e-02 9.98165907e-01 -2.81481873e-04 6.13717525e+00] [ 1.59405414e-02 -6.84804311e-04 9.99872707e-01 5.13412500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.645099893 meters 0.02173830312414508 Centerline is valid? [True, True] Translation: X:430.61, Y:6.14, Z:5.13 [[ 9.98044092e-01 -6.04988561e-02 -1.57441917e-02 4.30609017e+02] [ 6.05020090e-02 9.98168037e-01 -2.76410165e-04 6.13537509e+00] [ 1.57320714e-02 -6.76685696e-04 9.99876014e-01 5.13398026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.675099893 meters 0.021662537719714287 Centerline is valid? [True, True] Translation: X:430.64, Y:6.13, Z:5.13 [[ 9.98039502e-01 -6.05936845e-02 -1.56703144e-02 4.30641139e+02] [ 6.05968404e-02 9.98162285e-01 -2.73780716e-04 6.13471895e+00] [ 1.56581062e-02 -6.76327572e-04 9.99877176e-01 5.13393352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.705099893 meters 0.022364197686062706 Centerline is valid? [True, True] Translation: X:430.67, Y:6.13, Z:5.13 [[ 9.98009472e-01 -6.11915726e-02 -1.52540175e-02 4.30673669e+02] [ 6.11946488e-02 9.98125816e-01 -2.65449780e-04 6.13311624e+00] [ 1.52416720e-02 -6.68542852e-04 9.99883615e-01 5.13447284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.735099893 meters 0.023014554034601876 Centerline is valid? [True, True] Translation: X:430.71, Y:6.13, Z:5.14 [[ 9.97962350e-01 -6.21229908e-02 -1.45561619e-02 4.30705858e+02] [ 6.21259051e-02 9.98068288e-01 -2.52321785e-04 6.13159117e+00] [ 1.45437186e-02 -6.52507095e-04 9.99894022e-01 5.13529145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.765099893 meters 0.021654190702948727 Centerline is valid? [True, True] Translation: X:430.74, Y:6.13, Z:5.13 [[ 9.97776433e-01 -6.46861601e-02 -1.60589435e-02 4.30737334e+02] [ 6.46900560e-02 9.97905366e-01 -2.77281813e-04 6.13200978e+00] [ 1.60432422e-02 -7.62188698e-04 9.99871008e-01 5.13451845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.795099893 meters 0.024573513013224767 Centerline is valid? [True, True] Translation: X:430.77, Y:6.13, Z:5.13 [[ 9.97580776e-01 -6.71214383e-02 -1.80916762e-02 4.30767710e+02] [ 6.71267938e-02 9.97744404e-01 -3.11771214e-04 6.12585721e+00] [ 1.80717952e-02 -9.03419247e-04 9.99836284e-01 5.13173587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.825099893 meters 0.023906715216984616 Centerline is valid? [True, True] Translation: X:430.80, Y:6.13, Z:5.13 [[ 9.97491762e-01 -6.83129111e-02 -1.85345921e-02 4.30800003e+02] [ 6.83187498e-02 9.97663494e-01 -3.18730400e-04 6.12606014e+00] [ 1.85130593e-02 -9.48329210e-04 9.99828169e-01 5.13188623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.855099893 meters 0.025119701083986465 Centerline is valid? [True, True] Translation: X:430.83, Y:6.12, Z:5.13 [[ 9.97324776e-01 -7.08022975e-02 -1.81748538e-02 4.30831022e+02] [ 7.08083414e-02 9.97489891e-01 -3.11565741e-04 6.12255960e+00] [ 1.81512925e-02 -9.76199022e-04 9.99834775e-01 5.13206788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.885099893 meters 0.025119701083986465 Centerline is valid? [True, True] Translation: X:430.86, Y:6.12, Z:5.13 [[ 9.97332407e-01 -7.06947182e-02 -1.81748683e-02 4.30863605e+02] [ 7.07007598e-02 9.97497522e-01 -3.10717480e-04 6.12302942e+00] [ 1.81513522e-02 -9.75088387e-04 9.99834775e-01 5.13247079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.915099893 meters 0.024061266049717984 Centerline is valid? [True, True] Translation: X:430.90, Y:6.12, Z:5.13 [[ 9.97234256e-01 -7.21566888e-02 -1.78115277e-02 4.30896055e+02] [ 7.21627540e-02 9.97392824e-01 -3.02798991e-04 6.12383673e+00] [ 1.77869389e-02 -9.83367366e-04 9.99841316e-01 5.13348283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.945099893 meters 0.024705785208984747 Centerline is valid? [True, True] Translation: X:430.93, Y:6.12, Z:5.13 [[ 9.97102466e-01 -7.39576894e-02 -1.78025998e-02 4.30928575e+02] [ 7.39640578e-02 9.97260862e-01 -3.01341395e-04 6.12151653e+00] [ 1.77761225e-02 -1.01628427e-03 9.99841476e-01 5.13417913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.975099893 meters 0.026588398841105955 Centerline is valid? [True, True] Translation: X:430.96, Y:6.12, Z:5.13 [[ 9.97051196e-01 -7.46410021e-02 -1.78222640e-02 4.30959912e+02] [ 7.46475227e-02 9.97209936e-01 -3.00029238e-04 6.11852907e+00] [ 1.77949332e-02 -1.03124334e-03 9.99841126e-01 5.13422017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.005099893 meters 0.02543032230343827 Centerline is valid? [True, True] Translation: X:430.99, Y:6.12, Z:5.14 [[ 9.96984127e-01 -7.56365781e-02 -1.73712252e-02 4.30991678e+02] [ 7.56429562e-02 9.97134925e-01 -2.90534247e-04 6.12000802e+00] [ 1.73434304e-02 -1.02435280e-03 9.99849067e-01 5.13530466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.035099893 meters 0.029400163831109858 Centerline is valid? [True, True] Translation: X:431.02, Y:6.11, Z:5.14 [[ 9.96967077e-01 -7.61892229e-02 -1.58697546e-02 4.31023233e+02] [ 7.61946287e-02 9.97092929e-01 -2.64602004e-04 6.11336556e+00] [ 1.58437800e-02 -9.45390576e-04 9.99874033e-01 5.13636922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.065099893 meters 0.02544383837215628 Centerline is valid? [True, True] Translation: X:431.06, Y:6.12, Z:5.14 [[ 9.97012261e-01 -7.58593509e-02 -1.45571100e-02 4.31055581e+02] [ 7.58638756e-02 9.97118154e-01 -2.41928510e-04 6.11833371e+00] [ 1.45335112e-02 -8.63153089e-04 9.99894010e-01 5.13774149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.095099893 meters 0.02551945017809643 Centerline is valid? [True, True] Translation: X:431.09, Y:6.12, Z:5.14 [[ 9.97043726e-01 -7.55786981e-02 -1.38444609e-02 4.31087442e+02] [ 7.55827771e-02 9.97139504e-01 -2.29108240e-04 6.11796287e+00] [ 1.38221746e-02 -8.17971867e-04 9.99904135e-01 5.13859988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.125099893 meters 0.027272795510781864 Centerline is valid? [True, True] Translation: X:431.12, Y:6.12, Z:5.14 [[ 9.97099734e-01 -7.49399770e-02 -1.32710235e-02 4.31118667e+02] [ 7.49436830e-02 9.97187744e-01 -2.18530957e-04 6.11512241e+00] [ 1.32500787e-02 -7.76682218e-04 9.99911912e-01 5.13924943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.155099893 meters 0.027032520766637355 Centerline is valid? [True, True] Translation: X:431.15, Y:6.11, Z:5.14 [[ 9.97180686e-01 -7.40824013e-02 -1.19363752e-02 4.31150560e+02] [ 7.40853691e-02 9.97251884e-01 -1.93950654e-04 6.11401419e+00] [ 1.19179410e-02 -6.90906916e-04 9.99928740e-01 5.14013412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18509989300003 meters 0.026911766701987954 Centerline is valid? [True, True] Translation: X:431.18, Y:6.11, Z:5.14 [[ 9.97188092e-01 -7.40311984e-02 -1.16314280e-02 4.31183992e+02] [ 7.40340222e-02 9.97255698e-01 -1.88207108e-04 6.11362667e+00] [ 1.16134411e-02 -6.73443512e-04 9.99932335e-01 5.14078770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.215099893 meters 0.029544081960644557 Centerline is valid? [True, True] Translation: X:431.22, Y:6.11, Z:5.14 [[ 9.97195085e-01 -7.39441971e-02 -1.15852442e-02 4.31216027e+02] [ 7.39470073e-02 9.97262155e-01 -1.86192648e-04 6.10848152e+00] [ 1.15672935e-02 -6.71023747e-04 9.99932871e-01 5.14094782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24509989300003 meters 0.027675674170576047 Centerline is valid? [True, True] Translation: X:431.25, Y:6.11, Z:5.14 [[ 9.97143856e-01 -7.47223155e-02 -1.09866000e-02 4.31247970e+02] [ 7.47249002e-02 9.97204171e-01 -1.75616851e-04 6.11002942e+00] [ 1.09690059e-02 -6.45857327e-04 9.99939630e-01 5.14148708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.275099893 meters 0.030998530304224624 Centerline is valid? [True, True] Translation: X:431.28, Y:6.10, Z:5.14 [[ 9.97102224e-01 -7.53059616e-02 -1.07781169e-02 4.31279033e+02] [ 7.53084916e-02 9.97160269e-01 -1.71498863e-04 6.10412628e+00] [ 1.07604248e-02 -6.40681829e-04 9.99941900e-01 5.14216998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30509989300003 meters 0.0285618285440727 Centerline is valid? [True, True] Translation: X:431.31, Y:6.11, Z:5.14 [[ 9.97044032e-01 -7.61479096e-02 -1.02320569e-02 4.31311051e+02] [ 7.61502388e-02 9.97096342e-01 -1.62334769e-04 6.10616852e+00] [ 1.02147080e-02 -6.17318663e-04 9.99947638e-01 5.14239019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.335099893 meters 0.02941217226795683 Centerline is valid? [True, True] Translation: X:431.34, Y:6.10, Z:5.14 [[ 9.97016549e-01 -7.65627636e-02 -9.80531615e-03 4.31343668e+02] [ 7.65649290e-02 9.97064585e-01 -1.54896162e-04 6.10366255e+00] [ 9.78839276e-03 -5.96309298e-04 9.99951915e-01 5.14265553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.365099893 meters 0.031094972614031876 Centerline is valid? [True, True] Translation: X:431.38, Y:6.10, Z:5.14 [[ 9.97009149e-01 -7.67472150e-02 -9.08966560e-03 4.31375037e+02] [ 7.67490841e-02 9.97050429e-01 -1.43524705e-04 6.10020095e+00] [ 9.07387010e-03 -5.54528066e-04 9.99958678e-01 5.14302357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.395099893 meters 0.02877097674748646 Centerline is valid? [True, True] Translation: X:431.41, Y:6.10, Z:5.14 [[ 9.97054516e-01 -7.62228343e-02 -8.50709495e-03 4.31407026e+02] [ 7.62244726e-02 9.97090674e-01 -1.31957483e-04 6.10076956e+00] [ 8.49240322e-03 -5.16880022e-04 9.99963805e-01 5.14267631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.425099893 meters 0.029224013606426576 Centerline is valid? [True, True] Translation: X:431.44, Y:6.10, Z:5.14 [[ 9.97110466e-01 -7.55280495e-02 -8.13836922e-03 4.31438501e+02] [ 7.55295247e-02 9.97143558e-01 -1.26364421e-04 6.09943272e+00] [ 8.12466650e-03 -4.88687873e-04 9.99966875e-01 5.14257396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.455099893 meters 0.03168737441501895 Centerline is valid? [True, True] Translation: X:431.47, Y:6.10, Z:5.14 [[ 9.97167171e-01 -7.47908196e-02 -7.99791967e-03 4.31470171e+02] [ 7.47922351e-02 9.97199131e-01 -1.22380352e-04 6.09573602e+00] [ 7.98467147e-03 -4.76148619e-04 9.99968009e-01 5.14283644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.485099893 meters 0.031532971367188474 Centerline is valid? [True, True] Translation: X:431.50, Y:6.10, Z:5.14 [[ 9.97209291e-01 -7.42176664e-02 -8.08500967e-03 4.31502926e+02] [ 7.42191143e-02 9.97241951e-01 -1.21226871e-04 6.09519828e+00] [ 8.07170799e-03 -4.79173694e-04 9.99967308e-01 5.14274665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.515099893 meters 0.029229429590395543 Centerline is valid? [True, True] Translation: X:431.54, Y:6.10, Z:5.14 [[ 9.97221167e-01 -7.41095022e-02 -7.59779677e-03 4.31535619e+02] [ 7.41107814e-02 9.97250008e-01 -1.13430184e-04 6.09627547e+00] [ 7.58530915e-03 -4.49963676e-04 9.99971130e-01 5.14233780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.545099893 meters 0.02777261242910651 Centerline is valid? [True, True] Translation: X:431.57, Y:6.10, Z:5.14 [[ 9.97215111e-01 -7.42340407e-02 -7.16441608e-03 4.31567348e+02] [ 7.42351875e-02 9.97240756e-01 -1.06093110e-04 6.09701597e+00] [ 7.15252342e-03 -4.26054118e-04 9.99974330e-01 5.14235013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.575099893 meters 0.02964939288949303 Centerline is valid? [True, True] Translation: X:431.60, Y:6.09, Z:5.14 [[ 9.97194452e-01 -7.45083808e-02 -7.19206800e-03 4.31598464e+02] [ 7.45095449e-02 9.97220295e-01 -1.06312285e-04 6.09354608e+00] [ 7.17999733e-03 -4.29863692e-04 9.99974131e-01 5.14224832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.605099893 meters 0.028672574074019394 Centerline is valid? [True, True] Translation: X:431.63, Y:6.09, Z:5.14 [[ 9.97191597e-01 -7.44950141e-02 -7.70784458e-03 4.31631635e+02] [ 7.44963609e-02 9.97221279e-01 -1.12632596e-04 6.09383289e+00] [ 7.69481720e-03 -4.61890093e-04 9.99970288e-01 5.14183412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.635099893 meters 0.026862758182437253 Centerline is valid? [True, True] Translation: X:431.66, Y:6.09, Z:5.14 [[ 9.97219350e-01 -7.41238586e-02 -7.69554206e-03 4.31664126e+02] [ 7.41251977e-02 9.97248937e-01 -1.11463651e-04 6.09479390e+00] [ 7.68263326e-03 -4.59279867e-04 9.99970383e-01 5.14081756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.665099893 meters 0.030685134113358763 Centerline is valid? [True, True] Translation: X:431.70, Y:6.09, Z:5.14 [[ 9.97317868e-01 -7.28193130e-02 -7.37680452e-03 4.31695734e+02] [ 7.28205089e-02 9.97345057e-01 -1.06705135e-04 6.08886701e+00] [ 7.36498972e-03 -4.30763721e-04 9.99972785e-01 5.14074340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.695099893 meters 0.030575514541805616 Centerline is valid? [True, True] Translation: X:431.73, Y:6.09, Z:5.14 [[ 9.97374387e-01 -7.20609982e-02 -7.17949726e-03 4.31727777e+02] [ 7.20621213e-02 9.97400140e-01 -1.02461558e-04 6.08864094e+00] [ 7.16821506e-03 -4.15177269e-04 9.99974222e-01 5.14081774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.725099893 meters 0.02659684080618421 Centerline is valid? [True, True] Translation: X:431.76, Y:6.09, Z:5.14 [[ 9.97493772e-01 -7.03626780e-02 -7.43423581e-03 4.31759047e+02] [ 7.03638405e-02 9.97521388e-01 -1.05388867e-04 6.09319457e+00] [ 7.42322467e-03 -4.17976644e-04 9.99972360e-01 5.13972924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.755099893 meters 0.028306733862238344 Centerline is valid? [True, True] Translation: X:431.79, Y:6.09, Z:5.14 [[ 9.97556743e-01 -6.94773174e-02 -7.31076532e-03 4.31790114e+02] [ 6.94784126e-02 9.97583450e-01 -1.04369227e-04 6.09089214e+00] [ 7.30034978e-03 -4.03826144e-04 9.99973271e-01 5.14006565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.785099893 meters 0.028306733862238344 Centerline is valid? [True, True] Translation: X:431.82, Y:6.09, Z:5.14 [[ 9.97564077e-01 -6.93719221e-02 -7.31079770e-03 4.31822696e+02] [ 6.93730315e-02 9.97590784e-01 -1.02039240e-04 6.09125175e+00] [ 7.30026307e-03 -4.05381519e-04 9.99973271e-01 5.14046782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.815099893 meters 0.024453328682199002 Centerline is valid? [True, True] Translation: X:431.86, Y:6.10, Z:5.14 [[ 9.97581738e-01 -6.91628724e-02 -6.86829331e-03 4.31855630e+02] [ 6.91638509e-02 9.97605309e-01 -9.52478254e-05 6.09661415e+00] [ 6.85843348e-03 -3.80020123e-04 9.99976408e-01 5.14034937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.845099893 meters 0.024453328682199002 Centerline is valid? [True, True] Translation: X:431.89, Y:6.10, Z:5.14 [[ 9.97589439e-01 -6.90517094e-02 -6.86830379e-03 4.31888214e+02] [ 6.90526904e-02 9.97613010e-01 -9.44836850e-05 6.09697479e+00] [ 6.85843347e-03 -3.80018929e-04 9.99976408e-01 5.14075197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.875099893 meters 0.025651590233879522 Centerline is valid? [True, True] Translation: X:431.92, Y:6.10, Z:5.14 [[ 9.97615427e-01 -6.86600929e-02 -7.01790728e-03 4.31920513e+02] [ 6.86611071e-02 9.97640037e-01 -9.66042661e-05 6.09553844e+00] [ 7.00797814e-03 -3.85483377e-04 9.99975370e-01 5.14138757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.905099893 meters 0.02538109356319682 Centerline is valid? [True, True] Translation: X:431.95, Y:6.10, Z:5.14 [[ 9.97621205e-01 -6.85624071e-02 -7.15032053e-03 4.31953108e+02] [ 6.85634720e-02 9.97646752e-01 -9.63890222e-05 6.09623389e+00] [ 7.14010271e-03 -3.94091069e-04 9.99974431e-01 5.14157414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93509989300003 meters 0.02745143757193189 Centerline is valid? [True, True] Translation: X:431.98, Y:6.09, Z:5.14 [[ 9.97614291e-01 -6.86341412e-02 -7.42170863e-03 4.31984318e+02] [ 6.86353144e-02 9.97641812e-01 -9.68035892e-05 6.09321399e+00] [ 7.41085088e-03 -4.12818662e-04 9.99972454e-01 5.14164165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.965099893 meters 0.02620553382665526 Centerline is valid? [True, True] Translation: X:432.02, Y:6.09, Z:5.14 [[ 9.97587791e-01 -6.90125468e-02 -7.47446765e-03 4.32016320e+02] [ 6.90137498e-02 9.97615704e-01 -9.71686442e-05 6.09482507e+00] [ 7.46335216e-03 -4.18906787e-04 9.99972061e-01 5.14169782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99509989300003 meters 0.026100892356922534 Centerline is valid? [True, True] Translation: X:432.05, Y:6.09, Z:5.14 [[ 9.97569624e-01 -6.92600129e-02 -7.60887012e-03 4.32048144e+02] [ 6.92612710e-02 9.97598550e-01 -9.83502400e-05 6.09496043e+00] [ 7.59740953e-03 -4.28888804e-04 9.99971047e-01 5.14188934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.025099893 meters 0.026963424170941757 Centerline is valid? [True, True] Translation: X:432.08, Y:6.09, Z:5.14 [[ 9.97519750e-01 -6.98715548e-02 -8.50377690e-03 4.32079446e+02] [ 6.98731552e-02 9.97555878e-01 -1.09121948e-04 6.09417004e+00] [ 8.49061715e-03 -4.85334425e-04 9.99963836e-01 5.14228723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05509989300003 meters 0.025900419052581766 Centerline is valid? [True, True] Translation: X:432.11, Y:6.10, Z:5.14 [[ 9.97516166e-01 -6.97702064e-02 -9.67557338e-03 4.32112014e+02] [ 6.97722789e-02 9.97562937e-01 -1.23592949e-04 6.09624928e+00] [ 9.66061650e-03 -5.51800839e-04 9.99953183e-01 5.14223052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.085099893 meters 0.026315425308698966 Centerline is valid? [True, True] Translation: X:432.14, Y:6.10, Z:5.14 [[ 9.97546561e-01 -6.92134862e-02 -1.05048465e-02 4.32144698e+02] [ 6.92159071e-02 9.97601694e-01 -1.33372888e-04 6.09629028e+00] [ 1.04888839e-02 -5.94056812e-04 9.99944814e-01 5.14185100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.115099893 meters 0.026039441485730324 Centerline is valid? [True, True] Translation: X:432.18, Y:6.10, Z:5.14 [[ 9.97586932e-01 -6.84554821e-02 -1.15827467e-02 4.32176529e+02] [ 6.84583880e-02 9.97653962e-01 -1.45878788e-04 6.09709068e+00] [ 1.15655593e-02 -6.47409392e-04 9.99932907e-01 5.14190863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.145099893 meters 0.02631703825599925 Centerline is valid? [True, True] Translation: X:432.21, Y:6.10, Z:5.14 [[ 9.97633170e-01 -6.76613793e-02 -1.22472605e-02 4.32207439e+02] [ 6.76645802e-02 9.97708114e-01 -1.53305104e-04 6.09740508e+00] [ 1.22295640e-02 -6.75763482e-04 9.99924988e-01 5.14228941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.175099893 meters 0.027216168480553037 Centerline is valid? [True, True] Translation: X:432.24, Y:6.10, Z:5.14 [[ 9.97702963e-01 -6.66785606e-02 -1.19484897e-02 4.32238473e+02] [ 6.66815444e-02 9.97774298e-01 -1.48935386e-04 6.09718528e+00] [ 1.19318267e-02 -6.48150468e-04 9.99928603e-01 5.14380921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.205099893 meters 0.02684139443930545 Centerline is valid? [True, True] Translation: X:432.27, Y:6.10, Z:5.14 [[ 9.97721989e-01 -6.61836306e-02 -1.30598877e-02 4.32270205e+02] [ 6.61871632e-02 9.97807212e-01 -1.62016079e-04 6.09845206e+00] [ 1.30419729e-02 -7.02749913e-04 9.99914703e-01 5.14383084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.235099893 meters 0.027083323918149046 Centerline is valid? [True, True] Translation: X:432.30, Y:6.10, Z:5.14 [[ 9.97779587e-01 -6.51231359e-02 -1.39597079e-02 4.32301723e+02] [ 6.51270828e-02 9.97876963e-01 -1.72157091e-04 6.09869800e+00] [ 1.39412823e-02 -7.37380220e-04 9.99902544e-01 5.14373958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.265099893 meters 0.027110657285233018 Centerline is valid? [True, True] Translation: X:432.33, Y:6.10, Z:5.14 [[ 9.97890586e-01 -6.31127664e-02 -1.52038401e-02 4.32332044e+02] [ 6.31172272e-02 9.98006103e-01 -1.86739070e-04 6.10005626e+00] [ 1.51853108e-02 -7.73279070e-04 9.99884398e-01 5.14327620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.295099893 meters 0.027019547489130574 Centerline is valid? [True, True] Translation: X:432.36, Y:6.10, Z:5.14 [[ 9.97962545e-01 -6.18909616e-02 -1.55005570e-02 4.32364661e+02] [ 6.18954589e-02 9.98082620e-01 -1.89895422e-04 6.10085758e+00] [ 1.54825894e-02 -7.69905570e-04 9.99879841e-01 5.14376076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.325099893 meters 0.025927530347738332 Centerline is valid? [True, True] Translation: X:432.40, Y:6.10, Z:5.14 [[ 9.98026569e-01 -6.09015046e-02 -1.52962293e-02 4.32396792e+02] [ 6.09057872e-02 9.98143502e-01 -1.86140382e-04 6.10292439e+00] [ 1.52791681e-02 -7.45855841e-04 9.99882989e-01 5.14407574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.355099893 meters 0.026961472084564213 Centerline is valid? [True, True] Translation: X:432.43, Y:6.10, Z:5.14 [[ 9.98071622e-01 -6.01585989e-02 -1.52964301e-02 4.32427805e+02] [ 6.01628136e-02 9.98188560e-01 -1.84897128e-04 6.10216568e+00] [ 1.52798447e-02 -7.35735697e-04 9.99882986e-01 5.14438027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.385099893 meters 0.02291032939790848 Centerline is valid? [True, True] Translation: X:432.46, Y:6.11, Z:5.15 [[ 9.98124976e-01 -5.91909832e-02 -1.55871590e-02 4.32460163e+02] [ 5.91952715e-02 9.98246405e-01 -1.86516559e-04 6.10874537e+00] [ 1.55708655e-02 -7.36519273e-04 9.99878495e-01 5.14549551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.415099893 meters 0.022550971984262928 Centerline is valid? [True, True] Translation: X:432.49, Y:6.11, Z:5.15 [[ 9.98140038e-01 -5.88850674e-02 -1.57801277e-02 4.32492370e+02] [ 5.88894425e-02 9.98264493e-01 -1.87674828e-04 6.11011139e+00] [ 1.57637924e-02 -7.41957163e-04 9.99875468e-01 5.14591220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.445099893 meters 0.023002903243087878 Centerline is valid? [True, True] Translation: X:432.52, Y:6.11, Z:5.15 [[ 9.98133532e-01 -5.87491947e-02 -1.66728354e-02 4.32524265e+02] [ 5.87540810e-02 9.98272467e-01 -1.97034089e-04 6.11054969e+00] [ 1.66556082e-02 -7.82930792e-04 9.99860979e-01 5.14645609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.475099893 meters 0.02281885369299159 Centerline is valid? [True, True] Translation: X:432.56, Y:6.11, Z:5.15 [[ 9.98115595e-01 -5.89249972e-02 -1.71202594e-02 4.32556313e+02] [ 5.89301967e-02 9.98262086e-01 -2.01063834e-04 6.11193357e+00] [ 1.71023535e-02 -8.08215302e-04 9.99853417e-01 5.14670872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.505099893 meters 0.022423376051435025 Centerline is valid? [True, True] Translation: X:432.59, Y:6.11, Z:5.15 [[ 9.98120653e-01 -5.87515924e-02 -1.74187493e-02 4.32588600e+02] [ 5.87569707e-02 9.98272296e-01 -2.03293556e-04 6.11327169e+00] [ 1.74005987e-02 -8.20561446e-04 9.99848261e-01 5.14704613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.535099893 meters 0.021922833912413356 Centerline is valid? [True, True] Translation: X:432.62, Y:6.12, Z:5.15 [[ 9.98098946e-01 -5.87544600e-02 -1.86120092e-02 4.32620602e+02] [ 5.87606274e-02 9.98272078e-01 -2.15802496e-04 6.11509441e+00] [ 1.85925284e-02 -8.78261093e-04 9.99826758e-01 5.14703175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.565099893 meters 0.023253211307888044 Centerline is valid? [True, True] Translation: X:432.65, Y:6.11, Z:5.15 [[ 9.98113491e-01 -5.83712711e-02 -1.90329515e-02 4.32652255e+02] [ 5.83776846e-02 9.98294545e-01 -2.18934722e-04 6.11382448e+00] [ 1.90132711e-02 -8.92577938e-04 9.99818833e-01 5.14699479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.595099893 meters 0.022434610061975446 Centerline is valid? [True, True] Translation: X:432.68, Y:6.12, Z:5.15 [[ 9.98126915e-01 -5.80621177e-02 -1.92731123e-02 4.32684397e+02] [ 5.80686759e-02 9.98312567e-01 -2.19654679e-04 6.11589140e+00] [ 1.92533438e-02 -8.99920863e-04 9.99814232e-01 5.14758915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.625099893 meters 0.022815890022680165 Centerline is valid? [True, True] Translation: X:432.72, Y:6.12, Z:5.15 [[ 9.98174608e-01 -5.70955517e-02 -1.96862724e-02 4.32715793e+02] [ 5.71022430e-02 9.98368311e-01 -2.22513085e-04 6.11732933e+00] [ 1.96668550e-02 -9.02023400e-04 9.99806182e-01 5.14856632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.655099893 meters 0.021500401834547583 Centerline is valid? [True, True] Translation: X:432.75, Y:6.12, Z:5.15 [[ 9.98234177e-01 -5.60540582e-02 -1.96588688e-02 4.32747646e+02] [ 5.60605708e-02 9.98427345e-01 -2.20095765e-04 6.12080628e+00] [ 1.96402895e-02 -8.82380294e-04 9.99806722e-01 5.14969902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68509989300003 meters 0.022340552534353793 Centerline is valid? [True, True] Translation: X:432.78, Y:6.12, Z:5.15 [[ 9.98303563e-01 -5.48406883e-02 -1.95574562e-02 4.32778896e+02] [ 5.48469265e-02 9.98494751e-01 -2.17673891e-04 6.12111054e+00] [ 1.95399548e-02 -8.55361744e-04 9.99808711e-01 5.15043548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.715099893 meters 0.02051692399183638 Centerline is valid? [True, True] Translation: X:432.81, Y:6.13, Z:5.15 [[ 9.98446622e-01 -5.25382297e-02 -1.85493311e-02 4.32809890e+02] [ 5.25434606e-02 9.98618617e-01 -2.05591116e-04 6.12643206e+00] [ 1.85345088e-02 -7.69374294e-04 9.99827925e-01 5.15277069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74509989300003 meters 0.01961217347404943 Centerline is valid? [True, True] Translation: X:432.84, Y:6.13, Z:5.15 [[ 9.98492243e-01 -5.16952028e-02 -1.84620522e-02 4.32842209e+02] [ 5.17002573e-02 9.98662627e-01 -2.03724688e-04 6.12901546e+00] [ 1.84478932e-02 -7.51075332e-04 9.99829541e-01 5.15393377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.775099893 meters 0.019672570200138795 Centerline is valid? [True, True] Translation: X:432.87, Y:6.13, Z:5.15 [[ 9.98543216e-01 -5.08442379e-02 -1.80640548e-02 4.32874255e+02] [ 5.08489613e-02 9.98706335e-01 -1.98022993e-04 6.12991070e+00] [ 1.80507543e-02 -7.20803907e-04 9.99836812e-01 5.15454495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80509989300003 meters 0.020627453495066318 Centerline is valid? [True, True] Translation: X:432.91, Y:6.13, Z:5.15 [[ 9.98566722e-01 -5.02376419e-02 -1.84575302e-02 4.32905092e+02] [ 5.02424932e-02 9.98737028e-01 -2.01078628e-04 6.13018352e+00] [ 1.84443205e-02 -7.26561907e-04 9.99829625e-01 5.15493880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.835099893 meters 0.020111228828055834 Centerline is valid? [True, True] Translation: X:432.94, Y:6.13, Z:5.16 [[ 9.98547441e-01 -5.06003588e-02 -1.85097510e-02 4.32936811e+02] [ 5.06053206e-02 9.98718710e-01 -2.00526724e-04 6.13204392e+00] [ 1.84961814e-02 -7.36456438e-04 9.99828660e-01 5.15547499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.865099893 meters 0.022820197577643357 Centerline is valid? [True, True] Translation: X:432.97, Y:6.13, Z:5.16 [[ 9.98520068e-01 -5.10512040e-02 -1.87469373e-02 4.32967695e+02] [ 5.10563965e-02 9.98695751e-01 -2.01846838e-04 6.12887973e+00] [ 1.87327912e-02 -7.55602947e-04 9.99824240e-01 5.15515424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.895099893 meters 0.020717357656281483 Centerline is valid? [True, True] Translation: X:433.00, Y:6.13, Z:5.16 [[ 9.98463194e-01 -5.19272247e-02 -1.93601243e-02 4.32999762e+02] [ 5.19329500e-02 9.98650552e-01 -2.07256442e-04 6.13294818e+00] [ 1.93447610e-02 -7.98490436e-04 9.99812554e-01 5.15585058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.925099893 meters 0.023576530801970023 Centerline is valid? [True, True] Translation: X:433.03, Y:6.13, Z:5.15 [[ 9.98322256e-01 -5.44790460e-02 -1.96139349e-02 4.33031022e+02] [ 5.44854393e-02 9.98514543e-01 -2.08682380e-04 6.12921062e+00] [ 1.95961681e-02 -8.60341594e-04 9.99807606e-01 5.15478602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.955099893 meters 0.023391617790835713 Centerline is valid? [True, True] Translation: X:433.06, Y:6.13, Z:5.16 [[ 9.98218790e-01 -5.62283369e-02 -1.99404589e-02 4.33063472e+02] [ 5.62353172e-02 9.98417520e-01 -2.10947427e-04 6.13017343e+00] [ 1.99207647e-02 -9.10786344e-04 9.99801147e-01 5.15533575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.985099893 meters 0.02338323692735803 Centerline is valid? [True, True] Translation: X:433.09, Y:6.13, Z:5.16 [[ 9.98006214e-01 -5.96638875e-02 -2.05868012e-02 4.33094176e+02] [ 5.96720785e-02 9.98218010e-01 -2.16732908e-04 6.13118801e+00] [ 2.05630469e-02 -1.01215643e-03 9.99788046e-01 5.15569244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.015099893 meters 0.0262413801738973 Centerline is valid? [True, True] Translation: X:433.13, Y:6.13, Z:5.16 [[ 9.97902274e-01 -6.10924527e-02 -2.14187628e-02 4.33125687e+02] [ 6.11016631e-02 9.98131523e-01 -2.24770690e-04 6.12780045e+00] [ 2.13924741e-02 -1.08442285e-03 9.99770567e-01 5.15500991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.045099893 meters 0.02816556777888579 Centerline is valid? [True, True] Translation: X:433.16, Y:6.13, Z:5.15 [[ 9.97779417e-01 -6.28225941e-02 -2.21259209e-02 4.33156692e+02] [ 6.28328736e-02 9.98024036e-01 -2.30993100e-04 6.12601224e+00] [ 2.20967124e-02 -1.15975503e-03 9.99755165e-01 5.15471204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.075099893 meters 0.026538134692961048 Centerline is valid? [True, True] Translation: X:433.19, Y:6.13, Z:5.16 [[ 9.97553057e-01 -6.57296317e-02 -2.38225676e-02 4.33187857e+02] [ 6.57424030e-02 9.97836597e-01 -2.47537774e-04 6.12998376e+00] [ 2.37873004e-02 -1.31922078e-03 9.99716172e-01 5.15519433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.105099893 meters 0.027817773598178736 Centerline is valid? [True, True] Translation: X:433.22, Y:6.13, Z:5.16 [[ 9.97475689e-01 -6.67357879e-02 -2.42607779e-02 4.33219453e+02] [ 6.67493583e-02 9.97769743e-01 -2.50932415e-04 6.12909330e+00] [ 2.42234163e-02 -1.36909238e-03 9.99705633e-01 5.15540605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.135099893 meters 0.02737729843832778 Centerline is valid? [True, True] Translation: X:433.25, Y:6.13, Z:5.16 [[ 9.97431130e-01 -6.73432949e-02 -2.44135588e-02 4.33252057e+02] [ 6.73572555e-02 9.97728890e-01 -2.50984982e-04 6.13066832e+00] [ 2.43750151e-02 -1.39409009e-03 9.99701913e-01 5.15575637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.165099893 meters 0.029953458998460514 Centerline is valid? [True, True] Translation: X:433.28, Y:6.13, Z:5.16 [[ 9.97437906e-01 -6.73348936e-02 -2.41585528e-02 4.33282974e+02] [ 6.73485977e-02 9.97729475e-01 -2.46861704e-04 6.12859499e+00] [ 2.41203226e-02 -1.38081543e-03 9.99708109e-01 5.15612253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.195099893 meters 0.027065216759532443 Centerline is valid? [True, True] Translation: X:433.31, Y:6.13, Z:5.16 [[ 9.97584055e-01 -6.55841685e-02 -2.29078579e-02 4.33314332e+02] [ 6.55960525e-02 9.97846232e-01 -2.33081198e-04 6.13476747e+00] [ 2.28738062e-02 -1.27014696e-03 9.99737553e-01 5.15876010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.225099893 meters 0.02650710308515161 Centerline is valid? [True, True] Translation: X:433.35, Y:6.14, Z:5.16 [[ 9.97693512e-01 -6.41820697e-02 -2.20979123e-02 4.33347059e+02] [ 6.41928134e-02 9.97937489e-01 -2.23552661e-04 6.13706183e+00] [ 2.20666832e-02 -1.19549012e-03 9.99755786e-01 5.16059502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.255099893 meters 0.02650710308515161 Centerline is valid? [True, True] Translation: X:433.38, Y:6.14, Z:5.16 [[ 9.97698067e-01 -6.41112244e-02 -2.20979303e-02 4.33378796e+02] [ 6.41219902e-02 9.97942043e-01 -2.21767497e-04 6.13732113e+00] [ 2.20666715e-02 -1.19570627e-03 9.99755786e-01 5.16098718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.285099893 meters 0.023800047426431777 Centerline is valid? [True, True] Translation: X:433.41, Y:6.14, Z:5.16 [[ 9.97804875e-01 -6.26395111e-02 -2.14877456e-02 4.33410578e+02] [ 6.26493828e-02 9.98035575e-01 -2.14120802e-04 6.14278655e+00] [ 2.14589469e-02 -1.13254322e-03 9.99769089e-01 5.16261855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.315099893 meters 0.02455192545031503 Centerline is valid? [True, True] Translation: X:433.44, Y:6.14, Z:5.16 [[ 9.97915638e-01 -6.10958862e-02 -2.07767153e-02 4.33441967e+02] [ 6.11048251e-02 9.98131333e-01 -2.04930882e-04 6.14315509e+00] [ 2.07504110e-02 -1.06505382e-03 9.99784120e-01 5.16375255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.345099893 meters 0.02613448766348457 Centerline is valid? [True, True] Translation: X:433.47, Y:6.14, Z:5.16 [[ 9.98026048e-01 -5.92521713e-02 -2.08131858e-02 4.33472753e+02] [ 5.92607856e-02 9.98242515e-01 -2.03180502e-04 6.14234832e+00] [ 2.07886458e-02 -1.03062631e-03 9.99783362e-01 5.16382436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.375099893 meters 0.021835845830058223 Centerline is valid? [True, True] Translation: X:433.50, Y:6.15, Z:5.16 [[ 9.98206843e-01 -5.57552662e-02 -2.17818599e-02 4.33503876e+02] [ 5.57638883e-02 9.98443961e-01 -2.11828041e-04 6.15079870e+00] [ 2.17597771e-02 -1.00319300e-03 9.99762725e-01 5.16433976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.405099893 meters 0.022820605677374508 Centerline is valid? [True, True] Translation: X:433.54, Y:6.15, Z:5.16 [[ 9.98287219e-01 -5.39823897e-02 -2.25506117e-02 4.33535545e+02] [ 5.39912072e-02 9.98541387e-01 -2.18098023e-04 6.15048411e+00] [ 2.25294925e-02 -9.99810280e-04 9.99745679e-01 5.16382305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43509989300003 meters 0.02151883889728316 Centerline is valid? [True, True] Translation: X:433.57, Y:6.15, Z:5.16 [[ 9.98369434e-01 -5.22231762e-02 -2.30480626e-02 4.33567365e+02] [ 5.22319579e-02 9.98634955e-01 -2.21229791e-04 6.15370929e+00] [ 2.30281543e-02 -9.82976375e-04 9.99734334e-01 5.16415093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.465099893 meters 0.020964030246495614 Centerline is valid? [True, True] Translation: X:433.60, Y:6.16, Z:5.16 [[ 9.98431901e-01 -5.04490152e-02 -2.42618099e-02 4.33599241e+02] [ 5.04582670e-02 9.98726144e-01 -2.31099947e-04 6.15609163e+00] [ 2.42425626e-02 -9.93471323e-04 9.99705612e-01 5.16418883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49509989300003 meters 0.021095910463758336 Centerline is valid? [True, True] Translation: X:433.63, Y:6.16, Z:5.16 [[ 9.98493158e-01 -4.86566621e-02 -2.53760394e-02 4.33629862e+02] [ 4.86662522e-02 9.98815067e-01 -2.39886450e-04 6.15752758e+00] [ 2.53576425e-02 -9.95431752e-04 9.99677948e-01 5.16372423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.525099893 meters 0.020545535701243862 Centerline is valid? [True, True] Translation: X:433.66, Y:6.16, Z:5.16 [[ 9.98602114e-01 -4.54385352e-02 -2.70029261e-02 4.33660564e+02] [ 4.54482589e-02 9.98966662e-01 -2.53838938e-04 6.16124766e+00] [ 2.69865571e-02 -9.73751879e-04 9.99635322e-01 5.16272003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55509989300003 meters 0.018867572914122548 Centerline is valid? [True, True] Translation: X:433.69, Y:6.17, Z:5.16 [[ 9.98662122e-01 -4.38053807e-02 -2.74782636e-02 4.33691010e+02] [ 4.38148447e-02 9.99039635e-01 -2.57866621e-04 6.16519837e+00] [ 2.74631704e-02 -9.46434224e-04 9.99622368e-01 5.16356680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.585099893 meters 0.018424361938744964 Centerline is valid? [True, True] Translation: X:433.72, Y:6.17, Z:5.16 [[ 9.98711526e-01 -4.22977783e-02 -2.80390029e-02 4.33721831e+02] [ 4.23070395e-02 9.99104622e-01 -2.63128816e-04 6.16730719e+00] [ 2.80250272e-02 -9.23457423e-04 9.99606795e-01 5.16401584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.615099893 meters 0.0177174533450869 Centerline is valid? [True, True] Translation: X:433.75, Y:6.17, Z:5.16 [[ 9.98860747e-01 -3.92015183e-02 -2.72112046e-02 4.33751086e+02] [ 3.92090784e-02 9.99230996e-01 -2.55880729e-04 6.17105445e+00] [ 2.72003100e-02 -8.11337039e-04 9.99629674e-01 5.16472092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.645099893 meters 0.017322815602914633 Centerline is valid? [True, True] Translation: X:433.78, Y:6.17, Z:5.17 [[ 9.98916792e-01 -3.80301168e-02 -2.68133097e-02 4.33780781e+02] [ 3.80370107e-02 9.99276299e-01 -2.53071507e-04 6.17331337e+00] [ 2.68035292e-02 -7.67100772e-04 9.99640427e-01 5.16565664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.675099893 meters 0.017161574932193585 Centerline is valid? [True, True] Translation: X:433.81, Y:6.18, Z:5.17 [[ 9.98974990e-01 -3.68723899e-02 -2.62563739e-02 4.33810719e+02] [ 3.68785769e-02 9.99319723e-01 -2.48721508e-04 6.17504697e+00] [ 2.62476833e-02 -7.19831140e-04 9.99655211e-01 5.16639647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.705099893 meters 0.01644279072467417 Centerline is valid? [True, True] Translation: X:433.84, Y:6.18, Z:5.17 [[ 9.99021715e-01 -3.58495778e-02 -2.58924797e-02 4.33840662e+02] [ 3.58552278e-02 9.99356964e-01 -2.46173896e-04 6.17755632e+00] [ 2.58846551e-02 -6.82447690e-04 9.99664703e-01 5.16755576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.735099893 meters 0.01644279072467417 Centerline is valid? [True, True] Translation: X:433.87, Y:6.18, Z:5.17 [[ 9.99020456e-01 -3.58846416e-02 -2.58924710e-02 4.33869823e+02] [ 3.58902799e-02 9.99355706e-01 -2.47083176e-04 6.17786383e+00] [ 2.58846551e-02 -6.82446884e-04 9.99664703e-01 5.16791656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.765099893 meters 0.015731861557079226 Centerline is valid? [True, True] Translation: X:433.90, Y:6.18, Z:5.17 [[ 9.99105848e-01 -3.42035080e-02 -2.48520459e-02 4.33899237e+02] [ 3.42081609e-02 9.99414701e-01 -2.38013138e-04 6.18119475e+00] [ 2.48456409e-02 -6.12342465e-04 9.99691112e-01 5.16865270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.795099893 meters 0.015347074854728863 Centerline is valid? [True, True] Translation: X:433.93, Y:6.18, Z:5.17 [[ 9.99140176e-01 -3.39013276e-02 -2.38664588e-02 4.33928815e+02] [ 3.39055126e-02 9.99425016e-01 -2.29407228e-04 6.18274211e+00] [ 2.38605132e-02 -5.79994540e-04 9.99715129e-01 5.16955839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.825099893 meters 0.01542923451449716 Centerline is valid? [True, True] Translation: X:433.96, Y:6.18, Z:5.17 [[ 9.99140719e-01 -3.41866732e-02 -2.34327581e-02 4.33959062e+02] [ 3.41907755e-02 9.99415299e-01 -2.25674352e-04 6.18342157e+00] [ 2.34267720e-02 -5.75703740e-04 9.99725390e-01 5.17019550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.855099893 meters 0.015842467518236356 Centerline is valid? [True, True] Translation: X:433.99, Y:6.18, Z:5.17 [[ 9.99151418e-01 -3.45575368e-02 -2.24102814e-02 4.33988533e+02] [ 3.45613829e-02 9.99402554e-01 -2.15784087e-04 6.18305926e+00] [ 2.24043494e-02 -5.58929339e-04 9.99748835e-01 5.17027141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.885099893 meters 0.01569445958243897 Centerline is valid? [True, True] Translation: X:434.02, Y:6.18, Z:5.17 [[ 9.99128031e-01 -3.54598781e-02 -2.20402855e-02 4.34019490e+02] [ 3.54638264e-02 9.99370938e-01 -2.11820730e-04 6.18404212e+00] [ 2.20339319e-02 -5.69996829e-04 9.99757061e-01 5.17144973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.915099893 meters 0.017484305792128785 Centerline is valid? [True, True] Translation: X:434.05, Y:6.18, Z:5.17 [[ 9.99094475e-01 -3.67689562e-02 -2.14073247e-02 4.34049653e+02] [ 3.67729938e-02 9.99323624e-01 -2.05143088e-04 6.18140754e+00] [ 2.14003882e-02 -5.82254092e-04 9.99770816e-01 5.17079432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.945099893 meters 0.01794884423216685 Centerline is valid? [True, True] Translation: X:434.08, Y:6.18, Z:5.17 [[ 9.98949484e-01 -4.07047221e-02 -2.10488671e-02 4.34080689e+02] [ 4.07095061e-02 9.99171004e-01 -2.01337704e-04 6.18041056e+00] [ 2.10396131e-02 -6.55762790e-04 9.99778428e-01 5.17097389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.975099893 meters 0.01764187227318243 Centerline is valid? [True, True] Translation: X:434.11, Y:6.18, Z:5.17 [[ 9.98842538e-01 -4.31895913e-02 -2.11717767e-02 4.34112269e+02] [ 4.31950003e-02 9.99066640e-01 -2.01974493e-04 6.18088599e+00] [ 2.11607390e-02 -7.12774188e-04 9.99775832e-01 5.17137854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.005099893 meters 0.019269707703204724 Centerline is valid? [True, True] Translation: X:434.14, Y:6.18, Z:5.17 [[ 9.98716505e-01 -4.58448071e-02 -2.15312907e-02 4.34143664e+02] [ 4.58510382e-02 9.98948267e-01 -2.04448920e-04 6.17818984e+00] [ 2.15180185e-02 -7.83045523e-04 9.99768154e-01 5.17100966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.035099893 meters 0.02084530903845745 Centerline is valid? [True, True] Translation: X:434.17, Y:6.18, Z:5.17 [[ 9.98587156e-01 -4.85786774e-02 -2.15361090e-02 4.34174980e+02] [ 4.85855710e-02 9.98819003e-01 -2.03334710e-04 6.17578853e+00] [ 2.15205527e-02 -8.43296722e-04 9.99768050e-01 5.17057706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.065099893 meters 0.02118532111079419 Centerline is valid? [True, True] Translation: X:434.21, Y:6.17, Z:5.17 [[ 9.98334703e-01 -5.36785874e-02 -2.11288931e-02 4.34205936e+02] [ 5.36863794e-02 9.98557827e-01 -1.98686200e-04 6.17494877e+00] [ 2.11090867e-02 -9.35978440e-04 9.99776740e-01 5.17064851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.095099893 meters 0.024820901694938335 Centerline is valid? [True, True] Translation: X:434.24, Y:6.17, Z:5.17 [[ 9.98224285e-01 -5.56518794e-02 -2.12401584e-02 4.34236984e+02] [ 5.56602143e-02 9.98449749e-01 -1.99025907e-04 6.16984651e+00] [ 2.12183070e-02 -9.83559274e-04 9.99774383e-01 5.17007759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.125099893 meters 0.024370934889010917 Centerline is valid? [True, True] Translation: X:434.27, Y:6.17, Z:5.17 [[ 9.98135961e-01 -5.72506169e-02 -2.11416833e-02 4.34268626e+02] [ 5.72592564e-02 9.98359323e-01 -1.96970790e-04 6.17059941e+00] [ 2.11182733e-02 -1.01395343e-03 9.99776470e-01 5.17071705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.155099893 meters 0.022551256190582562 Centerline is valid? [True, True] Translation: X:434.30, Y:6.17, Z:5.17 [[ 9.98078914e-01 -5.83871832e-02 -2.07224094e-02 4.34301009e+02] [ 5.83957536e-02 9.98293494e-01 -1.91811135e-04 6.17368378e+00] [ 2.06982458e-02 -1.01865806e-03 9.99785249e-01 5.17160244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18509989300003 meters 0.023590401781272165 Centerline is valid? [True, True] Translation: X:434.33, Y:6.17, Z:5.17 [[ 9.98031925e-01 -5.91183844e-02 -2.09115609e-02 4.34331906e+02] [ 5.91273009e-02 9.98250432e-01 -1.92182237e-04 6.17242664e+00] [ 2.08863362e-02 -1.04464014e-03 9.99781311e-01 5.17156817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.215099893 meters 0.02459813902907491 Centerline is valid? [True, True] Translation: X:434.36, Y:6.17, Z:5.17 [[ 9.97995231e-01 -5.97263617e-02 -2.09351532e-02 4.34362992e+02] [ 5.97354555e-02 9.98214225e-01 -1.91262581e-04 6.17213702e+00] [ 2.09091912e-02 -1.05969177e-03 9.99780817e-01 5.17130672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24509989300003 meters 0.025206793539665723 Centerline is valid? [True, True] Translation: X:434.40, Y:6.17, Z:5.17 [[ 9.97993609e-01 -5.97998304e-02 -2.08023022e-02 4.34395095e+02] [ 5.98088513e-02 9.98209830e-01 -1.88790006e-04 6.17215879e+00] [ 2.07763522e-02 -1.05575058e-03 9.99783591e-01 5.17134528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.275099893 meters 0.02384037273047934 Centerline is valid? [True, True] Translation: X:434.43, Y:6.17, Z:5.17 [[ 9.97984508e-01 -5.99086251e-02 -2.09255294e-02 4.34427387e+02] [ 5.99178084e-02 9.98203296e-01 -1.88406857e-04 6.17482982e+00] [ 2.08992196e-02 -1.06578474e-03 9.99781019e-01 5.17206782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30509989300003 meters 0.023580311829864933 Centerline is valid? [True, True] Translation: X:434.46, Y:6.18, Z:5.17 [[ 9.97980857e-01 -5.99372480e-02 -2.10174927e-02 4.34459166e+02] [ 5.99465507e-02 9.98201571e-01 -1.87703995e-04 6.17604395e+00] [ 2.09909447e-02 -1.07260120e-03 9.99779090e-01 5.17284074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.335099893 meters 0.028214117838033466 Centerline is valid? [True, True] Translation: X:434.49, Y:6.17, Z:5.17 [[ 9.97991563e-01 -5.98347617e-02 -2.08000243e-02 4.34490236e+02] [ 5.98438787e-02 9.98207732e-01 -1.84410734e-04 6.17086677e+00] [ 2.07737792e-02 -1.06071377e-03 9.99783639e-01 5.17289121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.365099893 meters 0.023609590430344538 Centerline is valid? [True, True] Translation: X:434.52, Y:6.18, Z:5.17 [[ 9.97999885e-01 -5.97964895e-02 -2.05087649e-02 4.34523269e+02] [ 5.98053767e-02 9.98210040e-01 -1.80272863e-04 6.17798571e+00] [ 2.04828348e-02 -1.04662211e-03 9.99789657e-01 5.17458294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.395099893 meters 0.02621088235220707 Centerline is valid? [True, True] Translation: X:434.56, Y:6.17, Z:5.17 [[ 9.97996640e-01 -5.96834153e-02 -2.09904058e-02 4.34555126e+02] [ 5.96927455e-02 9.98216782e-01 -1.82337124e-04 6.17478767e+00] [ 2.09638578e-02 -1.07100311e-03 9.99779661e-01 5.17429018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.425099893 meters 0.024368191423107102 Centerline is valid? [True, True] Translation: X:434.59, Y:6.18, Z:5.17 [[ 9.97972744e-01 -5.98930007e-02 -2.15227929e-02 4.34587521e+02] [ 5.99028978e-02 9.98204192e-01 -1.85152779e-04 6.17809245e+00] [ 2.14952315e-02 -1.10450024e-03 9.99768341e-01 5.17477185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.455099893 meters 0.025484809367582528 Centerline is valid? [True, True] Translation: X:434.62, Y:6.18, Z:5.18 [[ 9.97967879e-01 -5.99355233e-02 -2.16297242e-02 4.34618260e+02] [ 5.99455734e-02 9.98201630e-01 -1.84024049e-04 6.17712971e+00] [ 2.16018555e-02 -1.11295613e-03 9.99766033e-01 5.17516626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.485099893 meters 0.02440368490563716 Centerline is valid? [True, True] Translation: X:434.65, Y:6.18, Z:5.18 [[ 9.97978789e-01 -5.98223672e-02 -2.14387969e-02 4.34649987e+02] [ 5.98322611e-02 9.98208429e-01 -1.80219256e-04 6.17910745e+00] [ 2.14111690e-02 -1.10287670e-03 9.99770146e-01 5.17590895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.515099893 meters 0.02469898707198436 Centerline is valid? [True, True] Translation: X:434.68, Y:6.18, Z:5.18 [[ 9.97968058e-01 -5.98409194e-02 -2.18819352e-02 4.34681920e+02] [ 5.98512659e-02 9.98207289e-01 -1.82355367e-04 6.17931255e+00] [ 2.18536195e-02 -1.12767669e-03 9.99760545e-01 5.17604452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.545099893 meters 0.02560226229382494 Centerline is valid? [True, True] Translation: X:434.71, Y:6.18, Z:5.18 [[ 9.97972576e-01 -5.97514337e-02 -2.19204077e-02 4.34714270e+02] [ 5.97618332e-02 9.98212648e-01 -1.80937177e-04 6.17886654e+00] [ 2.18920395e-02 -1.12943341e-03 9.99759703e-01 5.17640779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.575099893 meters 0.02600527596945134 Centerline is valid? [True, True] Translation: X:434.75, Y:6.18, Z:5.18 [[ 9.97969174e-01 -5.97974340e-02 -2.19498056e-02 4.34746903e+02] [ 5.98079116e-02 9.98209889e-01 -1.79401444e-04 6.17931253e+00] [ 2.19212408e-02 -1.13373492e-03 9.99759058e-01 5.17691756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.605099893 meters 0.026029617766984446 Centerline is valid? [True, True] Translation: X:434.78, Y:6.18, Z:5.18 [[ 9.98029985e-01 -5.88484593e-02 -2.17487384e-02 4.34779188e+02] [ 5.88585541e-02 9.98266317e-01 -1.76233769e-04 6.18037036e+00] [ 2.17214041e-02 -1.10421271e-03 9.99763453e-01 5.17740473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.635099893 meters 0.025089814145613457 Centerline is valid? [True, True] Translation: X:434.81, Y:6.18, Z:5.18 [[ 9.98064172e-01 -5.83273614e-02 -2.15830268e-02 4.34811190e+02] [ 5.83372143e-02 9.98296919e-01 -1.73365903e-04 6.18174504e+00] [ 2.15563811e-02 -1.08606336e-03 9.99767044e-01 5.17754154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.665099893 meters 0.024523354196945134 Centerline is valid? [True, True] Translation: X:434.84, Y:6.18, Z:5.18 [[ 9.98075192e-01 -5.82246060e-02 -2.13496056e-02 4.34843793e+02] [ 5.82342557e-02 9.98302931e-01 -1.69971988e-04 6.18304032e+00] [ 2.13232704e-02 -1.07363357e-03 9.99772057e-01 5.17814158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.695099893 meters 0.02537138580848999 Centerline is valid? [True, True] Translation: X:434.88, Y:6.18, Z:5.18 [[ 9.98067287e-01 -5.83114879e-02 -2.14816226e-02 4.34875181e+02] [ 5.83213071e-02 9.98297850e-01 -1.69645450e-04 6.18243565e+00] [ 2.14549499e-02 -1.08351873e-03 9.99769229e-01 5.17859892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.725099893 meters 0.025271810590561487 Centerline is valid? [True, True] Translation: X:434.91, Y:6.18, Z:5.18 [[ 9.98100620e-01 -5.77375767e-02 -2.14831038e-02 4.34907485e+02] [ 5.77472925e-02 9.98331219e-01 -1.68355429e-04 6.18300376e+00] [ 2.14569736e-02 -1.07255542e-03 9.99769197e-01 5.17826841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.755099893 meters 0.02596402432122048 Centerline is valid? [True, True] Translation: X:434.94, Y:6.18, Z:5.18 [[ 9.98119945e-01 -5.73088694e-02 -2.17317260e-02 4.34939161e+02] [ 5.73187435e-02 9.98355915e-01 -1.68766943e-04 6.18231322e+00] [ 2.17056691e-02 -1.07718558e-03 9.99763824e-01 5.17819329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.785099893 meters 0.02525699107261263 Centerline is valid? [True, True] Translation: X:434.97, Y:6.18, Z:5.18 [[ 9.98151571e-01 -5.66711728e-02 -2.19504017e-02 4.34971877e+02] [ 5.66811305e-02 9.98392318e-01 -1.68752298e-04 6.18347633e+00] [ 2.19246759e-02 -1.07573321e-03 9.99759047e-01 5.17847357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.815099893 meters 0.02496283232887418 Centerline is valid? [True, True] Translation: X:435.00, Y:6.18, Z:5.18 [[ 9.98180978e-01 -5.63834815e-02 -2.13456612e-02 4.35003926e+02] [ 5.63928681e-02 9.98408643e-01 -1.62418279e-04 6.18407745e+00] [ 2.13208504e-02 -1.04162022e-03 9.99772142e-01 5.17890454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.845099893 meters 0.027189426682182088 Centerline is valid? [True, True] Translation: X:435.04, Y:6.18, Z:5.18 [[ 9.98188579e-01 -5.66182109e-02 -2.03455076e-02 4.35035173e+02] [ 5.66268122e-02 9.98395403e-01 -1.53560667e-04 6.18016024e+00] [ 2.03215556e-02 -9.98818735e-04 9.99792997e-01 5.17927549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.875099893 meters 0.025380599710418113 Centerline is valid? [True, True] Translation: X:435.07, Y:6.18, Z:5.18 [[ 9.98187634e-01 -5.68377421e-02 -1.97716377e-02 4.35067808e+02] [ 5.68459306e-02 9.98382952e-01 -1.48077409e-04 6.18229675e+00] [ 1.97480824e-02 -9.76128108e-04 9.99804511e-01 5.18033369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.905099893 meters 0.024817388481901802 Centerline is valid? [True, True] Translation: X:435.10, Y:6.18, Z:5.18 [[ 9.98175538e-01 -5.71648461e-02 -1.94364469e-02 4.35099978e+02] [ 5.71728475e-02 9.98364285e-01 -1.44206544e-04 6.18277424e+00] [ 1.94128979e-02 -9.67293566e-04 9.99811084e-01 5.18095398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93509989300003 meters 0.025779428291034374 Centerline is valid? [True, True] Translation: X:435.13, Y:6.18, Z:5.18 [[ 9.98137423e-01 -5.80443665e-02 -1.87759425e-02 4.35132481e+02] [ 5.80520128e-02 9.98313550e-01 -1.38002987e-04 6.17973213e+00] [ 1.87522881e-02 -9.52235308e-04 9.99823707e-01 5.18133186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.965099893 meters 0.025779428291034374 Centerline is valid? [True, True] Translation: X:435.17, Y:6.18, Z:5.18 [[ 9.98143611e-01 -5.79378605e-02 -1.87759538e-02 4.35165063e+02] [ 5.79455172e-02 9.98319738e-01 -1.36444320e-04 6.17987874e+00] [ 1.87523106e-02 -9.51791330e-04 9.99823707e-01 5.18173450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99509989300003 meters 0.026250666794888522 Centerline is valid? [True, True] Translation: X:435.20, Y:6.18, Z:5.18 [[ 9.98103057e-01 -5.87784332e-02 -1.83134799e-02 4.35197657e+02] [ 5.87858896e-02 9.98270606e-01 -1.31376706e-04 6.17857144e+00] [ 1.82895308e-02 -9.45446715e-04 9.99832286e-01 5.18233921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.025099893 meters 0.028142428277135804 Centerline is valid? [True, True] Translation: X:435.23, Y:6.17, Z:5.18 [[ 9.97990946e-01 -6.08913092e-02 -1.75020279e-02 4.35228837e+02] [ 6.08984678e-02 9.98143958e-01 -1.24151015e-04 6.17464022e+00] [ 1.74771031e-02 -9.41945091e-04 9.99846820e-01 5.18313419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05509989300003 meters 0.028104545630379736 Centerline is valid? [True, True] Translation: X:435.26, Y:6.17, Z:5.18 [[ 9.97935428e-01 -6.18195928e-02 -1.74131895e-02 4.35260727e+02] [ 6.18268497e-02 9.98086883e-01 -1.21801268e-04 6.17384157e+00] [ 1.73874057e-02 -9.55052850e-04 9.99848372e-01 5.18376206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.085099893 meters 0.03085325517119149 Centerline is valid? [True, True] Translation: X:435.29, Y:6.17, Z:5.18 [[ 9.97828518e-01 -6.34953422e-02 -1.75096951e-02 4.35292222e+02] [ 6.35029569e-02 9.97981643e-01 -1.21335192e-04 6.16783158e+00] [ 1.74820585e-02 -9.90845700e-04 9.99846686e-01 5.18368185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.115099893 meters 0.027885208870243178 Centerline is valid? [True, True] Translation: X:435.32, Y:6.17, Z:5.18 [[ 9.97790416e-01 -6.42170277e-02 -1.70428717e-02 4.35323991e+02] [ 6.42243630e-02 9.97935478e-01 -1.17138707e-04 6.17075919e+00] [ 1.70152086e-02 -9.77687702e-04 9.99854753e-01 5.18436038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.145099893 meters 0.02756469994923013 Centerline is valid? [True, True] Translation: X:435.36, Y:6.17, Z:5.19 [[ 9.97738638e-01 -6.50437293e-02 -1.69388093e-02 4.35355886e+02] [ 6.50511143e-02 9.97881927e-01 -1.15220234e-04 6.17027198e+00] [ 1.69104260e-02 -9.86928742e-04 9.99856521e-01 5.18505690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.175099893 meters 0.028615657492981252 Centerline is valid? [True, True] Translation: X:435.39, Y:6.17, Z:5.19 [[ 9.97697904e-01 -6.57256099e-02 -1.67043836e-02 4.35386956e+02] [ 6.57329056e-02 9.97837247e-01 -1.12517902e-04 6.16781146e+00] [ 1.66756514e-02 -9.85768791e-04 9.99860466e-01 5.18532923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.205099893 meters 0.02873250724920054 Centerline is valid? [True, True] Translation: X:435.42, Y:6.17, Z:5.19 [[ 9.97607710e-01 -6.70454331e-02 -1.68453911e-02 4.35418610e+02] [ 6.70530552e-02 9.97749405e-01 -1.12559510e-04 6.16532537e+00] [ 1.68150255e-02 -1.01724470e-03 9.99858100e-01 5.18576022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.235099893 meters 0.029871963492847427 Centerline is valid? [True, True] Translation: X:435.45, Y:6.16, Z:5.19 [[ 9.97522751e-01 -6.82171617e-02 -1.71691735e-02 4.35451105e+02] [ 6.82252701e-02 9.97669935e-01 -1.13703985e-04 6.16272119e+00] [ 1.71369247e-02 -1.05794918e-03 9.99852592e-01 5.18589016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.265099893 meters 0.03050589966592462 Centerline is valid? [True, True] Translation: X:435.48, Y:6.16, Z:5.19 [[ 9.97432225e-01 -6.95965611e-02 -1.68901198e-02 4.35483079e+02] [ 6.96046250e-02 9.97574651e-01 -1.10670519e-04 6.16051500e+00] [ 1.68568577e-02 -1.06524411e-03 9.99857346e-01 5.18655622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.295099893 meters 0.031497731854001544 Centerline is valid? [True, True] Translation: X:435.52, Y:6.16, Z:5.19 [[ 9.97337235e-01 -7.09048552e-02 -1.70570012e-02 4.35515549e+02] [ 7.09132905e-02 9.97482478e-01 -1.10545119e-04 6.15765242e+00] [ 1.70218980e-02 -1.09931731e-03 9.99854513e-01 5.18664227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.325099893 meters 0.032624315612859625 Centerline is valid? [True, True] Translation: X:435.55, Y:6.15, Z:5.19 [[ 9.97220611e-01 -7.24468465e-02 -1.73927542e-02 4.35547296e+02] [ 7.24558708e-02 9.97371613e-01 -1.11561705e-04 6.15285727e+00] [ 1.73551216e-02 -1.14895552e-03 9.99848728e-01 5.18647170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.355099893 meters 0.032666153142270254 Centerline is valid? [True, True] Translation: X:435.58, Y:6.15, Z:5.19 [[ 9.97185806e-01 -7.29395355e-02 -1.73289660e-02 4.35579622e+02] [ 7.29485853e-02 9.97335697e-01 -1.10144154e-04 6.15147836e+00] [ 1.72908303e-02 -1.15428937e-03 9.99849836e-01 5.18670074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.385099893 meters 0.03308648668158311 Centerline is valid? [True, True] Translation: X:435.61, Y:6.15, Z:5.19 [[ 9.97192313e-01 -7.29052499e-02 -1.70972467e-02 4.35612798e+02] [ 7.29140776e-02 9.97338220e-01 -1.07300604e-04 6.14950872e+00] [ 1.70595604e-02 -1.13963064e-03 9.99853826e-01 5.18739850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.415099893 meters 0.0301735845041517 Centerline is valid? [True, True] Translation: X:435.64, Y:6.15, Z:5.19 [[ 9.97269136e-01 -7.20783727e-02 -1.60927825e-02 4.35644915e+02] [ 7.20861104e-02 9.97398407e-01 -9.94884078e-05 6.15095181e+00] [ 1.60580866e-02 -1.06084938e-03 9.99870498e-01 5.18877189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.445099893 meters 0.03453272046644301 Centerline is valid? [True, True] Translation: X:435.68, Y:6.14, Z:5.19 [[ 9.97323075e-01 -7.13503323e-02 -1.59942165e-02 4.35676038e+02] [ 7.13578996e-02 9.97450771e-01 -9.77899433e-05 6.14400796e+00] [ 1.59604209e-02 -1.04378553e-03 9.99872080e-01 5.18907923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.475099893 meters 0.030490233703613177 Centerline is valid? [True, True] Translation: X:435.71, Y:6.15, Z:5.19 [[ 9.97389574e-01 -7.04454487e-02 -1.58580224e-02 4.35708233e+02] [ 7.04527883e-02 9.97515110e-01 -9.60448369e-05 6.14795228e+00] [ 1.58253829e-02 -1.02144777e-03 9.99874249e-01 5.18952275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.505099893 meters 0.03490925389721673 Centerline is valid? [True, True] Translation: X:435.74, Y:6.14, Z:5.19 [[ 9.97449650e-01 -6.95536443e-02 -1.60152063e-02 4.35739874e+02] [ 6.95610341e-02 9.97577693e-01 -9.58441566e-05 6.14085197e+00] [ 1.59830789e-02 -1.01843459e-03 9.99871744e-01 5.18943784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.535099893 meters 0.02937870930848684 Centerline is valid? [True, True] Translation: X:435.77, Y:6.14, Z:5.19 [[ 9.97537434e-01 -6.82060154e-02 -1.63403258e-02 4.35771713e+02] [ 6.82135475e-02 9.97670739e-01 -9.66088550e-05 6.14476862e+00] [ 1.63088542e-02 -1.01826064e-03 9.99866483e-01 5.18956428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.565099893 meters 0.029239722899879708 Centerline is valid? [True, True] Translation: X:435.80, Y:6.14, Z:5.19 [[ 9.97570311e-01 -6.76837556e-02 -1.65040488e-02 4.35804402e+02] [ 6.76913891e-02 9.97706303e-01 -9.63068662e-05 6.14344172e+00] [ 1.64727119e-02 -1.02110912e-03 9.99863794e-01 5.18973743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.595099893 meters 0.03037470339108408 Centerline is valid? [True, True] Translation: X:435.84, Y:6.14, Z:5.19 [[ 9.97579243e-01 -6.74485848e-02 -1.69216473e-02 4.35835914e+02] [ 6.74565992e-02 9.97722205e-01 -9.73645206e-05 6.14038651e+00] [ 1.68896704e-02 -1.04434796e-03 9.99856814e-01 5.18974852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.625099893 meters 0.028739023062720748 Centerline is valid? [True, True] Translation: X:435.87, Y:6.14, Z:5.19 [[ 9.97591435e-01 -6.71226495e-02 -1.74893639e-02 4.35868058e+02] [ 6.71311793e-02 9.97744153e-01 -9.95784932e-05 6.14095073e+00] [ 1.74565946e-02 -1.07474297e-03 9.99847044e-01 5.19002840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.655099893 meters 0.028739023062720748 Centerline is valid? [True, True] Translation: X:435.90, Y:6.14, Z:5.19 [[ 9.97598700e-01 -6.70145895e-02 -1.74893720e-02 4.35900656e+02] [ 6.70231280e-02 9.97751417e-01 -9.81308138e-05 6.14104569e+00] [ 1.74566219e-02 -1.07429725e-03 9.99847044e-01 5.19043126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68509989300003 meters 0.029130872702793773 Centerline is valid? [True, True] Translation: X:435.93, Y:6.14, Z:5.19 [[ 9.97601606e-01 -6.67890281e-02 -1.81730968e-02 4.35934097e+02] [ 6.67982467e-02 9.97766498e-01 -9.99500825e-05 6.13882396e+00] [ 1.81391827e-02 -1.11422064e-03 9.99834851e-01 5.19033466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.715099893 meters 0.0299100999979359 Centerline is valid? [True, True] Translation: X:435.96, Y:6.13, Z:5.19 [[ 9.97688456e-01 -6.52719401e-02 -1.89028991e-02 4.35964328e+02] [ 6.52816713e-02 9.97866871e-01 -1.02463423e-04 6.13412654e+00] [ 1.88692647e-02 -1.13178627e-03 9.99821319e-01 5.18997549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74509989300003 meters 0.028236685914737353 Centerline is valid? [True, True] Translation: X:436.00, Y:6.14, Z:5.19 [[ 9.97745158e-01 -6.44400201e-02 -1.87639114e-02 4.35996467e+02] [ 6.44494748e-02 9.97920966e-01 -1.01035193e-04 6.13503251e+00] [ 1.87314113e-02 -1.10851686e-03 9.99823937e-01 5.19067495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.775099893 meters 0.028009295806807662 Centerline is valid? [True, True] Translation: X:436.03, Y:6.13, Z:5.19 [[ 9.97811946e-01 -6.34570690e-02 -1.85612755e-02 4.36028270e+02] [ 6.34661754e-02 9.97983985e-01 -9.86271538e-05 6.13353535e+00] [ 1.85301143e-02 -1.07960181e-03 9.99827720e-01 5.19137082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80509989300003 meters 0.02715120763651115 Centerline is valid? [True, True] Translation: X:436.06, Y:6.13, Z:5.19 [[ 9.97875931e-01 -6.25068849e-02 -1.83443639e-02 4.36060902e+02] [ 6.25156454e-02 9.98043979e-01 -9.60662711e-05 6.13312486e+00] [ 1.83144867e-02 -1.05094753e-03 9.99831723e-01 5.19212682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.835099893 meters 0.027021081608921343 Centerline is valid? [True, True] Translation: X:436.09, Y:6.13, Z:5.19 [[ 9.97970587e-01 -6.12763522e-02 -1.73180969e-02 4.36093472e+02] [ 6.12840008e-02 9.98120365e-01 -8.92008759e-05 6.13152649e+00] [ 1.72910111e-02 -9.72302413e-04 9.99850027e-01 5.19283733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.865099893 meters 0.02729337826803861 Centerline is valid? [True, True] Translation: X:436.12, Y:6.13, Z:5.19 [[ 9.98129370e-01 -5.88686654e-02 -1.64997529e-02 4.36124284e+02] [ 5.88752999e-02 9.98265342e-01 -8.37850403e-05 6.12802393e+00] [ 1.64760637e-02 -8.87799588e-04 9.99863866e-01 5.19396845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.895099893 meters 0.025270309957568873 Centerline is valid? [True, True] Translation: X:436.16, Y:6.13, Z:5.19 [[ 9.98204317e-01 -5.76437768e-02 -1.62891554e-02 4.36156213e+02] [ 5.76500920e-02 9.98336847e-01 -8.19981452e-05 6.12922766e+00] [ 1.62667907e-02 -8.57220406e-04 9.99867320e-01 5.19477939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.925099893 meters 0.024235802029006274 Centerline is valid? [True, True] Translation: X:436.19, Y:6.13, Z:5.20 [[ 9.98278336e-01 -5.63651167e-02 -1.62276780e-02 4.36188839e+02] [ 5.63712371e-02 9.98409874e-01 -8.03789496e-05 6.12927496e+00] [ 1.62064045e-02 -8.34533719e-04 9.99868319e-01 5.19502742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.955099893 meters 0.025024144876769395 Centerline is valid? [True, True] Translation: X:436.22, Y:6.13, Z:5.19 [[ 9.98404828e-01 -5.39364471e-02 -1.66930644e-02 4.36219739e+02] [ 5.39426108e-02 9.98544034e-01 -8.11383620e-05 6.12514331e+00] [ 1.66731362e-02 -8.19458542e-04 9.99860658e-01 5.19467352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.985099893 meters 0.02360613071292735 Centerline is valid? [True, True] Translation: X:436.25, Y:6.13, Z:5.19 [[ 9.98453558e-01 -5.30203664e-02 -1.67132567e-02 4.36251745e+02] [ 5.30264296e-02 9.98593106e-01 -8.04779629e-05 6.12546170e+00] [ 1.66940099e-02 -8.05890824e-04 9.99860321e-01 5.19489675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.015099893 meters 0.021744484189794796 Centerline is valid? [True, True] Translation: X:436.28, Y:6.13, Z:5.20 [[ 9.98505517e-01 -5.19157580e-02 -1.70729642e-02 4.36283731e+02] [ 5.19219453e-02 9.98651143e-01 -8.09562976e-05 6.12637330e+00] [ 1.70541381e-02 -8.05626202e-04 9.99854243e-01 5.19506347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.045099893 meters 0.022203563646776003 Centerline is valid? [True, True] Translation: X:436.32, Y:6.12, Z:5.20 [[ 9.98568379e-01 -5.06405152e-02 -1.72258844e-02 4.36315018e+02] [ 5.06466450e-02 9.98716632e-01 -8.04959536e-05 6.12417580e+00] [ 1.72078537e-02 -7.92052540e-04 9.99851620e-01 5.19518419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.075099893 meters 0.022500244356046698 Centerline is valid? [True, True] Translation: X:436.35, Y:6.12, Z:5.20 [[ 9.98646025e-01 -4.90496985e-02 -1.73275650e-02 4.36345912e+02] [ 4.90556783e-02 9.98796042e-01 -8.00203619e-05 6.12259049e+00] [ 1.73106283e-02 -7.70103438e-04 9.99849863e-01 5.19547436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.105099893 meters 0.02071725012644234 Centerline is valid? [True, True] Translation: X:436.38, Y:6.12, Z:5.20 [[ 9.98797126e-01 -4.59554662e-02 -1.70995680e-02 4.36377806e+02] [ 4.59608527e-02 9.98943239e-01 -7.80501941e-05 6.12327571e+00] [ 1.70850847e-02 -7.07954419e-04 9.99853789e-01 5.19653329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.135099893 meters 0.021163948566860987 Centerline is valid? [True, True] Translation: X:436.41, Y:6.12, Z:5.20 [[ 9.98868231e-01 -4.43473291e-02 -1.71921763e-02 4.36407851e+02] [ 4.43525494e-02 9.99015938e-01 -7.77114498e-05 6.12180989e+00] [ 1.71787044e-02 -6.84893349e-04 9.99852201e-01 5.19723104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.165099893 meters 0.019952112243484622 Centerline is valid? [True, True] Translation: X:436.44, Y:6.12, Z:5.20 [[ 9.98955216e-01 -4.24533617e-02 -1.69171356e-02 4.36438951e+02] [ 4.24581515e-02 9.99098243e-01 -7.60879149e-05 6.12298486e+00] [ 1.69051107e-02 -6.42261888e-04 9.99856892e-01 5.19795368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.195099893 meters 0.018613799199809506 Centerline is valid? [True, True] Translation: X:436.47, Y:6.12, Z:5.20 [[ 9.99044617e-01 -4.02167388e-02 -1.71016845e-02 4.36470265e+02] [ 4.02213170e-02 9.99190793e-01 -7.62979345e-05 6.12407623e+00] [ 1.70909141e-02 -6.11627231e-04 9.99853753e-01 5.19846890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.225099893 meters 0.018551064754269965 Centerline is valid? [True, True] Translation: X:436.50, Y:6.12, Z:5.20 [[ 9.99203496e-01 -3.60438239e-02 -1.71235482e-02 4.36500100e+02] [ 3.60478095e-02 9.99350064e-01 -7.59439452e-05 6.12252414e+00] [ 1.71151562e-02 -5.41382946e-04 9.99853378e-01 5.19803649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.255099893 meters 0.017520409367854622 Centerline is valid? [True, True] Translation: X:436.53, Y:6.12, Z:5.20 [[ 9.99268186e-01 -3.41505990e-02 -1.72287308e-02 4.36530251e+02] [ 3.41543526e-02 9.99416567e-01 -7.64104367e-05 6.12343396e+00] [ 1.72212885e-02 -5.12081630e-04 9.99851571e-01 5.19859979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.285099893 meters 0.01659837461373749 Centerline is valid? [True, True] Translation: X:436.56, Y:6.12, Z:5.20 [[ 9.99328294e-01 -3.24192765e-02 -1.70866054e-02 4.36560415e+02] [ 3.24227155e-02 9.99474243e-01 -7.57801019e-05 6.12441319e+00] [ 1.70800787e-02 -4.78264946e-04 9.99854010e-01 5.19924875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.315099893 meters 0.016275246600531305 Centerline is valid? [True, True] Translation: X:436.59, Y:6.12, Z:5.20 [[ 9.99374737e-01 -3.11948585e-02 -1.66437921e-02 4.36590504e+02] [ 3.11979519e-02 9.99513223e-01 -7.38161987e-05 6.12421698e+00] [ 1.66379929e-02 -4.45482180e-04 9.99861480e-01 5.20012006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.345099893 meters 0.016179117268863362 Centerline is valid? [True, True] Translation: X:436.62, Y:6.12, Z:5.20 [[ 9.99429396e-01 -2.94457296e-02 -1.65478525e-02 4.36620510e+02] [ 2.94485478e-02 9.99566295e-01 -7.33907013e-05 6.12242503e+00] [ 1.65428367e-02 -4.13961403e-04 9.99863072e-01 5.20072399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.375099893 meters 0.016084941980190934 Centerline is valid? [True, True] Translation: X:436.65, Y:6.12, Z:5.20 [[ 9.99443861e-01 -2.89870147e-02 -1.64839721e-02 4.36651067e+02] [ 2.89897488e-02 9.99579706e-01 -7.31073876e-05 6.12155854e+00] [ 1.64791631e-02 -4.04799481e-04 9.99864127e-01 5.20123115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.405099893 meters 0.01573695068207843 Centerline is valid? [True, True] Translation: X:436.68, Y:6.12, Z:5.20 [[ 9.99438050e-01 -2.90348751e-02 -1.67499441e-02 4.36681213e+02] [ 2.90377024e-02 9.99578314e-01 -7.44440680e-05 6.12122630e+00] [ 1.67450424e-02 -4.11977658e-04 9.99859707e-01 5.20180685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43509989300003 meters 0.015621984306383226 Centerline is valid? [True, True] Translation: X:436.71, Y:6.12, Z:5.20 [[ 9.99437257e-01 -2.91490920e-02 -1.65981691e-02 4.36710635e+02] [ 2.91518741e-02 9.99574991e-01 -7.43617374e-05 6.12041637e+00] [ 1.65932823e-02 -4.09547846e-04 9.99862238e-01 5.20238407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.465099893 meters 0.016465518723774268 Centerline is valid? [True, True] Translation: X:436.74, Y:6.12, Z:5.20 [[ 9.99417997e-01 -2.98388791e-02 -1.65320601e-02 4.36739951e+02] [ 2.98417247e-02 9.99554634e-01 -7.45862606e-05 6.11743005e+00] [ 1.65269228e-02 -4.18802335e-04 9.99863333e-01 5.20253951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49509989300003 meters 0.01662774699383677 Centerline is valid? [True, True] Translation: X:436.77, Y:6.11, Z:5.20 [[ 9.99351542e-01 -3.22846772e-02 -1.59434868e-02 4.36769487e+02] [ 3.22876294e-02 9.99478616e-01 -7.22732685e-05 6.11399034e+00] [ 1.59375074e-02 -4.42550990e-04 9.99872892e-01 5.20310257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.525099893 meters 0.016787769682929242 Centerline is valid? [True, True] Translation: X:436.80, Y:6.11, Z:5.20 [[ 9.99306360e-01 -3.36411679e-02 -1.59709452e-02 4.36800012e+02] [ 3.36442962e-02 9.99433868e-01 -7.28418794e-05 6.11207699e+00] [ 1.59643540e-02 -4.64539858e-04 9.99872454e-01 5.20323628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55509989300003 meters 0.017564704060635903 Centerline is valid? [True, True] Translation: X:436.83, Y:6.11, Z:5.20 [[ 9.99244271e-01 -3.53805621e-02 -1.60966649e-02 4.36830441e+02] [ 3.53839684e-02 9.99373789e-01 -7.32244710e-05 6.10898845e+00] [ 1.60891757e-02 -4.96394747e-04 9.99870438e-01 5.20325884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.585099893 meters 0.017086884369897436 Centerline is valid? [True, True] Translation: X:436.86, Y:6.11, Z:5.20 [[ 9.99162490e-01 -3.74977877e-02 -1.63778629e-02 4.36861729e+02] [ 3.75016111e-02 9.99296564e-01 -7.37122499e-05 6.10821981e+00] [ 1.63691061e-02 -5.40545729e-04 9.99865871e-01 5.20354851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.615099893 meters 0.018494754005704203 Centerline is valid? [True, True] Translation: X:436.89, Y:6.10, Z:5.20 [[ 9.99082730e-01 -3.93861847e-02 -1.68055546e-02 4.36892091e+02] [ 3.93904889e-02 9.99223891e-01 -7.49460483e-05 6.10444743e+00] [ 1.67954635e-02 -5.87101711e-04 9.99858774e-01 5.20346924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.645099893 meters 0.021678957757998312 Centerline is valid? [True, True] Translation: X:436.92, Y:6.10, Z:5.20 [[ 9.98894878e-01 -4.36686912e-02 -1.73800998e-02 4.36921942e+02] [ 4.36739532e-02 9.99045835e-01 -7.68659462e-05 6.09694885e+00] [ 1.73668729e-02 -6.82276663e-04 9.99848952e-01 5.20278524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.675099893 meters 0.020831472833824492 Centerline is valid? [True, True] Translation: X:436.95, Y:6.10, Z:5.20 [[ 9.98803353e-01 -4.56950331e-02 -1.74306144e-02 4.36953459e+02] [ 4.57006369e-02 9.98955177e-01 -7.69078587e-05 6.09706323e+00] [ 1.74159168e-02 -7.19774351e-04 9.99848072e-01 5.20330943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.705099893 meters 0.024291011848910114 Centerline is valid? [True, True] Translation: X:436.98, Y:6.09, Z:5.20 [[ 9.98715565e-01 -4.75527256e-02 -1.74916693e-02 4.36983250e+02] [ 4.75586609e-02 9.98868444e-01 -7.67326232e-05 6.09067806e+00] [ 1.74755253e-02 -7.55246302e-04 9.99847006e-01 5.20276459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.735099893 meters 0.02272439966354403 Centerline is valid? [True, True] Translation: X:437.01, Y:6.09, Z:5.20 [[ 9.98633705e-01 -4.92246238e-02 -1.75402535e-02 4.37014945e+02] [ 4.92308526e-02 9.98787423e-01 -7.67621837e-05 6.09166394e+00] [ 1.75227632e-02 -7.86864333e-04 9.99846155e-01 5.20330301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.765099893 meters 0.025367272239925215 Centerline is valid? [True, True] Translation: X:437.05, Y:6.09, Z:5.20 [[ 9.98489017e-01 -5.20289431e-02 -1.76825208e-02 4.37045388e+02] [ 5.20357216e-02 9.98645221e-01 -7.68489474e-05 6.08539471e+00] [ 1.76625633e-02 -8.43389901e-04 9.99843649e-01 5.20287944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.795099893 meters 0.02404353798113101 Centerline is valid? [True, True] Translation: X:437.08, Y:6.09, Z:5.20 [[ 9.98438642e-01 -5.29354833e-02 -1.78357073e-02 4.37077142e+02] [ 5.29425314e-02 9.98597558e-01 -7.70998364e-05 6.08664102e+00] [ 1.78147751e-02 -8.67288040e-04 9.99840928e-01 5.20378156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.825099893 meters 0.023736529215662213 Centerline is valid? [True, True] Translation: X:437.11, Y:6.09, Z:5.20 [[ 9.98425540e-01 -5.32100682e-02 -1.77518918e-02 4.37108837e+02] [ 5.32171065e-02 9.98582963e-01 -7.60071008e-05 6.08657595e+00] [ 1.77307810e-02 -8.68816885e-04 9.99842420e-01 5.20423882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.855099893 meters 0.025142470230919232 Centerline is valid? [True, True] Translation: X:437.14, Y:6.08, Z:5.20 [[ 9.98422695e-01 -5.32637463e-02 -1.77509516e-02 4.37140029e+02] [ 5.32708093e-02 9.98580100e-01 -7.50458487e-05 6.08429480e+00] [ 1.77297443e-02 -8.70680080e-04 9.99842437e-01 5.20470867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.885099893 meters 0.022439731230870612 Centerline is valid? [True, True] Translation: X:437.17, Y:6.09, Z:5.21 [[ 9.98505267e-01 -5.15613474e-02 -1.81289878e-02 4.37171203e+02] [ 5.15684506e-02 9.98669459e-01 -7.57563732e-05 6.08758148e+00] [ 1.81087726e-02 -8.59240677e-04 9.99835654e-01 5.20539882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.915099893 meters 0.021623169885768578 Centerline is valid? [True, True] Translation: X:437.20, Y:6.09, Z:5.21 [[ 9.98592448e-01 -4.98820574e-02 -1.80250478e-02 4.37202704e+02] [ 4.98888182e-02 9.98754775e-01 -7.46643573e-05 6.08869825e+00] [ 1.80063270e-02 -8.24689070e-04 9.99837533e-01 5.20592717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.945099893 meters 0.021077188929133593 Centerline is valid? [True, True] Translation: X:437.23, Y:6.09, Z:5.21 [[ 9.98707134e-01 -4.76820663e-02 -1.76204654e-02 4.37234545e+02] [ 4.76881982e-02 9.98862268e-01 -7.22572974e-05 6.08997625e+00] [ 1.76038634e-02 -7.68124365e-04 9.99844745e-01 5.20644669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.975099893 meters 0.019505907516793233 Centerline is valid? [True, True] Translation: X:437.26, Y:6.09, Z:5.21 [[ 9.98957376e-01 -4.24361998e-02 -1.68323933e-02 4.37264870e+02] [ 4.24410626e-02 9.99098970e-01 -6.83790641e-05 6.09349026e+00] [ 1.68201285e-02 -6.46076887e-04 9.99858323e-01 5.20808123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.005099893 meters 0.018780824218656733 Centerline is valid? [True, True] Translation: X:437.30, Y:6.10, Z:5.21 [[ 9.99070616e-01 -3.97380065e-02 -1.66971538e-02 4.37296378e+02] [ 3.97424177e-02 9.99209956e-01 -6.76722246e-05 6.09560106e+00] [ 1.66866515e-02 -5.95975930e-04 9.99860591e-01 5.20883193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.035099893 meters 0.01780885097079845 Centerline is valid? [True, True] Translation: X:437.33, Y:6.10, Z:5.21 [[ 9.99177932e-01 -3.69642181e-02 -1.66465202e-02 4.37326739e+02] [ 3.69682256e-02 9.99316439e-01 -6.70189136e-05 6.09809185e+00] [ 1.66376186e-02 -5.48428493e-04 9.99861435e-01 5.20955395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.065099893 meters 0.016947737784793852 Centerline is valid? [True, True] Translation: X:437.36, Y:6.10, Z:5.21 [[ 9.99261483e-01 -3.44408058e-02 -1.70387520e-02 4.37357568e+02] [ 3.44446379e-02 9.99406605e-01 -6.85980396e-05 6.10030849e+00] [ 1.70310039e-02 -5.18346265e-04 9.99854828e-01 5.20956796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.095099893 meters 0.01756028429435736 Centerline is valid? [True, True] Translation: X:437.39, Y:6.10, Z:5.21 [[ 9.99309406e-01 -3.26408228e-02 -1.77563167e-02 4.37387414e+02] [ 3.26446989e-02 9.99467017e-01 -7.15841965e-05 6.09993610e+00] [ 1.77491894e-02 -5.08114850e-04 9.99842342e-01 5.20907680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.125099893 meters 0.016648057826380732 Centerline is valid? [True, True] Translation: X:437.42, Y:6.10, Z:5.21 [[ 9.99376431e-01 -2.97947537e-02 -1.89478904e-02 4.37416772e+02] [ 2.97986236e-02 9.99555919e-01 -7.81223020e-05 6.10209247e+00] [ 1.89418036e-02 -4.86547466e-04 9.99820470e-01 5.20812746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.155099893 meters 0.016566843938419184 Centerline is valid? [True, True] Translation: X:437.45, Y:6.10, Z:5.21 [[ 9.99379581e-01 -2.93325937e-02 -1.94949381e-02 4.37445457e+02] [ 2.93365123e-02 9.99569588e-01 -8.50082790e-05 6.10261479e+00] [ 1.94890408e-02 -4.86957953e-04 9.99809952e-01 5.20798821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18509989300003 meters 0.01668817169997743 Centerline is valid? [True, True] Translation: X:437.47, Y:6.10, Z:5.21 [[ 9.99373376e-01 -2.94333957e-02 -1.96603867e-02 4.37473638e+02] [ 2.94373012e-02 9.99566625e-01 -9.07886856e-05 6.10285509e+00] [ 1.96545386e-02 -4.88016929e-04 9.99806712e-01 5.20796383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.215099893 meters 0.017091697709437116 Centerline is valid? [True, True] Translation: X:437.50, Y:6.10, Z:5.21 [[ 9.99348299e-01 -3.00590851e-02 -1.99856977e-02 4.37502135e+02] [ 3.00631399e-02 9.99547997e-01 -9.75984379e-05 6.10322541e+00] [ 1.99795979e-02 -5.03297995e-04 9.99800261e-01 5.20795687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24509989300003 meters 0.01743373920494214 Centerline is valid? [True, True] Translation: X:437.53, Y:6.10, Z:5.21 [[ 9.99329421e-01 -3.05450973e-02 -2.01917029e-02 4.37530313e+02] [ 3.05492612e-02 9.99533257e-01 -1.02270186e-04 6.10304186e+00] [ 2.01854024e-02 -5.14640000e-04 9.99796122e-01 5.20817779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.275099893 meters 0.01608697675778211 Centerline is valid? [True, True] Translation: X:437.56, Y:6.11, Z:5.21 [[ 9.99294136e-01 -3.14969040e-02 -2.04737698e-02 4.37559000e+02] [ 3.15013209e-02 9.99503705e-01 -1.06818447e-04 6.10606945e+00] [ 2.04669732e-02 -5.38207743e-04 9.99790385e-01 5.20959949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30509989300003 meters 0.016395329381599877 Centerline is valid? [True, True] Translation: X:437.59, Y:6.11, Z:5.21 [[ 9.99291230e-01 -3.19937321e-02 -1.98352690e-02 4.37586591e+02] [ 3.19979021e-02 9.99487930e-01 -1.07191241e-04 6.10560963e+00] [ 1.98285414e-02 -5.27571727e-04 9.99803256e-01 5.21019288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.335099893 meters 0.016991064842307946 Centerline is valid? [True, True] Translation: X:437.61, Y:6.10, Z:5.21 [[ 9.99290493e-01 -3.26657916e-02 -1.87471778e-02 4.37614735e+02] [ 3.26696044e-02 9.99466201e-01 -1.02925447e-04 6.10493920e+00] [ 1.87405327e-02 -5.09610460e-04 9.99824251e-01 5.21141840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.365099893 meters 0.016844383479330982 Centerline is valid? [True, True] Translation: X:437.64, Y:6.11, Z:5.21 [[ 9.99311572e-01 -3.27048741e-02 -1.75149624e-02 4.37644343e+02] [ 3.27081869e-02 9.99464939e-01 -9.73686277e-05 6.10671286e+00] [ 1.75087752e-02 -4.75581065e-04 9.99846597e-01 5.21326924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.395099893 meters 0.017157752938582266 Centerline is valid? [True, True] Translation: X:437.67, Y:6.11, Z:5.21 [[ 9.99314400e-01 -3.29075534e-02 -1.69653338e-02 4.37673382e+02] [ 3.29106821e-02 9.99458292e-01 -9.48194406e-05 6.10699998e+00] [ 1.69592639e-02 -4.63586276e-04 9.99856074e-01 5.21442055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.425099893 meters 0.017157752938582266 Centerline is valid? [True, True] Translation: X:437.70, Y:6.11, Z:5.21 [[ 9.99314400e-01 -3.29075561e-02 -1.69653326e-02 4.37703391e+02] [ 3.29106811e-02 9.99458292e-01 -9.50372847e-05 6.10716819e+00] [ 1.69592698e-02 -4.63368524e-04 9.99856074e-01 5.21479172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.455099893 meters 0.017515410143854424 Centerline is valid? [True, True] Translation: X:437.73, Y:6.11, Z:5.22 [[ 9.99312933e-01 -3.32191314e-02 -1.64363075e-02 4.37733651e+02] [ 3.32221065e-02 9.99447989e-01 -9.20737643e-05 6.10728179e+00] [ 1.64302931e-02 -4.54038256e-04 9.99864911e-01 5.21548948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.485099893 meters 0.018082874502524212 Centerline is valid? [True, True] Translation: X:437.76, Y:6.11, Z:5.22 [[ 9.99286027e-01 -3.42563553e-02 -1.59354246e-02 4.37763964e+02] [ 3.42592836e-02 9.99412974e-01 -8.92678920e-05 6.10656797e+00] [ 1.59291280e-02 -4.56732073e-04 9.99873019e-01 5.21545979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.515099893 meters 0.018575975084878075 Centerline is valid? [True, True] Translation: X:437.79, Y:6.11, Z:5.22 [[ 9.99262587e-01 -3.49754146e-02 -1.58430653e-02 4.37794041e+02] [ 3.49784003e-02 9.99388065e-01 -8.86907292e-05 6.10549056e+00] [ 1.58364723e-02 -4.65539751e-04 9.99874487e-01 5.21561408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.545099893 meters 0.018575975084878075 Centerline is valid? [True, True] Translation: X:437.82, Y:6.11, Z:5.22 [[ 9.99263787e-01 -3.49411001e-02 -1.58430671e-02 4.37824896e+02] [ 3.49440867e-02 9.99389265e-01 -8.83587633e-05 6.10563212e+00] [ 1.58364786e-02 -4.65327800e-04 9.99874487e-01 5.21599560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.575099893 meters 0.019147892906743253 Centerline is valid? [True, True] Translation: X:437.86, Y:6.10, Z:5.22 [[ 9.99227525e-01 -3.57821630e-02 -1.62477793e-02 4.37855609e+02] [ 3.57854224e-02 9.99359493e-01 -9.01804299e-05 6.10454335e+00] [ 1.62405993e-02 -4.91322876e-04 9.99867992e-01 5.21575901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.605099893 meters 0.01957358631086566 Centerline is valid? [True, True] Translation: X:437.89, Y:6.10, Z:5.22 [[ 9.99201801e-01 -3.62707375e-02 -1.67389961e-02 4.37886318e+02] [ 3.62742655e-02 9.99341868e-01 -9.29068419e-05 6.10378426e+00] [ 1.67313494e-02 -5.14362104e-04 9.99859889e-01 5.21575540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.635099893 meters 0.020364344789409464 Centerline is valid? [True, True] Translation: X:437.92, Y:6.10, Z:5.22 [[ 9.99153144e-01 -3.70627388e-02 -1.78703390e-02 4.37916860e+02] [ 3.70668881e-02 9.99312782e-01 -9.90934332e-05 6.10339482e+00] [ 1.78617309e-02 -5.63388341e-04 9.99840308e-01 5.21554984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.665099893 meters 0.01863537431517554 Centerline is valid? [True, True] Translation: X:437.95, Y:6.11, Z:5.22 [[ 9.99151022e-01 -3.69192600e-02 -1.82812086e-02 4.37947629e+02] [ 3.69235823e-02 9.99318087e-01 -1.01158689e-04 6.10666318e+00] [ 1.82724771e-02 -5.73934904e-04 9.99832880e-01 5.21624189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.695099893 meters 0.017286346078257145 Centerline is valid? [True, True] Translation: X:437.98, Y:6.11, Z:5.22 [[ 9.99156489e-01 -3.66626292e-02 -1.84976147e-02 4.37978289e+02] [ 3.66670105e-02 9.99327534e-01 -1.02356168e-04 6.10952511e+00] [ 1.84889283e-02 -5.75982403e-04 9.99828899e-01 5.21734050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.725099893 meters 0.01751152867796707 Centerline is valid? [True, True] Translation: X:438.01, Y:6.11, Z:5.22 [[ 9.99213942e-01 -3.50896244e-02 -1.84449291e-02 4.38008186e+02] [ 3.50937130e-02 9.99384021e-01 -1.02064633e-04 6.10958880e+00] [ 1.84371488e-02 -5.45316645e-04 9.99829873e-01 5.21767682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.755099893 meters 0.017424612021557543 Centerline is valid? [True, True] Translation: X:438.04, Y:6.11, Z:5.22 [[ 9.99245135e-01 -3.40711655e-02 -1.86632020e-02 4.38037499e+02] [ 3.40751699e-02 9.99419267e-01 -1.03494913e-04 6.11030927e+00] [ 1.86558899e-02 -5.32534992e-04 9.99825822e-01 5.21780623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.785099893 meters 0.016562114735203845 Centerline is valid? [True, True] Translation: X:438.07, Y:6.11, Z:5.22 [[ 9.99276168e-01 -3.29213951e-02 -1.90609828e-02 4.38067092e+02] [ 3.29253500e-02 9.99457808e-01 -1.06387410e-04 6.11250989e+00] [ 1.90541505e-02 -5.21279125e-04 9.99818317e-01 5.21821224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.815099893 meters 0.01610701997417737 Centerline is valid? [True, True] Translation: X:438.10, Y:6.11, Z:5.22 [[ 9.99305404e-01 -3.15941585e-02 -1.97615300e-02 4.38096881e+02] [ 3.15981358e-02 9.99500648e-01 -1.11025177e-04 6.11438411e+00] [ 1.97551698e-02 -5.13479451e-04 9.99804716e-01 5.21879686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.845099893 meters 0.015950130125169264 Centerline is valid? [True, True] Translation: X:438.13, Y:6.12, Z:5.22 [[ 9.99353553e-01 -2.96804158e-02 -2.02866581e-02 4.38125164e+02] [ 2.96841637e-02 9.99559321e-01 -1.16421707e-04 6.11567261e+00] [ 2.02811736e-02 -4.85846032e-04 9.99794198e-01 5.21877798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.875099893 meters 0.015735763646207726 Centerline is valid? [True, True] Translation: X:438.15, Y:6.12, Z:5.22 [[ 9.99368522e-01 -2.92467098e-02 -2.01788991e-02 4.38153897e+02] [ 2.92502282e-02 9.99572113e-01 -1.20831103e-04 6.11639764e+00] [ 2.01737988e-02 -4.69482603e-04 9.99796378e-01 5.21913465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.905099893 meters 0.015463204380610086 Centerline is valid? [True, True] Translation: X:438.18, Y:6.12, Z:5.22 [[ 9.99360537e-01 -2.92778298e-02 -2.05262094e-02 4.38182039e+02] [ 2.92813646e-02 9.99571201e-01 -1.28381785e-04 6.11711387e+00] [ 2.05211665e-02 -4.72735732e-04 9.99789307e-01 5.21965643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93509989300003 meters 0.015371562538898036 Centerline is valid? [True, True] Translation: X:438.21, Y:6.12, Z:5.22 [[ 9.99349874e-01 -2.96961274e-02 -2.04442817e-02 4.38209484e+02] [ 2.96996016e-02 9.99558861e-01 -1.33736805e-04 6.11722579e+00] [ 2.04392344e-02 -4.73537163e-04 9.99790985e-01 5.22021005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.965099893 meters 0.01506681231518163 Centerline is valid? [True, True] Translation: X:438.24, Y:6.12, Z:5.22 [[ 9.99327141e-01 -3.02985551e-02 -2.06703387e-02 4.38238136e+02] [ 3.03021168e-02 9.99540775e-01 -1.40952329e-04 6.11761989e+00] [ 2.06651170e-02 -4.85497529e-04 9.99786336e-01 5.22086264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99509989300003 meters 0.015490638724147677 Centerline is valid? [True, True] Translation: X:438.27, Y:6.12, Z:5.22 [[ 9.99299306e-01 -3.08985821e-02 -2.11228423e-02 4.38265659e+02] [ 3.09023413e-02 9.99522398e-01 -1.48495427e-04 6.11679784e+00] [ 2.11173423e-02 -5.04353905e-04 9.99776877e-01 5.22116818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.025099893 meters 0.01554157066712197 Centerline is valid? [True, True] Translation: X:438.29, Y:6.12, Z:5.22 [[ 9.99247095e-01 -3.24524336e-02 -2.12622437e-02 4.38294682e+02] [ 3.24565090e-02 9.99473137e-01 -1.53480485e-04 6.11648719e+00] [ 2.12560223e-02 -5.36733276e-04 9.99773921e-01 5.22223349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05509989300003 meters 0.01611990962510274 Centerline is valid? [True, True] Translation: X:438.32, Y:6.12, Z:5.22 [[ 9.99218684e-01 -3.33940409e-02 -2.11390545e-02 4.38322278e+02] [ 3.33981961e-02 9.99442112e-01 -1.56547102e-04 6.11548559e+00] [ 2.11324890e-02 -5.49581497e-04 9.99776533e-01 5.22264752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.085099893 meters 0.01766850120313536 Centerline is valid? [True, True] Translation: X:438.35, Y:6.11, Z:5.22 [[ 9.99182049e-01 -3.44169845e-02 -2.12298080e-02 4.38349743e+02] [ 3.44213575e-02 9.99407397e-01 -1.59513494e-04 6.11253377e+00] [ 2.12227171e-02 -5.71375789e-04 9.99774610e-01 5.22230928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.115099893 meters 0.01706330152946872 Centerline is valid? [True, True] Translation: X:438.38, Y:6.11, Z:5.22 [[ 9.99096461e-01 -3.64286511e-02 -2.18909996e-02 4.38378431e+02] [ 3.64336944e-02 9.99336058e-01 -1.68539870e-04 6.11317750e+00] [ 2.18826050e-02 -6.29182403e-04 9.99760349e-01 5.22319626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.145099893 meters 0.019293590972868695 Centerline is valid? [True, True] Translation: X:438.41, Y:6.11, Z:5.22 [[ 9.99049843e-01 -3.73850025e-02 -2.24002859e-02 4.38406726e+02] [ 3.73904231e-02 9.99300718e-01 -1.76939716e-04 6.10904372e+00] [ 2.23912366e-02 -6.60784570e-04 9.99749066e-01 5.22194272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.175099893 meters 0.018359307849728407 Centerline is valid? [True, True] Translation: X:438.44, Y:6.11, Z:5.22 [[ 9.99004281e-01 -3.86262357e-02 -2.23262156e-02 4.38435013e+02] [ 3.86318650e-02 9.99253495e-01 -1.79271000e-04 6.11050917e+00] [ 2.23164735e-02 -6.83410849e-04 9.99750723e-01 5.22266140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.205099893 meters 0.018707355908503004 Centerline is valid? [True, True] Translation: X:438.46, Y:6.11, Z:5.22 [[ 9.98962387e-01 -3.95291661e-02 -2.26184581e-02 4.38463506e+02] [ 3.95350814e-02 9.99218166e-01 -1.85761793e-04 6.10975764e+00] [ 2.26081172e-02 -7.08653538e-04 9.99744153e-01 5.22299193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.235099893 meters 0.018201378221871883 Centerline is valid? [True, True] Translation: X:438.49, Y:6.11, Z:5.22 [[ 9.98905697e-01 -4.09060773e-02 -2.26737852e-02 4.38492622e+02] [ 4.09122482e-02 9.99162725e-01 -1.91842117e-04 6.11133324e+00] [ 2.26626485e-02 -7.36003344e-04 9.99742898e-01 5.22439947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.265099893 meters 0.020002516647917995 Centerline is valid? [True, True] Translation: X:438.52, Y:6.11, Z:5.22 [[ 9.98913649e-01 -4.08383174e-02 -2.24444688e-02 4.38521583e+02] [ 4.08442658e-02 9.99165506e-01 -1.93522279e-04 6.10878238e+00] [ 2.24336422e-02 -7.23415804e-04 9.99748072e-01 5.22414370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.295099893 meters 0.01993275600562687 Centerline is valid? [True, True] Translation: X:438.55, Y:6.11, Z:5.22 [[ 9.98910556e-01 -4.09741742e-02 -2.23342214e-02 4.38550464e+02] [ 4.09800304e-02 9.99159947e-01 -1.95610507e-04 6.10949345e+00] [ 2.23234744e-02 -7.19859670e-04 9.99750541e-01 5.22476764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.325099893 meters 0.019900998068088566 Centerline is valid? [True, True] Translation: X:438.58, Y:6.11, Z:5.23 [[ 9.98940573e-01 -4.06564906e-02 -2.15587670e-02 4.38579669e+02] [ 4.06618049e-02 9.99172948e-01 -1.91981218e-04 6.11014345e+00] [ 2.15487421e-02 -6.84840551e-04 9.99767564e-01 5.22575607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.355099893 meters 0.017388754355592638 Centerline is valid? [True, True] Translation: X:438.61, Y:6.12, Z:5.23 [[ 9.98971155e-01 -4.02713358e-02 -2.08530868e-02 4.38609120e+02] [ 4.02762089e-02 9.99188567e-01 -1.86413347e-04 6.11519509e+00] [ 2.08436731e-02 -6.53661726e-04 9.99782533e-01 5.22755560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.385099893 meters 0.019466346708630844 Centerline is valid? [True, True] Translation: X:438.64, Y:6.11, Z:5.23 [[ 9.98981736e-01 -3.97103421e-02 -2.14144692e-02 4.38638203e+02] [ 3.97153391e-02 9.99211016e-01 -1.92058955e-04 6.11214541e+00] [ 2.14052003e-02 -6.58619519e-04 9.99770666e-01 5.22668776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.415099893 meters 0.016866127769237214 Centerline is valid? [True, True] Translation: X:438.67, Y:6.12, Z:5.23 [[ 9.99023364e-01 -3.86081420e-02 -2.14878733e-02 4.38667991e+02] [ 3.86129066e-02 9.99254225e-01 -1.93275805e-04 6.11714183e+00] [ 2.14793102e-02 -6.36622201e-04 9.99769090e-01 5.22761191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.445099893 meters 0.017619337794200173 Centerline is valid? [True, True] Translation: X:438.70, Y:6.12, Z:5.23 [[ 9.99056114e-01 -3.80511026e-02 -2.09522126e-02 4.38696296e+02] [ 3.80554912e-02 9.99275609e-01 -1.89366675e-04 6.11617383e+00] [ 2.09442406e-02 -6.08158807e-04 9.99780460e-01 5.22750151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.475099893 meters 0.01783524201419488 Centerline is valid? [True, True] Translation: X:438.73, Y:6.12, Z:5.23 [[ 9.99054452e-01 -3.82858214e-02 -2.06009263e-02 4.38725627e+02] [ 3.82900942e-02 9.99266648e-01 -1.87145125e-04 6.11646644e+00] [ 2.05929836e-02 -6.01843240e-04 9.99787761e-01 5.22802122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.505099893 meters 0.017216265632813307 Centerline is valid? [True, True] Translation: X:438.76, Y:6.12, Z:5.23 [[ 9.99007289e-01 -3.91534904e-02 -2.12471235e-02 4.38755713e+02] [ 3.91582151e-02 9.99233004e-01 -1.93789274e-04 6.11759718e+00] [ 2.12384146e-02 -6.38402536e-04 9.99774236e-01 5.22857483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.535099893 meters 0.01800832871335747 Centerline is valid? [True, True] Translation: X:438.78, Y:6.12, Z:5.23 [[ 9.98970467e-01 -3.99259826e-02 -2.15388566e-02 4.38784155e+02] [ 3.99309970e-02 9.99202420e-01 -1.97402016e-04 6.11597780e+00] [ 2.15295591e-02 -6.62869232e-04 9.99767992e-01 5.22788727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.565099893 meters 0.01775467781372254 Centerline is valid? [True, True] Translation: X:438.81, Y:6.12, Z:5.23 [[ 9.98917312e-01 -4.11083723e-02 -2.17785456e-02 4.38813613e+02] [ 4.11137574e-02 9.99154452e-01 -2.00616643e-04 6.11662942e+00] [ 2.17683778e-02 -6.94998401e-04 9.99762799e-01 5.22810782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.595099893 meters 0.0182540325203542 Centerline is valid? [True, True] Translation: X:438.84, Y:6.12, Z:5.23 [[ 9.98829027e-01 -4.32168515e-02 -2.17457745e-02 4.38843048e+02] [ 4.32227023e-02 9.99065442e-01 -2.01103479e-04 6.11528505e+00] [ 2.17341429e-02 -7.39043147e-04 9.99763512e-01 5.22774401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.625099893 meters 0.018319266731015936 Centerline is valid? [True, True] Translation: X:438.87, Y:6.12, Z:5.23 [[ 9.98789652e-01 -4.43168914e-02 -2.13364308e-02 4.38873732e+02] [ 4.43227652e-02 9.99017244e-01 -1.97758397e-04 6.11528163e+00] [ 2.13242263e-02 -7.48170573e-04 9.99772333e-01 5.22854388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.655099893 meters 0.01883096428122207 Centerline is valid? [True, True] Translation: X:438.90, Y:6.11, Z:5.23 [[ 9.98775043e-01 -4.49138792e-02 -2.07643081e-02 4.38903313e+02] [ 4.49195677e-02 9.98990588e-01 -1.92608630e-04 6.11410077e+00] [ 2.07519992e-02 -7.40351053e-04 9.99784380e-01 5.22912084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68509989300003 meters 0.01975364900714148 Centerline is valid? [True, True] Translation: X:438.93, Y:6.11, Z:5.23 [[ 9.98777216e-01 -4.49903667e-02 -2.04924165e-02 4.38933639e+02] [ 4.49959217e-02 9.98987153e-01 -1.90162723e-04 6.11249460e+00] [ 2.04802163e-02 -7.32144972e-04 9.99789990e-01 5.22962995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.715099893 meters 0.01930413386622249 Centerline is valid? [True, True] Translation: X:438.96, Y:6.11, Z:5.23 [[ 9.98785823e-01 -4.50235350e-02 -1.99940428e-02 4.38964337e+02] [ 4.50288339e-02 9.98985670e-01 -1.85321089e-04 6.11345114e+00] [ 1.99821061e-02 -7.15212357e-04 9.99800082e-01 5.23055252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74509989300003 meters 0.02116968366312321 Centerline is valid? [True, True] Translation: X:438.99, Y:6.11, Z:5.23 [[ 9.98837491e-01 -4.39301428e-02 -1.98446155e-02 4.38993479e+02] [ 4.39351447e-02 9.99034368e-01 -1.84069226e-04 6.11108612e+00] [ 1.98335391e-02 -6.88020810e-04 9.99803059e-01 5.23033371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.775099893 meters 0.019626802009497037 Centerline is valid? [True, True] Translation: X:439.02, Y:6.11, Z:5.23 [[ 9.98859084e-01 -4.34583656e-02 -1.97965068e-02 4.39024217e+02] [ 4.34632464e-02 9.99055010e-01 -1.83842569e-04 6.11404094e+00] [ 1.97857888e-02 -6.76787634e-04 9.99804013e-01 5.23115766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80509989300003 meters 0.018696926320427264 Centerline is valid? [True, True] Translation: X:439.06, Y:6.12, Z:5.23 [[ 9.98876465e-01 -4.31647199e-02 -1.95605249e-02 4.39055510e+02] [ 4.31694338e-02 9.99067749e-01 -1.81392890e-04 6.11590261e+00] [ 1.95501193e-02 -6.63227695e-04 9.99808658e-01 5.23185203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.835099893 meters 0.018796464944007798 Centerline is valid? [True, True] Translation: X:439.09, Y:6.12, Z:5.23 [[ 9.98904445e-01 -4.29412016e-02 -1.86000999e-02 4.39087313e+02] [ 4.29454371e-02 9.99077404e-01 -1.71841744e-04 6.11542494e+00] [ 1.85903186e-02 -6.27135937e-04 9.99826988e-01 5.23253620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.865099893 meters 0.018730596293582664 Centerline is valid? [True, True] Translation: X:439.12, Y:6.12, Z:5.23 [[ 9.98896568e-01 -4.34013804e-02 -1.79434121e-02 4.39118818e+02] [ 4.34054073e-02 9.99057528e-01 -1.65147707e-04 6.11589431e+00] [ 1.79336686e-02 -6.13875635e-04 9.99838990e-01 5.23344044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.895099893 meters 0.018878417702727444 Centerline is valid? [True, True] Translation: X:439.15, Y:6.12, Z:5.23 [[ 9.98877768e-01 -4.39612618e-02 -1.76241889e-02 4.39150009e+02] [ 4.39652448e-02 9.99033048e-01 -1.61583204e-04 6.11587565e+00] [ 1.76142506e-02 -6.13449910e-04 9.99844669e-01 5.23410523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.925099893 meters 0.019380538480662332 Centerline is valid? [True, True] Translation: X:439.18, Y:6.12, Z:5.23 [[ 9.98849169e-01 -4.45593261e-02 -1.77427222e-02 4.39181172e+02] [ 4.45634685e-02 9.99006542e-01 -1.62029982e-04 6.11523155e+00] [ 1.77323155e-02 -6.28833729e-04 9.99842572e-01 5.23425090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.955099893 meters 0.019361534759514545 Centerline is valid? [True, True] Translation: X:439.21, Y:6.12, Z:5.23 [[ 9.98825292e-01 -4.50463430e-02 -1.78567462e-02 4.39212906e+02] [ 4.50506280e-02 9.98984692e-01 -1.62430120e-04 6.11567067e+00] [ 1.78459330e-02 -6.42218317e-04 9.99840542e-01 5.23443972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.985099893 meters 0.019878039863869813 Centerline is valid? [True, True] Translation: X:439.24, Y:6.12, Z:5.23 [[ 9.98775407e-01 -4.62021069e-02 -1.76932477e-02 4.39244480e+02] [ 4.62065060e-02 9.98931896e-01 -1.60312895e-04 6.11585591e+00] [ 1.76817563e-02 -6.57426581e-04 9.99843449e-01 5.23445981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.015099893 meters 0.020458715267443757 Centerline is valid? [True, True] Translation: X:439.28, Y:6.12, Z:5.23 [[ 9.98753909e-01 -4.65403975e-02 -1.80172524e-02 4.39275820e+02] [ 4.65450277e-02 9.98916180e-01 -1.62496166e-04 6.11537790e+00] [ 1.80052876e-02 -6.76319831e-04 9.99837663e-01 5.23432204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.045099893 meters 0.020874626421806427 Centerline is valid? [True, True] Translation: X:439.31, Y:6.12, Z:5.23 [[ 9.98753511e-01 -4.65718844e-02 -1.79578398e-02 4.39306626e+02] [ 4.65765028e-02 9.98914713e-01 -1.61202366e-04 6.11537234e+00] [ 1.79458579e-02 -6.75411946e-04 9.99838732e-01 5.23443692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.075099893 meters 0.020713519404100312 Centerline is valid? [True, True] Translation: X:439.34, Y:6.12, Z:5.24 [[ 9.98754126e-01 -4.64649513e-02 -1.81990307e-02 4.39337912e+02] [ 4.64696846e-02 9.98919687e-01 -1.62941712e-04 6.11636628e+00] [ 1.81869411e-02 -6.82964508e-04 9.99834371e-01 5.23506426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.105099893 meters 0.019210172209244637 Centerline is valid? [True, True] Translation: X:439.37, Y:6.12, Z:5.24 [[ 9.98777204e-01 -4.60553340e-02 -1.79722876e-02 4.39368872e+02] [ 4.60598953e-02 9.98938667e-01 -1.60278769e-04 6.12051495e+00] [ 1.79605947e-02 -6.67718903e-04 9.99838473e-01 5.23625866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.135099893 meters 0.019020051447654167 Centerline is valid? [True, True] Translation: X:439.40, Y:6.12, Z:5.24 [[ 9.98774535e-01 -4.59434721e-02 -1.84017743e-02 4.39400039e+02] [ 4.59482475e-02 9.98943808e-01 -1.63429775e-04 6.12181085e+00] [ 1.83898470e-02 -6.82299781e-04 9.99830660e-01 5.23651531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.165099893 meters 0.019692663580581277 Centerline is valid? [True, True] Translation: X:439.43, Y:6.12, Z:5.24 [[ 9.98777724e-01 -4.56434614e-02 -1.89665907e-02 4.39430079e+02] [ 4.56484916e-02 9.98957550e-01 -1.67862992e-04 6.12158456e+00] [ 1.89544808e-02 -6.98138438e-04 9.99820104e-01 5.23638827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.195099893 meters 0.019865899674346477 Centerline is valid? [True, True] Translation: X:439.46, Y:6.12, Z:5.24 [[ 9.98774169e-01 -4.56475254e-02 -1.91432371e-02 4.39461272e+02] [ 4.56526595e-02 9.98957360e-01 -1.68959569e-04 6.12232350e+00] [ 1.91309902e-02 -7.05187233e-04 9.99816737e-01 5.23628276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.225099893 meters 0.020473937814996346 Centerline is valid? [True, True] Translation: X:439.49, Y:6.12, Z:5.24 [[ 9.98764607e-01 -4.56699123e-02 -1.95836417e-02 4.39491517e+02] [ 4.56753064e-02 9.98956324e-01 -1.71993637e-04 6.12254825e+00] [ 1.95710576e-02 -7.22707676e-04 9.99808207e-01 5.23563340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.255099893 meters 0.019507843571617684 Centerline is valid? [True, True] Translation: X:439.52, Y:6.12, Z:5.24 [[ 9.98749148e-01 -4.59042588e-02 -1.98226896e-02 4.39522496e+02] [ 4.59098506e-02 9.98945572e-01 -1.73126674e-04 6.12487014e+00] [ 1.98097352e-02 -7.37146599e-04 9.99803496e-01 5.23618028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.285099893 meters 0.020888283711729523 Centerline is valid? [True, True] Translation: X:439.55, Y:6.12, Z:5.24 [[ 9.98758409e-01 -4.57035478e-02 -1.98198612e-02 4.39552620e+02] [ 4.57091162e-02 9.98954777e-01 -1.72218212e-04 6.12362211e+00] [ 1.98070160e-02 -7.33943949e-04 9.99803552e-01 5.23617154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.315099893 meters 0.018829196710471546 Centerline is valid? [True, True] Translation: X:439.58, Y:6.13, Z:5.24 [[ 9.98787575e-01 -4.52776287e-02 -1.93213854e-02 4.39583567e+02] [ 4.52828594e-02 9.98974191e-01 -1.66924981e-04 6.12867101e+00] [ 1.93091233e-02 -7.08204981e-04 9.99813311e-01 5.23740690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.345099893 meters 0.02029921933122783 Centerline is valid? [True, True] Translation: X:439.61, Y:6.13, Z:5.24 [[ 9.98820880e-01 -4.46494520e-02 -1.90597846e-02 4.39613750e+02] [ 4.46544385e-02 9.99002480e-01 -1.64098142e-04 6.12743601e+00] [ 1.90480989e-02 -6.87199327e-04 9.99818332e-01 5.23758828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.375099893 meters 0.018295010868760283 Centerline is valid? [True, True] Translation: X:439.65, Y:6.13, Z:5.24 [[ 9.98853153e-01 -4.40059164e-02 -1.88642130e-02 4.39645110e+02] [ 4.40106951e-02 9.99031047e-01 -1.61954150e-04 6.13201321e+00] [ 1.88530614e-02 -6.68458713e-04 9.99822042e-01 5.23878349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.405099893 meters 0.017982540071504956 Centerline is valid? [True, True] Translation: X:439.68, Y:6.13, Z:5.24 [[ 9.98924540e-01 -4.24016284e-02 -1.87580488e-02 4.39676661e+02] [ 4.24060839e-02 9.99100445e-01 -1.60357241e-04 6.13489895e+00] [ 1.87479743e-02 -6.35270607e-04 9.99824039e-01 5.23935794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43509989300003 meters 0.01783814783871981 Centerline is valid? [True, True] Translation: X:439.71, Y:6.14, Z:5.24 [[ 9.98949075e-01 -4.16951135e-02 -1.90332323e-02 4.39707682e+02] [ 4.16995859e-02 9.99130181e-01 -1.62006784e-04 6.13652053e+00] [ 1.90234317e-02 -6.31841379e-04 9.99818839e-01 5.23985118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.465099893 meters 0.01783814783871981 Centerline is valid? [True, True] Translation: X:439.74, Y:6.14, Z:5.24 [[ 9.98950598e-01 -4.16585986e-02 -1.90332382e-02 4.39738541e+02] [ 4.16630777e-02 9.99131704e-01 -1.61311184e-04 6.13675445e+00] [ 1.90234317e-02 -6.31841379e-04 9.99818839e-01 5.24023270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49509989300003 meters 0.01807437808715616 Centerline is valid? [True, True] Translation: X:439.77, Y:6.14, Z:5.24 [[ 9.98968320e-01 -4.12187352e-02 -1.90607387e-02 4.39768421e+02] [ 4.12231581e-02 9.99149951e-01 -1.60970243e-04 6.13759341e+00] [ 1.90511711e-02 -6.24939673e-04 9.99818315e-01 5.24058127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.525099893 meters 0.01765557150145605 Centerline is valid? [True, True] Translation: X:439.80, Y:6.14, Z:5.24 [[ 9.98995943e-01 -4.06784246e-02 -1.87715455e-02 4.39799850e+02] [ 4.06826276e-02 9.99172107e-01 -1.58073425e-04 6.13951495e+00] [ 1.87624348e-02 -6.05761083e-04 9.99823787e-01 5.24095890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55509989300003 meters 0.01828045566822577 Centerline is valid? [True, True] Translation: X:439.83, Y:6.14, Z:5.24 [[ 9.99031453e-01 -3.98280404e-02 -1.87051879e-02 4.39830126e+02] [ 3.98320754e-02 9.99206376e-01 -1.56950504e-04 6.13940142e+00] [ 1.86965940e-02 -5.88267964e-04 9.99825030e-01 5.24099665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.585099893 meters 0.01730165464873593 Centerline is valid? [True, True] Translation: X:439.86, Y:6.14, Z:5.24 [[ 9.99110656e-01 -3.80548413e-02 -1.81583700e-02 4.39860311e+02] [ 3.80583551e-02 9.99275507e-01 -1.52145205e-04 6.14321565e+00] [ 1.81510042e-02 -5.39067795e-04 9.99835112e-01 5.24149376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.615099893 meters 0.017373375100735715 Centerline is valid? [True, True] Translation: X:439.89, Y:6.14, Z:5.24 [[ 9.99170902e-01 -3.65406558e-02 -1.79524200e-02 4.39890489e+02] [ 3.65438479e-02 9.99332039e-01 -1.50319690e-04 6.14411063e+00] [ 1.79459213e-02 -5.05855446e-04 9.99838831e-01 5.24139760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.645099893 meters 0.017006560446822604 Centerline is valid? [True, True] Translation: X:439.92, Y:6.15, Z:5.24 [[ 9.99223165e-01 -3.51095927e-02 -1.78992233e-02 4.39921135e+02] [ 3.51125404e-02 9.99383353e-01 -1.49653829e-04 6.14599167e+00] [ 1.78934401e-02 -4.78949630e-04 9.99839785e-01 5.24186369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.675099893 meters 0.015671487342179793 Centerline is valid? [True, True] Translation: X:439.95, Y:6.15, Z:5.24 [[ 9.99352283e-01 -3.09806726e-02 -1.83088250e-02 4.39952171e+02] [ 3.09830663e-02 9.99519898e-01 -1.52972234e-04 6.15138172e+00] [ 1.83047740e-02 -4.14390385e-04 9.99832368e-01 5.24249912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.705099893 meters 0.015671487342179793 Centerline is valid? [True, True] Translation: X:439.98, Y:6.15, Z:5.24 [[ 9.99351175e-01 -3.10163895e-02 -1.83088250e-02 4.39981330e+02] [ 3.10187893e-02 9.99518790e-01 -1.52963686e-04 6.15165360e+00] [ 1.83047590e-02 -4.15053146e-04 9.99832368e-01 5.24285967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.735099893 meters 0.01476281672833195 Centerline is valid? [True, True] Translation: X:440.01, Y:6.16, Z:5.24 [[ 9.99484010e-01 -2.67604294e-02 -1.77649310e-02 4.40010760e+02] [ 2.67620056e-02 9.99641822e-01 -1.49041012e-04 6.15634011e+00] [ 1.77625564e-02 -3.26461075e-04 9.99842180e-01 5.24356846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.765099893 meters 0.014562133346347726 Centerline is valid? [True, True] Translation: X:440.04, Y:6.16, Z:5.24 [[ 9.99542751e-01 -2.43672221e-02 -1.79032725e-02 4.40039512e+02] [ 2.43684260e-02 9.99703034e-01 -1.50939392e-04 6.15802830e+00] [ 1.79016338e-02 -2.85404195e-04 9.99839712e-01 5.24358596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.795099893 meters 0.013856878447000412 Centerline is valid? [True, True] Translation: X:440.07, Y:6.16, Z:5.24 [[ 9.99585438e-01 -2.22852045e-02 -1.82297041e-02 4.40068167e+02] [ 2.22860677e-02 9.99751623e-01 -1.55823648e-04 6.16077894e+00] [ 1.82286488e-02 -2.50509369e-04 9.99833813e-01 5.24417120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.825099893 meters 0.01376706526805291 Centerline is valid? [True, True] Translation: X:440.10, Y:6.16, Z:5.24 [[ 9.99616455e-01 -2.03199522e-02 -1.88159999e-02 4.40096119e+02] [ 2.03204530e-02 9.99793505e-01 -1.64592759e-04 6.16229918e+00] [ 1.88154590e-02 -2.17820012e-04 9.99822950e-01 5.24406394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.855099893 meters 0.013396186732936438 Centerline is valid? [True, True] Translation: X:440.13, Y:6.17, Z:5.24 [[ 9.99665025e-01 -1.74605088e-02 -1.91041464e-02 4.40125019e+02] [ 1.74604504e-02 9.99847540e-01 -1.69870683e-04 6.16521930e+00] [ 1.91041998e-02 -1.63753219e-04 9.99817485e-01 5.24449039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.885099893 meters 0.013176565028455128 Centerline is valid? [True, True] Translation: X:440.15, Y:6.17, Z:5.24 [[ 9.99675098e-01 -1.69927348e-02 -1.89985598e-02 4.40152499e+02] [ 1.69924995e-02 9.99855602e-01 -1.73823484e-04 6.16622539e+00] [ 1.89987702e-02 -1.49066010e-04 9.99819496e-01 5.24492115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.915099893 meters 0.013195555790387493 Centerline is valid? [True, True] Translation: X:440.18, Y:6.17, Z:5.24 [[ 9.99674387e-01 -1.68872359e-02 -1.91296049e-02 4.40179172e+02] [ 1.68868946e-02 9.99857390e-01 -1.79388383e-04 6.16617346e+00] [ 1.91299062e-02 -1.43709649e-04 9.99816996e-01 5.24479315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.945099893 meters 0.013282849586581975 Centerline is valid? [True, True] Translation: X:440.21, Y:6.17, Z:5.25 [[ 9.99652241e-01 -1.79503234e-02 -1.93179458e-02 4.40206704e+02] [ 1.79501063e-02 9.99838867e-01 -1.84647580e-04 6.16539891e+00] [ 1.93181476e-02 -1.62175813e-04 9.99813374e-01 5.24517780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.975099893 meters 0.013412741748989602 Centerline is valid? [True, True] Translation: X:440.24, Y:6.16, Z:5.25 [[ 9.99618859e-01 -1.92139419e-02 -1.98232634e-02 4.40235894e+02] [ 1.92138547e-02 9.99815378e-01 -1.94874540e-04 6.16477759e+00] [ 1.98233479e-02 -1.86081039e-04 9.99803481e-01 5.24531909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.005099893 meters 0.013487006270098313 Centerline is valid? [True, True] Translation: X:440.26, Y:6.16, Z:5.25 [[ 9.99580347e-01 -2.07284072e-02 -2.02352151e-02 4.40264501e+02] [ 2.07285243e-02 9.99785120e-01 -2.03980252e-04 6.16461443e+00] [ 2.02350951e-02 -2.15551496e-04 9.99795226e-01 5.24596321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.035099893 meters 0.013711979314362977 Centerline is valid? [True, True] Translation: X:440.29, Y:6.16, Z:5.25 [[ 9.99516524e-01 -2.28061669e-02 -2.11328451e-02 4.40293597e+02] [ 2.28066442e-02 9.99739871e-01 -2.18457777e-04 6.16379238e+00] [ 2.11323300e-02 -2.63617121e-04 9.99776653e-01 5.24607765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.065099893 meters 0.014461861642643318 Centerline is valid? [True, True] Translation: X:440.32, Y:6.16, Z:5.25 [[ 9.99412540e-01 -2.65145278e-02 -2.17153196e-02 4.40321049e+02] [ 2.65158158e-02 9.99648368e-01 -2.28666582e-04 6.16100007e+00] [ 2.17137467e-02 -3.47267165e-04 9.99764168e-01 5.24570773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.095099893 meters 0.014855363563162284 Centerline is valid? [True, True] Translation: X:440.35, Y:6.16, Z:5.25 [[ 9.99364070e-01 -2.82013673e-02 -2.18205987e-02 4.40348445e+02] [ 2.82030228e-02 9.99602189e-01 -2.31927088e-04 6.15966631e+00] [ 2.18184589e-02 -3.83627245e-04 9.99761875e-01 5.24570366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.125099893 meters 0.014769809167173771 Centerline is valid? [True, True] Translation: X:440.38, Y:6.16, Z:5.25 [[ 9.99308942e-01 -3.02375094e-02 -2.16178335e-02 4.40376918e+02] [ 3.02395368e-02 9.99542653e-01 -2.33179297e-04 6.15985530e+00] [ 2.16149974e-02 -4.20695114e-04 9.99766280e-01 5.24677912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.155099893 meters 0.015155549595173052 Centerline is valid? [True, True] Translation: X:440.41, Y:6.16, Z:5.25 [[ 9.99267696e-01 -3.17940877e-02 -2.12886687e-02 4.40405744e+02] [ 3.17962937e-02 9.99494342e-01 -2.34940014e-04 6.15887993e+00] [ 2.12853736e-02 -4.42132795e-04 9.99773343e-01 5.24745430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18509989300003 meters 0.015330695522313658 Centerline is valid? [True, True] Translation: X:440.43, Y:6.16, Z:5.25 [[ 9.99222835e-01 -3.33923804e-02 -2.09445572e-02 4.40434435e+02] [ 3.33947575e-02 9.99442212e-01 -2.36352841e-04 6.15847715e+00] [ 2.09407670e-02 -4.63269253e-04 9.99780611e-01 5.24858728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.215099893 meters 0.016020047339169813 Centerline is valid? [True, True] Translation: X:440.46, Y:6.16, Z:5.25 [[ 9.99157216e-01 -3.60365300e-02 -1.96526453e-02 4.40464466e+02] [ 3.60390713e-02 9.99350356e-01 -2.24956075e-04 6.15690746e+00] [ 1.96479847e-02 -4.83496599e-04 9.99806843e-01 5.24985442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24509989300003 meters 0.015874227820495527 Centerline is valid? [True, True] Translation: X:440.49, Y:6.16, Z:5.25 [[ 9.99132373e-01 -3.70254375e-02 -1.90687698e-02 4.40494447e+02] [ 3.70279994e-02 9.99314205e-01 -2.18824069e-04 6.15748385e+00] [ 1.90637946e-02 -4.87444185e-04 9.99818151e-01 5.25063735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.275099893 meters 0.01761965269714031 Centerline is valid? [True, True] Translation: X:440.52, Y:6.15, Z:5.25 [[ 9.99087034e-01 -3.82086538e-02 -1.91101110e-02 4.40524932e+02] [ 3.82114411e-02 9.99269652e-01 -2.19402501e-04 6.15423184e+00] [ 1.91045370e-02 -5.11022687e-04 9.99817361e-01 5.25053599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30509989300003 meters 0.01747842736529677 Centerline is valid? [True, True] Translation: X:440.56, Y:6.15, Z:5.25 [[ 9.99035961e-01 -3.97521407e-02 -1.86257062e-02 4.40556225e+02] [ 3.97550646e-02 9.99209432e-01 -2.13401898e-04 6.15455785e+00] [ 1.86194645e-02 -5.27269985e-04 9.99826504e-01 5.25131712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.335099893 meters 0.01685274270891325 Centerline is valid? [True, True] Translation: X:440.59, Y:6.16, Z:5.25 [[ 9.98940776e-01 -4.22957533e-02 -1.81216831e-02 4.40587564e+02] [ 4.22989507e-02 9.99104977e-01 -2.06990239e-04 6.15525247e+00] [ 1.81142186e-02 -5.59757191e-04 9.99835767e-01 5.25227530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.365099893 meters 0.0174640509040384 Centerline is valid? [True, True] Translation: X:440.62, Y:6.15, Z:5.25 [[ 9.98888691e-01 -4.35044362e-02 -1.81313899e-02 4.40618220e+02] [ 4.35078480e-02 9.99053064e-01 -2.06432626e-04 6.15417161e+00] [ 1.81232014e-02 -5.82654540e-04 9.99835592e-01 5.25255820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.395099893 meters 0.01773633895613149 Centerline is valid? [True, True] Translation: X:440.65, Y:6.15, Z:5.25 [[ 9.98838735e-01 -4.46223438e-02 -1.81666488e-02 4.40649285e+02] [ 4.46259657e-02 9.99003744e-01 -2.06164539e-04 6.15380655e+00] [ 1.81577497e-02 -6.04779120e-04 9.99834952e-01 5.25289964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.425099893 meters 0.018200329954175934 Centerline is valid? [True, True] Translation: X:440.68, Y:6.15, Z:5.25 [[ 9.98791336e-01 -4.56671429e-02 -1.81763323e-02 4.40681257e+02] [ 4.56709575e-02 9.98956516e-01 -2.05394250e-04 6.15296176e+00] [ 1.81667453e-02 -6.24984502e-04 9.99834776e-01 5.25332707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.455099893 meters 0.018332967004019072 Centerline is valid? [True, True] Translation: X:440.71, Y:6.15, Z:5.25 [[ 9.98722916e-01 -4.73341953e-02 -1.76638352e-02 4.40713642e+02] [ 4.73380806e-02 9.98878905e-01 -1.98330406e-04 6.15257423e+00] [ 1.76534202e-02 -6.38094933e-04 9.99843963e-01 5.25436219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.485099893 meters 0.018964990722423872 Centerline is valid? [True, True] Translation: X:440.75, Y:6.15, Z:5.25 [[ 9.98708066e-01 -4.77170934e-02 -1.74722178e-02 4.40745064e+02] [ 4.77209741e-02 9.98860686e-01 -1.94992622e-04 6.15157886e+00] [ 1.74616160e-02 -6.39050550e-04 9.99847330e-01 5.25494793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.515099893 meters 0.018795944883975648 Centerline is valid? [True, True] Translation: X:440.78, Y:6.15, Z:5.26 [[ 9.98701120e-01 -4.79043222e-02 -1.73565301e-02 4.40776824e+02] [ 4.79081980e-02 9.98851724e-01 -1.92657138e-04 6.15212121e+00] [ 1.73458291e-02 -6.39113181e-04 9.99849346e-01 5.25570592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.545099893 meters 0.018885951761762845 Centerline is valid? [True, True] Translation: X:440.81, Y:6.15, Z:5.26 [[ 9.98714904e-01 -4.73978782e-02 -1.79438346e-02 4.40808593e+02] [ 4.74019633e-02 9.98875876e-01 -1.97826796e-04 6.15277156e+00] [ 1.79330400e-02 -6.53000418e-04 9.99838977e-01 5.25575896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.575099893 meters 0.01836361623081339 Centerline is valid? [True, True] Translation: X:440.84, Y:6.15, Z:5.26 [[ 9.98730727e-01 -4.67949607e-02 -1.86323852e-02 4.40840703e+02] [ 4.67992869e-02 9.98904292e-01 -2.04014627e-04 6.15430974e+00] [ 1.86215164e-02 -6.68226664e-04 9.99826381e-01 5.25579088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.605099893 meters 0.01907908376548777 Centerline is valid? [True, True] Translation: X:440.87, Y:6.15, Z:5.26 [[ 9.98754379e-01 -4.59035261e-02 -1.95590382e-02 4.40872377e+02] [ 4.59081595e-02 9.98945642e-01 -2.12282397e-04 6.15384607e+00] [ 1.95481605e-02 -6.85901471e-04 9.99808681e-01 5.25565224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.635099893 meters 0.018766566151174634 Centerline is valid? [True, True] Translation: X:440.90, Y:6.15, Z:5.26 [[ 9.98794788e-01 -4.48989671e-02 -1.98255827e-02 4.40903685e+02] [ 4.49035671e-02 9.98991303e-01 -2.13304127e-04 6.15491733e+00] [ 1.98151619e-02 -6.77192335e-04 9.99803431e-01 5.25579096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.665099893 meters 0.018794324236887854 Centerline is valid? [True, True] Translation: X:440.93, Y:6.16, Z:5.26 [[ 9.98887317e-01 -4.26807727e-02 -2.00619031e-02 4.40934560e+02] [ 4.26850507e-02 9.99088555e-01 -2.15122888e-04 6.15588234e+00] [ 2.00527993e-02 -6.41459824e-04 9.99798717e-01 5.25592169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.695099893 meters 0.018378191213996666 Centerline is valid? [True, True] Translation: X:440.97, Y:6.16, Z:5.26 [[ 9.98942833e-01 -4.15150716e-02 -1.97411896e-02 4.40965021e+02] [ 4.15189950e-02 9.99137692e-01 -2.11250672e-04 6.15762082e+00] [ 1.97329367e-02 -6.08607006e-04 9.99805101e-01 5.25673457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.725099893 meters 0.018351427572931355 Centerline is valid? [True, True] Translation: X:441.00, Y:6.16, Z:5.26 [[ 9.99005916e-01 -3.99820556e-02 -1.97133307e-02 4.40995170e+02] [ 3.99856723e-02 9.99200231e-01 -2.10824134e-04 6.15878976e+00] [ 1.97059938e-02 -5.77636226e-04 9.99805651e-01 5.25737614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.755099893 meters 0.017202841123014827 Centerline is valid? [True, True] Translation: X:441.03, Y:6.16, Z:5.26 [[ 9.99140861e-01 -3.67706897e-02 -1.91169053e-02 4.41025435e+02] [ 3.67735073e-02 9.99323605e-01 -2.04236128e-04 6.16319925e+00] [ 1.91114846e-02 -4.98934996e-04 9.99817234e-01 5.25938341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.785099893 meters 0.016559694682017588 Centerline is valid? [True, True] Translation: X:441.06, Y:6.17, Z:5.26 [[ 9.99203981e-01 -3.50137947e-02 -1.91164377e-02 4.41055862e+02] [ 3.50162909e-02 9.99386721e-01 -2.04231133e-04 6.16595102e+00] [ 1.91118649e-02 -4.65318183e-04 9.99817243e-01 5.26042255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.815099893 meters 0.015825159329421735 Centerline is valid? [True, True] Translation: X:441.09, Y:6.17, Z:5.26 [[ 9.99262365e-01 -3.37594126e-02 -1.83037823e-02 4.41086510e+02] [ 3.37614907e-02 9.99429899e-01 -1.95549100e-04 6.16874194e+00] [ 1.82999489e-02 -4.22558119e-04 9.99832453e-01 5.26181719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.845099893 meters 0.016555345212795145 Centerline is valid? [True, True] Translation: X:441.12, Y:6.17, Z:5.26 [[ 9.99301378e-01 -3.28121585e-02 -1.78918643e-02 4.41116501e+02] [ 3.28139923e-02 9.99461458e-01 -1.91148360e-04 6.16802269e+00] [ 1.78885008e-02 -3.96088680e-04 9.99839910e-01 5.26257553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.875099893 meters 0.01663628792972235 Centerline is valid? [True, True] Translation: X:441.15, Y:6.17, Z:5.26 [[ 9.99342810e-01 -3.22247754e-02 -1.65985230e-02 4.41146606e+02] [ 3.22262738e-02 9.99480583e-01 -1.77258878e-04 6.16827177e+00] [ 1.65956136e-02 -3.57766162e-04 9.99862219e-01 5.26392936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.905099893 meters 0.01732970356152031 Centerline is valid? [True, True] Translation: X:441.18, Y:6.17, Z:5.26 [[ 9.99325695e-01 -3.27616398e-02 -1.65779866e-02 4.41176531e+02] [ 3.27632155e-02 9.99463126e-01 -1.76603546e-04 6.16678109e+00] [ 1.65748721e-02 -3.66663687e-04 9.99862560e-01 5.26425969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93509989300003 meters 0.01583801035428251 Centerline is valid? [True, True] Translation: X:441.21, Y:6.17, Z:5.27 [[ 9.99285471e-01 -3.39556610e-02 -1.66000269e-02 4.41207610e+02] [ 3.39574192e-02 9.99423265e-01 -1.76021461e-04 6.16972717e+00] [ 1.65964300e-02 -3.87798383e-04 9.99862195e-01 5.26537465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.965099893 meters 0.01803326889618039 Centerline is valid? [True, True] Translation: X:441.24, Y:6.17, Z:5.27 [[ 9.99219693e-01 -3.55763969e-02 -1.71559183e-02 4.41237803e+02] [ 3.55785229e-02 9.99366867e-01 -1.81368539e-04 6.16513120e+00] [ 1.71515088e-02 -4.29155217e-04 9.99852810e-01 5.26509632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99509989300003 meters 0.020893164591480558 Centerline is valid? [True, True] Translation: X:441.27, Y:6.16, Z:5.26 [[ 9.99044304e-01 -3.97527196e-02 -1.81713973e-02 4.41268165e+02] [ 3.97558011e-02 9.99209407e-01 -1.91772462e-04 6.15972983e+00] [ 1.81646546e-02 -5.30829271e-04 9.99834868e-01 5.26454784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.025099893 meters 0.018546000409129345 Centerline is valid? [True, True] Translation: X:441.30, Y:6.16, Z:5.27 [[ 9.98952062e-01 -4.18344122e-02 -1.85649950e-02 4.41299558e+02] [ 4.18379957e-02 9.99124389e-01 -1.95497024e-04 6.16352873e+00] [ 1.85569177e-02 -5.81430025e-04 9.99827637e-01 5.26538866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05509989300003 meters 0.018389639283995608 Centerline is valid? [True, True] Translation: X:441.33, Y:6.16, Z:5.27 [[ 9.98866467e-01 -4.36220788e-02 -1.90498312e-02 4.41330984e+02] [ 4.36261898e-02 9.99047905e-01 -1.99912942e-04 6.16360533e+00] [ 1.90404145e-02 -6.31385216e-04 9.99818516e-01 5.26557156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.085099893 meters 0.019213616818748686 Centerline is valid? [True, True] Translation: X:441.36, Y:6.16, Z:5.27 [[ 9.98795984e-01 -4.49654311e-02 -1.96135999e-02 4.41362235e+02] [ 4.49700723e-02 9.98988314e-01 -2.04581279e-04 6.16190747e+00] [ 1.96029562e-02 -6.77690045e-04 9.99807614e-01 5.26573676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.115099893 meters 0.01976779935755156 Centerline is valid? [True, True] Translation: X:441.39, Y:6.16, Z:5.27 [[ 9.98695896e-01 -4.70592015e-02 -1.97974594e-02 4.41393361e+02] [ 4.70643731e-02 9.98891837e-01 -2.04875466e-04 6.16072071e+00] [ 1.97851619e-02 -7.27146729e-04 9.99803990e-01 5.26666804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.145099893 meters 0.02073856223317296 Centerline is valid? [True, True] Translation: X:441.42, Y:6.16, Z:5.27 [[ 9.98676768e-01 -4.75895870e-02 -1.94921765e-02 4.41424226e+02] [ 4.75947171e-02 9.98866709e-01 -2.00900633e-04 6.15964306e+00] [ 1.94796469e-02 -7.27089829e-04 9.99809989e-01 5.26734536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.175099893 meters 0.02061816890468495 Centerline is valid? [True, True] Translation: X:441.46, Y:6.16, Z:5.27 [[ 9.98686410e-01 -4.74980234e-02 -1.92195660e-02 4.41455936e+02] [ 4.75030157e-02 9.98871075e-01 -1.96955513e-04 6.16013169e+00] [ 1.92072236e-02 -7.16290552e-04 9.99815268e-01 5.26815145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.205099893 meters 0.02017412759203196 Centerline is valid? [True, True] Translation: X:441.49, Y:6.16, Z:5.27 [[ 9.98692237e-01 -4.74286971e-02 -1.90875565e-02 4.41488414e+02] [ 4.74336341e-02 9.98874373e-01 -1.94256815e-04 6.16152851e+00] [ 1.90752844e-02 -7.11389399e-04 9.99817797e-01 5.26901699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.235099893 meters 0.018937433256691328 Centerline is valid? [True, True] Translation: X:441.52, Y:6.16, Z:5.27 [[ 9.98729089e-01 -4.65442853e-02 -1.93348385e-02 4.41520236e+02] [ 4.65492103e-02 9.98915979e-01 -1.95500305e-04 6.16440983e+00] [ 1.93229785e-02 -7.04769620e-04 9.99813045e-01 5.26958454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.265099893 meters 0.018502960384917933 Centerline is valid? [True, True] Translation: X:441.55, Y:6.17, Z:5.27 [[ 9.98755745e-01 -4.57873720e-02 -1.97605439e-02 4.41552869e+02] [ 4.57923927e-02 9.98950958e-01 -1.98571318e-04 6.16551572e+00] [ 1.97489063e-02 -7.06558342e-04 9.99804722e-01 5.26988438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.295099893 meters 0.01823009196050448 Centerline is valid? [True, True] Translation: X:441.58, Y:6.17, Z:5.27 [[ 9.98775519e-01 -4.52125854e-02 -2.00819410e-02 4.41584692e+02] [ 4.52176848e-02 9.98977137e-01 -2.00308069e-04 6.16652648e+00] [ 2.00704564e-02 -7.07996081e-04 9.99798317e-01 5.27013075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.325099893 meters 0.020160273944376653 Centerline is valid? [True, True] Translation: X:441.62, Y:6.16, Z:5.27 [[ 9.98793653e-01 -4.48262000e-02 -2.00461921e-02 4.41615771e+02] [ 4.48312409e-02 9.98994555e-01 -1.98083149e-04 6.16373414e+00] [ 2.00349160e-02 -7.00851473e-04 9.99799035e-01 5.26992949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.355099893 meters 0.020160273944376653 Centerline is valid? [True, True] Translation: X:441.65, Y:6.16, Z:5.27 [[ 9.98795217e-01 -4.47913307e-02 -2.00462098e-02 4.41646632e+02] [ 4.47964009e-02 9.98996118e-01 -1.96271991e-04 6.16400584e+00] [ 2.00348771e-02 -7.01962525e-04 9.99799035e-01 5.27031074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.385099893 meters 0.02013969987004823 Centerline is valid? [True, True] Translation: X:441.68, Y:6.16, Z:5.27 [[ 9.98800094e-01 -4.46497240e-02 -2.01190165e-02 4.41677854e+02] [ 4.46548165e-02 9.99002457e-01 -1.96281711e-04 6.16419405e+00] [ 2.01077108e-02 -7.02364797e-04 9.99797573e-01 5.27051779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.415099893 meters 0.018519632941611564 Centerline is valid? [True, True] Translation: X:441.71, Y:6.17, Z:5.27 [[ 9.98752339e-01 -4.57299744e-02 -2.00632809e-02 4.41709526e+02] [ 4.57352707e-02 9.98953576e-01 -1.95026152e-04 6.16731738e+00] [ 2.00512048e-02 -7.22816759e-04 9.99798693e-01 5.27212266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.445099893 meters 0.018695577422432597 Centerline is valid? [True, True] Translation: X:441.74, Y:6.17, Z:5.27 [[ 9.98715924e-01 -4.64950339e-02 -2.01175398e-02 4.41741083e+02] [ 4.65005287e-02 9.98918246e-01 -1.94814155e-04 6.16749642e+00] [ 2.01048354e-02 -7.40912237e-04 9.99797603e-01 5.27282147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.475099893 meters 0.019389575110948066 Centerline is valid? [True, True] Translation: X:441.77, Y:6.17, Z:5.27 [[ 9.98604509e-01 -4.84841761e-02 -2.09360645e-02 4.41772047e+02] [ 4.84905770e-02 9.98823620e-01 -2.02110768e-04 6.16653780e+00] [ 2.09212349e-02 -8.13373124e-04 9.99780796e-01 5.27283995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.505099893 meters 0.020153274952708182 Centerline is valid? [True, True] Translation: X:441.80, Y:6.17, Z:5.27 [[ 9.98544964e-01 -4.95377261e-02 -2.13065604e-02 4.41803312e+02] [ 4.95446105e-02 9.98771891e-01 -2.04966245e-04 6.16517272e+00] [ 2.12905471e-02 -8.50957222e-04 9.99772968e-01 5.27290656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.535099893 meters 0.022285641031911326 Centerline is valid? [True, True] Translation: X:441.83, Y:6.16, Z:5.27 [[ 9.98484403e-01 -5.07114001e-02 -2.13834450e-02 4.41834012e+02] [ 5.07186209e-02 9.98712962e-01 -2.04863059e-04 6.16205587e+00] [ 2.13663126e-02 -8.79986273e-04 9.99771327e-01 5.27242723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.565099893 meters 0.021441028632357428 Centerline is valid? [True, True] Translation: X:441.87, Y:6.16, Z:5.27 [[ 9.98412068e-01 -5.20553601e-02 -2.15309484e-02 4.41865399e+02] [ 5.20630047e-02 9.98643781e-01 -2.05723467e-04 6.16382167e+00] [ 2.15124568e-02 -9.15569077e-04 9.99768161e-01 5.27316765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.595099893 meters 0.02218971461754795 Centerline is valid? [True, True] Translation: X:441.90, Y:6.16, Z:5.27 [[ 9.98355162e-01 -5.29619176e-02 -2.19546244e-02 4.41895776e+02] [ 5.29700986e-02 9.98596077e-01 -2.09148049e-04 6.16337908e+00] [ 2.19348787e-02 -9.54134587e-04 9.99758946e-01 5.27336260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.625099893 meters 0.02190794712873723 Centerline is valid? [True, True] Translation: X:441.93, Y:6.17, Z:5.27 [[ 9.98280929e-01 -5.41548164e-02 -2.24152321e-02 4.41926868e+02] [ 5.41636577e-02 9.98532049e-01 -2.12948436e-04 6.16533858e+00] [ 2.23938598e-02 -1.00150860e-03 9.99748724e-01 5.27366584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.655099893 meters 0.02224760597391951 Centerline is valid? [True, True] Translation: X:441.96, Y:6.17, Z:5.27 [[ 9.98266351e-01 -5.43561565e-02 -2.25765522e-02 4.41958838e+02] [ 5.43652037e-02 9.98521096e-01 -2.13295529e-04 6.16596665e+00] [ 2.25547576e-02 -1.01445311e-03 9.99745094e-01 5.27431720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68509989300003 meters 0.021452714230629284 Centerline is valid? [True, True] Translation: X:441.99, Y:6.17, Z:5.28 [[ 9.98275394e-01 -5.42892013e-02 -2.23365046e-02 4.41991110e+02] [ 5.42980762e-02 9.98524749e-01 -2.09415811e-04 6.16820108e+00] [ 2.23149217e-02 -1.00377458e-03 9.99750487e-01 5.27548973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.715099893 meters 0.021493022052610066 Centerline is valid? [True, True] Translation: X:442.02, Y:6.17, Z:5.28 [[ 9.98320136e-01 -5.35536690e-02 -2.21113023e-02 4.42022877e+02] [ 5.35622173e-02 9.98564493e-01 -2.05878510e-04 6.17016695e+00] [ 2.20905870e-02 -9.78797719e-04 9.99755494e-01 5.27665911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74509989300003 meters 0.020673495382222344 Centerline is valid? [True, True] Translation: X:442.05, Y:6.17, Z:5.28 [[ 9.98370910e-01 -5.28405262e-02 -2.15268359e-02 4.42054517e+02] [ 5.28484842e-02 9.98602522e-01 -1.99444917e-04 6.17274429e+00] [ 2.15072914e-02 -9.38540646e-04 9.99768251e-01 5.27750660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.775099893 meters 0.02188822817402899 Centerline is valid? [True, True] Translation: X:442.09, Y:6.17, Z:5.28 [[ 9.98430591e-01 -5.15420320e-02 -2.19037300e-02 4.42085600e+02] [ 5.15499810e-02 9.98670395e-01 -2.01950375e-04 6.17215324e+00] [ 2.18850157e-02 -9.27503435e-04 9.99760064e-01 5.27752913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80509989300003 meters 0.020457528197975 Centerline is valid? [True, True] Translation: X:442.12, Y:6.18, Z:5.28 [[ 9.98486920e-01 -5.03127749e-02 -2.21922221e-02 4.42117055e+02] [ 5.03206549e-02 9.98733093e-01 -2.03565883e-04 6.17587534e+00] [ 2.21743486e-02 -9.13469279e-04 9.99753702e-01 5.27838087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.835099893 meters 0.02085483603987237 Centerline is valid? [True, True] Translation: X:442.15, Y:6.18, Z:5.28 [[ 9.98591450e-01 -4.79194920e-02 -2.27780109e-02 4.42147751e+02] [ 4.79271911e-02 9.98850810e-01 -2.08102953e-04 6.17796378e+00] [ 2.27618069e-02 -8.83876253e-04 9.99740526e-01 5.27851356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.865099893 meters 0.019190094257976645 Centerline is valid? [True, True] Translation: X:442.18, Y:6.18, Z:5.28 [[ 9.98656066e-01 -4.66084749e-02 -2.26652158e-02 4.42178721e+02] [ 4.66157793e-02 9.98912872e-01 -2.06253581e-04 6.18170636e+00] [ 2.26501890e-02 -8.50580309e-04 9.99743090e-01 5.27939037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.895099893 meters 0.020277022465314348 Centerline is valid? [True, True] Translation: X:442.21, Y:6.18, Z:5.28 [[ 9.98721969e-01 -4.52502039e-02 -2.25132968e-02 4.42208926e+02] [ 4.52570802e-02 9.98975353e-01 -2.04242045e-04 6.18056807e+00] [ 2.24994706e-02 -8.14905061e-04 9.99746523e-01 5.27880547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.925099893 meters 0.018749465475997363 Centerline is valid? [True, True] Translation: X:442.24, Y:6.18, Z:5.28 [[ 9.98761419e-01 -4.44119561e-02 -2.24322625e-02 4.42239836e+02] [ 4.44185849e-02 9.99012987e-01 -2.02921538e-04 6.18390331e+00] [ 2.24191337e-02 -7.93739152e-04 9.99748345e-01 5.27983197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.955099893 meters 0.01969902342926555 Centerline is valid? [True, True] Translation: X:442.27, Y:6.18, Z:5.28 [[ 9.98830490e-01 -4.30576499e-02 -2.19929868e-02 4.42270462e+02] [ 4.30637070e-02 9.99072309e-01 -1.98337961e-04 6.18367103e+00] [ 2.19811241e-02 -7.48993539e-04 9.99758105e-01 5.27980225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.985099893 meters 0.01776371283378309 Centerline is valid? [True, True] Translation: X:442.30, Y:6.19, Z:5.28 [[ 9.98854462e-01 -4.23579159e-02 -2.22614125e-02 4.42301616e+02] [ 4.23639614e-02 9.99102224e-01 -2.00173401e-04 6.18792451e+00] [ 2.22499056e-02 -7.43137524e-04 9.99752164e-01 5.28114102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.015099893 meters 0.019187665828017876 Centerline is valid? [True, True] Translation: X:442.33, Y:6.19, Z:5.28 [[ 9.98855079e-01 -4.23319136e-02 -2.22831678e-02 4.42332162e+02] [ 4.23379785e-02 9.99103326e-01 -1.99737738e-04 6.18634650e+00] [ 2.22716423e-02 -7.43915223e-04 9.99751679e-01 5.28072487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.045099893 meters 0.018188232366024574 Centerline is valid? [True, True] Translation: X:442.36, Y:6.19, Z:5.28 [[ 9.98816191e-01 -4.25864342e-02 -2.35076885e-02 4.42362973e+02] [ 4.25932749e-02 9.99092473e-01 -2.09855713e-04 6.18889021e+00] [ 2.34952916e-02 -7.91662154e-04 9.99723634e-01 5.28126202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.075099893 meters 0.019397144107324744 Centerline is valid? [True, True] Translation: X:442.39, Y:6.19, Z:5.28 [[ 9.98781671e-01 -4.33032531e-02 -2.36643677e-02 4.42392859e+02] [ 4.33104027e-02 9.99061642e-01 -2.10559621e-04 6.18719546e+00] [ 2.36512799e-02 -8.14610203e-04 9.99719937e-01 5.28078689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.105099893 meters 0.01988649360421715 Centerline is valid? [True, True] Translation: X:442.42, Y:6.19, Z:5.28 [[ 9.98757105e-01 -4.38985939e-02 -2.36041957e-02 4.42423463e+02] [ 4.39058732e-02 9.99035650e-01 -2.10024226e-04 6.18679666e+00] [ 2.35906528e-02 -8.26599637e-04 9.99721360e-01 5.28080447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.135099893 meters 0.019588514253107495 Centerline is valid? [True, True] Translation: X:442.45, Y:6.19, Z:5.28 [[ 9.98691117e-01 -4.55160127e-02 -2.33312272e-02 4.42454660e+02] [ 4.55235744e-02 9.98963243e-01 -2.07204578e-04 6.18784201e+00] [ 2.33164695e-02 -8.55187485e-04 9.99727768e-01 5.28183826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.165099893 meters 0.01928596159809004 Centerline is valid? [True, True] Translation: X:442.49, Y:6.19, Z:5.28 [[ 9.98679903e-01 -4.60733916e-02 -2.27088796e-02 4.42486322e+02] [ 4.60807171e-02 9.98937699e-01 -2.00875382e-04 6.18868970e+00] [ 2.26940110e-02 -8.45831251e-04 9.99742100e-01 5.28288953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.195099893 meters 0.01940150205787716 Centerline is valid? [True, True] Translation: X:442.52, Y:6.19, Z:5.28 [[ 9.98664993e-01 -4.66342471e-02 -2.22143849e-02 4.42517191e+02] [ 4.66414177e-02 9.98911678e-01 -1.95502669e-04 6.18893672e+00] [ 2.21993256e-02 -8.40868733e-04 9.99753211e-01 5.28393665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.225099893 meters 0.02075242175371978 Centerline is valid? [True, True] Translation: X:442.55, Y:6.19, Z:5.28 [[ 9.98659038e-01 -4.70545312e-02 -2.15869471e-02 4.42548568e+02] [ 4.70614259e-02 9.98891979e-01 -1.88795583e-04 6.18712323e+00] [ 2.15719120e-02 -8.27370095e-04 9.99766957e-01 5.28418134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.255099893 meters 0.01963855889865027 Centerline is valid? [True, True] Translation: X:442.58, Y:6.19, Z:5.29 [[ 9.98659268e-01 -4.71550271e-02 -2.13558002e-02 4.42580264e+02] [ 4.71618259e-02 9.98887245e-01 -1.85458572e-04 6.18921977e+00] [ 2.13407817e-02 -8.21968609e-04 9.99771922e-01 5.28536871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.285099893 meters 0.019586690205893535 Centerline is valid? [True, True] Translation: X:442.61, Y:6.19, Z:5.29 [[ 9.98704999e-01 -4.65499972e-02 -2.05285823e-02 4.42611354e+02] [ 4.65561754e-02 9.98915658e-01 -1.77116632e-04 6.18970176e+00] [ 2.05145671e-02 -7.78845011e-04 9.99789251e-01 5.28615314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.315099893 meters 0.019115841758180242 Centerline is valid? [True, True] Translation: X:442.64, Y:6.19, Z:5.29 [[ 9.98735255e-01 -4.61689822e-02 -1.99076927e-02 4.42643625e+02] [ 4.61747362e-02 9.98933363e-01 -1.70774095e-04 6.19062337e+00] [ 1.98943429e-02 -7.48674350e-04 9.99801808e-01 5.28661116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.345099893 meters 0.019410672358478008 Centerline is valid? [True, True] Translation: X:442.67, Y:6.19, Z:5.29 [[ 9.98742906e-01 -4.59553910e-02 -2.00177384e-02 4.42674967e+02] [ 4.59611926e-02 9.98943211e-01 -1.70389436e-04 6.19045168e+00] [ 2.00044142e-02 -7.49863890e-04 9.99799610e-01 5.28690098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.375099893 meters 0.019942506924298452 Centerline is valid? [True, True] Translation: X:442.71, Y:6.19, Z:5.29 [[ 9.98739146e-01 -4.60176762e-02 -2.00621922e-02 4.42706462e+02] [ 4.60235380e-02 9.98940341e-01 -1.69674376e-04 6.18993593e+00] [ 2.00487411e-02 -7.53872624e-04 9.99798720e-01 5.28720742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.405099893 meters 0.01945762630398038 Centerline is valid? [True, True] Translation: X:442.74, Y:6.19, Z:5.29 [[ 9.98714368e-01 -4.67641332e-02 -1.95634330e-02 4.42738739e+02] [ 4.67698732e-02 9.98905677e-01 -1.64277738e-04 6.19074403e+00] [ 1.95497066e-02 -7.50912745e-04 9.99808604e-01 5.28841191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.43509989300003 meters 0.019420453423452604 Centerline is valid? [True, True] Translation: X:442.77, Y:6.19, Z:5.29 [[ 9.98693283e-01 -4.73052230e-02 -1.93375823e-02 4.42770463e+02] [ 4.73109571e-02 9.98880197e-01 -1.61103456e-04 6.19038724e+00] [ 1.93235491e-02 -7.53986589e-04 9.99812998e-01 5.28896418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.465099893 meters 0.020065453682502055 Centerline is valid? [True, True] Translation: X:442.80, Y:6.19, Z:5.29 [[ 9.98649426e-01 -4.82667553e-02 -1.92261220e-02 4.42802157e+02] [ 4.82726217e-02 9.98834185e-01 -1.59121358e-04 6.18891077e+00] [ 1.92113881e-02 -7.69188860e-04 9.99815148e-01 5.28939432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49509989300003 meters 0.023164226978929343 Centerline is valid? [True, True] Translation: X:442.83, Y:6.18, Z:5.29 [[ 9.98546987e-01 -5.03327628e-02 -1.92490789e-02 4.42832800e+02] [ 5.03390442e-02 9.98732174e-01 -1.58384266e-04 6.18312501e+00] [ 1.92326463e-02 -8.10826100e-04 9.99814707e-01 5.28891919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.525099893 meters 0.021337054651280687 Centerline is valid? [True, True] Translation: X:442.86, Y:6.19, Z:5.29 [[ 9.98499915e-01 -5.12545396e-02 -1.92585783e-02 4.42864843e+02] [ 5.12610165e-02 9.98685277e-01 -1.57512658e-04 6.18573934e+00] [ 1.92413318e-02 -8.29937923e-04 9.99814524e-01 5.28962404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55509989300003 meters 0.02191543877498277 Centerline is valid? [True, True] Translation: X:442.90, Y:6.18, Z:5.29 [[ 9.98453786e-01 -5.21495970e-02 -1.92472633e-02 4.42896561e+02] [ 5.21562567e-02 9.98638924e-01 -1.56148916e-04 6.18486833e+00] [ 1.92292094e-02 -8.47957728e-04 9.99814742e-01 5.28984656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.585099893 meters 0.023594458662927774 Centerline is valid? [True, True] Translation: X:442.93, Y:6.18, Z:5.29 [[ 9.98420138e-01 -5.25599335e-02 -1.98665878e-02 4.42927389e+02] [ 5.25671406e-02 9.98617379e-01 -1.59628565e-04 6.18231109e+00] [ 1.98475099e-02 -8.84953341e-04 9.99802627e-01 5.28939481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.615099893 meters 0.02080710474024697 Centerline is valid? [True, True] Translation: X:442.96, Y:6.19, Z:5.29 [[ 9.98386030e-01 -5.29003706e-02 -2.06612030e-02 4.42959998e+02] [ 5.29082816e-02 9.98599363e-01 -1.63937044e-04 6.18639508e+00] [ 2.06409365e-02 -9.29476292e-04 9.99786521e-01 5.29002321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.645099893 meters 0.021940853918647685 Centerline is valid? [True, True] Translation: X:442.99, Y:6.18, Z:5.29 [[ 9.98331232e-01 -5.35849444e-02 -2.15268241e-02 4.42991155e+02] [ 5.35937226e-02 9.98562809e-01 -1.69342860e-04 6.18390273e+00] [ 2.15049601e-02 -9.84642371e-04 9.99768257e-01 5.28934212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.675099893 meters 0.023501988179580678 Centerline is valid? [True, True] Translation: X:443.02, Y:6.18, Z:5.29 [[ 9.98322596e-01 -5.36062686e-02 -2.18715165e-02 4.43022304e+02] [ 5.36153619e-02 9.98561647e-01 -1.70843094e-04 6.18142589e+00] [ 2.18492158e-02 -1.00209275e-03 9.99760775e-01 5.28923250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.705099893 meters 0.022198346203710605 Centerline is valid? [True, True] Translation: X:443.05, Y:6.18, Z:5.29 [[ 9.98345804e-01 -5.33232095e-02 -2.15009519e-02 4.43054914e+02] [ 5.33319601e-02 9.98576824e-01 -1.66625215e-04 6.18318410e+00] [ 2.14792373e-02 -9.80338326e-04 9.99768814e-01 5.29006199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.735099893 meters 0.022213526723703594 Centerline is valid? [True, True] Translation: X:443.09, Y:6.18, Z:5.29 [[ 9.98415306e-01 -5.23017660e-02 -2.07702134e-02 4.43086758e+02] [ 5.23097371e-02 9.98630896e-01 -1.59708342e-04 6.18350968e+00] [ 2.07501298e-02 -9.27029149e-04 9.99784263e-01 5.29122839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.765099893 meters 0.021944721495357984 Centerline is valid? [True, True] Translation: X:443.12, Y:6.18, Z:5.29 [[ 9.98486209e-01 -5.12195335e-02 -2.00461995e-02 4.43119024e+02] [ 5.12267629e-02 9.98687036e-01 -1.53039092e-04 6.18426856e+00] [ 2.00277182e-02 -8.74094486e-04 9.99799043e-01 5.29211581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.795099893 meters 0.02233404699143598 Centerline is valid? [True, True] Translation: X:443.15, Y:6.18, Z:5.29 [[ 9.98560858e-01 -4.98931764e-02 -1.96693619e-02 4.43149900e+02] [ 4.98999044e-02 9.98754213e-01 -1.48901053e-04 6.18394067e+00] [ 1.96522872e-02 -8.32812513e-04 9.99806528e-01 5.29287487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.825099893 meters 0.02052639962139943 Centerline is valid? [True, True] Translation: X:443.18, Y:6.19, Z:5.29 [[ 9.98640021e-01 -4.84628881e-02 -1.92212590e-02 4.43181180e+02] [ 4.84690656e-02 9.98824674e-01 -1.44615677e-04 6.18696345e+00] [ 1.92056763e-02 -7.87217463e-04 9.99815244e-01 5.29393578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.855099893 meters 0.020135393764063758 Centerline is valid? [True, True] Translation: X:443.21, Y:6.19, Z:5.29 [[ 9.98840917e-01 -4.45147839e-02 -1.83100289e-02 4.43211256e+02] [ 4.45197367e-02 9.99008496e-01 -1.37229099e-04 6.18820717e+00] [ 1.82979831e-02 -6.78087627e-04 9.99832348e-01 5.29442049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.885099893 meters 0.01935546693463986 Centerline is valid? [True, True] Translation: X:443.24, Y:6.19, Z:5.29 [[ 9.98944421e-01 -4.21828399e-02 -1.81838395e-02 4.43243198e+02] [ 4.21873484e-02 9.99109708e-01 -1.35753920e-04 6.18993858e+00] [ 1.81733771e-02 -6.31517353e-04 9.99834651e-01 5.29462729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.915099893 meters 0.019074257908644015 Centerline is valid? [True, True] Translation: X:443.27, Y:6.19, Z:5.29 [[ 9.99044926e-01 -3.98302513e-02 -1.79662496e-02 4.43273839e+02] [ 3.98342926e-02 9.99206291e-01 -1.33014704e-04 6.19072931e+00] [ 1.79572877e-02 -5.82785179e-04 9.99838585e-01 5.29499695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.945099893 meters 0.01760522377666963 Centerline is valid? [True, True] Translation: X:443.31, Y:6.19, Z:5.30 [[ 9.99133976e-01 -3.73918184e-02 -1.82524130e-02 4.43305279e+02] [ 3.73956057e-02 9.99300531e-01 -1.33887843e-04 6.19369423e+00] [ 1.82446523e-02 -5.48788146e-04 9.99833402e-01 5.29550091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.975099893 meters 0.016631970864029115 Centerline is valid? [True, True] Translation: X:443.34, Y:6.20, Z:5.30 [[ 9.99287694e-01 -3.30986685e-02 -1.81268747e-02 4.43335834e+02] [ 3.31017059e-02 9.99451980e-01 -1.32529386e-04 6.19602373e+00] [ 1.81213273e-02 -4.67595490e-04 9.99835686e-01 5.29567900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.005099893 meters 0.015764965986644088 Centerline is valid? [True, True] Translation: X:443.37, Y:6.20, Z:5.30 [[ 9.99343514e-01 -3.12764939e-02 -1.82844710e-02 4.43366753e+02] [ 3.12792816e-02 9.99510675e-01 -1.33575124e-04 6.19806712e+00] [ 1.82797017e-02 -4.38437683e-04 9.99832816e-01 5.29636425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.035099893 meters 0.015368454064413607 Centerline is valid? [True, True] Translation: X:443.40, Y:6.20, Z:5.30 [[ 9.99392984e-01 -2.97820886e-02 -1.80746043e-02 4.43396837e+02] [ 2.97845724e-02 9.99556333e-01 -1.31822089e-04 6.19907270e+00] [ 1.80705111e-02 -4.06602290e-04 9.99836632e-01 5.29675828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.065099893 meters 0.01483358314274305 Centerline is valid? [True, True] Translation: X:443.43, Y:6.20, Z:5.30 [[ 9.99423032e-01 -2.88503328e-02 -1.79237499e-02 4.43426974e+02] [ 2.88526255e-02 9.99583668e-01 -1.30721874e-04 6.20041460e+00] [ 1.79200590e-02 -3.86500791e-04 9.99839348e-01 5.29775108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.095099893 meters 0.016285606373309284 Centerline is valid? [True, True] Translation: X:443.46, Y:6.20, Z:5.30 [[ 9.99451516e-01 -2.78981528e-02 -1.78426377e-02 4.43456360e+02] [ 2.79002738e-02 9.99610703e-01 -1.30088741e-04 6.19709356e+00] [ 1.78393208e-02 -3.67797088e-04 9.99840799e-01 5.29734549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.125099893 meters 0.014298158089756891 Centerline is valid? [True, True] Translation: X:443.49, Y:6.20, Z:5.30 [[ 9.99497715e-01 -2.63129281e-02 -1.76620589e-02 4.43486775e+02] [ 2.63147607e-02 9.99653698e-01 -1.28679281e-04 6.20096795e+00] [ 1.76593284e-02 -3.36158206e-04 9.99844005e-01 5.29804998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.155099893 meters 0.014546713729331317 Centerline is valid? [True, True] Translation: X:443.52, Y:6.20, Z:5.30 [[ 9.99519493e-01 -2.52225307e-02 -1.80168275e-02 4.43515983e+02] [ 2.52242613e-02 9.99681809e-01 -1.31222490e-04 6.20011108e+00] [ 1.80144045e-02 -3.23301729e-04 9.99837675e-01 5.29765646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18509989300003 meters 0.01458976355604192 Centerline is valid? [True, True] Translation: X:443.54, Y:6.20, Z:5.30 [[ 9.99532955e-01 -2.43225391e-02 -1.85009760e-02 4.43544613e+02] [ 2.43242056e-02 9.99704114e-01 -1.34982238e-04 6.20006077e+00] [ 1.84987849e-02 -3.15102349e-04 9.99828833e-01 5.29743401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.215099893 meters 0.014002887774297522 Centerline is valid? [True, True] Translation: X:443.57, Y:6.20, Z:5.30 [[ 9.99599087e-01 -2.21776912e-02 -1.76015853e-02 4.43572992e+02] [ 2.21788330e-02 9.99754011e-01 -1.30356926e-04 6.20164870e+00] [ 1.76001465e-02 -2.60077957e-04 9.99845072e-01 5.29788643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24509989300003 meters 0.013858643931331762 Centerline is valid? [True, True] Translation: X:443.60, Y:6.20, Z:5.30 [[ 9.99619500e-01 -2.09068158e-02 -1.79933571e-02 4.43601455e+02] [ 2.09077212e-02 9.99781400e-01 -1.37820972e-04 6.20201716e+00] [ 1.79923052e-02 -2.38431562e-04 9.99838097e-01 5.29817166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.275099893 meters 0.013858643931331762 Centerline is valid? [True, True] Translation: X:443.63, Y:6.20, Z:5.30 [[ 9.99613514e-01 -2.11911243e-02 -1.79933203e-02 4.43628854e+02] [ 2.11919915e-02 9.99775414e-01 -1.42497419e-04 6.20229630e+00] [ 1.79922989e-02 -2.38871944e-04 9.99838097e-01 5.29851141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30509989300003 meters 0.013556147688936978 Centerline is valid? [True, True] Translation: X:443.66, Y:6.20, Z:5.30 [[ 9.99634601e-01 -2.01365139e-02 -1.80328838e-02 4.43657220e+02] [ 2.01371241e-02 9.99797217e-01 -1.47758900e-04 6.20284434e+00] [ 1.80322023e-02 -2.15425509e-04 9.99837383e-01 5.29865474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.335099893 meters 0.013497916924772542 Centerline is valid? [True, True] Translation: X:443.69, Y:6.20, Z:5.30 [[ 9.99654642e-01 -1.90025004e-02 -1.81521873e-02 4.43685149e+02] [ 1.90028657e-02 9.99819418e-01 -1.52377513e-04 6.20267535e+00] [ 1.81518048e-02 -1.92618688e-04 9.99835224e-01 5.29857798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.365099893 meters 0.013323924709044662 Centerline is valid? [True, True] Translation: X:443.71, Y:6.20, Z:5.30 [[ 9.99678289e-01 -1.72211350e-02 -1.86212273e-02 4.43713454e+02] [ 1.72211608e-02 9.99851692e-01 -1.58979141e-04 6.20274103e+00] [ 1.86212034e-02 -1.61751153e-04 9.99826597e-01 5.29865612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.395099893 meters 0.013277152889816408 Centerline is valid? [True, True] Translation: X:443.74, Y:6.20, Z:5.30 [[ 9.99677589e-01 -1.71583214e-02 -1.87165927e-02 4.43741357e+02] [ 1.71582451e-02 9.99852773e-01 -1.64673890e-04 6.20273806e+00] [ 1.87166626e-02 -1.56523087e-04 9.99824816e-01 5.29934348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.425099893 meters 0.013261252361463256 Centerline is valid? [True, True] Translation: X:443.77, Y:6.20, Z:5.30 [[ 9.99674784e-01 -1.76359066e-02 -1.84201342e-02 4.43768968e+02] [ 1.76358165e-02 9.99844463e-01 -1.67343403e-04 6.20255456e+00] [ 1.84202204e-02 -1.57565126e-04 9.99830321e-01 5.30051031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.455099893 meters 0.013372858115066376 Centerline is valid? [True, True] Translation: X:443.80, Y:6.20, Z:5.30 [[ 9.99670962e-01 -1.76308132e-02 -1.86312193e-02 4.43796341e+02] [ 1.76306369e-02 9.99844553e-01 -1.73730725e-04 6.20135862e+00] [ 1.86313862e-02 -1.54806702e-04 9.99826409e-01 5.30048771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.485099893 meters 0.013350973580370757 Centerline is valid? [True, True] Translation: X:443.83, Y:6.20, Z:5.30 [[ 9.99614776e-01 -1.91199156e-02 -2.01178661e-02 4.43825328e+02] [ 1.91199378e-02 9.99817179e-01 -1.91257051e-04 6.19921858e+00] [ 2.01178449e-02 -1.93468975e-04 9.99797597e-01 5.30094082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.515099893 meters 0.013501952341501753 Centerline is valid? [True, True] Translation: X:443.85, Y:6.20, Z:5.30 [[ 9.99581655e-01 -2.02191885e-02 -2.06808841e-02 4.43853031e+02] [ 2.02193573e-02 9.99795548e-01 -2.00959282e-04 6.19777613e+00] [ 2.06807190e-02 -2.17278972e-04 9.99786107e-01 5.30091224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.545099893 meters 0.01344308275808858 Centerline is valid? [True, True] Translation: X:443.88, Y:6.20, Z:5.30 [[ 9.99560233e-01 -2.11888168e-02 -2.07454507e-02 4.43881408e+02] [ 2.11891158e-02 9.99775464e-01 -2.05423886e-04 6.19706310e+00] [ 2.07451453e-02 -2.34244211e-04 9.99784769e-01 5.30188178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.575099893 meters 0.013610768191852038 Centerline is valid? [True, True] Translation: X:443.91, Y:6.20, Z:5.30 [[ 9.99522554e-01 -2.22129007e-02 -2.14767461e-02 4.43908833e+02] [ 2.22133690e-02 9.99753229e-01 -2.16786505e-04 6.19530448e+00] [ 2.14762617e-02 -2.60387885e-04 9.99769325e-01 5.30199963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.605099893 meters 0.013974359312462725 Centerline is valid? [True, True] Translation: X:443.94, Y:6.19, Z:5.30 [[ 9.99474060e-01 -2.43257623e-02 -2.14443701e-02 4.43937313e+02] [ 2.43266425e-02 9.99704039e-01 -2.19857898e-04 6.19273774e+00] [ 2.14433716e-02 -3.01927258e-04 9.99770019e-01 5.30308995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.635099893 meters 0.013942206557114136 Centerline is valid? [True, True] Translation: X:443.97, Y:6.19, Z:5.30 [[ 9.99430539e-01 -2.57384838e-02 -2.18203704e-02 4.43966017e+02] [ 2.57396106e-02 9.99668655e-01 -2.29262857e-04 6.19198565e+00] [ 2.18190412e-02 -3.32515536e-04 9.99761881e-01 5.30387456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.665099893 meters 0.014195533203337317 Centerline is valid? [True, True] Translation: X:443.99, Y:6.19, Z:5.30 [[ 9.99390715e-01 -2.68063719e-02 -2.23521036e-02 4.43993413e+02] [ 2.68077295e-02 9.99640580e-01 -2.38958847e-04 6.19069343e+00] [ 2.23504754e-02 -3.60395893e-04 9.99750132e-01 5.30414702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.695099893 meters 0.014127353513240919 Centerline is valid? [True, True] Translation: X:444.02, Y:6.19, Z:5.30 [[ 9.99327591e-01 -2.83193945e-02 -2.32889926e-02 4.44021778e+02] [ 2.83211869e-02 9.99598843e-01 -2.52931260e-04 6.19003976e+00] [ 2.32868129e-02 -4.06810726e-04 9.99728743e-01 5.30493758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.725099893 meters 0.015745767801622335 Centerline is valid? [True, True] Translation: X:444.05, Y:6.18, Z:5.30 [[ 9.99221570e-01 -3.13799247e-02 -2.39072137e-02 4.44049110e+02] [ 3.13825672e-02 9.99507411e-01 -2.64741016e-04 6.18411304e+00] [ 2.39037449e-02 -4.85734808e-04 9.99714147e-01 5.30394313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.755099893 meters 0.014954024759252314 Centerline is valid? [True, True] Translation: X:444.08, Y:6.18, Z:5.31 [[ 9.99147591e-01 -3.35552549e-02 -2.40444846e-02 4.44077452e+02] [ 3.35584375e-02 9.99436720e-01 -2.71245207e-04 6.18483067e+00] [ 2.40400425e-02 -5.35881338e-04 9.99710853e-01 5.30603897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.785099893 meters 0.01584395120230038 Centerline is valid? [True, True] Translation: X:444.11, Y:6.18, Z:5.31 [[ 9.99078781e-01 -3.57008824e-02 -2.38125223e-02 4.44105319e+02] [ 3.57045000e-02 9.99362354e-01 -2.73366054e-04 6.18153974e+00] [ 2.38070977e-02 -5.77099979e-04 9.99716404e-01 5.30605492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.815099893 meters 0.01611402690978566 Centerline is valid? [True, True] Translation: X:444.13, Y:6.18, Z:5.31 [[ 9.99000156e-01 -3.78068024e-02 -2.38607345e-02 4.44133720e+02] [ 3.78109243e-02 9.99284873e-01 -2.78551132e-04 6.18021550e+00] [ 2.38542022e-02 -6.23923803e-04 9.99715253e-01 5.30693299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.845099893 meters 0.017102884293851962 Centerline is valid? [True, True] Translation: X:444.16, Y:6.18, Z:5.31 [[ 9.98841061e-01 -4.16005247e-02 -2.42060002e-02 4.44163649e+02] [ 4.16057926e-02 9.99134063e-01 -2.86180650e-04 6.17657040e+00] [ 2.41969446e-02 -7.21260838e-04 9.99706951e-01 5.30729620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.875099893 meters 0.01752395865635974 Centerline is valid? [True, True] Translation: X:444.19, Y:6.17, Z:5.31 [[ 9.98777316e-01 -4.29755419e-02 -2.44330896e-02 4.44193497e+02] [ 4.29812985e-02 9.99075835e-01 -2.89748890e-04 6.17498723e+00] [ 2.44229615e-02 -7.60771299e-04 9.99701426e-01 5.30757373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.905099893 meters 0.017770273560952128 Centerline is valid? [True, True] Translation: X:444.22, Y:6.17, Z:5.31 [[ 9.98699342e-01 -4.46411601e-02 -2.46331473e-02 4.44222734e+02] [ 4.46474900e-02 9.99002761e-01 -2.93235239e-04 6.17385160e+00] [ 2.46216725e-02 -8.06954355e-04 9.99696515e-01 5.30784575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.93509989300003 meters 0.019684750316532395 Centerline is valid? [True, True] Translation: X:444.25, Y:6.17, Z:5.31 [[ 9.98549218e-01 -4.73785224e-02 -2.55877941e-02 4.44251848e+02] [ 4.73862348e-02 9.98876595e-01 -3.05202241e-04 6.16903872e+00] [ 2.55735087e-02 -9.07749762e-04 9.99672532e-01 5.30732979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.965099893 meters 0.01802964018421966 Centerline is valid? [True, True] Translation: X:444.28, Y:6.17, Z:5.31 [[ 9.98479727e-01 -4.86020720e-02 -2.60014034e-02 4.44281848e+02] [ 4.86104459e-02 9.98817765e-01 -3.10297828e-04 6.17116515e+00] [ 2.59857447e-02 -9.54113719e-04 9.99661858e-01 5.30884098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99509989300003 meters 0.01936580305375137 Centerline is valid? [True, True] Translation: X:444.31, Y:6.17, Z:5.31 [[ 9.98400684e-01 -4.99873994e-02 -2.64070706e-02 4.44310794e+02] [ 4.99965009e-02 9.98749343e-01 -3.15885456e-04 6.16837380e+00] [ 2.63898347e-02 -1.00488087e-03 9.99651223e-01 5.30855755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.025099893 meters 0.02209472197318979 Centerline is valid? [True, True] Translation: X:444.34, Y:6.16, Z:5.31 [[ 9.98231699e-01 -5.28873915e-02 -2.71366787e-02 4.44340068e+02] [ 5.28980458e-02 9.98599865e-01 -3.25607670e-04 6.16315324e+00] [ 2.71159042e-02 -1.11044537e-03 9.99631679e-01 5.30819673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05509989300003 meters 0.0232001284986788 Centerline is valid? [True, True] Translation: X:444.37, Y:6.16, Z:5.31 [[ 9.98143585e-01 -5.43344330e-02 -2.75164118e-02 4.44368442e+02] [ 5.43458949e-02 9.98522115e-01 -3.31678443e-04 6.16146278e+00] [ 2.74937673e-02 -1.16434132e-03 9.99621297e-01 5.30841224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.085099893 meters 0.02348962057702853 Centerline is valid? [True, True] Translation: X:444.40, Y:6.16, Z:5.31 [[ 9.98064021e-01 -5.55851004e-02 -2.79017215e-02 4.44397626e+02] [ 5.55973264e-02 9.98453215e-01 -3.38009630e-04 6.16096737e+00] [ 2.78773518e-02 -1.21390586e-03 9.99610614e-01 5.30890789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.115099893 meters 0.021584150627752777 Centerline is valid? [True, True] Translation: X:444.43, Y:6.16, Z:5.31 [[ 9.98005758e-01 -5.68110571e-02 -2.75138153e-02 4.44427192e+02] [ 5.68233777e-02 9.98384191e-01 -3.34487646e-04 6.16381597e+00] [ 2.74883608e-02 -1.22960732e-03 9.99621367e-01 5.31089099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.145099893 meters 0.02252106039387515 Centerline is valid? [True, True] Translation: X:444.46, Y:6.16, Z:5.31 [[ 9.97940511e-01 -5.78720025e-02 -2.76688898e-02 4.44456782e+02] [ 5.78848495e-02 9.98323209e-01 -3.37094071e-04 6.16219453e+00] [ 2.76420031e-02 -1.26520969e-03 9.99617086e-01 5.31138520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.175099893 meters 0.02408867098757911 Centerline is valid? [True, True] Translation: X:444.49, Y:6.16, Z:5.31 [[ 9.97817038e-01 -6.01048781e-02 -2.73598790e-02 4.44485670e+02] [ 6.01182747e-02 9.98191205e-01 -3.33404363e-04 6.15963396e+00] [ 2.73304298e-02 -1.31215217e-03 9.99625593e-01 5.31205966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.205099893 meters 0.02474384647153212 Centerline is valid? [True, True] Translation: X:444.52, Y:6.16, Z:5.31 [[ 9.97752001e-01 -6.12221278e-02 -2.72542919e-02 4.44516046e+02] [ 6.12358401e-02 9.98123270e-01 -3.31999908e-04 6.15885003e+00] [ 2.72234687e-02 -1.33768589e-03 9.99628478e-01 5.31257282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.235099893 meters 0.025338778344355172 Centerline is valid? [True, True] Translation: X:444.55, Y:6.16, Z:5.31 [[ 9.97687478e-01 -6.22974624e-02 -2.71794614e-02 4.44546684e+02] [ 6.23114974e-02 9.98056696e-01 -3.31088355e-04 6.15836858e+00] [ 2.71472694e-02 -1.36327023e-03 9.99630515e-01 5.31322317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.265099893 meters 0.026114650865882615 Centerline is valid? [True, True] Translation: X:444.58, Y:6.16, Z:5.31 [[ 9.97625888e-01 -6.32282018e-02 -2.72906782e-02 4.44577092e+02] [ 6.32426992e-02 9.97998121e-01 -3.32443150e-04 6.15748792e+00] [ 2.72570654e-02 -1.39428226e-03 9.99627485e-01 5.31368565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.295099893 meters 0.02722938949060908 Centerline is valid? [True, True] Translation: X:444.61, Y:6.16, Z:5.31 [[ 9.97504056e-01 -6.52004148e-02 -2.71028428e-02 4.44607103e+02] [ 6.52154321e-02 9.97871153e-01 -3.30410916e-04 6.15658070e+00] [ 2.70666880e-02 -1.43793738e-03 9.99632596e-01 5.31451239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.325099893 meters 0.028020463460792806 Centerline is valid? [True, True] Translation: X:444.64, Y:6.16, Z:5.32 [[ 9.97468800e-01 -6.58417825e-02 -2.68486990e-02 4.44637516e+02] [ 6.58567452e-02 9.97829034e-01 -3.27525277e-04 6.15626539e+00] [ 2.68119762e-02 -1.44147168e-03 9.99639455e-01 5.31513324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.355099893 meters 0.02690613978986556 Centerline is valid? [True, True] Translation: X:444.67, Y:6.16, Z:5.32 [[ 9.97461695e-01 -6.61169993e-02 -2.64330947e-02 4.44668348e+02] [ 6.61316115e-02 9.97810857e-01 -3.21961800e-04 6.15852450e+00] [ 2.63965160e-02 -1.42691859e-03 9.99650533e-01 5.31640837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.385099893 meters 0.027101078152818793 Centerline is valid? [True, True] Translation: X:444.70, Y:6.16, Z:5.32 [[ 9.97446179e-01 -6.63041799e-02 -2.65495106e-02 4.44700068e+02] [ 6.63190120e-02 9.97798419e-01 -3.22447142e-04 6.15902026e+00] [ 2.65124393e-02 -1.43911364e-03 9.99647448e-01 5.31690878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.415099893 meters 0.02835867334792111 Centerline is valid? [True, True] Translation: X:444.73, Y:6.16, Z:5.32 [[ 9.97459606e-01 -6.63973999e-02 -2.58015366e-02 4.44730090e+02] [ 6.64114697e-02 9.97792273e-01 -3.12157368e-04 6.15870263e+00] [ 2.57653002e-02 -1.40215360e-03 9.99667036e-01 5.31739018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.445099893 meters 0.026987936808118854 Centerline is valid? [True, True] Translation: X:444.76, Y:6.16, Z:5.32 [[ 9.97478507e-01 -6.61657786e-02 -2.56654863e-02 4.44761481e+02] [ 6.61796543e-02 9.97807676e-01 -3.09326714e-04 6.16168417e+00] [ 2.56296860e-02 -1.38998626e-03 9.99670539e-01 5.31863964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.475099893 meters 0.024471459795354453 Centerline is valid? [True, True] Translation: X:444.79, Y:6.17, Z:5.32 [[ 9.97558582e-01 -6.53045189e-02 -2.47425775e-02 4.44792401e+02] [ 6.53171713e-02 9.97864509e-01 -2.97337583e-04 6.16734935e+00] [ 2.47091575e-02 -1.31950352e-03 9.99693811e-01 5.32053504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.505099893 meters 0.025300421072390493 Centerline is valid? [True, True] Translation: X:444.82, Y:6.17, Z:5.32 [[ 9.97615140e-01 -6.43233381e-02 -2.50307993e-02 4.44823277e+02] [ 6.43360019e-02 9.97928248e-01 -2.99894088e-04 6.16757278e+00] [ 2.49982319e-02 -1.31120267e-03 9.99686635e-01 5.32060719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.535099893 meters 0.023347075725744428 Centerline is valid? [True, True] Translation: X:444.85, Y:6.17, Z:5.32 [[ 9.97667830e-01 -6.34272960e-02 -2.52166265e-02 4.44854582e+02] [ 6.34398863e-02 9.97985616e-01 -3.01205926e-04 6.17174252e+00] [ 2.51849352e-02 -1.29923645e-03 9.99681965e-01 5.32122153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.565099893 meters 0.023288011868562303 Centerline is valid? [True, True] Translation: X:444.89, Y:6.17, Z:5.32 [[ 9.97723131e-01 -6.23951773e-02 -2.56007126e-02 4.44885805e+02] [ 6.24078394e-02 9.98050684e-01 -3.04857523e-04 6.17316597e+00] [ 2.55698303e-02 -1.29352176e-03 9.99672202e-01 5.32124969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.595099893 meters 0.023901748769363802 Centerline is valid? [True, True] Translation: X:444.92, Y:6.17, Z:5.32 [[ 9.97770774e-01 -6.12953720e-02 -2.63886260e-02 4.44915766e+02] [ 6.13084611e-02 9.98118818e-01 -3.13526278e-04 6.17366128e+00] [ 2.63582019e-02 -1.30501870e-03 9.99651710e-01 5.32108771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.625099893 meters 0.02319022757691831 Centerline is valid? [True, True] Translation: X:444.95, Y:6.18, Z:5.32 [[ 9.97936460e-01 -5.83863230e-02 -2.67181356e-02 4.44946290e+02] [ 5.83987070e-02 9.98293289e-01 -3.17216174e-04 6.17750626e+00] [ 2.66910566e-02 -1.24374299e-03 9.99642957e-01 5.32062615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.655099893 meters 0.021046015415904316 Centerline is valid? [True, True] Translation: X:444.98, Y:6.18, Z:5.32 [[ 9.98041406e-01 -5.66458104e-02 -2.65443950e-02 4.44977185e+02] [ 5.66574264e-02 9.98393628e-01 -3.14896549e-04 6.18197470e+00] [ 2.65195924e-02 -1.18965731e-03 9.99647586e-01 5.32170660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.68509989300003 meters 0.020965176715508696 Centerline is valid? [True, True] Translation: X:445.01, Y:6.18, Z:5.32 [[ 9.98131988e-01 -5.49098403e-02 -2.67851524e-02 4.45007977e+02] [ 5.49210503e-02 9.98490650e-01 -3.17526688e-04 6.18355764e+00] [ 2.67621596e-02 -1.15413516e-03 9.99641163e-01 5.32174072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.715099893 meters 0.01983885292442732 Centerline is valid? [True, True] Translation: X:445.04, Y:6.19, Z:5.32 [[ 9.98252444e-01 -5.29087595e-02 -2.63195888e-02 4.45038141e+02] [ 5.29188887e-02 9.98598765e-01 -3.12007628e-04 6.18675210e+00] [ 2.62992169e-02 -1.08134102e-03 9.99653531e-01 5.32246454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74509989300003 meters 0.02018777517767468 Centerline is valid? [True, True] Translation: X:445.07, Y:6.19, Z:5.32 [[ 9.98502048e-01 -4.82926829e-02 -2.57192095e-02 4.45068399e+02] [ 4.83008258e-02 9.98832787e-01 -3.04890384e-04 6.18856712e+00] [ 2.57039137e-02 -9.37825385e-04 9.99669160e-01 5.32209792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.775099893 meters 0.0175619846353586 Centerline is valid? [True, True] Translation: X:445.10, Y:6.19, Z:5.32 [[ 9.98618023e-01 -4.58736189e-02 -2.56447749e-02 4.45099365e+02] [ 4.58809244e-02 9.98946870e-01 -3.03767077e-04 6.19459278e+00] [ 2.56317025e-02 -8.73258698e-04 9.99671073e-01 5.32351615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80509989300003 meters 0.01673883098876842 Centerline is valid? [True, True] Translation: X:445.13, Y:6.20, Z:5.32 [[ 9.98711866e-01 -4.38556817e-02 -2.55203378e-02 4.45129424e+02] [ 4.38622579e-02 9.99037542e-01 -3.02310254e-04 6.19784507e+00] [ 2.55090336e-02 -8.17458801e-04 9.99674257e-01 5.32415899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.835099893 meters 0.015884290887265215 Centerline is valid? [True, True] Translation: X:445.16, Y:6.20, Z:5.32 [[ 9.98852748e-01 -4.06646773e-02 -2.52897511e-02 4.45159419e+02] [ 4.06701016e-02 9.99172584e-01 -3.00039388e-04 6.20211722e+00] [ 2.52810269e-02 -7.28841578e-04 9.99680118e-01 5.32455704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.865099893 meters 0.017049740834997048 Centerline is valid? [True, True] Translation: X:445.19, Y:6.20, Z:5.32 [[ 9.98879547e-01 -3.99268710e-02 -2.54066150e-02 4.45188224e+02] [ 3.99320834e-02 9.99202351e-01 -3.02363904e-04 6.20119702e+00] [ 2.53984218e-02 -7.12513947e-04 9.99677154e-01 5.32360647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.895099893 meters 0.015895694394992284 Centerline is valid? [True, True] Translation: X:445.22, Y:6.20, Z:5.32 [[ 9.98902395e-01 -3.96291265e-02 -2.49707363e-02 4.45217575e+02] [ 3.96340405e-02 9.99214218e-01 -2.98294954e-04 6.20408838e+00] [ 2.49629359e-02 -6.91723630e-04 9.99688138e-01 5.32458857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.925099893 meters 0.01608491062345618 Centerline is valid? [True, True] Translation: X:445.25, Y:6.20, Z:5.32 [[ 9.98884877e-01 -4.04212778e-02 -2.43951353e-02 4.45247348e+02] [ 4.04261825e-02 9.99182485e-01 -2.92292795e-04 6.20460156e+00] [ 2.43870068e-02 -6.94235339e-04 9.99702352e-01 5.32499070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.955099893 meters 0.01626511824023524 Centerline is valid? [True, True] Translation: X:445.28, Y:6.21, Z:5.33 [[ 9.98860326e-01 -4.11218619e-02 -2.42289316e-02 4.45277144e+02] [ 4.11268846e-02 9.99153889e-01 -2.91177303e-04 6.20501736e+00] [ 2.42204050e-02 -7.05615018e-04 9.99706394e-01 5.32547987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.985099893 meters 0.01654288745347535 Centerline is valid? [True, True] Translation: X:445.31, Y:6.21, Z:5.33 [[ 9.98835554e-01 -4.21109990e-02 -2.35414488e-02 4.45306397e+02] [ 4.21159951e-02 9.99112688e-01 -2.83755466e-04 6.20554575e+00] [ 2.35325094e-02 -7.08046494e-04 9.99722821e-01 5.32610784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.015099893 meters 0.017017691997023823 Centerline is valid? [True, True] Translation: X:445.34, Y:6.21, Z:5.33 [[ 9.98794483e-01 -4.33028468e-02 -2.31180505e-02 4.45336720e+02] [ 4.33079735e-02 9.99061731e-01 -2.79091303e-04 6.20567959e+00] [ 2.31084450e-02 -7.22441066e-04 9.99732703e-01 5.32668021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.045099893 meters 0.01754164560131418 Centerline is valid? [True, True] Translation: X:445.37, Y:6.21, Z:5.33 [[ 9.98669987e-01 -4.61477943e-02 -2.29921475e-02 4.45367495e+02] [ 4.61536183e-02 9.98934315e-01 -2.77571346e-04 6.20532409e+00] [ 2.29804544e-02 -7.83968625e-04 9.99735607e-01 5.32695528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.075099893 meters 0.017948008428965392 Centerline is valid? [True, True] Translation: X:445.40, Y:6.21, Z:5.33 [[ 9.98586377e-01 -4.77890577e-02 -2.32691385e-02 4.45399213e+02] [ 4.77954771e-02 9.98857104e-01 -2.80518532e-04 6.20501951e+00] [ 2.32559500e-02 -8.32037591e-04 9.99729198e-01 5.32721077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.105099893 meters 0.019080399039993104 Centerline is valid? [True, True] Translation: X:445.43, Y:6.20, Z:5.33 [[ 9.98509221e-01 -4.94081943e-02 -2.31984239e-02 4.45429896e+02] [ 4.94150339e-02 9.98778292e-01 -2.78680099e-04 6.20349607e+00] [ 2.31838513e-02 -8.68086256e-04 9.99730842e-01 5.32701007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.135099893 meters 0.019651098996253658 Centerline is valid? [True, True] Translation: X:445.46, Y:6.20, Z:5.33 [[ 9.98433977e-01 -5.09828789e-02 -2.30291014e-02 4.45460821e+02] [ 5.09900555e-02 9.98699123e-01 -2.75846138e-04 6.20286381e+00] [ 2.30132068e-02 -8.98841001e-04 9.99734757e-01 5.32738904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.165099893 meters 0.019651098996253658 Centerline is valid? [True, True] Translation: X:445.49, Y:6.20, Z:5.33 [[ 9.98435803e-01 -5.09470973e-02 -2.30291086e-02 4.45491687e+02] [ 5.09542783e-02 9.98700949e-01 -2.75242548e-04 6.20320416e+00] [ 2.30132154e-02 -8.98619594e-04 9.99734757e-01 5.32777071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.195099893 meters 0.020593036186295037 Centerline is valid? [True, True] Translation: X:445.52, Y:6.20, Z:5.33 [[ 9.98358444e-01 -5.28630637e-02 -2.20434389e-02 4.45522933e+02] [ 5.28701260e-02 9.98601362e-01 -2.62692825e-04 6.20194752e+00] [ 2.20264949e-02 -9.03177794e-04 9.99756979e-01 5.32861741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.225099893 meters 0.023653097220700258 Centerline is valid? [True, True] Translation: X:445.55, Y:6.20, Z:5.33 [[ 9.98140980e-01 -5.67785430e-02 -2.21535956e-02 4.45552916e+02] [ 5.67866605e-02 9.98386301e-01 -2.63007897e-04 6.19828087e+00] [ 2.21327795e-02 -9.95509752e-04 9.99754544e-01 5.32901953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.255099893 meters 0.02445977797069969 Centerline is valid? [True, True] Translation: X:445.59, Y:6.20, Z:5.33 [[ 9.98041956e-01 -5.86066738e-02 -2.18520374e-02 4.45585468e+02] [ 5.86150384e-02 9.98280627e-01 -2.58076359e-04 6.19742124e+00] [ 2.18295906e-02 -1.02328698e-03 9.99761182e-01 5.32956522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.285099893 meters 0.021576795386740365 Centerline is valid? [True, True] Translation: X:445.62, Y:6.20, Z:5.33 [[ 9.97805658e-01 -6.26404932e-02 -2.14484907e-02 4.45616953e+02] [ 6.26495063e-02 9.98035558e-01 -2.52128391e-04 6.20212326e+00] [ 2.14221499e-02 -1.09216222e-03 9.99769923e-01 5.33140214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.315099893 meters 0.022678186189002473 Centerline is valid? [True, True] Translation: X:445.65, Y:6.20, Z:5.33 [[ 9.97680978e-01 -6.45898885e-02 -2.14665233e-02 4.45649447e+02] [ 6.45993910e-02 9.97911246e-01 -2.51206315e-04 6.20099386e+00] [ 2.14379104e-02 -1.13610057e-03 9.99769536e-01 5.33173493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.345099893 meters 0.02531257823253229 Centerline is valid? [True, True] Translation: X:445.68, Y:6.20, Z:5.33 [[ 9.97564976e-01 -6.63159726e-02 -2.15942357e-02 4.45680249e+02] [ 6.63260189e-02 9.97797974e-01 -2.51438669e-04 6.19810356e+00] [ 2.15633590e-02 -1.18143327e-03 9.99766786e-01 5.33163502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.375099893 meters 0.03068036887828145 Centerline is valid? [True, True] Translation: X:445.71, Y:6.19, Z:5.33 [[ 9.97452227e-01 -6.78757038e-02 -2.19532029e-02 4.45711705e+02] [ 6.78864850e-02 9.97693019e-01 -2.54638954e-04 6.19180851e+00] [ 2.19198411e-02 -1.23633559e-03 9.99758967e-01 5.33086992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.405099893 meters 0.02881650221673168 Centerline is valid? [True, True] Translation: X:445.74, Y:6.20, Z:5.33 [[ 9.97280137e-01 -7.02274034e-02 -2.23705239e-02 4.45742549e+02] [ 7.02392136e-02 9.97530143e-01 -2.58341650e-04 6.19631652e+00] [ 2.23334146e-02 -1.31364901e-03 9.99749715e-01 5.33252788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.43509989300003 meters 0.025571347691346995 Centerline is valid? [True, True] Translation: X:445.78, Y:6.20, Z:5.33 [[ 9.97242202e-01 -7.06303274e-02 -2.27892089e-02 4.45775101e+02] [ 7.06427194e-02 9.97501648e-01 -2.61830173e-04 6.20207675e+00] [ 2.27507666e-02 -1.34878360e-03 9.99740258e-01 5.33375209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.465099893 meters 0.026044160873422977 Centerline is valid? [True, True] Translation: X:445.81, Y:6.20, Z:5.33 [[ 9.97190166e-01 -7.11285218e-02 -2.35054502e-02 4.45807632e+02] [ 7.11418845e-02 9.97466170e-01 -2.68305505e-04 6.20386506e+00] [ 2.34649755e-02 -1.40467041e-03 9.99723673e-01 5.33396501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49509989300003 meters 0.028402823911316363 Centerline is valid? [True, True] Translation: X:445.84, Y:6.20, Z:5.33 [[ 9.97222858e-01 -7.06742949e-02 -2.34886236e-02 4.45838631e+02] [ 7.06875483e-02 9.97498471e-01 -2.66601425e-04 6.20203706e+00] [ 2.34487080e-02 -1.39449218e-03 9.99724069e-01 5.33412571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.525099893 meters 0.02921210997118426 Centerline is valid? [True, True] Translation: X:445.87, Y:6.20, Z:5.33 [[ 9.97270219e-01 -7.00942111e-02 -2.32144650e-02 4.45869803e+02] [ 7.01070290e-02 9.97539441e-01 -2.62249019e-04 6.20265153e+00] [ 2.31757265e-02 -1.36596403e-03 9.99730474e-01 5.33477820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55509989300003 meters 0.02627646724909565 Centerline is valid? [True, True] Translation: X:445.90, Y:6.21, Z:5.34 [[ 9.97337089e-01 -6.91539875e-02 -2.31615375e-02 4.45901841e+02] [ 6.91665274e-02 9.97605094e-01 -2.60218269e-04 6.20866354e+00] [ 2.31240629e-02 -1.34247779e-03 9.99731702e-01 5.33639669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.585099893 meters 0.028036188996870902 Centerline is valid? [True, True] Translation: X:445.93, Y:6.21, Z:5.34 [[ 9.97549835e-01 -6.61620480e-02 -2.27356525e-02 4.45931465e+02] [ 6.61733760e-02 9.97808108e-01 -2.54556335e-04 6.20987597e+00] [ 2.27026603e-02 -1.25056225e-03 9.99741479e-01 5.33697179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.615099893 meters 0.024610529555299156 Centerline is valid? [True, True] Translation: X:445.96, Y:6.22, Z:5.34 [[ 9.97689125e-01 -6.41870222e-02 -2.22808442e-02 4.45962599e+02] [ 6.41974183e-02 9.97937187e-01 -2.49105108e-04 6.21648279e+00] [ 2.22508723e-02 -1.18184322e-03 9.99751720e-01 5.33858051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.645099893 meters 0.023995441295250372 Centerline is valid? [True, True] Translation: X:445.99, Y:6.22, Z:5.34 [[ 9.97827796e-01 -6.20055500e-02 -2.22486150e-02 4.45994325e+02] [ 6.20153971e-02 9.98075162e-01 -2.47764138e-04 6.21954090e+00] [ 2.22211527e-02 -1.13253075e-03 9.99752438e-01 5.33955513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.675099893 meters 0.022303780540900982 Centerline is valid? [True, True] Translation: X:446.03, Y:6.22, Z:5.34 [[ 9.97991471e-01 -5.94121591e-02 -2.19822599e-02 4.46026300e+02] [ 5.94211701e-02 9.98232971e-01 -2.43614368e-04 6.22418012e+00] [ 2.19578903e-02 -1.06308654e-03 9.99758331e-01 5.34101167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.705099893 meters 0.020116172414601133 Centerline is valid? [True, True] Translation: X:446.06, Y:6.23, Z:5.34 [[ 9.98339204e-01 -5.36336679e-02 -2.10300481e-02 4.46056319e+02] [ 5.36406500e-02 9.98560277e-01 -2.32355965e-04 6.23187046e+00] [ 2.10122328e-02 -8.96095382e-04 9.99778817e-01 5.34269831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.735099893 meters 0.020927367223726328 Centerline is valid? [True, True] Translation: X:446.09, Y:6.23, Z:5.34 [[ 9.98506906e-01 -5.04984813e-02 -2.08293750e-02 4.46086863e+02] [ 5.05046547e-02 9.98723799e-01 -2.29898132e-04 6.23321764e+00] [ 2.08144020e-02 -8.22425519e-04 9.99783019e-01 5.34304599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.765099893 meters 0.018738704906050792 Centerline is valid? [True, True] Translation: X:446.12, Y:6.24, Z:5.34 [[ 9.98666297e-01 -4.72668717e-02 -2.07718667e-02 4.46118011e+02] [ 4.72723238e-02 9.98882013e-01 -2.28737038e-04 6.23917854e+00] [ 2.07594557e-02 -7.53502439e-04 9.99784215e-01 5.34417524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.795099893 meters 0.017370569098884507 Centerline is valid? [True, True] Translation: X:446.15, Y:6.25, Z:5.34 [[ 9.98948007e-01 -4.07251098e-02 -2.10794818e-02 4.46147674e+02] [ 4.07292791e-02 9.99170192e-01 -2.31674145e-04 6.24554545e+00] [ 2.10714248e-02 -6.27121672e-04 9.99777776e-01 5.34402323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.825099893 meters 0.01607757398987715 Centerline is valid? [True, True] Translation: X:446.18, Y:6.25, Z:5.34 [[ 9.99083201e-01 -3.73303207e-02 -2.09572287e-02 4.46178962e+02] [ 3.73337018e-02 9.99302828e-01 -2.30027096e-04 6.24959495e+00] [ 2.09512048e-02 -5.52594719e-04 9.99780347e-01 5.34444718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.855099893 meters 0.014683188549267182 Centerline is valid? [True, True] Translation: X:446.21, Y:6.25, Z:5.35 [[ 9.99210181e-01 -3.39219817e-02 -2.06957341e-02 4.46210266e+02] [ 3.39245634e-02 9.99424371e-01 -2.26425536e-04 6.25429200e+00] [ 2.06915018e-02 -4.75847042e-04 9.99785795e-01 5.34507928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.885099893 meters 0.013443606130489548 Centerline is valid? [True, True] Translation: X:446.24, Y:6.26, Z:5.35 [[ 9.99328748e-01 -3.05935797e-02 -2.01515664e-02 4.46240631e+02] [ 3.05953597e-02 9.99531828e-01 -2.20038113e-04 6.25903456e+00] [ 2.01488638e-02 -3.96654011e-04 9.99796912e-01 5.34603101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.915099893 meters 0.012568213124745391 Centerline is valid? [True, True] Translation: X:446.27, Y:6.26, Z:5.35 [[ 9.99530456e-01 -2.36715569e-02 -1.94557395e-02 4.46270218e+02] [ 2.36719025e-02 9.99719759e-01 -2.12569910e-04 6.26474994e+00] [ 1.94553191e-02 -2.48084269e-04 9.99810697e-01 5.34652684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.945099893 meters 0.012209918925620811 Centerline is valid? [True, True] Translation: X:446.30, Y:6.27, Z:5.35 [[ 9.99613171e-01 -2.03465468e-02 -1.89611634e-02 4.46299396e+02] [ 2.03462682e-02 9.99792972e-01 -2.07622712e-04 6.26804341e+00] [ 1.89614623e-02 -1.78246518e-04 9.99820199e-01 5.34691430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.975099893 meters 0.011886730526684592 Centerline is valid? [True, True] Translation: X:446.33, Y:6.27, Z:5.35 [[ 9.99667685e-01 -1.75222709e-02 -1.89073721e-02 4.46328122e+02] [ 1.75214494e-02 9.99846466e-01 -2.09117714e-04 6.27087310e+00] [ 1.89081334e-02 -1.22236342e-04 9.99821218e-01 5.34716050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.005099893 meters 0.011822374973499312 Centerline is valid? [True, True] Translation: X:446.36, Y:6.27, Z:5.35 [[ 9.99708381e-01 -1.49121218e-02 -1.89942595e-02 4.46356250e+02] [ 1.49107513e-02 9.99888806e-01 -2.13785761e-04 6.27323728e+00] [ 1.89953355e-02 -6.94952623e-05 9.99819570e-01 5.34705093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.035099893 meters 0.011707222369900152 Centerline is valid? [True, True] Translation: X:446.38, Y:6.28, Z:5.35 [[ 9.99753521e-01 -1.16180324e-02 -1.89187182e-02 4.46384360e+02] [ 1.16160264e-02 9.99932508e-01 -2.15923746e-04 6.27586647e+00] [ 1.89199499e-02 -3.88980441e-06 9.99821002e-01 5.34690932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.065099893 meters 0.01176849659590727 Centerline is valid? [True, True] Translation: X:446.41, Y:6.28, Z:5.35 [[ 9.99761766e-01 -1.07427694e-02 -1.90001006e-02 4.46411080e+02] [ 1.07405040e-02 9.99942295e-01 -2.21273212e-04 6.27666028e+00] [ 1.90013813e-02 1.71498400e-05 9.99819457e-01 5.34656262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.095099893 meters 0.011719530669911585 Centerline is valid? [True, True] Translation: X:446.44, Y:6.28, Z:5.35 [[ 9.99763979e-01 -1.05495373e-02 -1.89919481e-02 4.46438518e+02] [ 1.05471726e-02 9.99944352e-01 -2.24673787e-04 6.27690017e+00] [ 1.89932614e-02 2.43094051e-05 9.99819611e-01 5.34706886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.125099893 meters 0.011781148715868635 Centerline is valid? [True, True] Translation: X:446.47, Y:6.28, Z:5.35 [[ 9.99768618e-01 -1.12002426e-02 -1.83647795e-02 4.46465918e+02] [ 1.11980627e-02 9.99937275e-01 -2.21533115e-04 6.27619908e+00] [ 1.83661088e-02 1.58319043e-05 9.99831329e-01 5.34665525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.155099893 meters 0.01174357278223275 Centerline is valid? [True, True] Translation: X:446.49, Y:6.28, Z:5.35 [[ 9.99750323e-01 -1.27892266e-02 -1.83228529e-02 4.46494293e+02] [ 1.27872634e-02 9.99918214e-01 -2.24302984e-04 6.27517117e+00] [ 1.83242231e-02 -1.00521663e-05 9.99832097e-01 5.34735408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18509989300003 meters 0.011762281765144914 Centerline is valid? [True, True] Translation: X:446.52, Y:6.27, Z:5.35 [[ 9.99728460e-01 -1.47469751e-02 -1.80425402e-02 4.46521935e+02] [ 1.47452980e-02 9.99891257e-01 -2.25989728e-04 6.27351238e+00] [ 1.80439108e-02 -4.01142690e-05 9.99837195e-01 5.34725659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.215099893 meters 0.0120880300299085 Centerline is valid? [True, True] Translation: X:446.55, Y:6.27, Z:5.35 [[ 9.99652180e-01 -1.98233006e-02 -1.73941530e-02 4.46549597e+02] [ 1.98224425e-02 9.99803491e-01 -2.21757826e-04 6.26855859e+00] [ 1.73951309e-02 -1.23113904e-04 9.99848686e-01 5.34740982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24509989300003 meters 0.012429303757025728 Centerline is valid? [True, True] Translation: X:446.58, Y:6.27, Z:5.35 [[ 9.99586161e-01 -2.30187792e-02 -1.72522928e-02 4.46578014e+02] [ 2.30183704e-02 9.99735017e-01 -2.22299145e-04 6.26561076e+00] [ 1.72528383e-02 -1.74912517e-04 9.99851143e-01 5.34754987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.275099893 meters 0.013114139144879425 Centerline is valid? [True, True] Translation: X:446.61, Y:6.26, Z:5.35 [[ 9.99516125e-01 -2.61153488e-02 -1.68968759e-02 4.46607330e+02] [ 2.61153472e-02 9.99658912e-01 -2.20784406e-04 6.26183258e+00] [ 1.68968785e-02 -2.20590208e-04 9.99857213e-01 5.34733353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30509989300003 meters 0.013576848382728017 Centerline is valid? [True, True] Translation: X:446.64, Y:6.26, Z:5.35 [[ 9.99425493e-01 -2.93600212e-02 -1.69314312e-02 4.46637505e+02] [ 2.93604813e-02 9.99568864e-01 -2.21451911e-04 6.25910611e+00] [ 1.69306333e-02 -2.75790284e-04 9.99856629e-01 5.34759095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.335099893 meters 0.013866595522248682 Centerline is valid? [True, True] Translation: X:446.67, Y:6.26, Z:5.35 [[ 9.99336842e-01 -3.22099472e-02 -1.69822168e-02 4.46668845e+02] [ 3.22108242e-02 9.99481072e-01 -2.21950822e-04 6.25664273e+00] [ 1.69805533e-02 -3.25207566e-04 9.99855767e-01 5.34770830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.365099893 meters 0.015414158910874805 Centerline is valid? [True, True] Translation: X:446.70, Y:6.25, Z:5.35 [[ 9.99166516e-01 -3.75560615e-02 -1.59942571e-02 4.46699028e+02] [ 3.75575315e-02 9.99294445e-01 -2.08557095e-04 6.24970127e+00] [ 1.59908049e-02 -3.92321550e-04 9.99872062e-01 5.34791984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.395099893 meters 0.01563619740364058 Centerline is valid? [True, True] Translation: X:446.73, Y:6.25, Z:5.35 [[ 9.99099954e-01 -3.93880514e-02 -1.57436487e-02 4.46730881e+02] [ 3.93897103e-02 9.99223903e-01 -2.04830077e-04 6.24753629e+00] [ 1.57394979e-02 -4.15492040e-04 9.99876040e-01 5.34869026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.425099893 meters 0.016923587532507542 Centerline is valid? [True, True] Translation: X:446.76, Y:6.24, Z:5.35 [[ 9.99054782e-01 -4.06464012e-02 -1.54081682e-02 4.46762099e+02] [ 4.06481555e-02 9.99173502e-01 -1.99433057e-04 6.24376745e+00] [ 1.54035396e-02 -4.27069068e-04 9.99881267e-01 5.34884072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.455099893 meters 0.016607746462035014 Centerline is valid? [True, True] Translation: X:446.79, Y:6.24, Z:5.35 [[ 9.99008638e-01 -4.18767784e-02 -1.51022238e-02 4.46794282e+02] [ 4.18786169e-02 9.99122687e-01 -1.94628852e-04 6.24147184e+00] [ 1.50971249e-02 -4.38024342e-04 9.99885936e-01 5.34965422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.485099893 meters 0.017828258776999513 Centerline is valid? [True, True] Translation: X:446.83, Y:6.24, Z:5.35 [[ 9.99011799e-01 -4.17282878e-02 -1.53027649e-02 4.46825478e+02] [ 4.17301771e-02 9.99128898e-01 -1.95970428e-04 6.23823766e+00] [ 1.52976121e-02 -4.42810318e-04 9.99882887e-01 5.34974141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.515099893 meters 0.0162150458014536 Centerline is valid? [True, True] Translation: X:446.86, Y:6.24, Z:5.35 [[ 9.99031891e-01 -4.13370620e-02 -1.50508328e-02 4.46857347e+02] [ 4.13388698e-02 9.99145165e-01 -1.91106544e-04 6.23967410e+00] [ 1.50458666e-02 -4.31262887e-04 9.99886712e-01 5.34977988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.545099893 meters 0.017284271578394107 Centerline is valid? [True, True] Translation: X:446.89, Y:6.24, Z:5.35 [[ 9.99045577e-01 -4.06612337e-02 -1.59561687e-02 4.46888525e+02] [ 4.06631977e-02 9.99172890e-01 -2.01463757e-04 6.23678774e+00] [ 1.59511630e-02 -4.47557366e-04 9.99872672e-01 5.34948975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.575099893 meters 0.0158442551836551 Centerline is valid? [True, True] Translation: X:446.92, Y:6.24, Z:5.35 [[ 9.99090107e-01 -3.94672942e-02 -1.61644852e-02 4.46921244e+02] [ 3.94691701e-02 9.99220768e-01 -2.03079552e-04 6.23828603e+00] [ 1.61599043e-02 -4.35104044e-04 9.99869326e-01 5.34986308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.605099893 meters 0.014738962376062663 Centerline is valid? [True, True] Translation: X:446.95, Y:6.24, Z:5.35 [[ 9.99196851e-01 -3.66715316e-02 -1.61508888e-02 4.46952767e+02] [ 3.66730594e-02 9.99327297e-01 -2.01661757e-04 6.23838222e+00] [ 1.61474193e-02 -3.90802713e-04 9.99869546e-01 5.35009126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.635099893 meters 0.014353994676274271 Centerline is valid? [True, True] Translation: X:446.98, Y:6.24, Z:5.35 [[ 9.99262317e-01 -3.48287697e-02 -1.61795895e-02 4.46984308e+02] [ 3.48300710e-02 9.99393229e-01 -2.01431884e-04 6.23863687e+00] [ 1.61767879e-02 -3.62252961e-04 9.99869082e-01 5.35074376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.665099893 meters 0.014342552494848854 Centerline is valid? [True, True] Translation: X:447.01, Y:6.24, Z:5.35 [[ 9.99328340e-01 -3.28842126e-02 -1.61708519e-02 4.47014607e+02] [ 3.28852665e-02 9.99459113e-01 -2.00806251e-04 6.23798723e+00] [ 1.61687087e-02 -3.31111396e-04 9.99869223e-01 5.35091401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.695099893 meters 0.0134590100965263 Centerline is valid? [True, True] Translation: X:447.05, Y:6.24, Z:5.35 [[ 9.99397737e-01 -3.05297273e-02 -1.64954316e-02 4.47045635e+02] [ 3.05305095e-02 9.99533814e-01 -2.04460474e-04 6.23928272e+00] [ 1.64939837e-02 -2.99276595e-04 9.99863920e-01 5.35124106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.725099893 meters 0.012563045444922018 Centerline is valid? [True, True] Translation: X:447.08, Y:6.24, Z:5.35 [[ 9.99529051e-01 -2.59105264e-02 -1.64414254e-02 4.47076636e+02] [ 2.59106859e-02 9.99664241e-01 -2.03353515e-04 6.23999208e+00] [ 1.64411740e-02 -2.22750863e-04 9.99864810e-01 5.35132642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.755099893 meters 0.012486201592576381 Centerline is valid? [True, True] Translation: X:447.11, Y:6.24, Z:5.35 [[ 9.99586719e-01 -2.32985041e-02 -1.68395446e-02 4.47105746e+02] [ 2.32982991e-02 9.99728536e-01 -2.08384359e-04 6.23948104e+00] [ 1.68398283e-02 -1.84034509e-04 9.99858183e-01 5.35088464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.785099893 meters 0.012021624524775995 Centerline is valid? [True, True] Translation: X:447.14, Y:6.24, Z:5.35 [[ 9.99632625e-01 -2.11725286e-02 -1.69215383e-02 4.47135046e+02] [ 2.11720024e-02 9.99775826e-01 -2.10259679e-04 6.24084336e+00] [ 1.69221966e-02 -1.48080414e-04 9.99856798e-01 5.35125500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.815099893 meters 0.011851301765310046 Centerline is valid? [True, True] Translation: X:447.16, Y:6.24, Z:5.35 [[ 9.99684260e-01 -1.88960770e-02 -1.65625848e-02 4.47163252e+02] [ 1.88952278e-02 9.99821448e-01 -2.07772088e-04 6.24060103e+00] [ 1.65635536e-02 -1.05247328e-04 9.99862809e-01 5.35070130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.845099893 meters 0.011671103364434502 Centerline is valid? [True, True] Translation: X:447.19, Y:6.24, Z:5.35 [[ 9.99735232e-01 -1.53926560e-02 -1.71035862e-02 4.47191938e+02] [ 1.53912032e-02 9.99881525e-01 -2.16580448e-04 6.24040624e+00] [ 1.71048936e-02 -4.67216652e-05 9.99853700e-01 5.35026916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.875099893 meters 0.011594961598487673 Centerline is valid? [True, True] Translation: X:447.22, Y:6.24, Z:5.35 [[ 9.99755049e-01 -1.43352125e-02 -1.68625090e-02 4.47219939e+02] [ 1.43335782e-02 9.99897245e-01 -2.17780435e-04 6.24004083e+00] [ 1.68638983e-02 -2.39730018e-05 9.99857794e-01 5.35046555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.905099893 meters 0.011569894785114547 Centerline is valid? [True, True] Translation: X:447.25, Y:6.24, Z:5.35 [[ 9.99770726e-01 -1.33484072e-02 -1.67425989e-02 4.47247986e+02] [ 1.33465789e-02 9.99910906e-01 -2.20938583e-04 6.23938531e+00] [ 1.67440564e-02 -2.56848988e-06 9.99859808e-01 5.35093380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.93509989300003 meters 0.011662411190739292 Centerline is valid? [True, True] Translation: X:447.27, Y:6.24, Z:5.35 [[ 9.99787255e-01 -1.26411631e-02 -1.62986547e-02 4.47274706e+02] [ 1.26392671e-02 9.99920097e-01 -2.19332413e-04 6.23857080e+00] [ 1.63001250e-02 1.32826998e-05 9.99867144e-01 5.35101746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.965099893 meters 0.011584672431222605 Centerline is valid? [True, True] Translation: X:447.30, Y:6.24, Z:5.35 [[ 9.99808724e-01 -1.24334362e-02 -1.50972144e-02 4.47302790e+02] [ 1.24317396e-02 9.99922702e-01 -2.06225557e-04 6.23607073e+00] [ 1.50986115e-02 1.85014721e-05 9.99886009e-01 5.35185060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99509989300003 meters 0.01146497959908552 Centerline is valid? [True, True] Translation: X:447.33, Y:6.23, Z:5.35 [[ 9.99806606e-01 -1.30589811e-02 -1.47042053e-02 4.47330016e+02] [ 1.30573837e-02 9.99914728e-01 -2.04635861e-04 6.23468028e+00] [ 1.47056238e-02 1.25978350e-05 9.99891866e-01 5.35224266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.025099893 meters 0.011402819742177144 Centerline is valid? [True, True] Translation: X:447.36, Y:6.23, Z:5.35 [[ 9.99783760e-01 -1.59335942e-02 -1.33624394e-02 4.47358217e+02] [ 1.59325092e-02 9.99873052e-01 -1.87656485e-04 6.22961533e+00] [ 1.33637331e-02 -2.52812812e-05 9.99910701e-01 5.35267224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05509989300003 meters 0.011558453746225461 Centerline is valid? [True, True] Translation: X:447.39, Y:6.23, Z:5.35 [[ 9.99744354e-01 -1.81905625e-02 -1.34286860e-02 4.47386142e+02] [ 1.81896205e-02 9.99834537e-01 -1.92285601e-04 6.22614828e+00] [ 1.34299618e-02 -5.20262590e-05 9.99909813e-01 5.35262769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.085099893 meters 0.011558453746225461 Centerline is valid? [True, True] Translation: X:447.42, Y:6.23, Z:5.35 [[ 9.99743735e-01 -1.82245819e-02 -1.34286617e-02 4.47415292e+02] [ 1.82236205e-02 9.99833917e-01 -1.93966676e-04 6.22660051e+00] [ 1.34299664e-02 -5.08018657e-05 9.99909813e-01 5.35298866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.115099893 meters 0.011692675303345869 Centerline is valid? [True, True] Translation: X:447.44, Y:6.22, Z:5.35 [[ 9.99694006e-01 -2.11839675e-02 -1.27724239e-02 4.47444463e+02] [ 2.11833328e-02 9.99775591e-01 -1.84988949e-04 6.22320236e+00] [ 1.27734764e-02 -8.56301622e-05 9.99918412e-01 5.35295673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.145099893 meters 0.011901009784585498 Centerline is valid? [True, True] Translation: X:447.47, Y:6.22, Z:5.35 [[ 9.99614688e-01 -2.44961601e-02 -1.30542605e-02 4.47474559e+02] [ 2.44957386e-02 9.99699916e-01 -1.92201745e-04 6.21979830e+00] [ 1.30550513e-02 -1.27646065e-04 9.99914771e-01 5.35319989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.175099893 meters 0.012988321964725517 Centerline is valid? [True, True] Translation: X:447.51, Y:6.21, Z:5.35 [[ 9.99397749e-01 -3.20254329e-02 -1.33607854e-02 4.47505202e+02] [ 3.20256638e-02 9.99487028e-01 -1.96728039e-04 6.21173429e+00] [ 1.33602319e-02 -2.31278461e-04 9.99910721e-01 5.35249574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.205099893 meters 0.013581492994661826 Centerline is valid? [True, True] Translation: X:447.54, Y:6.21, Z:5.35 [[ 9.99270485e-01 -3.58622186e-02 -1.31300570e-02 4.47536796e+02] [ 3.58627729e-02 9.99356705e-01 -1.93302542e-04 6.20832212e+00] [ 1.31285427e-02 -2.77718727e-04 9.99913778e-01 5.35279927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.235099893 meters 0.01443528945877242 Centerline is valid? [True, True] Translation: X:447.57, Y:6.20, Z:5.35 [[ 9.99124966e-01 -3.97337823e-02 -1.30587024e-02 4.47568625e+02] [ 3.97346675e-02 9.99210248e-01 -1.91761002e-04 6.20451949e+00] [ 1.30560087e-02 -3.27289993e-04 9.99914713e-01 5.35321798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.265099893 meters 0.01573256616872741 Centerline is valid? [True, True] Translation: X:447.60, Y:6.20, Z:5.35 [[ 9.98959731e-01 -4.36866926e-02 -1.30739924e-02 4.47599747e+02] [ 4.36879275e-02 9.99045208e-01 -1.91261810e-04 6.20014783e+00] [ 1.30698651e-02 -3.80112786e-04 9.99914513e-01 5.35361991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.295099893 meters 0.0201867420904416 Centerline is valid? [True, True] Translation: X:447.63, Y:6.19, Z:5.35 [[ 9.98632472e-01 -5.04720437e-02 -1.36293254e-02 4.47629984e+02] [ 5.04740275e-02 9.98725354e-01 -1.98606080e-04 6.18872847e+00] [ 1.36219769e-02 -4.89592465e-04 9.99907097e-01 5.35270725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.325099893 meters 0.018777290291656843 Centerline is valid? [True, True] Translation: X:447.66, Y:6.19, Z:5.35 [[ 9.98450565e-01 -5.39137186e-02 -1.37760439e-02 4.47661043e+02] [ 5.39160835e-02 9.98545450e-01 -1.99934654e-04 6.18921066e+00] [ 1.37667852e-02 -5.43125467e-04 9.99905086e-01 5.35293703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.355099893 meters 0.019750057493706546 Centerline is valid? [True, True] Translation: X:447.69, Y:6.19, Z:5.35 [[ 9.98283178e-01 -5.68975391e-02 -1.39056163e-02 4.47692294e+02] [ 5.69002472e-02 9.98379848e-01 -2.01128217e-04 6.18617538e+00] [ 1.38945307e-02 -5.90450087e-04 9.99903292e-01 5.35284546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.385099893 meters 0.02235564717476923 Centerline is valid? [True, True] Translation: X:447.72, Y:6.18, Z:5.35 [[ 9.97927009e-01 -6.28603406e-02 -1.37935535e-02 4.47721676e+02] [ 6.28635800e-02 9.98022109e-01 -1.99032664e-04 6.18024180e+00] [ 1.37787826e-02 -6.68492083e-04 9.99904845e-01 5.35318950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.415099893 meters 0.022809931584129004 Centerline is valid? [True, True] Translation: X:447.75, Y:6.18, Z:5.35 [[ 9.97767579e-01 -6.53398993e-02 -1.38042156e-02 4.47753003e+02] [ 6.53433844e-02 9.97862818e-01 -1.98893237e-04 6.17899495e+00] [ 1.37877091e-02 -7.03564942e-04 9.99904697e-01 5.35351706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.445099893 meters 0.02392101238071335 Centerline is valid? [True, True] Translation: X:447.78, Y:6.18, Z:5.35 [[ 9.97624726e-01 -6.74419201e-02 -1.40175861e-02 4.47784619e+02] [ 6.74457283e-02 9.97722924e-01 -2.01419344e-04 6.17675033e+00] [ 1.39992511e-02 -7.44485387e-04 9.99901729e-01 5.35385891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.475099893 meters 0.02713692744333968 Centerline is valid? [True, True] Translation: X:447.82, Y:6.17, Z:5.35 [[ 9.97499797e-01 -6.92207100e-02 -1.42354904e-02 4.47815460e+02] [ 6.92248289e-02 9.97601063e-01 -2.03794722e-04 6.17211080e+00] [ 1.42154472e-02 -7.82164194e-04 9.99898650e-01 5.35430812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.505099893 meters 0.02538721369149327 Centerline is valid? [True, True] Translation: X:447.85, Y:6.17, Z:5.35 [[ 9.97356684e-01 -7.12295231e-02 -1.43527296e-02 4.47847447e+02] [ 7.12339261e-02 9.97459616e-01 -2.04875575e-04 6.17369626e+00] [ 1.43308613e-02 -8.18067254e-04 9.99896973e-01 5.35412575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.535099893 meters 0.02690464848840696 Centerline is valid? [True, True] Translation: X:447.88, Y:6.17, Z:5.35 [[ 9.97318150e-01 -7.17141880e-02 -1.46145107e-02 4.47878841e+02] [ 7.17188200e-02 9.97424868e-01 -2.07577038e-04 6.17169841e+00] [ 1.45917626e-02 -8.41115114e-04 9.99893181e-01 5.35407198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.565099893 meters 0.027074428038824226 Centerline is valid? [True, True] Translation: X:447.91, Y:6.17, Z:5.35 [[ 9.97306137e-01 -7.18279000e-02 -1.48735029e-02 4.47910927e+02] [ 7.18327231e-02 9.97416671e-01 -2.10391125e-04 6.17173133e+00] [ 1.48501917e-02 -8.58579858e-04 9.99889361e-01 5.35420013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.595099893 meters 0.02494726417807195 Centerline is valid? [True, True] Translation: X:447.94, Y:6.18, Z:5.35 [[ 9.97325354e-01 -7.15041410e-02 -1.51425237e-02 4.47943267e+02] [ 7.15091198e-02 9.97439923e-01 -2.13090174e-04 6.17548598e+00] [ 1.51189945e-02 -8.70308306e-04 9.99885323e-01 5.35476796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.625099893 meters 0.024780603119840084 Centerline is valid? [True, True] Translation: X:447.98, Y:6.18, Z:5.35 [[ 9.97367870e-01 -7.08859044e-02 -1.52486389e-02 4.47975198e+02] [ 7.08908984e-02 9.97484052e-01 -2.13455519e-04 6.17643880e+00] [ 1.52254051e-02 -8.68096031e-04 9.99883710e-01 5.35486521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.655099893 meters 0.025825294738809672 Centerline is valid? [True, True] Translation: X:448.01, Y:6.18, Z:5.35 [[ 9.97416571e-01 -7.01190196e-02 -1.56046948e-02 4.48006158e+02] [ 7.01241768e-02 9.97538246e-01 -2.17103801e-04 6.17562474e+00] [ 1.55815030e-02 -8.77723450e-04 9.99878216e-01 5.35482793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68509989300003 meters 0.024392600514366664 Centerline is valid? [True, True] Translation: X:448.04, Y:6.18, Z:5.35 [[ 9.97472189e-01 -6.92021511e-02 -1.61336526e-02 4.48038112e+02] [ 6.92075747e-02 9.97602256e-01 -2.22585137e-04 6.17825530e+00] [ 1.61103716e-02 -8.94548482e-04 9.99869819e-01 5.35494383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.715099893 meters 0.02421558641538303 Centerline is valid? [True, True] Translation: X:448.07, Y:6.18, Z:5.36 [[ 9.97533106e-01 -6.82857896e-02 -1.62712164e-02 4.48070426e+02] [ 6.82912040e-02 9.97665406e-01 -2.23283208e-04 6.17943674e+00] [ 1.62484768e-02 -8.88448566e-04 9.99867590e-01 5.35537794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74509989300003 meters 0.02357550713189035 Centerline is valid? [True, True] Translation: X:448.10, Y:6.18, Z:5.36 [[ 9.97601610e-01 -6.73234942e-02 -1.60802556e-02 4.48103145e+02] [ 6.73286774e-02 9.97730826e-01 -2.19427918e-04 6.18146155e+00] [ 1.60585394e-02 -8.63760697e-04 9.99870680e-01 5.35577531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.775099893 meters 0.027914093619003686 Centerline is valid? [True, True] Translation: X:448.13, Y:6.18, Z:5.36 [[ 9.97717829e-01 -6.55128285e-02 -1.63463294e-02 4.48134079e+02] [ 6.55179635e-02 9.97851365e-01 -2.21761486e-04 6.17780947e+00] [ 1.63257353e-02 -8.49722824e-04 9.99866365e-01 5.35566051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80509989300003 meters 0.024105454446849875 Centerline is valid? [True, True] Translation: X:448.17, Y:6.18, Z:5.36 [[ 9.97755684e-01 -6.49092985e-02 -1.64431477e-02 4.48166503e+02] [ 6.49144251e-02 9.97890810e-01 -2.22328126e-04 6.18423549e+00] [ 1.64228972e-02 -8.45568330e-04 9.99864778e-01 5.35649192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.835099893 meters 0.023518516390974173 Centerline is valid? [True, True] Translation: X:448.20, Y:6.19, Z:5.36 [[ 9.97787949e-01 -6.44095566e-02 -1.64504775e-02 4.48198633e+02] [ 6.44146395e-02 9.97923196e-01 -2.21243522e-04 6.18631888e+00] [ 1.64305633e-02 -8.38897457e-04 9.99864657e-01 5.35715217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.865099893 meters 0.026204685700016814 Centerline is valid? [True, True] Translation: X:448.23, Y:6.18, Z:5.36 [[ 9.97813318e-01 -6.40437453e-02 -1.63395722e-02 4.48230293e+02] [ 6.40487289e-02 9.97946748e-01 -2.18650402e-04 6.18359581e+00] [ 1.63200261e-02 -8.28356547e-04 9.99866476e-01 5.35737468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.895099893 meters 0.022503738489442777 Centerline is valid? [True, True] Translation: X:448.26, Y:6.19, Z:5.36 [[ 9.97847895e-01 -6.36053722e-02 -1.59353177e-02 4.48262778e+02] [ 6.36100709e-02 9.97974806e-01 -2.12330422e-04 6.19054282e+00] [ 1.59165510e-02 -8.01773227e-04 9.99873002e-01 5.35805641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.925099893 meters 0.022788271976374574 Centerline is valid? [True, True] Translation: X:448.30, Y:6.19, Z:5.36 [[ 9.97857963e-01 -6.33711282e-02 -1.62353141e-02 4.48295071e+02] [ 6.33759942e-02 9.97989698e-01 -2.15123582e-04 6.19140421e+00] [ 1.62163088e-02 -8.14266390e-04 9.99868175e-01 5.35839872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.955099893 meters 0.023006374420431887 Centerline is valid? [True, True] Translation: X:448.33, Y:6.19, Z:5.36 [[ 9.97880212e-01 -6.30064683e-02 -1.62870440e-02 4.48327170e+02] [ 6.30113362e-02 9.98012788e-01 -2.14622653e-04 6.19242446e+00] [ 1.62682008e-02 -8.12100708e-04 9.99867334e-01 5.35868469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.985099893 meters 0.022844235289155697 Centerline is valid? [True, True] Translation: X:448.36, Y:6.19, Z:5.36 [[ 9.97945877e-01 -6.19535980e-02 -1.63026790e-02 4.48359131e+02] [ 6.19583543e-02 9.98078713e-01 -2.13651361e-04 6.19484489e+00] [ 1.62845934e-02 -7.96874669e-04 9.99867080e-01 5.35900469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.015099893 meters 0.02336680329300982 Centerline is valid? [True, True] Translation: X:448.39, Y:6.20, Z:5.36 [[ 9.97995335e-01 -6.11876376e-02 -1.61674117e-02 4.48390587e+02] [ 6.11922325e-02 9.98125977e-01 -2.10791708e-04 6.19560854e+00] [ 1.61500114e-02 -7.78950875e-04 9.99869277e-01 5.35946392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.045099893 meters 0.023303453480164795 Centerline is valid? [True, True] Translation: X:448.42, Y:6.20, Z:5.36 [[ 9.98056087e-01 -6.01749855e-02 -1.62178121e-02 4.48423302e+02] [ 6.01794921e-02 9.98187550e-01 -2.10443254e-04 6.19723652e+00] [ 1.62010815e-02 -7.65945524e-04 9.99868460e-01 5.35972800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.075099893 meters 0.02168884544018005 Centerline is valid? [True, True] Translation: X:448.45, Y:6.20, Z:5.36 [[ 9.98190711e-01 -5.77219561e-02 -1.68368823e-02 4.48454782e+02] [ 5.77264869e-02 9.98332412e-01 -2.17182282e-04 6.20196495e+00] [ 1.68213415e-02 -7.55144726e-04 9.99858226e-01 5.35990264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.105099893 meters 0.022865672346826578 Centerline is valid? [True, True] Translation: X:448.49, Y:6.20, Z:5.36 [[ 9.98285505e-01 -5.61246524e-02 -1.66154706e-02 4.48485590e+02] [ 5.61288550e-02 9.98423510e-01 -2.13661848e-04 6.20184888e+00] [ 1.66012682e-02 -7.19311814e-04 9.99861931e-01 5.36007340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.135099893 meters 0.01982175510091604 Centerline is valid? [True, True] Translation: X:448.52, Y:6.21, Z:5.36 [[ 9.98370047e-01 -5.45936569e-02 -1.66367774e-02 4.48517296e+02] [ 5.45976742e-02 9.98508412e-01 -2.12966363e-04 6.20774592e+00] [ 1.66235888e-02 -6.95710114e-04 9.99861577e-01 5.36091814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.165099893 meters 0.018766218221431576 Centerline is valid? [True, True] Translation: X:448.55, Y:6.21, Z:5.36 [[ 9.98476672e-01 -5.26653196e-02 -1.64529344e-02 4.48549772e+02] [ 5.26690068e-02 9.98612003e-01 -2.09427093e-04 6.21078241e+00] [ 1.64411273e-02 -6.57451645e-04 9.99864619e-01 5.36170356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.195099893 meters 0.01892363408625496 Centerline is valid? [True, True] Translation: X:448.58, Y:6.21, Z:5.36 [[ 9.98561756e-01 -5.10080707e-02 -1.65104762e-02 4.48580644e+02] [ 5.10115749e-02 9.98698040e-01 -2.09102672e-04 6.21197951e+00] [ 1.64996462e-02 -6.33423462e-04 9.99863671e-01 5.36199924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.225099893 meters 0.018318229237182453 Centerline is valid? [True, True] Translation: X:448.61, Y:6.22, Z:5.36 [[ 9.98692201e-01 -4.82258445e-02 -1.69751467e-02 4.48611481e+02] [ 4.82291580e-02 9.98836274e-01 -2.14364125e-04 6.21581045e+00] [ 1.69657302e-02 -6.04613253e-04 9.99855889e-01 5.36273083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.255099893 meters 0.01886916325222917 Centerline is valid? [True, True] Translation: X:448.64, Y:6.22, Z:5.36 [[ 9.98752143e-01 -4.69664250e-02 -1.69797194e-02 4.48642357e+02] [ 4.69695688e-02 9.98896298e-01 -2.13817340e-04 6.21653967e+00] [ 1.69710211e-02 -5.83979570e-04 9.99855811e-01 5.36286975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.285099893 meters 0.017646534284945004 Centerline is valid? [True, True] Translation: X:448.67, Y:6.22, Z:5.36 [[ 9.98779632e-01 -4.63072195e-02 -1.71723112e-02 4.48673635e+02] [ 4.63103482e-02 9.98927077e-01 -2.15631613e-04 6.21982758e+00] [ 1.71638719e-02 -5.79887248e-04 9.99852522e-01 5.36351802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.315099893 meters 0.018019118185286058 Centerline is valid? [True, True] Translation: X:448.70, Y:6.22, Z:5.36 [[ 9.98797494e-01 -4.57879441e-02 -1.75223031e-02 4.48704639e+02] [ 4.57911345e-02 9.98951012e-01 -2.19304217e-04 6.22140556e+00] [ 1.75139639e-02 -5.83325635e-04 9.99846449e-01 5.36403766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.345099893 meters 0.018294811339304662 Centerline is valid? [True, True] Translation: X:448.74, Y:6.22, Z:5.36 [[ 9.98794723e-01 -4.58179445e-02 -1.76016543e-02 4.48737015e+02] [ 4.58211866e-02 9.98949634e-01 -2.19271264e-04 6.22217712e+00] [ 1.75932127e-02 -5.87521704e-04 9.99845055e-01 5.36437708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.375099893 meters 0.016785385923680188 Centerline is valid? [True, True] Translation: X:448.77, Y:6.23, Z:5.37 [[ 9.98766361e-01 -4.63397047e-02 -1.78434226e-02 4.48769393e+02] [ 4.63431424e-02 9.98925555e-01 -2.21005387e-04 6.22590945e+00] [ 1.78344921e-02 -6.06187527e-04 9.99840769e-01 5.36556277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.405099893 meters 0.019421184978975804 Centerline is valid? [True, True] Translation: X:448.80, Y:6.22, Z:5.37 [[ 9.98731350e-01 -4.68977551e-02 -1.83382679e-02 4.48801085e+02] [ 4.69015098e-02 9.98899493e-01 -2.25517361e-04 6.22304055e+00] [ 1.83286628e-02 -6.34861193e-04 9.99831814e-01 5.36521403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.43509989300003 meters 0.01991401318661001 Centerline is valid? [True, True] Translation: X:448.83, Y:6.22, Z:5.37 [[ 9.98695823e-01 -4.73264601e-02 -1.91535890e-02 4.48832562e+02] [ 4.73306680e-02 9.98879249e-01 -2.33821750e-04 6.22351083e+00] [ 1.91431885e-02 -6.73035356e-04 9.99816526e-01 5.36516425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.465099893 meters 0.019486354204653666 Centerline is valid? [True, True] Translation: X:448.86, Y:6.23, Z:5.37 [[ 9.98618438e-01 -4.86089788e-02 -1.99595261e-02 4.48863466e+02] [ 4.86138156e-02 9.98817620e-01 -2.43087907e-04 6.22567417e+00] [ 1.99477426e-02 -7.27556658e-04 9.99800759e-01 5.36577391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49509989300003 meters 0.01847532858093326 Centerline is valid? [True, True] Translation: X:448.90, Y:6.23, Z:5.37 [[ 9.98602700e-01 -4.91045265e-02 -1.95292716e-02 4.48895056e+02] [ 4.91092607e-02 9.98793384e-01 -2.37380902e-04 6.22812325e+00] [ 1.95173638e-02 -7.22018882e-04 9.99809257e-01 5.36674955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.525099893 meters 0.01901169462999894 Centerline is valid? [True, True] Translation: X:448.93, Y:6.23, Z:5.37 [[ 9.98595431e-01 -4.93178644e-02 -1.93626772e-02 4.48926383e+02] [ 4.93225739e-02 9.98782874e-01 -2.34543776e-04 6.22812603e+00] [ 1.93506776e-02 -7.20802733e-04 9.99812498e-01 5.36712907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55509989300003 meters 0.01966709957300794 Centerline is valid? [True, True] Translation: X:448.96, Y:6.23, Z:5.37 [[ 9.98605384e-01 -4.93936070e-02 -1.86429488e-02 4.48957750e+02] [ 4.93980040e-02 9.98779148e-01 -2.24856927e-04 6.22816495e+00] [ 1.86312950e-02 -6.96381119e-04 9.99826180e-01 5.36757170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.585099893 meters 0.019182509437748903 Centerline is valid? [True, True] Translation: X:448.99, Y:6.23, Z:5.37 [[ 9.98624771e-01 -4.90393687e-02 -1.85393626e-02 4.48989879e+02] [ 4.90436761e-02 9.98796610e-01 -2.22519162e-04 6.22964562e+00] [ 1.85279647e-02 -6.87025349e-04 9.99828106e-01 5.36824004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.615099893 meters 0.017133692068420567 Centerline is valid? [True, True] Translation: X:449.02, Y:6.23, Z:5.37 [[ 9.98649559e-01 -4.85414667e-02 -1.85144382e-02 4.49022428e+02] [ 4.85457018e-02 9.98820938e-01 -2.20891905e-04 6.23378775e+00] [ 1.85033309e-02 -6.78202791e-04 9.99828569e-01 5.36903162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.645099893 meters 0.019308936160517085 Centerline is valid? [True, True] Translation: X:449.05, Y:6.23, Z:5.37 [[ 9.98702759e-01 -4.75227084e-02 -1.82863525e-02 4.49053373e+02] [ 4.75266998e-02 9.98869944e-01 -2.16491687e-04 6.23125814e+00] [ 1.82759762e-02 -6.52879143e-04 9.99832767e-01 5.36834883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.675099893 meters 0.015969584098713085 Centerline is valid? [True, True] Translation: X:449.08, Y:6.24, Z:5.37 [[ 9.98812203e-01 -4.51004968e-02 -1.84425857e-02 4.49084556e+02] [ 4.51041787e-02 9.98982265e-01 -2.16479435e-04 6.23821675e+00] [ 1.84335793e-02 -6.15615378e-04 9.99829898e-01 5.36906418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.705099893 meters 0.015751793239543774 Centerline is valid? [True, True] Translation: X:449.12, Y:6.24, Z:5.37 [[ 9.98881212e-01 -4.35323256e-02 -1.84732289e-02 4.49116426e+02] [ 4.35357665e-02 9.99051846e-01 -2.16040133e-04 6.23936004e+00] [ 1.84651181e-02 -5.88447748e-04 9.99829332e-01 5.36907281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.735099893 meters 0.015286384200576987 Centerline is valid? [True, True] Translation: X:449.15, Y:6.24, Z:5.37 [[ 9.98955664e-01 -4.18044745e-02 -1.84382100e-02 4.49148017e+02] [ 4.18076251e-02 9.99125656e-01 -2.14726910e-04 6.24070181e+00] [ 1.84310652e-02 -5.56355107e-04 9.99829979e-01 5.36932784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.765099893 meters 0.015048678834625741 Centerline is valid? [True, True] Translation: X:449.18, Y:6.24, Z:5.37 [[ 9.99082442e-01 -3.84536447e-02 -1.88571371e-02 4.49178809e+02] [ 3.84563570e-02 9.99260257e-01 -2.18901853e-04 6.24186397e+00] [ 1.88516053e-02 -5.06475800e-04 9.99822164e-01 5.36926113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.795099893 meters 0.014443401691378751 Centerline is valid? [True, True] Translation: X:449.21, Y:6.24, Z:5.37 [[ 9.99154186e-01 -3.65115643e-02 -1.89160676e-02 4.49209032e+02] [ 3.65139544e-02 9.99333119e-01 -2.19130190e-04 6.24357110e+00] [ 1.89114536e-02 -4.71755584e-04 9.99821051e-01 5.36931666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.825099893 meters 0.014035658306133682 Centerline is valid? [True, True] Translation: X:449.24, Y:6.24, Z:5.37 [[ 9.99218655e-01 -3.45988455e-02 -1.91049550e-02 4.49239527e+02] [ 3.46009341e-02 9.99401184e-01 -2.21318325e-04 6.24498753e+00] [ 1.91011720e-02 -4.39903889e-04 9.99817459e-01 5.36964362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.855099893 meters 0.013050930101525516 Centerline is valid? [True, True] Translation: X:449.27, Y:6.25, Z:5.37 [[ 9.99362257e-01 -3.01865485e-02 -1.90748757e-02 4.49269774e+02] [ 3.01878272e-02 9.99544219e-01 -2.20969877e-04 6.24777348e+00] [ 1.90728521e-02 -3.55000097e-04 9.99818034e-01 5.37012949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.885099893 meters 0.012622799864801023 Centerline is valid? [True, True] Translation: X:449.30, Y:6.25, Z:5.37 [[ 9.99430170e-01 -2.77651309e-02 -1.91945783e-02 4.49299302e+02] [ 2.77659745e-02 9.99614426e-01 -2.22598094e-04 6.24917790e+00] [ 1.91933579e-02 -3.10484923e-04 9.99815742e-01 5.37031127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.915099893 meters 0.012238991403205618 Centerline is valid? [True, True] Translation: X:449.33, Y:6.25, Z:5.37 [[ 9.99481079e-01 -2.56679440e-02 -1.94609497e-02 4.49327853e+02] [ 2.56683712e-02 9.99670487e-01 -2.27881401e-04 6.25044662e+00] [ 1.94603863e-02 -2.71767732e-04 9.99810592e-01 5.37030383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.945099893 meters 0.01135432476882391 Centerline is valid? [True, True] Translation: X:449.36, Y:6.25, Z:5.37 [[ 9.99577199e-01 -2.10952415e-02 -2.00103572e-02 4.49357038e+02] [ 2.10946784e-02 9.99777454e-01 -2.39236731e-04 6.25317828e+00] [ 2.00109507e-02 -1.82976469e-04 9.99799744e-01 5.37108683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.975099893 meters 0.01135432476882391 Centerline is valid? [True, True] Translation: X:449.38, Y:6.25, Z:5.37 [[ 9.99571098e-01 -2.13824185e-02 -2.00102953e-02 4.49384439e+02] [ 2.13818113e-02 9.99771353e-01 -2.44319441e-04 6.25356961e+00] [ 2.00109442e-02 -1.83641707e-04 9.99799744e-01 5.37142652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.005099893 meters 0.011086148955226006 Centerline is valid? [True, True] Translation: X:449.41, Y:6.25, Z:5.37 [[ 9.99609805e-01 -1.95035043e-02 -1.99962584e-02 4.49412801e+02] [ 1.95024125e-02 9.99809779e-01 -2.49624897e-04 6.25453264e+00] [ 1.99973232e-02 -1.40447785e-04 9.99800024e-01 5.37178516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.035099893 meters 0.011042100640084762 Centerline is valid? [True, True] Translation: X:449.44, Y:6.26, Z:5.37 [[ 9.99648088e-01 -1.75057834e-02 -1.99310859e-02 4.49440438e+02] [ 1.75042262e-02 9.99846757e-01 -2.52598934e-04 6.25505785e+00] [ 1.99324535e-02 -9.63681929e-05 9.99801324e-01 5.37166503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.065099893 meters 0.010766295886866235 Centerline is valid? [True, True] Translation: X:449.47, Y:6.26, Z:5.37 [[ 9.99672196e-01 -1.61348941e-02 -1.98787639e-02 4.49468826e+02] [ 1.61330115e-02 9.99869822e-01 -2.55077633e-04 6.25612367e+00] [ 1.98802917e-02 -6.57103083e-05 9.99802365e-01 5.37286697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.095099893 meters 0.010696097941142646 Centerline is valid? [True, True] Translation: X:449.50, Y:6.26, Z:5.37 [[ 9.99696390e-01 -1.45043479e-02 -1.99186198e-02 4.49496741e+02] [ 1.45020232e-02 9.99894806e-01 -2.61154518e-04 6.25584124e+00] [ 1.99203123e-02 -2.77850579e-05 9.99801571e-01 5.37356319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.125099893 meters 0.010691548385090285 Centerline is valid? [True, True] Translation: X:449.52, Y:6.26, Z:5.37 [[ 9.99695139e-01 -1.43431226e-02 -2.00973480e-02 4.49523950e+02] [ 1.43406308e-02 9.99897132e-01 -2.68107614e-04 6.25519106e+00] [ 2.00991262e-02 -2.01827708e-05 9.99797992e-01 5.37373487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.155099893 meters 0.010692002739238695 Centerline is valid? [True, True] Translation: X:449.55, Y:6.25, Z:5.37 [[ 9.99684049e-01 -1.47922817e-02 -2.03221830e-02 4.49551774e+02] [ 1.47897482e-02 9.99890588e-01 -2.74963850e-04 6.25397814e+00] [ 2.03240269e-02 -2.56829957e-05 9.99793445e-01 5.37370974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18509989300003 meters 0.010697855154582868 Centerline is valid? [True, True] Translation: X:449.58, Y:6.25, Z:5.37 [[ 9.99660896e-01 -1.58322324e-02 -2.06744653e-02 4.49578613e+02] [ 1.58297245e-02 9.99874661e-01 -2.84966161e-04 6.25217360e+00] [ 2.06763857e-02 -4.24015615e-05 9.99786220e-01 5.37359884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.215099893 meters 0.010804463607811659 Centerline is valid? [True, True] Translation: X:449.61, Y:6.25, Z:5.37 [[ 9.99608135e-01 -1.93340939e-02 -2.02427425e-02 4.49607592e+02] [ 1.93323191e-02 9.99813073e-01 -2.83379108e-04 6.24799468e+00] [ 2.02444374e-02 -1.08071095e-04 9.99795055e-01 5.37433147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24509989300003 meters 0.010952812693544653 Centerline is valid? [True, True] Translation: X:449.64, Y:6.25, Z:5.37 [[ 9.99569226e-01 -2.16698827e-02 -1.97933937e-02 4.49636404e+02] [ 2.16685461e-02 9.99765170e-01 -2.82018654e-04 6.24563687e+00] [ 1.97948569e-02 -1.46996897e-04 9.99804052e-01 5.37492812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.275099893 meters 0.011148779364611235 Centerline is valid? [True, True] Translation: X:449.66, Y:6.24, Z:5.38 [[ 9.99510194e-01 -2.45201888e-02 -1.94456343e-02 4.49664872e+02] [ 2.45193432e-02 9.99699316e-01 -2.81941415e-04 6.24315220e+00] [ 1.94467006e-02 -1.94990863e-04 9.99810876e-01 5.37555471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30509989300003 meters 0.012091691278831413 Centerline is valid? [True, True] Translation: X:449.69, Y:6.24, Z:5.38 [[ 9.99359641e-01 -3.05830904e-02 -1.85737017e-02 4.49692326e+02] [ 3.05832914e-02 9.99532184e-01 -2.73293183e-04 6.23662810e+00] [ 1.85733708e-02 -2.94926754e-04 9.99827457e-01 5.37598954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.335099893 meters 0.012809178995315293 Centerline is valid? [True, True] Translation: X:449.72, Y:6.23, Z:5.38 [[ 9.99256759e-01 -3.38026304e-02 -1.85286489e-02 4.49722296e+02] [ 3.38033432e-02 9.99428466e-01 -2.74808414e-04 6.23350481e+00] [ 1.85273484e-02 -3.51726112e-04 9.99828292e-01 5.37611216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.365099893 meters 0.013754502629031872 Centerline is valid? [True, True] Translation: X:449.75, Y:6.23, Z:5.38 [[ 9.99121825e-01 -3.75131537e-02 -1.86639142e-02 4.49751799e+02] [ 3.75145115e-02 9.99296044e-01 -2.77486626e-04 6.23041488e+00] [ 1.86611850e-02 -4.22924679e-04 9.99825775e-01 5.37625277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.395099893 meters 0.015438077167948174 Centerline is valid? [True, True] Translation: X:449.78, Y:6.23, Z:5.38 [[ 9.98989243e-01 -4.10455992e-02 -1.83234974e-02 4.49781790e+02] [ 4.10475032e-02 9.99157159e-01 -2.72333834e-04 6.22572538e+00] [ 1.83192317e-02 -4.80075249e-04 9.99832074e-01 5.37627750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.425099893 meters 0.018584496855073622 Centerline is valid? [True, True] Translation: X:449.81, Y:6.22, Z:5.38 [[ 9.98622406e-01 -4.92544438e-02 -1.80911682e-02 4.49812284e+02] [ 4.92576646e-02 9.98786069e-01 -2.67794703e-04 6.21770220e+00] [ 1.80823968e-02 -6.23702904e-04 9.99836306e-01 5.37635043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.455099893 meters 0.01819689236282012 Centerline is valid? [True, True] Translation: X:449.84, Y:6.22, Z:5.38 [[ 9.98413800e-01 -5.33420179e-02 -1.80142248e-02 4.49843188e+02] [ 5.33458777e-02 9.98576059e-01 -2.66538492e-04 6.21709426e+00] [ 1.80027913e-02 -6.94868925e-04 9.99837695e-01 5.37690321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.485099893 meters 0.021170752879838647 Centerline is valid? [True, True] Translation: X:449.87, Y:6.21, Z:5.38 [[ 9.97946168e-01 -6.15578149e-02 -1.77223257e-02 4.49873665e+02] [ 6.15628473e-02 9.98103175e-01 -2.61981788e-04 6.21045920e+00] [ 1.77048366e-02 -8.29593110e-04 9.99842913e-01 5.37703418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.515099893 meters 0.021170752879838647 Centerline is valid? [True, True] Translation: X:449.91, Y:6.21, Z:5.38 [[ 9.97950653e-01 -6.14850586e-02 -1.77223320e-02 4.49905383e+02] [ 6.14900872e-02 9.98107660e-01 -2.61553245e-04 6.21087093e+00] [ 1.77048770e-02 -8.28730510e-04 9.99842913e-01 5.37742644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.545099893 meters 0.021296965803212737 Centerline is valid? [True, True] Translation: X:449.94, Y:6.21, Z:5.38 [[ 9.97717607e-01 -6.52001755e-02 -1.75645438e-02 4.49936626e+02] [ 6.52057081e-02 9.97871810e-01 -2.58138451e-04 6.20999664e+00] [ 1.75439938e-02 -8.87759237e-04 9.99845698e-01 5.37783619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.575099893 meters 0.023631292331832525 Centerline is valid? [True, True] Translation: X:449.97, Y:6.21, Z:5.38 [[ 9.97268115e-01 -7.16841430e-02 -1.78238646e-02 4.49967501e+02] [ 7.16908808e-02 9.97426864e-01 -2.61468184e-04 6.20543526e+00] [ 1.77967445e-02 -1.01705467e-03 9.99841108e-01 5.37766704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.605099893 meters 0.02474493996120958 Centerline is valid? [True, True] Translation: X:450.00, Y:6.20, Z:5.38 [[ 9.97103079e-01 -7.39237050e-02 -1.79091191e-02 4.49998556e+02] [ 7.39308699e-02 9.97263334e-01 -2.62577767e-04 6.20362129e+00] [ 1.78795185e-02 -1.06221965e-03 9.99839584e-01 5.37763150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.635099893 meters 0.025725547666354914 Centerline is valid? [True, True] Translation: X:450.03, Y:6.20, Z:5.38 [[ 9.96967502e-01 -7.57208144e-02 -1.79487816e-02 4.50031027e+02] [ 7.57283127e-02 9.97128454e-01 -2.62517141e-04 6.20219601e+00] [ 1.79171189e-02 -1.09750989e-03 9.99838873e-01 5.37767576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.665099893 meters 0.02738314684565247 Centerline is valid? [True, True] Translation: X:450.06, Y:6.20, Z:5.38 [[ 9.96821734e-01 -7.74776771e-02 -1.85375169e-02 4.50061771e+02] [ 7.74859997e-02 9.96993404e-01 -2.69958117e-04 6.20007357e+00] [ 1.85026978e-02 -1.16729791e-03 9.99828129e-01 5.37714334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.695099893 meters 0.0285435522713341 Centerline is valid? [True, True] Translation: X:450.09, Y:6.20, Z:5.38 [[ 9.96820258e-01 -7.74798660e-02 -1.86076220e-02 4.50093042e+02] [ 7.74882668e-02 9.96993227e-01 -2.70185015e-04 6.19918051e+00] [ 1.85726070e-02 -1.17254648e-03 9.99826827e-01 5.37704086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.725099893 meters 0.026514804356249682 Centerline is valid? [True, True] Translation: X:450.13, Y:6.20, Z:5.38 [[ 9.96847153e-01 -7.70276470e-02 -1.90392811e-02 4.50125686e+02] [ 7.70363849e-02 9.97028244e-01 -2.75147606e-04 6.20303770e+00] [ 1.90038949e-02 -1.19243728e-03 9.99818699e-01 5.37760530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.755099893 meters 0.02723246731232208 Centerline is valid? [True, True] Translation: X:450.16, Y:6.20, Z:5.38 [[ 9.96928589e-01 -7.60068418e-02 -1.88772164e-02 4.50157369e+02] [ 7.60152796e-02 9.97106616e-01 -2.71199424e-04 6.20333860e+00] [ 1.88432104e-02 -1.16459042e-03 9.99821773e-01 5.37789530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.785099893 meters 0.02769049235031664 Centerline is valid? [True, True] Translation: X:450.19, Y:6.20, Z:5.38 [[ 9.97053889e-01 -7.44335224e-02 -1.85254599e-02 4.50187433e+02] [ 7.44413964e-02 9.97225355e-01 -2.65147730e-04 6.20430963e+00] [ 1.84937942e-02 -1.11469453e-03 9.99828354e-01 5.37833569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.815099893 meters 0.025514511341444022 Centerline is valid? [True, True] Translation: X:450.22, Y:6.21, Z:5.38 [[ 9.97374800e-01 -7.00512709e-02 -1.83392376e-02 4.50218296e+02] [ 7.00582541e-02 9.97542867e-01 -2.62190847e-04 6.21045519e+00] [ 1.83125424e-02 -1.02331242e-03 9.99831788e-01 5.37923746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.845099893 meters 0.025127453017800457 Centerline is valid? [True, True] Translation: X:450.25, Y:6.21, Z:5.38 [[ 9.97574770e-01 -6.70805318e-02 -1.85682886e-02 4.50248709e+02] [ 6.70871921e-02 9.97747081e-01 -2.64680618e-04 6.21295884e+00] [ 1.85442107e-02 -9.81655641e-04 9.99827559e-01 5.37965928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.875099893 meters 0.022545633996854643 Centerline is valid? [True, True] Translation: X:450.28, Y:6.22, Z:5.38 [[ 9.97781125e-01 -6.40293286e-02 -1.82502463e-02 4.50280309e+02] [ 6.40352828e-02 9.97947602e-01 -2.58541081e-04 6.21892765e+00] [ 1.82293438e-02 -9.10692273e-04 9.99833417e-01 5.38039790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.905099893 meters 0.020788971893549377 Centerline is valid? [True, True] Translation: X:450.31, Y:6.23, Z:5.38 [[ 9.98203574e-01 -5.70920398e-02 -1.81693173e-02 4.50309826e+02] [ 5.70968059e-02 9.98368614e-01 -2.56746672e-04 6.22601788e+00] [ 1.81543343e-02 -7.81124536e-04 9.99834891e-01 5.38085744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.93509989300003 meters 0.019460803494957383 Centerline is valid? [True, True] Translation: X:450.34, Y:6.23, Z:5.38 [[ 9.98405226e-01 -5.33412286e-02 -1.84856277e-02 4.50341080e+02] [ 5.33455201e-02 9.98576080e-01 -2.61225587e-04 6.23054653e+00] [ 1.84732397e-02 -7.25316432e-04 9.99829092e-01 5.38121490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.965099893 meters 0.018159372350313716 Centerline is valid? [True, True] Translation: X:450.37, Y:6.24, Z:5.38 [[ 9.98584739e-01 -4.98308460e-02 -1.85850792e-02 4.50372127e+02] [ 4.98345891e-02 9.98757451e-01 -2.61955216e-04 6.23525552e+00] [ 1.85750398e-02 -6.64595306e-04 9.99827248e-01 5.38141408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99509989300003 meters 0.016218765001148324 Centerline is valid? [True, True] Translation: X:450.40, Y:6.24, Z:5.38 [[ 9.98884016e-01 -4.32621442e-02 -1.89501857e-02 4.50402653e+02] [ 4.32648658e-02 9.99063602e-01 -2.66525019e-04 6.24283445e+00] [ 1.89439713e-02 -5.53649662e-04 9.99820394e-01 5.38149495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.025099893 meters 0.016050448194920203 Centerline is valid? [True, True] Translation: X:450.43, Y:6.25, Z:5.38 [[ 9.99018202e-01 -3.99625000e-02 -1.91214491e-02 4.50433246e+02] [ 3.99646736e-02 9.99201057e-01 -2.68588328e-04 6.24569256e+00] [ 1.91169056e-02 -4.95857844e-04 9.99817132e-01 5.38152240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05509989300003 meters 0.015142403830879666 Centerline is valid? [True, True] Translation: X:450.46, Y:6.25, Z:5.38 [[ 9.99141433e-01 -3.66900255e-02 -1.92416152e-02 4.50464006e+02] [ 3.66916244e-02 9.99326599e-01 -2.70054070e-04 6.24998782e+00] [ 1.92385661e-02 -4.36183906e-04 9.99814827e-01 5.38196899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.085099893 meters 0.014667482693760208 Centerline is valid? [True, True] Translation: X:450.49, Y:6.25, Z:5.38 [[ 9.99241182e-01 -3.37283391e-02 -1.94797098e-02 4.50493505e+02] [ 3.37294129e-02 9.99430964e-01 -2.73518981e-04 6.25393703e+00] [ 1.94778505e-02 -3.83727746e-04 9.99810215e-01 5.38222755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.115099893 meters 0.01288843223971746 Centerline is valid? [True, True] Translation: X:450.52, Y:6.26, Z:5.38 [[ 9.99446628e-01 -2.70344887e-02 -1.93797358e-02 4.50522931e+02] [ 2.70342843e-02 9.99634470e-01 -2.72578582e-04 6.26300589e+00] [ 1.93800210e-02 -2.51489542e-04 9.99812158e-01 5.38320925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.145099893 meters 0.012464178942125962 Centerline is valid? [True, True] Translation: X:450.55, Y:6.27, Z:5.38 [[ 9.99524421e-01 -2.39851790e-02 -1.93815066e-02 4.50551904e+02] [ 2.39843587e-02 9.99712296e-01 -2.74805283e-04 6.26715858e+00] [ 1.93825217e-02 -1.90178414e-04 9.99812123e-01 5.38396780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.175099893 meters 0.012286355110551128 Centerline is valid? [True, True] Translation: X:450.58, Y:6.27, Z:5.38 [[ 9.99596154e-01 -2.12579351e-02 -1.88581226e-02 4.50580606e+02] [ 2.12565858e-02 9.99774016e-01 -2.72020435e-04 6.27080099e+00] [ 1.88596436e-02 -1.28948720e-04 9.99822133e-01 5.38456002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.205099893 meters 0.012078658593064928 Centerline is valid? [True, True] Translation: X:450.61, Y:6.27, Z:5.39 [[ 9.99666643e-01 -1.84300195e-02 -1.80814336e-02 4.50609589e+02] [ 1.84282367e-02 9.99830150e-01 -2.65227796e-04 6.27432184e+00] [ 1.80832506e-02 -6.80695581e-05 9.99836482e-01 5.38550571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.235099893 meters 0.012101639131242141 Centerline is valid? [True, True] Translation: X:450.64, Y:6.28, Z:5.39 [[ 9.99748733e-01 -1.45936817e-02 -1.70145529e-02 4.50637970e+02] [ 1.45914769e-02 9.99893507e-01 -2.53724367e-04 6.27873866e+00] [ 1.70164437e-02 5.39316001e-06 9.99855210e-01 5.38638965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.265099893 meters 0.012144262518335107 Centerline is valid? [True, True] Translation: X:450.66, Y:6.28, Z:5.39 [[ 9.99759584e-01 -1.39670546e-02 -1.69025463e-02 4.50664878e+02] [ 1.39647213e-02 9.99902456e-01 -2.56073544e-04 6.28032546e+00] [ 1.69044742e-02 1.99726314e-05 9.99857109e-01 5.38654041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.295099893 meters 0.012106936270100324 Centerline is valid? [True, True] Translation: X:450.69, Y:6.28, Z:5.39 [[ 9.99766887e-01 -1.44215795e-02 -1.60682812e-02 4.50693065e+02] [ 1.44194746e-02 9.99896004e-01 -2.46848157e-04 6.28085740e+00] [ 1.60701701e-02 1.50944408e-05 9.99870866e-01 5.38736863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.325099893 meters 0.012168851047455914 Centerline is valid? [True, True] Translation: X:450.72, Y:6.28, Z:5.39 [[ 9.99732065e-01 -1.72693627e-02 -1.54132183e-02 4.50720638e+02] [ 1.72676979e-02 9.99850873e-01 -2.41099352e-04 6.28003763e+00] [ 1.54150834e-02 -2.51160443e-05 9.99881180e-01 5.38783489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.355099893 meters 0.012239035813800222 Centerline is valid? [True, True] Translation: X:450.75, Y:6.28, Z:5.39 [[ 9.99686362e-01 -1.97471916e-02 -1.54021599e-02 4.50748573e+02] [ 1.97457640e-02 9.99805003e-01 -2.44770704e-04 6.27875907e+00] [ 1.54039901e-02 -5.94334806e-05 9.99881350e-01 5.38785991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.385099893 meters 0.012470841444815254 Centerline is valid? [True, True] Translation: X:450.78, Y:6.28, Z:5.39 [[ 9.99621979e-01 -2.28009796e-02 -1.53627828e-02 4.50776845e+02] [ 2.27998998e-02 9.99740018e-01 -2.45448911e-04 6.27675720e+00] [ 1.53643852e-02 -1.04913781e-04 9.99881955e-01 5.38800376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.415099893 meters 0.013101173784225999 Centerline is valid? [True, True] Translation: X:450.81, Y:6.27, Z:5.39 [[ 9.99432414e-01 -2.99740654e-02 -1.53754463e-02 4.50806743e+02] [ 2.99738180e-02 9.99550654e-01 -2.46590841e-04 6.27239972e+00] [ 1.53759287e-02 -2.14409950e-04 9.99881760e-01 5.38803060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.445099893 meters 0.013909256618974675 Centerline is valid? [True, True] Translation: X:450.84, Y:6.27, Z:5.39 [[ 9.99300026e-01 -3.40104829e-02 -1.55802491e-02 4.50836579e+02] [ 3.40107165e-02 9.99421437e-01 -2.50041522e-04 6.26957407e+00] [ 1.55797390e-02 -2.80028936e-04 9.99878589e-01 5.38802139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.475099893 meters 0.015316259609525562 Centerline is valid? [True, True] Translation: X:450.87, Y:6.27, Z:5.39 [[ 9.99161875e-01 -3.79449055e-02 -1.53535730e-02 4.50867237e+02] [ 3.79456145e-02 9.99279776e-01 -2.45244318e-04 6.26546578e+00] [ 1.53518207e-02 -3.37561988e-04 9.99882097e-01 5.38792341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.505099893 meters 0.01686541528611366 Centerline is valid? [True, True] Translation: X:450.90, Y:6.26, Z:5.39 [[ 9.99002436e-01 -4.20043619e-02 -1.51580351e-02 4.50897462e+02] [ 4.20055239e-02 9.99117349e-01 -2.41852998e-04 6.26182086e+00] [ 1.51548147e-02 -3.95109472e-04 9.99885081e-01 5.38799868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.535099893 meters 0.01782277187170713 Centerline is valid? [True, True] Translation: X:450.93, Y:6.26, Z:5.39 [[ 9.98695569e-01 -4.89522507e-02 -1.45202166e-02 4.50928233e+02] [ 4.89540539e-02 9.98801005e-01 -2.31431607e-04 6.25804099e+00] [ 1.45141360e-02 -4.79693743e-04 9.99894549e-01 5.38878010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.565099893 meters 0.018609846873889214 Centerline is valid? [True, True] Translation: X:450.96, Y:6.26, Z:5.39 [[ 9.98559655e-01 -5.17312725e-02 -1.42299543e-02 4.50960058e+02] [ 5.17332907e-02 9.98660911e-01 -2.26485984e-04 6.25598880e+00] [ 1.42226155e-02 -5.10002594e-04 9.99898723e-01 5.38933725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.595099893 meters 0.018981947974587826 Centerline is valid? [True, True] Translation: X:450.99, Y:6.25, Z:5.39 [[ 9.98458972e-01 -5.36811356e-02 -1.40718695e-02 4.50991864e+02] [ 5.36833143e-02 9.98557986e-01 -2.23135638e-04 6.25462683e+00] [ 1.40635559e-02 -5.32632814e-04 9.99900961e-01 5.38981360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.625099893 meters 0.019923634763129937 Centerline is valid? [True, True] Translation: X:451.02, Y:6.25, Z:5.39 [[ 9.98374656e-01 -5.53000349e-02 -1.37823286e-02 4.51023626e+02] [ 5.53022972e-02 9.98469633e-01 -2.17208523e-04 6.25276557e+00] [ 1.37732482e-02 -5.45338945e-04 9.99904996e-01 5.39034715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.655099893 meters 0.01963385432427709 Centerline is valid? [True, True] Translation: X:451.06, Y:6.25, Z:5.39 [[ 9.98312776e-01 -5.65283149e-02 -1.32721594e-02 4.51056157e+02] [ 5.65305376e-02 9.98400849e-01 -2.07924241e-04 6.25224319e+00] [ 1.32626888e-02 -5.42708879e-04 9.99911899e-01 5.39116001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68509989300003 meters 0.020075270810298505 Centerline is valid? [True, True] Translation: X:451.09, Y:6.25, Z:5.39 [[ 9.98324572e-01 -5.63429498e-02 -1.31727369e-02 4.51087731e+02] [ 5.63451357e-02 9.98411330e-01 -2.05419114e-04 6.25140340e+00] [ 1.31633837e-02 -5.37144701e-04 9.99913215e-01 5.39167940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.715099893 meters 0.0198733810734873 Centerline is valid? [True, True] Translation: X:451.12, Y:6.25, Z:5.39 [[ 9.98347044e-01 -5.59158057e-02 -1.32892025e-02 4.51120373e+02] [ 5.59180027e-02 9.98435343e-01 -2.06483422e-04 6.25169141e+00] [ 1.32799551e-02 -5.36963544e-04 9.99911673e-01 5.39198215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74509989300003 meters 0.019532751008515942 Centerline is valid? [True, True] Translation: X:451.15, Y:6.25, Z:5.39 [[ 9.98433230e-01 -5.43518566e-02 -1.33026973e-02 4.51152876e+02] [ 5.43539323e-02 9.98521711e-01 -2.05721545e-04 6.25171413e+00] [ 1.32942134e-02 -5.17654683e-04 9.99911494e-01 5.39211820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.775099893 meters 0.019553199675487336 Centerline is valid? [True, True] Translation: X:451.19, Y:6.25, Z:5.39 [[ 9.98463016e-01 -5.37614712e-02 -1.34651430e-02 4.51185158e+02] [ 5.37635576e-02 9.98553673e-01 -2.07244090e-04 6.25140585e+00] [ 1.34568097e-02 -5.17008431e-04 9.99909319e-01 5.39245204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80509989300003 meters 0.01869590714932962 Centerline is valid? [True, True] Translation: X:451.22, Y:6.25, Z:5.39 [[ 9.98496250e-01 -5.32507094e-02 -1.30230449e-02 4.51217691e+02] [ 5.32526296e-02 9.98581052e-01 -1.99526403e-04 6.25248243e+00] [ 1.30151908e-02 -4.94285023e-04 9.99915177e-01 5.39274538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.835099893 meters 0.018676673728984374 Centerline is valid? [True, True] Translation: X:451.25, Y:6.25, Z:5.39 [[ 9.98498644e-01 -5.32434698e-02 -1.28681811e-02 4.51249815e+02] [ 5.32453561e-02 9.98581441e-01 -1.96217420e-04 6.25242234e+00] [ 1.28603741e-02 -4.89248055e-04 9.99917182e-01 5.39308970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.865099893 meters 0.019681728649963093 Centerline is valid? [True, True] Translation: X:451.28, Y:6.25, Z:5.39 [[ 9.98459196e-01 -5.39024186e-02 -1.31819221e-02 4.51281002e+02] [ 5.39044682e-02 9.98546077e-01 -2.00023464e-04 6.25030897e+00] [ 1.31735383e-02 -5.10849231e-04 9.99913095e-01 5.39344693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.895099893 meters 0.019681728649963093 Centerline is valid? [True, True] Translation: X:451.31, Y:6.25, Z:5.39 [[ 9.98463091e-01 -5.38302252e-02 -1.31819332e-02 4.51312709e+02] [ 5.38322782e-02 9.98549972e-01 -1.99286130e-04 6.25073080e+00] [ 1.31735466e-02 -5.10633651e-04 9.99913095e-01 5.39383891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.925099893 meters 0.01972047916966617 Centerline is valid? [True, True] Translation: X:451.34, Y:6.25, Z:5.39 [[ 9.98420104e-01 -5.45373662e-02 -1.35267245e-02 4.51344518e+02] [ 5.45396064e-02 9.98511587e-01 -2.03496665e-04 6.25066485e+00] [ 1.35176893e-02 -5.34567070e-04 9.99908489e-01 5.39395105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.955099893 meters 0.021728225208647266 Centerline is valid? [True, True] Translation: X:451.38, Y:6.25, Z:5.39 [[ 9.98349243e-01 -5.56656890e-02 -1.41463583e-02 4.51375424e+02] [ 5.56682669e-02 9.98449297e-01 -2.11781745e-04 6.24761744e+00] [ 1.41362105e-02 -5.76071106e-04 9.99899913e-01 5.39388000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.985099893 meters 0.020414623677779353 Centerline is valid? [True, True] Translation: X:451.41, Y:6.25, Z:5.39 [[ 9.98269025e-01 -5.69748927e-02 -1.45881734e-02 4.51407729e+02] [ 5.69777861e-02 9.98375423e-01 -2.17543306e-04 6.24966994e+00] [ 1.45768683e-02 -6.14035083e-04 9.99893563e-01 5.39385791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.015099893 meters 0.02343566782611287 Centerline is valid? [True, True] Translation: X:451.44, Y:6.25, Z:5.39 [[ 9.98180521e-01 -5.83730921e-02 -1.51073031e-02 4.51438515e+02] [ 5.83763706e-02 9.98294620e-01 -2.24251309e-04 6.24523200e+00] [ 1.50946297e-02 -6.58066238e-04 9.99885853e-01 5.39348757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.045099893 meters 0.021538504256970292 Centerline is valid? [True, True] Translation: X:451.47, Y:6.25, Z:5.39 [[ 9.98010617e-01 -6.10805472e-02 -1.56197330e-02 4.51469892e+02] [ 6.10843919e-02 9.98132578e-01 -2.31273989e-04 6.24795377e+00] [ 1.56046908e-02 -7.23307998e-04 9.99877978e-01 5.39393875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.075099893 meters 0.022028149983249746 Centerline is valid? [True, True] Translation: X:451.50, Y:6.25, Z:5.39 [[ 9.97960659e-01 -6.18116312e-02 -1.59325449e-02 4.51502304e+02] [ 6.18157359e-02 9.98087551e-01 -2.35183045e-04 6.24787626e+00] [ 1.59166118e-02 -7.50178560e-04 9.99873041e-01 5.39449721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.105099893 meters 0.025303421710438402 Centerline is valid? [True, True] Translation: X:451.53, Y:6.24, Z:5.39 [[ 9.97926840e-01 -6.23821049e-02 -1.58270479e-02 4.51533595e+02] [ 6.23862474e-02 9.98052054e-01 -2.32333435e-04 6.24416078e+00] [ 1.58107111e-02 -7.55538357e-04 9.99874717e-01 5.39477275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.135099893 meters 0.02233367876611874 Centerline is valid? [True, True] Translation: X:451.57, Y:6.25, Z:5.40 [[ 9.97877706e-01 -6.33439404e-02 -1.50873857e-02 4.51565330e+02] [ 6.33478375e-02 9.97991484e-01 -2.19938807e-04 6.25002458e+00] [ 1.50710142e-02 -7.36281223e-04 9.99886155e-01 5.39659942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.165099893 meters 0.02305556909904158 Centerline is valid? [True, True] Translation: X:451.60, Y:6.25, Z:5.40 [[ 9.97865827e-01 -6.35927799e-02 -1.48239871e-02 4.51596770e+02] [ 6.35965848e-02 9.97975665e-01 -2.15071063e-04 6.24986429e+00] [ 1.48076554e-02 -7.28142888e-04 9.99890096e-01 5.39737433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.195099893 meters 0.022524142713174773 Centerline is valid? [True, True] Translation: X:451.63, Y:6.25, Z:5.40 [[ 9.97854929e-01 -6.38362336e-02 -1.45078110e-02 4.51628671e+02] [ 6.38399154e-02 9.97960130e-01 -2.09662948e-04 6.25151584e+00] [ 1.44916011e-02 -7.16964223e-04 9.99894734e-01 5.39820388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.225099893 meters 0.023429139163594792 Centerline is valid? [True, True] Translation: X:451.66, Y:6.25, Z:5.40 [[ 9.97838709e-01 -6.41661951e-02 -1.41636710e-02 4.51659408e+02] [ 6.41697528e-02 9.97938977e-01 -2.03598481e-04 6.25187547e+00] [ 1.41475434e-02 -7.05720819e-04 9.99899669e-01 5.39912020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.255099893 meters 0.022606636056678352 Centerline is valid? [True, True] Translation: X:451.69, Y:6.25, Z:5.40 [[ 9.97829964e-01 -6.43210418e-02 -1.40771674e-02 4.51691958e+02] [ 6.43245927e-02 9.97929009e-01 -2.00849851e-04 6.25428867e+00] [ 1.40609326e-02 -7.05094061e-04 9.99900892e-01 5.39990274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.285099893 meters 0.024283908609311518 Centerline is valid? [True, True] Translation: X:451.72, Y:6.25, Z:5.40 [[ 9.97777225e-01 -6.52148144e-02 -1.36981080e-02 4.51722710e+02] [ 6.52182751e-02 9.97871003e-01 -1.94383066e-04 6.25397828e+00] [ 1.36816215e-02 -6.99415983e-04 9.99906158e-01 5.40023732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.315099893 meters 0.02319919362668893 Centerline is valid? [True, True] Translation: X:451.75, Y:6.26, Z:5.40 [[ 9.97710973e-01 -6.61679926e-02 -1.39503418e-02 4.51754499e+02] [ 6.61716990e-02 9.97808232e-01 -1.96235820e-04 6.25670238e+00] [ 1.39327504e-02 -7.27331189e-04 9.99902670e-01 5.40064189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.345099893 meters 0.025587993422240825 Centerline is valid? [True, True] Translation: X:451.79, Y:6.25, Z:5.40 [[ 9.97638473e-01 -6.72106895e-02 -1.41491862e-02 4.51785407e+02] [ 6.72146214e-02 9.97738521e-01 -1.98008647e-04 6.25415285e+00] [ 1.41304964e-02 -7.53491150e-04 9.99899876e-01 5.40076277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.375099893 meters 0.02564851853328639 Centerline is valid? [True, True] Translation: X:451.82, Y:6.26, Z:5.40 [[ 9.97570863e-01 -6.82007716e-02 -1.41784430e-02 4.51817876e+02] [ 6.82048309e-02 9.97671320e-01 -1.97605517e-04 6.25501694e+00] [ 1.41589028e-02 -7.69912804e-04 9.99899461e-01 5.40091022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.405099893 meters 0.025229509075585296 Centerline is valid? [True, True] Translation: X:451.85, Y:6.26, Z:5.40 [[ 9.97408424e-01 -7.04132000e-02 -1.47789282e-02 4.51849376e+02] [ 7.04178676e-02 9.97517560e-01 -2.04956808e-04 6.25730988e+00] [ 1.47566720e-02 -8.36274959e-04 9.99890765e-01 5.40072414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.43509989300003 meters 0.02503868425773909 Centerline is valid? [True, True] Translation: X:451.88, Y:6.26, Z:5.40 [[ 9.97354350e-01 -7.11321321e-02 -1.49839883e-02 4.51881524e+02] [ 7.11370208e-02 9.97466531e-01 -2.07148774e-04 6.25893793e+00] [ 1.49607618e-02 -8.59315555e-04 9.99887712e-01 5.40102286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.465099893 meters 0.025578809288466845 Centerline is valid? [True, True] Translation: X:451.91, Y:6.26, Z:5.40 [[ 9.97333920e-01 -7.13688104e-02 -1.52166065e-02 4.51913836e+02] [ 7.13738969e-02 9.97449609e-01 -2.09227190e-04 6.25977960e+00] [ 1.51927305e-02 -8.77399132e-04 9.99884199e-01 5.40156849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49509989300003 meters 0.02615946814583126 Centerline is valid? [True, True] Translation: X:451.95, Y:6.26, Z:5.40 [[ 9.97360801e-01 -7.09943086e-02 -1.52066113e-02 4.51946131e+02] [ 7.09993619e-02 9.97476339e-01 -2.07975408e-04 6.26099185e+00] [ 1.51830001e-02 -8.72233180e-04 9.99884351e-01 5.40201204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.525099893 meters 0.02561653825371064 Centerline is valid? [True, True] Translation: X:451.98, Y:6.27, Z:5.40 [[ 9.97498626e-01 -6.89218326e-02 -1.56930706e-02 4.51977801e+02] [ 6.89269762e-02 9.97621685e-01 -2.13517791e-04 6.26534505e+00] [ 1.56704636e-02 -8.68692203e-04 9.99876833e-01 5.40218529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55509989300003 meters 0.025394444733633025 Centerline is valid? [True, True] Translation: X:452.01, Y:6.27, Z:5.40 [[ 9.97607450e-01 -6.73503551e-02 -1.55982563e-02 4.52009049e+02] [ 6.73552574e-02 9.97729034e-01 -2.11441163e-04 6.26783734e+00] [ 1.55770739e-02 -8.39689291e-04 9.99878317e-01 5.40281107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.585099893 meters 0.024447547842648798 Centerline is valid? [True, True] Translation: X:452.04, Y:6.27, Z:5.40 [[ 9.97744788e-01 -6.52464912e-02 -1.57554419e-02 4.52040839e+02] [ 6.52512412e-02 9.97868844e-01 -2.12935187e-04 6.27119417e+00] [ 1.57357579e-02 -8.15607171e-04 9.99875853e-01 5.40313856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.615099893 meters 0.023401035682916786 Centerline is valid? [True, True] Translation: X:452.07, Y:6.27, Z:5.40 [[ 9.97887754e-01 -6.29816743e-02 -1.59166046e-02 4.52072386e+02] [ 6.29862475e-02 9.98014372e-01 -2.14305830e-04 6.27458812e+00] [ 1.58984974e-02 -7.88674031e-04 9.99873300e-01 5.40337299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.645099893 meters 0.020298889795155158 Centerline is valid? [True, True] Translation: X:452.10, Y:6.28, Z:5.40 [[ 9.98120405e-01 -5.90254688e-02 -1.64818706e-02 4.52103480e+02] [ 5.90298434e-02 9.98256194e-01 -2.21374027e-04 6.28257541e+00] [ 1.64661961e-02 -7.51964308e-04 9.99864140e-01 5.40363632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.675099893 meters 0.021056740862361523 Centerline is valid? [True, True] Translation: X:452.13, Y:6.28, Z:5.40 [[ 9.98233877e-01 -5.71486095e-02 -1.62223181e-02 4.52134731e+02] [ 5.71526072e-02 9.98365430e-01 -2.17446451e-04 6.28350210e+00] [ 1.62082283e-02 -7.10085358e-04 9.99868386e-01 5.40385619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.705099893 meters 0.022425435207863394 Centerline is valid? [True, True] Translation: X:452.17, Y:6.28, Z:5.40 [[ 9.98328217e-01 -5.53849030e-02 -1.65313088e-02 4.52165890e+02] [ 5.53888284e-02 9.98464836e-01 -2.20661037e-04 6.28331969e+00] [ 1.65181519e-02 -6.95357688e-04 9.99863324e-01 5.40394776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.735099893 meters 0.020003680679757784 Centerline is valid? [True, True] Translation: X:452.20, Y:6.29, Z:5.40 [[ 9.98474005e-01 -5.26025297e-02 -1.68117698e-02 4.52197322e+02] [ 5.26062099e-02 9.98615310e-01 -2.23560447e-04 6.28969214e+00] [ 1.68002506e-02 -6.61184196e-04 9.99858647e-01 5.40442352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.765099893 meters 0.01980515073694883 Centerline is valid? [True, True] Translation: X:452.23, Y:6.29, Z:5.40 [[ 9.98529208e-01 -5.16174912e-02 -1.65847652e-02 4.52229090e+02] [ 5.16209493e-02 9.98666726e-01 -2.19795408e-04 6.29121968e+00] [ 1.65739984e-02 -6.36649190e-04 9.99862439e-01 5.40469908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.795099893 meters 0.0196256525632945 Centerline is valid? [True, True] Translation: X:452.26, Y:6.29, Z:5.40 [[ 9.98568795e-01 -5.07283137e-02 -1.69410415e-02 4.52261163e+02] [ 5.07318153e-02 9.98712287e-01 -2.23278706e-04 6.29260902e+00] [ 1.69305529e-02 -6.36490640e-04 9.99856465e-01 5.40485810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.825099893 meters 0.018652170770511425 Centerline is valid? [True, True] Translation: X:452.29, Y:6.30, Z:5.41 [[ 9.98592034e-01 -5.02866502e-02 -1.68879380e-02 4.52293692e+02] [ 5.02900873e-02 9.98734628e-01 -2.21361445e-04 6.29516671e+00] [ 1.68777000e-02 -6.28246099e-04 9.99857364e-01 5.40521135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.855099893 meters 0.01929195218397618 Centerline is valid? [True, True] Translation: X:452.32, Y:6.30, Z:5.40 [[ 9.98623935e-01 -4.93861083e-02 -1.76422237e-02 4.52324948e+02] [ 4.93897477e-02 9.98779555e-01 -2.29621946e-04 6.29527164e+00] [ 1.76320324e-02 -6.42039005e-04 9.99844337e-01 5.40470012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.885099893 meters 0.018787810652103776 Centerline is valid? [True, True] Translation: X:452.36, Y:6.30, Z:5.41 [[ 9.98644850e-01 -4.89280626e-02 -1.77343540e-02 4.52357099e+02] [ 4.89317033e-02 9.98802101e-01 -2.28833220e-04 6.29712327e+00] [ 1.77243064e-02 -6.39249030e-04 9.99842708e-01 5.40514066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.915099893 meters 0.018337115425064644 Centerline is valid? [True, True] Translation: X:452.39, Y:6.30, Z:5.41 [[ 9.98652863e-01 -4.87012989e-02 -1.79064952e-02 4.52389354e+02] [ 4.87049977e-02 9.98813181e-01 -2.29744627e-04 6.29903281e+00] [ 1.78964323e-02 -6.42700679e-04 9.99839639e-01 5.40547076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.945099893 meters 0.01822779375021647 Centerline is valid? [True, True] Translation: X:452.42, Y:6.30, Z:5.41 [[ 9.98672391e-01 -4.83035861e-02 -1.78946664e-02 4.52421177e+02] [ 4.83072396e-02 9.98832498e-01 -2.28283132e-04 6.30016191e+00] [ 1.78848012e-02 -6.36461875e-04 9.99839852e-01 5.40571300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.975099893 meters 0.018147199853714584 Centerline is valid? [True, True] Translation: X:452.45, Y:6.30, Z:5.41 [[ 9.98687713e-01 -4.80119653e-02 -1.78242487e-02 4.52452945e+02] [ 4.80155670e-02 9.98846562e-01 -2.26082776e-04 6.30170880e+00] [ 1.78145442e-02 -6.30055317e-04 9.99841110e-01 5.40597954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.005099893 meters 0.019633260231251323 Centerline is valid? [True, True] Translation: X:452.48, Y:6.30, Z:5.41 [[ 9.98688735e-01 -4.80494436e-02 -1.76652919e-02 4.52483736e+02] [ 4.80530081e-02 9.98844762e-01 -2.22879424e-04 6.29999295e+00] [ 1.76555935e-02 -6.26283243e-04 9.99843932e-01 5.40600174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.035099893 meters 0.019623167242378142 Centerline is valid? [True, True] Translation: X:452.52, Y:6.30, Z:5.41 [[ 9.98673706e-01 -4.82746043e-02 -1.78995107e-02 4.52515638e+02] [ 4.82783194e-02 9.98833897e-01 -2.24757891e-04 6.30056675e+00] [ 1.78894882e-02 -6.39698500e-04 9.99839766e-01 5.40637593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.065099893 meters 0.020133438803430458 Centerline is valid? [True, True] Translation: X:452.55, Y:6.30, Z:5.41 [[ 9.98668944e-01 -4.85569862e-02 -1.73942609e-02 4.52548237e+02] [ 4.85605582e-02 9.98820217e-01 -2.17207618e-04 6.30048407e+00] [ 1.73842864e-02 -6.27756516e-04 9.99848685e-01 5.40693291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.095099893 meters 0.019538718974646478 Centerline is valid? [True, True] Translation: X:452.58, Y:6.30, Z:5.41 [[ 9.98657029e-01 -4.89321081e-02 -1.70231360e-02 4.52580104e+02] [ 4.89356038e-02 9.98801913e-01 -2.11387927e-04 6.30273844e+00] [ 1.70130844e-02 -6.21933399e-04 9.99855074e-01 5.40811276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.125099893 meters 0.02076113488828707 Centerline is valid? [True, True] Translation: X:452.61, Y:6.30, Z:5.41 [[ 9.98660869e-01 -4.89068042e-02 -1.68699181e-02 4.52610802e+02] [ 4.89102525e-02 9.98803156e-01 -2.08368050e-04 6.30203654e+00] [ 1.68599180e-02 -6.17022935e-04 9.99857671e-01 5.40850990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.155099893 meters 0.018822594399004834 Centerline is valid? [True, True] Translation: X:452.64, Y:6.31, Z:5.41 [[ 9.98669543e-01 -4.88169175e-02 -1.66148406e-02 4.52643077e+02] [ 4.88202658e-02 9.98807559e-01 -2.04258349e-04 6.30655792e+00] [ 1.66049996e-02 -6.07154341e-04 9.99861943e-01 5.40934847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18509989300003 meters 0.018429099719158442 Centerline is valid? [True, True] Translation: X:452.68, Y:6.31, Z:5.41 [[ 9.98670087e-01 -4.87935152e-02 -1.66508123e-02 4.52675456e+02] [ 4.87968950e-02 9.98808701e-01 -2.03480606e-04 6.30774359e+00] [ 1.66409048e-02 -6.09297947e-04 9.99861345e-01 5.41006362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.215099893 meters 0.018907367324358222 Centerline is valid? [True, True] Translation: X:452.71, Y:6.31, Z:5.41 [[ 9.98678279e-01 -4.87683436e-02 -1.62278811e-02 4.52706810e+02] [ 4.87715684e-02 9.98809939e-01 -1.97211095e-04 6.30732383e+00] [ 1.62181866e-02 -5.94508775e-04 9.99868300e-01 5.41033594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24509989300003 meters 0.01885255969989346 Centerline is valid? [True, True] Translation: X:452.74, Y:6.31, Z:5.41 [[ 9.98664192e-01 -4.91828086e-02 -1.58392761e-02 4.52738711e+02] [ 4.91859474e-02 9.98789620e-01 -1.91570768e-04 6.30787512e+00] [ 1.58295265e-02 -5.87754934e-04 9.99874532e-01 5.41108421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.275099893 meters 0.020138550475065645 Centerline is valid? [True, True] Translation: X:452.77, Y:6.31, Z:5.41 [[ 9.98613223e-01 -5.01349233e-02 -1.60661374e-02 4.52770219e+02] [ 5.01382966e-02 9.98742266e-01 -1.93011621e-04 6.30605461e+00] [ 1.60556071e-02 -6.12784806e-04 9.99870913e-01 5.41121256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30509989300003 meters 0.019558628518484594 Centerline is valid? [True, True] Translation: X:452.80, Y:6.31, Z:5.41 [[ 9.98567179e-01 -5.09393157e-02 -1.63943665e-02 4.52801909e+02] [ 5.09429616e-02 9.98701545e-01 -1.95426664e-04 6.30755772e+00] [ 1.63830341e-02 -6.40030931e-04 9.99865584e-01 5.41178786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.335099893 meters 0.020556681172462767 Centerline is valid? [True, True] Translation: X:452.83, Y:6.31, Z:5.41 [[ 9.98514837e-01 -5.19398678e-02 -1.64429475e-02 4.52832959e+02] [ 5.19436888e-02 9.98649996e-01 -1.94906957e-04 6.30640926e+00] [ 1.64308729e-02 -6.59489856e-04 9.99864787e-01 5.41176855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.365099893 meters 0.021852224007971863 Centerline is valid? [True, True] Translation: X:452.86, Y:6.30, Z:5.41 [[ 9.98441515e-01 -5.32606373e-02 -1.66686729e-02 4.52864042e+02] [ 5.32647761e-02 9.98580405e-01 -1.95872284e-04 6.30471237e+00] [ 1.66554424e-02 -6.92286108e-04 9.99861049e-01 5.41226073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.395099893 meters 0.02137121337689549 Centerline is valid? [True, True] Translation: X:452.90, Y:6.30, Z:5.41 [[ 9.98278676e-01 -5.60391410e-02 -1.73002761e-02 4.52895489e+02] [ 5.60440409e-02 9.98428277e-01 -2.01849388e-04 6.30484863e+00] [ 1.72843964e-02 -7.68075443e-04 9.99850319e-01 5.41250146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.425099893 meters 0.022645283130381756 Centerline is valid? [True, True] Translation: X:452.93, Y:6.30, Z:5.41 [[ 9.98179743e-01 -5.75414997e-02 -1.80603414e-02 4.52927028e+02] [ 5.75470992e-02 9.98342770e-01 -2.09938226e-04 6.30254287e+00] [ 1.80424914e-02 -8.29764171e-04 9.99836877e-01 5.41229140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.455099893 meters 0.02186259882554276 Centerline is valid? [True, True] Translation: X:452.96, Y:6.30, Z:5.41 [[ 9.98078569e-01 -5.91330751e-02 -1.85054175e-02 4.52959474e+02] [ 5.91392481e-02 9.98249720e-01 -2.13968344e-04 6.30356400e+00] [ 1.84856804e-02 -8.80839255e-04 9.99828737e-01 5.41266597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.485099893 meters 0.025300595413978857 Centerline is valid? [True, True] Translation: X:452.99, Y:6.30, Z:5.41 [[ 9.97889556e-01 -6.18804799e-02 -1.96784383e-02 4.52989323e+02] [ 6.18880252e-02 9.98083073e-01 -2.25913973e-04 6.29801437e+00] [ 1.96546958e-02 -9.92422488e-04 9.99806335e-01 5.41171437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.515099893 meters 0.02726339881956017 Centerline is valid? [True, True] Translation: X:453.02, Y:6.30, Z:5.41 [[ 9.97807078e-01 -6.31176232e-02 -1.99298751e-02 4.53020086e+02] [ 6.31256492e-02 9.98005562e-01 -2.26765017e-04 6.29562120e+00] [ 1.99044390e-02 -1.03181856e-03 9.99801355e-01 5.41189330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.545099893 meters 0.025974634585741323 Centerline is valid? [True, True] Translation: X:453.05, Y:6.30, Z:5.41 [[ 9.97765054e-01 -6.39292227e-02 -1.94409559e-02 4.53052608e+02] [ 6.39370518e-02 9.97953909e-01 -2.19216887e-04 6.29759107e+00] [ 1.94151923e-02 -1.02427046e-03 9.99810983e-01 5.41278091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.575099893 meters 0.027226544700550102 Centerline is valid? [True, True] Translation: X:453.08, Y:6.30, Z:5.41 [[ 9.97725932e-01 -6.44918143e-02 -1.95900431e-02 4.53083392e+02] [ 6.44998969e-02 9.97917690e-01 -2.19627843e-04 6.29610650e+00] [ 1.95634147e-02 -1.04442736e-03 9.99808073e-01 5.41329055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.605099893 meters 0.024337327819387387 Centerline is valid? [True, True] Translation: X:453.12, Y:6.30, Z:5.41 [[ 9.97737359e-01 -6.44964973e-02 -1.89832584e-02 4.53115866e+02] [ 6.45041090e-02 9.97917419e-01 -2.11704040e-04 6.30053311e+00] [ 1.89573784e-02 -1.01327314e-03 9.99819779e-01 5.41482652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.635099893 meters 0.02717610627475685 Centerline is valid? [True, True] Translation: X:453.15, Y:6.30, Z:5.41 [[ 9.97781136e-01 -6.40861506e-02 -1.80490947e-02 4.53147528e+02] [ 6.40929855e-02 9.97943911e-01 -2.00114476e-04 6.29671190e+00] [ 1.80248087e-02 -9.57149915e-04 9.99837082e-01 5.41495659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.665099893 meters 0.022858146038801395 Centerline is valid? [True, True] Translation: X:453.18, Y:6.30, Z:5.42 [[ 9.97828911e-01 -6.34624025e-02 -1.76064929e-02 4.53179568e+02] [ 6.34688279e-02 9.97983803e-01 -1.94158159e-04 6.30310935e+00] [ 1.75833165e-02 -9.23726844e-04 9.99844975e-01 5.41632399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.695099893 meters 0.023328542060077496 Centerline is valid? [True, True] Translation: X:453.21, Y:6.30, Z:5.42 [[ 9.97903762e-01 -6.23763727e-02 -1.72414899e-02 4.53211059e+02] [ 6.23824007e-02 9.98052304e-01 -1.88507049e-04 6.30292911e+00] [ 1.72196671e-02 -8.87453640e-04 9.99851337e-01 5.41706342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.725099893 meters 0.02407016196186617 Centerline is valid? [True, True] Translation: X:453.24, Y:6.30, Z:5.42 [[ 9.98115813e-01 -5.90636475e-02 -1.66225277e-02 4.53240460e+02] [ 5.90688201e-02 9.98253897e-01 -1.80050928e-04 6.30263386e+00] [ 1.66041376e-02 -8.02161422e-04 9.99861820e-01 5.41784466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.755099893 meters 0.021451923854279957 Centerline is valid? [True, True] Translation: X:453.27, Y:6.31, Z:5.42 [[ 9.98235889e-01 -5.70536502e-02 -1.64313750e-02 4.53272185e+02] [ 5.70584327e-02 9.98370825e-01 -1.77977495e-04 6.30721290e+00] [ 1.64147597e-02 -7.59884985e-04 9.99864980e-01 5.41859529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.785099893 meters 0.021451923854279957 Centerline is valid? [True, True] Translation: X:453.30, Y:6.31, Z:5.42 [[ 9.98240107e-01 -5.69798151e-02 -1.64313857e-02 4.53303907e+02] [ 5.69846039e-02 9.98375042e-01 -1.76991000e-04 6.30749891e+00] [ 1.64147703e-02 -7.59656489e-04 9.99864980e-01 5.41898741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.815099893 meters 0.020825347099665905 Centerline is valid? [True, True] Translation: X:453.33, Y:6.31, Z:5.42 [[ 9.98508403e-01 -5.18864166e-02 -1.69931741e-02 4.53333373e+02] [ 5.18908240e-02 9.98652747e-01 -1.81758219e-04 6.30916438e+00] [ 1.69797108e-02 -7.00302697e-04 9.99855589e-01 5.41894068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.845099893 meters 0.019386237802587067 Centerline is valid? [True, True] Translation: X:453.37, Y:6.31, Z:5.42 [[ 9.98641300e-01 -4.93255323e-02 -1.68091065e-02 4.53365009e+02] [ 4.93295016e-02 9.98782543e-01 -1.78651284e-04 6.31209495e+00] [ 1.67974542e-02 -6.50776295e-04 9.99858701e-01 5.41947533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.875099893 meters 0.01915364819398988 Centerline is valid? [True, True] Translation: X:453.40, Y:6.31, Z:5.42 [[ 9.98766222e-01 -4.65261917e-02 -1.73593440e-02 4.53395382e+02] [ 4.65300167e-02 9.98916875e-01 -1.83706911e-04 6.31313139e+00] [ 1.73490888e-02 -6.24250308e-04 9.99849298e-01 5.41984369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.905099893 meters 0.018707167964460744 Centerline is valid? [True, True] Translation: X:453.43, Y:6.31, Z:5.42 [[ 9.98888472e-01 -4.38142095e-02 -1.73820600e-02 4.53425681e+02] [ 4.38176467e-02 9.99039529e-01 -1.83238324e-04 6.31452332e+00] [ 1.73733935e-02 -5.78606314e-04 9.99848904e-01 5.42009289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.93509989300003 meters 0.017049702525168204 Centerline is valid? [True, True] Translation: X:453.46, Y:6.32, Z:5.42 [[ 9.99056229e-01 -3.96357338e-02 -1.77668297e-02 4.53457555e+02] [ 3.96386916e-02 9.99214061e-01 -1.85780732e-04 6.31765512e+00] [ 1.77602296e-02 -5.18648486e-04 9.99842140e-01 5.42025888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.965099893 meters 0.016590714056940625 Centerline is valid? [True, True] Translation: X:453.49, Y:6.32, Z:5.42 [[ 9.99108610e-01 -3.77139035e-02 -1.89643523e-02 4.53489035e+02] [ 3.77169458e-02 9.99288443e-01 -1.97351987e-04 6.31869061e+00] [ 1.89583010e-02 -5.18101376e-04 9.99820141e-01 5.42014727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99509989300003 meters 0.016351984363074182 Centerline is valid? [True, True] Translation: X:453.52, Y:6.32, Z:5.42 [[ 9.99146317e-01 -3.62998007e-02 -1.97220942e-02 4.53520678e+02] [ 3.63028300e-02 9.99340814e-01 -2.04514614e-04 6.31920462e+00] [ 1.97165175e-02 -5.11627811e-04 9.99805480e-01 5.41969459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.025099893 meters 0.01681789743089308 Centerline is valid? [True, True] Translation: X:453.55, Y:6.32, Z:5.42 [[ 9.99175733e-01 -3.52254925e-02 -2.01747318e-02 4.53551469e+02] [ 3.52284556e-02 9.99379264e-01 -2.08619022e-04 6.31840760e+00] [ 2.01695573e-02 -5.02277579e-04 9.99796448e-01 5.41918275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05509989300003 meters 0.016462535351504517 Centerline is valid? [True, True] Translation: X:453.58, Y:6.32, Z:5.42 [[ 9.99215861e-01 -3.37616008e-02 -2.06837519e-02 4.53582081e+02] [ 3.37644066e-02 9.99429797e-01 -2.13658290e-04 6.31853164e+00] [ 2.06791715e-02 -4.84883859e-04 9.99786045e-01 5.41907366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.085099893 meters 0.015976331225829553 Centerline is valid? [True, True] Translation: X:453.61, Y:6.32, Z:5.42 [[ 9.99218544e-01 -3.34213964e-02 -2.11024082e-02 4.53611313e+02] [ 3.34242347e-02 9.99441230e-01 -2.18287921e-04 6.31938240e+00] [ 2.10979123e-02 -4.87214507e-04 9.99777296e-01 5.41940938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.115099893 meters 0.016566358782512315 Centerline is valid? [True, True] Translation: X:453.64, Y:6.32, Z:5.42 [[ 9.99220716e-01 -3.32963474e-02 -2.11970197e-02 4.53640718e+02] [ 3.32991706e-02 9.99445405e-01 -2.19853148e-04 6.31838010e+00] [ 2.11925842e-02 -4.86161356e-04 9.99775294e-01 5.41944977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.145099893 meters 0.01588548820901728 Centerline is valid? [True, True] Translation: X:453.67, Y:6.32, Z:5.42 [[ 9.99224492e-01 -3.29285126e-02 -2.15899781e-02 4.53670062e+02] [ 3.29313441e-02 9.99457591e-01 -2.24469331e-04 6.31879439e+00] [ 2.15856589e-02 -4.86691745e-04 9.99766884e-01 5.41955122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.175099893 meters 0.016345046224351872 Centerline is valid? [True, True] Translation: X:453.70, Y:6.32, Z:5.42 [[ 9.99216956e-01 -3.32077951e-02 -2.15108500e-02 4.53698296e+02] [ 3.32106510e-02 9.99448349e-01 -2.24552353e-04 6.31764247e+00] [ 2.15064404e-02 -4.90012814e-04 9.99768590e-01 5.41952954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.205099893 meters 0.01654776193588642 Centerline is valid? [True, True] Translation: X:453.73, Y:6.32, Z:5.42 [[ 9.99213457e-01 -3.36564248e-02 -2.09693430e-02 4.53726825e+02] [ 3.36592151e-02 9.99433344e-01 -2.19965404e-04 6.31664745e+00] [ 2.09648638e-02 -4.86019235e-04 9.99780095e-01 5.42014328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.235099893 meters 0.01705871502693705 Centerline is valid? [True, True] Translation: X:453.76, Y:6.32, Z:5.42 [[ 9.99202896e-01 -3.45248970e-02 -2.00400414e-02 4.53755269e+02] [ 3.45275975e-02 9.99403722e-01 -2.11336361e-04 6.31502777e+00] [ 2.00353883e-02 -4.80766577e-04 9.99799156e-01 5.42032870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.265099893 meters 0.016505077313579825 Centerline is valid? [True, True] Translation: X:453.79, Y:6.32, Z:5.42 [[ 9.99174706e-01 -3.57302042e-02 -1.93199397e-02 4.53785426e+02] [ 3.57329237e-02 9.99361354e-01 -2.04543314e-04 6.31527481e+00] [ 1.93149094e-02 -4.85983424e-04 9.99813332e-01 5.42151383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.295099893 meters 0.016384387322001037 Centerline is valid? [True, True] Translation: X:453.82, Y:6.31, Z:5.42 [[ 9.99077509e-01 -3.89446873e-02 -1.80953780e-02 4.53815754e+02] [ 3.89475996e-02 9.99241236e-01 -1.91578683e-04 6.31356982e+00] [ 1.80891089e-02 -5.13369586e-04 9.99836247e-01 5.42305528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.325099893 meters 0.01761284124993704 Centerline is valid? [True, True] Translation: X:453.85, Y:6.31, Z:5.42 [[ 9.99007005e-01 -4.09350054e-02 -1.75877530e-02 4.53846526e+02] [ 4.09380663e-02 9.99161669e-01 -1.86110212e-04 6.31038271e+00] [ 1.75806271e-02 -5.34083194e-04 9.99845306e-01 5.42326317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.355099893 meters 0.01825327289475869 Centerline is valid? [True, True] Translation: X:453.88, Y:6.31, Z:5.42 [[ 9.98927215e-01 -4.29783703e-02 -1.72417524e-02 4.53877615e+02] [ 4.29816228e-02 9.99075846e-01 -1.82056968e-04 6.30804110e+00] [ 1.72336429e-02 -5.59216839e-04 9.99851333e-01 5.42336329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.385099893 meters 0.018812579471158573 Centerline is valid? [True, True] Translation: X:453.91, Y:6.30, Z:5.42 [[ 9.98717588e-01 -4.79186600e-02 -1.63395955e-02 4.53909098e+02] [ 4.79222502e-02 9.98851054e-01 -1.71969203e-04 6.30440104e+00] [ 1.63290627e-02 -6.11281515e-04 9.99866485e-01 5.42376712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.415099893 meters 0.020651362716735393 Centerline is valid? [True, True] Translation: X:453.94, Y:6.30, Z:5.42 [[ 9.98622382e-01 -4.99820344e-02 -1.59729539e-02 4.53940239e+02] [ 4.99857390e-02 9.98749918e-01 -1.67471715e-04 6.30004689e+00] [ 1.59613569e-02 -6.31178900e-04 9.99872410e-01 5.42358243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.445099893 meters 0.02301619208807549 Centerline is valid? [True, True] Translation: X:453.97, Y:6.30, Z:5.42 [[ 9.98510232e-01 -5.21038725e-02 -1.62019757e-02 4.53971048e+02] [ 5.21079762e-02 9.98641442e-01 -1.69051000e-04 6.29536934e+00] [ 1.61887726e-02 -6.75453013e-04 9.99868725e-01 5.42333329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.475099893 meters 0.02491747832876665 Centerline is valid? [True, True] Translation: X:454.00, Y:6.29, Z:5.42 [[ 9.98363211e-01 -5.48515105e-02 -1.61929009e-02 4.54000751e+02] [ 5.48559775e-02 9.98494263e-01 -1.68516096e-04 6.29090411e+00] [ 1.61777620e-02 -7.20037138e-04 9.99868872e-01 5.42331990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.505099893 meters 0.021913780158692178 Centerline is valid? [True, True] Translation: X:454.03, Y:6.29, Z:5.42 [[ 9.98341393e-01 -5.52833965e-02 -1.60689062e-02 4.54032559e+02] [ 5.52878554e-02 9.98470443e-01 -1.66957533e-04 6.29464479e+00] [ 1.60535579e-02 -7.21734746e-04 9.99870873e-01 5.42373628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.535099893 meters 0.021403596092243644 Centerline is valid? [True, True] Translation: X:454.06, Y:6.30, Z:5.42 [[ 9.98316720e-01 -5.56103014e-02 -1.64688056e-02 4.54064766e+02] [ 5.56150495e-02 9.98452271e-01 -1.69894440e-04 6.29510537e+00] [ 1.64527642e-02 -7.46304978e-04 9.99864366e-01 5.42410624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.565099893 meters 0.023889893262212795 Centerline is valid? [True, True] Translation: X:454.10, Y:6.29, Z:5.42 [[ 9.98337319e-01 -5.52756269e-02 -1.63463423e-02 4.54095734e+02] [ 5.52802781e-02 9.98470862e-01 -1.67514972e-04 6.29114196e+00] [ 1.63306060e-02 -7.36393899e-04 9.99866376e-01 5.42407942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.595099893 meters 0.021216922689835424 Centerline is valid? [True, True] Translation: X:454.13, Y:6.29, Z:5.42 [[ 9.98434476e-01 -5.36773149e-02 -1.57271272e-02 4.54128351e+02] [ 5.36814374e-02 9.98558099e-01 -1.60215153e-04 6.29450396e+00] [ 1.57130502e-02 -6.84290461e-04 9.99876308e-01 5.42483479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.625099893 meters 0.02133382849457547 Centerline is valid? [True, True] Translation: X:454.16, Y:6.29, Z:5.43 [[ 9.98500803e-01 -5.25106819e-02 -1.54523584e-02 4.54159478e+02] [ 5.25145418e-02 9.98620147e-01 -1.56146471e-04 6.29422050e+00] [ 1.54392358e-02 -6.55561142e-04 9.99880593e-01 5.42502493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.655099893 meters 0.020015749691288234 Centerline is valid? [True, True] Translation: X:454.19, Y:6.30, Z:5.43 [[ 9.98581352e-01 -5.09290087e-02 -1.55409158e-02 4.54191527e+02] [ 5.09327357e-02 9.98702074e-01 -1.56135721e-04 6.29608387e+00] [ 1.55286967e-02 -6.35627139e-04 9.99879220e-01 5.42548336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68509989300003 meters 0.020218012531877348 Centerline is valid? [True, True] Translation: X:454.22, Y:6.30, Z:5.43 [[ 9.98741986e-01 -4.76766713e-02 -1.55363992e-02 4.54221828e+02] [ 4.76800182e-02 9.98862649e-01 -1.55126096e-04 6.29616268e+00] [ 1.55261247e-02 -5.85844850e-04 9.99879291e-01 5.42530312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.715099893 meters 0.01925796245949325 Centerline is valid? [True, True] Translation: X:454.25, Y:6.30, Z:5.43 [[ 9.98836687e-01 -4.57723285e-02 -1.51712404e-02 4.54253173e+02] [ 4.57753054e-02 9.98951750e-01 -1.51157463e-04 6.29825956e+00] [ 1.51622560e-02 -5.43486544e-04 9.99884899e-01 5.42535103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74509989300003 meters 0.017960484177849248 Centerline is valid? [True, True] Translation: X:454.28, Y:6.30, Z:5.43 [[ 9.98892381e-01 -4.43270842e-02 -1.57835718e-02 4.54284952e+02] [ 4.43301373e-02 9.99016924e-01 -1.56548129e-04 6.30093565e+00] [ 1.57749947e-02 -5.43313173e-04 9.99875419e-01 5.42571805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.775099893 meters 0.019085452201740176 Centerline is valid? [True, True] Translation: X:454.32, Y:6.30, Z:5.43 [[ 9.98946235e-01 -4.30394314e-02 -1.59382095e-02 4.54316443e+02] [ 4.30423986e-02 9.99073234e-01 -1.56972188e-04 6.29966515e+00] [ 1.59301945e-02 -5.29211991e-04 9.99872966e-01 5.42542021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80509989300003 meters 0.016669743716108538 Centerline is valid? [True, True] Translation: X:454.35, Y:6.30, Z:5.43 [[ 9.99040167e-01 -4.06907245e-02 -1.62175550e-02 4.54347896e+02] [ 4.06935010e-02 9.99171664e-01 -1.58894275e-04 6.30427309e+00] [ 1.62105870e-02 -5.01207328e-04 9.99868474e-01 5.42565186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.835099893 meters 0.018164235068208422 Centerline is valid? [True, True] Translation: X:454.38, Y:6.30, Z:5.43 [[ 9.99069351e-01 -3.98179617e-02 -1.65819769e-02 4.54379280e+02] [ 3.98207610e-02 9.99206826e-01 -1.61460061e-04 6.30226457e+00] [ 1.65752535e-02 -4.98997139e-04 9.99862497e-01 5.42538100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.865099893 meters 0.016277844933660093 Centerline is valid? [True, True] Translation: X:454.41, Y:6.31, Z:5.43 [[ 9.99112251e-01 -3.87879466e-02 -1.64378972e-02 4.54410153e+02] [ 3.87905864e-02 9.99247349e-01 -1.58339452e-04 6.30583349e+00] [ 1.64316669e-02 -4.79436785e-04 9.99864876e-01 5.42605694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.895099893 meters 0.016206556471752304 Centerline is valid? [True, True] Translation: X:454.44, Y:6.31, Z:5.43 [[ 9.99170826e-01 -3.75011163e-02 -1.58532757e-02 4.54441895e+02] [ 3.75034187e-02 9.99296488e-01 -1.52141431e-04 6.30648515e+00] [ 1.58478282e-02 -4.42536756e-04 9.99874317e-01 5.42661834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.925099893 meters 0.016407471183521493 Centerline is valid? [True, True] Translation: X:454.47, Y:6.31, Z:5.43 [[ 9.99191940e-01 -3.70990490e-02 -1.54637609e-02 4.54473154e+02] [ 3.71012009e-02 9.99311503e-01 -1.47793246e-04 6.30698230e+00] [ 1.54585972e-02 -4.26050281e-04 9.99880418e-01 5.42761753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.955099893 meters 0.016193997335970253 Centerline is valid? [True, True] Translation: X:454.50, Y:6.31, Z:5.43 [[ 9.99239206e-01 -3.62877345e-02 -1.42901609e-02 4.54504847e+02] [ 3.62894992e-02 9.99341310e-01 -1.35882629e-04 6.30795345e+00] [ 1.42856790e-02 -3.82803532e-04 9.99897881e-01 5.42838894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.985099893 meters 0.017329680837227083 Centerline is valid? [True, True] Translation: X:454.54, Y:6.31, Z:5.43 [[ 9.99266709e-01 -3.57111862e-02 -1.38113955e-02 4.54536503e+02] [ 3.57127866e-02 9.99362086e-01 -1.30818191e-04 6.30617701e+00] [ 1.38072567e-02 -3.62521159e-04 9.99904610e-01 5.42893098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.015099893 meters 0.01738995064513872 Centerline is valid? [True, True] Translation: X:454.57, Y:6.31, Z:5.43 [[ 9.99289336e-01 -3.53519641e-02 -1.30790686e-02 4.54568289e+02] [ 3.53533775e-02 9.99374866e-01 -1.23197699e-04 6.30662013e+00] [ 1.30752477e-02 -3.39279101e-04 9.99914458e-01 5.42970818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.045099893 meters 0.015939660175247092 Centerline is valid? [True, True] Translation: X:454.60, Y:6.31, Z:5.43 [[ 9.99292689e-01 -3.53357680e-02 -1.28649170e-02 4.54600852e+02] [ 3.53371454e-02 9.99375441e-01 -1.20303153e-04 6.30993524e+00] [ 1.28611331e-02 -3.34391382e-04 9.99917236e-01 5.43043167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.075099893 meters 0.01574707810441536 Centerline is valid? [True, True] Translation: X:454.63, Y:6.31, Z:5.43 [[ 9.99295293e-01 -3.53851850e-02 -1.25222472e-02 4.54633297e+02] [ 3.53865050e-02 9.99373695e-01 -1.16204272e-04 6.31078959e+00] [ 1.25185164e-02 -3.26996181e-04 9.99921587e-01 5.43106756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.105099893 meters 0.016298417797894135 Centerline is valid? [True, True] Translation: X:454.66, Y:6.31, Z:5.43 [[ 9.99295927e-01 -3.53559900e-02 -1.25540861e-02 4.54664005e+02] [ 3.53573261e-02 9.99374728e-01 -1.15570188e-04 6.30994488e+00] [ 1.25503225e-02 -3.28390100e-04 9.99921188e-01 5.43138506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.135099893 meters 0.016631208334692303 Centerline is valid? [True, True] Translation: X:454.70, Y:6.31, Z:5.43 [[ 9.99294855e-01 -3.54524418e-02 -1.23659451e-02 4.54695386e+02] [ 3.54537539e-02 9.99371312e-01 -1.13165229e-04 6.30992210e+00] [ 1.23621828e-02 -3.25333744e-04 9.99923532e-01 5.43162635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.165099893 meters 0.01654280350157014 Centerline is valid? [True, True] Translation: X:454.73, Y:6.31, Z:5.43 [[ 9.99294836e-01 -3.52231611e-02 -1.30061474e-02 4.54727460e+02] [ 3.52246029e-02 9.99379414e-01 -1.18275617e-04 6.31032147e+00] [ 1.30022420e-02 -3.39944164e-04 9.99915409e-01 5.43153796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.195099893 meters 0.016219105114296875 Centerline is valid? [True, True] Translation: X:454.76, Y:6.31, Z:5.43 [[ 9.99265745e-01 -3.53663796e-02 -1.47373439e-02 4.54759839e+02] [ 3.53682638e-02 9.99374338e-01 -1.32840920e-04 6.31116026e+00] [ 1.47328214e-02 -3.88490886e-04 9.99891391e-01 5.43082509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.225099893 meters 0.01640005522958914 Centerline is valid? [True, True] Translation: X:454.79, Y:6.31, Z:5.43 [[ 9.99244183e-01 -3.56192815e-02 -1.55669336e-02 4.54791408e+02] [ 3.56214311e-02 9.99365346e-01 -1.39252262e-04 6.31099598e+00] [ 1.55620140e-02 -4.15369440e-04 9.99878818e-01 5.43054071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.255099893 meters 0.017024150482563994 Centerline is valid? [True, True] Translation: X:454.82, Y:6.31, Z:5.43 [[ 9.99228715e-01 -3.59666679e-02 -1.57599067e-02 4.54821974e+02] [ 3.59689224e-02 9.99352899e-01 -1.40465592e-04 6.31000023e+00] [ 1.57547606e-02 -4.26509611e-04 9.99875795e-01 5.43044323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.285099893 meters 0.016608653787808382 Centerline is valid? [True, True] Translation: X:454.85, Y:6.31, Z:5.43 [[ 9.99214575e-01 -3.62314966e-02 -1.60471928e-02 4.54853097e+02] [ 3.62338740e-02 9.99343327e-01 -1.42667484e-04 6.31103242e+00] [ 1.60418241e-02 -4.38896533e-04 9.99871225e-01 5.43116801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.315099893 meters 0.017441991308373275 Centerline is valid? [True, True] Translation: X:454.88, Y:6.31, Z:5.43 [[ 9.99188365e-01 -3.66285702e-02 -1.67618313e-02 4.54883884e+02] [ 3.66312291e-02 9.99328840e-01 -1.48475539e-04 6.30945612e+00] [ 1.67560199e-02 -4.65651450e-04 9.99859500e-01 5.43106927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.345099893 meters 0.0169616330453362 Centerline is valid? [True, True] Translation: X:454.92, Y:6.31, Z:5.43 [[ 9.99179527e-01 -3.67271447e-02 -1.70701417e-02 4.54915334e+02] [ 3.67299233e-02 9.99325217e-01 -1.50813027e-04 6.31036975e+00] [ 1.70641620e-02 -4.76295707e-04 9.99854283e-01 5.43132440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.375099893 meters 0.017387246574150497 Centerline is valid? [True, True] Translation: X:454.95, Y:6.31, Z:5.43 [[ 9.99168724e-01 -3.68005989e-02 -1.75378734e-02 4.54945481e+02] [ 3.68035528e-02 9.99322508e-01 -1.54401008e-04 6.30993714e+00] [ 1.75316737e-02 -4.91183393e-04 9.99846188e-01 5.43149671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.405099893 meters 0.017486845798842382 Centerline is valid? [True, True] Translation: X:454.98, Y:6.31, Z:5.43 [[ 9.99175371e-01 -3.65868034e-02 -1.76063727e-02 4.54976793e+02] [ 3.65897543e-02 9.99330359e-01 -1.54601228e-04 6.30998337e+00] [ 1.76002391e-02 -4.89739113e-04 9.99844984e-01 5.43177534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.43509989300003 meters 0.016499679650653753 Centerline is valid? [True, True] Translation: X:455.01, Y:6.31, Z:5.43 [[ 9.99185564e-01 -3.63517956e-02 -1.75144363e-02 4.55008444e+02] [ 3.63546905e-02 9.99338938e-01 -1.53178011e-04 6.31192700e+00] [ 1.75084264e-02 -4.83678653e-04 9.99846599e-01 5.43254247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.465099893 meters 0.016811918060979095 Centerline is valid? [True, True] Translation: X:455.04, Y:6.31, Z:5.43 [[ 9.99191508e-01 -3.63487764e-02 -1.71783719e-02 4.55039262e+02] [ 3.63515698e-02 9.99339052e-01 -1.49715098e-04 6.31250488e+00] [ 1.71724599e-02 -4.74866732e-04 9.99852430e-01 5.43349224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49509989300003 meters 0.0169338505902797 Centerline is valid? [True, True] Translation: X:455.07, Y:6.31, Z:5.43 [[ 9.99183688e-01 -3.64592409e-02 -1.73977644e-02 4.55070688e+02] [ 3.64621299e-02 9.99335024e-01 -1.51223688e-04 6.31290714e+00] [ 1.73917088e-02 -4.83259302e-04 9.99848636e-01 5.43397541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.525099893 meters 0.018019125604187145 Centerline is valid? [True, True] Translation: X:455.10, Y:6.31, Z:5.43 [[ 9.99174060e-01 -3.66047933e-02 -1.76433537e-02 4.55100803e+02] [ 3.66077966e-02 9.99329698e-01 -1.52818541e-04 6.31177706e+00] [ 1.76371212e-02 -4.93191981e-04 9.99844332e-01 5.43456470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55509989300003 meters 0.016798350614595545 Centerline is valid? [True, True] Translation: X:455.13, Y:6.31, Z:5.44 [[ 9.99149874e-01 -3.70450459e-02 -1.80884981e-02 4.55131685e+02] [ 3.70482826e-02 9.99313465e-01 -1.56245000e-04 6.31451404e+00] [ 1.80818678e-02 -5.14035616e-04 9.99836378e-01 5.43568003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.585099893 meters 0.016966194861450713 Centerline is valid? [True, True] Translation: X:455.16, Y:6.31, Z:5.44 [[ 9.99125215e-01 -3.77142407e-02 -1.80676825e-02 4.55162858e+02] [ 3.77175910e-02 9.99288426e-01 -1.55417133e-04 6.31450260e+00] [ 1.80606875e-02 -5.26188284e-04 9.99836754e-01 5.43571411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.615099893 meters 0.017880837361034813 Centerline is valid? [True, True] Translation: X:455.19, Y:6.31, Z:5.44 [[ 9.99080707e-01 -3.86696218e-02 -1.85040649e-02 4.55192797e+02] [ 3.86733101e-02 9.99251895e-01 -1.58606325e-04 6.31302241e+00] [ 1.84963551e-02 -5.57152920e-04 9.99828773e-01 5.43584613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.645099893 meters 0.017083064751194747 Centerline is valid? [True, True] Translation: X:455.22, Y:6.31, Z:5.44 [[ 9.98994812e-01 -4.06456060e-02 -1.89024026e-02 4.55224268e+02] [ 4.06498170e-02 9.99173442e-01 -1.61555619e-04 6.31470892e+00] [ 1.88933452e-02 -6.06985981e-04 9.99821321e-01 5.43667074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.675099893 meters 0.018049174531222553 Centerline is valid? [True, True] Translation: X:455.25, Y:6.31, Z:5.44 [[ 9.98939212e-01 -4.17765088e-02 -1.93694295e-02 4.55254743e+02] [ 4.17811591e-02 9.99126773e-01 -1.64711158e-04 6.31357122e+00] [ 1.93593966e-02 -6.44740779e-04 9.99812381e-01 5.43660996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.705099893 meters 0.018076666656597386 Centerline is valid? [True, True] Translation: X:455.29, Y:6.31, Z:5.44 [[ 9.98879097e-01 -4.31086128e-02 -1.95498638e-02 4.55285596e+02] [ 4.31136203e-02 9.99070162e-01 -1.65452641e-04 6.31417431e+00] [ 1.95388180e-02 -6.77598220e-04 9.99808869e-01 5.43717810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.735099893 meters 0.018076666656597386 Centerline is valid? [True, True] Translation: X:455.32, Y:6.31, Z:5.44 [[ 9.98880663e-01 -4.30723056e-02 -1.95498679e-02 4.55316458e+02] [ 4.30773157e-02 9.99071728e-01 -1.64966662e-04 6.31440695e+00] [ 1.95388258e-02 -6.77373823e-04 9.99808869e-01 5.43755970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.765099893 meters 0.019516931979422527 Centerline is valid? [True, True] Translation: X:455.35, Y:6.31, Z:5.44 [[ 9.98833546e-01 -4.39808931e-02 -1.99305844e-02 4.55346766e+02] [ 4.39862928e-02 9.99032121e-01 -1.67584622e-04 6.31254536e+00] [ 1.99186646e-02 -7.09283381e-04 9.99801352e-01 5.43756970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.795099893 meters 0.019854273762749893 Centerline is valid? [True, True] Translation: X:455.38, Y:6.31, Z:5.44 [[ 9.98765845e-01 -4.53846259e-02 -2.01747988e-02 4.55377986e+02] [ 4.53904549e-02 9.98969308e-01 -1.69135279e-04 6.31327820e+00] [ 2.01616809e-02 -7.46816753e-04 9.99796454e-01 5.43815935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.825099893 meters 0.02029120004828381 Centerline is valid? [True, True] Translation: X:455.41, Y:6.31, Z:5.44 [[ 9.98777642e-01 -4.51794214e-02 -2.00509859e-02 4.55408378e+02] [ 4.51851492e-02 9.98978616e-01 -1.67526019e-04 6.31306307e+00] [ 2.00380748e-02 -7.38685545e-04 9.99798945e-01 5.43842409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.855099893 meters 0.02013392411294652 Centerline is valid? [True, True] Translation: X:455.44, Y:6.31, Z:5.44 [[ 9.98839827e-01 -4.38767625e-02 -1.98451185e-02 4.55439105e+02] [ 4.38821259e-02 9.99036702e-01 -1.65329763e-04 6.31464341e+00] [ 1.98332558e-02 -7.05708036e-04 9.99803053e-01 5.43962186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.885099893 meters 0.01917139895594248 Centerline is valid? [True, True] Translation: X:455.47, Y:6.32, Z:5.44 [[ 9.98895804e-01 -4.25005729e-02 -2.00218580e-02 4.55470033e+02] [ 4.25057703e-02 9.99096208e-01 -1.66097348e-04 6.31718699e+00] [ 2.00108217e-02 -6.85130555e-04 9.99799529e-01 5.44049066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.915099893 meters 0.019763012562696938 Centerline is valid? [True, True] Translation: X:455.50, Y:6.32, Z:5.44 [[ 9.98959937e-01 -4.10629072e-02 -1.98212436e-02 4.55500105e+02] [ 4.10677294e-02 9.99156352e-01 -1.63871075e-04 6.31708770e+00] [ 1.98112505e-02 -6.50312831e-04 9.99803526e-01 5.44112907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.945099893 meters 0.016847516459252025 Centerline is valid? [True, True] Translation: X:455.53, Y:6.32, Z:5.44 [[ 9.99026381e-01 -3.93754778e-02 -1.98962896e-02 4.55531674e+02] [ 3.93800122e-02 9.99224293e-01 -1.63997912e-04 6.32279355e+00] [ 1.98873134e-02 -6.19677885e-04 9.99802036e-01 5.44265696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.975099893 meters 0.01754051189655515 Centerline is valid? [True, True] Translation: X:455.56, Y:6.32, Z:5.44 [[ 9.99093296e-01 -3.76385112e-02 -1.98979660e-02 4.55561022e+02] [ 3.76427085e-02 9.99291249e-01 -1.63695006e-04 6.32227375e+00] [ 1.98900245e-02 -5.85466751e-04 9.99802002e-01 5.44259429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.005099893 meters 0.017170292583965317 Centerline is valid? [True, True] Translation: X:455.59, Y:6.32, Z:5.44 [[ 9.99195948e-01 -3.43578790e-02 -2.06638112e-02 4.55590504e+02] [ 3.43616968e-02 9.99409448e-01 -1.70374973e-04 6.32484248e+00] [ 2.06574619e-02 -5.39805635e-04 9.99786466e-01 5.44299255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.035099893 meters 0.016293017302210035 Centerline is valid? [True, True] Translation: X:455.62, Y:6.33, Z:5.44 [[ 9.99238133e-01 -3.26470904e-02 -2.13850792e-02 4.55620214e+02] [ 3.26507764e-02 9.99466806e-01 -1.76863394e-04 6.32728097e+00] [ 2.13794509e-02 -5.21510792e-04 9.99771297e-01 5.44324441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.065099893 meters 0.01604745643210886 Centerline is valid? [True, True] Translation: X:455.65, Y:6.33, Z:5.44 [[ 9.99283589e-01 -3.04214518e-02 -2.25131884e-02 4.55648673e+02] [ 3.04249505e-02 9.99537037e-01 -1.87180027e-04 6.32877224e+00] [ 2.25084599e-02 -4.97916714e-04 9.99746529e-01 5.44277104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.095099893 meters 0.014858657312884301 Centerline is valid? [True, True] Translation: X:455.68, Y:6.33, Z:5.44 [[ 9.99284475e-01 -2.97209172e-02 -2.33923984e-02 4.55677354e+02] [ 2.97244218e-02 9.99558112e-01 -1.97955925e-04 6.33182520e+00] [ 2.33879450e-02 -4.97511236e-04 9.99726341e-01 5.44376307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.125099893 meters 0.015264028782174281 Centerline is valid? [True, True] Translation: X:455.71, Y:6.33, Z:5.44 [[ 9.99291300e-01 -2.90150697e-02 -2.39796545e-02 4.55705464e+02] [ 2.90184474e-02 9.99578855e-01 -2.07180242e-04 6.33161850e+00] [ 2.39755669e-02 -4.88818929e-04 9.99712425e-01 5.44338955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.155099893 meters 0.014688552883690625 Centerline is valid? [True, True] Translation: X:455.73, Y:6.33, Z:5.44 [[ 9.99277611e-01 -2.91838525e-02 -2.43425139e-02 4.55733089e+02] [ 2.91872716e-02 9.99573938e-01 -2.14904211e-04 6.33352352e+00] [ 2.43384143e-02 -4.95742600e-04 9.99703654e-01 5.44439913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18509989300003 meters 0.01508528060559516 Centerline is valid? [True, True] Translation: X:455.76, Y:6.33, Z:5.45 [[ 9.99232557e-01 -3.01753755e-02 -2.49748501e-02 4.55760986e+02] [ 3.01791644e-02 9.99544480e-01 -2.25282311e-04 6.33393206e+00] [ 2.49702715e-02 -5.28610686e-04 9.99688054e-01 5.44533182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.215099893 meters 0.015336804464110416 Centerline is valid? [True, True] Translation: X:455.79, Y:6.33, Z:5.45 [[ 9.99199301e-01 -3.12123351e-02 -2.50309127e-02 4.55789289e+02] [ 3.12163594e-02 9.99512624e-01 -2.30054947e-04 6.33415904e+00] [ 2.50258938e-02 -5.51503223e-04 9.99686651e-01 5.44604955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24509989300003 meters 0.01601031227665182 Centerline is valid? [True, True] Translation: X:455.82, Y:6.33, Z:5.45 [[ 9.99136241e-01 -3.32448224e-02 -2.49309722e-02 4.55816526e+02] [ 3.32493371e-02 9.99447061e-01 -2.33538496e-04 6.33403067e+00] [ 2.49249508e-02 -5.95601522e-04 9.99689148e-01 5.44675325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.275099893 meters 0.01658898521382916 Centerline is valid? [True, True] Translation: X:455.84, Y:6.33, Z:5.45 [[ 9.99079270e-01 -3.46615430e-02 -2.52821879e-02 4.55844514e+02] [ 3.46665770e-02 9.99398905e-01 -2.39284365e-04 6.33335474e+00] [ 2.52752848e-02 -6.37382864e-04 9.99680326e-01 5.44699416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30509989300003 meters 0.016108385174442456 Centerline is valid? [True, True] Translation: X:455.87, Y:6.33, Z:5.45 [[ 9.99040095e-01 -3.60348373e-02 -2.49074228e-02 4.55873399e+02] [ 3.60400443e-02 9.99350318e-01 -2.39961028e-04 6.33478202e+00] [ 2.48998878e-02 -6.57933934e-04 9.99689733e-01 5.44829108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.335099893 meters 0.016797774365222746 Centerline is valid? [True, True] Translation: X:455.90, Y:6.33, Z:5.45 [[ 9.98953957e-01 -3.85836875e-02 -2.45416329e-02 4.55902526e+02] [ 3.85893606e-02 9.99255124e-01 -2.42568719e-04 6.33416399e+00] [ 2.45327116e-02 -7.04730937e-04 9.99698779e-01 5.44935211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.365099893 meters 0.017581025706933325 Centerline is valid? [True, True] Translation: X:455.93, Y:6.33, Z:5.45 [[ 9.98897934e-01 -4.01741274e-02 -2.42684170e-02 4.55931229e+02] [ 4.01800478e-02 9.99192426e-01 -2.43820340e-04 6.33334227e+00] [ 2.42586137e-02 -7.31554519e-04 9.99705449e-01 5.44968611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.395099893 meters 0.01731207460209667 Centerline is valid? [True, True] Translation: X:455.96, Y:6.33, Z:5.45 [[ 9.98818346e-01 -4.22005366e-02 -2.41045029e-02 4.55960870e+02] [ 4.22069345e-02 9.99108861e-01 -2.43505821e-04 6.33452963e+00] [ 2.40932985e-02 -7.74159094e-04 9.99709415e-01 5.45105912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.425099893 meters 0.019303949751913053 Centerline is valid? [True, True] Translation: X:455.99, Y:6.33, Z:5.45 [[ 9.98752304e-01 -4.40435568e-02 -2.35372160e-02 4.55990772e+02] [ 4.40501576e-02 9.99029292e-01 -2.38214026e-04 6.33172340e+00] [ 2.35248601e-02 -7.98901270e-04 9.99722933e-01 5.45091670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.455099893 meters 0.019965469267226397 Centerline is valid? [True, True] Translation: X:456.02, Y:6.33, Z:5.45 [[ 9.98560068e-01 -4.84627227e-02 -2.30033883e-02 4.56021141e+02] [ 4.84701981e-02 9.98824602e-01 -2.32811294e-04 6.33129544e+00] [ 2.29876328e-02 -8.82502726e-04 9.99735360e-01 5.45238920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.485099893 meters 0.02028361590240222 Centerline is valid? [True, True] Translation: X:456.05, Y:6.33, Z:5.45 [[ 9.98454901e-01 -5.07776247e-02 -2.25708730e-02 4.56052274e+02] [ 5.07854202e-02 9.98709562e-01 -2.28064515e-04 6.33105052e+00] [ 2.25533273e-02 -9.18559138e-04 9.99745219e-01 5.45288058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.515099893 meters 0.02236081055214464 Centerline is valid? [True, True] Translation: X:456.08, Y:6.33, Z:5.45 [[ 9.98343979e-01 -5.29844223e-02 -2.24042593e-02 4.56082362e+02] [ 5.29926878e-02 9.98594875e-01 -2.25034488e-04 6.32818063e+00] [ 2.23847018e-02 -9.62600092e-04 9.99748968e-01 5.45268286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.545099893 meters 0.02358135398436964 Centerline is valid? [True, True] Translation: X:456.11, Y:6.33, Z:5.45 [[ 9.98219808e-01 -5.51910162e-02 -2.26090081e-02 4.56113721e+02] [ 5.52000317e-02 9.98475290e-01 -2.25610435e-04 6.32668897e+00] [ 2.25869876e-02 -1.02280916e-03 9.99744358e-01 5.45273806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.575099893 meters 0.022873632593676703 Centerline is valid? [True, True] Translation: X:456.15, Y:6.33, Z:5.45 [[ 9.98113161e-01 -5.70844461e-02 -2.26160239e-02 4.56145750e+02] [ 5.70939787e-02 9.98368783e-01 -2.24507263e-04 6.32826068e+00] [ 2.25919481e-02 -1.06715513e-03 9.99744200e-01 5.45371761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.605099893 meters 0.02606879314400698 Centerline is valid? [True, True] Translation: X:456.18, Y:6.32, Z:5.45 [[ 9.97932739e-01 -6.00773072e-02 -2.28246838e-02 4.56176207e+02] [ 6.00878272e-02 9.98193069e-01 -2.25267633e-04 6.32486257e+00] [ 2.27969746e-02 -1.14668371e-03 9.99739458e-01 5.45384357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.635099893 meters 0.02567257916708574 Centerline is valid? [True, True] Translation: X:456.21, Y:6.33, Z:5.45 [[ 9.97884924e-01 -6.08440269e-02 -2.28841177e-02 4.56208106e+02] [ 6.08548310e-02 9.98146602e-01 -2.24623128e-04 6.32635766e+00] [ 2.28553713e-02 -1.16846108e-03 9.99738099e-01 5.45437779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.665099893 meters 0.026177963477242713 Centerline is valid? [True, True] Translation: X:456.24, Y:6.33, Z:5.45 [[ 9.97843908e-01 -6.14455231e-02 -2.30647757e-02 4.56240668e+02] [ 6.14566965e-02 9.98109725e-01 -2.24759294e-04 6.32632447e+00] [ 2.30349874e-02 -1.19321023e-03 9.99733947e-01 5.45439616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.695099893 meters 0.025986226370176127 Centerline is valid? [True, True] Translation: X:456.27, Y:6.33, Z:5.45 [[ 9.97795118e-01 -6.20213283e-02 -2.36274572e-02 4.56272842e+02] [ 6.20332547e-02 9.98074057e-01 -2.28547021e-04 6.32809688e+00] [ 2.35961268e-02 -1.23764497e-03 9.99720807e-01 5.45474547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.725099893 meters 0.027515375453692092 Centerline is valid? [True, True] Translation: X:456.30, Y:6.33, Z:5.45 [[ 9.97785878e-01 -6.19735921e-02 -2.41374498e-02 4.56304155e+02] [ 6.19860620e-02 9.98076988e-01 -2.31958580e-04 6.32683115e+00] [ 2.41054085e-02 -1.26474046e-03 9.99708622e-01 5.45455108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.755099893 meters 0.02451702406372031 Centerline is valid? [True, True] Translation: X:456.34, Y:6.33, Z:5.46 [[ 9.97785926e-01 -6.19227870e-02 -2.42654930e-02 4.56336601e+02] [ 6.19354115e-02 9.98080133e-01 -2.31666678e-04 6.33209129e+00] [ 2.42332519e-02 -1.27173954e-03 9.99705523e-01 5.45583497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.785099893 meters 0.02732747649471872 Centerline is valid? [True, True] Translation: X:456.37, Y:6.33, Z:5.46 [[ 9.97785663e-01 -6.17091744e-02 -2.48142940e-02 4.56367696e+02] [ 6.17223503e-02 9.98093330e-01 -2.35314821e-04 6.32893308e+00] [ 2.47815024e-02 -1.29680279e-03 9.99692050e-01 5.45549426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.815099893 meters 0.026157607872999745 Centerline is valid? [True, True] Translation: X:456.40, Y:6.33, Z:5.46 [[ 9.97811269e-01 -6.11848368e-02 -2.50816118e-02 4.56399989e+02] [ 6.11981726e-02 9.98125607e-01 -2.36275487e-04 6.33145565e+00] [ 2.50490555e-02 -1.29919047e-03 9.99685379e-01 5.45650145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.845099893 meters 0.02198300665070939 Centerline is valid? [True, True] Translation: X:456.43, Y:6.34, Z:5.46 [[ 9.97939465e-01 -5.91576832e-02 -2.48433483e-02 4.56430900e+02] [ 5.91701732e-02 9.98247883e-01 -2.32697992e-04 6.33939050e+00] [ 2.48135857e-02 -1.23776671e-03 9.99691329e-01 5.45928941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.875099893 meters 0.023933504650974262 Centerline is valid? [True, True] Translation: X:456.46, Y:6.34, Z:5.46 [[ 9.98053468e-01 -5.75444062e-02 -2.40398985e-02 4.56461103e+02] [ 5.75556502e-02 9.98342274e-01 -2.24508752e-04 6.33736036e+00] [ 2.40129662e-02 -1.15956025e-03 9.99710975e-01 5.45932968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.905099893 meters 0.021392508541450216 Centerline is valid? [True, True] Translation: X:456.49, Y:6.34, Z:5.46 [[ 9.98191789e-01 -5.53512103e-02 -2.34392110e-02 4.56492423e+02] [ 5.53613106e-02 9.98466363e-01 -2.18265134e-04 6.34197137e+00] [ 2.34153450e-02 -1.07975498e-03 9.99725240e-01 5.46111143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.93509989300003 meters 0.020266415768586524 Centerline is valid? [True, True] Translation: X:456.52, Y:6.35, Z:5.46 [[ 9.98488323e-01 -5.02813522e-02 -2.22003238e-02 4.56522317e+02] [ 5.02891713e-02 9.98734678e-01 -2.06293670e-04 6.34514529e+00] [ 2.21826060e-02 -9.10454065e-04 9.99753521e-01 5.46302038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.965099893 meters 0.020058515059722393 Centerline is valid? [True, True] Translation: X:456.55, Y:6.35, Z:5.46 [[ 9.98651454e-01 -4.73100334e-02 -2.13783635e-02 4.56553071e+02] [ 4.73166112e-02 9.98879922e-01 -1.98327598e-04 6.34625592e+00] [ 2.13638010e-02 -8.13491573e-04 9.99771437e-01 5.46379016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99509989300003 meters 0.020277965485927474 Centerline is valid? [True, True] Translation: X:456.58, Y:6.35, Z:5.46 [[ 9.98803239e-01 -4.41633224e-02 -2.10164169e-02 4.56583203e+02] [ 4.41690097e-02 9.99024054e-01 -1.93728704e-04 6.34636738e+00] [ 2.10044617e-02 -7.34777465e-04 9.99779112e-01 5.46450842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.025099893 meters 0.01779363547740558 Centerline is valid? [True, True] Translation: X:456.61, Y:6.35, Z:5.47 [[ 9.98944433e-01 -4.10325509e-02 -2.06482151e-02 4.56614916e+02] [ 4.10374049e-02 9.99157593e-01 -1.88761287e-04 6.35099716e+00] [ 2.06385663e-02 -6.58787128e-04 9.99786785e-01 5.46588578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05509989300003 meters 0.018165276984177012 Centerline is valid? [True, True] Translation: X:456.65, Y:6.35, Z:5.47 [[ 9.99161843e-01 -3.51502335e-02 -2.09779165e-02 4.56645058e+02] [ 3.51539626e-02 9.99381890e-01 -1.91089922e-04 6.35033504e+00] [ 2.09716667e-02 -5.46527133e-04 9.99779921e-01 5.46509167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.085099893 meters 0.015508943403784562 Centerline is valid? [True, True] Translation: X:456.68, Y:6.36, Z:5.47 [[ 9.99231377e-01 -3.25793201e-02 -2.18000554e-02 4.56675723e+02] [ 3.25827360e-02 9.99469022e-01 -1.98578867e-04 6.35547934e+00] [ 2.17949496e-02 -5.11879216e-04 9.99762331e-01 5.46627985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.115099893 meters 0.015052759470551262 Centerline is valid? [True, True] Translation: X:456.71, Y:6.36, Z:5.47 [[ 9.99302423e-01 -3.00518747e-02 -2.21709726e-02 4.56705331e+02] [ 3.00547783e-02 9.99548233e-01 -2.02312520e-04 6.35678292e+00] [ 2.21670363e-02 -4.64172274e-04 9.99754173e-01 5.46591800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.145099893 meters 0.014585414524957081 Centerline is valid? [True, True] Translation: X:456.73, Y:6.36, Z:5.47 [[ 9.99355843e-01 -2.75319000e-02 -2.30194125e-02 4.56734019e+02] [ 2.75342892e-02 9.99620837e-01 -2.13215132e-04 6.35798519e+00] [ 2.30165546e-02 -4.20745374e-04 9.99734995e-01 5.46556113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.175099893 meters 0.013973167127216427 Centerline is valid? [True, True] Translation: X:456.76, Y:6.36, Z:5.46 [[ 9.99454376e-01 -2.27888371e-02 -2.39085640e-02 4.56762094e+02] [ 2.27899436e-02 9.99740250e-01 -2.26230183e-04 6.35912401e+00] [ 2.39075093e-02 -3.18768079e-04 9.99714124e-01 5.46489027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.205099893 meters 0.013322404387945712 Centerline is valid? [True, True] Translation: X:456.79, Y:6.36, Z:5.47 [[ 9.99504298e-01 -2.04963229e-02 -2.38968550e-02 4.56790497e+02] [ 2.04966631e-02 9.99789895e-01 -2.30725929e-04 6.36053178e+00] [ 2.38965632e-02 -2.59194230e-04 9.99714403e-01 5.46601765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.235099893 meters 0.013152481071775534 Centerline is valid? [True, True] Translation: X:456.82, Y:6.36, Z:5.47 [[ 9.99567963e-01 -1.81048648e-02 -2.31538521e-02 4.56819288e+02] [ 1.81044074e-02 9.99836075e-01 -2.29396198e-04 6.36068925e+00] [ 2.31542098e-02 -1.89889680e-04 9.99731887e-01 5.46657094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.265099893 meters 0.013191247780966104 Centerline is valid? [True, True] Translation: X:456.85, Y:6.36, Z:5.47 [[ 9.99622163e-01 -1.55346018e-02 -2.26761582e-02 4.56847047e+02] [ 1.55334103e-02 9.99879323e-01 -2.28694597e-04 6.36045242e+00] [ 2.26769744e-02 -1.23629882e-04 9.99742837e-01 5.46581078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.295099893 meters 0.012887071082001858 Centerline is valid? [True, True] Translation: X:456.88, Y:6.36, Z:5.47 [[ 9.99671423e-01 -1.34362752e-02 -2.18291877e-02 4.56875933e+02] [ 1.34345945e-02 9.99909727e-01 -2.23646174e-04 6.36117992e+00] [ 2.18302221e-02 -6.96935973e-05 9.99761690e-01 5.46747371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.325099893 meters 0.01286353675040405 Centerline is valid? [True, True] Translation: X:456.90, Y:6.36, Z:5.47 [[ 9.99741189e-01 -9.28738052e-03 -2.07677772e-02 4.56904041e+02] [ 9.28488609e-03 9.99956871e-01 -2.16532977e-04 6.36062106e+00] [ 2.07688926e-02 2.36504899e-05 9.99784303e-01 5.46763920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.355099893 meters 0.012919811489723014 Centerline is valid? [True, True] Translation: X:456.93, Y:6.36, Z:5.47 [[ 9.99765160e-01 -8.05315753e-03 -2.01189423e-02 4.56931855e+02] [ 8.05050039e-03 9.99967572e-01 -2.13060932e-04 6.36034309e+00] [ 2.01200057e-02 5.10433433e-05 9.99797571e-01 5.46776988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.385099893 meters 0.012927976459197493 Centerline is valid? [True, True] Translation: X:456.96, Y:6.36, Z:5.47 [[ 9.99781918e-01 -7.24477452e-03 -1.95864538e-02 4.56959620e+02] [ 7.24199299e-03 9.99973754e-01 -2.12939703e-04 6.35940258e+00] [ 1.95874824e-02 7.10483036e-05 9.99808144e-01 5.46825380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.415099893 meters 0.012961236428067976 Centerline is valid? [True, True] Translation: X:456.99, Y:6.36, Z:5.47 [[ 9.99783247e-01 -6.86419618e-03 -1.96555964e-02 4.56986665e+02] [ 6.86123313e-03 9.99976438e-01 -2.18182407e-04 6.35802319e+00] [ 1.96566309e-02 8.32734861e-05 9.99806786e-01 5.46779150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.445099893 meters 0.012855964436150818 Centerline is valid? [True, True] Translation: X:457.01, Y:6.35, Z:5.47 [[ 9.99771359e-01 -8.92617364e-03 -1.94307050e-02 4.57014204e+02] [ 8.92362563e-03 9.99960160e-01 -2.17835073e-04 6.35242156e+00] [ 1.94318753e-02 4.43929303e-05 9.99811182e-01 5.46652915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.475099893 meters 0.01282404176291208 Centerline is valid? [True, True] Translation: X:457.04, Y:6.35, Z:5.47 [[ 9.99749167e-01 -1.12849735e-02 -1.93456024e-02 4.57042584e+02] [ 1.12828310e-02 9.99936323e-01 -2.19899050e-04 6.34867731e+00] [ 1.93468521e-02 1.57073029e-06 9.99812832e-01 5.46648714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.505099893 meters 0.012902605702519741 Centerline is valid? [True, True] Translation: X:457.07, Y:6.34, Z:5.47 [[ 9.99723052e-01 -1.43988458e-02 -1.86143011e-02 4.57070353e+02] [ 1.43973283e-02 9.99896330e-01 -2.15533960e-04 6.34431239e+00] [ 1.86154748e-02 -5.25219357e-05 9.99826716e-01 5.46655302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.535099893 meters 0.013359894898214241 Centerline is valid? [True, True] Translation: X:457.10, Y:6.34, Z:5.47 [[ 9.99602363e-01 -2.19690388e-02 -1.76770419e-02 4.57099424e+02] [ 2.19688254e-02 9.99758635e-01 -2.06281829e-04 6.33512055e+00] [ 1.76773070e-02 -1.82144044e-04 9.99843728e-01 5.46758359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.565099893 meters 0.01375461881276577 Centerline is valid? [True, True] Translation: X:457.13, Y:6.33, Z:5.47 [[ 9.99490587e-01 -2.66622392e-02 -1.75411427e-02 4.57128102e+02] [ 2.66627129e-02 9.99644465e-01 -2.06901262e-04 6.33001821e+00] [ 1.75404227e-02 -2.60898587e-04 9.99846121e-01 5.46800516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.595099893 meters 0.01375461881276577 Centerline is valid? [True, True] Translation: X:457.16, Y:6.33, Z:5.47 [[ 9.99489617e-01 -2.66986127e-02 -1.75411027e-02 4.57157256e+02] [ 2.66990335e-02 9.99643495e-01 -2.10237148e-04 6.33039651e+00] [ 1.75404623e-02 -2.58200644e-04 9.99846121e-01 5.46836657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.625099893 meters 0.014538620213073625 Centerline is valid? [True, True] Translation: X:457.19, Y:6.33, Z:5.47 [[ 9.99359505e-01 -3.13929048e-02 -1.71774390e-02 4.57186861e+02] [ 3.13939908e-02 9.99507066e-01 -2.06493732e-04 6.32542092e+00] [ 1.71754540e-02 -3.32906886e-04 9.99852436e-01 5.46858185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.655099893 meters 0.015869348533651902 Centerline is valid? [True, True] Translation: X:457.22, Y:6.32, Z:5.47 [[ 9.99205771e-01 -3.57405284e-02 -1.76193441e-02 4.57215825e+02] [ 3.57423350e-02 9.99361016e-01 -2.12456814e-04 6.31932811e+00] [ 1.76156789e-02 -4.17468425e-04 9.99844745e-01 5.46833541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.68509989300003 meters 0.01863902166599717 Centerline is valid? [True, True] Translation: X:457.25, Y:6.31, Z:5.47 [[ 9.98866243e-01 -4.39662053e-02 -1.82537804e-02 4.57245588e+02] [ 4.39695066e-02 9.99032849e-01 -2.20638243e-04 6.30828415e+00] [ 1.82458269e-02 -5.82221627e-04 9.99833362e-01 5.46720392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.715099893 meters 0.019525353884027832 Centerline is valid? [True, True] Translation: X:457.28, Y:6.30, Z:5.47 [[ 9.98726245e-01 -4.71793520e-02 -1.78884140e-02 4.57277062e+02] [ 4.71830381e-02 9.98886237e-01 -2.16168240e-04 6.30400715e+00] [ 1.78786892e-02 -6.28136826e-04 9.99839966e-01 5.46723595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74509989300003 meters 0.02287797601119903 Centerline is valid? [True, True] Translation: X:457.31, Y:6.30, Z:5.47 [[ 9.98596084e-01 -4.98833958e-02 -1.78187260e-02 4.57307461e+02] [ 4.98874925e-02 9.98754821e-01 -2.14794456e-04 6.29617075e+00] [ 1.78072531e-02 -6.74438656e-04 9.99841211e-01 5.46662981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.775099893 meters 0.02192912202650687 Centerline is valid? [True, True] Translation: X:457.34, Y:6.29, Z:5.47 [[ 9.98389850e-01 -5.40587013e-02 -1.71861799e-02 4.57338470e+02] [ 5.40631347e-02 9.98537498e-01 -2.06874831e-04 6.29272370e+00] [ 1.71722284e-02 -7.22597027e-04 9.99852285e-01 5.46768310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80509989300003 meters 0.021297377202498333 Centerline is valid? [True, True] Translation: X:457.37, Y:6.29, Z:5.47 [[ 9.98325716e-01 -5.54786775e-02 -1.63670811e-02 4.57369651e+02] [ 5.54828945e-02 9.98459618e-01 -1.96661526e-04 6.29167096e+00] [ 1.63527801e-02 -7.11760778e-04 9.99866031e-01 5.46817179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.835099893 meters 0.02252208285642507 Centerline is valid? [True, True] Translation: X:457.40, Y:6.29, Z:5.47 [[ 9.98255760e-01 -5.68624158e-02 -1.58777512e-02 4.57400391e+02] [ 5.68665680e-02 9.98381769e-01 -1.90219884e-04 6.28802163e+00] [ 1.58628737e-02 -7.13025126e-04 9.99873922e-01 5.46876871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.865099893 meters 0.02436829933309424 Centerline is valid? [True, True] Translation: X:457.43, Y:6.28, Z:5.47 [[ 9.98194376e-01 -5.79935328e-02 -1.56441232e-02 4.57431355e+02] [ 5.79977118e-02 9.98316699e-01 -1.86803888e-04 6.28360460e+00] [ 1.56286228e-02 -7.20856759e-04 9.99877606e-01 5.46909740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.895099893 meters 0.025119455719331593 Centerline is valid? [True, True] Translation: X:457.46, Y:6.28, Z:5.47 [[ 9.98031442e-01 -6.09039650e-02 -1.49649017e-02 4.57462539e+02] [ 6.09081256e-02 9.98143361e-01 -1.78015564e-04 6.27953674e+00] [ 1.49479592e-02 -7.33818983e-04 9.99888004e-01 5.46964449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.925099893 meters 0.02447013488948556 Centerline is valid? [True, True] Translation: X:457.49, Y:6.28, Z:5.47 [[ 9.97945949e-01 -6.22919401e-02 -1.49531491e-02 4.57494691e+02] [ 6.22962555e-02 9.98057686e-01 -1.77471997e-04 6.27925831e+00] [ 1.49351605e-02 -7.54417737e-04 9.99888180e-01 5.47016495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.955099893 meters 0.024226509106335815 Centerline is valid? [True, True] Translation: X:457.53, Y:6.28, Z:5.47 [[ 9.97868761e-01 -6.35422152e-02 -1.48432793e-02 4.57526995e+02] [ 6.35466211e-02 9.97978856e-01 -1.75103423e-04 6.27852526e+00] [ 1.48244054e-02 -7.68510012e-04 9.99889817e-01 5.47001772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.985099893 meters 0.02467444727115817 Centerline is valid? [True, True] Translation: X:457.56, Y:6.28, Z:5.47 [[ 9.97787925e-01 -6.48199658e-02 -1.47522358e-02 4.57558742e+02] [ 6.48244722e-02 9.97896667e-01 -1.73002711e-04 6.27700423e+00] [ 1.47324209e-02 -7.83685882e-04 9.99891165e-01 5.46996515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.015099893 meters 0.025345538016840582 Centerline is valid? [True, True] Translation: X:457.59, Y:6.27, Z:5.47 [[ 9.97583910e-01 -6.77269214e-02 -1.54727404e-02 4.57589965e+02] [ 6.77322401e-02 9.97703519e-01 -1.80628615e-04 6.27465493e+00] [ 1.54494410e-02 -8.67811170e-04 9.99880274e-01 5.46970436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.045099893 meters 0.028689402831558443 Centerline is valid? [True, True] Translation: X:457.62, Y:6.27, Z:5.47 [[ 9.97505797e-01 -6.88126428e-02 -1.57164244e-02 4.57621614e+02] [ 6.88182748e-02 9.97629195e-01 -1.82831842e-04 6.26965964e+00] [ 1.56917449e-02 -8.99201388e-04 9.99876473e-01 5.46953950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.075099893 meters 0.029359558401670195 Centerline is valid? [True, True] Translation: X:457.65, Y:6.27, Z:5.47 [[ 9.97450726e-01 -6.95567892e-02 -1.59342819e-02 4.57653888e+02] [ 6.95626880e-02 9.97577565e-01 -1.84430507e-04 6.26835220e+00] [ 1.59085105e-02 -9.24471138e-04 9.99873024e-01 5.46956190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.105099893 meters 0.02961638923512045 Centerline is valid? [True, True] Translation: X:457.69, Y:6.27, Z:5.47 [[ 9.97364482e-01 -7.07296315e-02 -1.61681853e-02 4.57686227e+02] [ 7.07358769e-02 9.97495063e-01 -1.85987344e-04 6.26786448e+00] [ 1.61408398e-02 -9.58173594e-04 9.99869269e-01 5.46987873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.135099893 meters 0.02764683986373316 Centerline is valid? [True, True] Translation: X:457.72, Y:6.27, Z:5.47 [[ 9.97330599e-01 -7.11640988e-02 -1.63507592e-02 4.57718005e+02] [ 7.11705634e-02 9.97464143e-01 -1.86914383e-04 6.27106146e+00] [ 1.63225976e-02 -9.77277310e-04 9.99866300e-01 5.47047333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.165099893 meters 0.02784146810534916 Centerline is valid? [True, True] Translation: X:457.75, Y:6.27, Z:5.47 [[ 9.97296702e-01 -7.16352931e-02 -1.63606898e-02 4.57750112e+02] [ 7.16418481e-02 9.97430404e-01 -1.85839268e-04 6.27149362e+00] [ 1.63319621e-02 -9.86773164e-04 9.99866138e-01 5.47086691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.195099893 meters 0.027909434154578392 Centerline is valid? [True, True] Translation: X:457.78, Y:6.27, Z:5.47 [[ 9.97277821e-01 -7.19278895e-02 -1.62273282e-02 4.57782318e+02] [ 7.19343956e-02 9.97409349e-01 -1.83152845e-04 6.27220261e+00] [ 1.61984627e-02 -9.84648776e-04 9.99868311e-01 5.47124339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.225099893 meters 0.028215089300915167 Centerline is valid? [True, True] Translation: X:457.81, Y:6.27, Z:5.47 [[ 9.97270342e-01 -7.20042516e-02 -1.63478477e-02 4.57814826e+02] [ 7.20108845e-02 9.97403829e-01 -1.83318794e-04 6.27249699e+00] [ 1.63186056e-02 -9.94404572e-04 9.99866348e-01 5.47152539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.255099893 meters 0.031440159213403956 Centerline is valid? [True, True] Translation: X:457.85, Y:6.27, Z:5.47 [[ 9.97272201e-01 -7.20090037e-02 -1.62129681e-02 4.57846302e+02] [ 7.20155459e-02 9.97403493e-01 -1.80707970e-04 6.27021741e+00] [ 1.61838836e-02 -9.87370712e-04 9.99868545e-01 5.47210344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.285099893 meters 0.027946821455101092 Centerline is valid? [True, True] Translation: X:457.88, Y:6.28, Z:5.47 [[ 9.97315249e-01 -7.15395622e-02 -1.56328001e-02 4.57878597e+02] [ 7.15456008e-02 9.97437315e-01 -1.73358124e-04 6.27635189e+00] [ 1.56051401e-02 -9.45565373e-04 9.99877785e-01 5.47315016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.315099893 meters 0.029180942042964834 Centerline is valid? [True, True] Translation: X:457.91, Y:6.28, Z:5.47 [[ 9.97377617e-01 -7.07348379e-02 -1.53124425e-02 4.57909518e+02] [ 7.07405529e-02 9.97494735e-01 -1.68764788e-04 6.27602046e+00] [ 1.52860183e-02 -9.14888425e-04 9.99882743e-01 5.47374995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.345099893 meters 0.027385875618009686 Centerline is valid? [True, True] Translation: X:457.94, Y:6.28, Z:5.47 [[ 9.97453569e-01 -6.98488061e-02 -1.44055887e-02 4.57941478e+02] [ 6.98537833e-02 9.97557228e-01 -1.57990835e-04 6.28021052e+00] [ 1.43814346e-02 -8.48696352e-04 9.99896222e-01 5.47473546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.375099893 meters 0.027998174634118283 Centerline is valid? [True, True] Translation: X:457.97, Y:6.28, Z:5.48 [[ 9.97543915e-01 -6.87434174e-02 -1.34342770e-02 4.57973095e+02] [ 6.87476583e-02 9.97634070e-01 -1.46423136e-04 6.28125229e+00] [ 1.34125581e-02 -7.77511580e-04 9.99909745e-01 5.47572892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.405099893 meters 0.028163621556859798 Centerline is valid? [True, True] Translation: X:458.00, Y:6.29, Z:5.48 [[ 9.97717754e-01 -6.63817039e-02 -1.23592795e-02 4.58003414e+02] [ 6.63851226e-02 9.97794066e-01 -1.33887939e-04 6.28508050e+00] [ 1.23409034e-02 -6.86889911e-04 9.99923612e-01 5.47691652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.43509989300003 meters 0.028886859810689187 Centerline is valid? [True, True] Translation: X:458.04, Y:6.29, Z:5.48 [[ 9.97802908e-01 -6.51109784e-02 -1.22440724e-02 4.58035079e+02] [ 6.51142541e-02 9.97877806e-01 -1.31342605e-04 6.28618985e+00] [ 1.22266399e-02 -6.66209607e-04 9.99925030e-01 5.47754706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.465099893 meters 0.02606252798444613 Centerline is valid? [True, True] Translation: X:458.07, Y:6.29, Z:5.48 [[ 9.97957553e-01 -6.26957642e-02 -1.22459757e-02 4.58066960e+02] [ 6.26988702e-02 9.98032482e-01 -1.30501606e-04 6.29363183e+00] [ 1.22300634e-02 -6.37573779e-04 9.99925007e-01 5.47739072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49509989300003 meters 0.02418665659555886 Centerline is valid? [True, True] Translation: X:458.10, Y:6.30, Z:5.48 [[ 9.98051661e-01 -6.10210938e-02 -1.30118677e-02 4.58098754e+02] [ 6.10244683e-02 9.98136261e-01 -1.37913799e-04 6.29776028e+00] [ 1.29960326e-02 -6.56397212e-04 9.99915333e-01 5.47737918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.525099893 meters 0.024126917446282745 Centerline is valid? [True, True] Translation: X:458.13, Y:6.30, Z:5.48 [[ 9.98157184e-01 -5.92806084e-02 -1.29632733e-02 4.58128995e+02] [ 5.92838229e-02 9.98241158e-01 -1.36497310e-04 6.29955782e+00] [ 1.29485646e-02 -6.32266628e-04 9.99915964e-01 5.47728836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55509989300003 meters 0.022647520096451268 Centerline is valid? [True, True] Translation: X:458.16, Y:6.30, Z:5.48 [[ 9.98270576e-01 -5.72603882e-02 -1.33081123e-02 4.58160686e+02] [ 5.72636007e-02 9.98359084e-01 -1.39848882e-04 6.30368433e+00] [ 1.32942826e-02 -6.22463405e-04 9.99911433e-01 5.47740144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.585099893 meters 0.021832809082179196 Centerline is valid? [True, True] Translation: X:458.19, Y:6.31, Z:5.48 [[ 9.98401796e-01 -5.47070274e-02 -1.41772834e-02 4.58191896e+02] [ 5.47104274e-02 9.98502252e-01 -1.48197124e-04 6.30705166e+00] [ 1.41641569e-02 -6.27684961e-04 9.99899486e-01 5.47733415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.615099893 meters 0.020134248265965257 Centerline is valid? [True, True] Translation: X:458.22, Y:6.31, Z:5.48 [[ 9.98710355e-01 -4.84894005e-02 -1.50467355e-02 4.58222719e+02] [ 4.84925333e-02 9.98823533e-01 -1.56784762e-04 6.31384822e+00] [ 1.50366359e-02 -5.73071756e-04 9.99886779e-01 5.47711234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.645099893 meters 0.018795749422039904 Centerline is valid? [True, True] Translation: X:458.25, Y:6.32, Z:5.48 [[ 9.98886381e-01 -4.45569652e-02 -1.55136811e-02 4.58253882e+02] [ 4.45598253e-02 9.99006705e-01 -1.61428673e-04 6.31825809e+00] [ 1.55054642e-02 -5.30038019e-04 9.99879643e-01 5.47713601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.675099893 meters 0.017835996363898304 Centerline is valid? [True, True] Translation: X:458.28, Y:6.32, Z:5.48 [[ 9.99051671e-01 -4.05135173e-02 -1.59503721e-02 4.58284332e+02] [ 4.05160342e-02 9.99178875e-01 -1.65447695e-04 6.32227848e+00] [ 1.59439777e-02 -4.80955025e-04 9.99872771e-01 5.47707341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.705099893 meters 0.01569002268413743 Centerline is valid? [True, True] Translation: X:458.31, Y:6.33, Z:5.48 [[ 9.99374362e-01 -3.12690041e-02 -1.65267784e-02 4.58313998e+02] [ 3.12704465e-02 9.99510945e-01 -1.71195089e-04 6.33013193e+00] [ 1.65240490e-02 -3.45711759e-04 9.99863409e-01 5.47669523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.735099893 meters 0.014185479052526323 Centerline is valid? [True, True] Translation: X:458.34, Y:6.34, Z:5.48 [[ 9.99517796e-01 -2.64629070e-02 -1.62447208e-02 4.58344281e+02] [ 2.64636660e-02 9.99649762e-01 -1.68273353e-04 6.33640402e+00] [ 1.62434842e-02 -2.61702654e-04 9.99868032e-01 5.47761009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.765099893 meters 0.01358416177114512 Centerline is valid? [True, True] Translation: X:458.37, Y:6.34, Z:5.48 [[ 9.99642016e-01 -2.16006962e-02 -1.57876615e-02 4.58373409e+02] [ 2.16008049e-02 9.99766662e-01 -1.63662894e-04 6.34065532e+00] [ 1.57875128e-02 -1.77421890e-04 9.99875354e-01 5.47832253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.795099893 meters 0.01314784646913148 Centerline is valid? [True, True] Translation: X:458.40, Y:6.34, Z:5.48 [[ 9.99735931e-01 -1.72791751e-02 -1.51491761e-02 4.58401599e+02] [ 1.72787619e-02 9.99850699e-01 -1.58175001e-04 6.34472778e+00] [ 1.51496474e-02 -1.03625775e-04 9.99885232e-01 5.47933230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.825099893 meters 0.012964622988324015 Centerline is valid? [True, True] Translation: X:458.43, Y:6.35, Z:5.48 [[ 9.99802681e-01 -1.34860511e-02 -1.45851431e-02 4.58429954e+02] [ 1.34852126e-02 9.99909058e-01 -1.55843513e-04 6.34877243e+00] [ 1.45859184e-02 -4.08709920e-05 9.99893619e-01 5.48052516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.855099893 meters 0.0130074433460055 Centerline is valid? [True, True] Translation: X:458.46, Y:6.35, Z:5.48 [[ 9.99850706e-01 -1.03225578e-02 -1.38568147e-02 4.58457495e+02] [ 1.03214500e-02 9.99946721e-01 -1.51458169e-04 6.35185144e+00] [ 1.38576399e-02 8.41313628e-06 9.99903978e-01 5.48115980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.885099893 meters 0.013142782709323822 Centerline is valid? [True, True] Translation: X:458.49, Y:6.36, Z:5.48 [[ 9.99893567e-01 -6.43768907e-03 -1.30923659e-02 4.58485299e+02] [ 6.43632220e-03 9.99979276e-01 -1.46534616e-04 6.35515347e+00] [ 1.30930379e-02 6.22523350e-05 9.99914281e-01 5.48210598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.915099893 meters 0.013180033591644014 Centerline is valid? [True, True] Translation: X:458.51, Y:6.36, Z:5.48 [[ 9.99901045e-01 -6.27288125e-03 -1.25916775e-02 4.58512731e+02] [ 6.27158971e-03 9.99980323e-01 -1.42054464e-04 6.35567441e+00] [ 1.25923208e-02 6.30705718e-05 9.99920712e-01 5.48228096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.945099893 meters 0.013206041068038242 Centerline is valid? [True, True] Translation: X:458.54, Y:6.36, Z:5.48 [[ 9.99893863e-01 -6.63053147e-03 -1.29729736e-02 4.58540163e+02] [ 6.62914322e-03 9.99978016e-01 -1.50010414e-04 6.35554580e+00] [ 1.29736831e-02 6.39947926e-05 9.99915836e-01 5.48263097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.975099893 meters 0.013047840049962624 Centerline is valid? [True, True] Translation: X:458.57, Y:6.35, Z:5.48 [[ 9.99861901e-01 -1.03067621e-02 -1.30364415e-02 4.58568633e+02] [ 1.03056524e-02 9.99946884e-01 -1.52303146e-04 6.35254791e+00] [ 1.30373188e-02 1.79330789e-05 9.99915010e-01 5.48257504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.005099893 meters 0.012945213495973383 Centerline is valid? [True, True] Translation: X:458.60, Y:6.35, Z:5.48 [[ 9.99831875e-01 -1.29370244e-02 -1.29944475e-02 4.58596456e+02] [ 1.29361316e-02 9.99916313e-01 -1.52760066e-04 6.35073501e+00] [ 1.29953363e-02 -1.53634993e-05 9.99915557e-01 5.48252038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.035099893 meters 0.013046754176841657 Centerline is valid? [True, True] Translation: X:458.63, Y:6.35, Z:5.48 [[ 9.99773572e-01 -1.60875880e-02 -1.39281558e-02 4.58625088e+02] [ 1.60868427e-02 9.99870585e-01 -1.65548106e-04 6.34851297e+00] [ 1.39290166e-02 -5.85494305e-05 9.99902985e-01 5.48280036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.065099893 meters 0.013372660296032695 Centerline is valid? [True, True] Translation: X:458.65, Y:6.35, Z:5.48 [[ 9.99717403e-01 -1.92943243e-02 -1.38868008e-02 4.58653249e+02] [ 1.92938480e-02 9.99813842e-01 -1.68283353e-04 6.34522757e+00] [ 1.38874626e-02 -9.96940268e-05 9.99903560e-01 5.48252888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.095099893 meters 0.013554018235993904 Centerline is valid? [True, True] Translation: X:458.68, Y:6.34, Z:5.48 [[ 9.99639884e-01 -2.29024921e-02 -1.39849565e-02 4.58682378e+02] [ 2.29023409e-02 9.99737692e-01 -1.70986432e-04 6.34349695e+00] [ 1.39852041e-02 -1.49363384e-04 9.99902191e-01 5.48299920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.125099893 meters 0.014408523548632094 Centerline is valid? [True, True] Translation: X:458.71, Y:6.34, Z:5.48 [[ 9.99483759e-01 -2.87715010e-02 -1.42974099e-02 4.58712009e+02] [ 2.87718967e-02 9.99585987e-01 -1.78057015e-04 6.33793544e+00] [ 1.42966135e-02 -2.33398505e-04 9.99897771e-01 5.48279248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.155099893 meters 0.014991599417379752 Centerline is valid? [True, True] Translation: X:458.74, Y:6.33, Z:5.48 [[ 9.99415522e-01 -3.11013794e-02 -1.41886898e-02 4.58741986e+02] [ 3.11019980e-02 9.99516200e-01 -1.77111192e-04 6.33479114e+00] [ 1.41873337e-02 -2.64288928e-04 9.99899320e-01 5.48331702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.18509989300003 meters 0.01546073996781651 Centerline is valid? [True, True] Translation: X:458.77, Y:6.33, Z:5.48 [[ 9.99346966e-01 -3.32512006e-02 -1.41421412e-02 4.58772950e+02] [ 3.32520346e-02 9.99446983e-01 -1.76228697e-04 6.33261355e+00] [ 1.41401802e-02 -2.94141356e-04 9.99899979e-01 5.48362393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.215099893 meters 0.016569639628497685 Centerline is valid? [True, True] Translation: X:458.80, Y:6.33, Z:5.48 [[ 9.99214947e-01 -3.71562815e-02 -1.37440851e-02 4.58803852e+02] [ 3.71574463e-02 9.99309409e-01 -1.70691909e-04 6.32838747e+00] [ 1.37409358e-02 -3.40137196e-04 9.99905531e-01 5.48429365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24509989300003 meters 0.017718774110736628 Centerline is valid? [True, True] Translation: X:458.83, Y:6.33, Z:5.48 [[ 9.99161346e-01 -3.86494470e-02 -1.35212868e-02 4.58834961e+02] [ 3.86507147e-02 9.99252768e-01 -1.67648985e-04 6.32517718e+00] [ 1.35176628e-02 -3.55099014e-04 9.99908569e-01 5.48434016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.275099893 meters 0.01633097620017232 Centerline is valid? [True, True] Translation: X:458.87, Y:6.33, Z:5.48 [[ 9.99104204e-01 -3.99532678e-02 -1.39472532e-02 4.58866778e+02] [ 3.99547546e-02 9.99201475e-01 -1.72140628e-04 6.32683241e+00] [ 1.39429935e-02 -3.85272652e-04 9.99902718e-01 5.48475715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30509989300003 meters 0.018729967449528283 Centerline is valid? [True, True] Translation: X:458.90, Y:6.32, Z:5.48 [[ 9.98975109e-01 -4.27008316e-02 -1.50123493e-02 4.58898159e+02] [ 4.27028828e-02 9.99087799e-01 -1.84043887e-04 6.31994714e+00] [ 1.50065138e-02 -4.57215329e-04 9.99887291e-01 5.48371521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.335099893 meters 0.018552877111912666 Centerline is valid? [True, True] Translation: X:458.93, Y:6.32, Z:5.48 [[ 9.98895898e-01 -4.42487901e-02 -1.57806482e-02 4.58929168e+02] [ 4.42512719e-02 9.99020414e-01 -1.92048460e-04 6.31927217e+00] [ 1.57736876e-02 -5.06477334e-04 9.99875459e-01 5.48341693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.365099893 meters 0.018709399213660573 Centerline is valid? [True, True] Translation: X:458.96, Y:6.32, Z:5.48 [[ 9.98810268e-01 -4.59826026e-02 -1.62372687e-02 4.58960898e+02] [ 4.59854685e-02 9.98942089e-01 -1.97014658e-04 6.31812607e+00] [ 1.62291503e-02 -5.49898143e-04 9.99868147e-01 5.48339819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.395099893 meters 0.019601225738110156 Centerline is valid? [True, True] Translation: X:458.99, Y:6.32, Z:5.48 [[ 9.98723426e-01 -4.78010623e-02 -1.63271959e-02 4.58991091e+02] [ 4.78042112e-02 9.98856706e-01 -1.97589486e-04 6.31554218e+00] [ 1.63179741e-02 -5.83171475e-04 9.99866683e-01 5.48321927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.425099893 meters 0.019706517709768192 Centerline is valid? [True, True] Translation: X:459.02, Y:6.31, Z:5.48 [[ 9.98553898e-01 -5.11032617e-02 -1.66904147e-02 4.59021994e+02] [ 5.11070179e-02 9.98693162e-01 -2.01681178e-04 6.31355908e+00] [ 1.66789096e-02 -6.51607795e-04 9.99860685e-01 5.48348443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.455099893 meters 0.020951265735278477 Centerline is valid? [True, True] Translation: X:459.05, Y:6.31, Z:5.48 [[ 9.98482215e-01 -5.24149917e-02 -1.69096030e-02 4.59052742e+02] [ 5.24190402e-02 9.98625156e-01 -2.04019123e-04 6.31095134e+00] [ 1.68970486e-02 -6.82675694e-04 9.99857002e-01 5.48358896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.485099893 meters 0.02124196385748121 Centerline is valid? [True, True] Translation: X:459.08, Y:6.31, Z:5.48 [[ 9.98434180e-01 -5.31260723e-02 -1.75159350e-02 4.59083834e+02] [ 5.31305330e-02 9.98587553e-01 -2.10918383e-04 6.31022283e+00] [ 1.75024000e-02 -7.20042841e-04 9.99846562e-01 5.48366231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.515099893 meters 0.022080800681385564 Centerline is valid? [True, True] Translation: X:459.11, Y:6.31, Z:5.48 [[ 9.98436432e-01 -5.27327950e-02 -1.85456945e-02 4.59114622e+02] [ 5.27377387e-02 9.98608372e-01 -2.22739718e-04 6.30838127e+00] [ 1.85316315e-02 -7.55666543e-04 9.99827989e-01 5.48322428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.545099893 meters 0.022080800681385564 Centerline is valid? [True, True] Translation: X:459.15, Y:6.31, Z:5.48 [[ 9.98438279e-01 -5.26978157e-02 -1.85456998e-02 4.59145487e+02] [ 5.27027615e-02 9.98610219e-01 -2.22303531e-04 6.30872142e+00] [ 1.85316402e-02 -7.55453237e-04 9.99827989e-01 5.48360595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.575099893 meters 0.02025913163274371 Centerline is valid? [True, True] Translation: X:459.18, Y:6.31, Z:5.48 [[ 9.98490369e-01 -5.15930286e-02 -1.88452439e-02 4.59176815e+02] [ 5.15979518e-02 9.98667913e-01 -2.25219989e-04 6.31157995e+00] [ 1.88317602e-02 -7.47495999e-04 9.99822387e-01 5.48432545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.605099893 meters 0.020554861846221635 Centerline is valid? [True, True] Translation: X:459.21, Y:6.31, Z:5.48 [[ 9.98586352e-01 -4.96094635e-02 -1.90840085e-02 4.59207593e+02] [ 4.96141638e-02 9.98768433e-01 -2.27381076e-04 6.31145478e+00] [ 1.90717855e-02 -7.19777482e-04 9.99817858e-01 5.48466001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.635099893 meters 0.01919317188056068 Centerline is valid? [True, True] Translation: X:459.24, Y:6.31, Z:5.49 [[ 9.98713104e-01 -4.70716438e-02 -1.88784825e-02 4.59238619e+02] [ 4.70758010e-02 9.98891295e-01 -2.24378062e-04 6.31399420e+00] [ 1.88681137e-02 -6.64630377e-04 9.99821760e-01 5.48564082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.665099893 meters 0.017218910065960807 Centerline is valid? [True, True] Translation: X:459.27, Y:6.32, Z:5.49 [[ 9.99024244e-01 -4.04441202e-02 -1.77435395e-02 4.59269758e+02] [ 4.04467533e-02 9.99181673e-01 -2.10584539e-04 6.31903890e+00] [ 1.77375364e-02 -5.07289504e-04 9.99842549e-01 5.48752752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.695099893 meters 0.01578297621486985 Centerline is valid? [True, True] Translation: X:459.30, Y:6.32, Z:5.49 [[ 9.99174588e-01 -3.65517918e-02 -1.77231056e-02 4.59300368e+02] [ 3.65538108e-02 9.99331664e-01 -2.10120774e-04 6.32303705e+00] [ 1.77189409e-02 -4.37899711e-04 9.99842911e-01 5.48887367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.725099893 meters 0.015475202811249731 Centerline is valid? [True, True] Translation: X:459.33, Y:6.32, Z:5.49 [[ 9.99313351e-01 -3.28313464e-02 -1.71735132e-02 4.59329736e+02] [ 3.28326946e-02 9.99460841e-01 -2.03511258e-04 6.32488347e+00] [ 1.71709355e-02 -3.60481198e-04 9.99852504e-01 5.48959540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.755099893 meters 0.013814269909500274 Centerline is valid? [True, True] Translation: X:459.36, Y:6.33, Z:5.49 [[ 9.99522630e-01 -2.58684386e-02 -1.68918776e-02 4.59359796e+02] [ 2.58687515e-02 9.99665328e-01 -2.00018359e-04 6.32982467e+00] [ 1.68913985e-02 -2.37048906e-04 9.99857302e-01 5.49045815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.785099893 meters 0.013541423422756944 Centerline is valid? [True, True] Translation: X:459.39, Y:6.33, Z:5.49 [[ 9.99576183e-01 -2.33745545e-02 -1.73517720e-02 4.59388009e+02] [ 2.33744833e-02 9.99726758e-01 -2.06939918e-04 6.33102336e+00] [ 1.73518679e-02 -1.98736491e-04 9.99849425e-01 5.49077180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.815099893 meters 0.013183275487309997 Centerline is valid? [True, True] Translation: X:459.42, Y:6.33, Z:5.49 [[ 9.99619136e-01 -2.14916980e-02 -1.73115521e-02 4.59416815e+02] [ 2.14912697e-02 9.99769014e-01 -2.10798007e-04 6.33255008e+00] [ 1.73120838e-02 -1.61329515e-04 9.99850122e-01 5.49136520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.845099893 meters 0.013096526465211691 Centerline is valid? [True, True] Translation: X:459.44, Y:6.33, Z:5.49 [[ 9.99644590e-01 -1.98537725e-02 -1.77910527e-02 4.59444845e+02] [ 1.98529911e-02 9.99802886e-01 -2.20553661e-04 6.33329529e+00] [ 1.77919246e-02 -1.32730336e-04 9.99841702e-01 5.49151825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.875099893 meters 0.013039847161911465 Centerline is valid? [True, True] Translation: X:459.47, Y:6.33, Z:5.49 [[ 9.99659900e-01 -1.87176582e-02 -1.81585455e-02 4.59473042e+02] [ 1.87166180e-02 9.99824803e-01 -2.27248471e-04 6.33360807e+00] [ 1.81596178e-02 -1.12695376e-04 9.99835094e-01 5.49158818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.905099893 meters 0.012829694227099784 Centerline is valid? [True, True] Translation: X:459.50, Y:6.33, Z:5.49 [[ 9.99663044e-01 -1.79035038e-02 -1.87952908e-02 4.59501214e+02] [ 1.79021891e-02 9.99839715e-01 -2.38212522e-04 6.33400378e+00] [ 1.87965431e-02 -9.83445961e-05 9.99823325e-01 5.49218491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.93509989300003 meters 0.012873479593866437 Centerline is valid? [True, True] Translation: X:459.53, Y:6.33, Z:5.49 [[ 9.99648202e-01 -1.84704888e-02 -1.90345351e-02 4.59529494e+02] [ 1.84691375e-02 9.99829400e-01 -2.46793594e-04 6.33384133e+00] [ 1.90358462e-02 -1.04844674e-04 9.99818796e-01 5.49263155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.965099893 meters 0.012934883566901161 Centerline is valid? [True, True] Translation: X:459.56, Y:6.33, Z:5.49 [[ 9.99631002e-01 -1.90430913e-02 -1.93706044e-02 4.59557289e+02] [ 1.90417171e-02 9.99818657e-01 -2.55397957e-04 6.33278418e+00] [ 1.93719552e-02 -1.13545852e-04 9.99812340e-01 5.49262298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99509989300003 meters 0.012926826362684286 Centerline is valid? [True, True] Translation: X:459.59, Y:6.33, Z:5.49 [[ 9.99607802e-01 -2.01783434e-02 -1.94184697e-02 4.59585548e+02] [ 2.01771153e-02 9.99796388e-01 -2.59184372e-04 6.33209955e+00] [ 1.94197458e-02 -1.32725983e-04 9.99811410e-01 5.49337023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.025099893 meters 0.013173980788782385 Centerline is valid? [True, True] Translation: X:459.61, Y:6.33, Z:5.49 [[ 9.99531967e-01 -2.32683754e-02 -1.98602414e-02 4.59613051e+02] [ 2.32676142e-02 9.99729236e-01 -2.69432435e-04 6.32830220e+00] [ 1.98611332e-02 -1.92794103e-04 9.99802730e-01 5.49341852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05509989300003 meters 0.01325854748464285 Centerline is valid? [True, True] Translation: X:459.64, Y:6.33, Z:5.49 [[ 9.99483974e-01 -2.53456946e-02 -1.97327395e-02 4.59641363e+02] [ 2.53453128e-02 9.99678720e-01 -2.69478810e-04 6.32674363e+00] [ 1.97332298e-02 -2.30792703e-04 9.99805254e-01 5.49399333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.085099893 meters 0.013705334122286635 Centerline is valid? [True, True] Translation: X:459.67, Y:6.32, Z:5.49 [[ 9.99425633e-01 -2.75123737e-02 -1.97856955e-02 4.59669293e+02] [ 2.75123787e-02 9.99621426e-01 -2.72002751e-04 6.32440201e+00] [ 1.97856886e-02 -2.72505025e-04 9.99804207e-01 5.49426604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.115099893 meters 0.014469323799424807 Centerline is valid? [True, True] Translation: X:459.70, Y:6.32, Z:5.49 [[ 9.99295551e-01 -3.16009845e-02 -2.02429914e-02 4.59696993e+02] [ 3.16017909e-02 9.99500499e-01 -2.80130468e-04 6.31952817e+00] [ 2.02417324e-02 -3.59781652e-04 9.99795050e-01 5.49389939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.145099893 meters 0.014639180526489288 Centerline is valid? [True, True] Translation: X:459.73, Y:6.32, Z:5.49 [[ 9.99217116e-01 -3.39277609e-02 -2.03485169e-02 4.59725943e+02] [ 3.39289946e-02 9.99424205e-01 -2.84704167e-04 6.31793643e+00] [ 2.03464597e-02 -4.05923445e-04 9.99792907e-01 5.49421013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.175099893 meters 0.015045058525934681 Centerline is valid? [True, True] Translation: X:459.75, Y:6.32, Z:5.49 [[ 9.99155305e-01 -3.58269913e-02 -2.01271793e-02 4.59754725e+02] [ 3.58284821e-02 9.99357913e-01 -2.86640480e-04 6.31590587e+00] [ 2.01245254e-02 -4.34727928e-04 9.99797387e-01 5.49493350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.205099893 meters 0.01545013288571939 Centerline is valid? [True, True] Translation: X:459.78, Y:6.31, Z:5.50 [[ 9.99096654e-01 -3.75209323e-02 -1.99513150e-02 4.59783422e+02] [ 3.75226354e-02 9.99295736e-01 -2.89113856e-04 6.31442128e+00] [ 1.99481118e-02 -4.59773233e-04 9.99800911e-01 5.49555384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.235099893 meters 0.015978988778145832 Centerline is valid? [True, True] Translation: X:459.81, Y:6.31, Z:5.50 [[ 9.99065804e-01 -3.83789252e-02 -1.98639911e-02 4.59812333e+02] [ 3.83807136e-02 9.99263146e-01 -2.91331145e-04 6.31188795e+00] [ 1.98605352e-02 -4.71335171e-04 9.99802649e-01 5.49644908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.265099893 meters 0.016118793251562496 Centerline is valid? [True, True] Translation: X:459.84, Y:6.31, Z:5.50 [[ 9.99080191e-01 -3.80542790e-02 -1.97647099e-02 4.59841316e+02] [ 3.80559656e-02 9.99275567e-01 -2.90916515e-04 6.31089282e+00] [ 1.97614623e-02 -4.61516191e-04 9.99804617e-01 5.49650368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.295099893 meters 0.01590047956669219 Centerline is valid? [True, True] Translation: X:459.87, Y:6.31, Z:5.50 [[ 9.99107690e-01 -3.74858318e-02 -1.94585575e-02 4.59870402e+02] [ 3.74873127e-02 9.99297062e-01 -2.88774966e-04 6.31081437e+00] [ 1.94557043e-02 -4.40931741e-04 9.99810623e-01 5.49712762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.325099893 meters 0.015741881907384545 Centerline is valid? [True, True] Translation: X:459.90, Y:6.31, Z:5.50 [[ 9.99149030e-01 -3.62533584e-02 -1.96700305e-02 4.59899124e+02] [ 3.62545657e-02 9.99342543e-01 -2.95335688e-04 6.31078155e+00] [ 1.96678053e-02 -4.18044048e-04 9.99806483e-01 5.49741177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.355099893 meters 0.014605410727222958 Centerline is valid? [True, True] Translation: X:459.93, Y:6.31, Z:5.50 [[ 9.99195744e-01 -3.50056644e-02 -1.95567964e-02 4.59928064e+02] [ 3.50065710e-02 9.99387038e-01 -2.96089270e-04 6.31285385e+00] [ 1.95551736e-02 -3.88765242e-04 9.99808704e-01 5.49855301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.385099893 meters 0.013740111100256424 Centerline is valid? [True, True] Translation: X:459.96, Y:6.31, Z:5.50 [[ 9.99345357e-01 -3.04984696e-02 -1.94602211e-02 4.59956737e+02] [ 3.04984423e-02 9.99534770e-01 -2.98252212e-04 6.31424122e+00] [ 1.94602639e-02 -2.95449466e-04 9.99810587e-01 5.49946631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.415099893 meters 0.013590389329720311 Centerline is valid? [True, True] Translation: X:459.98, Y:6.32, Z:5.50 [[ 9.99412190e-01 -2.82276535e-02 -1.94544278e-02 4.59984474e+02] [ 2.82271662e-02 9.99601489e-01 -2.99701810e-04 6.31515402e+00] [ 1.94551348e-02 -2.49617723e-04 9.99810700e-01 5.49968579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.445099893 meters 0.013072666215829639 Centerline is valid? [True, True] Translation: X:460.01, Y:6.32, Z:5.50 [[ 9.99468867e-01 -2.59564140e-02 -1.97040266e-02 4.60013545e+02] [ 2.59554133e-02 9.99663055e-01 -3.06570233e-04 6.31711988e+00] [ 1.97053449e-02 -2.05018750e-04 9.99805810e-01 5.50076541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.475099893 meters 0.012859035857682968 Centerline is valid? [True, True] Translation: X:460.04, Y:6.32, Z:5.50 [[ 9.99546076e-01 -2.17639183e-02 -2.08320472e-02 4.60041088e+02] [ 2.17617948e-02 9.99763130e-01 -3.28652102e-04 6.31799227e+00] [ 2.08342655e-02 -1.24839817e-04 9.99782935e-01 5.49996619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.505099893 meters 0.012803786555095955 Centerline is valid? [True, True] Translation: X:460.07, Y:6.32, Z:5.50 [[ 9.99556285e-01 -2.06414928e-02 -2.14746812e-02 4.60068816e+02] [ 2.06388839e-02 9.99786937e-01 -3.43138536e-04 6.31849033e+00] [ 2.14771886e-02 -1.00227171e-04 9.99769334e-01 5.50023670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.535099893 meters 0.01273247231351158 Centerline is valid? [True, True] Translation: X:460.10, Y:6.32, Z:5.50 [[ 9.99574565e-01 -1.97566940e-02 -2.14560534e-02 4.60096324e+02] [ 1.97537527e-02 9.99804815e-01 -3.49039954e-04 6.31900352e+00] [ 2.14587614e-02 -7.49461129e-05 9.99769731e-01 5.50088955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.565099893 meters 0.012693541310190482 Centerline is valid? [True, True] Translation: X:460.12, Y:6.32, Z:5.50 [[ 9.99557376e-01 -1.96851288e-02 -2.23057823e-02 4.60124500e+02] [ 1.96817832e-02 9.99806227e-01 -3.69534926e-04 6.31782385e+00] [ 2.23087343e-02 -6.96462100e-05 9.99751127e-01 5.50153313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.595099893 meters 0.012741032182549943 Centerline is valid? [True, True] Translation: X:460.15, Y:6.32, Z:5.50 [[ 9.99534415e-01 -2.03557113e-02 -2.27287915e-02 4.60151951e+02] [ 2.03523061e-02 9.99792798e-01 -3.81154852e-04 6.31674343e+00] [ 2.27318407e-02 -8.16059297e-05 9.99741595e-01 5.50156721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.625099893 meters 0.012793995232047438 Centerline is valid? [True, True] Translation: X:460.18, Y:6.32, Z:5.50 [[ 9.99499323e-01 -2.19336049e-02 -2.28039399e-02 4.60179714e+02] [ 2.19304939e-02 9.99759423e-01 -3.86530175e-04 6.31550742e+00] [ 2.28069318e-02 -1.13765016e-04 9.99739882e-01 5.50194762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.655099893 meters 0.012764246966503119 Centerline is valid? [True, True] Translation: X:460.21, Y:6.31, Z:5.50 [[ 9.99458734e-01 -2.37853825e-02 -2.27265097e-02 4.60207805e+02] [ 2.37826220e-02 9.99717077e-01 -3.91783318e-04 6.31409978e+00] [ 2.27293985e-02 -1.48924730e-04 9.99741643e-01 5.50306780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.68509989300003 meters 0.013338511783647306 Centerline is valid? [True, True] Translation: X:460.24, Y:6.31, Z:5.50 [[ 9.99334292e-01 -2.87052587e-02 -2.25162516e-02 4.60235479e+02] [ 2.87036959e-02 9.99587887e-01 -3.92660062e-04 6.30931484e+00] [ 2.25182438e-02 -2.53900973e-04 9.99746400e-01 5.50333582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.715099893 meters 0.013713722956884672 Centerline is valid? [True, True] Translation: X:460.26, Y:6.31, Z:5.50 [[ 9.99256992e-01 -3.19597777e-02 -2.15415247e-02 4.60264552e+02] [ 3.19590309e-02 9.99489108e-01 -3.79018804e-04 6.30675517e+00] [ 2.15426326e-02 -3.09709062e-04 9.99767883e-01 5.50417871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74509989300003 meters 0.01423710403576958 Centerline is valid? [True, True] Translation: X:460.29, Y:6.30, Z:5.50 [[ 9.99144988e-01 -3.56868229e-02 -2.08744873e-02 4.60293079e+02] [ 3.56868278e-02 9.99362953e-01 -3.72398829e-04 6.30391586e+00] [ 2.08744790e-02 -3.72863810e-04 9.99782035e-01 5.50496776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.775099893 meters 0.015124294686021791 Centerline is valid? [True, True] Translation: X:460.32, Y:6.30, Z:5.51 [[ 9.99026985e-01 -3.93493679e-02 -1.99175964e-02 4.60321148e+02] [ 3.93500200e-02 9.99225423e-01 -3.59327071e-04 6.30010028e+00] [ 1.99163080e-02 -4.24780377e-04 9.99801560e-01 5.50527655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80509989300003 meters 0.01750464903060157 Centerline is valid? [True, True] Translation: X:460.35, Y:6.29, Z:5.51 [[ 9.98686102e-01 -4.75403921e-02 -1.91306268e-02 4.60350992e+02] [ 4.75424611e-02 9.98869158e-01 -3.46890616e-04 6.29219094e+00] [ 1.91254844e-02 -5.63082243e-04 9.99816933e-01 5.50602973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.835099893 meters 0.016947172508263553 Centerline is valid? [True, True] Translation: X:460.38, Y:6.29, Z:5.51 [[ 9.98484320e-01 -5.16753862e-02 -1.89398253e-02 4.60380827e+02] [ 5.16781484e-02 9.98663733e-01 -3.43891540e-04 6.29183459e+00] [ 1.89322873e-02 -6.35404790e-04 9.99820566e-01 5.50718385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.865099893 meters 0.019211872884243947 Centerline is valid? [True, True] Translation: X:460.41, Y:6.29, Z:5.51 [[ 9.98254428e-01 -5.59597063e-02 -1.88840598e-02 4.60410672e+02] [ 5.59632066e-02 9.98432773e-01 -3.43457716e-04 6.28690130e+00] [ 1.88736840e-02 -7.13954356e-04 9.99821621e-01 5.50718536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.895099893 meters 0.024382609003650812 Centerline is valid? [True, True] Translation: X:460.44, Y:6.28, Z:5.51 [[ 9.97812337e-01 -6.32880191e-02 -1.91093431e-02 4.60440278e+02] [ 6.32929375e-02 9.97994931e-01 -3.47914018e-04 6.27655602e+00] [ 1.90930463e-02 -8.62333559e-04 9.99817339e-01 5.50658147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.925099893 meters 0.02266544133606807 Centerline is valid? [True, True] Translation: X:460.47, Y:6.28, Z:5.51 [[ 9.97604550e-01 -6.65807616e-02 -1.87660585e-02 4.60470057e+02] [ 6.65860795e-02 9.97780626e-01 -3.42011098e-04 6.27812470e+00] [ 1.87471810e-02 -9.08366437e-04 9.99823844e-01 5.50792058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.955099893 meters 0.02795986469661754 Centerline is valid? [True, True] Translation: X:460.50, Y:6.27, Z:5.51 [[ 9.97409009e-01 -6.95631910e-02 -1.83366156e-02 4.60500082e+02] [ 6.95687667e-02 9.97577102e-01 -3.34404087e-04 6.26983517e+00] [ 1.83154501e-02 -9.42118085e-04 9.99831814e-01 5.50758497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.985099893 meters 0.026201121136038296 Centerline is valid? [True, True] Translation: X:460.53, Y:6.27, Z:5.51 [[ 9.97030645e-01 -7.49778076e-02 -1.75562348e-02 4.60530542e+02] [ 7.49837556e-02 9.97184704e-01 -3.20155304e-04 6.27029672e+00] [ 1.75308133e-02 -9.97227769e-04 9.99845826e-01 5.50877906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.015099893 meters 0.026877526005834484 Centerline is valid? [True, True] Translation: X:460.56, Y:6.27, Z:5.51 [[ 9.96872099e-01 -7.70564937e-02 -1.75589292e-02 4.60561941e+02] [ 7.70627688e-02 9.97026192e-01 -3.19975308e-04 6.26929677e+00] [ 1.75313685e-02 -1.03416525e-03 9.99845779e-01 5.50912962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.045099893 meters 0.02805410755538448 Centerline is valid? [True, True] Translation: X:460.59, Y:6.27, Z:5.51 [[ 9.96729057e-01 -7.89435835e-02 -1.72944225e-02 4.60593018e+02] [ 7.89499631e-02 9.96878530e-01 -3.14623966e-04 6.26776883e+00] [ 1.72652760e-02 -1.05179917e-03 9.99850391e-01 5.50938681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.075099893 meters 0.028179928496288066 Centerline is valid? [True, True] Translation: X:460.62, Y:6.27, Z:5.51 [[ 9.96606937e-01 -8.05211063e-02 -1.70576874e-02 4.60623836e+02] [ 8.05275477e-02 9.96752335e-01 -3.10011361e-04 6.26773248e+00] [ 1.70272522e-02 -1.06465426e-03 9.99854459e-01 5.50965104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.105099893 meters 0.029446717060365488 Centerline is valid? [True, True] Translation: X:460.66, Y:6.27, Z:5.51 [[ 9.96443544e-01 -8.24671122e-02 -1.73043014e-02 4.60655145e+02] [ 8.24740405e-02 9.96593164e-01 -3.14086609e-04 6.26688863e+00] [ 1.72712503e-02 -1.11418608e-03 9.99850220e-01 5.50930176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.135099893 meters 0.02958254875906122 Centerline is valid? [True, True] Translation: X:460.69, Y:6.27, Z:5.51 [[ 9.96398601e-01 -8.29463057e-02 -1.75993959e-02 4.60686492e+02] [ 8.29535581e-02 9.96553363e-01 -3.18798696e-04 6.26776149e+00] [ 1.75651803e-02 -1.14228193e-03 9.99845068e-01 5.50978127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.165099893 meters 0.029843000481391612 Centerline is valid? [True, True] Translation: X:460.72, Y:6.27, Z:5.51 [[ 9.96403561e-01 -8.28960989e-02 -1.75550937e-02 4.60717436e+02] [ 8.29033182e-02 9.96557544e-01 -3.17362536e-04 6.26846743e+00] [ 1.75209692e-02 -1.13915436e-03 9.99845847e-01 5.50997662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.195099893 meters 0.029536302553097825 Centerline is valid? [True, True] Translation: X:460.75, Y:6.27, Z:5.51 [[ 9.96416319e-01 -8.27887224e-02 -1.73362769e-02 4.60749108e+02] [ 8.27957573e-02 9.96566488e-01 -3.12785847e-04 6.27025448e+00] [ 1.73026478e-02 -1.12370526e-03 9.99849667e-01 5.51049599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.225099893 meters 0.02794863128426837 Centerline is valid? [True, True] Translation: X:460.78, Y:6.27, Z:5.51 [[ 9.96564193e-01 -8.10899105e-02 -1.68593182e-02 4.60780358e+02] [ 8.10963316e-02 9.96706222e-01 -3.03578548e-04 6.27491952e+00] [ 1.68284045e-02 -1.06469335e-03 9.99857826e-01 5.51129278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.255099893 meters 0.02889174532207394 Centerline is valid? [True, True] Translation: X:460.81, Y:6.28, Z:5.51 [[ 9.96674953e-01 -7.97964343e-02 -1.64792889e-02 4.60811296e+02] [ 7.98024028e-02 9.96810658e-01 -2.96138616e-04 6.27523213e+00] [ 1.64503617e-02 -1.01993291e-03 9.99864163e-01 5.51168402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.285099893 meters 0.028581446436935307 Centerline is valid? [True, True] Translation: X:460.84, Y:6.28, Z:5.51 [[ 9.96809999e-01 -7.81531148e-02 -1.61838645e-02 4.60842872e+02] [ 7.81586648e-02 9.96940890e-01 -2.90247413e-04 6.27710144e+00] [ 1.61570400e-02 -9.75587714e-04 9.99868991e-01 5.51244209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.315099893 meters 0.02784077585469817 Centerline is valid? [True, True] Translation: X:460.87, Y:6.28, Z:5.51 [[ 9.97100226e-01 -7.46889441e-02 -1.45842680e-02 4.60873251e+02] [ 7.46930875e-02 9.97206536e-01 -2.61157476e-04 6.28145366e+00] [ 1.45630329e-02 -8.28943826e-04 9.99893610e-01 5.51345432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.345099893 meters 0.02519962576016039 Centerline is valid? [True, True] Translation: X:460.90, Y:6.29, Z:5.51 [[ 9.97253554e-01 -7.26778124e-02 -1.42577682e-02 4.60904941e+02] [ 7.26815688e-02 9.97355165e-01 -2.55208889e-04 6.28723027e+00] [ 1.42386067e-02 -7.81768987e-04 9.99898320e-01 5.51429177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.375099893 meters 0.025355002212212926 Centerline is valid? [True, True] Translation: X:460.94, Y:6.29, Z:5.51 [[ 9.97407306e-01 -7.05226876e-02 -1.43253825e-02 4.60935032e+02] [ 7.05262701e-02 9.97509890e-01 -2.55577764e-04 6.28916744e+00] [ 1.43077347e-02 -7.55400664e-04 9.99897354e-01 5.51467958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.405099893 meters 0.025355002212212926 Centerline is valid? [True, True] Translation: X:460.97, Y:6.29, Z:5.52 [[ 9.97412388e-01 -7.04507705e-02 -1.43254043e-02 4.60966754e+02] [ 7.04543632e-02 9.97514971e-01 -2.54350666e-04 6.28967179e+00] [ 1.43077244e-02 -7.55594730e-04 9.99897354e-01 5.51507173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.43509989300003 meters 0.02426143996897124 Centerline is valid? [True, True] Translation: X:461.00, Y:6.29, Z:5.52 [[ 9.97548202e-01 -6.85393460e-02 -1.41401226e-02 4.60998543e+02] [ 6.85426686e-02 9.97648154e-01 -2.50084000e-04 6.29328610e+00] [ 1.41240078e-02 -7.19730893e-04 9.99899992e-01 5.51543950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.465099893 meters 0.023917480854505718 Centerline is valid? [True, True] Translation: X:461.03, Y:6.30, Z:5.52 [[ 9.97668886e-01 -6.67320716e-02 -1.42696747e-02 4.61029715e+02] [ 6.67352817e-02 9.97770685e-01 -2.51625857e-04 6.29551877e+00] [ 1.42546546e-02 -7.01251472e-04 9.99898151e-01 5.51549424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49509989300003 meters 0.023655698656354716 Centerline is valid? [True, True] Translation: X:461.06, Y:6.30, Z:5.52 [[ 9.97856430e-01 -6.37130428e-02 -1.49396580e-02 4.61060095e+02] [ 6.37162316e-02 9.97968022e-01 -2.62923837e-04 6.29933600e+00] [ 1.49260526e-02 -6.89538467e-04 9.99888363e-01 5.51551155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.525099893 meters 0.02223087231294614 Centerline is valid? [True, True] Translation: X:461.09, Y:6.30, Z:5.52 [[ 9.97953117e-01 -6.22285572e-02 -1.47371223e-02 4.61091739e+02] [ 6.22315036e-02 9.98061708e-01 -2.59009854e-04 6.30361041e+00] [ 1.47246752e-02 -6.58633586e-04 9.99891369e-01 5.51575958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55509989300003 meters 0.0210302765454138 Centerline is valid? [True, True] Translation: X:461.12, Y:6.31, Z:5.52 [[ 9.98044194e-01 -6.07338241e-02 -1.48050436e-02 4.61123173e+02] [ 6.07366449e-02 9.98153792e-01 -2.59441414e-04 6.30768575e+00] [ 1.47934673e-02 -6.40274678e-04 9.99890366e-01 5.51594609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.585099893 meters 0.02085885496707855 Centerline is valid? [True, True] Translation: X:461.15, Y:6.31, Z:5.52 [[ 9.98129054e-01 -5.92287477e-02 -1.51771949e-02 4.61154470e+02] [ 5.92315470e-02 9.98244235e-01 -2.65399115e-04 6.30981990e+00] [ 1.51662666e-02 -6.34066165e-04 9.99884785e-01 5.51590348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.615099893 meters 0.020834826821905017 Centerline is valid? [True, True] Translation: X:461.19, Y:6.31, Z:5.52 [[ 9.98225497e-01 -5.75752285e-02 -1.51970506e-02 4.61185038e+02] [ 5.75778513e-02 9.98340984e-01 -2.65247748e-04 6.31171014e+00] [ 1.51871102e-02 -6.10236457e-04 9.99884483e-01 5.51588939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.645099893 meters 0.019310443563946372 Centerline is valid? [True, True] Translation: X:461.22, Y:6.32, Z:5.52 [[ 9.98404750e-01 -5.44782217e-02 -1.48350175e-02 4.61216478e+02] [ 5.44803842e-02 9.98514808e-01 -2.58622577e-04 6.31706160e+00] [ 1.48270740e-02 -5.50007445e-04 9.99889922e-01 5.51647549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.675099893 meters 0.019533422477087708 Centerline is valid? [True, True] Translation: X:461.25, Y:6.32, Z:5.52 [[ 9.98484513e-01 -5.29968201e-02 -1.48329147e-02 4.61247777e+02] [ 5.29988274e-02 9.98594541e-01 -2.58003265e-04 6.31903522e+00] [ 1.48257410e-02 -5.28514821e-04 9.99889953e-01 5.51716554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.705099893 meters 0.019224300483460258 Centerline is valid? [True, True] Translation: X:461.28, Y:6.32, Z:5.52 [[ 9.98589826e-01 -5.11173818e-02 -1.43308122e-02 4.61279161e+02] [ 5.11190723e-02 9.98692535e-01 -2.48556303e-04 6.32175532e+00] [ 1.43247807e-02 -4.84372032e-04 9.99897278e-01 5.51762831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.735099893 meters 0.01773620099953931 Centerline is valid? [True, True] Translation: X:461.31, Y:6.33, Z:5.52 [[ 9.98681597e-01 -4.92726213e-02 -1.43970770e-02 4.61311021e+02] [ 4.92741437e-02 9.98785261e-01 -2.49171023e-04 6.32615427e+00] [ 1.43918656e-02 -4.60561125e-04 9.99896326e-01 5.51817277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.765099893 meters 0.018272407927048956 Centerline is valid? [True, True] Translation: X:461.34, Y:6.33, Z:5.52 [[ 9.98813843e-01 -4.62672184e-02 -1.51740605e-02 4.61341841e+02] [ 4.62685741e-02 9.98929002e-01 -2.61896772e-04 6.32885127e+00] [ 1.51699264e-02 -4.40496021e-04 9.99884833e-01 5.51832736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.795099893 meters 0.017309109624905172 Centerline is valid? [True, True] Translation: X:461.37, Y:6.33, Z:5.52 [[ 9.98865387e-01 -4.50581109e-02 -1.54176656e-02 4.61373397e+02] [ 4.50593752e-02 9.98984275e-01 -2.65542406e-04 6.33236212e+00] [ 1.54139704e-02 -4.29469262e-04 9.99881105e-01 5.51856925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.825099893 meters 0.015958958723436577 Centerline is valid? [True, True] Translation: X:461.40, Y:6.34, Z:5.52 [[ 9.98947019e-01 -4.31609155e-02 -1.55560135e-02 4.61404272e+02] [ 4.31619792e-02 9.99068052e-01 -2.67505722e-04 6.33716701e+00] [ 1.55530619e-02 -4.04204287e-04 9.99878962e-01 5.51888770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.855099893 meters 0.015569826234164063 Centerline is valid? [True, True] Translation: X:461.44, Y:6.34, Z:5.52 [[ 9.98985145e-01 -4.22970003e-02 -1.54804324e-02 4.61435683e+02] [ 4.22979507e-02 9.99105006e-01 -2.66163605e-04 6.33932256e+00] [ 1.54778354e-02 -3.88897078e-04 9.99880136e-01 5.51973803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.885099893 meters 0.01617667627863895 Centerline is valid? [True, True] Translation: X:461.47, Y:6.34, Z:5.52 [[ 9.99014461e-01 -4.17406048e-02 -1.50940174e-02 4.61466280e+02] [ 4.17414540e-02 9.99128412e-01 -2.58915015e-04 6.33976104e+00] [ 1.50916690e-02 -3.71386390e-04 9.99886045e-01 5.52046279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.915099893 meters 0.01507146196623678 Centerline is valid? [True, True] Translation: X:461.50, Y:6.34, Z:5.52 [[ 9.99043766e-01 -4.10970394e-02 -1.49193334e-02 4.61497881e+02] [ 4.10978101e-02 9.99155096e-01 -2.55065732e-04 6.34319782e+00] [ 1.49172104e-02 -3.58330101e-04 9.99888668e-01 5.52130814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.945099893 meters 0.014848201860854438 Centerline is valid? [True, True] Translation: X:461.53, Y:6.35, Z:5.52 [[ 9.99081044e-01 -4.01548290e-02 -1.49885834e-02 4.61529300e+02] [ 4.01555091e-02 9.99193410e-01 -2.55700686e-04 6.34545302e+00] [ 1.49867614e-02 -3.46408488e-04 9.99887632e-01 5.52183963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.975099893 meters 0.014676729934986036 Centerline is valid? [True, True] Translation: X:461.56, Y:6.35, Z:5.52 [[ 9.99102152e-01 -3.96495166e-02 -1.49266649e-02 4.61560860e+02] [ 3.96501427e-02 9.99213592e-01 -2.54102906e-04 6.34675465e+00] [ 1.49250015e-02 -3.37969634e-04 9.99888559e-01 5.52192974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.005099893 meters 0.0147996266707479 Centerline is valid? [True, True] Translation: X:461.59, Y:6.35, Z:5.52 [[ 9.99105723e-01 -3.93582818e-02 -1.54492465e-02 4.61592351e+02] [ 3.93589268e-02 9.99225103e-01 -2.62421071e-04 6.34729586e+00] [ 1.54476034e-02 -3.45879369e-04 9.99880619e-01 5.52205778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.035099893 meters 0.014805405753286899 Centerline is valid? [True, True] Translation: X:461.62, Y:6.35, Z:5.52 [[ 9.99107994e-01 -3.93485005e-02 -1.53268083e-02 4.61623846e+02] [ 3.93491425e-02 9.99225489e-01 -2.59791290e-04 6.34786052e+00] [ 1.53251599e-02 -3.43537210e-04 9.99882504e-01 5.52198652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.065099893 meters 0.015026475553764565 Centerline is valid? [True, True] Translation: X:461.65, Y:6.35, Z:5.52 [[ 9.99079585e-01 -3.97758209e-02 -1.60582271e-02 4.61654921e+02] [ 3.97765905e-02 9.99208561e-01 -2.71589819e-04 6.34791479e+00] [ 1.60563208e-02 -3.67401683e-04 9.99871021e-01 5.52125355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.095099893 meters 0.01578994570183605 Centerline is valid? [True, True] Translation: X:461.68, Y:6.35, Z:5.52 [[ 9.99036741e-01 -4.05484049e-02 -1.67755126e-02 4.61684750e+02] [ 4.05493614e-02 9.99177496e-01 -2.83258694e-04 6.34716236e+00] [ 1.67732003e-02 -3.97250480e-04 9.99859241e-01 5.52095973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.125099893 meters 0.015564718805554266 Centerline is valid? [True, True] Translation: X:461.72, Y:6.35, Z:5.52 [[ 9.99013138e-01 -4.10681478e-02 -1.69161782e-02 4.61715632e+02] [ 4.10691949e-02 9.99156264e-01 -2.85633868e-04 6.34805944e+00] [ 1.69136359e-02 -4.09381833e-04 9.99856870e-01 5.52116063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.155099893 meters 0.016184014728789158 Centerline is valid? [True, True] Translation: X:461.75, Y:6.35, Z:5.52 [[ 9.98948679e-01 -4.25917426e-02 -1.69552385e-02 4.61746544e+02] [ 4.25930139e-02 9.99092465e-01 -2.86293411e-04 6.34765695e+00] [ 1.69520448e-02 -4.36182286e-04 9.99856209e-01 5.52109407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.18509989300003 meters 0.016821543936807053 Centerline is valid? [True, True] Translation: X:461.78, Y:6.35, Z:5.52 [[ 9.98925074e-01 -4.31230407e-02 -1.70029208e-02 4.61776880e+02] [ 4.31244003e-02 9.99069669e-01 -2.86844621e-04 6.34685863e+00] [ 1.69994720e-02 -4.46704477e-04 9.99855399e-01 5.52144282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.215099893 meters 0.017065048724973005 Centerline is valid? [True, True] Translation: X:461.81, Y:6.35, Z:5.52 [[ 9.98907663e-01 -4.35996013e-02 -1.68093812e-02 4.61808270e+02] [ 4.36010113e-02 9.99048984e-01 -2.82757313e-04 6.34682695e+00] [ 1.68057233e-02 -4.50457574e-04 9.99858672e-01 5.52175839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24509989300003 meters 0.017581358809079916 Centerline is valid? [True, True] Translation: X:461.84, Y:6.35, Z:5.52 [[ 9.98904377e-01 -4.37522716e-02 -1.66067641e-02 4.61837928e+02] [ 4.37536747e-02 9.99042310e-01 -2.79000561e-04 6.34629148e+00] [ 1.66030669e-02 -4.47912072e-04 9.99862059e-01 5.52208783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.275099893 meters 0.016135211921944042 Centerline is valid? [True, True] Translation: X:461.87, Y:6.35, Z:5.52 [[ 9.98896237e-01 -4.40812182e-02 -1.62219973e-02 4.61869071e+02] [ 4.40825993e-02 9.99027853e-01 -2.72604275e-04 6.34920389e+00] [ 1.62182438e-02 -4.42804421e-04 9.99868378e-01 5.52322918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30509989300003 meters 0.01572633300101928 Centerline is valid? [True, True] Translation: X:461.90, Y:6.35, Z:5.52 [[ 9.98892857e-01 -4.41456347e-02 -1.62549453e-02 4.61900261e+02] [ 4.41470394e-02 9.99025007e-01 -2.72570761e-04 6.35063596e+00] [ 1.62511297e-02 -4.45338726e-04 9.99867842e-01 5.52374947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.335099893 meters 0.015359446377042714 Centerline is valid? [True, True] Translation: X:461.93, Y:6.35, Z:5.52 [[ 9.98901678e-01 -4.37735138e-02 -1.67127836e-02 4.61931845e+02] [ 4.37749572e-02 9.99041378e-01 -2.79623819e-04 6.35155782e+00] [ 1.67090024e-02 -4.52284683e-04 9.99860293e-01 5.52418889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.365099893 meters 0.0159491458539942 Centerline is valid? [True, True] Translation: X:461.96, Y:6.35, Z:5.52 [[ 9.98922422e-01 -4.33867406e-02 -1.64798573e-02 4.61962040e+02] [ 4.33881001e-02 9.99058255e-01 -2.75201997e-04 6.35065584e+00] [ 1.64762776e-02 -4.40124251e-04 9.99864160e-01 5.52411577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.395099893 meters 0.01569195311395888 Centerline is valid? [True, True] Translation: X:461.99, Y:6.35, Z:5.52 [[ 9.98958744e-01 -4.24037684e-02 -1.68329428e-02 4.61992939e+02] [ 4.24050513e-02 9.99100462e-01 -2.80867381e-04 6.35078089e+00] [ 1.68297107e-02 -4.33226875e-04 9.99858277e-01 5.52384790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.425099893 meters 0.015297312655352191 Centerline is valid? [True, True] Translation: X:462.02, Y:6.35, Z:5.52 [[ 9.98985696e-01 -4.16406271e-02 -1.71358464e-02 4.62024010e+02] [ 4.16418473e-02 9.99132561e-01 -2.85748591e-04 6.35160504e+00] [ 1.71328809e-02 -4.28109545e-04 9.99853130e-01 5.52390942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.455099893 meters 0.015456580791395343 Centerline is valid? [True, True] Translation: X:462.05, Y:6.35, Z:5.52 [[ 9.99033600e-01 -4.05236717e-02 -1.70205245e-02 4.62053283e+02] [ 4.05247197e-02 9.99178496e-01 -2.83464279e-04 6.35150911e+00] [ 1.70180290e-02 -4.06561644e-04 9.99855100e-01 5.52406017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.485099893 meters 0.014071947524126749 Centerline is valid? [True, True] Translation: X:462.08, Y:6.35, Z:5.53 [[ 9.99154528e-01 -3.72382316e-02 -1.74225209e-02 4.62083592e+02] [ 3.72388265e-02 9.99306352e-01 -2.90386732e-04 6.35474959e+00] [ 1.74212493e-02 -3.58653018e-04 9.99848174e-01 5.52507625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.515099893 meters 0.014068721991806454 Centerline is valid? [True, True] Translation: X:462.11, Y:6.36, Z:5.52 [[ 9.99235274e-01 -3.48482714e-02 -1.77331642e-02 4.62112925e+02] [ 3.48485098e-02 9.99392562e-01 -2.95662691e-04 6.35507423e+00] [ 1.77326957e-02 -3.22537754e-04 9.99842711e-01 5.52477814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.545099893 meters 0.013396443827703244 Centerline is valid? [True, True] Translation: X:462.14, Y:6.36, Z:5.52 [[ 9.99302457e-01 -3.25658087e-02 -1.82775256e-02 4.62143057e+02] [ 3.25656740e-02 9.99469551e-01 -3.05080321e-04 6.35746348e+00] [ 1.82777654e-02 -2.90352424e-04 9.99832906e-01 5.52498870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.575099893 meters 0.012929573444881248 Centerline is valid? [True, True] Translation: X:462.17, Y:6.36, Z:5.52 [[ 9.99480199e-01 -2.64675649e-02 -1.84065306e-02 4.62171895e+02] [ 2.64663840e-02 9.99649657e-01 -3.07789945e-04 6.35928755e+00] [ 1.84082285e-02 -1.79524353e-04 9.99830538e-01 5.52490898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.605099893 meters 0.012418934427565902 Centerline is valid? [True, True] Translation: X:462.20, Y:6.36, Z:5.53 [[ 9.99558402e-01 -2.35776603e-02 -1.80857550e-02 4.62200162e+02] [ 2.35760091e-02 9.99722001e-01 -3.04537586e-04 6.36156442e+00] [ 1.80879075e-02 -1.21986821e-04 9.99836393e-01 5.52595798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.635099893 meters 0.01226224283251711 Centerline is valid? [True, True] Translation: X:462.23, Y:6.36, Z:5.53 [[ 9.99628282e-01 -2.05659475e-02 -1.78980250e-02 4.62228390e+02] [ 2.05637785e-02 9.99788497e-01 -3.05241416e-04 6.36295470e+00] [ 1.79005171e-02 -6.29230690e-05 9.99839771e-01 5.52656238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.665099893 meters 0.012249623328456343 Centerline is valid? [True, True] Translation: X:462.26, Y:6.36, Z:5.53 [[ 9.99686760e-01 -1.77722399e-02 -1.76218423e-02 4.62256594e+02] [ 1.77696467e-02 9.99842061e-01 -3.03736459e-04 6.36455084e+00] [ 1.76244572e-02 -9.49259599e-06 9.99844677e-01 5.52738700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.695099893 meters 0.012329063851540355 Centerline is valid? [True, True] Translation: X:462.28, Y:6.37, Z:5.53 [[ 9.99756065e-01 -1.33836944e-02 -1.75694709e-02 4.62284524e+02] [ 1.33803678e-02 9.99910432e-01 -3.06881393e-04 6.36611914e+00] [ 1.75720045e-02 7.17205507e-05 9.99845598e-01 5.52737518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.725099893 meters 0.0124233984766108 Centerline is valid? [True, True] Translation: X:462.31, Y:6.37, Z:5.53 [[ 9.99765965e-01 -1.20987306e-02 -1.79342198e-02 4.62313354e+02] [ 1.20950129e-02 9.99926803e-01 -3.15750969e-04 6.36657729e+00] [ 1.79367273e-02 9.87624518e-05 9.99839119e-01 5.52744406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.755099893 meters 0.01242585610722539 Centerline is valid? [True, True] Translation: X:462.34, Y:6.37, Z:5.53 [[ 9.99766535e-01 -1.16733390e-02 -1.81826282e-02 4.62340886e+02] [ 1.16693607e-02 9.99931858e-01 -3.24883205e-04 6.36607777e+00] [ 1.81851817e-02 1.12627709e-04 9.99834630e-01 5.52787793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.785099893 meters 0.012359695481395408 Centerline is valid? [True, True] Translation: X:462.37, Y:6.37, Z:5.53 [[ 9.99757408e-01 -1.20508027e-02 -1.84364907e-02 4.62368968e+02] [ 1.20466772e-02 9.99927380e-01 -3.34818067e-04 6.36542811e+00] [ 1.84391866e-02 1.12638392e-04 9.99829977e-01 5.52793290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.815099893 meters 0.01237159919039868 Centerline is valid? [True, True] Translation: X:462.40, Y:6.36, Z:5.53 [[ 9.99718060e-01 -1.45078987e-02 -1.87968680e-02 4.62396808e+02] [ 1.45039591e-02 9.99894752e-01 -3.45906975e-04 6.36205062e+00] [ 1.87999081e-02 7.31804452e-05 9.99823263e-01 5.52702852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.845099893 meters 0.012251655744248306 Centerline is valid? [True, True] Translation: X:462.43, Y:6.36, Z:5.53 [[ 9.99685827e-01 -1.69198126e-02 -1.84923493e-02 4.62425220e+02] [ 1.69163496e-02 9.99856849e-01 -3.43685116e-04 6.35942633e+00] [ 1.84955172e-02 3.07540927e-05 9.99828943e-01 5.52785423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.875099893 meters 0.012322447803280937 Centerline is valid? [True, True] Translation: X:462.45, Y:6.35, Z:5.53 [[ 9.99564940e-01 -2.33143485e-02 -1.80657728e-02 4.62453654e+02] [ 2.33120171e-02 9.99728180e-01 -3.39660637e-04 6.35290278e+00] [ 1.80687811e-02 -8.16367395e-05 9.99836743e-01 5.52848699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.905099893 meters 0.01261860477625247 Centerline is valid? [True, True] Translation: X:462.48, Y:6.35, Z:5.53 [[ 9.99481781e-01 -2.71446357e-02 -1.73013747e-02 4.62482271e+02] [ 2.71430319e-02 9.99631506e-01 -3.27556941e-04 6.34986052e+00] [ 1.73038906e-02 -1.42224570e-04 9.99850266e-01 5.52925937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.93509989300003 meters 0.012930890906760435 Centerline is valid? [True, True] Translation: X:462.51, Y:6.35, Z:5.53 [[ 9.99362865e-01 -3.12601032e-02 -1.72241131e-02 4.62510889e+02] [ 3.12590507e-02 9.99511262e-01 -3.30391375e-04 6.34664811e+00] [ 1.72260231e-02 -2.08228555e-04 9.99851599e-01 5.53000206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.965099893 meters 0.014324218479678049 Centerline is valid? [True, True] Translation: X:462.54, Y:6.34, Z:5.53 [[ 9.99090516e-01 -3.94189798e-02 -1.62568630e-02 4.62540728e+02] [ 3.94190715e-02 9.99222717e-01 -3.14924513e-04 6.33911890e+00] [ 1.62566408e-02 -3.26192351e-04 9.99867799e-01 5.53063221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99509989300003 meters 0.016255160677815517 Centerline is valid? [True, True] Translation: X:462.57, Y:6.33, Z:5.53 [[ 9.98908095e-01 -4.38483599e-02 -1.61225999e-02 4.62569938e+02] [ 4.38490172e-02 9.99038120e-01 -3.12900293e-04 6.33378958e+00] [ 1.61208121e-02 -3.94401525e-04 9.99869973e-01 5.53086486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.025099893 meters 0.01681757277503696 Centerline is valid? [True, True] Translation: X:462.60, Y:6.33, Z:5.53 [[ 9.98719327e-01 -4.80590244e-02 -1.58125046e-02 4.62600714e+02] [ 4.80601770e-02 9.98844395e-01 -3.07316465e-04 6.33144023e+00] [ 1.58090009e-02 -4.53028876e-04 9.99874927e-01 5.53119418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05509989300003 meters 0.017427003206348032 Centerline is valid? [True, True] Translation: X:462.63, Y:6.33, Z:5.53 [[ 9.98509354e-01 -5.22285262e-02 -1.58509035e-02 4.62632186e+02] [ 5.22302112e-02 9.98635024e-01 -3.07935957e-04 6.32960895e+00] [ 1.58453504e-02 -5.20419103e-04 9.99874319e-01 5.53155198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.085099893 meters 0.020316936118250632 Centerline is valid? [True, True] Translation: X:462.66, Y:6.32, Z:5.53 [[ 9.98052298e-01 -6.02784123e-02 -1.60662117e-02 4.62661470e+02] [ 6.02811952e-02 9.98181387e-01 -3.11448788e-04 6.32285161e+00] [ 1.60557672e-02 -6.57648267e-04 9.99870882e-01 5.53150650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.115099893 meters 0.02222427055820422 Centerline is valid? [True, True] Translation: X:462.69, Y:6.32, Z:5.53 [[ 9.97792089e-01 -6.43573727e-02 -1.64035496e-02 4.62691594e+02] [ 6.43608357e-02 9.97926642e-01 -3.17257294e-04 6.31973033e+00] [ 1.63899570e-02 -7.39189339e-04 9.99865402e-01 5.53178730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.145099893 meters 0.023176424790126993 Centerline is valid? [True, True] Translation: X:462.72, Y:6.32, Z:5.53 [[ 9.97564563e-01 -6.78309561e-02 -1.62451139e-02 4.62723161e+02] [ 6.78348142e-02 9.97696517e-01 -3.14053071e-04 6.31826633e+00] [ 1.62289961e-02 -7.88696070e-04 9.99867990e-01 5.53217014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.175099893 meters 0.026697278832392084 Centerline is valid? [True, True] Translation: X:462.75, Y:6.31, Z:5.53 [[ 9.97117716e-01 -7.40705580e-02 -1.64260070e-02 4.62752828e+02] [ 7.40753543e-02 9.97252597e-01 -3.17070404e-04 6.31331317e+00] [ 1.64043637e-02 -9.00605773e-04 9.99865034e-01 5.53251375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.205099893 meters 0.028412803897936982 Centerline is valid? [True, True] Translation: X:462.78, Y:6.31, Z:5.53 [[ 9.96969790e-01 -7.60977044e-02 -1.61362327e-02 4.62782786e+02] [ 7.61026037e-02 9.97099943e-01 -3.11101255e-04 6.31154264e+00] [ 1.61131108e-02 -9.17850772e-04 9.99869754e-01 5.53286379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.235099893 meters 0.02854313143248273 Centerline is valid? [True, True] Translation: X:462.81, Y:6.31, Z:5.53 [[ 9.96864176e-01 -7.74132723e-02 -1.64012393e-02 4.62814466e+02] [ 7.74185294e-02 9.96998632e-01 -3.15105314e-04 6.31224979e+00] [ 1.63764065e-02 -9.55642627e-04 9.99865441e-01 5.53334597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.265099893 meters 0.02853612543139927 Centerline is valid? [True, True] Translation: X:462.85, Y:6.31, Z:5.53 [[ 9.96808282e-01 -7.81561941e-02 -1.62744910e-02 4.62846180e+02] [ 7.81614782e-02 9.96940663e-01 -3.12096449e-04 6.31340770e+00] [ 1.62490941e-02 -9.60937947e-04 9.99867513e-01 5.53397905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.295099893 meters 0.030419152516542286 Centerline is valid? [True, True] Translation: X:462.88, Y:6.31, Z:5.53 [[ 9.96748258e-01 -7.89352314e-02 -1.61907021e-02 4.62876981e+02] [ 7.89405783e-02 9.96879275e-01 -3.09577718e-04 6.31380934e+00] [ 1.61646120e-02 -9.69532336e-04 9.99868874e-01 5.53390335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.325099893 meters 0.030023332839920827 Centerline is valid? [True, True] Translation: X:462.91, Y:6.32, Z:5.53 [[ 9.96783888e-01 -7.84636837e-02 -1.62889915e-02 4.62909004e+02] [ 7.84690626e-02 9.96916501e-01 -3.09640384e-04 6.31612471e+00] [ 1.62630600e-02 -9.69537350e-04 9.99867278e-01 5.53411285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.355099893 meters 0.030023332839920827 Centerline is valid? [True, True] Translation: X:462.94, Y:6.32, Z:5.53 [[ 9.96789399e-01 -7.83936366e-02 -1.62890132e-02 4.62940736e+02] [ 7.83990248e-02 9.96922012e-01 -3.08495502e-04 6.31666417e+00] [ 1.62630599e-02 -9.69537706e-04 9.99867278e-01 5.53450518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.385099893 meters 0.029133854882862745 Centerline is valid? [True, True] Translation: X:462.97, Y:6.32, Z:5.53 [[ 9.96824168e-01 -7.79091148e-02 -1.64847619e-02 4.62972450e+02] [ 7.79145866e-02 9.96959989e-01 -3.11031274e-04 6.31982143e+00] [ 1.64588802e-02 -9.74359916e-04 9.99864069e-01 5.53451945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.415099893 meters 0.030659290860427613 Centerline is valid? [True, True] Translation: X:463.00, Y:6.32, Z:5.53 [[ 9.96916597e-01 -7.64885626e-02 -1.75156410e-02 4.63003227e+02] [ 7.64945413e-02 9.97069946e-01 -3.29369225e-04 6.32149431e+00] [ 1.74895122e-02 -1.01149728e-03 9.99846535e-01 5.53370934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.445099893 meters 0.02699598732381192 Centerline is valid? [True, True] Translation: X:463.03, Y:6.33, Z:5.53 [[ 9.96998759e-01 -7.53345091e-02 -1.78377966e-02 4.63034739e+02] [ 7.53405371e-02 9.97157807e-01 -3.34787326e-04 6.32866330e+00] [ 1.78123192e-02 -1.01012663e-03 9.99840838e-01 5.53409511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.475099893 meters 0.02912858464392088 Centerline is valid? [True, True] Translation: X:463.07, Y:6.33, Z:5.53 [[ 9.97079243e-01 -7.41193578e-02 -1.84202141e-02 4.63065322e+02] [ 7.41255897e-02 9.97248855e-01 -3.45153860e-04 6.32830186e+00] [ 1.83951200e-02 -1.02126348e-03 9.99830274e-01 5.53377996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.505099893 meters 0.02380387642635903 Centerline is valid? [True, True] Translation: X:463.10, Y:6.34, Z:5.54 [[ 9.97295848e-01 -7.11940075e-02 -1.82319583e-02 4.63095944e+02] [ 7.11996311e-02 9.97462027e-01 -3.41301791e-04 6.34087494e+00] [ 1.82099848e-02 -9.57729848e-04 9.99833726e-01 5.53524462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.535099893 meters 0.024820866103765087 Centerline is valid? [True, True] Translation: X:463.13, Y:6.34, Z:5.54 [[ 9.97406347e-01 -6.95631490e-02 -1.84809929e-02 4.63126322e+02] [ 6.95686543e-02 9.97577106e-01 -3.45623875e-04 6.34265020e+00] [ 1.84602581e-02 -9.40970363e-04 9.99829152e-01 5.53570597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.565099893 meters 0.02252420200701178 Centerline is valid? [True, True] Translation: X:463.16, Y:6.35, Z:5.54 [[ 9.97548421e-01 -6.75912931e-02 -1.81263717e-02 4.63157751e+02] [ 6.75962722e-02 9.97712699e-01 -3.38560297e-04 6.34889998e+00] [ 1.81077949e-02 -8.87544863e-04 9.99835647e-01 5.53664424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.595099893 meters 0.021686253197753295 Centerline is valid? [True, True] Translation: X:463.19, Y:6.35, Z:5.54 [[ 9.97676580e-01 -6.57531653e-02 -1.78315407e-02 4.63188856e+02] [ 6.57577024e-02 9.97835565e-01 -3.32404555e-04 6.35327855e+00] [ 1.78148021e-02 -8.40928905e-04 9.99840950e-01 5.53707175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.625099893 meters 0.021344467076473233 Centerline is valid? [True, True] Translation: X:463.22, Y:6.36, Z:5.54 [[ 9.97958032e-01 -6.12447380e-02 -1.81341676e-02 4.63218488e+02] [ 6.12486959e-02 9.98122479e-01 -3.37581690e-04 6.35930578e+00] [ 1.81207954e-02 -7.73801756e-04 9.99835505e-01 5.53721599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.655099893 meters 0.020133116515644544 Centerline is valid? [True, True] Translation: X:463.25, Y:6.36, Z:5.54 [[ 9.98112010e-01 -5.85633599e-02 -1.85134443e-02 4.63249723e+02] [ 5.85670287e-02 9.98283419e-01 -3.44419287e-04 6.36405638e+00] [ 1.85018348e-02 -7.40508395e-04 9.99828552e-01 5.53739708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.68509989300003 meters 0.018989145440949824 Centerline is valid? [True, True] Translation: X:463.28, Y:6.37, Z:5.54 [[ 9.98261467e-01 -5.58927048e-02 -1.87095907e-02 4.63280754e+02] [ 5.58959962e-02 9.98436536e-01 -3.47384152e-04 6.36880080e+00] [ 1.86997552e-02 -6.99010999e-04 9.99824900e-01 5.53765615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.715099893 meters 0.018661249634786478 Centerline is valid? [True, True] Translation: X:463.31, Y:6.37, Z:5.54 [[ 9.98408056e-01 -5.30761629e-02 -1.90859640e-02 4.63311152e+02] [ 5.30790852e-02 9.98590249e-01 -3.53792184e-04 6.37238000e+00] [ 1.90778354e-02 -6.59836540e-04 9.99817784e-01 5.53792864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74509989300003 meters 0.0169694146322022 Centerline is valid? [True, True] Translation: X:463.34, Y:6.38, Z:5.54 [[ 9.98667910e-01 -4.77410764e-02 -1.95753610e-02 4.63341709e+02] [ 4.77431335e-02 9.98859581e-01 -3.62508386e-04 6.38086410e+00] [ 1.95703434e-02 -5.72563579e-04 9.99808319e-01 5.53797408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.775099893 meters 0.01635718248319019 Centerline is valid? [True, True] Translation: X:463.37, Y:6.38, Z:5.54 [[ 9.98791515e-01 -4.50682064e-02 -1.96052856e-02 4.63372121e+02] [ 4.50697595e-02 9.98983776e-01 -3.62842192e-04 6.38479614e+00] [ 1.96017149e-02 -5.21201804e-04 9.99807732e-01 5.53831137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80509989300003 meters 0.015863487277331247 Centerline is valid? [True, True] Translation: X:463.40, Y:6.39, Z:5.54 [[ 9.98894605e-01 -4.26257861e-02 -1.98144103e-02 4.63403112e+02] [ 4.26268950e-02 9.99090994e-01 -3.66581821e-04 6.38860876e+00] [ 1.98120248e-02 -4.78450186e-04 9.99803608e-01 5.53856731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.835099893 meters 0.015396025694254285 Centerline is valid? [True, True] Translation: X:463.43, Y:6.39, Z:5.54 [[ 9.98994672e-01 -4.03227437e-02 -1.95888126e-02 4.63433840e+02] [ 4.03233891e-02 9.99186616e-01 -3.62193670e-04 6.39202222e+00] [ 1.95874841e-02 -4.28057767e-04 9.99808055e-01 5.53891666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.865099893 meters 0.014234562670418416 Centerline is valid? [True, True] Translation: X:463.46, Y:6.40, Z:5.54 [[ 9.99108171e-01 -3.74538648e-02 -1.94953901e-02 4.63463810e+02] [ 3.74539581e-02 9.99298289e-01 -3.60466303e-04 6.39871207e+00] [ 1.94952108e-02 -3.70034695e-04 9.99809882e-01 5.53995865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.895099893 meters 0.014067889084164727 Centerline is valid? [True, True] Translation: X:463.49, Y:6.40, Z:5.54 [[ 9.99148155e-01 -3.65866028e-02 -1.90888531e-02 4.63493825e+02] [ 3.65865294e-02 9.99330426e-01 -3.53190636e-04 6.40102571e+00] [ 1.90889937e-02 -3.45505110e-04 9.99817729e-01 5.54054662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.925099893 meters 0.014094964287036263 Centerline is valid? [True, True] Translation: X:463.52, Y:6.40, Z:5.54 [[ 9.99173066e-01 -3.59458143e-02 -1.90021596e-02 4.63523731e+02] [ 3.59456151e-02 9.99353686e-01 -3.52145785e-04 6.40254011e+00] [ 1.90025364e-02 -3.31189732e-04 9.99819381e-01 5.54073070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.955099893 meters 0.014298294894657015 Centerline is valid? [True, True] Translation: X:463.55, Y:6.40, Z:5.54 [[ 9.99179851e-01 -3.59173341e-02 -1.86967822e-02 4.63552799e+02] [ 3.59171327e-02 9.99354712e-01 -3.46675728e-04 6.40493710e+00] [ 1.86971691e-02 -3.25143406e-04 9.99825140e-01 5.54103909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.985099893 meters 0.01397051750068947 Centerline is valid? [True, True] Translation: X:463.58, Y:6.41, Z:5.54 [[ 9.99184574e-01 -3.60406879e-02 -1.82004529e-02 4.63583100e+02] [ 3.60405184e-02 9.99350273e-01 -3.37421550e-04 6.40685306e+00] [ 1.82007884e-02 -3.18807349e-04 9.99834301e-01 5.54173246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.015099893 meters 0.014146282454181343 Centerline is valid? [True, True] Translation: X:463.61, Y:6.41, Z:5.54 [[ 9.99187364e-01 -3.61619997e-02 -1.78022927e-02 4.63612553e+02] [ 3.61618550e-02 9.99345892e-01 -3.30137545e-04 6.40698326e+00] [ 1.78025865e-02 -3.13894663e-04 9.99841472e-01 5.54167493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.045099893 meters 0.014763869334288134 Centerline is valid? [True, True] Translation: X:463.64, Y:6.41, Z:5.54 [[ 9.99188176e-01 -3.67583124e-02 -1.64868316e-02 4.63642165e+02] [ 3.67582648e-02 9.99324140e-01 -3.06020838e-04 6.40608692e+00] [ 1.64869377e-02 -3.00254920e-04 9.99864036e-01 5.54190863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.075099893 meters 0.014704652749046277 Centerline is valid? [True, True] Translation: X:463.67, Y:6.41, Z:5.54 [[ 9.99175207e-01 -3.72620880e-02 -1.61382104e-02 4.63673150e+02] [ 3.72621068e-02 9.99305482e-01 -2.99631033e-04 6.40670368e+00] [ 1.61381670e-02 -3.01959818e-04 9.99869726e-01 5.54228556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.105099893 meters 0.01438189059680367 Centerline is valid? [True, True] Translation: X:463.70, Y:6.41, Z:5.54 [[ 9.99155128e-01 -3.78661678e-02 -1.59744772e-02 4.63704454e+02] [ 3.78662724e-02 9.99282772e-01 -2.96031420e-04 6.40777243e+00] [ 1.59742294e-02 -3.09112593e-04 9.99872356e-01 5.54287406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.135099893 meters 0.015293084135939359 Centerline is valid? [True, True] Translation: X:463.73, Y:6.41, Z:5.54 [[ 9.99116967e-01 -3.88521774e-02 -1.59935678e-02 4.63734965e+02] [ 3.88524167e-02 9.99244916e-01 -2.95870893e-04 6.40587382e+00] [ 1.59929866e-02 -3.25779133e-04 9.99872051e-01 5.54280521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.165099893 meters 0.014744240850324893 Centerline is valid? [True, True] Translation: X:463.77, Y:6.41, Z:5.54 [[ 9.99091783e-01 -3.94049808e-02 -1.62128577e-02 4.63766343e+02] [ 3.94053054e-02 9.99223264e-01 -2.99562732e-04 6.40735781e+00] [ 1.62120689e-02 -3.39581946e-04 9.99868518e-01 5.54310724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.195099893 meters 0.01479143510988863 Centerline is valid? [True, True] Translation: X:463.80, Y:6.41, Z:5.54 [[ 9.99073532e-01 -3.97190162e-02 -1.65673681e-02 4.63797364e+02] [ 3.97194083e-02 9.99210826e-01 -3.05503065e-04 6.40716688e+00] [ 1.65664279e-02 -3.52826033e-04 9.99862705e-01 5.54304866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.225099893 meters 0.014841171692530648 Centerline is valid? [True, True] Translation: X:463.83, Y:6.41, Z:5.54 [[ 9.99070363e-01 -3.97886479e-02 -1.65913448e-02 4.63828861e+02] [ 3.97890609e-02 9.99208055e-01 -3.05342223e-04 6.40671899e+00] [ 1.65903545e-02 -3.55095662e-04 9.99862308e-01 5.54305540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.255099893 meters 0.014907001561088033 Centerline is valid? [True, True] Translation: X:463.86, Y:6.41, Z:5.54 [[ 9.99068696e-01 -3.97003162e-02 -1.69004794e-02 4.63859866e+02] [ 3.97007425e-02 9.99211567e-01 -3.10410948e-04 6.40554075e+00] [ 1.68994779e-02 -3.60839719e-04 9.99857129e-01 5.54314800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.285099893 meters 0.015101805063656243 Centerline is valid? [True, True] Translation: X:463.89, Y:6.41, Z:5.54 [[ 9.99076457e-01 -3.93667822e-02 -1.72188689e-02 4.63890664e+02] [ 3.93671846e-02 9.99224762e-01 -3.15716510e-04 6.40501892e+00] [ 1.72179489e-02 -3.62433457e-04 9.99851694e-01 5.54362958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.315099893 meters 0.01492703353339791 Centerline is valid? [True, True] Translation: X:463.92, Y:6.41, Z:5.54 [[ 9.99095398e-01 -3.89356447e-02 -1.70997718e-02 4.63921896e+02] [ 3.89359851e-02 9.99241658e-01 -3.13143078e-04 6.40540603e+00] [ 1.70989967e-02 -3.52936652e-04 9.99853739e-01 5.54385207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.345099893 meters 0.01494150574986096 Centerline is valid? [True, True] Translation: X:463.95, Y:6.41, Z:5.54 [[ 9.99125594e-01 -3.80538468e-02 -1.73191105e-02 4.63952025e+02] [ 3.80540728e-02 9.99275631e-01 -3.16623801e-04 6.40528573e+00] [ 1.73186138e-02 -3.42715749e-04 9.99849963e-01 5.54410868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.375099893 meters 0.01417835891010002 Centerline is valid? [True, True] Translation: X:463.98, Y:6.41, Z:5.54 [[ 9.99196480e-01 -3.60980633e-02 -1.74161845e-02 4.63982858e+02] [ 3.60979987e-02 9.99348204e-01 -3.18177751e-04 6.40654261e+00] [ 1.74163183e-02 -3.10767318e-04 9.99848276e-01 5.54451639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.405099893 meters 0.014529144704570255 Centerline is valid? [True, True] Translation: X:464.01, Y:6.41, Z:5.54 [[ 9.99243191e-01 -3.45862210e-02 -1.77999736e-02 4.64012661e+02] [ 3.45859121e-02 9.99401675e-01 -3.25286734e-04 6.40556537e+00] [ 1.78005739e-02 -2.90587769e-04 9.99841515e-01 5.54404351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.43509989300003 meters 0.014069805890778924 Centerline is valid? [True, True] Translation: X:464.04, Y:6.41, Z:5.54 [[ 9.99292165e-01 -3.28625872e-02 -1.83089844e-02 4.64042432e+02] [ 3.28619632e-02 9.99459844e-01 -3.35021873e-04 6.40651228e+00] [ 1.83101044e-02 -2.66884441e-04 9.99832320e-01 5.54425561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.465099893 meters 0.013082119739235813 Centerline is valid? [True, True] Translation: X:464.07, Y:6.41, Z:5.55 [[ 9.99406793e-01 -2.96631521e-02 -1.74974022e-02 4.64071586e+02] [ 2.96620635e-02 9.99559932e-01 -3.21794299e-04 6.40870506e+00] [ 1.74992476e-02 -1.97405647e-04 9.99846857e-01 5.54571624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49509989300003 meters 0.01293742447053763 Centerline is valid? [True, True] Translation: X:464.10, Y:6.41, Z:5.55 [[ 9.99455016e-01 -2.79504689e-02 -1.75625362e-02 4.64100672e+02] [ 2.79490499e-02 9.99609296e-01 -3.26287665e-04 6.40870155e+00] [ 1.75647944e-02 -1.64746358e-04 9.99845714e-01 5.54611161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.525099893 meters 0.012751153759471 Centerline is valid? [True, True] Translation: X:464.13, Y:6.41, Z:5.55 [[ 9.99497217e-01 -2.64435869e-02 -1.74942931e-02 4.64129700e+02] [ 2.64419105e-02 9.99650298e-01 -3.27167620e-04 6.40932164e+00] [ 1.74968268e-02 -1.35579407e-04 9.99846910e-01 5.54662619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55509989300003 meters 0.012505238983105989 Centerline is valid? [True, True] Translation: X:464.16, Y:6.41, Z:5.55 [[ 9.99572309e-01 -2.31980325e-02 -1.78059249e-02 4.64158779e+02] [ 2.31956994e-02 9.99730887e-01 -3.37570605e-04 6.40876347e+00] [ 1.78089641e-02 -7.55946547e-05 9.99841405e-01 5.54689207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.585099893 meters 0.012458144743841824 Centerline is valid? [True, True] Translation: X:464.19, Y:6.41, Z:5.55 [[ 9.99600525e-01 -2.18549515e-02 -1.79206876e-02 4.64186599e+02] [ 2.18522864e-02 9.99761151e-01 -3.44543382e-04 6.40855743e+00] [ 1.79239372e-02 -4.72022527e-05 9.99839352e-01 5.54746573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.615099893 meters 0.012475850824455677 Centerline is valid? [True, True] Translation: X:464.21, Y:6.41, Z:5.55 [[ 9.99627373e-01 -2.07128999e-02 -1.77789210e-02 4.64213864e+02] [ 2.07100201e-02 9.99785465e-01 -3.46094432e-04 6.40815911e+00] [ 1.77822754e-02 -2.22363434e-05 9.99841883e-01 5.54740671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.645099893 meters 0.012498172274485056 Centerline is valid? [True, True] Translation: X:464.24, Y:6.41, Z:5.55 [[ 9.99659576e-01 -1.90392232e-02 -1.78393125e-02 4.64241931e+02] [ 1.90360009e-02 9.99818738e-01 -3.50435387e-04 6.40616910e+00] [ 1.78427509e-02 1.07269204e-05 9.99840805e-01 5.54755146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.675099893 meters 0.012511123538169152 Centerline is valid? [True, True] Translation: X:464.27, Y:6.41, Z:5.55 [[ 9.99673602e-01 -1.85717669e-02 -1.75436521e-02 4.64269450e+02] [ 1.85684899e-02 9.99827530e-01 -3.49681425e-04 6.40500853e+00] [ 1.75471206e-02 2.38081617e-05 9.99846037e-01 5.54773428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.705099893 meters 0.012564372569831367 Centerline is valid? [True, True] Translation: X:464.30, Y:6.40, Z:5.55 [[ 9.99674291e-01 -1.84836269e-02 -1.75973729e-02 4.64296509e+02] [ 1.84802336e-02 9.99829163e-01 -3.55435873e-04 6.40388044e+00] [ 1.76009364e-02 3.01165416e-05 9.99845091e-01 5.54838523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.735099893 meters 0.012657281952179389 Centerline is valid? [True, True] Translation: X:464.32, Y:6.40, Z:5.55 [[ 9.99676829e-01 -1.84746387e-02 -1.74620885e-02 4.64324337e+02] [ 1.84712272e-02 9.99829329e-01 -3.56647316e-04 6.40064298e+00] [ 1.74656972e-02 3.39858550e-05 9.99847462e-01 5.54829126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.765099893 meters 0.012730753727532225 Centerline is valid? [True, True] Translation: X:464.35, Y:6.40, Z:5.55 [[ 9.99657326e-01 -1.86367253e-02 -1.83821553e-02 4.64352150e+02] [ 1.86328931e-02 9.99826320e-01 -3.79741354e-04 6.39960388e+00] [ 1.83860399e-02 3.70984918e-05 9.99830962e-01 5.54804764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.795099893 meters 0.012731587756361415 Centerline is valid? [True, True] Translation: X:464.38, Y:6.40, Z:5.55 [[ 9.99631978e-01 -1.95758318e-02 -1.87801690e-02 4.64379892e+02] [ 1.95719416e-02 9.99808375e-01 -3.90940623e-04 6.39813030e+00] [ 1.87842232e-02 2.32323775e-05 9.99823561e-01 5.54890707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.825099893 meters 0.01270964384470383 Centerline is valid? [True, True] Translation: X:464.41, Y:6.40, Z:5.55 [[ 9.99624465e-01 -2.03923863e-02 -1.83051921e-02 4.64407386e+02] [ 2.03887321e-02 9.99792054e-01 -3.86245566e-04 6.39666340e+00] [ 1.83092621e-02 1.28808594e-05 9.99832371e-01 5.54940696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.855099893 meters 0.01281636468801826 Centerline is valid? [True, True] Translation: X:464.43, Y:6.39, Z:5.55 [[ 9.99579084e-01 -2.30017808e-02 -1.76797088e-02 4.64434610e+02] [ 2.29987071e-02 9.99735424e-01 -3.77182105e-04 6.39210657e+00] [ 1.76837070e-02 -2.95871006e-05 9.99843631e-01 5.55051449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.885099893 meters 0.012839927451093606 Centerline is valid? [True, True] Translation: X:464.46, Y:6.39, Z:5.55 [[ 9.99532297e-01 -2.52118132e-02 -1.73075695e-02 4.64462873e+02] [ 2.52091478e-02 9.99682130e-01 -3.72190779e-04 6.38956297e+00] [ 1.73114516e-02 -6.42923744e-05 9.99850144e-01 5.55120797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.915099893 meters 0.013306234448078795 Centerline is valid? [True, True] Translation: X:464.49, Y:6.38, Z:5.55 [[ 9.99396574e-01 -3.03677363e-02 -1.68608371e-02 4.64490733e+02] [ 3.03658716e-02 9.99538783e-01 -3.66654766e-04 6.38329963e+00] [ 1.68641951e-02 -1.45560498e-04 9.99857779e-01 5.55208785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.945099893 meters 0.01364073425336111 Centerline is valid? [True, True] Translation: X:464.52, Y:6.38, Z:5.55 [[ 9.99313555e-01 -3.32740176e-02 -1.62867364e-02 4.64519099e+02] [ 3.32726320e-02 9.99446249e-01 -3.56110651e-04 6.38025023e+00] [ 1.62895668e-02 -1.86036385e-04 9.99867299e-01 5.55252451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.975099893 meters 0.014102373573114396 Centerline is valid? [True, True] Translation: X:464.55, Y:6.38, Z:5.55 [[ 9.99190342e-01 -3.67247008e-02 -1.64303453e-02 4.64548026e+02] [ 3.67237221e-02 9.99325391e-01 -3.61377955e-04 6.37696447e+00] [ 1.64325327e-02 -2.42298070e-04 9.99864947e-01 5.55293085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.005099893 meters 0.015275286714582427 Centerline is valid? [True, True] Translation: X:464.58, Y:6.37, Z:5.55 [[ 9.99068867e-01 -3.98815391e-02 -1.64578522e-02 4.64576936e+02] [ 3.98809307e-02 9.99204372e-01 -3.65295582e-04 6.37212784e+00] [ 1.64593264e-02 -2.91399018e-04 9.99864494e-01 5.55289650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.035099893 meters 0.015944051051255043 Centerline is valid? [True, True] Translation: X:464.61, Y:6.37, Z:5.55 [[ 9.98824837e-01 -4.52963852e-02 -1.72389923e-02 4.64606805e+02] [ 4.52965088e-02 9.98973513e-01 -3.83494106e-04 6.36752404e+00] [ 1.72386675e-02 -3.97822727e-04 9.99851324e-01 5.55319005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.065099893 meters 0.016048958705647466 Centerline is valid? [True, True] Translation: X:464.64, Y:6.37, Z:5.55 [[ 9.98733230e-01 -4.71919944e-02 -1.74600086e-02 4.64636935e+02] [ 4.71924022e-02 9.98885742e-01 -3.88894533e-04 6.36619048e+00] [ 1.74589064e-02 -4.35577855e-04 9.99847487e-01 5.55353048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.095099893 meters 0.01640024024686318 Centerline is valid? [True, True] Translation: X:464.67, Y:6.36, Z:5.55 [[ 9.98656545e-01 -4.84839474e-02 -1.82869201e-02 4.64667258e+02] [ 4.84846094e-02 9.98823847e-01 -4.07412930e-04 6.36456537e+00] [ 1.82851649e-02 -4.79768589e-04 9.99832697e-01 5.55387608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.125099893 meters 0.016644214491937308 Centerline is valid? [True, True] Translation: X:464.70, Y:6.36, Z:5.55 [[ 9.98594184e-01 -4.95129330e-02 -1.89241825e-02 4.64696586e+02] [ 4.95138221e-02 9.98773349e-01 -4.21846295e-04 6.36337904e+00] [ 1.89218560e-02 -5.15755349e-04 9.99820833e-01 5.55411023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.155099893 meters 0.017419666799666004 Centerline is valid? [True, True] Translation: X:464.73, Y:6.36, Z:5.55 [[ 9.98575930e-01 -4.95580545e-02 -1.97512283e-02 4.64725665e+02] [ 4.95590150e-02 9.98771100e-01 -4.41141331e-04 6.35984817e+00] [ 1.97488181e-02 -5.38338307e-04 9.99804828e-01 5.55441531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.18509989300003 meters 0.01697212943317812 Centerline is valid? [True, True] Translation: X:464.76, Y:6.36, Z:5.56 [[ 9.98590315e-01 -4.93061862e-02 -1.96540866e-02 4.64755786e+02] [ 4.93070705e-02 9.98783570e-01 -4.39887972e-04 6.36040208e+00] [ 1.96518679e-02 -5.29817564e-04 9.99806743e-01 5.55529062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.215099893 meters 0.01697212943317812 Centerline is valid? [True, True] Translation: X:464.78, Y:6.36, Z:5.56 [[ 9.98588570e-01 -4.93415175e-02 -1.96540710e-02 4.64784945e+02] [ 4.93423950e-02 9.98781825e-01 -4.40583405e-04 6.36108490e+00] [ 1.96518679e-02 -5.29817381e-04 9.99806743e-01 5.55565140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24509989300003 meters 0.016313544277360797 Centerline is valid? [True, True] Translation: X:464.81, Y:6.36, Z:5.56 [[ 9.98613965e-01 -4.88834597e-02 -1.95078294e-02 4.64814599e+02] [ 4.88842233e-02 9.98804356e-01 -4.37997058e-04 6.36210085e+00] [ 1.95059158e-02 -5.16235111e-04 9.99809608e-01 5.55695494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.275099893 meters 0.017012345450800256 Centerline is valid? [True, True] Translation: X:464.84, Y:6.36, Z:5.56 [[ 9.98674691e-01 -4.75509773e-02 -1.96917866e-02 4.64843381e+02] [ 4.75514800e-02 9.98868690e-01 -4.42970509e-04 6.36010526e+00] [ 1.96905728e-02 -4.93990161e-04 9.99806000e-01 5.55716780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30509989300003 meters 0.016914997081004524 Centerline is valid? [True, True] Translation: X:464.87, Y:6.36, Z:5.56 [[ 9.98687651e-01 -4.69950172e-02 -2.03578973e-02 4.64871777e+02] [ 4.69953860e-02 9.98895000e-01 -4.60564289e-04 6.36035158e+00] [ 2.03570461e-02 -4.96767373e-04 9.99792650e-01 5.55743430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.335099893 meters 0.015870013747701656 Centerline is valid? [True, True] Translation: X:464.90, Y:6.36, Z:5.56 [[ 9.98705208e-01 -4.66299271e-02 -2.03361220e-02 4.64901025e+02] [ 4.66301214e-02 9.98912116e-01 -4.64892745e-04 6.36242687e+00] [ 2.03356766e-02 -4.83985031e-04 9.99793092e-01 5.55814068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.365099893 meters 0.01573133374795727 Centerline is valid? [True, True] Translation: X:464.93, Y:6.36, Z:5.56 [[ 9.98706126e-01 -4.63601966e-02 -2.08998870e-02 4.64929421e+02] [ 4.63602367e-02 9.98924669e-01 -4.82857715e-04 6.36260824e+00] [ 2.08997980e-02 -4.86690748e-04 9.99781457e-01 5.55833435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.395099893 meters 0.015799810333349797 Centerline is valid? [True, True] Translation: X:464.96, Y:6.36, Z:5.56 [[ 9.98705386e-01 -4.60961180e-02 -2.15104468e-02 4.64957475e+02] [ 4.60960136e-02 9.98936888e-01 -5.00944870e-04 6.36147718e+00] [ 2.15106704e-02 -4.91249509e-04 9.99768498e-01 5.55810634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.425099893 meters 0.01597127339729744 Centerline is valid? [True, True] Translation: X:464.98, Y:6.36, Z:5.56 [[ 9.98699181e-01 -4.61057222e-02 -2.17763136e-02 4.64984798e+02] [ 4.61055684e-02 9.98936443e-01 -5.09394726e-04 6.36094854e+00] [ 2.17766393e-02 -4.95277223e-04 9.99762738e-01 5.55834907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.455099893 meters 0.01568948615217901 Centerline is valid? [True, True] Translation: X:465.01, Y:6.36, Z:5.56 [[ 9.98669492e-01 -4.65987327e-02 -2.20862743e-02 4.65014032e+02] [ 4.65986077e-02 9.98913559e-01 -5.20600218e-04 6.36159726e+00] [ 2.20865381e-02 -5.09282074e-04 9.99755933e-01 5.55882843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.485099893 meters 0.015218396263804229 Centerline is valid? [True, True] Translation: X:465.04, Y:6.36, Z:5.56 [[ 9.98642554e-01 -4.71776569e-02 -2.20752917e-02 4.65041503e+02] [ 4.71775428e-02 9.98886381e-01 -5.26250910e-04 6.36297030e+00] [ 2.20755355e-02 -5.15921468e-04 9.99756173e-01 5.55994243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.515099893 meters 0.015957042213599403 Centerline is valid? [True, True] Translation: X:465.07, Y:6.36, Z:5.56 [[ 9.98599624e-01 -4.81043866e-02 -2.20172245e-02 4.65069507e+02] [ 4.81043997e-02 9.98842173e-01 -5.29339363e-04 6.36099089e+00] [ 2.20171959e-02 -5.30527277e-04 9.99757451e-01 5.56031861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.545099893 meters 0.015669846129179363 Centerline is valid? [True, True] Translation: X:465.10, Y:6.36, Z:5.56 [[ 9.98555730e-01 -4.89966362e-02 -2.20405234e-02 4.65098546e+02] [ 4.89967879e-02 9.98798794e-01 -5.33466312e-04 6.36148810e+00] [ 2.20401862e-02 -5.47219008e-04 9.99756936e-01 5.56158673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.575099893 meters 0.016300812170006077 Centerline is valid? [True, True] Translation: X:465.13, Y:6.36, Z:5.56 [[ 9.98520511e-01 -4.99253531e-02 -2.15464281e-02 4.65126065e+02] [ 4.99256303e-02 9.98752800e-01 -5.25389181e-04 6.36012466e+00] [ 2.15457857e-02 -5.51107132e-04 9.99767711e-01 5.56164331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.605099893 meters 0.016062796008964285 Centerline is valid? [True, True] Translation: X:465.16, Y:6.36, Z:5.56 [[ 9.98469522e-01 -5.12020874e-02 -2.09035787e-02 4.65155004e+02] [ 5.12025601e-02 9.98688157e-01 -5.12955610e-04 6.36034142e+00] [ 2.09024209e-02 -5.58146200e-04 9.99781365e-01 5.56265583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.635099893 meters 0.017170153823872335 Centerline is valid? [True, True] Translation: X:465.18, Y:6.36, Z:5.56 [[ 9.98426726e-01 -5.21237109e-02 -2.06686321e-02 4.65182807e+02] [ 5.21242829e-02 9.98640475e-01 -5.11419169e-04 6.35804942e+00] [ 2.06671897e-02 -5.66723062e-04 9.99786250e-01 5.56273949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.665099893 meters 0.017754858557241036 Centerline is valid? [True, True] Translation: X:465.21, Y:6.36, Z:5.56 [[ 9.98297218e-01 -5.47701496e-02 -2.00722269e-02 4.65211170e+02] [ 5.47711770e-02 9.98498808e-01 -4.98971444e-04 6.35616368e+00] [ 2.00694234e-02 -6.01257689e-04 9.99798408e-01 5.56354687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.695099893 meters 0.017413483035324584 Centerline is valid? [True, True] Translation: X:465.24, Y:6.36, Z:5.56 [[ 9.98238744e-01 -5.59385668e-02 -1.97557006e-02 4.65239606e+02] [ 5.59397327e-02 9.98434025e-01 -4.94029848e-04 6.35669920e+00] [ 1.97523990e-02 -6.11968876e-04 9.99804715e-01 5.56405126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.725099893 meters 0.017715746584970177 Centerline is valid? [True, True] Translation: X:465.27, Y:6.36, Z:5.56 [[ 9.98181474e-01 -5.67403282e-02 -2.03538567e-02 4.65268982e+02] [ 5.67416614e-02 9.98388763e-01 -5.12472802e-04 6.35668832e+00] [ 2.03501397e-02 -6.43370789e-04 9.99792707e-01 5.56440776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.755099893 meters 0.018927574541676477 Centerline is valid? [True, True] Translation: X:465.30, Y:6.35, Z:5.56 [[ 9.98220466e-01 -5.58670998e-02 -2.08511177e-02 4.65298113e+02] [ 5.58682878e-02 9.98438009e-01 -5.25998541e-04 6.35482448e+00] [ 2.08479344e-02 -6.39853735e-04 9.99782453e-01 5.56363343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.785099893 meters 0.01650080187361639 Centerline is valid? [True, True] Translation: X:465.33, Y:6.36, Z:5.56 [[ 9.98298347e-01 -5.44357804e-02 -2.09082825e-02 4.65326997e+02] [ 5.44365989e-02 9.98517088e-01 -5.30422316e-04 6.35915268e+00] [ 2.09061513e-02 -6.08656064e-04 9.99781257e-01 5.56476321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.815099893 meters 0.01598329455603707 Centerline is valid? [True, True] Translation: X:465.36, Y:6.36, Z:5.57 [[ 9.98402643e-01 -5.25245180e-02 -2.08167518e-02 4.65355521e+02] [ 5.25248044e-02 9.98619477e-01 -5.33378272e-04 6.36057870e+00] [ 2.08160292e-02 -5.60869539e-04 9.99783166e-01 5.56552111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.845099893 meters 0.015033432986617017 Centerline is valid? [True, True] Translation: X:465.38, Y:6.36, Z:5.57 [[ 9.98537276e-01 -5.00743791e-02 -2.03927577e-02 4.65384476e+02] [ 5.00740384e-02 9.98745369e-01 -5.27658522e-04 6.36338220e+00] [ 2.03935945e-02 -4.94261031e-04 9.99791907e-01 5.56669716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.875099893 meters 0.014330407311787337 Centerline is valid? [True, True] Translation: X:465.41, Y:6.37, Z:5.57 [[ 9.98858377e-01 -4.39208264e-02 -1.87857295e-02 4.65413182e+02] [ 4.39193873e-02 9.99034958e-01 -4.89363006e-04 6.36662773e+00] [ 1.87890937e-02 -3.36253392e-04 9.99823413e-01 5.56871710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.905099893 meters 0.013755681081856841 Centerline is valid? [True, True] Translation: X:465.44, Y:6.37, Z:5.57 [[ 9.98984566e-01 -4.14139691e-02 -1.77403706e-02 4.65442114e+02] [ 4.14122551e-02 9.99142037e-01 -4.64121517e-04 6.36924502e+00] [ 1.77443711e-02 -2.71018520e-04 9.99842520e-01 5.57038157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.93509989300003 meters 0.01327110483439169 Centerline is valid? [True, True] Translation: X:465.47, Y:6.37, Z:5.57 [[ 9.99070226e-01 -3.90889346e-02 -1.81861988e-02 4.65471222e+02] [ 3.90866637e-02 9.99235709e-01 -4.80436794e-04 6.37154872e+00] [ 1.81910790e-02 -2.30847741e-04 9.99834502e-01 5.57073061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.965099893 meters 0.013148987104904237 Centerline is valid? [True, True] Translation: X:465.50, Y:6.37, Z:5.57 [[ 9.99113313e-01 -3.74070943e-02 -1.93209143e-02 4.65500344e+02] [ 3.74041190e-02 9.99300088e-01 -5.15468071e-04 6.37298818e+00] [ 1.93266735e-02 -2.07670765e-04 9.99813201e-01 5.57001682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99509989300003 meters 0.01289668443688459 Centerline is valid? [True, True] Translation: X:465.53, Y:6.37, Z:5.57 [[ 9.99171787e-01 -3.49806022e-02 -2.07869570e-02 4.65529218e+02] [ 3.49765195e-02 9.99387977e-01 -5.60052059e-04 6.37446565e+00] [ 2.07938258e-02 -1.67467189e-04 9.99783771e-01 5.56895106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.025099893 meters 0.01298778565730265 Centerline is valid? [True, True] Translation: X:465.56, Y:6.37, Z:5.57 [[ 9.99180780e-01 -3.47997363e-02 -2.06578577e-02 4.65556546e+02] [ 3.47955797e-02 9.99394293e-01 -5.60726821e-04 6.37441751e+00] [ 2.06648582e-02 -1.58534670e-04 9.99786446e-01 5.56894190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05509989300003 meters 0.013068446991390576 Centerline is valid? [True, True] Translation: X:465.58, Y:6.37, Z:5.57 [[ 9.99159057e-01 -3.52831185e-02 -2.08873044e-02 4.65584277e+02] [ 3.52788914e-02 9.99377343e-01 -5.70936154e-04 6.37425702e+00] [ 2.08944432e-02 -1.66424916e-04 9.99781673e-01 5.56957797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.085099893 meters 0.013318146356282213 Centerline is valid? [True, True] Translation: X:465.61, Y:6.37, Z:5.57 [[ 9.99072172e-01 -3.78269249e-02 -2.05893042e-02 4.65612521e+02] [ 3.78232717e-02 9.99284283e-01 -5.66959850e-04 6.37168199e+00] [ 2.05960145e-02 -2.12321040e-04 9.99787857e-01 5.57000329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.115099893 meters 0.013722218371752208 Centerline is valid? [True, True] Translation: X:465.64, Y:6.37, Z:5.57 [[ 9.98971488e-01 -4.03957746e-02 -2.05948493e-02 4.65641725e+02] [ 4.03926013e-02 9.99183723e-01 -5.70213069e-04 6.37016083e+00] [ 2.06010724e-02 -2.62252938e-04 9.99787741e-01 5.57046262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.145099893 meters 0.014369581357959396 Centerline is valid? [True, True] Translation: X:465.67, Y:6.37, Z:5.57 [[ 9.98867800e-01 -4.31746661e-02 -1.99766396e-02 4.65669396e+02] [ 4.31721572e-02 9.99067492e-01 -5.57034277e-04 6.36759534e+00] [ 1.99820610e-02 -3.06031023e-04 9.99800292e-01 5.57079420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.175099893 meters 0.01490128180173996 Centerline is valid? [True, True] Translation: X:465.70, Y:6.37, Z:5.57 [[ 9.98709849e-01 -4.66603363e-02 -2.00362408e-02 4.65697899e+02] [ 4.66584432e-02 9.98910744e-01 -5.62203833e-04 6.36589283e+00] [ 2.00406488e-02 -3.73381300e-04 9.99799096e-01 5.57190275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.205099893 meters 0.016460876509173855 Centerline is valid? [True, True] Translation: X:465.73, Y:6.36, Z:5.57 [[ 9.98340648e-01 -5.41495470e-02 -1.95902384e-02 4.65727249e+02] [ 5.41491123e-02 9.98532707e-01 -5.53029795e-04 6.36107779e+00] [ 1.95914401e-02 -5.08681892e-04 9.99807940e-01 5.57315969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.235099893 meters 0.01728636265670232 Centerline is valid? [True, True] Translation: X:465.76, Y:6.36, Z:5.57 [[ 9.98143067e-01 -5.79254288e-02 -1.88431268e-02 4.65757058e+02] [ 5.79256825e-02 9.98320756e-01 -5.32794116e-04 6.35916009e+00] [ 1.88423469e-02 -5.59696226e-04 9.99822311e-01 5.57417815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.265099893 meters 0.019298482394584416 Centerline is valid? [True, True] Translation: X:465.79, Y:6.36, Z:5.57 [[ 9.97919414e-01 -6.18073836e-02 -1.83491407e-02 4.65785509e+02] [ 6.18082638e-02 9.98087906e-01 -5.19680576e-04 6.35539910e+00] [ 1.83461755e-02 -6.15529191e-04 9.99831505e-01 5.57467615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.295099893 meters 0.020401397146502652 Centerline is valid? [True, True] Translation: X:465.82, Y:6.35, Z:5.58 [[ 9.97551736e-01 -6.78029453e-02 -1.71258553e-02 4.65815391e+02] [ 6.78045784e-02 9.97698503e-01 -4.85938065e-04 6.35152859e+00] [ 1.71193883e-02 -6.76463041e-04 9.99853224e-01 5.57528139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.325099893 meters 0.021634186372714144 Centerline is valid? [True, True] Translation: X:465.85, Y:6.35, Z:5.58 [[ 9.97340074e-01 -7.08351527e-02 -1.71801758e-02 4.65845818e+02] [ 7.08372414e-02 9.97487768e-01 -4.87700967e-04 6.34972086e+00] [ 1.71715615e-02 -7.30592540e-04 9.99852291e-01 5.57539075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.355099893 meters 0.022955022096953877 Centerline is valid? [True, True] Translation: X:465.88, Y:6.35, Z:5.58 [[ 9.97133024e-01 -7.35964424e-02 -1.75868199e-02 4.65876300e+02] [ 7.35990598e-02 9.97287787e-01 -4.99244546e-04 6.34827589e+00] [ 1.75758633e-02 -7.96560183e-04 9.99845215e-01 5.57536763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.385099893 meters 0.024324470264747447 Centerline is valid? [True, True] Translation: X:465.91, Y:6.35, Z:5.58 [[ 9.96931465e-01 -7.62296502e-02 -1.77959174e-02 4.65905526e+02] [ 7.62327435e-02 9.97089922e-01 -5.05468035e-04 6.34709000e+00] [ 1.77826616e-02 -8.52714621e-04 9.99841512e-01 5.57536391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.415099893 meters 0.02582106008970098 Centerline is valid? [True, True] Translation: X:465.93, Y:6.35, Z:5.58 [[ 9.96702032e-01 -7.90456650e-02 -1.83532813e-02 4.65934873e+02] [ 7.90494132e-02 9.96870562e-01 -5.22289305e-04 6.34614620e+00] [ 1.83371306e-02 -9.30249307e-04 9.99831428e-01 5.57565883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.445099893 meters 0.024467147825648215 Centerline is valid? [True, True] Translation: X:465.96, Y:6.35, Z:5.58 [[ 9.96511379e-01 -8.15110382e-02 -1.79171095e-02 4.65964584e+02] [ 8.15149926e-02 9.96671985e-01 -5.10713590e-04 6.34926852e+00] [ 1.78991098e-02 -9.51581142e-04 9.99839345e-01 5.57645306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.475099893 meters 0.030216814373291975 Centerline is valid? [True, True] Translation: X:465.99, Y:6.34, Z:5.58 [[ 9.96094395e-01 -8.64662993e-02 -1.78755493e-02 4.65994623e+02] [ 8.64710203e-02 9.96254236e-01 -5.10097744e-04 6.34282557e+00] [ 1.78526979e-02 -1.03761148e-03 9.99840089e-01 5.57642191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.505099893 meters 0.031284169667636974 Centerline is valid? [True, True] Translation: X:466.02, Y:6.34, Z:5.58 [[ 9.95915006e-01 -8.86499822e-02 -1.71604791e-02 4.66024247e+02] [ 8.86546486e-02 9.96062304e-01 -4.90118704e-04 6.34260925e+00] [ 1.71363553e-02 -1.03323967e-03 9.99852628e-01 5.57730022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.535099893 meters 0.027657762213070602 Centerline is valid? [True, True] Translation: X:466.05, Y:6.35, Z:5.58 [[ 9.95742419e-01 -9.06824403e-02 -1.65447730e-02 4.66054466e+02] [ 9.06870503e-02 9.95879328e-01 -4.72946009e-04 6.34919691e+00] [ 1.65194853e-02 -1.02946426e-03 9.99863014e-01 5.57797000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.565099893 meters 0.02792312408429276 Centerline is valid? [True, True] Translation: X:466.09, Y:6.35, Z:5.58 [[ 9.95585894e-01 -9.23736822e-02 -1.66081419e-02 4.66085584e+02] [ 9.23785645e-02 9.95723845e-01 -4.74601457e-04 6.35109393e+00] [ 1.65809636e-02 -1.06172979e-03 9.99861963e-01 5.57835190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.595099893 meters 0.02789596897939556 Centerline is valid? [True, True] Translation: X:466.12, Y:6.36, Z:5.58 [[ 9.95394230e-01 -9.44415620e-02 -1.64656887e-02 4.66116790e+02] [ 9.44466525e-02 9.95529813e-01 -4.69928378e-04 6.35578187e+00] [ 1.64364648e-02 -1.08736518e-03 9.99864321e-01 5.57855648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.625099893 meters 0.028589832998446946 Centerline is valid? [True, True] Translation: X:466.15, Y:6.36, Z:5.58 [[ 9.95330035e-01 -9.50139886e-02 -1.70429817e-02 4.66148086e+02] [ 9.50195369e-02 9.95475289e-01 -4.85756907e-04 6.35775474e+00] [ 1.70120208e-02 -1.13592779e-03 9.99854640e-01 5.57878273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.655099893 meters 0.028809826190254316 Centerline is valid? [True, True] Translation: X:466.18, Y:6.36, Z:5.58 [[ 9.95317277e-01 -9.52063032e-02 -1.67116202e-02 4.66178999e+02] [ 9.52116750e-02 9.95456936e-01 -4.75704306e-04 6.36036169e+00] [ 1.66809882e-02 -1.11766463e-03 9.99860238e-01 5.57879878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.68509989300003 meters 0.02884027500280632 Centerline is valid? [True, True] Translation: X:466.21, Y:6.37, Z:5.58 [[ 9.95358734e-01 -9.47278082e-02 -1.69597568e-02 4.66209903e+02] [ 9.47332823e-02 9.95502573e-01 -4.82135613e-04 6.36555430e+00] [ 1.69291531e-02 -1.12675553e-03 9.99856057e-01 5.57899466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.715099893 meters 0.028473843475704884 Centerline is valid? [True, True] Translation: X:466.24, Y:6.37, Z:5.58 [[ 9.95424825e-01 -9.40625906e-02 -1.67823482e-02 4.66241106e+02] [ 9.40678669e-02 9.95565673e-01 -4.76478555e-04 6.36932002e+00] [ 1.67527486e-02 -1.10438111e-03 9.99859053e-01 5.57892322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74509989300003 meters 0.02980494596237881 Centerline is valid? [True, True] Translation: X:466.27, Y:6.37, Z:5.58 [[ 9.95529177e-01 -9.27700565e-02 -1.77587654e-02 4.66271368e+02] [ 9.27757703e-02 9.95686900e-01 -5.03618693e-04 6.37102255e+00] [ 1.77288908e-02 -1.14621604e-03 9.99842174e-01 5.57896760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.775099893 meters 0.028026178008488473 Centerline is valid? [True, True] Translation: X:466.30, Y:6.38, Z:5.58 [[ 9.95822737e-01 -8.96537149e-02 -1.72999242e-02 4.66301821e+02] [ 8.96586736e-02 9.95972430e-01 -4.90323032e-04 6.38132650e+00] [ 1.72742069e-02 -1.06281344e-03 9.99850225e-01 5.58007949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80509989300003 meters 0.026916827215309868 Centerline is valid? [True, True] Translation: X:466.33, Y:6.39, Z:5.58 [[ 9.96009706e-01 -8.75919189e-02 -1.70973998e-02 4.66333282e+02] [ 8.75964665e-02 9.96155924e-01 -4.84167499e-04 6.38732449e+00] [ 1.70740853e-02 -1.01543628e-03 9.99853712e-01 5.58080688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.835099893 meters 0.02683331684535989 Centerline is valid? [True, True] Translation: X:466.36, Y:6.39, Z:5.58 [[ 9.96431766e-01 -8.29056196e-02 -1.58238227e-02 4.66362949e+02] [ 8.29089347e-02 9.96557027e-01 -4.47525164e-04 6.39453639e+00] [ 1.58064441e-02 -8.66007994e-04 9.99874695e-01 5.58202473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.865099893 meters 0.02535136931063746 Centerline is valid? [True, True] Translation: X:466.39, Y:6.40, Z:5.58 [[ 9.96668329e-01 -8.00887831e-02 -1.54282072e-02 4.66394312e+02] [ 8.00915969e-02 9.96787412e-01 -4.36401428e-04 6.40041893e+00] [ 1.54135936e-02 -8.00722268e-04 9.99880883e-01 5.58262114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.895099893 meters 0.024770301040324325 Centerline is valid? [True, True] Translation: X:466.42, Y:6.41, Z:5.58 [[ 9.97067668e-01 -7.50668307e-02 -1.48672838e-02 4.66423431e+02] [ 7.50688924e-02 9.97178261e-01 -4.20133582e-04 6.40794742e+00] [ 1.48568703e-02 -6.97168917e-04 9.99889388e-01 5.58239399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.925099893 meters 0.021859124350343387 Centerline is valid? [True, True] Translation: X:466.45, Y:6.42, Z:5.58 [[ 9.97419872e-01 -7.01670432e-02 -1.51718736e-02 4.66453594e+02] [ 7.01686224e-02 9.97535052e-01 -4.28871722e-04 6.41922167e+00] [ 1.51645683e-02 -6.36824288e-04 9.99884809e-01 5.58246683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.955099893 meters 0.021686683349117563 Centerline is valid? [True, True] Translation: X:466.48, Y:6.42, Z:5.58 [[ 9.97566750e-01 -6.81146810e-02 -1.48650756e-02 4.66483693e+02] [ 6.81159701e-02 9.97677322e-01 -4.20155326e-04 6.42322925e+00] [ 1.48591675e-02 -5.93416060e-04 9.99889420e-01 5.58254606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.985099893 meters 0.019157022660344452 Centerline is valid? [True, True] Translation: X:466.52, Y:6.43, Z:5.58 [[ 9.97685356e-01 -6.63770456e-02 -1.47654450e-02 4.66516170e+02] [ 6.63781343e-02 9.97794453e-01 -4.16867495e-04 6.43072689e+00] [ 1.47605496e-02 -5.64200099e-04 9.99890898e-01 5.58281351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.015099893 meters 0.019157022660344452 Centerline is valid? [True, True] Translation: X:466.55, Y:6.43, Z:5.58 [[ 9.97690202e-01 -6.63041634e-02 -1.47654870e-02 4.66547866e+02] [ 6.63052663e-02 9.97799298e-01 -4.15375685e-04 6.43156155e+00] [ 1.47605337e-02 -5.64613296e-04 9.99890898e-01 5.58320535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.045099893 meters 0.018815516084868703 Centerline is valid? [True, True] Translation: X:466.58, Y:6.44, Z:5.58 [[ 9.97805929e-01 -6.46683235e-02 -1.41892892e-02 4.66579909e+02] [ 6.46691909e-02 9.97906678e-01 -3.98164891e-04 6.43519377e+00] [ 1.41853351e-02 -5.20318564e-04 9.99899248e-01 5.58366954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.075099893 meters 0.0185444772456272 Centerline is valid? [True, True] Translation: X:466.61, Y:6.44, Z:5.58 [[ 9.97903539e-01 -6.32093173e-02 -1.38964015e-02 4.66611996e+02] [ 6.32100218e-02 9.98000171e-01 -3.88952893e-04 6.43842415e+00] [ 1.38931965e-02 -4.90254370e-04 9.99903365e-01 5.58380008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.105099893 meters 0.017808329722903707 Centerline is valid? [True, True] Translation: X:466.64, Y:6.44, Z:5.58 [[ 9.98089475e-01 -6.06014913e-02 -1.20357698e-02 4.66643349e+02] [ 6.06018395e-02 9.98161963e-01 -3.36110261e-04 6.44429998e+00] [ 1.20340164e-02 -3.93921676e-04 9.99927511e-01 5.58437445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.135099893 meters 0.019034795766210328 Centerline is valid? [True, True] Translation: X:466.67, Y:6.45, Z:5.58 [[ 9.98179368e-01 -5.91199696e-02 -1.19490337e-02 4.66674257e+02] [ 5.91202118e-02 9.98250815e-01 -3.33263670e-04 6.44520715e+00] [ 1.19478352e-02 -3.73772485e-04 9.99928552e-01 5.58457789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.165099893 meters 0.019034795766210328 Centerline is valid? [True, True] Translation: X:466.71, Y:6.45, Z:5.58 [[ 9.98183451e-01 -5.90509778e-02 -1.19490515e-02 4.66705946e+02] [ 5.90512227e-02 9.98254899e-01 -3.32625280e-04 6.44602771e+00] [ 1.19478410e-02 -3.73585052e-04 9.99928552e-01 5.58496975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.195099893 meters 0.017108470701688368 Centerline is valid? [True, True] Translation: X:466.74, Y:6.45, Z:5.59 [[ 9.98286898e-01 -5.72978059e-02 -1.18419192e-02 4.66737956e+02] [ 5.72979328e-02 9.98357070e-01 -3.28833240e-04 6.45245650e+00] [ 1.18413052e-02 -3.50247577e-04 9.99929828e-01 5.58500545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.225099893 meters 0.01647269404673564 Centerline is valid? [True, True] Translation: X:466.77, Y:6.46, Z:5.59 [[ 9.98378013e-01 -5.56773287e-02 -1.18902772e-02 4.66770217e+02] [ 5.56773520e-02 9.98448759e-01 -3.29313180e-04 6.45681411e+00] [ 1.18901678e-02 -3.33240113e-04 9.99929254e-01 5.58509926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.255099893 meters 0.015548400573072383 Centerline is valid? [True, True] Translation: X:466.80, Y:6.46, Z:5.58 [[ 9.98596663e-01 -5.16273046e-02 -1.18036767e-02 4.66802048e+02] [ 5.16270549e-02 9.98666381e-01 -3.26057207e-04 6.46334527e+00] [ 1.18047685e-02 -2.83789426e-04 9.99930281e-01 5.58470954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.285099893 meters 0.016097716009472254 Centerline is valid? [True, True] Translation: X:466.83, Y:6.46, Z:5.59 [[ 9.98696398e-01 -4.97654419e-02 -1.13536874e-02 4.66832986e+02] [ 4.97650983e-02 9.98760901e-01 -3.12954331e-04 6.46455128e+00] [ 1.13551934e-02 -2.52471006e-04 9.99935496e-01 5.58515632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.315099893 meters 0.01591921184600377 Centerline is valid? [True, True] Translation: X:466.86, Y:6.47, Z:5.59 [[ 9.98801882e-01 -4.76934099e-02 -1.09608225e-02 4.66864472e+02] [ 4.76929712e-02 9.98861997e-01 -3.01551048e-04 6.46695778e+00] [ 1.09627311e-02 -2.21564439e-04 9.99939883e-01 5.58521446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.345099893 meters 0.0145288539250072 Centerline is valid? [True, True] Translation: X:466.90, Y:6.47, Z:5.59 [[ 9.98974623e-01 -4.41324968e-02 -1.01007363e-02 4.66896363e+02] [ 4.41319466e-02 9.99025672e-01 -2.77459748e-04 6.47291322e+00] [ 1.01031399e-02 -1.68589909e-04 9.99948948e-01 5.58532034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.375099893 meters 0.01470433252874439 Centerline is valid? [True, True] Translation: X:466.93, Y:6.47, Z:5.59 [[ 9.99044786e-01 -4.25674363e-02 -9.87568061e-03 4.66927937e+02] [ 4.25668410e-02 9.99093585e-01 -2.70554094e-04 6.47428293e+00] [ 9.87824593e-03 -1.50080870e-04 9.99951198e-01 5.58581865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.405099893 meters 0.013713633504473645 Centerline is valid? [True, True] Translation: X:466.96, Y:6.48, Z:5.59 [[ 9.99105367e-01 -4.12229872e-02 -9.44088804e-03 4.66959655e+02] [ 4.12223871e-02 9.99149963e-01 -2.58234207e-04 6.47891996e+00] [ 9.44350812e-03 -1.31172760e-04 9.99955400e-01 5.58582528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.43509989300003 meters 0.013676980865526326 Centerline is valid? [True, True] Translation: X:466.99, Y:6.48, Z:5.59 [[ 9.99148789e-01 -4.03810254e-02 -8.43027069e-03 4.66991383e+02] [ 4.03805213e-02 9.99184348e-01 -2.30071417e-04 6.48095825e+00] [ 8.43268504e-03 -1.10543147e-04 9.99964438e-01 5.58650518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.465099893 meters 0.013736734927688392 Centerline is valid? [True, True] Translation: X:467.02, Y:6.48, Z:5.59 [[ 9.99172814e-01 -3.98637394e-02 -8.03554169e-03 4.67022863e+02] [ 3.98632673e-02 9.99205120e-01 -2.18970756e-04 6.48222727e+00] [ 8.03788339e-03 -1.01533320e-04 9.99967691e-01 5.58652001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49509989300003 meters 0.013695637418863189 Centerline is valid? [True, True] Translation: X:467.06, Y:6.48, Z:5.59 [[ 9.99162350e-01 -4.00547846e-02 -8.37928244e-03 4.67055361e+02] [ 4.00542889e-02 9.99197479e-01 -2.27038181e-04 6.48289224e+00] [ 8.38165185e-03 -1.08778197e-04 9.99964867e-01 5.58652527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.525099893 meters 0.013622305203300409 Centerline is valid? [True, True] Translation: X:467.09, Y:6.48, Z:5.59 [[ 9.99142040e-01 -4.06408527e-02 -7.96902745e-03 4.67087237e+02] [ 4.06404271e-02 9.99173813e-01 -2.15397443e-04 6.48354718e+00] [ 7.97119748e-03 -1.08652038e-04 9.99968224e-01 5.58632349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55509989300003 meters 0.01433568078321261 Centerline is valid? [True, True] Translation: X:467.12, Y:6.48, Z:5.59 [[ 9.99047907e-01 -4.28873294e-02 -7.99722831e-03 4.67118613e+02] [ 4.28869782e-02 9.99079907e-01 -2.15483128e-04 6.48160087e+00] [ 7.99911161e-03 -1.27698989e-04 9.99967998e-01 5.58580999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.585099893 meters 0.014399603739002778 Centerline is valid? [True, True] Translation: X:467.15, Y:6.48, Z:5.59 [[ 9.98992347e-01 -4.41265358e-02 -8.19386738e-03 4.67151118e+02] [ 4.41262120e-02 9.99025940e-01 -2.20387133e-04 6.48173912e+00] [ 8.19561098e-03 -1.41399270e-04 9.99966405e-01 5.58575721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.615099893 meters 0.014797815522708938 Centerline is valid? [True, True] Translation: X:467.18, Y:6.48, Z:5.59 [[ 9.98926981e-01 -4.56351890e-02 -7.89401353e-03 4.67183449e+02] [ 4.56349398e-02 9.98958161e-01 -2.11780349e-04 6.48111854e+00] [ 7.89545387e-03 -1.48689727e-04 9.99968819e-01 5.58557405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.645099893 meters 0.01526273547910922 Centerline is valid? [True, True] Translation: X:467.22, Y:6.48, Z:5.59 [[ 9.98842760e-01 -4.75204242e-02 -7.41287362e-03 4.67215663e+02] [ 4.75202599e-02 9.98870255e-01 -1.98387607e-04 6.48005792e+00] [ 7.41392643e-03 -1.54103657e-04 9.99972505e-01 5.58557653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.675099893 meters 0.01668149488675309 Centerline is valid? [True, True] Translation: X:467.25, Y:6.48, Z:5.59 [[ 9.98613549e-01 -5.20619380e-02 -7.78040565e-03 4.67246383e+02] [ 5.20619008e-02 9.98643838e-01 -2.07453368e-04 6.47627924e+00] [ 7.78065458e-03 -1.97896962e-04 9.99969711e-01 5.58525520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.705099893 meters 0.01746576548874819 Centerline is valid? [True, True] Translation: X:467.28, Y:6.47, Z:5.59 [[ 9.98469401e-01 -5.48391736e-02 -7.17782659e-03 4.67278451e+02] [ 5.48392139e-02 9.98495180e-01 -1.91346857e-04 6.47456841e+00] [ 7.17751855e-03 -2.02572386e-04 9.99974221e-01 5.58514398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.735099893 meters 0.018681160429168283 Centerline is valid? [True, True] Translation: X:467.31, Y:6.47, Z:5.59 [[ 9.98320773e-01 -5.74696999e-02 -7.27108499e-03 4.67310038e+02] [ 5.74698155e-02 9.98347226e-01 -1.93210142e-04 6.47225145e+00] [ 7.27017125e-03 -2.24982215e-04 9.99973547e-01 5.58506724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.765099893 meters 0.019360352872601478 Centerline is valid? [True, True] Translation: X:467.34, Y:6.47, Z:5.59 [[ 9.98167658e-01 -6.01144793e-02 -6.89756097e-03 4.67342041e+02] [ 6.01146480e-02 9.98191462e-01 -1.83050520e-04 6.47111117e+00] [ 6.89609046e-03 -2.31929341e-04 9.99976195e-01 5.58504287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.795099893 meters 0.020451486341542036 Centerline is valid? [True, True] Translation: X:467.37, Y:6.47, Z:5.58 [[ 9.97854392e-01 -6.51339672e-02 -6.64669982e-03 4.67373052e+02] [ 6.51342400e-02 9.97876495e-01 -1.75646812e-04 6.46895173e+00] [ 6.64402610e-03 -2.57657799e-04 9.99977895e-01 5.58490323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.825099893 meters 0.02364504308957399 Centerline is valid? [True, True] Translation: X:467.40, Y:6.46, Z:5.59 [[ 9.97714291e-01 -6.72198302e-02 -6.90571487e-03 4.67404601e+02] [ 6.72201741e-02 9.97738149e-01 -1.82553973e-04 6.46449980e+00] [ 6.90236642e-03 -2.82066648e-04 9.99976139e-01 5.58550326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.855099893 meters 0.02111516112839658 Centerline is valid? [True, True] Translation: X:467.44, Y:6.47, Z:5.59 [[ 9.97548762e-01 -6.96858867e-02 -6.35173385e-03 4.67436318e+02] [ 6.96862293e-02 9.97568946e-01 -1.67629694e-04 6.46899218e+00] [ 6.34797387e-03 -2.75409588e-04 9.99979813e-01 5.58538292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.885099893 meters 0.0244315818999118 Centerline is valid? [True, True] Translation: X:467.47, Y:6.46, Z:5.59 [[ 9.97196002e-01 -7.44838119e-02 -7.23150675e-03 4.67466782e+02] [ 7.44843868e-02 9.97222162e-01 -1.90162764e-04 6.46466379e+00] [ 7.22558284e-03 -3.49004797e-04 9.99973834e-01 5.58576972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.915099893 meters 0.023469126171407288 Centerline is valid? [True, True] Translation: X:467.50, Y:6.47, Z:5.59 [[ 9.97017205e-01 -7.68104051e-02 -7.54026359e-03 4.67498614e+02] [ 7.68110963e-02 9.97045644e-01 -1.98312809e-04 6.46681633e+00] [ 7.53321946e-03 -3.81454631e-04 9.99971552e-01 5.58569097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.945099893 meters 0.02558804620804704 Centerline is valid? [True, True] Translation: X:467.53, Y:6.46, Z:5.59 [[ 9.96879553e-01 -7.85196233e-02 -8.11324308e-03 4.67530225e+02] [ 7.85204840e-02 9.96912478e-01 -2.12882410e-04 6.46472863e+00] [ 8.10490871e-03 -4.24837652e-04 9.99967064e-01 5.58621593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.975099893 meters 0.02583197294780449 Centerline is valid? [True, True] Translation: X:467.56, Y:6.47, Z:5.59 [[ 9.96780247e-01 -7.97352608e-02 -8.45149156e-03 4.67562440e+02] [ 7.97362419e-02 9.96815972e-01 -2.21334112e-04 6.46561311e+00] [ 8.44222991e-03 -4.53268704e-04 9.99964261e-01 5.58649319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.005099893 meters 0.02789143040425483 Centerline is valid? [True, True] Translation: X:467.59, Y:6.46, Z:5.59 [[ 9.96661765e-01 -8.11522668e-02 -8.92383343e-03 4.67593206e+02] [ 8.11534219e-02 9.96701594e-01 -2.33189661e-04 6.46476756e+00] [ 8.91332287e-03 -4.91788400e-04 9.99960155e-01 5.58699218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.035099893 meters 0.028425338899347487 Centerline is valid? [True, True] Translation: X:467.63, Y:6.47, Z:5.59 [[ 9.96659076e-01 -8.11968752e-02 -8.81780263e-03 4.67625860e+02] [ 8.11980161e-02 9.96697963e-01 -2.29132888e-04 6.46553008e+00] [ 8.80729080e-03 -4.87620708e-04 9.99961096e-01 5.58773225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.065099893 meters 0.027225141307094993 Centerline is valid? [True, True] Translation: X:467.66, Y:6.47, Z:5.59 [[ 9.96669832e-01 -8.10083999e-02 -9.32116718e-03 4.67657817e+02] [ 8.10096731e-02 9.96713286e-01 -2.41508517e-04 6.46896918e+00] [ 9.31009539e-03 -5.14400453e-04 9.99956528e-01 5.58830432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.095099893 meters 0.026882388362168164 Centerline is valid? [True, True] Translation: X:467.69, Y:6.47, Z:5.59 [[ 9.96731319e-01 -8.02446275e-02 -9.35294907e-03 4.67689688e+02] [ 8.02458821e-02 9.96775070e-01 -2.41658280e-04 6.47141316e+00] [ 9.34217824e-03 -5.09667273e-04 9.99956231e-01 5.58864326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.125099893 meters 0.02556968390216085 Centerline is valid? [True, True] Translation: X:467.72, Y:6.48, Z:5.59 [[ 9.96890899e-01 -7.81404412e-02 -1.01294954e-02 4.67721152e+02] [ 7.81418135e-02 9.96942219e-01 -2.60842775e-04 6.47651768e+00] [ 1.01189040e-02 -5.31505350e-04 9.99948661e-01 5.58856264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.155099893 meters 0.02838557882161264 Centerline is valid? [True, True] Translation: X:467.75, Y:6.47, Z:5.59 [[ 9.96978814e-01 -7.69410759e-02 -1.06449895e-02 4.67752145e+02] [ 7.69425272e-02 9.97035492e-01 -2.73738634e-04 6.47472114e+00] [ 1.06344941e-02 -5.46140776e-04 9.99943303e-01 5.58893337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.18509989300003 meters 0.02360675477316608 Centerline is valid? [True, True] Translation: X:467.78, Y:6.48, Z:5.59 [[ 9.97074923e-01 -7.56751534e-02 -1.07177254e-02 4.67783708e+02] [ 7.56765576e-02 9.97132380e-01 -2.75060904e-04 6.48377795e+00] [ 1.07078063e-02 -5.36824235e-04 9.99942526e-01 5.58891210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.215099893 meters 0.02497844486075376 Centerline is valid? [True, True] Translation: X:467.81, Y:6.49, Z:5.59 [[ 9.97214672e-01 -7.36877304e-02 -1.15332951e-02 4.67814342e+02] [ 7.36892347e-02 9.97281209e-01 -2.95045321e-04 6.48630110e+00] [ 1.15236797e-02 -5.55656169e-04 9.99933446e-01 5.58937356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24509989300003 meters 0.022801324448232255 Centerline is valid? [True, True] Translation: X:467.85, Y:6.49, Z:5.59 [[ 9.97296311e-01 -7.25180159e-02 -1.18829758e-02 4.67846539e+02] [ 7.25195350e-02 9.97366946e-01 -3.03560707e-04 6.49224448e+00] [ 1.18737009e-02 -5.59007908e-04 9.99929349e-01 5.58970908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.275099893 meters 0.023241539730214228 Centerline is valid? [True, True] Translation: X:467.88, Y:6.49, Z:5.59 [[ 9.97393638e-01 -7.10992083e-02 -1.22814593e-02 4.67877599e+02] [ 7.11007352e-02 9.97469091e-01 -3.12810024e-04 6.49412683e+00] [ 1.22726166e-02 -5.61226059e-04 9.99924531e-01 5.58987441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30509989300003 meters 0.021749853252579086 Centerline is valid? [True, True] Translation: X:467.91, Y:6.50, Z:5.59 [[ 9.97489333e-01 -6.96563785e-02 -1.27678949e-02 4.67910105e+02] [ 6.96579203e-02 9.97570884e-01 -3.24450117e-04 6.49902015e+00] [ 1.27594802e-02 -5.65749473e-04 9.99918434e-01 5.59024608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.335099893 meters 0.0211046633394723 Centerline is valid? [True, True] Translation: X:467.94, Y:6.50, Z:5.59 [[ 9.97726204e-01 -6.61815013e-02 -1.27447935e-02 4.67941197e+02] [ 6.61827737e-02 9.97807465e-01 -3.22363948e-04 6.50419273e+00] [ 1.27381846e-02 -5.21854824e-04 9.99918730e-01 5.59045636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.365099893 meters 0.021788458603699705 Centerline is valid? [True, True] Translation: X:467.97, Y:6.51, Z:5.59 [[ 9.97872278e-01 -6.39171621e-02 -1.28652060e-02 4.67971311e+02] [ 6.39182767e-02 9.97955083e-01 -3.24945423e-04 6.50564210e+00] [ 1.28596673e-02 -4.98067767e-04 9.99917187e-01 5.59115409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.395099893 meters 0.021091039232872037 Centerline is valid? [True, True] Translation: X:468.00, Y:6.51, Z:5.59 [[ 9.98044507e-01 -6.12774030e-02 -1.23386103e-02 4.68003006e+02] [ 6.12782293e-02 9.98120675e-01 -3.11433416e-04 6.50942045e+00] [ 1.23345058e-02 -4.45263780e-04 9.99923828e-01 5.59199454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.425099893 meters 0.01819128251906881 Centerline is valid? [True, True] Translation: X:468.03, Y:6.52, Z:5.59 [[ 9.98394206e-01 -5.53388728e-02 -1.21085791e-02 4.68033974e+02] [ 5.53392420e-02 9.98467564e-01 -3.04811941e-04 6.51903160e+00] [ 1.21068914e-02 -3.65757114e-04 9.99926642e-01 5.59322616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.455099893 meters 0.017194582546508012 Centerline is valid? [True, True] Translation: X:468.07, Y:6.52, Z:5.59 [[ 9.98548488e-01 -5.23936647e-02 -1.24828480e-02 4.68065968e+02] [ 5.23938309e-02 9.98626451e-01 -3.13932751e-04 6.52378034e+00] [ 1.24821503e-02 -3.40547156e-04 9.99922037e-01 5.59353167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.485099893 meters 0.016840947654384323 Centerline is valid? [True, True] Translation: X:468.10, Y:6.53, Z:5.59 [[ 9.98689375e-01 -4.95558754e-02 -1.27963794e-02 4.68096885e+02] [ 4.95558293e-02 9.98771304e-01 -3.20879749e-04 6.52713354e+00] [ 1.27965580e-02 -3.13675996e-04 9.99918071e-01 5.59367429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.515099893 meters 0.016018009066642618 Centerline is valid? [True, True] Translation: X:468.13, Y:6.53, Z:5.59 [[ 9.98904443e-01 -4.47088043e-02 -1.38215942e-02 4.68127301e+02] [ 4.47082970e-02 9.99000024e-01 -3.45839815e-04 6.53269098e+00] [ 1.38232350e-02 -2.72479010e-04 9.99904417e-01 5.59320805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.545099893 meters 0.015469091553073579 Centerline is valid? [True, True] Translation: X:468.16, Y:6.54, Z:5.59 [[ 9.98979307e-01 -4.27560174e-02 -1.45694013e-02 4.68159734e+02] [ 4.27552519e-02 9.99085510e-01 -3.64160202e-04 6.53593553e+00] [ 1.45716478e-02 -2.59129917e-04 9.99893794e-01 5.59306183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.575099893 meters 0.015169170941062193 Centerline is valid? [True, True] Translation: X:468.19, Y:6.54, Z:5.59 [[ 9.99040855e-01 -4.12008486e-02 -1.48277081e-02 4.68191570e+02] [ 4.11998995e-02 9.99150855e-01 -3.69593862e-04 6.53835252e+00] [ 1.48303448e-02 -2.41660718e-04 9.99889995e-01 5.59300141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.605099893 meters 0.015010083780343238 Centerline is valid? [True, True] Translation: X:468.22, Y:6.54, Z:5.59 [[ 9.99078587e-01 -4.01322598e-02 -1.52111316e-02 4.68223653e+02] [ 4.01311505e-02 9.99194349e-01 -3.78278270e-04 6.54027424e+00] [ 1.52140579e-02 -2.32510491e-04 9.99884232e-01 5.59327516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.635099893 meters 0.01499666456187788 Centerline is valid? [True, True] Translation: X:468.26, Y:6.54, Z:5.59 [[ 9.99104009e-01 -3.94381254e-02 -1.53562338e-02 4.68255925e+02] [ 3.94369297e-02 9.99221989e-01 -3.80795464e-04 6.54206178e+00] [ 1.53593043e-02 -2.25148437e-04 9.99882014e-01 5.59373715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.665099893 meters 0.0150730962290216 Centerline is valid? [True, True] Translation: X:468.29, Y:6.54, Z:5.59 [[ 9.99129210e-01 -3.89266533e-02 -1.50178779e-02 4.68286893e+02] [ 3.89254694e-02 9.99242048e-01 -3.71241109e-04 6.54374944e+00] [ 1.50209463e-02 -2.13660111e-04 9.99887156e-01 5.59462712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.695099893 meters 0.015100859295326455 Centerline is valid? [True, True] Translation: X:468.32, Y:6.54, Z:5.60 [[ 9.99135625e-01 -3.89896911e-02 -1.44155340e-02 4.68319483e+02] [ 3.89886291e-02 9.99239591e-01 -3.54805305e-04 6.54495552e+00] [ 1.44184061e-02 -2.07543289e-04 9.99896028e-01 5.59537889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.725099893 meters 0.014588240080667884 Centerline is valid? [True, True] Translation: X:468.35, Y:6.55, Z:5.60 [[ 9.99116179e-01 -3.94704946e-02 -1.44548032e-02 4.68352021e+02] [ 3.94694917e-02 9.99220713e-01 -3.54766892e-04 6.54743669e+00] [ 1.44575416e-02 -2.16070394e-04 9.99895461e-01 5.59589647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.755099893 meters 0.014804522768228419 Centerline is valid? [True, True] Translation: X:468.38, Y:6.55, Z:5.60 [[ 9.99054905e-01 -4.11439826e-02 -1.40167900e-02 4.68384666e+02] [ 4.11432181e-02 9.99153200e-01 -3.43015208e-04 6.54719472e+00] [ 1.40190336e-02 -2.34004822e-04 9.99901701e-01 5.59583136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.785099893 meters 0.016071946380702213 Centerline is valid? [True, True] Translation: X:468.42, Y:6.54, Z:5.60 [[ 9.99011765e-01 -4.21654449e-02 -1.40559416e-02 4.68415947e+02] [ 4.21647914e-02 9.99110611e-01 -3.42971892e-04 6.54439617e+00] [ 1.40579020e-02 -2.50032892e-04 9.99901152e-01 5.59602929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.815099893 meters 0.015511217416541621 Centerline is valid? [True, True] Translation: X:468.45, Y:6.55, Z:5.60 [[ 9.98958402e-01 -4.35733836e-02 -1.35451476e-02 4.68447941e+02] [ 4.35729160e-02 9.99050195e-01 -3.29772553e-04 6.54618081e+00] [ 1.35466517e-02 -2.60772516e-04 9.99908206e-01 5.59666769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.845099893 meters 0.015644561116514084 Centerline is valid? [True, True] Translation: X:468.48, Y:6.55, Z:5.60 [[ 9.98891392e-01 -4.51606500e-02 -1.32853968e-02 4.68479959e+02] [ 4.51603529e-02 9.98979699e-01 -3.22511652e-04 6.54620891e+00] [ 1.32864065e-02 -2.77819094e-04 9.99911693e-01 5.59737599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.875099893 meters 0.0163471594456681 Centerline is valid? [True, True] Translation: X:468.51, Y:6.54, Z:5.60 [[ 9.98696328e-01 -4.94003187e-02 -1.28550996e-02 4.68512457e+02] [ 4.94004032e-02 9.98779006e-01 -3.11160523e-04 6.54448041e+00] [ 1.28547751e-02 -3.24292232e-04 9.99917321e-01 5.59798085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.905099893 meters 0.017798623122425205 Centerline is valid? [True, True] Translation: X:468.54, Y:6.54, Z:5.60 [[ 9.98554393e-01 -5.21286873e-02 -1.31043553e-02 4.68543838e+02] [ 5.21290229e-02 9.98640308e-01 -3.16193870e-04 6.54169630e+00] [ 1.31030202e-02 -3.67380462e-04 9.99914084e-01 5.59801702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.93509989300003 meters 0.01837869654975992 Centerline is valid? [True, True] Translation: X:468.58, Y:6.54, Z:5.60 [[ 9.98393075e-01 -5.51479473e-02 -1.30373199e-02 4.68575942e+02] [ 5.51485536e-02 9.98478111e-01 -3.13274821e-04 6.54035695e+00] [ 1.30347550e-02 -4.06217922e-04 9.99914961e-01 5.59796138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.965099893 meters 0.019469391744985853 Centerline is valid? [True, True] Translation: X:468.61, Y:6.54, Z:5.60 [[ 9.98212577e-01 -5.82509102e-02 -1.33597513e-02 4.68608056e+02] [ 5.82518375e-02 9.98301869e-01 -3.20040939e-04 6.53815372e+00] [ 1.33557074e-02 -4.58761172e-04 9.99910703e-01 5.59782082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99509989300003 meters 0.02240297428030047 Centerline is valid? [True, True] Translation: X:468.64, Y:6.53, Z:5.60 [[ 9.97828165e-01 -6.45056444e-02 -1.33407104e-02 4.68637851e+02] [ 6.45071394e-02 9.97917195e-01 -3.18665653e-04 6.53188874e+00] [ 1.33334800e-02 -5.42597499e-04 9.99910958e-01 5.59749968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.025099893 meters 0.02240297428030047 Centerline is valid? [True, True] Translation: X:468.67, Y:6.53, Z:5.60 [[ 9.97832703e-01 -6.44354093e-02 -1.33407221e-02 4.68669556e+02] [ 6.44369046e-02 9.97921732e-01 -3.18173112e-04 6.53258502e+00] [ 1.33334981e-02 -5.42151302e-04 9.99910958e-01 5.59789174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05509989300003 meters 0.022933146233466557 Centerline is valid? [True, True] Translation: X:468.70, Y:6.53, Z:5.60 [[ 9.97631626e-01 -6.73955074e-02 -1.37471498e-02 4.68700635e+02] [ 6.73973883e-02 9.97726157e-01 -3.26944608e-04 6.53126902e+00] [ 1.37379255e-02 -6.00351712e-04 9.99905450e-01 5.59768272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.085099893 meters 0.024763963520452726 Centerline is valid? [True, True] Translation: X:468.73, Y:6.53, Z:5.60 [[ 9.97417594e-01 -7.04136793e-02 -1.41441748e-02 4.68730391e+02] [ 7.04159786e-02 9.97517658e-01 -3.36008796e-04 6.52834255e+00] [ 1.41327237e-02 -6.60834825e-04 9.99899910e-01 5.59747175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.115099893 meters 0.023558552870129947 Centerline is valid? [True, True] Translation: X:468.76, Y:6.53, Z:5.60 [[ 9.97224035e-01 -7.30843999e-02 -1.42440851e-02 4.68761435e+02] [ 7.30870192e-02 9.97325510e-01 -3.37282029e-04 6.53000916e+00] [ 1.42306395e-02 -7.04711977e-04 9.99898491e-01 5.59753321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.145099893 meters 0.02533036433834316 Centerline is valid? [True, True] Translation: X:468.79, Y:6.53, Z:5.60 [[ 9.96910261e-01 -7.71926415e-02 -1.45336824e-02 4.68792509e+02] [ 7.71958076e-02 9.97015892e-01 -3.43869754e-04 6.52719234e+00] [ 1.45168565e-02 -7.79132062e-04 9.99894321e-01 5.59703976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.175099893 meters 0.026241048070730712 Centerline is valid? [True, True] Translation: X:468.82, Y:6.53, Z:5.60 [[ 9.96797595e-01 -7.86483509e-02 -1.44565074e-02 4.68824340e+02] [ 7.86516409e-02 9.96902103e-01 -3.41706472e-04 6.52650711e+00] [ 1.44385973e-02 -7.96415842e-04 9.99895441e-01 5.59750429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.205099893 meters 0.027117563946069387 Centerline is valid? [True, True] Translation: X:468.86, Y:6.53, Z:5.60 [[ 9.96729498e-01 -7.95694187e-02 -1.41072754e-02 4.68856721e+02] [ 7.95726546e-02 9.96829013e-01 -3.32669461e-04 6.52598436e+00] [ 1.40890118e-02 -7.90971890e-04 9.99900432e-01 5.59782538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.235099893 meters 0.028764687426864447 Centerline is valid? [True, True] Translation: X:468.89, Y:6.53, Z:5.60 [[ 9.96626556e-01 -8.09195321e-02 -1.36944431e-02 4.68888217e+02] [ 8.09227212e-02 9.96720327e-01 -3.21999084e-04 6.52518854e+00] [ 1.36755858e-02 -7.87278761e-04 9.99906175e-01 5.59892477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.265099893 meters 0.029736285719649827 Centerline is valid? [True, True] Translation: X:468.92, Y:6.52, Z:5.60 [[ 9.96614887e-01 -8.11137644e-02 -1.33912056e-02 4.68919700e+02] [ 8.11168406e-02 9.96704550e-01 -3.14165749e-04 6.52483390e+00] [ 1.33725587e-02 -7.73150025e-04 9.99910284e-01 5.59921067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.295099893 meters 0.029971966594714662 Centerline is valid? [True, True] Translation: X:468.95, Y:6.53, Z:5.60 [[ 9.96596154e-01 -8.13156002e-02 -1.35601970e-02 4.68952114e+02] [ 8.13187834e-02 9.96688093e-01 -3.17382123e-04 6.52559021e+00] [ 1.35410950e-02 -7.86396921e-04 9.99908006e-01 5.59938595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.325099893 meters 0.03039272065724191 Centerline is valid? [True, True] Translation: X:468.98, Y:6.53, Z:5.60 [[ 9.96529120e-01 -8.19423894e-02 -1.46682800e-02 4.68984640e+02] [ 8.19461979e-02 9.96636696e-01 -3.42217441e-04 6.52703684e+00] [ 1.46469883e-02 -8.60980134e-04 9.99892356e-01 5.59892167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.355099893 meters 0.030860570929379855 Centerline is valid? [True, True] Translation: X:469.02, Y:6.53, Z:5.60 [[ 9.96488961e-01 -8.23029406e-02 -1.53615171e-02 4.69016543e+02] [ 8.23071776e-02 9.96606944e-01 -3.57274943e-04 6.52748771e+00] [ 1.53387994e-02 -9.08342577e-04 9.99881941e-01 5.59834291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.385099893 meters 0.030861810604132747 Centerline is valid? [True, True] Translation: X:469.05, Y:6.53, Z:5.60 [[ 9.96462728e-01 -8.24321140e-02 -1.63394794e-02 4.69049098e+02] [ 8.24369445e-02 9.96596210e-01 -3.78823797e-04 6.52840403e+00] [ 1.63150904e-02 -9.69492959e-04 9.99866430e-01 5.59766648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.415099893 meters 0.02997257212964303 Centerline is valid? [True, True] Translation: X:469.08, Y:6.53, Z:5.60 [[ 9.96434898e-01 -8.25943698e-02 -1.71948882e-02 4.69081202e+02] [ 8.25997651e-02 9.96582722e-01 -3.97406149e-04 6.53055182e+00] [ 1.71689520e-02 -1.02430437e-03 9.99852078e-01 5.59731479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.445099893 meters 0.030625667089047667 Centerline is valid? [True, True] Translation: X:469.11, Y:6.53, Z:5.60 [[ 9.96421381e-01 -8.25157462e-02 -1.83189512e-02 4.69113482e+02] [ 8.25218816e-02 9.96589164e-01 -4.22038606e-04 6.53194223e+00] [ 1.82912931e-02 -1.09118603e-03 9.99832105e-01 5.59680374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.475099893 meters 0.03180654089469635 Centerline is valid? [True, True] Translation: X:469.14, Y:6.53, Z:5.60 [[ 9.96477054e-01 -8.18837242e-02 -1.81255885e-02 4.69144444e+02] [ 8.18896475e-02 9.96641316e-01 -4.16426220e-04 6.53205585e+00] [ 1.80988089e-02 -1.06933888e-03 9.99835631e-01 5.59672615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.505099893 meters 0.031248144421063596 Centerline is valid? [True, True] Translation: X:469.18, Y:6.53, Z:5.60 [[ 9.96562150e-01 -8.07192722e-02 -1.86622724e-02 4.69176955e+02] [ 8.07253706e-02 9.96736290e-01 -4.27550706e-04 6.53498592e+00] [ 1.86358757e-02 -1.08043800e-03 9.99825753e-01 5.59728307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.535099893 meters 0.03008048661808715 Centerline is valid? [True, True] Translation: X:469.21, Y:6.54, Z:5.60 [[ 9.96681213e-01 -7.92688013e-02 -1.85206953e-02 4.69208645e+02] [ 7.92745832e-02 9.96852728e-01 -4.22933808e-04 6.53913161e+00] [ 1.84959311e-02 -1.04669022e-03 9.99828388e-01 5.59825733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.565099893 meters 0.028943119304163864 Centerline is valid? [True, True] Translation: X:469.24, Y:6.54, Z:5.60 [[ 9.96850439e-01 -7.71010256e-02 -1.85643363e-02 4.69239841e+02] [ 7.71064760e-02 9.97022774e-01 -4.23070485e-04 6.54380842e+00] [ 1.85416852e-02 -1.00969255e-03 9.99827578e-01 5.59915285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.595099893 meters 0.02857343436197917 Centerline is valid? [True, True] Translation: X:469.27, Y:6.55, Z:5.60 [[ 9.97283308e-01 -7.14757347e-02 -1.78107422e-02 4.69268811e+02] [ 7.14798622e-02 9.97441961e-01 -4.05575737e-04 6.54997456e+00] [ 1.77941704e-02 -8.68635481e-04 9.99841294e-01 5.60084218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.625099893 meters 0.027203705493853533 Centerline is valid? [True, True] Translation: X:469.30, Y:6.55, Z:5.60 [[ 9.97516613e-01 -6.82347934e-02 -1.74533469e-02 4.69299591e+02] [ 6.82382596e-02 9.97668974e-01 -3.97558590e-04 6.55484216e+00] [ 1.74397901e-02 -7.94414720e-04 9.99847600e-01 5.60145809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.655099893 meters 0.02296073981631122 Centerline is valid? [True, True] Translation: X:469.33, Y:6.56, Z:5.60 [[ 9.97741242e-01 -6.50355025e-02 -1.68165877e-02 4.69331441e+02] [ 6.50382740e-02 9.97882697e-01 -3.82619648e-04 6.56381018e+00] [ 1.68058657e-02 -7.11966436e-04 9.99858518e-01 5.60285244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.68509989300003 meters 0.020167618739461938 Centerline is valid? [True, True] Translation: X:469.36, Y:6.57, Z:5.60 [[ 9.97957987e-01 -6.16481353e-02 -1.67141919e-02 4.69362574e+02] [ 6.16504123e-02 9.98097732e-01 -3.79479978e-04 6.57073349e+00] [ 1.67057913e-02 -6.51731747e-04 9.99860236e-01 5.60388522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.715099893 meters 0.02114965511060471 Centerline is valid? [True, True] Translation: X:469.39, Y:6.57, Z:5.60 [[ 9.98162679e-01 -5.83913640e-02 -1.61775948e-02 4.69393048e+02] [ 5.83930781e-02 9.98293601e-01 -3.66789276e-04 6.57193088e+00] [ 1.61714067e-02 -5.78544190e-04 9.99869067e-01 5.60414141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74509989300003 meters 0.017592369829511196 Centerline is valid? [True, True] Translation: X:469.42, Y:6.58, Z:5.60 [[ 9.98526632e-01 -5.17216405e-02 -1.64145220e-02 4.69423280e+02] [ 5.17225084e-02 9.98661426e-01 -3.71932251e-04 6.58274339e+00] [ 1.64117869e-02 -4.77615994e-04 9.99865203e-01 5.60450167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.775099893 meters 0.017394440067383544 Centerline is valid? [True, True] Translation: X:469.45, Y:6.59, Z:5.60 [[ 9.98671276e-01 -4.86674341e-02 -1.69458925e-02 4.69454599e+02] [ 4.86679239e-02 9.98814941e-01 -3.83728029e-04 6.58584313e+00] [ 1.69444856e-02 -4.41503244e-04 9.99856334e-01 5.60470912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.805099893 meters 0.01629160474221765 Centerline is valid? [True, True] Translation: X:469.49, Y:6.59, Z:5.60 [[ 9.98789019e-01 -4.59538903e-02 -1.75708606e-02 4.69486767e+02] [ 4.59540158e-02 9.98943477e-01 -3.96824875e-04 6.59071008e+00] [ 1.75705322e-02 -4.11107278e-04 9.99845542e-01 5.60480721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.835099893 meters 0.015672386675373955 Centerline is valid? [True, True] Translation: X:469.52, Y:6.59, Z:5.60 [[ 9.98914519e-01 -4.29897867e-02 -1.79349606e-02 4.69518060e+02] [ 4.29894597e-02 9.99075444e-01 -4.03949668e-04 6.59465446e+00] [ 1.79357444e-02 -3.67503078e-04 9.99839074e-01 5.60491428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.865099893 meters 0.014519370780994308 Centerline is valid? [True, True] Translation: X:469.55, Y:6.60, Z:5.60 [[ 9.99064538e-01 -3.85491379e-02 -1.95962357e-02 4.69549409e+02] [ 3.85479081e-02 9.99256656e-01 -4.40625307e-04 6.60153246e+00] [ 1.95986547e-02 -3.15180774e-04 9.99807878e-01 5.60492571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.895099893 meters 0.014476572371934008 Centerline is valid? [True, True] Translation: X:469.58, Y:6.60, Z:5.60 [[ 9.99134182e-01 -3.64661016e-02 -2.00277445e-02 4.69579758e+02] [ 3.64644106e-02 9.99334851e-01 -4.49732796e-04 6.60358172e+00] [ 2.00308230e-02 -2.80956489e-04 9.99799323e-01 5.60474165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.925099893 meters 0.01417017368696353 Centerline is valid? [True, True] Translation: X:469.61, Y:6.61, Z:5.61 [[ 9.99190460e-01 -3.47822061e-02 -2.02144440e-02 4.69610717e+02] [ 3.47801462e-02 9.99394885e-01 -4.53563338e-04 6.60656782e+00] [ 2.02179878e-02 -2.49865157e-04 9.99795564e-01 5.60514572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.955099893 meters 0.013620276532216929 Centerline is valid? [True, True] Translation: X:469.64, Y:6.61, Z:5.61 [[ 9.99278511e-01 -3.19218413e-02 -2.05780101e-02 4.69640726e+02] [ 3.19191049e-02 9.99490349e-01 -4.61499895e-04 6.61154312e+00] [ 2.05822544e-02 -1.95664735e-04 9.99788144e-01 5.60602243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.985099893 meters 0.013506818701508674 Centerline is valid? [True, True] Translation: X:469.67, Y:6.61, Z:5.61 [[ 9.99306708e-01 -3.07637741e-02 -2.09688566e-02 4.69670209e+02] [ 3.07606714e-02 9.99526668e-01 -4.70572165e-04 6.61369953e+00] [ 2.09734079e-02 -1.74770185e-04 9.99780019e-01 5.60652449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.015099893 meters 0.013351899058452604 Centerline is valid? [True, True] Translation: X:469.70, Y:6.62, Z:5.61 [[ 9.99329923e-01 -2.99547255e-02 -2.10337499e-02 4.69699406e+02] [ 2.99513719e-02 9.99551244e-01 -4.74520808e-04 6.61597547e+00] [ 2.10385250e-02 -1.55786821e-04 9.99778654e-01 5.60716397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.045099893 meters 0.013445234265741074 Centerline is valid? [True, True] Translation: X:469.73, Y:6.62, Z:5.61 [[ 9.99336034e-01 -2.95358626e-02 -2.13336504e-02 4.69728254e+02] [ 2.95322436e-02 9.99563711e-01 -4.84735835e-04 6.61740663e+00] [ 2.13386598e-02 -1.45616573e-04 9.99772294e-01 5.60726568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.075099893 meters 0.013505366408507309 Centerline is valid? [True, True] Translation: X:469.76, Y:6.62, Z:5.61 [[ 9.99319033e-01 -2.97724451e-02 -2.17961248e-02 4.69756411e+02] [ 2.97686981e-02 9.99556691e-01 -4.96420727e-04 6.61855899e+00] [ 2.18012420e-02 -1.52759578e-04 9.99762313e-01 5.60694627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.105099893 meters 0.013379452868885209 Centerline is valid? [True, True] Translation: X:469.79, Y:6.62, Z:5.61 [[ 9.99279138e-01 -3.09761642e-02 -2.19472476e-02 4.69785570e+02] [ 3.09725877e-02 9.99520108e-01 -5.02943834e-04 6.61947975e+00] [ 2.19522946e-02 -1.77181770e-04 9.99759004e-01 5.60758626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.135099893 meters 0.013565160400101554 Centerline is valid? [True, True] Translation: X:469.81, Y:6.62, Z:5.61 [[ 9.99214342e-01 -3.26870351e-02 -2.24110754e-02 4.69813896e+02] [ 3.26836071e-02 9.99465613e-01 -5.19325598e-04 6.61945114e+00] [ 2.24160744e-02 -2.13557197e-04 9.99748705e-01 5.60767130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.165099893 meters 0.013754085700031555 Centerline is valid? [True, True] Translation: X:469.84, Y:6.62, Z:5.61 [[ 9.99139475e-01 -3.47746993e-02 -2.26059838e-02 4.69843405e+02] [ 3.47716655e-02 9.99395144e-01 -5.27381964e-04 6.61945952e+00] [ 2.26106500e-02 -2.59119570e-04 9.99744313e-01 5.60830543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.195099893 meters 0.014625488295516126 Centerline is valid? [True, True] Translation: X:469.87, Y:6.62, Z:5.61 [[ 9.98947591e-01 -4.05301617e-02 -2.14713125e-02 4.69873059e+02] [ 4.05287409e-02 9.99178247e-01 -5.01500063e-04 6.61701148e+00] [ 2.14739943e-02 -3.69232981e-04 9.99769339e-01 5.60949423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.225099893 meters 0.015378544613771509 Centerline is valid? [True, True] Translation: X:469.90, Y:6.62, Z:5.61 [[ 9.98805455e-01 -4.39946976e-02 -2.12633478e-02 4.69904754e+02] [ 4.39940908e-02 9.99031668e-01 -4.96545836e-04 6.61511878e+00] [ 2.12646032e-02 -4.39508964e-04 9.99773786e-01 5.61011973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.255099893 meters 0.016264413032605524 Centerline is valid? [True, True] Translation: X:469.94, Y:6.61, Z:5.61 [[ 9.98634380e-01 -4.79867641e-02 -2.06554118e-02 4.69935663e+02] [ 4.79870606e-02 9.98847841e-01 -4.81578002e-04 6.61326764e+00] [ 2.06547229e-02 -5.10272151e-04 9.99786538e-01 5.61093913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.285099893 meters 0.019633533142307102 Centerline is valid? [True, True] Translation: X:469.97, Y:6.61, Z:5.61 [[ 9.98190262e-01 -5.66607887e-02 -2.01433985e-02 4.69965919e+02] [ 5.66628451e-02 9.98393260e-01 -4.69107004e-04 6.60651945e+00] [ 2.01376132e-02 -6.73124222e-04 9.99796991e-01 5.61111435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.315099893 meters 0.02139872800860243 Centerline is valid? [True, True] Translation: X:470.00, Y:6.60, Z:5.61 [[ 9.97930489e-01 -6.10768921e-02 -2.01085250e-02 4.69997186e+02] [ 6.10798402e-02 9.98132774e-01 -4.68106207e-04 6.60352040e+00] [ 2.00995683e-02 -7.61088039e-04 9.99797694e-01 5.61111517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.345099893 meters 0.02373904752219229 Centerline is valid? [True, True] Translation: X:470.03, Y:6.60, Z:5.61 [[ 9.97654974e-01 -6.52801053e-02 -2.05684631e-02 4.70027184e+02] [ 6.52840859e-02 9.97866604e-01 -4.78593707e-04 6.59979478e+00] [ 2.05558250e-02 -8.65321917e-04 9.99788332e-01 5.61060989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.375099893 meters 0.02493947053683219 Centerline is valid? [True, True] Translation: X:470.06, Y:6.60, Z:5.61 [[ 9.97389605e-01 -6.92193560e-02 -2.05586093e-02 4.70057947e+02] [ 6.92241745e-02 9.97601015e-01 -4.78035768e-04 6.59804271e+00] [ 2.05423788e-02 -9.46364851e-04 9.99788535e-01 5.61065438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.405099893 meters 0.023430375268354536 Centerline is valid? [True, True] Translation: X:470.09, Y:6.60, Z:5.61 [[ 9.96877708e-01 -7.61942024e-02 -2.07190486e-02 4.70088849e+02] [ 7.62006091e-02 9.97092391e-01 -4.81240472e-04 6.59976679e+00] [ 2.06954735e-02 -1.09906623e-03 9.99785222e-01 5.61110671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.43509989300003 meters 0.026456962072409444 Centerline is valid? [True, True] Translation: X:470.12, Y:6.60, Z:5.61 [[ 9.96665530e-01 -7.88485405e-02 -2.09935529e-02 4.70119357e+02] [ 7.88557093e-02 9.96885921e-01 -4.87418430e-04 6.59593927e+00] [ 2.09666096e-02 -1.16966836e-03 9.99779492e-01 5.61103708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.465099893 meters 0.029083279573280347 Centerline is valid? [True, True] Translation: X:470.15, Y:6.59, Z:5.61 [[ 9.96488983e-01 -8.11563020e-02 -2.05757583e-02 4.70149390e+02] [ 8.11636829e-02 9.96700672e-01 -4.77495883e-04 6.59335869e+00] [ 2.05466239e-02 -1.19418494e-03 9.99788183e-01 5.61137808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49509989300003 meters 0.02675381193950315 Centerline is valid? [True, True] Translation: X:470.18, Y:6.60, Z:5.61 [[ 9.96352475e-01 -8.27620100e-02 -2.07893098e-02 4.70181553e+02] [ 8.27699061e-02 9.96568568e-01 -4.81834200e-04 6.59774340e+00] [ 2.07578502e-02 -1.24065252e-03 9.99783763e-01 5.61243979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.525099893 meters 0.030486106090185566 Centerline is valid? [True, True] Translation: X:470.21, Y:6.59, Z:5.61 [[ 9.96171867e-01 -8.49719061e-02 -2.05277050e-02 4.70211598e+02] [ 8.49800903e-02 9.96382536e-01 -4.74876588e-04 6.59478236e+00] [ 2.04937980e-02 -1.27138753e-03 9.99789172e-01 5.61264058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.555099893 meters 0.028372932097662607 Centerline is valid? [True, True] Translation: X:470.24, Y:6.60, Z:5.61 [[ 9.96115875e-01 -8.56746274e-02 -2.03229539e-02 4.70243633e+02] [ 8.56828065e-02 9.96322356e-01 -4.69559900e-04 6.59924015e+00] [ 2.02884427e-02 -1.27359166e-03 9.99793357e-01 5.61359713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.585099893 meters 0.02999536399687589 Centerline is valid? [True, True] Translation: X:470.27, Y:6.60, Z:5.61 [[ 9.96069662e-01 -8.62048642e-02 -2.03457637e-02 4.70274587e+02] [ 8.62131989e-02 9.96276600e-01 -4.68751824e-04 6.59863070e+00] [ 2.03104170e-02 -1.28716390e-03 9.99792894e-01 5.61374698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.615099893 meters 0.03164725421169667 Centerline is valid? [True, True] Translation: X:470.31, Y:6.60, Z:5.61 [[ 9.96035118e-01 -8.66212835e-02 -2.02681095e-02 4.70305530e+02] [ 8.66296626e-02 9.96240475e-01 -4.65871826e-04 6.59798968e+00] [ 2.02322654e-02 -1.29179478e-03 9.99794472e-01 5.61369452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.645099893 meters 0.029695496923165424 Centerline is valid? [True, True] Translation: X:470.34, Y:6.60, Z:5.61 [[ 9.96015730e-01 -8.67898908e-02 -2.04983238e-02 4.70337482e+02] [ 8.67985227e-02 9.96225775e-01 -4.69908067e-04 6.60316241e+00] [ 2.04617418e-02 -1.31118840e-03 9.99789777e-01 5.61377323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.675099893 meters 0.03119398425180089 Centerline is valid? [True, True] Translation: X:470.37, Y:6.60, Z:5.61 [[ 9.96039252e-01 -8.64728200e-02 -2.06944304e-02 4.70369105e+02] [ 8.64815777e-02 9.96253338e-01 -4.73055419e-04 6.60275354e+00] [ 2.06578018e-02 -1.31850523e-03 9.99785735e-01 5.61366071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.705099893 meters 0.030892440960204087 Centerline is valid? [True, True] Translation: X:470.40, Y:6.61, Z:5.61 [[ 9.96066036e-01 -8.60506812e-02 -2.11596712e-02 4.70401606e+02] [ 8.60597699e-02 9.96289859e-01 -4.82387152e-04 6.60507596e+00] [ 2.11226756e-02 -1.34050698e-03 9.99775993e-01 5.61409266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.735099893 meters 0.029044787718897753 Centerline is valid? [True, True] Translation: X:470.43, Y:6.61, Z:5.61 [[ 9.96113943e-01 -8.52865677e-02 -2.19821099e-02 4.70433979e+02] [ 8.52962270e-02 9.96355511e-01 -4.99529165e-04 6.61102546e+00] [ 2.19445995e-02 -1.37740307e-03 9.99758239e-01 5.61391073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.765099893 meters 0.029029647392713766 Centerline is valid? [True, True] Translation: X:470.47, Y:6.61, Z:5.61 [[ 9.96115541e-01 -8.50850779e-02 -2.26794813e-02 4.70467120e+02] [ 8.50953544e-02 9.96372680e-01 -5.13331806e-04 6.61315413e+00] [ 2.26408924e-02 -1.41858071e-03 9.99742656e-01 5.61385512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.795099893 meters 0.030020652829266747 Centerline is valid? [True, True] Translation: X:470.50, Y:6.61, Z:5.61 [[ 9.96117311e-01 -8.48826604e-02 -2.33502959e-02 4.70499437e+02] [ 8.48935541e-02 9.96389887e-01 -5.26142463e-04 6.61359808e+00] [ 2.33106591e-02 -1.45819000e-03 9.99727206e-01 5.61321471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.825099893 meters 0.02986479319080874 Centerline is valid? [True, True] Translation: X:470.53, Y:6.62, Z:5.61 [[ 9.96099471e-01 -8.48623966e-02 -2.41706067e-02 4.70531526e+02] [ 8.48741119e-02 9.96391535e-01 -5.42629696e-04 6.61552108e+00] [ 2.41294367e-02 -1.51094562e-03 9.99707701e-01 5.61281933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.855099893 meters 0.028473714282927116 Centerline is valid? [True, True] Translation: X:470.56, Y:6.62, Z:5.61 [[ 9.96080283e-01 -8.49828765e-02 -2.45352976e-02 4.70564051e+02] [ 8.49950283e-02 9.96381224e-01 -5.49031346e-04 6.61931001e+00] [ 2.44931681e-02 -1.53849901e-03 9.99698814e-01 5.61297335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.885099893 meters 0.02915779670492746 Centerline is valid? [True, True] Translation: X:470.60, Y:6.62, Z:5.61 [[ 9.96033220e-01 -8.56796547e-02 -2.40171066e-02 4.70596060e+02] [ 8.56915415e-02 9.96321571e-01 -5.35707336e-04 6.62170110e+00] [ 2.39746606e-02 -1.52448059e-03 9.99711404e-01 5.61353124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.915099893 meters 0.030134468222974345 Centerline is valid? [True, True] Translation: X:470.63, Y:6.62, Z:5.61 [[ 9.96057132e-01 -8.55541359e-02 -2.34665649e-02 4.70627628e+02] [ 8.55654836e-02 9.96332412e-01 -5.21950087e-04 6.62222528e+00] [ 2.34251542e-02 -1.48803587e-03 9.99724486e-01 5.61401274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.945099893 meters 0.030384796272144323 Centerline is valid? [True, True] Translation: X:470.66, Y:6.62, Z:5.62 [[ 9.96076833e-01 -8.55203343e-02 -2.27423727e-02 4.70660146e+02] [ 8.55310149e-02 9.96335381e-01 -5.04451251e-04 6.62389807e+00] [ 2.27021714e-02 -1.44270601e-03 9.99741232e-01 5.61507164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.975099893 meters 0.030384796272144323 Centerline is valid? [True, True] Translation: X:470.69, Y:6.62, Z:5.62 [[ 9.96086023e-01 -8.54132105e-02 -2.27424169e-02 4.70692744e+02] [ 8.54239087e-02 9.96344571e-01 -5.02450724e-04 6.62452962e+00] [ 2.27021995e-02 -1.44226200e-03 9.99741232e-01 5.61547457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.005099893 meters 0.031332373107316215 Centerline is valid? [True, True] Translation: X:470.72, Y:6.63, Z:5.62 [[ 9.96111409e-01 -8.52753271e-02 -2.21400070e-02 4.70724128e+02] [ 8.52854720e-02 9.96356438e-01 -4.87326119e-04 6.62553292e+00] [ 2.21008954e-02 -1.40278984e-03 9.99754761e-01 5.61651908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.035099893 meters 0.030392276539589883 Centerline is valid? [True, True] Translation: X:470.76, Y:6.63, Z:5.62 [[ 9.96230454e-01 -8.44064986e-02 -2.00106395e-02 4.70756086e+02] [ 8.44146334e-02 9.96430618e-01 -4.39316485e-04 6.63050522e+00] [ 1.99762950e-02 -1.25153033e-03 9.99799671e-01 5.61869472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.065099893 meters 0.029834773092436432 Centerline is valid? [True, True] Translation: X:470.79, Y:6.63, Z:5.62 [[ 9.96299202e-01 -8.38950373e-02 -1.86955284e-02 4.70788009e+02] [ 8.39020717e-02 9.96473921e-01 -4.09168705e-04 6.63316805e+00] [ 1.86639337e-02 -1.16093911e-03 9.99825140e-01 5.61993355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.095099893 meters 0.02925385169155442 Centerline is valid? [True, True] Translation: X:470.82, Y:6.64, Z:5.62 [[ 9.96340671e-01 -8.36201211e-02 -1.76902125e-02 4.70819811e+02] [ 8.36263975e-02 9.96497103e-01 -3.85946273e-04 6.63590198e+00] [ 1.76605184e-02 -1.09483477e-03 9.99843441e-01 5.62123996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.125099893 meters 0.029665927787149136 Centerline is valid? [True, True] Translation: X:470.85, Y:6.64, Z:5.62 [[ 9.96368104e-01 -8.36696019e-02 -1.58113631e-02 4.70852929e+02] [ 8.36746402e-02 9.96493069e-01 -3.43788638e-04 6.63839826e+00] [ 1.57846784e-02 -9.80470085e-04 9.99874933e-01 5.62388144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.155099893 meters 0.0278439635689116 Centerline is valid? [True, True] Translation: X:470.89, Y:6.64, Z:5.62 [[ 9.96359443e-01 -8.39280591e-02 -1.49646932e-02 4.70885388e+02] [ 8.39326229e-02 9.96471379e-01 -3.23925797e-04 6.64255962e+00] [ 1.49390750e-02 -9.33279426e-04 9.99887970e-01 5.62480910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.18509989300003 meters 0.030222402594158232 Centerline is valid? [True, True] Translation: X:470.92, Y:6.64, Z:5.63 [[ 9.96329595e-01 -8.42789454e-02 -1.49799197e-02 4.70916582e+02] [ 8.42835770e-02 9.96441757e-01 -3.22983008e-04 6.64042367e+00] [ 1.49538381e-02 -9.40763684e-04 9.99887743e-01 5.62521669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.215099893 meters 0.033824317269921696 Centerline is valid? [True, True] Translation: X:470.95, Y:6.64, Z:5.62 [[ 9.96176483e-01 -8.59024714e-02 -1.59116577e-02 4.70947244e+02] [ 8.59079343e-02 9.96303021e-01 -3.41129889e-04 6.63680157e+00] [ 1.58821365e-02 -1.02711207e-03 9.99873343e-01 5.62440377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24509989300003 meters 0.03233166190455635 Centerline is valid? [True, True] Translation: X:470.98, Y:6.64, Z:5.62 [[ 9.96074529e-01 -8.69745406e-02 -1.64609468e-02 4.70979174e+02] [ 8.69805454e-02 9.96209948e-01 -3.52158034e-04 6.63999307e+00] [ 1.64291878e-02 -1.08100649e-03 9.99864447e-01 5.62431639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.275099893 meters 0.03359941670090186 Centerline is valid? [True, True] Translation: X:471.01, Y:6.64, Z:5.62 [[ 9.95965704e-01 -8.80788833e-02 -1.71588713e-02 4.71009812e+02] [ 8.80855900e-02 9.96112842e-01 -3.66005177e-04 6.63958741e+00] [ 1.71244093e-02 -1.14692069e-03 9.99852709e-01 5.62413777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.305099893 meters 0.03338171379091589 Centerline is valid? [True, True] Translation: X:471.04, Y:6.64, Z:5.62 [[ 9.95857016e-01 -8.91717202e-02 -1.78103178e-02 4.71041725e+02] [ 8.91791347e-02 9.96015531e-01 -3.79061546e-04 6.64094624e+00] [ 1.77731547e-02 -1.21081763e-03 9.99841312e-01 5.62401164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.335099893 meters 0.031140449098183785 Centerline is valid? [True, True] Translation: X:471.07, Y:6.65, Z:5.62 [[ 9.95782860e-01 -8.98246220e-02 -1.86556505e-02 4.71073777e+02] [ 8.98328970e-02 9.95956773e-01 -3.95677421e-04 6.64511344e+00] [ 1.86157631e-02 -1.28188234e-03 9.99825890e-01 5.62387948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.365099893 meters 0.03293333685985662 Centerline is valid? [True, True] Translation: X:471.10, Y:6.64, Z:5.62 [[ 9.95817634e-01 -8.93994208e-02 -1.88409871e-02 4.71104934e+02] [ 8.94078091e-02 9.95995023e-01 -3.98346855e-04 6.64340329e+00] [ 1.88011413e-02 -1.28785055e-03 9.99822413e-01 5.62394817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.395099893 meters 0.03159945033144681 Centerline is valid? [True, True] Translation: X:471.14, Y:6.65, Z:5.62 [[ 9.95849665e-01 -8.91297752e-02 -1.84208402e-02 4.71136781e+02] [ 8.91377676e-02 9.96019231e-01 -3.88368600e-04 6.64617008e+00] [ 1.83821263e-02 -1.25523583e-03 9.99830246e-01 5.62499731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.425099893 meters 0.0320081017231679 Centerline is valid? [True, True] Translation: X:471.17, Y:6.65, Z:5.63 [[ 9.95962530e-01 -8.80283312e-02 -1.75969032e-02 4.71167902e+02] [ 8.80354733e-02 9.96117272e-01 -3.69859932e-04 6.64636901e+00] [ 1.75611374e-02 -1.18078507e-03 9.99845094e-01 5.62582606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.455099893 meters 0.03279687159483638 Centerline is valid? [True, True] Translation: X:471.20, Y:6.65, Z:5.63 [[ 9.96172941e-01 -8.59474675e-02 -1.58903995e-02 4.71198571e+02] [ 8.59530391e-02 9.96299134e-01 -3.33262681e-04 6.64670000e+00] [ 1.58602343e-02 -1.03384086e-03 9.99873684e-01 5.62755317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.485099893 meters 0.03247305343268812 Centerline is valid? [True, True] Translation: X:471.23, Y:6.65, Z:5.63 [[ 9.96284775e-01 -8.47786130e-02 -1.51404611e-02 4.71230767e+02] [ 8.47835459e-02 9.96399343e-01 -3.16919745e-04 6.64785555e+00] [ 1.51128135e-02 -9.67919658e-04 9.99885326e-01 5.62865126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.515099893 meters 0.032861657510353845 Centerline is valid? [True, True] Translation: X:471.26, Y:6.65, Z:5.63 [[ 9.96377936e-01 -8.37895109e-02 -1.45026612e-02 4.71263023e+02] [ 8.37939467e-02 9.96483057e-01 -3.02588897e-04 6.64767395e+00] [ 1.44770099e-02 -9.13742319e-04 9.99894785e-01 5.62937648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.545099893 meters 0.030185918795734516 Centerline is valid? [True, True] Translation: X:471.29, Y:6.65, Z:5.63 [[ 9.96500534e-01 -8.23290486e-02 -1.44434628e-02 4.71294623e+02] [ 8.23333089e-02 9.96604804e-01 -3.00420594e-04 6.65064062e+00] [ 1.44191578e-02 -8.89808803e-04 9.99895643e-01 5.62979176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.575099893 meters 0.032520804521117545 Centerline is valid? [True, True] Translation: X:471.33, Y:6.65, Z:5.63 [[ 9.96562393e-01 -8.15065690e-02 -1.48349701e-02 4.71325659e+02] [ 8.15109846e-02 9.96672396e-01 -3.07758557e-04 6.64720345e+00] [ 1.48106896e-02 -9.02512416e-04 9.99889908e-01 5.62939842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.605099893 meters 0.027355500627679195 Centerline is valid? [True, True] Translation: X:471.36, Y:6.65, Z:5.63 [[ 9.96570503e-01 -8.12525875e-02 -1.56604280e-02 4.71357605e+02] [ 8.12575096e-02 9.96693089e-01 -3.22792913e-04 6.65377709e+00] [ 1.56348681e-02 -9.50841486e-04 9.99877316e-01 5.62935598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.635099893 meters 0.02732337530993072 Centerline is valid? [True, True] Translation: X:471.39, Y:6.65, Z:5.63 [[ 9.96566615e-01 -8.10897696e-02 -1.67161646e-02 4.71390560e+02] [ 8.10953794e-02 9.96706287e-01 -3.43104332e-04 6.65349829e+00] [ 1.66889286e-02 -1.01367739e-03 9.99860216e-01 5.62905396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.665099893 meters 0.030145487692961687 Centerline is valid? [True, True] Translation: X:471.42, Y:6.65, Z:5.63 [[ 9.96560297e-01 -8.08534136e-02 -1.81741428e-02 4.71422284e+02] [ 8.08600423e-02 9.96725396e-01 -3.71014237e-04 6.64854389e+00] [ 1.81446274e-02 -1.09982390e-03 9.99834768e-01 5.62853354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.695099893 meters 0.030246847793327425 Centerline is valid? [True, True] Translation: X:471.45, Y:6.65, Z:5.63 [[ 9.96589843e-01 -8.03104810e-02 -1.89449409e-02 4.71454025e+02] [ 8.03176175e-02 9.96769247e-01 -3.85107569e-04 6.64856670e+00] [ 1.89146626e-02 -1.13781822e-03 9.99820454e-01 5.62903115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.725099893 meters 0.026010635761681677 Centerline is valid? [True, True] Translation: X:471.49, Y:6.65, Z:5.63 [[ 9.96639935e-01 -7.96335806e-02 -1.91659106e-02 4.71485754e+02] [ 7.96407864e-02 9.96823552e-01 -3.88214020e-04 6.65456793e+00] [ 1.91359459e-02 -1.13947860e-03 9.99816242e-01 5.63026949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.755099893 meters 0.028985801793779 Centerline is valid? [True, True] Translation: X:471.52, Y:6.65, Z:5.63 [[ 9.96684343e-01 -7.89008921e-02 -1.98738564e-02 4.71516956e+02] [ 7.89085222e-02 9.96881780e-01 -4.01189819e-04 6.65026458e+00] [ 1.98435396e-02 -1.16835703e-03 9.99802415e-01 5.63040618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.785099893 meters 0.027975172281351553 Centerline is valid? [True, True] Translation: X:471.55, Y:6.65, Z:5.63 [[ 9.96829207e-01 -7.70520472e-02 -1.98623959e-02 4.71548899e+02] [ 7.70593242e-02 9.97026429e-01 -3.99875923e-04 6.65082120e+00] [ 1.98341449e-02 -1.13197480e-03 9.99802643e-01 5.63163048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.815099893 meters 0.026355251457209253 Centerline is valid? [True, True] Translation: X:471.58, Y:6.65, Z:5.63 [[ 9.96964230e-01 -7.53715000e-02 -1.95310305e-02 4.71580737e+02] [ 7.53782349e-02 9.97154937e-01 -3.92167186e-04 6.65291289e+00] [ 1.95050217e-02 -1.08123795e-03 9.99809174e-01 5.63253928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.845099893 meters 0.02641160079430003 Centerline is valid? [True, True] Translation: X:471.61, Y:6.65, Z:5.63 [[ 9.97129521e-01 -7.31218502e-02 -1.96446998e-02 4.71611346e+02] [ 7.31282467e-02 9.97322468e-01 -3.93514804e-04 6.65238387e+00] [ 1.96208750e-02 -1.04419722e-03 9.99806947e-01 5.63315838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.875099893 meters 0.02413856588561695 Centerline is valid? [True, True] Translation: X:471.64, Y:6.65, Z:5.63 [[ 9.97460458e-01 -6.87626595e-02 -1.85561644e-02 4.71642130e+02] [ 6.87676239e-02 9.97632636e-01 -3.71179857e-04 6.65482765e+00] [ 1.85377585e-02 -9.05826105e-04 9.99827751e-01 5.63432897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.905099893 meters 0.022979367562043853 Centerline is valid? [True, True] Translation: X:471.67, Y:6.66, Z:5.64 [[ 9.97611923e-01 -6.66896023e-02 -1.79707649e-02 4.71673919e+02] [ 6.66939320e-02 9.97773416e-01 -3.58952925e-04 6.65624527e+00] [ 1.79546899e-02 -8.40445253e-04 9.99838448e-01 5.63533839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.93509989300003 meters 0.021820113736236334 Centerline is valid? [True, True] Translation: X:471.71, Y:6.66, Z:5.64 [[ 9.97760910e-01 -6.44753143e-02 -1.77792255e-02 4.71705230e+02] [ 6.44792165e-02 9.97918987e-01 -3.54268434e-04 6.65768661e+00] [ 1.77650683e-02 -7.92915335e-04 9.99841874e-01 5.63581413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.965099893 meters 0.020615185627737554 Centerline is valid? [True, True] Translation: X:471.74, Y:6.66, Z:5.64 [[ 9.97897061e-01 -6.22562660e-02 -1.80447416e-02 4.71737091e+02] [ 6.22599394e-02 9.98059904e-01 -3.58682290e-04 6.65916833e+00] [ 1.80320633e-02 -7.65536514e-04 9.99837116e-01 5.63612563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99509989300003 meters 0.019122874381077903 Centerline is valid? [True, True] Translation: X:471.77, Y:6.66, Z:5.64 [[ 9.98117641e-01 -5.82740592e-02 -1.91130518e-02 4.71768908e+02] [ 5.82774802e-02 9.98300352e-01 -3.78418841e-04 6.66089497e+00] [ 1.91026183e-02 -7.36153974e-04 9.99817257e-01 5.63622443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.025099893 meters 0.020119573148878318 Centerline is valid? [True, True] Translation: X:471.80, Y:6.66, Z:5.64 [[ 9.98190244e-01 -5.67204744e-02 -1.99755822e-02 4.71799866e+02] [ 5.67239293e-02 9.98389824e-01 -3.94063202e-04 6.65915056e+00] [ 1.99657695e-02 -7.39743468e-04 9.99800390e-01 5.63574172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.055099893 meters 0.019615829591646587 Centerline is valid? [True, True] Translation: X:471.83, Y:6.66, Z:5.64 [[ 9.98270416e-01 -5.50458737e-02 -2.06428870e-02 4.71832311e+02] [ 5.50492324e-02 9.98483559e-01 -4.05939848e-04 6.65968029e+00] [ 2.06339286e-02 -7.31137344e-04 9.99786830e-01 5.63552990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.085099893 meters 0.018884230336021168 Centerline is valid? [True, True] Translation: X:471.86, Y:6.66, Z:5.64 [[ 9.98331184e-01 -5.36257940e-02 -2.14271344e-02 4.71864470e+02] [ 5.36291195e-02 9.98560835e-01 -4.19806131e-04 6.66067797e+00] [ 2.14188097e-02 -7.30012802e-04 9.99770324e-01 5.63556013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.115099893 meters 0.018382628310344307 Centerline is valid? [True, True] Translation: X:471.90, Y:6.66, Z:5.64 [[ 9.98406952e-01 -5.16564474e-02 -2.26973533e-02 4.71896787e+02] [ 5.16597088e-02 9.98664648e-01 -4.43023174e-04 6.66102703e+00] [ 2.26899293e-02 -7.30221244e-04 9.99742284e-01 5.63530667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.145099893 meters 0.01750768158272157 Centerline is valid? [True, True] Translation: X:471.93, Y:6.66, Z:5.64 [[ 9.98461787e-01 -5.05930263e-02 -2.26805205e-02 4.71929006e+02] [ 5.05960456e-02 9.98719102e-01 -4.41069496e-04 6.66243286e+00] [ 2.26737842e-02 -7.07153615e-04 9.99742667e-01 5.63591783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.175099893 meters 0.01712006704747055 Centerline is valid? [True, True] Translation: X:471.96, Y:6.66, Z:5.64 [[ 9.98522591e-01 -4.94652496e-02 -2.24905263e-02 4.71961452e+02] [ 4.94679693e-02 9.98775616e-01 -4.35752179e-04 6.66299727e+00] [ 2.24845438e-02 -6.77452269e-04 9.99746961e-01 5.63641202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.205099893 meters 0.01665707550688445 Centerline is valid? [True, True] Translation: X:471.99, Y:6.66, Z:5.64 [[ 9.98635237e-01 -4.77384391e-02 -2.11826459e-02 4.71992881e+02] [ 4.77404879e-02 9.98859689e-01 -4.09246690e-04 6.66288669e+00] [ 2.11780279e-02 -6.02581687e-04 9.99775539e-01 5.63751173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.235099893 meters 0.01727471243913753 Centerline is valid? [True, True] Translation: X:472.02, Y:6.66, Z:5.64 [[ 9.98672138e-01 -4.72696280e-02 -2.04827684e-02 4.72024318e+02] [ 4.72714630e-02 9.98882001e-01 -3.94852267e-04 6.66186357e+00] [ 2.04785332e-02 -5.73922471e-04 9.99790128e-01 5.63807461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.265099893 meters 0.016778487512157738 Centerline is valid? [True, True] Translation: X:472.06, Y:6.66, Z:5.64 [[ 9.98706599e-01 -4.67360066e-02 -2.00218617e-02 4.72056212e+02] [ 4.67376768e-02 9.98907124e-01 -3.84763798e-04 6.66269723e+00] [ 2.00179626e-02 -5.51509157e-04 9.99799468e-01 5.63906420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.295099893 meters 0.017451548818508373 Centerline is valid? [True, True] Translation: X:472.09, Y:6.66, Z:5.64 [[ 9.98687879e-01 -4.74568120e-02 -1.92450297e-02 4.72087436e+02] [ 4.74585122e-02 9.98873142e-01 -3.68616527e-04 6.66123190e+00] [ 1.92408366e-02 -5.45207619e-04 9.99814729e-01 5.64022534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.325099893 meters 0.016549470500087256 Centerline is valid? [True, True] Translation: X:472.12, Y:6.66, Z:5.64 [[ 9.98651023e-01 -4.85259566e-02 -1.84760998e-02 4.72120000e+02] [ 4.85277264e-02 9.98821774e-01 -3.52803594e-04 6.66287558e+00] [ 1.84714509e-02 -5.44275447e-04 9.99829240e-01 5.64181496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.355099893 meters 0.017205374164408056 Centerline is valid? [True, True] Translation: X:472.15, Y:6.66, Z:5.64 [[ 9.98589588e-01 -4.99738476e-02 -1.79290069e-02 4.72151448e+02] [ 4.99757736e-02 9.98750372e-01 -3.40883745e-04 6.66107331e+00] [ 1.79236376e-02 -5.55613033e-04 9.99839204e-01 5.64303818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.385099893 meters 0.018347974455119178 Centerline is valid? [True, True] Translation: X:472.18, Y:6.66, Z:5.64 [[ 9.98482393e-01 -5.22203832e-02 -1.74912256e-02 4.72182098e+02] [ 5.22225941e-02 9.98635415e-01 -3.30639657e-04 6.65847239e+00] [ 1.74846235e-02 -5.83299301e-04 9.99846962e-01 5.64399778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.415099893 meters 0.020979426958827575 Centerline is valid? [True, True] Translation: X:472.21, Y:6.65, Z:5.64 [[ 9.98141869e-01 -5.79774748e-02 -1.87462692e-02 4.72212411e+02] [ 5.79810670e-02 9.98317621e-01 -3.52291117e-04 6.65248953e+00] [ 1.87351558e-02 -7.35292178e-04 9.99824211e-01 5.64379601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.445099893 meters 0.021553340195966848 Centerline is valid? [True, True] Translation: X:472.24, Y:6.65, Z:5.64 [[ 9.97929087e-01 -6.10861160e-02 -2.01500217e-02 4.72244044e+02] [ 6.10909212e-02 9.98132134e-01 -3.77570460e-04 6.65090060e+00] [ 2.01354485e-02 -8.54194844e-04 9.99796896e-01 5.64359677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.475099893 meters 0.026171189149290515 Centerline is valid? [True, True] Translation: X:472.27, Y:6.64, Z:5.64 [[ 9.97540673e-01 -6.57047384e-02 -2.44027259e-02 4.72273937e+02] [ 6.57131749e-02 9.97838449e-01 -4.56896776e-04 6.64264925e+00] [ 2.43799984e-02 -1.14780748e-03 9.99702105e-01 5.63866346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.505099893 meters 0.022013543530162855 Centerline is valid? [True, True] Translation: X:472.31, Y:6.65, Z:5.64 [[ 9.97405025e-01 -6.71638603e-02 -2.59274556e-02 4.72305572e+02] [ 6.71738912e-02 9.97741165e-01 -4.84881133e-04 6.64868357e+00] [ 2.59014563e-02 -1.25802520e-03 9.99663709e-01 5.63974648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.535099893 meters 0.025788621453189036 Centerline is valid? [True, True] Translation: X:472.34, Y:6.64, Z:5.64 [[ 9.97331719e-01 -6.80069417e-02 -2.65423657e-02 4.72337268e+02] [ 6.80177914e-02 9.97683986e-01 -4.94899266e-04 6.64353884e+00] [ 2.65145498e-02 -1.31177436e-03 9.99647567e-01 5.63845606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.565099893 meters 0.024035169836250852 Centerline is valid? [True, True] Translation: X:472.37, Y:6.65, Z:5.64 [[ 9.97281939e-01 -6.87229859e-02 -2.65685122e-02 4.72368876e+02] [ 6.87341489e-02 9.97634890e-01 -4.93937672e-04 6.64655310e+00] [ 2.65396196e-02 -1.33356895e-03 9.99646873e-01 5.63977048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.595099893 meters 0.023291304275541904 Centerline is valid? [True, True] Translation: X:472.40, Y:6.65, Z:5.64 [[ 9.97216460e-01 -6.92997602e-02 -2.75113606e-02 4.72401258e+02] [ 6.93119986e-02 9.97594901e-01 -5.09663092e-04 6.64836774e+00] [ 2.74805126e-02 -1.39862296e-03 9.99621361e-01 5.64178421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.625099893 meters 0.024434422019378423 Centerline is valid? [True, True] Translation: X:472.43, Y:6.65, Z:5.64 [[ 9.97230752e-01 -6.89453454e-02 -2.78812860e-02 4.72432586e+02] [ 6.89578532e-02 9.97619442e-01 -5.13791510e-04 6.64707277e+00] [ 2.78503365e-02 -1.41026493e-03 9.99611109e-01 5.64188669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.655099893 meters 0.02278975778864953 Centerline is valid? [True, True] Translation: X:472.46, Y:6.65, Z:5.64 [[ 9.97270308e-01 -6.80049159e-02 -2.87622064e-02 4.72464864e+02] [ 6.80179144e-02 9.97683961e-01 -5.27336320e-04 6.65000706e+00] [ 2.87314534e-02 -1.43044844e-03 9.99586143e-01 5.64278891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.68509989300003 meters 0.0222024701868187 Centerline is valid? [True, True] Translation: X:472.50, Y:6.65, Z:5.64 [[ 9.97451781e-01 -6.55294816e-02 -2.82105005e-02 4.72496001e+02] [ 6.55410397e-02 9.97849741e-01 -5.15749149e-04 6.65193972e+00] [ 2.81836374e-02 -1.33451063e-03 9.99601872e-01 5.64391067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.715099893 meters 0.02228517053021836 Centerline is valid? [True, True] Translation: X:472.53, Y:6.65, Z:5.65 [[ 9.97555382e-01 -6.44764943e-02 -2.69451684e-02 4.72527585e+02] [ 6.44866806e-02 9.97918447e-01 -4.91655596e-04 6.65287544e+00] [ 2.69207808e-02 -1.24715078e-03 9.99636792e-01 5.64564303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74509989300003 meters 0.02164733885604231 Centerline is valid? [True, True] Translation: X:472.56, Y:6.65, Z:5.65 [[ 9.97649343e-01 -6.35909917e-02 -2.55337944e-02 4.72559421e+02] [ 6.35998840e-02 9.97975370e-01 -4.64518854e-04 6.65448949e+00] [ 2.55116371e-02 -1.16051943e-03 9.99673852e-01 5.64764214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.775099893 meters 0.020859219677705983 Centerline is valid? [True, True] Translation: X:472.59, Y:6.66, Z:5.65 [[ 9.97746742e-01 -6.26151343e-02 -2.40994750e-02 4.72591935e+02] [ 6.26228123e-02 9.98037170e-01 -4.36710884e-04 6.65631845e+00] [ 2.40795165e-02 -1.07345004e-03 9.99709470e-01 5.64953773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.805099893 meters 0.02106451915707814 Centerline is valid? [True, True] Translation: X:472.62, Y:6.66, Z:5.65 [[ 9.97827338e-01 -6.14099159e-02 -2.38626601e-02 4.72623261e+02] [ 6.14171362e-02 9.98112093e-01 -4.30889649e-04 6.65594971e+00] [ 2.38440705e-02 -1.03562277e-03 9.99715153e-01 5.65012158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.835099893 meters 0.02106451915707814 Centerline is valid? [True, True] Translation: X:472.65, Y:6.66, Z:5.65 [[ 9.97831810e-01 -6.13371902e-02 -2.38626874e-02 4.72654979e+02] [ 6.13444259e-02 9.98116565e-01 -4.29375377e-04 6.65646416e+00] [ 2.38440802e-02 -1.03539845e-03 9.99715153e-01 5.65051367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.865099893 meters 0.021365774153828843 Centerline is valid? [True, True] Translation: X:472.69, Y:6.66, Z:5.65 [[ 9.97870735e-01 -6.08851825e-02 -2.33878445e-02 4.72686256e+02] [ 6.08920437e-02 9.98144270e-01 -4.19349230e-04 6.65565195e+00] [ 2.33699751e-02 -1.00567732e-03 9.99726379e-01 5.65108263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.895099893 meters 0.020239775384828063 Centerline is valid? [True, True] Translation: X:472.72, Y:6.66, Z:5.65 [[ 9.97965713e-01 -5.99247569e-02 -2.17591223e-02 4.72718144e+02] [ 5.99304959e-02 9.98202477e-01 -3.88832063e-04 6.65622338e+00] [ 2.17433104e-02 -9.15993920e-04 9.99763167e-01 5.65212907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.925099893 meters 0.020695992077055882 Centerline is valid? [True, True] Translation: X:472.75, Y:6.66, Z:5.65 [[ 9.97968431e-01 -5.99515143e-02 -2.15598579e-02 4.72749157e+02] [ 5.99571980e-02 9.98200875e-01 -3.83270196e-04 6.65564743e+00] [ 2.15440467e-02 -9.10177113e-04 9.99767486e-01 5.65296086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.955099893 meters 0.020876907597599227 Centerline is valid? [True, True] Translation: X:472.78, Y:6.66, Z:5.65 [[ 9.97934420e-01 -6.07837980e-02 -2.07900016e-02 4.72781730e+02] [ 6.07893056e-02 9.98150552e-01 -3.67540239e-04 6.65529814e+00] [ 2.07738921e-02 -8.97028706e-04 9.99783797e-01 5.65413629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.985099893 meters 0.022900038028832767 Centerline is valid? [True, True] Translation: X:472.81, Y:6.65, Z:5.65 [[ 9.97897861e-01 -6.14182158e-02 -2.06799868e-02 4.72812733e+02] [ 6.14238291e-02 9.98111707e-01 -3.64245540e-04 6.65236467e+00] [ 2.06633083e-02 -9.06764132e-04 9.99786080e-01 5.65413665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.015099893 meters 0.02382617030883101 Centerline is valid? [True, True] Translation: X:472.84, Y:6.65, Z:5.65 [[ 9.97846441e-01 -6.23275818e-02 -2.04389889e-02 4.72844065e+02] [ 6.23332775e-02 9.98055326e-01 -3.58911474e-04 6.65085100e+00] [ 2.04216118e-02 -9.15890632e-04 9.99791038e-01 5.65432434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.045099893 meters 0.02265349425398293 Centerline is valid? [True, True] Translation: X:472.88, Y:6.65, Z:5.65 [[ 9.97775823e-01 -6.34027067e-02 -2.05792000e-02 4.72875721e+02] [ 6.34087317e-02 9.97987577e-01 -3.60275477e-04 6.65209961e+00] [ 2.05606284e-02 -9.45426812e-04 9.99788161e-01 5.65491891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.075099893 meters 0.023519419556344186 Centerline is valid? [True, True] Translation: X:472.91, Y:6.65, Z:5.65 [[ 9.97637553e-01 -6.54065716e-02 -2.10069798e-02 4.72907348e+02] [ 6.54133170e-02 9.97858188e-01 -3.66616268e-04 6.65007384e+00] [ 2.09859659e-02 -1.00838607e-03 9.99779262e-01 5.65450989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.105099893 meters 0.023235049246589493 Centerline is valid? [True, True] Translation: X:472.94, Y:6.65, Z:5.65 [[ 9.97614950e-01 -6.58231509e-02 -2.07779755e-02 4.72939803e+02] [ 6.58298664e-02 9.97830796e-01 -3.61350090e-04 6.65107818e+00] [ 2.07566890e-02 -1.00732310e-03 9.99784049e-01 5.65493892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.135099893 meters 0.024001387021068903 Centerline is valid? [True, True] Translation: X:472.97, Y:6.65, Z:5.66 [[ 9.97625457e-01 -6.57305192e-02 -2.05656714e-02 4.72971462e+02] [ 6.57371059e-02 9.97836914e-01 -3.56327434e-04 6.65090696e+00] [ 2.05446076e-02 -9.96446398e-04 9.99788441e-01 5.65550306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.165099893 meters 0.026013479064239925 Centerline is valid? [True, True] Translation: X:473.00, Y:6.65, Z:5.66 [[ 9.97680665e-01 -6.51175234e-02 -1.98242083e-02 4.73002831e+02] [ 6.51235435e-02 9.97877150e-01 -3.42438876e-04 6.64910512e+00] [ 1.98044232e-02 -9.49378045e-04 9.99803422e-01 5.65580494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.195099893 meters 0.024784735951672715 Centerline is valid? [True, True] Translation: X:473.03, Y:6.65, Z:5.66 [[ 9.97757963e-01 -6.37422616e-02 -2.03953795e-02 4.73034661e+02] [ 6.37483722e-02 9.97965942e-01 -3.51066760e-04 6.65209494e+00] [ 2.03762720e-02 -9.49892591e-04 9.99791931e-01 5.65601216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.225099893 meters 0.024431971305119347 Centerline is valid? [True, True] Translation: X:473.07, Y:6.65, Z:5.66 [[ 9.97540565e-01 -6.67381200e-02 -2.14206711e-02 4.73065755e+02] [ 6.67455725e-02 9.97769960e-01 -3.67646874e-04 6.65441171e+00] [ 2.13974382e-02 -1.06299228e-03 9.99770484e-01 5.65581473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.255099893 meters 0.024369615325628934 Centerline is valid? [True, True] Translation: X:473.10, Y:6.66, Z:5.66 [[ 9.97442248e-01 -6.79010124e-02 -2.23251823e-02 4.73097942e+02] [ 6.79094195e-02 9.97691418e-01 -3.82223662e-04 6.65526617e+00] [ 2.22995961e-02 -1.13484414e-03 9.99750689e-01 5.65569818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.285099893 meters 0.02609878548076926 Centerline is valid? [True, True] Translation: X:473.13, Y:6.65, Z:5.66 [[ 9.97326670e-01 -6.92564914e-02 -2.33034836e-02 4.73129314e+02] [ 6.92660562e-02 9.97598143e-01 -3.97455574e-04 6.65383701e+00] [ 2.32750384e-02 -1.21774736e-03 9.99728358e-01 5.65545130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.315099893 meters 0.02609878548076926 Centerline is valid? [True, True] Translation: X:473.16, Y:6.65, Z:5.66 [[ 9.97331567e-01 -6.91859255e-02 -2.33035081e-02 4.73161044e+02] [ 6.91955046e-02 9.97603040e-01 -3.96017990e-04 6.65431700e+00] [ 2.32750494e-02 -1.21753676e-03 9.99728358e-01 5.65584355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.345099893 meters 0.02609488587514571 Centerline is valid? [True, True] Translation: X:473.19, Y:6.66, Z:5.66 [[ 9.97240766e-01 -7.02232895e-02 -2.40737135e-02 4.73192691e+02] [ 7.02338642e-02 9.97530470e-01 -4.07018884e-04 6.65535891e+00] [ 2.40428450e-02 -1.28489410e-03 9.99710103e-01 5.65567152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.375099893 meters 0.02609488587514571 Centerline is valid? [True, True] Translation: X:473.22, Y:6.66, Z:5.66 [[ 9.97245768e-01 -7.01522117e-02 -2.40737486e-02 4.73224424e+02] [ 7.01628159e-02 9.97535471e-01 -4.04934695e-04 6.65583372e+00] [ 2.40428252e-02 -1.28526258e-03 9.99710103e-01 5.65606364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.405099893 meters 0.02707607626035746 Centerline is valid? [True, True] Translation: X:473.26, Y:6.66, Z:5.66 [[ 9.97152428e-01 -7.12626105e-02 -2.46713666e-02 4.73256211e+02] [ 7.12741252e-02 9.97456680e-01 -4.13429343e-04 6.65548393e+00] [ 2.46380815e-02 -1.34617800e-03 9.99695530e-01 5.65534124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.43509989300003 meters 0.02707607626035746 Centerline is valid? [True, True] Translation: X:473.29, Y:6.66, Z:5.66 [[ 9.97157471e-01 -7.11919962e-02 -2.46713921e-02 4.73287946e+02] [ 7.12035271e-02 9.97461723e-01 -4.11900563e-04 6.65595442e+00] [ 2.46380933e-02 -1.34596041e-03 9.99695530e-01 5.65573354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.465099893 meters 0.02636537091734602 Centerline is valid? [True, True] Translation: X:473.32, Y:6.66, Z:5.66 [[ 9.97060893e-01 -7.22163542e-02 -2.55807326e-02 4.73320215e+02] [ 7.22291348e-02 9.97387974e-01 -4.25223680e-04 6.65763094e+00] [ 2.55446231e-02 -1.42370028e-03 9.99672669e-01 5.65574376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49509989300003 meters 0.02636537091734602 Centerline is valid? [True, True] Translation: X:473.35, Y:6.66, Z:5.66 [[ 9.97066086e-01 -7.21446155e-02 -2.55807630e-02 4.73351952e+02] [ 7.21574197e-02 9.97393166e-01 -4.23383749e-04 6.65809821e+00] [ 2.55446231e-02 -1.42370028e-03 9.99672669e-01 5.65613603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.525099893 meters 0.02636537091734602 Centerline is valid? [True, True] Translation: X:473.38, Y:6.66, Z:5.66 [[ 9.97071273e-01 -7.20728764e-02 -2.55807934e-02 4.73383689e+02] [ 7.20857041e-02 9.97398352e-01 -4.21543815e-04 6.65856320e+00] [ 2.55446231e-02 -1.42370028e-03 9.99672669e-01 5.65652831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.555099893 meters 0.029872593141961012 Centerline is valid? [True, True] Translation: X:473.42, Y:6.65, Z:5.66 [[ 9.97003973e-01 -7.28870554e-02 -2.58950942e-02 4.73415087e+02] [ 7.29005335e-02 9.97339126e-01 -4.24427170e-04 6.65445265e+00] [ 2.58571258e-02 -1.46461060e-03 9.99664576e-01 5.65562116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.585099893 meters 0.02734311107814345 Centerline is valid? [True, True] Translation: X:473.45, Y:6.66, Z:5.66 [[ 9.96979781e-01 -7.32730873e-02 -2.57365654e-02 4.73446957e+02] [ 7.32865862e-02 9.97310834e-01 -4.19605039e-04 6.65876179e+00] [ 2.56981012e-02 -1.46780728e-03 9.99668672e-01 5.65686143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.615099893 meters 0.029551473893500102 Centerline is valid? [True, True] Translation: X:473.48, Y:6.66, Z:5.66 [[ 9.96993274e-01 -7.32824620e-02 -2.51811834e-02 4.73478159e+02] [ 7.32954262e-02 9.97310189e-01 -4.09000756e-04 6.65645091e+00] [ 2.51434234e-02 -1.43789457e-03 9.99682820e-01 5.65692599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.645099893 meters 0.030039176887418275 Centerline is valid? [True, True] Translation: X:473.51, Y:6.66, Z:5.66 [[ 9.97049265e-01 -7.28412113e-02 -2.42264489e-02 4.73510171e+02] [ 7.28531158e-02 9.97342604e-01 -3.92040383e-04 6.65703382e+00] [ 2.41906263e-02 -1.37408871e-03 9.99706420e-01 5.65785205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.675099893 meters 0.027292967393099436 Centerline is valid? [True, True] Translation: X:473.54, Y:6.66, Z:5.66 [[ 9.97238065e-01 -7.08759564e-02 -2.22000308e-02 4.73541277e+02] [ 7.08854915e-02 9.97484395e-01 -3.58116963e-04 6.66383343e+00] [ 2.21695662e-02 -1.21653223e-03 9.99753485e-01 5.66059142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.705099893 meters 0.024947309408148013 Centerline is valid? [True, True] Translation: X:473.57, Y:6.67, Z:5.66 [[ 9.97365587e-01 -6.93117841e-02 -2.13953776e-02 4.73572178e+02] [ 6.93202974e-02 9.97594395e-01 -3.44384182e-04 6.66898901e+00] [ 2.13677787e-02 -1.13965701e-03 9.99771033e-01 5.66199532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.735099893 meters 0.02469914963822159 Centerline is valid? [True, True] Translation: X:473.60, Y:6.67, Z:5.66 [[ 9.97485348e-01 -6.77893523e-02 -2.06781182e-02 4.73604318e+02] [ 6.77969992e-02 9.97699081e-01 -3.31805908e-04 6.67110840e+00] [ 2.06530324e-02 -1.07094283e-03 9.99786130e-01 5.66317293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.765099893 meters 0.026203467327817906 Centerline is valid? [True, True] Translation: X:473.64, Y:6.67, Z:5.66 [[ 9.97601275e-01 -6.63480101e-02 -1.97392563e-02 4.73636036e+02] [ 6.63547239e-02 9.97796047e-01 -3.15363060e-04 6.67036123e+00] [ 1.97166757e-02 -9.95186314e-04 9.99805112e-01 5.66368900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.795099893 meters 0.024120631569861613 Centerline is valid? [True, True] Translation: X:473.67, Y:6.68, Z:5.66 [[ 9.97733767e-01 -6.44720839e-02 -1.92530565e-02 4.73667517e+02] [ 6.44781439e-02 9.97919072e-01 -3.06482963e-04 6.67513727e+00] [ 1.92327519e-02 -9.35612948e-04 9.99814596e-01 5.66459220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.825099893 meters 0.025176772962966616 Centerline is valid? [True, True] Translation: X:473.70, Y:6.67, Z:5.66 [[ 9.97764264e-01 -6.38790931e-02 -1.96452429e-02 4.73698922e+02] [ 6.38853044e-02 9.97957199e-01 -3.11885025e-04 6.67470945e+00] [ 1.96250345e-02 -9.43854588e-04 9.99806965e-01 5.66435552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.855099893 meters 0.02560008765473134 Centerline is valid? [True, True] Translation: X:473.73, Y:6.68, Z:5.66 [[ 9.97767190e-01 -6.37948157e-02 -1.97700644e-02 4.73731566e+02] [ 6.38011131e-02 9.97962585e-01 -3.12687421e-04 6.67508957e+00] [ 1.97497324e-02 -9.49362867e-04 9.99804504e-01 5.66456848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.885099893 meters 0.02413674910396869 Centerline is valid? [True, True] Translation: X:473.76, Y:6.68, Z:5.66 [[ 9.97658503e-01 -6.52209746e-02 -2.05848612e-02 4.73763254e+02] [ 6.52281324e-02 9.97870325e-01 -3.24232695e-04 6.67849863e+00] [ 2.05621689e-02 -1.01923854e-03 9.99788057e-01 5.66496659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.915099893 meters 0.026955414313563658 Centerline is valid? [True, True] Translation: X:473.79, Y:6.67, Z:5.66 [[ 9.97574119e-01 -6.63420503e-02 -2.10857658e-02 4.73794132e+02] [ 6.63498478e-02 9.97796366e-01 -3.30350462e-04 6.67498286e+00] [ 2.10612166e-02 -1.06948828e-03 9.99777616e-01 5.66421096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.945099893 meters 0.02630833599587146 Centerline is valid? [True, True] Translation: X:473.83, Y:6.68, Z:5.66 [[ 9.97451588e-01 -6.80069776e-02 -2.15726652e-02 4.73826639e+02] [ 6.80155759e-02 9.97684203e-01 -3.35747923e-04 6.67625575e+00] [ 2.15455405e-02 -1.13238495e-03 9.99767227e-01 5.66442431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.975099893 meters 0.02525242298980921 Centerline is valid? [True, True] Translation: X:473.86, Y:6.68, Z:5.66 [[ 9.97165724e-01 -7.14723349e-02 -2.34994674e-02 4.73857661e+02] [ 7.14835250e-02 9.97441714e-01 -3.64576294e-04 6.67787369e+00] [ 2.34654062e-02 -1.31628178e-03 9.99723783e-01 5.66382042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.005099893 meters 0.029754671922874926 Centerline is valid? [True, True] Translation: X:473.89, Y:6.67, Z:5.66 [[ 9.97048723e-01 -7.27859708e-02 -2.44140534e-02 4.73889137e+02] [ 7.27984636e-02 9.97346600e-01 -3.77870384e-04 6.67184663e+00] [ 2.43767768e-02 -1.40055039e-03 9.99701861e-01 5.66253376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.035099893 meters 0.029689965796549676 Centerline is valid? [True, True] Translation: X:473.92, Y:6.67, Z:5.66 [[ 9.96898445e-01 -7.45141577e-02 -2.53205676e-02 4.73920706e+02] [ 7.45281863e-02 9.97218831e-01 -3.90523605e-04 6.67274135e+00] [ 2.52792463e-02 -1.49778360e-03 9.99679307e-01 5.66262804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.065099893 meters 0.03199555695661513 Centerline is valid? [True, True] Translation: X:473.95, Y:6.67, Z:5.66 [[ 9.96890498e-01 -7.45383727e-02 -2.55610325e-02 4.73951944e+02] [ 7.45527114e-02 9.97216997e-01 -3.92887932e-04 6.67060016e+00] [ 2.55191813e-02 -1.51397803e-03 9.99673186e-01 5.66225399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.095099893 meters 0.031653215809934035 Centerline is valid? [True, True] Translation: X:473.98, Y:6.67, Z:5.66 [[ 9.96916988e-01 -7.40952235e-02 -2.58150421e-02 4.73983805e+02] [ 7.41097415e-02 9.97250014e-01 -3.95211266e-04 6.67254381e+00] [ 2.57733343e-02 -1.51915327e-03 9.99666658e-01 5.66329029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.125099893 meters 0.027049656605446715 Centerline is valid? [True, True] Translation: X:474.02, Y:6.68, Z:5.67 [[ 9.97009717e-01 -7.29541476e-02 -2.54816894e-02 4.74016272e+02] [ 7.29679729e-02 9.97334209e-01 -3.88084107e-04 6.68048514e+00] [ 2.54420729e-02 -1.47242360e-03 9.99675214e-01 5.66577874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.155099893 meters 0.031863962537322016 Centerline is valid? [True, True] Translation: X:474.05, Y:6.68, Z:5.67 [[ 9.97144234e-01 -7.12740386e-02 -2.49677339e-02 4.74047336e+02] [ 7.12868252e-02 9.97455786e-01 -3.78708279e-04 6.67556624e+00] [ 2.49312028e-02 -1.40224371e-03 9.99688186e-01 5.66542871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.18509989300003 meters 0.02452922285995552 Centerline is valid? [True, True] Translation: X:474.08, Y:6.69, Z:5.67 [[ 9.97494559e-01 -6.67349749e-02 -2.34744128e-02 4.74077738e+02] [ 6.67450349e-02 9.97770000e-01 -3.55569160e-04 6.68881696e+00] [ 2.34457937e-02 -1.21212220e-03 9.99724375e-01 5.66965126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.215099893 meters 0.02316670277790516 Centerline is valid? [True, True] Translation: X:474.11, Y:6.69, Z:5.67 [[ 9.97684492e-01 -6.40829276e-02 -2.27823108e-02 4.74109306e+02] [ 6.40917278e-02 9.97943952e-01 -3.44438753e-04 6.69268033e+00] [ 2.27575419e-02 -1.11651646e-03 9.99740390e-01 5.67115080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24509989300003 meters 0.024077641308024467 Centerline is valid? [True, True] Translation: X:474.14, Y:6.69, Z:5.67 [[ 9.97889011e-01 -6.11100701e-02 -2.19791090e-02 4.74139390e+02] [ 6.11175592e-02 9.98130520e-01 -3.31465040e-04 6.69295369e+00] [ 2.19582753e-02 -1.01254418e-03 9.99758375e-01 5.67191957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.275099893 meters 0.021412313541466593 Centerline is valid? [True, True] Translation: X:474.17, Y:6.70, Z:5.67 [[ 9.98219182e-01 -5.57796962e-02 -2.11445110e-02 4.74169756e+02] [ 5.57854412e-02 9.98442729e-01 -3.18508997e-04 6.69945042e+00] [ 2.11293496e-02 -8.61614082e-04 9.99776379e-01 5.67412796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.305099893 meters 0.02048298711077372 Centerline is valid? [True, True] Translation: X:474.20, Y:6.70, Z:5.67 [[ 9.98358024e-01 -5.32455448e-02 -2.11226655e-02 4.74201218e+02] [ 5.32507227e-02 9.98581123e-01 -3.17652555e-04 6.70213874e+00] [ 2.11096086e-02 -8.07666227e-04 9.99776841e-01 5.67474538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.335099893 meters 0.019660715625471326 Centerline is valid? [True, True] Translation: X:474.23, Y:6.70, Z:5.68 [[ 9.98456536e-01 -5.12894515e-02 -2.13058274e-02 4.74233025e+02] [ 5.12942980e-02 9.98683530e-01 -3.19318357e-04 6.70448639e+00] [ 2.12941566e-02 -7.74041961e-04 9.99772954e-01 5.67541886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.365099893 meters 0.019188609426466958 Centerline is valid? [True, True] Translation: X:474.27, Y:6.71, Z:5.68 [[ 9.98524061e-01 -4.97918494e-02 -2.16903543e-02 4.74265363e+02] [ 4.97965538e-02 9.98759330e-01 -3.23509113e-04 6.70604946e+00] [ 2.16795519e-02 -7.57073264e-04 9.99764684e-01 5.67535126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.395099893 meters 0.018469193859210534 Centerline is valid? [True, True] Translation: X:474.30, Y:6.71, Z:5.68 [[ 9.98565128e-01 -4.86851968e-02 -2.23032876e-02 4.74297405e+02] [ 4.86899316e-02 9.98813887e-01 -3.31019807e-04 6.70763331e+00] [ 2.22929491e-02 -7.55400712e-04 9.99751196e-01 5.67538308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.425099893 meters 0.018430368720998125 Centerline is valid? [True, True] Translation: X:474.33, Y:6.71, Z:5.67 [[ 9.98591469e-01 -4.75487690e-02 -2.35413129e-02 4.74329453e+02] [ 4.75537701e-02 9.98868619e-01 -3.47647101e-04 6.70801538e+00] [ 2.35312089e-02 -7.72320754e-04 9.99722804e-01 5.67496559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.455099893 meters 0.01973912544170825 Centerline is valid? [True, True] Translation: X:474.36, Y:6.71, Z:5.67 [[ 9.98584825e-01 -4.74049822e-02 -2.41063302e-02 4.74361190e+02] [ 4.74102400e-02 9.98875440e-01 -3.53694812e-04 6.70629186e+00] [ 2.40959881e-02 -7.89692630e-04 9.99709338e-01 5.67396415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.485099893 meters 0.01958221431189796 Centerline is valid? [True, True] Translation: X:474.39, Y:6.71, Z:5.67 [[ 9.98576627e-01 -4.73564853e-02 -2.45373787e-02 4.74393185e+02] [ 4.73619755e-02 9.98877728e-01 -3.57685753e-04 6.70688584e+00] [ 2.45267798e-02 -8.04962097e-04 9.99698849e-01 5.67427794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.515099893 meters 0.017879724698200625 Centerline is valid? [True, True] Translation: X:474.43, Y:6.71, Z:5.68 [[ 9.98563542e-01 -4.73351147e-02 -2.51045868e-02 4.74425067e+02] [ 4.73409006e-02 9.98878725e-01 -3.64142664e-04 6.71016842e+00] [ 2.50936744e-02 -8.24854161e-04 9.99684764e-01 5.67541521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.545099893 meters 0.020301209179375276 Centerline is valid? [True, True] Translation: X:474.46, Y:6.71, Z:5.67 [[ 9.98552555e-01 -4.73583562e-02 -2.54947219e-02 4.74455935e+02] [ 4.73643726e-02 9.98877610e-01 -3.68170613e-04 6.70682278e+00] [ 2.54835428e-02 -8.39903800e-04 9.99674889e-01 5.67398995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.575099893 meters 0.019793569903902897 Centerline is valid? [True, True] Translation: X:474.49, Y:6.71, Z:5.67 [[ 9.98565344e-01 -4.72146498e-02 -2.52592530e-02 4.74486924e+02] [ 4.72205320e-02 9.98884422e-01 -3.63882178e-04 6.70801749e+00] [ 2.52482549e-02 -8.29395231e-04 9.99680868e-01 5.67474997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.605099893 meters 0.01937656468565776 Centerline is valid? [True, True] Translation: X:474.52, Y:6.71, Z:5.68 [[ 9.98582183e-01 -4.70024280e-02 -2.49878969e-02 4.74518221e+02] [ 4.70081343e-02 9.98894442e-01 -3.59323385e-04 6.70920182e+00] [ 2.49771604e-02 -8.15820482e-04 9.99687689e-01 5.67530159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.635099893 meters 0.017860896530163796 Centerline is valid? [True, True] Translation: X:474.55, Y:6.71, Z:5.68 [[ 9.98633619e-01 -4.63182654e-02 -2.41973982e-02 4.74549586e+02] [ 4.63234359e-02 9.98926433e-01 -3.47111983e-04 6.71225851e+00] [ 2.41874983e-02 -7.74268931e-04 9.99707140e-01 5.67684091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.665099893 meters 0.018803653961303554 Centerline is valid? [True, True] Translation: X:474.58, Y:6.71, Z:5.68 [[ 9.98653936e-01 -4.60661071e-02 -2.38375640e-02 4.74580670e+02] [ 4.60710784e-02 9.98938106e-01 -3.40888685e-04 6.71066579e+00] [ 2.38279544e-02 -7.57792452e-04 9.99715787e-01 5.67678766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.695099893 meters 0.018891937850318237 Centerline is valid? [True, True] Translation: X:474.61, Y:6.71, Z:5.68 [[ 9.98661356e-01 -4.60223654e-02 -2.36101110e-02 4.74612170e+02] [ 4.60272549e-02 9.98940128e-01 -3.36580579e-04 6.71096683e+00] [ 2.36005775e-02 -7.50578579e-04 9.99721186e-01 5.67727882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.725099893 meters 0.018015593001572135 Centerline is valid? [True, True] Translation: X:474.64, Y:6.71, Z:5.68 [[ 9.98678505e-01 -4.57470967e-02 -2.34189511e-02 4.74644460e+02] [ 4.57518603e-02 9.98952780e-01 -3.32635324e-04 6.71253989e+00] [ 2.34096434e-02 -7.39264833e-04 9.99725683e-01 5.67836454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.755099893 meters 0.01843000327891202 Centerline is valid? [True, True] Translation: X:474.68, Y:6.71, Z:5.68 [[ 9.98694393e-01 -4.58063240e-02 -2.26117292e-02 4.74675449e+02] [ 4.58108116e-02 9.98950082e-01 -3.19766444e-04 6.71203127e+00] [ 2.26026360e-02 -7.16512710e-04 9.99744271e-01 5.67893582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.785099893 meters 0.01843000327891202 Centerline is valid? [True, True] Translation: X:474.71, Y:6.71, Z:5.68 [[ 9.98697638e-01 -4.57355082e-02 -2.26117487e-02 4.74707155e+02] [ 4.57400091e-02 9.98953327e-01 -3.18378931e-04 6.71241967e+00] [ 2.26026428e-02 -7.16297304e-04 9.99744271e-01 5.67932773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.815099893 meters 0.01819814816649399 Centerline is valid? [True, True] Translation: X:474.74, Y:6.71, Z:5.68 [[ 9.98683414e-01 -4.59759853e-02 -2.27518694e-02 4.74739671e+02] [ 4.59806415e-02 9.98942280e-01 -3.18726746e-04 6.71295646e+00] [ 2.27424581e-02 -7.27838435e-04 9.99741092e-01 5.67999029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.845099893 meters 0.01850788850177248 Centerline is valid? [True, True] Translation: X:474.77, Y:6.71, Z:5.68 [[ 9.98685350e-01 -4.64875950e-02 -2.15980451e-02 4.74771454e+02] [ 4.64919425e-02 9.98918620e-01 -3.01064959e-04 6.71229877e+00] [ 2.15886851e-02 -7.03465905e-04 9.99766690e-01 5.68108976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.875099893 meters 0.01876952272226104 Centerline is valid? [True, True] Translation: X:474.80, Y:6.71, Z:5.68 [[ 9.98704180e-01 -4.62981609e-02 -2.11291473e-02 4.74802985e+02] [ 4.63023072e-02 9.98927430e-01 -2.93200568e-04 6.71199047e+00] [ 2.11200594e-02 -6.85507636e-04 9.99776712e-01 5.68166777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.905099893 meters 0.018264062306271738 Centerline is valid? [True, True] Translation: X:474.83, Y:6.71, Z:5.68 [[ 9.98713109e-01 -4.60550399e-02 -2.12381456e-02 4.74834780e+02] [ 4.60592017e-02 9.98938669e-01 -2.93419244e-04 6.71274971e+00] [ 2.12291184e-02 -6.85170388e-04 9.99774402e-01 5.68215012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.93509989300003 meters 0.018825953452789566 Centerline is valid? [True, True] Translation: X:474.87, Y:6.71, Z:5.68 [[ 9.98775923e-01 -4.49160153e-02 -2.07172953e-02 4.74866308e+02] [ 4.49197576e-02 9.98990558e-01 -2.84917119e-04 6.71108935e+00] [ 2.07091798e-02 -6.46047527e-04 9.99785333e-01 5.68209320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.965099893 meters 0.017394321367037967 Centerline is valid? [True, True] Translation: X:474.90, Y:6.71, Z:5.68 [[ 9.98819803e-01 -4.42243440e-02 -2.00800372e-02 4.74898510e+02] [ 4.42277439e-02 9.99021437e-01 -2.74958571e-04 6.71347420e+00] [ 2.00725475e-02 -6.13460677e-04 9.99798338e-01 5.68307873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99509989300003 meters 0.018498341485408035 Centerline is valid? [True, True] Translation: X:474.93, Y:6.71, Z:5.68 [[ 9.98853365e-01 -4.33043019e-02 -2.04130397e-02 4.74930016e+02] [ 4.33076510e-02 9.99061745e-01 -2.78179149e-04 6.71186232e+00] [ 2.04059334e-02 -6.06180619e-04 9.99791593e-01 5.68272299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.025099893 meters 0.017380133893904366 Centerline is valid? [True, True] Translation: X:474.96, Y:6.71, Z:5.68 [[ 9.98891731e-01 -4.23244127e-02 -2.05901499e-02 4.74961925e+02] [ 4.23276380e-02 9.99103745e-01 -2.79338875e-04 6.71381272e+00] [ 2.05835188e-02 -5.92503120e-04 9.99787961e-01 5.68269678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.055099893 meters 0.016974817338943914 Centerline is valid? [True, True] Translation: X:474.99, Y:6.71, Z:5.68 [[ 9.98920238e-01 -4.06440825e-02 -2.25037179e-02 4.74993416e+02] [ 4.06475391e-02 9.99173501e-01 -3.03985223e-04 6.71385872e+00] [ 2.24974738e-02 -6.11063761e-04 9.99746713e-01 5.68099064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.085099893 meters 0.016644941261740636 Centerline is valid? [True, True] Translation: X:475.03, Y:6.71, Z:5.68 [[ 9.98935907e-01 -3.98965052e-02 -2.31370281e-02 4.75025139e+02] [ 3.98999781e-02 9.99203630e-01 -3.11711258e-04 6.71474939e+00] [ 2.31310386e-02 -6.11787344e-04 9.99732255e-01 5.68084227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.115099893 meters 0.016549513339906653 Centerline is valid? [True, True] Translation: X:475.06, Y:6.71, Z:5.68 [[ 9.98971018e-01 -3.85439031e-02 -2.39012985e-02 4.75055037e+02] [ 3.85472284e-02 9.99256728e-01 -3.21758122e-04 6.71484708e+00] [ 2.38959351e-02 -5.99901773e-04 9.99714271e-01 5.68023919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.145099893 meters 0.01697277031391011 Centerline is valid? [True, True] Translation: X:475.09, Y:6.71, Z:5.68 [[ 9.98985679e-01 -3.81741989e-02 -2.38818866e-02 4.75085041e+02] [ 3.81774080e-02 9.99270925e-01 -3.21714185e-04 6.71442006e+00] [ 2.38767561e-02 -5.90360667e-04 9.99714735e-01 5.67968037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.175099893 meters 0.016448073479549376 Centerline is valid? [True, True] Translation: X:475.12, Y:6.72, Z:5.68 [[ 9.98994576e-01 -3.78790883e-02 -2.39793995e-02 4.75116001e+02] [ 3.78822388e-02 9.99282158e-01 -3.23027786e-04 6.71582110e+00] [ 2.39744221e-02 -5.85690331e-04 9.99712401e-01 5.68044762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.205099893 meters 0.01564894530611994 Centerline is valid? [True, True] Translation: X:475.15, Y:6.72, Z:5.68 [[ 9.99024003e-01 -3.75096287e-02 -2.33253059e-02 4.75146039e+02] [ 3.75125089e-02 9.99296109e-01 -3.14216456e-04 6.71763667e+00] [ 2.33206736e-02 -5.61080965e-04 9.99727879e-01 5.68187646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.235099893 meters 0.01556459459356692 Centerline is valid? [True, True] Translation: X:475.18, Y:6.72, Z:5.68 [[ 9.99050626e-01 -3.71504076e-02 -2.27529068e-02 4.75176928e+02] [ 3.71530550e-02 9.99309540e-01 -3.06505637e-04 6.71810514e+00] [ 2.27485836e-02 -5.39125349e-04 9.99741072e-01 5.68251553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.265099893 meters 0.015888046154240516 Centerline is valid? [True, True] Translation: X:475.21, Y:6.72, Z:5.68 [[ 9.99085465e-01 -3.66317900e-02 -2.20532218e-02 4.75207709e+02] [ 3.66341545e-02 9.99328700e-01 -2.96907275e-04 6.71792644e+00] [ 2.20492937e-02 -5.11265391e-04 9.99756754e-01 5.68307671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.295099893 meters 0.016709760850020145 Centerline is valid? [True, True] Translation: X:475.24, Y:6.72, Z:5.68 [[ 9.99088811e-01 -3.64580454e-02 -2.21891674e-02 4.75238401e+02] [ 3.64604051e-02 9.99335054e-01 -2.98343516e-04 6.71670527e+00] [ 2.21852898e-02 -5.10954363e-04 9.99753746e-01 5.68314977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.325099893 meters 0.015443690333579093 Centerline is valid? [True, True] Translation: X:475.27, Y:6.72, Z:5.68 [[ 9.99096901e-01 -3.64221639e-02 -2.18816770e-02 4.75269995e+02] [ 3.64244622e-02 9.99336366e-01 -2.93653162e-04 6.71952944e+00] [ 2.18778510e-02 -5.03640352e-04 9.99760524e-01 5.68493270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.355099893 meters 0.015419524420203315 Centerline is valid? [True, True] Translation: X:475.30, Y:6.72, Z:5.69 [[ 9.99089000e-01 -3.68204935e-02 -2.15736234e-02 4.75301082e+02] [ 3.68228369e-02 9.99321768e-01 -2.88747852e-04 6.71974491e+00] [ 2.15696233e-02 -5.05917213e-04 9.99767221e-01 5.68529377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.385099893 meters 0.015945810013684357 Centerline is valid? [True, True] Translation: X:475.33, Y:6.72, Z:5.69 [[ 9.99040062e-01 -3.84606257e-02 -2.09698344e-02 4.75332119e+02] [ 3.84632163e-02 9.99259978e-01 -2.79923730e-04 6.71846377e+00] [ 2.09650822e-02 -5.26912254e-04 9.99780070e-01 5.68569212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.415099893 meters 0.01684274126039163 Centerline is valid? [True, True] Translation: X:475.36, Y:6.72, Z:5.69 [[ 9.98998847e-01 -3.97594899e-02 -2.05057590e-02 4.75362625e+02] [ 3.97622523e-02 9.99209132e-01 -2.73150013e-04 6.71662746e+00] [ 2.05004020e-02 -5.42478615e-04 9.99789698e-01 5.68595936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.445099893 meters 0.016240088615662937 Centerline is valid? [True, True] Translation: X:475.39, Y:6.72, Z:5.69 [[ 9.98940782e-01 -4.14731329e-02 -1.99322193e-02 4.75393990e+02] [ 4.14760935e-02 9.99139461e-01 -2.65019450e-04 6.71746616e+00] [ 1.99260581e-02 -5.61971855e-04 9.99801298e-01 5.68717853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.475099893 meters 0.01786678870686698 Centerline is valid? [True, True] Translation: X:475.42, Y:6.71, Z:5.69 [[ 9.98807978e-01 -4.50672841e-02 -1.87499902e-02 4.75424595e+02] [ 4.50705486e-02 9.98983776e-01 -2.48642293e-04 6.71373354e+00] [ 1.87421416e-02 -5.96726438e-04 9.99824173e-01 5.68784138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.505099893 meters 0.01902445763939939 Centerline is valid? [True, True] Translation: X:475.46, Y:6.71, Z:5.69 [[ 9.98749751e-01 -4.66218526e-02 -1.80371388e-02 4.75456081e+02] [ 4.66251401e-02 9.98912428e-01 -2.38450205e-04 6.71176101e+00] [ 1.80286392e-02 -6.02832042e-04 9.99837289e-01 5.68841166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.535099893 meters 0.019354571038038223 Centerline is valid? [True, True] Translation: X:475.49, Y:6.71, Z:5.69 [[ 9.98684546e-01 -4.81678747e-02 -1.75793258e-02 4.75488093e+02] [ 4.81712545e-02 9.98839064e-01 -2.31379960e-04 6.71122491e+00] [ 1.75700624e-02 -6.15742584e-04 9.99845445e-01 5.68905561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.565099893 meters 0.020319388501243887 Centerline is valid? [True, True] Translation: X:475.52, Y:6.71, Z:5.69 [[ 9.98577250e-01 -5.03693602e-02 -1.75043978e-02 4.75520065e+02] [ 5.03730705e-02 9.98730445e-01 -2.29156570e-04 6.70956759e+00] [ 1.74937175e-02 -6.52919727e-04 9.99846760e-01 5.68970124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.595099893 meters 0.019216490136406632 Centerline is valid? [True, True] Translation: X:475.55, Y:6.71, Z:5.69 [[ 9.98526484e-01 -5.12159623e-02 -1.79384088e-02 4.75551696e+02] [ 5.12200169e-02 9.98687366e-01 -2.33639065e-04 6.71155333e+00] [ 1.79268283e-02 -6.85510809e-04 9.99839067e-01 5.69022866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.625099893 meters 0.020427196326934904 Centerline is valid? [True, True] Translation: X:475.58, Y:6.71, Z:5.69 [[ 9.98509297e-01 -5.16801511e-02 -1.75597941e-02 4.75582928e+02] [ 5.16841300e-02 9.98663456e-01 -2.27455766e-04 6.70984247e+00] [ 1.75480796e-02 -6.80445983e-04 9.99845789e-01 5.69028093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.655099893 meters 0.021424533292165072 Centerline is valid? [True, True] Translation: X:475.61, Y:6.71, Z:5.69 [[ 9.98463401e-01 -5.25670287e-02 -1.75369454e-02 4.75613934e+02] [ 5.25711632e-02 9.98617155e-01 -2.25484540e-04 6.70803090e+00] [ 1.75245475e-02 -6.96799555e-04 9.99846191e-01 5.69079233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.68509989300003 meters 0.02042078312827677 Centerline is valid? [True, True] Translation: X:475.65, Y:6.71, Z:5.69 [[ 9.98457710e-01 -5.25487597e-02 -1.79117123e-02 4.75645876e+02] [ 5.25530890e-02 9.98618105e-01 -2.29234384e-04 6.70965056e+00] [ 1.78990062e-02 -7.12434973e-04 9.99839546e-01 5.69096637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.715099893 meters 0.02026547845201678 Centerline is valid? [True, True] Translation: X:475.68, Y:6.71, Z:5.69 [[ 9.98455555e-01 -5.24522933e-02 -1.83101399e-02 4.75677833e+02] [ 5.24568256e-02 9.98623166e-01 -2.33000076e-04 6.71003094e+00] [ 1.82971513e-02 -7.27851595e-04 9.99832328e-01 5.69107953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74509989300003 meters 0.019577310205708957 Centerline is valid? [True, True] Translation: X:475.71, Y:6.71, Z:5.69 [[ 9.98483416e-01 -5.19037376e-02 -1.83540194e-02 4.75710191e+02] [ 5.19082234e-02 9.98651832e-01 -2.32233424e-04 6.71170831e+00] [ 1.83413289e-02 -7.20843318e-04 9.99831524e-01 5.69159887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.775099893 meters 0.020923506363422054 Centerline is valid? [True, True] Translation: X:475.74, Y:6.71, Z:5.69 [[ 9.98509168e-01 -5.13488206e-02 -1.85132228e-02 4.75741148e+02] [ 5.13533123e-02 9.98680521e-01 -2.33009034e-04 6.71046162e+00] [ 1.85007597e-02 -7.18053656e-04 9.99828588e-01 5.69132619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.805099893 meters 0.02085342247281487 Centerline is valid? [True, True] Translation: X:475.77, Y:6.71, Z:5.69 [[ 9.98555341e-01 -5.02782031e-02 -1.89560750e-02 4.75773684e+02] [ 5.02827415e-02 9.98734995e-01 -2.37437270e-04 6.71136196e+00] [ 1.89440334e-02 -7.16069165e-04 9.99820289e-01 5.69156699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.835099893 meters 0.020836498950470128 Centerline is valid? [True, True] Translation: X:475.81, Y:6.71, Z:5.69 [[ 9.98599785e-01 -4.91909600e-02 -1.94607249e-02 4.75805228e+02] [ 4.91955615e-02 9.98789136e-01 -2.42504716e-04 6.71242231e+00] [ 1.94490896e-02 -7.15216131e-04 9.99810593e-01 5.69164951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.865099893 meters 0.01890783327391025 Centerline is valid? [True, True] Translation: X:475.84, Y:6.72, Z:5.69 [[ 9.98767616e-01 -4.58058082e-02 -1.91069802e-02 4.75836524e+02] [ 4.58096417e-02 9.98950159e-01 -2.37228211e-04 6.71715525e+00] [ 1.90977873e-02 -6.38348060e-04 9.99817417e-01 5.69233131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.895099893 meters 0.01811301479647819 Centerline is valid? [True, True] Translation: X:475.87, Y:6.72, Z:5.69 [[ 9.98877014e-01 -4.35643723e-02 -1.86240814e-02 4.75868331e+02] [ 4.35676393e-02 9.99050453e-01 -2.30477172e-04 6.71931814e+00] [ 1.86164376e-02 -5.81188913e-04 9.99826530e-01 5.69294540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.925099893 meters 0.017658628406348603 Centerline is valid? [True, True] Translation: X:475.90, Y:6.72, Z:5.69 [[ 9.98988198e-01 -4.12015704e-02 -1.80280817e-02 4.75899965e+02] [ 4.12042621e-02 9.99150719e-01 -2.22270793e-04 6.72147334e+00] [ 1.80219287e-02 -5.20787905e-04 9.99837456e-01 5.69393323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.955099893 meters 0.015969324895204938 Centerline is valid? [True, True] Translation: X:475.93, Y:6.73, Z:5.70 [[ 9.99092355e-01 -3.88779196e-02 -1.74061333e-02 4.75931273e+02] [ 3.88800868e-02 9.99243861e-01 -2.14002438e-04 6.72587113e+00] [ 1.74012918e-02 -4.62943775e-04 9.99848479e-01 5.69524159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.985099893 meters 0.01491441942522459 Centerline is valid? [True, True] Translation: X:475.96, Y:6.73, Z:5.70 [[ 9.99282332e-01 -3.39373301e-02 -1.68249222e-02 4.75961863e+02] [ 3.39386649e-02 9.99423896e-01 -2.06264634e-04 6.72981082e+00] [ 1.68222294e-02 -3.64898794e-04 9.99858430e-01 5.69620445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.015099893 meters 0.014103596163098826 Centerline is valid? [True, True] Translation: X:475.99, Y:6.73, Z:5.70 [[ 9.99412382e-01 -2.93212489e-02 -1.77525926e-02 4.75992528e+02] [ 2.93220189e-02 9.99569994e-01 -2.16975090e-04 6.73408548e+00] [ 1.77513208e-02 -3.03694263e-04 9.99842387e-01 5.69655667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.045099893 meters 0.013697299544940734 Centerline is valid? [True, True] Translation: X:476.02, Y:6.74, Z:5.70 [[ 9.99476503e-01 -2.69409971e-02 -1.79137615e-02 4.76023897e+02] [ 2.69414104e-02 9.99636990e-01 -2.18305554e-04 6.73649527e+00] [ 1.79131400e-02 -2.64430729e-04 9.99839512e-01 5.69720926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.075099893 meters 0.013697299544940734 Centerline is valid? [True, True] Translation: X:476.05, Y:6.74, Z:5.70 [[ 9.99476503e-01 -2.69409918e-02 -1.79137668e-02 4.76053897e+02] [ 2.69414128e-02 9.99636991e-01 -2.17872061e-04 6.73685992e+00] [ 1.79131336e-02 -2.64864180e-04 9.99839512e-01 5.69758014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.105099893 meters 0.012823754763214151 Centerline is valid? [True, True] Translation: X:476.08, Y:6.74, Z:5.70 [[ 9.99590946e-01 -2.24319485e-02 -1.77411665e-02 4.76083965e+02] [ 2.24316513e-02 9.99748356e-01 -2.15772849e-04 6.74033252e+00] [ 1.77415422e-02 -1.82279075e-04 9.99842590e-01 5.69844669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.135099893 meters 0.012753894231989457 Centerline is valid? [True, True] Translation: X:476.11, Y:6.74, Z:5.70 [[ 9.99644022e-01 -2.00024935e-02 -1.76558804e-02 4.76112644e+02] [ 2.00018154e-02 9.99799921e-01 -2.15013408e-04 6.74166009e+00] [ 1.76566486e-02 -1.38212792e-04 9.99844100e-01 5.69878514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.165099893 meters 0.012444276160156687 Centerline is valid? [True, True] Translation: X:476.14, Y:6.74, Z:5.70 [[ 9.99697060e-01 -1.75484236e-02 -1.72580847e-02 4.76141200e+02] [ 1.75473790e-02 9.99846010e-01 -2.11970454e-04 6.74358063e+00] [ 1.72591468e-02 -9.09279124e-05 9.99851046e-01 5.69921775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.195099893 meters 0.01222348158872854 Centerline is valid? [True, True] Translation: X:476.17, Y:6.75, Z:5.70 [[ 9.99769499e-01 -1.26662848e-02 -1.73353209e-02 4.76170262e+02] [ 1.26644241e-02 9.99919779e-01 -2.17118597e-04 6.74664789e+00] [ 1.73366803e-02 -2.47330426e-06 9.99849708e-01 5.70075812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.225099893 meters 0.012261606179964638 Centerline is valid? [True, True] Translation: X:476.20, Y:6.75, Z:5.70 [[ 9.99798048e-01 -1.05162491e-02 -1.71251634e-02 4.76198574e+02] [ 1.05140425e-02 9.99944702e-01 -2.18882903e-04 6.74804840e+00] [ 1.71265182e-02 3.87840042e-05 9.99853330e-01 5.70109198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.255099893 meters 0.01241649733633693 Centerline is valid? [True, True] Translation: X:476.23, Y:6.75, Z:5.70 [[ 9.99823069e-01 -8.34855008e-03 -1.68562011e-02 4.76226544e+02] [ 8.34602416e-03 9.99965147e-01 -2.20192669e-04 6.74925558e+00] [ 1.68574519e-02 7.94714490e-05 9.99857900e-01 5.70179707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.285099893 meters 0.01250424974631287 Centerline is valid? [True, True] Translation: X:476.26, Y:6.75, Z:5.70 [[ 9.99836626e-01 -6.17130346e-03 -1.69893104e-02 4.76255299e+02] [ 6.16834251e-03 9.99980950e-01 -2.26680143e-04 6.74988836e+00] [ 1.69903857e-02 1.21847224e-04 9.99855646e-01 5.70231705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.315099893 meters 0.013000446191911437 Centerline is valid? [True, True] Translation: X:476.28, Y:6.75, Z:5.70 [[ 9.99847679e-01 -2.96506290e-03 -1.71996044e-02 4.76283141e+02] [ 2.96149136e-03 9.99995588e-01 -2.33118649e-04 6.74993122e+00] [ 1.72002197e-02 1.82146660e-04 9.99852049e-01 5.70209029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.345099893 meters 0.013009047188256276 Centerline is valid? [True, True] Translation: X:476.31, Y:6.75, Z:5.70 [[ 9.99847371e-01 -2.44697424e-03 -1.72987867e-02 4.76311796e+02] [ 2.44324290e-03 9.99996987e-01 -2.36830124e-04 6.74866093e+00] [ 1.72993141e-02 1.94528839e-04 9.99850337e-01 5.70230206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.375099893 meters 0.012971702131541939 Centerline is valid? [True, True] Translation: X:476.34, Y:6.75, Z:5.70 [[ 9.99849607e-01 -2.79955575e-03 -1.71150720e-02 4.76339620e+02] [ 2.79587865e-03 9.99996063e-01 -2.38769651e-04 6.74730924e+00] [ 1.71156731e-02 1.90882078e-04 9.99853498e-01 5.70236821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.405099893 meters 0.012950568843951323 Centerline is valid? [True, True] Translation: X:476.37, Y:6.75, Z:5.70 [[ 9.99847281e-01 -3.79865110e-03 -1.70582934e-02 4.76367255e+02] [ 3.79507233e-03 9.99992769e-01 -2.42162911e-04 6.74580327e+00] [ 1.70590899e-02 1.77388471e-04 9.99854467e-01 5.70254632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.43509989300003 meters 0.012545710252139568 Centerline is valid? [True, True] Translation: X:476.40, Y:6.74, Z:5.70 [[ 9.99829228e-01 -7.60856798e-03 -1.68411497e-02 4.76395943e+02] [ 7.60558703e-03 9.99971048e-01 -2.41045672e-04 6.74020111e+00] [ 1.68424961e-02 1.12917679e-04 9.99858149e-01 5.70303721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.465099893 meters 0.012407505084143166 Centerline is valid? [True, True] Translation: X:476.42, Y:6.74, Z:5.70 [[ 9.99802245e-01 -1.04370405e-02 -1.69274522e-02 4.76424709e+02] [ 1.04344136e-02 9.99945530e-01 -2.43501211e-04 6.73685296e+00] [ 1.69290716e-02 6.68250204e-05 9.99856691e-01 5.70330234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49509989300003 meters 0.012240935698247794 Centerline is valid? [True, True] Translation: X:476.45, Y:6.73, Z:5.70 [[ 9.99760453e-01 -1.36276882e-02 -1.71266822e-02 4.76453820e+02] [ 1.36254460e-02 9.99907139e-01 -2.47604940e-04 6.73290620e+00] [ 1.71284660e-02 1.41869447e-05 9.99853297e-01 5.70316906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.525099893 meters 0.012453992686814002 Centerline is valid? [True, True] Translation: X:476.48, Y:6.72, Z:5.70 [[ 9.99612622e-01 -2.14707780e-02 -1.77090974e-02 4.76482650e+02] [ 2.14695882e-02 9.99769469e-01 -2.57326671e-04 6.72350288e+00] [ 1.77105399e-02 -1.22980039e-04 9.99843149e-01 5.70231871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.555099893 meters 0.01301711007762063 Centerline is valid? [True, True] Translation: X:476.51, Y:6.72, Z:5.70 [[ 9.99510628e-01 -2.56376626e-02 -1.79224430e-02 4.76510753e+02] [ 2.56370887e-02 9.99671282e-01 -2.61818930e-04 6.71853188e+00] [ 1.79232640e-02 -1.97788456e-04 9.99839346e-01 5.70215782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.585099893 meters 0.013305321291868762 Centerline is valid? [True, True] Translation: X:476.54, Y:6.71, Z:5.70 [[ 9.99395737e-01 -2.97022563e-02 -1.80537201e-02 4.76540143e+02] [ 2.97023131e-02 9.99558754e-01 -2.65053240e-04 6.71489923e+00] [ 1.80536266e-02 -2.71344168e-04 9.99836983e-01 5.70235087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.615099893 meters 0.01437937206218735 Centerline is valid? [True, True] Translation: X:476.57, Y:6.71, Z:5.70 [[ 9.99262629e-01 -3.39416709e-02 -1.79488502e-02 4.76570043e+02] [ 3.39424007e-02 9.99423756e-01 -2.64062513e-04 6.70969010e+00] [ 1.79474700e-02 -3.45359265e-04 9.99838872e-01 5.70226430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.645099893 meters 0.01437937206218735 Centerline is valid? [True, True] Translation: X:476.60, Y:6.71, Z:5.70 [[ 9.99263833e-01 -3.39061973e-02 -1.79488498e-02 4.76600890e+02] [ 3.39069210e-02 9.99424960e-01 -2.64087564e-04 6.71011549e+00] [ 1.79474827e-02 -3.44697081e-04 9.99838872e-01 5.70264586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.675099893 meters 0.016056872432247356 Centerline is valid? [True, True] Translation: X:476.63, Y:6.70, Z:5.70 [[ 9.98997753e-01 -4.12041047e-02 -1.74845779e-02 4.76631672e+02] [ 4.12059156e-02 9.99150643e-01 -2.56828884e-04 6.70161882e+00] [ 1.74803096e-02 -4.63896563e-04 9.99847100e-01 5.70275163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.705099893 meters 0.016382268878286522 Centerline is valid? [True, True] Translation: X:476.66, Y:6.70, Z:5.70 [[ 9.98858673e-01 -4.44387561e-02 -1.75085181e-02 4.76663311e+02] [ 4.44410717e-02 9.99011974e-01 -2.56992487e-04 6.69898523e+00] [ 1.75026397e-02 -5.21398136e-04 9.99846681e-01 5.70304550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.735099893 meters 0.019051287059867736 Centerline is valid? [True, True] Translation: X:476.69, Y:6.69, Z:5.70 [[ 9.98734354e-01 -4.72658393e-02 -1.71939126e-02 4.76694356e+02] [ 4.72685065e-02 9.98882188e-01 -2.51462797e-04 6.69258011e+00] [ 1.71865786e-02 -5.61586034e-04 9.99852142e-01 5.70294459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.765099893 meters 0.021297049491353533 Centerline is valid? [True, True] Translation: X:476.73, Y:6.69, Z:5.70 [[ 9.98611060e-01 -4.99313544e-02 -1.68169499e-02 4.76725952e+02] [ 4.99343070e-02 9.98752474e-01 -2.44547369e-04 6.68751663e+00] [ 1.68081809e-02 -5.95535029e-04 9.99858555e-01 5.70308265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.795099893 meters 0.019271696250798838 Centerline is valid? [True, True] Translation: X:476.76, Y:6.69, Z:5.70 [[ 9.98378926e-01 -5.43945791e-02 -1.67555788e-02 4.76756884e+02] [ 5.43981496e-02 9.98519295e-01 -2.42937173e-04 6.68771636e+00] [ 1.67439832e-02 -6.68929127e-04 9.99859586e-01 5.70387666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.825099893 meters 0.024142153012379458 Centerline is valid? [True, True] Translation: X:476.79, Y:6.68, Z:5.70 [[ 9.98269614e-01 -5.63004219e-02 -1.69717317e-02 4.76788050e+02] [ 5.63043682e-02 9.98413621e-01 -2.45591092e-04 6.67951797e+00] [ 1.69586349e-02 -7.10416504e-04 9.99855940e-01 5.70330235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.855099893 meters 0.022013584690384228 Centerline is valid? [True, True] Translation: X:476.82, Y:6.68, Z:5.70 [[ 9.98066798e-01 -5.98756466e-02 -1.66605633e-02 4.76819281e+02] [ 5.98799601e-02 9.98205556e-01 -2.40271270e-04 6.68099229e+00] [ 1.66450532e-02 -7.57827088e-04 9.99861174e-01 5.70413473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.885099893 meters 0.022013584690384228 Centerline is valid? [True, True] Translation: X:476.85, Y:6.68, Z:5.70 [[ 9.98071126e-01 -5.98034580e-02 -1.66605741e-02 4.76850999e+02] [ 5.98077741e-02 9.98209884e-01 -2.39515314e-04 6.68139077e+00] [ 1.66450736e-02 -7.57378536e-04 9.99861174e-01 5.70452688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.915099893 meters 0.023097378251973066 Centerline is valid? [True, True] Translation: X:476.88, Y:6.68, Z:5.71 [[ 9.97888222e-01 -6.31250021e-02 -1.53078483e-02 4.76882099e+02] [ 6.31290489e-02 9.98005348e-01 -2.19193334e-04 6.67861671e+00] [ 1.52911511e-02 -7.47639458e-04 9.99882804e-01 5.70544253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.945099893 meters 0.02393734985866096 Centerline is valid? [True, True] Translation: X:476.91, Y:6.68, Z:5.71 [[ 9.97800294e-01 -6.45874937e-02 -1.49341602e-02 4.76914503e+02] [ 6.45915146e-02 9.97911765e-01 -2.13439117e-04 6.67725598e+00] [ 1.49167597e-02 -7.51650413e-04 9.99888456e-01 5.70592274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.975099893 meters 0.026288084845616812 Centerline is valid? [True, True] Translation: X:476.95, Y:6.67, Z:5.71 [[ 9.97725917e-01 -6.56817843e-02 -1.51293942e-02 4.76945883e+02] [ 6.56860525e-02 9.97840316e-01 -2.15176580e-04 6.67403260e+00] [ 1.51108527e-02 -7.79102933e-04 9.99885521e-01 5.70582974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.005099893 meters 0.027229560515947552 Centerline is valid? [True, True] Translation: X:476.98, Y:6.67, Z:5.71 [[ 9.97566037e-01 -6.80796591e-02 -1.50718974e-02 4.76976553e+02] [ 6.80841784e-02 9.97679557e-01 -2.13648854e-04 6.67307323e+00] [ 1.50514691e-02 -8.13028913e-04 9.99886390e-01 5.70543877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.035099893 meters 0.027533039026846534 Centerline is valid? [True, True] Translation: X:477.01, Y:6.67, Z:5.71 [[ 9.97503456e-01 -6.88456098e-02 -1.57205910e-02 4.77009040e+02] [ 6.88506287e-02 9.97626955e-01 -2.22382106e-04 6.67345059e+00] [ 1.56985953e-02 -8.60545652e-04 9.99876399e-01 5.70523404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.065099893 meters 0.026602023118682847 Centerline is valid? [True, True] Translation: X:477.04, Y:6.68, Z:5.71 [[ 9.97447088e-01 -6.94754528e-02 -1.65066357e-02 4.77041436e+02] [ 6.94810922e-02 9.97583242e-01 -2.32291568e-04 6.67575531e+00] [ 1.64828817e-02 -9.15200528e-04 9.99863729e-01 5.70515306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.095099893 meters 0.028538560827541554 Centerline is valid? [True, True] Translation: X:477.07, Y:6.67, Z:5.70 [[ 9.97369313e-01 -7.03957320e-02 -1.72885644e-02 4.77072789e+02] [ 7.04020768e-02 9.97518666e-01 -2.42106843e-04 6.67436985e+00] [ 1.72627089e-02 -9.75680900e-04 9.99850512e-01 5.70479144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.125099893 meters 0.030084666032293293 Centerline is valid? [True, True] Translation: X:477.10, Y:6.67, Z:5.70 [[ 9.97273342e-01 -7.15468969e-02 -1.80810012e-02 4.77104039e+02] [ 7.15540432e-02 9.97436692e-01 -2.52216463e-04 6.67375411e+00] [ 1.80526993e-02 -1.04223999e-03 9.99836494e-01 5.70402179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.155099893 meters 0.025708779121374866 Centerline is valid? [True, True] Translation: X:477.14, Y:6.68, Z:5.70 [[ 9.97211695e-01 -7.23585616e-02 -1.82503168e-02 4.77135802e+02] [ 7.23659977e-02 9.97378112e-01 -2.53493361e-04 6.68079951e+00] [ 1.82208090e-02 -1.06791584e-03 9.99833417e-01 5.70484195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.18509989300003 meters 0.03153927636878301 Centerline is valid? [True, True] Translation: X:477.17, Y:6.67, Z:5.70 [[ 9.97158898e-01 -7.30483860e-02 -1.83865429e-02 4.77167213e+02] [ 7.30560733e-02 9.97327802e-01 -2.54139029e-04 6.67436513e+00] [ 1.83559749e-02 -1.08983163e-03 9.99830921e-01 5.70442689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.215099893 meters 0.02641309458634014 Centerline is valid? [True, True] Translation: X:477.20, Y:6.68, Z:5.71 [[ 9.97084630e-01 -7.41578682e-02 -1.79680790e-02 4.77199217e+02] [ 7.41654082e-02 9.97245923e-01 -2.47279496e-04 6.68441291e+00] [ 1.79369312e-02 -1.08605133e-03 9.99838530e-01 5.70609686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24509989300003 meters 0.02885181569573861 Centerline is valid? [True, True] Translation: X:477.23, Y:6.68, Z:5.71 [[ 9.97068010e-01 -7.44406345e-02 -1.77193453e-02 4.77229982e+02] [ 7.44480328e-02 9.97224865e-01 -2.42663159e-04 6.68292554e+00] [ 1.76882358e-02 -1.07721873e-03 9.99842971e-01 5.70647890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.275099893 meters 0.029302099355930703 Centerline is valid? [True, True] Translation: X:477.26, Y:6.68, Z:5.71 [[ 9.97082429e-01 -7.43063372e-02 -1.74699060e-02 4.77261706e+02] [ 7.43135260e-02 9.97234899e-01 -2.38213262e-04 6.68403095e+00] [ 1.74393007e-02 -1.06073206e-03 9.99847361e-01 5.70709032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.305099893 meters 0.025871058535784128 Centerline is valid? [True, True] Translation: X:477.29, Y:6.69, Z:5.71 [[ 9.97143924e-01 -7.36394331e-02 -1.67698861e-02 4.77294221e+02] [ 7.36459829e-02 9.97284422e-01 -2.27494407e-04 6.69080036e+00] [ 1.67410987e-02 -1.00819008e-03 9.99859350e-01 5.70797587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.335099893 meters 0.026737924307918413 Centerline is valid? [True, True] Translation: X:477.33, Y:6.69, Z:5.71 [[ 9.97233009e-01 -7.25176262e-02 -1.63560347e-02 4.77325383e+02] [ 7.25237246e-02 9.97366663e-01 -2.20763927e-04 6.69183420e+00] [ 1.63289731e-02 -9.66047484e-04 9.99866207e-01 5.70847373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.365099893 meters 0.026510941129231937 Centerline is valid? [True, True] Translation: X:477.36, Y:6.70, Z:5.71 [[ 9.97467384e-01 -6.94577949e-02 -1.53111994e-02 4.77355373e+02] [ 6.94627892e-02 9.97584522e-01 -2.06020918e-04 6.69625945e+00] [ 1.52885253e-02 -8.58059472e-04 9.99882755e-01 5.70978803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.395099893 meters 0.02458610115814385 Centerline is valid? [True, True] Translation: X:477.39, Y:6.70, Z:5.71 [[ 9.97600140e-01 -6.76508340e-02 -1.47419833e-02 4.77386306e+02] [ 6.76552684e-02 9.97708738e-01 -1.98274252e-04 6.70131760e+00] [ 1.47216190e-02 -7.99574416e-04 9.99891311e-01 5.71082399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.425099893 meters 0.024941897548247834 Centerline is valid? [True, True] Translation: X:477.42, Y:6.70, Z:5.71 [[ 9.97765873e-01 -6.51998531e-02 -1.45684931e-02 4.77417283e+02] [ 6.52039310e-02 9.97871940e-01 -1.95410453e-04 6.70316879e+00] [ 1.45502312e-02 -7.54949137e-04 9.99893855e-01 5.71147457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.455099893 meters 0.02150042856550267 Centerline is valid? [True, True] Translation: X:477.45, Y:6.71, Z:5.71 [[ 9.98119760e-01 -5.96773656e-02 -1.39841637e-02 4.77447831e+02] [ 5.96805882e-02 9.98217508e-01 -1.87125888e-04 6.71203238e+00] [ 1.39704042e-02 -6.47809068e-04 9.99902199e-01 5.71250372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.485099893 meters 0.02107333762620669 Centerline is valid? [True, True] Translation: X:477.48, Y:6.71, Z:5.71 [[ 9.98267668e-01 -5.72814279e-02 -1.34350969e-02 4.77479353e+02] [ 5.72841876e-02 9.98357897e-01 -1.79643020e-04 6.71470888e+00] [ 1.34233253e-02 -5.90286792e-04 9.99909729e-01 5.71318794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.515099893 meters 0.02067526649919589 Centerline is valid? [True, True] Translation: X:477.51, Y:6.72, Z:5.71 [[ 9.98413829e-01 -5.46919509e-02 -1.33647339e-02 4.77510531e+02] [ 5.46944567e-02 9.98503122e-01 -1.78213761e-04 6.71722745e+00] [ 1.33544754e-02 -5.53045775e-04 9.99910672e-01 5.71384988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.545099893 meters 0.020472281539228664 Centerline is valid? [True, True] Translation: X:477.54, Y:6.72, Z:5.71 [[ 9.98650984e-01 -4.99634475e-02 -1.41374087e-02 4.77540281e+02] [ 4.99657850e-02 9.98750912e-01 -1.88041149e-04 6.71993182e+00] [ 1.41291451e-02 -5.18599246e-04 9.99900044e-01 5.71381605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.575099893 meters 0.01908812361528601 Centerline is valid? [True, True] Translation: X:477.57, Y:6.72, Z:5.71 [[ 9.98765043e-01 -4.74056112e-02 -1.48693504e-02 4.77571739e+02] [ 4.74079152e-02 9.98875593e-01 -1.97687631e-04 6.72336556e+00] [ 1.48620027e-02 -5.07481408e-04 9.99889426e-01 5.71362491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.605099893 meters 0.016941681372645345 Centerline is valid? [True, True] Translation: X:477.60, Y:6.73, Z:5.71 [[ 9.98873281e-01 -4.47286103e-02 -1.58593517e-02 4.77603938e+02] [ 4.47309059e-02 9.98999050e-01 -2.10124261e-04 6.72824999e+00] [ 1.58528759e-02 -4.99515660e-04 9.99874210e-01 5.71348070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.635099893 meters 0.0170182087841294 Centerline is valid? [True, True] Translation: X:477.63, Y:6.73, Z:5.71 [[ 9.98981960e-01 -4.18024557e-02 -1.69587522e-02 4.77634827e+02] [ 4.18046787e-02 9.99125777e-01 -2.23551604e-04 6.72891710e+00] [ 1.69532715e-02 -4.85631168e-04 9.99856165e-01 5.71291830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.665099893 meters 0.016641871047800065 Centerline is valid? [True, True] Translation: X:477.67, Y:6.73, Z:5.71 [[ 9.99074870e-01 -3.90830211e-02 -1.79421864e-02 4.77665171e+02] [ 3.90850817e-02 9.99235858e-01 -2.35938228e-04 6.73070544e+00] [ 1.79376972e-02 -4.65551865e-04 9.99838998e-01 5.71271773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.695099893 meters 0.014855683159983755 Centerline is valid? [True, True] Translation: X:477.70, Y:6.74, Z:5.71 [[ 9.99302622e-01 -3.22910765e-02 -1.87498463e-02 4.77695894e+02] [ 3.22921381e-02 9.99478443e-01 -2.46219660e-04 6.73578361e+00] [ 1.87480179e-02 -3.59424675e-04 9.99824176e-01 5.71258445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.725099893 meters 0.013645047856704886 Centerline is valid? [True, True] Translation: X:477.73, Y:6.74, Z:5.71 [[ 9.99423356e-01 -2.79903414e-02 -1.92222829e-02 4.77726210e+02] [ 2.79906662e-02 9.99608153e-01 -2.52202462e-04 6.73968998e+00] [ 1.92218100e-02 -2.85987473e-04 9.99815203e-01 5.71344515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.755099893 meters 0.013128090050361816 Centerline is valid? [True, True] Translation: X:477.76, Y:6.74, Z:5.71 [[ 9.99526845e-01 -2.39257341e-02 -1.93298918e-02 4.77756022e+02] [ 2.39253002e-02 9.99713717e-01 -2.53737548e-04 6.74258618e+00] [ 1.93304288e-02 -2.08855973e-04 9.99813128e-01 5.71402815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.785099893 meters 0.0124265583086275 Centerline is valid? [True, True] Translation: X:477.78, Y:6.75, Z:5.72 [[ 9.99713640e-01 -1.50929329e-02 -1.85699062e-02 4.77784470e+02] [ 1.50909750e-02 9.99886095e-01 -2.45570151e-04 6.74927688e+00] [ 1.85714973e-02 -3.47381601e-05 9.99827534e-01 5.71625026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.815099893 meters 0.01258115430969433 Centerline is valid? [True, True] Translation: X:477.81, Y:6.75, Z:5.72 [[ 9.99776552e-01 -1.10615110e-02 -1.80135835e-02 4.77811271e+02] [ 1.10589457e-02 9.99938819e-01 -2.42023028e-04 6.75200787e+00] [ 1.80151585e-02 4.27577077e-05 9.99837713e-01 5.71749056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.845099893 meters 0.01284147938474503 Centerline is valid? [True, True] Translation: X:477.84, Y:6.75, Z:5.72 [[ 9.99818044e-01 -7.34356837e-03 -1.76054349e-02 4.77839061e+02] [ 7.34050616e-03 9.99973030e-01 -2.38551812e-04 6.75472782e+00] [ 1.76067119e-02 1.09275602e-04 9.99844984e-01 5.71762869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.875099893 meters 0.01323671340094295 Centerline is valid? [True, True] Translation: X:477.87, Y:6.76, Z:5.72 [[ 9.99843246e-01 -1.97599613e-03 -1.75948800e-02 4.77867334e+02] [ 1.97207876e-03 9.99998027e-01 -2.39990300e-04 6.75631446e+00] [ 1.75953195e-02 2.05254191e-04 9.99845169e-01 5.71891685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.905099893 meters 0.013461243160881051 Centerline is valid? [True, True] Translation: X:477.90, Y:6.76, Z:5.72 [[ 9.99849285e-01 -6.62255387e-04 -1.73484432e-02 4.77895345e+02] [ 6.58218809e-04 9.99999755e-01 -2.38385570e-04 6.75673925e+00] [ 1.73485968e-02 2.26930570e-04 9.99849476e-01 5.71939443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.93509989300003 meters 0.013608667693384747 Centerline is valid? [True, True] Translation: X:477.92, Y:6.76, Z:5.72 [[ 9.99848837e-01 -7.10562171e-04 -1.73723683e-02 4.77923062e+02] [ 7.06468449e-04 9.99999721e-01 -2.41781458e-04 6.75632823e+00] [ 1.73725352e-02 2.29471880e-04 9.99849060e-01 5.71988559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.965099893 meters 0.01335120394864398 Centerline is valid? [True, True] Translation: X:477.95, Y:6.75, Z:5.72 [[ 9.99853622e-01 -1.46659295e-03 -1.70465031e-02 4.77951792e+02] [ 1.46269706e-03 9.99998901e-01 -2.41010771e-04 6.75458186e+00] [ 1.70468378e-02 2.16041623e-04 9.99854669e-01 5.72060063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99509989300003 meters 0.013271677746517324 Centerline is valid? [True, True] Translation: X:477.98, Y:6.75, Z:5.72 [[ 9.99855163e-01 -3.47968580e-03 -1.66596699e-02 4.77979196e+02] [ 3.47622330e-03 9.99993930e-01 -2.36791494e-04 6.75284974e+00] [ 1.66603927e-02 1.78844465e-04 9.99861190e-01 5.72103538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.025099893 meters 0.012609912818710725 Centerline is valid? [True, True] Translation: X:478.01, Y:6.74, Z:5.72 [[ 9.99819842e-01 -1.00791005e-02 -1.60840117e-02 4.78007991e+02] [ 1.00767056e-02 9.99949202e-01 -2.29938391e-04 6.74486051e+00] [ 1.60855122e-02 6.78231163e-05 9.99870617e-01 5.72164242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.055099893 meters 0.012396115336274527 Centerline is valid? [True, True] Translation: X:478.04, Y:6.74, Z:5.72 [[ 9.99760204e-01 -1.42871613e-02 -1.65955461e-02 4.78036948e+02] [ 1.42851711e-02 9.99897933e-01 -2.38471759e-04 6.74054155e+00] [ 1.65972593e-02 1.34435981e-06 9.99862256e-01 5.72184633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.085099893 meters 0.01266948000934153 Centerline is valid? [True, True] Translation: X:478.07, Y:6.74, Z:5.72 [[ 9.99669295e-01 -1.94024225e-02 -1.68774238e-02 4.78065198e+02] [ 1.94010707e-02 9.99811752e-01 -2.43840612e-04 6.73593630e+00] [ 1.68789777e-02 -8.36801190e-05 9.99857536e-01 5.72180698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.115099893 meters 0.0135690173579281 Centerline is valid? [True, True] Translation: X:478.10, Y:6.73, Z:5.72 [[ 9.99408254e-01 -2.95250179e-02 -1.76469855e-02 4.78095283e+02] [ 2.95250934e-02 9.99564007e-01 -2.56314801e-04 6.72568437e+00] [ 1.76468593e-02 -2.64865767e-04 9.99844247e-01 5.72134176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.145099893 meters 0.014538463437585506 Centerline is valid? [True, True] Translation: X:478.13, Y:6.72, Z:5.72 [[ 9.99247176e-01 -3.45375174e-02 -1.76703725e-02 4.78125686e+02] [ 3.45383684e-02 9.99403340e-01 -2.57103881e-04 6.72026143e+00] [ 1.76687090e-02 -3.53395510e-04 9.99843834e-01 5.72123517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.175099893 meters 0.01565022646558958 Centerline is valid? [True, True] Translation: X:478.16, Y:6.71, Z:5.72 [[ 9.99068656e-01 -3.93669598e-02 -1.76652882e-02 4.78157360e+02] [ 3.93685681e-02 9.99224724e-01 -2.56838890e-04 6.71466672e+00] [ 1.76617037e-02 -4.38857416e-04 9.99843924e-01 5.72087793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.205099893 meters 0.016743754841337884 Centerline is valid? [True, True] Translation: X:478.19, Y:6.71, Z:5.72 [[ 9.98876526e-01 -4.39898085e-02 -1.76233479e-02 4.78188305e+02] [ 4.39921375e-02 9.99031845e-01 -2.55689324e-04 6.70966960e+00] [ 1.76175334e-02 -5.19886678e-04 9.99844664e-01 5.72121159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.235099893 meters 0.02027585200990965 Centerline is valid? [True, True] Translation: X:478.22, Y:6.70, Z:5.72 [[ 9.98478249e-01 -5.23007410e-02 -1.74876801e-02 4.78218426e+02] [ 5.23043094e-02 9.98631161e-01 -2.53574775e-04 6.69817343e+00] [ 1.74770044e-02 -6.61492133e-04 9.99847047e-01 5.72096052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.265099893 meters 0.020223890817824965 Centerline is valid? [True, True] Translation: X:478.25, Y:6.70, Z:5.72 [[ 9.98289395e-01 -5.57363429e-02 -1.76562653e-02 4.78249356e+02] [ 5.57405181e-02 9.98445256e-01 -2.55950778e-04 6.69636140e+00] [ 1.76430801e-02 -7.28656425e-04 9.99844083e-01 5.72129717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.295099893 meters 0.020759032986572654 Centerline is valid? [True, True] Translation: X:478.28, Y:6.69, Z:5.72 [[ 9.98132378e-01 -5.83670713e-02 -1.80288737e-02 4.78280331e+02] [ 5.83718656e-02 9.98294875e-01 -2.60642250e-04 6.69366381e+00] [ 1.80133451e-02 -7.92223523e-04 9.99837433e-01 5.72144151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.325099893 meters 0.023927566629311357 Centerline is valid? [True, True] Translation: X:478.31, Y:6.69, Z:5.72 [[ 9.97832709e-01 -6.28860016e-02 -1.93709896e-02 4.78310258e+02] [ 6.28923907e-02 9.98020275e-01 -2.79802263e-04 6.68602590e+00] [ 1.93502360e-02 -9.39091995e-04 9.99812326e-01 5.72071978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.355099893 meters 0.024099988852126577 Centerline is valid? [True, True] Translation: X:478.34, Y:6.68, Z:5.72 [[ 9.97730004e-01 -6.44184318e-02 -1.96241068e-02 4.78342234e+02] [ 6.44252948e-02 9.97922493e-01 -2.82936523e-04 6.68476280e+00] [ 1.96015639e-02 -9.81994607e-04 9.99807389e-01 5.72116379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.385099893 meters 0.02374147374942854 Centerline is valid? [True, True] Translation: X:478.37, Y:6.68, Z:5.72 [[ 9.97640808e-01 -6.55895106e-02 -2.02690285e-02 4.78374758e+02] [ 6.55971036e-02 9.97846148e-01 -2.90741054e-04 6.68446260e+00] [ 2.02444416e-02 -1.03953442e-03 9.99794520e-01 5.72177753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.415099893 meters 0.025369328661438862 Centerline is valid? [True, True] Translation: X:478.41, Y:6.68, Z:5.72 [[ 9.97520589e-01 -6.71920947e-02 -2.09259840e-02 4.78405649e+02] [ 6.72005818e-02 9.97739441e-01 -2.98152292e-04 6.67983413e+00] [ 2.08987131e-02 -1.10882525e-03 9.99780983e-01 5.72143082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.445099893 meters 0.024807581782055662 Centerline is valid? [True, True] Translation: X:478.44, Y:6.68, Z:5.72 [[ 9.97455160e-01 -6.80295233e-02 -2.13351499e-02 4.78437719e+02] [ 6.80385845e-02 9.97682645e-01 -3.01735094e-04 6.67994521e+00] [ 2.13062357e-02 -1.15064617e-03 9.99772334e-01 5.72196270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.475099893 meters 0.02704937847611497 Centerline is valid? [True, True] Translation: X:478.47, Y:6.68, Z:5.72 [[ 9.97435567e-01 -6.82995566e-02 -2.13883126e-02 4.78469098e+02] [ 6.83087655e-02 9.97664183e-01 -3.00590526e-04 6.67610953e+00] [ 2.13588837e-02 -1.16118955e-03 9.99771199e-01 5.72184534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.505099893 meters 0.02521043478189912 Centerline is valid? [True, True] Translation: X:478.50, Y:6.68, Z:5.72 [[ 9.97374633e-01 -6.90041375e-02 -2.19606539e-02 4.78501190e+02] [ 6.90140623e-02 9.97615640e-01 -3.06536635e-04 6.67870055e+00] [ 2.19294441e-02 -1.20986207e-03 9.99758789e-01 5.72267537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.535099893 meters 0.027617427375632914 Centerline is valid? [True, True] Translation: X:478.53, Y:6.67, Z:5.72 [[ 9.97323626e-01 -6.95647012e-02 -2.25019328e-02 4.78532727e+02] [ 6.95752968e-02 9.97576654e-01 -3.12616850e-04 6.67496464e+00] [ 2.24691500e-02 -1.25379849e-03 9.99746751e-01 5.72262973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.565099893 meters 0.02769392744830958 Centerline is valid? [True, True] Translation: X:478.56, Y:6.68, Z:5.72 [[ 9.97317000e-01 -6.96197811e-02 -2.26249121e-02 4.78564841e+02] [ 6.96305387e-02 9.97572799e-01 -3.12924965e-04 6.67522716e+00] [ 2.25917827e-02 -1.26329943e-03 9.99743975e-01 5.72295487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.595099893 meters 0.02769392744830958 Centerline is valid? [True, True] Translation: X:478.60, Y:6.68, Z:5.72 [[ 9.97321914e-01 -6.95493463e-02 -2.26249341e-02 4.78596574e+02] [ 6.95601220e-02 9.97577713e-01 -3.11327509e-04 6.67560382e+00] [ 2.25917827e-02 -1.26329943e-03 9.99743975e-01 5.72334713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.625099893 meters 0.025365697235748785 Centerline is valid? [True, True] Translation: X:478.63, Y:6.68, Z:5.72 [[ 9.97325485e-01 -6.94409365e-02 -2.27998545e-02 4.78629068e+02] [ 6.94518886e-02 9.97585253e-01 -3.12093704e-04 6.67913157e+00] [ 2.27664707e-02 -1.27223395e-03 9.99740001e-01 5.72450206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.655099893 meters 0.026417743403758267 Centerline is valid? [True, True] Translation: X:478.66, Y:6.68, Z:5.72 [[ 9.97324572e-01 -6.94608432e-02 -2.27791413e-02 4.78660435e+02] [ 6.94718140e-02 9.97583867e-01 -3.10343657e-04 6.67813392e+00] [ 2.27456606e-02 -1.27299491e-03 9.99740474e-01 5.72488288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.68509989300003 meters 0.027486108506021935 Centerline is valid? [True, True] Translation: X:478.69, Y:6.68, Z:5.73 [[ 9.97335927e-01 -6.94099038e-02 -2.24346812e-02 4.78691434e+02] [ 6.94205745e-02 9.97587436e-01 -3.03772276e-04 6.67734049e+00] [ 2.24016409e-02 -1.25446545e-03 9.99748265e-01 5.72540732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.715099893 meters 0.027801121681302048 Centerline is valid? [True, True] Translation: X:478.72, Y:6.68, Z:5.73 [[ 9.97330395e-01 -6.96006766e-02 -2.20868456e-02 4.78723228e+02] [ 6.96111130e-02 9.97574160e-01 -2.96903606e-04 6.67757889e+00] [ 2.20539312e-02 -1.24137892e-03 9.99756012e-01 5.72648106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74509989300003 meters 0.028635870517348363 Centerline is valid? [True, True] Translation: X:478.76, Y:6.68, Z:5.73 [[ 9.97302715e-01 -7.01667868e-02 -2.15387394e-02 4.78755725e+02] [ 7.01768753e-02 9.97534522e-01 -2.88038443e-04 6.67748158e+00] [ 2.15058469e-02 -1.22425991e-03 9.99767973e-01 5.72751089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.775099893 meters 0.026791752300710313 Centerline is valid? [True, True] Translation: X:478.79, Y:6.68, Z:5.73 [[ 9.97271197e-01 -7.08697239e-02 -2.06794815e-02 4.78787866e+02] [ 7.08792034e-02 9.97484868e-01 -2.75113951e-04 6.68150517e+00] [ 2.06469671e-02 -1.19138196e-03 9.99786119e-01 5.72909399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.805099893 meters 0.029381129004568123 Centerline is valid? [True, True] Translation: X:478.82, Y:6.68, Z:5.73 [[ 9.97217818e-01 -7.17341669e-02 -2.02690074e-02 4.78819085e+02] [ 7.17434778e-02 9.97423080e-01 -2.68352976e-04 6.67894763e+00] [ 2.02360259e-02 -1.18656272e-03 9.99794527e-01 5.72934924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.835099893 meters 0.02794700426419012 Centerline is valid? [True, True] Translation: X:478.85, Y:6.68, Z:5.73 [[ 9.97165542e-01 -7.25313064e-02 -2.00022938e-02 4.78851232e+02] [ 7.25405577e-02 9.97365429e-01 -2.63616251e-04 6.68189178e+00] [ 1.99687168e-02 -1.18810851e-03 9.99799899e-01 5.73019283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.865099893 meters 0.026263938933519852 Centerline is valid? [True, True] Translation: X:478.88, Y:6.68, Z:5.73 [[ 9.97109871e-01 -7.32693486e-02 -2.00874895e-02 4.78883340e+02] [ 7.32788575e-02 9.97311456e-01 -2.63275226e-04 6.68485112e+00] [ 2.00527734e-02 -1.20947395e-03 9.99798191e-01 5.73052178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.895099893 meters 0.027995136855818076 Centerline is valid? [True, True] Translation: X:478.91, Y:6.68, Z:5.73 [[ 9.96912979e-01 -7.56643687e-02 -2.09622268e-02 4.78913816e+02] [ 7.56752796e-02 9.97132477e-01 -2.73391814e-04 6.68339930e+00] [ 2.09228032e-02 -1.31377453e-03 9.99780231e-01 5.73011379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.925099893 meters 0.029386500800577867 Centerline is valid? [True, True] Translation: X:478.95, Y:6.68, Z:5.73 [[ 9.96802722e-01 -7.71126940e-02 -2.09276522e-02 4.78945230e+02] [ 7.71239084e-02 9.97021479e-01 -2.71907424e-04 6.68239378e+00] [ 2.08862863e-02 -1.34298428e-03 9.99780956e-01 5.73035213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.955099893 meters 0.02942114130938143 Centerline is valid? [True, True] Translation: X:478.98, Y:6.68, Z:5.73 [[ 9.96705319e-01 -7.83228123e-02 -2.10723435e-02 4.78977350e+02] [ 7.83344792e-02 9.96927096e-01 -2.72475074e-04 6.68335275e+00] [ 2.10289313e-02 -1.37911370e-03 9.99777916e-01 5.73097641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.985099893 meters 0.03138549826231317 Centerline is valid? [True, True] Translation: X:479.01, Y:6.68, Z:5.73 [[ 9.96520911e-01 -8.05905176e-02 -2.12424821e-02 4.79007204e+02] [ 8.06029058e-02 9.96746255e-01 -2.73767187e-04 6.68294144e+00] [ 2.11954275e-02 -1.43939105e-03 9.99774316e-01 5.73125527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.015099893 meters 0.03191049682186254 Centerline is valid? [True, True] Translation: X:479.04, Y:6.68, Z:5.73 [[ 9.96457851e-01 -8.13730790e-02 -2.12172973e-02 4.79039286e+02] [ 8.13856279e-02 9.96682650e-01 -2.72805925e-04 6.68350324e+00] [ 2.11691111e-02 -1.45494345e-03 9.99774851e-01 5.73196642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.045099893 meters 0.03189454035878529 Centerline is valid? [True, True] Translation: X:479.07, Y:6.68, Z:5.73 [[ 9.96467142e-01 -8.12237678e-02 -2.13526418e-02 4.79071362e+02] [ 8.12364760e-02 9.96694818e-01 -2.73005226e-04 6.68493381e+00] [ 2.13042420e-02 -1.46257264e-03 9.99771969e-01 5.73254524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.075099893 meters 0.03126876741776511 Centerline is valid? [True, True] Translation: X:479.10, Y:6.69, Z:5.73 [[ 9.96509284e-01 -8.07214372e-02 -2.12907589e-02 4.79103673e+02] [ 8.07339903e-02 9.96735647e-01 -2.70683000e-04 6.68741881e+00] [ 2.12431082e-02 -1.44914980e-03 9.99773289e-01 5.73331306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.105099893 meters 0.03215937146879026 Centerline is valid? [True, True] Translation: X:479.13, Y:6.69, Z:5.73 [[ 9.96706851e-01 -7.84908701e-02 -2.03626065e-02 4.79134629e+02] [ 7.85019119e-02 9.96913930e-01 -2.57741067e-04 6.68953333e+00] [ 2.03199964e-02 -1.34161125e-03 9.99792627e-01 5.73431875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.135099893 meters 0.031691861434517375 Centerline is valid? [True, True] Translation: X:479.17, Y:6.69, Z:5.74 [[ 9.96892251e-01 -7.63417578e-02 -1.94364332e-02 4.79166476e+02] [ 7.63514285e-02 9.97080939e-01 -2.45112228e-04 6.69186105e+00] [ 1.93984094e-02 -1.23964896e-03 9.99811065e-01 5.73530239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.165099893 meters 0.0304910109143182 Centerline is valid? [True, True] Translation: X:479.20, Y:6.70, Z:5.74 [[ 9.97058565e-01 -7.42651880e-02 -1.89446280e-02 4.79198216e+02] [ 7.42740241e-02 9.97237842e-01 -2.37739592e-04 6.69576957e+00] [ 1.89099557e-02 -1.17005346e-03 9.99820506e-01 5.73669135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.195099893 meters 0.027163923033896774 Centerline is valid? [True, True] Translation: X:479.23, Y:6.70, Z:5.74 [[ 9.97252341e-01 -7.17874931e-02 -1.82845175e-02 4.79230029e+02] [ 7.17953265e-02 9.97419360e-01 -2.28497695e-04 6.70249627e+00] [ 1.82537350e-02 -1.08487304e-03 9.99832798e-01 5.73826728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.225099893 meters 0.026470729125810274 Centerline is valid? [True, True] Translation: X:479.26, Y:6.71, Z:5.74 [[ 9.97605715e-01 -6.67675260e-02 -1.80259256e-02 4.79259422e+02] [ 6.67743325e-02 9.97768078e-01 -2.24693746e-04 6.70752759e+00] [ 1.80006954e-02 -9.79513382e-04 9.99837495e-01 5.73898007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.255099893 meters 0.025905577246892988 Centerline is valid? [True, True] Translation: X:479.29, Y:6.71, Z:5.74 [[ 9.97765240e-01 -6.44065008e-02 -1.77856475e-02 4.79291133e+02] [ 6.44127545e-02 9.97923318e-01 -2.21612556e-04 6.71006246e+00] [ 1.77629857e-02 -9.24505244e-04 9.99841798e-01 5.73937549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.285099893 meters 0.02477200119851636 Centerline is valid? [True, True] Translation: X:479.32, Y:6.71, Z:5.74 [[ 9.98013049e-01 -6.04596356e-02 -1.77365707e-02 4.79322166e+02] [ 6.04652467e-02 9.98170279e-01 -2.20224374e-04 6.71385897e+00] [ 1.77174324e-02 -8.52659326e-04 9.99842670e-01 5.73983523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.315099893 meters 0.02435221026885397 Centerline is valid? [True, True] Translation: X:479.35, Y:6.72, Z:5.74 [[ 9.98131599e-01 -5.84401788e-02 -1.78341497e-02 4.79353884e+02] [ 5.84455403e-02 9.98290574e-01 -2.20870449e-04 6.71554335e+00] [ 1.78165713e-02 -8.21868741e-04 9.99840935e-01 5.74001587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.345099893 meters 0.023272842338446308 Centerline is valid? [True, True] Translation: X:479.39, Y:6.72, Z:5.74 [[ 9.98257453e-01 -5.61960906e-02 -1.80015906e-02 4.79385609e+02] [ 5.62012063e-02 9.98419438e-01 -2.21991908e-04 6.71811864e+00] [ 1.79856130e-02 -7.90106027e-04 9.99837934e-01 5.74006683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.375099893 meters 0.02128161888605882 Centerline is valid? [True, True] Translation: X:479.42, Y:6.72, Z:5.74 [[ 9.98368508e-01 -5.39269268e-02 -1.87672036e-02 4.79416911e+02] [ 5.39321039e-02 9.98544578e-01 -2.30523927e-04 6.72218863e+00] [ 1.87523209e-02 -7.82006948e-04 9.99823854e-01 5.74054605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.405099893 meters 0.022095430898962196 Centerline is valid? [True, True] Translation: X:479.45, Y:6.72, Z:5.74 [[ 9.98507768e-01 -5.11188848e-02 -1.92119136e-02 4.79447454e+02] [ 5.11238023e-02 9.98692296e-01 -2.35408446e-04 6.72218770e+00] [ 1.91988239e-02 -7.47128911e-04 9.99815406e-01 5.73994860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.43509989300003 meters 0.018178940367605007 Centerline is valid? [True, True] Translation: X:479.48, Y:6.73, Z:5.74 [[ 9.98797372e-01 -4.46591717e-02 -2.02328670e-02 4.79478606e+02] [ 4.46633096e-02 9.99002066e-01 -2.47544139e-04 6.73084295e+00] [ 2.02237311e-02 -6.56420369e-04 9.99795264e-01 5.74059442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.465099893 meters 0.01685917359521091 Centerline is valid? [True, True] Translation: X:479.51, Y:6.73, Z:5.74 [[ 9.98953536e-01 -4.10122906e-02 -2.02441163e-02 4.79509828e+02] [ 4.10156952e-02 9.99158472e-01 -2.47174421e-04 6.73444012e+00] [ 2.02372175e-02 -5.83410741e-04 9.99795036e-01 5.74116056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49509989300003 meters 0.01572394757615899 Centerline is valid? [True, True] Translation: X:479.54, Y:6.74, Z:5.74 [[ 9.99084406e-01 -3.75069881e-02 -2.05809356e-02 4.79541142e+02] [ 3.75097794e-02 9.99296229e-01 -2.50528222e-04 6.73806189e+00] [ 2.05758479e-02 -5.21687514e-04 9.99788159e-01 5.74180184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.525099893 meters 0.014662379811600073 Centerline is valid? [True, True] Translation: X:479.57, Y:6.74, Z:5.74 [[ 9.99306747e-01 -3.07979257e-02 -2.09168007e-02 4.79571230e+02] [ 3.07993494e-02 9.99525555e-01 -2.54154655e-04 6.74225088e+00] [ 2.09147043e-02 -3.90245392e-04 9.99781187e-01 5.74249117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.555099893 meters 0.014369104715882989 Centerline is valid? [True, True] Translation: X:479.60, Y:6.74, Z:5.74 [[ 9.99388754e-01 -2.82172458e-02 -2.06374667e-02 4.79599476e+02] [ 2.82180725e-02 9.99601759e-01 -2.51202020e-04 6.74374235e+00] [ 2.06363363e-02 -3.31301059e-04 9.99786993e-01 5.74263682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.585099893 meters 0.013838092716741537 Centerline is valid? [True, True] Translation: X:479.63, Y:6.75, Z:5.74 [[ 9.99438257e-01 -2.63053570e-02 -2.07653443e-02 4.79628530e+02] [ 2.63057239e-02 9.99653912e-01 -2.55531690e-04 6.74589750e+00] [ 2.07648795e-02 -2.90859267e-04 9.99784344e-01 5.74354630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.615099893 meters 0.01343613727698988 Centerline is valid? [True, True] Translation: X:479.66, Y:6.75, Z:5.74 [[ 9.99513342e-01 -2.34871774e-02 -2.05287947e-02 4.79657298e+02] [ 2.34868368e-02 9.99724113e-01 -2.57728388e-04 6.74756333e+00] [ 2.05291844e-02 -2.24553489e-04 9.99789229e-01 5.74398126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.645099893 meters 0.013302162723289346 Centerline is valid? [True, True] Translation: X:479.68, Y:6.75, Z:5.74 [[ 9.99531385e-01 -2.28727015e-02 -2.03433245e-02 4.79684780e+02] [ 2.28721311e-02 9.99738365e-01 -2.60742626e-04 6.74817216e+00] [ 2.03439659e-02 -2.04674747e-04 9.99793019e-01 5.74430216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.675099893 meters 0.013239238690574485 Centerline is valid? [True, True] Translation: X:479.71, Y:6.75, Z:5.74 [[ 9.99536639e-01 -2.30114011e-02 -1.99244244e-02 4.79712707e+02] [ 2.30107691e-02 9.99735183e-01 -2.61007816e-04 6.74807601e+00] [ 1.99251542e-02 -1.97589455e-04 9.99801455e-01 5.74472296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.705099893 meters 0.013346638817632055 Centerline is valid? [True, True] Translation: X:479.74, Y:6.75, Z:5.74 [[ 9.99520437e-01 -2.36168899e-02 -2.00284476e-02 4.79740973e+02] [ 2.36162878e-02 9.99721061e-01 -2.66616226e-04 6.74746236e+00] [ 2.00291576e-02 -2.06509218e-04 9.99799375e-01 5.74486237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.735099893 meters 0.013618908596867409 Centerline is valid? [True, True] Translation: X:479.77, Y:6.74, Z:5.75 [[ 9.99493399e-01 -2.55163412e-02 -1.90226848e-02 4.79769187e+02] [ 2.55161110e-02 9.99674379e-01 -2.54854295e-04 6.74449016e+00] [ 1.90229935e-02 -2.30659752e-04 9.99819020e-01 5.74527329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.765099893 meters 0.01376468977364912 Centerline is valid? [True, True] Translation: X:479.80, Y:6.74, Z:5.75 [[ 9.99447759e-01 -2.75556675e-02 -1.85704753e-02 4.79797930e+02] [ 2.75557515e-02 9.99620237e-01 -2.51410347e-04 6.74320721e+00] [ 1.85703507e-02 -2.60451893e-04 9.99827522e-01 5.74571954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.795099893 meters 0.013967094891072286 Centerline is valid? [True, True] Translation: X:479.83, Y:6.74, Z:5.75 [[ 9.99388037e-01 -2.97708019e-02 -1.83644121e-02 4.79827826e+02] [ 2.97711977e-02 9.99556708e-01 -2.51899641e-04 6.74188148e+00] [ 1.83637706e-02 -2.94985055e-04 9.99831328e-01 5.74628021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.825099893 meters 0.014354337598842958 Centerline is valid? [True, True] Translation: X:479.86, Y:6.74, Z:5.75 [[ 9.99301358e-01 -3.25773109e-02 -1.83170799e-02 4.79857480e+02] [ 3.25781637e-02 9.99469159e-01 -2.51915397e-04 6.73998200e+00] [ 1.83155631e-02 -3.44997428e-04 9.99832196e-01 5.74654611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.855099893 meters 0.016070828338967846 Centerline is valid? [True, True] Translation: X:479.89, Y:6.73, Z:5.75 [[ 9.99071503e-01 -3.91072374e-02 -1.80763911e-02 4.79887107e+02] [ 3.91091259e-02 9.99234914e-01 -2.49155812e-04 6.73369815e+00] [ 1.80723049e-02 -4.58027384e-04 9.99836578e-01 5.74610052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.885099893 meters 0.01677057345944553 Centerline is valid? [True, True] Translation: X:479.92, Y:6.73, Z:5.75 [[ 9.98915921e-01 -4.28008605e-02 -1.83048894e-02 4.79918297e+02] [ 4.28034164e-02 9.99083482e-01 -2.52317328e-04 6.73119586e+00] [ 1.82989121e-02 -5.31468008e-04 9.99832420e-01 5.74613931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.915099893 meters 0.01798420891413392 Centerline is valid? [True, True] Translation: X:479.95, Y:6.73, Z:5.75 [[ 9.98745179e-01 -4.65183696e-02 -1.85501636e-02 4.79949525e+02] [ 4.65216475e-02 9.98917249e-01 -2.55020337e-04 6.72773070e+00] [ 1.85419415e-02 -6.08283838e-04 9.99827898e-01 5.74595546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.945099893 meters 0.022345496717277757 Centerline is valid? [True, True] Translation: X:479.98, Y:6.72, Z:5.74 [[ 9.98378938e-01 -5.37338169e-02 -1.87662523e-02 4.79978973e+02] [ 5.37384507e-02 9.98555012e-01 -2.57634234e-04 6.71821958e+00] [ 1.87529790e-02 -7.51252732e-04 9.99823865e-01 5.74474704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.975099893 meters 0.024413629337313218 Centerline is valid? [True, True] Translation: X:480.01, Y:6.71, Z:5.74 [[ 9.98167942e-01 -5.74004551e-02 -1.91297473e-02 4.80009019e+02] [ 5.74059387e-02 9.98350885e-01 -2.62810929e-04 6.71460789e+00] [ 1.91132856e-02 -8.35831653e-04 9.99816975e-01 5.74458433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.005099893 meters 0.026059952533584833 Centerline is valid? [True, True] Translation: X:480.04, Y:6.71, Z:5.74 [[ 9.97972371e-01 -6.07240392e-02 -1.90719055e-02 4.80040672e+02] [ 6.07300995e-02 9.98154190e-01 -2.61787084e-04 6.71150632e+00] [ 1.90525992e-02 -8.96982443e-04 9.99818080e-01 5.74414888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.035099893 meters 0.027274996244154415 Centerline is valid? [True, True] Translation: X:480.07, Y:6.71, Z:5.74 [[ 9.97587405e-01 -6.68308852e-02 -1.87883336e-02 4.80070834e+02] [ 6.68378553e-02 9.97763817e-01 -2.57421138e-04 6.70832596e+00] [ 1.87635232e-02 -9.98971839e-04 9.99823451e-01 5.74446654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.065099893 meters 0.02847910714102988 Centerline is valid? [True, True] Translation: X:480.10, Y:6.71, Z:5.74 [[ 9.97425558e-01 -6.94048875e-02 -1.80337815e-02 4.80102247e+02] [ 6.94117336e-02 9.97588066e-01 -2.46778599e-04 6.70628663e+00] [ 1.80074128e-02 -1.00561275e-03 9.99837348e-01 5.74498945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.095099893 meters 0.02976798284346095 Centerline is valid? [True, True] Translation: X:480.13, Y:6.70, Z:5.75 [[ 9.97259500e-01 -7.17491975e-02 -1.80427717e-02 4.80133440e+02] [ 7.17564442e-02 9.97422153e-01 -2.46270656e-04 6.70428734e+00] [ 1.80139299e-02 -1.04908939e-03 9.99837186e-01 5.74534556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.125099893 meters 0.030163019765960985 Centerline is valid? [True, True] Translation: X:480.16, Y:6.70, Z:5.75 [[ 9.97114973e-01 -7.37907391e-02 -1.77948461e-02 4.80164925e+02] [ 7.37981228e-02 9.97273171e-01 -2.42270342e-04 6.70349171e+00] [ 1.77641999e-02 -1.07165485e-03 9.99841630e-01 5.74566559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.155099893 meters 0.02978470119933797 Centerline is valid? [True, True] Translation: X:480.20, Y:6.70, Z:5.75 [[ 9.96873801e-01 -7.70330501e-02 -1.75651492e-02 4.80196137e+02] [ 7.70407547e-02 9.97027916e-01 -2.38621006e-04 6.70366089e+00] [ 1.75313258e-02 -1.11535732e-03 9.99845692e-01 5.74578092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.18509989300003 meters 0.0354238335419811 Centerline is valid? [True, True] Translation: X:480.23, Y:6.70, Z:5.75 [[ 9.96760141e-01 -7.84024720e-02 -1.79519698e-02 4.80227471e+02] [ 7.84107504e-02 9.96921108e-01 -2.43348911e-04 6.69649498e+00] [ 1.79157768e-02 -1.16506693e-03 9.99838821e-01 5.74552939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.215099893 meters 0.033246040584352786 Centerline is valid? [True, True] Translation: X:480.26, Y:6.70, Z:5.75 [[ 9.96694734e-01 -7.92062439e-02 -1.80548583e-02 4.80259836e+02] [ 7.92147680e-02 9.96857543e-01 -2.43676174e-04 6.69988035e+00] [ 1.80174224e-02 -1.18734065e-03 9.99836968e-01 5.74623734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24509989300003 meters 0.032570911373672636 Centerline is valid? [True, True] Translation: X:480.29, Y:6.70, Z:5.75 [[ 9.96636335e-01 -7.99654935e-02 -1.79314277e-02 4.80291559e+02] [ 7.99740445e-02 9.96796917e-01 -2.40851494e-04 6.70145351e+00] [ 1.78932516e-02 -1.19400744e-03 9.99839190e-01 5.74700361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.275099893 meters 0.03389778167722719 Centerline is valid? [True, True] Translation: X:480.32, Y:6.70, Z:5.75 [[ 9.96589293e-01 -8.04677235e-02 -1.82955163e-02 4.80322621e+02] [ 8.04767276e-02 9.96756458e-01 -2.44756153e-04 6.70040356e+00] [ 1.82558690e-02 -1.22844192e-03 9.99832593e-01 5.74722132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.305099893 meters 0.034457226470454363 Centerline is valid? [True, True] Translation: X:480.35, Y:6.70, Z:5.75 [[ 9.96597105e-01 -8.03380851e-02 -1.84391732e-02 4.80354576e+02] [ 8.03472290e-02 9.96766905e-01 -2.45596245e-04 6.70052484e+00] [ 1.83992884e-02 -1.23677597e-03 9.99829954e-01 5.74752568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.335099893 meters 0.03956693921484497 Centerline is valid? [True, True] Translation: X:480.39, Y:6.69, Z:5.75 [[ 9.96658955e-01 -7.94540654e-02 -1.89203394e-02 4.80385801e+02] [ 7.94635575e-02 9.96837740e-01 -2.50780141e-04 6.69451722e+00] [ 1.88804339e-02 -1.25353521e-03 9.99820963e-01 5.74707533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.365099893 meters 0.03411272599477652 Centerline is valid? [True, True] Translation: X:480.42, Y:6.70, Z:5.75 [[ 9.96847784e-01 -7.71365999e-02 -1.85590967e-02 4.80417570e+02] [ 7.71453505e-02 9.97019827e-01 -2.45041719e-04 6.70403849e+00] [ 1.85226891e-02 -1.18747872e-03 9.99827735e-01 5.74856542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.395099893 meters 0.034154263124770975 Centerline is valid? [True, True] Translation: X:480.45, Y:6.71, Z:5.75 [[ 9.96979971e-01 -7.54313686e-02 -1.84674262e-02 4.80448027e+02] [ 7.54397552e-02 9.97150332e-01 -2.43089657e-04 6.70550279e+00] [ 1.84331367e-02 -1.15082259e-03 9.99829433e-01 5.74904964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.425099893 meters 0.033369368881975725 Centerline is valid? [True, True] Translation: X:480.48, Y:6.71, Z:5.75 [[ 9.97149665e-01 -7.31217522e-02 -1.85944606e-02 4.80479415e+02] [ 7.31298624e-02 9.97322397e-01 -2.44334270e-04 6.70796660e+00] [ 1.85625382e-02 -1.11617251e-03 9.99827078e-01 5.74954914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.455099893 meters 0.03304134104571675 Centerline is valid? [True, True] Translation: X:480.51, Y:6.71, Z:5.75 [[ 9.97332796e-01 -7.06115815e-02 -1.84742458e-02 4.80510180e+02] [ 7.06191696e-02 9.97503320e-01 -2.42128749e-04 6.71000851e+00] [ 1.84452187e-02 -1.06315296e-03 9.99829307e-01 5.74964295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.485099893 meters 0.03304134104571675 Centerline is valid? [True, True] Translation: X:480.54, Y:6.71, Z:5.75 [[ 9.97337533e-01 -7.05446425e-02 -1.84742567e-02 4.80541917e+02] [ 7.05522344e-02 9.97508057e-01 -2.41300585e-04 6.71035819e+00] [ 1.84452423e-02 -1.06274196e-03 9.99829307e-01 5.75003534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.515099893 meters 0.030805870089849637 Centerline is valid? [True, True] Translation: X:480.57, Y:6.72, Z:5.75 [[ 9.97717525e-01 -6.49136698e-02 -1.85998898e-02 4.80570952e+02] [ 6.49204031e-02 9.97890416e-01 -2.42213341e-04 6.71729810e+00] [ 1.85763747e-02 -9.65851848e-04 9.99826978e-01 5.75068210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.545099893 meters 0.02966043957638745 Centerline is valid? [True, True] Translation: X:480.60, Y:6.72, Z:5.75 [[ 9.97921231e-01 -6.17735690e-02 -1.83641977e-02 4.80601620e+02] [ 6.17796002e-02 9.98089787e-01 -2.39255467e-04 6.72131675e+00] [ 1.83438978e-02 -8.95774680e-04 9.99831335e-01 5.75155347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.575099893 meters 0.028488505469988927 Centerline is valid? [True, True] Translation: X:480.63, Y:6.73, Z:5.75 [[ 9.98114192e-01 -5.87108364e-02 -1.79191653e-02 4.80633564e+02] [ 5.87160946e-02 9.98274695e-01 -2.32985761e-04 6.72529391e+00] [ 1.79019281e-02 -8.19597012e-04 9.99839412e-01 5.75286997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.605099893 meters 0.027269604856483783 Centerline is valid? [True, True] Translation: X:480.67, Y:6.73, Z:5.75 [[ 9.98305160e-01 -5.55036267e-02 -1.74972628e-02 4.80665242e+02] [ 5.55081632e-02 9.98458208e-01 -2.26655624e-04 6.72940184e+00] [ 1.74828658e-02 -7.44969438e-04 9.99846885e-01 5.75397352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.635099893 meters 0.02497322824051022 Centerline is valid? [True, True] Translation: X:480.69, Y:6.74, Z:5.76 [[ 9.98640555e-01 -4.94219533e-02 -1.65684190e-02 4.80694587e+02] [ 4.94251935e-02 9.98777805e-01 -2.14105980e-04 6.73651870e+00] [ 1.65587507e-02 -6.05082401e-04 9.99862711e-01 5.75591671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.665099893 meters 0.023918503771761485 Centerline is valid? [True, True] Translation: X:480.73, Y:6.74, Z:5.76 [[ 9.98769020e-01 -4.67513754e-02 -1.65756680e-02 4.80726081e+02] [ 4.67542506e-02 9.98906399e-01 -2.14228622e-04 6.74014266e+00] [ 1.65675563e-02 -5.61018023e-04 9.99862591e-01 5.75658336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.695099893 meters 0.018366264620292005 Centerline is valid? [True, True] Translation: X:480.76, Y:6.75, Z:5.76 [[ 9.98895536e-01 -4.40181220e-02 -1.64351347e-02 4.80757421e+02] [ 4.40205879e-02 9.99030602e-01 -2.11873269e-04 6.75044659e+00] [ 1.64285288e-02 -5.11845029e-04 9.99864912e-01 5.75821775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.725099893 meters 0.017571572064364983 Centerline is valid? [True, True] Translation: X:480.79, Y:6.75, Z:5.76 [[ 9.99003810e-01 -4.13301800e-02 -1.68286626e-02 4.80788701e+02] [ 4.13323948e-02 9.99145428e-01 -2.16330931e-04 6.75336970e+00] [ 1.68232223e-02 -4.79453503e-04 9.99858365e-01 5.75832869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.755099893 meters 0.016891164860475955 Centerline is valid? [True, True] Translation: X:480.82, Y:6.76, Z:5.76 [[ 9.99083658e-01 -3.90026732e-02 -1.76248442e-02 4.80819771e+02] [ 3.90047522e-02 9.99239000e-01 -2.25911527e-04 6.75627575e+00] [ 1.76202428e-02 -4.61748165e-04 9.99844645e-01 5.75864270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.785099893 meters 0.01630374523399546 Centerline is valid? [True, True] Translation: X:480.85, Y:6.76, Z:5.76 [[ 9.99162926e-01 -3.67420867e-02 -1.79851872e-02 4.80851466e+02] [ 3.67438973e-02 9.99324689e-01 -2.29877591e-04 6.75901931e+00] [ 1.79814878e-02 -4.31160705e-04 9.99838227e-01 5.75886830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.815099893 meters 0.015350335496509781 Centerline is valid? [True, True] Translation: X:480.88, Y:6.76, Z:5.76 [[ 9.99281985e-01 -3.29359614e-02 -1.87279590e-02 4.80882440e+02] [ 3.29372674e-02 9.99457392e-01 -2.38794661e-04 6.76332338e+00] [ 1.87256620e-02 -3.78224592e-04 9.99824588e-01 5.75944896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.845099893 meters 0.015299634671043751 Centerline is valid? [True, True] Translation: X:480.91, Y:6.76, Z:5.76 [[ 9.99326847e-01 -3.13331375e-02 -1.90810531e-02 4.80912803e+02] [ 3.13342078e-02 9.99508934e-01 -2.42948076e-04 6.76393836e+00] [ 1.90792953e-02 -3.55105147e-04 9.99817911e-01 5.75979006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.875099893 meters 0.014903248439526324 Centerline is valid? [True, True] Translation: X:480.94, Y:6.77, Z:5.76 [[ 9.99391123e-01 -2.93542584e-02 -1.88602768e-02 4.80942868e+02] [ 2.93549560e-02 9.99569022e-01 -2.39917623e-04 6.76552827e+00] [ 1.88591911e-02 -3.13871053e-04 9.99822100e-01 5.76093594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.905099893 meters 0.01474786281380441 Centerline is valid? [True, True] Translation: X:480.97, Y:6.77, Z:5.76 [[ 9.99421608e-01 -2.83544860e-02 -1.87742640e-02 4.80972296e+02] [ 2.83549966e-02 9.99597888e-01 -2.39052616e-04 6.76635447e+00] [ 1.87734929e-02 -2.93429842e-04 9.99823719e-01 5.76178944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.93509989300003 meters 0.014531550798592814 Centerline is valid? [True, True] Translation: X:481.00, Y:6.77, Z:5.76 [[ 9.99443179e-01 -2.75419334e-02 -1.88354443e-02 4.81001965e+02] [ 2.75422903e-02 9.99620610e-01 -2.40507886e-04 6.76745677e+00] [ 1.88349223e-02 -2.78397308e-04 9.99822568e-01 5.76302438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.965099893 meters 0.014321344065258396 Centerline is valid? [True, True] Translation: X:481.03, Y:6.77, Z:5.76 [[ 9.99472264e-01 -2.65648503e-02 -1.86949807e-02 4.81031966e+02] [ 2.65650185e-02 9.99647059e-01 -2.39384346e-04 6.76853440e+00] [ 1.86947416e-02 -2.57374493e-04 9.99825205e-01 5.76375607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99509989300003 meters 0.014133918729546335 Centerline is valid? [True, True] Translation: X:481.06, Y:6.77, Z:5.76 [[ 9.99530451e-01 -2.44515283e-02 -1.84661871e-02 4.81061113e+02] [ 2.44513197e-02 9.99700994e-01 -2.37113661e-04 6.76895958e+00] [ 1.84664634e-02 -2.14520320e-04 9.99829457e-01 5.76474421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.025099893 meters 0.013981736354097165 Centerline is valid? [True, True] Translation: X:481.09, Y:6.77, Z:5.77 [[ 9.99546584e-01 -2.34527207e-02 -1.88837445e-02 4.81090216e+02] [ 2.34522849e-02 9.99724927e-01 -2.44558947e-04 6.76935381e+00] [ 1.88842857e-02 -1.98418895e-04 9.99821656e-01 5.76517446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.055099893 meters 0.013900429529380833 Centerline is valid? [True, True] Translation: X:481.12, Y:6.77, Z:5.77 [[ 9.99563727e-01 -2.26012784e-02 -1.90141520e-02 4.81117533e+02] [ 2.26006121e-02 9.99744542e-01 -2.49951873e-04 6.76933004e+00] [ 1.90149439e-02 -1.79888648e-04 9.99819183e-01 5.76561133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.085099893 meters 0.013703372667864484 Centerline is valid? [True, True] Translation: X:481.15, Y:6.77, Z:5.77 [[ 9.99583156e-01 -2.18677461e-02 -1.88498198e-02 4.81145403e+02] [ 2.18669046e-02 9.99760859e-01 -2.50774765e-04 6.76972884e+00] [ 1.88507959e-02 -1.61516981e-04 9.99822295e-01 5.76659869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.115099893 meters 0.013830694476446423 Centerline is valid? [True, True] Translation: X:481.17, Y:6.77, Z:5.77 [[ 9.99583417e-01 -2.14267063e-02 -1.93362141e-02 4.81173034e+02] [ 2.14256543e-02 9.99770410e-01 -2.61590294e-04 6.76870394e+00] [ 1.93373797e-02 -1.52809720e-04 9.99813004e-01 5.76663750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.145099893 meters 0.013680549432965542 Centerline is valid? [True, True] Translation: X:481.20, Y:6.77, Z:5.77 [[ 9.99575503e-01 -2.18024083e-02 -1.93253422e-02 4.81200582e+02] [ 2.18013671e-02 9.99762287e-01 -2.64579671e-04 6.76839303e+00] [ 1.93265168e-02 -1.56851523e-04 9.99813213e-01 5.76759861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.175099893 meters 0.0138311927477194 Centerline is valid? [True, True] Translation: X:481.23, Y:6.77, Z:5.77 [[ 9.99555663e-01 -2.25483843e-02 -1.94947720e-02 4.81228657e+02] [ 2.25473837e-02 9.99745739e-01 -2.71154537e-04 6.76543943e+00] [ 1.94959293e-02 -1.68522051e-04 9.99809922e-01 5.76822150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.205099893 meters 0.013840693579787277 Centerline is valid? [True, True] Translation: X:481.26, Y:6.76, Z:5.77 [[ 9.99520158e-01 -2.37479951e-02 -1.98868309e-02 4.81256987e+02] [ 2.37471307e-02 9.99717958e-01 -2.79649960e-04 6.76403618e+00] [ 1.98878631e-02 -1.92739399e-04 9.99802198e-01 5.76904119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.235099893 meters 0.013964782559095234 Centerline is valid? [True, True] Translation: X:481.28, Y:6.76, Z:5.77 [[ 9.99485236e-01 -2.51286124e-02 -1.99453177e-02 4.81284561e+02] [ 2.51279413e-02 9.99684203e-01 -2.84302115e-04 6.76207011e+00] [ 1.99461631e-02 -2.17029006e-04 9.99801032e-01 5.76916183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.265099893 meters 0.014093936699075682 Centerline is valid? [True, True] Translation: X:481.31, Y:6.76, Z:5.77 [[ 9.99436757e-01 -2.66119752e-02 -2.04443538e-02 4.81313376e+02] [ 2.66115158e-02 9.99645808e-01 -2.94575586e-04 6.76029549e+00] [ 2.04449518e-02 -2.49645576e-04 9.99790949e-01 5.76949241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.295099893 meters 0.014348763554607635 Centerline is valid? [True, True] Translation: X:481.34, Y:6.76, Z:5.77 [[ 9.99341156e-01 -2.91940458e-02 -2.15629872e-02 4.81342483e+02] [ 2.91940151e-02 9.99573714e-01 -3.16282233e-04 6.75658906e+00] [ 2.15630288e-02 -3.13436322e-04 9.99767442e-01 5.77003127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.325099893 meters 0.014944640605783611 Centerline is valid? [True, True] Translation: X:481.37, Y:6.75, Z:5.77 [[ 9.99310369e-01 -3.01884964e-02 -2.16203697e-02 4.81370044e+02] [ 3.01886124e-02 9.99544168e-01 -3.21090868e-04 6.75374039e+00] [ 2.16202077e-02 -3.31819525e-04 9.99766201e-01 5.76958351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.355099893 meters 0.014651266883138675 Centerline is valid? [True, True] Translation: X:481.40, Y:6.75, Z:5.77 [[ 9.99275671e-01 -3.11927540e-02 -2.17978446e-02 4.81398427e+02] [ 3.11930349e-02 9.99513325e-01 -3.27205579e-04 6.75305018e+00] [ 2.17974426e-02 -3.52972354e-04 9.99762345e-01 5.77052841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.385099893 meters 0.014563525626372647 Centerline is valid? [True, True] Translation: X:481.43, Y:6.75, Z:5.77 [[ 9.99241270e-01 -3.21442473e-02 -2.19916140e-02 4.81427361e+02] [ 3.21446409e-02 9.99483171e-01 -3.35692909e-04 6.75221350e+00] [ 2.19910387e-02 -3.71474326e-04 9.99758099e-01 5.77131121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.415099893 meters 0.015084371016067525 Centerline is valid? [True, True] Translation: X:481.46, Y:6.75, Z:5.77 [[ 9.99225447e-01 -3.26429416e-02 -2.19760044e-02 4.81455151e+02] [ 3.26433559e-02 9.99467006e-01 -3.39973292e-04 6.74939132e+00] [ 2.19753890e-02 -3.77660569e-04 9.99758441e-01 5.77097848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.445099893 meters 0.015111036136797385 Centerline is valid? [True, True] Translation: X:481.48, Y:6.75, Z:5.77 [[ 9.99211866e-01 -3.32378563e-02 -2.17000511e-02 4.81484182e+02] [ 3.32383132e-02 9.99447397e-01 -3.39723134e-04 6.74781710e+00] [ 2.16993512e-02 -3.81817706e-04 9.99764468e-01 5.77129310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.475099893 meters 0.015026112995356864 Centerline is valid? [True, True] Translation: X:481.51, Y:6.74, Z:5.77 [[ 9.99177907e-01 -3.40758578e-02 -2.19623720e-02 4.81512976e+02] [ 3.40764086e-02 9.99419170e-01 -3.49275333e-04 6.74429786e+00] [ 2.19615174e-02 -3.99410564e-04 9.99758737e-01 5.77183837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.505099893 meters 0.015568861023079642 Centerline is valid? [True, True] Translation: X:481.54, Y:6.74, Z:5.77 [[ 9.99150019e-01 -3.45743824e-02 -2.24466355e-02 4.81542139e+02] [ 3.45750010e-02 9.99402041e-01 -3.60647734e-04 6.74171379e+00] [ 2.24456825e-02 -4.15751255e-04 9.99747977e-01 5.77178249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.535099893 meters 0.014939969025849847 Centerline is valid? [True, True] Translation: X:481.57, Y:6.74, Z:5.77 [[ 9.99127408e-01 -3.51982735e-02 -2.24834392e-02 4.81571199e+02] [ 3.51989799e-02 9.99380257e-01 -3.64448516e-04 6.74170831e+00] [ 2.24823332e-02 -4.27263622e-04 9.99747149e-01 5.77319586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.565099893 meters 0.01500518298478059 Centerline is valid? [True, True] Translation: X:481.60, Y:6.74, Z:5.77 [[ 9.99078959e-01 -3.59875147e-02 -2.33694579e-02 4.81599659e+02] [ 3.59883528e-02 9.99352135e-01 -3.84841796e-04 6.73852244e+00] [ 2.33681671e-02 -4.56540955e-04 9.99726823e-01 5.77362377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.595099893 meters 0.015030160738244027 Centerline is valid? [True, True] Translation: X:481.63, Y:6.74, Z:5.77 [[ 9.99047944e-01 -3.63971839e-02 -2.40510107e-02 4.81628387e+02] [ 3.63980416e-02 9.99337291e-01 -4.02249239e-04 6.73727730e+00] [ 2.40497126e-02 -4.73543413e-04 9.99710652e-01 5.77362377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.625099893 meters 0.015049633669325874 Centerline is valid? [True, True] Translation: X:481.66, Y:6.74, Z:5.77 [[ 9.99038523e-01 -3.64664384e-02 -2.43357374e-02 4.81656763e+02] [ 3.64671759e-02 9.99334766e-01 -4.13632265e-04 6.73581624e+00] [ 2.43346322e-02 -4.74221051e-04 9.99703757e-01 5.77308081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.655099893 meters 0.014537657725974913 Centerline is valid? [True, True] Translation: X:481.69, Y:6.74, Z:5.77 [[ 9.99011684e-01 -3.66136286e-02 -2.52011324e-02 4.81685758e+02] [ 3.66142891e-02 9.99329377e-01 -4.35378257e-04 6.73595082e+00] [ 2.52001727e-02 -4.87773582e-04 9.99682306e-01 5.77397273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.68509989300003 meters 0.015343882082854407 Centerline is valid? [True, True] Translation: X:481.71, Y:6.73, Z:5.77 [[ 9.99015747e-01 -3.60409113e-02 -2.58570975e-02 4.81712774e+02] [ 3.60412843e-02 9.99350200e-01 -4.51761989e-04 6.73299292e+00] [ 2.58565775e-02 -4.80605663e-04 9.99665547e-01 5.77245251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.715099893 meters 0.015072908345009356 Centerline is valid? [True, True] Translation: X:481.74, Y:6.73, Z:5.77 [[ 9.99044498e-01 -3.53048199e-02 -2.57615994e-02 4.81741866e+02] [ 3.53048204e-02 9.99376487e-01 -4.54954155e-04 6.73245571e+00] [ 2.57615988e-02 -4.54989195e-04 9.99668011e-01 5.77277313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74509989300003 meters 0.014138197209226789 Centerline is valid? [True, True] Translation: X:481.77, Y:6.73, Z:5.77 [[ 9.99118028e-01 -3.28876232e-02 -2.61068914e-02 4.81770578e+02] [ 3.28866274e-02 9.99458979e-01 -4.67614215e-04 6.73296185e+00] [ 2.61081457e-02 -3.91365817e-04 9.99659048e-01 5.77472055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.775099893 meters 0.013922801969392938 Centerline is valid? [True, True] Translation: X:481.80, Y:6.73, Z:5.78 [[ 9.99171589e-01 -3.13811265e-02 -2.59106087e-02 4.81799597e+02] [ 3.13794691e-02 9.99507432e-01 -4.70663250e-04 6.73315272e+00] [ 2.59126159e-02 -3.42787797e-04 9.99664153e-01 5.77521885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.805099893 meters 0.013706513871150482 Centerline is valid? [True, True] Translation: X:481.83, Y:6.73, Z:5.78 [[ 9.99220195e-01 -2.97222896e-02 -2.59920790e-02 4.81828478e+02] [ 2.97198891e-02 9.99558152e-01 -4.78741424e-04 6.73366667e+00] [ 2.59948237e-02 -2.94113605e-04 9.99662034e-01 5.77632053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.835099893 meters 0.01348211298920642 Centerline is valid? [True, True] Translation: X:481.86, Y:6.73, Z:5.78 [[ 9.99314177e-01 -2.65688445e-02 -2.57928880e-02 4.81857072e+02] [ 2.65652629e-02 9.99646965e-01 -4.81567435e-04 6.73371541e+00] [ 2.57965769e-02 -2.03957685e-04 9.99667192e-01 5.77738793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.865099893 meters 0.01365335529386701 Centerline is valid? [True, True] Translation: X:481.89, Y:6.73, Z:5.78 [[ 9.99366011e-01 -2.50177795e-02 -2.53315543e-02 4.81885117e+02] [ 2.50137197e-02 9.99686994e-01 -4.77174064e-04 6.73276369e+00] [ 2.53355632e-02 -1.56764859e-04 9.99678991e-01 5.77580376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.895099893 meters 0.013305196350299985 Centerline is valid? [True, True] Translation: X:481.91, Y:6.73, Z:5.78 [[ 9.99383685e-01 -2.40959566e-02 -2.55271376e-02 4.81912581e+02] [ 2.40914090e-02 9.99709642e-01 -4.85722574e-04 6.73360913e+00] [ 2.55314295e-02 -1.29561495e-04 9.99674012e-01 5.77806966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.925099893 meters 0.013232149070255628 Centerline is valid? [True, True] Translation: X:481.94, Y:6.73, Z:5.78 [[ 9.99409622e-01 -2.33301436e-02 -2.52212636e-02 4.81940092e+02] [ 2.33253440e-02 9.99727810e-01 -4.84516796e-04 6.73304615e+00] [ 2.52257025e-02 -1.04063903e-04 9.99681776e-01 5.77850513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.955099893 meters 0.013323248394666896 Centerline is valid? [True, True] Translation: X:481.97, Y:6.73, Z:5.78 [[ 9.99416522e-01 -2.34006217e-02 -2.48802387e-02 4.81967524e+02] [ 2.33958593e-02 9.99726163e-01 -4.82527274e-04 6.73212149e+00] [ 2.48847170e-02 -9.98488337e-05 9.99690322e-01 5.77890102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.985099893 meters 0.01317727477873337 Centerline is valid? [True, True] Translation: X:482.00, Y:6.73, Z:5.78 [[ 9.99417849e-01 -2.37826954e-02 -2.44611155e-02 4.81995491e+02] [ 2.37780395e-02 9.99717147e-01 -4.81227375e-04 6.73115572e+00] [ 2.44656414e-02 -1.00690141e-04 9.99700666e-01 5.78023473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.015099893 meters 0.013317830381383861 Centerline is valid? [True, True] Translation: X:482.02, Y:6.73, Z:5.78 [[ 9.99376540e-01 -2.55004871e-02 -2.44183656e-02 4.82023682e+02] [ 2.54962483e-02 9.99674800e-01 -4.84959877e-04 6.72666787e+00] [ 2.44227914e-02 -1.37919188e-04 9.99701710e-01 5.77970817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.045099893 meters 0.013434943952411496 Centerline is valid? [True, True] Translation: X:482.05, Y:6.72, Z:5.78 [[ 9.99324850e-01 -2.71735691e-02 -2.47273246e-02 4.82052677e+02] [ 2.71696333e-02 9.99630715e-01 -4.95187152e-04 6.72423264e+00] [ 2.47316491e-02 -1.76979513e-04 9.99694110e-01 5.77984221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.075099893 meters 0.01339859474686076 Centerline is valid? [True, True] Translation: X:482.08, Y:6.72, Z:5.78 [[ 9.99260617e-01 -2.91395374e-02 -2.50819804e-02 4.82081162e+02] [ 2.91359502e-02 9.99575329e-01 -5.08535094e-04 6.72221811e+00] [ 2.50861473e-02 -2.22628242e-04 9.99685268e-01 5.78089935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.105099893 meters 0.013921508201783627 Centerline is valid? [True, True] Translation: X:482.11, Y:6.72, Z:5.78 [[ 9.99203246e-01 -3.10475291e-02 -2.50783792e-02 4.82109309e+02] [ 3.10444368e-02 9.99517874e-01 -5.12724066e-04 6.71853970e+00] [ 2.50822071e-02 -2.66228607e-04 9.99685357e-01 5.77970529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.135099893 meters 0.013944900953200643 Centerline is valid? [True, True] Translation: X:482.14, Y:6.71, Z:5.78 [[ 9.99066610e-01 -3.52182936e-02 -2.50116097e-02 4.82137843e+02] [ 3.52164156e-02 9.99379577e-01 -5.15697405e-04 6.71452500e+00] [ 2.50142539e-02 -3.65603183e-04 9.99687028e-01 5.78158493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.165099893 meters 0.014433083371363852 Centerline is valid? [True, True] Translation: X:482.17, Y:6.71, Z:5.78 [[ 9.98999061e-01 -3.71934695e-02 -2.48499701e-02 4.82166100e+02] [ 3.71921069e-02 9.99308000e-01 -5.17173449e-04 6.71173347e+00] [ 2.48520094e-02 -4.07566954e-04 9.99691058e-01 5.78126578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.195099893 meters 0.014984055837283999 Centerline is valid? [True, True] Translation: X:482.19, Y:6.71, Z:5.78 [[ 9.98926301e-01 -3.89058255e-02 -2.51511713e-02 4.82193836e+02] [ 3.89048871e-02 9.99242779e-01 -5.26822666e-04 6.70895693e+00] [ 2.51526228e-02 -4.52246463e-04 9.99683520e-01 5.78130643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.225099893 meters 0.0150820158364009 Centerline is valid? [True, True] Translation: X:482.22, Y:6.71, Z:5.78 [[ 9.98866859e-01 -4.06014456e-02 -2.48298152e-02 4.82222839e+02] [ 4.06009370e-02 9.99175304e-01 -5.24825918e-04 6.70755641e+00] [ 2.48306468e-02 -4.83882547e-04 9.99691555e-01 5.78209174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.255099893 meters 0.01519071183084981 Centerline is valid? [True, True] Translation: X:482.25, Y:6.70, Z:5.78 [[ 9.98812904e-01 -4.23392515e-02 -2.40867452e-02 4.82251948e+02] [ 4.23391346e-02 9.99103164e-01 -5.15064961e-04 6.70496652e+00] [ 2.40869508e-02 -5.05358416e-04 9.99709740e-01 5.78280358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.285099893 meters 0.015268622138252651 Centerline is valid? [True, True] Translation: X:482.28, Y:6.70, Z:5.78 [[ 9.98788291e-01 -4.28524400e-02 -2.41995513e-02 4.82279896e+02] [ 4.28523139e-02 9.99081280e-01 -5.24026588e-04 6.70426001e+00] [ 2.41997745e-02 -5.13615148e-04 9.99707011e-01 5.78331891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.315099893 meters 0.015256987948406655 Centerline is valid? [True, True] Translation: X:482.31, Y:6.70, Z:5.78 [[ 9.98820400e-01 -4.23531577e-02 -2.37490762e-02 4.82307929e+02] [ 4.23527879e-02 9.99102583e-01 -5.18785525e-04 6.70379164e+00] [ 2.37497356e-02 -4.87666021e-04 9.99717816e-01 5.78342007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.345099893 meters 0.014731782724643446 Centerline is valid? [True, True] Translation: X:482.34, Y:6.70, Z:5.78 [[ 9.98830129e-01 -4.20526464e-02 -2.38735721e-02 4.82335476e+02] [ 4.20520799e-02 9.99115282e-01 -5.25988543e-04 6.70468891e+00] [ 2.38745699e-02 -4.78560159e-04 9.99714847e-01 5.78444612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.375099893 meters 0.015234061839166623 Centerline is valid? [True, True] Translation: X:482.36, Y:6.70, Z:5.78 [[ 9.98874710e-01 -4.12037396e-02 -2.34854217e-02 4.82363751e+02] [ 4.12028494e-02 9.99150666e-01 -5.22010720e-04 6.70335746e+00] [ 2.34869835e-02 -4.46242986e-04 9.99724043e-01 5.78422115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.405099893 meters 0.015234061839166623 Centerline is valid? [True, True] Translation: X:482.39, Y:6.70, Z:5.78 [[ 9.98863095e-01 -4.14844140e-02 -2.34853267e-02 4.82391174e+02] [ 4.14835015e-02 9.99139050e-01 -5.26256447e-04 6.70403808e+00] [ 2.34869385e-02 -4.48595444e-04 9.99724043e-01 5.78456059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.43509989300003 meters 0.015143718681859857 Centerline is valid? [True, True] Translation: X:482.42, Y:6.70, Z:5.79 [[ 9.98894675e-01 -4.09856286e-02 -2.30132026e-02 4.82419808e+02] [ 4.09844816e-02 9.99159647e-01 -5.21691651e-04 6.70394418e+00] [ 2.30152452e-02 -4.22069165e-04 9.99735025e-01 5.78509677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.465099893 meters 0.014541923903810207 Centerline is valid? [True, True] Translation: X:482.45, Y:6.70, Z:5.79 [[ 9.98964449e-01 -3.97803304e-02 -2.20806675e-02 4.82448330e+02] [ 3.97788624e-02 9.99208380e-01 -5.05881043e-04 6.70360899e+00] [ 2.20833121e-02 -3.72986656e-04 9.99756064e-01 5.78681446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49509989300003 meters 0.014471863042069901 Centerline is valid? [True, True] Translation: X:482.48, Y:6.70, Z:5.79 [[ 9.98980970e-01 -3.97274035e-02 -2.14185540e-02 4.82476838e+02] [ 3.97258973e-02 9.99210492e-01 -4.95972057e-04 6.70346841e+00] [ 2.14213476e-02 -3.55404630e-04 9.99770473e-01 5.78753012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.525099893 meters 0.014326762275210014 Centerline is valid? [True, True] Translation: X:482.50, Y:6.70, Z:5.79 [[ 9.98977294e-01 -3.99655584e-02 -2.11452241e-02 4.82504907e+02] [ 3.99640255e-02 9.99200997e-01 -4.95230939e-04 6.70284792e+00] [ 2.11481212e-02 -3.50323813e-04 9.99776292e-01 5.78850281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.555099893 meters 0.014584914768228983 Centerline is valid? [True, True] Translation: X:482.53, Y:6.70, Z:5.79 [[ 9.98963310e-01 -4.03378484e-02 -2.10988812e-02 4.82532302e+02] [ 4.03363138e-02 9.99186035e-01 -4.98474135e-04 6.70004052e+00] [ 2.11018148e-02 -3.53093721e-04 9.99777270e-01 5.78901738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.585099893 meters 0.014779175841379093 Centerline is valid? [True, True] Translation: X:482.56, Y:6.70, Z:5.79 [[ 9.98935018e-01 -4.09634866e-02 -2.12326054e-02 4.82560397e+02] [ 4.09619969e-02 9.99160577e-01 -5.05249148e-04 6.69872748e+00] [ 2.12354791e-02 -3.65018852e-04 9.99774435e-01 5.78877503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.615099893 meters 0.015016056844141671 Centerline is valid? [True, True] Translation: X:482.59, Y:6.70, Z:5.79 [[ 9.98893489e-01 -4.17680837e-02 -2.16153940e-02 4.82588234e+02] [ 4.17666338e-02 9.99127259e-01 -5.18726431e-04 6.69730094e+00] [ 2.16181955e-02 -3.84649789e-04 9.99766226e-01 5.78845176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.645099893 meters 0.015256652087464649 Centerline is valid? [True, True] Translation: X:482.62, Y:6.70, Z:5.79 [[ 9.98833929e-01 -4.28826590e-02 -2.21779334e-02 4.82617000e+02] [ 4.28813293e-02 9.99080029e-01 -5.35739711e-04 6.69591676e+00] [ 2.21805042e-02 -4.15904263e-04 9.99753896e-01 5.78834470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.675099893 meters 0.015302622815988149 Centerline is valid? [True, True] Translation: X:482.65, Y:6.69, Z:5.79 [[ 9.98769506e-01 -4.41923840e-02 -2.25057012e-02 4.82645553e+02] [ 4.41912213e-02 9.99022940e-01 -5.49239632e-04 6.69480680e+00] [ 2.25079840e-02 -4.45990627e-04 9.99746564e-01 5.78855049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.705099893 meters 0.016113815763245044 Centerline is valid? [True, True] Translation: X:482.67, Y:6.69, Z:5.79 [[ 9.98652030e-01 -4.67217047e-02 -2.26098642e-02 4.82673788e+02] [ 4.67210892e-02 9.98907819e-01 -5.55754428e-04 6.69043997e+00] [ 2.26111359e-02 -5.01352194e-04 9.99744210e-01 5.78811245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.735099893 meters 0.016464376487671403 Centerline is valid? [True, True] Translation: X:482.70, Y:6.69, Z:5.79 [[ 9.98557790e-01 -4.86264971e-02 -2.27552938e-02 4.82702216e+02] [ 4.86262848e-02 9.98816884e-01 -5.62981401e-04 6.68909281e+00] [ 2.27557474e-02 -5.44335932e-04 9.99740906e-01 5.78845114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.765099893 meters 0.01653423038223076 Centerline is valid? [True, True] Translation: X:482.73, Y:6.69, Z:5.79 [[ 9.98493881e-01 -5.01188804e-02 -2.23174107e-02 4.82731264e+02] [ 5.01189265e-02 9.98743101e-01 -5.57616242e-04 6.68798232e+00] [ 2.23173071e-02 -5.61748262e-04 9.99750780e-01 5.78899219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.795099893 meters 0.017079252721208422 Centerline is valid? [True, True] Translation: X:482.76, Y:6.69, Z:5.79 [[ 9.98429621e-01 -5.13379875e-02 -2.24210264e-02 4.82759527e+02] [ 5.13382416e-02 9.98681163e-01 -5.64645334e-04 6.68639641e+00] [ 2.24204445e-02 -5.87297446e-04 9.99748458e-01 5.78946893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.825099893 meters 0.017816000190276335 Centerline is valid? [True, True] Translation: X:482.79, Y:6.68, Z:5.79 [[ 9.98378947e-01 -5.29009480e-02 -2.09992210e-02 4.82787672e+02] [ 5.29014595e-02 9.98599596e-01 -5.31533827e-04 6.68356156e+00] [ 2.09979323e-02 -5.80217257e-04 9.99779351e-01 5.79031366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.855099893 meters 0.017541537959192326 Centerline is valid? [True, True] Translation: X:482.82, Y:6.68, Z:5.79 [[ 9.98355090e-01 -5.35948502e-02 -2.03643176e-02 4.82816923e+02] [ 5.35954028e-02 9.98562599e-01 -5.19032486e-04 6.68386070e+00] [ 2.03628633e-02 -5.73255078e-04 9.99792491e-01 5.79109867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.885099893 meters 0.017378147738956205 Centerline is valid? [True, True] Translation: X:482.85, Y:6.68, Z:5.79 [[ 9.98357307e-01 -5.35641785e-02 -2.03363402e-02 4.82846759e+02] [ 5.35646553e-02 9.98564247e-01 -5.21655723e-04 6.68416098e+00] [ 2.03350843e-02 -5.68510252e-04 9.99793059e-01 5.79166917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.915099893 meters 0.016845269161389283 Centerline is valid? [True, True] Translation: X:482.88, Y:6.69, Z:5.79 [[ 9.98356908e-01 -5.36804128e-02 -2.00473894e-02 4.82876652e+02] [ 5.36808853e-02 9.98558009e-01 -5.14954112e-04 6.68517851e+00] [ 2.00461241e-02 -5.62053613e-04 9.99798898e-01 5.79217350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.945099893 meters 0.01698714081860743 Centerline is valid? [True, True] Translation: X:482.91, Y:6.69, Z:5.79 [[ 9.98351447e-01 -5.38038558e-02 -1.99883225e-02 4.82905890e+02] [ 5.38043358e-02 9.98551365e-01 -5.14157780e-04 6.68510953e+00] [ 1.99870304e-02 -5.62148252e-04 9.99800081e-01 5.79245693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.975099893 meters 0.01730025074549249 Centerline is valid? [True, True] Translation: X:482.93, Y:6.68, Z:5.79 [[ 9.98336060e-01 -5.40366705e-02 -2.01283514e-02 4.82934551e+02] [ 5.40371871e-02 9.98538789e-01 -5.18625529e-04 6.68441700e+00] [ 2.01269645e-02 -5.69916925e-04 9.99797270e-01 5.79256820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.005099893 meters 0.01804940910094177 Centerline is valid? [True, True] Translation: X:482.96, Y:6.68, Z:5.79 [[ 9.98251222e-01 -5.56489698e-02 -1.99421430e-02 4.82963143e+02] [ 5.56497745e-02 9.98450218e-01 -5.15020485e-04 6.68205459e+00] [ 1.99398974e-02 -5.95655933e-04 9.99801003e-01 5.79239034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.035099893 meters 0.01803698660932716 Centerline is valid? [True, True] Translation: X:482.99, Y:6.68, Z:5.79 [[ 9.98165955e-01 -5.71111844e-02 -2.00758415e-02 4.82992990e+02] [ 5.71122722e-02 9.98367627e-01 -5.19628272e-04 6.68202534e+00] [ 2.00727468e-02 -6.27901672e-04 9.99798325e-01 5.79266104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.065099893 meters 0.01844523682302884 Centerline is valid? [True, True] Translation: X:483.02, Y:6.68, Z:5.79 [[ 9.98084786e-01 -5.85639912e-02 -1.99253462e-02 4.83022358e+02] [ 5.85653377e-02 9.98283444e-01 -5.16442857e-04 6.68105427e+00] [ 1.99213881e-02 -6.51480868e-04 9.99801337e-01 5.79278060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.095099893 meters 0.019018005005495747 Centerline is valid? [True, True] Translation: X:483.05, Y:6.68, Z:5.79 [[ 9.97974093e-01 -6.04608713e-02 -1.98038652e-02 4.83052065e+02] [ 6.04625604e-02 9.98170333e-01 -5.14000897e-04 6.67977246e+00] [ 1.97987076e-02 -6.84432814e-04 9.99803752e-01 5.79321454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.125099893 meters 0.020542116238076735 Centerline is valid? [True, True] Translation: X:483.08, Y:6.68, Z:5.79 [[ 9.97757298e-01 -6.41791062e-02 -1.90109526e-02 4.83082365e+02] [ 6.41813261e-02 9.97938131e-01 -4.93964693e-04 6.67662874e+00] [ 1.90034568e-02 -7.27291274e-04 9.99819153e-01 5.79323231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.155099893 meters 0.018981589511437948 Centerline is valid? [True, True] Translation: X:483.11, Y:6.68, Z:5.79 [[ 9.97670574e-01 -6.56310033e-02 -1.86009860e-02 4.83112606e+02] [ 6.56333764e-02 9.97843688e-01 -4.83527686e-04 6.67927687e+00] [ 1.85926109e-02 -7.38444171e-04 9.99826870e-01 5.79412645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.18509989300003 meters 0.02026284469109017 Centerline is valid? [True, True] Translation: X:483.14, Y:6.68, Z:5.79 [[ 9.97594599e-01 -6.68014776e-02 -1.85088541e-02 4.83142488e+02] [ 6.68040284e-02 9.97766000e-01 -4.81132740e-04 6.67747381e+00] [ 1.84996457e-02 -7.56490588e-04 9.99828581e-01 5.79395189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.215099893 meters 0.021236412416411134 Centerline is valid? [True, True] Translation: X:483.17, Y:6.68, Z:5.79 [[ 9.97531928e-01 -6.77421243e-02 -1.84677434e-02 4.83171945e+02] [ 6.77448225e-02 9.97702565e-01 -4.80174501e-04 6.67638938e+00] [ 1.84578430e-02 -7.72104604e-04 9.99829341e-01 5.79397906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24509989300003 meters 0.021415606520032465 Centerline is valid? [True, True] Translation: X:483.20, Y:6.68, Z:5.79 [[ 9.97482176e-01 -6.85137455e-02 -1.83078015e-02 4.83202256e+02] [ 6.85165228e-02 9.97649868e-01 -4.76237481e-04 6.67681169e+00] [ 1.82974046e-02 -7.79348504e-04 9.99832285e-01 5.79442441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.275099893 meters 0.02051104518702385 Centerline is valid? [True, True] Translation: X:483.23, Y:6.68, Z:5.79 [[ 9.97458360e-01 -6.88823432e-02 -1.82220664e-02 4.83233049e+02] [ 6.88851560e-02 9.97624484e-01 -4.74007269e-04 6.67910820e+00] [ 1.82114303e-02 -7.82427374e-04 9.99833852e-01 5.79491222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.305099893 meters 0.024385828237926156 Centerline is valid? [True, True] Translation: X:483.26, Y:6.67, Z:5.79 [[ 9.97462901e-01 -6.88594185e-02 -1.80593952e-02 4.83262283e+02] [ 6.88621757e-02 9.97626072e-01 -4.69879532e-04 6.67485048e+00] [ 1.80488792e-02 -7.74921847e-04 9.99836805e-01 5.79405796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.335099893 meters 0.023178008204924692 Centerline is valid? [True, True] Translation: X:483.29, Y:6.68, Z:5.79 [[ 9.97465902e-01 -6.88412600e-02 -1.79626354e-02 4.83292476e+02] [ 6.88439807e-02 9.97627329e-01 -4.67585941e-04 6.67788110e+00] [ 1.79522052e-02 -7.70218290e-04 9.99838550e-01 5.79479012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.365099893 meters 0.020264696970105196 Centerline is valid? [True, True] Translation: X:483.32, Y:6.68, Z:5.80 [[ 9.97494057e-01 -6.86677368e-02 -1.70396080e-02 4.83322430e+02] [ 6.86701596e-02 9.97639320e-01 -4.43558586e-04 6.68415154e+00] [ 1.70298411e-02 -7.27665549e-04 9.99854717e-01 5.79582617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.395099893 meters 0.020178118816801597 Centerline is valid? [True, True] Translation: X:483.35, Y:6.69, Z:5.80 [[ 9.97493528e-01 -6.87125655e-02 -1.68891709e-02 4.83353869e+02] [ 6.87149550e-02 9.97636237e-01 -4.39475325e-04 6.68561728e+00] [ 1.68794464e-02 -7.22164825e-04 9.99857271e-01 5.79613473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.425099893 meters 0.022235779679377437 Centerline is valid? [True, True] Translation: X:483.38, Y:6.68, Z:5.80 [[ 9.97508666e-01 -6.86312196e-02 -1.63161733e-02 4.83384391e+02] [ 6.86334501e-02 9.97641855e-01 -4.23876929e-04 6.68362453e+00] [ 1.63067886e-02 -6.97014356e-04 9.99866793e-01 5.79637261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.455099893 meters 0.02264656625227298 Centerline is valid? [True, True] Translation: X:483.42, Y:6.68, Z:5.80 [[ 9.97500643e-01 -6.87914436e-02 -1.61308603e-02 4.83415882e+02] [ 6.87936590e-02 9.97630822e-01 -4.18165580e-04 6.68410295e+00] [ 1.61214096e-02 -6.92580469e-04 9.99869802e-01 5.79681370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.485099893 meters 0.021925911696819934 Centerline is valid? [True, True] Translation: X:483.45, Y:6.69, Z:5.80 [[ 9.97440041e-01 -6.98734388e-02 -1.52008934e-02 4.83446692e+02] [ 6.98755384e-02 9.97555640e-01 -3.93595868e-04 6.68654716e+00] [ 1.51912388e-02 -6.69582332e-04 9.99884382e-01 5.79718381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.515099893 meters 0.022397683330873962 Centerline is valid? [True, True] Translation: X:483.48, Y:6.69, Z:5.80 [[ 9.97396576e-01 -7.05053961e-02 -1.51347115e-02 4.83478160e+02] [ 7.05075549e-02 9.97511169e-01 -3.91560860e-04 6.68711002e+00] [ 1.51246509e-02 -6.76570044e-04 9.99885387e-01 5.79754091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.545099893 meters 0.02349748695039995 Centerline is valid? [True, True] Translation: X:483.51, Y:6.69, Z:5.80 [[ 9.97344886e-01 -7.12037577e-02 -1.52709773e-02 4.83508595e+02] [ 7.12060449e-02 9.97461550e-01 -3.94586673e-04 6.68637300e+00] [ 1.52603088e-02 -6.93846897e-04 9.99883314e-01 5.79788098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.575099893 meters 0.02195410389449303 Centerline is valid? [True, True] Translation: X:483.54, Y:6.69, Z:5.80 [[ 9.97267301e-01 -7.22737040e-02 -1.53114920e-02 4.83540145e+02] [ 7.22761343e-02 9.97384582e-01 -3.95304806e-04 6.68973751e+00] [ 1.53000162e-02 -7.12430895e-04 9.99882694e-01 5.79825695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.605099893 meters 0.024459484426006706 Centerline is valid? [True, True] Translation: X:483.57, Y:6.69, Z:5.80 [[ 9.97185895e-01 -7.33014464e-02 -1.57222310e-02 4.83570539e+02] [ 7.33041445e-02 9.97309550e-01 -4.05383915e-04 6.68701856e+00] [ 1.57096464e-02 -7.48261575e-04 9.99876316e-01 5.79812602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.635099893 meters 0.023855776746103237 Centerline is valid? [True, True] Translation: X:483.60, Y:6.69, Z:5.80 [[ 9.97093822e-01 -7.45005023e-02 -1.59243475e-02 4.83601582e+02] [ 7.45034284e-02 9.97220673e-01 -4.10240233e-04 6.68903157e+00] [ 1.59106516e-02 -7.77370482e-04 9.99873115e-01 5.79873021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.665099893 meters 0.024798959146719306 Centerline is valid? [True, True] Translation: X:483.63, Y:6.69, Z:5.80 [[ 9.96962262e-01 -7.62661785e-02 -1.58024940e-02 4.83632643e+02] [ 7.62692901e-02 9.97087173e-01 -4.06537372e-04 6.68875231e+00] [ 1.57874692e-02 -7.99942585e-04 9.99875050e-01 5.79895954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.695099893 meters 0.026082674361642914 Centerline is valid? [True, True] Translation: X:483.66, Y:6.69, Z:5.80 [[ 9.96886327e-01 -7.72564856e-02 -1.57824666e-02 4.83662668e+02] [ 7.72597228e-02 9.97010918e-01 -4.05410316e-04 6.68832117e+00] [ 1.57666121e-02 -8.15200993e-04 9.99875367e-01 5.79945288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.725099893 meters 0.024599658399636157 Centerline is valid? [True, True] Translation: X:483.69, Y:6.69, Z:5.80 [[ 9.96851909e-01 -7.77882762e-02 -1.53380337e-02 4.83694343e+02] [ 7.77914071e-02 9.96969579e-01 -3.93288268e-04 6.69186279e+00] [ 1.53221462e-02 -8.01117060e-04 9.99882288e-01 5.80018828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.755099893 meters 0.025607213099170783 Centerline is valid? [True, True] Translation: X:483.73, Y:6.69, Z:5.80 [[ 9.96839463e-01 -7.80537664e-02 -1.47882925e-02 4.83726000e+02] [ 7.80567143e-02 9.96948848e-01 -3.78628412e-04 6.69201140e+00] [ 1.47727245e-02 -7.76893777e-04 9.99890576e-01 5.80088169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.785099893 meters 0.025231423013787377 Centerline is valid? [True, True] Translation: X:483.76, Y:6.70, Z:5.80 [[ 9.96895756e-01 -7.73641365e-02 -1.46165292e-02 4.83758482e+02] [ 7.73669545e-02 9.97002615e-01 -3.73405700e-04 6.69531857e+00] [ 1.46016061e-02 -7.58589793e-04 9.99893103e-01 5.80186545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.815099893 meters 0.0268863891884738 Centerline is valid? [True, True] Translation: X:483.79, Y:6.69, Z:5.80 [[ 9.96963047e-01 -7.64664710e-02 -1.47499820e-02 4.83789383e+02] [ 7.64692571e-02 9.97071869e-01 -3.75833660e-04 6.69498420e+00] [ 1.47355308e-02 -7.53227893e-04 9.99891142e-01 5.80193673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.845099893 meters 0.024378462782831796 Centerline is valid? [True, True] Translation: X:483.82, Y:6.70, Z:5.80 [[ 9.97048965e-01 -7.52610129e-02 -1.51374329e-02 4.83820935e+02] [ 7.52638171e-02 9.97163582e-01 -3.85156290e-04 6.70063907e+00] [ 1.51234841e-02 -7.55281301e-04 9.99885348e-01 5.80249292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.875099893 meters 0.022937230454739853 Centerline is valid? [True, True] Translation: X:483.85, Y:6.71, Z:5.80 [[ 9.97159325e-01 -7.37500908e-02 -1.53037700e-02 4.83852146e+02] [ 7.37527880e-02 9.97276479e-01 -3.88833013e-04 6.70502438e+00] [ 1.52907664e-02 -7.40967242e-04 9.99882815e-01 5.80312532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.905099893 meters 0.022743891811084598 Centerline is valid? [True, True] Translation: X:483.88, Y:6.71, Z:5.80 [[ 9.97433064e-01 -6.98598512e-02 -1.57125631e-02 4.83881728e+02] [ 6.98622199e-02 9.97556570e-01 -3.98757533e-04 6.70936026e+00] [ 1.57020277e-02 -6.99980593e-04 9.99876471e-01 5.80302817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.93509989300003 meters 0.02183243246991142 Centerline is valid? [True, True] Translation: X:483.91, Y:6.71, Z:5.80 [[ 9.97578893e-01 -6.76926641e-02 -1.59391043e-02 4.83912955e+02] [ 6.76948276e-02 9.97705992e-01 -4.04378415e-04 6.71318471e+00] [ 1.59299133e-02 -6.75595546e-04 9.99872883e-01 5.80321239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.965099893 meters 0.022213064711450844 Centerline is valid? [True, True] Translation: X:483.94, Y:6.71, Z:5.80 [[ 9.97719100e-01 -6.53860852e-02 -1.67707036e-02 4.83943582e+02] [ 6.53881655e-02 9.97859813e-01 -4.24852802e-04 6.71499496e+00] [ 1.67625906e-02 -6.72721785e-04 9.99859272e-01 5.80357005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99509989300003 meters 0.02132144104700907 Centerline is valid? [True, True] Translation: X:483.98, Y:6.72, Z:5.80 [[ 9.97857796e-01 -6.31685288e-02 -1.70163650e-02 4.83975081e+02] [ 6.31703589e-02 9.98002666e-01 -4.30467114e-04 6.71858187e+00] [ 1.70095696e-02 -6.45384920e-04 9.99855119e-01 5.80393594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.025099893 meters 0.018739860999259457 Centerline is valid? [True, True] Translation: X:484.01, Y:6.73, Z:5.80 [[ 9.98107067e-01 -5.89420255e-02 -1.75533549e-02 4.84006007e+02] [ 5.89433312e-02 9.98261232e-01 -4.43422665e-04 6.72660006e+00] [ 1.75489699e-02 -5.92069915e-04 9.99845830e-01 5.80479041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.055099893 meters 0.01935286370731551 Centerline is valid? [True, True] Translation: X:484.04, Y:6.73, Z:5.81 [[ 9.98224527e-01 -5.68939907e-02 -1.76314153e-02 4.84036536e+02] [ 5.68949983e-02 9.98380069e-01 -4.44864062e-04 6.72763595e+00] [ 1.76281637e-02 -5.59065124e-04 9.99844456e-01 5.80530469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.085099893 meters 0.016795268406179693 Centerline is valid? [True, True] Translation: X:484.07, Y:6.73, Z:5.81 [[ 9.98333573e-01 -5.48959828e-02 -1.77906545e-02 4.84067325e+02] [ 5.48966974e-02 9.98491939e-01 -4.48562576e-04 6.73413311e+00] [ 1.77884494e-02 -5.28833099e-04 9.99841633e-01 5.80671049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.115099893 meters 0.01747174954462991 Centerline is valid? [True, True] Translation: X:484.10, Y:6.74, Z:5.81 [[ 9.98419516e-01 -5.31647355e-02 -1.82203338e-02 4.84097307e+02] [ 5.31652090e-02 9.98585625e-01 -4.58739771e-04 6.73513675e+00] [ 1.82189522e-02 -5.10673114e-04 9.99833891e-01 5.80693112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.145099893 meters 0.01707111192496592 Centerline is valid? [True, True] Translation: X:484.13, Y:6.74, Z:5.81 [[ 9.98546666e-01 -5.05228885e-02 -1.87614949e-02 4.84127675e+02] [ 5.05229440e-02 9.98722789e-01 -4.71329228e-04 6.73896603e+00] [ 1.87613455e-02 -4.77241728e-04 9.99823877e-01 5.80699733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.175099893 meters 0.015821985280114123 Centerline is valid? [True, True] Translation: X:484.16, Y:6.74, Z:5.81 [[ 9.98575754e-01 -4.98396721e-02 -1.90386725e-02 4.84157927e+02] [ 4.98396094e-02 9.98757120e-01 -4.78074480e-04 6.74323873e+00] [ 1.90388368e-02 -4.71486417e-04 9.99818634e-01 5.80798507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.205099893 meters 0.01589558833995888 Centerline is valid? [True, True] Translation: X:484.19, Y:6.74, Z:5.81 [[ 9.98602690e-01 -4.92730443e-02 -1.91006605e-02 4.84187717e+02] [ 4.92728752e-02 9.98785239e-01 -4.79751466e-04 6.74476721e+00] [ 1.91010966e-02 -4.62063356e-04 9.99817451e-01 5.80802750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.235099893 meters 0.017204206072285684 Centerline is valid? [True, True] Translation: X:484.22, Y:6.74, Z:5.81 [[ 9.98613667e-01 -4.89483418e-02 -1.93598697e-02 4.84217694e+02] [ 4.89481030e-02 9.98801205e-01 -4.86475251e-04 6.74399847e+00] [ 1.93604733e-02 -4.61828064e-04 9.99812462e-01 5.80777570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.265099893 meters 0.015285413871080964 Centerline is valid? [True, True] Translation: X:484.25, Y:6.75, Z:5.81 [[ 9.98650540e-01 -4.85059374e-02 -1.85546165e-02 4.84248325e+02] [ 4.85056421e-02 9.98822800e-01 -4.66222786e-04 6.75074890e+00] [ 1.85553885e-02 -4.34409948e-04 9.99827740e-01 5.80927250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.295099893 meters 0.015285413871080964 Centerline is valid? [True, True] Translation: X:484.28, Y:6.75, Z:5.81 [[ 9.98652305e-01 -4.84695760e-02 -1.85546221e-02 4.84279165e+02] [ 4.84692785e-02 9.98824565e-01 -4.65997292e-04 6.75149594e+00] [ 1.85553991e-02 -4.33959878e-04 9.99827740e-01 5.80965400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.325099893 meters 0.015936530548267522 Centerline is valid? [True, True] Translation: X:484.31, Y:6.75, Z:5.81 [[ 9.98659938e-01 -4.84706580e-02 -1.81362594e-02 4.84309118e+02] [ 4.84703839e-02 9.98824517e-01 -4.54945555e-04 6.75191724e+00] [ 1.81369921e-02 -4.24735557e-04 9.99835421e-01 5.81043280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.355099893 meters 0.015797606422040852 Centerline is valid? [True, True] Translation: X:484.34, Y:6.75, Z:5.81 [[ 9.98670178e-01 -4.84325719e-02 -1.76681100e-02 4.84339268e+02] [ 4.84323096e-02 9.98826369e-01 -4.42984388e-04 6.75402708e+00] [ 1.76688291e-02 -4.13312078e-04 9.99843809e-01 5.81125119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.385099893 meters 0.015735547032913504 Centerline is valid? [True, True] Translation: X:484.37, Y:6.76, Z:5.81 [[ 9.98677510e-01 -4.84906468e-02 -1.70847604e-02 4.84370039e+02] [ 4.84904099e-02 9.98823556e-01 -4.28358331e-04 6.75607622e+00] [ 1.70854325e-02 -4.00655204e-04 9.99853953e-01 5.81202911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.415099893 meters 0.015711722883522256 Centerline is valid? [True, True] Translation: X:484.40, Y:6.76, Z:5.81 [[ 9.98692776e-01 -4.83547907e-02 -1.65696484e-02 4.84400785e+02] [ 4.83545492e-02 9.98830148e-01 -4.15443166e-04 6.75774030e+00] [ 1.65703531e-02 -3.86317791e-04 9.99862628e-01 5.81254407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.445099893 meters 0.015446339447862239 Centerline is valid? [True, True] Translation: X:484.43, Y:6.76, Z:5.81 [[ 9.98737506e-01 -4.78025271e-02 -1.54374032e-02 4.84431991e+02] [ 4.78022533e-02 9.98856744e-01 -3.86943663e-04 6.76048463e+00] [ 1.54382511e-02 -3.51487507e-04 9.99880761e-01 5.81339715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.475099893 meters 0.015236110212659172 Centerline is valid? [True, True] Translation: X:484.46, Y:6.76, Z:5.81 [[ 9.98780067e-01 -4.70904530e-02 -1.48615616e-02 4.84463289e+02] [ 4.70901282e-02 9.98890575e-01 -3.71988950e-04 6.76254333e+00] [ 1.48625909e-02 -3.28297690e-04 9.99889492e-01 5.81384392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.505099893 meters 0.015403709125844926 Centerline is valid? [True, True] Translation: X:484.49, Y:6.76, Z:5.81 [[ 9.98836491e-01 -4.59779048e-02 -1.45497739e-02 4.84493405e+02] [ 4.59774839e-02 9.98942410e-01 -3.63605950e-04 6.76361447e+00] [ 1.45511040e-02 -3.05779103e-04 9.99894080e-01 5.81401213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.535099893 meters 0.015259738433141878 Centerline is valid? [True, True] Translation: X:484.52, Y:6.77, Z:5.81 [[ 9.98865155e-01 -4.53510099e-02 -1.45494737e-02 4.84524860e+02] [ 4.53505352e-02 9.98971069e-01 -3.62729564e-04 6.76616389e+00] [ 1.45509535e-02 -2.97508497e-04 9.99894085e-01 5.81420007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.565099893 meters 0.014886437684115638 Centerline is valid? [True, True] Translation: X:484.56, Y:6.77, Z:5.81 [[ 9.98931611e-01 -4.37661627e-02 -1.48377898e-02 4.84556267e+02] [ 4.37655022e-02 9.99041763e-01 -3.69378294e-04 6.76902346e+00] [ 1.48397379e-02 -2.80399665e-04 9.99889846e-01 5.81352298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.595099893 meters 0.014739965367115896 Centerline is valid? [True, True] Translation: X:484.59, Y:6.77, Z:5.81 [[ 9.98956114e-01 -4.30388803e-02 -1.53080513e-02 4.84587814e+02] [ 4.30381005e-02 9.99073359e-01 -3.80521190e-04 6.77062673e+00] [ 1.53102435e-02 -2.78705481e-04 9.99882753e-01 5.81325396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.625099893 meters 0.014737220307898488 Centerline is valid? [True, True] Translation: X:484.62, Y:6.77, Z:5.81 [[ 9.98997849e-01 -4.19073166e-02 -1.57186198e-02 4.84618241e+02] [ 4.19063648e-02 9.99121466e-01 -3.90065180e-04 6.77164121e+00] [ 1.57211571e-02 -2.69035941e-04 9.99876379e-01 5.81254458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.655099893 meters 0.014820218353959207 Centerline is valid? [True, True] Translation: X:484.65, Y:6.77, Z:5.81 [[ 9.99032593e-01 -4.09248634e-02 -1.60945154e-02 4.84648280e+02] [ 4.09237516e-02 9.99162193e-01 -3.98553593e-04 6.77249169e+00] [ 1.60973421e-02 -2.60479922e-04 9.99870395e-01 5.81188089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.68509989300003 meters 0.014133648698172806 Centerline is valid? [True, True] Translation: X:484.68, Y:6.78, Z:5.81 [[ 9.99115710e-01 -3.86779332e-02 -1.64868015e-02 4.84678276e+02] [ 3.86764645e-02 9.99251702e-01 -4.08044526e-04 6.77597202e+00] [ 1.64902468e-02 -2.29967495e-04 9.99864000e-01 5.81190965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.715099893 meters 0.014229802268570216 Centerline is valid? [True, True] Translation: X:484.71, Y:6.78, Z:5.81 [[ 9.99173174e-01 -3.72886553e-02 -1.62025943e-02 4.84707475e+02] [ 3.72870530e-02 9.99304516e-01 -4.01078688e-04 6.77706271e+00] [ 1.62062813e-02 -2.03399926e-04 9.99868649e-01 5.81228513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74509989300003 meters 0.013872396329223586 Centerline is valid? [True, True] Translation: X:484.74, Y:6.78, Z:5.81 [[ 9.99219719e-01 -3.58980173e-02 -1.64707303e-02 4.84737790e+02] [ 3.58961689e-02 9.99355442e-01 -4.07939327e-04 6.77993080e+00] [ 1.64747581e-02 -1.83615096e-04 9.99864265e-01 5.81299314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.775099893 meters 0.013811812143729582 Centerline is valid? [True, True] Translation: X:484.77, Y:6.78, Z:5.81 [[ 9.99261260e-01 -3.45559799e-02 -1.68171871e-02 4.84768027e+02] [ 3.45538630e-02 9.99402750e-01 -4.16520208e-04 6.78123269e+00] [ 1.68215363e-02 -1.64886271e-04 9.99858494e-01 5.81323576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.805099893 meters 0.013674794717543995 Centerline is valid? [True, True] Translation: X:484.80, Y:6.78, Z:5.81 [[ 9.99346629e-01 -3.18875329e-02 -1.70147095e-02 4.84797703e+02] [ 3.18849778e-02 9.99491456e-01 -4.21494811e-04 6.78304249e+00] [ 1.70194972e-02 -1.21294216e-04 9.99855151e-01 5.81312488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.835099893 meters 0.013534808559075238 Centerline is valid? [True, True] Translation: X:484.83, Y:6.78, Z:5.81 [[ 9.99379651e-01 -3.08469121e-02 -1.69935532e-02 4.84827161e+02] [ 3.08442063e-02 9.99524115e-01 -4.21355470e-04 6.78473038e+00] [ 1.69984637e-02 -1.03058577e-04 9.99855510e-01 5.81365742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.865099893 meters 0.01349381240572383 Centerline is valid? [True, True] Translation: X:484.86, Y:6.79, Z:5.81 [[ 9.99409232e-01 -2.97833182e-02 -1.71505337e-02 4.84855489e+02] [ 2.97803923e-02 9.99556375e-01 -4.26024926e-04 6.78585981e+00] [ 1.71556137e-02 -8.49763776e-05 9.99852828e-01 5.81381762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.895099893 meters 0.013476355261873175 Centerline is valid? [True, True] Translation: X:484.88, Y:6.79, Z:5.81 [[ 9.99429441e-01 -2.91609613e-02 -1.70420263e-02 4.84884079e+02] [ 2.91579477e-02 9.99574726e-01 -4.25332215e-04 6.78723031e+00] [ 1.70471819e-02 -7.18209747e-05 9.99854684e-01 5.81430437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.925099893 meters 0.013568188547535102 Centerline is valid? [True, True] Translation: X:484.91, Y:6.79, Z:5.81 [[ 9.99445632e-01 -2.85332387e-02 -1.71546859e-02 4.84912945e+02] [ 2.85300343e-02 9.99592843e-01 -4.31543132e-04 6.78831420e+00] [ 1.71600145e-02 -5.81198780e-05 9.99852754e-01 5.81457267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.955099893 meters 0.013483852546941455 Centerline is valid? [True, True] Translation: X:484.94, Y:6.79, Z:5.81 [[ 9.99452680e-01 -2.85051923e-02 -1.67867481e-02 4.84942075e+02] [ 2.85020881e-02 9.99593643e-01 -4.24187702e-04 6.78920485e+00] [ 1.67920183e-02 -5.45018386e-05 9.99859003e-01 5.81494385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.985099893 meters 0.013435690470385158 Centerline is valid? [True, True] Translation: X:484.97, Y:6.79, Z:5.82 [[ 9.99448799e-01 -2.86875859e-02 -1.67068989e-02 4.84970929e+02] [ 2.86844828e-02 9.99588425e-01 -4.25389129e-04 6.78948251e+00] [ 1.67122262e-02 -5.40741002e-05 9.99860340e-01 5.81555902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.015099893 meters 0.013490171506060097 Centerline is valid? [True, True] Translation: X:485.00, Y:6.79, Z:5.82 [[ 9.99425977e-01 -2.95871331e-02 -1.65020553e-02 4.84999605e+02] [ 2.95842012e-02 9.99562203e-01 -4.21808063e-04 6.78946321e+00] [ 1.65073108e-02 -6.66341879e-05 9.99863743e-01 5.81607793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.045099893 meters 0.013523503738163231 Centerline is valid? [True, True] Translation: X:485.03, Y:6.79, Z:5.82 [[ 9.99391935e-01 -3.06741067e-02 -1.65789130e-02 4.85029545e+02] [ 3.06712446e-02 9.99529436e-01 -4.26933902e-04 6.78974239e+00] [ 1.65842073e-02 -8.18215958e-05 9.99862469e-01 5.81684631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.075099893 meters 0.013809055853084656 Centerline is valid? [True, True] Translation: X:485.06, Y:6.79, Z:5.82 [[ 9.99259795e-01 -3.45399501e-02 -1.69367370e-02 4.85058868e+02] [ 3.45375077e-02 9.99403307e-01 -4.36766516e-04 6.78833926e+00] [ 1.69417168e-02 -1.48509465e-04 9.99856468e-01 5.81753694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.105099893 meters 0.014058199335453152 Centerline is valid? [True, True] Translation: X:485.09, Y:6.79, Z:5.82 [[ 9.99168765e-01 -3.70601648e-02 -1.69800792e-02 4.85088672e+02] [ 3.70580633e-02 9.99313018e-01 -4.38500523e-04 6.78733370e+00] [ 1.69846651e-02 -1.91112824e-04 9.99855732e-01 5.81778955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.135099893 meters 0.014494592744666385 Centerline is valid? [True, True] Translation: X:485.12, Y:6.79, Z:5.82 [[ 9.99055311e-01 -3.99635932e-02 -1.70703304e-02 4.85118827e+02] [ 3.99618853e-02 9.99201107e-01 -4.41279771e-04 6.78609425e+00] [ 1.70743282e-02 -2.41299688e-04 9.99854194e-01 5.81810651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.165099893 meters 0.015955838270307474 Centerline is valid? [True, True] Translation: X:485.15, Y:6.78, Z:5.82 [[ 9.98753085e-01 -4.69082811e-02 -1.70847234e-02 4.85148480e+02] [ 4.69075843e-02 9.98899136e-01 -4.41736781e-04 6.78127458e+00] [ 1.70866366e-02 -3.60217131e-04 9.99853948e-01 5.81833858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.195099893 meters 0.016236787881307342 Centerline is valid? [True, True] Translation: X:485.18, Y:6.78, Z:5.82 [[ 9.98573660e-01 -5.05275324e-02 -1.72515024e-02 4.85179809e+02] [ 5.05273608e-02 9.98722578e-01 -4.46094677e-04 6.78033972e+00] [ 1.72520050e-02 -4.26214493e-04 9.99851082e-01 5.81884626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.225099893 meters 0.017540378507018006 Centerline is valid? [True, True] Translation: X:485.21, Y:6.78, Z:5.82 [[ 9.98368815e-01 -5.43650069e-02 -1.74400235e-02 4.85210013e+02] [ 5.43654283e-02 9.98521005e-01 -4.50292709e-04 6.77755172e+00] [ 1.74387100e-02 -4.98576150e-04 9.99847810e-01 5.81907086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.255099893 meters 0.01872192289566144 Centerline is valid? [True, True] Translation: X:485.24, Y:6.78, Z:5.82 [[ 9.98140146e-01 -5.82059466e-02 -1.81195080e-02 4.85241203e+02] [ 5.82070474e-02 9.98304423e-01 -4.67073695e-04 6.77542307e+00] [ 1.81159714e-02 -5.88478053e-04 9.99835719e-01 5.81949951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.285099893 meters 0.021003161414379638 Centerline is valid? [True, True] Translation: X:485.27, Y:6.77, Z:5.82 [[ 9.97624297e-01 -6.61800028e-02 -1.91303258e-02 4.85271984e+02] [ 6.61827026e-02 9.97807400e-01 -4.92639798e-04 6.77230051e+00] [ 1.91209836e-02 -7.74627233e-04 9.99816877e-01 5.82000761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.315099893 meters 0.02241199311734793 Centerline is valid? [True, True] Translation: X:485.30, Y:6.77, Z:5.82 [[ 9.97358930e-01 -7.00438593e-02 -1.92099386e-02 4.85302627e+02] [ 7.00473017e-02 9.97543548e-01 -4.94433049e-04 6.77068343e+00] [ 1.91973823e-02 -8.52477147e-04 9.99815350e-01 5.82048457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.345099893 meters 0.025008965310464547 Centerline is valid? [True, True] Translation: X:485.33, Y:6.77, Z:5.82 [[ 9.97099267e-01 -7.34902451e-02 -1.98049571e-02 4.85332891e+02] [ 7.34945992e-02 9.97295485e-01 -5.08897349e-04 6.76747507e+00] [ 1.97887932e-02 -9.48136207e-04 9.99803733e-01 5.82091582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.375099893 meters 0.026346897986262507 Centerline is valid? [True, True] Translation: X:485.36, Y:6.77, Z:5.82 [[ 9.96838207e-01 -7.69492355e-02 -1.98091883e-02 4.85363709e+02] [ 7.69542898e-02 9.97034492e-01 -5.08131079e-04 6.76642890e+00] [ 1.97895443e-02 -1.01787754e-03 9.99803650e-01 5.82171051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.405099893 meters 0.02837199670854917 Centerline is valid? [True, True] Translation: X:485.39, Y:6.76, Z:5.82 [[ 9.96597559e-01 -7.99834069e-02 -1.98987372e-02 4.85393971e+02] [ 7.99891169e-02 9.96795606e-01 -5.10077327e-04 6.76479736e+00] [ 1.98757716e-02 -1.08334060e-03 9.99801870e-01 5.82275270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.43509989300003 meters 0.026740468188578972 Centerline is valid? [True, True] Translation: X:485.43, Y:6.77, Z:5.82 [[ 9.96413828e-01 -8.22146404e-02 -2.00059217e-02 4.85425272e+02] [ 8.22208702e-02 9.96614001e-01 -5.12331102e-04 6.76834888e+00] [ 1.99803027e-02 -1.13441049e-03 9.99799730e-01 5.82418516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.465099893 meters 0.027826619645801354 Centerline is valid? [True, True] Translation: X:485.46, Y:6.77, Z:5.83 [[ 9.96169347e-01 -8.50802160e-02 -2.01987182e-02 4.85456230e+02] [ 8.50871653e-02 9.96373377e-01 -5.16675297e-04 6.76978732e+00] [ 2.01694239e-02 -1.20395558e-03 9.99795852e-01 5.82610219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49509989300003 meters 0.02684516071773491 Centerline is valid? [True, True] Translation: X:485.49, Y:6.77, Z:5.83 [[ 9.96132362e-01 -8.54534071e-02 -2.04458224e-02 4.85488183e+02] [ 8.54606228e-02 9.96341412e-01 -5.22172875e-04 6.77339607e+00] [ 2.04156411e-02 -1.22715942e-03 9.99790826e-01 5.82711557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.525099893 meters 0.028226333397035907 Centerline is valid? [True, True] Translation: X:485.52, Y:6.77, Z:5.83 [[ 9.96148597e-01 -8.52096544e-02 -2.06709365e-02 4.85519397e+02] [ 8.52170180e-02 9.96362275e-01 -5.25969332e-04 6.77412856e+00] [ 2.06405590e-02 -1.23757195e-03 9.99786195e-01 5.82743372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.555099893 meters 0.027169641379781992 Centerline is valid? [True, True] Translation: X:485.55, Y:6.78, Z:5.83 [[ 9.96230006e-01 -8.41608053e-02 -2.10412254e-02 4.85551133e+02] [ 8.41682481e-02 9.96451415e-01 -5.33196756e-04 6.77810095e+00] [ 2.10114330e-02 -1.23981647e-03 9.99778467e-01 5.82812663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.585099893 meters 0.027112583393739946 Centerline is valid? [True, True] Translation: X:485.58, Y:6.78, Z:5.83 [[ 9.96497011e-01 -8.08088239e-02 -2.15323083e-02 4.85581282e+02] [ 8.08158582e-02 9.96728900e-01 -5.44716982e-04 6.78308978e+00] [ 2.15058919e-02 -1.19734313e-03 9.99768005e-01 5.82847898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.615099893 meters 0.026166130063417652 Centerline is valid? [True, True] Translation: X:485.61, Y:6.79, Z:5.83 [[ 9.96662642e-01 -7.86365859e-02 -2.19058468e-02 4.85612865e+02] [ 7.86433546e-02 9.96902661e-01 -5.53651772e-04 6.78760044e+00] [ 2.18815343e-02 -1.17094524e-03 9.99759885e-01 5.82927355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.645099893 meters 0.02503475127062112 Centerline is valid? [True, True] Translation: X:485.64, Y:6.79, Z:5.83 [[ 9.96842883e-01 -7.63030868e-02 -2.19569217e-02 4.85644064e+02] [ 7.63093449e-02 9.97084037e-01 -5.53926910e-04 6.79235495e+00] [ 2.19351625e-02 -1.12334021e-03 9.99758764e-01 5.82997842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.675099893 meters 0.024547717652775098 Centerline is valid? [True, True] Translation: X:485.68, Y:6.80, Z:5.83 [[ 9.97015836e-01 -7.39104298e-02 -2.22861280e-02 4.85675467e+02] [ 7.39162988e-02 9.97264291e-01 -5.61420989e-04 6.79624508e+00] [ 2.22666545e-02 -1.08756248e-03 9.99751476e-01 5.83045286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.705099893 meters 0.02477638693690574 Centerline is valid? [True, True] Translation: X:485.71, Y:6.80, Z:5.83 [[ 9.97203580e-01 -7.13787603e-02 -2.21380509e-02 4.85706088e+02] [ 7.13839465e-02 9.97448757e-01 -5.56900390e-04 6.79916354e+00] [ 2.21213222e-02 -1.02495838e-03 9.99754768e-01 5.83092272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.735099893 meters 0.023250695147191507 Centerline is valid? [True, True] Translation: X:485.74, Y:6.81, Z:5.83 [[ 9.97540538e-01 -6.68054108e-02 -2.12111161e-02 4.85736691e+02] [ 6.68091517e-02 9.97765630e-01 -5.33006281e-04 6.80750259e+00] [ 2.11993303e-02 -8.85401298e-04 9.99774877e-01 5.83256258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.765099893 meters 0.02235478539060917 Centerline is valid? [True, True] Translation: X:485.77, Y:6.81, Z:5.83 [[ 9.97669949e-01 -6.50319788e-02 -2.06279829e-02 4.85768422e+02] [ 6.50351515e-02 9.97882839e-01 -5.17709830e-04 6.81205815e+00] [ 2.06179778e-02 -8.25040452e-04 9.99787086e-01 5.83343817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.795099893 meters 0.020986428766891232 Centerline is valid? [True, True] Translation: X:485.80, Y:6.82, Z:5.83 [[ 9.97801452e-01 -6.31662181e-02 -2.00571963e-02 4.85799752e+02] [ 6.31688593e-02 9.98002727e-01 -5.02478647e-04 6.81688085e+00] [ 2.00488762e-02 -7.65616286e-04 9.99798708e-01 5.83435821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.825099893 meters 0.0219974228680568 Centerline is valid? [True, True] Translation: X:485.83, Y:6.82, Z:5.83 [[ 9.97894886e-01 -6.18104768e-02 -1.96281013e-02 4.85831030e+02] [ 6.18127603e-02 9.98087642e-01 -4.90912343e-04 6.81768788e+00] [ 1.96209089e-02 -7.23388205e-04 9.99807230e-01 5.83422977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.855099893 meters 0.020364415842297694 Centerline is valid? [True, True] Translation: X:485.86, Y:6.82, Z:5.83 [[ 9.97964240e-01 -6.08311737e-02 -1.91557984e-02 4.85863617e+02] [ 6.08331922e-02 9.98147832e-01 -4.77859379e-04 6.82279530e+00] [ 1.91493874e-02 -6.88421793e-04 9.99816397e-01 5.83498882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.885099893 meters 0.018896478499258497 Centerline is valid? [True, True] Translation: X:485.90, Y:6.83, Z:5.84 [[ 9.98034253e-01 -5.97556348e-02 -1.88916245e-02 4.85895542e+02] [ 5.97574349e-02 9.98212817e-01 -4.69712469e-04 6.82928536e+00] [ 1.88859297e-02 -6.60125887e-04 9.99821427e-01 5.83512475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.915099893 meters 0.019940727960610832 Centerline is valid? [True, True] Translation: X:485.93, Y:6.83, Z:5.83 [[ 9.98058338e-01 -5.93258868e-02 -1.89734980e-02 4.85927147e+02] [ 5.93276572e-02 9.98238453e-01 -4.70048261e-04 6.82969968e+00] [ 1.89679614e-02 -6.56517603e-04 9.99819876e-01 5.83488129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.945099893 meters 0.019816477865874448 Centerline is valid? [True, True] Translation: X:485.96, Y:6.83, Z:5.84 [[ 9.98098713e-01 -5.85999947e-02 -1.91049824e-02 4.85959805e+02] [ 5.86016981e-02 9.98281333e-01 -4.71152775e-04 6.83207341e+00] [ 1.90997568e-02 -6.49327430e-04 9.99817372e-01 5.83512083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.975099893 meters 0.0183895474864337 Centerline is valid? [True, True] Translation: X:485.99, Y:6.84, Z:5.84 [[ 9.98120070e-01 -5.82286548e-02 -1.91245876e-02 4.85992135e+02] [ 5.82303264e-02 9.98303064e-01 -4.69921619e-04 6.83707311e+00] [ 1.91194973e-02 -6.44592778e-04 9.99816998e-01 5.83589007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.005099893 meters 0.01836351541451445 Centerline is valid? [True, True] Translation: X:486.02, Y:6.84, Z:5.84 [[ 9.98165072e-01 -5.73924580e-02 -1.93027007e-02 4.86024119e+02] [ 5.73940323e-02 9.98351492e-01 -4.72873260e-04 6.83897382e+00] [ 1.92980194e-02 -6.35854256e-04 9.99813574e-01 5.83593587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.035099893 meters 0.017454359401398136 Centerline is valid? [True, True] Translation: X:486.06, Y:6.84, Z:5.84 [[ 9.98261160e-01 -5.58478287e-02 -1.88594029e-02 4.86055987e+02] [ 5.58490818e-02 9.98439116e-01 -4.60648692e-04 6.84341253e+00] [ 1.88556918e-02 -5.93432640e-04 9.99822040e-01 5.83637129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.065099893 meters 0.01789118175161937 Centerline is valid? [True, True] Translation: X:486.09, Y:6.84, Z:5.84 [[ 9.98351431e-01 -5.44351726e-02 -1.81997903e-02 4.86086793e+02] [ 5.44361269e-02 9.98517156e-01 -4.43328885e-04 6.84416094e+00] [ 1.81969355e-02 -5.48128066e-04 9.99834272e-01 5.83646955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.095099893 meters 0.01748195048778934 Centerline is valid? [True, True] Translation: X:486.12, Y:6.85, Z:5.84 [[ 9.98458645e-01 -5.26361422e-02 -1.76003151e-02 4.86118542e+02] [ 5.26367737e-02 9.98613633e-01 -4.27687030e-04 6.84614193e+00] [ 1.75984263e-02 -4.99395987e-04 9.99845011e-01 5.83693348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.125099893 meters 0.016749085948058982 Centerline is valid? [True, True] Translation: X:486.15, Y:6.85, Z:5.84 [[ 9.98567339e-01 -5.06184687e-02 -1.73505041e-02 4.86150921e+02] [ 5.06187997e-02 9.98717958e-01 -4.20371764e-04 6.84925419e+00] [ 1.73495386e-02 -4.58492177e-04 9.99849380e-01 5.83770574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.155099893 meters 0.015917230631119123 Centerline is valid? [True, True] Translation: X:486.18, Y:6.85, Z:5.84 [[ 9.98785634e-01 -4.62371055e-02 -1.70113696e-02 4.86182105e+02] [ 4.62368064e-02 9.98930422e-01 -4.11100291e-04 6.85334291e+00] [ 1.70121827e-02 -3.75950335e-04 9.99855212e-01 5.83802889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.18509989300003 meters 0.01536520148858636 Centerline is valid? [True, True] Translation: X:486.21, Y:6.86, Z:5.84 [[ 9.98903279e-01 -4.37226254e-02 -1.67502340e-02 4.86214263e+02] [ 4.37219947e-02 9.99043655e-01 -4.04027620e-04 6.85578414e+00] [ 1.67518802e-02 -3.28769130e-04 9.99859623e-01 5.83792104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.215099893 meters 0.01536520148858636 Centerline is valid? [True, True] Translation: X:486.25, Y:6.86, Z:5.84 [[ 9.98906455e-01 -4.36500002e-02 -1.67502633e-02 4.86245949e+02] [ 4.36493797e-02 9.99046830e-01 -4.02809583e-04 6.85649054e+00] [ 1.67518801e-02 -3.28769512e-04 9.99859623e-01 5.83831274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24509989300003 meters 0.015085704806453335 Centerline is valid? [True, True] Translation: X:486.28, Y:6.86, Z:5.84 [[ 9.98994243e-01 -4.16045817e-02 -1.67200870e-02 4.86277774e+02] [ 4.16036960e-02 9.99134111e-01 -4.00951089e-04 6.85810246e+00] [ 1.67222906e-02 -2.95069585e-04 9.99860129e-01 5.83837839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.275099893 meters 0.014788204082254511 Centerline is valid? [True, True] Translation: X:486.31, Y:6.86, Z:5.84 [[ 9.99066976e-01 -3.99875536e-02 -1.63148163e-02 4.86309493e+02] [ 3.99865077e-02 9.99200143e-01 -3.90438094e-04 6.85962842e+00] [ 1.63173794e-02 -2.62298720e-04 9.99866828e-01 5.83855036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.305099893 meters 0.014720286846624842 Centerline is valid? [True, True] Translation: X:486.34, Y:6.86, Z:5.84 [[ 9.99115658e-01 -3.88216954e-02 -1.61486401e-02 4.86340535e+02] [ 3.88205290e-02 9.99246125e-01 -3.85812360e-04 6.86010645e+00] [ 1.61514439e-02 -2.41427580e-04 9.99869528e-01 5.83899620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.335099893 meters 0.014618070892045898 Centerline is valid? [True, True] Translation: X:486.37, Y:6.86, Z:5.84 [[ 9.99159389e-01 -3.80198864e-02 -1.53298589e-02 4.86372043e+02] [ 3.80187523e-02 9.99276959e-01 -3.65508786e-04 6.86006528e+00] [ 1.53326714e-02 -2.17620572e-04 9.99882424e-01 5.83930813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.365099893 meters 0.014765543399662996 Centerline is valid? [True, True] Translation: X:486.40, Y:6.86, Z:5.84 [[ 9.99136891e-01 -3.85377907e-02 -1.55019907e-02 4.86403340e+02] [ 3.85367019e-02 9.99257117e-01 -3.69055034e-04 6.85952222e+00] [ 1.55046971e-02 -2.28659096e-04 9.99879769e-01 5.83938030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.395099893 meters 0.014925477481651203 Centerline is valid? [True, True] Translation: X:486.43, Y:6.86, Z:5.84 [[ 9.99083337e-01 -3.96835037e-02 -1.60532109e-02 4.86434830e+02] [ 3.96824933e-02 9.99212267e-01 -3.81591758e-04 6.85906996e+00] [ 1.60557081e-02 -2.55789467e-04 9.99871066e-01 5.83967278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.425099893 meters 0.01520561693603734 Centerline is valid? [True, True] Translation: X:486.47, Y:6.86, Z:5.84 [[ 9.99006062e-01 -4.15480415e-02 -1.61446162e-02 4.86465889e+02] [ 4.15472724e-02 9.99136466e-01 -3.83185018e-04 6.85806587e+00] [ 1.61465954e-02 -2.87960613e-04 9.99869594e-01 5.83983674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.455099893 meters 0.01668394393936835 Centerline is valid? [True, True] Translation: X:486.50, Y:6.85, Z:5.84 [[ 9.98807411e-01 -4.59715743e-02 -1.64429545e-02 4.86497550e+02] [ 4.59713894e-02 9.98942681e-01 -3.89423069e-04 6.85340826e+00] [ 1.64434715e-02 -3.66946819e-04 9.99864730e-01 5.83892362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.485099893 meters 0.01738158788325903 Centerline is valid? [True, True] Translation: X:486.53, Y:6.85, Z:5.84 [[ 9.98677636e-01 -4.86334274e-02 -1.66664169e-02 4.86529348e+02] [ 4.86336305e-02 9.98816607e-01 -3.93356943e-04 6.85144414e+00] [ 1.66658243e-02 -4.17711580e-04 9.99861028e-01 5.83876265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.515099893 meters 0.018199762268578237 Centerline is valid? [True, True] Translation: X:486.56, Y:6.85, Z:5.84 [[ 9.98566854e-01 -5.09559236e-02 -1.63625048e-02 4.86560760e+02] [ 5.09564401e-02 9.98700802e-01 -3.85622082e-04 6.84907480e+00] [ 1.63608964e-02 -4.48705569e-04 9.99866051e-01 5.83834472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.545099893 meters 0.01823994929088381 Centerline is valid? [True, True] Translation: X:486.59, Y:6.85, Z:5.84 [[ 9.98450438e-01 -5.33334956e-02 -1.58827352e-02 4.86593165e+02] [ 5.33342933e-02 9.98576644e-01 -3.73646929e-04 6.84843069e+00] [ 1.58800563e-02 -4.74026519e-04 9.99873792e-01 5.83829373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.575099893 meters 0.01852659381693629 Centerline is valid? [True, True] Translation: X:486.62, Y:6.85, Z:5.84 [[ 9.98335448e-01 -5.54873747e-02 -1.57316454e-02 4.86624839e+02] [ 5.54884411e-02 9.98459261e-01 -3.69035043e-04 6.84741127e+00] [ 1.57278838e-02 -5.04503714e-04 9.99876182e-01 5.83859811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.605099893 meters 0.019695133306561318 Centerline is valid? [True, True] Translation: X:486.66, Y:6.85, Z:5.84 [[ 9.98229461e-01 -5.74475812e-02 -1.54181517e-02 4.86655661e+02] [ 5.74488550e-02 9.98348386e-01 -3.60642156e-04 6.84529118e+00] [ 1.54134049e-02 -5.25751536e-04 9.99881068e-01 5.83867124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.635099893 meters 0.020861522703842488 Centerline is valid? [True, True] Translation: X:486.69, Y:6.84, Z:5.84 [[ 9.98022604e-01 -6.11710084e-02 -1.44564438e-02 4.86686634e+02] [ 6.11725407e-02 9.98127150e-01 -3.36593691e-04 6.84279285e+00] [ 1.44499589e-02 -5.48409287e-04 9.99895444e-01 5.83873961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.665099893 meters 0.022208451907007612 Centerline is valid? [True, True] Translation: X:486.72, Y:6.84, Z:5.84 [[ 9.97908782e-01 -6.30409821e-02 -1.42792535e-02 4.86717522e+02] [ 6.30426777e-02 9.98010777e-01 -3.31795376e-04 6.84073937e+00] [ 1.42717656e-02 -5.69100860e-04 9.99897991e-01 5.83887381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.695099893 meters 0.022980572694856795 Centerline is valid? [True, True] Translation: X:486.75, Y:6.84, Z:5.84 [[ 9.97796707e-01 -6.50283626e-02 -1.31546118e-02 4.86749165e+02] [ 6.50299803e-02 9.97883264e-01 -3.05180971e-04 6.83976437e+00] [ 1.31466124e-02 -5.50935580e-04 9.99913428e-01 5.83931424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.725099893 meters 0.024080416092394037 Centerline is valid? [True, True] Translation: X:486.78, Y:6.84, Z:5.84 [[ 9.97507808e-01 -6.94977772e-02 -1.21750723e-02 4.86780448e+02] [ 6.94995087e-02 9.97581946e-01 -2.81331073e-04 6.83759967e+00] [ 1.21651842e-02 -5.65531600e-04 9.99925841e-01 5.83920704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.755099893 meters 0.026654546540407758 Centerline is valid? [True, True] Translation: X:486.81, Y:6.83, Z:5.84 [[ 9.97354102e-01 -7.17902862e-02 -1.14433818e-02 4.86811902e+02] [ 7.17919682e-02 9.97419592e-01 -2.64266045e-04 6.83383319e+00] [ 1.14328249e-02 -5.57976076e-04 9.99934487e-01 5.83968341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.785099893 meters 0.02617407301963397 Centerline is valid? [True, True] Translation: X:486.84, Y:6.83, Z:5.84 [[ 9.97192726e-01 -7.39805453e-02 -1.15561982e-02 4.86843838e+02] [ 7.39824142e-02 9.97259511e-01 -2.66268320e-04 6.83479044e+00] [ 1.15442272e-02 -5.89434607e-04 9.99933189e-01 5.83965549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.815099893 meters 0.025020318262356223 Centerline is valid? [True, True] Translation: X:486.88, Y:6.84, Z:5.84 [[ 9.97052791e-01 -7.59099660e-02 -1.11089292e-02 4.86875676e+02] [ 7.59118210e-02 9.97114502e-01 -2.55191338e-04 6.83702491e+00] [ 1.10962460e-02 -5.88859811e-04 9.99938261e-01 5.83971750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.845099893 meters 0.02818696371783911 Centerline is valid? [True, True] Translation: X:486.91, Y:6.83, Z:5.84 [[ 9.96907950e-01 -7.78052389e-02 -1.09947403e-02 4.86906832e+02] [ 7.78071775e-02 9.96968395e-01 -2.51969970e-04 6.83317453e+00] [ 1.09810132e-02 -6.04278847e-04 9.99939524e-01 5.83984765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.875099893 meters 0.030851383319282454 Centerline is valid? [True, True] Translation: X:486.94, Y:6.83, Z:5.84 [[ 9.96737663e-01 -7.99373605e-02 -1.11377979e-02 4.86937430e+02] [ 7.99394899e-02 9.96799686e-01 -2.54587273e-04 6.83058447e+00] [ 1.11225045e-02 -6.36593160e-04 9.99937940e-01 5.83952205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.905099893 meters 0.02787149004891926 Centerline is valid? [True, True] Translation: X:486.97, Y:6.84, Z:5.84 [[ 9.96695290e-01 -8.04448640e-02 -1.12748632e-02 4.86969609e+02] [ 8.04470801e-02 9.96758848e-01 -2.57580104e-04 6.83579547e+00] [ 1.12590406e-02 -6.50300942e-04 9.99936404e-01 5.83918135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.93509989300003 meters 0.028969134789798054 Centerline is valid? [True, True] Translation: X:487.00, Y:6.84, Z:5.84 [[ 9.96705813e-01 -8.02581444e-02 -1.16684211e-02 4.87000547e+02] [ 8.02605155e-02 9.96773886e-01 -2.65684025e-04 6.83524797e+00] [ 1.16521007e-02 -6.71704678e-04 9.99931886e-01 5.83914828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.965099893 meters 0.02930841388975488 Centerline is valid? [True, True] Translation: X:487.03, Y:6.84, Z:5.84 [[ 9.96763487e-01 -7.95060939e-02 -1.18883515e-02 4.87031372e+02] [ 7.95085096e-02 9.96834151e-01 -2.70038255e-04 6.83605607e+00] [ 1.18721845e-02 -6.76060841e-04 9.99929295e-01 5.83894872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.99509989300003 meters 0.026015949709842893 Centerline is valid? [True, True] Translation: X:487.06, Y:6.84, Z:5.84 [[ 9.96979862e-01 -7.67323120e-02 -1.19710748e-02 4.87062871e+02] [ 7.67345697e-02 9.97051519e-01 -2.71277895e-04 6.84427468e+00] [ 1.19565941e-02 -6.48136678e-04 9.99928307e-01 5.83912094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.025099893 meters 0.02824065560598115 Centerline is valid? [True, True] Translation: X:487.09, Y:6.84, Z:5.84 [[ 9.97161212e-01 -7.43552990e-02 -1.18661650e-02 4.87093685e+02] [ 7.43573572e-02 9.97231624e-01 -2.68249281e-04 6.84381677e+00] [ 1.18532608e-02 -6.14848894e-04 9.99929559e-01 5.83953467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.055099893 meters 0.023839821394548037 Centerline is valid? [True, True] Translation: X:487.12, Y:6.85, Z:5.84 [[ 9.97393836e-01 -7.11315971e-02 -1.20760963e-02 4.87124736e+02] [ 7.11334984e-02 9.97466767e-01 -2.72550610e-04 6.85299424e+00] [ 1.20648917e-02 -5.87174676e-04 9.99927044e-01 5.84011050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.085099893 meters 0.02545537494649113 Centerline is valid? [True, True] Translation: X:487.16, Y:6.85, Z:5.84 [[ 9.97637495e-01 -6.77199920e-02 -1.15512202e-02 4.87155281e+02] [ 6.77215080e-02 9.97704230e-01 -2.60302843e-04 6.85382719e+00] [ 1.15423289e-02 -5.22578174e-04 9.99933249e-01 5.84089363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.115099893 meters 0.02097632152040265 Centerline is valid? [True, True] Translation: X:487.19, Y:6.86, Z:5.84 [[ 9.97902834e-01 -6.37512068e-02 -1.12123902e-02 4.87185357e+02] [ 6.37523899e-02 9.97965715e-01 -2.52233499e-04 6.86381469e+00] [ 1.12056612e-02 -4.63112148e-04 9.99937107e-01 5.84173006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.145099893 meters 0.020019569815487272 Centerline is valid? [True, True] Translation: X:487.22, Y:6.87, Z:5.84 [[ 9.98180946e-01 -5.94232524e-02 -1.01821695e-02 4.87215611e+02] [ 5.94240031e-02 9.98232806e-01 -2.29057694e-04 6.86834910e+00] [ 1.01777870e-02 -3.76424246e-04 9.99948134e-01 5.84256691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.175099893 meters 0.0189708779634804 Centerline is valid? [True, True] Translation: X:487.24, Y:6.88, Z:5.84 [[ 9.98661860e-01 -5.09690287e-02 -8.75482176e-03 4.87244975e+02] [ 5.09692595e-02 9.98700203e-01 -1.96896566e-04 6.87561237e+00] [ 8.75347790e-03 -2.49593692e-04 9.99961656e-01 5.84415873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.205099893 meters 0.017016967821609708 Centerline is valid? [True, True] Translation: X:487.28, Y:6.88, Z:5.84 [[ 9.98866150e-01 -4.69286886e-02 -8.00702180e-03 4.87275854e+02] [ 4.69287493e-02 9.98898223e-01 -1.80399827e-04 6.88257200e+00] [ 8.00666577e-03 -1.95564238e-04 9.99967927e-01 5.84448807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.235099893 meters 0.016903514679538247 Centerline is valid? [True, True] Translation: X:487.31, Y:6.89, Z:5.85 [[ 9.99031026e-01 -4.33284844e-02 -7.72344244e-03 4.87306985e+02] [ 4.33284315e-02 9.99060867e-01 -1.74244909e-04 6.88552539e+00] [ 7.72373887e-03 -1.60568577e-04 9.99970159e-01 5.84544930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.265099893 meters 0.015843661191270432 Centerline is valid? [True, True] Translation: X:487.34, Y:6.89, Z:5.85 [[ 9.99160278e-01 -4.02955228e-02 -7.41687281e-03 4.87339250e+02] [ 4.02954006e-02 9.99187797e-01 -1.65970014e-04 6.89079156e+00] [ 7.41753665e-03 -1.33035215e-04 9.99972481e-01 5.84553039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.295099893 meters 0.015716789972962858 Centerline is valid? [True, True] Translation: X:487.37, Y:6.89, Z:5.85 [[ 9.99319508e-01 -3.62326691e-02 -6.90751942e-03 4.87370762e+02] [ 3.62324692e-02 9.99343377e-01 -1.54127870e-04 6.89463031e+00] [ 6.90856824e-03 -9.62534973e-05 9.99976131e-01 5.84605176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.325099893 meters 0.015169448418785389 Centerline is valid? [True, True] Translation: X:487.40, Y:6.90, Z:5.85 [[ 9.99358764e-01 -3.51104516e-02 -7.02267810e-03 4.87402803e+02] [ 3.51102208e-02 9.99383434e-01 -1.56176215e-04 6.89786284e+00] [ 7.02383157e-03 -9.04917093e-05 9.99975328e-01 5.84557352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.355099893 meters 0.0152218357269237 Centerline is valid? [True, True] Translation: X:487.44, Y:6.90, Z:5.85 [[ 9.99372666e-01 -3.45989446e-02 -7.56228011e-03 4.87435009e+02] [ 3.45986671e-02 9.99401273e-01 -1.67558918e-04 6.89944007e+00] [ 7.56354973e-03 -9.41910090e-05 9.99971392e-01 5.84559316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.385099893 meters 0.015115632698368792 Centerline is valid? [True, True] Translation: X:487.47, Y:6.90, Z:5.85 [[ 9.99388801e-01 -3.40737765e-02 -7.81035153e-03 4.87467418e+02] [ 3.40734691e-02 9.99419316e-01 -1.72466228e-04 6.90083853e+00] [ 7.81169276e-03 -9.37649542e-05 9.99969484e-01 5.84549747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.415099893 meters 0.015245466206476455 Centerline is valid? [True, True] Translation: X:487.50, Y:6.90, Z:5.85 [[ 9.99398084e-01 -3.37315047e-02 -8.10283233e-03 4.87498310e+02] [ 3.37311682e-02 9.99430926e-01 -1.78231085e-04 6.90184875e+00] [ 8.10423322e-03 -9.51941949e-05 9.99967156e-01 5.84583746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.445099893 meters 0.015354401606352059 Centerline is valid? [True, True] Translation: X:487.53, Y:6.90, Z:5.85 [[ 9.99406269e-01 -3.33525189e-02 -8.64404821e-03 4.87529694e+02] [ 3.33521261e-02 9.99443645e-01 -1.89625337e-04 6.90296121e+00] [ 8.64556353e-03 -9.87846351e-05 9.99962622e-01 5.84611285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.475099893 meters 0.014989821916517836 Centerline is valid? [True, True] Translation: X:487.56, Y:6.91, Z:5.85 [[ 9.99425820e-01 -3.25932147e-02 -9.25807843e-03 4.87561747e+02] [ 3.25927359e-02 9.99468695e-01 -2.02622511e-04 6.90548045e+00] [ 9.25976368e-03 -9.92399359e-05 9.99957123e-01 5.84561606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.505099893 meters 0.014951194923228842 Centerline is valid? [True, True] Translation: X:487.59, Y:6.91, Z:5.85 [[ 9.99438367e-01 -3.21593915e-02 -9.41932168e-03 4.87593523e+02] [ 3.21588832e-02 9.99482748e-01 -2.05462609e-04 6.90716268e+00] [ 9.42105707e-03 -9.75676513e-05 9.99955616e-01 5.84536923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.535099893 meters 0.014953672039732583 Centerline is valid? [True, True] Translation: X:487.62, Y:6.91, Z:5.85 [[ 9.99457622e-01 -3.14437529e-02 -9.78526214e-03 4.87624723e+02] [ 3.14431763e-02 9.99505518e-01 -2.12803705e-04 6.90773522e+00] [ 9.78711485e-03 -9.49914367e-05 9.99952101e-01 5.84547415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.565099893 meters 0.014849821819004844 Centerline is valid? [True, True] Translation: X:487.66, Y:6.91, Z:5.85 [[ 9.99471842e-01 -3.09229997e-02 -9.99021300e-03 4.87657291e+02] [ 3.09223859e-02 9.99521765e-01 -2.15932479e-04 6.90893994e+00] [ 9.99211262e-03 -9.31027890e-05 9.99950073e-01 5.84529820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.595099893 meters 0.014797209128988643 Centerline is valid? [True, True] Translation: X:487.69, Y:6.91, Z:5.85 [[ 9.99487117e-01 -3.04102968e-02 -1.00358190e-02 4.87689273e+02] [ 3.04096589e-02 9.99537496e-01 -2.16191533e-04 6.90996640e+00] [ 1.00377518e-02 -8.91051805e-05 9.99949617e-01 5.84525888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.625099893 meters 0.014791442743495968 Centerline is valid? [True, True] Translation: X:487.72, Y:6.91, Z:5.84 [[ 9.99512869e-01 -2.95496670e-02 -1.00420439e-02 4.87720316e+02] [ 2.95489926e-02 9.99563310e-01 -2.15554255e-04 6.91040674e+00] [ 1.00440282e-02 -8.12830286e-05 9.99949554e-01 5.84483101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.655099893 meters 0.014885450926472915 Centerline is valid? [True, True] Translation: X:487.75, Y:6.91, Z:5.84 [[ 9.99522472e-01 -2.92942980e-02 -9.83220611e-03 4.87751624e+02] [ 2.92936442e-02 9.99570827e-01 -2.10528302e-04 6.91014568e+00] [ 9.83415367e-03 -7.75933789e-05 9.99951641e-01 5.84497601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.68509989300003 meters 0.014833645891417835 Centerline is valid? [True, True] Translation: X:487.78, Y:6.91, Z:5.85 [[ 9.99525460e-01 -2.93311054e-02 -9.40964904e-03 4.87783702e+02] [ 2.93305122e-02 9.99569748e-01 -2.01065045e-04 6.91086019e+00] [ 9.41149797e-03 -7.50201940e-05 9.99955708e-01 5.84544666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.715099893 meters 0.014698274364695837 Centerline is valid? [True, True] Translation: X:487.82, Y:6.91, Z:5.85 [[ 9.99503148e-01 -3.02042254e-02 -9.00894435e-03 4.87815845e+02] [ 3.02037223e-02 9.99543745e-01 -1.91924158e-04 6.91047851e+00] [ 9.01063089e-03 -8.02748529e-05 9.99959400e-01 5.84586822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74509989300003 meters 0.014875984403831843 Centerline is valid? [True, True] Translation: X:487.85, Y:6.91, Z:5.85 [[ 9.99477470e-01 -3.11482749e-02 -8.63553792e-03 4.87848422e+02] [ 3.11478529e-02 9.99514771e-01 -1.83390588e-04 6.90985771e+00] [ 8.63706001e-03 -8.56837040e-05 9.99962696e-01 5.84630292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.775099893 meters 0.01497303019279681 Centerline is valid? [True, True] Translation: X:487.88, Y:6.91, Z:5.85 [[ 9.99435746e-01 -3.24916718e-02 -8.51360865e-03 4.87881048e+02] [ 3.24913154e-02 9.99472002e-01 -1.80212384e-04 6.90902447e+00] [ 8.51496888e-03 -9.65076454e-05 9.99963742e-01 5.84680735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.805099893 meters 0.015385907368302391 Centerline is valid? [True, True] Translation: X:487.91, Y:6.91, Z:5.85 [[ 9.99379893e-01 -3.42543904e-02 -8.15264054e-03 4.87912286e+02] [ 3.42541273e-02 9.99413140e-01 -1.71944765e-04 6.90719194e+00] [ 8.15374595e-03 -1.07423447e-04 9.99966752e-01 5.84702518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.835099893 meters 0.015474383004845648 Centerline is valid? [True, True] Translation: X:487.94, Y:6.91, Z:5.85 [[ 9.99298980e-01 -3.64901885e-02 -8.36747209e-03 4.87944444e+02] [ 3.64899930e-02 9.99334003e-01 -1.76083222e-04 6.90567645e+00] [ 8.36832469e-03 -1.29369214e-04 9.99964977e-01 5.84677230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.865099893 meters 0.01609535730472742 Centerline is valid? [True, True] Translation: X:487.98, Y:6.90, Z:5.85 [[ 9.99205767e-01 -3.89312967e-02 -8.49642168e-03 4.87975222e+02] [ 3.89311870e-02 9.99241878e-01 -1.78375187e-04 6.90317877e+00] [ 8.49692473e-03 -1.52542265e-04 9.99963889e-01 5.84674505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.895099893 meters 0.017277923597060173 Centerline is valid? [True, True] Translation: X:488.01, Y:6.90, Z:5.85 [[ 9.98969941e-01 -4.44895395e-02 -8.92956929e-03 4.88007072e+02] [ 4.44896531e-02 9.99009828e-01 -1.86022327e-04 6.89826713e+00] [ 8.92900353e-03 -2.11442727e-04 9.99960113e-01 5.84615095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.925099893 meters 0.01742939577482112 Centerline is valid? [True, True] Translation: X:488.04, Y:6.90, Z:5.85 [[ 9.98838672e-01 -4.72822826e-02 -9.25704404e-03 4.88039326e+02] [ 4.72825286e-02 9.98881537e-01 -1.92394952e-04 6.89747476e+00] [ 9.25578725e-03 -2.45524931e-04 9.99957134e-01 5.84603177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.955099893 meters 0.019796919428493112 Centerline is valid? [True, True] Translation: X:488.07, Y:6.89, Z:5.85 [[ 9.98718012e-01 -4.97243277e-02 -9.47748829e-03 4.88070460e+02] [ 4.97247027e-02 9.98762943e-01 -1.96211141e-04 6.89247341e+00] [ 9.47552056e-03 -2.75305687e-04 9.99955068e-01 5.84615495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.985099893 meters 0.020772580780036937 Centerline is valid? [True, True] Translation: X:488.10, Y:6.89, Z:5.85 [[ 9.98599087e-01 -5.19875712e-02 -9.85673047e-03 4.88102834e+02] [ 5.19880921e-02 9.98647684e-01 -2.03535258e-04 6.89035901e+00] [ 9.85398236e-03 -3.09182489e-04 9.99951401e-01 5.84620511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.015099893 meters 0.019666812980200468 Centerline is valid? [True, True] Translation: X:488.13, Y:6.89, Z:5.85 [[ 9.98377079e-01 -5.61295314e-02 -9.62726952e-03 4.88133855e+02] [ 5.61302281e-02 9.98423436e-01 -1.98022146e-04 6.89075449e+00] [ 9.62320641e-03 -3.42680062e-04 9.99953637e-01 5.84594220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.045099893 meters 0.020346804713147794 Centerline is valid? [True, True] Translation: X:488.17, Y:6.89, Z:5.85 [[ 9.98293537e-01 -5.76130893e-02 -9.52608714e-03 4.88165735e+02] [ 5.76138391e-02 9.98338924e-01 -1.95924287e-04 6.88925251e+00] [ 9.52155139e-03 -3.53244502e-04 9.99954607e-01 5.84607303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.075099893 meters 0.02168245423076369 Centerline is valid? [True, True] Translation: X:488.20, Y:6.89, Z:5.85 [[ 9.98216162e-01 -5.88775278e-02 -9.89600187e-03 4.88196638e+02] [ 5.88784053e-02 9.98265141e-01 -2.02900100e-04 6.88683858e+00] [ 9.89077996e-03 -3.80122650e-04 9.99951013e-01 5.84592367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.105099893 meters 0.02168245423076369 Centerline is valid? [True, True] Translation: X:488.23, Y:6.89, Z:5.85 [[ 9.98222453e-01 -5.87707734e-02 -9.89602718e-03 4.88229189e+02] [ 5.87716579e-02 9.98271432e-01 -2.01656891e-04 6.88741200e+00] [ 9.89077275e-03 -3.80307487e-04 9.99951013e-01 5.84632589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.135099893 meters 0.022121960011935657 Centerline is valid? [True, True] Translation: X:488.26, Y:6.89, Z:5.85 [[ 9.98166972e-01 -5.97242730e-02 -9.78297617e-03 4.88261121e+02] [ 5.97251942e-02 9.98214838e-01 -1.98228994e-04 6.88682977e+00] [ 9.77735105e-03 -3.86424517e-04 9.99952126e-01 5.84654664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.165099893 meters 0.02063360920382051 Centerline is valid? [True, True] Translation: X:488.29, Y:6.89, Z:5.85 [[ 9.98124485e-01 -6.04562518e-02 -9.62053173e-03 4.88293651e+02] [ 6.04571829e-02 9.98170773e-01 -1.94276202e-04 6.88945309e+00] [ 9.61467880e-03 -3.87718413e-04 9.99953703e-01 5.84648862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.195099893 meters 0.024548100064970945 Centerline is valid? [True, True] Translation: X:488.33, Y:6.88, Z:5.85 [[ 9.98092597e-01 -6.09339535e-02 -9.91063334e-03 4.88325241e+02] [ 6.09349731e-02 9.98141718e-01 -1.99328878e-04 6.88385053e+00] [ 9.90436248e-03 -4.04955498e-04 9.99950869e-01 5.84738576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.225099893 meters 0.02191610871315577 Centerline is valid? [True, True] Translation: X:488.36, Y:6.89, Z:5.85 [[ 9.98069912e-01 -6.13893615e-02 -9.37001528e-03 4.88356995e+02] [ 6.13902969e-02 9.98113819e-01 -1.88029270e-04 6.88834094e+00] [ 9.36388474e-03 -3.87561663e-04 9.99956083e-01 5.84721114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.255099893 meters 0.022074020144195197 Centerline is valid? [True, True] Translation: X:488.39, Y:6.89, Z:5.85 [[ 9.98085049e-01 -6.10796804e-02 -9.77275866e-03 4.88388940e+02] [ 6.10806905e-02 9.98132812e-01 -1.95363518e-04 6.88850036e+00] [ 9.76644383e-03 -4.01937440e-04 9.99952226e-01 5.84754400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.285099893 meters 0.022359060841019116 Centerline is valid? [True, True] Translation: X:488.42, Y:6.89, Z:5.85 [[ 9.98116146e-01 -6.04981814e-02 -1.02043891e-02 4.88419727e+02] [ 6.04992606e-02 9.98168221e-01 -2.03177930e-04 6.88862084e+00] [ 1.01979888e-02 -4.14562825e-04 9.99947913e-01 5.84719748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.315099893 meters 0.022157624558905808 Centerline is valid? [True, True] Translation: X:488.45, Y:6.89, Z:5.85 [[ 9.98147722e-01 -5.99302542e-02 -1.04637765e-02 4.88452331e+02] [ 5.99313635e-02 9.98202479e-01 -2.07798272e-04 6.88998555e+00] [ 1.04574210e-02 -4.19695021e-04 9.99945232e-01 5.84735217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.345099893 meters 0.021428827232866637 Centerline is valid? [True, True] Translation: X:488.48, Y:6.89, Z:5.85 [[ 9.98246106e-01 -5.80755102e-02 -1.14868068e-02 4.88484487e+02] [ 5.80767348e-02 9.98312096e-01 -2.27210575e-04 6.89296721e+00] [ 1.14806136e-02 -4.40304162e-04 9.99933999e-01 5.84727730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.375099893 meters 0.02104865693891836 Centerline is valid? [True, True] Translation: X:488.52, Y:6.90, Z:5.85 [[ 9.98308935e-01 -5.69676205e-02 -1.15741258e-02 4.88516921e+02] [ 5.69687991e-02 9.98375933e-01 -2.28104734e-04 6.89505991e+00] [ 1.15683232e-02 -4.31645052e-04 9.99932992e-01 5.84737047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.405099893 meters 0.021250771107131014 Centerline is valid? [True, True] Translation: X:488.55, Y:6.90, Z:5.85 [[ 9.98367881e-01 -5.58233254e-02 -1.20553217e-02 4.88548315e+02] [ 5.58245314e-02 9.98440567e-01 -2.36703946e-04 6.89632344e+00] [ 1.20497359e-02 -4.36665070e-04 9.99927304e-01 5.84781315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.43509989300003 meters 0.020974617582247498 Centerline is valid? [True, True] Translation: X:488.58, Y:6.90, Z:5.85 [[ 9.98417822e-01 -5.48453312e-02 -1.24033228e-02 4.88580839e+02] [ 5.48465516e-02 9.98494766e-01 -2.41995864e-04 6.89817538e+00] [ 1.23979252e-02 -4.38666499e-04 9.99923047e-01 5.84838965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.465099893 meters 0.0209046691567956 Centerline is valid? [True, True] Translation: X:488.61, Y:6.90, Z:5.85 [[ 9.98484210e-01 -5.36720701e-02 -1.21898334e-02 4.88613170e+02] [ 5.36731717e-02 9.98558528e-01 -2.36987917e-04 6.89947897e+00] [ 1.21849817e-02 -4.17638328e-04 9.99925673e-01 5.84851144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.49509989300003 meters 0.020718402489117126 Centerline is valid? [True, True] Translation: X:488.64, Y:6.90, Z:5.85 [[ 9.98577294e-01 -5.18002515e-02 -1.26538940e-02 4.88644367e+02] [ 5.18013001e-02 9.98657381e-01 -2.45098341e-04 6.90143038e+00] [ 1.26496008e-02 -4.10738520e-04 9.99919906e-01 5.84826142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.525099893 meters 0.020221373814280946 Centerline is valid? [True, True] Translation: X:488.68, Y:6.90, Z:5.85 [[ 9.98629183e-01 -5.06812403e-02 -1.30830860e-02 4.88676983e+02] [ 5.06822748e-02 9.98714796e-01 -2.52683850e-04 6.90369664e+00] [ 1.30790779e-02 -4.10743094e-04 9.99914381e-01 5.84837174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.555099893 meters 0.01844103726823833 Centerline is valid? [True, True] Translation: X:488.71, Y:6.91, Z:5.85 [[ 9.98681200e-01 -4.96167679e-02 -1.31923368e-02 4.88708976e+02] [ 4.96177420e-02 9.98768249e-01 -2.53657440e-04 6.90855741e+00] [ 1.31886728e-02 -4.01251045e-04 9.99912945e-01 5.84871859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.585099893 meters 0.017635746147382968 Centerline is valid? [True, True] Translation: X:488.74, Y:6.91, Z:5.85 [[ 9.98744591e-01 -4.83438396e-02 -1.31192745e-02 4.88741297e+02] [ 4.83447056e-02 9.98830679e-01 -2.51306513e-04 6.91184518e+00] [ 1.31160830e-02 -3.83256443e-04 9.99913907e-01 5.84923808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.615099893 meters 0.017431727688922247 Centerline is valid? [True, True] Translation: X:488.77, Y:6.92, Z:5.85 [[ 9.98872437e-01 -4.54921663e-02 -1.35763429e-02 4.88772600e+02] [ 4.54928456e-02 9.98964631e-01 -2.58944654e-04 6.91538541e+00] [ 1.35740663e-02 -3.58973794e-04 9.99907804e-01 5.84981997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.645099893 meters 0.017067154320271578 Centerline is valid? [True, True] Translation: X:488.81, Y:6.92, Z:5.85 [[ 9.98925813e-01 -4.41607278e-02 -1.40374784e-02 4.88805077e+02] [ 4.41613502e-02 9.99024376e-01 -2.65783280e-04 6.91792347e+00] [ 1.40355203e-02 -3.54416222e-04 9.99901434e-01 5.85017575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.675099893 meters 0.016964099598389876 Centerline is valid? [True, True] Translation: X:488.84, Y:6.92, Z:5.85 [[ 9.98996283e-01 -4.25337551e-02 -1.40465900e-02 4.88836760e+02] [ 4.25342319e-02 9.99094975e-01 -2.64937094e-04 6.91963247e+00] [ 1.40451463e-02 -3.32789745e-04 9.99901307e-01 5.85071383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.705099893 meters 0.01637915794380933 Centerline is valid? [True, True] Translation: X:488.87, Y:6.92, Z:5.85 [[ 9.99064033e-01 -4.09233969e-02 -1.40118866e-02 4.88868831e+02] [ 4.09237272e-02 9.99162239e-01 -2.63276278e-04 6.92217111e+00] [ 1.40109221e-02 -3.10388764e-04 9.99901794e-01 5.85128832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.735099893 meters 0.016313531554097028 Centerline is valid? [True, True] Translation: X:488.90, Y:6.92, Z:5.85 [[ 9.99098908e-01 -3.99706230e-02 -1.42731224e-02 4.88901112e+02] [ 3.99708835e-02 9.99200809e-01 -2.67135617e-04 6.92412467e+00] [ 1.42723930e-02 -3.03614408e-04 9.99898098e-01 5.85198013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.765099893 meters 0.016055908973948454 Centerline is valid? [True, True] Translation: X:488.93, Y:6.93, Z:5.85 [[ 9.99119987e-01 -3.93355043e-02 -1.45592107e-02 4.88933521e+02] [ 3.93357235e-02 9.99226014e-01 -2.71418826e-04 6.92630496e+00] [ 1.45586185e-02 -3.01517115e-04 9.99893972e-01 5.85261878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.795099893 meters 0.016214114770355368 Centerline is valid? [True, True] Translation: X:488.97, Y:6.93, Z:5.85 [[ 9.99098271e-01 -3.97395895e-02 -1.49469035e-02 4.88966056e+02] [ 3.97398824e-02 9.99210020e-01 -2.77534501e-04 6.92859801e+00] [ 1.49461249e-02 -3.16703948e-04 9.99888250e-01 5.85361608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.825099893 meters 0.01665237158902657 Centerline is valid? [True, True] Translation: X:489.00, Y:6.93, Z:5.85 [[ 9.99066632e-01 -4.06762793e-02 -1.45363081e-02 4.88997276e+02] [ 4.06766717e-02 9.99172326e-01 -2.68787831e-04 6.92903630e+00] [ 1.45352100e-02 -3.22751679e-04 9.99894306e-01 5.85426534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.855099893 meters 0.01706607281358539 Centerline is valid? [True, True] Translation: X:489.03, Y:6.93, Z:5.85 [[ 9.99002780e-01 -4.20811911e-02 -1.49203982e-02 4.89029103e+02] [ 4.20817857e-02 9.99114132e-01 -2.74237837e-04 6.92923861e+00] [ 1.49187210e-02 -3.53912639e-04 9.99888647e-01 5.85459512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.885099893 meters 0.017498196929149057 Centerline is valid? [True, True] Translation: X:489.06, Y:6.93, Z:5.85 [[ 9.98844842e-01 -4.51317596e-02 -1.64956145e-02 4.89061643e+02] [ 4.51329232e-02 9.98980945e-01 -3.01917116e-04 6.92950362e+00] [ 1.64924306e-02 -4.42926950e-04 9.99863893e-01 5.85489578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.915099893 meters 0.01751540763775443 Centerline is valid? [True, True] Translation: X:489.09, Y:6.93, Z:5.86 [[ 9.98773707e-01 -4.65811806e-02 -1.67712854e-02 4.89093566e+02] [ 4.65826081e-02 9.98914394e-01 -3.05737394e-04 6.93068092e+00] [ 1.67673200e-02 -4.75887744e-04 9.99859305e-01 5.85536333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.945099893 meters 0.01862619280953365 Centerline is valid? [True, True] Translation: X:489.13, Y:6.93, Z:5.86 [[ 9.98716229e-01 -4.76886614e-02 -1.70788136e-02 4.89125144e+02] [ 4.76903284e-02 9.98862121e-01 -3.09888411e-04 6.92989830e+00] [ 1.70741581e-02 -5.05003642e-04 9.99854098e-01 5.85569709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.975099893 meters 0.018072221566919577 Centerline is valid? [True, True] Translation: X:489.16, Y:6.93, Z:5.86 [[ 9.98648243e-01 -4.89105444e-02 -1.75910552e-02 4.89157027e+02] [ 4.89125345e-02 9.98803015e-01 -3.17355055e-04 6.93245840e+00] [ 1.75855210e-02 -5.43497027e-04 9.99845215e-01 5.85703685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.005099893 meters 0.019982873933342138 Centerline is valid? [True, True] Translation: X:489.19, Y:6.93, Z:5.86 [[ 9.98602294e-01 -4.96235426e-02 -1.81923887e-02 4.89188632e+02] [ 4.96258185e-02 9.98767827e-01 -3.26599623e-04 6.93052834e+00] [ 1.81861796e-02 -5.76669048e-04 9.99834451e-01 5.85741423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.035099893 meters 0.01967930723088721 Centerline is valid? [True, True] Translation: X:489.22, Y:6.93, Z:5.86 [[ 9.98497236e-01 -5.16365898e-02 -1.83557314e-02 4.89220465e+02] [ 5.16392806e-02 9.98665749e-01 -3.27671503e-04 6.93386870e+00] [ 1.83481601e-02 -6.20697676e-04 9.99831466e-01 5.85896232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.065099893 meters 0.020151928174758797 Centerline is valid? [True, True] Translation: X:489.25, Y:6.93, Z:5.86 [[ 9.98439826e-01 -5.24981472e-02 -1.90225525e-02 4.89253026e+02] [ 5.25012197e-02 9.98620803e-01 -3.38190179e-04 6.93437935e+00] [ 1.90140710e-02 -6.61044663e-04 9.99818998e-01 5.85946393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.095099893 meters 0.020296009458505765 Centerline is valid? [True, True] Translation: X:489.29, Y:6.94, Z:5.86 [[ 9.98368113e-01 -5.36022739e-02 -1.96953471e-02 4.89285223e+02] [ 5.36058104e-02 9.98562114e-01 -3.48722835e-04 6.93540331e+00] [ 1.96857198e-02 -7.07631285e-04 9.99805967e-01 5.85992320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.125099893 meters 0.019964509222855698 Centerline is valid? [True, True] Translation: X:489.32, Y:6.94, Z:5.86 [[ 9.98285117e-01 -5.48187568e-02 -2.05360440e-02 4.89317397e+02] [ 5.48228897e-02 9.98496029e-01 -3.62099620e-04 6.93723551e+00] [ 2.05250082e-02 -7.64366615e-04 9.99789048e-01 5.86033052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.155099893 meters 0.02066380253490489 Centerline is valid? [True, True] Translation: X:489.35, Y:6.94, Z:5.86 [[ 9.98204220e-01 -5.61034485e-02 -2.09937485e-02 4.89348694e+02] [ 5.61080805e-02 9.98424633e-01 -3.68790220e-04 6.93709790e+00] [ 2.09813660e-02 -8.09790976e-04 9.99779539e-01 5.86043271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.18509989300003 meters 0.021057060539613072 Centerline is valid? [True, True] Translation: X:489.38, Y:6.94, Z:5.86 [[ 9.98071741e-01 -5.84002475e-02 -2.10288321e-02 4.89380905e+02] [ 5.84054310e-02 9.98292878e-01 -3.68113522e-04 6.93797193e+00] [ 2.10144313e-02 -8.60794300e-04 9.99778802e-01 5.86083626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.215099893 meters 0.021412329993541587 Centerline is valid? [True, True] Translation: X:489.41, Y:6.94, Z:5.86 [[ 9.98003910e-01 -5.93037223e-02 -2.17086049e-02 4.89412948e+02] [ 5.93094944e-02 9.98239571e-01 -3.78419140e-04 6.93877604e+00] [ 2.16928301e-02 -9.09862600e-04 9.99764269e-01 5.86135966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24509989300003 meters 0.02097981826643759 Centerline is valid? [True, True] Translation: X:489.45, Y:6.94, Z:5.86 [[ 9.97958997e-01 -5.99742473e-02 -2.19301361e-02 4.89445224e+02] [ 5.99803345e-02 9.98199486e-01 -3.80681515e-04 6.94114901e+00] [ 2.19134817e-02 -9.35472360e-04 9.99759433e-01 5.86213979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.275099893 meters 0.02143613817832315 Centerline is valid? [True, True] Translation: X:489.48, Y:6.94, Z:5.86 [[ 9.97942764e-01 -6.00450594e-02 -2.24684514e-02 4.89475966e+02] [ 6.00515004e-02 9.98195205e-01 -3.88548798e-04 6.94201684e+00] [ 2.24512308e-02 -9.61514755e-04 9.99747477e-01 5.86197086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.305099893 meters 0.020403528795958602 Centerline is valid? [True, True] Translation: X:489.51, Y:6.95, Z:5.86 [[ 9.97919575e-01 -6.00435850e-02 -2.34795619e-02 4.89508434e+02] [ 6.00506545e-02 9.98195249e-01 -4.04508356e-04 6.94564965e+00] [ 2.34614753e-02 -1.00629625e-03 9.99724235e-01 5.86280952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.335099893 meters 0.02210513033425786 Centerline is valid? [True, True] Translation: X:489.54, Y:6.94, Z:5.86 [[ 9.97973292e-01 -5.92832260e-02 -2.31259181e-02 4.89539977e+02] [ 5.92899148e-02 9.98240727e-01 -3.96922906e-04 6.94497761e+00] [ 2.31087641e-02 -9.75015253e-04 9.99732481e-01 5.86245023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.365099893 meters 0.023032960820122104 Centerline is valid? [True, True] Translation: X:489.57, Y:6.95, Z:5.86 [[ 9.98040722e-01 -5.77039387e-02 -2.41862174e-02 4.89570780e+02] [ 5.77108247e-02 9.98333256e-01 -4.13782697e-04 6.94663781e+00] [ 2.41697821e-02 -9.82834574e-04 9.99707385e-01 5.86176432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.395099893 meters 0.02150967698404483 Centerline is valid? [True, True] Translation: X:489.60, Y:6.95, Z:5.86 [[ 9.98095707e-01 -5.67617806e-02 -2.41466302e-02 4.89603116e+02] [ 5.67684048e-02 9.98387289e-01 -4.11618390e-04 6.95065607e+00] [ 2.41310529e-02 -9.59931130e-04 9.99708343e-01 5.86299844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.425099893 meters 0.019964671751454624 Centerline is valid? [True, True] Translation: X:489.64, Y:6.95, Z:5.86 [[ 9.98130299e-01 -5.60673814e-02 -2.43383558e-02 4.89635075e+02] [ 5.60739477e-02 9.98426533e-01 -4.13135886e-04 6.95436998e+00] [ 2.43232236e-02 -9.52384245e-04 9.99703693e-01 5.86410194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.455099893 meters 0.020060088551822924 Centerline is valid? [True, True] Translation: X:489.67, Y:6.96, Z:5.86 [[ 9.98203007e-01 -5.49305543e-02 -2.39455991e-02 4.89667545e+02] [ 5.49366247e-02 9.98489761e-01 -4.04752273e-04 6.95582968e+00] [ 2.39316688e-02 -9.11465453e-04 9.99713181e-01 5.86442587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.485099893 meters 0.01960576866886252 Centerline is valid? [True, True] Translation: X:489.70, Y:6.96, Z:5.87 [[ 9.98286676e-01 -5.35948896e-02 -2.34797775e-02 4.89698609e+02] [ 5.36003869e-02 9.98562388e-01 -3.95607652e-04 6.95815123e+00] [ 2.34672252e-02 -8.63595308e-04 9.99724234e-01 5.86537390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.515099893 meters 0.02006541773428208 Centerline is valid? [True, True] Translation: X:489.73, Y:6.96, Z:5.87 [[ 9.98381678e-01 -5.19891280e-02 -2.30468211e-02 4.89728899e+02] [ 5.19940115e-02 9.98647321e-01 -3.87687591e-04 6.95920039e+00] [ 2.30358017e-02 -8.11236495e-04 9.99734312e-01 5.86543310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.545099893 meters 0.017404773932793344 Centerline is valid? [True, True] Translation: X:489.76, Y:6.97, Z:5.87 [[ 9.98620059e-01 -4.68341481e-02 -2.37600372e-02 4.89760697e+02] [ 4.68379011e-02 9.98902424e-01 -3.98840630e-04 6.96695767e+00] [ 2.37526381e-02 -7.14580020e-04 9.99717611e-01 5.86644074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.575099893 meters 0.017232411184576572 Centerline is valid? [True, True] Translation: X:489.79, Y:6.97, Z:5.87 [[ 9.98761097e-01 -4.37555281e-02 -2.37007251e-02 4.89791170e+02] [ 4.37584343e-02 9.99042062e-01 -3.96237593e-04 6.96939746e+00] [ 2.36953589e-02 -6.41359929e-04 9.99719020e-01 5.86656413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.605099893 meters 0.016392179805877895 Centerline is valid? [True, True] Translation: X:489.82, Y:6.97, Z:5.87 [[ 9.98908900e-01 -4.01802317e-02 -2.38025055e-02 4.89822385e+02] [ 4.01821827e-02 9.99192291e-01 -3.96508260e-04 6.97296475e+00] [ 2.37992118e-02 -5.60360993e-04 9.99716602e-01 5.86744508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.635099893 meters 0.014375941118166506 Centerline is valid? [True, True] Translation: X:489.85, Y:6.98, Z:5.87 [[ 9.99172180e-01 -3.28492769e-02 -2.39974757e-02 4.89852955e+02] [ 3.28491618e-02 9.99460241e-01 -3.99108646e-04 6.98055850e+00] [ 2.39976332e-02 -3.89518705e-04 9.99711939e-01 5.86921168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.665099893 meters 0.014035148535953043 Centerline is valid? [True, True] Translation: X:489.88, Y:6.98, Z:5.87 [[ 9.99287321e-01 -2.92831019e-02 -2.38191281e-02 4.89881205e+02] [ 2.92819664e-02 9.99571113e-01 -3.96532826e-04 6.98314510e+00] [ 2.38205241e-02 -3.01220684e-04 9.99716206e-01 5.86977870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.695099893 meters 0.013522892072200771 Centerline is valid? [True, True] Translation: X:489.91, Y:6.99, Z:5.87 [[ 9.99383944e-01 -2.63316813e-02 -2.32029171e-02 4.89910483e+02] [ 2.63297601e-02 9.99653236e-01 -3.88351717e-04 6.98594534e+00] [ 2.32050971e-02 -2.22814771e-04 9.99730701e-01 5.87098254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.725099893 meters 0.013314496790034843 Centerline is valid? [True, True] Translation: X:489.94, Y:6.99, Z:5.87 [[ 9.99450125e-01 -2.38921374e-02 -2.29916100e-02 4.89939359e+02] [ 2.38895075e-02 9.99714529e-01 -3.89083893e-04 6.98821191e+00] [ 2.29943427e-02 -1.60388295e-04 9.99735582e-01 5.87184846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.755099893 meters 0.013202380576816176 Centerline is valid? [True, True] Translation: X:489.97, Y:6.99, Z:5.87 [[ 9.99491422e-01 -2.22323949e-02 -2.28608419e-02 4.89966859e+02] [ 2.22292603e-02 9.99752823e-01 -3.91262266e-04 6.98969395e+00] [ 2.28638899e-02 -1.17116327e-04 9.99738580e-01 5.87182549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.785099893 meters 0.013156232608403142 Centerline is valid? [True, True] Translation: X:489.99, Y:6.99, Z:5.87 [[ 9.99499723e-01 -2.13714330e-02 -2.33144791e-02 4.89994595e+02] [ 2.13678296e-02 9.99771600e-01 -4.03696761e-04 6.99086379e+00] [ 2.33177816e-02 -9.46850159e-05 9.99728099e-01 5.87202305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.815099893 meters 0.013058093118676098 Centerline is valid? [True, True] Translation: X:490.02, Y:6.99, Z:5.87 [[ 9.99493204e-01 -2.13554487e-02 -2.36067926e-02 4.90022680e+02] [ 2.13515911e-02 9.99771942e-01 -4.15479742e-04 6.99063911e+00] [ 2.36102816e-02 -8.87734051e-05 9.99721235e-01 5.87191295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.845099893 meters 0.013036638038596844 Centerline is valid? [True, True] Translation: X:490.05, Y:6.99, Z:5.87 [[ 9.99464290e-01 -2.23167264e-02 -2.39394525e-02 4.90050994e+02] [ 2.23129115e-02 9.99750945e-01 -4.26492976e-04 6.98986858e+00] [ 2.39430082e-02 -1.07894385e-04 9.99713319e-01 5.87204012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.875099893 meters 0.013024519035696193 Centerline is valid? [True, True] Translation: X:490.08, Y:6.99, Z:5.87 [[ 9.99413561e-01 -2.40520485e-02 -2.43727786e-02 4.90079996e+02] [ 2.40484943e-02 9.99710697e-01 -4.38963944e-04 6.98878833e+00] [ 2.43762855e-02 -1.47422111e-04 9.99702843e-01 5.87212697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.905099893 meters 0.013448600043855233 Centerline is valid? [True, True] Translation: X:490.11, Y:6.98, Z:5.87 [[ 9.99308267e-01 -2.84265215e-02 -2.39774930e-02 4.90107440e+02] [ 2.84242369e-02 9.99595855e-01 -4.36163709e-04 6.98451218e+00] [ 2.39802012e-02 -2.45679940e-04 9.99712403e-01 5.87182191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.93509989300003 meters 0.01369288390927078 Centerline is valid? [True, True] Translation: X:490.14, Y:6.98, Z:5.87 [[ 9.99235973e-01 -3.13455430e-02 -2.33436614e-02 4.90136439e+02] [ 3.13440795e-02 9.99508562e-01 -4.28672603e-04 6.98283297e+00] [ 2.33456264e-02 -3.03340493e-04 9.99727408e-01 5.87232800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.965099893 meters 0.014081404841599914 Centerline is valid? [True, True] Translation: X:490.17, Y:6.98, Z:5.87 [[ 9.99141958e-01 -3.45428961e-02 -2.28502872e-02 4.90165121e+02] [ 3.45422007e-02 9.99403150e-01 -4.25250621e-04 6.98073972e+00] [ 2.28513384e-02 -3.64413468e-04 9.99738808e-01 5.87284574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.99509989300003 meters 0.014445860731408851 Centerline is valid? [True, True] Translation: X:490.20, Y:6.98, Z:5.87 [[ 9.99048195e-01 -3.76646023e-02 -2.20018812e-02 4.90195011e+02] [ 3.76646413e-02 9.99290350e-01 -4.12770936e-04 6.97903914e+00] [ 2.20018144e-02 -4.16314904e-04 9.99757844e-01 5.87349252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.025099893 meters 0.014445860731408851 Centerline is valid? [True, True] Translation: X:490.23, Y:6.98, Z:5.87 [[ 9.99049547e-01 -3.76287131e-02 -2.20018793e-02 4.90225857e+02] [ 3.76287413e-02 9.99291703e-01 -4.12868991e-04 6.97959042e+00] [ 2.20018312e-02 -4.15426446e-04 9.99757844e-01 5.87387417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.055099893 meters 0.014953318503081622 Centerline is valid? [True, True] Translation: X:490.26, Y:6.98, Z:5.87 [[ 9.98926494e-01 -4.08041639e-02 -2.19289846e-02 4.90256474e+02] [ 4.08049662e-02 9.99167046e-01 -4.11058285e-04 6.97762125e+00] [ 2.19274917e-02 -4.84194467e-04 9.99759446e-01 5.87459350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.085099893 meters 0.01599976014242757 Centerline is valid? [True, True] Translation: X:490.29, Y:6.97, Z:5.87 [[ 9.98791054e-01 -4.41877365e-02 -2.15377590e-02 4.90287147e+02] [ 4.41893000e-02 9.99023094e-01 -4.03559930e-04 6.97446758e+00] [ 2.15345511e-02 -5.48666447e-04 9.99767954e-01 5.87488837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.115099893 meters 0.019181938320478445 Centerline is valid? [True, True] Translation: X:490.32, Y:6.97, Z:5.87 [[ 9.98451237e-01 -5.12343494e-02 -2.16833788e-02 4.90316911e+02] [ 5.12375984e-02 9.98686409e-01 -4.06064839e-04 6.96641185e+00] [ 2.16757002e-02 -7.05568317e-04 9.99764805e-01 5.87431206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.145099893 meters 0.019389455969260203 Centerline is valid? [True, True] Translation: X:490.35, Y:6.97, Z:5.87 [[ 9.98265861e-01 -5.47299094e-02 -2.16773747e-02 4.90347880e+02] [ 5.47339892e-02 9.98500889e-01 -4.05509044e-04 6.96523674e+00] [ 2.16670714e-02 -7.81683358e-04 9.99764936e-01 5.87499298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.175099893 meters 0.02093965878497555 Centerline is valid? [True, True] Translation: X:490.38, Y:6.96, Z:5.88 [[ 9.98078077e-01 -5.81887932e-02 -2.13123582e-02 4.90378185e+02] [ 5.81935395e-02 9.98305241e-01 -3.97944819e-04 6.96207910e+00] [ 2.12993948e-02 -8.43061557e-04 9.99772787e-01 5.87534179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.205099893 meters 0.021179601447632868 Centerline is valid? [True, True] Translation: X:490.41, Y:6.96, Z:5.88 [[ 9.97708132e-01 -6.45949851e-02 -2.01487167e-02 4.90408972e+02] [ 6.46005357e-02 9.97911133e-01 -3.75951093e-04 6.96002690e+00] [ 2.01309132e-02 -9.26528429e-04 9.99796923e-01 5.87701324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.235099893 meters 0.02292931883181865 Centerline is valid? [True, True] Translation: X:490.44, Y:6.96, Z:5.88 [[ 9.97566429e-01 -6.69706708e-02 -1.93945680e-02 4.90440265e+02] [ 6.69762706e-02 9.97754503e-01 -3.61402272e-04 6.95690162e+00] [ 1.93752209e-02 -9.38453058e-04 9.99811842e-01 5.87753294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.265099893 meters 0.022896919904782532 Centerline is valid? [True, True] Translation: X:490.47, Y:6.96, Z:5.88 [[ 9.97433917e-01 -6.90704812e-02 -1.88374701e-02 4.90472096e+02] [ 6.90761564e-02 9.97611328e-01 -3.50007767e-04 6.95680422e+00] [ 1.88166488e-02 -9.52110413e-04 9.99822498e-01 5.87873808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.295099893 meters 0.025986982899712446 Centerline is valid? [True, True] Translation: X:490.50, Y:6.95, Z:5.88 [[ 9.97326761e-01 -7.08346790e-02 -1.79382398e-02 4.90502995e+02] [ 7.08401340e-02 9.97487627e-01 -3.31942936e-04 6.95245420e+00] [ 1.79166853e-02 -9.39691737e-04 9.99839042e-01 5.87920939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.325099893 meters 0.02438807913358313 Centerline is valid? [True, True] Translation: X:490.54, Y:6.95, Z:5.88 [[ 9.97234781e-01 -7.22867008e-02 -1.72459813e-02 4.90535264e+02] [ 7.22919914e-02 9.97383461e-01 -3.17264599e-04 6.95495847e+00] [ 1.72237905e-02 -9.30359038e-04 9.99851227e-01 5.88027417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.355099893 meters 0.02463204170817252 Centerline is valid? [True, True] Translation: X:490.57, Y:6.95, Z:5.88 [[ 9.97178958e-01 -7.31591603e-02 -1.67887715e-02 4.90567248e+02] [ 7.31643175e-02 9.97319852e-01 -3.07649746e-04 6.95465526e+00] [ 1.67662826e-02 -9.21557158e-04 9.99859011e-01 5.88096154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.385099893 meters 0.02567247927159605 Centerline is valid? [True, True] Translation: X:490.60, Y:6.95, Z:5.88 [[ 9.97112739e-01 -7.41156184e-02 -1.65245260e-02 4.90598782e+02] [ 7.41207690e-02 9.97249227e-01 -3.01381558e-04 6.95344427e+00] [ 1.65014078e-02 -9.24299182e-04 9.99863415e-01 5.88125406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.415099893 meters 0.027889068540279914 Centerline is valid? [True, True] Translation: X:490.63, Y:6.95, Z:5.88 [[ 9.97099044e-01 -7.43094166e-02 -1.64804911e-02 4.90630349e+02] [ 7.43145959e-02 9.97234803e-01 -2.98770952e-04 6.95105509e+00] [ 1.64571207e-02 -9.26836801e-04 9.99864143e-01 5.88140909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.445099893 meters 0.02812126532404196 Centerline is valid? [True, True] Translation: X:490.66, Y:6.95, Z:5.88 [[ 9.97136320e-01 -7.37596965e-02 -1.66933355e-02 4.90662523e+02] [ 7.37649500e-02 9.97275609e-01 -3.01647777e-04 6.95136804e+00] [ 1.66701058e-02 -9.30599105e-04 9.99860611e-01 5.88162050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.475099893 meters 0.02599821163009413 Centerline is valid? [True, True] Translation: X:490.69, Y:6.95, Z:5.88 [[ 9.97226398e-01 -7.26417825e-02 -1.62074717e-02 4.90694278e+02] [ 7.26466055e-02 9.97357702e-01 -2.91749723e-04 6.95485774e+00] [ 1.61858399e-02 -8.86477275e-04 9.99868608e-01 5.88200010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.505099893 meters 0.024122308101689447 Centerline is valid? [True, True] Translation: X:490.73, Y:6.96, Z:5.88 [[ 9.97436752e-01 -6.96451344e-02 -1.64158882e-02 4.90725355e+02] [ 6.96496947e-02 9.97571468e-01 -2.94456201e-04 6.95909375e+00] [ 1.63965291e-02 -8.49660163e-04 9.99865207e-01 5.88181519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.535099893 meters 0.02474547749150279 Centerline is valid? [True, True] Translation: X:490.76, Y:6.96, Z:5.88 [[ 9.97534509e-01 -6.81075435e-02 -1.69193780e-02 4.90756996e+02] [ 6.81121806e-02 9.97677623e-01 -3.02698506e-04 6.95986298e+00] [ 1.69007009e-02 -8.50463523e-04 9.99856811e-01 5.88178542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.565099893 meters 0.024190412445792776 Centerline is valid? [True, True] Translation: X:490.79, Y:6.96, Z:5.88 [[ 9.97660951e-01 -6.61634329e-02 -1.71763213e-02 4.90788691e+02] [ 6.61679443e-02 9.97808453e-01 -3.06140720e-04 6.96220164e+00] [ 1.71589339e-02 -8.31097232e-04 9.99852429e-01 5.88166221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.595099893 meters 0.021953224510915404 Centerline is valid? [True, True] Translation: X:490.82, Y:6.97, Z:5.88 [[ 9.97770667e-01 -6.43329114e-02 -1.77474793e-02 4.90821179e+02] [ 6.43374597e-02 9.97928150e-01 -3.15155454e-04 6.96680140e+00] [ 1.77309841e-02 -8.27374867e-04 9.99842451e-01 5.88177508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.625099893 meters 0.021524926113253667 Centerline is valid? [True, True] Translation: X:490.85, Y:6.97, Z:5.88 [[ 9.97899592e-01 -6.23688456e-02 -1.75080565e-02 4.90852471e+02] [ 6.23729929e-02 9.98052861e-01 -3.09613088e-04 6.96884471e+00] [ 1.74932761e-02 -7.83067111e-04 9.99846674e-01 5.88160560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.655099893 meters 0.022126699503760124 Centerline is valid? [True, True] Translation: X:490.88, Y:6.97, Z:5.88 [[ 9.98158141e-01 -5.79370326e-02 -1.79895875e-02 4.90881910e+02] [ 5.79406991e-02 9.98319976e-01 -3.17768802e-04 6.97043871e+00] [ 1.79777752e-02 -7.25145762e-04 9.99838124e-01 5.88051922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.68509989300003 meters 0.019813598062212407 Centerline is valid? [True, True] Translation: X:490.91, Y:6.98, Z:5.88 [[ 9.98309515e-01 -5.53743630e-02 -1.76576177e-02 4.90912995e+02] [ 5.53774945e-02 9.98465440e-01 -3.11932899e-04 6.97526864e+00] [ 1.76477941e-02 -6.66429048e-04 9.99844043e-01 5.88125616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.715099893 meters 0.01833037040442577 Centerline is valid? [True, True] Translation: X:490.94, Y:6.98, Z:5.88 [[ 9.98473899e-01 -5.27659024e-02 -1.62982271e-02 4.90943988e+02] [ 5.27682320e-02 9.98606745e-01 -2.87370408e-04 6.97899806e+00] [ 1.62906829e-02 -5.73096779e-04 9.99867134e-01 5.88217132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74509989300003 meters 0.01821679172521397 Centerline is valid? [True, True] Translation: X:490.97, Y:6.98, Z:5.88 [[ 9.98641022e-01 -4.96939096e-02 -1.57042735e-02 4.90974674e+02] [ 4.96957017e-02 9.98764367e-01 -2.76347434e-04 6.98060135e+00] [ 1.56986016e-02 -5.04463010e-04 9.99876642e-01 5.88293063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.775099893 meters 0.016984585262787722 Centerline is valid? [True, True] Translation: X:491.01, Y:6.98, Z:5.88 [[ 9.98800163e-01 -4.65685857e-02 -1.51525953e-02 4.91006576e+02] [ 4.65699034e-02 9.98914998e-01 -2.66063818e-04 6.98447348e+00] [ 1.51485449e-02 -4.39910316e-04 9.99885157e-01 5.88378955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.805099893 meters 0.015242816019268576 Centerline is valid? [True, True] Translation: X:491.04, Y:6.99, Z:5.88 [[ 9.99109260e-01 -3.98436132e-02 -1.38986391e-02 4.91037236e+02] [ 3.98440802e-02 9.99205880e-01 -2.43412552e-04 6.99067231e+00] [ 1.38973004e-02 -3.10582757e-04 9.99903380e-01 5.88467861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.835099893 meters 0.014587537430621899 Centerline is valid? [True, True] Translation: X:491.07, Y:6.99, Z:5.89 [[ 9.99238721e-01 -3.66203345e-02 -1.34510319e-02 4.91068379e+02] [ 3.66204851e-02 9.99329217e-01 -2.35185801e-04 6.99409985e+00] [ 1.34506218e-02 -2.57576556e-04 9.99909503e-01 5.88504564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.865099893 meters 0.01386517663432217 Centerline is valid? [True, True] Translation: X:491.10, Y:7.00, Z:5.89 [[ 9.99360465e-01 -3.33351328e-02 -1.29394524e-02 4.91100386e+02] [ 3.33350182e-02 9.99444209e-01 -2.24598704e-04 6.99758005e+00] [ 1.29397478e-02 -2.06881815e-04 9.99916257e-01 5.88504607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.895099893 meters 0.013439987616463155 Centerline is valid? [True, True] Translation: X:491.13, Y:7.00, Z:5.89 [[ 9.99435315e-01 -3.06688754e-02 -1.37284860e-02 4.91132678e+02] [ 3.06685085e-02 9.99529582e-01 -2.37295550e-04 7.00098261e+00] [ 1.37293054e-02 -1.83870637e-04 9.99905732e-01 5.88536339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.925099893 meters 0.013009303946843215 Centerline is valid? [True, True] Translation: X:491.16, Y:7.00, Z:5.89 [[ 9.99510556e-01 -2.82988043e-02 -1.33351282e-02 4.91164162e+02] [ 2.82982587e-02 9.99599498e-01 -2.29638891e-04 7.00380879e+00] [ 1.33362860e-02 -1.47834413e-04 9.99911057e-01 5.88526564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.955099893 meters 0.01238252744505097 Centerline is valid? [True, True] Translation: X:491.20, Y:7.01, Z:5.89 [[ 9.99562323e-01 -2.60254342e-02 -1.40655122e-02 4.91196747e+02] [ 2.60246102e-02 9.99661273e-01 -2.41649794e-04 7.00739202e+00] [ 1.40670369e-02 -1.24505442e-04 9.99901047e-01 5.88509782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.985099893 meters 0.012217769184423176 Centerline is valid? [True, True] Translation: X:491.23, Y:7.01, Z:5.88 [[ 9.99653522e-01 -2.22228549e-02 -1.41060474e-02 4.91227369e+02] [ 2.22216606e-02 9.99753039e-01 -2.41414012e-04 7.01074092e+00] [ 1.41079287e-02 -7.21294310e-05 9.99900476e-01 5.88443547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.015099893 meters 0.01203742392133733 Centerline is valid? [True, True] Translation: X:491.26, Y:7.01, Z:5.88 [[ 9.99707292e-01 -2.00717104e-02 -1.35076403e-02 4.91257586e+02] [ 2.00704218e-02 9.99798542e-01 -2.30959866e-04 7.01315615e+00] [ 1.35095549e-02 -4.02117772e-05 9.99908741e-01 5.88479629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.045099893 meters 0.012044908120935992 Centerline is valid? [True, True] Translation: X:491.29, Y:7.02, Z:5.88 [[ 9.99782109e-01 -1.62188673e-02 -1.31408939e-02 4.91287327e+02] [ 1.62173147e-02 9.99868465e-01 -2.24703180e-04 7.01660417e+00] [ 1.31428099e-02 1.15442064e-05 9.99913629e-01 5.88489096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.075099893 meters 0.012086915543634122 Centerline is valid? [True, True] Translation: X:491.32, Y:7.02, Z:5.89 [[ 9.99805877e-01 -1.48715148e-02 -1.29246210e-02 4.91317360e+02] [ 1.48698972e-02 9.99889412e-01 -2.21246205e-04 7.01847654e+00] [ 1.29264820e-02 2.90154704e-05 9.99916449e-01 5.88524498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.105099893 meters 0.012207250592879063 Centerline is valid? [True, True] Translation: X:491.35, Y:7.02, Z:5.89 [[ 9.99827506e-01 -1.34522206e-02 -1.28061122e-02 4.91345559e+02] [ 1.34505101e-02 9.99909514e-01 -2.19691470e-04 7.02043242e+00] [ 1.28079088e-02 4.74048335e-05 9.99917974e-01 5.88519144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.135099893 meters 0.012170857065275802 Centerline is valid? [True, True] Translation: X:491.37, Y:7.02, Z:5.89 [[ 9.99834463e-01 -1.29455349e-02 -1.27851614e-02 4.91374545e+02] [ 1.29437768e-02 9.99916202e-01 -2.20253344e-04 7.02113814e+00] [ 1.27869413e-02 5.47286090e-05 9.99918242e-01 5.88524924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.165099893 meters 0.012230547851831614 Centerline is valid? [True, True] Translation: X:491.40, Y:7.02, Z:5.89 [[ 9.99844527e-01 -1.24967991e-02 -1.24399021e-02 4.91403775e+02] [ 1.24950624e-02 9.99921910e-01 -2.17318839e-04 7.02147552e+00] [ 1.24416465e-02 6.18476985e-05 9.99922598e-01 5.88511350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.195099893 meters 0.01233054629370098 Centerline is valid? [True, True] Translation: X:491.43, Y:7.02, Z:5.89 [[ 9.99845525e-01 -1.25084017e-02 -1.23477183e-02 4.91431955e+02] [ 1.25066533e-02 9.99921765e-01 -2.18811622e-04 7.02211387e+00] [ 1.23494892e-02 6.43491896e-05 9.99923740e-01 5.88517409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.225099893 meters 0.012292682061853324 Centerline is valid? [True, True] Translation: X:491.46, Y:7.02, Z:5.88 [[ 9.99831269e-01 -1.38199792e-02 -1.21013301e-02 4.91461215e+02] [ 1.38183867e-02 9.99904498e-01 -2.15207070e-04 7.02125250e+00] [ 1.21031486e-02 4.79498992e-05 9.99926753e-01 5.88487371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.255099893 meters 0.012174334961728532 Centerline is valid? [True, True] Translation: X:491.49, Y:7.02, Z:5.88 [[ 9.99798976e-01 -1.56323475e-02 -1.25553448e-02 4.91490804e+02] [ 1.56307385e-02 9.99877807e-01 -2.26275389e-04 7.02018877e+00] [ 1.25573479e-02 2.99805902e-05 9.99921153e-01 5.88489788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.285099893 meters 0.012198642172321904 Centerline is valid? [True, True] Translation: X:491.52, Y:7.02, Z:5.88 [[ 9.99762710e-01 -1.77479465e-02 -1.26306644e-02 4.91519152e+02] [ 1.77464811e-02 9.99842493e-01 -2.28098282e-04 7.01866099e+00] [ 1.26327233e-02 3.89430854e-06 9.99920204e-01 5.88455671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.315099893 meters 0.012218234912004019 Centerline is valid? [True, True] Translation: X:491.55, Y:7.02, Z:5.88 [[ 9.99708805e-01 -2.03736097e-02 -1.29313752e-02 4.91549211e+02] [ 2.03722842e-02 9.99792436e-01 -2.34232613e-04 7.01683133e+00] [ 1.29334633e-02 -2.92772458e-05 9.99916359e-01 5.88461723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.345099893 meters 0.012752293249262641 Centerline is valid? [True, True] Translation: X:491.58, Y:7.01, Z:5.88 [[ 9.99536892e-01 -2.71477574e-02 -1.37477678e-02 4.91578944e+02] [ 2.71468930e-02 9.99631424e-01 -2.49519156e-04 7.01152313e+00] [ 1.37494746e-02 -1.23805579e-04 9.99905464e-01 5.88377799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.375099893 meters 0.013456333292306022 Centerline is valid? [True, True] Translation: X:491.61, Y:7.01, Z:5.88 [[ 9.99417488e-01 -3.09658894e-02 -1.43456986e-02 4.91610282e+02] [ 3.09653396e-02 9.99520425e-01 -2.60497623e-04 7.00833923e+00] [ 1.43468853e-02 -1.83873549e-04 9.99897061e-01 5.88337981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.405099893 meters 0.014182288406815555 Centerline is valid? [True, True] Translation: X:491.64, Y:7.01, Z:5.88 [[ 9.99285355e-01 -3.48159315e-02 -1.47183824e-02 4.91641883e+02] [ 3.48157813e-02 9.99393711e-01 -2.66512351e-04 7.00539798e+00] [ 1.47187377e-02 -2.46110094e-04 9.99891643e-01 5.88307843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.43509989300003 meters 0.014980100208957793 Centerline is valid? [True, True] Translation: X:491.67, Y:7.00, Z:5.88 [[ 9.99132836e-01 -3.86456678e-02 -1.54948170e-02 4.91673637e+02] [ 3.86459713e-02 9.99252926e-01 -2.79949076e-04 7.00257915e+00] [ 1.54940601e-02 -3.19105940e-04 9.99879909e-01 5.88288019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.465099893 meters 0.015568763821717 Centerline is valid? [True, True] Translation: X:491.71, Y:7.00, Z:5.88 [[ 9.98987743e-01 -4.22435546e-02 -1.54587233e-02 4.91705446e+02] [ 4.22442999e-02 9.99107272e-01 -2.78473716e-04 7.00064668e+00] [ 1.54566865e-02 -3.74851112e-04 9.99880468e-01 5.88295014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.49509989300003 meters 0.01694115840368047 Centerline is valid? [True, True] Translation: X:491.74, Y:7.00, Z:5.88 [[ 9.98696585e-01 -4.85870313e-02 -1.56342747e-02 4.91736618e+02] [ 4.85885816e-02 9.98818838e-01 -2.80900101e-04 6.99601105e+00] [ 1.56294562e-02 -4.79113260e-04 9.99877738e-01 5.88279923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.525099893 meters 0.017957638386784755 Centerline is valid? [True, True] Translation: X:491.77, Y:6.99, Z:5.88 [[ 9.98577416e-01 -5.09590969e-02 -1.56944190e-02 4.91767394e+02] [ 5.09609619e-02 9.98700606e-01 -2.81334281e-04 6.99374404e+00] [ 1.56883623e-02 -5.18868628e-04 9.99876795e-01 5.88308085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.555099893 meters 0.01957371737274375 Centerline is valid? [True, True] Translation: X:491.80, Y:6.99, Z:5.88 [[ 9.98465612e-01 -5.31786835e-02 -1.54417992e-02 4.91798842e+02] [ 5.31807803e-02 9.98584863e-01 -2.75102167e-04 6.99115210e+00] [ 1.54345765e-02 -5.46526878e-04 9.99880730e-01 5.88334706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.585099893 meters 0.020216124365317143 Centerline is valid? [True, True] Translation: X:491.83, Y:6.99, Z:5.88 [[ 9.98364877e-01 -5.49850029e-02 -1.56275964e-02 4.91830785e+02] [ 5.49873855e-02 9.98487011e-01 -2.77508651e-04 6.99064857e+00] [ 1.56192108e-02 -5.82265777e-04 9.99877843e-01 5.88402439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.615099893 meters 0.021384310924559453 Centerline is valid? [True, True] Translation: X:491.86, Y:6.99, Z:5.88 [[ 9.98273723e-01 -5.66922030e-02 -1.53482010e-02 4.91862098e+02] [ 5.66947182e-02 9.98391524e-01 -2.71531657e-04 6.98937248e+00] [ 1.53389075e-02 -5.99099013e-04 9.99882173e-01 5.88440616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.645099893 meters 0.021385257946439865 Centerline is valid? [True, True] Translation: X:491.89, Y:6.99, Z:5.89 [[ 9.98076957e-01 -6.00418447e-02 -1.54066728e-02 4.91893391e+02] [ 6.00447891e-02 9.98195647e-01 -2.71803642e-04 6.98995314e+00] [ 1.53951933e-02 -6.53809468e-04 9.99881273e-01 5.88513732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.675099893 meters 0.02437696129875514 Centerline is valid? [True, True] Translation: X:491.92, Y:6.99, Z:5.88 [[ 9.97978222e-01 -6.16608882e-02 -1.54078872e-02 4.91924531e+02] [ 6.16640350e-02 9.98096926e-01 -2.71220088e-04 6.98602048e+00] [ 1.53952885e-02 -6.79440756e-04 9.99881255e-01 5.88494904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.705099893 meters 0.02312381074380889 Centerline is valid? [True, True] Translation: X:491.96, Y:6.99, Z:5.89 [[ 9.97865552e-01 -6.34577810e-02 -1.54093978e-02 4.91956503e+02] [ 6.34611557e-02 9.97984273e-01 -2.70367790e-04 6.98842516e+00] [ 1.53954936e-02 -7.08107491e-04 9.99881232e-01 5.88536202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.735099893 meters 0.025174249891133583 Centerline is valid? [True, True] Translation: X:491.99, Y:6.99, Z:5.89 [[ 9.97637072e-01 -6.68924437e-02 -1.56739564e-02 4.91986967e+02] [ 6.68963732e-02 9.97759891e-01 -2.74053824e-04 6.98617518e+00] [ 1.56571772e-02 -7.75124582e-04 9.99877118e-01 5.88545193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.765099893 meters 0.02410060564152711 Centerline is valid? [True, True] Translation: X:492.02, Y:6.99, Z:5.89 [[ 9.97517966e-01 -6.84742631e-02 -1.64067686e-02 4.92018782e+02] [ 6.84787893e-02 9.97652531e-01 -2.86418362e-04 6.98860101e+00] [ 1.63878665e-02 -8.37808187e-04 9.99865359e-01 5.88606930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.795099893 meters 0.025672840137257107 Centerline is valid? [True, True] Translation: X:492.05, Y:6.99, Z:5.89 [[ 9.97433607e-01 -6.95533202e-02 -1.69863132e-02 4.92049938e+02] [ 6.95583441e-02 9.97577841e-01 -2.95589628e-04 6.98745074e+00] [ 1.69657289e-02 -8.86708792e-04 9.99855678e-01 5.88622569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.825099893 meters 0.028179806705772834 Centerline is valid? [True, True] Translation: X:492.08, Y:6.99, Z:5.89 [[ 9.97353752e-01 -7.06139440e-02 -1.72963455e-02 4.92081197e+02] [ 7.06193283e-02 9.97503293e-01 -3.00044050e-04 6.98545766e+00] [ 1.72743489e-02 -9.22206239e-04 9.99850362e-01 5.88668524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.855099893 meters 0.0271106665099236 Centerline is valid? [True, True] Translation: X:492.11, Y:6.99, Z:5.89 [[ 9.97296563e-01 -7.12463043e-02 -1.79869509e-02 4.92113612e+02] [ 7.12522492e-02 9.97458280e-01 -3.10944093e-04 6.98828824e+00] [ 1.79633868e-02 -9.71507235e-04 9.99838173e-01 5.88723394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.885099893 meters 0.027499121964532868 Centerline is valid? [True, True] Translation: X:492.15, Y:6.99, Z:5.89 [[ 9.97271921e-01 -7.15732928e-02 -1.80549243e-02 4.92146103e+02] [ 7.15793592e-02 9.97434859e-01 -3.10843042e-04 6.98900589e+00] [ 1.80308589e-02 -9.82364871e-04 9.99836948e-01 5.88776637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.915099893 meters 0.027499121964532868 Centerline is valid? [True, True] Translation: X:492.18, Y:6.99, Z:5.89 [[ 9.97279486e-01 -7.14677960e-02 -1.80549495e-02 4.92178683e+02] [ 7.14738717e-02 9.97442424e-01 -3.09371620e-04 6.98947380e+00] [ 1.80308827e-02 -9.81927172e-04 9.99836948e-01 5.88816906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.945099893 meters 0.027461252839453325 Centerline is valid? [True, True] Translation: X:492.21, Y:6.99, Z:5.89 [[ 9.97260097e-01 -7.16307552e-02 -1.84752238e-02 4.92211023e+02] [ 7.16371777e-02 9.97430707e-01 -3.14803618e-04 6.99160700e+00] [ 1.84503052e-02 -1.00957181e-03 9.99829269e-01 5.88836079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.975099893 meters 0.025170330893470327 Centerline is valid? [True, True] Translation: X:492.24, Y:7.00, Z:5.89 [[ 9.97264677e-01 -7.13565838e-02 -1.92717969e-02 4.92242959e+02] [ 7.13635484e-02 9.97450318e-01 -3.26965129e-04 6.99609764e+00] [ 1.92459911e-02 -1.04923304e-03 9.99814228e-01 5.88897346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.005099893 meters 0.027301421726579445 Centerline is valid? [True, True] Translation: X:492.27, Y:6.99, Z:5.89 [[ 9.97295178e-01 -7.08381616e-02 -1.96031285e-02 4.92273831e+02] [ 7.08452935e-02 9.97487260e-01 -3.31280058e-04 6.99437796e+00] [ 1.95773382e-02 -1.05840539e-03 9.99807785e-01 5.88854087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.035099893 meters 0.027108742233477368 Centerline is valid? [True, True] Translation: X:492.31, Y:7.00, Z:5.89 [[ 9.97352510e-01 -6.96629067e-02 -2.08578714e-02 4.92305680e+02] [ 6.96707523e-02 9.97569979e-01 -3.51177050e-04 6.99706396e+00] [ 2.08316503e-02 -1.10293628e-03 9.99782389e-01 5.88831754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.065099893 meters 0.029495344193563828 Centerline is valid? [True, True] Translation: X:492.34, Y:7.00, Z:5.89 [[ 9.97411189e-01 -6.88072047e-02 -2.08923025e-02 4.92336959e+02] [ 6.88149164e-02 9.97629382e-01 -3.50444140e-04 6.99537996e+00] [ 2.08668879e-02 -1.08816514e-03 9.99781671e-01 5.88803211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.095099893 meters 0.026166903649680464 Centerline is valid? [True, True] Translation: X:492.37, Y:7.00, Z:5.89 [[ 9.97473186e-01 -6.78569923e-02 -2.10397841e-02 4.92369557e+02] [ 6.78646321e-02 9.97694476e-01 -3.51506482e-04 7.00194949e+00] [ 2.10151286e-02 -1.07723892e-03 9.99778577e-01 5.88929324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.125099893 meters 0.025904603775855743 Centerline is valid? [True, True] Translation: X:492.40, Y:7.00, Z:5.89 [[ 9.97564678e-01 -6.66148698e-02 -2.06681335e-02 4.92401728e+02] [ 6.66220102e-02 9.97778227e-01 -3.43648406e-04 7.00433505e+00] [ 2.06451057e-02 -1.03414109e-03 9.99786332e-01 5.88981563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.155099893 meters 0.02462275806813544 Centerline is valid? [True, True] Translation: X:492.43, Y:7.01, Z:5.89 [[ 9.97786639e-01 -6.33387506e-02 -2.02490946e-02 4.92432812e+02] [ 6.33449510e-02 9.97991635e-01 -3.35693614e-04 7.00960393e+00] [ 2.02296894e-02 -9.47727302e-04 9.99794910e-01 5.89102703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.18509989300003 meters 0.025045929906637846 Centerline is valid? [True, True] Translation: X:492.46, Y:7.01, Z:5.89 [[ 9.97908533e-01 -6.16263732e-02 -1.95128292e-02 4.92463317e+02] [ 6.16318106e-02 9.98098901e-01 -3.23155818e-04 7.01126282e+00] [ 1.94956483e-02 -8.80131046e-04 9.99809554e-01 5.89185884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.215099893 meters 0.023817901238676956 Centerline is valid? [True, True] Translation: X:492.50, Y:7.02, Z:5.89 [[ 9.98057921e-01 -5.94499539e-02 -1.86034798e-02 4.92495096e+02] [ 5.94545306e-02 9.98230967e-01 -3.07460822e-04 7.01520242e+00] [ 1.85888482e-02 -7.99197449e-04 9.99826893e-01 5.89305307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24509989300003 meters 0.0231008653215229 Centerline is valid? [True, True] Translation: X:492.53, Y:7.02, Z:5.89 [[ 9.98187895e-01 -5.73458893e-02 -1.82311410e-02 4.92526685e+02] [ 5.73499532e-02 9.98354092e-01 -3.00267634e-04 7.01863874e+00] [ 1.82183533e-02 -7.45831565e-04 9.99833754e-01 5.89383812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.275099893 meters 0.022645492458300415 Centerline is valid? [True, True] Translation: X:492.56, Y:7.02, Z:5.89 [[ 9.98306570e-01 -5.54600713e-02 -1.75548374e-02 4.92559092e+02] [ 5.54635614e-02 9.98460670e-01 -2.88362606e-04 7.02169397e+00] [ 1.75438073e-02 -6.85779516e-04 9.99845860e-01 5.89475937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.305099893 meters 0.021903746604567013 Centerline is valid? [True, True] Translation: X:492.59, Y:7.02, Z:5.90 [[ 9.98418611e-01 -5.35341424e-02 -1.71573132e-02 4.92591335e+02] [ 5.35372121e-02 9.98565816e-01 -2.80678650e-04 7.02485285e+00] [ 1.71477323e-02 -6.38319927e-04 9.99852763e-01 5.89560260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.335099893 meters 0.019169335858845064 Centerline is valid? [True, True] Translation: X:492.62, Y:7.03, Z:5.90 [[ 9.98592651e-01 -5.01665508e-02 -1.72056492e-02 4.92622308e+02] [ 5.01691560e-02 9.98740696e-01 -2.80450225e-04 7.03206052e+00] [ 1.71980513e-02 -5.83137365e-04 9.99851933e-01 5.89588404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.365099893 meters 0.02077418328742961 Centerline is valid? [True, True] Translation: X:492.65, Y:7.03, Z:5.90 [[ 9.98681557e-01 -4.82593825e-02 -1.74979953e-02 4.92653545e+02] [ 4.82618047e-02 9.98834680e-01 -2.84063319e-04 7.03091505e+00] [ 1.74913132e-02 -5.60796034e-04 9.99846858e-01 5.89512033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.395099893 meters 0.01834849709593168 Centerline is valid? [True, True] Translation: X:492.69, Y:7.04, Z:5.90 [[ 9.98755381e-01 -4.64842231e-02 -1.80805316e-02 4.92685681e+02] [ 4.64865578e-02 9.98918873e-01 -2.91365171e-04 7.03637586e+00] [ 1.80745281e-02 -5.49499144e-04 9.99836491e-01 5.89537486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.425099893 meters 0.019774356582445682 Centerline is valid? [True, True] Translation: X:492.72, Y:7.04, Z:5.89 [[ 9.98849808e-01 -4.42220665e-02 -1.85329300e-02 4.92717196e+02] [ 4.42241528e-02 9.99021589e-01 -2.97446669e-04 7.03542029e+00] [ 1.85279509e-02 -5.22498582e-04 9.99828206e-01 5.89428744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.455099893 meters 0.018156013438142934 Centerline is valid? [True, True] Translation: X:492.75, Y:7.04, Z:5.89 [[ 9.99036043e-01 -3.94103138e-02 -1.93341969e-02 4.92747616e+02] [ 3.94116992e-02 9.99223009e-01 -3.09519407e-04 7.04094513e+00] [ 1.93313727e-02 -4.52772508e-04 9.99813029e-01 5.89376844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.485099893 meters 0.015442258757723074 Centerline is valid? [True, True] Translation: X:492.78, Y:7.05, Z:5.90 [[ 9.99139189e-01 -3.64658983e-02 -1.97767312e-02 4.92778820e+02] [ 3.64667807e-02 9.99334816e-01 -3.16135771e-04 7.04838398e+00] [ 1.97751043e-02 -4.05330083e-04 9.99804371e-01 5.89536956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.515099893 meters 0.016193791009813725 Centerline is valid? [True, True] Translation: X:492.81, Y:7.05, Z:5.89 [[ 9.99239098e-01 -3.33179285e-02 -2.02766032e-02 4.92808789e+02] [ 3.33182281e-02 9.99444741e-01 -3.23142544e-04 7.04895329e+00] [ 2.02761109e-02 -3.52683827e-04 9.99794356e-01 5.89439258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.545099893 meters 0.01391392368430548 Centerline is valid? [True, True] Translation: X:492.84, Y:7.06, Z:5.90 [[ 9.99332728e-01 -3.01535991e-02 -2.06121069e-02 4.92839523e+02] [ 3.01532535e-02 9.99545234e-01 -3.27633226e-04 7.05639524e+00] [ 2.06126125e-02 -2.94107479e-04 9.99787494e-01 5.89665144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.575099893 meters 0.013480407987221634 Centerline is valid? [True, True] Translation: X:492.87, Y:7.06, Z:5.90 [[ 9.99415171e-01 -2.71370564e-02 -2.08061440e-02 4.92869678e+02] [ 2.71360507e-02 9.99631695e-01 -3.30717480e-04 7.05951010e+00] [ 2.08074556e-02 -2.34072509e-04 9.99783474e-01 5.89741976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.605099893 meters 0.013132354543946527 Centerline is valid? [True, True] Translation: X:492.90, Y:7.06, Z:5.90 [[ 9.99485042e-01 -2.43441093e-02 -2.09049052e-02 4.92898840e+02] [ 2.43424767e-02 9.99703623e-01 -3.32598325e-04 7.06220894e+00] [ 2.09068063e-02 -1.76450117e-04 9.99781413e-01 5.89780188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.635099893 meters 0.012978699420793497 Centerline is valid? [True, True] Translation: X:492.93, Y:7.07, Z:5.90 [[ 9.99601823e-01 -1.93389705e-02 -2.05475049e-02 4.92927016e+02] [ 1.93363176e-02 9.99812982e-01 -3.27797525e-04 7.06658911e+00] [ 2.05500014e-02 -6.96460767e-05 9.99788824e-01 5.89815514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.665099893 meters 0.012898607135876374 Centerline is valid? [True, True] Translation: X:492.95, Y:7.07, Z:5.90 [[ 9.99629475e-01 -1.74960740e-02 -2.08518405e-02 4.92954518e+02] [ 1.74928762e-02 9.99846932e-01 -3.35761265e-04 7.06880566e+00] [ 2.08545232e-02 -2.91218076e-05 9.99782520e-01 5.89859074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.695099893 meters 0.012927234357423911 Centerline is valid? [True, True] Translation: X:492.98, Y:7.07, Z:5.90 [[ 9.99661882e-01 -1.59226149e-02 -2.05570399e-02 4.92982102e+02] [ 1.59190546e-02 9.99873227e-01 -3.36829065e-04 7.07068549e+00] [ 2.05597970e-02 9.46653586e-06 9.99788625e-01 5.89873167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.725099893 meters 0.012928655552502404 Centerline is valid? [True, True] Translation: X:493.01, Y:7.07, Z:5.90 [[ 9.99678056e-01 -1.48079515e-02 -2.06036021e-02 4.93009314e+02] [ 1.48040450e-02 9.99890356e-01 -3.42122738e-04 7.07241650e+00] [ 2.06064091e-02 3.69959409e-05 9.99787665e-01 5.89913045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.755099893 meters 0.012957759556866587 Centerline is valid? [True, True] Translation: X:493.04, Y:7.07, Z:5.90 [[ 9.99674354e-01 -1.40246632e-02 -2.13189024e-02 4.93037587e+02] [ 1.40202205e-02 9.99901648e-01 -3.57853257e-04 7.07462573e+00] [ 2.13218244e-02 5.88410114e-05 9.99772662e-01 5.90028191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.785099893 meters 0.013001394729827498 Centerline is valid? [True, True] Translation: X:493.06, Y:7.08, Z:5.90 [[ 9.99661903e-01 -1.46377024e-02 -2.14899195e-02 4.93064464e+02] [ 1.46332223e-02 9.99892862e-01 -3.65718140e-04 7.07561594e+00] [ 2.14929704e-02 5.11277235e-05 9.99768998e-01 5.89998804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.815099893 meters 0.012985386175657336 Centerline is valid? [True, True] Translation: X:493.09, Y:7.08, Z:5.90 [[ 9.99642614e-01 -1.54985534e-02 -2.17816149e-02 4.93091425e+02] [ 1.54940761e-02 9.99879890e-01 -3.74314026e-04 7.07568258e+00] [ 2.17848000e-02 3.66942534e-05 9.99762682e-01 5.90019735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.845099893 meters 0.012936140748714632 Centerline is valid? [True, True] Translation: X:493.12, Y:7.08, Z:5.90 [[ 9.99602528e-01 -1.73024617e-02 -2.22578151e-02 4.93119086e+02] [ 1.72981388e-02 9.99850301e-01 -3.86753740e-04 7.07504603e+00] [ 2.22611750e-02 1.58124076e-06 9.99752189e-01 5.90096991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.875099893 meters 0.012968145619146077 Centerline is valid? [True, True] Translation: X:493.15, Y:7.07, Z:5.90 [[ 9.99500116e-01 -2.20661498e-02 -2.26407260e-02 4.93147347e+02] [ 2.20627999e-02 9.99756508e-01 -3.97770498e-04 7.07202313e+00] [ 2.26439904e-02 -1.01946148e-04 9.99743587e-01 5.90183561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.905099893 meters 0.013083826684202283 Centerline is valid? [True, True] Translation: X:493.18, Y:7.07, Z:5.90 [[ 9.99425649e-01 -2.53696538e-02 -2.24667231e-02 4.93175666e+02] [ 2.53671459e-02 9.99678123e-01 -3.96661414e-04 7.07067957e+00] [ 2.24695547e-02 -1.73483051e-04 9.99747513e-01 5.90311748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.93509989300003 meters 0.013714327301837416 Centerline is valid? [True, True] Translation: X:493.20, Y:7.07, Z:5.90 [[ 9.99331587e-01 -2.86204150e-02 -2.27431753e-02 4.93203896e+02] [ 2.86186307e-02 9.99590321e-01 -4.03997276e-04 7.06767996e+00] [ 2.27454205e-02 -2.47151296e-04 9.99741259e-01 5.90259144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.965099893 meters 0.013817423972205723 Centerline is valid? [True, True] Translation: X:493.23, Y:7.07, Z:5.90 [[ 9.99227386e-01 -3.22234069e-02 -2.25007370e-02 4.93233125e+02] [ 3.22225257e-02 9.99480639e-01 -4.01817556e-04 7.06641816e+00] [ 2.25019989e-02 -3.23523469e-04 9.99746746e-01 5.90387351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.99509989300003 meters 0.014387013405244559 Centerline is valid? [True, True] Translation: X:493.26, Y:7.06, Z:5.90 [[ 9.99117496e-01 -3.55725453e-02 -2.23343725e-02 4.93263799e+02] [ 3.55724989e-02 9.99367019e-01 -3.99498032e-04 7.06439924e+00] [ 2.23344464e-02 -3.95343966e-04 9.99750477e-01 5.90419564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.025099893 meters 0.015914020296765946 Centerline is valid? [True, True] Translation: X:493.29, Y:7.06, Z:5.90 [[ 9.98905461e-01 -4.15606979e-02 -2.14613328e-02 4.93294453e+02] [ 4.15620394e-02 9.99135851e-01 -3.83721257e-04 7.05925348e+00] [ 2.14587348e-02 -5.08675502e-04 9.99769605e-01 5.90442538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.055099893 meters 0.01633187559251102 Centerline is valid? [True, True] Translation: X:493.33, Y:7.06, Z:5.91 [[ 9.98796591e-01 -4.42570756e-02 -2.11348275e-02 4.93326650e+02] [ 4.42589975e-02 9.99020019e-01 -3.77040883e-04 7.05773381e+00] [ 2.11308025e-02 -5.58819129e-04 9.99776563e-01 5.90505075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.085099893 meters 0.017080006980433438 Centerline is valid? [True, True] Translation: X:493.36, Y:7.06, Z:5.91 [[ 9.98706372e-01 -4.65392500e-02 -2.04861255e-02 4.93359110e+02] [ 4.65415647e-02 9.98916288e-01 -3.64031192e-04 7.05600374e+00] [ 2.04808662e-02 -5.89896064e-04 9.99790071e-01 5.90539374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.115099893 meters 0.018164826016862725 Centerline is valid? [True, True] Translation: X:493.39, Y:7.05, Z:5.91 [[ 9.98605403e-01 -4.85181904e-02 -2.08142607e-02 4.93389918e+02] [ 4.85210343e-02 9.98822093e-01 -3.68665647e-04 7.05391145e+00] [ 2.08076305e-02 -6.41777952e-04 9.99783292e-01 5.90542281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.145099893 meters 0.018199577636622877 Centerline is valid? [True, True] Translation: X:493.42, Y:7.05, Z:5.91 [[ 9.98514959e-01 -5.02362319e-02 -2.10759886e-02 4.93421658e+02] [ 5.02395492e-02 9.98737127e-01 -3.72389996e-04 7.05385701e+00] [ 2.10680798e-02 -6.87011186e-04 9.99777807e-01 5.90587347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.175099893 meters 0.020081814886143926 Centerline is valid? [True, True] Translation: X:493.45, Y:7.05, Z:5.91 [[ 9.98337379e-01 -5.37000780e-02 -2.09470748e-02 4.93451743e+02] [ 5.37041299e-02 9.98556824e-01 -3.69454200e-04 7.05089478e+00] [ 2.09366842e-02 -7.56104489e-04 9.99780518e-01 5.90565803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.205099893 meters 0.02001718638091857 Centerline is valid? [True, True] Translation: X:493.48, Y:7.05, Z:5.91 [[ 9.98236323e-01 -5.54927946e-02 -2.10901077e-02 4.93483858e+02] [ 5.54973147e-02 9.98458767e-01 -3.71354377e-04 7.05132223e+00] [ 2.10782105e-02 -7.99744919e-04 9.99777510e-01 5.90608884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.235099893 meters 0.020156974148907627 Centerline is valid? [True, True] Translation: X:493.52, Y:7.05, Z:5.91 [[ 9.98143127e-01 -5.72227953e-02 -2.08770257e-02 4.93516408e+02] [ 5.72276333e-02 9.98361089e-01 -3.66115389e-04 7.05121757e+00] [ 2.08637603e-02 -8.29307214e-04 9.99781984e-01 5.90644309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.265099893 meters 0.019807077066905918 Centerline is valid? [True, True] Translation: X:493.55, Y:7.05, Z:5.91 [[ 9.98052182e-01 -5.87424278e-02 -2.10040080e-02 4.93548688e+02] [ 5.87476929e-02 9.98272795e-01 -3.66811012e-04 7.05155130e+00] [ 2.09892772e-02 -8.67840481e-04 9.99779324e-01 5.90655560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.295099893 meters 0.021797379103693563 Centerline is valid? [True, True] Translation: X:493.58, Y:7.05, Z:5.91 [[ 9.97848644e-01 -6.20530457e-02 -2.11542725e-02 4.93578941e+02] [ 6.20591515e-02 9.98072405e-01 -3.68361738e-04 7.04803111e+00] [ 2.11363536e-02 -9.45246938e-04 9.99776155e-01 5.90532808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.325099893 meters 0.022729280529896697 Centerline is valid? [True, True] Translation: X:493.61, Y:7.05, Z:5.91 [[ 9.97761411e-01 -6.33287907e-02 -2.14856064e-02 4.93611277e+02] [ 6.33354034e-02 9.97992228e-01 -3.73249973e-04 7.04712082e+00] [ 2.14661057e-02 -9.88385130e-04 9.99769088e-01 5.90518651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.355099893 meters 0.023523146414043246 Centerline is valid? [True, True] Translation: X:493.64, Y:7.05, Z:5.90 [[ 9.97683319e-01 -6.45159954e-02 -2.15796686e-02 4.93643655e+02] [ 6.45229766e-02 9.97916152e-01 -3.73335990e-04 7.04680948e+00] [ 2.15587860e-02 -1.01991336e-03 9.99767062e-01 5.90483365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.385099893 meters 0.023339156565170206 Centerline is valid? [True, True] Translation: X:493.68, Y:7.05, Z:5.91 [[ 9.97607951e-01 -6.54954451e-02 -2.21070797e-02 4.93675351e+02] [ 6.55030434e-02 9.97852297e-01 -3.81028529e-04 7.04822725e+00] [ 2.20845558e-02 -1.06796391e-03 9.99755536e-01 5.90520645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.415099893 meters 0.024292684857532196 Centerline is valid? [True, True] Translation: X:493.71, Y:7.05, Z:5.91 [[ 9.97541814e-01 -6.64470311e-02 -2.22513212e-02 4.93707674e+02] [ 6.64549957e-02 9.97789350e-01 -3.82137078e-04 7.04821816e+00] [ 2.22275232e-02 -1.09751374e-03 9.99752336e-01 5.90541813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.445099893 meters 0.024551592242446768 Centerline is valid? [True, True] Translation: X:493.74, Y:7.05, Z:5.91 [[ 9.97498139e-01 -6.71392372e-02 -2.21310928e-02 4.93739387e+02] [ 6.71473168e-02 9.97743000e-01 -3.78671932e-04 7.04922814e+00] [ 2.21065667e-02 -1.10831895e-03 9.99755006e-01 5.90598052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.475099893 meters 0.025563126515184966 Centerline is valid? [True, True] Translation: X:493.77, Y:7.05, Z:5.91 [[ 9.97474631e-01 -6.76273393e-02 -2.17003035e-02 4.93770133e+02] [ 6.76352473e-02 9.97710046e-01 -3.70154195e-04 7.05012710e+00] [ 2.16756434e-02 -1.09848598e-03 9.99764452e-01 5.90629167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.505099893 meters 0.026046437048108877 Centerline is valid? [True, True] Translation: X:493.80, Y:7.05, Z:5.91 [[ 9.97473311e-01 -6.77468732e-02 -2.13858483e-02 4.93801861e+02] [ 6.77546083e-02 9.97701950e-01 -3.63509275e-04 7.05112876e+00] [ 2.13613291e-02 -1.08639897e-03 9.99771231e-01 5.90676268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.535099893 meters 0.026843397172040123 Centerline is valid? [True, True] Translation: X:493.83, Y:7.05, Z:5.91 [[ 9.97443501e-01 -6.83016672e-02 -2.10082036e-02 4.93833329e+02] [ 6.83092816e-02 9.97664130e-01 -3.55784925e-04 7.05285980e+00] [ 2.09834319e-02 -1.08017994e-03 9.99779240e-01 5.90745393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.565099893 meters 0.027538041089623357 Centerline is valid? [True, True] Translation: X:493.86, Y:7.05, Z:5.91 [[ 9.97485532e-01 -6.78926482e-02 -2.03273475e-02 4.93864356e+02] [ 6.78997132e-02 9.97692092e-01 -3.43214898e-04 7.05350837e+00] [ 2.03037356e-02 -1.03786917e-03 9.99793319e-01 5.90780642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.595099893 meters 0.02717646973721277 Centerline is valid? [True, True] Translation: X:493.90, Y:7.06, Z:5.91 [[ 9.97519760e-01 -6.76262142e-02 -1.95198486e-02 4.93896433e+02] [ 6.76326997e-02 9.97710234e-01 -3.28470903e-04 7.05589522e+00] [ 1.94973659e-02 -9.92523839e-04 9.99809416e-01 5.90875002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.625099893 meters 0.027408757947125877 Centerline is valid? [True, True] Translation: X:493.93, Y:7.06, Z:5.91 [[ 9.97561649e-01 -6.71640669e-02 -1.89669327e-02 4.93928708e+02] [ 6.71701310e-02 9.97741486e-01 -3.17883154e-04 7.05736021e+00] [ 1.89454459e-02 -9.56903308e-04 9.99820061e-01 5.90954884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.655099893 meters 0.027984768058626718 Centerline is valid? [True, True] Translation: X:493.96, Y:7.06, Z:5.91 [[ 9.97658956e-01 -6.61454788e-02 -1.73603945e-02 4.93959982e+02] [ 6.61504229e-02 9.97809620e-01 -2.89925170e-04 7.05944164e+00] [ 1.73415459e-02 -8.59150998e-04 9.99849255e-01 5.91055775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.68509989300003 meters 0.027984768058626718 Centerline is valid? [True, True] Translation: X:493.99, Y:7.06, Z:5.91 [[ 9.97665705e-01 -6.60435961e-02 -1.73604135e-02 4.93992557e+02] [ 6.60485446e-02 9.97816369e-01 -2.88782354e-04 7.05988823e+00] [ 1.73415770e-02 -8.58521798e-04 9.99849255e-01 5.91096042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.715099893 meters 0.0233351970031631 Centerline is valid? [True, True] Translation: X:494.02, Y:7.07, Z:5.91 [[ 9.97704966e-01 -6.56193677e-02 -1.67002603e-02 4.94024871e+02] [ 6.56239132e-02 9.97844390e-01 -2.76271259e-04 7.06947825e+00] [ 1.66823898e-02 -8.20299227e-04 9.99860503e-01 5.91269878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74509989300003 meters 0.025210935446226032 Centerline is valid? [True, True] Translation: X:494.06, Y:7.07, Z:5.91 [[ 9.97733234e-01 -6.52105794e-02 -1.66124909e-02 4.94055685e+02] [ 6.52150393e-02 9.97871196e-01 -2.73696550e-04 7.06833627e+00] [ 1.65949741e-02 -8.10308104e-04 9.99861966e-01 5.91283090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.775099893 meters 0.023666114783730388 Centerline is valid? [True, True] Translation: X:494.09, Y:7.07, Z:5.91 [[ 9.97742701e-01 -6.50221216e-02 -1.67817004e-02 4.94088962e+02] [ 6.50266656e-02 9.97883489e-01 -2.75331849e-04 7.07205032e+00] [ 1.67640844e-02 -8.16547675e-04 9.99859139e-01 5.91330628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.805099893 meters 0.023666114783730388 Centerline is valid? [True, True] Translation: X:494.12, Y:7.07, Z:5.91 [[ 9.97749729e-01 -6.49141898e-02 -1.67817300e-02 4.94121539e+02] [ 6.49187490e-02 9.97890516e-01 -2.73517855e-04 7.07249422e+00] [ 1.67640844e-02 -8.16546550e-04 9.99859139e-01 5.91370873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.835099893 meters 0.02270154822044071 Centerline is valid? [True, True] Translation: X:494.15, Y:7.08, Z:5.91 [[ 9.97755429e-01 -6.48574198e-02 -1.66619080e-02 4.94154522e+02] [ 6.48619362e-02 9.97894211e-01 -2.69763780e-04 7.07543925e+00] [ 1.66443178e-02 -8.11565340e-04 9.99861144e-01 5.91428044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.865099893 meters 0.02596367344234208 Centerline is valid? [True, True] Translation: X:494.19, Y:7.07, Z:5.91 [[ 9.97695225e-01 -6.55431467e-02 -1.75594186e-02 4.94185201e+02] [ 6.55482974e-02 9.97849358e-01 -2.82671408e-04 7.07300710e+00] [ 1.75401818e-02 -8.68970081e-04 9.99845782e-01 5.91366079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.895099893 meters 0.025427180193942956 Centerline is valid? [True, True] Translation: X:494.22, Y:7.08, Z:5.91 [[ 9.97661956e-01 -6.58518460e-02 -1.82799435e-02 4.94217834e+02] [ 6.58574960e-02 9.97828995e-01 -2.93384684e-04 7.07522408e+00] [ 1.82595776e-02 -9.11172572e-04 9.99832865e-01 5.91364029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.925099893 meters 0.024435761659410346 Centerline is valid? [True, True] Translation: X:494.25, Y:7.08, Z:5.91 [[ 9.97659413e-01 -6.57708686e-02 -1.87052837e-02 4.94250608e+02] [ 6.57767999e-02 9.97834317e-01 -2.98637782e-04 7.07744877e+00] [ 1.86844157e-02 -9.32434910e-04 9.99824996e-01 5.91376363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.955099893 meters 0.023899819200749062 Centerline is valid? [True, True] Translation: X:494.28, Y:7.08, Z:5.91 [[ 9.97662187e-01 -6.57140431e-02 -1.87569841e-02 4.94283486e+02] [ 6.57200353e-02 9.97838057e-01 -2.97435294e-04 7.07913025e+00] [ 1.87359783e-02 -9.35969711e-04 9.99824028e-01 5.91393752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.985099893 meters 0.025037784766903742 Centerline is valid? [True, True] Translation: X:494.31, Y:7.08, Z:5.91 [[ 9.97734537e-01 -6.46369445e-02 -1.86509759e-02 4.94314691e+02] [ 6.46427125e-02 9.97908429e-01 -2.94081658e-04 7.07901803e+00] [ 1.86309746e-02 -9.12234245e-04 9.99826012e-01 5.91367250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.015099893 meters 0.02349842282365809 Centerline is valid? [True, True] Translation: X:494.35, Y:7.08, Z:5.91 [[ 9.97800945e-01 -6.36364955e-02 -1.85383568e-02 4.94347369e+02] [ 6.36420443e-02 9.97972748e-01 -2.91091066e-04 7.08232678e+00] [ 1.85192989e-02 -8.89367984e-04 9.99828108e-01 5.91462432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.045099893 meters 0.023997489611310936 Centerline is valid? [True, True] Translation: X:494.38, Y:7.08, Z:5.91 [[ 9.97891652e-01 -6.23160983e-02 -1.81370985e-02 4.94379041e+02] [ 6.23212189e-02 9.98056103e-01 -2.83295227e-04 7.08296660e+00] [ 1.81194957e-02 -8.47628146e-04 9.99835469e-01 5.91497927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.075099893 meters 0.02336827213533082 Centerline is valid? [True, True] Translation: X:494.41, Y:7.08, Z:5.92 [[ 9.97985551e-01 -6.09593324e-02 -1.75726763e-02 4.94410935e+02] [ 6.09639507e-02 9.98139931e-01 -2.73258557e-04 7.08476281e+00] [ 1.75566476e-02 -7.98591680e-04 9.99845551e-01 5.91601069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.105099893 meters 0.02233818863981681 Centerline is valid? [True, True] Translation: X:494.44, Y:7.09, Z:5.92 [[ 9.98064953e-01 -5.97712716e-02 -1.71389656e-02 4.94443185e+02] [ 5.97755104e-02 9.98211810e-01 -2.65316116e-04 7.08739389e+00] [ 1.71241761e-02 -7.59687699e-04 9.99853082e-01 5.91677199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.135099893 meters 0.022436596722384083 Centerline is valid? [True, True] Translation: X:494.47, Y:7.09, Z:5.92 [[ 9.98112650e-01 -5.90417350e-02 -1.68882113e-02 4.94474366e+02] [ 5.90457652e-02 9.98255243e-01 -2.60315018e-04 7.08801339e+00] [ 1.68741150e-02 -7.37353650e-04 9.99857350e-01 5.91737109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.165099893 meters 0.02290484998729878 Centerline is valid? [True, True] Translation: X:494.51, Y:7.09, Z:5.92 [[ 9.98099526e-01 -5.92596547e-02 -1.69005793e-02 4.94506447e+02] [ 5.92637388e-02 9.98242326e-01 -2.59519646e-04 7.08753436e+00] [ 1.68862526e-02 -7.42565080e-04 9.99857141e-01 5.91753459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.195099893 meters 0.02312480133811343 Centerline is valid? [True, True] Translation: X:494.54, Y:7.09, Z:5.92 [[ 9.98087376e-01 -5.94532548e-02 -1.69381597e-02 4.94538258e+02] [ 5.94574051e-02 9.98230810e-01 -2.58896785e-04 7.08703521e+00] [ 1.69235851e-02 -7.48697407e-04 9.99856506e-01 5.91757591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.225099893 meters 0.025624847903628237 Centerline is valid? [True, True] Translation: X:494.57, Y:7.08, Z:5.92 [[ 9.98030772e-01 -6.02452242e-02 -1.74668413e-02 4.94569949e+02] [ 6.02497791e-02 9.98183297e-01 -2.65809542e-04 7.08208234e+00] [ 1.74511230e-02 -7.87087229e-04 9.99847408e-01 5.91648069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.255099893 meters 0.02378230137969417 Centerline is valid? [True, True] Translation: X:494.60, Y:7.08, Z:5.92 [[ 9.97967572e-01 -6.12853520e-02 -1.74594001e-02 4.94601852e+02] [ 6.12900795e-02 9.98119961e-01 -2.64687395e-04 7.08418667e+00] [ 1.74427972e-02 -8.05938583e-04 9.99847538e-01 5.91720827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.285099893 meters 0.025346457219534047 Centerline is valid? [True, True] Translation: X:494.63, Y:7.08, Z:5.92 [[ 9.97907366e-01 -6.20969193e-02 -1.80239410e-02 4.94633013e+02] [ 6.21021191e-02 9.98069764e-01 -2.71612991e-04 7.08139958e+00] [ 1.80060168e-02 -8.48280325e-04 9.99837519e-01 5.91722666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.315099893 meters 0.023737951616971946 Centerline is valid? [True, True] Translation: X:494.67, Y:7.08, Z:5.92 [[ 9.97851243e-01 -6.29417002e-02 -1.81999937e-02 4.94665390e+02] [ 6.29471792e-02 9.98016823e-01 -2.72234471e-04 7.08333129e+00] [ 1.81810348e-02 -8.73988761e-04 9.99834329e-01 5.91782041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.345099893 meters 0.02302166191969634 Centerline is valid? [True, True] Translation: X:494.70, Y:7.08, Z:5.92 [[ 9.97761862e-01 -6.42764283e-02 -1.84338923e-02 4.94697924e+02] [ 6.42823010e-02 9.97931716e-01 -2.74392208e-04 7.08410091e+00] [ 1.84134027e-02 -9.11194931e-04 9.99830044e-01 5.91866674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.375099893 meters 0.0245522034017381 Centerline is valid? [True, True] Translation: X:494.73, Y:7.08, Z:5.92 [[ 9.97689257e-01 -6.52365915e-02 -1.89824791e-02 4.94729444e+02] [ 6.52430169e-02 9.97869365e-01 -2.81265160e-04 7.08125177e+00] [ 1.89603832e-02 -9.57858977e-04 9.99819777e-01 5.91888407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.405099893 meters 0.026297886988794768 Centerline is valid? [True, True] Translation: X:494.76, Y:7.08, Z:5.92 [[ 9.97614643e-01 -6.62561066e-02 -1.93688415e-02 4.94760458e+02] [ 6.62630085e-02 9.97802151e-01 -2.85926527e-04 7.07786207e+00] [ 1.93452161e-02 -9.98193217e-04 9.99812366e-01 5.91865037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.43509989300003 meters 0.024846012439650574 Centerline is valid? [True, True] Translation: X:494.79, Y:7.08, Z:5.92 [[ 9.97459785e-01 -6.85782934e-02 -1.92612302e-02 4.94792044e+02] [ 6.85855679e-02 9.97645197e-01 -2.83429665e-04 7.07791869e+00] [ 1.92353109e-02 -1.03833272e-03 9.99814445e-01 5.91945517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.465099893 meters 0.02644569101063292 Centerline is valid? [True, True] Translation: X:494.82, Y:7.08, Z:5.92 [[ 9.97382329e-01 -6.97528607e-02 -1.90533243e-02 4.94823022e+02] [ 6.97602080e-02 9.97563750e-01 -2.79561611e-04 7.07505951e+00] [ 1.90264059e-02 -1.05033406e-03 9.99818430e-01 5.91996160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.49509989300003 meters 0.026282795439086057 Centerline is valid? [True, True] Translation: X:494.85, Y:7.07, Z:5.92 [[ 9.97315530e-01 -7.07196767e-02 -1.89857863e-02 4.94854659e+02] [ 7.07271661e-02 9.97495660e-01 -2.77541357e-04 7.07484122e+00] [ 1.89578670e-02 -1.06601455e-03 9.99819715e-01 5.92068447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.525099893 meters 0.027721373578480132 Centerline is valid? [True, True] Translation: X:494.89, Y:7.07, Z:5.92 [[ 9.97227603e-01 -7.20471057e-02 -1.86097168e-02 4.94885509e+02] [ 7.20545584e-02 9.97400655e-01 -2.70601196e-04 7.07161215e+00] [ 1.85808398e-02 -1.07106395e-03 9.99826788e-01 5.92191880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.555099893 meters 0.02774809739834639 Centerline is valid? [True, True] Translation: X:494.92, Y:7.07, Z:5.92 [[ 9.97197644e-01 -7.26629461e-02 -1.78032285e-02 4.94917657e+02] [ 7.26698978e-02 9.97356015e-01 -2.56998815e-04 7.07111565e+00] [ 1.77748313e-02 -1.03748018e-03 9.99841477e-01 5.92281155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.585099893 meters 0.028701990588120226 Centerline is valid? [True, True] Translation: X:494.95, Y:7.07, Z:5.92 [[ 9.97181915e-01 -7.29067441e-02 -1.76871215e-02 4.94948662e+02] [ 7.29136643e-02 9.97338224e-01 -2.54156256e-04 7.06891535e+00] [ 1.76585721e-02 -1.03619282e-03 9.99843538e-01 5.92362892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.615099893 meters 0.029061479913535988 Centerline is valid? [True, True] Translation: X:494.98, Y:7.07, Z:5.92 [[ 9.97166477e-01 -7.32384700e-02 -1.71797589e-02 4.94980461e+02] [ 7.32450647e-02 9.97313943e-01 -2.45881574e-04 7.06753502e+00] [ 1.71516210e-02 -1.01314769e-03 9.99852387e-01 5.92426861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.645099893 meters 0.029366927730614632 Centerline is valid? [True, True] Translation: X:495.01, Y:7.07, Z:5.92 [[ 9.97158687e-01 -7.34323935e-02 -1.67998986e-02 4.95012592e+02] [ 7.34387468e-02 9.97299701e-01 -2.39272905e-04 7.06590638e+00] [ 1.67721042e-02 -9.95170442e-04 9.99858843e-01 5.92490581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.675099893 meters 0.030034908572269786 Centerline is valid? [True, True] Translation: X:495.04, Y:7.06, Z:5.93 [[ 9.97143838e-01 -7.36664453e-02 -1.66559567e-02 4.95044545e+02] [ 7.36727421e-02 9.97282443e-01 -2.36052159e-04 7.06371078e+00] [ 1.66280823e-02 -9.91712047e-04 9.99861252e-01 5.92520355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.705099893 meters 0.031002956969774908 Centerline is valid? [True, True] Translation: X:495.08, Y:7.06, Z:5.93 [[ 9.97036566e-01 -7.50143119e-02 -1.70569220e-02 4.95076785e+02] [ 7.50211330e-02 9.97181915e-01 -2.40513606e-04 7.05983561e+00] [ 1.70268961e-02 -1.03982876e-03 9.99854491e-01 5.92508007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.735099893 meters 0.030535000270755504 Centerline is valid? [True, True] Translation: X:495.11, Y:7.06, Z:5.92 [[ 9.96966926e-01 -7.58608508e-02 -1.73804532e-02 4.95109083e+02] [ 7.58680827e-02 9.97117834e-01 -2.43835884e-04 7.05925505e+00] [ 1.73488575e-02 -1.07552535e-03 9.99848919e-01 5.92473334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.765099893 meters 0.03195620413612544 Centerline is valid? [True, True] Translation: X:495.14, Y:7.06, Z:5.92 [[ 9.96924827e-01 -7.62607774e-02 -1.80328444e-02 4.95140284e+02] [ 7.62686495e-02 9.97087273e-01 -2.51780576e-04 7.05624578e+00] [ 1.79995206e-02 -1.12433438e-03 9.99837363e-01 5.92434955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.795099893 meters 0.030616163104852837 Centerline is valid? [True, True] Translation: X:495.17, Y:7.06, Z:5.92 [[ 9.96889733e-01 -7.66054754e-02 -1.85057173e-02 4.95172573e+02] [ 7.66138455e-02 9.97060807e-01 -2.57277388e-04 7.05683888e+00] [ 1.84710343e-02 -1.16131698e-03 9.99828721e-01 5.92415246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.825099893 meters 0.029682727488124033 Centerline is valid? [True, True] Translation: X:495.20, Y:7.06, Z:5.92 [[ 9.96844429e-01 -7.69791019e-02 -1.93752881e-02 4.95204551e+02] [ 7.69883752e-02 9.97031955e-01 -2.67941675e-04 7.05531679e+00] [ 1.93384073e-02 -1.22457579e-03 9.99812246e-01 5.92371481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.855099893 meters 0.03240445250664334 Centerline is valid? [True, True] Translation: X:495.24, Y:7.05, Z:5.92 [[ 9.96879771e-01 -7.65251438e-02 -1.93552301e-02 4.95236299e+02] [ 7.65343395e-02 9.97066910e-01 -2.66277603e-04 7.05058687e+00] [ 1.93188364e-02 -1.21589300e-03 9.99812635e-01 5.92347421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.885099893 meters 0.03277784225325147 Centerline is valid? [True, True] Translation: X:495.27, Y:7.05, Z:5.92 [[ 9.96932594e-01 -7.58442251e-02 -1.93146463e-02 4.95267391e+02] [ 7.58532790e-02 9.97118955e-01 -2.64475917e-04 7.04930241e+00] [ 1.92790589e-02 -1.20141459e-03 9.99813420e-01 5.92379737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.915099893 meters 0.029506023289096146 Centerline is valid? [True, True] Translation: X:495.30, Y:7.05, Z:5.92 [[ 9.97005099e-01 -7.49596363e-02 -1.90233103e-02 4.95299463e+02] [ 7.49682797e-02 9.97185885e-01 -2.59373762e-04 7.05298941e+00] [ 1.89892191e-02 -1.16754789e-03 9.99819007e-01 5.92480299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.945099893 meters 0.027911890461752478 Centerline is valid? [True, True] Translation: X:495.33, Y:7.05, Z:5.93 [[ 9.97138965e-01 -7.32210056e-02 -1.87768187e-02 4.95331394e+02] [ 7.32291421e-02 9.97315110e-01 -2.54793862e-04 7.05354679e+00] [ 1.87450612e-02 -1.12094544e-03 9.99823668e-01 5.92582393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.975099893 meters 0.02972697108073702 Centerline is valid? [True, True] Translation: X:495.36, Y:7.05, Z:5.93 [[ 9.97196482e-01 -7.24348264e-02 -1.87715824e-02 4.95362725e+02] [ 7.24428386e-02 9.97372534e-01 -2.53708791e-04 7.05067289e+00] [ 1.87406380e-02 -1.10686920e-03 9.99823766e-01 5.92592248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.005099893 meters 0.02933963327218763 Centerline is valid? [True, True] Translation: X:495.39, Y:7.05, Z:5.93 [[ 9.97246560e-01 -7.16325048e-02 -1.91854995e-02 4.95394507e+02] [ 7.16407486e-02 9.97430467e-01 -2.58144317e-04 7.05064338e+00] [ 1.91546933e-02 -1.11703002e-03 9.99815908e-01 5.92613711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.035099893 meters 0.0280418989649255 Centerline is valid? [True, True] Translation: X:495.43, Y:7.05, Z:5.93 [[ 9.97289369e-01 -7.09229535e-02 -1.95920560e-02 4.95427195e+02] [ 7.09314441e-02 9.97481158e-01 -2.62083210e-04 7.05165480e+00] [ 1.95612944e-02 -1.12832002e-03 9.99808023e-01 5.92625803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.065099893 meters 0.026724471308790104 Centerline is valid? [True, True] Translation: X:495.46, Y:7.05, Z:5.93 [[ 9.97336804e-01 -7.01989966e-02 -1.97838206e-02 4.95459060e+02] [ 7.02075448e-02 9.97532371e-01 -2.63002157e-04 7.05239973e+00] [ 1.97534639e-02 -1.12667174e-03 9.99804246e-01 5.92674906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.095099893 meters 0.027526737743704094 Centerline is valid? [True, True] Translation: X:495.49, Y:7.05, Z:5.93 [[ 9.97452669e-01 -6.85369829e-02 -1.97700441e-02 4.95489617e+02] [ 6.85452139e-02 9.97647977e-01 -2.61794356e-04 7.04872095e+00] [ 1.97414871e-02 -1.09401443e-03 9.99804519e-01 5.92670685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.125099893 meters 0.02609762802722632 Centerline is valid? [True, True] Translation: X:495.52, Y:7.05, Z:5.93 [[ 9.97532007e-01 -6.74659468e-02 -1.94484165e-02 4.95521484e+02] [ 6.74737233e-02 9.97721018e-01 -2.56808904e-04 7.04980619e+00] [ 1.94214198e-02 -1.05608197e-03 9.99810829e-01 5.92779362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.155099893 meters 0.02451257456416286 Centerline is valid? [True, True] Translation: X:495.55, Y:7.05, Z:5.93 [[ 9.97636810e-01 -6.59814062e-02 -1.91637668e-02 4.95553450e+02] [ 6.59887098e-02 9.97820338e-01 -2.51679545e-04 7.05106839e+00] [ 1.91386024e-02 -1.01350747e-03 9.99816326e-01 5.92859895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.18509989300003 meters 0.024089047828576935 Centerline is valid? [True, True] Translation: X:495.59, Y:7.05, Z:5.93 [[ 9.97823249e-01 -6.31299365e-02 -1.90624154e-02 4.95585520e+02] [ 6.31366680e-02 9.98004859e-01 -2.49089071e-04 7.04943288e+00] [ 1.90401082e-02 -9.54990527e-04 9.99818265e-01 5.92933652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.215099893 meters 0.024218171624497905 Centerline is valid? [True, True] Translation: X:495.62, Y:7.05, Z:5.93 [[ 9.97909565e-01 -6.17458038e-02 -1.90776097e-02 4.95617060e+02] [ 6.17523134e-02 9.98091474e-01 -2.48254041e-04 7.04853416e+00] [ 1.90565282e-02 -9.30351450e-04 9.99817975e-01 5.92959769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24509989300003 meters 0.02398231425530616 Centerline is valid? [True, True] Translation: X:495.65, Y:7.05, Z:5.93 [[ 9.98013933e-01 -6.00701244e-02 -1.89676143e-02 4.95649648e+02] [ 6.00762808e-02 9.98193759e-01 -2.45574724e-04 7.04808352e+00] [ 1.89481059e-02 -8.94416726e-04 9.99820068e-01 5.93000921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.275099893 meters 0.02368103845555205 Centerline is valid? [True, True] Translation: X:495.68, Y:7.05, Z:5.93 [[ 9.98115675e-01 -5.83422841e-02 -1.90072931e-02 4.95682044e+02] [ 5.83481834e-02 9.98296263e-01 -2.44522418e-04 7.04765327e+00] [ 1.89891757e-02 -8.64979366e-04 9.99819315e-01 5.93049980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.305099893 meters 0.02312270715278175 Centerline is valid? [True, True] Translation: X:495.71, Y:7.05, Z:5.93 [[ 9.98327976e-01 -5.47209919e-02 -1.86242996e-02 4.95712182e+02] [ 5.47260427e-02 9.98501379e-01 -2.38740948e-04 7.04565668e+00] [ 1.86094529e-02 -7.80892446e-04 9.99826524e-01 5.93105091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.335099893 meters 0.022775111141867324 Centerline is valid? [True, True] Translation: X:495.74, Y:7.05, Z:5.93 [[ 9.98422660e-01 -5.30926112e-02 -1.82583147e-02 4.95744917e+02] [ 5.30972029e-02 9.98589321e-01 -2.33541788e-04 7.04544465e+00] [ 1.82449574e-02 -7.36292025e-04 9.99833276e-01 5.93177731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.365099893 meters 0.022312793483648893 Centerline is valid? [True, True] Translation: X:495.78, Y:7.05, Z:5.93 [[ 9.98511187e-01 -5.14777920e-02 -1.80401588e-02 4.95777533e+02] [ 5.14820391e-02 9.98673894e-01 -2.29212083e-04 7.04519107e+00] [ 1.80280350e-02 -6.99873332e-04 9.99837237e-01 5.93235287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.395099893 meters 0.01943978954843241 Centerline is valid? [True, True] Translation: X:495.81, Y:7.05, Z:5.93 [[ 9.98600523e-01 -4.97811334e-02 -1.78559548e-02 4.95809856e+02] [ 4.97850492e-02 9.98759930e-01 -2.25425007e-04 7.04892490e+00] [ 1.78450341e-02 -6.63850057e-04 9.99840544e-01 5.93343383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.425099893 meters 0.01815516690360939 Centerline is valid? [True, True] Translation: X:495.84, Y:7.05, Z:5.93 [[ 9.98756289e-01 -4.66910668e-02 -1.74876974e-02 4.95840880e+02] [ 4.66943682e-02 9.98909199e-01 -2.19713627e-04 7.04918144e+00] [ 1.74788805e-02 -5.97136616e-04 9.99847054e-01 5.93410859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.455099893 meters 0.019038724133486288 Centerline is valid? [True, True] Translation: X:495.87, Y:7.05, Z:5.93 [[ 9.98812302e-01 -4.54413050e-02 -1.75804520e-02 4.95872587e+02] [ 4.54444628e-02 9.98966842e-01 -2.20045494e-04 7.04705863e+00] [ 1.75722878e-02 -5.79150049e-04 9.99845428e-01 5.93421410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.485099893 meters 0.017438845380296972 Centerline is valid? [True, True] Translation: X:495.90, Y:7.05, Z:5.93 [[ 9.98879181e-01 -4.39461688e-02 -1.75817020e-02 4.95904823e+02] [ 4.39491181e-02 9.99033747e-01 -2.18784503e-04 7.04927441e+00] [ 1.75743284e-02 -5.54161013e-04 9.99845406e-01 5.93454383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.515099893 meters 0.018262586334089104 Centerline is valid? [True, True] Translation: X:495.94, Y:7.05, Z:5.93 [[ 9.98913555e-01 -4.31408204e-02 -1.76232542e-02 4.95936495e+02] [ 4.31436811e-02 9.99068854e-01 -2.18015854e-04 7.04746306e+00] [ 1.76162497e-02 -5.42553066e-04 9.99844675e-01 5.93475677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.545099893 meters 0.017796624868893517 Centerline is valid? [True, True] Translation: X:495.97, Y:7.05, Z:5.93 [[ 9.98951793e-01 -4.22977829e-02 -1.74989380e-02 4.95968466e+02] [ 4.23004961e-02 9.99104910e-01 -2.15222646e-04 7.04747382e+00] [ 1.74923783e-02 -5.25216710e-04 9.99846859e-01 5.93491195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.575099893 meters 0.01827379969261479 Centerline is valid? [True, True] Translation: X:496.00, Y:7.04, Z:5.93 [[ 9.98943334e-01 -4.23920164e-02 -1.77519516e-02 4.95999415e+02] [ 4.23948445e-02 9.99100911e-01 -2.17153334e-04 7.04450024e+00] [ 1.77451966e-02 -5.35667352e-04 9.99842398e-01 5.93432385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.605099893 meters 0.01795866013663631 Centerline is valid? [True, True] Translation: X:496.03, Y:7.04, Z:5.93 [[ 9.98918582e-01 -4.30468777e-02 -1.75679313e-02 4.96031879e+02] [ 4.30497666e-02 9.99072906e-01 -2.13879278e-04 7.04394208e+00] [ 1.75608511e-02 -5.42647358e-04 9.99845649e-01 5.93465220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.635099893 meters 0.0183236331050497 Centerline is valid? [True, True] Translation: X:496.06, Y:7.04, Z:5.93 [[ 9.98875588e-01 -4.38053425e-02 -1.81287613e-02 4.96064125e+02] [ 4.38085676e-02 9.99039920e-01 -2.19380946e-04 7.04216912e+00] [ 1.81209663e-02 -5.75060794e-04 9.99835636e-01 5.93461152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.665099893 meters 0.019534108983753053 Centerline is valid? [True, True] Translation: X:496.10, Y:7.04, Z:5.93 [[ 9.98830077e-01 -4.48177734e-02 -1.81616185e-02 4.96095325e+02] [ 4.48211990e-02 9.98995001e-01 -2.18587164e-04 7.03908961e+00] [ 1.81531627e-02 -5.95694083e-04 9.99835040e-01 5.93443305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.695099893 meters 0.021196074196056913 Centerline is valid? [True, True] Translation: X:496.13, Y:7.03, Z:5.93 [[ 9.98698033e-01 -4.73352772e-02 -1.90160795e-02 4.96126100e+02] [ 4.73395170e-02 9.98878831e-01 -2.27378213e-04 7.03404558e+00] [ 1.90055223e-02 -6.73129847e-04 9.99819152e-01 5.93414104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.725099893 meters 0.021196074196056913 Centerline is valid? [True, True] Translation: X:496.16, Y:7.03, Z:5.93 [[ 9.98701286e-01 -4.72665667e-02 -1.90161027e-02 4.96157807e+02] [ 4.72708312e-02 9.98882084e-01 -2.25423826e-04 7.03435933e+00] [ 1.90054993e-02 -6.73775918e-04 9.99819152e-01 5.93453274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.755099893 meters 0.02172780640650361 Centerline is valid? [True, True] Translation: X:496.19, Y:7.03, Z:5.93 [[ 9.98649785e-01 -4.84185559e-02 -1.88215626e-02 4.96188918e+02] [ 4.84229579e-02 9.98826896e-01 -2.22054932e-04 7.03279987e+00] [ 1.88102345e-02 -6.89640624e-04 9.99822834e-01 5.93476559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.785099893 meters 0.02020244203406483 Centerline is valid? [True, True] Translation: X:496.22, Y:7.03, Z:5.94 [[ 9.98604842e-01 -4.91455377e-02 -1.93154222e-02 4.96221015e+02] [ 4.91503275e-02 9.98791367e-01 -2.26950866e-04 7.03441989e+00] [ 1.93032306e-02 -7.22725094e-04 9.99813414e-01 5.93589457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.815099893 meters 0.02074091098465811 Centerline is valid? [True, True] Translation: X:496.25, Y:7.03, Z:5.94 [[ 9.98563657e-01 -5.00562988e-02 -1.91047206e-02 4.96252187e+02] [ 5.00611723e-02 9.98746128e-01 -2.23362803e-04 7.03299125e+00] [ 1.90919464e-02 -7.33362731e-04 9.99817463e-01 5.93631983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.845099893 meters 0.021413859889008128 Centerline is valid? [True, True] Translation: X:496.28, Y:7.03, Z:5.94 [[ 9.98528416e-01 -5.10278307e-02 -1.83619986e-02 4.96283348e+02] [ 5.10325082e-02 9.98696970e-01 -2.14047090e-04 7.03153614e+00] [ 1.83489947e-02 -7.23326743e-04 9.99831381e-01 5.93726462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.875099893 meters 0.021513760489978846 Centerline is valid? [True, True] Translation: X:496.32, Y:7.03, Z:5.94 [[ 9.98489647e-01 -5.19284422e-02 -1.79405090e-02 4.96315778e+02] [ 5.19330672e-02 9.98650546e-01 -2.08312374e-04 7.03074278e+00] [ 1.79271164e-02 -7.23707908e-04 9.99839034e-01 5.93828820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.905099893 meters 0.023388626509555914 Centerline is valid? [True, True] Translation: X:496.35, Y:7.03, Z:5.94 [[ 9.98399758e-01 -5.40279798e-02 -1.67002932e-02 4.96346579e+02] [ 5.40322967e-02 9.98539170e-01 -1.92939767e-04 7.02655067e+00] [ 1.66863211e-02 -7.09724182e-04 9.99860522e-01 5.93927898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.93509989300003 meters 0.024018747351050498 Centerline is valid? [True, True] Translation: X:496.38, Y:7.03, Z:5.94 [[ 9.98360503e-01 -5.49720905e-02 -1.59491411e-02 4.96378307e+02] [ 5.49761575e-02 9.98487651e-01 -1.83655548e-04 7.02516005e+00] [ 1.59351163e-02 -6.93468047e-04 9.99872787e-01 5.94058723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.965099893 meters 0.024741858457476732 Centerline is valid? [True, True] Translation: X:496.41, Y:7.02, Z:5.94 [[ 9.98297841e-01 -5.62256218e-02 -1.54951903e-02 4.96410554e+02] [ 5.62296244e-02 9.98417847e-01 -1.77584269e-04 7.02393807e+00] [ 1.54806594e-02 -6.94006740e-04 9.99879927e-01 5.94154455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.99509989300003 meters 0.02336756047846565 Centerline is valid? [True, True] Translation: X:496.44, Y:7.03, Z:5.94 [[ 9.98154116e-01 -5.87499118e-02 -1.53886104e-02 4.96442927e+02] [ 5.87541752e-02 9.98272466e-01 -1.75296815e-04 7.02509868e+00] [ 1.53723247e-02 -7.29171874e-04 9.99881573e-01 5.94158701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.025099893 meters 0.022310050048027497 Centerline is valid? [True, True] Translation: X:496.47, Y:7.03, Z:5.94 [[ 9.98070989e-01 -5.99286909e-02 -1.62127210e-02 4.96474992e+02] [ 5.99335981e-02 9.98202349e-01 -1.83470905e-04 7.02652033e+00] [ 1.61945714e-02 -7.88569715e-04 9.99868548e-01 5.94145665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.055099893 meters 0.02339721088707897 Centerline is valid? [True, True] Translation: X:496.51, Y:7.03, Z:5.94 [[ 9.97971470e-01 -6.13784093e-02 -1.69007607e-02 4.96505850e+02] [ 6.13839751e-02 9.98114208e-01 -1.89721806e-04 7.02502259e+00] [ 1.68805342e-02 -8.48098923e-04 9.99857154e-01 5.94103473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.085099893 meters 0.02359302205632688 Centerline is valid? [True, True] Translation: X:496.54, Y:7.02, Z:5.94 [[ 9.97887414e-01 -6.24595752e-02 -1.78748484e-02 4.96538266e+02] [ 6.24660114e-02 9.98047072e-01 -1.98575201e-04 7.02467560e+00] [ 1.78523431e-02 -9.18414793e-04 9.99840212e-01 5.94079895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.115099893 meters 0.02665148042454298 Centerline is valid? [True, True] Translation: X:496.57, Y:7.02, Z:5.94 [[ 9.97726359e-01 -6.46598849e-02 -1.90055612e-02 4.96568246e+02] [ 6.46675778e-02 9.97906839e-01 -2.10169438e-04 7.02076745e+00] [ 1.89793691e-02 -1.01935202e-03 9.99819356e-01 5.93960178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.145099893 meters 0.02802256976047802 Centerline is valid? [True, True] Translation: X:496.60, Y:7.02, Z:5.94 [[ 9.97667090e-01 -6.53598614e-02 -1.97095548e-02 4.96599816e+02] [ 6.53682788e-02 9.97861183e-01 -2.17564173e-04 7.01948662e+00] [ 1.96816196e-02 -1.07132306e-03 9.99805724e-01 5.93968062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.175099893 meters 0.0265900599457301 Centerline is valid? [True, True] Translation: X:496.63, Y:7.02, Z:5.94 [[ 9.97635095e-01 -6.58752267e-02 -1.96130522e-02 4.96631544e+02] [ 6.58836841e-02 9.97827287e-01 -2.15325166e-04 7.02217244e+00] [ 1.95846232e-02 -1.07736419e-03 9.99807622e-01 5.94038347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.205099893 meters 0.0277253024996353 Centerline is valid? [True, True] Translation: X:496.66, Y:7.02, Z:5.94 [[ 9.97623411e-01 -6.60911154e-02 -1.94806286e-02 4.96662770e+02] [ 6.60995246e-02 9.97813012e-01 -2.12609369e-04 7.02166903e+00] [ 1.94520763e-02 -1.07555621e-03 9.99810212e-01 5.94063619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.235099893 meters 0.030226991703318027 Centerline is valid? [True, True] Translation: X:496.69, Y:7.02, Z:5.94 [[ 9.97625915e-01 -6.61067641e-02 -1.92984238e-02 4.96694402e+02] [ 6.61150393e-02 9.97811985e-01 -2.09598836e-04 7.01937334e+00] [ 1.92700545e-02 -1.06681482e-03 9.99813746e-01 5.94070139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.265099893 meters 0.02604837748193903 Centerline is valid? [True, True] Translation: X:496.73, Y:7.03, Z:5.94 [[ 9.97654003e-01 -6.56459987e-02 -1.94189050e-02 4.96726025e+02] [ 6.56543132e-02 9.97842406e-01 -2.09739373e-04 7.02735740e+00] [ 1.93907755e-02 -1.06568755e-03 9.99811413e-01 5.94221236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.295099893 meters 0.027129337014687185 Centerline is valid? [True, True] Translation: X:496.76, Y:7.03, Z:5.94 [[ 9.97699973e-01 -6.50581050e-02 -1.90317137e-02 4.96757537e+02] [ 6.50660081e-02 9.97880941e-01 -2.04320691e-04 7.02710189e+00] [ 1.90046771e-02 -1.03446689e-03 9.99818860e-01 5.94263947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.325099893 meters 0.029485852762238488 Centerline is valid? [True, True] Translation: X:496.79, Y:7.02, Z:5.94 [[ 9.97760103e-01 -6.42790527e-02 -1.85197125e-02 4.96788867e+02] [ 6.42864282e-02 9.97931469e-01 -1.97426957e-04 7.02491285e+00] [ 1.84940943e-02 -9.93581426e-04 9.99828476e-01 5.94305959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.355099893 meters 0.026916905744837048 Centerline is valid? [True, True] Translation: X:496.82, Y:7.03, Z:5.94 [[ 9.97818455e-01 -6.36261310e-02 -1.76081569e-02 4.96820933e+02] [ 6.36327283e-02 9.97973367e-01 -1.85910044e-04 7.02973951e+00] [ 1.75843003e-02 -9.34950589e-04 9.99844947e-01 5.94420917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.385099893 meters 0.025067855208261592 Centerline is valid? [True, True] Translation: X:496.85, Y:7.03, Z:5.95 [[ 9.97866932e-01 -6.30693530e-02 -1.68476441e-02 4.96852909e+02] [ 6.30753330e-02 9.98008753e-01 -1.76717906e-04 7.03360843e+00] [ 1.68252417e-02 -8.86329805e-04 9.99858053e-01 5.94551437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.415099893 meters 0.024266761739486227 Centerline is valid? [True, True] Translation: X:496.89, Y:7.04, Z:5.95 [[ 9.97910116e-01 -6.25380797e-02 -1.62600719e-02 4.96885399e+02] [ 6.25435982e-02 9.98042218e-01 -1.69403525e-04 7.03728783e+00] [ 1.62388325e-02 -8.47913916e-04 9.99867782e-01 5.94685648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.445099893 meters 0.02583136244589346 Centerline is valid? [True, True] Translation: X:496.92, Y:7.04, Z:5.95 [[ 9.97898342e-01 -6.26461206e-02 -1.65638825e-02 4.96916132e+02] [ 6.26518862e-02 9.98035426e-01 -1.71111615e-04 7.03641338e+00] [ 1.65420611e-02 -8.67006488e-04 9.99862795e-01 5.94709486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.475099893 meters 0.02460710816960775 Centerline is valid? [True, True] Translation: X:496.95, Y:7.04, Z:5.95 [[ 9.97880696e-01 -6.29056285e-02 -1.66432653e-02 4.96948012e+02] [ 6.29115170e-02 9.98019094e-01 -1.70039721e-04 7.03938283e+00] [ 1.66209930e-02 -8.77373712e-04 9.99861477e-01 5.94765107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.505099893 meters 0.02560133200951258 Centerline is valid? [True, True] Translation: X:496.98, Y:7.04, Z:5.95 [[ 9.97741147e-01 -6.48450784e-02 -1.75419110e-02 4.96979994e+02] [ 6.48519423e-02 9.97894881e-01 -1.77890317e-04 7.03963596e+00] [ 1.75165185e-02 -9.60138510e-04 9.99846113e-01 5.94723054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.535099893 meters 0.028298916128381875 Centerline is valid? [True, True] Translation: X:497.01, Y:7.04, Z:5.95 [[ 9.97644845e-01 -6.60696863e-02 -1.84271585e-02 4.97011100e+02] [ 6.60774923e-02 9.97814477e-01 -1.85591030e-04 7.03644458e+00] [ 1.83991474e-02 -1.03246649e-03 9.99830188e-01 5.94686661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.565099893 meters 0.028624408306116136 Centerline is valid? [True, True] Translation: X:497.04, Y:7.04, Z:5.95 [[ 9.97562266e-01 -6.72063676e-02 -1.87837515e-02 4.97043134e+02] [ 6.72147009e-02 9.97738517e-01 -1.88042892e-04 7.03647947e+00] [ 1.87539101e-02 -1.07495975e-03 9.99823552e-01 5.94687941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.595099893 meters 0.027352089488182015 Centerline is valid? [True, True] Translation: X:497.07, Y:7.04, Z:5.95 [[ 9.97461287e-01 -6.86233187e-02 -1.90215810e-02 4.97074684e+02] [ 6.86321505e-02 9.97642016e-01 -1.88884815e-04 7.03896910e+00] [ 1.89896904e-02 -1.11708672e-03 9.99819056e-01 5.94722273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.625099893 meters 0.031255407848605005 Centerline is valid? [True, True] Translation: X:497.11, Y:7.03, Z:5.95 [[ 9.97396696e-01 -6.95404025e-02 -1.90777967e-02 4.97105941e+02] [ 6.95494838e-02 9.97578485e-01 -1.87864256e-04 7.03432813e+00] [ 1.90446637e-02 -1.13947572e-03 9.99817985e-01 5.94699914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.655099893 meters 0.029596959820930375 Centerline is valid? [True, True] Translation: X:497.14, Y:7.04, Z:5.95 [[ 9.97281359e-01 -7.11782496e-02 -1.90669245e-02 4.97137935e+02] [ 7.11876406e-02 9.97462924e-01 -1.86609180e-04 7.03867658e+00] [ 1.90318328e-02 -1.17122751e-03 9.99818192e-01 5.94804214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.68509989300003 meters 0.03064854561328427 Centerline is valid? [True, True] Translation: X:497.17, Y:7.04, Z:5.95 [[ 9.97273332e-01 -7.12989150e-02 -1.90359184e-02 4.97168959e+02] [ 7.13083300e-02 9.97454304e-01 -1.84588192e-04 7.03824422e+00] [ 1.90006197e-02 -1.17333467e-03 9.99818783e-01 5.94816178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.715099893 meters 0.030736614433595832 Centerline is valid? [True, True] Translation: X:497.20, Y:7.04, Z:5.95 [[ 9.97277700e-01 -7.10610867e-02 -1.96852914e-02 4.97200977e+02] [ 7.10711506e-02 9.97471231e-01 -1.88766756e-04 7.03934659e+00] [ 1.96489258e-02 -1.21080343e-03 9.99806208e-01 5.94863398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74509989300003 meters 0.030673861767686692 Centerline is valid? [True, True] Translation: X:497.23, Y:7.04, Z:5.95 [[ 9.97325132e-01 -7.03648451e-02 -1.97830619e-02 4.97232913e+02] [ 7.03749006e-02 9.97520595e-01 -1.88302826e-04 7.04066860e+00] [ 1.97472616e-02 -1.20443187e-03 9.99804278e-01 5.94878517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.775099893 meters 0.03125795310773982 Centerline is valid? [True, True] Translation: X:497.26, Y:7.04, Z:5.95 [[ 9.97496893e-01 -6.79824404e-02 -1.94508583e-02 4.97263334e+02] [ 6.79917285e-02 9.97685868e-01 -1.84158912e-04 7.04215025e+00] [ 1.94183660e-02 -1.13879954e-03 9.99810797e-01 5.94872740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.805099893 meters 0.02771608423016298 Centerline is valid? [True, True] Translation: X:497.30, Y:7.05, Z:5.95 [[ 9.97615126e-01 -6.62045566e-02 -1.95196570e-02 4.97295095e+02] [ 6.62135831e-02 9.97805456e-01 -1.84206980e-04 7.04850059e+00] [ 1.94890156e-02 -1.10869876e-03 9.99809456e-01 5.94982729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.835099893 meters 0.025955843458259124 Centerline is valid? [True, True] Translation: X:497.33, Y:7.05, Z:5.95 [[ 9.97748096e-01 -6.42238441e-02 -1.93399606e-02 4.97326713e+02] [ 6.42323568e-02 9.97934954e-01 -1.81342857e-04 7.05279787e+00] [ 1.93116693e-02 -1.06131676e-03 9.99812949e-01 5.95076387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.865099893 meters 0.025467000302531743 Centerline is valid? [True, True] Translation: X:497.36, Y:7.06, Z:5.95 [[ 9.97868140e-01 -6.23359599e-02 -1.93236283e-02 4.97358275e+02] [ 6.23441276e-02 9.98054697e-01 -1.80033737e-04 7.05538479e+00] [ 1.92972606e-02 -1.02506482e-03 9.99813265e-01 5.95133119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.895099893 meters 0.023446062176657203 Centerline is valid? [True, True] Translation: X:497.39, Y:7.06, Z:5.95 [[ 9.98069341e-01 -5.92864705e-02 -1.85122957e-02 4.97390235e+02] [ 5.92934575e-02 9.98240580e-01 -1.71706716e-04 7.06118531e+00] [ 1.84899047e-02 -9.26282810e-04 9.99828618e-01 5.95251137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.925099893 meters 0.025189356163124295 Centerline is valid? [True, True] Translation: X:497.42, Y:7.06, Z:5.95 [[ 9.98144833e-01 -5.81910176e-02 -1.79080588e-02 4.97421283e+02] [ 5.81973971e-02 9.98305081e-01 -1.65140671e-04 7.05984408e+00] [ 1.78873158e-02 -8.77368103e-04 9.99839624e-01 5.95293502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.955099893 meters 0.02572740690064653 Centerline is valid? [True, True] Translation: X:497.45, Y:7.06, Z:5.95 [[ 9.98184631e-01 -5.77423662e-02 -1.71248806e-02 4.97452728e+02] [ 5.77481552e-02 9.98331171e-01 -1.56677543e-04 7.05999243e+00] [ 1.71053490e-02 -8.32537146e-04 9.99853346e-01 5.95383179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.985099893 meters 0.025875164244440706 Centerline is valid? [True, True] Translation: X:497.49, Y:7.06, Z:5.95 [[ 9.98188190e-01 -5.80002210e-02 -1.60097437e-02 4.97485204e+02] [ 5.80053408e-02 9.98316262e-01 -1.44773953e-04 7.06051136e+00] [ 1.59911844e-02 -7.84138990e-04 9.99871825e-01 5.95484897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.015099893 meters 0.024967257298617873 Centerline is valid? [True, True] Translation: X:497.52, Y:7.06, Z:5.96 [[ 9.98163332e-01 -5.84664369e-02 -1.58631410e-02 4.97517335e+02] [ 5.84715396e-02 9.98289066e-01 -1.42337514e-04 7.06219064e+00] [ 1.58443222e-02 -7.85466192e-04 9.99874162e-01 5.95539384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.045099893 meters 0.026843798598676666 Centerline is valid? [True, True] Translation: X:497.55, Y:7.06, Z:5.96 [[ 9.98105052e-01 -5.93782244e-02 -1.61410138e-02 4.97548707e+02] [ 5.93836441e-02 9.98235224e-01 -1.43729487e-04 7.05992270e+00] [ 1.61210629e-02 -8.15055091e-04 9.99869715e-01 5.95550216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.075099893 meters 0.02419789472817663 Centerline is valid? [True, True] Translation: X:497.58, Y:7.06, Z:5.96 [[ 9.98069744e-01 -5.99530602e-02 -1.61992844e-02 4.97580649e+02] [ 5.99586099e-02 9.98200854e-01 -1.43306110e-04 7.06395625e+00] [ 1.61787311e-02 -8.28257082e-04 9.99868773e-01 5.95590235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.105099893 meters 0.02588487136746474 Centerline is valid? [True, True] Translation: X:497.61, Y:7.06, Z:5.96 [[ 9.98014584e-01 -6.07517943e-02 -1.66165529e-02 4.97611768e+02] [ 6.07577633e-02 9.98152530e-01 -1.45836781e-04 7.06182617e+00] [ 1.65947142e-02 -8.64037355e-04 9.99861925e-01 5.95561359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.135099893 meters 0.025583767375465978 Centerline is valid? [True, True] Translation: X:497.64, Y:7.06, Z:5.95 [[ 9.97895028e-01 -6.22970507e-02 -1.80163705e-02 4.97643632e+02] [ 6.23043378e-02 9.98057185e-01 -1.57083339e-04 7.06238117e+00] [ 1.79911538e-02 -9.65745348e-04 9.99837680e-01 5.95472766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.165099893 meters 0.026947360084269237 Centerline is valid? [True, True] Translation: X:497.67, Y:7.06, Z:5.95 [[ 9.97856872e-01 -6.27183341e-02 -1.86567481e-02 4.97674756e+02] [ 6.27262414e-02 9.98030757e-01 -1.61628042e-04 7.06067971e+00] [ 1.86301455e-02 -1.00898603e-03 9.99825935e-01 5.95451318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.195099893 meters 0.025223234961662445 Centerline is valid? [True, True] Translation: X:497.71, Y:7.06, Z:5.96 [[ 9.97827950e-01 -6.30967631e-02 -1.89256730e-02 4.97706590e+02] [ 6.31049899e-02 9.98006881e-01 -1.62799007e-04 7.06339708e+00] [ 1.88982240e-02 -1.03185900e-03 9.99820880e-01 5.95513841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.225099893 meters 0.026200437018566725 Centerline is valid? [True, True] Translation: X:497.74, Y:7.06, Z:5.96 [[ 9.97806729e-01 -6.34055611e-02 -1.90122829e-02 4.97737319e+02] [ 6.34139411e-02 9.97987297e-01 -1.62391168e-04 7.06250258e+00] [ 1.89843134e-02 -1.04360879e-03 9.99819237e-01 5.95504754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.255099893 meters 0.028901605006270332 Centerline is valid? [True, True] Translation: X:497.77, Y:7.06, Z:5.95 [[ 9.97798777e-01 -6.34361492e-02 -1.93249917e-02 4.97768324e+02] [ 6.34448291e-02 9.97985334e-01 -1.64226843e-04 7.05922234e+00] [ 1.92964762e-02 -1.06220545e-03 9.99813241e-01 5.95493320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.285099893 meters 0.025623403216489146 Centerline is valid? [True, True] Translation: X:497.80, Y:7.07, Z:5.96 [[ 9.97802023e-01 -6.34584919e-02 -1.90825100e-02 4.97800319e+02] [ 6.34669813e-02 9.97983926e-01 -1.61013640e-04 7.06527930e+00] [ 1.90542560e-02 -1.05044957e-03 9.99817899e-01 5.95665651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.315099893 meters 0.025641924272524434 Centerline is valid? [True, True] Translation: X:497.83, Y:7.07, Z:5.96 [[ 9.97843574e-01 -6.29953108e-02 -1.84334813e-02 4.97833046e+02] [ 6.30031798e-02 9.98013314e-01 -1.54109733e-04 7.06570425e+00] [ 1.84065680e-02 -1.00759053e-03 9.99830077e-01 5.95726243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.345099893 meters 0.02652543888615954 Centerline is valid? [True, True] Translation: X:497.86, Y:7.06, Z:5.96 [[ 9.97865838e-01 -6.27125024e-02 -1.81909833e-02 4.97864187e+02] [ 6.27201448e-02 9.98031142e-01 -1.50654244e-04 7.06496222e+00] [ 1.81646158e-02 -9.90608384e-04 9.99834519e-01 5.95760604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.375099893 meters 0.02862774565539477 Centerline is valid? [True, True] Translation: X:497.90, Y:7.06, Z:5.96 [[ 9.97942999e-01 -6.16313193e-02 -1.76451553e-02 4.97895287e+02] [ 6.16383578e-02 9.98098538e-01 -1.45198911e-04 7.06253342e+00] [ 1.76205525e-02 -9.42718162e-04 9.99844302e-01 5.95801832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.405099893 meters 0.027422386551800976 Centerline is valid? [True, True] Translation: X:497.93, Y:7.06, Z:5.96 [[ 9.98004290e-01 -6.07960842e-02 -1.70667561e-02 4.97927754e+02] [ 6.08025635e-02 9.98149803e-01 -1.39467171e-04 7.06484321e+00] [ 1.70436582e-02 -8.98513683e-04 9.99854343e-01 5.95865548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.43509989300003 meters 0.026794685335002212 Centerline is valid? [True, True] Translation: X:497.96, Y:7.07, Z:5.96 [[ 9.98059516e-01 -5.99598915e-02 -1.67932437e-02 4.97959842e+02] [ 5.99660663e-02 9.98200407e-01 -1.36061591e-04 7.06641315e+00] [ 1.67711809e-02 -8.71227199e-04 9.99858974e-01 5.95940089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.465099893 meters 0.027118737025817744 Centerline is valid? [True, True] Translation: X:497.99, Y:7.07, Z:5.96 [[ 9.98103916e-01 -5.92897755e-02 -1.65316550e-02 4.97992336e+02] [ 5.92956868e-02 9.98240454e-01 -1.32789142e-04 7.06660113e+00] [ 1.65104399e-02 -8.47718476e-04 9.99863334e-01 5.96030438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.49509989300003 meters 0.02675954081474487 Centerline is valid? [True, True] Translation: X:498.03, Y:7.07, Z:5.96 [[ 9.98156072e-01 -5.83959631e-02 -1.65640329e-02 4.98025021e+02] [ 5.84017952e-02 9.98293150e-01 -1.31813343e-04 7.06761662e+00] [ 1.65434580e-02 -8.35798971e-04 9.99862798e-01 5.96067797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.525099893 meters 0.027677898563085175 Centerline is valid? [True, True] Translation: X:498.06, Y:7.07, Z:5.96 [[ 9.98200636e-01 -5.74794213e-02 -1.70765030e-02 4.98056646e+02] [ 5.74855109e-02 9.98346332e-01 -1.34447880e-04 7.06677132e+00] [ 1.70559921e-02 -8.47445540e-04 9.99854177e-01 5.96031435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.555099893 meters 0.02358536080992772 Centerline is valid? [True, True] Translation: X:498.09, Y:7.07, Z:5.96 [[ 9.98195914e-01 -5.73601367e-02 -1.77406997e-02 4.98088585e+02] [ 5.73667133e-02 9.98353164e-01 -1.38390040e-04 7.07304939e+00] [ 1.77194218e-02 -8.79585263e-04 9.99842612e-01 5.96075050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.585099893 meters 0.026434823027698263 Centerline is valid? [True, True] Translation: X:498.12, Y:7.07, Z:5.96 [[ 9.98176823e-01 -5.74288660e-02 -1.85729815e-02 4.98119952e+02] [ 5.74361101e-02 9.98349174e-01 -1.43594181e-04 7.06905320e+00] [ 1.85505672e-02 -9.23427426e-04 9.99827497e-01 5.95995800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.615099893 meters 0.026434823027698263 Centerline is valid? [True, True] Translation: X:498.15, Y:7.07, Z:5.96 [[ 9.98180838e-01 -5.73590379e-02 -1.85729900e-02 4.98151680e+02] [ 5.73662906e-02 9.98353188e-01 -1.42485107e-04 7.06923612e+00] [ 1.85505766e-02 -9.23237637e-04 9.99827497e-01 5.96035018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.645099893 meters 0.02334980654405809 Centerline is valid? [True, True] Translation: X:498.18, Y:7.07, Z:5.96 [[ 9.98149479e-01 -5.76697199e-02 -1.92826537e-02 4.98184168e+02] [ 5.76776226e-02 9.98335249e-01 -1.46521196e-04 7.07354084e+00] [ 1.92590027e-02 -9.65927567e-04 9.99814062e-01 5.96077987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.675099893 meters 0.027712420336197918 Centerline is valid? [True, True] Translation: X:498.22, Y:7.07, Z:5.96 [[ 9.98118069e-01 -5.80067155e-02 -1.98882065e-02 4.98215189e+02] [ 5.80152160e-02 9.98315688e-01 -1.49768624e-04 7.06732410e+00] [ 1.98633961e-02 -1.00433183e-03 9.99802199e-01 5.95990237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.705099893 meters 0.02539409185761877 Centerline is valid? [True, True] Translation: X:498.25, Y:7.07, Z:5.96 [[ 9.98076118e-01 -5.83703542e-02 -2.09036720e-02 4.98246936e+02] [ 5.83798525e-02 9.98294430e-01 -1.56089347e-04 7.07123529e+00] [ 2.08771303e-02 -1.06456424e-03 9.99781482e-01 5.95992831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.735099893 meters 0.02415291606808059 Centerline is valid? [True, True] Translation: X:498.28, Y:7.07, Z:5.96 [[ 9.98070700e-01 -5.81631040e-02 -2.17239706e-02 4.98278631e+02] [ 5.81733585e-02 9.98306483e-01 -1.60156904e-04 7.07347046e+00] [ 2.16964959e-02 -1.10390841e-03 9.99763994e-01 5.96038012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.765099893 meters 0.024723019958060127 Centerline is valid? [True, True] Translation: X:498.31, Y:7.07, Z:5.96 [[ 9.98094062e-01 -5.77585371e-02 -2.17300267e-02 4.98309754e+02] [ 5.77687594e-02 9.98329978e-01 -1.57541160e-04 7.07340452e+00] [ 2.17028365e-02 -1.09807579e-03 9.99763863e-01 5.96087655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.795099893 meters 0.024683104504114695 Centerline is valid? [True, True] Translation: X:498.34, Y:7.07, Z:5.96 [[ 9.98129784e-01 -5.70252518e-02 -2.20239583e-02 4.98342410e+02] [ 5.70356278e-02 9.98372131e-01 -1.57253053e-04 7.07425962e+00] [ 2.19970736e-02 -1.09919133e-03 9.99757431e-01 5.96153595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.825099893 meters 0.024712001986442352 Centerline is valid? [True, True] Translation: X:498.37, Y:7.08, Z:5.96 [[ 9.98168153e-01 -5.64482206e-02 -2.17700943e-02 4.98374811e+02] [ 5.64582603e-02 9.98404949e-01 -1.53667151e-04 7.07510818e+00] [ 2.17440441e-02 -1.07571599e-03 9.99762992e-01 5.96216920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.855099893 meters 0.02307223022159484 Centerline is valid? [True, True] Translation: X:498.41, Y:7.08, Z:5.96 [[ 9.98225706e-01 -5.54961232e-02 -2.15782142e-02 4.98407493e+02] [ 5.55058018e-02 9.98458353e-01 -1.50590885e-04 7.07845029e+00] [ 2.15533054e-02 -1.04739239e-03 9.99767152e-01 5.96370693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.885099893 meters 0.023634494034286694 Centerline is valid? [True, True] Translation: X:498.44, Y:7.08, Z:5.96 [[ 9.98380763e-01 -5.30509238e-02 -2.05292846e-02 4.98437789e+02] [ 5.30591934e-02 9.98591359e-01 -1.42044025e-04 7.07943610e+00] [ 2.05079017e-02 -9.47453258e-04 9.99789242e-01 5.96484491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.915099893 meters 0.02408246456288535 Centerline is valid? [True, True] Translation: X:498.47, Y:7.08, Z:5.97 [[ 9.98446806e-01 -5.19959724e-02 -2.00098664e-02 4.98469185e+02] [ 5.20036415e-02 9.98646886e-01 -1.37239340e-04 7.07979896e+00] [ 1.99899266e-02 -9.03559736e-04 9.99799773e-01 5.96574095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.945099893 meters 0.02208792427170587 Centerline is valid? [True, True] Translation: X:498.50, Y:7.08, Z:5.97 [[ 9.98509770e-01 -5.09443448e-02 -1.95681751e-02 4.98501785e+02] [ 5.09515208e-02 9.98701119e-01 -1.31991437e-04 7.08380102e+00] [ 1.95494826e-02 -8.65233542e-04 9.99808516e-01 5.96727615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.975099893 meters 0.021662132309900054 Centerline is valid? [True, True] Translation: X:498.53, Y:7.09, Z:5.97 [[ 9.98611137e-01 -4.91909030e-02 -1.88693653e-02 4.98533068e+02] [ 4.91972879e-02 9.98789072e-01 -1.25958626e-04 7.08599953e+00] [ 1.88527119e-02 -8.02537910e-04 9.99821950e-01 5.96839298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.005099893 meters 0.02286732228486262 Centerline is valid? [True, True] Translation: X:498.56, Y:7.08, Z:5.97 [[ 9.98650252e-01 -4.84229919e-02 -1.87853109e-02 4.98564156e+02] [ 4.84292083e-02 9.98826610e-01 -1.24128354e-04 7.08459874e+00] [ 1.87692791e-02 -7.85796923e-04 9.99823533e-01 5.96847538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.035099893 meters 0.023604561180178753 Centerline is valid? [True, True] Translation: X:498.60, Y:7.08, Z:5.97 [[ 9.98680915e-01 -4.77723391e-02 -1.88211035e-02 4.98595618e+02] [ 4.77785000e-02 9.98857948e-01 -1.22442193e-04 7.08374960e+00] [ 1.88054581e-02 -7.76963410e-04 9.99822860e-01 5.96870527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.065099893 meters 0.023898286961137688 Centerline is valid? [True, True] Translation: X:498.63, Y:7.08, Z:5.97 [[ 9.98705807e-01 -4.70863636e-02 -1.92245798e-02 4.98627026e+02] [ 4.70926842e-02 9.98890516e-01 -1.24052322e-04 7.08333354e+00] [ 1.92090916e-02 -7.81445290e-04 9.99815183e-01 5.96843926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.095099893 meters 0.020128180198136555 Centerline is valid? [True, True] Translation: X:498.66, Y:7.09, Z:5.97 [[ 9.98723538e-01 -4.65631240e-02 -1.95747549e-02 4.98659055e+02] [ 4.65695997e-02 9.98915040e-01 -1.25133044e-04 7.08956937e+00] [ 1.95593436e-02 -7.86615182e-04 9.99808388e-01 5.96949052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.125099893 meters 0.01996363289641338 Centerline is valid? [True, True] Translation: X:498.69, Y:7.09, Z:5.97 [[ 9.98814523e-01 -4.41410140e-02 -2.05211852e-02 4.98689841e+02] [ 4.41476466e-02 9.99025009e-01 -1.29929364e-04 7.09048101e+00] [ 2.05069124e-02 -7.76186696e-04 9.99789410e-01 5.96926344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.155099893 meters 0.020241571196379936 Centerline is valid? [True, True] Translation: X:498.72, Y:7.09, Z:5.97 [[ 9.98866665e-01 -4.27783326e-02 -2.08662312e-02 4.98721409e+02] [ 4.27849125e-02 9.99084298e-01 -1.31193142e-04 7.09055848e+00] [ 2.08527361e-02 -7.61715418e-04 9.99782268e-01 5.96929181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.18509989300003 meters 0.01929566728080921 Centerline is valid? [True, True] Translation: X:498.75, Y:7.09, Z:5.97 [[ 9.98919374e-01 -4.14543619e-02 -2.10147619e-02 4.98752686e+02] [ 4.14607640e-02 9.99140124e-01 -1.31141187e-04 7.09254697e+00] [ 2.10021282e-02 -7.40288611e-04 9.99779157e-01 5.97008241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.215099893 meters 0.01905679036017173 Centerline is valid? [True, True] Translation: X:498.78, Y:7.09, Z:5.97 [[ 9.98970691e-01 -4.02366646e-02 -2.09420649e-02 4.98784198e+02] [ 4.02427710e-02 9.99189923e-01 -1.29934424e-04 7.09351498e+00] [ 2.09303283e-02 -7.12966038e-04 9.99780682e-01 5.97042052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24509989300003 meters 0.018804778482224206 Centerline is valid? [True, True] Translation: X:498.81, Y:7.09, Z:5.97 [[ 9.99050648e-01 -3.81971286e-02 -2.09471494e-02 4.98814908e+02] [ 3.82028059e-02 9.99269998e-01 -1.29214914e-04 7.09455888e+00] [ 2.09367935e-02 -6.71147638e-04 9.99780576e-01 5.97083912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.275099893 meters 0.01889652343896427 Centerline is valid? [True, True] Translation: X:498.85, Y:7.09, Z:5.97 [[ 9.99084189e-01 -3.74244924e-02 -2.07410152e-02 4.98845253e+02] [ 3.74299042e-02 9.99299248e-01 -1.27358744e-04 7.09451569e+00] [ 2.07312472e-02 -6.49092103e-04 9.99784874e-01 5.97119861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.305099893 meters 0.01848677159674228 Centerline is valid? [True, True] Translation: X:498.88, Y:7.10, Z:5.97 [[ 9.99105160e-01 -3.69132549e-02 -2.06467985e-02 4.98876707e+02] [ 3.69185192e-02 9.99318271e-01 -1.26269043e-04 7.09537244e+00] [ 2.06373840e-02 -6.36093176e-04 9.99786824e-01 5.97199053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.335099893 meters 0.019061997434113576 Centerline is valid? [True, True] Translation: X:498.91, Y:7.10, Z:5.97 [[ 9.99110790e-01 -3.68231257e-02 -2.05350112e-02 4.98907126e+02] [ 3.68283260e-02 9.99321599e-01 -1.25005411e-04 7.09502835e+00] [ 2.05256834e-02 -6.31375832e-04 9.99789127e-01 5.97204232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.365099893 meters 0.019724633468192122 Centerline is valid? [True, True] Translation: X:498.94, Y:7.09, Z:5.97 [[ 9.99066191e-01 -3.79833162e-02 -2.05916005e-02 4.98937045e+02] [ 3.79888105e-02 9.99278157e-01 -1.24418907e-04 7.09343178e+00] [ 2.05814625e-02 -6.57947686e-04 9.99787963e-01 5.97201102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.395099893 meters 0.020294112704537133 Centerline is valid? [True, True] Translation: X:498.97, Y:7.09, Z:5.97 [[ 9.99024185e-01 -3.90996660e-02 -2.05400340e-02 4.98968230e+02] [ 3.91053962e-02 9.99235084e-01 -1.22757174e-04 7.09207272e+00] [ 2.05291224e-02 -6.80588783e-04 9.99789024e-01 5.97197086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.425099893 meters 0.02115768870135856 Centerline is valid? [True, True] Translation: X:499.00, Y:7.09, Z:5.97 [[ 9.98965666e-01 -4.06016696e-02 -2.04719821e-02 4.98999585e+02] [ 4.06076913e-02 9.99175160e-01 -1.21649097e-04 7.09029088e+00] [ 2.04600351e-02 -7.09796656e-04 9.99790420e-01 5.97210627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.455099893 meters 0.02159384861822983 Centerline is valid? [True, True] Translation: X:499.03, Y:7.09, Z:5.97 [[ 9.98781053e-01 -4.48405107e-02 -2.06333936e-02 4.99030314e+02] [ 4.48475425e-02 9.98993835e-01 -1.22037017e-04 7.08848012e+00] [ 2.06181052e-02 -8.03468737e-04 9.99787101e-01 5.97210295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.485099893 meters 0.022731783982971227 Centerline is valid? [True, True] Translation: X:499.06, Y:7.09, Z:5.97 [[ 9.98654976e-01 -4.74468975e-02 -2.09052967e-02 4.99061859e+02] [ 4.74546967e-02 9.98873384e-01 -1.23126255e-04 7.08624259e+00] [ 2.08875864e-02 -8.69093869e-04 9.99781453e-01 5.97251814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.515099893 meters 0.024230910042543886 Centerline is valid? [True, True] Translation: X:499.09, Y:7.08, Z:5.97 [[ 9.98526018e-01 -5.00526016e-02 -2.09887904e-02 4.99091599e+02] [ 5.00610469e-02 9.98746152e-01 -1.23183294e-04 7.08333791e+00] [ 2.09686393e-02 -9.27719096e-04 9.99779703e-01 5.97254690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.545099893 meters 0.02270593789194541 Centerline is valid? [True, True] Translation: X:499.12, Y:7.08, Z:5.97 [[ 9.98367868e-01 -5.31841802e-02 -2.08096682e-02 4.99123055e+02] [ 5.31931669e-02 9.98584234e-01 -1.21824705e-04 7.08498004e+00] [ 2.07866858e-02 -9.85306285e-04 9.99783448e-01 5.97386929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.575099893 meters 0.02719357627213056 Centerline is valid? [True, True] Translation: X:499.15, Y:7.08, Z:5.97 [[ 9.98190616e-01 -5.63992348e-02 -2.08475585e-02 4.99153169e+02] [ 5.64089776e-02 9.98407739e-01 -1.20894871e-04 7.07776575e+00] [ 2.08211821e-02 -1.05531333e-03 9.99782659e-01 5.97374623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.605099893 meters 0.02661106570030966 Centerline is valid? [True, True] Translation: X:499.18, Y:7.08, Z:5.97 [[ 9.97832834e-01 -6.25404960e-02 -2.04529138e-02 4.99183244e+02] [ 6.25511807e-02 9.98041751e-01 -1.17544170e-04 7.07713801e+00] [ 2.04202131e-02 -1.16206447e-03 9.99790810e-01 5.97485821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.635099893 meters 0.028183965792349525 Centerline is valid? [True, True] Translation: X:499.21, Y:7.07, Z:5.98 [[ 9.97654068e-01 -6.53396608e-02 -2.04227795e-02 4.99214205e+02] [ 6.53509033e-02 9.97862338e-01 -1.17134436e-04 7.07424420e+00] [ 2.03867760e-02 -1.21778744e-03 9.99791426e-01 5.97539002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.665099893 meters 0.031130297956986522 Centerline is valid? [True, True] Translation: X:499.24, Y:7.07, Z:5.98 [[ 9.97516924e-01 -6.76101287e-02 -1.97194407e-02 4.99244792e+02] [ 6.76210633e-02 9.97711070e-01 -1.12518179e-04 7.06963393e+00] [ 1.96819116e-02 -1.22121076e-03 9.99805547e-01 5.97575402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.695099893 meters 0.03200273012121035 Centerline is valid? [True, True] Translation: X:499.28, Y:7.07, Z:5.98 [[ 9.97394316e-01 -6.95719479e-02 -1.90872481e-02 4.99275929e+02] [ 6.95825660e-02 9.97576190e-01 -1.08076725e-04 7.06787781e+00] [ 1.90485033e-02 -1.22034459e-03 9.99817816e-01 5.97627485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.725099893 meters 0.03136780898070249 Centerline is valid? [True, True] Translation: X:499.31, Y:7.07, Z:5.98 [[ 9.97279469e-01 -7.12109978e-02 -1.90435059e-02 4.99308421e+02] [ 7.12218822e-02 9.97460491e-01 -1.06914979e-04 7.06828429e+00] [ 1.90027583e-02 -1.24969022e-03 9.99818650e-01 5.97704354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.755099893 meters 0.029444119948094018 Centerline is valid? [True, True] Translation: X:499.34, Y:7.07, Z:5.98 [[ 9.97170810e-01 -7.28224337e-02 -1.86351634e-02 4.99340554e+02] [ 7.28331610e-02 9.97344133e-01 -1.03289055e-04 7.07010100e+00] [ 1.85931926e-02 -1.25426102e-03 9.99826345e-01 5.97787227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.785099893 meters 0.03056816016486298 Centerline is valid? [True, True] Translation: X:499.37, Y:7.07, Z:5.98 [[ 9.97147520e-01 -7.30824873e-02 -1.88619439e-02 4.99371924e+02] [ 7.30935479e-02 9.97325084e-01 -1.03263195e-04 7.06819163e+00] [ 1.88190365e-02 -1.27571776e-03 9.99822092e-01 5.97766553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.815099893 meters 0.03005922600462598 Centerline is valid? [True, True] Translation: X:499.40, Y:7.07, Z:5.98 [[ 9.97106402e-01 -7.34452339e-02 -1.96117612e-02 4.99404347e+02] [ 7.34572857e-02 9.97298359e-01 -1.06128805e-04 7.06865638e+00] [ 1.95665719e-02 -1.33480503e-03 9.99807665e-01 5.97765637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.845099893 meters 0.030952455819663195 Centerline is valid? [True, True] Translation: X:499.44, Y:7.07, Z:5.98 [[ 9.97045723e-01 -7.39606451e-02 -2.07280007e-02 4.99436807e+02] [ 7.39742517e-02 9.97260146e-01 -1.10597713e-04 7.06655684e+00] [ 2.06793889e-02 -1.42306737e-03 9.99785146e-01 5.97692118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.875099893 meters 0.03391121308299895 Centerline is valid? [True, True] Translation: X:499.47, Y:7.06, Z:5.98 [[ 9.96986664e-01 -7.45666912e-02 -2.13869037e-02 4.99467773e+02] [ 7.45813460e-02 9.97214927e-01 -1.12690610e-04 7.06209993e+00] [ 2.13357426e-02 -1.48271303e-03 9.99771268e-01 5.97650029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.905099893 meters 0.03332433179693727 Centerline is valid? [True, True] Translation: X:499.50, Y:7.06, Z:5.98 [[ 9.96906430e-01 -7.55011777e-02 -2.18435927e-02 4.99500248e+02] [ 7.55167183e-02 9.97144529e-01 -1.13729894e-04 7.06212878e+00] [ 2.17898057e-02 -1.53617837e-03 9.99761394e-01 5.97668770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.93509989300003 meters 0.03227928279289909 Centerline is valid? [True, True] Translation: X:499.53, Y:7.06, Z:5.98 [[ 9.96823355e-01 -7.65053544e-02 -2.21388629e-02 4.99532691e+02] [ 7.65216000e-02 9.97067917e-01 -1.13656671e-04 7.06287962e+00] [ 2.20826453e-02 -1.58080559e-03 9.99754899e-01 5.97719750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.965099893 meters 0.03580913756980678 Centerline is valid? [True, True] Translation: X:499.56, Y:7.06, Z:5.98 [[ 9.96709057e-01 -7.78380546e-02 -2.26338960e-02 4.99563425e+02] [ 7.78554062e-02 9.96964655e-01 -1.14904243e-04 7.05633998e+00] [ 2.25741382e-02 -1.64764506e-03 9.99743814e-01 5.97657650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.99509989300003 meters 0.0328271982234049 Centerline is valid? [True, True] Translation: X:499.60, Y:7.06, Z:5.98 [[ 9.96667209e-01 -7.83092919e-02 -2.28501613e-02 4.99595609e+02] [ 7.83271278e-02 9.96927704e-01 -1.14781794e-04 7.05955187e+00] [ 2.27889473e-02 -1.67538825e-03 9.99738894e-01 5.97762624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.025099893 meters 0.03426180679851439 Centerline is valid? [True, True] Translation: X:499.63, Y:7.06, Z:5.98 [[ 9.96653970e-01 -7.83888360e-02 -2.31528492e-02 4.99627186e+02] [ 7.84072038e-02 9.96921410e-01 -1.14798589e-04 7.05685480e+00] [ 2.30905700e-02 -1.70093570e-03 9.99731930e-01 5.97773287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.055099893 meters 0.03223287567094382 Centerline is valid? [True, True] Translation: X:499.66, Y:7.06, Z:5.98 [[ 9.96694622e-01 -7.79514201e-02 -2.28780842e-02 4.99659473e+02] [ 7.79692726e-02 9.96955756e-01 -1.11998082e-04 7.05891935e+00] [ 2.28171681e-02 -1.67215970e-03 9.99738256e-01 5.97880856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.085099893 meters 0.03140865422891859 Centerline is valid? [True, True] Translation: X:499.69, Y:7.06, Z:5.98 [[ 9.96747466e-01 -7.72814733e-02 -2.28486917e-02 4.99691475e+02] [ 7.72991432e-02 9.97007939e-01 -1.10172095e-04 7.05928158e+00] [ 2.27888413e-02 -1.65637054e-03 9.99738928e-01 5.97923762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.115099893 meters 0.03350393260572596 Centerline is valid? [True, True] Translation: X:499.72, Y:7.06, Z:5.98 [[ 9.96816768e-01 -7.64493056e-02 -2.26237627e-02 4.99722561e+02] [ 7.64664492e-02 9.97072149e-01 -1.07619474e-04 7.05584289e+00] [ 2.25657511e-02 -1.62268190e-03 9.99744044e-01 5.97969772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.145099893 meters 0.03374424204816989 Centerline is valid? [True, True] Translation: X:499.75, Y:7.05, Z:5.98 [[ 9.96911051e-01 -7.52856641e-02 -2.23701785e-02 4.99752950e+02] [ 7.53021528e-02 9.97160757e-01 -1.05562928e-04 7.05434010e+00] [ 2.23146115e-02 -1.57928575e-03 9.99749751e-01 5.98066787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.175099893 meters 0.03298919045209928 Centerline is valid? [True, True] Translation: X:499.78, Y:7.05, Z:5.98 [[ 9.96942337e-01 -7.49717533e-02 -2.20275541e-02 4.99784683e+02] [ 7.49876844e-02 9.97184455e-01 -1.03034036e-04 7.05477955e+00] [ 2.19732592e-02 -1.54907629e-03 9.99757359e-01 5.98159915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.205099893 meters 0.03341396888060451 Centerline is valid? [True, True] Translation: X:499.82, Y:7.05, Z:5.98 [[ 9.96954367e-01 -7.48004224e-02 -2.20655002e-02 4.99817334e+02] [ 7.48164017e-02 9.97197320e-01 -1.01625562e-04 7.05336837e+00] [ 2.20112593e-02 -1.54954528e-03 9.99756522e-01 5.98216849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.235099893 meters 0.03128185179838049 Centerline is valid? [True, True] Translation: X:499.85, Y:7.06, Z:5.98 [[ 9.96955129e-01 -7.48152966e-02 -2.19804986e-02 4.99849244e+02] [ 7.48311913e-02 9.97196211e-01 -9.96476807e-05 7.05528218e+00] [ 2.19263250e-02 -1.54548263e-03 9.99758395e-01 5.98303126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.265099893 meters 0.03263133693271228 Centerline is valid? [True, True] Translation: X:499.88, Y:7.05, Z:5.98 [[ 9.96903095e-01 -7.54102114e-02 -2.23051346e-02 4.99880272e+02] [ 7.54267599e-02 9.97151340e-01 -9.96592301e-05 7.05115533e+00] [ 2.22491102e-02 -1.58305344e-03 9.99751205e-01 5.98361595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.295099893 meters 0.033453295174081826 Centerline is valid? [True, True] Translation: X:499.91, Y:7.05, Z:5.98 [[ 9.96890557e-01 -7.55632492e-02 -2.23475262e-02 4.99912212e+02] [ 7.55799300e-02 9.97139742e-01 -9.84566745e-05 7.04893992e+00] [ 2.22910462e-02 -1.59087393e-03 9.99750258e-01 5.98417238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.325099893 meters 0.0335115465362327 Centerline is valid? [True, True] Translation: X:499.94, Y:7.05, Z:5.98 [[ 9.96887687e-01 -7.56665521e-02 -2.21249243e-02 4.99944264e+02] [ 7.56829623e-02 9.97131927e-01 -9.58949244e-05 7.04770763e+00] [ 2.20687245e-02 -1.57888334e-03 9.99755209e-01 5.98476956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.355099893 meters 0.035559586368660995 Centerline is valid? [True, True] Translation: X:499.98, Y:7.04, Z:5.98 [[ 9.96855981e-01 -7.61497637e-02 -2.18944595e-02 4.99975546e+02] [ 7.61659800e-02 9.97095148e-01 -9.35061092e-05 7.04383858e+00] [ 2.18379798e-02 -1.57440084e-03 9.99760283e-01 5.98497987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.385099893 meters 0.03555094685452612 Centerline is valid? [True, True] Translation: X:500.01, Y:7.04, Z:5.99 [[ 9.96694700e-01 -7.82327954e-02 -2.18930232e-02 5.00006715e+02] [ 7.82495274e-02 9.96933801e-01 -9.26688605e-05 7.04084986e+00] [ 2.18331446e-02 -1.62075616e-03 9.99760315e-01 5.98575827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.415099893 meters 0.035205401570977124 Centerline is valid? [True, True] Translation: X:500.04, Y:7.04, Z:5.99 [[ 9.96597809e-01 -7.94030298e-02 -2.20899694e-02 5.00038295e+02] [ 7.94203666e-02 9.96841209e-01 -9.27563007e-05 7.04015039e+00] [ 2.20275569e-02 -1.66195274e-03 9.99755983e-01 5.98654792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.445099893 meters 0.03970679031673972 Centerline is valid? [True, True] Translation: X:500.07, Y:7.03, Z:5.99 [[ 9.96532585e-01 -8.03752784e-02 -2.15086572e-02 5.00069124e+02] [ 8.03919604e-02 9.96763324e-01 -8.93388082e-05 7.03271630e+00] [ 2.14462213e-02 -1.64009409e-03 9.99768658e-01 5.98617284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.475099893 meters 0.035673841146780565 Centerline is valid? [True, True] Translation: X:500.10, Y:7.04, Z:5.99 [[ 9.96440096e-01 -8.14675431e-02 -2.16835273e-02 5.00101446e+02] [ 8.14847789e-02 9.96674582e-01 -8.89462109e-05 7.03647061e+00] [ 2.16186668e-02 -1.67824786e-03 9.99764881e-01 5.98749973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.505099893 meters 0.03846523797399437 Centerline is valid? [True, True] Translation: X:500.13, Y:7.03, Z:5.99 [[ 9.96245749e-01 -8.39196849e-02 -2.12578055e-02 5.00131718e+02] [ 8.39368369e-02 9.96471073e-01 -8.56922319e-05 7.02915206e+00] [ 2.11899796e-02 -1.69894243e-03 9.99774024e-01 5.98793912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.535099893 meters 0.03846523797399437 Centerline is valid? [True, True] Translation: X:500.16, Y:7.03, Z:5.99 [[ 9.96251724e-01 -8.38487168e-02 -2.12578115e-02 5.00163507e+02] [ 8.38658847e-02 9.96477048e-01 -8.41800901e-05 7.02921724e+00] [ 2.11899797e-02 -1.69894061e-03 9.99774024e-01 5.98833202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.565099893 meters 0.0343523364377648 Centerline is valid? [True, True] Translation: X:500.20, Y:7.03, Z:5.99 [[ 9.96164528e-01 -8.49879637e-02 -2.08153592e-02 5.00195355e+02] [ 8.50047094e-02 9.96380546e-01 -8.05901147e-05 7.03294471e+00] [ 2.07468682e-02 -1.68912255e-03 9.99783334e-01 5.98947208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.595099893 meters 0.03456056663588616 Centerline is valid? [True, True] Translation: X:500.23, Y:7.03, Z:5.99 [[ 9.96065694e-01 -8.62555801e-02 -2.03250524e-02 5.00227870e+02] [ 8.62718483e-02 9.96271631e-01 -7.67038517e-05 7.03119626e+00] [ 2.02558893e-02 -1.67707776e-03 9.99793422e-01 5.99017315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.625099893 meters 0.03573478778725202 Centerline is valid? [True, True] Translation: X:500.26, Y:7.03, Z:5.99 [[ 9.95976452e-01 -8.73980581e-02 -1.98112662e-02 5.00259927e+02] [ 8.74137670e-02 9.96172088e-01 -7.33133555e-05 7.02826661e+00] [ 1.97418378e-02 -1.65875903e-03 9.99803735e-01 5.99089471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.655099893 meters 0.03999247561163735 Centerline is valid? [True, True] Translation: X:500.29, Y:7.02, Z:5.99 [[ 9.95773106e-01 -8.96774384e-02 -1.98463785e-02 5.00289762e+02] [ 8.96936812e-02 9.95969396e-01 -7.19872155e-05 7.01993676e+00] [ 1.97728412e-02 -1.70841181e-03 9.99803039e-01 5.99126867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.68509989300003 meters 0.03669727677454976 Centerline is valid? [True, True] Translation: X:500.32, Y:7.02, Z:5.99 [[ 9.95656485e-01 -9.09643540e-02 -1.98406414e-02 5.00321712e+02] [ 9.09808695e-02 9.95852638e-01 -7.05231149e-05 7.02282270e+00] [ 1.97647701e-02 -1.73490201e-03 9.99803153e-01 5.99224563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.715099893 meters 0.0368345163998753 Centerline is valid? [True, True] Translation: X:500.35, Y:7.02, Z:5.99 [[ 9.95561619e-01 -9.19620881e-02 -2.00009226e-02 5.00353993e+02] [ 9.19791011e-02 9.95760935e-01 -6.95974262e-05 7.02121555e+00] [ 1.99225378e-02 -1.77037836e-03 9.99799959e-01 5.99232754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74509989300003 meters 0.03781311018955884 Centerline is valid? [True, True] Translation: X:500.39, Y:7.02, Z:5.99 [[ 9.95507869e-01 -9.25398986e-02 -2.00112209e-02 5.00386584e+02] [ 9.25570747e-02 9.95707378e-01 -6.81406757e-05 7.01864801e+00] [ 1.99316261e-02 -1.78434549e-03 9.99799753e-01 5.99247956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.775099893 meters 0.04153449470493319 Centerline is valid? [True, True] Translation: X:500.42, Y:7.01, Z:5.99 [[ 9.95428463e-01 -9.33033200e-02 -2.04123825e-02 5.00418040e+02] [ 9.33213792e-02 9.95636036e-01 -6.81231623e-05 7.01273402e+00] [ 2.03296597e-02 -1.83709995e-03 9.99791643e-01 5.99226722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.805099893 meters 0.04055954237007008 Centerline is valid? [True, True] Translation: X:500.45, Y:7.01, Z:5.99 [[ 9.95317872e-01 -9.42479949e-02 -2.14394162e-02 5.00450020e+02] [ 9.42681646e-02 9.95546839e-01 -7.01675879e-05 7.01199015e+00] [ 2.13505562e-02 -1.95121536e-03 9.99770147e-01 5.99245852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.835099893 meters 0.041131800114738465 Centerline is valid? [True, True] Translation: X:500.48, Y:7.01, Z:5.99 [[ 9.95288223e-01 -9.44913020e-02 -2.17427487e-02 5.00482356e+02] [ 9.45121390e-02 9.95523707e-01 -6.95582215e-05 7.01050002e+00] [ 2.16519944e-02 -1.98572321e-03 9.99763596e-01 5.99273613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.865099893 meters 0.043240809140972794 Centerline is valid? [True, True] Translation: X:500.51, Y:7.01, Z:5.99 [[ 9.95262620e-01 -9.46254339e-02 -2.23236346e-02 5.00513752e+02] [ 9.46474657e-02 9.95510850e-01 -6.99467689e-05 7.00726218e+00] [ 2.22300392e-02 -2.04326003e-03 9.99750794e-01 5.99274888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.895099893 meters 0.042370561872049524 Centerline is valid? [True, True] Translation: X:500.55, Y:7.01, Z:5.99 [[ 9.95287365e-01 -9.43396591e-02 -2.24296439e-02 5.00545559e+02] [ 9.43618601e-02 9.95537962e-01 -6.88770971e-05 7.00773233e+00] [ 2.23360598e-02 -2.04795042e-03 9.99748422e-01 5.99329208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.925099893 meters 0.038752450327573344 Centerline is valid? [True, True] Translation: X:500.58, Y:7.01, Z:5.99 [[ 9.95354871e-01 -9.37158447e-02 -2.20458782e-02 5.00577318e+02] [ 9.37371754e-02 9.95596975e-01 -6.61064821e-05 7.01162819e+00] [ 2.19550049e-02 -2.00071895e-03 9.99756958e-01 5.99454044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.955099893 meters 0.03859249846566668 Centerline is valid? [True, True] Translation: X:500.61, Y:7.01, Z:6.00 [[ 9.95495054e-01 -9.24551719e-02 -2.10152122e-02 5.00608949e+02] [ 9.24743038e-02 9.95715069e-01 -6.16638186e-05 7.01026284e+00] [ 2.09308646e-02 -1.88198109e-03 9.99779154e-01 5.99545569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.985099893 meters 0.03643952923229432 Centerline is valid? [True, True] Translation: X:500.64, Y:7.01, Z:6.00 [[ 9.95632779e-01 -9.10688204e-02 -2.05387111e-02 5.00640673e+02] [ 9.10868278e-02 9.95842953e-01 -5.89850055e-05 7.01250019e+00] [ 2.04587024e-02 -1.81207864e-03 9.99789057e-01 5.99645934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.015099893 meters 0.03704649912679277 Centerline is valid? [True, True] Translation: X:500.67, Y:7.01, Z:6.00 [[ 9.95778593e-01 -8.95460723e-02 -2.01617056e-02 5.00670958e+02] [ 8.95631359e-02 9.95981145e-01 -5.68492546e-05 7.01140030e+00] [ 2.00857692e-02 -1.74913630e-03 9.99796731e-01 5.99688181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.045099893 meters 0.038285729965612955 Centerline is valid? [True, True] Translation: X:500.70, Y:7.01, Z:6.00 [[ 9.96080505e-01 -8.61502585e-02 -2.00439888e-02 5.00701004e+02] [ 8.61664460e-02 9.96280754e-01 -5.62458477e-05 7.00935660e+00] [ 1.99742858e-02 -1.67109388e-03 9.99799097e-01 5.99717405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.075099893 meters 0.03588328735002758 Centerline is valid? [True, True] Translation: X:500.73, Y:7.01, Z:6.00 [[ 9.96236921e-01 -8.43495601e-02 -1.99286108e-02 5.00732574e+02] [ 8.43652135e-02 9.96434899e-01 -5.54390960e-05 7.01223480e+00] [ 1.98622396e-02 -1.62605103e-03 9.99801404e-01 5.99772489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.105099893 meters 0.03584157654398929 Centerline is valid? [True, True] Translation: X:500.76, Y:7.01, Z:6.00 [[ 9.96396792e-01 -8.24731856e-02 -1.97890632e-02 5.00764351e+02] [ 8.24882742e-02 9.96592034e-01 -5.39671983e-05 7.01201973e+00] [ 1.97260736e-02 -1.57859293e-03 9.99804176e-01 5.99807362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.135099893 meters 0.03571458958781168 Centerline is valid? [True, True] Translation: X:500.79, Y:7.01, Z:6.00 [[ 9.96729474e-01 -7.83195560e-02 -1.99098697e-02 5.00793633e+02] [ 7.83340165e-02 9.96927168e-01 -5.37515014e-05 7.01101923e+00] [ 1.98528998e-02 -1.50604435e-03 9.99801777e-01 5.99785194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.165099893 meters 0.0332114518163173 Centerline is valid? [True, True] Translation: X:500.83, Y:7.01, Z:6.00 [[ 9.96880813e-01 -7.64133026e-02 -1.97396071e-02 5.00825115e+02] [ 7.64271460e-02 9.97075167e-01 -5.32434717e-05 7.01411296e+00] [ 1.96859406e-02 -1.45556444e-03 9.99805154e-01 5.99853712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.195099893 meters 0.03536687929518843 Centerline is valid? [True, True] Translation: X:500.85, Y:7.01, Z:6.00 [[ 9.97063259e-01 -7.39295982e-02 -1.99817849e-02 5.00854428e+02] [ 7.39432937e-02 9.97262446e-01 -5.35762814e-05 7.01093880e+00] [ 1.99310445e-02 -1.42410005e-03 9.99800343e-01 5.99847035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.225099893 meters 0.03430367032211211 Centerline is valid? [True, True] Translation: X:500.89, Y:7.01, Z:6.00 [[ 9.97255161e-01 -7.13115079e-02 -1.99201437e-02 5.00885551e+02] [ 7.13245975e-02 9.97453156e-01 -5.35004047e-05 7.01246886e+00] [ 1.98732254e-02 -1.36744267e-03 9.99801573e-01 5.99918615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.255099893 meters 0.028390756525338408 Centerline is valid? [True, True] Translation: X:500.92, Y:7.02, Z:6.00 [[ 9.97658333e-01 -6.51763838e-02 -2.07337823e-02 5.00916439e+02] [ 6.51892527e-02 9.97872917e-01 -5.53188872e-05 7.02108440e+00] [ 2.06932853e-02 -1.29643043e-03 9.99785030e-01 6.00059071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.285099893 meters 0.031620841633581434 Centerline is valid? [True, True] Translation: X:500.95, Y:7.02, Z:6.00 [[ 9.97879515e-01 -6.16220674e-02 -2.09569727e-02 5.00946213e+02] [ 6.16344384e-02 9.98098789e-01 -5.57038872e-05 7.01688636e+00] [ 2.09205617e-02 -1.23608548e-03 9.99780377e-01 6.00006763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.315099893 meters 0.027952182633549927 Centerline is valid? [True, True] Translation: X:500.98, Y:7.02, Z:6.00 [[ 9.98095135e-01 -5.78939011e-02 -2.13165927e-02 5.00977522e+02] [ 5.79058562e-02 9.98322047e-01 -5.65024979e-05 7.02200949e+00] [ 2.12840956e-02 -1.17796068e-03 9.99772774e-01 6.00102550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.345099893 meters 0.02540351641327282 Centerline is valid? [True, True] Translation: X:501.01, Y:7.03, Z:6.00 [[ 9.98330359e-01 -5.36898449e-02 -2.13048093e-02 5.01008202e+02] [ 5.37008401e-02 9.98557067e-01 -5.60953265e-05 7.02555849e+00] [ 2.12770797e-02 -1.08808449e-03 9.99773025e-01 6.00191639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.375099893 meters 0.02548570993772911 Centerline is valid? [True, True] Translation: X:501.04, Y:7.03, Z:6.00 [[ 9.98529710e-01 -5.00250331e-02 -2.08785550e-02 5.01038425e+02] [ 5.00347978e-02 9.98747474e-01 -5.47577189e-05 7.02564129e+00] [ 2.08551433e-02 -9.89977069e-04 9.99782018e-01 6.00278899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.405099893 meters 0.020373102487514456 Centerline is valid? [True, True] Translation: X:501.07, Y:7.03, Z:6.01 [[ 9.98864282e-01 -4.31570011e-02 -2.01895710e-02 5.01068626e+02] [ 4.31647313e-02 9.99067967e-01 -5.29457560e-05 7.03343381e+00] [ 2.01730387e-02 -8.18591784e-04 9.99796168e-01 6.00576852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.43509989300003 meters 0.020079971846657507 Centerline is valid? [True, True] Translation: X:501.10, Y:7.03, Z:6.01 [[ 9.98995442e-01 -3.99701874e-02 -2.02605947e-02 5.01098684e+02] [ 3.99773179e-02 9.99200586e-01 -5.31241132e-05 7.03378830e+00] [ 2.02465215e-02 -7.56893490e-04 9.99794732e-01 6.00669622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.465099893 meters 0.018567444322743005 Centerline is valid? [True, True] Translation: X:501.13, Y:7.04, Z:6.01 [[ 9.99100745e-01 -3.72726287e-02 -2.02102055e-02 5.01129235e+02] [ 3.72791726e-02 9.99304889e-01 -5.29919905e-05 7.03616481e+00] [ 2.01981323e-02 -7.00475401e-04 9.99795752e-01 6.00807348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.49509989300003 meters 0.01870427101270416 Centerline is valid? [True, True] Translation: X:501.16, Y:7.04, Z:6.01 [[ 9.99205313e-01 -3.45360167e-02 -1.98999130e-02 5.01158473e+02] [ 3.45418136e-02 9.99403252e-01 -5.24496967e-05 7.03551266e+00] [ 1.98898492e-02 -6.34971071e-04 9.99801976e-01 6.00874966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.525099893 meters 0.018375692326931866 Centerline is valid? [True, True] Translation: X:501.19, Y:7.04, Z:6.01 [[ 9.99260381e-01 -3.26501330e-02 -2.03140336e-02 5.01187958e+02] [ 3.26557696e-02 9.99466657e-01 -5.42742104e-05 7.03552175e+00] [ 2.03049713e-02 -6.09136331e-04 9.99793647e-01 6.00933869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.555099893 meters 0.017251021183418345 Centerline is valid? [True, True] Translation: X:501.22, Y:7.04, Z:6.01 [[ 9.99322822e-01 -2.99713546e-02 -2.13451259e-02 5.01216715e+02] [ 2.99769112e-02 9.99550590e-01 -5.96724786e-05 7.03536658e+00] [ 2.13373216e-02 -5.80228873e-04 9.99772165e-01 6.00954966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.585099893 meters 0.016808055462526818 Centerline is valid? [True, True] Translation: X:501.25, Y:7.04, Z:6.01 [[ 9.99336063e-01 -2.92826469e-02 -2.16785644e-02 5.01245194e+02] [ 2.92880997e-02 9.99571009e-01 -6.59920385e-05 7.03516213e+00] [ 2.16711969e-02 -5.68975731e-04 9.99764990e-01 6.00980524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.615099893 meters 0.016746940400569985 Centerline is valid? [True, True] Translation: X:501.27, Y:7.03, Z:6.01 [[ 9.99329467e-01 -2.90092138e-02 -2.23401554e-02 5.01272635e+02] [ 2.90148017e-02 9.99578979e-01 -7.40360869e-05 7.03451353e+00] [ 2.23328975e-02 -5.74208736e-04 9.99750425e-01 6.00991873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.645099893 meters 0.016276980463580462 Centerline is valid? [True, True] Translation: X:501.30, Y:7.03, Z:6.01 [[ 9.99311218e-01 -2.90671706e-02 -2.30692078e-02 5.01300165e+02] [ 2.90729891e-02 9.99577288e-01 -8.32004605e-05 7.03315533e+00] [ 2.30618746e-02 -5.87547674e-04 9.99733867e-01 6.01096864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.675099893 meters 0.01625213547602348 Centerline is valid? [True, True] Translation: X:501.33, Y:7.03, Z:6.01 [[ 9.99301227e-01 -2.95495935e-02 -2.28883946e-02 5.01328012e+02] [ 2.95552960e-02 9.99563143e-01 -8.91689137e-05 7.03193800e+00] [ 2.28810305e-02 -5.87366672e-04 9.99738022e-01 6.01156902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.705099893 meters 0.01642620342195108 Centerline is valid? [True, True] Translation: X:501.36, Y:7.03, Z:6.01 [[ 9.99251665e-01 -3.07666679e-02 -2.34419089e-02 5.01357030e+02] [ 3.07728320e-02 9.99526399e-01 -9.78222936e-05 7.03040263e+00] [ 2.34338165e-02 -6.23624837e-04 9.99725196e-01 6.01195375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.735099893 meters 0.017581999438203166 Centerline is valid? [True, True] Translation: X:501.38, Y:7.03, Z:6.01 [[ 9.99218468e-01 -3.18047237e-02 -2.34715417e-02 5.01384356e+02] [ 3.18110752e-02 9.99493894e-01 -1.02819173e-04 7.02720642e+00] [ 2.34629327e-02 -6.43916161e-04 9.99724500e-01 6.01178438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.765099893 meters 0.018526496247398813 Centerline is valid? [True, True] Translation: X:501.41, Y:7.02, Z:6.01 [[ 9.99180182e-01 -3.28928878e-02 -2.36013203e-02 5.01411968e+02] [ 3.28995443e-02 9.99458658e-01 -1.06300751e-04 7.02427934e+00] [ 2.35920404e-02 -6.70259079e-04 9.99721444e-01 6.01184808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.795099893 meters 0.018003141843469687 Centerline is valid? [True, True] Translation: X:501.44, Y:7.02, Z:6.01 [[ 9.99104573e-01 -3.50869711e-02 -2.36422672e-02 5.01440701e+02] [ 3.50941726e-02 9.99384004e-01 -1.10370240e-04 7.02298491e+00] [ 2.36315762e-02 -7.19434392e-04 9.99720476e-01 6.01296139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.825099893 meters 0.01782624548788798 Centerline is valid? [True, True] Translation: X:501.47, Y:7.02, Z:6.01 [[ 9.99076991e-01 -3.60632416e-02 -2.33368524e-02 5.01469369e+02] [ 3.60703885e-02 9.99349245e-01 -1.14753560e-04 7.02238823e+00] [ 2.33258042e-02 -7.27121691e-04 9.99727652e-01 6.01396251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.855099893 meters 0.01819006030046407 Centerline is valid? [True, True] Translation: X:501.50, Y:7.02, Z:6.01 [[ 9.99051969e-01 -3.70125034e-02 -2.29180888e-02 5.01498006e+02] [ 3.70195146e-02 9.99314536e-01 -1.18409437e-04 7.02105449e+00] [ 2.29067619e-02 -7.30119341e-04 9.99737339e-01 6.01429252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.885099893 meters 0.019469734582999096 Centerline is valid? [True, True] Translation: X:501.53, Y:7.02, Z:6.01 [[ 9.99031864e-01 -3.76013306e-02 -2.28358131e-02 5.01526048e+02] [ 3.76083534e-02 9.99292548e-01 -1.22007025e-04 7.01825798e+00] [ 2.28242455e-02 -7.36928423e-04 9.99739221e-01 6.01426881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.915099893 meters 0.01819767686165354 Centerline is valid? [True, True] Translation: X:501.55, Y:7.02, Z:6.02 [[ 9.98986125e-01 -3.88212311e-02 -2.27954663e-02 5.01554401e+02] [ 3.88284609e-02 9.99245883e-01 -1.25538707e-04 7.01879558e+00] [ 2.27831494e-02 -7.59701445e-04 9.99740142e-01 6.01529353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.945099893 meters 0.01890664546253566 Centerline is valid? [True, True] Translation: X:501.58, Y:7.02, Z:6.02 [[ 9.98966826e-01 -3.90650694e-02 -2.32207000e-02 5.01581919e+02] [ 3.90725403e-02 9.99236368e-01 -1.32057435e-04 7.01698062e+00] [ 2.32081267e-02 -7.75370740e-04 9.99730354e-01 6.01507770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.975099893 meters 0.01860703431206989 Centerline is valid? [True, True] Translation: X:501.61, Y:7.02, Z:6.02 [[ 9.98940978e-01 -3.95905511e-02 -2.34416292e-02 5.01611092e+02] [ 3.95982177e-02 9.99215674e-01 -1.37229041e-04 7.01681618e+00] [ 2.34286762e-02 -7.91163022e-04 9.99725198e-01 6.01552268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.005099893 meters 0.018608520900739257 Centerline is valid? [True, True] Translation: X:501.64, Y:7.02, Z:6.02 [[ 9.98916766e-01 -4.03604293e-02 -2.31587957e-02 5.01639794e+02] [ 4.03679839e-02 9.99184871e-01 -1.41387997e-04 7.01615822e+00] [ 2.31456248e-02 -7.93639052e-04 9.99731789e-01 6.01588600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.035099893 meters 0.02015431355988675 Centerline is valid? [True, True] Translation: X:501.67, Y:7.01, Z:6.02 [[ 9.98896351e-01 -4.08004605e-02 -2.32680433e-02 5.01667647e+02] [ 4.08081099e-02 9.99166991e-01 -1.46179645e-04 7.01290307e+00] [ 2.32546250e-02 -8.03506555e-04 9.99729252e-01 6.01555909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.065099893 meters 0.019868343963683536 Centerline is valid? [True, True] Translation: X:501.70, Y:7.01, Z:6.02 [[ 9.98879376e-01 -4.11557128e-02 -2.33709236e-02 5.01695947e+02] [ 4.11634784e-02 9.99152414e-01 -1.48906865e-04 7.01182215e+00] [ 2.33572430e-02 -8.13288512e-04 9.99726852e-01 6.01689043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.095099893 meters 0.018829337976292205 Centerline is valid? [True, True] Translation: X:501.72, Y:7.01, Z:6.02 [[ 9.98885714e-01 -4.11604296e-02 -2.30900413e-02 5.01724677e+02] [ 4.11679235e-02 9.99152230e-01 -1.50902093e-04 7.01306428e+00] [ 2.30766775e-02 -7.99835110e-04 9.99733378e-01 6.01818452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.125099893 meters 0.018815778780549436 Centerline is valid? [True, True] Translation: X:501.75, Y:7.01, Z:6.02 [[ 9.98910115e-01 -4.06450361e-02 -2.29469840e-02 5.01753194e+02] [ 4.06521694e-02 9.99173347e-01 -1.55731142e-04 7.01256504e+00] [ 2.29343445e-02 -7.77283267e-04 9.99736671e-01 6.01841431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.155099893 meters 0.01885972220180592 Centerline is valid? [True, True] Translation: X:501.78, Y:7.01, Z:6.02 [[ 9.98949570e-01 -3.97100969e-02 -2.28662279e-02 5.01780913e+02] [ 3.97168434e-02 9.99210962e-01 -1.59209443e-04 7.01239033e+00] [ 2.28545078e-02 -7.49132185e-04 9.99738521e-01 6.01879876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.18509989300003 meters 0.018056441551464367 Centerline is valid? [True, True] Translation: X:501.81, Y:7.01, Z:6.02 [[ 9.99086524e-01 -3.62221603e-02 -2.26731758e-02 5.01808661e+02] [ 3.62278508e-02 9.99343543e-01 -1.59859416e-04 7.01354429e+00] [ 2.26640823e-02 -6.61687042e-04 9.99742918e-01 6.01903465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.215099893 meters 0.017495615338174352 Centerline is valid? [True, True] Translation: X:501.84, Y:7.01, Z:6.02 [[ 9.99140346e-01 -3.45228951e-02 -2.29507859e-02 5.01837692e+02] [ 3.45281931e-02 9.99403710e-01 -1.65514284e-04 7.01485736e+00] [ 2.29428146e-02 -6.27077166e-04 9.99736582e-01 6.01963270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24509989300003 meters 0.01605414323233516 Centerline is valid? [True, True] Translation: X:501.87, Y:7.02, Z:6.02 [[ 9.99195258e-01 -3.26871167e-02 -2.32462758e-02 5.01866018e+02] [ 3.26919198e-02 9.99465461e-01 -1.73485617e-04 7.01793780e+00] [ 2.32395205e-02 -5.86619377e-04 9.99729754e-01 6.02070776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.275099893 meters 0.015502700679520094 Centerline is valid? [True, True] Translation: X:501.89, Y:7.02, Z:6.02 [[ 9.99292451e-01 -2.90157236e-02 -2.39308421e-02 5.01894123e+02] [ 2.90196595e-02 9.99578824e-01 -1.82870490e-04 7.01964577e+00] [ 2.39260691e-02 -5.11723789e-04 9.99713600e-01 6.02077195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.305099893 meters 0.015041826570439249 Centerline is valid? [True, True] Translation: X:501.92, Y:7.02, Z:6.02 [[ 9.99324933e-01 -2.77788474e-02 -2.40419403e-02 5.01922941e+02] [ 2.77823644e-02 9.99613978e-01 -1.87788120e-04 7.02101555e+00] [ 2.40378761e-02 -4.80280595e-04 9.99710933e-01 6.02120576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.335099893 meters 0.014603579837639543 Centerline is valid? [True, True] Translation: X:501.95, Y:7.02, Z:6.02 [[ 9.99344194e-01 -2.69528472e-02 -2.41811227e-02 5.01951412e+02] [ 2.69560142e-02 9.99636602e-01 -1.95041202e-04 7.02218257e+00] [ 2.41775922e-02 -4.56913393e-04 9.99707575e-01 6.02211686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.365099893 meters 0.014548674744750887 Centerline is valid? [True, True] Translation: X:501.98, Y:7.02, Z:6.02 [[ 9.99401331e-01 -2.56958409e-02 -2.31668793e-02 5.01979497e+02] [ 2.56983172e-02 9.99669725e-01 -1.90867749e-04 7.02144557e+00] [ 2.31641324e-02 -4.04596330e-04 9.99731594e-01 6.02304773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.395099893 meters 0.014594078431751478 Centerline is valid? [True, True] Translation: X:502.01, Y:7.02, Z:6.02 [[ 9.99413603e-01 -2.59720415e-02 -2.23137406e-02 5.02007368e+02] [ 2.59743197e-02 9.99662593e-01 -1.87773886e-04 7.02113630e+00] [ 2.23110886e-02 -3.91920455e-04 9.99751000e-01 6.02407632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.425099893 meters 0.014594078431751478 Centerline is valid? [True, True] Translation: X:502.03, Y:7.02, Z:6.02 [[ 9.99406099e-01 -2.62592657e-02 -2.23136852e-02 5.02034788e+02] [ 2.62614724e-02 9.99655089e-01 -1.94183324e-04 7.02143381e+00] [ 2.23110881e-02 -3.91922231e-04 9.99751000e-01 6.02441623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.455099893 meters 0.014642297629739582 Centerline is valid? [True, True] Translation: X:502.06, Y:7.02, Z:6.02 [[ 9.99404578e-01 -2.69660699e-02 -2.15249011e-02 5.02062310e+02] [ 2.69681568e-02 9.99636274e-01 -1.93368308e-04 7.02077280e+00] [ 2.15222863e-02 -3.87233735e-04 9.99768294e-01 6.02493644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.485099893 meters 0.014944622164535033 Centerline is valid? [True, True] Translation: X:502.09, Y:7.02, Z:6.03 [[ 9.99393941e-01 -2.75789591e-02 -2.12403530e-02 5.02090328e+02] [ 2.75810387e-02 9.99619552e-01 -1.95091327e-04 7.01938828e+00] [ 2.12376526e-02 -3.90857907e-04 9.99774379e-01 6.02550492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.515099893 meters 0.0155314930956767 Centerline is valid? [True, True] Translation: X:502.12, Y:7.02, Z:6.03 [[ 9.99326118e-01 -3.02709021e-02 -2.07600920e-02 5.02118673e+02] [ 3.02734236e-02 9.99541636e-01 -1.92876245e-04 7.01590726e+00] [ 2.07564149e-02 -4.35732791e-04 9.99784467e-01 6.02555631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.545099893 meters 0.01591204596511701 Centerline is valid? [True, True] Translation: X:502.15, Y:7.01, Z:6.03 [[ 9.99268895e-01 -3.23128295e-02 -2.04342182e-02 5.02147030e+02] [ 3.23156512e-02 9.99477694e-01 -1.92190671e-04 7.01415053e+00] [ 2.04297556e-02 -4.68294910e-04 9.99791181e-01 6.02552083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.575099893 meters 0.01612749089826376 Centerline is valid? [True, True] Translation: X:502.18, Y:7.01, Z:6.03 [[ 9.99209840e-01 -3.40715561e-02 -2.04652024e-02 5.02175616e+02] [ 3.40746914e-02 9.99419270e-01 -1.95590116e-04 7.01240279e+00] [ 2.04599817e-02 -5.01909889e-04 9.99790547e-01 6.02553610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.605099893 meters 0.01778336296860755 Centerline is valid? [True, True] Translation: X:502.20, Y:7.01, Z:6.03 [[ 9.99030955e-01 -3.88246768e-02 -2.07315308e-02 5.02203785e+02] [ 3.88288398e-02 9.99245856e-01 -2.01843145e-04 7.00759409e+00] [ 2.07237327e-02 -6.03333738e-04 9.99785058e-01 6.02559175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.635099893 meters 0.01778336296860755 Centerline is valid? [True, True] Translation: X:502.23, Y:7.01, Z:6.03 [[ 9.99021357e-01 -3.90708787e-02 -2.07315019e-02 5.02232060e+02] [ 3.90750339e-02 9.99236258e-01 -2.04776986e-04 7.00791185e+00] [ 2.07236692e-02 -6.05507555e-04 9.99785058e-01 6.02594162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.665099893 meters 0.019793152235736033 Centerline is valid? [True, True] Translation: X:502.26, Y:7.00, Z:6.03 [[ 9.98809735e-01 -4.41945969e-02 -2.06385975e-02 5.02261652e+02] [ 4.41997416e-02 9.99022692e-01 -2.07037115e-04 7.00262840e+00] [ 2.06275772e-02 -7.05429994e-04 9.99786980e-01 6.02616126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.695099893 meters 0.02137236001018888 Centerline is valid? [True, True] Translation: X:502.29, Y:7.00, Z:6.03 [[ 9.98679421e-01 -4.71324857e-02 -2.04436621e-02 5.02290668e+02] [ 4.71381354e-02 9.98888359e-01 -2.05713872e-04 6.99943657e+00] [ 2.04306319e-02 -7.58233899e-04 9.99790985e-01 6.02635740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.725099893 meters 0.02122744614755461 Centerline is valid? [True, True] Translation: X:502.32, Y:7.00, Z:6.03 [[ 9.98534692e-01 -5.01510243e-02 -2.03308499e-02 5.02320391e+02] [ 5.01572177e-02 9.98741313e-01 -2.05497973e-04 6.99902890e+00] [ 2.03155657e-02 -8.14542010e-04 9.99793286e-01 6.02714440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.755099893 meters 0.026243375799955396 Centerline is valid? [True, True] Translation: X:502.35, Y:6.99, Z:6.03 [[ 9.98224564e-01 -5.58800090e-02 -2.06190276e-02 5.02350014e+02] [ 5.58875887e-02 9.98437045e-01 -2.08894581e-04 6.99048515e+00] [ 2.05984741e-02 -9.43824033e-04 9.99787383e-01 6.02661797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.785099893 meters 0.024763319295192616 Centerline is valid? [True, True] Translation: X:502.38, Y:6.99, Z:6.03 [[ 9.98054396e-01 -5.87532220e-02 -2.08681992e-02 5.02380701e+02] [ 5.87616113e-02 9.98272021e-01 -2.11479024e-04 6.99223906e+00] [ 2.08445644e-02 -1.01518144e-03 9.99782213e-01 6.02780549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.815099893 meters 0.025365090941711858 Centerline is valid? [True, True] Translation: X:502.41, Y:6.99, Z:6.03 [[ 9.97901413e-01 -6.13926544e-02 -2.05842437e-02 5.02410977e+02] [ 6.14013738e-02 9.98113134e-01 -2.08747936e-04 6.99098828e+00] [ 2.05582196e-02 -1.05559098e-03 9.99788100e-01 6.02803843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.845099893 meters 0.02559607017518427 Centerline is valid? [True, True] Translation: X:502.44, Y:6.99, Z:6.03 [[ 9.97740804e-01 -6.39469525e-02 -2.05930951e-02 5.02441421e+02] [ 6.39562173e-02 9.97952684e-01 -2.09058201e-04 6.99064912e+00] [ 2.05643032e-02 -1.10847057e-03 9.99787918e-01 6.02881828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.875099893 meters 0.02565159191529193 Centerline is valid? [True, True] Translation: X:502.47, Y:6.99, Z:6.03 [[ 9.97478580e-01 -6.78270390e-02 -2.08800218e-02 5.02472048e+02] [ 6.78374139e-02 9.97696367e-01 -2.11837814e-04 6.99064991e+00] [ 2.08462902e-02 -1.20514300e-03 9.99781966e-01 6.02962425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.905099893 meters 0.0260266578188654 Centerline is valid? [True, True] Translation: X:502.50, Y:6.99, Z:6.03 [[ 9.97361691e-01 -6.94349785e-02 -2.11764157e-02 5.02503175e+02] [ 6.94460222e-02 9.97585688e-01 -2.14323568e-04 6.99060230e+00] [ 2.11401708e-02 -1.25685972e-03 9.99775732e-01 6.03003499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.93509989300003 meters 0.028075572011894017 Centerline is valid? [True, True] Translation: X:502.53, Y:6.99, Z:6.03 [[ 9.97278541e-01 -7.04699377e-02 -2.16679494e-02 5.02533324e+02] [ 7.04817574e-02 9.97513045e-01 -2.18661229e-04 6.98840164e+00] [ 2.16294712e-02 -1.30912900e-03 9.99765199e-01 6.03012607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.965099893 meters 0.027245777733275627 Centerline is valid? [True, True] Translation: X:502.56, Y:6.99, Z:6.03 [[ 9.97223754e-01 -7.11988326e-02 -2.18061920e-02 5.02564161e+02] [ 7.12109860e-02 9.97461251e-01 -2.19655434e-04 6.99031140e+00] [ 2.17664708e-02 -1.33379482e-03 9.99762193e-01 6.03094550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.99509989300003 meters 0.027341969064987665 Centerline is valid? [True, True] Translation: X:502.60, Y:6.99, Z:6.03 [[ 9.97186191e-01 -7.17265489e-02 -2.17945762e-02 5.02595546e+02] [ 7.17388273e-02 9.97423427e-01 -2.18965915e-04 6.99136963e+00] [ 2.17541265e-02 -1.34516755e-03 9.99762446e-01 6.03141461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.025099893 meters 0.026809757796370803 Centerline is valid? [True, True] Translation: X:502.63, Y:6.99, Z:6.03 [[ 9.97176436e-01 -7.16969474e-02 -2.23316808e-02 5.02626455e+02] [ 7.17098499e-02 9.97425510e-01 -2.23528711e-04 6.99411338e+00] [ 2.22902145e-02 -1.37850392e-03 9.99750592e-01 6.03215845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.055099893 meters 0.02856553380768139 Centerline is valid? [True, True] Translation: X:502.66, Y:6.99, Z:6.03 [[ 9.97209242e-01 -7.13467315e-02 -2.19857179e-02 5.02657187e+02] [ 7.13591760e-02 9.97450660e-01 -2.18986753e-04 6.99264764e+00] [ 2.19452928e-02 -1.35050710e-03 9.99758261e-01 6.03244889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.085099893 meters 0.028601811644485286 Centerline is valid? [True, True] Translation: X:502.69, Y:6.99, Z:6.03 [[ 9.97238773e-01 -7.09022497e-02 -2.20839322e-02 5.02688354e+02] [ 7.09147228e-02 9.97482358e-01 -2.18803017e-04 6.99402003e+00] [ 2.20438464e-02 -1.34787708e-03 9.99756096e-01 6.03291895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.115099893 meters 0.027883629128422956 Centerline is valid? [True, True] Translation: X:502.72, Y:7.00, Z:6.03 [[ 9.97300187e-01 -7.01952775e-02 -2.15629216e-02 5.02719767e+02] [ 7.02070207e-02 9.97532420e-01 -2.12872903e-04 6.99620650e+00] [ 2.15246561e-02 -1.30157030e-03 9.99767471e-01 6.03373037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.145099893 meters 0.027897300897335914 Centerline is valid? [True, True] Translation: X:502.75, Y:7.00, Z:6.03 [[ 9.97361270e-01 -6.93198568e-02 -2.15697621e-02 5.02751156e+02] [ 6.93314202e-02 9.97593659e-01 -2.12160410e-04 6.99786207e+00] [ 2.15325648e-02 -1.28386166e-03 9.99767323e-01 6.03395822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.175099893 meters 0.02525876055879446 Centerline is valid? [True, True] Translation: X:502.78, Y:7.01, Z:6.03 [[ 9.97511447e-01 -6.69246651e-02 -2.21811348e-02 5.02782242e+02] [ 6.69363177e-02 9.97757226e-01 -2.17534131e-04 7.00542897e+00] [ 2.21459459e-02 -1.26773070e-03 9.99753945e-01 6.03439118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.205099893 meters 0.026412551524234485 Centerline is valid? [True, True] Translation: X:502.81, Y:7.01, Z:6.03 [[ 9.97592890e-01 -6.55426663e-02 -2.26403160e-02 5.02813032e+02] [ 6.55544655e-02 9.97848968e-01 -2.21429828e-04 7.00612059e+00] [ 2.26061290e-02 -1.26327699e-03 9.99743651e-01 6.03419125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.235099893 meters 0.025320734532509607 Centerline is valid? [True, True] Translation: X:502.84, Y:7.01, Z:6.03 [[ 9.97698586e-01 -6.38799526e-02 -2.27350806e-02 5.02844101e+02] [ 6.38914350e-02 9.97956830e-01 -2.21715561e-04 7.01013904e+00] [ 2.27027921e-02 -1.23137162e-03 9.99741500e-01 6.03481658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.265099893 meters 0.025205661250508243 Centerline is valid? [True, True] Translation: X:502.87, Y:7.02, Z:6.04 [[ 9.97859448e-01 -6.16489553e-02 -2.18157655e-02 5.02873310e+02] [ 6.16590075e-02 9.98097251e-01 -2.12214546e-04 7.01557167e+00] [ 2.17873384e-02 -1.13337816e-03 9.99761985e-01 6.03687535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.295099893 meters 0.02519315435986508 Centerline is valid? [True, True] Translation: X:502.90, Y:7.02, Z:6.04 [[ 9.97911615e-01 -6.07069271e-02 -2.20698252e-02 5.02904871e+02] [ 6.07170021e-02 9.98154998e-01 -2.13915873e-04 7.01822995e+00] [ 2.20420925e-02 -1.12654449e-03 9.99756409e-01 6.03747036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.325099893 meters 0.023531520680632637 Centerline is valid? [True, True] Translation: X:502.94, Y:7.02, Z:6.04 [[ 9.97946116e-01 -5.97183134e-02 -2.31791421e-02 5.02936547e+02] [ 5.97291809e-02 9.98214594e-01 -2.23812492e-04 7.02320682e+00] [ 2.31511236e-02 -1.16111836e-03 9.99731303e-01 6.03738536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.355099893 meters 0.024091868368295816 Centerline is valid? [True, True] Translation: X:502.97, Y:7.02, Z:6.04 [[ 9.97970341e-01 -5.88079699e-02 -2.44299249e-02 5.02966690e+02] [ 5.88198019e-02 9.98268589e-01 -2.34605839e-04 7.02473622e+00] [ 2.44014233e-02 -1.20283367e-03 9.99701517e-01 6.03636703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.385099893 meters 0.02272831044308114 Centerline is valid? [True, True] Translation: X:503.00, Y:7.03, Z:6.04 [[ 9.98002351e-01 -5.81998923e-02 -2.45780578e-02 5.02997467e+02] [ 5.82117048e-02 9.98304233e-01 -2.35192803e-04 7.02931458e+00] [ 2.45500674e-02 -1.19600768e-03 9.99697886e-01 6.03715855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.415099893 meters 0.022872018122644125 Centerline is valid? [True, True] Translation: X:503.03, Y:7.03, Z:6.04 [[ 9.98201008e-01 -5.54362701e-02 -2.28378681e-02 5.03027652e+02] [ 5.54457467e-02 9.98461677e-01 -2.18540548e-04 7.03318375e+00] [ 2.28148512e-02 -1.04811526e-03 9.99739158e-01 6.03778305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.445099893 meters 0.02119389351659556 Centerline is valid? [True, True] Translation: X:503.06, Y:7.04, Z:6.04 [[ 9.98278924e-01 -5.40867563e-02 -2.26674181e-02 5.03058493e+02] [ 5.40957439e-02 9.98535730e-01 -2.16948705e-04 7.03838203e+00] [ 2.26459609e-02 -1.00963553e-03 9.99743038e-01 6.03902402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.475099893 meters 0.02142396640945716 Centerline is valid? [True, True] Translation: X:503.09, Y:7.04, Z:6.04 [[ 9.98382884e-01 -5.20956111e-02 -2.27522311e-02 5.03088967e+02] [ 5.21041533e-02 9.98641632e-01 -2.17619386e-04 7.04046727e+00] [ 2.27326622e-02 -9.68218263e-04 9.99741111e-01 6.03943059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.505099893 meters 0.021089976176919423 Centerline is valid? [True, True] Translation: X:503.12, Y:7.04, Z:6.04 [[ 9.98489845e-01 -4.96647962e-02 -2.34826949e-02 5.03119170e+02] [ 4.96732349e-02 9.98765498e-01 -2.24176323e-04 7.04356823e+00] [ 2.34648391e-02 -9.42623637e-04 9.99724218e-01 6.03970924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.535099893 meters 0.018859329217490534 Centerline is valid? [True, True] Translation: X:503.15, Y:7.05, Z:6.04 [[ 9.98734556e-01 -4.39094729e-02 -2.45203076e-02 5.03148949e+02] [ 4.39169422e-02 9.99035158e-01 -2.34068749e-04 7.05182883e+00] [ 2.45069272e-02 -8.43084384e-04 9.99699305e-01 6.03976240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.565099893 meters 0.01773353571767889 Centerline is valid? [True, True] Translation: X:503.18, Y:7.06, Z:6.04 [[ 9.98845780e-01 -4.09627532e-02 -2.50830846e-02 5.03178708e+02] [ 4.09696243e-02 9.99160364e-01 -2.40123646e-04 7.05641558e+00] [ 2.50718600e-02 -7.87798061e-04 9.99685341e-01 6.04026472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.595099893 meters 0.016440308496744473 Centerline is valid? [True, True] Translation: X:503.21, Y:7.06, Z:6.04 [[ 9.98949480e-01 -3.81688521e-02 -2.53589198e-02 5.03207087e+02] [ 3.81749405e-02 9.99271041e-01 -2.44161543e-04 7.06187956e+00] [ 2.53497536e-02 -7.24170208e-04 9.99678381e-01 6.04154121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.625099893 meters 0.016017865588201903 Centerline is valid? [True, True] Translation: X:503.23, Y:7.07, Z:6.04 [[ 9.99057678e-01 -3.50547753e-02 -2.55913622e-02 5.03234546e+02] [ 3.50599010e-02 9.99385182e-01 -2.48507771e-04 7.06548225e+00] [ 2.55843395e-02 -6.48957029e-04 9.99672457e-01 6.04184613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.655099893 meters 0.014739559647566623 Centerline is valid? [True, True] Translation: X:503.26, Y:7.07, Z:6.04 [[ 9.99257572e-01 -2.96450850e-02 -2.46063567e-02 5.03264139e+02] [ 2.96481468e-02 9.99560368e-01 -2.40458942e-04 7.07231026e+00] [ 2.46026674e-02 -4.89252458e-04 9.99697189e-01 6.04341200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.68509989300003 meters 0.014443093667709513 Centerline is valid? [True, True] Translation: X:503.29, Y:7.07, Z:6.04 [[ 9.99328454e-01 -2.75129683e-02 -2.42007567e-02 5.03292026e+02] [ 2.75152689e-02 9.99621355e-01 -2.37985976e-04 7.07482029e+00] [ 2.41981409e-02 -4.28064171e-04 9.99707090e-01 6.04440625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.715099893 meters 0.014021938483062674 Centerline is valid? [True, True] Translation: X:503.32, Y:7.08, Z:6.05 [[ 9.99389039e-01 -2.59763021e-02 -2.33833451e-02 5.03320540e+02] [ 2.59779405e-02 9.99662489e-01 -2.33751196e-04 7.07740603e+00] [ 2.33815250e-02 -3.73842764e-04 9.99726545e-01 6.04534254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74509989300003 meters 0.013700950838953114 Centerline is valid? [True, True] Translation: X:503.35, Y:7.08, Z:6.05 [[ 9.99438410e-01 -2.49355550e-02 -2.23848712e-02 5.03349721e+02] [ 2.49366776e-02 9.99689006e-01 -2.29028375e-04 7.07941838e+00] [ 2.23836206e-02 -3.29304559e-04 9.99749401e-01 6.04619781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.775099893 meters 0.013435285391841318 Centerline is valid? [True, True] Translation: X:503.38, Y:7.08, Z:6.05 [[ 9.99480780e-01 -2.43415365e-02 -2.11106801e-02 5.03378968e+02] [ 2.43423025e-02 9.99703658e-01 -2.20725229e-04 7.08153944e+00] [ 2.11097969e-02 -2.93271936e-04 9.99777120e-01 6.04704634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.805099893 meters 0.013880633080043028 Centerline is valid? [True, True] Translation: X:503.41, Y:7.08, Z:6.05 [[ 9.99470848e-01 -2.49927426e-02 -2.08179385e-02 5.03406633e+02] [ 2.49935538e-02 9.99687588e-01 -2.21258968e-04 7.08117177e+00] [ 2.08169646e-02 -2.99172378e-04 9.99783259e-01 6.04650462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.835099893 meters 0.014066037958441536 Centerline is valid? [True, True] Translation: X:503.44, Y:7.08, Z:6.05 [[ 9.99427175e-01 -2.65066336e-02 -2.10409262e-02 5.03435403e+02] [ 2.65077291e-02 9.99648583e-01 -2.26886772e-04 7.08169351e+00] [ 2.10395461e-02 -3.30990366e-04 9.99778589e-01 6.04701342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.865099893 meters 0.014521565074200053 Centerline is valid? [True, True] Translation: X:503.46, Y:7.08, Z:6.05 [[ 9.99372151e-01 -2.82925981e-02 -2.13268212e-02 5.03463734e+02] [ 2.82940169e-02 9.99599616e-01 -2.35276178e-04 7.08107227e+00] [ 2.13249389e-02 -3.68292979e-04 9.99772530e-01 6.04644537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.895099893 meters 0.015633790432388252 Centerline is valid? [True, True] Translation: X:503.49, Y:7.08, Z:6.05 [[ 9.99217307e-01 -3.31535322e-02 -2.15781643e-02 5.03493420e+02] [ 3.31560439e-02 9.99450158e-01 -2.41452454e-04 7.07857590e+00] [ 2.15743047e-02 -4.74183094e-04 9.99767135e-01 6.04554850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.925099893 meters 0.01649344706942032 Centerline is valid? [True, True] Translation: X:503.52, Y:7.08, Z:6.05 [[ 9.99112015e-01 -3.62286089e-02 -2.15097294e-02 5.03522246e+02] [ 3.62317589e-02 9.99343385e-01 -2.43376579e-04 7.07657282e+00] [ 2.15044230e-02 -5.36174866e-04 9.99768609e-01 6.04525717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.955099893 meters 0.016797851535565844 Centerline is valid? [True, True] Translation: X:503.55, Y:7.08, Z:6.05 [[ 9.99020342e-01 -3.89593180e-02 -2.09887368e-02 5.03552182e+02] [ 3.89628537e-02 9.99240631e-01 -2.40609392e-04 7.07572987e+00] [ 2.09821725e-02 -5.77407402e-04 9.99779683e-01 6.04576628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.985099893 meters 0.01807368872672915 Centerline is valid? [True, True] Translation: X:503.58, Y:7.07, Z:6.05 [[ 9.98939212e-01 -4.16842694e-02 -1.95671429e-02 5.03581446e+02] [ 4.16878589e-02 9.99130658e-01 -2.24589654e-04 7.07304563e+00] [ 1.95594942e-02 -5.91360880e-04 9.99808520e-01 6.04585502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.015099893 meters 0.018548903016069134 Centerline is valid? [True, True] Translation: X:503.61, Y:7.07, Z:6.05 [[ 9.98778520e-01 -4.61429656e-02 -1.76718386e-02 5.03612326e+02] [ 4.61465900e-02 9.98934658e-01 -2.02849061e-04 7.07109932e+00] [ 1.76623721e-02 -6.12893806e-04 9.99843820e-01 6.04723955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.045099893 meters 0.020369560477785546 Centerline is valid? [True, True] Translation: X:503.64, Y:7.07, Z:6.05 [[ 9.98705404e-01 -4.80366327e-02 -1.67331498e-02 5.03643601e+02] [ 4.80401551e-02 9.98845387e-01 -1.91625214e-04 7.06806147e+00] [ 1.67230345e-02 -6.12485976e-04 9.99859973e-01 6.04773753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.075099893 meters 0.019508851830031534 Centerline is valid? [True, True] Translation: X:503.68, Y:7.07, Z:6.05 [[ 9.98590128e-01 -5.04372535e-02 -1.65480854e-02 5.03675789e+02] [ 5.04410436e-02 9.98727023e-01 -1.88535585e-04 7.06918625e+00] [ 1.65365292e-02 -6.46432920e-04 9.99863053e-01 6.04763584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.105099893 meters 0.022307200579211074 Centerline is valid? [True, True] Translation: X:503.71, Y:7.06, Z:6.05 [[ 9.98560923e-01 -5.10696504e-02 -1.63699055e-02 5.03706605e+02] [ 5.10734671e-02 9.98694882e-01 -1.85096851e-04 7.06449524e+00] [ 1.63579937e-02 -6.51237350e-04 9.99865987e-01 6.04687671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.135099893 meters 0.020596296189448197 Centerline is valid? [True, True] Translation: X:503.74, Y:7.07, Z:6.05 [[ 9.98527533e-01 -5.16699406e-02 -1.65221975e-02 5.03738301e+02] [ 5.16739407e-02 9.98663992e-01 -1.85001745e-04 7.06710965e+00] [ 1.65096827e-02 -6.69037718e-04 9.99863482e-01 6.04685622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.165099893 meters 0.021104679987596575 Centerline is valid? [True, True] Translation: X:503.77, Y:7.07, Z:6.05 [[ 9.98510799e-01 -5.20612987e-02 -1.63035537e-02 5.03770275e+02] [ 5.20652611e-02 9.98643668e-01 -1.81606428e-04 7.06641474e+00] [ 1.62908954e-02 -6.67512802e-04 9.99867072e-01 6.04669913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.195099893 meters 0.022945392398408336 Centerline is valid? [True, True] Translation: X:503.80, Y:7.06, Z:6.05 [[ 9.98491429e-01 -5.24598643e-02 -1.62120068e-02 5.03801616e+02] [ 5.24638562e-02 9.98622808e-01 -1.79262829e-04 7.06349241e+00] [ 1.61990839e-02 -6.71551997e-04 9.99868561e-01 6.04621204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.225099893 meters 0.023062227023856924 Centerline is valid? [True, True] Translation: X:503.83, Y:7.06, Z:6.05 [[ 9.98422020e-01 -5.37569319e-02 -1.62376673e-02 5.03834181e+02] [ 5.37611350e-02 9.98553809e-01 -1.77859962e-04 7.06344656e+00] [ 1.62237457e-02 -6.95376120e-04 9.99868145e-01 6.04662837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.255099893 meters 0.024170321667586456 Centerline is valid? [True, True] Translation: X:503.87, Y:7.06, Z:6.05 [[ 9.98370805e-01 -5.47239836e-02 -1.61561398e-02 5.03865554e+02] [ 5.47282882e-02 9.98501269e-01 -1.75903751e-04 7.06230186e+00] [ 1.61415522e-02 -7.08580706e-04 9.99869466e-01 6.04702743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.285099893 meters 0.022241089678337884 Centerline is valid? [True, True] Translation: X:503.90, Y:7.07, Z:6.05 [[ 9.98103099e-01 -5.89186113e-02 -1.78549787e-02 5.03896466e+02] [ 5.89245530e-02 9.98262420e-01 -1.93584492e-04 7.06572721e+00] [ 1.78353600e-02 -8.58879359e-04 9.99840568e-01 6.04717960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.315099893 meters 0.023845362534609782 Centerline is valid? [True, True] Translation: X:503.93, Y:7.06, Z:6.05 [[ 9.97999506e-01 -6.04598858e-02 -1.84820875e-02 5.03927634e+02] [ 6.04665314e-02 9.98170205e-01 -1.99554920e-04 7.06339099e+00] [ 1.84603342e-02 -9.18392013e-04 9.99829172e-01 6.04701990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.345099893 meters 0.023845362534609782 Centerline is valid? [True, True] Translation: X:503.96, Y:7.06, Z:6.05 [[ 9.98003869e-01 -6.03878205e-02 -1.84821051e-02 5.03959359e+02] [ 6.03944841e-02 9.98174567e-01 -1.97912865e-04 7.06367270e+00] [ 1.84603188e-02 -9.18699399e-04 9.99829172e-01 6.04741194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.375099893 meters 0.024434520370051272 Centerline is valid? [True, True] Translation: X:503.99, Y:7.06, Z:6.05 [[ 9.97890437e-01 -6.20581591e-02 -1.90646431e-02 5.03991869e+02] [ 6.20655802e-02 9.98072053e-01 -2.02745987e-04 7.06306373e+00] [ 1.90404695e-02 -9.80939852e-04 9.99818233e-01 6.04765653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.405099893 meters 0.024434520370051272 Centerline is valid? [True, True] Translation: X:504.02, Y:7.06, Z:6.05 [[ 9.97894918e-01 -6.19860662e-02 -1.90646576e-02 5.04023597e+02] [ 6.19935005e-02 9.98076533e-01 -2.01368911e-04 7.06334109e+00] [ 1.90404695e-02 -9.80939850e-04 9.99818233e-01 6.04804869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.43509989300003 meters 0.024434520370051272 Centerline is valid? [True, True] Translation: X:504.06, Y:7.06, Z:6.05 [[ 9.97899393e-01 -6.19139731e-02 -1.90646721e-02 5.04055326e+02] [ 6.19214204e-02 9.98081008e-01 -1.99991833e-04 7.06361616e+00] [ 1.90404694e-02 -9.80939849e-04 9.99818233e-01 6.04844085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.465099893 meters 0.024322801174994725 Centerline is valid? [True, True] Translation: X:504.09, Y:7.06, Z:6.05 [[ 9.97808983e-01 -6.33517934e-02 -1.90731174e-02 5.04087772e+02] [ 6.33595356e-02 9.97990746e-01 -1.98697257e-04 7.06423764e+00] [ 1.90473825e-02 -1.01020195e-03 9.99818072e-01 6.04889634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.49509989300003 meters 0.02462785436836031 Centerline is valid? [True, True] Translation: X:504.12, Y:7.06, Z:6.05 [[ 9.97715768e-01 -6.48249424e-02 -1.89992939e-02 5.04119368e+02] [ 6.48329150e-02 9.97896114e-01 -1.96664184e-04 7.06447658e+00] [ 1.89720703e-02 -1.03556465e-03 9.99819478e-01 6.04943373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.525099893 meters 0.027294178558369162 Centerline is valid? [True, True] Translation: X:504.15, Y:7.06, Z:6.05 [[ 9.97603202e-01 -6.65610159e-02 -1.89072204e-02 5.04150314e+02] [ 6.65692474e-02 9.97781789e-01 -1.94377405e-04 7.06219865e+00] [ 1.88782181e-02 -1.06472791e-03 9.99821224e-01 6.05028966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.555099893 meters 0.025134571940463667 Centerline is valid? [True, True] Translation: X:504.18, Y:7.07, Z:6.05 [[ 9.97571551e-01 -6.70697137e-02 -1.87790927e-02 5.04181964e+02] [ 6.70779536e-02 9.97747719e-01 -1.91473112e-04 7.06634056e+00] [ 1.87496390e-02 -1.06865498e-03 9.99823639e-01 6.05160124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.585099893 meters 0.025896548663069393 Centerline is valid? [True, True] Translation: X:504.21, Y:7.07, Z:6.05 [[ 9.97551289e-01 -6.75524149e-02 -1.81134429e-02 5.04213700e+02] [ 6.75601797e-02 9.97715184e-01 -1.83606305e-04 7.06707637e+00] [ 1.80844600e-02 -1.04059075e-03 9.99835921e-01 6.05287356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.615099893 meters 0.02833851911745354 Centerline is valid? [True, True] Translation: X:504.24, Y:7.06, Z:6.05 [[ 9.97546759e-01 -6.76470963e-02 -1.80092960e-02 5.04244765e+02] [ 6.76548091e-02 9.97708772e-01 -1.81345128e-04 7.06453477e+00] [ 1.79803001e-02 -1.03751524e-03 9.99837803e-01 6.05326459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.645099893 meters 0.026295551534955813 Centerline is valid? [True, True] Translation: X:504.28, Y:7.07, Z:6.05 [[ 9.97560351e-01 -6.76308263e-02 -1.73037074e-02 5.04276828e+02] [ 6.76379613e-02 9.97709916e-01 -1.73232745e-04 7.06812815e+00] [ 1.72757964e-02 -9.97577376e-04 9.99850265e-01 6.05424800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.675099893 meters 0.02651485210971522 Centerline is valid? [True, True] Translation: X:504.31, Y:7.07, Z:6.06 [[ 9.97574745e-01 -6.74678986e-02 -1.71087816e-02 5.04308723e+02] [ 6.74748710e-02 9.97720959e-01 -1.70045009e-04 7.06866239e+00] [ 1.70812626e-02 -9.84780224e-04 9.99853620e-01 6.05524928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.705099893 meters 0.027085910311868373 Centerline is valid? [True, True] Translation: X:504.34, Y:7.07, Z:6.06 [[ 9.97624844e-01 -6.69295301e-02 -1.62821342e-02 5.04340379e+02] [ 6.69357919e-02 9.97757272e-01 -1.60692057e-04 7.06886275e+00] [ 1.62563728e-02 -9.29547155e-04 9.99867424e-01 6.05575083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.735099893 meters 0.02966437533579578 Centerline is valid? [True, True] Translation: X:504.37, Y:7.07, Z:6.06 [[ 9.97665124e-01 -6.62672306e-02 -1.65213153e-02 5.04371524e+02] [ 6.62736058e-02 9.97801475e-01 -1.61926487e-04 7.06646479e+00] [ 1.64957232e-02 -9.33378727e-04 9.99863501e-01 6.05590552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.765099893 meters 0.026988029694851635 Centerline is valid? [True, True] Translation: X:504.40, Y:7.07, Z:6.06 [[ 9.97827755e-01 -6.38307533e-02 -1.62913060e-02 5.04402816e+02] [ 6.38366413e-02 9.97960349e-01 -1.58879746e-04 7.07206030e+00] [ 1.62682189e-02 -8.81447639e-04 9.99867275e-01 6.05655148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.795099893 meters 0.026840895859962164 Centerline is valid? [True, True] Translation: X:504.43, Y:7.07, Z:6.06 [[ 9.97947036e-01 -6.19045019e-02 -1.64178480e-02 5.04432861e+02] [ 6.19102303e-02 9.98081709e-01 -1.59600893e-04 7.07361338e+00] [ 1.63962338e-02 -8.57159510e-04 9.99865205e-01 6.05693451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.825099893 meters 0.026086646150717506 Centerline is valid? [True, True] Translation: X:504.46, Y:7.08, Z:6.06 [[ 9.98078761e-01 -5.97015124e-02 -1.65685163e-02 5.04464577e+02] [ 5.97070508e-02 9.98215930e-01 -1.60627320e-04 7.07616784e+00] [ 1.65485466e-02 -8.28938528e-04 9.99862720e-01 6.05725068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.855099893 meters 0.025042749681182388 Centerline is valid? [True, True] Translation: X:504.50, Y:7.08, Z:6.06 [[ 9.98238573e-01 -5.68565220e-02 -1.69436421e-02 5.04495872e+02] [ 5.68619192e-02 9.98382039e-01 -1.63441387e-04 7.07897589e+00] [ 1.69255207e-02 -8.00294513e-04 9.99856433e-01 6.05736868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.885099893 meters 0.0229073654753876 Centerline is valid? [True, True] Translation: X:504.53, Y:7.09, Z:6.06 [[ 9.98580029e-01 -5.02257434e-02 -1.77566962e-02 5.04525277e+02] [ 5.02306311e-02 9.98737630e-01 -1.70918812e-04 7.08507036e+00] [ 1.77428652e-02 -7.21253942e-04 9.99842323e-01 6.05721954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.915099893 meters 0.020790393084997947 Centerline is valid? [True, True] Translation: X:504.56, Y:7.09, Z:6.06 [[ 9.98745600e-01 -4.65926403e-02 -1.83399000e-02 5.04556711e+02] [ 4.65972427e-02 9.98913743e-01 -1.76530615e-04 7.09024953e+00] [ 1.83282032e-02 -6.78279598e-04 9.99831794e-01 6.05771288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.945099893 meters 0.019273654983079633 Centerline is valid? [True, True] Translation: X:504.59, Y:7.09, Z:6.06 [[ 9.98925546e-01 -4.24796285e-02 -1.85266154e-02 5.04588576e+02] [ 4.24836326e-02 9.99097147e-01 -1.77569980e-04 7.09436293e+00] [ 1.85174317e-02 -6.09698735e-04 9.99828352e-01 6.05797296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.975099893 meters 0.016761969857067526 Centerline is valid? [True, True] Translation: X:504.62, Y:7.10, Z:6.06 [[ 9.99247846e-01 -3.38474729e-02 -1.89232878e-02 5.04618616e+02] [ 3.38501146e-02 9.99426904e-01 -1.80780367e-04 7.10173805e+00] [ 1.89185619e-02 -4.59911067e-04 9.99820922e-01 6.05802059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.005099893 meters 0.014767071211049549 Centerline is valid? [True, True] Translation: X:504.65, Y:7.11, Z:6.06 [[ 9.99369789e-01 -2.97536962e-02 -1.93582525e-02 5.04649531e+02] [ 2.97556930e-02 9.99557184e-01 -1.84940868e-04 7.10712920e+00] [ 1.93551830e-02 -3.91193902e-04 9.99812594e-01 6.05860710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.035099893 meters 0.013961676164616207 Centerline is valid? [True, True] Translation: X:504.68, Y:7.11, Z:6.06 [[ 9.99493880e-01 -2.53024282e-02 -1.92813387e-02 5.04678542e+02] [ 2.53035807e-02 9.99679796e-01 -1.84231021e-04 7.11030329e+00] [ 1.92798262e-02 -3.03749132e-04 9.99814081e-01 6.05854845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.065099893 meters 0.01303067116172456 Centerline is valid? [True, True] Translation: X:504.71, Y:7.11, Z:6.06 [[ 9.99579480e-01 -2.13646189e-02 -1.96065169e-02 5.04707614e+02] [ 2.13650086e-02 9.99771724e-01 -1.89613345e-04 7.11451053e+00] [ 1.96060922e-02 -2.29359792e-04 9.99807756e-01 6.05933466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.095099893 meters 0.012465028145922312 Centerline is valid? [True, True] Translation: X:504.74, Y:7.12, Z:6.06 [[ 9.99711750e-01 -1.42156333e-02 -1.93476598e-02 5.04736829e+02] [ 1.42145827e-02 9.99898949e-01 -1.91829314e-04 7.12077502e+00] [ 1.93484317e-02 -8.32448914e-05 9.99812798e-01 6.06037700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.125099893 meters 0.01231417561593399 Centerline is valid? [True, True] Translation: X:504.76, Y:7.12, Z:6.06 [[ 9.99744907e-01 -1.15279694e-02 -1.94223293e-02 5.04764237e+02] [ 1.15263079e-02 9.99933550e-01 -1.97491904e-04 7.12352545e+00] [ 1.94233153e-02 -2.64262212e-05 9.99811349e-01 6.06101532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.155099893 meters 0.01232385606589742 Centerline is valid? [True, True] Translation: X:504.79, Y:7.13, Z:6.06 [[ 9.99764178e-01 -9.36111819e-03 -1.95948650e-02 5.04791958e+02] [ 9.35890040e-03 9.99956184e-01 -2.04883133e-04 7.12558692e+00] [ 1.95959244e-02 2.14484271e-05 9.99807981e-01 6.06142134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.18509989300003 meters 0.012325807676839799 Centerline is valid? [True, True] Translation: X:504.82, Y:7.13, Z:6.06 [[ 9.99774140e-01 -8.34104343e-03 -1.95472666e-02 5.04819963e+02] [ 8.33853265e-03 9.99965212e-01 -2.09949938e-04 7.12663781e+00] [ 1.95483378e-02 4.69069976e-05 9.99808912e-01 6.06176815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.215099893 meters 0.012398916414677615 Centerline is valid? [True, True] Translation: X:504.85, Y:7.13, Z:6.06 [[ 9.99774020e-01 -7.98861761e-03 -1.97000420e-02 5.04848305e+02] [ 7.98588812e-03 9.99968089e-01 -2.17218685e-04 7.12696718e+00] [ 1.97011487e-02 5.98472658e-05 9.99805912e-01 6.06205875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24509989300003 meters 0.012333022707139167 Centerline is valid? [True, True] Translation: X:504.88, Y:7.13, Z:6.06 [[ 9.99775761e-01 -8.47569357e-03 -1.94059177e-02 5.04875953e+02] [ 8.47303081e-03 9.99964079e-01 -2.19432124e-04 7.12666070e+00] [ 1.94070805e-02 5.49559797e-05 9.99811663e-01 6.06215701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.275099893 meters 0.012252419910251243 Centerline is valid? [True, True] Translation: X:504.90, Y:7.12, Z:6.06 [[ 9.99737931e-01 -1.11344092e-02 -2.00023424e-02 5.04903797e+02] [ 1.11320237e-02 9.99938011e-01 -2.30604316e-04 7.12407905e+00] [ 2.00036702e-02 7.87733098e-06 9.99799907e-01 6.06292687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.305099893 meters 0.012231456736623894 Centerline is valid? [True, True] Translation: X:504.93, Y:7.12, Z:6.06 [[ 9.99714535e-01 -1.30341163e-02 -2.00239914e-02 5.04930298e+02] [ 1.30320610e-02 9.99915052e-01 -2.33131334e-04 7.12247275e+00] [ 2.00253291e-02 -2.78890950e-05 9.99799473e-01 6.06310258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.335099893 meters 0.012255234669316236 Centerline is valid? [True, True] Translation: X:504.96, Y:7.12, Z:6.06 [[ 9.99680280e-01 -1.55234139e-02 -1.99589881e-02 5.04957815e+02] [ 1.55217945e-02 9.99879502e-01 -2.36060887e-04 7.12044636e+00] [ 1.99602475e-02 -7.38138970e-05 9.99800772e-01 6.06380019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.365099893 meters 0.012500649652714357 Centerline is valid? [True, True] Translation: X:504.99, Y:7.12, Z:6.06 [[ 9.99600560e-01 -2.03540289e-02 -1.96070085e-02 5.04987084e+02] [ 2.03533174e-02 9.99792822e-01 -2.35865339e-04 7.11533317e+00] [ 1.96077472e-02 -1.63296543e-04 9.99807736e-01 6.06475118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.395099893 meters 0.012742333756115611 Centerline is valid? [True, True] Translation: X:505.02, Y:7.11, Z:6.07 [[ 9.99539330e-01 -2.31178161e-02 -1.96645516e-02 5.05015793e+02] [ 2.31175813e-02 9.99732724e-01 -2.39290347e-04 7.11294693e+00] [ 1.96648276e-02 -2.15416757e-04 9.99806605e-01 6.06508454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.425099893 meters 0.013167600326393171 Centerline is valid? [True, True] Translation: X:505.04, Y:7.11, Z:6.07 [[ 9.99473679e-01 -2.56566836e-02 -1.98519488e-02 5.05043347e+02] [ 2.56568692e-02 9.99670778e-01 -2.45387350e-04 7.11012396e+00] [ 1.98517090e-02 -2.64080657e-04 9.99802901e-01 6.06516366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.455099893 meters 0.01383543877135265 Centerline is valid? [True, True] Translation: X:505.07, Y:7.11, Z:6.06 [[ 9.99413918e-01 -2.76147874e-02 -2.02297880e-02 5.05071234e+02] [ 2.76153445e-02 9.99618592e-01 -2.51873308e-04 7.10671358e+00] [ 2.02290276e-02 -3.06926875e-04 9.99795325e-01 6.06493634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.485099893 meters 0.014009321945580966 Centerline is valid? [True, True] Translation: X:505.10, Y:7.10, Z:6.07 [[ 9.99298113e-01 -3.10701374e-02 -2.09267354e-02 5.05100079e+02] [ 3.10714224e-02 9.99517132e-01 -2.63815508e-04 7.10354294e+00] [ 2.09248273e-02 -3.86593096e-04 9.99780977e-01 6.06569674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.515099893 meters 0.014074274180660696 Centerline is valid? [True, True] Translation: X:505.13, Y:7.10, Z:6.07 [[ 9.99249555e-01 -3.24105271e-02 -2.12104805e-02 5.05129233e+02] [ 3.24120352e-02 9.99474555e-01 -2.72757727e-04 7.10233266e+00] [ 2.12081758e-02 -4.14921805e-04 9.99774995e-01 6.06637246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.545099893 meters 0.014596593027780606 Centerline is valid? [True, True] Translation: X:505.16, Y:7.10, Z:6.07 [[ 9.99232782e-01 -3.28996493e-02 -2.12475990e-02 5.05158048e+02] [ 3.29011967e-02 9.99458571e-01 -2.76839185e-04 7.09996383e+00] [ 2.12452028e-02 -4.22444644e-04 9.99774206e-01 6.06636829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.575099893 meters 0.013986151087566144 Centerline is valid? [True, True] Translation: X:505.19, Y:7.10, Z:6.07 [[ 9.99203725e-01 -3.34844236e-02 -2.16958517e-02 5.05187818e+02] [ 3.34861526e-02 9.99439141e-01 -2.83699991e-04 7.10036001e+00] [ 2.16931830e-02 -4.43036515e-04 9.99764577e-01 6.06764559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.605099893 meters 0.014290672743776081 Centerline is valid? [True, True] Translation: X:505.22, Y:7.10, Z:6.07 [[ 9.99209332e-01 -3.34380048e-02 -2.15083916e-02 5.05216515e+02] [ 3.34396700e-02 9.99440698e-01 -2.82334974e-04 7.09841085e+00] [ 2.15058026e-02 -4.37121776e-04 9.99768628e-01 6.06767528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.635099893 meters 0.014072199790571543 Centerline is valid? [True, True] Translation: X:505.25, Y:7.10, Z:6.07 [[ 9.99243158e-01 -3.25934639e-02 -2.12315311e-02 5.05246646e+02] [ 3.25948711e-02 9.99468607e-01 -2.79870524e-04 7.09628233e+00] [ 2.12293707e-02 -4.12380312e-04 9.99774546e-01 6.06853140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.665099893 meters 0.014092913744937109 Centerline is valid? [True, True] Translation: X:505.28, Y:7.10, Z:6.07 [[ 9.99263749e-01 -3.18888266e-02 -2.13321941e-02 5.05275530e+02] [ 3.18900667e-02 9.99491343e-01 -2.82131664e-04 7.09524583e+00] [ 2.13303401e-02 -3.98361147e-04 9.99772403e-01 6.06875579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.695099893 meters 0.013672825781358205 Centerline is valid? [True, True] Translation: X:505.30, Y:7.10, Z:6.07 [[ 9.99270721e-01 -3.16085264e-02 -2.14225858e-02 5.05303910e+02] [ 3.16096483e-02 9.99500249e-01 -2.86333213e-04 7.09550664e+00] [ 2.14209304e-02 -3.91036005e-04 9.99770469e-01 6.06962922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.725099893 meters 0.013771739545072798 Centerline is valid? [True, True] Translation: X:505.33, Y:7.09, Z:6.07 [[ 9.99290579e-01 -3.08720867e-02 -2.15697071e-02 5.05332789e+02] [ 3.08729695e-02 9.99523274e-01 -2.92150003e-04 7.09446049e+00] [ 2.15684435e-02 -3.73978163e-04 9.99767304e-01 6.06978056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.755099893 meters 0.013643094978554622 Centerline is valid? [True, True] Translation: X:505.36, Y:7.09, Z:6.07 [[ 9.99291731e-01 -3.06582914e-02 -2.18198527e-02 5.05361195e+02] [ 3.06590717e-02 9.99529855e-01 -2.98846639e-04 7.09412966e+00] [ 2.18187563e-02 -3.70341452e-04 9.99761874e-01 6.06990721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.785099893 meters 0.01386149874428327 Centerline is valid? [True, True] Translation: X:505.39, Y:7.09, Z:6.07 [[ 9.99278745e-01 -3.01100844e-02 -2.31381190e-02 5.05389182e+02] [ 3.01107140e-02 9.99546518e-01 -3.21267496e-04 7.09177319e+00] [ 2.31372997e-02 -3.75669505e-04 9.99732226e-01 6.06924298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.815099893 meters 0.014185308966000619 Centerline is valid? [True, True] Translation: X:505.42, Y:7.09, Z:6.07 [[ 9.99268286e-01 -3.02876780e-02 -2.33569993e-02 5.05417344e+02] [ 3.02883184e-02 9.99541150e-01 -3.26434421e-04 7.09042104e+00] [ 2.33561689e-02 -3.81248668e-04 9.99727135e-01 6.06922386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.845099893 meters 0.014559815640438503 Centerline is valid? [True, True] Translation: X:505.45, Y:7.09, Z:6.07 [[ 9.99209080e-01 -3.20629504e-02 -2.35198030e-02 5.05446490e+02] [ 3.20639990e-02 9.99485762e-01 -3.32632796e-04 7.08767110e+00] [ 2.35183734e-02 -4.21769229e-04 9.99723316e-01 6.06986191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.875099893 meters 0.01484278289693698 Centerline is valid? [True, True] Translation: X:505.48, Y:7.09, Z:6.07 [[ 9.99160143e-01 -3.37129984e-02 -2.32903844e-02 5.05475356e+02] [ 3.37143387e-02 9.99431454e-01 -3.35224861e-04 7.08650950e+00] [ 2.32884441e-02 -4.50276588e-04 9.99728686e-01 6.07057021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.905099893 meters 0.015345199555610988 Centerline is valid? [True, True] Translation: X:505.50, Y:7.08, Z:6.07 [[ 9.99100744e-01 -3.56128294e-02 -2.30093536e-02 5.05504542e+02] [ 3.56145086e-02 9.99365545e-01 -3.36934346e-04 7.08464166e+00] [ 2.30067544e-02 -4.82835465e-04 9.99735193e-01 6.07138137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.93509989300003 meters 0.0161531762196775 Centerline is valid? [True, True] Translation: X:505.53, Y:7.08, Z:6.07 [[ 9.99044824e-01 -3.74697455e-02 -2.24823903e-02 5.05532289e+02] [ 3.74717301e-02 9.99297633e-01 -3.33145585e-04 7.08230623e+00] [ 2.24790823e-02 -5.09626689e-04 9.99747184e-01 6.07188264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.965099893 meters 0.016560019832954336 Centerline is valid? [True, True] Translation: X:505.56, Y:7.08, Z:6.07 [[ 9.98975321e-01 -3.96458222e-02 -2.18292627e-02 5.05561446e+02] [ 3.96481381e-02 9.99213650e-01 -3.26864608e-04 7.08051313e+00] [ 2.18250561e-02 -5.38959945e-04 9.99761660e-01 6.07242235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.99509989300003 meters 0.01774030144365513 Centerline is valid? [True, True] Translation: X:505.59, Y:7.08, Z:6.07 [[ 9.98807686e-01 -4.41848367e-02 -2.07582928e-02 5.05591210e+02] [ 4.41878439e-02 9.99023191e-01 -3.14019991e-04 7.07640472e+00] [ 2.07518908e-02 -6.03618620e-04 9.99784474e-01 6.07343472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.025099893 meters 0.01858269306476064 Centerline is valid? [True, True] Translation: X:505.62, Y:7.07, Z:6.07 [[ 9.98702564e-01 -4.67922885e-02 -2.00915315e-02 5.05622113e+02] [ 4.67956239e-02 9.98904438e-01 -3.04356386e-04 7.07417686e+00] [ 2.00837615e-02 -6.36234247e-04 9.99798098e-01 6.07369705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.055099893 meters 0.019651606695975973 Centerline is valid? [True, True] Translation: X:505.65, Y:7.07, Z:6.07 [[ 9.98579137e-01 -4.94697885e-02 -1.98102601e-02 5.05653631e+02] [ 4.94735626e-02 9.98775389e-01 -2.99833717e-04 7.07169348e+00] [ 1.98008330e-02 -6.80676451e-04 9.99803713e-01 6.07403207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.085099893 meters 0.020105821692736572 Centerline is valid? [True, True] Translation: X:505.68, Y:7.07, Z:6.07 [[ 9.98291376e-01 -5.50012354e-02 -1.97279641e-02 5.05684373e+02] [ 5.50060676e-02 9.98485976e-01 -2.98021458e-04 7.06934420e+00] [ 1.97144871e-02 -7.87645476e-04 9.99805340e-01 6.07489709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.115099893 meters 0.0222656091185746 Centerline is valid? [True, True] Translation: X:505.71, Y:7.07, Z:6.07 [[ 9.98144686e-01 -5.77320629e-02 -1.93441038e-02 5.05714795e+02] [ 5.77372273e-02 9.98331772e-01 -2.91876433e-04 7.06564202e+00] [ 1.93286841e-02 -8.25540007e-04 9.99812843e-01 6.07485245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.145099893 meters 0.02357242434493344 Centerline is valid? [True, True] Translation: X:505.75, Y:7.06, Z:6.08 [[ 9.98002826e-01 -6.03001043e-02 -1.88216854e-02 5.05745539e+02] [ 6.03054553e-02 9.98179929e-01 -2.83662742e-04 7.06326479e+00] [ 1.88045335e-02 -8.51954089e-04 9.99822816e-01 6.07509996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.175099893 meters 0.024417447322687295 Centerline is valid? [True, True] Translation: X:505.78, Y:7.06, Z:6.08 [[ 9.97850905e-01 -6.29932518e-02 -1.80394627e-02 5.05776570e+02] [ 6.29986117e-02 9.98013578e-01 -2.71564340e-04 7.06198334e+00] [ 1.80207354e-02 -8.65480381e-04 9.99837239e-01 6.07577865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.205099893 meters 0.023634923302915792 Centerline is valid? [True, True] Translation: X:505.81, Y:7.06, Z:6.08 [[ 9.97705628e-01 -6.53636058e-02 -1.76374460e-02 5.05807363e+02] [ 6.53691076e-02 9.97861117e-01 -2.65013301e-04 7.06304694e+00] [ 1.76170438e-02 -8.88538846e-04 9.99844413e-01 6.07650157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.235099893 meters 0.023634923302915792 Centerline is valid? [True, True] Translation: X:505.84, Y:7.06, Z:6.08 [[ 9.97710404e-01 -6.52906562e-02 -1.76374618e-02 5.05839087e+02] [ 6.52961653e-02 9.97865893e-01 -2.63959271e-04 7.06346486e+00] [ 1.76170557e-02 -8.88303711e-04 9.99844413e-01 6.07689376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.265099893 meters 0.030795663621243505 Centerline is valid? [True, True] Translation: X:505.87, Y:7.05, Z:6.08 [[ 9.97468699e-01 -6.91813459e-02 -1.64357901e-02 5.05869201e+02] [ 6.91866700e-02 9.97603701e-01 -2.45132741e-04 7.05315391e+00] [ 1.64133636e-02 -8.92625348e-04 9.99864893e-01 6.07675995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.295099893 meters 0.026678128489475563 Centerline is valid? [True, True] Translation: X:505.90, Y:7.06, Z:6.08 [[ 9.97367277e-01 -7.05890812e-02 -1.66041062e-02 5.05900764e+02] [ 7.05947133e-02 9.97505050e-01 -2.47413966e-04 7.05927789e+00] [ 1.65801445e-02 -9.25399523e-04 9.99862112e-01 6.07768694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.325099893 meters 0.027806745111041958 Centerline is valid? [True, True] Translation: X:505.93, Y:7.06, Z:6.08 [[ 9.97276053e-01 -7.20047761e-02 -1.59933057e-02 5.05932924e+02] [ 7.20101971e-02 9.97403868e-01 -2.37409424e-04 7.05808952e+00] [ 1.59688795e-02 -9.14918360e-04 9.99872071e-01 6.07785385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.355099893 meters 0.028697717939805335 Centerline is valid? [True, True] Translation: X:505.97, Y:7.06, Z:6.08 [[ 9.97190945e-01 -7.30799657e-02 -1.64176339e-02 5.05965329e+02] [ 7.30858431e-02 9.97325624e-01 -2.42512220e-04 7.05700137e+00] [ 1.63914498e-02 -9.58065628e-04 9.99865192e-01 6.07768441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.385099893 meters 0.03016143369733507 Centerline is valid? [True, True] Translation: X:506.00, Y:7.06, Z:6.08 [[ 9.97021185e-01 -7.52366340e-02 -1.69766154e-02 5.05996158e+02] [ 7.52432468e-02 9.97165178e-01 -2.49778669e-04 7.05502812e+00] [ 1.69472822e-02 -1.02834104e-03 9.99855856e-01 6.07659220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.415099893 meters 0.0313486296366508 Centerline is valid? [True, True] Translation: X:506.03, Y:7.05, Z:6.08 [[ 9.96944676e-01 -7.61702176e-02 -1.73034929e-02 5.06027760e+02] [ 7.61772397e-02 9.97094260e-01 -2.53891701e-04 7.05377449e+00] [ 1.72725525e-02 -1.06501635e-03 9.99850251e-01 6.07598531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.445099893 meters 0.03262172683073221 Centerline is valid? [True, True] Translation: X:506.06, Y:7.05, Z:6.08 [[ 9.96862577e-01 -7.71535962e-02 -1.76727219e-02 5.06059267e+02] [ 7.71611015e-02 9.97018605e-01 -2.57818580e-04 7.05262514e+00] [ 1.76399241e-02 -1.10663699e-03 9.99843792e-01 6.07557011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.475099893 meters 0.03170151067654986 Centerline is valid? [True, True] Translation: X:506.09, Y:7.05, Z:6.08 [[ 9.96791400e-01 -7.81186691e-02 -1.74464265e-02 5.06091747e+02] [ 7.81261479e-02 9.96943449e-01 -2.53521749e-04 7.05451598e+00] [ 1.74129054e-02 -1.11031380e-03 9.99847767e-01 6.07567824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.505099893 meters 0.03375353248824445 Centerline is valid? [True, True] Translation: X:506.12, Y:7.05, Z:6.08 [[ 9.96668745e-01 -7.96001402e-02 -1.77547118e-02 5.06122382e+02] [ 7.96081472e-02 9.96826202e-01 -2.56455485e-04 7.05342136e+00] [ 1.77187758e-02 -1.15781854e-03 9.99842340e-01 6.07558946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.535099893 meters 0.03452282329884649 Centerline is valid? [True, True] Translation: X:506.15, Y:7.05, Z:6.08 [[ 9.96667747e-01 -7.96774923e-02 -1.74613531e-02 5.06153520e+02] [ 7.96852846e-02 9.96820040e-01 -2.50155470e-04 7.05323902e+00] [ 1.74257584e-02 -1.14209100e-03 9.99847508e-01 6.07602733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.565099893 meters 0.03483973967840729 Centerline is valid? [True, True] Translation: X:506.19, Y:7.05, Z:6.08 [[ 9.96651488e-01 -8.00196656e-02 -1.68126611e-02 5.06185605e+02] [ 8.00269657e-02 9.96792670e-01 -2.39208473e-04 7.05398830e+00] [ 1.67778788e-02 -1.10705878e-03 9.99858629e-01 6.07655135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.595099893 meters 0.03633757689489782 Centerline is valid? [True, True] Translation: X:506.22, Y:7.05, Z:6.08 [[ 9.96724937e-01 -7.93164218e-02 -1.57577254e-02 5.06216913e+02] [ 7.93227661e-02 9.96848960e-01 -2.22972553e-04 7.05451336e+00] [ 1.57257575e-02 -1.02770406e-03 9.99875814e-01 6.07745734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.625099893 meters 0.03270614752278102 Centerline is valid? [True, True] Translation: X:506.25, Y:7.06, Z:6.08 [[ 9.96795437e-01 -7.86129219e-02 -1.47941183e-02 5.06248966e+02] [ 7.86184608e-02 9.96904757e-01 -2.07703641e-04 7.06089058e+00] [ 1.47646551e-02 -9.56052764e-04 9.99890539e-01 6.07845742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.655099893 meters 0.029464382830533573 Centerline is valid? [True, True] Translation: X:506.28, Y:7.07, Z:6.08 [[ 9.96887839e-01 -7.75941034e-02 -1.39208862e-02 5.06281450e+02] [ 7.75989220e-02 9.96984639e-01 -1.94487946e-04 7.06701701e+00] [ 1.38940008e-02 -8.86363094e-04 9.99903081e-01 6.07952071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.68509989300003 meters 0.030127769287054493 Centerline is valid? [True, True] Translation: X:506.31, Y:7.07, Z:6.08 [[ 9.96981666e-01 -7.64876209e-02 -1.33116684e-02 5.06312582e+02] [ 7.64919436e-02 9.97070182e-01 -1.84858465e-04 7.06783411e+00] [ 1.32868070e-02 -8.33934889e-04 9.99911379e-01 6.08031909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.715099893 meters 0.02697375681547763 Centerline is valid? [True, True] Translation: X:506.35, Y:7.07, Z:6.08 [[ 9.97068873e-01 -7.54562787e-02 -1.26495692e-02 5.06345055e+02] [ 7.54601075e-02 9.97148806e-01 -1.75010264e-04 7.07398320e+00] [ 1.26267084e-02 -7.80040565e-04 9.99919976e-01 6.08103105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74509989300003 meters 0.029156288378453937 Centerline is valid? [True, True] Translation: X:506.38, Y:7.07, Z:6.08 [[ 9.97253205e-01 -7.31450715e-02 -1.16552380e-02 5.06375527e+02] [ 7.31481743e-02 9.97321071e-01 -1.60424551e-04 7.07411088e+00] [ 1.16357487e-02 -6.92575484e-04 9.99932063e-01 6.08156585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.775099893 meters 0.024405485042716724 Centerline is valid? [True, True] Translation: X:506.41, Y:7.08, Z:6.08 [[ 9.97329283e-01 -7.20980941e-02 -1.16690401e-02 5.06407436e+02] [ 7.21011349e-02 9.97397313e-01 -1.60437687e-04 7.08227132e+00] [ 1.16502365e-02 -6.81341830e-04 9.99931902e-01 6.08156723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.805099893 meters 0.02555881734631394 Centerline is valid? [True, True] Translation: X:506.44, Y:7.08, Z:6.08 [[ 9.97405331e-01 -7.10078475e-02 -1.18529389e-02 5.06438895e+02] [ 7.10109185e-02 9.97475525e-01 -1.62097695e-04 7.08211326e+00] [ 1.18345267e-02 -6.80010974e-04 9.99929738e-01 6.08197262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.835099893 meters 0.029199804876363998 Centerline is valid? [True, True] Translation: X:506.47, Y:7.08, Z:6.08 [[ 9.97461051e-01 -7.01804483e-02 -1.20895160e-02 5.06470558e+02] [ 7.01836050e-02 9.97534077e-01 -1.63471048e-04 7.07886138e+00] [ 1.20711767e-02 -6.85429814e-04 9.99926906e-01 6.08203962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.865099893 meters 0.025112845301840957 Centerline is valid? [True, True] Translation: X:506.50, Y:7.09, Z:6.08 [[ 9.97524481e-01 -6.92317068e-02 -1.23239669e-02 5.06502298e+02] [ 6.92349263e-02 9.97600370e-01 -1.65724335e-04 7.08609910e+00] [ 1.23058673e-02 -6.87934859e-04 9.99924043e-01 6.08220320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.895099893 meters 0.025862986932000922 Centerline is valid? [True, True] Translation: X:506.53, Y:7.09, Z:6.08 [[ 9.97619310e-01 -6.76529404e-02 -1.33713339e-02 5.06533756e+02] [ 6.76566030e-02 9.97708651e-01 -1.78769213e-04 7.08849133e+00] [ 1.33527898e-02 -7.26315411e-04 9.99910584e-01 6.08166060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.925099893 meters 0.024916234192609032 Centerline is valid? [True, True] Translation: X:506.57, Y:7.09, Z:6.08 [[ 9.97657306e-01 -6.70056480e-02 -1.37892213e-02 5.06565951e+02] [ 6.70094924e-02 9.97752321e-01 -1.83564768e-04 7.09158350e+00] [ 1.37705274e-02 -7.40873986e-04 9.99904907e-01 6.08143019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.955099893 meters 0.02463229856719635 Centerline is valid? [True, True] Translation: X:506.60, Y:7.09, Z:6.08 [[ 9.97717846e-01 -6.60408249e-02 -1.40609279e-02 5.06598683e+02] [ 6.60447417e-02 9.97816645e-01 -1.86113197e-04 7.09360722e+00] [ 1.40425189e-02 -7.42961891e-04 9.99901123e-01 6.08143902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.985099893 meters 0.024954023775529934 Centerline is valid? [True, True] Translation: X:506.63, Y:7.09, Z:6.08 [[ 9.97777673e-01 -6.50966781e-02 -1.42175133e-02 5.06629776e+02] [ 6.51006046e-02 9.97878688e-01 -1.86954207e-04 7.09475532e+00] [ 1.41995236e-02 -7.39029980e-04 9.99898909e-01 6.08128755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.015099893 meters 0.02341645582279109 Centerline is valid? [True, True] Translation: X:506.66, Y:7.10, Z:6.08 [[ 9.97921605e-01 -6.27763700e-02 -1.45463957e-02 5.06661557e+02] [ 6.27802460e-02 9.98027357e-01 -1.90476843e-04 7.10038256e+00] [ 1.45296583e-02 -7.23145345e-04 9.99894177e-01 6.08161713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.045099893 meters 0.02372244115684972 Centerline is valid? [True, True] Translation: X:506.69, Y:7.10, Z:6.08 [[ 9.98037322e-01 -6.09624771e-02 -1.43206305e-02 5.06692360e+02] [ 6.09660579e-02 9.98139822e-01 -1.86787348e-04 7.10177346e+00] [ 1.43053786e-02 -6.86651643e-04 9.99897437e-01 6.08184211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.075099893 meters 0.021960509992048537 Centerline is valid? [True, True] Translation: X:506.72, Y:7.11, Z:6.08 [[ 9.98148941e-01 -5.91502508e-02 -1.41400215e-02 5.06724630e+02] [ 5.91535684e-02 9.98248878e-01 -1.83862598e-04 7.10639801e+00] [ 1.41261361e-02 -6.52910473e-04 9.99900008e-01 6.08219681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.105099893 meters 0.022288747700907642 Centerline is valid? [True, True] Translation: X:506.76, Y:7.11, Z:6.08 [[ 9.98266532e-01 -5.72683664e-02 -1.35744173e-02 5.06756108e+02] [ 5.72712630e-02 9.98358639e-01 -1.75561718e-04 7.10817833e+00] [ 1.35621909e-02 -6.02166638e-04 9.99907848e-01 6.08276100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.135099893 meters 0.021690092667088007 Centerline is valid? [True, True] Translation: X:506.79, Y:7.11, Z:6.08 [[ 9.98387560e-01 -5.51461204e-02 -1.34605111e-02 5.06787161e+02] [ 5.51487884e-02 9.98478133e-01 -1.73173637e-04 7.11138217e+00] [ 1.34495759e-02 -5.69436474e-04 9.99909388e-01 6.08333385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.165099893 meters 0.018758570610354814 Centerline is valid? [True, True] Translation: X:506.82, Y:7.12, Z:6.08 [[ 9.98633009e-01 -5.07183310e-02 -1.26397918e-02 5.06817795e+02] [ 5.07203347e-02 9.98712882e-01 -1.62194971e-04 7.11987578e+00] [ 1.26317492e-02 -4.79121220e-04 9.99920101e-01 6.08389335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.195099893 meters 0.02019383702987385 Centerline is valid? [True, True] Translation: X:506.85, Y:7.12, Z:6.08 [[ 9.98731751e-01 -4.87791765e-02 -1.24691815e-02 5.06849353e+02] [ 4.87809784e-02 9.98809487e-01 -1.59774948e-04 7.11945603e+00] [ 1.24621304e-02 -4.48686559e-04 9.99922244e-01 6.08446647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.225099893 meters 0.017847623133395187 Centerline is valid? [True, True] Translation: X:506.88, Y:7.13, Z:6.09 [[ 9.98829222e-01 -4.68768478e-02 -1.19476681e-02 5.06881757e+02] [ 4.68783760e-02 9.98900593e-01 -1.52261453e-04 7.12500353e+00] [ 1.19416703e-02 -4.08004090e-04 9.99928612e-01 6.08500277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.255099893 meters 0.016573648592830628 Centerline is valid? [True, True] Translation: X:506.91, Y:7.13, Z:6.09 [[ 9.99009279e-01 -4.28620042e-02 -1.19711583e-02 5.06912804e+02] [ 4.28632611e-02 9.99080937e-01 -1.51670684e-04 7.12978178e+00] [ 1.19666570e-02 -3.61602466e-04 9.99928332e-01 6.08507321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.285099893 meters 0.016011511692324457 Centerline is valid? [True, True] Translation: X:506.95, Y:7.13, Z:6.09 [[ 9.99093725e-01 -4.07583099e-02 -1.22673857e-02 5.06945370e+02] [ 4.07594770e-02 9.99168975e-01 -1.54966197e-04 7.13226395e+00] [ 1.22635074e-02 -3.45186472e-04 9.99924741e-01 6.08505480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.315099893 meters 0.015613117868621535 Centerline is valid? [True, True] Translation: X:506.98, Y:7.13, Z:6.09 [[ 9.99158360e-01 -3.90123706e-02 -1.26730604e-02 5.06977762e+02] [ 3.90134910e-02 9.99238671e-01 -1.58897134e-04 7.13430172e+00] [ 1.26696109e-02 -3.35656926e-04 9.99919681e-01 6.08544276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.345099893 meters 0.015125585420238941 Centerline is valid? [True, True] Translation: X:507.01, Y:7.14, Z:6.09 [[ 9.99227460e-01 -3.71542543e-02 -1.28079694e-02 5.07010438e+02] [ 3.71552584e-02 9.99309492e-01 -1.59632869e-04 7.13683712e+00] [ 1.28050565e-02 -3.16373867e-04 9.99917962e-01 6.08552410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.375099893 meters 0.015019344273604554 Centerline is valid? [True, True] Translation: X:507.04, Y:7.14, Z:6.09 [[ 9.99286503e-01 -3.55113828e-02 -1.28618381e-02 5.07042163e+02] [ 3.55122745e-02 9.99369228e-01 -1.59123043e-04 7.13816038e+00] [ 1.28593759e-02 -2.97743617e-04 9.99917270e-01 6.08572730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.405099893 meters 0.014517624281100662 Centerline is valid? [True, True] Translation: X:507.07, Y:7.14, Z:6.09 [[ 9.99388848e-01 -3.25198455e-02 -1.28214364e-02 5.07072462e+02] [ 3.25204972e-02 9.99471056e-01 -1.57712216e-04 7.14056517e+00] [ 1.28197834e-02 -2.59343657e-04 9.99917790e-01 6.08564158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.43509989300003 meters 0.013909251422331506 Centerline is valid? [True, True] Translation: X:507.11, Y:7.14, Z:6.09 [[ 9.99439015e-01 -3.09548998e-02 -1.27847211e-02 5.07105071e+02] [ 3.09554230e-02 9.99520754e-01 -1.57009232e-04 7.14221031e+00] [ 1.27834543e-02 -2.38835297e-04 9.99918260e-01 6.08586402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.465099893 meters 0.01373250917931913 Centerline is valid? [True, True] Translation: X:507.14, Y:7.14, Z:6.09 [[ 9.99485766e-01 -2.93535425e-02 -1.29063500e-02 5.07136667e+02] [ 2.93539547e-02 9.99569067e-01 -1.57530979e-04 7.14321647e+00] [ 1.29054123e-02 -2.21402442e-04 9.99916697e-01 6.08628369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.49509989300003 meters 0.01349478356566564 Centerline is valid? [True, True] Translation: X:507.17, Y:7.14, Z:6.09 [[ 9.99533220e-01 -2.77240118e-02 -1.28343641e-02 5.07167865e+02] [ 2.77243054e-02 9.99615596e-01 -1.55078754e-04 7.14445093e+00] [ 1.28337299e-02 -2.00817463e-04 9.99917624e-01 6.08673740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.525099893 meters 0.013196692054601094 Centerline is valid? [True, True] Translation: X:507.20, Y:7.15, Z:6.09 [[ 9.99570502e-01 -2.63637928e-02 -1.27969613e-02 5.07199421e+02] [ 2.63639790e-02 9.99652398e-01 -1.54173810e-04 7.14581844e+00] [ 1.27965776e-02 -1.83271225e-04 9.99918104e-01 6.08697269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.555099893 meters 0.012786326457483671 Centerline is valid? [True, True] Translation: X:507.23, Y:7.15, Z:6.09 [[ 9.99638565e-01 -2.38251102e-02 -1.24540315e-02 5.07230973e+02] [ 2.38250949e-02 9.99716131e-01 -1.49610864e-04 7.14742664e+00] [ 1.24540606e-02 -1.47161692e-04 9.99922434e-01 6.08736081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.585099893 meters 0.012648761949811528 Centerline is valid? [True, True] Translation: X:507.26, Y:7.15, Z:6.09 [[ 9.99659678e-01 -2.30053966e-02 -1.22995700e-02 5.07262459e+02] [ 2.30053250e-02 9.99735332e-01 -1.47323015e-04 7.14803988e+00] [ 1.22997040e-02 -1.35682729e-04 9.99924347e-01 6.08766149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.615099893 meters 0.012599835351008315 Centerline is valid? [True, True] Translation: X:507.29, Y:7.15, Z:6.09 [[ 9.99673242e-01 -2.23578731e-02 -1.23909332e-02 5.07292997e+02] [ 2.23577562e-02 9.99750023e-01 -1.47969168e-04 7.14767715e+00] [ 1.23911440e-02 -1.29112646e-04 9.99923218e-01 6.08799262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.645099893 meters 0.012438552768667458 Centerline is valid? [True, True] Translation: X:507.32, Y:7.15, Z:6.09 [[ 9.99671158e-01 -2.25510926e-02 -1.22075533e-02 5.07324380e+02] [ 2.25510029e-02 9.99745683e-01 -1.45020610e-04 7.14713709e+00] [ 1.22077191e-02 -1.30319649e-04 9.99925475e-01 6.08760562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.675099893 meters 0.012568983358628738 Centerline is valid? [True, True] Translation: X:507.36, Y:7.15, Z:6.09 [[ 9.99644405e-01 -2.33719276e-02 -1.28380956e-02 5.07356127e+02] [ 2.33719023e-02 9.99726828e-01 -1.52021435e-04 7.14616189e+00] [ 1.28381416e-02 -1.48083338e-04 9.99917577e-01 6.08758849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.705099893 meters 0.012794099084526394 Centerline is valid? [True, True] Translation: X:507.39, Y:7.14, Z:6.09 [[ 9.99613149e-01 -2.44999590e-02 -1.31644890e-02 5.07386836e+02] [ 2.45000365e-02 9.99699817e-01 -1.55414183e-04 7.14462533e+00] [ 1.31643449e-02 -1.67176399e-04 9.99913332e-01 6.08752619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.735099893 meters 0.013024691814452078 Centerline is valid? [True, True] Translation: X:507.42, Y:7.14, Z:6.09 [[ 9.99571359e-01 -2.60248844e-02 -1.34090613e-02 5.07418311e+02] [ 2.60251054e-02 9.99661277e-01 -1.58038503e-04 7.14338394e+00] [ 1.34086322e-02 -1.91001472e-04 9.99910082e-01 6.08766335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.765099893 meters 0.013239497138130076 Centerline is valid? [True, True] Translation: X:507.45, Y:7.14, Z:6.09 [[ 9.99465511e-01 -2.94414464e-02 -1.42089274e-02 5.07449890e+02] [ 2.94420473e-02 9.99566475e-01 -1.66930021e-04 7.14078946e+00] [ 1.42076821e-02 -2.51499114e-04 9.99899034e-01 6.08774243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.795099893 meters 0.0137546484160508 Centerline is valid? [True, True] Translation: X:507.48, Y:7.14, Z:6.09 [[ 9.99427138e-01 -3.10630671e-02 -1.34343703e-02 5.07480775e+02] [ 3.10637573e-02 9.99517393e-01 -1.57341296e-04 7.13831264e+00] [ 1.34327743e-02 -2.60070857e-04 9.99909742e-01 6.08786639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.825099893 meters 0.016362832686514416 Centerline is valid? [True, True] Translation: X:507.51, Y:7.13, Z:6.09 [[ 9.99372267e-01 -3.26143961e-02 -1.38337721e-02 5.07511576e+02] [ 3.26152873e-02 9.99467967e-01 -1.61243938e-04 7.13171993e+00] [ 1.38316710e-02 -2.90049732e-04 9.99904296e-01 6.08787694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.855099893 meters 0.015073328792115717 Centerline is valid? [True, True] Translation: X:507.54, Y:7.13, Z:6.09 [[ 9.99283135e-01 -3.50356234e-02 -1.43429554e-02 5.07543317e+02] [ 3.50368414e-02 9.99386008e-01 -1.66426929e-04 7.13138803e+00] [ 1.43399798e-02 -3.36224231e-04 9.99897121e-01 6.08717570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.885099893 meters 0.01507004869865002 Centerline is valid? [True, True] Translation: X:507.57, Y:7.13, Z:6.09 [[ 9.99246031e-01 -3.59017232e-02 -1.47795454e-02 5.07574776e+02] [ 3.59031226e-02 9.99355260e-01 -1.70719374e-04 7.13037834e+00] [ 1.47761456e-02 -3.60041173e-04 9.99890762e-01 6.08731213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.915099893 meters 0.014952925957131461 Centerline is valid? [True, True] Translation: X:507.61, Y:7.13, Z:6.09 [[ 9.99230286e-01 -3.64550841e-02 -1.44866002e-02 5.07606407e+02] [ 3.64564941e-02 9.99335227e-01 -1.66821655e-04 7.13001179e+00] [ 1.44830514e-02 -3.61437406e-04 9.99895050e-01 6.08756159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.945099893 meters 0.015307427814662248 Centerline is valid? [True, True] Translation: X:507.64, Y:7.13, Z:6.09 [[ 9.99201773e-01 -3.70835209e-02 -1.48535969e-02 5.07637578e+02] [ 3.70850816e-02 9.99312097e-01 -1.70449501e-04 7.12873050e+00] [ 1.48497000e-02 -3.80533411e-04 9.99889665e-01 6.08779168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.975099893 meters 0.015937502270893047 Centerline is valid? [True, True] Translation: X:507.67, Y:7.13, Z:6.09 [[ 9.99184919e-01 -3.74080508e-02 -1.51702258e-02 5.07668345e+02] [ 3.74097288e-02 9.99299996e-01 -1.73242037e-04 7.12600119e+00] [ 1.51660872e-02 -3.94413203e-04 9.99884910e-01 6.08790111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.005099893 meters 0.015853493903089086 Centerline is valid? [True, True] Translation: X:507.70, Y:7.13, Z:6.09 [[ 9.99173962e-01 -3.76490681e-02 -1.52951373e-02 5.07699725e+02] [ 3.76508140e-02 9.99290942e-01 -1.73888746e-04 7.12560070e+00] [ 1.52908389e-02 -4.02129261e-04 9.99883007e-01 6.08843099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.035099893 meters 0.015450492053919058 Centerline is valid? [True, True] Translation: X:507.73, Y:7.13, Z:6.09 [[ 9.99161681e-01 -3.80543274e-02 -1.50931618e-02 5.07730910e+02] [ 3.80560818e-02 9.99275590e-01 -1.71057333e-04 7.12558010e+00] [ 1.50887377e-02 -4.03472668e-04 9.99886077e-01 6.08884278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.065099893 meters 0.01759060199133494 Centerline is valid? [True, True] Translation: X:507.76, Y:7.12, Z:6.09 [[ 9.99138515e-01 -3.87191776e-02 -1.49349682e-02 5.07762402e+02] [ 3.87209784e-02 9.99250047e-01 -1.68678142e-04 7.12096002e+00] [ 1.49302988e-02 -4.09763754e-04 9.99888453e-01 6.08923472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.095099893 meters 0.01640083176204214 Centerline is valid? [True, True] Translation: X:507.79, Y:7.12, Z:6.09 [[ 9.99106488e-01 -3.96760038e-02 -1.45616196e-02 5.07794365e+02] [ 3.96778291e-02 9.99212511e-01 -1.63646334e-04 7.12224664e+00] [ 1.45566453e-02 -4.14273337e-04 9.99893961e-01 6.09026172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.125099893 meters 0.018087738913095425 Centerline is valid? [True, True] Translation: X:507.83, Y:7.12, Z:6.09 [[ 9.98956592e-01 -4.32943257e-02 -1.45371340e-02 5.07825020e+02] [ 4.32965411e-02 9.99062252e-01 -1.62441047e-04 7.11718954e+00] [ 1.45305346e-02 -4.67136065e-04 9.99894317e-01 6.09127727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.155099893 meters 0.018087738913095425 Centerline is valid? [True, True] Translation: X:507.86, Y:7.12, Z:6.09 [[ 9.98959656e-01 -4.32235662e-02 -1.45371382e-02 5.07856722e+02] [ 4.32257796e-02 9.99065316e-01 -1.62066607e-04 7.11748420e+00] [ 1.45305556e-02 -4.66481127e-04 9.99894317e-01 6.09166928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.18509989300003 meters 0.01883688030636713 Centerline is valid? [True, True] Translation: X:507.89, Y:7.12, Z:6.09 [[ 9.98850406e-01 -4.56658636e-02 -1.45772509e-02 5.07888378e+02] [ 4.56683634e-02 9.98956643e-01 -1.61517244e-04 7.11525029e+00] [ 1.45694174e-02 -5.04387625e-04 9.99893733e-01 6.09212350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.215099893 meters 0.01963209494208899 Centerline is valid? [True, True] Translation: X:507.92, Y:7.11, Z:6.09 [[ 9.98728591e-01 -4.81133216e-02 -1.50435947e-02 5.07920776e+02] [ 4.81162744e-02 9.98841728e-01 -1.65811763e-04 7.11280504e+00] [ 1.50341479e-02 -5.58240783e-04 9.99886825e-01 6.09214702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24509989300003 meters 0.01969887200389063 Centerline is valid? [True, True] Translation: X:507.95, Y:7.11, Z:6.09 [[ 9.98580403e-01 -5.08873399e-02 -1.57371425e-02 5.07952570e+02] [ 5.08909325e-02 9.98704202e-01 -1.72350037e-04 7.11176761e+00] [ 1.57255208e-02 -6.28772489e-04 9.99876149e-01 6.09256166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.275099893 meters 0.021465447881761017 Centerline is valid? [True, True] Translation: X:507.98, Y:7.11, Z:6.09 [[ 9.98428565e-01 -5.35345299e-02 -1.65666743e-02 5.07982873e+02] [ 5.35388906e-02 9.98565749e-01 -1.80495498e-04 7.10814892e+00] [ 1.65525763e-02 -7.06749505e-04 9.99862747e-01 6.09224643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.305099893 meters 0.02345547701776899 Centerline is valid? [True, True] Translation: X:508.01, Y:7.10, Z:6.09 [[ 9.98121971e-01 -5.86727634e-02 -1.76078725e-02 5.08013129e+02] [ 5.86785004e-02 9.98276914e-01 -1.91094515e-04 7.10348611e+00] [ 1.75887446e-02 -8.42467918e-04 9.99844951e-01 6.09240557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.335099893 meters 0.024944207805974165 Centerline is valid? [True, True] Translation: X:508.04, Y:7.10, Z:6.09 [[ 9.97968539e-01 -6.11031968e-02 -1.80331775e-02 5.08044665e+02] [ 6.11096149e-02 9.98131042e-01 -1.95442730e-04 7.10110285e+00] [ 1.80114165e-02 -9.06954839e-04 9.99837370e-01 6.09286492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.365099893 meters 0.02671261337152238 Centerline is valid? [True, True] Translation: X:508.07, Y:7.10, Z:6.09 [[ 9.97830009e-01 -6.31897363e-02 -1.85021933e-02 5.08074878e+02] [ 6.31968606e-02 9.98001061e-01 -1.99969786e-04 7.09811605e+00] [ 1.84778446e-02 -9.69744678e-04 9.99828800e-01 6.09330197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.395099893 meters 0.02715099896859098 Centerline is valid? [True, True] Translation: X:508.11, Y:7.10, Z:6.09 [[ 9.97724496e-01 -6.48421110e-02 -1.84751635e-02 5.08106928e+02] [ 6.48495088e-02 9.97895035e-01 -1.99031446e-04 7.09706382e+00] [ 1.84491796e-02 -9.99526731e-04 9.99829300e-01 6.09374026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.425099893 meters 0.026418854095588983 Centerline is valid? [True, True] Translation: X:508.14, Y:7.10, Z:6.09 [[ 9.97565552e-01 -6.71338197e-02 -1.88684946e-02 5.08137683e+02] [ 6.71419635e-02 9.97743412e-01 -2.02264313e-04 7.09715088e+00] [ 1.88394949e-02 -1.06509586e-03 9.99821954e-01 6.09447021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.455099893 meters 0.0292832008928331 Centerline is valid? [True, True] Translation: X:508.17, Y:7.09, Z:6.09 [[ 9.97528829e-01 -6.76606208e-02 -1.89281727e-02 5.08168522e+02] [ 6.76689283e-02 9.97707811e-01 -2.01976458e-04 7.09311113e+00] [ 1.88984516e-02 -1.07937182e-03 9.99820826e-01 6.09490853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.485099893 meters 0.02774298545751073 Centerline is valid? [True, True] Translation: X:508.20, Y:7.10, Z:6.10 [[ 9.97504117e-01 -6.81755968e-02 -1.83745730e-02 5.08200161e+02] [ 6.81835420e-02 9.97672775e-01 -1.94458289e-04 7.09537691e+00] [ 1.83450685e-02 -1.05887052e-03 9.99831154e-01 6.09619840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.515099893 meters 0.027758840016782978 Centerline is valid? [True, True] Translation: X:508.23, Y:7.10, Z:6.10 [[ 9.97518816e-01 -6.79797510e-02 -1.83020572e-02 5.08232207e+02] [ 6.79876205e-02 9.97686146e-01 -1.92609034e-04 7.09561163e+00] [ 1.82728025e-02 -1.05218219e-03 9.99832485e-01 6.09701091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.545099893 meters 0.027144097766896306 Centerline is valid? [True, True] Translation: X:508.26, Y:7.10, Z:6.10 [[ 9.97609788e-01 -6.65398854e-02 -1.86320593e-02 5.08263564e+02] [ 6.65478118e-02 9.97783218e-01 -1.94961833e-04 7.09686303e+00] [ 1.86037288e-02 -1.04542694e-03 9.99826389e-01 6.09743858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.575099893 meters 0.026276308509275564 Centerline is valid? [True, True] Translation: X:508.30, Y:7.10, Z:6.10 [[ 9.97670025e-01 -6.55490318e-02 -1.89168060e-02 5.08295847e+02] [ 6.55570421e-02 9.97848804e-01 -1.97024077e-04 7.09846461e+00] [ 1.88890270e-02 -1.04356483e-03 9.99821042e-01 6.09795897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.605099893 meters 0.025952038993581006 Centerline is valid? [True, True] Translation: X:508.33, Y:7.10, Z:6.10 [[ 9.97745618e-01 -6.43040256e-02 -1.92009041e-02 5.08327709e+02] [ 6.43120752e-02 9.97929816e-01 -1.98597867e-04 7.09938034e+00] [ 1.91739254e-02 -1.03669984e-03 9.99815626e-01 6.09834665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.635099893 meters 0.02512460749200812 Centerline is valid? [True, True] Translation: X:508.36, Y:7.10, Z:6.10 [[ 9.97815194e-01 -6.32534557e-02 -1.90745497e-02 5.08359716e+02] [ 6.32612341e-02 9.97996983e-01 -1.95932866e-04 7.10137272e+00] [ 1.90487364e-02 -1.01117476e-03 9.99818045e-01 6.09907809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.665099893 meters 0.02605003779547382 Centerline is valid? [True, True] Translation: X:508.39, Y:7.10, Z:6.10 [[ 9.97903793e-01 -6.19699812e-02 -1.86478350e-02 5.08390974e+02] [ 6.19772143e-02 9.98077546e-01 -1.90345097e-04 7.10076686e+00] [ 1.86237811e-02 -9.65794776e-04 9.99826096e-01 6.09951903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.695099893 meters 0.02630873823330596 Centerline is valid? [True, True] Translation: X:508.42, Y:7.10, Z:6.10 [[ 9.98020575e-01 -5.99015365e-02 -1.91504187e-02 5.08421856e+02] [ 5.99088027e-02 9.98203836e-01 -1.94558395e-04 7.10188002e+00] [ 1.91276758e-02 -9.53105376e-04 9.99816595e-01 6.09973243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.725099893 meters 0.022577884112481503 Centerline is valid? [True, True] Translation: X:508.45, Y:7.11, Z:6.10 [[ 9.98063739e-01 -5.89606748e-02 -1.98093687e-02 5.08454175e+02] [ 5.89682845e-02 9.98259837e-01 -2.00264501e-04 7.10792893e+00] [ 1.97867049e-02 -9.68247754e-04 9.99803755e-01 6.10063999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.755099893 meters 0.022286035573619762 Centerline is valid? [True, True] Translation: X:508.49, Y:7.11, Z:6.10 [[ 9.98118936e-01 -5.78785078e-02 -2.02155502e-02 5.08486443e+02] [ 5.78862414e-02 9.98323165e-01 -2.02883615e-04 7.10914302e+00] [ 2.01933947e-02 -9.67700242e-04 9.99795624e-01 6.10075374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.785099893 meters 0.0215204390530735 Centerline is valid? [True, True] Translation: X:508.52, Y:7.11, Z:6.10 [[ 9.98226466e-01 -5.56103223e-02 -2.12465206e-02 5.08518386e+02] [ 5.56183827e-02 9.98452077e-01 -2.11805179e-04 7.11170611e+00] [ 2.12254112e-02 -9.70267579e-04 9.99774245e-01 6.10042359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.815099893 meters 0.02036032952012772 Centerline is valid? [True, True] Translation: X:508.55, Y:7.11, Z:6.10 [[ 9.98314282e-01 -5.38900489e-02 -2.15512832e-02 5.08549569e+02] [ 5.38979642e-02 9.98546425e-01 -2.13828086e-04 7.11451119e+00] [ 2.15314800e-02 -9.48102657e-04 9.99767721e-01 6.10096489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.845099893 meters 0.0192627170315163 Centerline is valid? [True, True] Translation: X:508.58, Y:7.12, Z:6.10 [[ 9.98421451e-01 -5.16397806e-02 -2.20893672e-02 5.08580713e+02] [ 5.16475646e-02 9.98665350e-01 -2.18346948e-04 7.11735771e+00] [ 2.20711610e-02 -9.22859742e-04 9.99755976e-01 6.10151617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.875099893 meters 0.01788976419087379 Centerline is valid? [True, True] Translation: X:508.61, Y:7.12, Z:6.10 [[ 9.98703594e-01 -4.57925289e-02 -2.22300789e-02 5.08610170e+02] [ 4.57989721e-02 9.98950652e-01 -2.19458111e-04 7.12216887e+00] [ 2.22168014e-02 -7.98941162e-04 9.99752857e-01 6.10214907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.905099893 meters 0.016092857418133783 Centerline is valid? [True, True] Translation: X:508.64, Y:7.13, Z:6.10 [[ 9.98858059e-01 -4.21681718e-02 -2.24593857e-02 5.08640501e+02] [ 4.21738285e-02 9.99110264e-01 -2.21948763e-04 7.12683857e+00] [ 2.24487620e-02 -7.25502971e-04 9.99747732e-01 6.10320756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.93509989300003 meters 0.01562936597104975 Centerline is valid? [True, True] Translation: X:508.67, Y:7.13, Z:6.10 [[ 9.99017808e-01 -3.83047251e-02 -2.22747982e-02 5.08670071e+02] [ 3.83093256e-02 9.99265904e-01 -2.20306079e-04 7.12915195e+00] [ 2.22668851e-02 -6.33242800e-04 9.99751862e-01 6.10366425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.965099893 meters 0.01453817613003975 Centerline is valid? [True, True] Translation: X:508.70, Y:7.13, Z:6.10 [[ 9.99145342e-01 -3.48315214e-02 -2.22564959e-02 5.08699599e+02] [ 3.48352402e-02 9.99393044e-01 -2.20709753e-04 7.13258288e+00] [ 2.22506748e-02 -5.54789259e-04 9.99752269e-01 6.10438276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.99509989300003 meters 0.013512527056514904 Centerline is valid? [True, True] Translation: X:508.73, Y:7.14, Z:6.11 [[ 9.99248736e-01 -3.16991661e-02 -2.22963192e-02 5.08728283e+02] [ 3.17020534e-02 9.99497338e-01 -2.24045050e-04 7.13585565e+00] [ 2.22922138e-02 -4.82962369e-04 9.99751381e-01 6.10505902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.025099893 meters 0.01326408557823569 Centerline is valid? [True, True] Translation: X:508.76, Y:7.14, Z:6.10 [[ 9.99344957e-01 -2.87875346e-02 -2.19302118e-02 5.08756343e+02] [ 2.87895411e-02 9.99585470e-01 -2.24285372e-04 7.13756953e+00] [ 2.19275777e-02 -4.07222280e-04 9.99759479e-01 6.10496251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.055099893 meters 0.012185152140224876 Centerline is valid? [True, True] Translation: X:508.79, Y:7.14, Z:6.11 [[ 9.99455080e-01 -2.42251161e-02 -2.24206753e-02 5.08785512e+02] [ 2.42260104e-02 9.99706480e-01 -2.31769186e-04 7.14164037e+00] [ 2.24197090e-02 -3.11520621e-04 9.99748598e-01 6.10551900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.085099893 meters 0.012086266901459228 Centerline is valid? [True, True] Translation: X:508.81, Y:7.14, Z:6.11 [[ 9.99464393e-01 -2.35754354e-02 -2.26963987e-02 5.08813724e+02] [ 2.35760795e-02 9.99722017e-01 -2.39238114e-04 7.14288996e+00] [ 2.26957296e-02 -2.95982126e-04 9.99742375e-01 6.10576056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.115099893 meters 0.011836746599480082 Centerline is valid? [True, True] Translation: X:508.84, Y:7.14, Z:6.11 [[ 9.99475182e-01 -2.31333702e-02 -2.26761544e-02 5.08841274e+02] [ 2.31337506e-02 9.99732349e-01 -2.45584565e-04 7.14377822e+00] [ 2.26757663e-02 -2.79128822e-04 9.99742833e-01 6.10612847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.145099893 meters 0.011896159341092845 Centerline is valid? [True, True] Translation: X:508.87, Y:7.14, Z:6.11 [[ 9.99467564e-01 -2.34414463e-02 -2.26955415e-02 5.08868569e+02] [ 2.34417954e-02 9.99725172e-01 -2.50699558e-04 7.14373760e+00] [ 2.26951809e-02 -2.81458164e-04 9.99742392e-01 6.10601477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.175099893 meters 0.012272651824121432 Centerline is valid? [True, True] Translation: X:508.90, Y:7.14, Z:6.11 [[ 9.99415030e-01 -2.55910968e-02 -2.26868507e-02 5.08897674e+02] [ 2.55919052e-02 9.99672441e-01 -2.54749677e-04 7.14213470e+00] [ 2.26859388e-02 -3.25999077e-04 9.99742588e-01 6.10626208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.205099893 meters 0.01246052952639576 Centerline is valid? [True, True] Translation: X:508.93, Y:7.14, Z:6.11 [[ 9.99365963e-01 -2.74356912e-02 -2.26926378e-02 5.08926795e+02] [ 2.74368465e-02 9.99623505e-01 -2.60494340e-04 7.14097566e+00] [ 2.26912410e-02 -3.62285244e-04 9.99742455e-01 6.10666384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.235099893 meters 0.012543662248791596 Centerline is valid? [True, True] Translation: X:508.96, Y:7.14, Z:6.11 [[ 9.99320562e-01 -2.91803259e-02 -2.25149624e-02 5.08955147e+02] [ 2.91817786e-02 9.99574086e-01 -2.64102348e-04 7.14059004e+00] [ 2.25130796e-02 -3.93103741e-04 9.99746471e-01 6.10749919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.265099893 meters 0.013444661883125006 Centerline is valid? [True, True] Translation: X:508.98, Y:7.14, Z:6.11 [[ 9.99214862e-01 -3.28221820e-02 -2.21892633e-02 5.08983293e+02] [ 3.28244018e-02 9.99461099e-01 -2.64269379e-04 7.13735557e+00] [ 2.21859793e-02 -4.64287403e-04 9.99753753e-01 6.10739740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.295099893 meters 0.013936343037771609 Centerline is valid? [True, True] Translation: X:509.01, Y:7.14, Z:6.11 [[ 9.99134135e-01 -3.48012104e-02 -2.28003480e-02 5.09012029e+02] [ 3.48039838e-02 9.99394120e-01 -2.75294671e-04 7.13595736e+00] [ 2.27961143e-02 -5.18486638e-04 9.99740000e-01 6.10747781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.325099893 meters 0.013958748167620388 Centerline is valid? [True, True] Translation: X:509.04, Y:7.14, Z:6.11 [[ 9.99057157e-01 -3.68010830e-02 -2.30320856e-02 5.09040505e+02] [ 3.68043099e-02 9.99322452e-01 -2.83918402e-04 7.13540414e+00] [ 2.30269287e-02 -5.64029305e-04 9.99734686e-01 6.10812980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.355099893 meters 0.015343110262966173 Centerline is valid? [True, True] Translation: X:509.07, Y:7.13, Z:6.11 [[ 9.99004289e-01 -3.83784541e-02 -2.27491861e-02 5.09069625e+02] [ 3.83819275e-02 9.99263102e-01 -2.84094929e-04 7.13254220e+00] [ 2.27433253e-02 -5.89345556e-04 9.99741163e-01 6.10794346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.385099893 meters 0.01696135621417421 Centerline is valid? [True, True] Translation: X:509.10, Y:7.13, Z:6.11 [[ 9.98877224e-01 -4.19171294e-02 -2.20736452e-02 5.09097974e+02] [ 4.19212334e-02 9.99120880e-01 -2.76982278e-04 7.12825938e+00] [ 2.20658501e-02 -6.48683143e-04 9.99756309e-01 6.10824013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.415099893 meters 0.016767026762320326 Centerline is valid? [True, True] Translation: X:509.13, Y:7.13, Z:6.11 [[ 9.98823101e-01 -4.33645873e-02 -2.17238242e-02 5.09128078e+02] [ 4.33688857e-02 9.99059090e-01 -2.73439285e-04 7.12805850e+00] [ 2.17152416e-02 -6.69020576e-04 9.99763972e-01 6.10939340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.445099893 meters 0.017649396790530632 Centerline is valid? [True, True] Translation: X:509.16, Y:7.13, Z:6.11 [[ 9.98777610e-01 -4.46454525e-02 -2.12148378e-02 5.09157340e+02] [ 4.46498371e-02 9.99002663e-01 -2.67187262e-04 7.12606637e+00] [ 2.12056082e-02 -6.80378399e-04 9.99774904e-01 6.10982626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.475099893 meters 0.016898860485868732 Centerline is valid? [True, True] Translation: X:509.19, Y:7.13, Z:6.11 [[ 9.98734722e-01 -4.58254683e-02 -2.07118490e-02 5.09188984e+02] [ 4.58299026e-02 9.98949224e-01 -2.60763500e-04 7.12686948e+00] [ 2.07020351e-02 -6.88788461e-04 9.99785453e-01 6.11134097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.505099893 meters 0.016683055729320193 Centerline is valid? [True, True] Translation: X:509.22, Y:7.13, Z:6.11 [[ 9.98671861e-01 -4.74601390e-02 -2.00511660e-02 5.09220121e+02] [ 4.74646381e-02 9.98872887e-01 -2.51734455e-04 7.12591604e+00] [ 2.00405134e-02 -7.00321221e-04 9.99798923e-01 6.11208153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.535099893 meters 0.018006497531144187 Centerline is valid? [True, True] Translation: X:509.25, Y:7.12, Z:6.11 [[ 9.98632976e-01 -4.82029061e-02 -2.02153233e-02 5.09250437e+02] [ 4.82076433e-02 9.98837304e-01 -2.53197031e-04 7.12309145e+00] [ 2.02040239e-02 -7.21682193e-04 9.99795617e-01 6.11167100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.565099893 meters 0.01820806684932817 Centerline is valid? [True, True] Translation: X:509.28, Y:7.12, Z:6.11 [[ 9.98570585e-01 -4.93142960e-02 -2.06127725e-02 5.09281879e+02] [ 4.93194686e-02 9.98783021e-01 -2.57651184e-04 7.12210964e+00] [ 2.06003930e-02 -7.59328090e-04 9.99787501e-01 6.11131592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.595099893 meters 0.018533058574009907 Centerline is valid? [True, True] Translation: X:509.31, Y:7.12, Z:6.11 [[ 9.98500071e-01 -5.05182135e-02 -2.11073242e-02 5.09313397e+02] [ 5.05239221e-02 9.98722816e-01 -2.63066689e-04 7.12109549e+00] [ 2.10936559e-02 -8.03752695e-04 9.99777181e-01 6.11129577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.625099893 meters 0.018397257969805604 Centerline is valid? [True, True] Translation: X:509.34, Y:7.12, Z:6.11 [[ 9.98422636e-01 -5.19533761e-02 -2.12858422e-02 5.09344685e+02] [ 5.19595237e-02 9.98649157e-01 -2.64520478e-04 7.12063784e+00] [ 2.12708311e-02 -8.41898990e-04 9.99773396e-01 6.11118551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.655099893 meters 0.021619343389707082 Centerline is valid? [True, True] Translation: X:509.38, Y:7.11, Z:6.11 [[ 9.98225619e-01 -5.55213605e-02 -2.15172448e-02 5.09375224e+02] [ 5.55284832e-02 9.98457068e-01 -2.66776725e-04 7.11440368e+00] [ 2.14988569e-02 -9.28516603e-04 9.99768442e-01 6.10994154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.68509989300003 meters 0.022337847125649006 Centerline is valid? [True, True] Translation: X:509.41, Y:7.11, Z:6.11 [[ 9.98106726e-01 -5.76037688e-02 -2.15585152e-02 5.09406906e+02] [ 5.76114153e-02 9.98339047e-01 -2.66741699e-04 7.11304244e+00] [ 2.15380729e-02 -9.75779891e-04 9.99767553e-01 6.11000689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.715099893 meters 0.02118918532522678 Centerline is valid? [True, True] Translation: X:509.44, Y:7.11, Z:6.11 [[ 9.97972042e-01 -5.99348874e-02 -2.14386009e-02 5.09437668e+02] [ 5.99429985e-02 9.98201767e-01 -2.64660534e-04 7.11441662e+00] [ 2.14159117e-02 -1.02097021e-03 9.99770132e-01 6.11064615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74509989300003 meters 0.02133292949072705 Centerline is valid? [True, True] Translation: X:509.47, Y:7.11, Z:6.11 [[ 9.97824520e-01 -6.23727751e-02 -2.13509748e-02 5.09469106e+02] [ 6.23813885e-02 9.98052350e-01 -2.63023520e-04 7.11414222e+00] [ 2.13257960e-02 -1.06945213e-03 9.99772007e-01 6.11118866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.775099893 meters 0.02382926567050583 Centerline is valid? [True, True] Translation: X:509.50, Y:7.11, Z:6.11 [[ 9.97551662e-01 -6.67238377e-02 -2.09430616e-02 5.09499108e+02] [ 6.67331001e-02 9.97770829e-01 -2.57076865e-04 7.11029050e+00] [ 2.09135291e-02 -1.14114797e-03 9.99780637e-01 6.11070725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.805099893 meters 0.02748387416221889 Centerline is valid? [True, True] Translation: X:509.53, Y:7.11, Z:6.11 [[ 9.97408779e-01 -6.88326391e-02 -2.09235424e-02 5.09529616e+02] [ 6.88423642e-02 9.97627517e-01 -2.55999082e-04 7.10561219e+00] [ 2.08915227e-02 -1.18509039e-03 9.99781046e-01 6.11035254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.835099893 meters 0.02485982583077977 Centerline is valid? [True, True] Translation: X:509.56, Y:7.11, Z:6.11 [[ 9.97301079e-01 -7.04696560e-02 -2.06054751e-02 5.09561805e+02] [ 7.04794528e-02 9.97513200e-01 -2.51281271e-04 7.10953663e+00] [ 2.05719411e-02 -1.20165953e-03 9.99787653e-01 6.11128528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.865099893 meters 0.0255550569918614 Centerline is valid? [True, True] Translation: X:509.59, Y:7.11, Z:6.11 [[ 9.97210786e-01 -7.18589028e-02 -2.01729252e-02 5.09593712e+02] [ 7.18686052e-02 9.97414078e-01 -2.44541829e-04 7.10919408e+00] [ 2.01383321e-02 -1.20594025e-03 9.99796476e-01 6.11193995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.895099893 meters 0.02801574875668387 Centerline is valid? [True, True] Translation: X:509.62, Y:7.11, Z:6.11 [[ 9.97075765e-01 -7.38334107e-02 -1.97115688e-02 5.09624909e+02] [ 7.38430838e-02 9.97269844e-01 -2.37665046e-04 7.10687435e+00] [ 1.96753008e-02 -1.21859297e-03 9.99805680e-01 6.11218849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.925099893 meters 0.027011903053275783 Centerline is valid? [True, True] Translation: X:509.66, Y:7.11, Z:6.11 [[ 9.97054912e-01 -7.43416800e-02 -1.88366080e-02 5.09656819e+02] [ 7.43506243e-02 9.97232136e-01 -2.26005712e-04 7.10890770e+00] [ 1.88012724e-02 -1.17517346e-03 9.99822550e-01 6.11278310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.955099893 meters 0.02959437623592845 Centerline is valid? [True, True] Translation: X:509.69, Y:7.11, Z:6.11 [[ 9.97037249e-01 -7.46366076e-02 -1.86037731e-02 5.09688094e+02] [ 7.46454062e-02 9.97210115e-01 -2.21979251e-04 7.10621405e+00] [ 1.85684385e-02 -1.16736462e-03 9.99826910e-01 6.11296282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.985099893 meters 0.03140737546425545 Centerline is valid? [True, True] Translation: X:509.72, Y:7.10, Z:6.11 [[ 9.97015754e-01 -7.49891775e-02 -1.83360285e-02 5.09719541e+02] [ 7.49978019e-02 9.97183675e-01 -2.17803825e-04 7.10465515e+00] [ 1.83007212e-02 -1.15800799e-03 9.99831857e-01 6.11321105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.015099893 meters 0.02940833002437151 Centerline is valid? [True, True] Translation: X:509.75, Y:7.11, Z:6.11 [[ 9.97046426e-01 -7.47175746e-02 -1.77681789e-02 5.09752015e+02] [ 7.47256481e-02 9.97204108e-01 -2.10036699e-04 7.10786945e+00] [ 1.77341944e-02 -1.11832234e-03 9.99842111e-01 6.11432492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.045099893 meters 0.02940833002437151 Centerline is valid? [True, True] Translation: X:509.78, Y:7.11, Z:6.11 [[ 9.97051767e-01 -7.46462633e-02 -1.77681938e-02 5.09783762e+02] [ 7.46543481e-02 9.97209449e-01 -2.08766076e-04 7.10818275e+00] [ 1.77341944e-02 -1.11832234e-03 9.99842111e-01 6.11471733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.075099893 meters 0.02901374242229094 Centerline is valid? [True, True] Translation: X:509.82, Y:7.11, Z:6.12 [[ 9.97073176e-01 -7.44831207e-02 -1.72437216e-02 5.09815786e+02] [ 7.44907317e-02 9.97221686e-01 -2.01395212e-04 7.10971671e+00] [ 1.72108137e-02 -1.08369167e-03 9.99851296e-01 6.11526867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.105099893 meters 0.027830598877477367 Centerline is valid? [True, True] Translation: X:509.85, Y:7.11, Z:6.12 [[ 9.97198454e-01 -7.32116317e-02 -1.53394732e-02 5.09847822e+02] [ 7.32175196e-02 9.97315980e-01 -1.78150220e-04 7.11320359e+00] [ 1.53113444e-02 -9.45467055e-04 9.99882327e-01 6.11604374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.135099893 meters 0.026573100035913795 Centerline is valid? [True, True] Translation: X:509.88, Y:7.12, Z:6.12 [[ 9.97284189e-01 -7.21907407e-02 -1.45857415e-02 5.09879807e+02] [ 7.21959701e-02 9.97390452e-01 -1.68384994e-04 7.11616725e+00] [ 1.45598351e-02 -8.85104063e-04 9.99893608e-01 6.11677251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.165099893 meters 0.027866567059819974 Centerline is valid? [True, True] Translation: X:509.91, Y:7.12, Z:6.12 [[ 9.97484769e-01 -6.95745388e-02 -1.35469408e-02 5.09910076e+02] [ 6.95788224e-02 9.97576445e-01 -1.55421968e-04 7.11746608e+00] [ 1.35249225e-02 -7.87549141e-04 9.99908224e-01 6.11730445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.195099893 meters 0.025949884628068336 Centerline is valid? [True, True] Translation: X:509.94, Y:7.12, Z:6.12 [[ 9.97597653e-01 -6.79645304e-02 -1.34068912e-02 5.09941399e+02] [ 6.79685993e-02 9.97687449e-01 -1.52445843e-04 7.12182836e+00] [ 1.33862480e-02 -7.59167998e-04 9.99910112e-01 6.11735006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.225099893 meters 0.028677657359169096 Centerline is valid? [True, True] Translation: X:509.97, Y:7.12, Z:6.12 [[ 9.97723758e-01 -6.60218586e-02 -1.37265296e-02 5.09971507e+02] [ 6.60259472e-02 9.97817894e-01 -1.55596275e-04 7.11962837e+00] [ 1.37068496e-02 -7.51065019e-04 9.99905775e-01 6.11704350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.255099893 meters 0.027653500500502082 Centerline is valid? [True, True] Translation: X:510.00, Y:7.12, Z:6.12 [[ 9.97849173e-01 -6.41369812e-02 -1.35453407e-02 5.10003183e+02] [ 6.41407935e-02 9.97940848e-01 -1.53240182e-04 7.12251257e+00] [ 1.35272771e-02 -7.15898310e-04 9.99908246e-01 6.11689711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.285099893 meters 0.022244223376339762 Centerline is valid? [True, True] Translation: X:510.03, Y:7.13, Z:6.12 [[ 9.97999858e-01 -6.18647990e-02 -1.30011190e-02 5.10034779e+02] [ 6.18681299e-02 9.98084322e-01 -1.46218698e-04 7.13139391e+00] [ 1.29852588e-02 -6.58428680e-04 9.99915471e-01 6.11691418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.315099893 meters 0.026242551219904025 Centerline is valid? [True, True] Translation: X:510.07, Y:7.13, Z:6.12 [[ 9.98152652e-01 -5.92848184e-02 -1.32888662e-02 5.10065709e+02] [ 5.92880834e-02 9.98240903e-01 -1.48473345e-04 7.12735416e+00] [ 1.32742920e-02 -6.39672344e-04 9.99911688e-01 6.11674076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.345099893 meters 0.02012330376713231 Centerline is valid? [True, True] Translation: X:510.10, Y:7.14, Z:6.12 [[ 9.98490935e-01 -5.32771528e-02 -1.33190935e-02 5.10096615e+02] [ 5.32799052e-02 9.98579606e-01 -1.48350889e-04 7.13913967e+00] [ 1.33080788e-02 -5.61513020e-04 9.99911286e-01 6.11595068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.375099893 meters 0.018255305534540175 Centerline is valid? [True, True] Translation: X:510.13, Y:7.14, Z:6.12 [[ 9.98669115e-01 -4.98235997e-02 -1.33269165e-02 5.10127837e+02] [ 4.98260495e-02 9.98757900e-01 -1.48348994e-04 7.14408683e+00] [ 1.33177544e-02 -5.15876041e-04 9.99911182e-01 6.11606918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.405099893 meters 0.01784166794061857 Centerline is valid? [True, True] Translation: X:510.16, Y:7.15, Z:6.12 [[ 9.98858063e-01 -4.59312803e-02 -1.31486722e-02 5.10158426e+02] [ 4.59333345e-02 9.98944497e-01 -1.45883559e-04 7.14691478e+00] [ 1.31414943e-02 -4.58245388e-04 9.99913542e-01 6.11622445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.43509989300003 meters 0.016521263110518172 Centerline is valid? [True, True] Translation: X:510.19, Y:7.15, Z:6.12 [[ 9.99035043e-01 -4.18614005e-02 -1.32893390e-02 5.10190106e+02] [ 4.18631460e-02 9.99123343e-01 -1.46925235e-04 7.15110016e+00] [ 1.32838393e-02 -4.09550082e-04 9.99911682e-01 6.11642555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.465099893 meters 0.01540703535730126 Centerline is valid? [True, True] Translation: X:510.22, Y:7.16, Z:6.12 [[ 9.99349456e-01 -3.35542731e-02 -1.32202668e-02 5.10220011e+02] [ 3.35552845e-02 9.99436852e-01 -1.45363203e-04 7.15609829e+00] [ 1.32176994e-02 -2.98341174e-04 9.99912598e-01 6.11607184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.49509989300003 meters 0.013522889545848337 Centerline is valid? [True, True] Translation: X:510.25, Y:7.16, Z:6.12 [[ 9.99485153e-01 -2.93201720e-02 -1.30290666e-02 5.10251907e+02] [ 2.93207953e-02 9.99570043e-01 -1.43224703e-04 7.16152417e+00] [ 1.30276641e-02 -2.38871631e-04 9.99915108e-01 6.11662890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.525099893 meters 0.01302507746494677 Centerline is valid? [True, True] Translation: X:510.28, Y:7.16, Z:6.12 [[ 9.99595311e-01 -2.54887755e-02 -1.26307822e-02 5.10282486e+02] [ 2.54890637e-02 9.99675091e-01 -1.38189193e-04 7.16485132e+00] [ 1.26302006e-02 -1.83813543e-04 9.99920219e-01 6.11727702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.555099893 meters 0.012538658896715805 Centerline is valid? [True, True] Translation: X:510.31, Y:7.17, Z:6.12 [[ 9.99684628e-01 -2.21092663e-02 -1.19090153e-02 5.10312632e+02] [ 2.21092851e-02 9.99755551e-01 -1.30091592e-04 7.16792370e+00] [ 1.19089804e-02 -1.33249250e-04 9.99929077e-01 6.11812025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.585099893 meters 0.012145434997073417 Centerline is valid? [True, True] Translation: X:510.34, Y:7.17, Z:6.12 [[ 9.99801593e-01 -1.68054146e-02 -1.06936132e-02 5.10342229e+02] [ 1.68051288e-02 9.99858777e-01 -1.16589688e-04 7.17195965e+00] [ 1.06940624e-02 -6.31409915e-05 9.99942815e-01 6.11912326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.615099893 meters 0.011999581510818596 Centerline is valid? [True, True] Translation: X:510.37, Y:7.17, Z:6.12 [[ 9.99829616e-01 -1.52797549e-02 -1.03570770e-02 5.10372598e+02] [ 1.52794028e-02 9.99883257e-01 -1.13129556e-04 7.17402897e+00] [ 1.03575965e-02 -4.51396717e-05 9.99946358e-01 6.11952991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.645099893 meters 0.012020010134900123 Centerline is valid? [True, True] Translation: X:510.40, Y:7.17, Z:6.12 [[ 9.99844141e-01 -1.46083756e-02 -9.91405207e-03 5.10402429e+02] [ 1.46080208e-02 9.99893291e-01 -1.08202622e-04 7.17474859e+00] [ 9.91457482e-03 -3.66389210e-05 9.99950849e-01 6.12032104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.675099893 meters 0.012044533480326572 Centerline is valid? [True, True] Translation: X:510.43, Y:7.18, Z:6.12 [[ 9.99847031e-01 -1.46813956e-02 -9.50640678e-03 5.10432412e+02] [ 1.46810696e-02 9.99892222e-01 -1.04074002e-04 7.17502841e+00] [ 9.50691015e-03 -3.55061377e-05 9.99954808e-01 6.12068938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.705099893 meters 0.012179313747345075 Centerline is valid? [True, True] Translation: X:510.46, Y:7.17, Z:6.12 [[ 9.99834243e-01 -1.53484069e-02 -9.79356514e-03 5.10462504e+02] [ 1.53480884e-02 9.99882205e-01 -1.07682814e-04 7.17445072e+00] [ 9.79406427e-03 -4.26475388e-05 9.99952036e-01 6.12087285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.735099893 meters 0.012727873685649486 Centerline is valid? [True, True] Translation: X:510.49, Y:7.17, Z:6.12 [[ 9.99759058e-01 -1.96614586e-02 -9.75974898e-03 5.10492158e+02] [ 1.96613483e-02 9.99806691e-01 -1.07264178e-04 7.17066293e+00] [ 9.75997131e-03 -8.46514904e-05 9.99952367e-01 6.12110671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.765099893 meters 0.013125932030800948 Centerline is valid? [True, True] Translation: X:510.52, Y:7.17, Z:6.12 [[ 9.99695610e-01 -2.27351640e-02 -9.58122877e-03 5.10523729e+02] [ 2.27351957e-02 9.99741516e-01 -1.05618755e-04 7.16871737e+00] [ 9.58115344e-03 -1.12244506e-04 9.99954093e-01 6.12147189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.795099893 meters 0.013516169104810407 Centerline is valid? [True, True] Translation: X:510.56, Y:7.17, Z:6.12 [[ 9.99604875e-01 -2.63764462e-02 -9.71481407e-03 5.10555419e+02] [ 2.63766536e-02 9.99652070e-01 -1.06793580e-04 7.16679122e+00] [ 9.71425082e-03 -1.49492902e-04 9.99952804e-01 6.12168768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.825099893 meters 0.014536945812398555 Centerline is valid? [True, True] Translation: X:510.59, Y:7.16, Z:6.12 [[ 9.99484554e-01 -3.05282911e-02 -9.93228573e-03 5.10586312e+02] [ 3.05287167e-02 9.99533884e-01 -1.08798386e-04 7.16333181e+00] [ 9.93097757e-03 -1.94477631e-04 9.99950668e-01 6.12194314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.855099893 meters 0.016753560105958177 Centerline is valid? [True, True] Translation: X:510.62, Y:7.16, Z:6.12 [[ 9.99170975e-01 -3.94430615e-02 -1.00800687e-02 5.10617833e+02] [ 3.94439683e-02 9.99221778e-01 -1.08906768e-04 7.15664991e+00] [ 1.00765198e-02 -2.88781431e-04 9.99949189e-01 6.12185364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.885099893 meters 0.01828591081610972 Centerline is valid? [True, True] Translation: X:510.65, Y:7.15, Z:6.12 [[ 9.98992610e-01 -4.37142935e-02 -1.01403481e-02 5.10649242e+02] [ 4.37154347e-02 9.99044017e-01 -1.09189904e-04 7.15288952e+00] [ 1.01354273e-02 -3.34209820e-04 9.99948579e-01 6.12210712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.915099893 meters 0.02008940834980742 Centerline is valid? [True, True] Translation: X:510.68, Y:7.15, Z:6.12 [[ 9.98802197e-01 -4.77686260e-02 -1.05985380e-02 5.10679304e+02] [ 4.77701054e-02 9.98858350e-01 -1.13660956e-04 7.14908634e+00] [ 1.05918676e-02 -3.92768467e-04 9.99943827e-01 6.12231329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.945099893 meters 0.021389356586906653 Centerline is valid? [True, True] Translation: X:510.71, Y:7.15, Z:6.12 [[ 9.98408405e-01 -5.53320303e-02 -1.09098162e-02 5.10710067e+02] [ 5.53340485e-02 9.98467891e-01 -1.17003438e-04 7.14547582e+00] [ 1.08995752e-02 -4.86867085e-04 9.99940479e-01 6.12238183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.975099893 meters 0.026056061890837905 Centerline is valid? [True, True] Translation: X:510.74, Y:7.14, Z:6.12 [[ 9.98218472e-01 -5.85484464e-02 -1.14874938e-02 5.10739986e+02] [ 5.85508969e-02 9.98284417e-01 -1.23160600e-04 7.13806895e+00] [ 1.14749969e-02 -5.49661880e-04 9.99934009e-01 6.12262310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.005099893 meters 0.024810698493858578 Centerline is valid? [True, True] Translation: X:510.77, Y:7.14, Z:6.12 [[ 9.98049456e-01 -6.13473782e-02 -1.15664467e-02 5.10771410e+02] [ 6.13500497e-02 9.98116304e-01 -1.24035654e-04 7.13924240e+00] [ 1.15522683e-02 -5.85808361e-04 9.99933099e-01 6.12282079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.035099893 meters 0.02387323237930633 Centerline is valid? [True, True] Translation: X:510.80, Y:7.14, Z:6.12 [[ 9.97896333e-01 -6.37787312e-02 -1.16267862e-02 5.10802416e+02] [ 6.37816002e-02 9.97963873e-01 -1.24251393e-04 7.14030845e+00] [ 1.16110372e-02 -6.17585021e-04 9.99932399e-01 6.12338187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.065099893 meters 0.025827933032927068 Centerline is valid? [True, True] Translation: X:510.83, Y:7.14, Z:6.12 [[ 9.97616447e-01 -6.80208183e-02 -1.16014371e-02 5.10833854e+02] [ 6.80239630e-02 9.97683680e-01 -1.23780377e-04 7.13663856e+00] [ 1.15829841e-02 -6.65690391e-04 9.99932693e-01 6.12408969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.095099893 meters 0.025514593928136473 Centerline is valid? [True, True] Translation: X:510.87, Y:7.14, Z:6.12 [[ 9.97512571e-01 -6.95445536e-02 -1.14989467e-02 5.10866289e+02] [ 6.95477482e-02 9.97578616e-01 -1.22311129e-04 7.13673391e+00] [ 1.14796094e-02 -6.77718959e-04 9.99933877e-01 6.12488868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.125099893 meters 0.026610848287982342 Centerline is valid? [True, True] Translation: X:510.90, Y:7.14, Z:6.13 [[ 9.97406942e-01 -7.10031950e-02 -1.17447538e-02 5.10898735e+02] [ 7.10066389e-02 9.97475835e-01 -1.24029769e-04 7.13519580e+00] [ 1.17239146e-02 -7.10247339e-04 9.99931020e-01 6.12568517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.155099893 meters 0.02900367805944576 Centerline is valid? [True, True] Translation: X:510.93, Y:7.13, Z:6.13 [[ 9.97299814e-01 -7.24379784e-02 -1.20756333e-02 5.10929881e+02] [ 7.24417350e-02 9.97372638e-01 -1.26599497e-04 7.13219924e+00] [ 1.20530769e-02 -7.48522174e-04 9.99927079e-01 6.12638446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.18509989300003 meters 0.029845619280429874 Centerline is valid? [True, True] Translation: X:510.96, Y:7.13, Z:6.13 [[ 9.97138005e-01 -7.45056083e-02 -1.28340578e-02 5.10961316e+02] [ 7.45100317e-02 9.97220255e-01 -1.33809132e-04 7.13106302e+00] [ 1.28083520e-02 -8.22839887e-04 9.99917631e-01 6.12682804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.215099893 meters 0.0305237505502429 Centerline is valid? [True, True] Translation: X:510.99, Y:7.13, Z:6.13 [[ 9.97055261e-01 -7.54763555e-02 -1.35692927e-02 5.10993205e+02] [ 7.54813974e-02 9.97147200e-01 -1.40915896e-04 7.13063918e+00] [ 1.35412181e-02 -8.83728243e-04 9.99907923e-01 6.12716285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24509989300003 meters 0.03353350928545062 Centerline is valid? [True, True] Translation: X:511.02, Y:7.13, Z:6.13 [[ 9.97000795e-01 -7.60837741e-02 -1.41659372e-02 5.11024714e+02] [ 7.60893449e-02 9.97100993e-01 -1.46082445e-04 7.12678871e+00] [ 1.41359846e-02 -9.32232568e-04 9.99899647e-01 6.12735843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.275099893 meters 0.03222375986109224 Centerline is valid? [True, True] Translation: X:511.06, Y:7.13, Z:6.13 [[ 9.96906507e-01 -7.68942837e-02 -1.62691292e-02 5.11056751e+02] [ 7.69017562e-02 9.97038661e-01 -1.66727473e-04 7.12923754e+00] [ 1.62337712e-02 -1.08491290e-03 9.99867635e-01 6.12689871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.305099893 meters 0.03237550234153189 Centerline is valid? [True, True] Translation: X:511.09, Y:7.13, Z:6.13 [[ 9.96917248e-01 -7.65953604e-02 -1.70044429e-02 5.11089375e+02] [ 7.66035017e-02 9.97061620e-01 -1.73011074e-04 7.12971199e+00] [ 1.69677292e-02 -1.13012215e-03 9.99855399e-01 6.12688606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.335099893 meters 0.030353617689035644 Centerline is valid? [True, True] Translation: X:511.12, Y:7.13, Z:6.13 [[ 9.96943270e-01 -7.61566158e-02 -1.74438167e-02 5.11121149e+02] [ 7.61651387e-02 9.97095201e-01 -1.76209580e-04 7.13358273e+00] [ 1.74065654e-02 -1.15293976e-03 9.99847830e-01 6.12756627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.365099893 meters 0.02987748132194233 Centerline is valid? [True, True] Translation: X:511.15, Y:7.14, Z:6.13 [[ 9.97007788e-01 -7.51096299e-02 -1.82760339e-02 5.11153893e+02] [ 7.51188374e-02 9.97174572e-01 -1.83139406e-04 7.13543739e+00] [ 1.82381518e-02 -1.19028300e-03 9.99832963e-01 6.12823424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.395099893 meters 0.031840007529117566 Centerline is valid? [True, True] Translation: X:511.18, Y:7.13, Z:6.13 [[ 9.97087177e-01 -7.40142828e-02 -1.84132303e-02 5.11184900e+02] [ 7.40234699e-02 9.97256483e-01 -1.83057515e-04 7.13423032e+00] [ 1.83762622e-02 -1.18048690e-03 9.99830445e-01 6.12883785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.425099893 meters 0.031013129155262057 Centerline is valid? [True, True] Translation: X:511.21, Y:7.14, Z:6.13 [[ 9.97348530e-01 -7.02597987e-02 -1.89597290e-02 5.11214270e+02] [ 7.02688743e-02 9.97528070e-01 -1.87919429e-04 7.13815451e+00] [ 1.89260650e-02 -1.14485765e-03 9.99820231e-01 6.13001281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.455099893 meters 0.025233868593822234 Centerline is valid? [True, True] Translation: X:511.25, Y:7.15, Z:6.13 [[ 9.97504834e-01 -6.77589419e-02 -1.98199751e-02 5.11245882e+02] [ 6.77683718e-02 9.97701062e-01 -1.96259662e-04 7.14771535e+00] [ 1.97877086e-02 -1.14739748e-03 9.99803546e-01 6.13152704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.485099893 meters 0.029243043107068736 Centerline is valid? [True, True] Translation: X:511.28, Y:7.14, Z:6.13 [[ 9.97707928e-01 -6.46516829e-02 -1.99762214e-02 5.11275662e+02] [ 6.46606551e-02 9.97907291e-01 -1.97110112e-04 7.14374069e+00] [ 1.99471605e-02 -1.09501724e-03 9.99800436e-01 6.13116663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.515099893 meters 0.025587324582606246 Centerline is valid? [True, True] Translation: X:511.31, Y:7.15, Z:6.13 [[ 9.97932347e-01 -6.08691965e-02 -2.06390976e-02 5.11306037e+02] [ 6.08779674e-02 9.98145196e-01 -2.03650868e-04 7.15068604e+00] [ 2.06132122e-02 -1.05323652e-03 9.99786970e-01 6.13229015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.545099893 meters 0.02225753013671597 Centerline is valid? [True, True] Translation: X:511.34, Y:7.16, Z:6.13 [[ 9.98170744e-01 -5.67430212e-02 -2.08661112e-02 5.11336663e+02] [ 5.67510899e-02 9.98388337e-01 -2.05735794e-04 7.15782537e+00] [ 2.08441561e-02 -9.78815103e-04 9.99782258e-01 6.13361834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.575099893 meters 0.020237260812355315 Centerline is valid? [True, True] Translation: X:511.37, Y:7.16, Z:6.13 [[ 9.98643066e-01 -4.76648394e-02 -2.09782952e-02 5.11366118e+02] [ 4.76709962e-02 9.98863070e-01 -2.06782081e-04 7.16471985e+00] [ 2.09643006e-02 -7.93554739e-04 9.99779910e-01 6.13468817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.605099893 meters 0.0185098090615691 Centerline is valid? [True, True] Translation: X:511.40, Y:7.17, Z:6.14 [[ 9.98873069e-01 -4.28682673e-02 -2.03691797e-02 5.11397318e+02] [ 4.28730737e-02 9.99080507e-01 -2.00867088e-04 7.16933270e+00] [ 2.03590612e-02 -6.72648616e-04 9.99792507e-01 6.13580667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.635099893 meters 0.017279789343141432 Centerline is valid? [True, True] Translation: X:511.43, Y:7.17, Z:6.14 [[ 9.99069574e-01 -3.80476838e-02 -2.03066351e-02 5.11428168e+02] [ 3.80514732e-02 9.99275760e-01 -1.99887855e-04 7.17282489e+00] [ 2.02995335e-02 -5.72995506e-04 9.99793779e-01 6.13644820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.665099893 meters 0.0163024403133807 Centerline is valid? [True, True] Translation: X:511.46, Y:7.18, Z:6.14 [[ 9.99231598e-01 -3.35380794e-02 -2.02832688e-02 5.11458485e+02] [ 3.35409361e-02 9.99437325e-01 -1.99438092e-04 7.17631962e+00] [ 2.02785447e-02 -4.81034980e-04 9.99794253e-01 6.13731961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.695099893 meters 0.014207242886284308 Centerline is valid? [True, True] Translation: X:511.49, Y:7.18, Z:6.14 [[ 9.99490797e-01 -2.46052976e-02 -2.03156649e-02 5.11488113e+02] [ 2.46063127e-02 9.99697199e-01 -2.00043744e-04 7.18316467e+00] [ 2.03144354e-02 -2.99951721e-04 9.99793596e-01 6.13825234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.725099893 meters 0.013729860018484311 Centerline is valid? [True, True] Translation: X:511.52, Y:7.19, Z:6.14 [[ 9.99577769e-01 -2.06070109e-02 -2.04850105e-02 5.11516115e+02] [ 2.06071794e-02 9.99787629e-01 -2.02886919e-04 7.18557284e+00] [ 2.04848410e-02 -2.19337033e-04 9.99790140e-01 6.13840569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.755099893 meters 0.013376641743312332 Centerline is valid? [True, True] Translation: X:511.54, Y:7.19, Z:6.14 [[ 9.99628798e-01 -1.71506857e-02 -2.11688299e-02 5.11544992e+02] [ 1.71500194e-02 9.99852905e-01 -2.13031819e-04 7.18831873e+00] [ 2.11693697e-02 -1.50093102e-04 9.99775893e-01 6.13907501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.785099893 meters 0.013250823330619858 Centerline is valid? [True, True] Translation: X:511.57, Y:7.19, Z:6.14 [[ 9.99674185e-01 -1.38640621e-02 -2.14315369e-02 5.11573574e+02] [ 1.38625066e-02 9.99903886e-01 -2.21150361e-04 7.19029265e+00] [ 2.14325430e-02 -7.60165138e-05 9.99770294e-01 6.13903035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.815099893 meters 0.013264325918464805 Centerline is valid? [True, True] Translation: X:511.60, Y:7.19, Z:6.14 [[ 9.99701053e-01 -1.06999175e-02 -2.19844787e-02 5.11601492e+02] [ 1.06973835e-02 9.99942754e-01 -2.32865220e-04 7.19184268e+00] [ 2.19857118e-02 -2.38079471e-06 9.99758285e-01 6.13904026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.845099893 meters 0.013577650916879073 Centerline is valid? [True, True] Translation: X:511.63, Y:7.19, Z:6.14 [[ 9.99737951e-01 -4.85874136e-03 -2.23701152e-02 5.11629702e+02] [ 4.85455391e-03 9.99988187e-01 -2.41491221e-04 7.19443688e+00] [ 2.23710242e-02 1.32831008e-04 9.99749728e-01 6.13853965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.875099893 meters 0.013762998039822004 Centerline is valid? [True, True] Translation: X:511.66, Y:7.20, Z:6.14 [[ 9.99748061e-01 -2.55416409e-03 -2.23000374e-02 5.11658070e+02] [ 2.54934925e-03 9.99996721e-01 -2.44338030e-04 7.19531776e+00] [ 2.23005884e-02 1.87425887e-04 9.99751293e-01 6.13886320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.905099893 meters 0.014020332647402853 Centerline is valid? [True, True] Translation: X:511.69, Y:7.20, Z:6.14 [[ 9.99749795e-01 -7.29048681e-04 -2.23565602e-02 5.11686685e+02] [ 7.23627380e-04 9.99999707e-01 -2.50581597e-04 7.19609739e+00] [ 2.23567363e-02 2.34341081e-04 9.99750029e-01 6.13898418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.93509989300003 meters 0.014570966110228746 Centerline is valid? [True, True] Translation: X:511.71, Y:7.20, Z:6.14 [[ 9.99748143e-01 1.53287597e-03 -2.23897496e-02 5.11714154e+02] [-1.53896995e-03 9.99998783e-01 -2.54948804e-04 7.19592440e+00] [ 2.23893316e-02 2.89341745e-04 9.99749286e-01 6.13791036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.965099893 meters 0.014570966110228746 Centerline is valid? [True, True] Translation: X:511.74, Y:7.20, Z:6.14 [[ 9.99748299e-01 1.42788155e-03 -2.23897250e-02 5.11741616e+02] [-1.43399734e-03 9.99998939e-01 -2.57098907e-04 7.19632520e+00] [ 2.23893341e-02 2.89141001e-04 9.99749286e-01 6.13825033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.99509989300003 meters 0.014577579348360124 Centerline is valid? [True, True] Translation: X:511.77, Y:7.20, Z:6.14 [[ 9.99751209e-01 1.44189738e-03 -2.22585145e-02 5.11769561e+02] [-1.44803630e-03 9.99998918e-01 -2.59685705e-04 7.19522304e+00] [ 2.22581160e-02 2.91852234e-04 9.99752215e-01 6.13835161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.025099893 meters 0.014509604163293242 Centerline is valid? [True, True] Translation: X:511.80, Y:7.19, Z:6.14 [[ 9.99758409e-01 5.80074454e-04 -2.19724138e-02 5.11797716e+02] [-5.85942936e-04 9.99999794e-01 -2.60646972e-04 7.19417755e+00] [ 2.19722581e-02 2.73458583e-04 9.99758543e-01 6.13819652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.055099893 meters 0.014183805566090422 Centerline is valid? [True, True] Translation: X:511.83, Y:7.19, Z:6.14 [[ 9.99770636e-01 -5.51436389e-04 -2.14096181e-02 5.11826430e+02] [ 5.46087407e-04 9.99999818e-01 -2.55685770e-04 7.19118142e+00] [ 2.14097552e-02 2.43935602e-04 9.99770755e-01 6.13935495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.085099893 meters 0.013900743748901484 Centerline is valid? [True, True] Translation: X:511.86, Y:7.19, Z:6.14 [[ 9.99798209e-01 -4.25755833e-03 -1.96320000e-02 5.11855619e+02] [ 4.25374863e-03 9.99990925e-01 -2.35810456e-04 7.18542309e+00] [ 1.96328258e-02 1.52253279e-04 9.99807246e-01 6.14028680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.115099893 meters 0.013735495583278296 Centerline is valid? [True, True] Translation: X:511.88, Y:7.18, Z:6.14 [[ 9.99806438e-01 -6.77132036e-03 -1.84725628e-02 5.11883447e+02] [ 6.76834574e-03 9.99977070e-01 -2.23544727e-04 7.18219092e+00] [ 1.84736529e-02 9.84727659e-05 9.99829343e-01 6.14092428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.145099893 meters 0.013612179168099182 Centerline is valid? [True, True] Translation: X:511.91, Y:7.18, Z:6.14 [[ 9.99798749e-01 -9.48747552e-03 -1.76762381e-02 5.11910955e+02] [ 9.48513999e-03 9.99954992e-01 -2.15962887e-04 7.17868221e+00] [ 1.76774915e-02 4.82578315e-05 9.99843740e-01 6.14139046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.175099893 meters 0.013544584348372945 Centerline is valid? [True, True] Translation: X:511.94, Y:7.17, Z:6.14 [[ 9.99781110e-01 -1.22486830e-02 -1.69617485e-02 5.11939696e+02] [ 1.22469062e-02 9.99924982e-01 -2.08621537e-04 7.17466623e+00] [ 1.69630314e-02 8.46927606e-07 9.99856117e-01 6.14224368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.205099893 meters 0.013583384117464816 Centerline is valid? [True, True] Translation: X:511.97, Y:7.17, Z:6.14 [[ 9.99756304e-01 -1.48138370e-02 -1.63671481e-02 5.11966350e+02] [ 1.48124994e-02 9.99890268e-01 -2.02957136e-04 7.17052010e+00] [ 1.63683586e-02 -3.95306948e-05 9.99866029e-01 6.14251410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.235099893 meters 0.01383391905114606 Centerline is valid? [True, True] Translation: X:512.00, Y:7.16, Z:6.14 [[ 9.99686937e-01 -1.94984145e-02 -1.56793016e-02 5.11995650e+02] [ 1.94977226e-02 9.99809882e-01 -1.97008744e-04 7.16240760e+00] [ 1.56801621e-02 -1.08763606e-04 9.99877053e-01 6.14322207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.265099893 meters 0.013965058559709862 Centerline is valid? [True, True] Translation: X:512.02, Y:7.16, Z:6.14 [[ 9.99630815e-01 -2.18955799e-02 -1.60878272e-02 5.12024041e+02] [ 2.18951321e-02 9.99760252e-01 -2.03989880e-04 7.15895040e+00] [ 1.60884367e-02 -1.48330532e-04 9.99870562e-01 6.14330700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.295099893 meters 0.014323887060536382 Centerline is valid? [True, True] Translation: X:512.05, Y:7.15, Z:6.14 [[ 9.99585748e-01 -2.34981115e-02 -1.66183830e-02 5.12052273e+02] [ 2.34977962e-02 9.99723866e-01 -2.14258762e-04 7.15472509e+00] [ 1.66188287e-02 -1.76325370e-04 9.99861882e-01 6.14292321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.325099893 meters 0.014249372301505239 Centerline is valid? [True, True] Translation: X:512.08, Y:7.15, Z:6.14 [[ 9.99548854e-01 -2.45726784e-02 -1.72705591e-02 5.12081108e+02] [ 2.45724608e-02 9.99698026e-01 -2.24834867e-04 7.15242167e+00] [ 1.72708687e-02 -1.99646704e-04 9.99850827e-01 6.14328792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.355099893 meters 0.014549907764191353 Centerline is valid? [True, True] Translation: X:512.11, Y:7.15, Z:6.14 [[ 9.99530151e-01 -2.49554952e-02 -1.77960710e-02 5.12109359e+02] [ 2.49552586e-02 9.99688541e-01 -2.35398186e-04 7.14590995e+00] [ 1.77964028e-02 -2.08817971e-04 9.99841610e-01 6.14205257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.385099893 meters 0.01419592088802312 Centerline is valid? [True, True] Translation: X:512.14, Y:7.15, Z:6.14 [[ 9.99527780e-01 -2.46323477e-02 -1.83701859e-02 5.12137193e+02] [ 2.46319878e-02 9.99696556e-01 -2.45890366e-04 7.14524061e+00] [ 1.83706684e-02 -2.06719942e-04 9.99831224e-01 6.14292832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.415099893 meters 0.014135975501628277 Centerline is valid? [True, True] Translation: X:512.16, Y:7.14, Z:6.14 [[ 9.99545184e-01 -2.35115441e-02 -1.88847062e-02 5.12164786e+02] [ 2.35108826e-02 9.99723548e-01 -2.57073009e-04 7.14365357e+00] [ 1.88855297e-02 -1.87040023e-04 9.99821635e-01 6.14261006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.445099893 meters 0.014040062880552167 Centerline is valid? [True, True] Translation: X:512.19, Y:7.14, Z:6.14 [[ 9.99563078e-01 -2.21318931e-02 -1.95916550e-02 5.12192786e+02] [ 2.21308810e-02 9.99755046e-01 -2.68495977e-04 7.14240284e+00] [ 1.95927982e-02 -1.65201920e-04 9.99808029e-01 6.14241709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.475099893 meters 0.013756744968752033 Centerline is valid? [True, True] Translation: X:512.22, Y:7.14, Z:6.14 [[ 9.99623591e-01 -1.85483642e-02 -2.02147148e-02 5.12222056e+02] [ 1.85464950e-02 9.99827960e-01 -2.79955595e-04 7.14105921e+00] [ 2.02164298e-02 -9.50618895e-05 9.99795623e-01 6.14211054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.505099893 meters 0.013677921461052022 Centerline is valid? [True, True] Translation: X:512.25, Y:7.14, Z:6.14 [[ 9.99644610e-01 -1.67931491e-02 -2.07037103e-02 5.12249634e+02] [ 1.67907039e-02 9.99858984e-01 -2.91944563e-04 7.14088158e+00] [ 2.07056934e-02 -5.57890604e-05 9.99785613e-01 6.14214057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.535099893 meters 0.013678062217091868 Centerline is valid? [True, True] Translation: X:512.28, Y:7.14, Z:6.14 [[ 9.99662533e-01 -1.50135574e-02 -2.11993912e-02 5.12277495e+02] [ 1.50104662e-02 9.99887290e-01 -3.04938828e-04 7.14091130e+00] [ 2.12015800e-02 -1.33768241e-05 9.99775221e-01 6.14188418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.565099893 meters 0.013800857625020316 Centerline is valid? [True, True] Translation: X:512.31, Y:7.14, Z:6.14 [[ 9.99712895e-01 -1.05907072e-02 -2.14933375e-02 5.12305908e+02] [ 1.05863842e-02 9.99943913e-01 -3.14905635e-04 7.14042054e+00] [ 2.14954671e-02 8.72784947e-05 9.99768942e-01 6.14249260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.595099893 meters 0.01374298653003435 Centerline is valid? [True, True] Translation: X:512.33, Y:7.14, Z:6.14 [[ 9.99738564e-01 -8.55321548e-03 -2.12048618e-02 5.12334436e+02] [ 8.54843804e-03 9.99963412e-01 -3.15935121e-04 7.13995494e+00] [ 2.12067882e-02 1.34584077e-04 9.99775102e-01 6.14364475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.625099893 meters 0.014030160113198114 Centerline is valid? [True, True] Translation: X:512.36, Y:7.14, Z:6.14 [[ 9.99771771e-01 -6.40911275e-03 -2.03796205e-02 5.12361742e+02] [ 6.40417529e-03 9.99979446e-01 -3.07529838e-04 7.13999325e+00] [ 2.03811727e-02 1.76944988e-04 9.99792267e-01 6.14400747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.655099893 meters 0.014301135091014286 Centerline is valid? [True, True] Translation: X:512.39, Y:7.14, Z:6.14 [[ 9.99781483e-01 -4.44638462e-03 -2.04258625e-02 5.12390723e+02] [ 4.44094678e-03 9.99990090e-01 -3.11575570e-04 7.13943878e+00] [ 2.04270455e-02 2.20797317e-04 9.99791322e-01 6.14483231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.68509989300003 meters 0.014840446770997837 Centerline is valid? [True, True] Translation: X:512.42, Y:7.14, Z:6.15 [[ 9.99804853e-01 -1.36936892e-03 -1.97073534e-02 5.12418490e+02] [ 1.36363161e-03 9.99999024e-01 -3.04560535e-04 7.13721708e+00] [ 1.97077512e-02 2.77627531e-04 9.99805745e-01 6.14555948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.715099893 meters 0.014840453851458645 Centerline is valid? [True, True] Translation: X:512.45, Y:7.14, Z:6.15 [[ 9.99808254e-01 -7.37442274e-04 -1.95681345e-02 5.12447377e+02] [ 7.31597902e-04 9.99999686e-01 -3.05824836e-04 7.13539353e+00] [ 1.95683539e-02 2.91450189e-04 9.99808479e-01 6.14626046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74509989300003 meters 0.015008239227756874 Centerline is valid? [True, True] Translation: X:512.48, Y:7.13, Z:6.15 [[ 9.99809161e-01 -6.33211617e-04 -1.95253959e-02 5.12475666e+02] [ 6.27273601e-04 9.99999755e-01 -3.10240546e-04 7.13340277e+00] [ 1.95255876e-02 2.97933575e-04 9.99809313e-01 6.14680921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.775099893 meters 0.015093685776351992 Centerline is valid? [True, True] Translation: X:512.50, Y:7.13, Z:6.15 [[ 9.99808523e-01 -8.98323429e-04 -1.95476605e-02 5.12503108e+02] [ 8.92337026e-04 9.99999552e-01 -3.14966749e-04 7.13132743e+00] [ 1.95479347e-02 2.97463338e-04 9.99808877e-01 6.14684198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.805099893 meters 0.014603752231953508 Centerline is valid? [True, True] Translation: X:512.53, Y:7.12, Z:6.15 [[ 9.99802568e-01 -2.50490518e-03 -1.97116811e-02 5.12531658e+02] [ 2.49908969e-03 9.99996826e-01 -3.19655004e-04 7.12413287e+00] [ 1.97124192e-02 2.70330635e-04 9.99805655e-01 6.14764433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.835099893 meters 0.014368736061307489 Centerline is valid? [True, True] Translation: X:512.56, Y:7.12, Z:6.15 [[ 9.99793916e-01 -3.80149433e-03 -1.99417556e-02 5.12560994e+02] [ 3.79577152e-03 9.99992743e-01 -3.24819796e-04 7.12056827e+00] [ 1.99428457e-02 2.49058508e-04 9.99801091e-01 6.14846774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.865099893 meters 0.014228153375324265 Centerline is valid? [True, True] Translation: X:512.59, Y:7.12, Z:6.15 [[ 9.99794554e-01 -5.24680669e-03 -1.95785621e-02 5.12588716e+02] [ 5.24153773e-03 9.99986212e-01 -3.20425109e-04 7.11744930e+00] [ 1.95799733e-02 2.17737508e-04 9.99808270e-01 6.14882398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.895099893 meters 0.014216240957197283 Centerline is valid? [True, True] Translation: X:512.62, Y:7.11, Z:6.15 [[ 9.99766784e-01 -6.92720798e-03 -2.04546116e-02 5.12616942e+02] [ 6.92177017e-03 9.99975988e-01 -3.36635092e-04 7.11452086e+00] [ 2.04564524e-02 1.94974462e-04 9.99790726e-01 6.14899250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.925099893 meters 0.013767990923986515 Centerline is valid? [True, True] Translation: X:512.65, Y:7.11, Z:6.15 [[ 9.99745466e-01 -1.04052660e-02 -2.00183346e-02 5.12645557e+02] [ 1.04007223e-02 9.99945856e-01 -3.31077185e-04 7.10688076e+00] [ 2.00206957e-02 1.22787774e-04 9.99799558e-01 6.14989880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.955099893 meters 0.013707466170685547 Centerline is valid? [True, True] Translation: X:512.67, Y:7.10, Z:6.15 [[ 9.99711918e-01 -1.23489871e-02 -2.05811681e-02 5.12672702e+02] [ 1.23445562e-02 9.99923744e-01 -3.42326714e-04 7.10393685e+00] [ 2.05838261e-02 8.81627103e-05 9.99788127e-01 6.14965592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.985099893 meters 0.013550616754010352 Centerline is valid? [True, True] Translation: X:512.70, Y:7.10, Z:6.15 [[ 9.99675224e-01 -1.48182369e-02 -2.07331997e-02 5.12700530e+02] [ 1.48141892e-02 9.99890203e-01 -3.48811620e-04 7.10036651e+00] [ 2.07360920e-02 4.15527918e-05 9.99784983e-01 6.15082743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.015099893 meters 0.013505930025504296 Centerline is valid? [True, True] Translation: X:512.73, Y:7.10, Z:6.15 [[ 9.99642363e-01 -1.73993979e-02 -2.03077973e-02 5.12728972e+02] [ 1.73959299e-02 9.99848619e-01 -3.47426087e-04 7.09701880e+00] [ 2.03107681e-02 -5.97118371e-06 9.99793715e-01 6.15151395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.045099893 meters 0.013509602971953225 Centerline is valid? [True, True] Translation: X:512.76, Y:7.09, Z:6.15 [[ 9.99606248e-01 -1.99656271e-02 -1.97160542e-02 5.12756733e+02] [ 1.99627463e-02 9.99800666e-01 -3.42936016e-04 7.09400029e+00] [ 1.97189711e-02 -5.07856053e-05 9.99805561e-01 6.15217865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.075099893 meters 0.013750945185195169 Centerline is valid? [True, True] Translation: X:512.78, Y:7.09, Z:6.15 [[ 9.99497958e-01 -2.48219597e-02 -1.96901319e-02 5.12784170e+02] [ 2.48199414e-02 9.99691878e-01 -3.46910085e-04 7.08769226e+00] [ 1.96926759e-02 -1.41971998e-04 9.99806070e-01 6.15218961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.105099893 meters 0.013975874798855911 Centerline is valid? [True, True] Translation: X:512.81, Y:7.08, Z:6.15 [[ 9.99428865e-01 -2.77265022e-02 -1.93180020e-02 5.12812869e+02] [ 2.77250426e-02 9.99615528e-01 -3.43426006e-04 7.08487690e+00] [ 1.93200968e-02 -1.92362564e-04 9.99813331e-01 6.15258320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.135099893 meters 0.014251181297153503 Centerline is valid? [True, True] Translation: X:512.84, Y:7.08, Z:6.15 [[ 9.99333763e-01 -3.09699771e-02 -1.93103665e-02 5.12841590e+02] [ 3.09690297e-02 9.99520284e-01 -3.48169432e-04 7.08215723e+00] [ 1.93118858e-02 -2.50085844e-04 9.99813477e-01 6.15321166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.165099893 meters 0.015599982141344918 Centerline is valid? [True, True] Translation: X:512.87, Y:7.08, Z:6.15 [[ 9.99213521e-01 -3.47285916e-02 -1.91380224e-02 5.12868939e+02] [ 3.47282707e-02 9.99396731e-01 -3.49213789e-04 7.07706704e+00] [ 1.91386047e-02 -3.15691284e-04 9.99816790e-01 6.15237258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.195099893 meters 0.017225024829975732 Centerline is valid? [True, True] Translation: X:512.90, Y:7.07, Z:6.15 [[ 9.98864740e-01 -4.36360784e-02 -1.91082100e-02 5.12899622e+02] [ 4.36373511e-02 9.99047376e-01 -3.50541239e-04 7.06990044e+00] [ 1.91053033e-02 -4.83688386e-04 9.99817360e-01 6.15218317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.225099893 meters 0.01839667907799899 Centerline is valid? [True, True] Translation: X:512.93, Y:7.07, Z:6.15 [[ 9.98607007e-01 -4.89978454e-02 -1.95769519e-02 5.12929614e+02] [ 4.90002055e-02 9.98798704e-01 -3.59397670e-04 7.06636783e+00] [ 1.95710439e-02 -6.00377635e-04 9.99808289e-01 6.15254705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.255099893 meters 0.019510590019137627 Centerline is valid? [True, True] Translation: X:512.96, Y:7.06, Z:6.15 [[ 9.98319837e-01 -5.46414981e-02 -1.92823786e-02 5.12959670e+02] [ 5.46448280e-02 9.98505792e-01 -3.54549632e-04 7.06324015e+00] [ 1.92729398e-02 -6.99728331e-04 9.99814015e-01 6.15285859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.285099893 meters 0.02272194243962881 Centerline is valid? [True, True] Translation: X:512.99, Y:7.06, Z:6.15 [[ 9.97992150e-01 -6.03684719e-02 -1.91654755e-02 5.12989085e+02] [ 6.03728065e-02 9.98175836e-01 -3.52867856e-04 7.05710937e+00] [ 1.91518166e-02 -8.04914192e-04 9.99816263e-01 6.15311516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.315099893 meters 0.026683741546824874 Centerline is valid? [True, True] Translation: X:513.02, Y:7.05, Z:6.15 [[ 9.97334046e-01 -7.06071487e-02 -1.84236655e-02 5.13019899e+02] [ 7.06128882e-02 9.97503737e-01 -3.39625921e-04 7.04959865e+00] [ 1.84016552e-02 -9.62227739e-04 9.99830212e-01 6.15398601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.345099893 meters 0.027419031223161274 Centerline is valid? [True, True] Translation: X:513.05, Y:7.05, Z:6.15 [[ 9.97032541e-01 -7.49236778e-02 -1.76792339e-02 5.13049878e+02] [ 7.49296378e-02 9.97188770e-01 -3.25974689e-04 7.04832184e+00] [ 1.76539567e-02 -9.99691218e-04 9.99843657e-01 6.15474761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.375099893 meters 0.027525181909471032 Centerline is valid? [True, True] Translation: X:513.08, Y:7.05, Z:6.16 [[ 9.96777069e-01 -7.83077549e-02 -1.74175369e-02 5.13080009e+02] [ 7.83140480e-02 9.96928687e-01 -3.21513318e-04 7.04850240e+00] [ 1.73892192e-02 -1.04356072e-03 9.99848252e-01 6.15579559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.405099893 meters 0.027950617529776612 Centerline is valid? [True, True] Translation: X:513.11, Y:7.05, Z:6.16 [[ 9.96597707e-01 -8.05638647e-02 -1.73917874e-02 5.13110664e+02] [ 8.05704753e-02 9.96748863e-01 -3.21392892e-04 7.04869451e+00] [ 1.73611370e-02 -1.08096516e-03 9.99848700e-01 6.15651848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.43509989300003 meters 0.027647230798569497 Centerline is valid? [True, True] Translation: X:513.14, Y:7.05, Z:6.16 [[ 9.96489931e-01 -8.19867712e-02 -1.69111707e-02 5.13141419e+02] [ 8.19932254e-02 9.96632838e-01 -3.12511298e-04 7.05009662e+00] [ 1.68798498e-02 -1.07518707e-03 9.99856947e-01 6.15695634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.465099893 meters 0.027747591149113314 Centerline is valid? [True, True] Translation: X:513.17, Y:7.05, Z:6.16 [[ 9.96489177e-01 -8.20607515e-02 -1.65937636e-02 5.13171631e+02] [ 8.20669759e-02 9.96626769e-01 -3.06645748e-04 7.05197888e+00] [ 1.65629526e-02 -1.05623083e-03 9.99862267e-01 6.15745633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.49509989300003 meters 0.028493803810191676 Centerline is valid? [True, True] Translation: X:513.20, Y:7.05, Z:6.16 [[ 9.96573082e-01 -8.10409601e-02 -1.65666592e-02 5.13201646e+02] [ 8.10470238e-02 9.96710232e-01 -3.06144870e-04 7.05308211e+00] [ 1.65369690e-02 -1.03758268e-03 9.99862717e-01 6.15781734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.525099893 meters 0.02837523893867005 Centerline is valid? [True, True] Translation: X:513.23, Y:7.06, Z:6.16 [[ 9.96691347e-01 -7.96623250e-02 -1.61329428e-02 5.13232720e+02] [ 7.96678952e-02 9.96821417e-01 -2.98139382e-04 7.05579659e+00] [ 1.61054134e-02 -9.88124653e-04 9.99869811e-01 6.15820365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.555099893 meters 0.02570716944770932 Centerline is valid? [True, True] Translation: X:513.26, Y:7.06, Z:6.16 [[ 9.96965185e-01 -7.62314480e-02 -1.57856032e-02 5.13263645e+02] [ 7.62363528e-02 9.97089732e-01 -2.91687304e-04 7.06432626e+00] [ 1.57618986e-02 -9.12634728e-04 9.99875357e-01 6.15881477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.585099893 meters 0.02617579893979531 Centerline is valid? [True, True] Translation: X:513.29, Y:7.07, Z:6.16 [[ 9.97116290e-01 -7.42204935e-02 -1.58247605e-02 5.13293350e+02] [ 7.42251729e-02 9.97241464e-01 -2.92244934e-04 7.06613764e+00] [ 1.58027979e-02 -8.83193401e-04 9.99874738e-01 6.15917485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.615099893 meters 0.02739766216443418 Centerline is valid? [True, True] Translation: X:513.32, Y:7.07, Z:6.16 [[ 9.97262963e-01 -7.21230226e-02 -1.62742617e-02 5.13323429e+02] [ 7.21276893e-02 9.97395361e-01 -3.00779730e-04 7.06705132e+00] [ 1.62535662e-02 -8.73868405e-04 9.99867520e-01 6.15929903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.645099893 meters 0.02587975473048359 Centerline is valid? [True, True] Translation: X:513.35, Y:7.07, Z:6.16 [[ 9.97388572e-01 -7.03885709e-02 -1.61704960e-02 5.13354464e+02] [ 7.03929521e-02 9.97519295e-01 -2.98793843e-04 7.07186493e+00] [ 1.61514134e-02 -8.40275382e-04 9.99869204e-01 6.15936832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.675099893 meters 0.024622187078158442 Centerline is valid? [True, True] Translation: X:513.39, Y:7.08, Z:6.16 [[ 9.97578820e-01 -6.74898647e-02 -1.67814347e-02 5.13385304e+02] [ 6.74941792e-02 9.97719620e-01 -3.09773936e-04 7.07865239e+00] [ 1.67640732e-02 -8.23625241e-04 9.99859134e-01 6.15883899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.705099893 meters 0.02413485739073217 Centerline is valid? [True, True] Translation: X:513.42, Y:7.08, Z:6.16 [[ 9.97673388e-01 -6.59714156e-02 -1.71925109e-02 5.13416015e+02] [ 6.59757232e-02 9.97821178e-01 -3.17135150e-04 7.08234390e+00] [ 1.71759733e-02 -8.17891040e-04 9.99852148e-01 6.15893910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.735099893 meters 0.023301267538720773 Centerline is valid? [True, True] Translation: X:513.45, Y:7.09, Z:6.16 [[ 9.97725354e-01 -6.51227607e-02 -1.74110548e-02 5.13446895e+02] [ 6.51270512e-02 9.97876928e-01 -3.21075481e-04 7.08662774e+00] [ 1.73949992e-02 -8.13585506e-04 9.99848365e-01 6.15930943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.765099893 meters 0.02172499862992522 Centerline is valid? [True, True] Translation: X:513.48, Y:7.09, Z:6.16 [[ 9.97768668e-01 -6.44137496e-02 -1.75656918e-02 5.13477689e+02] [ 6.44180110e-02 9.97922950e-01 -3.23702381e-04 7.09209627e+00] [ 1.75500579e-02 -8.08566833e-04 9.99845659e-01 6.15964567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.795099893 meters 0.022021835799588947 Centerline is valid? [True, True] Translation: X:513.51, Y:7.09, Z:6.16 [[ 9.97805518e-01 -6.38103956e-02 -1.76743104e-02 5.13508326e+02] [ 6.38146171e-02 9.97961717e-01 -3.25606633e-04 7.09436565e+00] [ 1.76590622e-02 -8.02987254e-04 9.99843744e-01 6.15980271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.825099893 meters 0.022483626449474273 Centerline is valid? [True, True] Translation: X:513.54, Y:7.10, Z:6.16 [[ 9.97890886e-01 -6.26237411e-02 -1.70893809e-02 5.13538650e+02] [ 6.26275237e-02 9.98036920e-01 -3.14266528e-04 7.09836021e+00] [ 1.70755136e-02 -7.56661904e-04 9.99853916e-01 6.16008541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.855099893 meters 0.022483626449474273 Centerline is valid? [True, True] Translation: X:513.57, Y:7.10, Z:6.16 [[ 9.97890886e-01 -6.26237300e-02 -1.70893975e-02 5.13568672e+02] [ 6.26275280e-02 9.98036920e-01 -3.13364331e-04 7.09891029e+00] [ 1.70754736e-02 -7.57563307e-04 9.99853916e-01 6.16045659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.885099893 meters 0.022510887112708856 Centerline is valid? [True, True] Translation: X:513.60, Y:7.10, Z:6.16 [[ 9.97938700e-01 -6.20085007e-02 -1.65316707e-02 5.13599311e+02] [ 6.20119705e-02 9.98075360e-01 -3.03137425e-04 7.10140219e+00] [ 1.65186503e-02 -7.22648908e-04 9.99863297e-01 6.16083523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.915099893 meters 0.020763138804746818 Centerline is valid? [True, True] Translation: X:513.63, Y:7.11, Z:6.16 [[ 9.97998433e-01 -6.09927071e-02 -1.67038162e-02 5.13630990e+02] [ 6.09961116e-02 9.98137957e-01 -3.06054175e-04 7.10666027e+00] [ 1.66913801e-02 -7.13426252e-04 9.99860435e-01 6.16151364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.945099893 meters 0.02188239060468767 Centerline is valid? [True, True] Translation: X:513.66, Y:7.11, Z:6.16 [[ 9.98089619e-01 -5.95585817e-02 -1.64282921e-02 5.13661070e+02] [ 5.95616931e-02 9.98224581e-01 -3.00259666e-04 7.10719549e+00] [ 1.64170080e-02 -6.78810834e-04 9.99865001e-01 6.16136242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.975099893 meters 0.02165666578670496 Centerline is valid? [True, True] Translation: X:513.69, Y:7.11, Z:6.16 [[ 9.98300574e-01 -5.58596740e-02 -1.66030307e-02 5.13690532e+02] [ 5.58623474e-02 9.98438434e-01 -3.03078730e-04 7.11187987e+00] [ 1.65940339e-02 -6.24920601e-04 9.99862114e-01 6.16162790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.005099893 meters 0.01941447684453732 Centerline is valid? [True, True] Translation: X:513.72, Y:7.12, Z:6.16 [[ 9.98407531e-01 -5.40475504e-02 -1.61636840e-02 5.13721731e+02] [ 5.40498558e-02 9.98538195e-01 -2.94506500e-04 7.11828510e+00] [ 1.61559732e-02 -5.79607283e-04 9.99869316e-01 6.16292772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.035099893 meters 0.019832087259514727 Centerline is valid? [True, True] Translation: X:513.75, Y:7.12, Z:6.16 [[ 9.98536997e-01 -5.15281439e-02 -1.63925653e-02 5.13752145e+02] [ 5.15301846e-02 9.98671393e-01 -2.98150712e-04 7.11998262e+00] [ 1.63861492e-02 -5.46997399e-04 9.99865588e-01 6.16323801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.065099893 meters 0.017794675140866162 Centerline is valid? [True, True] Translation: X:513.78, Y:7.13, Z:6.16 [[ 9.98778912e-01 -4.67828063e-02 -1.58762070e-02 5.13782670e+02] [ 4.67841248e-02 9.98904982e-01 -2.88544091e-04 7.12784626e+00] [ 1.58723211e-02 -4.54562694e-04 9.99873923e-01 6.16409850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.095099893 meters 0.016706460557184274 Centerline is valid? [True, True] Translation: X:513.81, Y:7.13, Z:6.17 [[ 9.98882825e-01 -4.43934175e-02 -1.61965009e-02 5.13813144e+02] [ 4.43944759e-02 9.99014036e-01 -2.94365313e-04 7.13239633e+00] [ 1.61935996e-02 -4.24998714e-04 9.99868785e-01 6.16504620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.125099893 meters 0.016648054725387322 Centerline is valid? [True, True] Translation: X:513.84, Y:7.13, Z:6.17 [[ 9.98986213e-01 -4.22188832e-02 -1.56240718e-02 5.13842612e+02] [ 4.22196029e-02 9.99108315e-01 -2.83925789e-04 7.13468482e+00] [ 1.56221270e-02 -3.76004156e-04 9.99877896e-01 6.16550613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.155099893 meters 0.01613630445214779 Centerline is valid? [True, True] Translation: X:513.87, Y:7.14, Z:6.17 [[ 9.99064831e-01 -4.01549215e-02 -1.60326445e-02 5.13872769e+02] [ 4.01554159e-02 9.99193404e-01 -2.91211063e-04 7.13783449e+00] [ 1.60314062e-02 -3.52858775e-04 9.99871426e-01 6.16596649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.18509989300003 meters 0.015491196581103463 Centerline is valid? [True, True] Translation: X:513.90, Y:7.14, Z:6.17 [[ 9.99144379e-01 -3.82937795e-02 -1.56235860e-02 5.13903697e+02] [ 3.82940212e-02 9.99266475e-01 -2.83806076e-04 7.14229744e+00] [ 1.56229937e-02 -3.14726688e-04 9.99877904e-01 6.16630002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.215099893 meters 0.015260532614501422 Centerline is valid? [True, True] Translation: X:513.93, Y:7.14, Z:6.17 [[ 9.99168800e-01 -3.75341145e-02 -1.59028116e-02 5.13934587e+02] [ 3.75342671e-02 9.99295299e-01 -2.88974774e-04 7.14395515e+00] [ 1.59024513e-02 -3.08165801e-04 9.99873501e-01 6.16681904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24509989300003 meters 0.015724469023181625 Centerline is valid? [True, True] Translation: X:513.96, Y:7.14, Z:6.17 [[ 9.99180541e-01 -3.73502511e-02 -1.55950669e-02 5.13963841e+02] [ 3.73503758e-02 9.99302191e-01 -2.83367232e-04 7.14389258e+00] [ 1.55947684e-02 -2.99346585e-04 9.99878349e-01 6.16688578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.275099893 meters 0.015715290438580356 Centerline is valid? [True, True] Translation: X:513.99, Y:7.14, Z:6.17 [[ 9.99166234e-01 -3.75770523e-02 -1.59625310e-02 5.13994421e+02] [ 3.75772128e-02 9.99293685e-01 -2.89983788e-04 7.14481215e+00] [ 1.59621532e-02 -3.10085416e-04 9.99872549e-01 6.16721479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.305099893 meters 0.015452934355373999 Centerline is valid? [True, True] Translation: X:514.03, Y:7.15, Z:6.17 [[ 9.99143831e-01 -3.83687993e-02 -1.54738583e-02 5.14025305e+02] [ 3.83690450e-02 9.99263598e-01 -2.81106301e-04 7.14617558e+00] [ 1.54732490e-02 -3.12851539e-04 9.99880233e-01 6.16748789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.335099893 meters 0.01537459066464848 Centerline is valid? [True, True] Translation: X:514.06, Y:7.15, Z:6.17 [[ 9.99111014e-01 -3.91626358e-02 -1.56035450e-02 5.14056109e+02] [ 3.91629834e-02 9.99232796e-01 -2.83403293e-04 7.14720079e+00] [ 1.56026727e-02 -3.27930023e-04 9.99878217e-01 6.16790228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.365099893 meters 0.017174703192779823 Centerline is valid? [True, True] Translation: X:514.09, Y:7.14, Z:6.17 [[ 9.98986764e-01 -4.20559070e-02 -1.60233252e-02 5.14085936e+02] [ 4.20566544e-02 9.99115185e-01 -2.90466702e-04 7.14394865e+00] [ 1.60213634e-02 -3.83715062e-04 9.99871576e-01 6.16766153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.395099893 meters 0.016649065373325295 Centerline is valid? [True, True] Translation: X:514.12, Y:7.15, Z:6.17 [[ 9.98888422e-01 -4.41790686e-02 -1.64356284e-02 5.14116309e+02] [ 4.41801609e-02 9.99023536e-01 -2.96797723e-04 7.14531617e+00] [ 1.64326918e-02 -4.29660897e-04 9.99864882e-01 6.16840053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.425099893 meters 0.01672715636956253 Centerline is valid? [True, True] Translation: X:514.15, Y:7.15, Z:6.17 [[ 9.98772696e-01 -4.66687112e-02 -1.65871478e-02 5.14147716e+02] [ 4.66701694e-02 9.98910309e-01 -2.99378891e-04 7.14540673e+00] [ 1.65830445e-02 -4.75113534e-04 9.99862379e-01 6.16883699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.455099893 meters 0.020030809970376866 Centerline is valid? [True, True] Translation: X:514.18, Y:7.14, Z:6.17 [[ 9.98655497e-01 -4.90559886e-02 -1.67543797e-02 5.14177683e+02] [ 4.90578196e-02 9.98795895e-01 -3.01938970e-04 7.13963877e+00] [ 1.67490176e-02 -5.20400324e-04 9.99859590e-01 6.16827929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.485099893 meters 0.019346844954325395 Centerline is valid? [True, True] Translation: X:514.21, Y:7.14, Z:6.17 [[ 9.98384375e-01 -5.43407663e-02 -1.66048402e-02 5.14208809e+02] [ 5.43432966e-02 9.98522266e-01 -2.99126995e-04 7.14046782e+00] [ 1.65965575e-02 -6.03718039e-04 9.99862085e-01 6.16921211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.515099893 meters 0.01970885128882466 Centerline is valid? [True, True] Translation: X:514.24, Y:7.14, Z:6.17 [[ 9.98243025e-01 -5.69505213e-02 -1.63554693e-02 5.14240393e+02] [ 5.69533337e-02 9.98376798e-01 -2.94152770e-04 7.14012016e+00] [ 1.63456732e-02 -6.37862547e-04 9.99866197e-01 6.16932500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.545099893 meters 0.020812474523325138 Centerline is valid? [True, True] Translation: X:514.27, Y:7.14, Z:6.17 [[ 9.98102978e-01 -5.93389721e-02 -1.64113308e-02 5.14271122e+02] [ 5.93421347e-02 9.98237659e-01 -2.94630573e-04 7.13852492e+00] [ 1.63998915e-02 -6.79811750e-04 9.99865282e-01 6.16982470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.575099893 meters 0.021817961254383664 Centerline is valid? [True, True] Translation: X:514.30, Y:7.14, Z:6.17 [[ 9.97856515e-01 -6.34923259e-02 -1.58461557e-02 5.14302285e+02] [ 6.34958013e-02 9.97982065e-01 -2.84203383e-04 7.13728197e+00] [ 1.58322240e-02 -7.22570159e-04 9.99874401e-01 6.17019131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.605099893 meters 0.026002447853558264 Centerline is valid? [True, True] Translation: X:514.33, Y:7.13, Z:6.17 [[ 9.97718336e-01 -6.54712724e-02 -1.64813611e-02 5.14333567e+02] [ 6.54753091e-02 9.97854146e-01 -2.95134606e-04 7.13183318e+00] [ 1.64653173e-02 -7.84661004e-04 9.99864130e-01 6.17010491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.635099893 meters 0.024047417785251823 Centerline is valid? [True, True] Translation: X:514.37, Y:7.13, Z:6.17 [[ 9.97597731e-01 -6.73074601e-02 -1.63851319e-02 5.14365170e+02] [ 6.73117114e-02 9.97731952e-01 -2.92519671e-04 7.13468962e+00] [ 1.63676584e-02 -8.11094308e-04 9.99865712e-01 6.17052399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.665099893 meters 0.024646003608481598 Centerline is valid? [True, True] Translation: X:514.40, Y:7.13, Z:6.17 [[ 9.97465734e-01 -6.91837186e-02 -1.66048951e-02 5.14397231e+02] [ 6.91883602e-02 9.97603570e-01 -2.95467652e-04 7.13428033e+00] [ 1.65855442e-02 -8.54146606e-04 9.99862086e-01 6.17068206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.695099893 meters 0.025379617860589773 Centerline is valid? [True, True] Translation: X:514.43, Y:7.13, Z:6.17 [[ 9.97334721e-01 -7.09378172e-02 -1.70669307e-02 5.14428842e+02] [ 7.09429963e-02 9.97480325e-01 -3.02548169e-04 7.13337453e+00] [ 1.70453897e-02 -9.09037410e-04 9.99854304e-01 6.17077367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.725099893 meters 0.029016903179591897 Centerline is valid? [True, True] Translation: X:514.46, Y:7.13, Z:6.17 [[ 9.97062159e-01 -7.44803173e-02 -1.78810982e-02 5.14458648e+02] [ 7.44865828e-02 9.97221966e-01 -3.16276507e-04 7.12895099e+00] [ 1.78549803e-02 -1.01655456e-03 9.99840070e-01 6.16998823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.755099893 meters 0.02725987178494194 Centerline is valid? [True, True] Translation: X:514.49, Y:7.13, Z:6.17 [[ 9.96936088e-01 -7.59852903e-02 -1.85653698e-02 5.14490284e+02] [ 7.59923089e-02 9.97108350e-01 -3.28155910e-04 7.13255669e+00] [ 1.85366202e-02 -1.08367484e-03 9.99827595e-01 6.17061824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.785099893 meters 0.027985582023191135 Centerline is valid? [True, True] Translation: X:514.52, Y:7.13, Z:6.17 [[ 9.96873599e-01 -7.67208128e-02 -1.88929749e-02 5.14521919e+02] [ 7.67282282e-02 9.97051989e-01 -3.33138821e-04 7.13256949e+00] [ 1.88628369e-02 -1.11752720e-03 9.99821456e-01 6.17081881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.815099893 meters 0.027686193633093256 Centerline is valid? [True, True] Translation: X:514.55, Y:7.13, Z:6.17 [[ 9.96804928e-01 -7.75383383e-02 -1.91765784e-02 5.14554033e+02] [ 7.75461513e-02 9.96988706e-01 -3.36964156e-04 7.13441540e+00] [ 1.91449597e-02 -1.15118232e-03 9.99816056e-01 6.17121119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.845099893 meters 0.029943429398110774 Centerline is valid? [True, True] Translation: X:514.59, Y:7.13, Z:6.17 [[ 9.96785421e-01 -7.78111866e-02 -1.90851901e-02 5.14585068e+02] [ 7.78189991e-02 9.96967448e-01 -3.34098346e-04 7.13286941e+00] [ 1.90533099e-02 -1.15216603e-03 9.99817805e-01 6.17151825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.875099893 meters 0.030152966222880363 Centerline is valid? [True, True] Translation: X:514.62, Y:7.14, Z:6.17 [[ 9.96876629e-01 -7.67827174e-02 -1.84770508e-02 5.14615892e+02] [ 7.67898797e-02 9.97047246e-01 -3.22588863e-04 7.13529008e+00] [ 1.84472619e-02 -1.09726921e-03 9.99829233e-01 6.17228556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.905099893 meters 0.03070600238606061 Centerline is valid? [True, True] Translation: X:514.65, Y:7.14, Z:6.17 [[ 9.96939225e-01 -7.59685623e-02 -1.84650539e-02 5.14646011e+02] [ 7.59755861e-02 9.97109626e-01 -3.21840743e-04 7.13661223e+00] [ 1.84361328e-02 -1.08203763e-03 9.99829455e-01 6.17268957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.93509989300003 meters 0.02801637472442504 Centerline is valid? [True, True] Translation: X:514.68, Y:7.14, Z:6.17 [[ 9.97022447e-01 -7.47829068e-02 -1.88084419e-02 5.14677469e+02] [ 7.47899925e-02 9.97199253e-01 -3.27377934e-04 7.14255592e+00] [ 1.87802465e-02 -1.08028008e-03 9.99823052e-01 6.17344899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.965099893 meters 0.024967353540210027 Centerline is valid? [True, True] Translation: X:514.71, Y:7.15, Z:6.17 [[ 9.97194911e-01 -7.23690980e-02 -1.91055620e-02 5.14708726e+02] [ 7.23759810e-02 9.97377365e-01 -3.31854370e-04 7.15088257e+00] [ 1.90794711e-02 -1.05186030e-03 9.99817417e-01 6.17400802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.99509989300003 meters 0.02747193952375027 Centerline is valid? [True, True] Translation: X:514.74, Y:7.15, Z:6.17 [[ 9.97243628e-01 -7.14924539e-02 -1.98488369e-02 5.14739935e+02] [ 7.14997275e-02 9.97440560e-01 -3.43882468e-04 7.14961078e+00] [ 1.98226200e-02 -1.07625183e-03 9.99802933e-01 6.17368322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.025099893 meters 0.027935588130211738 Centerline is valid? [True, True] Translation: X:514.77, Y:7.15, Z:6.17 [[ 9.97296203e-01 -7.06554088e-02 -2.02014036e-02 5.14770609e+02] [ 7.06627886e-02 9.97500200e-01 -3.49166355e-04 7.15078023e+00] [ 2.01755746e-02 -1.07926523e-03 9.99795870e-01 6.17355474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.055099893 meters 0.024964539308144806 Centerline is valid? [True, True] Translation: X:514.80, Y:7.16, Z:6.17 [[ 9.97343151e-01 -6.99539035e-02 -2.03246455e-02 5.14801463e+02] [ 6.99612386e-02 9.97549649e-01 -3.50792207e-04 7.15678596e+00] [ 2.02993823e-02 -1.07207717e-03 9.99793372e-01 6.17446819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.085099893 meters 0.023705234222755094 Centerline is valid? [True, True] Translation: X:514.83, Y:7.16, Z:6.17 [[ 9.97378594e-01 -6.93585494e-02 -2.06235603e-02 5.14833393e+02] [ 6.93659969e-02 9.97591215e-01 -3.54890889e-04 7.16039142e+00] [ 2.05984973e-02 -1.07661324e-03 9.99787249e-01 6.17488072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.115099893 meters 0.023927848318322474 Centerline is valid? [True, True] Translation: X:514.86, Y:7.16, Z:6.18 [[ 9.97422716e-01 -6.88010213e-02 -2.03554783e-02 5.14864608e+02] [ 6.88081847e-02 9.97629847e-01 -3.49088873e-04 7.16173914e+00] [ 2.03312504e-02 -1.05243434e-03 9.99792745e-01 6.17531545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.145099893 meters 0.0255375992776702 Centerline is valid? [True, True] Translation: X:514.90, Y:7.16, Z:6.18 [[ 9.97488314e-01 -6.80551306e-02 -1.96357595e-02 5.14896047e+02] [ 6.80616684e-02 9.97681059e-01 -3.35915849e-04 7.16254087e+00] [ 1.96130861e-02 -1.00137042e-03 9.99807143e-01 6.17625347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.175099893 meters 0.026077504703700304 Centerline is valid? [True, True] Translation: X:514.93, Y:7.16, Z:6.18 [[ 9.97529159e-01 -6.75144572e-02 -1.94261277e-02 5.14927589e+02] [ 6.75207740e-02 9.97717813e-01 -3.31290041e-04 7.16369771e+00] [ 1.94041605e-02 -9.81195700e-04 9.99811240e-01 6.17658103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.205099893 meters 0.024345674186991784 Centerline is valid? [True, True] Translation: X:514.96, Y:7.17, Z:6.18 [[ 9.97580369e-01 -6.68202028e-02 -1.91955303e-02 5.14959898e+02] [ 6.68262641e-02 9.97764573e-01 -3.26219926e-04 7.16797963e+00] [ 1.91744182e-02 -9.57334984e-04 9.99815696e-01 6.17754805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.235099893 meters 0.02550008349106325 Centerline is valid? [True, True] Translation: X:514.99, Y:7.17, Z:6.18 [[ 9.97647351e-01 -6.58420940e-02 -1.90940431e-02 5.14991654e+02] [ 6.58479386e-02 9.97829617e-01 -3.23132640e-04 7.16831393e+00] [ 1.90738775e-02 -9.34930958e-04 9.99817640e-01 6.17780150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.265099893 meters 0.022460632453409013 Centerline is valid? [True, True] Translation: X:515.02, Y:7.18, Z:6.18 [[ 9.97833796e-01 -6.28291105e-02 -1.94991737e-02 5.15023353e+02] [ 6.28346569e-02 9.98023896e-01 -3.28701756e-04 7.17650297e+00] [ 1.94812934e-02 -8.97234170e-04 9.99809819e-01 6.17843671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.295099893 meters 0.022649772077296213 Centerline is valid? [True, True] Translation: X:515.05, Y:7.18, Z:6.18 [[ 9.97949492e-01 -6.09159663e-02 -1.96483442e-02 5.15053457e+02] [ 6.09212438e-02 9.98142521e-01 -3.30408491e-04 7.17822950e+00] [ 1.96319750e-02 -8.67270580e-04 9.99806898e-01 6.17854424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.325099893 meters 0.020577739610481403 Centerline is valid? [True, True] Translation: X:515.08, Y:7.18, Z:6.18 [[ 9.98078464e-01 -5.88158796e-02 -1.94954492e-02 5.15084689e+02] [ 5.88206847e-02 9.98268511e-01 -3.27355962e-04 7.18340465e+00] [ 1.94809468e-02 -8.20008733e-04 9.99809892e-01 6.17941085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.355099893 meters 0.019668587048596392 Centerline is valid? [True, True] Translation: X:515.12, Y:7.19, Z:6.18 [[ 9.98205050e-01 -5.65632820e-02 -1.96792738e-02 5.15116173e+02] [ 5.65677555e-02 9.98398708e-01 -3.29714436e-04 7.18695927e+00] [ 1.96664113e-02 -7.84089735e-04 9.99806290e-01 6.17988780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.385099893 meters 0.01834533599857739 Centerline is valid? [True, True] Translation: X:515.15, Y:7.19, Z:6.18 [[ 9.98497676e-01 -5.13533386e-02 -1.91108712e-02 5.15147198e+02] [ 5.13566150e-02 9.98680327e-01 -3.19624752e-04 7.19271893e+00] [ 1.91020650e-02 -6.62325085e-04 9.99817320e-01 6.18086404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.415099893 meters 0.018021801545576595 Centerline is valid? [True, True] Translation: X:515.18, Y:7.20, Z:6.18 [[ 9.98611722e-01 -4.90983833e-02 -1.90782128e-02 5.15177216e+02] [ 4.91012440e-02 9.98793756e-01 -3.18732085e-04 7.19560133e+00] [ 1.90708491e-02 -6.18474388e-04 9.99817944e-01 6.18093149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.445099893 meters 0.017872267417335337 Centerline is valid? [True, True] Translation: X:515.21, Y:7.20, Z:6.18 [[ 9.98740140e-01 -4.65424309e-02 -1.87599378e-02 5.15208073e+02] [ 4.65447549e-02 9.98916157e-01 -3.12964516e-04 7.19782803e+00] [ 1.87541711e-02 -5.60606482e-04 9.99823968e-01 6.18111536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.475099893 meters 0.016862336935577704 Centerline is valid? [True, True] Translation: X:515.24, Y:7.20, Z:6.18 [[ 9.98865176e-01 -4.38581696e-02 -1.85693543e-02 5.15239633e+02] [ 4.38599955e-02 9.99037640e-01 -3.09119362e-04 7.20139499e+00] [ 1.85650413e-02 -5.05683228e-04 9.99827527e-01 6.18144709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.505099893 meters 0.01631419701046709 Centerline is valid? [True, True] Translation: X:515.27, Y:7.20, Z:6.18 [[ 9.98971694e-01 -4.13536361e-02 -1.85857695e-02 5.15270675e+02] [ 4.13550424e-02 9.99144467e-01 -3.08833866e-04 7.20428215e+00] [ 1.85826402e-02 -4.60098996e-04 9.99827222e-01 6.18169243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.535099893 meters 0.015545092380495026 Centerline is valid? [True, True] Translation: X:515.30, Y:7.21, Z:6.18 [[ 9.99176716e-01 -3.59543840e-02 -1.87928999e-02 5.15300477e+02] [ 3.59548714e-02 9.99353366e-01 -3.12052101e-04 7.20882864e+00] [ 1.87919674e-02 -3.63901107e-04 9.99823349e-01 6.18116862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.565099893 meters 0.01443357883533426 Centerline is valid? [True, True] Translation: X:515.33, Y:7.21, Z:6.18 [[ 9.99276174e-01 -3.31494800e-02 -1.86612076e-02 5.15330918e+02] [ 3.31494716e-02 9.99450357e-01 -3.09865377e-04 7.21342219e+00] [ 1.86612225e-02 -3.08968082e-04 9.99825816e-01 6.18197553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.595099893 meters 0.014460312410039096 Centerline is valid? [True, True] Translation: X:515.36, Y:7.21, Z:6.18 [[ 9.99360684e-01 -3.05767509e-02 -1.85279821e-02 5.15360705e+02] [ 3.05763018e-02 9.99532388e-01 -3.07582689e-04 7.21495673e+00] [ 1.85287230e-02 -2.59131126e-04 9.99828295e-01 6.18221587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.625099893 meters 0.01396127973047346 Centerline is valid? [True, True] Translation: X:515.39, Y:7.22, Z:6.18 [[ 9.99435000e-01 -2.83914435e-02 -1.79890797e-02 5.15389849e+02] [ 2.83906650e-02 9.99596859e-01 -2.98703576e-04 7.21845466e+00] [ 1.79903081e-02 -2.12187126e-04 9.99838139e-01 6.18316780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.655099893 meters 0.013704876174398428 Centerline is valid? [True, True] Translation: X:515.42, Y:7.22, Z:6.18 [[ 9.99557608e-01 -2.44762040e-02 -1.68968713e-02 5.15418760e+02] [ 2.44749466e-02 9.99700404e-01 -2.81234944e-04 7.22130433e+00] [ 1.68986926e-02 -1.32439493e-04 9.99857198e-01 6.18379184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.68509989300003 meters 0.01369567622669056 Centerline is valid? [True, True] Translation: X:515.45, Y:7.22, Z:6.18 [[ 9.99601515e-01 -2.26913486e-02 -1.67902720e-02 5.15447797e+02] [ 2.26898391e-02 9.99742513e-01 -2.80419218e-04 7.22265758e+00] [ 1.67923118e-02 -1.00661095e-04 9.99858994e-01 6.18418851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.715099893 meters 0.013711823766065957 Centerline is valid? [True, True] Translation: X:515.48, Y:7.22, Z:6.18 [[ 9.99630041e-01 -2.14690730e-02 -1.66990745e-02 5.15476479e+02] [ 2.14673772e-02 9.99769510e-01 -2.80815764e-04 7.22423736e+00] [ 1.67012543e-02 -7.77734569e-05 9.99860521e-01 6.18470810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.74509989300003 meters 0.013717189935392404 Centerline is valid? [True, True] Translation: X:515.50, Y:7.23, Z:6.18 [[ 9.99647914e-01 -2.02681631e-02 -1.71245130e-02 5.15504634e+02] [ 2.02661412e-02 9.99794578e-01 -2.91620001e-04 7.22525502e+00] [ 1.71269059e-02 -5.55304732e-05 9.99853322e-01 6.18465572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.775099893 meters 0.013717189935392404 Centerline is valid? [True, True] Translation: X:515.53, Y:7.23, Z:6.18 [[ 9.99642203e-01 -2.05479621e-02 -1.71244711e-02 5.15532037e+02] [ 2.05459393e-02 9.99788867e-01 -2.94063947e-04 7.22579099e+00] [ 1.71268980e-02 -5.78796118e-05 9.99853322e-01 6.18499495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.805099893 meters 0.013817220429111245 Centerline is valid? [True, True] Translation: X:515.56, Y:7.23, Z:6.19 [[ 9.99648851e-01 -1.98133208e-02 -1.75956285e-02 5.15560164e+02] [ 1.98109824e-02 9.99803696e-01 -3.07211425e-04 7.22693984e+00] [ 1.75982613e-02 -4.14831388e-05 9.99845138e-01 6.18511435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.835099893 meters 0.013833114778594864 Centerline is valid? [True, True] Translation: X:515.59, Y:7.23, Z:6.19 [[ 9.99644883e-01 -1.99467392e-02 -1.76701979e-02 5.15587494e+02] [ 1.99443272e-02 9.99801043e-01 -3.12731732e-04 7.22707455e+00] [ 1.76729203e-02 -3.97995328e-05 9.99843821e-01 6.18501017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.865099893 meters 0.013805631632905784 Centerline is valid? [True, True] Translation: X:515.62, Y:7.23, Z:6.19 [[ 9.99636081e-01 -2.04258213e-02 -1.76207585e-02 5.15615889e+02] [ 2.04234443e-02 9.99791370e-01 -3.14862766e-04 7.22697276e+00] [ 1.76235137e-02 -4.51283979e-05 9.99844693e-01 6.18531003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.895099893 meters 0.01380836678124884 Centerline is valid? [True, True] Translation: X:515.64, Y:7.23, Z:6.19 [[ 9.99621758e-01 -2.12956331e-02 -1.74022292e-02 5.15643711e+02] [ 2.12933613e-02 9.99773221e-01 -3.15846681e-04 7.22667780e+00] [ 1.74050089e-02 -5.48247403e-05 9.99848520e-01 6.18596867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.925099893 meters 0.013934829182823948 Centerline is valid? [True, True] Translation: X:515.67, Y:7.23, Z:6.19 [[ 9.99605607e-01 -2.20354696e-02 -1.74088518e-02 5.15671723e+02] [ 2.20332379e-02 9.99757188e-01 -3.20008327e-04 7.22581576e+00] [ 1.74116762e-02 -6.36912556e-05 9.99848403e-01 6.18598436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.955099893 meters 0.014036014672426897 Centerline is valid? [True, True] Translation: X:515.70, Y:7.22, Z:6.19 [[ 9.99557100e-01 -2.49015765e-02 -1.62946466e-02 5.15699396e+02] [ 2.48999671e-02 9.99689902e-01 -3.01674118e-04 7.22338073e+00] [ 1.62971058e-02 -1.04195657e-04 9.99867188e-01 6.18686480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.985099893 meters 0.01415088131227949 Centerline is valid? [True, True] Translation: X:515.73, Y:7.22, Z:6.19 [[ 9.99518714e-01 -2.62670116e-02 -1.65040871e-02 5.15728108e+02] [ 2.62654848e-02 9.99654955e-01 -3.09297214e-04 7.22213740e+00] [ 1.65065167e-02 -1.24339495e-04 9.99863750e-01 6.18705401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.015099893 meters 0.014305900500312862 Centerline is valid? [True, True] Translation: X:515.76, Y:7.22, Z:6.19 [[ 9.99465983e-01 -2.85021702e-02 -1.59804552e-02 5.15756883e+02] [ 2.85010002e-02 9.99593719e-01 -3.00995678e-04 7.22085230e+00] [ 1.59825416e-02 -1.54624015e-04 9.99872259e-01 6.18764687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.045099893 meters 0.015013553248480986 Centerline is valid? [True, True] Translation: X:515.79, Y:7.22, Z:6.19 [[ 9.99326584e-01 -3.32827996e-02 -1.54477832e-02 5.15786340e+02] [ 3.32822313e-02 9.99445950e-01 -2.93939189e-04 7.21582101e+00] [ 1.54490074e-02 -2.20395447e-04 9.99880633e-01 6.18789918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.075099893 meters 0.016228761289970976 Centerline is valid? [True, True] Translation: X:515.82, Y:7.21, Z:6.19 [[ 9.99225352e-01 -3.62189352e-02 -1.53910701e-02 5.15816326e+02] [ 3.62187160e-02 9.99343844e-01 -2.93073498e-04 7.21164522e+00] [ 1.53915860e-02 -2.64598329e-04 9.99881508e-01 6.18794703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.105099893 meters 0.016083307557685323 Centerline is valid? [True, True] Translation: X:515.85, Y:7.21, Z:6.19 [[ 9.99124543e-01 -3.90616328e-02 -1.49778593e-02 5.15847223e+02] [ 3.90617451e-02 9.99236758e-01 -2.85159319e-04 7.21037221e+00] [ 1.49775664e-02 -3.00151649e-04 9.99887785e-01 6.18861163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.135099893 meters 0.01662798284283204 Centerline is valid? [True, True] Translation: X:515.88, Y:7.21, Z:6.19 [[ 9.99006209e-01 -4.20749311e-02 -1.47069274e-02 5.15878111e+02] [ 4.20753695e-02 9.99114400e-01 -2.79746352e-04 7.20779678e+00] [ 1.47056732e-02 -3.39331060e-04 9.99891808e-01 6.18916940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.165099893 meters 0.018432013128845386 Centerline is valid? [True, True] Translation: X:515.91, Y:7.20, Z:6.19 [[ 9.98752570e-01 -4.80132065e-02 -1.37126502e-02 5.15908819e+02] [ 4.80141501e-02 9.98846622e-01 -2.60583299e-04 7.20109133e+00] [ 1.37093457e-02 -3.98143004e-04 9.99905943e-01 6.18990789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.195099893 meters 0.0213889280531267 Centerline is valid? [True, True] Translation: X:515.94, Y:7.20, Z:6.19 [[ 9.98601913e-01 -5.10986112e-02 -1.35333236e-02 5.15939496e+02] [ 5.10998208e-02 9.98693518e-01 -2.56618386e-04 7.19505676e+00] [ 1.35287554e-02 -4.35290802e-04 9.99908387e-01 6.19005262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.225099893 meters 0.019943745550355323 Centerline is valid? [True, True] Translation: X:515.97, Y:7.20, Z:6.19 [[ 9.98454211e-01 -5.39397724e-02 -1.34047966e-02 5.15971803e+02] [ 5.39412361e-02 9.98544080e-01 -2.52603639e-04 7.19612052e+00] [ 1.33989057e-02 -4.70858131e-04 9.99910120e-01 6.19052608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.255099893 meters 0.021944298075454068 Centerline is valid? [True, True] Translation: X:516.00, Y:7.19, Z:6.19 [[ 9.98279531e-01 -5.70755956e-02 -1.34295954e-02 5.16002507e+02] [ 5.70773604e-02 9.98369727e-01 -2.52145338e-04 7.19156290e+00] [ 1.34220928e-02 -5.14814327e-04 9.99909787e-01 6.19084566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.285099893 meters 0.02155277119028904 Centerline is valid? [True, True] Translation: X:516.03, Y:7.19, Z:6.19 [[ 9.97915730e-01 -6.30406587e-02 -1.37866017e-02 5.16033282e+02] [ 6.30430928e-02 9.98010772e-01 -2.58398104e-04 7.18889625e+00] [ 1.37754666e-02 -6.11290477e-04 9.99904927e-01 6.19097815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.315099893 meters 0.025550501303725492 Centerline is valid? [True, True] Translation: X:516.06, Y:7.18, Z:6.19 [[ 9.97738961e-01 -6.58029509e-02 -1.36724918e-02 5.16063833e+02] [ 6.58056048e-02 9.97832429e-01 -2.56174554e-04 7.18132517e+00] [ 1.36597127e-02 -6.44131257e-04 9.99906494e-01 6.19103693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.345099893 meters 0.02424830884929815 Centerline is valid? [True, True] Translation: X:516.09, Y:7.18, Z:6.19 [[ 9.97568601e-01 -6.83085651e-02 -1.38139719e-02 5.16094546e+02] [ 6.83115173e-02 9.97664006e-01 -2.58571267e-04 7.18215513e+00] [ 1.37993652e-02 -6.85710805e-04 9.99904549e-01 6.19146080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.375099893 meters 0.025993062359307536 Centerline is valid? [True, True] Translation: X:516.12, Y:7.18, Z:6.19 [[ 9.97390382e-01 -7.08735432e-02 -1.37610600e-02 5.16124421e+02] [ 7.08767211e-02 9.97485050e-01 -2.57233591e-04 7.17894010e+00] [ 1.37446827e-02 -7.18776505e-04 9.99905279e-01 6.19217785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.405099893 meters 0.025399778801159616 Centerline is valid? [True, True] Translation: X:516.16, Y:7.18, Z:6.19 [[ 9.97206336e-01 -7.34392758e-02 -1.36453557e-02 5.16156036e+02] [ 7.34426554e-02 9.97299409e-01 -2.53934046e-04 7.17961086e+00] [ 1.36271539e-02 -7.48926514e-04 9.99906866e-01 6.19292501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.43509989300003 meters 0.029842592629661706 Centerline is valid? [True, True] Translation: X:516.19, Y:7.17, Z:6.19 [[ 9.96921617e-01 -7.70663933e-02 -1.44242968e-02 5.16186539e+02] [ 7.70705556e-02 9.97025605e-01 -2.67914068e-04 7.17240410e+00] [ 1.44020404e-02 -8.44599240e-04 9.99895929e-01 6.19300748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.465099893 meters 0.027997804632943428 Centerline is valid? [True, True] Translation: X:516.22, Y:7.17, Z:6.19 [[ 9.96813948e-01 -7.83835118e-02 -1.47640598e-02 5.16218928e+02] [ 7.83880225e-02 9.96922887e-01 -2.73819842e-04 7.17475454e+00] [ 1.47400921e-02 -8.84378012e-04 9.99890968e-01 6.19307962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.49509989300003 meters 0.027972788274221085 Centerline is valid? [True, True] Translation: X:516.25, Y:7.17, Z:6.19 [[ 9.96742295e-01 -7.92608230e-02 -1.49170713e-02 5.16250770e+02] [ 7.92655419e-02 9.96853499e-01 -2.75561093e-04 7.17458566e+00] [ 1.48919759e-02 -9.07746343e-04 9.99888696e-01 6.19341946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.525099893 meters 0.03236856005817691 Centerline is valid? [True, True] Translation: X:516.28, Y:7.17, Z:6.19 [[ 9.96694048e-01 -7.97732989e-02 -1.54011621e-02 5.16281552e+02] [ 7.97784061e-02 9.96812583e-01 -2.83459177e-04 7.16826464e+00] [ 1.53746846e-02 -9.46158089e-04 9.99881355e-01 6.19340198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.555099893 meters 0.031061240325632525 Centerline is valid? [True, True] Translation: X:516.31, Y:7.17, Z:6.19 [[ 9.96671144e-01 -8.01241769e-02 -1.50581033e-02 5.16314040e+02] [ 8.01291084e-02 9.96784455e-01 -2.76514115e-04 7.16980293e+00] [ 1.50318388e-02 -9.30998754e-04 9.99886582e-01 6.19381225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.585099893 meters 0.0285545747184915 Centerline is valid? [True, True] Translation: X:516.35, Y:7.17, Z:6.19 [[ 9.96705693e-01 -7.96307267e-02 -1.53853456e-02 5.16346150e+02] [ 7.96358335e-02 9.96823984e-01 -2.81408801e-04 7.17376351e+00] [ 1.53588903e-02 -9.44743071e-04 9.99881599e-01 6.19420117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.615099893 meters 0.026905454412129298 Centerline is valid? [True, True] Translation: X:516.38, Y:7.18, Z:6.19 [[ 9.96751392e-01 -7.90223175e-02 -1.55607022e-02 5.16378291e+02] [ 7.90274854e-02 9.96872397e-01 -2.83467203e-04 7.17685251e+00] [ 1.55344348e-02 -9.47176840e-04 9.99878885e-01 6.19482833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.645099893 meters 0.027040074696883725 Centerline is valid? [True, True] Translation: X:516.41, Y:7.18, Z:6.20 [[ 9.96969086e-01 -7.62162140e-02 -1.56118643e-02 5.16408741e+02] [ 7.62210930e-02 9.97090901e-01 -2.83119112e-04 7.17802862e+00] [ 1.55880261e-02 -9.07692361e-04 9.99878087e-01 6.19546461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.675099893 meters 0.025890781516439462 Centerline is valid? [True, True] Translation: X:516.44, Y:7.18, Z:6.20 [[ 9.97087847e-01 -7.46676274e-02 -1.55103232e-02 5.16440347e+02] [ 7.46722792e-02 9.97208089e-01 -2.79805773e-04 7.18056949e+00] [ 1.54879122e-02 -8.79200248e-04 9.99879669e-01 6.19612544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.705099893 meters 0.025488802326125177 Centerline is valid? [True, True] Translation: X:516.47, Y:7.18, Z:6.20 [[ 9.97233742e-01 -7.27636856e-02 -1.51759708e-02 5.16472048e+02] [ 7.27679283e-02 9.97348863e-01 -2.73172318e-04 7.18215066e+00] [ 1.51556142e-02 -8.31907300e-04 9.99884801e-01 6.19661256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.735099893 meters 0.02414400371693265 Centerline is valid? [True, True] Translation: X:516.50, Y:7.19, Z:6.20 [[ 9.97379944e-01 -7.07425006e-02 -1.51243490e-02 5.16503722e+02] [ 7.07464953e-02 9.97494291e-01 -2.71412144e-04 7.18522539e+00] [ 1.51056521e-02 -7.99293654e-04 9.99885584e-01 6.19726864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.765099893 meters 0.024708203400704676 Centerline is valid? [True, True] Translation: X:516.53, Y:7.19, Z:6.20 [[ 9.97522805e-01 -6.87996479e-02 -1.46581977e-02 5.16534310e+02] [ 6.88032013e-02 9.97630217e-01 -2.62338310e-04 7.18550275e+00] [ 1.46415098e-02 -7.46842482e-04 9.99892528e-01 6.19753424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.795099893 meters 0.02464188976130739 Centerline is valid? [True, True] Translation: X:516.57, Y:7.19, Z:6.20 [[ 9.97653091e-01 -6.68883455e-02 -1.46375826e-02 5.16565117e+02] [ 6.68916882e-02 9.97760208e-01 -2.61658027e-04 7.18712172e+00] [ 1.46222993e-02 -7.18088669e-04 9.99892831e-01 6.19793250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.825099893 meters 0.02228118980322471 Centerline is valid? [True, True] Translation: X:516.60, Y:7.19, Z:6.20 [[ 9.97894549e-01 -6.32047631e-02 -1.45473911e-02 5.16595692e+02] [ 6.32076811e-02 9.98000362e-01 -2.59562310e-04 7.19381199e+00] [ 1.45347072e-02 -6.60491045e-04 9.99894147e-01 6.19857625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.855099893 meters 0.021541279452573173 Centerline is valid? [True, True] Translation: X:516.63, Y:7.20, Z:6.20 [[ 9.97995250e-01 -6.15402721e-02 -1.47741836e-02 5.16628405e+02] [ 6.15431070e-02 9.98104392e-01 -2.63118324e-04 7.19669470e+00] [ 1.47623699e-02 -6.46658324e-04 9.99890821e-01 6.19888315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.885099893 meters 0.020462012815188096 Centerline is valid? [True, True] Translation: X:516.66, Y:7.20, Z:6.20 [[ 9.98113008e-01 -5.96952491e-02 -1.43840367e-02 5.16660890e+02] [ 5.96977665e-02 9.98216465e-01 -2.54674395e-04 7.19988385e+00] [ 1.43735851e-02 -6.04501038e-04 9.99896512e-01 6.19938973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.915099893 meters 0.020071427287381014 Centerline is valid? [True, True] Translation: X:516.69, Y:7.20, Z:6.20 [[ 9.98318968e-01 -5.60219360e-02 -1.48586726e-02 5.16691409e+02] [ 5.60242377e-02 9.98429375e-01 -2.61617593e-04 7.20297243e+00] [ 1.48499916e-02 -5.71268003e-04 9.99889570e-01 6.19937944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.945099893 meters 0.01958514499855061 Centerline is valid? [True, True] Translation: X:516.72, Y:7.21, Z:6.20 [[ 9.98412288e-01 -5.42124719e-02 -1.52941813e-02 5.16723180e+02] [ 5.42147226e-02 9.98529265e-01 -2.67720629e-04 7.20573600e+00] [ 1.52862014e-02 -5.61874232e-04 9.99883001e-01 6.19950324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.975099893 meters 0.019432220564212933 Centerline is valid? [True, True] Translation: X:516.75, Y:7.21, Z:6.20 [[ 9.98513316e-01 -5.22359211e-02 -1.55745452e-02 5.16754521e+02] [ 5.22380283e-02 9.98634625e-01 -2.71764140e-04 7.20788622e+00] [ 1.55674760e-02 -5.42223421e-04 9.99878672e-01 6.19955950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.005099893 meters 0.019080506233906232 Centerline is valid? [True, True] Translation: X:516.78, Y:7.21, Z:6.20 [[ 9.98636869e-01 -4.97893642e-02 -1.56659541e-02 5.16784568e+02] [ 4.97912071e-02 9.98759611e-01 -2.72624376e-04 7.21049717e+00] [ 1.56600961e-02 -5.07774012e-04 9.99877244e-01 6.19994003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.035099893 meters 0.018341871170941302 Centerline is valid? [True, True] Translation: X:516.82, Y:7.21, Z:6.20 [[ 9.98751330e-01 -4.73561562e-02 -1.59114757e-02 5.16816430e+02] [ 4.73577553e-02 9.98877954e-01 -2.76483099e-04 7.21393205e+00] [ 1.59067155e-02 -4.77393912e-04 9.99873366e-01 6.20058121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.065099893 meters 0.016688206569308424 Centerline is valid? [True, True] Translation: X:516.85, Y:7.22, Z:6.20 [[ 9.99007794e-01 -4.15186633e-02 -1.61129630e-02 5.16846716e+02] [ 4.15195552e-02 9.99137652e-01 -2.79314529e-04 7.22006790e+00] [ 1.61106648e-02 -3.89965666e-04 9.99870139e-01 6.20140831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.095099893 meters 0.016373275723223363 Centerline is valid? [True, True] Translation: X:516.88, Y:7.22, Z:6.20 [[ 9.99132044e-01 -3.83917586e-02 -1.61626417e-02 5.16877516e+02] [ 3.83922491e-02 9.99262707e-01 -2.80041744e-04 7.22253275e+00] [ 1.61614764e-02 -3.40721485e-04 9.99869337e-01 6.20162276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.125099893 meters 0.015470451246056418 Centerline is valid? [True, True] Translation: X:516.91, Y:7.23, Z:6.20 [[ 9.99255309e-01 -3.51076449e-02 -1.60087776e-02 5.16908368e+02] [ 3.51077116e-02 9.99383496e-01 -2.76955662e-04 7.22596207e+00] [ 1.60086314e-02 -2.85282130e-04 9.99871813e-01 6.20195898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.155099893 meters 0.014536149757860948 Centerline is valid? [True, True] Translation: X:516.94, Y:7.23, Z:6.20 [[ 9.99458955e-01 -2.86339980e-02 -1.61830553e-02 5.16937573e+02] [ 2.86332159e-02 9.99589946e-01 -2.80077128e-04 7.23068591e+00] [ 1.61844391e-02 -1.83447323e-04 9.99869007e-01 6.20233432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.18509989300003 meters 0.013837116927148714 Centerline is valid? [True, True] Translation: X:516.97, Y:7.23, Z:6.20 [[ 9.99548192e-01 -2.54750485e-02 -1.59509658e-02 5.16967392e+02] [ 2.54738810e-02 9.99675450e-01 -2.76399547e-04 7.23460985e+00] [ 1.59528302e-02 -1.30058338e-04 9.99872737e-01 6.20311506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.215099893 meters 0.013697448224962511 Centerline is valid? [True, True] Translation: X:517.00, Y:7.24, Z:6.20 [[ 9.99611066e-01 -2.28774884e-02 -1.59479484e-02 5.16996536e+02] [ 2.28759818e-02 9.99738272e-01 -2.76913649e-04 7.23740591e+00] [ 1.59501094e-02 -8.80190285e-05 9.99872785e-01 6.20388147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.24509989300003 meters 0.013590564144495821 Centerline is valid? [True, True] Translation: X:517.02, Y:7.24, Z:6.20 [[ 9.99660893e-01 -2.07795305e-02 -1.56942898e-02 5.17024887e+02] [ 2.07777928e-02 9.99784081e-01 -2.73791969e-04 7.23933955e+00] [ 1.56965903e-02 -5.23935765e-05 9.99876800e-01 6.20462959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.275099893 meters 0.013536119370537985 Centerline is valid? [True, True] Translation: X:517.05, Y:7.24, Z:6.21 [[ 9.99690748e-01 -1.95550663e-02 -1.53625570e-02 5.17053898e+02] [ 1.95531980e-02 9.99808781e-01 -2.71817427e-04 7.24053029e+00] [ 1.53649348e-02 -2.86537517e-05 9.99881952e-01 6.20503854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.305099893 meters 0.0135068844040076 Centerline is valid? [True, True] Translation: X:517.08, Y:7.24, Z:6.21 [[ 9.99699647e-01 -1.88705662e-02 -1.56370726e-02 5.17081510e+02] [ 1.88684828e-02 9.99821935e-01 -2.80768697e-04 7.24121265e+00] [ 1.56395864e-02 -1.43634687e-05 9.99877694e-01 6.20518266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.335099893 meters 0.013541097679442343 Centerline is valid? [True, True] Translation: X:517.11, Y:7.24, Z:6.21 [[ 9.99679821e-01 -1.96616074e-02 -1.59272206e-02 5.17109912e+02] [ 1.96594726e-02 9.99806692e-01 -2.90614252e-04 7.24036607e+00] [ 1.59298556e-02 -2.25995518e-05 9.99873112e-01 6.20515223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.365099893 meters 0.013589097417301653 Centerline is valid? [True, True] Translation: X:517.14, Y:7.24, Z:6.21 [[ 9.99647769e-01 -2.08215239e-02 -1.64560433e-02 5.17138004e+02] [ 2.08193348e-02 9.99783208e-01 -3.04349251e-04 7.23930519e+00] [ 1.64588127e-02 -3.83618237e-05 9.99864544e-01 6.20515009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.395099893 meters 0.013684524883895245 Centerline is valid? [True, True] Translation: X:517.17, Y:7.24, Z:6.21 [[ 9.99591684e-01 -2.31352663e-02 -1.67697685e-02 5.17165853e+02] [ 2.31332783e-02 9.99732341e-01 -3.12549233e-04 7.23799138e+00] [ 1.67725108e-02 -7.55181076e-05 9.99859329e-01 6.20522527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.425099893 meters 0.013925822051793576 Centerline is valid? [True, True] Translation: X:517.19, Y:7.23, Z:6.21 [[ 9.99443490e-01 -2.86520672e-02 -1.70812445e-02 5.17194377e+02] [ 2.86507279e-02 9.99589431e-01 -3.23162286e-04 7.23366346e+00] [ 1.70834907e-02 -1.66407646e-04 9.99854053e-01 6.20552608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.455099893 meters 0.014460178390215258 Centerline is valid? [True, True] Translation: X:517.22, Y:7.23, Z:6.21 [[ 9.99358920e-01 -3.14999506e-02 -1.70147418e-02 5.17223025e+02] [ 3.14989770e-02 9.99503731e-01 -3.25281796e-04 7.23053886e+00] [ 1.70165443e-02 -2.10873696e-04 9.99855186e-01 6.20547405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.485099893 meters 0.014721007831290529 Centerline is valid? [True, True] Translation: X:517.25, Y:7.23, Z:6.21 [[ 9.99272403e-01 -3.45305858e-02 -1.61957570e-02 5.17252670e+02] [ 3.45300889e-02 9.99403610e-01 -3.10397083e-04 7.22882761e+00] [ 1.61968163e-02 -2.49069692e-04 9.99868792e-01 6.20642867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.515099893 meters 0.01508214195281877 Centerline is valid? [True, True] Translation: X:517.28, Y:7.23, Z:6.21 [[ 9.99167093e-01 -3.76055754e-02 -1.58411299e-02 5.17282786e+02] [ 3.76054785e-02 9.99292618e-01 -3.04098279e-04 7.22700414e+00] [ 1.58413599e-02 -2.91868276e-04 9.99874475e-01 6.20707307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.545099893 meters 0.016036203585259215 Centerline is valid? [True, True] Translation: X:517.31, Y:7.22, Z:6.21 [[ 9.98961888e-01 -4.28912625e-02 -1.53455393e-02 5.17313685e+02] [ 4.28917914e-02 9.99079680e-01 -2.94802757e-04 7.22266121e+00] [ 1.53440610e-02 -3.63700954e-04 9.99882207e-01 6.20738234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.575099893 meters 0.017004113903466227 Centerline is valid? [True, True] Translation: X:517.34, Y:7.22, Z:6.21 [[ 9.98866036e-01 -4.50252507e-02 -1.54715261e-02 5.17343859e+02] [ 4.50260450e-02 9.98985769e-01 -2.97166805e-04 7.22010060e+00] [ 1.54692144e-02 -3.99791803e-04 9.99880265e-01 6.20767911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.605099893 meters 0.01725510320898446 Centerline is valid? [True, True] Translation: X:517.38, Y:7.22, Z:6.21 [[ 9.98787079e-01 -4.67714474e-02 -1.53884121e-02 5.17375351e+02] [ 4.67724454e-02 9.98905527e-01 -2.95238782e-04 7.21934027e+00] [ 1.53853787e-02 -4.24872986e-04 9.99881548e-01 6.20814303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.635099893 meters 0.01875083854507912 Centerline is valid? [True, True] Translation: X:517.41, Y:7.22, Z:6.21 [[ 9.98590362e-01 -5.06918501e-02 -1.57361084e-02 5.17405533e+02] [ 5.06933880e-02 9.98714218e-01 -3.01393900e-04 7.21539694e+00] [ 1.57311535e-02 -4.96747607e-04 9.99876134e-01 6.20840282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.665099893 meters 0.01875083854507912 Centerline is valid? [True, True] Translation: X:517.44, Y:7.22, Z:6.21 [[ 9.98593968e-01 -5.06207677e-02 -1.57361173e-02 5.17437229e+02] [ 5.06223041e-02 9.98717824e-01 -3.00932882e-04 7.21594497e+00] [ 1.57311742e-02 -4.96088752e-04 9.99876134e-01 6.20879479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.695099893 meters 0.020248939694028568 Centerline is valid? [True, True] Translation: X:517.47, Y:7.21, Z:6.21 [[ 9.98487112e-01 -5.26554987e-02 -1.58393413e-02 5.17467840e+02] [ 5.26573260e-02 9.98612595e-01 -3.01959559e-04 7.21266343e+00] [ 1.58332655e-02 -5.32554629e-04 9.99874504e-01 6.20848464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.725099893 meters 0.02086301167806805 Centerline is valid? [True, True] Translation: X:517.50, Y:7.21, Z:6.21 [[ 9.98361099e-01 -5.50925370e-02 -1.54896484e-02 5.17498586e+02] [ 5.50945815e-02 9.98481096e-01 -2.95025524e-04 7.21086637e+00] [ 1.54823748e-02 -5.58853691e-04 9.99879985e-01 6.20899671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.755099893 meters 0.020034387848878142 Centerline is valid? [True, True] Translation: X:517.53, Y:7.21, Z:6.21 [[ 9.98200389e-01 -5.79254083e-02 -1.55122795e-02 5.17529520e+02] [ 5.79278046e-02 9.98320731e-01 -2.95183066e-04 7.21147579e+00] [ 1.55033288e-02 -6.03940444e-04 9.99879634e-01 6.20940694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.785099893 meters 0.021977775552123734 Centerline is valid? [True, True] Translation: X:517.56, Y:7.21, Z:6.21 [[ 9.97792837e-01 -6.44491722e-02 -1.59924456e-02 5.17560578e+02] [ 6.44525591e-02 9.97920726e-01 -3.04075049e-04 7.20638103e+00] [ 1.59787903e-02 -7.27350137e-04 9.99872066e-01 6.20931296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.815099893 meters 0.024652858008881347 Centerline is valid? [True, True] Translation: X:517.59, Y:7.20, Z:6.21 [[ 9.97538164e-01 -6.81701997e-02 -1.64449395e-02 5.17590326e+02] [ 6.81742861e-02 9.97673378e-01 -3.12632271e-04 7.20224932e+00] [ 1.64279906e-02 -8.09259392e-04 9.99864724e-01 6.20894383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.845099893 meters 0.025569634398166285 Centerline is valid? [True, True] Translation: X:517.62, Y:7.20, Z:6.21 [[ 9.97283522e-01 -7.15800995e-02 -1.73742693e-02 5.17620978e+02] [ 7.15851785e-02 9.97434436e-01 -3.30209832e-04 7.20060505e+00] [ 1.73533310e-02 -9.14427345e-04 9.99849001e-01 6.20884260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.875099893 meters 0.026700929402413812 Centerline is valid? [True, True] Translation: X:517.65, Y:7.20, Z:6.21 [[ 9.97036646e-01 -7.47871352e-02 -1.80224967e-02 5.17652456e+02] [ 7.47931304e-02 9.97199013e-01 -3.42096751e-04 7.19887296e+00] [ 1.79976003e-02 -1.00687595e-03 9.99837523e-01 6.20832682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.905099893 meters 0.029652081507621744 Centerline is valid? [True, True] Translation: X:517.68, Y:7.20, Z:6.21 [[ 9.96600151e-01 -7.99978598e-02 -1.97099123e-02 5.17682170e+02] [ 8.00060565e-02 9.96794307e-01 -3.73580884e-04 7.19507787e+00] [ 1.96766140e-02 -1.20460159e-03 9.99805671e-01 6.20719416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.93509989300003 meters 0.030104074420028562 Centerline is valid? [True, True] Translation: X:517.71, Y:7.20, Z:6.21 [[ 9.96459794e-01 -8.15368079e-02 -2.04848219e-02 5.17713062e+02] [ 8.15459910e-02 9.96669504e-01 -3.88018521e-04 7.19508426e+00] [ 2.04482351e-02 -1.28381025e-03 9.99790089e-01 6.20699610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.965099893 meters 0.030119576336774485 Centerline is valid? [True, True] Translation: X:517.74, Y:7.20, Z:6.21 [[ 9.96364816e-01 -8.25733537e-02 -2.09474312e-02 5.17744296e+02] [ 8.25831957e-02 9.96584095e-01 -3.96247696e-04 7.19615735e+00] [ 2.09085962e-02 -1.33509854e-03 9.99780500e-01 6.20733837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.99509989300003 meters 0.027211917203992738 Centerline is valid? [True, True] Translation: X:517.78, Y:7.20, Z:6.21 [[ 9.96300185e-01 -8.32766106e-02 -2.12355223e-02 5.17776005e+02] [ 8.32869080e-02 9.96525529e-01 -4.00583976e-04 7.20276219e+00] [ 2.11950994e-02 -1.36953910e-03 9.99774421e-01 6.20864339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.025099893 meters 0.02752571211148161 Centerline is valid? [True, True] Translation: X:517.81, Y:7.20, Z:6.21 [[ 9.96312158e-01 -8.31265575e-02 -2.12616991e-02 5.17808520e+02] [ 8.31368800e-02 9.96538057e-01 -3.99488686e-04 7.20464467e+00] [ 2.12213004e-02 -1.36961589e-03 9.99773865e-01 6.20915300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.055099893 meters 0.031216910354953376 Centerline is valid? [True, True] Translation: X:517.84, Y:7.20, Z:6.21 [[ 9.96363642e-01 -8.25462812e-02 -2.11093648e-02 5.17839734e+02] [ 8.25563561e-02 9.96586319e-01 -3.95226431e-04 7.20179259e+00] [ 2.10699286e-02 -1.34892299e-03 9.99777094e-01 6.20930818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.085099893 meters 0.03043546033193825 Centerline is valid? [True, True] Translation: X:517.87, Y:7.21, Z:6.21 [[ 9.96447577e-01 -8.15762117e-02 -2.09176587e-02 5.17871474e+02] [ 8.15859153e-02 9.96666236e-01 -3.90499170e-04 7.20528922e+00] [ 2.08797796e-02 -1.31747438e-03 9.99781126e-01 6.21013076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.115099893 meters 0.02998987067799314 Centerline is valid? [True, True] Translation: X:517.90, Y:7.21, Z:6.21 [[ 9.96570993e-01 -8.01285950e-02 -2.06316482e-02 5.17902754e+02] [ 8.01377454e-02 9.96783725e-01 -3.84211010e-04 7.20817425e+00] [ 2.05960775e-02 -1.27048023e-03 9.99787071e-01 6.21082135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.145099893 meters 0.027479269443571576 Centerline is valid? [True, True] Translation: X:517.93, Y:7.21, Z:6.21 [[ 9.96708817e-01 -7.84822420e-02 -2.02995715e-02 5.17933993e+02] [ 7.84907746e-02 9.96914769e-01 -3.77301279e-04 7.21416655e+00] [ 2.02665540e-02 -1.21726958e-03 9.99793871e-01 6.21202018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.175099893 meters 0.026212575119361946 Centerline is valid? [True, True] Translation: X:517.97, Y:7.22, Z:6.21 [[ 9.97045951e-01 -7.42995390e-02 -1.94666199e-02 5.17965065e+02] [ 7.43066011e-02 9.97235378e-01 -3.61286590e-04 7.22074259e+00] [ 1.94396454e-02 -1.08627902e-03 9.99810442e-01 6.21358022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.205099893 meters 0.025297765930019856 Centerline is valid? [True, True] Translation: X:518.00, Y:7.22, Z:6.21 [[ 9.97227779e-01 -7.19317217e-02 -1.90416701e-02 5.17996502e+02] [ 7.19380562e-02 9.97409039e-01 -3.52988388e-04 7.22459541e+00] [ 1.90177249e-02 -1.01781091e-03 9.99818629e-01 6.21430686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.235099893 meters 0.025277218162212584 Centerline is valid? [True, True] Translation: X:518.03, Y:7.23, Z:6.21 [[ 9.97429294e-01 -6.91760672e-02 -1.86942505e-02 5.18026757e+02] [ 6.91817098e-02 9.97604015e-01 -3.45482407e-04 7.22713020e+00] [ 1.86733585e-02 -9.48705940e-04 9.99825188e-01 6.21473716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.265099893 meters 0.024322492181362548 Centerline is valid? [True, True] Translation: X:518.06, Y:7.23, Z:6.22 [[ 9.97594413e-01 -6.67809491e-02 -1.85927758e-02 5.18057909e+02] [ 6.67861422e-02 9.97767254e-01 -3.42173023e-04 7.23112108e+00] [ 1.85741135e-02 -9.00389871e-04 9.99827081e-01 6.21539177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.295099893 meters 0.023580853425413734 Centerline is valid? [True, True] Translation: X:518.09, Y:7.24, Z:6.22 [[ 9.97896534e-01 -6.20218378e-02 -1.88626530e-02 5.18087518e+02] [ 6.20263426e-02 9.98074452e-01 -3.46690296e-04 7.23600492e+00] [ 1.88478344e-02 -8.24020333e-04 9.99822024e-01 6.21506879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.325099893 meters 0.02190081021385635 Centerline is valid? [True, True] Translation: X:518.12, Y:7.24, Z:6.22 [[ 9.98020910e-01 -5.99274786e-02 -1.90514970e-02 5.18119269e+02] [ 5.99317000e-02 9.98202419e-01 -3.49803769e-04 7.24030557e+00] [ 1.90382133e-02 -7.92677127e-04 9.99818443e-01 6.21513019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.355099893 meters 0.02056887514598572 Centerline is valid? [True, True] Translation: X:518.15, Y:7.25, Z:6.21 [[ 9.98251206e-01 -5.54998381e-02 -2.03542870e-02 5.18149917e+02] [ 5.55037550e-02 9.98458409e-01 -3.72877564e-04 7.24616984e+00] [ 2.03436036e-02 -7.57513880e-04 9.99792761e-01 6.21450656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.385099893 meters 0.020227976300268537 Centerline is valid? [True, True] Translation: X:518.18, Y:7.25, Z:6.21 [[ 9.98365498e-01 -5.31529874e-02 -2.10021951e-02 5.18180549e+02] [ 5.31566502e-02 9.98586112e-01 -3.84218707e-04 7.24914542e+00] [ 2.09929227e-02 -7.32815638e-04 9.99779356e-01 6.21415983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.415099893 meters 0.01931547535112818 Centerline is valid? [True, True] Translation: X:518.21, Y:7.25, Z:6.21 [[ 9.98493995e-01 -5.07026314e-02 -2.09519622e-02 5.18211773e+02] [ 5.07057532e-02 9.98713563e-01 -3.82565123e-04 7.25315053e+00] [ 2.09444058e-02 -6.80396045e-04 9.99780410e-01 6.21439908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.445099893 meters 0.019091739590483707 Centerline is valid? [True, True] Translation: X:518.24, Y:7.26, Z:6.21 [[ 9.98610075e-01 -4.80264830e-02 -2.17111671e-02 5.18242532e+02] [ 4.80292203e-02 9.98845853e-01 -3.95652411e-04 7.25595620e+00] [ 2.17051111e-02 -6.47667947e-04 9.99764207e-01 6.21410152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.475099893 meters 0.017215483925508323 Centerline is valid? [True, True] Translation: X:518.27, Y:7.26, Z:6.21 [[ 9.98749732e-01 -4.48805033e-02 -2.20162009e-02 5.18273142e+02] [ 4.48825640e-02 9.98992190e-01 -4.00774871e-04 7.26175151e+00] [ 2.20119997e-02 -5.87869749e-04 9.99757534e-01 6.21461299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.505099893 meters 0.014858207814985399 Centerline is valid? [True, True] Translation: X:518.30, Y:7.27, Z:6.22 [[ 9.99021216e-01 -3.82503381e-02 -2.22153572e-02 5.18303487e+02] [ 3.82507976e-02 9.99268089e-01 -4.04400240e-04 7.27142447e+00] [ 2.22145659e-02 -4.45750712e-04 9.99753127e-01 6.21574603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.535099893 meters 0.015194976917100768 Centerline is valid? [True, True] Translation: X:518.33, Y:7.27, Z:6.21 [[ 9.99177889e-01 -3.41874802e-02 -2.17890352e-02 5.18332161e+02] [ 3.41869453e-02 9.99415377e-01 -3.97152919e-04 7.27320796e+00] [ 2.17898745e-02 -3.48074140e-04 9.99762512e-01 6.21454917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.565099893 meters 0.013848411936461085 Centerline is valid? [True, True] Translation: X:518.36, Y:7.28, Z:6.22 [[ 9.99305998e-01 -3.03461019e-02 -2.16017772e-02 5.18360920e+02] [ 3.03446136e-02 9.99539417e-01 -3.96757207e-04 7.28011412e+00] [ 2.16038678e-02 -2.59015725e-04 9.99766576e-01 6.21666552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.595099893 meters 0.013394342206540942 Centerline is valid? [True, True] Translation: X:518.39, Y:7.28, Z:6.22 [[ 9.99425722e-01 -2.63710537e-02 -2.12789423e-02 5.18389294e+02] [ 2.63685947e-02 9.99652210e-01 -3.96179852e-04 7.28484678e+00] [ 2.12819893e-02 -1.65143471e-04 9.99773499e-01 6.21735536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.625099893 meters 0.013160065927500157 Centerline is valid? [True, True] Translation: X:518.42, Y:7.29, Z:6.22 [[ 9.99535112e-01 -2.24639340e-02 -2.06138641e-02 5.18417822e+02] [ 2.24606900e-02 9.99747651e-01 -3.88912614e-04 7.28965389e+00] [ 2.06173987e-02 -7.42697969e-05 9.99787436e-01 6.21819728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.655099893 meters 0.0131021533081861 Centerline is valid? [True, True] Translation: X:518.45, Y:7.29, Z:6.22 [[ 9.99614411e-01 -1.90858804e-02 -2.01682583e-02 5.18445906e+02] [ 1.90819806e-02 9.99817848e-01 -3.85810796e-04 7.29404242e+00] [ 2.01719481e-02 8.11718938e-07 9.99796526e-01 6.21903695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.68509989300003 meters 0.013279078076988042 Centerline is valid? [True, True] Translation: X:518.47, Y:7.30, Z:6.22 [[ 9.99716553e-01 -1.35802610e-02 -1.95548120e-02 5.18474638e+02] [ 1.35754386e-02 9.99907778e-01 -3.79340598e-04 7.30035013e+00] [ 1.95581602e-02 1.13767925e-04 9.99808714e-01 6.22019457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.715099893 meters 0.013531629067919953 Centerline is valid? [True, True] Translation: X:518.50, Y:7.30, Z:6.22 [[ 9.99742181e-01 -1.17260323e-02 -1.94440737e-02 5.18502820e+02] [ 1.17208410e-02 9.99931236e-01 -3.80928826e-04 7.30294098e+00] [ 1.94472034e-02 1.52929720e-04 9.99810874e-01 6.22026981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.74509989300003 meters 0.013500374503524181 Centerline is valid? [True, True] Translation: X:518.53, Y:7.30, Z:6.22 [[ 9.99765272e-01 -1.07839475e-02 -1.87911264e-02 5.18530898e+02] [ 1.07788774e-02 9.99941837e-01 -3.71074695e-04 7.30413600e+00] [ 1.87940351e-02 1.68440345e-04 9.99823362e-01 6.22083571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.775099893 meters 0.013548599536886882 Centerline is valid? [True, True] Translation: X:518.56, Y:7.31, Z:6.22 [[ 9.99769724e-01 -1.14137529e-02 -1.81720957e-02 5.18558985e+02] [ 1.14090427e-02 9.99934849e-01 -3.62855277e-04 7.30524006e+00] [ 1.81750533e-02 1.55445505e-04 9.99834808e-01 6.22112519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.805099893 meters 0.013330442399295407 Centerline is valid? [True, True] Translation: X:518.59, Y:7.30, Z:6.22 [[ 9.99745906e-01 -1.32404782e-02 -1.82431529e-02 5.18588159e+02] [ 1.32359878e-02 9.99912333e-01 -3.66864638e-04 7.30494467e+00] [ 1.82464111e-02 1.25305269e-04 9.99833513e-01 6.22140119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.835099893 meters 0.013265231756908413 Centerline is valid? [True, True] Translation: X:518.62, Y:7.30, Z:6.22 [[ 9.99721609e-01 -1.49487012e-02 -1.82549121e-02 5.18616113e+02] [ 1.49444023e-02 9.99888257e-01 -3.71888340e-04 7.30442948e+00] [ 1.82584315e-02 9.89760582e-05 9.99833296e-01 6.22139316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.865099893 meters 0.012996934994233926 Centerline is valid? [True, True] Translation: X:518.64, Y:7.30, Z:6.22 [[ 9.99639916e-01 -1.90305018e-02 -1.89176854e-02 5.18644520e+02] [ 1.90265375e-02 9.99818903e-01 -3.89537274e-04 7.30156980e+00] [ 1.89216726e-02 2.94589576e-05 9.99820969e-01 6.22144201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.895099893 meters 0.013019297138960072 Centerline is valid? [True, True] Translation: X:518.67, Y:7.30, Z:6.22 [[ 9.99590266e-01 -2.12300130e-02 -1.91985856e-02 5.18672523e+02] [ 2.12262798e-02 9.99774618e-01 -3.98226762e-04 7.30017023e+00] [ 1.92027130e-02 -9.45095625e-06 9.99815611e-01 6.22159246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.925099893 meters 0.013000524851005514 Centerline is valid? [True, True] Translation: X:518.70, Y:7.30, Z:6.22 [[ 9.99537333e-01 -2.34937993e-02 -1.93174047e-02 5.18700235e+02] [ 2.34903329e-02 9.99723981e-01 -4.06363672e-04 7.29869887e+00] [ 1.93216198e-02 -4.75966067e-05 9.99813319e-01 6.22199121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.955099893 meters 0.012997720668196072 Centerline is valid? [True, True] Translation: X:518.73, Y:7.30, Z:6.22 [[ 9.99493194e-01 -2.53503182e-02 -1.92540169e-02 5.18726836e+02] [ 2.53471227e-02 9.99678626e-01 -4.10029538e-04 7.29715912e+00] [ 1.92582235e-02 -7.82121953e-05 9.99814540e-01 6.22200013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.985099893 meters 0.013091706619550473 Centerline is valid? [True, True] Translation: X:518.76, Y:7.29, Z:6.22 [[ 9.99435583e-01 -2.76800574e-02 -1.90349595e-02 5.18755421e+02] [ 2.76772775e-02 9.99616827e-01 -4.09516611e-04 7.29430148e+00] [ 1.90390012e-02 -1.17550383e-04 9.99818735e-01 6.22254103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.015099893 meters 0.013195106874295029 Centerline is valid? [True, True] Translation: X:518.78, Y:7.29, Z:6.22 [[ 9.99414715e-01 -2.87070932e-02 -1.86045987e-02 5.18784008e+02] [ 2.87045524e-02 9.99587858e-01 -4.03651780e-04 7.29300259e+00] [ 1.86085186e-02 -1.30621151e-04 9.99826838e-01 6.22289146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.045099893 meters 0.013092945482208402 Centerline is valid? [True, True] Translation: X:518.81, Y:7.29, Z:6.22 [[ 9.99407385e-01 -2.90704203e-02 -1.84333565e-02 5.18813918e+02] [ 2.90679717e-02 9.99577357e-01 -4.00815638e-04 7.29234476e+00] [ 1.84372176e-02 -1.35242175e-04 9.99830011e-01 6.22345304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.075099893 meters 0.013215067289537138 Centerline is valid? [True, True] Translation: X:518.84, Y:7.29, Z:6.22 [[ 9.99395492e-01 -2.93908287e-02 -1.85696108e-02 5.18842176e+02] [ 2.93883843e-02 9.99567986e-01 -4.04566504e-04 7.29115342e+00] [ 1.85734790e-02 -1.41408918e-04 9.99827488e-01 6.22362784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.105099893 meters 0.013243907357671737 Centerline is valid? [True, True] Translation: X:518.87, Y:7.29, Z:6.22 [[ 9.99380974e-01 -2.97018129e-02 -1.88539513e-02 5.18871462e+02] [ 2.96993313e-02 9.99558793e-01 -4.11672666e-04 7.28893614e+00] [ 1.88578603e-02 -1.48531917e-04 9.99822164e-01 6.22328101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.135099893 meters 0.013319293623468436 Centerline is valid? [True, True] Translation: X:518.90, Y:7.29, Z:6.22 [[ 9.99365068e-01 -3.02262377e-02 -1.88635929e-02 5.18900354e+02] [ 3.02238078e-02 9.99543071e-01 -4.13956566e-04 7.28810379e+00] [ 1.88674859e-02 -1.56435873e-04 9.99821981e-01 6.22336972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.165099893 meters 0.013391866383605655 Centerline is valid? [True, True] Translation: X:518.93, Y:7.29, Z:6.22 [[ 9.99332610e-01 -3.09986101e-02 -1.93240763e-02 5.18929035e+02] [ 3.09961092e-02 9.99519413e-01 -4.28990236e-04 7.28725265e+00] [ 1.93280875e-02 -1.70267245e-04 9.99813181e-01 6.22359515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.195099893 meters 0.013376581495699568 Centerline is valid? [True, True] Translation: X:518.96, Y:7.29, Z:6.22 [[ 9.99281515e-01 -3.23283013e-02 -1.97821705e-02 5.18957340e+02] [ 3.23258404e-02 9.99477285e-01 -4.44240246e-04 7.28666346e+00] [ 1.97861916e-02 -1.95554221e-04 9.99804215e-01 6.22408121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.225099893 meters 0.013439651646514296 Centerline is valid? [True, True] Translation: X:518.99, Y:7.29, Z:6.22 [[ 9.99223205e-01 -3.38088715e-02 -2.02471642e-02 5.18986077e+02] [ 3.38064910e-02 9.99428291e-01 -4.59935336e-04 7.28567257e+00] [ 2.02511386e-02 -2.24907513e-04 9.99794899e-01 6.22453806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.255099893 meters 0.013988818578111859 Centerline is valid? [True, True] Translation: X:519.02, Y:7.28, Z:6.22 [[ 9.99080775e-01 -3.77047609e-02 -2.03950209e-02 5.19015129e+02] [ 3.77030827e-02 9.99288877e-01 -4.66931047e-04 7.28110843e+00] [ 2.03981231e-02 -3.02453330e-04 9.99791891e-01 6.22427720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.285099893 meters 0.014720564616693087 Centerline is valid? [True, True] Translation: X:519.04, Y:7.28, Z:6.22 [[ 9.98985970e-01 -4.00469014e-02 -2.05736882e-02 5.19044751e+02] [ 4.00456731e-02 9.99197739e-01 -4.71849063e-04 7.27813795e+00] [ 2.05760789e-02 -3.52516601e-04 9.99788228e-01 6.22405220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.315099893 meters 0.014962495888145052 Centerline is valid? [True, True] Translation: X:519.07, Y:7.28, Z:6.22 [[ 9.98880087e-01 -4.28934164e-02 -1.99681488e-02 5.19074754e+02] [ 4.28928180e-02 9.99079574e-01 -4.58451338e-04 7.27659159e+00] [ 1.99694341e-02 -3.98552258e-04 9.99800512e-01 6.22474478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.345099893 meters 0.0156953022279678 Centerline is valid? [True, True] Translation: X:519.11, Y:7.27, Z:6.23 [[ 9.98760843e-01 -4.57032312e-02 -1.96975295e-02 5.19105542e+02] [ 4.57031889e-02 9.98954961e-01 -4.52546616e-04 7.27394856e+00] [ 1.96976276e-02 -4.48254070e-04 9.99805882e-01 6.22524453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.375099893 meters 0.017126298783058515 Centerline is valid? [True, True] Translation: X:519.14, Y:7.27, Z:6.23 [[ 9.98461443e-01 -5.18850201e-02 -1.95625011e-02 5.19136152e+02] [ 5.18861679e-02 9.98652905e-01 -4.49224750e-04 7.26950884e+00] [ 1.95594566e-02 -5.66489624e-04 9.99808535e-01 6.22525792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.405099893 meters 0.01756099362860497 Centerline is valid? [True, True] Translation: X:519.17, Y:7.27, Z:6.23 [[ 9.98281169e-01 -5.53635322e-02 -1.92246692e-02 5.19167483e+02] [ 5.53652897e-02 9.98466069e-01 -4.41216226e-04 7.26845031e+00] [ 1.92196072e-02 -6.23921531e-04 9.99815092e-01 6.22560396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.43509989300003 meters 0.01866286051898378 Centerline is valid? [True, True] Translation: X:519.20, Y:7.27, Z:6.23 [[ 9.98072351e-01 -5.89289414e-02 -1.94669389e-02 5.19198247e+02] [ 5.89314321e-02 9.98261933e-01 -4.46189532e-04 7.26625350e+00] [ 1.94593975e-02 -7.01885151e-04 9.99810402e-01 6.22562155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.465099893 meters 0.020664740109528804 Centerline is valid? [True, True] Translation: X:519.23, Y:7.26, Z:6.23 [[ 9.97586113e-01 -6.65486517e-02 -1.98298744e-02 5.19228561e+02] [ 6.65527434e-02 9.97782805e-01 -4.54255477e-04 7.26118512e+00] [ 1.98161378e-02 -8.66573587e-04 9.99803266e-01 6.22507520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.49509989300003 meters 0.022566009355515705 Centerline is valid? [True, True] Translation: X:519.26, Y:7.26, Z:6.23 [[ 9.97308623e-01 -7.06132293e-02 -1.97302540e-02 5.19258399e+02] [ 7.06180844e-02 9.97503324e-01 -4.51413498e-04 7.25813831e+00] [ 1.97128698e-02 -9.43114170e-04 9.99805238e-01 6.22507650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.525099893 meters 0.025150148973337186 Centerline is valid? [True, True] Translation: X:519.29, Y:7.25, Z:6.23 [[ 9.97032455e-01 -7.44508268e-02 -1.95795149e-02 5.19288255e+02] [ 7.44563628e-02 9.97224172e-01 -4.47095382e-04 7.25430912e+00] [ 1.95584521e-02 -1.01205086e-03 9.99808203e-01 6.22501732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.555099893 meters 0.025150148973337186 Centerline is valid? [True, True] Translation: X:519.32, Y:7.25, Z:6.23 [[ 9.97037791e-01 -7.43793297e-02 -1.95795267e-02 5.19319976e+02] [ 7.43848621e-02 9.97229509e-01 -4.46577830e-04 7.25497456e+00] [ 1.95584979e-02 -1.01116542e-03 9.99808203e-01 6.22540968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.585099893 meters 0.02672880003890075 Centerline is valid? [True, True] Translation: X:519.35, Y:7.25, Z:6.23 [[ 9.96772805e-01 -7.78993548e-02 -1.93821024e-02 5.19350835e+02] [ 7.79054589e-02 9.96960654e-01 -4.41071604e-04 7.25324004e+00] [ 1.93575527e-02 -1.07032341e-03 9.99812052e-01 6.22615385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.615099893 meters 0.02880106294993362 Centerline is valid? [True, True] Translation: X:519.38, Y:7.25, Z:6.23 [[ 9.96543415e-01 -8.08581508e-02 -1.90573235e-02 5.19380896e+02] [ 8.08645952e-02 9.96725002e-01 -4.33463708e-04 7.25105933e+00] [ 1.90299599e-02 -1.10909735e-03 9.99818299e-01 6.22658433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.645099893 meters 0.030504355688565223 Centerline is valid? [True, True] Translation: X:519.41, Y:7.25, Z:6.23 [[ 9.96296920e-01 -8.40250198e-02 -1.82275618e-02 5.19412006e+02] [ 8.40314448e-02 9.96463017e-01 -4.14487334e-04 7.25039303e+00] [ 1.81979185e-02 -1.11873590e-03 9.99833778e-01 6.22771507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.675099893 meters 0.031028246954764617 Centerline is valid? [True, True] Translation: X:519.44, Y:7.25, Z:6.23 [[ 9.96258998e-01 -8.45142710e-02 -1.80373483e-02 5.19444385e+02] [ 8.45206536e-02 9.96421643e-01 -4.09546989e-04 7.25104104e+00] [ 1.80074168e-02 -1.11651360e-03 9.99837230e-01 6.22832528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.705099893 meters 0.027136922798892554 Centerline is valid? [True, True] Translation: X:519.48, Y:7.26, Z:6.23 [[ 9.96277124e-01 -8.44151113e-02 -1.74923016e-02 5.19476056e+02] [ 8.44211200e-02 9.96430087e-01 -3.95948205e-04 7.25791731e+00] [ 1.74632796e-02 -1.08224555e-03 9.99846920e-01 6.22949417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.735099893 meters 0.026553626002137252 Centerline is valid? [True, True] Translation: X:519.51, Y:7.26, Z:6.23 [[ 9.96319840e-01 -8.40266229e-02 -1.69204968e-02 5.19508694e+02] [ 8.40322122e-02 9.96462966e-01 -3.81645598e-04 7.26038962e+00] [ 1.68927168e-02 -1.04162569e-03 9.99856765e-01 6.23038996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.765099893 meters 0.029224198779795776 Centerline is valid? [True, True] Translation: X:519.54, Y:7.26, Z:6.23 [[ 9.96331790e-01 -8.40384909e-02 -1.61398990e-02 5.19540845e+02] [ 8.40436033e-02 9.96462012e-01 -3.62456989e-04 7.25825598e+00] [ 1.61132565e-02 -9.95327845e-04 9.99869678e-01 6.23132781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.795099893 meters 0.030908278491918708 Centerline is valid? [True, True] Translation: X:519.57, Y:7.26, Z:6.23 [[ 9.96256566e-01 -8.45998753e-02 -1.77684059e-02 5.19572376e+02] [ 8.46061883e-02 9.96414389e-01 -3.97476955e-04 7.25797235e+00] [ 1.77383218e-02 -1.10732807e-03 9.99842050e-01 6.23063869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.825099893 meters 0.031184097732468653 Centerline is valid? [True, True] Translation: X:519.60, Y:7.26, Z:6.23 [[ 9.96248276e-01 -8.42696267e-02 -1.96977706e-02 5.19604885e+02] [ 8.42773459e-02 9.96442239e-01 -4.39385042e-04 7.25866452e+00] [ 1.96647174e-02 -1.22233923e-03 9.99805884e-01 6.22848370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.855099893 meters 0.02860455544762313 Centerline is valid? [True, True] Translation: X:519.64, Y:7.26, Z:6.23 [[ 9.96288478e-01 -8.33697500e-02 -2.14185160e-02 5.19637164e+02] [ 8.33787046e-02 9.96517820e-01 -4.76167409e-04 7.26345428e+00] [ 2.13836308e-02 -1.31144801e-03 9.99770484e-01 6.22774196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.885099893 meters 0.026874215696327718 Centerline is valid? [True, True] Translation: X:519.67, Y:7.27, Z:6.23 [[ 9.96410872e-01 -8.18949818e-02 -2.14146251e-02 5.19668221e+02] [ 8.19036200e-02 9.96640141e-01 -4.74855280e-04 7.26736621e+00] [ 2.13815632e-02 -1.28078435e-03 9.99770568e-01 6.22784204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.915099893 meters 0.024948391329853742 Centerline is valid? [True, True] Translation: X:519.70, Y:7.27, Z:6.23 [[ 9.96789524e-01 -7.74885103e-02 -2.01537990e-02 5.19698812e+02] [ 7.74952726e-02 9.96992620e-01 -4.46416284e-04 7.27339786e+00] [ 2.01277810e-02 -1.11684107e-03 9.99796792e-01 6.22938174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.945099893 meters 0.02527063655409065 Centerline is valid? [True, True] Translation: X:519.73, Y:7.27, Z:6.23 [[ 9.97012009e-01 -7.46423650e-02 -1.98889499e-02 5.19729781e+02] [ 7.46483930e-02 9.97209819e-01 -4.40191099e-04 7.27499322e+00] [ 1.98663130e-02 -1.04580234e-03 9.99802098e-01 6.22993276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.975099893 meters 0.024014480516524127 Centerline is valid? [True, True] Translation: X:519.76, Y:7.28, Z:6.23 [[ 9.97255754e-01 -7.14103550e-02 -1.95325805e-02 5.19760549e+02] [ 7.14155616e-02 9.97446556e-01 -4.31730827e-04 7.27885852e+00] [ 1.95135352e-02 -9.64384155e-04 9.99809128e-01 6.23080918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.005099893 meters 0.021885403199937464 Centerline is valid? [True, True] Translation: X:519.79, Y:7.28, Z:6.23 [[ 9.97505820e-01 -6.78502157e-02 -1.94547403e-02 5.19791391e+02] [ 6.78547121e-02 9.97695120e-01 -4.29659653e-04 7.28434854e+00] [ 1.94390519e-02 -8.91507794e-04 9.99810646e-01 6.23195312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.035099893 meters 0.02002993889472796 Centerline is valid? [True, True] Translation: X:519.82, Y:7.29, Z:6.23 [[ 9.97746237e-01 -6.42591772e-02 -1.93184977e-02 5.19823102e+02] [ 6.42629507e-02 9.97932909e-01 -4.26038483e-04 7.28925550e+00] [ 1.93059415e-02 -8.16385373e-04 9.99813290e-01 6.23278322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.065099893 meters 0.01879154446257862 Centerline is valid? [True, True] Translation: X:519.85, Y:7.29, Z:6.23 [[ 9.98140703e-01 -5.78514261e-02 -1.91924455e-02 5.19852893e+02] [ 5.78539799e-02 9.98324966e-01 -4.22610074e-04 7.29451479e+00] [ 1.91847461e-02 -6.88535041e-04 9.99815719e-01 6.23317423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.095099893 meters 0.017796362248315063 Centerline is valid? [True, True] Translation: X:519.88, Y:7.30, Z:6.23 [[ 9.98332191e-01 -5.46116302e-02 -1.87191538e-02 5.19884582e+02] [ 5.46134959e-02 9.98507484e-01 -4.11903541e-04 7.29768882e+00] [ 1.87137099e-02 -6.11101865e-04 9.99824696e-01 6.23402223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.125099893 meters 0.016835679470978568 Centerline is valid? [True, True] Translation: X:519.92, Y:7.30, Z:6.23 [[ 9.98513336e-01 -5.14869808e-02 -1.78943750e-02 5.19915977e+02] [ 5.14881996e-02 9.98673526e-01 -3.92901462e-04 7.30060992e+00] [ 1.78908679e-02 -5.29031804e-04 9.99839806e-01 6.23468684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.155099893 meters 0.015401003992379094 Centerline is valid? [True, True] Translation: X:519.95, Y:7.30, Z:6.24 [[ 9.98863770e-01 -4.44738243e-02 -1.71244941e-02 5.19946877e+02] [ 4.44739192e-02 9.99010475e-01 -3.75473834e-04 7.30492048e+00] [ 1.71242477e-02 -3.86546157e-04 9.99853295e-01 6.23571758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.18509989300003 meters 0.014637369509046434 Centerline is valid? [True, True] Translation: X:519.98, Y:7.31, Z:6.24 [[ 9.99040629e-01 -4.04248664e-02 -1.68419509e-02 5.19978276e+02] [ 4.04243894e-02 9.99182532e-01 -3.68894186e-04 7.30779122e+00] [ 1.68430956e-02 -3.12285301e-04 9.99858096e-01 6.23638583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.215099893 meters 0.014159718137166093 Centerline is valid? [True, True] Translation: X:520.01, Y:7.31, Z:6.24 [[ 9.99223248e-01 -3.59751152e-02 -1.60838834e-02 5.20009165e+02] [ 3.59741129e-02 9.99352660e-01 -3.51726031e-04 7.31043059e+00] [ 1.60861250e-02 -2.27150609e-04 9.99870584e-01 6.23702748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.24509989300003 meters 0.013322230884840861 Centerline is valid? [True, True] Translation: X:520.04, Y:7.31, Z:6.24 [[ 9.99384231e-01 -3.14240943e-02 -1.56104214e-02 5.20040337e+02] [ 3.14226036e-02 9.99506130e-01 -3.40822912e-04 7.31461283e+00] [ 1.56134219e-02 -1.49907039e-04 9.99878092e-01 6.23815681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.275099893 meters 0.013028494111113734 Centerline is valid? [True, True] Translation: X:520.07, Y:7.32, Z:6.24 [[ 9.99645690e-01 -2.29035668e-02 -1.35617444e-02 5.20069460e+02] [ 2.29016625e-02 9.99737679e-01 -2.95722234e-04 7.31964642e+00] [ 1.35649600e-02 -1.49690361e-05 9.99907992e-01 6.24022143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.305099893 meters 0.013099769315671493 Centerline is valid? [True, True] Translation: X:520.10, Y:7.32, Z:6.24 [[ 9.99734378e-01 -1.91834833e-02 -1.27736633e-02 5.20099829e+02] [ 1.91814875e-02 9.99815979e-01 -2.78749225e-04 7.32155589e+00] [ 1.27766600e-02 3.36573217e-05 9.99918375e-01 6.24120020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.335099893 meters 0.013247877608980042 Centerline is valid? [True, True] Translation: X:520.13, Y:7.32, Z:6.24 [[ 9.99789110e-01 -1.60603746e-02 -1.27983951e-02 5.20128489e+02] [ 1.60581149e-02 9.99871021e-01 -2.79312374e-04 7.32305949e+00] [ 1.28012303e-02 7.37353707e-05 9.99918058e-01 6.24154758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.365099893 meters 0.013479816390875622 Centerline is valid? [True, True] Translation: X:520.16, Y:7.32, Z:6.24 [[ 9.99819522e-01 -1.38636012e-02 -1.29893933e-02 5.20157639e+02] [ 1.38610774e-02 9.99903890e-01 -2.84313003e-04 7.32366403e+00] [ 1.29920865e-02 1.04214705e-04 9.99915594e-01 6.24163848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.395099893 meters 0.013767436948966344 Centerline is valid? [True, True] Translation: X:520.19, Y:7.32, Z:6.24 [[ 9.99831547e-01 -1.24357547e-02 -1.34992350e-02 5.20186569e+02] [ 1.24328513e-02 9.99922664e-01 -2.98982104e-04 7.32222596e+00] [ 1.35019090e-02 1.31097759e-04 9.99908836e-01 6.24152158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.425099893 meters 0.013662700050039306 Centerline is valid? [True, True] Translation: X:520.21, Y:7.32, Z:6.24 [[ 9.99825803e-01 -1.32905387e-02 -1.31044197e-02 5.20214258e+02] [ 1.32878338e-02 9.99911670e-01 -2.93457246e-04 7.32033326e+00] [ 1.31071624e-02 1.19276775e-04 9.99914090e-01 6.24195184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.455099893 meters 0.013588284534954585 Centerline is valid? [True, True] Translation: X:520.24, Y:7.32, Z:6.24 [[ 9.99800522e-01 -1.51126822e-02 -1.30584487e-02 5.20243294e+02] [ 1.51101022e-02 9.99885792e-01 -2.96210831e-04 7.31829996e+00] [ 1.30614339e-02 9.88372480e-05 9.99914691e-01 6.24283031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.485099893 meters 0.013528887040414649 Centerline is valid? [True, True] Translation: X:520.27, Y:7.32, Z:6.24 [[ 9.99762405e-01 -1.78439597e-02 -1.25190284e-02 5.20271326e+02] [ 1.78417645e-02 9.99840782e-01 -2.87025385e-04 7.31593346e+00] [ 1.25221569e-02 6.35956329e-05 9.99921593e-01 6.24338745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.515099893 meters 0.013478742049082483 Centerline is valid? [True, True] Translation: X:520.30, Y:7.31, Z:6.24 [[ 9.99683933e-01 -2.15530130e-02 -1.29422622e-02 5.20300418e+02] [ 2.15509607e-02 9.99767707e-01 -2.98033650e-04 7.31193997e+00] [ 1.29456793e-02 1.90212674e-05 9.99916201e-01 6.24366500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.545099893 meters 0.013986566021728973 Centerline is valid? [True, True] Translation: X:520.33, Y:7.30, Z:6.24 [[ 9.99434461e-01 -3.04924487e-02 -1.41763527e-02 5.20330169e+02] [ 3.04908360e-02 9.99534992e-01 -3.29930460e-04 7.30216156e+00] [ 1.41798210e-02 -1.02504976e-04 9.99899456e-01 6.24355632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.575099893 meters 0.014524606325273573 Centerline is valid? [True, True] Translation: X:520.36, Y:7.30, Z:6.24 [[ 9.99260166e-01 -3.57607052e-02 -1.41524493e-02 5.20360275e+02] [ 3.57596203e-02 9.99360366e-01 -3.29788017e-04 7.29682768e+00] [ 1.41551904e-02 -1.76542185e-04 9.99899795e-01 6.24363179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.605099893 meters 0.016381480193856792 Centerline is valid? [True, True] Translation: X:520.39, Y:7.29, Z:6.24 [[ 9.98836364e-01 -4.59645988e-02 -1.46004704e-02 5.20391428e+02] [ 4.59645373e-02 9.98943014e-01 -3.39958854e-04 7.28592068e+00] [ 1.46006640e-02 -3.31540602e-04 9.99893350e-01 6.24390859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.635099893 meters 0.016991787521407117 Centerline is valid? [True, True] Translation: X:520.42, Y:7.28, Z:6.24 [[ 9.98626464e-01 -5.04084852e-02 -1.42888038e-02 5.20422694e+02] [ 5.04088849e-02 9.98728609e-01 -3.32414785e-04 7.28180936e+00] [ 1.42873937e-02 -3.88324465e-04 9.99897855e-01 6.24433095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.665099893 meters 0.02002249599241341 Centerline is valid? [True, True] Translation: X:520.45, Y:7.27, Z:6.24 [[ 9.98279773e-01 -5.69666690e-02 -1.38669681e-02 5.20452992e+02] [ 5.69676834e-02 9.98375971e-01 -3.22162928e-04 7.27022362e+00] [ 1.38628003e-02 -4.68360314e-04 9.99903797e-01 6.24485006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.695099893 meters 0.02084257078981749 Centerline is valid? [True, True] Translation: X:520.48, Y:7.26, Z:6.25 [[ 9.98089576e-01 -6.03525538e-02 -1.32199444e-02 5.20484599e+02] [ 6.03537726e-02 9.98177002e-01 -3.07100553e-04 7.26392056e+00] [ 1.32143787e-02 -4.91359655e-04 9.99912566e-01 6.24592354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.725099893 meters 0.02110036981795382 Centerline is valid? [True, True] Translation: X:520.52, Y:7.26, Z:6.25 [[ 9.98120399e-01 -5.98690869e-02 -1.30905139e-02 5.20517127e+02] [ 5.98702468e-02 9.98206122e-01 -3.03607665e-04 7.25954693e+00] [ 1.30852078e-02 -4.80695294e-04 9.99914269e-01 6.24615523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.755099893 meters 0.019967176470921246 Centerline is valid? [True, True] Translation: X:520.55, Y:7.26, Z:6.25 [[ 9.98403876e-01 -5.48990662e-02 -1.32586635e-02 5.20547116e+02] [ 5.48998301e-02 9.98491820e-01 -3.06621830e-04 7.25598243e+00] [ 1.32555003e-02 -4.21765951e-04 9.99912053e-01 6.24681359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.785099893 meters 0.017629913464652737 Centerline is valid? [True, True] Translation: X:520.58, Y:7.26, Z:6.25 [[ 9.98528260e-01 -5.25163759e-02 -1.35404724e-02 5.20578421e+02] [ 5.25169542e-02 9.98619984e-01 -3.13095958e-04 7.25891827e+00] [ 1.35382290e-02 -3.98469208e-04 9.99908275e-01 6.24720894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.815099893 meters 0.017629913464652737 Centerline is valid? [True, True] Translation: X:520.61, Y:7.26, Z:6.25 [[ 9.98532102e-01 -5.24432715e-02 -1.35404848e-02 5.20610110e+02] [ 5.24438504e-02 9.98623826e-01 -3.12558526e-04 7.25959408e+00] [ 1.35382423e-02 -3.98015438e-04 9.99908275e-01 6.24760082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.845099893 meters 0.017629913464652737 Centerline is valid? [True, True] Translation: X:520.64, Y:7.26, Z:6.25 [[ 9.98535939e-01 -5.23701612e-02 -1.35405076e-02 5.20641800e+02] [ 5.23707469e-02 9.98627662e-01 -3.11567214e-04 7.26026735e+00] [ 1.35382423e-02 -3.98015437e-04 9.99908275e-01 6.24799262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.875099893 meters 0.017629913464652737 Centerline is valid? [True, True] Translation: X:520.67, Y:7.26, Z:6.25 [[ 9.98539770e-01 -5.22970507e-02 -1.35405304e-02 5.20673490e+02] [ 5.22976431e-02 9.98631494e-01 -3.10575900e-04 7.26093831e+00] [ 1.35382423e-02 -3.98015436e-04 9.99908275e-01 6.24838442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.905099893 meters 0.01865831203805753 Centerline is valid? [True, True] Translation: X:520.70, Y:7.26, Z:6.25 [[ 9.98662033e-01 -4.98226667e-02 -1.38508715e-02 5.20704011e+02] [ 4.98230620e-02 9.98758010e-01 -3.16740882e-04 7.25812208e+00] [ 1.38494497e-02 -3.73775734e-04 9.99904022e-01 6.24830001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.93509989300003 meters 0.016658608507440584 Centerline is valid? [True, True] Translation: X:520.74, Y:7.26, Z:6.25 [[ 9.98795860e-01 -4.68856017e-02 -1.44419845e-02 5.20735260e+02] [ 4.68857291e-02 9.98900205e-01 -3.29949941e-04 7.26086780e+00] [ 1.44415712e-02 -3.47570339e-04 9.99895655e-01 6.24855984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.965099893 meters 0.017235771074177657 Centerline is valid? [True, True] Translation: X:520.77, Y:7.26, Z:6.25 [[ 9.98921176e-01 -4.40090863e-02 -1.48217242e-02 5.20766126e+02] [ 4.40089120e-02 9.99031081e-01 -3.38079998e-04 7.25910515e+00] [ 1.48222417e-02 -3.14572686e-04 9.99890095e-01 6.24841567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.99509989300003 meters 0.014650915689150971 Centerline is valid? [True, True] Translation: X:520.80, Y:7.26, Z:6.25 [[ 9.99157928e-01 -3.77166022e-02 -1.61522009e-02 5.20796689e+02] [ 3.77155810e-02 9.99288447e-01 -3.67946008e-04 7.26332007e+00] [ 1.61545854e-02 -2.41553469e-04 9.99869477e-01 6.24935100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.025099893 meters 0.014441095510945794 Centerline is valid? [True, True] Translation: X:520.83, Y:7.26, Z:6.25 [[ 9.99260269e-01 -3.46721234e-02 -1.66360797e-02 5.20826014e+02] [ 3.46706168e-02 9.99398722e-01 -3.79046799e-04 7.26357207e+00] [ 1.66392191e-02 -1.98016737e-04 9.99861539e-01 6.24899953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.055099893 meters 0.013995848922535747 Centerline is valid? [True, True] Translation: X:520.85, Y:7.26, Z:6.25 [[ 9.99332477e-01 -3.19875142e-02 -1.76465348e-02 5.20854947e+02] [ 3.19853727e-02 9.99488256e-01 -4.03653283e-04 7.26434562e+00] [ 1.76504162e-02 -1.61047158e-04 9.99844206e-01 6.24899645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.085099893 meters 0.013714306065225296 Centerline is valid? [True, True] Translation: X:520.88, Y:7.26, Z:6.25 [[ 9.99441025e-01 -2.71815154e-02 -1.94628370e-02 5.20882357e+02] [ 2.71779191e-02 9.99630511e-01 -4.49306786e-04 7.26485541e+00] [ 1.94678586e-02 -7.99037751e-05 9.99810480e-01 6.24871117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.115099893 meters 0.013557774261986053 Centerline is valid? [True, True] Translation: X:520.91, Y:7.27, Z:6.25 [[ 9.99479353e-01 -2.55452478e-02 -1.97094948e-02 5.20910534e+02] [ 2.55411773e-02 9.99673666e-01 -4.58262778e-04 7.26548964e+00] [ 1.97147693e-02 -4.53795172e-05 9.99805644e-01 6.24927788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.145099893 meters 0.013569404276411458 Centerline is valid? [True, True] Translation: X:520.94, Y:7.27, Z:6.25 [[ 9.99499688e-01 -2.42762347e-02 -2.02740629e-02 5.20938796e+02] [ 2.42715445e-02 9.99705289e-01 -4.77410704e-04 7.26573847e+00] [ 2.02796776e-02 -1.49109692e-05 9.99794346e-01 6.24989499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.175099893 meters 0.013512834796857835 Centerline is valid? [True, True] Translation: X:520.97, Y:7.27, Z:6.25 [[ 9.99514223e-01 -2.36670690e-02 -2.02777535e-02 5.20965737e+02] [ 2.36621576e-02 9.99719896e-01 -4.82137409e-04 7.26542166e+00] [ 2.02834844e-02 2.08779768e-06 9.99794269e-01 6.24969733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.205099893 meters 0.013451767180659277 Centerline is valid? [True, True] Translation: X:520.99, Y:7.26, Z:6.25 [[ 9.99486444e-01 -2.42572362e-02 -2.09388563e-02 5.20993564e+02] [ 2.42520431e-02 9.99705750e-01 -5.01949171e-04 7.26276197e+00] [ 2.09448709e-02 -6.11865237e-06 9.99780632e-01 6.25064649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.235099893 meters 0.013391547423217609 Centerline is valid? [True, True] Translation: X:521.02, Y:7.26, Z:6.25 [[ 9.99452743e-01 -2.54857977e-02 -2.10876193e-02 5.21021842e+02] [ 2.54806755e-02 9.99675184e-01 -5.11600158e-04 7.26140667e+00] [ 2.10938082e-02 -2.60066033e-05 9.99777501e-01 6.25134290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.265099893 meters 0.013402257617331057 Centerline is valid? [True, True] Translation: X:521.05, Y:7.26, Z:6.25 [[ 9.99401011e-01 -2.73565577e-02 -2.11952298e-02 5.21049619e+02] [ 2.73516743e-02 9.99625738e-01 -5.20315129e-04 7.25980305e+00] [ 2.12015313e-02 -5.97215581e-05 9.99775220e-01 6.25228201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.295099893 meters 0.013432438945903081 Centerline is valid? [True, True] Translation: X:521.08, Y:7.26, Z:6.25 [[ 9.99354567e-01 -2.91011493e-02 -2.10611491e-02 5.21077666e+02] [ 2.90966240e-02 9.99576468e-01 -5.21336134e-04 7.25777693e+00] [ 2.10674005e-02 -9.18086907e-05 9.99778053e-01 6.25280229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.325099893 meters 0.013706182913731099 Centerline is valid? [True, True] Translation: X:521.11, Y:7.25, Z:6.25 [[ 9.99209708e-01 -3.37273948e-02 -2.10338538e-02 5.21106808e+02] [ 3.37238376e-02 9.99431052e-01 -5.23905566e-04 7.25239188e+00] [ 2.10395566e-02 -1.85850744e-04 9.99778627e-01 6.25426573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.355099893 meters 0.014149884223250387 Centerline is valid? [True, True] Translation: X:521.14, Y:7.25, Z:6.26 [[ 9.99114861e-01 -3.64200813e-02 -2.10492629e-02 5.21135095e+02] [ 3.64170357e-02 9.99336540e-01 -5.28113190e-04 7.24954396e+00] [ 2.10545315e-02 -2.38906024e-04 9.99778300e-01 6.25503912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.385099893 meters 0.014325071909639537 Centerline is valid? [True, True] Translation: X:521.16, Y:7.25, Z:6.26 [[ 9.98988725e-01 -3.95760331e-02 -2.13369295e-02 5.21163622e+02] [ 3.95735520e-02 9.99216515e-01 -5.38672434e-04 7.24739363e+00] [ 2.13415308e-02 -3.06250400e-04 9.99772197e-01 6.25617838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.415099893 meters 0.014916716649624653 Centerline is valid? [True, True] Translation: X:521.19, Y:7.24, Z:6.26 [[ 9.98843467e-01 -4.28700032e-02 -2.17690274e-02 5.21192126e+02] [ 4.28680830e-02 9.99080587e-01 -5.55067476e-04 7.24423394e+00] [ 2.17728084e-02 -3.78770951e-04 9.99762873e-01 6.25655995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.445099893 meters 0.015989199043777262 Centerline is valid? [True, True] Translation: X:521.22, Y:7.24, Z:6.26 [[ 9.98674035e-01 -4.66715066e-02 -2.17242490e-02 5.21219989e+02] [ 4.66704087e-02 9.98910187e-01 -5.57809979e-04 7.24060626e+00] [ 2.17266075e-02 -4.56809239e-04 9.99763845e-01 6.25685028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.475099893 meters 0.015989199043777262 Centerline is valid? [True, True] Translation: X:521.25, Y:7.24, Z:6.26 [[ 9.98660919e-01 -4.69513621e-02 -2.17241532e-02 5.21247421e+02] [ 4.69502497e-02 9.98897071e-01 -5.61518894e-04 7.24138422e+00] [ 2.17265571e-02 -4.59187445e-04 9.99763845e-01 6.25718983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.505099893 meters 0.01731088442473045 Centerline is valid? [True, True] Translation: X:521.28, Y:7.24, Z:6.26 [[ 9.98248820e-01 -5.46449541e-02 -2.26544138e-02 5.21278094e+02] [ 5.46456415e-02 9.98505637e-01 -5.89178100e-04 7.23586278e+00] [ 2.26527555e-02 -6.49818633e-04 9.99743182e-01 6.25767387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.535099893 meters 0.02059937060232328 Centerline is valid? [True, True] Translation: X:521.31, Y:7.23, Z:6.26 [[ 9.98013344e-01 -5.86311310e-02 -2.30598482e-02 5.21306545e+02] [ 5.86328872e-02 9.98279432e-01 -6.00539324e-04 7.22952385e+00] [ 2.30553825e-02 -7.52719221e-04 9.99733906e-01 6.25671894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.565099893 meters 0.02033229846180704 Centerline is valid? [True, True] Translation: X:521.34, Y:7.23, Z:6.26 [[ 9.97543043e-01 -6.60440707e-02 -2.33678742e-02 5.21337418e+02] [ 6.60478808e-02 9.97816269e-01 -6.09561155e-04 7.22837158e+00] [ 2.33571029e-02 -9.35335079e-04 9.99726748e-01 6.25852680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.595099893 meters 0.022012516404698354 Centerline is valid? [True, True] Translation: X:521.37, Y:7.23, Z:6.26 [[ 9.97307449e-01 -6.94383841e-02 -2.35831206e-02 5.21366408e+02] [ 6.94431963e-02 9.97585717e-01 -6.15830502e-04 7.22570870e+00] [ 2.35689466e-02 -1.02351493e-03 9.99721690e-01 6.25861832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.625099893 meters 0.021454149886090984 Centerline is valid? [True, True] Translation: X:521.40, Y:7.23, Z:6.26 [[ 9.97097964e-01 -7.22938679e-02 -2.38588918e-02 5.21396111e+02] [ 7.22995828e-02 9.97382765e-01 -6.24130158e-04 7.22673587e+00] [ 2.38415682e-02 -1.10266901e-03 9.99715141e-01 6.25944747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.655099893 meters 0.022126939688479962 Centerline is valid? [True, True] Translation: X:521.43, Y:7.23, Z:6.26 [[ 9.96886156e-01 -7.51279246e-02 -2.39538468e-02 5.21425858e+02] [ 7.51344799e-02 9.97173213e-01 -6.27501109e-04 7.22631986e+00] [ 2.39332772e-02 -1.17421265e-03 9.99712869e-01 6.25996634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.68509989300003 meters 0.023782321727452975 Centerline is valid? [True, True] Translation: X:521.45, Y:7.22, Z:6.26 [[ 9.96726961e-01 -7.73008767e-02 -2.36630261e-02 5.21454290e+02] [ 7.73078589e-02 9.97007076e-01 -6.20958096e-04 7.22444173e+00] [ 2.36402051e-02 -1.21041221e-03 9.99719799e-01 6.26014382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.715099893 meters 0.02388004676236965 Centerline is valid? [True, True] Translation: X:521.48, Y:7.23, Z:6.26 [[ 9.96578368e-01 -7.92255729e-02 -2.35555692e-02 5.21483375e+02] [ 7.92329439e-02 9.96855934e-01 -6.21702720e-04 7.22519531e+00] [ 2.35307637e-02 -1.24680161e-03 9.99722336e-01 6.26088368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.74509989300003 meters 0.024362747039905413 Centerline is valid? [True, True] Translation: X:521.51, Y:7.23, Z:6.26 [[ 9.96354717e-01 -8.20961239e-02 -2.31841270e-02 5.21513231e+02] [ 8.21039568e-02 9.96623581e-01 -6.15436084e-04 7.22657550e+00] [ 2.31563726e-02 -1.29031591e-03 9.99731023e-01 6.26175931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.775099893 meters 0.025019431408523633 Centerline is valid? [True, True] Translation: X:521.54, Y:7.23, Z:6.26 [[ 9.96239398e-01 -8.33422010e-02 -2.36883680e-02 5.21542300e+02] [ 8.33507036e-02 9.96520077e-01 -6.29916725e-04 7.22743659e+00] [ 2.36584330e-02 -1.34689428e-03 9.99719193e-01 6.26190972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.805099893 meters 0.02546625617437853 Centerline is valid? [True, True] Translation: X:521.57, Y:7.23, Z:6.26 [[ 9.96156742e-01 -8.43002966e-02 -2.37740472e-02 5.21571855e+02] [ 8.43091064e-02 9.96439448e-01 -6.33303275e-04 7.22853496e+00] [ 2.37427862e-02 -1.37349935e-03 9.99717157e-01 6.26229746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.835099893 meters 0.028196682942974956 Centerline is valid? [True, True] Translation: X:521.60, Y:7.23, Z:6.26 [[ 9.96069241e-01 -8.53598341e-02 -2.36593588e-02 5.21600158e+02] [ 8.53688267e-02 9.96349218e-01 -6.31527633e-04 7.22645248e+00] [ 2.36268908e-02 -1.39072645e-03 9.99719879e-01 6.26196637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.865099893 meters 0.028907443270497938 Centerline is valid? [True, True] Translation: X:521.63, Y:7.23, Z:6.26 [[ 9.95970844e-01 -8.64970408e-02 -2.36714963e-02 5.21628894e+02] [ 8.65062746e-02 9.96251103e-01 -6.35576628e-04 7.22700239e+00] [ 2.36377298e-02 -1.41471717e-03 9.99719589e-01 6.26201344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.895099893 meters 0.02802410884854042 Centerline is valid? [True, True] Translation: X:521.66, Y:7.23, Z:6.26 [[ 9.95793676e-01 -8.85077130e-02 -2.36925967e-02 5.21658435e+02] [ 8.85174473e-02 9.96074421e-01 -6.39640151e-04 7.23057845e+00] [ 2.36562027e-02 -1.46025856e-03 9.99719086e-01 6.26269312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.925099893 meters 0.030144051530580845 Centerline is valid? [True, True] Translation: X:521.69, Y:7.23, Z:6.26 [[ 9.95711541e-01 -8.93897277e-02 -2.38328334e-02 5.21686108e+02] [ 8.93997939e-02 9.95995613e-01 -6.44911984e-04 7.22922810e+00] [ 2.37950460e-02 -1.48850409e-03 9.99715750e-01 6.26271186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.955099893 meters 0.028305604982886562 Centerline is valid? [True, True] Translation: X:521.71, Y:7.23, Z:6.26 [[ 9.95606261e-01 -9.05265584e-02 -2.39398257e-02 5.21714877e+02] [ 9.05369449e-02 9.95892884e-01 -6.51890715e-04 7.23382356e+00] [ 2.39005155e-02 -1.51841220e-03 9.99713189e-01 6.26338737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.985099893 meters 0.02868893560269272 Centerline is valid? [True, True] Translation: X:521.74, Y:7.24, Z:6.26 [[ 9.95512802e-01 -9.14518100e-02 -2.43069471e-02 5.21743495e+02] [ 9.14626401e-02 9.95808284e-01 -6.68156096e-04 7.23542895e+00] [ 2.42661633e-02 -1.55801961e-03 9.99704319e-01 6.26353553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.015099893 meters 0.028897898161401994 Centerline is valid? [True, True] Translation: X:521.77, Y:7.24, Z:6.26 [[ 9.95355729e-01 -9.28544399e-02 -2.53973737e-02 5.21773361e+02] [ 9.28666230e-02 9.95678310e-01 -7.01910447e-04 7.23896409e+00] [ 2.53527897e-02 -1.65991775e-03 9.99677188e-01 6.26343583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0450998929999 meters 0.031168662521672934 Centerline is valid? [True, True] Translation: X:521.80, Y:7.24, Z:6.26 [[ 9.95316307e-01 -9.32051707e-02 -2.56563045e-02 5.21801416e+02] [ 9.32176770e-02 9.95645499e-01 -7.10730375e-04 7.23847265e+00] [ 2.56108278e-02 -1.68421957e-03 9.99670570e-01 6.26324490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0750998929999 meters 0.030521743079576304 Centerline is valid? [True, True] Translation: X:521.83, Y:7.24, Z:6.26 [[ 9.95286790e-01 -9.34865740e-02 -2.57772413e-02 5.21829646e+02] [ 9.34991764e-02 9.95619098e-01 -7.18590792e-04 7.24216651e+00] [ 2.57314923e-02 -1.69494691e-03 9.99667453e-01 6.26386398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.105099893 meters 0.029318662254139774 Centerline is valid? [True, True] Translation: X:521.86, Y:7.25, Z:6.27 [[ 9.95470593e-01 -9.15979585e-02 -2.54580506e-02 5.21859623e+02] [ 9.16095512e-02 9.95794749e-01 -7.13007029e-04 7.24916600e+00] [ 2.54163031e-02 -1.62242306e-03 9.99675637e-01 6.26516786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.135099893 meters 0.029891933959171797 Centerline is valid? [True, True] Translation: X:521.89, Y:7.25, Z:6.27 [[ 9.95615476e-01 -9.00890849e-02 -2.51750046e-02 5.21888272e+02] [ 9.00999178e-02 9.95932481e-01 -7.05989295e-04 7.25196362e+00] [ 2.51362067e-02 -1.56537197e-03 9.99682810e-01 6.26573267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1650998929999 meters 0.026485868075456755 Centerline is valid? [True, True] Translation: X:521.92, Y:7.26, Z:6.27 [[ 9.95802131e-01 -8.80450939e-02 -2.50235218e-02 5.21918194e+02] [ 8.80551314e-02 9.96115355e-01 -7.02633894e-04 7.26014447e+00] [ 2.49881777e-02 -1.50376517e-03 9.99686616e-01 6.26759793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1950998929999 meters 0.02650140795202229 Centerline is valid? [True, True] Translation: X:521.95, Y:7.26, Z:6.27 [[ 9.96009630e-01 -8.57119662e-02 -2.48651540e-02 5.21948212e+02] [ 8.57211469e-02 9.96318923e-01 -6.98412342e-04 7.26376781e+00] [ 2.48334857e-02 -1.43584410e-03 9.99690570e-01 6.26802980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.225099893 meters 0.02527431571635057 Centerline is valid? [True, True] Translation: X:521.98, Y:7.27, Z:6.27 [[ 9.96471643e-01 -8.02680373e-02 -2.45215561e-02 5.21977264e+02] [ 8.02753157e-02 9.96772491e-01 -6.89018470e-04 7.27186611e+00] [ 2.44977187e-02 -1.28188829e-03 9.99699064e-01 6.26918180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.255099893 meters 0.024551472694063003 Centerline is valid? [True, True] Translation: X:522.01, Y:7.28, Z:6.27 [[ 9.96675783e-01 -7.77259946e-02 -2.44142048e-02 5.22007057e+02] [ 7.77324370e-02 9.96974020e-01 -6.86476393e-04 7.27656113e+00] [ 2.43936850e-02 -1.21358124e-03 9.99701693e-01 6.26984911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2850998929999 meters 0.02345508351264753 Centerline is valid? [True, True] Translation: X:522.04, Y:7.28, Z:6.27 [[ 9.96902036e-01 -7.49373816e-02 -2.38897249e-02 5.22036866e+02] [ 7.49427411e-02 9.97187612e-01 -6.72148774e-04 7.28143704e+00] [ 2.38729068e-02 -1.12029499e-03 9.99714374e-01 6.27050393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3150998929999 meters 0.020701916754191835 Centerline is valid? [True, True] Translation: X:522.07, Y:7.29, Z:6.27 [[ 9.97078210e-01 -7.25731940e-02 -2.38364118e-02 5.22067310e+02] [ 7.25778502e-02 9.97362525e-01 -6.70867793e-04 7.28882436e+00] [ 2.38222308e-02 -1.06108786e-03 9.99715647e-01 6.27191435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.345099893 meters 0.019612965370229184 Centerline is valid? [True, True] Translation: X:522.10, Y:7.30, Z:6.27 [[ 9.97334165e-01 -6.86938892e-02 -2.46112436e-02 5.22098200e+02] [ 6.86976796e-02 9.97637283e-01 -6.92451357e-04 7.29591719e+00] [ 2.46006614e-02 -1.00012993e-03 9.99696858e-01 6.27193148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.375099893 meters 0.021233474504890642 Centerline is valid? [True, True] Translation: X:522.13, Y:7.30, Z:6.27 [[ 9.97404883e-01 -6.74980688e-02 -2.50501480e-02 5.22127599e+02] [ 6.75016287e-02 9.97718915e-01 -7.04422528e-04 7.29650800e+00] [ 2.50405536e-02 -9.88331318e-04 9.99685948e-01 6.27140813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4050998929999 meters 0.020472251727950044 Centerline is valid? [True, True] Translation: X:522.16, Y:7.30, Z:6.27 [[ 9.97453776e-01 -6.66145594e-02 -2.54649837e-02 5.22156834e+02] [ 6.66179429e-02 9.97778300e-01 -7.16402978e-04 7.30043709e+00] [ 2.54561310e-02 -9.81845975e-04 9.99675458e-01 6.27197867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4350998929999 meters 0.020448428836694246 Centerline is valid? [True, True] Translation: X:522.19, Y:7.30, Z:6.27 [[ 9.97474622e-01 -6.62762771e-02 -2.55310127e-02 5.22186568e+02] [ 6.62795445e-02 9.97800834e-01 -7.19159597e-04 7.30291005e+00] [ 2.55225290e-02 -9.74840445e-04 9.99673772e-01 6.27210329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.465099893 meters 0.019759111124586354 Centerline is valid? [True, True] Translation: X:522.22, Y:7.31, Z:6.27 [[ 9.97514655e-01 -6.57616353e-02 -2.52966658e-02 5.22216049e+02] [ 6.57646552e-02 9.97834907e-01 -7.13447353e-04 7.30753676e+00] [ 2.52888136e-02 -9.51952314e-04 9.99679734e-01 6.27293444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.495099893 meters 0.020502647760659163 Centerline is valid? [True, True] Translation: X:522.24, Y:7.31, Z:6.27 [[ 9.97524115e-01 -6.57337769e-02 -2.49942234e-02 5.22244727e+02] [ 6.57366839e-02 9.97836755e-01 -7.06210121e-04 7.30890714e+00] [ 2.49865766e-02 -9.38575739e-04 9.99687346e-01 6.27338712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.525099893 meters 0.018727715802692602 Centerline is valid? [True, True] Translation: X:522.27, Y:7.31, Z:6.28 [[ 9.97560689e-01 -6.53336366e-02 -2.45802420e-02 5.22274874e+02] [ 6.53363064e-02 9.97863059e-01 -6.95340157e-04 7.31400897e+00] [ 2.45731445e-02 -9.12338215e-04 9.99697618e-01 6.27504705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5550998929999 meters 0.020574145135337635 Centerline is valid? [True, True] Translation: X:522.30, Y:7.31, Z:6.27 [[ 9.97626019e-01 -6.44871506e-02 -2.41605641e-02 5.22304451e+02] [ 6.44894769e-02 9.97918153e-01 -6.83678971e-04 7.31375428e+00] [ 2.41543540e-02 -8.76046209e-04 9.99707857e-01 6.27464538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5850998929999 meters 0.018325476375046272 Centerline is valid? [True, True] Translation: X:522.33, Y:7.32, Z:6.28 [[ 9.97820122e-01 -6.17229949e-02 -2.33511602e-02 5.22334536e+02] [ 6.17244067e-02 9.98093012e-01 -6.60988509e-04 7.32116819e+00] [ 2.33474280e-02 -7.81788874e-04 9.99727106e-01 6.27623627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.615099893 meters 0.017244385743539446 Centerline is valid? [True, True] Translation: X:522.37, Y:7.33, Z:6.28 [[ 9.97945634e-01 -5.98163707e-02 -2.29458853e-02 5.22365371e+02] [ 5.98172347e-02 9.98209135e-01 -6.49328389e-04 7.32530069e+00] [ 2.29436327e-02 -7.24564974e-04 9.99736498e-01 6.27725239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.645099893 meters 0.017241118271080363 Centerline is valid? [True, True] Translation: X:522.40, Y:7.33, Z:6.28 [[ 9.98081980e-01 -5.75716528e-02 -2.27566554e-02 5.22395904e+02] [ 5.75719288e-02 9.98341154e-01 -6.43572041e-04 7.32763906e+00] [ 2.27559572e-02 -6.67806890e-04 9.99740827e-01 6.27727158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6750998929999 meters 0.015125638747622228 Centerline is valid? [True, True] Translation: X:522.43, Y:7.33, Z:6.28 [[ 9.98229425e-01 -5.49258308e-02 -2.28290938e-02 5.22426157e+02] [ 5.49254222e-02 9.98490251e-01 -6.45401771e-04 7.33321962e+00] [ 2.28300768e-02 -6.09638577e-04 9.99739174e-01 6.27823021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7050998929999 meters 0.014839888800984581 Centerline is valid? [True, True] Translation: X:522.46, Y:7.34, Z:6.28 [[ 9.98453846e-01 -5.06618850e-02 -2.28755333e-02 5.22456074e+02] [ 5.06603562e-02 9.98715730e-01 -6.46714661e-04 7.33707174e+00] [ 2.28789187e-02 -5.13167922e-04 9.99738112e-01 6.27788194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.735099893 meters 0.014084622871563264 Centerline is valid? [True, True] Translation: X:522.49, Y:7.34, Z:6.28 [[ 9.98536396e-01 -4.92483314e-02 -2.23532323e-02 5.22486400e+02] [ 4.92465176e-02 9.98786454e-01 -6.31948681e-04 7.34074597e+00] [ 2.23572281e-02 -4.69795091e-04 9.99749936e-01 6.27872766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.765099893 meters 0.013182227058183763 Centerline is valid? [True, True] Translation: X:522.52, Y:7.34, Z:6.28 [[ 9.98608912e-01 -4.80085501e-02 -2.18041242e-02 5.22516461e+02] [ 4.80065288e-02 9.98846832e-01 -6.16424834e-04 7.34440509e+00] [ 2.18085740e-02 -4.31172984e-04 9.99762072e-01 6.28000166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7950998929999 meters 0.013232414745350835 Centerline is valid? [True, True] Translation: X:522.55, Y:7.35, Z:6.28 [[ 9.98642486e-01 -4.74672299e-02 -2.14487200e-02 5.22545826e+02] [ 4.74651456e-02 9.98872711e-01 -6.06543092e-04 7.34592724e+00] [ 2.14533320e-02 -4.12346915e-04 9.99769766e-01 6.28009060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8250998929999 meters 0.013134733904529423 Centerline is valid? [True, True] Translation: X:522.58, Y:7.35, Z:6.28 [[ 9.98679454e-01 -4.68571470e-02 -2.10655311e-02 5.22575955e+02] [ 4.68549962e-02 9.98901524e-01 -5.95928566e-04 7.34739123e+00] [ 2.10703146e-02 -3.91883765e-04 9.99777919e-01 6.28021606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.855099893 meters 0.013538074789522618 Centerline is valid? [True, True] Translation: X:522.61, Y:7.35, Z:6.28 [[ 9.98680644e-01 -4.68667012e-02 -2.09877167e-02 5.22605848e+02] [ 4.68645716e-02 9.98901076e-01 -5.93571897e-04 7.34717211e+00] [ 2.09924716e-02 -3.90791587e-04 9.99779557e-01 6.28001655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.885099893 meters 0.013388280108249275 Centerline is valid? [True, True] Translation: X:522.64, Y:7.35, Z:6.28 [[ 9.98661347e-01 -4.70837596e-02 -2.14157360e-02 5.22636057e+02] [ 4.70815970e-02 9.98890863e-01 -6.05449980e-04 7.34835430e+00] [ 2.14204899e-02 -4.03647558e-04 9.99770473e-01 6.28043430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9150998929999 meters 0.013420671357555619 Centerline is valid? [True, True] Translation: X:522.67, Y:7.35, Z:6.28 [[ 9.98650137e-01 -4.72671077e-02 -2.15342641e-02 5.22666670e+02] [ 4.72649637e-02 9.98882202e-01 -6.08800920e-04 7.34896549e+00] [ 2.15389694e-02 -4.09837089e-04 9.99767925e-01 6.28033506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9450998929999 meters 0.013163607377482291 Centerline is valid? [True, True] Translation: X:522.70, Y:7.35, Z:6.28 [[ 9.98627221e-01 -4.76815782e-02 -2.16827158e-02 5.22696854e+02] [ 4.76795022e-02 9.98862498e-01 -6.12997837e-04 7.35058671e+00] [ 2.16872803e-02 -4.21664768e-04 9.99764714e-01 6.28112747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.975099893 meters 0.013867118609624638 Centerline is valid? [True, True] Translation: X:522.73, Y:7.35, Z:6.28 [[ 9.98582706e-01 -4.84904513e-02 -2.19375355e-02 5.22726729e+02] [ 4.84885176e-02 9.98823547e-01 -6.20375360e-04 7.34976339e+00] [ 2.19418093e-02 -4.44222471e-04 9.99759151e-01 6.28087311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.005099893 meters 0.013507060358525886 Centerline is valid? [True, True] Translation: X:522.76, Y:7.35, Z:6.28 [[ 9.98564843e-01 -4.88550338e-02 -2.19417501e-02 5.22757360e+02] [ 4.88531824e-02 9.98805778e-01 -6.20718420e-04 7.35101717e+00] [ 2.19458720e-02 -4.52096726e-04 9.99759058e-01 6.28144222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0350998929999 meters 0.014212351138805547 Centerline is valid? [True, True] Translation: X:522.79, Y:7.35, Z:6.28 [[ 9.98559965e-01 -4.88815746e-02 -2.21040370e-02 5.22787037e+02] [ 4.88796983e-02 9.98804477e-01 -6.25484740e-04 7.34996737e+00] [ 2.21081858e-02 -4.55854638e-04 9.99755480e-01 6.28089896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0650998929999 meters 0.01372376522908658 Centerline is valid? [True, True] Translation: X:522.82, Y:7.35, Z:6.28 [[ 9.98561065e-01 -4.88029245e-02 -2.22277743e-02 5.22817515e+02] [ 4.88010027e-02 9.98808323e-01 -6.29209808e-04 7.35137296e+00] [ 2.22319932e-02 -4.56433256e-04 9.99752735e-01 6.28138664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.095099893 meters 0.014338807013858722 Centerline is valid? [True, True] Translation: X:522.85, Y:7.35, Z:6.28 [[ 9.98628435e-01 -4.78329137e-02 -2.12899391e-02 5.22847103e+02] [ 4.78309268e-02 9.98855264e-01 -6.02821108e-04 7.35021510e+00] [ 2.12944025e-02 -4.16323222e-04 9.99773162e-01 6.28160521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.125099893 meters 0.013649156099477363 Centerline is valid? [True, True] Translation: X:522.88, Y:7.35, Z:6.28 [[ 9.98672538e-01 -4.70863147e-02 -2.08815958e-02 5.22877486e+02] [ 4.70842357e-02 9.98890747e-01 -5.91474712e-04 7.35225548e+00] [ 2.08862832e-02 -3.92504427e-04 9.99781781e-01 6.28295321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1550998929999 meters 0.01353346192072914 Centerline is valid? [True, True] Translation: X:522.91, Y:7.35, Z:6.28 [[ 9.98723554e-01 -4.63444653e-02 -2.00861397e-02 5.22908344e+02] [ 4.63423916e-02 9.98925452e-01 -5.68943283e-04 7.35322755e+00] [ 2.00909235e-02 -3.62622693e-04 9.99798091e-01 6.28381368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1850998929999 meters 0.01281490719824014 Centerline is valid? [True, True] Translation: X:522.94, Y:7.36, Z:6.29 [[ 9.98830527e-01 -4.42946024e-02 -1.93795340e-02 5.22938994e+02] [ 4.42922863e-02 9.99018464e-01 -5.48928558e-04 7.35502492e+00] [ 1.93848268e-02 -3.10077266e-04 9.99812049e-01 6.28532709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.215099893 meters 0.012698863862377174 Centerline is valid? [True, True] Translation: X:522.97, Y:7.36, Z:6.29 [[ 9.98858870e-01 -4.36416599e-02 -1.94000928e-02 5.22969343e+02] [ 4.36392158e-02 9.99047205e-01 -5.49510891e-04 7.35578881e+00] [ 1.94055901e-02 -2.97721009e-04 9.99811649e-01 6.28603930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.245099893 meters 0.012330250281714384 Centerline is valid? [True, True] Translation: X:523.00, Y:7.36, Z:6.29 [[ 9.98892130e-01 -4.29846220e-02 -1.91529391e-02 5.22999673e+02] [ 4.29821190e-02 9.99075694e-01 -5.42510220e-04 7.35718227e+00] [ 1.91585555e-02 -2.81324718e-04 9.99816418e-01 6.28681957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.275099893 meters 0.012618140570549852 Centerline is valid? [True, True] Translation: X:523.03, Y:7.36, Z:6.29 [[ 9.98911691e-01 -4.23844306e-02 -1.94677839e-02 5.23029707e+02] [ 4.23817333e-02 9.99101339e-01 -5.51299915e-04 7.35672751e+00] [ 1.94736555e-02 -2.74378495e-04 9.99810333e-01 6.28652516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3050998929999 meters 0.012371125446471037 Centerline is valid? [True, True] Translation: X:523.06, Y:7.36, Z:6.29 [[ 9.98887846e-01 -4.26329537e-02 -2.01370694e-02 5.23060590e+02] [ 4.26301228e-02 9.99090760e-01 -5.70022274e-04 7.35734828e+00] [ 2.01430618e-02 -2.89057421e-04 9.99797066e-01 6.28663152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3350998929999 meters 0.01243980259708814 Centerline is valid? [True, True] Translation: X:523.09, Y:7.36, Z:6.29 [[ 9.98867013e-01 -4.28528257e-02 -2.06960105e-02 5.23090980e+02] [ 4.28498827e-02 9.99081350e-01 -5.85844282e-04 7.35742491e+00] [ 2.07021032e-02 -3.01641095e-04 9.99785643e-01 6.28664198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.365099893 meters 0.01243980259708814 Centerline is valid? [True, True] Translation: X:523.12, Y:7.36, Z:6.29 [[ 9.98865476e-01 -4.28886613e-02 -2.06960021e-02 5.23120126e+02] [ 4.28857198e-02 9.99079812e-01 -5.86143326e-04 7.35827822e+00] [ 2.07020968e-02 -3.02084613e-04 9.99785643e-01 6.28700256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.395099893 meters 0.012647110303456558 Centerline is valid? [True, True] Translation: X:523.15, Y:7.36, Z:6.29 [[ 9.98825446e-01 -4.36231958e-02 -2.10889607e-02 5.23150123e+02] [ 4.36202890e-02 9.99048003e-01 -5.98036243e-04 7.35818032e+00] [ 2.10949723e-02 -3.22572742e-04 9.99777424e-01 6.28721796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4250998929999 meters 0.012985017977867903 Centerline is valid? [True, True] Translation: X:523.18, Y:7.36, Z:6.29 [[ 9.98778310e-01 -4.47135883e-02 -2.10376403e-02 5.23179190e+02] [ 4.47109379e-02 9.98999788e-01 -5.96560289e-04 7.35757881e+00] [ 2.10432726e-02 -3.44781153e-04 9.99778506e-01 6.28733277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4550998929999 meters 0.013311110386109125 Centerline is valid? [True, True] Translation: X:523.21, Y:7.36, Z:6.29 [[ 9.98719261e-01 -4.60141350e-02 -2.10365698e-02 5.23208452e+02] [ 4.60117806e-02 9.98940719e-01 -5.96179597e-04 7.35702527e+00] [ 2.10417188e-02 -3.72513987e-04 9.99778529e-01 6.28771392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.485099893 meters 0.01357362340164791 Centerline is valid? [True, True] Translation: X:523.24, Y:7.36, Z:6.29 [[ 9.98540143e-01 -4.97772665e-02 -2.09715485e-02 5.23239011e+02] [ 4.97757469e-02 9.98760242e-01 -5.94771126e-04 7.35570301e+00] [ 2.09751549e-02 -4.49971645e-04 9.99779896e-01 6.28890783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.515099893 meters 0.014902009148076208 Centerline is valid? [True, True] Translation: X:523.27, Y:7.35, Z:6.29 [[ 9.98423947e-01 -5.20145395e-02 -2.10738894e-02 5.23269062e+02] [ 5.20135125e-02 9.98646203e-01 -5.97230296e-04 7.35302427e+00] [ 2.10764243e-02 -4.99837978e-04 9.99777743e-01 6.28878757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5450998929999 meters 0.015641745985110315 Centerline is valid? [True, True] Translation: X:523.30, Y:7.35, Z:6.29 [[ 9.98288442e-01 -5.46503978e-02 -2.08211446e-02 5.23299532e+02] [ 5.46499809e-02 9.98505399e-01 -5.89446298e-04 7.35187776e+00] [ 2.08222388e-02 -5.49437730e-04 9.99783043e-01 6.28944552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5750998929999 meters 0.016469243501136623 Centerline is valid? [True, True] Translation: X:523.33, Y:7.35, Z:6.29 [[ 9.98109214e-01 -5.76976083e-02 -2.11892156e-02 5.23330151e+02] [ 5.76978626e-02 9.98333910e-01 -5.99866383e-04 7.35076377e+00] [ 2.11885234e-02 -6.23840288e-04 9.99775303e-01 6.29005617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.605099893 meters 0.01646047801634718 Centerline is valid? [True, True] Translation: X:523.36, Y:7.35, Z:6.29 [[ 9.97936979e-01 -6.07115543e-02 -2.08780406e-02 5.23361444e+02] [ 6.07124664e-02 9.98155122e-01 -5.90746368e-04 7.35132198e+00] [ 2.08753883e-02 -6.78029691e-04 9.99781855e-01 6.29112120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.635099893 meters 0.018477680675880088 Centerline is valid? [True, True] Translation: X:523.39, Y:7.35, Z:6.29 [[ 9.97485825e-01 -6.76854295e-02 -2.09931424e-02 5.23392327e+02] [ 6.76879048e-02 9.97706367e-01 -5.93456903e-04 7.34751608e+00] [ 2.09851603e-02 -8.29016978e-04 9.99779444e-01 6.29137834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6650998929999 meters 0.01986944864865612 Centerline is valid? [True, True] Translation: X:523.42, Y:7.35, Z:6.29 [[ 9.97239711e-01 -7.12905244e-02 -2.07513716e-02 5.23423194e+02] [ 7.12937277e-02 9.97455192e-01 -5.86337538e-04 7.34537891e+00] [ 2.07403637e-02 -8.94723559e-04 9.99784495e-01 6.29203812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6950998929999 meters 0.020945132894357277 Centerline is valid? [True, True] Translation: X:523.45, Y:7.34, Z:6.29 [[ 9.96971498e-01 -7.49756397e-02 -2.06515246e-02 5.23454810e+02] [ 7.49796118e-02 9.97184897e-01 -5.82988965e-04 7.34399427e+00] [ 2.06370984e-02 -9.67219916e-04 9.99786565e-01 6.29253017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.725099893 meters 0.02377001933074636 Centerline is valid? [True, True] Translation: X:523.49, Y:7.34, Z:6.29 [[ 9.96412057e-01 -8.20113864e-02 -2.09080404e-02 5.23486278e+02] [ 8.20170160e-02 9.96630755e-01 -5.89547594e-04 7.33984464e+00] [ 2.08859457e-02 -1.12738275e-03 9.99781229e-01 6.29265535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.755099893 meters 0.02551289054997673 Centerline is valid? [True, True] Translation: X:523.52, Y:7.34, Z:6.29 [[ 9.96169105e-01 -8.48688311e-02 -2.10807134e-02 5.23516688e+02] [ 8.48752063e-02 9.96391412e-01 -5.93729186e-04 7.33785023e+00] [ 2.10550309e-02 -1.19777523e-03 9.99777601e-01 6.29278765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7850998929999 meters 0.026607535690258116 Centerline is valid? [True, True] Translation: X:523.55, Y:7.34, Z:6.29 [[ 9.95928440e-01 -8.75674798e-02 -2.14121319e-02 5.23548163e+02] [ 8.75746965e-02 9.96157774e-01 -6.02219742e-04 7.33723236e+00] [ 2.13825965e-02 -1.27539318e-03 9.99770553e-01 6.29319250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8150998929999 meters 0.02756003781730708 Centerline is valid? [True, True] Translation: X:523.58, Y:7.34, Z:6.29 [[ 9.95739023e-01 -8.95691466e-02 -2.19354860e-02 5.23579577e+02] [ 8.95772221e-02 9.95979689e-01 -6.16134634e-04 7.33692252e+00] [ 2.19024852e-02 -1.35141060e-03 9.99759198e-01 6.29350927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.845099893 meters 0.03100715731425921 Centerline is valid? [True, True] Translation: X:523.61, Y:7.33, Z:6.29 [[ 9.95522854e-01 -9.19330657e-02 -2.19672299e-02 5.23609619e+02] [ 9.19417609e-02 9.95764196e-01 -6.15964074e-04 7.33405366e+00] [ 2.19308085e-02 -1.40649948e-03 9.99758502e-01 6.29365704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.875099893 meters 0.029517577188761156 Centerline is valid? [True, True] Translation: X:523.64, Y:7.34, Z:6.29 [[ 9.95514494e-01 -9.20499628e-02 -2.18562781e-02 5.23642073e+02] [ 9.20586305e-02 9.95753401e-01 -6.11383381e-04 7.33751075e+00] [ 2.18197411e-02 -1.40341801e-03 9.99760936e-01 6.29470328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9050998929999 meters 0.03205640201086602 Centerline is valid? [True, True] Translation: X:523.67, Y:7.34, Z:6.30 [[ 9.95539733e-01 -9.17577612e-02 -2.19352043e-02 5.23673151e+02] [ 9.17664517e-02 9.95780369e-01 -6.12185993e-04 7.33616934e+00] [ 2.18988186e-02 -1.40346039e-03 9.99759207e-01 6.29502381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9350998929999 meters 0.03194789574623613 Centerline is valid? [True, True] Translation: X:523.70, Y:7.34, Z:6.30 [[ 9.95655005e-01 -9.06073922e-02 -2.14805129e-02 5.23704748e+02] [ 9.06154801e-02 9.95885775e-01 -5.98529096e-04 7.33847571e+00] [ 2.14463684e-02 -1.35053850e-03 9.99769088e-01 6.29588675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.965099893 meters 0.027909774181971048 Centerline is valid? [True, True] Translation: X:523.74, Y:7.35, Z:6.30 [[ 9.96015896e-01 -8.66139732e-02 -2.12215762e-02 5.23735583e+02] [ 8.66209764e-02 9.96241164e-01 -5.90725020e-04 7.34861786e+00] [ 2.11929729e-02 -1.24986215e-03 9.99774622e-01 6.29774303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.995099893 meters 0.029113577134418544 Centerline is valid? [True, True] Translation: X:523.76, Y:7.35, Z:6.30 [[ 9.96254337e-01 -8.38548034e-02 -2.11108427e-02 5.23764982e+02] [ 8.38611177e-02 9.96477279e-01 -5.87571456e-04 7.35012026e+00] [ 2.10857458e-02 -1.18500825e-03 9.99776969e-01 6.29807888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.025099893 meters 0.02573260709897884 Centerline is valid? [True, True] Translation: X:523.80, Y:7.36, Z:6.30 [[ 9.96525791e-01 -8.05758157e-02 -2.10685847e-02 5.23795994e+02] [ 8.05813726e-02 9.96747861e-01 -5.86459031e-04 7.35788427e+00] [ 2.10473212e-02 -1.11331393e-03 9.99777861e-01 6.29896950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0550998929999 meters 0.023109015935087022 Centerline is valid? [True, True] Translation: X:523.83, Y:7.36, Z:6.30 [[ 9.96806393e-01 -7.70005224e-02 -2.11644597e-02 5.23826381e+02] [ 7.70053307e-02 9.97030507e-01 -5.88908001e-04 7.36461663e+00] [ 2.11469582e-02 -1.04274896e-03 9.99775834e-01 6.29996177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0850998929999 meters 0.021322564563847925 Centerline is valid? [True, True] Translation: X:523.86, Y:7.37, Z:6.30 [[ 9.97350910e-01 -6.96958704e-02 -2.08242013e-02 5.23855469e+02] [ 6.96989324e-02 9.97567904e-01 -5.79597588e-04 7.37239806e+00] [ 2.08139504e-02 -8.73362414e-04 9.99782985e-01 6.29981168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.115099893 meters 0.01809530548561415 Centerline is valid? [True, True] Translation: X:523.89, Y:7.38, Z:6.30 [[ 9.97599960e-01 -6.61701909e-02 -2.03917853e-02 5.23887289e+02] [ 6.61723961e-02 9.97808044e-01 -5.67340439e-04 7.38045308e+00] [ 2.03846284e-02 -7.83394494e-04 9.99791905e-01 6.30115190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.145099893 meters 0.018693450894876874 Centerline is valid? [True, True] Translation: X:523.92, Y:7.38, Z:6.30 [[ 9.97827493e-01 -6.26134708e-02 -2.04901731e-02 5.23917541e+02] [ 6.26149655e-02 9.98037596e-01 -5.69235868e-04 7.38280031e+00] [ 2.04856049e-02 -7.14992282e-04 9.99789892e-01 6.30093972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1750998929999 meters 0.017818293970135506 Centerline is valid? [True, True] Translation: X:523.95, Y:7.39, Z:6.30 [[ 9.98027674e-01 -5.91516997e-02 -2.10199371e-02 5.23948848e+02] [ 5.91525172e-02 9.98248786e-01 -5.83410469e-04 7.38723429e+00] [ 2.10176365e-02 -6.61122399e-04 9.99778886e-01 6.30100913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2050998929999 meters 0.016087680132445763 Centerline is valid? [True, True] Translation: X:523.98, Y:7.40, Z:6.30 [[ 9.98340989e-01 -5.36307211e-02 -2.09526809e-02 5.23979208e+02] [ 5.36303274e-02 9.98560689e-01 -5.81106520e-04 7.39527504e+00] [ 2.09536886e-02 -5.43556677e-04 9.99780300e-01 6.30156482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.235099893 meters 0.01531938069144644 Centerline is valid? [True, True] Translation: X:524.01, Y:7.40, Z:6.30 [[ 9.98459521e-01 -5.14381789e-02 -2.08013997e-02 5.24010559e+02] [ 5.14373215e-02 9.98676058e-01 -5.76611600e-04 7.39937307e+00] [ 2.08035197e-02 -4.94244942e-04 9.99783461e-01 6.30186346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.265099893 meters 0.014746310246716665 Centerline is valid? [True, True] Translation: X:524.04, Y:7.40, Z:6.30 [[ 9.98555796e-01 -4.95420759e-02 -2.07823218e-02 5.24041367e+02] [ 4.95408250e-02 9.98771934e-01 -5.75344082e-04 7.40337229e+00] [ 2.07853035e-02 -4.55060203e-04 9.99783859e-01 6.30260074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2950998929999 meters 0.01444108742110676 Centerline is valid? [True, True] Translation: X:524.07, Y:7.41, Z:6.30 [[ 9.98615188e-01 -4.81837545e-02 -2.11194684e-02 5.24072294e+02] [ 4.81821752e-02 9.98838394e-01 -5.83915330e-04 7.40676419e+00] [ 2.11230711e-02 -4.34475209e-04 9.99776789e-01 6.30312143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3250998929999 meters 0.014133982079804661 Centerline is valid? [True, True] Translation: X:524.10, Y:7.41, Z:6.30 [[ 9.98681681e-01 -4.64648680e-02 -2.18155173e-02 5.24103226e+02] [ 4.64627903e-02 9.98919840e-01 -6.02364858e-04 7.41129715e+00] [ 2.18199418e-02 -4.12039056e-04 9.99761832e-01 6.30282521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.355099893 meters 0.014146960935301512 Centerline is valid? [True, True] Translation: X:524.13, Y:7.41, Z:6.30 [[ 9.98674515e-01 -4.63809676e-02 -2.23163220e-02 5.24134306e+02] [ 4.63787907e-02 9.98923735e-01 -6.15384306e-04 7.41335691e+00] [ 2.23208459e-02 -4.20435405e-04 9.99750770e-01 6.30272540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.385099893 meters 0.014027733353291452 Centerline is valid? [True, True] Translation: X:524.17, Y:7.42, Z:6.30 [[ 9.98652131e-01 -4.66167832e-02 -2.28209933e-02 5.24165798e+02] [ 4.66145873e-02 9.98912752e-01 -6.28467745e-04 7.41529997e+00] [ 2.28254784e-02 -4.36170533e-04 9.99739370e-01 6.30265824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4150998929999 meters 0.01429731346460525 Centerline is valid? [True, True] Translation: X:524.20, Y:7.42, Z:6.30 [[ 9.98615930e-01 -4.73573686e-02 -2.28802052e-02 5.24197306e+02] [ 4.73553746e-02 9.98877907e-01 -6.29267810e-04 7.41634722e+00] [ 2.28843319e-02 -4.55103827e-04 9.99738016e-01 6.30265399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4450998929999 meters 0.014871346524087175 Centerline is valid? [True, True] Translation: X:524.23, Y:7.42, Z:6.30 [[ 9.98535993e-01 -4.90245457e-02 -2.28574997e-02 5.24227522e+02] [ 4.90230152e-02 9.98797452e-01 -6.27636471e-04 7.41765780e+00] [ 2.28607820e-02 -4.93825946e-04 9.99738536e-01 6.30287068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.475099893 meters 0.015181001729809341 Centerline is valid? [True, True] Translation: X:524.26, Y:7.42, Z:6.30 [[ 9.98485223e-01 -5.00567202e-02 -2.28382169e-02 5.24258894e+02] [ 5.00554857e-02 9.98746242e-01 -6.26072817e-04 7.41884039e+00] [ 2.28409225e-02 -5.18053583e-04 9.99738978e-01 6.30357541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.505099893 meters 0.01572805570521001 Centerline is valid? [True, True] Translation: X:524.29, Y:7.42, Z:6.30 [[ 9.98461579e-01 -5.07616280e-02 -2.23098948e-02 5.24289281e+02] [ 5.07606393e-02 9.98710661e-01 -6.10980787e-04 7.41917233e+00] [ 2.23121442e-02 -5.22423683e-04 9.99750917e-01 6.30372061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5350998929999 meters 0.01685232011808392 Centerline is valid? [True, True] Translation: X:524.32, Y:7.42, Z:6.30 [[ 9.98397789e-01 -5.21900263e-02 -2.18645034e-02 5.24319651e+02] [ 5.21894273e-02 9.98637024e-01 -5.98402499e-04 7.41958544e+00] [ 2.18659333e-02 -5.43652181e-04 9.99760764e-01 6.30433071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5650998929999 meters 0.0163110837848909 Centerline is valid? [True, True] Translation: X:524.35, Y:7.42, Z:6.31 [[ 9.98377096e-01 -5.27521747e-02 -2.14564967e-02 5.24350921e+02] [ 5.27517389e-02 9.98607485e-01 -5.86704227e-04 7.42244222e+00] [ 2.14575682e-02 -5.46115452e-04 9.99769611e-01 6.30568803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.595099893 meters 0.01622337873908571 Centerline is valid? [True, True] Translation: X:524.38, Y:7.42, Z:6.31 [[ 9.98374663e-01 -5.28690484e-02 -2.12813530e-02 5.24382972e+02] [ 5.28686689e-02 9.98601305e-01 -5.80849482e-04 7.42408012e+00] [ 2.12822958e-02 -5.45211397e-04 9.99773358e-01 6.30662944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.625099893 meters 0.016353947043444002 Centerline is valid? [True, True] Translation: X:524.42, Y:7.43, Z:6.31 [[ 9.98357835e-01 -5.33511309e-02 -2.08635910e-02 5.24415127e+02] [ 5.33509019e-02 9.98575665e-01 -5.67981904e-04 7.42531795e+00] [ 2.08641768e-02 -5.46042213e-04 9.99782170e-01 6.30742439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6550998929999 meters 0.017458715838076476 Centerline is valid? [True, True] Translation: X:524.45, Y:7.42, Z:6.31 [[ 9.98325390e-01 -5.44023402e-02 -1.96672407e-02 5.24446402e+02] [ 5.44023643e-02 9.98518952e-01 -5.34197732e-04 7.42482970e+00] [ 1.96671741e-02 -5.36641231e-04 9.99806438e-01 6.30841459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6850998929999 meters 0.017797121798497278 Centerline is valid? [True, True] Translation: X:524.48, Y:7.43, Z:6.31 [[ 9.98302727e-01 -5.50377123e-02 -1.90398523e-02 5.24478542e+02] [ 5.50378711e-02 9.98484134e-01 -5.16061147e-04 7.42562545e+00] [ 1.90393933e-02 -5.32727685e-04 9.99818592e-01 6.30926692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.715099893 meters 0.016681242252330575 Centerline is valid? [True, True] Translation: X:524.51, Y:7.43, Z:6.31 [[ 9.98286781e-01 -5.55159213e-02 -1.84793332e-02 5.24511080e+02] [ 5.55161762e-02 9.98457663e-01 -4.99597865e-04 7.42904625e+00] [ 1.84785675e-02 -5.27159974e-04 9.99829118e-01 6.31064932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.745099893 meters 0.017049403411679126 Centerline is valid? [True, True] Translation: X:524.54, Y:7.43, Z:6.31 [[ 9.98283692e-01 -5.59168262e-02 -1.74062609e-02 5.24543162e+02] [ 5.59171341e-02 9.98435303e-01 -4.69384564e-04 7.42997813e+00] [ 1.74052718e-02 -5.04729266e-04 9.99848389e-01 6.31127851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.775099893 meters 0.018215731534567004 Centerline is valid? [True, True] Translation: X:524.57, Y:7.43, Z:6.31 [[ 9.98265698e-01 -5.63340133e-02 -1.70901845e-02 5.24574334e+02] [ 5.63343903e-02 9.98411851e-01 -4.59737031e-04 7.42938831e+00] [ 1.70889416e-02 -5.03825418e-04 9.99853846e-01 6.31189925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8050998929999 meters 0.016905760017484346 Centerline is valid? [True, True] Translation: X:524.61, Y:7.43, Z:6.31 [[ 9.98265347e-01 -5.65877009e-02 -1.62520431e-02 5.24606702e+02] [ 5.65880902e-02 9.98397515e-01 -4.36279689e-04 7.43426052e+00] [ 1.62506875e-02 -4.84149186e-04 9.99867832e-01 6.31350848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8350998929999 meters 0.01726546332311606 Centerline is valid? [True, True] Translation: X:524.64, Y:7.44, Z:6.31 [[ 9.98274245e-01 -5.65751659e-02 -1.57410857e-02 5.24637416e+02] [ 5.65755461e-02 9.98398232e-01 -4.21512569e-04 7.43523393e+00] [ 1.57397193e-02 -4.69775378e-04 9.99876013e-01 6.31408643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.865099893 meters 0.01837697568107486 Centerline is valid? [True, True] Translation: X:524.67, Y:7.44, Z:6.31 [[ 9.98288545e-01 -5.64616502e-02 -1.52336302e-02 5.24668367e+02] [ 5.64620080e-02 9.98404665e-01 -4.06938471e-04 7.43508049e+00] [ 1.52323039e-02 -4.53879338e-04 9.99883879e-01 6.31433579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.895099893 meters 0.01648790438472617 Centerline is valid? [True, True] Translation: X:524.70, Y:7.44, Z:6.32 [[ 9.98311520e-01 -5.61618567e-02 -1.48308668e-02 5.24700857e+02] [ 5.61621866e-02 9.98421581e-01 -3.94575046e-04 7.43988721e+00] [ 1.48296176e-02 -4.39025095e-04 9.99889939e-01 6.31531699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9250998929999 meters 0.01692325288035543 Centerline is valid? [True, True] Translation: X:524.73, Y:7.44, Z:6.32 [[ 9.98338129e-01 -5.58900689e-02 -1.40456602e-02 5.24732431e+02] [ 5.58903512e-02 9.98436843e-01 -3.72731774e-04 7.44144184e+00] [ 1.40445367e-02 -4.12904542e-04 9.99901285e-01 6.31619667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9550998929999 meters 0.016633452956655203 Centerline is valid? [True, True] Translation: X:524.76, Y:7.44, Z:6.32 [[ 9.98349987e-01 -5.58249358e-02 -1.34491474e-02 5.24764099e+02] [ 5.58251985e-02 9.98440494e-01 -3.56173409e-04 7.44342464e+00] [ 1.34480568e-02 -3.95215606e-04 9.99909493e-01 6.31706041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.985099893 meters 0.016594364579099682 Centerline is valid? [True, True] Translation: X:524.80, Y:7.44, Z:6.32 [[ 9.98369995e-01 -5.56086117e-02 -1.28466230e-02 5.24796062e+02] [ 5.56088450e-02 9.98452573e-01 -3.39322061e-04 7.44497222e+00] [ 1.28456131e-02 -3.75616905e-04 9.99917421e-01 6.31774015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.015099893 meters 0.016590676904055884 Centerline is valid? [True, True] Translation: X:524.83, Y:7.45, Z:6.32 [[ 9.98389108e-01 -5.54093335e-02 -1.22063176e-02 5.24828666e+02] [ 5.54095396e-02 9.98463660e-01 -3.21566215e-04 7.44647476e+00] [ 1.22053823e-02 -3.55298233e-04 9.99925448e-01 6.31883012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0450998929999 meters 0.01749392267682458 Centerline is valid? [True, True] Translation: X:524.86, Y:7.45, Z:6.32 [[ 9.98397269e-01 -5.54986752e-02 -1.10810961e-02 5.24859766e+02] [ 5.54988587e-02 9.98458708e-01 -2.91177915e-04 7.44699018e+00] [ 1.10801769e-02 -3.24276954e-04 9.99938560e-01 6.32016530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0750998929999 meters 0.017360388231037808 Centerline is valid? [True, True] Translation: X:524.89, Y:7.45, Z:6.32 [[ 9.98386333e-01 -5.58184383e-02 -1.04418737e-02 5.24892008e+02] [ 5.58186239e-02 9.98440888e-01 -2.73886465e-04 7.44840719e+00] [ 1.04408815e-02 -3.09406516e-04 9.99945445e-01 6.32084016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.105099893 meters 0.018025564701896837 Centerline is valid? [True, True] Translation: X:524.92, Y:7.45, Z:6.32 [[ 9.98349408e-01 -5.65759812e-02 -9.88013946e-03 5.24923423e+02] [ 5.65761913e-02 9.98398251e-01 -2.58454478e-04 7.44883769e+00] [ 9.87893628e-03 -3.00952785e-04 9.99951157e-01 6.32121976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.135099893 meters 0.016834813481396007 Centerline is valid? [True, True] Translation: X:524.96, Y:7.45, Z:6.32 [[ 9.98276407e-01 -5.80155889e-02 -8.85476522e-03 5.24955681e+02] [ 5.80158171e-02 9.98315637e-01 -2.31304230e-04 7.45212108e+00] [ 8.85326983e-03 -2.82810884e-04 9.99960769e-01 6.32168095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1650998929999 meters 0.017385881171623853 Centerline is valid? [True, True] Translation: X:524.99, Y:7.45, Z:6.32 [[ 9.98240798e-01 -5.86208976e-02 -8.88253634e-03 5.24987288e+02] [ 5.86211576e-02 9.98280274e-01 -2.31308896e-04 7.45233435e+00] [ 8.88082035e-03 -2.89802585e-04 9.99960523e-01 6.32220398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1950998929999 meters 0.0183340895905913 Centerline is valid? [True, True] Translation: X:525.02, Y:7.45, Z:6.32 [[ 9.98200634e-01 -5.93487494e-02 -8.55692767e-03 5.25018185e+02] [ 5.93490185e-02 9.98237269e-01 -2.22696557e-04 7.45197760e+00] [ 8.55506087e-03 -2.85549414e-04 9.99963364e-01 6.32251448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.225099893 meters 0.017456552754389235 Centerline is valid? [True, True] Translation: X:525.05, Y:7.45, Z:6.32 [[ 9.98083960e-01 -6.13181252e-02 -8.27624566e-03 5.25050556e+02] [ 6.13184555e-02 9.98118230e-01 -2.14061687e-04 7.45464837e+00] [ 8.27379753e-03 -2.93835066e-04 9.99965728e-01 6.32244873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.255099893 meters 0.01904410217893496 Centerline is valid? [True, True] Translation: X:525.08, Y:7.45, Z:6.32 [[ 9.98016929e-01 -6.24270445e-02 -8.06682600e-03 5.25081568e+02] [ 6.24273970e-02 9.98049486e-01 -2.08339253e-04 7.45344903e+00] [ 8.06409755e-03 -2.95664848e-04 9.99967441e-01 6.32316452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2850998929999 meters 0.01904410217893496 Centerline is valid? [True, True] Translation: X:525.11, Y:7.45, Z:6.32 [[ 9.98023663e-01 -6.23192967e-02 -8.06685720e-03 5.25114115e+02] [ 6.23196555e-02 9.98056220e-01 -2.07122506e-04 7.45419527e+00] [ 8.06408473e-03 -2.96010599e-04 9.99967441e-01 6.32356666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3150998929999 meters 0.01870801623746292 Centerline is valid? [True, True] Translation: X:525.15, Y:7.46, Z:6.32 [[ 9.97977507e-01 -6.30980782e-02 -7.71540357e-03 5.25146520e+02] [ 6.30984369e-02 9.98007289e-01 -1.97159339e-04 7.45568082e+00] [ 7.71246938e-03 -2.90069319e-04 9.99970216e-01 6.32364943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.345099893 meters 0.020038531988667466 Centerline is valid? [True, True] Translation: X:525.18, Y:7.45, Z:6.32 [[ 9.97896993e-01 -6.43422334e-02 -7.85296917e-03 5.25177796e+02] [ 6.43426487e-02 9.97927845e-01 -2.00004247e-04 7.45480318e+00] [ 7.84956532e-03 -3.05697200e-04 9.99969145e-01 6.32402265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.375099893 meters 0.019155849889935433 Centerline is valid? [True, True] Translation: X:525.21, Y:7.46, Z:6.32 [[ 9.97854775e-01 -6.50150786e-02 -7.67387522e-03 5.25209906e+02] [ 6.50154975e-02 9.97884235e-01 -1.95131061e-04 7.45710339e+00] [ 7.67032556e-03 -3.04208354e-04 9.99970536e-01 6.32375030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4050998929999 meters 0.02004673559849537 Centerline is valid? [True, True] Translation: X:525.24, Y:7.46, Z:6.32 [[ 9.97803689e-01 -6.57758151e-02 -7.83196113e-03 5.25240976e+02] [ 6.57762801e-02 9.97834376e-01 -1.98474608e-04 7.45709829e+00] [ 7.82805487e-03 -3.17118572e-04 9.99969310e-01 6.32329565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4350998929999 meters 0.019723040856258114 Centerline is valid? [True, True] Translation: X:525.27, Y:7.46, Z:6.32 [[ 9.97801269e-01 -6.57779622e-02 -8.11714103e-03 5.25273873e+02] [ 6.57784637e-02 9.97834230e-01 -2.05467924e-04 7.45846088e+00] [ 8.11307644e-03 -3.28916912e-04 9.99967034e-01 6.32274582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.465099893 meters 0.02025380119154813 Centerline is valid? [True, True] Translation: X:525.31, Y:7.46, Z:6.32 [[ 9.97824473e-01 -6.53615763e-02 -8.61306803e-03 5.25305283e+02] [ 6.53621332e-02 9.97861586e-01 -2.17121728e-04 7.45847377e+00] [ 8.60884114e-03 -3.46319126e-04 9.99962883e-01 6.32260078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.495099893 meters 0.020474062807121562 Centerline is valid? [True, True] Translation: X:525.34, Y:7.46, Z:6.32 [[ 9.97864322e-01 -6.47594260e-02 -8.54471841e-03 5.25337840e+02] [ 6.47599646e-02 9.97900847e-01 -2.13923873e-04 7.45902969e+00] [ 8.54063533e-03 -3.39888662e-04 9.99963470e-01 6.32190432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.525099893 meters 0.01902780412037325 Centerline is valid? [True, True] Translation: X:525.37, Y:7.46, Z:6.32 [[ 9.97910362e-01 -6.40042270e-02 -8.85253931e-03 5.25370299e+02] [ 6.40047813e-02 9.97949567e-01 -2.20974297e-04 7.46165213e+00] [ 8.84853107e-03 -3.46092302e-04 9.99960791e-01 6.32153816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5550998929999 meters 0.02035121843127616 Centerline is valid? [True, True] Translation: X:525.40, Y:7.46, Z:6.32 [[ 9.97957454e-01 -6.32646486e-02 -8.86028175e-03 5.25401954e+02] [ 6.32651810e-02 9.97996728e-01 -2.20454518e-04 7.46020183e+00] [ 8.85647917e-03 -3.40543100e-04 9.99960723e-01 6.32163052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5850998929999 meters 0.02064538948821054 Centerline is valid? [True, True] Translation: X:525.43, Y:7.46, Z:6.32 [[ 9.97987126e-01 -6.27664440e-02 -9.05918840e-03 5.25432934e+02] [ 6.27669822e-02 9.98028184e-01 -2.25177061e-04 7.46038507e+00] [ 9.05545890e-03 -3.43894109e-04 9.99958939e-01 6.32173415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.615099893 meters 0.020956060139502034 Centerline is valid? [True, True] Translation: X:525.46, Y:7.46, Z:6.32 [[ 9.98039918e-01 -6.19244362e-02 -9.03800214e-03 5.25464070e+02] [ 6.19249513e-02 9.98080784e-01 -2.23110662e-04 7.46048358e+00] [ 9.03447226e-03 -3.37004496e-04 9.99959132e-01 6.32174766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.645099893 meters 0.0203548704755852 Centerline is valid? [True, True] Translation: X:525.50, Y:7.46, Z:6.32 [[ 9.98097786e-01 -6.08867866e-02 -9.67514408e-03 5.25496076e+02] [ 6.08873331e-02 9.98144617e-01 -2.38335827e-04 7.46183947e+00] [ 9.67170448e-03 -3.51211259e-04 9.99953166e-01 6.32082165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6750998929999 meters 0.020931542417161088 Centerline is valid? [True, True] Translation: X:525.53, Y:7.46, Z:6.32 [[ 9.98122693e-01 -6.03729423e-02 -1.03052314e-02 5.25526931e+02] [ 6.03735432e-02 9.98175822e-01 -2.53050978e-04 7.46130432e+00] [ 1.03017103e-02 -3.69587410e-04 9.99946868e-01 6.32039582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7050998929999 meters 0.0173850417286949 Centerline is valid? [True, True] Translation: X:525.56, Y:7.47, Z:6.32 [[ 9.98123479e-01 -6.01801516e-02 -1.13079406e-02 5.25559202e+02] [ 6.01808699e-02 9.98187450e-01 -2.77049565e-04 7.46677864e+00] [ 1.13041173e-02 -4.03992027e-04 9.99936025e-01 6.31956785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.735099893 meters 0.01749406483519806 Centerline is valid? [True, True] Translation: X:525.59, Y:7.47, Z:6.32 [[ 9.98100266e-01 -6.04928870e-02 -1.16820419e-02 5.25591000e+02] [ 6.04936854e-02 9.98168539e-01 -2.85324968e-04 7.46660469e+00] [ 1.16779069e-02 -4.21906843e-04 9.99931722e-01 6.31891341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.765099893 meters 0.017637662339234868 Centerline is valid? [True, True] Translation: X:525.62, Y:7.46, Z:6.32 [[ 9.98034355e-01 -6.13492248e-02 -1.27944835e-02 5.25623547e+02] [ 6.13502660e-02 9.98116250e-01 -3.11467306e-04 7.46485709e+00] [ 1.27894902e-02 -4.74089893e-04 9.99918099e-01 6.31760468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7950998929999 meters 0.019069695122538595 Centerline is valid? [True, True] Translation: X:525.65, Y:7.46, Z:6.32 [[ 9.97972946e-01 -6.22139474e-02 -1.33949311e-02 5.25654289e+02] [ 6.22151809e-02 9.98062706e-01 -3.24997780e-04 7.46217881e+00] [ 1.33892006e-02 -5.09029072e-04 9.99910231e-01 6.31706310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8250998929999 meters 0.02401699248901401 Centerline is valid? [True, True] Translation: X:525.69, Y:7.45, Z:6.32 [[ 9.97937839e-01 -6.26736546e-02 -1.38593739e-02 5.25685543e+02] [ 6.26750432e-02 9.98033931e-01 -3.34550504e-04 7.45439754e+00] [ 1.38530929e-02 -5.34776252e-04 9.99903898e-01 6.31647342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.855099893 meters 0.018666021718279587 Centerline is valid? [True, True] Translation: X:525.72, Y:7.46, Z:6.32 [[ 9.97918112e-01 -6.28262117e-02 -1.45708556e-02 5.25717294e+02] [ 6.28277753e-02 9.98024322e-01 -3.50868558e-04 7.46158467e+00] [ 1.45641121e-02 -5.65316356e-04 9.99893778e-01 6.31647967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.885099893 meters 0.01802491968767803 Centerline is valid? [True, True] Translation: X:525.75, Y:7.46, Z:6.32 [[ 9.97942313e-01 -6.23785518e-02 -1.48342675e-02 5.25749820e+02] [ 6.23801394e-02 9.98052399e-01 -3.56111465e-04 7.46146375e+00] [ 1.48275900e-02 -5.69984976e-04 9.99889903e-01 6.31643500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9150998929999 meters 0.018238801017315447 Centerline is valid? [True, True] Translation: X:525.78, Y:7.46, Z:6.32 [[ 9.98007121e-01 -6.12645672e-02 -1.51142338e-02 5.25780735e+02] [ 6.12661040e-02 9.98121402e-01 -3.61753664e-04 7.46089355e+00] [ 1.51080029e-02 -5.64957488e-04 9.99885708e-01 6.31644621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9450998929999 meters 0.01711561198067211 Centerline is valid? [True, True] Translation: X:525.81, Y:7.46, Z:6.32 [[ 9.98101914e-01 -5.97086111e-02 -1.50815128e-02 5.25813386e+02] [ 5.97099778e-02 9.98215703e-01 -3.60044265e-04 7.46248669e+00] [ 1.50761006e-02 -5.41155925e-04 9.99886203e-01 6.31687903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.975099893 meters 0.015628945627425152 Centerline is valid? [True, True] Translation: X:525.85, Y:7.46, Z:6.32 [[ 9.98336533e-01 -5.56364990e-02 -1.51243991e-02 5.25845326e+02] [ 5.56374263e-02 9.98450974e-01 -3.59773552e-04 7.46388450e+00] [ 1.51209876e-02 -4.82307561e-04 9.99885555e-01 6.31712582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.005099893 meters 0.01690210185987955 Centerline is valid? [True, True] Translation: X:525.88, Y:7.46, Z:6.32 [[ 9.98468577e-01 -5.32008979e-02 -1.51711726e-02 5.25876644e+02] [ 5.32015629e-02 9.98583729e-01 -3.60038903e-04 7.46149199e+00] [ 1.51688405e-02 -4.47642563e-04 9.99884846e-01 6.31707891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0350998929999 meters 0.015709305495633336 Centerline is valid? [True, True] Translation: X:525.91, Y:7.46, Z:6.32 [[ 9.98590519e-01 -5.07765191e-02 -1.54505811e-02 5.25908435e+02] [ 5.07769330e-02 9.98709953e-01 -3.65754889e-04 7.46297889e+00] [ 1.54492208e-02 -4.19293755e-04 9.99880566e-01 6.31739520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0650998929999 meters 0.01441336015196926 Centerline is valid? [True, True] Translation: X:525.94, Y:7.46, Z:6.32 [[ 9.98694828e-01 -4.87365606e-02 -1.52770755e-02 5.25940226e+02] [ 4.87367432e-02 9.98811594e-01 -3.60568859e-04 7.46485290e+00] [ 1.52764930e-02 -3.84456648e-04 9.99883234e-01 6.31776895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.095099893 meters 0.014490207294584919 Centerline is valid? [True, True] Translation: X:525.97, Y:7.46, Z:6.32 [[ 9.98860617e-01 -4.51119881e-02 -1.55684292e-02 5.25970517e+02] [ 4.51117528e-02 9.98981879e-01 -3.66470867e-04 7.46245530e+00] [ 1.55691109e-02 -3.36265813e-04 9.99878738e-01 6.31706572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.125099893 meters 0.013672362096198369 Centerline is valid? [True, True] Translation: X:526.00, Y:7.46, Z:6.32 [[ 9.98918314e-01 -4.37900676e-02 -1.56407398e-02 5.26003066e+02] [ 4.37896753e-02 9.99040704e-01 -3.67716743e-04 7.46301113e+00] [ 1.56418380e-02 -3.17583928e-04 9.99877609e-01 6.31726081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1550998929999 meters 0.013354565347407591 Centerline is valid? [True, True] Translation: X:526.04, Y:7.46, Z:6.32 [[ 9.98954212e-01 -4.28227025e-02 -1.60218166e-02 5.26035220e+02] [ 4.28221851e-02 9.99082639e-01 -3.75515515e-04 7.46264244e+00] [ 1.60231994e-02 -3.10966392e-04 9.99871572e-01 6.31701088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1850998929999 meters 0.013092307338154736 Centerline is valid? [True, True] Translation: X:526.07, Y:7.46, Z:6.32 [[ 9.98962376e-01 -4.23486632e-02 -1.67559638e-02 5.26067123e+02] [ 4.23480515e-02 9.99102842e-01 -3.91480480e-04 7.46237076e+00] [ 1.67575098e-02 -3.18508148e-04 9.99859532e-01 6.31707989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.215099893 meters 0.014022575536139647 Centerline is valid? [True, True] Translation: X:526.10, Y:7.46, Z:6.32 [[ 9.98973666e-01 -4.18256262e-02 -1.73848297e-02 5.26098467e+02] [ 4.18249152e-02 9.99124873e-01 -4.04639065e-04 7.45934162e+00] [ 1.73865400e-02 -3.22895256e-04 9.99848791e-01 6.31663782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.245099893 meters 0.013297564628708295 Centerline is valid? [True, True] Translation: X:526.13, Y:7.46, Z:6.32 [[ 9.98922256e-01 -4.26731810e-02 -1.82572070e-02 5.26129583e+02] [ 4.26725710e-02 9.99089021e-01 -4.23161723e-04 7.45796178e+00] [ 1.82586327e-02 -3.56376299e-04 9.99833234e-01 6.31654538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.275099893 meters 0.014248096299655658 Centerline is valid? [True, True] Translation: X:526.16, Y:7.45, Z:6.32 [[ 9.98871407e-01 -4.36075746e-02 -1.88226338e-02 5.26160077e+02] [ 4.36071028e-02 9.99048663e-01 -4.35696300e-04 7.45498093e+00] [ 1.88237268e-02 -3.85595953e-04 9.99822744e-01 6.31613868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3050998929999 meters 0.01372490353981291 Centerline is valid? [True, True] Translation: X:526.19, Y:7.45, Z:6.32 [[ 9.98834181e-01 -4.44959442e-02 -1.87186829e-02 5.26191303e+02] [ 4.44956419e-02 9.99009485e-01 -4.32843899e-04 7.45472874e+00] [ 1.87194015e-02 -4.00560529e-04 9.99824696e-01 6.31713289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3350998929999 meters 0.014076912235570024 Centerline is valid? [True, True] Translation: X:526.22, Y:7.45, Z:6.32 [[ 9.98785415e-01 -4.56320462e-02 -1.85852656e-02 5.26222893e+02] [ 4.56319570e-02 9.98958228e-01 -4.29096409e-04 7.45283528e+00] [ 1.85854846e-02 -4.19506807e-04 9.99827187e-01 6.31754981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.365099893 meters 0.014060741859176985 Centerline is valid? [True, True] Translation: X:526.25, Y:7.45, Z:6.32 [[ 9.98665831e-01 -4.80118275e-02 -1.90111374e-02 5.26254478e+02] [ 4.80121783e-02 9.98846654e-01 -4.38232256e-04 7.45024481e+00] [ 1.90102513e-02 -4.75118540e-04 9.99819176e-01 6.31852430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.395099893 meters 0.015146556743985115 Centerline is valid? [True, True] Translation: X:526.29, Y:7.45, Z:6.32 [[ 9.98625944e-01 -4.89357245e-02 -1.87488116e-02 5.26285037e+02] [ 4.89362436e-02 9.98801811e-01 -4.31374698e-04 7.44729301e+00] [ 1.87474566e-02 -4.86714446e-04 9.99824133e-01 6.31873624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4250998929999 meters 0.015316396877290524 Centerline is valid? [True, True] Translation: X:526.32, Y:7.45, Z:6.32 [[ 9.98571351e-01 -5.00907624e-02 -1.86057269e-02 5.26316449e+02] [ 5.00914910e-02 9.98744542e-01 -4.27164096e-04 7.44642713e+00] [ 1.86037652e-02 -5.05434776e-04 9.99826807e-01 6.31940733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4550998929999 meters 0.014928238675516115 Centerline is valid? [True, True] Translation: X:526.35, Y:7.45, Z:6.32 [[ 9.98521035e-01 -5.11261695e-02 -1.84893786e-02 5.26347485e+02] [ 5.11270787e-02 9.98692066e-01 -4.23827815e-04 7.44634093e+00] [ 1.84868644e-02 -5.22106928e-04 9.99828967e-01 6.32049495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.485099893 meters 0.016194526670809506 Centerline is valid? [True, True] Translation: X:526.38, Y:7.44, Z:6.32 [[ 9.98412482e-01 -5.32895333e-02 -1.82411987e-02 5.26378231e+02] [ 5.32907890e-02 9.98578949e-01 -4.17583984e-04 7.44220969e+00] [ 1.82375299e-02 -5.55166811e-04 9.99833528e-01 6.32096115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.515099893 meters 0.016490443004651835 Centerline is valid? [True, True] Translation: X:526.41, Y:7.44, Z:6.32 [[ 9.98350862e-01 -5.44948289e-02 -1.80518518e-02 5.26409351e+02] [ 5.44962632e-02 9.98513889e-01 -4.12821288e-04 7.44127100e+00] [ 1.80475213e-02 -5.71617976e-04 9.99836967e-01 6.32183051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5450998929999 meters 0.01783210479782044 Centerline is valid? [True, True] Translation: X:526.44, Y:7.44, Z:6.32 [[ 9.98268731e-01 -5.59909713e-02 -1.80153394e-02 5.26439906e+02] [ 5.59926561e-02 9.98431096e-01 -4.11263575e-04 7.43878859e+00] [ 1.80101021e-02 -5.98175136e-04 9.99837626e-01 6.32243316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5750998929999 meters 0.01813760359809106 Centerline is valid? [True, True] Translation: X:526.47, Y:7.44, Z:6.32 [[ 9.98044620e-01 -5.99712488e-02 -1.76177822e-02 5.26470817e+02] [ 5.99734930e-02 9.98199889e-01 -4.01411066e-04 7.43672326e+00] [ 1.76101414e-02 -6.55973781e-04 9.99844714e-01 6.32416960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.605099893 meters 0.019782167378420194 Centerline is valid? [True, True] Translation: X:526.50, Y:7.43, Z:6.32 [[ 9.97876299e-01 -6.27061852e-02 -1.76302680e-02 5.26501242e+02] [ 6.27088678e-02 9.98031782e-01 -4.01172795e-04 7.43385436e+00] [ 1.76207238e-02 -7.05253319e-04 9.99844494e-01 6.32482155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.635099893 meters 0.02013403303628122 Centerline is valid? [True, True] Translation: X:526.53, Y:7.43, Z:6.33 [[ 9.97698575e-01 -6.54749356e-02 -1.76234483e-02 5.26532482e+02] [ 6.54780545e-02 9.97853929e-01 -4.00604966e-04 7.43293498e+00] [ 1.76118567e-02 -7.54266106e-04 9.99844615e-01 6.32586224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6650998929999 meters 0.022699799096706472 Centerline is valid? [True, True] Translation: X:526.56, Y:7.43, Z:6.33 [[ 9.97227476e-01 -7.21421625e-02 -1.82446946e-02 5.26562695e+02] [ 7.21466277e-02 9.97393951e-01 -4.14204159e-04 7.42723622e+00] [ 1.82270296e-02 -9.03237420e-04 9.99833466e-01 6.32639732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6950998929999 meters 0.024391656136807497 Centerline is valid? [True, True] Translation: X:526.59, Y:7.42, Z:6.33 [[ 9.96955800e-01 -7.56369722e-02 -1.89256667e-02 5.26593682e+02] [ 7.56424096e-02 9.97134916e-01 -4.29416818e-04 7.42417666e+00] [ 1.89039229e-02 -1.00347344e-03 9.99820801e-01 6.32660028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.725099893 meters 0.027038726518387565 Centerline is valid? [True, True] Translation: X:526.62, Y:7.42, Z:6.33 [[ 9.96705287e-01 -7.88593069e-02 -1.89678581e-02 5.26623742e+02] [ 7.88653629e-02 9.96885184e-01 -4.29695749e-04 7.41999208e+00] [ 1.89426622e-02 -1.06762698e-03 9.99820002e-01 6.32675863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.755099893 meters 0.02515765555882938 Centerline is valid? [True, True] Translation: X:526.65, Y:7.42, Z:6.33 [[ 9.96458395e-01 -8.18055142e-02 -1.94557091e-02 5.26654332e+02] [ 8.18124649e-02 9.96647644e-01 -4.39743023e-04 7.42221756e+00] [ 1.94264600e-02 -1.15353389e-03 9.99810623e-01 6.32753330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7850998929999 meters 0.02758200853170262 Centerline is valid? [True, True] Translation: X:526.68, Y:7.42, Z:6.33 [[ 9.96233577e-01 -8.43298590e-02 -2.01775856e-02 5.26684537e+02] [ 8.43378558e-02 9.96437112e-01 -4.55822956e-04 7.41852077e+00] [ 2.01441346e-02 -1.24762817e-03 9.99796308e-01 6.32760095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8150998929999 meters 0.028742492481712376 Centerline is valid? [True, True] Translation: X:526.72, Y:7.42, Z:6.33 [[ 9.95826805e-01 -8.86755467e-02 -2.15782540e-02 5.26715633e+02] [ 8.86857090e-02 9.96059540e-01 -4.87433013e-04 7.41573731e+00] [ 2.15364491e-02 -1.42828390e-03 9.99767044e-01 6.32743671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.845099893 meters 0.03087606010714833 Centerline is valid? [True, True] Translation: X:526.75, Y:7.41, Z:6.33 [[ 9.95681001e-01 -9.01364316e-02 -2.22433619e-02 5.26745758e+02] [ 9.01476140e-02 9.95928289e-01 -5.01518739e-04 7.41284608e+00] [ 2.21979985e-02 -1.50583333e-03 9.99752460e-01 6.32728951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.875099893 meters 0.029640883920480622 Centerline is valid? [True, True] Translation: X:526.78, Y:7.41, Z:6.33 [[ 9.95589094e-01 -9.10096564e-02 -2.27946927e-02 5.26777585e+02] [ 9.10216715e-02 9.95848780e-01 -5.12039411e-04 7.41450323e+00] [ 2.27466674e-02 -1.56503018e-03 9.99740036e-01 6.32769327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9050998929999 meters 0.03062940875123092 Centerline is valid? [True, True] Translation: X:526.81, Y:7.41, Z:6.33 [[ 9.95531043e-01 -9.13933667e-02 -2.37738393e-02 5.26809144e+02] [ 9.14065829e-02 9.95813513e-01 -5.32468332e-04 7.41332992e+00] [ 2.37229745e-02 -1.64299666e-03 9.99717221e-01 6.32755072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9350998929999 meters 0.03051628471405315 Centerline is valid? [True, True] Translation: X:526.84, Y:7.41, Z:6.33 [[ 9.95614974e-01 -9.02301185e-02 -2.46849973e-02 5.26840184e+02] [ 9.02440401e-02 9.95919529e-01 -5.51732294e-04 7.41416153e+00] [ 2.46340537e-02 -1.67836095e-03 9.99695127e-01 6.32814902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.965099893 meters 0.028541245770316172 Centerline is valid? [True, True] Translation: X:526.87, Y:7.42, Z:6.33 [[ 9.95763193e-01 -8.84812473e-02 -2.50346420e-02 5.26871964e+02] [ 8.84950461e-02 9.96076460e-01 -5.58345582e-04 7.41824495e+00] [ 2.49858207e-02 -1.65946182e-03 9.99686428e-01 6.32943745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.995099893 meters 0.02893863657448927 Centerline is valid? [True, True] Translation: X:526.90, Y:7.42, Z:6.33 [[ 9.95971169e-01 -8.62180642e-02 -2.46551373e-02 5.26901870e+02] [ 8.62307748e-02 9.96275038e-01 -5.49160715e-04 7.41960164e+00] [ 2.46106455e-02 -1.57908335e-03 9.99695865e-01 6.33001407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.025099893 meters 0.02670366410389637 Centerline is valid? [True, True] Translation: X:526.93, Y:7.42, Z:6.33 [[ 9.96218888e-01 -8.32877962e-02 -2.47198254e-02 5.26932408e+02] [ 8.32996805e-02 9.96524390e-01 -5.50376481e-04 7.42446742e+00] [ 2.46797485e-02 -1.51085811e-03 9.99694267e-01 6.33141386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0550998929999 meters 0.02538872504900919 Centerline is valid? [True, True] Translation: X:526.96, Y:7.43, Z:6.33 [[ 9.96836153e-01 -7.57865703e-02 -2.39599599e-02 5.26962171e+02] [ 7.57955789e-02 9.97123235e-01 -5.33259052e-04 7.43021780e+00] [ 2.39314466e-02 -1.28448713e-03 9.99712777e-01 6.33287629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0850998929999 meters 0.0223466442778399 Centerline is valid? [True, True] Translation: X:526.99, Y:7.44, Z:6.33 [[ 9.97165202e-01 -7.15120552e-02 -2.34005526e-02 5.26992421e+02] [ 7.15194733e-02 9.97439068e-01 -5.20828377e-04 7.43712364e+00] [ 2.33778709e-02 -1.15424326e-03 9.99726034e-01 6.33434043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.115099893 meters 0.020578467433537105 Centerline is valid? [True, True] Translation: X:527.02, Y:7.44, Z:6.34 [[ 9.97511724e-01 -6.67392863e-02 -2.27206760e-02 5.27023624e+02] [ 6.67450480e-02 9.97769935e-01 -5.05508341e-04 7.44211365e+00] [ 2.27037447e-02 -1.01224212e-03 9.99741724e-01 6.33533688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.145099893 meters 0.02004663310372252 Centerline is valid? [True, True] Translation: X:527.05, Y:7.45, Z:6.34 [[ 9.98013129e-01 -5.89483714e-02 -2.22459875e-02 5.27053150e+02] [ 5.89519626e-02 9.98260698e-01 -4.94905879e-04 7.44665644e+00] [ 2.22364689e-02 -8.17522060e-04 9.99752405e-01 6.33548997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1750998929999 meters 0.02004663310372252 Centerline is valid? [True, True] Translation: X:527.08, Y:7.45, Z:6.34 [[ 9.98013129e-01 -5.89483741e-02 -2.22459826e-02 5.27083162e+02] [ 5.89519604e-02 9.98260698e-01 -4.95128897e-04 7.44732452e+00] [ 2.22364771e-02 -8.17299143e-04 9.99752405e-01 6.33586126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2050998929999 meters 0.01714653903613128 Centerline is valid? [True, True] Translation: X:527.11, Y:7.45, Z:6.34 [[ 9.98195027e-01 -5.58968074e-02 -2.19598686e-02 5.27113489e+02] [ 5.58995644e-02 9.98436277e-01 -4.88760859e-04 7.45400634e+00] [ 2.19528497e-02 -7.39668432e-04 9.99758734e-01 6.33757519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.235099893 meters 0.015890687146790504 Centerline is valid? [True, True] Translation: X:527.14, Y:7.46, Z:6.34 [[ 9.98343372e-01 -5.30817293e-02 -2.22000429e-02 5.27144735e+02] [ 5.30838598e-02 9.98589936e-01 -4.93745597e-04 7.45808453e+00] [ 2.21949483e-02 -6.85536317e-04 9.99753427e-01 6.33851873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.265099893 meters 0.015365331078150635 Centerline is valid? [True, True] Translation: X:527.18, Y:7.46, Z:6.34 [[ 9.98467701e-01 -5.05228218e-02 -2.25764100e-02 5.27175193e+02] [ 5.05243819e-02 9.98722702e-01 -5.01655226e-04 7.46067379e+00] [ 2.25729182e-02 -6.39772620e-04 9.99744995e-01 6.33868322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2950998929999 meters 0.014849360419210934 Centerline is valid? [True, True] Translation: X:527.20, Y:7.46, Z:6.34 [[ 9.98700046e-01 -4.51125162e-02 -2.37292915e-02 5.27204395e+02] [ 4.51127088e-02 9.98981764e-01 -5.27476372e-04 7.46414192e+00] [ 2.37289252e-02 -5.43701938e-04 9.99718282e-01 6.33737570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3250998929999 meters 0.014478195680999156 Centerline is valid? [True, True] Translation: X:527.23, Y:7.47, Z:6.34 [[ 9.98772598e-01 -4.31741632e-02 -2.42752788e-02 5.27234050e+02] [ 4.31737772e-02 9.99067432e-01 -5.40250997e-04 7.46681921e+00] [ 2.42759654e-02 -5.08467588e-04 9.99705166e-01 6.33733552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.355099893 meters 0.012912947682124672 Centerline is valid? [True, True] Translation: X:527.26, Y:7.47, Z:6.34 [[ 9.98836558e-01 -4.13800316e-02 -2.47633581e-02 5.27262507e+02] [ 4.13789889e-02 9.99143369e-01 -5.54743632e-04 7.47196710e+00] [ 2.47651003e-02 -4.70584499e-04 9.99693187e-01 6.33905109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.385099893 meters 0.01290457306923059 Centerline is valid? [True, True] Translation: X:527.29, Y:7.47, Z:6.34 [[ 9.98883009e-01 -3.99903679e-02 -2.51695387e-02 5.27290724e+02] [ 3.99886858e-02 9.99199970e-01 -5.70355629e-04 7.47367693e+00] [ 2.51722111e-02 -4.36778230e-04 9.99683034e-01 6.33876939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4150998929999 meters 0.012341853197676389 Centerline is valid? [True, True] Translation: X:527.32, Y:7.48, Z:6.34 [[ 9.98970821e-01 -3.77483550e-02 -2.51467984e-02 5.27319259e+02] [ 3.77458045e-02 9.99287207e-01 -5.76253442e-04 7.47725054e+00] [ 2.51506266e-02 -3.73525763e-04 9.99683603e-01 6.34001970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4450998929999 meters 0.012032037813326736 Centerline is valid? [True, True] Translation: X:527.35, Y:7.48, Z:6.34 [[ 9.99029416e-01 -3.63134825e-02 -2.49310607e-02 5.27347773e+02] [ 3.63103711e-02 9.99340394e-01 -5.77635879e-04 7.47941711e+00] [ 2.49355920e-02 -3.28180831e-04 9.99689006e-01 6.34100700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.475099893 meters 0.011828890274624053 Centerline is valid? [True, True] Translation: X:527.38, Y:7.48, Z:6.34 [[ 9.99084425e-01 -3.49664993e-02 -2.46506679e-02 5.27376991e+02] [ 3.49629286e-02 9.99388444e-01 -5.75963226e-04 7.48137396e+00] [ 2.46557321e-02 -2.86423655e-04 9.99695960e-01 6.34163215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.505099893 meters 0.01179077295260738 Centerline is valid? [True, True] Translation: X:527.40, Y:7.48, Z:6.34 [[ 9.99134964e-01 -3.38064377e-02 -2.42167118e-02 5.27404545e+02] [ 3.38025842e-02 9.99428368e-01 -5.68578542e-04 7.48252634e+00] [ 2.42220903e-02 -2.50500737e-04 9.99706571e-01 6.34184059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5350998929999 meters 0.011351472877187086 Centerline is valid? [True, True] Translation: X:527.43, Y:7.49, Z:6.34 [[ 9.99208529e-01 -3.17779393e-02 -2.39265019e-02 5.27432932e+02] [ 3.17734992e-02 9.99494935e-01 -5.65812175e-04 7.48553817e+00] [ 2.39323978e-02 -1.94864340e-04 9.99713560e-01 6.34308625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5650998929999 meters 0.011415140791855558 Centerline is valid? [True, True] Translation: X:527.46, Y:7.49, Z:6.34 [[ 9.99240196e-01 -3.09737280e-02 -2.36571195e-02 5.27460724e+02] [ 3.09690642e-02 9.99520185e-01 -5.63572422e-04 7.48678532e+00] [ 2.36632243e-02 -1.69494635e-04 9.99719972e-01 6.34297021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.595099893 meters 0.011300010665678059 Centerline is valid? [True, True] Translation: X:527.49, Y:7.49, Z:6.34 [[ 9.99253155e-01 -3.08069487e-02 -2.33252021e-02 5.27488676e+02] [ 3.08022704e-02 9.99525341e-01 -5.59909973e-04 7.48836095e+00] [ 2.33313797e-02 -1.58977376e-04 9.99727774e-01 6.34409584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.625099893 meters 0.011214086038226299 Centerline is valid? [True, True] Translation: X:527.52, Y:7.49, Z:6.34 [[ 9.99238935e-01 -3.18150729e-02 -2.25688373e-02 5.27515608e+02] [ 3.18108441e-02 9.99493758e-01 -5.46453685e-04 7.48838334e+00] [ 2.25747975e-02 -1.71895967e-04 9.99745142e-01 6.34466001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6550998929999 meters 0.011362499578375885 Centerline is valid? [True, True] Translation: X:527.54, Y:7.49, Z:6.35 [[ 9.99193443e-01 -3.32750662e-02 -2.24773957e-02 5.27544568e+02] [ 3.32711505e-02 9.99446212e-01 -5.48258643e-04 7.48791460e+00] [ 2.24831913e-02 -2.00032374e-04 9.99747201e-01 6.34501634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6850998929999 meters 0.011298709777909838 Centerline is valid? [True, True] Translation: X:527.57, Y:7.49, Z:6.35 [[ 9.99138200e-01 -3.49807676e-02 -2.23428421e-02 5.27573012e+02] [ 3.49772009e-02 9.99387959e-01 -5.50531907e-04 7.48771615e+00] [ 2.23484254e-02 -2.31432617e-04 9.99750216e-01 6.34604964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.715099893 meters 0.011698857782005074 Centerline is valid? [True, True] Translation: X:527.60, Y:7.49, Z:6.35 [[ 9.99062235e-01 -3.71717018e-02 -2.22016928e-02 5.27600511e+02] [ 3.71686320e-02 9.99308856e-01 -5.51049315e-04 7.48619111e+00] [ 2.22068317e-02 -2.74673989e-04 9.99753360e-01 6.34574548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.745099893 meters 0.01316498164921943 Centerline is valid? [True, True] Translation: X:527.63, Y:7.48, Z:6.34 [[ 9.98844132e-01 -4.23378915e-02 -2.27574822e-02 5.27628731e+02] [ 4.23359637e-02 9.99103270e-01 -5.66710980e-04 7.48174554e+00] [ 2.27610682e-02 -3.97404003e-04 9.99740854e-01 6.34437418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.775099893 meters 0.01381966739744991 Centerline is valid? [True, True] Translation: X:527.66, Y:7.48, Z:6.34 [[ 9.98723882e-01 -4.50372004e-02 -2.28529672e-02 5.27658439e+02] [ 4.50359345e-02 9.98985205e-01 -5.70321890e-04 7.48048286e+00] [ 2.28554618e-02 -4.59610641e-04 9.99738674e-01 6.34467105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8050998929999 meters 0.014752195329211066 Centerline is valid? [True, True] Translation: X:527.69, Y:7.48, Z:6.34 [[ 9.98606913e-01 -4.75891710e-02 -2.27926531e-02 5.27687858e+02] [ 4.75885583e-02 9.98866860e-01 -5.69596030e-04 7.47876855e+00] [ 2.27939324e-02 -5.15866966e-04 9.99740051e-01 6.34454306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8350998929999 meters 0.014668994356426716 Centerline is valid? [True, True] Translation: X:527.72, Y:7.48, Z:6.35 [[ 9.98502527e-01 -4.98724136e-02 -2.24821177e-02 5.27718633e+02] [ 4.98723863e-02 9.98755440e-01 -5.62251279e-04 7.47886583e+00] [ 2.24821782e-02 -5.59827536e-04 9.99747087e-01 6.34532986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.865099893 meters 0.015675806832079916 Centerline is valid? [True, True] Translation: X:527.75, Y:7.48, Z:6.35 [[ 9.98320575e-01 -5.32355868e-02 -2.28473700e-02 5.27749383e+02] [ 5.32364385e-02 9.98581772e-01 -5.71385808e-04 7.47667359e+00] [ 2.28453852e-02 -6.45886398e-04 9.99738801e-01 6.34587994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.895099893 meters 0.01586360780036679 Centerline is valid? [True, True] Translation: X:527.78, Y:7.48, Z:6.35 [[ 9.98266187e-01 -5.44722893e-02 -2.23022529e-02 5.27780313e+02] [ 5.44734091e-02 9.98515066e-01 -5.57753072e-04 7.47660630e+00] [ 2.22995176e-02 -6.58093713e-04 9.99751118e-01 6.34634829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9250998929999 meters 0.016321606265085314 Centerline is valid? [True, True] Translation: X:527.81, Y:7.48, Z:6.35 [[ 9.98237658e-01 -5.52220734e-02 -2.17278976e-02 5.27811025e+02] [ 5.52233136e-02 9.98473881e-01 -5.43389124e-04 7.47639691e+00] [ 2.17247453e-02 -6.57455019e-04 9.99763774e-01 6.34661556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9550998929999 meters 0.016386068875707826 Centerline is valid? [True, True] Translation: X:527.84, Y:7.48, Z:6.35 [[ 9.98228007e-01 -5.56615287e-02 -2.10390353e-02 5.27842393e+02] [ 5.56627953e-02 9.98449486e-01 -5.25855129e-04 7.47697649e+00] [ 2.10356839e-02 -6.46168199e-04 9.99778517e-01 6.34736466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.985099893 meters 0.014964145585173083 Centerline is valid? [True, True] Translation: X:527.87, Y:7.48, Z:6.35 [[ 9.98270009e-01 -5.54381681e-02 -1.95856692e-02 5.27873382e+02] [ 5.54392358e-02 9.98461943e-01 -4.88857428e-04 7.48070856e+00] [ 1.95826467e-02 -5.97802826e-04 9.99808063e-01 6.34910024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.015099893 meters 0.015321293160497438 Centerline is valid? [True, True] Translation: X:527.90, Y:7.48, Z:6.35 [[ 9.98296864e-01 -5.51264382e-02 -1.90904990e-02 5.27904652e+02] [ 5.51274111e-02 9.98479215e-01 -4.75685057e-04 7.48122969e+00] [ 1.90876893e-02 -5.77534889e-04 9.99817647e-01 6.34947044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0450998929999 meters 0.016613724810636513 Centerline is valid? [True, True] Translation: X:527.94, Y:7.48, Z:6.35 [[ 9.98326957e-01 -5.49009224e-02 -1.81432235e-02 5.27935848e+02] [ 5.49017882e-02 9.98491658e-01 -4.50741706e-04 7.47999117e+00] [ 1.81406035e-02 -5.46107820e-04 9.99835297e-01 6.34966340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0750998929999 meters 0.01546307476629073 Centerline is valid? [True, True] Translation: X:527.97, Y:7.48, Z:6.35 [[ 9.98337692e-01 -5.48747699e-02 -1.76242071e-02 5.27968270e+02] [ 5.48756149e-02 9.98493103e-01 -4.36024381e-04 7.48275087e+00] [ 1.76215759e-02 -5.31839625e-04 9.99844587e-01 6.35039277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.105099893 meters 0.017085792374887433 Centerline is valid? [True, True] Translation: X:528.00, Y:7.48, Z:6.35 [[ 9.98306847e-01 -5.54278809e-02 -1.76405545e-02 5.27999150e+02] [ 5.54288346e-02 9.98462546e-01 -4.35245538e-04 7.48098914e+00] [ 1.76375577e-02 -5.43286778e-04 9.99844299e-01 6.34960489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.135099893 meters 0.01586650556085356 Centerline is valid? [True, True] Translation: X:528.03, Y:7.48, Z:6.35 [[ 9.98248453e-01 -5.65037782e-02 -1.75313865e-02 5.28031201e+02] [ 5.65049041e-02 9.98402228e-01 -4.31510790e-04 7.48382482e+00] [ 1.75277573e-02 -5.59854332e-04 9.99846220e-01 6.34982153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1650998929999 meters 0.017263175568559653 Centerline is valid? [True, True] Translation: X:528.06, Y:7.48, Z:6.35 [[ 9.98191424e-01 -5.74431741e-02 -1.77246412e-02 5.28062644e+02] [ 5.74444942e-02 9.98348607e-01 -4.35064343e-04 7.48229087e+00] [ 1.77203623e-02 -5.83905553e-04 9.99842812e-01 6.34898604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1950998929999 meters 0.01677323625356222 Centerline is valid? [True, True] Translation: X:528.09, Y:7.48, Z:6.35 [[ 9.98114853e-01 -5.86290122e-02 -1.81488106e-02 5.28094935e+02] [ 5.86306122e-02 9.98279647e-01 -4.44368398e-04 7.48366317e+00] [ 1.81436411e-02 -6.20545179e-04 9.99835198e-01 6.34864715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.225099893 meters 0.017777672798924688 Centerline is valid? [True, True] Translation: X:528.13, Y:7.48, Z:6.35 [[ 9.98038591e-01 -5.96664041e-02 -1.89444044e-02 5.28125602e+02] [ 5.96683563e-02 9.98218149e-01 -4.62675455e-04 7.48257431e+00] [ 1.89382544e-02 -6.68613510e-04 9.99820432e-01 6.34802230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.255099893 meters 0.016880775374379913 Centerline is valid? [True, True] Translation: X:528.16, Y:7.48, Z:6.35 [[ 9.97950222e-01 -6.11653669e-02 -1.88189337e-02 5.28157996e+02] [ 6.11675769e-02 9.98127405e-01 -4.58690564e-04 7.48449431e+00] [ 1.88117495e-02 -6.93358225e-04 9.99822803e-01 6.34770218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2850998929999 meters 0.017964767071257357 Centerline is valid? [True, True] Translation: X:528.19, Y:7.48, Z:6.35 [[ 9.97941596e-01 -6.14155412e-02 -1.84581332e-02 5.28189512e+02] [ 6.14177396e-02 9.98112048e-01 -4.48283777e-04 7.48419242e+00] [ 1.84508167e-02 -6.86295790e-04 9.99829534e-01 6.34761605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3150998929999 meters 0.0184860544228055 Centerline is valid? [True, True] Translation: X:528.22, Y:7.48, Z:6.35 [[ 9.97970084e-01 -6.09369256e-02 -1.85041131e-02 5.28220707e+02] [ 6.09390859e-02 9.98141387e-01 -4.47612733e-04 7.48485732e+00] [ 1.84969972e-02 -6.80919621e-04 9.99828684e-01 6.34774220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.345099893 meters 0.0172518118199811 Centerline is valid? [True, True] Translation: X:528.25, Y:7.49, Z:6.35 [[ 9.98110642e-01 -5.86857657e-02 -1.81968950e-02 5.28251569e+02] [ 5.86874970e-02 9.98276307e-01 -4.39314579e-04 7.48952322e+00] [ 1.81913107e-02 -6.29445664e-04 9.99834326e-01 6.34834477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.375099893 meters 0.016687469091983816 Centerline is valid? [True, True] Translation: X:528.28, Y:7.49, Z:6.35 [[ 9.98234635e-01 -5.67719355e-02 -1.74516697e-02 5.28283437e+02] [ 5.67732479e-02 9.98387010e-01 -4.20618595e-04 7.49252839e+00] [ 1.74473997e-02 -5.70911922e-04 9.99847620e-01 6.34908983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4050998929999 meters 0.015058395686211513 Centerline is valid? [True, True] Translation: X:528.32, Y:7.50, Z:6.35 [[ 9.98383518e-01 -5.43173014e-02 -1.67326352e-02 5.28315706e+02] [ 5.43181796e-02 9.98523597e-01 -4.02323491e-04 7.49736403e+00] [ 1.67297842e-02 -5.07213142e-04 9.99859919e-01 6.35022524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4350998929999 meters 0.014030350439337912 Centerline is valid? [True, True] Translation: X:528.35, Y:7.50, Z:6.35 [[ 9.98663703e-01 -4.93236538e-02 -1.54267648e-02 5.28345977e+02] [ 4.93238229e-02 9.98782771e-01 -3.69749028e-04 7.50216918e+00] [ 1.54262243e-02 -3.91652080e-04 9.99880932e-01 6.35115748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.465099893 meters 0.013299663572663899 Centerline is valid? [True, True] Translation: X:528.38, Y:7.51, Z:6.35 [[ 9.98789616e-01 -4.68695371e-02 -1.49181088e-02 5.28377751e+02] [ 4.68694436e-02 9.98900960e-01 -3.56076603e-04 7.50515001e+00] [ 1.49184023e-02 -3.43557844e-04 9.99888655e-01 6.35175338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.495099893 meters 0.013533676456373501 Centerline is valid? [True, True] Translation: X:528.41, Y:7.51, Z:6.35 [[ 9.98905774e-01 -4.46173354e-02 -1.40195653e-02 5.28409243e+02] [ 4.46170445e-02 9.99004108e-01 -3.33676880e-04 7.50615524e+00] [ 1.40204911e-02 -2.92199807e-04 9.99901665e-01 6.35228606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.525099893 meters 0.013718840878522102 Centerline is valid? [True, True] Translation: X:528.44, Y:7.51, Z:6.35 [[ 9.98984568e-01 -4.28794451e-02 -1.38270012e-02 5.28440588e+02] [ 4.28790061e-02 9.99080219e-01 -3.28342075e-04 7.50739202e+00] [ 1.38283625e-02 -2.64879402e-04 9.99904349e-01 6.35272511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5550998929999 meters 0.012218328995050176 Centerline is valid? [True, True] Translation: X:528.47, Y:7.51, Z:6.35 [[ 9.99090990e-01 -4.05788678e-02 -1.30594107e-02 5.28472969e+02] [ 4.05782885e-02 9.99176314e-01 -3.09443822e-04 7.51307292e+00] [ 1.30612107e-02 -2.20766000e-04 9.99914674e-01 6.35337039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5850998929999 meters 0.01305172231396555 Centerline is valid? [True, True] Translation: X:528.50, Y:7.51, Z:6.35 [[ 9.99122764e-01 -3.98738411e-02 -1.27976455e-02 5.28504448e+02] [ 3.98732386e-02 9.99204700e-01 -3.02332662e-04 7.51218128e+00] [ 1.27995228e-02 -2.08216130e-04 9.99918061e-01 6.35366136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.615099893 meters 0.01241651016907509 Centerline is valid? [True, True] Translation: X:528.54, Y:7.51, Z:6.35 [[ 9.99120877e-01 -3.98284144e-02 -1.30832258e-02 5.28536556e+02] [ 3.98277905e-02 9.99206511e-01 -3.08340551e-04 7.51437902e+00] [ 1.30851252e-02 -2.13006495e-04 9.99914363e-01 6.35377012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.645099893 meters 0.012172634832983075 Centerline is valid? [True, True] Translation: X:528.57, Y:7.52, Z:6.35 [[ 9.99108830e-01 -4.01545956e-02 -1.30059678e-02 5.28568784e+02] [ 4.01540186e-02 9.99193455e-01 -3.05601562e-04 7.51585011e+00] [ 1.30077492e-02 -2.16912654e-04 9.99915372e-01 6.35385992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6750998929999 meters 0.012436541883365583 Centerline is valid? [True, True] Translation: X:528.60, Y:7.52, Z:6.35 [[ 9.99038649e-01 -4.18410012e-02 -1.30808534e-02 5.28601387e+02] [ 4.18405746e-02 9.99124253e-01 -3.06401538e-04 7.51537195e+00] [ 1.30822180e-02 -2.41203443e-04 9.99914395e-01 6.35335355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7050998929999 meters 0.013608374671310604 Centerline is valid? [True, True] Translation: X:528.63, Y:7.51, Z:6.35 [[ 9.98989562e-01 -4.29452476e-02 -1.32499358e-02 5.28632742e+02] [ 4.29449197e-02 9.99077393e-01 -3.09396056e-04 7.51338826e+00] [ 1.32509984e-02 -2.59934000e-04 9.99912168e-01 6.35311595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.735099893 meters 0.013515158009111836 Centerline is valid? [True, True] Translation: X:528.66, Y:7.51, Z:6.35 [[ 9.98930326e-01 -4.41837406e-02 -1.36381978e-02 5.28664775e+02] [ 4.41835193e-02 9.99023381e-01 -3.17676714e-04 7.51407244e+00] [ 1.36389146e-02 -2.85246672e-04 9.99906945e-01 6.35308637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.765099893 meters 0.014133111370497255 Centerline is valid? [True, True] Translation: X:528.70, Y:7.51, Z:6.35 [[ 9.98824962e-01 -4.63389459e-02 -1.41914838e-02 5.28697039e+02] [ 4.63389386e-02 9.98925720e-01 -3.29519829e-04 7.51343082e+00] [ 1.41915077e-02 -3.28485664e-04 9.99899242e-01 6.35275494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7950998929999 meters 0.013961129079012933 Centerline is valid? [True, True] Translation: X:528.73, Y:7.51, Z:6.35 [[ 9.98788959e-01 -4.70865590e-02 -1.42643251e-02 5.28729281e+02] [ 4.70866424e-02 9.98890754e-01 -3.30188546e-04 7.51457021e+00] [ 1.42640499e-02 -3.41870500e-04 9.99898205e-01 6.35276376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8250998929999 meters 0.01377303297970751 Centerline is valid? [True, True] Translation: X:528.76, Y:7.52, Z:6.35 [[ 9.98758715e-01 -4.77671733e-02 -1.41182714e-02 5.28761888e+02] [ 4.77673373e-02 9.98858436e-01 -3.25789992e-04 7.51568220e+00] [ 1.41177165e-02 -3.49006638e-04 9.99900279e-01 6.35295572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.855099893 meters 0.014459193480193484 Centerline is valid? [True, True] Translation: X:528.79, Y:7.52, Z:6.35 [[ 9.98740721e-01 -4.82920062e-02 -1.35961048e-02 5.28792696e+02] [ 4.82922197e-02 9.98833201e-01 -3.12792886e-04 7.51521916e+00] [ 1.35953463e-02 -3.44187088e-04 9.99907520e-01 6.35345043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.885099893 meters 0.014389166429017301 Centerline is valid? [True, True] Translation: X:528.82, Y:7.52, Z:6.35 [[ 9.98759928e-01 -4.80544212e-02 -1.30145579e-02 5.28824447e+02] [ 4.80546058e-02 9.98844665e-01 -2.98715104e-04 7.51628981e+00] [ 1.30138763e-02 -3.27064772e-04 9.99915262e-01 6.35426703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9150998929999 meters 0.014995715920502983 Centerline is valid? [True, True] Translation: X:528.86, Y:7.52, Z:6.36 [[ 9.98775463e-01 -4.79133794e-02 -1.23240746e-02 5.28855302e+02] [ 4.79135446e-02 9.98851447e-01 -2.82019402e-04 7.51615406e+00] [ 1.23234322e-02 -3.08816040e-04 9.99924016e-01 6.35513185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9450998929999 meters 0.01482001131677748 Centerline is valid? [True, True] Translation: X:528.89, Y:7.52, Z:6.36 [[ 9.98804570e-01 -4.75788902e-02 -1.12107168e-02 5.28887401e+02] [ 4.75790117e-02 9.98867445e-01 -2.56015505e-04 7.51735865e+00] [ 1.12102010e-02 -2.77685368e-04 9.99937125e-01 6.35580028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.975099893 meters 0.015631960385382535 Centerline is valid? [True, True] Translation: X:528.92, Y:7.52, Z:6.36 [[ 9.98815052e-01 -4.74085672e-02 -1.09963737e-02 5.28918326e+02] [ 4.74086826e-02 9.98875545e-01 -2.50328036e-04 7.51649846e+00] [ 1.09958765e-02 -2.71292180e-04 9.99939507e-01 6.35663420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.005099893 meters 0.01420942873308267 Centerline is valid? [True, True] Translation: X:528.95, Y:7.52, Z:6.36 [[ 9.98812582e-01 -4.74962345e-02 -1.08413027e-02 5.28950924e+02] [ 4.74963576e-02 9.98871381e-01 -2.46261381e-04 7.51956732e+00] [ 1.08407635e-02 -2.68953427e-04 9.99941201e-01 6.35665231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0350998929999 meters 0.015319370247648857 Centerline is valid? [True, True] Translation: X:528.98, Y:7.52, Z:6.36 [[ 9.98796032e-01 -4.77896774e-02 -1.10739839e-02 5.28981916e+02] [ 4.77898324e-02 9.98857382e-01 -2.50775254e-04 7.51785347e+00] [ 1.10733150e-02 -2.78750505e-04 9.99938650e-01 6.35651639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0650998929999 meters 0.01466868978129295 Centerline is valid? [True, True] Translation: X:529.01, Y:7.52, Z:6.36 [[ 9.98754279e-01 -4.85700766e-02 -1.14384707e-02 5.29014353e+02] [ 4.85703099e-02 9.98819733e-01 -2.57558986e-04 7.51947208e+00] [ 1.14374799e-02 -2.98331925e-04 9.99934545e-01 6.35649676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.095099893 meters 0.01466868978129295 Centerline is valid? [True, True] Translation: X:529.05, Y:7.52, Z:6.36 [[ 9.98757818e-01 -4.84972343e-02 -1.14384894e-02 5.29046044e+02] [ 4.84974725e-02 9.98823272e-01 -2.56723927e-04 7.52012698e+00] [ 1.14374798e-02 -2.98332795e-04 9.99934545e-01 6.35688852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.125099893 meters 0.015437157518153647 Centerline is valid? [True, True] Translation: X:529.08, Y:7.52, Z:6.36 [[ 9.98650790e-01 -5.04934184e-02 -1.21249299e-02 5.29078459e+02] [ 5.04938444e-02 9.98724335e-01 -2.71191389e-04 7.51876605e+00] [ 1.21231559e-02 -3.41408827e-04 9.99926454e-01 6.35588523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1550998929999 meters 0.015768208106233902 Centerline is valid? [True, True] Translation: X:529.11, Y:7.52, Z:6.36 [[ 9.98569988e-01 -5.19415552e-02 -1.26512264e-02 5.29110163e+02] [ 5.19421471e-02 9.98650056e-01 -2.82010892e-04 7.51846470e+00] [ 1.26487960e-02 -3.75524250e-04 9.99919930e-01 6.35576574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1850998929999 meters 0.016269988171824276 Centerline is valid? [True, True] Translation: X:529.14, Y:7.52, Z:6.36 [[ 9.98509270e-01 -5.30255827e-02 -1.29431316e-02 5.29142619e+02] [ 5.30263027e-02 9.98593074e-01 -2.87783161e-04 7.51761643e+00] [ 1.29401815e-02 -3.98972260e-04 9.99916193e-01 6.35583350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.215099893 meters 0.01691425043677956 Centerline is valid? [True, True] Translation: X:529.18, Y:7.52, Z:6.36 [[ 9.98440599e-01 -5.42497595e-02 -1.31656136e-02 5.29175244e+02] [ 5.42506236e-02 9.98527308e-01 -2.91760250e-04 7.51692842e+00] [ 1.31620526e-02 -4.22937470e-04 9.99913287e-01 6.35584200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.245099893 meters 0.017140320746372034 Centerline is valid? [True, True] Translation: X:529.21, Y:7.52, Z:6.36 [[ 9.98356975e-01 -5.55527826e-02 -1.40441502e-02 5.29207739e+02] [ 5.55539097e-02 9.98455641e-01 -3.10154604e-04 7.51675233e+00] [ 1.40396910e-02 -4.70562442e-04 9.99901328e-01 6.35592842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.275099893 meters 0.01880550703708304 Centerline is valid? [True, True] Translation: X:529.24, Y:7.51, Z:6.36 [[ 9.98357889e-01 -5.54419247e-02 -1.44124081e-02 5.29238553e+02] [ 5.54431171e-02 9.98461797e-01 -3.17118283e-04 7.51469434e+00] [ 1.44078205e-02 -4.82471288e-04 9.99896086e-01 6.35587184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3050998929999 meters 0.017167497534076162 Centerline is valid? [True, True] Translation: X:529.27, Y:7.52, Z:6.36 [[ 9.98392156e-01 -5.47663875e-02 -1.46200468e-02 5.29270886e+02] [ 5.47675666e-02 9.98499079e-01 -3.20011847e-04 7.51802816e+00] [ 1.46156291e-02 -4.81207067e-04 9.99893070e-01 6.35625992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3350998929999 meters 0.016900024637184485 Centerline is valid? [True, True] Translation: X:529.30, Y:7.52, Z:6.36 [[ 9.98445003e-01 -5.37692554e-02 -1.47120405e-02 5.29303444e+02] [ 5.37703570e-02 9.98553276e-01 -3.20958763e-04 7.51968091e+00] [ 1.47080139e-02 -4.70611996e-04 9.99891721e-01 6.35661306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.365099893 meters 0.016811218056980434 Centerline is valid? [True, True] Translation: X:529.33, Y:7.52, Z:6.36 [[ 9.98629482e-01 -5.02590438e-02 -1.46009280e-02 5.29334249e+02] [ 5.02597679e-02 9.98736129e-01 -3.17569822e-04 7.52151475e+00] [ 1.45984350e-02 -4.16704665e-04 9.99893350e-01 6.35737977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.395099893 meters 0.016703039110229804 Centerline is valid? [True, True] Translation: X:529.37, Y:7.52, Z:6.36 [[ 9.98734295e-01 -4.82985600e-02 -1.40377209e-02 5.29365763e+02] [ 4.82990430e-02 9.98832874e-01 -3.04806256e-04 7.52306627e+00] [ 1.40360588e-02 -3.73588024e-04 9.99901420e-01 6.35807865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4250998929999 meters 0.014475760155071484 Centerline is valid? [True, True] Translation: X:529.40, Y:7.53, Z:6.36 [[ 9.98843455e-01 -4.60957329e-02 -1.36724750e-02 5.29397858e+02] [ 4.60959948e-02 9.98936971e-01 -2.96152243e-04 7.52824946e+00] [ 1.36715921e-02 -3.34436608e-04 9.99906483e-01 6.35931442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4550998929999 meters 0.015006660462052802 Centerline is valid? [True, True] Translation: X:529.43, Y:7.53, Z:6.36 [[ 9.98944732e-01 -4.40112256e-02 -1.31314535e-02 5.29429237e+02] [ 4.40112998e-02 9.99030993e-01 -2.83462470e-04 7.52834246e+00] [ 1.31312046e-02 -2.94768997e-04 9.99913739e-01 6.35969109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.485099893 meters 0.014757103472450291 Centerline is valid? [True, True] Translation: X:529.46, Y:7.53, Z:6.36 [[ 9.99022183e-01 -4.22513936e-02 -1.30191284e-02 5.29460706e+02] [ 4.22513396e-02 9.99106974e-01 -2.79321953e-04 7.52993296e+00] [ 1.30193037e-02 -2.71026788e-04 9.99915209e-01 6.36052218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.515099893 meters 0.013161283271001105 Centerline is valid? [True, True] Translation: X:529.49, Y:7.53, Z:6.36 [[ 9.99128065e-01 -3.97033786e-02 -1.29132207e-02 5.29493124e+02] [ 3.97031328e-02 9.99211482e-01 -2.75492262e-04 7.53401800e+00] [ 1.29139764e-02 -2.37443267e-04 9.99916583e-01 6.36112895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5450998929999 meters 0.013439356844168545 Centerline is valid? [True, True] Translation: X:529.52, Y:7.53, Z:6.36 [[ 9.99144059e-01 -3.92766893e-02 -1.29803956e-02 5.29524123e+02] [ 3.92764173e-02 9.99228346e-01 -2.75970393e-04 7.53378748e+00] [ 1.29812185e-02 -2.34089257e-04 9.99915713e-01 6.36141597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5750998929999 meters 0.013030913255502638 Centerline is valid? [True, True] Translation: X:529.56, Y:7.54, Z:6.36 [[ 9.99147034e-01 -3.90351493e-02 -1.34707346e-02 5.29556489e+02] [ 3.90348451e-02 9.99237809e-01 -2.85604638e-04 7.53524196e+00] [ 1.34716159e-02 -2.40467012e-04 9.99909225e-01 6.36188883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.605099893 meters 0.013287493515973421 Centerline is valid? [True, True] Translation: X:529.59, Y:7.54, Z:6.36 [[ 9.99151760e-01 -3.89345785e-02 -1.34111215e-02 5.29587631e+02] [ 3.89342821e-02 9.99241733e-01 -2.83292560e-04 7.53502376e+00] [ 1.34119822e-02 -2.39100128e-04 9.99910027e-01 6.36220608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.635099893 meters 0.014010063057485166 Centerline is valid? [True, True] Translation: X:529.62, Y:7.53, Z:6.36 [[ 9.99114565e-01 -3.96141068e-02 -1.41706830e-02 5.29618408e+02] [ 3.96138705e-02 9.99215018e-01 -2.97480750e-04 7.53292167e+00] [ 1.41713437e-02 -2.64138250e-04 9.99899547e-01 6.36227311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6650998929999 meters 0.013570331194764166 Centerline is valid? [True, True] Translation: X:529.65, Y:7.53, Z:6.36 [[ 9.99087253e-01 -4.01710919e-02 -1.45239256e-02 5.29650695e+02] [ 4.01709282e-02 9.99192777e-01 -3.03122117e-04 7.53394000e+00] [ 1.45243783e-02 -2.80594130e-04 9.99894476e-01 6.36268662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6950998929999 meters 0.01440658856736797 Centerline is valid? [True, True] Translation: X:529.68, Y:7.53, Z:6.36 [[ 9.99039749e-01 -4.10381519e-02 -1.53443933e-02 5.29681666e+02] [ 4.10380886e-02 9.99157532e-01 -3.19125944e-04 7.53147118e+00] [ 1.53445625e-02 -3.10885070e-04 9.99882217e-01 6.36228866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.725099893 meters 0.013762347345818328 Centerline is valid? [True, True] Translation: X:529.71, Y:7.53, Z:6.36 [[ 9.99032700e-01 -4.10966959e-02 -1.56437231e-02 5.29712796e+02] [ 4.10966500e-02 9.99155123e-01 -3.24543031e-04 7.53277382e+00] [ 1.56438437e-02 -3.18675510e-04 9.99877577e-01 6.36276933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.755099893 meters 0.014579878308536576 Centerline is valid? [True, True] Translation: X:529.74, Y:7.53, Z:6.36 [[ 9.99025191e-01 -4.13920472e-02 -1.53416540e-02 5.29743690e+02] [ 4.13920471e-02 9.99142931e-01 -3.17668290e-04 7.53130053e+00] [ 1.53416541e-02 -3.17663840e-04 9.99882259e-01 6.36319544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7850998929999 meters 0.014126983930288717 Centerline is valid? [True, True] Translation: X:529.77, Y:7.53, Z:6.36 [[ 9.99020013e-01 -4.14504185e-02 -1.55201774e-02 5.29774821e+02] [ 4.14504379e-02 9.99140510e-01 -3.20564054e-04 7.53289689e+00] [ 1.55201255e-02 -3.23068247e-04 9.99879503e-01 6.36381908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8150998929999 meters 0.014679604199145931 Centerline is valid? [True, True] Translation: X:529.81, Y:7.53, Z:6.36 [[ 9.98979577e-01 -4.18074082e-02 -1.70864059e-02 5.29805878e+02] [ 4.18074969e-02 9.99125622e-01 -3.52160442e-04 7.53138764e+00] [ 1.70861888e-02 -3.62538772e-04 9.99853955e-01 6.36230499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.845099893 meters 0.014347948465372752 Centerline is valid? [True, True] Translation: X:529.84, Y:7.53, Z:6.36 [[ 9.98953863e-01 -4.23167632e-02 -1.73340858e-02 5.29836760e+02] [ 4.23169462e-02 9.99104173e-01 -3.56400761e-04 7.53264204e+00] [ 1.73336392e-02 -3.77497660e-04 9.99849690e-01 6.36282283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.875099893 meters 0.014803671097060772 Centerline is valid? [True, True] Translation: X:529.87, Y:7.53, Z:6.36 [[ 9.98942806e-01 -4.29043087e-02 -1.65073116e-02 5.29867080e+02] [ 4.29045630e-02 9.99079118e-01 -3.38899141e-04 7.53226217e+00] [ 1.65066506e-02 -3.69698134e-04 9.99863688e-01 6.36352065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9050998929999 meters 0.015072914236445313 Centerline is valid? [True, True] Translation: X:529.90, Y:7.53, Z:6.36 [[ 9.98923586e-01 -4.36944278e-02 -1.55713043e-02 5.29898017e+02] [ 4.36947550e-02 9.99044877e-01 -3.19358199e-04 7.53196678e+00] [ 1.55703859e-02 -3.61369888e-04 9.99878709e-01 6.36453363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9350998929999 meters 0.015776399015228926 Centerline is valid? [True, True] Translation: X:529.93, Y:7.53, Z:6.37 [[ 9.98900710e-01 -4.45100941e-02 -1.47045406e-02 5.29929540e+02] [ 4.45104822e-02 9.99008872e-01 -3.01041291e-04 7.53094580e+00] [ 1.47033659e-02 -3.53795835e-04 9.99891837e-01 6.36553790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.965099893 meters 0.01685151626783679 Centerline is valid? [True, True] Translation: X:529.96, Y:7.53, Z:6.37 [[ 9.98820978e-01 -4.64686204e-02 -1.40471113e-02 5.29961140e+02] [ 4.64691794e-02 9.98919683e-01 -2.86774557e-04 7.52853012e+00] [ 1.40452620e-02 -3.66321291e-04 9.99901293e-01 6.36631290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.995099893 meters 0.015578545091641884 Centerline is valid? [True, True] Translation: X:529.99, Y:7.53, Z:6.37 [[ 9.98786314e-01 -4.71561035e-02 -1.42197618e-02 5.29992968e+02] [ 4.71567668e-02 9.98887459e-01 -2.88836144e-04 7.53106713e+00] [ 1.42175621e-02 -3.82072402e-04 9.99898852e-01 6.36657713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.025099893 meters 0.016041726457450313 Centerline is valid? [True, True] Translation: X:530.02, Y:7.53, Z:6.37 [[ 9.98738873e-01 -4.80228062e-02 -1.46448901e-02 5.30024265e+02] [ 4.80236183e-02 9.98846156e-01 -2.96415817e-04 7.53044135e+00] [ 1.46422269e-02 -4.07258611e-04 9.99892714e-01 6.36652011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0550998929999 meters 0.016179626359790693 Centerline is valid? [True, True] Translation: X:530.06, Y:7.53, Z:6.37 [[ 9.98702662e-01 -4.87001902e-02 -1.48756225e-02 5.30056490e+02] [ 4.87011161e-02 9.98813352e-01 -3.00218619e-04 7.53056192e+00] [ 1.48725911e-02 -4.24630286e-04 9.99889307e-01 6.36663278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0850998929999 meters 0.016651396625292816 Centerline is valid? [True, True] Translation: X:530.09, Y:7.53, Z:6.37 [[ 9.98651963e-01 -4.96890268e-02 -1.50085701e-02 5.30088860e+02] [ 4.96900973e-02 9.98764639e-01 -3.01803785e-04 7.53001746e+00] [ 1.50050254e-02 -4.44380364e-04 9.99887320e-01 6.36644035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.115099893 meters 0.016927811145063764 Centerline is valid? [True, True] Translation: X:530.12, Y:7.53, Z:6.37 [[ 9.98626069e-01 -5.01242022e-02 -1.52819653e-02 5.30121006e+02] [ 5.01253802e-02 9.98742886e-01 -3.06179314e-04 7.52959258e+00] [ 1.52781012e-02 -4.60255678e-04 9.99883177e-01 6.36680906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.145099893 meters 0.018496214267645954 Centerline is valid? [True, True] Translation: X:530.15, Y:7.53, Z:6.37 [[ 9.98608136e-01 -5.05223605e-02 -1.51420380e-02 5.30152252e+02] [ 5.05235783e-02 9.98722823e-01 -3.02343711e-04 7.52705480e+00] [ 1.51379740e-02 -4.63107053e-04 9.99885307e-01 6.36683488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1750998929999 meters 0.017620268673340912 Centerline is valid? [True, True] Translation: X:530.18, Y:7.53, Z:6.37 [[ 9.98581452e-01 -5.09739396e-02 -1.53863670e-02 5.30184820e+02] [ 5.09752644e-02 9.98699869e-01 -3.06331759e-04 7.52887671e+00] [ 1.53819776e-02 -4.78426912e-04 9.99881576e-01 6.36741858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2050998929999 meters 0.01888595534025185 Centerline is valid? [True, True] Translation: X:530.22, Y:7.53, Z:6.37 [[ 9.98523742e-01 -5.19901927e-02 -1.57275542e-02 5.30216148e+02] [ 5.19917197e-02 9.98647467e-01 -3.12046249e-04 7.52767634e+00] [ 1.57225055e-02 -5.06117004e-04 9.99876266e-01 6.36748809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.235099893 meters 0.01850813685350453 Centerline is valid? [True, True] Translation: X:530.25, Y:7.53, Z:6.37 [[ 9.98515735e-01 -5.21505087e-02 -1.57051557e-02 5.30247902e+02] [ 5.21520652e-02 9.98639107e-01 -3.10712068e-04 7.52891208e+00] [ 1.56999864e-02 -5.08805414e-04 9.99876618e-01 6.36830434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.265099893 meters 0.01909884877659408 Centerline is valid? [True, True] Translation: X:530.28, Y:7.53, Z:6.37 [[ 9.98492078e-01 -5.26760289e-02 -1.54533377e-02 5.30280519e+02] [ 5.26776152e-02 9.98611524e-01 -3.04658552e-04 7.52896688e+00] [ 1.54479293e-02 -5.09845827e-04 9.99880544e-01 6.36901616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2950998929999 meters 0.017988612989277473 Centerline is valid? [True, True] Translation: X:530.31, Y:7.53, Z:6.37 [[ 9.98471862e-01 -5.30324877e-02 -1.55401422e-02 5.30312437e+02] [ 5.30341521e-02 9.98592652e-01 -3.05272331e-04 7.53176291e+00] [ 1.55344612e-02 -5.19352435e-04 9.99879198e-01 6.36998385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3250998929999 meters 0.01863494467431442 Centerline is valid? [True, True] Translation: X:530.34, Y:7.53, Z:6.37 [[ 9.98405194e-01 -5.42231483e-02 -1.57136770e-02 5.30344812e+02] [ 5.42250153e-02 9.98528694e-01 -3.07537612e-04 7.53197394e+00] [ 1.57072330e-02 -5.45027226e-04 9.99876485e-01 6.37101108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.355099893 meters 0.018771840466747982 Centerline is valid? [True, True] Translation: X:530.38, Y:7.53, Z:6.37 [[ 9.98368591e-01 -5.49301326e-02 -1.55832459e-02 5.30377258e+02] [ 5.49320721e-02 9.98490048e-01 -3.03873578e-04 7.53252531e+00] [ 1.55764077e-02 -5.52642149e-04 9.99878528e-01 6.37141481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.385099893 meters 0.01908928559041092 Centerline is valid? [True, True] Translation: X:530.41, Y:7.53, Z:6.37 [[ 9.98313324e-01 -5.57973827e-02 -1.60361554e-02 5.30409321e+02] [ 5.57995673e-02 9.98441942e-01 -3.11524372e-04 7.53308049e+00] [ 1.60285524e-02 -5.83811601e-04 9.99871364e-01 6.37208698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4150998929999 meters 0.019476632145750426 Centerline is valid? [True, True] Translation: X:530.44, Y:7.53, Z:6.37 [[ 9.98260150e-01 -5.66052330e-02 -1.65082102e-02 5.30441095e+02] [ 5.66076784e-02 9.98396449e-01 -3.19479510e-04 7.53366370e+00] [ 1.64998226e-02 -6.15567789e-04 9.99863679e-01 6.37292690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4450998929999 meters 0.020971437548367288 Centerline is valid? [True, True] Translation: X:530.47, Y:7.53, Z:6.37 [[ 9.98165403e-01 -5.80897047e-02 -1.70708733e-02 5.30471866e+02] [ 5.80925550e-02 9.98311147e-01 -3.29280248e-04 7.53311401e+00] [ 1.70611709e-02 -6.63014494e-04 9.99854228e-01 6.37354707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.475099893 meters 0.02151713208091134 Centerline is valid? [True, True] Translation: X:530.50, Y:7.53, Z:6.37 [[ 9.98129547e-01 -5.86955813e-02 -1.70948954e-02 5.30504455e+02] [ 5.86985416e-02 9.98275700e-01 -3.28968728e-04 7.53337358e+00] [ 1.70847277e-02 -6.75092020e-04 9.99853817e-01 6.37400244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.505099893 meters 0.02205562006693296 Centerline is valid? [True, True] Translation: X:530.54, Y:7.53, Z:6.37 [[ 9.98102948e-01 -5.91155487e-02 -1.72004957e-02 5.30536623e+02] [ 5.91186288e-02 9.98250910e-01 -3.29793950e-04 7.53384997e+00] [ 1.71899064e-02 -6.87701405e-04 9.99852006e-01 6.37457050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5350998929999 meters 0.021298717521479882 Centerline is valid? [True, True] Translation: X:530.57, Y:7.54, Z:6.38 [[ 9.98081550e-01 -5.93519401e-02 -1.76228986e-02 5.30569183e+02] [ 5.93552322e-02 9.98236867e-01 -3.36639549e-04 7.53739628e+00] [ 1.76118073e-02 -7.10017518e-04 9.99844648e-01 6.37507615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5650998929999 meters 0.020432540241170787 Centerline is valid? [True, True] Translation: X:530.60, Y:7.54, Z:6.38 [[ 9.98092097e-01 -5.91831974e-02 -1.75930662e-02 5.30601771e+02] [ 5.91864742e-02 9.98246888e-01 -3.34819112e-04 7.54036077e+00] [ 1.75820392e-02 -7.07091248e-04 9.99845174e-01 6.37573229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.595099893 meters 0.0193237215536974 Centerline is valid? [True, True] Translation: X:530.63, Y:7.54, Z:6.38 [[ 9.98121809e-01 -5.86612420e-02 -1.76554125e-02 5.30634000e+02] [ 5.86644833e-02 9.98277700e-01 -3.34720915e-04 7.54374538e+00] [ 1.76446397e-02 -7.01653407e-04 9.99844075e-01 6.37639390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.625099893 meters 0.019567691052828993 Centerline is valid? [True, True] Translation: X:530.66, Y:7.55, Z:6.38 [[ 9.98269458e-01 -5.61260038e-02 -1.75487959e-02 5.30663956e+02] [ 5.61288323e-02 9.98423479e-01 -3.31699776e-04 7.54669960e+00] [ 1.75397469e-02 -6.53867668e-04 9.99845953e-01 6.37711731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6550998929999 meters 0.01786245188258657 Centerline is valid? [True, True] Translation: X:530.70, Y:7.55, Z:6.38 [[ 9.98392628e-01 -5.40108495e-02 -1.71752390e-02 5.30695741e+02] [ 5.40132546e-02 9.98540166e-01 -3.24151409e-04 7.55172797e+00] [ 1.71676737e-02 -6.04060180e-04 9.99852442e-01 6.37787218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6850998929999 meters 0.017235352743214537 Centerline is valid? [True, True] Translation: X:530.73, Y:7.56, Z:6.38 [[ 9.98538714e-01 -5.12541249e-02 -1.71304195e-02 5.30727339e+02] [ 5.12561285e-02 9.98685489e-01 -3.22361125e-04 7.55508208e+00] [ 1.71244237e-02 -5.56148917e-04 9.99853212e-01 6.37847407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.715099893 meters 0.016635842720097927 Centerline is valid? [True, True] Translation: X:530.76, Y:7.56, Z:6.38 [[ 9.98707160e-01 -4.80452006e-02 -1.66032201e-02 5.30758752e+02] [ 4.80466531e-02 9.98845044e-01 -3.11630950e-04 7.55843882e+00] [ 1.65990164e-02 -4.86501093e-04 9.99862108e-01 6.37914586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.745099893 meters 0.015226346270114887 Centerline is valid? [True, True] Translation: X:530.79, Y:7.57, Z:6.38 [[ 9.99046481e-01 -4.05783771e-02 -1.61097381e-02 5.30789649e+02] [ 4.05787823e-02 9.99176296e-01 -3.01856775e-04 7.56633120e+00] [ 1.61087174e-02 -3.52144609e-04 9.99870184e-01 6.38050679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.775099893 meters 0.014732869701987478 Centerline is valid? [True, True] Translation: X:530.82, Y:7.57, Z:6.38 [[ 9.99199002e-01 -3.67483365e-02 -1.58402746e-02 5.30820831e+02] [ 3.67482527e-02 9.99324511e-01 -2.96458836e-04 7.57024878e+00] [ 1.58404690e-02 -2.85881039e-04 9.99874491e-01 6.38121754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8050998929999 meters 0.013878316272750898 Centerline is valid? [True, True] Translation: X:530.85, Y:7.58, Z:6.38 [[ 9.99426744e-01 -2.96982190e-02 -1.62542001e-02 5.30852058e+02] [ 2.96972082e-02 9.99558895e-01 -3.03601036e-04 7.57710066e+00] [ 1.62560467e-02 -1.79277371e-04 9.99867846e-01 6.38138634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8350998929999 meters 0.013630998661201961 Centerline is valid? [True, True] Translation: X:530.88, Y:7.58, Z:6.38 [[ 9.99498848e-01 -2.70244875e-02 -1.64842213e-02 5.30882303e+02] [ 2.70230919e-02 9.99634762e-01 -3.07439648e-04 7.58003758e+00] [ 1.64865091e-02 -1.38169053e-04 9.99864079e-01 6.38187824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.865099893 meters 0.013506882418267255 Centerline is valid? [True, True] Translation: X:530.91, Y:7.58, Z:6.38 [[ 9.99557704e-01 -2.45875297e-02 -1.67286964e-02 5.30911764e+02] [ 2.45857484e-02 9.99697676e-01 -3.12160932e-04 7.58220013e+00] [ 1.67313142e-02 -9.92646572e-05 9.99860017e-01 6.38185341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.895099893 meters 0.013524551553133743 Centerline is valid? [True, True] Translation: X:530.94, Y:7.58, Z:6.38 [[ 9.99587670e-01 -2.30294245e-02 -1.71503599e-02 5.30940961e+02] [ 2.30273119e-02 9.99734785e-01 -3.20675850e-04 7.58365898e+00] [ 1.71531964e-02 -7.43830622e-05 9.99852870e-01 6.38174206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9250998929999 meters 0.013607587461581801 Centerline is valid? [True, True] Translation: X:530.97, Y:7.58, Z:6.38 [[ 9.99601097e-01 -2.21824138e-02 -1.74810323e-02 5.30969396e+02] [ 2.21800763e-02 9.99753938e-01 -3.27606590e-04 7.58444097e+00] [ 1.74839980e-02 -6.02547239e-05 9.99847141e-01 6.38154648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9550998929999 meters 0.013665720943664495 Centerline is valid? [True, True] Translation: X:531.00, Y:7.58, Z:6.38 [[ 9.99608354e-01 -2.17406488e-02 -1.76205454e-02 5.30997456e+02] [ 2.17381806e-02 9.99763643e-01 -3.31621276e-04 7.58498400e+00] [ 1.76235903e-02 -5.15472001e-05 9.99844691e-01 6.38155243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.985099893 meters 0.013665720943664495 Centerline is valid? [True, True] Translation: X:531.02, Y:7.59, Z:6.38 [[ 9.99602179e-01 -2.20227772e-02 -1.76204853e-02 5.31024854e+02] [ 2.20202970e-02 9.99757468e-01 -3.34784585e-04 7.58556709e+00] [ 1.76235847e-02 -5.33569200e-05 9.99844691e-01 6.38189178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.015099893 meters 0.013633286657879072 Centerline is valid? [True, True] Translation: X:531.05, Y:7.59, Z:6.38 [[ 9.99599015e-01 -2.22480813e-02 -1.75166112e-02 5.31053227e+02] [ 2.22455811e-02 9.99752479e-01 -3.37596597e-04 7.58634833e+00] [ 1.75197864e-02 -5.22059684e-05 9.99846515e-01 6.38266543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0450998929999 meters 0.01370084340408895 Centerline is valid? [True, True] Translation: X:531.08, Y:7.59, Z:6.38 [[ 9.99566143e-01 -2.37240541e-02 -1.74555426e-02 5.31082305e+02] [ 2.37217184e-02 9.99718542e-01 -3.40878507e-04 7.58593494e+00] [ 1.74587166e-02 -7.33448524e-05 9.99847582e-01 6.38313146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0750998929999 meters 0.013717377765773933 Centerline is valid? [True, True] Translation: X:531.11, Y:7.59, Z:6.38 [[ 9.99533265e-01 -2.52510132e-02 -1.71941157e-02 5.31111299e+02] [ 2.52488973e-02 9.99681138e-01 -3.40163059e-04 7.58519869e+00] [ 1.71972226e-02 -9.41281678e-05 9.99852112e-01 6.38349668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.105099893 meters 0.013832034649525147 Centerline is valid? [True, True] Translation: X:531.14, Y:7.58, Z:6.38 [[ 9.99497326e-01 -2.67670690e-02 -1.69888276e-02 5.31140383e+02] [ 2.67651643e-02 9.99641691e-01 -3.39514197e-04 7.58370745e+00] [ 1.69918281e-02 -1.15365230e-04 9.99855622e-01 6.38398687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.135099893 meters 0.014283007706324326 Centerline is valid? [True, True] Translation: X:531.17, Y:7.58, Z:6.38 [[ 9.99386739e-01 -3.11165986e-02 -1.60593689e-02 5.31170471e+02] [ 3.11154456e-02 9.99515746e-01 -3.21712242e-04 7.57986452e+00] [ 1.60616027e-02 -1.78179472e-04 9.99870988e-01 6.38461219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1650998929999 meters 0.014550393178968418 Centerline is valid? [True, True] Translation: X:531.20, Y:7.58, Z:6.39 [[ 9.99299406e-01 -3.38739511e-02 -1.59138911e-02 5.31201361e+02] [ 3.38731615e-02 9.99426089e-01 -3.19232465e-04 7.57777778e+00] [ 1.59155716e-02 -2.20044990e-04 9.99873315e-01 6.38515023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1950998929999 meters 0.01492786982479737 Centerline is valid? [True, True] Translation: X:531.23, Y:7.58, Z:6.39 [[ 9.99203605e-01 -3.67727037e-02 -1.54895116e-02 5.31232885e+02] [ 3.67723056e-02 9.99323622e-01 -3.10606368e-04 7.57578116e+00] [ 1.54904567e-02 -2.59226053e-04 9.99879982e-01 6.38555368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.225099893 meters 0.01544525029802704 Centerline is valid? [True, True] Translation: X:531.26, Y:7.57, Z:6.39 [[ 9.99090449e-01 -3.98913313e-02 -1.50650987e-02 5.31264280e+02] [ 3.98913170e-02 9.99203979e-01 -3.01563331e-04 7.57322555e+00] [ 1.50651363e-02 -2.99677584e-04 9.99886469e-01 6.38567928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.255099893 meters 0.016157729025344295 Centerline is valid? [True, True] Translation: X:531.30, Y:7.57, Z:6.39 [[ 9.98963594e-01 -4.30971521e-02 -1.46415114e-02 5.31296708e+02] [ 4.30974915e-02 9.99070829e-01 -2.92485233e-04 7.57036207e+00] [ 1.46405122e-02 -3.38830315e-04 9.99892765e-01 6.38610886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2850998929999 meters 0.01885966680628792 Centerline is valid? [True, True] Translation: X:531.33, Y:7.56, Z:6.39 [[ 9.98663833e-01 -4.95903091e-02 -1.45378480e-02 5.31327151e+02] [ 4.95913445e-02 9.98769550e-01 -2.89487710e-04 7.56237999e+00] [ 1.45343157e-02 -4.31850522e-04 9.99894278e-01 6.38581506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3150998929999 meters 0.018739727031745396 Centerline is valid? [True, True] Translation: X:531.36, Y:7.56, Z:6.39 [[ 9.98512218e-01 -5.26113753e-02 -1.43315322e-02 5.31359257e+02] [ 5.26126975e-02 9.98614952e-01 -2.85019019e-04 7.56157376e+00] [ 1.43266775e-02 -4.69425592e-04 9.99897258e-01 6.38618470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.345099893 meters 0.01973908082131176 Centerline is valid? [True, True] Translation: X:531.39, Y:7.56, Z:6.39 [[ 9.98361501e-01 -5.54248865e-02 -1.42265899e-02 5.31391829e+02] [ 5.54264892e-02 9.98462731e-01 -2.81910494e-04 7.55908507e+00] [ 1.42203447e-02 -5.07081347e-04 9.99898757e-01 6.38665998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.375099893 meters 0.019547778915748774 Centerline is valid? [True, True] Translation: X:531.42, Y:7.56, Z:6.39 [[ 9.98230718e-01 -5.76102388e-02 -1.47137186e-02 5.31423596e+02] [ 5.76122071e-02 9.98338995e-01 -2.90411443e-04 7.55891477e+00] [ 1.47060097e-02 -5.57792181e-04 9.99891705e-01 6.38697856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4050998929999 meters 0.021155071947943017 Centerline is valid? [True, True] Translation: X:531.45, Y:7.55, Z:6.39 [[ 9.97977367e-01 -6.15868090e-02 -1.57556563e-02 5.31453677e+02] [ 6.15895856e-02 9.98101511e-01 -3.09397046e-04 7.55431863e+00] [ 1.57447992e-02 -6.61613094e-04 9.99875824e-01 6.38652272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4350998929999 meters 0.022050445938176032 Centerline is valid? [True, True] Translation: X:531.49, Y:7.55, Z:6.39 [[ 9.97853113e-01 -6.34230632e-02 -1.63303351e-02 5.31486092e+02] [ 6.34263136e-02 9.97986473e-01 -3.19330173e-04 7.55260227e+00] [ 1.63177064e-02 -7.17128347e-04 9.99866600e-01 6.38660639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.465099893 meters 0.024177504870615915 Centerline is valid? [True, True] Translation: X:531.52, Y:7.55, Z:6.39 [[ 9.97648666e-01 -6.65223844e-02 -1.64897279e-02 5.31515972e+02] [ 6.65261358e-02 9.97784631e-01 -3.21540424e-04 7.54794412e+00] [ 1.64745867e-02 -7.76213501e-04 9.99863983e-01 6.38685251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.495099893 meters 0.023691029200235008 Centerline is valid? [True, True] Translation: X:531.55, Y:7.55, Z:6.39 [[ 9.97561353e-01 -6.77406848e-02 -1.68091034e-02 5.31547588e+02] [ 6.77447596e-02 9.97702631e-01 -3.27525989e-04 7.54859355e+00] [ 1.67926735e-02 -8.12001399e-04 9.99858663e-01 6.38763466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.525099893 meters 0.026576426156757132 Centerline is valid? [True, True] Translation: X:531.58, Y:7.54, Z:6.39 [[ 9.97472396e-01 -6.89706490e-02 -1.70841971e-02 5.31578260e+02] [ 6.89750528e-02 9.97618330e-01 -3.32031586e-04 7.54443362e+00] [ 1.70664086e-02 -8.47191058e-04 9.99853999e-01 6.38799324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5550998929999 meters 0.025135855595734672 Centerline is valid? [True, True] Translation: X:531.61, Y:7.55, Z:6.39 [[ 9.97383347e-01 -7.01595162e-02 -1.74385237e-02 5.31610126e+02] [ 7.01643001e-02 9.97535391e-01 -3.38097062e-04 7.54679247e+00] [ 1.74192653e-02 -8.86349435e-04 9.99847880e-01 6.38882000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5850998929999 meters 0.026048449184557492 Centerline is valid? [True, True] Translation: X:531.64, Y:7.55, Z:6.39 [[ 9.97319444e-01 -7.09206850e-02 -1.80050966e-02 5.31641187e+02] [ 7.09259306e-02 9.97481524e-01 -3.47860988e-04 7.54601323e+00] [ 1.79844217e-02 -9.30099705e-04 9.99837835e-01 6.38885250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.615099893 meters 0.0264344079691125 Centerline is valid? [True, True] Translation: X:531.67, Y:7.55, Z:6.39 [[ 9.97205461e-01 -7.20973703e-02 -1.95764582e-02 5.31673110e+02] [ 7.21038222e-02 9.97397061e-01 -3.76984868e-04 7.54671798e+00] [ 1.95526815e-02 -1.03560610e-03 9.99808292e-01 6.38907018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.645099893 meters 0.027685595588817367 Centerline is valid? [True, True] Translation: X:531.70, Y:7.55, Z:6.39 [[ 9.97193346e-01 -7.21448607e-02 -2.00137450e-02 5.31703969e+02] [ 7.21516399e-02 9.97393600e-01 -3.84096117e-04 7.54586845e+00] [ 1.99892918e-02 -1.06100643e-03 9.99799631e-01 6.38900542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6750998929999 meters 0.026269244049832025 Centerline is valid? [True, True] Translation: X:531.74, Y:7.55, Z:6.39 [[ 9.97185018e-01 -7.21107921e-02 -2.05444179e-02 5.31735590e+02] [ 7.21179514e-02 9.97396033e-01 -3.93163628e-04 7.54898791e+00] [ 2.05192723e-02 -1.08956445e-03 9.99788864e-01 6.38988508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7050998929999 meters 0.025024760732055652 Centerline is valid? [True, True] Translation: X:531.77, Y:7.55, Z:6.39 [[ 9.97212198e-01 -7.17088498e-02 -2.06318517e-02 5.31767980e+02] [ 7.17160106e-02 9.97425014e-01 -3.93565438e-04 7.55195497e+00] [ 2.06069471e-02 -1.08716584e-03 9.99787063e-01 6.39086103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.735099893 meters 0.027048599473204503 Centerline is valid? [True, True] Translation: X:531.80, Y:7.55, Z:6.39 [[ 9.97319146e-01 -7.01950083e-02 -2.06683582e-02 5.31799249e+02] [ 7.02018982e-02 9.97532726e-01 -3.92909134e-04 7.55164717e+00] [ 2.06449440e-02 -1.05910218e-03 9.99786309e-01 6.39142014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.765099893 meters 0.024627218885650507 Centerline is valid? [True, True] Translation: X:531.83, Y:7.56, Z:6.39 [[ 9.97389696e-01 -6.92595829e-02 -2.04182582e-02 5.31831150e+02] [ 6.92661369e-02 9.97598142e-01 -3.86910166e-04 7.55692760e+00] [ 2.03960137e-02 -1.02839365e-03 9.99791451e-01 6.39279154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7950998929999 meters 0.02361219177153287 Centerline is valid? [True, True] Translation: X:531.86, Y:7.56, Z:6.39 [[ 9.97473343e-01 -6.81475794e-02 -2.00707952e-02 5.31863410e+02] [ 6.81537165e-02 9.97674760e-01 -3.78885262e-04 7.56010294e+00] [ 2.00499460e-02 -9.89971340e-04 9.99798490e-01 6.39398633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8250998929999 meters 0.022977054725300653 Centerline is valid? [True, True] Translation: X:531.90, Y:7.56, Z:6.39 [[ 9.97552067e-01 -6.71508388e-02 -1.95099543e-02 5.31896122e+02] [ 6.71564773e-02 9.97742388e-01 -3.66765532e-04 7.56285283e+00] [ 1.94905370e-02 -9.44352086e-04 9.99809595e-01 6.39478586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.855099893 meters 0.023128603947893383 Centerline is valid? [True, True] Translation: X:531.93, Y:7.56, Z:6.40 [[ 9.97660337e-01 -6.56195860e-02 -1.91812906e-02 5.31927529e+02] [ 6.56247941e-02 9.97844305e-01 -3.58480205e-04 7.56444123e+00] [ 1.91634650e-02 -9.01126766e-04 9.99815958e-01 6.39541243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.885099893 meters 0.02413200229524129 Centerline is valid? [True, True] Translation: X:531.96, Y:7.57, Z:6.40 [[ 9.97861592e-01 -6.26636177e-02 -1.85880131e-02 5.31958221e+02] [ 6.26680331e-02 9.98034367e-01 -3.45421653e-04 7.56603147e+00] [ 1.85731213e-02 -8.20191219e-04 9.99827168e-01 6.39573954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9150998929999 meters 0.02279899114432261 Centerline is valid? [True, True] Translation: X:531.99, Y:7.57, Z:6.40 [[ 9.97970842e-01 -6.09370496e-02 -1.84628134e-02 5.31990001e+02] [ 6.09411270e-02 9.98141304e-01 -3.42219253e-04 7.57003809e+00] [ 1.84493505e-02 -7.83619821e-04 9.99829489e-01 6.39650789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9450998929999 meters 0.021516887054888523 Centerline is valid? [True, True] Translation: X:532.02, Y:7.58, Z:6.40 [[ 9.98203381e-01 -5.71432760e-02 -1.80181983e-02 5.32021191e+02] [ 5.71465612e-02 9.98365744e-01 -3.32922421e-04 7.57587562e+00] [ 1.80077762e-02 -6.97353785e-04 9.99837604e-01 6.39750331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.975099893 meters 0.01888687568838108 Centerline is valid? [True, True] Translation: X:532.05, Y:7.58, Z:6.40 [[ 9.98327612e-01 -5.49935773e-02 -1.78237594e-02 5.32053085e+02] [ 5.49964647e-02 9.98486495e-01 -3.28494734e-04 7.58259737e+00] [ 1.78148481e-02 -6.52298390e-04 9.99841090e-01 6.39831964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.005099893 meters 0.020322379490637057 Centerline is valid? [True, True] Translation: X:532.08, Y:7.58, Z:6.40 [[ 9.98454859e-01 -5.26234590e-02 -1.78512301e-02 5.32083494e+02] [ 5.26259950e-02 9.98614238e-01 -3.27989341e-04 7.58254070e+00] [ 1.78437525e-02 -6.11956196e-04 9.99840600e-01 6.39825658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0350998929999 meters 0.01891659983143639 Centerline is valid? [True, True] Translation: X:532.12, Y:7.59, Z:6.40 [[ 9.98581224e-01 -5.02066353e-02 -1.77435162e-02 5.32115091e+02] [ 5.02087687e-02 9.98738691e-01 -3.25497025e-04 7.58729463e+00] [ 1.77374783e-02 -5.65844884e-04 9.99842518e-01 6.39888557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0650998929999 meters 0.0183075013909968 Centerline is valid? [True, True] Translation: X:532.15, Y:7.59, Z:6.40 [[ 9.98809045e-01 -4.57782302e-02 -1.68773450e-02 5.32145712e+02] [ 4.57795419e-02 9.98951519e-01 -3.08818273e-04 7.59198177e+00] [ 1.68737866e-02 -4.64186640e-04 9.99857520e-01 6.39951635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.095099893 meters 0.016972237387913855 Centerline is valid? [True, True] Translation: X:532.18, Y:7.60, Z:6.40 [[ 9.98911932e-01 -4.38268214e-02 -1.59424837e-02 5.32177766e+02] [ 4.38277542e-02 9.99039060e-01 -2.91039305e-04 7.59672074e+00] [ 1.59399192e-02 -4.08000621e-04 9.99872868e-01 6.40047469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.125099893 meters 0.016664358609086504 Centerline is valid? [True, True] Translation: X:532.21, Y:7.60, Z:6.40 [[ 9.99004555e-01 -4.15800260e-02 -1.61555151e-02 5.32209153e+02] [ 4.15807082e-02 9.99135105e-01 -2.93816282e-04 7.59891664e+00] [ 1.61537591e-02 -3.78233954e-04 9.99869448e-01 6.40097627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1550998929999 meters 0.015917976384613272 Centerline is valid? [True, True] Translation: X:532.24, Y:7.60, Z:6.40 [[ 9.99095011e-01 -3.94952951e-02 -1.57886539e-02 5.32240378e+02] [ 3.94956987e-02 9.99219699e-01 -2.86368939e-04 7.60229223e+00] [ 1.57876442e-02 -3.37474137e-04 9.99875310e-01 6.40175261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1850998929999 meters 0.01510529734430111 Centerline is valid? [True, True] Translation: X:532.27, Y:7.61, Z:6.40 [[ 9.99243822e-01 -3.56111218e-02 -1.56087319e-02 5.32271398e+02] [ 3.56110513e-02 9.99365685e-01 -2.82543701e-04 7.60684805e+00] [ 1.56088928e-02 -2.73513307e-04 9.99878136e-01 6.40215709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.215099893 meters 0.014896428257655305 Centerline is valid? [True, True] Translation: X:532.30, Y:7.61, Z:6.40 [[ 9.99311215e-01 -3.35692038e-02 -1.58178365e-02 5.32302509e+02] [ 3.35688850e-02 9.99436365e-01 -2.85744627e-04 7.60884923e+00] [ 1.58185133e-02 -2.45439325e-04 9.99874849e-01 6.40180685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.245099893 meters 0.014669590173555987 Centerline is valid? [True, True] Translation: X:532.33, Y:7.61, Z:6.40 [[ 9.99357265e-01 -3.17988203e-02 -1.65496763e-02 5.32334118e+02] [ 3.17982389e-02 9.99494264e-01 -2.98342679e-04 7.61090860e+00] [ 1.65507935e-02 -2.28099637e-04 9.99863000e-01 6.40179111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.275099893 meters 0.014291434202488943 Centerline is valid? [True, True] Translation: X:532.37, Y:7.61, Z:6.40 [[ 9.99435666e-01 -2.89856422e-02 -1.69759045e-02 5.32365516e+02] [ 2.89846354e-02 9.99579811e-01 -3.05397612e-04 7.61346449e+00] [ 1.69776236e-02 -1.86815138e-04 9.99855852e-01 6.40118092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3050998929999 meters 0.014208674932983107 Centerline is valid? [True, True] Translation: X:532.40, Y:7.61, Z:6.40 [[ 9.99464010e-01 -2.78112144e-02 -1.72692944e-02 5.32395591e+02] [ 2.78100050e-02 9.99613179e-01 -3.10218520e-04 7.61433086e+00] [ 1.72712418e-02 -1.70206919e-04 9.99850826e-01 6.40137122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3350998929999 meters 0.014044509303578688 Centerline is valid? [True, True] Translation: X:532.43, Y:7.61, Z:6.40 [[ 9.99486068e-01 -2.70647016e-02 -1.71785030e-02 5.32425144e+02] [ 2.70633917e-02 9.99633672e-01 -3.08761403e-04 7.61484419e+00] [ 1.71805666e-02 -1.56305835e-04 9.99852391e-01 6.40149866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.365099893 meters 0.014072998588442642 Centerline is valid? [True, True] Translation: X:532.45, Y:7.61, Z:6.40 [[ 9.99498459e-01 -2.66637578e-02 -1.70843318e-02 5.32454902e+02] [ 2.66623931e-02 9.99644448e-01 -3.07682858e-04 7.61488156e+00] [ 1.70864614e-02 -1.47980629e-04 9.99854005e-01 6.40197268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.395099893 meters 0.014062049253558365 Centerline is valid? [True, True] Translation: X:532.48, Y:7.61, Z:6.40 [[ 9.99487038e-01 -2.76871166e-02 -1.60960726e-02 5.32484149e+02] [ 2.76860291e-02 9.99616626e-01 -2.90439292e-04 7.61336943e+00] [ 1.60979432e-02 -1.55346026e-04 9.99870408e-01 6.40231791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4250998929999 meters 0.014071468609803453 Centerline is valid? [True, True] Translation: X:532.51, Y:7.61, Z:6.40 [[ 9.99461427e-01 -2.87071787e-02 -1.58982052e-02 5.32514767e+02] [ 2.87062397e-02 9.99587850e-01 -2.87309581e-04 7.61264951e+00] [ 1.58999006e-02 -1.69222846e-04 9.99873574e-01 6.40294264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4550998929999 meters 0.01423953054940422 Centerline is valid? [True, True] Translation: X:532.55, Y:7.61, Z:6.40 [[ 9.99422165e-01 -3.00885656e-02 -1.58118212e-02 5.32545478e+02] [ 3.00878106e-02 9.99547219e-01 -2.85686107e-04 7.61122694e+00] [ 1.58132577e-02 -1.90222053e-04 9.99874945e-01 6.40334321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.485099893 meters 0.014514528735262945 Centerline is valid? [True, True] Translation: X:532.58, Y:7.61, Z:6.40 [[ 9.99373091e-01 -3.17460262e-02 -1.56720816e-02 5.32575799e+02] [ 3.17454918e-02 9.99495945e-01 -2.82939727e-04 7.60991673e+00] [ 1.56731642e-02 -2.14755588e-04 9.99877145e-01 6.40342192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.515099893 meters 0.015085380100538876 Centerline is valid? [True, True] Translation: X:532.61, Y:7.61, Z:6.40 [[ 9.99240074e-01 -3.54025654e-02 -1.63074222e-02 5.32605647e+02] [ 3.54024734e-02 9.99373093e-01 -2.94410003e-04 7.60573768e+00] [ 1.63076218e-02 -2.83136807e-04 9.99866982e-01 6.40309245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5450998929999 meters 0.015582540960708439 Centerline is valid? [True, True] Translation: X:532.64, Y:7.60, Z:6.40 [[ 9.99162998e-01 -3.73779401e-02 -1.66190332e-02 5.32636695e+02] [ 3.73781202e-02 9.99301149e-01 -2.99884612e-04 7.60365615e+00] [ 1.66186281e-02 -3.21554613e-04 9.99861849e-01 6.40321257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5750998929999 meters 0.0162095074177238 Centerline is valid? [True, True] Translation: X:532.67, Y:7.60, Z:6.40 [[ 9.99099403e-01 -3.91657868e-02 -1.63225061e-02 5.32667087e+02] [ 3.91662072e-02 9.99232666e-01 -2.94032890e-04 7.60104852e+00] [ 1.63214973e-02 -3.45522570e-04 9.99866736e-01 6.40330793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.605099893 meters 0.016673801603798544 Centerline is valid? [True, True] Translation: X:532.70, Y:7.60, Z:6.40 [[ 9.99042946e-01 -4.05962420e-02 -1.62830245e-02 5.32698347e+02] [ 4.05968560e-02 9.99175565e-01 -2.92967971e-04 7.59907595e+00] [ 1.62814936e-02 -3.68352014e-04 9.99867380e-01 6.40353688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.635099893 meters 0.017029064979662646 Centerline is valid? [True, True] Translation: X:532.73, Y:7.60, Z:6.40 [[ 9.98935003e-01 -4.32731134e-02 -1.60092930e-02 5.32729509e+02] [ 4.32740593e-02 9.99063198e-01 -2.87491080e-04 7.59660996e+00] [ 1.60067361e-02 -4.05602192e-04 9.99871802e-01 6.40422482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6650998929999 meters 0.01709716672798117 Centerline is valid? [True, True] Translation: X:532.76, Y:7.60, Z:6.40 [[ 9.98892442e-01 -4.42456874e-02 -1.60065121e-02 5.32761650e+02] [ 4.42467689e-02 9.99020591e-01 -2.86743036e-04 7.59590304e+00] [ 1.60035223e-02 -4.21810990e-04 9.99871846e-01 6.40454676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6950998929999 meters 0.0176573346018366 Centerline is valid? [True, True] Translation: X:532.79, Y:7.59, Z:6.40 [[ 9.98873376e-01 -4.47993193e-02 -1.56524496e-02 5.32793295e+02] [ 4.48004409e-02 9.98995917e-01 -2.79153467e-04 7.59411774e+00] [ 1.56492392e-02 -4.22397678e-04 9.99877454e-01 6.40455338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.725099893 meters 0.0180947889610407 Centerline is valid? [True, True] Translation: X:532.82, Y:7.59, Z:6.40 [[ 9.98846686e-01 -4.53926940e-02 -1.56461087e-02 5.32824462e+02] [ 4.53939125e-02 9.98969127e-01 -2.77438030e-04 7.59252356e+00] [ 1.56425732e-02 -4.33120033e-04 9.99877554e-01 6.40450191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.755099893 meters 0.018292145067630897 Centerline is valid? [True, True] Translation: X:532.86, Y:7.59, Z:6.40 [[ 9.98838574e-01 -4.56691595e-02 -1.53567921e-02 5.32856606e+02] [ 4.56703789e-02 9.98956527e-01 -2.71460255e-04 7.59154992e+00] [ 1.53531651e-02 -4.30205542e-04 9.99882041e-01 6.40469951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7850998929999 meters 0.018989088726044028 Centerline is valid? [True, True] Translation: X:532.89, Y:7.59, Z:6.40 [[ 9.98801482e-01 -4.65340971e-02 -1.51716022e-02 5.32888092e+02] [ 4.65354022e-02 9.98916606e-01 -2.67188687e-04 7.58854349e+00] [ 1.51675987e-02 -4.39148153e-04 9.99884869e-01 6.40473533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8150998929999 meters 0.0190869469704217 Centerline is valid? [True, True] Translation: X:532.92, Y:7.59, Z:6.41 [[ 9.98801539e-01 -4.67231508e-02 -1.45751061e-02 5.32920707e+02] [ 4.67243865e-02 9.98907787e-01 -2.55913815e-04 7.58785724e+00] [ 1.45711441e-02 -4.25405781e-04 9.99893745e-01 6.40504268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.845099893 meters 0.019222948873731743 Centerline is valid? [True, True] Translation: X:532.95, Y:7.59, Z:6.41 [[ 9.98805140e-01 -4.66246713e-02 -1.46435032e-02 5.32952560e+02] [ 4.66259229e-02 9.98912387e-01 -2.56102268e-04 7.58712242e+00] [ 1.46395174e-02 -4.26970589e-04 9.99892745e-01 6.40539050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.875099893 meters 0.018271011285529076 Centerline is valid? [True, True] Translation: X:532.98, Y:7.59, Z:6.41 [[ 9.98846157e-01 -4.57679529e-02 -1.45481366e-02 5.32984955e+02] [ 4.57691120e-02 9.98952013e-01 -2.53437225e-04 7.58757504e+00] [ 1.45444897e-02 -4.12710497e-04 9.99894138e-01 6.40525179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9050998929999 meters 0.018271011285529076 Centerline is valid? [True, True] Translation: X:533.02, Y:7.59, Z:6.41 [[ 9.98849362e-01 -4.56979581e-02 -1.45481543e-02 5.33016650e+02] [ 4.56991246e-02 9.98955217e-01 -2.52417415e-04 7.58806513e+00] [ 1.45444896e-02 -4.12710944e-04 9.99894138e-01 6.40564357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9350998929999 meters 0.01773070635104435 Centerline is valid? [True, True] Translation: X:533.05, Y:7.59, Z:6.41 [[ 9.98877763e-01 -4.50451464e-02 -1.46338515e-02 5.33048678e+02] [ 4.50462718e-02 9.98984869e-01 -2.52871518e-04 7.58875859e+00] [ 1.46303869e-02 -4.06612716e-04 9.99892887e-01 6.40633104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.965099893 meters 0.01781310143869364 Centerline is valid? [True, True] Translation: X:533.08, Y:7.59, Z:6.41 [[ 9.98913152e-01 -4.43285647e-02 -1.44046225e-02 5.33080694e+02] [ 4.43295952e-02 9.99016930e-01 -2.47903041e-04 7.58849535e+00] [ 1.44014510e-02 -3.90917477e-04 9.99896217e-01 6.40618803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.995099893 meters 0.01774207675820992 Centerline is valid? [True, True] Translation: X:533.11, Y:7.59, Z:6.41 [[ 9.98931617e-01 -4.37414479e-02 -1.49100861e-02 5.33112572e+02] [ 4.37425027e-02 9.99042806e-01 -2.55522554e-04 7.58854003e+00] [ 1.49069912e-02 -3.96954924e-04 9.99888806e-01 6.40631764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.025099893 meters 0.017709770068700722 Centerline is valid? [True, True] Translation: X:533.14, Y:7.59, Z:6.41 [[ 9.98961371e-01 -4.29040268e-02 -1.53435134e-02 5.33143313e+02] [ 4.29050615e-02 9.99079120e-01 -2.61883066e-04 7.58785758e+00] [ 1.53406197e-02 -3.96703322e-04 9.99882247e-01 6.40602276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0550998929999 meters 0.017927588849644138 Centerline is valid? [True, True] Translation: X:533.17, Y:7.59, Z:6.41 [[ 9.98955166e-01 -4.29208435e-02 -1.56964394e-02 5.33174523e+02] [ 4.29219419e-02 9.99078393e-01 -2.67048246e-04 7.58743731e+00] [ 1.56934354e-02 -4.06952437e-04 9.99876768e-01 6.40611648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0850998929999 meters 0.018152156159690534 Centerline is valid? [True, True] Translation: X:533.21, Y:7.59, Z:6.41 [[ 9.98935660e-01 -4.33432507e-02 -1.57768637e-02 5.33206150e+02] [ 4.33444216e-02 9.99060153e-01 -2.67872090e-04 7.58707595e+00] [ 1.57736463e-02 -4.16252050e-04 9.99875502e-01 6.40623859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.115099893 meters 0.018388816104340473 Centerline is valid? [True, True] Translation: X:533.24, Y:7.59, Z:6.41 [[ 9.98913495e-01 -4.36899644e-02 -1.62177824e-02 5.33237463e+02] [ 4.36912567e-02 9.99045043e-01 -2.74791038e-04 7.58659774e+00] [ 1.62143007e-02 -4.34082817e-04 9.99868445e-01 6.40645270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.145099893 meters 0.019480869546650115 Centerline is valid? [True, True] Translation: X:533.27, Y:7.58, Z:6.41 [[ 9.98818787e-01 -4.56651173e-02 -1.66050297e-02 5.33267981e+02] [ 4.56667531e-02 9.98956690e-01 -2.80848646e-04 7.58421852e+00] [ 1.66005305e-02 -4.77780887e-04 9.99862088e-01 6.40705758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1750998929999 meters 0.02010327141931392 Centerline is valid? [True, True] Translation: X:533.30, Y:7.58, Z:6.41 [[ 9.98772745e-01 -4.65980171e-02 -1.67817676e-02 5.33299679e+02] [ 4.65998255e-02 9.98913598e-01 -2.83478165e-04 7.58356715e+00] [ 1.67767453e-02 -4.98897174e-04 9.99859136e-01 6.40732271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2050998929999 meters 0.020682074264595715 Centerline is valid? [True, True] Translation: X:533.33, Y:7.58, Z:6.41 [[ 9.98702832e-01 -4.77717741e-02 -1.76213469e-02 5.33330769e+02] [ 4.77739613e-02 9.98858128e-01 -2.97049558e-04 7.58300792e+00] [ 1.76154161e-02 -5.45177309e-04 9.99844688e-01 6.40727035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.235099893 meters 0.01900730486359887 Centerline is valid? [True, True] Translation: X:533.36, Y:7.59, Z:6.41 [[ 9.98588662e-01 -5.00328199e-02 -1.78157434e-02 5.33362205e+02] [ 5.00354260e-02 9.98747399e-01 -2.99714591e-04 7.58667484e+00] [ 1.78084229e-02 -5.92126716e-04 9.99841242e-01 6.40882294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.265099893 meters 0.01901895759961132 Centerline is valid? [True, True] Translation: X:533.39, Y:7.59, Z:6.41 [[ 9.98543009e-01 -5.09774505e-02 -1.76963057e-02 5.33394079e+02] [ 5.09801845e-02 9.98699621e-01 -2.96881699e-04 7.58746144e+00] [ 1.76884281e-02 -6.05711787e-04 9.99843364e-01 6.40975529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2950998929999 meters 0.020321331795729997 Centerline is valid? [True, True] Translation: X:533.42, Y:7.59, Z:6.41 [[ 9.98481040e-01 -5.22526862e-02 -1.74719821e-02 5.33424449e+02] [ 5.22555661e-02 9.98633702e-01 -2.91980443e-04 7.58655982e+00] [ 1.74633669e-02 -6.21471379e-04 9.99847311e-01 6.41085710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3250998929999 meters 0.021279979697765523 Centerline is valid? [True, True] Translation: X:533.46, Y:7.59, Z:6.41 [[ 9.98450257e-01 -5.30633158e-02 -1.67740780e-02 5.33455216e+02] [ 5.30661034e-02 9.98590963e-01 -2.79181968e-04 7.58594014e+00] [ 1.67652571e-02 -6.11385653e-04 9.99859266e-01 6.41182214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.355099893 meters 0.022381577741349575 Centerline is valid? [True, True] Translation: X:533.49, Y:7.59, Z:6.41 [[ 9.98346718e-01 -5.51571035e-02 -1.61717336e-02 5.33486128e+02] [ 5.51599955e-02 9.98477493e-01 -2.67499829e-04 7.58571283e+00] [ 1.61618666e-02 -6.24975179e-04 9.99869193e-01 6.41333529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.385099893 meters 0.021978139577470555 Centerline is valid? [True, True] Translation: X:533.52, Y:7.59, Z:6.41 [[ 9.98292386e-01 -5.62156935e-02 -1.58779335e-02 5.33517968e+02] [ 5.62186289e-02 9.98418448e-01 -2.61761653e-04 7.58748641e+00] [ 1.58675368e-02 -6.31320987e-04 9.99873903e-01 6.41433803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4150998929999 meters 0.02192973129866155 Centerline is valid? [True, True] Translation: X:533.55, Y:7.59, Z:6.42 [[ 9.98231030e-01 -5.73212515e-02 -1.57824467e-02 5.33549670e+02] [ 5.73243091e-02 9.98355576e-01 -2.58957820e-04 7.58914538e+00] [ 1.57713374e-02 -6.46218120e-04 9.99875416e-01 6.41521082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4450998929999 meters 0.02496910372914617 Centerline is valid? [True, True] Translation: X:533.58, Y:7.59, Z:6.42 [[ 9.98171120e-01 -5.83585463e-02 -1.57700907e-02 5.33581288e+02] [ 5.83617521e-02 9.98295467e-01 -2.57251945e-04 7.58602109e+00] [ 1.57582229e-02 -6.63588663e-04 9.99875611e-01 6.41559094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.475099893 meters 0.024033557978798515 Centerline is valid? [True, True] Translation: X:533.61, Y:7.59, Z:6.42 [[ 9.98015472e-01 -6.09079631e-02 -1.59792605e-02 5.33612363e+02] [ 6.09115932e-02 9.98143131e-01 -2.59872756e-04 7.59009674e+00] [ 1.59654175e-02 -7.13965186e-04 9.99872290e-01 6.41622532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.505099893 meters 0.022639692946241248 Centerline is valid? [True, True] Translation: X:533.64, Y:7.59, Z:6.42 [[ 9.97924524e-01 -6.23699521e-02 -1.60197663e-02 5.33644756e+02] [ 6.23737998e-02 9.98052825e-01 -2.59833155e-04 7.59366169e+00] [ 1.60047788e-02 -7.39919819e-04 9.99871642e-01 6.41690321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5350998929999 meters 0.024520934368343874 Centerline is valid? [True, True] Translation: X:533.67, Y:7.59, Z:6.42 [[ 9.97711081e-01 -6.55852514e-02 -1.64673391e-02 5.33674677e+02] [ 6.55897691e-02 9.97846637e-01 -2.66169336e-04 7.59349343e+00] [ 1.64493357e-02 -8.14528874e-04 9.99864369e-01 6.41675038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5650998929999 meters 0.02540598410712407 Centerline is valid? [True, True] Translation: X:533.71, Y:7.59, Z:6.42 [[ 9.97609806e-01 -6.70854929e-02 -1.65593215e-02 5.33706378e+02] [ 6.70902711e-02 9.97746874e-01 -2.67430897e-04 7.59392851e+00] [ 1.65399520e-02 -8.44177684e-04 9.99862849e-01 6.41675479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.595099893 meters 0.026029287491073416 Centerline is valid? [True, True] Translation: X:533.74, Y:7.59, Z:6.42 [[ 9.97517154e-01 -6.83115194e-02 -1.71191255e-02 5.33738572e+02] [ 6.83168238e-02 9.97663639e-01 -2.75446853e-04 7.59466469e+00] [ 1.70979452e-02 -8.94761317e-04 9.99853419e-01 6.41650079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.625099893 meters 0.026526508528645073 Centerline is valid? [True, True] Translation: X:533.77, Y:7.60, Z:6.42 [[ 9.97446265e-01 -6.92567617e-02 -1.74484928e-02 5.33770582e+02] [ 6.92624383e-02 9.97598435e-01 -2.79486932e-04 7.59575693e+00] [ 1.74259455e-02 -9.29751962e-04 9.99847724e-01 6.41668682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6550998929999 meters 0.027142122425410177 Centerline is valid? [True, True] Translation: X:533.80, Y:7.60, Z:6.42 [[ 9.97382664e-01 -7.01194175e-02 -1.76377020e-02 5.33802225e+02] [ 7.01253731e-02 9.97538146e-01 -2.81347430e-04 7.59708450e+00] [ 1.76140085e-02 -9.56239386e-04 9.99844404e-01 6.41686128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6850998929999 meters 0.02516274956568607 Centerline is valid? [True, True] Translation: X:533.83, Y:7.60, Z:6.42 [[ 9.97308823e-01 -7.10200357e-02 -1.82007299e-02 5.33834536e+02] [ 7.10265474e-02 9.97474384e-01 -2.89220315e-04 7.60422507e+00] [ 1.81753023e-02 -1.00429303e-03 9.99834311e-01 6.41765594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.715099893 meters 0.025444630367197348 Centerline is valid? [True, True] Translation: X:533.87, Y:7.61, Z:6.42 [[ 9.97313582e-01 -7.09613775e-02 -1.81687049e-02 5.33866930e+02] [ 7.09678806e-02 9.97478560e-01 -2.87381982e-04 7.60618362e+00] [ 1.81432866e-02 -1.00278453e-03 9.99834894e-01 6.41813422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.745099893 meters 0.026268225355284034 Centerline is valid? [True, True] Translation: X:533.90, Y:7.61, Z:6.42 [[ 9.97344988e-01 -7.04492764e-02 -1.84356999e-02 5.33897678e+02] [ 7.04559159e-02 9.97514852e-01 -2.89925319e-04 7.60698877e+00] [ 1.84103095e-02 -1.00974856e-03 9.99830006e-01 6.41781246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.775099893 meters 0.025238448846531772 Centerline is valid? [True, True] Translation: X:533.93, Y:7.61, Z:6.42 [[ 9.97376454e-01 -6.98940291e-02 -1.88423470e-02 5.33930170e+02] [ 6.99009048e-02 9.97553897e-01 -2.94260059e-04 7.61037674e+00] [ 1.88168237e-02 -1.02360905e-03 9.99822424e-01 6.41780985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8050998929999 meters 0.025247372699405364 Centerline is valid? [True, True] Translation: X:533.96, Y:7.61, Z:6.42 [[ 9.97466889e-01 -6.83627158e-02 -1.96556548e-02 5.33962151e+02] [ 6.83699304e-02 9.97659992e-01 -3.05494956e-04 7.61427520e+00] [ 1.96305449e-02 -1.03913465e-03 9.99806762e-01 6.41739613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8350998929999 meters 0.025810532617670266 Centerline is valid? [True, True] Translation: X:533.99, Y:7.62, Z:6.42 [[ 9.97532882e-01 -6.74105403e-02 -1.95951159e-02 5.33993779e+02] [ 6.74175550e-02 9.97724802e-01 -3.03144593e-04 7.61568939e+00] [ 1.95709683e-02 -1.01865810e-03 9.99807951e-01 6.41736566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.865099893 meters 0.026096869835470944 Centerline is valid? [True, True] Translation: X:534.02, Y:7.62, Z:6.42 [[ 9.97641542e-01 -6.56948433e-02 -1.98882079e-02 5.34024417e+02] [ 6.57017526e-02 9.97839258e-01 -3.06512772e-04 7.61932264e+00] [ 1.98653709e-02 -1.00090024e-03 9.99802163e-01 6.41788659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.895099893 meters 0.02635261652109121 Centerline is valid? [True, True] Translation: X:534.06, Y:7.62, Z:6.42 [[ 9.97715943e-01 -6.46652844e-02 -1.95268390e-02 5.34055731e+02] [ 6.46717637e-02 9.97906545e-01 -3.00138973e-04 7.62123044e+00] [ 1.95053690e-02 -9.63381681e-04 9.99809288e-01 6.41840357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9250998929999 meters 0.026239265715911494 Centerline is valid? [True, True] Translation: X:534.09, Y:7.62, Z:6.42 [[ 9.97803433e-01 -6.33608717e-02 -1.93315556e-02 5.34088229e+02] [ 6.33669995e-02 9.97990248e-01 -2.96017211e-04 7.62337701e+00] [ 1.93114599e-02 -9.29615686e-04 9.99813084e-01 6.41915972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9550998929999 meters 0.025809231627894197 Centerline is valid? [True, True] Translation: X:534.12, Y:7.63, Z:6.42 [[ 9.97891370e-01 -6.19915633e-02 -1.92317470e-02 5.34120529e+02] [ 6.19973996e-02 9.98076268e-01 -2.93166862e-04 7.62592430e+00] [ 1.92129241e-02 -8.99769620e-04 9.99815010e-01 6.41981311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.985099893 meters 0.022852418695939482 Centerline is valid? [True, True] Translation: X:534.15, Y:7.63, Z:6.42 [[ 9.98077007e-01 -5.91676268e-02 -1.84791518e-02 5.34152103e+02] [ 5.91725531e-02 9.98247730e-01 -2.80551516e-04 7.63352704e+00] [ 1.84633709e-02 -8.13446576e-04 9.99829207e-01 6.42107772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.015099893 meters 0.024625482991615856 Centerline is valid? [True, True] Translation: X:534.18, Y:7.63, Z:6.42 [[ 9.98173923e-01 -5.74455951e-02 -1.86768289e-02 5.34183086e+02] [ 5.74503452e-02 9.98348325e-01 -2.82553740e-04 7.63278505e+00] [ 1.86622123e-02 -7.90952494e-04 9.99825533e-01 6.42120536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0450998929999 meters 0.020192431285160146 Centerline is valid? [True, True] Translation: X:534.21, Y:7.64, Z:6.42 [[ 9.98285599e-01 -5.54857305e-02 -1.86332086e-02 5.34214856e+02] [ 5.54901383e-02 9.98459196e-01 -2.80784754e-04 7.64124268e+00] [ 1.86200780e-02 -7.53655943e-04 9.99826347e-01 6.42248536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0750998929999 meters 0.019227875993164254 Centerline is valid? [True, True] Translation: X:534.25, Y:7.65, Z:6.42 [[ 9.98502454e-01 -5.12376196e-02 -1.91717539e-02 5.34245098e+02] [ 5.12415241e-02 9.98686249e-01 -2.87849250e-04 7.64547153e+00] [ 1.91613157e-02 -6.94971708e-04 9.99816164e-01 6.42213120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.105099893 meters 0.018253061448759232 Centerline is valid? [True, True] Translation: X:534.28, Y:7.65, Z:6.42 [[ 9.98604495e-01 -4.90394969e-02 -1.96007574e-02 5.34277181e+02] [ 4.90431701e-02 9.98796617e-01 -2.93534164e-04 7.64856670e+00] [ 1.95915649e-02 -6.68158741e-04 9.99807844e-01 6.42226906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.135099893 meters 0.01809661862528375 Centerline is valid? [True, True] Translation: X:534.31, Y:7.65, Z:6.42 [[ 9.98704294e-01 -4.67060234e-02 -2.02059680e-02 5.34308692e+02] [ 4.67094773e-02 9.98908471e-01 -3.01243158e-04 7.65012042e+00] [ 2.01979825e-02 -6.42957369e-04 9.99795793e-01 6.42160998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1650998929999 meters 0.017474383896136186 Centerline is valid? [True, True] Translation: X:534.34, Y:7.65, Z:6.42 [[ 9.98872742e-01 -4.22310071e-02 -2.16745636e-02 5.34339390e+02] [ 4.22339517e-02 9.99107697e-01 -3.22086210e-04 7.65266276e+00] [ 2.16688254e-02 -5.93679337e-04 9.99765027e-01 6.42065570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1950998929999 meters 0.016701232784283135 Centerline is valid? [True, True] Translation: X:534.37, Y:7.66, Z:6.42 [[ 9.98959127e-01 -3.99547350e-02 -2.20064065e-02 5.34370250e+02] [ 3.99572321e-02 9.99201338e-01 -3.26401243e-04 7.65513222e+00] [ 2.20018721e-02 -5.53253592e-04 9.99757776e-01 6.42095154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.225099893 meters 0.015177351697055195 Centerline is valid? [True, True] Translation: X:534.40, Y:7.66, Z:6.42 [[ 9.99053086e-01 -3.72421562e-02 -2.24934163e-02 5.34400320e+02] [ 3.72440831e-02 9.99306143e-01 -3.33403840e-04 7.65902996e+00] [ 2.24902257e-02 -5.04658530e-04 9.99746936e-01 6.42173457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.255099893 meters 0.01562320202732546 Centerline is valid? [True, True] Translation: X:534.43, Y:7.66, Z:6.42 [[ 9.99140973e-01 -3.45003059e-02 -2.29574610e-02 5.34429836e+02] [ 3.45015853e-02 9.99404585e-01 -3.40473520e-04 7.65880696e+00] [ 2.29555382e-02 -4.51887752e-04 9.99736385e-01 6.42097027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2850998929999 meters 0.014162719793529082 Centerline is valid? [True, True] Translation: X:534.46, Y:7.66, Z:6.42 [[ 9.99207512e-01 -3.18723525e-02 -2.38432553e-02 5.34459790e+02] [ 3.18729693e-02 9.99491865e-01 -3.54258398e-04 7.66258582e+00] [ 2.38424307e-02 -4.05977691e-04 9.99715646e-01 6.42251102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3150998929999 meters 0.013578383045467093 Centerline is valid? [True, True] Translation: X:534.49, Y:7.67, Z:6.42 [[ 9.99340208e-01 -2.67096063e-02 -2.46119071e-02 5.34487858e+02] [ 2.67086597e-02 9.99643193e-01 -3.67241069e-04 7.66504282e+00] [ 2.46129343e-02 -2.90352286e-04 9.99697014e-01 6.42257638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.345099893 meters 0.01335380467198335 Centerline is valid? [True, True] Translation: X:534.52, Y:7.67, Z:6.42 [[ 9.99377862e-01 -2.50588720e-02 -2.48181849e-02 5.34516289e+02] [ 2.50572960e-02 9.99685947e-01 -3.74532514e-04 7.66554910e+00] [ 2.48197760e-02 -2.47577103e-04 9.99691911e-01 6.42266907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.375099893 meters 0.013249360904901152 Centerline is valid? [True, True] Translation: X:534.54, Y:7.67, Z:6.42 [[ 9.99394050e-01 -2.41266280e-02 -2.50886281e-02 5.34544372e+02] [ 2.41245556e-02 9.99708886e-01 -3.85316489e-04 7.66521767e+00] [ 2.50906208e-02 -2.20168996e-04 9.99685157e-01 6.42278985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4050998929999 meters 0.01310857328633057 Centerline is valid? [True, True] Translation: X:534.57, Y:7.66, Z:6.42 [[ 9.99402855e-01 -2.33758462e-02 -2.54460788e-02 5.34572088e+02] [ 2.33732872e-02 9.99726728e-01 -3.98029904e-04 7.66269770e+00] [ 2.54484294e-02 -1.96966285e-04 9.99676117e-01 6.42310533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4350998929999 meters 0.013137612177249944 Centerline is valid? [True, True] Translation: X:534.60, Y:7.66, Z:6.42 [[ 9.99392648e-01 -2.37938185e-02 -2.54595457e-02 5.34599879e+02] [ 2.37912092e-02 9.99716867e-01 -4.05429383e-04 7.66128924e+00] [ 2.54619839e-02 -2.00530233e-04 9.99675771e-01 6.42355808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.465099893 meters 0.013103087631976271 Centerline is valid? [True, True] Translation: X:534.63, Y:7.66, Z:6.42 [[ 9.99365989e-01 -2.45186308e-02 -2.58158182e-02 5.34629068e+02] [ 2.45160110e-02 9.99699350e-01 -4.18023831e-04 7.65980739e+00] [ 2.58183060e-02 -2.15142084e-04 9.99666629e-01 6.42412620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.495099893 meters 0.01334733470743343 Centerline is valid? [True, True] Translation: X:534.66, Y:7.66, Z:6.42 [[ 9.99335182e-01 -2.53790971e-02 -2.61743362e-02 5.34656602e+02] [ 2.53765849e-02 9.99677871e-01 -4.28192486e-04 7.65743670e+00] [ 2.61767718e-02 -2.36307449e-04 9.99657302e-01 6.42365441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.525099893 meters 0.01328215444032544 Centerline is valid? [True, True] Translation: X:534.69, Y:7.65, Z:6.43 [[ 9.99274137e-01 -2.77211705e-02 -2.61292165e-02 5.34685579e+02] [ 2.77193482e-02 9.99615652e-01 -4.32010100e-04 7.65348584e+00] [ 2.61311496e-02 -2.92588331e-04 9.99658480e-01 6.42526924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5550998929999 meters 0.013382094214156594 Centerline is valid? [True, True] Translation: X:534.71, Y:7.65, Z:6.43 [[ 9.99242034e-01 -2.91292666e-02 -2.58233289e-02 5.34713482e+02] [ 2.91278466e-02 9.99575601e-01 -4.31222007e-04 7.65081863e+00] [ 2.58249306e-02 -3.21282805e-04 9.99666429e-01 6.42591280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5850998929999 meters 0.01359712909454634 Centerline is valid? [True, True] Translation: X:534.74, Y:7.65, Z:6.43 [[ 9.99207060e-01 -3.05628202e-02 -2.55179555e-02 5.34742541e+02] [ 3.05617894e-02 9.99532787e-01 -4.30488499e-04 7.64801154e+00] [ 2.55191901e-02 -3.49727233e-04 9.99674271e-01 6.42661499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.615099893 meters 0.014149917632604354 Centerline is valid? [True, True] Translation: X:534.77, Y:7.64, Z:6.43 [[ 9.99158609e-01 -3.29017686e-02 -2.44856447e-02 5.34770806e+02] [ 3.29014228e-02 9.99458515e-01 -4.17100109e-04 7.64160873e+00] [ 2.44861094e-02 -3.88863383e-04 9.99700095e-01 6.42797531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.645099893 meters 0.014027760011045134 Centerline is valid? [True, True] Translation: X:534.80, Y:7.64, Z:6.43 [[ 9.99122423e-01 -3.38922331e-02 -2.46109864e-02 5.34799381e+02] [ 3.38920821e-02 9.99425409e-01 -4.23375935e-04 7.64008833e+00] [ 2.46111943e-02 -4.11113184e-04 9.99697014e-01 6.42856539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6750998929999 meters 0.01418423240624566 Centerline is valid? [True, True] Translation: X:534.83, Y:7.64, Z:6.43 [[ 9.99079779e-01 -3.49402898e-02 -2.48751024e-02 5.34828249e+02] [ 3.49403058e-02 9.99389307e-01 -4.34129561e-04 7.63788409e+00] [ 2.48750800e-02 -4.35413620e-04 9.99690473e-01 6.42836351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7050998929999 meters 0.014686185249329013 Centerline is valid? [True, True] Translation: X:534.86, Y:7.63, Z:6.43 [[ 9.99047434e-01 -3.60290052e-02 -2.46198186e-02 5.34856247e+02] [ 3.60292500e-02 9.99350642e-01 -4.33785706e-04 7.63276092e+00] [ 2.46194604e-02 -4.53661103e-04 9.99696792e-01 6.42799714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.735099893 meters 0.014833521224194483 Centerline is valid? [True, True] Translation: X:534.88, Y:7.63, Z:6.43 [[ 9.99036025e-01 -3.66608339e-02 -2.41454638e-02 5.34883899e+02] [ 3.66611496e-02 9.99327662e-01 -4.29739547e-04 7.63086261e+00] [ 2.41449845e-02 -4.55875169e-04 9.99708363e-01 6.42802341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.765099893 meters 0.014968937353737454 Centerline is valid? [True, True] Translation: X:534.91, Y:7.63, Z:6.43 [[ 9.99032175e-01 -3.69529675e-02 -2.38577525e-02 5.34911482e+02] [ 3.69532035e-02 9.99316904e-01 -4.31133343e-04 7.62898183e+00] [ 2.38573870e-02 -4.50904299e-04 9.99715270e-01 6.42790180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7950998929999 meters 0.014968937353737454 Centerline is valid? [True, True] Translation: X:534.94, Y:7.63, Z:6.43 [[ 9.99022022e-01 -3.72265138e-02 -2.38576331e-02 5.34938895e+02] [ 3.72266718e-02 9.99306751e-01 -4.37664013e-04 7.62956102e+00] [ 2.38573865e-02 -4.50904290e-04 9.99715270e-01 6.42824173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8250998929999 meters 0.01505054893539401 Centerline is valid? [True, True] Translation: X:534.97, Y:7.63, Z:6.43 [[ 9.99014889e-01 -3.75905243e-02 -2.35839815e-02 5.34967105e+02] [ 3.75906288e-02 9.99293126e-01 -4.39055780e-04 7.62810466e+00] [ 2.35838149e-02 -4.47913431e-04 9.99721763e-01 6.42855667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.855099893 meters 0.014420790069871433 Centerline is valid? [True, True] Translation: X:535.00, Y:7.63, Z:6.43 [[ 9.99019635e-01 -3.76527804e-02 -2.32816932e-02 5.34996324e+02] [ 3.76527586e-02 9.99290787e-01 -4.39458540e-04 7.62798071e+00] [ 2.32817284e-02 -4.37592266e-04 9.99728848e-01 6.42959007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.885099893 meters 0.013726260061782469 Centerline is valid? [True, True] Translation: X:535.03, Y:7.63, Z:6.43 [[ 9.99063523e-01 -3.70748108e-02 -2.23055116e-02 5.35025276e+02] [ 3.70745244e-02 9.99312412e-01 -4.26516074e-04 7.62755355e+00] [ 2.23059876e-02 -4.00849583e-04 9.99751110e-01 6.43096618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9150998929999 meters 0.014605062466657865 Centerline is valid? [True, True] Translation: X:535.05, Y:7.62, Z:6.43 [[ 9.99088638e-01 -3.63276197e-02 -2.24097457e-02 5.35053737e+02] [ 3.63270588e-02 9.99339861e-01 -4.32254195e-04 7.62487300e+00] [ 2.24106549e-02 -3.82219894e-04 9.99748777e-01 6.43031038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9450998929999 meters 0.013771343753525667 Centerline is valid? [True, True] Translation: X:535.08, Y:7.63, Z:6.43 [[ 9.99135673e-01 -3.54949803e-02 -2.16336243e-02 5.35082368e+02] [ 3.54941980e-02 9.99369794e-01 -4.20258946e-04 7.62651975e+00] [ 2.16349077e-02 -3.47972440e-04 9.99765877e-01 6.43169355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.975099893 meters 0.013308931390046791 Centerline is valid? [True, True] Translation: X:535.11, Y:7.63, Z:6.43 [[ 9.99251211e-01 -3.28815571e-02 -2.03916899e-02 5.35111633e+02] [ 3.28802206e-02 9.99459219e-01 -4.00905404e-04 7.62599308e+00] [ 2.03938449e-02 -2.69878052e-04 9.99791987e-01 6.43218236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.005099893 meters 0.013033493535956009 Centerline is valid? [True, True] Translation: X:535.14, Y:7.63, Z:6.43 [[ 9.99309991e-01 -3.13846273e-02 -1.98632039e-02 5.35139990e+02] [ 3.13829709e-02 9.99507355e-01 -3.95175138e-04 7.62624137e+00] [ 1.98658208e-02 -2.28463888e-04 9.99802629e-01 6.43276460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0350998929999 meters 0.012830128067670964 Centerline is valid? [True, True] Translation: X:535.17, Y:7.63, Z:6.43 [[ 9.99363844e-01 -2.99919679e-02 -1.92973624e-02 5.35168303e+02] [ 2.99900528e-02 9.99550122e-01 -3.88692061e-04 7.62668883e+00] [ 1.93003385e-02 -1.90284123e-04 9.99813713e-01 6.43340724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0650998929999 meters 0.012584728033033146 Centerline is valid? [True, True] Translation: X:535.20, Y:7.63, Z:6.43 [[ 9.99471667e-01 -2.64979939e-02 -1.88213677e-02 5.35196723e+02] [ 2.64954643e-02 9.99648860e-01 -3.83793295e-04 7.62645836e+00] [ 1.88249285e-02 -1.15090350e-04 9.99822789e-01 6.43348618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.095099893 meters 0.012429907746506009 Centerline is valid? [True, True] Translation: X:535.22, Y:7.63, Z:6.43 [[ 9.99515632e-01 -2.50734859e-02 -1.84342494e-02 5.35224235e+02] [ 2.50707282e-02 9.99685607e-01 -3.80718211e-04 7.62671694e+00] [ 1.84379998e-02 -8.16262544e-05 9.99830002e-01 6.43398093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.125099893 meters 0.012481105995936801 Centerline is valid? [True, True] Translation: X:535.25, Y:7.63, Z:6.43 [[ 9.99557603e-01 -2.34962856e-02 -1.82351950e-02 5.35251796e+02] [ 2.34932500e-02 9.99723923e-01 -3.80697543e-04 7.62683261e+00] [ 1.82391057e-02 -4.78748721e-05 9.99833653e-01 6.43419479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1550998929999 meters 0.012358867796712544 Centerline is valid? [True, True] Translation: X:535.28, Y:7.63, Z:6.43 [[ 9.99596642e-01 -2.22679011e-02 -1.76264911e-02 5.35279687e+02] [ 2.22648278e-02 9.99752039e-01 -3.70599261e-04 7.62708829e+00] [ 1.76303729e-02 -2.20010127e-05 9.99844573e-01 6.43460242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1850998929999 meters 0.01244418215615162 Centerline is valid? [True, True] Translation: X:535.31, Y:7.63, Z:6.43 [[ 9.99617274e-01 -2.13090726e-02 -1.76416614e-02 5.35306530e+02] [ 2.13057617e-02 9.99772936e-01 -3.75621552e-04 7.62698412e+00] [ 1.76456598e-02 -3.91242452e-07 9.99844303e-01 6.43475497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.215099893 meters 0.012440592659541979 Centerline is valid? [True, True] Translation: X:535.33, Y:7.63, Z:6.44 [[ 9.99663255e-01 -1.96307158e-02 -1.69709091e-02 5.35334964e+02] [ 1.96273456e-02 9.99807298e-01 -3.65135149e-04 7.62529851e+00] [ 1.69748066e-02 3.19182927e-05 9.99855917e-01 6.43521043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.245099893 meters 0.012488842292434278 Centerline is valid? [True, True] Translation: X:535.36, Y:7.62, Z:6.44 [[ 9.99674948e-01 -1.92204274e-02 -1.67503578e-02 5.35361538e+02] [ 1.92170191e-02 9.99815270e-01 -3.64426860e-04 7.62483600e+00] [ 1.67542679e-02 4.24164568e-05 9.99859637e-01 6.43537648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.275099893 meters 0.012423442107786661 Centerline is valid? [True, True] Translation: X:535.39, Y:7.62, Z:6.44 [[ 9.99681241e-01 -1.91571511e-02 -1.64444515e-02 5.35389563e+02] [ 1.91538139e-02 9.99816484e-01 -3.60429530e-04 7.62320024e+00] [ 1.64483385e-02 4.53406769e-05 9.99864716e-01 6.43605750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3050998929999 meters 0.01247069545251442 Centerline is valid? [True, True] Translation: X:535.42, Y:7.62, Z:6.44 [[ 9.99678978e-01 -1.98362671e-02 -1.57627343e-02 5.35417216e+02] [ 1.98332170e-02 9.99803241e-01 -3.49814213e-04 7.62225671e+00] [ 1.57665719e-02 3.70761846e-05 9.99875699e-01 6.43656853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3350998929999 meters 0.012503681595572849 Centerline is valid? [True, True] Translation: X:535.45, Y:7.62, Z:6.44 [[ 9.99680683e-01 -2.02910700e-02 -1.50600448e-02 5.35445347e+02] [ 2.02882827e-02 9.99794115e-01 -3.37853296e-04 7.62131520e+00] [ 1.50637995e-02 3.22029673e-05 9.99886534e-01 6.43708671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.365099893 meters 0.012430327223053825 Centerline is valid? [True, True] Translation: X:535.47, Y:7.62, Z:6.44 [[ 9.99670807e-01 -2.14901550e-02 -1.40160999e-02 5.35473205e+02] [ 2.14878376e-02 9.99769060e-01 -3.15928005e-04 7.61980597e+00] [ 1.40196524e-02 1.46483248e-05 9.99901720e-01 6.43768908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.395099893 meters 0.01240479179241995 Centerline is valid? [True, True] Translation: X:535.50, Y:7.62, Z:6.44 [[ 9.99616338e-01 -2.46747082e-02 -1.25831312e-02 5.35501620e+02] [ 2.46730522e-02 9.99695533e-01 -2.86845192e-04 7.61542829e+00] [ 1.25863779e-02 -2.37291129e-05 9.99920788e-01 6.43803533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4250998929999 meters 0.012600641129391148 Centerline is valid? [True, True] Translation: X:535.53, Y:7.61, Z:6.44 [[ 9.99551127e-01 -2.72890275e-02 -1.23634226e-02 5.35531228e+02] [ 2.72875916e-02 9.99627584e-01 -2.84848931e-04 7.61319204e+00] [ 1.23665915e-02 -5.26469572e-05 9.99923529e-01 6.43809094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4550998929999 meters 0.012797073706781395 Centerline is valid? [True, True] Translation: X:535.56, Y:7.61, Z:6.44 [[ 9.99469560e-01 -3.00864998e-02 -1.24659816e-02 5.35560777e+02] [ 3.00852519e-02 9.99547295e-01 -2.87661011e-04 7.61013535e+00] [ 1.24689929e-02 -8.75337737e-05 9.99922255e-01 6.43828660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.485099893 meters 0.01298791902377439 Centerline is valid? [True, True] Translation: X:535.59, Y:7.61, Z:6.44 [[ 9.99355023e-01 -3.37357841e-02 -1.23059250e-02 5.35591230e+02] [ 3.37348442e-02 9.99430778e-01 -2.84007433e-04 7.60769048e+00] [ 1.23085014e-02 -1.31314208e-04 9.99924239e-01 6.43828834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.515099893 meters 0.014665756855426204 Centerline is valid? [True, True] Translation: X:535.62, Y:7.60, Z:6.44 [[ 9.99043090e-01 -4.18136304e-02 -1.28267268e-02 5.35622011e+02] [ 4.18132748e-02 9.99125399e-01 -2.96008234e-04 7.59892312e+00] [ 1.28278857e-02 -2.40602471e-04 9.99917690e-01 6.43848789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5450998929999 meters 0.01597110207028726 Centerline is valid? [True, True] Translation: X:535.65, Y:7.59, Z:6.44 [[ 9.98860666e-01 -4.60921563e-02 -1.23645761e-02 5.35652697e+02] [ 4.60921594e-02 9.98937151e-01 -2.84862240e-04 7.59461809e+00] [ 1.23645643e-02 -2.85372324e-04 9.99923515e-01 6.43894203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5750998929999 meters 0.017256042762034105 Centerline is valid? [True, True] Translation: X:535.68, Y:7.59, Z:6.44 [[ 9.98669189e-01 -5.01513629e-02 -1.20288167e-02 5.35683548e+02] [ 5.01516624e-02 9.98741575e-01 -2.76928675e-04 7.59072966e+00] [ 1.20275676e-02 -3.26705017e-04 9.99927613e-01 6.43925086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.605099893 meters 0.020624574347918194 Centerline is valid? [True, True] Translation: X:535.71, Y:7.58, Z:6.44 [[ 9.98313353e-01 -5.69771780e-02 -1.11377527e-02 5.35714174e+02] [ 5.69778640e-02 9.98375409e-01 -2.55961840e-04 7.58219372e+00] [ 1.11342424e-02 -3.79075234e-04 9.99937941e-01 6.43968034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.635099893 meters 0.022226185070872144 Centerline is valid? [True, True] Translation: X:535.75, Y:7.58, Z:6.44 [[ 9.98045051e-01 -6.14421829e-02 -1.14426372e-02 5.35745198e+02] [ 6.14432024e-02 9.98110547e-01 -2.62763218e-04 7.57757866e+00] [ 1.14371617e-02 -4.40822747e-04 9.99934496e-01 6.43982653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6650998929999 meters 0.019866099842502927 Centerline is valid? [True, True] Translation: X:535.78, Y:7.58, Z:6.44 [[ 9.97995032e-01 -6.21949598e-02 -1.17346767e-02 5.35776784e+02] [ 6.21960861e-02 9.98063913e-01 -2.69285640e-04 7.58087459e+00] [ 1.17287056e-02 -4.61105233e-04 9.99931110e-01 6.43960213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6950998929999 meters 0.023327190066394655 Centerline is valid? [True, True] Translation: X:535.81, Y:7.58, Z:6.44 [[ 9.97968939e-01 -6.25760577e-02 -1.19261611e-02 5.35808341e+02] [ 6.25772562e-02 9.98040086e-01 -2.73013080e-04 7.57580513e+00] [ 1.19198709e-02 -4.73847865e-04 9.99928844e-01 6.43969916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.725099893 meters 0.020216629806053623 Centerline is valid? [True, True] Translation: X:535.84, Y:7.58, Z:6.44 [[ 9.97988370e-01 -6.22400398e-02 -1.20577694e-02 5.35840725e+02] [ 6.22412484e-02 9.98061096e-01 -2.75366421e-04 7.58115916e+00] [ 1.20515294e-02 -4.75678136e-04 9.99927265e-01 6.43988449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.755099893 meters 0.021388030838623145 Centerline is valid? [True, True] Translation: X:535.87, Y:7.58, Z:6.44 [[ 9.98027215e-01 -6.16467597e-02 -1.18892614e-02 5.35871497e+02] [ 6.16479025e-02 9.98097922e-01 -2.70688384e-04 7.58021745e+00] [ 1.18833342e-02 -4.62793656e-04 9.99929284e-01 6.44052540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7850998929999 meters 0.01864401014622971 Centerline is valid? [True, True] Translation: X:535.90, Y:7.59, Z:6.44 [[ 9.98076067e-01 -6.08547891e-02 -1.18683794e-02 5.35903566e+02] [ 6.08558889e-02 9.98146527e-01 -2.68790422e-04 7.58580278e+00] [ 1.18627388e-02 -4.53987490e-04 9.99929532e-01 6.44099278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8150998929999 meters 0.019016692742132538 Centerline is valid? [True, True] Translation: X:535.93, Y:7.59, Z:6.44 [[ 9.98131098e-01 -5.98541916e-02 -1.23202025e-02 5.35934411e+02] [ 5.98553124e-02 9.98207025e-01 -2.78063674e-04 7.58698985e+00] [ 1.23147560e-02 -4.59885573e-04 9.99924065e-01 6.44095958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.845099893 meters 0.01968191827340567 Centerline is valid? [True, True] Translation: X:535.97, Y:7.59, Z:6.44 [[ 9.98141225e-01 -5.95098245e-02 -1.31405876e-02 5.35965817e+02] [ 5.95110800e-02 9.98227601e-01 -2.95801563e-04 7.58710064e+00] [ 1.31349004e-02 -4.86758827e-04 9.99913615e-01 6.44112533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.875099893 meters 0.01976488799724405 Centerline is valid? [True, True] Translation: X:536.00, Y:7.59, Z:6.44 [[ 9.98143646e-01 -5.94493930e-02 -1.32299809e-02 5.35997851e+02] [ 5.94506702e-02 9.98231200e-01 -2.97068904e-04 7.58833681e+00] [ 1.32242403e-02 -4.90013792e-04 9.99912436e-01 6.44100775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9050998929999 meters 0.019737171015855832 Centerline is valid? [True, True] Translation: X:536.03, Y:7.59, Z:6.44 [[ 9.98123124e-01 -5.97080507e-02 -1.36080415e-02 5.36029664e+02] [ 5.97094397e-02 9.98215753e-01 -3.04548023e-04 7.58965996e+00] [ 1.36019454e-02 -5.08552110e-04 9.99907360e-01 6.44123115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9350998929999 meters 0.020812167546162875 Centerline is valid? [True, True] Translation: X:536.06, Y:7.59, Z:6.44 [[ 9.97992000e-01 -6.17285985e-02 -1.41967694e-02 5.36061449e+02] [ 6.17303291e-02 9.98092814e-01 -3.16690598e-04 7.59086317e+00] [ 1.41892424e-02 -5.60316562e-04 9.99899171e-01 6.44139635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.965099893 meters 0.021725977133433497 Centerline is valid? [True, True] Translation: X:536.09, Y:7.59, Z:6.44 [[ 9.97901875e-01 -6.30766052e-02 -1.46010000e-02 5.36092699e+02] [ 6.30785916e-02 9.98008510e-01 -3.24901505e-04 7.59133538e+00] [ 1.45924159e-02 -5.96790696e-04 9.99893347e-01 6.44159147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.995099893 meters 0.022812644153186085 Centerline is valid? [True, True] Translation: X:536.12, Y:7.59, Z:6.44 [[ 9.97787912e-01 -6.47498323e-02 -1.50579506e-02 5.36123710e+02] [ 6.47521476e-02 9.97901322e-01 -3.34243280e-04 7.59151325e+00] [ 1.50479910e-02 -6.41530736e-04 9.99886567e-01 6.44174407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.025099893 meters 0.02240203539043685 Centerline is valid? [True, True] Translation: X:536.16, Y:7.59, Z:6.44 [[ 9.97650570e-01 -6.67252211e-02 -1.55269116e-02 5.36155631e+02] [ 6.67279358e-02 9.97771148e-01 -3.43749696e-04 7.59362649e+00] [ 1.55152412e-02 -6.93136678e-04 9.99879391e-01 6.44210097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0550998929999 meters 0.025884621022825776 Centerline is valid? [True, True] Translation: X:536.19, Y:7.59, Z:6.44 [[ 9.97353350e-01 -7.08093796e-02 -1.65023357e-02 5.36186164e+02] [ 7.08130206e-02 9.97489540e-01 -3.64323926e-04 7.59105456e+00] [ 1.64867048e-02 -8.05220550e-04 9.99863761e-01 6.44153797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0850998929999 meters 0.02660160323770058 Centerline is valid? [True, True] Translation: X:536.22, Y:7.59, Z:6.44 [[ 9.97229937e-01 -7.24773669e-02 -1.67177667e-02 5.36216974e+02] [ 7.24813424e-02 9.97369700e-01 -3.68780798e-04 7.59205525e+00] [ 1.67005222e-02 -8.43966921e-04 9.99860180e-01 6.44159889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.115099893 meters 0.028417200083258105 Centerline is valid? [True, True] Translation: X:536.25, Y:7.59, Z:6.44 [[ 9.97126426e-01 -7.38067051e-02 -1.70722197e-02 5.36247738e+02] [ 7.38110518e-02 9.97272173e-01 -3.76215891e-04 7.59158195e+00] [ 1.70534169e-02 -8.84983690e-04 9.99854188e-01 6.44209749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.145099893 meters 0.02513456127231579 Centerline is valid? [True, True] Translation: X:536.28, Y:7.60, Z:6.44 [[ 9.97073547e-01 -7.46477601e-02 -1.64940822e-02 5.36279301e+02] [ 7.46519427e-02 9.97209585e-01 -3.62834552e-04 7.59874461e+00] [ 1.64751417e-02 -8.69542549e-04 9.99863898e-01 6.44355194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1750998929999 meters 0.02739812077746399 Centerline is valid? [True, True] Translation: X:536.31, Y:7.60, Z:6.45 [[ 9.97040011e-01 -7.52403554e-02 -1.58147116e-02 5.36310580e+02] [ 7.52442879e-02 9.97165070e-01 -3.47057527e-04 7.60072097e+00] [ 1.57959907e-02 -8.43936472e-04 9.99874879e-01 6.44501119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2050998929999 meters 0.02910912000313162 Centerline is valid? [True, True] Translation: X:536.34, Y:7.60, Z:6.45 [[ 9.97062257e-01 -7.50152756e-02 -1.54778332e-02 5.36341326e+02] [ 7.50190279e-02 9.97182045e-01 -3.38847050e-04 7.60133995e+00] [ 1.54596361e-02 -8.23280395e-04 9.99880154e-01 6.44580391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.235099893 meters 0.025104190909582092 Centerline is valid? [True, True] Translation: X:536.37, Y:7.61, Z:6.45 [[ 9.97125486e-01 -7.41810994e-02 -1.54249528e-02 5.36373210e+02] [ 7.41847400e-02 9.97244459e-01 -3.36820231e-04 7.60997152e+00] [ 1.54074345e-02 -8.08444079e-04 9.99880972e-01 6.44695828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.265099893 meters 0.02865535310045608 Centerline is valid? [True, True] Translation: X:536.40, Y:7.61, Z:6.45 [[ 9.97194994e-01 -7.31923902e-02 -1.56530755e-02 5.36404050e+02] [ 7.31960347e-02 9.97317514e-01 -3.40713411e-04 7.60827572e+00] [ 1.56360240e-02 -8.05985349e-04 9.99877425e-01 6.44707695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2950998929999 meters 0.022679301195214625 Centerline is valid? [True, True] Translation: X:536.43, Y:7.62, Z:6.45 [[ 9.97443636e-01 -6.96808113e-02 -1.58359412e-02 5.36434892e+02] [ 6.96841117e-02 9.97569048e-01 -3.43954179e-04 7.62294666e+00] [ 1.58214118e-02 -7.60438590e-04 9.99874544e-01 6.44788238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3250998929999 meters 0.021585695305099482 Centerline is valid? [True, True] Translation: X:536.47, Y:7.63, Z:6.45 [[ 9.97611633e-01 -6.72247909e-02 -1.58700043e-02 5.36465980e+02] [ 6.72278010e-02 9.97737593e-01 -3.44337056e-04 7.62835325e+00] [ 1.58572479e-02 -7.23390841e-04 9.99874004e-01 6.44823470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.355099893 meters 0.021614103457423837 Centerline is valid? [True, True] Translation: X:536.50, Y:7.63, Z:6.45 [[ 9.97785770e-01 -6.44888933e-02 -1.62708506e-02 5.36496569e+02] [ 6.44917044e-02 9.97918181e-01 -3.52420650e-04 7.63229968e+00] [ 1.62597048e-02 -6.97694577e-04 9.99867559e-01 6.44867545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.385099893 meters 0.020265820245570387 Centerline is valid? [True, True] Translation: X:536.53, Y:7.64, Z:6.45 [[ 9.97977710e-01 -6.13551856e-02 -1.66141899e-02 5.36528000e+02] [ 6.13576934e-02 9.98115777e-01 -3.59237345e-04 7.63846620e+00] [ 1.66049262e-02 -6.60897508e-04 9.99861910e-01 6.44912971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4150998929999 meters 0.019994874624468962 Centerline is valid? [True, True] Translation: X:536.56, Y:7.64, Z:6.45 [[ 9.98180280e-01 -5.79151969e-02 -1.67916207e-02 5.36558596e+02] [ 5.79172828e-02 9.98321320e-01 -3.62455002e-04 7.64265639e+00] [ 1.67844245e-02 -6.10729608e-04 9.99858945e-01 6.44887345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4450998929999 meters 0.017794156311201823 Centerline is valid? [True, True] Translation: X:536.59, Y:7.65, Z:6.45 [[ 9.98552174e-01 -5.10245924e-02 -1.70307779e-02 5.36588895e+02] [ 5.10257459e-02 9.98697271e-01 -3.67079032e-04 7.65313000e+00] [ 1.70273214e-02 -5.02460579e-04 9.99854898e-01 6.44973629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.475099893 meters 0.01706805841349708 Centerline is valid? [True, True] Translation: X:536.62, Y:7.66, Z:6.45 [[ 9.98697500e-01 -4.81179172e-02 -1.69696858e-02 5.36620116e+02] [ 4.81186497e-02 9.98841560e-01 -3.65375802e-04 7.65810157e+00] [ 1.69676085e-02 -4.51658464e-04 9.99855938e-01 6.45050387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.505099893 meters 0.015937527725103012 Centerline is valid? [True, True] Translation: X:536.65, Y:7.66, Z:6.45 [[ 9.98802850e-01 -4.55009239e-02 -1.79591923e-02 5.36651783e+02] [ 4.55013356e-02 9.98964203e-01 -3.85901026e-04 7.66376371e+00] [ 1.79581491e-02 -4.31728193e-04 9.99838646e-01 6.45035850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5350998929999 meters 0.015169269487740502 Centerline is valid? [True, True] Translation: X:536.68, Y:7.67, Z:6.45 [[ 9.98951551e-01 -4.12131093e-02 -1.99318280e-02 5.36683596e+02] [ 4.12127862e-02 9.99150301e-01 -4.27144588e-04 7.67116528e+00] [ 1.99324959e-02 -3.94749420e-04 9.99801250e-01 6.44918968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5650998929999 meters 0.015310273722779816 Centerline is valid? [True, True] Translation: X:536.71, Y:7.67, Z:6.45 [[ 9.99022029e-01 -3.95420883e-02 -1.97840435e-02 5.36712919e+02] [ 3.95414523e-02 9.99217841e-01 -4.23483209e-04 7.67380892e+00] [ 1.97853147e-02 -3.59220758e-04 9.99804187e-01 6.44901987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.595099893 meters 0.014480233335356571 Centerline is valid? [True, True] Translation: X:536.74, Y:7.68, Z:6.45 [[ 9.99116226e-01 -3.72077656e-02 -1.95537387e-02 5.36743184e+02] [ 3.72066931e-02 9.99307504e-01 -4.18773842e-04 7.68030949e+00] [ 1.95557795e-02 -3.09126215e-04 9.99808720e-01 6.44998252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.625099893 meters 0.014371217516585657 Centerline is valid? [True, True] Translation: X:536.77, Y:7.68, Z:6.45 [[ 9.99144898e-01 -3.64973382e-02 -1.94272306e-02 5.36773988e+02] [ 3.64961452e-02 9.99333707e-01 -4.16064472e-04 7.68275562e+00] [ 1.94294716e-02 -2.93310334e-04 9.99811187e-01 6.45064247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6550998929999 meters 0.014231764898373894 Centerline is valid? [True, True] Translation: X:536.80, Y:7.68, Z:6.45 [[ 9.99172375e-01 -3.58427994e-02 -1.92317104e-02 5.36804446e+02] [ 3.58415091e-02 9.99357402e-01 -4.11877103e-04 7.68491516e+00] [ 1.92341150e-02 -2.77757302e-04 9.99814969e-01 6.45091614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6850998929999 meters 0.014295348760733214 Centerline is valid? [True, True] Translation: X:536.83, Y:7.69, Z:6.45 [[ 9.99178390e-01 -3.55150550e-02 -1.95250131e-02 5.36834278e+02] [ 3.55136709e-02 9.99369103e-01 -4.17726766e-04 7.68768477e+00] [ 1.95275304e-02 -2.76021333e-04 9.99809281e-01 6.45104187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.715099893 meters 0.014295348760733214 Centerline is valid? [True, True] Translation: X:536.86, Y:7.69, Z:6.45 [[ 9.99178390e-01 -3.55150457e-02 -1.95250290e-02 5.36864273e+02] [ 3.55136762e-02 9.99369103e-01 -4.16981730e-04 7.68832499e+00] [ 1.95275199e-02 -2.76766426e-04 9.99809281e-01 6.45141268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.745099893 meters 0.014285988035543559 Centerline is valid? [True, True] Translation: X:536.89, Y:7.69, Z:6.45 [[ 9.99167066e-01 -3.56997131e-02 -1.97662619e-02 5.36894462e+02] [ 3.56983457e-02 9.99362522e-01 -4.22133563e-04 7.69085004e+00] [ 1.97687313e-02 -2.83840896e-04 9.99804539e-01 6.45203119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.775099893 meters 0.014157601291873302 Centerline is valid? [True, True] Translation: X:536.92, Y:7.69, Z:6.45 [[ 9.99149472e-01 -3.60166077e-02 -2.00782428e-02 5.36924532e+02] [ 3.60152608e-02 9.99351148e-01 -4.28796311e-04 7.69292728e+00] [ 2.00806588e-02 -2.94691543e-04 9.99798320e-01 6.45241442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8050998929999 meters 0.014223987783431957 Centerline is valid? [True, True] Translation: X:536.95, Y:7.69, Z:6.45 [[ 9.99129488e-01 -3.62725201e-02 -2.06051166e-02 5.36954640e+02] [ 3.62711560e-02 9.99341888e-01 -4.40048369e-04 7.69424269e+00] [ 2.06075178e-02 -3.07706098e-04 9.99787595e-01 6.45249964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8350998929999 meters 0.014638409074112343 Centerline is valid? [True, True] Translation: X:536.98, Y:7.69, Z:6.45 [[ 9.99069348e-01 -3.75894201e-02 -2.11535720e-02 5.36984075e+02] [ 3.75882741e-02 9.99293209e-01 -4.51919609e-04 7.69462948e+00] [ 2.11556083e-02 -3.43627236e-04 9.99776136e-01 6.45199785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.865099893 meters 0.014560522221060726 Centerline is valid? [True, True] Translation: X:537.01, Y:7.70, Z:6.45 [[ 9.99030729e-01 -3.84674561e-02 -2.13975862e-02 5.37014361e+02] [ 3.84664801e-02 9.99259786e-01 -4.57357798e-04 7.69587114e+00] [ 2.13993408e-02 -3.66175328e-04 9.99770941e-01 6.45231031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.895099893 meters 0.014969509818119696 Centerline is valid? [True, True] Translation: X:537.04, Y:7.70, Z:6.45 [[ 9.98970374e-01 -3.96736065e-02 -2.20044681e-02 5.37043715e+02] [ 3.96728630e-02 9.99212611e-01 -4.70500542e-04 7.69573935e+00] [ 2.20058085e-02 -4.02964146e-04 9.99757762e-01 6.45215736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9250998929999 meters 0.015212244031957922 Centerline is valid? [True, True] Translation: X:537.07, Y:7.70, Z:6.45 [[ 9.98861991e-01 -4.25402596e-02 -2.15650179e-02 5.37074147e+02] [ 4.25402085e-02 9.99094649e-01 -4.61319157e-04 7.69650363e+00] [ 2.15651186e-02 -4.56586187e-04 9.99767342e-01 6.45282150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9550998929999 meters 0.015267487104204254 Centerline is valid? [True, True] Translation: X:537.11, Y:7.70, Z:6.45 [[ 9.98810404e-01 -4.39977029e-02 -2.10232959e-02 5.37105490e+02] [ 4.39979836e-02 9.99031519e-01 -4.49416313e-04 7.69780342e+00] [ 2.10227085e-02 -4.76100936e-04 9.99778885e-01 6.45414811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.985099893 meters 0.015671007696024496 Centerline is valid? [True, True] Translation: X:537.14, Y:7.70, Z:6.45 [[ 9.98752811e-01 -4.54128576e-02 -2.07483648e-02 5.37136991e+02] [ 4.54134516e-02 9.98968179e-01 -4.42793122e-04 7.69842651e+00] [ 2.07470647e-02 -5.00013983e-04 9.99784631e-01 6.45487741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.015099893 meters 0.01674157951804784 Centerline is valid? [True, True] Translation: X:537.17, Y:7.70, Z:6.46 [[ 9.98627879e-01 -4.81064033e-02 -2.06913771e-02 5.37166895e+02] [ 4.81075964e-02 9.98842062e-01 -4.40383523e-04 7.69762394e+00] [ 2.06886030e-02 -5.55633153e-04 9.99785814e-01 6.45561398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0450998929999 meters 0.016917781492541296 Centerline is valid? [True, True] Translation: X:537.20, Y:7.70, Z:6.46 [[ 9.98566179e-01 -4.94912025e-02 -2.04011467e-02 5.37199524e+02] [ 4.94926851e-02 9.98774392e-01 -4.32535331e-04 7.69777412e+00] [ 2.03975496e-02 -5.77792377e-04 9.99791781e-01 6.45621366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0750998929999 meters 0.017290693320558163 Centerline is valid? [True, True] Translation: X:537.23, Y:7.70, Z:6.46 [[ 9.98514162e-01 -5.05954312e-02 -2.02378557e-02 5.37231526e+02] [ 5.05971460e-02 9.98719053e-01 -4.27628796e-04 7.69755522e+00] [ 2.02335681e-02 -5.96984329e-04 9.99795102e-01 6.45667167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.105099893 meters 0.018012895954018966 Centerline is valid? [True, True] Translation: X:537.26, Y:7.70, Z:6.46 [[ 9.98470230e-01 -5.15178586e-02 -2.00776243e-02 5.37262561e+02] [ 5.15197585e-02 9.98671886e-01 -4.22952072e-04 7.69704644e+00] [ 2.00727485e-02 -6.12089301e-04 9.99798335e-01 6.45688041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.135099893 meters 0.018386816128019668 Centerline is valid? [True, True] Translation: X:537.29, Y:7.70, Z:6.46 [[ 9.98404889e-01 -5.28242254e-02 -1.99318718e-02 5.37294347e+02] [ 5.28263816e-02 9.98603624e-01 -4.18690514e-04 7.69721171e+00] [ 1.99261564e-02 -6.34906010e-04 9.99801253e-01 6.45753365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1650998929999 meters 0.017348627763269984 Centerline is valid? [True, True] Translation: X:537.33, Y:7.70, Z:6.46 [[ 9.98398531e-01 -5.31196002e-02 -1.94597572e-02 5.37326965e+02] [ 5.31217382e-02 9.98587961e-01 -4.07399903e-04 7.69981608e+00] [ 1.94539201e-02 -6.26988660e-04 9.99810558e-01 6.45838806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1950998929999 meters 0.01923625512396334 Centerline is valid? [True, True] Translation: X:537.36, Y:7.70, Z:6.46 [[ 9.98395389e-01 -5.32858768e-02 -1.91640791e-02 5.37358475e+02] [ 5.32880050e-02 9.98579105e-01 -3.99948290e-04 7.69747560e+00] [ 1.91581605e-02 -6.21909015e-04 9.99816272e-01 6.45858338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.225099893 meters 0.01797639850788566 Centerline is valid? [True, True] Translation: X:537.39, Y:7.70, Z:6.46 [[ 9.98368839e-01 -5.39839355e-02 -1.85848141e-02 5.37390813e+02] [ 5.39860782e-02 9.98541613e-01 -3.86756152e-04 7.70003790e+00] [ 1.85785889e-02 -6.17195936e-04 9.99827213e-01 6.46014426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.255099893 meters 0.017065661382642202 Centerline is valid? [True, True] Translation: X:537.42, Y:7.70, Z:6.46 [[ 9.98345838e-01 -5.38022596e-02 -2.02707625e-02 5.37423041e+02] [ 5.38048033e-02 9.98551384e-01 -4.20280933e-04 7.70186834e+00] [ 2.02640100e-02 -6.71078666e-04 9.99794439e-01 6.45910062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2850998929999 meters 0.019634804730273122 Centerline is valid? [True, True] Translation: X:537.45, Y:7.70, Z:6.46 [[ 9.98323376e-01 -5.35344890e-02 -2.20112530e-02 5.37454340e+02] [ 5.35374571e-02 9.98565738e-01 -4.54840487e-04 7.69804374e+00] [ 2.20040328e-02 -7.24348623e-04 9.99757620e-01 6.45702158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3150998929999 meters 0.01812595384343044 Centerline is valid? [True, True] Translation: X:537.49, Y:7.70, Z:6.46 [[ 9.98337610e-01 -5.31557693e-02 -2.22818427e-02 5.37486819e+02] [ 5.31587478e-02 9.98585969e-01 -4.59031992e-04 7.70150492e+00] [ 2.22747357e-02 -7.26205956e-04 9.99751624e-01 6.45743005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.345099893 meters 0.017581188503068557 Centerline is valid? [True, True] Translation: X:537.52, Y:7.70, Z:6.46 [[ 9.98396011e-01 -5.22237692e-02 -2.18651160e-02 5.37517780e+02] [ 5.22264404e-02 9.98635167e-01 -4.49237631e-04 7.70396485e+00] [ 2.18587347e-02 -6.93420121e-04 9.99760829e-01 6.45822247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.375099893 meters 0.01810121344391515 Centerline is valid? [True, True] Translation: X:537.55, Y:7.70, Z:6.46 [[ 9.98411509e-01 -5.17108680e-02 -2.23706048e-02 5.37548923e+02] [ 5.17135579e-02 9.98661853e-01 -4.58632385e-04 7.70354761e+00] [ 2.23643859e-02 -6.98959713e-04 9.99749642e-01 6.45806496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4050998929999 meters 0.01868468315588596 Centerline is valid? [True, True] Translation: X:537.58, Y:7.70, Z:6.46 [[ 9.98436092e-01 -5.10673699e-02 -2.27485069e-02 5.37579074e+02] [ 5.10700041e-02 9.98694967e-01 -4.65524411e-04 7.70311447e+00] [ 2.27425925e-02 -6.96969970e-04 9.99741111e-01 6.45773248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4350998929999 meters 0.016730977961013 Centerline is valid? [True, True] Translation: X:537.61, Y:7.71, Z:6.46 [[ 9.98501266e-01 -4.99211961e-02 -2.24297947e-02 5.37610411e+02] [ 4.99234810e-02 9.98752940e-01 -4.58426119e-04 7.70712535e+00] [ 2.24247086e-02 -6.62034369e-04 9.99748315e-01 6.45950564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.465099893 meters 0.016588038264865726 Centerline is valid? [True, True] Translation: X:537.64, Y:7.71, Z:6.46 [[ 9.98536041e-01 -4.93661396e-02 -2.21078756e-02 5.37641746e+02] [ 4.93682409e-02 9.98780543e-01 -4.51054596e-04 7.70837463e+00] [ 2.21031828e-02 -6.41032658e-04 9.99755489e-01 6.46031487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.495099893 meters 0.016552565262982658 Centerline is valid? [True, True] Translation: X:537.67, Y:7.71, Z:6.46 [[ 9.98655204e-01 -4.70970820e-02 -2.16713507e-02 5.37672623e+02] [ 4.70985840e-02 9.98890148e-01 -4.41377518e-04 7.71006776e+00] [ 2.16680863e-02 -5.79905976e-04 9.99765051e-01 6.46122717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.525099893 meters 0.016568171209113164 Centerline is valid? [True, True] Translation: X:537.70, Y:7.71, Z:6.46 [[ 9.98699917e-01 -4.64413953e-02 -2.10160230e-02 5.37704248e+02] [ 4.64426780e-02 9.98920865e-01 -4.27297458e-04 7.71102403e+00] [ 2.10131881e-02 -5.49298452e-04 9.99779048e-01 6.46214222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5550998929999 meters 0.016568171209113164 Centerline is valid? [True, True] Translation: X:537.74, Y:7.71, Z:6.46 [[ 9.98701547e-01 -4.64063120e-02 -2.10160379e-02 5.37735096e+02] [ 4.64076025e-02 9.98922496e-01 -4.26559710e-04 7.71162080e+00] [ 2.10131881e-02 -5.49298093e-04 9.99779048e-01 6.46252365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5850998929999 meters 0.016321067364776367 Centerline is valid? [True, True] Translation: X:537.77, Y:7.71, Z:6.46 [[ 9.98751724e-01 -4.54841385e-02 -2.06443077e-02 5.37766254e+02] [ 4.54852016e-02 9.98964925e-01 -4.18297445e-04 7.71262140e+00] [ 2.06419652e-02 -5.21235203e-04 9.99786796e-01 6.46305292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.615099893 meters 0.01605098251414573 Centerline is valid? [True, True] Translation: X:537.80, Y:7.71, Z:6.46 [[ 9.98777824e-01 -4.48645756e-02 -2.07370983e-02 5.37797330e+02] [ 4.48655300e-02 9.98992947e-01 -4.19446615e-04 7.71358203e+00] [ 2.07350332e-02 -5.11446928e-04 9.99784875e-01 6.46355104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.645099893 meters 0.016026272330902033 Centerline is valid? [True, True] Translation: X:537.83, Y:7.71, Z:6.46 [[ 9.98796915e-01 -4.45836188e-02 -2.04211318e-02 5.37828866e+02] [ 4.45845002e-02 9.99005532e-01 -4.12343080e-04 7.71389714e+00] [ 2.04192074e-02 -4.98618960e-04 9.99791382e-01 6.46415835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6750998929999 meters 0.016204583440026687 Centerline is valid? [True, True] Translation: X:537.86, Y:7.71, Z:6.46 [[ 9.98803979e-01 -4.45993125e-02 -2.00377731e-02 5.37860251e+02] [ 4.46001809e-02 9.99004835e-01 -4.03772501e-04 7.71377293e+00] [ 2.00358402e-02 -4.90398724e-04 9.99799142e-01 6.46483043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7050998929999 meters 0.016381175155553974 Centerline is valid? [True, True] Translation: X:537.89, Y:7.71, Z:6.47 [[ 9.98788629e-01 -4.54290191e-02 -1.89071044e-02 5.37891143e+02] [ 4.54299566e-02 9.98967454e-01 -3.80146858e-04 7.71336853e+00] [ 1.89048517e-02 -4.79262574e-04 9.99821172e-01 6.46629647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.735099893 meters 0.01650691803460798 Centerline is valid? [True, True] Translation: X:537.92, Y:7.71, Z:6.47 [[ 9.98765956e-01 -4.62826517e-02 -1.80133761e-02 5.37923434e+02] [ 4.62836559e-02 9.98928272e-01 -3.61365095e-04 7.71307393e+00] [ 1.80107956e-02 -4.72805749e-04 9.99837681e-01 6.46712761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.765099893 meters 0.016054893267949073 Centerline is valid? [True, True] Translation: X:537.96, Y:7.71, Z:6.47 [[ 9.98695314e-01 -4.76770790e-02 -1.82911393e-02 5.37955166e+02] [ 4.76783704e-02 9.98862673e-01 -3.65723147e-04 7.71398372e+00] [ 1.82877729e-02 -5.06845719e-04 9.99832636e-01 6.46760286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7950998929999 meters 0.017171255358691396 Centerline is valid? [True, True] Translation: X:537.99, Y:7.71, Z:6.47 [[ 9.98619180e-01 -4.90865421e-02 -1.87148222e-02 5.37986119e+02] [ 4.90881608e-02 9.98794380e-01 -3.73152778e-04 7.71175536e+00] [ 1.87105760e-02 -5.46038679e-04 9.99824793e-01 6.46722317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8250998929999 meters 0.017678472536084608 Centerline is valid? [True, True] Translation: X:538.02, Y:7.71, Z:6.47 [[ 9.98524810e-01 -5.08287499e-02 -1.90955959e-02 5.38017906e+02] [ 5.08307790e-02 9.98707208e-01 -3.79404388e-04 7.71097729e+00] [ 1.90901939e-02 -5.91799321e-04 9.99817590e-01 6.46700997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.855099893 meters 0.018424295682066084 Centerline is valid? [True, True] Translation: X:538.05, Y:7.71, Z:6.47 [[ 9.98381474e-01 -5.33069148e-02 -1.98193174e-02 5.38049766e+02] [ 5.33096210e-02 9.98577954e-01 -3.92139993e-04 7.70909456e+00] [ 1.98120372e-02 -6.65054992e-04 9.99803501e-01 6.46630712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.885099893 meters 0.019893432652978067 Centerline is valid? [True, True] Translation: X:538.08, Y:7.71, Z:6.47 [[ 9.98334240e-01 -5.42463143e-02 -1.96489959e-02 5.38080706e+02] [ 5.42491764e-02 9.98527354e-01 -3.87722816e-04 7.70698426e+00] [ 1.96410924e-02 -6.78864883e-04 9.99806865e-01 6.46625766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9150998929999 meters 0.018183928759057926 Centerline is valid? [True, True] Translation: X:538.11, Y:7.71, Z:6.47 [[ 9.98329270e-01 -5.44446009e-02 -1.93508397e-02 5.38113011e+02] [ 5.44474364e-02 9.98516566e-01 -3.80681214e-04 7.71022075e+00] [ 1.93428600e-02 -6.73558416e-04 9.99812682e-01 6.46774888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9450998929999 meters 0.019650784846372008 Centerline is valid? [True, True] Translation: X:538.14, Y:7.71, Z:6.47 [[ 9.98386301e-01 -5.35747772e-02 -1.88291546e-02 5.38143865e+02] [ 5.35773304e-02 9.98563635e-01 -3.69191295e-04 7.70871305e+00] [ 1.88218884e-02 -6.40220307e-04 9.99822648e-01 6.46906488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.975099893 meters 0.01765764801446804 Centerline is valid? [True, True] Translation: X:538.18, Y:7.71, Z:6.47 [[ 9.98432483e-01 -5.27489490e-02 -1.87116509e-02 5.38175590e+02] [ 5.27513467e-02 9.98607611e-01 -3.65758214e-04 7.71295324e+00] [ 1.87048904e-02 -6.21879904e-04 9.99824855e-01 6.47051124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.005099893 meters 0.01912690951871337 Centerline is valid? [True, True] Translation: X:538.21, Y:7.71, Z:6.47 [[ 9.98498676e-01 -5.15345427e-02 -1.85630189e-02 5.38207043e+02] [ 5.15367157e-02 9.98671035e-01 -3.61621526e-04 7.71104846e+00] [ 1.85569853e-02 -5.95598411e-04 9.99827627e-01 6.47076080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0350998929999 meters 0.018436786023802495 Centerline is valid? [True, True] Translation: X:538.24, Y:7.71, Z:6.47 [[ 9.98620460e-01 -4.93361355e-02 -1.79756347e-02 5.38238852e+02] [ 4.93378341e-02 9.98782086e-01 -3.49237229e-04 7.71261998e+00] [ 1.79709720e-02 -5.38123442e-04 9.99838364e-01 6.47113280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0650998929999 meters 0.017036852011758665 Centerline is valid? [True, True] Translation: X:538.27, Y:7.72, Z:6.47 [[ 9.98663276e-01 -4.84265750e-02 -1.80700973e-02 5.38270947e+02] [ 4.84281618e-02 9.98826607e-01 -3.50019794e-04 7.71555530e+00] [ 1.80658443e-02 -5.25549682e-04 9.99836661e-01 6.47191706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.095099893 meters 0.018421073321148583 Centerline is valid? [True, True] Translation: X:538.30, Y:7.71, Z:6.47 [[ 9.98702119e-01 -4.73337173e-02 -1.88041635e-02 5.38301956e+02] [ 4.73352660e-02 9.98878992e-01 -3.62974724e-04 7.71348538e+00] [ 1.88002648e-02 -5.27596453e-04 9.99823120e-01 6.47092967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.125099893 meters 0.016186876746448114 Centerline is valid? [True, True] Translation: X:538.33, Y:7.72, Z:6.47 [[ 9.98708502e-01 -4.70840239e-02 -1.90898689e-02 5.38333902e+02] [ 4.70855965e-02 9.98890791e-01 -3.67330032e-04 7.71789445e+00] [ 1.90859897e-02 -5.32002241e-04 9.99817704e-01 6.47203132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1550998929999 meters 0.017605231615093215 Centerline is valid? [True, True] Translation: X:538.36, Y:7.72, Z:6.47 [[ 9.98643149e-01 -4.81233279e-02 -1.98999021e-02 5.38364723e+02] [ 4.81252672e-02 9.98841235e-01 -3.81703346e-04 7.71504589e+00] [ 1.98952116e-02 -5.76502673e-04 9.99801904e-01 6.47162028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1850998929999 meters 0.0166225758542181 Centerline is valid? [True, True] Translation: X:538.40, Y:7.72, Z:6.47 [[ 9.98544736e-01 -4.99688604e-02 -2.02860180e-02 5.38397234e+02] [ 4.99712773e-02 9.98750580e-01 -3.88068696e-04 7.71696788e+00] [ 2.02800636e-02 -6.26214277e-04 9.99794142e-01 6.47228490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.215099893 meters 0.01924007643685071 Centerline is valid? [True, True] Translation: X:538.43, Y:7.71, Z:6.47 [[ 9.98483728e-01 -5.10295622e-02 -2.06452893e-02 5.38428911e+02] [ 5.10323205e-02 9.98696925e-01 -3.93560833e-04 7.71307577e+00] [ 2.06384701e-02 -6.60612931e-04 9.99786786e-01 6.47161666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.245099893 meters 0.017452613828794622 Centerline is valid? [True, True] Translation: X:538.46, Y:7.72, Z:6.47 [[ 9.98421628e-01 -5.19332274e-02 -2.13820691e-02 5.38461394e+02] [ 5.19364223e-02 9.98650311e-01 -4.06246299e-04 7.71676340e+00] [ 2.13743077e-02 -7.04903081e-04 9.99771295e-01 6.47253958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.275099893 meters 0.01764171240644599 Centerline is valid? [True, True] Translation: X:538.49, Y:7.72, Z:6.47 [[ 9.98381003e-01 -5.25880864e-02 -2.16764140e-02 5.38493188e+02] [ 5.25915586e-02 9.98616022e-01 -4.10246718e-04 7.71704556e+00] [ 2.16679884e-02 -7.30413867e-04 9.99764955e-01 6.47231971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3050998929999 meters 0.01764171240644599 Centerline is valid? [True, True] Translation: X:538.52, Y:7.72, Z:6.47 [[ 9.98384830e-01 -5.25153523e-02 -2.16764438e-02 5.38524891e+02] [ 5.25188416e-02 9.98619850e-01 -4.08667535e-04 7.71758739e+00] [ 2.16679884e-02 -7.30414251e-04 9.99764955e-01 6.47271157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3350998929999 meters 0.01764171240644599 Centerline is valid? [True, True] Translation: X:538.56, Y:7.72, Z:6.47 [[ 9.98388653e-01 -5.24426179e-02 -2.16764735e-02 5.38556594e+02] [ 5.24461243e-02 9.98623672e-01 -4.07088734e-04 7.71812692e+00] [ 2.16679883e-02 -7.30414250e-04 9.99764955e-01 6.47310344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.365099893 meters 0.02132136522394301 Centerline is valid? [True, True] Translation: X:538.59, Y:7.71, Z:6.47 [[ 9.98327900e-01 -5.34895321e-02 -2.19151686e-02 5.38588320e+02] [ 5.34933994e-02 9.98568119e-01 -4.10142159e-04 7.71394484e+00] [ 2.19057270e-02 -7.62860510e-04 9.99759750e-01 6.47197258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.395099893 meters 0.018818088903414028 Centerline is valid? [True, True] Translation: X:538.62, Y:7.72, Z:6.47 [[ 9.98345164e-01 -5.34141746e-02 -2.13039592e-02 5.38620576e+02] [ 5.34178395e-02 9.98572169e-01 -3.97414200e-04 7.71888201e+00] [ 2.12947683e-02 -7.41254927e-04 9.99772966e-01 6.47363801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4250998929999 meters 0.018399636870447305 Centerline is valid? [True, True] Translation: X:538.65, Y:7.72, Z:6.47 [[ 9.98370945e-01 -5.31991479e-02 -2.06229825e-02 5.38652396e+02] [ 5.32025660e-02 9.98583667e-01 -3.83265752e-04 7.72073935e+00] [ 2.06141629e-02 -7.14554196e-04 9.99787250e-01 6.47441612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4550998929999 meters 0.01872719258819878 Centerline is valid? [True, True] Translation: X:538.68, Y:7.72, Z:6.48 [[ 9.98416808e-01 -5.28504163e-02 -1.92538349e-02 5.38683163e+02] [ 5.28533537e-02 9.98602221e-01 -3.56623805e-04 7.72283413e+00] [ 1.92457700e-02 -6.61570547e-04 9.99814564e-01 6.47575305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.485099893 meters 0.01856514556878964 Centerline is valid? [True, True] Translation: X:538.72, Y:7.72, Z:6.48 [[ 9.98445989e-01 -5.25211893e-02 -1.86314715e-02 5.38715640e+02] [ 5.25239027e-02 9.98619608e-01 -3.44009664e-04 7.72494205e+00] [ 1.86238205e-02 -6.35122527e-04 9.99826360e-01 6.47676254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.515099893 meters 0.018775041672186257 Centerline is valid? [True, True] Translation: X:538.75, Y:7.73, Z:6.48 [[ 9.98462497e-01 -5.23546156e-02 -1.82108681e-02 5.38748211e+02] [ 5.23572035e-02 9.98628365e-01 -3.34967934e-04 7.72630317e+00] [ 1.82034266e-02 -6.19017208e-04 9.99834112e-01 6.47772887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5450998929999 meters 0.018226558704265802 Centerline is valid? [True, True] Translation: X:538.78, Y:7.73, Z:6.48 [[ 9.98472991e-01 -5.24350884e-02 -1.73852876e-02 5.38780442e+02] [ 5.24374798e-02 9.98624158e-01 -3.18584381e-04 7.72893480e+00] [ 1.73780732e-02 -5.93542766e-04 9.99848814e-01 6.47875790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5750998929999 meters 0.018369202746235696 Centerline is valid? [True, True] Translation: X:538.81, Y:7.73, Z:6.48 [[ 9.98369385e-01 -5.45146128e-02 -1.69330451e-02 5.38812444e+02] [ 5.45172004e-02 9.98512784e-01 -3.09097620e-04 7.73129020e+00] [ 1.69247124e-02 -6.14548613e-04 9.99856578e-01 6.47990924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.605099893 meters 0.018369202746235696 Centerline is valid? [True, True] Translation: X:538.84, Y:7.73, Z:6.48 [[ 9.98373357e-01 -5.44418160e-02 -1.69330676e-02 5.38844151e+02] [ 5.44444140e-02 9.98516755e-01 -3.07863983e-04 7.73181044e+00] [ 1.69247124e-02 -6.14547744e-04 9.99856578e-01 6.48030113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.635099893 meters 0.01946044022613473 Centerline is valid? [True, True] Translation: X:538.88, Y:7.73, Z:6.48 [[ 9.98293021e-01 -5.58691190e-02 -1.70201631e-02 5.38875550e+02] [ 5.58719707e-02 9.98437894e-01 -3.08288125e-04 7.73117096e+00] [ 1.70107995e-02 -6.43188168e-04 9.99855099e-01 6.48061134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6650998929999 meters 0.020184720561267716 Centerline is valid? [True, True] Translation: X:538.91, Y:7.73, Z:6.48 [[ 9.98174540e-01 -5.78122681e-02 -1.74736607e-02 5.38907759e+02] [ 5.78155895e-02 9.98327230e-01 -3.15445514e-04 7.73108101e+00] [ 1.74626679e-02 -6.95380315e-04 9.99847274e-01 6.48052925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6950998929999 meters 0.021873919655446807 Centerline is valid? [True, True] Translation: X:538.94, Y:7.73, Z:6.48 [[ 9.98050971e-01 -5.97712137e-02 -1.79348918e-02 5.38938457e+02] [ 5.97750573e-02 9.98211821e-01 -3.22165683e-04 7.72928344e+00] [ 1.79220773e-02 -7.50521415e-04 9.99839105e-01 6.48031286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.725099893 meters 0.024187394837171545 Centerline is valid? [True, True] Translation: X:538.97, Y:7.73, Z:6.48 [[ 9.97738576e-01 -6.43348125e-02 -1.94619198e-02 5.38968085e+02] [ 6.43402459e-02 9.97927959e-01 -3.47495084e-04 7.72699828e+00] [ 1.94439499e-02 -9.05475455e-04 9.99810539e-01 6.47978122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.755099893 meters 0.024094206243529287 Centerline is valid? [True, True] Translation: X:539.00, Y:7.73, Z:6.48 [[ 9.97591320e-01 -6.64066574e-02 -2.00428300e-02 5.39000539e+02] [ 6.64128635e-02 9.97792165e-01 -3.56554554e-04 7.72800061e+00] [ 2.00222563e-02 -9.75406002e-04 9.99799059e-01 6.48007413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7850998929999 meters 0.026150398471918967 Centerline is valid? [True, True] Translation: X:539.03, Y:7.73, Z:6.48 [[ 9.97429969e-01 -6.85353003e-02 -2.08894404e-02 5.39031811e+02] [ 6.85425359e-02 9.97648126e-01 -3.70255782e-04 7.72597193e+00] [ 2.08656866e-02 -1.06251100e-03 9.99781723e-01 6.47992799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8150998929999 meters 0.025125851942109097 Centerline is valid? [True, True] Translation: X:539.06, Y:7.73, Z:6.48 [[ 9.97302004e-01 -7.01409125e-02 -2.16556128e-02 5.39063978e+02] [ 7.01490951e-02 9.97536445e-01 -3.82503086e-04 7.72832557e+00] [ 2.16290921e-02 -1.13765055e-03 9.99765417e-01 6.48031313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.845099893 meters 0.02578899018817407 Centerline is valid? [True, True] Translation: X:539.10, Y:7.73, Z:6.48 [[ 9.97197834e-01 -7.14528115e-02 -2.21579756e-02 5.39095957e+02] [ 7.14617368e-02 9.97443266e-01 -3.89771225e-04 7.72847274e+00] [ 2.21291738e-02 -1.19476840e-03 9.99754406e-01 6.48013622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.875099893 meters 0.026383984002672008 Centerline is valid? [True, True] Translation: X:539.13, Y:7.73, Z:6.48 [[ 9.97109568e-01 -7.22215705e-02 -2.35914154e-02 5.39128132e+02] [ 7.22319440e-02 9.97387776e-01 -4.13246887e-04 7.72958803e+00] [ 2.35596346e-02 -1.29200137e-03 9.99721598e-01 6.48038091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9050998929999 meters 0.023746242612804374 Centerline is valid? [True, True] Translation: X:539.16, Y:7.73, Z:6.48 [[ 9.97151025e-01 -7.15414885e-02 -2.39091856e-02 5.39159901e+02] [ 7.15519903e-02 9.97436784e-01 -4.17072412e-04 7.73497839e+00] [ 2.38777392e-02 -1.29486563e-03 9.99714048e-01 6.48148774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9350998929999 meters 0.024102040122259524 Centerline is valid? [True, True] Translation: X:539.19, Y:7.74, Z:6.48 [[ 9.97235747e-01 -7.02914125e-02 -2.40828206e-02 5.39190866e+02] [ 7.03017414e-02 9.97525684e-01 -4.18542955e-04 7.73651095e+00] [ 2.40526521e-02 -1.27567823e-03 9.99709879e-01 6.48224110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.965099893 meters 0.025554580805862027 Centerline is valid? [True, True] Translation: X:539.22, Y:7.74, Z:6.48 [[ 9.97368246e-01 -6.83686383e-02 -2.41311068e-02 5.39221733e+02] [ 6.83784741e-02 9.97659365e-01 -4.18277822e-04 7.73680824e+00] [ 2.41032218e-02 -1.23287124e-03 9.99708715e-01 6.48245853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.995099893 meters 0.021976386242334757 Centerline is valid? [True, True] Translation: X:539.25, Y:7.75, Z:6.48 [[ 9.97745231e-01 -6.28980833e-02 -2.34154813e-02 5.39252010e+02] [ 6.29058518e-02 9.98019383e-01 -4.05398976e-04 7.74602073e+00] [ 2.33946030e-02 -1.06848590e-03 9.99725738e-01 6.48472047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.025099893 meters 0.020984587746163786 Centerline is valid? [True, True] Translation: X:539.28, Y:7.75, Z:6.49 [[ 9.97963050e-01 -5.95778056e-02 -2.28086660e-02 5.39283460e+02] [ 5.95843205e-02 9.98223198e-01 -3.94473503e-04 7.74971781e+00] [ 2.27916414e-02 -9.65368887e-04 9.99739771e-01 6.48564556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0550998929999 meters 0.01855500178409985 Centerline is valid? [True, True] Translation: X:539.31, Y:7.76, Z:6.49 [[ 9.98183051e-01 -5.60546656e-02 -2.21014028e-02 5.39314752e+02] [ 5.60599376e-02 9.98427332e-01 -3.81453179e-04 7.75549922e+00] [ 2.20880268e-02 -8.58243163e-04 9.99755661e-01 6.48729464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0850998929999 meters 0.01733150963680045 Centerline is valid? [True, True] Translation: X:539.35, Y:7.76, Z:6.49 [[ 9.98397479e-01 -5.24248907e-02 -2.13097514e-02 5.39346013e+02] [ 5.24289823e-02 9.98624588e-01 -3.67022324e-04 7.75932247e+00] [ 2.12996828e-02 -7.50814417e-04 9.99772854e-01 6.48794657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.115099893 meters 0.015957725689604157 Centerline is valid? [True, True] Translation: X:539.38, Y:7.77, Z:6.49 [[ 9.98745070e-01 -4.55935729e-02 -2.07246508e-02 5.39375658e+02] [ 4.55959824e-02 9.98959899e-01 -3.56502461e-04 7.76527086e+00] [ 2.07193493e-02 -5.88905738e-04 9.99785158e-01 6.48863055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.145099893 meters 0.014582660108160141 Centerline is valid? [True, True] Translation: X:539.41, Y:7.77, Z:6.49 [[ 9.98889089e-01 -4.22641187e-02 -2.08406584e-02 5.39407064e+02] [ 4.22658376e-02 9.99106336e-01 -3.58184385e-04 7.76987605e+00] [ 2.08371722e-02 -5.23061409e-04 9.99782746e-01 6.48976320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1750998929999 meters 0.01444658594617945 Centerline is valid? [True, True] Translation: X:539.44, Y:7.77, Z:6.49 [[ 9.99001226e-01 -3.92240150e-02 -2.14015519e-02 5.39437162e+02] [ 3.92251440e-02 9.99230330e-01 -3.67190125e-04 7.77192864e+00] [ 2.13994824e-02 -4.72655570e-04 9.99770893e-01 6.48961625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2050998929999 meters 0.013806711457405694 Centerline is valid? [True, True] Translation: X:539.47, Y:7.77, Z:6.49 [[ 9.99089688e-01 -3.64635594e-02 -2.21405432e-02 5.39468200e+02] [ 3.64640994e-02 9.99334892e-01 -3.79461090e-04 7.77479407e+00] [ 2.21396538e-02 -4.28219303e-04 9.99754796e-01 6.48960577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.235099893 meters 0.012954273139985699 Centerline is valid? [True, True] Translation: X:539.50, Y:7.78, Z:6.49 [[ 9.99229077e-01 -3.15507370e-02 -2.33624077e-02 5.39498644e+02] [ 3.15500014e-02 9.99502095e-01 -4.00168577e-04 7.77914197e+00] [ 2.33634010e-02 -3.37223918e-04 9.99726982e-01 6.48911182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.265099893 meters 0.012624365842918208 Centerline is valid? [True, True] Translation: X:539.53, Y:7.78, Z:6.49 [[ 9.99281512e-01 -2.93750584e-02 -2.39492177e-02 5.39527932e+02] [ 2.93736508e-02 9.99568417e-01 -4.10635273e-04 7.78136267e+00] [ 2.39509440e-02 -2.93135720e-04 9.99713092e-01 6.48931780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2950998929999 meters 0.012161953899978395 Centerline is valid? [True, True] Translation: X:539.56, Y:7.78, Z:6.49 [[ 9.99385129e-01 -2.54230282e-02 -2.41460893e-02 5.39557000e+02] [ 2.54203612e-02 9.99676763e-01 -4.17441077e-04 7.78431862e+00] [ 2.41488970e-02 -1.96617906e-04 9.99708354e-01 6.48934140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3250998929999 meters 0.012133647569944945 Centerline is valid? [True, True] Translation: X:539.59, Y:7.79, Z:6.49 [[ 9.99422589e-01 -2.38068880e-02 -2.42429634e-02 5.39585122e+02] [ 2.38036108e-02 9.99716564e-01 -4.23791549e-04 7.78540225e+00] [ 2.42461813e-02 -1.53523219e-04 9.99706006e-01 6.48915299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.355099893 meters 0.011882141205157746 Centerline is valid? [True, True] Translation: X:539.61, Y:7.79, Z:6.49 [[ 9.99465430e-01 -2.24343426e-02 -2.37814044e-02 5.39613438e+02] [ 2.24306960e-02 9.99748312e-01 -4.20116555e-04 7.78694128e+00] [ 2.37848440e-02 -1.13541480e-04 9.99717094e-01 6.48943879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.385099893 meters 0.011883237622568972 Centerline is valid? [True, True] Translation: X:539.64, Y:7.79, Z:6.49 [[ 9.99492628e-01 -2.10646165e-02 -2.38907541e-02 5.39640829e+02] [ 2.10604377e-02 9.99778113e-01 -4.26538098e-04 7.78820285e+00] [ 2.38944380e-02 -7.68280547e-05 9.99714484e-01 6.48960016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4150998929999 meters 0.011802834037533894 Centerline is valid? [True, True] Translation: X:539.67, Y:7.79, Z:6.49 [[ 9.99509416e-01 -2.02718940e-02 -2.38741933e-02 5.39668397e+02] [ 2.02673799e-02 9.99794503e-01 -4.31057357e-04 7.78961745e+00] [ 2.38780255e-02 -5.30214587e-05 9.99714878e-01 6.49036670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4450998929999 meters 0.011841133029664365 Centerline is valid? [True, True] Translation: X:539.70, Y:7.79, Z:6.49 [[ 9.99525923e-01 -1.98401073e-02 -2.35435733e-02 5.39696419e+02] [ 1.98354398e-02 9.99803165e-01 -4.31786413e-04 7.79004919e+00] [ 2.35475058e-02 -3.54154180e-05 9.99722718e-01 6.49007820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.475099893 meters 0.011867050798199288 Centerline is valid? [True, True] Translation: X:539.72, Y:7.79, Z:6.49 [[ 9.99518914e-01 -2.04051037e-02 -2.33574799e-02 5.39723245e+02] [ 2.04005500e-02 9.99791793e-01 -4.33249771e-04 7.78976500e+00] [ 2.33614573e-02 -4.34640968e-05 9.99727083e-01 6.48945244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.505099893 meters 0.011867229044468824 Centerline is valid? [True, True] Translation: X:539.75, Y:7.79, Z:6.49 [[ 9.99502871e-01 -2.14399134e-02 -2.31158034e-02 5.39751253e+02] [ 2.14356260e-02 9.99770137e-01 -4.33270683e-04 7.78923570e+00] [ 2.31197792e-02 -6.24464237e-05 9.99732700e-01 6.48938688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5350998929999 meters 0.011820837747227312 Centerline is valid? [True, True] Translation: X:539.78, Y:7.79, Z:6.49 [[ 9.99473283e-01 -2.28359083e-02 -2.30581202e-02 5.39778898e+02] [ 2.28318642e-02 9.99739223e-01 -4.38670693e-04 7.78847829e+00] [ 2.30621247e-02 -8.80202319e-05 9.99734030e-01 6.49037939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5650998929999 meters 0.012130788481904653 Centerline is valid? [True, True] Translation: X:539.81, Y:7.78, Z:6.49 [[ 9.99407435e-01 -2.64339146e-02 -2.20460183e-02 5.39806655e+02] [ 2.64309996e-02 9.99650550e-01 -4.23647707e-04 7.78484606e+00] [ 2.20495130e-02 -1.59301633e-04 9.99756867e-01 6.49030601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.595099893 meters 0.012098537434818007 Centerline is valid? [True, True] Translation: X:539.84, Y:7.78, Z:6.49 [[ 9.99355404e-01 -2.88260865e-02 -2.13970557e-02 5.39835141e+02] [ 2.88238177e-02 9.99584422e-01 -4.14496983e-04 7.78372079e+00] [ 2.14001118e-02 -2.02515031e-04 9.99770971e-01 6.49168408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.625099893 meters 0.012477079303241769 Centerline is valid? [True, True] Translation: X:539.86, Y:7.78, Z:6.49 [[ 9.99299442e-01 -3.12471618e-02 -2.05970825e-02 5.39864067e+02] [ 3.12455033e-02 9.99511659e-01 -4.02414765e-04 7.78164225e+00] [ 2.05995985e-02 -2.41433360e-04 9.99787777e-01 6.49223161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6550998929999 meters 0.012996031853361626 Centerline is valid? [True, True] Translation: X:539.89, Y:7.78, Z:6.49 [[ 9.99232985e-01 -3.36517404e-02 -2.00250493e-02 5.39893253e+02] [ 3.36506399e-02 9.99433580e-01 -3.92011866e-04 7.77908582e+00] [ 2.00268986e-02 -2.82144536e-04 9.99799402e-01 6.49269891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6850998929999 meters 0.013716640889901965 Centerline is valid? [True, True] Translation: X:539.92, Y:7.77, Z:6.49 [[ 9.99068787e-01 -3.85515081e-02 -1.93736924e-02 5.39924151e+02] [ 3.85513971e-02 9.99256547e-01 -3.79346143e-04 7.77470522e+00] [ 1.93739133e-02 -3.67890018e-04 9.99812240e-01 6.49323890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.715099893 meters 0.014565241875696272 Centerline is valid? [True, True] Translation: X:539.95, Y:7.77, Z:6.49 [[ 9.98980148e-01 -4.08426325e-02 -1.92494993e-02 5.39954789e+02] [ 4.08429545e-02 9.99165507e-01 -3.76575119e-04 7.77186606e+00] [ 1.92488161e-02 -4.10015357e-04 9.99814640e-01 6.49312238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.745099893 meters 0.014733980711384915 Centerline is valid? [True, True] Translation: X:539.99, Y:7.77, Z:6.49 [[ 9.98889623e-01 -4.30910076e-02 -1.90442957e-02 5.39986726e+02] [ 4.30917443e-02 9.99071050e-01 -3.71866442e-04 7.77013195e+00] [ 1.90426286e-02 -4.49198390e-04 9.99818572e-01 6.49333899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.775099893 meters 0.015017075493965729 Centerline is valid? [True, True] Translation: X:540.02, Y:7.77, Z:6.49 [[ 9.98731467e-01 -4.67312679e-02 -1.87522112e-02 5.40019339e+02] [ 4.67326484e-02 9.98907366e-01 -3.64820904e-04 7.76707138e+00] [ 1.87487704e-02 -5.11982374e-04 9.99824095e-01 6.49372115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8050998929999 meters 0.015166363752038744 Centerline is valid? [True, True] Translation: X:540.05, Y:7.77, Z:6.49 [[ 9.98674074e-01 -4.79972458e-02 -1.86107073e-02 5.40051024e+02] [ 4.79988484e-02 9.98847326e-01 -3.60818478e-04 7.76588565e+00] [ 1.86065735e-02 -5.32952458e-04 9.99826741e-01 6.49420058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8350998929999 meters 0.01693389107423836 Centerline is valid? [True, True] Translation: X:540.08, Y:7.76, Z:6.49 [[ 9.98625288e-01 -4.91305875e-02 -1.82679832e-02 5.40082654e+02] [ 4.91323393e-02 9.98792215e-01 -3.53173904e-04 7.76207536e+00] [ 1.82632711e-02 -5.44860359e-04 9.99833064e-01 6.49378793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.865099893 meters 0.01608496729094536 Centerline is valid? [True, True] Translation: X:540.11, Y:7.76, Z:6.49 [[ 9.98528614e-01 -5.07559870e-02 -1.90902241e-02 5.40115000e+02] [ 5.07582199e-02 9.98710903e-01 -3.67862955e-04 7.76178743e+00] [ 1.90842862e-02 -6.01664109e-04 9.99817697e-01 6.49416886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.895099893 meters 0.01658407935960461 Centerline is valid? [True, True] Translation: X:540.15, Y:7.76, Z:6.49 [[ 9.98500166e-01 -5.12275699e-02 -1.93171898e-02 5.40145741e+02] [ 5.12299672e-02 9.98686814e-01 -3.71061201e-04 7.76053913e+00] [ 1.93108313e-02 -6.19114329e-04 9.99813337e-01 6.49408718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9250998929999 meters 0.017158929549205525 Centerline is valid? [True, True] Translation: X:540.18, Y:7.76, Z:6.49 [[ 9.98454714e-01 -5.20220203e-02 -1.95421102e-02 5.40176728e+02] [ 5.20246423e-02 9.98645731e-01 -3.74533137e-04 7.75925344e+00] [ 1.95351289e-02 -6.42716916e-04 9.99808965e-01 6.49430402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9550998929999 meters 0.018212614699367923 Centerline is valid? [True, True] Translation: X:540.21, Y:7.76, Z:6.49 [[ 9.98432198e-01 -5.24866134e-02 -1.94499576e-02 5.40207657e+02] [ 5.24893192e-02 9.98621416e-01 -3.71716634e-04 7.75747394e+00] [ 1.94426543e-02 -6.49781174e-04 9.99810763e-01 6.49441810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.985099893 meters 0.017436779341215874 Centerline is valid? [True, True] Translation: X:540.24, Y:7.76, Z:6.49 [[ 9.98378039e-01 -5.36285761e-02 -1.91119488e-02 5.40240044e+02] [ 5.36314194e-02 9.98560733e-01 -3.64112471e-04 7.75827598e+00] [ 1.91039684e-02 -6.61479047e-04 9.99817284e-01 6.49479819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.015099893 meters 0.017813180470253525 Centerline is valid? [True, True] Translation: X:540.27, Y:7.76, Z:6.50 [[ 9.98344796e-01 -5.40944790e-02 -1.95309012e-02 5.40272674e+02] [ 5.40975656e-02 9.98535586e-01 -3.70658206e-04 7.75776256e+00] [ 1.95223504e-02 -6.86529515e-04 9.99809185e-01 6.49516334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0450998929999 meters 0.018025109228919728 Centerline is valid? [True, True] Translation: X:540.30, Y:7.76, Z:6.50 [[ 9.98324853e-01 -5.46049825e-02 -1.91254808e-02 5.40304522e+02] [ 5.46080618e-02 9.98507801e-01 -3.61599494e-04 7.75782624e+00] [ 1.91166869e-02 -6.83411675e-04 9.99817026e-01 6.49556847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0750998929999 meters 0.0184655818214618 Centerline is valid? [True, True] Translation: X:540.34, Y:7.76, Z:6.50 [[ 9.98267308e-01 -5.55732191e-02 -1.93390491e-02 5.40336462e+02] [ 5.55765762e-02 9.98454361e-01 -3.64229823e-04 7.75774732e+00] [ 1.93293993e-02 -7.11199408e-04 9.99812917e-01 6.49590927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.105099893 meters 0.017960534702395822 Centerline is valid? [True, True] Translation: X:540.37, Y:7.76, Z:6.50 [[ 9.98226586e-01 -5.63543363e-02 -1.91799860e-02 5.40368194e+02] [ 5.63578090e-02 9.98410571e-01 -3.59847073e-04 7.75943469e+00] [ 1.91697797e-02 -7.21733070e-04 9.99815982e-01 6.49676938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.135099893 meters 0.018903300110259123 Centerline is valid? [True, True] Translation: X:540.40, Y:7.76, Z:6.50 [[ 9.98183025e-01 -5.71009343e-02 -1.92388311e-02 5.40399561e+02] [ 5.71045916e-02 9.98368137e-01 -3.59659681e-04 7.75878527e+00] [ 1.92279728e-02 -7.39619401e-04 9.99814852e-01 6.49689510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1650998929999 meters 0.018725992052994547 Centerline is valid? [True, True] Translation: X:540.43, Y:7.76, Z:6.50 [[ 9.98141899e-01 -5.78161477e-02 -1.92365014e-02 5.40432144e+02] [ 5.78199594e-02 9.98326962e-01 -3.58434250e-04 7.75985880e+00] [ 1.92250413e-02 -7.54485488e-04 9.99814897e-01 6.49757704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1950998929999 meters 0.020091428395712613 Centerline is valid? [True, True] Translation: X:540.46, Y:7.76, Z:6.50 [[ 9.98056430e-01 -5.95022542e-02 -1.85160293e-02 5.40463633e+02] [ 5.95060975e-02 9.98227883e-01 -3.43804196e-04 7.75899479e+00] [ 1.85036738e-02 -7.58680655e-04 9.99828505e-01 6.49858097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.225099893 meters 0.01960894612000617 Centerline is valid? [True, True] Translation: X:540.50, Y:7.76, Z:6.50 [[ 9.98006406e-01 -6.04493227e-02 -1.81409060e-02 5.40496199e+02] [ 6.04531877e-02 9.98170977e-01 -3.35755171e-04 7.76031489e+00] [ 1.81280220e-02 -7.61589784e-04 9.99835384e-01 6.49968568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.255099893 meters 0.019604804146346605 Centerline is valid? [True, True] Translation: X:540.53, Y:7.76, Z:6.50 [[ 9.97969915e-01 -6.11468754e-02 -1.78075105e-02 5.40528515e+02] [ 6.11507334e-02 9.98128489e-01 -3.28294069e-04 7.76075663e+00] [ 1.77942577e-02 -7.61314720e-04 9.99841380e-01 6.50037528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2850998929999 meters 0.020958644638037954 Centerline is valid? [True, True] Translation: X:540.56, Y:7.76, Z:6.50 [[ 9.97937146e-01 -6.17142403e-02 -1.76862870e-02 5.40560145e+02] [ 6.17181613e-02 9.98093564e-01 -3.24559165e-04 7.75916729e+00] [ 1.76725992e-02 -7.67675467e-04 9.99843533e-01 6.50060732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3150998929999 meters 0.020843369119491757 Centerline is valid? [True, True] Translation: X:540.59, Y:7.76, Z:6.50 [[ 9.97918454e-01 -6.22101015e-02 -1.69900678e-02 5.40592229e+02] [ 6.22138199e-02 9.98062796e-01 -3.10116172e-04 7.76041639e+00] [ 1.69764469e-02 -7.47546366e-04 9.99855610e-01 6.50180170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.345099893 meters 0.020971989614731377 Centerline is valid? [True, True] Translation: X:540.62, Y:7.76, Z:6.50 [[ 9.97936869e-01 -6.18998241e-02 -1.70416135e-02 5.40623994e+02] [ 6.19035410e-02 9.98082089e-01 -3.09820241e-04 7.76114061e+00] [ 1.70281070e-02 -7.45755178e-04 9.99854733e-01 6.50239006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.375099893 meters 0.020471765943517614 Centerline is valid? [True, True] Translation: X:540.66, Y:7.76, Z:6.50 [[ 9.97984186e-01 -6.11993063e-02 -1.67990949e-02 5.40656241e+02] [ 6.12028392e-02 9.98125303e-01 -3.04209160e-04 7.76258215e+00] [ 1.67862190e-02 -7.24556370e-04 9.99858839e-01 6.50288180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4050998929999 meters 0.01898002162629923 Centerline is valid? [True, True] Translation: X:540.69, Y:7.77, Z:6.50 [[ 9.98019488e-01 -6.06025308e-02 -1.68651862e-02 5.40688767e+02] [ 6.06060274e-02 9.98161719e-01 -3.04170098e-04 7.76582515e+00] [ 1.68526167e-02 -7.18564249e-04 9.99857726e-01 6.50331693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4350998929999 meters 0.018998451071334868 Centerline is valid? [True, True] Translation: X:540.72, Y:7.77, Z:6.50 [[ 9.98155977e-01 -5.82092442e-02 -1.72142348e-02 5.40719078e+02] [ 5.82125494e-02 9.98304164e-01 -3.09435818e-04 7.76714820e+00] [ 1.72030543e-02 -6.93219282e-04 9.99851776e-01 6.50357960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.465099893 meters 0.02168177962116199 Centerline is valid? [True, True] Translation: X:540.75, Y:7.76, Z:6.50 [[ 9.98255493e-01 -5.65227087e-02 -1.70632490e-02 5.40750574e+02] [ 5.65257256e-02 9.98401096e-01 -3.05823093e-04 7.76407335e+00] [ 1.70532525e-02 -6.59222949e-04 9.99854365e-01 6.50326104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.495099893 meters 0.018172205384278137 Centerline is valid? [True, True] Translation: X:540.78, Y:7.77, Z:6.50 [[ 9.98358334e-01 -5.47388336e-02 -1.68610818e-02 5.40782471e+02] [ 5.47415603e-02 9.98500512e-01 -3.00121641e-04 7.77035168e+00] [ 1.68522272e-02 -6.23372987e-04 9.99857797e-01 6.50466537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.525099893 meters 0.018172205384278137 Centerline is valid? [True, True] Translation: X:540.81, Y:7.77, Z:6.51 [[ 9.98362324e-01 -5.46660147e-02 -1.68611037e-02 5.40814179e+02] [ 5.46687517e-02 9.98504501e-01 -2.98891507e-04 7.77085758e+00] [ 1.68522271e-02 -6.23373471e-04 9.99857797e-01 6.50505727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5550998929999 meters 0.019262973021200613 Centerline is valid? [True, True] Translation: X:540.85, Y:7.77, Z:6.51 [[ 9.98474666e-01 -5.26922229e-02 -1.64884902e-02 5.40845139e+02] [ 5.26945955e-02 9.98610632e-01 -2.90836229e-04 7.77026618e+00] [ 1.64809064e-02 -5.78461715e-04 9.99864013e-01 6.50528158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5850998929999 meters 0.018108724004046676 Centerline is valid? [True, True] Translation: X:540.88, Y:7.77, Z:6.51 [[ 9.98687871e-01 -4.83715059e-02 -1.68147154e-02 5.40875243e+02] [ 4.83733919e-02 9.98829279e-01 -2.94775916e-04 7.77409593e+00] [ 1.68092889e-02 -5.18995689e-04 9.99858579e-01 6.50589050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.615099893 meters 0.01608851056130712 Centerline is valid? [True, True] Translation: X:540.91, Y:7.78, Z:6.51 [[ 9.98801725e-01 -4.59091473e-02 -1.69547952e-02 5.40907666e+02] [ 4.59107198e-02 9.98945503e-01 -2.96682544e-04 7.77879544e+00] [ 1.69505369e-02 -4.82079815e-04 9.99856213e-01 6.50647975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.645099893 meters 0.015147695739124549 Centerline is valid? [True, True] Translation: X:540.94, Y:7.78, Z:6.51 [[ 9.98912644e-01 -4.31073977e-02 -1.77561856e-02 5.40940075e+02] [ 4.31087035e-02 9.99070340e-01 -3.09384114e-04 7.78181661e+00] [ 1.77530151e-02 -4.56398438e-04 9.99842299e-01 6.50684724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6750998929999 meters 0.014450539165521924 Centerline is valid? [True, True] Translation: X:540.97, Y:7.78, Z:6.51 [[ 9.99016502e-01 -4.04458131e-02 -1.81704638e-02 5.40971100e+02] [ 4.04467611e-02 9.99181645e-01 -3.15475704e-04 7.78448378e+00] [ 1.81683536e-02 -4.19770973e-04 9.99834854e-01 6.50696691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7050998929999 meters 0.013164914102449165 Centerline is valid? [True, True] Translation: X:541.00, Y:7.79, Z:6.51 [[ 9.99226932e-01 -3.45489943e-02 -1.87591310e-02 5.41002454e+02] [ 3.45489789e-02 9.99402953e-01 -3.25001426e-04 7.78923708e+00] [ 1.87591594e-02 -3.23358644e-04 9.99823979e-01 6.50719464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.735099893 meters 0.01319293288009905 Centerline is valid? [True, True] Translation: X:541.03, Y:7.79, Z:6.51 [[ 9.99314870e-01 -3.15995901e-02 -1.92680275e-02 5.41032923e+02] [ 3.15990371e-02 9.99500570e-01 -3.33231937e-04 7.79045627e+00] [ 1.92689344e-02 -2.75847484e-04 9.99814299e-01 6.50680189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.765099893 meters 0.012329286274077565 Centerline is valid? [True, True] Translation: X:541.06, Y:7.79, Z:6.51 [[ 9.99390863e-01 -2.86756146e-02 -1.98899874e-02 5.41063653e+02] [ 2.86744509e-02 9.99588744e-01 -3.43759707e-04 7.79419682e+00] [ 1.98916651e-02 -2.26784157e-04 9.99802116e-01 6.50762778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7950998929999 meters 0.011913322566768091 Centerline is valid? [True, True] Translation: X:541.09, Y:7.80, Z:6.51 [[ 9.99460349e-01 -2.58338408e-02 -2.02885248e-02 5.41093345e+02] [ 2.58320388e-02 9.99666236e-01 -3.50934255e-04 7.79700421e+00] [ 2.02908192e-02 -1.73349086e-04 9.99794105e-01 6.50813294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8250998929999 meters 0.011431148876947073 Centerline is valid? [True, True] Translation: X:541.12, Y:7.80, Z:6.51 [[ 9.99548779e-01 -2.08464661e-02 -2.16255080e-02 5.41121849e+02] [ 2.08431904e-02 9.99782686e-01 -3.76883593e-04 7.80132736e+00] [ 2.16286651e-02 -7.40310452e-05 9.99766070e-01 6.50885056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.855099893 meters 0.011379405866302287 Centerline is valid? [True, True] Translation: X:541.15, Y:7.80, Z:6.51 [[ 9.99575649e-01 -1.91483704e-02 -2.19513640e-02 5.41150199e+02] [ 1.91444553e-02 9.99816653e-01 -3.88507855e-04 7.80326105e+00] [ 2.19547785e-02 -3.19039160e-05 9.99758964e-01 6.50954962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.885099893 meters 0.011297685376429695 Centerline is valid? [True, True] Translation: X:541.18, Y:7.80, Z:6.51 [[ 9.99618891e-01 -1.62736112e-02 -2.22989249e-02 5.41178451e+02] [ 1.62687102e-02 9.99867575e-01 -4.01190183e-04 7.80485192e+00] [ 2.23025007e-02 3.82625398e-05 9.99751268e-01 6.51077684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9150998929999 meters 0.011271335806977142 Centerline is valid? [True, True] Translation: X:541.21, Y:7.81, Z:6.51 [[ 9.99620789e-01 -1.58137646e-02 -2.25433494e-02 5.41206662e+02] [ 1.58084893e-02 9.99874953e-01 -4.12210647e-04 7.80535138e+00] [ 2.25470490e-02 5.56780344e-05 9.99745781e-01 6.51146610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9450998929999 meters 0.011269159652841892 Centerline is valid? [True, True] Translation: X:541.23, Y:7.81, Z:6.51 [[ 9.99620979e-01 -1.57002154e-02 -2.26141701e-02 5.41234099e+02] [ 1.56947287e-02 9.99876742e-01 -4.20099459e-04 7.80536492e+00] [ 2.26179783e-02 6.50169697e-05 9.99744179e-01 6.51191786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.975099893 meters 0.011213644140623617 Centerline is valid? [True, True] Translation: X:541.26, Y:7.81, Z:6.51 [[ 9.99614831e-01 -1.57731115e-02 -2.28341361e-02 5.41260929e+02] [ 1.57674234e-02 9.99875594e-01 -4.29138424e-04 7.80541166e+00] [ 2.28380642e-02 6.89376421e-05 9.99739175e-01 6.51198839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.005099893 meters 0.011100897388384432 Centerline is valid? [True, True] Translation: X:541.29, Y:7.80, Z:6.51 [[ 9.99579850e-01 -1.75854089e-02 -2.30407852e-02 5.41287519e+02] [ 1.75800318e-02 9.99845364e-01 -4.35924387e-04 7.80443379e+00] [ 2.30448882e-02 3.06834960e-05 9.99734431e-01 6.51245536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0350998929999 meters 0.011068879663943503 Centerline is valid? [True, True] Translation: X:541.32, Y:7.80, Z:6.51 [[ 9.99535760e-01 -1.94752791e-02 -2.34302585e-02 5.41315764e+02] [ 1.94701270e-02 9.99810339e-01 -4.48021209e-04 7.80348149e+00] [ 2.34345400e-02 -8.37688735e-06 9.99725373e-01 6.51290395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0650998929999 meters 0.010981604393686763 Centerline is valid? [True, True] Translation: X:541.34, Y:7.80, Z:6.51 [[ 9.99472331e-01 -2.18698123e-02 -2.40160712e-02 5.41344903e+02] [ 2.18649328e-02 9.99760825e-01 -4.65781004e-04 7.80196210e+00] [ 2.40205137e-02 -5.95745582e-05 9.99711464e-01 6.51295884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.095099893 meters 0.011103561741753228 Centerline is valid? [True, True] Translation: X:541.37, Y:7.80, Z:6.51 [[ 9.99391025e-01 -2.46621552e-02 -2.46851560e-02 5.41373759e+02] [ 2.46576964e-02 9.99695835e-01 -4.85040760e-04 7.80012514e+00] [ 2.46896098e-02 -1.23933701e-04 9.99695157e-01 6.51282923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.125099893 meters 0.011724438229470752 Centerline is valid? [True, True] Translation: X:541.40, Y:7.79, Z:6.51 [[ 9.99224991e-01 -3.07308342e-02 -2.45974379e-02 5.41401399e+02] [ 3.07281426e-02 9.99527660e-01 -4.87481448e-04 7.79478556e+00] [ 2.46008003e-02 -2.68729935e-04 9.99697318e-01 6.51275012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1550998929999 meters 0.01231436546825575 Centerline is valid? [True, True] Translation: X:541.43, Y:7.79, Z:6.51 [[ 9.99105721e-01 -3.44076404e-02 -2.45738384e-02 5.41430232e+02] [ 3.44059646e-02 9.99407819e-01 -4.91123193e-04 7.79252760e+00] [ 2.45761846e-02 -3.54802623e-04 9.99697897e-01 6.51356640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1850998929999 meters 0.012944885115925673 Centerline is valid? [True, True] Translation: X:541.46, Y:7.79, Z:6.51 [[ 9.98981216e-01 -3.81401334e-02 -2.41217996e-02 5.41459032e+02] [ 3.81394635e-02 9.99272307e-01 -4.88000301e-04 7.79018415e+00] [ 2.41228588e-02 -4.32489363e-04 9.99708908e-01 6.51449029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.215099893 meters 0.014033123034669534 Centerline is valid? [True, True] Translation: X:541.49, Y:7.79, Z:6.52 [[ 9.98710646e-01 -4.49154874e-02 -2.36568156e-02 5.41489047e+02] [ 4.49166662e-02 9.98990621e-01 -4.81802785e-04 7.78614781e+00] [ 2.36545773e-02 -5.81403719e-04 9.99720022e-01 6.51625032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.245099893 meters 0.014737277549934232 Centerline is valid? [True, True] Translation: X:541.52, Y:7.78, Z:6.52 [[ 9.98571248e-01 -4.81986205e-02 -2.30728183e-02 5.41520393e+02] [ 4.82006212e-02 9.98837564e-01 -4.69736947e-04 7.78456164e+00] [ 2.30686383e-02 -6.43058365e-04 9.99733677e-01 6.51690673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.275099893 meters 0.015692038091640343 Centerline is valid? [True, True] Translation: X:541.55, Y:7.78, Z:6.52 [[ 9.98425298e-01 -5.10517581e-02 -2.32517117e-02 5.41551456e+02] [ 5.10545780e-02 9.98695753e-01 -4.72727317e-04 7.78220324e+00] [ 2.32455193e-02 -7.15123416e-04 9.99729531e-01 6.51710146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3050998929999 meters 0.016800264333707928 Centerline is valid? [True, True] Translation: X:541.58, Y:7.78, Z:6.52 [[ 9.98277637e-01 -5.37867341e-02 -2.34253643e-02 5.41583032e+02] [ 5.37903630e-02 9.98552137e-01 -4.75632803e-04 7.77979018e+00] [ 2.34170303e-02 -7.85245256e-04 9.99725475e-01 6.51712123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3350998929999 meters 0.022770475300236324 Centerline is valid? [True, True] Translation: X:541.61, Y:7.77, Z:6.52 [[ 9.98015668e-01 -5.82922587e-02 -2.38063015e-02 5.41613731e+02] [ 5.82973020e-02 9.98299149e-01 -4.82709767e-04 7.76937291e+00] [ 2.37939487e-02 -9.06091236e-04 9.99716473e-01 6.51517457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.365099893 meters 0.019827643225552156 Centerline is valid? [True, True] Translation: X:541.64, Y:7.77, Z:6.52 [[ 9.97898383e-01 -6.02476150e-02 -2.38545928e-02 5.41644820e+02] [ 6.02532515e-02 9.98183005e-01 -4.83060274e-04 7.77345491e+00] [ 2.38403523e-02 -9.55271709e-04 9.99715322e-01 6.51680897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.395099893 meters 0.02171291557160843 Centerline is valid? [True, True] Translation: X:541.68, Y:7.77, Z:6.52 [[ 9.97791739e-01 -6.17807977e-02 -2.43880736e-02 5.41676086e+02] [ 6.17871728e-02 9.98089226e-01 -4.92778850e-04 7.77088729e+00] [ 2.43719178e-02 -1.01517945e-03 9.99702445e-01 6.51682719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4250998929999 meters 0.020099996878429467 Centerline is valid? [True, True] Translation: X:541.71, Y:7.77, Z:6.52 [[ 9.97700224e-01 -6.31320369e-02 -2.46700169e-02 5.41707862e+02] [ 6.31390109e-02 9.98004618e-01 -4.96923313e-04 7.77347053e+00] [ 2.46521626e-02 -1.06185997e-03 9.99695525e-01 6.51802556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4550998929999 meters 0.02126933845506063 Centerline is valid? [True, True] Translation: X:541.74, Y:7.77, Z:6.52 [[ 9.97577402e-01 -6.50459822e-02 -2.46646945e-02 5.41740143e+02] [ 6.50535807e-02 9.97881650e-01 -4.95039606e-04 7.77227909e+00] [ 2.46446464e-02 -1.11068637e-03 9.99695658e-01 6.51860010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.485099893 meters 0.022156761051153523 Centerline is valid? [True, True] Translation: X:541.77, Y:7.77, Z:6.52 [[ 9.97537476e-01 -6.56246259e-02 -2.47465657e-02 5.41771748e+02] [ 6.56324910e-02 9.97843741e-01 -4.95130978e-04 7.77150082e+00] [ 2.47256985e-02 -1.13026704e-03 9.99693634e-01 6.51869389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.515099893 meters 0.022644400221587983 Centerline is valid? [True, True] Translation: X:541.80, Y:7.77, Z:6.52 [[ 9.97547320e-01 -6.55173246e-02 -2.46338093e-02 5.41804021e+02] [ 6.55251230e-02 9.97850799e-01 -4.91353384e-04 7.77131060e+00] [ 2.46130584e-02 -1.12398513e-03 9.99696421e-01 6.51877428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5450998929999 meters 0.022841082156812412 Centerline is valid? [True, True] Translation: X:541.84, Y:7.77, Z:6.52 [[ 9.97573998e-01 -6.50278522e-02 -2.48494707e-02 5.41836145e+02] [ 6.50356798e-02 9.97882817e-01 -4.93904769e-04 7.77195407e+00] [ 2.48289774e-02 -1.12339566e-03 9.99691082e-01 6.51904369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5750998929999 meters 0.022722713620953856 Centerline is valid? [True, True] Translation: X:541.87, Y:7.77, Z:6.52 [[ 9.97629503e-01 -6.40559739e-02 -2.51437394e-02 5.41868765e+02] [ 6.40637337e-02 9.97945685e-01 -4.97617820e-04 7.77348819e+00] [ 2.51239616e-02 -1.11436361e-03 9.99683722e-01 6.51963723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.605099893 meters 0.022700799347552394 Centerline is valid? [True, True] Translation: X:541.90, Y:7.78, Z:6.52 [[ 9.97715126e-01 -6.28765739e-02 -2.47197125e-02 5.41900049e+02] [ 6.28837529e-02 9.98020739e-01 -4.87600240e-04 7.77542911e+00] [ 2.47014444e-02 -1.06798216e-03 9.99694302e-01 6.52050902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.635099893 meters 0.019069422564122942 Centerline is valid? [True, True] Translation: X:541.93, Y:7.78, Z:6.52 [[ 9.97929625e-01 -5.94309674e-02 -2.45850433e-02 5.41931211e+02] [ 5.94370457e-02 9.98231939e-01 -4.84077616e-04 7.78367758e+00] [ 2.45703447e-02 -9.78186950e-04 9.99697625e-01 6.52267375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6650998929999 meters 0.021382016431123686 Centerline is valid? [True, True] Translation: X:541.96, Y:7.78, Z:6.52 [[ 9.98029229e-01 -5.77951580e-02 -2.44413179e-02 5.41961767e+02] [ 5.78006918e-02 9.98328027e-01 -4.80587402e-04 7.78194356e+00] [ 2.44282283e-02 -9.33084808e-04 9.99701151e-01 6.52195283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6950998929999 meters 0.017823813236023275 Centerline is valid? [True, True] Translation: X:541.99, Y:7.79, Z:6.52 [[ 9.98114123e-01 -5.62645844e-02 -2.45457623e-02 5.41993302e+02] [ 5.62697197e-02 9.98415488e-01 -4.81982155e-04 7.78891113e+00] [ 2.45339877e-02 -9.00109966e-04 9.99698591e-01 6.52362158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.725099893 meters 0.01714054675057859 Centerline is valid? [True, True] Translation: X:542.02, Y:7.79, Z:6.52 [[ 9.98210607e-01 -5.44602556e-02 -2.46913880e-02 5.42024636e+02] [ 5.44649227e-02 9.98515567e-01 -4.83951363e-04 7.79156575e+00] [ 2.46810914e-02 -8.61729154e-04 9.99695004e-01 6.52401698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.755099893 meters 0.017562116197684118 Centerline is valid? [True, True] Translation: X:542.06, Y:7.79, Z:6.52 [[ 9.98290188e-01 -5.29241478e-02 -2.48140070e-02 5.42055204e+02] [ 5.29284041e-02 9.98598192e-01 -4.85685044e-04 7.79253035e+00] [ 2.48049270e-02 -8.28511177e-04 9.99691967e-01 6.52397455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7850998929999 meters 0.01920604729498206 Centerline is valid? [True, True] Translation: X:542.09, Y:7.79, Z:6.52 [[ 9.98454730e-01 -4.99740964e-02 -2.43051851e-02 5.42085350e+02] [ 4.99773119e-02 9.98750240e-01 -4.75509495e-04 7.79273766e+00] [ 2.42985726e-02 -7.39933109e-04 9.99704472e-01 6.52306271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8150998929999 meters 0.014658509282626802 Centerline is valid? [True, True] Translation: X:542.12, Y:7.80, Z:6.53 [[ 9.98528926e-01 -4.85894038e-02 -2.40635304e-02 5.42116721e+02] [ 4.85921643e-02 9.98818592e-01 -4.70351570e-04 7.80133252e+00] [ 2.40579557e-02 -6.99639375e-04 9.99710321e-01 6.52664609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.845099893 meters 0.014300035402439414 Centerline is valid? [True, True] Translation: X:542.15, Y:7.80, Z:6.53 [[ 9.98644320e-01 -4.65257460e-02 -2.33426189e-02 5.42147823e+02] [ 4.65277997e-02 9.98916892e-01 -4.55418729e-04 7.80488382e+00] [ 2.33385250e-02 -6.31279371e-04 9.99727420e-01 6.52769012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.875099893 meters 0.01594197330728662 Centerline is valid? [True, True] Translation: X:542.18, Y:7.80, Z:6.53 [[ 9.98691733e-01 -4.56492746e-02 -2.30427151e-02 5.42178531e+02] [ 4.56510575e-02 9.98957346e-01 -4.48928706e-04 7.80383995e+00] [ 2.30391828e-02 -6.03582923e-04 9.99734381e-01 6.52757502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9050998929999 meters 0.013943821388033604 Centerline is valid? [True, True] Translation: X:542.21, Y:7.81, Z:6.53 [[ 9.98742489e-01 -4.48754796e-02 -2.23524674e-02 5.42209699e+02] [ 4.48769765e-02 9.98992426e-01 -4.34900268e-04 7.80879039e+00] [ 2.23494620e-02 -5.68757781e-04 9.99750058e-01 6.52972025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9350998929999 meters 0.013830369642264716 Centerline is valid? [True, True] Translation: X:542.24, Y:7.81, Z:6.53 [[ 9.98779345e-01 -4.43838214e-02 -2.16771106e-02 5.42240911e+02] [ 4.43851302e-02 9.99014406e-01 -4.20985606e-04 7.80997692e+00] [ 2.16744307e-02 -5.41669650e-04 9.99764935e-01 6.53030566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.965099893 meters 0.0144348831548061 Centerline is valid? [True, True] Translation: X:542.27, Y:7.81, Z:6.53 [[ 9.98790830e-01 -4.44718686e-02 -2.09554712e-02 5.42272510e+02] [ 4.44731298e-02 9.99010498e-01 -4.06070862e-04 7.80986739e+00] [ 2.09527945e-02 -5.26375539e-04 9.99780328e-01 6.52998776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.995099893 meters 0.013706427837024786 Centerline is valid? [True, True] Translation: X:542.30, Y:7.81, Z:6.53 [[ 9.98777264e-01 -4.46106942e-02 -2.13040744e-02 5.42304538e+02] [ 4.46120579e-02 9.99004302e-01 -4.11487930e-04 7.81192980e+00] [ 2.13012188e-02 -5.39433812e-04 9.99772958e-01 6.53046791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.025099893 meters 0.014888634811362838 Centerline is valid? [True, True] Translation: X:542.34, Y:7.81, Z:6.53 [[ 9.98752969e-01 -4.52737483e-02 -2.10426657e-02 5.42336096e+02] [ 4.52752545e-02 9.98974468e-01 -4.05067928e-04 7.81093715e+00] [ 2.10394247e-02 -5.48149249e-04 9.99778497e-01 6.53020898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0550998929999 meters 0.015102918284635346 Centerline is valid? [True, True] Translation: X:542.37, Y:7.81, Z:6.53 [[ 9.98714023e-01 -4.61399372e-02 -2.10096823e-02 5.42368042e+02] [ 4.61416573e-02 9.98934825e-01 -4.03144594e-04 7.81151224e+00] [ 2.10059044e-02 -5.66795401e-04 9.99779191e-01 6.53045598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0850998929999 meters 0.015489677334139947 Centerline is valid? [True, True] Translation: X:542.40, Y:7.81, Z:6.53 [[ 9.98565150e-01 -4.92849399e-02 -2.09436499e-02 5.42399326e+02] [ 4.92873650e-02 9.98784559e-01 -4.00693681e-04 7.81232740e+00] [ 2.09379423e-02 -6.32138570e-04 9.99780577e-01 6.53113968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.115099893 meters 0.015888983625108346 Centerline is valid? [True, True] Translation: X:542.43, Y:7.81, Z:6.53 [[ 9.98465116e-01 -5.12461203e-02 -2.10058856e-02 5.42431642e+02] [ 5.12490160e-02 9.98685825e-01 -4.00806392e-04 7.81230566e+00] [ 2.09988200e-02 -6.76339768e-04 9.99779272e-01 6.53131720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.145099893 meters 0.019108488000355858 Centerline is valid? [True, True] Translation: X:542.46, Y:7.81, Z:6.53 [[ 9.98323712e-01 -5.40466358e-02 -2.07057205e-02 5.42462866e+02] [ 5.40500785e-02 9.98538148e-01 -3.93734905e-04 7.80780347e+00] [ 2.06967318e-02 -7.26070925e-04 9.99785536e-01 6.53038042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1750998929999 meters 0.02103621376927699 Centerline is valid? [True, True] Translation: X:542.49, Y:7.81, Z:6.53 [[ 9.98138486e-01 -5.72869858e-02 -2.09228210e-02 5.42492709e+02] [ 5.72912262e-02 9.98357430e-01 -3.97182501e-04 7.80529204e+00] [ 2.09112072e-02 -8.02250932e-04 9.99781015e-01 6.52991937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2050998929999 meters 0.02011630895571651 Centerline is valid? [True, True] Translation: X:542.52, Y:7.81, Z:6.53 [[ 9.97696475e-01 -6.46300537e-02 -2.06082514e-02 5.42522868e+02] [ 6.46357308e-02 9.97908848e-01 -3.91186699e-04 7.80690290e+00] [ 2.05904389e-02 -9.41743802e-04 9.99787551e-01 6.53054929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.235099893 meters 0.021180992174921955 Centerline is valid? [True, True] Translation: X:542.55, Y:7.81, Z:6.53 [[ 9.97451963e-01 -6.84071719e-02 -2.02494618e-02 5.42553796e+02] [ 6.84134330e-02 9.97656982e-01 -3.84195586e-04 7.80624676e+00] [ 2.02282987e-02 -1.00211856e-03 9.99794885e-01 6.53083662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.265099893 meters 0.024261173642118692 Centerline is valid? [True, True] Translation: X:542.58, Y:7.80, Z:6.53 [[ 9.97223554e-01 -7.17774240e-02 -1.98288962e-02 5.42583777e+02] [ 7.17840962e-02 9.97420123e-01 -3.75993853e-04 7.80300379e+00] [ 1.98047279e-02 -1.04844946e-03 9.99803317e-01 6.53081801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2950998929999 meters 0.026583154469266183 Centerline is valid? [True, True] Translation: X:542.61, Y:7.80, Z:6.53 [[ 9.96860197e-01 -7.67149781e-02 -1.96101878e-02 5.42614550e+02] [ 7.67224563e-02 9.97052419e-01 -3.71822797e-04 7.80162357e+00] [ 1.95809095e-02 -1.13388643e-03 9.99807633e-01 6.53096410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3250998929999 meters 0.026295150294347973 Centerline is valid? [True, True] Translation: X:542.65, Y:7.80, Z:6.53 [[ 9.96767650e-01 -7.80393333e-02 -1.90818061e-02 5.42646394e+02] [ 7.80466656e-02 9.96949641e-01 -3.61277818e-04 7.80326300e+00] [ 1.90517936e-02 -1.12916130e-03 9.99817860e-01 6.53140372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.355099893 meters 0.030321570055358033 Centerline is valid? [True, True] Translation: X:542.68, Y:7.80, Z:6.53 [[ 9.96710664e-01 -7.88270893e-02 -1.88186861e-02 5.42677630e+02] [ 7.88343927e-02 9.96887663e-01 -3.54591056e-04 7.79943686e+00] [ 1.87880674e-02 -1.13013501e-03 9.99822850e-01 6.53126440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.385099893 meters 0.025828789395541653 Centerline is valid? [True, True] Translation: X:542.71, Y:7.81, Z:6.53 [[ 9.96675491e-01 -7.94706707e-02 -1.79549152e-02 5.42709707e+02] [ 7.94774572e-02 9.96836607e-01 -3.36403159e-04 7.80707958e+00] [ 1.79248509e-02 -1.09172622e-03 9.99838741e-01 6.53257015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4150998929999 meters 0.025828789395541653 Centerline is valid? [True, True] Translation: X:542.74, Y:7.81, Z:6.53 [[ 9.96684269e-01 -7.93604891e-02 -1.79549437e-02 5.42742299e+02] [ 7.93672852e-02 9.96845385e-01 -3.34877014e-04 7.80760293e+00] [ 1.79248787e-02 -1.09126848e-03 9.99838741e-01 6.53297299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4450998929999 meters 0.027328827490340372 Centerline is valid? [True, True] Translation: X:542.77, Y:7.81, Z:6.53 [[ 9.96749515e-01 -7.88919386e-02 -1.63237992e-02 5.42773272e+02] [ 7.88975227e-02 9.96882686e-01 -3.02633749e-04 7.80867275e+00] [ 1.62967881e-02 -9.86257275e-04 9.99866712e-01 6.53381562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.475099893 meters 0.027258374169098865 Centerline is valid? [True, True] Translation: X:542.81, Y:7.81, Z:6.53 [[ 9.96812725e-01 -7.81840211e-02 -1.58635070e-02 5.42805700e+02] [ 7.81892371e-02 9.96938493e-01 -2.92094516e-04 7.81086795e+00] [ 1.58377778e-02 -9.49191976e-04 9.99874124e-01 6.53456530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.505099893 meters 0.028429489885198535 Centerline is valid? [True, True] Translation: X:542.84, Y:7.81, Z:6.53 [[ 9.96884461e-01 -7.73156093e-02 -1.56098408e-02 5.42837430e+02] [ 7.73205710e-02 9.97006242e-01 -2.86314874e-04 7.81137676e+00] [ 1.55852454e-02 -9.21538958e-04 9.99878118e-01 6.53474603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5350998929999 meters 0.027511196978380687 Centerline is valid? [True, True] Translation: X:542.87, Y:7.81, Z:6.53 [[ 9.96938549e-01 -7.66513580e-02 -1.54304670e-02 5.42869565e+02] [ 7.66561438e-02 9.97057549e-01 -2.81933062e-04 7.81472605e+00] [ 1.54066742e-02 -9.01770163e-04 9.99880904e-01 6.53489226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5650998929999 meters 0.025253600938486723 Centerline is valid? [True, True] Translation: X:542.90, Y:7.82, Z:6.53 [[ 9.97015789e-01 -7.56788350e-02 -1.52391313e-02 5.42901767e+02] [ 7.56834061e-02 9.97131859e-01 -2.77356049e-04 7.81964463e+00] [ 1.52164133e-02 -8.76821002e-04 9.99883839e-01 6.53483171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.595099893 meters 0.025589241895842784 Centerline is valid? [True, True] Translation: X:542.93, Y:7.82, Z:6.53 [[ 9.97162651e-01 -7.36006958e-02 -1.57982515e-02 5.42932082e+02] [ 7.36053643e-02 9.97287405e-01 -2.86532833e-04 7.82313451e+00] [ 1.57764863e-02 -8.77116220e-04 9.99875159e-01 6.53445127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.625099893 meters 0.026018394070703138 Centerline is valid? [True, True] Translation: X:542.96, Y:7.82, Z:6.53 [[ 9.97273253e-01 -7.21823709e-02 -1.53546303e-02 5.42962968e+02] [ 7.21866191e-02 9.97391104e-01 -2.78106021e-04 7.82471607e+00] [ 1.53346461e-02 -8.31051155e-04 9.99882072e-01 6.53442997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6550998929999 meters 0.024968795869935705 Centerline is valid? [True, True] Translation: X:543.00, Y:7.83, Z:6.53 [[ 9.97387117e-01 -7.06566567e-02 -1.50524574e-02 5.42995558e+02] [ 7.06605794e-02 9.97500380e-01 -2.71741398e-04 7.82852830e+00] [ 1.50340323e-02 -7.92583993e-04 9.99886668e-01 6.53454819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6850998929999 meters 0.02427444044696273 Centerline is valid? [True, True] Translation: X:543.03, Y:7.83, Z:6.53 [[ 9.97668261e-01 -6.67314786e-02 -1.43160809e-02 5.43025577e+02] [ 6.67346387e-02 9.97770726e-01 -2.57397221e-04 7.83364037e+00] [ 1.43013429e-02 -6.98581449e-04 9.99897487e-01 6.53460630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.715099893 meters 0.022421424500756817 Centerline is valid? [True, True] Translation: X:543.06, Y:7.84, Z:6.53 [[ 9.97840360e-01 -6.42048261e-02 -1.38692757e-02 5.43057043e+02] [ 6.42075492e-02 9.97936535e-01 -2.49309714e-04 7.83917089e+00] [ 1.38566639e-02 -6.41740909e-04 9.99903786e-01 6.53476606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.745099893 meters 0.023021087410250867 Centerline is valid? [True, True] Translation: X:543.09, Y:7.84, Z:6.54 [[ 9.98028202e-01 -6.13234933e-02 -1.33842256e-02 5.43087250e+02] [ 6.13257766e-02 9.98117774e-01 -2.40143337e-04 7.84149608e+00] [ 1.33737599e-02 -5.81128203e-04 9.99910398e-01 6.53556456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.775099893 meters 0.017970610865957446 Centerline is valid? [True, True] Translation: X:543.12, Y:7.85, Z:6.54 [[ 9.98418962e-01 -5.48541946e-02 -1.22716254e-02 5.43117171e+02] [ 5.48556284e-02 9.98494272e-01 -2.19975890e-04 7.85443925e+00] [ 1.22652143e-02 -4.53539624e-04 9.99924677e-01 6.53656655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8050998929999 meters 0.01682769653411188 Centerline is valid? [True, True] Translation: X:543.15, Y:7.86, Z:6.54 [[ 9.98604767e-01 -5.15243155e-02 -1.15656598e-02 5.43148251e+02] [ 5.15253642e-02 9.98671665e-01 -2.07476190e-04 7.85919107e+00] [ 1.15609868e-02 -3.88738121e-04 9.99933094e-01 6.53684661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8350998929999 meters 0.01609590922970823 Centerline is valid? [True, True] Translation: X:543.18, Y:7.86, Z:6.54 [[ 9.98795950e-01 -4.78377340e-02 -1.08720364e-02 5.43179385e+02] [ 4.78384465e-02 9.98855067e-01 -1.94657317e-04 7.86304188e+00] [ 1.08689006e-02 -3.25678390e-04 9.99940879e-01 6.53719802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.865099893 meters 0.01503954170830601 Centerline is valid? [True, True] Translation: X:543.21, Y:7.87, Z:6.54 [[ 9.99106745e-01 -4.09780630e-02 -1.03203788e-02 5.43208731e+02] [ 4.09783441e-02 9.99160018e-01 -1.84310193e-04 7.87025569e+00] [ 1.03192626e-02 -2.38766479e-04 9.99946726e-01 6.53730384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.895099893 meters 0.014353795631832476 Centerline is valid? [True, True] Translation: X:543.24, Y:7.87, Z:6.54 [[ 9.99240744e-01 -3.75891502e-02 -1.02465684e-02 5.43241075e+02] [ 3.75892453e-02 9.99293258e-01 -1.83364926e-04 7.87435260e+00] [ 1.02462192e-02 -2.01935068e-04 9.99947486e-01 6.53724696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9250998929999 meters 0.013375856357493488 Centerline is valid? [True, True] Translation: X:543.27, Y:7.88, Z:6.54 [[ 9.99345971e-01 -3.47097760e-02 -1.01421007e-02 5.43273445e+02] [ 3.47097282e-02 9.99397419e-01 -1.80789176e-04 7.87918072e+00] [ 1.01422644e-02 -1.71358623e-04 9.99948551e-01 6.53728538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9550998929999 meters 0.01294837098104324 Centerline is valid? [True, True] Translation: X:543.31, Y:7.88, Z:6.54 [[ 9.99500783e-01 -2.99479235e-02 -1.00651290e-02 5.43305015e+02] [ 2.99476423e-02 9.99551453e-01 -1.78688515e-04 7.88478361e+00] [ 1.00659657e-02 -1.22827572e-04 9.99949329e-01 6.53732279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.985099893 meters 0.012756901035351428 Centerline is valid? [True, True] Translation: X:543.34, Y:7.89, Z:6.54 [[ 9.99553505e-01 -2.83114505e-02 -9.55260015e-03 5.43337351e+02] [ 2.83111286e-02 9.99599145e-01 -1.68941618e-04 7.88737660e+00] [ 9.55355393e-03 -1.01578705e-04 9.99954359e-01 6.53727862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.015099893 meters 0.012684300478703982 Centerline is valid? [True, True] Translation: X:543.37, Y:7.89, Z:6.54 [[ 9.99588717e-01 -2.71487885e-02 -9.23794008e-03 5.43368801e+02] [ 2.71484423e-02 9.99631400e-01 -1.62896451e-04 7.88911497e+00] [ 9.23895741e-03 -8.79662279e-05 9.99957316e-01 6.53770817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0450998929999 meters 0.012723398466722265 Centerline is valid? [True, True] Translation: X:543.40, Y:7.89, Z:6.54 [[ 9.99612004e-01 -2.64099376e-02 -8.85191919e-03 5.43400483e+02] [ 2.64096012e-02 9.99651194e-01 -1.54920935e-04 7.89078618e+00] [ 8.85292304e-03 -7.89148295e-05 9.99960809e-01 6.53815126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0750998929999 meters 0.012626333962623576 Centerline is valid? [True, True] Translation: X:543.43, Y:7.89, Z:6.54 [[ 9.99631651e-01 -2.62156501e-02 -7.02149674e-03 5.43432462e+02] [ 2.62154357e-02 9.99656309e-01 -1.22583321e-04 7.89336883e+00] [ 7.02229712e-03 -6.15334289e-05 9.99975341e-01 6.53879995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.105099893 meters 0.012804680401364675 Centerline is valid? [True, True] Translation: X:543.46, Y:7.89, Z:6.54 [[ 9.99626377e-01 -2.65541743e-02 -6.47934318e-03 5.43464884e+02] [ 2.65540014e-02 9.99647374e-01 -1.12724961e-04 7.89443420e+00] [ 6.48005171e-03 -5.93696431e-05 9.99979002e-01 6.53930239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.135099893 meters 0.013274814874458328 Centerline is valid? [True, True] Translation: X:543.50, Y:7.89, Z:6.54 [[ 9.99610905e-01 -2.72726579e-02 -5.85148942e-03 5.43496094e+02] [ 2.72725289e-02 9.99628030e-01 -1.01856533e-04 7.89389258e+00] [ 5.85209075e-03 -5.77680128e-05 9.99982875e-01 6.54043885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1650998929999 meters 0.013672818035759942 Centerline is valid? [True, True] Translation: X:543.53, Y:7.89, Z:6.54 [[ 9.99541407e-01 -2.97770178e-02 -5.50490537e-03 5.43528461e+02] [ 2.97769475e-02 9.99556564e-01 -9.47516604e-05 7.89401380e+00] [ 5.50528572e-03 -6.92110702e-05 9.99984843e-01 6.53919422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1950998929999 meters 0.013908634824122279 Centerline is valid? [True, True] Translation: X:543.56, Y:7.89, Z:6.54 [[ 9.99483270e-01 -3.16073308e-02 -5.84552528e-03 5.43561004e+02] [ 3.16072855e-02 9.99500360e-01 -1.00149116e-04 7.89361531e+00] [ 5.84577007e-03 -8.46638210e-05 9.99982910e-01 6.53894959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.225099893 meters 0.014063032522726324 Centerline is valid? [True, True] Translation: X:543.59, Y:7.89, Z:6.54 [[ 9.99414831e-01 -3.36998788e-02 -5.85771891e-03 5.43593169e+02] [ 3.36998717e-02 9.99431993e-01 -9.99457071e-05 7.89317841e+00] [ 5.85775985e-03 -9.75171536e-05 9.99982838e-01 6.53848376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.255099893 meters 0.015954302726434784 Centerline is valid? [True, True] Translation: X:543.62, Y:7.89, Z:6.54 [[ 9.99211314e-01 -3.93424674e-02 -5.37775348e-03 5.43623919e+02] [ 3.93425461e-02 9.99225778e-01 -9.11788651e-05 7.88879021e+00] [ 5.37717711e-03 -1.20467561e-04 9.99985536e-01 6.53831245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2850998929999 meters 0.015525077243151412 Centerline is valid? [True, True] Translation: X:543.66, Y:7.89, Z:6.54 [[ 9.99083972e-01 -4.24479146e-02 -5.42140369e-03 5.43656464e+02] [ 4.24480399e-02 9.99098672e-01 -9.19899219e-05 7.88944823e+00] [ 5.42042201e-03 -1.38222304e-04 9.99985300e-01 6.53742586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3150998929999 meters 0.01759239157113134 Centerline is valid? [True, True] Translation: X:543.69, Y:7.89, Z:6.54 [[ 9.98928724e-01 -4.59241169e-02 -5.69026666e-03 5.43687288e+02] [ 4.59243154e-02 9.98944917e-01 -9.58334734e-05 7.88547641e+00] [ 5.68866402e-03 -1.65590791e-04 9.99983806e-01 6.53773265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.345099893 meters 0.01895676917864138 Centerline is valid? [True, True] Translation: X:543.72, Y:7.88, Z:6.54 [[ 9.98569953e-01 -5.31648426e-02 -5.61674215e-03 5.43718538e+02] [ 5.31651519e-02 9.98585729e-01 -9.43249781e-05 7.88253452e+00] [ 5.61381333e-03 -2.04424861e-04 9.99984222e-01 6.53681744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.375099893 meters 0.022779508852908647 Centerline is valid? [True, True] Translation: X:543.75, Y:7.88, Z:6.54 [[ 9.98383985e-01 -5.65759360e-02 -5.34617162e-03 5.43749001e+02] [ 5.65762661e-02 9.98398276e-01 -8.95914992e-05 7.87657884e+00] [ 5.34267726e-03 -2.13019710e-04 9.99985705e-01 6.53764283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4050998929999 meters 0.023036654292793467 Centerline is valid? [True, True] Translation: X:543.78, Y:7.88, Z:6.54 [[ 9.98235847e-01 -5.91188490e-02 -5.49135751e-03 5.43781441e+02] [ 5.91192343e-02 9.98250924e-01 -9.22767898e-05 7.87542045e+00] [ 5.48720801e-03 -2.32530852e-04 9.99984918e-01 6.53673287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4350998929999 meters 0.021827825126716296 Centerline is valid? [True, True] Translation: X:543.81, Y:7.87, Z:6.54 [[ 9.98119327e-01 -6.10148485e-02 -5.91579185e-03 5.43813645e+02] [ 6.10153317e-02 9.98136824e-01 -9.89437822e-05 7.87448473e+00] [ 5.91080673e-03 -2.62196301e-04 9.99982497e-01 6.53544600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.465099893 meters 0.02179396538431299 Centerline is valid? [True, True] Translation: X:543.85, Y:7.87, Z:6.54 [[ 9.98135106e-01 -6.07885190e-02 -5.57361652e-03 5.43846213e+02] [ 6.07889449e-02 9.98150638e-01 -9.31179807e-05 7.87454740e+00] [ 5.56896939e-03 -2.45869942e-04 9.99984463e-01 6.53601143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.495099893 meters 0.02224379114411902 Centerline is valid? [True, True] Translation: X:543.88, Y:7.87, Z:6.54 [[ 9.98139601e-01 -6.07584490e-02 -5.07430784e-03 5.43878848e+02] [ 6.07588052e-02 9.98152474e-01 -8.40687962e-05 7.87414822e+00] [ 5.07004081e-03 -2.24396487e-04 9.99987122e-01 6.53711118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.525099893 meters 0.022606033686965572 Centerline is valid? [True, True] Translation: X:543.91, Y:7.87, Z:6.54 [[ 9.98138313e-01 -6.08473758e-02 -4.18395500e-03 5.43911343e+02] [ 6.08476194e-02 9.98147065e-01 -6.91692936e-05 7.87398995e+00] [ 4.18041118e-03 -1.85543180e-04 9.99991245e-01 6.53809348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5550998929999 meters 0.022718477195879466 Centerline is valid? [True, True] Translation: X:543.94, Y:7.87, Z:6.54 [[ 9.98180908e-01 -6.02032624e-02 -3.23135228e-03 5.43943385e+02] [ 6.02034044e-02 9.98186129e-01 -5.33853388e-05 7.87332402e+00] [ 3.22870500e-03 -1.41250182e-04 9.99994778e-01 6.53888034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5850998929999 meters 0.022126203953179522 Centerline is valid? [True, True] Translation: X:543.98, Y:7.87, Z:6.54 [[ 9.98195752e-01 -5.99405136e-02 -3.51776544e-03 5.43975459e+02] [ 5.99406814e-02 9.98201939e-01 -5.77943827e-05 7.87347868e+00] [ 3.51490451e-03 -1.53167150e-04 9.99993811e-01 6.53816846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.615099893 meters 0.02237552996234543 Centerline is valid? [True, True] Translation: X:544.01, Y:7.87, Z:6.54 [[ 9.98229681e-01 -5.93504273e-02 -3.87698889e-03 5.44006682e+02] [ 5.93506228e-02 9.98237196e-01 -6.46921007e-05 7.87221672e+00] [ 3.87399402e-03 -1.65524130e-04 9.99992482e-01 6.53740185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.645099893 meters 0.021270589898935245 Centerline is valid? [True, True] Translation: X:544.04, Y:7.87, Z:6.54 [[ 9.98249615e-01 -5.89485042e-02 -4.77287943e-03 5.44039016e+02] [ 5.89488104e-02 9.98261004e-01 -7.66380721e-05 7.87301826e+00] [ 4.76909711e-03 -2.04851639e-04 9.99988607e-01 6.53632914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6750998929999 meters 0.02239211296430908 Centerline is valid? [True, True] Translation: X:544.07, Y:7.87, Z:6.53 [[ 9.98286879e-01 -5.80830788e-02 -7.04726436e-03 5.44069966e+02] [ 5.80837287e-02 9.98311709e-01 -1.12595835e-04 7.87060596e+00] [ 7.04190644e-03 -2.96928447e-04 9.99975161e-01 6.53450870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7050998929999 meters 0.022162114255326847 Centerline is valid? [True, True] Translation: X:544.10, Y:7.87, Z:6.53 [[ 9.98318048e-01 -5.73445505e-02 -8.52512527e-03 5.44101790e+02] [ 5.73454908e-02 9.98354384e-01 -1.34309793e-04 7.87125283e+00] [ 8.51879813e-03 -3.54793603e-04 9.99963651e-01 6.53389838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.735099893 meters 0.021565828033031764 Centerline is valid? [True, True] Translation: X:544.13, Y:7.87, Z:6.53 [[ 9.98370561e-01 -5.62673777e-02 -9.49760875e-03 5.44134400e+02] [ 5.62685029e-02 9.98415662e-01 -1.48909088e-04 7.87276807e+00] [ 9.49094005e-03 -3.85749776e-04 9.99954886e-01 6.53350271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.765099893 meters 0.021999997924378255 Centerline is valid? [True, True] Translation: X:544.17, Y:7.87, Z:6.53 [[ 9.98527848e-01 -5.32014635e-02 -1.05707619e-02 5.44165102e+02] [ 5.32026981e-02 9.98583720e-01 -1.64574104e-04 7.87274560e+00] [ 1.05645463e-02 -3.98061228e-04 9.99944114e-01 6.53338749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7950998929999 meters 0.020574791164716576 Centerline is valid? [True, True] Translation: X:544.20, Y:7.88, Z:6.53 [[ 9.98633895e-01 -5.10631200e-02 -1.10861151e-02 5.44197448e+02] [ 5.10643504e-02 9.98695350e-01 -1.72227413e-04 7.87527278e+00] [ 1.10804461e-02 -3.94113137e-04 9.99938532e-01 6.53367143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8250998929999 meters 0.01852581379341693 Centerline is valid? [True, True] Translation: X:544.23, Y:7.88, Z:6.53 [[ 9.98758462e-01 -4.85769992e-02 -1.10367495e-02 5.44229448e+02] [ 4.85780755e-02 9.98819374e-01 -1.70695449e-04 7.87932194e+00] [ 1.10320111e-02 -3.65660526e-04 9.99939079e-01 6.53411843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.855099893 meters 0.017941299782052562 Centerline is valid? [True, True] Translation: X:544.26, Y:7.88, Z:6.53 [[ 9.98882261e-01 -4.59712911e-02 -1.09940560e-02 5.44261544e+02] [ 4.59722100e-02 9.98942705e-01 -1.69256013e-04 7.88155578e+00] [ 1.09902130e-02 -3.36354222e-04 9.99939549e-01 6.53453500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.885099893 meters 0.016506737115163952 Centerline is valid? [True, True] Translation: X:544.29, Y:7.89, Z:6.54 [[ 9.99153057e-01 -3.95719610e-02 -1.12795554e-02 5.44290786e+02] [ 3.95725311e-02 9.99216686e-01 -1.72724594e-04 7.88616739e+00] [ 1.12775550e-02 -2.73782252e-04 9.99936369e-01 6.53567439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9150998929999 meters 0.01556989292733643 Centerline is valid? [True, True] Translation: X:544.32, Y:7.89, Z:6.54 [[ 9.99279159e-01 -3.61857900e-02 -1.14782756e-02 5.44323207e+02] [ 3.61861538e-02 9.99345051e-01 -1.76053651e-04 7.88959783e+00] [ 1.14771286e-02 -2.39427902e-04 9.99934107e-01 6.53632778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9450998929999 meters 0.014906810943714014 Centerline is valid? [True, True] Translation: X:544.35, Y:7.89, Z:6.54 [[ 9.99407246e-01 -3.23983728e-02 -1.16405619e-02 5.44354175e+02] [ 3.23985001e-02 9.99475015e-01 -1.77691476e-04 7.89232781e+00] [ 1.16402077e-02 -1.99550599e-04 9.99932231e-01 6.53675912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.975099893 meters 0.013439200695360509 Centerline is valid? [True, True] Translation: X:544.39, Y:7.90, Z:6.54 [[ 9.99622259e-01 -2.47817701e-02 -1.18829257e-02 5.44385223e+02] [ 2.47813723e-02 9.99692878e-01 -1.80742786e-04 7.89845290e+00] [ 1.18837553e-02 -1.13800692e-04 9.99929379e-01 6.53705464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.005099893 meters 0.013183002348631198 Centerline is valid? [True, True] Translation: X:544.42, Y:7.90, Z:6.54 [[ 9.99711943e-01 -2.06960389e-02 -1.21534088e-02 5.44416121e+02] [ 2.06953263e-02 9.99785812e-01 -1.84407411e-04 7.90077834e+00] [ 1.21546222e-02 -6.71644715e-05 9.99926128e-01 6.53747328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0350998929999 meters 0.012995722788734732 Centerline is valid? [True, True] Translation: X:544.45, Y:7.90, Z:6.54 [[ 9.99787873e-01 -1.65526571e-02 -1.22563998e-02 5.44447217e+02] [ 1.65516292e-02 9.99862995e-01 -1.85300816e-04 7.90373942e+00] [ 1.22577878e-02 -1.76018759e-05 9.99924870e-01 6.53798766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0650998929999 meters 0.013028677277748268 Centerline is valid? [True, True] Translation: X:544.48, Y:7.91, Z:6.54 [[ 9.99847033e-01 -1.24693211e-02 -1.22648550e-02 5.44476770e+02] [ 1.24679901e-02 9.99922254e-01 -1.84981013e-04 7.90637932e+00] [ 1.22662081e-02 3.20346271e-05 9.99924767e-01 6.53856973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.095099893 meters 0.013674687451721167 Centerline is valid? [True, True] Translation: X:544.51, Y:7.91, Z:6.54 [[ 9.99915333e-01 -4.70338744e-03 -1.21328206e-02 5.44506503e+02] [ 4.70151071e-03 9.99988931e-01 -1.83200205e-04 7.91060727e+00] [ 1.21335480e-02 1.26142108e-04 9.99926378e-01 6.53951278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.125099893 meters 0.014190643160524735 Centerline is valid? [True, True] Translation: X:544.54, Y:7.91, Z:6.54 [[ 9.99926397e-01 -1.32864945e-03 -1.20596841e-02 5.44535617e+02] [ 1.32654554e-03 9.99999103e-01 -1.82455059e-04 7.91262937e+00] [ 1.20599157e-02 1.66443910e-04 9.99927263e-01 6.53987285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1550998929999 meters 0.014850506588056145 Centerline is valid? [True, True] Translation: X:544.56, Y:7.91, Z:6.54 [[ 9.99919552e-01 1.86660051e-03 -1.25461126e-02 5.44563532e+02] [-1.86916934e-03 9.99998234e-01 -1.93027947e-04 7.91466428e+00] [ 1.25457301e-02 2.16463228e-04 9.99921276e-01 6.54004569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1850998929999 meters 0.01566182353153499 Centerline is valid? [True, True] Translation: X:544.59, Y:7.92, Z:6.54 [[ 9.99902835e-01 4.39588143e-03 -1.32286174e-02 5.44591731e+02] [-4.39897478e-03 9.99990304e-01 -2.04749299e-04 7.91636739e+00] [ 1.32275891e-02 2.62921759e-04 9.99912477e-01 6.53991751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.215099893 meters 0.016244656959980834 Centerline is valid? [True, True] Translation: X:544.62, Y:7.92, Z:6.54 [[ 9.99863738e-01 7.62854438e-03 -1.46393242e-02 5.44620143e+02] [-7.63269922e-03 9.99970845e-01 -2.27962450e-04 7.91520357e+00] [ 1.46371584e-02 3.39668946e-04 9.99892813e-01 6.53895085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.245099893 meters 0.016140742571268445 Centerline is valid? [True, True] Translation: X:544.65, Y:7.91, Z:6.54 [[ 9.99843914e-01 7.90887512e-03 -1.57986669e-02 5.44649190e+02] [-7.91377127e-03 9.99968655e-01 -2.47414474e-04 7.91348747e+00] [ 1.57962150e-02 3.72402893e-04 9.99875163e-01 6.53827280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.275099893 meters 0.016270181969600526 Centerline is valid? [True, True] Translation: X:544.68, Y:7.91, Z:6.54 [[ 9.99830855e-01 7.48709693e-03 -1.67989690e-02 5.44675879e+02] [-7.49259788e-03 9.99971895e-01 -2.64542016e-04 7.91228629e+00] [ 1.67965163e-02 3.90365190e-04 9.99858852e-01 6.53754251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3050998929999 meters 0.015797541133800934 Centerline is valid? [True, True] Translation: X:544.71, Y:7.91, Z:6.54 [[ 9.99810239e-01 4.67959081e-03 -1.89099691e-02 5.44705322e+02] [-4.68609804e-03 9.99988975e-01 -2.99820226e-04 7.90745734e+00] [ 1.89083576e-02 3.88377302e-04 9.99821146e-01 6.53619867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3350998929999 meters 0.015797541133800934 Centerline is valid? [True, True] Translation: X:544.73, Y:7.91, Z:6.54 [[ 9.99810720e-01 4.57586124e-03 -1.89099481e-02 5.44732780e+02] [-4.58237490e-03 9.99989456e-01 -3.01140844e-04 7.90798127e+00] [ 1.89083708e-02 3.87736316e-04 9.99821146e-01 6.53653851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.365099893 meters 0.015421490432543568 Centerline is valid? [True, True] Translation: X:544.76, Y:7.91, Z:6.54 [[ 9.99807510e-01 2.17801192e-03 -1.94986818e-02 5.44761312e+02] [-2.18451713e-03 9.99997565e-01 -3.12329604e-04 7.90546652e+00] [ 1.94979541e-02 3.54864689e-04 9.99809834e-01 6.53640568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.395099893 meters 0.01466396831601051 Centerline is valid? [True, True] Translation: X:544.79, Y:7.90, Z:6.54 [[ 9.99800197e-01 -7.21825571e-04 -1.99761287e-02 5.44789918e+02] [ 7.15548432e-04 9.99999692e-01 -3.21377869e-04 7.90201230e+00] [ 1.99763546e-02 3.07019769e-04 9.99800406e-01 6.53688855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4250998929999 meters 0.01367577970654904 Centerline is valid? [True, True] Translation: X:544.82, Y:7.89, Z:6.54 [[ 9.99778503e-01 -7.33959425e-03 -1.97250104e-02 5.44818645e+02] [ 7.33473458e-03 9.99973050e-01 -3.18706607e-04 7.89399520e+00] [ 1.97268180e-02 1.73958299e-04 9.99805392e-01 6.53796899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4550998929999 meters 0.013149308373780111 Centerline is valid? [True, True] Translation: X:544.85, Y:7.89, Z:6.54 [[ 9.99753737e-01 -1.09997772e-02 -1.92735714e-02 5.44847542e+02] [ 1.09957914e-02 9.99939496e-01 -3.12770404e-04 7.88973377e+00] [ 1.92758457e-02 1.00765211e-04 9.99814199e-01 6.53970851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.485099893 meters 0.013005809949495562 Centerline is valid? [True, True] Translation: X:544.88, Y:7.89, Z:6.54 [[ 9.99725828e-01 -1.48303224e-02 -1.81199134e-02 5.44876886e+02] [ 1.48274074e-02 9.99890024e-01 -2.95216526e-04 7.88582077e+00] [ 1.81222988e-02 2.64642479e-05 9.99835777e-01 6.54059797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.515099893 meters 0.013023884862224642 Centerline is valid? [True, True] Translation: X:544.90, Y:7.88, Z:6.54 [[ 9.99607995e-01 -2.20922372e-02 -1.71985443e-02 5.44904949e+02] [ 2.20906664e-02 9.99755932e-01 -2.81331264e-04 7.87647049e+00] [ 1.72005619e-02 -9.87063232e-05 9.99852055e-01 6.54159816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5450998929999 meters 0.013346692402649147 Centerline is valid? [True, True] Translation: X:544.93, Y:7.87, Z:6.54 [[ 9.99524049e-01 -2.58990294e-02 -1.67605190e-02 5.44934083e+02] [ 2.58980346e-02 9.99664551e-01 -2.76434876e-04 7.87183553e+00] [ 1.67620561e-02 -1.57761193e-04 9.99859494e-01 6.54194049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5750998929999 meters 0.01359144164233126 Centerline is valid? [True, True] Translation: X:544.96, Y:7.87, Z:6.54 [[ 9.99434784e-01 -2.92933873e-02 -1.64927026e-02 5.44964295e+02] [ 2.92928375e-02 9.99570835e-01 -2.74961049e-04 7.86851526e+00] [ 1.64936790e-02 -2.08312420e-04 9.99863948e-01 6.54251302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.605099893 meters 0.01462105203475863 Centerline is valid? [True, True] Translation: X:544.99, Y:7.86, Z:6.54 [[ 9.99251692e-01 -3.50391871e-02 -1.63801964e-02 5.44994518e+02] [ 3.50394176e-02 9.99385894e-01 -2.73013946e-04 7.85970212e+00] [ 1.63797034e-02 -3.01142892e-04 9.99865798e-01 6.54237231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.635099893 meters 0.015166459871346433 Centerline is valid? [True, True] Translation: X:545.03, Y:7.86, Z:6.54 [[ 9.99163859e-01 -3.74615458e-02 -1.63772782e-02 5.45025925e+02] [ 3.74621074e-02 9.99298012e-01 -2.72604137e-04 7.85613529e+00] [ 1.63759937e-02 -3.41151151e-04 9.99865846e-01 6.54255568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6650998929999 meters 0.015680007791652645 Centerline is valid? [True, True] Translation: X:545.06, Y:7.85, Z:6.54 [[ 9.99078517e-01 -3.94431068e-02 -1.69220965e-02 5.45058557e+02] [ 3.94440034e-02 9.99221743e-01 -2.80901321e-04 7.85280191e+00] [ 1.69200063e-02 -3.86832755e-04 9.99856772e-01 6.54282400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6950998929999 meters 0.01617107362956651 Centerline is valid? [True, True] Translation: X:545.09, Y:7.85, Z:6.54 [[ 9.98993179e-01 -4.12329417e-02 -1.76768825e-02 5.45090265e+02] [ 4.12342213e-02 9.99149465e-01 -2.92237901e-04 7.84989479e+00] [ 1.76738975e-02 -4.36948814e-04 9.99843709e-01 6.54259615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.725099893 meters 0.017083253925560465 Centerline is valid? [True, True] Translation: X:545.12, Y:7.85, Z:6.54 [[ 9.98905943e-01 -4.28223877e-02 -1.87925711e-02 5.45121532e+02] [ 4.28241410e-02 9.99082578e-01 -3.09300097e-04 7.84636501e+00] [ 1.87885754e-02 -4.95814011e-04 9.99823356e-01 6.54179116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.755099893 meters 0.018432117027198266 Centerline is valid? [True, True] Translation: X:545.15, Y:7.84, Z:6.54 [[ 9.98698634e-01 -4.63795731e-02 -2.12125790e-02 5.45153178e+02] [ 4.63826470e-02 9.98923685e-01 -3.47335460e-04 7.84092051e+00] [ 2.12058569e-02 -6.37012115e-04 9.99774928e-01 6.54020267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7850998929999 meters 0.01878246837046477 Centerline is valid? [True, True] Translation: X:545.18, Y:7.84, Z:6.54 [[ 9.98597147e-01 -4.80058472e-02 -2.23422488e-02 5.45184722e+02] [ 4.80096817e-02 9.98846804e-01 -3.65040028e-04 7.83923268e+00] [ 2.23340078e-02 -7.08116323e-04 9.99750314e-01 6.53975827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8150998929999 meters 0.020775363663158467 Centerline is valid? [True, True] Translation: X:545.21, Y:7.83, Z:6.54 [[ 9.98356768e-01 -5.17732735e-02 -2.45619933e-02 5.45214770e+02] [ 5.17790585e-02 9.98658484e-01 -4.00837532e-04 7.83354361e+00] [ 2.45497957e-02 -8.71618024e-04 9.99698228e-01 6.53811985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.845099893 meters 0.018536653002962332 Centerline is valid? [True, True] Translation: X:545.25, Y:7.84, Z:6.54 [[ 9.98248581e-01 -5.35265477e-02 -2.51928431e-02 5.45245807e+02] [ 5.35332031e-02 9.98565986e-01 -4.10664317e-04 7.83643491e+00] [ 2.51786976e-02 -9.38708513e-04 9.99682526e-01 6.53976433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.875099893 meters 0.02214585428302401 Centerline is valid? [True, True] Translation: X:545.28, Y:7.83, Z:6.54 [[ 9.98156391e-01 -5.51516220e-02 -2.53400270e-02 5.45276123e+02] [ 5.51588957e-02 9.98477504e-01 -4.12374471e-04 7.83022279e+00] [ 2.53241901e-02 -9.86113693e-04 9.99678805e-01 6.53827298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9050998929999 meters 0.024239769614006413 Centerline is valid? [True, True] Translation: X:545.31, Y:7.83, Z:6.54 [[ 9.98082112e-01 -5.63183007e-02 -2.56972192e-02 5.45305966e+02] [ 5.63261671e-02 9.98412334e-01 -4.18185847e-04 7.82658350e+00] [ 2.56799722e-02 -1.03004205e-03 9.99669684e-01 6.53781289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9350998929999 meters 0.02124213579699783 Centerline is valid? [True, True] Translation: X:545.34, Y:7.83, Z:6.54 [[ 9.97978963e-01 -5.81102907e-02 -2.57134926e-02 5.45336047e+02] [ 5.81187553e-02 9.98309589e-01 -4.18660102e-04 7.83093995e+00] [ 2.56943547e-02 -1.07662221e-03 9.99669266e-01 6.54073325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.965099893 meters 0.020476112525698587 Centerline is valid? [True, True] Translation: X:545.37, Y:7.83, Z:6.54 [[ 9.97958205e-01 -5.86176120e-02 -2.53652774e-02 5.45367072e+02] [ 5.86260243e-02 9.98279930e-01 -4.12519631e-04 7.83281800e+00] [ 2.53458282e-02 -1.07538802e-03 9.99678164e-01 6.54246869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.995099893 meters 0.021927577724731778 Centerline is valid? [True, True] Translation: X:545.40, Y:7.83, Z:6.54 [[ 9.97953887e-01 -5.88251759e-02 -2.50527260e-02 5.45398414e+02] [ 5.88334756e-02 9.98267728e-01 -4.06306625e-04 7.83130231e+00] [ 2.50332289e-02 -1.06846367e-03 9.99686049e-01 6.54255673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.025099893 meters 0.022524700238292967 Centerline is valid? [True, True] Translation: X:545.43, Y:7.83, Z:6.54 [[ 9.97941863e-01 -5.93093629e-02 -2.43811103e-02 5.45430225e+02] [ 5.93173937e-02 9.98239095e-01 -3.94341240e-04 7.83129996e+00] [ 2.43615656e-02 -1.05269428e-03 9.99702659e-01 6.54405666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0550998929999 meters 0.022349457785177242 Centerline is valid? [True, True] Translation: X:545.46, Y:7.83, Z:6.55 [[ 9.97930995e-01 -5.96690131e-02 -2.39444904e-02 5.45461729e+02] [ 5.96768819e-02 9.98217672e-01 -3.86445389e-04 7.83206761e+00] [ 2.39248723e-02 -1.04328670e-03 9.99713215e-01 6.54501303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0850998929999 meters 0.021510839808557235 Centerline is valid? [True, True] Translation: X:545.49, Y:7.83, Z:6.55 [[ 9.97878462e-01 -6.05586137e-02 -2.39004009e-02 5.45492890e+02] [ 6.05667285e-02 9.98164076e-01 -3.84883166e-04 7.83397166e+00] [ 2.38798296e-02 -1.06350247e-03 9.99714271e-01 6.54637558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.115099893 meters 0.021523058387265582 Centerline is valid? [True, True] Translation: X:545.53, Y:7.83, Z:6.55 [[ 9.97802578e-01 -6.20673761e-02 -2.31874110e-02 5.45525096e+02] [ 6.20754485e-02 9.98071390e-01 -3.72179293e-04 7.83428349e+00] [ 2.31657918e-02 -1.06800748e-03 9.99731067e-01 6.54809723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.145099893 meters 0.022996221768190744 Centerline is valid? [True, True] Translation: X:545.56, Y:7.83, Z:6.55 [[ 9.97782545e-01 -6.25987045e-02 -2.26140532e-02 5.45556602e+02] [ 6.26065510e-02 9.98038220e-01 -3.61537912e-04 7.83245119e+00] [ 2.25923212e-02 -1.05505165e-03 9.99744204e-01 6.54862818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1750998929999 meters 0.02283730854790171 Centerline is valid? [True, True] Translation: X:545.59, Y:7.83, Z:6.55 [[ 9.97796562e-01 -6.25978784e-02 -2.19892421e-02 5.45588846e+02] [ 6.26053264e-02 9.98038301e-01 -3.50204712e-04 7.83316362e+00] [ 2.19680279e-02 -1.02721062e-03 9.99758146e-01 6.54967338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2050998929999 meters 0.02310445925594988 Centerline is valid? [True, True] Translation: X:545.62, Y:7.83, Z:6.55 [[ 9.97899382e-01 -6.12795581e-02 -2.10151897e-02 5.45620416e+02] [ 6.12860996e-02 9.98120185e-01 -3.33231113e-04 7.83382372e+00] [ 2.09961053e-02 -9.55407887e-04 9.99779101e-01 6.55075038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.235099893 meters 0.02228417935489655 Centerline is valid? [True, True] Translation: X:545.65, Y:7.84, Z:6.55 [[ 9.98013836e-01 -5.95103265e-02 -2.06616418e-02 5.45651389e+02] [ 5.95162952e-02 9.98227281e-01 -3.26467089e-04 7.83592612e+00] [ 2.06444426e-02 -9.03885699e-04 9.99786472e-01 6.55139528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.265099893 meters 0.021014246950553987 Centerline is valid? [True, True] Translation: X:545.68, Y:7.84, Z:6.55 [[ 9.98142661e-01 -5.72786725e-02 -2.07456514e-02 5.45682437e+02] [ 5.72842240e-02 9.98357857e-01 -3.27051782e-04 7.83940751e+00] [ 2.07303171e-02 -8.61954204e-04 9.99784732e-01 6.55195598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2950998929999 meters 0.018031959338319133 Centerline is valid? [True, True] Translation: X:545.71, Y:7.85, Z:6.55 [[ 9.98502776e-01 -5.06666865e-02 -2.06178085e-02 5.45713013e+02] [ 5.06707737e-02 9.98715359e-01 -3.24466821e-04 7.84744664e+00] [ 2.06077617e-02 -7.20739287e-04 9.99787378e-01 6.55321849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3250998929999 meters 0.01721595390524899 Centerline is valid? [True, True] Translation: X:545.74, Y:7.85, Z:6.55 [[ 9.98676310e-01 -4.71900933e-02 -2.04627244e-02 5.45744335e+02] [ 4.71934002e-02 9.98885719e-01 -3.21539258e-04 7.85106023e+00] [ 2.04550967e-02 -6.44591904e-04 9.99790565e-01 6.55421405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.355099893 meters 0.016506508729713872 Centerline is valid? [True, True] Translation: X:545.77, Y:7.85, Z:6.55 [[ 9.98851077e-01 -4.34490206e-02 -2.02165600e-02 5.45774611e+02] [ 4.34514946e-02 9.99055487e-01 -3.17080247e-04 7.85406732e+00] [ 2.02112421e-02 -5.61723803e-04 9.99795574e-01 6.55475002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.385099893 meters 0.015655428220022707 Centerline is valid? [True, True] Translation: X:545.81, Y:7.86, Z:6.56 [[ 9.99008988e-01 -3.98305411e-02 -1.98637895e-02 5.45805981e+02] [ 3.98322244e-02 9.99206334e-01 -3.11053858e-04 7.85734685e+00] [ 1.98604138e-02 -4.80473323e-04 9.99802647e-01 6.55584857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4150998929999 meters 0.014488944389580842 Centerline is valid? [True, True] Translation: X:545.84, Y:7.86, Z:6.56 [[ 9.99258709e-01 -3.38342984e-02 -1.83650062e-02 5.45836443e+02] [ 3.38347324e-02 9.99427400e-01 -2.87170567e-04 7.86285847e+00] [ 1.83642067e-02 -3.34417381e-04 9.99831308e-01 6.55753863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4450998929999 meters 0.013976007668377964 Centerline is valid? [True, True] Translation: X:545.87, Y:7.87, Z:6.56 [[ 9.99344978e-01 -3.15028184e-02 -1.78097390e-02 5.45867406e+02] [ 3.15028599e-02 9.99503623e-01 -2.78290263e-04 7.86541265e+00] [ 1.78096656e-02 -2.82949735e-04 9.99841355e-01 6.55841665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.475099893 meters 0.013656056753538948 Centerline is valid? [True, True] Translation: X:545.90, Y:7.87, Z:6.56 [[ 9.99430914e-01 -2.92172705e-02 -1.68582351e-02 5.45897491e+02] [ 2.92169897e-02 9.99573058e-01 -2.62997509e-04 7.86710391e+00] [ 1.68587217e-02 -2.29699042e-04 9.99857855e-01 6.55921499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.505099893 meters 0.013741090329282883 Centerline is valid? [True, True] Translation: X:545.93, Y:7.87, Z:6.56 [[ 9.99439986e-01 -2.90850192e-02 -1.65461936e-02 5.45927737e+02] [ 2.90847349e-02 9.99576916e-01 -2.57870117e-04 7.86718709e+00] [ 1.65466933e-02 -2.23515948e-04 9.99863069e-01 6.55940381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5350998929999 meters 0.014112781679443376 Centerline is valid? [True, True] Translation: X:545.96, Y:7.87, Z:6.56 [[ 9.99428963e-01 -2.95554044e-02 -1.63776347e-02 5.45958009e+02] [ 2.95552054e-02 9.99563117e-01 -2.54244627e-04 7.86615085e+00] [ 1.63779939e-02 -2.29944914e-04 9.99865845e-01 6.55938117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5650998929999 meters 0.013915159655851304 Centerline is valid? [True, True] Translation: X:545.99, Y:7.87, Z:6.56 [[ 9.99400336e-01 -3.06858733e-02 -1.60419717e-02 5.45989263e+02] [ 3.06858417e-02 9.99529048e-01 -2.48176221e-04 7.86690487e+00] [ 1.60420322e-02 -2.44234005e-04 9.99871288e-01 6.56020282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.595099893 meters 0.014978861508889675 Centerline is valid? [True, True] Translation: X:546.02, Y:7.86, Z:6.56 [[ 9.99361272e-01 -3.21038504e-02 -1.56968595e-02 5.46019474e+02] [ 3.21040029e-02 9.99484504e-01 -2.42333378e-04 7.86334050e+00] [ 1.56965477e-02 -2.61753430e-04 9.99876767e-01 6.56009262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.625099893 meters 0.015125941766384212 Centerline is valid? [True, True] Translation: X:546.05, Y:7.86, Z:6.56 [[ 9.99235924e-01 -3.62305160e-02 -1.46600546e-02 5.46050838e+02] [ 3.62310971e-02 9.99343413e-01 -2.26035016e-04 7.86131240e+00] [ 1.46586184e-02 -3.05287553e-04 9.99892510e-01 6.56106747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6550998929999 meters 0.01594578088321297 Centerline is valid? [True, True] Translation: X:546.08, Y:7.86, Z:6.56 [[ 9.99141421e-01 -3.89040357e-02 -1.42442125e-02 5.46081956e+02] [ 3.89048634e-02 9.99242895e-01 -2.19093911e-04 7.85906928e+00] [ 1.42419518e-02 -3.35263341e-04 9.99898522e-01 6.56173575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6850998929999 meters 0.016219808216831343 Centerline is valid? [True, True] Translation: X:546.11, Y:7.86, Z:6.56 [[ 9.99036485e-01 -4.16441683e-02 -1.38515221e-02 5.46114466e+02] [ 4.16452245e-02 9.99132439e-01 -2.12303198e-04 7.85784272e+00] [ 1.38483463e-02 -3.64751108e-04 9.99904041e-01 6.56245797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.715099893 meters 0.019393412240713385 Centerline is valid? [True, True] Translation: X:546.14, Y:7.85, Z:6.56 [[ 9.98751055e-01 -4.81600890e-02 -1.33017136e-02 5.46144792e+02] [ 4.81616517e-02 9.98839534e-01 -2.03014491e-04 7.85042497e+00] [ 1.32960546e-02 -4.37871559e-04 9.99911508e-01 6.56263824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.745099893 meters 0.01848721680976277 Centerline is valid? [True, True] Translation: X:546.18, Y:7.85, Z:6.56 [[ 9.98592375e-01 -5.15381353e-02 -1.25335240e-02 5.46176974e+02] [ 5.15397885e-02 9.98670924e-01 -1.91277749e-04 7.85113753e+00] [ 1.25267241e-02 -4.54966672e-04 9.99921434e-01 6.56315410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.775099893 meters 0.020995014404834905 Centerline is valid? [True, True] Translation: X:546.21, Y:7.85, Z:6.56 [[ 9.98398595e-01 -5.52022420e-02 -1.23676515e-02 5.46207111e+02] [ 5.52041434e-02 9.98475071e-01 -1.87852920e-04 7.84602171e+00] [ 1.23591617e-02 -4.95193519e-04 9.99923500e-01 6.56320116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8050998929999 meters 0.02371209058352637 Centerline is valid? [True, True] Translation: X:546.24, Y:7.84, Z:6.56 [[ 9.98022268e-01 -6.18313770e-02 -1.13328308e-02 5.46238129e+02] [ 6.18333999e-02 9.98086470e-01 -1.72138629e-04 7.83897654e+00] [ 1.13217887e-02 -5.28949275e-04 9.99935767e-01 6.56277626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8350998929999 meters 0.024777017931314326 Centerline is valid? [True, True] Translation: X:546.27, Y:7.84, Z:6.56 [[ 9.97863373e-01 -6.44202707e-02 -1.08957557e-02 5.46269204e+02] [ 6.44222946e-02 9.97922713e-01 -1.65483668e-04 7.83622507e+00] [ 1.08837826e-02 -5.36799495e-04 9.99940626e-01 6.56288568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.865099893 meters 0.026243238979197798 Centerline is valid? [True, True] Translation: X:546.30, Y:7.83, Z:6.56 [[ 9.97737151e-01 -6.63648836e-02 -1.07833462e-02 5.46299793e+02] [ 6.63669810e-02 9.97795268e-01 -1.63615086e-04 7.83373625e+00] [ 1.07704301e-02 -5.52413285e-04 9.99941845e-01 6.56321272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.895099893 meters 0.027493320338375645 Centerline is valid? [True, True] Translation: X:546.33, Y:7.83, Z:6.56 [[ 9.97637571e-01 -6.78639344e-02 -1.06659628e-02 5.46331254e+02] [ 6.78660755e-02 9.97694427e-01 -1.61489190e-04 7.83260538e+00] [ 1.06523309e-02 -5.62749353e-04 9.99943104e-01 6.56359878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9250998929999 meters 0.028509315283595526 Centerline is valid? [True, True] Translation: X:546.36, Y:7.83, Z:6.56 [[ 9.97599600e-01 -6.84361854e-02 -1.05605782e-02 5.46362361e+02] [ 6.84383222e-02 9.97655337e-01 -1.59343848e-04 7.83223846e+00] [ 1.05467220e-02 -5.63786891e-04 9.99944223e-01 6.56408697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9550998929999 meters 0.028885199025812554 Centerline is valid? [True, True] Translation: X:546.39, Y:7.83, Z:6.56 [[ 9.97683930e-01 -6.71727109e-02 -1.07052561e-02 5.46393590e+02] [ 6.71748401e-02 9.97741206e-01 -1.60958754e-04 7.83371889e+00] [ 1.06918872e-02 -5.58537904e-04 9.99942684e-01 6.56475833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.985099893 meters 0.02853272959337823 Centerline is valid? [True, True] Translation: X:546.42, Y:7.84, Z:6.57 [[ 9.97795763e-01 -6.55383873e-02 -1.04083997e-02 5.46424566e+02] [ 6.55403171e-02 9.97849910e-01 -1.55940115e-04 7.83540643e+00] [ 1.03962407e-02 -5.26573429e-04 9.99945819e-01 6.56525196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.015099893 meters 0.023402568070534906 Centerline is valid? [True, True] Translation: X:546.46, Y:7.84, Z:6.57 [[ 9.97934086e-01 -6.34277335e-02 -1.02216799e-02 5.46456092e+02] [ 6.34294873e-02 9.97986311e-01 -1.52844454e-04 7.84344632e+00] [ 1.02107911e-02 -4.95827222e-04 9.99947746e-01 6.56528412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0450998929999 meters 0.022455382435568782 Centerline is valid? [True, True] Translation: X:546.49, Y:7.85, Z:6.57 [[ 9.98196352e-01 -5.93350034e-02 -9.13234552e-03 5.46486842e+02] [ 5.93362374e-02 9.98238044e-01 -1.36009151e-04 7.84536838e+00] [ 9.12432484e-03 -4.06115183e-04 9.99958290e-01 6.56542956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0750998929999 meters 0.023243494028451724 Centerline is valid? [True, True] Translation: X:546.52, Y:7.84, Z:6.57 [[ 9.98335658e-01 -5.70010301e-02 -8.76333344e-03 5.46516871e+02] [ 5.70020778e-02 9.98374051e-01 -1.30364944e-04 7.84473874e+00] [ 8.75651565e-03 -3.69380243e-04 9.99961593e-01 6.56567835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.105099893 meters 0.023751524427073387 Centerline is valid? [True, True] Translation: X:546.55, Y:7.84, Z:6.57 [[ 9.98445721e-01 -5.50275476e-02 -8.83803167e-03 5.46547156e+02] [ 5.50285376e-02 9.98484773e-01 -1.31311187e-04 7.84486393e+00] [ 8.83186578e-03 -3.55236865e-04 9.99960935e-01 6.56597677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.135099893 meters 0.019156635076567834 Centerline is valid? [True, True] Translation: X:546.58, Y:7.85, Z:6.56 [[ 9.98651613e-01 -5.11810771e-02 -8.68641203e-03 5.46578395e+02] [ 5.11818887e-02 9.98689340e-01 -1.28983644e-04 7.85346649e+00] [ 8.68162862e-03 -3.15777250e-04 9.99962264e-01 6.56495269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1650998929999 meters 0.019708117226887617 Centerline is valid? [True, True] Translation: X:546.61, Y:7.85, Z:6.56 [[ 9.98728197e-01 -4.95152868e-02 -9.49867162e-03 5.46609264e+02] [ 4.95161853e-02 9.98773311e-01 -1.40703058e-04 7.85290769e+00] [ 9.49398666e-03 -3.29813872e-04 9.99954877e-01 6.56491803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1950998929999 meters 0.01819990942921447 Centerline is valid? [True, True] Translation: X:546.64, Y:7.86, Z:6.56 [[ 9.98806885e-01 -4.78630140e-02 -9.69214019e-03 5.46641322e+02] [ 4.78638765e-02 9.98853858e-01 -1.43076178e-04 7.85604709e+00] [ 9.68787968e-03 -3.20997930e-04 9.99953020e-01 6.56453623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.225099893 meters 0.01819990942921447 Centerline is valid? [True, True] Translation: X:546.67, Y:7.86, Z:6.56 [[ 9.98812182e-01 -4.77523456e-02 -9.69214921e-03 5.46673872e+02] [ 4.77532089e-02 9.98859155e-01 -1.42462838e-04 7.85644081e+00] [ 9.68789490e-03 -3.20537607e-04 9.99953020e-01 6.56493854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.255099893 meters 0.019441567808044045 Centerline is valid? [True, True] Translation: X:546.71, Y:7.85, Z:6.56 [[ 9.98869368e-01 -4.64459541e-02 -1.01369822e-02 5.46705031e+02] [ 4.64468445e-02 9.98920752e-01 -1.47690405e-04 7.85458418e+00] [ 1.01329015e-02 -3.23307414e-04 9.99948609e-01 6.56490682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2850998929999 meters 0.017523859625154826 Centerline is valid? [True, True] Translation: X:546.74, Y:7.86, Z:6.56 [[ 9.98995550e-01 -4.33926385e-02 -1.11789668e-02 5.46736700e+02] [ 4.33935381e-02 9.99058044e-01 -1.62187830e-04 7.85863280e+00] [ 1.11754745e-02 -3.23070001e-04 9.99937500e-01 6.56436713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3150998929999 meters 0.017415536047639662 Centerline is valid? [True, True] Translation: X:546.77, Y:7.86, Z:6.56 [[ 9.99052353e-01 -4.20461721e-02 -1.12478982e-02 5.46767503e+02] [ 4.20470045e-02 9.99115620e-01 -1.62572610e-04 7.85975798e+00] [ 1.12447864e-02 -3.10521878e-04 9.99936727e-01 6.56443214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.345099893 meters 0.016523246392246584 Centerline is valid? [True, True] Translation: X:546.80, Y:7.86, Z:6.56 [[ 9.99114683e-01 -4.05720929e-02 -1.11245462e-02 5.46799447e+02] [ 4.05728220e-02 9.99176571e-01 -1.60222137e-04 7.86221730e+00] [ 1.11218865e-02 -2.91273944e-04 9.99938107e-01 6.56470151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.375099893 meters 0.016809524768312042 Centerline is valid? [True, True] Translation: X:546.83, Y:7.86, Z:6.57 [[ 9.99177234e-01 -3.89806616e-02 -1.11965659e-02 5.46830377e+02] [ 3.89813099e-02 9.99239927e-01 -1.60411528e-04 7.86228352e+00] [ 1.11943086e-02 -2.76177257e-04 9.99937304e-01 6.56523224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4050998929999 meters 0.015789418763978845 Centerline is valid? [True, True] Translation: X:546.86, Y:7.87, Z:6.57 [[ 9.99284470e-01 -3.63417923e-02 -1.04796089e-02 5.46862842e+02] [ 3.63422204e-02 9.99339392e-01 -1.49646483e-04 7.86566561e+00] [ 1.04781244e-02 -2.31312849e-04 9.99945076e-01 6.56583202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4350998929999 meters 0.015424827690688111 Centerline is valid? [True, True] Translation: X:546.90, Y:7.87, Z:6.57 [[ 9.99342448e-01 -3.48355014e-02 -1.00577957e-02 5.46895523e+02] [ 3.48358260e-02 9.99393038e-01 -1.42968209e-04 7.86692629e+00] [ 1.00566714e-02 -2.07497421e-04 9.99949409e-01 6.56633324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.465099893 meters 0.015742113239158532 Centerline is valid? [True, True] Translation: X:546.93, Y:7.87, Z:6.57 [[ 9.99413189e-01 -3.28660379e-02 -9.64892513e-03 5.46927048e+02] [ 3.28662539e-02 9.99459749e-01 -1.36218570e-04 7.86637802e+00] [ 9.64818926e-03 -1.80985388e-04 9.99953439e-01 6.56676247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.495099893 meters 0.014811918399424433 Centerline is valid? [True, True] Translation: X:546.96, Y:7.87, Z:6.57 [[ 9.99533380e-01 -2.89199816e-02 -9.83139486e-03 5.46958625e+02] [ 2.89200209e-02 9.99581719e-01 -1.38197057e-04 7.86956664e+00] [ 9.83127923e-03 -1.46191573e-04 9.99951661e-01 6.56658090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.525099893 meters 0.014444839682159552 Centerline is valid? [True, True] Translation: X:546.99, Y:7.87, Z:6.57 [[ 9.99594496e-01 -2.68551966e-02 -9.46798377e-03 5.46991003e+02] [ 2.68551425e-02 9.99639327e-01 -1.32872384e-04 7.87155437e+00] [ 9.46813724e-03 -1.21445550e-04 9.99955169e-01 6.56702053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5550998929999 meters 0.014164987121777026 Centerline is valid? [True, True] Translation: X:547.02, Y:7.87, Z:6.57 [[ 9.99662669e-01 -2.44960774e-02 -8.63077846e-03 5.47023184e+02] [ 2.44959493e-02 9.99699922e-01 -1.20573434e-04 7.87302694e+00] [ 8.63114213e-03 -9.08863506e-05 9.99962747e-01 6.56848101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5850998929999 meters 0.014055990583464809 Centerline is valid? [True, True] Translation: X:547.05, Y:7.87, Z:6.57 [[ 9.99733941e-01 -2.14607417e-02 -8.45477120e-03 5.47054955e+02] [ 2.14605158e-02 9.99769690e-01 -1.17451849e-04 7.87467433e+00] [ 8.45534459e-03 -6.40231510e-05 9.99964251e-01 6.57021280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.615099893 meters 0.014101495794379745 Centerline is valid? [True, True] Translation: X:547.09, Y:7.87, Z:6.57 [[ 9.99735565e-01 -2.05323669e-02 -1.03548170e-02 5.47085746e+02] [ 2.05319863e-02 9.99789186e-01 -1.43069526e-04 7.87425785e+00] [ 1.03555716e-02 -6.95732675e-05 9.99946377e-01 6.56902959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.645099893 meters 0.013886281089831323 Centerline is valid? [True, True] Translation: X:547.12, Y:7.88, Z:6.57 [[ 9.99727500e-01 -1.98961056e-02 -1.22094624e-02 5.47117158e+02] [ 1.98955321e-02 9.99802050e-01 -1.68441272e-04 7.87504949e+00] [ 1.22103969e-02 -7.45183803e-05 9.99925448e-01 6.56773787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6750998929999 meters 0.0138453342653177 Centerline is valid? [True, True] Translation: X:547.15, Y:7.87, Z:6.57 [[ 9.99726966e-01 -1.94062601e-02 -1.30149800e-02 5.47148022e+02] [ 1.94055731e-02 9.99811678e-01 -1.79079269e-04 7.87483369e+00] [ 1.30160043e-02 -7.35327711e-05 9.99915286e-01 6.56757451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7050998929999 meters 0.013966325466101147 Centerline is valid? [True, True] Translation: X:547.18, Y:7.87, Z:6.57 [[ 9.99727667e-01 -1.99739432e-02 -1.20678677e-02 5.47177421e+02] [ 1.99733940e-02 9.99800498e-01 -1.66042238e-04 7.87366131e+00] [ 1.20687766e-02 -7.50392574e-05 9.99927167e-01 6.56876945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.735099893 meters 0.01399416978223477 Centerline is valid? [True, True] Translation: X:547.21, Y:7.87, Z:6.57 [[ 9.99721183e-01 -2.04862533e-02 -1.17417891e-02 5.47207460e+02] [ 2.04857662e-02 9.99790132e-01 -1.61769416e-04 7.87304214e+00] [ 1.17426390e-02 -7.88152348e-05 9.99931050e-01 6.56917907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.765099893 meters 0.014265460404575658 Centerline is valid? [True, True] Translation: X:547.24, Y:7.87, Z:6.57 [[ 9.99686315e-01 -2.17986367e-02 -1.23325532e-02 5.47237159e+02] [ 2.17981992e-02 9.99762377e-01 -1.69907942e-04 7.87090337e+00] [ 1.23333265e-02 -9.89728071e-05 9.99923937e-01 6.56933204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7950998929999 meters 0.01420336180209719 Centerline is valid? [True, True] Translation: X:547.27, Y:7.87, Z:6.57 [[ 9.99654586e-01 -2.29969908e-02 -1.27219383e-02 5.47267937e+02] [ 2.29966193e-02 9.99735527e-01 -1.75502243e-04 7.87007722e+00] [ 1.27226097e-02 -1.17119950e-04 9.99919057e-01 6.56959966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8250998929999 meters 0.014451722323895015 Centerline is valid? [True, True] Translation: X:547.30, Y:7.87, Z:6.57 [[ 9.99568466e-01 -2.63014971e-02 -1.30809931e-02 5.47298446e+02] [ 2.63013873e-02 9.99654042e-01 -1.80455492e-04 7.86767248e+00] [ 1.30812139e-02 -1.63670647e-04 9.99914424e-01 6.57014467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.855099893 meters 0.014574391911782909 Centerline is valid? [True, True] Translation: X:547.33, Y:7.87, Z:6.57 [[ 9.99521832e-01 -2.78467875e-02 -1.34411072e-02 5.47330211e+02] [ 2.78468118e-02 9.99612185e-01 -1.85383952e-04 7.86665263e+00] [ 1.34410569e-02 -1.88996675e-04 9.99909647e-01 6.57014864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.885099893 meters 0.01548400685741191 Centerline is valid? [True, True] Translation: X:547.36, Y:7.86, Z:6.57 [[ 9.99406466e-01 -3.12887349e-02 -1.44128850e-02 5.47360735e+02] [ 3.12891291e-02 9.99510356e-01 -1.98197815e-04 7.86252694e+00] [ 1.44120292e-02 -2.52886443e-04 9.99896109e-01 6.57028591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9150998929999 meters 0.015810976374514906 Centerline is valid? [True, True] Translation: X:547.39, Y:7.86, Z:6.57 [[ 9.99357521e-01 -3.28458260e-02 -1.43421101e-02 5.47391661e+02] [ 3.28463866e-02 9.99460393e-01 -1.96530138e-04 7.86106720e+00] [ 1.43408261e-02 -2.74682621e-04 9.99897127e-01 6.57126029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9450998929999 meters 0.015736143477411847 Centerline is valid? [True, True] Translation: X:547.42, Y:7.86, Z:6.57 [[ 9.99306737e-01 -3.44562663e-02 -1.41000472e-02 5.47422637e+02] [ 3.44569752e-02 9.99406164e-01 -1.92725411e-04 7.86076769e+00] [ 1.40983147e-02 -2.93253176e-04 9.99900571e-01 6.57224300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.975099893 meters 0.016867849830016733 Centerline is valid? [True, True] Translation: X:547.45, Y:7.86, Z:6.57 [[ 9.99252491e-01 -3.60872667e-02 -1.38624746e-02 5.47452950e+02] [ 3.60881152e-02 9.99348594e-01 -1.89015662e-04 7.85762671e+00] [ 1.38602656e-02 -3.11396208e-04 9.99903893e-01 6.57287604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.005099893 meters 0.017304197192351028 Centerline is valid? [True, True] Translation: X:547.48, Y:7.86, Z:6.57 [[ 9.99203361e-01 -3.74289854e-02 -1.38461289e-02 5.47484741e+02] [ 3.74299644e-02 9.99299236e-01 -1.88521842e-04 7.85591734e+00] [ 1.38434822e-02 -3.29888452e-04 9.99904120e-01 6.57341181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0350998929999 meters 0.016510175565805557 Centerline is valid? [True, True] Translation: X:547.52, Y:7.86, Z:6.57 [[ 9.99086868e-01 -4.04716579e-02 -1.36921632e-02 5.47516787e+02] [ 4.04729078e-02 9.99180619e-01 -1.85906623e-04 7.85543834e+00] [ 1.36884680e-02 -3.68424793e-04 9.99906241e-01 6.57450181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0650998929999 meters 0.017732275958884398 Centerline is valid? [True, True] Translation: X:547.55, Y:7.85, Z:6.58 [[ 9.99032080e-01 -4.18168600e-02 -1.36474675e-02 5.47547918e+02] [ 4.18182415e-02 9.99125218e-01 -1.84253724e-04 7.85217510e+00] [ 1.36432338e-02 -3.86637711e-04 9.99906852e-01 6.57501932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.095099893 meters 0.018276060128733146 Centerline is valid? [True, True] Translation: X:547.58, Y:7.85, Z:6.58 [[ 9.98982374e-01 -4.30889598e-02 -1.33250642e-02 5.47579020e+02] [ 4.30904082e-02 9.99071161e-01 -1.78514403e-04 7.85038014e+00] [ 1.33203794e-02 -3.95849714e-04 9.99911201e-01 6.57538858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.125099893 meters 0.017308167295624097 Centerline is valid? [True, True] Translation: X:547.61, Y:7.85, Z:6.58 [[ 9.98944632e-01 -4.40345374e-02 -1.30607104e-02 5.47610923e+02] [ 4.40360278e-02 9.99029929e-01 -1.73581926e-04 7.85129334e+00] [ 1.30556842e-02 -4.01743075e-04 9.99914690e-01 6.57545480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1550998929999 meters 0.019690637063197552 Centerline is valid? [True, True] Translation: X:547.64, Y:7.85, Z:6.58 [[ 9.98843213e-01 -4.61209131e-02 -1.36050280e-02 5.47641723e+02] [ 4.61227389e-02 9.98935764e-01 -1.79701611e-04 7.84515216e+00] [ 1.35988371e-02 -4.48007422e-04 9.99907431e-01 6.57518751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1850998929999 meters 0.01905272394330581 Centerline is valid? [True, True] Translation: X:547.67, Y:7.85, Z:6.58 [[ 9.98800548e-01 -4.67727150e-02 -1.44837154e-02 5.47673482e+02] [ 4.67748795e-02 9.98905438e-01 -1.89463522e-04 7.84596292e+00] [ 1.44767238e-02 -4.88237774e-04 9.99895088e-01 6.57531994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.215099893 meters 0.018915296053718098 Centerline is valid? [True, True] Translation: X:547.71, Y:7.85, Z:6.57 [[ 9.98719979e-01 -4.80220767e-02 -1.58834668e-02 5.47705550e+02] [ 4.80248572e-02 9.98846119e-01 -2.06545294e-04 7.84562288e+00] [ 1.58750579e-02 -5.56520312e-04 9.99873828e-01 6.57445300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.245099893 meters 0.019536160479686163 Centerline is valid? [True, True] Translation: X:547.74, Y:7.84, Z:6.57 [[ 9.98696345e-01 -4.85245600e-02 -1.58422632e-02 5.47737159e+02] [ 4.85274064e-02 9.98821830e-01 -2.04923291e-04 7.84415084e+00] [ 1.58335422e-02 -5.64127802e-04 9.99874482e-01 6.57426288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.275099893 meters 0.018886180077247208 Centerline is valid? [True, True] Translation: X:547.77, Y:7.84, Z:6.57 [[ 9.98656323e-01 -4.91687510e-02 -1.63701679e-02 5.47769626e+02] [ 4.91718929e-02 9.98790309e-01 -2.10764812e-04 7.84496512e+00] [ 1.63607281e-02 -5.94470533e-04 9.99865978e-01 6.57483872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3050998929999 meters 0.020551460406488236 Centerline is valid? [True, True] Translation: X:547.80, Y:7.84, Z:6.57 [[ 9.98593848e-01 -5.03632144e-02 -1.65491207e-02 5.47800931e+02] [ 5.03666120e-02 9.98730774e-01 -2.11685862e-04 7.84161503e+00] [ 1.65387773e-02 -6.22134940e-04 9.99863032e-01 6.57461780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3350998929999 meters 0.020793053755103073 Centerline is valid? [True, True] Translation: X:547.83, Y:7.84, Z:6.57 [[ 9.98561328e-01 -5.09549429e-02 -1.66993444e-02 5.47832622e+02] [ 5.09585122e-02 9.98700749e-01 -2.11986750e-04 7.84131590e+00] [ 1.66884496e-02 -6.39291976e-04 9.99860534e-01 6.57471766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.365099893 meters 0.020896948564879916 Centerline is valid? [True, True] Translation: X:547.86, Y:7.84, Z:6.57 [[ 9.98411540e-01 -5.32054045e-02 -1.85359519e-02 5.47863800e+02] [ 5.32102071e-02 9.98583306e-01 -2.34347816e-04 7.84150812e+00] [ 1.85221607e-02 -7.52326275e-04 9.99828167e-01 6.57437429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.395099893 meters 0.020904996682611848 Centerline is valid? [True, True] Translation: X:547.90, Y:7.84, Z:6.57 [[ 9.98338162e-01 -5.42586318e-02 -1.94142948e-02 5.47895390e+02] [ 5.42641132e-02 9.98526588e-01 -2.44734103e-04 7.84202263e+00] [ 1.93989685e-02 -8.09172098e-04 9.99811495e-01 6.57421126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4250998929999 meters 0.02394564651605053 Centerline is valid? [True, True] Translation: X:547.93, Y:7.84, Z:6.57 [[ 9.98146775e-01 -5.68556770e-02 -2.16897861e-02 5.47925993e+02] [ 5.68631456e-02 9.98381945e-01 -2.72753510e-04 7.83759975e+00] [ 2.16701984e-02 -9.61101428e-04 9.99764712e-01 6.57259174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4550998929999 meters 0.023741530318382532 Centerline is valid? [True, True] Translation: X:547.96, Y:7.84, Z:6.57 [[ 9.97957268e-01 -5.94852079e-02 -2.32981086e-02 5.47956706e+02] [ 5.94945507e-02 9.98228587e-01 -2.92547220e-04 7.83815090e+00] [ 2.32742402e-02 -1.09416088e-03 9.99728519e-01 6.57250357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.485099893 meters 0.023005727670241314 Centerline is valid? [True, True] Translation: X:547.99, Y:7.84, Z:6.57 [[ 9.97819758e-01 -6.18368441e-02 -2.30637363e-02 5.47987333e+02] [ 6.18466358e-02 9.98085623e-01 -2.89193192e-04 7.84083951e+00] [ 2.30374664e-02 -1.13785182e-03 9.99733955e-01 6.57454529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.515099893 meters 0.025316333851246077 Centerline is valid? [True, True] Translation: X:548.02, Y:7.84, Z:6.58 [[ 9.97510724e-01 -6.66747371e-02 -2.29528954e-02 5.48018427e+02] [ 6.66857223e-02 9.97773988e-01 -2.87339174e-04 7.84047256e+00] [ 2.29209603e-02 -1.24400650e-03 9.99736506e-01 6.57658301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5450998929999 meters 0.026175708190845536 Centerline is valid? [True, True] Translation: X:548.05, Y:7.84, Z:6.58 [[ 9.97405400e-01 -6.80166966e-02 -2.35838114e-02 5.48049966e+02] [ 6.80286845e-02 9.97683322e-01 -2.94545843e-04 7.84020754e+00] [ 2.35492094e-02 -1.31059405e-03 9.99721820e-01 6.57630172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5750998929999 meters 0.026175708190845536 Centerline is valid? [True, True] Translation: X:548.08, Y:7.84, Z:6.58 [[ 9.97407838e-01 -6.79809335e-02 -2.35838220e-02 5.48080856e+02] [ 6.79929314e-02 9.97685760e-01 -2.93699660e-04 7.84056309e+00] [ 2.35492093e-02 -1.31059485e-03 9.99721820e-01 6.57668363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.605099893 meters 0.026482378749552064 Centerline is valid? [True, True] Translation: X:548.11, Y:7.84, Z:6.58 [[ 9.97368497e-01 -6.87658040e-02 -2.29640101e-02 5.48112485e+02] [ 6.87774096e-02 9.97631990e-01 -2.84976214e-04 7.84087748e+00] [ 2.29292277e-02 -1.29517883e-03 9.99736252e-01 6.57717437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.635099893 meters 0.026482378749552064 Centerline is valid? [True, True] Translation: X:548.14, Y:7.84, Z:6.58 [[ 9.97373442e-01 -6.86940426e-02 -2.29640278e-02 5.48144222e+02] [ 6.87056621e-02 9.97636934e-01 -2.83545411e-04 7.84121123e+00] [ 2.29292402e-02 -1.29495807e-03 9.99736252e-01 6.57756670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6650998929999 meters 0.026482378749552064 Centerline is valid? [True, True] Translation: X:548.18, Y:7.84, Z:6.58 [[ 9.97378381e-01 -6.86222782e-02 -2.29640481e-02 5.48175958e+02] [ 6.86339167e-02 9.97641873e-01 -2.81893511e-04 7.84154258e+00] [ 2.29292401e-02 -1.29495807e-03 9.99736252e-01 6.57795897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6950998929999 meters 0.02751646590069716 Centerline is valid? [True, True] Translation: X:548.21, Y:7.84, Z:6.58 [[ 9.97299768e-01 -7.01190862e-02 -2.18285825e-02 5.48206891e+02] [ 7.01299871e-02 9.97537826e-01 -2.66666891e-04 7.84213976e+00] [ 2.17935351e-02 -1.26489138e-03 9.99761693e-01 6.57968999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.725099893 meters 0.028419208637904123 Centerline is valid? [True, True] Translation: X:548.24, Y:7.84, Z:6.58 [[ 9.97277936e-01 -7.04938235e-02 -2.16180467e-02 5.48238031e+02] [ 7.05046360e-02 9.97511417e-01 -2.62551674e-04 7.84267431e+00] [ 2.15827566e-02 -1.26233552e-03 9.99766268e-01 6.58035511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.755099893 meters 0.029754448350360157 Centerline is valid? [True, True] Translation: X:548.27, Y:7.84, Z:6.58 [[ 9.97282947e-01 -7.03592578e-02 -2.18242405e-02 5.48269654e+02] [ 7.03702850e-02 9.97520904e-01 -2.63247289e-04 7.84259916e+00] [ 2.17886580e-02 -1.27324599e-03 9.99761788e-01 6.58097087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7850998929999 meters 0.02981680430250035 Centerline is valid? [True, True] Translation: X:548.30, Y:7.84, Z:6.58 [[ 9.97281567e-01 -7.03725098e-02 -2.18446023e-02 5.48301383e+02] [ 7.03835894e-02 9.97519966e-01 -2.62179139e-04 7.84422140e+00] [ 2.18088771e-02 -1.27603509e-03 9.99761344e-01 6.58181093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8150998929999 meters 0.029533216078447805 Centerline is valid? [True, True] Translation: X:548.33, Y:7.85, Z:6.58 [[ 9.97289218e-01 -7.01010382e-02 -2.23620143e-02 5.48333074e+02] [ 7.01126164e-02 9.97539047e-01 -2.66810683e-04 7.84639800e+00] [ 2.23256861e-02 -1.30177191e-03 9.99749903e-01 6.58234971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.845099893 meters 0.03038444192239383 Centerline is valid? [True, True] Translation: X:548.36, Y:7.85, Z:6.58 [[ 9.97309509e-01 -6.90671250e-02 -2.45657261e-02 5.48363931e+02] [ 6.90808252e-02 9.97611024e-01 -2.91522801e-04 7.84835271e+00] [ 2.45271738e-02 -1.40628217e-03 9.99698175e-01 6.58117948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.875099893 meters 0.030800736201213055 Centerline is valid? [True, True] Translation: X:548.39, Y:7.85, Z:6.58 [[ 9.97326161e-01 -6.84398114e-02 -2.56226661e-02 5.48394759e+02] [ 6.84545388e-02 9.97654191e-01 -3.02945379e-04 7.84969424e+00] [ 2.55832937e-02 -1.45185244e-03 9.99671640e-01 6.58074506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9050998929999 meters 0.02868192549261236 Centerline is valid? [True, True] Translation: X:548.43, Y:7.85, Z:6.58 [[ 9.97360114e-01 -6.76828853e-02 -2.63026527e-02 5.48425827e+02] [ 6.76981669e-02 9.97705799e-01 -3.10071953e-04 7.85462309e+00] [ 2.62632957e-02 -1.47138797e-03 9.99653977e-01 6.58199116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9350998929999 meters 0.025434335199084303 Centerline is valid? [True, True] Translation: X:548.46, Y:7.86, Z:6.58 [[ 9.97525249e-01 -6.51715433e-02 -2.63827196e-02 5.48457244e+02] [ 6.51860670e-02 9.97873078e-01 -3.10083814e-04 7.86356038e+00] [ 2.63468143e-02 -1.41046930e-03 9.99651867e-01 6.58407031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.965099893 meters 0.023331783672397927 Centerline is valid? [True, True] Translation: X:548.49, Y:7.87, Z:6.59 [[ 9.97634064e-01 -6.34051633e-02 -2.65717770e-02 5.48489108e+02] [ 6.34193037e-02 9.97986921e-01 -3.11081291e-04 7.86885097e+00] [ 2.65380101e-02 -1.37481830e-03 9.99646860e-01 6.58559286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.995099893 meters 0.024430932300208687 Centerline is valid? [True, True] Translation: X:548.52, Y:7.87, Z:6.59 [[ 9.97749913e-01 -6.13711093e-02 -2.69944042e-02 5.48519307e+02] [ 6.13850122e-02 9.98114113e-01 -3.14126997e-04 7.86980477e+00] [ 2.69627741e-02 -1.34363165e-03 9.99635535e-01 6.58533222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.025099893 meters 0.020884464410598998 Centerline is valid? [True, True] Translation: X:548.55, Y:7.88, Z:6.59 [[ 9.98048956e-01 -5.62716496e-02 -2.70514756e-02 5.48549736e+02] [ 5.62837771e-02 9.98414763e-01 -3.13500305e-04 7.87946382e+00] [ 2.70262338e-02 -1.20967057e-03 9.99633993e-01 6.58682843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0550998929999 meters 0.018927535491402674 Centerline is valid? [True, True] Translation: X:548.58, Y:7.89, Z:6.59 [[ 9.98402332e-01 -5.00278553e-02 -2.62678046e-02 5.48580544e+02] [ 5.00371394e-02 9.98747311e-01 -3.04146954e-04 7.88654372e+00] [ 2.62501150e-02 -1.01070477e-03 9.99654895e-01 6.58755155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0850998929999 meters 0.018564588544715696 Centerline is valid? [True, True] Translation: X:548.61, Y:7.89, Z:6.59 [[ 9.98537618e-01 -4.70189578e-02 -2.66803995e-02 5.48610010e+02] [ 4.70274581e-02 9.98893549e-01 -3.09128584e-04 7.88966138e+00] [ 2.66654138e-02 -9.46034848e-04 9.99643967e-01 6.58779447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.115099893 meters 0.019004875198553598 Centerline is valid? [True, True] Translation: X:548.64, Y:7.89, Z:6.59 [[ 9.98691539e-01 -4.38119086e-02 -2.63766208e-02 5.48639305e+02] [ 4.38190803e-02 9.99039436e-01 -3.06318911e-04 7.89169842e+00] [ 2.63647048e-02 -8.49881161e-04 9.99652029e-01 6.58754221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.145099893 meters 0.019004875198553598 Centerline is valid? [True, True] Translation: X:548.67, Y:7.89, Z:6.59 [[ 9.98690044e-01 -4.38459745e-02 -2.63766102e-02 5.48668474e+02] [ 4.38531340e-02 9.99037941e-01 -3.07230529e-04 7.89206907e+00] [ 2.63647052e-02 -8.49868952e-04 9.99652029e-01 6.58790307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1750998929999 meters 0.016177295018839754 Centerline is valid? [True, True] Translation: X:548.70, Y:7.90, Z:6.59 [[ 9.98805248e-01 -4.08819024e-02 -2.67721348e-02 5.48698160e+02] [ 4.08881895e-02 9.99163679e-01 -3.12781049e-04 7.89905979e+00] [ 2.67625317e-02 -7.82256766e-04 9.99641513e-01 6.58990358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2050998929999 meters 0.015211127787107544 Centerline is valid? [True, True] Translation: X:548.73, Y:7.90, Z:6.59 [[ 9.98971791e-01 -3.61980401e-02 -2.72958478e-02 5.48727434e+02] [ 3.62028018e-02 9.99344413e-01 -3.19879675e-04 7.90452917e+00] [ 2.72895320e-02 -6.68635394e-04 9.99627348e-01 6.58960601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.235099893 meters 0.014576837483629758 Centerline is valid? [True, True] Translation: X:548.76, Y:7.91, Z:6.59 [[ 9.99015821e-01 -3.47257919e-02 -2.75954455e-02 5.48755846e+02] [ 3.47299813e-02 9.99396679e-01 -3.27599274e-04 7.90699188e+00] [ 2.75901727e-02 -6.31112450e-04 9.99619119e-01 6.59017282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.265099893 meters 0.01450739379423273 Centerline is valid? [True, True] Translation: X:548.78, Y:7.91, Z:6.59 [[ 9.99055871e-01 -3.37504865e-02 -2.73545537e-02 5.48783471e+02] [ 3.37541190e-02 9.99430113e-01 -3.29081141e-04 7.90839126e+00] [ 2.73500713e-02 -5.94558412e-04 9.99625740e-01 6.59042323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2950998929999 meters 0.013657893152926506 Centerline is valid? [True, True] Translation: X:548.81, Y:7.91, Z:6.59 [[ 9.99099766e-01 -3.26352863e-02 -2.71034122e-02 5.48812470e+02] [ 3.26383131e-02 9.99467174e-01 -3.30820728e-04 7.91155082e+00] [ 2.70997672e-02 -5.54086741e-04 9.99632580e-01 6.59140273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3250998929999 meters 0.014006965964612914 Centerline is valid? [True, True] Translation: X:548.84, Y:7.91, Z:6.59 [[ 9.99118677e-01 -3.19543590e-02 -2.72174309e-02 5.48840104e+02] [ 3.19570227e-02 9.99489187e-01 -3.37214190e-04 7.91165967e+00] [ 2.72143033e-02 -5.32871059e-04 9.99629480e-01 6.59078003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.355099893 meters 0.013922258773147128 Centerline is valid? [True, True] Translation: X:548.87, Y:7.91, Z:6.59 [[ 9.99143413e-01 -3.10009633e-02 -2.74113232e-02 5.48867919e+02] [ 3.10032120e-02 9.99519226e-01 -3.43060796e-04 7.91289966e+00] [ 2.74087797e-02 -5.07072128e-04 9.99624180e-01 6.59050908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.385099893 meters 0.013116177290611692 Centerline is valid? [True, True] Translation: X:548.90, Y:7.92, Z:6.59 [[ 9.99166638e-01 -2.97814396e-02 -2.79122803e-02 5.48896303e+02] [ 2.97831459e-02 9.99556321e-01 -3.54699248e-04 7.91601362e+00] [ 2.79104596e-02 -4.76911860e-04 9.99610313e-01 6.59152986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4150998929999 meters 0.012156805910399148 Centerline is valid? [True, True] Translation: X:548.93, Y:7.92, Z:6.59 [[ 9.99263549e-01 -2.56759129e-02 -2.85150355e-02 5.48925399e+02] [ 2.56758287e-02 9.99670253e-01 -3.69162825e-04 7.92070615e+00] [ 2.85151114e-02 -3.63256214e-04 9.99593296e-01 6.59212811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4450998929999 meters 0.01164759998040469 Centerline is valid? [True, True] Translation: X:548.95, Y:7.92, Z:6.59 [[ 9.99323052e-01 -2.32480867e-02 -2.85125106e-02 5.48954560e+02] [ 2.32468270e-02 9.99729685e-01 -3.75705212e-04 7.92332456e+00] [ 2.85135377e-02 -2.87374523e-04 9.99593365e-01 6.59290384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.475099893 meters 0.011456193793815671 Centerline is valid? [True, True] Translation: X:548.98, Y:7.93, Z:6.59 [[ 9.99386050e-01 -2.06774133e-02 -2.82837170e-02 5.48982725e+02] [ 2.06749526e-02 9.99786178e-01 -3.79471083e-04 7.92526793e+00] [ 2.82855158e-02 -2.05526401e-04 9.99599864e-01 6.59250910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.505099893 meters 0.011443103643185452 Centerline is valid? [True, True] Translation: X:549.01, Y:7.93, Z:6.59 [[ 9.99444138e-01 -1.81920772e-02 -2.79367666e-02 5.49010958e+02] [ 1.81885165e-02 9.99834502e-01 -3.81587108e-04 7.92681028e+00] [ 2.79390850e-02 -1.26753341e-04 9.99609620e-01 6.59167495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5350998929999 meters 0.010686275616975455 Centerline is valid? [True, True] Translation: X:549.04, Y:7.93, Z:6.60 [[ 9.99556270e-01 -1.39451202e-02 -2.63210375e-02 5.49039206e+02] [ 1.39403196e-02 9.99902762e-01 -3.65882877e-04 7.93006331e+00] [ 2.63235803e-02 -1.20315005e-06 9.99653475e-01 6.59650618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5650998929999 meters 0.010745851012558372 Centerline is valid? [True, True] Translation: X:549.07, Y:7.93, Z:6.60 [[ 9.99623147e-01 -1.04908611e-02 -2.53674143e-02 5.49066595e+02] [ 1.04851830e-02 9.99944965e-01 -3.56839558e-04 7.93070218e+00] [ 2.53697617e-02 9.07231004e-05 9.99678132e-01 6.59719394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.595099893 meters 0.010709134861512318 Centerline is valid? [True, True] Translation: X:549.09, Y:7.93, Z:6.60 [[ 9.99606263e-01 -1.09367595e-02 -2.58400151e-02 5.49094509e+02] [ 1.09308879e-02 9.99940188e-01 -3.68472106e-04 7.93011421e+00] [ 2.58424994e-02 8.58727173e-05 9.99666023e-01 6.59709026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.625099893 meters 0.010679236529464087 Centerline is valid? [True, True] Translation: X:549.12, Y:7.93, Z:6.60 [[ 9.99581158e-01 -1.18848168e-02 -2.63867337e-02 5.49122750e+02] [ 1.18788234e-02 9.99929371e-01 -3.83878956e-04 7.92887543e+00] [ 2.63894324e-02 7.02748201e-05 9.99651736e-01 6.59675352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6550998929999 meters 0.010679236529464087 Centerline is valid? [True, True] Translation: X:549.15, Y:7.93, Z:6.60 [[ 9.99577728e-01 -1.21701611e-02 -2.63866226e-02 5.49150140e+02] [ 1.21640683e-02 9.99925938e-01 -3.91410946e-04 7.92933823e+00] [ 2.63894319e-02 7.02769842e-05 9.99651736e-01 6.59709340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6850998929999 meters 0.010436138252258628 Centerline is valid? [True, True] Translation: X:549.18, Y:7.93, Z:6.60 [[ 9.99544490e-01 -1.40053437e-02 -2.67331917e-02 5.49178132e+02] [ 1.39995359e-02 9.99901920e-01 -4.04406193e-04 7.92761467e+00] [ 2.67362336e-02 2.99697030e-05 9.99642523e-01 6.59768742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.715099893 meters 0.010615715492870768 Centerline is valid? [True, True] Translation: X:549.21, Y:7.92, Z:6.60 [[ 9.99455934e-01 -1.85895499e-02 -2.72445515e-02 5.49205842e+02] [ 1.85850623e-02 9.99827195e-01 -4.17948165e-04 7.92244780e+00] [ 2.72476130e-02 -8.86209143e-05 9.99628711e-01 6.59615543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.745099893 meters 0.01083996393334097 Centerline is valid? [True, True] Translation: X:549.23, Y:7.92, Z:6.60 [[ 9.99380058e-01 -2.20675557e-02 -2.74321427e-02 5.49233833e+02] [ 2.20642321e-02 9.99756465e-01 -4.23881177e-04 7.91937462e+00] [ 2.74348160e-02 -1.81650767e-04 9.99623578e-01 6.59590674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.775099893 meters 0.011099723948213328 Centerline is valid? [True, True] Translation: X:549.26, Y:7.92, Z:6.60 [[ 9.99287826e-01 -2.57996965e-02 -2.75357411e-02 5.49262770e+02] [ 2.57976291e-02 9.99667093e-01 -4.30383938e-04 7.91678807e+00] [ 2.75376780e-02 -2.80279405e-04 9.99620727e-01 6.59653627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8050998929999 meters 0.01180571140969516 Centerline is valid? [True, True] Translation: X:549.29, Y:7.91, Z:6.60 [[ 9.99186663e-01 -2.97686080e-02 -2.72000291e-02 5.49290278e+02] [ 2.97679415e-02 9.99556744e-01 -4.29513892e-04 7.91326137e+00] [ 2.72007586e-02 -3.80524323e-04 9.99629918e-01 6.59650713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8350998929999 meters 0.013544755064032089 Centerline is valid? [True, True] Translation: X:549.32, Y:7.91, Z:6.60 [[ 9.98932073e-01 -3.74532020e-02 -2.70549755e-02 5.49319352e+02] [ 3.74553082e-02 9.99298212e-01 -4.29093303e-04 7.90714509e+00] [ 2.70520596e-02 -5.84717384e-04 9.99633855e-01 6.59681837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.865099893 meters 0.014469096188360541 Centerline is valid? [True, True] Translation: X:549.35, Y:7.90, Z:6.60 [[ 9.98780110e-01 -4.11515418e-02 -2.72917897e-02 5.49348627e+02] [ 4.11550170e-02 9.99152679e-01 -4.34591825e-04 7.90462908e+00] [ 2.72865489e-02 -6.89132396e-04 9.99627415e-01 6.59710920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.895099893 meters 0.01534828954682313 Centerline is valid? [True, True] Translation: X:549.38, Y:7.90, Z:6.60 [[ 9.98627609e-01 -4.49093371e-02 -2.69453143e-02 5.49377834e+02] [ 4.49140461e-02 9.98990762e-01 -4.30739871e-04 7.90229431e+00] [ 2.69374643e-02 -7.80074363e-04 9.99636816e-01 6.59765743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9250998929999 meters 0.01778650037909197 Centerline is valid? [True, True] Translation: X:549.41, Y:7.90, Z:6.60 [[ 9.98288652e-01 -5.17683150e-02 -2.71994360e-02 5.49407968e+02] [ 5.17756298e-02 9.98658648e-01 -4.35733723e-04 7.89696349e+00] [ 2.71855091e-02 -9.73279898e-04 9.99629932e-01 6.59783136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9550998929999 meters 0.018726354793200024 Centerline is valid? [True, True] Translation: X:549.44, Y:7.90, Z:6.60 [[ 9.98113146e-01 -5.50926602e-02 -2.71099016e-02 5.49438175e+02] [ 5.51011379e-02 9.98480684e-01 -4.34782364e-04 7.89534988e+00] [ 2.70926664e-02 -1.05982443e-03 9.99632365e-01 6.59815825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.985099893 meters 0.021471561500069 Centerline is valid? [True, True] Translation: X:549.47, Y:7.89, Z:6.60 [[ 9.97789278e-01 -6.09797584e-02 -2.64201619e-02 5.49468268e+02] [ 6.09898633e-02 9.98138295e-01 -4.23936606e-04 7.89078210e+00] [ 2.63968269e-02 -1.18836266e-03 9.99650837e-01 6.59876650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.015099893 meters 0.02290427650876632 Centerline is valid? [True, True] Translation: X:549.50, Y:7.89, Z:6.60 [[ 9.97643643e-01 -6.35833731e-02 -2.57743339e-02 5.49498893e+02] [ 6.35938624e-02 9.97975776e-01 -4.13337875e-04 7.88868473e+00] [ 2.57484423e-02 -1.22672554e-03 9.99667701e-01 6.59924337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0450998929999 meters 0.024838838949915024 Centerline is valid? [True, True] Translation: X:549.53, Y:7.89, Z:6.60 [[ 9.97489670e-01 -6.60717180e-02 -2.54732355e-02 5.49529257e+02] [ 6.60827841e-02 9.97814060e-01 -4.08065157e-04 7.88629018e+00] [ 2.54445141e-02 -1.27630154e-03 9.99675421e-01 6.59959683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0750998929999 meters 0.025564185750728163 Centerline is valid? [True, True] Translation: X:549.56, Y:7.89, Z:6.60 [[ 9.97347888e-01 -6.83980719e-02 -2.48775692e-02 5.49560373e+02] [ 6.84093639e-02 9.97657256e-01 -3.97875083e-04 7.88570876e+00] [ 2.48465014e-02 -1.30503881e-03 9.99690426e-01 6.60046375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.105099893 meters 0.027495800283094715 Centerline is valid? [True, True] Translation: X:549.59, Y:7.88, Z:6.60 [[ 9.97222503e-01 -7.04649730e-02 -2.41239811e-02 5.49591061e+02] [ 7.04762190e-02 9.97513386e-01 -3.84768798e-04 7.88354210e+00] [ 2.40911068e-02 -1.31646687e-03 9.99708900e-01 6.60096172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.135099893 meters 0.029405879801593787 Centerline is valid? [True, True] Translation: X:549.62, Y:7.88, Z:6.60 [[ 9.97004014e-01 -7.34305672e-02 -2.43094221e-02 5.49622369e+02] [ 7.34428917e-02 9.97299349e-01 -3.86644087e-04 7.88166092e+00] [ 2.42721623e-02 -1.39986855e-03 9.99704408e-01 6.60059930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1650998929999 meters 0.03001643478225882 Centerline is valid? [True, True] Translation: X:549.65, Y:7.88, Z:6.60 [[ 9.96926143e-01 -7.43525610e-02 -2.46974196e-02 5.49654766e+02] [ 7.43655957e-02 9.97230969e-01 -3.91535606e-04 7.88143196e+00] [ 2.46581434e-02 -1.44630624e-03 9.99694896e-01 6.60071978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1950998929999 meters 0.030750058832329587 Centerline is valid? [True, True] Translation: X:549.69, Y:7.88, Z:6.60 [[ 9.96876819e-01 -7.49344863e-02 -2.49285046e-02 5.49686618e+02] [ 7.49479903e-02 9.97187367e-01 -3.93480188e-04 7.88127092e+00] [ 2.48878750e-02 -1.47609004e-03 9.99689159e-01 6.60079886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.225099893 meters 0.031456472360727614 Centerline is valid? [True, True] Translation: X:549.72, Y:7.88, Z:6.60 [[ 9.96835454e-01 -7.53125177e-02 -2.54382018e-02 5.49719077e+02] [ 7.53267471e-02 9.97158825e-01 -3.99772126e-04 7.88113771e+00] [ 2.53960352e-02 -1.51766996e-03 9.99676317e-01 6.60046191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.255099893 meters 0.03184262247715355 Centerline is valid? [True, True] Translation: X:549.75, Y:7.88, Z:6.60 [[ 9.96810176e-01 -7.56146366e-02 -2.55323293e-02 5.49750797e+02] [ 7.56291090e-02 9.97135938e-01 -3.99735042e-04 7.88151334e+00] [ 2.54894289e-02 -1.53252735e-03 9.99673917e-01 6.60039113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2850998929999 meters 0.03268166788796416 Centerline is valid? [True, True] Translation: X:549.78, Y:7.88, Z:6.60 [[ 9.96825997e-01 -7.54393010e-02 -2.54331134e-02 5.49782406e+02] [ 7.54536581e-02 9.97149231e-01 -3.96059127e-04 7.88126566e+00] [ 2.53904879e-02 -1.52421941e-03 9.99676448e-01 6.60032981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3150998929999 meters 0.027646780129225758 Centerline is valid? [True, True] Translation: X:549.81, Y:7.89, Z:6.60 [[ 9.96863936e-01 -7.49078040e-02 -2.55169191e-02 5.49814160e+02] [ 7.49221424e-02 9.97189308e-01 -3.95011317e-04 7.88875328e+00] [ 2.54747883e-02 -1.51800971e-03 9.99674312e-01 6.60201955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.345099893 meters 0.026992687165302266 Centerline is valid? [True, True] Translation: X:549.85, Y:7.89, Z:6.60 [[ 9.96935100e-01 -7.39438329e-02 -2.55482959e-02 5.49846510e+02] [ 7.39579376e-02 9.97261284e-01 -3.93677721e-04 7.89048373e+00] [ 2.55074364e-02 -1.49702813e-03 9.99673512e-01 6.60248760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.375099893 meters 0.023998508327458194 Centerline is valid? [True, True] Translation: X:549.88, Y:7.90, Z:6.60 [[ 9.97202223e-01 -7.00988462e-02 -2.59591638e-02 5.49877182e+02] [ 7.01121393e-02 9.97539036e-01 -3.98868121e-04 7.89707229e+00] [ 2.59232394e-02 -1.42230033e-03 9.99662925e-01 6.60371038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4050998929999 meters 0.021056948990644468 Centerline is valid? [True, True] Translation: X:549.91, Y:7.90, Z:6.60 [[ 9.97418372e-01 -6.69979110e-02 -2.58431862e-02 5.49908483e+02] [ 6.70100662e-02 9.97752221e-01 -3.96365370e-04 7.90325872e+00] [ 2.58116521e-02 -1.33641151e-03 9.99665931e-01 6.60487140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4350998929999 meters 0.021510495862710588 Centerline is valid? [True, True] Translation: X:549.94, Y:7.90, Z:6.61 [[ 9.97673832e-01 -6.32098303e-02 -2.55233613e-02 5.49938689e+02] [ 6.32204612e-02 9.97999509e-01 -3.91008601e-04 7.90490876e+00] [ 2.54970176e-02 -1.22349962e-03 9.99674149e-01 6.60507313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.465099893 meters 0.01695761337521121 Centerline is valid? [True, True] Translation: X:549.97, Y:7.92, Z:6.61 [[ 9.98273945e-01 -5.34018693e-02 -2.44411795e-02 5.49969436e+02] [ 5.34086861e-02 9.98572667e-01 -3.74259189e-04 7.91547507e+00] [ 2.44262799e-02 -9.31758086e-04 9.99701200e-01 6.60706944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.495099893 meters 0.015298807435146234 Centerline is valid? [True, True] Translation: X:550.00, Y:7.92, Z:6.61 [[ 9.98573261e-01 -4.77176420e-02 -2.39680770e-02 5.50000586e+02] [ 4.77225709e-02 9.98860562e-01 -3.66630831e-04 7.92045646e+00] [ 2.39582616e-02 -7.77710508e-04 9.99712657e-01 6.60790655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.525099893 meters 0.014348416519942259 Centerline is valid? [True, True] Translation: X:550.03, Y:7.92, Z:6.61 [[ 9.98863629e-01 -4.17517403e-02 -2.29835302e-02 5.50030178e+02] [ 4.17546991e-02 9.99127830e-01 -3.51353519e-04 7.92433246e+00] [ 2.29781542e-02 -6.08716136e-04 9.99735782e-01 6.60865110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5550998929999 meters 0.011042798167859703 Centerline is valid? [True, True] Translation: X:550.06, Y:7.94, Z:6.61 [[ 9.99344430e-01 -2.93496294e-02 -2.11969032e-02 5.50060245e+02] [ 2.93493554e-02 9.99569162e-01 -3.24084643e-04 7.93503865e+00] [ 2.11972825e-02 -2.98243263e-04 9.99775268e-01 6.61066650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5850998929999 meters 0.010289440739256743 Centerline is valid? [True, True] Translation: X:550.09, Y:7.94, Z:6.61 [[ 9.99522691e-01 -2.31042867e-02 -2.05081118e-02 5.50088977e+02] [ 2.31027056e-02 9.99733048e-01 -3.14049229e-04 7.93984106e+00] [ 2.05098930e-02 -1.59893539e-04 9.99789637e-01 6.61115938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.615099893 meters 0.009892068923744609 Centerline is valid? [True, True] Translation: X:550.12, Y:7.94, Z:6.61 [[ 9.99647798e-01 -1.74913065e-02 -1.99583005e-02 5.50117501e+02] [ 1.74886399e-02 9.99847015e-01 -3.08156781e-04 7.94477447e+00] [ 1.99606372e-02 -4.09952811e-05 9.99800766e-01 6.61190932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.645099893 meters 0.010243564826630896 Centerline is valid? [True, True] Translation: X:550.15, Y:7.95, Z:6.61 [[ 9.99778109e-01 -8.30716409e-03 -1.93577804e-02 5.50145721e+02] [ 8.30284214e-03 9.99965485e-01 -3.03627478e-04 7.95199401e+00] [ 1.93596345e-02 1.42835512e-04 9.99812575e-01 6.61296226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6750998929999 meters 0.010676472253316482 Centerline is valid? [True, True] Translation: X:550.17, Y:7.95, Z:6.61 [[ 9.99796818e-01 -4.84360829e-03 -1.95668482e-02 5.50172981e+02] [ 4.83845219e-03 9.99988246e-01 -3.10844811e-04 7.95452523e+00] [ 1.95681238e-02 2.16108393e-04 9.99808503e-01 6.61256486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7050998929999 meters 0.010955279827122615 Centerline is valid? [True, True] Translation: X:550.20, Y:7.96, Z:6.61 [[ 9.99800379e-01 -2.45949894e-03 -1.98280913e-02 5.50201624e+02] [ 2.45367127e-03 9.99996939e-01 -3.18232702e-04 7.95572468e+00] [ 1.98288133e-02 2.69517558e-04 9.99803353e-01 6.61241071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.735099893 meters 0.011556291327656999 Centerline is valid? [True, True] Translation: X:550.23, Y:7.96, Z:6.61 [[ 9.99795436e-01 -9.37841315e-04 -2.02041266e-02 5.50228975e+02] [ 9.31401102e-04 9.99999512e-01 -3.28164987e-04 7.95722375e+00] [ 2.02044245e-02 3.09279710e-04 9.99795822e-01 6.61157298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.765099893 meters 0.011520594600786948 Centerline is valid? [True, True] Translation: X:550.26, Y:7.96, Z:6.61 [[ 9.99794539e-01 -6.14289272e-04 -2.02608520e-02 5.50258125e+02] [ 6.07683741e-04 9.99999760e-01 -3.32179451e-04 7.95686467e+00] [ 2.02610512e-02 3.19799010e-04 9.99794673e-01 6.61185281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7950998929999 meters 0.011687139923257204 Centerline is valid? [True, True] Translation: X:550.29, Y:7.96, Z:6.61 [[ 9.99801504e-01 -1.47548190e-03 -1.98689655e-02 5.50286132e+02] [ 1.46922580e-03 9.99998866e-01 -3.29461822e-04 7.95728070e+00] [ 1.98694291e-02 3.00204429e-04 9.99802538e-01 6.61209438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8250998929999 meters 0.011219775786326257 Centerline is valid? [True, True] Translation: X:550.32, Y:7.96, Z:6.61 [[ 9.99814958e-01 -2.92290391e-03 -1.90132971e-02 5.50315385e+02] [ 2.91740789e-03 9.99995694e-01 -3.16792678e-04 7.95599219e+00] [ 1.90141412e-02 2.61264515e-04 9.99819181e-01 6.61291771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.855099893 meters 0.01062174864634483 Centerline is valid? [True, True] Translation: X:550.34, Y:7.95, Z:6.61 [[ 9.99814904e-01 -7.54919827e-03 -1.76965282e-02 5.50343817e+02] [ 7.54514074e-03 9.99971491e-01 -2.96039945e-04 7.95241157e+00] [ 1.76982585e-02 1.62462354e-04 9.99843360e-01 6.61369602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.885099893 meters 0.01015870251351129 Centerline is valid? [True, True] Translation: X:550.37, Y:7.95, Z:6.61 [[ 9.99807209e-01 -1.01397096e-02 -1.68146250e-02 5.50372363e+02] [ 1.01363937e-02 9.99948586e-01 -2.82422546e-04 7.95016017e+00] [ 1.68166242e-02 1.11928439e-04 9.99858584e-01 6.61472070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9150998929999 meters 0.009908551552000003 Centerline is valid? [True, True] Translation: X:550.40, Y:7.95, Z:6.62 [[ 9.99778184e-01 -1.31203563e-02 -1.64753844e-02 5.50401456e+02] [ 1.31175585e-02 9.99913923e-01 -2.77872331e-04 7.94776136e+00] [ 1.64776120e-02 6.16938758e-05 9.99864233e-01 6.61554860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9450998929999 meters 0.009874773128844149 Centerline is valid? [True, True] Translation: X:550.43, Y:7.94, Z:6.62 [[ 9.99693802e-01 -1.91673435e-02 -1.56497425e-02 5.50429441e+02] [ 1.91655420e-02 9.99816289e-01 -2.65094444e-04 7.94244764e+00] [ 1.56519487e-02 -3.49225248e-05 9.99877500e-01 6.61544528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.975099893 meters 0.009964225144243515 Centerline is valid? [True, True] Translation: X:550.46, Y:7.94, Z:6.62 [[ 9.99630439e-01 -2.26548163e-02 -1.50248267e-02 5.50458603e+02] [ 2.26535235e-02 9.99743343e-01 -2.56253015e-04 7.94030342e+00] [ 1.50267759e-02 -8.42069511e-05 9.99887088e-01 6.61603636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.005099893 meters 0.01039163835955665 Centerline is valid? [True, True] Translation: X:550.49, Y:7.94, Z:6.62 [[ 9.99547982e-01 -2.59423895e-02 -1.51929113e-02 5.50488171e+02] [ 2.59413983e-02 9.99663431e-01 -2.62343154e-04 7.93736736e+00] [ 1.51946037e-02 -1.31900794e-04 9.99884547e-01 6.61648689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0350998929999 meters 0.01039163835955665 Centerline is valid? [True, True] Translation: X:550.52, Y:7.94, Z:6.62 [[ 9.99547982e-01 -2.59423923e-02 -1.51929075e-02 5.50518166e+02] [ 2.59413977e-02 9.99663431e-01 -2.62565243e-04 7.93788583e+00] [ 1.51946056e-02 -1.31678697e-04 9.99884547e-01 6.61685793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0650998929999 meters 0.01072782746648313 Centerline is valid? [True, True] Translation: X:550.55, Y:7.94, Z:6.62 [[ 9.99462133e-01 -2.92228192e-02 -1.48819263e-02 5.50548426e+02] [ 2.92222285e-02 9.99572906e-01 -2.57190838e-04 7.93547273e+00] [ 1.48830862e-02 -1.77830549e-04 9.99889225e-01 6.61724786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.095099893 meters 0.01145401283008864 Centerline is valid? [True, True] Translation: X:550.58, Y:7.93, Z:6.62 [[ 9.99363528e-01 -3.25018448e-02 -1.47026554e-02 5.50579590e+02] [ 3.25016248e-02 9.99471650e-01 -2.53967396e-04 7.93226689e+00] [ 1.47031417e-02 -2.24054436e-04 9.99891878e-01 6.61750576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.125099893 meters 0.012058209256371258 Centerline is valid? [True, True] Translation: X:550.61, Y:7.93, Z:6.62 [[ 9.99273726e-01 -3.53725337e-02 -1.41705181e-02 5.50610911e+02] [ 3.53726278e-02 9.99374163e-01 -2.44072892e-04 7.92947576e+00] [ 1.41702832e-02 -2.57352835e-04 9.99899563e-01 6.61765907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1550998929999 meters 0.01395864975965596 Centerline is valid? [True, True] Translation: X:550.64, Y:7.92, Z:6.62 [[ 9.99063730e-01 -4.10769772e-02 -1.35773866e-02 5.50641627e+02] [ 4.10775960e-02 9.99155932e-01 -2.33412685e-04 7.92309612e+00] [ 1.35755143e-02 -3.24532257e-04 9.99907796e-01 6.61788104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1850998929999 meters 0.01495838033195687 Centerline is valid? [True, True] Translation: X:550.67, Y:7.92, Z:6.62 [[ 9.98897215e-01 -4.46550999e-02 -1.45009180e-02 5.50673345e+02] [ 4.46561876e-02 9.99002384e-01 -2.48941322e-04 7.91899042e+00] [ 1.44975681e-02 -3.98888920e-04 9.99894825e-01 6.61721184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.215099893 meters 0.01495838033195687 Centerline is valid? [True, True] Translation: X:550.71, Y:7.92, Z:6.62 [[ 9.98900389e-01 -4.45840213e-02 -1.45009319e-02 5.50705042e+02] [ 4.45851132e-02 9.99005559e-01 -2.48128527e-04 7.91947480e+00] [ 1.44975741e-02 -3.98670009e-04 9.99894825e-01 6.61760367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.245099893 meters 0.014623937029375905 Centerline is valid? [True, True] Translation: X:550.74, Y:7.92, Z:6.62 [[ 9.98819343e-01 -4.59308207e-02 -1.58202323e-02 5.50736861e+02] [ 4.59323085e-02 9.98944518e-01 -2.69490558e-04 7.91872066e+00] [ 1.58159122e-02 -4.57487408e-04 9.99874816e-01 6.61690134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.275099893 meters 0.014703525244758833 Centerline is valid? [True, True] Translation: X:550.77, Y:7.92, Z:6.62 [[ 9.98829647e-01 -4.55663745e-02 -1.62185374e-02 5.50769258e+02] [ 4.55679098e-02 9.98961205e-01 -2.75067110e-04 7.91818670e+00] [ 1.62142235e-02 -4.64299665e-04 9.99868433e-01 6.61650886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3050998929999 meters 0.014870637366498528 Centerline is valid? [True, True] Translation: X:550.80, Y:7.92, Z:6.62 [[ 9.98875590e-01 -4.45453063e-02 -1.62256592e-02 5.50800727e+02] [ 4.45467309e-02 9.99007264e-01 -2.73792105e-04 7.91756712e+00] [ 1.62217475e-02 -4.49315824e-04 9.99868318e-01 6.61650653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3350998929999 meters 0.013400513249150089 Centerline is valid? [True, True] Translation: X:550.83, Y:7.92, Z:6.62 [[ 9.99043136e-01 -4.06239668e-02 -1.62020263e-02 5.50832286e+02] [ 4.06248997e-02 9.99174431e-01 -2.71677244e-04 7.91950363e+00] [ 1.61996870e-02 -3.86788407e-04 9.99868702e-01 6.61671751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.365099893 meters 0.013643404445999522 Centerline is valid? [True, True] Translation: X:550.86, Y:7.92, Z:6.62 [[ 9.99155734e-01 -3.78624870e-02 -1.59452734e-02 5.50863687e+02] [ 3.78630493e-02 9.99282902e-01 -2.66728054e-04 7.91960220e+00] [ 1.59439380e-02 -3.37233807e-04 9.99872830e-01 6.61677626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.395099893 meters 0.012248910073183635 Centerline is valid? [True, True] Translation: X:550.90, Y:7.92, Z:6.62 [[ 9.99273121e-01 -3.44920847e-02 -1.62334936e-02 5.50895018e+02] [ 3.44922364e-02 9.99404929e-01 -2.70721799e-04 7.92258186e+00] [ 1.62331713e-02 -2.89404483e-04 9.99868192e-01 6.61701287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4250998929999 meters 0.011217234219040468 Centerline is valid? [True, True] Translation: X:550.93, Y:7.93, Z:6.62 [[ 9.99472249e-01 -2.77384506e-02 -1.69056977e-02 5.50925189e+02] [ 2.77376584e-02 9.99615198e-01 -2.81385662e-04 7.92650964e+00] [ 1.69069976e-02 -1.87687307e-04 9.99857049e-01 6.61661177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4550998929999 meters 0.010722596128005024 Centerline is valid? [True, True] Translation: X:550.96, Y:7.93, Z:6.62 [[ 9.99557371e-01 -2.44097901e-02 -1.70066040e-02 5.50955055e+02] [ 2.44085075e-02 9.99702028e-01 -2.83011975e-04 7.92907603e+00] [ 1.70084448e-02 -1.32219117e-04 9.99855337e-01 6.61673546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.485099893 meters 0.010546067492951613 Centerline is valid? [True, True] Translation: X:550.98, Y:7.93, Z:6.62 [[ 9.99623523e-01 -2.12325171e-02 -1.73779408e-02 5.50984932e+02] [ 2.12306866e-02 9.99774562e-01 -2.89835200e-04 7.93085309e+00] [ 1.73801771e-02 -7.92195319e-05 9.99848950e-01 6.61674250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.515099893 meters 0.010473208806185231 Centerline is valid? [True, True] Translation: X:551.01, Y:7.93, Z:6.62 [[ 9.99696550e-01 -1.66855031e-02 -1.81218760e-02 5.51014145e+02] [ 1.66827303e-02 9.99860787e-01 -3.04179407e-04 7.93255965e+00] [ 1.81244286e-02 1.76473329e-06 9.99835739e-01 6.61641678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5450998929999 meters 0.01057513303883863 Centerline is valid? [True, True] Translation: X:551.04, Y:7.93, Z:6.62 [[ 9.99724484e-01 -1.50317590e-02 -1.80278385e-02 5.51040627e+02] [ 1.50286768e-02 9.99887016e-01 -3.06444067e-04 7.93321484e+00] [ 1.80304080e-02 3.54250790e-05 9.99837438e-01 6.61588763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5750998929999 meters 0.010601247268104021 Centerline is valid? [True, True] Translation: X:551.07, Y:7.93, Z:6.62 [[ 9.99729641e-01 -1.43951094e-02 -1.82599541e-02 5.51068945e+02] [ 1.43917812e-02 9.99896384e-01 -3.13666997e-04 7.93326255e+00] [ 1.82625774e-02 5.07889288e-05 9.99833224e-01 6.61649648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.605099893 meters 0.01073338548261135 Centerline is valid? [True, True] Translation: X:551.10, Y:7.93, Z:6.62 [[ 9.99729410e-01 -1.46331370e-02 -1.80825098e-02 5.51095877e+02] [ 1.46298277e-02 9.99892929e-01 -3.15291350e-04 7.93203609e+00] [ 1.80851874e-02 5.06620338e-05 9.99836448e-01 6.61660535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.635099893 meters 0.010732544093198187 Centerline is valid? [True, True] Translation: X:551.12, Y:7.93, Z:6.62 [[ 9.99718448e-01 -1.57076735e-02 -1.77846462e-02 5.51123737e+02] [ 1.57045711e-02 9.99876626e-01 -3.14100266e-04 7.93104365e+00] [ 1.77873859e-02 3.47115891e-05 9.99841791e-01 6.61756178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6650998929999 meters 0.010664848399699566 Centerline is valid? [True, True] Translation: X:551.15, Y:7.93, Z:6.62 [[ 9.99691206e-01 -1.68660530e-02 -1.82490604e-02 5.51150889e+02] [ 1.68628979e-02 9.99857758e-01 -3.26768121e-04 7.93001776e+00] [ 1.82519759e-02 1.89351751e-05 9.99833419e-01 6.61762902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6950998929999 meters 0.010771217460850472 Centerline is valid? [True, True] Translation: X:551.18, Y:7.93, Z:6.62 [[ 9.99654139e-01 -1.88829242e-02 -1.83040097e-02 5.51178540e+02] [ 1.88800284e-02 9.99821702e-01 -3.31011629e-04 7.92857418e+00] [ 1.83069966e-02 -1.46830778e-05 9.99832413e-01 6.61775312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.725099893 meters 0.010920700506218853 Centerline is valid? [True, True] Translation: X:551.21, Y:7.92, Z:6.62 [[ 9.99555013e-01 -2.34738295e-02 -1.84053029e-02 5.51207267e+02] [ 2.34716067e-02 9.99724447e-01 -3.36810590e-04 7.92388488e+00] [ 1.84081375e-02 -9.53413178e-05 9.99830551e-01 6.61809940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.755099893 meters 0.01118264119322576 Centerline is valid? [True, True] Translation: X:551.24, Y:7.92, Z:6.62 [[ 9.99474717e-01 -2.65686501e-02 -1.85579123e-02 5.51235879e+02] [ 2.65668773e-02 9.99646980e-01 -3.42098470e-04 7.92141875e+00] [ 1.85604501e-02 -1.51107007e-04 9.99827729e-01 6.61845844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7850998929999 meters 0.011540718751270053 Centerline is valid? [True, True] Translation: X:551.26, Y:7.92, Z:6.62 [[ 9.99389637e-01 -2.98736863e-02 -1.81084359e-02 5.51264682e+02] [ 2.98724582e-02 9.99553661e-01 -3.38371034e-04 7.91875650e+00] [ 1.81104618e-02 -2.02778989e-04 9.99835972e-01 6.61874183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8150998929999 meters 0.012705547029422521 Centerline is valid? [True, True] Translation: X:551.29, Y:7.91, Z:6.62 [[ 9.99171559e-01 -3.68141344e-02 -1.73468947e-02 5.51293635e+02] [ 3.68139956e-02 9.99322081e-01 -3.27438055e-04 7.91190184e+00] [ 1.73471893e-02 -3.11441713e-04 9.99849478e-01 6.61967455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.845099893 meters 0.013774237587305832 Centerline is valid? [True, True] Translation: X:551.32, Y:7.91, Z:6.62 [[ 9.99038036e-01 -4.04344231e-02 -1.69723287e-02 5.51323752e+02] [ 4.04348026e-02 9.99182127e-01 -3.20941726e-04 7.90830597e+00] [ 1.69714246e-02 -3.65639771e-04 9.99855908e-01 6.62025502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.875099893 meters 0.014926919596824741 Centerline is valid? [True, True] Translation: X:551.35, Y:7.90, Z:6.62 [[ 9.98881146e-01 -4.42485362e-02 -1.66889914e-02 5.51354998e+02] [ 4.42494413e-02 9.99020464e-01 -3.15211705e-04 7.90466350e+00] [ 1.66865916e-02 -4.23619516e-04 9.99860679e-01 6.62099165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9050998929999 meters 0.016075980504964418 Centerline is valid? [True, True] Translation: X:551.39, Y:7.90, Z:6.62 [[ 9.98712234e-01 -4.80444820e-02 -1.62972599e-02 5.51386166e+02] [ 4.80458593e-02 9.98845084e-01 -3.07242535e-04 7.90127051e+00] [ 1.62931993e-02 -4.76168978e-04 9.99867144e-01 6.62145620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9350998929999 meters 0.019686537766817117 Centerline is valid? [True, True] Translation: X:551.42, Y:7.89, Z:6.62 [[ 9.98306772e-01 -5.58059586e-02 -1.64098447e-02 5.51416032e+02] [ 5.58084081e-02 9.98441449e-01 -3.08980168e-04 7.89237570e+00] [ 1.64015121e-02 -6.07350316e-04 9.99865302e-01 6.62162430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.965099893 meters 0.021116254851206884 Centerline is valid? [True, True] Translation: X:551.45, Y:7.89, Z:6.62 [[ 9.98076550e-01 -5.97566785e-02 -1.65027339e-02 5.51446849e+02] [ 5.97596949e-02 9.98212744e-01 -3.10732052e-04 7.88927866e+00] [ 1.64918076e-02 -6.76063965e-04 9.99863772e-01 6.62170171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.995099893 meters 0.020322208150951156 Centerline is valid? [True, True] Translation: X:551.48, Y:7.89, Z:6.62 [[ 9.97840423e-01 -6.33997928e-02 -1.71742702e-02 5.51478280e+02] [ 6.34036106e-02 9.97987915e-01 -3.22653534e-04 7.88942117e+00] [ 1.71601703e-02 -7.66954003e-04 9.99852459e-01 6.62207967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.025099893 meters 0.021922780511774213 Centerline is valid? [True, True] Translation: X:551.51, Y:7.89, Z:6.62 [[ 9.97599104e-01 -6.70054137e-02 -1.75014849e-02 5.51509641e+02] [ 6.70099432e-02 9.97752254e-01 -3.28154659e-04 7.88632999e+00] [ 1.74841342e-02 -8.45406717e-04 9.99846783e-01 6.62188450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0550998929999 meters 0.027057213939080473 Centerline is valid? [True, True] Translation: X:551.54, Y:7.88, Z:6.62 [[ 9.97140135e-01 -7.34389178e-02 -1.78403208e-02 5.51539443e+02] [ 7.34446575e-02 9.97299238e-01 -3.34134038e-04 7.87758814e+00] [ 1.78166768e-02 -9.77097789e-04 9.99840793e-01 6.62159922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0850998929999 meters 0.025525528859954124 Centerline is valid? [True, True] Translation: X:551.57, Y:7.88, Z:6.62 [[ 9.96949859e-01 -7.59847289e-02 -1.78129321e-02 5.51570874e+02] [ 7.59908562e-02 9.97108459e-01 -3.33612152e-04 7.87941664e+00] [ 1.77867747e-02 -1.02102538e-03 9.99841281e-01 6.62265376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.115099893 meters 0.026479105346960085 Centerline is valid? [True, True] Translation: X:551.60, Y:7.88, Z:6.62 [[ 9.96737204e-01 -7.87639021e-02 -1.76407120e-02 5.51601817e+02] [ 7.87703545e-02 9.96892734e-01 -3.29846798e-04 7.87842440e+00] [ 1.76118776e-02 -1.06079456e-03 9.99844336e-01 6.62355622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.145099893 meters 0.026691614706358596 Centerline is valid? [True, True] Translation: X:551.63, Y:7.88, Z:6.62 [[ 9.96721022e-01 -7.88907743e-02 -1.79847262e-02 5.51633676e+02] [ 7.88975130e-02 9.96882676e-01 -3.35639964e-04 7.87904766e+00] [ 1.79551409e-02 -1.08441076e-03 9.99838205e-01 6.62393761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1750998929999 meters 0.024777736500456303 Centerline is valid? [True, True] Translation: X:551.67, Y:7.88, Z:6.62 [[ 9.96734820e-01 -7.85909249e-02 -1.85247103e-02 5.51665761e+02] [ 7.85980486e-02 9.96906329e-01 -3.44329445e-04 7.88283652e+00] [ 1.84944621e-02 -1.11280093e-03 9.99828344e-01 6.62474570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2050998929999 meters 0.027005524855030175 Centerline is valid? [True, True] Translation: X:551.70, Y:7.88, Z:6.62 [[ 9.96791371e-01 -7.78430308e-02 -1.86393488e-02 5.51697502e+02] [ 7.78501385e-02 9.96965013e-01 -3.45069377e-04 7.88120566e+00] [ 1.86096398e-02 -1.10711370e-03 9.99826213e-01 6.62477969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.235099893 meters 0.02663265003425296 Centerline is valid? [True, True] Translation: X:551.73, Y:7.88, Z:6.62 [[ 9.96960153e-01 -7.52907048e-02 -2.00440494e-02 5.51727637e+02] [ 7.52984330e-02 9.97160975e-01 -3.69953319e-04 7.88318812e+00] [ 2.00149979e-02 -1.14045680e-03 9.99799029e-01 6.62404167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.265099893 meters 0.025364248409921446 Centerline is valid? [True, True] Translation: X:551.76, Y:7.89, Z:6.62 [[ 9.97072006e-01 -7.36302809e-02 -2.06396879e-02 5.51758727e+02] [ 7.36381317e-02 9.97284955e-01 -3.80416511e-04 7.88594277e+00] [ 2.06116604e-02 -1.14056540e-03 9.99786907e-01 6.62396205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2950998929999 meters 0.02581964463701945 Centerline is valid? [True, True] Translation: X:551.79, Y:7.89, Z:6.62 [[ 9.97203157e-01 -7.17118482e-02 -2.10540939e-02 5.51789373e+02] [ 7.17196074e-02 9.97424758e-01 -3.87286078e-04 7.88650556e+00] [ 2.10276475e-02 -1.12378845e-03 9.99778263e-01 6.62411474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3250998929999 meters 0.022460293448836807 Centerline is valid? [True, True] Translation: X:551.82, Y:7.89, Z:6.63 [[ 9.97354084e-01 -6.95652771e-02 -2.11069663e-02 5.51820640e+02] [ 6.95726122e-02 9.97576815e-01 -3.87490126e-04 7.89281123e+00] [ 2.10827760e-02 -1.08200192e-03 9.99777148e-01 6.62529379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.355099893 meters 0.021826020588173362 Centerline is valid? [True, True] Translation: X:551.85, Y:7.90, Z:6.63 [[ 9.97725638e-01 -6.40089413e-02 -2.11283354e-02 5.51850406e+02] [ 6.40150551e-02 9.97948858e-01 -3.87542698e-04 7.89763214e+00] [ 2.11098044e-02 -9.65870269e-04 9.99776697e-01 6.62636558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.385099893 meters 0.021670800834241426 Centerline is valid? [True, True] Translation: X:551.88, Y:7.90, Z:6.63 [[ 9.97925051e-01 -6.08651251e-02 -2.10006743e-02 5.51881350e+02] [ 6.08704734e-02 9.98145599e-01 -3.85058118e-04 7.90024737e+00] [ 2.09851672e-02 -8.94061842e-04 9.99779387e-01 6.62716892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4150998929999 meters 0.019048868467091588 Centerline is valid? [True, True] Translation: X:551.91, Y:7.91, Z:6.63 [[ 9.98120794e-01 -5.75456402e-02 -2.10566005e-02 5.51912385e+02] [ 5.75502955e-02 9.98342534e-01 -3.85323961e-04 7.90657280e+00] [ 2.10438737e-02 -8.27213725e-04 9.99778211e-01 6.62863634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4450998929999 meters 0.01708716759611862 Centerline is valid? [True, True] Translation: X:551.94, Y:7.91, Z:6.63 [[ 9.98507010e-01 -5.04435218e-02 -2.09571335e-02 5.51941981e+02] [ 5.04465780e-02 9.98726687e-01 -3.83145235e-04 7.91384407e+00] [ 2.09497757e-02 -6.74642464e-04 9.99780302e-01 6.62994386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.475099893 meters 0.015343338960112095 Centerline is valid? [True, True] Translation: X:551.97, Y:7.92, Z:6.63 [[ 9.98680324e-01 -4.68707267e-02 -2.09939608e-02 5.51972538e+02] [ 4.68730022e-02 9.98900783e-01 -3.83947185e-04 7.91916035e+00] [ 2.09888797e-02 -6.00609471e-04 9.99779529e-01 6.63118616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.505099893 meters 0.014297846051301471 Centerline is valid? [True, True] Translation: X:552.00, Y:7.92, Z:6.63 [[ 9.98848543e-01 -4.31012263e-02 -2.10682797e-02 5.52003506e+02] [ 4.31026833e-02 9.99070573e-01 -3.85147402e-04 7.92335946e+00] [ 2.10652986e-02 -5.23395467e-04 9.99777965e-01 6.63190587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5350998929999 meters 0.013491292226114093 Centerline is valid? [True, True] Translation: X:552.03, Y:7.93, Z:6.63 [[ 9.98984926e-01 -3.96142222e-02 -2.14436927e-02 5.52033785e+02] [ 3.96149337e-02 9.99214944e-01 -3.91780525e-04 7.92706520e+00] [ 2.14423783e-02 -4.58107628e-04 9.99769981e-01 6.63222650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5650998929999 meters 0.012239759141951212 Centerline is valid? [True, True] Translation: X:552.06, Y:7.93, Z:6.63 [[ 9.99207330e-01 -3.30284210e-02 -2.22223950e-02 5.52063227e+02] [ 3.30275489e-02 9.99454359e-01 -4.06367118e-04 7.93410106e+00] [ 2.22236912e-02 -3.27906234e-04 9.99752970e-01 6.63314828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.595099893 meters 0.011857728572918723 Centerline is valid? [True, True] Translation: X:552.09, Y:7.94, Z:6.63 [[ 9.99278488e-01 -3.03804089e-02 -2.27933106e-02 5.52092048e+02] [ 3.03787315e-02 9.99538372e-01 -4.19927621e-04 7.93749258e+00] [ 2.27955462e-02 -2.72807225e-04 9.99740111e-01 6.63367498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.625099893 meters 0.01146055085665433 Centerline is valid? [True, True] Translation: X:552.12, Y:7.94, Z:6.63 [[ 9.99344535e-01 -2.79430314e-02 -2.30149183e-02 5.52120901e+02] [ 2.79405391e-02 9.99609494e-01 -4.29916828e-04 7.94070443e+00] [ 2.30179440e-02 -2.13414190e-04 9.99735029e-01 6.63417387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6550998929999 meters 0.011376179598474442 Centerline is valid? [True, True] Translation: X:552.15, Y:7.94, Z:6.63 [[ 9.99400332e-01 -2.55613480e-02 -2.33579386e-02 5.52149092e+02] [ 2.55579902e-02 9.99673243e-01 -4.42321104e-04 7.94326015e+00] [ 2.33616126e-02 -1.54926108e-04 9.99727068e-01 6.63405197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6850998929999 meters 0.011148407293999504 Centerline is valid? [True, True] Translation: X:552.18, Y:7.95, Z:6.63 [[ 9.99446945e-01 -2.35092018e-02 -2.35185327e-02 5.52176977e+02] [ 2.35050789e-02 9.99723615e-01 -4.51768006e-04 7.94609964e+00] [ 2.35226533e-02 -1.01286814e-04 9.99723299e-01 6.63492974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.715099893 meters 0.01108038588421893 Centerline is valid? [True, True] Translation: X:552.20, Y:7.95, Z:6.63 [[ 9.99541161e-01 -1.97777633e-02 -2.29413739e-02 5.52204338e+02] [ 1.97727549e-02 9.99804401e-01 -4.45149639e-04 7.94964979e+00] [ 2.29456906e-02 -8.66877680e-06 9.99736713e-01 6.63458315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.745099893 meters 0.010970384790304672 Centerline is valid? [True, True] Translation: X:552.23, Y:7.95, Z:6.64 [[ 9.99568556e-01 -1.87449965e-02 -2.26125309e-02 5.52231811e+02] [ 1.87397751e-02 9.99824297e-01 -4.42809102e-04 7.95110193e+00] [ 2.26168583e-02 1.88643123e-05 9.99744206e-01 6.63540697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.775099893 meters 0.011013601821587298 Centerline is valid? [True, True] Translation: X:552.26, Y:7.95, Z:6.64 [[ 9.99592420e-01 -1.79949809e-02 -2.21624409e-02 5.52258223e+02] [ 1.79896594e-02 9.99838076e-01 -4.39475958e-04 7.95247571e+00] [ 2.21667607e-02 4.06020718e-05 9.99754286e-01 6.63588178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8050998929999 meters 0.010903294103825685 Centerline is valid? [True, True] Translation: X:552.29, Y:7.95, Z:6.64 [[ 9.99618644e-01 -1.82960321e-02 -2.06838583e-02 5.52287347e+02] [ 1.82913688e-02 9.99832613e-01 -4.14637717e-04 7.95320152e+00] [ 2.06879823e-02 3.61435119e-05 9.99785980e-01 6.63752639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8350998929999 meters 0.010879169703889526 Centerline is valid? [True, True] Translation: X:552.32, Y:7.95, Z:6.64 [[ 9.99605056e-01 -1.97127609e-02 -2.00284595e-02 5.52315422e+02] [ 1.97085667e-02 9.99805685e-01 -4.06793896e-04 7.95288471e+00] [ 2.00325867e-02 1.19010062e-05 9.99799328e-01 6.63833627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.865099893 meters 0.010843184792031965 Centerline is valid? [True, True] Translation: X:552.34, Y:7.95, Z:6.64 [[ 9.99576671e-01 -2.15833124e-02 -1.95099854e-02 5.52343761e+02] [ 2.15795793e-02 9.99767053e-01 -4.01872520e-04 7.95215187e+00] [ 1.95141144e-02 -1.93148829e-05 9.99809581e-01 6.63872301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.895099893 meters 0.010964941095685247 Centerline is valid? [True, True] Translation: X:552.37, Y:7.95, Z:6.64 [[ 9.99485190e-01 -2.61125298e-02 -1.86411004e-02 5.52372094e+02] [ 2.61098345e-02 9.99659005e-01 -3.87994849e-04 7.94885608e+00] [ 1.86448754e-02 -9.89209407e-05 9.99826164e-01 6.63865539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9250998929999 meters 0.011357818762566977 Centerline is valid? [True, True] Translation: X:552.40, Y:7.95, Z:6.64 [[ 9.99394360e-01 -2.93589953e-02 -1.86805523e-02 5.52399665e+02] [ 2.93568241e-02 9.99568919e-01 -3.90502496e-04 7.94642689e+00] [ 1.86839642e-02 -1.58135695e-04 9.99825427e-01 6.63839459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9550998929999 meters 0.011357818762566977 Centerline is valid? [True, True] Translation: X:552.43, Y:7.95, Z:6.64 [[ 9.99393324e-01 -2.93942639e-02 -1.86805244e-02 5.52428812e+02] [ 2.93920740e-02 9.99567883e-01 -3.91832713e-04 7.94706737e+00] [ 1.86839698e-02 -1.57464357e-04 9.99825427e-01 6.63875543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.985099893 meters 0.011662655199750608 Centerline is valid? [True, True] Translation: X:552.46, Y:7.95, Z:6.64 [[ 9.99288445e-01 -3.28746924e-02 -1.84894317e-02 5.52458558e+02] [ 3.28731305e-02 9.99459457e-01 -3.88476683e-04 7.94524968e+00] [ 1.84922084e-02 -2.19605242e-04 9.99828980e-01 6.63896395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.015099893 meters 0.013125319702720921 Centerline is valid? [True, True] Translation: X:552.49, Y:7.94, Z:6.64 [[ 9.99020578e-01 -4.03827082e-02 -1.80865204e-02 5.52488837e+02] [ 4.03824336e-02 9.99184224e-01 -3.80548971e-04 7.94021382e+00] [ 1.80871334e-02 -3.50201456e-04 9.99836353e-01 6.63923944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0450998929999 meters 0.013874487666532126 Centerline is valid? [True, True] Translation: X:552.52, Y:7.94, Z:6.64 [[ 9.98864098e-01 -4.41457734e-02 -1.79350274e-02 5.52520397e+02] [ 4.41461092e-02 9.99025014e-01 -3.77379457e-04 7.93860951e+00] [ 1.79342007e-02 -4.14810888e-04 9.99839083e-01 6.63962200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0750998929999 meters 0.014650428615804283 Centerline is valid? [True, True] Translation: X:552.55, Y:7.94, Z:6.64 [[ 9.98693085e-01 -4.78259151e-02 -1.80223372e-02 5.52551504e+02] [ 4.78268648e-02 9.98855569e-01 -3.78560404e-04 7.93639524e+00] [ 1.80198169e-02 -4.83886225e-04 9.99837513e-01 6.63965598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.105099893 meters 0.015330674193980263 Centerline is valid? [True, True] Translation: X:552.58, Y:7.93, Z:6.64 [[ 9.98509124e-01 -5.14087569e-02 -1.83485620e-02 5.52582620e+02] [ 5.14103580e-02 9.98677539e-01 -3.84735168e-04 7.93449654e+00] [ 1.83440755e-02 -5.59144568e-04 9.99831577e-01 6.63965938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.135099893 meters 0.01756570065776799 Centerline is valid? [True, True] Translation: X:552.61, Y:7.93, Z:6.64 [[ 9.98166498e-01 -5.75171927e-02 -1.88524359e-02 5.52612764e+02] [ 5.75199796e-02 9.98344277e-01 -3.94833689e-04 7.92928669e+00] [ 1.88439312e-02 -6.90281964e-04 9.99822199e-01 6.63908687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1650998929999 meters 0.018891533142271953 Centerline is valid? [True, True] Translation: X:552.64, Y:7.93, Z:6.64 [[ 9.98035954e-01 -5.97083544e-02 -1.89511929e-02 5.52644016e+02] [ 5.97115766e-02 9.98215593e-01 -3.96286834e-04 7.92710511e+00] [ 1.89410379e-02 -7.36097096e-04 9.99820331e-01 6.63903426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1950998929999 meters 0.023072666947457483 Centerline is valid? [True, True] Translation: X:552.67, Y:7.92, Z:6.64 [[ 9.97846883e-01 -6.29792609e-02 -1.83087842e-02 5.52674010e+02] [ 6.29828478e-02 9.98014537e-01 -3.81214685e-04 7.92112656e+00] [ 1.82964414e-02 -7.72745481e-04 9.99832307e-01 6.63878288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.225099893 meters 0.020754515452890712 Centerline is valid? [True, True] Translation: X:552.71, Y:7.93, Z:6.64 [[ 9.97782387e-01 -6.40187881e-02 -1.82182065e-02 5.52706289e+02] [ 6.40225399e-02 9.97948381e-01 -3.77825475e-04 7.92521538e+00] [ 1.82050176e-02 -7.89388246e-04 9.99833963e-01 6.63973822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.255099893 meters 0.02262670272812176 Centerline is valid? [True, True] Translation: X:552.74, Y:7.92, Z:6.64 [[ 9.97745360e-01 -6.45988387e-02 -1.81985258e-02 5.52737435e+02] [ 6.46027004e-02 9.97910993e-01 -3.76219908e-04 7.92351503e+00] [ 1.81848123e-02 -8.00302241e-04 9.99834322e-01 6.63970977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2850998929999 meters 0.023008491440772494 Centerline is valid? [True, True] Translation: X:552.77, Y:7.92, Z:6.64 [[ 9.97710270e-01 -6.51819438e-02 -1.80424814e-02 5.52769155e+02] [ 6.51858519e-02 9.97873071e-01 -3.72041222e-04 7.92366091e+00] [ 1.80283567e-02 -8.04925175e-04 9.99837152e-01 6.63968684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3150998929999 meters 0.021364616876230487 Centerline is valid? [True, True] Translation: X:552.80, Y:7.93, Z:6.64 [[ 9.97697431e-01 -6.52759381e-02 -1.84089331e-02 5.52800812e+02] [ 6.52800427e-02 9.97866911e-01 -3.78502869e-04 7.92653510e+00] [ 1.83943723e-02 -8.24104600e-04 9.99830470e-01 6.63999708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.345099893 meters 0.021870439690625004 Centerline is valid? [True, True] Translation: X:552.83, Y:7.93, Z:6.64 [[ 9.97642515e-01 -6.59845933e-02 -1.88532692e-02 5.52832528e+02] [ 6.59890485e-02 9.97820272e-01 -3.86381804e-04 7.92739426e+00] [ 1.88376694e-02 -8.58638379e-04 9.99822187e-01 6.63958673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.375099893 meters 0.023040602294470237 Centerline is valid? [True, True] Translation: X:552.86, Y:7.93, Z:6.64 [[ 9.97609341e-01 -6.63713121e-02 -1.92471324e-02 5.52863395e+02] [ 6.63760474e-02 9.97794601e-01 -3.93409608e-04 7.92677311e+00] [ 1.92307959e-02 -8.85079469e-04 9.99814679e-01 6.63975590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4050998929999 meters 0.023522017315667502 Centerline is valid? [True, True] Translation: X:552.90, Y:7.93, Z:6.64 [[ 9.97560298e-01 -6.71308712e-02 -1.91546071e-02 5.52895903e+02] [ 6.71357224e-02 9.97743776e-01 -3.90386964e-04 7.92724941e+00] [ 1.91375970e-02 -8.96523847e-04 9.99816457e-01 6.63984200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4350998929999 meters 0.024111429564282433 Centerline is valid? [True, True] Translation: X:552.93, Y:7.93, Z:6.64 [[ 9.97490190e-01 -6.81229920e-02 -1.93023097e-02 5.52928139e+02] [ 6.81281298e-02 9.97676503e-01 -3.92037548e-04 7.92771390e+00] [ 1.92841676e-02 -9.23976651e-04 9.99813616e-01 6.63999031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.465099893 meters 0.02510662279662814 Centerline is valid? [True, True] Translation: X:552.96, Y:7.93, Z:6.64 [[ 9.97248774e-01 -7.13695463e-02 -2.00317570e-02 5.52958748e+02] [ 7.13757574e-02 9.97449416e-01 -4.05639147e-04 7.92846851e+00] [ 2.00096146e-02 -1.02525869e-03 9.99799262e-01 6.63953678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.495099893 meters 0.02292143722787728 Centerline is valid? [True, True] Translation: X:552.99, Y:7.93, Z:6.64 [[ 9.97111155e-01 -7.31590040e-02 -2.04231488e-02 5.52990928e+02] [ 7.31658572e-02 9.97319702e-01 -4.12453760e-04 7.93256283e+00] [ 2.03985834e-02 -1.08301494e-03 9.99791341e-01 6.64017520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.525099893 meters 0.028076224776663324 Centerline is valid? [True, True] Translation: X:553.02, Y:7.93, Z:6.64 [[ 9.96984933e-01 -7.46470613e-02 -2.11863054e-02 5.53021661e+02] [ 7.46548153e-02 9.97209345e-01 -4.25797868e-04 7.92625371e+00] [ 2.11589662e-02 -1.15714565e-03 9.99775454e-01 6.63879528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5550998929999 meters 0.027587383672045336 Centerline is valid? [True, True] Translation: X:553.05, Y:7.93, Z:6.64 [[ 9.96688453e-01 -7.82196781e-02 -2.22218242e-02 5.53053077e+02] [ 7.82291382e-02 9.96935306e-01 -4.44606890e-04 7.92890819e+00] [ 2.21884982e-02 -1.29525961e-03 9.99752966e-01 6.63898605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5850998929999 meters 0.025509687409676005 Centerline is valid? [True, True] Translation: X:553.09, Y:7.93, Z:6.64 [[ 9.96637559e-01 -7.88711925e-02 -2.22016009e-02 5.53085164e+02] [ 7.88808222e-02 9.96883955e-01 -4.43042433e-04 7.93324531e+00] [ 2.21673630e-02 -1.30972781e-03 9.99753416e-01 6.63981551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.615099893 meters 0.02732030831096907 Centerline is valid? [True, True] Translation: X:553.12, Y:7.93, Z:6.64 [[ 9.96623480e-01 -7.90440313e-02 -2.22189065e-02 5.53116124e+02] [ 7.90537643e-02 9.96870256e-01 -4.41337630e-04 7.93267869e+00] [ 2.21842521e-02 -1.31664075e-03 9.99753032e-01 6.64000800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.645099893 meters 0.025536834110765832 Centerline is valid? [True, True] Translation: X:553.15, Y:7.94, Z:6.64 [[ 9.96665686e-01 -7.84867792e-02 -2.23010098e-02 5.53147826e+02] [ 7.84964936e-02 9.96914292e-01 -4.40801548e-04 7.93709240e+00] [ 2.22667925e-02 -1.31121929e-03 9.99751204e-01 6.64114541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6750998929999 meters 0.02707683722757091 Centerline is valid? [True, True] Translation: X:553.18, Y:7.94, Z:6.64 [[ 9.96926299e-01 -7.52366759e-02 -2.18494365e-02 5.53177945e+02] [ 7.52452419e-02 9.97164965e-01 -4.30987533e-04 7.93914504e+00] [ 2.18199187e-02 -1.21440333e-03 9.99761180e-01 6.64258073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7050998929999 meters 0.02417792599050301 Centerline is valid? [True, True] Translation: X:553.21, Y:7.95, Z:6.64 [[ 9.97161326e-01 -7.22779780e-02 -2.10993614e-02 5.53209736e+02] [ 7.22853182e-02 9.97383908e-01 -4.15575508e-04 7.94588316e+00] [ 2.10742005e-02 -1.11077823e-03 9.99777297e-01 6.64438727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.735099893 meters 0.025043219682749782 Centerline is valid? [True, True] Translation: X:553.24, Y:7.95, Z:6.65 [[ 9.97409063e-01 -6.90322481e-02 -2.02412783e-02 5.53239299e+02] [ 6.90383506e-02 9.97613927e-01 -3.97978424e-04 7.94753850e+00] [ 2.02204545e-02 -1.00047718e-03 9.99795045e-01 6.64540698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.765099893 meters 0.018658053723624876 Centerline is valid? [True, True] Translation: X:553.27, Y:7.96, Z:6.65 [[ 9.97953413e-01 -6.10043663e-02 -1.91690510e-02 5.53269773e+02] [ 6.10083564e-02 9.98137184e-01 -3.77112864e-04 7.96162676e+00] [ 1.91563481e-02 -7.93131224e-04 9.99816186e-01 6.64828244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7950998929999 meters 0.017986766016569317 Centerline is valid? [True, True] Translation: X:553.30, Y:7.97, Z:6.65 [[ 9.98193182e-01 -5.69795839e-02 -1.90708551e-02 5.53300002e+02] [ 5.69828135e-02 9.98375089e-01 -3.74455663e-04 7.96538691e+00] [ 1.90612030e-02 -7.12931891e-04 9.99818065e-01 6.64933905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8250998929999 meters 0.01765603171477996 Centerline is valid? [True, True] Translation: X:553.33, Y:7.97, Z:6.65 [[ 9.98428872e-01 -5.27447646e-02 -1.89150140e-02 5.53330096e+02] [ 5.27472103e-02 9.98607828e-01 -3.69925852e-04 7.96834386e+00] [ 1.89081927e-02 -6.28369567e-04 9.99821027e-01 6.64974767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.855099893 meters 0.015418443304382395 Centerline is valid? [True, True] Translation: X:553.36, Y:7.97, Z:6.65 [[ 9.98631100e-01 -4.87308504e-02 -1.90060672e-02 5.53361571e+02] [ 4.87326048e-02 9.98811792e-01 -3.71111082e-04 7.97474153e+00] [ 1.90015685e-02 -5.55612091e-04 9.99819300e-01 6.65042276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.885099893 meters 0.013843162747984656 Centerline is valid? [True, True] Translation: X:553.39, Y:7.98, Z:6.65 [[ 9.98937330e-01 -4.13952185e-02 -2.02644181e-02 5.53391567e+02] [ 4.13957191e-02 9.99142752e-01 -3.94952628e-04 7.98143434e+00] [ 2.02633956e-02 -4.44327236e-04 9.99794578e-01 6.65066580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9150998929999 meters 0.013130817083043424 Centerline is valid? [True, True] Translation: X:553.42, Y:7.99, Z:6.65 [[ 9.99048462e-01 -3.82213932e-02 -2.10070187e-02 5.53422873e+02] [ 3.82212364e-02 9.99269218e-01 -4.09111893e-04 7.98535132e+00] [ 2.10073040e-02 -3.94191621e-04 9.99779245e-01 6.65094356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9450998929999 meters 0.013460935338063048 Centerline is valid? [True, True] Translation: X:553.45, Y:7.99, Z:6.65 [[ 9.99149047e-01 -3.49616686e-02 -2.18829344e-02 5.53452889e+02] [ 3.49607272e-02 9.99388596e-01 -4.25702595e-04 7.98640094e+00] [ 2.18844384e-02 -3.39702958e-04 9.99760449e-01 6.65000834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.975099893 meters 0.012154796663357592 Centerline is valid? [True, True] Translation: X:553.48, Y:7.99, Z:6.65 [[ 9.99222393e-01 -3.21184655e-02 -2.28694933e-02 5.53483261e+02] [ 3.21166929e-02 9.99484027e-01 -4.44894750e-04 7.99165239e+00] [ 2.28719826e-02 -2.89943696e-04 9.99738360e-01 6.65125980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.005099893 meters 0.011507952928669333 Centerline is valid? [True, True] Translation: X:553.51, Y:8.00, Z:6.65 [[ 9.99347389e-01 -2.66682861e-02 -2.43638662e-02 5.53512201e+02] [ 2.66645803e-02 9.99644323e-01 -4.77022232e-04 7.99714736e+00] [ 2.43679219e-02 -1.72941346e-04 9.99703043e-01 6.65186675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0350998929999 meters 0.011453705692269302 Centerline is valid? [True, True] Translation: X:553.54, Y:8.00, Z:6.65 [[ 9.99401116e-01 -2.39434709e-02 -2.49823880e-02 5.53540274e+02] [ 2.39386008e-02 9.99713309e-01 -4.94033571e-04 7.99966758e+00] [ 2.49870547e-02 -1.04305712e-04 9.99687769e-01 6.65176742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0650998929999 meters 0.011366194990635391 Centerline is valid? [True, True] Translation: X:553.57, Y:8.00, Z:6.65 [[ 9.99446069e-01 -2.14959326e-02 -2.54062849e-02 5.53567678e+02] [ 2.14899661e-02 9.99768935e-01 -5.07883448e-04 8.00242583e+00] [ 2.54113319e-02 -3.83780867e-05 9.99677079e-01 6.65289949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.095099893 meters 0.011386744200911519 Centerline is valid? [True, True] Translation: X:553.60, Y:8.00, Z:6.65 [[ 9.99484928e-01 -1.91273613e-02 -2.57686321e-02 5.53595185e+02] [ 1.91202419e-02 9.99817055e-01 -5.22666723e-04 8.00476415e+00] [ 2.57739151e-02 2.96950324e-05 9.99667797e-01 6.65336934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.125099893 meters 0.011557420620000789 Centerline is valid? [True, True] Translation: X:553.62, Y:8.01, Z:6.65 [[ 9.99525886e-01 -1.67370200e-02 -2.58432938e-02 5.53622761e+02] [ 1.67289363e-02 9.99859922e-01 -5.28982732e-04 8.00710300e+00] [ 2.58485273e-02 9.64011175e-05 9.99665866e-01 6.65362281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1550998929999 meters 0.01187633701036868 Centerline is valid? [True, True] Translation: X:553.65, Y:8.01, Z:6.65 [[ 9.99591170e-01 -1.28014644e-02 -2.55659043e-02 5.53650860e+02] [ 1.27922084e-02 9.99918038e-01 -5.25569117e-04 8.01067034e+00] [ 2.55705369e-02 1.98309873e-04 9.99673001e-01 6.65484499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1850998929999 meters 0.012195063687891392 Centerline is valid? [True, True] Translation: X:553.68, Y:8.01, Z:6.66 [[ 9.99612919e-01 -1.11155047e-02 -2.55040568e-02 5.53678447e+02] [ 1.11056876e-02 9.99938191e-01 -5.26538229e-04 8.01200747e+00] [ 2.55083332e-02 2.43094327e-04 9.99674580e-01 6.65533896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.215099893 meters 0.01230987870339898 Centerline is valid? [True, True] Translation: X:553.71, Y:8.01, Z:6.66 [[ 9.99635860e-01 -1.03083546e-02 -2.49376173e-02 5.53706123e+02] [ 1.02986037e-02 9.99946833e-01 -5.19417232e-04 8.01277834e+00] [ 2.49416457e-02 2.62405455e-04 9.99688874e-01 6.65625150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.245099893 meters 0.012103384156472632 Centerline is valid? [True, True] Translation: X:553.73, Y:8.01, Z:6.66 [[ 9.99661362e-01 -1.01472611e-02 -2.39623663e-02 5.53733971e+02] [ 1.01380523e-02 9.99948481e-01 -5.05756487e-04 8.01184611e+00] [ 2.39662639e-02 2.62653495e-04 9.99712733e-01 6.65795752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.275099893 meters 0.012172544105834253 Centerline is valid? [True, True] Translation: X:553.76, Y:8.01, Z:6.66 [[ 9.99658203e-01 -1.06071157e-02 -2.38949119e-02 5.53760455e+02] [ 1.05979712e-02 9.99943710e-01 -5.09306088e-04 8.01130343e+00] [ 2.38989691e-02 2.55894421e-04 9.99714346e-01 6.65821518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3050998929999 meters 0.012168765143895937 Centerline is valid? [True, True] Translation: X:553.79, Y:8.01, Z:6.66 [[ 9.99653102e-01 -1.16416444e-02 -2.36251433e-02 5.53789281e+02] [ 1.16328924e-02 9.99932207e-01 -5.07855536e-04 8.01032427e+00] [ 2.36294539e-02 2.32850611e-04 9.99720758e-01 6.65845135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3350998929999 meters 0.011965047388488944 Centerline is valid? [True, True] Translation: X:553.82, Y:8.01, Z:6.66 [[ 9.99627941e-01 -1.30787380e-02 -2.39358920e-02 5.53817680e+02] [ 1.30700129e-02 9.99914448e-01 -5.20933086e-04 8.00874817e+00] [ 2.39406574e-02 2.07896849e-04 9.99713360e-01 6.65926101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.365099893 meters 0.011588659013901038 Centerline is valid? [True, True] Translation: X:553.85, Y:8.00, Z:6.66 [[ 9.99581925e-01 -1.65976719e-02 -2.36747191e-02 5.53846650e+02] [ 1.65900211e-02 9.99862241e-01 -5.19550689e-04 8.00454208e+00] [ 2.36800811e-02 1.26569387e-04 9.99719580e-01 6.65926658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.395099893 meters 0.011473364475701096 Centerline is valid? [True, True] Translation: X:553.87, Y:8.00, Z:6.66 [[ 9.99527058e-01 -1.90643718e-02 -2.41290264e-02 5.53874477e+02] [ 1.90570394e-02 9.99818256e-01 -5.33818041e-04 8.00184752e+00] [ 2.41348179e-02 7.37377711e-05 9.99708710e-01 6.65930812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4250998929999 meters 0.011397204898338018 Centerline is valid? [True, True] Translation: X:553.90, Y:8.00, Z:6.66 [[ 9.99471441e-01 -2.19511683e-02 -2.39788336e-02 5.53901961e+02] [ 2.19445926e-02 9.99759044e-01 -5.37367127e-04 7.99923238e+00] [ 2.39848516e-02 1.08773627e-05 9.99712322e-01 6.65862483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4550998929999 meters 0.011400267797930576 Centerline is valid? [True, True] Translation: X:553.93, Y:8.00, Z:6.66 [[ 9.99402780e-01 -2.46926680e-02 -2.41734416e-02 5.53930052e+02] [ 2.46866168e-02 9.99695088e-01 -5.48763827e-04 7.99671043e+00] [ 2.41796213e-02 -4.83243942e-05 9.99707629e-01 6.65914401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.485099893 meters 0.011763771969726214 Centerline is valid? [True, True] Translation: X:553.96, Y:7.99, Z:6.66 [[ 9.99247666e-01 -2.99352748e-02 -2.46572767e-02 5.53957839e+02] [ 2.99304400e-02 9.99551824e-01 -5.65194979e-04 7.99093544e+00] [ 2.46631452e-02 -1.73233379e-04 9.99695803e-01 6.65787887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.515099893 meters 0.012103270504520328 Centerline is valid? [True, True] Translation: X:553.99, Y:7.99, Z:6.66 [[ 9.99170112e-01 -3.23508640e-02 -2.47489072e-02 5.53985899e+02] [ 3.23466487e-02 9.99476547e-01 -5.70741365e-04 7.98814942e+00] [ 2.47544163e-02 -2.30276493e-04 9.99693536e-01 6.65758549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5450998929999 meters 0.012693305000422268 Centerline is valid? [True, True] Translation: X:554.01, Y:7.98, Z:6.66 [[ 9.99040404e-01 -3.68883906e-02 -2.36118244e-02 5.54014708e+02] [ 3.68857171e-02 9.99319340e-01 -5.48893102e-04 7.98287631e+00] [ 2.36160006e-02 -3.22572691e-04 9.99721051e-01 6.65782285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5750998929999 meters 0.01281844763694832 Centerline is valid? [True, True] Translation: X:554.04, Y:7.98, Z:6.66 [[ 9.98968809e-01 -3.88465087e-02 -2.35003700e-02 5.54043874e+02] [ 3.88442649e-02 9.99245124e-01 -5.52137536e-04 7.98168888e+00] [ 2.35040788e-02 -3.61286422e-04 9.99723676e-01 6.65845216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.605099893 meters 0.013050086525823528 Centerline is valid? [True, True] Translation: X:554.07, Y:7.98, Z:6.66 [[ 9.98910908e-01 -4.03309991e-02 -2.34607918e-02 5.54073219e+02] [ 4.03290898e-02 9.99186297e-01 -5.54713764e-04 7.98012965e+00] [ 2.34640739e-02 -3.92042751e-04 9.99724604e-01 6.65838771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.635099893 meters 0.01323768659206486 Centerline is valid? [True, True] Translation: X:554.10, Y:7.98, Z:6.66 [[ 9.98849196e-01 -4.18968992e-02 -2.33438112e-02 5.54102999e+02] [ 4.18954167e-02 9.99121849e-01 -5.52787190e-04 7.97893537e+00] [ 2.33464719e-02 -4.25847658e-04 9.99727343e-01 6.65881042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6650998929999 meters 0.01364573492501756 Centerline is valid? [True, True] Translation: X:554.13, Y:7.98, Z:6.66 [[ 9.98782247e-01 -4.35604392e-02 -2.31627210e-02 5.54133655e+02] [ 4.35594163e-02 9.99050687e-01 -5.48943680e-04 7.97745806e+00] [ 2.31646446e-02 -4.60679403e-04 9.99731557e-01 6.65924841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6950998929999 meters 0.014759904718356098 Centerline is valid? [True, True] Translation: X:554.16, Y:7.97, Z:6.66 [[ 9.98614333e-01 -4.76456206e-02 -2.23452352e-02 5.54163993e+02] [ 4.76456904e-02 9.98864159e-01 -5.29569719e-04 7.97355890e+00] [ 2.23450862e-02 -5.35818247e-04 9.99750174e-01 6.65904150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.725099893 meters 0.015760450454928254 Centerline is valid? [True, True] Translation: X:554.19, Y:7.97, Z:6.66 [[ 9.98503621e-01 -4.99138056e-02 -2.23412286e-02 5.54194697e+02] [ 4.99144467e-02 9.98753357e-01 -5.29295917e-04 7.97095658e+00] [ 2.23397963e-02 -5.86646177e-04 9.99750263e-01 6.65874897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.755099893 meters 0.016696670753428032 Centerline is valid? [True, True] Translation: X:554.23, Y:7.97, Z:6.66 [[ 9.98370014e-01 -5.24408124e-02 -2.25227923e-02 5.54225975e+02] [ 5.24421195e-02 9.98623823e-01 -5.33014228e-04 7.96884217e+00] [ 2.25197487e-02 -6.48997544e-04 9.99746188e-01 6.65842205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7850998929999 meters 0.016997872367181564 Centerline is valid? [True, True] Translation: X:554.26, Y:7.97, Z:6.66 [[ 9.98114507e-01 -5.71731867e-02 -2.23306464e-02 5.54256675e+02] [ 5.71756710e-02 9.98363994e-01 -5.27723042e-04 7.96648595e+00] [ 2.23242849e-02 -7.50041665e-04 9.99750501e-01 6.65848386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8150998929999 meters 0.018226120824677217 Centerline is valid? [True, True] Translation: X:554.29, Y:7.96, Z:6.66 [[ 9.97980184e-01 -5.93830605e-02 -2.25655488e-02 5.54287420e+02] [ 5.93861744e-02 9.98234942e-01 -5.32700595e-04 7.96394673e+00] [ 2.25573526e-02 -8.08456975e-04 9.99745224e-01 6.65803515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.845099893 meters 0.018226120824677217 Centerline is valid? [True, True] Translation: X:554.32, Y:7.96, Z:6.66 [[ 9.97984483e-01 -5.93107647e-02 -2.25655715e-02 5.54319122e+02] [ 5.93138819e-02 9.98239240e-01 -5.31737010e-04 7.96463766e+00] [ 2.25573767e-02 -8.07786356e-04 9.99745224e-01 6.65842722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.875099893 meters 0.018961195981075932 Centerline is valid? [True, True] Translation: X:554.35, Y:7.96, Z:6.66 [[ 9.97852370e-01 -6.14911849e-02 -2.25717003e-02 5.54349974e+02] [ 6.14948851e-02 9.98107257e-01 -5.30800847e-04 7.96306977e+00] [ 2.25616175e-02 -8.58383236e-04 9.99745086e-01 6.65834162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9050998929999 meters 0.01974234535200938 Centerline is valid? [True, True] Translation: X:554.38, Y:7.96, Z:6.66 [[ 9.97741903e-01 -6.32082778e-02 -2.27114325e-02 5.54381613e+02] [ 6.32124816e-02 9.97999949e-01 -5.33489684e-04 7.96180848e+00] [ 2.26997295e-02 -9.03361000e-04 9.99741920e-01 6.65842160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9350998929999 meters 0.021288810844622214 Centerline is valid? [True, True] Translation: X:554.41, Y:7.96, Z:6.66 [[ 9.97660182e-01 -6.45025853e-02 -2.26622438e-02 5.54412665e+02] [ 6.45071268e-02 9.97917105e-01 -5.31336183e-04 7.95975440e+00] [ 2.26493132e-02 -9.31783279e-04 9.99743037e-01 6.65833386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.965099893 meters 0.020489801516082755 Centerline is valid? [True, True] Translation: X:554.45, Y:7.96, Z:6.66 [[ 9.97604625e-01 -6.54489231e-02 -2.23931029e-02 5.54445163e+02] [ 6.54536262e-02 9.97855475e-01 -5.23642079e-04 7.96156094e+00] [ 2.23793522e-02 -9.43322029e-04 9.99749106e-01 6.65928808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.995099893 meters 0.020324472995090447 Centerline is valid? [True, True] Translation: X:554.48, Y:7.96, Z:6.66 [[ 9.97567773e-01 -6.61107667e-02 -2.20885595e-02 5.54477307e+02] [ 6.61155398e-02 9.97811841e-01 -5.14927273e-04 7.96234469e+00] [ 2.20742685e-02 -9.46722184e-04 9.99755885e-01 6.66040166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.025099893 meters 0.02062041034669052 Centerline is valid? [True, True] Translation: X:554.51, Y:7.96, Z:6.66 [[ 9.97610534e-01 -6.55724119e-02 -2.17596135e-02 5.54509088e+02] [ 6.55769502e-02 9.97847387e-01 -5.05688779e-04 7.96258151e+00] [ 2.17459327e-02 -9.22448638e-04 9.99763104e-01 6.66056025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0550998929999 meters 0.022645525297966675 Centerline is valid? [True, True] Translation: X:554.54, Y:7.96, Z:6.66 [[ 9.97670208e-01 -6.48149228e-02 -2.12880568e-02 5.54540227e+02] [ 6.48191231e-02 9.97896907e-01 -4.93371637e-04 7.96016861e+00] [ 2.12752639e-02 -8.87650989e-04 9.99773262e-01 6.66043108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0850998929999 meters 0.01900266008016131 Centerline is valid? [True, True] Translation: X:554.57, Y:7.97, Z:6.66 [[ 9.97834970e-01 -6.23454669e-02 -2.09383883e-02 5.54571830e+02] [ 6.23490111e-02 9.98054290e-01 -4.84138199e-04 7.96695600e+00] [ 2.09278321e-02 -8.22397777e-04 9.99780651e-01 6.66181972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.115099893 meters 0.02162960707574412 Centerline is valid? [True, True] Translation: X:554.60, Y:7.96, Z:6.66 [[ 9.97941908e-01 -6.06436528e-02 -2.08397715e-02 5.54603132e+02] [ 6.06468326e-02 9.98159171e-01 -4.79965540e-04 7.96421589e+00] [ 2.08305160e-02 -7.84888409e-04 9.99782713e-01 6.66101135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.145099893 meters 0.021080906599265693 Centerline is valid? [True, True] Translation: X:554.63, Y:7.97, Z:6.66 [[ 9.98049206e-01 -5.88560936e-02 -2.08264823e-02 5.54634703e+02] [ 5.88589235e-02 9.98266196e-01 -4.77602669e-04 7.96637726e+00] [ 2.08184831e-02 -7.49153366e-04 9.99782991e-01 6.66125159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1750998929999 meters 0.02085489951917075 Centerline is valid? [True, True] Translation: X:554.67, Y:7.97, Z:6.66 [[ 9.98136570e-01 -5.73020382e-02 -2.09729181e-02 5.54665317e+02] [ 5.73045774e-02 9.98356627e-01 -4.80390917e-04 7.96811942e+00] [ 2.09659791e-02 -7.22348466e-04 9.99779929e-01 6.66135939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2050998929999 meters 0.017105618263306623 Centerline is valid? [True, True] Translation: X:554.70, Y:7.98, Z:6.66 [[ 9.98338815e-01 -5.37669756e-02 -2.07056135e-02 5.54697076e+02] [ 5.37687046e-02 9.98553305e-01 -4.73607333e-04 7.97630305e+00] [ 2.07011232e-02 -6.40493431e-04 9.99785504e-01 6.66281468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.235099893 meters 0.01680925901995538 Centerline is valid? [True, True] Translation: X:554.73, Y:7.98, Z:6.66 [[ 9.98430879e-01 -5.20267785e-02 -2.07121983e-02 5.54727989e+02] [ 5.20281546e-02 9.98645506e-01 -4.72783771e-04 7.97799122e+00] [ 2.07087412e-02 -6.05575540e-04 9.99785368e-01 6.66305884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.265099893 meters 0.016303780142093695 Centerline is valid? [True, True] Translation: X:554.76, Y:7.98, Z:6.66 [[ 9.98506727e-01 -5.06252563e-02 -2.05280181e-02 5.54759743e+02] [ 5.06263303e-02 9.98717556e-01 -4.67695595e-04 7.98000919e+00] [ 2.05253692e-02 -5.72261025e-04 9.99789169e-01 6.66335889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2950998929999 meters 0.016126676232645718 Centerline is valid? [True, True] Translation: X:554.79, Y:7.98, Z:6.66 [[ 9.98639191e-01 -4.81759552e-02 -1.99710921e-02 5.54789991e+02] [ 4.81764979e-02 9.98838735e-01 -4.54218411e-04 7.98194328e+00] [ 1.99697827e-02 -5.08536970e-04 9.99800455e-01 6.66423634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3250998929999 meters 0.01589952742922165 Centerline is valid? [True, True] Translation: X:554.82, Y:7.98, Z:6.67 [[ 9.98697930e-01 -4.70644319e-02 -1.96820458e-02 5.54821416e+02] [ 4.70647528e-02 9.98891740e-01 -4.47165621e-04 7.98388570e+00] [ 1.96812786e-02 -4.79747241e-04 9.99806190e-01 6.66503432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.355099893 meters 0.015701258078223868 Centerline is valid? [True, True] Translation: X:554.85, Y:7.99, Z:6.67 [[ 9.98732301e-01 -4.65139956e-02 -1.92416108e-02 5.54853221e+02] [ 4.65142154e-02 9.98917533e-01 -4.36361322e-04 7.98575902e+00] [ 1.92410793e-02 -4.59200281e-04 9.99814768e-01 6.66575195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.385099893 meters 0.016039177475230055 Centerline is valid? [True, True] Translation: X:554.88, Y:7.99, Z:6.67 [[ 9.98773847e-01 -4.60132799e-02 -1.82641779e-02 5.54884404e+02] [ 4.60134114e-02 9.98940737e-01 -4.13252339e-04 7.98600714e+00] [ 1.82638464e-02 -4.27651502e-04 9.99833111e-01 6.66634034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4150998929999 meters 0.015860845435920888 Centerline is valid? [True, True] Translation: X:554.92, Y:7.99, Z:6.67 [[ 9.98793672e-01 -4.59721033e-02 -1.72559067e-02 5.54916600e+02] [ 4.59722313e-02 9.98942642e-01 -3.89468921e-04 7.98725062e+00] [ 1.72555657e-02 -4.04293440e-04 9.99851030e-01 6.66734695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4450998929999 meters 0.016381691423713988 Centerline is valid? [True, True] Translation: X:554.95, Y:7.99, Z:6.67 [[ 9.98750832e-01 -4.71866472e-02 -1.64376560e-02 5.54948937e+02] [ 4.71869461e-02 9.98886007e-01 -3.69880509e-04 7.98720945e+00] [ 1.64367980e-02 -4.06224325e-04 9.99864824e-01 6.66796191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.475099893 meters 0.017059045738619043 Centerline is valid? [True, True] Translation: X:554.98, Y:7.99, Z:6.67 [[ 9.98683696e-01 -4.84803556e-02 -1.67490334e-02 5.54981522e+02] [ 4.84808677e-02 9.98824041e-01 -3.75692938e-04 7.98653667e+00] [ 1.67475509e-02 -4.36809259e-04 9.99859655e-01 6.66789392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.505099893 meters 0.016954459942815966 Centerline is valid? [True, True] Translation: X:555.01, Y:7.99, Z:6.67 [[ 9.98458093e-01 -5.30754716e-02 -1.62613293e-02 5.55013112e+02] [ 5.30765791e-02 9.98590379e-01 -3.63769743e-04 7.98708608e+00] [ 1.62577143e-02 -4.99886888e-04 9.99867710e-01 6.66811577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5350998929999 meters 0.017719103803964256 Centerline is valid? [True, True] Translation: X:555.04, Y:7.99, Z:6.67 [[ 9.98314079e-01 -5.57002517e-02 -1.63242570e-02 5.55044826e+02] [ 5.57017292e-02 9.98447387e-01 -3.64502043e-04 7.98627526e+00] [ 1.63192146e-02 -5.45401821e-04 9.99866684e-01 6.66838273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5650998929999 meters 0.019411906679870385 Centerline is valid? [True, True] Translation: X:555.08, Y:7.98, Z:6.67 [[ 9.98128781e-01 -5.88774102e-02 -1.65041357e-02 5.55076328e+02] [ 5.88793694e-02 9.98265037e-01 -3.67600078e-04 7.98402015e+00] [ 1.64971449e-02 -6.04840883e-04 9.99863730e-01 6.66854188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.595099893 meters 0.020351529760593665 Centerline is valid? [True, True] Translation: X:555.11, Y:7.98, Z:6.67 [[ 9.97926144e-01 -6.20397699e-02 -1.71603459e-02 5.55107523e+02] [ 6.20423699e-02 9.98073444e-01 -3.81337301e-04 7.98305705e+00] [ 1.71509436e-02 -6.84122067e-04 9.99852678e-01 6.66878425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.625099893 meters 0.02315930094693073 Centerline is valid? [True, True] Translation: X:555.14, Y:7.98, Z:6.67 [[ 9.97496815e-01 -6.86281804e-02 -1.70375385e-02 5.55137411e+02] [ 6.86317107e-02 9.97641993e-01 -3.78096451e-04 7.97949379e+00] [ 1.70233119e-02 -7.92165405e-04 9.99854779e-01 6.66949937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6550998929999 meters 0.023573665185207014 Centerline is valid? [True, True] Translation: X:555.17, Y:7.98, Z:6.67 [[ 9.97300619e-01 -7.13927735e-02 -1.71624003e-02 5.55168932e+02] [ 7.13967702e-02 9.97447922e-01 -3.80510328e-04 7.97980251e+00] [ 1.71457662e-02 -8.45856763e-04 9.99852643e-01 6.67044720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6850998929999 meters 0.026002262248633477 Centerline is valid? [True, True] Translation: X:555.20, Y:7.98, Z:6.67 [[ 9.97141053e-01 -7.35542863e-02 -1.73057240e-02 5.55200074e+02] [ 7.35586871e-02 9.97290817e-01 -3.82969078e-04 7.97718794e+00] [ 1.72870087e-02 -8.91112151e-04 9.99850171e-01 6.67102563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.715099893 meters 0.027435780545079023 Centerline is valid? [True, True] Translation: X:555.23, Y:7.98, Z:6.67 [[ 9.97021229e-01 -7.52665718e-02 -1.68408015e-02 5.55230934e+02] [ 7.52709964e-02 9.97163045e-01 -3.71871328e-04 7.97602302e+00] [ 1.68210144e-02 -8.96860299e-04 9.99858114e-01 6.67180123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.745099893 meters 0.025905246583208332 Centerline is valid? [True, True] Translation: X:555.26, Y:7.98, Z:6.67 [[ 9.96917834e-01 -7.68051955e-02 -1.59935753e-02 5.55262530e+02] [ 7.68093932e-02 9.97045733e-01 -3.52550676e-04 7.98018696e+00] [ 1.59734038e-02 -8.76992760e-04 9.99872032e-01 6.67340379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.775099893 meters 0.025262235923781507 Centerline is valid? [True, True] Translation: X:555.30, Y:7.98, Z:6.67 [[ 9.96928718e-01 -7.67882136e-02 -1.53851308e-02 5.55295798e+02] [ 7.67921110e-02 9.97047069e-01 -3.38156249e-04 7.98281936e+00] [ 1.53656659e-02 -8.44338994e-04 9.99881585e-01 6.67401655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8050998929999 meters 0.02946813318290608 Centerline is valid? [True, True] Translation: X:555.33, Y:7.98, Z:6.67 [[ 9.96951465e-01 -7.65574738e-02 -1.50575690e-02 5.55326882e+02] [ 7.65612063e-02 9.97064829e-01 -3.29257679e-04 7.97872134e+00] [ 1.50385796e-02 -8.24571723e-04 9.99886574e-01 6.67408737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8350998929999 meters 0.024772359082236396 Centerline is valid? [True, True] Translation: X:555.36, Y:7.99, Z:6.67 [[ 9.97060477e-01 -7.51879627e-02 -1.47369055e-02 5.55358535e+02] [ 7.51914151e-02 9.97169067e-01 -3.20449428e-04 7.98786488e+00] [ 1.47192802e-02 -7.88581319e-04 9.99891355e-01 6.67466674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.865099893 meters 0.026978300564886818 Centerline is valid? [True, True] Translation: X:555.39, Y:7.99, Z:6.68 [[ 9.97117319e-01 -7.43849956e-02 -1.49641051e-02 5.55389770e+02] [ 7.43884810e-02 9.97229286e-01 -3.24330082e-04 7.98663036e+00] [ 1.49467691e-02 -7.89761905e-04 9.99887979e-01 6.67500715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.895099893 meters 0.026555707805929557 Centerline is valid? [True, True] Translation: X:555.42, Y:7.99, Z:6.68 [[ 9.97180450e-01 -7.35255640e-02 -1.50046870e-02 5.55422090e+02] [ 7.35289842e-02 9.97293028e-01 -3.24347848e-04 7.98914094e+00] [ 1.49879176e-02 -7.79846058e-04 9.99887371e-01 6.67549912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9250998929999 meters 0.023981432174382016 Centerline is valid? [True, True] Translation: X:555.45, Y:7.99, Z:6.68 [[ 9.97228853e-01 -7.29014070e-02 -1.48323794e-02 5.55454342e+02] [ 7.29046957e-02 9.97338861e-01 -3.19578215e-04 7.99457834e+00] [ 1.48162061e-02 -7.62657490e-04 9.99889943e-01 6.67618717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9550998929999 meters 0.025840436102978103 Centerline is valid? [True, True] Translation: X:555.49, Y:8.00, Z:6.68 [[ 9.97353142e-01 -7.11950610e-02 -1.47639392e-02 5.55485915e+02] [ 7.11981487e-02 9.97462141e-01 -3.17029253e-04 7.99575684e+00] [ 1.47490413e-02 -7.34975018e-04 9.99890957e-01 6.67651779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.985099893 meters 0.02375412125790828 Centerline is valid? [True, True] Translation: X:555.52, Y:8.00, Z:6.68 [[ 9.97425104e-01 -7.01597007e-02 -1.48586202e-02 5.55517591e+02] [ 7.01627297e-02 9.97535508e-01 -3.17985472e-04 8.00138753e+00] [ 1.48443110e-02 -7.25354661e-04 9.99889554e-01 6.67738347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.015099893 meters 0.02199195241418125 Centerline is valid? [True, True] Translation: X:555.55, Y:8.01, Z:6.68 [[ 9.97507331e-01 -6.89892622e-02 -1.48190889e-02 5.55550006e+02] [ 6.89921620e-02 9.97617152e-01 -3.16066864e-04 8.00675835e+00] [ 1.48055825e-02 -7.07121968e-04 9.99890141e-01 6.67808207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0450998929999 meters 0.022067296674880863 Centerline is valid? [True, True] Translation: X:555.58, Y:8.01, Z:6.68 [[ 9.97618977e-01 -6.72769767e-02 -1.51718245e-02 5.55580997e+02] [ 6.72798352e-02 9.97734093e-01 -3.22499189e-04 8.00879656e+00] [ 1.51591434e-02 -6.99026543e-04 9.99884849e-01 6.67821177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0750998929999 meters 0.021943501593123627 Centerline is valid? [True, True] Translation: X:555.61, Y:8.01, Z:6.68 [[ 9.97851115e-01 -6.34697457e-02 -1.62709166e-02 5.55611553e+02] [ 6.34725424e-02 9.97983526e-01 -3.44991858e-04 8.01349945e+00] [ 1.62600033e-02 -6.88505936e-04 9.99867560e-01 6.67800711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.105099893 meters 0.02123473312725021 Centerline is valid? [True, True] Translation: X:555.64, Y:8.02, Z:6.68 [[ 9.98004123e-01 -6.09138206e-02 -1.66516117e-02 5.55642880e+02] [ 6.09164046e-02 9.98142809e-01 -3.52457787e-04 8.01721785e+00] [ 1.66421560e-02 -6.62601993e-04 9.99861290e-01 6.67804251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.135099893 meters 0.0187914643505192 Centerline is valid? [True, True] Translation: X:555.67, Y:8.03, Z:6.68 [[ 9.98334150e-01 -5.49489893e-02 -1.75935569e-02 5.55673659e+02] [ 5.49509588e-02 9.98488985e-01 -3.71834708e-04 8.02595238e+00] [ 1.75874047e-02 -5.95567532e-04 9.99845152e-01 6.67826412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1650998929999 meters 0.01965675217754094 Centerline is valid? [True, True] Translation: X:555.70, Y:8.03, Z:6.68 [[ 9.98519712e-01 -5.13609732e-02 -1.79007268e-02 5.55703928e+02] [ 5.13624418e-02 9.98680007e-01 -3.78001369e-04 8.02744406e+00] [ 1.78965125e-02 -5.41983223e-04 9.99839698e-01 6.67814506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1950998929999 meters 0.01674502688136879 Centerline is valid? [True, True] Translation: X:555.74, Y:8.04, Z:6.68 [[ 9.98719589e-01 -4.72232445e-02 -1.81424020e-02 5.55735440e+02] [ 4.72240806e-02 9.98884247e-01 -3.82567687e-04 8.03564218e+00] [ 1.81402256e-02 -4.74680408e-04 9.99835340e-01 6.67956208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.225099893 meters 0.015877253064292947 Centerline is valid? [True, True] Translation: X:555.77, Y:8.04, Z:6.68 [[ 9.98911206e-01 -4.27775454e-02 -1.86141094e-02 5.55765947e+02] [ 4.27776688e-02 9.99084540e-01 -3.91720403e-04 8.04048444e+00] [ 1.86138257e-02 -4.04974305e-04 9.99826666e-01 6.68006711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.255099893 meters 0.014834819250654892 Centerline is valid? [True, True] Translation: X:555.80, Y:8.05, Z:6.68 [[ 9.99091395e-01 -3.80632927e-02 -1.91721387e-02 5.55797601e+02] [ 3.80625669e-02 9.99275277e-01 -4.02889618e-04 8.04594272e+00] [ 1.91735795e-02 -3.27217262e-04 9.99816116e-01 6.68064382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2850998929999 meters 0.013482495013705095 Centerline is valid? [True, True] Translation: X:555.83, Y:8.06, Z:6.68 [[ 9.99402292e-01 -2.84954421e-02 -1.95721601e-02 5.55828770e+02] [ 2.84928687e-02 9.99593912e-01 -4.10386396e-04 8.05545852e+00] [ 1.95759063e-02 -1.47525884e-04 9.99808363e-01 6.68275604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3150998929999 meters 0.013230100815890777 Centerline is valid? [True, True] Translation: X:555.86, Y:8.06, Z:6.68 [[ 9.99519957e-01 -2.42612730e-02 -1.92677750e-02 5.55857859e+02] [ 2.42579985e-02 9.99705650e-01 -4.03682391e-04 8.05972762e+00] [ 1.92718974e-02 -6.39090517e-05 9.99814278e-01 6.68364558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.345099893 meters 0.013240706289576383 Centerline is valid? [True, True] Translation: X:555.89, Y:8.06, Z:6.68 [[ 9.99597289e-01 -2.08214364e-02 -1.92802251e-02 5.55886647e+02] [ 2.08174797e-02 9.99783210e-01 -4.05919397e-04 8.06365170e+00] [ 1.92844972e-02 4.39023467e-06 9.99814037e-01 6.68477195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.375099893 meters 0.013390689419205784 Centerline is valid? [True, True] Translation: X:555.91, Y:8.07, Z:6.68 [[ 9.99655981e-01 -1.80234865e-02 -1.90544674e-02 5.55914656e+02] [ 1.80190432e-02 9.99837562e-01 -4.04862687e-04 8.06694570e+00] [ 1.90586693e-02 6.13801347e-05 9.99818365e-01 6.68439917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4050998929999 meters 0.013519802547839738 Centerline is valid? [True, True] Translation: X:555.94, Y:8.07, Z:6.69 [[ 9.99692690e-01 -1.52788764e-02 -1.95212850e-02 5.55943710e+02] [ 1.52736330e-02 9.99883264e-01 -4.17672292e-04 8.06958210e+00] [ 1.95253877e-02 1.19382994e-04 9.99809354e-01 6.68520178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4350998929999 meters 0.013487530131623012 Centerline is valid? [True, True] Translation: X:555.97, Y:8.07, Z:6.69 [[ 9.99682417e-01 -1.55185074e-02 -1.98554929e-02 5.55971734e+02] [ 1.55130264e-02 9.99879573e-01 -4.30044587e-04 8.07005374e+00] [ 1.98597754e-02 1.21889226e-04 9.99802768e-01 6.68557232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.465099893 meters 0.01337761892976102 Centerline is valid? [True, True] Translation: X:556.00, Y:8.07, Z:6.69 [[ 9.99664301e-01 -1.64517075e-02 -2.00156490e-02 5.55999159e+02] [ 1.64462095e-02 9.99864655e-01 -4.39273048e-04 8.07013050e+00] [ 2.00201668e-02 1.09944028e-04 9.99799570e-01 6.68595572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.495099893 meters 0.013415434646802466 Centerline is valid? [True, True] Translation: X:556.03, Y:8.07, Z:6.69 [[ 9.99621912e-01 -1.79436201e-02 -2.08340919e-02 5.56026089e+02] [ 1.79378879e-02 9.99838996e-01 -4.61999384e-04 8.07030710e+00] [ 2.08390275e-02 8.81051024e-05 9.99782840e-01 6.68596086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.525099893 meters 0.013316475557200677 Centerline is valid? [True, True] Translation: X:556.05, Y:8.07, Z:6.69 [[ 9.99576658e-01 -2.03871653e-02 -2.07573477e-02 5.56054061e+02] [ 2.03819200e-02 9.99792159e-01 -4.64249183e-04 8.06961651e+00] [ 2.07624982e-02 4.09780473e-05 9.99784435e-01 6.68655320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5550998929999 meters 0.01336476930060292 Centerline is valid? [True, True] Translation: X:556.08, Y:8.07, Z:6.69 [[ 9.99420118e-01 -2.58576412e-02 -2.21542321e-02 5.56081921e+02] [ 2.58529063e-02 9.99665633e-01 -5.00154840e-04 8.06634505e+00] [ 2.21597573e-02 -7.28864785e-05 9.99754440e-01 6.68622065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5850998929999 meters 0.013640017896570898 Centerline is valid? [True, True] Translation: X:556.11, Y:8.06, Z:6.69 [[ 9.99311083e-01 -2.95247916e-02 -2.24865787e-02 5.56110966e+02] [ 2.95207608e-02 9.99564037e-01 -5.11258793e-04 8.06441373e+00] [ 2.24918702e-02 -1.52914332e-04 9.99747014e-01 6.68646981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.615099893 meters 0.013977039253370214 Centerline is valid? [True, True] Translation: X:556.14, Y:8.06, Z:6.69 [[ 9.99187803e-01 -3.34597535e-02 -2.24539399e-02 5.56139728e+02] [ 3.34566036e-02 9.99440038e-01 -5.16035186e-04 8.06210627e+00] [ 2.24586330e-02 -2.35616504e-04 9.99747745e-01 6.68696701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.645099893 meters 0.015227670709487195 Centerline is valid? [True, True] Translation: X:556.17, Y:8.06, Z:6.69 [[ 9.98900228e-01 -4.15300876e-02 -2.17620460e-02 5.56168892e+02] [ 4.15289677e-02 9.99137173e-01 -5.03584935e-04 8.05578374e+00] [ 2.17641831e-02 -4.00724200e-04 9.99763052e-01 6.68771256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6750998929999 meters 0.016597433028637726 Centerline is valid? [True, True] Translation: X:556.20, Y:8.05, Z:6.69 [[ 9.98754518e-01 -4.52839407e-02 -2.09470076e-02 5.56199385e+02] [ 4.52837180e-02 9.98974048e-01 -4.85202923e-04 8.05177380e+00] [ 2.09474889e-02 -4.63959776e-04 9.99780470e-01 6.68793279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7050998929999 meters 0.017801046955564608 Centerline is valid? [True, True] Translation: X:556.23, Y:8.05, Z:6.69 [[ 9.98593900e-01 -4.89730747e-02 -2.02943465e-02 5.56230247e+02] [ 4.89736338e-02 9.98799961e-01 -4.69740399e-04 8.04863743e+00] [ 2.02929972e-02 -5.24808000e-04 9.99793938e-01 6.68878768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.735099893 meters 0.018260621565291214 Centerline is valid? [True, True] Translation: X:556.26, Y:8.05, Z:6.69 [[ 9.98304693e-01 -5.50221836e-02 -1.89815692e-02 5.56261333e+02] [ 5.50237707e-02 9.98484948e-01 -4.39037933e-04 8.04630438e+00] [ 1.89769680e-02 -6.06143885e-04 9.99819737e-01 6.69080746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.765099893 meters 0.018260621565291214 Centerline is valid? [True, True] Translation: X:556.29, Y:8.05, Z:6.69 [[ 9.98308646e-01 -5.49503967e-02 -1.89815854e-02 5.56293033e+02] [ 5.49519842e-02 9.98488902e-01 -4.38340231e-04 8.04697969e+00] [ 1.89769893e-02 -6.05476935e-04 9.99819737e-01 6.69119949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7950998929999 meters 0.01849943921869882 Centerline is valid? [True, True] Translation: X:556.33, Y:8.05, Z:6.69 [[ 9.98180783e-01 -5.73178235e-02 -1.87027227e-02 5.56325081e+02] [ 5.73198047e-02 9.98355776e-01 -4.30562324e-04 8.04613669e+00] [ 1.86966501e-02 -6.42257373e-04 9.99824996e-01 6.69204461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8250998929999 meters 0.019476295560123733 Centerline is valid? [True, True] Translation: X:556.36, Y:8.04, Z:6.69 [[ 9.98045213e-01 -5.97016417e-02 -1.84788107e-02 5.56357580e+02] [ 5.97040082e-02 9.98216035e-01 -4.24074587e-04 8.04426067e+00] [ 1.84711631e-02 -6.80013455e-04 9.99829162e-01 6.69229934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.855099893 meters 0.02013364679468612 Centerline is valid? [True, True] Translation: X:556.39, Y:8.04, Z:6.69 [[ 9.97918670e-01 -6.18672809e-02 -1.81870180e-02 5.56389678e+02] [ 6.18699560e-02 9.98084132e-01 -4.16073948e-04 8.04267696e+00] [ 1.81779154e-02 -7.10022042e-04 9.99834516e-01 6.69271701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.885099893 meters 0.02324543031176449 Centerline is valid? [True, True] Translation: X:556.42, Y:8.04, Z:6.69 [[ 9.97599668e-01 -6.67734441e-02 -1.83360151e-02 5.56420110e+02] [ 6.67770140e-02 9.97767836e-01 -4.18182589e-04 8.03630190e+00] [ 1.83230096e-02 -8.07245525e-04 9.99831794e-01 6.69241843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9150998929999 meters 0.023236022065115814 Centerline is valid? [True, True] Translation: X:556.45, Y:8.04, Z:6.69 [[ 9.97431615e-01 -6.93143792e-02 -1.80468872e-02 5.56452588e+02] [ 6.93182742e-02 9.97594511e-01 -4.10377263e-04 8.03571128e+00] [ 1.80319206e-02 -8.41655818e-04 9.99837057e-01 6.69272044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9450998929999 meters 0.02381561044306723 Centerline is valid? [True, True] Translation: X:556.48, Y:8.03, Z:6.69 [[ 9.97243441e-01 -7.20142854e-02 -1.78735005e-02 5.56483884e+02] [ 7.20185575e-02 9.97403210e-01 -4.05364521e-04 8.03445481e+00] [ 1.78562788e-02 -8.82976611e-04 9.99840174e-01 6.69277670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.975099893 meters 0.02579619159204409 Centerline is valid? [True, True] Translation: X:556.51, Y:8.03, Z:6.69 [[ 9.96859049e-01 -7.70714169e-02 -1.82217936e-02 5.56514814e+02] [ 7.70767080e-02 9.97025080e-01 -4.12790192e-04 8.03103543e+00] [ 1.81993995e-02 -9.92982223e-04 9.99833884e-01 6.69269493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.005099893 meters 0.027044276890186465 Centerline is valid? [True, True] Translation: X:556.55, Y:8.03, Z:6.69 [[ 9.96693668e-01 -7.90740211e-02 -1.86823856e-02 5.56546396e+02] [ 7.90799409e-02 9.96868188e-01 -4.22846034e-04 8.02962279e+00] [ 1.86573121e-02 -1.05595399e-03 9.99825380e-01 6.69229926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0350998929999 meters 0.027209687862951044 Centerline is valid? [True, True] Translation: X:556.58, Y:8.03, Z:6.69 [[ 9.96570266e-01 -8.04666873e-02 -1.93084915e-02 5.56578713e+02] [ 8.04732939e-02 9.96756670e-01 -4.35836199e-04 8.02978586e+00] [ 1.92809380e-02 -1.11947651e-03 9.99813479e-01 6.69194412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0650998929999 meters 0.029298798208596284 Centerline is valid? [True, True] Translation: X:556.61, Y:8.03, Z:6.69 [[ 9.96483481e-01 -8.14012432e-02 -1.98622726e-02 5.56610036e+02] [ 8.14084456e-02 9.96680724e-01 -4.47015930e-04 8.02750152e+00] [ 1.98327319e-02 -1.17151275e-03 9.99802626e-01 6.69126564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.095099893 meters 0.027816211729270863 Centerline is valid? [True, True] Translation: X:556.64, Y:8.03, Z:6.69 [[ 9.96449104e-01 -8.16366518e-02 -2.06067799e-02 5.56641833e+02] [ 8.16444811e-02 9.96661409e-01 -4.62487494e-04 8.03094958e+00] [ 2.05757382e-02 -1.22158460e-03 9.99787551e-01 6.69105794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.125099893 meters 0.030211031627702688 Centerline is valid? [True, True] Translation: X:556.67, Y:8.03, Z:6.69 [[ 9.96500415e-01 -8.10253599e-02 -2.05381091e-02 5.56673533e+02] [ 8.10330379e-02 9.96711310e-01 -4.59472134e-04 8.02885052e+00] [ 2.05077945e-02 -1.20640120e-03 9.99788965e-01 6.69051040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1550998929999 meters 0.026683022857931605 Centerline is valid? [True, True] Translation: X:556.71, Y:8.03, Z:6.69 [[ 9.96617417e-01 -7.96494811e-02 -2.02406442e-02 5.56705721e+02] [ 7.96566847e-02 9.96822255e-01 -4.51373469e-04 8.03497786e+00] [ 2.02122763e-02 -1.16245595e-03 9.99795035e-01 6.69128645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1850998929999 meters 0.027638758174087726 Centerline is valid? [True, True] Translation: X:556.74, Y:8.04, Z:6.69 [[ 9.96741772e-01 -7.80380035e-02 -2.03938716e-02 5.56736180e+02] [ 7.80450016e-02 9.96949734e-01 -4.53741785e-04 8.03531578e+00] [ 2.03670740e-02 -1.13937635e-03 9.99791920e-01 6.69134354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.215099893 meters 0.025945504323139194 Centerline is valid? [True, True] Translation: X:556.77, Y:8.04, Z:6.69 [[ 9.97114168e-01 -7.31281469e-02 -2.03865266e-02 5.56766247e+02] [ 7.31341218e-02 9.97322012e-01 -4.53320799e-04 8.04131644e+00] [ 2.03650822e-02 -1.03893812e-03 9.99792070e-01 6.69171178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.245099893 meters 0.023689134620301623 Centerline is valid? [True, True] Translation: X:556.80, Y:8.05, Z:6.69 [[ 9.97346382e-01 -6.99398095e-02 -2.02142990e-02 5.56797472e+02] [ 6.99450372e-02 9.97550746e-01 -4.49152805e-04 8.04704410e+00] [ 2.01962027e-02 -9.65928967e-04 9.99795569e-01 6.69238212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.275099893 meters 0.0224994166692907 Centerline is valid? [True, True] Translation: X:556.83, Y:8.05, Z:6.69 [[ 9.97592039e-01 -6.63686240e-02 -2.01327997e-02 5.56828589e+02] [ 6.63730983e-02 9.97794775e-01 -4.46624290e-04 8.05128917e+00] [ 2.01180442e-02 -8.90727460e-04 9.99797215e-01 6.69312081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3050998929999 meters 0.019758238554327772 Centerline is valid? [True, True] Translation: X:556.86, Y:8.06, Z:6.69 [[ 9.98107100e-01 -5.83588390e-02 -1.94026667e-02 5.56858695e+02] [ 5.83614911e-02 9.98295423e-01 -4.30009458e-04 8.06039279e+00] [ 1.93946882e-02 -7.03173066e-04 9.99811658e-01 6.69467749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3350998929999 meters 0.019266202431105647 Centerline is valid? [True, True] Translation: X:556.89, Y:8.06, Z:6.70 [[ 9.98367546e-01 -5.39380481e-02 -1.87864549e-02 5.56888984e+02] [ 5.39397652e-02 9.98544105e-01 -4.15670751e-04 8.06361913e+00] [ 1.87815243e-02 -5.98344779e-04 9.99823433e-01 6.69504751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.365099893 meters 0.017753155646012174 Centerline is valid? [True, True] Translation: X:556.92, Y:8.07, Z:6.70 [[ 9.98603813e-01 -4.96807565e-02 -1.79512515e-02 5.56920159e+02] [ 4.96816629e-02 9.98765025e-01 -3.95735061e-04 8.06850602e+00] [ 1.79487425e-02 -4.96665484e-04 9.99838785e-01 6.69597835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.395099893 meters 0.015853990091960663 Centerline is valid? [True, True] Translation: X:556.95, Y:8.08, Z:6.70 [[ 9.99017943e-01 -4.08151781e-02 -1.72415562e-02 5.56949581e+02] [ 4.08147015e-02 9.99166661e-01 -3.79669282e-04 8.07612896e+00] [ 1.72426844e-02 -3.24412545e-04 9.99851281e-01 6.69674765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4250998929999 meters 0.01416489171383426 Centerline is valid? [True, True] Translation: X:556.98, Y:8.08, Z:6.70 [[ 9.99210156e-01 -3.61472086e-02 -1.65058868e-02 5.56981057e+02] [ 3.61461375e-02 9.99346449e-01 -3.63314641e-04 8.08339238e+00] [ 1.65082321e-02 -2.33596373e-04 9.99863703e-01 6.69819695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4550998929999 meters 0.014090287635827597 Centerline is valid? [True, True] Translation: X:557.01, Y:8.09, Z:6.70 [[ 9.99359422e-01 -3.18523867e-02 -1.63147420e-02 5.57011906e+02] [ 3.18507778e-02 9.99492571e-01 -3.58505862e-04 8.08653321e+00] [ 1.63178827e-02 -1.61361012e-04 9.99866841e-01 6.69849376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.485099893 meters 0.013608846835101628 Centerline is valid? [True, True] Translation: X:557.04, Y:8.09, Z:6.70 [[ 9.99485483e-01 -2.76721407e-02 -1.62179617e-02 5.57042813e+02] [ 2.76700101e-02 9.99617049e-01 -3.55792357e-04 8.09159422e+00] [ 1.62215965e-02 -9.31418672e-05 9.99868417e-01 6.69915120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.515099893 meters 0.01341164737931159 Centerline is valid? [True, True] Translation: X:557.07, Y:8.10, Z:6.70 [[ 9.99656200e-01 -2.11318228e-02 -1.55218465e-02 5.57073262e+02] [ 2.11290891e-02 9.99776698e-01 -3.40104177e-04 8.09807868e+00] [ 1.55255674e-02 1.20247715e-05 9.99879471e-01 6.69951024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5450998929999 meters 0.01345151758167263 Centerline is valid? [True, True] Translation: X:557.10, Y:8.10, Z:6.70 [[ 9.99702846e-01 -1.86435034e-02 -1.57047391e-02 5.57102691e+02] [ 1.86403961e-02 9.99826193e-01 -3.44232157e-04 8.10042793e+00] [ 1.57084272e-02 5.13873099e-05 9.99876614e-01 6.69945295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5750998929999 meters 0.013656539688945707 Centerline is valid? [True, True] Translation: X:557.13, Y:8.10, Z:6.70 [[ 9.99725581e-01 -1.69663903e-02 -1.61525591e-02 5.57131353e+02] [ 1.69628735e-02 9.99856057e-01 -3.54710149e-04 8.10256242e+00] [ 1.61562522e-02 8.06189936e-05 9.99869476e-01 6.69915516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.605099893 meters 0.013649991511091177 Centerline is valid? [True, True] Translation: X:557.16, Y:8.10, Z:6.70 [[ 9.99743601e-01 -1.58898982e-02 -1.61320443e-02 5.57160113e+02] [ 1.58862244e-02 9.99873743e-01 -3.55864059e-04 8.10360918e+00] [ 1.61356621e-02 9.94955405e-05 9.99869807e-01 6.69945021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.635099893 meters 0.013665699132264786 Centerline is valid? [True, True] Translation: X:557.19, Y:8.10, Z:6.70 [[ 9.99748616e-01 -1.52676040e-02 -1.64196416e-02 5.57187900e+02] [ 1.52636433e-02 9.99883437e-01 -3.66519388e-04 8.10466249e+00] [ 1.64233235e-02 1.15803699e-04 9.99865121e-01 6.69941263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6650998929999 meters 0.013672281924404133 Centerline is valid? [True, True] Translation: X:557.22, Y:8.11, Z:6.70 [[ 9.99751500e-01 -1.48053649e-02 -1.66655310e-02 5.57215923e+02] [ 1.48011390e-02 9.99890386e-01 -3.76887442e-04 8.10520856e+00] [ 1.66692842e-02 1.30124944e-04 9.99861049e-01 6.69937890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6950998929999 meters 0.01376831587462633 Centerline is valid? [True, True] Translation: X:557.24, Y:8.11, Z:6.70 [[ 9.99748462e-01 -1.48794634e-02 -1.67813910e-02 5.57242391e+02] [ 1.48751184e-02 9.99889286e-01 -3.83720775e-04 8.10639016e+00] [ 1.67852427e-02 1.33999077e-04 9.99859109e-01 6.69892191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.725099893 meters 0.013544350907533632 Centerline is valid? [True, True] Translation: X:557.27, Y:8.11, Z:6.70 [[ 9.99739897e-01 -1.56518754e-02 -1.65878537e-02 5.57269902e+02] [ 1.56476899e-02 9.99877494e-01 -3.82091869e-04 8.10555669e+00] [ 1.65918020e-02 1.22430895e-04 9.99862339e-01 6.69981394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.755099893 meters 0.013671971043866096 Centerline is valid? [True, True] Translation: X:557.30, Y:8.11, Z:6.70 [[ 9.99731603e-01 -1.61737854e-02 -1.65870719e-02 5.57297889e+02] [ 1.61696053e-02 9.99869189e-01 -3.86098045e-04 8.10607533e+00] [ 1.65911468e-02 1.17788012e-04 9.99862351e-01 6.69936366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7850998929999 meters 0.013506583622636159 Centerline is valid? [True, True] Translation: X:557.33, Y:8.10, Z:6.70 [[ 9.99727173e-01 -1.71230341e-02 -1.58865190e-02 5.57326097e+02] [ 1.71192862e-02 9.99853385e-01 -3.71887187e-04 8.10494914e+00] [ 1.58905577e-02 9.98198604e-05 9.99873732e-01 6.70015679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8150998929999 meters 0.01345977288026753 Centerline is valid? [True, True] Translation: X:557.36, Y:8.10, Z:6.70 [[ 9.99725876e-01 -1.77604935e-02 -1.52557396e-02 5.57355143e+02] [ 1.77570480e-02 9.99842266e-01 -3.61287112e-04 8.10420993e+00] [ 1.52597499e-02 9.02911743e-05 9.99883559e-01 6.70088854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.845099893 meters 0.013451360264441131 Centerline is valid? [True, True] Translation: X:557.38, Y:8.10, Z:6.70 [[ 9.99714296e-01 -1.85317175e-02 -1.50964490e-02 5.57383833e+02] [ 1.85283822e-02 9.99828270e-01 -3.60783037e-04 8.10365887e+00] [ 1.51005424e-02 8.09671836e-05 9.99885977e-01 6.70151310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.875099893 meters 0.01338260662898148 Centerline is valid? [True, True] Translation: X:557.41, Y:8.10, Z:6.70 [[ 9.99696357e-01 -2.04066638e-02 -1.38116365e-02 5.57413031e+02] [ 2.04040418e-02 9.99791761e-01 -3.30741575e-04 8.10073683e+00] [ 1.38155097e-02 4.88279391e-05 9.99904560e-01 6.70274767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9050998929999 meters 0.01343859873430301 Centerline is valid? [True, True] Translation: X:557.44, Y:8.10, Z:6.70 [[ 9.99672871e-01 -2.15038356e-02 -1.38469043e-02 5.57442364e+02] [ 2.15012994e-02 9.99768765e-01 -3.32020462e-04 8.09934673e+00] [ 1.38508421e-02 3.41854125e-05 9.99904072e-01 6.70306532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9350998929999 meters 0.013356414617140195 Centerline is valid? [True, True] Translation: X:557.47, Y:8.10, Z:6.70 [[ 9.99648618e-01 -2.27205756e-02 -1.36534447e-02 5.57472657e+02] [ 2.27182240e-02 9.99741854e-01 -3.27327066e-04 8.09728875e+00] [ 1.36573571e-02 1.70300350e-05 9.99906734e-01 6.70348066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.965099893 meters 0.013352445128244201 Centerline is valid? [True, True] Translation: X:557.50, Y:8.09, Z:6.70 [[ 9.99604558e-01 -2.46194264e-02 -1.35871755e-02 5.57503359e+02] [ 2.46172733e-02 9.99696896e-01 -3.25716252e-04 8.09282273e+00] [ 1.35910761e-02 -8.89176307e-06 9.99907637e-01 6.70334574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.995099893 meters 0.01338057894025091 Centerline is valid? [True, True] Translation: X:557.53, Y:8.09, Z:6.70 [[ 9.99584806e-01 -2.52559245e-02 -1.38691581e-02 5.57534628e+02] [ 2.52537462e-02 9.99681018e-01 -3.32194141e-04 8.09088980e+00] [ 1.38731240e-02 -1.81919838e-05 9.99903763e-01 6.70326533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.025099893 meters 0.013364470707488274 Centerline is valid? [True, True] Translation: X:557.57, Y:8.09, Z:6.70 [[ 9.99569219e-01 -2.55934023e-02 -1.43650025e-02 5.57565983e+02] [ 2.55911080e-02 9.99672435e-01 -3.43535562e-04 8.08920994e+00] [ 1.43690893e-02 -2.42287577e-05 9.99896759e-01 6.70267553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0550998929999 meters 0.01331809195562051 Centerline is valid? [True, True] Translation: X:557.60, Y:8.09, Z:6.70 [[ 9.99552651e-01 -2.55889684e-02 -1.54823619e-02 5.57597112e+02] [ 2.55863120e-02 9.99672548e-01 -3.69665632e-04 8.08602183e+00] [ 1.54867516e-02 -2.66362797e-05 9.99880073e-01 6.70201292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0850998929999 meters 0.013319345125402829 Centerline is valid? [True, True] Translation: X:557.63, Y:8.09, Z:6.70 [[ 9.99554951e-01 -2.50292346e-02 -1.62307388e-02 5.57627486e+02] [ 2.50262527e-02 9.99686719e-01 -3.86833071e-04 8.08520188e+00] [ 1.62353362e-02 -1.95336605e-05 9.99868198e-01 6.70190420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.115099893 meters 0.013313543986496508 Centerline is valid? [True, True] Translation: X:557.66, Y:8.08, Z:6.70 [[ 9.99564022e-01 -2.42012010e-02 -1.69135234e-02 5.57656954e+02] [ 2.41978549e-02 9.99707108e-01 -4.02487734e-04 8.08459442e+00] [ 1.69183102e-02 -6.95872519e-06 9.99856875e-01 6.70176437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.145099893 meters 0.01334574577191514 Centerline is valid? [True, True] Translation: X:557.69, Y:8.08, Z:6.70 [[ 9.99577650e-01 -2.32066575e-02 -1.74920636e-02 5.57687023e+02] [ 2.32029150e-02 9.99730689e-01 -4.16900559e-04 8.08421166e+00] [ 1.74970276e-02 1.08576165e-05 9.99846915e-01 6.70198381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1750998929999 meters 0.013368964548118641 Centerline is valid? [True, True] Translation: X:557.72, Y:8.08, Z:6.70 [[ 9.99627803e-01 -2.05143822e-02 -1.79837668e-02 5.57716015e+02] [ 2.05099768e-02 9.99789556e-01 -4.29389121e-04 8.08306821e+00] [ 1.79887909e-02 6.03826625e-05 9.99838187e-01 6.70211003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2050998929999 meters 0.013443579944415565 Centerline is valid? [True, True] Translation: X:557.74, Y:8.08, Z:6.70 [[ 9.99649580e-01 -1.91348255e-02 -1.82913847e-02 5.57744717e+02] [ 1.91299970e-02 9.99816909e-01 -4.38928774e-04 8.08276076e+00] [ 1.82964345e-02 8.88608305e-05 9.99832602e-01 6.70268691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.235099893 meters 0.013596787938246632 Centerline is valid? [True, True] Translation: X:557.77, Y:8.08, Z:6.70 [[ 9.99677503e-01 -1.76042048e-02 -1.83025388e-02 5.57773682e+02] [ 1.75990285e-02 9.99845027e-01 -4.43857474e-04 8.08251788e+00] [ 1.83075162e-02 1.21607429e-04 9.99832396e-01 6.70287427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.265099893 meters 0.013774823040450506 Centerline is valid? [True, True] Translation: X:557.80, Y:8.08, Z:6.70 [[ 9.99701939e-01 -1.59478579e-02 -1.84850752e-02 5.57801754e+02] [ 1.59422260e-02 9.99872812e-01 -4.51999303e-04 8.08257626e+00] [ 1.84899325e-02 1.57171334e-04 9.99829034e-01 6.70304383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2950998929999 meters 0.014188657242891986 Centerline is valid? [True, True] Translation: X:557.83, Y:8.08, Z:6.70 [[ 9.99745292e-01 -1.32498868e-02 -1.82699539e-02 5.57829981e+02] [ 1.32439053e-02 9.99912195e-01 -4.48356570e-04 8.08121056e+00] [ 1.82742904e-02 2.06276830e-04 9.99832990e-01 6.70314428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3250998929999 meters 0.014087415852036513 Centerline is valid? [True, True] Translation: X:557.86, Y:8.08, Z:6.70 [[ 9.99754082e-01 -1.25679657e-02 -1.82708019e-02 5.57858521e+02] [ 1.25618222e-02 9.99920996e-01 -4.50980234e-04 8.07962789e+00] [ 1.82750264e-02 2.21354764e-04 9.99832973e-01 6.70393084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.355099893 meters 0.01422439313049021 Centerline is valid? [True, True] Translation: X:557.89, Y:8.08, Z:6.70 [[ 9.99758516e-01 -1.20822983e-02 -1.83555835e-02 5.57886554e+02] [ 1.20759476e-02 9.99926979e-01 -4.56787309e-04 8.07891377e+00] [ 1.83597622e-02 2.35015939e-04 9.99831418e-01 6.70410472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.385099893 meters 0.014384706269243685 Centerline is valid? [True, True] Translation: X:557.92, Y:8.08, Z:6.70 [[ 9.99749713e-01 -1.16652923e-02 -1.90901173e-02 5.57915610e+02] [ 1.16582927e-02 9.99931926e-01 -4.77911390e-04 8.07550933e+00] [ 1.90943927e-02 2.55233600e-04 9.99817653e-01 6.70393150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4150998929999 meters 0.014177144508485673 Centerline is valid? [True, True] Translation: X:557.94, Y:8.07, Z:6.70 [[ 9.99719771e-01 -1.27988307e-02 -1.99140566e-02 5.57943382e+02] [ 1.27913302e-02 9.99918061e-01 -5.03976292e-04 8.07318097e+00] [ 1.99188752e-02 2.49107788e-04 9.99801568e-01 6.70462052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4450998929999 meters 0.014087160617869576 Centerline is valid? [True, True] Translation: X:557.97, Y:8.07, Z:6.70 [[ 9.99692109e-01 -1.39971560e-02 -2.04882087e-02 5.57971785e+02] [ 1.39893436e-02 9.99902007e-01 -5.24594474e-04 8.07126620e+00] [ 2.04935438e-02 2.37816366e-04 9.99789957e-01 6.70487015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.475099893 meters 0.013883604923984516 Centerline is valid? [True, True] Translation: X:558.00, Y:8.07, Z:6.71 [[ 9.99623227e-01 -1.78894747e-02 -2.08175556e-02 5.57999576e+02] [ 1.78821609e-02 9.99839957e-01 -5.37441100e-04 8.06577422e+00] [ 2.08238384e-02 1.64975729e-04 9.99783147e-01 6.70537225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.505099893 meters 0.013600846111746511 Centerline is valid? [True, True] Translation: X:558.03, Y:8.06, Z:6.71 [[ 9.99562210e-01 -2.08290007e-02 -2.10128673e-02 5.58028240e+02] [ 2.08221294e-02 9.99783047e-01 -5.45765846e-04 8.06284255e+00] [ 2.10196763e-02 1.07994274e-04 9.99779056e-01 6.70609723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5350998929999 meters 0.013461864964857512 Centerline is valid? [True, True] Translation: X:558.06, Y:8.06, Z:6.71 [[ 9.99487319e-01 -2.41559716e-02 -2.10140091e-02 5.58056831e+02] [ 2.41497244e-02 9.99708201e-01 -5.51041780e-04 8.05942871e+00] [ 2.10211881e-02 4.32767443e-05 9.99779029e-01 6.70650174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5650998929999 meters 0.01354702858940498 Centerline is valid? [True, True] Translation: X:558.08, Y:8.05, Z:6.71 [[ 9.99302442e-01 -3.07201987e-02 -2.12343837e-02 5.58084970e+02] [ 3.07152184e-02 9.99528019e-01 -5.60721799e-04 8.05113352e+00] [ 2.12415870e-02 -9.18880694e-05 9.99774368e-01 6.70662217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.595099893 meters 0.013660016689875685 Centerline is valid? [True, True] Translation: X:558.11, Y:8.05, Z:6.71 [[ 9.99180050e-01 -3.42723648e-02 -2.15553341e-02 5.58113414e+02] [ 3.42680174e-02 9.99412516e-01 -5.71133005e-04 8.04790370e+00] [ 2.15622448e-02 -1.67993862e-04 9.99767494e-01 6.70725487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.625099893 meters 0.01422031370862265 Centerline is valid? [True, True] Translation: X:558.14, Y:8.04, Z:6.71 [[ 9.99043977e-01 -3.78703402e-02 -2.18396501e-02 5.58141447e+02] [ 3.78666841e-02 9.99282631e-01 -5.81078962e-04 8.04400922e+00] [ 2.18459886e-02 -2.46471692e-04 9.99761318e-01 6.70707922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6550998929999 meters 0.01422031370862265 Centerline is valid? [True, True] Translation: X:558.17, Y:8.04, Z:6.71 [[ 9.99034694e-01 -3.81144829e-02 -2.18395433e-02 5.58169694e+02] [ 3.81107979e-02 9.99273348e-01 -5.85070868e-04 8.04480387e+00] [ 2.18459732e-02 -2.47816324e-04 9.99761318e-01 6.70742909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6850998929999 meters 0.014365304530737583 Centerline is valid? [True, True] Translation: X:558.20, Y:8.04, Z:6.71 [[ 9.98893517e-01 -4.14374660e-02 -2.22413476e-02 5.58198944e+02] [ 4.14343830e-02 9.99141047e-01 -5.99630131e-04 8.04255649e+00] [ 2.22470905e-02 -3.22589864e-04 9.99752451e-01 6.70837000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.715099893 meters 0.01593615355979711 Centerline is valid? [True, True] Translation: X:558.23, Y:8.03, Z:6.71 [[ 9.98614081e-01 -4.75794539e-02 -2.24969680e-02 5.58228026e+02] [ 4.75778243e-02 9.98867349e-01 -6.07977624e-04 8.03481591e+00] [ 2.25004141e-02 -4.63221776e-04 9.99746726e-01 6.70854023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.745099893 meters 0.016133809346062976 Centerline is valid? [True, True] Translation: X:558.26, Y:8.03, Z:6.71 [[ 9.98492982e-01 -5.01714099e-02 -2.22394928e-02 5.58257574e+02] [ 5.01704373e-02 9.98740489e-01 -6.02033980e-04 8.03304772e+00] [ 2.22416868e-02 -5.14638375e-04 9.99752491e-01 6.70952241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.775099893 meters 0.017565212719441323 Centerline is valid? [True, True] Translation: X:558.29, Y:8.03, Z:6.71 [[ 9.98358478e-01 -5.28048803e-02 -2.21809421e-02 5.58287411e+02] [ 5.28045485e-02 9.98604686e-01 -6.01064691e-04 8.02853422e+00] [ 2.21817319e-02 -5.71176604e-04 9.99753792e-01 6.70939107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8050998929999 meters 0.019019911934010404 Centerline is valid? [True, True] Translation: X:558.32, Y:8.02, Z:6.71 [[ 9.98094985e-01 -5.74849636e-02 -2.24026759e-02 5.58318166e+02] [ 5.74857978e-02 9.98346139e-01 -6.07295152e-04 8.02229708e+00] [ 2.24005354e-02 -6.81697453e-04 9.99748844e-01 6.71011363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8350998929999 meters 0.01896558241268749 Centerline is valid? [True, True] Translation: X:558.35, Y:8.02, Z:6.71 [[ 9.97973961e-01 -5.96750119e-02 -2.20650297e-02 5.58348127e+02] [ 5.96763519e-02 9.98217599e-01 -5.98314353e-04 8.02138611e+00] [ 2.20614053e-02 -7.19658330e-04 9.99756359e-01 6.71115322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.865099893 meters 0.02026640920793977 Centerline is valid? [True, True] Translation: X:558.38, Y:8.02, Z:6.71 [[ 9.97831405e-01 -6.19795280e-02 -2.21590971e-02 5.58378903e+02] [ 6.19814458e-02 9.98077121e-01 -6.00912816e-04 8.01863079e+00] [ 2.21537321e-02 -7.73843195e-04 9.99754276e-01 6.71171600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.895099893 meters 0.021278579623794387 Centerline is valid? [True, True] Translation: X:558.41, Y:8.02, Z:6.71 [[ 9.97707797e-01 -6.40917534e-02 -2.17117273e-02 5.58409556e+02] [ 6.40940985e-02 9.97943686e-01 -5.88567825e-04 8.01647636e+00] [ 2.17048035e-02 -8.04374882e-04 9.99764099e-01 6.71212861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9250998929999 meters 0.023365661372419765 Centerline is valid? [True, True] Translation: X:558.44, Y:8.01, Z:6.71 [[ 9.97423696e-01 -6.83648464e-02 -2.17305788e-02 5.58439887e+02] [ 6.83682078e-02 9.97659983e-01 -5.89078857e-04 8.01130284e+00] [ 2.17200012e-02 -8.98119517e-04 9.99763690e-01 6.71225396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9550998929999 meters 0.024353855024089526 Centerline is valid? [True, True] Translation: X:558.47, Y:8.01, Z:6.71 [[ 9.97283247e-01 -7.03271635e-02 -2.19138178e-02 5.58471139e+02] [ 7.03310617e-02 9.97523528e-01 -5.93718126e-04 8.00942653e+00] [ 2.19013033e-02 -9.49116930e-04 9.99759687e-01 6.71245817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.985099893 meters 0.025609583864330387 Centerline is valid? [True, True] Translation: X:558.50, Y:8.01, Z:6.71 [[ 9.97146135e-01 -7.21642214e-02 -2.21790703e-02 5.58501335e+02] [ 7.21686813e-02 9.97392260e-01 -6.00307738e-04 8.00735789e+00] [ 2.21645538e-02 -1.00203972e-03 9.99753834e-01 6.71218331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.015099893 meters 0.022004386851705377 Centerline is valid? [True, True] Translation: X:558.53, Y:8.01, Z:6.71 [[ 9.97039257e-01 -7.35073427e-02 -2.25696733e-02 5.58532383e+02] [ 7.35123178e-02 9.97294122e-01 -6.10291725e-04 8.01264918e+00] [ 2.25534634e-02 -1.05066419e-03 9.99745086e-01 6.71358385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0450998929999 meters 0.024505335183214766 Centerline is valid? [True, True] Translation: X:558.56, Y:8.01, Z:6.71 [[ 9.96880442e-01 -7.53353047e-02 -2.35367038e-02 5.58562436e+02] [ 7.53412571e-02 9.97157606e-01 -6.35028689e-04 8.00965687e+00] [ 2.35176433e-02 -1.14023717e-03 9.99722772e-01 6.71262012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0750998929999 meters 0.023334544680702143 Centerline is valid? [True, True] Translation: X:558.59, Y:8.01, Z:6.71 [[ 9.96818736e-01 -7.59967422e-02 -2.40187993e-02 5.58593824e+02] [ 7.60031682e-02 9.97107367e-01 -6.46551718e-04 8.01278097e+00] [ 2.39984576e-02 -1.18100998e-03 9.99711298e-01 6.71321526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.105099893 meters 0.023063821299201228 Centerline is valid? [True, True] Translation: X:558.63, Y:8.01, Z:6.71 [[ 9.96792178e-01 -7.64014179e-02 -2.38364585e-02 5.58625562e+02] [ 7.64078826e-02 9.97076439e-01 -6.40778143e-04 8.01486901e+00] [ 2.38157275e-02 -1.18257068e-03 9.99715666e-01 6.71390849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.135099893 meters 0.0240238900204877 Centerline is valid? [True, True] Translation: X:558.66, Y:8.02, Z:6.71 [[ 9.96803909e-01 -7.62039069e-02 -2.39777439e-02 5.58656071e+02] [ 7.62104076e-02 9.97091550e-01 -6.43910374e-04 8.01590587e+00] [ 2.39570743e-02 -1.18550126e-03 9.99712285e-01 6.71409541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1650998929999 meters 0.024193277080179026 Centerline is valid? [True, True] Translation: X:558.69, Y:8.02, Z:6.71 [[ 9.96856352e-01 -7.55587904e-02 -2.38386881e-02 5.58687184e+02] [ 7.55650469e-02 9.97140669e-01 -6.39542023e-04 8.01760788e+00] [ 2.38188484e-02 -1.16384005e-03 9.99715614e-01 6.71452682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1950998929999 meters 0.024244091772630375 Centerline is valid? [True, True] Translation: X:558.72, Y:8.02, Z:6.72 [[ 9.96959680e-01 -7.43058290e-02 -2.34529464e-02 5.58717442e+02] [ 7.43115676e-02 9.97234875e-01 -6.27957610e-04 8.01978720e+00] [ 2.34347570e-02 -1.11677679e-03 9.99724745e-01 6.71539352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.225099893 meters 0.023005755457655763 Centerline is valid? [True, True] Translation: X:558.75, Y:8.03, Z:6.72 [[ 9.97229419e-01 -7.09943980e-02 -2.22099424e-02 5.58748258e+02] [ 7.09987470e-02 9.97476228e-01 -5.93656686e-04 8.02638868e+00] [ 2.21960359e-02 -9.84866174e-04 9.99753153e-01 6.71689380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.255099893 meters 0.023069917076962293 Centerline is valid? [True, True] Translation: X:558.78, Y:8.03, Z:6.72 [[ 9.97397246e-01 -6.88110911e-02 -2.15352644e-02 5.58778735e+02] [ 6.88146798e-02 9.97629294e-01 -5.75249054e-04 8.02927392e+00] [ 2.15237941e-02 -9.08190500e-04 9.99767924e-01 6.71764411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2850998929999 meters 0.022423882171795032 Centerline is valid? [True, True] Translation: X:558.81, Y:8.03, Z:6.72 [[ 9.97543367e-01 -6.67789635e-02 -2.11613121e-02 5.58810609e+02] [ 6.67819864e-02 9.97767432e-01 -5.64585093e-04 8.03339922e+00] [ 2.11517705e-02 -8.49996344e-04 9.99775915e-01 6.71838888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3150998929999 meters 0.02108784152202882 Centerline is valid? [True, True] Translation: X:558.84, Y:8.04, Z:6.72 [[ 9.97792094e-01 -6.31399700e-02 -2.05981080e-02 5.58841681e+02] [ 6.31420778e-02 9.98004397e-01 -5.48676599e-04 8.04035218e+00] [ 2.05916458e-02 -7.53142165e-04 9.99787686e-01 6.71893058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.345099893 meters 0.019051973127972736 Centerline is valid? [True, True] Translation: X:558.87, Y:8.05, Z:6.72 [[ 9.97890883e-01 -6.14283464e-02 -2.09843886e-02 5.58872853e+02] [ 6.14301707e-02 9.98111228e-01 -5.58270292e-04 8.04656153e+00] [ 2.09790475e-02 -7.31981742e-04 9.99779648e-01 6.71934680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.375099893 meters 0.01954136514298398 Centerline is valid? [True, True] Translation: X:558.90, Y:8.05, Z:6.72 [[ 9.97982477e-01 -5.97773213e-02 -2.13926825e-02 5.58904362e+02] [ 5.97788586e-02 9.98211483e-01 -5.68190461e-04 8.04803290e+00] [ 2.13883862e-02 -7.11786017e-04 9.99770989e-01 6.71861691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4050998929999 meters 0.01940040737225647 Centerline is valid? [True, True] Translation: X:558.94, Y:8.05, Z:6.72 [[ 9.98058831e-01 -5.85117051e-02 -2.13295485e-02 5.58935715e+02] [ 5.85129655e-02 9.98286488e-01 -5.65536275e-04 8.05095782e+00] [ 2.13260905e-02 -6.83616660e-04 9.99772339e-01 6.71855068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4350998929999 meters 0.017930417978259672 Centerline is valid? [True, True] Translation: X:558.97, Y:8.06, Z:6.72 [[ 9.98195689e-01 -5.63976304e-02 -2.06076190e-02 5.58967150e+02] [ 5.63983714e-02 9.98408196e-01 -5.45683920e-04 8.05818552e+00] [ 2.06055910e-02 -6.17536811e-04 9.99787492e-01 6.72001374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.465099893 meters 0.017586068218668486 Centerline is valid? [True, True] Translation: X:559.00, Y:8.06, Z:6.72 [[ 9.98251947e-01 -5.55068077e-02 -2.02988591e-02 5.58998789e+02] [ 5.55073572e-02 9.98458134e-01 -5.36787945e-04 8.06104118e+00] [ 2.02973564e-02 -5.90886411e-04 9.99793813e-01 6.72047647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.495099893 meters 0.017130219877311077 Centerline is valid? [True, True] Translation: X:559.03, Y:8.06, Z:6.72 [[ 9.98287369e-01 -5.49106743e-02 -2.01778796e-02 5.59029818e+02] [ 5.49111102e-02 9.98491105e-01 -5.32865974e-04 8.06422178e+00] [ 2.01766933e-02 -5.76036396e-04 9.99796264e-01 6.72087150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.525099893 meters 0.01679850999789301 Centerline is valid? [True, True] Translation: X:559.06, Y:8.07, Z:6.72 [[ 9.98337551e-01 -5.40722988e-02 -1.99579967e-02 5.59061347e+02] [ 5.40725722e-02 9.98536870e-01 -5.26340934e-04 8.06841697e+00] [ 1.99572560e-02 -5.53714298e-04 9.99800681e-01 6.72074532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5550998929999 meters 0.01754195032114019 Centerline is valid? [True, True] Translation: X:559.09, Y:8.07, Z:6.72 [[ 9.98362489e-01 -5.34926110e-02 -2.02702169e-02 5.59092200e+02] [ 5.34927886e-02 9.98568093e-01 -5.33833153e-04 8.06880009e+00] [ 2.02697479e-02 -5.51351431e-04 9.99794396e-01 6.72028815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5850998929999 meters 0.016905970526818293 Centerline is valid? [True, True] Translation: X:559.12, Y:8.07, Z:6.72 [[ 9.98403577e-01 -5.27653696e-02 -2.01522603e-02 5.59123198e+02] [ 5.27654117e-02 9.98606795e-01 -5.30005014e-04 8.07205984e+00] [ 2.01521500e-02 -5.34183412e-04 9.99796782e-01 6.72054949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.615099893 meters 0.016529488910154103 Centerline is valid? [True, True] Translation: X:559.15, Y:8.08, Z:6.72 [[ 9.98467431e-01 -5.16783208e-02 -1.98025408e-02 5.59154320e+02] [ 5.16781617e-02 9.98663656e-01 -5.20105749e-04 8.07510543e+00] [ 1.98029559e-02 -5.04050253e-04 9.99803775e-01 6.72100596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.645099893 meters 0.015662939097458573 Centerline is valid? [True, True] Translation: X:559.19, Y:8.08, Z:6.72 [[ 9.98552781e-01 -5.01270812e-02 -1.94838424e-02 5.59185648e+02] [ 5.01266457e-02 9.98742739e-01 -5.11035737e-04 8.07925266e+00] [ 1.94849629e-02 -4.66363510e-04 9.99810041e-01 6.72185261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6750998929999 meters 0.015343970361861314 Centerline is valid? [True, True] Translation: X:559.22, Y:8.08, Z:6.72 [[ 9.98740371e-01 -4.64793174e-02 -1.89035455e-02 5.59216404e+02] [ 4.64782672e-02 9.98919179e-01 -4.95133033e-04 8.08411204e+00] [ 1.89061276e-02 -3.84094691e-04 9.99821189e-01 6.72249195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7050998929999 meters 0.01486791567212277 Centerline is valid? [True, True] Translation: X:559.25, Y:8.09, Z:6.72 [[ 9.98829751e-01 -4.46411216e-02 -1.86090976e-02 5.59247698e+02] [ 4.46397975e-02 9.99003029e-01 -4.86745267e-04 8.08764145e+00] [ 1.86122738e-02 -3.44530696e-04 9.99826717e-01 6.72321638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.735099893 meters 0.014738350524183028 Centerline is valid? [True, True] Translation: X:559.28, Y:8.09, Z:6.72 [[ 9.98967172e-01 -4.19872809e-02 -1.73682874e-02 5.59278120e+02] [ 4.19857353e-02 9.99118107e-01 -4.53778982e-04 8.09131585e+00] [ 1.73720234e-02 -2.75910014e-04 9.99849057e-01 6.72393247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.765099893 meters 0.014369031529921042 Centerline is valid? [True, True] Translation: X:559.31, Y:8.09, Z:6.72 [[ 9.99020219e-01 -4.09858713e-02 -1.66961374e-02 5.59309010e+02] [ 4.09843094e-02 9.99159695e-01 -4.35845506e-04 8.09403882e+00] [ 1.66999711e-02 -2.48861190e-04 9.99860515e-01 6.72480668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7950998929999 meters 0.014315253965442594 Centerline is valid? [True, True] Translation: X:559.34, Y:8.10, Z:6.73 [[ 9.99055720e-01 -4.01861538e-02 -1.65149034e-02 5.59341382e+02] [ 4.01845287e-02 9.99192183e-01 -4.30368353e-04 8.09574385e+00] [ 1.65188572e-02 -2.33681645e-04 9.99863527e-01 6.72518679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8250998929999 meters 0.014350215880456235 Centerline is valid? [True, True] Translation: X:559.37, Y:8.10, Z:6.73 [[ 9.99071062e-01 -4.00348521e-02 -1.59444016e-02 5.59372759e+02] [ 4.00333388e-02 9.99198259e-01 -4.14197110e-04 8.09692864e+00] [ 1.59482007e-02 -2.24495286e-04 9.99872794e-01 6.72559040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.855099893 meters 0.014335046756072159 Centerline is valid? [True, True] Translation: X:559.40, Y:8.10, Z:6.73 [[ 9.99055709e-01 -4.04143601e-02 -1.59490042e-02 5.59404707e+02] [ 4.04129225e-02 9.99182979e-01 -4.12549502e-04 8.09948616e+00] [ 1.59526464e-02 -2.32385936e-04 9.99872721e-01 6.72616954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.885099893 meters 0.014443003404022327 Centerline is valid? [True, True] Translation: X:559.44, Y:8.10, Z:6.73 [[ 9.99029707e-01 -4.10808264e-02 -1.58748158e-02 5.59437062e+02] [ 4.10795047e-02 9.99155797e-01 -4.09469705e-04 8.10012371e+00] [ 1.58782356e-02 -2.43057170e-04 9.99873903e-01 6.72625226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9150998929999 meters 0.014617489254647426 Centerline is valid? [True, True] Translation: X:559.47, Y:8.10, Z:6.73 [[ 9.98980247e-01 -4.19477836e-02 -1.66987772e-02 5.59469727e+02] [ 4.19464635e-02 9.99119767e-01 -4.29452679e-04 8.10045552e+00] [ 1.67020930e-02 -2.71439907e-04 9.99860473e-01 6.72638840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9450998929999 meters 0.015831390895087828 Centerline is valid? [True, True] Translation: X:559.50, Y:8.10, Z:6.73 [[ 9.98870521e-01 -4.45257370e-02 -1.65873498e-02 5.59501174e+02] [ 4.45248084e-02 9.99008188e-01 -4.25462793e-04 8.09856380e+00] [ 1.65898423e-02 -3.13566329e-04 9.99862330e-01 6.72611070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.975099893 meters 0.016314202650086106 Centerline is valid? [True, True] Translation: X:559.53, Y:8.10, Z:6.73 [[ 9.98793738e-01 -4.61848601e-02 -1.66741515e-02 5.59532947e+02] [ 4.61841678e-02 9.98932851e-01 -4.26791905e-04 8.09827687e+00] [ 1.66760690e-02 -3.43804729e-04 9.99860886e-01 6.72641555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.005099893 meters 0.016964575608302425 Centerline is valid? [True, True] Translation: X:559.57, Y:8.10, Z:6.73 [[ 9.98716568e-01 -4.79117006e-02 -1.64220858e-02 5.59565540e+02] [ 4.79112772e-02 9.98851507e-01 -4.19433469e-04 8.09781405e+00] [ 1.64233209e-02 -3.67907950e-04 9.99865060e-01 6.72683183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0350998929999 meters 0.016387100224834906 Centerline is valid? [True, True] Translation: X:559.60, Y:8.10, Z:6.73 [[ 9.98539760e-01 -5.13411332e-02 -1.68058011e-02 5.59597848e+02] [ 5.13411952e-02 9.98681079e-01 -4.28043426e-04 8.09963506e+00] [ 1.68056118e-02 -4.35411535e-04 9.99858681e-01 6.72740596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0650998929999 meters 0.016702588977903915 Centerline is valid? [True, True] Translation: X:559.63, Y:8.10, Z:6.73 [[ 9.98467375e-01 -5.27363900e-02 -1.67861402e-02 5.59630427e+02] [ 5.27366695e-02 9.98608363e-01 -4.26315127e-04 8.09980552e+00] [ 1.67852623e-02 -4.59583384e-04 9.99859012e-01 6.72769037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.095099893 meters 0.016887445774164428 Centerline is valid? [True, True] Translation: X:559.66, Y:8.10, Z:6.73 [[ 9.98386061e-01 -5.42403766e-02 -1.68301897e-02 5.59662847e+02] [ 5.42408918e-02 9.98527788e-01 -4.26196473e-04 8.10048761e+00] [ 1.68285292e-02 -4.87375884e-04 9.99858271e-01 6.72855084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.125099893 meters 0.016928658214690383 Centerline is valid? [True, True] Translation: X:559.69, Y:8.10, Z:6.73 [[ 9.98396677e-01 -5.41045307e-02 -1.66365345e-02 5.59694537e+02] [ 5.41050355e-02 9.98535161e-01 -4.20078281e-04 8.10120080e+00] [ 1.66348928e-02 -4.80715531e-04 9.99861515e-01 6.72901647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1550998929999 meters 0.017111452619670897 Centerline is valid? [True, True] Translation: X:559.73, Y:8.10, Z:6.73 [[ 9.98421357e-01 -5.36532576e-02 -1.66169227e-02 5.59725626e+02] [ 5.36537177e-02 9.98559514e-01 -4.18441393e-04 8.10168794e+00] [ 1.66154370e-02 -4.73778853e-04 9.99861842e-01 6.72927304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1850998929999 meters 0.01675568806290022 Centerline is valid? [True, True] Translation: X:559.76, Y:8.10, Z:6.73 [[ 9.98476548e-01 -5.25248744e-02 -1.69032867e-02 5.59757771e+02] [ 5.25252062e-02 9.98619508e-01 -4.24631123e-04 8.10341078e+00] [ 1.69022556e-02 -4.63864404e-04 9.99857039e-01 6.72960324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.215099893 meters 0.016101288687723658 Centerline is valid? [True, True] Translation: X:559.79, Y:8.11, Z:6.73 [[ 9.98648817e-01 -4.91224979e-02 -1.69564383e-02 5.59789133e+02] [ 4.91223599e-02 9.98792678e-01 -4.24893038e-04 8.10680470e+00] [ 1.69568382e-02 -4.08621334e-04 9.99856139e-01 6.73032860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.245099893 meters 0.015589583935802535 Centerline is valid? [True, True] Translation: X:559.82, Y:8.11, Z:6.73 [[ 9.98762175e-01 -4.68977853e-02 -1.65745323e-02 5.59821290e+02] [ 4.68973596e-02 9.98899627e-01 -4.14576463e-04 8.10964300e+00] [ 1.65757369e-02 -3.63238513e-04 9.99862547e-01 6.73104328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.275099893 meters 0.014985458740271835 Centerline is valid? [True, True] Translation: X:559.85, Y:8.11, Z:6.73 [[ 9.98880049e-01 -4.44005567e-02 -1.63474456e-02 5.59853763e+02] [ 4.43998275e-02 9.99013758e-01 -4.07716482e-04 8.11278497e+00] [ 1.63494259e-02 -3.18563906e-04 9.99866288e-01 6.73198202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3050998929999 meters 0.014291909562178181 Centerline is valid? [True, True] Translation: X:559.88, Y:8.12, Z:6.73 [[ 9.99115695e-01 -3.88404634e-02 -1.61011087e-02 5.59883684e+02] [ 3.88390496e-02 9.99245399e-01 -4.00609961e-04 8.11685696e+00] [ 1.61045187e-02 -2.25096059e-04 9.99870288e-01 6.73312361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3350998929999 meters 0.013593078512892933 Centerline is valid? [True, True] Translation: X:559.91, Y:8.12, Z:6.73 [[ 9.99328721e-01 -3.30633698e-02 -1.57772535e-02 5.59914884e+02] [ 3.30612977e-02 9.99453249e-01 -3.92208180e-04 8.12137536e+00] [ 1.57815949e-02 -1.29671574e-04 9.99875454e-01 6.73432471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.365099893 meters 0.013399116835570662 Centerline is valid? [True, True] Translation: X:559.95, Y:8.12, Z:6.73 [[ 9.99441343e-01 -2.96781468e-02 -1.53691045e-02 5.59946004e+02] [ 2.96757887e-02 9.99559504e-01 -3.81516139e-04 8.12396839e+00] [ 1.53736571e-02 -7.47872946e-05 9.99881816e-01 6.73457162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.395099893 meters 0.013399116835570662 Centerline is valid? [True, True] Translation: X:559.98, Y:8.12, Z:6.73 [[ 9.99442414e-01 -2.96420541e-02 -1.53691182e-02 5.59976839e+02] [ 2.96397003e-02 9.99560575e-01 -3.80960992e-04 8.12470507e+00] [ 1.53736571e-02 -7.47874847e-05 9.99881816e-01 6.73495292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4250998929999 meters 0.013173374246465403 Centerline is valid? [True, True] Translation: X:560.01, Y:8.13, Z:6.74 [[ 9.99595108e-01 -2.40294706e-02 -1.52382775e-02 5.60006639e+02] [ 2.40265105e-02 9.99711251e-01 -3.77326547e-04 8.12915602e+00] [ 1.52429444e-02 1.10511353e-05 9.99883820e-01 6.73556891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4550998929999 meters 0.013317825948803107 Centerline is valid? [True, True] Translation: X:560.04, Y:8.13, Z:6.74 [[ 9.99646550e-01 -2.16157507e-02 -1.54769069e-02 5.60036720e+02] [ 2.16124025e-02 9.99766351e-01 -3.83575346e-04 8.13118204e+00] [ 1.54815820e-02 4.89466297e-05 9.99880152e-01 6.73577161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.485099893 meters 0.013298456388491964 Centerline is valid? [True, True] Translation: X:560.07, Y:8.13, Z:6.74 [[ 9.99685311e-01 -1.99942580e-02 -1.51495491e-02 5.60065503e+02] [ 1.99908547e-02 9.99800092e-01 -3.76060737e-04 8.13304395e+00] [ 1.51540396e-02 7.30899600e-05 9.99885168e-01 6.73579297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.515099893 meters 0.013476683472782686 Centerline is valid? [True, True] Translation: X:560.09, Y:8.13, Z:6.74 [[ 9.99704949e-01 -1.88974893e-02 -1.52610786e-02 5.60094613e+02] [ 1.88938952e-02 9.99821422e-01 -3.79667050e-04 8.13412971e+00] [ 1.52655281e-02 9.12138084e-05 9.99883471e-01 6.73559373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5450998929999 meters 0.013467139883376418 Centerline is valid? [True, True] Translation: X:560.12, Y:8.13, Z:6.73 [[ 9.99682625e-01 -1.90612641e-02 -1.64717210e-02 5.60123328e+02] [ 1.90570705e-02 9.99818313e-01 -4.11536071e-04 8.13378789e+00] [ 1.64765727e-02 9.75027108e-05 9.99864247e-01 6.73492858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5750998929999 meters 0.013467139883376418 Centerline is valid? [True, True] Translation: X:560.15, Y:8.13, Z:6.74 [[ 9.99677085e-01 -1.93497149e-02 -1.64716127e-02 5.60150717e+02] [ 1.93454896e-02 9.99812772e-01 -4.15833514e-04 8.13453467e+00] [ 1.64765750e-02 9.70478227e-05 9.99864247e-01 6.73526831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.605099893 meters 0.01338155197032717 Centerline is valid? [True, True] Translation: X:560.18, Y:8.13, Z:6.73 [[ 9.99650501e-01 -2.06644655e-02 -1.64880694e-02 5.60178367e+02] [ 2.06603321e-02 9.99786464e-01 -4.21006069e-04 8.13395352e+00] [ 1.64932485e-02 8.02099377e-05 9.99863974e-01 6.73489158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.635099893 meters 0.013318316039034165 Centerline is valid? [True, True] Translation: X:560.21, Y:8.13, Z:6.74 [[ 9.99595121e-01 -2.28166210e-02 -1.69998726e-02 5.60207466e+02] [ 2.28124560e-02 9.99739666e-01 -4.38907547e-04 8.13293797e+00] [ 1.70054614e-02 5.09209963e-05 9.99855395e-01 6.73519101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6650998929999 meters 0.013179695731208089 Centerline is valid? [True, True] Translation: X:560.24, Y:8.13, Z:6.74 [[ 9.99525565e-01 -2.58940352e-02 -1.66776156e-02 5.60236278e+02] [ 2.58903852e-02 9.99664693e-01 -4.34765191e-04 8.13172219e+00] [ 1.66832813e-02 2.76903189e-06 9.99860824e-01 6.73552181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6950998929999 meters 0.013262037221270806 Centerline is valid? [True, True] Translation: X:560.27, Y:8.13, Z:6.74 [[ 9.99341625e-01 -3.27294339e-02 -1.56556797e-02 5.60265074e+02] [ 3.27270066e-02 9.99464243e-01 -4.11285922e-04 8.12698242e+00] [ 1.56607532e-02 -1.01348390e-04 9.99877358e-01 6.73642145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.725099893 meters 0.013756361215947656 Centerline is valid? [True, True] Translation: X:560.30, Y:8.12, Z:6.74 [[ 9.99204868e-01 -3.68205270e-02 -1.52931569e-02 5.60295862e+02] [ 3.68186814e-02 9.99321882e-01 -4.02315254e-04 8.12370949e+00] [ 1.52975998e-02 -1.61078510e-04 9.99882972e-01 6.73702989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.755099893 meters 0.014314069478783695 Centerline is valid? [True, True] Translation: X:560.33, Y:8.12, Z:6.74 [[ 9.99053333e-01 -4.10631966e-02 -1.43614837e-02 5.60326934e+02] [ 4.10620142e-02 9.99156529e-01 -3.77315216e-04 8.12075494e+00] [ 1.43648639e-02 -2.12753422e-04 9.99896797e-01 6.73778567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7850998929999 meters 0.016400124427878488 Centerline is valid? [True, True] Translation: X:560.36, Y:8.11, Z:6.74 [[ 9.98690559e-01 -4.94364383e-02 -1.31607817e-02 5.60356989e+02] [ 4.94361771e-02 9.98777225e-01 -3.45366492e-04 8.11261368e+00] [ 1.31617627e-02 -3.05704481e-04 9.99913334e-01 6.73908949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8150998929999 meters 0.017322861268640764 Centerline is valid? [True, True] Translation: X:560.39, Y:8.11, Z:6.74 [[ 9.98499351e-01 -5.34042479e-02 -1.21257006e-02 5.60388761e+02] [ 5.34043183e-02 9.98572920e-01 -3.18216365e-04 8.11001084e+00] [ 1.21253903e-02 -3.29825938e-04 9.99926430e-01 6.73978984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.845099893 meters 0.018405318479750014 Centerline is valid? [True, True] Translation: X:560.42, Y:8.11, Z:6.74 [[ 9.98298454e-01 -5.70657473e-02 -1.19873997e-02 5.60420452e+02] [ 5.70660874e-02 9.98370354e-01 -3.13954237e-04 8.10732193e+00] [ 1.19857805e-02 -3.70653969e-04 9.99928099e-01 6.74045353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.875099893 meters 0.019864854607542934 Centerline is valid? [True, True] Translation: X:560.45, Y:8.10, Z:6.74 [[ 9.98115671e-01 -6.02278325e-02 -1.17352115e-02 5.60451844e+02] [ 6.02283839e-02 9.98184576e-01 -3.06737117e-04 8.10424467e+00] [ 1.17323812e-02 -4.00633701e-04 9.99931093e-01 6.74083544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9050998929999 meters 0.022681479925177002 Centerline is valid? [True, True] Translation: X:560.48, Y:8.10, Z:6.74 [[ 9.97683025e-01 -6.69536664e-02 -1.20742473e-02 5.60482786e+02] [ 6.69547498e-02 9.97755963e-01 -3.14926224e-04 8.09855393e+00] [ 1.20682377e-02 -4.94231659e-04 9.99927054e-01 6.74064395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9350998929999 meters 0.02420951776309167 Centerline is valid? [True, True] Translation: X:560.51, Y:8.10, Z:6.74 [[ 9.97433848e-01 -7.04721938e-02 -1.26248965e-02 5.60514307e+02] [ 7.04736603e-02 9.97513586e-01 -3.29235539e-04 8.09559197e+00] [ 1.26167078e-02 -5.61331999e-04 9.99920249e-01 6.74056244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.965099893 meters 0.021500413018237317 Centerline is valid? [True, True] Translation: X:560.55, Y:8.10, Z:6.74 [[ 9.97197385e-01 -7.36252219e-02 -1.32929695e-02 5.60545020e+02] [ 7.36271339e-02 9.97285779e-01 -3.46157957e-04 8.09899455e+00] [ 1.32823754e-02 -6.33535437e-04 9.99911585e-01 6.74065004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.995099893 meters 0.02652297898941055 Centerline is valid? [True, True] Translation: X:560.58, Y:8.09, Z:6.74 [[ 9.96684354e-01 -8.00860282e-02 -1.43710094e-02 5.60575092e+02] [ 8.00889424e-02 9.96787651e-01 -3.73539725e-04 8.09037547e+00] [ 1.43547600e-02 -7.78657742e-04 9.99896662e-01 6.74023147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.025099893 meters 0.027791325375107475 Centerline is valid? [True, True] Translation: X:560.61, Y:8.09, Z:6.74 [[ 9.96425335e-01 -8.31518637e-02 -1.49103653e-02 5.60606097e+02] [ 8.31553449e-02 9.96536521e-01 -3.87419679e-04 8.08872818e+00] [ 1.48909382e-02 -8.53841784e-04 9.99888759e-01 6.74028786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0550998929999 meters 0.027346023749209067 Centerline is valid? [True, True] Translation: X:560.64, Y:8.09, Z:6.74 [[ 9.96215483e-01 -8.55568669e-02 -1.53210476e-02 5.60637326e+02] [ 8.55608311e-02 9.96332869e-01 -3.97756432e-04 8.08956830e+00] [ 1.52988941e-02 -9.14630452e-04 9.99882547e-01 6.74071530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0850998929999 meters 0.02707328996735468 Centerline is valid? [True, True] Translation: X:560.67, Y:8.09, Z:6.74 [[ 9.96055026e-01 -8.74122378e-02 -1.52802371e-02 5.60669570e+02] [ 8.74164085e-02 9.96171780e-01 -3.96033492e-04 8.09063967e+00] [ 1.52563591e-02 -9.41272295e-04 9.99883172e-01 6.74126546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.115099893 meters 0.029097384361359457 Centerline is valid? [True, True] Translation: X:560.70, Y:8.09, Z:6.74 [[ 9.95851731e-01 -8.94742449e-02 -1.65435316e-02 5.60699316e+02] [ 8.94794335e-02 9.95988578e-01 -4.27788603e-04 8.08978498e+00] [ 1.65154446e-02 -1.05429181e-03 9.99863055e-01 6.74136517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.145099893 meters 0.029603120219028778 Centerline is valid? [True, True] Translation: X:560.73, Y:8.09, Z:6.74 [[ 9.95837933e-01 -8.95295308e-02 -1.70667476e-02 5.60731673e+02] [ 8.95350668e-02 9.95983573e-01 -4.40977229e-04 8.09078386e+00] [ 1.70376807e-02 -1.08893054e-03 9.99854255e-01 6.74141498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1750998929999 meters 0.026500068469231492 Centerline is valid? [True, True] Translation: X:560.76, Y:8.10, Z:6.74 [[ 9.95955084e-01 -8.79939700e-02 -1.81805430e-02 5.60763529e+02] [ 8.80000227e-02 9.96120363e-01 -4.68372563e-04 8.09818094e+00] [ 1.81512230e-02 -1.13341016e-03 9.99834611e-01 6.74148629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2050998929999 meters 0.030224059942158554 Centerline is valid? [True, True] Translation: X:560.80, Y:8.10, Z:6.74 [[ 9.96047873e-01 -8.67733698e-02 -1.89477594e-02 5.60795176e+02] [ 8.67797516e-02 9.96227403e-01 -4.86700525e-04 8.09535239e+00] [ 1.89185098e-02 -1.15950483e-03 9.99820357e-01 6.74095922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.235099893 meters 0.026964177475808135 Centerline is valid? [True, True] Translation: X:560.83, Y:8.10, Z:6.74 [[ 9.96160238e-01 -8.54188866e-02 -1.91935688e-02 5.60826856e+02] [ 8.54252119e-02 9.96344464e-01 -4.91588724e-04 8.10220757e+00] [ 1.91653970e-02 -1.14991354e-03 9.99815666e-01 6.74167830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.265099893 meters 0.027762933900062927 Centerline is valid? [True, True] Translation: X:560.86, Y:8.10, Z:6.74 [[ 9.96259895e-01 -8.42376972e-02 -1.92414072e-02 5.60857773e+02] [ 8.42438592e-02 9.96445046e-01 -4.91530631e-04 8.10358552e+00] [ 1.92144103e-02 -1.13127814e-03 9.99814746e-01 6.74180743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2950998929999 meters 0.025534168983242744 Centerline is valid? [True, True] Translation: X:560.89, Y:8.11, Z:6.74 [[ 9.96433475e-01 -8.19162756e-02 -2.02497662e-02 5.60889087e+02] [ 8.19226431e-02 9.96638557e-01 -5.16289855e-04 8.11129871e+00] [ 2.02239903e-02 -1.14446587e-03 9.99794819e-01 6.74236458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3250998929999 meters 0.02535776924167455 Centerline is valid? [True, True] Translation: X:560.92, Y:8.11, Z:6.74 [[ 9.96513857e-01 -8.08223416e-02 -2.06853258e-02 5.60921247e+02] [ 8.08287734e-02 9.96727863e-01 -5.26321936e-04 8.11445654e+00] [ 2.06601791e-02 -1.14748241e-03 9.99785897e-01 6.74273827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.355099893 meters 0.0252393157551891 Centerline is valid? [True, True] Translation: X:560.95, Y:8.12, Z:6.74 [[ 9.96598825e-01 -7.97463318e-02 -2.07678578e-02 5.60953317e+02] [ 7.97526135e-02 9.96814548e-01 -5.26903723e-04 8.11734994e+00] [ 2.07437214e-02 -1.13117931e-03 9.99784186e-01 6.74326698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.385099893 meters 0.02548967092126725 Centerline is valid? [True, True] Translation: X:560.98, Y:8.12, Z:6.74 [[ 9.96688527e-01 -7.86930113e-02 -2.04789954e-02 5.60984523e+02] [ 7.86989249e-02 9.96898295e-01 -5.18249203e-04 8.11946360e+00] [ 2.04562582e-02 -1.09514189e-03 9.99790149e-01 6.74381064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4150998929999 meters 0.025165317154867264 Centerline is valid? [True, True] Translation: X:561.02, Y:8.12, Z:6.74 [[ 9.96856887e-01 -7.66439192e-02 -2.00513474e-02 5.61015850e+02] [ 7.66491935e-02 9.97057995e-01 -5.06495621e-04 8.12461289e+00] [ 2.00311760e-02 -1.03201596e-03 9.99798823e-01 6.74483149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4450998929999 meters 0.022966795459148773 Centerline is valid? [True, True] Translation: X:561.05, Y:8.13, Z:6.75 [[ 9.96969424e-01 -7.52694782e-02 -1.96589438e-02 5.61048419e+02] [ 7.52743032e-02 9.97162742e-01 -4.95478966e-04 8.13065766e+00] [ 1.96404607e-02 -9.85835916e-04 9.99806622e-01 6.74587833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.475099893 meters 0.023400218404464386 Centerline is valid? [True, True] Translation: X:561.08, Y:8.13, Z:6.75 [[ 9.97095582e-01 -7.36851443e-02 -1.92587575e-02 5.61080068e+02] [ 7.36895109e-02 9.97281115e-01 -4.83779579e-04 8.13309685e+00] [ 1.92420426e-02 -9.36793945e-04 9.99814416e-01 6.74617714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.505099893 meters 0.023307784775726592 Centerline is valid? [True, True] Translation: X:561.11, Y:8.14, Z:6.75 [[ 9.97375198e-01 -6.97019029e-02 -1.96050742e-02 5.61110033e+02] [ 6.97056781e-02 9.97567480e-01 -4.91562447e-04 8.13880545e+00] [ 1.95916473e-02 -8.76312798e-04 9.99807681e-01 6.74653659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5350998929999 meters 0.021266702801864466 Centerline is valid? [True, True] Translation: X:561.14, Y:8.15, Z:6.75 [[ 9.97546452e-01 -6.71211511e-02 -1.98954241e-02 5.61141736e+02] [ 6.71245347e-02 9.97744481e-01 -4.98435447e-04 8.14510711e+00] [ 1.98840051e-02 -8.38258572e-04 9.99801942e-01 6.74736388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5650998929999 meters 0.020979132611309563 Centerline is valid? [True, True] Translation: X:561.17, Y:8.15, Z:6.75 [[ 9.97721699e-01 -6.44181575e-02 -2.00427458e-02 5.61172553e+02] [ 6.44210659e-02 9.97922680e-01 -5.01178495e-04 8.14873767e+00] [ 2.00333956e-02 -7.91138386e-04 9.99798998e-01 6.74763563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.595099893 meters 0.01966969864610581 Centerline is valid? [True, True] Translation: X:561.20, Y:8.15, Z:6.75 [[ 9.97897765e-01 -6.15093889e-02 -2.04118893e-02 5.61204042e+02] [ 6.15118129e-02 9.98106225e-01 -5.09669526e-04 8.15403969e+00] [ 2.04045832e-02 -7.46974234e-04 9.99791526e-01 6.74805267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.625099893 meters 0.016940792500426335 Centerline is valid? [True, True] Translation: X:561.23, Y:8.16, Z:6.75 [[ 9.98269745e-01 -5.50622822e-02 -2.06315533e-02 5.61234960e+02] [ 5.50633963e-02 9.98482728e-01 -5.14509272e-04 8.16435283e+00] [ 2.06285796e-02 -6.22424354e-04 9.99787014e-01 6.74844061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6550998929999 meters 0.01681564012504648 Centerline is valid? [True, True] Translation: X:561.26, Y:8.17, Z:6.75 [[ 9.98455250e-01 -5.13728944e-02 -2.11645977e-02 5.61264993e+02] [ 5.13732485e-02 9.98679384e-01 -5.27339129e-04 8.16778748e+00] [ 2.11637384e-02 -5.60769616e-04 9.99775866e-01 6.74802878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6850998929999 meters 0.015863577902249494 Centerline is valid? [True, True] Translation: X:561.30, Y:8.17, Z:6.75 [[ 9.98627298e-01 -4.75813724e-02 -2.18982449e-02 5.61295926e+02] [ 4.75808530e-02 9.98867241e-01 -5.45046472e-04 8.17280222e+00] [ 2.18993735e-02 -4.97638886e-04 9.99760056e-01 6.74828717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.715099893 meters 0.014038262109640608 Centerline is valid? [True, True] Translation: X:561.33, Y:8.18, Z:6.75 [[ 9.98997183e-01 -3.91860845e-02 -2.16582210e-02 5.61326879e+02] [ 3.91836200e-02 9.99231882e-01 -5.38317990e-04 8.18316597e+00] [ 2.16626795e-02 -3.10869344e-04 9.99765288e-01 6.74915688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.745099893 meters 0.013287182639009357 Centerline is valid? [True, True] Translation: X:561.36, Y:8.19, Z:6.75 [[ 9.99150196e-01 -3.49159778e-02 -2.19034498e-02 5.61358192e+02] [ 3.49124483e-02 9.99390227e-01 -5.43632164e-04 8.18894909e+00] [ 2.19090751e-02 -2.21532876e-04 9.99759943e-01 6.75056317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.775099893 meters 0.01304287328249135 Centerline is valid? [True, True] Translation: X:561.39, Y:8.19, Z:6.75 [[ 9.99305676e-01 -3.05477048e-02 -2.13308263e-02 5.61387433e+02] [ 3.05433735e-02 9.99533302e-01 -5.28895690e-04 8.19300676e+00] [ 2.13370278e-02 -1.22986929e-04 9.99772332e-01 6.75060828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8050998929999 meters 0.012941860981159596 Centerline is valid? [True, True] Translation: X:561.42, Y:8.20, Z:6.75 [[ 9.99528719e-01 -2.24514861e-02 -2.09349201e-02 5.61417138e+02] [ 2.24455340e-02 9.99747932e-01 -5.19274461e-04 8.20073860e+00] [ 2.09413016e-02 4.91342750e-05 9.99780706e-01 6.75185089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8350998929999 meters 0.013213573298765158 Centerline is valid? [True, True] Translation: X:561.45, Y:8.20, Z:6.75 [[ 9.99607813e-01 -1.92800953e-02 -2.03100615e-02 5.61445142e+02] [ 1.92738155e-02 9.99814115e-01 -5.04914773e-04 8.20467777e+00] [ 2.03160210e-02 1.13264373e-04 9.99793602e-01 6.75167593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.865099893 meters 0.01340059074395671 Centerline is valid? [True, True] Translation: X:561.47, Y:8.21, Z:6.75 [[ 9.99655383e-01 -1.66208787e-02 -2.03189907e-02 5.61473367e+02] [ 1.66139815e-02 9.99861849e-01 -5.08214884e-04 8.20717099e+00] [ 2.03246306e-02 1.70460408e-04 9.99793419e-01 6.75230280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.895099893 meters 0.013607095108898617 Centerline is valid? [True, True] Translation: X:561.50, Y:8.21, Z:6.75 [[ 9.99689158e-01 -1.48587781e-02 -2.00200679e-02 5.61502456e+02] [ 1.48516306e-02 9.99889581e-01 -5.05657453e-04 8.20909219e+00] [ 2.00253707e-02 2.08169621e-04 9.99799450e-01 6.75276883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9250998929999 meters 0.013878526181771815 Centerline is valid? [True, True] Translation: X:561.53, Y:8.21, Z:6.75 [[ 9.99721725e-01 -1.31858082e-02 -1.95603473e-02 5.61530735e+02] [ 1.31785875e-02 9.99913035e-01 -4.98010870e-04 8.21018160e+00] [ 1.95652129e-02 2.40094539e-04 9.99808554e-01 6.75314346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9550998929999 meters 0.013837325965519261 Centerline is valid? [True, True] Translation: X:561.56, Y:8.21, Z:6.75 [[ 9.99717927e-01 -1.38778014e-02 -1.92736358e-02 5.61558962e+02] [ 1.38708759e-02 9.99903673e-01 -4.92965311e-04 8.21033691e+00] [ 1.92786205e-02 2.25484048e-04 9.99814125e-01 6.75349764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.985099893 meters 0.013722552153177903 Centerline is valid? [True, True] Translation: X:561.59, Y:8.21, Z:6.75 [[ 9.99707667e-01 -1.49269922e-02 -1.90201422e-02 5.61587359e+02] [ 1.49203867e-02 9.99888565e-01 -4.89154208e-04 8.20932273e+00] [ 1.90253243e-02 2.05223334e-04 9.99818981e-01 6.75410598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.015099893 meters 0.013482818088060558 Centerline is valid? [True, True] Translation: X:561.62, Y:8.21, Z:6.75 [[ 9.99679401e-01 -1.68670054e-02 -1.88838506e-02 5.61616279e+02] [ 1.68607544e-02 9.99857727e-01 -4.90198576e-04 8.20769195e+00] [ 1.88894322e-02 1.71645450e-04 9.99821564e-01 6.75439488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0450998929999 meters 0.013147313093460119 Centerline is valid? [True, True] Translation: X:561.64, Y:8.20, Z:6.75 [[ 9.99604424e-01 -2.09627307e-02 -1.87499334e-02 5.61644420e+02] [ 2.09572174e-02 9.99780253e-01 -4.90506845e-04 8.20254344e+00] [ 1.87560955e-02 9.73663811e-05 9.99824084e-01 6.75407872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0750998929999 meters 0.012874225802097947 Centerline is valid? [True, True] Translation: X:561.67, Y:8.20, Z:6.75 [[ 9.99532367e-01 -2.37164687e-02 -1.93022612e-02 5.61672087e+02] [ 2.37110688e-02 9.99718724e-01 -5.08599916e-04 8.19951729e+00] [ 1.93088941e-02 5.06848344e-05 9.99813565e-01 6.75482471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.105099893 meters 0.012902104780047328 Centerline is valid? [True, True] Translation: X:561.70, Y:8.19, Z:6.75 [[ 9.99399782e-01 -2.84995616e-02 -1.96939305e-02 5.61699818e+02] [ 2.84947770e-02 9.99593804e-01 -5.23574644e-04 8.19323679e+00] [ 1.97008525e-02 -3.79137732e-05 9.99805919e-01 6.75345269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.135099893 meters 0.012972419718486854 Centerline is valid? [True, True] Translation: X:561.73, Y:8.19, Z:6.75 [[ 9.99329109e-01 -3.09416675e-02 -1.95945087e-02 5.61729547e+02] [ 3.09373629e-02 9.99521188e-01 -5.22846123e-04 8.18975262e+00] [ 1.96013044e-02 -8.37070775e-05 9.99807872e-01 6.75355452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1650998929999 meters 0.01319543835534473 Centerline is valid? [True, True] Translation: X:561.76, Y:8.19, Z:6.75 [[ 9.99252934e-01 -3.35058874e-02 -1.92595365e-02 5.61759133e+02] [ 3.35021925e-02 9.99438512e-01 -5.14557708e-04 8.18613252e+00] [ 1.92659632e-02 -1.31063398e-04 9.99814386e-01 6.75396431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1950998929999 meters 0.013634264260040429 Centerline is valid? [True, True] Translation: X:561.79, Y:8.18, Z:6.75 [[ 9.99161877e-01 -3.61799527e-02 -1.91455898e-02 5.61789591e+02] [ 3.61767910e-02 9.99345275e-01 -5.11572535e-04 8.18222146e+00] [ 1.91515634e-02 -1.81482228e-04 9.99816576e-01 6.75391302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.225099893 meters 0.014268029721162577 Centerline is valid? [True, True] Translation: X:561.82, Y:8.18, Z:6.76 [[ 9.98959426e-01 -4.16078556e-02 -1.86775470e-02 5.61821485e+02] [ 4.16058110e-02 9.99133979e-01 -4.98207883e-04 8.17589155e+00] [ 1.86821013e-02 -2.79405030e-04 9.99825435e-01 6.75528368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.255099893 meters 0.014635395975746448 Centerline is valid? [True, True] Translation: X:561.85, Y:8.17, Z:6.76 [[ 9.98849696e-01 -4.41973226e-02 -1.85979044e-02 5.61853256e+02] [ 4.41957582e-02 9.99022767e-01 -4.95318017e-04 8.17283182e+00] [ 1.86016216e-02 -3.27200234e-04 9.99826921e-01 6.75589815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2850998929999 meters 0.015087089683302001 Centerline is valid? [True, True] Translation: X:561.89, Y:8.17, Z:6.76 [[ 9.98737923e-01 -4.66388788e-02 -1.86380210e-02 5.61885192e+02] [ 4.66377533e-02 9.98911745e-01 -4.95275180e-04 8.16973572e+00] [ 1.86408372e-02 -3.74585322e-04 9.99826174e-01 6.75626758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3150998929999 meters 0.01593209469276097 Centerline is valid? [True, True] Translation: X:561.92, Y:8.16, Z:6.76 [[ 9.98459771e-01 -5.23552071e-02 -1.83580561e-02 5.61916787e+02] [ 5.23551005e-02 9.98628413e-01 -4.86744197e-04 8.16288069e+00] [ 1.83583600e-02 -4.75143375e-04 9.99831358e-01 6.75636113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.345099893 meters 0.01759640212290307 Centerline is valid? [True, True] Translation: X:561.95, Y:8.16, Z:6.76 [[ 9.98300844e-01 -5.52038233e-02 -1.86537430e-02 5.61947695e+02] [ 5.52042336e-02 9.98474962e-01 -4.93324904e-04 8.15728982e+00] [ 1.86525287e-02 -5.37278915e-04 9.99825882e-01 6.75601835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.375099893 meters 0.01714616602969092 Centerline is valid? [True, True] Translation: X:561.98, Y:8.16, Z:6.76 [[ 9.98104509e-01 -5.85165435e-02 -1.90578854e-02 5.61979989e+02] [ 5.85176150e-02 9.98286250e-01 -5.01910766e-04 8.15604860e+00] [ 1.90545950e-02 -6.14262600e-04 9.99818256e-01 6.75655717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4050998929999 meters 0.01986363130183943 Centerline is valid? [True, True] Translation: X:562.01, Y:8.15, Z:6.76 [[ 9.97632884e-01 -6.59186084e-02 -1.95797533e-02 5.62009532e+02] [ 6.59211787e-02 9.97824701e-01 -5.14821740e-04 8.14736769e+00] [ 1.95710978e-02 -7.77117321e-04 9.99808166e-01 6.75627925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4350998929999 meters 0.024490168861814165 Centerline is valid? [True, True] Translation: X:562.04, Y:8.14, Z:6.76 [[ 9.97410296e-01 -6.91189801e-02 -1.98813349e-02 5.62039689e+02] [ 6.91222611e-02 9.97608059e-01 -5.22938087e-04 8.13855797e+00] [ 1.98699249e-02 -8.52658991e-04 9.99802210e-01 6.75523055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.465099893 meters 0.024490168861814165 Centerline is valid? [True, True] Translation: X:562.07, Y:8.14, Z:6.76 [[ 9.97414999e-01 -6.90510819e-02 -1.98813484e-02 5.62071395e+02] [ 6.90543596e-02 9.97612762e-01 -5.22426150e-04 8.13932890e+00] [ 1.98699609e-02 -8.51818101e-04 9.99802210e-01 6.75562275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.495099893 meters 0.022304775670810156 Centerline is valid? [True, True] Translation: X:562.10, Y:8.14, Z:6.76 [[ 9.97193012e-01 -7.19993943e-02 -2.05471226e-02 5.62102565e+02] [ 7.20035437e-02 9.97404231e-01 -5.38755530e-04 8.14100004e+00] [ 2.05325771e-02 -9.42222393e-04 9.99788740e-01 6.75644105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.525099893 meters 0.023760584233604384 Centerline is valid? [True, True] Translation: X:562.13, Y:8.14, Z:6.76 [[ 9.96984019e-01 -7.46888686e-02 -2.10817327e-02 5.62132637e+02] [ 7.46938463e-02 9.97206360e-01 -5.52316077e-04 8.13725938e+00] [ 2.10640898e-02 -1.02402540e-03 9.99777603e-01 6.75631490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5550998929999 meters 0.024963854244486015 Centerline is valid? [True, True] Translation: X:562.16, Y:8.13, Z:6.76 [[ 9.96817878e-01 -7.67103118e-02 -2.16712989e-02 5.62164863e+02] [ 7.67160627e-02 9.97052819e-01 -5.67097267e-04 8.13439503e+00] [ 2.16509319e-02 -1.09724403e-03 9.99764989e-01 6.75631462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5850998929999 meters 0.026489100907167717 Centerline is valid? [True, True] Translation: X:562.20, Y:8.13, Z:6.76 [[ 9.96632779e-01 -7.90180924e-02 -2.18916413e-02 5.62195452e+02] [ 7.90245392e-02 9.96872507e-01 -5.71803323e-04 8.12995363e+00] [ 2.18683581e-02 -1.16009893e-03 9.99760186e-01 6.75604776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.615099893 meters 0.027052023518727396 Centerline is valid? [True, True] Translation: X:562.23, Y:8.13, Z:6.76 [[ 9.96599680e-01 -7.93309415e-02 -2.22638457e-02 5.62228010e+02] [ 7.93377078e-02 9.96847627e-01 -5.80606444e-04 8.12898937e+00] [ 2.22397218e-02 -1.18773029e-03 9.99751961e-01 6.75631550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.645099893 meters 0.02728543867396385 Centerline is valid? [True, True] Translation: X:562.26, Y:8.13, Z:6.76 [[ 9.96618678e-01 -7.89160690e-02 -2.28793427e-02 5.62260052e+02] [ 7.89231431e-02 9.96880526e-01 -5.95027918e-04 8.12856449e+00] [ 2.28549284e-02 -1.21269370e-03 9.99738057e-01 6.75643837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6750998929999 meters 0.027256734694975714 Centerline is valid? [True, True] Translation: X:562.29, Y:8.13, Z:6.76 [[ 9.96705678e-01 -7.75455227e-02 -2.37588739e-02 5.62291948e+02] [ 7.75527987e-02 9.96988056e-01 -6.16408407e-04 8.12821582e+00] [ 2.37351132e-02 -1.22818940e-03 9.99717528e-01 6.75610578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7050998929999 meters 0.023494564715031908 Centerline is valid? [True, True] Translation: X:562.32, Y:8.13, Z:6.76 [[ 9.96790429e-01 -7.64379479e-02 -2.37924378e-02 5.62323709e+02] [ 7.64449650e-02 9.97073612e-01 -6.15797265e-04 8.13372801e+00] [ 2.37698822e-02 -1.20499125e-03 9.99716730e-01 6.75773243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.735099893 meters 0.02274594104115276 Centerline is valid? [True, True] Translation: X:562.36, Y:8.14, Z:6.76 [[ 9.96900865e-01 -7.52157666e-02 -2.30489606e-02 5.62355480e+02] [ 7.52220596e-02 9.97166630e-01 -5.95089879e-04 8.13512421e+00] [ 2.30284145e-02 -1.14054467e-03 9.99734160e-01 6.75858856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.765099893 meters 0.022652090441242625 Centerline is valid? [True, True] Translation: X:562.39, Y:8.14, Z:6.76 [[ 9.97076351e-01 -7.28190798e-02 -2.31545012e-02 5.62386099e+02] [ 7.28248109e-02 9.97344570e-01 -5.96735261e-04 8.13571246e+00] [ 2.31364698e-02 -1.09123156e-03 9.99731721e-01 6.75922589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7950998929999 meters 0.023435817730805393 Centerline is valid? [True, True] Translation: X:562.42, Y:8.14, Z:6.76 [[ 9.97173176e-01 -7.15438001e-02 -2.29595885e-02 5.62416853e+02] [ 7.15491167e-02 9.97436903e-01 -5.90884866e-04 8.13571547e+00] [ 2.29430150e-02 -1.05352374e-03 9.99736219e-01 6.75963285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8250998929999 meters 0.026113727381555388 Centerline is valid? [True, True] Translation: X:562.45, Y:8.13, Z:6.76 [[ 9.97260515e-01 -7.03231443e-02 -2.29373134e-02 5.62447391e+02] [ 7.03281427e-02 9.97523736e-01 -5.89684471e-04 8.13327139e+00] [ 2.29219830e-02 -1.02506961e-03 9.99736731e-01 6.75971664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.855099893 meters 0.021916956510962895 Centerline is valid? [True, True] Translation: X:562.48, Y:8.14, Z:6.76 [[ 9.97385748e-01 -6.87946518e-02 -2.21125748e-02 5.62479076e+02] [ 6.87989383e-02 9.97630384e-01 -5.67749354e-04 8.14098645e+00] [ 2.20992346e-02 -9.55056553e-04 9.99755326e-01 6.76197185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.885099893 meters 0.019932886744880113 Centerline is valid? [True, True] Translation: X:562.51, Y:8.15, Z:6.76 [[ 9.97608802e-01 -6.57432918e-02 -2.13189758e-02 5.62510698e+02] [ 6.57466044e-02 9.97836202e-01 -5.46243977e-04 8.14657379e+00] [ 2.13087577e-02 -8.56712468e-04 9.99772576e-01 6.76384219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9150998929999 meters 0.020012212492296098 Centerline is valid? [True, True] Translation: X:562.54, Y:8.15, Z:6.76 [[ 9.97698161e-01 -6.42072049e-02 -2.18131634e-02 5.62542063e+02] [ 6.42103327e-02 9.97936232e-01 -5.57701371e-04 8.14793079e+00] [ 2.18039545e-02 -8.44212847e-04 9.99761909e-01 6.76441991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9450998929999 meters 0.01987048466448428 Centerline is valid? [True, True] Translation: X:562.57, Y:8.15, Z:6.76 [[ 9.97797522e-01 -6.26825434e-02 -2.17026144e-02 5.62573883e+02] [ 6.26853048e-02 9.98033189e-01 -5.53705946e-04 8.14982456e+00] [ 2.16946372e-02 -8.07948578e-04 9.99764317e-01 6.76476753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.975099893 meters 0.019435294779244695 Centerline is valid? [True, True] Translation: X:562.60, Y:8.15, Z:6.77 [[ 9.97936308e-01 -5.99972472e-02 -2.28791581e-02 5.62603966e+02] [ 5.99996462e-02 9.98198229e-01 -5.82212219e-04 8.15306325e+00] [ 2.28728662e-02 -7.91730677e-04 9.99738068e-01 6.76501833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.005099893 meters 0.019071218092576878 Centerline is valid? [True, True] Translation: X:562.64, Y:8.16, Z:6.77 [[ 9.98004124e-01 -5.86803877e-02 -2.33319844e-02 5.62635640e+02] [ 5.86825550e-02 9.98276518e-01 -5.92376747e-04 8.15522272e+00] [ 2.33265330e-02 -7.77986018e-04 9.99727597e-01 6.76528347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0350998929999 meters 0.018095301581439485 Centerline is valid? [True, True] Translation: X:562.67, Y:8.16, Z:6.77 [[ 9.98035478e-01 -5.78419268e-02 -2.40727304e-02 5.62667197e+02] [ 5.78440113e-02 9.98325447e-01 -6.10315052e-04 8.15854389e+00] [ 2.40677211e-02 -7.83347214e-04 9.99710024e-01 6.76612353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0650998929999 meters 0.01823685366297888 Centerline is valid? [True, True] Translation: X:562.70, Y:8.16, Z:6.77 [[ 9.98066957e-01 -5.67152881e-02 -2.54111189e-02 5.62697838e+02] [ 5.67172643e-02 9.98390073e-01 -6.43547159e-04 8.16060272e+00] [ 2.54067078e-02 -7.98945991e-04 9.99676878e-01 6.76600951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.095099893 meters 0.01932243072390299 Centerline is valid? [True, True] Translation: X:562.73, Y:8.16, Z:6.77 [[ 9.98045940e-01 -5.65225511e-02 -2.66364913e-02 5.62727562e+02] [ 5.65246538e-02 9.98400976e-01 -6.74600541e-04 8.16014049e+00] [ 2.66320290e-02 -8.32336115e-04 9.99644958e-01 6.76525579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.125099893 meters 0.018352587692133417 Centerline is valid? [True, True] Translation: X:562.76, Y:8.16, Z:6.77 [[ 9.98027267e-01 -5.65156760e-02 -2.73414014e-02 5.62757545e+02] [ 5.65178829e-02 9.98401347e-01 -6.92675958e-04 8.16292141e+00] [ 2.73368390e-02 -8.53968628e-04 9.99625914e-01 6.76601527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1550998929999 meters 0.01904949031991919 Centerline is valid? [True, True] Translation: X:562.79, Y:8.16, Z:6.77 [[ 9.98003109e-01 -5.65426998e-02 -2.81552505e-02 5.62787172e+02] [ 5.65450434e-02 9.98399794e-01 -7.13570244e-04 8.16295790e+00] [ 2.81505435e-02 -8.79894543e-04 9.99603308e-01 6.76565827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1850998929999 meters 0.019874545224651752 Centerline is valid? [True, True] Translation: X:562.82, Y:8.16, Z:6.77 [[ 9.97978705e-01 -5.67876521e-02 -2.85248380e-02 5.62817038e+02] [ 5.67901436e-02 9.98385875e-01 -7.23433029e-04 8.16354560e+00] [ 2.85198775e-02 -8.97958890e-04 9.99592822e-01 6.76557968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.215099893 meters 0.018773319821980588 Centerline is valid? [True, True] Translation: X:562.85, Y:8.17, Z:6.77 [[ 9.97957794e-01 -5.72516501e-02 -2.83282476e-02 5.62846929e+02] [ 5.72542721e-02 9.98359370e-01 -7.19218039e-04 8.16659385e+00] [ 2.83229478e-02 -9.04163946e-04 9.99598416e-01 6.76790764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.245099893 meters 0.01903974742916409 Centerline is valid? [True, True] Translation: X:562.88, Y:8.17, Z:6.77 [[ 9.97960662e-01 -5.75838021e-02 -2.75430932e-02 5.62876918e+02] [ 5.75863953e-02 9.98340281e-01 -6.99705712e-04 8.16744848e+00] [ 2.75376712e-02 -8.87828677e-04 9.99620372e-01 6.76961830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.275099893 meters 0.01794067502482541 Centerline is valid? [True, True] Translation: X:562.91, Y:8.17, Z:6.77 [[ 9.97886363e-01 -5.85556938e-02 -2.81786557e-02 5.62907605e+02] [ 5.85587952e-02 9.98283705e-01 -7.15851564e-04 8.17099263e+00] [ 2.81722100e-02 -9.35769615e-04 9.99602647e-01 6.77101226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3050998929999 meters 0.017473020278561964 Centerline is valid? [True, True] Translation: X:562.94, Y:8.17, Z:6.77 [[ 9.97831865e-01 -5.91488640e-02 -2.88613975e-02 5.62938188e+02] [ 5.91523656e-02 9.98248697e-01 -7.33195961e-04 8.17268786e+00] [ 2.88542202e-02 -9.75613644e-04 9.99583154e-01 6.77159899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3350998929999 meters 0.018424839172426703 Centerline is valid? [True, True] Translation: X:562.97, Y:8.17, Z:6.77 [[ 9.97816530e-01 -5.96613157e-02 -2.83319741e-02 5.62968144e+02] [ 5.96648957e-02 9.98218204e-01 -7.19760515e-04 8.17199754e+00] [ 2.83244342e-02 -9.72235343e-04 9.99598310e-01 6.77191069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.365099893 meters 0.018556666549774475 Centerline is valid? [True, True] Translation: X:563.00, Y:8.17, Z:6.77 [[ 9.97738031e-01 -6.16181834e-02 -2.68704577e-02 5.62998204e+02] [ 6.16221113e-02 9.98099318e-01 -6.82641683e-04 8.17373003e+00] [ 2.68614486e-02 -9.74716766e-04 9.99638691e-01 6.77495556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.395099893 meters 0.019736486579566816 Centerline is valid? [True, True] Translation: X:563.03, Y:8.17, Z:6.78 [[ 9.97689786e-01 -6.26408003e-02 -2.62910819e-02 5.63028649e+02] [ 6.26449216e-02 9.98035655e-01 -6.67669550e-04 8.17263457e+00] [ 2.62812604e-02 -9.80875671e-04 9.99654107e-01 6.77539750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4250998929999 meters 0.021702650466340467 Centerline is valid? [True, True] Translation: X:563.06, Y:8.17, Z:6.78 [[ 9.97597393e-01 -6.41105319e-02 -2.62541526e-02 5.63058940e+02] [ 6.41151621e-02 9.97942284e-01 -6.66260014e-04 8.17019108e+00] [ 2.62428433e-02 -1.01863000e-03 9.99655078e-01 6.77522160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4550998929999 meters 0.022714758665715408 Centerline is valid? [True, True] Translation: X:563.09, Y:8.17, Z:6.78 [[ 9.97476059e-01 -6.58829493e-02 -2.64754351e-02 5.63089851e+02] [ 6.58882934e-02 9.97826780e-01 -6.71410179e-04 8.16937808e+00] [ 2.64621326e-02 -1.07470565e-03 9.99649239e-01 6.77566677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.485099893 meters 0.02314398706281399 Centerline is valid? [True, True] Translation: X:563.12, Y:8.17, Z:6.78 [[ 9.97200167e-01 -6.99293750e-02 -2.64897972e-02 5.63120645e+02] [ 6.99361657e-02 9.97551243e-01 -6.71157396e-04 8.17003163e+00] [ 2.64718638e-02 -1.18331658e-03 9.99648858e-01 6.77633615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.515099893 meters 0.02271976488763837 Centerline is valid? [True, True] Translation: X:563.15, Y:8.17, Z:6.78 [[ 9.97035017e-01 -7.21584661e-02 -2.67269538e-02 5.63151783e+02] [ 7.21662013e-02 9.97392391e-01 -6.76292100e-04 8.17162955e+00] [ 2.67060606e-02 -1.25449583e-03 9.99642542e-01 6.77695055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5450998929999 meters 0.02603197593069925 Centerline is valid? [True, True] Translation: X:563.18, Y:8.17, Z:6.78 [[ 9.96870929e-01 -7.44019783e-02 -2.66963795e-02 5.63182226e+02] [ 7.44105286e-02 9.97227466e-01 -6.74382111e-04 8.16754144e+00] [ 2.66725382e-02 -1.31421979e-03 9.99643361e-01 6.77600799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5750998929999 meters 0.026775699782900703 Centerline is valid? [True, True] Translation: X:563.21, Y:8.17, Z:6.78 [[ 9.96577579e-01 -7.86373763e-02 -2.54812061e-02 5.63213740e+02] [ 7.86465717e-02 9.96902354e-01 -6.42654004e-04 8.16726546e+00] [ 2.54528110e-02 -1.36355493e-03 9.99675095e-01 6.77664462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.605099893 meters 0.02531626735103783 Centerline is valid? [True, True] Translation: X:563.25, Y:8.17, Z:6.78 [[ 9.96451211e-01 -8.02063128e-02 -2.55329459e-02 5.63246041e+02] [ 8.02160945e-02 9.96777290e-01 -6.42562963e-04 8.17016101e+00] [ 2.55021982e-02 -1.40787056e-03 9.99673775e-01 6.77746489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.635099893 meters 0.025424725120709805 Centerline is valid? [True, True] Translation: X:563.28, Y:8.17, Z:6.78 [[ 9.96362324e-01 -8.13219613e-02 -2.54726923e-02 5.63277807e+02] [ 8.13321015e-02 9.96686852e-01 -6.39427685e-04 8.17076273e+00] [ 2.54402970e-02 -1.43464594e-03 9.99675314e-01 6.77739262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6650998929999 meters 0.02701703787159268 Centerline is valid? [True, True] Translation: X:563.31, Y:8.17, Z:6.78 [[ 9.96275734e-01 -8.24066362e-02 -2.53733863e-02 5.63308716e+02] [ 8.24170830e-02 9.96597723e-01 -6.35549739e-04 8.17050035e+00] [ 2.53394325e-02 -1.45801770e-03 9.99677842e-01 6.77694093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6950998929999 meters 0.0273493584167735 Centerline is valid? [True, True] Translation: X:563.34, Y:8.17, Z:6.78 [[ 9.96279959e-01 -8.24603541e-02 -2.50306558e-02 5.63340785e+02] [ 8.24705766e-02 9.96593304e-01 -6.25392280e-04 8.17203169e+00] [ 2.49969540e-02 -1.44122682e-03 9.99686488e-01 6.77753243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.725099893 meters 0.028383216648866737 Centerline is valid? [True, True] Translation: X:563.37, Y:8.17, Z:6.78 [[ 9.96323074e-01 -8.20455545e-02 -2.46750608e-02 5.63372300e+02] [ 8.20553994e-02 9.96627580e-01 -6.14975369e-04 8.17272213e+00] [ 2.46423021e-02 -1.41200782e-03 9.99695335e-01 6.77808642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.755099893 meters 0.028667375859653402 Centerline is valid? [True, True] Translation: X:563.40, Y:8.18, Z:6.78 [[ 9.96446324e-01 -8.07587079e-02 -2.39322782e-02 5.63402860e+02] [ 8.07676190e-02 9.96732781e-01 -5.95619984e-04 8.17528897e+00] [ 2.39021877e-02 -1.33944978e-03 9.99713405e-01 6.77871678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7850998929999 meters 0.028993633655481122 Centerline is valid? [True, True] Translation: X:563.44, Y:8.18, Z:6.78 [[ 9.96512924e-01 -7.99973426e-02 -2.37153548e-02 5.63435045e+02] [ 8.00059015e-02 9.96794216e-01 -5.89220404e-04 8.17651862e+00] [ 2.36864646e-02 -1.31020259e-03 9.99718578e-01 6.77875314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8150998929999 meters 0.028648499920969787 Centerline is valid? [True, True] Translation: X:563.47, Y:8.18, Z:6.78 [[ 9.96576568e-01 -7.91542713e-02 -2.38693435e-02 5.63467081e+02] [ 7.91627403e-02 9.96861530e-01 -5.91387006e-04 8.17845562e+00] [ 2.38412411e-02 -1.30020021e-03 9.99714912e-01 6.77892757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.845099893 meters 0.029211394986480677 Centerline is valid? [True, True] Translation: X:563.50, Y:8.18, Z:6.78 [[ 9.96650110e-01 -7.84309047e-02 -2.31765447e-02 5.63498252e+02] [ 7.84387261e-02 9.96918772e-01 -5.72832145e-04 8.18005535e+00] [ 2.31500602e-02 -1.24702542e-03 9.99731224e-01 6.77860452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.875099893 meters 0.02844474145741642 Centerline is valid? [True, True] Translation: X:563.53, Y:8.18, Z:6.78 [[ 9.96675474e-01 -7.81046486e-02 -2.31875520e-02 5.63530029e+02] [ 7.81124215e-02 9.96944393e-01 -5.71716534e-04 8.18271796e+00] [ 2.31613536e-02 -1.24141999e-03 9.99730969e-01 6.77900150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9050998929999 meters 0.024444956628698774 Centerline is valid? [True, True] Translation: X:563.56, Y:8.19, Z:6.78 [[ 9.96700116e-01 -7.77827039e-02 -2.32105311e-02 5.63562259e+02] [ 7.77904435e-02 9.96969569e-01 -5.70635269e-04 8.19005669e+00] [ 2.31845788e-02 -1.23680527e-03 9.99730436e-01 6.78048946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9350998929999 meters 0.027172413637958297 Centerline is valid? [True, True] Translation: X:563.59, Y:8.19, Z:6.78 [[ 9.96762299e-01 -7.70758278e-02 -2.28961821e-02 5.63593818e+02] [ 7.70832236e-02 9.97024504e-01 -5.60696364e-04 8.18799124e+00] [ 2.28712707e-02 -1.20603053e-03 9.99737691e-01 6.77980570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.965099893 meters 0.02689689534260978 Centerline is valid? [True, True] Translation: X:563.62, Y:8.19, Z:6.78 [[ 9.96930507e-01 -7.48376249e-02 -2.29976769e-02 5.63624359e+02] [ 7.48445367e-02 9.97195056e-01 -5.61255309e-04 8.19213896e+00] [ 2.29751727e-02 -1.16171793e-03 9.99735361e-01 6.78053585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.995099893 meters 0.026354840191671277 Centerline is valid? [True, True] Translation: X:563.66, Y:8.20, Z:6.78 [[ 9.97100184e-01 -7.27905500e-02 -2.21981870e-02 5.63656153e+02] [ 7.27965037e-02 9.97346668e-01 -5.40820658e-04 8.19558571e+00] [ 2.21786545e-02 -1.07669803e-03 9.99753444e-01 6.78128818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.025099893 meters 0.02087470566040818 Centerline is valid? [True, True] Translation: X:563.69, Y:8.21, Z:6.78 [[ 9.97488328e-01 -6.75763052e-02 -2.12244878e-02 5.63687124e+02] [ 6.75805854e-02 9.97713685e-01 -5.16354670e-04 8.20846036e+00] [ 2.12108553e-02 -9.19305555e-04 9.99774602e-01 6.78358939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0550998929999 meters 0.01934296368621474 Centerline is valid? [True, True] Translation: X:563.72, Y:8.21, Z:6.78 [[ 9.97696660e-01 -6.45581539e-02 -2.08235201e-02 5.63718361e+02] [ 6.45616278e-02 9.97913593e-01 -5.06104313e-04 8.21370378e+00] [ 2.08127470e-02 -8.39461775e-04 9.99783039e-01 6.78451056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0850998929999 meters 0.019180159260160177 Centerline is valid? [True, True] Translation: X:563.75, Y:8.22, Z:6.78 [[ 9.97924863e-01 -6.10232606e-02 -2.05458112e-02 5.63748830e+02] [ 6.10259066e-02 9.98136058e-01 -4.98751477e-04 8.21657748e+00] [ 2.05379504e-02 -7.56110258e-04 9.99788788e-01 6.78478800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.115099893 meters 0.017391332674749495 Centerline is valid? [True, True] Translation: X:563.78, Y:8.22, Z:6.79 [[ 9.98148286e-01 -5.74400408e-02 -2.00160124e-02 5.63780505e+02] [ 5.74418453e-02 9.98348736e-01 -4.85246096e-04 8.22238399e+00] [ 2.00108333e-02 -6.65409132e-04 9.99799542e-01 6.78567458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.145099893 meters 0.015791015577613945 Centerline is valid? [True, True] Translation: X:563.81, Y:8.23, Z:6.79 [[ 9.98535182e-01 -5.05555153e-02 -1.92777333e-02 5.63810296e+02] [ 5.05559195e-02 9.98721123e-01 -4.66692411e-04 8.22973944e+00] [ 1.92766733e-02 -5.08594742e-04 9.99814058e-01 6.78614089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1750998929999 meters 0.014320737086022746 Centerline is valid? [True, True] Translation: X:563.84, Y:8.24, Z:6.79 [[ 9.98860354e-01 -4.42368745e-02 -1.79190223e-02 5.63841692e+02] [ 4.42362126e-02 9.99021006e-01 -4.33498787e-04 8.23612489e+00] [ 1.79206563e-02 -3.59664927e-04 9.99839347e-01 6.78658486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2050998929999 meters 0.01319884378048072 Centerline is valid? [True, True] Translation: X:563.87, Y:8.24, Z:6.79 [[ 9.99083146e-01 -3.85608293e-02 -1.85991868e-02 5.63873303e+02] [ 3.85591520e-02 9.99256219e-01 -4.48921172e-04 8.24217273e+00] [ 1.86026638e-02 -2.68659294e-04 9.99826919e-01 6.78629861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.235099893 meters 0.012530468380515069 Centerline is valid? [True, True] Translation: X:563.90, Y:8.25, Z:6.79 [[ 9.99239541e-01 -3.42253355e-02 -1.86806236e-02 5.63903953e+02] [ 3.42229027e-02 9.99414124e-01 -4.49989177e-04 8.24676014e+00] [ 1.86850801e-02 -1.89658187e-04 9.99825401e-01 6.78599766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.265099893 meters 0.012530468380515069 Centerline is valid? [True, True] Translation: X:563.93, Y:8.25, Z:6.79 [[ 9.99240752e-01 -3.41899613e-02 -1.86806396e-02 5.63934791e+02] [ 3.41875347e-02 9.99415334e-01 -4.49325457e-04 8.24747330e+00] [ 1.86850801e-02 -1.89660707e-04 9.99825401e-01 6.78637898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2950998929999 meters 0.012530468380515069 Centerline is valid? [True, True] Translation: X:563.97, Y:8.25, Z:6.79 [[ 9.99241961e-01 -3.41545870e-02 -1.86806555e-02 5.63965629e+02] [ 3.41521666e-02 9.99416544e-01 -4.48664257e-04 8.24818536e+00] [ 1.86850801e-02 -1.89660707e-04 9.99825401e-01 6.78676030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3250998929999 meters 0.01228651785583748 Centerline is valid? [True, True] Translation: X:564.00, Y:8.25, Z:6.79 [[ 9.99331096e-01 -3.12248910e-02 -1.90359141e-02 5.63996421e+02] [ 3.12218547e-02 9.99512375e-01 -4.56750597e-04 8.25146205e+00] [ 1.90408937e-02 -1.37891469e-04 9.99818696e-01 6.78669458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.355099893 meters 0.012193910811630055 Centerline is valid? [True, True] Translation: X:564.03, Y:8.25, Z:6.79 [[ 9.99343535e-01 -3.07351257e-02 -1.91794377e-02 5.64026659e+02] [ 3.07319533e-02 9.99527556e-01 -4.60194324e-04 8.25279324e+00] [ 1.91845206e-02 -1.29529362e-04 9.99815952e-01 6.78712280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.385099893 meters 0.012193910811630055 Centerline is valid? [True, True] Translation: X:564.06, Y:8.25, Z:6.79 [[ 9.99343535e-01 -3.07351257e-02 -1.91794377e-02 5.64056649e+02] [ 3.07319533e-02 9.99527556e-01 -4.60194324e-04 8.25351284e+00] [ 1.91845206e-02 -1.29529362e-04 9.99815952e-01 6.78749378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4150998929999 meters 0.012208678056178472 Centerline is valid? [True, True] Translation: X:564.09, Y:8.25, Z:6.79 [[ 9.99338302e-01 -3.07533078e-02 -1.94214134e-02 5.64086704e+02] [ 3.07500582e-02 9.99526997e-01 -4.66000326e-04 8.25413160e+00] [ 1.94265581e-02 -1.31517619e-04 9.99811278e-01 6.78788857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4450998929999 meters 0.012097681840729822 Centerline is valid? [True, True] Translation: X:564.12, Y:8.26, Z:6.79 [[ 9.99319722e-01 -3.11351766e-02 -1.97659825e-02 5.64117572e+02] [ 3.11318854e-02 9.99515173e-01 -4.74267969e-04 8.25501406e+00] [ 1.97711659e-02 -1.41406968e-04 9.99804521e-01 6.78883757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.475099893 meters 0.012148574480389614 Centerline is valid? [True, True] Translation: X:564.15, Y:8.25, Z:6.79 [[ 9.99272327e-01 -3.27054659e-02 -1.96257190e-02 5.64148430e+02] [ 3.27025240e-02 9.99465018e-01 -4.70902464e-04 8.25440317e+00] [ 1.96306207e-02 -1.71250744e-04 9.99807286e-01 6.78913446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.505099893 meters 0.012390466478566262 Centerline is valid? [True, True] Translation: X:564.18, Y:8.25, Z:6.79 [[ 9.99228699e-01 -3.36960114e-02 -2.01639601e-02 5.64178484e+02] [ 3.36931170e-02 9.99432109e-01 -4.83351827e-04 8.25377324e+00] [ 2.01687962e-02 -1.96407648e-04 9.99796570e-01 6.78916432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5350998929999 meters 0.012430477170128641 Centerline is valid? [True, True] Translation: X:564.21, Y:8.25, Z:6.79 [[ 9.99187147e-01 -3.46642481e-02 -2.05775246e-02 5.64208885e+02] [ 3.46614545e-02 9.99398990e-01 -4.92513165e-04 8.25384300e+00] [ 2.05822299e-02 -2.21134107e-04 9.99788139e-01 6.78923181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5650998929999 meters 0.012741420384974255 Centerline is valid? [True, True] Translation: X:564.24, Y:8.25, Z:6.79 [[ 9.99124284e-01 -3.61176118e-02 -2.11230614e-02 5.64238817e+02] [ 3.61149961e-02 9.99347513e-01 -5.05413802e-04 8.25252227e+00] [ 2.11275332e-02 -2.57888078e-04 9.99776755e-01 6.78929673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.595099893 meters 0.012645112104065515 Centerline is valid? [True, True] Translation: X:564.27, Y:8.25, Z:6.79 [[ 9.99126645e-01 -3.62356499e-02 -2.08068287e-02 5.64269190e+02] [ 3.62331421e-02 9.99343240e-01 -4.97629742e-04 8.25278772e+00] [ 2.08111956e-02 -2.56701646e-04 9.99783391e-01 6.78996604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.625099893 meters 0.01270423312527329 Centerline is valid? [True, True] Translation: X:564.30, Y:8.25, Z:6.79 [[ 9.99128064e-01 -3.60833290e-02 -2.10025145e-02 5.64299311e+02] [ 3.60807434e-02 9.99348752e-01 -5.02157612e-04 8.25287742e+00] [ 2.10069561e-02 -2.56066572e-04 9.99779297e-01 6.79067147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6550998929999 meters 0.012183575213370951 Centerline is valid? [True, True] Translation: X:564.33, Y:8.25, Z:6.79 [[ 9.99210174e-01 -3.41655635e-02 -2.02914405e-02 5.64330609e+02] [ 3.41627647e-02 9.99416165e-01 -4.84659411e-04 8.25434279e+00] [ 2.02961523e-02 -2.08935092e-04 9.99793990e-01 6.79231658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6850998929999 meters 0.012035353452752987 Centerline is valid? [True, True] Translation: X:564.36, Y:8.26, Z:6.79 [[ 9.99253838e-01 -3.29540943e-02 -2.01443417e-02 5.64360665e+02] [ 3.29511015e-02 9.99456849e-01 -4.80563559e-04 8.25549093e+00] [ 2.01492369e-02 -1.83573269e-04 9.99796967e-01 6.79305045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7150998929999 meters 0.011861174772158251 Centerline is valid? [True, True] Translation: X:564.39, Y:8.26, Z:6.79 [[ 9.99313443e-01 -3.13140924e-02 -1.98007573e-02 5.64390965e+02] [ 3.13108832e-02 9.99509583e-01 -4.72149642e-04 8.25706446e+00] [ 1.98058316e-02 -1.48153713e-04 9.99803834e-01 6.79387807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.745099893 meters 0.011633510599504467 Centerline is valid? [True, True] Translation: X:564.42, Y:8.26, Z:6.79 [[ 9.99372848e-01 -2.94152848e-02 -1.97142265e-02 5.64420366e+02] [ 2.94117316e-02 9.99567271e-01 -4.70215455e-04 8.25852140e+00] [ 1.97195271e-02 -1.09908982e-04 9.99805545e-01 6.79450840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.775099893 meters 0.01129016824627013 Centerline is valid? [True, True] Translation: X:564.45, Y:8.26, Z:6.80 [[ 9.99477762e-01 -2.62580150e-02 -1.88340071e-02 5.64450165e+02] [ 2.62542032e-02 9.99655198e-01 -4.49660797e-04 8.26049137e+00] [ 1.88393203e-02 -4.50458840e-05 9.99822523e-01 6.79538712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8050998929999 meters 0.011176407669773543 Centerline is valid? [True, True] Translation: X:564.48, Y:8.26, Z:6.80 [[ 9.99510111e-01 -2.50563365e-02 -1.87541227e-02 5.64479885e+02] [ 2.50523328e-02 9.99686040e-01 -4.48425389e-04 8.26099860e+00] [ 1.87594706e-02 -2.16288130e-05 9.99824025e-01 6.79553303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8350998929999 meters 0.011202496442317215 Centerline is valid? [True, True] Translation: X:564.51, Y:8.26, Z:6.80 [[ 9.99522902e-01 -2.42155043e-02 -1.91723109e-02 5.64509731e+02] [ 2.42111520e-02 9.99706762e-01 -4.59121037e-04 8.26128478e+00] [ 1.91778067e-02 -5.28174251e-06 9.99816089e-01 6.79543445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.865099893 meters 0.011155003471703154 Centerline is valid? [True, True] Translation: X:564.54, Y:8.26, Z:6.80 [[ 9.99528089e-01 -2.38948257e-02 -1.93038130e-02 5.64538159e+02] [ 2.38903117e-02 9.99714478e-01 -4.64447702e-04 8.26176624e+00] [ 1.93093992e-02 3.05441556e-06 9.99813556e-01 6.79558768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.895099893 meters 0.011103117138021566 Centerline is valid? [True, True] Translation: X:564.57, Y:8.26, Z:6.80 [[ 9.99517011e-01 -2.34844473e-02 -2.03525429e-02 5.64567235e+02] [ 2.34792370e-02 9.99724202e-01 -4.94952663e-04 8.26144873e+00] [ 2.03585534e-02 1.68514273e-05 9.99792743e-01 6.79508767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9250998929999 meters 0.01115055184908872 Centerline is valid? [True, True] Translation: X:564.59, Y:8.26, Z:6.80 [[ 9.99501870e-01 -2.36823558e-02 -2.08604319e-02 5.64594714e+02] [ 2.36768076e-02 9.99719534e-01 -5.12945189e-04 8.26153104e+00] [ 2.08667290e-02 1.87812441e-05 9.99782266e-01 6.79510202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9550998929999 meters 0.011171806260527457 Centerline is valid? [True, True] Translation: X:564.62, Y:8.26, Z:6.79 [[ 9.99482073e-01 -2.39287994e-02 -2.15173739e-02 5.64622449e+02] [ 2.39228568e-02 9.99713665e-01 -5.33579377e-04 8.26104804e+00] [ 2.15239807e-02 1.85459664e-05 9.99768332e-01 6.79479751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.985099893 meters 0.010986630243414309 Centerline is valid? [True, True] Translation: X:564.65, Y:8.26, Z:6.80 [[ 9.99467904e-01 -2.44565086e-02 -2.15821429e-02 5.64650262e+02] [ 2.44505730e-02 9.99700895e-01 -5.38898984e-04 8.26096798e+00] [ 2.15888671e-02 1.09164765e-05 9.99766933e-01 6.79532262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.015099893 meters 0.011134996386580893 Centerline is valid? [True, True] Translation: X:564.68, Y:8.26, Z:6.80 [[ 9.99465542e-01 -2.46016433e-02 -2.15264914e-02 5.64676848e+02] [ 2.45956726e-02 9.99697334e-01 -5.42123617e-04 8.26082771e+00] [ 2.15333131e-02 1.23753410e-05 9.99768131e-01 6.79536234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0450998929999 meters 0.010941570728871496 Centerline is valid? [True, True] Translation: X:564.70, Y:8.26, Z:6.80 [[ 9.99454510e-01 -2.52291924e-02 -2.13112786e-02 5.64704758e+02] [ 2.52233962e-02 9.99681693e-01 -5.40780587e-04 8.26053124e+00] [ 2.13181385e-02 2.94277234e-06 9.99772743e-01 6.79647417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0750998929999 meters 0.011069677049177313 Centerline is valid? [True, True] Translation: X:564.73, Y:8.26, Z:6.80 [[ 9.99451721e-01 -2.53857464e-02 -2.12561067e-02 5.64732156e+02] [ 2.53799233e-02 9.99677730e-01 -5.43721100e-04 8.25990178e+00] [ 2.12630593e-02 3.94463123e-06 9.99773916e-01 6.79620581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.105099893 meters 0.011038932107741137 Centerline is valid? [True, True] Translation: X:564.76, Y:8.26, Z:6.80 [[ 9.99440538e-01 -2.56482036e-02 -2.14658111e-02 5.64760454e+02] [ 2.56422465e-02 9.99671031e-01 -5.52760257e-04 8.26019020e+00] [ 2.14729269e-02 2.01938669e-06 9.99769430e-01 6.79702974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.135099893 meters 0.010947763336727177 Centerline is valid? [True, True] Translation: X:564.79, Y:8.26, Z:6.80 [[ 9.99429054e-01 -2.60823745e-02 -2.14773440e-02 5.64788465e+02] [ 2.60763799e-02 9.99659797e-01 -5.59173283e-04 8.26033676e+00] [ 2.14846219e-02 -1.19735496e-06 9.99769179e-01 6.79766446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1650998929999 meters 0.010839270493336958 Centerline is valid? [True, True] Translation: X:564.82, Y:8.26, Z:6.80 [[ 9.99414911e-01 -2.71426635e-02 -2.08113102e-02 5.64816559e+02] [ 2.71371422e-02 9.99631570e-01 -5.47723199e-04 8.25929573e+00] [ 2.08185094e-02 -1.73567523e-05 9.99783271e-01 6.79806812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1950998929999 meters 0.01081024034812011 Centerline is valid? [True, True] Translation: X:564.85, Y:8.26, Z:6.80 [[ 9.99390814e-01 -2.83234241e-02 -2.03907980e-02 5.64845094e+02] [ 2.83182574e-02 9.99598811e-01 -5.42144286e-04 8.25870596e+00] [ 2.03979729e-02 -3.56178486e-05 9.99791939e-01 6.79864697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.225099893 meters 0.010764446441243915 Centerline is valid? [True, True] Translation: X:564.87, Y:8.26, Z:6.80 [[ 9.99335760e-01 -3.08844489e-02 -1.93440044e-02 5.64874442e+02] [ 3.08802027e-02 9.99522958e-01 -5.18243369e-04 8.25637174e+00] [ 1.93507822e-02 -7.94476474e-05 9.99812753e-01 6.79938527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.255099893 meters 0.01083838828525741 Centerline is valid? [True, True] Translation: X:564.90, Y:8.26, Z:6.80 [[ 9.99292776e-01 -3.25204226e-02 -1.88777435e-02 5.64903924e+02] [ 3.25166334e-02 9.99471066e-01 -5.07719414e-04 8.25574324e+00] [ 1.88842697e-02 -1.06480322e-04 9.99821671e-01 6.79991280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2850998929999 meters 0.010920199987278553 Centerline is valid? [True, True] Translation: X:564.93, Y:8.26, Z:6.80 [[ 9.99250184e-01 -3.41024136e-02 -1.83329120e-02 5.64934211e+02] [ 3.40990982e-02 9.99418335e-01 -4.93500241e-04 8.25527226e+00] [ 1.83390779e-02 -1.32005560e-04 9.99831816e-01 6.80077150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3150998929999 meters 0.011009248102942125 Centerline is valid? [True, True] Translation: X:564.96, Y:8.25, Z:6.80 [[ 9.99219478e-01 -3.53315535e-02 -1.76667979e-02 5.64964518e+02] [ 3.53286685e-02 9.99375635e-01 -4.75473214e-04 8.25448296e+00] [ 1.76725666e-02 -1.49042348e-04 9.99843817e-01 6.80139378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.345099893 meters 0.011365567048747981 Centerline is valid? [True, True] Translation: X:565.00, Y:8.25, Z:6.80 [[ 9.99141389e-01 -3.76839131e-02 -1.72164609e-02 5.64996244e+02] [ 3.76815291e-02 9.99289692e-01 -4.62961588e-04 8.25227608e+00] [ 1.72216781e-02 -1.86178488e-04 9.99851679e-01 6.80164816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.375099893 meters 0.011723668529009058 Centerline is valid? [True, True] Translation: X:565.03, Y:8.25, Z:6.80 [[ 9.99101242e-01 -3.86237604e-02 -1.74617854e-02 5.65027377e+02] [ 3.86214641e-02 9.99253803e-01 -4.68837420e-04 8.25069429e+00] [ 1.74668637e-02 -2.05983668e-04 9.99847421e-01 6.80132959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4050998929999 meters 0.011389980009922687 Centerline is valid? [True, True] Translation: X:565.06, Y:8.25, Z:6.80 [[ 9.99072319e-01 -3.92405832e-02 -1.77391844e-02 5.65059062e+02] [ 3.92383277e-02 9.99229767e-01 -4.75319827e-04 8.25131457e+00] [ 1.77441729e-02 -2.21177047e-04 9.99842535e-01 6.80169159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4350998929999 meters 0.011565640421006 Centerline is valid? [True, True] Translation: X:565.09, Y:8.25, Z:6.80 [[ 9.99071528e-01 -3.94850424e-02 -1.72340733e-02 5.65090346e+02] [ 3.94829657e-02 9.99220137e-01 -4.60866355e-04 8.25038893e+00] [ 1.72388304e-02 -2.20013871e-04 9.99851376e-01 6.80131607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4650998929999 meters 0.011357504530344871 Centerline is valid? [True, True] Translation: X:565.12, Y:8.25, Z:6.80 [[ 9.99087689e-01 -3.89312055e-02 -1.75542555e-02 5.65121598e+02] [ 3.89289807e-02 9.99241870e-01 -4.68560739e-04 8.25147461e+00] [ 1.75591887e-02 -2.15236008e-04 9.99845802e-01 6.80169968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.495099893 meters 0.011166913188419465 Centerline is valid? [True, True] Translation: X:565.15, Y:8.25, Z:6.80 [[ 9.99141415e-01 -3.75413824e-02 -1.75235998e-02 5.65153128e+02] [ 3.75389627e-02 9.99295056e-01 -4.67115405e-04 8.25279034e+00] [ 1.75287828e-02 -1.91103413e-04 9.99846341e-01 6.80190460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.525099893 meters 0.010862456304546918 Centerline is valid? [True, True] Translation: X:565.18, Y:8.25, Z:6.80 [[ 9.99218224e-01 -3.55144363e-02 -1.73685390e-02 5.65184770e+02] [ 3.55117637e-02 9.99369151e-01 -4.62364030e-04 8.25481288e+00] [ 1.73740027e-02 -1.54784890e-04 9.99849049e-01 6.80237719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5550998929999 meters 0.010342719784765572 Centerline is valid? [True, True] Translation: X:565.22, Y:8.26, Z:6.80 [[ 9.99395902e-01 -2.98143828e-02 -1.78587254e-02 5.65215169e+02] [ 2.98106570e-02 9.99555451e-01 -4.74859040e-04 8.25869544e+00] [ 1.78649439e-02 -5.78081594e-05 9.99840407e-01 6.80289300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5850998929999 meters 0.010329888498993732 Centerline is valid? [True, True] Translation: X:565.25, Y:8.26, Z:6.80 [[ 9.99490656e-01 -2.66113502e-02 -1.76143465e-02 5.65245998e+02] [ 2.66072321e-02 9.99645855e-01 -4.68144125e-04 8.26112623e+00] [ 1.76205664e-02 -7.63328136e-07 9.99844746e-01 6.80345793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.615099893 meters 0.010325385660546171 Centerline is valid? [True, True] Translation: X:565.28, Y:8.26, Z:6.80 [[ 9.99571515e-01 -2.35238229e-02 -1.74188423e-02 5.65275714e+02] [ 2.35193238e-02 9.99723275e-01 -4.63128128e-04 8.26362522e+00] [ 1.74249166e-02 5.32502932e-05 9.99848173e-01 6.80437875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.645099893 meters 0.0104352606370122 Centerline is valid? [True, True] Translation: X:565.30, Y:8.27, Z:6.81 [[ 9.99624352e-01 -2.11041681e-02 -1.74862589e-02 5.65304666e+02] [ 2.10992339e-02 9.99777277e-01 -4.66635205e-04 8.26579367e+00] [ 1.74922123e-02 9.75132476e-05 9.99846995e-01 6.80506654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6750998929999 meters 0.010856247854576546 Centerline is valid? [True, True] Translation: X:565.33, Y:8.27, Z:6.81 [[ 9.99708440e-01 -1.74826185e-02 -1.66551090e-02 5.65333772e+02] [ 1.74775731e-02 9.99847155e-01 -4.48451379e-04 8.26778345e+00] [ 1.66604034e-02 1.57229744e-04 9.99861193e-01 6.80600588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7050998929999 meters 0.010954438304045215 Centerline is valid? [True, True] Translation: X:565.36, Y:8.27, Z:6.81 [[ 9.99719266e-01 -1.68534547e-02 -1.66538358e-02 5.65362822e+02] [ 1.68482536e-02 9.99857956e-01 -4.52568158e-04 8.26829832e+00] [ 1.66590975e-02 1.71853058e-04 9.99861213e-01 6.80614605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.735099893 meters 0.01085598041530653 Centerline is valid? [True, True] Translation: X:565.39, Y:8.27, Z:6.81 [[ 9.99693860e-01 -1.78622933e-02 -1.71208611e-02 5.65391126e+02] [ 1.78568673e-02 9.99840443e-01 -4.69754903e-04 8.26645383e+00] [ 1.71265202e-02 1.63886149e-04 9.99853317e-01 6.80566869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.765099893 meters 0.010693746846011215 Centerline is valid? [True, True] Translation: X:565.42, Y:8.27, Z:6.81 [[ 9.99655031e-01 -1.96629258e-02 -1.74123263e-02 5.65419640e+02] [ 1.96575034e-02 9.99806656e-01 -4.82527614e-04 8.26507862e+00] [ 1.74184476e-02 1.40078292e-04 9.99848278e-01 6.80534445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7950998929999 meters 0.010329831157252318 Centerline is valid? [True, True] Translation: X:565.45, Y:8.26, Z:6.81 [[ 9.99607908e-01 -2.19311822e-02 -1.74084213e-02 5.65448090e+02] [ 2.19260317e-02 9.99759477e-01 -4.86693727e-04 8.26303998e+00] [ 1.74149080e-02 1.04805300e-04 9.99848343e-01 6.80535991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8250998929999 meters 0.01015259361907049 Centerline is valid? [True, True] Translation: X:565.48, Y:8.26, Z:6.81 [[ 9.99537628e-01 -2.49134422e-02 -1.74313115e-02 5.65476335e+02] [ 2.49086703e-02 9.99689610e-01 -4.90848507e-04 8.26095479e+00] [ 1.74381298e-02 5.64307602e-05 9.99847943e-01 6.80527746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.855099893 meters 0.009998037300577753 Centerline is valid? [True, True] Translation: X:565.51, Y:8.26, Z:6.81 [[ 9.99442491e-01 -2.83454676e-02 -1.76420394e-02 5.65505531e+02] [ 2.83410710e-02 9.99598187e-01 -4.99225699e-04 8.25825545e+00] [ 1.76491014e-02 -1.04691514e-06 9.99844242e-01 6.80585326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.885099893 meters 0.010272493237499554 Centerline is valid? [True, True] Translation: X:565.54, Y:8.25, Z:6.81 [[ 9.99204035e-01 -3.56083363e-02 -1.79817116e-02 5.65535822e+02] [ 3.56048831e-02 9.99365814e-01 -5.12246944e-04 8.25217864e+00] [ 1.79885481e-02 -1.28397525e-04 9.99838185e-01 6.80635447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9150998929999 meters 0.01062248243824603 Centerline is valid? [True, True] Translation: X:565.57, Y:8.25, Z:6.81 [[ 9.99076570e-01 -3.91622717e-02 -1.76726795e-02 5.65566853e+02] [ 3.91594843e-02 9.99232846e-01 -5.03881273e-04 8.24946451e+00] [ 1.76788550e-02 -1.88637044e-04 9.99843699e-01 6.80699821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9450998929999 meters 0.011649125096023732 Centerline is valid? [True, True] Translation: X:565.60, Y:8.24, Z:6.81 [[ 9.98821376e-01 -4.54540946e-02 -1.70230356e-02 5.65597949e+02] [ 4.54524231e-02 9.98966387e-01 -4.85274124e-04 8.24274275e+00] [ 1.70274981e-02 -2.89036049e-04 9.99854980e-01 6.80778643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.975099893 meters 0.012243879225279404 Centerline is valid? [True, True] Translation: X:565.63, Y:8.24, Z:6.81 [[ 9.98712156e-01 -4.79607472e-02 -1.65468133e-02 5.65630342e+02] [ 4.79595204e-02 9.98849169e-01 -4.71176237e-04 8.24022393e+00] [ 1.65503687e-02 -3.23007796e-04 9.99862981e-01 6.80830036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.005099893 meters 0.012775801466282849 Centerline is valid? [True, True] Translation: X:565.66, Y:8.24, Z:6.81 [[ 9.98616469e-01 -5.00016465e-02 -1.62783001e-02 5.65662427e+02] [ 5.00007492e-02 9.98749073e-01 -4.62361399e-04 8.23829251e+00] [ 1.62810560e-02 -3.52205495e-04 9.99867393e-01 6.80880526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0350998929999 meters 0.014353361560499057 Centerline is valid? [True, True] Translation: X:565.69, Y:8.23, Z:6.81 [[ 9.98508560e-01 -5.23362536e-02 -1.55426161e-02 5.65694135e+02] [ 5.23357370e-02 9.98629449e-01 -4.40258482e-04 8.23366555e+00] [ 1.55443556e-02 -3.73832404e-04 9.99879109e-01 6.80907823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0650998929999 meters 0.013712372420776 Centerline is valid? [True, True] Translation: X:565.73, Y:8.23, Z:6.81 [[ 9.98495145e-01 -5.26136029e-02 -1.54678188e-02 5.65726537e+02] [ 5.26131488e-02 9.98614874e-01 -4.36568245e-04 8.23474334e+00] [ 1.54693634e-02 -3.77899379e-04 9.99880271e-01 6.80939712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.095099893 meters 0.01397986267974272 Centerline is valid? [True, True] Translation: X:565.76, Y:8.23, Z:6.81 [[ 9.98497962e-01 -5.24022359e-02 -1.59945169e-02 5.65758245e+02] [ 5.24017411e-02 9.98625983e-01 -4.50317682e-04 8.23413427e+00] [ 1.59961378e-02 -3.88499243e-04 9.99871978e-01 6.80910766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.125099893 meters 0.013273728794189468 Centerline is valid? [True, True] Translation: X:565.79, Y:8.23, Z:6.81 [[ 9.98567840e-01 -5.08398712e-02 -1.66606440e-02 5.65790826e+02] [ 5.08391337e-02 9.98706745e-01 -4.68071132e-04 8.23434346e+00] [ 1.66628943e-02 -3.79611931e-04 9.99861092e-01 6.80853999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1550998929999 meters 0.012611643077138024 Centerline is valid? [True, True] Translation: X:565.82, Y:8.24, Z:6.81 [[ 9.98627116e-01 -4.95099516e-02 -1.71069448e-02 5.65823376e+02] [ 4.95090006e-02 9.98773562e-01 -4.79352485e-04 8.23567440e+00] [ 1.71096969e-02 -3.68253349e-04 9.99853551e-01 6.80878170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1850998929999 meters 0.013095343601519907 Centerline is valid? [True, True] Translation: X:565.85, Y:8.24, Z:6.81 [[ 9.98704178e-01 -4.78089960e-02 -1.74431746e-02 5.65854614e+02] [ 4.78077687e-02 9.98856436e-01 -4.87582227e-04 8.23506196e+00] [ 1.74465381e-02 -3.46968852e-04 9.99847737e-01 6.80836666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2150998929999 meters 0.011157634998731358 Centerline is valid? [True, True] Translation: X:565.89, Y:8.24, Z:6.81 [[ 9.98897803e-01 -4.34657307e-02 -1.77174864e-02 5.65886076e+02] [ 4.34637970e-02 9.99054880e-01 -4.94374067e-04 8.23961274e+00] [ 1.77222296e-02 -2.76240064e-04 9.99842911e-01 6.80958742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.245099893 meters 0.010864339263206055 Centerline is valid? [True, True] Translation: X:565.92, Y:8.24, Z:6.81 [[ 9.99004622e-01 -4.08990921e-02 -1.78053259e-02 5.65916744e+02] [ 4.08967415e-02 9.99163255e-01 -4.96271536e-04 8.24105689e+00] [ 1.78107244e-02 -2.32402252e-04 9.99841349e-01 6.80988939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.275099893 meters 0.010864339263206055 Centerline is valid? [True, True] Translation: X:565.95, Y:8.24, Z:6.81 [[ 9.99006083e-01 -4.08633802e-02 -1.78053376e-02 5.65947578e+02] [ 4.08610313e-02 9.99164716e-01 -4.95852763e-04 8.24188738e+00] [ 1.78107273e-02 -2.32184529e-04 9.99841349e-01 6.81027077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3050998929999 meters 0.010318349700161862 Centerline is valid? [True, True] Translation: X:565.98, Y:8.24, Z:6.81 [[ 9.99116031e-01 -3.81070546e-02 -1.77485178e-02 5.65977745e+02] [ 3.81042937e-02 9.99273646e-01 -4.93829667e-04 8.24425129e+00] [ 1.77544445e-02 -1.82901598e-04 9.99842361e-01 6.81072787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3350998929999 meters 0.009755159164791298 Centerline is valid? [True, True] Translation: X:566.01, Y:8.25, Z:6.81 [[ 9.99315269e-01 -3.25386124e-02 -1.76134273e-02 5.66008152e+02] [ 3.25350283e-02 9.99470476e-01 -4.90070947e-04 8.24749086e+00] [ 1.76200468e-02 -8.33179755e-05 9.99844751e-01 6.81129079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.365099893 meters 0.00963227669589639 Centerline is valid? [True, True] Translation: X:566.04, Y:8.25, Z:6.81 [[ 9.99395156e-01 -2.99346803e-02 -1.76985304e-02 5.66038969e+02] [ 2.99306532e-02 9.99551856e-01 -4.92438832e-04 8.24899696e+00] [ 1.77053399e-02 -3.75875919e-05 9.99843247e-01 6.81149593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.395099893 meters 0.009515504716114178 Centerline is valid? [True, True] Translation: X:566.07, Y:8.25, Z:6.81 [[ 9.99435997e-01 -2.83142836e-02 -1.80551971e-02 5.66068791e+02] [ 2.83098244e-02 9.99599070e-01 -5.02568950e-04 8.25035091e+00] [ 1.80621881e-02 -8.85396067e-06 9.99836865e-01 6.81175137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4250998929999 meters 0.009549031772308028 Centerline is valid? [True, True] Translation: X:566.10, Y:8.25, Z:6.81 [[ 9.99463840e-01 -2.69836696e-02 -1.85449375e-02 5.66097197e+02] [ 2.69787214e-02 9.99635874e-01 -5.16993544e-04 8.25147889e+00] [ 1.85521352e-02 1.63976492e-05 9.99827894e-01 6.81159892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4550998929999 meters 0.009474553276082173 Centerline is valid? [True, True] Translation: X:566.13, Y:8.25, Z:6.81 [[ 9.99459221e-01 -2.64039644e-02 -1.95983789e-02 5.66126183e+02] [ 2.63982776e-02 9.99651354e-01 -5.48863726e-04 8.25221432e+00] [ 1.96060382e-02 3.12034661e-05 9.99807783e-01 6.81133208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.485099893 meters 0.00951739853742571 Centerline is valid? [True, True] Translation: X:566.15, Y:8.25, Z:6.81 [[ 9.99424814e-01 -2.73395718e-02 -2.00646112e-02 5.66153692e+02] [ 2.73336920e-02 9.99626204e-01 -5.67281360e-04 8.25250275e+00] [ 2.00726203e-02 1.85151649e-05 9.99798524e-01 6.81165725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.515099893 meters 0.009432332283045918 Centerline is valid? [True, True] Translation: X:566.18, Y:8.25, Z:6.81 [[ 9.99373003e-01 -2.87468296e-02 -2.06692984e-02 5.66182101e+02] [ 2.87407651e-02 9.99586724e-01 -5.90465461e-04 8.25235352e+00] [ 2.06777303e-02 -3.95621039e-06 9.99786193e-01 6.81183265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5450998929999 meters 0.009487423795449644 Centerline is valid? [True, True] Translation: X:566.21, Y:8.25, Z:6.81 [[ 9.99240756e-01 -3.27721856e-02 -2.10688188e-02 5.66210470e+02] [ 3.27666542e-02 9.99462844e-01 -6.07796140e-04 8.25005991e+00] [ 2.10774203e-02 -8.30200244e-05 9.99777843e-01 6.81238741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5750998929999 meters 0.009673024306015245 Centerline is valid? [True, True] Translation: X:566.24, Y:8.25, Z:6.81 [[ 9.99157224e-01 -3.52705137e-02 -2.09960277e-02 5.66238459e+02] [ 3.52654806e-02 9.99377793e-01 -6.10041948e-04 8.24866367e+00] [ 2.10044803e-02 -1.30907188e-04 9.99779373e-01 6.81235053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.605099893 meters 0.009905447688271837 Centerline is valid? [True, True] Translation: X:566.27, Y:8.25, Z:6.81 [[ 9.99065372e-01 -3.79341229e-02 -2.07216025e-02 5.66267347e+02] [ 3.79297150e-02 9.99280226e-01 -6.05842470e-04 8.24736246e+00] [ 2.07296698e-02 -1.80688247e-04 9.99785101e-01 6.81286272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.635099893 meters 0.01055260795786592 Centerline is valid? [True, True] Translation: X:566.30, Y:8.24, Z:6.81 [[ 9.98892434e-01 -4.27776662e-02 -1.95953134e-02 5.66297268e+02] [ 4.27745934e-02 9.99084582e-01 -5.76105711e-04 8.24408051e+00] [ 1.96020200e-02 -2.62713930e-04 9.99807827e-01 6.81392171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6650998929999 meters 0.010625735846173417 Centerline is valid? [True, True] Translation: X:566.33, Y:8.24, Z:6.81 [[ 9.98810351e-01 -4.48339015e-02 -1.91782390e-02 5.66328109e+02] [ 4.48313287e-02 9.98994411e-01 -5.64277751e-04 8.24376268e+00] [ 1.91842523e-02 -2.96179479e-04 9.99815921e-01 6.81493600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6950998929999 meters 0.011400480019901876 Centerline is valid? [True, True] Translation: X:566.36, Y:8.24, Z:6.82 [[ 9.98720174e-01 -4.69577881e-02 -1.87877729e-02 5.66358449e+02] [ 4.69556969e-02 9.98896820e-01 -5.52671770e-04 8.24202349e+00] [ 1.87929988e-02 -3.30228522e-04 9.99823341e-01 6.81533485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.725099893 meters 0.012213581507805 Centerline is valid? [True, True] Translation: X:566.39, Y:8.24, Z:6.82 [[ 9.98594133e-01 -4.99133008e-02 -1.78443024e-02 5.66389559e+02] [ 4.99118932e-02 9.98753487e-01 -5.24507988e-04 8.23937025e+00] [ 1.78482391e-02 -3.66872315e-04 9.99840640e-01 6.81548662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.755099893 meters 0.013029752463406957 Centerline is valid? [True, True] Translation: X:566.42, Y:8.24, Z:6.82 [[ 9.98551819e-01 -5.07934556e-02 -1.77281906e-02 5.66420707e+02] [ 5.07922177e-02 9.98709107e-01 -5.20370001e-04 8.23775611e+00] [ 1.77317368e-02 -3.80837706e-04 9.99842708e-01 6.81561217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7850998929999 meters 0.01334412897873836 Centerline is valid? [True, True] Translation: X:566.45, Y:8.24, Z:6.82 [[ 9.98536152e-01 -5.11274501e-02 -1.76503902e-02 5.66452069e+02] [ 5.11262901e-02 9.98692062e-01 -5.17246257e-04 8.23706751e+00] [ 1.76537501e-02 -3.85909882e-04 9.99844086e-01 6.81572869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8150998929999 meters 0.012131331611164744 Centerline is valid? [True, True] Translation: X:566.48, Y:8.24, Z:6.82 [[ 9.98627373e-01 -4.95323420e-02 -1.70269664e-02 5.66482963e+02] [ 4.95310406e-02 9.98772460e-01 -4.98398255e-04 8.23931917e+00] [ 1.70307520e-02 -3.45649226e-04 9.99854906e-01 6.81687706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.845099893 meters 0.011311546180278444 Centerline is valid? [True, True] Translation: X:566.51, Y:8.24, Z:6.82 [[ 9.98722273e-01 -4.76424097e-02 -1.68529402e-02 5.66513858e+02] [ 4.76408759e-02 9.98864407e-01 -4.92704623e-04 8.24176525e+00] [ 1.68572757e-02 -3.10813749e-04 9.99857858e-01 6.81751666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.875099893 meters 0.010864872968366943 Centerline is valid? [True, True] Translation: X:566.54, Y:8.24, Z:6.82 [[ 9.98839834e-01 -4.52822937e-02 -1.63859667e-02 5.66544818e+02] [ 4.52805357e-02 9.98974196e-01 -4.78468957e-04 8.24345251e+00] [ 1.63908241e-02 -2.64051497e-04 9.99865627e-01 6.81808545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9050998929999 meters 0.010480199726413697 Centerline is valid? [True, True] Translation: X:566.58, Y:8.24, Z:6.82 [[ 9.98959511e-01 -4.26958357e-02 -1.60299904e-02 5.66575205e+02] [ 4.26938284e-02 9.99088093e-01 -4.67570384e-04 8.24495154e+00] [ 1.60353359e-02 -2.17297778e-04 9.99871402e-01 6.81864639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9350998929999 meters 0.009752634435167943 Centerline is valid? [True, True] Translation: X:566.61, Y:8.25, Z:6.82 [[ 9.99146921e-01 -3.80014830e-02 -1.61653222e-02 5.66605665e+02] [ 3.79988319e-02 9.99277672e-01 -4.71226344e-04 8.24717024e+00] [ 1.61715529e-02 -1.43439011e-04 9.99869222e-01 6.81872908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9650998929999 meters 0.009520049012726586 Centerline is valid? [True, True] Translation: X:566.64, Y:8.25, Z:6.82 [[ 9.99214992e-01 -3.59948673e-02 -1.65459548e-02 5.66635810e+02] [ 3.59918185e-02 9.99351968e-01 -4.82097134e-04 8.24863170e+00] [ 1.65525856e-02 -1.13800321e-04 9.99862990e-01 6.81832823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.995099893 meters 0.009391439063200026 Centerline is valid? [True, True] Translation: X:566.67, Y:8.25, Z:6.82 [[ 9.99261933e-01 -3.44114916e-02 -1.70715517e-02 5.66666188e+02] [ 3.44080151e-02 9.99407745e-01 -4.97411375e-04 8.24975374e+00] [ 1.70785577e-02 -9.03539567e-05 9.99854147e-01 6.81806085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.025099893 meters 0.009244131445472072 Centerline is valid? [True, True] Translation: X:566.70, Y:8.25, Z:6.82 [[ 9.99280632e-01 -3.34672844e-02 -1.78370321e-02 5.66696435e+02] [ 3.34633386e-02 9.99439811e-01 -5.19715070e-04 8.25106477e+00] [ 1.78444335e-02 -7.75454434e-05 9.99840772e-01 6.81825337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0550998929999 meters 0.009248046668928563 Centerline is valid? [True, True] Translation: X:566.72, Y:8.25, Z:6.82 [[ 9.99259343e-01 -3.33080175e-02 -1.92702322e-02 5.66724711e+02] [ 3.33033753e-02 9.99445131e-01 -5.61850148e-04 8.25091234e+00] [ 1.92782539e-02 -8.03297667e-05 9.99814154e-01 6.81649369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0850998929999 meters 0.009280177657269923 Centerline is valid? [True, True] Translation: X:566.75, Y:8.25, Z:6.82 [[ 9.99215065e-01 -3.42618126e-02 -1.98842100e-02 5.66753487e+02] [ 3.42570078e-02 9.99412887e-01 -5.82310632e-04 8.25073078e+00] [ 1.98924867e-02 -9.93199815e-05 9.99802120e-01 6.81620902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.115099893 meters 0.009512712793673935 Centerline is valid? [True, True] Translation: X:566.78, Y:8.25, Z:6.82 [[ 9.99069758e-01 -3.76942874e-02 -2.09465812e-02 5.66782362e+02] [ 3.76895967e-02 9.99289303e-01 -6.18810716e-04 8.24861081e+00] [ 2.09550202e-02 -1.71233127e-04 9.99780405e-01 6.81619957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.145099893 meters 0.010059390017091654 Centerline is valid? [True, True] Translation: X:566.81, Y:8.25, Z:6.82 [[ 9.98978248e-01 -3.99195783e-02 -2.11869396e-02 5.66811258e+02] [ 3.99152029e-02 9.99202872e-01 -6.29530154e-04 8.24693766e+00] [ 2.11951815e-02 -2.16794063e-04 9.99775333e-01 6.81584658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1750998929999 meters 0.010561528833592989 Centerline is valid? [True, True] Translation: X:566.84, Y:8.25, Z:6.82 [[ 9.98857862e-01 -4.28118631e-02 -2.12159215e-02 5.66840368e+02] [ 4.28080681e-02 9.99083114e-01 -6.33210309e-04 8.24546006e+00] [ 2.12235778e-02 -2.75725516e-04 9.99774716e-01 6.81649243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2050998929999 meters 0.010923930665987963 Centerline is valid? [True, True] Translation: X:566.87, Y:8.24, Z:6.82 [[ 9.98730600e-01 -4.56858675e-02 -2.12129502e-02 5.66869991e+02] [ 4.56826510e-02 9.98955800e-01 -6.36446028e-04 8.24442756e+00] [ 2.12198763e-02 -3.33425678e-04 9.99774777e-01 6.81742778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.235099893 meters 0.011742610139157512 Centerline is valid? [True, True] Translation: X:566.90, Y:8.24, Z:6.82 [[ 9.98602801e-01 -4.85879867e-02 -2.07762929e-02 5.66899678e+02] [ 4.85855138e-02 9.98818832e-01 -6.24071683e-04 8.24264549e+00] [ 2.07820749e-02 -3.86227134e-04 9.99783955e-01 6.81803145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.265099893 meters 0.013170824041713564 Centerline is valid? [True, True] Translation: X:566.93, Y:8.24, Z:6.82 [[ 9.98313583e-01 -5.45464880e-02 -1.98663039e-02 5.66930591e+02] [ 5.45453975e-02 9.98511113e-01 -5.97154467e-04 8.23867543e+00] [ 1.98692979e-02 -4.87468027e-04 9.99802467e-01 6.81911800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2950998929999 meters 0.014886013702315144 Centerline is valid? [True, True] Translation: X:566.96, Y:8.24, Z:6.82 [[ 9.98167349e-01 -5.73594481e-02 -1.92830576e-02 5.66961063e+02] [ 5.73589473e-02 9.98353452e-01 -5.79500308e-04 8.23564662e+00] [ 1.92845470e-02 -5.27617602e-04 9.99813897e-01 6.81939926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3250998929999 meters 0.016189621057282548 Centerline is valid? [True, True] Translation: X:566.99, Y:8.23, Z:6.82 [[ 9.98027231e-01 -5.98325668e-02 -1.90186600e-02 5.66990886e+02] [ 5.98325324e-02 9.98208266e-01 -5.71338768e-04 8.23341884e+00] [ 1.90187683e-02 -5.67722944e-04 9.99818966e-01 6.81983116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.355099893 meters 0.016577115309155115 Centerline is valid? [True, True] Translation: X:567.02, Y:8.23, Z:6.82 [[ 9.97811236e-01 -6.36242756e-02 -1.80191153e-02 5.67021691e+02] [ 6.36248638e-02 9.97973739e-01 -5.41211180e-04 8.23252014e+00] [ 1.80170381e-02 -6.06437164e-04 9.99837496e-01 6.82089065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.385099893 meters 0.016944811168541133 Centerline is valid? [True, True] Translation: X:567.05, Y:8.23, Z:6.82 [[ 9.97714222e-01 -6.51572398e-02 -1.79126935e-02 5.67052886e+02] [ 6.51580753e-02 9.97874810e-01 -5.37599463e-04 8.23259496e+00] [ 1.79096541e-02 -6.30786000e-04 9.99839410e-01 6.82129710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4150998929999 meters 0.018791179541185744 Centerline is valid? [True, True] Translation: X:567.08, Y:8.23, Z:6.82 [[ 9.97514421e-01 -6.81710690e-02 -1.78237163e-02 5.67083513e+02] [ 6.81723860e-02 9.97673414e-01 -5.34395018e-04 8.23063967e+00] [ 1.78186781e-02 -6.82018530e-04 9.99841002e-01 6.82136016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4450998929999 meters 0.019852456883995468 Centerline is valid? [True, True] Translation: X:567.12, Y:8.23, Z:6.82 [[ 9.97393795e-01 -6.99119750e-02 -1.78307090e-02 5.67116105e+02] [ 6.99135816e-02 9.97552909e-01 -5.34002389e-04 8.23015374e+00] [ 1.78244088e-02 -7.13998056e-04 9.99840878e-01 6.82205226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.475099893 meters 0.018000771500911783 Centerline is valid? [True, True] Translation: X:567.15, Y:8.23, Z:6.82 [[ 9.97255744e-01 -7.18360199e-02 -1.79043712e-02 5.67148216e+02] [ 7.18379721e-02 9.97416172e-01 -5.34929813e-04 8.23366642e+00] [ 1.78965366e-02 -7.52751893e-04 9.99839561e-01 6.82307541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.505099893 meters 0.021935390106712947 Centerline is valid? [True, True] Translation: X:567.18, Y:8.23, Z:6.82 [[ 9.96904506e-01 -7.63795215e-02 -1.86433595e-02 5.67178409e+02] [ 7.63824486e-02 9.97078438e-01 -5.56061175e-04 8.22932184e+00] [ 1.86313635e-02 -8.69685559e-04 9.99826043e-01 6.82256827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5350998929999 meters 0.02147175359701896 Centerline is valid? [True, True] Translation: X:567.21, Y:8.23, Z:6.82 [[ 9.96729462e-01 -7.86629158e-02 -1.85074233e-02 5.67209100e+02] [ 7.86661991e-02 9.96900860e-01 -5.51672459e-04 8.23107757e+00] [ 1.84934624e-02 -9.06040452e-04 9.99828571e-01 6.82319878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5650998929999 meters 0.02415646286515421 Centerline is valid? [True, True] Translation: X:567.24, Y:8.23, Z:6.82 [[ 9.96562119e-01 -8.07195458e-02 -1.86627609e-02 5.67240096e+02] [ 8.07232716e-02 9.96736397e-01 -5.54831161e-04 8.22883225e+00] [ 1.86466388e-02 -9.53595402e-04 9.99825682e-01 6.82341929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.595099893 meters 0.025946747958111967 Centerline is valid? [True, True] Translation: X:567.27, Y:8.23, Z:6.82 [[ 9.96275677e-01 -8.42033259e-02 -1.85627261e-02 5.67271287e+02] [ 8.42076454e-02 9.96448077e-01 -5.50199394e-04 8.22873345e+00] [ 1.85431213e-02 -1.01497318e-03 9.99827546e-01 6.82381592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.625099893 meters 0.02283038576290563 Centerline is valid? [True, True] Translation: X:567.30, Y:8.23, Z:6.82 [[ 9.96178265e-01 -8.52841828e-02 -1.88539873e-02 5.67303147e+02] [ 8.52888452e-02 9.96356112e-01 -5.58130653e-04 8.23480287e+00] [ 1.88328852e-02 -1.05203718e-03 9.99822092e-01 6.82441249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6550998929999 meters 0.024588989933055555 Centerline is valid? [True, True] Translation: X:567.33, Y:8.23, Z:6.82 [[ 9.96062171e-01 -8.65116858e-02 -1.93876019e-02 5.67334067e+02] [ 8.65168734e-02 9.96250221e-01 -5.72598668e-04 8.23475025e+00] [ 1.93644391e-02 -1.10701083e-03 9.99811879e-01 6.82407412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6850998929999 meters 0.0277580803576908 Centerline is valid? [True, True] Translation: X:567.36, Y:8.23, Z:6.82 [[ 9.95994660e-01 -8.71089569e-02 -2.01660069e-02 5.67364830e+02] [ 8.71147117e-02 9.96198110e-01 -5.94595956e-04 8.23270004e+00] [ 2.01411326e-02 -1.16454148e-03 9.99796469e-01 6.82316999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7150998929999 meters 0.025313608666015164 Centerline is valid? [True, True] Translation: X:567.40, Y:8.24, Z:6.82 [[ 9.95919457e-01 -8.77297930e-02 -2.11640862e-02 5.67396949e+02] [ 8.77362950e-02 9.96143541e-01 -6.22914399e-04 8.23917035e+00] [ 2.11371159e-02 -1.23648594e-03 9.99775822e-01 6.82302664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.745099893 meters 0.033507312983971936 Centerline is valid? [True, True] Translation: X:567.43, Y:8.23, Z:6.82 [[ 9.95921865e-01 -8.76486926e-02 -2.13856570e-02 5.67428028e+02] [ 8.76553427e-02 9.96150665e-01 -6.28040287e-04 8.23119381e+00] [ 2.13583834e-02 -1.24908804e-03 9.99771103e-01 6.82166521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.775099893 meters 0.02930153851982648 Centerline is valid? [True, True] Translation: X:567.46, Y:8.24, Z:6.82 [[ 9.95984352e-01 -8.69379029e-02 -2.13768752e-02 5.67459522e+02] [ 8.69444052e-02 9.96212968e-01 -6.26803944e-04 8.23936572e+00] [ 2.13504133e-02 -1.23431278e-03 9.99771292e-01 6.82322480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8050998929999 meters 0.02908608313342767 Centerline is valid? [True, True] Translation: X:567.49, Y:8.24, Z:6.82 [[ 9.96086040e-01 -8.58833604e-02 -2.08961723e-02 5.67490876e+02] [ 8.58893569e-02 9.96304494e-01 -6.12001740e-04 8.24265551e+00] [ 2.08715111e-02 -1.18515241e-03 9.99781464e-01 6.82422417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8350998929999 meters 0.028396833973982655 Centerline is valid? [True, True] Translation: X:567.52, Y:8.25, Z:6.83 [[ 9.96431362e-01 -8.20264881e-02 -1.99046989e-02 5.67520885e+02] [ 8.20311694e-02 9.96629594e-01 -5.82560817e-04 8.24894887e+00] [ 1.98853974e-02 -1.05232386e-03 9.99801712e-01 6.82606654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.865099893 meters 0.022668077253966284 Centerline is valid? [True, True] Translation: X:567.55, Y:8.26, Z:6.83 [[ 9.96680843e-01 -7.90192443e-02 -1.95769400e-02 5.67551842e+02] [ 7.90231991e-02 9.96872613e-01 -5.72708217e-04 8.25976657e+00] [ 1.95609703e-02 -9.76225116e-04 9.99808189e-01 6.82779564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.895099893 meters 0.021012453941719657 Centerline is valid? [True, True] Translation: X:567.58, Y:8.27, Z:6.83 [[ 9.96965235e-01 -7.55411999e-02 -1.88108318e-02 5.67582127e+02] [ 7.55442413e-02 9.97142299e-01 -5.49868618e-04 8.26553984e+00] [ 1.87986138e-02 -8.72850119e-04 9.99822909e-01 6.82866667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9250998929999 meters 0.016909507000752968 Centerline is valid? [True, True] Translation: X:567.61, Y:8.28, Z:6.83 [[ 9.97558568e-01 -6.77419458e-02 -1.69685476e-02 5.67612328e+02] [ 6.77432935e-02 9.97702661e-01 -4.96018151e-04 8.27689946e+00] [ 1.69631664e-02 -6.54698145e-04 9.99855901e-01 6.83111095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9550998929999 meters 0.015475336760523161 Centerline is valid? [True, True] Translation: X:567.64, Y:8.28, Z:6.83 [[ 9.97828288e-01 -6.36542561e-02 -1.69364228e-02 5.67644131e+02] [ 6.36550148e-02 9.97971840e-01 -4.94832247e-04 8.28230506e+00] [ 1.69335712e-02 -5.84330627e-04 9.99856446e-01 6.83154011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.985099893 meters 0.014963200928929324 Centerline is valid? [True, True] Translation: X:567.67, Y:8.29, Z:6.83 [[ 9.98247779e-01 -5.61592143e-02 -1.86417593e-02 5.67674238e+02] [ 5.61588415e-02 9.98421699e-01 -5.43905521e-04 8.28843977e+00] [ 1.86428823e-02 -5.03947129e-04 9.99826079e-01 6.82980596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.015099893 meters 0.014238207414000356 Centerline is valid? [True, True] Translation: X:567.70, Y:8.29, Z:6.83 [[ 9.98415042e-01 -5.29062446e-02 -1.91920265e-02 5.67704706e+02] [ 5.29052511e-02 9.98599380e-01 -5.59843332e-04 8.29251546e+00] [ 1.91947649e-02 -4.56402976e-04 9.99815659e-01 6.82954727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0450998929999 meters 0.013005786587192685 Centerline is valid? [True, True] Translation: X:567.74, Y:8.30, Z:6.83 [[ 9.98565790e-01 -4.97864446e-02 -1.96894012e-02 5.67736418e+02] [ 4.97848045e-02 9.98759803e-01 -5.73756716e-04 8.29749369e+00] [ 1.96935477e-02 -4.07299159e-04 9.99805980e-01 6.82985506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0750998929999 meters 0.011559883910926714 Centerline is valid? [True, True] Translation: X:567.77, Y:8.30, Z:6.83 [[ 9.98681980e-01 -4.73375122e-02 -1.98358998e-02 5.67767927e+02] [ 4.73353827e-02 9.98878886e-01 -5.77118986e-04 8.30277875e+00] [ 1.98409808e-02 -3.62581575e-04 9.99803083e-01 6.83086891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.105099893 meters 0.010661001646334682 Centerline is valid? [True, True] Translation: X:567.80, Y:8.31, Z:6.83 [[ 9.98878511e-01 -4.29801746e-02 -1.98601489e-02 5.67798968e+02] [ 4.29771928e-02 9.99075887e-01 -5.77122565e-04 8.30803002e+00] [ 1.98666007e-02 -2.77058118e-04 9.99802601e-01 6.83109517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.135099893 meters 0.010597224853219012 Centerline is valid? [True, True] Translation: X:567.83, Y:8.31, Z:6.83 [[ 9.98944096e-01 -4.12829607e-02 -2.01596399e-02 5.67829324e+02] [ 4.12795543e-02 9.99147465e-01 -5.85248845e-04 8.31004609e+00] [ 2.01666139e-02 -2.47550073e-04 9.99796603e-01 6.83082894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1650998929999 meters 0.009763178236375283 Centerline is valid? [True, True] Translation: X:567.86, Y:8.31, Z:6.83 [[ 9.98989345e-01 -3.99910730e-02 -2.05183469e-02 5.67860742e+02] [ 3.99872826e-02 9.99200012e-01 -5.95142051e-04 8.31436272e+00] [ 2.05257329e-02 -2.25932370e-04 9.99789299e-01 6.83225467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1950998929999 meters 0.009763178236375283 Centerline is valid? [True, True] Translation: X:567.89, Y:8.32, Z:6.83 [[ 9.98989345e-01 -3.99910673e-02 -2.05183602e-02 5.67890730e+02] [ 3.99872863e-02 9.99200012e-01 -5.94686131e-04 8.31523165e+00] [ 2.05257278e-02 -2.26388433e-04 9.99789299e-01 6.83262555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.225099893 meters 0.009887100484648388 Centerline is valid? [True, True] Translation: X:567.92, Y:8.32, Z:6.83 [[ 9.99056071e-01 -3.78503826e-02 -2.13146665e-02 5.67920963e+02] [ 3.78458188e-02 9.99283400e-01 -6.17601614e-04 8.31824212e+00] [ 2.13227688e-02 -1.89652363e-04 9.99772626e-01 6.83187122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.255099893 meters 0.009706918605808296 Centerline is valid? [True, True] Translation: X:567.95, Y:8.32, Z:6.83 [[ 9.99076456e-01 -3.72870243e-02 -2.13521379e-02 5.67951567e+02] [ 3.72823206e-02 9.99304581e-01 -6.18460667e-04 8.32086413e+00] [ 2.13603497e-02 -1.78167758e-04 9.99771826e-01 6.83271016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2850998929999 meters 0.009572229875733649 Centerline is valid? [True, True] Translation: X:567.98, Y:8.32, Z:6.83 [[ 9.99104376e-01 -3.66677607e-02 -2.11168303e-02 5.67981020e+02] [ 3.66630150e-02 9.99327498e-01 -6.11969534e-04 8.32315613e+00] [ 2.11250687e-02 -1.62785225e-04 9.99776828e-01 6.83391598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3150998929999 meters 0.009895767030521202 Centerline is valid? [True, True] Translation: X:568.01, Y:8.32, Z:6.83 [[ 9.99136054e-01 -3.64100372e-02 -2.00363312e-02 5.68010970e+02] [ 3.64057014e-02 9.99336924e-01 -5.81232020e-04 8.32292165e+00] [ 2.00442082e-02 -1.48706821e-04 9.99799084e-01 6.83336190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.345099893 meters 0.010030469968908957 Centerline is valid? [True, True] Translation: X:568.04, Y:8.32, Z:6.83 [[ 9.99122189e-01 -3.68731930e-02 -1.98801041e-02 5.68041301e+02] [ 3.68690117e-02 9.99319940e-01 -5.76925252e-04 8.32274706e+00] [ 1.98878575e-02 -1.56540969e-04 9.99802205e-01 6.83352055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.375099893 meters 0.010245428814263392 Centerline is valid? [True, True] Translation: X:568.07, Y:8.32, Z:6.83 [[ 9.99076715e-01 -3.81804716e-02 -1.96969385e-02 5.68071700e+02] [ 3.81766210e-02 9.99270844e-01 -5.71609743e-04 8.32237628e+00] [ 1.97044007e-02 -1.80880571e-04 9.99805833e-01 6.83403573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4050998929999 meters 0.010089010291061467 Centerline is valid? [True, True] Translation: X:568.10, Y:8.32, Z:6.84 [[ 9.99015777e-01 -3.98379839e-02 -1.95041480e-02 5.68102231e+02] [ 3.98345241e-02 9.99206130e-01 -5.66014917e-04 8.32318479e+00] [ 1.95112131e-02 -2.11480619e-04 9.99809616e-01 6.83563003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4350998929999 meters 0.010938166479368835 Centerline is valid? [True, True] Translation: X:568.13, Y:8.32, Z:6.84 [[ 9.98785534e-01 -4.51551122e-02 -1.97097188e-02 5.68133627e+02] [ 4.51526192e-02 9.98979937e-01 -5.71712193e-04 8.32082331e+00] [ 1.97154294e-02 -3.18927559e-04 9.99805581e-01 6.83607941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4650998929999 meters 0.01157654685244007 Centerline is valid? [True, True] Translation: X:568.17, Y:8.32, Z:6.84 [[ 9.98611725e-01 -4.86874715e-02 -2.01035673e-02 5.68165064e+02] [ 4.86856082e-02 9.98813983e-01 -5.82391258e-04 8.31924732e+00] [ 2.01080793e-02 -3.97171662e-04 9.99797733e-01 6.83625149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.495099893 meters 0.012761802621965844 Centerline is valid? [True, True] Translation: X:568.19, Y:8.32, Z:6.84 [[ 9.98405010e-01 -5.26892323e-02 -2.02800676e-02 5.68194994e+02] [ 5.26881851e-02 9.98610841e-01 -5.86322828e-04 8.31663330e+00] [ 2.02827882e-02 -4.83132305e-04 9.99794166e-01 6.83607478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.525099893 meters 0.016329522337367283 Centerline is valid? [True, True] Translation: X:568.22, Y:8.31, Z:6.83 [[ 9.97895827e-01 -6.13762296e-02 -2.09016013e-02 5.68224572e+02] [ 6.13770419e-02 9.98114470e-01 -6.03249194e-04 8.30849032e+00] [ 2.08992158e-02 -6.80898605e-04 9.99781356e-01 6.83498576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5550998929999 meters 0.018992134230475962 Centerline is valid? [True, True] Translation: X:568.25, Y:8.30, Z:6.83 [[ 9.97617743e-01 -6.56631033e-02 -2.11469801e-02 5.68254554e+02] [ 6.56648927e-02 9.97841545e-01 -6.10506984e-04 8.30389175e+00] [ 2.11414231e-02 -7.79561577e-04 9.99776191e-01 6.83466786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5850998929999 meters 0.018615247058793007 Centerline is valid? [True, True] Translation: X:568.29, Y:8.30, Z:6.84 [[ 9.97337143e-01 -6.98117370e-02 -2.10937272e-02 5.68286006e+02] [ 6.98144501e-02 9.97559809e-01 -6.08653520e-04 8.30416736e+00] [ 2.10847456e-02 -8.65614204e-04 9.99777317e-01 6.83550812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.615099893 meters 0.023493991769385224 Centerline is valid? [True, True] Translation: X:568.32, Y:8.30, Z:6.84 [[ 9.96831232e-01 -7.68249718e-02 -2.06256910e-02 5.68315793e+02] [ 7.68290695e-02 9.97044101e-01 -5.94836253e-04 8.29671210e+00] [ 2.06104218e-02 -9.91701294e-04 9.99787091e-01 6.83580561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.645099893 meters 0.022021312475157238 Centerline is valid? [True, True] Translation: X:568.35, Y:8.30, Z:6.84 [[ 9.96601682e-01 -7.96635937e-02 -2.09475333e-02 5.68346419e+02] [ 7.96684451e-02 9.96821235e-01 -6.04151661e-04 8.29904577e+00] [ 2.09290749e-02 -1.06675884e-03 9.99780394e-01 6.83674790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6750998929999 meters 0.024511918609270482 Centerline is valid? [True, True] Translation: X:568.38, Y:8.30, Z:6.84 [[ 9.96420000e-01 -8.19864542e-02 -2.06253371e-02 5.68376197e+02] [ 8.19916734e-02 9.96632838e-01 -5.93892043e-04 8.29608330e+00] [ 2.06045794e-02 -1.09934000e-03 9.99787099e-01 6.83661026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7050998929999 meters 0.023464605136725616 Centerline is valid? [True, True] Translation: X:568.41, Y:8.30, Z:6.84 [[ 9.96249521e-01 -8.40248073e-02 -2.06572849e-02 5.68408048e+02] [ 8.40305200e-02 9.96463005e-01 -5.92849732e-04 8.29808701e+00] [ 2.06340342e-02 -1.14521613e-03 9.99786440e-01 6.83761163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.735099893 meters 0.026535817278853166 Centerline is valid? [True, True] Translation: X:568.44, Y:8.29, Z:6.84 [[ 9.96043844e-01 -8.64985607e-02 -2.03631977e-02 5.68438306e+02] [ 8.65046603e-02 9.96251276e-01 -5.82770651e-04 8.29476596e+00] [ 2.03372705e-02 -1.18104638e-03 9.99792479e-01 6.83811252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.765099893 meters 0.024985470806715433 Centerline is valid? [True, True] Translation: X:568.47, Y:8.30, Z:6.84 [[ 9.96011952e-01 -8.69717075e-02 -1.99026065e-02 5.68470370e+02] [ 8.69776511e-02 9.96210101e-01 -5.68437988e-04 8.29782859e+00] [ 1.98766156e-02 -1.16491093e-03 9.99801762e-01 6.83923461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7950998929999 meters 0.02621750931422541 Centerline is valid? [True, True] Translation: X:568.50, Y:8.30, Z:6.84 [[ 9.96034899e-01 -8.67760953e-02 -1.96058506e-02 5.68501151e+02] [ 8.67818605e-02 9.96227181e-01 -5.58157206e-04 8.29747357e+00] [ 1.95803159e-02 -1.14548813e-03 9.99807631e-01 6.83977077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8250998929999 meters 0.025603948536072833 Centerline is valid? [True, True] Translation: X:568.53, Y:8.30, Z:6.84 [[ 9.96144018e-01 -8.53804309e-02 -2.01810995e-02 5.68533330e+02] [ 8.53862979e-02 9.96347757e-01 -5.72364046e-04 8.30063268e+00] [ 2.01562619e-02 -1.15303236e-03 9.99796177e-01 6.84033364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.855099893 meters 0.023548329404711486 Centerline is valid? [True, True] Translation: X:568.57, Y:8.31, Z:6.84 [[ 9.96213455e-01 -8.45634322e-02 -2.01935360e-02 5.68565601e+02] [ 8.45691688e-02 9.96417447e-01 -5.71246038e-04 8.30535156e+00] [ 2.01694981e-02 -1.13866756e-03 9.99795927e-01 6.84133467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.885099893 meters 0.023748699962632826 Centerline is valid? [True, True] Translation: X:568.60, Y:8.31, Z:6.84 [[ 9.96297010e-01 -8.35329476e-02 -2.03596393e-02 5.68597945e+02] [ 8.35385951e-02 9.96504377e-01 -5.74439882e-04 8.30691002e+00] [ 2.03364544e-02 -1.12850293e-03 9.99792556e-01 6.84160224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9150998929999 meters 0.023596677600776574 Centerline is valid? [True, True] Translation: X:568.63, Y:8.31, Z:6.84 [[ 9.96410687e-01 -8.20357614e-02 -2.08776635e-02 5.68630551e+02] [ 8.20414079e-02 9.96628749e-01 -5.87353851e-04 8.30924831e+00] [ 2.08554637e-02 -1.12758726e-03 9.99781865e-01 6.84162681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9450998929999 meters 0.02416717290105487 Centerline is valid? [True, True] Translation: X:568.66, Y:8.31, Z:6.84 [[ 9.96419349e-01 -8.19197449e-02 -2.09197815e-02 5.68662162e+02] [ 8.19254220e-02 9.96638290e-01 -5.86948278e-04 8.31008436e+00] [ 2.08975380e-02 -1.12901531e-03 9.99780985e-01 6.84149660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.975099893 meters 0.025165249361755643 Centerline is valid? [True, True] Translation: X:568.69, Y:8.31, Z:6.84 [[ 9.96324815e-01 -8.29739397e-02 -2.12646973e-02 5.68694516e+02] [ 8.29800731e-02 9.96551029e-01 -5.95305179e-04 8.31017692e+00] [ 2.12407508e-02 -1.17142882e-03 9.99773704e-01 6.84197521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.005099893 meters 0.027606940310217428 Centerline is valid? [True, True] Translation: X:568.73, Y:8.31, Z:6.84 [[ 9.96249663e-01 -8.35700086e-02 -2.24201184e-02 5.68725499e+02] [ 8.35770105e-02 9.96501125e-01 -6.26179005e-04 8.30842016e+00] [ 2.23940030e-02 -1.24997585e-03 9.99748441e-01 6.84070756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0350998929999 meters 0.028033311819456463 Centerline is valid? [True, True] Translation: X:568.76, Y:8.31, Z:6.84 [[ 9.96195252e-01 -8.37791116e-02 -2.40016759e-02 5.68757322e+02] [ 8.37872338e-02 9.96483443e-01 -6.68833403e-04 8.30927418e+00] [ 2.39733069e-02 -1.34474537e-03 9.99711695e-01 6.83943020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0650998929999 meters 0.027627043640390588 Centerline is valid? [True, True] Translation: X:568.79, Y:8.31, Z:6.84 [[ 9.96163739e-01 -8.38123479e-02 -2.51653514e-02 5.68789025e+02] [ 8.38213331e-02 9.96480554e-01 -6.99463371e-04 8.31141618e+00] [ 2.51354069e-02 -1.41261325e-03 9.99683058e-01 6.83871613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.095099893 meters 0.023116123754086178 Centerline is valid? [True, True] Translation: X:568.82, Y:8.32, Z:6.84 [[ 9.96260436e-01 -8.25703445e-02 -2.54417419e-02 5.68821173e+02] [ 8.25791714e-02 9.96584258e-01 -7.05307309e-04 8.32021402e+00] [ 2.54130770e-02 -1.39828820e-03 9.99676058e-01 6.84029580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.125099893 meters 0.023219959788709957 Centerline is valid? [True, True] Translation: X:568.85, Y:8.32, Z:6.84 [[ 9.96397593e-01 -8.11328601e-02 -2.46839300e-02 5.68851468e+02] [ 8.11407561e-02 9.96702418e-01 -6.83190824e-04 8.32206065e+00] [ 2.46579619e-02 -1.32214305e-03 9.99695072e-01 6.84087041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1550998929999 meters 0.02207892868539249 Centerline is valid? [True, True] Translation: X:568.88, Y:8.33, Z:6.84 [[ 9.96566220e-01 -7.91490651e-02 -2.43145015e-02 5.68883161e+02] [ 7.91561589e-02 9.96862002e-01 -6.72086832e-04 8.32573492e+00] [ 2.42913977e-02 -1.25486351e-03 9.99704133e-01 6.84193394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1850998929999 meters 0.021479589884746887 Centerline is valid? [True, True] Translation: X:568.91, Y:8.33, Z:6.84 [[ 9.96776395e-01 -7.65703040e-02 -2.39542686e-02 5.68914758e+02] [ 7.65764774e-02 9.97063492e-01 -6.60824484e-04 8.32903883e+00] [ 2.39345263e-02 -1.17563926e-03 9.99712837e-01 6.84271129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2150998929999 meters 0.019363568428469015 Centerline is valid? [True, True] Translation: X:568.95, Y:8.34, Z:6.84 [[ 9.97243116e-01 -7.05473578e-02 -2.30051720e-02 5.68945237e+02] [ 7.05514678e-02 9.97507939e-01 -6.33939626e-04 8.33690590e+00] [ 2.29925645e-02 -9.90856726e-04 9.99735145e-01 6.84436781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.245099893 meters 0.017663298137195017 Centerline is valid? [True, True] Translation: X:568.98, Y:8.34, Z:6.85 [[ 9.97481029e-01 -6.71851556e-02 -2.27541777e-02 5.68976941e+02] [ 6.71883174e-02 9.97740115e-01 -6.26388768e-04 8.34237902e+00] [ 2.27448399e-02 -9.04004003e-04 9.99740894e-01 6.84511333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.275099893 meters 0.01867530472834155 Centerline is valid? [True, True] Translation: X:569.01, Y:8.34, Z:6.84 [[ 9.97696449e-01 -6.38942018e-02 -2.27887497e-02 5.69007427e+02] [ 6.38965359e-02 9.97956332e-01 -6.26463802e-04 8.34332251e+00] [ 2.27822045e-02 -8.31101453e-04 9.99740106e-01 6.84464485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3050998929999 meters 0.015091175524499432 Centerline is valid? [True, True] Translation: X:569.04, Y:8.35, Z:6.85 [[ 9.98089694e-01 -5.75385154e-02 -2.25007191e-02 5.69037599e+02] [ 5.75391822e-02 9.98343057e-01 -6.18320852e-04 8.35262438e+00] [ 2.24990140e-02 -6.77533306e-04 9.99746636e-01 6.84642479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3350998929999 meters 0.01409745783348053 Centerline is valid? [True, True] Translation: X:569.07, Y:8.36, Z:6.85 [[ 9.98281249e-01 -5.42872847e-02 -2.20780246e-02 5.69069447e+02] [ 5.42871439e-02 9.98525182e-01 -6.06173634e-04 8.35638272e+00] [ 2.20783711e-02 -5.93421126e-04 9.99756067e-01 6.84707948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.365099893 meters 0.013149349858095448 Centerline is valid? [True, True] Translation: X:569.10, Y:8.36, Z:6.85 [[ 9.98460284e-01 -5.08521191e-02 -2.21613160e-02 5.69100456e+02] [ 5.08511544e-02 9.98706058e-01 -6.07423345e-04 8.35966769e+00] [ 2.21635293e-02 -5.20440417e-04 9.99754223e-01 6.84749859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.395099893 meters 0.01235231017984191 Centerline is valid? [True, True] Translation: X:569.13, Y:8.36, Z:6.85 [[ 9.98626988e-01 -4.75358385e-02 -2.20109584e-02 5.69132030e+02] [ 4.75340992e-02 9.98869434e-01 -6.02504391e-04 8.36255821e+00] [ 2.20147141e-02 -4.44593937e-04 9.99757548e-01 6.84769442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4250998929999 meters 0.010952814134874795 Centerline is valid? [True, True] Translation: X:569.16, Y:8.37, Z:6.85 [[ 9.98901784e-01 -4.13503290e-02 -2.20312591e-02 5.69162934e+02] [ 4.13471000e-02 9.99144662e-01 -6.02255747e-04 8.36857886e+00] [ 2.20373184e-02 -3.09334336e-04 9.99757101e-01 6.84907302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4550998929999 meters 0.010727163330771722 Centerline is valid? [True, True] Translation: X:569.19, Y:8.37, Z:6.85 [[ 9.99029359e-01 -3.85342368e-02 -2.13413418e-02 5.69192034e+02] [ 3.85305705e-02 9.99257252e-01 -5.83117094e-04 8.37088606e+00] [ 2.13479606e-02 -2.39742979e-04 9.99772078e-01 6.84925169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.485099893 meters 0.01029027766209263 Centerline is valid? [True, True] Translation: X:569.22, Y:8.37, Z:6.85 [[ 9.99146296e-01 -3.58273975e-02 -2.05688406e-02 5.69222122e+02] [ 3.58234138e-02 9.99357977e-01 -5.62226691e-04 8.37367629e+00] [ 2.05757781e-02 -1.75099372e-04 9.99788281e-01 6.85016385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.515099893 meters 0.009905347791367135 Centerline is valid? [True, True] Translation: X:569.25, Y:8.38, Z:6.85 [[ 9.99306695e-01 -3.13860011e-02 -2.00261914e-02 5.69252405e+02] [ 3.13813329e-02 9.99507335e-01 -5.47393972e-04 8.37651889e+00] [ 2.00335057e-02 -8.14341203e-05 9.99799306e-01 6.85045806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5450998929999 meters 0.009813750867702233 Centerline is valid? [True, True] Translation: X:569.28, Y:8.38, Z:6.85 [[ 9.99352032e-01 -2.97204229e-02 -2.03030046e-02 5.69281937e+02] [ 2.97152752e-02 9.99558249e-01 -5.55248114e-04 8.37768853e+00] [ 2.03105380e-02 -4.84210381e-05 9.99793719e-01 6.85052296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5750998929999 meters 0.00988234508832419 Centerline is valid? [True, True] Translation: X:569.31, Y:8.38, Z:6.85 [[ 9.99393994e-01 -2.80309946e-02 -2.06375642e-02 5.69310789e+02] [ 2.80252970e-02 9.99607054e-01 -5.65298831e-04 8.37821661e+00] [ 2.06453006e-02 -1.34176096e-05 9.99786863e-01 6.84995817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.605099893 meters 0.009864250556734285 Centerline is valid? [True, True] Translation: X:569.34, Y:8.38, Z:6.85 [[ 9.99400470e-01 -2.78349775e-02 -2.05891787e-02 5.69339876e+02] [ 2.78292091e-02 9.99612532e-01 -5.66691993e-04 8.37869176e+00] [ 2.05969749e-02 -6.62831447e-06 9.99787860e-01 6.84991322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.635099893 meters 0.009885908693053608 Centerline is valid? [True, True] Translation: X:569.37, Y:8.38, Z:6.85 [[ 9.99400345e-01 -2.79999286e-02 -2.03704544e-02 5.69369083e+02] [ 2.79942131e-02 9.99607925e-01 -5.65735947e-04 8.37897945e+00] [ 2.03783083e-02 -4.85814272e-06 9.99792341e-01 6.85035570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6650998929999 meters 0.00982415273817531 Centerline is valid? [True, True] Translation: X:569.40, Y:8.38, Z:6.85 [[ 9.99377916e-01 -2.95860134e-02 -1.91949989e-02 5.69397608e+02] [ 2.95811417e-02 9.99562238e-01 -5.37744711e-04 8.37730410e+00] [ 1.92025058e-02 -3.03997934e-05 9.99815614e-01 6.85099867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6950998929999 meters 0.00982415273817531 Centerline is valid? [True, True] Translation: X:569.43, Y:8.38, Z:6.85 [[ 9.99376849e-01 -2.96221025e-02 -1.91949039e-02 5.69426749e+02] [ 2.96171727e-02 9.99561169e-01 -5.41116130e-04 8.37815437e+00] [ 1.92025096e-02 -2.77198507e-05 9.99815614e-01 6.85136007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.725099893 meters 0.010069370794972816 Centerline is valid? [True, True] Translation: X:569.46, Y:8.37, Z:6.85 [[ 9.99278677e-01 -3.31284464e-02 -1.85642539e-02 5.69455301e+02] [ 3.31244260e-02 9.99451098e-01 -5.24102636e-04 8.37389672e+00] [ 1.85714267e-02 -9.12056665e-05 9.99827532e-01 6.85118134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.755099893 meters 0.010204085876864919 Centerline is valid? [True, True] Translation: X:569.49, Y:8.37, Z:6.85 [[ 9.99194119e-01 -3.57913602e-02 -1.81683840e-02 5.69485888e+02] [ 3.57879377e-02 9.99359275e-01 -5.13576510e-04 8.37207226e+00] [ 1.81751247e-02 -1.37046366e-04 9.99834809e-01 6.85177285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7850998929999 meters 0.010539616029091847 Centerline is valid? [True, True] Translation: X:569.52, Y:8.37, Z:6.85 [[ 9.99082497e-01 -3.89945678e-02 -1.77084082e-02 5.69517135e+02] [ 3.89918229e-02 9.99239404e-01 -5.00378571e-04 8.36968091e+00] [ 1.77144513e-02 -1.90563644e-04 9.99843069e-01 6.85178866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8150998929999 meters 0.01188109383766355 Centerline is valid? [True, True] Translation: X:569.55, Y:8.36, Z:6.85 [[ 9.98778847e-01 -4.62138157e-02 -1.74670365e-02 5.69548048e+02] [ 4.62122579e-02 9.98931521e-01 -4.93019439e-04 8.36358093e+00] [ 1.74711576e-02 -3.14773806e-04 9.99847318e-01 6.85187434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.845099893 meters 0.013489842647746978 Centerline is valid? [True, True] Translation: X:569.58, Y:8.36, Z:6.85 [[ 9.98608788e-01 -4.98810139e-02 -1.70989222e-02 5.69579139e+02] [ 4.98800664e-02 9.98755098e-01 -4.82150284e-04 8.35928443e+00] [ 1.71016858e-02 -3.71415863e-04 9.99853686e-01 6.85169416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.875099893 meters 0.0158099453407302 Centerline is valid? [True, True] Translation: X:569.61, Y:8.35, Z:6.85 [[ 9.98438653e-01 -5.33819337e-02 -1.64506682e-02 5.69610637e+02] [ 5.33815457e-02 9.98574081e-01 -4.63007144e-04 8.35411446e+00] [ 1.64519271e-02 -4.15877869e-04 9.99864571e-01 6.85153935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9050998929999 meters 0.015924694055721396 Centerline is valid? [True, True] Translation: X:569.64, Y:8.35, Z:6.85 [[ 9.98078433e-01 -5.98568328e-02 -1.60187662e-02 5.69641407e+02] [ 5.98573090e-02 9.98206842e-01 -4.50150975e-04 8.35075079e+00] [ 1.60169867e-02 -5.09554261e-04 9.99871590e-01 6.85234231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9350998929999 meters 0.016358325639034364 Centerline is valid? [True, True] Translation: X:569.67, Y:8.35, Z:6.85 [[ 9.97920569e-01 -6.26994360e-02 -1.49438710e-02 5.69673504e+02] [ 6.27001746e-02 9.98032320e-01 -4.19546485e-04 8.34908720e+00] [ 1.49407716e-02 -5.18309255e-04 9.99888246e-01 6.85298535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9650998929999 meters 0.01860130035206493 Centerline is valid? [True, True] Translation: X:569.70, Y:8.34, Z:6.85 [[ 9.97618659e-01 -6.74816167e-02 -1.42562994e-02 5.69703777e+02] [ 6.74827887e-02 9.97720358e-01 -3.99375159e-04 8.34330200e+00] [ 1.42507507e-02 -5.63630734e-04 9.99898294e-01 6.85340657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.995099893 meters 0.02055972726117991 Centerline is valid? [True, True] Translation: X:569.74, Y:8.34, Z:6.85 [[ 9.97341314e-01 -7.15060371e-02 -1.40424450e-02 5.69735248e+02] [ 7.15075731e-02 9.97439979e-01 -3.93323856e-04 8.33922292e+00] [ 1.40346211e-02 -6.11863030e-04 9.99901323e-01 6.85347631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.025099893 meters 0.019999653566638104 Centerline is valid? [True, True] Translation: X:569.77, Y:8.34, Z:6.85 [[ 9.97237244e-01 -7.29580518e-02 -1.39643155e-02 5.69767323e+02] [ 7.29597206e-02 9.97334812e-01 -3.90575948e-04 8.33986302e+00] [ 1.39555936e-02 -6.29335675e-04 9.99902418e-01 6.85377821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0550998929999 meters 0.019999653566638104 Centerline is valid? [True, True] Translation: X:569.80, Y:8.34, Z:6.85 [[ 9.97245318e-01 -7.28475991e-02 -1.39643458e-02 5.69799877e+02] [ 7.28492723e-02 9.97342886e-01 -3.89488408e-04 8.34068685e+00] [ 1.39556143e-02 -6.28876941e-04 9.99902418e-01 6.85418069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0850998929999 meters 0.019999653566638104 Centerline is valid? [True, True] Translation: X:569.83, Y:8.34, Z:6.85 [[ 9.97253380e-01 -7.27371398e-02 -1.39643888e-02 5.69832431e+02] [ 7.27388239e-02 9.97350948e-01 -3.87941809e-04 8.34150686e+00] [ 1.39556142e-02 -6.28876938e-04 9.99902418e-01 6.85458306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.115099893 meters 0.020069556471864553 Centerline is valid? [True, True] Translation: X:569.86, Y:8.34, Z:6.85 [[ 9.97141230e-01 -7.41778832e-02 -1.43878050e-02 5.69864729e+02] [ 7.41798431e-02 9.97244801e-01 -3.98142598e-04 8.34135289e+00] [ 1.43776971e-02 -6.70280721e-04 9.99896411e-01 6.85451887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.145099893 meters 0.021632229362936278 Centerline is valid? [True, True] Translation: X:569.90, Y:8.34, Z:6.85 [[ 9.96952328e-01 -7.66401202e-02 -1.45721839e-02 5.69896271e+02] [ 7.66424083e-02 9.97058564e-01 -4.02194914e-04 8.33807179e+00] [ 1.45601450e-02 -7.15878115e-04 9.99893739e-01 6.85393900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1750998929999 meters 0.025438741110470516 Centerline is valid? [True, True] Translation: X:569.93, Y:8.33, Z:6.85 [[ 9.96898882e-01 -7.72688314e-02 -1.49046183e-02 5.69927600e+02] [ 7.72713075e-02 9.97010018e-01 -4.10541816e-04 8.33261216e+00] [ 1.48917758e-02 -7.42430665e-04 9.99888836e-01 6.85382728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2050998929999 meters 0.023942681243882206 Centerline is valid? [True, True] Translation: X:569.96, Y:8.33, Z:6.85 [[ 9.96868677e-01 -7.76463323e-02 -1.49628997e-02 5.69959474e+02] [ 7.76488831e-02 9.96980683e-01 -4.11281563e-04 8.33472021e+00] [ 1.49496565e-02 -7.51858744e-04 9.99887965e-01 6.85379654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.235099893 meters 0.022246047619443883 Centerline is valid? [True, True] Translation: X:569.99, Y:8.34, Z:6.85 [[ 9.96876288e-01 -7.74915273e-02 -1.52555049e-02 5.69992901e+02] [ 7.74941795e-02 9.96992717e-01 -4.18102316e-04 8.33763586e+00] [ 1.52420267e-02 -7.65416553e-04 9.99883541e-01 6.85403314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.265099893 meters 0.024818337953125384 Centerline is valid? [True, True] Translation: X:570.02, Y:8.34, Z:6.85 [[ 9.96995338e-01 -7.58135061e-02 -1.58936438e-02 5.70023950e+02] [ 7.58161979e-02 9.97121716e-01 -4.33974253e-04 8.33530714e+00] [ 1.58807985e-02 -7.72325338e-04 9.99873594e-01 6.85356909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2950998929999 meters 0.020675041011137242 Centerline is valid? [True, True] Translation: X:570.06, Y:8.34, Z:6.85 [[ 9.97104262e-01 -7.43555048e-02 -1.59483669e-02 5.70056280e+02] [ 7.43580441e-02 9.97231514e-01 -4.34524771e-04 8.34249483e+00] [ 1.59365233e-02 -7.52622865e-04 9.99872722e-01 6.85415667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3250998929999 meters 0.0220508307849383 Centerline is valid? [True, True] Translation: X:570.09, Y:8.34, Z:6.85 [[ 9.97248484e-01 -7.23785351e-02 -1.60252417e-02 5.70086702e+02] [ 7.23808600e-02 9.97376971e-01 -4.35633821e-04 8.34183272e+00] [ 1.60147376e-02 -7.25485611e-04 9.99871493e-01 6.85428726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.355099893 meters 0.020146098495033835 Centerline is valid? [True, True] Translation: X:570.12, Y:8.35, Z:6.85 [[ 9.97618849e-01 -6.71793119e-02 -1.56067845e-02 5.70117619e+02] [ 6.71808861e-02 9.97740722e-01 -4.23980697e-04 8.34690246e+00] [ 1.56000072e-02 -6.25506479e-04 9.99878117e-01 6.85462537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.385099893 meters 0.01889865739941165 Centerline is valid? [True, True] Translation: X:570.15, Y:8.35, Z:6.86 [[ 9.97811658e-01 -6.42931819e-02 -1.54363799e-02 5.70148823e+02] [ 6.42943819e-02 9.97930888e-01 -4.19024087e-04 8.35038875e+00] [ 1.54313807e-02 -5.74365383e-04 9.99880764e-01 6.85507847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4150998929999 meters 0.017356116072298648 Centerline is valid? [True, True] Translation: X:570.18, Y:8.35, Z:6.86 [[ 9.97997189e-01 -6.14683647e-02 -1.49416065e-02 5.70180620e+02] [ 6.14691814e-02 9.98108900e-01 -4.05023456e-04 8.35445696e+00] [ 1.49382466e-02 -5.14236051e-04 9.99888286e-01 6.85591225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4450998929999 meters 0.017134393464553477 Centerline is valid? [True, True] Translation: X:570.21, Y:8.36, Z:6.86 [[ 9.98171066e-01 -5.86267120e-02 -1.47455711e-02 5.70211494e+02] [ 5.86272086e-02 9.98279866e-01 -3.98958586e-04 8.35631742e+00] [ 1.47435964e-02 -4.66262759e-04 9.99891199e-01 6.85651859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.475099893 meters 0.01571297141927948 Centerline is valid? [True, True] Translation: X:570.24, Y:8.36, Z:6.86 [[ 9.98458569e-01 -5.36358144e-02 -1.42718306e-02 5.70243139e+02] [ 5.36357777e-02 9.98560491e-01 -3.85607482e-04 8.36086422e+00] [ 1.42719685e-02 -3.80467638e-04 9.99898078e-01 6.85758569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.505099893 meters 0.015386032987643166 Centerline is valid? [True, True] Translation: X:570.27, Y:8.36, Z:6.86 [[ 9.98562408e-01 -5.16634449e-02 -1.42830917e-02 5.70274617e+02] [ 5.16632193e-02 9.98664490e-01 -3.85013197e-04 8.36323790e+00] [ 1.42839076e-02 -3.53450796e-04 9.99897917e-01 6.85859065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5350998929999 meters 0.014310718956727309 Centerline is valid? [True, True] Translation: X:570.31, Y:8.37, Z:6.86 [[ 9.98652426e-01 -4.99542555e-02 -1.40678356e-02 5.70306369e+02] [ 4.99538904e-02 9.98751454e-01 -3.77559274e-04 8.36661988e+00] [ 1.40691320e-02 -3.25692635e-04 9.99900972e-01 6.85972229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5650998929999 meters 0.014122465745607769 Centerline is valid? [True, True] Translation: X:570.34, Y:8.37, Z:6.86 [[ 9.98711174e-01 -4.88139770e-02 -1.38991859e-02 5.70338948e+02] [ 4.88135240e-02 9.98807840e-01 -3.72045740e-04 8.36799159e+00] [ 1.39007769e-02 -3.06902005e-04 9.99903332e-01 6.86039120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.595099893 meters 0.014429701366028825 Centerline is valid? [True, True] Translation: X:570.37, Y:8.37, Z:6.86 [[ 9.98749648e-01 -4.80281907e-02 -1.38720216e-02 5.70370635e+02] [ 4.80276774e-02 9.98845937e-01 -3.70328204e-04 8.36773138e+00] [ 1.38737986e-02 -2.96375814e-04 9.99903710e-01 6.86154923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.625099893 meters 0.013710772125430275 Centerline is valid? [True, True] Translation: X:570.40, Y:8.37, Z:6.86 [[ 9.98734268e-01 -4.83484364e-02 -1.38668717e-02 5.70403150e+02] [ 4.83479681e-02 9.98830485e-01 -3.69204411e-04 8.36985641e+00] [ 1.38685047e-02 -3.01697975e-04 9.99903782e-01 6.86233858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6550998929999 meters 0.014004363870802658 Centerline is valid? [True, True] Translation: X:570.44, Y:8.37, Z:6.86 [[ 9.98690445e-01 -4.91423538e-02 -1.42275954e-02 5.70435057e+02] [ 4.91419564e-02 9.98791733e-01 -3.77749251e-04 8.36996348e+00] [ 1.42289681e-02 -3.21917303e-04 9.99898711e-01 6.86304521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6850998929999 meters 0.014971609718112022 Centerline is valid? [True, True] Translation: X:570.47, Y:8.37, Z:6.86 [[ 9.98536540e-01 -5.19757709e-02 -1.49431444e-02 5.70466851e+02] [ 5.19756657e-02 9.98648273e-01 -3.95665807e-04 8.36848025e+00] [ 1.49435104e-02 -3.81593113e-04 9.99888267e-01 6.86363832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7150998929999 meters 0.016642205278380954 Centerline is valid? [True, True] Translation: X:570.50, Y:8.37, Z:6.86 [[ 9.98443330e-01 -5.35546789e-02 -1.55824630e-02 5.70498014e+02] [ 5.35547731e-02 9.98564829e-01 -4.11542248e-04 8.36631754e+00] [ 1.55821395e-02 -4.23613659e-04 9.99878501e-01 6.86402433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.745099893 meters 0.017829782140126482 Centerline is valid? [True, True] Translation: X:570.53, Y:8.37, Z:6.86 [[ 9.98334030e-01 -5.53271586e-02 -1.63728681e-02 5.70529277e+02] [ 5.53275275e-02 9.98468166e-01 -4.30784412e-04 8.36509505e+00] [ 1.63716217e-02 -4.75803575e-04 9.99865863e-01 6.86390135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.775099893 meters 0.018194592815141825 Centerline is valid? [True, True] Translation: X:570.56, Y:8.37, Z:6.86 [[ 9.98055760e-01 -5.99437251e-02 -1.70718973e-02 5.70560191e+02] [ 5.99448134e-02 9.98201592e-01 -4.48428681e-04 8.36525705e+00] [ 1.70680756e-02 -5.75814872e-04 9.99854164e-01 6.86484743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8050998929999 meters 0.019192832650852632 Centerline is valid? [True, True] Translation: X:570.59, Y:8.36, Z:6.87 [[ 9.97926713e-01 -6.20315910e-02 -1.71568521e-02 5.70592086e+02] [ 6.20330078e-02 9.98073997e-01 -4.50103743e-04 8.36408715e+00] [ 1.71517286e-02 -6.15120590e-04 9.99852709e-01 6.86568484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8350998929999 meters 0.020668677509744795 Centerline is valid? [True, True] Translation: X:570.62, Y:8.36, Z:6.87 [[ 9.97798290e-01 -6.41596730e-02 -1.67960775e-02 5.70622895e+02] [ 6.41613553e-02 9.97939441e-01 -4.39245817e-04 8.36234926e+00] [ 1.67896501e-02 -6.39380371e-04 9.99858839e-01 6.86651974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.865099893 meters 0.021093886030010105 Centerline is valid? [True, True] Translation: X:570.65, Y:8.36, Z:6.87 [[ 9.97507710e-01 -6.86155973e-02 -1.64398558e-02 5.70654202e+02] [ 6.86178396e-02 9.97642926e-01 -4.28307513e-04 8.36156001e+00] [ 1.64304944e-02 -7.00827340e-04 9.99864765e-01 6.86773330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.895099893 meters 0.022055994095075297 Centerline is valid? [True, True] Translation: X:570.69, Y:8.36, Z:6.87 [[ 9.97350563e-01 -7.08323390e-02 -1.65720903e-02 5.70686654e+02] [ 7.08349352e-02 9.97487958e-01 -4.31009375e-04 8.36076909e+00] [ 1.65609899e-02 -7.44015499e-04 9.99862581e-01 6.86843065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9250998929999 meters 0.022539016249337598 Centerline is valid? [True, True] Translation: X:570.72, Y:8.36, Z:6.87 [[ 9.97217756e-01 -7.26650623e-02 -1.66293702e-02 5.70718773e+02] [ 7.26679504e-02 9.97356096e-01 -4.31309281e-04 8.36091640e+00] [ 1.66167449e-02 -7.78312977e-04 9.99861629e-01 6.86921354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9550998929999 meters 0.02487511159376238 Centerline is valid? [True, True] Translation: X:570.75, Y:8.36, Z:6.87 [[ 9.97090534e-01 -7.44098518e-02 -1.65421002e-02 5.70749761e+02] [ 7.44129675e-02 9.97227420e-01 -4.27941100e-04 8.35859454e+00] [ 1.65280789e-02 -8.04250745e-04 9.99863079e-01 6.86953289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.985099893 meters 0.023188565668523366 Centerline is valid? [True, True] Translation: X:570.78, Y:8.36, Z:6.87 [[ 9.96880889e-01 -7.71219604e-02 -1.67540050e-02 5.70780430e+02] [ 7.71255510e-02 9.97021295e-01 -4.32673641e-04 8.36257767e+00] [ 1.67374684e-02 -8.60837782e-04 9.99859548e-01 6.87046265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.015099893 meters 0.021621096794143622 Centerline is valid? [True, True] Translation: X:570.81, Y:8.37, Z:6.87 [[ 9.96810516e-01 -7.79914688e-02 -1.69152480e-02 5.70812481e+02] [ 7.79952633e-02 9.96953634e-01 -4.36268548e-04 8.36606685e+00] [ 1.68977432e-02 -8.84432144e-04 9.99856832e-01 6.87103250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0450998929999 meters 0.02407257002480604 Centerline is valid? [True, True] Translation: X:570.84, Y:8.36, Z:6.87 [[ 9.96739783e-01 -7.87996834e-02 -1.73324541e-02 5.70844003e+02] [ 7.88038106e-02 9.96890044e-01 -4.45798948e-04 8.36370313e+00] [ 1.73136798e-02 -9.21517886e-04 9.99849682e-01 6.87086009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0750998929999 meters 0.023241279146216928 Centerline is valid? [True, True] Translation: X:570.88, Y:8.37, Z:6.87 [[ 9.96705378e-01 -7.89556124e-02 -1.85580343e-02 5.70876111e+02] [ 7.89603933e-02 9.96877640e-01 -4.76124973e-04 8.36638567e+00] [ 1.85376822e-02 -9.90793368e-04 9.99827671e-01 6.87080396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.105099893 meters 0.02467375933725606 Centerline is valid? [True, True] Translation: X:570.91, Y:8.37, Z:6.87 [[ 9.96737987e-01 -7.85123021e-02 -1.86869999e-02 5.70907301e+02] [ 7.85170956e-02 9.96912653e-01 -4.78171534e-04 8.36575429e+00] [ 1.86668490e-02 -9.90637226e-04 9.99825268e-01 6.87045081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.135099893 meters 0.023932742360060936 Centerline is valid? [True, True] Translation: X:570.94, Y:8.37, Z:6.87 [[ 9.96768158e-01 -7.79838022e-02 -1.92812538e-02 5.70939848e+02] [ 7.79888301e-02 9.96954111e-01 -4.92175829e-04 8.36838305e+00] [ 1.92609070e-02 -1.01313723e-03 9.99813978e-01 6.87082705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1650998929999 meters 0.02224772707512955 Centerline is valid? [True, True] Translation: X:570.97, Y:8.37, Z:6.87 [[ 9.96894003e-01 -7.62008642e-02 -1.98940841e-02 5.70972190e+02] [ 7.62058922e-02 9.97091975e-01 -5.06339173e-04 8.37278094e+00] [ 1.98748151e-02 -1.01127994e-03 9.99801965e-01 6.87082429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1950998929999 meters 0.022394082632639437 Centerline is valid? [True, True] Translation: X:571.00, Y:8.37, Z:6.87 [[ 9.96994939e-01 -7.48061030e-02 -2.01280718e-02 5.71003786e+02] [ 7.48109964e-02 9.97197600e-01 -5.10809010e-04 8.37421801e+00] [ 2.01098766e-02 -9.96527113e-04 9.99797279e-01 6.87060923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.225099893 meters 0.021064582344406873 Centerline is valid? [True, True] Translation: X:571.04, Y:8.38, Z:6.87 [[ 9.97120471e-01 -7.29342794e-02 -2.07691268e-02 5.71036304e+02] [ 7.29391200e-02 9.97336257e-01 -5.25370976e-04 8.37796647e+00] [ 2.07521208e-02 -9.91023680e-04 9.99784160e-01 6.87089382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.255099893 meters 0.020989743608773717 Centerline is valid? [True, True] Translation: X:571.07, Y:8.38, Z:6.87 [[ 9.97250501e-01 -7.09197740e-02 -2.14900779e-02 5.71066588e+02] [ 7.09245189e-02 9.97481538e-01 -5.42263565e-04 8.38015208e+00] [ 2.14744132e-02 -9.83400826e-04 9.99768915e-01 6.87105116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2850998929999 meters 0.01964958559380134 Centerline is valid? [True, True] Translation: X:571.10, Y:8.39, Z:6.87 [[ 9.97587553e-01 -6.57935148e-02 -2.21424536e-02 5.71096668e+02] [ 6.57972967e-02 9.97832854e-01 -5.58493123e-04 8.38615157e+00] [ 2.21312129e-02 -8.99767802e-04 9.99754670e-01 6.87096970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3150998929999 meters 0.018651015863254752 Centerline is valid? [True, True] Translation: X:571.13, Y:8.39, Z:6.87 [[ 9.97779061e-01 -6.28198184e-02 -2.21498529e-02 5.71128271e+02] [ 6.28228832e-02 9.98024536e-01 -5.58139046e-04 8.39008496e+00] [ 2.21411588e-02 -8.34618166e-04 9.99754506e-01 6.87156021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.345099893 meters 0.018006061711106046 Centerline is valid? [True, True] Translation: X:571.16, Y:8.39, Z:6.87 [[ 9.97969911e-01 -5.97215110e-02 -2.21223515e-02 5.71159037e+02] [ 5.97238307e-02 9.98214784e-01 -5.56411072e-04 8.39326043e+00] [ 2.21160880e-02 -7.65950069e-04 9.99755116e-01 6.87216858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.375099893 meters 0.016082283282569602 Centerline is valid? [True, True] Translation: X:571.19, Y:8.40, Z:6.87 [[ 9.98342498e-01 -5.32208046e-02 -2.19043968e-02 5.71189220e+02] [ 5.32215250e-02 9.98582579e-01 -5.50486494e-04 8.40017326e+00] [ 2.19026464e-02 -6.16211338e-04 9.99759918e-01 6.87300270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4050998929999 meters 0.015282278532624743 Centerline is valid? [True, True] Translation: X:571.22, Y:8.40, Z:6.87 [[ 9.98518337e-01 -4.98266337e-02 -2.18732122e-02 5.71220851e+02] [ 4.98265494e-02 9.98757735e-01 -5.49191087e-04 8.40431921e+00] [ 2.18734042e-02 -5.41489319e-04 9.99760602e-01 6.87347344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4350998929999 meters 0.014653996440876227 Centerline is valid? [True, True] Translation: X:571.25, Y:8.41, Z:6.87 [[ 9.98675421e-01 -4.65135524e-02 -2.19975891e-02 5.71252105e+02] [ 4.65126861e-02 9.98917547e-01 -5.51301881e-04 8.40823335e+00] [ 2.19994207e-02 -4.72595318e-04 9.99757872e-01 6.87390276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4650998929999 meters 0.013602983791265781 Centerline is valid? [True, True] Translation: X:571.28, Y:8.41, Z:6.87 [[ 9.98826439e-01 -4.31582340e-02 -2.19798201e-02 5.71283048e+02] [ 4.31565743e-02 9.99068170e-01 -5.50069450e-04 8.41304444e+00] [ 2.19830786e-02 -3.99149829e-04 9.99758263e-01 6.87480412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.495099893 meters 0.012812515657917453 Centerline is valid? [True, True] Translation: X:571.31, Y:8.42, Z:6.88 [[ 9.99049926e-01 -3.77929758e-02 -2.17010871e-02 5.71313636e+02] [ 3.77901019e-02 9.99285552e-01 -5.42653503e-04 8.41989336e+00] [ 2.17060913e-02 -2.77948351e-04 9.99764356e-01 6.87562126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.525099893 meters 0.012912941612738715 Centerline is valid? [True, True] Translation: X:571.34, Y:8.42, Z:6.87 [[ 9.99139037e-01 -3.53122506e-02 -2.17768385e-02 5.71343092e+02] [ 3.53087638e-02 9.99376303e-01 -5.44717280e-04 8.42172118e+00] [ 2.17824915e-02 -2.24664949e-04 9.99762708e-01 6.87492707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5550998929999 meters 0.012579007546848603 Centerline is valid? [True, True] Translation: X:571.37, Y:8.42, Z:6.88 [[ 9.99195755e-01 -3.33253231e-02 -2.22994423e-02 5.71372303e+02] [ 3.33211595e-02 9.99444540e-01 -5.58359804e-04 8.42465289e+00] [ 2.23056633e-02 -1.85132525e-04 9.99751181e-01 6.87554491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5850998929999 meters 0.012298162948839973 Centerline is valid? [True, True] Translation: X:571.40, Y:8.43, Z:6.88 [[ 9.99236899e-01 -3.19799181e-02 -2.24255480e-02 5.71401346e+02] [ 3.19753020e-02 9.99488500e-01 -5.64480729e-04 8.42751821e+00] [ 2.24321294e-02 -1.53013697e-04 9.99748356e-01 6.87656287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.615099893 meters 0.01207701312400855 Centerline is valid? [True, True] Translation: X:571.43, Y:8.43, Z:6.88 [[ 9.99307377e-01 -2.97891461e-02 -2.23018757e-02 5.71429712e+02] [ 2.97839099e-02 9.99556200e-01 -5.66985296e-04 8.43039871e+00] [ 2.23088681e-02 -9.76444662e-05 9.99751121e-01 6.87720015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.645099893 meters 0.012097561961043245 Centerline is valid? [True, True] Translation: X:571.46, Y:8.43, Z:6.88 [[ 9.99322186e-01 -2.94340412e-02 -2.21089362e-02 5.71458242e+02] [ 2.94286847e-02 9.99566721e-01 -5.67667862e-04 8.43194184e+00] [ 2.21160657e-02 -8.33538248e-05 9.99755406e-01 6.87794707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6750998929999 meters 0.012068176173478256 Centerline is valid? [True, True] Translation: X:571.49, Y:8.43, Z:6.88 [[ 9.99336348e-01 -2.92062522e-02 -2.17682836e-02 5.71486376e+02] [ 2.92009196e-02 9.99573404e-01 -5.62863620e-04 8.43327461e+00] [ 2.17754365e-02 -7.31638273e-05 9.99762884e-01 6.87803863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7050998929999 meters 0.012010999487912396 Centerline is valid? [True, True] Translation: X:571.51, Y:8.43, Z:6.88 [[ 9.99319977e-01 -2.99085325e-02 -2.15653424e-02 5.71514941e+02] [ 2.99033888e-02 9.99552636e-01 -5.61025270e-04 8.43391527e+00] [ 2.15724743e-02 -8.42330597e-05 9.99767284e-01 6.87855461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.735099893 meters 0.012120093470671582 Centerline is valid? [True, True] Translation: X:571.54, Y:8.43, Z:6.88 [[ 9.99281520e-01 -3.10016044e-02 -2.18024014e-02 5.71543995e+02] [ 3.09964871e-02 9.99519329e-01 -5.72692550e-04 8.43412787e+00] [ 2.18096760e-02 -1.03516771e-04 9.99762135e-01 6.87890588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.765099893 meters 0.012204293447753435 Centerline is valid? [True, True] Translation: X:571.57, Y:8.43, Z:6.88 [[ 9.99172048e-01 -3.40819329e-02 -2.22180164e-02 5.71573244e+02] [ 3.40772977e-02 9.99419028e-01 -5.87308301e-04 8.43264055e+00] [ 2.22251249e-02 -1.70307922e-04 9.99752977e-01 6.87870588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7950998929999 meters 0.012438877451975533 Centerline is valid? [True, True] Translation: X:571.60, Y:8.43, Z:6.88 [[ 9.99089280e-01 -3.63683758e-02 -2.23148256e-02 5.71602512e+02] [ 3.63642470e-02 9.99338427e-01 -5.90910833e-04 8.43207399e+00] [ 2.23215532e-02 -2.21089152e-04 9.99750819e-01 6.87888226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8250998929999 meters 0.012721451393599082 Centerline is valid? [True, True] Translation: X:571.63, Y:8.43, Z:6.88 [[ 9.99000542e-01 -3.89343212e-02 -2.19553186e-02 5.71632183e+02] [ 3.89309303e-02 9.99241734e-01 -5.82008530e-04 8.43060740e+00] [ 2.19613308e-02 -2.73314142e-04 9.99758784e-01 6.87848668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.855099893 meters 0.013657266976315323 Centerline is valid? [True, True] Translation: X:571.66, Y:8.43, Z:6.88 [[ 9.98753518e-01 -4.50049871e-02 -2.15861333e-02 5.71662929e+02] [ 4.50031215e-02 9.98986682e-01 -5.72442241e-04 8.42663033e+00] [ 2.15900224e-02 -3.99714677e-04 9.99766828e-01 6.87820664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.885099893 meters 0.014505057010670803 Centerline is valid? [True, True] Translation: X:571.69, Y:8.42, Z:6.88 [[ 9.98605590e-01 -4.83600787e-02 -2.11702225e-02 5.71693072e+02] [ 4.83590411e-02 9.98829859e-01 -5.61253806e-04 8.42422682e+00] [ 2.11725926e-02 -4.63300470e-04 9.99775728e-01 6.87845231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9150998929999 meters 0.014885562349478037 Centerline is valid? [True, True] Translation: X:571.72, Y:8.42, Z:6.88 [[ 9.98461672e-01 -5.13801243e-02 -2.08415979e-02 5.71724189e+02] [ 5.13797871e-02 9.98679034e-01 -5.52012387e-04 8.42316124e+00] [ 2.08424293e-02 -5.19673649e-04 9.99782638e-01 6.87877792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9450998929999 meters 0.015593405259636825 Centerline is valid? [True, True] Translation: X:571.76, Y:8.42, Z:6.88 [[ 9.98306274e-01 -5.43370721e-02 -2.07861969e-02 5.71755544e+02] [ 5.43373927e-02 9.98522481e-01 -5.49787024e-04 8.42162956e+00] [ 2.07853587e-02 -5.80611909e-04 9.99783793e-01 6.87880386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.975099893 meters 0.01639438887580733 Centerline is valid? [True, True] Translation: X:571.79, Y:8.42, Z:6.88 [[ 9.98157411e-01 -5.69766146e-02 -2.08673758e-02 5.71787937e+02] [ 5.69775364e-02 9.98375309e-01 -5.50858246e-04 8.41995730e+00] [ 2.08648588e-02 -6.39128425e-04 9.99782101e-01 6.87882351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.005099893 meters 0.01639438887580733 Centerline is valid? [True, True] Translation: X:571.82, Y:8.42, Z:6.88 [[ 9.98161580e-01 -5.69035307e-02 -2.08674160e-02 5.71819631e+02] [ 5.69044684e-02 9.98379477e-01 -5.49331857e-04 8.42073620e+00] [ 2.08648588e-02 -6.39127261e-04 9.99782101e-01 6.87921533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0350998929999 meters 0.018008182184494848 Centerline is valid? [True, True] Translation: X:571.85, Y:8.42, Z:6.88 [[ 9.97891567e-01 -6.15656834e-02 -2.05447762e-02 5.71850690e+02] [ 6.15676003e-02 9.98102770e-01 -5.39798578e-04 8.41767323e+00] [ 2.05390311e-02 -7.26232121e-04 9.99788788e-01 6.87941863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0650998929999 meters 0.018259080129792733 Centerline is valid? [True, True] Translation: X:571.88, Y:8.42, Z:6.88 [[ 9.97772031e-01 -6.36402172e-02 -2.00223926e-02 5.71883141e+02] [ 6.36424704e-02 9.97972625e-01 -5.25292133e-04 8.41767297e+00] [ 2.00152294e-02 -7.50152729e-04 9.99799394e-01 6.88006928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.095099893 meters 0.020501979769658302 Centerline is valid? [True, True] Translation: X:571.91, Y:8.41, Z:6.88 [[ 9.97513870e-01 -6.78754019e-02 -1.89475508e-02 5.71913233e+02] [ 6.78782087e-02 9.97693492e-01 -4.95689197e-04 8.41381348e+00] [ 1.89374932e-02 -7.91668957e-04 9.99820356e-01 6.88044976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.125099893 meters 0.021617556300281497 Centerline is valid? [True, True] Translation: X:571.95, Y:8.41, Z:6.88 [[ 9.97358539e-01 -7.01151773e-02 -1.89685651e-02 5.71945804e+02] [ 7.01184230e-02 9.97538552e-01 -4.94740201e-04 8.41256592e+00] [ 1.89565637e-02 -8.36612504e-04 9.99819958e-01 6.88097749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1550998929999 meters 0.022389900418383794 Centerline is valid? [True, True] Translation: X:571.98, Y:8.41, Z:6.88 [[ 9.97221671e-01 -7.21259117e-02 -1.86223696e-02 5.71977395e+02] [ 7.21294123e-02 9.97395164e-01 -4.84500389e-04 8.41189808e+00] [ 1.86088064e-02 -8.60066287e-04 9.99826471e-01 6.88155150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1850998929999 meters 0.021950406108944824 Centerline is valid? [True, True] Translation: X:572.01, Y:8.41, Z:6.88 [[ 9.97076822e-01 -7.42132447e-02 -1.81715618e-02 5.72009726e+02] [ 7.42169431e-02 9.97242008e-01 -4.71694165e-04 8.41337787e+00] [ 1.81564508e-02 -8.78322450e-04 9.99834772e-01 6.88254095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2150998929999 meters 0.02523715257310864 Centerline is valid? [True, True] Translation: X:572.04, Y:8.41, Z:6.88 [[ 9.96781938e-01 -7.81397555e-02 -1.78870383e-02 5.72039519e+02] [ 7.81439922e-02 9.96941975e-01 -4.63026821e-04 8.40970641e+00] [ 1.78685201e-02 -9.36227809e-04 9.99839907e-01 6.88322636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.245099893 meters 0.026341396829288457 Centerline is valid? [True, True] Translation: X:572.07, Y:8.41, Z:6.88 [[ 9.96642576e-01 -7.98374460e-02 -1.81537551e-02 5.72071715e+02] [ 7.98421143e-02 9.96807412e-01 -4.68635876e-04 8.40952356e+00] [ 1.81332123e-02 -9.82371722e-04 9.99835097e-01 6.88347519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.275099893 meters 0.02686219091367521 Centerline is valid? [True, True] Translation: X:572.10, Y:8.41, Z:6.88 [[ 9.96514850e-01 -8.13546985e-02 -1.84273118e-02 5.72104184e+02] [ 8.13597916e-02 9.96684684e-01 -4.74373447e-04 8.41010189e+00] [ 1.84048119e-02 -1.02652206e-03 9.99830090e-01 6.88375696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3050998929999 meters 0.030742514569201476 Centerline is valid? [True, True] Translation: X:572.14, Y:8.41, Z:6.88 [[ 9.96378447e-01 -8.29295926e-02 -1.87795924e-02 5.72135782e+02] [ 8.29351844e-02 9.96554827e-01 -4.82204435e-04 8.40638709e+00] [ 1.87548824e-02 -1.07703085e-03 9.99823532e-01 6.88318334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3350998929999 meters 0.02811700250636574 Centerline is valid? [True, True] Translation: X:572.17, Y:8.41, Z:6.88 [[ 9.96148777e-01 -8.54581743e-02 -1.96090497e-02 5.72167023e+02] [ 8.54647777e-02 9.96341066e-01 -5.02558930e-04 8.41175648e+00] [ 1.95802493e-02 -1.17525961e-03 9.99807598e-01 6.88337594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.365099893 meters 0.0267582900084867 Centerline is valid? [True, True] Translation: X:572.20, Y:8.42, Z:6.88 [[ 9.96047388e-01 -8.65665193e-02 -1.98957049e-02 5.72198783e+02] [ 8.65735650e-02 9.96245331e-01 -5.08521046e-04 8.41518734e+00] [ 1.98650241e-02 -1.21593105e-03 9.99801932e-01 6.88390697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.395099893 meters 0.026862389781097444 Centerline is valid? [True, True] Translation: X:572.23, Y:8.42, Z:6.88 [[ 9.95957365e-01 -8.75672371e-02 -2.00226281e-02 5.72230394e+02] [ 8.75746138e-02 9.96157832e-01 -5.09795306e-04 8.41673122e+00] [ 1.99903392e-02 -1.24573954e-03 9.99799397e-01 6.88434922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4250998929999 meters 0.031465405512641396 Centerline is valid? [True, True] Translation: X:572.26, Y:8.41, Z:6.88 [[ 9.95766816e-01 -8.95049104e-02 -2.09121574e-02 5.72261051e+02] [ 8.95134011e-02 9.95985476e-01 -5.31574441e-04 8.41296318e+00] [ 2.08757836e-02 -1.34259415e-03 9.99781176e-01 6.88330048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4550998929999 meters 0.032516332931128884 Centerline is valid? [True, True] Translation: X:572.29, Y:8.41, Z:6.88 [[ 9.95686880e-01 -9.02929790e-02 -2.13263770e-02 5.72293617e+02] [ 9.03020078e-02 9.95914281e-01 -5.41247314e-04 8.41314044e+00] [ 2.12881142e-02 -1.38690181e-03 9.99772420e-01 6.88325284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.485099893 meters 0.029666419297506973 Centerline is valid? [True, True] Translation: X:572.33, Y:8.42, Z:6.88 [[ 9.95644690e-01 -9.06938705e-02 -2.15933597e-02 5.72326077e+02] [ 9.07032540e-02 9.95877814e-01 -5.46480016e-04 8.41839709e+00] [ 2.15539102e-02 -1.41448806e-03 9.99766687e-01 6.88390538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.515099893 meters 0.029629326735508367 Centerline is valid? [True, True] Translation: X:572.36, Y:8.42, Z:6.88 [[ 9.95699730e-01 -9.01475500e-02 -2.13416854e-02 5.72358502e+02] [ 9.01566236e-02 9.95927454e-01 -5.38579719e-04 8.42133159e+00] [ 2.13033221e-02 -1.38783062e-03 9.99772095e-01 6.88413935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5450998929999 meters 0.02884483909584873 Centerline is valid? [True, True] Translation: X:572.39, Y:8.42, Z:6.88 [[ 9.95807212e-01 -8.89470380e-02 -2.13639935e-02 5.72390694e+02] [ 8.89558884e-02 9.96035422e-01 -5.37599143e-04 8.42465915e+00] [ 2.13271121e-02 -1.36510791e-03 9.99771619e-01 6.88483845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5750998929999 meters 0.027525120373013284 Centerline is valid? [True, True] Translation: X:572.42, Y:8.43, Z:6.89 [[ 9.96239675e-01 -8.43101183e-02 -1.99577814e-02 5.72420588e+02] [ 8.43169310e-02 9.96438861e-01 -5.01372533e-04 8.43127225e+00] [ 1.99289797e-02 -1.18329167e-03 9.99800698e-01 6.88656928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.605099893 meters 0.026501769337307857 Centerline is valid? [True, True] Translation: X:572.45, Y:8.44, Z:6.89 [[ 9.96511613e-01 -8.11573356e-02 -1.94446053e-02 5.72450869e+02] [ 8.11632042e-02 9.96700705e-01 -4.88471730e-04 8.43585166e+00] [ 1.94200949e-02 -1.09141872e-03 9.99810816e-01 6.88764315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.635099893 meters 0.026027858760989554 Centerline is valid? [True, True] Translation: X:572.48, Y:8.44, Z:6.89 [[ 9.96819190e-01 -7.74656475e-02 -1.87236850e-02 5.72480520e+02] [ 7.74704394e-02 9.96994538e-01 -4.70361350e-04 8.43952415e+00] [ 1.87038485e-02 -9.81666885e-04 9.99824586e-01 6.88846955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6650998929999 meters 0.02405196523358614 Centerline is valid? [True, True] Translation: X:572.51, Y:8.45, Z:6.89 [[ 9.97123073e-01 -7.35047515e-02 -1.85102210e-02 5.72511250e+02] [ 7.35087557e-02 9.97294463e-01 -4.64890540e-04 8.44530691e+00] [ 1.84943126e-02 -8.97110232e-04 9.99828563e-01 6.88945171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6950998929999 meters 0.020839496216339494 Centerline is valid? [True, True] Translation: X:572.54, Y:8.45, Z:6.89 [[ 9.97696474e-01 -6.53918256e-02 -1.80459275e-02 5.72541417e+02] [ 6.53943101e-02 9.97859398e-01 -4.53023928e-04 8.45496344e+00] [ 1.80369224e-02 -7.28120602e-04 9.99837056e-01 6.89038455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.725099893 meters 0.019487894252139 Centerline is valid? [True, True] Translation: X:572.57, Y:8.46, Z:6.89 [[ 9.97951316e-01 -6.13550284e-02 -1.81309689e-02 5.72572427e+02] [ 6.13568743e-02 9.98115788e-01 -4.54969618e-04 8.45975116e+00] [ 1.81247210e-02 -6.58422052e-04 9.99835517e-01 6.89070308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.755099893 meters 0.016784586294091155 Centerline is valid? [True, True] Translation: X:572.60, Y:8.47, Z:6.89 [[ 9.98362307e-01 -5.43859102e-02 -1.77447478e-02 5.72602831e+02] [ 5.43865876e-02 9.98519855e-01 -4.44756348e-04 8.46823011e+00] [ 1.77426715e-02 -5.21048307e-04 9.99842451e-01 6.89095775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7850998929999 meters 0.015701463942844777 Centerline is valid? [True, True] Translation: X:572.63, Y:8.47, Z:6.89 [[ 9.98540984e-01 -5.09303511e-02 -1.79444515e-02 5.72633744e+02] [ 5.09304938e-02 9.98702099e-01 -4.49344074e-04 8.47233840e+00] [ 1.79440466e-02 -4.65231302e-04 9.99838884e-01 6.89116707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8150998929999 meters 0.015139515953015444 Centerline is valid? [True, True] Translation: X:572.67, Y:8.48, Z:6.89 [[ 9.98679703e-01 -4.80116277e-02 -1.82683746e-02 5.72665300e+02] [ 4.80113032e-02 9.98846688e-01 -4.56595063e-04 8.47537128e+00] [ 1.82692273e-02 -4.21096248e-04 9.99833015e-01 6.89135743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.845099893 meters 0.014337651487190121 Centerline is valid? [True, True] Translation: X:572.70, Y:8.48, Z:6.89 [[ 9.98810450e-01 -4.49314956e-02 -1.89432056e-02 5.72697631e+02] [ 4.49306188e-02 9.98989998e-01 -4.72104580e-04 8.47862200e+00] [ 1.89452853e-02 -3.79586963e-04 9.99820450e-01 6.89104508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.875099893 meters 0.012949755236950971 Centerline is valid? [True, True] Translation: X:572.73, Y:8.48, Z:6.89 [[ 9.99033109e-01 -3.91306756e-02 -2.00408928e-02 5.72728818e+02] [ 3.91285509e-02 9.99234061e-01 -4.98283516e-04 8.48455756e+00] [ 2.00450409e-02 -2.86369366e-04 9.99799037e-01 6.89083373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9050998929999 meters 0.012478663156075931 Centerline is valid? [True, True] Translation: X:572.76, Y:8.49, Z:6.89 [[ 9.99144169e-01 -3.62739886e-02 -1.98778201e-02 5.72759885e+02] [ 3.62713467e-02 9.99341856e-01 -4.93541837e-04 8.48773241e+00] [ 1.98826403e-02 -2.27875856e-04 9.99802295e-01 6.89111290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9350998929999 meters 0.012053128535893815 Centerline is valid? [True, True] Translation: X:572.79, Y:8.49, Z:6.89 [[ 9.99245382e-01 -3.33069150e-02 -1.99828994e-02 5.72790080e+02] [ 3.33036605e-02 9.99445156e-01 -4.95721609e-04 8.49073766e+00] [ 1.99883229e-02 -1.70156168e-04 9.99800199e-01 6.89160204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9650998929999 meters 0.011712484694351535 Centerline is valid? [True, True] Translation: X:572.82, Y:8.49, Z:6.89 [[ 9.99332618e-01 -3.07541495e-02 -1.97104229e-02 5.72820227e+02] [ 3.07504866e-02 9.99526972e-01 -4.88962206e-04 8.49345381e+00] [ 1.97161370e-02 -1.17469215e-04 9.99805611e-01 6.89186244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.995099893 meters 0.011416649098897724 Centerline is valid? [True, True] Translation: X:572.85, Y:8.50, Z:6.89 [[ 9.99496138e-01 -2.58450560e-02 -1.84256349e-02 5.72851071e+02] [ 2.58410228e-02 9.99665961e-01 -4.56987443e-04 8.49781341e+00] [ 1.84312908e-02 -1.93800655e-05 9.99830129e-01 6.89273634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.025099893 meters 0.011392066615043411 Centerline is valid? [True, True] Translation: X:572.88, Y:8.50, Z:6.89 [[ 9.99552554e-01 -2.37104173e-02 -1.82347790e-02 5.72880596e+02] [ 2.37061140e-02 9.99718868e-01 -4.52145481e-04 8.50005552e+00] [ 1.82403732e-02 1.96674215e-05 9.99833630e-01 6.89301090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0550998929999 meters 0.011575812921398877 Centerline is valid? [True, True] Translation: X:572.91, Y:8.50, Z:6.89 [[ 9.99581338e-01 -2.20286333e-02 -1.87586645e-02 5.72910374e+02] [ 2.20237750e-02 9.99757339e-01 -4.65563066e-04 8.50196861e+00] [ 1.87643682e-02 5.22315473e-05 9.99823932e-01 6.89253941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0850998929999 meters 0.01167384210074342 Centerline is valid? [True, True] Translation: X:572.94, Y:8.50, Z:6.89 [[ 9.99605641e-01 -2.00667870e-02 -1.96439806e-02 5.72939016e+02] [ 2.00610385e-02 9.99798637e-01 -4.89667707e-04 8.50345231e+00] [ 1.96498511e-02 9.53959520e-05 9.99806918e-01 6.89092201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.115099893 meters 0.011630119412846359 Centerline is valid? [True, True] Translation: X:572.97, Y:8.50, Z:6.89 [[ 9.99627753e-01 -1.96067971e-02 -1.89718065e-02 5.72967041e+02] [ 1.96012647e-02 9.99807763e-01 -4.77538156e-04 8.50387686e+00] [ 1.89775224e-02 1.05488993e-04 9.99819905e-01 6.89204690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.145099893 meters 0.011498518351795025 Centerline is valid? [True, True] Translation: X:572.99, Y:8.50, Z:6.89 [[ 9.99642064e-01 -1.97545954e-02 -1.80416007e-02 5.72994681e+02] [ 1.97495277e-02 9.99804854e-01 -4.59034642e-04 8.50385190e+00] [ 1.80471480e-02 1.02557246e-04 9.99837132e-01 6.89342134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1750998929999 meters 0.011511219666927369 Centerline is valid? [True, True] Translation: X:573.02, Y:8.50, Z:6.89 [[ 9.99649061e-01 -2.00455559e-02 -1.73185187e-02 5.73022356e+02] [ 2.00408629e-02 9.99799063e-01 -4.44504265e-04 8.50402805e+00] [ 1.73239491e-02 9.72702124e-05 9.99849924e-01 6.89400073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2050998929999 meters 0.011588157923913768 Centerline is valid? [True, True] Translation: X:573.05, Y:8.50, Z:6.89 [[ 9.99610997e-01 -2.22850507e-02 -1.67699290e-02 5.73050817e+02] [ 2.22809292e-02 9.99751656e-01 -4.32586194e-04 8.50154602e+00] [ 1.67754045e-02 5.87683158e-05 9.99859281e-01 6.89434445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.235099893 meters 0.01147026006001941 Centerline is valid? [True, True] Translation: X:573.08, Y:8.50, Z:6.89 [[ 9.99575482e-01 -2.39719609e-02 -1.65590171e-02 5.73080700e+02] [ 2.39681212e-02 9.99712631e-01 -4.30326199e-04 8.50005326e+00] [ 1.65645743e-02 3.32549904e-05 9.99862797e-01 6.89458992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.265099893 meters 0.011511052388580575 Centerline is valid? [True, True] Translation: X:573.11, Y:8.50, Z:6.89 [[ 9.99447031e-01 -2.86447644e-02 -1.68851806e-02 5.73110537e+02] [ 2.86414296e-02 9.99589654e-01 -4.39337104e-04 8.49529503e+00] [ 1.68908365e-02 -4.45215472e-05 9.99857339e-01 6.89356434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2950998929999 meters 0.01161821252611725 Centerline is valid? [True, True] Translation: X:573.14, Y:8.49, Z:6.89 [[ 9.99380885e-01 -3.10513715e-02 -1.65426526e-02 5.73141535e+02] [ 3.10484967e-02 9.99517786e-01 -4.30641222e-04 8.49310017e+00] [ 1.65480475e-02 -8.32498887e-05 9.99863068e-01 6.89384455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3250998929999 meters 0.01184523423420952 Centerline is valid? [True, True] Translation: X:573.17, Y:8.49, Z:6.89 [[ 9.99316326e-01 -3.31163833e-02 -1.64373201e-02 5.73173033e+02] [ 3.31138320e-02 9.99451495e-01 -4.27433371e-04 8.49071978e+00] [ 1.64424592e-02 -1.17161511e-04 9.99864807e-01 6.89401886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.355099893 meters 0.012230125649938627 Centerline is valid? [True, True] Translation: X:573.21, Y:8.49, Z:6.89 [[ 9.99190865e-01 -3.72760054e-02 -1.51034928e-02 5.73205737e+02] [ 3.72743491e-02 9.99304993e-01 -3.91249616e-04 8.48574315e+00] [ 1.51075800e-02 -1.72039820e-04 9.99885859e-01 6.89452448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.385099893 meters 0.01240705702676065 Centerline is valid? [True, True] Translation: X:573.24, Y:8.48, Z:6.89 [[ 9.99130786e-01 -3.88354669e-02 -1.51485618e-02 5.73238270e+02] [ 3.88339968e-02 9.99245599e-01 -3.91302031e-04 8.48368362e+00] [ 1.51523301e-02 -1.97317295e-04 9.99885177e-01 6.89481064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4150998929999 meters 0.012689054368740368 Centerline is valid? [True, True] Translation: X:573.27, Y:8.48, Z:6.89 [[ 9.99075083e-01 -4.03419744e-02 -1.48829832e-02 5.73270061e+02] [ 4.03407379e-02 9.99185908e-01 -3.83407207e-04 8.48175382e+00] [ 1.48863345e-02 -2.17337938e-04 9.99889169e-01 6.89481079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4450998929999 meters 0.013272451613373233 Centerline is valid? [True, True] Translation: X:573.30, Y:8.48, Z:6.90 [[ 9.99017090e-01 -4.18205153e-02 -1.46934965e-02 5.73301341e+02] [ 4.18194817e-02 9.99125111e-01 -3.77724296e-04 8.47932647e+00] [ 1.46964380e-02 -2.37121382e-04 9.99891973e-01 6.89500981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.475099893 meters 0.01443536288361332 Centerline is valid? [True, True] Translation: X:573.33, Y:8.47, Z:6.89 [[ 9.98905805e-01 -4.45309790e-02 -1.42893367e-02 5.73332507e+02] [ 4.45302909e-02 9.99007967e-01 -3.66477600e-04 8.47448689e+00] [ 1.42914808e-02 -2.70231717e-04 9.99897835e-01 6.89499524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.505099893 meters 0.014515447431200304 Centerline is valid? [True, True] Translation: X:573.36, Y:8.47, Z:6.90 [[ 9.98840354e-01 -4.59923552e-02 -1.42355141e-02 5.73364799e+02] [ 4.59918406e-02 9.98941749e-01 -3.63699628e-04 8.47332738e+00] [ 1.42371768e-02 -2.91439631e-04 9.99898604e-01 6.89512857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5350998929999 meters 0.014637951531215547 Centerline is valid? [True, True] Translation: X:573.40, Y:8.47, Z:6.90 [[ 9.98761898e-01 -4.75494908e-02 -1.46190699e-02 5.73396498e+02] [ 4.75491296e-02 9.98868831e-01 -3.72480170e-04 8.47226055e+00] [ 1.46202445e-02 -3.23105048e-04 9.99893066e-01 6.89518240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5650998929999 meters 0.016123098365914926 Centerline is valid? [True, True] Translation: X:573.43, Y:8.47, Z:6.89 [[ 9.98595446e-01 -5.07824355e-02 -1.51088943e-02 5.73427979e+02] [ 5.07824321e-02 9.98709666e-01 -3.84123152e-04 8.46693426e+00] [ 1.51089055e-02 -3.83682769e-04 9.99885780e-01 6.89430611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.595099893 meters 0.016890140132379418 Centerline is valid? [True, True] Translation: X:573.46, Y:8.46, Z:6.89 [[ 9.98483272e-01 -5.29236427e-02 -1.51737925e-02 5.73460166e+02] [ 5.29238995e-02 9.98598474e-01 -3.84910587e-04 8.46480222e+00] [ 1.51728969e-02 -4.18729486e-04 9.99884797e-01 6.89450831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.625099893 meters 0.017822576411126525 Centerline is valid? [True, True] Translation: X:573.49, Y:8.46, Z:6.89 [[ 9.98359585e-01 -5.51525336e-02 -1.53732606e-02 5.73491907e+02] [ 5.51530791e-02 9.98477835e-01 -3.88806673e-04 8.46275957e+00] [ 1.53713037e-02 -4.59713790e-04 9.99881749e-01 6.89464672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6550998929999 meters 0.017603389088187087 Centerline is valid? [True, True] Translation: X:573.52, Y:8.46, Z:6.89 [[ 9.98214386e-01 -5.77015000e-02 -1.54459516e-02 5.73523634e+02] [ 5.77023761e-02 9.98333754e-01 -3.89300114e-04 8.46257939e+00] [ 1.54426780e-02 -5.02663133e-04 9.99880628e-01 6.89463082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6850998929999 meters 0.01854106364782303 Centerline is valid? [True, True] Translation: X:573.55, Y:8.46, Z:6.89 [[ 9.97837716e-01 -6.38141764e-02 -1.57367027e-02 5.73554598e+02] [ 6.38158565e-02 9.97961612e-01 -3.95884684e-04 8.45941914e+00] [ 1.57298883e-02 -6.09222495e-04 9.99876092e-01 6.89434149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7150998929999 meters 0.02304552162323481 Centerline is valid? [True, True] Translation: X:573.59, Y:8.45, Z:6.89 [[ 9.97648030e-01 -6.67423006e-02 -1.56164791e-02 5.73586007e+02] [ 6.67443221e-02 9.97770034e-01 -3.92290758e-04 8.45230458e+00] [ 1.56078373e-02 -6.50943210e-04 9.99877978e-01 6.89426598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.745099893 meters 0.02226974649483364 Centerline is valid? [True, True] Translation: X:573.62, Y:8.45, Z:6.89 [[ 9.97247369e-01 -7.26233591e-02 -1.49510126e-02 5.73617044e+02] [ 7.26258901e-02 9.97359183e-01 -3.74301364e-04 8.45233006e+00] [ 1.49387128e-02 -7.12559550e-04 9.99888157e-01 6.89496705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.775099893 meters 0.024548549898594937 Centerline is valid? [True, True] Translation: X:573.65, Y:8.45, Z:6.89 [[ 9.97054102e-01 -7.51563731e-02 -1.53179014e-02 5.73646841e+02] [ 7.51593339e-02 9.97171464e-01 -3.83110059e-04 8.44894225e+00] [ 1.53033673e-02 -7.69301807e-04 9.99882601e-01 6.89498931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8050998929999 meters 0.025507781972107558 Centerline is valid? [True, True] Translation: X:573.68, Y:8.45, Z:6.89 [[ 9.96729479e-01 -7.91637124e-02 -1.62312254e-02 5.73678345e+02] [ 7.91675880e-02 9.96861239e-01 -4.04632817e-04 8.44729957e+00] [ 1.62123117e-02 -8.81677509e-04 9.99868183e-01 6.89468639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8350998929999 meters 0.02554449276563231 Centerline is valid? [True, True] Translation: X:573.71, Y:8.45, Z:6.90 [[ 9.96615201e-01 -8.04450288e-02 -1.69333785e-02 5.73710400e+02] [ 8.04494449e-02 9.96758601e-01 -4.21341064e-04 8.44813581e+00] [ 1.69123855e-02 -9.42365994e-04 9.99856531e-01 6.89512044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.865099893 meters 0.02633955450949818 Centerline is valid? [True, True] Translation: X:573.74, Y:8.45, Z:6.90 [[ 9.96567127e-01 -8.10363199e-02 -1.69433005e-02 5.73742756e+02] [ 8.10408472e-02 9.96710692e-01 -4.20358735e-04 8.44749649e+00] [ 1.69216331e-02 -9.54183729e-04 9.99856364e-01 6.89544792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.895099893 meters 0.02633955450949818 Centerline is valid? [True, True] Translation: X:573.78, Y:8.45, Z:6.90 [[ 9.96575916e-01 -8.09281645e-02 -1.69433349e-02 5.73775331e+02] [ 8.09326997e-02 9.96719480e-01 -4.18969957e-04 8.44821489e+00] [ 1.69216584e-02 -9.53734463e-04 9.99856364e-01 6.89585064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9250998929999 meters 0.025385460338732808 Centerline is valid? [True, True] Translation: X:573.81, Y:8.45, Z:6.90 [[ 9.96512888e-01 -8.16802660e-02 -1.70410729e-02 5.73807121e+02] [ 8.16849921e-02 9.96658109e-01 -4.19693370e-04 8.45037385e+00] [ 1.70184042e-02 -9.73770053e-04 9.99854702e-01 6.89616359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9550998929999 meters 0.025884954451912807 Centerline is valid? [True, True] Translation: X:573.84, Y:8.45, Z:6.90 [[ 9.96481572e-01 -8.20735959e-02 -1.69823602e-02 5.73838812e+02] [ 8.20783661e-02 9.96625791e-01 -4.17089186e-04 8.45047893e+00] [ 1.69592902e-02 -9.78262688e-04 9.99855702e-01 6.89660144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.985099893 meters 0.025086844603955306 Centerline is valid? [True, True] Translation: X:573.87, Y:8.45, Z:6.90 [[ 9.96522053e-01 -8.15502224e-02 -1.71277033e-02 5.73870949e+02] [ 8.15550154e-02 9.96668753e-01 -4.19620973e-04 8.45333714e+00] [ 1.71048669e-02 -9.78688551e-04 9.99853222e-01 6.89719584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.015099893 meters 0.02766945202294202 Centerline is valid? [True, True] Translation: X:573.90, Y:8.45, Z:6.90 [[ 9.96587573e-01 -8.05126996e-02 -1.81910306e-02 5.73902648e+02] [ 8.05179595e-02 9.96753059e-01 -4.44274287e-04 8.45290388e+00] [ 1.81677351e-02 -1.02194643e-03 9.99834431e-01 6.89677707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0450998929999 meters 0.02699794120173411 Centerline is valid? [True, True] Translation: X:573.94, Y:8.46, Z:6.90 [[ 9.96623269e-01 -8.00002056e-02 -1.84939873e-02 5.73935137e+02] [ 8.00055793e-02 9.96794314e-01 -4.50313933e-04 8.45597434e+00] [ 1.84707266e-02 -1.03082882e-03 9.99828870e-01 6.89699086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0750998929999 meters 0.026025862617925232 Centerline is valid? [True, True] Translation: X:573.97, Y:8.46, Z:6.90 [[ 9.96667378e-01 -7.94444057e-02 -1.85128232e-02 5.73967630e+02] [ 7.94497194e-02 9.96838773e-01 -4.49444443e-04 8.45939161e+00] [ 1.84900058e-02 -1.02289200e-03 9.99828522e-01 6.89746149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.105099893 meters 0.02531819477610961 Centerline is valid? [True, True] Translation: X:574.00, Y:8.46, Z:6.90 [[ 9.96692650e-01 -7.90850658e-02 -1.86899338e-02 5.74000048e+02] [ 7.90904441e-02 9.96867342e-01 -4.52381504e-04 8.46213972e+00] [ 1.86671612e-02 -1.02730984e-03 9.99825226e-01 6.89779984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.135099893 meters 0.02626955439179055 Centerline is valid? [True, True] Translation: X:574.03, Y:8.46, Z:6.90 [[ 9.96751515e-01 -7.85045206e-02 -1.79849364e-02 5.74031372e+02] [ 7.85094275e-02 9.96913277e-01 -4.34145720e-04 8.46227819e+00] [ 1.79635042e-02 -9.79251653e-04 9.99838164e-01 6.89780993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1650998929999 meters 0.024410183237540604 Centerline is valid? [True, True] Translation: X:574.06, Y:8.47, Z:6.90 [[ 9.96798303e-01 -7.80005047e-02 -1.75802006e-02 5.74063809e+02] [ 7.80051332e-02 9.96952867e-01 -4.23337296e-04 8.46661021e+00] [ 1.75596519e-02 -9.49363989e-04 9.99845367e-01 6.89871349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1950998929999 meters 0.027304637480323753 Centerline is valid? [True, True] Translation: X:574.10, Y:8.46, Z:6.90 [[ 9.96865727e-01 -7.72612320e-02 -1.70124943e-02 5.74095571e+02] [ 7.72654797e-02 9.97010471e-01 -4.08449621e-04 8.46449505e+00] [ 1.69931923e-02 -9.07309107e-04 9.99855194e-01 6.89880974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.225099893 meters 0.026578066783695287 Centerline is valid? [True, True] Translation: X:574.13, Y:8.47, Z:6.90 [[ 9.97106045e-01 -7.42559918e-02 -1.62966997e-02 5.74125905e+02] [ 7.42595031e-02 9.97238875e-01 -3.90402474e-04 8.46995228e+00] [ 1.62806922e-02 -8.20912152e-04 9.99867124e-01 6.89975428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.255099893 meters 0.02562965511023735 Centerline is valid? [True, True] Translation: X:574.16, Y:8.47, Z:6.90 [[ 9.97252741e-01 -7.23059434e-02 -1.60879463e-02 5.74156869e+02] [ 7.23091143e-02 9.97382195e-01 -3.85271149e-04 8.47432730e+00] [ 1.60736886e-02 -7.79092438e-04 9.99870506e-01 6.90027017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2850998929999 meters 0.022283828832802097 Centerline is valid? [True, True] Translation: X:574.19, Y:8.48, Z:6.90 [[ 9.97589027e-01 -6.75022116e-02 -1.61116593e-02 5.74187089e+02] [ 6.75047734e-02 9.97718877e-01 -3.85405633e-04 8.48398074e+00] [ 1.61009224e-02 -7.03137480e-04 9.99870125e-01 6.90072015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3150998929999 meters 0.021357834161548604 Centerline is valid? [True, True] Translation: X:574.22, Y:8.49, Z:6.90 [[ 9.97780121e-01 -6.47030942e-02 -1.57588049e-02 5.74218304e+02] [ 6.47051984e-02 9.97904352e-01 -3.76843396e-04 8.48778679e+00] [ 1.57501629e-02 -6.43669747e-04 9.99875751e-01 6.90096302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.345099893 meters 0.02047208516790372 Centerline is valid? [True, True] Translation: X:574.25, Y:8.49, Z:6.90 [[ 9.97977762e-01 -6.16960710e-02 -1.52964597e-02 5.74249908e+02] [ 6.16977097e-02 9.98094815e-01 -3.65200950e-04 8.49118027e+00] [ 1.52898486e-02 -5.79294102e-04 9.99882936e-01 6.90141656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.375099893 meters 0.0186371290706777 Centerline is valid? [True, True] Translation: X:574.28, Y:8.50, Z:6.90 [[ 9.98169297e-01 -5.87230651e-02 -1.44795139e-02 5.74281674e+02] [ 5.87242317e-02 9.98274184e-01 -3.44956570e-04 8.49602236e+00] [ 1.44747818e-02 -5.05973273e-04 9.99895107e-01 6.90188753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4050998929999 meters 0.01714582107876997 Centerline is valid? [True, True] Translation: X:574.31, Y:8.50, Z:6.90 [[ 9.98549015e-01 -5.18292798e-02 -1.46147272e-02 5.74311486e+02] [ 5.18297404e-02 9.98655875e-01 -3.47498627e-04 8.50258658e+00] [ 1.46130937e-02 -4.10483102e-04 9.99893139e-01 6.90264443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4350998929999 meters 0.015733008898124522 Centerline is valid? [True, True] Translation: X:574.34, Y:8.51, Z:6.90 [[ 9.98725412e-01 -4.83721312e-02 -1.44113628e-02 5.74342879e+02] [ 4.83722204e-02 9.98829320e-01 -3.42588493e-04 8.50809405e+00] [ 1.44110635e-02 -3.54957785e-04 9.99896092e-01 6.90369495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4650998929999 meters 0.015380686077007835 Centerline is valid? [True, True] Translation: X:574.37, Y:8.51, Z:6.90 [[ 9.98901710e-01 -4.46831632e-02 -1.40992343e-02 5.74372830e+02] [ 4.46828879e-02 9.99001165e-01 -3.34696690e-04 8.51154005e+00] [ 1.41001068e-02 -2.95665411e-04 9.99900545e-01 6.90402154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.495099893 meters 0.013964927983448137 Centerline is valid? [True, True] Translation: X:574.40, Y:8.52, Z:6.90 [[ 9.99060259e-01 -4.10650400e-02 -1.38658674e-02 5.74404534e+02] [ 4.10644299e-02 9.99156446e-01 -3.28826992e-04 8.51726437e+00] [ 1.38676741e-02 -2.40875962e-04 9.99903810e-01 6.90485562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.525099893 meters 0.013390008844599939 Centerline is valid? [True, True] Translation: X:574.43, Y:8.52, Z:6.90 [[ 9.99301932e-01 -3.47974558e-02 -1.35935857e-02 5.74434866e+02] [ 3.47963021e-02 9.99394374e-01 -3.21446140e-04 8.52225165e+00] [ 1.35965385e-02 -1.51784765e-04 9.99907551e-01 6.90480677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5550998929999 meters 0.013074925245461253 Centerline is valid? [True, True] Translation: X:574.47, Y:8.52, Z:6.90 [[ 9.99386251e-01 -3.22898301e-02 -1.35826436e-02 5.74466530e+02] [ 3.22884509e-02 9.99478541e-01 -3.20874076e-04 8.52448963e+00] [ 1.35859218e-02 -1.17885381e-04 9.99907700e-01 6.90468034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5850998929999 meters 0.012860904855782236 Centerline is valid? [True, True] Translation: X:574.50, Y:8.53, Z:6.90 [[ 9.99445460e-01 -3.02988838e-02 -1.38112092e-02 5.74498696e+02] [ 3.02972816e-02 9.99540879e-01 -3.25275803e-04 8.52722699e+00] [ 1.38147236e-02 -9.33466678e-05 9.99904568e-01 6.90492118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.615099893 meters 0.012732400925713771 Centerline is valid? [True, True] Translation: X:574.53, Y:8.53, Z:6.90 [[ 9.99490837e-01 -2.82159005e-02 -1.48972733e-02 5.74530379e+02] [ 2.82138209e-02 9.99601850e-01 -3.49784058e-04 8.52994689e+00] [ 1.49012115e-02 -7.07030421e-05 9.99888968e-01 6.90421296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.645099893 meters 0.012806391602773805 Centerline is valid? [True, True] Translation: X:574.56, Y:8.53, Z:6.90 [[ 9.99486562e-01 -2.78975711e-02 -1.57587358e-02 5.74561055e+02] [ 2.78952149e-02 9.99610785e-01 -3.69347272e-04 8.53155516e+00] [ 1.57629062e-02 -7.04356871e-05 9.99875755e-01 6.90417910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6750998929999 meters 0.012834843147877573 Centerline is valid? [True, True] Translation: X:574.59, Y:8.53, Z:6.90 [[ 9.99440204e-01 -2.89775808e-02 -1.67205948e-02 5.74590988e+02] [ 2.89750927e-02 9.99580057e-01 -3.91096575e-04 8.53312286e+00] [ 1.67249062e-02 -9.36031432e-05 9.99860125e-01 6.90399860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7050998929999 meters 0.012905754544376912 Centerline is valid? [True, True] Translation: X:574.62, Y:8.53, Z:6.90 [[ 9.99408622e-01 -2.99993527e-02 -1.68060938e-02 5.74622445e+02] [ 2.99969900e-02 9.99549912e-01 -3.92713842e-04 8.53361198e+00] [ 1.68103108e-02 -1.11650627e-04 9.99858691e-01 6.90443637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.735099893 meters 0.013047698084351229 Centerline is valid? [True, True] Translation: X:574.65, Y:8.53, Z:6.90 [[ 9.99375546e-01 -3.11660064e-02 -1.66492848e-02 5.74653650e+02] [ 3.11638593e-02 9.99514213e-01 -3.88452653e-04 8.53359624e+00] [ 1.66533033e-02 -1.30645888e-04 9.99861316e-01 6.90466535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.765099893 meters 0.013269976006425032 Centerline is valid? [True, True] Translation: X:574.68, Y:8.53, Z:6.91 [[ 9.99289285e-01 -3.41338878e-02 -1.59938499e-02 5.74684811e+02] [ 3.41322954e-02 9.99417254e-01 -3.72603026e-04 8.53309784e+00] [ 1.59972479e-02 -1.73568598e-04 9.99872021e-01 6.90574399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7950998929999 meters 0.013456021629350104 Centerline is valid? [True, True] Translation: X:574.72, Y:8.53, Z:6.91 [[ 9.99244388e-01 -3.55633613e-02 -1.56812407e-02 5.74716604e+02] [ 3.55620152e-02 9.99367405e-01 -3.64765864e-04 8.53294510e+00] [ 1.56842931e-02 -1.93166277e-04 9.99876975e-01 6.90641649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8250998929999 meters 0.013889695559901506 Centerline is valid? [True, True] Translation: X:574.75, Y:8.53, Z:6.91 [[ 9.99189541e-01 -3.72203064e-02 -1.53267973e-02 5.74747675e+02] [ 3.72192269e-02 9.99307061e-01 -3.55767254e-04 8.53220963e+00] [ 1.53294185e-02 -2.14972628e-04 9.99882474e-01 6.90722798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.855099893 meters 0.013839947955733163 Centerline is valid? [True, True] Translation: X:574.78, Y:8.53, Z:6.91 [[ 9.99113707e-01 -3.91404996e-02 -1.54862084e-02 5.74780264e+02] [ 3.91396526e-02 9.99233686e-01 -3.57886899e-04 8.53312439e+00] [ 1.54883490e-02 -2.48555111e-04 9.99880017e-01 6.90826842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.885099893 meters 0.014742612801928985 Centerline is valid? [True, True] Translation: X:574.81, Y:8.53, Z:6.91 [[ 9.98925325e-01 -4.33968822e-02 -1.62759444e-02 5.74810941e+02] [ 4.33965291e-02 9.99057856e-01 -3.75043052e-04 8.53092972e+00] [ 1.62768858e-02 -3.31679490e-04 9.99867468e-01 6.90838738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9150998929999 meters 0.015268044491415755 Centerline is valid? [True, True] Translation: X:574.84, Y:8.53, Z:6.91 [[ 9.98814853e-01 -4.58159398e-02 -1.64252459e-02 5.74843269e+02] [ 4.58159194e-02 9.98949828e-01 -3.77733568e-04 8.52996077e+00] [ 1.64253028e-02 -3.75251846e-04 9.99865025e-01 6.90865574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9450998929999 meters 0.016916741036069247 Centerline is valid? [True, True] Translation: X:574.87, Y:8.53, Z:6.91 [[ 9.98707595e-01 -4.80830473e-02 -1.64669267e-02 5.74874381e+02] [ 4.80833532e-02 9.98843255e-01 -3.77573419e-04 8.52645379e+00] [ 1.64660336e-02 -4.14699612e-04 9.99864340e-01 6.90878852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.975099893 meters 0.01778232398790922 Centerline is valid? [True, True] Translation: X:574.91, Y:8.52, Z:6.91 [[ 9.98603165e-01 -5.03107420e-02 -1.61414942e-02 5.74906076e+02] [ 5.03113404e-02 9.98733514e-01 -3.69261219e-04 8.52489648e+00] [ 1.61396290e-02 -4.43354784e-04 9.99869649e-01 6.90948669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.005099893 meters 0.018180559568908877 Centerline is valid? [True, True] Translation: X:574.94, Y:8.52, Z:6.91 [[ 9.98349792e-01 -5.51146686e-02 -1.61265711e-02 5.74937669e+02] [ 5.51159043e-02 9.98479895e-01 -3.68146591e-04 8.52404386e+00] [ 1.61223473e-02 -5.21291476e-04 9.99869891e-01 6.91066394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0350998929999 meters 0.019967412767961604 Centerline is valid? [True, True] Translation: X:574.97, Y:8.52, Z:6.91 [[ 9.98232969e-01 -5.71414819e-02 -1.63030938e-02 5.74968682e+02] [ 5.71430285e-02 9.98365933e-01 -3.71329816e-04 8.52123297e+00] [ 1.62976718e-02 -5.60934489e-04 9.99867027e-01 6.91097537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0650998929999 meters 0.020753254949130294 Centerline is valid? [True, True] Translation: X:575.00, Y:8.52, Z:6.91 [[ 9.97942701e-01 -6.16981139e-02 -1.74272418e-02 5.74999512e+02] [ 6.17006000e-02 9.98094625e-01 -3.95498556e-04 8.52042134e+00] [ 1.74184378e-02 -6.80586375e-04 9.99848056e-01 6.91143219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.095099893 meters 0.021397727960669462 Centerline is valid? [True, True] Translation: X:575.03, Y:8.52, Z:6.91 [[ 9.97805912e-01 -6.36607981e-02 -1.81841744e-02 5.75031688e+02] [ 6.36638420e-02 9.97971315e-01 -4.12034263e-04 8.52007533e+00] [ 1.81735149e-02 -7.46544184e-04 9.99834569e-01 6.91177467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.125099893 meters 0.020795067923037196 Centerline is valid? [True, True] Translation: X:575.06, Y:8.52, Z:6.91 [[ 9.97673191e-01 -6.55943181e-02 -1.85900105e-02 5.75063935e+02] [ 6.55978596e-02 9.97846053e-01 -4.19875699e-04 8.52186607e+00] [ 1.85775101e-02 -8.00566173e-04 9.99827103e-01 6.91242692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1550998929999 meters 0.021773788299324807 Centerline is valid? [True, True] Translation: X:575.10, Y:8.52, Z:6.91 [[ 9.97563601e-01 -6.70844043e-02 -1.91453624e-02 5.75095242e+02] [ 6.70884594e-02 9.97746938e-01 -4.31117635e-04 8.52089403e+00] [ 1.91311480e-02 -8.54365606e-04 9.99816618e-01 6.91253095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1850998929999 meters 0.024590686456158178 Centerline is valid? [True, True] Translation: X:575.13, Y:8.52, Z:6.91 [[ 9.97391033e-01 -6.93131866e-02 -2.01695252e-02 5.75125865e+02] [ 6.93181760e-02 9.97594500e-01 -4.52489485e-04 8.51762506e+00] [ 2.01523709e-02 -9.46805741e-04 9.99796472e-01 6.91199866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2150998929999 meters 0.027109039217965945 Centerline is valid? [True, True] Translation: X:575.16, Y:8.52, Z:6.91 [[ 9.97356161e-01 -6.97303772e-02 -2.04538984e-02 5.75157005e+02] [ 6.97356477e-02 9.97565402e-01 -4.56333097e-04 8.51527363e+00] [ 2.04359216e-02 -9.71239225e-04 9.99790693e-01 6.91212553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.245099893 meters 0.02318887580067641 Centerline is valid? [True, True] Translation: X:575.19, Y:8.52, Z:6.91 [[ 9.97331512e-01 -7.00811258e-02 -2.04570664e-02 5.75189174e+02] [ 7.00865137e-02 9.97540813e-01 -4.54347885e-04 8.52241139e+00] [ 2.04385998e-02 -9.80628999e-04 9.99790629e-01 6.91388673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.275099893 meters 0.024117840994720363 Centerline is valid? [True, True] Translation: X:575.22, Y:8.52, Z:6.91 [[ 9.97368989e-01 -6.95828160e-02 -2.03305537e-02 5.75219877e+02] [ 6.95880609e-02 9.97575711e-01 -4.50221931e-04 8.52358267e+00] [ 2.03125943e-02 -9.65726419e-04 9.99793212e-01 6.91446389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3050998929999 meters 0.02265718980106142 Centerline is valid? [True, True] Translation: X:575.25, Y:8.53, Z:6.92 [[ 9.97396988e-01 -6.90041789e-02 -2.09206223e-02 5.75252359e+02] [ 6.90096330e-02 9.97615887e-01 -4.61985297e-04 8.52738430e+00] [ 2.09026241e-02 -9.82941725e-04 9.99781033e-01 6.91524186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3350998929999 meters 0.023895575834581132 Centerline is valid? [True, True] Translation: X:575.28, Y:8.53, Z:6.92 [[ 9.97454600e-01 -6.81285403e-02 -2.10433383e-02 5.75284026e+02] [ 6.81338963e-02 9.97676079e-01 -4.63170927e-04 8.52741575e+00] [ 2.10259904e-02 -9.71772656e-04 9.99778457e-01 6.91511863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.365099893 meters 0.020843815406202018 Centerline is valid? [True, True] Translation: X:575.32, Y:8.54, Z:6.92 [[ 9.97553504e-01 -6.62906529e-02 -2.21936186e-02 5.75316600e+02] [ 6.62961977e-02 9.97799868e-01 -4.86648511e-04 8.53509535e+00] [ 2.21770500e-02 -9.85894601e-04 9.99753573e-01 6.91608844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.395099893 meters 0.020952609007487317 Centerline is valid? [True, True] Translation: X:575.35, Y:8.54, Z:6.92 [[ 9.97626269e-01 -6.51736674e-02 -2.22310645e-02 5.75348115e+02] [ 6.51789914e-02 9.97873470e-01 -4.85789641e-04 8.53691755e+00] [ 2.22154501e-02 -9.64361853e-04 9.99752741e-01 6.91665348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4250998929999 meters 0.023690439467458434 Centerline is valid? [True, True] Translation: X:575.38, Y:8.53, Z:6.92 [[ 9.97716875e-01 -6.38525811e-02 -2.19973722e-02 5.75379782e+02] [ 6.38575033e-02 9.97958912e-01 -4.79315144e-04 8.53461326e+00] [ 2.19830791e-02 -9.26476459e-04 9.99757914e-01 6.91637951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4550998929999 meters 0.02088601264080524 Centerline is valid? [True, True] Translation: X:575.41, Y:8.54, Z:6.92 [[ 9.97892714e-01 -6.11616441e-02 -2.16652960e-02 5.75411610e+02] [ 6.11658154e-02 9.98127508e-01 -4.70702524e-04 8.54130003e+00] [ 2.16535168e-02 -8.55464875e-04 9.99765169e-01 6.91838662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.485099893 meters 0.019406087092484023 Centerline is valid? [True, True] Translation: X:575.44, Y:8.54, Z:6.92 [[ 9.98009194e-01 -5.95319781e-02 -2.08228983e-02 5.75443529e+02] [ 5.95355029e-02 9.98226087e-01 -4.51152111e-04 8.54496755e+00] [ 2.08128182e-02 -7.89447766e-04 9.99783078e-01 6.91970982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.515099893 meters 0.01970361202437359 Centerline is valid? [True, True] Translation: X:575.47, Y:8.55, Z:6.92 [[ 9.98125707e-01 -5.77374934e-02 -2.02843433e-02 5.75474901e+02] [ 5.77404945e-02 9.98331530e-01 -4.38181232e-04 8.54605536e+00] [ 2.02757989e-02 -7.33868057e-04 9.99794156e-01 6.92042838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5450998929999 meters 0.018237251829364563 Centerline is valid? [True, True] Translation: X:575.51, Y:8.55, Z:6.92 [[ 9.98353025e-01 -5.39476345e-02 -1.95164299e-02 5.75506334e+02] [ 5.39497067e-02 9.98543565e-01 -4.20693504e-04 8.55092099e+00] [ 1.95107009e-02 -6.32905035e-04 9.99809448e-01 6.92180342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5750998929999 meters 0.017514406754012304 Centerline is valid? [True, True] Translation: X:575.54, Y:8.55, Z:6.92 [[ 9.98473525e-01 -5.18098007e-02 -1.91406665e-02 5.75538185e+02] [ 5.18114190e-02 9.98656802e-01 -4.11673951e-04 8.55336046e+00] [ 1.91362856e-02 -5.80659552e-04 9.99816716e-01 6.92253574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.605099893 meters 0.017008181688086498 Centerline is valid? [True, True] Translation: X:575.57, Y:8.56, Z:6.92 [[ 9.98582889e-01 -4.97009853e-02 -1.90269811e-02 5.75570464e+02] [ 4.97022278e-02 9.98763997e-01 -4.07872896e-04 8.55534181e+00] [ 1.90237354e-02 -5.38388455e-04 9.99818887e-01 6.92297825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.635099893 meters 0.01596615096903974 Centerline is valid? [True, True] Translation: X:575.60, Y:8.56, Z:6.92 [[ 9.98804427e-01 -4.53177536e-02 -1.83307910e-02 5.75601888e+02] [ 4.53181884e-02 9.98972526e-01 -3.91885157e-04 8.55799999e+00] [ 1.83297160e-02 -4.39301611e-04 9.99831900e-01 6.92296903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6650998929999 meters 0.014986457809062232 Centerline is valid? [True, True] Translation: X:575.63, Y:8.56, Z:6.92 [[ 9.98908706e-01 -4.30556995e-02 -1.80998567e-02 5.75633841e+02] [ 4.30557676e-02 9.99072596e-01 -3.86097262e-04 8.56044334e+00] [ 1.80996945e-02 -3.93627309e-04 9.99836110e-01 6.92348566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6950998929999 meters 0.014891164770397269 Centerline is valid? [True, True] Translation: X:575.67, Y:8.56, Z:6.92 [[ 9.99002765e-01 -4.09326889e-02 -1.78322987e-02 5.75665153e+02] [ 4.09324380e-02 9.99161845e-01 -3.79210899e-04 8.56107768e+00] [ 1.78328746e-02 -3.51086726e-04 9.99840920e-01 6.92353457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.725099893 meters 0.014159870764211433 Centerline is valid? [True, True] Translation: X:575.70, Y:8.56, Z:6.92 [[ 9.99114200e-01 -3.80768750e-02 -1.79155544e-02 5.75697861e+02] [ 3.80761838e-02 9.99274767e-01 -3.79810888e-04 8.56333361e+00] [ 1.79170234e-02 -3.02681489e-04 9.99839431e-01 6.92394513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.755099893 meters 0.013276851879743014 Centerline is valid? [True, True] Translation: X:575.73, Y:8.57, Z:6.92 [[ 9.99306804e-01 -3.23114580e-02 -1.84900324e-02 5.75728910e+02] [ 3.23097602e-02 9.99477827e-01 -3.90620634e-04 8.56676168e+00] [ 1.84929989e-02 -2.07058656e-04 9.99828968e-01 6.92396547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7850998929999 meters 0.013075137653984149 Centerline is valid? [True, True] Translation: X:575.76, Y:8.57, Z:6.92 [[ 9.99400700e-01 -2.92303979e-02 -1.85425261e-02 5.75759154e+02] [ 2.92281706e-02 9.99572689e-01 -3.91171247e-04 8.56795650e+00] [ 1.85460367e-02 -1.51027297e-04 9.99827996e-01 6.92353796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8150998929999 meters 0.013075137653984149 Centerline is valid? [True, True] Translation: X:575.79, Y:8.57, Z:6.92 [[ 9.99400700e-01 -2.92303952e-02 -1.85425307e-02 5.75789146e+02] [ 2.92281720e-02 9.99572689e-01 -3.90951330e-04 8.56858876e+00] [ 1.85460349e-02 -1.51247242e-04 9.99827996e-01 6.92390887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.845099893 meters 0.012770434989145126 Centerline is valid? [True, True] Translation: X:575.82, Y:8.57, Z:6.92 [[ 9.99462286e-01 -2.67367280e-02 -1.89812088e-02 5.75820110e+02] [ 2.67339466e-02 9.99642504e-01 -4.00309048e-04 8.57020643e+00] [ 1.89851260e-02 -1.07348826e-04 9.99819760e-01 6.92417561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.875099893 meters 0.012641544782004953 Centerline is valid? [True, True] Translation: X:575.85, Y:8.57, Z:6.92 [[ 9.99524810e-01 -2.41718961e-02 -1.91278402e-02 5.75849399e+02] [ 2.41685934e-02 9.99707815e-01 -4.03847620e-04 8.57124656e+00] [ 1.91320131e-02 -5.86372761e-05 9.99816965e-01 6.92447799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9050998929999 meters 0.012644990916962152 Centerline is valid? [True, True] Translation: X:575.88, Y:8.57, Z:6.92 [[ 9.99624528e-01 -1.96536330e-02 -1.90928572e-02 5.75877657e+02] [ 1.96495017e-02 9.99806848e-01 -4.03976820e-04 8.57169343e+00] [ 1.90971090e-02 2.86600096e-05 9.99817633e-01 6.92437296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9350998929999 meters 0.012657933188598244 Centerline is valid? [True, True] Translation: X:575.91, Y:8.57, Z:6.92 [[ 9.99655399e-01 -1.83864182e-02 -1.87356128e-02 5.75905689e+02] [ 1.83821694e-02 9.99830954e-01 -3.98981293e-04 8.57155855e+00] [ 1.87397814e-02 5.44425957e-05 9.99824393e-01 6.92449254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9650998929999 meters 0.012751974588026353 Centerline is valid? [True, True] Translation: X:575.93, Y:8.57, Z:6.92 [[ 9.99672912e-01 -1.75324289e-02 -1.86194132e-02 5.75933993e+02] [ 1.75279876e-02 9.99846292e-01 -4.01712865e-04 8.57110082e+00] [ 1.86235942e-02 7.52206270e-05 9.99826563e-01 6.92482767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.995099893 meters 0.012764196483725702 Centerline is valid? [True, True] Translation: X:575.96, Y:8.57, Z:6.93 [[ 9.99690013e-01 -1.67882161e-02 -1.83857145e-02 5.75961708e+02] [ 1.67836649e-02 9.99859064e-01 -4.01827469e-04 8.56804581e+00] [ 1.83898692e-02 9.31232378e-05 9.99830888e-01 6.92558593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.025099893 meters 0.012766976261146768 Centerline is valid? [True, True] Translation: X:575.99, Y:8.57, Z:6.93 [[ 9.99691553e-01 -1.68654128e-02 -1.82306529e-02 5.75989882e+02] [ 1.68608553e-02 9.99857764e-01 -4.03678010e-04 8.56671182e+00] [ 1.82348680e-02 9.61690967e-05 9.99833726e-01 6.92596155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0550998929999 meters 0.012736673889642622 Centerline is valid? [True, True] Translation: X:576.02, Y:8.56, Z:6.93 [[ 9.99699295e-01 -1.73104983e-02 -1.73685504e-02 5.76018212e+02] [ 1.73063447e-02 9.99850158e-01 -3.89435556e-04 8.56475461e+00] [ 1.73726892e-02 8.87323311e-05 9.99849080e-01 6.92654741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0850998929999 meters 0.012755166643377239 Centerline is valid? [True, True] Translation: X:576.05, Y:8.56, Z:6.93 [[ 9.99703654e-01 -1.76090947e-02 -1.68084582e-02 5.76045281e+02] [ 1.76051786e-02 9.99844944e-01 -3.80933447e-04 8.56312788e+00] [ 1.68125599e-02 8.49046496e-05 9.99858655e-01 6.92685314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.115099893 meters 0.012724656621711225 Centerline is valid? [True, True] Translation: X:576.07, Y:8.56, Z:6.93 [[ 9.99709638e-01 -1.86202586e-02 -1.52946371e-02 5.76073748e+02] [ 1.86170998e-02 9.99826626e-01 -3.48895951e-04 8.55770758e+00] [ 1.52984819e-02 6.40528602e-05 9.99882969e-01 6.92767014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.145099893 meters 0.0126845737810868 Centerline is valid? [True, True] Translation: X:576.10, Y:8.56, Z:6.93 [[ 9.99701703e-01 -1.92280479e-02 -1.50594484e-02 5.76102561e+02] [ 1.92249911e-02 9.99815122e-01 -3.47735104e-04 8.55506449e+00] [ 1.50633505e-02 5.81136142e-05 9.99886540e-01 6.92764375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1750998929999 meters 0.012758460151066376 Centerline is valid? [True, True] Translation: X:576.13, Y:8.55, Z:6.93 [[ 9.99684883e-01 -2.04116373e-02 -1.46116323e-02 5.76131382e+02] [ 2.04088399e-02 9.99791660e-01 -3.40555301e-04 8.54876971e+00] [ 1.46155394e-02 4.22415216e-05 9.99893186e-01 6.92689028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2050998929999 meters 0.01269494518939419 Centerline is valid? [True, True] Translation: X:576.16, Y:8.55, Z:6.93 [[ 9.99670871e-01 -2.12852997e-02 -1.43207907e-02 5.76160667e+02] [ 2.12826918e-02 9.99773442e-01 -3.34498718e-04 8.54582891e+00] [ 1.43246661e-02 2.96036511e-05 9.99897396e-01 6.92697933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.235099893 meters 0.012759099551720183 Centerline is valid? [True, True] Translation: X:576.19, Y:8.54, Z:6.93 [[ 9.99661740e-01 -2.18976042e-02 -1.40321148e-02 5.76190343e+02] [ 2.18951547e-02 9.99760219e-01 -3.28185100e-04 8.54260482e+00] [ 1.40359367e-02 2.08387634e-05 9.99901491e-01 6.92680963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.265099893 meters 0.012753743912073543 Centerline is valid? [True, True] Translation: X:576.22, Y:8.53, Z:6.93 [[ 9.99618363e-01 -2.40100619e-02 -1.36618045e-02 5.76220118e+02] [ 2.40079372e-02 9.99711717e-01 -3.19527804e-04 8.53459510e+00] [ 1.36655379e-02 -8.58588267e-06 9.99906622e-01 6.92637048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2950998929999 meters 0.012841173283375211 Centerline is valid? [True, True] Translation: X:576.25, Y:8.53, Z:6.93 [[ 9.99602900e-01 -2.48551613e-02 -1.32764237e-02 5.76250309e+02] [ 2.48532237e-02 9.99691063e-01 -3.10934407e-04 8.53113270e+00] [ 1.32800504e-02 -1.91509932e-05 9.99911816e-01 6.92660632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3250998929999 meters 0.012894706975746255 Centerline is valid? [True, True] Translation: X:576.28, Y:8.53, Z:6.93 [[ 9.99585062e-01 -2.56791452e-02 -1.30493135e-02 5.76280596e+02] [ 2.56773436e-02 9.99670236e-01 -3.05615478e-04 8.52804115e+00] [ 1.30528583e-02 -2.95830410e-05 9.99914807e-01 6.92709077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.355099893 meters 0.012976893589632468 Centerline is valid? [True, True] Translation: X:576.31, Y:8.52, Z:6.93 [[ 9.99568868e-01 -2.62724516e-02 -1.31086722e-02 5.76310566e+02] [ 2.62706847e-02 9.99654819e-01 -3.06992290e-04 8.52492097e+00] [ 1.31122127e-02 -3.75138574e-05 9.99914031e-01 6.92717558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.385099893 meters 0.013072279049983052 Centerline is valid? [True, True] Translation: X:576.34, Y:8.52, Z:6.93 [[ 9.99564371e-01 -2.61768603e-02 -1.36323393e-02 5.76340723e+02] [ 2.61749440e-02 9.99657327e-01 -3.19003497e-04 8.51882731e+00] [ 1.36360184e-02 -3.79611875e-05 9.99907024e-01 6.92678076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4150998929999 meters 0.013049051398057138 Centerline is valid? [True, True] Translation: X:576.37, Y:8.52, Z:6.93 [[ 9.99571018e-01 -2.57467921e-02 -1.39600472e-02 5.76370918e+02] [ 2.57447437e-02 9.99668496e-01 -3.26448828e-04 8.51664557e+00] [ 1.39638244e-02 -3.30890496e-05 9.99902501e-01 6.92659187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4450998929999 meters 0.013118627501120934 Centerline is valid? [True, True] Translation: X:576.40, Y:8.51, Z:6.93 [[ 9.99603546e-01 -2.38596997e-02 -1.49487750e-02 5.76400714e+02] [ 2.38571392e-02 9.99715317e-01 -3.49615398e-04 8.51167342e+00] [ 1.49528611e-02 -7.15821504e-06 9.99888200e-01 6.92586727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.475099893 meters 0.013240615900415262 Centerline is valid? [True, True] Translation: X:576.43, Y:8.51, Z:6.93 [[ 9.99629075e-01 -2.26907673e-02 -1.50612527e-02 5.76429559e+02] [ 2.26880222e-02 9.99742531e-01 -3.53128054e-04 8.50961325e+00] [ 1.50653877e-02 1.12870343e-05 9.99886511e-01 6.92610388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.505099893 meters 0.013297316832582043 Centerline is valid? [True, True] Translation: X:576.46, Y:8.51, Z:6.93 [[ 9.99650493e-01 -2.16586619e-02 -1.51589959e-02 5.76457934e+02] [ 2.16557056e-02 9.99765423e-01 -3.59159063e-04 8.50799244e+00] [ 1.51632189e-02 3.07547802e-05 9.99885031e-01 6.92639082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5350998929999 meters 0.013436166643018886 Centerline is valid? [True, True] Translation: X:576.49, Y:8.51, Z:6.93 [[ 9.99674450e-01 -2.04402833e-02 -1.52705363e-02 5.76485333e+02] [ 2.04370885e-02 9.99791074e-01 -3.65251072e-04 8.50651987e+00] [ 1.52748118e-02 5.30468627e-05 9.99883332e-01 6.92674531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5650998929999 meters 0.013718086767746362 Centerline is valid? [True, True] Translation: X:576.51, Y:8.50, Z:6.93 [[ 9.99720415e-01 -1.83520882e-02 -1.49094741e-02 5.76513750e+02] [ 1.83487771e-02 9.99831583e-01 -3.58850749e-04 8.50267493e+00] [ 1.49135487e-02 8.51798031e-05 9.99888783e-01 6.92747834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.595099893 meters 0.013930922261560312 Centerline is valid? [True, True] Translation: X:576.54, Y:8.50, Z:6.93 [[ 9.99724059e-01 -1.79942689e-02 -1.51000860e-02 5.76540342e+02] [ 1.79907785e-02 9.99838086e-01 -3.66968332e-04 8.50077006e+00] [ 1.51042444e-02 9.52047678e-05 9.99885920e-01 6.92747042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.625099893 meters 0.013860044264385465 Centerline is valid? [True, True] Translation: X:576.57, Y:8.50, Z:6.93 [[ 9.99724930e-01 -1.80366636e-02 -1.49914296e-02 5.76568839e+02] [ 1.80331805e-02 9.99837321e-01 -3.67497530e-04 8.49734890e+00] [ 1.49956192e-02 9.70532873e-05 9.99887555e-01 6.92815642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6550998929999 meters 0.013959810433763256 Centerline is valid? [True, True] Translation: X:576.60, Y:8.49, Z:6.93 [[ 9.99701350e-01 -1.91250066e-02 -1.52133065e-02 5.76596751e+02] [ 1.91214861e-02 9.99817097e-01 -3.76851313e-04 8.49075712e+00] [ 1.52177312e-02 8.58377392e-05 9.99884200e-01 6.92784243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6850998929999 meters 0.01400604523188281 Centerline is valid? [True, True] Translation: X:576.62, Y:8.49, Z:6.93 [[ 9.99673196e-01 -2.03936834e-02 -1.54142255e-02 5.76624737e+02] [ 2.03901984e-02 9.99792025e-01 -3.83229898e-04 8.48757331e+00] [ 1.54188352e-02 6.88055401e-05 9.99881120e-01 6.92799632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7150998929999 meters 0.013945281785600408 Centerline is valid? [True, True] Translation: X:576.65, Y:8.48, Z:6.93 [[ 9.99637661e-01 -2.20144630e-02 -1.54890115e-02 5.76653294e+02] [ 2.20111129e-02 9.99757651e-01 -3.86751271e-04 8.48404410e+00] [ 1.54937719e-02 4.56807556e-05 9.99879963e-01 6.92791254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.745099893 meters 0.013950907765870388 Centerline is valid? [True, True] Translation: X:576.68, Y:8.48, Z:6.93 [[ 9.99580693e-01 -2.42215604e-02 -1.58667868e-02 5.76681725e+02] [ 2.42182715e-02 9.99706615e-01 -3.99426128e-04 8.48035881e+00] [ 1.58718064e-02 1.49924965e-05 9.99874035e-01 6.92825107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.775099893 meters 0.014149368570309817 Centerline is valid? [True, True] Translation: X:576.71, Y:8.47, Z:6.93 [[ 9.99471945e-01 -2.82567549e-02 -1.60433058e-02 5.76709498e+02] [ 2.82538497e-02 9.99600697e-01 -4.07758897e-04 8.47208162e+00] [ 1.60484217e-02 -4.57415752e-05 9.99871215e-01 6.92848339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8050998929999 meters 0.014370977296766894 Centerline is valid? [True, True] Translation: X:576.74, Y:8.47, Z:6.93 [[ 9.99409082e-01 -3.05454732e-02 -1.57626228e-02 5.76737543e+02] [ 3.05429318e-02 9.99533375e-01 -4.01993881e-04 8.46837801e+00] [ 1.57675466e-02 -7.96803758e-05 9.99875681e-01 6.92922538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8350998929999 meters 0.014474727619874726 Centerline is valid? [True, True] Translation: X:576.77, Y:8.46, Z:6.93 [[ 9.99345621e-01 -3.27004172e-02 -1.54600190e-02 5.76766684e+02] [ 3.26982022e-02 9.99465192e-01 -3.96092999e-04 8.46481132e+00] [ 1.54647032e-02 -1.09681023e-04 9.99880408e-01 6.92987971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.865099893 meters 0.014729445331491519 Centerline is valid? [True, True] Translation: X:576.80, Y:8.46, Z:6.93 [[ 9.99281915e-01 -3.46580012e-02 -1.53126564e-02 5.76795917e+02] [ 3.46560098e-02 9.99399222e-01 -3.95465240e-04 8.46132391e+00] [ 1.53171629e-02 -1.35494307e-04 9.99882676e-01 6.93064223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.895099893 meters 0.015451575075366169 Centerline is valid? [True, True] Translation: X:576.82, Y:8.45, Z:6.93 [[ 9.99126582e-01 -3.88971003e-02 -1.52672276e-02 5.76824785e+02] [ 3.88956033e-02 9.99243202e-01 -3.95083499e-04 8.45345928e+00] [ 1.52710410e-02 -1.99089602e-04 9.99883371e-01 6.93126137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9250998929999 meters 0.015878626669926503 Centerline is valid? [True, True] Translation: X:576.85, Y:8.45, Z:6.93 [[ 9.99034590e-01 -4.11329829e-02 -1.54261541e-02 5.76854156e+02] [ 4.11317095e-02 9.99153653e-01 -3.99946311e-04 8.44996838e+00] [ 1.54295492e-02 -2.34943889e-04 9.99880930e-01 6.93126194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9550998929999 meters 0.016464118870838425 Centerline is valid? [True, True] Translation: X:576.88, Y:8.45, Z:6.93 [[ 9.98940685e-01 -4.34653362e-02 -1.51086590e-02 5.76883783e+02] [ 4.34643736e-02 9.99054901e-01 -3.92223488e-04 8.44680449e+00] [ 1.51114280e-02 -2.64880400e-04 9.99885781e-01 6.93166062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.985099893 meters 0.01721270733967047 Centerline is valid? [True, True] Translation: X:576.91, Y:8.44, Z:6.93 [[ 9.98843647e-01 -4.55446019e-02 -1.53967137e-02 5.76912834e+02] [ 4.55438409e-02 9.98962261e-01 -4.00236791e-04 8.44284776e+00] [ 1.53989646e-02 -3.01451505e-04 9.99881383e-01 6.93204587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.015099893 meters 0.01707825888650298 Centerline is valid? [True, True] Translation: X:576.94, Y:8.44, Z:6.93 [[ 9.98655647e-01 -4.95017215e-02 -1.53778406e-02 5.76942819e+02] [ 4.95014239e-02 9.98773973e-01 -4.00221237e-04 8.43912595e+00] [ 1.53787986e-02 -3.61541808e-04 9.99881674e-01 6.93280928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0450998929999 meters 0.017745901074818805 Centerline is valid? [True, True] Translation: X:576.97, Y:8.44, Z:6.93 [[ 9.98555321e-01 -5.14674599e-02 -1.54393074e-02 5.76972283e+02] [ 5.14673904e-02 9.98674595e-01 -4.02099382e-04 8.43686803e+00] [ 1.54395391e-02 -3.93102382e-04 9.99880726e-01 6.93334316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0750998929999 meters 0.018674576055085372 Centerline is valid? [True, True] Translation: X:577.00, Y:8.43, Z:6.93 [[ 9.98328628e-01 -5.59606534e-02 -1.44345414e-02 5.77002407e+02] [ 5.59610583e-02 9.98432881e-01 -3.76173486e-04 8.43210843e+00] [ 1.44329717e-02 -4.32227453e-04 9.99895746e-01 6.93406550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.105099893 meters 0.019452779125331377 Centerline is valid? [True, True] Translation: X:577.03, Y:8.43, Z:6.93 [[ 9.98165647e-01 -5.88444399e-02 -1.42363319e-02 5.77033277e+02] [ 5.88451237e-02 9.98267055e-01 -3.71216754e-04 8.43006697e+00] [ 1.42335052e-02 -4.67202901e-04 9.99898589e-01 6.93473967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.135099893 meters 0.02066860622983629 Centerline is valid? [True, True] Translation: X:577.06, Y:8.43, Z:6.93 [[ 9.97971954e-01 -6.19428222e-02 -1.46651201e-02 5.77064014e+02] [ 6.19438825e-02 9.98079561e-01 -3.82356265e-04 8.42727403e+00] [ 1.46606408e-02 -5.26833647e-04 9.99892388e-01 6.93468020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1650998929999 meters 0.02317511672807801 Centerline is valid? [True, True] Translation: X:577.09, Y:8.42, Z:6.93 [[ 9.97533730e-01 -6.83687992e-02 -1.58796908e-02 5.77093332e+02] [ 6.83708597e-02 9.97659889e-01 -4.13734082e-04 8.42235299e+00] [ 1.58708170e-02 -6.72994407e-04 9.99873824e-01 6.93416026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1950998929999 meters 0.023893448058692295 Centerline is valid? [True, True] Translation: X:577.12, Y:8.42, Z:6.93 [[ 9.97323116e-01 -7.11892125e-02 -1.66942466e-02 5.77123270e+02] [ 7.11918860e-02 9.97462544e-01 -4.34846198e-04 8.42151684e+00] [ 1.66828421e-02 -7.54812736e-04 9.99860547e-01 6.93414342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.225099893 meters 0.02562403356260824 Centerline is valid? [True, True] Translation: X:577.15, Y:8.42, Z:6.93 [[ 9.97142805e-01 -7.35356513e-02 -1.72839383e-02 5.77152400e+02] [ 7.35388621e-02 9.97292250e-01 -4.50591848e-04 8.41949815e+00] [ 1.72702723e-02 -8.21736734e-04 9.99850520e-01 6.93400744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.255099893 meters 0.027031487781622936 Centerline is valid? [True, True] Translation: X:577.18, Y:8.42, Z:6.93 [[ 9.96884994e-01 -7.68092428e-02 -1.79066897e-02 5.77182594e+02] [ 7.68132060e-02 9.97045392e-01 -4.67377969e-04 8.41879413e+00] [ 1.78896814e-02 -9.09548159e-04 9.99839553e-01 6.93416010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2850998929999 meters 0.027896500665195962 Centerline is valid? [True, True] Translation: X:577.21, Y:8.42, Z:6.93 [[ 9.96801923e-01 -7.78414457e-02 -1.80730720e-02 5.77212205e+02] [ 7.78456445e-02 9.96965312e-01 -4.72139396e-04 8.41895134e+00] [ 1.80549779e-02 -9.36280483e-04 9.99836557e-01 6.93442737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3150998929999 meters 0.027323323223205107 Centerline is valid? [True, True] Translation: X:577.24, Y:8.42, Z:6.93 [[ 9.96756684e-01 -7.83456027e-02 -1.83869470e-02 5.77241397e+02] [ 7.83500223e-02 9.96925796e-01 -4.80991136e-04 8.42137327e+00] [ 1.83681054e-02 -9.61186581e-04 9.99830830e-01 6.93485184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.345099893 meters 0.02623409315033102 Centerline is valid? [True, True] Translation: X:577.27, Y:8.43, Z:6.94 [[ 9.96821930e-01 -7.73640460e-02 -1.89959242e-02 5.77272142e+02] [ 7.73685770e-02 9.97002435e-01 -4.97372809e-04 8.42654282e+00] [ 1.89774615e-02 -9.73895504e-04 9.99819437e-01 6.93562329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.375099893 meters 0.02469021929850047 Centerline is valid? [True, True] Translation: X:577.30, Y:8.43, Z:6.94 [[ 9.96928745e-01 -7.59736109e-02 -1.90023134e-02 5.77302294e+02] [ 7.59778930e-02 9.97109378e-01 -4.97540098e-04 8.43170222e+00] [ 1.89851848e-02 -9.47743711e-04 9.99819316e-01 6.93642439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4050998929999 meters 0.024293413062078502 Centerline is valid? [True, True] Translation: X:577.33, Y:8.44, Z:6.94 [[ 9.97078046e-01 -7.39587806e-02 -1.91172286e-02 5.77332420e+02] [ 7.39627452e-02 9.97260880e-01 -5.00548938e-04 8.43519209e+00] [ 1.91018842e-02 -9.14876352e-04 9.99817124e-01 6.93714811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4350998929999 meters 0.024235143598668407 Centerline is valid? [True, True] Translation: X:577.36, Y:8.44, Z:6.94 [[ 9.97231062e-01 -7.18459126e-02 -1.91930840e-02 5.77362021e+02] [ 7.18495159e-02 9.97415357e-01 -5.02657381e-04 8.43848833e+00] [ 1.91795907e-02 -8.77748244e-04 9.99815669e-01 6.93771363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4650998929999 meters 0.021834841541955214 Centerline is valid? [True, True] Translation: X:577.39, Y:8.45, Z:6.94 [[ 9.97544023e-01 -6.73065892e-02 -1.93841395e-02 5.77392325e+02] [ 6.73094047e-02 9.97732021e-01 -5.07884513e-04 8.44831958e+00] [ 1.93743606e-02 -7.98097729e-04 9.99811981e-01 6.93898083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.495099893 meters 0.022228296886824088 Centerline is valid? [True, True] Translation: X:577.42, Y:8.45, Z:6.94 [[ 9.97697165e-01 -6.50453050e-02 -1.92217377e-02 5.77422162e+02] [ 6.50476544e-02 9.97882032e-01 -5.03629417e-04 8.45094808e+00] [ 1.92137854e-02 -7.47859307e-04 9.99815118e-01 6.93913973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.525099893 meters 0.021326592152903723 Centerline is valid? [True, True] Translation: X:577.45, Y:8.46, Z:6.94 [[ 9.97863417e-01 -6.25761606e-02 -1.87836649e-02 5.77452169e+02] [ 6.25779597e-02 9.98039957e-01 -4.92556300e-04 8.45534166e+00] [ 1.87776704e-02 -6.83939514e-04 9.99823450e-01 6.93988167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5550998929999 meters 0.01993986114191531 Centerline is valid? [True, True] Translation: X:577.48, Y:8.46, Z:6.94 [[ 9.97988776e-01 -6.06629924e-02 -1.83957810e-02 5.77482274e+02] [ 6.06643772e-02 9.98158104e-01 -4.83256805e-04 8.46081745e+00] [ 1.83912137e-02 -6.33683732e-04 9.99830667e-01 6.94091010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5850998929999 meters 0.01962604011245846 Centerline is valid? [True, True] Translation: X:577.51, Y:8.47, Z:6.94 [[ 9.98308574e-01 -5.56007079e-02 -1.69868064e-02 5.77511601e+02] [ 5.56011514e-02 9.98452960e-01 -4.46531602e-04 8.46713075e+00] [ 1.69853546e-02 -4.98709669e-04 9.99855614e-01 6.94155849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.615099893 meters 0.0177635961084082 Centerline is valid? [True, True] Translation: X:577.54, Y:8.47, Z:6.94 [[ 9.98469683e-01 -5.25033820e-02 -1.73691160e-02 5.77542249e+02] [ 5.25033735e-02 9.98620642e-01 -4.56807530e-04 8.47387826e+00] [ 1.73691417e-02 -4.55828714e-04 9.99849041e-01 6.94214861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.645099893 meters 0.01679038037219121 Centerline is valid? [True, True] Translation: X:577.57, Y:8.48, Z:6.94 [[ 9.98624221e-01 -4.94461984e-02 -1.74567751e-02 5.77572158e+02] [ 4.94457171e-02 9.98776707e-01 -4.59450936e-04 8.47911346e+00] [ 1.74581385e-02 -4.04343931e-04 9.99847513e-01 6.94245107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6750998929999 meters 0.015516983154030096 Centerline is valid? [True, True] Translation: X:577.60, Y:8.49, Z:6.94 [[ 9.98895308e-01 -4.32226351e-02 -1.84382095e-02 5.77602277e+02] [ 4.32210222e-02 9.99065417e-01 -4.86147546e-04 8.48754778e+00] [ 1.84419900e-02 -3.11307757e-04 9.99829884e-01 6.94224574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7050998929999 meters 0.015516983154030096 Centerline is valid? [True, True] Translation: X:577.63, Y:8.49, Z:6.94 [[ 9.98893728e-01 -4.32591395e-02 -1.84382036e-02 5.77631425e+02] [ 4.32575287e-02 9.99063837e-01 -4.86369640e-04 8.48834377e+00] [ 1.84419824e-02 -3.11759540e-04 9.99829884e-01 6.94260634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.735099893 meters 0.015379767696960403 Centerline is valid? [True, True] Translation: X:577.66, Y:8.49, Z:6.94 [[ 9.99006459e-01 -4.04581535e-02 -1.86877644e-02 5.77661086e+02] [ 4.04559981e-02 9.99181199e-01 -4.93525580e-04 8.49156820e+00] [ 1.86924300e-02 -2.62996919e-04 9.99825247e-01 6.94205015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.765099893 meters 0.015241588721558499 Centerline is valid? [True, True] Translation: X:577.69, Y:8.49, Z:6.94 [[ 9.99100477e-01 -3.78067209e-02 -1.92064943e-02 5.77689822e+02] [ 3.78039430e-02 9.99285046e-01 -5.07815631e-04 8.49460207e+00] [ 1.92119614e-02 -2.18722376e-04 9.99815409e-01 6.94163091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7950998929999 meters 0.01446359039650969 Centerline is valid? [True, True] Translation: X:577.72, Y:8.50, Z:6.94 [[ 9.99234898e-01 -3.35634760e-02 -2.00776348e-02 5.77718869e+02] [ 3.35595345e-02 9.99436578e-01 -5.33305418e-04 8.50200065e+00] [ 2.00842222e-02 -1.40898693e-04 9.99798282e-01 6.94240969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8250998929999 meters 0.014272233620281061 Centerline is valid? [True, True] Translation: X:577.75, Y:8.51, Z:6.94 [[ 9.99265889e-01 -3.23117382e-02 -2.05823655e-02 5.77746364e+02] [ 3.23072225e-02 9.99477833e-01 -5.51963577e-04 8.50510412e+00] [ 2.05894529e-02 -1.13400685e-04 9.99788008e-01 6.94281781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.855099893 meters 0.01416874504852046 Centerline is valid? [True, True] Translation: X:577.77, Y:8.51, Z:6.94 [[ 9.99288252e-01 -3.14053466e-02 -2.08972232e-02 5.77774091e+02] [ 3.14003673e-02 9.99506726e-01 -5.66437986e-04 8.50783447e+00] [ 2.09047043e-02 -9.01456600e-05 9.99781469e-01 6.94354345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.885099893 meters 0.01415022159943324 Centerline is valid? [True, True] Translation: X:577.80, Y:8.51, Z:6.94 [[ 9.99303300e-01 -3.06353285e-02 -2.13164648e-02 5.77800734e+02] [ 3.06298706e-02 9.99530626e-01 -5.82568187e-04 8.50995049e+00] [ 2.13243065e-02 -7.07582457e-05 9.99772609e-01 6.94323100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9150998929999 meters 0.01411273758611616 Centerline is valid? [True, True] Translation: X:577.83, Y:8.51, Z:6.94 [[ 9.99299887e-01 -3.05152380e-02 -2.16461479e-02 5.77828009e+02] [ 3.05095088e-02 9.99534300e-01 -5.94948039e-04 8.51164542e+00] [ 2.16542223e-02 -6.58818309e-05 9.99765518e-01 6.94286729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9450998929999 meters 0.01400083885380541 Centerline is valid? [True, True] Translation: X:577.86, Y:8.51, Z:6.94 [[ 9.99251233e-01 -3.17573954e-02 -2.21006866e-02 5.77856231e+02] [ 3.17516427e-02 9.99495603e-01 -6.11246345e-04 8.51399812e+00] [ 2.21089507e-02 -9.09444403e-05 9.99755563e-01 6.94424260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.975099893 meters 0.014198137866147362 Centerline is valid? [True, True] Translation: X:577.88, Y:8.51, Z:6.95 [[ 9.99132961e-01 -3.56059390e-02 -2.15764337e-02 5.77883523e+02] [ 3.56012954e-02 9.99365893e-01 -5.99421974e-04 8.51372044e+00] [ 2.15840949e-02 -1.69246736e-04 9.99767022e-01 6.94510220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.005099893 meters 0.014581853780940271 Centerline is valid? [True, True] Translation: X:577.91, Y:8.51, Z:6.95 [[ 9.99007121e-01 -3.87514290e-02 -2.19795104e-02 5.77911150e+02] [ 3.87473227e-02 9.99248853e-01 -6.12824892e-04 8.51270859e+00] [ 2.19867484e-02 -2.39430752e-04 9.99758234e-01 6.94538452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0350998929999 meters 0.014909811709209068 Centerline is valid? [True, True] Translation: X:577.94, Y:8.51, Z:6.95 [[ 9.98852676e-01 -4.26185565e-02 -2.18401016e-02 5.77939790e+02] [ 4.26153505e-02 9.99091366e-01 -6.12402139e-04 8.51212926e+00] [ 2.18463566e-02 -3.19024068e-04 9.99761289e-01 6.94638037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0650998929999 meters 0.015465016699916045 Centerline is valid? [True, True] Translation: X:577.97, Y:8.51, Z:6.95 [[ 9.98660908e-01 -4.67421760e-02 -2.21711426e-02 5.77968148e+02] [ 4.67397984e-02 9.98906902e-01 -6.25711010e-04 8.51083873e+00] [ 2.21761545e-02 -4.11401609e-04 9.99753994e-01 6.94695767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.095099893 meters 0.017085117822769714 Centerline is valid? [True, True] Translation: X:578.00, Y:8.51, Z:6.95 [[ 9.98171818e-01 -5.61287942e-02 -2.24183124e-02 5.77998629e+02] [ 5.61286986e-02 9.98423341e-01 -6.33994688e-04 8.50666966e+00] [ 2.24185517e-02 -6.25475068e-04 9.99748477e-01 6.94747264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.125099893 meters 0.019400315046923397 Centerline is valid? [True, True] Translation: X:578.03, Y:8.50, Z:6.95 [[ 9.97904403e-01 -6.07297097e-02 -2.23316902e-02 5.78027895e+02] [ 6.07307523e-02 9.98153984e-01 -6.32132056e-04 8.50264240e+00] [ 2.23288547e-02 -7.25412982e-04 9.99750417e-01 6.94731418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1550998929999 meters 0.02295571079922525 Centerline is valid? [True, True] Translation: X:578.06, Y:8.50, Z:6.95 [[ 9.97307425e-01 -6.95396484e-02 -2.32838562e-02 5.78057488e+02] [ 6.95431628e-02 9.97578725e-01 -6.59736187e-04 8.49697445e+00] [ 2.32733574e-02 -9.61273206e-04 9.99728677e-01 6.94697538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1850998929999 meters 0.024521407356426377 Centerline is valid? [True, True] Translation: X:578.09, Y:8.50, Z:6.95 [[ 9.97000250e-01 -7.36996844e-02 -2.36401935e-02 5.78088089e+02] [ 7.37044691e-02 9.97279902e-01 -6.70043496e-04 8.49524558e+00] [ 2.36252718e-02 -1.07435438e-03 9.99720307e-01 6.94702502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2150998929999 meters 0.02696744453679617 Centerline is valid? [True, True] Translation: X:578.12, Y:8.49, Z:6.95 [[ 9.96715207e-01 -7.74010025e-02 -2.38302689e-02 5.78117779e+02] [ 7.74069149e-02 9.96999355e-01 -6.75629646e-04 8.49242790e+00] [ 2.38110571e-02 -1.17121725e-03 9.99715791e-01 6.94664764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.245099893 meters 0.027763984638045858 Centerline is valid? [True, True] Translation: X:578.15, Y:8.49, Z:6.95 [[ 9.96442524e-01 -8.09212296e-02 -2.35382799e-02 5.78147942e+02] [ 8.09279662e-02 9.96719729e-01 -6.67813901e-04 8.49238978e+00] [ 2.35151083e-02 -1.23946695e-03 9.99722713e-01 6.94773512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.275099893 meters 0.024767698251962223 Centerline is valid? [True, True] Translation: X:578.18, Y:8.50, Z:6.95 [[ 9.96151176e-01 -8.47633985e-02 -2.23159372e-02 5.78178576e+02] [ 8.47704122e-02 9.96400309e-01 -6.33212836e-04 8.49792856e+00] [ 2.22892800e-02 -1.26095548e-03 9.99750768e-01 6.95068649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3050998929999 meters 0.028430205269498292 Centerline is valid? [True, True] Translation: X:578.21, Y:8.50, Z:6.95 [[ 9.95679013e-01 -8.99232009e-02 -2.31758634e-02 5.78208664e+02] [ 8.99321596e-02 9.95947676e-01 -6.57540337e-04 8.49516723e+00] [ 2.31410754e-02 -1.42955633e-03 9.99731187e-01 6.95024818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3350998929999 meters 0.029769600423653803 Centerline is valid? [True, True] Translation: X:578.24, Y:8.50, Z:6.95 [[ 9.95500220e-01 -9.15673312e-02 -2.43872024e-02 5.78238558e+02] [ 9.15777380e-02 9.95797690e-01 -6.92106934e-04 8.49513759e+00] [ 2.43480942e-02 -1.54433223e-03 9.99702348e-01 6.94917714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.365099893 meters 0.028818930918279393 Centerline is valid? [True, True] Translation: X:578.27, Y:8.50, Z:6.95 [[ 9.95447836e-01 -9.20424821e-02 -2.47343536e-02 5.78269488e+02] [ 9.20533446e-02 9.95753830e-01 -7.01507887e-04 8.49878216e+00] [ 2.46938958e-02 -1.57856547e-03 9.99693813e-01 6.94948463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.395099893 meters 0.028396366124865135 Centerline is valid? [True, True] Translation: X:578.30, Y:8.50, Z:6.95 [[ 9.95447664e-01 -9.20640103e-02 -2.46610425e-02 5.78300283e+02] [ 9.20748373e-02 9.95751845e-01 -6.98528382e-04 8.50240436e+00] [ 2.46205879e-02 -1.57531303e-03 9.99695626e-01 6.95015206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4250998929999 meters 0.027811167076766535 Centerline is valid? [True, True] Translation: X:578.33, Y:8.51, Z:6.95 [[ 9.95652831e-01 -8.99994176e-02 -2.39905325e-02 5.78332038e+02] [ 9.00090924e-02 9.95940713e-01 -6.78454507e-04 8.50888779e+00] [ 2.39542086e-02 -1.48386091e-03 9.99711956e-01 6.95124507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4550998929999 meters 0.027826893354979218 Centerline is valid? [True, True] Translation: X:578.36, Y:8.51, Z:6.95 [[ 9.95774021e-01 -8.86741811e-02 -2.38953693e-02 5.78363519e+02] [ 8.86834254e-02 9.96059634e-01 -6.74663115e-04 8.51231449e+00] [ 2.38610380e-02 -1.44731120e-03 9.99714237e-01 6.95173719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.485099893 meters 0.025441934914476345 Centerline is valid? [True, True] Translation: X:578.39, Y:8.52, Z:6.95 [[ 9.96014628e-01 -8.58599075e-02 -2.41440748e-02 5.78394080e+02] [ 8.58685375e-02 9.96306243e-01 -6.81010551e-04 8.52077746e+00] [ 2.41133640e-02 -1.39491992e-03 9.99708257e-01 6.95226279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.515099893 meters 0.026837501853166443 Centerline is valid? [True, True] Translation: X:578.43, Y:8.52, Z:6.95 [[ 9.96106751e-01 -8.46729777e-02 -2.45321679e-02 5.78425226e+02] [ 8.46815510e-02 9.96407827e-01 -6.91051839e-04 8.52174701e+00] [ 2.45025575e-02 -1.38906062e-03 9.99698802e-01 6.95147417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5450998929999 meters 0.02532909148854377 Centerline is valid? [True, True] Translation: X:578.46, Y:8.53, Z:6.95 [[ 9.96157758e-01 -8.39577189e-02 -2.49163182e-02 5.78457699e+02] [ 8.39663804e-02 9.96468342e-01 -7.00256106e-04 8.52694130e+00] [ 2.48871142e-02 -1.39456750e-03 9.99689295e-01 6.95135316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5750998929999 meters 0.027446574717368503 Centerline is valid? [True, True] Translation: X:578.49, Y:8.53, Z:6.95 [[ 9.96174297e-01 -8.34659225e-02 -2.58884191e-02 5.78488768e+02] [ 8.34751516e-02 9.96509595e-01 -7.25892099e-04 8.52709382e+00] [ 2.58586453e-02 -1.43792466e-03 9.99664575e-01 6.95025428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.605099893 meters 0.027038325034881176 Centerline is valid? [True, True] Translation: X:578.52, Y:8.53, Z:6.95 [[ 9.96140188e-01 -8.36334351e-02 -2.66491111e-02 5.78519629e+02] [ 8.36433068e-02 9.96495480e-01 -7.46015213e-04 8.53263695e+00] [ 2.66181106e-02 -1.48588404e-03 9.99644571e-01 6.95001856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.635099893 meters 0.028758240151943032 Centerline is valid? [True, True] Translation: X:578.55, Y:8.53, Z:6.95 [[ 9.96076417e-01 -8.43141625e-02 -2.68866790e-02 5.78550157e+02] [ 8.43244772e-02 9.96438065e-01 -7.51964030e-04 8.53462027e+00] [ 2.68543116e-02 -1.51819151e-03 9.99638205e-01 6.94960504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6650998929999 meters 0.02634026949107185 Centerline is valid? [True, True] Translation: X:578.58, Y:8.54, Z:6.95 [[ 9.96083588e-01 -8.43368059e-02 -2.65478777e-02 5.78582514e+02] [ 8.43469031e-02 9.96436175e-01 -7.41240785e-04 8.54067875e+00] [ 2.65157796e-02 -1.50089349e-03 9.99647268e-01 6.95082972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6950998929999 meters 0.025725378812219833 Centerline is valid? [True, True] Translation: X:578.61, Y:8.54, Z:6.95 [[ 9.96102817e-01 -8.41553963e-02 -2.64016508e-02 5.78614968e+02] [ 8.41653698e-02 9.96451529e-01 -7.35235331e-04 8.54453621e+00] [ 2.63698394e-02 -1.48973472e-03 9.99651145e-01 6.95180444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.725099893 meters 0.025178600054078855 Centerline is valid? [True, True] Translation: X:578.65, Y:8.55, Z:6.95 [[ 9.96290899e-01 -8.24002631e-02 -2.47919732e-02 5.78645938e+02] [ 8.24085472e-02 9.96598393e-01 -6.89101396e-04 8.55155683e+00] [ 2.47644227e-02 -1.35652504e-03 9.99692394e-01 6.95378771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.755099893 meters 0.025021293172456206 Centerline is valid? [True, True] Translation: X:578.68, Y:8.56, Z:6.95 [[ 9.96458402e-01 -8.06171932e-02 -2.39065052e-02 5.78676181e+02] [ 8.06243995e-02 9.96744333e-01 -6.63841784e-04 8.55542614e+00] [ 2.38821907e-02 -1.26595690e-03 9.99713978e-01 6.95480465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7850998929999 meters 0.02428332092087684 Centerline is valid? [True, True] Translation: X:578.71, Y:8.56, Z:6.96 [[ 9.96624560e-01 -7.86783825e-02 -2.34349871e-02 5.78707358e+02] [ 7.86847872e-02 9.96899334e-01 -6.50124902e-04 8.56016414e+00] [ 2.34134738e-02 -1.19604653e-03 9.99725152e-01 6.95565793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8150998929999 meters 0.023448987608038638 Centerline is valid? [True, True] Translation: X:578.74, Y:8.56, Z:6.96 [[ 9.96831996e-01 -7.62553538e-02 -2.26073773e-02 5.78739113e+02] [ 7.62607147e-02 9.97087715e-01 -6.26171591e-04 8.56495999e+00] [ 2.25892871e-02 -1.09986687e-03 9.99744224e-01 6.95660307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.845099893 meters 0.023056280840135196 Centerline is valid? [True, True] Translation: X:578.77, Y:8.57, Z:6.96 [[ 9.97072248e-01 -7.31994885e-02 -2.21080579e-02 5.78769288e+02] [ 7.32038839e-02 9.97316809e-01 -6.11504562e-04 8.56896049e+00] [ 2.20934996e-02 -1.00868148e-03 9.99755400e-01 6.95709851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.875099893 meters 0.020411552661185137 Centerline is valid? [True, True] Translation: X:578.80, Y:8.58, Z:6.96 [[ 9.97544349e-01 -6.67601374e-02 -2.11744161e-02 5.78799312e+02] [ 6.67627256e-02 9.97768709e-01 -5.85445127e-04 8.57869399e+00] [ 2.11662542e-02 -8.29654255e-04 9.99775626e-01 6.95772421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9050998929999 meters 0.01947934905118988 Centerline is valid? [True, True] Translation: X:578.83, Y:8.58, Z:6.96 [[ 9.97758104e-01 -6.35016933e-02 -2.11258374e-02 5.78831114e+02] [ 6.35035507e-02 9.97981442e-01 -5.83601524e-04 8.58327212e+00] [ 2.11202533e-02 -7.59272533e-04 9.99776654e-01 6.95818322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9350998929999 meters 0.017922876021169886 Centerline is valid? [True, True] Translation: X:578.86, Y:8.59, Z:6.96 [[ 9.97984674e-01 -5.98992050e-02 -2.09445690e-02 5.78862775e+02] [ 5.99002619e-02 9.98204200e-01 -5.77463272e-04 8.58880614e+00] [ 2.09415463e-02 -6.78285670e-04 9.99780472e-01 6.95864574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9650998929999 meters 0.016446708808093454 Centerline is valid? [True, True] Translation: X:578.89, Y:8.60, Z:6.96 [[ 9.98376801e-01 -5.29751230e-02 -2.09141013e-02 5.78892335e+02] [ 5.29746725e-02 9.98595690e-01 -5.75948147e-04 8.59703376e+00] [ 2.09152424e-02 -5.32904399e-04 9.99781110e-01 6.95909013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.995099893 meters 0.016151849601497226 Centerline is valid? [True, True] Translation: X:578.92, Y:8.60, Z:6.96 [[ 9.98555933e-01 -4.95604705e-02 -2.07318153e-02 5.78922839e+02] [ 4.95592954e-02 9.98771020e-01 -5.70779648e-04 8.60054945e+00] [ 2.07346244e-02 -4.57498754e-04 9.99784910e-01 6.95888875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.025099893 meters 0.01490757826480786 Centerline is valid? [True, True] Translation: X:578.95, Y:8.61, Z:6.96 [[ 9.98731203e-01 -4.61107550e-02 -2.02430784e-02 5.78953656e+02] [ 4.61089362e-02 9.98936262e-01 -5.56826623e-04 8.60596194e+00] [ 2.02472208e-02 -3.77266689e-04 9.99794933e-01 6.95946085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0550998929999 meters 0.013973050105800766 Centerline is valid? [True, True] Translation: X:578.98, Y:8.61, Z:6.96 [[ 9.98999043e-01 -3.99545207e-02 -2.01133894e-02 5.78984054e+02] [ 3.99514892e-02 9.99201468e-01 -5.52680177e-04 8.61188280e+00] [ 2.01194103e-02 -2.51432891e-04 9.99797553e-01 6.95916704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0850998929999 meters 0.01384395921538792 Centerline is valid? [True, True] Translation: X:579.01, Y:8.62, Z:6.96 [[ 9.99109782e-01 -3.73313673e-02 -1.96471785e-02 5.79013947e+02] [ 3.73279717e-02 9.99302923e-01 -5.39654676e-04 8.61503617e+00] [ 1.96536290e-02 -1.94215059e-04 9.99806830e-01 6.95932282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.115099893 meters 0.013293381420593596 Centerline is valid? [True, True] Translation: X:579.04, Y:8.62, Z:6.96 [[ 9.99190656e-01 -3.51678657e-02 -1.95257420e-02 5.79044848e+02] [ 3.51641041e-02 9.99381408e-01 -5.36056114e-04 8.61963365e+00] [ 1.95325154e-02 -1.50982963e-04 9.99809211e-01 6.96065856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.145099893 meters 0.013227989762457452 Centerline is valid? [True, True] Translation: X:579.08, Y:8.62, Z:6.96 [[ 9.99257410e-01 -3.33352621e-02 -1.93232784e-02 5.79075145e+02] [ 3.33312441e-02 9.99444219e-01 -5.30048693e-04 8.62258017e+00] [ 1.93302082e-02 -1.14413825e-04 9.99813148e-01 6.96080100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1750998929999 meters 0.013234313382788264 Centerline is valid? [True, True] Translation: X:579.11, Y:8.63, Z:6.96 [[ 9.99270181e-01 -3.18203208e-02 -2.11322834e-02 5.79105014e+02] [ 3.18151732e-02 9.99493601e-01 -5.79830549e-04 8.62534357e+00] [ 2.11400324e-02 -9.29198781e-05 9.99776520e-01 6.95863774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2050998929999 meters 0.013168849244898424 Centerline is valid? [True, True] Translation: X:579.13, Y:8.63, Z:6.96 [[ 9.99220042e-01 -3.28805644e-02 -2.18672504e-02 5.79134325e+02] [ 3.28752937e-02 9.99459281e-01 -6.00574778e-04 8.62765079e+00] [ 2.18751736e-02 -1.18785927e-04 9.99760703e-01 6.95924817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.235099893 meters 0.013646770449003729 Centerline is valid? [True, True] Translation: X:579.16, Y:8.63, Z:6.96 [[ 9.98982686e-01 -3.92090290e-02 -2.22765812e-02 5.79163676e+02] [ 3.92051137e-02 9.99230996e-01 -6.12631606e-04 8.62691650e+00] [ 2.22834711e-02 -2.61347533e-04 9.99751658e-01 6.95987546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.265099893 meters 0.014011414586183747 Centerline is valid? [True, True] Translation: X:579.19, Y:8.63, Z:6.96 [[ 9.98843545e-01 -4.25749851e-02 -2.23370483e-02 5.79194418e+02] [ 4.25718798e-02 9.99093217e-01 -6.14741537e-04 8.62666978e+00] [ 2.23429660e-02 -3.36899517e-04 9.99750308e-01 6.96051061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2950998929999 meters 0.014011414586183747 Centerline is valid? [True, True] Translation: X:579.23, Y:8.63, Z:6.96 [[ 9.98845096e-01 -4.25385825e-02 -2.23370583e-02 5.79225256e+02] [ 4.25354763e-02 9.99094768e-01 -6.14377963e-04 8.62749101e+00] [ 2.23429728e-02 -3.36448996e-04 9.99750308e-01 6.96089209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3250998929999 meters 0.014662202401886702 Centerline is valid? [True, True] Translation: X:579.26, Y:8.63, Z:6.96 [[ 9.98672681e-01 -4.63902399e-02 -2.23790328e-02 5.79256786e+02] [ 4.63881067e-02 9.98923303e-01 -6.14715645e-04 8.62628607e+00] [ 2.23834542e-02 -4.24221241e-04 9.99749369e-01 6.96137249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.355099893 meters 0.01552799779588216 Centerline is valid? [True, True] Translation: X:579.29, Y:8.62, Z:6.96 [[ 9.98465556e-01 -5.06218059e-02 -2.24491825e-02 5.79288145e+02] [ 5.06207464e-02 9.98717758e-01 -6.15824477e-04 8.62443160e+00] [ 2.24515713e-02 -5.21514844e-04 9.99747796e-01 6.96164808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.385099893 meters 0.017209890721764577 Centerline is valid? [True, True] Translation: X:579.32, Y:8.62, Z:6.96 [[ 9.98229760e-01 -5.49605035e-02 -2.27308114e-02 5.79318245e+02] [ 5.49605514e-02 9.98488332e-01 -6.23095981e-04 8.62088064e+00] [ 2.27306956e-02 -6.27304976e-04 9.99741428e-01 6.96120343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4150998929999 meters 0.0176238679991642 Centerline is valid? [True, True] Translation: X:579.35, Y:8.62, Z:6.96 [[ 9.97956147e-01 -5.97225753e-02 -2.27319699e-02 5.79348976e+02] [ 5.97238675e-02 9.98214742e-01 -6.22668800e-04 8.62036783e+00] [ 2.27285749e-02 -7.36245003e-04 9.99741401e-01 6.96197597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4450998929999 meters 0.021464218836674133 Centerline is valid? [True, True] Translation: X:579.38, Y:8.61, Z:6.96 [[ 9.97378184e-01 -6.89187558e-02 -2.20672601e-02 5.79378397e+02] [ 6.89222435e-02 9.97621852e-01 -6.03375089e-04 8.61310923e+00] [ 2.20563647e-02 -9.19131921e-04 9.99756306e-01 6.96235675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.475099893 meters 0.023347050369712078 Centerline is valid? [True, True] Translation: X:579.41, Y:8.61, Z:6.96 [[ 9.97091561e-01 -7.29922617e-02 -2.19214016e-02 5.79409976e+02] [ 7.29967084e-02 9.97332002e-01 -5.98345881e-04 8.61042875e+00] [ 2.19065900e-02 -1.00358453e-03 9.99759518e-01 6.96293727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.505099893 meters 0.022652801861065084 Centerline is valid? [True, True] Translation: X:579.44, Y:8.61, Z:6.96 [[ 9.96829787e-01 -7.66775931e-02 -2.12349177e-02 5.79440596e+02] [ 7.66826167e-02 9.97055385e-01 -5.78790117e-04 8.61154627e+00] [ 2.12167693e-02 -1.05139382e-03 9.99774346e-01 6.96433662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5350998929999 meters 0.028468718670339364 Centerline is valid? [True, True] Translation: X:579.47, Y:8.60, Z:6.96 [[ 9.96397963e-01 -8.23246622e-02 -2.03408078e-02 5.79470880e+02] [ 8.23304575e-02 9.96604931e-01 -5.53770900e-04 8.60305987e+00] [ 2.03173384e-02 -1.12289182e-03 9.99792951e-01 6.96464973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5650998929999 meters 0.025598837884210666 Centerline is valid? [True, True] Translation: X:579.50, Y:8.61, Z:6.97 [[ 9.96219724e-01 -8.45004745e-02 -2.01477199e-02 5.79501697e+02] [ 8.45066104e-02 9.96422768e-01 -5.48182322e-04 8.60740553e+00] [ 2.01219685e-02 -1.15650547e-03 9.99796864e-01 6.96606675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.595099893 meters 0.028738811137196753 Centerline is valid? [True, True] Translation: X:579.53, Y:8.60, Z:6.97 [[ 9.96081442e-01 -8.62037737e-02 -1.97653875e-02 5.79532854e+02] [ 8.62100253e-02 9.96276841e-01 -5.37152417e-04 8.60371363e+00] [ 1.97381024e-02 -1.16892700e-03 9.99804501e-01 6.96609800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.625099893 meters 0.028738811137196753 Centerline is valid? [True, True] Translation: X:579.57, Y:8.60, Z:6.97 [[ 9.96090666e-01 -8.60971091e-02 -1.97654273e-02 5.79565434e+02] [ 8.61033688e-02 9.96286065e-01 -5.35683444e-04 8.60450759e+00] [ 1.97381406e-02 -1.16828060e-03 9.99804501e-01 6.96650084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6550998929999 meters 0.028255322529013423 Centerline is valid? [True, True] Translation: X:579.60, Y:8.61, Z:6.97 [[ 9.95883431e-01 -8.84541888e-02 -1.98002044e-02 5.79596822e+02] [ 8.84609662e-02 9.96079500e-01 -5.35030651e-04 8.60591538e+00] [ 1.97699034e-02 -1.21871705e-03 9.99803814e-01 6.96718168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6850998929999 meters 0.03008358588449902 Centerline is valid? [True, True] Translation: X:579.63, Y:8.60, Z:6.97 [[ 9.95831216e-01 -8.89748651e-02 -2.00913396e-02 5.79628508e+02] [ 8.89819663e-02 9.96033090e-01 -5.42027352e-04 8.60416411e+00] [ 2.00598658e-02 -1.24799914e-03 9.99798002e-01 6.96711850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7150998929999 meters 0.027679538994598532 Centerline is valid? [True, True] Translation: X:579.66, Y:8.61, Z:6.97 [[ 9.95777531e-01 -8.93929301e-02 -2.08809180e-02 5.79660755e+02] [ 8.94007197e-02 9.95995580e-01 -5.62011466e-04 8.60822578e+00] [ 2.08475419e-02 -1.30713071e-03 9.99781812e-01 6.96790774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.745099893 meters 0.027899500839726817 Centerline is valid? [True, True] Translation: X:579.69, Y:8.61, Z:6.97 [[ 9.95787244e-01 -8.92248817e-02 -2.11349414e-02 5.79692540e+02] [ 8.92328572e-02 9.96010630e-01 -5.67291559e-04 8.60879013e+00] [ 2.11012428e-02 -1.32102951e-03 9.99776471e-01 6.96796440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.775099893 meters 0.02727791565713235 Centerline is valid? [True, True] Translation: X:579.72, Y:8.61, Z:6.97 [[ 9.95831322e-01 -8.86977974e-02 -2.12762418e-02 5.79724433e+02] [ 8.87057934e-02 9.96057708e-01 -5.69519930e-04 8.61087113e+00] [ 2.12428798e-02 -1.32018013e-03 9.99773473e-01 6.96846110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8050998929999 meters 0.030549397301344004 Centerline is valid? [True, True] Translation: X:579.76, Y:8.61, Z:6.97 [[ 9.96010810e-01 -8.63980170e-02 -2.23125273e-02 5.79755376e+02] [ 8.64062657e-02 9.96259807e-01 -5.95943318e-04 8.60840443e+00] [ 2.22805625e-02 -1.33437618e-03 9.99750867e-01 6.96791106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8350998929999 meters 0.02822871777629307 Centerline is valid? [True, True] Translation: X:579.79, Y:8.61, Z:6.97 [[ 9.96138940e-01 -8.47943693e-02 -2.27404299e-02 5.79786402e+02] [ 8.48025401e-02 9.96397592e-01 -6.06541041e-04 8.61279766e+00] [ 2.27099409e-02 -1.32424707e-03 9.99741219e-01 6.96871957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.865099893 meters 0.024517563047060355 Centerline is valid? [True, True] Translation: X:579.82, Y:8.62, Z:6.97 [[ 9.96519991e-01 -8.00790348e-02 -2.31356098e-02 5.79816398e+02] [ 8.00862327e-02 9.96787748e-01 -6.16751956e-04 8.61982888e+00] [ 2.31106813e-02 -1.23823818e-03 9.99732146e-01 6.96961861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.895099893 meters 0.025305745586038368 Centerline is valid? [True, True] Translation: X:579.85, Y:8.62, Z:6.97 [[ 9.96761947e-01 -7.69288424e-02 -2.34002973e-02 5.79847044e+02] [ 7.69353462e-02 9.97035889e-01 -6.23549172e-04 8.62042636e+00] [ 2.33789051e-02 -1.17877989e-03 9.99725981e-01 6.96945321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9250998929999 meters 0.02188412987357634 Centerline is valid? [True, True] Translation: X:579.88, Y:8.63, Z:6.97 [[ 9.97022148e-01 -7.34093989e-02 -2.36198538e-02 5.79877349e+02] [ 7.34150507e-02 9.97301276e-01 -6.28950011e-04 8.62735508e+00] [ 2.36022812e-02 -1.10697568e-03 9.99720814e-01 6.97072376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9550998929999 meters 0.02104086205363727 Centerline is valid? [True, True] Translation: X:579.91, Y:8.63, Z:6.97 [[ 9.97304592e-01 -6.94637053e-02 -2.36293183e-02 5.79906549e+02] [ 6.94682514e-02 9.97583964e-01 -6.29405616e-04 8.63067638e+00] [ 2.36159499e-02 -1.01377831e-03 9.99720591e-01 6.97111399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.985099893 meters 0.01848239765936645 Centerline is valid? [True, True] Translation: X:579.94, Y:8.64, Z:6.97 [[ 9.97879855e-01 -6.06853197e-02 -2.35178046e-02 5.79936912e+02] [ 6.06873840e-02 9.98156625e-01 -6.26588861e-04 8.63846624e+00] [ 2.35124773e-02 -8.01973638e-04 9.99723222e-01 6.97232641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.015099893 meters 0.017144952630233256 Centerline is valid? [True, True] Translation: X:579.97, Y:8.64, Z:6.97 [[ 9.98138543e-01 -5.62854893e-02 -2.34817631e-02 5.79968042e+02] [ 5.62863419e-02 9.98414471e-01 -6.25152160e-04 8.64329370e+00] [ 2.34797191e-02 -6.97714081e-04 9.99724070e-01 6.97323088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0450998929999 meters 0.01565974834725141 Centerline is valid? [True, True] Translation: X:580.00, Y:8.65, Z:6.97 [[ 9.98379055e-01 -5.20582647e-02 -2.30043437e-02 5.79999170e+02] [ 5.20579806e-02 9.98643877e-01 -6.11616658e-04 8.64812228e+00] [ 2.30049867e-02 -5.86934418e-04 9.99735178e-01 6.97447461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0750998929999 meters 0.014307062351126514 Centerline is valid? [True, True] Translation: X:580.03, Y:8.65, Z:6.98 [[ 9.98765413e-01 -4.44495577e-02 -2.21785048e-02 5.80029226e+02] [ 4.44474277e-02 9.99011551e-01 -5.89224396e-04 8.65276972e+00] [ 2.21827732e-02 -3.97280542e-04 9.99753853e-01 6.97558003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.105099893 meters 0.013809804993678274 Centerline is valid? [True, True] Translation: X:580.06, Y:8.66, Z:6.98 [[ 9.98914231e-01 -4.10448813e-02 -2.20380750e-02 5.80059136e+02] [ 4.10419535e-02 9.99157253e-01 -5.85322978e-04 8.65557201e+00] [ 2.20435270e-02 -3.19798198e-04 9.99756961e-01 6.97634661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.135099893 meters 0.012942674897736832 Centerline is valid? [True, True] Translation: X:580.09, Y:8.66, Z:6.98 [[ 9.99092524e-01 -3.52163419e-02 -2.39569964e-02 5.80088984e+02] [ 3.52112124e-02 9.99379691e-01 -6.36051988e-04 8.66036458e+00] [ 2.39645351e-02 -2.08080101e-04 9.99712788e-01 6.97557870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1650998929999 meters 0.012684451000573086 Centerline is valid? [True, True] Translation: X:580.12, Y:8.66, Z:6.98 [[ 9.99139260e-01 -3.30192357e-02 -2.51091579e-02 5.80118829e+02] [ 3.30128958e-02 9.99454703e-01 -6.67094298e-04 8.66299751e+00] [ 2.51174929e-02 -1.62405907e-04 9.99684493e-01 6.97552736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1950998929999 meters 0.012427878513394506 Centerline is valid? [True, True] Translation: X:580.15, Y:8.67, Z:6.98 [[ 9.99200367e-01 -3.09368340e-02 -2.53286289e-02 5.80147508e+02] [ 3.09296189e-02 9.99521336e-01 -6.76668685e-04 8.66502272e+00] [ 2.53374390e-02 -1.07277241e-04 9.99678950e-01 6.97636664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.225099893 meters 0.012295819710298335 Centerline is valid? [True, True] Translation: X:580.18, Y:8.67, Z:6.98 [[ 9.99340755e-01 -2.72756715e-02 -2.39602264e-02 5.80175723e+02] [ 2.72680213e-02 9.99627950e-01 -6.46011694e-04 8.66717170e+00] [ 2.39689324e-02 -7.76214772e-06 9.99712704e-01 6.97727399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.255099893 meters 0.012219571056685084 Centerline is valid? [True, True] Translation: X:580.20, Y:8.67, Z:6.98 [[ 9.99379794e-01 -2.61224127e-02 -2.36145432e-02 5.80203891e+02] [ 2.61145115e-02 9.99658751e-01 -6.42965744e-04 8.66789050e+00] [ 2.36232806e-02 2.58847110e-05 9.99720931e-01 6.97799759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2850998929999 meters 0.012272045273235152 Centerline is valid? [True, True] Translation: X:580.23, Y:8.67, Z:6.98 [[ 9.99408746e-01 -2.51543999e-02 -2.34395940e-02 5.80231106e+02] [ 2.51462164e-02 9.99683577e-01 -6.43861259e-04 8.66832174e+00] [ 2.34483731e-02 5.40634700e-05 9.99725048e-01 6.97796311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3150998929999 meters 0.012067561264462266 Centerline is valid? [True, True] Translation: X:580.26, Y:8.67, Z:6.98 [[ 9.99429649e-01 -2.47619120e-02 -2.29613713e-02 5.80258672e+02] [ 2.47538315e-02 9.99693375e-01 -6.36121967e-04 8.66762701e+00] [ 2.29700824e-02 6.73772371e-05 9.99736151e-01 6.97959985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.345099893 meters 0.012087281185535556 Centerline is valid? [True, True] Translation: X:580.29, Y:8.67, Z:6.98 [[ 9.99398914e-01 -2.52025334e-02 -2.38042842e-02 5.80286640e+02] [ 2.51938492e-02 9.99682364e-01 -6.64698887e-04 8.66773227e+00] [ 2.38134752e-02 6.45778002e-05 9.99716417e-01 6.97946457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.375099893 meters 0.011960606426460867 Centerline is valid? [True, True] Translation: X:580.31, Y:8.66, Z:6.98 [[ 9.99310877e-01 -2.79072674e-02 -2.44735785e-02 5.80314404e+02] [ 2.78987710e-02 9.99610516e-01 -6.88606729e-04 8.66485275e+00] [ 2.44832635e-02 5.34943335e-06 9.99700240e-01 6.97902162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4050998929999 meters 0.011905743407031362 Centerline is valid? [True, True] Translation: X:580.34, Y:8.66, Z:6.98 [[ 9.99262537e-01 -2.99537398e-02 -2.40240731e-02 5.80342734e+02] [ 2.99459793e-02 9.99551285e-01 -6.82810341e-04 8.66349031e+00] [ 2.40337459e-02 -3.71176015e-05 9.99711147e-01 6.97982060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4350998929999 meters 0.01183281485422982 Centerline is valid? [True, True] Translation: X:580.37, Y:8.66, Z:6.98 [[ 9.99209791e-01 -3.19269988e-02 -2.36740492e-02 5.80371168e+02] [ 3.19198556e-02 9.99490200e-01 -6.79653718e-04 8.66199757e+00] [ 2.36836795e-02 -7.65555840e-05 9.99719499e-01 6.98076538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4650998929999 meters 0.011933948499413878 Centerline is valid? [True, True] Translation: X:580.40, Y:8.66, Z:6.98 [[ 9.99158885e-01 -3.37512786e-02 -2.32889218e-02 5.80399408e+02] [ 3.37447565e-02 9.99430257e-01 -6.73100475e-04 8.66005280e+00] [ 2.32983711e-02 -1.13344676e-04 9.99728550e-01 6.98106263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.495099893 meters 0.012356885902849212 Centerline is valid? [True, True] Translation: X:580.43, Y:8.66, Z:6.98 [[ 9.99034972e-01 -3.71642444e-02 -2.34082066e-02 5.80426921e+02] [ 3.71585432e-02 9.99309152e-01 -6.78628435e-04 8.65581368e+00] [ 2.34172558e-02 -1.91841317e-04 9.99725760e-01 6.98133545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.525099893 meters 0.012210582492587592 Centerline is valid? [True, True] Translation: X:580.46, Y:8.66, Z:6.98 [[ 9.98965764e-01 -3.87472880e-02 -2.37917869e-02 5.80456201e+02] [ 3.87418111e-02 9.99249015e-01 -6.91264269e-04 8.65562749e+00] [ 2.38007043e-02 -2.31187574e-04 9.99716696e-01 6.98280783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5550998929999 meters 0.012508719068250542 Centerline is valid? [True, True] Translation: X:580.49, Y:8.65, Z:6.98 [[ 9.98910293e-01 -3.99193295e-02 -2.41800432e-02 5.80485515e+02] [ 3.99139994e-02 9.99202871e-01 -7.03216198e-04 8.65422353e+00] [ 2.41888406e-02 -2.62672334e-04 9.99707373e-01 6.98242803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5850998929999 meters 0.012558549565587088 Centerline is valid? [True, True] Translation: X:580.52, Y:8.65, Z:6.98 [[ 9.98872087e-01 -4.08499833e-02 -2.42039790e-02 5.80515520e+02] [ 4.08449053e-02 9.99165250e-01 -7.04348218e-04 8.65364437e+00] [ 2.42125473e-02 -2.85055453e-04 9.99706793e-01 6.98300042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.615099893 meters 0.012669569747821671 Centerline is valid? [True, True] Translation: X:580.54, Y:8.65, Z:6.98 [[ 9.98851660e-01 -4.14124991e-02 -2.40907985e-02 5.80544581e+02] [ 4.14076217e-02 9.99142090e-01 -7.01483670e-04 8.65242522e+00] [ 2.40991810e-02 -2.96864543e-04 9.99709528e-01 6.98316077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.645099893 meters 0.012501625909339455 Centerline is valid? [True, True] Translation: X:580.57, Y:8.65, Z:6.98 [[ 9.98857574e-01 -4.16592085e-02 -2.34106131e-02 5.80574610e+02] [ 4.16546560e-02 9.99131835e-01 -6.82289194e-04 8.64980594e+00] [ 2.34187124e-02 -2.93651305e-04 9.99725701e-01 6.98387892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6750998929999 meters 0.012544639052180832 Centerline is valid? [True, True] Translation: X:580.60, Y:8.65, Z:6.98 [[ 9.98859687e-01 -4.16499729e-02 -2.33367966e-02 5.80604694e+02] [ 4.16454362e-02 9.99132221e-01 -6.80581240e-04 8.64902765e+00] [ 2.33448916e-02 -2.92065912e-04 9.99727428e-01 6.98432817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7050998929999 meters 0.012322434332845324 Centerline is valid? [True, True] Translation: X:580.64, Y:8.65, Z:6.98 [[ 9.98882204e-01 -4.08725408e-02 -2.37440038e-02 5.80635256e+02] [ 4.08676248e-02 9.99164330e-01 -6.92456802e-04 8.64808447e+00] [ 2.37524641e-02 -2.78678264e-04 9.99717832e-01 6.98476940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.735099893 meters 0.012376855106897042 Centerline is valid? [True, True] Translation: X:580.66, Y:8.65, Z:6.98 [[ 9.98893218e-01 -4.04513291e-02 -2.40006211e-02 5.80664925e+02] [ 4.04461796e-02 9.99181473e-01 -7.00152148e-04 8.64796289e+00] [ 2.40092980e-02 -2.71356197e-04 9.99711698e-01 6.98476533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.765099893 meters 0.012339306907859145 Centerline is valid? [True, True] Translation: X:580.69, Y:8.65, Z:6.99 [[ 9.98898163e-01 -4.03292444e-02 -2.40002617e-02 5.80693882e+02] [ 4.03240394e-02 9.99186409e-01 -7.00993481e-04 8.64794592e+00] [ 2.40090059e-02 -2.67566399e-04 9.99711706e-01 6.98501711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7950998929999 meters 0.012197645553064363 Centerline is valid? [True, True] Translation: X:580.72, Y:8.65, Z:6.99 [[ 9.98926891e-01 -3.97969236e-02 -2.36911836e-02 5.80723494e+02] [ 3.97916768e-02 9.99207757e-01 -6.93034604e-04 8.64805226e+00] [ 2.36999950e-02 -2.50421017e-04 9.99719084e-01 6.98571031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8250998929999 meters 0.012042814852114074 Centerline is valid? [True, True] Translation: X:580.75, Y:8.65, Z:6.99 [[ 9.98979907e-01 -3.84705465e-02 -2.36466034e-02 5.80752319e+02] [ 3.84649201e-02 9.99259711e-01 -6.92902588e-04 8.64599248e+00] [ 2.36557544e-02 -2.17368949e-04 9.99720140e-01 6.98503775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.855099893 meters 0.011835979130226654 Centerline is valid? [True, True] Translation: X:580.78, Y:8.65, Z:6.99 [[ 9.98990456e-01 -3.78046449e-02 -2.42667951e-02 5.80781162e+02] [ 3.77984297e-02 9.99285128e-01 -7.14925858e-04 8.64598423e+00] [ 2.42764750e-02 -2.03042640e-04 9.99705262e-01 6.98565263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.885099893 meters 0.011806922374903545 Centerline is valid? [True, True] Translation: X:580.81, Y:8.65, Z:6.98 [[ 9.99033731e-01 -3.56606082e-02 -2.56890032e-02 5.80808906e+02] [ 3.56528019e-02 9.99363946e-01 -7.61974093e-04 8.64536863e+00] [ 2.56998361e-02 -1.54647123e-04 9.99669693e-01 6.98444979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9150998929999 meters 0.011556595041161619 Centerline is valid? [True, True] Translation: X:580.84, Y:8.65, Z:6.99 [[ 9.99057570e-01 -3.47803327e-02 -2.59672954e-02 5.80836309e+02] [ 3.47719104e-02 9.99394973e-01 -7.75950221e-04 8.64653817e+00] [ 2.59785723e-02 -1.27713527e-04 9.99662492e-01 6.98567075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9450998929999 meters 0.011373026127903649 Centerline is valid? [True, True] Translation: X:580.86, Y:8.65, Z:6.99 [[ 9.99111888e-01 -3.26438187e-02 -2.66423661e-02 5.80864725e+02] [ 3.26339812e-02 9.99467046e-01 -8.04077950e-04 8.64641323e+00] [ 2.66544151e-02 -6.60826333e-05 9.99644706e-01 6.98599431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.975099893 meters 0.011270038699550957 Centerline is valid? [True, True] Translation: X:580.89, Y:8.64, Z:6.99 [[ 9.99157684e-01 -3.20412962e-02 -2.56374404e-02 5.80892666e+02] [ 3.20318677e-02 9.99486545e-01 -7.78459686e-04 8.64151805e+00] [ 2.56492196e-02 -4.34111219e-05 9.99671004e-01 6.98599725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.005099893 meters 0.011298741635781906 Centerline is valid? [True, True] Translation: X:580.92, Y:8.64, Z:6.99 [[ 9.99048725e-01 -3.51167472e-02 -2.58545924e-02 5.80921177e+02] [ 3.51080711e-02 9.99383210e-01 -7.89566812e-04 8.63548310e+00] [ 2.58663726e-02 -1.18889151e-04 9.99665402e-01 6.98560809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0350998929999 meters 0.011345000167065607 Centerline is valid? [True, True] Translation: X:580.95, Y:8.63, Z:6.99 [[ 9.98970313e-01 -3.68471404e-02 -2.64688768e-02 5.80949693e+02] [ 3.68384758e-02 9.99320901e-01 -8.15062763e-04 8.63439623e+00] [ 2.64809346e-02 -1.60849575e-04 9.99649306e-01 6.98592180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0650998929999 meters 0.011647190235837018 Centerline is valid? [True, True] Translation: X:580.98, Y:8.63, Z:6.99 [[ 9.98884862e-01 -3.85536916e-02 -2.72515100e-02 5.80977935e+02] [ 3.85450178e-02 9.99256508e-01 -8.43713694e-04 8.63264808e+00] [ 2.72637770e-02 -2.07637102e-04 9.99628253e-01 6.98511706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.095099893 meters 0.011612528680376264 Centerline is valid? [True, True] Translation: X:581.01, Y:8.63, Z:6.99 [[ 9.98798986e-01 -4.07210384e-02 -2.72466872e-02 5.81006838e+02] [ 4.07130413e-02 9.99170520e-01 -8.48425490e-04 8.63124011e+00] [ 2.72586354e-02 -2.61888981e-04 9.99628380e-01 6.98592637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.125099893 meters 0.011612528680376264 Centerline is valid? [True, True] Translation: X:581.03, Y:8.63, Z:6.99 [[ 9.98787204e-01 -4.10091560e-02 -2.72464551e-02 5.81034237e+02] [ 4.10010640e-02 9.99158736e-01 -8.55832387e-04 8.63215566e+00] [ 2.72586306e-02 -2.62339212e-04 9.99628380e-01 6.98626615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1550998929999 meters 0.01232716709567864 Centerline is valid? [True, True] Translation: X:581.06, Y:8.63, Z:6.99 [[ 9.98689276e-01 -4.31497021e-02 -2.75287688e-02 5.81062322e+02] [ 4.31421178e-02 9.99068567e-01 -8.69658846e-04 8.62917821e+00] [ 2.75406532e-02 -3.19130426e-04 9.99620633e-01 6.98522062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1850998929999 meters 0.012770192085403422 Centerline is valid? [True, True] Translation: X:581.09, Y:8.63, Z:6.99 [[ 9.98593879e-01 -4.54827135e-02 -2.72320946e-02 5.81090748e+02] [ 4.54760316e-02 9.98965056e-01 -8.64955028e-04 8.62668044e+00] [ 2.72432514e-02 -3.74668799e-04 9.99628764e-01 6.98539298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2150998929999 meters 0.01298821463572721 Centerline is valid? [True, True] Translation: X:581.12, Y:8.63, Z:6.99 [[ 9.98509262e-01 -4.76775773e-02 -2.65725960e-02 5.81119093e+02] [ 4.76718819e-02 9.98862689e-01 -8.48149111e-04 8.62533801e+00] [ 2.65828124e-02 -4.19880917e-04 9.99646526e-01 6.98655041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.245099893 meters 0.013437909260449804 Centerline is valid? [True, True] Translation: X:581.15, Y:8.62, Z:6.99 [[ 9.98298496e-01 -5.22340128e-02 -2.59175886e-02 5.81147991e+02] [ 5.22300132e-02 9.98634735e-01 -8.31708890e-04 8.62265230e+00] [ 2.59256477e-02 -5.23382260e-04 9.99663737e-01 6.98851511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.275099893 meters 0.01603644893131478 Centerline is valid? [True, True] Translation: X:581.18, Y:8.62, Z:6.99 [[ 9.98130259e-01 -5.59358622e-02 -2.46407129e-02 5.81176966e+02] [ 5.59332849e-02 9.98434192e-01 -7.94347986e-04 8.61715961e+00] [ 2.46465628e-02 -5.85373250e-04 9.99696056e-01 6.98841201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3050998929999 meters 0.014675519092256764 Centerline is valid? [True, True] Translation: X:581.21, Y:8.62, Z:6.99 [[ 9.98074651e-01 -5.70776648e-02 -2.42720434e-02 5.81206977e+02] [ 5.70754855e-02 9.98369559e-01 -7.83114157e-04 8.61999478e+00] [ 2.42771676e-02 -6.03732271e-04 9.99705084e-01 6.99074117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3350998929999 meters 0.015358574795468007 Centerline is valid? [True, True] Translation: X:581.24, Y:8.62, Z:6.99 [[ 9.98054533e-01 -5.75899907e-02 -2.38860245e-02 5.81236169e+02] [ 5.75880218e-02 9.98340135e-01 -7.70864481e-04 8.61888241e+00] [ 2.38907710e-02 -6.06184111e-04 9.99714391e-01 6.99063891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.365099893 meters 0.01453015224474967 Centerline is valid? [True, True] Translation: X:581.27, Y:8.62, Z:6.99 [[ 9.98061934e-01 -5.75833849e-02 -2.35908867e-02 5.81266194e+02] [ 5.75814573e-02 9.98340521e-01 -7.61556502e-04 8.62020121e+00] [ 2.35955911e-02 -5.98317081e-04 9.99721406e-01 6.99159209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.395099893 meters 0.01453015224474967 Centerline is valid? [True, True] Translation: X:581.30, Y:8.62, Z:6.99 [[ 9.98061934e-01 -5.75833849e-02 -2.35908867e-02 5.81296187e+02] [ 5.75814573e-02 9.98340521e-01 -7.61556502e-04 8.62116946e+00] [ 2.35955911e-02 -5.98317081e-04 9.99721406e-01 6.99196320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4250998929999 meters 0.01415722540302639 Centerline is valid? [True, True] Translation: X:581.33, Y:8.62, Z:6.99 [[ 9.98157943e-01 -5.60210772e-02 -2.32886141e-02 5.81326325e+02] [ 5.60187738e-02 9.98429433e-01 -7.51798595e-04 8.62139412e+00] [ 2.32941543e-02 -5.54185865e-04 9.99728501e-01 6.99235631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4550998929999 meters 0.013858822602202388 Centerline is valid? [True, True] Translation: X:581.36, Y:8.62, Z:6.99 [[ 9.98248832e-01 -5.44682070e-02 -2.30756080e-02 5.81356577e+02] [ 5.44655308e-02 9.98515373e-01 -7.44922372e-04 8.62299324e+00] [ 2.30819239e-02 -5.13207348e-04 9.99733445e-01 6.99305463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.485099893 meters 0.01261698171831722 Centerline is valid? [True, True] Translation: X:581.39, Y:8.63, Z:7.00 [[ 9.98467517e-01 -5.06840188e-02 -2.22204341e-02 5.81387020e+02] [ 5.06806005e-02 9.98714655e-01 -7.17315811e-04 8.62713232e+00] [ 2.22282296e-02 -4.09928404e-04 9.99752838e-01 6.99525732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.515099893 meters 0.01261698171831722 Centerline is valid? [True, True] Translation: X:581.42, Y:8.63, Z:7.00 [[ 9.98467517e-01 -5.06840188e-02 -2.22204341e-02 5.81417009e+02] [ 5.06806005e-02 9.98714655e-01 -7.17315811e-04 8.62810041e+00] [ 2.22282296e-02 -4.09928404e-04 9.99752838e-01 6.99562836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5450998929999 meters 0.012271014099506173 Centerline is valid? [True, True] Translation: X:581.45, Y:8.63, Z:7.00 [[ 9.98586390e-01 -4.86545979e-02 -2.13997980e-02 5.81447943e+02] [ 4.86509650e-02 9.98815602e-01 -6.90661390e-04 8.62988941e+00] [ 2.14080560e-02 -3.51435757e-04 9.99770760e-01 6.99663576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5750998929999 meters 0.012026940875197139 Centerline is valid? [True, True] Translation: X:581.48, Y:8.63, Z:7.00 [[ 9.98645572e-01 -4.74951254e-02 -2.12422824e-02 5.81478348e+02] [ 4.74912882e-02 9.98871417e-01 -6.85356809e-04 8.63101826e+00] [ 2.12508598e-02 -3.24394814e-04 9.99774122e-01 6.99713367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.605099893 meters 0.01189361668927904 Centerline is valid? [True, True] Translation: X:581.51, Y:8.63, Z:7.00 [[ 9.98677675e-01 -4.67046479e-02 -2.14843287e-02 5.81509090e+02] [ 4.67005399e-02 9.98908694e-01 -6.93166144e-04 8.63154126e+00] [ 2.14932569e-02 -3.11080200e-04 9.99768945e-01 6.99735011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.635099893 meters 0.01216413583815528 Centerline is valid? [True, True] Translation: X:581.54, Y:8.63, Z:7.00 [[ 9.98635787e-01 -4.72853945e-02 -2.21507620e-02 5.81538787e+02] [ 4.72811704e-02 9.98881364e-01 -7.14671602e-04 8.62966543e+00] [ 2.21597769e-02 -3.33617314e-04 9.99754386e-01 6.99632635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6650998929999 meters 0.012460835762908655 Centerline is valid? [True, True] Translation: X:581.57, Y:8.63, Z:7.00 [[ 9.98570634e-01 -4.82820122e-02 -2.29245887e-02 5.81568929e+02] [ 4.82777418e-02 9.98833676e-01 -7.40011811e-04 8.62915478e+00] [ 2.29335804e-02 -3.67793309e-04 9.99736923e-01 6.99595453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6950998929999 meters 0.012528327714190999 Centerline is valid? [True, True] Translation: X:581.60, Y:8.63, Z:7.00 [[ 9.98409548e-01 -5.08225474e-02 -2.44017001e-02 5.81598996e+02] [ 5.08184456e-02 9.98707597e-01 -7.88585634e-04 8.62878947e+00] [ 2.44102411e-02 -4.52725040e-04 9.99701923e-01 6.99604220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.725099893 meters 0.013751288738765242 Centerline is valid? [True, True] Translation: X:581.63, Y:8.63, Z:7.00 [[ 9.98330220e-01 -5.22062435e-02 -2.47240645e-02 5.81627643e+02] [ 5.22024292e-02 9.98636203e-01 -8.00116299e-04 8.62698352e+00] [ 2.47321169e-02 -4.91875944e-04 9.99693993e-01 6.99509903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.755099893 meters 0.014001076537526184 Centerline is valid? [True, True] Translation: X:581.66, Y:8.63, Z:7.00 [[ 9.98279076e-01 -5.30697122e-02 -2.49497992e-02 5.81657316e+02] [ 5.30660700e-02 9.98590676e-01 -8.08521548e-04 8.62712359e+00] [ 2.49575448e-02 -5.16857645e-04 9.99688378e-01 6.99553191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7850998929999 meters 0.014338611645894454 Centerline is valid? [True, True] Translation: X:581.69, Y:8.63, Z:7.00 [[ 9.98244643e-01 -5.35616830e-02 -2.52740868e-02 5.81685782e+02] [ 5.35580756e-02 9.98564399e-01 -8.20119785e-04 8.62718178e+00] [ 2.52817303e-02 -5.34951272e-04 9.99680223e-01 6.99583059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8150998929999 meters 0.01305169484528069 Centerline is valid? [True, True] Translation: X:581.72, Y:8.63, Z:7.00 [[ 9.98269318e-01 -5.33935784e-02 -2.46473870e-02 5.81715345e+02] [ 5.33900703e-02 9.98573412e-01 -8.00841191e-04 8.62979587e+00] [ 2.46549851e-02 -5.16470535e-04 9.99695886e-01 6.99868790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.845099893 meters 0.012894624069122671 Centerline is valid? [True, True] Translation: X:581.75, Y:8.63, Z:7.00 [[ 9.98298430e-01 -5.30826739e-02 -2.41345169e-02 5.81745427e+02] [ 5.30791987e-02 9.98589997e-01 -7.85036243e-04 8.63114750e+00] [ 2.41421590e-02 -4.97340370e-04 9.99708412e-01 7.00014927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.875099893 meters 0.012587190786390774 Centerline is valid? [True, True] Translation: X:581.78, Y:8.63, Z:7.00 [[ 9.98332455e-01 -5.28714300e-02 -2.31715676e-02 5.81775143e+02] [ 5.28681506e-02 9.98601216e-01 -7.54535262e-04 8.63296133e+00] [ 2.31790489e-02 -4.71760882e-04 9.99731218e-01 7.00174804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9050998929999 meters 0.012748709897023678 Centerline is valid? [True, True] Translation: X:581.80, Y:8.63, Z:7.00 [[ 9.98374479e-01 -5.26998672e-02 -2.17054040e-02 5.81804259e+02] [ 5.26969406e-02 9.98610301e-01 -7.07180893e-04 8.63364951e+00] [ 2.17125083e-02 -4.37777030e-04 9.99764160e-01 7.00336982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9350998929999 meters 0.014119459871886135 Centerline is valid? [True, True] Translation: X:581.83, Y:8.63, Z:7.00 [[ 9.98360746e-01 -5.32914626e-02 -2.08768127e-02 5.81833937e+02] [ 5.32888821e-02 9.98578906e-01 -6.80293872e-04 8.63229668e+00] [ 2.08833986e-02 -4.33323312e-04 9.99781824e-01 7.00347120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9650998929999 meters 0.013405566006272884 Centerline is valid? [True, True] Translation: X:581.86, Y:8.63, Z:7.00 [[ 9.98357452e-01 -5.36198537e-02 -2.01819086e-02 5.81864431e+02] [ 5.36175049e-02 9.98561330e-01 -6.57862450e-04 8.63450278e+00] [ 2.01881480e-02 -4.25321705e-04 9.99796108e-01 7.00495732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.995099893 meters 0.013149221866728098 Centerline is valid? [True, True] Translation: X:581.89, Y:8.64, Z:7.01 [[ 9.98333019e-01 -5.41724504e-02 -1.99130108e-02 5.81894604e+02] [ 5.41702736e-02 9.98531502e-01 -6.49097283e-04 8.63575108e+00] [ 1.99189317e-02 -4.30677992e-04 9.99801506e-01 7.00544473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.025099893 meters 0.013179223409791621 Centerline is valid? [True, True] Translation: X:581.93, Y:8.64, Z:7.01 [[ 9.98340639e-01 -5.40177992e-02 -1.99511047e-02 5.81926118e+02] [ 5.40155886e-02 9.98539881e-01 -6.50067931e-04 8.63679429e+00] [ 1.99570890e-02 -4.28681431e-04 9.99800746e-01 7.00536105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0550998929999 meters 0.012513851073665398 Centerline is valid? [True, True] Translation: X:581.96, Y:8.64, Z:7.01 [[ 9.98331994e-01 -5.39734092e-02 -2.04963792e-02 5.81957150e+02] [ 5.39710823e-02 9.98542276e-01 -6.67082356e-04 8.63916494e+00] [ 2.05025059e-02 -4.40242111e-04 9.99789705e-01 7.00617178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0850998929999 meters 0.01259752325988459 Centerline is valid? [True, True] Translation: X:581.99, Y:8.64, Z:7.01 [[ 9.98315468e-01 -5.41096045e-02 -2.09374473e-02 5.81987830e+02] [ 5.41072160e-02 9.98534899e-01 -6.80973705e-04 8.64077956e+00] [ 2.09436191e-02 -4.53040399e-04 9.99780556e-01 7.00628632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.115099893 meters 0.013359428809669041 Centerline is valid? [True, True] Translation: X:582.02, Y:8.64, Z:7.01 [[ 9.98276703e-01 -5.46678547e-02 -2.13319086e-02 5.82018512e+02] [ 5.46655062e-02 9.98504482e-01 -6.93640721e-04 8.64087190e+00] [ 2.13379262e-02 -4.73674208e-04 9.99772208e-01 7.00601409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.145099893 meters 0.013244691265500035 Centerline is valid? [True, True] Translation: X:582.05, Y:8.64, Z:7.01 [[ 9.98206317e-01 -5.57232981e-02 -2.18875198e-02 5.82049368e+02] [ 5.57210842e-02 9.98446120e-01 -7.11477649e-04 8.64233541e+00] [ 2.18931551e-02 -5.09394852e-04 9.99760186e-01 7.00642831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1750998929999 meters 0.013627686480048456 Centerline is valid? [True, True] Translation: X:582.08, Y:8.64, Z:7.01 [[ 9.98117246e-01 -5.71061968e-02 -2.23795978e-02 5.82080255e+02] [ 5.71042338e-02 9.98367957e-01 -7.27291838e-04 8.64258917e+00] [ 2.23846062e-02 -5.52047260e-04 9.99749281e-01 7.00665398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2050998929999 meters 0.014283966767592695 Centerline is valid? [True, True] Translation: X:582.11, Y:8.64, Z:7.01 [[ 9.97900793e-01 -6.04394270e-02 -2.32611822e-02 5.82111974e+02] [ 6.04382257e-02 9.98171654e-01 -7.55310268e-04 8.64204069e+00] [ 2.32643033e-02 -6.52139866e-04 9.99729137e-01 7.00637997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.235099893 meters 0.016159616066119875 Centerline is valid? [True, True] Translation: X:582.14, Y:8.64, Z:7.01 [[ 9.97784484e-01 -6.21657339e-02 -2.36969351e-02 5.82141946e+02] [ 6.21649826e-02 9.98065591e-01 -7.69082328e-04 8.63964358e+00] [ 2.36989061e-02 -7.05741141e-04 9.99718892e-01 7.00552758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.265099893 meters 0.015255481291213933 Centerline is valid? [True, True] Translation: X:582.17, Y:8.64, Z:7.01 [[ 9.97675139e-01 -6.37780228e-02 -2.40141876e-02 5.82172692e+02] [ 6.37777207e-02 9.97963825e-01 -7.79257709e-04 8.64180715e+00] [ 2.40149900e-02 -7.54124107e-04 9.99711314e-01 7.00640539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2950998929999 meters 0.01607845004336936 Centerline is valid? [True, True] Translation: X:582.20, Y:8.64, Z:7.01 [[ 9.97587329e-01 -6.51535752e-02 -2.39694042e-02 5.82202951e+02] [ 6.51536812e-02 9.97874939e-01 -7.77368429e-04 8.64169261e+00] [ 2.39691161e-02 -7.86202028e-04 9.99712390e-01 7.00647877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3250998929999 meters 0.017093634338529055 Centerline is valid? [True, True] Translation: X:582.23, Y:8.64, Z:7.01 [[ 9.97475804e-01 -6.67495096e-02 -2.42182594e-02 5.82233524e+02] [ 6.67500983e-02 9.97769416e-01 -7.84999829e-04 8.64212211e+00] [ 2.42166369e-02 -8.33552857e-04 9.99706387e-01 7.00629250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.355099893 meters 0.016791604322588242 Centerline is valid? [True, True] Translation: X:582.27, Y:8.64, Z:7.01 [[ 9.97443441e-01 -6.71507827e-02 -2.44408273e-02 5.82265275e+02] [ 6.71515187e-02 9.97742475e-01 -7.91552959e-04 8.64424981e+00] [ 2.44388049e-02 -8.51709362e-04 9.99700965e-01 7.00694252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.385099893 meters 0.01697834148858489 Centerline is valid? [True, True] Translation: X:582.30, Y:8.65, Z:7.01 [[ 9.97424080e-01 -6.73249895e-02 -2.47497563e-02 5.82296799e+02] [ 6.73258202e-02 9.97730722e-01 -8.00657779e-04 8.64588230e+00] [ 2.47474965e-02 -8.67702295e-04 9.99693357e-01 7.00711318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4150998929999 meters 0.016489945180524653 Centerline is valid? [True, True] Translation: X:582.33, Y:8.65, Z:7.01 [[ 9.97420506e-01 -6.73199802e-02 -2.49069216e-02 5.82327808e+02] [ 6.73208425e-02 9.97731054e-01 -8.04834091e-04 8.64833411e+00] [ 2.49045906e-02 -8.73996921e-04 9.99689451e-01 7.00774556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4450998929999 meters 0.016492562026020636 Centerline is valid? [True, True] Translation: X:582.36, Y:8.65, Z:7.01 [[ 9.97409992e-01 -6.73329255e-02 -2.52900373e-02 5.82359363e+02] [ 6.73338424e-02 9.97730168e-01 -8.16282230e-04 8.65097139e+00] [ 2.52875959e-02 -8.88707337e-04 9.99679823e-01 7.00842394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.475099893 meters 0.017065547165588037 Centerline is valid? [True, True] Translation: X:582.39, Y:8.65, Z:7.01 [[ 9.97417452e-01 -6.73426352e-02 -2.49678860e-02 5.82389562e+02] [ 6.73435487e-02 9.97729522e-01 -8.05209456e-04 8.65200648e+00] [ 2.49654219e-02 -8.78296082e-04 9.99687929e-01 7.00875489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.505099893 meters 0.016796722257668147 Centerline is valid? [True, True] Translation: X:582.42, Y:8.65, Z:7.01 [[ 9.97410350e-01 -6.75286898e-02 -2.47481169e-02 5.82420686e+02] [ 6.75296611e-02 9.97716948e-01 -7.97449941e-04 8.65441831e+00] [ 2.47454664e-02 -8.75847125e-04 9.99693400e-01 7.00969426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5350998929999 meters 0.018637073473142043 Centerline is valid? [True, True] Translation: X:582.45, Y:8.65, Z:7.01 [[ 9.97344661e-01 -6.87621276e-02 -2.39874536e-02 5.82451050e+02] [ 6.87634116e-02 9.97632696e-01 -7.72294815e-04 8.65457627e+00] [ 2.39837726e-02 -8.79215035e-04 9.99711961e-01 7.01029779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5650998929999 meters 0.01748540607779545 Centerline is valid? [True, True] Translation: X:582.48, Y:8.66, Z:7.01 [[ 9.97306639e-01 -6.94944223e-02 -2.34519504e-02 5.82482721e+02] [ 6.94958662e-02 9.97581954e-01 -7.54433161e-04 8.65810299e+00] [ 2.34476714e-02 -8.77412406e-04 9.99724681e-01 7.01167813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.595099893 meters 0.01888696394552388 Centerline is valid? [True, True] Translation: X:582.51, Y:8.66, Z:7.01 [[ 9.97283859e-01 -7.00080719e-02 -2.28861397e-02 5.82512787e+02] [ 7.00095962e-02 9.97546047e-01 -7.35603435e-04 8.65766603e+00] [ 2.28814763e-02 -8.68643965e-04 9.99737807e-01 7.01172687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.625099893 meters 0.017981097773305175 Centerline is valid? [True, True] Translation: X:582.54, Y:8.66, Z:7.01 [[ 9.97241103e-01 -7.06380464e-02 -2.28133696e-02 5.82544697e+02] [ 7.06397481e-02 9.97501624e-01 -7.32281152e-04 8.66144541e+00] [ 2.28081002e-02 -8.81269820e-04 9.99739473e-01 7.01196649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6550998929999 meters 0.019250991378021262 Centerline is valid? [True, True] Translation: X:582.58, Y:8.66, Z:7.01 [[ 9.97264473e-01 -7.03370593e-02 -2.27215709e-02 5.82576301e+02] [ 7.03387165e-02 9.97522900e-01 -7.27251718e-04 8.66140021e+00] [ 2.27164400e-02 -8.72943832e-04 9.99741567e-01 7.01167100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6850998929999 meters 0.019865714574983432 Centerline is valid? [True, True] Translation: X:582.61, Y:8.66, Z:7.01 [[ 9.97293432e-01 -6.98765170e-02 -2.28710228e-02 5.82607476e+02] [ 6.98781206e-02 9.97555269e-01 -7.30055159e-04 8.66306463e+00] [ 2.28661230e-02 -8.70104874e-04 9.99738157e-01 7.01177363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7150998929999 meters 0.0197099430358965 Centerline is valid? [True, True] Translation: X:582.64, Y:8.67, Z:7.01 [[ 9.97415366e-01 -6.78722122e-02 -2.35786220e-02 5.82637377e+02] [ 6.78733778e-02 9.97693660e-01 -7.51775211e-04 8.66749217e+00] [ 2.35752664e-02 -8.50528575e-04 9.99721703e-01 7.01183595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.745099893 meters 0.01959245555576993 Centerline is valid? [True, True] Translation: X:582.67, Y:8.67, Z:7.01 [[ 9.97489201e-01 -6.68016453e-02 -2.35124192e-02 5.82668269e+02] [ 6.68025213e-02 9.97765936e-01 -7.49072695e-04 8.67010397e+00] [ 2.35099302e-02 -8.23496957e-04 9.99723264e-01 7.01213036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.775099893 meters 0.016410439787054282 Centerline is valid? [True, True] Translation: X:582.70, Y:8.68, Z:7.01 [[ 9.97564636e-01 -6.58098489e-02 -2.31054307e-02 5.82699273e+02] [ 6.58104476e-02 9.97831872e-01 -7.35303568e-04 8.67719118e+00] [ 2.31037254e-02 -7.87065903e-04 9.99732763e-01 7.01430154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8050998929999 meters 0.015695069812678476 Centerline is valid? [True, True] Translation: X:582.73, Y:8.68, Z:7.02 [[ 9.97670440e-01 -6.45628852e-02 -2.20301507e-02 5.82730888e+02] [ 6.45631467e-02 9.97913378e-01 -7.00124795e-04 8.68218618e+00] [ 2.20293842e-02 -7.23842043e-04 9.99757062e-01 7.01596056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8350998929999 meters 0.015902859709570588 Centerline is valid? [True, True] Translation: X:582.76, Y:8.68, Z:7.02 [[ 9.97691841e-01 -6.43512530e-02 -2.16773490e-02 5.82761596e+02] [ 6.43514818e-02 9.97927058e-01 -6.87734985e-04 8.68398490e+00] [ 2.16766697e-02 -7.08821948e-04 9.99764782e-01 7.01626971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.865099893 meters 0.01545616900145833 Centerline is valid? [True, True] Translation: X:582.79, Y:8.69, Z:7.02 [[ 9.97690108e-01 -6.44066103e-02 -2.15925186e-02 5.82794036e+02] [ 6.44068795e-02 9.97923487e-01 -6.83688788e-04 8.68681160e+00] [ 2.15917155e-02 -7.08597199e-04 9.99766621e-01 7.01696433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.895099893 meters 0.016290283324419723 Centerline is valid? [True, True] Translation: X:582.83, Y:8.69, Z:7.02 [[ 9.97666743e-01 -6.47377640e-02 -2.16815975e-02 5.82825221e+02] [ 6.47381445e-02 9.97902051e-01 -6.85080296e-04 8.68768997e+00] [ 2.16804612e-02 -7.20144566e-04 9.99764692e-01 7.01668721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9250998929999 meters 0.016402267809830083 Centerline is valid? [True, True] Translation: X:582.86, Y:8.69, Z:7.02 [[ 9.97524149e-01 -6.65935171e-02 -2.26025715e-02 5.82857518e+02] [ 6.65944395e-02 9.97779872e-01 -7.12720458e-04 8.69100668e+00] [ 2.25998535e-02 -7.94249715e-04 9.99744275e-01 7.01652615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9550998929999 meters 0.016692157536649384 Centerline is valid? [True, True] Translation: X:582.89, Y:8.69, Z:7.02 [[ 9.97407290e-01 -6.81293901e-02 -2.31750917e-02 5.82889926e+02] [ 6.81308140e-02 9.97676130e-01 -7.29045208e-04 8.69236029e+00] [ 2.31709052e-02 -8.51782856e-04 9.99731156e-01 7.01638332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.985099893 meters 0.018452532149818554 Centerline is valid? [True, True] Translation: X:582.92, Y:8.69, Z:7.02 [[ 9.97258321e-01 -7.00588782e-02 -2.38242424e-02 5.82920640e+02] [ 7.00609902e-02 9.97542430e-01 -7.47058832e-04 8.69132779e+00] [ 2.38180308e-02 -9.24139379e-04 9.99715883e-01 7.01577193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.015099893 meters 0.02092392134671735 Centerline is valid? [True, True] Translation: X:582.95, Y:8.69, Z:7.02 [[ 9.96903608e-01 -7.48221673e-02 -2.41834408e-02 5.82951236e+02] [ 7.48257911e-02 9.97196334e-01 -7.56295975e-04 8.68991188e+00] [ 2.41722262e-02 -1.05559090e-03 9.99707252e-01 7.01559717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0450998929999 meters 0.020444883749899133 Centerline is valid? [True, True] Translation: X:582.98, Y:8.69, Z:7.02 [[ 9.96725672e-01 -7.70904248e-02 -2.43926630e-02 5.82983511e+02] [ 7.70948214e-02 9.97023474e-01 -7.61519622e-04 8.69203412e+00] [ 2.43787635e-02 -1.12152184e-03 9.99702165e-01 7.01636972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0750998929999 meters 0.021359519611886316 Centerline is valid? [True, True] Translation: X:583.02, Y:8.69, Z:7.02 [[ 9.96535738e-01 -7.94952671e-02 -2.44341179e-02 5.83015411e+02] [ 7.95004378e-02 9.96834540e-01 -7.61255445e-04 8.69209635e+00] [ 2.44172889e-02 -1.18390481e-03 9.99701153e-01 7.01673302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.105099893 meters 0.0239420824037204 Centerline is valid? [True, True] Translation: X:583.05, Y:8.69, Z:7.02 [[ 9.96192281e-01 -8.38818807e-02 -2.37648864e-02 5.83045637e+02] [ 8.38880317e-02 9.96474912e-01 -7.39752828e-04 8.69044114e+00] [ 2.37431650e-02 -1.25665349e-03 9.99717302e-01 7.01759453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.135099893 meters 0.025677097837852506 Centerline is valid? [True, True] Translation: X:583.08, Y:8.69, Z:7.02 [[ 9.96053359e-01 -8.56309714e-02 -2.33461553e-02 5.83077057e+02] [ 8.56374001e-02 9.96326105e-01 -7.26128169e-04 8.68995354e+00] [ 2.33225631e-02 -1.27604164e-03 9.99727178e-01 7.01802720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1650998929999 meters 0.024729435882169536 Centerline is valid? [True, True] Translation: X:583.11, Y:8.69, Z:7.02 [[ 9.95953413e-01 -8.69805878e-02 -2.26092107e-02 5.83109488e+02] [ 8.69869947e-02 9.96209200e-01 -7.01820918e-04 8.69307830e+00] [ 2.25845485e-02 -1.26772635e-03 9.99744133e-01 7.01942088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1950998929999 meters 0.026394077415263985 Centerline is valid? [True, True] Translation: X:583.14, Y:8.69, Z:7.02 [[ 9.95818551e-01 -8.87999342e-02 -2.14472437e-02 5.83140097e+02] [ 8.88061447e-02 9.96048707e-01 -6.64573539e-04 8.69362743e+00] [ 2.14215135e-02 -1.24285237e-03 9.99769761e-01 7.02001610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.225099893 meters 0.025936982529741828 Centerline is valid? [True, True] Translation: X:583.17, Y:8.70, Z:7.02 [[ 9.95784499e-01 -8.92742803e-02 -2.10554965e-02 5.83172520e+02] [ 8.92803940e-02 9.96006319e-01 -6.51367027e-04 8.69615092e+00] [ 2.10295578e-02 -1.23122183e-03 9.99778096e-01 7.02037738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.255099893 meters 0.025140540863594 Centerline is valid? [True, True] Translation: X:583.20, Y:8.70, Z:7.02 [[ 9.95741386e-01 -8.97635018e-02 -2.10144301e-02 5.83204969e+02] [ 8.97697323e-02 9.95962336e-01 -6.48569211e-04 8.69936237e+00] [ 2.09877988e-02 -1.24065256e-03 9.99778962e-01 7.02085043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2850998929999 meters 0.025890606226314162 Centerline is valid? [True, True] Translation: X:583.24, Y:8.70, Z:7.02 [[ 9.95657753e-01 -9.06660803e-02 -2.11021317e-02 5.83237264e+02] [ 9.06725975e-02 9.95880544e-01 -6.49727692e-04 8.70193848e+00] [ 2.10741107e-02 -1.26647868e-03 9.99777114e-01 7.02084431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3150998929999 meters 0.025531811471181862 Centerline is valid? [True, True] Translation: X:583.27, Y:8.70, Z:7.02 [[ 9.95615074e-01 -9.11708152e-02 -2.09405787e-02 5.83269521e+02] [ 9.11773761e-02 9.95834460e-01 -6.43227928e-04 8.70496742e+00] [ 2.09119935e-02 -1.26889960e-03 9.99780515e-01 7.02143065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.345099893 meters 0.02673176465861547 Centerline is valid? [True, True] Translation: X:583.30, Y:8.71, Z:7.02 [[ 9.95547029e-01 -9.19162737e-02 -2.09167883e-02 5.83300442e+02] [ 9.19230123e-02 9.95765911e-01 -6.41120784e-04 8.70601031e+00] [ 2.08871542e-02 -1.28446830e-03 9.99781014e-01 7.02197010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.375099893 meters 0.026649079026942506 Centerline is valid? [True, True] Translation: X:583.33, Y:8.71, Z:7.02 [[ 9.95362368e-01 -9.37686767e-02 -2.14753566e-02 5.83331277e+02] [ 9.37762280e-02 9.95593083e-01 -6.57378821e-04 8.70936901e+00] [ 2.14423580e-02 -1.35954779e-03 9.99769162e-01 7.02265171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4050998929999 meters 0.02822883720145431 Centerline is valid? [True, True] Translation: X:583.36, Y:8.71, Z:7.02 [[ 9.95276040e-01 -9.46866449e-02 -2.14486457e-02 5.83362763e+02] [ 9.46944052e-02 9.95506173e-01 -6.55837908e-04 8.70923805e+00] [ 2.14143582e-02 -1.37832699e-03 9.99769736e-01 7.02259110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4350998929999 meters 0.02822883720145431 Centerline is valid? [True, True] Translation: X:583.40, Y:8.71, Z:7.02 [[ 9.95286352e-01 -9.45781732e-02 -2.14486965e-02 5.83395351e+02] [ 9.45859442e-02 9.95516485e-01 -6.54171955e-04 8.71014528e+00] [ 2.14144013e-02 -1.37765679e-03 9.99769736e-01 7.02299408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4650998929999 meters 0.02920130926553248 Centerline is valid? [True, True] Translation: X:583.43, Y:8.71, Z:7.02 [[ 9.95193405e-01 -9.54469941e-02 -2.19079364e-02 5.83427251e+02] [ 9.54553564e-02 9.95433489e-01 -6.66114382e-04 8.71094986e+00] [ 2.18714722e-02 -1.42831724e-03 9.99759770e-01 7.02350840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.495099893 meters 0.029181683830501997 Centerline is valid? [True, True] Translation: X:583.46, Y:8.71, Z:7.02 [[ 9.95122482e-01 -9.62172059e-02 -2.17599322e-02 5.83459591e+02] [ 9.62256728e-02 9.95359324e-01 -6.60050499e-04 8.71311514e+00] [ 2.17224597e-02 -1.43703303e-03 9.99763007e-01 7.02370183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.525099893 meters 0.03327459043550722 Centerline is valid? [True, True] Translation: X:583.49, Y:8.71, Z:7.02 [[ 9.95000315e-01 -9.74276493e-02 -2.19596398e-02 5.83490443e+02] [ 9.74365933e-02 9.95241513e-01 -6.64858984e-04 8.71090145e+00] [ 2.19199208e-02 -1.47813759e-03 9.99758637e-01 7.02297089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5550998929999 meters 0.029679206727065702 Centerline is valid? [True, True] Translation: X:583.52, Y:8.72, Z:7.02 [[ 9.94979926e-01 -9.75634976e-02 -2.22780204e-02 5.83521993e+02] [ 9.75727628e-02 9.95228166e-01 -6.73326208e-04 8.71745318e+00] [ 2.22374054e-02 -1.50378194e-03 9.99751587e-01 7.02390398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5850998929999 meters 0.027515737170782983 Centerline is valid? [True, True] Translation: X:583.55, Y:8.72, Z:7.02 [[ 9.94956544e-01 -9.77128366e-02 -2.26644382e-02 5.83554395e+02] [ 9.77225028e-02 9.95213467e-01 -6.83327509e-04 8.72339256e+00] [ 2.26227240e-02 -1.53494445e-03 9.99742895e-01 7.02390225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.615099893 meters 0.028550046224748694 Centerline is valid? [True, True] Translation: X:583.59, Y:8.72, Z:7.02 [[ 9.94948689e-01 -9.76210321e-02 -2.33931516e-02 5.83585699e+02] [ 9.76313633e-02 9.95222399e-01 -7.02805353e-04 8.72408317e+00] [ 2.33499970e-02 -1.58465002e-03 9.99726096e-01 7.02360590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.645099893 meters 0.02911420990128944 Centerline is valid? [True, True] Translation: X:583.62, Y:8.73, Z:7.02 [[ 9.94974920e-01 -9.72828212e-02 -2.36846027e-02 5.83617982e+02] [ 9.72933771e-02 9.95255493e-01 -7.08985170e-04 8.72546854e+00] [ 2.36412030e-02 -1.59893252e-03 9.99719229e-01 7.02333209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6750998929999 meters 0.028678839283521607 Centerline is valid? [True, True] Translation: X:583.65, Y:8.73, Z:7.02 [[ 9.95005257e-01 -9.68315817e-02 -2.42524971e-02 5.83649784e+02] [ 9.68425601e-02 9.95299449e-01 -7.24194019e-04 8.72834433e+00] [ 2.42086219e-02 -1.62809705e-03 9.99705603e-01 7.02337036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7050998929999 meters 0.03168856000132169 Centerline is valid? [True, True] Translation: X:583.68, Y:8.73, Z:7.02 [[ 9.95081125e-01 -9.60570218e-02 -2.42198822e-02 5.83681200e+02] [ 9.60677798e-02 9.95374533e-01 -7.21670842e-04 8.72867410e+00] [ 2.41771754e-02 -1.60862927e-03 9.99706395e-01 7.02313443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.735099893 meters 0.027871437390891426 Centerline is valid? [True, True] Translation: X:583.71, Y:8.74, Z:7.03 [[ 9.95194119e-01 -9.51540913e-02 -2.31163254e-02 5.83712727e+02] [ 9.51636812e-02 9.95461401e-01 -6.87357632e-04 8.73790316e+00] [ 2.30768146e-02 -1.51578035e-03 9.99732546e-01 7.02556146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.765099893 meters 0.027871437390891426 Centerline is valid? [True, True] Translation: X:583.75, Y:8.74, Z:7.03 [[ 9.95204593e-01 -9.50444643e-02 -2.31163874e-02 5.83745321e+02] [ 9.50540731e-02 9.95471875e-01 -6.85268971e-04 8.73878403e+00] [ 2.30768445e-02 -1.51532395e-03 9.99732546e-01 7.02596443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7950998929999 meters 0.02934730602046511 Centerline is valid? [True, True] Translation: X:583.78, Y:8.74, Z:7.03 [[ 9.95351115e-01 -9.39142551e-02 -2.13604866e-02 5.83775793e+02] [ 9.39222300e-02 9.95579337e-01 -6.31794692e-04 8.74116549e+00] [ 2.13253936e-02 -1.37736698e-03 9.99771639e-01 7.02691180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8250998929999 meters 0.029286525047476378 Centerline is valid? [True, True] Translation: X:583.81, Y:8.74, Z:7.03 [[ 9.95440808e-01 -9.30791116e-02 -2.08297018e-02 5.83807848e+02] [ 9.30865299e-02 9.95657832e-01 -6.15272264e-04 8.74357140e+00] [ 2.07965247e-02 -1.32649754e-03 9.99782849e-01 7.02767872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.855099893 meters 0.026404633404427207 Centerline is valid? [True, True] Translation: X:583.84, Y:8.75, Z:7.03 [[ 9.95552245e-01 -9.21361998e-02 -1.96633877e-02 5.83839813e+02] [ 9.21426540e-02 9.95745648e-01 -5.79450758e-04 8.75149590e+00] [ 1.96331211e-02 -1.23496323e-03 9.99806489e-01 7.02901631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.885099893 meters 0.02651397182599742 Centerline is valid? [True, True] Translation: X:583.87, Y:8.75, Z:7.03 [[ 9.95614753e-01 -9.15407589e-02 -1.92756900e-02 5.83871514e+02] [ 9.15468768e-02 9.95800607e-01 -5.66626436e-04 8.75392433e+00] [ 1.92466132e-02 -1.20048758e-03 9.99814046e-01 7.02916509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9150998929999 meters 0.03023933255499983 Centerline is valid? [True, True] Translation: X:583.90, Y:8.75, Z:7.03 [[ 9.95636169e-01 -9.13390793e-02 -1.91256809e-02 5.83902578e+02] [ 9.13450895e-02 9.95819140e-01 -5.60946897e-04 8.75142670e+00] [ 1.90969555e-02 -1.18853801e-03 9.99816930e-01 7.02872589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9450998929999 meters 0.026937640860819095 Centerline is valid? [True, True] Translation: X:583.94, Y:8.76, Z:7.03 [[ 9.95650538e-01 -9.11957285e-02 -1.90616167e-02 5.83935040e+02] [ 9.12016991e-02 9.95832285e-01 -5.57658819e-04 8.75775225e+00] [ 1.90330294e-02 -1.18321853e-03 9.99818155e-01 7.02907478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.975099893 meters 0.027920626620884143 Centerline is valid? [True, True] Translation: X:583.97, Y:8.76, Z:7.03 [[ 9.95499052e-01 -9.26429244e-02 -1.99731550e-02 5.83967355e+02] [ 9.26498094e-02 9.95698586e-01 -5.82351637e-04 8.75909722e+00] [ 1.99411929e-02 -1.27077850e-03 9.99800347e-01 7.02842662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.005099893 meters 0.027337960557765877 Centerline is valid? [True, True] Translation: X:584.00, Y:8.76, Z:7.03 [[ 9.95389550e-01 -9.37411867e-02 -2.03035286e-02 5.83998927e+02] [ 9.37485563e-02 9.95595731e-01 -5.90633711e-04 8.76158102e+00] [ 2.02694731e-02 -1.31551587e-03 9.99793688e-01 7.02856516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0350998929999 meters 0.029330398509580028 Centerline is valid? [True, True] Translation: X:584.03, Y:8.76, Z:7.03 [[ 9.95261018e-01 -9.50149945e-02 -2.06798545e-02 5.84029598e+02] [ 9.50229344e-02 9.95474902e-01 -6.00581211e-04 8.76039312e+00] [ 2.06433404e-02 -1.36732539e-03 9.99785969e-01 7.02817730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0650998929999 meters 0.032734060433447995 Centerline is valid? [True, True] Translation: X:584.06, Y:8.76, Z:7.03 [[ 9.94952359e-01 -9.81945367e-02 -2.06793627e-02 5.84060138e+02] [ 9.82031720e-02 9.95166206e-01 -5.99965078e-04 8.75741472e+00] [ 2.06383162e-02 -1.43384235e-03 9.99785979e-01 7.02745472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.095099893 meters 0.029257720506255157 Centerline is valid? [True, True] Translation: X:584.09, Y:8.76, Z:7.03 [[ 9.94800649e-01 -9.97597048e-02 -2.04858704e-02 5.84092176e+02] [ 9.97685262e-02 9.95010497e-01 -5.93528945e-04 8.76305763e+00] [ 2.04428664e-02 -1.45340212e-03 9.99789966e-01 7.02857471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.125099893 meters 0.03268055977746849 Centerline is valid? [True, True] Translation: X:584.12, Y:8.76, Z:7.03 [[ 9.94661382e-01 -1.01176714e-01 -2.02979548e-02 5.84122970e+02] [ 1.01185692e-01 9.94867384e-01 -5.86882389e-04 8.75964717e+00] [ 2.02531521e-02 -1.47011336e-03 9.99793803e-01 7.02842739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1550998929999 meters 0.032716179087139606 Centerline is valid? [True, True] Translation: X:584.15, Y:8.76, Z:7.03 [[ 9.94423414e-01 -1.03468626e-01 -2.04038709e-02 5.84153999e+02] [ 1.03478190e-01 9.94631548e-01 -5.89340098e-04 8.76052738e+00] [ 2.03553119e-02 -1.52530204e-03 9.99791646e-01 7.02854856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1850998929999 meters 0.0325886280925391 Centerline is valid? [True, True] Translation: X:584.19, Y:8.76, Z:7.03 [[ 9.94365882e-01 -1.04092741e-01 -2.00298534e-02 5.84186544e+02] [ 1.04102099e-01 9.94566448e-01 -5.77755808e-04 8.76185732e+00] [ 1.99811603e-02 -1.51064911e-03 9.99799215e-01 7.02876873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2150998929999 meters 0.03320431201931033 Centerline is valid? [True, True] Translation: X:584.22, Y:8.76, Z:7.03 [[ 9.94329814e-01 -1.04483006e-01 -1.97869039e-02 5.84218556e+02] [ 1.04492243e-01 9.94525539e-01 -5.69313077e-04 8.76250801e+00] [ 1.97380648e-02 -1.50149301e-03 9.99804058e-01 7.02925998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.245099893 meters 0.03408517173271924 Centerline is valid? [True, True] Translation: X:584.25, Y:8.76, Z:7.03 [[ 9.94353926e-01 -1.04293044e-01 -1.95762590e-02 5.84249549e+02] [ 1.04302074e-01 9.94545505e-01 -5.61967723e-04 8.76346417e+00] [ 1.95280897e-02 -1.48304960e-03 9.99808209e-01 7.02951284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.275099893 meters 0.0341189069717824 Centerline is valid? [True, True] Translation: X:584.28, Y:8.76, Z:7.03 [[ 9.94317188e-01 -1.04641276e-01 -1.95839810e-02 5.84281480e+02] [ 1.04650404e-01 9.94508913e-01 -5.60993500e-04 8.76488098e+00] [ 1.95351467e-02 -1.49166605e-03 9.99808058e-01 7.02991004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3050998929999 meters 0.03202133677923716 Centerline is valid? [True, True] Translation: X:584.31, Y:8.77, Z:7.03 [[ 9.94294934e-01 -1.04870650e-01 -1.94866910e-02 5.84313501e+02] [ 1.04879759e-01 9.94484754e-01 -5.56790112e-04 8.76869265e+00] [ 1.94376081e-02 -1.49014586e-03 9.99809961e-01 7.03045417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3350998929999 meters 0.03358050422485426 Centerline is valid? [True, True] Translation: X:584.34, Y:8.77, Z:7.03 [[ 9.94209295e-01 -1.05734568e-01 -1.91853717e-02 5.84344187e+02] [ 1.05743579e-01 9.94393280e-01 -5.47030201e-04 8.76747017e+00] [ 1.91356447e-02 -1.48486737e-03 9.99815794e-01 7.03026235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.365099893 meters 0.03397361244118503 Centerline is valid? [True, True] Translation: X:584.38, Y:8.77, Z:7.03 [[ 9.94159332e-01 -1.06249061e-01 -1.89304019e-02 5.84376306e+02] [ 1.06257944e-01 9.94338453e-01 -5.38831226e-04 8.76762092e+00] [ 1.88804768e-02 -1.47582148e-03 9.99820659e-01 7.03035217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.395099893 meters 0.03653623693233799 Centerline is valid? [True, True] Translation: X:584.41, Y:8.76, Z:7.03 [[ 9.94121853e-01 -1.06663655e-01 -1.85635775e-02 5.84407078e+02] [ 1.06672289e-01 9.94294094e-01 -5.27278864e-04 8.76487188e+00] [ 1.85138970e-02 -1.45603987e-03 9.99827543e-01 7.03036817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4250998929999 meters 0.03729823148476058 Centerline is valid? [True, True] Translation: X:584.44, Y:8.76, Z:7.03 [[ 9.94106762e-01 -1.06871469e-01 -1.81723701e-02 5.84439645e+02] [ 1.06879793e-01 9.94271816e-01 -5.15313589e-04 8.76436608e+00] [ 1.81233477e-02 -1.42998243e-03 9.99834736e-01 7.03041177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4550998929999 meters 0.03865936149209775 Centerline is valid? [True, True] Translation: X:584.47, Y:8.76, Z:7.03 [[ 9.94124396e-01 -1.06764548e-01 -1.78330343e-02 5.84471179e+02] [ 1.06772568e-01 9.94283342e-01 -5.04538554e-04 8.76313484e+00] [ 1.77849557e-02 -1.40250478e-03 9.99840852e-01 7.03035984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.485099893 meters 0.03632579420530408 Centerline is valid? [True, True] Translation: X:584.50, Y:8.77, Z:7.03 [[ 9.94165857e-01 -1.06428201e-01 -1.75295957e-02 5.84503098e+02] [ 1.06435916e-01 9.94319441e-01 -4.94938277e-04 8.76690283e+00] [ 1.74826932e-02 -1.37372784e-03 9.99846222e-01 7.03087848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.515099893 meters 0.03664134174644244 Centerline is valid? [True, True] Translation: X:584.53, Y:8.77, Z:7.03 [[ 9.94318584e-01 -1.05081831e-01 -1.69812070e-02 5.84534098e+02] [ 1.05088892e-01 9.94462717e-01 -4.78428756e-04 8.76693783e+00] [ 1.69374514e-02 -1.30882563e-03 9.99855694e-01 7.03106857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5450998929999 meters 0.03552390785601564 Centerline is valid? [True, True] Translation: X:584.57, Y:8.77, Z:7.03 [[ 9.94480291e-01 -1.03683689e-01 -1.60823839e-02 5.84565130e+02] [ 1.03689850e-01 9.94609577e-01 -4.52552726e-04 8.76898155e+00] [ 1.60426154e-02 -1.21752521e-03 9.99870568e-01 7.03179682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5750998929999 meters 0.035452202381758995 Centerline is valid? [True, True] Translation: X:584.60, Y:8.77, Z:7.03 [[ 9.94673521e-01 -1.01913416e-01 -1.54350837e-02 5.84596209e+02] [ 1.01918887e-01 9.94792618e-01 -4.33802168e-04 8.76978803e+00] [ 1.53989175e-02 -1.14163502e-03 9.99880778e-01 7.03255932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.605099893 meters 0.032883255807388746 Centerline is valid? [True, True] Translation: X:584.63, Y:8.77, Z:7.03 [[ 9.94902426e-01 -9.98235911e-02 -1.42972937e-02 5.84627231e+02] [ 9.98280771e-02 9.95004620e-01 -4.01346095e-04 8.77379473e+00] [ 1.42659371e-02 -1.02797114e-03 9.99897708e-01 7.03370718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.635099893 meters 0.03101134020059895 Centerline is valid? [True, True] Translation: X:584.66, Y:8.78, Z:7.03 [[ 9.95510357e-01 -9.37100879e-02 -1.33247660e-02 5.84656686e+02] [ 9.37134442e-02 9.95599142e-01 -3.73647503e-04 8.77722524e+00] [ 1.33011401e-02 -8.76739757e-04 9.99911152e-01 7.03452619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6650998929999 meters 0.028265555982905543 Centerline is valid? [True, True] Translation: X:584.69, Y:8.78, Z:7.04 [[ 9.95846990e-01 -9.01046127e-02 -1.30357674e-02 5.84687506e+02] [ 9.01075143e-02 9.95931977e-01 -3.65767371e-04 8.78234275e+00] [ 1.30156949e-02 -8.10372259e-04 9.99914964e-01 7.03515513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6950998929999 meters 0.02689927461181881 Centerline is valid? [True, True] Translation: X:584.72, Y:8.79, Z:7.04 [[ 9.96188829e-01 -8.61829340e-02 -1.34282835e-02 5.84717805e+02] [ 8.61856611e-02 9.96279022e-01 -3.76552143e-04 8.78564563e+00] [ 1.34107696e-02 -7.82208456e-04 9.99909766e-01 7.03554147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.725099893 meters 0.023120062554200283 Centerline is valid? [True, True] Translation: X:584.75, Y:8.79, Z:7.03 [[ 9.96906469e-01 -7.73967434e-02 -1.36834516e-02 5.84748346e+02] [ 7.73987495e-02 9.97000144e-01 -3.83689267e-04 8.79193388e+00] [ 1.36720995e-02 -6.76579727e-04 9.99906304e-01 7.03495051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.755099893 meters 0.02006017256921486 Centerline is valid? [True, True] Translation: X:584.78, Y:8.80, Z:7.04 [[ 9.97251412e-01 -7.28319499e-02 -1.36062058e-02 5.84779282e+02] [ 7.28335125e-02 9.97344040e-01 -3.81296759e-04 8.79714300e+00] [ 1.35978388e-02 -6.10739027e-04 9.99907359e-01 7.03515101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7850998929999 meters 0.018547975556443802 Centerline is valid? [True, True] Translation: X:584.81, Y:8.80, Z:7.04 [[ 9.97845275e-01 -6.41947526e-02 -1.35588278e-02 5.84808328e+02] [ 6.41955115e-02 9.97937269e-01 -3.79698592e-04 8.80106426e+00] [ 1.35552342e-02 -4.91535438e-04 9.99908003e-01 7.03600687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8150998929999 meters 0.016867796394347948 Centerline is valid? [True, True] Translation: X:584.84, Y:8.80, Z:7.04 [[ 9.98113736e-01 -5.98755148e-02 -1.35606965e-02 5.84839920e+02] [ 5.98758733e-02 9.98205758e-01 -3.79921996e-04 8.80465137e+00] [ 1.35591134e-02 -4.32753185e-04 9.99907977e-01 7.03686694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.845099893 meters 0.0151271390752155 Centerline is valid? [True, True] Translation: X:584.87, Y:8.81, Z:7.04 [[ 9.98346978e-01 -5.59533770e-02 -1.31351141e-02 5.84871680e+02] [ 5.59533831e-02 9.98433315e-01 -3.67317781e-04 8.80860106e+00] [ 1.31350882e-02 -3.68243477e-04 9.99913663e-01 7.03750559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.875099893 meters 0.012862641867567292 Centerline is valid? [True, True] Translation: X:584.90, Y:8.81, Z:7.04 [[ 9.98723297e-01 -4.87727271e-02 -1.31527997e-02 5.84901913e+02] [ 4.87721195e-02 9.98809865e-01 -3.67141855e-04 8.81377937e+00] [ 1.31550526e-02 -2.74816792e-04 9.99913431e-01 7.03811828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9050998929999 meters 0.012284848365670202 Centerline is valid? [True, True] Translation: X:584.93, Y:8.82, Z:7.04 [[ 9.98867412e-01 -4.57070100e-02 -1.32197953e-02 5.84933699e+02] [ 4.57061286e-02 9.98954861e-01 -3.68949369e-04 8.81559202e+00] [ 1.32228423e-02 -2.35694161e-04 9.99912547e-01 7.03859537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9350998929999 meters 0.012098335006422328 Centerline is valid? [True, True] Translation: X:584.97, Y:8.82, Z:7.04 [[ 9.98985775e-01 -4.30010329e-02 -1.33541562e-02 5.84965302e+02] [ 4.29999049e-02 9.99075007e-01 -3.71718285e-04 8.81673172e+00] [ 1.33577880e-02 -2.02886169e-04 9.99910760e-01 7.03877011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9650998929999 meters 0.011237920928921643 Centerline is valid? [True, True] Translation: X:585.00, Y:8.82, Z:7.04 [[ 9.99110252e-01 -3.95508617e-02 -1.46435665e-02 5.84997486e+02] [ 3.95491516e-02 9.99217544e-01 -4.06464597e-04 8.81936350e+00] [ 1.46481846e-02 -1.73037685e-04 9.99892695e-01 7.03903876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.995099893 meters 0.011200477320616879 Centerline is valid? [True, True] Translation: X:585.03, Y:8.82, Z:7.04 [[ 9.99147183e-01 -3.86315631e-02 -1.45776622e-02 5.85029313e+02] [ 3.86297860e-02 9.99253510e-01 -4.03571755e-04 8.82046748e+00] [ 1.45823707e-02 -1.59904389e-04 9.99893659e-01 7.03915528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.025099893 meters 0.01133847373533681 Centerline is valid? [True, True] Translation: X:585.06, Y:8.82, Z:7.04 [[ 9.99140599e-01 -3.85721546e-02 -1.51740632e-02 5.85060683e+02] [ 3.85702390e-02 9.99255804e-01 -4.18980343e-04 8.82034341e+00] [ 1.51789316e-02 -1.66646972e-04 9.99884779e-01 7.03947329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0550998929999 meters 0.011455191948175411 Centerline is valid? [True, True] Translation: X:585.09, Y:8.82, Z:7.04 [[ 9.99119330e-01 -3.91217932e-02 -1.51673813e-02 5.85092547e+02] [ 3.91199560e-02 9.99234434e-01 -4.17914367e-04 8.82009804e+00] [ 1.51721193e-02 -1.75800969e-04 9.99884881e-01 7.03997663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0850998929999 meters 0.01197381132427437 Centerline is valid? [True, True] Translation: X:585.13, Y:8.82, Z:7.04 [[ 9.98984665e-01 -4.24225364e-02 -1.51647005e-02 5.85125178e+02] [ 4.24210967e-02 9.99099733e-01 -4.16741048e-04 8.81790074e+00] [ 1.51687275e-02 -2.26985313e-04 9.99884922e-01 7.04113016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.115099893 meters 0.012668819337743355 Centerline is valid? [True, True] Translation: X:585.16, Y:8.82, Z:7.04 [[ 9.98881716e-01 -4.48440880e-02 -1.49774714e-02 5.85156488e+02] [ 4.48429713e-02 9.98993964e-01 -4.10561276e-04 8.81579972e+00] [ 1.49808148e-02 -2.61532169e-04 9.99887747e-01 7.04187405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.145099893 meters 0.013353936552148485 Centerline is valid? [True, True] Translation: X:585.19, Y:8.81, Z:7.04 [[ 9.98762913e-01 -4.73818093e-02 -1.50866739e-02 5.85188626e+02] [ 4.73809787e-02 9.98876805e-01 -4.12681194e-04 8.81399725e+00] [ 1.50892822e-02 -3.02650701e-04 9.99886104e-01 7.04275412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1750998929999 meters 0.015016172770877953 Centerline is valid? [True, True] Translation: X:585.22, Y:8.81, Z:7.04 [[ 9.98621721e-01 -5.02132840e-02 -1.52736710e-02 5.85219581e+02] [ 5.02127798e-02 9.98738456e-01 -4.16745275e-04 8.81033127e+00] [ 1.52753287e-02 -3.50762595e-04 9.99883264e-01 7.04363822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2050998929999 meters 0.016948929144708136 Centerline is valid? [True, True] Translation: X:585.25, Y:8.81, Z:7.04 [[ 9.98225125e-01 -5.71834559e-02 -1.66328400e-02 5.85250725e+02] [ 5.71838376e-02 9.98363563e-01 -4.53037363e-04 8.80532995e+00] [ 1.66315277e-02 -4.98896345e-04 9.99861562e-01 7.04405212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.235099893 meters 0.016811833437037026 Centerline is valid? [True, True] Translation: X:585.28, Y:8.80, Z:7.04 [[ 9.97990131e-01 -6.09257204e-02 -1.74285422e-02 5.85282132e+02] [ 6.09267167e-02 9.98142129e-01 -4.74300446e-04 8.80472679e+00] [ 1.74250593e-02 -5.88516686e-04 9.99847999e-01 7.04416973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.265099893 meters 0.017659667509563354 Centerline is valid? [True, True] Translation: X:585.31, Y:8.80, Z:7.04 [[ 9.97752054e-01 -6.44730588e-02 -1.82774063e-02 5.85313400e+02] [ 6.44747613e-02 9.97919214e-01 -4.96715437e-04 8.80237717e+00] [ 1.82713997e-02 -6.82832563e-04 9.99832831e-01 7.04433765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2950998929999 meters 0.019819868977469905 Centerline is valid? [True, True] Translation: X:585.34, Y:8.80, Z:7.05 [[ 9.97339792e-01 -7.04964050e-02 -1.85363588e-02 5.85343984e+02] [ 7.04992034e-02 9.97511709e-01 -5.03260583e-04 8.79686262e+00] [ 1.85257130e-02 -8.04876723e-04 9.99828060e-01 7.04567233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3250998929999 meters 0.019819868977469905 Centerline is valid? [True, True] Translation: X:585.38, Y:8.80, Z:7.05 [[ 9.97347539e-01 -7.03867165e-02 -1.85363791e-02 5.85376541e+02] [ 7.03895098e-02 9.97519456e-01 -5.02512514e-04 8.79766163e+00] [ 1.85257690e-02 -8.03587017e-04 9.99828060e-01 7.04607505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.355099893 meters 0.02181890927635334 Centerline is valid? [True, True] Translation: X:585.41, Y:8.79, Z:7.05 [[ 9.97196490e-01 -7.25098055e-02 -1.84794234e-02 5.85407964e+02] [ 7.25129766e-02 9.97367344e-01 -4.99278862e-04 8.79466118e+00] [ 1.84669760e-02 -8.42118869e-04 9.99829116e-01 7.04711262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.385099893 meters 0.022219510433782515 Centerline is valid? [True, True] Translation: X:585.44, Y:8.79, Z:7.05 [[ 9.97060078e-01 -7.43393029e-02 -1.85706683e-02 5.85439770e+02] [ 7.43428408e-02 9.97232616e-01 -5.00731374e-04 8.79432045e+00] [ 1.85565001e-02 -8.81336972e-04 9.99827425e-01 7.04809720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4150998929999 meters 0.021548763881092534 Centerline is valid? [True, True] Translation: X:585.47, Y:8.79, Z:7.05 [[ 9.96908930e-01 -7.62143049e-02 -1.90778752e-02 5.85471374e+02] [ 7.62184014e-02 9.97091015e-01 -5.13349098e-04 8.79496797e+00] [ 1.90615025e-02 -9.42322850e-04 9.99817869e-01 7.04961108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4450998929999 meters 0.024090642062304126 Centerline is valid? [True, True] Translation: X:585.50, Y:8.79, Z:7.05 [[ 9.96842189e-01 -7.69575531e-02 -1.95751235e-02 5.85502591e+02] [ 7.69620304e-02 9.97033886e-01 -5.25632327e-04 8.79204731e+00] [ 1.95575128e-02 -9.82568770e-04 9.99808251e-01 7.04997311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.475099893 meters 0.021776136650790652 Centerline is valid? [True, True] Translation: X:585.53, Y:8.80, Z:7.05 [[ 9.96776171e-01 -7.77231551e-02 -1.99092002e-02 5.85534164e+02] [ 7.77279610e-02 9.96974463e-01 -5.33494877e-04 8.79581855e+00] [ 1.98904291e-02 -1.01572656e-03 9.99801650e-01 7.05076374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.505099893 meters 0.02398647192817633 Centerline is valid? [True, True] Translation: X:585.57, Y:8.79, Z:7.05 [[ 9.96678243e-01 -7.88158009e-02 -2.05073221e-02 5.85565365e+02] [ 7.88211544e-02 9.96888622e-01 -5.48366339e-04 8.79246662e+00] [ 2.04867360e-02 -1.06986600e-03 9.99789552e-01 7.05035802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5350998929999 meters 0.02420892970429596 Centerline is valid? [True, True] Translation: X:585.60, Y:8.79, Z:7.05 [[ 9.96648675e-01 -7.91366194e-02 -2.07078295e-02 5.85597748e+02] [ 7.91421738e-02 9.96863186e-01 -5.52440199e-04 8.79272374e+00] [ 2.06865911e-02 -1.08827385e-03 9.99785417e-01 7.05037889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5650998929999 meters 0.024330207009363516 Centerline is valid? [True, True] Translation: X:585.63, Y:8.79, Z:7.05 [[ 9.96639380e-01 -7.90433109e-02 -2.14965237e-02 5.85629882e+02] [ 7.90493090e-02 9.96870543e-01 -5.71903601e-04 8.79338620e+00] [ 2.14744564e-02 -1.12930369e-03 9.99768759e-01 7.05043078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.595099893 meters 0.02328562592913697 Centerline is valid? [True, True] Translation: X:585.66, Y:8.80, Z:7.05 [[ 9.96669709e-01 -7.81325908e-02 -2.33407231e-02 5.85661750e+02] [ 7.81394548e-02 9.96942246e-01 -6.19210276e-04 8.79676845e+00] [ 2.33177334e-02 -1.20668325e-03 9.99727376e-01 7.05034912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.625099893 meters 0.023050124355172598 Centerline is valid? [True, True] Translation: X:585.69, Y:8.80, Z:7.05 [[ 9.96714802e-01 -7.73132830e-02 -2.41300424e-02 5.85694019e+02] [ 7.73204229e-02 9.97006091e-01 -6.38373118e-04 8.79871057e+00] [ 2.41071539e-02 -1.22946914e-03 9.99708624e-01 7.05068161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6550998929999 meters 0.024281982768806436 Centerline is valid? [True, True] Translation: X:585.72, Y:8.80, Z:7.05 [[ 9.96755965e-01 -7.66701374e-02 -2.44793195e-02 5.85724799e+02] [ 7.66773304e-02 9.97055751e-01 -6.46052827e-04 8.79874807e+00] [ 2.44567792e-02 -1.23305186e-03 9.99700128e-01 7.05085455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6850998929999 meters 0.0216553854024333 Centerline is valid? [True, True] Translation: X:585.76, Y:8.80, Z:7.05 [[ 9.96826329e-01 -7.55270902e-02 -2.51580772e-02 5.85756469e+02] [ 7.55343656e-02 9.97142979e-01 -6.62345604e-04 8.80413675e+00] [ 2.51362250e-02 -1.24005586e-03 9.99683266e-01 7.05209379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7150998929999 meters 0.02164137424651415 Centerline is valid? [True, True] Translation: X:585.79, Y:8.81, Z:7.05 [[ 9.96956276e-01 -7.35155431e-02 -2.59547611e-02 5.85788012e+02] [ 7.35226565e-02 9.97293314e-01 -6.81408129e-04 8.80756261e+00] [ 2.59346038e-02 -1.22892887e-03 9.99662886e-01 7.05230120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.745099893 meters 0.02226712966926319 Centerline is valid? [True, True] Translation: X:585.82, Y:8.81, Z:7.05 [[ 9.97034835e-01 -7.23542937e-02 -2.61991227e-02 5.85819372e+02] [ 7.23611849e-02 9.97378257e-01 -6.86179450e-04 8.80871999e+00] [ 2.61800833e-02 -1.21165474e-03 9.99656509e-01 7.05239070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.775099893 meters 0.022118633226764835 Centerline is valid? [True, True] Translation: X:585.85, Y:8.81, Z:7.05 [[ 9.97188077e-01 -6.99366552e-02 -2.69221575e-02 5.85849671e+02] [ 6.99430784e-02 9.97550736e-01 -7.04176629e-04 8.81286677e+00] [ 2.69054658e-02 -1.18082204e-03 9.99637285e-01 7.05263538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8050998929999 meters 0.0205793455943343 Centerline is valid? [True, True] Translation: X:585.88, Y:8.82, Z:7.05 [[ 9.97306729e-01 -6.82804016e-02 -2.67782484e-02 5.85881567e+02] [ 6.82861936e-02 9.97665529e-01 -6.99170135e-04 8.81782499e+00] [ 2.67634750e-02 -1.13129757e-03 9.99641154e-01 7.05370810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8350998929999 meters 0.018945217446588364 Centerline is valid? [True, True] Translation: X:585.91, Y:8.82, Z:7.05 [[ 9.97432528e-01 -6.64978412e-02 -2.65779730e-02 5.85913357e+02] [ 6.65029658e-02 9.97785987e-01 -6.92035166e-04 8.82311914e+00] [ 2.65651479e-02 -1.07725565e-03 9.99646504e-01 7.05497398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.865099893 meters 0.017509220878994817 Centerline is valid? [True, True] Translation: X:585.94, Y:8.83, Z:7.06 [[ 9.97667439e-01 -6.28892357e-02 -2.65447710e-02 5.85944752e+02] [ 6.28931164e-02 9.98020030e-01 -6.89496306e-04 8.83028652e+00] [ 2.65355751e-02 -9.81595360e-04 9.99647388e-01 7.05691760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.895099893 meters 0.01877166409131378 Centerline is valid? [True, True] Translation: X:585.98, Y:8.83, Z:7.06 [[ 9.97787049e-01 -6.11472337e-02 -2.61155304e-02 5.85975800e+02] [ 6.11504309e-02 9.98128332e-01 -6.76931783e-04 8.83112198e+00] [ 2.61080433e-02 -9.21542171e-04 9.99658702e-01 7.05676603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9250998929999 meters 0.018105053923265477 Centerline is valid? [True, True] Translation: X:586.01, Y:8.83, Z:7.06 [[ 9.97904216e-01 -5.92988876e-02 -2.59001500e-02 5.86007969e+02] [ 5.93014521e-02 9.98239896e-01 -6.69736241e-04 8.83481729e+00] [ 2.58942776e-02 -8.67583884e-04 9.99664310e-01 7.05790854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9550998929999 meters 0.016684539427986225 Centerline is valid? [True, True] Translation: X:586.04, Y:8.84, Z:7.06 [[ 9.97996966e-01 -5.78158687e-02 -2.56784149e-02 5.86040060e+02] [ 5.78179456e-02 9.98326924e-01 -6.62192478e-04 8.83954856e+00] [ 2.56737382e-02 -8.23807111e-04 9.99670036e-01 7.05949772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.985099893 meters 0.016514618182557214 Centerline is valid? [True, True] Translation: X:586.07, Y:8.84, Z:7.06 [[ 9.98071538e-01 -5.64799316e-02 -2.57530896e-02 5.86072129e+02] [ 5.64816238e-02 9.98403419e-01 -6.62276824e-04 8.84376018e+00] [ 2.57493781e-02 -7.93576671e-04 9.99668115e-01 7.06055861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.015099893 meters 0.01601832395314326 Centerline is valid? [True, True] Translation: X:586.10, Y:8.85, Z:7.06 [[ 9.98068973e-01 -5.64285725e-02 -2.59642378e-02 5.86104155e+02] [ 5.64303239e-02 9.98406318e-01 -6.65836774e-04 8.84681225e+00] [ 2.59604313e-02 -8.00619323e-04 9.99662651e-01 7.06159037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0450998929999 meters 0.016967449105281845 Centerline is valid? [True, True] Translation: X:586.14, Y:8.85, Z:7.06 [[ 9.97989117e-01 -5.75346411e-02 -2.65986269e-02 5.86135656e+02] [ 5.75369372e-02 9.98343147e-01 -6.79639650e-04 8.84864426e+00] [ 2.65936597e-02 -8.52130548e-04 9.99645963e-01 7.06137392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0750998929999 meters 0.01781728604039426 Centerline is valid? [True, True] Translation: X:586.17, Y:8.85, Z:7.06 [[ 9.97913749e-01 -5.85138746e-02 -2.72814265e-02 5.86167139e+02] [ 5.85167365e-02 9.98286186e-01 -6.94130577e-04 8.84900753e+00] [ 2.72752875e-02 -9.03737598e-04 9.99627552e-01 7.06102904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.105099893 meters 0.018290530645354443 Centerline is valid? [True, True] Translation: X:586.20, Y:8.85, Z:7.06 [[ 9.97841551e-01 -5.96508942e-02 -2.74592385e-02 5.86198806e+02] [ 5.96542815e-02 9.98218855e-01 -6.96545072e-04 8.84991166e+00] [ 2.74518791e-02 -9.43019525e-04 9.99622681e-01 7.06125676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.135099893 meters 0.01890015455087456 Centerline is valid? [True, True] Translation: X:586.23, Y:8.85, Z:7.06 [[ 9.97780280e-01 -6.06898695e-02 -2.74089753e-02 5.86231074e+02] [ 6.06936825e-02 9.98156198e-01 -6.93565357e-04 8.85079623e+00] [ 2.74005310e-02 -9.71525808e-04 9.99624063e-01 7.06146868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1650998929999 meters 0.018988242177257652 Centerline is valid? [True, True] Translation: X:586.26, Y:8.85, Z:7.06 [[ 9.97636836e-01 -6.28094325e-02 -2.78517291e-02 5.86263237e+02] [ 6.28142497e-02 9.98024988e-01 -7.02787489e-04 8.85337225e+00] [ 2.78408633e-02 -1.04835878e-03 9.99611818e-01 7.06305155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1950998929999 meters 0.018279844822832687 Centerline is valid? [True, True] Translation: X:586.30, Y:8.86, Z:7.06 [[ 9.97586324e-01 -6.35824343e-02 -2.79069943e-02 5.86295350e+02] [ 6.35876287e-02 9.97976012e-01 -7.02169705e-04 8.85604060e+00] [ 2.78951565e-02 -1.07406469e-03 9.99610277e-01 7.06397936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.225099893 meters 0.019815498853096646 Centerline is valid? [True, True] Translation: X:586.33, Y:8.86, Z:7.06 [[ 9.97442528e-01 -6.57330183e-02 -2.80637569e-02 5.86326401e+02] [ 6.57391702e-02 9.97836593e-01 -7.04357460e-04 8.85648298e+00] [ 2.80493431e-02 -1.14233201e-03 9.99605887e-01 7.06465626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.255099893 meters 0.019917915540471703 Centerline is valid? [True, True] Translation: X:586.36, Y:8.86, Z:7.07 [[ 9.97371858e-01 -6.66860384e-02 -2.83257740e-02 5.86358622e+02] [ 6.66927411e-02 9.97773309e-01 -7.09109165e-04 8.85798335e+00] [ 2.83099889e-02 -1.18187799e-03 9.99598493e-01 7.06552080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2850998929999 meters 0.021121739385661222 Centerline is valid? [True, True] Translation: X:586.39, Y:8.86, Z:7.07 [[ 9.97292837e-01 -6.79076742e-02 -2.82054121e-02 5.86390082e+02] [ 6.79148565e-02 9.97690872e-01 -7.04362977e-04 8.85798436e+00] [ 2.81881139e-02 -1.21311037e-03 9.99601900e-01 7.06559628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3150998929999 meters 0.020403918276314794 Centerline is valid? [True, True] Translation: X:586.42, Y:8.86, Z:7.07 [[ 9.97144619e-01 -7.00329802e-02 -2.82487289e-02 5.86422430e+02] [ 7.00410868e-02 9.97543859e-01 -7.03623955e-04 8.86135472e+00] [ 2.82286229e-02 -1.27695683e-03 9.99600677e-01 7.06724272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.345099893 meters 0.02151886395749913 Centerline is valid? [True, True] Translation: X:586.45, Y:8.86, Z:7.07 [[ 9.97102922e-01 -7.08475703e-02 -2.76836685e-02 5.86453164e+02] [ 7.08557086e-02 9.97486338e-01 -6.88110057e-04 8.86109144e+00] [ 2.76628320e-02 -1.27542940e-03 9.99616497e-01 7.06758854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.375099893 meters 0.021390862964356654 Centerline is valid? [True, True] Translation: X:586.49, Y:8.86, Z:7.07 [[ 9.97042880e-01 -7.17821336e-02 -2.74375866e-02 5.86485549e+02] [ 7.17905230e-02 9.97419499e-01 -6.80452843e-04 8.86271287e+00] [ 2.74156283e-02 -1.29131803e-03 9.99623287e-01 7.06874870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4050998929999 meters 0.021760696872317718 Centerline is valid? [True, True] Translation: X:586.52, Y:8.86, Z:7.07 [[ 9.97008182e-01 -7.26041424e-02 -2.65202366e-02 5.86517376e+02] [ 7.26123201e-02 9.97360026e-01 -6.55805703e-04 8.86340424e+00] [ 2.64978381e-02 -1.27185226e-03 9.99648062e-01 7.06942124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4350998929999 meters 0.024521408519234244 Centerline is valid? [True, True] Translation: X:586.55, Y:8.86, Z:7.07 [[ 9.96944865e-01 -7.38968939e-02 -2.53018836e-02 5.86548727e+02] [ 7.39047915e-02 9.97265106e-01 -6.24119418e-04 8.86112555e+00] [ 2.52788061e-02 -1.24771778e-03 9.99679661e-01 7.06994349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4650998929999 meters 0.023475192146553886 Centerline is valid? [True, True] Translation: X:586.58, Y:8.86, Z:7.07 [[ 9.96889559e-01 -7.47320473e-02 -2.50265364e-02 5.86580960e+02] [ 7.47400755e-02 9.97202859e-01 -6.15758363e-04 8.86382441e+00] [ 2.50025505e-02 -1.25664213e-03 9.99686598e-01 7.07096515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.495099893 meters 0.02489852334645045 Centerline is valid? [True, True] Translation: X:586.61, Y:8.86, Z:7.07 [[ 9.96847855e-01 -7.53730083e-02 -2.47641653e-02 5.86611928e+02] [ 7.53811042e-02 9.97154612e-01 -6.07766297e-04 8.86312591e+00] [ 2.47395109e-02 -1.26089960e-03 9.99693136e-01 7.07095702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.525099893 meters 0.024292022427322212 Centerline is valid? [True, True] Translation: X:586.64, Y:8.87, Z:7.07 [[ 9.96752578e-01 -7.65464633e-02 -2.49987288e-02 5.86643776e+02] [ 7.65551207e-02 9.97065163e-01 -6.11951280e-04 8.86565170e+00] [ 2.49722043e-02 -1.30381668e-03 9.99687296e-01 7.07156115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5550998929999 meters 0.025794522310611405 Centerline is valid? [True, True] Translation: X:586.67, Y:8.86, Z:7.07 [[ 9.96707447e-01 -7.72077333e-02 -2.47634956e-02 5.86674793e+02] [ 7.72164700e-02 9.97014168e-01 -6.04653188e-04 8.86442815e+00] [ 2.47362399e-02 -1.30948738e-03 9.99693155e-01 7.07151269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5850998929999 meters 0.02544468133918456 Centerline is valid? [True, True] Translation: X:586.71, Y:8.87, Z:7.07 [[ 9.96710255e-01 -7.69694179e-02 -2.53845873e-02 5.86708082e+02] [ 7.69785739e-02 9.97032556e-01 -6.17753424e-04 8.86572112e+00] [ 2.53568081e-02 -1.33834816e-03 9.99677569e-01 7.07145182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.615099893 meters 0.02365531520789514 Centerline is valid? [True, True] Translation: X:586.74, Y:8.87, Z:7.07 [[ 9.96696951e-01 -7.66871792e-02 -2.67257277e-02 5.86739920e+02] [ 7.66972929e-02 9.97054214e-01 -6.47959589e-04 8.86928243e+00] [ 2.66966896e-02 -1.40397161e-03 9.99642594e-01 7.07047545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.645099893 meters 0.026382257510790666 Centerline is valid? [True, True] Translation: X:586.77, Y:8.87, Z:7.07 [[ 9.96713443e-01 -7.64156292e-02 -2.68879961e-02 5.86771205e+02] [ 7.64258131e-02 9.97075059e-01 -6.50202939e-04 8.86626921e+00] [ 2.68590360e-02 -1.40687095e-03 9.99638241e-01 7.06905395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6750998929999 meters 0.024064352916622962 Centerline is valid? [True, True] Translation: X:586.80, Y:8.87, Z:7.07 [[ 9.96788262e-01 -7.57134159e-02 -2.60890490e-02 5.86803451e+02] [ 7.57228060e-02 9.97128708e-01 -6.29246040e-04 8.87107382e+00] [ 2.60617821e-02 -1.34831093e-03 9.99659425e-01 7.07066075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7050998929999 meters 0.024360845488983773 Centerline is valid? [True, True] Translation: X:586.83, Y:8.87, Z:7.07 [[ 9.96889308e-01 -7.46075629e-02 -2.54050923e-02 5.86834784e+02] [ 7.46161482e-02 9.97212142e-01 -6.11186629e-04 8.87190820e+00] [ 2.53798657e-02 -1.28634472e-03 9.99677052e-01 7.07081186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.735099893 meters 0.02330109380613806 Centerline is valid? [True, True] Translation: X:586.87, Y:8.87, Z:7.07 [[ 9.96993927e-01 -7.33773698e-02 -2.48771210e-02 5.86867133e+02] [ 7.33852582e-02 9.97303488e-01 -5.96939379e-04 8.87464412e+00] [ 2.48538414e-02 -1.23046901e-03 9.99690338e-01 7.07166944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.765099893 meters 0.023097821488708127 Centerline is valid? [True, True] Translation: X:586.90, Y:8.88, Z:7.07 [[ 9.97212450e-01 -7.05649650e-02 -2.42469822e-02 5.86897304e+02] [ 7.05716552e-02 9.97506543e-01 -5.80740600e-04 8.87717389e+00] [ 2.42275034e-02 -1.13202791e-03 9.99705830e-01 7.07141727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7950998929999 meters 0.022494378852519425 Centerline is valid? [True, True] Translation: X:586.93, Y:8.88, Z:7.07 [[ 9.97290373e-01 -6.93715285e-02 -2.44847476e-02 5.86929204e+02] [ 6.93780182e-02 9.97590271e-01 -5.85353780e-04 8.87977197e+00] [ 2.44663529e-02 -1.11493557e-03 9.99700032e-01 7.07163067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8250998929999 meters 0.022661754684899494 Centerline is valid? [True, True] Translation: X:586.96, Y:8.88, Z:7.07 [[ 9.97331778e-01 -6.88761694e-02 -2.41949995e-02 5.86961863e+02] [ 6.88824068e-02 9.97624620e-01 -5.76525856e-04 8.88115364e+00] [ 2.41772361e-02 -1.09162224e-03 9.99707092e-01 7.07184434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.855099893 meters 0.022939533006247053 Centerline is valid? [True, True] Translation: X:586.99, Y:8.88, Z:7.07 [[ 9.97352125e-01 -6.85893194e-02 -2.41711228e-02 5.86994474e+02] [ 6.85955066e-02 9.97644389e-01 -5.74047327e-04 8.88210821e+00] [ 2.41535586e-02 -1.08550309e-03 9.99707671e-01 7.07225551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.885099893 meters 0.02314063451405631 Centerline is valid? [True, True] Translation: X:587.03, Y:8.88, Z:7.07 [[ 9.97345971e-01 -6.88190805e-02 -2.37686493e-02 5.87027114e+02] [ 6.88251675e-02 9.97628578e-01 -5.62839883e-04 8.88309987e+00] [ 2.37510179e-02 -1.07453518e-03 9.99717327e-01 7.07231082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9150998929999 meters 0.02360479455199222 Centerline is valid? [True, True] Translation: X:587.06, Y:8.88, Z:7.07 [[ 9.97340159e-01 -6.89816415e-02 -2.35401814e-02 5.87059214e+02] [ 6.89876956e-02 9.97617356e-01 -5.55795641e-04 8.88283559e+00] [ 2.35224333e-02 -1.06966556e-03 9.99722737e-01 7.07244953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9450998929999 meters 0.025348392951217557 Centerline is valid? [True, True] Translation: X:587.09, Y:8.88, Z:7.07 [[ 9.97355375e-01 -6.90357837e-02 -2.27225973e-02 5.87091046e+02] [ 6.90414777e-02 9.97613647e-01 -5.34759865e-04 8.88076611e+00] [ 2.27052907e-02 -1.03545606e-03 9.99741665e-01 7.07219255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.975099893 meters 0.023929090024681854 Centerline is valid? [True, True] Translation: X:587.12, Y:8.88, Z:7.07 [[ 9.97377738e-01 -6.87529504e-02 -2.25982293e-02 5.87122879e+02] [ 6.87585498e-02 9.97633190e-01 -5.30057319e-04 8.88303286e+00] [ 2.25811866e-02 -1.02515411e-03 9.99744487e-01 7.07265583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.005099893 meters 0.0237085135113442 Centerline is valid? [True, True] Translation: X:587.16, Y:8.88, Z:7.07 [[ 9.97406879e-01 -6.84985672e-02 -2.20785713e-02 5.87155132e+02] [ 6.85038828e-02 9.97650716e-01 -5.16365359e-04 8.88351994e+00] [ 2.20620727e-02 -9.97441497e-04 9.99756105e-01 7.07260574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0350998929999 meters 0.021706916270155405 Centerline is valid? [True, True] Translation: X:587.19, Y:8.89, Z:7.07 [[ 9.97406265e-01 -6.84646708e-02 -2.22110440e-02 5.87188558e+02] [ 6.84700847e-02 9.97653036e-01 -5.17546479e-04 8.88700174e+00] [ 2.21943491e-02 -1.00458796e-03 9.99753170e-01 7.07343628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0650998929999 meters 0.02127962832336717 Centerline is valid? [True, True] Translation: X:587.22, Y:8.89, Z:7.07 [[ 9.97387005e-01 -6.87716841e-02 -2.21272897e-02 5.87220513e+02] [ 6.87771774e-02 9.97631914e-01 -5.13566797e-04 8.88812619e+00] [ 2.21102092e-02 -1.00962768e-03 9.99755030e-01 7.07372479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.095099893 meters 0.023845092123841616 Centerline is valid? [True, True] Translation: X:587.25, Y:8.88, Z:7.07 [[ 9.97295184e-01 -7.00584920e-02 -2.22289127e-02 5.87251794e+02] [ 7.00644021e-02 9.97542338e-01 -5.13797920e-04 8.88434170e+00] [ 2.22102775e-02 -1.04504729e-03 9.99752775e-01 7.07311618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.125099893 meters 0.02403074976370349 Centerline is valid? [True, True] Translation: X:587.28, Y:8.88, Z:7.07 [[ 9.97250896e-01 -7.07502341e-02 -2.20239476e-02 5.87284337e+02] [ 7.07562525e-02 9.97493507e-01 -5.06855995e-04 8.88414734e+00] [ 2.20046049e-02 -1.05286940e-03 9.99757315e-01 7.07339260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1550998929999 meters 0.028232392336579554 Centerline is valid? [True, True] Translation: X:587.32, Y:8.88, Z:7.07 [[ 9.97214583e-01 -7.13640478e-02 -2.16852076e-02 5.87315763e+02] [ 7.13700715e-02 9.97449781e-01 -4.97013368e-04 8.87875017e+00] [ 2.16653744e-02 -1.05204584e-03 9.99764725e-01 7.07298170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1850998929999 meters 0.022206458183706024 Centerline is valid? [True, True] Translation: X:587.35, Y:8.89, Z:7.08 [[ 9.97215531e-01 -7.18111211e-02 -2.01084112e-02 5.87347385e+02] [ 7.18164317e-02 9.97417761e-01 -4.58842710e-04 8.88616671e+00] [ 2.00894365e-02 -9.86549265e-04 9.99797700e-01 7.07555872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2150998929999 meters 0.026359203293379065 Centerline is valid? [True, True] Translation: X:587.38, Y:8.88, Z:7.08 [[ 9.97249212e-01 -7.15720423e-02 -1.92731002e-02 5.87378535e+02] [ 7.15769115e-02 9.97434987e-01 -4.37942673e-04 8.88061437e+00] [ 1.92550089e-02 -9.42771000e-04 9.99814161e-01 7.07579375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.245099893 meters 0.026359203293379065 Centerline is valid? [True, True] Translation: X:587.41, Y:8.88, Z:7.08 [[ 9.97256532e-01 -7.14699591e-02 -1.92731558e-02 5.87411105e+02] [ 7.14748567e-02 9.97442307e-01 -4.35481138e-04 8.88125573e+00] [ 1.92549848e-02 -9.43259643e-04 9.99814161e-01 7.07619604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.275099893 meters 0.023313277637953978 Centerline is valid? [True, True] Translation: X:587.44, Y:8.89, Z:7.08 [[ 9.97344775e-01 -7.05049622e-02 -1.82332205e-02 5.87443501e+02] [ 7.05092139e-02 9.97511044e-01 -4.10370977e-04 8.88520945e+00] [ 1.82167720e-02 -8.76328692e-04 9.99833677e-01 7.07787543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3050998929999 meters 0.02395942030851589 Centerline is valid? [True, True] Translation: X:587.48, Y:8.88, Z:7.08 [[ 9.97381827e-01 -7.01586216e-02 -1.75288166e-02 5.87475189e+02] [ 7.01625187e-02 9.97535496e-01 -3.93314552e-04 8.88476110e+00] [ 1.75132112e-02 -8.37581136e-04 9.99846281e-01 7.07877676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3350998929999 meters 0.022000918697509017 Centerline is valid? [True, True] Translation: X:587.51, Y:8.89, Z:7.08 [[ 9.97405748e-01 -6.99454559e-02 -1.70119964e-02 5.87507331e+02] [ 6.99491156e-02 9.97550488e-01 -3.80540893e-04 8.88771709e+00] [ 1.69969424e-02 -8.10420430e-04 9.99855213e-01 7.07949426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.365099893 meters 0.02258474484783727 Centerline is valid? [True, True] Translation: X:587.54, Y:8.89, Z:7.08 [[ 9.97418523e-01 -6.96049928e-02 -1.76475080e-02 5.87538783e+02] [ 6.96089074e-02 9.97574281e-01 -3.93086449e-04 8.88697519e+00] [ 1.76320609e-02 -8.36352045e-04 9.99844193e-01 7.07956829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.395099893 meters 0.023054467117872807 Centerline is valid? [True, True] Translation: X:587.57, Y:8.89, Z:7.08 [[ 9.97359714e-01 -7.02141306e-02 -1.85358388e-02 5.87571307e+02] [ 7.02185962e-02 9.97531543e-01 -4.10608957e-04 8.88571594e+00] [ 1.85189145e-02 -8.92035751e-04 9.99828112e-01 7.07868914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4250998929999 meters 0.022010895325980894 Centerline is valid? [True, True] Translation: X:587.60, Y:8.89, Z:7.08 [[ 9.97318308e-01 -7.05127952e-02 -1.95994562e-02 5.87603443e+02] [ 7.05178743e-02 9.97510422e-01 -4.32719566e-04 8.88700602e+00] [ 1.95811741e-02 -9.50552847e-04 9.99807819e-01 7.07820575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4550998929999 meters 0.02417748016687896 Centerline is valid? [True, True] Translation: X:587.63, Y:8.88, Z:7.08 [[ 9.97283580e-01 -7.06937756e-02 -2.06845564e-02 5.87634976e+02] [ 7.06995147e-02 9.97497555e-01 -4.54595689e-04 8.88376117e+00] [ 2.06649315e-02 -1.00902728e-03 9.99785948e-01 7.07707903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.485099893 meters 0.026238485466069383 Centerline is valid? [True, True] Translation: X:587.67, Y:8.88, Z:7.08 [[ 9.97225172e-01 -7.13941133e-02 -2.10911585e-02 5.87666080e+02] [ 7.14002825e-02 9.97447636e-01 -4.61353291e-04 8.88012505e+00] [ 2.10702641e-02 -1.04584156e-03 9.99777450e-01 7.07595320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.515099893 meters 0.02167455761471777 Centerline is valid? [True, True] Translation: X:587.70, Y:8.89, Z:7.08 [[ 9.97218533e-01 -7.16224425e-02 -2.06257872e-02 5.87698160e+02] [ 7.16284167e-02 9.97431285e-01 -4.49934202e-04 8.88642368e+00] [ 2.06050308e-02 -1.02870975e-03 9.99787165e-01 7.07791913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5450998929999 meters 0.023892358371775783 Centerline is valid? [True, True] Translation: X:587.73, Y:8.88, Z:7.08 [[ 9.97301656e-01 -7.07770882e-02 -1.94938621e-02 5.87729651e+02] [ 7.07823002e-02 9.97491698e-01 -4.23348988e-04 8.88360183e+00] [ 1.94749290e-02 -9.57613750e-04 9.99809887e-01 7.07867438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5750998929999 meters 0.02459169472514275 Centerline is valid? [True, True] Translation: X:587.76, Y:8.88, Z:7.08 [[ 9.97355745e-01 -7.03344769e-02 -1.82914859e-02 5.87760654e+02] [ 7.03390277e-02 9.97523065e-01 -3.95241804e-04 8.88273197e+00] [ 1.82739782e-02 -8.92408646e-04 9.99832619e-01 7.07986304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.605099893 meters 0.023206188833701426 Centerline is valid? [True, True] Translation: X:587.79, Y:8.88, Z:7.08 [[ 9.97398270e-01 -6.98245704e-02 -1.79226180e-02 5.87793342e+02] [ 6.98288775e-02 9.97558910e-01 -3.86142462e-04 8.88480531e+00] [ 1.79058295e-02 -8.66378474e-04 9.99839302e-01 7.08071589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.635099893 meters 0.027204180069423923 Centerline is valid? [True, True] Translation: X:587.83, Y:8.88, Z:7.08 [[ 9.97406646e-01 -6.98607884e-02 -1.73047233e-02 5.87825462e+02] [ 6.98648348e-02 9.97556398e-01 -3.71336532e-04 8.87968542e+00] [ 1.72883793e-02 -8.38618107e-04 9.99850193e-01 7.08088052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6650998929999 meters 0.02239661026415474 Centerline is valid? [True, True] Translation: X:587.86, Y:8.89, Z:7.08 [[ 9.97428916e-01 -6.96718489e-02 -1.67746896e-02 5.87857614e+02] [ 6.96756476e-02 9.97569634e-01 -3.58588831e-04 8.88609775e+00] [ 1.67589045e-02 -8.11120490e-04 9.99859231e-01 7.08188649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6950998929999 meters 0.0226316671431015 Centerline is valid? [True, True] Translation: X:587.89, Y:8.89, Z:7.08 [[ 9.97438838e-01 -6.95518685e-02 -1.66823614e-02 5.87890443e+02] [ 6.95556311e-02 9.97578011e-01 -3.55269540e-04 8.88589183e+00] [ 1.66666666e-02 -8.05992541e-04 9.99860777e-01 7.08240202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.725099893 meters 0.02211671121616311 Centerline is valid? [True, True] Translation: X:587.92, Y:8.89, Z:7.08 [[ 9.97471951e-01 -6.91773894e-02 -1.62541052e-02 5.87922932e+02] [ 6.91809372e-02 9.97604069e-01 -3.44574764e-04 8.88562883e+00] [ 1.62389983e-02 -7.80770568e-04 9.99867834e-01 7.08228334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.755099893 meters 0.022572340577136824 Centerline is valid? [True, True] Translation: X:587.95, Y:8.88, Z:7.08 [[ 9.97466616e-01 -6.92136905e-02 -1.64260351e-02 5.87954695e+02] [ 6.92173382e-02 9.97601544e-01 -3.47032292e-04 8.88462965e+00] [ 1.64106574e-02 -7.90813302e-04 9.99865023e-01 7.08222505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7850998929999 meters 0.023644867997280897 Centerline is valid? [True, True] Translation: X:587.99, Y:8.88, Z:7.08 [[ 9.97457542e-01 -6.92183901e-02 -1.69489398e-02 5.87985960e+02] [ 6.92222941e-02 9.97601196e-01 -3.56926286e-04 8.88297696e+00] [ 1.69329885e-02 -8.17225682e-04 9.99856293e-01 7.08197579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8150998929999 meters 0.022382297232132673 Centerline is valid? [True, True] Translation: X:588.02, Y:8.88, Z:7.08 [[ 9.97437618e-01 -6.94222243e-02 -1.72844588e-02 5.88018175e+02] [ 6.94263326e-02 9.97587015e-01 -3.62968710e-04 8.88452102e+00] [ 1.72679498e-02 -8.37957942e-04 9.99850547e-01 7.08202819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.845099893 meters 0.02290667329320758 Centerline is valid? [True, True] Translation: X:588.05, Y:8.88, Z:7.08 [[ 9.97414548e-01 -6.95814079e-02 -1.79623797e-02 5.88050187e+02] [ 6.95858943e-02 9.97575893e-01 -3.75883920e-04 8.88337942e+00] [ 1.79449915e-02 -8.75016166e-04 9.99838593e-01 7.08127132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.875099893 meters 0.023012579939072332 Centerline is valid? [True, True] Translation: X:588.08, Y:8.88, Z:7.08 [[ 9.97412476e-01 -6.94210832e-02 -1.86833138e-02 5.88083730e+02] [ 6.94259388e-02 9.97587032e-01 -3.89376411e-04 8.88324678e+00] [ 1.86652625e-02 -9.08737711e-04 9.99825376e-01 7.08115288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9050998929999 meters 0.023748560603572822 Centerline is valid? [True, True] Translation: X:588.11, Y:8.88, Z:7.08 [[ 9.97481235e-01 -6.80941202e-02 -1.98589150e-02 5.88114829e+02] [ 6.80993798e-02 9.97678458e-01 -4.12070194e-04 8.88193987e+00] [ 1.98408712e-02 -9.41347508e-04 9.99802707e-01 7.08036557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9350998929999 meters 0.022795331764476214 Centerline is valid? [True, True] Translation: X:588.15, Y:8.88, Z:7.08 [[ 9.97543112e-01 -6.70213918e-02 -2.03929614e-02 5.88147085e+02] [ 6.70267399e-02 9.97751090e-01 -4.21913321e-04 8.88360734e+00] [ 2.03753767e-02 -9.45996995e-04 9.99791953e-01 7.08062449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9650998929999 meters 0.02234126073133313 Centerline is valid? [True, True] Translation: X:588.18, Y:8.88, Z:7.08 [[ 9.97627761e-01 -6.57605078e-02 -2.03569599e-02 5.88179025e+02] [ 6.57656041e-02 9.97835011e-01 -4.19740326e-04 8.88469986e+00] [ 2.03404897e-02 -9.20043165e-04 9.99792688e-01 7.08057105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.995099893 meters 0.02215831677843062 Centerline is valid? [True, True] Translation: X:588.21, Y:8.89, Z:7.08 [[ 9.97864911e-01 -6.21019953e-02 -2.02228218e-02 5.88209501e+02] [ 6.21062974e-02 9.98069454e-01 -4.15845461e-04 8.88625139e+00] [ 2.02096056e-02 -8.41006995e-04 9.99795411e-01 7.08083037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.025099893 meters 0.020720154484076006 Centerline is valid? [True, True] Translation: X:588.24, Y:8.89, Z:7.08 [[ 9.98007950e-01 -5.99025363e-02 -1.97944111e-02 5.88240480e+02] [ 5.99062394e-02 9.98203926e-01 -4.06365128e-04 8.88959501e+00] [ 1.97832012e-02 -7.80253105e-04 9.99803989e-01 7.08187808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0550998929999 meters 0.016848772508048383 Centerline is valid? [True, True] Translation: X:588.27, Y:8.90, Z:7.08 [[ 9.98150758e-01 -5.75507090e-02 -1.95699001e-02 5.88271950e+02] [ 5.75538907e-02 9.98342320e-01 -4.01064573e-04 8.89654005e+00] [ 1.95605411e-02 -7.26000985e-04 9.99808411e-01 7.08327023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0850998929999 meters 0.017973781555680222 Centerline is valid? [True, True] Translation: X:588.30, Y:8.90, Z:7.08 [[ 9.98415050e-01 -5.28324220e-02 -1.93939100e-02 5.88302824e+02] [ 5.28346711e-02 9.98603195e-01 -3.96753692e-04 8.89626579e+00] [ 1.93877819e-02 -6.28545998e-04 9.99811842e-01 7.08291573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.115099893 meters 0.01623312228357953 Centerline is valid? [True, True] Translation: X:588.33, Y:8.90, Z:7.08 [[ 9.98517383e-01 -5.08200492e-02 -1.95027861e-02 5.88334820e+02] [ 5.08219586e-02 9.98707650e-01 -3.98033194e-04 8.89986256e+00] [ 1.94978097e-02 -5.93726723e-04 9.99809723e-01 7.08349912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.145099893 meters 0.014651014840113163 Centerline is valid? [True, True] Translation: X:588.37, Y:8.90, Z:7.08 [[ 9.98581885e-01 -4.94146279e-02 -1.98094056e-02 5.88367328e+02] [ 4.94163498e-02 9.98778185e-01 -4.02865086e-04 8.90337898e+00] [ 1.98051096e-02 -5.76614739e-04 9.99803693e-01 7.08454276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1750998929999 meters 0.015249140619524494 Centerline is valid? [True, True] Translation: X:588.40, Y:8.90, Z:7.08 [[ 9.98602924e-01 -4.84261384e-02 -2.11449694e-02 5.88398988e+02] [ 4.84279095e-02 9.98826588e-01 -4.28590886e-04 8.90325905e+00] [ 2.11409127e-02 -5.96014555e-04 9.99776328e-01 7.08380423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2050998929999 meters 0.014220832406343675 Centerline is valid? [True, True] Translation: X:588.43, Y:8.91, Z:7.08 [[ 9.98590409e-01 -4.85373531e-02 -2.14783823e-02 5.88430865e+02] [ 4.85392353e-02 9.98821182e-01 -4.34001337e-04 8.90574885e+00] [ 2.14741285e-02 -6.09154680e-04 9.99769219e-01 7.08444715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.235099893 meters 0.01392299180153117 Centerline is valid? [True, True] Translation: X:588.46, Y:8.91, Z:7.09 [[ 9.98570674e-01 -4.90496138e-02 -2.12307254e-02 5.88463279e+02] [ 4.90516014e-02 9.98796154e-01 -4.27443456e-04 8.90696371e+00] [ 2.12261328e-02 -6.14568579e-04 9.99774511e-01 7.08510313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.265099893 meters 0.015936056146643642 Centerline is valid? [True, True] Translation: X:588.49, Y:8.90, Z:7.08 [[ 9.98486385e-01 -5.07172366e-02 -2.12767605e-02 5.88494704e+02] [ 5.07196498e-02 9.98712839e-01 -4.26546870e-04 8.90409014e+00] [ 2.12710071e-02 -6.53248598e-04 9.99773533e-01 7.08454682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2950998929999 meters 0.017227881279970114 Centerline is valid? [True, True] Translation: X:588.53, Y:8.90, Z:7.08 [[ 9.98427375e-01 -5.17807771e-02 -2.14832102e-02 5.88526233e+02] [ 5.17835209e-02 9.98658241e-01 -4.28937613e-04 8.90237392e+00] [ 2.14765956e-02 -6.84213208e-04 9.99769117e-01 7.08463754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3250998929999 meters 0.01625764640644146 Centerline is valid? [True, True] Translation: X:588.56, Y:8.90, Z:7.09 [[ 9.98366631e-01 -5.28613414e-02 -2.16736979e-02 5.88558731e+02] [ 5.28644173e-02 9.98601606e-01 -4.31407693e-04 8.90430613e+00] [ 2.16661943e-02 -7.15064363e-04 9.99765005e-01 7.08543263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.355099893 meters 0.017234884851508172 Centerline is valid? [True, True] Translation: X:588.59, Y:8.90, Z:7.09 [[ 9.98254085e-01 -5.49663851e-02 -2.16212652e-02 5.88589739e+02] [ 5.49699692e-02 9.98487916e-01 -4.28974935e-04 8.90350416e+00] [ 2.16121512e-02 -7.60294299e-04 9.99766141e-01 7.08598166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.385099893 meters 0.017567874665089002 Centerline is valid? [True, True] Translation: X:588.62, Y:8.90, Z:7.09 [[ 9.98198304e-01 -5.59777084e-02 -2.16018989e-02 5.88622165e+02] [ 5.59815512e-02 9.98431712e-01 -4.27262851e-04 8.90393273e+00] [ 2.15919381e-02 -7.82814758e-04 9.99766560e-01 7.08658847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4150998929999 meters 0.018137825078643314 Centerline is valid? [True, True] Translation: X:588.65, Y:8.90, Z:7.09 [[ 9.98152564e-01 -5.67389353e-02 -2.17290534e-02 5.88653991e+02] [ 5.67430375e-02 9.98388724e-01 -4.28218085e-04 8.90395999e+00] [ 2.17183385e-02 -8.05545513e-04 9.99763805e-01 7.08734333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4450998929999 meters 0.017928647077306903 Centerline is valid? [True, True] Translation: X:588.69, Y:8.90, Z:7.09 [[ 9.98064506e-01 -5.84231380e-02 -2.13067934e-02 5.88686371e+02] [ 5.84274977e-02 9.98291567e-01 -4.18382509e-04 8.90490784e+00] [ 2.12948354e-02 -8.27329888e-04 9.99772897e-01 7.08860653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.475099893 meters 0.018626968592426518 Centerline is valid? [True, True] Translation: X:588.72, Y:8.90, Z:7.09 [[ 9.98042247e-01 -5.90103509e-02 -2.07232268e-02 5.88717742e+02] [ 5.90146287e-02 9.98257036e-01 -4.05598247e-04 8.90447683e+00] [ 2.07110415e-02 -8.18169352e-04 9.99785169e-01 7.08907264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.505099893 meters 0.01920900962053268 Centerline is valid? [True, True] Translation: X:588.75, Y:8.90, Z:7.09 [[ 9.98027481e-01 -5.92846700e-02 -2.06512708e-02 5.88749737e+02] [ 5.92890028e-02 9.98240778e-01 -4.02932411e-04 8.90402296e+00] [ 2.06388283e-02 -8.22255630e-04 9.99786659e-01 7.08966862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5350998929999 meters 0.020151473762103054 Centerline is valid? [True, True] Translation: X:588.78, Y:8.90, Z:7.09 [[ 9.98002660e-01 -5.98769622e-02 -2.01355644e-02 5.88781332e+02] [ 5.98812271e-02 9.98205432e-01 -3.91597707e-04 8.90392956e+00] [ 2.01228775e-02 -8.14926752e-04 9.99797182e-01 7.09040958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5650998929999 meters 0.019014428367458293 Centerline is valid? [True, True] Translation: X:588.81, Y:8.91, Z:7.09 [[ 9.98001072e-01 -5.98122923e-02 -2.04046334e-02 5.88813102e+02] [ 5.98166839e-02 9.98209301e-01 -3.95586502e-04 8.90666121e+00] [ 2.03917558e-02 -8.25741752e-04 9.99791726e-01 7.09127402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.595099893 meters 0.01853706397516415 Centerline is valid? [True, True] Translation: X:588.85, Y:8.91, Z:7.09 [[ 9.98026231e-01 -5.93592607e-02 -2.04968533e-02 5.88845716e+02] [ 5.93636270e-02 9.98236346e-01 -3.95894311e-04 8.90832075e+00] [ 2.04842040e-02 -8.21654648e-04 9.99789839e-01 7.09169335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.625099893 meters 0.018220342395967228 Centerline is valid? [True, True] Translation: X:588.88, Y:8.91, Z:7.09 [[ 9.98049279e-01 -5.87635525e-02 -2.10827104e-02 5.88877535e+02] [ 5.87680722e-02 9.98271581e-01 -4.05659864e-04 8.90960043e+00] [ 2.10701086e-02 -8.34121709e-04 9.99777653e-01 7.09184727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6550998929999 meters 0.018704849612707148 Centerline is valid? [True, True] Translation: X:588.91, Y:8.91, Z:7.09 [[ 9.98080140e-01 -5.78377683e-02 -2.21546188e-02 5.88908572e+02] [ 5.78425783e-02 9.98325626e-01 -4.24184545e-04 8.91007236e+00] [ 2.21420576e-02 -8.58110103e-04 9.99754466e-01 7.09101363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6850998929999 meters 0.018493848808926166 Centerline is valid? [True, True] Translation: X:588.94, Y:8.91, Z:7.09 [[ 9.98094351e-01 -5.73098391e-02 -2.28746359e-02 5.88941152e+02] [ 5.73148803e-02 9.98356056e-01 -4.35708072e-04 8.91115272e+00] [ 2.28620016e-02 -8.76179250e-04 9.99738246e-01 7.09107100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7150998929999 meters 0.01924623073903231 Centerline is valid? [True, True] Translation: X:588.97, Y:8.91, Z:7.09 [[ 9.98093584e-01 -5.69018878e-02 -2.39034089e-02 5.88972304e+02] [ 5.69073129e-02 9.98379363e-01 -4.53768929e-04 8.91108915e+00] [ 2.38904905e-02 -9.07374913e-04 9.99714170e-01 7.09021703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.745099893 meters 0.019393094088155614 Centerline is valid? [True, True] Translation: X:589.00, Y:8.91, Z:7.09 [[ 9.98092881e-01 -5.66654438e-02 -2.44873062e-02 5.89004065e+02] [ 5.66711035e-02 9.98392794e-01 -4.63333025e-04 8.91174350e+00] [ 2.44742050e-02 -9.25273271e-04 9.99700034e-01 7.09035811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.775099893 meters 0.019845272904759022 Centerline is valid? [True, True] Translation: X:589.03, Y:8.91, Z:7.09 [[ 9.98115366e-01 -5.63591041e-02 -2.42768766e-02 5.89034997e+02] [ 5.63646299e-02 9.98410146e-01 -4.57146464e-04 8.91203156e+00] [ 2.42640442e-02 -9.12072252e-04 9.99705169e-01 7.09081502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8050998929999 meters 0.019554813518317487 Centerline is valid? [True, True] Translation: X:589.07, Y:8.91, Z:7.09 [[ 9.98139211e-01 -5.59426161e-02 -2.42598468e-02 5.89066768e+02] [ 5.59480652e-02 9.98433577e-01 -4.54603143e-04 8.91322498e+00] [ 2.42472773e-02 -9.03534269e-04 9.99705583e-01 7.09153239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8350998929999 meters 0.019902145216499797 Centerline is valid? [True, True] Translation: X:589.10, Y:8.91, Z:7.09 [[ 9.98181040e-01 -5.47009257e-02 -2.53460224e-02 5.89098058e+02] [ 5.47065141e-02 9.98502365e-01 -4.73392128e-04 8.91380423e+00] [ 2.53339583e-02 -9.14061486e-04 9.99678626e-01 7.09119104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.865099893 meters 0.018130573213599805 Centerline is valid? [True, True] Translation: X:589.13, Y:8.92, Z:7.09 [[ 9.98221512e-01 -5.36705958e-02 -2.59476329e-02 5.89130469e+02] [ 5.36761468e-02 9.98558280e-01 -4.83024305e-04 8.91705947e+00] [ 2.59361478e-02 -9.10603698e-04 9.99663187e-01 7.09193800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.895099893 meters 0.016606371504289584 Centerline is valid? [True, True] Translation: X:589.16, Y:8.92, Z:7.09 [[ 9.98263448e-01 -5.27314238e-02 -2.62580456e-02 5.89162694e+02] [ 5.27368334e-02 9.98608326e-01 -4.86927294e-04 8.92040069e+00] [ 2.62471793e-02 -8.98684455e-04 9.99655079e-01 7.09269702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9250998929999 meters 0.01902244378210179 Centerline is valid? [True, True] Translation: X:589.19, Y:8.92, Z:7.09 [[ 9.98354788e-01 -5.08353406e-02 -2.65232915e-02 5.89193096e+02] [ 5.08402223e-02 9.98706679e-01 -4.90696372e-04 8.91861522e+00] [ 2.65139331e-02 -8.58560963e-04 9.99648075e-01 7.09144252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9550998929999 meters 0.0163551906869349 Centerline is valid? [True, True] Translation: X:589.22, Y:8.92, Z:7.09 [[ 9.98421130e-01 -4.96377467e-02 -2.62933629e-02 5.89224623e+02] [ 4.96421478e-02 9.98766950e-01 -4.85736225e-04 8.92377945e+00] [ 2.62850527e-02 -8.20289696e-04 9.99654152e-01 7.09387369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.985099893 meters 0.015080143343311031 Centerline is valid? [True, True] Translation: X:589.26, Y:8.93, Z:7.10 [[ 9.98465917e-01 -4.87638127e-02 -2.62278925e-02 5.89255934e+02] [ 4.87679151e-02 9.98810020e-01 -4.83594494e-04 8.92707397e+00] [ 2.62202638e-02 -7.96227015e-04 9.99655873e-01 7.09536877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.015099893 meters 0.014520882254155447 Centerline is valid? [True, True] Translation: X:589.29, Y:8.93, Z:7.10 [[ 9.98580589e-01 -4.69109477e-02 -2.52224009e-02 5.89287716e+02] [ 4.69141792e-02 9.98898816e-01 -4.63928627e-04 8.92940601e+00] [ 2.52163898e-02 -7.20018115e-04 9.99681757e-01 7.09685477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0450998929999 meters 0.015356277150799286 Centerline is valid? [True, True] Translation: X:589.32, Y:8.93, Z:7.10 [[ 9.98624762e-01 -4.61854769e-02 -2.48089923e-02 5.89317794e+02] [ 4.61884015e-02 9.98932642e-01 -4.55442044e-04 8.92919399e+00] [ 2.48035470e-02 -6.91071991e-04 9.99692106e-01 7.09709923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0750998929999 meters 0.01413402109504051 Centerline is valid? [True, True] Translation: X:589.35, Y:8.93, Z:7.10 [[ 9.98745174e-01 -4.39583230e-02 -2.39946647e-02 5.89349534e+02] [ 4.39604363e-02 9.99033176e-01 -4.39656702e-04 8.93280184e+00] [ 2.39907927e-02 -6.15710921e-04 9.99711990e-01 7.09867830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.105099893 meters 0.013374074882314685 Centerline is valid? [True, True] Translation: X:589.38, Y:8.94, Z:7.10 [[ 9.98813311e-01 -4.26336760e-02 -2.35444208e-02 5.89380472e+02] [ 4.26353676e-02 9.99090607e-01 -4.30356025e-04 8.93500216e+00] [ 2.35413573e-02 -5.73979710e-04 9.99722699e-01 7.09970927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.135099893 meters 0.013374074882314685 Centerline is valid? [True, True] Translation: X:589.41, Y:8.94, Z:7.10 [[ 9.98816375e-01 -4.25618126e-02 -2.35444436e-02 5.89412172e+02] [ 4.25635137e-02 9.99093671e-01 -4.29107342e-04 8.93552407e+00] [ 2.35413681e-02 -5.73534806e-04 9.99722699e-01 7.10010118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1650998929999 meters 0.013223480647623303 Centerline is valid? [True, True] Translation: X:589.44, Y:8.94, Z:7.10 [[ 9.98877889e-01 -4.11715535e-02 -2.34065513e-02 5.89443411e+02] [ 4.11728832e-02 9.99151947e-01 -4.25316173e-04 8.93675447e+00] [ 2.34042122e-02 -5.38876282e-04 9.99725939e-01 7.10072120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1950998929999 meters 0.012078605672982554 Centerline is valid? [True, True] Translation: X:589.47, Y:8.94, Z:7.10 [[ 9.99012229e-01 -3.82893263e-02 -2.25498103e-02 5.89474618e+02] [ 3.82898444e-02 9.99266591e-01 -4.08954986e-04 8.93986977e+00] [ 2.25489307e-02 -4.54877697e-04 9.99745637e-01 7.10165664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.225099893 meters 0.013125884772675471 Centerline is valid? [True, True] Translation: X:589.50, Y:8.94, Z:7.10 [[ 9.99063978e-01 -3.69788275e-02 -2.24440167e-02 5.89504954e+02] [ 3.69790348e-02 9.99315959e-01 -4.05936340e-04 8.93864861e+00] [ 2.24436751e-02 -4.24401699e-04 9.99748019e-01 7.10055143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.255099893 meters 0.01173375144664038 Centerline is valid? [True, True] Translation: X:589.54, Y:8.94, Z:7.10 [[ 9.99104489e-01 -3.56522737e-02 -2.27845283e-02 5.89536746e+02] [ 3.56521739e-02 9.99364175e-01 -4.10719823e-04 8.94200663e+00] [ 2.27846845e-02 -4.01965949e-04 9.99740315e-01 7.10188496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2850998929999 meters 0.011544403811443716 Centerline is valid? [True, True] Translation: X:589.57, Y:8.94, Z:7.10 [[ 9.99138585e-01 -3.45394895e-02 -2.30024312e-02 5.89568260e+02] [ 3.45391173e-02 9.99403261e-01 -4.13596072e-04 8.94295867e+00] [ 2.30029901e-02 -3.81243873e-04 9.99735324e-01 7.10217467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3150998929999 meters 0.011274440199846629 Centerline is valid? [True, True] Translation: X:589.60, Y:8.94, Z:7.10 [[ 9.99180929e-01 -3.32352428e-02 -2.30843916e-02 5.89598826e+02] [ 3.32345302e-02 9.99447494e-01 -4.14626293e-04 8.94404117e+00] [ 2.30854176e-02 -3.52912226e-04 9.99733434e-01 7.10253003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.345099893 meters 0.011073814177143097 Centerline is valid? [True, True] Translation: X:589.63, Y:8.94, Z:7.10 [[ 9.99204866e-01 -3.25773493e-02 -2.29859048e-02 5.89628919e+02] [ 3.25764687e-02 9.99469161e-01 -4.12857339e-04 8.94442727e+00] [ 2.29871528e-02 -3.36270546e-04 9.99735704e-01 7.10291875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.375099893 meters 0.01139605965336193 Centerline is valid? [True, True] Translation: X:589.66, Y:8.94, Z:7.10 [[ 9.99222420e-01 -3.21409880e-02 -2.28366426e-02 5.89658346e+02] [ 3.21400005e-02 9.99483292e-01 -4.10366872e-04 8.94339962e+00] [ 2.28380324e-02 -3.23921926e-04 9.99739126e-01 7.10251880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4050998929999 meters 0.011107232794758394 Centerline is valid? [True, True] Translation: X:589.69, Y:8.94, Z:7.10 [[ 9.99235209e-01 -3.18529108e-02 -2.26801615e-02 5.89688786e+02] [ 3.18518575e-02 9.99492518e-01 -4.07778245e-04 8.94413539e+00] [ 2.26816407e-02 -3.14938893e-04 9.99742689e-01 7.10376379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4350998929999 meters 0.01138377662416684 Centerline is valid? [True, True] Translation: X:589.72, Y:8.94, Z:7.10 [[ 9.99265242e-01 -3.11925885e-02 -2.22710033e-02 5.89717981e+02] [ 3.11914103e-02 9.99513349e-01 -4.00359266e-04 8.94337729e+00] [ 2.22726534e-02 -2.94598905e-04 9.99751890e-01 7.10370518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4650998929999 meters 0.01150111970798039 Centerline is valid? [True, True] Translation: X:589.75, Y:8.94, Z:7.10 [[ 9.99274593e-01 -3.09363715e-02 -2.22087645e-02 5.89748134e+02] [ 3.09351384e-02 9.99521314e-01 -3.99162635e-04 8.94347561e+00] [ 2.22104822e-02 -2.88158125e-04 9.99753275e-01 7.10396419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.495099893 meters 0.011388924345272557 Centerline is valid? [True, True] Translation: X:589.78, Y:8.94, Z:7.10 [[ 9.99283034e-01 -3.06311478e-02 -2.22519775e-02 5.89779020e+02] [ 3.06298342e-02 9.99530717e-01 -3.99939310e-04 8.94376742e+00] [ 2.22537856e-02 -2.81921813e-04 9.99752314e-01 7.10470208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.525099893 meters 0.011497590463966305 Centerline is valid? [True, True] Translation: X:589.81, Y:8.94, Z:7.10 [[ 9.99294872e-01 -3.03552948e-02 -2.20978270e-02 5.89808302e+02] [ 3.03539243e-02 9.99539134e-01 -3.97510587e-04 8.94347990e+00] [ 2.20997094e-02 -2.73525477e-04 9.99755734e-01 7.10484293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5550998929999 meters 0.011507598137175515 Centerline is valid? [True, True] Translation: X:589.84, Y:8.94, Z:7.10 [[ 9.99303303e-01 -3.05034874e-02 -2.15045632e-02 5.89837898e+02] [ 3.05022079e-02 9.99534624e-01 -3.87581029e-04 8.94117143e+00] [ 2.15063780e-02 -2.68625653e-04 9.99768675e-01 7.10483519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5850998929999 meters 0.011480924221700743 Centerline is valid? [True, True] Translation: X:589.87, Y:8.94, Z:7.11 [[ 9.99303598e-01 -3.08447715e-02 -2.09980706e-02 5.89868760e+02] [ 3.08436180e-02 9.99524151e-01 -3.78874968e-04 8.94031709e+00] [ 2.09997650e-02 -2.69045350e-04 9.99779444e-01 7.10541436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.615099893 meters 0.011642625690633256 Centerline is valid? [True, True] Translation: X:589.90, Y:8.94, Z:7.11 [[ 9.99278341e-01 -3.22821922e-02 -2.00164478e-02 5.89899782e+02] [ 3.22814322e-02 9.99478754e-01 -3.61163230e-04 8.93753513e+00] [ 2.00176735e-02 -2.85257010e-04 9.99799586e-01 7.10629552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.645099893 meters 0.011926521228568965 Centerline is valid? [True, True] Translation: X:589.93, Y:8.94, Z:7.11 [[ 9.99243419e-01 -3.37129955e-02 -1.93913502e-02 5.89931498e+02] [ 3.37125565e-02 9.99431509e-01 -3.49627583e-04 8.93574482e+00] [ 1.93921133e-02 -3.04368927e-04 9.99811909e-01 7.10682259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6750998929999 meters 0.012996217037381769 Centerline is valid? [True, True] Translation: X:589.96, Y:8.93, Z:7.11 [[ 9.99188715e-01 -3.54459846e-02 -1.91179019e-02 5.89962365e+02] [ 3.54458859e-02 9.99371538e-01 -3.44129447e-04 8.93202421e+00] [ 1.91180851e-02 -3.33800710e-04 9.99817177e-01 7.10676217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7050998929999 meters 0.014046203650746613 Centerline is valid? [True, True] Translation: X:589.99, Y:8.93, Z:7.11 [[ 9.99051236e-01 -3.96671106e-02 -1.79763043e-02 5.89993214e+02] [ 3.96677143e-02 9.99212874e-01 -3.23123289e-04 8.92593821e+00] [ 1.79749720e-02 -3.90262181e-04 9.99838361e-01 7.10729959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.735099893 meters 0.015915096998468974 Centerline is valid? [True, True] Translation: X:590.02, Y:8.92, Z:7.11 [[ 9.98969612e-01 -4.19187045e-02 -1.73935715e-02 5.90024803e+02] [ 4.19196245e-02 9.99120938e-01 -3.11858411e-04 8.92045117e+00] [ 1.73913541e-02 -4.17594908e-04 9.99848672e-01 7.10741411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.765099893 meters 0.01570360998524708 Centerline is valid? [True, True] Translation: X:590.06, Y:8.92, Z:7.11 [[ 9.98895532e-01 -4.41113271e-02 -1.61835276e-02 5.90057208e+02] [ 4.41124252e-02 9.99026531e-01 -2.89286024e-04 8.91861095e+00] [ 1.61805343e-02 -4.24928136e-04 9.99868996e-01 7.10827021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7950998929999 meters 0.016817902284105266 Centerline is valid? [True, True] Translation: X:590.09, Y:8.91, Z:7.11 [[ 9.98817183e-01 -4.61645249e-02 -1.52666600e-02 5.90088520e+02] [ 4.61657565e-02 9.98933756e-01 -2.71921391e-04 8.91473760e+00] [ 1.52629352e-02 -4.33197152e-04 9.99883421e-01 7.10868398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8250998929999 meters 0.016780293723980527 Centerline is valid? [True, True] Translation: X:590.12, Y:8.91, Z:7.11 [[ 9.98679600e-01 -4.95064457e-02 -1.37174816e-02 5.90120934e+02] [ 4.95077643e-02 9.98773709e-01 -2.43645742e-04 8.91070479e+00] [ 1.37127220e-02 -4.35797816e-04 9.99905881e-01 7.10976506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.855099893 meters 0.017363207716853627 Centerline is valid? [True, True] Translation: X:590.15, Y:8.91, Z:7.11 [[ 9.98615227e-01 -5.10075311e-02 -1.28786671e-02 5.90152614e+02] [ 5.10088292e-02 9.98698176e-01 -2.27876288e-04 8.90798527e+00] [ 1.28735247e-02 -4.29364998e-04 9.99917041e-01 7.11052666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.885099893 meters 0.018648687949423783 Centerline is valid? [True, True] Translation: X:590.18, Y:8.90, Z:7.11 [[ 9.98514670e-01 -5.31295212e-02 -1.20709744e-02 5.90184121e+02] [ 5.31308236e-02 9.98587538e-01 -2.12986409e-04 8.90132408e+00] [ 1.20652404e-02 -4.28670756e-04 9.99927120e-01 7.11071705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9150998929999 meters 0.01876861793118158 Centerline is valid? [True, True] Translation: X:590.22, Y:8.90, Z:7.11 [[ 9.98483318e-01 -5.37669763e-02 -1.18396086e-02 5.90216707e+02] [ 5.37682906e-02 9.98553418e-01 -2.07503441e-04 8.89880269e+00] [ 1.18336385e-02 -4.29406793e-04 9.99929888e-01 7.11100364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9450998929999 meters 0.01915740791009923 Centerline is valid? [True, True] Translation: X:590.25, Y:8.90, Z:7.11 [[ 9.98463909e-01 -5.41896483e-02 -1.15457249e-02 5.90248623e+02] [ 5.41909357e-02 9.98530571e-01 -2.01540742e-04 8.89589278e+00] [ 1.15396807e-02 -4.24442477e-04 9.99933326e-01 7.11118151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.975099893 meters 0.018336142668107017 Centerline is valid? [True, True] Translation: X:590.28, Y:8.89, Z:7.11 [[ 9.98457880e-01 -5.43994067e-02 -1.10709714e-02 5.90281106e+02] [ 5.44006117e-02 9.98519172e-01 -1.92497083e-04 8.89191070e+00] [ 1.10650490e-02 -4.10067390e-04 9.99938696e-01 7.11117380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.005099893 meters 0.018336142668107017 Centerline is valid? [True, True] Translation: X:590.31, Y:8.89, Z:7.11 [[ 9.98463899e-01 -5.42888230e-02 -1.10709847e-02 5.90313661e+02] [ 5.42900297e-02 9.98525190e-01 -1.91730884e-04 8.89239050e+00] [ 1.10650660e-02 -4.09607723e-04 9.99938696e-01 7.11157617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0350998929999 meters 0.019961683623884063 Centerline is valid? [True, True] Translation: X:590.34, Y:8.89, Z:7.11 [[ 9.98486760e-01 -5.40256892e-02 -1.02671888e-02 5.90344673e+02] [ 5.40267249e-02 9.98539474e-01 -1.76655206e-04 8.88541784e+00] [ 1.02617373e-02 -3.78314703e-04 9.99947275e-01 7.11269387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0650998929999 meters 0.02004923210471395 Centerline is valid? [True, True] Translation: X:590.38, Y:8.88, Z:7.11 [[ 9.98490379e-01 -5.40661155e-02 -9.68599197e-03 5.90376664e+02] [ 5.40670435e-02 9.98537294e-01 -1.66205578e-04 8.88350851e+00] [ 9.68081030e-03 -3.57738279e-04 9.99953076e-01 7.11414757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.095099893 meters 0.020992443102878993 Centerline is valid? [True, True] Translation: X:590.41, Y:8.88, Z:7.11 [[ 9.98425631e-01 -5.48931932e-02 -1.15324210e-02 5.90407607e+02] [ 5.48945755e-02 9.98492137e-01 -1.96888397e-04 8.87809198e+00] [ 1.15258395e-02 -4.36488934e-04 9.99933480e-01 7.11356918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.125099893 meters 0.019497708540257626 Centerline is valid? [True, True] Translation: X:590.44, Y:8.88, Z:7.11 [[ 9.98403698e-01 -5.46967810e-02 -1.40825142e-02 5.90440333e+02] [ 5.46988366e-02 9.98502869e-01 -2.39447859e-04 8.87848530e+00] [ 1.40745279e-02 -5.31231516e-04 9.99900808e-01 7.11164558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1550998929999 meters 0.021223417230697827 Centerline is valid? [True, True] Translation: X:590.47, Y:8.87, Z:7.11 [[ 9.98402408e-01 -5.43227745e-02 -1.55456532e-02 5.90471247e+02] [ 5.43252622e-02 9.98523258e-01 -2.62524502e-04 8.87395398e+00] [ 1.55369573e-02 -5.82416590e-04 9.99879125e-01 7.11039889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1850998929999 meters 0.01847365808268035 Centerline is valid? [True, True] Translation: X:590.50, Y:8.88, Z:7.11 [[ 9.98507169e-01 -5.23678937e-02 -1.55253968e-02 5.90503697e+02] [ 5.23701658e-02 9.98627707e-01 -2.60451896e-04 8.87510251e+00] [ 1.55177308e-02 -5.53004522e-04 9.99879440e-01 7.11155177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2150998929999 meters 0.019656587555397433 Centerline is valid? [True, True] Translation: X:590.53, Y:8.87, Z:7.11 [[ 9.98572513e-01 -5.13186270e-02 -1.48099640e-02 5.90534829e+02] [ 5.13205941e-02 9.98682199e-01 -2.47452050e-04 8.87208497e+00] [ 1.48031463e-02 -5.12957336e-04 9.99890296e-01 7.11266037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.245099893 meters 0.017429213737887455 Centerline is valid? [True, True] Translation: X:590.57, Y:8.87, Z:7.11 [[ 9.98722934e-01 -4.84717288e-02 -1.42475549e-02 5.90565797e+02] [ 4.84732700e-02 9.98824452e-01 -2.37336619e-04 8.87313304e+00] [ 1.42423104e-02 -4.53592054e-04 9.99898470e-01 7.11476303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.275099893 meters 0.01694649484948963 Centerline is valid? [True, True] Translation: X:590.60, Y:8.87, Z:7.12 [[ 9.98815252e-01 -4.65149187e-02 -1.42987394e-02 5.90598225e+02] [ 4.65162793e-02 9.98917504e-01 -2.37587325e-04 8.87284701e+00] [ 1.42943125e-02 -4.27818314e-04 9.99897740e-01 7.11570515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3050998929999 meters 0.01669967078532589 Centerline is valid? [True, True] Translation: X:590.63, Y:8.87, Z:7.12 [[ 9.98904843e-01 -4.44983864e-02 -1.44570878e-02 5.90630094e+02] [ 4.44995818e-02 9.99009374e-01 -2.39143636e-04 8.87175976e+00] [ 1.44534077e-02 -4.04452623e-04 9.99895462e-01 7.11626563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3350998929999 meters 0.016250015359452377 Centerline is valid? [True, True] Translation: X:590.66, Y:8.87, Z:7.12 [[ 9.99014204e-01 -4.20806349e-02 -1.41364964e-02 5.90661196e+02] [ 4.20815494e-02 9.99114152e-01 -2.32892588e-04 8.86883361e+00] [ 1.41337739e-02 -3.62222667e-04 9.99900048e-01 7.11658417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.365099893 meters 0.015790999325355163 Centerline is valid? [True, True] Translation: X:590.69, Y:8.87, Z:7.12 [[ 9.99064065e-01 -4.08965924e-02 -1.40876560e-02 5.90693493e+02] [ 4.08973911e-02 9.99163325e-01 -2.31510547e-04 8.86783149e+00] [ 1.40853372e-02 -3.44854511e-04 9.99900737e-01 7.11723120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.395099893 meters 0.015831873693411363 Centerline is valid? [True, True] Translation: X:590.73, Y:8.87, Z:7.12 [[ 9.99078356e-01 -4.06252445e-02 -1.38574179e-02 5.90726168e+02] [ 4.06260052e-02 9.99174397e-01 -2.26721573e-04 8.86568208e+00] [ 1.38551878e-02 -3.36458915e-04 9.99903956e-01 7.11817488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4250998929999 meters 0.015932055400301195 Centerline is valid? [True, True] Translation: X:590.76, Y:8.86, Z:7.12 [[ 9.99088963e-01 -4.04753327e-02 -1.35274287e-02 5.90758819e+02] [ 4.04760570e-02 9.99180484e-01 -2.20350755e-04 8.85981997e+00] [ 1.35252615e-02 -3.27386966e-04 9.99908476e-01 7.11889094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4550998929999 meters 0.01596312122574019 Centerline is valid? [True, True] Translation: X:590.79, Y:8.86, Z:7.12 [[ 9.99057479e-01 -4.12354384e-02 -1.35570220e-02 5.90790606e+02] [ 4.12362492e-02 9.99149400e-01 -2.19837286e-04 8.85673041e+00] [ 1.35545555e-02 -3.39410655e-04 9.99908075e-01 7.11910617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.485099893 meters 0.016434079899591038 Centerline is valid? [True, True] Translation: X:590.82, Y:8.85, Z:7.12 [[ 9.99026204e-01 -4.18041617e-02 -1.41087298e-02 5.90822222e+02] [ 4.18051112e-02 9.99125758e-01 -2.27741770e-04 8.85287655e+00] [ 1.41059159e-02 -3.62297022e-04 9.99900441e-01 7.11907140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.515099893 meters 0.017305082825996614 Centerline is valid? [True, True] Translation: X:590.85, Y:8.85, Z:7.12 [[ 9.98912425e-01 -4.44630884e-02 -1.40357295e-02 5.90854081e+02] [ 4.44643011e-02 9.99010948e-01 -2.25798272e-04 8.84549744e+00] [ 1.40318871e-02 -3.98536203e-04 9.99901469e-01 7.11965788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5450998929999 meters 0.018214774809416395 Centerline is valid? [True, True] Translation: X:590.89, Y:8.84, Z:7.12 [[ 9.98828734e-01 -4.63275767e-02 -1.39612550e-02 5.90885112e+02] [ 4.63289691e-02 9.98926212e-01 -2.23845663e-04 8.84147534e+00] [ 1.39566338e-02 -4.23227069e-04 9.99902512e-01 7.12002924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5750998929999 meters 0.018932895440186694 Centerline is valid? [True, True] Translation: X:590.92, Y:8.84, Z:7.12 [[ 9.98732551e-01 -4.82781026e-02 -1.42308415e-02 5.90916014e+02] [ 4.82797572e-02 9.98833827e-01 -2.27454907e-04 8.83768819e+00] [ 1.42252269e-02 -4.59894952e-04 9.99898711e-01 7.12067448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.605099893 meters 0.018436795962635293 Centerline is valid? [True, True] Translation: X:590.95, Y:8.84, Z:7.12 [[ 9.98625608e-01 -5.04815559e-02 -1.40892490e-02 5.90947266e+02] [ 5.04834007e-02 9.98724875e-01 -2.24911797e-04 8.83601756e+00] [ 1.40826374e-02 -4.86670524e-04 9.99900716e-01 7.12119108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.635099893 meters 0.019681336342384056 Centerline is valid? [True, True] Translation: X:590.98, Y:8.83, Z:7.12 [[ 9.98377686e-01 -5.50453965e-02 -1.45602678e-02 5.90978429e+02] [ 5.50478587e-02 9.98483690e-01 -2.31922658e-04 8.82827574e+00] [ 1.45509562e-02 -5.69965158e-04 9.99893967e-01 7.12114602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6650998929999 meters 0.019889292408862294 Centerline is valid? [True, True] Translation: X:591.01, Y:8.83, Z:7.12 [[ 9.98247999e-01 -5.73385201e-02 -1.46022778e-02 5.91009547e+02] [ 5.73412459e-02 9.98354610e-01 -2.32281738e-04 8.82546237e+00] [ 1.45915701e-02 -6.05438025e-04 9.99893354e-01 7.12118010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6950998929999 meters 0.02149247543779359 Centerline is valid? [True, True] Translation: X:591.04, Y:8.82, Z:7.12 [[ 9.98141094e-01 -5.91714020e-02 -1.45980273e-02 5.91040598e+02] [ 5.91743304e-02 9.98247637e-01 -2.31633016e-04 8.82079368e+00] [ 1.45861523e-02 -6.32626057e-04 9.99893416e-01 7.12102092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.725099893 meters 0.021743337939250144 Centerline is valid? [True, True] Translation: X:591.07, Y:8.82, Z:7.12 [[ 9.97884894e-01 -6.35535579e-02 -1.36631911e-02 5.91071477e+02] [ 6.35565423e-02 9.97978216e-01 -2.16111414e-04 8.81674727e+00] [ 1.36493017e-02 -6.52730868e-04 9.99906631e-01 7.12185708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.755099893 meters 0.022635580187645374 Centerline is valid? [True, True] Translation: X:591.10, Y:8.81, Z:7.12 [[ 9.97795692e-01 -6.50438858e-02 -1.31548576e-02 5.91104088e+02] [ 6.50467880e-02 9.97882194e-01 -2.07571428e-04 8.81397117e+00] [ 1.31404994e-02 -6.48567359e-04 9.99913450e-01 7.12239499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7850998929999 meters 0.024790120208822968 Centerline is valid? [True, True] Translation: X:591.13, Y:8.81, Z:7.12 [[ 9.97524764e-01 -6.90935178e-02 -1.30548962e-02 5.91133879e+02] [ 6.90967337e-02 9.97609943e-01 -2.05087236e-04 8.80742688e+00] [ 1.30378645e-02 -6.97471092e-04 9.99914760e-01 7.12282764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8150998929999 meters 0.025771521803286554 Centerline is valid? [True, True] Translation: X:591.16, Y:8.80, Z:7.12 [[ 9.97346484e-01 -7.16292891e-02 -1.30090430e-02 5.91164585e+02] [ 7.16326976e-02 9.97431058e-01 -2.04355159e-04 8.80457451e+00] [ 1.29902614e-02 -7.28059948e-04 9.99915358e-01 7.12289754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.845099893 meters 0.02714649868979069 Centerline is valid? [True, True] Translation: X:591.20, Y:8.80, Z:7.12 [[ 9.97016138e-01 -7.60414230e-02 -1.32861623e-02 5.91195446e+02] [ 7.60453718e-02 9.97104337e-01 -2.08469496e-04 8.79903957e+00] [ 1.32635423e-02 -8.02503696e-04 9.99911713e-01 7.12250147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.875099893 meters 0.027324632996664613 Centerline is valid? [True, True] Translation: X:591.23, Y:8.80, Z:7.12 [[ 9.96682692e-01 -8.03667966e-02 -1.28370301e-02 5.91226478e+02] [ 8.03708416e-02 9.96765011e-01 -2.01303142e-04 8.79605552e+00] [ 1.28116805e-02 -8.31087555e-04 9.99917582e-01 7.12246199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9050998929999 meters 0.02955858245032144 Centerline is valid? [True, True] Translation: X:591.26, Y:8.79, Z:7.12 [[ 9.96344623e-01 -8.44594483e-02 -1.28059742e-02 5.91255753e+02] [ 8.44638108e-02 9.96426527e-01 -2.00764069e-04 8.78925422e+00] [ 1.27771688e-02 -8.81611182e-04 9.99917980e-01 7.12202923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9350998929999 meters 0.03309255591488404 Centerline is valid? [True, True] Translation: X:591.29, Y:8.78, Z:7.12 [[ 9.95924011e-01 -8.87728807e-02 -1.59605796e-02 5.91285639e+02] [ 8.87802126e-02 9.96051209e-01 -2.49971388e-04 8.78144155e+00] [ 1.59197453e-02 -1.16803114e-03 9.99872591e-01 7.11943744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9650998929999 meters 0.031101851227679438 Centerline is valid? [True, True] Translation: X:591.32, Y:8.78, Z:7.12 [[ 9.95816928e-01 -8.98754770e-02 -1.64634154e-02 5.91317191e+02] [ 8.98834287e-02 9.95952259e-01 -2.57810228e-04 8.78376932e+00] [ 1.64199465e-02 -1.22305643e-03 9.99864436e-01 7.11934246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.995099893 meters 0.031101851227679438 Centerline is valid? [True, True] Translation: X:591.35, Y:8.78, Z:7.12 [[ 9.95823602e-01 -8.98014989e-02 -1.64634309e-02 5.91348957e+02] [ 8.98094569e-02 9.95958933e-01 -2.56816249e-04 8.78420775e+00] [ 1.64199635e-02 -1.22282810e-03 9.99864436e-01 7.11973521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.025099893 meters 0.035567021546715975 Centerline is valid? [True, True] Translation: X:591.38, Y:8.78, Z:7.12 [[ 9.95741037e-01 -9.06059639e-02 -1.70395818e-02 5.91379710e+02] [ 9.06146235e-02 9.95885997e-01 -2.64767090e-04 8.77833650e+00] [ 1.69934703e-02 -1.28039583e-03 9.99854781e-01 7.11899685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0550998929999 meters 0.035567021546715975 Centerline is valid? [True, True] Translation: X:591.41, Y:8.78, Z:7.12 [[ 9.95744252e-01 -9.05706215e-02 -1.70395878e-02 5.91410633e+02] [ 9.05792828e-02 9.95889213e-01 -2.64374102e-04 8.77878591e+00] [ 1.69934863e-02 -1.28018465e-03 9.99854781e-01 7.11937926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0850998929999 meters 0.035567021546715975 Centerline is valid? [True, True] Translation: X:591.44, Y:8.78, Z:7.12 [[ 9.95747466e-01 -9.05352765e-02 -1.70395972e-02 5.91441556e+02] [ 9.05439428e-02 9.95892426e-01 -2.63769351e-04 8.77923412e+00] [ 1.69934862e-02 -1.28018465e-03 9.99854781e-01 7.11976164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.115099893 meters 0.035567021546715975 Centerline is valid? [True, True] Translation: X:591.47, Y:8.78, Z:7.12 [[ 9.95750679e-01 -9.04999313e-02 -1.70396066e-02 5.91472479e+02] [ 9.05086028e-02 9.95895639e-01 -2.63164600e-04 8.77968123e+00] [ 1.69934862e-02 -1.28018465e-03 9.99854781e-01 7.12014401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.145099893 meters 0.03165986568534165 Centerline is valid? [True, True] Translation: X:591.50, Y:8.79, Z:7.12 [[ 9.95597307e-01 -9.20785587e-02 -1.75368285e-02 5.91503468e+02] [ 9.20879968e-02 9.95750836e-01 -2.70296125e-04 8.78506084e+00] [ 1.74872001e-02 -1.34582531e-03 9.99846181e-01 7.12038929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1750998929999 meters 0.03314387518855014 Centerline is valid? [True, True] Translation: X:591.53, Y:8.78, Z:7.12 [[ 9.95541797e-01 -9.25392460e-02 -1.82488131e-02 5.91534905e+02] [ 9.25495535e-02 9.95708040e-01 -2.80704646e-04 8.78341724e+00] [ 1.81964661e-02 -1.40946630e-03 9.99833437e-01 7.12023155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2050998929999 meters 0.032201891239380206 Centerline is valid? [True, True] Translation: X:591.57, Y:8.79, Z:7.12 [[ 9.95301684e-01 -9.49772438e-02 -1.88117369e-02 5.91565638e+02] [ 9.49886464e-02 9.95478314e-01 -2.88481659e-04 8.78531154e+00] [ 1.87540753e-02 -1.49977514e-03 9.99823002e-01 7.12047545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.235099893 meters 0.03452276192263477 Centerline is valid? [True, True] Translation: X:591.60, Y:8.78, Z:7.12 [[ 9.95248557e-01 -9.55198130e-02 -1.88752592e-02 5.91595768e+02] [ 9.55314025e-02 9.95426375e-01 -2.88772941e-04 8.78262040e+00] [ 1.88165144e-02 -1.51577913e-03 9.99821805e-01 7.12045096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.265099893 meters 0.03715006641570593 Centerline is valid? [True, True] Translation: X:591.63, Y:8.78, Z:7.12 [[ 9.95235279e-01 -9.56875538e-02 -1.87251713e-02 5.91626602e+02] [ 9.56990082e-02 9.95410276e-01 -2.85461848e-04 8.77956477e+00] [ 1.86665431e-02 -1.50787862e-03 9.99824628e-01 7.12034677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2950998929999 meters 0.03338882077010438 Centerline is valid? [True, True] Translation: X:591.66, Y:8.78, Z:7.12 [[ 9.95185274e-01 -9.62075851e-02 -1.87182020e-02 5.91658156e+02] [ 9.62191398e-02 9.95360134e-01 -2.84417266e-04 8.78493096e+00] [ 1.86587151e-02 -1.51800142e-03 9.99824759e-01 7.12130376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3250998929999 meters 0.03536359117922193 Centerline is valid? [True, True] Translation: X:591.69, Y:8.78, Z:7.12 [[ 9.95176060e-01 -9.62761416e-02 -1.88550766e-02 5.91688218e+02] [ 9.62878891e-02 9.95353485e-01 -2.85915793e-04 8.78321870e+00] [ 1.87949930e-02 -1.53097897e-03 9.99822186e-01 7.12138224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.355099893 meters 0.03480387621832213 Centerline is valid? [True, True] Translation: X:591.72, Y:8.79, Z:7.12 [[ 9.95164007e-01 -9.64183403e-02 -1.87643788e-02 5.91719660e+02] [ 9.64300088e-02 9.95339727e-01 -2.84079539e-04 8.78563924e+00] [ 1.87043222e-02 -1.52674348e-03 9.99823893e-01 7.12245014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.385099893 meters 0.033677418990956935 Centerline is valid? [True, True] Translation: X:591.75, Y:8.79, Z:7.12 [[ 9.95220345e-01 -9.59231989e-02 -1.83086063e-02 5.91751040e+02] [ 9.59342361e-02 9.95387636e-01 -2.76517098e-04 8.78840679e+00] [ 1.82506847e-02 -1.48122672e-03 9.99832345e-01 7.12375267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4150998929999 meters 0.0328865725534983 Centerline is valid? [True, True] Translation: X:591.78, Y:8.79, Z:7.13 [[ 9.95280661e-01 -9.55632062e-02 -1.68546386e-02 5.91783186e+02] [ 9.55725210e-02 9.95422437e-01 -2.53801101e-04 8.79109716e+00] [ 1.68017395e-02 -1.35823697e-03 9.99857918e-01 7.12553248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4450998929999 meters 0.036426885811201536 Centerline is valid? [True, True] Translation: X:591.81, Y:8.79, Z:7.13 [[ 9.95279981e-01 -9.57384550e-02 -1.58716189e-02 5.91814622e+02] [ 9.57467537e-02 9.95405697e-01 -2.37933793e-04 8.78730000e+00] [ 1.58214793e-02 -1.28284524e-03 9.99874010e-01 7.12599259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.475099893 meters 0.032911123584579705 Centerline is valid? [True, True] Translation: X:591.85, Y:8.79, Z:7.13 [[ 9.95357507e-01 -9.49617795e-02 -1.56745927e-02 5.91845502e+02] [ 9.49697903e-02 9.95480127e-01 -2.34177766e-04 8.79207938e+00] [ 1.56259834e-02 -1.25552218e-03 9.99877119e-01 7.12702535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.505099893 meters 0.03800420870515497 Centerline is valid? [True, True] Translation: X:591.88, Y:8.79, Z:7.13 [[ 9.95421868e-01 -9.44049707e-02 -1.49334163e-02 5.91875856e+02] [ 9.44121866e-02 9.95533168e-01 -2.22619800e-04 8.78677639e+00] [ 1.48877276e-02 -1.18829587e-03 9.99888466e-01 7.12771373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5350998929999 meters 0.03376414331104274 Centerline is valid? [True, True] Translation: X:591.91, Y:8.79, Z:7.13 [[ 9.95429097e-01 -9.42995332e-02 -1.51165898e-02 5.91908027e+02] [ 9.43069217e-02 9.95543145e-01 -2.24917055e-04 8.79337295e+00] [ 1.50704269e-02 -1.20171007e-03 9.99885713e-01 7.12854822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5650998929999 meters 0.03165662504155097 Centerline is valid? [True, True] Translation: X:591.94, Y:8.80, Z:7.13 [[ 9.95452038e-01 -9.40816082e-02 -1.49629726e-02 5.91939669e+02] [ 9.40888392e-02 9.95563781e-01 -2.21534296e-04 8.79823855e+00] [ 1.49174359e-02 -1.18732196e-03 9.99888024e-01 7.12910487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.595099893 meters 0.030511435952326322 Centerline is valid? [True, True] Translation: X:591.97, Y:8.80, Z:7.13 [[ 9.95463767e-01 -9.38632698e-02 -1.55426871e-02 5.91971823e+02] [ 9.38710643e-02 9.95584336e-01 -2.28911891e-04 8.80106388e+00] [ 1.54955423e-02 -1.23113509e-03 9.99879179e-01 7.12948752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.625099893 meters 0.03246898869646806 Centerline is valid? [True, True] Translation: X:592.00, Y:8.80, Z:7.13 [[ 9.95501646e-01 -9.33372870e-02 -1.62672739e-02 5.92002860e+02] [ 9.33457750e-02 9.95633723e-01 -2.38381347e-04 8.79956689e+00] [ 1.62184963e-02 -1.28117227e-03 9.99867651e-01 7.12919085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6550998929999 meters 0.03207632003244717 Centerline is valid? [True, True] Translation: X:592.03, Y:8.80, Z:7.13 [[ 9.95541343e-01 -9.26560041e-02 -1.76719989e-02 5.92034728e+02] [ 9.26659337e-02 9.95697222e-01 -2.57912348e-04 8.80175302e+00] [ 1.76198573e-02 -1.38082987e-03 9.99843805e-01 7.12821543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6850998929999 meters 0.0317164443114614 Centerline is valid? [True, True] Translation: X:592.07, Y:8.80, Z:7.13 [[ 9.95598775e-01 -9.19058371e-02 -1.83411166e-02 5.92066467e+02] [ 9.19164244e-02 9.95766689e-01 -2.66699274e-04 8.80339432e+00] [ 1.82879842e-02 -1.42032439e-03 9.99831752e-01 7.12803167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7150998929999 meters 0.03422922139329963 Centerline is valid? [True, True] Translation: X:592.10, Y:8.80, Z:7.13 [[ 9.95622310e-01 -9.15289326e-02 -1.89385819e-02 5.92098086e+02] [ 9.15401710e-02 9.95801347e-01 -2.74458068e-04 8.80145456e+00] [ 1.88841862e-02 -1.46038445e-03 9.99820611e-01 7.12791915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.745099893 meters 0.03088962253757458 Centerline is valid? [True, True] Translation: X:592.13, Y:8.81, Z:7.13 [[ 9.95690273e-01 -9.08017589e-02 -1.88658585e-02 5.92129893e+02] [ 9.08128010e-02 9.95867944e-01 -2.72358597e-04 8.80688481e+00] [ 1.88126344e-02 -1.44207665e-03 9.99821987e-01 7.12855320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.775099893 meters 0.030877130513886877 Centerline is valid? [True, True] Translation: X:592.16, Y:8.81, Z:7.13 [[ 9.95881361e-01 -8.87832021e-02 -1.83809281e-02 5.92159918e+02] [ 8.87933562e-02 9.96050034e-01 -2.64572228e-04 8.80933330e+00] [ 1.83318136e-02 -1.36862174e-03 9.99831021e-01 7.12975980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8050998929999 meters 0.03175548343781994 Centerline is valid? [True, True] Translation: X:592.19, Y:8.81, Z:7.13 [[ 9.96004777e-01 -8.74450537e-02 -1.81065167e-02 5.92190555e+02] [ 8.74546948e-02 9.96168464e-01 -2.60182715e-04 8.80964045e+00] [ 1.80598926e-02 -1.32435666e-03 9.99836030e-01 7.13024219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8350998929999 meters 0.03190629080644679 Centerline is valid? [True, True] Translation: X:592.22, Y:8.81, Z:7.13 [[ 9.96138439e-01 -8.60398266e-02 -1.74745209e-02 5.92221556e+02] [ 8.60486020e-02 9.96290909e-01 -2.50476375e-04 8.81092420e+00] [ 1.74312573e-02 -1.25414895e-03 9.99847278e-01 7.13096470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.865099893 meters 0.032957585468187355 Centerline is valid? [True, True] Translation: X:592.25, Y:8.81, Z:7.13 [[ 9.96419643e-01 -8.29055929e-02 -1.65698072e-02 5.92251147e+02] [ 8.29130587e-02 9.96556756e-01 -2.37082299e-04 8.81199598e+00] [ 1.65324088e-02 -1.13761994e-03 9.99862683e-01 7.13147889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.895099893 meters 0.031203332453261956 Centerline is valid? [True, True] Translation: X:592.28, Y:8.82, Z:7.13 [[ 9.96557285e-01 -8.13863865e-02 -1.58061610e-02 5.92282943e+02] [ 8.13929926e-02 9.96682060e-01 -2.25971224e-04 8.81559300e+00] [ 1.57721081e-02 -1.06131748e-03 9.99875049e-01 7.13221823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9250998929999 meters 0.03003574464604592 Centerline is valid? [True, True] Translation: X:592.31, Y:8.82, Z:7.13 [[ 9.96792227e-01 -7.86612553e-02 -1.47533770e-02 5.92313739e+02] [ 7.86667230e-02 9.96900949e-01 -2.10258295e-04 8.81850634e+00] [ 1.47241947e-02 -9.51015985e-04 9.99891141e-01 7.13283250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9550998929999 meters 0.03144898350779908 Centerline is valid? [True, True] Translation: X:592.34, Y:8.82, Z:7.13 [[ 9.96838512e-01 -7.81515779e-02 -1.43286766e-02 5.92344848e+02] [ 7.81566874e-02 9.96941067e-01 -2.03887737e-04 8.81761622e+00] [ 1.43007803e-02 -9.16638749e-04 9.99897318e-01 7.13323436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.985099893 meters 0.03163793195546151 Centerline is valid? [True, True] Translation: X:592.38, Y:8.82, Z:7.13 [[ 9.96858044e-01 -7.79314112e-02 -1.41681408e-02 5.92376881e+02] [ 7.79363956e-02 9.96958313e-01 -2.00827510e-04 8.81815903e+00] [ 1.41406966e-02 -9.04017312e-04 9.99899607e-01 7.13349654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.015099893 meters 0.03237026800882037 Centerline is valid? [True, True] Translation: X:592.41, Y:8.82, Z:7.13 [[ 9.96768886e-01 -7.90143589e-02 -1.44401579e-02 5.92408888e+02] [ 7.90196645e-02 9.96873037e-01 -2.03658040e-04 8.81827143e+00] [ 1.44110960e-02 -9.38056437e-04 9.99895715e-01 7.13354706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0450998929999 meters 0.028819728456406343 Centerline is valid? [True, True] Translation: X:592.44, Y:8.82, Z:7.13 [[ 9.96678562e-01 -8.01166523e-02 -1.46002162e-02 5.92440549e+02] [ 8.01222085e-02 9.96785027e-01 -2.04921182e-04 8.82336828e+00] [ 1.45696945e-02 -9.65561017e-04 9.99893390e-01 7.13353192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0750998929999 meters 0.03143994210996311 Centerline is valid? [True, True] Translation: X:592.47, Y:8.82, Z:7.13 [[ 9.96551707e-01 -8.16503825e-02 -1.47617719e-02 5.92471654e+02] [ 8.16562418e-02 9.96660532e-01 -2.06373758e-04 8.82017935e+00] [ 1.47293259e-02 -9.99728694e-04 9.99891018e-01 7.13337614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.105099893 meters 0.03303209092396439 Centerline is valid? [True, True] Translation: X:592.50, Y:8.82, Z:7.13 [[ 9.96274217e-01 -8.49591018e-02 -1.48201014e-02 5.92502201e+02] [ 8.49653821e-02 9.96383882e-01 -2.06490556e-04 8.81741803e+00] [ 1.47840534e-02 -1.05347436e-03 9.99890155e-01 7.13307986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.135099893 meters 0.0341654972759035 Centerline is valid? [True, True] Translation: X:592.53, Y:8.82, Z:7.13 [[ 9.96159326e-01 -8.63263344e-02 -1.46411079e-02 5.92533356e+02] [ 8.63326136e-02 9.96266349e-01 -2.03797171e-04 8.81605338e+00] [ 1.46040362e-02 -1.06099066e-03 9.99892792e-01 7.13310763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1650998929999 meters 0.036173799736655625 Centerline is valid? [True, True] Translation: X:592.56, Y:8.81, Z:7.13 [[ 9.96069435e-01 -8.73410829e-02 -1.47382384e-02 5.92564369e+02] [ 8.73475646e-02 9.96177876e-01 -2.04582170e-04 8.81355936e+00] [ 1.46997755e-02 -1.08357119e-03 9.99891365e-01 7.13328325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1950998929999 meters 0.03717398217029117 Centerline is valid? [True, True] Translation: X:592.60, Y:8.81, Z:7.13 [[ 9.95990132e-01 -8.83029883e-02 -1.43610119e-02 5.92596155e+02] [ 8.83092524e-02 9.96093086e-01 -1.98601466e-04 8.81258897e+00] [ 1.43224417e-02 -1.07040512e-03 9.99896856e-01 7.13340138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.225099893 meters 0.03770738859016816 Centerline is valid? [True, True] Translation: X:592.63, Y:8.81, Z:7.13 [[ 9.95824191e-01 -9.00225836e-02 -1.51695427e-02 5.92626983e+02] [ 9.00297836e-02 9.95939052e-01 -2.08978029e-04 8.81160571e+00] [ 1.51267528e-02 -1.15760527e-03 9.99884914e-01 7.13297070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.255099893 meters 0.03973574462583337 Centerline is valid? [True, True] Translation: X:592.66, Y:8.81, Z:7.13 [[ 9.95759588e-01 -9.06806571e-02 -1.54874759e-02 5.92657500e+02] [ 9.06882503e-02 9.95879308e-01 -2.12768710e-04 8.80898203e+00] [ 1.54429508e-02 -1.19266561e-03 9.99880039e-01 7.13260256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2850998929999 meters 0.04036847586419735 Centerline is valid? [True, True] Translation: X:592.69, Y:8.81, Z:7.13 [[ 9.95700224e-01 -9.12348810e-02 -1.60393156e-02 5.92688316e+02] [ 9.12431012e-02 9.95828624e-01 -2.20064719e-04 8.80848922e+00] [ 1.59924872e-02 -1.24435841e-03 9.99871338e-01 7.13251919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3150998929999 meters 0.04107802997006717 Centerline is valid? [True, True] Translation: X:592.72, Y:8.81, Z:7.13 [[ 9.95624636e-01 -9.19532970e-02 -1.66185253e-02 5.92719854e+02] [ 9.19622272e-02 9.95762470e-01 -2.27645913e-04 8.80743104e+00] [ 1.65690366e-02 -1.30162672e-03 9.99861877e-01 7.13237082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.345099893 meters 0.040995331356741584 Centerline is valid? [True, True] Translation: X:592.75, Y:8.81, Z:7.13 [[ 9.95609634e-01 -9.21158955e-02 -1.66168092e-02 5.92751040e+02] [ 9.21248558e-02 9.95747438e-01 -2.27053230e-04 8.80774657e+00] [ 1.65670603e-02 -1.30476476e-03 9.99861906e-01 7.13300442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.375099893 meters 0.038014223301475795 Centerline is valid? [True, True] Translation: X:592.78, Y:8.81, Z:7.13 [[ 9.95565150e-01 -9.27280589e-02 -1.58599680e-02 5.92782605e+02] [ 9.27363070e-02 9.95690680e-01 -2.16183760e-04 8.81164699e+00] [ 1.58116686e-02 -1.25556984e-03 9.99874199e-01 7.13462452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4050998929999 meters 0.03897387385602514 Centerline is valid? [True, True] Translation: X:592.81, Y:8.81, Z:7.14 [[ 9.95523586e-01 -9.32531188e-02 -1.53832877e-02 5.92814150e+02] [ 9.32609488e-02 9.95641678e-01 -2.09157351e-04 8.81060626e+00] [ 1.53357470e-02 -1.22643893e-03 9.99881648e-01 7.13510007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4350998929999 meters 0.035482802639705636 Centerline is valid? [True, True] Translation: X:592.85, Y:8.82, Z:7.14 [[ 9.95490076e-01 -9.35529076e-02 -1.57277166e-02 5.92846525e+02] [ 9.35611402e-02 9.95613513e-01 -2.13152567e-04 8.81500433e+00] [ 1.56786683e-02 -1.25931184e-03 9.99876289e-01 7.13534032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4650998929999 meters 0.034368660890731956 Centerline is valid? [True, True] Translation: X:592.88, Y:8.82, Z:7.13 [[ 9.95378244e-01 -9.45616585e-02 -1.67405004e-02 5.92878720e+02] [ 9.45711488e-02 9.95518080e-01 -2.25600606e-04 8.81628465e+00] [ 1.66868040e-02 -1.35861042e-03 9.99859843e-01 7.13475179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.495099893 meters 0.035890489795758505 Centerline is valid? [True, True] Translation: X:592.91, Y:8.81, Z:7.13 [[ 9.95341160e-01 -9.48766780e-02 -1.71578429e-02 5.92910328e+02] [ 9.48867144e-02 9.95488050e-01 -2.30029625e-04 8.81424147e+00] [ 1.71022521e-02 -1.39909339e-03 9.99852767e-01 7.13416383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.525099893 meters 0.04534734622816257 Centerline is valid? [True, True] Translation: X:592.94, Y:8.80, Z:7.13 [[ 9.95212720e-01 -9.60412042e-02 -1.81032905e-02 5.92940664e+02] [ 9.60525836e-02 9.95376232e-01 -2.41885850e-04 8.80250538e+00] [ 1.80428161e-02 -1.49813995e-03 9.99836093e-01 7.13271748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5550998929999 meters 0.03657238928156552 Centerline is valid? [True, True] Translation: X:592.97, Y:8.81, Z:7.13 [[ 9.95174409e-01 -9.63720623e-02 -1.84478081e-02 5.92972707e+02] [ 9.63839478e-02 9.95344199e-01 -2.45818769e-04 8.81391924e+00] [ 1.83856088e-02 -1.53344002e-03 9.99829794e-01 7.13351453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5850998929999 meters 0.03515550356327002 Centerline is valid? [True, True] Translation: X:593.00, Y:8.82, Z:7.13 [[ 9.95128998e-01 -9.67950281e-02 -1.86815591e-02 5.93004571e+02] [ 9.68073165e-02 9.95303111e-01 -2.47554373e-04 8.81609489e+00] [ 1.86177759e-02 -1.56216307e-03 9.99825454e-01 7.13393848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.615099893 meters 0.03728609380235345 Centerline is valid? [True, True] Translation: X:593.04, Y:8.81, Z:7.13 [[ 9.95108334e-01 -9.69741088e-02 -1.88527656e-02 5.93036050e+02] [ 9.69866795e-02 9.95285649e-01 -2.48544930e-04 8.81358364e+00] [ 1.87879895e-02 -1.58113800e-03 9.99822240e-01 7.13423327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.645099893 meters 0.035396438766636215 Centerline is valid? [True, True] Translation: X:593.07, Y:8.82, Z:7.13 [[ 9.95147919e-01 -9.65441855e-02 -1.89694266e-02 5.93067362e+02] [ 9.65568523e-02 9.95327440e-01 -2.49157019e-04 8.81658638e+00] [ 1.89048454e-02 -1.58368003e-03 9.99820033e-01 7.13441046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6750998929999 meters 0.034460936079694166 Centerline is valid? [True, True] Translation: X:593.10, Y:8.82, Z:7.13 [[ 9.95197717e-01 -9.59966535e-02 -1.91349485e-02 5.93098762e+02] [ 9.60094553e-02 9.95380390e-01 -2.50623425e-04 8.81827300e+00] [ 1.90706115e-02 -1.58771612e-03 9.99816879e-01 7.13489459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7050998929999 meters 0.03405665862644187 Centerline is valid? [True, True] Translation: X:593.13, Y:8.82, Z:7.14 [[ 9.95342206e-01 -9.44845046e-02 -1.91460415e-02 5.93130377e+02] [ 9.44970600e-02 9.95525109e-01 -2.49900271e-04 8.81984553e+00] [ 1.90839767e-02 -1.56050834e-03 9.99816667e-01 7.13552711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.735099893 meters 0.03607038273092785 Centerline is valid? [True, True] Translation: X:593.16, Y:8.82, Z:7.14 [[ 9.95417910e-01 -9.36694799e-02 -1.92149133e-02 5.93160995e+02] [ 9.36819918e-02 9.95602140e-01 -2.49920370e-04 8.81814251e+00] [ 1.91538187e-02 -1.55131613e-03 9.99815345e-01 7.13561203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.765099893 meters 0.03141720995077489 Centerline is valid? [True, True] Translation: X:593.19, Y:8.82, Z:7.14 [[ 9.95483261e-01 -9.30098771e-02 -1.90325903e-02 5.93192099e+02] [ 9.30220419e-02 9.95664019e-01 -2.47074495e-04 8.82478339e+00] [ 1.89730457e-02 -1.52449189e-03 9.99818833e-01 7.13628559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7950998929999 meters 0.035229284957211435 Centerline is valid? [True, True] Translation: X:593.22, Y:8.82, Z:7.14 [[ 9.95525605e-01 -9.25018494e-02 -1.92919138e-02 5.93222591e+02] [ 9.25142648e-02 9.95711328e-01 -2.49841258e-04 8.82038480e+00] [ 1.92322879e-02 -1.53605385e-03 9.99813862e-01 7.13615779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8250998929999 meters 0.033633548195572446 Centerline is valid? [True, True] Translation: X:593.25, Y:8.82, Z:7.14 [[ 9.95541625e-01 -9.22690900e-02 -1.95777376e-02 5.93254992e+02] [ 9.22818463e-02 9.95732894e-01 -2.52778345e-04 8.82290523e+00] [ 1.95175210e-02 -1.55501841e-03 9.99808306e-01 7.13665407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.855099893 meters 0.034153228714742766 Centerline is valid? [True, True] Translation: X:593.29, Y:8.82, Z:7.14 [[ 9.95495720e-01 -9.27091040e-02 -1.98316489e-02 5.93287072e+02] [ 9.27223092e-02 9.95691975e-01 -2.54587589e-04 8.82236853e+00] [ 1.97698162e-02 -1.58539542e-03 9.99803301e-01 7.13684352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.885099893 meters 0.037008538908581974 Centerline is valid? [True, True] Translation: X:593.32, Y:8.82, Z:7.14 [[ 9.95444415e-01 -9.32536204e-02 -1.98539582e-02 5.93317940e+02] [ 9.32669890e-02 9.95641102e-01 -2.53556560e-04 8.81862541e+00] [ 1.97910619e-02 -1.59931744e-03 9.99802859e-01 7.13683272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9150998929999 meters 0.03645651862856174 Centerline is valid? [True, True] Translation: X:593.35, Y:8.82, Z:7.14 [[ 9.95346839e-01 -9.42205507e-02 -2.01781422e-02 5.93348793e+02] [ 9.42345736e-02 9.95549988e-01 -2.56869111e-04 8.81943811e+00] [ 2.01125516e-02 -1.64580477e-03 9.99796368e-01 7.13758426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9450998929999 meters 0.03645651862856174 Centerline is valid? [True, True] Translation: X:593.38, Y:8.82, Z:7.14 [[ 9.95350233e-01 -9.41846892e-02 -2.01781487e-02 5.93379734e+02] [ 9.41987150e-02 9.95553382e-01 -2.56364941e-04 8.81980140e+00] [ 2.01125698e-02 -1.64558277e-03 9.99796368e-01 7.13796688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.975099893 meters 0.03742780221455247 Centerline is valid? [True, True] Translation: X:593.41, Y:8.82, Z:7.14 [[ 9.95242613e-01 -9.53215783e-02 -2.01478897e-02 5.93411139e+02] [ 9.53358079e-02 9.95445136e-01 -2.55256239e-04 8.81870796e+00] [ 2.00804502e-02 -1.66677346e-03 9.99796978e-01 7.13847150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.005099893 meters 0.03892741752769485 Centerline is valid? [True, True] Translation: X:593.44, Y:8.82, Z:7.14 [[ 9.94999108e-01 -9.78903519e-02 -1.98558444e-02 5.93441813e+02] [ 9.79046920e-02 9.95195764e-01 -2.50925838e-04 8.81615907e+00] [ 1.97850155e-02 -1.69430935e-03 9.99802822e-01 7.13935040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0350998929999 meters 0.03946089757490153 Centerline is valid? [True, True] Translation: X:593.47, Y:8.82, Z:7.14 [[ 9.94889362e-01 -9.89583088e-02 -2.00601880e-02 5.93473381e+02] [ 9.89731731e-02 9.95090070e-01 -2.52910613e-04 8.81505353e+00] [ 1.99867215e-02 -1.73380238e-03 9.99798742e-01 7.13970048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0650998929999 meters 0.03577681164499567 Centerline is valid? [True, True] Translation: X:593.50, Y:8.82, Z:7.14 [[ 9.94698270e-01 -1.00875497e-01 -1.99871527e-02 5.93504135e+02] [ 1.00890650e-01 9.94897489e-01 -2.51320398e-04 8.81876945e+00] [ 1.99105201e-02 -1.76652886e-03 9.99800205e-01 7.14042692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.095099893 meters 0.03639001600448905 Centerline is valid? [True, True] Translation: X:593.54, Y:8.82, Z:7.14 [[ 9.94690879e-01 -1.00963856e-01 -1.99086818e-02 5.93536710e+02] [ 1.00978927e-01 9.94888534e-01 -2.49402286e-04 8.81763534e+00] [ 1.98320998e-02 -1.76227914e-03 9.99801771e-01 7.14078921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.125099893 meters 0.03578301230383454 Centerline is valid? [True, True] Translation: X:593.57, Y:8.82, Z:7.14 [[ 9.94684706e-01 -1.00912308e-01 -2.04705144e-02 5.93568586e+02] [ 1.00928263e-01 9.94893673e-01 -2.54883643e-04 8.81851944e+00] [ 2.03917061e-02 -1.81252459e-03 9.99790425e-01 7.14134350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1550998929999 meters 0.03659928368196759 Centerline is valid? [True, True] Translation: X:593.60, Y:8.82, Z:7.14 [[ 9.94895016e-01 -9.88473528e-02 -2.03250486e-02 5.93598756e+02] [ 9.88626724e-02 9.95101054e-01 -2.52151748e-04 8.81761044e+00] [ 2.02504018e-02 -1.75852411e-03 9.99793393e-01 7.14154420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1850998929999 meters 0.03802000633923672 Centerline is valid? [True, True] Translation: X:593.63, Y:8.82, Z:7.14 [[ 9.95054608e-01 -9.72125295e-02 -2.03973407e-02 5.93628487e+02] [ 9.72276172e-02 9.95262140e-01 -2.53048601e-04 8.81646143e+00] [ 2.03253005e-02 -1.73138766e-03 9.99791921e-01 7.14156193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2150998929999 meters 0.03601929001771616 Centerline is valid? [True, True] Translation: X:593.66, Y:8.82, Z:7.14 [[ 9.95286491e-01 -9.48395660e-02 -2.02548320e-02 5.93659022e+02] [ 9.48539556e-02 9.95491167e-01 -2.51280643e-04 8.81947382e+00] [ 2.01873377e-02 -1.67115470e-03 9.99794818e-01 7.14197721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.245099893 meters 0.034044864385308515 Centerline is valid? [True, True] Translation: X:593.69, Y:8.82, Z:7.14 [[ 9.95754821e-01 -8.95570114e-02 -2.12574134e-02 5.93689749e+02] [ 8.95716680e-02 9.95980345e-01 -2.63570011e-04 8.82286473e+00] [ 2.11955705e-02 -1.64161087e-03 9.99774001e-01 7.14253385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.275099893 meters 0.03093142962561867 Centerline is valid? [True, True] Translation: X:593.72, Y:8.83, Z:7.14 [[ 9.95989542e-01 -8.67733617e-02 -2.17994429e-02 5.93720744e+02] [ 8.67881199e-02 9.96226756e-01 -2.69952666e-04 8.82747866e+00] [ 2.17406129e-02 -1.62306263e-03 9.99762327e-01 7.14279955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3050998929999 meters 0.030381227272506344 Centerline is valid? [True, True] Translation: X:593.75, Y:8.83, Z:7.14 [[ 9.96236362e-01 -8.38113358e-02 -2.21081865e-02 5.93751275e+02] [ 8.38257933e-02 9.96480387e-01 -2.73608445e-04 8.82870195e+00] [ 2.20533058e-02 -1.58065759e-03 9.99755547e-01 7.14301008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3350998929999 meters 0.028614008994948894 Centerline is valid? [True, True] Translation: X:593.78, Y:8.83, Z:7.14 [[ 9.96765321e-01 -7.72988685e-02 -2.19950164e-02 5.93780883e+02] [ 7.73115990e-02 9.97006942e-01 -2.72235100e-04 8.83135767e+00] [ 2.19502275e-02 -1.42911538e-03 9.99758043e-01 7.14343196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.365099893 meters 0.024719711443050303 Centerline is valid? [True, True] Translation: X:593.81, Y:8.84, Z:7.14 [[ 9.97027134e-01 -7.38764074e-02 -2.18899414e-02 5.93811967e+02] [ 7.38881979e-02 9.97266494e-01 -2.70792742e-04 8.83698209e+00] [ 2.18501103e-02 -1.34742061e-03 9.99760350e-01 7.14479753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.395099893 meters 0.028710117567009967 Centerline is valid? [True, True] Translation: X:593.84, Y:8.83, Z:7.14 [[ 9.97300757e-01 -7.03220571e-02 -2.11189231e-02 5.93841593e+02] [ 7.03322417e-02 9.97523588e-01 -2.61033580e-04 8.83237853e+00] [ 2.10849804e-02 -1.22501222e-03 9.99776937e-01 7.14440049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4250998929999 meters 0.027537690207892065 Centerline is valid? [True, True] Translation: X:593.87, Y:8.83, Z:7.14 [[ 9.97562359e-01 -6.64148043e-02 -2.14105762e-02 5.93870715e+02] [ 6.64243685e-02 9.97791428e-01 -2.64945374e-04 8.83406480e+00] [ 2.13808857e-02 -1.15788447e-03 9.99770732e-01 7.14464959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4550998929999 meters 0.02047396761174468 Centerline is valid? [True, True] Translation: X:593.90, Y:8.84, Z:7.15 [[ 9.98076944e-01 -5.83255479e-02 -2.09891666e-02 5.93901136e+02] [ 5.83329451e-02 9.98297150e-01 -2.60167109e-04 8.84326554e+00] [ 2.09685996e-02 -9.64693110e-04 9.99779669e-01 7.14646399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.485099893 meters 0.018880239474532066 Centerline is valid? [True, True] Translation: X:593.93, Y:8.85, Z:7.15 [[ 9.98300898e-01 -5.41830671e-02 -2.14362572e-02 5.93930823e+02] [ 5.41898218e-02 9.98530617e-01 -2.66073983e-04 8.84556734e+00] [ 2.14191759e-02 -8.96005063e-04 9.99770182e-01 7.14647484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.515099893 meters 0.01662190543886331 Centerline is valid? [True, True] Translation: X:593.96, Y:8.85, Z:7.15 [[ 9.98656508e-01 -4.63429869e-02 -2.31841723e-02 5.93959985e+02] [ 4.63487619e-02 9.98925277e-01 -2.88484263e-04 8.84813968e+00] [ 2.31726249e-02 -7.86460993e-04 9.99731169e-01 7.14512605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5450998929999 meters 0.015783619458388697 Centerline is valid? [True, True] Translation: X:593.99, Y:8.85, Z:7.15 [[ 9.98815783e-01 -4.26794336e-02 -2.33558933e-02 5.93988662e+02] [ 4.26842741e-02 9.99088569e-01 -2.91470888e-04 8.84875330e+00] [ 2.33470458e-02 -7.05803627e-04 9.99727171e-01 7.14505204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5750998929999 meters 0.014083073373782297 Centerline is valid? [True, True] Translation: X:594.02, Y:8.85, Z:7.15 [[ 9.98949680e-01 -3.93074951e-02 -2.35469178e-02 5.94017265e+02] [ 3.93114448e-02 9.99226963e-01 -2.95317248e-04 8.85068378e+00] [ 2.35403234e-02 -6.30656289e-04 9.99722689e-01 7.14569366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.605099893 meters 0.013047407928313612 Centerline is valid? [True, True] Translation: X:594.05, Y:8.85, Z:7.15 [[ 9.99091339e-01 -3.55322061e-02 -2.35363314e-02 5.94046260e+02] [ 3.55350657e-02 9.99368386e-01 -2.96864477e-04 8.85152336e+00] [ 2.35320138e-02 -5.39770355e-04 9.99722938e-01 7.14623633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.635099893 meters 0.011451996467740434 Centerline is valid? [True, True] Translation: X:594.07, Y:8.85, Z:7.15 [[ 9.99309709e-01 -2.90483460e-02 -2.31581241e-02 5.94074812e+02] [ 2.90493406e-02 9.99577936e-01 -2.93531975e-04 8.85189063e+00] [ 2.31568765e-02 -3.79398883e-04 9.99731772e-01 7.14678089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6650998929999 meters 0.010649734058239232 Centerline is valid? [True, True] Translation: X:594.10, Y:8.85, Z:7.15 [[ 9.99391192e-01 -2.62825493e-02 -2.29450090e-02 5.94103512e+02] [ 2.62827217e-02 9.99654506e-01 -2.94104887e-04 8.85177283e+00] [ 2.29448114e-02 -3.09131451e-04 9.99736685e-01 7.14734116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6950998929999 meters 0.010283494895050274 Centerline is valid? [True, True] Translation: X:594.13, Y:8.85, Z:7.15 [[ 9.99469793e-01 -2.33460178e-02 -2.26957198e-02 5.94131080e+02] [ 2.33453299e-02 9.99727417e-01 -2.95297885e-04 8.85069223e+00] [ 2.26964273e-02 -2.34697750e-04 9.99742375e-01 7.14742708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.725099893 meters 0.009786868758364842 Centerline is valid? [True, True] Translation: X:594.16, Y:8.85, Z:7.15 [[ 9.99520539e-01 -2.11931342e-02 -2.25730778e-02 5.94159936e+02] [ 2.11918118e-02 9.99775384e-01 -2.97820239e-04 8.85053405e+00] [ 2.25743192e-02 -1.80686970e-04 9.99745151e-01 7.14817387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.755099893 meters 0.0094136470523632 Centerline is valid? [True, True] Translation: X:594.19, Y:8.85, Z:7.15 [[ 9.99618175e-01 -1.68828317e-02 -2.18740336e-02 5.94188563e+02] [ 1.68804428e-02 9.99857472e-01 -2.93864561e-04 8.84775920e+00] [ 2.18758772e-02 -7.54910159e-05 9.99760692e-01 7.14877880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7850998929999 meters 0.009199185323010183 Centerline is valid? [True, True] Translation: X:594.22, Y:8.85, Z:7.15 [[ 9.99639672e-01 -1.57804120e-02 -2.17141468e-02 5.94216900e+02] [ 1.57776741e-02 9.99875481e-01 -2.97416813e-04 8.84551549e+00] [ 2.17161363e-02 -4.52890846e-05 9.99764176e-01 7.14977251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8150998929999 meters 0.009267941961486136 Centerline is valid? [True, True] Translation: X:594.24, Y:8.84, Z:7.15 [[ 9.99663097e-01 -1.48797382e-02 -2.12670199e-02 5.94243786e+02] [ 1.48767962e-02 9.99889290e-01 -2.96552414e-04 8.84260538e+00] [ 2.12690781e-02 -1.99326158e-05 9.99773787e-01 7.14964695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.845099893 meters 0.009223233205654631 Centerline is valid? [True, True] Translation: X:594.27, Y:8.83, Z:7.15 [[ 9.99659059e-01 -1.52803378e-02 -2.11725734e-02 5.94272142e+02] [ 1.52774074e-02 9.99883249e-01 -3.00159574e-04 8.83492080e+00] [ 2.11746880e-02 -2.34047917e-05 9.99775791e-01 7.14956952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.875099893 meters 0.009339684729132366 Centerline is valid? [True, True] Translation: X:594.30, Y:8.83, Z:7.15 [[ 9.99634720e-01 -1.66573653e-02 -2.12828461e-02 5.94299757e+02] [ 1.66545882e-02 9.99861255e-01 -3.07738346e-04 8.83011277e+00] [ 2.12850193e-02 -4.68311021e-05 9.99773447e-01 7.14968066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9050998929999 meters 0.009239266281180889 Centerline is valid? [True, True] Translation: X:594.33, Y:8.82, Z:7.15 [[ 9.99591305e-01 -1.90393796e-02 -2.13242696e-02 5.94327456e+02] [ 1.90370043e-02 9.99818730e-01 -3.14402523e-04 8.82461319e+00] [ 2.13263902e-02 -9.16761830e-05 9.99772562e-01 7.15002622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9350998929999 meters 0.009857344876507221 Centerline is valid? [True, True] Translation: X:594.36, Y:8.81, Z:7.15 [[ 9.99476100e-01 -2.46342492e-02 -2.09923472e-02 5.94356763e+02] [ 2.46330943e-02 9.99696510e-01 -3.13633108e-04 8.81145593e+00] [ 2.09937023e-02 -2.03637672e-04 9.99779587e-01 7.14999428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9650998929999 meters 0.010736147167523415 Centerline is valid? [True, True] Translation: X:594.38, Y:8.80, Z:7.15 [[ 9.99382781e-01 -2.81040179e-02 -2.10765560e-02 5.94384501e+02] [ 2.81035815e-02 9.99604966e-01 -3.16958908e-04 8.80347585e+00] [ 2.10771379e-02 -2.75563435e-04 9.99777814e-01 7.14959757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.995099893 meters 0.011165280450267217 Centerline is valid? [True, True] Translation: X:594.41, Y:8.80, Z:7.15 [[ 9.99255104e-01 -3.22899600e-02 -2.11327912e-02 5.94413560e+02] [ 3.22903749e-02 9.99478478e-01 -3.21686175e-04 8.79650161e+00] [ 2.11321572e-02 -3.60939198e-04 9.99776626e-01 7.15021522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.025099893 meters 0.01502260402291078 Centerline is valid? [True, True] Translation: X:594.44, Y:8.78, Z:7.15 [[ 9.98944885e-01 -4.06365480e-02 -2.13959624e-02 5.94443372e+02] [ 4.06388151e-02 9.99173848e-01 -3.29011636e-04 8.77690328e+00] [ 2.13916560e-02 -5.40842069e-04 9.99771026e-01 7.14927405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0550998929999 meters 0.015078383102234572 Centerline is valid? [True, True] Translation: X:594.47, Y:8.77, Z:7.15 [[ 9.98751871e-01 -4.52132660e-02 -2.12240453e-02 5.94472863e+02] [ 4.52165144e-02 9.98977157e-01 -3.27061235e-04 8.77084854e+00] [ 2.12171239e-02 -6.33024328e-04 9.99774691e-01 7.15028353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0850998929999 meters 0.01584598561423442 Centerline is valid? [True, True] Translation: X:594.50, Y:8.76, Z:7.15 [[ 9.98545607e-01 -4.94927473e-02 -2.13807964e-02 5.94502446e+02] [ 4.94970023e-02 9.98774218e-01 -3.30470259e-04 8.76382093e+00] [ 2.13709441e-02 -7.28295706e-04 9.99771350e-01 7.15090303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.115099893 meters 0.019635062044902205 Centerline is valid? [True, True] Translation: X:594.53, Y:8.75, Z:7.15 [[ 9.98126456e-01 -5.72381129e-02 -2.16188863e-02 5.94531931e+02] [ 5.72442669e-02 9.98360146e-01 -3.34595441e-04 8.74649335e+00] [ 2.16025861e-02 -9.03588734e-04 9.99766229e-01 7.15054672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.145099893 meters 0.020968041511196474 Centerline is valid? [True, True] Translation: X:594.56, Y:8.74, Z:7.15 [[ 9.97906933e-01 -6.08940159e-02 -2.17640005e-02 5.94561614e+02] [ 6.09011134e-02 9.98143748e-01 -3.37160047e-04 8.73940512e+00] [ 2.17441320e-02 -9.88997513e-04 9.99763079e-01 7.15078011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1750998929999 meters 0.02212171647191551 Centerline is valid? [True, True] Translation: X:594.59, Y:8.73, Z:7.15 [[ 9.97711591e-01 -6.40702240e-02 -2.16006425e-02 5.94591492e+02] [ 6.40779414e-02 9.97944841e-01 -3.35389954e-04 8.73241652e+00] [ 2.15777382e-02 -1.04950226e-03 9.99766623e-01 7.15121262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2050998929999 meters 0.02071301371862043 Centerline is valid? [True, True] Translation: X:594.62, Y:8.73, Z:7.15 [[ 9.97525702e-01 -6.70608006e-02 -2.11026713e-02 5.94620778e+02] [ 6.70688141e-02 9.97748298e-01 -3.28577212e-04 8.72893162e+00] [ 2.10771890e-02 -1.08756693e-03 9.99777260e-01 7.15235109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.235099893 meters 0.02740554857435666 Centerline is valid? [True, True] Translation: X:594.65, Y:8.71, Z:7.15 [[ 9.97226707e-01 -7.14892388e-02 -2.06926014e-02 5.94649903e+02] [ 7.14978765e-02 9.97440700e-01 -3.23037290e-04 8.70949638e+00] [ 2.06627365e-02 -1.15733564e-03 9.99785833e-01 7.15213928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.265099893 meters 0.024945908126714756 Centerline is valid? [True, True] Translation: X:594.68, Y:8.70, Z:7.15 [[ 9.97016563e-01 -7.44905113e-02 -2.02271158e-02 5.94680465e+02] [ 7.44993750e-02 9.97221010e-01 -3.16015712e-04 8.70349383e+00] [ 2.01944450e-02 -1.19183458e-03 9.99795361e-01 7.15338957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2950998929999 meters 0.0249003650612654 Centerline is valid? [True, True] Translation: X:594.71, Y:8.70, Z:7.15 [[ 9.96926853e-01 -7.56137068e-02 -2.04796833e-02 5.94709313e+02] [ 7.56229868e-02 9.97136430e-01 -3.22049643e-04 8.69922471e+00] [ 2.04453896e-02 -1.22767488e-03 9.99790217e-01 7.15372502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3250998929999 meters 0.025730914411964324 Centerline is valid? [True, True] Translation: X:594.74, Y:8.69, Z:7.15 [[ 9.96850520e-01 -7.65583176e-02 -2.06849037e-02 5.94738233e+02] [ 7.65678768e-02 9.97064316e-01 -3.30616631e-04 8.69392942e+00] [ 2.06494908e-02 -1.25422380e-03 9.99785990e-01 7.15383373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.355099893 meters 0.025733468569303003 Centerline is valid? [True, True] Translation: X:594.77, Y:8.69, Z:7.15 [[ 9.96811071e-01 -7.70534916e-02 -2.07472605e-02 5.94767062e+02] [ 7.70631053e-02 9.97026160e-01 -3.36928812e-04 8.68973159e+00] [ 2.07115230e-02 -1.26299395e-03 9.99784696e-01 7.15402674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.385099893 meters 0.02494817773119809 Centerline is valid? [True, True] Translation: X:594.80, Y:8.68, Z:7.15 [[ 9.96871901e-01 -7.64335893e-02 -2.01077010e-02 5.94796006e+02] [ 7.64423921e-02 9.97073944e-01 -3.31601447e-04 8.68233415e+00] [ 2.00742102e-02 -1.20651660e-03 9.99797765e-01 7.15496814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4150998929999 meters 0.02647565574752687 Centerline is valid? [True, True] Translation: X:594.82, Y:8.68, Z:7.16 [[ 9.96937044e-01 -7.56184128e-02 -1.99595914e-02 5.94824236e+02] [ 7.56268467e-02 9.97136134e-01 -3.33007888e-04 8.67677097e+00] [ 1.99276113e-02 -1.17749306e-03 9.99800732e-01 7.15519127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4450998929999 meters 0.031790076148328655 Centerline is valid? [True, True] Translation: X:594.85, Y:8.67, Z:7.15 [[ 9.97025881e-01 -7.44249879e-02 -2.00078337e-02 5.94852044e+02] [ 7.44331871e-02 9.97225946e-01 -3.35620715e-04 8.66642968e+00] [ 1.99773095e-02 -1.15462429e-03 9.99799767e-01 7.15448069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.475099893 meters 0.023154620862714165 Centerline is valid? [True, True] Translation: X:594.88, Y:8.67, Z:7.16 [[ 9.97197077e-01 -7.20020604e-02 -2.03394295e-02 5.94881620e+02] [ 7.20100026e-02 9.97403851e-01 -3.42595291e-04 8.66981953e+00] [ 2.03112929e-02 -1.12300735e-03 9.99793074e-01 7.15589467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.505099893 meters 0.022769526493268546 Centerline is valid? [True, True] Translation: X:594.91, Y:8.67, Z:7.16 [[ 9.97271674e-01 -7.09750189e-02 -2.02917506e-02 5.94910777e+02] [ 7.09826613e-02 9.97477490e-01 -3.44287953e-04 8.66653066e+00] [ 2.02650003e-02 -1.09701384e-03 9.99794042e-01 7.15646407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5350998929999 meters 0.022064566677366382 Centerline is valid? [True, True] Translation: X:594.94, Y:8.66, Z:7.16 [[ 9.97379737e-01 -6.94803767e-02 -2.01528738e-02 5.94939523e+02] [ 6.94875354e-02 9.97582760e-01 -3.45667457e-04 8.66346137e+00] [ 2.01281766e-02 -1.05561181e-03 9.99796850e-01 7.15691537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5650998929999 meters 0.02179985250938818 Centerline is valid? [True, True] Translation: X:594.97, Y:8.66, Z:7.16 [[ 9.97591811e-01 -6.65075379e-02 -1.96806225e-02 5.94968489e+02] [ 6.65137650e-02 9.97785450e-01 -3.38726962e-04 8.65554381e+00] [ 1.96595666e-02 -9.71121055e-04 9.99806260e-01 7.15768568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.595099893 meters 0.02091554984409186 Centerline is valid? [True, True] Translation: X:595.00, Y:8.65, Z:7.16 [[ 9.97669475e-01 -6.55278882e-02 -1.90187865e-02 5.94997818e+02] [ 6.55334873e-02 9.97850316e-01 -3.29363788e-04 8.65315957e+00] [ 1.89994846e-02 -9.17771203e-04 9.99819072e-01 7.15892399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.625099893 meters 0.02168039100368416 Centerline is valid? [True, True] Translation: X:595.03, Y:8.65, Z:7.16 [[ 9.97760155e-01 -6.40240268e-02 -1.93803431e-02 5.95025970e+02] [ 6.40294874e-02 9.97947949e-01 -3.39262170e-04 8.64854947e+00] [ 1.93622946e-02 -9.02411159e-04 9.99812126e-01 7.15907223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6550998929999 meters 0.02100007597636569 Centerline is valid? [True, True] Translation: X:595.06, Y:8.65, Z:7.16 [[ 9.97813633e-01 -6.28560670e-02 -2.04222820e-02 5.95055228e+02] [ 6.28618212e-02 9.98022175e-01 -3.60711618e-04 8.64589837e+00] [ 2.04045632e-02 -9.23858871e-04 9.99791378e-01 7.15858700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6850998929999 meters 0.021313971500823484 Centerline is valid? [True, True] Translation: X:595.08, Y:8.64, Z:7.16 [[ 9.97909924e-01 -6.09773433e-02 -2.13903709e-02 5.95082861e+02] [ 6.09831386e-02 9.98138723e-01 -3.81871571e-04 8.63702828e+00] [ 2.13738430e-02 -9.23378526e-04 9.99771127e-01 7.15756528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7150998929999 meters 0.019310640761816454 Centerline is valid? [True, True] Translation: X:595.11, Y:8.64, Z:7.16 [[ 9.97931230e-01 -6.08707259e-02 -2.06885309e-02 5.95111346e+02] [ 6.08760580e-02 9.98145263e-01 -3.72538600e-04 8.63576924e+00] [ 2.06728358e-02 -8.87668305e-04 9.99785900e-01 7.15927511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.745099893 meters 0.02007678893430653 Centerline is valid? [True, True] Translation: X:595.14, Y:8.63, Z:7.16 [[ 9.97970267e-01 -6.05240782e-02 -1.98035697e-02 5.95139287e+02] [ 6.05288222e-02 9.98166385e-01 -3.60308062e-04 8.63016244e+00] [ 1.97890649e-02 -8.39110017e-04 9.99803825e-01 7.16022850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.775099893 meters 0.019589885043877056 Centerline is valid? [True, True] Translation: X:595.17, Y:8.63, Z:7.16 [[ 9.97962096e-01 -6.10281092e-02 -1.86339849e-02 5.95167777e+02] [ 6.10323433e-02 9.98135730e-01 -3.41908017e-04 8.62665530e+00] [ 1.86201122e-02 -7.96064526e-04 9.99826314e-01 7.16147413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8050998929999 meters 0.01954774594201894 Centerline is valid? [True, True] Translation: X:595.20, Y:8.62, Z:7.16 [[ 9.97929179e-01 -6.18627471e-02 -1.76168898e-02 5.95196641e+02] [ 6.18665777e-02 9.98084375e-01 -3.27995327e-04 8.61759016e+00] [ 1.76034331e-02 -7.62580571e-04 9.99844757e-01 7.16244198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8350998929999 meters 0.02027307961803122 Centerline is valid? [True, True] Translation: X:595.22, Y:8.61, Z:7.16 [[ 9.97923924e-01 -6.18395449e-02 -1.79920081e-02 5.95223502e+02] [ 6.18434656e-02 9.98085803e-01 -3.38928272e-04 8.61221921e+00] [ 1.79785270e-02 -7.74463502e-04 9.99838073e-01 7.16252437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.865099893 meters 0.02027307961803122 Centerline is valid? [True, True] Translation: X:595.25, Y:8.61, Z:7.16 [[ 9.97905980e-01 -6.21284500e-02 -1.79919474e-02 5.95251023e+02] [ 6.21323600e-02 9.98067860e-01 -3.42125372e-04 8.61280810e+00] [ 1.79784401e-02 -7.76473196e-04 9.99838073e-01 7.16286467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.895099893 meters 0.018812777355971724 Centerline is valid? [True, True] Translation: X:595.28, Y:8.61, Z:7.16 [[ 9.97885797e-01 -6.25113851e-02 -1.77837552e-02 5.95279102e+02] [ 6.25151741e-02 9.98043955e-01 -3.43321032e-04 8.61048942e+00] [ 1.77704309e-02 -7.69159372e-04 9.99841798e-01 7.16334035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9250998929999 meters 0.019202157028614705 Centerline is valid? [True, True] Translation: X:595.31, Y:8.60, Z:7.16 [[ 9.97957075e-01 -6.13379331e-02 -1.78699405e-02 5.95307262e+02] [ 6.13414961e-02 9.98116776e-01 -3.49194710e-04 8.60025904e+00] [ 1.78577063e-02 -7.47687557e-04 9.99840259e-01 7.16330107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9550998929999 meters 0.018851596465486727 Centerline is valid? [True, True] Translation: X:595.34, Y:8.60, Z:7.16 [[ 9.98003156e-01 -6.05693828e-02 -1.79178832e-02 5.95336338e+02] [ 6.05727960e-02 9.98163720e-01 -3.52660409e-04 8.59638128e+00] [ 1.79063414e-02 -7.33380081e-04 9.99839400e-01 7.16407688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.985099893 meters 0.018206728618358117 Centerline is valid? [True, True] Translation: X:595.37, Y:8.59, Z:7.17 [[ 9.98074014e-01 -5.95134800e-02 -1.75045364e-02 5.95365518e+02] [ 5.95164999e-02 9.98227261e-01 -3.48834709e-04 8.59279581e+00] [ 1.74942658e-02 -6.93645884e-04 9.99846723e-01 7.16504894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.015099893 meters 0.018802247005448195 Centerline is valid? [True, True] Translation: X:595.39, Y:8.59, Z:7.17 [[ 9.98167584e-01 -5.79123352e-02 -1.75395489e-02 5.95393447e+02] [ 5.79150576e-02 9.98321452e-01 -3.53110084e-04 8.58697751e+00] [ 1.75305573e-02 -6.63340945e-04 9.99846108e-01 7.16598498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0450998929999 meters 0.01811399767245215 Centerline is valid? [True, True] Translation: X:595.42, Y:8.58, Z:7.17 [[ 9.98332388e-01 -5.50597263e-02 -1.73455784e-02 5.95422647e+02] [ 5.50619338e-02 9.98482879e-01 -3.50646449e-04 8.57754456e+00] [ 1.73385696e-02 -6.05019383e-04 9.99849493e-01 7.16722996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0750998929999 meters 0.018219844649298194 Centerline is valid? [True, True] Translation: X:595.45, Y:8.57, Z:7.17 [[ 9.98350909e-01 -5.46187664e-02 -1.76706778e-02 5.95451462e+02] [ 5.46209499e-02 9.98507097e-01 -3.59402575e-04 8.57289151e+00] [ 1.76639274e-02 -6.06379322e-04 9.99843797e-01 7.16777883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.105099893 meters 0.018313408026356916 Centerline is valid? [True, True] Translation: X:595.48, Y:8.57, Z:7.17 [[ 9.98401774e-01 -5.38010984e-02 -1.73014396e-02 5.95480132e+02] [ 5.38029970e-02 9.98551506e-01 -3.56046705e-04 8.56768773e+00] [ 1.72955343e-02 -5.75391642e-04 9.99850255e-01 7.16821498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.135099893 meters 0.01845293981725233 Centerline is valid? [True, True] Translation: X:595.51, Y:8.56, Z:7.17 [[ 9.98387983e-01 -5.40498036e-02 -1.73220953e-02 5.95508177e+02] [ 5.40516686e-02 9.98538075e-01 -3.60838732e-04 8.56191390e+00] [ 1.73162750e-02 -5.76031100e-04 9.99849896e-01 7.16866957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1650998929999 meters 0.01772001946878265 Centerline is valid? [True, True] Translation: X:595.54, Y:8.55, Z:7.17 [[ 9.98366118e-01 -5.46219195e-02 -1.67791378e-02 5.95536339e+02] [ 5.46236735e-02 9.98506950e-01 -3.54092762e-04 8.55044240e+00] [ 1.67734269e-02 -5.63023927e-04 9.99859158e-01 7.17007805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1950998929999 meters 0.01798990835083503 Centerline is valid? [True, True] Translation: X:595.57, Y:8.54, Z:7.17 [[ 9.98240080e-01 -5.68949346e-02 -1.67244824e-02 5.95565017e+02] [ 5.68969191e-02 9.98379994e-01 -3.57523650e-04 8.54394260e+00] [ 1.67177299e-02 -5.94677085e-04 9.99860072e-01 7.17080749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.225099893 meters 0.019949207885801953 Centerline is valid? [True, True] Translation: X:595.60, Y:8.53, Z:7.17 [[ 9.97935640e-01 -6.17173920e-02 -1.77601004e-02 5.95595034e+02] [ 6.17203322e-02 9.98093409e-01 -3.83046394e-04 8.52743457e+00] [ 1.77498798e-02 -7.13903651e-04 9.99842204e-01 7.17066010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.255099893 meters 0.020033093328350737 Centerline is valid? [True, True] Translation: X:595.62, Y:8.52, Z:7.17 [[ 9.97738357e-01 -6.46733511e-02 -1.83174679e-02 5.95624270e+02] [ 6.46769654e-02 9.97906175e-01 -3.95644798e-04 8.52063330e+00] [ 1.83047020e-02 -7.89968246e-04 9.99832143e-01 7.17114049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2850998929999 meters 0.021878337435683636 Centerline is valid? [True, True] Translation: X:595.65, Y:8.51, Z:7.17 [[ 9.97541645e-01 -6.76063397e-02 -1.84404122e-02 5.95653118e+02] [ 6.76104820e-02 9.97711713e-01 -3.99427127e-04 8.51112938e+00] [ 1.84252190e-02 -8.48319962e-04 9.99829881e-01 7.17168122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3150998929999 meters 0.022970280358527228 Centerline is valid? [True, True] Translation: X:595.68, Y:8.50, Z:7.17 [[ 9.97372383e-01 -7.02038677e-02 -1.78814844e-02 5.95682972e+02] [ 7.02081593e-02 9.97532287e-01 -3.88421150e-04 8.50293856e+00] [ 1.78646267e-02 -8.68025581e-04 9.99840038e-01 7.17222582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.345099893 meters 0.023862271958289244 Centerline is valid? [True, True] Translation: X:595.71, Y:8.49, Z:7.17 [[ 9.97014284e-01 -7.52323509e-02 -1.73957280e-02 5.95713722e+02] [ 7.52371676e-02 9.97165596e-01 -3.78326957e-04 8.48802519e+00] [ 1.73748839e-02 -9.31607920e-04 9.99848611e-01 7.17362242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.375099893 meters 0.02392844443323859 Centerline is valid? [True, True] Translation: X:595.74, Y:8.48, Z:7.17 [[ 9.96785805e-01 -7.82330146e-02 -1.72526432e-02 5.95744013e+02] [ 7.82381971e-02 9.96934624e-01 -3.75400406e-04 8.48178194e+00] [ 1.72291260e-02 -9.75621900e-04 9.99851092e-01 7.17422068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4050998929999 meters 0.02599827307837486 Centerline is valid? [True, True] Translation: X:595.77, Y:8.47, Z:7.17 [[ 9.96382612e-01 -8.32034610e-02 -1.72880059e-02 5.95774081e+02] [ 8.32094060e-02 9.96532013e-01 -3.76400314e-04 8.46555930e+00] [ 1.72593691e-02 -1.06348597e-03 9.99850480e-01 7.17443310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4350998929999 meters 0.026073438648438564 Centerline is valid? [True, True] Translation: X:595.80, Y:8.46, Z:7.17 [[ 9.96131430e-01 -8.60368191e-02 -1.78840560e-02 5.95804154e+02] [ 8.60436337e-02 9.96291293e-01 -3.89502176e-04 8.45920507e+00] [ 1.78512408e-02 -1.15081380e-03 9.99839992e-01 7.17458757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4650998929999 meters 0.02773431890994202 Centerline is valid? [True, True] Translation: X:595.83, Y:8.45, Z:7.17 [[ 9.95922168e-01 -8.83215351e-02 -1.83940752e-02 5.95832572e+02] [ 8.83291186e-02 9.96091264e-01 -4.01339568e-04 8.45044111e+00] [ 1.83576245e-02 -1.22502947e-03 9.99830734e-01 7.17448063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.495099893 meters 0.031164003340383124 Centerline is valid? [True, True] Translation: X:595.86, Y:8.43, Z:7.17 [[ 9.95391599e-01 -9.39604769e-02 -1.91570750e-02 5.95862392e+02] [ 9.39697194e-02 9.95574968e-01 -4.19138008e-04 8.43355439e+00] [ 1.91116867e-02 -1.38297851e-03 9.99816399e-01 7.17373791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.525099893 meters 0.03300058813647654 Centerline is valid? [True, True] Translation: X:595.89, Y:8.43, Z:7.17 [[ 9.95164448e-01 -9.62844746e-02 -1.94170151e-02 5.95892171e+02] [ 9.62944046e-02 9.95352805e-01 -4.25079742e-04 8.42579336e+00] [ 1.93677090e-02 -1.44672566e-03 9.99811382e-01 7.17355617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5550998929999 meters 0.0341356196369633 Centerline is valid? [True, True] Translation: X:595.92, Y:8.42, Z:7.17 [[ 9.94789164e-01 -1.00038216e-01 -1.96691080e-02 5.95922298e+02] [ 1.00049128e-01 9.94982405e-01 -4.30962320e-04 8.41913848e+00] [ 1.96135291e-02 -1.53916046e-03 9.99806452e-01 7.17367247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5850998929999 meters 0.03477962471235109 Centerline is valid? [True, True] Translation: X:595.95, Y:8.41, Z:7.17 [[ 9.94053441e-01 -1.06985682e-01 -2.02933433e-02 5.95953260e+02] [ 1.06998728e-01 9.94259058e-01 -4.44930024e-04 8.40766229e+00] [ 2.02244415e-02 -1.72907770e-03 9.99793970e-01 7.17406304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.615099893 meters 0.03411896088340585 Centerline is valid? [True, True] Translation: X:595.98, Y:8.40, Z:7.17 [[ 9.93617986e-01 -1.11026841e-01 -1.99082687e-02 5.95983338e+02] [ 1.11040198e-01 9.93815820e-01 -4.36662429e-04 8.40336194e+00] [ 1.98336337e-02 -1.77674247e-03 9.99801715e-01 7.17463849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.645099893 meters 0.03860637529968039 Centerline is valid? [True, True] Translation: X:596.01, Y:8.39, Z:7.18 [[ 9.92830015e-01 -1.17903165e-01 -1.96825938e-02 5.96013195e+02] [ 1.17917553e-01 9.93023295e-01 -4.32025146e-04 8.38685018e+00] [ 1.95962112e-02 -1.89199577e-03 9.99806186e-01 7.17564531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6750998929999 meters 0.038933039918040035 Centerline is valid? [True, True] Translation: X:596.04, Y:8.38, Z:7.18 [[ 9.92318807e-01 -1.22124294e-01 -1.97241452e-02 5.96043714e+02] [ 1.22139564e-01 9.92512841e-01 -4.33179996e-04 8.38236659e+00] [ 1.96293692e-02 -1.97924583e-03 9.99805366e-01 7.17586823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7050998929999 meters 0.03803919043697335 Centerline is valid? [True, True] Translation: X:596.07, Y:8.38, Z:7.18 [[ 9.91839320e-01 -1.25908081e-01 -2.00478965e-02 5.96074135e+02] [ 1.25924617e-01 9.92039715e-01 -4.40439569e-04 8.38002547e+00] [ 1.99437644e-02 -2.08767841e-03 9.99798924e-01 7.17632450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.735099893 meters 0.0418439275159442 Centerline is valid? [True, True] Translation: X:596.10, Y:8.37, Z:7.18 [[ 9.91322427e-01 -1.29862879e-01 -2.03833013e-02 5.96103833e+02] [ 1.29880797e-01 9.91529514e-01 -4.47937779e-04 8.37224189e+00] [ 2.02688153e-02 -2.20334866e-03 9.99792139e-01 7.17608932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.765099893 meters 0.04389276945846902 Centerline is valid? [True, True] Translation: X:596.13, Y:8.37, Z:7.18 [[ 9.90893273e-01 -1.33052813e-01 -2.06753635e-02 5.96133333e+02] [ 1.33071927e-01 9.91106279e-01 -4.54723240e-04 8.36692338e+00] [ 2.05519848e-02 -2.30072826e-03 9.99786138e-01 7.17601996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7950998929999 meters 0.04692759016391773 Centerline is valid? [True, True] Translation: X:596.16, Y:8.36, Z:7.18 [[ 9.90443156e-01 -1.36323216e-01 -2.09364443e-02 5.96162359e+02] [ 1.36343531e-01 9.90661511e-01 -4.60729368e-04 8.36062037e+00] [ 2.08037376e-02 -2.39822249e-03 9.99780702e-01 7.17588764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8250998929999 meters 0.04582654591974599 Centerline is valid? [True, True] Translation: X:596.19, Y:8.36, Z:7.18 [[ 9.89709914e-01 -1.41608192e-01 -2.05282027e-02 5.96193021e+02] [ 1.41628841e-01 9.89919728e-01 -4.51791101e-04 8.35634082e+00] [ 2.03852501e-02 -2.46024343e-03 9.99789172e-01 7.17663961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.855099893 meters 0.044779886443092935 Centerline is valid? [True, True] Translation: X:596.22, Y:8.36, Z:7.18 [[ 9.89369450e-01 -1.43965609e-01 -2.05424979e-02 5.96222959e+02] [ 1.43986785e-01 9.89579507e-01 -4.52237066e-04 8.35569151e+00] [ 2.03935415e-02 -2.51041869e-03 9.99788878e-01 7.17715252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.885099893 meters 0.0480517773908388 Centerline is valid? [True, True] Translation: X:596.25, Y:8.35, Z:7.18 [[ 9.89161176e-01 -1.45371116e-01 -2.06738358e-02 5.96252777e+02] [ 1.45392859e-01 9.89373897e-01 -4.55431646e-04 8.34987315e+00] [ 2.05203601e-02 -2.55533280e-03 9.99786170e-01 7.17695674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9150998929999 meters 0.04813436450358148 Centerline is valid? [True, True] Translation: X:596.28, Y:8.35, Z:7.18 [[ 9.88615808e-01 -1.48989213e-01 -2.09999526e-02 5.96283071e+02] [ 1.49012444e-01 9.88835212e-01 -4.62995399e-04 8.34678716e+00] [ 2.08344739e-02 -2.67152968e-03 9.99779369e-01 7.17702791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9450998929999 meters 0.048444608102975614 Centerline is valid? [True, True] Translation: X:596.31, Y:8.35, Z:7.18 [[ 9.88482591e-01 -1.49861123e-01 -2.10668245e-02 5.96312617e+02] [ 1.49884686e-01 9.88703375e-01 -4.64958166e-04 8.34543329e+00] [ 2.08985197e-02 -2.69799133e-03 9.99777962e-01 7.17756090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.975099893 meters 0.04387444635139653 Centerline is valid? [True, True] Translation: X:596.34, Y:8.35, Z:7.18 [[ 9.88344567e-01 -1.50754254e-01 -2.11700498e-02 5.96341802e+02] [ 1.50778232e-01 9.88567502e-01 -4.68109413e-04 8.35085488e+00] [ 2.09985927e-02 -2.72932928e-03 9.99775780e-01 7.17838169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.005099893 meters 0.04755485162612311 Centerline is valid? [True, True] Translation: X:596.37, Y:8.35, Z:7.18 [[ 9.88296405e-01 -1.51054944e-01 -2.12748779e-02 5.96370228e+02] [ 1.51079191e-01 9.88521550e-01 -4.72208829e-04 8.34576078e+00] [ 2.11020048e-02 -2.74750904e-03 9.99773553e-01 7.17870297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0350998929999 meters 0.04523841478598853 Centerline is valid? [True, True] Translation: X:596.40, Y:8.35, Z:7.18 [[ 9.88527732e-01 -1.49601454e-01 -2.07924968e-02 5.96399759e+02] [ 1.49624260e-01 9.88742821e-01 -4.63333107e-04 8.34671002e+00] [ 2.06277473e-02 -2.65304432e-03 9.99783705e-01 7.17940805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0650998929999 meters 0.04244013565418865 Centerline is valid? [True, True] Translation: X:596.43, Y:8.35, Z:7.18 [[ 9.88608628e-01 -1.49113513e-01 -2.04484878e-02 5.96429029e+02] [ 1.49135422e-01 9.88816675e-01 -4.57898222e-04 8.35000960e+00] [ 2.02880845e-02 -2.59691172e-03 9.99790803e-01 7.18017019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.095099893 meters 0.04259728909488689 Centerline is valid? [True, True] Translation: X:596.46, Y:8.35, Z:7.18 [[ 9.88919807e-01 -1.47092807e-01 -2.00330171e-02 5.96459206e+02] [ 1.47113370e-01 9.89119534e-01 -4.51423608e-04 8.34950173e+00] [ 1.98814497e-02 -2.50070290e-03 9.99799217e-01 7.18038242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.125099893 meters 0.0490085083526115 Centerline is valid? [True, True] Translation: X:596.49, Y:8.34, Z:7.18 [[ 9.89537678e-01 -1.42834556e-01 -2.03340684e-02 5.96488421e+02] [ 1.42854847e-01 9.89743544e-01 -4.58634192e-04 8.34066448e+00] [ 2.01910218e-02 -2.45098443e-03 9.99793136e-01 7.17929912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1550998929999 meters 0.041649375553874685 Centerline is valid? [True, True] Translation: X:596.52, Y:8.35, Z:7.18 [[ 9.89898997e-01 -1.40302355e-01 -2.03770802e-02 5.96518363e+02] [ 1.40322192e-01 9.90105788e-01 -4.60167985e-04 8.35020714e+00] [ 2.02400277e-02 -2.40383673e-03 9.99792260e-01 7.17973847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1850998929999 meters 0.04351527385228638 Centerline is valid? [True, True] Translation: X:596.55, Y:8.35, Z:7.18 [[ 9.90319068e-01 -1.37308615e-01 -2.03589897e-02 5.96547401e+02] [ 1.37327780e-01 9.90525552e-01 -4.60380113e-04 8.34776697e+00] [ 2.02293137e-02 -2.33993165e-03 9.99792628e-01 7.17944322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2150998929999 meters 0.044657812622492354 Centerline is valid? [True, True] Translation: X:596.58, Y:8.35, Z:7.18 [[ 9.90725724e-01 -1.34335175e-01 -2.04107857e-02 5.96576446e+02] [ 1.34353796e-01 9.90933319e-01 -4.62438131e-04 8.34605643e+00] [ 2.02878494e-02 -2.28411720e-03 9.99791571e-01 7.17959958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.245099893 meters 0.04271816794117054 Centerline is valid? [True, True] Translation: X:596.61, Y:8.35, Z:7.18 [[ 9.91638992e-01 -1.27485758e-01 -1.99872930e-02 5.96606732e+02] [ 1.27502225e-01 9.91838181e-01 -4.53518193e-04 8.34646246e+00] [ 1.98819774e-02 -2.09869800e-03 9.99800131e-01 7.18035812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.275099893 meters 0.03929896118042461 Centerline is valid? [True, True] Translation: X:596.64, Y:8.35, Z:7.18 [[ 9.92116404e-01 -1.23854368e-01 -1.91085248e-02 5.96636316e+02] [ 1.23868743e-01 9.92298517e-01 -4.34016574e-04 8.35002311e+00] [ 1.90151157e-02 -1.93635399e-03 9.99817321e-01 7.18102877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3050998929999 meters 0.03694893130559448 Centerline is valid? [True, True] Translation: X:596.67, Y:8.35, Z:7.18 [[ 9.92541167e-01 -1.20495309e-01 -1.85178843e-02 5.96666647e+02] [ 1.20508219e-01 9.92712240e-01 -4.21181020e-04 8.35238799e+00] [ 1.84336808e-02 -1.81351776e-03 9.99828441e-01 7.18165516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3350998929999 meters 0.03440245640160759 Centerline is valid? [True, True] Translation: X:596.70, Y:8.36, Z:7.18 [[ 9.92877677e-01 -1.17771932e-01 -1.79914245e-02 5.96696654e+02] [ 1.17783666e-01 9.93039194e-01 -4.09740406e-04 8.35529208e+00] [ 1.79144456e-02 -1.71227383e-03 9.99838057e-01 7.18217472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.365099893 meters 0.03656229310368859 Centerline is valid? [True, True] Translation: X:596.73, Y:8.35, Z:7.18 [[ 9.93240976e-01 -1.14767515e-01 -1.73430196e-02 5.96726320e+02] [ 1.14777959e-01 9.93391093e-01 -3.95266324e-04 8.35188879e+00] [ 1.72737649e-02 -1.59800167e-03 9.99849520e-01 7.18215757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.395099893 meters 0.03828012270724166 Centerline is valid? [True, True] Translation: X:596.76, Y:8.35, Z:7.18 [[ 9.93544331e-01 -1.12128176e-01 -1.72317907e-02 5.96755729e+02] [ 1.12138084e-01 9.93692556e-01 -3.93249088e-04 8.34877518e+00] [ 1.71671965e-02 -1.54162959e-03 9.99851444e-01 7.18175729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4250998929999 meters 0.03413712069696155 Centerline is valid? [True, True] Translation: X:596.79, Y:8.35, Z:7.18 [[ 9.93776413e-01 -1.10126666e-01 -1.67498632e-02 5.96785381e+02] [ 1.10135737e-01 9.93916482e-01 -3.82739117e-04 8.35002982e+00] [ 1.66901149e-02 -1.46440142e-03 9.99859638e-01 7.18175875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4550998929999 meters 0.03559477827599227 Centerline is valid? [True, True] Translation: X:596.81, Y:8.35, Z:7.18 [[ 9.93739318e-01 -1.10403153e-01 -1.71263265e-02 5.96813617e+02] [ 1.10412660e-01 9.93885753e-01 -3.92383051e-04 8.34552716e+00] [ 1.70649323e-02 -1.50103680e-03 9.99853257e-01 7.18179936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.485099893 meters 0.038676044844153504 Centerline is valid? [True, True] Translation: X:596.84, Y:8.34, Z:7.18 [[ 9.93676018e-01 -1.10920046e-01 -1.74560740e-02 5.96842071e+02] [ 1.10929966e-01 9.93828145e-01 -4.01974465e-04 8.33846193e+00] [ 1.73929246e-02 -1.53696930e-03 9.99847550e-01 7.18170448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.515099893 meters 0.035501333392460845 Centerline is valid? [True, True] Translation: X:596.87, Y:8.34, Z:7.18 [[ 9.93555853e-01 -1.11951850e-01 -1.77073245e-02 5.96871783e+02] [ 1.11962198e-01 9.93712382e-01 -4.08998902e-04 8.33971456e+00] [ 1.76417758e-02 -1.57618772e-03 9.99843129e-01 7.18224135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5450998929999 meters 0.03942828041996359 Centerline is valid? [True, True] Translation: X:596.90, Y:8.33, Z:7.18 [[ 9.93397615e-01 -1.13283842e-01 -1.81093595e-02 5.96901060e+02] [ 1.13294870e-01 9.93561320e-01 -4.19132826e-04 8.32770954e+00] [ 1.80402401e-02 -1.63533197e-03 9.99835924e-01 7.18169270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5750998929999 meters 0.038005663707051204 Centerline is valid? [True, True] Translation: X:596.93, Y:8.33, Z:7.18 [[ 9.93296057e-01 -1.14097432e-01 -1.85666283e-02 5.96930191e+02] [ 1.14109121e-01 9.93468128e-01 -4.32094041e-04 8.32613004e+00] [ 1.84946543e-02 -1.68942432e-03 9.99827532e-01 7.18198998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.605099893 meters 0.03564045966175745 Centerline is valid? [True, True] Translation: X:596.96, Y:8.33, Z:7.18 [[ 9.93216784e-01 -1.14726908e-01 -1.89250246e-02 5.96958510e+02] [ 1.14739100e-01 9.93395562e-01 -4.43959786e-04 8.32572761e+00] [ 1.88509696e-02 -1.73049198e-03 9.99820807e-01 7.18235697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.635099893 meters 0.0362781026309199 Centerline is valid? [True, True] Translation: X:596.99, Y:8.32, Z:7.18 [[ 9.93035460e-01 -1.16212286e-01 -1.93721171e-02 5.96987711e+02] [ 1.16225312e-01 9.93222769e-01 -4.55888978e-04 8.31705427e+00] [ 1.92938077e-02 -1.79881644e-03 9.99812239e-01 7.18241480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6650998929999 meters 0.036373394132620245 Centerline is valid? [True, True] Translation: X:597.02, Y:8.32, Z:7.18 [[ 9.93455468e-01 -1.12849514e-01 -1.76414261e-02 5.97016670e+02] [ 1.12859777e-01 9.93610838e-01 -4.15949515e-04 8.31746406e+00] [ 1.75756519e-02 -1.57778010e-03 9.99844291e-01 7.18409792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6950998929999 meters 0.032237940941488595 Centerline is valid? [True, True] Translation: X:597.05, Y:8.32, Z:7.19 [[ 9.93795947e-01 -1.09945145e-01 -1.67833286e-02 5.97046319e+02] [ 1.09954013e-01 9.93936597e-01 -3.96242977e-04 8.32250184e+00] [ 1.67251295e-02 -1.45160967e-03 9.99859072e-01 7.18500784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.725099893 meters 0.03192674788404277 Centerline is valid? [True, True] Translation: X:597.08, Y:8.32, Z:7.19 [[ 9.94231888e-01 -1.05992106e-01 -1.63898255e-02 5.97076052e+02] [ 1.06000026e-01 9.94366052e-01 -3.87196813e-04 8.32237138e+00] [ 1.63385259e-02 -1.35235852e-03 9.99865603e-01 7.18588237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.755099893 meters 0.03192674788404277 Centerline is valid? [True, True] Translation: X:597.10, Y:8.32, Z:7.19 [[ 9.94202484e-01 -1.06267563e-01 -1.63897916e-02 5.97103730e+02] [ 1.06275497e-01 9.94336647e-01 -3.88626437e-04 8.32308225e+00] [ 1.63382688e-02 -1.35545987e-03 9.99865603e-01 7.18622463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7850998929999 meters 0.030707027502955033 Centerline is valid? [True, True] Translation: X:597.13, Y:8.32, Z:7.19 [[ 9.94978582e-01 -9.87560793e-02 -1.62744776e-02 5.97132804e+02] [ 9.87628449e-02 9.95110923e-01 -3.89437148e-04 8.32379566e+00] [ 1.62333698e-02 -1.21983209e-03 9.99867486e-01 7.18757450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8150998929999 meters 0.029747945725027786 Centerline is valid? [True, True] Translation: X:597.16, Y:8.33, Z:7.19 [[ 9.95309416e-01 -9.53850424e-02 -1.61511570e-02 5.97163271e+02] [ 9.53912564e-02 9.95439781e-01 -3.86973975e-04 8.32523751e+00] [ 1.61144158e-02 -1.15552032e-03 9.99869487e-01 7.18789106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.845099893 meters 0.03396566706765016 Centerline is valid? [True, True] Translation: X:597.19, Y:8.32, Z:7.19 [[ 9.95553276e-01 -9.28169572e-02 -1.60837595e-02 5.97192629e+02] [ 9.28227816e-02 9.95682571e-01 -3.85621995e-04 8.31990271e+00] [ 1.60501113e-02 -1.10903206e-03 9.99870574e-01 7.18816379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.875099893 meters 0.02851549825598902 Centerline is valid? [True, True] Translation: X:597.22, Y:8.33, Z:7.19 [[ 9.95671957e-01 -9.15567453e-02 -1.59598503e-02 5.97221756e+02] [ 9.15622997e-02 9.95799276e-01 -3.83871227e-04 8.32800989e+00] [ 1.59279533e-02 -1.07911078e-03 9.99872560e-01 7.18819907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9050998929999 meters 0.032409672922429814 Centerline is valid? [True, True] Translation: X:597.25, Y:8.33, Z:7.19 [[ 9.95581708e-01 -9.25879566e-02 -1.56375767e-02 5.97249275e+02] [ 9.25933681e-02 9.95703934e-01 -3.79157811e-04 8.32500325e+00] [ 1.56055020e-02 -1.07045331e-03 9.99877654e-01 7.18732573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9350998929999 meters 0.0341088245139192 Centerline is valid? [True, True] Translation: X:597.28, Y:8.32, Z:7.19 [[ 9.95263354e-01 -9.58996984e-02 -1.59406548e-02 5.97279464e+02] [ 9.59057231e-02 9.95390346e-01 -3.87839520e-04 8.32395685e+00] [ 1.59043676e-02 -1.14279757e-03 9.99872864e-01 7.18673925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9650998929999 meters 0.029939445288445003 Centerline is valid? [True, True] Translation: X:597.31, Y:8.33, Z:7.19 [[ 9.94545181e-01 -1.03376702e-01 -1.38975183e-02 5.97309240e+02] [ 1.03382005e-01 9.94641667e-01 -3.38275553e-04 8.33086573e+00] [ 1.38580206e-02 -1.10032298e-03 9.99903368e-01 7.18821142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.995099893 meters 0.036390318776290106 Centerline is valid? [True, True] Translation: X:597.34, Y:8.32, Z:7.19 [[ 9.94186486e-01 -1.06886815e-01 -1.29784254e-02 5.97338647e+02] [ 1.06891735e-01 9.94270616e-01 -3.16003727e-04 8.32313761e+00] [ 1.29378437e-02 -1.07311978e-03 9.99915727e-01 7.18918144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.025099893 meters 0.03334353583023975 Centerline is valid? [True, True] Translation: X:597.37, Y:8.33, Z:7.19 [[ 9.93773714e-01 -1.10774139e-01 -1.19539152e-02 5.97369119e+02] [ 1.10778588e-01 9.93845068e-01 -2.91341519e-04 8.32752142e+00] [ 1.19126128e-02 -1.03471030e-03 9.99928507e-01 7.18990976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0550998929999 meters 0.03183272781984935 Centerline is valid? [True, True] Translation: X:597.40, Y:8.33, Z:7.19 [[ 9.93445710e-01 -1.13692172e-01 -1.18199499e-02 5.97399006e+02] [ 1.13696726e-01 9.93515461e-01 -2.88121140e-04 8.33053929e+00] [ 1.17760600e-02 -1.05765690e-03 9.99930100e-01 7.19075370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0850998929999 meters 0.03433019786818222 Centerline is valid? [True, True] Translation: X:597.43, Y:8.33, Z:7.19 [[ 9.92885021e-01 -1.18259828e-01 -1.39265404e-02 5.97428237e+02] [ 1.18266594e-01 9.92981821e-01 -3.39650434e-04 8.32811147e+00] [ 1.38689685e-02 -1.30981067e-03 9.99902963e-01 7.18980296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.115099893 meters 0.034220896323731785 Centerline is valid? [True, True] Translation: X:597.46, Y:8.33, Z:7.19 [[ 9.92750677e-01 -1.19213794e-01 -1.53024633e-02 5.97457780e+02] [ 1.19222074e-01 9.92867543e-01 -3.73336806e-04 8.33040974e+00] [ 1.52378260e-02 -1.45376104e-03 9.99882841e-01 7.18920235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.145099893 meters 0.033760760846710154 Centerline is valid? [True, True] Translation: X:597.49, Y:8.33, Z:7.19 [[ 9.92757574e-01 -1.19033207e-01 -1.62325057e-02 5.97486589e+02] [ 1.19042477e-01 9.92889083e-01 -3.97430351e-04 8.33453951e+00] [ 1.61643851e-02 -1.53780569e-03 9.99868165e-01 7.18754117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1750998929999 meters 0.03474350755882622 Centerline is valid? [True, True] Translation: X:597.51, Y:8.33, Z:7.19 [[ 9.92694250e-01 -1.19300334e-01 -1.80431595e-02 5.97514924e+02] [ 1.19311762e-01 9.92856739e-01 -4.45613678e-04 8.33490605e+00] [ 1.79674343e-02 -1.71040302e-03 9.99837110e-01 7.18609010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2050998929999 meters 0.03669300968304479 Centerline is valid? [True, True] Translation: X:597.54, Y:8.33, Z:7.19 [[ 9.92651560e-01 -1.19394457e-01 -1.96937384e-02 5.97542518e+02] [ 1.19408055e-01 9.92845143e-01 -4.88176587e-04 8.33372840e+00] [ 1.96111181e-02 -1.86700175e-03 9.99805940e-01 7.18524469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.235099893 meters 0.03688694391003417 Centerline is valid? [True, True] Translation: X:597.57, Y:8.34, Z:7.18 [[ 9.92705457e-01 -1.18939619e-01 -1.97292419e-02 5.97571943e+02] [ 1.18953124e-01 9.92899749e-01 -4.91755014e-04 8.33567015e+00] [ 1.96476485e-02 -1.85868708e-03 9.99805239e-01 7.18499778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.265099893 meters 0.03592622490619384 Centerline is valid? [True, True] Translation: X:597.60, Y:8.34, Z:7.19 [[ 9.92606918e-01 -1.19610967e-01 -2.06088095e-02 5.97600525e+02] [ 1.19625748e-01 9.92818922e-01 -5.18525436e-04 8.33650755e+00] [ 2.05228373e-02 -1.95065231e-03 9.99787481e-01 7.18612160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2950998929999 meters 0.038755833195816554 Centerline is valid? [True, True] Translation: X:597.63, Y:8.33, Z:7.19 [[ 9.92496895e-01 -1.20524311e-01 -2.05865048e-02 5.97628143e+02] [ 1.20539169e-01 9.92708435e-01 -5.22163932e-04 8.33212841e+00] [ 2.04993304e-02 -1.96323410e-03 9.99787939e-01 7.18703625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3250998929999 meters 0.033234065528180166 Centerline is valid? [True, True] Translation: X:597.66, Y:8.34, Z:7.19 [[ 9.92475088e-01 -1.20824740e-01 -1.98640786e-02 5.97655592e+02] [ 1.20838556e-01 9.92672043e-01 -5.07729242e-04 8.33959351e+00] [ 1.97798618e-02 -1.89643795e-03 9.99802561e-01 7.18901353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.355099893 meters 0.032693976433382094 Centerline is valid? [True, True] Translation: X:597.68, Y:8.34, Z:7.19 [[ 9.92625690e-01 -1.19937460e-01 -1.75853957e-02 5.97684725e+02] [ 1.19948074e-01 9.92780063e-01 -4.53745265e-04 8.34055528e+00] [ 1.75128513e-02 -1.65893513e-03 9.99845262e-01 7.19110171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.385099893 meters 0.037197468171977985 Centerline is valid? [True, True] Translation: X:597.71, Y:8.33, Z:7.19 [[ 9.92860153e-01 -1.18103084e-01 -1.67444651e-02 5.97713349e+02] [ 1.18112402e-01 9.93000137e-01 -4.34828041e-04 8.33485517e+00] [ 1.66786107e-02 -1.54600557e-03 9.99859707e-01 7.19154189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4150998929999 meters 0.030911243818748203 Centerline is valid? [True, True] Translation: X:597.74, Y:8.34, Z:7.19 [[ 9.93085122e-01 -1.16256443e-01 -1.63211802e-02 5.97743226e+02] [ 1.16265041e-01 9.93218133e-01 -4.24285065e-04 8.34336653e+00] [ 1.62598180e-02 -1.47623149e-03 9.99866711e-01 7.19225784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4450998929999 meters 0.02994922099132823 Centerline is valid? [True, True] Translation: X:597.77, Y:8.34, Z:7.19 [[ 9.93361504e-01 -1.13789105e-01 -1.68808320e-02 5.97773244e+02] [ 1.13797939e-01 9.93503818e-01 -4.39459195e-04 8.34467701e+00] [ 1.68211767e-02 -1.48446204e-03 9.99857412e-01 7.19254557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.475099893 meters 0.030698307472885794 Centerline is valid? [True, True] Translation: X:597.80, Y:8.34, Z:7.19 [[ 9.94073167e-01 -1.07221278e-01 -1.79481426e-02 5.97802037e+02] [ 1.07230195e-01 9.94234111e-01 -4.67641794e-04 8.34402686e+00] [ 1.78947967e-02 -1.45971266e-03 9.99838810e-01 7.19147965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.505099893 meters 0.029516125703222266 Centerline is valid? [True, True] Translation: X:597.83, Y:8.35, Z:7.19 [[ 9.94465691e-01 -1.03466305e-01 -1.82404160e-02 5.97831864e+02] [ 1.03474877e-01 9.94631954e-01 -4.75730989e-04 8.34651312e+00] [ 1.81917228e-02 -1.41432666e-03 9.99833517e-01 7.19104372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5350998929999 meters 0.03109122955586577 Centerline is valid? [True, True] Translation: X:597.86, Y:8.35, Z:7.19 [[ 9.94874488e-01 -9.93488623e-02 -1.88296918e-02 5.97860776e+02] [ 9.93572560e-02 9.95051704e-01 -4.91545109e-04 8.34509321e+00] [ 1.87853514e-02 -1.38184082e-03 9.99822585e-01 7.19090788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5650998929999 meters 0.02614264739519817 Centerline is valid? [True, True] Translation: X:597.89, Y:8.35, Z:7.19 [[ 9.95233050e-01 -9.56680702e-02 -1.89419123e-02 5.97890959e+02] [ 9.56758908e-02 9.95412416e-01 -4.95002924e-04 8.35269908e+00] [ 1.89023707e-02 -1.31964106e-03 9.99820463e-01 7.19140625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.595099893 meters 0.024775810045677936 Centerline is valid? [True, True] Translation: X:597.92, Y:8.35, Z:7.19 [[ 9.95881661e-01 -8.87072741e-02 -1.87279619e-02 5.97920933e+02] [ 8.87136875e-02 9.96057047e-01 -4.89697265e-04 8.35485715e+00] [ 1.86975582e-02 -1.17374603e-03 9.99824496e-01 7.19164881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.625099893 meters 0.026212289286549253 Centerline is valid? [True, True] Translation: X:597.95, Y:8.35, Z:7.19 [[ 9.96150501e-01 -8.56438606e-02 -1.86898004e-02 5.97950227e+02] [ 8.56497009e-02 9.96325193e-01 -4.89220233e-04 8.35298143e+00] [ 1.86630176e-02 -1.11343883e-03 9.99825211e-01 7.19191463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6550998929999 meters 0.02283263866512739 Centerline is valid? [True, True] Translation: X:597.98, Y:8.36, Z:7.19 [[ 9.96619059e-01 -7.99515255e-02 -1.89263142e-02 5.97979852e+02] [ 7.99564804e-02 9.96798232e-01 -4.95977988e-04 8.35828331e+00] [ 1.89053707e-02 -1.01898035e-03 9.99820758e-01 7.19287563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6850998929999 meters 0.02305398343691351 Centerline is valid? [True, True] Translation: X:598.01, Y:8.36, Z:7.19 [[ 9.96819096e-01 -7.72665700e-02 -1.95337285e-02 5.98008475e+02] [ 7.72713218e-02 9.97009970e-01 -5.12522257e-04 8.35871355e+00] [ 1.95149229e-02 -9.98505048e-04 9.99809067e-01 7.19275599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7150998929999 meters 0.022455877060282483 Centerline is valid? [True, True] Translation: X:598.04, Y:8.36, Z:7.19 [[ 9.96971176e-01 -7.51925866e-02 -1.98632788e-02 5.98037862e+02] [ 7.51970431e-02 9.97168557e-01 -5.23510419e-04 8.36012835e+00] [ 1.98464012e-02 -9.71735034e-04 9.99802569e-01 7.19310419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.745099893 meters 0.02219252250482224 Centerline is valid? [True, True] Translation: X:598.07, Y:8.36, Z:7.19 [[ 9.97124207e-01 -7.31979836e-02 -1.96308641e-02 5.98067351e+02] [ 7.32018807e-02 9.97317007e-01 -5.20948941e-04 8.36083041e+00] [ 1.96163270e-02 -9.17565372e-04 9.99807160e-01 7.19355325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.775099893 meters 0.020553754317923847 Centerline is valid? [True, True] Translation: X:598.10, Y:8.36, Z:7.19 [[ 9.97226356e-01 -7.18597157e-02 -1.93849478e-02 5.98096682e+02] [ 7.18632058e-02 9.97414363e-01 -5.17398261e-04 8.36338581e+00] [ 1.93720055e-02 -8.77101312e-04 9.99811960e-01 7.19448015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8050998929999 meters 0.0206934442357579 Centerline is valid? [True, True] Translation: X:598.12, Y:8.36, Z:7.20 [[ 9.97367559e-01 -7.00167391e-02 -1.88576094e-02 5.98124253e+02] [ 7.00196508e-02 9.97545484e-01 -5.06625849e-04 8.36416520e+00] [ 1.88467954e-02 -8.15111039e-04 9.99822051e-01 7.19504160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8350998929999 meters 0.01948267194888811 Centerline is valid? [True, True] Translation: X:598.15, Y:8.37, Z:7.20 [[ 9.97495449e-01 -6.82934638e-02 -1.84074138e-02 5.98152800e+02] [ 6.82959180e-02 9.97664985e-01 -4.96002956e-04 8.36513310e+00] [ 1.83983060e-02 -7.62390534e-04 9.99830446e-01 7.19603215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.865099893 meters 0.01872824417347455 Centerline is valid? [True, True] Translation: X:598.18, Y:8.37, Z:7.20 [[ 9.97563743e-01 -6.72595873e-02 -1.85128778e-02 5.98181924e+02] [ 6.72618477e-02 9.97735232e-01 -5.01240229e-04 8.36661934e+00] [ 1.85046637e-02 -7.45191290e-04 9.99828496e-01 7.19714944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.895099893 meters 0.01881825291537738 Centerline is valid? [True, True] Translation: X:598.21, Y:8.37, Z:7.20 [[ 9.97622404e-01 -6.64757126e-02 -1.81801634e-02 5.98211292e+02] [ 6.64776836e-02 9.97787789e-01 -4.96567289e-04 8.36663674e+00] [ 1.81729547e-02 -7.13188502e-04 9.99834604e-01 7.19761631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9250998929999 meters 0.01836196797918677 Centerline is valid? [True, True] Translation: X:598.24, Y:8.37, Z:7.20 [[ 9.97796714e-01 -6.38163200e-02 -1.81437530e-02 5.98240190e+02] [ 6.38177857e-02 9.97961443e-01 -4.98792282e-04 8.36773981e+00] [ 1.81385970e-02 -6.60200842e-04 9.99835264e-01 7.19857999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9550998929999 meters 0.018083057119794483 Centerline is valid? [True, True] Translation: X:598.27, Y:8.37, Z:7.20 [[ 9.97940829e-01 -6.13704985e-02 -1.86484258e-02 5.98268032e+02] [ 6.13715897e-02 9.98114855e-01 -5.14312755e-04 8.36827825e+00] [ 1.86448344e-02 -6.31229841e-04 9.99825971e-01 7.19876326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.985099893 meters 0.015995721495982523 Centerline is valid? [True, True] Translation: X:598.30, Y:8.37, Z:7.20 [[ 9.98260725e-01 -5.53417157e-02 -2.03179456e-02 5.98297676e+02] [ 5.53417246e-02 9.98467314e-01 -5.62264568e-04 8.37296980e+00] [ 2.03179212e-02 -5.63143513e-04 9.99793411e-01 7.19799067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.015099893 meters 0.015706370900256023 Centerline is valid? [True, True] Translation: X:598.33, Y:8.38, Z:7.20 [[ 9.98393194e-01 -5.25658791e-02 -2.11626759e-02 5.98325899e+02] [ 5.25652110e-02 9.98617320e-01 -5.88223929e-04 8.37546052e+00] [ 2.11643352e-02 -5.25141756e-04 9.99775872e-01 7.19729169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0450998929999 meters 0.01528435580328739 Centerline is valid? [True, True] Translation: X:598.35, Y:8.38, Z:7.20 [[ 9.98478167e-01 -5.04220917e-02 -2.23374543e-02 5.98354795e+02] [ 5.04206869e-02 9.98727872e-01 -6.26447192e-04 8.37734642e+00] [ 2.23406250e-02 -5.00775945e-04 9.99750292e-01 7.19596975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0750998929999 meters 0.013670546007733908 Centerline is valid? [True, True] Translation: X:598.38, Y:8.38, Z:7.20 [[ 9.98746683e-01 -4.48202383e-02 -2.22757581e-02 5.98383674e+02] [ 4.48173665e-02 9.98994999e-01 -6.28388481e-04 8.38227862e+00] [ 2.22815355e-02 -3.70739906e-04 9.99751667e-01 7.19583548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.105099893 meters 0.013821386051031155 Centerline is valid? [True, True] Translation: X:598.41, Y:8.38, Z:7.20 [[ 9.98789264e-01 -4.35856865e-02 -2.28099496e-02 5.98411410e+02] [ 4.35823125e-02 9.99049631e-01 -6.45254508e-04 8.38164464e+00] [ 2.28163956e-02 -3.49637077e-04 9.99739611e-01 7.19589632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.135099893 meters 0.013111593166249262 Centerline is valid? [True, True] Translation: X:598.44, Y:8.38, Z:7.20 [[ 9.98911056e-01 -4.12060427e-02 -2.18806653e-02 5.98440303e+02] [ 4.12022941e-02 9.99150631e-01 -6.22306423e-04 8.38445166e+00] [ 2.18877234e-02 -2.79904842e-04 9.99760396e-01 7.19681854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1650998929999 meters 0.012719732939229412 Centerline is valid? [True, True] Translation: X:598.47, Y:8.38, Z:7.20 [[ 9.99036292e-01 -3.84016530e-02 -2.12555869e-02 5.98468752e+02] [ 3.83973735e-02 9.99262363e-01 -6.09577364e-04 8.38431950e+00] [ 2.12633168e-02 -2.07168798e-04 9.99773889e-01 7.19805915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1950998929999 meters 0.012564570770421385 Centerline is valid? [True, True] Translation: X:598.50, Y:8.39, Z:7.20 [[ 9.99080899e-01 -3.71560638e-02 -2.13725003e-02 5.98498048e+02] [ 3.71513419e-02 9.99309459e-01 -6.18078660e-04 8.38507598e+00] [ 2.13807070e-02 -1.76506482e-04 9.99771391e-01 7.19870861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.225099893 meters 0.012168251473956039 Centerline is valid? [True, True] Translation: X:598.53, Y:8.39, Z:7.20 [[ 9.99146226e-01 -3.52493558e-02 -2.15476683e-02 5.98526630e+02] [ 3.52439996e-02 9.99378540e-01 -6.28401670e-04 8.38725089e+00] [ 2.15564280e-02 -1.31560855e-04 9.99767625e-01 7.19989750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.255099893 meters 0.01209312185098424 Centerline is valid? [True, True] Translation: X:598.55, Y:8.39, Z:7.20 [[ 9.99224687e-01 -3.29964670e-02 -2.14769141e-02 5.98554416e+02] [ 3.29905430e-02 9.99455465e-01 -6.30180650e-04 8.38901408e+00] [ 2.14860129e-02 -7.88429930e-05 9.99769146e-01 7.20007390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2850998929999 meters 0.011920386107348843 Centerline is valid? [True, True] Translation: X:598.58, Y:8.39, Z:7.20 [[ 9.99333076e-01 -2.91199523e-02 -2.20325216e-02 5.98582649e+02] [ 2.91126918e-02 9.99575924e-01 -6.50287660e-04 8.39176142e+00] [ 2.20421145e-02 8.42795701e-06 9.99757043e-01 7.20018665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3150998929999 meters 0.01195401806622706 Centerline is valid? [True, True] Translation: X:598.61, Y:8.39, Z:7.20 [[ 9.99362425e-01 -2.80033744e-02 -2.21484577e-02 5.98610864e+02] [ 2.79956250e-02 9.99607828e-01 -6.59935914e-04 8.39339229e+00] [ 2.21582521e-02 3.94552391e-05 9.99754475e-01 7.20073162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.345099893 meters 0.011955835951667479 Centerline is valid? [True, True] Translation: X:598.64, Y:8.40, Z:7.20 [[ 9.99411739e-01 -2.63262978e-02 -2.19795616e-02 5.98638538e+02] [ 2.63181248e-02 9.99653400e-01 -6.61078655e-04 8.39602919e+00] [ 2.19893473e-02 8.22289222e-05 9.99758202e-01 7.20087558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.375099893 meters 0.012028106101034811 Centerline is valid? [True, True] Translation: X:598.67, Y:8.40, Z:7.20 [[ 9.99406537e-01 -2.59817953e-02 -2.26168077e-02 5.98667438e+02] [ 2.59729137e-02 9.99662411e-01 -6.86406947e-04 8.39646828e+00] [ 2.26270066e-02 9.85751953e-05 9.99743972e-01 7.20112932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4050998929999 meters 0.01233449093571544 Centerline is valid? [True, True] Translation: X:598.70, Y:8.40, Z:7.20 [[ 9.99453762e-01 -2.41741891e-02 -2.25341034e-02 5.98695168e+02] [ 2.41648229e-02 9.99707751e-01 -6.87895273e-04 8.39886831e+00] [ 2.25441471e-02 1.42986901e-04 9.99745838e-01 7.20081693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4350998929999 meters 0.012385721971433183 Centerline is valid? [True, True] Translation: X:598.72, Y:8.40, Z:7.20 [[ 9.99452746e-01 -2.39074320e-02 -2.28613942e-02 5.98722786e+02] [ 2.38976289e-02 9.99714164e-01 -7.01951753e-04 8.39962045e+00] [ 2.28716415e-02 1.55234493e-04 9.99738398e-01 7.20132789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4650998929999 meters 0.01234733177763566 Centerline is valid? [True, True] Translation: X:598.75, Y:8.40, Z:7.20 [[ 9.99465908e-01 -2.32267419e-02 -2.29873114e-02 5.98751576e+02] [ 2.32165084e-02 9.99730207e-01 -7.11996183e-04 8.40098059e+00] [ 2.29976469e-02 1.77930805e-04 9.99735503e-01 7.20242249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.495099893 meters 0.012537671538450207 Centerline is valid? [True, True] Translation: X:598.78, Y:8.40, Z:7.20 [[ 9.99479583e-01 -2.28982935e-02 -2.27207147e-02 5.98778766e+02] [ 2.28881114e-02 9.99737782e-01 -7.08124867e-04 8.40261784e+00] [ 2.27309718e-02 1.87722098e-04 9.99741600e-01 7.20250838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.525099893 meters 0.012462819260110147 Centerline is valid? [True, True] Translation: X:598.81, Y:8.40, Z:7.20 [[ 9.99477255e-01 -2.30193775e-02 -2.27007805e-02 5.98806952e+02] [ 2.30091419e-02 9.99735001e-01 -7.12017151e-04 8.40276244e+00] [ 2.27111550e-02 1.89319467e-04 9.99742051e-01 7.20328317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5550998929999 meters 0.012779962266267111 Centerline is valid? [True, True] Translation: X:598.84, Y:8.41, Z:7.20 [[ 9.99494301e-01 -2.23328941e-02 -2.26359186e-02 5.98835014e+02] [ 2.23224402e-02 9.99750568e-01 -7.14430803e-04 8.40517533e+00] [ 2.26462278e-02 2.08780576e-04 9.99743519e-01 7.20321237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5850998929999 meters 0.012863077717185593 Centerline is valid? [True, True] Translation: X:598.86, Y:8.41, Z:7.20 [[ 9.99488017e-01 -2.22461636e-02 -2.29958930e-02 5.98863003e+02] [ 2.22352573e-02 9.99752500e-01 -7.29888499e-04 8.40557624e+00] [ 2.30064387e-02 2.18195212e-04 9.99735293e-01 7.20406839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.615099893 meters 0.012811063523722617 Centerline is valid? [True, True] Translation: X:598.89, Y:8.41, Z:7.21 [[ 9.99488399e-01 -2.20182087e-02 -2.31978050e-02 5.98891405e+02] [ 2.20068954e-02 9.99757543e-01 -7.42894870e-04 8.40587061e+00] [ 2.32085377e-02 2.32003136e-04 9.99730619e-01 7.20509981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.645099893 meters 0.013063725172523532 Centerline is valid? [True, True] Translation: X:598.92, Y:8.41, Z:7.21 [[ 9.99493508e-01 -2.16048674e-02 -2.33657243e-02 5.98919240e+02] [ 2.15931707e-02 9.99766557e-01 -7.52810259e-04 8.40712237e+00] [ 2.33765341e-02 2.47888893e-04 9.99726701e-01 7.20526369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6750998929999 meters 0.013063725172523532 Centerline is valid? [True, True] Translation: X:598.95, Y:8.41, Z:7.21 [[ 9.99487390e-01 -2.18862310e-02 -2.33655888e-02 5.98946812e+02] [ 2.18745133e-02 9.99760438e-01 -7.56998972e-04 8.40808100e+00] [ 2.33765591e-02 2.45500045e-04 9.99726701e-01 7.20560445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7050998929999 meters 0.013194608477284594 Centerline is valid? [True, True] Translation: X:598.98, Y:8.41, Z:7.21 [[ 9.99496543e-01 -2.13283969e-02 -2.34895870e-02 5.98975364e+02] [ 2.13162534e-02 9.99772488e-01 -7.67270663e-04 8.40943661e+00] [ 2.35006075e-02 2.66174388e-04 9.99723787e-01 7.20588251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.735099893 meters 0.013462201105638102 Centerline is valid? [True, True] Translation: X:599.00, Y:8.41, Z:7.21 [[ 9.99505331e-01 -2.09834291e-02 -2.34262457e-02 5.99003480e+02] [ 2.09711119e-02 9.99779784e-01 -7.71359564e-04 8.41105215e+00] [ 2.34372726e-02 2.79703578e-04 9.99725270e-01 7.20603822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.765099893 meters 0.01361423631020302 Centerline is valid? [True, True] Translation: X:599.03, Y:8.41, Z:7.21 [[ 9.99489148e-01 -2.09688458e-02 -2.41195080e-02 5.99031350e+02] [ 2.09556735e-02 9.99780087e-01 -7.98782514e-04 8.41148815e+00] [ 2.41309533e-02 2.92933922e-04 9.99708763e-01 7.20603768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7950998929999 meters 0.013758033701488792 Centerline is valid? [True, True] Translation: X:599.06, Y:8.41, Z:7.21 [[ 9.99510766e-01 -1.89471630e-02 -2.48843996e-02 5.99059673e+02] [ 1.89324596e-02 9.99820423e-01 -8.26357035e-04 8.41197084e+00] [ 2.48955881e-02 3.54829864e-04 9.99689994e-01 7.20732815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8250998929999 meters 0.013926653649347693 Centerline is valid? [True, True] Translation: X:599.09, Y:8.41, Z:7.21 [[ 9.99493014e-01 -1.87056373e-02 -2.57645804e-02 5.99088379e+02] [ 1.86896771e-02 9.99824963e-01 -8.60152032e-04 8.41266457e+00] [ 2.57761603e-02 3.78184259e-04 9.99667668e-01 7.20748440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.855099893 meters 0.014237800114079133 Centerline is valid? [True, True] Translation: X:599.12, Y:8.41, Z:7.21 [[ 9.99485977e-01 -1.77275996e-02 -2.67116804e-02 5.99116703e+02] [ 1.77099563e-02 9.99842764e-01 -8.96957356e-04 8.41372759e+00] [ 2.67233813e-02 4.23433608e-04 9.99642777e-01 7.20768786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.885099893 meters 0.01551319430970366 Centerline is valid? [True, True] Translation: X:599.14, Y:8.42, Z:7.21 [[ 9.99493720e-01 -1.67476858e-02 -2.70521297e-02 5.99144477e+02] [ 1.67291498e-02 9.99859643e-01 -9.11388142e-04 8.41722012e+00] [ 2.70635964e-02 4.58367594e-04 9.99633609e-01 7.20627471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9150998929999 meters 0.015023184789864821 Centerline is valid? [True, True] Translation: X:599.17, Y:8.42, Z:7.21 [[ 9.99484344e-01 -1.60638615e-02 -2.78028528e-02 5.99173693e+02] [ 1.60438796e-02 9.99870845e-01 -9.41642714e-04 8.41658318e+00] [ 2.78143883e-02 4.95091528e-04 9.99612982e-01 7.20853344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9450998929999 meters 0.015234013161483623 Centerline is valid? [True, True] Translation: X:599.20, Y:8.42, Z:7.21 [[ 9.99504131e-01 -1.57679234e-02 -2.72555622e-02 5.99201259e+02] [ 1.57484134e-02 9.99875553e-01 -9.30339677e-04 8.41779410e+00] [ 2.72668399e-02 5.00646489e-04 9.99628065e-01 7.20919559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.975099893 meters 0.01548376709551118 Centerline is valid? [True, True] Translation: X:599.23, Y:8.42, Z:7.21 [[ 9.99515128e-01 -1.57780425e-02 -2.68433066e-02 5.99228297e+02] [ 1.57589813e-02 9.99875395e-01 -9.21505588e-04 8.41905067e+00] [ 2.68545014e-02 4.98035608e-04 9.99639229e-01 7.21007615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.005099893 meters 0.01535851748051279 Centerline is valid? [True, True] Translation: X:599.26, Y:8.42, Z:7.21 [[ 9.99526105e-01 -1.64411417e-02 -2.60240925e-02 5.99256996e+02] [ 1.64233248e-02 9.99864725e-01 -8.98235391e-04 8.41918879e+00] [ 2.60353400e-02 4.70407600e-04 9.99660912e-01 7.21118590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0350998929999 meters 0.015105890012722988 Centerline is valid? [True, True] Translation: X:599.29, Y:8.42, Z:7.21 [[ 9.99544993e-01 -1.73024836e-02 -2.47068948e-02 5.99286089e+02] [ 1.72865395e-02 9.99850208e-01 -8.58781221e-04 8.41838404e+00] [ 2.47180529e-02 4.31293757e-04 9.99694369e-01 7.21401697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0650998929999 meters 0.015328755354175525 Centerline is valid? [True, True] Translation: X:599.31, Y:8.42, Z:7.21 [[ 9.99554335e-01 -1.75851976e-02 -2.41224434e-02 5.99314102e+02] [ 1.75699828e-02 9.99845281e-01 -8.42549376e-04 8.41993608e+00] [ 2.41335276e-02 4.18342966e-04 9.99708656e-01 7.21478758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.095099893 meters 0.015537766473268693 Centerline is valid? [True, True] Translation: X:599.34, Y:8.42, Z:7.22 [[ 9.99542599e-01 -1.78485428e-02 -2.44135634e-02 5.99342331e+02] [ 1.78329268e-02 9.99840613e-01 -8.57227728e-04 8.42050662e+00] [ 2.44249724e-02 4.21470342e-04 9.99701577e-01 7.21593543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.125099893 meters 0.015325343599452021 Centerline is valid? [True, True] Translation: X:599.37, Y:8.42, Z:7.22 [[ 9.99531152e-01 -1.82056565e-02 -2.46176649e-02 5.99370656e+02] [ 1.81897126e-02 9.99834174e-01 -8.71450586e-04 8.42126503e+00] [ 2.46294479e-02 4.23253760e-04 9.99696560e-01 7.21652354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1550998929999 meters 0.01533192967098828 Centerline is valid? [True, True] Translation: X:599.40, Y:8.42, Z:7.22 [[ 9.99514937e-01 -1.83294088e-02 -2.51778397e-02 5.99399370e+02] [ 1.83125961e-02 9.99831907e-01 -8.98185918e-04 8.42326084e+00] [ 2.51900707e-02 4.36678632e-04 9.99682584e-01 7.21666513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1850998929999 meters 0.01579365367698318 Centerline is valid? [True, True] Translation: X:599.43, Y:8.43, Z:7.22 [[ 9.99495422e-01 -1.82272204e-02 -2.60128942e-02 5.99426680e+02] [ 1.82091165e-02 9.99833765e-01 -9.32682867e-04 8.42587343e+00] [ 2.60255701e-02 4.58540434e-04 9.99661172e-01 7.21577429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2150998929999 meters 0.015887451570191155 Centerline is valid? [True, True] Translation: X:599.46, Y:8.43, Z:7.22 [[ 9.99462278e-01 -1.83932655e-02 -2.71448298e-02 5.99455667e+02] [ 1.83734751e-02 9.99830715e-01 -9.78323643e-04 8.42662668e+00] [ 2.71582291e-02 4.79052722e-04 9.99631032e-01 7.21554570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.245099893 meters 0.015926748830749266 Centerline is valid? [True, True] Translation: X:599.48, Y:8.43, Z:7.22 [[ 9.99423534e-01 -1.73945428e-02 -2.91552621e-02 5.99484156e+02] [ 1.73710667e-02 9.99848552e-01 -1.05831691e-03 8.42841772e+00] [ 2.91692555e-02 5.51248824e-04 9.99574335e-01 7.21595008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.275099893 meters 0.01629298146001692 Centerline is valid? [True, True] Translation: X:599.51, Y:8.43, Z:7.22 [[ 9.99416644e-01 -1.64129210e-02 -2.99497626e-02 5.99512698e+02] [ 1.63874780e-02 9.99865117e-01 -1.09479489e-03 8.43090953e+00] [ 2.99636917e-02 6.03355157e-04 9.99550806e-01 7.21562010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3050998929999 meters 0.016654494063310838 Centerline is valid? [True, True] Translation: X:599.54, Y:8.43, Z:7.22 [[ 9.99408499e-01 -1.50433477e-02 -3.09249204e-02 5.99540975e+02] [ 1.50153880e-02 9.99886617e-01 -1.13615772e-03 8.43270008e+00] [ 3.09385056e-02 6.71136003e-04 9.99521065e-01 7.21581668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3350998929999 meters 0.017084183213531435 Centerline is valid? [True, True] Translation: X:599.57, Y:8.43, Z:7.22 [[ 9.99401491e-01 -1.40262279e-02 -3.16215777e-02 5.99569766e+02] [ 1.39962782e-02 9.99901365e-01 -1.16828741e-03 8.43459938e+00] [ 3.16348454e-02 7.25003778e-04 9.99499230e-01 7.21588212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.365099893 meters 0.017493025625618445 Centerline is valid? [True, True] Translation: X:599.60, Y:8.44, Z:7.22 [[ 9.99397964e-01 -1.17466319e-02 -3.26454644e-02 5.99598030e+02] [ 1.17133005e-02 9.99930662e-01 -1.21207253e-03 8.43733039e+00] [ 3.26574386e-02 8.28956683e-04 9.99466260e-01 7.21641079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.395099893 meters 0.017922807356774585 Centerline is valid? [True, True] Translation: X:599.63, Y:8.44, Z:7.22 [[ 9.99410257e-01 -1.12897875e-02 -3.24296082e-02 5.99626758e+02] [ 1.12564381e-02 9.99935911e-01 -1.21075544e-03 8.43951324e+00] [ 3.24411990e-02 8.44999529e-04 9.99473289e-01 7.21691121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4250998929999 meters 0.018156646657124655 Centerline is valid? [True, True] Translation: X:599.65, Y:8.44, Z:7.22 [[ 9.99442081e-01 -1.10159100e-02 -3.15305509e-02 5.99654500e+02] [ 1.09839804e-02 9.99938971e-01 -1.18568922e-03 8.44099987e+00] [ 3.15416881e-02 8.38696747e-04 9.99502085e-01 7.21764255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4550998929999 meters 0.01826225480780167 Centerline is valid? [True, True] Translation: X:599.68, Y:8.44, Z:7.22 [[ 9.99468750e-01 -1.09179764e-02 -3.07085434e-02 5.99682355e+02] [ 1.08873770e-02 9.99940054e-01 -1.16348146e-03 8.44282513e+00] [ 3.07194054e-02 8.28527875e-04 9.99527704e-01 7.21862756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.485099893 meters 0.018845158023334398 Centerline is valid? [True, True] Translation: X:599.71, Y:8.45, Z:7.22 [[ 9.99497193e-01 -1.07534744e-02 -2.98282451e-02 5.99710459e+02] [ 1.07243829e-02 9.99941848e-01 -1.13511364e-03 8.44559181e+00] [ 2.98387170e-02 8.14653371e-04 9.99554394e-01 7.21948700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.515099893 meters 0.01902274343754601 Centerline is valid? [True, True] Translation: X:599.74, Y:8.45, Z:7.22 [[ 9.99560998e-01 -9.71692173e-03 -2.79891575e-02 5.99738503e+02] [ 9.69074976e-03 9.99952470e-01 -1.07057111e-03 8.44740559e+00] [ 2.79982298e-02 7.98865211e-04 9.99607654e-01 7.22216292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5450998929999 meters 0.018893259683068306 Centerline is valid? [True, True] Translation: X:599.77, Y:8.45, Z:7.22 [[ 9.99591704e-01 -9.43688735e-03 -2.69698131e-02 5.99766804e+02] [ 9.41228207e-03 9.99955164e-01 -1.03913061e-03 8.44845570e+00] [ 2.69784101e-02 7.84858846e-04 9.99635708e-01 7.22388794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5750998929999 meters 0.019387157331384283 Centerline is valid? [True, True] Translation: X:599.79, Y:8.45, Z:7.22 [[ 9.99601694e-01 -8.89908669e-03 -2.67817085e-02 5.99794243e+02] [ 8.87450235e-03 9.99960083e-01 -1.03667351e-03 8.45029306e+00] [ 2.67898650e-02 7.98586257e-04 9.99640768e-01 7.22445505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.605099893 meters 0.019981803355894598 Centerline is valid? [True, True] Translation: X:599.82, Y:8.45, Z:7.22 [[ 9.99612129e-01 -8.34646491e-03 -2.65693051e-02 5.99822912e+02] [ 8.32195228e-03 9.99964838e-01 -1.03303389e-03 8.45236056e+00] [ 2.65769931e-02 8.11524714e-04 9.99646440e-01 7.22447231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.635099893 meters 0.020262946127590276 Centerline is valid? [True, True] Translation: X:599.85, Y:8.45, Z:7.22 [[ 9.99605200e-01 -7.80839344e-03 -2.69902408e-02 5.99851530e+02] [ 7.78272109e-03 9.99969156e-01 -1.05609010e-03 8.45403851e+00] [ 2.69976547e-02 8.45615642e-04 9.99635139e-01 7.22424745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6650998929999 meters 0.020871864752487892 Centerline is valid? [True, True] Translation: X:599.88, Y:8.46, Z:7.22 [[ 9.99598189e-01 -7.25942643e-03 -2.74000124e-02 5.99880822e+02] [ 7.23257703e-03 9.99973263e-01 -1.07888380e-03 8.45637622e+00] [ 2.74071119e-02 8.80277590e-04 9.99623967e-01 7.22374917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6950998929999 meters 0.020696818794336214 Centerline is valid? [True, True] Translation: X:599.91, Y:8.46, Z:7.22 [[ 9.99586616e-01 -6.44180460e-03 -2.80196382e-02 5.99909720e+02] [ 6.41321014e-03 9.99978819e-01 -1.11026185e-03 8.45720698e+00] [ 2.80261968e-02 9.30107057e-04 9.99606756e-01 7.22368465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.725099893 meters 0.021878748884313133 Centerline is valid? [True, True] Translation: X:599.94, Y:8.46, Z:7.22 [[ 9.99522867e-01 -4.69522199e-03 -3.05285587e-02 5.99938620e+02] [ 4.66031767e-03 9.99988403e-01 -1.21438608e-03 8.46034471e+00] [ 3.05339065e-02 1.07153387e-03 9.99533157e-01 7.22129168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.755099893 meters 0.0226212220951144 Centerline is valid? [True, True] Translation: X:599.97, Y:8.46, Z:7.22 [[ 9.99496375e-01 -4.27152951e-03 -3.14444086e-02 5.99966093e+02] [ 4.23420686e-03 9.99990250e-01 -1.25343287e-03 8.46314109e+00] [ 3.14494561e-02 1.11965948e-03 9.99504716e-01 7.22022391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7850998929999 meters 0.02137004531427686 Centerline is valid? [True, True] Translation: X:599.99, Y:8.46, Z:7.22 [[ 9.99475428e-01 -4.38874018e-03 -3.20874931e-02 5.99994812e+02] [ 4.34974041e-03 9.99989714e-01 -1.28512320e-03 8.46187059e+00] [ 3.20928031e-02 1.14487680e-03 9.99484238e-01 7.22109422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8150998929999 meters 0.021727202538458383 Centerline is valid? [True, True] Translation: X:600.02, Y:8.46, Z:7.22 [[ 9.99467357e-01 -4.91146779e-03 -3.22626598e-02 6.00022998e+02] [ 4.87215490e-03 9.99987290e-01 -1.29702806e-03 8.46316380e+00] [ 3.22686200e-02 1.13914853e-03 9.99478583e-01 7.22095265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.845099893 meters 0.021980231249018743 Centerline is valid? [True, True] Translation: X:600.05, Y:8.46, Z:7.22 [[ 9.99494861e-01 -5.50754164e-03 -3.12999977e-02 6.00051865e+02] [ 5.47065307e-03 9.99984237e-01 -1.26406376e-03 8.46440811e+00] [ 3.13064662e-02 1.09219380e-03 9.99509236e-01 7.22177464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.875099893 meters 0.0216308254264235 Centerline is valid? [True, True] Translation: X:600.08, Y:8.46, Z:7.22 [[ 9.99512723e-01 -6.42808161e-03 -3.05449925e-02 6.00081241e+02] [ 6.39316256e-03 9.99978794e-01 -1.24072632e-03 8.46456789e+00] [ 3.05523203e-02 1.04484264e-03 9.99532623e-01 7.22317264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9050998929999 meters 0.022706919224826438 Centerline is valid? [True, True] Translation: X:600.11, Y:8.47, Z:7.22 [[ 9.99539636e-01 -7.06812977e-03 -2.95051997e-02 6.00108939e+02] [ 7.03570176e-03 9.99974526e-01 -1.20273531e-03 8.46733895e+00] [ 2.95129492e-02 9.94591833e-04 9.99563903e-01 7.22358903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9350998929999 meters 0.022407389772707467 Centerline is valid? [True, True] Translation: X:600.14, Y:8.47, Z:7.23 [[ 9.99575589e-01 -7.76612763e-03 -2.80772030e-02 6.00138116e+02] [ 7.73690332e-03 9.99969409e-01 -1.14934429e-03 8.46758063e+00] [ 2.80852701e-02 9.31625895e-04 9.99605097e-01 7.22572593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9650998929999 meters 0.022235572535310826 Centerline is valid? [True, True] Translation: X:600.17, Y:8.47, Z:7.23 [[ 9.99595600e-01 -7.37423635e-03 -2.74637389e-02 6.00166532e+02] [ 7.34594668e-03 9.99972379e-01 -1.13082518e-03 8.46849894e+00] [ 2.74713193e-02 9.28620715e-04 9.99622161e-01 7.22690219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.995099893 meters 0.023582024408193316 Centerline is valid? [True, True] Translation: X:600.19, Y:8.47, Z:7.23 [[ 9.99608676e-01 -6.12360810e-03 -2.72946224e-02 6.00194615e+02] [ 6.09508339e-03 9.99980788e-01 -1.12814214e-03 8.47214377e+00] [ 2.73010063e-02 9.61337672e-04 9.99626796e-01 7.22683999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.025099893 meters 0.023537520716809198 Centerline is valid? [True, True] Translation: X:600.22, Y:8.47, Z:7.23 [[ 9.99598112e-01 -4.83640545e-03 -2.79324885e-02 6.00222962e+02] [ 4.80594268e-03 9.99987781e-01 -1.15761704e-03 8.47356831e+00] [ 2.79377459e-02 1.02290986e-03 9.99609142e-01 7.22745523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0550998929999 meters 0.024505449061232625 Centerline is valid? [True, True] Translation: X:600.25, Y:8.48, Z:7.23 [[ 9.99590296e-01 -7.38313316e-04 -2.86128456e-02 6.00252650e+02] [ 7.04616737e-04 9.99999046e-01 -1.18773784e-03 8.47860355e+00] [ 2.86136953e-02 1.16709013e-03 9.99589863e-01 7.22809755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0850998929999 meters 0.02445704725473566 Centerline is valid? [True, True] Translation: X:600.28, Y:8.48, Z:7.23 [[ 9.99562184e-01 5.00938026e-04 -2.95836146e-02 6.00281214e+02] [-5.37635502e-04 9.99999096e-01 -1.23252496e-03 8.48003550e+00] [ 2.95829704e-02 1.24789054e-03 9.99561549e-01 7.22813357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.115099893 meters 0.024953718256626775 Centerline is valid? [True, True] Translation: X:600.31, Y:8.48, Z:7.23 [[ 9.99554781e-01 1.44439002e-03 -2.98018994e-02 6.00310145e+02] [-1.48227037e-03 9.99998121e-01 -1.24901856e-03 8.48193591e+00] [ 2.98000393e-02 1.29263695e-03 9.99555044e-01 7.22864613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.145099893 meters 0.025368422427885694 Centerline is valid? [True, True] Translation: X:600.34, Y:8.48, Z:7.23 [[ 9.99586467e-01 1.15204478e-03 -2.87327048e-02 6.00338796e+02] [-1.18733542e-03 9.99998562e-01 -1.21120842e-03 8.48255614e+00] [ 2.87312681e-02 1.24482290e-03 9.99586397e-01 7.22929272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1750998929999 meters 0.025787193299080302 Centerline is valid? [True, True] Translation: X:600.37, Y:8.48, Z:7.23 [[ 9.99613211e-01 5.38966585e-04 -2.78053745e-02 6.00368047e+02] [-5.71967435e-04 9.99999142e-01 -1.17891170e-03 8.48370192e+00] [ 2.78047152e-02 1.19435948e-03 9.99612661e-01 7.23021738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2050998929999 meters 0.02587081976943425 Centerline is valid? [True, True] Translation: X:600.40, Y:8.48, Z:7.23 [[ 9.99637038e-01 -3.16150460e-04 -2.69386725e-02 6.00397288e+02] [ 2.85307195e-04 9.99999299e-01 -1.14877965e-03 8.48427813e+00] [ 2.69390168e-02 1.14067689e-03 9.99636428e-01 7.23114041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.235099893 meters 0.026083608355820295 Centerline is valid? [True, True] Translation: X:600.43, Y:8.48, Z:7.23 [[ 9.99644904e-01 -1.40591292e-03 -2.66099581e-02 6.00426264e+02] [ 1.37602753e-03 9.99998402e-01 -1.14136827e-03 8.48469899e+00] [ 2.66115202e-02 1.10434694e-03 9.99645241e-01 7.23171457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.265099893 meters 0.026119766469015912 Centerline is valid? [True, True] Translation: X:600.46, Y:8.48, Z:7.23 [[ 9.99682356e-01 -2.87880848e-03 -2.50379532e-02 6.00455408e+02] [ 2.85266481e-03 9.99995348e-01 -1.07981715e-03 8.48482769e+00] [ 2.50409453e-02 1.00804927e-03 9.99685918e-01 7.23261993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2950998929999 meters 0.026285399294335238 Centerline is valid? [True, True] Translation: X:600.48, Y:8.49, Z:7.23 [[ 9.99699732e-01 -3.46409020e-03 -2.42579216e-02 6.00483970e+02] [ 3.43958099e-03 9.99993531e-01 -1.05201127e-03 8.48616116e+00] [ 2.42614090e-02 9.68258294e-04 9.99705180e-01 7.23350165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3250998929999 meters 0.026501980820391777 Centerline is valid? [True, True] Translation: X:600.51, Y:8.49, Z:7.23 [[ 9.99718009e-01 -4.34593584e-03 -2.33455528e-02 6.00512807e+02] [ 4.32334040e-03 9.99990136e-01 -1.01825459e-03 8.48731177e+00] [ 2.33497477e-02 9.17036679e-04 9.99726937e-01 7.23362526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.355099893 meters 0.026222705080341836 Centerline is valid? [True, True] Translation: X:600.54, Y:8.49, Z:7.23 [[ 9.99720161e-01 -6.33065596e-03 -2.27930156e-02 6.00542020e+02] [ 6.30953236e-03 9.99979596e-01 -9.98554624e-04 8.48687257e+00] [ 2.27988721e-02 8.54461920e-04 9.99739707e-01 7.23314098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.385099893 meters 0.02404248873773394 Centerline is valid? [True, True] Translation: X:600.57, Y:8.48, Z:7.23 [[ 9.99729617e-01 -8.44962267e-03 -2.16632514e-02 6.00570014e+02] [ 8.43098033e-03 9.99964006e-01 -9.51740634e-04 8.48378546e+00] [ 2.16705135e-02 7.68840853e-04 9.99764871e-01 7.23383546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4150998929999 meters 0.022600443136231167 Centerline is valid? [True, True] Translation: X:600.60, Y:8.48, Z:7.23 [[ 9.99730588e-01 -1.08203815e-02 -2.05346338e-02 6.00599006e+02] [ 1.08040887e-02 9.99941225e-01 -9.04207573e-04 8.48167230e+00] [ 2.05432108e-02 6.82105964e-04 9.99788733e-01 7.23499932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4450998929999 meters 0.02291185572194217 Centerline is valid? [True, True] Translation: X:600.63, Y:8.48, Z:7.24 [[ 9.99726652e-01 -1.24686310e-02 -1.97776172e-02 6.00626783e+02] [ 1.24538103e-02 9.99922068e-01 -8.72359888e-04 8.48261162e+00] [ 1.97869530e-02 6.25814738e-04 9.99804023e-01 7.23533791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.475099893 meters 0.021885593273086368 Centerline is valid? [True, True] Translation: X:600.66, Y:8.48, Z:7.24 [[ 9.99681155e-01 -1.69996514e-02 -1.86708244e-02 6.00656465e+02] [ 1.69872097e-02 9.99855367e-01 -8.24774822e-04 8.48084098e+00] [ 1.86821449e-02 5.07346637e-04 9.99825345e-01 7.23589873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.505099893 meters 0.020981689252570476 Centerline is valid? [True, True] Translation: X:600.69, Y:8.48, Z:7.24 [[ 9.99644844e-01 -1.93437044e-02 -1.83304818e-02 6.00685478e+02] [ 1.93320715e-02 9.99812789e-01 -8.11621371e-04 8.47977991e+00] [ 1.83427498e-02 4.56966934e-04 9.99831653e-01 7.23634476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5350998929999 meters 0.021146758914920218 Centerline is valid? [True, True] Translation: X:600.71, Y:8.48, Z:7.24 [[ 9.99621429e-01 -2.08320715e-02 -1.79728425e-02 6.00713474e+02] [ 2.08210665e-02 9.99782899e-01 -7.99241658e-04 8.48145150e+00] [ 1.79855904e-02 4.24725340e-04 9.99838156e-01 7.23627024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5650998929999 meters 0.021146758914920218 Centerline is valid? [True, True] Translation: X:600.74, Y:8.48, Z:7.24 [[ 9.99615730e-01 -2.11038762e-02 -1.79727266e-02 6.00741032e+02] [ 2.10928684e-02 9.99777199e-01 -8.01839551e-04 8.48276131e+00] [ 1.79856442e-02 4.22435072e-04 9.99838156e-01 7.23661102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.595099893 meters 0.020506857791777668 Centerline is valid? [True, True] Translation: X:600.77, Y:8.48, Z:7.24 [[ 9.99580526e-01 -2.25865716e-02 -1.81278503e-02 6.00769751e+02] [ 2.25755311e-02 9.99744809e-01 -8.13473031e-04 8.48192059e+00] [ 1.81415978e-02 4.03885952e-04 9.99835346e-01 7.23713129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.625099893 meters 0.020240512423021412 Centerline is valid? [True, True] Translation: X:600.80, Y:8.48, Z:7.24 [[ 9.99553217e-01 -2.41708440e-02 -1.75822554e-02 6.00798237e+02] [ 2.41606322e-02 9.99707775e-01 -7.93017925e-04 8.48231158e+00] [ 1.75962853e-02 3.67865214e-04 9.99845106e-01 7.23766321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6550998929999 meters 0.01947208922325396 Centerline is valid? [True, True] Translation: X:600.83, Y:8.48, Z:7.24 [[ 9.99477686e-01 -2.78849685e-02 -1.63334965e-02 6.00827164e+02] [ 2.78765888e-02 9.99611098e-01 -7.40532743e-04 8.48162273e+00] [ 1.63477941e-02 2.84823788e-04 9.99866325e-01 7.23832677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6850998929999 meters 0.01942134474151081 Centerline is valid? [True, True] Translation: X:600.86, Y:8.48, Z:7.24 [[ 9.99437180e-01 -2.98627032e-02 -1.52821049e-02 6.00855318e+02] [ 2.98555485e-02 9.99553981e-01 -6.96157390e-04 8.48281796e+00] [ 1.52960779e-02 2.39509956e-04 9.99882979e-01 7.23854888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7150998929999 meters 0.019177738791340836 Centerline is valid? [True, True] Translation: X:600.88, Y:8.48, Z:7.24 [[ 9.99411429e-01 -3.09842854e-02 -1.47231009e-02 6.00884187e+02] [ 3.09777343e-02 9.99519848e-01 -6.72857752e-04 8.48381336e+00] [ 1.47368795e-02 2.16373422e-04 9.99891383e-01 7.23897906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.745099893 meters 0.01892492569143827 Centerline is valid? [True, True] Translation: X:600.91, Y:8.49, Z:7.24 [[ 9.99365765e-01 -3.25511545e-02 -1.44391650e-02 6.00913404e+02] [ 3.25449660e-02 9.99470052e-01 -6.63419841e-04 8.48506545e+00] [ 1.44531081e-02 1.93076945e-04 9.99895530e-01 7.23908428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.775099893 meters 0.019104935464464224 Centerline is valid? [True, True] Translation: X:600.94, Y:8.49, Z:7.24 [[ 9.99356476e-01 -3.26681272e-02 -1.48130525e-02 6.00940679e+02] [ 3.26615753e-02 9.99466234e-01 -6.84078030e-04 8.48711904e+00] [ 1.48274933e-02 1.99820182e-04 9.99890047e-01 7.23858383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8050998929999 meters 0.01934161567321572 Centerline is valid? [True, True] Translation: X:600.97, Y:8.49, Z:7.24 [[ 9.99354944e-01 -3.24622946e-02 -1.53588865e-02 6.00968139e+02] [ 3.24551960e-02 9.99472938e-01 -7.11279717e-04 8.48980115e+00] [ 1.53738812e-02 2.12345232e-04 9.99881792e-01 7.23767253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8350998929999 meters 0.019402729207842757 Centerline is valid? [True, True] Translation: X:601.00, Y:8.49, Z:7.24 [[ 9.99364497e-01 -3.19373815e-02 -1.58305423e-02 6.00996914e+02] [ 3.19297341e-02 9.99489845e-01 -7.35656859e-04 8.49177573e+00] [ 1.58459612e-02 2.29724340e-04 9.99874418e-01 7.23787379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.865099893 meters 0.019637029541147218 Centerline is valid? [True, True] Translation: X:601.03, Y:8.49, Z:7.24 [[ 9.99359418e-01 -3.13131258e-02 -1.73274585e-02 6.01025767e+02] [ 3.13037908e-02 9.99509588e-01 -8.09770602e-04 8.49412889e+00] [ 1.73443174e-02 2.66836741e-04 9.99849540e-01 7.23667674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.895099893 meters 0.019646974312339277 Centerline is valid? [True, True] Translation: X:601.05, Y:8.50, Z:7.24 [[ 9.99347472e-01 -3.14240957e-02 -1.78088581e-02 6.01053797e+02] [ 3.14141688e-02 9.99506103e-01 -8.36958265e-04 8.49588303e+00] [ 1.78263630e-02 2.76961652e-04 9.99841059e-01 7.23630301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9250998929999 meters 0.01964940758603708 Centerline is valid? [True, True] Translation: X:601.08, Y:8.50, Z:7.24 [[ 9.99326000e-01 -3.20192561e-02 -1.79530747e-02 6.01081745e+02] [ 3.20091719e-02 9.99487215e-01 -8.48847048e-04 8.49755532e+00] [ 1.79710481e-02 2.73611871e-04 9.99838470e-01 7.23621170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9550998929999 meters 0.019599576613204512 Centerline is valid? [True, True] Translation: X:601.11, Y:8.50, Z:7.24 [[ 9.99318181e-01 -3.18331953e-02 -1.87034704e-02 6.01111096e+02] [ 3.18221201e-02 9.99493152e-01 -8.89543817e-04 8.49922823e+00] [ 1.87223076e-02 2.93753228e-04 9.99824679e-01 7.23593751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.985099893 meters 0.019318689529923057 Centerline is valid? [True, True] Translation: X:601.14, Y:8.50, Z:7.23 [[ 9.99261927e-01 -3.27460235e-02 -2.00822986e-02 6.01139011e+02] [ 3.27333271e-02 9.99463659e-01 -9.60694506e-04 8.50139570e+00] [ 2.01029866e-02 3.02624994e-04 9.99797869e-01 7.23442929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.015099893 meters 0.01947294789612702 Centerline is valid? [True, True] Translation: X:601.17, Y:8.50, Z:7.23 [[ 9.99227481e-01 -3.33507604e-02 -2.07886542e-02 6.01165983e+02] [ 3.33371863e-02 9.99443662e-01 -9.99271287e-04 8.50370623e+00] [ 2.08104151e-02 3.05464094e-04 9.99783393e-01 7.23357407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0450998929999 meters 0.019378979041098882 Centerline is valid? [True, True] Translation: X:601.19, Y:8.50, Z:7.23 [[ 9.99173777e-01 -3.46112984e-02 -2.13030812e-02 6.01194311e+02] [ 3.45972423e-02 9.99400807e-01 -1.02812832e-03 8.50498922e+00] [ 2.13259014e-02 2.90251000e-04 9.99772535e-01 7.23318017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0750998929999 meters 0.01933276649842661 Centerline is valid? [True, True] Translation: X:601.22, Y:8.51, Z:7.23 [[ 9.99111023e-01 -3.61053083e-02 -2.17616636e-02 6.01222480e+02] [ 3.60908988e-02 9.99347955e-01 -1.05466435e-03 8.50636411e+00] [ 2.17855530e-02 2.68328780e-04 9.99762631e-01 7.23294640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.105099893 meters 0.018450718066557383 Centerline is valid? [True, True] Translation: X:601.25, Y:8.50, Z:7.23 [[ 9.98954782e-01 -4.03618964e-02 -2.14536963e-02 6.01251439e+02] [ 4.03487999e-02 9.99185111e-01 -1.04314548e-03 8.50462884e+00] [ 2.14783172e-02 1.76424269e-04 9.99769299e-01 7.23482750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.135099893 meters 0.018313197643056178 Centerline is valid? [True, True] Translation: X:601.28, Y:8.51, Z:7.23 [[ 9.98863186e-01 -4.26504819e-02 -2.12901640e-02 6.01279631e+02] [ 4.26380197e-02 9.99090046e-01 -1.03915458e-03 8.50546365e+00] [ 2.13151114e-02 1.30202825e-04 9.99772799e-01 7.23499354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1650998929999 meters 0.01817747784438819 Centerline is valid? [True, True] Translation: X:601.31, Y:8.51, Z:7.24 [[ 9.98793105e-01 -4.43893378e-02 -2.10219176e-02 6.01307177e+02] [ 4.43775331e-02 9.99014303e-01 -1.02794318e-03 8.50637737e+00] [ 2.10468261e-02 9.38017172e-05 9.99778487e-01 7.23509880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1950998929999 meters 0.018083844871694694 Centerline is valid? [True, True] Translation: X:601.34, Y:8.51, Z:7.24 [[ 9.98717507e-01 -4.60965084e-02 -2.09392499e-02 6.01335264e+02] [ 4.60850966e-02 9.98936989e-01 -1.02747475e-03 8.50735055e+00] [ 2.09643543e-02 6.11696703e-05 9.99780222e-01 7.23547332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.225099893 meters 0.01800307704138085 Centerline is valid? [True, True] Translation: X:601.36, Y:8.51, Z:7.24 [[ 9.98648082e-01 -4.75581515e-02 -2.09816784e-02 6.01363183e+02] [ 4.75468875e-02 9.98868470e-01 -1.03566399e-03 8.50863826e+00] [ 2.10071913e-02 3.66503549e-05 9.99779324e-01 7.23565369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.255099893 meters 0.018147930982282165 Centerline is valid? [True, True] Translation: X:601.39, Y:8.51, Z:7.23 [[ 9.98640801e-01 -4.74242113e-02 -2.16216446e-02 6.01391235e+02] [ 4.74121189e-02 9.98874838e-01 -1.07184201e-03 8.51119161e+00] [ 2.16481481e-02 4.52571757e-05 9.99765650e-01 7.23435843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2850998929999 meters 0.019052000896152176 Centerline is valid? [True, True] Translation: X:601.42, Y:8.51, Z:7.23 [[ 9.98601677e-01 -4.75742630e-02 -2.30516679e-02 6.01419939e+02] [ 4.75604688e-02 9.98867703e-01 -1.14659293e-03 8.51297029e+00] [ 2.30801149e-02 4.86414928e-05 9.99733617e-01 7.23349683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3150998929999 meters 0.018160272261898276 Centerline is valid? [True, True] Translation: X:601.45, Y:8.52, Z:7.23 [[ 9.98654132e-01 -4.65011049e-02 -2.29689421e-02 6.01447527e+02] [ 4.64869839e-02 9.98918235e-01 -1.14864132e-03 8.51521019e+00] [ 2.29975082e-02 7.93385559e-05 9.99735519e-01 7.23428610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.345099893 meters 0.018478968490647996 Centerline is valid? [True, True] Translation: X:601.47, Y:8.52, Z:7.23 [[ 9.98778213e-01 -4.30989196e-02 -2.41777541e-02 6.01474853e+02] [ 4.30821581e-02 9.99070795e-01 -1.21396289e-03 8.51866641e+00] [ 2.42076085e-02 1.70849856e-04 9.99706938e-01 7.23300374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.375099893 meters 0.018833822102866042 Centerline is valid? [True, True] Translation: X:601.50, Y:8.52, Z:7.23 [[ 9.98847029e-01 -4.11190629e-02 -2.47756983e-02 6.01502501e+02] [ 4.11007973e-02 9.99154228e-01 -1.24623377e-03 8.52144944e+00] [ 2.48059877e-02 2.26495945e-04 9.99692258e-01 7.23261277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4050998929999 meters 0.018864744902774483 Centerline is valid? [True, True] Translation: X:601.53, Y:8.52, Z:7.23 [[ 9.98922288e-01 -3.93896615e-02 -2.45502790e-02 6.01531053e+02] [ 3.93711021e-02 9.99223889e-01 -1.23906569e-03 8.52269622e+00] [ 2.45800316e-02 2.71158790e-04 9.99697829e-01 7.23418952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4350998929999 meters 0.01955488079015084 Centerline is valid? [True, True] Translation: X:601.56, Y:8.52, Z:7.24 [[ 9.99074431e-01 -3.52913048e-02 -2.45927819e-02 6.01559349e+02] [ 3.52713354e-02 9.99376997e-01 -1.24544014e-03 8.52451940e+00] [ 2.46214137e-02 3.76867143e-04 9.99696776e-01 7.23597280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4650998929999 meters 0.020351388287345548 Centerline is valid? [True, True] Translation: X:601.59, Y:8.52, Z:7.24 [[ 9.99062801e-01 -3.86419927e-02 -1.95016803e-02 6.01587236e+02] [ 3.86300450e-02 9.99253092e-01 -9.89129992e-04 8.52155625e+00] [ 1.95253362e-02 2.34852195e-04 9.99809335e-01 7.24119264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8114.21 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 ... 0%| | 0/19683 [00:00